{
  "a631fec170525388": {
    "vx_ego": [
      4.115072590764541,
      4.144126886811428,
      4.169313718042305,
      4.2126284728119225,
      4.34965335930311,
      4.605447424839148,
      4.94817718513187,
      5.311626120464805,
      5.667554716332537,
      6.080631076196147
    ],
    "vy_ego": [
      0.013889606286164646,
      -0.04488281622490908,
      -0.03880590955550023,
      -0.03791220857991706,
      -0.01261113231281713,
      0.04154385967730001,
      0.07075137173364299,
      0.1319314277317707,
      0.132316212903985,
      0.13177819321732542
    ],
    "v_ego": [
      4.115096031494815,
      4.144369930542598,
      4.169494307235853,
      4.2127990677820275,
      4.349671641256963,
      4.605634796120338,
      4.948682977526622,
      5.313264339859945,
      5.669099050362451,
      6.08205884359975
    ],
    "ax_ego": [
      0.03555420163291595,
      0.07659602592023396,
      0.0355304716065899,
      0.13282170765916618,
      0.41105658822804964,
      0.6517626538135203,
      0.8022667063444759,
      0.7488572845609532,
      0.7324946402679249,
      0.9885549094348447
    ],
    "ay_ego": [
      -0.64537301427616,
      -0.6417970603953832,
      -1.1815998720892282,
      -1.4256423578427755,
      -1.5816036670959552,
      -1.8522563787011788,
      -2.1677862253392255,
      -2.220341243290218,
      -1.7939103530799065,
      -1.6665599101513533
    ],
    "a_ego": [
      0.6463516293857784,
      0.6463516209610125,
      1.1821339484736353,
      1.4318162376858998,
      1.6341473857939062,
      1.963580466735511,
      2.3114776630716767,
      2.343224801271862,
      1.9376952167223078,
      1.9376952141891202
    ],
    "yaw": [
      2.159283801213761,
      2.095534749761825,
      1.9846579937653535,
      1.8287805627329523,
      1.6462820828489222,
      1.4417974272174257,
      1.2252831472622145,
      1.0007480904834898,
      0.818440743744258,
      0.6707183654845735
    ],
    "yaw_diff": [
      -0.1274981029038722,
      -0.2217535119929428,
      -0.3117548620648023,
      -0.36499695976806024,
      -0.4089693112629931,
      -0.4330285599104222,
      -0.4490701135574495,
      -0.36461469347846354,
      -0.29544475651936897,
      -0.29544475651936897
    ],
    "min_front_frame": [
      9,
      22.686715699727973
    ],
    "v_avg": 4.761017098578137,
    "v_std": 0.6746271816909339,
    "vy_max": 0.132316212903985,
    "a_max": 2.343224801271862,
    "ax_avg": 0.46154951894686747,
    "a_std": 0.5866588361826678,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "a631fec170525388",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 9.687943745684882,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      22.686715699727973
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a631fec170525388",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "e4ae770961c15455": {
    "vx_ego": [
      0.845679180440013,
      1.359443215204406,
      1.836669314426169,
      2.258362858222653,
      2.6145467397124142,
      2.8954472544746204,
      3.1100292269764096,
      3.289549461461494,
      3.4531368150715958,
      3.5978333251069166
    ],
    "vy_ego": [
      0.006725759642860041,
      0.0029427206324534882,
      -0.01092616728061424,
      -0.02894240505790413,
      -0.029607078125827302,
      -0.021824735886598168,
      -0.02668107548968357,
      -0.0303745350200586,
      -0.004634285822288531,
      0.05419342288697293
    ],
    "v_ego": [
      0.845705925291094,
      1.3594464001828148,
      1.8367018134923636,
      2.258548308584549,
      2.614714369336728,
      2.895529506418668,
      3.1101436739219572,
      3.2896896923234706,
      3.453139924794228,
      3.5982414541459136
    ],
    "ax_ego": [
      1.0275343956521628,
      1.0275580859493654,
      0.8813706057038813,
      0.8051716465995888,
      0.6193832785320353,
      0.5040917777614197,
      0.3540852587381265,
      0.36324651870073293,
      0.2899422279302293,
      0.29110926516745506
    ],
    "ay_ego": [
      -0.012960271019733904,
      -0.010921650650690506,
      -0.061448732716511634,
      -0.030677770333493837,
      0.015336638736791142,
      0.0010984327111956682,
      -0.04520935723151118,
      -0.058940747624602746,
      -0.05272793953244512,
      -0.04584895699993513
    ],
    "a_ego": [
      1.0276161262228032,
      1.0276161260183,
      0.8835100969153051,
      0.8057558600969204,
      0.6195731257993973,
      0.5040929745206628,
      0.35695974063881825,
      0.3679973438474102,
      0.2946976945014708,
      0.29469769446725835
    ],
    "yaw": [
      2.5927845510697742,
      2.5908005824163616,
      2.5881874361986292,
      2.5857492806544204,
      2.584460246397121,
      2.583133763105949,
      2.5810912636957934,
      2.57410581148264,
      2.5582335450352223,
      2.5345569486686674
    ],
    "yaw_diff": [
      -0.00396793730682532,
      -0.005226292435464686,
      -0.004876311088417573,
      -0.0025780685145990745,
      -0.0026529665823433746,
      -0.004084998820311547,
      -0.013970904426306774,
      -0.031744532894835586,
      -0.04735319273310967,
      -0.04735319273310967
    ],
    "min_front_frame": [
      0,
      16.704289073148452
    ],
    "v_avg": 2.526186106849179,
    "v_std": 0.883688620447032,
    "vy_max": 0.05419342288697293,
    "a_max": 1.0276161262228032,
    "ax_avg": 0.6163493060734997,
    "a_std": 0.28177781574735933,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e4ae770961c15455",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 43.43564292391204,
    "speed_mode": "accelerating",
    "front_frame": [
      16.704289073148452,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e4ae770961c15455",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "971af37715285683": {
    "vx_ego": [
      2.5869261285139222,
      2.0934479168643683,
      1.5647497511599866,
      0.966646794323793,
      0.4300179833500375,
      0.1034606797236846,
      -0.023129446548917677,
      -0.04100294769528583,
      -0.030132672708448528,
      -0.01359804670918426
    ],
    "vy_ego": [
      -0.08062317138570721,
      -0.008653745205707851,
      0.033297851407467716,
      0.03270483683275935,
      0.011112837287332793,
      -0.003122000963986079,
      -0.0014845078544826053,
      -0.0014569849988133794,
      -0.0011625851398701077,
      -0.00023188873162187078
    ],
    "v_ego": [
      2.5881821593837477,
      2.0934658029043245,
      1.5651039999513112,
      0.9671998921260914,
      0.43016155239282816,
      0.10350777332599698,
      0.02317703736954446,
      0.04102882553753047,
      0.030155091920966274,
      0.013600023775310473
    ],
    "ax_ego": [
      -0.9869644015478821,
      -0.98702655953101,
      -1.1277376723593466,
      -1.2647580971100272,
      -0.8817668377783223,
      -0.4244546375949208,
      -0.08190604687212835,
      0.010411823247355841,
      0.033069258426833,
      0.03306925640495622
    ],
    "ay_ego": [
      0.14210466824811993,
      0.14167228555681546,
      0.024191129648487297,
      -0.023801663008737955,
      -0.062330133182726705,
      0.005749321753050361,
      0.0008009553049795673,
      -0.0006829676267643221,
      0.00186132019857102,
      0.0018612337065571534
    ],
    "a_ego": [
      0.9971421496761018,
      0.9971421492016644,
      1.1279971047889028,
      1.264982040729179,
      0.8839670818012165,
      0.4244935736574296,
      0.08190996303026794,
      0.010434198968458845,
      0.03312159968634174,
      0.03312159280721811
    ],
    "yaw": [
      -1.5887811317587142,
      -1.5892192094402382,
      -1.5894822436025458,
      -1.5889440707158227,
      -1.588853286507204,
      -1.588425583383339,
      -1.588454523363953,
      -1.5884998136777586,
      -1.5885047393648009,
      -1.5885020783644803
    ],
    "yaw_diff": [
      -0.0008761553630480812,
      -0.0005260683246151032,
      0.0010763457734461745,
      0.00018156841723726558,
      0.0008554062477301727,
      -5.787996122830208e-05,
      -9.058062761102548e-05,
      -9.851374084490772e-06,
      5.322000641072577e-06,
      5.322000641072577e-06
    ],
    "min_front_frame": [
      9,
      11.369292230590789
    ],
    "v_avg": 0.7855582158687653,
    "v_std": 0.921648667605118,
    "vy_max": 0.08062317138570721,
    "a_max": 1.264982040729179,
    "ax_avg": -0.5678063914714492,
    "a_std": 0.4903519648494662,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "971af37715285683",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.128157469793618,
    "right_rear_min": 11.837798767337311,
    "speed_mode": "decelerating",
    "front_frame": [
      14.275119716625005,
      13.364482265855258,
      12.477479521077955,
      11.837916290683058,
      11.531600128354006,
      11.440907371152603,
      11.434011908376066,
      11.373030359180424,
      11.39236264179257,
      11.369292230590789
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "971af37715285683",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e2d33c999ca45ea7": {
    "vx_ego": [
      8.86534024324255,
      8.0950002948372,
      7.253191986135718,
      6.526638074288132,
      5.833984735015452,
      5.082496751237332,
      4.602082005318875,
      4.1797283688468125,
      3.683007040411245,
      3.2311430925758264
    ],
    "vy_ego": [
      -0.007224152980785686,
      -0.01661527843441936,
      -0.03299210669989834,
      -0.019230052280273136,
      0.0070833339441192245,
      0.007795038009835192,
      0.0003322813279680453,
      -0.010048365307087428,
      -0.026825247859829447,
      -0.041896811663227077
    ],
    "v_ego": [
      8.865343186636498,
      8.09501734654669,
      7.253267020236322,
      6.5266664038893705,
      5.833989035129658,
      5.082502728868486,
      4.602082017314628,
      4.179740447323037,
      3.6831047302027047,
      3.2314147099262915
    ],
    "ax_ego": [
      -1.5407393792735404,
      -1.540683259486967,
      -1.8266617984894324,
      -1.079759705274796,
      -1.6908429928552877,
      -1.3152537008481384,
      -0.6064580037552895,
      -1.0829257076006635,
      -0.9038948700894325,
      -0.9038149277009766
    ],
    "ay_ego": [
      -0.04060105845434003,
      -0.042677435564611246,
      -0.061163205390570755,
      0.08465415129479631,
      0.05267960931740365,
      0.013979626618348178,
      -0.004484018692764885,
      -0.00691947973862304,
      -0.042158796830444115,
      -0.043839403002782246
    ],
    "a_ego": [
      1.5412742393201244,
      1.541274235679607,
      1.827685493665225,
      1.083073103011314,
      1.6916634321654118,
      1.3153279923863526,
      0.6064745804586437,
      1.0829478137852493,
      0.904877505701287,
      0.9048775148000762
    ],
    "yaw": [
      -1.552552400721927,
      -1.5539000747534293,
      -1.5551430740658727,
      -1.556303856198825,
      -1.555022021083817,
      -1.552073909205578,
      -1.550004641706059,
      -1.5483127345871182,
      -1.5471596706854818,
      -1.5490190469115124
    ],
    "yaw_diff": [
      -0.0026953480630047544,
      -0.0024859986248868537,
      -0.0023215642659044633,
      0.002563670230015802,
      0.005896223756478136,
      0.004138534999038157,
      0.0033838142378814773,
      0.0023061278032727728,
      -0.0037187524520612136,
      -0.0037187524520612136
    ],
    "min_front_frame": [
      9,
      18.307134048177087
    ],
    "v_avg": 5.735312762607369,
    "v_std": 1.814296013780208,
    "vy_max": 0.041896811663227077,
    "a_max": 1.827685493665225,
    "ax_avg": -1.2491034345374525,
    "a_std": 0.375612999269559,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e2d33c999ca45ea7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.06911101720087,
    "right_rear_min": 3.8489653815440934,
    "speed_mode": "decelerating",
    "front_frame": [
      25.038792153703096,
      31.021497671927293,
      27.16518365441217,
      23.82962210939699,
      20.731641133385764,
      26.514679234719335,
      24.21353924913232,
      21.969479204933503,
      20.030912507831562,
      18.307134048177087
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e2d33c999ca45ea7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4f099d4882445433": {
    "vx_ego": [
      3.783461601361573,
      3.503512516553683,
      3.1655900835967308,
      2.7482444119015588,
      2.2476413019831596,
      1.5826400891879362,
      0.8624541032760303,
      0.33579455138179215,
      0.05703932235620651,
      -0.120096487591864
    ],
    "vy_ego": [
      0.031126605054167866,
      0.027182025428869716,
      0.0168378576820285,
      0.012370971133971675,
      -0.00010696465023229962,
      -0.02064648034362404,
      -0.022701054605089754,
      -0.0150131939151609,
      -0.011506254435057983,
      0.005644181705345967
    ],
    "v_ego": [
      3.7835896387583676,
      3.503617960930492,
      3.1656348637859795,
      2.748272255158674,
      2.2476413045283694,
      1.5827747562604662,
      0.8627528140422638,
      0.3361299997459811,
      0.05818829939068104,
      0.12022904440702216
    ],
    "ax_ego": [
      -0.5598157042035241,
      -0.5597811001884532,
      -0.7921180525081266,
      -0.8773997958761187,
      -1.1250349621974833,
      -1.534976964457319,
      -1.3458557310803294,
      -0.7607828879629616,
      -0.354267235018033,
      -0.3542805062792631
    ],
    "ay_ego": [
      -0.019829892705085256,
      -0.020783845368361836,
      0.02153429380930799,
      -0.01901499824253483,
      -0.022267042707414586,
      -0.06248913762808317,
      0.05130703109141366,
      -0.02057718260217517,
      0.03439375605005776,
      0.034256763188350914
    ],
    "a_ego": [
      0.5601668031199125,
      0.560166804047233,
      0.7924107110073241,
      0.8776058180992298,
      1.125255298746745,
      1.5362484088636534,
      1.3468333454147856,
      0.7610611165084624,
      0.35593286482503,
      0.35593286298631344
    ],
    "yaw": [
      0.5509773080957101,
      0.5492732100946225,
      0.5524043182135332,
      0.5541217839308707,
      0.5549748938115825,
      0.554644578390663,
      0.5540265573050909,
      0.5540162970769185,
      0.5536537157181598,
      0.5532670261709878
    ],
    "yaw_diff": [
      -0.0034081960021752344,
      0.006262216237821416,
      0.0034349314346751036,
      0.0017062197614234886,
      -0.0006606308418390938,
      -0.0012360421711441472,
      -2.0520456344819138e-05,
      -0.0007251627175173248,
      -0.0007733790943440511,
      -0.0007733790943440511
    ],
    "min_front_frame": [
      8,
      8.821534442837235
    ],
    "v_avg": 1.8408830937008296,
    "v_std": 1.36780343113624,
    "vy_max": 0.031126605054167866,
    "a_max": 1.5362484088636534,
    "ax_avg": -0.8264312939771612,
    "a_std": 0.3816450814737787,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4f099d4882445433",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.1780474014853,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.956578849717147,
      14.094682971723492,
      13.16181617323261,
      11.931345082023386,
      10.693553832097832,
      9.75257969575501,
      9.21120251242383,
      8.919200675451686,
      8.821534442837235,
      8.8514870820134
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4f099d4882445433",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bf1fbbbc7f5d5c5d": {
    "vx_ego": [
      1.1452435074057983,
      1.2072000426609228,
      1.2053434837712977,
      1.103554733070177,
      0.9602501690983178,
      0.8673584050871711,
      0.8565110565380885,
      0.8862426037721172,
      0.9375929725082605,
      0.996195975583189
    ],
    "vy_ego": [
      1.3188562782540103e-05,
      -0.006501782229165642,
      -0.0051809327434610974,
      -0.0044623247467040494,
      -0.01236676291196831,
      -0.013712288384115978,
      0.012275060986734254,
      0.01937736459256928,
      -0.0010936123812976262,
      -0.00994749452336019
    ],
    "v_ego": [
      1.1452435074817378,
      1.2072175513024526,
      1.205354618331892,
      1.1035637549429278,
      0.9603297996408675,
      0.8674667888329157,
      0.8565990118452278,
      0.886454417891487,
      0.937593610305081,
      0.996245639596698
    ],
    "ax_ego": [
      0.12391763526195075,
      0.12391323154654399,
      -0.13133717892907887,
      -0.27581868835801004,
      -0.29742636515425436,
      -0.07414134774149324,
      0.030734645231688333,
      0.08822870784770268,
      0.11718210702636493,
      0.11720472739190906
    ],
    "ay_ego": [
      -0.012153820839521691,
      -0.012198777900574921,
      0.017775689868956578,
      -0.01855565100416691,
      -0.016248470923029557,
      0.010830628101013397,
      0.0917621343454511,
      -0.0642617744754497,
      -0.01997189501103004,
      -0.01983871600549878
    ],
    "a_ego": [
      0.12451223108559678,
      0.12451224491822072,
      0.13253463592346795,
      0.27644214771217773,
      0.29786986335681626,
      0.07492824534171,
      0.09677245329715661,
      0.10915072398847765,
      0.11887187555292485,
      0.11887187546160173
    ],
    "yaw": [
      -2.123311113362086,
      -2.1229482417962497,
      -2.12288897997339,
      -2.1236681628141962,
      -2.1244381126055325,
      -2.124448199129224,
      -2.1248477627092637,
      -2.1251106846505303,
      -2.1257574341942576,
      -2.126893827501348
    ],
    "yaw_diff": [
      0.0007257431316727292,
      0.00011852364571929286,
      -0.0015583656816122726,
      -0.0015398995826725326,
      -2.0173047382776588e-05,
      -0.0007991271600795713,
      -0.0005258438825332945,
      -0.0012934990874544638,
      -0.002272786614180511,
      -0.002272786614180511
    ],
    "min_front_frame": [
      4,
      10.785394218945077
    ],
    "v_avg": 1.0166068700171285,
    "v_std": 0.1306433126874662,
    "vy_max": 0.01937736459256928,
    "a_max": 0.29786986335681626,
    "ax_avg": -0.01775425258766767,
    "a_std": 0.07174101397887907,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bf1fbbbc7f5d5c5d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.584860867126256,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.80818985053981,
      11.558844281194983,
      11.237274132379952,
      10.906351014353216,
      10.785394218945077,
      10.928848216123766,
      11.163582858898796,
      11.509317515707579,
      11.874938935888881,
      12.303822084724395
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bf1fbbbc7f5d5c5d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "baf0c6e99bec57db": {
    "vx_ego": [
      7.69205485043198,
      7.786182789870281,
      7.900329134729359,
      7.9631812392764045,
      7.932983321036316,
      7.969067250827315,
      8.083452244947306,
      8.101075089332522,
      8.165714133587624,
      8.361716938808824
    ],
    "vy_ego": [
      0.10207166267080936,
      -0.02669882026224224,
      -0.010303165391842395,
      -0.05688748705150948,
      -0.057198142957103126,
      -0.03305226459718513,
      -0.011188394887073017,
      -0.008044860394865516,
      -0.010023991697677204,
      -0.0032899506039933968
    ],
    "v_ego": [
      7.692732053462835,
      7.786228564862166,
      7.900335853131223,
      7.963384433502299,
      7.933189522468131,
      7.969135793823784,
      8.083459987933619,
      8.101079083849429,
      8.165720286164731,
      8.361717586030837
    ],
    "ax_ego": [
      0.17770058131102445,
      0.19256762374855602,
      0.2630808166022533,
      -0.010651562986569222,
      -0.10760861825255089,
      0.25434766357916155,
      0.20368582609084274,
      -0.13341057788511537,
      0.3920048617898917,
      0.3920036534453338
    ],
    "ay_ego": [
      0.3716012947746843,
      0.36411910944083353,
      0.04534388139793971,
      0.027542745350459294,
      0.2197740455789864,
      0.25776849960469894,
      0.1731412947034047,
      0.01699612496052589,
      0.011766173647435985,
      0.011806077659918646
    ],
    "a_ego": [
      0.4119041379696225,
      0.41190413396341524,
      0.2669598914525155,
      0.029530638589388793,
      0.24470440501220572,
      0.36212889053020336,
      0.2673309254124563,
      0.13448884918577542,
      0.3921814051038291,
      0.39218139652997486
    ],
    "yaw": [
      -0.8631534359390349,
      -0.8227440381038365,
      -0.8117707953203095,
      -0.8036354886628058,
      -0.7958292117945264,
      -0.7837825069348154,
      -0.7730932102780215,
      -0.7676360519109164,
      -0.7664994594637273,
      -0.7666012268365417
    ],
    "yaw_diff": [
      0.08081879567039696,
      0.02194648556705392,
      0.016270613315007454,
      0.015612553736558787,
      0.024093409719421865,
      0.021378593313587935,
      0.010914316734210061,
      0.002273184894378222,
      -0.00020353474562884166,
      -0.00020353474562884166
    ],
    "min_front_frame": [
      0,
      19.14257485863664
    ],
    "v_avg": 7.995698316522905,
    "v_std": 0.18223666747470252,
    "vy_max": 0.10207166267080936,
    "a_max": 0.4119041379696225,
    "ax_avg": 0.1623720267442828,
    "a_std": 0.12284648696798722,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "baf0c6e99bec57db",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.163293297775567,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.14257485863664,
      20.2975938456461,
      21.260787030034795,
      22.552007967954278,
      23.364908629123846,
      24.435172169215026,
      25.707767912009867,
      53.96678590915821,
      49.864598340591336,
      45.81972143597347
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "baf0c6e99bec57db",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "da4d89151b245e0c": {
    "vx_ego": [
      5.884325123601361,
      5.904837319785126,
      5.935876131715276,
      5.948628844779723,
      5.885063254295553,
      5.781631668743207,
      5.720853049096979,
      5.751987688614106,
      5.930109789244916,
      6.2021758670885845
    ],
    "vy_ego": [
      -0.032275276913474205,
      0.011847985036653519,
      0.02340915999585924,
      0.0007812847473425144,
      -0.02155427463656956,
      -0.016262297749725096,
      -0.001793214532114007,
      -0.0017431018041422774,
      0.02409560129018118,
      -0.01833524709280354
    ],
    "v_ego": [
      5.884413637206856,
      5.904849206192875,
      5.93592229058289,
      5.948628896086156,
      5.88510272585066,
      5.781654539605636,
      5.72085333014058,
      5.751987952731833,
      5.930158742436826,
      6.202202968912093
    ],
    "ax_ego": [
      0.037960882331872406,
      0.04305916384338712,
      0.0814666671542937,
      -0.030419953188667283,
      -0.22383622710847975,
      -0.18941259332902113,
      -0.05362194447373361,
      0.17812178587268404,
      0.5362439171930486,
      0.5511658146806155
    ],
    "ay_ego": [
      -0.2054684927395527,
      -0.20446085449803703,
      -0.11180972735131606,
      -0.04202995625076443,
      -0.04370589620930024,
      0.1328087332851593,
      0.08370280879180805,
      0.056971823817022794,
      0.39563246170110833,
      0.3745648540298076
    ],
    "a_ego": [
      0.2089457587415401,
      0.2089457647643501,
      0.13834100255384918,
      0.05188343448965075,
      0.22806328492244657,
      0.2313337203012862,
      0.09940559908165209,
      0.18701112082310023,
      0.6663952156777719,
      0.6663952169298019
    ],
    "yaw": [
      -0.544478031713881,
      -0.569350687163629,
      -0.5846708108608383,
      -0.5873288702069117,
      -0.5871771120943827,
      -0.5842634746195439,
      -0.5773473969741552,
      -0.5711943124961573,
      -0.5561310878079311,
      -0.5173876797956131
    ],
    "yaw_diff": [
      -0.049745310899496076,
      -0.030640247394418507,
      -0.005316118692146876,
      0.00030351622505797593,
      0.005827274949677719,
      0.013832155290777415,
      0.012306168955995789,
      0.03012644937645237,
      0.07748681602463603,
      0.07748681602463603
    ],
    "min_front_frame": [
      4,
      16.672489319720402
    ],
    "v_avg": 5.894577428974641,
    "v_std": 0.12809857283817525,
    "vy_max": 0.032275276913474205,
    "a_max": 0.6663952169298019,
    "ax_avg": 0.09307275129759997,
    "a_std": 0.20636090720254943,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "da4d89151b245e0c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 19.36683991013735,
    "speed_mode": "quasi_constant",
    "front_frame": [
      28.404058886025645,
      25.45061445671135,
      22.527727908806096,
      19.594322936405188,
      16.672489319720402,
      19.774037454744086,
      16.93393358089545,
      41.35771094341723,
      38.63065148344702,
      73.86601270733634
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "da4d89151b245e0c",
    "pedestrians": "No"
  },
  "9bdf0d338d625e2a": {
    "vx_ego": [
      4.3923091579816225,
      3.9869964743475834,
      3.575672940492441,
      3.0901206414616516,
      2.525672850504824,
      1.9618307072402137,
      1.472239487359372,
      1.070908193305888,
      0.7296573029812576,
      0.4231926894764976
    ],
    "vy_ego": [
      -0.018797797525687,
      -0.008534748791804825,
      -0.012938507613295291,
      -0.020318324662771392,
      -0.007564084495543355,
      0.011894057782451117,
      0.013043952931209635,
      -0.00864195633895648,
      -0.014521781799470057,
      0.002897634343884764
    ],
    "v_ego": [
      4.392349382332996,
      3.9870056092758386,
      3.5756963492932563,
      3.090187439801099,
      2.5256841772382033,
      1.961866762163315,
      1.4722972705429629,
      1.07094306193142,
      0.729801796339605,
      0.42320260952780303
    ],
    "ax_ego": [
      -0.810640522295454,
      -0.8106512388462211,
      -0.834654354100592,
      -1.1076647851034258,
      -1.1501845113346785,
      -1.1051816976087985,
      -0.8531694461070644,
      -0.7521486303617498,
      -0.6129265566567881,
      -0.6129429251815054
    ],
    "ay_ego": [
      0.014509232081480361,
      0.01389755269641546,
      -0.04379704921099925,
      -0.0027305210509633304,
      0.045563653645296465,
      0.03093515120392537,
      -0.027507715853356263,
      -0.060647990881082026,
      0.03443462809465875,
      0.03414191734798355
    ],
    "a_ego": [
      0.8107703584881731,
      0.8107703577548101,
      0.8358026515503927,
      1.1076681506224815,
      1.151086641677203,
      1.105614565890607,
      0.8536127800133407,
      0.7545897832285883,
      0.6138930749464147,
      0.613893068905536
    ],
    "yaw": [
      1.0941167854205618,
      1.093362223786476,
      1.0925506904293862,
      1.0912878319198578,
      1.0905605649901688,
      1.0904115831535994,
      1.0902377299993442,
      1.0899573238049267,
      1.0891944637255442,
      1.0887169016963059
    ],
    "yaw_diff": [
      -0.0015091232681716527,
      -0.0016230667141794441,
      -0.0025257170190569056,
      -0.0014545338593778823,
      -0.00029796367313883465,
      -0.0003477063085104426,
      -0.0005608123888349859,
      -0.0015257201587650648,
      -0.0009551240584766418,
      -0.0009551240584766418
    ],
    "min_front_frame": [
      9,
      13.888486313481481
    ],
    "v_avg": 2.32290344584465,
    "v_std": 1.334889380967341,
    "vy_max": 0.020318324662771392,
    "a_max": 1.151086641677203,
    "ax_avg": -0.8650164667596277,
    "a_std": 0.18541480325404655,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9bdf0d338d625e2a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.7987571184898155,
    "right_rear_min": 27.370518135993333,
    "speed_mode": "decelerating",
    "front_frame": [
      23.097237141071624,
      21.716579276549133,
      20.218120455086826,
      18.500376327651892,
      17.238610394536394,
      16.194536368330645,
      15.336699044655983,
      14.628987851331273,
      14.215194807753663,
      13.888486313481481
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9bdf0d338d625e2a",
    "with_lead": "Far",
    "road_shape": "Curve"
  },
  "4749b2486da65268": {
    "vx_ego": [
      9.931714001214422,
      10.254851326289447,
      10.554035413665206,
      10.845692036787879,
      11.117984193358769,
      11.374465015093016,
      11.651931325095113,
      11.902963323393125,
      12.146604854191274,
      12.410934285395433
    ],
    "vy_ego": [
      0.03253238491281574,
      0.00592568090974821,
      0.0141785496015015,
      0.014481298709442814,
      0.028042633511943665,
      -0.013727571825867313,
      -0.0886097789629976,
      -0.0865075797369535,
      -0.04892942791834015,
      -0.021802592407185517
    ],
    "v_ego": [
      9.931767282713922,
      10.254853038342123,
      10.554044937566264,
      10.845701704585846,
      11.118019558944377,
      11.374473298830289,
      11.652268246897709,
      11.903277676312262,
      12.146703403507448,
      12.41095343595485
    ],
    "ax_ego": [
      0.6462256359693078,
      0.6465394468848208,
      0.5502212335000948,
      0.6173792513604269,
      0.4707934104564737,
      0.5521437105204803,
      0.5598196960063763,
      0.44617857053925336,
      0.528686747634371,
      0.5287496617335856
    ],
    "ay_ego": [
      -0.11144345614066647,
      -0.10960828160351685,
      0.15369790295409352,
      0.4151072540466316,
      0.48110412825871274,
      0.23414265763185235,
      0.12028157292181905,
      0.134861764614557,
      0.07511068540623096,
      0.0746664211526594
    ],
    "a_ego": [
      0.6557646044889225,
      0.6557646161346355,
      0.5712849124271109,
      0.7439564317703665,
      0.6731326894133234,
      0.599737827046311,
      0.5725956241722586,
      0.4661148059903307,
      0.5339955919166401,
      0.5339955797861322
    ],
    "yaw": [
      -1.6102995266241609,
      -1.6131386744674745,
      -1.6128727942182364,
      -1.5996008614031578,
      -1.5804661339604755,
      -1.560835151122867,
      -1.5466341322884563,
      -1.541403016846929,
      -1.5401616005485157,
      -1.5393213333902653
    ],
    "yaw_diff": [
      -0.005678295686627255,
      0.0005317604984762525,
      0.026543865630157093,
      0.038269454885364595,
      0.03926196567521689,
      0.028402037668821656,
      0.010462230883054424,
      0.0024828325968266896,
      0.0016805343165007258,
      0.0016805343165007258
    ],
    "min_front_frame": [
      4,
      16.883368644846954
    ],
    "v_avg": 11.219206258365508,
    "v_std": 0.7835672763505382,
    "vy_max": 0.0886097789629976,
    "a_max": 0.7439564317703665,
    "ax_avg": 0.554673736460519,
    "a_std": 0.07778254330187248,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "4749b2486da65268",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.682330217298975,
    "right_rear_min": 3.0007249588370146,
    "speed_mode": "accelerating",
    "front_frame": [
      23.066563046329172,
      17.405800002659742,
      17.15272138234264,
      16.930142215323116,
      16.883368644846954,
      16.89825047812008,
      17.127021259937116,
      17.314434380896788,
      17.68093635569492,
      17.86852433691499
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4749b2486da65268",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "cb70f332bc5f5bcf": {
    "vx_ego": [
      2.7946659164869923,
      3.262163312411155,
      3.7256166668350796,
      4.03934423907299,
      4.236802253525693,
      4.276041854285078,
      4.1644809373179426,
      3.995755462971133,
      3.7962867704451346,
      3.6095482953968787
    ],
    "vy_ego": [
      -0.07027374896129979,
      0.022025703204169744,
      -0.02813385891083775,
      -0.09727220737672626,
      -0.12398999205092665,
      -0.0783025693965288,
      -0.051264715953017015,
      -0.052327163911602,
      -0.01065221389965132,
      0.049959368456301
    ],
    "v_ego": [
      2.7955493171409365,
      3.2622376689081,
      3.725722891227492,
      4.04051528447302,
      4.238616148415563,
      4.276758729689094,
      4.1647964594186675,
      3.996098078369284,
      3.796301715237833,
      3.609894019953919
    ],
    "ax_ego": [
      0.8164002528909267,
      1.0554368129064366,
      0.8372916246348239,
      0.4972343179523535,
      0.34847150008409244,
      -0.14924245846127485,
      -0.2738921016900392,
      -0.375319982882208,
      -0.41969442061274387,
      -0.3332508099232583
    ],
    "ay_ego": [
      1.379649972286036,
      1.2066468217852593,
      1.5525723016358008,
      1.7495157177885527,
      1.4298516615307724,
      1.2140634985213965,
      1.057727025186616,
      1.0429644231341735,
      0.8429761054792818,
      0.8807360670673424
    ],
    "a_ego": [
      1.603104306946129,
      1.6031043068255304,
      1.7639552195252324,
      1.8188037864868043,
      1.4717024700506445,
      1.223202145947095,
      1.0926130802705571,
      1.1084402904416188,
      0.9416751675086712,
      0.9416751680636789
    ],
    "yaw": [
      -2.7335782482997493,
      -2.549253394629878,
      -2.3398736943782232,
      -2.112913323294335,
      -1.9159044310555835,
      -1.7736711702133463,
      -1.6461460053708832,
      -1.5177467281905852,
      -1.4076944874530168,
      -1.3074790900096318
    ],
    "yaw_diff": [
      0.3686497073397428,
      0.4187594005033093,
      0.4539207421677762,
      0.39401778447750324,
      0.2844665216844744,
      0.25505032968492625,
      0.25679855436059595,
      0.22010448147513673,
      0.20043079488677007,
      0.20043079488677007
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.790649031283391,
    "v_std": 0.4458663106717562,
    "vy_max": 0.12398999205092665,
    "a_max": 1.8188037864868043,
    "ax_avg": 0.2003434734899109,
    "a_std": 0.3174492050457598,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "cb70f332bc5f5bcf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "cb70f332bc5f5bcf",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "763821f100605f76": {
    "vx_ego": [
      11.40397059063576,
      11.308711639585383,
      11.170372985234346,
      11.01026111316255,
      10.876179173010657,
      10.7559284720151,
      10.667123000308827,
      10.543141711861884,
      10.39139673645999,
      10.269791901885355
    ],
    "vy_ego": [
      -0.043372610681139,
      -0.01034473105362798,
      0.01344803863147913,
      -0.00011919051081136708,
      -0.053143659576040406,
      -0.04657760446822047,
      -0.031384787867074465,
      -0.028905549023092725,
      -0.003503761466817301,
      0.019860633463430533
    ],
    "v_ego": [
      11.404053069652148,
      11.308716371045588,
      11.170381080294275,
      11.010261113807692,
      10.876309008665757,
      10.756029321656904,
      10.667169170338823,
      10.543181336160648,
      10.391397327157486,
      10.269811105993703
    ],
    "ax_ego": [
      -0.19099237699159355,
      -0.19064495018573402,
      -0.36281009084655336,
      -0.277313318892502,
      -0.2593848098480786,
      -0.2231084696248323,
      -0.1326427422591253,
      -0.36414464936378244,
      -0.24331623905836855,
      -0.24291296158982634
    ],
    "ay_ego": [
      -0.06120852783989764,
      -0.06228224224656929,
      0.012558724979823526,
      -0.18249100437754975,
      -0.18000086183908487,
      -0.027557649078016583,
      -0.14626943622203945,
      -0.09263390429727125,
      -0.07016736049984944,
      -0.07155099331264328
    ],
    "a_ego": [
      0.20056064406863705,
      0.2005606510025866,
      0.36302738683631447,
      0.3319723535385159,
      0.3157226470222515,
      0.2248039440068653,
      0.1974559319107279,
      0.37574241959835736,
      0.2532316146712827,
      0.2532316164154199
    ],
    "yaw": [
      1.579595123048832,
      1.5739682536059099,
      1.5707515396412322,
      1.5681417209827382,
      1.5647052404702757,
      1.5592984572121469,
      1.5538173123695018,
      1.5479677273196937,
      1.5416434988204986,
      1.5359522375851387
    ],
    "yaw_diff": [
      -0.011253738885844466,
      -0.0064334279293554175,
      -0.005219637316987935,
      -0.006872961024924962,
      -0.010813566516257644,
      -0.010962289685290116,
      -0.011699170099616296,
      -0.012648456998390234,
      -0.011382522470719802,
      -0.011382522470719802
    ],
    "min_front_frame": [
      0,
      32.69700797611143
    ],
    "v_avg": 10.839730890477304,
    "v_std": 0.3645122288083435,
    "vy_max": 0.053143659576040406,
    "a_max": 0.37574241959835736,
    "ax_avg": -0.24872706086603968,
    "a_std": 0.06576581033947282,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "763821f100605f76",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.748354224369002,
    "right_rear_min": 36.884803482281896,
    "speed_mode": "decelerating",
    "front_frame": [
      32.69700797611143,
      34.925304665102836,
      37.307386893117645,
      39.72535505704213,
      42.124625914833146,
      44.51801207558708,
      44.76942495162682,
      43.598178330500424,
      42.34273006656762,
      41.098709412077504
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "763821f100605f76",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fbd06f49da055ea8": {
    "vx_ego": [
      8.727214666429939,
      8.79683964695338,
      8.870352649408222,
      9.006653396353236,
      9.230452357389924,
      9.480353807823219,
      9.721207881763538,
      9.91713277388564,
      10.085223614617117,
      10.26045701538809
    ],
    "vy_ego": [
      -0.015607211791598186,
      -0.028565206668790477,
      -0.017494341475440933,
      -0.020550486103526833,
      0.007336183631732496,
      0.02390593351545567,
      0.043889401936012096,
      0.010456437048614653,
      -0.021945762494619103,
      -0.04213701442406048
    ],
    "v_ego": [
      8.727228621905681,
      8.796886025477589,
      8.870369900790333,
      9.006676841350554,
      9.230455272717347,
      9.48038394872093,
      9.72130695740361,
      9.917138286418743,
      10.08524749192216,
      10.260543537874163
    ],
    "ax_ego": [
      0.13470804666837985,
      0.14605854896703788,
      0.14888268490714207,
      0.39771354467461856,
      0.49711016589566337,
      0.5017108378158195,
      0.46171130402737653,
      0.32199464446104503,
      0.3503167195634159,
      0.3504235828279549
    ],
    "ay_ego": [
      0.43502298366432074,
      0.43134458692758604,
      0.3342244295492639,
      0.3290238754447711,
      0.21322067164628633,
      0.10582847585518715,
      -0.027004310361851497,
      -0.10840378210910194,
      -0.0712687433310182,
      -0.0707413928695841
    ],
    "a_ego": [
      0.45540229924037307,
      0.45540229731314097,
      0.3658852595728478,
      0.5161712644368591,
      0.5409080992683576,
      0.5127508469848524,
      0.4625003362645045,
      0.339752749859589,
      0.3574927101098085,
      0.3574927021172732
    ],
    "yaw": [
      -1.2428139037041452,
      -1.2166128971024444,
      -1.196199655198228,
      -1.177242026573493,
      -1.1654177681112974,
      -1.15866272160476,
      -1.1586916026692222,
      -1.1587342042500917,
      -1.1599860928067756,
      -1.1614912083277091
    ],
    "yaw_diff": [
      0.052402013203401765,
      0.0408264838084329,
      0.03791525724946965,
      0.023648516924391405,
      0.013510093013074709,
      -5.776212892438792e-05,
      -8.520316173887821e-05,
      -0.0025037771133678,
      -0.0030102310418671507,
      -0.0030102310418671507
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.409623688458112,
    "v_std": 0.5354091198747525,
    "vy_max": 0.043889401936012096,
    "a_max": 0.5409080992683576,
    "ax_avg": 0.3310630079808453,
    "a_std": 0.0716128391530908,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "fbd06f49da055ea8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "fbd06f49da055ea8",
    "pedestrians": "No"
  },
  "9a23e7bc52e657c3": {
    "vx_ego": [
      3.4802954908268147,
      3.3445674573927517,
      3.2287156682248623,
      3.1429769346953735,
      3.076867853113045,
      2.984385814523247,
      2.78676923495721,
      2.5092362024466164,
      2.2655923863225826,
      2.056975318891204
    ],
    "vy_ego": [
      0.004971374811958418,
      -0.017106962913997492,
      -0.027311277534016742,
      -0.016701792802215287,
      -0.007390908716944367,
      -0.0011875836206920454,
      -0.006827205000297321,
      -0.010229468660342356,
      -0.012277636789386204,
      -0.02066094894099102
    ],
    "v_ego": [
      3.4802990414671235,
      3.3446112068864977,
      3.2288311773955076,
      3.1430213110810965,
      3.076876729908454,
      2.9843860508122004,
      2.7867775978057723,
      2.5092570537308028,
      2.265625653396427,
      2.057079079019257
    ],
    "ax_ego": [
      -0.292842042633743,
      -0.24701705228840604,
      -0.21014881405548824,
      -0.13088446467405496,
      -0.13614838099153995,
      -0.2323275287094198,
      -0.5568997113862154,
      -0.5519854681638128,
      -0.42122320615649816,
      -0.4089736510565393
    ],
    "ay_ego": [
      0.5256135341807325,
      0.5486425348118162,
      0.5188307307772791,
      0.39857969011095007,
      0.18364897349594306,
      0.2383375877051577,
      0.261774015788962,
      0.24435967798880764,
      0.2103327954607641,
      0.2332582912566952
    ],
    "a_ego": [
      0.6016860055276864,
      0.6016860104123979,
      0.5597748219130739,
      0.41951938270115113,
      0.22861173879031477,
      0.3328376275443328,
      0.6153559326798839,
      0.6036552072920578,
      0.47081724081760157,
      0.47081724447869283
    ],
    "yaw": [
      2.418628724203013,
      2.503891872226206,
      2.5882628228447677,
      2.6571107313288134,
      2.700904649414238,
      2.7335355883659824,
      2.778183283931135,
      2.82725413695199,
      2.8760499837807196,
      2.9312650016237365
    ],
    "yaw_diff": [
      0.17052629604638536,
      0.16874190123712385,
      0.1376958169680913,
      0.08758783617084909,
      0.06526187790348903,
      0.08929539113030494,
      0.09814170604171046,
      0.09759169365745901,
      0.11043003568603371,
      0.11043003568603371
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.887676490150314,
    "v_std": 0.449104548068905,
    "vy_max": 0.027311277534016742,
    "a_max": 0.6153559326798839,
    "ax_avg": -0.31884503201157177,
    "a_std": 0.12536854142976894,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "9a23e7bc52e657c3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 40.671630424824826,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "9a23e7bc52e657c3",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d534aec3a5085c3b": {
    "vx_ego": [
      3.322297909520837,
      3.4185760693740055,
      3.722493033632004,
      4.216768150250732,
      4.666758912484456,
      4.943077853594241,
      5.129990671196307,
      5.340118668290735,
      5.5274810656571365,
      5.70289641482715
    ],
    "vy_ego": [
      -0.1315109369158436,
      -0.05534581957507467,
      0.014309620914323348,
      -0.0008858668109752443,
      -0.06702084338086967,
      -0.10077148019976656,
      -0.10062598688754854,
      -0.14105052673882978,
      -0.08888802061972934,
      0.04297916918463862
    ],
    "v_ego": [
      3.3248997768556885,
      3.419024056926342,
      3.7225205373092987,
      4.216768243303038,
      4.667240141743361,
      4.944104929905463,
      5.130977477615569,
      5.341981153328839,
      5.5281957283916645,
      5.7030583661078
    ],
    "ax_ego": [
      0.15143773516771386,
      0.2794923520234127,
      0.9647798489320524,
      1.0062193814360365,
      0.8404378592156089,
      0.31883328108185993,
      0.4657603978241908,
      0.4051431300230219,
      0.350937083054052,
      0.35059908845033216
    ],
    "ay_ego": [
      1.0198771081427316,
      0.9924549008997274,
      1.2370740670673757,
      1.2137243729537481,
      1.501525556678347,
      1.500881330920069,
      1.2370755675482257,
      0.8397791590714917,
      0.24821803498540274,
      0.24869521084709334
    ],
    "a_ego": [
      1.031059020302091,
      1.0310590211813615,
      1.5688060441992093,
      1.5765799367870597,
      1.7207308890588138,
      1.5343726505089375,
      1.321850486252554,
      0.9324001243112706,
      0.42984768134131096,
      0.42984768083646097
    ],
    "yaw": [
      1.3152094745624263,
      1.4423079700296801,
      1.5820355680424845,
      1.7400870926041163,
      1.9066365525499607,
      2.067343821939609,
      2.2035062677657287,
      2.3101526466728,
      2.350554049291371,
      2.3491936643462212
    ],
    "yaw_diff": [
      0.25419699093450765,
      0.27945519602560864,
      0.3161030491232637,
      0.3330989198916887,
      0.3214145387792966,
      0.2723248916522394,
      0.21329275781414303,
      0.08080280523714123,
      -0.002720769890299124,
      -0.002720769890299124
    ],
    "min_front_frame": [
      6,
      14.759153592847253
    ],
    "v_avg": 4.599877041148706,
    "v_std": 0.8349316747554638,
    "vy_max": 0.14105052673882978,
    "a_max": 1.7207308890588138,
    "ax_avg": 0.5133640157208281,
    "a_std": 0.4441479389154461,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "d534aec3a5085c3b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.178141613121829,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      14.759153592847253,
      16.910263826474257,
      18.544313543942923,
      19.434349031055937
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d534aec3a5085c3b",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "7d74fbed5a8c534c": {
    "vx_ego": [
      8.84355001595802,
      8.723797195824226,
      8.598129501624278,
      8.442784451714472,
      8.291785936778872,
      8.15017318913739,
      7.976318256951433,
      7.727147127753059,
      7.367076206739899,
      6.959243845133662
    ],
    "vy_ego": [
      -0.04197905074121433,
      -0.005227242865888826,
      0.030930572909351195,
      0.03252899827267797,
      0.010448409248868362,
      -0.03647719861508003,
      -0.06664195117167271,
      -0.06524368789810087,
      -0.04404503870115972,
      -0.040334903749849715
    ],
    "v_ego": [
      8.843649649632907,
      8.723798761889146,
      8.59818513565754,
      8.442847116573903,
      8.29179251975227,
      8.15025481803807,
      7.976596648059416,
      7.727422563361791,
      7.367207870105697,
      6.959360732171545
    ],
    "ax_ego": [
      -0.24193415703005267,
      -0.2385657361506051,
      -0.2594828978915914,
      -0.3560342741596577,
      -0.24532602769062395,
      -0.3215942047975088,
      -0.3825369897610421,
      -0.6240950557029585,
      -0.825389340530301,
      -0.8109267832811019
    ],
    "ay_ego": [
      -0.207326916292279,
      -0.21119416623908444,
      -0.48801800619481694,
      -0.5998996384509955,
      -0.5880510399531906,
      -0.6631131315874265,
      -0.5699554013636932,
      -0.5302802501627437,
      -0.4383289501387927,
      -0.4645401871521537
    ],
    "a_ego": [
      0.318616676520718,
      0.318616676146278,
      0.5527141654314484,
      0.6975958576353715,
      0.637172571170864,
      0.736981585823571,
      0.6864282250017756,
      0.8189577414406319,
      0.9345586295095784,
      0.9345586302217712
    ],
    "yaw": [
      2.2041063238544827,
      2.1880098919793856,
      2.1636607793550047,
      2.1316005891511414,
      2.0986941392839986,
      2.0663945343608434,
      2.03194036882057,
      1.996869145305341,
      1.9620943300762108,
      1.9300601844502425
    ],
    "yaw_diff": [
      -0.032192863750194256,
      -0.04869822524876177,
      -0.06412038040772661,
      -0.0658128997342855,
      -0.0645992098463104,
      -0.0689083310805465,
      -0.07014244703045813,
      -0.06954963045826057,
      -0.06406829125193658,
      -0.06406829125193658
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.108111581524229,
    "v_std": 0.5778069564999017,
    "vy_max": 0.06664195117167271,
    "a_max": 0.9345586302217712,
    "ax_avg": -0.43058854669954433,
    "a_std": 0.20713665775087292,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "7d74fbed5a8c534c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7d74fbed5a8c534c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2e5e4be9579d568d": {
    "vx_ego": [
      7.4773839434689915,
      7.608100854553963,
      7.722169873641871,
      7.789821176394266,
      7.8421131500516195,
      7.824196912504662,
      7.970946384944226,
      8.111767109126307,
      8.090255997179243,
      8.162013604352836
    ],
    "vy_ego": [
      0.011116109569275778,
      0.04824183722472197,
      0.06567237938676973,
      0.06678471007716968,
      0.0719357875320612,
      0.06134963157294937,
      0.06082971207880039,
      0.05185043878164475,
      0.0430215196896917,
      0.03931213056716354
    ],
    "v_ego": [
      7.477392206240077,
      7.608253800178038,
      7.722449120505517,
      7.790107454823755,
      7.842443076984391,
      7.824437430444544,
      7.971178490381897,
      8.111932821510864,
      8.090370384046153,
      8.162108276741403
    ],
    "ax_ego": [
      0.2598151293934555,
      0.2619051635261929,
      0.19172825184773015,
      0.07566070392255601,
      0.12932542138573155,
      -0.20493401955782753,
      0.788819987676819,
      -0.22900800535586502,
      0.13950356249406365,
      0.1445613462370004
    ],
    "ay_ego": [
      0.219774399227243,
      0.2172794822031879,
      0.18480427100337207,
      0.24938364477193817,
      0.21329011605673437,
      0.19454178194870897,
      0.23813115188087447,
      0.2779310167334175,
      0.2842788546235912,
      0.28174053353854733
    ],
    "a_ego": [
      0.34030087866097797,
      0.34030087873552034,
      0.26629371216323233,
      0.26060841198586226,
      0.24943483763117824,
      0.28256761544081277,
      0.8239802294075805,
      0.3601254178470927,
      0.31666340352910377,
      0.3166634034182656
    ],
    "yaw": [
      -2.0567166891820143,
      -2.0471525693959856,
      -2.036325023599041,
      -2.022499287501989,
      -2.0083474303912388,
      -1.994056241939296,
      -1.98007432306597,
      -1.963181369166239,
      -1.9446366047144252,
      -1.9267656644577869
    ],
    "yaw_diff": [
      0.01912823957205756,
      0.021655091593888898,
      0.02765147219410391,
      0.028303714221500798,
      0.028582376903885542,
      0.027963837746651787,
      0.03378590779946222,
      0.03708952890362749,
      0.03574188051327676,
      0.03574188051327676
    ],
    "min_front_frame": [
      9,
      39.496280376697555
    ],
    "v_avg": 7.860067306185664,
    "v_std": 0.21338081213847362,
    "vy_max": 0.0719357875320612,
    "a_max": 0.8239802294075805,
    "ax_avg": 0.15573775415698568,
    "a_std": 0.16015756605084,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2e5e4be9579d568d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.6550904855068485,
    "speed_mode": "quasi_constant",
    "front_frame": [
      50.538070826387234,
      48.51544020044321,
      46.75623696265361,
      45.202956697229496,
      43.89547676675396,
      42.84321006782357,
      41.989468635476584,
      41.01766057320416,
      40.27664450805967,
      39.496280376697555
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2e5e4be9579d568d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "da765dd341585db9": {
    "vx_ego": [
      8.07780738005044,
      7.888836131653157,
      7.6699676793126965,
      7.439199576556115,
      7.185370802897371,
      6.876118883648898,
      6.54845356056415,
      6.222982045115095,
      5.893628653766221,
      5.5514547026394885
    ],
    "vy_ego": [
      -0.21312977412794076,
      -0.11595654423978985,
      -0.058163879325438206,
      -0.020400015357410428,
      -0.02145576854333875,
      -0.020596506857753827,
      0.020603543886073883,
      0.04630084005057533,
      0.06583459201647202,
      0.07796247676804535
    ],
    "v_ego": [
      8.080618563564128,
      7.889688297532951,
      7.670188214024449,
      7.43922754729678,
      7.185402836663633,
      6.876149730639066,
      6.5484859731762395,
      6.223154288752147,
      5.893996343907944,
      5.552002113043717
    ],
    "ax_ego": [
      -0.37636496327271984,
      -0.36714243926224893,
      -0.5007033463488602,
      -0.4197324787743314,
      -0.5952148822869026,
      -0.6417442339108251,
      -0.6689158429304105,
      -0.6331024308915311,
      -0.684094638150894,
      -0.6841023298763093
    ],
    "ay_ego": [
      0.48951690692379823,
      0.49647137416414183,
      0.457863678903872,
      0.3764959348527621,
      0.2436311725384786,
      0.08385872493808527,
      0.07417522498390239,
      0.05189473794854621,
      0.005036980171268357,
      0.0038528365324494995
    ],
    "a_ego": [
      0.6174766293095783,
      0.6174766360534344,
      0.678485806413321,
      0.5638479783582627,
      0.6431460987429568,
      0.6472000830547175,
      0.6730158756854954,
      0.6352257487126243,
      0.6841131815102296,
      0.6841131792996977
    ],
    "yaw": [
      2.5097992314783104,
      2.5285058616174734,
      2.551694771769715,
      2.5743363774172456,
      2.595617662466366,
      2.607130717591583,
      2.606878834482946,
      2.6077909125906418,
      2.606916863889505,
      2.6051859152561265
    ],
    "yaw_diff": [
      0.03741326027832592,
      0.046377820304483564,
      0.045283211295060966,
      0.042562570098240826,
      0.02302611025043433,
      -0.0005037662172746593,
      0.0018241562153917812,
      -0.0017480974022738849,
      -0.0034618972667566084,
      -0.0034618972667566084
    ],
    "min_front_frame": [
      9,
      21.226859993206432
    ],
    "v_avg": 6.935891390860105,
    "v_std": 0.8208084389207344,
    "vy_max": 0.21312977412794076,
    "a_max": 0.6841131815102296,
    "ax_avg": -0.5571117585705033,
    "a_std": 0.03628625929690356,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "da765dd341585db9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.75472990160859,
    "right_rear_min": 47.361395341877355,
    "speed_mode": "decelerating",
    "front_frame": [
      28.452266986752296,
      28.252999703397727,
      27.944139426939586,
      25.052381499661305,
      26.812440401640423,
      26.076761233723058,
      25.237564081544168,
      24.153962566030184,
      22.78035953516919,
      21.226859993206432
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "da765dd341585db9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "653d8cea5acd5614": {
    "vx_ego": [
      7.5670726717634365,
      7.635895229700558,
      7.74439706218778,
      7.8906171398443,
      7.9584228686244085,
      7.892814036410378,
      7.7995323555108955,
      7.670687675366629,
      7.4613864072210685,
      7.236107871446015
    ],
    "vy_ego": [
      0.04688667766382704,
      -0.03921482530449394,
      -0.02722374716262488,
      -0.006194420671854939,
      -0.014305905434848665,
      -0.014946873742994526,
      0.0007329572575094367,
      0.006630069954083773,
      -0.017756437277881343,
      -0.045074679043838106
    ],
    "v_ego": [
      7.5672179286902646,
      7.635995924664143,
      7.744444911627449,
      7.890619571266385,
      7.958435726622052,
      7.892828189083516,
      7.799532389950547,
      7.67069054067814,
      7.461407535373478,
      7.236248258171764
    ],
    "ax_ego": [
      0.13522152056587916,
      0.13966688972831556,
      0.2952531884349701,
      0.2896204459722672,
      -0.018424698998356085,
      -0.2442248330854241,
      -0.12894303302223437,
      -0.38639171397948974,
      -0.4508083012771814,
      -0.4505993225902077
    ],
    "ay_ego": [
      0.18937101513989676,
      0.1861166300887803,
      0.12957275629707474,
      -0.02166448084615713,
      -0.07785549197459377,
      0.008154747874324214,
      0.012297885001613176,
      -0.027920106732722244,
      -0.08857834273454471,
      -0.08963538508914354
    ],
    "a_ego": [
      0.2326934485525183,
      0.23269344658151708,
      0.3224337830554315,
      0.29042959982671956,
      0.08000591955465582,
      0.24436094002212597,
      0.12952815809887025,
      0.3873991339587305,
      0.4594281742579752,
      0.4594281791301369
    ],
    "yaw": [
      -0.7688846327225132,
      -0.7452079179925989,
      -0.736482395515611,
      -0.7357216404027094,
      -0.7378274353913257,
      -0.7399376365114989,
      -0.7412868433863332,
      -0.7425488874272304,
      -0.7431744547875619,
      -0.7455197857241427
    ],
    "yaw_diff": [
      0.04735342945982857,
      0.01745104495397576,
      0.0015215102258032687,
      -0.004211589977232588,
      -0.004220402240346477,
      -0.0026984137496686156,
      -0.0025240880817942735,
      -0.0012511347206631829,
      -0.004690661873161472,
      -0.004690661873161472
    ],
    "min_front_frame": [
      7,
      29.825393168264558
    ],
    "v_avg": 7.685742097612774,
    "v_std": 0.21088750840569054,
    "vy_max": 0.04688667766382704,
    "a_max": 0.4594281791301369,
    "ax_avg": -0.08196298582514612,
    "a_std": 0.12085976396730536,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "653d8cea5acd5614",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      33.51692318537408,
      29.825393168264558,
      57.369770930695246,
      53.438086931307424
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "653d8cea5acd5614",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "126fd1a0d1675f57": {
    "vx_ego": [
      5.0171434563723265,
      4.451016609347487,
      3.9163313131255633,
      3.477370469047623,
      3.14337153273218,
      2.8100108472183556,
      2.390034268397043,
      1.9002544545937186,
      1.3977338888178938,
      0.9056581635949004
    ],
    "vy_ego": [
      -0.013139254866029848,
      -0.014475863779918496,
      -0.008763224865073083,
      -0.006447198456985381,
      -0.011047849404290933,
      -0.01562974430566677,
      -0.024413918445606364,
      -0.018607117928686745,
      0.002959676089931529,
      0.01851767177786301
    ],
    "v_ego": [
      5.017160661353998,
      4.451040148922426,
      3.9163411174561693,
      3.477376445737854,
      3.1433909473318002,
      2.8100543144914267,
      2.39015895779466,
      1.9003455520091295,
      1.3977370223445287,
      0.9058474559516961
    ],
    "ax_ego": [
      -1.1322369775632757,
      -1.1322348090765162,
      -1.0065020223795544,
      -0.7493315880630365,
      -0.5866571368730793,
      -0.7468032019866997,
      -0.9331113174811948,
      -1.0259155868385303,
      -0.9841636365848369,
      -0.9841532264853727
    ],
    "ay_ego": [
      0.003030897429496471,
      0.0037563927758429427,
      0.02042256756142563,
      -0.0034100255288819215,
      -0.011976554665734523,
      -0.01023708016698971,
      -0.026090396795028892,
      0.05559743634577574,
      0.03170769390171868,
      0.03202919005730681
    ],
    "a_ego": [
      1.1322410342770879,
      1.1322410403139525,
      1.0067091945144508,
      0.7493393471206352,
      0.5867793743016025,
      0.7468733629658597,
      0.9334759984147494,
      1.0274209781031671,
      0.9846742818965345,
      0.9846742822970936
    ],
    "yaw": [
      1.101175264785604,
      1.1018160298674797,
      1.101895709640671,
      1.102424295247027,
      1.10265347419403,
      1.1023292810172192,
      1.1022158007431313,
      1.102943731219356,
      1.1031015933113786,
      1.1034282633401373
    ],
    "yaw_diff": [
      0.001281530163751654,
      0.00015935954638246486,
      0.0010571712127118715,
      0.0004583578940060562,
      -0.0006483863536215217,
      -0.0002269605481757253,
      0.0014558609524493171,
      0.0003157241840452407,
      0.000653340057517493,
      0.000653340057517493
    ],
    "min_front_frame": [
      9,
      11.62554860324297
    ],
    "v_avg": 2.940945262339369,
    "v_std": 1.2568873138773013,
    "vy_max": 0.024413918445606364,
    "a_max": 1.1322410403139525,
    "ax_avg": -0.9281109503332097,
    "a_std": 0.16944569847075402,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "126fd1a0d1675f57",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.755428015448461,
    "right_rear_min": 3.288977939541378,
    "speed_mode": "decelerating",
    "front_frame": [
      22.17423230121809,
      19.854945686040228,
      20.175854595185918,
      18.472319174782882,
      16.852478997439082,
      15.32467996661908,
      14.007964569470502,
      12.944993917220318,
      12.149431765824833,
      11.62554860324297
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "126fd1a0d1675f57",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "81a473b817565cb9": {
    "vx_ego": [
      5.811213150608916,
      5.748704187837437,
      5.770726294281428,
      5.8259508491859835,
      5.903174201114763,
      5.919296692253778,
      5.834125557696666,
      5.733941875176998,
      5.644416081853081,
      5.529753293707218
    ],
    "vy_ego": [
      0.08816445481063617,
      0.10971905109291713,
      0.0729018277986655,
      0.05149463659619369,
      0.12833795597699327,
      0.09431139598614036,
      0.030191379629889825,
      0.001841506187183678,
      0.008263105896932535,
      0.024704291635155792
    ],
    "v_ego": [
      5.811881902869505,
      5.74975113456508,
      5.771186761837416,
      5.826178421120406,
      5.904569101945651,
      5.920047970273498,
      5.8342036767988645,
      5.733942170884996,
      5.644422130209677,
      5.5298084769086735
    ],
    "ax_ego": [
      -0.24349822529728027,
      0.059764031226059666,
      0.07201946459640063,
      0.1652248136516054,
      0.14292501570546529,
      -0.06760233561047226,
      -0.271600124145933,
      -0.12872776657072504,
      -0.22941676855272009,
      -0.22852911028413325
    ],
    "ay_ego": [
      -1.8372167315403911,
      -1.852318802744297,
      -1.7110542660765642,
      -1.4588174634072688,
      -0.725479284468554,
      -0.37078942270615517,
      -0.1438509902286359,
      -0.1315587687660038,
      -0.08329652327608196,
      -0.08570186854129763
    ],
    "a_ego": [
      1.853282683341881,
      1.8532826785000867,
      1.712569270055831,
      1.468144281257202,
      0.7394239327391376,
      0.37690167387629725,
      0.3073430246904024,
      0.18406126025188987,
      0.24407040886403086,
      0.24407040893710855
    ],
    "yaw": [
      -2.503307098508656,
      -2.667328858361609,
      -2.8153730622145194,
      -2.948423772176059,
      -3.0544909748843443,
      -3.0949130143687205,
      -3.1058478063719734,
      -3.1128719437513857,
      -3.1234186547224487,
      -3.1339234902601856
    ],
    "yaw_diff": [
      -0.32804351970590595,
      -0.29608840770582123,
      -0.26610141992307934,
      -0.21213440541657036,
      -0.08084407896875234,
      -0.02186958400650596,
      -0.01404827475882442,
      -0.021093421942126156,
      -0.02100967107547369,
      -0.02100967107547369
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.772599174741377,
    "v_std": 0.11169658075872,
    "vy_max": 0.12833795597699327,
    "a_max": 1.853282683341881,
    "ax_avg": -0.0729441005281733,
    "a_std": 0.694567379561935,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "81a473b817565cb9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "81a473b817565cb9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0563edc821b6543d": {
    "vx_ego": [
      0.8677513449325704,
      0.6752924200832126,
      0.49232970846900037,
      0.3328481234846272,
      0.16843068688632687,
      0.03347295608144853,
      -0.01135612227761504,
      -0.010591063417361463,
      -0.0067237698780172085,
      -0.003581500988040527
    ],
    "vy_ego": [
      0.008308419202097479,
      0.03814006599390938,
      0.031614077968165,
      -0.001793641835471236,
      -0.013189808392503197,
      -0.004037636541764778,
      0.001690636570649481,
      -0.001170037439425656,
      -0.0006652312960901435,
      -0.00016096648953934463
    ],
    "v_ego": [
      0.8677911191421139,
      0.6763686252746071,
      0.4933436852407742,
      0.3328529562108043,
      0.16894634453112867,
      0.03371559428030264,
      0.011481278900809005,
      0.01065549679368494,
      0.006756597816196352,
      0.00358511639114965
    ],
    "ax_ego": [
      -0.3848995550948528,
      -0.3849138049497261,
      -0.34691774839242767,
      -0.29103531926988613,
      -0.36664441149403837,
      -0.17318998261825513,
      -0.006124463344754661,
      0.00918449539535608,
      0.006284552174394423,
      0.006284607663887111
    ],
    "ay_ego": [
      0.05933871042585653,
      0.059246206558844466,
      -0.08556085113316347,
      -0.04699493629419531,
      0.0012179067581167494,
      0.035370012634321185,
      -0.012453136245661044,
      0.0010124014414656388,
      0.0010081032171783046,
      0.0010077334049654794
    ],
    "a_ego": [
      0.38944672301512473,
      0.3894467232273101,
      0.3573130047959395,
      0.29480515785823697,
      0.3666464342887862,
      0.1767648377734202,
      0.013877667441405285,
      0.009240125126100769,
      0.0063648934106684705,
      0.006364889638043375
    ],
    "yaw": [
      -1.5384900091641591,
      -1.538730334688097,
      -1.5388212959528547,
      -1.5381586446726057,
      -1.5383435419192866,
      -1.538411162084047,
      -1.5385075308138756,
      -1.53854565718055,
      -1.5385843779856976,
      -1.5385251064689278
    ],
    "yaw_diff": [
      -0.0004806510478756465,
      -0.00018192252951543253,
      0.0013253025604980095,
      -0.00036979449336183023,
      -0.000135240329520947,
      -0.00019273745965708855,
      -7.62527333488805e-05,
      -7.744161029510366e-05,
      0.000118543033539531,
      0.000118543033539531
    ],
    "min_front_frame": [
      5,
      9.717040619147902
    ],
    "v_avg": 0.26054968145815705,
    "v_std": 0.3026280115161754,
    "vy_max": 0.03814006599390938,
    "a_max": 0.3894467232273101,
    "ax_avg": -0.1931971629930303,
    "a_std": 0.16728294678236927,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0563edc821b6543d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.294513336343961,
    "right_rear_min": 45.955014648688895,
    "speed_mode": "decelerating",
    "front_frame": [
      10.661863804474148,
      10.357474424434306,
      10.091528830581698,
      9.863804643149079,
      9.7441524539517,
      9.717040619147902,
      9.72291904053283,
      9.72344117120302,
      9.7254279354007,
      9.717301408916502
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0563edc821b6543d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "69f50b1f6c4d5f4b": {
    "vx_ego": [
      4.33478244340834,
      3.8431192552855746,
      3.3195103892244164,
      2.7622485140081725,
      2.263784331486735,
      1.8496164959580375,
      1.4650032731938152,
      1.0298971338051541,
      0.7373503489877542,
      0.6435204745464729
    ],
    "vy_ego": [
      0.021045024437962745,
      0.01549209820983366,
      0.007502087026949766,
      0.010168110530262009,
      0.008862347659542191,
      0.0057443195491475585,
      0.021029236560818565,
      0.0190027346535786,
      -0.006941959996052738,
      -0.034911745075908746
    ],
    "v_ego": [
      4.334833529068304,
      3.843150480459189,
      3.319518866564641,
      2.7622672288560555,
      2.2638016787454864,
      1.8496254159497192,
      1.465154196410372,
      1.0300724295623032,
      0.7373830266292747,
      0.6444667804509111
    ],
    "ax_ego": [
      -0.9833877481816782,
      -0.9833838799070922,
      -1.1111438546773638,
      -1.1179189116914905,
      -0.8761092375914693,
      -0.7805949572383976,
      -0.7578710290044703,
      -0.9825412522913233,
      -0.1876543493820532,
      -0.1876586748208854
    ],
    "ay_ego": [
      0.0015395079596715044,
      0.0031573784437512464,
      -0.009810661394914044,
      0.0346671388010637,
      -0.012205145570063802,
      0.0246079727136862,
      0.03839114100391733,
      -0.04700677850952084,
      -0.055840052556335916,
      -0.0558255449665933
    ],
    "a_ego": [
      0.9833889532420982,
      0.9833889486361759,
      1.111187164641617,
      1.118456303853726,
      0.8761942488806304,
      0.7809827396217495,
      0.7588427876127422,
      0.9836650597027653,
      0.19578627712762722,
      0.19578628579741725
    ],
    "yaw": [
      -2.0398147212319193,
      -2.0381695202935823,
      -2.03641078060752,
      -2.035244306763235,
      -2.032456614171542,
      -2.0294153154504584,
      -2.029134342819292,
      -2.0292342289549703,
      -2.028937152565299,
      -2.028859831036024
    ],
    "yaw_diff": [
      0.003290401876673954,
      0.0035174793721246544,
      0.002332947688570286,
      0.005575385183385961,
      0.006082597442166993,
      0.0005619452623326637,
      -0.0001997722713564798,
      0.0005941527793424939,
      0.00015464305854973048,
      0.00015464305854973048
    ],
    "min_front_frame": [
      9,
      11.951796364464618
    ],
    "v_avg": 2.225027363269626,
    "v_std": 1.241577819743105,
    "vy_max": 0.034911745075908746,
    "a_max": 1.118456303853726,
    "ax_avg": -0.7968263894786224,
    "a_std": 0.32206243613026225,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "69f50b1f6c4d5f4b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.478465344607216,
    "right_rear_min": 21.516584324542425,
    "speed_mode": "decelerating",
    "front_frame": [
      14.9755966298892,
      14.530685790847851,
      14.04840229390773,
      13.679270362469635,
      13.408273538571988,
      13.167481108850495,
      12.81058320309244,
      12.488005345506332,
      12.222609758845943,
      11.951796364464618
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "69f50b1f6c4d5f4b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "024d89a3e1e752dc": {
    "vx_ego": [
      8.501671642070008,
      8.531506498855514,
      8.480721132743287,
      8.352616820764505,
      8.232052659174682,
      8.117352405101036,
      8.09322206934921,
      8.217093481789268,
      8.401522988392003,
      8.586734042137781
    ],
    "vy_ego": [
      -0.007355166964377879,
      0.011863368794493123,
      0.024043056952844477,
      0.03504088361976443,
      0.0066896127497937385,
      -0.0024726199929063775,
      -0.003801880551618897,
      0.001216884017972486,
      0.03336139895474677,
      0.08547630086930313
    ],
    "v_ego": [
      8.501674823707292,
      8.531514747073524,
      8.480755214009317,
      8.352690322168241,
      8.232055377264157,
      8.117352781692391,
      8.093222962336874,
      8.217093571894528,
      8.401589225106134,
      8.587159466809624
    ],
    "ax_ego": [
      0.0591902423906705,
      0.06009182806513863,
      -0.26376990732691713,
      -0.24912265819153262,
      -0.234102055909027,
      -0.2246575657527039,
      0.12822483532367077,
      0.36693227527651545,
      0.37089467374833845,
      0.37073585671973885
    ],
    "ay_ego": [
      0.14480769528308363,
      0.14443588462295903,
      0.08471343946657989,
      0.1133032317106497,
      0.02050611833498124,
      -0.08017769738833638,
      -0.13279365123634507,
      -0.018544024103800766,
      0.04726520662839526,
      0.04849518991341306
    ],
    "a_ego": [
      0.1564376981659623,
      0.1564376954797881,
      0.2770395835210347,
      0.2736781342023735,
      0.23499845418640833,
      0.2385361293565948,
      0.18459621394400952,
      0.36740056541813165,
      0.37389418124987095,
      0.3738941814236439
    ],
    "yaw": [
      -0.584159951773761,
      -0.5779258955987052,
      -0.572648058860985,
      -0.5680720614865828,
      -0.5606173066183338,
      -0.5613214900544881,
      -0.5677614174452761,
      -0.573035435516078,
      -0.5760399801289882,
      -0.5793569435553342
    ],
    "yaw_diff": [
      0.012468112350111582,
      0.010555673475440397,
      0.009151994748804348,
      0.014909509736498183,
      -0.0014083668723086085,
      -0.01287985478157605,
      -0.010548036141603934,
      -0.006009089225820219,
      -0.00663392685269204,
      -0.00663392685269204
    ],
    "min_front_frame": [
      3,
      17.52258382269397
    ],
    "v_avg": 8.351510849206209,
    "v_std": 0.1683966987468597,
    "vy_max": 0.08547630086930313,
    "a_max": 0.3738941814236439,
    "ax_avg": 0.0384417524343892,
    "a_std": 0.08126600815340602,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "024d89a3e1e752dc",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 35.68729331556055,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      30.093124387734427,
      25.843620862957927,
      21.610072979763608,
      17.52258382269397,
      24.809137317038836,
      20.698559242974905,
      23.136012233366127,
      24.628439011631595,
      20.50507990032963,
      20.86453142414978
    ],
    "safe_frame": [
      1,
      1,
      0,
      0,
      1,
      0,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "024d89a3e1e752dc",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "7bea1ee3e6bc584d": {
    "vx_ego": [
      0.7190809419328077,
      0.43966074405553723,
      0.17031248727577236,
      -0.0024343478402972154,
      -0.035287777038523684,
      -0.0190029893831354,
      -0.010408939886056234,
      -0.006549198813359924,
      -0.004470284459055196,
      -0.0029153254142588654
    ],
    "vy_ego": [
      0.022565518824267217,
      0.01846664262966627,
      0.01932798201723125,
      0.020461788985144197,
      0.012157622492054704,
      0.004381878440090707,
      0.002294768928048482,
      0.0015548458026125676,
      0.0012150886102235954,
      0.0005341920380326545
    ],
    "v_ego": [
      0.7194349197048906,
      0.44004839137699436,
      0.17140570063716823,
      0.02060608788392712,
      0.03732338399689763,
      0.019501652857111588,
      0.010658892718508296,
      0.006731236926956066,
      0.00463248135188535,
      0.002963862919320174
    ],
    "ax_ego": [
      -0.5588187980749313,
      -0.5588135774361849,
      -0.51855301037062,
      -0.17241462852462025,
      0.04099206251048999,
      0.024144480496893845,
      0.01023289379052022,
      0.005205695936414815,
      0.003109964660260055,
      0.003110035647339025
    ],
    "ay_ego": [
      -0.008715749042689902,
      -0.009044931881719398,
      0.012002631029649408,
      -0.007503287482299101,
      -0.025735014312894502,
      -0.005379300117481346,
      -0.0029640646648875922,
      2.536691886687297e-06,
      -0.0013615139677726749,
      -0.0013613719934050194
    ],
    "a_ego": [
      0.5588867625586474,
      0.5588867730764183,
      0.5186919005691781,
      0.17257781854086818,
      0.048400827994454845,
      0.024736467173362125,
      0.010653534374361518,
      0.005205696554469099,
      0.0033949374769657445,
      0.0033949455713084744
    ],
    "yaw": [
      2.2161207261456424,
      2.2155316403448957,
      2.2151251902967943,
      2.21490457493845,
      2.2150234184326103,
      2.2151367361231693,
      2.2150391022183715,
      2.215097850114269,
      2.215095852257091,
      2.2150484427912813
    ],
    "yaw_diff": [
      -0.0011781716014933608,
      -0.0008129000962027177,
      -0.00044123071668877856,
      0.00023768698832071777,
      0.00022663538111800108,
      -0.00019526780959555623,
      0.00011749579179465286,
      -3.995714355831126e-06,
      -9.481893161922272e-05,
      -9.481893161922272e-05
    ],
    "min_front_frame": [
      3,
      15.999282383588444
    ],
    "v_avg": 0.14333066103736597,
    "v_std": 0.23185328269134975,
    "vy_max": 0.022565518824267217,
    "a_max": 0.5588867730764183,
    "ax_avg": -0.17218048813644382,
    "a_std": 0.2374476376159304,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7bea1ee3e6bc584d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 45.319915550408105,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      16.50639834781595,
      16.187918041138953,
      16.02272561337503,
      15.999282383588444,
      16.05581564715668,
      16.001666704855843,
      16.017991373693604,
      16.01228474894127,
      16.012454312551256,
      16.03148010258049
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7bea1ee3e6bc584d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7dae0a8be0545755": {
    "vx_ego": [
      0.013555079548213174,
      0.3425520603850474,
      0.8800777116835381,
      1.6308863029158283,
      2.344104482917249,
      2.967268624795776,
      3.436779695017952,
      3.604563739508345,
      3.502517562532364,
      3.4392335354275634
    ],
    "vy_ego": [
      -0.01675220866609962,
      0.027053214591388028,
      0.036625106778783,
      0.010927909860452223,
      -0.006579882013285632,
      -0.009463936528298023,
      0.0018397498836821846,
      0.03752869057747876,
      0.05618609067600766,
      0.028296519110370122
    ],
    "v_ego": [
      0.021549400844360623,
      0.34361867017635817,
      0.8808394729169953,
      1.6309229142581745,
      2.3441137177364184,
      2.967283717104252,
      3.436780187438138,
      3.6047590980251156,
      3.502968191781522,
      3.439349939189576
    ],
    "ax_ego": [
      0.6578060941379857,
      0.6581080004155948,
      1.4909195461687763,
      1.5115803818300972,
      1.3413526814019663,
      1.1553315986217945,
      0.7458473880242704,
      -0.01943609371917665,
      -0.3119620339791519,
      0.10282508165047166
    ],
    "ay_ego": [
      0.0899391984151316,
      0.08770280048985285,
      -0.03794654150540233,
      -0.022790764696815735,
      -0.06383587951962888,
      -0.34517984310827765,
      -0.8579807004716851,
      -1.3739268618784906,
      -1.6995976499223344,
      -1.7249288363304662
    ],
    "a_ego": [
      0.6639261381333235,
      0.6639261415434518,
      1.4914023713137683,
      1.5117521852767697,
      1.3428708185891485,
      1.2057944380624113,
      1.1368461675198234,
      1.3740643302008597,
      1.7279908802612158,
      1.7279908818685366
    ],
    "yaw": [
      2.672783139263174,
      2.67618212833311,
      2.6818349015576266,
      2.690225683929489,
      2.6881603090493638,
      2.6510715652836074,
      2.555210914956386,
      2.3914156847902697,
      2.1730630982941816,
      1.9319924635730477
    ],
    "yaw_diff": [
      0.006797978139872818,
      0.01130554644903281,
      0.01678156474372461,
      -0.004130749760250296,
      -0.07417748753151265,
      -0.19172130065444293,
      -0.3275904603322326,
      -0.43670517299217604,
      -0.482141269442268,
      -0.482141269442268
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.2172185309470906,
    "v_std": 1.326614032210971,
    "vy_max": 0.05618609067600766,
    "a_max": 1.7279908818685366,
    "ax_avg": 0.7332372644552627,
    "a_std": 0.3602039975747951,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "7dae0a8be0545755",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 43.11092732755279,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "7dae0a8be0545755",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "35f13a6de1575fdc": {
    "vx_ego": [
      0.5022022933042029,
      0.16536240831952523,
      -0.020387179297705983,
      -0.031904774981263075,
      -0.020196412260034238,
      -0.01142363692253404,
      -0.007206262215133692,
      -0.005005763396561362,
      -0.0036460532135575295,
      -0.002470778869341893
    ],
    "vy_ego": [
      -0.014546358929507064,
      -0.0006361030070018148,
      0.013331485762558734,
      0.013940132206144462,
      0.0030951163902269716,
      0.001844998045081378,
      0.001382750503708714,
      0.0009280502715958907,
      0.0005945274018791422,
      0.0003159566107551673
    ],
    "v_ego": [
      0.5024129177858653,
      0.1653636317703167,
      0.024359096706448653,
      0.03481726515006336,
      0.02043220041127027,
      0.011571667914533198,
      0.0073377254015648645,
      0.0050910651625139065,
      0.003694207204215588,
      0.002490898793822482
    ],
    "ax_ego": [
      -0.6737266021518147,
      -0.6739796815859839,
      -0.0690203732883552,
      0.02290075011868831,
      0.0239386691104052,
      0.01115411653739688,
      0.005714186042233328,
      0.003088371860443325,
      0.0023504893956246458,
      0.002350439721105848
    ],
    "ay_ego": [
      0.02338359890828398,
      0.014342735712805005,
      0.04152579288728489,
      -0.03916935059260021,
      -0.0041730428692972775,
      -0.0008158147459211423,
      -0.0010395067596113315,
      -0.0007764260030346769,
      -0.0005575843303028949,
      -0.0005577913640061849
    ],
    "a_ego": [
      0.6741322771867054,
      0.6741322757875279,
      0.08054938487525262,
      0.045372705251556615,
      0.02429967418642606,
      0.011183911186588213,
      0.005807968356364542,
      0.003184474538533252,
      0.0024157194962046483,
      0.0024157189588840866
    ],
    "yaw": [
      -0.3004146141218649,
      -0.3138310720739039,
      -0.313686390018453,
      -0.3131674323659037,
      -0.3135273106229691,
      -0.3137320051395368,
      -0.3135491955844847,
      -0.3136738927647928,
      -0.31367971284447793,
      -0.31358961006725783
    ],
    "yaw_diff": [
      -0.026832915904078103,
      0.00028936411090185743,
      0.001037915305098558,
      -0.0007197565141308093,
      -0.00040938903313536557,
      0.00036561911010424275,
      -0.00024939436061621745,
      -1.1640159370274183e-05,
      0.0001802055544402048,
      0.0001802055544402048
    ],
    "min_front_frame": [
      8,
      7.610039642910095
    ],
    "v_avg": 0.07775706763006143,
    "v_std": 0.1489156988920903,
    "vy_max": 0.014546358929507064,
    "a_max": 0.6741322771867054,
    "ax_avg": -0.13452296342402564,
    "a_std": 0.2619395362923396,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "35f13a6de1575fdc",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 45.16101389940237,
    "speed_mode": "quasi_constant",
    "front_frame": [
      7.802244595184529,
      7.630721399269248,
      7.625400773411801,
      7.63597021771752,
      7.635234203967176,
      7.613137678195296,
      7.628196217558787,
      7.634097801808714,
      7.610039642910095,
      7.625100557129335
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "35f13a6de1575fdc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4e1e5dfc07e459cd": {
    "vx_ego": [
      4.344450762300268,
      3.832009868231997,
      3.23872170194385,
      2.5133163557914164,
      1.7776452442445232,
      1.1080101085413507,
      0.54651291178591,
      0.15549802674014748,
      -0.022668190024609118,
      -0.07638539474054427
    ],
    "vy_ego": [
      -0.05340205554263222,
      -0.005607748888152075,
      0.004208268646880287,
      -0.006562482475101383,
      -0.0014844948955519133,
      0.0024274960554782066,
      -0.0007539244357623043,
      -0.005195021326152308,
      -0.0025582182811037966,
      0.011149945022376533
    ],
    "v_ego": [
      4.344778959347364,
      3.8320139714091597,
      3.23872443597276,
      2.513324923376379,
      1.7776458640883075,
      1.1080127676912912,
      0.5465134318118527,
      0.15558478256776526,
      0.022812087141810634,
      0.07719488197847567
    ],
    "ax_ego": [
      -1.0289761751891422,
      -1.0239752388683891,
      -1.3501782281706318,
      -1.5516392056089423,
      -1.391298691398256,
      -1.2872064258017302,
      -0.9587882235379583,
      -0.6052740319253236,
      -0.10743188275816498,
      -0.10743498615617952
    ],
    "ay_ego": [
      -0.14393068486156202,
      -0.176019111572002,
      -0.0868517146757587,
      -0.04502521529117931,
      0.021823322807811407,
      -0.015934013943087022,
      -0.0016395309828986515,
      -0.016904604876355672,
      0.027433599668386266,
      0.02742144775528424
    ],
    "a_ego": [
      1.038993749332302,
      1.0389937523653219,
      1.352968760972738,
      1.552292335352709,
      1.3914698365774492,
      1.2873050436573312,
      0.9587896253385921,
      0.6055100489580362,
      0.11087926687947296,
      0.11087926788797926
    ],
    "yaw": [
      2.7297551723415214,
      2.6984969293721566,
      2.6773761409220196,
      2.669724698359237,
      2.6646064872122937,
      2.662900206685257,
      2.6613586713316657,
      2.6607233029475346,
      2.659633917703168,
      2.659520816345445
    ],
    "yaw_diff": [
      -0.06251648593872972,
      -0.04224157690027397,
      -0.015302885125564991,
      -0.010236422293886882,
      -0.003412561054073393,
      -0.0030830707071825003,
      -0.0012707367682622817,
      -0.0021787704887330506,
      -0.00022620271544582238,
      -0.00022620271544582238
    ],
    "min_front_frame": [
      8,
      10.683315838640077
    ],
    "v_avg": 1.7616606105385166,
    "v_std": 1.55081180245648,
    "vy_max": 0.05340205554263222,
    "a_max": 1.552292335352709,
    "ax_avg": -0.9412203089414721,
    "a_std": 0.48748109753974017,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4e1e5dfc07e459cd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.240366564454195,
      16.190555973514755,
      14.440309035093538,
      12.99480092519997,
      11.951771740383291,
      11.25337979197619,
      10.847743573964491,
      10.706705784240212,
      10.683315838640077,
      10.696045835249905
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4e1e5dfc07e459cd",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2de3f6af0a69509d": {
    "vx_ego": [
      7.381438043051003,
      6.904921000398157,
      6.424403672705653,
      5.889642205024867,
      5.264920229158542,
      4.612418290314557,
      4.016931602041655,
      3.5335519825568427,
      3.13101890530152,
      2.742374086374687
    ],
    "vy_ego": [
      -0.0665008574554502,
      -0.04021590695639299,
      -0.02489876817813963,
      -0.021137938697289638,
      -0.029585550151981277,
      -0.022487921946519496,
      0.005028010225254231,
      0.005170392709157312,
      -0.011406111641654393,
      -0.009941984144739235
    ],
    "v_ego": [
      7.381737596761547,
      6.905038112922463,
      6.4244519220343355,
      5.889680136956721,
      5.265003354621974,
      4.612473110107173,
      4.016934748831223,
      3.5335557652868816,
      3.1310396811184478,
      2.7423921077533993
    ],
    "ax_ego": [
      -0.9552330568014016,
      -0.9535186650790701,
      -0.9702278833269689,
      -1.1697427338534376,
      -1.3297881381016925,
      -1.2814495685594882,
      -1.100675336243382,
      -0.8327602796465592,
      -0.7772934774530212,
      -0.7772938204169677
    ],
    "ay_ego": [
      -0.12622661757427694,
      -0.13858393951744202,
      -0.11426086753758313,
      -0.08520291095550336,
      -0.12340705069094732,
      0.00958526055962794,
      0.0016278875354334699,
      -0.03366041569724121,
      0.0018958870146359996,
      0.0017495798973101162
    ],
    "a_ego": [
      0.963536896953299,
      0.9635368975531482,
      0.9769327978093332,
      1.172841677055435,
      1.3355020750250461,
      1.2814854169990755,
      1.1006765400572096,
      0.8334402839687596,
      0.777295789566998,
      0.7772957894445475
    ],
    "yaw": [
      1.1135834262145567,
      1.100635540411208,
      1.0888565744789829,
      1.08018191172571,
      1.0723737257262684,
      1.0651660202880768,
      1.0594083019781153,
      1.057230041451282,
      1.0598268693388015,
      1.0596386439682228
    ],
    "yaw_diff": [
      -0.025895771606697426,
      -0.02355793186445032,
      -0.017349325506545554,
      -0.015616371998883327,
      -0.014415410876383206,
      -0.011515436619923047,
      -0.004356521053666462,
      0.005193655775038941,
      -0.00037645074115744137,
      -0.00037645074115744137
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.990230653639416,
    "v_std": 1.5507601275868526,
    "vy_max": 0.0665008574554502,
    "a_max": 1.3355020750250461,
    "ax_avg": -1.014798295948199,
    "a_std": 0.18936766816605818,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2de3f6af0a69509d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.178404394173374,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2de3f6af0a69509d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b2c6c9741b7b5638": {
    "vx_ego": [
      3.883803347133357,
      3.8083893310291117,
      3.73286599836459,
      3.6301078998828906,
      3.517299666481713,
      3.4281035721665947,
      3.336855561456585,
      3.219723821101802,
      3.081887489662733,
      2.974204372624415
    ],
    "vy_ego": [
      0.03663901428896321,
      -0.017262675149394946,
      -0.004475600267757729,
      0.008904833125708667,
      0.02437511643443746,
      0.020145666578650134,
      0.02940748370789026,
      0.04865835724795037,
      0.04647190908388075,
      -0.004381067157567864
    ],
    "v_ego": [
      3.883976165808994,
      3.808428454973216,
      3.7328686814224024,
      3.6301188218631584,
      3.517384126042187,
      3.4281627658825164,
      3.33698514202892,
      3.220091476946029,
      3.082237845668884,
      2.974207599325849
    ],
    "ax_ego": [
      -0.1566160325723045,
      -0.14360404977215924,
      -0.1510112870381654,
      -0.25147135267512233,
      -0.18301139041521874,
      -0.16046187365021408,
      -0.19398775246118377,
      -0.2597036046585147,
      -0.26416699501501034,
      -0.15419998538528715
    ],
    "ay_ego": [
      -0.3721598223807191,
      -0.3773716892081799,
      -0.6697629909130679,
      -0.8161723723051115,
      -0.9450915573114124,
      -0.9624488458188897,
      -0.913542946838824,
      -0.8170660135285279,
      -0.8533838247150648,
      -0.8799264271721434
    ],
    "a_ego": [
      0.4037716124904493,
      0.40377161233400233,
      0.686576195924197,
      0.8540346494905282,
      0.9626480253566317,
      0.9757334644837442,
      0.9339121820727599,
      0.8573463901691233,
      0.8933354093175603,
      0.8933354088631863
    ],
    "yaw": [
      0.85237584740077,
      0.8176590236497172,
      0.7448907148105184,
      0.64079973327216,
      0.5131283974339553,
      0.3771218388041103,
      0.23613754454259425,
      0.09885090444272199,
      -0.03278290140721269,
      -0.1594997692177857
    ],
    "yaw_diff": [
      -0.06943364750210557,
      -0.14553661767839765,
      -0.20818196307671677,
      -0.25534267167640934,
      -0.27201311725969,
      -0.28196858852303214,
      -0.27457328019974453,
      -0.26326761169986934,
      -0.253433735621146,
      -0.253433735621146
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.461446107996216,
    "v_std": 0.29329657343551785,
    "vy_max": 0.04865835724795037,
    "a_max": 0.9757334644837442,
    "ax_avg": -0.19182343236431804,
    "a_std": 0.20589373638313782,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "b2c6c9741b7b5638",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b2c6c9741b7b5638",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1693d395bec753ae": {
    "vx_ego": [
      0.3499384599670477,
      1.2305340323657736,
      2.1336648458719853,
      3.0656225838590068,
      3.9470047662073555,
      4.692448537798817,
      5.278249251599461,
      5.768164311895869,
      6.177078091110911,
      6.539676395769352
    ],
    "vy_ego": [
      0.0017998007996993803,
      0.02450780508108258,
      0.02849961911890797,
      0.015416348603555563,
      0.03032193316804066,
      0.02731398849828448,
      0.019144637323617264,
      0.016034211394087006,
      0.0034937080454987557,
      -0.06328486218588869
    ],
    "v_ego": [
      0.34994308829726534,
      1.2307780617642903,
      2.13385517381097,
      3.0656613463444784,
      3.9471212350388516,
      4.692528032293247,
      5.278283971059962,
      5.768186597620103,
      6.1770790791180845,
      6.539982594408391
    ],
    "ax_ego": [
      1.761172673093251,
      1.7611898546915203,
      1.8513016983232866,
      1.8765728457437725,
      1.6489878812083942,
      1.3313341413967958,
      1.0134715868699664,
      0.9460685245546561,
      0.6943025750611235,
      0.7632721567692371
    ],
    "ay_ego": [
      0.04633488256102991,
      0.045677300600566406,
      -0.028228040920402542,
      -0.029230362558128498,
      0.16552383301396956,
      0.2869764274440727,
      0.5471490663514603,
      0.6835882067325803,
      0.9003236830624448,
      0.8426472665013148
    ],
    "a_ego": [
      1.7617820823791948,
      1.7617820864279705,
      1.8515168917697968,
      1.8768004847287738,
      1.657274621680965,
      1.3619126498998777,
      1.151736410035735,
      1.1671925674612946,
      1.1369427426302665,
      1.1369427430795715
    ],
    "yaw": [
      -0.33641793732828396,
      -0.33604457022061707,
      -0.3358228216675846,
      -0.3363163068483017,
      -0.3308936671525238,
      -0.30425576796357,
      -0.2611386272328239,
      -0.20496840132914768,
      -0.13695462143825748,
      -0.057855634561384706
    ],
    "yaw_diff": [
      0.0007467342153337775,
      0.0004434971060649495,
      -0.0009869703614342473,
      0.010845279391555884,
      0.053275798377907524,
      0.08623428146149226,
      0.11234045180735241,
      0.13602755978178038,
      0.15819797375374556,
      0.15819797375374556
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9183419179755647,
    "v_std": 2.0424098584980888,
    "vy_max": 0.06328486218588869,
    "a_max": 1.8768004847287738,
    "ax_avg": 1.3647673937712004,
    "a_std": 0.30663048704241413,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "1693d395bec753ae",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.023359877989759,
    "right_rear_min": 29.366676756466205,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1693d395bec753ae",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "3e1e7bc23c515108": {
    "vx_ego": [
      0.5702909158302547,
      1.4246688294948853,
      2.2127995959418474,
      2.885201832158687,
      3.451178989867058,
      3.841483278850991,
      4.014816593743849,
      4.216712575939843,
      4.447061587022753,
      4.579393350490569
    ],
    "vy_ego": [
      0.010080431616130092,
      0.033644058150369416,
      0.05032188678071936,
      0.04137369925531087,
      0.011462681013645115,
      -0.007008006717011517,
      -0.025316722447950024,
      0.009589450558033619,
      0.03642795317958436,
      0.014353387798752504
    ],
    "v_ego": [
      0.5703799994565711,
      1.4250660322887327,
      2.213371713944491,
      2.885498465652324,
      3.4511980257811676,
      3.841489671188757,
      4.014896414334555,
      4.216723479865763,
      4.447210783687477,
      4.579415844652956
    ],
    "ax_ego": [
      1.7087845613181005,
      1.7087646220871353,
      1.4430109852549826,
      1.24489107327721,
      1.0181762907878573,
      0.5430193945865438,
      0.15019619337372517,
      0.6569210214549615,
      0.26466606306516244,
      0.264670105341429
    ],
    "ay_ego": [
      0.045899074277743535,
      0.04663562118281994,
      0.05376176184939063,
      -0.007436978528542748,
      -0.01305183790463138,
      -0.04899917874910453,
      -0.054469084470466334,
      0.13387495195164623,
      -0.044971200620277416,
      -0.04494745002220579
    ],
    "a_ego": [
      1.7094008897911124,
      1.7094008935471217,
      1.4440121296594797,
      1.244913287331659,
      1.018259942055666,
      0.5452256252371336,
      0.1597678868452864,
      0.6704235461180383,
      0.2684595571471461,
      0.2684595647857267
    ],
    "yaw": [
      2.205426584655017,
      2.2049955453206476,
      2.2095429058534055,
      2.2175192619128783,
      2.225274136371382,
      2.22607234183079,
      2.2241719471655177,
      2.2204569628311814,
      2.2194040862000364,
      2.219314328442914
    ],
    "yaw_diff": [
      -0.0008620786687387749,
      0.009094721065515898,
      0.015952712118945556,
      0.015509748917007293,
      0.00159641091881646,
      -0.0038007893305449514,
      -0.007429968668672515,
      -0.002105753262290122,
      -0.00017951551424477685,
      -0.00017951551424477685
    ],
    "min_front_frame": [
      0,
      12.797563854656243
    ],
    "v_avg": 3.1645250430852796,
    "v_std": 1.2944407618618157,
    "vy_max": 0.05032188678071936,
    "a_max": 1.7094008935471217,
    "ax_avg": 0.9003100310547107,
    "a_std": 0.5712453907765495,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3e1e7bc23c515108",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.392263792785073,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      12.797563854656243,
      13.637932136673,
      14.77012199166662,
      16.04576975317083,
      17.271985653671813,
      18.11484857840435,
      18.63435971843662,
      19.022727229628785,
      19.274720812021393,
      19.33258743944266
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3e1e7bc23c515108",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "52a862ac6c845dbb": {
    "vx_ego": [
      7.152231965057724,
      7.253901385834948,
      7.344078950658672,
      7.447402270756217,
      7.528525847771537,
      7.559364440809826,
      7.671357343080945,
      7.904853666254621,
      8.152368751287682,
      8.390235990133027
    ],
    "vy_ego": [
      -0.02140755024980745,
      0.08640632272933013,
      0.04187870065595645,
      -0.0015747214514107988,
      -0.05487213037658556,
      -0.05747973925608463,
      -0.0032043036007065595,
      0.05411495254839771,
      -0.008367597776302915,
      -0.00837006395105977
    ],
    "v_ego": [
      7.152264002761725,
      7.254415990831087,
      7.344198353739938,
      7.4474024372402825,
      7.528725814588827,
      7.559582969278464,
      7.6713580122950535,
      7.905038893831481,
      8.15237304554106,
      8.390240165102194
    ],
    "ax_ego": [
      0.20432500814502352,
      0.2041967316837307,
      0.15465129184836426,
      0.26231777833074343,
      0.08927875020902942,
      0.050599274837163755,
      0.3979957492684944,
      0.5318535958146424,
      0.449809594492391,
      0.5027912540329147
    ],
    "ay_ego": [
      0.007475160902350064,
      0.010405707019948848,
      0.30140507164256747,
      0.6547395566778551,
      1.211835704931892,
      1.1781366936963638,
      0.9551089126355589,
      1.0106752648142845,
      0.949297285365773,
      0.9223312577646661
    ],
    "a_ego": [
      0.2044617005308817,
      0.20446169315767324,
      0.3387654635322632,
      0.7053329028955698,
      1.2151199409879923,
      1.1792227760893386,
      1.0347142849268438,
      1.1420738760204565,
      1.0504732301683062,
      1.0504732239242187
    ],
    "yaw": [
      0.47443477215984253,
      0.46008787639738213,
      0.4768537046868714,
      0.5151149233849828,
      0.5843242140423188,
      0.663778770464213,
      0.7270223408207068,
      0.7828701212043686,
      0.8515686589193119,
      0.9081691194505037
    ],
    "yaw_diff": [
      -0.028693791524920798,
      0.0335316565789785,
      0.07652243739622278,
      0.1384185813146721,
      0.15890911284378828,
      0.12648714071298772,
      0.11169556076732357,
      0.13739707542988655,
      0.11320092106238366,
      0.11320092106238366
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.640559968521011,
    "v_std": 0.3777055674820766,
    "vy_max": 0.08640632272933013,
    "a_max": 1.2151199409879923,
    "ax_avg": 0.28478190286624977,
    "a_std": 0.3928332223879888,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "52a862ac6c845dbb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "52a862ac6c845dbb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1665bb5ab9d55dca": {
    "vx_ego": [
      5.897761283244878,
      5.638154885475027,
      5.4000996159085375,
      5.131781175656107,
      4.80106935441412,
      4.524860282976899,
      4.415749085015227,
      4.421526228197491,
      4.476968727826076,
      4.595266852636936
    ],
    "vy_ego": [
      -0.04175044417465612,
      -0.03041805080178417,
      -0.04118963965594569,
      -0.04188439715964365,
      -0.07674999901314461,
      -0.018675527407944204,
      0.024979669617421485,
      0.004281719866841782,
      -0.020171444045437914,
      -0.06484995223493062
    ],
    "v_ego": [
      5.8979090577704785,
      5.63823693812352,
      5.4002567020606085,
      5.131952098134179,
      4.801682778801921,
      4.524898822712586,
      4.415819738814868,
      4.42152830136406,
      4.477014169855565,
      4.595724422030616
    ],
    "ax_ego": [
      -0.5491111712974863,
      -0.4764093903402832,
      -0.4505073547186321,
      -0.595471317683129,
      -0.6891888855807464,
      -0.3978305265246696,
      -0.056234896799968855,
      0.07226846765343564,
      0.16615773066199,
      0.3282850336249774
    ],
    "ay_ego": [
      0.9063579954269435,
      0.9465949418209454,
      1.1758027855402415,
      1.3076036485979181,
      1.3724510127291172,
      1.2649360455826923,
      0.9901541547599136,
      0.986184657647027,
      1.1834070383548436,
      1.149038531627723
    ],
    "a_ego": [
      1.0597206680621287,
      1.0597206665368941,
      1.2591541077802075,
      1.4368066647986673,
      1.5357744308163261,
      1.3260212393658235,
      0.9917497737869276,
      0.9888290602502333,
      1.1950148994412264,
      1.195014899684245
    ],
    "yaw": [
      -2.1915777869034287,
      -2.113146752036861,
      -2.0150778793114403,
      -1.897586575108321,
      -1.7562275297390177,
      -1.626448582648178,
      -1.5091119082916014,
      -1.3923172206733883,
      -1.2647497352790036,
      -1.1259538301511194
    ],
    "yaw_diff": [
      0.1568620697331351,
      0.19613774545084173,
      0.23498260840623875,
      0.28271809073860643,
      0.2595578941816794,
      0.23467334871315337,
      0.2335893752364262,
      0.25513497078876934,
      0.2775918102557684,
      0.2775918102557684
    ],
    "min_front_frame": [
      0,
      63.57143701041529
    ],
    "v_avg": 4.930502302966841,
    "v_std": 0.5216133054349658,
    "vy_max": 0.07674999901314461,
    "a_max": 1.5357744308163261,
    "ax_avg": -0.2648042311004512,
    "a_std": 0.17757857082544726,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "1665bb5ab9d55dca",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 34.71925803676495,
    "right_rear_min": 7.168374952043233,
    "speed_mode": "decelerating",
    "front_frame": [
      63.57143701041529,
      72.96984147009319,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "1665bb5ab9d55dca",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "3b5ea54bfd575d68": {
    "vx_ego": [
      4.398136097902825,
      4.523735070577411,
      4.657491011215983,
      4.7663416622334704,
      4.892796151501053,
      5.011708998527845,
      5.121100022207376,
      5.261380304329089,
      5.41312029893375,
      5.562590108308877
    ],
    "vy_ego": [
      -0.09237094771077836,
      -0.03350367002170884,
      -0.008880196448720845,
      0.005278522794080587,
      0.014730543550497632,
      0.007023555011699045,
      0.003058464492392332,
      -0.01779762159828202,
      -0.0222796354398751,
      -0.021689482836205087
    ],
    "v_ego": [
      4.399105991864355,
      4.5238591362549005,
      4.657499476913191,
      4.766344585103495,
      4.8928183257767515,
      5.0117139200327445,
      5.121100935507661,
      5.26141040616645,
      5.413166148649415,
      5.5626323936353606
    ],
    "ax_ego": [
      0.20008622265157222,
      0.32931809775677295,
      0.21546255176533508,
      0.213012754988321,
      0.280745367481771,
      0.1808179868507377,
      0.2534743580729921,
      0.3077535705070732,
      0.2989260706538597,
      0.29892670869014215
    ],
    "ay_ego": [
      1.1474158463217226,
      1.1172050897289776,
      1.116041217772666,
      0.9731543868181154,
      0.7824111417368353,
      0.41318382125673125,
      0.2619457049193255,
      0.21095147427938604,
      -0.002165277513579783,
      -0.0020753840294828185
    ],
    "a_ego": [
      1.1647307074535167,
      1.1647307079434595,
      1.136649511054628,
      0.9961947070583423,
      0.8312551690524473,
      0.4510166454988862,
      0.3645062448384085,
      0.3731122949736427,
      0.2989339126684477,
      0.29893391307643724
    ],
    "yaw": [
      0.5004735275854184,
      0.6144810126878948,
      0.7302486280711267,
      0.8379788195954856,
      0.9269949254164408,
      0.9887319191587489,
      1.022886490023951,
      1.0497113025974374,
      1.0603284390893555,
      1.0600277172586412
    ],
    "yaw_diff": [
      0.22801497020495276,
      0.23153523076646376,
      0.21546038304871784,
      0.1780322116419104,
      0.12347398748461624,
      0.06830914173040403,
      0.05364962514697291,
      0.021234272983836178,
      -0.0006014436614285579,
      -0.0006014436614285579
    ],
    "min_front_frame": [
      9,
      24.264481104898387
    ],
    "v_avg": 4.960965131990433,
    "v_std": 0.3641888828840907,
    "vy_max": 0.09237094771077836,
    "a_max": 1.1647307079434595,
    "ax_avg": 0.2578523689418577,
    "a_std": 0.3646974930107755,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "3b5ea54bfd575d68",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      32.21532531320147,
      29.65636398646063,
      27.012917890463356,
      24.264481104898387
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "3b5ea54bfd575d68",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "d151cc1bccd958d3": {
    "vx_ego": [
      8.001566565630322,
      7.930195911905576,
      7.855747906133464,
      7.751258666184302,
      7.643410465593943,
      7.532600148830257,
      7.4008573560924,
      7.261342376125101,
      7.156102110721771,
      7.087836957031515
    ],
    "vy_ego": [
      -0.04676728154223797,
      -0.02938248157964196,
      -0.03554390270007168,
      -0.0632650393071903,
      -0.025760958404659196,
      0.006213040205990783,
      0.023011107264085506,
      0.04253545892971289,
      0.07001930983564453,
      0.12218345221544036
    ],
    "v_ego": [
      8.001703236363861,
      7.930250344814323,
      7.855828316208257,
      7.751516843514938,
      7.643453877176793,
      7.532602711150124,
      7.400893129635404,
      7.261466957067042,
      7.156444656589363,
      7.0888900065847436
    ],
    "ax_ego": [
      -0.16232457555933405,
      -0.13002948905803385,
      -0.177094088509867,
      -0.24613544318930786,
      -0.18975423527816776,
      -0.25375969288124933,
      -0.27232546815094644,
      -0.2845113680977329,
      -0.1353902757145415,
      -0.13552984302989074
    ],
    "ay_ego": [
      -0.6965707011739639,
      -0.7033152499927668,
      -0.43220696937884484,
      -0.2729439252535993,
      -0.10779770567203122,
      -0.14213740658766116,
      -0.1662144077207249,
      -0.10779534801060281,
      0.02546755905955523,
      0.024713999973275662
    ],
    "a_ego": [
      0.7152342340551839,
      0.7152342335886066,
      0.4670815566523541,
      0.3675337300532284,
      0.21823614538878777,
      0.29085567569269144,
      0.3190429280482229,
      0.3042475236210981,
      0.13776473903910066,
      0.13776472751174698
    ],
    "yaw": [
      2.5997252615587607,
      2.5535938471707436,
      2.518438051576769,
      2.4994212090127608,
      2.482167470447769,
      2.469732440430251,
      2.457162596239395,
      2.4451579239970282,
      2.4384729345925567,
      2.4329100698461463
    ],
    "yaw_diff": [
      -0.09226282877603431,
      -0.0703115911879495,
      -0.03803368512801608,
      -0.034507477129983144,
      -0.024870060035036445,
      -0.025139688381711878,
      -0.024009344484733575,
      -0.013369978808943195,
      -0.011125729492820646,
      -0.011125729492820646
    ],
    "min_front_frame": [
      9,
      35.4283002849004
    ],
    "v_avg": 7.562305007910486,
    "v_std": 0.3103676378616959,
    "vy_max": 0.12218345221544036,
    "a_max": 0.7152342340551839,
    "ax_avg": -0.19868544794690718,
    "a_std": 0.1979428908518823,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d151cc1bccd958d3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 27.22701165084364,
    "speed_mode": "decelerating",
    "front_frame": [
      56.73581125519674,
      55.800349500368924,
      54.338971882577354,
      52.30086552553928,
      49.820830955675326,
      46.775912726805274,
      43.6347185389414,
      40.681355054417274,
      37.86981571126611,
      35.4283002849004
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d151cc1bccd958d3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0f3edc5110485b13": {
    "vx_ego": [
      6.117937705643956,
      5.927248956829505,
      5.854171642613707,
      5.86605112889935,
      5.862666763226136,
      5.784177472441627,
      5.639286417675619,
      5.433334179471004,
      5.135187863446772,
      4.777949186447343
    ],
    "vy_ego": [
      0.01075459739626572,
      -0.07286056252964412,
      -0.05605956131487311,
      -0.06330322132480282,
      -0.061528968639728454,
      -0.009352388468081951,
      -0.011660348257526376,
      0.03916723743296702,
      0.04354804057867767,
      0.04054938980832601
    ],
    "v_ego": [
      6.117947158279907,
      5.927696758253461,
      5.854440049705633,
      5.866392685858273,
      5.862989629073063,
      5.784185033336266,
      5.639298472709367,
      5.433475349929911,
      5.135372510804768,
      4.77812125016587
    ],
    "ax_ego": [
      -0.4900591956740935,
      -0.250145968011669,
      -0.013045990026278265,
      0.06669697407099784,
      -0.08815787454655025,
      -0.22481333237781034,
      -0.3538617539733243,
      -0.470451447667334,
      -0.7260755760793411,
      -0.7092437727270298
    ],
    "ay_ego": [
      1.5866440644915605,
      1.6416529435233187,
      1.5613533149177834,
      1.1872417292047297,
      0.4606057046296529,
      0.26602649798089445,
      0.2583309940069086,
      0.30640187986794376,
      0.3905077123513484,
      0.4203038138275617
    ],
    "a_ego": [
      1.6606015183213094,
      1.6606015152020281,
      1.5614078172791748,
      1.1891137077316298,
      0.4689663377918977,
      0.3482974763658139,
      0.4381244610720508,
      0.5614326999729354,
      0.8244282962058196,
      0.8244283019584325
    ],
    "yaw": [
      -1.0412146773661421,
      -0.8928559518961791,
      -0.7592993581560463,
      -0.6407417752464075,
      -0.5710542497792179,
      -0.5488855859745274,
      -0.5255974405959372,
      -0.5093200978081976,
      -0.4773740262563027,
      -0.4358615703839104
    ],
    "yaw_diff": [
      0.2967174509399262,
      0.26711318748026547,
      0.2371151658192776,
      0.13937505093437919,
      0.04433732760938103,
      0.046576290757180505,
      0.032554685575479025,
      0.06389214310378988,
      0.08302491174478466,
      0.08302491174478466
    ],
    "min_front_frame": [
      9,
      28.548766994651363
    ],
    "v_avg": 5.639991889811651,
    "v_std": 0.3897552561921489,
    "vy_max": 0.07286056252964412,
    "a_max": 1.6606015183213094,
    "ax_avg": -0.3259157937012433,
    "a_std": 0.49786955649317927,
    "ini_direction_judge": "left",
    "scenario_type": "carpark_areas",
    "scene_token": "0f3edc5110485b13",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.536117128722362,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      28.548766994651363
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "0f3edc5110485b13",
    "maneuvering": "Yes"
  },
  "2c76300c674f5769": {
    "vx_ego": [
      3.164806854678767,
      3.1018325548339805,
      3.0463061031819003,
      2.972984681666305,
      2.850051110227892,
      2.7110083547049504,
      2.5565894925752772,
      2.334158394265859,
      2.0574536913940675,
      1.7706287839155421
    ],
    "vy_ego": [
      -0.01011844092644143,
      -0.014010941294337886,
      -0.008000692029928258,
      0.0007449545759929954,
      0.01695070232239937,
      -0.0011920630208441807,
      -0.008424616708130772,
      -0.016527713077946538,
      -0.030111032723935893,
      -0.044374502556441486
    ],
    "v_ego": [
      3.16482302984993,
      3.1018641983013784,
      3.0463166095066763,
      2.9729847749996674,
      2.8501015170025896,
      2.7110086167871708,
      2.5566033731717153,
      2.3342169082631035,
      2.057674018527419,
      1.771184741044074
    ],
    "ax_ego": [
      -0.12589229945646968,
      -0.1257122058857808,
      -0.09641464742054155,
      -0.1969424734002166,
      -0.29237904271180076,
      -0.26264942474984665,
      -0.35671400720511476,
      -0.5337043520999651,
      -0.5755278857179154,
      -0.5740864401282022
    ],
    "ay_ego": [
      0.029547627790859045,
      0.030304671109628284,
      -0.044064227069822264,
      -0.06073056244210625,
      -0.17666385012057584,
      -0.1977241103444084,
      -0.10634676406681529,
      -0.1430111822025266,
      -0.08529202288562149,
      -0.09450840838504379
    ],
    "a_ego": [
      0.12931331474563856,
      0.1293133086721227,
      0.10600679386005502,
      0.20609352013959484,
      0.34160740705742065,
      0.32875453477163347,
      0.3722291191777096,
      0.5525328349387101,
      0.5818136096782673,
      0.5818136127614634
    ],
    "yaw": [
      -0.37445176305009675,
      -0.36843397389762417,
      -0.37151178346539254,
      -0.38307416215299206,
      -0.4089169879318693,
      -0.43608826875319284,
      -0.4620870608709967,
      -0.48406649453789585,
      -0.5038258729773174,
      -0.5198594190557104
    ],
    "yaw_diff": [
      0.012035578304945171,
      -0.0061556191355367496,
      -0.023124757375199034,
      -0.05168565155775451,
      -0.05434256164264706,
      -0.05199758423560774,
      -0.04395886733379828,
      -0.0395187568788431,
      -0.03206709215678605,
      -0.03206709215678605
    ],
    "min_front_frame": [
      9,
      12.674406228848317
    ],
    "v_avg": 2.6566777787453724,
    "v_std": 0.447831998119072,
    "vy_max": 0.044374502556441486,
    "a_max": 0.5818136127614634,
    "ax_avg": -0.31400227787758533,
    "a_std": 0.18006937665554562,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2c76300c674f5769",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 20.24179830940511,
    "right_rear_min": 5.039346199144826,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      15.778985888206298,
      14.744419647881944,
      13.831311158747228,
      13.159146759170664,
      12.674406228848317
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2c76300c674f5769",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "22f31aadcc76590b": {
    "vx_ego": [
      6.674388694146503,
      5.906905453625906,
      5.140841691784006,
      4.428422779651734,
      3.8470843000809283,
      3.367560698826754,
      2.8892442549466684,
      2.37967226731577,
      1.883615949128488,
      1.4107289229884805
    ],
    "vy_ego": [
      -0.023038665779320053,
      -0.029917392334122342,
      -0.03207602864369584,
      -0.008766743787101239,
      -0.005608369479105119,
      0.00026059216009492736,
      -0.0007463870860970195,
      -0.008995647877262557,
      0.00646432283797535,
      0.021926071403419872
    ],
    "v_ego": [
      6.6744284564801175,
      5.906981216191528,
      5.140941759210874,
      4.428431457201863,
      3.847088388084862,
      3.3675607089094637,
      2.889244351354868,
      2.3796892699494423,
      1.883627041449811,
      1.410899304260735
    ],
    "ax_ego": [
      -1.5351073824485013,
      -1.5350313859196472,
      -1.5294360204384099,
      -1.3204164389545723,
      -1.0049204284072648,
      -0.9133044095436866,
      -0.9999171918211633,
      -1.038447804640368,
      -0.9457825872372005,
      -0.9457764769345957
    ],
    "ay_ego": [
      -0.03704484405122659,
      -0.04007079096628124,
      -0.0012827483360504134,
      0.06524472773374838,
      -0.06077732536147207,
      0.05736533112028463,
      -0.07022533068366235,
      0.025119293138517084,
      0.03146851276964013,
      0.031651204352179045
    ],
    "a_ego": [
      1.5355542960503445,
      1.5355543051442553,
      1.5294365583631686,
      1.3220274001542194,
      1.0067566491999618,
      0.9151042157625994,
      1.0023801612009042,
      1.0387515688797677,
      0.9463059598338297,
      0.9463059458017578
    ],
    "yaw": [
      1.5552833601945222,
      1.5533121483920287,
      1.5518311616369642,
      1.5502931177528163,
      1.5497949804373494,
      1.547925625271433,
      1.5472222610554556,
      1.546075260671906,
      1.545455929473053,
      1.5456490971584187
    ],
    "yaw_diff": [
      -0.003942423604986978,
      -0.0029619735101289457,
      -0.003076087768295821,
      -0.0009962746309337689,
      -0.0037387103318327064,
      -0.0014067284319549955,
      -0.0022940007670992912,
      -0.0012386623977058697,
      0.00038633537073140545,
      0.00038633537073140545
    ],
    "min_front_frame": [
      9,
      10.658231508997433
    ],
    "v_avg": 3.792889195309357,
    "v_std": 1.6525895131042327,
    "vy_max": 0.03207602864369584,
    "a_max": 1.5355543051442553,
    "ax_avg": -1.176814012634541,
    "a_std": 0.25612039452205476,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "22f31aadcc76590b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.420671761957491,
    "right_rear_min": 3.6827323039361315,
    "speed_mode": "decelerating",
    "front_frame": [
      20.88508971612183,
      20.088575727128777,
      18.74164641084505,
      17.45629386147359,
      16.279530567284095,
      14.945336565346407,
      13.750571438856113,
      12.571504316137851,
      11.482322237119263,
      10.658231508997433
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "22f31aadcc76590b",
    "merging_vehicles": "No"
  },
  "5e4f0ddf24da5f97": {
    "vx_ego": [
      9.544760042906317,
      9.618944147452774,
      9.641647042965031,
      9.646954081201521,
      9.683672186699965,
      9.717267785190021,
      9.705265616814707,
      9.687802549303049,
      9.68427472325829,
      9.653921376106588
    ],
    "vy_ego": [
      -0.0737793118994281,
      -0.020980799767244207,
      0.048335997483028414,
      0.07633227097399864,
      0.07988312180410873,
      0.07298584051726476,
      0.06306133869680419,
      0.04827664572027501,
      0.03934309753405962,
      -0.0029899854526282965
    ],
    "v_ego": [
      9.545045189181943,
      9.618967029040846,
      9.641768202449642,
      9.64725606897644,
      9.684001669383152,
      9.717541877553591,
      9.705470489644693,
      9.68792283561366,
      9.68435464008124,
      9.653921839131531
    ],
    "ax_ego": [
      0.14434170874209268,
      0.15666887241572486,
      -0.06560004394558205,
      0.07782960781262677,
      0.060406179324174525,
      0.06490773722909113,
      -0.11828803741589763,
      0.04624614514653687,
      -0.06079469012696812,
      -0.06086153712843054
    ],
    "ay_ego": [
      0.5433708282924383,
      0.5399455993055067,
      0.6706618965278056,
      0.5366642425576051,
      0.5220070226776319,
      0.3588875594319042,
      0.17962075915041165,
      0.06266681346252082,
      -0.02008771849561865,
      -0.019884267958505356
    ],
    "a_ego": [
      0.5622156044808767,
      0.5622156043666855,
      0.6738625566240755,
      0.5422784866580965,
      0.5254904739624783,
      0.36470987739186517,
      0.21507132982681582,
      0.07788347353874848,
      0.06402742210954065,
      0.06402742235855642
    ],
    "yaw": [
      2.496514972909572,
      2.5192721861447143,
      2.5434305848085765,
      2.5718750290711148,
      2.5988831836032356,
      2.6222968662231527,
      2.637146512541775,
      2.64493448893037,
      2.646952992877229,
      2.650297671776719
    ],
    "yaw_diff": [
      0.0455144264702847,
      0.04831679732772454,
      0.05688888852507645,
      0.0540163090642416,
      0.04682736523983433,
      0.029699292637244135,
      0.015575952777190594,
      0.00403700789371797,
      0.0066893577989795006,
      0.0066893577989795006
    ],
    "min_front_frame": [
      9,
      68.47848538201347
    ],
    "v_avg": 9.658624984105673,
    "v_std": 0.047685116424876314,
    "vy_max": 0.07988312180410873,
    "a_max": 0.6738625566240755,
    "ax_avg": 0.024485594205336844,
    "a_std": 0.22725584255981401,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5e4f0ddf24da5f97",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.17216588910544,
      73.31998627049747,
      68.47848538201347
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5e4f0ddf24da5f97",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "0536ffc8d9555b0f": {
    "vx_ego": [
      3.8954745721098627,
      3.9439646778744635,
      4.0045142487013665,
      4.076812778070998,
      4.259099933014452,
      4.5180765845739135,
      4.668785813969532,
      4.659411912684211,
      4.622683817659172,
      4.641410958873632
    ],
    "vy_ego": [
      0.022445891356813297,
      0.010492786847338342,
      -0.0014700621276000359,
      -0.00017790438234421835,
      0.03338741839719517,
      0.04694348868263487,
      0.053880217700143174,
      0.027625555639723687,
      0.015006533474157147,
      -0.034144466906703586
    ],
    "v_ego": [
      3.895539238666878,
      3.943978635704971,
      4.004514518532169,
      4.076812781952703,
      4.25923079429971,
      4.518320452912207,
      4.669096706492869,
      4.659493807634896,
      4.622708175311836,
      4.641536548792068
    ],
    "ax_ego": [
      0.07669078983867927,
      0.11248762747823504,
      0.12753184977753804,
      0.158077645556862,
      0.568326873268076,
      0.4627065753846993,
      0.1361917826760745,
      -0.17539738135421806,
      0.026720433986659395,
      0.0502720932263263
    ],
    "ay_ego": [
      0.5208925397216451,
      0.5143510986977634,
      0.48427675512397617,
      0.33558911861603713,
      0.28109592894821145,
      0.20581437595192015,
      0.12121727648109099,
      0.33198480350225945,
      0.42146119277157107,
      0.4193044648978689
    ],
    "a_ego": [
      0.526507849118839,
      0.526507852806849,
      0.5007877277460862,
      0.37095632971859305,
      0.6340428661769846,
      0.5064157701461465,
      0.18232342083775294,
      0.37547057293794783,
      0.42230737455657913,
      0.42230737341496255
    ],
    "yaw": [
      -2.035558913394596,
      -1.9664301167753488,
      -1.9005938437559602,
      -1.8501507114876774,
      -1.8208558782200455,
      -1.796282683481291,
      -1.780137755894466,
      -1.750466581356593,
      -1.706931438770187,
      -1.6509217564975598
    ],
    "yaw_diff": [
      0.13825759323849418,
      0.13167254603877732,
      0.10088626453656557,
      0.058589666535263873,
      0.04914638947750882,
      0.03228985517365013,
      0.05934234907574609,
      0.08707028517281179,
      0.11201936454525452,
      0.11201936454525452
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.329123166030031,
    "v_std": 0.3089602305626628,
    "vy_max": 0.053880217700143174,
    "a_max": 0.6340428661769846,
    "ax_avg": 0.15436082898389317,
    "a_std": 0.11671463606134577,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "0536ffc8d9555b0f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "0536ffc8d9555b0f",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "05769097cb6c5b91": {
    "vx_ego": [
      7.978989041338437,
      8.124400303725615,
      8.377562531220924,
      8.67637966578945,
      8.97005550578741,
      9.326454085540204,
      9.78181792031046,
      15.908360538591593,
      16.72780911327911,
      6.588886970187437
    ],
    "vy_ego": [
      -0.051138554325995234,
      -0.09549130583426457,
      -0.05419846839641185,
      -0.03569897587741622,
      -0.062062345359919835,
      -0.07278815413041073,
      -0.16998573620937174,
      0.28276762143031164,
      -0.3146035331075467,
      0.3738476628202779
    ],
    "v_ego": [
      7.979152917041847,
      8.12496146973429,
      8.377737847324495,
      8.676453107220906,
      8.970270202821018,
      9.326738118177827,
      9.783294791460671,
      15.910873406370486,
      16.730767260151204,
      6.599484342045367
    ],
    "ax_ego": [
      0.19989463143873465,
      0.41431479151447814,
      0.6283890382203869,
      0.5935060657144969,
      0.6113093450314856,
      0.8517800308771303,
      0.995900889702636,
      23.522105053107285,
      -20.27965845452374,
      -20.276254442020154
    ],
    "ay_ego": [
      1.829455383085723,
      1.7931001362422645,
      1.7753731150873135,
      1.9178959058895702,
      2.0486891629688544,
      2.1535728888743746,
      1.6587175720879006,
      2.5122345412486773,
      1.408218292272826,
      1.4564105107617582
    ],
    "a_ego": [
      1.840343680506268,
      1.8403436758007221,
      1.8833009534140779,
      2.0076289886002034,
      2.1379491111317055,
      2.3159027200415316,
      1.934725449789629,
      23.65588190111834,
      20.32849295424597,
      20.328492953817292
    ],
    "yaw": [
      0.7880968752529177,
      0.9063395272101009,
      1.009701016945145,
      1.1156599816782777,
      1.2309397564185285,
      1.3472013089321937,
      1.4572261810399794,
      1.5160352519987526,
      1.588387569557886,
      1.59076415012008
    ],
    "yaw_diff": [
      0.2364853039143664,
      0.20672297947008822,
      0.21191792946626542,
      0.2305595494805015,
      0.23252310502733042,
      0.22004974421557133,
      0.11761814191754638,
      0.1447046351182668,
      0.004753161124388061,
      0.004753161124388061
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.047973346234812,
    "v_std": 3.2453941842734184,
    "vy_max": 0.3738476628202779,
    "a_max": 23.65588190111834,
    "ax_avg": -1.273871305093726,
    "a_std": 8.95241470910506,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "05769097cb6c5b91",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.024832832151002,
    "right_rear_min": 15.625395742939707,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "05769097cb6c5b91",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d88a725f8b125d74": {
    "vx_ego": [
      8.159180160109607,
      8.197716138034,
      8.214581115599431,
      8.210906815740076,
      8.163768552228216,
      8.076782450778838,
      7.990449910951964,
      7.982480292435794,
      7.943324892997329,
      7.790306979935253
    ],
    "vy_ego": [
      0.045055292471137154,
      0.001698366042187871,
      -0.007851343386558352,
      0.004334099866114105,
      0.018825630220095313,
      0.025962067352446105,
      0.01103095167682655,
      -0.000651446921935861,
      0.011918225021420703,
      -0.008229773502414162
    ],
    "v_ego": [
      8.159304557651092,
      8.197716313963925,
      8.214584867682346,
      8.210907959610099,
      8.163790258127873,
      8.076824176998668,
      7.990457525156313,
      7.9824803190179505,
      7.943333834089985,
      7.790311326949638
    ],
    "ax_ego": [
      0.07640848693231682,
      0.07691038387017753,
      -0.009339303803989743,
      -0.005141696170077717,
      -0.18380118727395567,
      -0.1646056824793727,
      -0.18136675592989812,
      0.14958356496576508,
      -0.30609154015089257,
      -0.3059661829662189
    ],
    "ay_ego": [
      0.05742519505021029,
      0.056751235845457396,
      0.0751121180925659,
      0.14427824876678916,
      0.09802752938916029,
      0.10695703504996143,
      -0.011998464194373414,
      0.08158745270327067,
      -0.06863742160689029,
      -0.0691940997577896
    ],
    "a_ego": [
      0.0955819538502992,
      0.09558195392983339,
      0.07569050719802836,
      0.14436983793963645,
      0.2083081202484877,
      0.19630292420434992,
      0.18176320667164433,
      0.17038707505698808,
      0.3136927264008324,
      0.31369272953036176
    ],
    "yaw": [
      2.7813735602876157,
      2.7901650962848388,
      2.795339224530138,
      2.800534172165512,
      2.806147648588551,
      2.811581285563904,
      2.8163936385575585,
      2.820053708528417,
      2.8188900766441716,
      2.8170710553186464
    ],
    "yaw_diff": [
      0.017583071994446087,
      0.010348256490598118,
      0.010389895270748184,
      0.01122695284607822,
      0.010867273950705858,
      0.009624705987309135,
      0.007320139941716874,
      -0.002327263768490795,
      -0.0036380426510502772,
      -0.0036380426510502772
    ],
    "min_front_frame": [
      9,
      25.56187580309211
    ],
    "v_avg": 8.072971113924789,
    "v_std": 0.13492897239967674,
    "vy_max": 0.045055292471137154,
    "a_max": 0.31369272953036176,
    "ax_avg": -0.0853409913006146,
    "a_std": 0.07956807920173141,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d88a725f8b125d74",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.9997179836612045,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      31.461437013489014,
      31.3466501863149,
      31.2506920625852,
      30.837442750174198,
      30.46243394189725,
      29.941819466507017,
      29.253637471941406,
      28.391456460213313,
      27.09679437064158,
      25.56187580309211
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d88a725f8b125d74",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0a5780be84565110": {
    "vx_ego": [
      0.774780229433741,
      1.3698849537428321,
      1.9523735006733487,
      2.511022960582415,
      3.051122748864384,
      3.5679345050899913,
      4.090506500990357,
      4.656345122609136,
      5.2091203464818285,
      5.727366459114616
    ],
    "vy_ego": [
      0.0027755590279133213,
      0.035350614941486724,
      0.05384485803086614,
      0.05702734399085241,
      0.05989798308860572,
      0.044665531977251094,
      -0.03769737286607833,
      -0.13406030945934955,
      -0.13346088684397905,
      -0.07184225602936634
    ],
    "v_ego": [
      0.774785200974643,
      1.3703409986086466,
      1.9531158580247794,
      2.5116704454475567,
      3.0517106345484066,
      3.568214069020884,
      4.090680203409376,
      4.6582745805092065,
      5.210829741264643,
      5.727817024551542
    ],
    "ax_ego": [
      1.1902087287434677,
      1.1902093958439162,
      1.139817049114279,
      1.0948253250074744,
      1.065708210570136,
      1.0015491266836247,
      1.0888051304331747,
      1.1742585489128567,
      1.036277774868599,
      1.036125480505706
    ],
    "ay_ego": [
      0.06517808295846916,
      0.06516592630155899,
      0.006491108875994467,
      0.004449825727739443,
      0.0006832214854915475,
      -0.0621815294869833,
      -0.27565720818619144,
      -0.12186604185808253,
      0.10705271804464545,
      0.10851679749791615
    ],
    "a_ego": [
      1.1919920303740636,
      1.1919920318130823,
      1.1398355319720572,
      1.0948343679418953,
      1.065708429575463,
      1.0034775512038483,
      1.1231578288391209,
      1.1805653187575365,
      1.041792643056842,
      1.0417926409283107
    ],
    "yaw": [
      -0.5147182603730388,
      -0.514708049248781,
      -0.5150558795116214,
      -0.515255783666836,
      -0.5158258149929729,
      -0.515868654463777,
      -0.516417791053797,
      -0.5171095281373617,
      -0.5179787740647711,
      -0.5193917006936217
    ],
    "yaw_diff": [
      2.0422248515616914e-05,
      -0.000695660525680708,
      -0.0003998083104292949,
      -0.0011400626522737323,
      -8.56789416083803e-05,
      -0.0010982731800399659,
      -0.0013834741671292505,
      -0.001738491854818891,
      -0.0028258532577012385,
      -0.0028258532577012385
    ],
    "min_front_frame": [
      0,
      14.965714953954283
    ],
    "v_avg": 3.2917438756359685,
    "v_std": 1.571127289757238,
    "vy_max": 0.13406030945934955,
    "a_max": 1.1919920318130823,
    "ax_avg": 1.1017784770683234,
    "a_std": 0.06501510340859873,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0a5780be84565110",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.9418231240984754,
    "speed_mode": "accelerating",
    "front_frame": [
      14.965714953954283,
      15.890666888735359,
      16.774369055140657,
      17.519443003722145,
      18.167801429628756,
      18.797406831495284,
      19.322367264724676,
      19.78344864592747,
      19.996808705954386,
      20.208718816992423
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0a5780be84565110",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b27f68fe02b059ca": {
    "vx_ego": [
      2.3285517800597075,
      2.825171259772861,
      3.348709281266415,
      3.893570906623305,
      4.385128456143381,
      4.7141026499060175,
      4.840825512226758,
      4.829190981595116,
      4.751523426381269,
      4.658668330874622
    ],
    "vy_ego": [
      -0.0019583277927348597,
      -0.010298100546678457,
      -0.0077519966468313495,
      -0.002412174615665119,
      0.0037000388656456273,
      0.002209828332439212,
      -0.009146483256119442,
      0.0012970104233243074,
      0.019761372625225926,
      0.037100727415357415
    ],
    "v_ego": [
      2.3285526035430197,
      2.8251900286390375,
      3.348718253883393,
      3.893571653827601,
      4.38513001713359,
      4.714103167856235,
      4.840834153116734,
      4.829191155768804,
      4.7515645195343845,
      4.6588160600166315
    ],
    "ax_ego": [
      0.9932249457679552,
      0.9932374174651241,
      1.1008885052960926,
      1.0785576256381617,
      0.8876684970485481,
      0.42835399647061967,
      0.07846865371779808,
      -0.12504012721086716,
      -0.18562240121431473,
      -0.18565143907783477
    ],
    "ay_ego": [
      -0.020218876288387033,
      -0.019596721340927936,
      0.024240099131190573,
      -0.0036898155883127726,
      0.008266670774954965,
      -0.06303665163866998,
      -0.019723735271323192,
      0.04848369640166824,
      0.022684988376603668,
      0.02244603269200579
    ],
    "a_ego": [
      0.9934307202085723,
      0.993430721761766,
      1.1011553403125987,
      1.078563937168912,
      0.8877069891006434,
      0.4329673957033794,
      0.08090955042105318,
      0.1341107834205698,
      0.1870034345412262,
      0.18700342567793135
    ],
    "yaw": [
      1.1000844435530357,
      1.0994580507368963,
      1.099007337950927,
      1.098951528371037,
      1.097758219132682,
      1.0951095980379453,
      1.093173610741238,
      1.0925042273244354,
      1.0923641273376958,
      1.0910768860845073
    ],
    "yaw_diff": [
      -0.001252785632278819,
      -0.0009014255719383968,
      -0.00011161915978030734,
      -0.0023866184767098453,
      -0.005297242189473472,
      -0.0038719745934145955,
      -0.0013387668336051206,
      -0.00028019997347916714,
      -0.0025744825063771515,
      -0.0025744825063771515
    ],
    "min_front_frame": [
      0,
      18.546602410661713
    ],
    "v_avg": 4.057567161331943,
    "v_std": 0.8733834399184948,
    "vy_max": 0.037100727415357415,
    "a_max": 1.1011553403125987,
    "ax_avg": 0.5064085673901282,
    "a_std": 0.41563071055152606,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b27f68fe02b059ca",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.367756800945933,
    "right_rear_min": 14.011604552401177,
    "speed_mode": "accelerating",
    "front_frame": [
      18.546602410661713,
      20.31231384865247,
      21.792978102646313,
      22.975252486663038,
      23.79256740832868,
      24.409503680836842,
      24.934286677092448,
      25.232984531701383,
      25.56035827653775,
      25.62975210415901
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b27f68fe02b059ca",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b462af5600bf5f88": {
    "vx_ego": [
      4.357879157540615,
      4.158944903664991,
      3.9485757096983507,
      3.688808011364986,
      3.454537741483138,
      3.393010073850925,
      3.47749583409378,
      3.6671763716150707,
      3.974843974016888,
      4.331727954869132
    ],
    "vy_ego": [
      0.024292702533847743,
      -0.0014236146525668514,
      -0.028767489308586136,
      -0.03619114636513886,
      -0.02670318476580555,
      -0.00453559277810564,
      -0.0006034290163115519,
      -0.018946176947652438,
      -0.04058133186859089,
      -0.08951660640112617
    ],
    "v_ego": [
      4.357946866028003,
      4.158945147317969,
      3.948680501593026,
      3.6889855439925117,
      3.4546409462356658,
      3.393013105317412,
      3.4774958864484904,
      3.6672253132515333,
      3.9750511270013367,
      4.332652801438893
    ],
    "ax_ego": [
      -0.3980304530895905,
      -0.3974294403369707,
      -0.4443732231312243,
      -0.5954386022827294,
      -0.3422617249947964,
      0.09566495724872055,
      0.2427435444461858,
      0.5155379121891807,
      0.7139510096044166,
      0.7138574807711777
    ],
    "ay_ego": [
      -0.10056767493620494,
      -0.10291714899829194,
      -0.08024643079165447,
      -0.020674233360328885,
      -0.0076521206274379125,
      -0.01723812771385496,
      -0.12063028736918235,
      -0.1274146112116986,
      -0.08878198878689707,
      -0.08953091504477041
    ],
    "a_ego": [
      0.410538790894087,
      0.41053879183884,
      0.45156068373014124,
      0.5957974093712121,
      0.34234725549726625,
      0.09720564331600665,
      0.27106474245292195,
      0.5310497359519235,
      0.7194499882883608,
      0.7194499896460672
    ],
    "yaw": [
      0.05791557520469455,
      0.052008382750929276,
      0.0474643735048908,
      0.04282433995837458,
      0.03814371873679308,
      0.029716972732931005,
      0.018478943676765235,
      0.00613722526358324,
      -0.002401240877100524,
      -0.0013521833271152254
    ],
    "yaw_diff": [
      -0.011814384907530548,
      -0.009088018492076952,
      -0.009280067093032446,
      -0.009361242443162998,
      -0.016853492007724145,
      -0.02247605811233154,
      -0.02468343682636399,
      -0.01707693228136753,
      0.002098115099970597,
      0.002098115099970597
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8454637238624843,
    "v_std": 0.34275618977927286,
    "vy_max": 0.08951660640112617,
    "a_max": 0.7194499896460672,
    "ax_avg": 0.010422146042437009,
    "a_std": 0.1854669823147329,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b462af5600bf5f88",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 9.27737870134898,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b462af5600bf5f88",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0b12ac5676875ade": {
    "vx_ego": [
      7.939609855022086,
      7.273991538966237,
      6.641322067692901,
      6.070247158487763,
      5.558074565573066,
      5.067929435299155,
      4.535326601217077,
      3.994751644208649,
      3.617097200071009,
      3.3761377859584814
    ],
    "vy_ego": [
      -0.03229959877874917,
      -0.05403664358687275,
      -0.03643138852152032,
      0.018948937247105967,
      0.03671428030637955,
      -0.007537620332005827,
      -0.05278038441294303,
      -0.037097218309771,
      0.013989244799962807,
      0.05088597555024944
    ],
    "v_ego": [
      7.93967555470909,
      7.274192248476977,
      6.641421990273944,
      6.07027673400081,
      5.558195823722716,
      5.067935040713514,
      4.535633709713123,
      3.994923891955143,
      3.6171242519067,
      3.37652124712467
    ],
    "ax_ego": [
      -1.331261051749433,
      -1.3312506196623992,
      -1.1996666855681521,
      -1.0846538683730205,
      -0.963907856122363,
      -0.9966861858438413,
      -1.1337869440786221,
      -1.0288418584660912,
      -0.48179509328428893,
      -0.48187748978207456
    ],
    "ay_ego": [
      -0.04671230581531701,
      -0.04700862897067513,
      0.09082571812544435,
      0.11999459572357715,
      -0.0636253030021707,
      -0.10985659643093561,
      -0.07989488681771802,
      0.1227216269454161,
      0.06522380203810366,
      0.06461228221110224
    ],
    "a_ego": [
      1.3320803382002118,
      1.3320803367474592,
      1.2030999407925669,
      1.0912711474145287,
      0.9660054525086947,
      1.0027222072096207,
      1.1365984460233773,
      1.0361352071289203,
      0.4861899384655367,
      0.486189944539375
    ],
    "yaw": [
      1.56765575224841,
      1.5674331633168728,
      1.5664749753231735,
      1.5660531055791438,
      1.5654197243347212,
      1.5655854961105655,
      1.565129962960554,
      1.5639595552082004,
      1.5628625495769297,
      1.5615934099420197
    ],
    "yaw_diff": [
      -0.00044517786307451956,
      -0.0019163759873985775,
      -0.0008437394880593807,
      -0.0012667624888451634,
      0.0003315435516886289,
      -0.0009110663000231334,
      -0.0023408155047071055,
      -0.0021940112625413732,
      -0.0025382792698200873,
      -0.0025382792698200873
    ],
    "min_front_frame": [
      9,
      14.356792533771088
    ],
    "v_avg": 5.407590049259669,
    "v_std": 1.4860062275282748,
    "vy_max": 0.05403664358687275,
    "a_max": 1.3320803382002118,
    "ax_avg": -1.0033727652930287,
    "a_std": 0.28613640201866725,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0b12ac5676875ade",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.637193785861798,
    "right_rear_min": 3.3118080139040433,
    "speed_mode": "decelerating",
    "front_frame": [
      30.531939481664267,
      27.90934619597343,
      25.373567378235826,
      23.12715443712402,
      20.949895059322753,
      18.940851088035558,
      17.25977586662556,
      15.930930598679963,
      15.013471283631517,
      14.356792533771088
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0b12ac5676875ade",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ed69e15d85ab50a6": {
    "vx_ego": [
      7.641448933779144,
      7.5686852139094825,
      7.521068098213676,
      7.482752616055963,
      7.425699593427077,
      7.281301005438025,
      7.0924551071693855,
      6.956629991964087,
      6.822136293455996,
      6.673805333678365
    ],
    "vy_ego": [
      -0.02205197150569127,
      -0.005546694287551723,
      -0.014173604121874295,
      -0.013977014602053028,
      -0.023263724832262245,
      -0.03868652789022642,
      -0.0648767136588928,
      -0.0728599746303793,
      -0.06484657464441268,
      -0.056907539222792014
    ],
    "v_ego": [
      7.641480752903962,
      7.568687246350555,
      7.521081453422857,
      7.48276566985961,
      7.425736034408719,
      7.281403778065943,
      7.092751823882482,
      6.957011529456983,
      6.82244448015025,
      6.674047954566567
    ],
    "ax_ego": [
      -0.14770095484157664,
      -0.14235448433121914,
      -0.04825183053821669,
      -0.10377627651165205,
      -0.12386385145162429,
      -0.45236144491039526,
      -0.3026706604146999,
      -0.24223805830384143,
      -0.2968962318830825,
      -0.2968791837437341
    ],
    "ay_ego": [
      0.30085442390970424,
      0.3034207605646788,
      0.20936037038493488,
      0.2562203723787366,
      0.17942518127916401,
      0.14265753311591411,
      -0.11701812417079864,
      -0.06452491664473636,
      -0.008901989879855604,
      -0.009453180140186757
    ],
    "a_ego": [
      0.33515512296122446,
      0.3351551240110398,
      0.21484879296380954,
      0.27643877222365415,
      0.2180267171093738,
      0.47432272620668164,
      0.32450388296648014,
      0.25068454631034887,
      0.29702965833430534,
      0.2970296489495765
    ],
    "yaw": [
      2.1277569320414305,
      2.145451954361884,
      2.1636142221257995,
      2.1790887969444315,
      2.1949396470915192,
      2.207914334020396,
      2.2124622163872893,
      2.207131950762915,
      2.203308100249699,
      2.2014515674038213
    ],
    "yaw_diff": [
      0.03539004464090745,
      0.03632453552783055,
      0.03094914963726403,
      0.03170170029417552,
      0.02594937385775342,
      0.009095764733786815,
      -0.010660531248748661,
      -0.0076477010264319745,
      -0.003713065691755446,
      -0.003713065691755446
    ],
    "min_front_frame": [
      3,
      20.623230971643725
    ],
    "v_avg": 7.246741072306793,
    "v_std": 0.32238805983807517,
    "vy_max": 0.0728599746303793,
    "a_max": 0.47432272620668164,
    "ax_avg": -0.2156992976930042,
    "a_std": 0.07098024817592795,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ed69e15d85ab50a6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.52719278453829,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      31.83655956477593,
      28.093105355595345,
      24.33867357944447,
      20.623230971643725,
      29.487575211352084,
      25.786939741244034,
      27.351363038536448,
      23.832241857799108,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ed69e15d85ab50a6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "90f8fafcb5715404": {
    "vx_ego": [
      4.034278012625686,
      3.9594837963398035,
      3.8708359108934722,
      3.7315559666498856,
      3.503512516553683,
      3.1655900835967308,
      2.7482444119015588,
      2.2476413019831596,
      1.5826400891879362,
      0.8151835233070717
    ],
    "vy_ego": [
      -0.058863776304273197,
      -0.013620047737657792,
      0.02267414703697601,
      0.02906801585401264,
      0.027182025428869716,
      0.0168378576820285,
      0.012370971133971675,
      -0.00010696465023229962,
      -0.02064648034362404,
      -0.05138725492317808
    ],
    "v_ego": [
      4.034707427722096,
      3.9595072217610414,
      3.870902319357381,
      3.73166918171829,
      3.503617960930492,
      3.1656348637859795,
      2.748272255158674,
      2.2476413045283694,
      1.5827747562604662,
      0.8168015833970149
    ],
    "ax_ego": [
      -0.14959776683684664,
      -0.14962649899538802,
      -0.20489622201864802,
      -0.3521931683418551,
      -0.5597811001884532,
      -0.7921180525081266,
      -0.8773997958761187,
      -1.1250349621974833,
      -1.534976964457319,
      -1.534938042950989
    ],
    "ay_ego": [
      0.0878980727921307,
      0.0878491541784744,
      0.03348611289315538,
      -0.01159553926401058,
      -0.020783845368361836,
      0.02153429380930799,
      -0.01901499824253483,
      -0.022267042707414586,
      -0.06248913762808317,
      -0.06343776123070421
    ],
    "a_ego": [
      0.1735095474120725,
      0.1735095475513962,
      0.20761450227334374,
      0.35238400127914077,
      0.560166804047233,
      0.7924107110073241,
      0.8776058180992298,
      1.125255298746745,
      1.5362484088636534,
      1.5362483995917378
    ],
    "yaw": [
      0.5530651772210167,
      0.5527381925511436,
      0.5512184906558102,
      0.5509773080957101,
      0.5492732100946225,
      0.5524043182135332,
      0.5541217839308707,
      0.5549748938115825,
      0.554644578390663,
      0.5540265573050909
    ],
    "yaw_diff": [
      -0.0006539693397460411,
      -0.003039403790666917,
      -0.00048236512020016775,
      -0.0034081960021752344,
      0.006262216237821416,
      0.0034349314346751036,
      0.0017062197614234886,
      -0.0006606308418390938,
      -0.0012360421711441472,
      -0.0012360421711441472
    ],
    "min_front_frame": [
      9,
      9.21120251242383
    ],
    "v_avg": 2.9661528874619805,
    "v_std": 1.0468518081017892,
    "vy_max": 0.058863776304273197,
    "a_max": 1.5362484088636534,
    "ax_avg": -0.7280562574371228,
    "a_std": 0.5045341559676523,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "90f8fafcb5715404",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.93250166472444,
    "right_rear_min": 45.86304798848416,
    "speed_mode": "decelerating",
    "front_frame": [
      16.236489037698867,
      15.927874595863116,
      15.608805836002059,
      14.956578849717147,
      14.094682971723492,
      13.16181617323261,
      11.931345082023386,
      10.693553832097832,
      9.75257969575501,
      9.21120251242383
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "90f8fafcb5715404",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aa4897ec11395ec8": {
    "vx_ego": [
      6.623447672758959,
      6.148846698580972,
      5.743130502944872,
      5.476658644241702,
      5.19603406358734,
      4.809375707534317,
      4.3676015723597725,
      3.8457110260972462,
      3.239448820371624,
      2.5952802704793716
    ],
    "vy_ego": [
      -0.01845233476063113,
      -0.016650497106136086,
      -0.0067699064441135715,
      6.109390887854005e-06,
      -0.005052501470437898,
      -0.014087807628083926,
      -0.017863953052251302,
      -0.009488348562239457,
      -0.006140686390203265,
      -0.012866569019378216
    ],
    "v_ego": [
      6.62347337598893,
      6.148869242527767,
      5.743134493069885,
      5.47665864424511,
      5.196036520053633,
      4.809396340763046,
      4.367638104937062,
      3.8457227311656745,
      3.23945464049683,
      2.5953121644491652
    ],
    "ax_ego": [
      -0.9493335666478602,
      -0.9492532509061429,
      -0.6738017957567219,
      -0.39207157156306216,
      -0.730454326773311,
      -0.8162594369685588,
      -0.9510615947517408,
      -1.1366639850857854,
      -1.288413440034473,
      -1.2883479431963867
    ],
    "ay_ego": [
      -0.029019777907432043,
      -0.03153808880937767,
      -0.001896810720130676,
      -0.038285303255218395,
      -0.03688137630151431,
      -0.050193231716110176,
      -0.015944922404207612,
      0.009385660977054011,
      -0.025859012056700437,
      -0.028938711981358667
    ],
    "a_ego": [
      0.9497770097628937,
      0.9497770187794758,
      0.6738044655950948,
      0.3939363929281901,
      0.7313848230717841,
      0.8178012160362296,
      0.9511952468143439,
      1.1367027340615816,
      1.2886729146552327,
      1.288672911094782
    ],
    "yaw": [
      1.298435769491859,
      1.2957829461315833,
      1.29269758293913,
      1.2896800937673354,
      1.287126838566351,
      1.284586993147669,
      1.281816646580931,
      1.279391522435747,
      1.2772952441666854,
      1.274904879765659
    ],
    "yaw_diff": [
      -0.005305646720551227,
      -0.006170726384906455,
      -0.006034978343589348,
      -0.005106510401968745,
      -0.005079690837364037,
      -0.005540693133475827,
      -0.004850248290368064,
      -0.004192556538123338,
      -0.004780728802052714,
      -0.004780728802052714
    ],
    "min_front_frame": [
      9,
      13.53292801448123
    ],
    "v_avg": 4.804569625769711,
    "v_std": 1.2264635977588536,
    "vy_max": 0.01845233476063113,
    "a_max": 1.2886729146552327,
    "ax_avg": -0.9175660911684043,
    "a_std": 0.26549727505671356,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aa4897ec11395ec8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.095851378068262,
    "right_rear_min": 8.134203157613841,
    "speed_mode": "decelerating",
    "front_frame": [
      16.931477102976313,
      16.601090430842223,
      16.246922447244405,
      15.803432154850476,
      15.473752219258001,
      15.315281747602743,
      14.932571271148298,
      14.347365322377081,
      13.923375545992927,
      13.53292801448123
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aa4897ec11395ec8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0bab0d24762a596d": {
    "vx_ego": [
      4.396373841170038,
      4.3211462215598235,
      4.202873581620008,
      3.923052152037797,
      3.4762987547648434,
      2.9164982884575776,
      2.240398860067443,
      1.6030467055545867,
      1.315710071262747,
      1.2648725038365627
    ],
    "vy_ego": [
      -0.02953492683720027,
      -0.0012543778746123557,
      0.009923270258155092,
      0.01581156016744112,
      0.03023858613181396,
      0.021546055080252646,
      0.016312347084537215,
      0.013064779932170034,
      0.01283227782007429,
      -0.005183529094224815
    ],
    "v_ego": [
      4.396473048163434,
      4.321146403625384,
      4.202885296361537,
      3.923084015547375,
      3.476430267454081,
      2.9165778746787305,
      2.2404582443908443,
      1.603099943442108,
      1.3157726471454991,
      1.2648831250102304
    ],
    "ax_ego": [
      -0.18603699168137533,
      -0.10865016504988706,
      -0.3704640376962284,
      -0.7572290478035844,
      -1.043632641004716,
      -1.2077675891797846,
      -1.501488721601498,
      -1.048132010213254,
      -0.10165447233929843,
      -0.10176772006909407
    ],
    "ay_ego": [
      0.8424956796907538,
      0.8559228126409857,
      0.7587763146334358,
      0.6641053114550614,
      0.4603755882462696,
      0.24115522313142024,
      -0.008934056790630529,
      0.04965175814569822,
      -0.023943848731050637,
      -0.023457851838126292
    ],
    "a_ego": [
      0.8627912450711593,
      0.8627912375335204,
      0.8443844496879909,
      1.0071899997221712,
      1.1406641800387953,
      1.2316080509304548,
      1.5015153007769315,
      1.0493073943895734,
      0.10443629464241168,
      0.1044362947491004
    ],
    "yaw": [
      0.713931223549718,
      0.8049963552406052,
      0.896323094658485,
      0.9813620238178842,
      1.05272642595739,
      1.1099318578413704,
      1.1341314562526819,
      1.14133067992445,
      1.1462964707754761,
      1.1510746948732518
    ],
    "yaw_diff": [
      0.1821302633817743,
      0.18265347883575966,
      0.1700778583187983,
      0.1427288042790118,
      0.11441086376796061,
      0.04839919682262295,
      0.014398447343536347,
      0.009931581702052217,
      0.009556448195551237,
      0.009556448195551237
    ],
    "min_front_frame": [
      7,
      10.192682316955924
    ],
    "v_avg": 2.9660810865819225,
    "v_std": 1.2079945300533728,
    "vy_max": 0.03023858613181396,
    "a_max": 1.5015153007769315,
    "ax_avg": -0.642682339663872,
    "a_std": 0.42740269427104255,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "0bab0d24762a596d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      11.29410603209653,
      10.49844509055153,
      10.192682316955924,
      10.234331081076487,
      10.726395894280978
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "0bab0d24762a596d",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "83a4e663032f5c9a": {
    "vx_ego": [
      5.159241049252516,
      4.678207075968835,
      4.330086378979502,
      4.14069283082885,
      4.028910250478856,
      4.059445225284941,
      4.318219126986807,
      4.72760476205686,
      5.1583787801732806,
      5.578698625698683
    ],
    "vy_ego": [
      0.058477138807390805,
      -0.030957264137552176,
      -0.01752613902066935,
      -0.02199704307864092,
      -0.027227995097586888,
      -0.04515074228376359,
      -0.03802573841070711,
      -0.04312449662361573,
      0.00046494177954903293,
      -0.016972678962675847
    ],
    "v_ego": [
      5.159572441593906,
      4.678309502143671,
      4.330121847589601,
      4.14075125903279,
      4.0290022549175415,
      4.059696309653898,
      4.318386548869425,
      4.727801445538057,
      5.158378801126652,
      5.578724444548552
    ],
    "ax_ego": [
      -1.0135588488977916,
      -0.9004934855063953,
      -0.4703164340330831,
      -0.29234966315923777,
      -0.1765818625037535,
      0.254304718879519,
      0.7202315184264504,
      0.8735431885678366,
      0.8307535137755305,
      0.8485883640646343
    ],
    "ay_ego": [
      -1.0991571609825026,
      -1.1935491133931304,
      -1.6534883788849875,
      -1.761053983371696,
      -1.75483179445854,
      -1.614351980675983,
      -1.2569537114707414,
      -0.8116273395051362,
      -0.4717404298685502,
      -0.43884874498626314
    ],
    "a_ego": [
      1.4951414664566465,
      1.4951414660563007,
      1.7190757305102353,
      1.785155303579674,
      1.7636937889009743,
      1.6342592228764874,
      1.4486773529378245,
      1.19239953057918,
      0.9553483311457425,
      0.9553483305066852
    ],
    "yaw": [
      -0.7246127792381287,
      -0.8231634218513808,
      -0.9857547245087415,
      -1.1866278716765843,
      -1.4004700569432473,
      -1.6063333417438843,
      -1.7813928015847489,
      -1.8949639883345846,
      -1.9685779192152133,
      -2.007745023779542
    ],
    "yaw_diff": [
      -0.19710128522650416,
      -0.3251826053147213,
      -0.40174629433568576,
      -0.427684370533326,
      -0.41172656960127396,
      -0.35011891968172915,
      -0.22714237349967137,
      -0.14722786176125746,
      -0.07833420912865696,
      -0.07833420912865696
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.61807448550141,
    "v_std": 0.5082346623774331,
    "vy_max": 0.058477138807390805,
    "a_max": 1.785155303579674,
    "ax_avg": 0.06741210096137093,
    "a_std": 0.29606941273650134,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "83a4e663032f5c9a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "83a4e663032f5c9a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "21128a317e82595f": {
    "vx_ego": [
      8.455368594248284,
      8.361500006537874,
      8.268175789826898,
      8.15836796593328,
      8.042070557902429,
      7.898087212742405,
      7.729689397787562,
      7.599483581216633,
      7.4925122451940505,
      7.385282614558826
    ],
    "vy_ego": [
      -0.032855782707402525,
      -0.004505563875508489,
      0.004134563381661405,
      0.02055363065718563,
      0.033496388563934776,
      0.04291145866461532,
      -0.004422152738762897,
      -0.01612406237835673,
      -0.004781692072458377,
      0.02122542264852667
    ],
    "v_ego": [
      8.455432429335445,
      8.361501220441141,
      8.268176823586565,
      8.158393856593312,
      8.042140316254617,
      7.898203783985941,
      7.729690662743515,
      7.59950068666151,
      7.492513771022504,
      7.385313115601225
    ],
    "ax_ego": [
      -0.18774861996736394,
      -0.18758893350595549,
      -0.18522595673755812,
      -0.2547036992205652,
      -0.2112438106189563,
      -0.36610522698128883,
      -0.3077911489240087,
      -0.21300157252081897,
      -0.21467228643587896,
      -0.2143509319132441
    ],
    "ay_ego": [
      0.08724837199614704,
      0.08759118963926245,
      0.20863211377877508,
      0.15126120142862592,
      0.2076922479757998,
      0.009591075379308811,
      0.09975031041575584,
      0.028266480694656426,
      0.09953594985674098,
      0.10022610582950095
    ],
    "a_ego": [
      0.20703097042623286,
      0.20703097467848386,
      0.2789910642818933,
      0.296232890567998,
      0.2962431727383073,
      0.3662308369730116,
      0.3235514113460193,
      0.21486894570226542,
      0.2366254337079844,
      0.23662543037852576
    ],
    "yaw": [
      2.136179534623266,
      2.138006236341743,
      2.1458738199630525,
      2.1548198375466594,
      2.164306810870223,
      2.169927437620505,
      2.1794922156419565,
      2.1852033724923534,
      2.1879343102862636,
      2.1911516565148945
    ],
    "yaw_diff": [
      0.0036534034369539725,
      0.01573516724261914,
      0.017892035167213827,
      0.018973946647126816,
      0.011241253500564596,
      0.019129556042902784,
      0.011422313700793829,
      0.005461875587820408,
      0.006434692457261804,
      0.006434692457261804
    ],
    "min_front_frame": [
      3,
      18.8126935109754
    ],
    "v_avg": 7.939086666622577,
    "v_std": 0.3576300131210952,
    "vy_max": 0.04291145866461532,
    "a_max": 0.3662308369730116,
    "ax_avg": -0.23424321868256381,
    "a_std": 0.051623115828138534,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "21128a317e82595f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.173535656276243,
    "right_rear_min": 18.094191118197802,
    "speed_mode": "decelerating",
    "front_frame": [
      23.576613761374347,
      19.410516228394147,
      22.83129085981769,
      18.8126935109754,
      23.87620426696811,
      19.926472946158626,
      31.16784922210009,
      30.439187027146186,
      29.764765710602752,
      28.981689136122654
    ],
    "safe_frame": [
      1,
      0,
      1,
      0,
      1,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "21128a317e82595f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "59b5e5a171965609": {
    "vx_ego": [
      9.8344950234222,
      9.70361541514852,
      9.615705581130307,
      9.544536441050893,
      9.459549404086935,
      9.394549804230378,
      9.340895398289403,
      9.23170403466668,
      9.111810840173577,
      9.039710444047806
    ],
    "vy_ego": [
      0.07900368387648893,
      0.03195202831788002,
      -0.006362244953358243,
      -0.029416773494777004,
      -0.01889209218846677,
      0.00740001976168525,
      0.008610327912117022,
      0.010477445256059426,
      0.01721027949717424,
      0.025423225814891204
    ],
    "v_ego": [
      9.834812349393458,
      9.70366802076522,
      9.61570768592418,
      9.544581772980484,
      9.459568269192244,
      9.394552718701274,
      9.340899366738242,
      9.231709980309182,
      9.111827093444273,
      9.039746194038736
    ],
    "ax_ego": [
      -0.26742386987151745,
      -0.2607166401780554,
      -0.09216809307416794,
      -0.19050736619096276,
      -0.1472340212218933,
      -0.1128980971627412,
      -0.10307713285678659,
      -0.33354401981906306,
      -0.14708491532650497,
      -0.1426018131851432
    ],
    "ay_ego": [
      0.3151965763653473,
      0.3207666518760333,
      0.298880119892546,
      0.3601702134614393,
      0.4003125777153637,
      0.3384359000626987,
      0.218080577568527,
      0.3148965175732984,
      0.29247969683624986,
      0.2946914784277979
    ],
    "a_ego": [
      0.4133574820049766,
      0.41335748622892265,
      0.3127687379645081,
      0.4074501677970894,
      0.42653020629527283,
      0.3567700082605273,
      0.24121366800121,
      0.45870625670122506,
      0.32738104004054625,
      0.32738103882426023
    ],
    "yaw": [
      2.1428397248281135,
      2.1639320925983165,
      2.1839785365112743,
      2.2035576665383183,
      2.2224686477249156,
      2.2392780873784592,
      2.25400251917531,
      2.268105949287125,
      2.2839674528599323,
      2.299237326104475
    ],
    "yaw_diff": [
      0.04218473554040614,
      0.04009288782591547,
      0.03915826005408807,
      0.03782196237319457,
      0.03361887930708729,
      0.0294488635937018,
      0.02820686022363006,
      0.03172300714561427,
      0.03053974648908575,
      0.03053974648908575
    ],
    "min_front_frame": [
      7,
      18.771675110410257
    ],
    "v_avg": 9.427707345148729,
    "v_std": 0.24274506525231293,
    "vy_max": 0.07900368387648893,
    "a_max": 0.45870625670122506,
    "ax_avg": -0.17972559688868361,
    "a_std": 0.0631451428417058,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "59b5e5a171965609",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      51.89101015043516,
      47.01530394095795,
      42.23170732435733,
      37.437797868688996,
      32.68838079920741,
      27.98657473082142,
      23.34239129955389,
      18.771675110410257,
      29.161452282987085,
      24.66183364058199
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "59b5e5a171965609",
    "road_shape": "Straight"
  },
  "b2ec50201ac25ada": {
    "vx_ego": [
      3.907411989475154,
      3.493615153640843,
      3.0909825781093474,
      2.648093131681886,
      2.0844056663624917,
      1.404159475357004,
      0.7700600300854116,
      0.34465174818324956,
      0.1250071782209179,
      -0.004227110677449242
    ],
    "vy_ego": [
      -0.006134281786928764,
      -0.0034982615207741485,
      0.0009951339069231846,
      -0.003428486593688662,
      -0.02983971246219408,
      -0.05365830590847542,
      -0.05386002996076683,
      -0.044383834793925575,
      -0.022811639359564997,
      0.012093086311062191
    ],
    "v_ego": [
      3.9074168046047024,
      3.4936169050974377,
      3.090982738299747,
      2.6480953511120218,
      2.0846192435080053,
      1.4051843459232758,
      0.7719412884167549,
      0.3474978450534399,
      0.12707149757922578,
      0.012810589416814714
    ],
    "ax_ego": [
      -0.8275938573143208,
      -0.8275939903579773,
      -0.7829355116377685,
      -0.9886248832997055,
      -1.2660963413124326,
      -1.4547704512447386,
      -1.0815476807302382,
      -0.6200209691930109,
      -0.25847855797414815,
      -0.2584497139142464
    ],
    "ay_ego": [
      0.005092743612925221,
      0.0050715116890858725,
      0.014017312251227654,
      -0.02994893509344576,
      -0.06979437698581392,
      -0.021119600296073404,
      0.021714719927321102,
      0.016854206770062663,
      0.06980594875100538,
      0.06991268144766918
    ],
    "a_ego": [
      0.8276095267104551,
      0.8276095293720659,
      0.7830609812947155,
      0.9890784087182309,
      1.268018612065125,
      1.4549237448510786,
      1.0817656468729626,
      0.6202500032445696,
      0.26773874469979697,
      0.2677387488757634
    ],
    "yaw": [
      2.5644129379035974,
      2.5643872762589384,
      2.5644721051122854,
      2.5646243243489844,
      2.5652388328940106,
      2.5658554490975463,
      2.5661923212427773,
      2.5665246108410553,
      2.567014185046115,
      2.567427120884645
    ],
    "yaw_diff": [
      -5.1323289318006005e-05,
      0.00016965770669408187,
      0.0003044384733978944,
      0.0012290170900524089,
      0.0012332324070714051,
      0.000673744290462075,
      0.0006645791965560477,
      0.000979148410118924,
      0.0008258716770601637,
      0.0008258716770601637
    ],
    "min_front_frame": [
      9,
      10.66055624387158
    ],
    "v_avg": 1.788923660901143,
    "v_std": 1.3816841033473504,
    "vy_max": 0.05386002996076683,
    "a_max": 1.4549237448510786,
    "ax_avg": -0.8366111956978587,
    "a_std": 0.36725962067832635,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b2ec50201ac25ada",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.425746737298179,
    "right_rear_min": 5.854017494092014,
    "speed_mode": "decelerating",
    "front_frame": [
      16.85599412949516,
      15.626127250914804,
      14.4502102122294,
      13.445984523918334,
      12.4219951462261,
      11.565723054243692,
      11.046710688137496,
      10.793453731276788,
      10.694751546978251,
      10.66055624387158
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b2ec50201ac25ada",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "199bda2914215d57": {
    "vx_ego": [
      1.2372225433136759,
      0.9289892687405359,
      0.6030590465246745,
      0.2885317079459312,
      0.05858689306550995,
      -0.027639224935330508,
      -0.02138818978251479,
      -0.01266260685952061,
      -0.007373971995413729,
      -0.003926419829966584
    ],
    "vy_ego": [
      -0.05638745808554946,
      -0.05800249005727748,
      -0.045612677545205316,
      -0.017499751643402867,
      -0.0024618239467419922,
      -0.0009556638941578908,
      0.0009028840448622091,
      0.0009724605862508166,
      0.0007089538685562079,
      -0.00034050315111007695
    ],
    "v_ego": [
      1.2385068296593726,
      0.9307982328560365,
      0.6047815555620826,
      0.28906190997393083,
      0.058638593231883133,
      0.02765574169145338,
      0.02140723853679724,
      0.01269989338815841,
      0.007407973985975298,
      0.003941156565917004
    ],
    "ax_ego": [
      -0.6165903422539792,
      -0.6165844960582102,
      -0.6874451306239443,
      -0.5705129933599099,
      -0.34925915402454316,
      0.004364582464188173,
      0.020642445864967454,
      0.014259305127032352,
      0.006895005704019173,
      0.006895303773815688
    ],
    "ay_ego": [
      -0.005196073825845804,
      -0.005848537354862404,
      0.05134998704269217,
      0.06307628120499567,
      -0.0023494532183372385,
      0.008280484719270904,
      -0.0007770743751415454,
      0.001042003913530036,
      -0.0020977957719869223,
      -0.0020968106840692996
    ],
    "a_ego": [
      0.6166122358047097,
      0.6166122332297246,
      0.6893603040412586,
      0.5739892793799691,
      0.34926705627694793,
      0.009360342262587295,
      0.02065706697168341,
      0.01429732684321174,
      0.007207069498722982,
      0.007207068001484656
    ],
    "yaw": [
      -0.6310430686300227,
      -0.6321012471308112,
      -0.6334104128343341,
      -0.6322655423299379,
      -0.6312800755052012,
      -0.6304655699753199,
      -0.6311174645749075,
      -0.6309115146918235,
      -0.6308634144052752,
      -0.631005765301964
    ],
    "yaw_diff": [
      -0.002116357001576974,
      -0.0026183314070458152,
      0.002289741008792312,
      0.0019709336494735386,
      0.0016290110597625418,
      -0.001303789199175176,
      0.00041189976616795576,
      9.620057309667196e-05,
      -0.00028470179337758417,
      -0.00028470179337758417
    ],
    "min_front_frame": [
      9,
      9.33561040869899
    ],
    "v_avg": 0.31948991254516074,
    "v_std": 0.4282239233832891,
    "vy_max": 0.05800249005727748,
    "a_max": 0.6893603040412586,
    "ax_avg": -0.2787335473386564,
    "a_std": 0.2905615327582314,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "199bda2914215d57",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.488313439546207,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.549468459286164,
      10.001374744680389,
      9.602357741192574,
      9.469262335027077,
      9.394901427642147,
      9.37580894414037,
      9.399818581247496,
      9.418115437983037,
      9.343140500418798,
      9.33561040869899
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "199bda2914215d57",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ed98d12e4c99536d": {
    "vx_ego": [
      2.8386160927704456,
      2.932101380989527,
      3.0422713062011075,
      3.1371000006798995,
      3.182459048715611,
      3.2348941617185054,
      3.3678652723501563,
      3.562267479438558,
      3.763986753863611,
      3.9629962466170636
    ],
    "vy_ego": [
      -0.03327739317059164,
      -0.010380034486656808,
      -0.0005269260921255681,
      -0.018793463735943483,
      -0.026008536231271584,
      -0.015529419862612283,
      0.0013109265211210808,
      0.022349058420208012,
      0.010200686801725034,
      0.006105267926979185
    ],
    "v_ego": [
      2.8388111432484515,
      2.9321197542932373,
      3.042271351833314,
      3.1371562932925445,
      3.182565323871415,
      3.2349314367389215,
      3.3678655274862943,
      3.562337585838519,
      3.7640005761519153,
      3.9630009494065725
    ],
    "ax_ego": [
      0.1793061516962372,
      0.19913640390257836,
      0.2409498495203357,
      0.14004098267529522,
      0.045745814742833096,
      0.16755364603143974,
      0.3676188803241061,
      0.40724819842646065,
      0.39412819776508606,
      0.4007599488388256
    ],
    "ay_ego": [
      0.3669939937167852,
      0.35662302199191853,
      0.28966752204339263,
      0.2773706955217757,
      0.2848996056593532,
      0.28950213943564274,
      0.37657590340470254,
      0.35376746598216213,
      0.22821614718277777,
      0.2163587521825439
    ],
    "a_ego": [
      0.4084547557077893,
      0.40845475535718667,
      0.376781240656474,
      0.3107184892517597,
      0.28854889511370607,
      0.3344932182216006,
      0.5262632917046536,
      0.5394464895696682,
      0.455433470562393,
      0.4554334707059699
    ],
    "yaw": [
      -0.2461134026937577,
      -0.19131841943755296,
      -0.14045025619256174,
      -0.08887862832715493,
      -0.042290949480210345,
      -0.0006112545328946176,
      0.04506523153324122,
      0.09174532207762101,
      0.13475486894300573,
      0.16458677794251705
    ],
    "yaw_diff": [
      0.10958996651240949,
      0.10173632648998243,
      0.10314325573081362,
      0.09317535769388917,
      0.08335938989463146,
      0.09135297213227167,
      0.09336018108875958,
      0.08601909373076944,
      0.05966381799902265,
      0.05966381799902265
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.3025059942161183,
    "v_std": 0.34456185497428404,
    "vy_max": 0.03327739317059164,
    "a_max": 0.5394464895696682,
    "ax_avg": 0.25424880739231975,
    "a_std": 0.08112770766493463,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "ed98d12e4c99536d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.665590790836347,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ed98d12e4c99536d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "682413e506fc5bac": {
    "vx_ego": [
      3.551926700283313,
      3.476215924457173,
      3.3896434573439707,
      3.26040975903226,
      3.028475250387084,
      2.7131400722777075,
      2.4354136277284404,
      2.220588270995912,
      2.011394075757128,
      1.8140996279385366
    ],
    "vy_ego": [
      0.00966423620151402,
      0.02010637648154523,
      0.0003780827028543321,
      -0.02506866795483753,
      -0.018841144633695794,
      -0.02209294430941755,
      -0.03669425456649189,
      -0.014607970802156034,
      0.012537968998025506,
      0.015433119744772905
    ],
    "v_ego": [
      3.5519398476954622,
      3.4762740714484606,
      3.3896434784297473,
      3.2605061317080555,
      3.0285338583113477,
      2.7132300215771132,
      2.4356900472850795,
      2.220636319187717,
      2.011433152917955,
      1.8141652739681116
    ],
    "ax_ego": [
      -0.15140712942295298,
      -0.1514139026059596,
      -0.19491674856685917,
      -0.3221990129016951,
      -0.6063439295007311,
      -0.6553914935415364,
      -0.4579944888778169,
      -0.4099520452610425,
      -0.4187034063247683,
      -0.36050708842881907
    ],
    "ay_ego": [
      0.01830833777890336,
      0.018252238421359777,
      -0.09130720971114427,
      -0.043474423830276804,
      -0.06168321043005934,
      -0.18684822897858622,
      -0.30538897720854963,
      -0.2678664881572721,
      -0.44383088913096697,
      -0.49227333829792524
    ],
    "a_ego": [
      0.1525100458078918,
      0.15251004593061135,
      0.21524299156328197,
      0.32511879281610473,
      0.6094733622492017,
      0.6815058844052925,
      0.5504737770711124,
      0.489707193015808,
      0.610162601783122,
      0.6101626016123963
    ],
    "yaw": [
      -2.0194702960603914,
      -2.01984080525234,
      -2.0194148614778893,
      -2.0218838255550837,
      -2.0321093132673838,
      -2.0525751669964905,
      -2.0951079350726927,
      -2.166309733841516,
      -2.263098552957886,
      -2.387275998897821
    ],
    "yaw_diff": [
      -0.0007410183838976181,
      0.000851887548901864,
      -0.004937928154388871,
      -0.02045097542460006,
      -0.040931707458213396,
      -0.08506553615240442,
      -0.14240359753764675,
      -0.19357763823273988,
      -0.24835489187987037,
      -0.24835489187987037
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.790205220252905,
    "v_std": 0.6085552280087018,
    "vy_max": 0.03669425456649189,
    "a_max": 0.6815058844052925,
    "ax_avg": -0.37288292454321814,
    "a_std": 0.19714095614046742,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "682413e506fc5bac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "682413e506fc5bac",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e4673b6cec6b521a": {
    "vx_ego": [
      4.07323092660956,
      4.07201668824332,
      4.050187668690482,
      3.995596393218523,
      3.9277145343555313,
      3.874516530387572,
      3.8911245228844265,
      3.9479103381865777,
      3.9525645377086542,
      3.9188698302358884
    ],
    "vy_ego": [
      0.03562716209967953,
      0.02132341398698734,
      -0.006367710166543139,
      -0.026522620301502986,
      0.0010733832844742608,
      0.02061578522056262,
      0.0008921742152481205,
      -0.030706442409134116,
      -0.02351743928213601,
      0.015428560141082626
    ],
    "v_ego": [
      4.073386732949359,
      4.07207251867107,
      4.05019267434837,
      3.9956844203325828,
      3.927714681025006,
      3.8745713769198793,
      3.891124625165247,
      3.948029752163208,
      3.9526345005201806,
      3.918900201179036
    ],
    "ax_ego": [
      -0.003000739945342794,
      -0.002735842498461965,
      -0.08501752395797238,
      -0.1319696636328615,
      -0.13837979322181712,
      -0.07570962481601896,
      0.14155424644089665,
      0.08579780684807434,
      -0.06733301451553489,
      -0.06752569710531503
    ],
    "ay_ego": [
      0.03428936264802464,
      0.03431150711816493,
      -0.01754372183745152,
      0.10899310853724328,
      0.1975561437044222,
      0.06417202151545288,
      -0.054616589297287396,
      -0.027091545778266286,
      0.038778829708962376,
      0.03844233208813938
    ],
    "a_ego": [
      0.034420412999081273,
      0.03442040608267533,
      0.08680876428019398,
      0.1711592528260798,
      0.24119991104367178,
      0.09924714421665795,
      0.15172533246600142,
      0.08997341558813564,
      0.07770156032761463,
      0.07770156154115271
    ],
    "yaw": [
      1.0464815844608895,
      1.0542048774872934,
      1.0620358465660433,
      1.0727132853071184,
      1.0850896185800587,
      1.09687636109993,
      1.1026114092610158,
      1.1054565930896123,
      1.1043815684265599,
      1.0993912328840376
    ],
    "yaw_diff": [
      0.015446586052807909,
      0.015661938157499833,
      0.021354877482150147,
      0.024752666545880597,
      0.023573485039742437,
      0.011470096322171663,
      0.005690367657193107,
      -0.0021500493261048526,
      -0.009980671085044523,
      -0.009980671085044523
    ],
    "min_front_frame": [
      3,
      20.73279417283367
    ],
    "v_avg": 3.970431148327394,
    "v_std": 0.06979093641498484,
    "vy_max": 0.03562716209967953,
    "a_max": 0.24119991104367178,
    "ax_avg": -0.03443198464043537,
    "a_std": 0.06093708726306633,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e4673b6cec6b521a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.824340408639408,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      26.80109037347256,
      24.79658101647067,
      22.724916916855314,
      20.73279417283367,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e4673b6cec6b521a",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "c90d3a1a568a59d3": {
    "vx_ego": [
      2.3346198979103847,
      3.283895121486324,
      4.175915828502055,
      4.899727787643486,
      5.444099796439707,
      5.7577714201484635,
      5.822728587995747,
      5.785854618994668,
      5.738090524364614,
      5.724228029684237
    ],
    "vy_ego": [
      0.007347380857479352,
      -0.015197324636246345,
      -0.034752631037619,
      0.0008465450462699087,
      0.025600647828386114,
      0.03801415386825813,
      0.03850431159441625,
      0.05218911144027749,
      0.043255803682738736,
      -0.009918546413683338
    ],
    "v_ego": [
      2.3346314595080226,
      3.28393028665314,
      4.17606043444034,
      4.899727860773927,
      5.444159989085928,
      5.757896907949357,
      5.822855896505967,
      5.786089990269323,
      5.738253561002268,
      5.724236622763393
    ],
    "ax_ego": [
      1.898420399217748,
      1.8986208908123632,
      1.6690456629158152,
      1.2247636874953365,
      0.9563219754492576,
      0.2989028942275527,
      -0.03911909024427909,
      -0.11023620844235962,
      -0.07550520914924466,
      0.01397414197747062
    ],
    "ay_ego": [
      -0.06599811213863588,
      -0.05995407055926444,
      -0.09359598800964075,
      -0.03192250276519698,
      -0.28571304164163014,
      -0.08894265828423464,
      0.19749685651338955,
      0.40134276842196737,
      0.958538764975901,
      0.9614064305535086
    ],
    "a_ego": [
      1.899567256764534,
      1.8995672606164165,
      1.6716679197345368,
      1.2251796343352954,
      0.9980900074097938,
      0.31185531363161617,
      0.2013338311218719,
      0.4162067267793209,
      0.9615079825826703,
      0.9615079829900763
    ],
    "yaw": [
      1.4887124464757808,
      1.485528896206973,
      1.4805184782520877,
      1.4659370705635155,
      1.445927439701043,
      1.4272626073572425,
      1.4318315457033362,
      1.4552299044848618,
      1.515809849339896,
      1.6089527731858846
    ],
    "yaw_diff": [
      -0.006367100537615578,
      -0.010020835909770653,
      -0.02916281537714438,
      -0.040019261724944855,
      -0.03732966468760113,
      0.009137876692187241,
      0.04679671756305126,
      0.1211598897100683,
      0.1862858476919773,
      0.1862858476919773
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.896784300895166,
    "v_std": 1.1733598316875284,
    "vy_max": 0.05218911144027749,
    "a_max": 1.8995672606164165,
    "ax_avg": 0.7735189144259661,
    "a_std": 0.5954505826926352,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "c90d3a1a568a59d3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.66881965249625,
    "right_rear_min": 9.865896322160893,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c90d3a1a568a59d3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c0ea178930145138": {
    "vx_ego": [
      14.546414234358245,
      14.55526679201772,
      14.525519340541349,
      14.49682108484344,
      14.546173509361262,
      14.566238118473537,
      14.492176766118789,
      14.453730345708898,
      14.420570209532828,
      14.329550602302806
    ],
    "vy_ego": [
      0.017159882025560513,
      0.014567577175674806,
      0.02914690363106054,
      0.009144006021777784,
      0.015558443218123053,
      0.008081111565639176,
      0.0002510627212481964,
      -0.003803864251608058,
      0.023961454635370583,
      0.05742435564965165
    ],
    "v_ego": [
      14.546424355802746,
      14.55527408196488,
      14.525548583596835,
      14.496823968676983,
      14.546181829937321,
      14.566240360107876,
      14.492176768293497,
      14.453730846250373,
      14.420590116890985,
      14.32966566325183
    ],
    "ax_ego": [
      0.01565921312003818,
      0.019058514550026828,
      -0.13866482221433776,
      0.022603447369575966,
      0.1745796304847311,
      -0.09450063309691445,
      -0.2035130689572022,
      0.04932857833954416,
      -0.1819546078648518,
      -0.1819901743491014
    ],
    "ay_ego": [
      0.31203178428310596,
      0.3118426235851985,
      0.3718739334176415,
      0.3391569804375552,
      0.40117506520643414,
      0.4725542085224379,
      0.22275347905428658,
      0.04795856864528657,
      0.04340462712753697,
      0.043255278475950266
    ],
    "a_ego": [
      0.31242446344426605,
      0.3124244690502864,
      0.39688556949735826,
      0.33990936028963575,
      0.4375151201085192,
      0.4819106241285674,
      0.30172285572552743,
      0.0687992219978192,
      0.18705999299511508,
      0.1870599975292642
    ],
    "yaw": [
      -1.9336444535033128,
      -1.922747215847871,
      -1.912009087767407,
      -1.8983621761092255,
      -1.8860424856683118,
      -1.8705587570562456,
      -1.858067752311582,
      -1.8531005713073172,
      -1.853440990181996,
      -1.85426171160635
    ],
    "yaw_diff": [
      0.021794475310883854,
      0.021476256160927854,
      0.027293823316362875,
      0.02463938088182749,
      0.0309674572241323,
      0.02498200948932716,
      0.009934362008529707,
      -0.0006808377493574547,
      -0.0016414428487081523,
      -0.0016414428487081523
    ],
    "min_front_frame": [
      0,
      32.37010437634264
    ],
    "v_avg": 14.493265657477332,
    "v_std": 0.07032926036355758,
    "vy_max": 0.05742435564965165,
    "a_max": 0.4819106241285674,
    "ax_avg": -0.05193939226184914,
    "a_std": 0.11924417682512174,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c0ea178930145138",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.6225204650968883,
    "right_rear_min": 3.2944183051756832,
    "speed_mode": "quasi_constant",
    "front_frame": [
      32.37010437634264,
      34.9445002669463,
      37.422016772219564,
      40.006274553834345,
      42.950486102638436,
      45.475431735471304,
      47.98885173024199,
      50.78182395464372,
      53.67491366998443,
      56.5245781631197
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c0ea178930145138",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cff12b59b73c537e": {
    "vx_ego": [
      4.7033045219723375,
      4.372134203323567,
      4.0968103710288855,
      3.8547503936745997,
      3.6636982640637656,
      3.577655545667535,
      3.5806781071884117,
      3.674460966274896,
      3.8663187468214018,
      4.1950736017958645
    ],
    "vy_ego": [
      -0.0042148522659802845,
      0.028080545084301356,
      0.022493587511079438,
      0.04841926542202368,
      0.07361584648302633,
      0.036062506831050056,
      0.040883101018479584,
      0.05831115589213831,
      0.08890586006206835,
      0.046552435822716176
    ],
    "v_ego": [
      4.7033064105355775,
      4.372224377691981,
      4.096872121222354,
      3.8550544772802486,
      3.66443778265606,
      3.57783729476965,
      3.5809114950312964,
      3.6749236160197016,
      3.867340805253138,
      4.195331888392807
    ],
    "ax_ego": [
      -0.7070997979277241,
      -0.6085954653993304,
      -0.4770000524108341,
      -0.46250567561728734,
      -0.24888348117231174,
      -0.04631442823714216,
      0.11209215377668902,
      0.3107209402340636,
      0.5273687249381261,
      0.8266697614618259
    ],
    "ay_ego": [
      -0.876964536886261,
      -0.9479812557468824,
      -1.0182236449424498,
      -1.1386727716258438,
      -1.2772273286223035,
      -1.3966673681268442,
      -1.5963812314193262,
      -1.6180610656206718,
      -1.652781501717799,
      -1.525261160777182
    ],
    "a_ego": [
      1.1265242665764295,
      1.1265242570633194,
      1.1244147104693296,
      1.2290187878223362,
      1.3012504125571351,
      1.3974350659165882,
      1.6003117468062844,
      1.647625295623202,
      1.7348788039697205,
      1.7348788151022851
    ],
    "yaw": [
      -1.722487435927728,
      -1.8303359245884203,
      -1.9454201258870878,
      -2.0873941148345745,
      -2.2555614351027673,
      -2.4305952204421883,
      -2.6413889792027763,
      -2.868303064695983,
      -3.0939597255062883,
      3.001423926369516
    ],
    "yaw_diff": [
      -0.2156969773213846,
      -0.23016840259733495,
      -0.2839479778949734,
      -0.3363346405363856,
      -0.3500675706788421,
      -0.42158751752117585,
      -0.45382817098641315,
      -0.4513133216206109,
      -0.3756033106075636,
      -0.3756033106075636
    ],
    "min_front_frame": [
      9,
      68.0318136468567
    ],
    "v_avg": 3.9588240268852815,
    "v_std": 0.35700362598222796,
    "vy_max": 0.08890586006206835,
    "a_max": 1.7348788151022851,
    "ax_avg": -0.07735473203539253,
    "a_std": 0.24293955927876876,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "cff12b59b73c537e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.26057132370523,
    "right_rear_min": 12.806068719140884,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      68.0318136468567
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "cff12b59b73c537e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4302a0a4b9f05b61": {
    "vx_ego": [
      -0.21849272599429256,
      0.24661525396370187,
      0.9344622773871999,
      1.8891392462155931,
      2.8430378412182553,
      3.5940426442554188,
      4.1304639329198425,
      4.569838395093152,
      4.908171293174681,
      5.33073561117867
    ],
    "vy_ego": [
      -0.006095613714714454,
      -0.0029046184870915454,
      0.01832178986798272,
      0.05636269004195382,
      0.07105320603222864,
      0.03729508864501874,
      -0.002200367710462947,
      -0.050296536988264084,
      -0.08307520503071009,
      -0.18659182455449908
    ],
    "v_ego": [
      0.21857773861712457,
      0.24663235857473514,
      0.9346418757169179,
      1.8899798529139895,
      2.843925583535268,
      3.5942361430996046,
      4.130464519006272,
      4.570115173483111,
      4.908874304037018,
      5.334000249838671
    ],
    "ax_ego": [
      0.930219004145078,
      0.9302224451834453,
      1.8212553044511992,
      1.995029917206195,
      1.8112133081062296,
      1.190565649157389,
      0.984082757864303,
      0.8468820371173926,
      0.6248110877744419,
      1.169933389440096
    ],
    "ay_ego": [
      0.006646058880745265,
      0.006148048655044536,
      0.09261438304892233,
      0.20133218851251455,
      0.34268721892366133,
      0.7270471225993972,
      1.2829655034924148,
      1.8458389910741568,
      2.3544246897803363,
      2.136576789216196
    ],
    "a_ego": [
      0.9302427456160607,
      0.9302427618774213,
      1.823608595049706,
      2.0051630907931144,
      1.843347004086519,
      1.3950068399235962,
      1.6169166204468794,
      2.030844840395683,
      2.4359196446625893,
      2.435919643983393
    ],
    "yaw": [
      -2.145211045461327,
      -2.144675666883013,
      -2.1374459629883766,
      -2.1119482596149295,
      -2.0611801784844395,
      -1.969866064305631,
      -1.8306904978805014,
      -1.6411432617590527,
      -1.4149470918834053,
      -1.173366874885962
    ],
    "yaw_diff": [
      0.001070757156627522,
      0.014459407789273016,
      0.05099540674689429,
      0.10153616226098006,
      0.18262822835761705,
      0.27835113285025903,
      0.3790944722428975,
      0.4523923397512948,
      0.4831604339948865,
      0.4831604339948865
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.867144779882271,
    "v_std": 1.8398568628334135,
    "vy_max": 0.18659182455449908,
    "a_max": 2.4359196446625893,
    "ax_avg": 1.230421490044577,
    "a_std": 0.5085805726030338,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "4302a0a4b9f05b61",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.966884435784047,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "4302a0a4b9f05b61",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "be0064dac5f85957": {
    "vx_ego": [
      9.099274187681287,
      9.06162486812135,
      8.963308393578854,
      8.798175319514128,
      8.60910531896489,
      8.402804432366402,
      8.226813309459994,
      8.04803509427643,
      7.887282923083327,
      7.776449782061697
    ],
    "vy_ego": [
      -0.013905363990782682,
      0.04933323500352138,
      0.02961604935532325,
      0.021543171590615806,
      0.0014284533345430006,
      -0.022546211211410316,
      -0.024631070725217974,
      -0.03164388888858882,
      -0.018492824994878365,
      0.04134107199249604
    ],
    "v_ego": [
      9.099284812651522,
      9.061759156953531,
      8.963357321270896,
      8.798201694729993,
      8.609105437471914,
      8.402834680049134,
      8.226850182077778,
      8.0480973039849,
      7.887304602545673,
      7.776559669748629
    ],
    "ax_ego": [
      -0.07549668585813976,
      -0.0752231722829659,
      -0.3197038120182341,
      -0.34218010818634004,
      -0.4145467135663376,
      -0.4098146674826423,
      -0.29339744579675436,
      -0.4205728166282663,
      -0.22175664583885324,
      -0.2216214650407774
    ],
    "ay_ego": [
      0.15786315096348022,
      0.15799364524513188,
      0.19648046531324218,
      0.142137529713181,
      0.15056239632845342,
      0.19569138865209892,
      0.14864105888873447,
      0.1509837976112933,
      0.13520525225689806,
      0.1354267247623965
    ],
    "a_ego": [
      0.17498721098320638,
      0.17498719263465357,
      0.37525338195504454,
      0.37052706215792225,
      0.4410419627618413,
      0.45414004588507223,
      0.3289015439118881,
      0.4468529973355458,
      0.2597238345080213,
      0.2597238370783291
    ],
    "yaw": [
      -0.6681619296867374,
      -0.6664301144271512,
      -0.6544502293783967,
      -0.6440122263063675,
      -0.6333049874795448,
      -0.6203088868858768,
      -0.6096866677951616,
      -0.5996394313265081,
      -0.592287378258598,
      -0.5912883685011159
    ],
    "yaw_diff": [
      0.0034636305191724226,
      0.023959770097508937,
      0.02087600614405849,
      0.021414477653645347,
      0.025992201187335917,
      0.021244438181430514,
      0.02009447293730693,
      0.014704106135820183,
      0.0019980195149642554,
      0.0019980195149642554
    ],
    "min_front_frame": [
      9,
      60.770112533713146
    ],
    "v_avg": 8.487335486148396,
    "v_std": 0.4664407275292112,
    "vy_max": 0.04933323500352138,
    "a_max": 0.45414004588507223,
    "ax_avg": -0.27943135326993107,
    "a_std": 0.10149059591953223,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "be0064dac5f85957",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      78.99633622747336,
      77.08314931027279,
      75.0520601815501,
      72.8751568640654,
      70.5776579531716,
      68.4247471263036,
      65.92036263951582,
      63.45013336045369,
      60.770112533713146
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 10,
    "token": "be0064dac5f85957",
    "smoothness": "No"
  },
  "eed926191448591a": {
    "vx_ego": [
      5.659530212019092,
      5.876861494318565,
      6.108886863355549,
      6.3571856462575,
      6.637877635967625,
      6.954512354978427,
      7.268304948499311,
      7.602006015947517,
      8.005452326055593,
      8.508323109917427
    ],
    "vy_ego": [
      -0.02335485434937068,
      0.009029224384624834,
      -0.014760318603783906,
      0.006792943640548277,
      -0.002206864690812216,
      0.000896709697729231,
      -0.03167281054712312,
      -0.038894550747531564,
      -0.04105728118327301,
      -0.10623080118797112
    ],
    "v_ego": [
      5.659578400373879,
      5.876868430575694,
      6.108904695302037,
      6.357189275541959,
      6.637878002820698,
      6.954512412788971,
      7.268373957860693,
      7.602105514433491,
      8.005557609878718,
      8.508986257238638
    ],
    "ax_ego": [
      0.41451248899006143,
      0.455739136674934,
      0.48403779576164746,
      0.5165026056027728,
      0.6078523270433489,
      0.664383414118374,
      0.6073534113880773,
      0.7567908214454567,
      0.8939166414876139,
      1.1469194787841277
    ],
    "ay_ego": [
      0.7348934659002816,
      0.7100639871156285,
      0.9974680331938558,
      1.1437168804036588,
      1.1967124681604062,
      1.3152593138507276,
      1.5112300642241414,
      1.756943791740735,
      2.041299491689823,
      1.91064550829839
    ],
    "a_ego": [
      0.8437351537962989,
      0.8437351637188991,
      1.108708737662608,
      1.2549355537694877,
      1.3422388695543672,
      1.4735373709637205,
      1.628709450251836,
      1.913003877351115,
      2.228450263457012,
      2.2284502572853784
    ],
    "yaw": [
      2.7764853193002894,
      2.8335326318333114,
      2.9087429757812613,
      2.9911725533504834,
      3.0827053853754034,
      -3.108502173357845,
      -3.0047549179361144,
      -2.89372936569079,
      -2.77165519023273,
      -2.643790029620071
    ],
    "yaw_diff": [
      0.11409462506604395,
      0.1504206878958998,
      0.16485915513844418,
      0.18306566404984004,
      0.18395549689267554,
      0.20749451084346138,
      0.22205110449064858,
      0.2441483509161202,
      0.25573032122531814,
      0.25573032122531814
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.897995455681477,
    "v_std": 0.8953940199944938,
    "vy_max": 0.10623080118797112,
    "a_max": 2.228450263457012,
    "ax_avg": 0.6548008121296414,
    "a_std": 0.4844306301045063,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "eed926191448591a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.165808755804756,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "eed926191448591a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b431359c21975fe6": {
    "vx_ego": [
      8.32040205579356,
      8.522477363453422,
      8.726098167985144,
      8.979828073015634,
      9.30121065115634,
      9.621960147625854,
      9.910944204977602,
      10.172961168834691,
      10.38463524922989,
      10.557274110748201
    ],
    "vy_ego": [
      -0.0291950800788352,
      0.008902985104187966,
      0.0023909636858481242,
      0.02742802681691847,
      0.030085469464353753,
      0.04567740706873202,
      0.010439016801509826,
      -0.012887004869424068,
      -0.02589969616190535,
      -0.038323685219807224
    ],
    "v_ego": [
      8.320453276279755,
      8.522482013692946,
      8.726098495548914,
      8.979869961061503,
      9.30125930789251,
      9.622068566998298,
      9.910949702589095,
      10.17296933139548,
      10.384667546619353,
      10.557343669423814
    ],
    "ax_ego": [
      0.3989777793812892,
      0.41016907635160393,
      0.40262590010123434,
      0.6108306917580493,
      0.6722336711425569,
      0.6094927487492772,
      0.5463001925077148,
      0.5017281700437639,
      0.34484757373670316,
      0.3452285616498799
    ],
    "ay_ego": [
      0.4786660939869569,
      0.46911174559953295,
      0.3813885318806425,
      0.3322669809911227,
      0.24353104137802045,
      -0.007223464583875766,
      -0.09820842494234693,
      -0.04812610674559298,
      -0.10324784137155268,
      -0.10196667391306855
    ],
    "a_ego": [
      0.6231408331771839,
      0.6231408356499908,
      0.5545852753927036,
      0.6953527742452547,
      0.7149863472350102,
      0.6095355520546312,
      0.5550574700547888,
      0.5040310295665856,
      0.35997217373010404,
      0.35997216887939965
    ],
    "yaw": [
      -1.2488789190231397,
      -1.2252641693565463,
      -1.1998590162443958,
      -1.1824834590726543,
      -1.1670130046438119,
      -1.1624208706769759,
      -1.1615123276127934,
      -1.1628318176481733,
      -1.1652429458292173,
      -1.1689560524781477
    ],
    "yaw_diff": [
      0.047229499333186986,
      0.05081030622430083,
      0.0347511143434831,
      0.030940908857684857,
      0.009184267933671997,
      0.001817086128364842,
      -0.0026389800707598,
      -0.0048222563620878844,
      -0.007426213297860862,
      -0.007426213297860862
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.449816187150168,
    "v_std": 0.7594685518431132,
    "vy_max": 0.04567740706873202,
    "a_max": 0.7149863472350102,
    "ax_avg": 0.4842434365422072,
    "a_std": 0.11660916563368126,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "b431359c21975fe6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "b431359c21975fe6",
    "pedestrians": "No"
  },
  "c2cb368d78e858c7": {
    "vx_ego": [
      7.399001423421446,
      7.270304002101637,
      7.138663720765235,
      7.123357309772931,
      7.397363371600289,
      7.582703072814621,
      7.734829471405502,
      7.936112521550912,
      7.893587159911965,
      7.783268854698727
    ],
    "vy_ego": [
      -0.02558512908846655,
      0.0047122942600683615,
      0.0030684481440474975,
      -0.010889803177971391,
      -0.031084024997069637,
      -0.03747864067332962,
      -0.04745026891833293,
      -0.024782429395963312,
      -0.003580635974905988,
      -0.02153526321494459
    ],
    "v_ego": [
      7.399045658909198,
      7.270305529253381,
      7.138664380228543,
      7.123365633638969,
      7.3974286794874615,
      7.582795694134124,
      7.734975014810554,
      7.936151216019258,
      7.893587972023941,
      7.783298647237236
    ],
    "ax_ego": [
      -0.2578714800868965,
      -0.25659896506071145,
      -0.27058861794668826,
      0.20941283759827928,
      0.8868277681659936,
      -0.1454824539591422,
      0.7540782731150392,
      0.050913985976160196,
      -0.22092165040220899,
      -0.22054518483525512
    ],
    "ay_ego": [
      0.16927996973587855,
      0.17120273506523054,
      0.010224859176794276,
      0.014115557268784745,
      -0.00906870304730062,
      -0.019630237068585875,
      -0.004890771371534874,
      0.07126358654692222,
      -0.09641770816663366,
      -0.09727571701363527
    ],
    "a_ego": [
      0.30846946104272077,
      0.3084694561282263,
      0.27078173481142354,
      0.20988803088306782,
      0.8868741352442507,
      0.14680085359882214,
      0.7540941331350935,
      0.08758271938865173,
      0.24104512039147769,
      0.24104510713668034
    ],
    "yaw": [
      -2.1455642795080183,
      -2.138089599175041,
      -2.13156738701372,
      -2.1287328074893956,
      -2.125742720396598,
      -2.1258451108450385,
      -2.1253360713921072,
      -2.1261027450280245,
      -2.1295611533364767,
      -2.133448268126795
    ],
    "yaw_diff": [
      0.014949360665954536,
      0.013044424322641746,
      0.005669159048649064,
      0.005980174185594933,
      -0.00020478089688058532,
      0.001018078905862474,
      -0.0015333472718346286,
      -0.006916816616904242,
      -0.007774229580636671,
      -0.007774229580636671
    ],
    "min_front_frame": [
      9,
      60.45140905413817
    ],
    "v_avg": 7.525961842574266,
    "v_std": 0.2875090939510325,
    "vy_max": 0.04745026891833293,
    "a_max": 0.8868741352442507,
    "ax_avg": 0.05292245125645697,
    "a_std": 0.24790631051617082,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c2cb368d78e858c7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 35.80763259143844,
    "right_rear_min": 46.54788916107757,
    "speed_mode": "quasi_constant",
    "front_frame": [
      62.05306958939715,
      62.429818675317286,
      62.68707349862615,
      63.01329668410652,
      63.04044601595835,
      62.83927567201998,
      62.57795807323543,
      62.0052931883164,
      61.318748052386994,
      60.45140905413817
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c2cb368d78e858c7",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "8413eaf2b8e45e3b": {
    "vx_ego": [
      9.497997635572812,
      9.5272992606527,
      9.519500608195775,
      9.461860156338988,
      9.43096063726116,
      9.482057541503693,
      9.571467961472244,
      9.640923803885732,
      9.683974565311832,
      9.721326993684402
    ],
    "vy_ego": [
      -0.13084337998132511,
      -0.04948545056519915,
      -0.07317250415957588,
      -0.10754427683497259,
      -0.07866391875227396,
      -0.04411182268916569,
      -0.04274462897365172,
      -0.03711971399331748,
      -0.02995063879798021,
      0.049550133565686494
    ],
    "v_ego": [
      9.49889883488774,
      9.527427775210429,
      9.519781827584325,
      9.462471315126677,
      9.43128870057973,
      9.482160148051078,
      9.571563406298667,
      9.640995263223475,
      9.684020880934266,
      9.72145327273003
    ],
    "ax_ego": [
      0.05468793996128733,
      0.05683726470741329,
      -0.08911069307753508,
      -0.14631050334655538,
      0.02710168824760295,
      0.17926627531100067,
      0.1796959319890968,
      0.09864539883962302,
      0.07459271294917312,
      0.07477667087612765
    ],
    "ay_ego": [
      -0.13704762227750364,
      -0.13617027800502815,
      -0.46380894795624167,
      0.02044680052098268,
      0.3916163400828728,
      0.2178105123555808,
      0.14894898141613988,
      0.05235145383424617,
      0.1789883168534897,
      0.17891154432093323
    ],
    "a_ego": [
      0.14755616404991925,
      0.1475561563317072,
      0.47229170628440464,
      0.1477323087244874,
      0.39255300193193604,
      0.28209540364295216,
      0.23340185740121197,
      0.11167627067012718,
      0.19390949021428264,
      0.19390949228600948
    ],
    "yaw": [
      2.6137545138330367,
      2.5980214033258573,
      2.5847840703169176,
      2.576732931137953,
      2.5845989402587923,
      2.5970814015665824,
      2.606562325122013,
      2.6112106809280533,
      2.6164526218828,
      2.61748061099068
    ],
    "yaw_diff": [
      -0.03146622101435881,
      -0.0264746660178794,
      -0.016102278357928768,
      0.015732018241678247,
      0.024964922615580143,
      0.018961847110861463,
      0.009296711612080344,
      0.010483881909493675,
      0.002055978215759424,
      0.002055978215759424
    ],
    "min_front_frame": [
      9,
      64.0794740958962
    ],
    "v_avg": 9.554006142462642,
    "v_std": 0.09291518124198798,
    "vy_max": 0.13084337998132511,
    "a_max": 0.47229170628440464,
    "ax_avg": 0.05101826864572344,
    "a_std": 0.11170063002768697,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "8413eaf2b8e45e3b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 25.246180799510107,
    "right_rear_min": 26.341901832564915,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.46431994102461,
      73.74875285817444,
      68.94567907938065,
      64.0794740958962
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "8413eaf2b8e45e3b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4511645a5e9a5bcd": {
    "vx_ego": [
      1.4128968150429222,
      2.260794884576601,
      2.98291540709379,
      3.4751417416093506,
      3.8483577637421686,
      4.201910704472332,
      4.4511953826150075,
      4.588815082610177,
      4.731757534892989,
      5.000860075224447
    ],
    "vy_ego": [
      -0.015334668284383013,
      0.026603146057226024,
      0.03755644625261079,
      0.028950707642926954,
      0.016594595418212732,
      0.01737732216880583,
      0.006480056553912927,
      -0.0062506512746656195,
      -0.020494312903345302,
      -0.0687280815908663
    ],
    "v_ego": [
      1.4129800288786198,
      2.26095140096108,
      2.983151825256743,
      3.475262330781476,
      3.8483935425514524,
      4.201946636939232,
      4.451200099450271,
      4.588819339768346,
      4.7318019174388475,
      5.0013323266078835
    ],
    "ax_ego": [
      1.6959129857132278,
      1.6957294596316566,
      1.1929220805479115,
      0.7756356724987485,
      0.7182025479257408,
      0.7051248451884401,
      0.30915422527765457,
      0.29268029637745785,
      0.323725797393028,
      0.7787473934936888
    ],
    "ay_ego": [
      0.0727913008580996,
      0.07694840744939901,
      -0.04280379496444986,
      0.16494858587595146,
      0.3941180893957619,
      0.7806415534833262,
      1.1760561763257642,
      1.792308114814375,
      2.1057443849033954,
      1.9830558153237863
    ],
    "a_ego": [
      1.6974744264911237,
      1.6974744350568785,
      1.193689765023608,
      0.7929809155553884,
      0.8192337689792772,
      1.0519516539874265,
      1.2160117042532954,
      1.816047943837677,
      2.1304829983949487,
      2.1304830132067942
    ],
    "yaw": [
      -0.6416984708361235,
      -0.6441498594324819,
      -0.6450501971964036,
      -0.6331211460279629,
      -0.5916646335686163,
      -0.5189566776110037,
      -0.4048060975475989,
      -0.23827231765568754,
      -0.02672148455879813,
      0.19493622868064758
    ],
    "yaw_diff": [
      -0.004902777192716812,
      -0.001800675527843243,
      0.02385810233688135,
      0.08291302491869312,
      0.14541591191522518,
      0.22830116012680968,
      0.3330675597838227,
      0.4231016661937788,
      0.44331542647889144,
      0.44331542647889144
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.695583944863395,
    "v_std": 1.1068811150229194,
    "vy_max": 0.0687280815908663,
    "a_max": 2.1304830132067942,
    "ax_avg": 0.8487835304047554,
    "a_std": 0.4786241263346781,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "4511645a5e9a5bcd",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.751652473652465,
    "right_rear_min": 9.159175480668239,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "4511645a5e9a5bcd",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4332fab190e05b95": {
    "vx_ego": [
      -0.18597918924819806,
      0.3536917647247235,
      1.0662997650194133,
      1.9736536529825899,
      2.905379638934322,
      3.8568083805809548,
      4.809032999846278,
      5.732463247984147,
      6.603957984419665,
      7.4360040053142455
    ],
    "vy_ego": [
      0.0027165220422502023,
      -0.0008456254569035593,
      0.0007741423101091383,
      0.004108556430093779,
      -0.001298902988202455,
      -0.001244861158127275,
      0.005013119738939142,
      0.013673066928682864,
      0.007071764938067382,
      -0.0015728766746687661
    ],
    "v_ego": [
      0.18599902775397267,
      0.35369277560688533,
      1.066300046036186,
      1.973657929370604,
      2.9053799292834497,
      3.856808581482725,
      4.809035612779344,
      5.732479554455314,
      6.603961770773631,
      7.4360041716630665
    ],
    "ax_ego": [
      1.0793415034128357,
      1.0793431619775133,
      1.7710879517398421,
      1.8583409216557063,
      1.8685734400423293,
      1.9371180549253983,
      1.8717817049484287,
      1.8220040794137364,
      1.6640503748645483,
      1.664153613598565
    ],
    "ay_ego": [
      -0.007287979419350887,
      -0.007038223568503921,
      0.013298511771701937,
      -0.004287681909468044,
      -0.023915011641076678,
      0.00964054811248094,
      0.011944345465147,
      -0.006612807328395753,
      -0.04948709999633416,
      -0.0458843239152642
    ],
    "a_ego": [
      1.0793661082475665,
      1.0793661092968487,
      1.7711378780923215,
      1.8583458680547968,
      1.8687264723906005,
      1.9371420440653977,
      1.8718198146104335,
      1.8220160796823555,
      1.664786059273951,
      1.6647860585775949
    ],
    "yaw": [
      -2.031950441513311,
      -2.0321818375427014,
      -2.032269559290932,
      -2.0329863636639427,
      -2.0336602992743575,
      -2.0347344669626137,
      -2.0349329790812622,
      -2.036321477075276,
      -2.0375211747438122,
      -2.039686171563713
    ],
    "yaw_diff": [
      -0.00046279205878096974,
      -0.00017544349646136936,
      -0.0014336087460211644,
      -0.0013478712208296884,
      -0.002148335376512378,
      -0.00039702423729703895,
      -0.0027769959880279416,
      -0.002399395337072008,
      -0.004329993639801799,
      -0.004329993639801799
    ],
    "min_front_frame": [
      0,
      13.19734176325102
    ],
    "v_avg": 3.4923319399205175,
    "v_std": 2.4786893974041257,
    "vy_max": 0.013673066928682864,
    "a_max": 1.9371420440653977,
    "ax_avg": 1.6615794806578905,
    "a_std": 0.3028977803484144,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4332fab190e05b95",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.170113651788008,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.19734176325102,
      14.671475623681825,
      16.407797950983447,
      18.64612605103199,
      20.70696961868238,
      23.03874820967622,
      25.32717046119441,
      27.63006576642601,
      29.154203281073094,
      30.01078785030472
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4332fab190e05b95",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "54a295777c3a5d46": {
    "vx_ego": [
      3.4168460558341662,
      3.5021251832283617,
      3.576237434171829,
      3.6298802121811633,
      3.7164911832360055,
      3.822973395640126,
      3.907056170644843,
      3.9735865939663926,
      4.065461145672441,
      4.185604581727429
    ],
    "vy_ego": [
      -0.00400738656639299,
      -0.028109470212729137,
      -0.05036721340942818,
      -0.04126467896799291,
      -0.026972568279944653,
      -0.017036502253702013,
      -0.031918641584419705,
      -0.04385471064944535,
      -0.05654204980747113,
      0.04254466588950274
    ],
    "v_ego": [
      3.4168484058290605,
      3.5022379903881355,
      3.5765920988782796,
      3.630114754179914,
      3.716589059138847,
      3.823011355748402,
      3.907186547920964,
      3.97382858908076,
      4.065854317405963,
      4.18582079921887
    ],
    "ax_ego": [
      0.11959727738002779,
      0.22836501100783962,
      0.10109545402109066,
      0.14633230661784336,
      0.22203846123589815,
      0.21677157244508877,
      0.13218039763359152,
      0.14391477373844228,
      0.22648144031732984,
      0.25516150487134426
    ],
    "ay_ego": [
      0.8532664767974486,
      0.8307927602049084,
      1.0047249193864958,
      1.0962142281634195,
      1.1208174548772378,
      1.1212060035226168,
      1.0971689863593332,
      0.9444883136206325,
      0.601127046587655,
      0.589525381827444
    ],
    "a_ego": [
      0.8616073288819253,
      0.8616073285792671,
      1.0097982246270445,
      1.105937962992509,
      1.1425991621848384,
      1.141968833618271,
      1.1051024577600672,
      0.9553897825841206,
      0.6423765009302637,
      0.6423765012724256
    ],
    "yaw": [
      -2.7140402145018654,
      -2.585046091969326,
      -2.4499145515316023,
      -2.3066863851969743,
      -2.1595705507128704,
      -2.0138045964803615,
      -1.8671289288043231,
      -1.7347079769818345,
      -1.6352462843162292,
      -1.587080221624019
    ],
    "yaw_diff": [
      0.25798824506507856,
      0.2702630808754476,
      0.28645633266925596,
      0.29423166896820785,
      0.29153190846501786,
      0.2933513353520767,
      0.2648419036449772,
      0.19892338533121068,
      0.09633212538442049,
      0.09633212538442049
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.77980839177892,
    "v_std": 0.24060151376670036,
    "vy_max": 0.05654204980747113,
    "a_max": 1.1425991621848384,
    "ax_avg": 0.17919381992684963,
    "a_std": 0.18185658169408378,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "54a295777c3a5d46",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "54a295777c3a5d46",
    "pedestrians": "No"
  },
  "61c675d850d75cd1": {
    "vx_ego": [
      6.990372232023567,
      7.110860402254566,
      7.215693286988014,
      7.333899003940687,
      7.501322603773123,
      7.695030958962178,
      7.855295508940522,
      7.6945633115086025,
      7.476779973985151,
      7.485870412983946
    ],
    "vy_ego": [
      0.08535107842376632,
      0.04228166417780521,
      0.0744567640317606,
      0.009396212867810672,
      0.02089891486256512,
      0.021416232368511423,
      0.017062792703860463,
      -0.021895430322779408,
      -0.014585799714406544,
      0.032771743477686854
    ],
    "v_ego": [
      6.9908932725964466,
      7.110986105982603,
      7.216077426247169,
      7.333905023165929,
      7.5013517162255505,
      7.695060760929392,
      7.855314040296287,
      7.6945944639521615,
      7.476794201055603,
      7.485942146928401
    ],
    "ax_ego": [
      0.23770469598481778,
      0.2400519825149284,
      0.17780045151241178,
      0.29188499483049973,
      0.3768274085136989,
      0.39600453520107026,
      0.24453919804007299,
      -0.8888241648449906,
      0.018123118306774294,
      0.01820928825378429
    ],
    "ay_ego": [
      0.14583691807690263,
      0.14194004183213632,
      0.18869923979575415,
      0.27098031572729375,
      0.27601144110293563,
      0.17338894700049962,
      0.25541671890254386,
      0.049790007754405397,
      0.10679607557810131,
      0.10678141738113839
    ],
    "a_ego": [
      0.2788761896745648,
      0.2788761907812427,
      0.25926897935833554,
      0.3982802803540048,
      0.4670987170040926,
      0.43230003335849715,
      0.35360588184166725,
      0.8902176368083138,
      0.10832289312996059,
      0.10832289359426422
    ],
    "yaw": [
      2.5004008835670115,
      2.516713767626643,
      2.5237538037212777,
      2.5485413994836903,
      2.565450049111196,
      2.580172797922865,
      2.5944852906423046,
      2.6090443016580256,
      2.6133049476857027,
      2.6141118691068135
    ],
    "yaw_diff": [
      0.032625768119262766,
      0.014080072189269544,
      0.04957519152482526,
      0.03381729925501098,
      0.029445497623338035,
      0.02862498543887959,
      0.02911802203144198,
      0.008521292055354124,
      0.0016138428422216577,
      0.0016138428422216577
    ],
    "min_front_frame": [
      0,
      36.18588363535881
    ],
    "v_avg": 7.436091915737954,
    "v_std": 0.2609176764925804,
    "vy_max": 0.08535107842376632,
    "a_max": 0.8902176368083138,
    "ax_avg": 0.11123215083130678,
    "a_std": 0.21195858042448798,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "61c675d850d75cd1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.189727924964295,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      36.18588363535881,
      37.879839298282405,
      39.604575021670314,
      41.603632554155006,
      43.39798983414442,
      45.052833682078806,
      46.51443062221485,
      47.900348266667905,
      49.30860923809779,
      50.70229981645627
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "61c675d850d75cd1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "703aa650ece25a02": {
    "vx_ego": [
      5.499816777824105,
      5.910148570051078,
      6.388196092191794,
      6.82195238077596,
      7.195686033169581,
      7.429985219934382,
      7.478920156351871,
      7.536591162091584,
      7.5567483242847295,
      7.44713006519924
    ],
    "vy_ego": [
      -0.06178509176800828,
      -0.08255623247426236,
      -0.1625356268063478,
      -0.05239000499930491,
      -0.04961698454622887,
      -0.041099340594451306,
      -0.05022250679366236,
      -0.02114032246282882,
      -0.0460334172861705,
      -0.07823945841264779
    ],
    "v_ego": [
      5.500163814578644,
      5.910725137544221,
      6.390263464230238,
      6.822153545486836,
      7.195857095100433,
      7.430098890609779,
      7.479088781748411,
      7.5366208115939335,
      7.556888533787375,
      7.447541045260989
    ],
    "ax_ego": [
      0.6830304927100288,
      0.9949177391457007,
      0.9109076094716897,
      0.8283185653995528,
      0.6719372823050197,
      0.26829342351433716,
      -0.06912576409764992,
      0.2999220671309599,
      -0.21848363004608648,
      -0.21812913780674154
    ],
    "ay_ego": [
      1.9296840723600415,
      1.7889521993695063,
      0.6967972192224654,
      0.26426193914396223,
      0.35124884110685706,
      0.285114229382205,
      0.2683161478593885,
      0.02149658110902522,
      0.04670448158146419,
      0.04833308152366041
    ],
    "a_ego": [
      2.0470005552250683,
      2.047000556740468,
      1.1468561538874824,
      0.86945156177081,
      0.7582054205361274,
      0.3914990228560629,
      0.2770774737581263,
      0.3006914520758529,
      0.2234197958953246,
      0.22341980111414755
    ],
    "yaw": [
      -2.4384156976101647,
      -2.271064561872376,
      -2.15731498224324,
      -2.1376464795019876,
      -2.116148049468623,
      -2.095699601441525,
      -2.0760272951227665,
      -2.070214770728888,
      -2.064704238403813,
      -2.0572441002633086
    ],
    "yaw_diff": [
      0.3347022714755772,
      0.22749915925827224,
      0.03933700548250485,
      0.042996860066729425,
      0.04089689605419622,
      0.03934461263751654,
      0.011625048787757386,
      0.011021064650149626,
      0.014920276281008782,
      0.014920276281008782
    ],
    "min_front_frame": [
      2,
      23.413756269145214
    ],
    "v_avg": 6.926940111994085,
    "v_std": 0.7097400708043323,
    "vy_max": 0.1625356268063478,
    "a_max": 2.047000556740468,
    "ax_avg": 0.4151588647726811,
    "a_std": 0.6770021281210837,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "703aa650ece25a02",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      23.413756269145214,
      25.429095203094345,
      27.583103628772815,
      29.513751008134967,
      31.47709997064714,
      33.47849464183754,
      35.10311516716737,
      36.55625548786732
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "703aa650ece25a02",
    "pedestrians": "No"
  },
  "b27bb0eced055858": {
    "vx_ego": [
      0.45556603686118124,
      1.3458743381913683,
      2.251504403484442,
      3.1329373844054604,
      3.932211543940013,
      4.642712097526119,
      5.286397354369854,
      5.907705946391353,
      6.469783187234512,
      6.974517411433405
    ],
    "vy_ego": [
      0.03785382228849536,
      0.026324194755717623,
      0.013764043253535085,
      0.005883239469704815,
      0.009395254228760308,
      0.031993822120388815,
      0.050981176810895645,
      0.03482639608398852,
      0.011633470053634909,
      -0.009407671057923395
    ],
    "v_ego": [
      0.4571360036173613,
      1.3461317533702228,
      2.251546474713884,
      3.1329429083709757,
      3.9322227679897694,
      4.64282233400862,
      5.286643175842078,
      5.907808597685943,
      6.4697936464347805,
      6.974523756261962
    ],
    "ax_ego": [
      1.780681258753405,
      1.780713425734147,
      1.8419614411290284,
      1.6838078897879942,
      1.5133189545339183,
      1.328363173013872,
      1.2454848338512061,
      1.2385310977447392,
      1.0094805699829348,
      1.0094477076108732
    ],
    "ay_ego": [
      -0.02647611964181551,
      -0.024215760047648027,
      -0.03869619413415348,
      -0.009322069369574026,
      0.07015747631658914,
      0.10409867005884421,
      0.06858289230879006,
      -0.0010344182361126664,
      -0.01928441255355484,
      -0.02093424830919005
    ],
    "a_ego": [
      1.780878078417189,
      1.7808780720825688,
      1.8423678639312495,
      1.6838336944869672,
      1.514944332190046,
      1.3324358343002871,
      1.2473716705420264,
      1.238531529716493,
      1.0096647511627839,
      1.0096647548335624
    ],
    "yaw": [
      1.2214913663610198,
      1.2202219974684607,
      1.2184532779840809,
      1.2169327116588222,
      1.220223990288117,
      1.2250877028744438,
      1.22994868876302,
      1.2358512023681132,
      1.23876452241087,
      1.2403988902533558
    ],
    "yaw_diff": [
      -0.0025387377851182613,
      -0.0035374389687596874,
      -0.0030411326505173086,
      0.006582557258589361,
      0.009727425172653792,
      0.009721971777152394,
      0.011805027210186392,
      0.005826640085513812,
      0.0032687356849714355,
      0.0032687356849714355
    ],
    "min_front_frame": [
      9,
      17.513410761060946
    ],
    "v_avg": 4.040157141829559,
    "v_std": 2.098769272295686,
    "vy_max": 0.050981176810895645,
    "a_max": 1.8423678639312495,
    "ax_avg": 1.443179035214212,
    "a_std": 0.30312450672565483,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "b27bb0eced055858",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.18650793489315,
    "right_rear_min": 5.858714027463484,
    "speed_mode": "accelerating",
    "front_frame": [
      35.945511130393754,
      35.43314155650449,
      34.44922481529598,
      33.05875238810578,
      31.275033083894133,
      29.076955129297485,
      26.65123049979226,
      23.903921119513257,
      20.806990519680078,
      17.513410761060946
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b27bb0eced055858",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "bda5925fd37a5818": {
    "vx_ego": [
      5.130486929775357,
      4.817472186382068,
      4.510799228387328,
      4.127924390216238,
      3.588540202915327,
      2.936644124213572,
      2.2284248696272133,
      1.5674299942454526,
      1.0394204768715762,
      0.5793728744307809
    ],
    "vy_ego": [
      0.0360779491666845,
      -0.018030428680029242,
      -0.03871175189683873,
      -0.026273130052407723,
      0.003994014492354925,
      0.005248143188378407,
      -0.022438452456117974,
      -0.01766739940436879,
      -0.009935143245012268,
      -0.022883407552924145
    ],
    "v_ego": [
      5.130613779560087,
      4.817505927647958,
      4.5109653377691386,
      4.128008000077623,
      3.5885424255665894,
      2.9366488137475724,
      2.2285378353803393,
      1.567529560761778,
      1.0394679575683101,
      0.5798246096600408
    ],
    "ax_ego": [
      -0.6259882802701908,
      -0.6261208585239844,
      -0.6009440681522121,
      -0.931125202332105,
      -1.2265554946110888,
      -1.3808951831461993,
      -1.4519420342358793,
      -1.1919284368508447,
      -0.9201123663883459,
      -0.9201024812876724
    ],
    "ay_ego": [
      -0.09465900987874268,
      -0.09377806484013415,
      -0.03818399048147739,
      0.02673617976967385,
      0.05664104565159561,
      -0.0727173009679184,
      -0.030590843290497882,
      0.056254350619176774,
      -0.026329312838067165,
      -0.026672977586847224
    ],
    "a_ego": [
      0.6331047742568799,
      0.6331047740492656,
      0.6021559517072136,
      0.9315089724348767,
      1.2278626101535786,
      1.3828084873533406,
      1.4522642564196941,
      1.1932551908696158,
      0.9204890002033086,
      0.9204890134081339
    ],
    "yaw": [
      -2.038462086603372,
      -2.037054946732157,
      -2.03969584241721,
      -2.0432046345540087,
      -2.0456237475132464,
      -2.047230504895678,
      -2.046512920804804,
      -2.0456311797814672,
      -2.045828901817481,
      -2.0462024024988468
    ],
    "yaw_diff": [
      0.0028142797424299815,
      -0.0052817913701055375,
      -0.007017584273597777,
      -0.004838225918475381,
      -0.0032135147648633122,
      0.0014351681817483808,
      0.0017634820466732037,
      -0.0003954440720272956,
      -0.0007470013627317584,
      -0.0007470013627317584
    ],
    "min_front_frame": [
      9,
      11.505043076185247
    ],
    "v_avg": 3.0527644247739434,
    "v_std": 1.5514147133915999,
    "vy_max": 0.03871175189683873,
    "a_max": 1.4522642564196941,
    "ax_avg": -0.9875714405798524,
    "a_std": 0.2973437971396188,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bda5925fd37a5818",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.063289636129986,
    "right_rear_min": 8.86367548892074,
    "speed_mode": "decelerating",
    "front_frame": [
      17.89969571538111,
      17.217431538377284,
      16.29908534989601,
      15.23763505527917,
      14.11393463918922,
      13.054975751992153,
      12.19404264451116,
      11.740291520850837,
      11.513392957798958,
      11.505043076185247
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bda5925fd37a5818",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aace7a7aeaf75f2c": {
    "vx_ego": [
      4.587759001819297,
      4.149477517373878,
      3.708529183713247,
      3.2647485093362967,
      2.8584300695364933,
      2.4960975484501207,
      2.1511386646057824,
      1.810898040205358,
      1.450676565178088,
      1.0770977053027166
    ],
    "vy_ego": [
      0.0019117497531446759,
      0.0017790486112962967,
      0.02464359556951523,
      0.031238422454116677,
      0.03516081288623907,
      0.042831433420810194,
      0.06041947286515881,
      0.05955823987179709,
      0.0309517301565857,
      -0.005118998865333513
    ],
    "v_ego": [
      4.587759400138712,
      4.1494778987488585,
      3.7086110625482736,
      3.2648979567899197,
      2.85864631341361,
      2.4964650013704546,
      2.151987004389955,
      1.811877174633047,
      1.4510067216786358,
      1.077109869473751
    ],
    "ax_ego": [
      -0.876603183480329,
      -0.8765395712083079,
      -0.8871148468940121,
      -0.8881031127163155,
      -0.7371309550238271,
      -0.711828601294771,
      -0.6676156964690092,
      -0.6937298501714807,
      -0.747174914522902,
      -0.7470644404166644
    ],
    "ay_ego": [
      0.02225401162702051,
      0.02463261457163124,
      0.025251462668717584,
      0.012366285999998783,
      -0.00015170542699988188,
      0.004998300854275495,
      0.04585697128659344,
      -0.03852654575241243,
      -0.07528012403121626,
      -0.07636868801770219
    ],
    "a_ego": [
      0.8768856153007316,
      0.8768856171671873,
      0.8874741618473724,
      0.8881892049815976,
      0.7371309706347142,
      0.7118461495524857,
      0.6691887476544862,
      0.6947988196208725,
      0.750957688532757,
      0.7509576916475449
    ],
    "yaw": [
      0.8607510729806549,
      0.8634646024409944,
      0.8608201598179457,
      0.8616259537580363,
      0.8613404381777001,
      0.8589250597574181,
      0.8568223743999377,
      0.858179963385039,
      0.8582745261739844,
      0.8568175159381873
    ],
    "yaw_diff": [
      0.005427058920679073,
      -0.005288885246097497,
      0.0016115878801812311,
      -0.0005710311606723639,
      -0.00483075684056411,
      -0.004205370714960743,
      0.002715177970202598,
      0.00018912557789074746,
      -0.0029140204715940587,
      -0.0029140204715940587
    ],
    "min_front_frame": [
      9,
      8.539662930155913
    ],
    "v_avg": 2.755783840318522,
    "v_std": 1.1099252889370717,
    "vy_max": 0.06041947286515881,
    "a_max": 0.8881892049815976,
    "ax_avg": -0.7832905172197618,
    "a_std": 0.08339115849928962,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aace7a7aeaf75f2c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 39.526049768398465,
    "speed_mode": "decelerating",
    "front_frame": [
      20.846442629762283,
      18.700917534868463,
      16.798835262940614,
      15.012814312124974,
      13.508747370560085,
      12.16192156365748,
      10.9881853242457,
      9.991309948196276,
      9.147391978571351,
      8.539662930155913
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aace7a7aeaf75f2c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "825663ce94fe5df1": {
    "vx_ego": [
      2.076853291176292,
      2.075449890131148,
      2.1647252781830244,
      2.3933778488505,
      2.6738468430340014,
      2.955394533793331,
      3.2062518362874144,
      3.4141954519130757,
      3.5925084410470634,
      3.8176122253679354
    ],
    "vy_ego": [
      0.024870973122185072,
      0.0008028578024526604,
      -0.02961118845433308,
      -0.06054077688801268,
      -0.07927072841615512,
      -0.07877215128801207,
      -0.08341395097732973,
      -0.0778097930944035,
      -0.06772909125283633,
      -0.07274189503399886
    ],
    "v_ego": [
      2.077002204710876,
      2.0754500454181124,
      2.1649277938273714,
      2.3941434194789695,
      2.675021642601518,
      2.95644413141768,
      3.207336702766653,
      3.4150819825833354,
      3.593146828171142,
      3.8183051851013503
    ],
    "ax_ego": [
      -0.010947390356157305,
      0.0021447373966623825,
      0.36085484317641875,
      0.572564070879169,
      0.5858927027825617,
      0.5869689197749924,
      0.46618671239164733,
      0.4278815647314448,
      0.3565555228083258,
      0.5862896675889135
    ],
    "ay_ego": [
      0.2101000032790166,
      0.21037408823345197,
      0.2604190826348731,
      0.3570876702745529,
      0.5513481860338877,
      0.7364417790052318,
      0.8534124828934693,
      1.0751896519339175,
      1.33650089938163,
      1.2528491213456143
    ],
    "a_ego": [
      0.21038502022114805,
      0.2103850206135334,
      0.4450104677917887,
      0.6747897594983447,
      0.8045216475749509,
      0.9417425373456442,
      0.9724417292408468,
      1.1572015472953743,
      1.383244915007109,
      1.3832449151101176
    ],
    "yaw": [
      -0.05831786273815015,
      0.003935198620385778,
      0.07527580814779541,
      0.15749319004818363,
      0.2545118575483985,
      0.36860023848781553,
      0.4983004222919749,
      0.6418076793231262,
      0.8102004193991833,
      0.9871824208869444
    ],
    "yaw_diff": [
      0.12450612271707186,
      0.14268121905481929,
      0.16443476380077643,
      0.19403733500042974,
      0.22817676187883407,
      0.25940036760831875,
      0.2870145140623026,
      0.3367854801521142,
      0.3539640029755222,
      0.3539640029755222
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.837685993607701,
    "v_std": 0.620637020356947,
    "vy_max": 0.08341395097732973,
    "a_max": 1.3832449151101176,
    "ax_avg": 0.39343913511739786,
    "a_std": 0.41126984538832967,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "825663ce94fe5df1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "825663ce94fe5df1",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "57b2cc25579a5885": {
    "vx_ego": [
      1.6790164840474107,
      1.9137347921057963,
      2.190498774717355,
      2.5984970944895407,
      3.183016325347677,
      3.9272841807265846,
      4.718425377088145,
      5.452796006066753,
      6.093003773250673,
      6.670344420716027
    ],
    "vy_ego": [
      0.003813793149619049,
      0.0027160199077252978,
      0.000455680127370961,
      0.005413064136816748,
      0.00426893130365702,
      0.013832764111994411,
      0.021754911500130092,
      0.008303805723667956,
      0.013562320236925052,
      0.03026219984315004
    ],
    "v_ego": [
      1.6790208154520052,
      1.9137367194262522,
      2.190498822113952,
      2.5985027326008208,
      3.183019188004418,
      3.927308541679436,
      4.718475528740589,
      5.45280232880003,
      6.093018867308482,
      6.670413067548125
    ],
    "ax_ego": [
      0.4694379252233048,
      0.4694387562164564,
      0.6376141124985535,
      0.994379184704195,
      1.3437194186373285,
      1.6333451877963954,
      1.5313849010080924,
      1.4061264649963878,
      1.1547208193136131,
      1.154703563181105
    ],
    "ay_ego": [
      -0.0032105619204010893,
      -0.0030860679139555203,
      -0.0014512298532443624,
      0.020985589736201515,
      -0.031004930450045654,
      0.05387535567483931,
      -0.0458693612404073,
      -0.020362973473154466,
      0.023950738657446846,
      0.024768610840136374
    ],
    "a_ego": [
      0.4694489038711304,
      0.46944889993823946,
      0.6376157640188995,
      0.9946006022266203,
      1.3440770743284227,
      1.6342334767244038,
      1.5320717063297553,
      1.4062739015753318,
      1.1549691807310443,
      1.1549691783359806
    ],
    "yaw": [
      -0.3284933817523997,
      -0.3287585711832671,
      -0.32820418113312827,
      -0.3282355826789956,
      -0.32871350881459066,
      -0.32980651237980463,
      -0.33117210057091645,
      -0.3317811597098657,
      -0.33253259389250395,
      -0.3332408782813883
    ],
    "yaw_diff": [
      -0.0005303788617347927,
      0.0011087801002777065,
      -6.280309173467558e-05,
      -0.0009558522711901052,
      -0.002186007130427936,
      -0.0027311763822236435,
      -0.0012181182778985278,
      -0.0015028683652764663,
      -0.0014165687777687452,
      -0.0014165687777687452
    ],
    "min_front_frame": [
      0,
      17.40025481652736
    ],
    "v_avg": 3.8426796611674114,
    "v_std": 1.7187742254775182,
    "vy_max": 0.03026219984315004,
    "a_max": 1.6342334767244038,
    "ax_avg": 1.0794870333575433,
    "a_std": 0.4058962085712575,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "57b2cc25579a5885",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 30.420872738977707,
    "right_rear_min": 25.434734602391547,
    "speed_mode": "accelerating",
    "front_frame": [
      17.40025481652736,
      18.816697928050377,
      20.523401069328504,
      22.158450814755373,
      23.895528986532884,
      25.292134996999945,
      26.408712680365426,
      26.975536552451192,
      27.72502490387696,
      27.865592920992526
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "57b2cc25579a5885",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cbadd750cbd6581b": {
    "vx_ego": [
      7.120769945661521,
      7.1813527225754585,
      7.252622382440365,
      7.315676867317855,
      7.381084656131603,
      7.453873069828899,
      7.512294060598066,
      7.5327144848130825,
      7.457334305778439,
      7.32196414326909
    ],
    "vy_ego": [
      -0.011482303701581209,
      -0.017770653863677932,
      -0.030698009674122506,
      -0.019388146747154167,
      -0.00950869642724328,
      -0.04014981984902022,
      -0.05596476931323302,
      -0.01660137333935774,
      0.009370762175295866,
      0.019184343408932936
    ],
    "v_ego": [
      7.120779203312983,
      7.181374709773936,
      7.252687349532787,
      7.315702558691398,
      7.381090780927242,
      7.453981201287967,
      7.51250251968685,
      7.532732778700542,
      7.457340193348011,
      7.3219892757604
    ],
    "ax_ego": [
      0.1171372265200844,
      0.12391792494409021,
      0.15887576077608517,
      0.09108672725001148,
      0.17024136335653683,
      0.12008757572008241,
      0.10870715364144573,
      -0.02960008437972622,
      -0.27195345991132963,
      -0.2685937952519199
    ],
    "ay_ego": [
      -0.31903292769344843,
      -0.316460876046134,
      -0.2582392600402188,
      -0.19416978413816352,
      -0.2747640387784588,
      -0.38164957201816574,
      -0.1880008321222236,
      -0.18611895754935687,
      -0.21109744622072066,
      -0.21535595958156045
    ],
    "a_ego": [
      0.33985752719260265,
      0.33985752631115257,
      0.30319799271812403,
      0.21447306813066064,
      0.32322963787892783,
      0.4000967653755471,
      0.21716712028176224,
      0.18845803605722475,
      0.34426852333411667,
      0.3442685233580395
    ],
    "yaw": [
      2.0772875808482127,
      2.055948454982407,
      2.0378213197957225,
      2.020761737451138,
      2.003440764034478,
      1.9854634992138789,
      1.9685492724515026,
      1.9509241321904978,
      1.9342772164986106,
      1.9185212398185603
    ],
    "yaw_diff": [
      -0.042678251731611105,
      -0.03625427037336948,
      -0.034119164689168535,
      -0.03464194683332078,
      -0.03595452964119783,
      -0.03382845352475261,
      -0.035250280522009625,
      -0.033293831383774286,
      -0.03151195336010071,
      -0.03151195336010071
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.3530180571022115,
    "v_std": 0.13244441243358276,
    "vy_max": 0.05596476931323302,
    "a_max": 0.4000967653755471,
    "ax_avg": 0.03199063926653605,
    "a_std": 0.06652930248717488,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cbadd750cbd6581b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.805252216296866,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cbadd750cbd6581b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d38070017e4e53c3": {
    "vx_ego": [
      8.26864017882963,
      8.459352545508965,
      8.654860698265448,
      8.876317420157124,
      9.125162852060003,
      9.385860871229767,
      9.642566798621564,
      9.904907423571613,
      10.131135065239597,
      10.305909086053365
    ],
    "vy_ego": [
      -0.011919018329763276,
      -0.024577733041915684,
      -0.02478686274451536,
      -0.0041392442434711185,
      0.005940378197275331,
      0.008741394865193541,
      0.005024843418611091,
      -0.004112970131664895,
      0.0004161028461013849,
      -0.03092361018757961
    ],
    "v_ego": [
      8.26864876929439,
      8.459388249404947,
      8.654896192037464,
      8.876318385272564,
      9.125164785619434,
      9.385864941818959,
      9.642568107870968,
      9.904908277518139,
      10.131135073784622,
      10.305955480190294
    ],
    "ax_ego": [
      0.38022221218079855,
      0.3836911177733414,
      0.40050204506703013,
      0.4854968597346015,
      0.5096914228845341,
      0.5325275045714499,
      0.4942425330303014,
      0.5551441919468465,
      0.34964082196546786,
      0.3496364912575837
    ],
    "ay_ego": [
      0.23145567412851337,
      0.2256585585468039,
      0.3059263130855293,
      0.21754684403058594,
      0.18646128162872339,
      0.07700326455440712,
      -0.07181647882564049,
      -0.0840264140072693,
      -0.0009230973080097127,
      -0.0019706700216510636
    ],
    "a_ego": [
      0.4451299357737522,
      0.4451299348545068,
      0.5039769807649738,
      0.5320092387917972,
      0.5427275155256891,
      0.538066023715614,
      0.4994329665602004,
      0.561467284980379,
      0.3496420405119042,
      0.3496420448962748
    ],
    "yaw": [
      -1.4036455322006485,
      -1.388468407274117,
      -1.3729099523646666,
      -1.360320613664204,
      -1.3502156449573652,
      -1.3433997784511325,
      -1.3428731212859955,
      -1.3459268285778445,
      -1.348492258858108,
      -1.3454961068137499
    ],
    "yaw_diff": [
      0.03035424985306312,
      0.031116909818900584,
      0.025178677400925054,
      0.020209937413677714,
      0.013631733012465563,
      0.0010533143302740022,
      -0.006107414583698123,
      -0.00513086056052714,
      0.005992304088716427,
      0.005992304088716427
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.275484826281177,
    "v_std": 0.6770456103364683,
    "vy_max": 0.03092361018757961,
    "a_max": 0.561467284980379,
    "ax_avg": 0.4440795200411955,
    "a_std": 0.07342453922019423,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d38070017e4e53c3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d38070017e4e53c3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fe0a6bd36c395735": {
    "vx_ego": [
      6.962877380727843,
      6.879645160966286,
      6.783728510666161,
      6.691405618683555,
      6.602491156904476,
      6.487826326030089,
      6.356249115897228,
      6.20618395911999,
      5.992347763996258,
      5.727776869334052
    ],
    "vy_ego": [
      -0.03412756777574577,
      -0.007992435422123023,
      -0.001863156793144416,
      0.01648288470775272,
      4.5236642839618924e-05,
      -0.06315133842057197,
      -0.053926642509125156,
      -0.021366177336614722,
      0.006389942669213333,
      0.007137354881798785
    ],
    "v_ego": [
      6.96296101597113,
      6.879649803575092,
      6.783728766524954,
      6.691425919730273,
      6.602491157059444,
      6.488133670653942,
      6.356477869552965,
      6.206220737934823,
      5.992351170954375,
      5.7277813162439175
    ],
    "ax_ego": [
      -0.1671631425022628,
      -0.16480266523035325,
      -0.21781502740629827,
      -0.15202747984627316,
      -0.20574381943457193,
      -0.251565174033667,
      -0.2741585231889372,
      -0.3260760575847743,
      -0.529264940130123,
      -0.5291114845848534
    ],
    "ay_ego": [
      0.20783455126130124,
      0.2097112162421889,
      0.29083169725136865,
      0.29097246816265215,
      0.12217494191466717,
      0.040204687028023545,
      0.05850074772751852,
      0.07585409722822808,
      0.042222196575249005,
      0.04410360655810103
    ],
    "a_ego": [
      0.2667184225156153,
      0.2667184145963791,
      0.36335445819491224,
      0.3282945809133538,
      0.23928484211787848,
      0.2547576370702368,
      0.28033057864210564,
      0.33478267487481866,
      0.5309464104168911,
      0.5309464108843935
    ],
    "yaw": [
      -0.6848091739877102,
      -0.6735028798603349,
      -0.6561004234280581,
      -0.6372128122885575,
      -0.6192195243009926,
      -0.6033759718387293,
      -0.6009709930294271,
      -0.6008074600238309,
      -0.6005196148842631,
      -0.5969643483029463
    ],
    "yaw_diff": [
      0.022612588254750765,
      0.03480491286455356,
      0.0377752222790011,
      0.035986575975129886,
      0.03168710492452664,
      0.004809957618604255,
      0.00032706601119247836,
      0.0005756902791356211,
      0.007110533162633548,
      0.007110533162633548
    ],
    "min_front_frame": [
      2,
      23.082976784694644
    ],
    "v_avg": 6.469122142820092,
    "v_std": 0.3791645399678444,
    "vy_max": 0.06315133842057197,
    "a_max": 0.5309464108843935,
    "ax_avg": -0.28177283139421144,
    "a_std": 0.10263520883250447,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "fe0a6bd36c395735",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.937143605093997,
      26.435384556525747,
      23.082976784694644,
      26.41000628462271,
      29.380312697989606,
      26.120507903786287,
      30.323660582520066,
      27.172597679534928,
      30.021005924491703,
      27.15123077346525
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "fe0a6bd36c395735",
    "pedestrians": "No"
  },
  "15faa071a7145ad6": {
    "vx_ego": [
      2.5990635805272424,
      2.7030926033467293,
      2.8472615133163126,
      3.055587087315235,
      3.27387420218472,
      3.4632861260972003,
      3.6483737378835928,
      3.8582313548550893,
      4.060812677398488,
      4.2423044180044105
    ],
    "vy_ego": [
      -0.018566078547393672,
      -0.013927211619777835,
      -0.014681421156914731,
      -0.011738671662637978,
      -0.014543728088684205,
      -0.005200170616700417,
      0.013710405966608441,
      -0.012747026424231311,
      -0.04476537231371136,
      0.012758864525816982
    ],
    "v_ego": [
      2.599129891886075,
      2.7031284818689807,
      2.8472993641939874,
      3.0556096355032007,
      3.2739065062639394,
      3.4632900301579994,
      3.6483994993024638,
      3.8582524119437283,
      4.061059410976236,
      4.242323604305042
    ],
    "ax_ego": [
      0.2053148938153563,
      0.21308698726161518,
      0.3718236751405515,
      0.4672509956250968,
      0.412480423058656,
      0.3567608134143784,
      0.3777636810103322,
      0.45786660430788007,
      0.3568316579723675,
      0.37116291956128966
    ],
    "ay_ego": [
      0.21156929980988043,
      0.20373932059383487,
      0.3923119859060308,
      0.45005918732320915,
      0.515863520879607,
      0.7020789757669529,
      0.6012239768602613,
      0.5117023764904485,
      0.4135753983206502,
      0.40076368196313317
    ],
    "a_ego": [
      0.294814813475263,
      0.2948148145807283,
      0.5405196940728063,
      0.6487501560744874,
      0.6604962313147233,
      0.78752343850965,
      0.7100532860582677,
      0.6866448495739275,
      0.546235702080515,
      0.5462357015409262
    ],
    "yaw": [
      1.836006077073643,
      1.8734297459501557,
      1.9277716607084816,
      1.998383685635908,
      2.0753690692764275,
      2.162748808768426,
      2.2490721667259317,
      2.3304233288070186,
      2.3966950733451045,
      2.4318887245509204
    ],
    "yaw_diff": [
      0.07484733775302521,
      0.1086838295166519,
      0.14122404985485293,
      0.15397076728103887,
      0.17475947898399724,
      0.17264671591501113,
      0.1627023241621739,
      0.13254348907617164,
      0.07038730241163194,
      0.07038730241163194
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.375239883640165,
    "v_std": 0.5461763731438167,
    "vy_max": 0.04476537231371136,
    "a_max": 0.78752343850965,
    "ax_avg": 0.3590342651167523,
    "a_std": 0.1575928316511564,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "15faa071a7145ad6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 19.350167957021068,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "15faa071a7145ad6",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "cfc12b02334c5a15": {
    "vx_ego": [
      -0.0015065730570415284,
      0.619936292733023,
      1.3734603111412471,
      2.302026757353708,
      3.1720081059857614,
      3.8696537802766136,
      4.422397323179122,
      4.83571347802785,
      5.203488106582637,
      5.591301085957392
    ],
    "vy_ego": [
      -0.025037797466257748,
      0.008191836909921313,
      0.019526714982351034,
      0.018224201866029688,
      0.027061837975767222,
      0.03627196309732139,
      0.04252567555941944,
      0.04687462203266479,
      0.058368716727573045,
      0.05446092243356704
    ],
    "v_ego": [
      0.025083083230287826,
      0.6199904138287325,
      1.3735991114143213,
      2.3020988929900645,
      3.172123542284254,
      3.8698237730568583,
      4.422601781434052,
      4.835940660489014,
      5.2038154639110115,
      5.591566312394106
    ],
    "ax_ego": [
      1.2428851930639357,
      1.242887384106528,
      1.7712099019231509,
      1.9430229821462253,
      1.5367776449753803,
      1.2536954286134478,
      0.9575698666853898,
      0.6958884150749958,
      0.7755276371243782,
      0.7755289389185808
    ],
    "ay_ego": [
      0.06650003994604081,
      0.06645915955685544,
      -0.021164837217869548,
      0.020321218785362194,
      0.0313915393215054,
      0.01710336870738205,
      -0.01976035409141219,
      0.014799105782074828,
      0.0018501418465053376,
      0.00117981857556676
    ],
    "a_ego": [
      1.2446629497379609,
      1.2446629541607526,
      1.7713363506135917,
      1.9431292445643786,
      1.5370982268017388,
      1.253812088371857,
      0.957773731722526,
      0.6960457598229721,
      0.7755298440218619,
      0.7755298363519298
    ],
    "yaw": [
      -0.7165436463717514,
      -0.7165107613826542,
      -0.7165228975254639,
      -0.7159218778910057,
      -0.7144545709232342,
      -0.7136352718816767,
      -0.7152890816353179,
      -0.7164880384835477,
      -0.7179515708028366,
      -0.7170872122644913
    ],
    "yaw_diff": [
      6.576997819429664e-05,
      -2.4272285619408862e-05,
      0.0012020392689164883,
      0.0029346139355430623,
      0.0016385980831148395,
      -0.003307619507282311,
      -0.002397913696459586,
      -0.0029270646385777255,
      0.0017287170766904225,
      0.0017287170766904225
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.1416643035032705,
    "v_std": 1.8761622197055847,
    "vy_max": 0.058368716727573045,
    "a_max": 1.9431292445643786,
    "ax_avg": 1.2194993392632014,
    "a_std": 0.408435653555891,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "cfc12b02334c5a15",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.928635544646873,
    "right_rear_min": 13.963509164092397,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "cfc12b02334c5a15",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "da137494751e500f": {
    "vx_ego": [
      9.276106682248404,
      9.21253244488898,
      9.149739924716433,
      9.11126569053438,
      9.108404076486245,
      9.064855534085526,
      8.989703450946935,
      9.010438559709675,
      9.147726905608408,
      9.326298771023081
    ],
    "vy_ego": [
      -0.026647467880795972,
      -0.0011910393898588723,
      0.005693179514192792,
      -0.01663666608926384,
      -0.01791404986495948,
      -0.0031089797833478983,
      0.0021475013839804546,
      0.04085787159033227,
      0.027267251187592656,
      -0.0507832049763115
    ],
    "v_ego": [
      9.276144957254493,
      9.212532521880558,
      9.149741695930157,
      9.111280879336752,
      9.108421692792545,
      9.064856067229986,
      8.989703707449397,
      9.01053119432888,
      9.147767544192371,
      9.3264370313799
    ],
    "ax_ego": [
      -0.1273386663366782,
      -0.12669663250475668,
      -0.12458069183430134,
      -0.0292993786709529,
      0.017323784687449474,
      -0.19172339234002683,
      -0.10893574222155475,
      0.19196940401196513,
      0.3572208640477145,
      0.3571051116287107
    ],
    "ay_ego": [
      0.13704536411363924,
      0.13763915845766658,
      -0.07611912652082767,
      -0.13039388674658786,
      -0.0559183829165642,
      -0.048473670585632206,
      0.0018229339922872026,
      0.08100895062727112,
      -0.14078019348217713,
      -0.1410735591250803
    ],
    "a_ego": [
      0.18707369609179111,
      0.1870737144255708,
      0.14599476086561095,
      0.13364512445796844,
      0.05854040539576582,
      0.19775630435061292,
      0.10895099367009582,
      0.20836194988154805,
      0.3839606862530004,
      0.3839606878777715
    ],
    "yaw": [
      2.5646554208265173,
      2.5693301826746553,
      2.5702555615453737,
      2.567042523538169,
      2.562066627496871,
      2.557578084645386,
      2.5557017075041246,
      2.5536930623550873,
      2.553543787636122,
      2.5543651578505093
    ],
    "yaw_diff": [
      0.009349523696275952,
      0.001850757741436837,
      -0.006426076014409254,
      -0.009951792082596,
      -0.008977085702969845,
      -0.0037527542825230853,
      -0.004017290298074627,
      -0.0002985494379306175,
      0.0016427404287746583,
      0.0016427404287746583
    ],
    "min_front_frame": [
      0,
      27.18316225663927
    ],
    "v_avg": 9.139741729177503,
    "v_std": 0.10272754564205024,
    "vy_max": 0.0507832049763115,
    "a_max": 0.3839606878777715,
    "ax_avg": 0.021504466046756914,
    "a_std": 0.10183824691653082,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "da137494751e500f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 28.263141640625765,
    "right_rear_min": 27.65502686775216,
    "speed_mode": "quasi_constant",
    "front_frame": [
      27.18316225663927,
      27.42213460813972,
      27.946485426787138,
      28.33751251520265,
      28.60055808671017,
      28.814207368973804,
      29.38089377114756,
      29.807758896906673,
      30.26758783844473,
      30.871758604487542
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "da137494751e500f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "be7331d3f05e5d16": {
    "vx_ego": [
      0.9748597343020544,
      1.2273670639143808,
      1.6490237476750387,
      2.2718924781028678,
      2.9167241965174107,
      3.617640878605316,
      4.416237206427355,
      5.175863735041284,
      5.873036944251852,
      6.578325008039827
    ],
    "vy_ego": [
      -0.15385466778764778,
      -0.11162531640794912,
      -0.032685946689240165,
      0.06255426593222531,
      0.11513743423247036,
      0.12124556846688665,
      0.04997115616985869,
      -0.0015866162171072618,
      0.028382704064948458,
      0.013075172027466442
    ],
    "v_ego": [
      0.9869259143236232,
      1.232432602962524,
      1.6493476563499891,
      2.27275349922659,
      2.918995832013429,
      3.6196720865886594,
      4.41651991729713,
      5.175863978223011,
      5.873105526587886,
      6.578338002225618
    ],
    "ax_ego": [
      0.5046326286157206,
      0.5044957663843571,
      1.1812458411100746,
      1.3105892933666288,
      1.2698145430977685,
      1.535342342516797,
      1.6599385543128147,
      1.37865656544661,
      1.4099678142045782,
      1.4104917913842998
    ],
    "ay_ego": [
      0.08029715324503411,
      0.08115261356904147,
      0.2212428696538776,
      0.13277457965776368,
      0.04935885495197459,
      -0.061423777900776556,
      -0.25626201747791466,
      0.07500317430323308,
      0.07242493048194225,
      0.06138006636728161
    ],
    "a_ego": [
      0.5109811373063278,
      0.5109811395627298,
      1.2017862307883753,
      1.3172977586295875,
      1.270773492965904,
      1.5365705285526496,
      1.6796029964536168,
      1.3806952602238498,
      1.4118266917890985,
      1.4118266912442698
    ],
    "yaw": [
      -1.5444647175638804,
      -1.5461601642376224,
      -1.5486280220001767,
      -1.5520924445748445,
      -1.5548045282836318,
      -1.5576259203224805,
      -1.5596619839513357,
      -1.558369748513506,
      -1.557122096956209,
      -1.5492901754708086
    ],
    "yaw_diff": [
      -0.003390893347483992,
      -0.00493571552510863,
      -0.006928845149335672,
      -0.005424167417574566,
      -0.00564278407769736,
      -0.004072127257710445,
      0.0025844708756594947,
      0.0024953031145940052,
      0.0156638429708007,
      0.0156638429708007
    ],
    "min_front_frame": [
      0,
      11.170482772543194
    ],
    "v_avg": 3.4723955015798458,
    "v_std": 1.8838535513063501,
    "vy_max": 0.15385466778764778,
    "a_max": 1.6796029964536168,
    "ax_avg": 1.2165175140439648,
    "a_std": 0.37796258738226624,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "be7331d3f05e5d16",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.95994131679143,
    "right_rear_min": 11.21509488909339,
    "speed_mode": "accelerating",
    "front_frame": [
      11.170482772543194,
      11.373670445726566,
      11.963494586584392,
      12.426362699854987,
      13.034036221300694,
      13.639135721935572,
      14.095599688803311,
      14.437708814429936,
      14.658389455854294,
      14.880901039722268
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "be7331d3f05e5d16",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e91c1fdb29a858f3": {
    "vx_ego": [
      5.635567369966996,
      5.4367262849954585,
      5.2898619551751995,
      5.175447285387746,
      5.038142405567182,
      4.889525967837615,
      4.748554160933546,
      4.636422573261768,
      4.538779248673947,
      4.443468906309045
    ],
    "vy_ego": [
      -0.02505492130762077,
      0.01582468947433524,
      0.03306874939155602,
      0.022621464487464493,
      0.007536193680140801,
      0.03415508491507646,
      0.010365931798582029,
      -0.01910059968872302,
      -0.010932991910552303,
      0.055373967118177436
    ],
    "v_ego": [
      5.63562306497857,
      5.436749315423461,
      5.289965316237556,
      5.1754967234539855,
      5.038148041988192,
      4.8896452591148085,
      4.748565475157876,
      4.636461917320118,
      4.538792416326765,
      4.443813924723863
    ],
    "ax_ego": [
      -0.39784895494703176,
      -0.39745139260415424,
      -0.19071476997729098,
      -0.2679760818200782,
      -0.28192159851606313,
      -0.31257974706579084,
      -0.25218555791553393,
      -0.1935728287294755,
      -0.19478214051652343,
      -0.18824808052110004
    ],
    "ay_ego": [
      0.11814453930085328,
      0.11947519547761068,
      0.07625022071217796,
      0.0765325597109361,
      0.043545393335738966,
      0.07325255054576854,
      0.1426943990874237,
      0.29462455942885285,
      0.3154863785259772,
      0.3194282363201638
    ],
    "a_ego": [
      0.41502038879922054,
      0.41502039927863166,
      0.20539284224662469,
      0.27869053289186063,
      0.28526476997802674,
      0.3210483366055245,
      0.2897572210525392,
      0.3525252771660161,
      0.3707718129788656,
      0.3707718138943264
    ],
    "yaw": [
      -0.7314367111815123,
      -0.7280904360082661,
      -0.7221536701360143,
      -0.7128748192875881,
      -0.7040455870143266,
      -0.7035261083428255,
      -0.6873618462069739,
      -0.6577393636566995,
      -0.626275540491652,
      -0.6056937801798621
    ],
    "yaw_diff": [
      0.006692550346492521,
      0.011873531744503563,
      0.018557701696852336,
      0.01765846454652298,
      0.0010389573430023002,
      0.032328524271703074,
      0.059244965100548885,
      0.06292764633009496,
      0.04116352062357986,
      0.04116352062357986
    ],
    "min_front_frame": [
      6,
      19.676406877666324
    ],
    "v_avg": 4.983326145472519,
    "v_std": 0.37920094157645556,
    "vy_max": 0.055373967118177436,
    "a_max": 0.41502039927863166,
    "ax_avg": -0.2677281152613042,
    "a_std": 0.06336217035664754,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e91c1fdb29a858f3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.45467386240562,
      25.496046210355487,
      25.62929190860999,
      25.769422037858284,
      24.85395793867173,
      22.35666483960007,
      19.676406877666324,
      26.023904020290583,
      52.614074727266754,
      56.82981434825852
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e91c1fdb29a858f3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7f0309b4cbb85029": {
    "vx_ego": [
      6.663046422699921,
      6.745066209955683,
      6.8195565738956425,
      6.8748142526428015,
      6.9532260154796885,
      7.051981714801845,
      7.122304807810279,
      7.1813527225754585,
      7.252622382440365,
      7.333719656451583
    ],
    "vy_ego": [
      -0.015103506376256792,
      -0.01087974946318937,
      -0.017913830392815466,
      -0.020656879041998977,
      -0.028477104626131844,
      -0.040889347905741946,
      -0.02063001774939499,
      -0.017770653863677932,
      -0.030698009674122506,
      -0.03471856541761387
    ],
    "v_ego": [
      6.66306354066649,
      6.745074984433776,
      6.819580102167773,
      6.874845286622264,
      6.953284329569116,
      7.05210025770137,
      7.12233468555008,
      7.181374709773936,
      7.252687349532787,
      7.333801836578964
    ],
    "ax_ego": [
      0.16001671239013782,
      0.1668315906673512,
      0.13048147526776593,
      0.08791412051415393,
      0.22440333540489754,
      0.16714644012358354,
      0.1109977784055174,
      0.12391792494409021,
      0.15887576077608517,
      0.16325788303754418
    ],
    "ay_ego": [
      -0.2999371751266582,
      -0.2962007387680276,
      -0.3548606347486766,
      -0.27616946593739017,
      -0.3492251163368537,
      -0.304028869481625,
      -0.2824420713489456,
      -0.316460876046134,
      -0.2582392600402188,
      -0.2554914607865625
    ],
    "a_ego": [
      0.33995243383024587,
      0.339952433865863,
      0.37808925597309195,
      0.2898248893761895,
      0.41510846633299586,
      0.34694594092489633,
      0.30346998283000454,
      0.33985752631115257,
      0.30319799271812403,
      0.3031979929167607
    ],
    "yaw": [
      2.2122986876312325,
      2.18943625502831,
      2.166491249306617,
      2.143870640253558,
      2.1223361232600197,
      2.100809650847607,
      2.0772875808482127,
      2.055948454982407,
      2.0378213197957225,
      2.020761737451138
    ],
    "yaw_diff": [
      -0.04572486520584462,
      -0.04589001144338667,
      -0.04524121810611792,
      -0.04306903398707629,
      -0.0430529448248258,
      -0.047044139998788204,
      -0.042678251731611105,
      -0.03625427037336948,
      -0.034119164689168535,
      -0.034119164689168535
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.999814708259656,
    "v_std": 0.21325139008732671,
    "vy_max": 0.040889347905741946,
    "a_max": 0.41510846633299586,
    "ax_avg": 0.14938430215311269,
    "a_std": 0.03679383436584366,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "7f0309b4cbb85029",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.677281294955185,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7f0309b4cbb85029",
    "with_lead": "Far",
    "road_shape": "Curve"
  },
  "b821203c112455cb": {
    "vx_ego": [
      1.159307509987561,
      0.7235539100289707,
      0.3649617386990862,
      0.13145507675965268,
      -0.0006559340008785042,
      -0.03119235740240495,
      -0.017272090613456588,
      -0.009769932836708909,
      -0.006262072408358891,
      -0.004005862593263225
    ],
    "vy_ego": [
      -0.030084798859845607,
      -0.04080730771160618,
      -0.027330016073311952,
      -0.008335227593889417,
      -0.014011383372707993,
      -0.01083772655129921,
      -0.0006296240844419201,
      0.00038300064414524115,
      0.00026395767314275334,
      -4.819815614497797e-05
    ],
    "v_ego": [
      1.1596978045318513,
      0.7247037305553777,
      0.36598360686351455,
      0.13171906932911467,
      0.014026728536280529,
      0.033021500225157895,
      0.017283562730153888,
      0.009777437145142825,
      0.0062676330860014975,
      0.0040061525405757255
    ],
    "ax_ego": [
      -0.8714817514686067,
      -0.8714882696225006,
      -0.56291861913251,
      -0.3711182954695508,
      -0.15733302613883768,
      0.03519141648635685,
      0.02048955544230232,
      0.009518998017907985,
      0.00451243188702438,
      0.0045124161633428505
    ],
    "ay_ego": [
      -0.020992493858639383,
      -0.020719982404505455,
      0.07420861999518072,
      0.0015073760435344585,
      -0.024247352406321712,
      0.03693384416150473,
      0.003899837930562593,
      0.00014812536967981436,
      -0.0006244345323709898,
      -0.0006244827714499085
    ],
    "a_ego": [
      0.8717345513062995,
      0.8717345477612226,
      0.5677889493884509,
      0.37112135672143876,
      0.1591904997564884,
      0.05101514127063205,
      0.02085738761465192,
      0.00952015043946675,
      0.00455543192466442,
      0.004555422962034982
    ],
    "yaw": [
      2.6186769214628907,
      2.61898962472959,
      2.6187817203138186,
      2.618488313130771,
      2.618259716422931,
      2.618310672218743,
      2.618296607143095,
      2.6183490323736853,
      2.6183539755249505,
      2.618367076986858
    ],
    "yaw_diff": [
      0.000625406533398376,
      -0.0004158088315424635,
      -0.0005868143660956449,
      -0.0004571934156798463,
      0.00010191159162431518,
      -2.8130151296323902e-05,
      0.00010485046118091645,
      9.886302530404123e-06,
      2.6202923814722112e-05,
      2.6202923814722112e-05
    ],
    "min_front_frame": [
      3,
      9.658442390027131
    ],
    "v_avg": 0.2466487225543171,
    "v_std": 0.37613419229696105,
    "vy_max": 0.04080730771160618,
    "a_max": 0.8717345513062995,
    "ax_avg": -0.2760115143835071,
    "a_std": 0.33893413290525354,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b821203c112455cb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.190450056914196,
    "right_rear_min": 7.773327528633456,
    "speed_mode": "decelerating",
    "front_frame": [
      10.584244602780121,
      10.116821101933287,
      9.833504444118825,
      9.658442390027131,
      9.66963454513426,
      9.759909848399902,
      9.72729841348863,
      9.733427941177675,
      9.742255454322232,
      9.737379110070696
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b821203c112455cb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a454e18ca33d5cb7": {
    "vx_ego": [
      3.4308631599692876,
      3.1626171901685343,
      2.8870694542190143,
      2.579582112833157,
      2.220955308704313,
      1.8707291407160307,
      1.5712304480155064,
      1.2864437115620593,
      1.001541166623692,
      0.7174795698254846
    ],
    "vy_ego": [
      -0.05037568969635442,
      -0.01402185087612906,
      -0.0166741365323666,
      -0.01573085602474289,
      -0.0018785198947187665,
      -0.007901522335700295,
      -0.018466545879667118,
      -0.011746100995372655,
      -0.006171102032354714,
      -0.006615243445891178
    ],
    "v_ego": [
      3.431232975556575,
      3.162648273812867,
      2.8871176041709106,
      2.5796300774878644,
      2.220956103145414,
      1.870745827732715,
      1.5713389621872598,
      1.2864973353669102,
      1.001560178392811,
      0.7175100658268222
    ],
    "ax_ego": [
      -0.5400617584589372,
      -0.5364826434255698,
      -0.5671140937528187,
      -0.6637130974350385,
      -0.7707086844922906,
      -0.6304145097486473,
      -0.5688230973416043,
      -0.5715036447445389,
      -0.568129469297574,
      -0.5681286870269953
    ],
    "ay_ego": [
      -0.11356984403317281,
      -0.12942637242204316,
      -0.08550796887985573,
      -0.000582559946676442,
      -0.08289788046637345,
      -0.09963931769922017,
      -0.06005423760367459,
      0.01969138700314857,
      -0.0015518760889841332,
      -0.0018146208823069943
    ],
    "a_ego": [
      0.5518739098956198,
      0.5518739100330948,
      0.5735242000779385,
      0.6637133530997431,
      0.7751541362449499,
      0.6382401176149879,
      0.5719844644074302,
      0.571842781434198,
      0.5681315888099681,
      0.5681315849976694
    ],
    "yaw": [
      2.9010587323352417,
      2.871602648952736,
      2.8547371421819,
      2.846554077447175,
      2.8321684168258123,
      2.81263977922249,
      2.79550443854193,
      2.7837417071634176,
      2.782832165978826,
      2.7823697121358206
    ],
    "yaw_diff": [
      -0.05891216676501099,
      -0.03373101354167218,
      -0.01636612946944993,
      -0.028771321242725634,
      -0.039057275206644704,
      -0.03427068136111977,
      -0.02352546275702494,
      -0.0018190823691828228,
      -0.0009249076860111671,
      -0.0009249076860111671
    ],
    "min_front_frame": [
      9,
      8.12836845691196
    ],
    "v_avg": 2.0729237403680147,
    "v_std": 0.8871288450476579,
    "vy_max": 0.05037568969635442,
    "a_max": 0.7751541362449499,
    "ax_avg": -0.5985079685724014,
    "a_std": 0.0670998887889959,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a454e18ca33d5cb7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 29.606603039150315,
    "speed_mode": "decelerating",
    "front_frame": [
      13.231929713807611,
      12.626522624333989,
      11.909138185103624,
      11.165462238670376,
      10.606038381057818,
      10.027454510746963,
      9.529076661212546,
      9.089108381008437,
      8.528679955812487,
      8.12836845691196
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a454e18ca33d5cb7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c9903c96ff4153fe": {
    "vx_ego": [
      3.386419386323462,
      2.753548393130963,
      2.168522096134867,
      1.6554624699330014,
      1.173304850849354,
      0.7123548655488603,
      0.3413671807247898,
      0.11885350669086689,
      -0.0038607928267388528,
      -0.09976299746842326
    ],
    "vy_ego": [
      -0.08173895825569177,
      -0.05502254140607743,
      -0.02485255417529353,
      -0.011242560092352916,
      -0.01376948363860786,
      -0.010423743746203029,
      -0.014114497234375578,
      -0.0034976705379187803,
      0.01712432685470101,
      0.022052012771967104
    ],
    "v_ego": [
      3.387405720808197,
      2.7540980798397308,
      2.1686645039918444,
      1.6555006446734184,
      1.1733856449208413,
      0.712431125727127,
      0.34165885193884626,
      0.11890496100629176,
      0.017554153111945685,
      0.10217116487140404
    ],
    "ax_ego": [
      -1.2664098754779247,
      -1.2665199686856476,
      -1.0744994110908022,
      -0.9778385551692758,
      -0.9509478314663744,
      -0.8929172480201757,
      -0.5910540590906008,
      -0.29904681190005666,
      -0.19178871082085897,
      -0.1917922290976213
    ],
    "ay_ego": [
      0.023958253975338906,
      0.017179586051332407,
      0.053394771735940816,
      -0.020360022996341265,
      -0.004997125808350544,
      0.014175146765506352,
      -0.03044154704343649,
      0.07249636135057677,
      0.009926331985028042,
      0.009858119830496406
    ],
    "a_ego": [
      1.266636479279497,
      1.266636478732706,
      1.075825258154508,
      0.9780504948682088,
      0.9509609610477943,
      0.8930297568377817,
      0.5918374680213083,
      0.3077088203426435,
      0.19204541563131378,
      0.1920454156412667
    ],
    "yaw": [
      2.614264978894216,
      2.608912558524436,
      2.6037725492886272,
      2.6009559397885607,
      2.598254096210139,
      2.5971304731301394,
      2.596362071564444,
      2.595829435460792,
      2.595459177392595,
      2.5951035175579777
    ],
    "yaw_diff": [
      -0.010704840739559351,
      -0.010280018471617858,
      -0.005633219000133138,
      -0.005403687156843695,
      -0.002247246159998717,
      -0.001536803131390485,
      -0.0010652722073043464,
      -0.0007405161363944757,
      -0.0007113196692341006,
      -0.0007113196692341006
    ],
    "min_front_frame": [
      6,
      9.82344409934747
    ],
    "v_avg": 1.2431774850889645,
    "v_std": 1.1434363781383692,
    "vy_max": 0.08173895825569177,
    "a_max": 1.266636479279497,
    "ax_avg": -0.7702814700819338,
    "a_std": 0.3989347143475507,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c9903c96ff4153fe",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 25.468445079536416,
    "right_rear_min": 35.65500223905271,
    "speed_mode": "decelerating",
    "front_frame": [
      14.16835455640057,
      12.703646326862584,
      11.578666975714516,
      10.744807809534244,
      10.23719808418837,
      9.886503146285445,
      9.82344409934747,
      9.902462992327084,
      9.906357968324778,
      9.94360766518704
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c9903c96ff4153fe",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6f525eba8afc547c": {
    "vx_ego": [
      9.212875735835143,
      9.23655511631035,
      9.197031510590838,
      9.102982334171596,
      9.020777620600008,
      8.981162785690062,
      9.010597193021118,
      9.086943223164159,
      9.163878209453065,
      9.224128662987217
    ],
    "vy_ego": [
      -0.10353592288279057,
      -0.05914327103008876,
      -0.04790627685886495,
      -0.07939940761430142,
      -0.09831052332122203,
      -0.08209354801462965,
      -0.0747166208394705,
      -0.0853196581385447,
      -0.10442983736969058,
      -0.1738300549646543
    ],
    "v_ego": [
      9.21345749495091,
      9.23674446670184,
      9.197156278881167,
      9.103328602339348,
      9.02131331011808,
      8.981537971510765,
      9.010906965911351,
      9.087343758495873,
      9.16447322155626,
      9.22576644400623
    ],
    "ax_ego": [
      0.04734855909416547,
      0.04734109005008496,
      -0.2055421521516893,
      -0.17109327228376944,
      -0.1588978217181154,
      -0.0010957218959444237,
      0.1177158153832716,
      0.18612407890788854,
      0.11925002785755295,
      0.11991032525004619
    ],
    "ay_ego": [
      0.0872030956375259,
      0.08720715139629544,
      -0.07153803458865743,
      -0.12483771490796204,
      -0.060401762255167,
      -0.01924410835989033,
      -0.09750382537901872,
      -0.12813743698991917,
      -0.1998199009358212,
      -0.19942436584340262
    ],
    "a_ego": [
      0.09922835248587557,
      0.09922835311435259,
      0.21763562829637095,
      0.2117955686132495,
      0.16999085454897772,
      0.019275277249379653,
      0.15285290038102206,
      0.2259676426120683,
      0.23269843565015333,
      0.23269843960287992
    ],
    "yaw": [
      1.9304985523093325,
      1.9304129029195303,
      1.9296214457030634,
      1.92769695651277,
      1.9246729323397507,
      1.9206502833213883,
      1.9165790500414273,
      1.9115120067473095,
      1.9046277838305972,
      1.901320074171752
    ],
    "yaw_diff": [
      -0.000171298779604534,
      -0.0015829144329337907,
      -0.0038489783805868427,
      -0.006048048346038559,
      -0.008045298036724713,
      -0.008142466559922124,
      -0.010134086588235558,
      -0.013768445833424625,
      -0.006615419317690385,
      -0.006615419317690385
    ],
    "min_front_frame": [
      9,
      28.52826669549437
    ],
    "v_avg": 9.124202851447183,
    "v_std": 0.09135692942422907,
    "vy_max": 0.1738300549646543,
    "a_max": 0.23269843960287992,
    "ax_avg": 0.01010609284934912,
    "a_std": 0.06920302638200677,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "6f525eba8afc547c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      69.58513731084348,
      64.94720911720418,
      60.212461243673225,
      55.70233140504362,
      51.22447014446622,
      46.734350828247415,
      42.27404668251541,
      37.76892071879779,
      33.13195744801957,
      28.52826669549437
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "C",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "6f525eba8afc547c",
    "road_shape": "Straight"
  },
  "fde793c65573590a": {
    "vx_ego": [
      7.232955094634805,
      6.878424474769493,
      6.458535404520733,
      5.894455070287553,
      5.214239296094784,
      4.463264887675034,
      3.676775401815877,
      2.795004580379709,
      1.8065775462976035,
      0.7939615027562287
    ],
    "vy_ego": [
      0.04389858993065765,
      0.04857714125251,
      0.030553575797966026,
      -0.004256046894540733,
      0.0376639709714256,
      0.03782486899026327,
      0.026163224792556,
      0.0022585221324550875,
      0.002628724847414887,
      -0.020783969879062753
    ],
    "v_ego": [
      7.2330883090974005,
      6.878596004546294,
      6.45860767444825,
      5.894456606810658,
      5.214375323243271,
      4.463425162167162,
      3.6768684868689347,
      2.7950054928865122,
      1.8065794588063357,
      0.7942334929117902
    ],
    "ax_ego": [
      -0.7486186259692763,
      -0.6516705372911713,
      -1.000227462875244,
      -1.2692491692809131,
      -1.4529617613126238,
      -1.5435706056206,
      -1.6007531706120284,
      -1.9309158717824655,
      -2.026684608948662,
      -2.024068049656825
    ],
    "ay_ego": [
      -1.1348139496711527,
      -1.1931295224394676,
      -1.4534740935945698,
      -1.074703437390633,
      -0.9131727164742182,
      -0.7799411420815592,
      -0.5650431828854969,
      -0.2938414278143233,
      -0.08487377748197254,
      -0.1334262363140607
    ],
    "a_ego": [
      1.3594971671601117,
      1.3594971667826292,
      1.7643814548561783,
      1.6631238474808574,
      1.7160950701955835,
      1.7294271883046806,
      1.697552506330757,
      1.9531458953701843,
      2.0284610083147894,
      2.0284610004085657
    ],
    "yaw": [
      2.1192517276540603,
      2.0360090667418245,
      1.9401911162389238,
      1.8440939711915232,
      1.7475473783410473,
      1.6602970931767014,
      1.5807288306183902,
      1.5225191159820874,
      1.481427285973937,
      1.4574563659939073
    ],
    "yaw_diff": [
      -0.16648532182447173,
      -0.1916359010058013,
      -0.19219429009480127,
      -0.19309318570095169,
      -0.17450057032869193,
      -0.15913652511662235,
      -0.11641942927260551,
      -0.08218366001630084,
      -0.04794183996005952,
      -0.04794183996005952
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.521523601178661,
    "v_std": 2.0973066645098832,
    "vy_max": 0.04857714125251,
    "a_max": 2.0284610083147894,
    "ax_avg": -1.4248719863349808,
    "a_std": 0.2256984133495313,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "fde793c65573590a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fde793c65573590a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2944ba8cf77c5ad9": {
    "vx_ego": [
      7.8276504297785205,
      7.579869105148276,
      7.369526364164447,
      7.162298624499238,
      6.878424474769493,
      6.458535404520733,
      5.894455070287553,
      5.214239296094784,
      4.463264887675034,
      3.7077902338338413
    ],
    "vy_ego": [
      0.014378041074002201,
      -0.010364401470066564,
      0.003514272283688946,
      0.009513149396243925,
      0.04857714125251,
      0.030553575797966026,
      -0.004256046894540733,
      0.0376639709714256,
      0.03782486899026327,
      -0.05761677272731571
    ],
    "v_ego": [
      7.8276636347557105,
      7.579876191073253,
      7.369527202081863,
      7.162304942301404,
      6.878596004546294,
      6.45860767444825,
      5.894456606810658,
      5.214375323243271,
      4.463425162167162,
      3.7082378713633144
    ],
    "ax_ego": [
      -0.5118675681666907,
      -0.4783938411159703,
      -0.35878601429355245,
      -0.46599274321234896,
      -0.6516705372911713,
      -1.000227462875244,
      -1.2692491692809131,
      -1.4529617613126238,
      -1.5435706056206,
      -1.4766938259841078
    ],
    "ay_ego": [
      -0.7319774870473374,
      -0.7542803074240017,
      -0.9257918789224675,
      -0.9972721887922501,
      -1.1931295224394676,
      -1.4534740935945698,
      -1.074703437390633,
      -0.9131727164742182,
      -0.7799411420815592,
      -0.9001631747476044
    ],
    "a_ego": [
      0.8931961984273202,
      0.8931961987073941,
      0.9928836825789041,
      1.1007729353799791,
      1.3594971667826292,
      1.7643814548561783,
      1.6631238474808574,
      1.7160950701955835,
      1.7294271883046806,
      1.7294271875020553
    ],
    "yaw": [
      2.2892818158583577,
      2.2442451277038487,
      2.1860964439462283,
      2.1192517276540603,
      2.0360090667418245,
      1.9401911162389238,
      1.8440939711915232,
      1.7475473783410473,
      1.6602970931767014,
      1.5807288306183902
    ],
    "yaw_diff": [
      -0.09007337630901802,
      -0.11629736751524078,
      -0.13368943258433585,
      -0.16648532182447173,
      -0.1916359010058013,
      -0.19219429009480127,
      -0.19309318570095169,
      -0.17450057032869193,
      -0.15913652511662235,
      -0.15913652511662235
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.255707061279118,
    "v_std": 1.3278890401891998,
    "vy_max": 0.05761677272731571,
    "a_max": 1.7643814548561783,
    "ax_avg": -0.9209413529153222,
    "a_std": 0.3587608491343741,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "2944ba8cf77c5ad9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2944ba8cf77c5ad9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "367ead111dcb5764": {
    "vx_ego": [
      3.8398662531150265,
      3.8125990547377606,
      3.817693375765546,
      3.8379189400776372,
      3.86690047441732,
      3.9114215053003827,
      3.935654336494566,
      3.9217722192576385,
      3.90033675876433,
      3.8844570451891367
    ],
    "vy_ego": [
      -0.04417407503231696,
      0.01506038760952122,
      -0.01055722220448252,
      -0.021283772572823878,
      -0.019532957550969732,
      -0.025259839185217903,
      -0.023842631892025068,
      -0.017425076646953253,
      -0.0018273829039838763,
      0.00674490719961951
    ],
    "v_ego": [
      3.8401203354473923,
      3.8126288001144584,
      3.817707972894837,
      3.837977955848833,
      3.8669498077269613,
      3.9115030680803478,
      3.9357265564904305,
      3.9218109303021143,
      3.900337186846352,
      3.884462901057577
    ],
    "ax_ego": [
      -0.08149193312950503,
      -0.02273335278082772,
      0.045627293643958566,
      0.043591918077805936,
      0.07453785191747714,
      0.09717872557076068,
      -0.001310016174770036,
      -0.054082518800335905,
      -0.03176860504938145,
      -0.03175597393815918
    ],
    "ay_ego": [
      0.7296699593716984,
      0.7338544665413094,
      0.7987394624570452,
      0.8242662047846763,
      0.7055524199541774,
      0.3413241714480433,
      0.06044495641125526,
      0.004457394654112368,
      0.021670690922919105,
      0.02168919561264765
    ],
    "a_ego": [
      0.7342065000901856,
      0.7342064991480852,
      0.8000416106749958,
      0.8254180950717255,
      0.7094787584358447,
      0.354888566620919,
      0.0604591506551052,
      0.05426589358788074,
      0.038455989284639044,
      0.03845598896251062
    ],
    "yaw": [
      -1.1625456717445004,
      -1.08229140554403,
      -0.9750109317856677,
      -0.8663219807546632,
      -0.7674809386796341,
      -0.698690975717359,
      -0.6735325279677937,
      -0.6710402139863331,
      -0.6733598282845126,
      -0.6727772355300469
    ],
    "yaw_diff": [
      0.16050853240094076,
      0.21456094751672472,
      0.21737790206200902,
      0.19768208415005817,
      0.13757992592455004,
      0.050316895499130654,
      0.0049846279629213175,
      -0.004639228596359013,
      0.00116518550893141,
      0.00116518550893141
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8729225514809302,
    "v_std": 0.0421003381714199,
    "vy_max": 0.04417407503231696,
    "a_max": 0.8254180950717255,
    "ax_avg": 0.0037793389337023005,
    "a_std": 0.33855882312067753,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "367ead111dcb5764",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "367ead111dcb5764",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "dd83ce8b0dec51d2": {
    "vx_ego": [
      2.402325559247481,
      2.6375132268264907,
      2.8416285073118863,
      2.903442487697896,
      2.8389787131213273,
      2.752063625837815,
      2.796328160169989,
      2.9712904801197686,
      3.072021652920786,
      3.1092802217378415
    ],
    "vy_ego": [
      -0.02834689454903072,
      -0.02418523431609776,
      -0.00894714957327003,
      0.0077316275471515095,
      0.013626241076142076,
      0.006921385979642425,
      -0.0009752120893169458,
      -0.0017192527889084985,
      -0.008313958604414307,
      -0.061109080091276136
    ],
    "v_ego": [
      2.4024927968766723,
      2.637624110301468,
      2.841642592771488,
      2.903452782022445,
      2.8390114138555154,
      2.7520723293989677,
      2.7963283302213093,
      2.9712909775181084,
      3.0720329031313836,
      3.1098806756786863
    ],
    "ax_ego": [
      0.4703905240493718,
      0.4703936837035688,
      0.34593818147693556,
      -0.09867372577828593,
      -0.15914977795605056,
      -0.1885266372156584,
      0.3655977272501504,
      0.3346802465866171,
      0.07126738117605526,
      0.08562085308352153
    ],
    "ay_ego": [
      0.010009234781591603,
      0.00985888974115215,
      0.03276656233598932,
      0.016455419083150714,
      -2.0604113567398996e-05,
      -0.02339328036984023,
      0.013390174222384699,
      0.09309141113385608,
      0.2518820705835782,
      0.24737154806825712
    ],
    "a_ego": [
      0.4704970030684103,
      0.47049698763662806,
      0.3474865076674021,
      0.100036418249408,
      0.15914977928979257,
      0.18997246775863716,
      0.36584285552157664,
      0.34738577731705056,
      0.26177016083038157,
      0.26177015352487387
    ],
    "yaw": [
      1.0769819748037057,
      1.077301577452841,
      1.075638598531523,
      1.0741450493181528,
      1.0735246774025902,
      1.073828831169809,
      1.0758236407424921,
      1.0852998603455393,
      1.1156905687583127,
      1.1731744950862195
    ],
    "yaw_diff": [
      0.0006392052982704399,
      -0.003325957842635674,
      -0.0029870984267406087,
      -0.0012407438311252683,
      0.0006083075344376354,
      0.00398961914536633,
      0.01895243920609424,
      0.06078141682554694,
      0.11496785265581355,
      0.11496785265581355
    ],
    "min_front_frame": [
      0,
      13.093666394457943
    ],
    "v_avg": 2.832582891177604,
    "v_std": 0.19733195571417414,
    "vy_max": 0.061109080091276136,
    "a_max": 0.4704970030684103,
    "ax_avg": 0.16975384563762258,
    "a_std": 0.11906382179795551,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "dd83ce8b0dec51d2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      13.093666394457943,
      14.396770926534158,
      16.076088150098546,
      17.87864948531345,
      19.70224670693185,
      21.60646283535782,
      23.676978161811228,
      25.78482745696141,
      27.944926184148926,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "dd83ce8b0dec51d2",
    "pedestrians": "No"
  },
  "c53ae2fe6cc751e7": {
    "vx_ego": [
      4.066060974426052,
      3.8487111344881555,
      3.5644434170469417,
      3.13786637034604,
      2.7182088758006895,
      2.4149832018568462,
      2.0732785071455124,
      1.6021703416957782,
      1.112418166174634,
      0.660921382324287
    ],
    "vy_ego": [
      -0.05958567172126062,
      -0.04626723469064609,
      -0.036702931435014616,
      -0.0015480752577530232,
      0.027046148859186218,
      0.01881807758781799,
      -0.010927570487974058,
      -0.027236366279122567,
      -0.02612085027776221,
      -0.033688423463984325
    ],
    "v_ego": [
      4.066497547032951,
      3.848989224944521,
      3.5646323763475527,
      3.137866752219672,
      2.7183434269145907,
      2.415056518033242,
      2.0733073047641284,
      1.6024018295850941,
      1.112724797627234,
      0.6617794069695242
    ],
    "ax_ego": [
      -0.43686597433545954,
      -0.4355727961884868,
      -0.7024817083049337,
      -1.0037547071758806,
      -0.674886139149991,
      -0.5385044612635367,
      -0.8283700959759097,
      -1.0560130235466387,
      -0.9030239965671865,
      -0.9030168336877872
    ],
    "ay_ego": [
      -0.08554240739290306,
      -0.09190059489755358,
      0.07063284659102138,
      0.08183547563970206,
      0.03421963613683532,
      -0.026351546126806846,
      -0.08079944689443863,
      0.01849967115591517,
      -0.01572948730856727,
      -0.01613553291303715
    ],
    "a_ego": [
      0.4451621985239131,
      0.44516219529737844,
      0.7060237598838787,
      1.0070851787465218,
      0.6757531237916096,
      0.5391488280465841,
      0.8323013676100653,
      1.0561750535460448,
      0.9031609796415944,
      0.9031609808588413
    ],
    "yaw": [
      -3.1127075186417126,
      -3.127282928288552,
      -3.1312619282317256,
      -3.130387811126229,
      -3.1302424837118137,
      -3.1262437064709294,
      -3.1249465913990613,
      -3.1245533562458125,
      -3.124869439946549,
      -3.1253190808293723
    ],
    "yaw_diff": [
      -0.029150819293678687,
      -0.007957999886347267,
      0.001748234210992905,
      0.0002906548288308386,
      0.007997554481768532,
      0.002594230143736276,
      0.0007864703064974776,
      -0.0006321674014726497,
      -0.0008992817656467977,
      -0.0008992817656467977
    ],
    "min_front_frame": [
      9,
      11.411118646054137
    ],
    "v_avg": 2.5201599184438512,
    "v_std": 1.1025499614883558,
    "vy_max": 0.05958567172126062,
    "a_max": 1.0561750535460448,
    "ax_avg": -0.748248973619581,
    "a_std": 0.21243015028477222,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c53ae2fe6cc751e7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.631592075860244,
      19.68109581752178,
      17.833315275062358,
      16.109858144124086,
      14.68033969260696,
      13.508377067452145,
      12.613773792133987,
      11.966433350456366,
      11.592533906544753,
      11.411118646054137
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c53ae2fe6cc751e7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c66aeafedcbd5140": {
    "vx_ego": [
      5.568329823971311,
      5.416181155125045,
      5.294958247314682,
      5.141533436937856,
      4.9022414894809305,
      4.660411532525563,
      4.466024571662954,
      4.378308147320761,
      4.469746389641059,
      4.660249225009565
    ],
    "vy_ego": [
      -0.014764144178405658,
      0.0055116413171401035,
      -0.0028314044730990418,
      -0.0008378119954044472,
      0.07182676968919122,
      0.08023723496805957,
      -0.02168592951631254,
      -0.10214443981998134,
      -0.06917569114657685,
      0.011137052736055697
    ],
    "v_ego": [
      5.568349397126736,
      5.416183959516301,
      5.294959004341493,
      5.141533505198516,
      4.9027676577655805,
      4.661102194371261,
      4.466077222153269,
      4.379499482758445,
      4.470281653761303,
      4.6602625326419
    ],
    "ax_ego": [
      -0.30450601875863037,
      -0.30398685378740165,
      -0.18123603856764822,
      -0.43221612195994286,
      -0.5250555199935789,
      -0.4421656264275422,
      -0.3349514983452415,
      -0.016249190166945673,
      0.3810005649547731,
      0.3810361994213952
    ],
    "ay_ego": [
      0.09766470582297258,
      0.09926884775317014,
      0.012450164659255664,
      0.0985199947836975,
      0.21748631768573157,
      -0.1875612515342832,
      -0.2696907064906016,
      -0.0690179246137399,
      0.16266788954294503,
      0.16258440004497376
    ],
    "a_ego": [
      0.31978478735505717,
      0.3197847892095638,
      0.1816631725907501,
      0.4433023409077286,
      0.5683164588996402,
      0.48030163883872756,
      0.4300297471235242,
      0.07090493705708685,
      0.4142731861757553,
      0.4142731857210714
    ],
    "yaw": [
      -0.5959782929194262,
      -0.5907057994296996,
      -0.5839134535814958,
      -0.5790085450301776,
      -0.5777495784824108,
      -0.5779443390143204,
      -0.5806674850898783,
      -0.5816301339038545,
      -0.5838147336607307,
      -0.5835956036880451
    ],
    "yaw_diff": [
      0.010544986979453164,
      0.013584691696407525,
      0.009809817102636398,
      0.0025179330955336088,
      -0.00038952106381917595,
      -0.005446292151115806,
      -0.0019252976279524603,
      -0.004369199513752253,
      0.00043825994537116664,
      0.00043825994537116664
    ],
    "min_front_frame": [
      0,
      16.993750897064047
    ],
    "v_avg": 4.89610166096348,
    "v_std": 0.41057732193451063,
    "vy_max": 0.10214443981998134,
    "a_max": 0.5683164588996402,
    "ax_avg": -0.17783301036307636,
    "a_std": 0.13929665190696133,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c66aeafedcbd5140",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.5032357711765787,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.993750897064047,
      20.39848229965926,
      35.1607813529466,
      35.47044663308112,
      36.26187867934059,
      37.5923945294346,
      38.751972329652396,
      40.05600762989698,
      37.82720575249344,
      35.50412187931207
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c66aeafedcbd5140",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fccef3d0f5cc5d8e": {
    "vx_ego": [
      0.06861698188712446,
      0.670579236147572,
      1.2526322486303552,
      1.6873360840251501,
      1.968125742279485,
      2.2417154433678044,
      2.4128254328998766,
      2.4097080050618627,
      2.318595904052363,
      2.1916905560482545
    ],
    "vy_ego": [
      0.008269696135804104,
      0.02560809107746609,
      0.02428526194536218,
      -0.005275719513337718,
      -0.01642258529761964,
      -0.0026239886487746666,
      0.019783990145398445,
      0.014476418970065907,
      -0.00969995816674074,
      -0.023053465828488995
    ],
    "v_ego": [
      0.06911351588131297,
      0.6710680191164625,
      1.2528676403581085,
      1.687344331685063,
      1.9681942583828027,
      2.2417169790921734,
      2.4129065410650594,
      2.409751488507771,
      2.318616194085781,
      2.1918117975222717
    ],
    "ax_ego": [
      1.203925404850602,
      1.203924796343609,
      1.1243044953803663,
      0.6146208736848706,
      0.50835928560557,
      0.5859535465199684,
      0.09853186936264607,
      -0.11069673002439755,
      -0.2538050074511927,
      -0.25380825349707914
    ],
    "ay_ego": [
      0.034653133060896235,
      0.03467436815358238,
      -0.04045378355649454,
      -0.08865716996247383,
      0.03136048624958773,
      0.009704506678602731,
      0.04965114272416946,
      -0.09219679339399205,
      -0.02616447295283121,
      -0.026133065945804695
    ],
    "a_ego": [
      1.2044240200509213,
      1.2044240229494971,
      1.125032047070898,
      0.6209822156510674,
      0.5093256751423553,
      0.5860339035663413,
      0.11033478714310097,
      0.14406253763636406,
      0.255150076331949,
      0.2551500865744814
    ],
    "yaw": [
      1.0353664604005584,
      1.0353488238125998,
      1.0352232277800053,
      1.0334518485264488,
      1.0317260041607559,
      1.0300400976749775,
      1.0268707380614495,
      1.0246844765965601,
      1.022411661840078,
      1.022535432118611
    ],
    "yaw_diff": [
      -3.527317591700552e-05,
      -0.00025119206518908754,
      -0.003542758507113053,
      -0.0034516887313857936,
      -0.0033718129715567535,
      -0.006338719227056089,
      -0.004372522929778633,
      -0.004545629512964222,
      0.000247540557066106,
      0.000247540557066106
    ],
    "min_front_frame": [
      0,
      9.773587004178486
    ],
    "v_avg": 1.7223390765696807,
    "v_std": 0.7691243145351313,
    "vy_max": 0.02560809107746609,
    "a_max": 1.2044240229494971,
    "ax_avg": 0.4721310280774963,
    "a_std": 0.4123886817726496,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fccef3d0f5cc5d8e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.515315278126948,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      9.773587004178486,
      10.641318972774982,
      11.716391280677287,
      12.850530105148241,
      14.27327462459713,
      15.942580379411895,
      17.558894052232237,
      19.4648501616026,
      21.676550883170012,
      24.085690332518556
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fccef3d0f5cc5d8e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0d391852df3f5737": {
    "vx_ego": [
      6.93393777062743,
      7.333764156762522,
      7.748290195783548,
      8.060277130598562,
      8.217337459062135,
      8.399123760496261,
      8.6669259651703,
      8.751408023745437,
      8.623948536734076,
      8.478262041832103
    ],
    "vy_ego": [
      0.0777707235190217,
      -0.014163713015054924,
      0.02504842955995512,
      0.0028347538828388252,
      0.06471071881094481,
      0.09094842171615802,
      0.08356735828963036,
      0.03349834897733217,
      -0.014281949484396428,
      0.003587788245885015
    ],
    "v_ego": [
      6.934373893320893,
      7.333777833953048,
      7.748330683566549,
      8.060277629082002,
      8.21759225036353,
      8.399616155488626,
      8.667328838178152,
      8.751472135444427,
      8.623960362752074,
      8.478262800963153
    ],
    "ax_ego": [
      0.7804233488295063,
      0.8241811687527746,
      0.8338083652018345,
      0.41799786992724824,
      0.22294169758560062,
      0.5207409794066308,
      0.5575200465828339,
      -0.21841389438575284,
      -0.2913834316654827,
      -0.2913460957137124
    ],
    "ay_ego": [
      -0.9068927837772213,
      -0.8673179945851657,
      -0.8200304516897481,
      -0.8625940394317153,
      -0.987713033999198,
      -0.9111591043161478,
      -0.5493387546567953,
      -0.22550445396728733,
      0.04870781866148341,
      0.04893065525226223
    ],
    "a_ego": [
      1.1964594120426564,
      1.196459402845714,
      1.1694812232691247,
      0.9585357041481765,
      1.0125611280580793,
      1.049467522609243,
      0.7826887438245194,
      0.31393771359910744,
      0.2954263966674491,
      0.29542639778977
    ],
    "yaw": [
      2.561431156431428,
      2.5121146310356117,
      2.4509851284009154,
      2.4009164767238333,
      2.336692503123549,
      2.2761433149223524,
      2.2342022932812995,
      2.21789113943296,
      2.2183029158854852,
      2.219067715987631
    ],
    "yaw_diff": [
      -0.09863305079163265,
      -0.1222590052693926,
      -0.10013730335416415,
      -0.12844794720056907,
      -0.12109837640239274,
      -0.08388204328210591,
      -0.03262230769667873,
      0.0008235529050502066,
      0.0015296002042912704,
      0.0015296002042912704
    ],
    "min_front_frame": [
      7,
      19.533547013180907
    ],
    "v_avg": 8.121499258311244,
    "v_std": 0.5773993905693501,
    "vy_max": 0.09094842171615802,
    "a_max": 1.1964594120426564,
    "ax_avg": 0.33564700545214815,
    "a_std": 0.3635736013399718,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "0d391852df3f5737",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      24.09514345574163,
      24.247358799451302,
      24.68150387935822,
      23.822806019080886,
      19.533547013180907,
      20.415632018742293,
      21.78439683627409
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.5714285714285714,
    "unsafe_ratio": 0.42857142857142855,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0d391852df3f5737",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "cd89b212efe9585a": {
    "vx_ego": [
      3.0005952712119335,
      2.312285804726055,
      1.6811496564158217,
      1.1986305048194204,
      0.9359786151942886,
      0.871532348190414,
      0.9228059216187385,
      1.02261499736596,
      1.149354796714706,
      1.3002335286967046
    ],
    "vy_ego": [
      0.049712339418238605,
      0.016353711193734077,
      -0.015555236062699707,
      -0.01827015590413128,
      0.0011912023974635089,
      0.0028833160889931153,
      -0.01121135112741023,
      -0.014113508187663604,
      -0.0011526981820528803,
      0.024124708391298877
    ],
    "v_ego": [
      3.0010070473609103,
      2.3123436350610667,
      1.6812216191317557,
      1.1987697383903297,
      0.9359793732044366,
      0.8715371176570543,
      0.9228740235637318,
      1.0227123857425144,
      1.1493553747402072,
      1.300457315986207
    ],
    "ax_ego": [
      -1.3765221624731354,
      -1.3761465849626835,
      -1.1484386910928104,
      -0.7817879522173843,
      -0.2688285288481681,
      0.011058313034575,
      0.19400909475242833,
      0.20510267534580434,
      0.30185218401994773,
      0.30175764287182877
    ],
    "ay_ego": [
      -0.08620949278389772,
      -0.09201058662873662,
      -0.05403651404224058,
      0.03574332699250604,
      0.04113189074320302,
      -0.03547542604114486,
      -0.025217909617157697,
      0.006325092961979306,
      0.045145809526879604,
      0.04577356294441717
    ],
    "a_ego": [
      1.37921910530045,
      1.3792191165134786,
      1.149709255441916,
      0.7826046177072713,
      0.27195700093724584,
      0.037159011558051305,
      0.19564118127867622,
      0.20520018088438444,
      0.3052095757269907,
      0.3052095904394039
    ],
    "yaw": [
      1.0871728702718457,
      1.0829579934892324,
      1.0806194621978724,
      1.0792863939029531,
      1.0790446112196928,
      1.0787246228046246,
      1.0774908753510515,
      1.0756160666387362,
      1.0755293878208247,
      1.0734494171316973
    ],
    "yaw_diff": [
      -0.008429753565226683,
      -0.0046770625827199375,
      -0.002666136589838608,
      -0.0004835653665207218,
      -0.0006399768301363906,
      -0.0024674949071461505,
      -0.003749617424630536,
      -0.00017335763582293495,
      -0.004159941378254928,
      -0.004159941378254928
    ],
    "min_front_frame": [
      3,
      10.28980188418422
    ],
    "v_avg": 1.4396257630838214,
    "v_std": 0.6660920699025918,
    "vy_max": 0.049712339418238605,
    "a_max": 1.3792191165134786,
    "ax_avg": -0.3937944009569597,
    "a_std": 0.496734847946683,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cd89b212efe9585a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.208129865174481,
      10.67109558555409,
      10.431209435813102,
      10.28980188418422,
      10.368717479723346,
      10.428055513142443,
      10.58609051957084,
      10.823642215049787,
      11.156312830995935,
      11.497199839597815
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cd89b212efe9585a",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "3128b8da22c75dd0": {
    "vx_ego": [
      5.848604937091219,
      5.905971388195538,
      6.066200253485906,
      6.30750296070545,
      6.604995618308337,
      6.8328856827731235,
      6.95124828092084,
      7.026479360437429,
      7.061827416558301,
      7.06968659246932
    ],
    "vy_ego": [
      -0.05586716841293171,
      -0.03913504882520913,
      -0.04150638373630766,
      -0.045067512769271456,
      -0.10213562327671788,
      -0.06710388940008638,
      -0.08077845488699742,
      -0.06150807855021423,
      0.0035032251904589806,
      0.10116345269256533
    ],
    "v_ego": [
      5.84887175878171,
      5.906101048088399,
      6.066342250094643,
      6.307663963783678,
      6.6057852525959735,
      6.8332151792416544,
      6.951717616659847,
      7.026748568604125,
      7.061828285496698,
      7.070410353006475
    ],
    "ax_ego": [
      0.010486320018841977,
      0.24432694303994273,
      0.40529698500840616,
      0.5724668520244606,
      0.6137795432294859,
      0.3010502192879607,
      0.17677193384543916,
      0.1264741492465556,
      0.015444742747564993,
      0.015721103486093013
    ],
    "ay_ego": [
      1.6795252682839723,
      1.661691736081144,
      1.471385783093054,
      1.343926474795146,
      0.6693687053803574,
      0.2263497756230713,
      0.17019726444518124,
      0.14551804313386701,
      0.21361361157275247,
      0.213593451316167
    ],
    "a_ego": [
      1.679558004271328,
      1.679558001634838,
      1.52618536513271,
      1.4607726264967125,
      0.908173877310712,
      0.37665030924976545,
      0.2453883155736623,
      0.1927983695604037,
      0.21417122852449913,
      0.21417122948699774
    ],
    "yaw": [
      -2.4279050889166722,
      -2.2881596317896262,
      -2.1566623190687007,
      -2.042062909926557,
      -1.9552496234030499,
      -1.9272998307823046,
      -1.9109687188845326,
      -1.9024402270582963,
      -1.8989305258079494,
      -1.8976367391543616
    ],
    "yaw_diff": [
      0.279490914254092,
      0.26299462544185115,
      0.22919881828428768,
      0.1736265730470139,
      0.055899585241490524,
      0.032662223795544065,
      0.017056983652472546,
      0.007019402500693772,
      0.002587573307175628,
      0.002587573307175628
    ],
    "min_front_frame": [
      9,
      31.92574039850612
    ],
    "v_avg": 6.56786842763532,
    "v_std": 0.4690873735296567,
    "vy_max": 0.10213562327671788,
    "a_max": 1.679558004271328,
    "ax_avg": 0.24818187919347506,
    "a_std": 0.6356156072454477,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "3128b8da22c75dd0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      52.51049517454257,
      46.62259134741224,
      45.92500204893628,
      42.48694692056764,
      38.932917747291114,
      35.40678277188588,
      31.92574039850612
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2857142857142857,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7142857142857143,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3128b8da22c75dd0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ab548d52e69b5ed4": {
    "vx_ego": [
      1.2448435674413572,
      1.3012068438778703,
      1.3709707163273583,
      1.4365301939862054,
      1.4840217104514224,
      1.515501178594762,
      1.5180760742860648,
      1.4377078631579476,
      1.1926775480586156,
      0.852489101277164
    ],
    "vy_ego": [
      0.025182646732713296,
      0.006095959980642107,
      0.0018822626554859528,
      0.008209857242081191,
      0.005719207643944485,
      -0.008916627672267696,
      -0.027591583119786236,
      -0.017341340121931916,
      0.008485273533534671,
      0.025285748697092367
    ],
    "v_ego": [
      1.2450982584103911,
      1.301221123131151,
      1.37097200844505,
      1.4365536537108456,
      1.4840327309150696,
      1.5155274093764053,
      1.5183267970956866,
      1.437812443214836,
      1.1927077318060992,
      0.8528640201600249
    ],
    "ax_ego": [
      0.11272600500747995,
      0.11272431247506842,
      0.16632964033267578,
      0.09593462170849383,
      0.094039644071138,
      0.03189182232801643,
      -0.02162410354209327,
      -0.29971588911492786,
      -0.6804055403253556,
      -0.6803860379947391
    ],
    "ay_ego": [
      -0.038058165203937185,
      -0.03806315401163321,
      0.020602846964704227,
      -0.00016541360347296962,
      -0.01123417784872441,
      -0.05297791750142386,
      -0.023938928295906135,
      0.07079806834107132,
      0.034557917834065935,
      0.03493981228491194
    ],
    "a_ego": [
      0.11897720850497615,
      0.11897720082557908,
      0.16760079521365137,
      0.09593476431415271,
      0.09470829641041534,
      0.06183646233565953,
      0.03225948142725958,
      0.3079642522579183,
      0.681282576461827,
      0.6812825780692497
    ],
    "yaw": [
      1.555881556737646,
      1.5559258262636888,
      1.5558119542695876,
      1.554949515989438,
      1.5547035413390402,
      1.5537634676873142,
      1.553399657510184,
      1.5543678508139256,
      1.554743833962457,
      1.5553051176801471
    ],
    "yaw_diff": [
      8.853905208550117e-05,
      -0.00022774398820235575,
      -0.0017248765602992933,
      -0.0004919493007955467,
      -0.0018801473034519844,
      -0.0007276203542603277,
      0.001936386607483076,
      0.0007519662970629781,
      0.001122567435380084,
      0.001122567435380084
    ],
    "min_front_frame": [
      9,
      11.065143687903928
    ],
    "v_avg": 1.335511617626556,
    "v_std": 0.19300519531565602,
    "vy_max": 0.027591583119786236,
    "a_max": 0.6812825780692497,
    "ax_avg": -0.10684855250542433,
    "a_std": 0.2335002796536988,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ab548d52e69b5ed4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.619930399060864,
    "right_rear_min": 3.2954546775109312,
    "speed_mode": "quasi_constant",
    "front_frame": [
      13.726842193890347,
      13.967676076778638,
      14.090884337034252,
      14.061581744328977,
      13.923673438288624,
      13.544747630878842,
      12.977623505174567,
      12.221900871767534,
      11.569240491987927,
      11.065143687903928
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ab548d52e69b5ed4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ce6eb4e00dac5ae3": {
    "vx_ego": [
      -0.0016730730801725285,
      0.026437796611471377,
      0.2388845650387371,
      0.7548051034480688,
      1.3698849537428321,
      1.9523735006733487,
      2.511022960582415,
      3.051122748864384,
      3.5679345050899913,
      4.068701003065073
    ],
    "vy_ego": [
      0.00043488082669110566,
      -5.0704841788601004e-05,
      -0.003293271059788175,
      0.006453893662189236,
      0.035350614941486724,
      0.05384485803086614,
      0.05702734399085241,
      0.05989798308860572,
      0.044665531977251094,
      0.01580903872284134
    ],
    "v_ego": [
      0.0017286685237550695,
      0.026437845234634917,
      0.23890726453588607,
      0.7548326946646209,
      1.3703409986086466,
      1.9531158580247794,
      2.5116704454475567,
      3.0517106345484066,
      3.568214069020884,
      4.068731716155303
    ],
    "ax_ego": [
      0.05622174417806617,
      0.05622171392937822,
      0.7935652509414499,
      1.270109231713096,
      1.1902093958439162,
      1.139817049114279,
      1.0948253250074744,
      1.065708210570136,
      1.0015491266836247,
      1.0015831237230084
    ],
    "ay_ego": [
      -0.0009690751296033417,
      -0.000971323684155645,
      -0.012014772028332066,
      0.05046474546693969,
      0.06516592630155899,
      0.006491108875994467,
      0.004449825727739443,
      0.0006832214854915475,
      -0.0621815294869833,
      -0.0616315337506107
    ],
    "a_ego": [
      0.05623009536743409,
      0.056230103920019946,
      0.7936561990236447,
      1.2711113841901793,
      1.1919920318130823,
      1.1398355319720572,
      1.0948343679418953,
      1.065708429575463,
      1.0034775512038483,
      1.0034775531516347
    ],
    "yaw": [
      -0.5143523220643619,
      -0.5143126261291472,
      -0.5144102881621857,
      -0.5147182603730388,
      -0.514708049248781,
      -0.5150558795116214,
      -0.515255783666836,
      -0.5158258149929729,
      -0.515868654463777,
      -0.516417791053797
    ],
    "yaw_diff": [
      7.939187042937945e-05,
      -0.00019532406607702946,
      -0.0006159444217062049,
      2.0422248515616914e-05,
      -0.000695660525680708,
      -0.0003998083104292949,
      -0.0011400626522737323,
      -8.56789416083803e-05,
      -0.0010982731800399659,
      -0.0010982731800399659
    ],
    "min_front_frame": [
      0,
      12.251533962876707
    ],
    "v_avg": 1.7545690194764472,
    "v_std": 1.4297929303282206,
    "vy_max": 0.05989798308860572,
    "a_max": 1.2711113841901793,
    "ax_avg": 0.8669810171704428,
    "a_std": 0.42332983878533975,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ce6eb4e00dac5ae3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.9418231240984754,
    "speed_mode": "accelerating",
    "front_frame": [
      12.251533962876707,
      13.087046265535912,
      13.987952032227408,
      14.965714953954283,
      15.890666888735359,
      16.774369055140657,
      17.519443003722145,
      18.167801429628756,
      18.797406831495284,
      19.322367264724676
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ce6eb4e00dac5ae3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "08e2e519ac1e5226": {
    "vx_ego": [
      0.5615150582033777,
      0.37783724406404473,
      0.19219669703087447,
      0.03213844704812508,
      -0.02928755031359407,
      -0.01903346334811542,
      -0.01082364581404106,
      -0.007122778084802797,
      -0.0053326263997490984,
      -0.003589475895053537
    ],
    "vy_ego": [
      -0.03644431969213299,
      -0.02434116142869841,
      -0.01946053215056949,
      -0.008442223278189378,
      0.002510086182144709,
      0.0006621933368473913,
      2.5149350022652707e-05,
      -0.00017600304829171838,
      -0.00014795161842378734,
      7.177477827502443e-05
    ],
    "v_ego": [
      0.5626964981470606,
      0.3786204895955982,
      0.1931794053753171,
      0.03322876634098748,
      0.02939491683970373,
      0.019044979050642667,
      0.010823675031966505,
      0.0071249522607772595,
      0.005334678434610211,
      0.003590193423754049
    ],
    "ax_ego": [
      -0.3673364358723067,
      -0.3673267109026241,
      -0.37523511732633724,
      -0.2650073687487951,
      0.019306313212760034,
      0.021710081684020097,
      0.011129166421530895,
      0.0036742948978230714,
      0.0034863043458396455,
      0.0034863050941488847
    ],
    "ay_ego": [
      0.024505094541386357,
      0.024650330484708743,
      -0.005122384631623955,
      0.049150540163960005,
      -0.00531538481336942,
      -0.0020755212490608,
      -0.00047605304446311694,
      -0.00032642139002570674,
      0.0004392581210682226,
      0.0004391595610992276
    ],
    "a_ego": [
      0.3681528986411102,
      0.3681528912497433,
      0.3752700788755005,
      0.269526772491285,
      0.02002466093554123,
      0.021809067728404342,
      0.011139343415986123,
      0.0036887659074594267,
      0.003513867625387272,
      0.003513856048501892
    ],
    "yaw": [
      -2.0452038442546083,
      -2.0448084708395378,
      -2.0448037296032093,
      -2.044918285492953,
      -2.045108188756281,
      -2.045114940864086,
      -2.0450524436628896,
      -2.045118692069695,
      -2.0451438622484748,
      -2.0451164988163937
    ],
    "yaw_diff": [
      0.0007907468301411313,
      9.482472656863195e-06,
      -0.00022911177948703454,
      -0.0003798065266567008,
      -1.3504215609749792e-05,
      0.00012499440239288617,
      -0.00013249681361049426,
      -5.0340357559797155e-05,
      5.472686416219119e-05,
      5.472686416219119e-05
    ],
    "min_front_frame": [
      9,
      9.950603221261028
    ],
    "v_avg": 0.12430385545004179,
    "v_std": 0.1858291716810417,
    "vy_max": 0.03644431969213299,
    "a_max": 0.3752700788755005,
    "ax_avg": -0.13121131671939404,
    "a_std": 0.166385690261243,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "08e2e519ac1e5226",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.790464825383326,
    "right_rear_min": 3.463443156091839,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.411317390614725,
      10.142099462392826,
      10.001889252971916,
      9.95964912760265,
      9.965360424996742,
      9.959615698570527,
      9.963728655970204,
      9.95754098949526,
      9.960914252880006,
      9.950603221261028
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "08e2e519ac1e5226",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "58863e0ecc6357c5": {
    "vx_ego": [
      -0.09379839991471342,
      0.13433709404383373,
      0.5443235173908951,
      1.161795144892798,
      1.7137539864966116,
      2.084690589591565,
      2.270639552345439,
      2.282860288025774,
      2.205685833966802,
      2.1212519258204523
    ],
    "vy_ego": [
      -0.002670216920498493,
      0.0028116849872851374,
      0.017738317772261203,
      0.0179379128660917,
      0.008081884077236756,
      0.00017311279329246254,
      -0.003337735657630514,
      0.0019106047193995224,
      0.02678178320846225,
      0.07024279137933342
    ],
    "v_ego": [
      0.09383639957374232,
      0.1343665152060198,
      0.5446124672665746,
      1.1619336157519795,
      1.7137730430495357,
      2.084690596779212,
      2.2706420055030283,
      2.2828610875512143,
      2.205848422279657,
      2.1224146113654934
    ],
    "ax_ego": [
      0.4562702967884035,
      0.4562716400801947,
      1.1836647181746667,
      1.2869217262512587,
      0.9226787773138971,
      0.5622484946289066,
      0.18276807639195752,
      -0.13308056180355662,
      -0.17166401375526014,
      -0.14956236230342332
    ],
    "ay_ego": [
      0.010996713145491055,
      0.010940824026145574,
      0.049187736685411876,
      -0.06658952219965164,
      -0.11249149003288628,
      -0.1567674043300634,
      -0.2280348873234494,
      -0.2628677067400309,
      -0.26202013318856227,
      -0.2752347792821333
    ],
    "a_ego": [
      0.4564027951616664,
      0.45640279487733404,
      1.184686286951844,
      1.288643354060501,
      0.9295108721447464,
      0.5836946023160203,
      0.2922397638663067,
      0.2946351424672779,
      0.31324604357392616,
      0.3132460437807078
    ],
    "yaw": [
      -0.7407787731250488,
      -0.7406562830523072,
      -0.7402315439903422,
      -0.745647265038452,
      -0.7691843080709786,
      -0.7997362095231146,
      -0.841386615827866,
      -0.8966235279549969,
      -0.9659983029977371,
      -1.048228156878388
    ],
    "yaw_diff": [
      0.0002449801454831313,
      0.000849478123930103,
      -0.010831442096219668,
      -0.047074086065053145,
      -0.061103802904272086,
      -0.08330081260950273,
      -0.11047382425426178,
      -0.1387495500854805,
      -0.1644597077613017,
      -0.1644597077613017
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.4614978764326456,
    "v_std": 0.8564126051876834,
    "vy_max": 0.07024279137933342,
    "a_max": 1.288643354060501,
    "ax_avg": 0.4596516791767045,
    "a_std": 0.362949133929459,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "58863e0ecc6357c5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "58863e0ecc6357c5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0fc778045313531b": {
    "vx_ego": [
      9.580814001231632,
      8.787466178438637,
      8.059452837609308,
      7.382716864723911,
      6.676961322460075,
      5.968595657206309,
      5.383204379227625,
      4.870651750677981,
      4.425235567281864,
      4.146343635572434
    ],
    "vy_ego": [
      -0.03576614567704922,
      -0.058980378248627764,
      -0.01862879490683919,
      0.015822753383870347,
      -0.04026547583726024,
      -0.06235170605416317,
      -0.022119301488970566,
      0.028698256979889814,
      0.07604958792114846,
      0.011645170262372995
    ],
    "v_ego": [
      9.580880760314923,
      8.787664110685006,
      8.059474367081789,
      7.382733820489772,
      6.677082732014948,
      5.968921330899736,
      5.383249822554573,
      4.870736296119526,
      4.425888991576654,
      4.146359988501055
    ],
    "ax_ego": [
      -1.5873446360731966,
      -1.582462507940267,
      -1.3285872334461613,
      -1.378571804795304,
      -1.4440714860048014,
      -1.3927441092145094,
      -0.9522597767371355,
      -1.0772197031763555,
      -0.6537046569320111,
      -0.42807887885046236
    ],
    "ay_ego": [
      0.2631738268666889,
      0.2910942065208836,
      0.19085236954485785,
      0.04802056186147409,
      -0.34469667925957465,
      -0.543284639826192,
      -0.7767566496056961,
      -1.1507154444061625,
      -1.409963989389107,
      -1.4940136240890332
    ],
    "a_ego": [
      1.6090131934878615,
      1.6090131839443151,
      1.3422252656827063,
      1.379407914772883,
      1.484640783955733,
      1.4949563049209138,
      1.228881432481639,
      1.5762450072581444,
      1.5541326294331008,
      1.5541326312388901
    ],
    "yaw": [
      -1.5796883926159782,
      -1.5620723929561644,
      -1.5525231701488271,
      -1.5492533921505274,
      -1.5518224062107353,
      -1.5834691668357954,
      -1.649315015553321,
      -1.7528065235371217,
      -1.902151942377032,
      -2.057231248012318
    ],
    "yaw_diff": [
      0.035231999319627505,
      0.019098445614674553,
      0.0065395559965995,
      -0.005138028120415861,
      -0.06329352125012022,
      -0.13169169743505105,
      -0.2069830159676016,
      -0.2986908376798203,
      -0.3101586112705723,
      -0.3101586112705723
    ],
    "min_front_frame": [
      0,
      46.03715779483807
    ],
    "v_avg": 6.528299222023799,
    "v_std": 1.7884349578247045,
    "vy_max": 0.07604958792114846,
    "a_max": 1.6090131934878615,
    "ax_avg": -1.1825044793170203,
    "a_std": 0.12076548238750366,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "0fc778045313531b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.401480530786921,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      46.03715779483807,
      48.2488424604195,
      51.101470185667026,
      54.196891559138145,
      57.63860887464658,
      61.41113244138987,
      65.55804952180885,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.14285714285714285,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8571428571428571,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0fc778045313531b",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "3e09adf2d7055216": {
    "vx_ego": [
      0.17856709195371462,
      0.024225104143506315,
      -0.04480521843964796,
      -0.028603991557563338,
      -0.016098940687984502,
      -0.009702188384012713,
      -0.006537428858437415,
      -0.0045901044929563825,
      -0.00333677298233111,
      -0.002274220671321009
    ],
    "vy_ego": [
      0.03461411884624855,
      0.015109696457442413,
      0.0033544938761117266,
      0.0010247463278600655,
      0.0006294687099707022,
      0.0004787052996013193,
      0.00041228152487073544,
      0.000265314580373831,
      0.00013794247525679448,
      1.611148544461953e-05
    ],
    "v_ego": [
      0.1818910210876518,
      0.028550982431429124,
      0.04493061571567254,
      0.02862234158942307,
      0.0161112421039495,
      0.009713990848396843,
      0.0065504161802804614,
      0.004597765879513365,
      0.0033396230419157824,
      0.0022742777406963765
    ],
    "ax_ego": [
      -0.3087099437054329,
      -0.30874329249816373,
      0.03261375645200111,
      0.032191032483981905,
      0.017829283865036506,
      0.007757861223428974,
      0.0049010735466838975,
      0.0028882343667601647,
      0.0021251054400640906,
      0.0021250964015387406
    ],
    "ay_ego": [
      -0.03896724608140033,
      -0.0387021323387444,
      -0.00839886255163925,
      -0.0009235562779103292,
      -0.0006546096743120285,
      5.4975205536088225e-05,
      -0.0003223030306062989,
      -0.00026540116909475335,
      -0.0002438090031575467,
      -0.0002438806595292644
    ],
    "a_ego": [
      0.31115956615501955,
      0.3111595663163393,
      0.03367785625706856,
      0.03220427810995374,
      0.017841296953017567,
      0.0077580560087696345,
      0.004911659714754543,
      0.002900402650993712,
      0.0021390455725417983,
      0.002139044761552533
    ],
    "yaw": [
      2.9253435449295955,
      2.9262022793872946,
      2.9265808796734154,
      2.9266043742135537,
      2.9265687574124386,
      2.926495673949545,
      2.926548655261154,
      2.9265416302923075,
      2.9265246824245867,
      2.926556664441889
    ],
    "yaw_diff": [
      0.001717468915398257,
      0.0007572005722416009,
      4.698908027656046e-05,
      -7.123360223015851e-05,
      -0.00014616692578695023,
      0.00010596262321804772,
      -1.404993769327234e-05,
      -3.3895735441547004e-05,
      6.396403460495748e-05,
      6.396403460495748e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.032658227661892886,
    "v_std": 0.05148418110590436,
    "vy_max": 0.03461411884624855,
    "a_max": 0.3111595663163393,
    "ax_avg": -0.05150217924241013,
    "a_std": 0.11980830963071253,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "3e09adf2d7055216",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.982838336850646,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "3e09adf2d7055216",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "a96abad3a09753c5": {
    "vx_ego": [
      -0.19738901966893427,
      0.02149421855567669,
      0.5077054854841625,
      1.3208460514914875,
      2.1470545056333004,
      2.864219173226403,
      3.4912359080705517,
      4.061695906084537,
      4.53334614095897,
      4.935194477949558
    ],
    "vy_ego": [
      0.010448980490035162,
      -0.005246891856582454,
      0.0018196220643621475,
      -0.003566244008668229,
      -0.029668239791510898,
      -0.019164849160467234,
      0.005422440512162119,
      -8.862992656810675e-05,
      -0.002500093562089134,
      -0.011024863440586952
    ],
    "v_ego": [
      0.19766538968454758,
      0.022125354358153625,
      0.5077087462464738,
      1.3208508658576799,
      2.1472594753807894,
      2.864283289711596,
      3.491240119021079,
      4.061695907051529,
      4.533346830346803,
      4.935206792303408
    ],
    "ax_ego": [
      0.4377651763391139,
      0.43776904244274134,
      1.5070836017343967,
      1.745499412352363,
      1.5593494009935407,
      1.309363892253569,
      1.1987006949403405,
      1.0831222498746018,
      0.8035651701591939,
      0.8040159519169343
    ],
    "ay_ego": [
      -0.031397055382018674,
      -0.031343013871463044,
      0.05968497497845204,
      -0.08231650762723108,
      -0.021005315748409026,
      0.06693322186847706,
      0.02759859107895346,
      -0.0440898550737836,
      0.060519095710455995,
      0.05420228552854206
    ],
    "a_ego": [
      0.4388896498003536,
      0.43888964334987607,
      1.5082649896006008,
      1.74743932826018,
      1.5594908713001832,
      1.3110735519135115,
      1.1990183644465162,
      1.0840192449831538,
      0.8058408922601196,
      0.805840889191788
    ],
    "yaw": [
      0.8478160184143921,
      0.8476925531174542,
      0.8478375020417633,
      0.8475299574919379,
      0.8476844868018764,
      0.8480702306151182,
      0.8477712126502065,
      0.8481374191431277,
      0.8496420528673354,
      0.857500785293797
    ],
    "yaw_diff": [
      -0.000246930593875927,
      0.0002898978486183257,
      -0.0006150890996508007,
      0.00030905861987684524,
      0.0007714876264837134,
      -0.0005980359298234372,
      0.0007324129858423678,
      0.0030092674484154536,
      0.015717464852923246,
      0.015717464852923246
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.4081382769962056,
    "v_std": 1.7452549814414637,
    "vy_max": 0.029668239791510898,
    "a_max": 1.74743932826018,
    "ax_avg": 1.0886234593006796,
    "a_std": 0.43563402876643176,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "a96abad3a09753c5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "a96abad3a09753c5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "71057ab084a75ce6": {
    "vx_ego": [
      3.3015733753952037,
      2.7081673623505575,
      2.109913126165905,
      1.5179772151595994,
      0.9955389838281488,
      0.5709382709223789,
      0.2561663493436899,
      0.04252362411442574,
      -0.037666253154083965,
      -0.015508700591870478
    ],
    "vy_ego": [
      -0.010382596530801314,
      0.02681609051904288,
      0.020857268006004848,
      -0.004251835300237539,
      -0.009165440569708638,
      -0.020718130923034372,
      -0.024862779344871105,
      0.013605841221293238,
      0.021806747908479952,
      -0.016921202680759972
    ],
    "v_ego": [
      3.301589700648644,
      2.7083001246559624,
      2.1100162145338732,
      1.5179831698168176,
      0.9955811737987114,
      0.571314055623332,
      0.25737007660725664,
      0.044647256614085626,
      0.04352333719984642,
      0.022953145627814114
    ],
    "ax_ego": [
      -1.1868287224471241,
      -1.1868053488705819,
      -1.2068463192358863,
      -1.1609173100896013,
      -0.9288249054792583,
      -0.7696181647455281,
      -0.489516535763389,
      -0.3650537804623902,
      0.04431243775263518,
      0.04431854311704576
    ],
    "ay_ego": [
      0.07605847149938816,
      0.07642244289548017,
      -0.06318388098703287,
      -0.027990982207740434,
      0.009489309733918483,
      -0.060676878474142104,
      0.043601398301911426,
      0.11027857676328079,
      -0.0774534529161711,
      -0.07744995877004204
    ],
    "a_ego": [
      1.189263346577324,
      1.1892633543021227,
      1.2084991688328919,
      1.161254707611827,
      0.9288733778280974,
      0.772006349123918,
      0.49145449506507843,
      0.3813471215609445,
      0.08923356716067503,
      0.08923356642821498
    ],
    "yaw": [
      -2.1115007177445406,
      -2.1111940350246634,
      -2.10735066935401,
      -2.106070179857298,
      -2.105835452402783,
      -2.107465403698555,
      -2.1077935675169384,
      -2.107783313788085,
      -2.1078935458523747,
      -2.1079724453943536
    ],
    "yaw_diff": [
      0.0006133654397544319,
      0.007686731341307151,
      0.0025609789934240013,
      0.0004694549090293876,
      -0.0032599025915436286,
      -0.000656327636766818,
      2.0507457707097387e-05,
      -0.00022046412857967823,
      -0.0001577990839578547,
      -0.0001577990839578547
    ],
    "min_front_frame": [
      7,
      9.89309740534963
    ],
    "v_avg": 1.1573278255126345,
    "v_std": 1.1395606159582763,
    "vy_max": 0.02681609051904288,
    "a_max": 1.2084991688328919,
    "ax_avg": -0.7205780106224078,
    "a_std": 0.43286391997102996,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "71057ab084a75ce6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.718765670279174,
      13.253036363678444,
      12.030301352759134,
      11.149681373457614,
      10.540732449231994,
      10.177103532837116,
      9.989472982640095,
      9.89309740534963,
      9.925601456499036,
      9.895754220608406
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "71057ab084a75ce6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "669b4ffc8b8a5f21": {
    "vx_ego": [
      7.7353878061456545,
      7.6093870944927415,
      7.442782406574704,
      7.101774098912349,
      6.507683401551625,
      5.73286725018752,
      4.836878483668889,
      3.807790534640099,
      2.716747738544396,
      1.6367705615340276
    ],
    "vy_ego": [
      -0.012047012888688258,
      0.0006683792377986109,
      -0.009488746799830139,
      -0.016853971221080677,
      -0.028657690480404785,
      -0.017269929627217184,
      0.009622361054544282,
      0.004461634955776228,
      -0.006423575335286369,
      -0.003480611593057792
    ],
    "v_ego": [
      7.735397187086544,
      7.60938712384667,
      7.442788455137884,
      7.101794097855008,
      6.50774650075233,
      5.732893262458489,
      4.836888054897623,
      3.807793148515451,
      2.716755332599198,
      1.6367742623103154
    ],
    "ax_ego": [
      -0.2525989170236853,
      -0.25159750893858046,
      -0.4147635409505906,
      -0.9490681507681928,
      -1.426727227642032,
      -1.6719828233962377,
      -1.9119780392403831,
      -2.204251944819611,
      -2.1599608491750018,
      -2.159962784354336
    ],
    "ay_ego": [
      -0.11076717362766797,
      -0.11302332865495973,
      0.08719001113338412,
      0.05198910958416336,
      0.06256424101111324,
      0.10412426400729569,
      0.0071517117154548115,
      -0.06172193605503207,
      0.003308475993730964,
      0.0016078102223497925
    ],
    "a_ego": [
      0.27581801905423187,
      0.2758180184910807,
      0.4238288486444875,
      0.9504910427341814,
      1.428098339172907,
      1.6752219029391646,
      1.9119914146036223,
      2.2051159229463244,
      2.159963383018841,
      2.1599633827566262
    ],
    "yaw": [
      2.4350888222431895,
      2.4261393676911194,
      2.4266295025275664,
      2.4323740868066164,
      2.4382656030543313,
      2.443189133205756,
      2.443363492891478,
      2.4414176139060206,
      2.4402759306526933,
      2.439488571674554
    ],
    "yaw_diff": [
      -0.01789890910414016,
      0.0009802696728939964,
      0.011489168558100005,
      0.01178303249542978,
      0.009847060302849542,
      0.000348719371443984,
      -0.0038917579709147887,
      -0.002283366506654616,
      -0.0015747179562790592,
      -0.0015747179562790592
    ],
    "min_front_frame": [
      9,
      10.691854061499294
    ],
    "v_avg": 5.512821742545952,
    "v_std": 2.069518777522795,
    "vy_max": 0.028657690480404785,
    "a_max": 2.2051159229463244,
    "ax_avg": -1.3402891786308653,
    "a_std": 0.7613165148674896,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "669b4ffc8b8a5f21",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 27.04253051029074,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.94810244950042,
      28.202744704134282,
      25.661109351835666,
      22.95145819789016,
      20.27121386227475,
      17.690271256778896,
      15.305370177879427,
      13.272559155818415,
      11.722558653104265,
      10.691854061499294
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "669b4ffc8b8a5f21",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "050667565815536a": {
    "vx_ego": [
      6.123722464647686,
      6.4002587195139,
      6.68318949916697,
      6.953735012936201,
      7.215935883838662,
      7.388317703828729,
      7.371815371392379,
      7.250249989682592,
      7.100862409253314,
      6.939158968085161
    ],
    "vy_ego": [
      0.09503802194816613,
      -0.11557609531492963,
      -0.07053595674000546,
      0.007769840841145292,
      0.041331200953901526,
      0.032313118662855356,
      0.011513159125553951,
      -0.033389890924127474,
      -0.03421123409033022,
      0.005868782362500546
    ],
    "v_ego": [
      6.124459898607105,
      6.401302173036511,
      6.683561715355734,
      6.95373935379818,
      7.216054250616659,
      7.388388364883559,
      7.371824361901877,
      7.250326875231789,
      7.100944821901151,
      6.939161449841266
    ],
    "ax_ego": [
      0.5491192732661855,
      0.5583706893274433,
      0.579209595490864,
      0.5043372631002452,
      0.5427313861511286,
      0.14635965844723933,
      -0.21242079114858772,
      -0.27379341095082366,
      -0.3234442971395346,
      -0.32327688259663134
    ],
    "ay_ego": [
      0.20314478040294426,
      0.1761304963085987,
      0.3409946083075595,
      0.3103869238890615,
      0.029906855957197997,
      0.01763087585652917,
      -0.08995524694314735,
      -0.06501199340763895,
      0.10272149876084372,
      0.10324717837966071
    ],
    "a_ego": [
      0.5854910572138093,
      0.5854910575149013,
      0.6721317418508936,
      0.592196012712649,
      0.543554760393808,
      0.14741776488693925,
      0.23068276694368514,
      0.28140609653474374,
      0.3393639928745558,
      0.3393639973019496
    ],
    "yaw": [
      2.4662716507357816,
      2.5150466817318,
      2.527929145943285,
      2.5403106216173197,
      2.5475862701135172,
      2.5504295000381427,
      2.5507956811154884,
      2.551637529028242,
      2.5530645762165194,
      2.554690241347309
    ],
    "yaw_diff": [
      0.09755006199203642,
      0.02576492842297018,
      0.024762951348069606,
      0.014551296992395102,
      0.00568645984925098,
      0.0007323621546913017,
      0.0016836958255073142,
      0.0028540943765547055,
      0.0032513302615795325,
      0.0032513302615795325
    ],
    "min_front_frame": [
      0,
      19.935246236159234
    ],
    "v_avg": 6.942976326517384,
    "v_std": 0.4008863738226271,
    "vy_max": 0.11557609531492963,
    "a_max": 0.6721317418508936,
    "ax_avg": 0.1747192483947529,
    "a_std": 0.1744264050784124,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "050667565815536a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      19.935246236159234,
      21.760364815374302,
      38.04979850124976,
      38.57293266296411,
      38.95188617480887,
      39.10527896210875,
      39.066954442225025,
      39.032010608095455,
      38.899921497455026,
      38.82775452609202
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "050667565815536a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "002672a228395a16": {
    "vx_ego": [
      5.077953106676078,
      5.50394874889109,
      5.9292906568311405,
      6.281758498686007,
      6.585675469406484,
      6.889786047295399,
      7.041289300150752,
      6.979974776967681,
      7.075124051611081,
      7.416965070785432
    ],
    "vy_ego": [
      -0.0953025119166675,
      -0.03384721017141934,
      -0.039327634185667065,
      -0.04449348220092114,
      -0.031702171935334644,
      -0.023556403723031805,
      -0.023689085852430125,
      -0.014231445830396705,
      0.004149699049865507,
      -0.09569016424213128
    ],
    "v_ego": [
      5.078847341905332,
      5.5040528216993145,
      5.929421081015894,
      6.281916069621771,
      6.585751773036069,
      6.889826317234906,
      7.041329148762043,
      6.979989285174831,
      7.075125268550925,
      7.417582319649971
    ],
    "ax_ego": [
      0.8301773872253417,
      0.8896686364244882,
      0.8266376246384318,
      0.6044598822629829,
      0.6268027651267967,
      0.6045394561127765,
      0.01126764371489869,
      -0.24899792173527774,
      0.6296551877091071,
      0.7524842884084205
    ],
    "ay_ego": [
      0.886562613433274,
      0.8268479135638003,
      0.9207641486702474,
      1.0965264858563892,
      1.156175739128971,
      1.2707143795596323,
      1.2965400086933037,
      1.309983733616141,
      1.2709849063292706,
      1.202345930832372
    ],
    "a_ego": [
      1.2145730779981632,
      1.2145730751182564,
      1.2373909567894514,
      1.2520950776398498,
      1.315151719810692,
      1.4071897485473495,
      1.2965889687704881,
      1.333438167808081,
      1.4184034290447185,
      1.418403448138325
    ],
    "yaw": [
      -0.17574920097510938,
      -0.1063351773641063,
      -0.029094616587349742,
      0.05392693838066093,
      0.1394587626458473,
      0.22820331484460415,
      0.31932968369858067,
      0.4104434024157422,
      0.5009982090737732,
      0.6002394926444516
    ],
    "yaw_diff": [
      0.13882804722200615,
      0.15448112155351312,
      0.16604310993602134,
      0.17106364853037276,
      0.1774891043975137,
      0.18225273770795303,
      0.18222743743432301,
      0.18110961331606212,
      0.1984825671413568,
      0.1984825671413568
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.478384142665105,
    "v_std": 0.7235679224094679,
    "vy_max": 0.09569016424213128,
    "a_max": 1.418403448138325,
    "ax_avg": 0.5526694949887967,
    "a_std": 0.07780472643710791,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "002672a228395a16",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.183311036168645,
    "right_rear_min": 7.822916044276531,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "002672a228395a16",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "5fadffd02da256e5": {
    "vx_ego": [
      4.451470208233718,
      4.81736362293176,
      5.1423812813554335,
      5.355609813820915,
      5.466791521555166,
      5.5357937500031085,
      5.580296737206938,
      5.54324526802372,
      5.449622341090064,
      5.365550760674379
    ],
    "vy_ego": [
      -0.003370293498324517,
      0.051454831964987346,
      0.04573799509618548,
      0.05901659819823335,
      0.0583340815161133,
      0.04828082827867686,
      0.08216882813982385,
      0.09068524710438952,
      0.08096806911041843,
      0.05748558378062918
    ],
    "v_ego": [
      4.451471484090469,
      4.817638412674695,
      5.14258468156142,
      5.355934973163676,
      5.467102743246533,
      5.536004288379187,
      5.580901664749189,
      5.543987005351812,
      5.450223801709745,
      5.365858697144009
    ],
    "ax_ego": [
      0.7288381337791748,
      0.7330743901699728,
      0.5625780705735071,
      0.28437849170371965,
      0.14973606293192257,
      0.11697635281725727,
      0.05460690014314667,
      -0.21134631022617406,
      -0.16828395783342973,
      -0.1683239268278304
    ],
    "ay_ego": [
      0.2663585451207594,
      0.25446777211143456,
      0.3702891422061693,
      0.46897869229595035,
      0.4237522576678714,
      0.34251710756434245,
      0.3029562498528009,
      0.23237155228278025,
      -0.03449890061315564,
      -0.03430339584234139
    ],
    "a_ego": [
      0.7759844713714045,
      0.7759844770138347,
      0.6735043684535317,
      0.5484634357651403,
      0.4494294877074386,
      0.3619412052981406,
      0.30783827388438284,
      0.3141079450706828,
      0.17178377282968246,
      0.1717837806926404
    ],
    "yaw": [
      -3.022310700661975,
      -3.0060436272109925,
      -2.973672911372083,
      -2.9364805892283083,
      -2.895243992116294,
      -2.8586256692766967,
      -2.835722616123274,
      -2.8133258421172447,
      -2.802547438379079,
      -2.8013857548549463
    ],
    "yaw_diff": [
      0.03253414690196532,
      0.06474143167781943,
      0.07438464428754887,
      0.0824731942240291,
      0.07323664567919419,
      0.045806106306845784,
      0.04479354801205826,
      0.021556807476331485,
      0.0023233670482651902,
      0.0023233670482651902
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.271170775207073,
    "v_std": 0.3494612594382786,
    "vy_max": 0.09068524710438952,
    "a_max": 0.7759844770138347,
    "ax_avg": 0.20822342072312666,
    "a_std": 0.2175229973196519,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "5fadffd02da256e5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5fadffd02da256e5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3984225e4458525b": {
    "vx_ego": [
      2.305369255030488,
      1.6521373142768363,
      1.0291809111775456,
      0.5234551782376031,
      0.19534335039140252,
      0.011070192135867418,
      -0.0430654652401785,
      -0.02591609731905372,
      -0.016095197086954505,
      -0.007917467758966713
    ],
    "vy_ego": [
      0.05547106205069219,
      0.0085171831426194,
      0.010442020729223012,
      0.034489234709672745,
      0.00511503191091546,
      -0.012345779975965044,
      -0.0005891586437949958,
      0.0007131631504562197,
      0.0005958685283753064,
      0.0006873696280275481
    ],
    "v_ego": [
      2.3060365219928456,
      1.6521592682409776,
      1.029233881937994,
      0.5245901552017724,
      0.1954103070300744,
      0.016582142115539846,
      0.043069495054627475,
      0.025925907928746335,
      0.016106223287009804,
      0.007947249380748795
    ],
    "ax_ego": [
      -1.3064639441136594,
      -1.3064642819220273,
      -1.1853444495730403,
      -0.8376021158995021,
      -0.4748892709540628,
      -0.26221265307416025,
      0.045668927670314184,
      0.022928175194132174,
      0.01635547144645992,
      0.01635546767195537
    ],
    "ay_ego": [
      -0.09389564160613129,
      -0.09389086114885625,
      0.10306742761803345,
      -0.0059926309351286955,
      -0.11108388697472443,
      0.04120919032252349,
      0.005846547903672977,
      -0.0006508355578475466,
      0.000183108786592911,
      0.00018323031143743524
    ],
    "a_ego": [
      1.3098337408929601,
      1.3098337351531728,
      1.1898169433864239,
      0.8376235527877947,
      0.4877083653298297,
      0.2654311074445267,
      0.04604164502867303,
      0.022937410591786,
      0.016356496417744643,
      0.01635649400438268
    ],
    "yaw": [
      -0.5776425464387451,
      -0.5776388794134822,
      -0.5773602657205972,
      -0.5770580373180823,
      -0.5767234636423864,
      -0.5768260459768413,
      -0.5769603166833321,
      -0.5768531783289985,
      -0.5768713066164182,
      -0.5768783941183007
    ],
    "yaw_diff": [
      7.334050525775737e-06,
      0.0005572273857701315,
      0.0006044568050298516,
      0.0006691473513917856,
      -0.00020516466890985186,
      -0.0002685414129817154,
      0.00021427670866724924,
      -3.625657483929956e-05,
      -1.4175003764993477e-05,
      -1.4175003764993477e-05
    ],
    "min_front_frame": [
      9,
      9.13028937729979
    ],
    "v_avg": 0.5817061152170336,
    "v_std": 0.7771384507983423,
    "vy_max": 0.05547106205069219,
    "a_max": 1.3098337408929601,
    "ax_avg": -0.5271668673553591,
    "a_std": 0.5322562119263946,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3984225e4458525b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.390838827029816,
      10.416041790601748,
      9.750454119630753,
      9.395470957439079,
      9.227932735909347,
      9.185756314795457,
      9.184104670063052,
      9.186767506642656,
      9.16656676781964,
      9.13028937729979
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3984225e4458525b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "731f133ce3055d30": {
    "vx_ego": [
      3.8726654552883715,
      4.099387044686903,
      4.377745092772209,
      4.668870817126317,
      4.9136053141878975,
      5.121728479847819,
      5.333489609697821,
      5.565116812575789,
      5.787496258847143,
      5.982287067706789
    ],
    "vy_ego": [
      -0.13297313919752596,
      -0.08680289828142729,
      -0.07656013018658803,
      -0.07473892928132486,
      -0.06790612864968504,
      -0.07183902736525674,
      -0.07553303473576958,
      -0.06370004066764923,
      -0.06548007857172444,
      -0.06868221867904323
    ],
    "v_ego": [
      3.8749476879477913,
      4.100305950206262,
      4.378414501943065,
      4.669468986358501,
      4.914074523847164,
      5.1222322738369686,
      5.3340244333983895,
      5.56548136577554,
      5.787866669754879,
      5.982681322585599
    ],
    "ax_ego": [
      0.40946235164348393,
      0.5494187816498429,
      0.6024986814406443,
      0.5748256227457162,
      0.4106589363254814,
      0.4261625760494401,
      0.4288597583677141,
      0.5013093907493009,
      0.3901132417897936,
      0.39036748063200327
    ],
    "ay_ego": [
      1.131615029831546,
      1.070677820056627,
      1.04518077775486,
      0.7062054262141892,
      0.3747937287208042,
      0.14199530914779213,
      0.29347468583485664,
      0.1444242629499671,
      0.05255496839796863,
      0.05063197776884694
    ],
    "a_ego": [
      1.2034167994315448,
      1.2034167989482316,
      1.206402718550472,
      0.910577070093117,
      0.5559776084271916,
      0.4491961810223589,
      0.519661508650662,
      0.5216986419208666,
      0.39363735356677404,
      0.393637354817556
    ],
    "yaw": [
      -0.46307749043588753,
      -0.33614752835149836,
      -0.21372731829773028,
      -0.11748010798071742,
      -0.0627493461500767,
      -0.036208369797235886,
      -0.014675692850009516,
      0.003271860281017839,
      0.012238935190646512,
      0.01716663415778081
    ],
    "yaw_diff": [
      0.25385992416877834,
      0.24484042010753615,
      0.19249442063402572,
      0.10946152366128145,
      0.053081952705681626,
      0.043065353894452735,
      0.03589510626205471,
      0.017934149819257346,
      0.009855397934268595,
      0.009855397934268595
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.972949771565416,
    "v_std": 0.6784951073009567,
    "vy_max": 0.13297313919752596,
    "a_max": 1.206402718550472,
    "ax_avg": 0.4683676821393421,
    "a_std": 0.33623332721950183,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "731f133ce3055d30",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "731f133ce3055d30",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "42545a072b1a5820": {
    "vx_ego": [
      7.751813657265448,
      7.761196377492062,
      7.900698109637968,
      8.155077231964427,
      8.457387401751294,
      8.764001152417984,
      9.04439174389536,
      9.22434245173716,
      9.341833245025603,
      9.464219900635166
    ],
    "vy_ego": [
      -0.06691039366217222,
      -0.07973094537472791,
      -0.1525530374278361,
      -0.20976837766775214,
      -0.12395439439531941,
      -0.10167132462424489,
      -0.05037251334683246,
      0.010435975874891756,
      0.030245232098515817,
      0.03251784568352578
    ],
    "v_ego": [
      7.75210242306867,
      7.761605905587209,
      7.902170780795959,
      8.157774661730608,
      8.458295712210079,
      8.764590877949445,
      9.044532017033465,
      9.224348355114998,
      9.341882206061596,
      9.464275764043787
    ],
    "ax_ego": [
      -0.08658933858263362,
      0.16120200822721265,
      0.44075787062812066,
      0.6174940025025124,
      0.6021371292096679,
      0.6290913992526418,
      0.4945574048424322,
      0.2252299541292229,
      0.24485699426077573,
      0.2449044477942235
    ],
    "ay_ego": [
      1.9462901432531239,
      1.941534683576486,
      1.70800352358177,
      1.1138981036744768,
      0.3794715815706864,
      0.17832209019142045,
      0.2469000530333918,
      0.07217431313039976,
      -0.02790084556986122,
      -0.027481090947546527
    ],
    "a_ego": [
      1.9482153462285536,
      1.9482153410203225,
      1.763956784359633,
      1.273604266833371,
      0.7117357680998042,
      0.6538767135048348,
      0.5527627545994512,
      0.2365114452048713,
      0.24644148356543955,
      0.24644147156893229
    ],
    "yaw": [
      -2.4500079727084634,
      -2.3227097274928754,
      -2.1965042038054796,
      -2.1013088325364153,
      -2.0667042963809594,
      -2.05309222317369,
      -2.046926270076238,
      -2.0448582044156502,
      -2.0458000462574075,
      -2.047514186451759
    ],
    "yaw_diff": [
      0.25459649043117594,
      0.2524110473747916,
      0.1903907425381286,
      0.06920907231091178,
      0.02722414641453863,
      0.01233190619490454,
      0.004136131321175185,
      -0.0018836836835145476,
      -0.003428280388702909,
      -0.003428280388702909
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.587157870359583,
    "v_std": 0.6351902292641792,
    "vy_max": 0.20976837766775214,
    "a_max": 1.9482153462285536,
    "ax_avg": 0.3573641872264176,
    "a_std": 0.6753336954061181,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "42545a072b1a5820",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "42545a072b1a5820",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "411ce5449bda5b1d": {
    "vx_ego": [
      1.8535369144542058,
      1.2811797737744168,
      0.8212289462242516,
      0.5150423391383829,
      0.2659146792717794,
      0.0620983563721835,
      -0.02160989103156391,
      -0.016298508012788662,
      -0.011170183268660212,
      -0.0047704160861239304
    ],
    "vy_ego": [
      -0.05594018821238733,
      -0.04742908928363099,
      -0.02519375806075186,
      -0.0030751769075290925,
      0.005332633228366759,
      0.012756561310708184,
      0.007203669080609999,
      0.0005414743250899291,
      0.0019157858381183357,
      0.0007925731706667511
    ],
    "v_ego": [
      1.8543808664623498,
      1.2820573821943153,
      0.8216153038751277,
      0.5150515195765853,
      0.26596814401232644,
      0.06339507646971143,
      0.022778942877556958,
      0.016307500050212104,
      0.011333279738583677,
      0.004835808294960699
    ],
    "ax_ego": [
      -1.1447426153311688,
      -1.1447473940312891,
      -0.6951523738953982,
      -0.5296150639187341,
      -0.4668949931804671,
      -0.34837360161710473,
      0.013532025776315754,
      0.007713257654910956,
      0.012799532696684532,
      0.012799528835572758
    ],
    "ay_ego": [
      0.016259812550843078,
      0.015919200341537154,
      0.07079876941184798,
      0.015801495384690695,
      0.01758553943851271,
      0.012160977085934527,
      -0.03438615790071837,
      0.0077406747424071266,
      -0.0022464280857007425,
      -0.0022464327819015405
    ],
    "a_ego": [
      1.1448580859038524,
      1.144858077265886,
      0.6987483729373826,
      0.5298507367042508,
      0.46722605434022185,
      0.3485857938404229,
      0.036952991445673385,
      0.0109275975913639,
      0.012995171272350416,
      0.012995168281182834
    ],
    "yaw": [
      -0.6404273108590628,
      -0.6407248433556103,
      -0.6412834688494171,
      -0.642007103918864,
      -0.642166652170242,
      -0.6420814950744678,
      -0.6419454908462463,
      -0.6419908174902398,
      -0.6419388387240968,
      -0.641938252211775
    ],
    "yaw_diff": [
      -0.0005950649930950291,
      -0.001117250987613616,
      -0.0014472701388936748,
      -0.0003190965027561887,
      0.00017031419154855953,
      0.00027200845644292926,
      -9.06532879869637e-05,
      0.0001039575322858699,
      1.1730246436414404e-06,
      1.1730246436414404e-06
    ],
    "min_front_frame": [
      5,
      9.384775646651896
    ],
    "v_avg": 0.485772382355173,
    "v_std": 0.6114471246435237,
    "vy_max": 0.05594018821238733,
    "a_max": 1.1448580859038524,
    "ax_avg": -0.42826816970106785,
    "a_std": 0.42296351989968456,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "411ce5449bda5b1d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.279939311500755,
      10.498110783450985,
      10.028085759453834,
      9.700573897507766,
      9.460500689828955,
      9.384775646651896,
      9.39866907191942,
      9.427316485969998,
      9.486884862502796,
      9.464841882011907
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "411ce5449bda5b1d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1eb474de58ca5d6f": {
    "vx_ego": [
      5.666114604978004,
      5.18579001395597,
      4.711142631259618,
      4.228034920075581,
      3.738686075939257,
      3.2734812405732145,
      2.836199373118805,
      2.4908665354527346,
      2.2809276708850232,
      2.1259854697536325
    ],
    "vy_ego": [
      -0.001644585873603166,
      0.024071443522705405,
      -0.006851830517411006,
      -0.05594501289129328,
      -0.0809890770055226,
      -0.08947206548092668,
      -0.06588394267576203,
      -0.008254322871734887,
      0.0004899152814572538,
      -0.04708243441102633
    ],
    "v_ego": [
      5.66611484364796,
      5.1858458811691195,
      4.711147613867903,
      4.228405033797724,
      3.7395631837176233,
      3.274703754980926,
      2.8369645006559394,
      2.490880212150793,
      2.2809277234989187,
      2.1265067536299154
    ],
    "ax_ego": [
      -0.9606602582772533,
      -0.9606481558647542,
      -0.938094523575944,
      -0.9945984111547739,
      -0.9626385401396576,
      -0.8978580390038643,
      -0.8505639519881711,
      -0.5303845217925398,
      -0.30960794646221945,
      -0.3098647000942317
    ],
    "ay_ego": [
      0.0537612040862851,
      0.05397693012356547,
      -0.15593645372981269,
      -0.06812362999334032,
      -0.023537711066931866,
      0.002367672176206592,
      0.11541359081768349,
      0.1401187960568505,
      -0.08170191750820861,
      -0.08072269537764458
    ],
    "a_ego": [
      0.9621633951144297,
      0.962163389633963,
      0.9509666202159818,
      0.9969286977688375,
      0.96292626031513,
      0.897861160801267,
      0.8583585109773,
      0.5485809128702186,
      0.32020662678506623,
      0.3202066300274249
    ],
    "yaw": [
      2.6132706077892243,
      2.6134951772578017,
      2.6145937978123905,
      2.613047588421397,
      2.613582529628565,
      2.6144946191017313,
      2.616415683779133,
      2.618799311233082,
      2.6212841418702935,
      2.6244455811802134
    ],
    "yaw_diff": [
      0.0004491389371548138,
      0.002197241109177739,
      -0.003092418781987405,
      0.001069882414336476,
      0.0018241789463324665,
      0.0038421293548029922,
      0.004767254907898533,
      0.004969661274422776,
      0.006322878619839933,
      0.006322878619839933
    ],
    "min_front_frame": [
      5,
      13.843160423820125
    ],
    "v_avg": 3.6541059501116826,
    "v_std": 1.193013180897767,
    "vy_max": 0.08947206548092668,
    "a_max": 0.9969286977688375,
    "ax_avg": -0.7714919048353409,
    "a_std": 0.25932298260607456,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1eb474de58ca5d6f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.977745975287501,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.93167735845277,
      18.15546154961595,
      16.73750785702256,
      15.450132816603663,
      14.483438385557388,
      13.843160423820125,
      15.981991349899452,
      18.577122720572124,
      21.134687024543222,
      23.833130327053016
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1eb474de58ca5d6f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ccd6fe2d044e5309": {
    "vx_ego": [
      4.687474560637526,
      4.33439389116953,
      3.999693686686302,
      3.6375947725028173,
      3.1917480333315886,
      2.6348558227766965,
      1.8910323137059908,
      1.0075765457536927,
      0.3071250591319717,
      -0.18409295485215577
    ],
    "vy_ego": [
      -0.07103697468343961,
      -0.01353928722493647,
      0.0370472443609573,
      0.05521604453156592,
      0.03911514537119154,
      0.01587914241536237,
      0.004870667714048094,
      -0.012101442414851615,
      -0.023809398309587254,
      -0.0306089439002568
    ],
    "v_ego": [
      4.688012799512832,
      4.334415037361593,
      3.9998652584347143,
      3.6380138180762227,
      3.1919877040605082,
      2.6349036707219695,
      1.8910385863023034,
      1.0076492149857823,
      0.30804657017191683,
      0.18662026543997556
    ],
    "ax_ego": [
      -0.706314902894601,
      -0.7066118950136632,
      -0.6320338920227211,
      -0.8169705966678698,
      -0.9668233288172254,
      -1.2606385918798697,
      -1.714536349088141,
      -1.819316252515058,
      -0.9823798482526311,
      -0.9823921845419187
    ],
    "ay_ego": [
      0.08380212168080853,
      0.0812600139342246,
      0.07143298012475657,
      0.04904421237938106,
      -0.09187889553128109,
      -0.018302698517653204,
      -0.045744025818247214,
      -0.029851399651949606,
      -0.013936057629903353,
      -0.0130368936209182
    ],
    "a_ego": [
      0.7112689629452522,
      0.7112689786848506,
      0.6360577892887506,
      0.8184413788340427,
      0.971179221662649,
      1.2607714495934181,
      1.7151464684517623,
      1.819561137397316,
      0.9824786918580609,
      0.9824786841679195
    ],
    "yaw": [
      2.2070927056120238,
      2.203494336475058,
      2.200508740627213,
      2.203619419693844,
      2.2051899387975924,
      2.203729140513813,
      2.2015722898355228,
      2.2002547672339374,
      2.201631722833549,
      2.2025470157288276
    ],
    "yaw_diff": [
      -0.007196738273931302,
      -0.005971191695690159,
      0.006221358133261745,
      0.0031410382074970045,
      -0.0029215965675586375,
      -0.0043137013565806015,
      -0.002635045203170705,
      0.0027539111992229692,
      0.001830585790557393,
      0.001830585790557393
    ],
    "min_front_frame": [
      8,
      9.2423594724952
    ],
    "v_avg": 2.588055292506782,
    "v_std": 1.577053864806024,
    "vy_max": 0.07103697468343961,
    "a_max": 1.819561137397316,
    "ax_avg": -1.0588017841693698,
    "a_std": 0.39340363111114834,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ccd6fe2d044e5309",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 45.123184019652996,
    "right_rear_min": 33.738601145309815,
    "speed_mode": "decelerating",
    "front_frame": [
      14.0829956955673,
      14.015884401608444,
      13.772334373958614,
      13.089452410195015,
      12.268736568413948,
      11.245026155973362,
      10.11225116313741,
      9.468400459510594,
      9.2423594724952,
      9.243407906240039
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ccd6fe2d044e5309",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e8a004bfab7d5034": {
    "vx_ego": [
      8.830652822152514,
      8.680579867361752,
      8.517076042273525,
      8.315371596288191,
      8.118620173560386,
      7.979456834325911,
      7.96396456470732,
      8.090493744785,
      8.2350758088813,
      8.350958893307652
    ],
    "vy_ego": [
      0.013917372267772787,
      -0.0562761701356469,
      -0.021997940745106526,
      0.014415674617291874,
      -0.010330613253294096,
      -0.040873730501278516,
      -0.05371247340540508,
      -0.034976884004236375,
      -0.014510097671166289,
      0.042256720918834034
    ],
    "v_ego": [
      8.83066378924263,
      8.680762284556081,
      8.517104450414276,
      8.315384091912478,
      8.118626746199867,
      7.979561518825179,
      7.964145692898465,
      8.090569350597018,
      8.235088592174126,
      8.351065804325636
    ],
    "ax_ego": [
      -0.30444308452686397,
      -0.2972209471732007,
      -0.3594985438037858,
      -0.45041723366129904,
      -0.3387906193383899,
      -0.2142716039410761,
      0.1600767338217801,
      0.35184209942251626,
      0.2275116626322384,
      0.23498000611444864
    ],
    "ay_ego": [
      -0.43014998458142045,
      -0.4351715832062298,
      -0.5877639637302366,
      -0.44010833198813964,
      -0.08313585801138813,
      0.3327744087739486,
      0.5073234826484948,
      0.5361296205739154,
      0.41533733413142004,
      0.4111581866707147
    ],
    "a_ego": [
      0.5269863384867083,
      0.5269863359412188,
      0.6889888823899276,
      0.6297388571975528,
      0.3488418762691479,
      0.3957917727673636,
      0.5319790190953462,
      0.6412704834800791,
      0.47356800753121014,
      0.4735680075130673
    ],
    "yaw": [
      -1.2033776389836381,
      -1.220069613364088,
      -1.2537628547761956,
      -1.2885713957332827,
      -1.3015011446786966,
      -1.2899305933266785,
      -1.2618106108593914,
      -1.2315592796954888,
      -1.2049783936692107,
      -1.186906581486752
    ],
    "yaw_diff": [
      -0.033383948760899784,
      -0.06738648282421522,
      -0.06961708191417415,
      -0.025859497890827754,
      0.023141102704036243,
      0.05623996493457417,
      0.0605026623278051,
      0.053161772052556344,
      0.03614362436491714,
      0.03614362436491714
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.308297232114574,
    "v_std": 0.2779072046163573,
    "vy_max": 0.0562761701356469,
    "a_max": 0.6889888823899276,
    "ax_avg": -0.09902315304536322,
    "a_std": 0.10219582879618858,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e8a004bfab7d5034",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e8a004bfab7d5034",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f1494fd9840c5014": {
    "vx_ego": [
      9.103575704983065,
      9.650130816983612,
      10.208821804823186,
      10.771821024562474,
      11.232717133683327,
      11.523939413815494,
      11.724096953577497,
      11.920779483365767,
      12.097912005085039,
      12.238819363265097
    ],
    "vy_ego": [
      0.10106859866668572,
      0.04329974376476731,
      0.023850005410388064,
      0.06871029679612217,
      0.05891047753988676,
      0.05978232322781629,
      0.033477618665476605,
      0.029519349725990907,
      0.0183722843234273,
      0.03481706325173217
    ],
    "v_ego": [
      9.104136723379892,
      9.650227958587656,
      10.208849664158612,
      10.772040163780117,
      11.232871611912376,
      11.524094478069012,
      11.72414475037888,
      11.920816032597871,
      12.097925955452528,
      12.238868887055132
    ],
    "ax_ego": [
      1.0897243388869216,
      1.1030442492541916,
      1.1350692446030388,
      1.1210897594412095,
      0.7259364231611718,
      0.4409241653537478,
      0.36032779605554754,
      0.42641575654699704,
      0.2817289908699735,
      0.28178958291262013
    ],
    "ay_ego": [
      -0.5738693345556876,
      -0.5478307476107271,
      -0.5420294879210905,
      -0.46599174151443407,
      -0.3481695459358268,
      -0.19982577971283327,
      -0.10984912570291228,
      0.075066448523267,
      0.05836382358213414,
      0.05807059630822414
    ],
    "a_ego": [
      1.2315945550001128,
      1.2315945533496289,
      1.257846634458952,
      1.2140801258086733,
      0.8051122426029775,
      0.4840913775628945,
      0.376700081003366,
      0.43297271175611535,
      0.28771089690823337,
      0.2877109021112359
    ],
    "yaw": [
      0.7661412132371809,
      0.7423928157419039,
      0.7169026841346733,
      0.6886102856237828,
      0.6710802963552618,
      0.6590013105939705,
      0.6546078492799442,
      0.6542068567930254,
      0.657907113684701,
      0.6589478312313586
    ],
    "yaw_diff": [
      -0.04749679499055404,
      -0.05098026321446114,
      -0.056584797021780986,
      -0.035059978537042014,
      -0.02415797152258259,
      -0.008786922628052585,
      -0.000801984973837655,
      0.00740051378335127,
      0.0020814350933151538,
      0.0020814350933151538
    ],
    "min_front_frame": [
      0,
      36.01573860695874
    ],
    "v_avg": 11.047397622537208,
    "v_std": 1.0253307193272794,
    "vy_max": 0.10106859866668572,
    "a_max": 1.257846634458952,
    "ax_avg": 0.6966050307085421,
    "a_std": 0.40950877439569316,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f1494fd9840c5014",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      36.01573860695874,
      36.7202934643548,
      37.11281618798815,
      37.346567181191325,
      37.264512791399106,
      37.030744341201874,
      36.874338204609465,
      36.87401987244638,
      36.86208287021947,
      36.92351078382844
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f1494fd9840c5014",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "39147f08f4645365": {
    "vx_ego": [
      8.94978927159338,
      9.161637816733904,
      9.243103798474092,
      9.141513435781542,
      8.97812651130404,
      8.82648887570488,
      8.690739883943856,
      8.548411567949982,
      8.391972147661663,
      8.223141831131548
    ],
    "vy_ego": [
      -0.039073258403156785,
      -0.019272199632756948,
      -0.0012470455094191202,
      0.002094371872639833,
      -0.011083138454782926,
      -0.029454093069187337,
      -0.024156378152586644,
      -0.016449840912690306,
      -0.03002285642970426,
      -0.029540772221092304
    ],
    "v_ego": [
      8.949874564788615,
      9.161658086977896,
      9.243103882597484,
      9.141513675697695,
      8.978133352147232,
      8.82653801988869,
      8.690773455854083,
      8.548427395277281,
      8.39202585190473,
      8.223194892019094
    ],
    "ax_ego": [
      0.42363323596427005,
      0.4236121663783561,
      -0.09779220123618085,
      -0.3085778362075412,
      -0.34496929758976885,
      -0.26156283915927664,
      -0.2814289872204638,
      -0.2878828893613296,
      -0.3378997415366668,
      -0.3377640412494132
    ],
    "ay_ego": [
      0.016293073135721717,
      0.016831962716306853,
      -0.02425333799846666,
      -0.006501152157871837,
      -0.03770152423471017,
      -0.02815889543747495,
      0.05033917300289577,
      -0.018494683450155286,
      -0.04651623444731677,
      -0.04749156781783839
    ],
    "a_ego": [
      0.42394643865206,
      0.4239464382120071,
      0.10075484616972802,
      0.30864631210806315,
      0.3470233727131343,
      0.2630742142843351,
      0.2858956228880593,
      0.2884763617750144,
      0.3410864925465445,
      0.34108649427224713
    ],
    "yaw": [
      -2.865704580097784,
      -2.866976683055713,
      -2.86912185641651,
      -2.8703183477261387,
      -2.87008371064286,
      -2.8698693751911555,
      -2.869841142396006,
      -2.869811609953585,
      -2.870127746914891,
      -2.8730147650451765
    ],
    "yaw_diff": [
      -0.002544205915858022,
      -0.004290346721593785,
      -0.0023929826192574666,
      0.0004692741665577316,
      0.00042867090340870107,
      5.646559029859333e-05,
      5.906488484264116e-05,
      -0.0006322739226121143,
      -0.005774036260571158,
      -0.005774036260571158
    ],
    "min_front_frame": [
      4,
      31.160196246630523
    ],
    "v_avg": 8.81552431771528,
    "v_std": 0.32720384521734075,
    "vy_max": 0.039073258403156785,
    "a_max": 0.42394643865206,
    "ax_avg": -0.14106324312180146,
    "a_std": 0.08731863496362186,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "39147f08f4645365",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      32.487283358863365,
      32.33537635581584,
      32.090069802638396,
      31.689573578841237,
      31.160196246630523,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "39147f08f4645365",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "2eac5afe2036526c": {
    "vx_ego": [
      4.902863133320062,
      5.484152457387815,
      6.128878902104664,
      6.798015770526625,
      7.356817090208356,
      7.7611614743634245,
      8.029410832740725,
      8.157144716965021,
      8.222125178723719,
      8.292887966493506
    ],
    "vy_ego": [
      -0.07967990630754196,
      0.11805553705867755,
      0.017808001311066413,
      0.027875237501248318,
      0.00899900159088185,
      -0.009281212756588442,
      -0.007544615351644968,
      -0.03767332105705368,
      -0.061936232470737984,
      -0.02659598594041146
    ],
    "v_ego": [
      4.903510557910342,
      5.485422981475815,
      6.128904773413792,
      6.798072921438432,
      7.356822594083085,
      7.761167023847205,
      8.029414377285239,
      8.157231712574422,
      8.222358454330193,
      8.29293061416053
    ],
    "ax_ego": [
      1.118617365129127,
      1.2077450801935647,
      1.3777738984765748,
      1.3010498371347468,
      0.9357601813178668,
      0.6797399301725601,
      0.3921290973876308,
      0.118875192443957,
      0.1380656699228043,
      0.14187084439427408
    ],
    "ay_ego": [
      -0.8496879586248374,
      -0.7173745557311559,
      -0.5338895981302366,
      -0.4646293470719065,
      -0.42891757778702944,
      -0.23805962320107663,
      -0.09443395276159369,
      -0.29210777563608015,
      -0.21903808839498523,
      -0.2165928803220323
    ],
    "a_ego": [
      1.4047328701929322,
      1.4047328685348803,
      1.4775990722503196,
      1.38152492155184,
      1.0293771930030018,
      0.72022132492008,
      0.40333980767117067,
      0.3153700429109372,
      0.25892047694024145,
      0.25892047484766156
    ],
    "yaw": [
      -0.4434149057031771,
      -0.5570438079224748,
      -0.5937827813159611,
      -0.6338971987775739,
      -0.662606200014821,
      -0.6821635061376455,
      -0.6928628678486239,
      -0.7010458131771018,
      -0.7136901501166864,
      -0.7311594227017026
    ],
    "yaw_diff": [
      -0.22725780443859533,
      -0.07347794678697261,
      -0.08022883492322563,
      -0.057418002474494134,
      -0.03911461224564916,
      -0.02139872342195681,
      -0.016365890656955706,
      -0.02528867387916911,
      -0.03493854517003259,
      -0.03493854517003259
    ],
    "min_front_frame": [
      9,
      67.69659644653183
    ],
    "v_avg": 7.1135836010519045,
    "v_std": 1.167526752708032,
    "vy_max": 0.11805553705867755,
    "a_max": 1.4775990722503196,
    "ax_avg": 0.7411627096573106,
    "a_std": 0.5022514550418943,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "2eac5afe2036526c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      75.87927582837442,
      71.79333837240966,
      67.69659644653183
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2eac5afe2036526c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0df6f24a95e75544": {
    "vx_ego": [
      9.411072247250324,
      9.608321141270732,
      9.767037882107958,
      9.84357176249564,
      9.794116443332422,
      9.639095220921241,
      9.460838711042415,
      9.267257525522862,
      9.115549510391254,
      9.014700681260543
    ],
    "vy_ego": [
      -0.04922480232349624,
      -0.011180505660621787,
      -0.015330849443162431,
      -0.023744470092504355,
      -0.0401669643273878,
      0.00038671306596517463,
      -0.032682766581497255,
      -0.05216535035615316,
      -0.0311148852703238,
      -0.03967445450266687
    ],
    "v_ego": [
      9.411200982028227,
      9.608327646239847,
      9.767049914148927,
      9.843600400425727,
      9.794198807997406,
      9.639095228678556,
      9.460895162699465,
      9.267404343619518,
      9.115602613786958,
      9.014787986140293
    ],
    "ax_ego": [
      0.3857755240815293,
      0.4068093843009145,
      0.22860602171011143,
      0.07922065080026691,
      -0.2765918597442488,
      -0.3435788632830608,
      -0.36969047588248755,
      -0.4049268486760199,
      -0.20179880014308826,
      -0.20018046323808947
    ],
    "ay_ego": [
      0.6778020028802036,
      0.6653904379591025,
      0.5927653962790524,
      0.5494919154006472,
      0.33136509290815,
      -0.148319236931252,
      -0.07643683724244318,
      -0.06378120211645863,
      0.1619458463842892,
      0.16394205114550617
    ],
    "a_ego": [
      0.7798963457337098,
      0.7798963457297997,
      0.6353200202952729,
      0.5551731951417412,
      0.4316316504553496,
      0.374225909496856,
      0.3775097853643636,
      0.40991925366114834,
      0.2587454596709165,
      0.2587454617882444
    ],
    "yaw": [
      -0.12551588212562895,
      -0.09419923457900475,
      -0.061381296135351635,
      -0.031458995985575264,
      -0.007468556162477817,
      -0.00693304954758583,
      -0.009353123397334231,
      -0.01101528903770726,
      -0.01063445841019955,
      -0.0007026801582383172
    ],
    "yaw_diff": [
      0.06263329509324839,
      0.06563587688730624,
      0.05984460029955274,
      0.04798087964619489,
      0.001071013229783974,
      -0.004840147699496802,
      -0.003324331280746058,
      0.0007616612550154188,
      0.019863556503922467,
      0.019863556503922467
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.492216308576491,
    "v_std": 0.2744291485406271,
    "vy_max": 0.05216535035615316,
    "a_max": 0.7798963457337098,
    "ax_avg": -0.06963557300741728,
    "a_std": 0.1833380574189344,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "0df6f24a95e75544",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "0df6f24a95e75544",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "25f4a620bd5f51cc": {
    "vx_ego": [
      8.620816122601,
      8.074506528440025,
      7.547010894965372,
      6.920426484207248,
      6.0435042662359635,
      5.0093108480106565,
      3.940816726457332,
      2.9086195468357765,
      2.0059869728336834,
      1.185243734440318
    ],
    "vy_ego": [
      -0.06547364174812148,
      -0.014579031824421579,
      0.02807910258629069,
      0.0033141323762994057,
      -0.03233311295321831,
      -0.03508678493286724,
      -0.06526967044170531,
      -0.07490029655551929,
      -0.0368653383660774,
      0.02278887761314553
    ],
    "v_ego": [
      8.62106474963859,
      8.074519690110955,
      7.547063129769625,
      6.920427277761865,
      6.043590757670934,
      5.009433725928926,
      3.9413572029702473,
      2.9095837713768034,
      2.0063256934882956,
      1.1854627969585962
    ],
    "ax_ego": [
      -1.0942765898501845,
      -1.0882166140530718,
      -1.0232964005484289,
      -1.4847967481769555,
      -2.0225520818735285,
      -2.1144261860025115,
      -2.1598179630531495,
      -1.969769807704152,
      -1.641400540243186,
      -1.641625152421396
    ],
    "ay_ego": [
      0.36413922342881183,
      0.38186806003196405,
      0.2079747334373119,
      -0.00032875011561309467,
      0.004765962809483451,
      -0.06002276426355377,
      -0.08628473426067496,
      0.014915181252378394,
      0.11459508793307296,
      0.11133125422851127
    ],
    "a_ego": [
      1.1532730071988537,
      1.1532730007997707,
      1.0442169377690114,
      1.4847967845713768,
      2.0225576971479566,
      2.115277955324776,
      2.1615408136080827,
      1.969826276090012,
      1.6453959303732981,
      1.6453959369193376
    ],
    "yaw": [
      -1.5953728980200121,
      -1.5791268465968922,
      -1.565695374724986,
      -1.555179466292619,
      -1.5495670955840972,
      -1.551564340036291,
      -1.5529913342915371,
      -1.5554058737642489,
      -1.5577472584799115,
      -1.5597355661113732
    ],
    "yaw_diff": [
      0.032492102846239934,
      0.026862943743812373,
      0.021031816864733877,
      0.01122474141704366,
      -0.003994488904387694,
      -0.0028539885104921225,
      -0.004829078945423504,
      -0.004682769431325173,
      -0.0039766152629234774,
      -0.0039766152629234774
    ],
    "min_front_frame": [
      0,
      39.86462554869534
    ],
    "v_avg": 5.225882879567484,
    "v_std": 2.496450223446733,
    "vy_max": 0.07490029655551929,
    "a_max": 2.1615408136080827,
    "ax_avg": -1.6240178083926566,
    "a_std": 0.4007415385914006,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "25f4a620bd5f51cc",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.020079722788871,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      39.86462554869534,
      41.51349438827539,
      43.371482775890364,
      45.56802514653816,
      48.19184147025506,
      51.21145761816154,
      54.72442947669378,
      58.68869997959624,
      62.98894308759262,
      67.33918077501475
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "25f4a620bd5f51cc",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "cebdeff85ac65185": {
    "vx_ego": [
      0.3692360520061509,
      0.0788254911816995,
      -0.08314360541488605,
      -0.08128283251112463,
      -0.04912201653051158,
      -0.029164324230615143,
      -0.01944008457332583,
      -0.013862666049400686,
      -0.010561838549465085,
      -0.00847426167035023
    ],
    "vy_ego": [
      -0.0026199808430465606,
      0.02315698288188269,
      0.020439557130349326,
      0.0031412649941316454,
      0.0007305886495027775,
      0.00013751557950252285,
      8.786874935576728e-05,
      2.0123085836462487e-05,
      0.00011825988667986544,
      0.00023656689493345204
    ],
    "v_ego": [
      0.369245347161893,
      0.08215658169756088,
      0.08561912529961448,
      0.0813435086948854,
      0.04912744922951562,
      0.029164648435444092,
      0.019440283154706733,
      0.013862680654757579,
      0.010562500600982907,
      0.008477563019721265
    ],
    "ax_ego": [
      -0.5808154284746608,
      -0.580821766526101,
      -0.06698994977061687,
      0.0744272469066506,
      0.05421539633368576,
      0.025615399419486363,
      0.013281461875969992,
      0.009028189966005028,
      0.004175114799989427,
      0.004175144645402128
    ],
    "ay_ego": [
      0.0515345129031416,
      0.05146298693594045,
      -0.06221342947263625,
      -0.00709752050063679,
      -0.002572855266460487,
      0.00021818350204354234,
      -0.0004263889346543615,
      0.0001593899561071449,
      0.0002355464677771717,
      0.00023528293826179005
    ],
    "a_ego": [
      0.5830972200022634,
      0.5830972161611384,
      0.09142299588733928,
      0.07476489737410526,
      0.054276410933671554,
      0.025616328610095284,
      0.013288304522640954,
      0.009029596847057,
      0.0041817539061466845,
      0.004181768868680712
    ],
    "yaw": [
      1.556121809438538,
      1.555998661301155,
      1.5555495653924645,
      1.5558443484504214,
      1.5559547293875262,
      1.5558308935810068,
      1.5559365663096898,
      1.5558748224448413,
      1.5558234094064372,
      1.5558863698756344
    ],
    "yaw_diff": [
      -0.0002462962747662445,
      -0.0008981918173809333,
      0.0005895661159138754,
      0.00022076187420960736,
      -0.00024767161303884677,
      0.00021134545736600785,
      -0.0001234877296969472,
      -0.00010282607680833777,
      0.00012592093839458585,
      0.00012592093839458585
    ],
    "min_front_frame": [
      1,
      11.053158357316843
    ],
    "v_avg": 0.07489996879490819,
    "v_std": 0.10244842365305111,
    "vy_max": 0.02315698288188269,
    "a_max": 0.5830972200022634,
    "ax_avg": -0.10437091908241895,
    "a_std": 0.22127710080622628,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cebdeff85ac65185",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.68109112196184,
    "right_rear_min": 12.290416749647155,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.161267202777742,
      11.053158357316843,
      11.117706627225555,
      11.128648580469285,
      11.115095245136795,
      11.11555711918967,
      11.120140334552444,
      11.124855340554353,
      11.10138227137822,
      11.129528302971538
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cebdeff85ac65185",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a616a9583c735698": {
    "vx_ego": [
      3.7116013082979338,
      3.911643118373924,
      4.187854889604072,
      4.484912719808417,
      4.754210788052264,
      4.990005727183911,
      5.216789131155317,
      5.439881616827302,
      5.617601536662538,
      5.764726907643546
    ],
    "vy_ego": [
      -0.06899757430229833,
      -0.012960261266591222,
      0.010712721425275795,
      0.032992684690327234,
      -0.0032573000562403642,
      -0.04554672473550969,
      -0.05261591411376809,
      -0.043140753679436816,
      -0.04584089018837645,
      -0.14151458414272833
    ],
    "v_ego": [
      3.7122425751853196,
      3.911664588623899,
      4.187868591393606,
      4.485034071391477,
      4.754211903905439,
      4.990213588761744,
      5.217054463330652,
      5.4400526771092625,
      5.617788569528633,
      5.766463621426446
    ],
    "ax_ego": [
      0.31629735026378997,
      0.5038558551200858,
      0.6052821123896073,
      0.5719083470682608,
      0.49792328891311544,
      0.44959314220507457,
      0.46860149340461205,
      0.41453752434990443,
      0.29622769498637436,
      0.29542353701461277
    ],
    "ay_ego": [
      1.2801945945092117,
      1.218635094881459,
      1.267591432063805,
      1.2869043677227507,
      1.3063035962468905,
      1.1749419029556378,
      0.9882618335632096,
      0.2867708576270547,
      -0.09410109345801794,
      -0.09659605056132124
    ],
    "a_ego": [
      1.3186895819693503,
      1.3186895833423178,
      1.4046901701871461,
      1.4082620527125778,
      1.397983078298737,
      1.258023238592534,
      1.0937315992960748,
      0.5040623809394073,
      0.3108148372696115,
      0.31081483749375544
    ],
    "yaw": [
      1.637430541863213,
      1.7872666562638209,
      1.9350952384222384,
      2.0768539347554134,
      2.2244746836739755,
      2.360096779949916,
      2.4673977145007617,
      2.5253529205275917,
      2.534528881216116,
      2.5429627052133563
    ],
    "yaw_diff": [
      0.2996722288012159,
      0.2956571643168351,
      0.2835173926663499,
      0.2952414978371243,
      0.27124419255188137,
      0.2146018691016911,
      0.11591041205366004,
      0.01835192137704844,
      0.016867647994480706,
      0.016867647994480706
    ],
    "min_front_frame": [
      6,
      23.353837576313193
    ],
    "v_avg": 4.808259465065648,
    "v_std": 0.6833953407979841,
    "vy_max": 0.14151458414272833,
    "a_max": 1.4082620527125778,
    "ax_avg": 0.44196503457154374,
    "a_std": 0.44188513496867576,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "a616a9583c735698",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      25.949780750953636,
      23.353837576313193,
      32.50754896248914,
      29.75552487978837,
      26.945980663998945
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a616a9583c735698",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b0070f55eda95848": {
    "vx_ego": [
      3.051309843999454,
      2.8853924027509965,
      2.6615036069286053,
      2.3910990660597093,
      2.053600839627358,
      1.5947767116762195,
      1.0962843393113737,
      0.6071472686600786,
      0.20135623573812833,
      -0.12737334298831263
    ],
    "vy_ego": [
      -0.0017431055457124423,
      -0.0018990418108693063,
      -0.0012987072726557969,
      -0.002425625718271096,
      -0.004893398765931756,
      -0.0019493406512064992,
      -0.0009072577665235615,
      -0.001174449498678426,
      0.030016873580703048,
      0.08912451674437746
    ],
    "v_ego": [
      3.051310341886731,
      2.885393027684958,
      2.6615039237871803,
      2.3911002963848547,
      2.0536066697081194,
      1.5947779030428626,
      1.0962847147233377,
      0.6071484045709242,
      0.20358130162219865,
      0.1554578656386905
    ],
    "ax_ego": [
      -0.33183363963009543,
      -0.3318316593771042,
      -0.5637090538734165,
      -0.5178969208914196,
      -0.8321633200750015,
      -1.0031674654197626,
      -0.9907981980914491,
      -0.9657604975479437,
      -0.6574033481722765,
      -0.6574403460785541
    ],
    "ay_ego": [
      0.0031772687066562583,
      0.0033779030628256074,
      0.013302827430445308,
      -0.027351159185356938,
      -0.007138518542798983,
      0.006606524580681783,
      -0.010150701142651153,
      0.006218771979498605,
      0.11829501659035879,
      0.11808923540372032
    ],
    "a_ego": [
      0.3318488502716114,
      0.33184885172931416,
      0.5638659970564873,
      0.5186186523618256,
      0.832193937568182,
      1.0031892193618042,
      0.9908501935585166,
      0.9657805194499343,
      0.6679617302946574,
      0.6679617325641674
    ],
    "yaw": [
      -0.32930113672655814,
      -0.32869651399826405,
      -0.32742267391538316,
      -0.32836895047890663,
      -0.3310902754962283,
      -0.3327575443919588,
      -0.33419217621670116,
      -0.335035680646809,
      -0.33520759710355796,
      -0.3355206190579253
    ],
    "yaw_diff": [
      0.0012092454565881816,
      0.00254768016576179,
      -0.0018925531270469476,
      -0.005442650034643393,
      -0.0033345377914609786,
      -0.002869263649484699,
      -0.0016870088602156663,
      -0.0003438329134979323,
      -0.0006260439087346636,
      -0.0006260439087346636
    ],
    "min_front_frame": [
      8,
      10.679290819117673
    ],
    "v_avg": 1.6700164449049857,
    "v_std": 1.0461405735877445,
    "vy_max": 0.08912451674437746,
    "a_max": 1.0031892193618042,
    "ax_avg": -0.6852004449157023,
    "a_std": 0.24240515102669632,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b0070f55eda95848",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.602824110045345,
    "speed_mode": "decelerating",
    "front_frame": [
      18.070390174808974,
      16.613525340543415,
      15.188499218942928,
      13.93280298022081,
      12.829291663977106,
      11.911985902537868,
      11.249691821666532,
      10.810867936107057,
      10.679290819117673,
      10.715139375251857
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b0070f55eda95848",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "47ece51118f95d1d": {
    "vx_ego": [
      9.012905901855396,
      9.173935423563162,
      9.374488152807334,
      9.691268594819322,
      10.074231545993447,
      10.45376548807541,
      10.852298687207764,
      11.096862475874408,
      11.181708522833151,
      11.272082335027553
    ],
    "vy_ego": [
      -0.04792994752150026,
      0.04597045146322021,
      0.025561201173196935,
      -0.027480278994676866,
      -0.03394388365059964,
      -0.05233657841190009,
      -0.01192964278009434,
      0.01169229480547962,
      0.043812880183877745,
      0.09970263757138742
    ],
    "v_ego": [
      9.01303334486061,
      9.174050601458156,
      9.374523001312145,
      9.69130755588042,
      10.074288730700882,
      10.453896498297484,
      10.852305244175,
      11.096868635711036,
      11.18179435770796,
      11.272523266047354
    ],
    "ax_ego": [
      0.3222873703170652,
      0.32180961133030034,
      0.48067696369378793,
      0.7873891285139609,
      0.7469124059063172,
      0.7745709469755713,
      0.8197748467620138,
      0.15827873320417357,
      0.18158581673408747,
      0.18187899420158118
    ],
    "ay_ego": [
      0.10449767133368801,
      0.10595983033867991,
      0.42537919187417655,
      0.48178334819680263,
      0.4404715874768085,
      0.3969732874675878,
      0.18325005123576052,
      0.023587442460325708,
      -0.04325633517441074,
      -0.04200659709264744
    ],
    "a_ego": [
      0.33880512448906763,
      0.33880512332307017,
      0.641870547934244,
      0.9230909133458612,
      0.8671178475104194,
      0.8703723012949444,
      0.8400067741760134,
      0.16002663786550392,
      0.18666686736458232,
      0.1866668763629017
    ],
    "yaw": [
      -0.6323090482035489,
      -0.6368492185253432,
      -0.6202904702436087,
      -0.5908196498962892,
      -0.5668491245540221,
      -0.5446529692650749,
      -0.5348244440176559,
      -0.5322842663900484,
      -0.5356101046259192,
      -0.5424869338900351
    ],
    "yaw_diff": [
      -0.009080340643588425,
      0.03311749656346885,
      0.05894164069463903,
      0.04794105068453414,
      0.0443923105778945,
      0.019657050494837902,
      0.005080355255214997,
      -0.0066516764717414745,
      -0.013753658528231849,
      -0.013753658528231849
    ],
    "min_front_frame": [
      8,
      20.57518241334967
    ],
    "v_avg": 10.218459123615105,
    "v_std": 0.8259905234213537,
    "vy_max": 0.09970263757138742,
    "a_max": 0.9230909133458612,
    "ax_avg": 0.4775164817638859,
    "a_std": 0.3062845882612855,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "47ece51118f95d1d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.407225135954754,
    "right_rear_min": 25.68705235118591,
    "speed_mode": "accelerating",
    "front_frame": [
      39.84480050464994,
      35.29166995746512,
      30.675448686416768,
      25.912169110578763,
      20.998492954238877,
      21.31888199510817,
      21.752652676648434,
      20.93116702906696,
      20.57518241334967,
      25.628534196186703
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 13,
    "token": "47ece51118f95d1d",
    "smoothness": "No"
  },
  "52c337a436ab5362": {
    "vx_ego": [
      9.194844106946231,
      8.801041900083383,
      8.374402570876638,
      7.920114977412037,
      7.459302114092836,
      6.992555586766467,
      6.512006190510908,
      5.980314940592609,
      5.33774030943483,
      4.611690329110179
    ],
    "vy_ego": [
      0.100374023267503,
      0.053024382224315936,
      0.028719764377043155,
      0.0013193478014508209,
      0.011737431380719698,
      0.02579457308522004,
      0.01067611852782191,
      0.017991341333664757,
      -0.006099121143969821,
      -0.026945484324782054
    ],
    "v_ego": [
      9.195391948992208,
      8.80120162887623,
      8.374451817520423,
      7.9201150873017685,
      7.459311348683957,
      6.992603162915766,
      6.512014941994467,
      5.980342003350491,
      5.33774379398676,
      4.61176904785288
    ],
    "ax_ego": [
      -0.7956190202660702,
      -0.786940641865584,
      -0.9241130805958435,
      -0.891776336594362,
      -0.9515464133177446,
      -0.9113855995348675,
      -1.010362252771803,
      -1.116019787428295,
      -1.454192016397005,
      -1.4508898016306648
    ],
    "ay_ego": [
      0.34085120884549014,
      0.36043530534740154,
      -0.02027144401849762,
      -0.2965437770090995,
      -0.2366792938658913,
      -0.41662067959260224,
      -0.30741550007729995,
      -0.22677916961547673,
      -0.19149647374734902,
      -0.21509093576901916
    ],
    "a_ego": [
      0.86555714541593,
      0.8655571518742664,
      0.9243353921445046,
      0.9397889370451662,
      0.9805394764326019,
      1.0020960541304071,
      1.056094773926038,
      1.1388278876559803,
      1.4667465084364293,
      1.4667465108620037
    ],
    "yaw": [
      -0.5344671780869841,
      -0.5097185491709597,
      -0.49701131126736664,
      -0.5033728280081586,
      -0.5220445591430596,
      -0.5466083942847388,
      -0.5711303135032962,
      -0.5936338550971314,
      -0.6077494289301385,
      -0.623992653439642
    ],
    "yaw_diff": [
      0.049497257832048724,
      0.025414475807186143,
      -0.01272303348158399,
      -0.0373434622698019,
      -0.049127670283358515,
      -0.049043838437114795,
      -0.04500708318767033,
      -0.0282311476660142,
      -0.0324864490190071,
      -0.0324864490190071
    ],
    "min_front_frame": [
      9,
      14.32410532173534
    ],
    "v_avg": 7.118494478147494,
    "v_std": 1.435792099401477,
    "vy_max": 0.100374023267503,
    "a_max": 1.4667465108620037,
    "ax_avg": -1.029284495040224,
    "a_std": 0.21310167808872255,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "52c337a436ab5362",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.98771466130334,
      16.327730045391572,
      17.58438557510305,
      18.672699860559195,
      19.224629878278297,
      19.420504840933788,
      18.558756554627053,
      17.235578047089184,
      16.120772223851283,
      14.32410532173534
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "52c337a436ab5362",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9bfae11fe1af5b67": {
    "vx_ego": [
      8.193585748169886,
      8.141812706462451,
      8.102093771969917,
      8.06343698747985,
      7.978725535187883,
      7.871167327939572,
      7.765256696518408,
      7.6842060870598266,
      7.623447957424739,
      7.551235233709123
    ],
    "vy_ego": [
      -0.040320917205702855,
      -0.0026985014217331127,
      0.0029125794702276053,
      -0.027236383820854915,
      -0.028764763996560028,
      -0.01061543306207069,
      0.021694879637339515,
      0.015445872614702871,
      -0.008015167222891417,
      -0.03182510618776302
    ],
    "v_ego": [
      8.193684957879269,
      8.141813153654617,
      8.102094295483909,
      8.063482986381366,
      7.978777386135482,
      7.871174486176919,
      7.7652870024633645,
      7.68422161076762,
      7.623452170930768,
      7.551302297762548
    ],
    "ax_ego": [
      -0.10394183354307754,
      -0.1037200554718096,
      -0.054617347384474,
      -0.10011832546671998,
      -0.24018922630116882,
      -0.19024720426902827,
      -0.2307236818959413,
      -0.09069619793490075,
      -0.1529570055532315,
      -0.13819357015749417
    ],
    "ay_ego": [
      -0.03301320834821568,
      -0.03370351343530276,
      -0.1805272288241208,
      -0.2555618667265005,
      -0.3121956225422852,
      -0.4543457520593207,
      -0.5566684894585168,
      -0.5646046350357316,
      -0.49551023745699513,
      -0.4998287482318799
    ],
    "a_ego": [
      0.10905859290188709,
      0.10905859308169574,
      0.18860841705033415,
      0.27447321694291715,
      0.39389969683374865,
      0.4925688389926134,
      0.6025887690155255,
      0.5718428055188579,
      0.5185809878625507,
      0.5185809873027764
    ],
    "yaw": [
      2.238119459570602,
      2.231471126996703,
      2.224180608192941,
      2.2144293385862097,
      2.196962665893447,
      2.1704719150020777,
      2.1340380092358084,
      2.098481723489714,
      2.0669547100706653,
      2.037291745135449
    ],
    "yaw_diff": [
      -0.013296665147798592,
      -0.014581037607523939,
      -0.019502539213462455,
      -0.03493334538552517,
      -0.05298150178273886,
      -0.07286781153253852,
      -0.07111257149218897,
      -0.06305402683809724,
      -0.0593259298704325,
      -0.0593259298704325
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.897529034763586,
    "v_std": 0.2195553850998342,
    "vy_max": 0.040320917205702855,
    "a_max": 0.6025887690155255,
    "ax_avg": -0.14054044479778457,
    "a_std": 0.18225418197387297,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "9bfae11fe1af5b67",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9bfae11fe1af5b67",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "feff00cef4985d6b": {
    "vx_ego": [
      10.393931034145467,
      10.2659165353875,
      10.114813874719223,
      9.956565704412597,
      9.801973309978184,
      9.651558139631916,
      9.533105064078551,
      9.432682348905344,
      9.294737961035187,
      9.116203404055172
    ],
    "vy_ego": [
      -0.001941887283138044,
      -0.03195781740007497,
      -0.0014304047820630217,
      0.02583636753844054,
      0.027727373027811808,
      0.029186569174018295,
      0.03673573905702199,
      0.032690626970675485,
      -0.003955371134094499,
      -0.06415915673401784
    ],
    "v_ego": [
      10.393931215545853,
      10.265966277639698,
      10.114813975860868,
      9.95659922584879,
      9.802012526860986,
      9.651602270012749,
      9.533175844244361,
      9.432738996306544,
      9.294738802638262,
      9.11642917492918
    ],
    "ax_ego": [
      -0.2570169998716427,
      -0.25410916304010434,
      -0.34995085986636354,
      -0.2833717057858619,
      -0.33515030014765523,
      -0.26679305274824083,
      -0.20746927571827067,
      -0.19501086697260603,
      -0.35694401073098425,
      -0.3570504517276171
    ],
    "ay_ego": [
      0.21520085197061375,
      0.2186268016400641,
      0.1862734586262004,
      0.02500508903761156,
      0.044425411792412134,
      0.0703396433426933,
      0.12470110672754031,
      0.012761717143798826,
      -0.10119302157650718,
      -0.1008167941334969
    ],
    "a_ego": [
      0.33521507262039696,
      0.33521507295511976,
      0.39643840090204935,
      0.2844728073432819,
      0.3380818553279498,
      0.27590976499628084,
      0.24206169954401546,
      0.19542799098866512,
      0.3710108548445779,
      0.3710108503241534
    ],
    "yaw": [
      1.0608950024488975,
      1.074300294362705,
      1.081229815710107,
      1.0837781268346989,
      1.0853426647356916,
      1.0881448289313607,
      1.092444392443316,
      1.09649559000299,
      1.0980448488629753,
      1.0990987131593979
    ],
    "yaw_diff": [
      0.02681058382761492,
      0.013859042694804202,
      0.005096622249183724,
      0.0031290758019855147,
      0.005604328391338065,
      0.008599127023910746,
      0.00810239511934796,
      0.003098517719970495,
      0.0021077285928452483,
      0.0021077285928452483
    ],
    "min_front_frame": [
      6,
      19.323696851884296
    ],
    "v_avg": 9.75620083098873,
    "v_std": 0.40311115185218427,
    "vy_max": 0.06415915673401784,
    "a_max": 0.39643840090204935,
    "ax_avg": -0.28628666866093466,
    "a_std": 0.0602755951121843,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "feff00cef4985d6b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5949797278616145,
    "right_rear_min": 28.62063905173048,
    "speed_mode": "decelerating",
    "front_frame": [
      22.25048403726014,
      22.336022634628875,
      22.195442623646656,
      21.778430494629998,
      21.1978200553324,
      20.377696128126008,
      19.323696851884296,
      37.018597775491735,
      36.22811359042542,
      35.31941536179446
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "feff00cef4985d6b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "85b599a5e238576a": {
    "vx_ego": [
      3.814676405966175,
      4.068099975217116,
      4.468070386089412,
      4.914982551150052,
      5.364848089903981,
      5.7282656401564225,
      6.0535399509546775,
      6.446706817204635,
      6.869131571579182,
      7.304122737522318
    ],
    "vy_ego": [
      -0.0734222200865533,
      -0.018051854019535615,
      -0.058903358541964934,
      -0.09998187354050114,
      -0.06465074349736044,
      -0.07136106350227767,
      -0.09566071130510245,
      -0.07530967846676706,
      -0.022310517296214805,
      -0.0044881274240884395
    ],
    "v_ego": [
      3.8153829302754723,
      4.068140026817543,
      4.468458635894117,
      4.915999374811407,
      5.365237622545823,
      5.728710120575211,
      6.054295740174224,
      6.447146681646346,
      6.869167803078325,
      7.304124116420688
    ],
    "ax_ego": [
      0.33413132631736225,
      0.7066310179112165,
      0.9380960836142752,
      0.9169399608182929,
      0.9233079789386716,
      0.570262861585065,
      0.7444779374258736,
      0.823755680627857,
      0.868249410723831,
      0.8724625973381568
    ],
    "ay_ego": [
      1.81476931774776,
      1.7046125741605263,
      1.8102606865981745,
      1.8384062202321914,
      1.6768673813402735,
      1.6629013128467027,
      1.2104655401296267,
      0.3798966061629899,
      0.26980382612364284,
      0.2558518435068655
    ],
    "a_ego": [
      1.8452727223544139,
      1.8452727233285646,
      2.0388889169190496,
      2.054389525463432,
      1.9142575162644133,
      1.7579648766600755,
      1.4210820606689791,
      0.9071355206036316,
      0.909203576661045,
      0.9092035798323191
    ],
    "yaw": [
      1.3347813733042764,
      1.5456808942367979,
      1.7617592840702834,
      1.9641357157555137,
      2.1278994427208446,
      2.2781615127552395,
      2.4045266460286037,
      2.4649612237793543,
      2.4814100507964754,
      2.4974398959439394
    ],
    "yaw_diff": [
      0.421799041865043,
      0.43215677966697097,
      0.4047528633704607,
      0.32752745393066185,
      0.3005241400687897,
      0.25273026654672837,
      0.12086915550150135,
      0.03289765403424205,
      0.03205969029492817,
      0.03205969029492817
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.503666305223915,
    "v_std": 1.1268292539133036,
    "vy_max": 0.09998187354050114,
    "a_max": 2.054389525463432,
    "ax_avg": 0.7698314855300602,
    "a_std": 0.4575813156889949,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "85b599a5e238576a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "85b599a5e238576a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "77919997d5c352d8": {
    "vx_ego": [
      9.638590506770672,
      9.450748827174223,
      9.262704471935383,
      9.055953407191646,
      8.854821400275013,
      8.697316888729294,
      8.542390561965489,
      8.368036753338128,
      8.239699392297984,
      8.151308921273028
    ],
    "vy_ego": [
      0.037706257352228434,
      -0.03376980734915058,
      -0.09355785348382017,
      -0.02629421250937458,
      -0.013119608615475897,
      0.01024270125984561,
      0.016048112781450463,
      -0.005636373736439992,
      -0.023743696435659878,
      -0.039546834601779324
    ],
    "v_ego": [
      9.638664260106442,
      9.45080916081916,
      9.263176949964858,
      9.055991580099745,
      8.854831119501858,
      8.697322920065973,
      8.542405636299467,
      8.368038651555489,
      8.239733602402215,
      8.151404853284633
    ],
    "ax_ego": [
      -0.3948585580664752,
      -0.35644535789524306,
      -0.39643856207738,
      -0.4307731911936611,
      -0.373597853489988,
      -0.2562871978211024,
      -0.36347585414962547,
      -0.3334822167724678,
      -0.18020554788747992,
      -0.17538516521530337
    ],
    "ay_ego": [
      0.7784456327212292,
      0.7967669597142055,
      0.24618657317326703,
      -0.07075415982911124,
      -0.2578812357623006,
      -0.28406076050814133,
      -0.17055279635459095,
      -0.2280277439268547,
      -0.29588392845081257,
      -0.2987664374029585
    ],
    "a_ego": [
      0.8728636113283054,
      0.8728636097680361,
      0.4666597929035423,
      0.43654517908722107,
      0.4539582446554064,
      0.38258808584096876,
      0.4015008753342517,
      0.40398891185755387,
      0.3464409597679125,
      0.3464409622086499
    ],
    "yaw": [
      2.2292547058055368,
      2.278017121904865,
      2.312251741600786,
      2.309697562633806,
      2.2990437861357886,
      2.2809138794940775,
      2.267077043320767,
      2.2578525948086754,
      2.2442288382176954,
      2.228016740671567
    ],
    "yaw_diff": [
      0.0975248321986566,
      0.0684692393918418,
      -0.005108357933959695,
      -0.02130755299603493,
      -0.036259813283422204,
      -0.027673672346621103,
      -0.018448897024183175,
      -0.02724751318196006,
      -0.0324241950922568,
      -0.0324241950922568
    ],
    "min_front_frame": [
      0,
      24.241502908312555
    ],
    "v_avg": 8.826237873409983,
    "v_std": 0.49001624654961906,
    "vy_max": 0.09355785348382017,
    "a_max": 0.8728636113283054,
    "ax_avg": -0.32609495045687265,
    "a_std": 0.1910897461148677,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "77919997d5c352d8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.241502908312555,
      34.50104923546166,
      30.231356486728316,
      54.98130424800486,
      52.34715765893661,
      49.39848220254835,
      45.979027783237484,
      42.49910409338966,
      38.83750601897706,
      35.16083228192011
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 8,
    "token": "77919997d5c352d8",
    "smoothness": "No"
  },
  "b2b801ee99c95758": {
    "vx_ego": [
      1.0838580178680184,
      1.2902482342153916,
      1.5410164491076803,
      1.8570193445123873,
      2.174985061885568,
      2.4788964279534396,
      2.774681668119099,
      2.9918263054541527,
      3.0603284878000094,
      3.045752869385706
    ],
    "vy_ego": [
      0.03987171529211164,
      0.00794926792547751,
      -0.005093143001827616,
      -0.010700329003788922,
      -0.012483875864499505,
      -0.008921612725131478,
      -0.00737622238746205,
      -0.00010690965164861232,
      -1.793502958957749e-05,
      -0.011133352952070297
    ],
    "v_ego": [
      1.0845911471965484,
      1.2902727218524335,
      1.54102486564172,
      1.8570501724331536,
      2.17502088876911,
      2.4789124824595845,
      2.7746914725880596,
      2.9918263073643026,
      3.0603284878525634,
      3.045773217578619
    ],
    "ax_ego": [
      0.4127972073077584,
      0.41287485319934314,
      0.5901654307859419,
      0.6738362816436156,
      0.5978816225906809,
      0.6177283965845541,
      0.5653416068794815,
      0.3032152616425813,
      -0.029178825104524932,
      -0.029147711927462468
    ],
    "ay_ego": [
      -0.06685304033624266,
      -0.06637179016741189,
      0.008479558771786272,
      -0.03991352910072413,
      0.017094212825873006,
      -0.01519877519596144,
      0.0035840557265789663,
      0.012476811995521017,
      -0.028803667868809342,
      -0.028835131660353338
    ],
    "a_ego": [
      0.4181756369795875,
      0.418175631684112,
      0.5902263452369104,
      0.6750173510840802,
      0.5981259455531098,
      0.6179153459126756,
      0.5653529675561325,
      0.3034718532756384,
      0.041000672155187094,
      0.041000657659069926
    ],
    "yaw": [
      1.2372720523625298,
      1.2361063327448072,
      1.2350796544177123,
      1.233746384056714,
      1.231810424077055,
      1.2304817703252389,
      1.2287922533281366,
      1.2276763161922375,
      1.2263167351089361,
      1.225237717412233
    ],
    "yaw_diff": [
      -0.0023314392354452096,
      -0.0020533566541898196,
      -0.0026665407219965687,
      -0.0038719199593177933,
      -0.0026573075036324667,
      -0.0033790339942045833,
      -0.002231874271798162,
      -0.002719162166602729,
      -0.002158035393406088,
      -0.002158035393406088
    ],
    "min_front_frame": [
      9,
      18.057612123000553
    ],
    "v_avg": 2.2299491763736095,
    "v_std": 0.7145492754840215,
    "vy_max": 0.03987171529211164,
    "a_max": 0.6750173510840802,
    "ax_avg": 0.4115514123601969,
    "a_std": 0.2205528116468443,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "b2b801ee99c95758",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 36.012990022353385,
    "right_rear_min": 15.02039257910981,
    "speed_mode": "accelerating",
    "front_frame": [
      18.547537826141376,
      19.09105688312966,
      18.38263011439424,
      20.439255222488708,
      20.9378546496914,
      21.361942497514367,
      21.63904863013991,
      21.038641374159635,
      19.541747858576468,
      18.057612123000553
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "b2b801ee99c95758",
    "merging_vehicles": "No"
  },
  "8b93118c77d25b5d": {
    "vx_ego": [
      3.1182500395756447,
      4.145772231751328,
      5.078095033842218,
      5.77511289917685,
      6.184994462762747,
      6.495619537591761,
      6.876995194311959,
      7.2740011949615315,
      7.693261086283303,
      8.151067298720308
    ],
    "vy_ego": [
      0.044218322660408926,
      -0.02126820370496274,
      0.00908061894294887,
      0.032768421789810986,
      0.07714043665523906,
      0.07891668784162498,
      0.05461988655119088,
      0.06715743819570852,
      0.02250435117256,
      0.01925714768660436
    ],
    "v_ego": [
      3.1185635426222134,
      4.145826785340799,
      5.078103152789769,
      5.775205863664554,
      6.185475499213719,
      6.496098907864911,
      6.877212097543353,
      7.274311204905025,
      7.693294001111789,
      8.151090046490998
    ],
    "ax_ego": [
      2.053552797310915,
      2.0569857846419373,
      1.6779501084773905,
      1.112766022524108,
      0.5424141993774803,
      0.71880683937701,
      0.8251614750596845,
      0.7637702074359938,
      0.9146510120224869,
      0.9176162996563069
    ],
    "ay_ego": [
      -0.25135440661606545,
      -0.2215121608381363,
      -0.5153997365844891,
      -0.45699308596223087,
      -0.6209781833689983,
      -0.7060298622621124,
      -0.848365328338668,
      -0.4008409018971403,
      -0.22619540276583866,
      -0.21384847010531993
    ],
    "a_ego": [
      2.0688784713145423,
      2.0688784777309146,
      1.7553214677120106,
      1.2029509140033132,
      0.8245162629727653,
      1.007552201496788,
      1.1834758933961647,
      0.8625649879287552,
      0.9422053035438506,
      0.942205307542533
    ],
    "yaw": [
      2.5797157311904035,
      2.565196111388519,
      2.519150936282707,
      2.470629662710485,
      2.418774354169691,
      2.3659985968228714,
      2.3114188206501165,
      2.2655661726410186,
      2.250548446697646,
      2.2370714294944207
    ],
    "yaw_diff": [
      -0.029039239603768863,
      -0.09209035021162393,
      -0.09704254714444449,
      -0.10371061708158802,
      -0.10555151469363899,
      -0.10915955234550978,
      -0.09170529601819588,
      -0.030035451886744724,
      -0.026954034406450944,
      -0.026954034406450944
    ],
    "min_front_frame": [
      9,
      24.97807689218283
    ],
    "v_avg": 6.079518110154713,
    "v_std": 1.5081826026909584,
    "vy_max": 0.07891668784162498,
    "a_max": 2.0688784777309146,
    "ax_avg": 1.1583674745883314,
    "a_std": 0.46579559828465233,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "8b93118c77d25b5d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.9517999139809,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      41.7238113178886,
      32.55229340510709,
      28.840922064706195,
      24.97807689218283
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8b93118c77d25b5d",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "685911b9ba8b554f": {
    "vx_ego": [
      7.88613498980945,
      7.177778731384225,
      6.476684703789703,
      5.781634997618537,
      5.1045153872406015,
      4.500988288836231,
      4.011007426057191,
      3.6297607720614975,
      3.3614486085657873,
      3.156345685760833
    ],
    "vy_ego": [
      0.0016837658274378997,
      0.015764697313653785,
      0.030007541599570194,
      0.015724747768194523,
      0.0016527267764309753,
      -0.005291079984013373,
      -0.016121371038722913,
      -0.013773172696603848,
      -0.012300090951434289,
      -0.003115576456947277
    ],
    "v_ego": [
      7.886135169559564,
      7.177796043521516,
      6.47675421834551,
      5.781656381468884,
      5.1045156547983925,
      4.50099139876631,
      4.011039824096751,
      3.62978690320556,
      3.3614711125140255,
      3.156347223427372
    ],
    "ax_ego": [
      -1.416705722379641,
      -1.4167113385369152,
      -1.387611017994895,
      -1.3925113004952732,
      -1.315978519188201,
      -1.0980770195803686,
      -0.8619875947919805,
      -0.6631033651434004,
      -0.41026964736803195,
      -0.41025085051635646
    ],
    "ay_ego": [
      0.024900049056324165,
      0.024578150714576037,
      0.017006673831062604,
      -0.08720146851439134,
      0.016375400518275126,
      -0.07163330470951412,
      -0.002533887944155978,
      -0.018721559641212533,
      -0.004457341019238063,
      -0.0059408264013915465
    ],
    "a_ego": [
      1.4169245273712456,
      1.4169245224187512,
      1.3877152316724153,
      1.3952389824392464,
      1.3160803990284575,
      1.1004110465067638,
      0.8619913190765769,
      0.6633675976861557,
      0.41029385986199096,
      0.41029386269809753
    ],
    "yaw": [
      -1.5671589508205153,
      -1.567386166816429,
      -1.5679498927840019,
      -1.5684826864383834,
      -1.5691515903538193,
      -1.5705903186893146,
      -1.5724148848082935,
      -1.5744335936406852,
      -1.5765316890378034,
      -1.5801476521168274
    ],
    "yaw_diff": [
      -0.0004544319918275974,
      -0.0011274519351456291,
      -0.0010655873087630496,
      -0.0013378078308718955,
      -0.002877456670990597,
      -0.0036491322379577085,
      -0.004037417664783494,
      -0.004196190794236276,
      -0.007231926158048019,
      -0.007231926158048019
    ],
    "min_front_frame": [
      9,
      13.503125532571323
    ],
    "v_avg": 5.1086493929703884,
    "v_std": 1.5794178161700358,
    "vy_max": 0.030007541599570194,
    "a_max": 1.4169245273712456,
    "ax_avg": -1.0373206375995063,
    "a_std": 0.3971989803944269,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "685911b9ba8b554f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.304368852103924,
    "right_rear_min": 35.72577919190004,
    "speed_mode": "decelerating",
    "front_frame": [
      21.405359291758106,
      19.76621369930539,
      18.240675279113628,
      17.074733922300506,
      16.10051345349643,
      15.21669884989044,
      14.714167612428657,
      14.267384699745195,
      13.837375594885653,
      13.503125532571323
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "685911b9ba8b554f",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "223d02be29c65e81": {
    "vx_ego": [
      8.324052185340534,
      8.545446557608617,
      8.737369982210739,
      8.869481318517098,
      8.947770685611175,
      8.946396585193531,
      8.810478511140222,
      8.631942281741127,
      8.506146896891025,
      8.398775938957954
    ],
    "vy_ego": [
      -0.028417450611958994,
      0.03598899646533971,
      0.10192497200657424,
      0.0727710832274635,
      -0.003588613974980781,
      -0.025955501305263695,
      -0.031108170792163214,
      -0.00944042939279921,
      -0.0165454030139367,
      -0.05540309966813206
    ],
    "v_ego": [
      8.324100692313362,
      8.545522340782425,
      8.73796446009915,
      8.869779844510116,
      8.94777140524013,
      8.94643423647715,
      8.810533429569043,
      8.631947444060195,
      8.506162988201536,
      8.398958672137391
    ],
    "ax_ego": [
      0.4428403265629234,
      0.4427489984189693,
      0.3248067397404369,
      0.20051205317261603,
      0.11195815901810378,
      -0.1177009170782787,
      -0.4261059919216422,
      -0.28825723575374074,
      -0.21490892253488408,
      -0.21477124604836878
    ],
    "ay_ego": [
      0.11529680532921732,
      0.11564699419595525,
      0.167201120439787,
      -0.040468322631229126,
      -0.13168816834697772,
      -0.04350433441407618,
      -0.014424179170632406,
      0.02610887581346355,
      -0.10065860114125384,
      -0.10095202848787718
    ],
    "a_ego": [
      0.45760343983571633,
      0.4576034340644307,
      0.3653157988058168,
      0.2045550503020721,
      0.172847918857315,
      0.12548359651316826,
      0.42635005957109134,
      0.289437225250365,
      0.2373141356279032,
      0.23731413819026065
    ],
    "yaw": [
      -0.5953155657242486,
      -0.5961063998534706,
      -0.5955546470117302,
      -0.5886562335096441,
      -0.5849206195640488,
      -0.5873082894582287,
      -0.5883545457697523,
      -0.5905083373232021,
      -0.5918556060157343,
      -0.593221477945435
    ],
    "yaw_diff": [
      -0.001581668258443969,
      0.001103505683480721,
      0.013796827004172174,
      0.0074712278911905905,
      -0.004775339788359645,
      -0.0020925126230473268,
      -0.004307583106899493,
      -0.0026945373850644216,
      -0.0027317438594014476,
      -0.0027317438594014476
    ],
    "min_front_frame": [
      1,
      31.47416175414651
    ],
    "v_avg": 8.67191755133905,
    "v_std": 0.21323973671208796,
    "vy_max": 0.10192497200657424,
    "a_max": 0.45760343983571633,
    "ax_avg": 0.02611219635761349,
    "a_std": 0.11556108168416844,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "223d02be29c65e81",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 30.234000379716427,
    "right_rear_min": 29.08752715315231,
    "speed_mode": "quasi_constant",
    "front_frame": [
      31.50564391033973,
      31.47416175414651,
      31.669514278831336,
      31.693474950763292,
      31.61482211028209,
      31.728829715089525,
      31.703602386426308,
      31.57261580346513,
      31.54020766550045,
      31.53544287864459
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "223d02be29c65e81",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "198bc5f3280e52cd": {
    "vx_ego": [
      13.051047038997615,
      12.297724262841234,
      11.553394626340912,
      10.877176038773687,
      10.28312889794081,
      9.736364294137308,
      9.234969362692635,
      8.919605073566261,
      8.791971504618848,
      8.68697408722739
    ],
    "vy_ego": [
      -0.0711536678512128,
      -0.015387851660589202,
      0.012872299524924635,
      -0.014927631411191022,
      -0.07273849975844948,
      -0.05814370598247942,
      0.00395031990224215,
      -0.007201575060354681,
      -0.03826671232405099,
      -0.04965593532343249
    ],
    "v_ego": [
      13.051241000708595,
      12.297733890064977,
      11.553401797222241,
      10.87718628196888,
      10.283386155397087,
      9.736537904137037,
      9.234970207580472,
      8.919607980795588,
      8.792054781409288,
      8.687116006136502
    ],
    "ax_ego": [
      -1.5070324116523834,
      -1.507021550273438,
      -1.4699973506540838,
      -1.2342616595984988,
      -1.1434352577733873,
      -1.0449995463757533,
      -0.9606975383852485,
      -0.3004649272321203,
      -0.21062498721585804,
      -0.21016106588197112
    ],
    "ay_ego": [
      0.0009678651498071789,
      -0.005806722627447358,
      -0.1304865828393152,
      -0.3073123369574849,
      -0.2062475753684532,
      0.13773279239715475,
      0.0057868896726573915,
      -0.17602237336587612,
      -0.10167862317116422,
      -0.1026340999792374
    ],
    "a_ego": [
      1.5070327224495648,
      1.5070327372078647,
      1.4757774084295732,
      1.2719444629389725,
      1.1618873659114546,
      1.054037178674001,
      0.960714967277787,
      0.34822844286755106,
      0.23388336334520243,
      0.2338833728403845
    ],
    "yaw": [
      1.2705507317783606,
      1.2660554101706079,
      1.2608265121270867,
      1.2535271413222524,
      1.2468491029054851,
      1.2436759450008026,
      1.240909324298499,
      1.2374176302418145,
      1.233080494334784,
      1.228539127214122
    ],
    "yaw_diff": [
      -0.008990643215505578,
      -0.010457796087042226,
      -0.014598741609668675,
      -0.01335607683353457,
      -0.006346315809365066,
      -0.005533241404607203,
      -0.00698338811336896,
      -0.008674271814061107,
      -0.009082734241323998,
      -0.009082734241323998
    ],
    "min_front_frame": [
      9,
      21.28422894680694
    ],
    "v_avg": 10.343323600542067,
    "v_std": 1.4723616459243545,
    "vy_max": 0.07273849975844948,
    "a_max": 1.5070327372078647,
    "ax_avg": -0.9588696295042742,
    "a_std": 0.49374060568003497,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "198bc5f3280e52cd",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.382086925136712,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      47.46874978127867,
      48.308708005491845,
      49.0177038391642,
      49.71893664721135,
      50.08598417815451,
      27.84204713153432,
      25.680680210674694,
      24.08201663819035,
      22.572141035973036,
      21.28422894680694
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "198bc5f3280e52cd",
    "merging_vehicles": "No"
  },
  "cdd72f4a568a55a0": {
    "vx_ego": [
      2.0151382951581924,
      2.5966436143873377,
      3.142998011112562,
      3.6204981031136274,
      4.095987516326504,
      4.574795874051057,
      4.999269577257563,
      5.389891850719822,
      5.767241055056754,
      6.138670241594997
    ],
    "vy_ego": [
      0.02630007279825375,
      0.007991095196817621,
      0.002304093425193887,
      -0.003796177657316102,
      0.0027770080099676075,
      0.011280389001068425,
      0.017831455224146975,
      0.012863354254973647,
      0.013543950317945974,
      0.011850551889522887
    ],
    "v_ego": [
      2.015309912257234,
      2.596655910539743,
      3.142998855663812,
      3.620500093303987,
      4.095988457707865,
      4.574809781445627,
      4.999301377881555,
      5.38990720034572,
      5.767256958530837,
      6.1386816801837885
    ],
    "ax_ego": [
      1.163034889562962,
      1.1632154109390611,
      1.022458265550161,
      0.8877519487175114,
      1.013854158238896,
      0.9025068061533377,
      0.7969923169885933,
      0.7673437764300293,
      0.7421571688381887,
      0.7441484410565204
    ],
    "ay_ego": [
      -0.054481573046668896,
      -0.05048071971269841,
      -0.06989356206081648,
      -0.11207228804387459,
      -0.062294378697396346,
      -0.1594561070199655,
      -0.20195205079771605,
      -0.254933787748133,
      -0.16042617024616707,
      -0.15092023689067996
    ],
    "a_ego": [
      1.1643102662702802,
      1.1643102659123301,
      1.0248443856553993,
      0.8947981449461818,
      1.0157661363697823,
      0.9164850163636397,
      0.8221808707092677,
      0.8085837664469333,
      0.7592982413767122,
      0.759298241951072
    ],
    "yaw": [
      1.0583719320142988,
      1.054932191800567,
      1.0464795031933267,
      1.0348891692253965,
      1.0218340226314597,
      1.0071328747820276,
      0.9869463470576985,
      0.9659299348994648,
      0.9472049487873659,
      0.9344137651390785
    ],
    "yaw_diff": [
      -0.006879480427463669,
      -0.016905377214480488,
      -0.023180667935860377,
      -0.026110293187873612,
      -0.02940229569886421,
      -0.040373055448658324,
      -0.042032824316467376,
      -0.03744997222419766,
      -0.025582367296574926,
      -0.025582367296574926
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.234141022786017,
    "v_std": 1.3117104161272561,
    "vy_max": 0.02630007279825375,
    "a_max": 1.1643102662702802,
    "ax_avg": 0.9203463182475261,
    "a_std": 0.14564735083440736,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "cdd72f4a568a55a0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.3502013602203746,
    "right_rear_min": 4.068270548678379,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "cdd72f4a568a55a0",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "76e72a3b44205ec0": {
    "vx_ego": [
      0.713242731891023,
      0.4300993054651428,
      0.17295439925644226,
      -0.014879115095789954,
      -0.061666847182663215,
      -0.028175058272509844,
      -0.015885660654693295,
      -0.009603997641488607,
      -0.005883650003105153,
      -0.002474723466310111
    ],
    "vy_ego": [
      -0.029130824213502472,
      0.007114987037937632,
      0.033235491487369706,
      0.03764834209483653,
      0.01816273948027462,
      0.0020815829825694392,
      0.0016738478018579425,
      0.0010809736345488642,
      0.0008228547953473068,
      0.0008144113960708438
    ],
    "v_ego": [
      0.7138373760981753,
      0.430158151849001,
      0.1761187727545359,
      0.04048191853807827,
      0.06428596384031482,
      0.028251847662987425,
      0.015973602627455563,
      0.009664640432851524,
      0.0059409113251474585,
      0.0026052873462933013
    ],
    "ax_ego": [
      -0.5662853396923462,
      -0.5662930538143167,
      -0.46221553779846436,
      -0.289007882410537,
      0.10187137506094077,
      0.032094731654281956,
      0.01706308604480789,
      0.008063555963593098,
      0.006817889785909102,
      0.006817888849542886
    ],
    "ay_ego": [
      0.07239993119504225,
      0.07233957077178238,
      0.03133248713236067,
      -0.013835587433066397,
      -0.06407006146311764,
      -0.0002722935739589065,
      -0.001356394674036703,
      -0.00101520510466594,
      -1.677971730617737e-05,
      -1.66233825222842e-05
    ],
    "a_ego": [
      0.5708947678754139,
      0.5708947681471519,
      0.4632762978312437,
      0.289338866340215,
      0.1203442970509801,
      0.032095886710773194,
      0.017116913036066782,
      0.008127212079338007,
      0.006817910434415851,
      0.006817909115085629
    ],
    "yaw": [
      -3.107080900796909,
      -3.107187498394736,
      -3.1078893433174475,
      -3.1085624963744345,
      -3.108667932836542,
      -3.1085453838811232,
      -3.108573136107915,
      -3.1085706642430915,
      -3.1085863760320644,
      -3.108608945854395
    ],
    "yaw_diff": [
      -0.00021319519565388134,
      -0.0014036898454232727,
      -0.0013463061139740162,
      -0.00021087292421473336,
      0.0002450979108372664,
      -5.55044535834881e-05,
      4.94372964698897e-06,
      -3.142357794594375e-05,
      -4.513964466124065e-05,
      -4.513964466124065e-05
    ],
    "min_front_frame": [
      3,
      10.570484831907633
    ],
    "v_avg": 0.14873184724748406,
    "v_std": 0.22613410055846314,
    "vy_max": 0.03764834209483653,
    "a_max": 0.5708947681471519,
    "ax_avg": -0.17110732863565886,
    "a_std": 0.23046120666437644,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "76e72a3b44205ec0",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 20.56061253479868,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.067858927583211,
      10.783796028270489,
      10.59552856152807,
      10.570484831907633,
      10.65760387912128,
      10.636823961248137,
      10.592754983627803,
      10.603122306580023,
      10.702056353690303,
      11.015131795793554
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "76e72a3b44205ec0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "71c32c511a445d13": {
    "vx_ego": [
      3.475723559266876,
      3.312094024046357,
      3.147254529428136,
      2.860297188855709,
      2.312285804726055,
      1.6811496564158217,
      1.1986305048194204,
      0.9359786151942886,
      0.871532348190414,
      0.8770791679867405
    ],
    "vy_ego": [
      -0.015012204917035366,
      -0.0011251602225135215,
      0.0018163180274826107,
      0.016660040288565492,
      0.016353711193734077,
      -0.015555236062699707,
      -0.01827015590413128,
      0.0011912023974635089,
      0.0028833160889931153,
      -0.013772311066201859
    ],
    "v_ego": [
      3.4757559791704695,
      3.3120942151619293,
      3.1472550535374624,
      2.8603457073434826,
      2.3123436350610667,
      1.6812216191317557,
      1.1987697383903297,
      0.9359793732044366,
      0.8715371176570543,
      0.877187290986604
    ],
    "ax_ego": [
      -0.32733750219321395,
      -0.32700780115977734,
      -0.33248267601161446,
      -0.8153298234727248,
      -1.3761465849626835,
      -1.1484386910928104,
      -0.7817879522173843,
      -0.2688285288481681,
      0.011058313034575,
      0.011102084770533439
    ],
    "ay_ego": [
      0.062336668967456585,
      0.06404374536047208,
      -0.0037599273412513845,
      0.04599970864760178,
      -0.09201058662873662,
      -0.05403651404224058,
      0.03574332699250604,
      0.04113189074320302,
      -0.03547542604114486,
      -0.03546174937326406
    ],
    "a_ego": [
      0.3332201984274822,
      0.33322020247750506,
      0.3325039351668724,
      0.8166264104471082,
      1.3792191165134786,
      1.149709255441916,
      0.7826046177072713,
      0.27195700093724584,
      0.037159011558051305,
      0.03715900906730835
    ],
    "yaw": [
      1.079598421967442,
      1.0848160740639654,
      1.0885709089109215,
      1.0871728702718457,
      1.0829579934892324,
      1.0806194621978724,
      1.0792863939029531,
      1.0790446112196928,
      1.0787246228046246,
      1.0774908753510515
    ],
    "yaw_diff": [
      0.010435304193046946,
      0.007509669693912091,
      -0.0027960772781514542,
      -0.008429753565226683,
      -0.0046770625827199375,
      -0.002666136589838608,
      -0.0004835653665207218,
      -0.0006399768301363906,
      -0.0024674949071461505,
      -0.0024674949071461505
    ],
    "min_front_frame": [
      6,
      10.28980188418422
    ],
    "v_avg": 2.0672489729644594,
    "v_std": 1.020687830586221,
    "vy_max": 0.01827015590413128,
    "a_max": 1.3792191165134786,
    "ax_avg": -0.5355199162153268,
    "a_std": 0.4378344879133191,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "71c32c511a445d13",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.017072846991377,
      11.926578804875069,
      11.677841943564584,
      11.208129865174481,
      10.67109558555409,
      10.431209435813102,
      10.28980188418422,
      10.368717479723346,
      10.428055513142443,
      10.58609051957084
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "71c32c511a445d13",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f0cdcc3967335c01": {
    "vx_ego": [
      1.9172367268506338,
      1.0075765457536927,
      0.3071250591319717,
      0.007913063575220857,
      -0.041426507890300605,
      -0.028887870101903187,
      -0.01644839623635783,
      -0.010217612874149993,
      -0.006981816459267336,
      -0.004645458288038855
    ],
    "vy_ego": [
      0.00029825787712056684,
      -0.012101442414851615,
      -0.023809398309587254,
      -0.006278436049493585,
      0.007474643010277131,
      0.0006488873805744755,
      0.0009124661748954608,
      0.0007604999807666124,
      0.0006604663251149777,
      0.00036171980365504
    ],
    "v_ego": [
      1.9172367500501062,
      1.0076492149857823,
      0.30804657017191683,
      0.010101254099024917,
      0.04209543733133347,
      0.028895156927365887,
      0.016473686086257645,
      0.010245875905296808,
      0.007012986299537963,
      0.0046595197093976465
    ],
    "ax_ego": [
      -1.8193540024723727,
      -1.819316252515058,
      -0.9823798482526311,
      -0.21436811781524506,
      0.017050082523522463,
      0.033104473414676365,
      0.016653178177732337,
      0.008270181255852053,
      0.00467276359135751,
      0.004672804120036228
    ],
    "ay_ego": [
      -0.027454385631001776,
      -0.029851399651949606,
      -0.013936057629903353,
      0.08428514422680417,
      -0.029148331439452255,
      0.0018481567508870159,
      -0.0007982918954202714,
      0.0001944456371415727,
      -0.0005969012016932547,
      -0.0005966059409544045
    ],
    "a_ego": [
      1.8195611365388682,
      1.819561137397316,
      0.9824786918580609,
      0.23034251772737044,
      0.033768780548949155,
      0.03315602273251217,
      0.01667230078212345,
      0.008272466809268565,
      0.004710733554904075,
      0.004710736353587371
    ],
    "yaw": [
      2.2015722898355228,
      2.2002547672339374,
      2.201631722833549,
      2.2025470157288276,
      2.201865797509101,
      2.2018467025110215,
      2.2019007370955617,
      2.20181910061707,
      2.201890584185983,
      2.201826828205639
    ],
    "yaw_diff": [
      -0.002635045203170705,
      0.0027539111992229692,
      0.001830585790557393,
      -0.0013624364394528854,
      -3.8189996159232464e-05,
      0.00010806916908023823,
      -0.00016327295698292943,
      0.00014296713782524506,
      -0.0001275119606880537,
      -0.0001275119606880537
    ],
    "min_front_frame": [
      9,
      9.22458588053114
    ],
    "v_avg": 0.33524164515660193,
    "v_std": 0.6054199388693132,
    "vy_max": 0.023809398309587254,
    "a_max": 1.819561137397316,
    "ax_avg": -0.4750994737972129,
    "a_std": 0.7203544076518146,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f0cdcc3967335c01",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 38.959483532630834,
    "right_rear_min": 28.555105908954655,
    "speed_mode": "decelerating",
    "front_frame": [
      10.11225116313741,
      9.468400459510594,
      9.2423594724952,
      9.243407906240039,
      9.305608046486352,
      9.285422530354218,
      9.259005072233018,
      9.252045731045586,
      9.228812063072947,
      9.22458588053114
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f0cdcc3967335c01",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "96d7b6bf87f45e33": {
    "vx_ego": [
      9.251575180728993,
      9.825668478262958,
      10.347639335464583,
      10.762956004428123,
      11.028762011408915,
      11.168658220022161,
      11.263005264033307,
      11.248536416112891,
      11.035962115854076,
      10.717193386751543
    ],
    "vy_ego": [
      -0.08464590928505711,
      0.03698210541035252,
      -0.036776742298930465,
      0.03472071205108662,
      0.006252610855098872,
      0.002998282988317058,
      0.000617477941141864,
      -0.005555631652482518,
      -0.01362835876751678,
      0.06044275979228697
    ],
    "v_ego": [
      9.25196240019594,
      9.82573807511939,
      10.34770468971878,
      10.763012007848952,
      11.028763783826316,
      11.168658622474297,
      11.263005280959474,
      11.248537788070985,
      11.035970530711337,
      10.717363827744316
    ],
    "ax_ego": [
      1.1454508175110412,
      1.1520920061246418,
      0.9323926790955038,
      0.7292143133788277,
      0.3351777861082458,
      0.22633364279360219,
      0.1493102489080526,
      -0.2060950731827185,
      -0.6447058863507612,
      -0.6321809721868971
    ],
    "ay_ego": [
      0.5054269160471415,
      0.4900999447275402,
      0.21631699463137116,
      0.3221732905037906,
      0.5861249212825617,
      0.7500699378303135,
      0.6536966774520074,
      0.7051992765529842,
      0.5945868660852089,
      0.6078868646954414
    ],
    "a_ego": [
      1.2520039707611301,
      1.2520039721974685,
      0.9571568054385027,
      0.79721336162322,
      0.6751937289762947,
      0.7834742047425635,
      0.6705318012896767,
      0.7346980324194712,
      0.8770286319250649,
      0.8770286322945359
    ],
    "yaw": [
      -0.8556296205334837,
      -0.8422877673271726,
      -0.8175352042091311,
      -0.8115691563144124,
      -0.7882225690274407,
      -0.7578709158615302,
      -0.7263984143107731,
      -0.6957909732670076,
      -0.6660515365126874,
      -0.6452203764159641
    ],
    "yaw_diff": [
      0.026683706412622188,
      0.04950512623608305,
      0.011932095789437325,
      0.0466931745739434,
      0.06070330633182097,
      0.06294500310151419,
      0.06121488208753112,
      0.05947887350864023,
      0.041662320193446734,
      0.041662320193446734
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.66507170066698,
    "v_std": 0.6352796488873494,
    "vy_max": 0.08464590928505711,
    "a_max": 1.2520039721974685,
    "ax_avg": 0.31869895621995387,
    "a_std": 0.2013127215972627,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "96d7b6bf87f45e33",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 21.22736308697934,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "96d7b6bf87f45e33",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "808e5edcddce51c3": {
    "vx_ego": [
      6.494413610167053,
      6.0165551946477365,
      5.538751186336195,
      5.114890477259141,
      4.755263286619902,
      4.44204360791037,
      4.23325296163386,
      4.110066027432482,
      4.025402377132053,
      3.9619903203255715
    ],
    "vy_ego": [
      -0.055118567065698135,
      -0.015904433235469723,
      -0.00210129594848929,
      -0.009534042731971948,
      -0.011481011552425271,
      -0.0033261442463016905,
      0.0011547046497606267,
      -0.012858940110139952,
      -0.04076710639939339,
      -0.07227155004607666
    ],
    "v_ego": [
      6.494647503626231,
      6.016576215858916,
      5.538751584931867,
      5.114899362873825,
      4.7552771463608074,
      4.442044853196884,
      4.233253119118284,
      4.110086142916639,
      4.0256088054832855,
      3.962649426242446
    ],
    "ax_ego": [
      -0.9557190403360734,
      -0.9557243520308392,
      -0.9554850218201083,
      -0.7399555372010639,
      -0.6984944726736352,
      -0.5543895688301054,
      -0.28077310288953217,
      -0.21197609926754035,
      -0.12670497596405245,
      -0.12675245023918422
    ],
    "ay_ego": [
      0.07760560576808995,
      0.07754026740967425,
      -0.03081852526688213,
      0.002305823354060741,
      0.014088524746508464,
      0.01531017666280401,
      0.005847490109900288,
      -0.05925845491268103,
      -0.05632360627385135,
      -0.05621668952602599
    ],
    "a_ego": [
      0.9588647006264946,
      0.9588647089838749,
      0.9559819079994131,
      0.7399591298550583,
      0.6986365399012227,
      0.5546009335883563,
      0.2808339873427025,
      0.2201032283709632,
      0.13865965367670197,
      0.13865965463285443
    ],
    "yaw": [
      1.5979768330939796,
      1.597908466474207,
      1.5975410658283336,
      1.597598533294064,
      1.5988248383623882,
      1.5986490566385674,
      1.5988369448410313,
      1.598995698872724,
      1.598752333954348,
      1.5995960047905027
    ],
    "yaw_diff": [
      -0.00013673323954543903,
      -0.000734801291746745,
      0.00011493493146108591,
      0.0024526101366482145,
      -0.00035156344764164515,
      0.00037577640492791886,
      0.00031750806338548543,
      -0.00048672983675235315,
      0.0016873416723095502,
      0.0016873416723095502
    ],
    "min_front_frame": [
      7,
      13.627389920548467
    ],
    "v_avg": 4.869379416060918,
    "v_std": 0.8471612133030383,
    "vy_max": 0.07227155004607666,
    "a_max": 0.9588647089838749,
    "ax_avg": -0.5605974621252134,
    "a_std": 0.3278623453258005,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "808e5edcddce51c3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 2.8503772774951672,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.742942774243264,
      17.48007012394676,
      16.397607364982928,
      15.51422738875706,
      14.795248872576975,
      14.304199466557563,
      13.762916696245474,
      13.627389920548467,
      13.771719663960598,
      14.275109489102366
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "808e5edcddce51c3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b966c10ea361593f": {
    "vx_ego": [
      5.360591647911938,
      5.240500910808439,
      5.14005558829424,
      4.992495945137103,
      4.643543857940631,
      4.102580678759529,
      3.47757369787235,
      2.7220410658633245,
      1.8029585958584566,
      0.8076432013641441
    ],
    "vy_ego": [
      -0.07683227806455184,
      0.033590125111849556,
      0.042671773003839064,
      -0.06007124100667682,
      -0.07714228786694721,
      -0.022127742945736717,
      -0.03297658859587327,
      -0.014966171685668259,
      0.001079584315096159,
      0.018924076234548302
    ],
    "v_ego": [
      5.3611422304035,
      5.240608561292201,
      5.14023271175208,
      4.992857329846958,
      4.644184588622151,
      4.1026403525947615,
      3.4777300469600845,
      2.722082208630237,
      1.8029589190778006,
      0.8078648781640743
    ],
    "ax_ego": [
      -0.27011536967044913,
      -0.20366632961687964,
      -0.18870164353735264,
      -0.3884258999101239,
      -0.9994763659316321,
      -1.1530891320604133,
      -1.3472052265669554,
      -1.6858761053358158,
      -1.9906660484253946,
      -1.990631260460298
    ],
    "ay_ego": [
      0.9480773402154374,
      0.9645377034494989,
      1.4349250976375396,
      1.5238015581332525,
      1.090351375686635,
      0.9153786786136923,
      0.69003009276881,
      0.1304769306065297,
      0.03716513913288852,
      0.03898434874053286
    ],
    "a_ego": [
      0.9858057394650235,
      0.9858057390760335,
      1.44727963645724,
      1.5725284952236376,
      1.4791278269702182,
      1.472254282295143,
      1.5136391417427915,
      1.6909176419810517,
      1.9910129492096085,
      1.9910129569062274
    ],
    "yaw": [
      -2.3583656194975635,
      -2.288908547087555,
      -2.1751651772444514,
      -2.0100756768725825,
      -1.8732738357653067,
      -1.7717238652448728,
      -1.663762748403071,
      -1.6042297556129603,
      -1.5929872510676093,
      -1.5920733742981485
    ],
    "yaw_diff": [
      0.13891414482001707,
      0.22748673968620725,
      0.33017900074373774,
      0.27360368221455156,
      0.20309994104086782,
      0.21592223368360353,
      0.11906598558022141,
      0.022485009090702057,
      0.001827753538921506,
      0.001827753538921506
    ],
    "min_front_frame": [
      9,
      8.78731592668214
    ],
    "v_avg": 3.829230182734385,
    "v_std": 1.5077849827510332,
    "vy_max": 0.07714228786694721,
    "a_max": 1.9910129569062274,
    "ax_avg": -1.0217853381515314,
    "a_std": 0.32483622752925734,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "b966c10ea361593f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.58525059643293,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      11.334334788684156,
      10.066747910166692,
      9.177313377790071,
      8.78731592668214
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b966c10ea361593f",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "30a0f5cf9ab95eee": {
    "vx_ego": [
      8.752629797393402,
      8.840078545105571,
      8.926205174774433,
      8.969183678654764,
      8.977715972272431,
      8.923105024474156,
      8.772654316378318,
      8.579370105468767,
      8.35628932570953,
      8.120280129678374
    ],
    "vy_ego": [
      0.02902661868057055,
      -0.025395551800988958,
      -0.019612159142394114,
      -0.0269360068550748,
      -0.02977596436500396,
      -0.022891288999773884,
      -0.009243053637451037,
      -0.028026545587021,
      -0.0257332409647697,
      -0.06375517323415636
    ],
    "v_ego": [
      8.752677928200654,
      8.84011502287652,
      8.926226720118422,
      8.969224125302718,
      8.977765350400364,
      8.923134387024998,
      8.772659185715108,
      8.579415883023081,
      8.356328948447254,
      8.12053040795757
    ],
    "ax_ego": [
      0.17062700471086306,
      0.17893136523308278,
      0.16571623216151182,
      0.006484493493226116,
      0.027950247272862085,
      -0.24630517331760726,
      -0.35506124970582076,
      -0.4168184548159404,
      -0.4733169314853269,
      -0.4665290291357907
    ],
    "ay_ego": [
      0.33382369787159594,
      0.32944712155699757,
      0.17044666018441904,
      0.06264229864958813,
      0.035695292040101134,
      0.023950921222705895,
      0.1514657279684648,
      0.20481871656043837,
      0.29320004722303694,
      0.30388460022841346
    ],
    "a_ego": [
      0.3749024353045302,
      0.3749024397978306,
      0.23772659415772335,
      0.06297702943111784,
      0.045336190802076015,
      0.24746693724704483,
      0.3860185977277212,
      0.46442257797033654,
      0.5567721125579806,
      0.5567721125221397
    ],
    "yaw": [
      -1.3882724526618615,
      -1.3632331741688533,
      -1.3498183138901183,
      -1.3425035576721702,
      -1.339446479522877,
      -1.3385530846585247,
      -1.3351444081589858,
      -1.322724262125198,
      -1.3083041055896532,
      -1.2855682664509493
    ],
    "yaw_diff": [
      0.05007855698601649,
      0.026829720557469905,
      0.014629512435896164,
      0.0061141562985862485,
      0.0017867897287047185,
      0.006817352999077819,
      0.024840292067575653,
      0.028840313071089696,
      0.04547167827740761,
      0.04547167827740761
    ],
    "min_front_frame": [
      9,
      33.0093183609619
    ],
    "v_avg": 8.721807795906669,
    "v_std": 0.2723910375805008,
    "vy_max": 0.06375517323415636,
    "a_max": 0.5567721125579806,
    "ax_avg": -0.140832149558894,
    "a_std": 0.17197286614404278,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "30a0f5cf9ab95eee",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      46.76143073891257,
      42.689847372239825,
      33.0093183609619
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "30a0f5cf9ab95eee",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cd7e4f70ce8e539b": {
    "vx_ego": [
      4.850406252417823,
      4.70565478741703,
      4.554673407574361,
      4.3942859234098615,
      4.237929700310349,
      4.1275395463394,
      4.107491156819948,
      4.146520328591184,
      4.19638952989088,
      4.2539986098715605
    ],
    "vy_ego": [
      0.06832740212468269,
      -0.02097860651613792,
      -0.025725965209897117,
      -0.026736867861704927,
      0.0024433490885055476,
      0.014746888713894735,
      0.02016961131792261,
      0.053470305184996514,
      0.057549308454764914,
      -0.029634817884898634
    ],
    "v_ego": [
      4.850887490694359,
      4.7057015502762365,
      4.554746060424338,
      4.394367262391835,
      4.237930404658307,
      4.12756589012488,
      4.1075406774096335,
      4.146865070020548,
      4.196784127100347,
      4.254101831787792
    ],
    "ax_ego": [
      -0.2916995889821057,
      -0.28559452355911047,
      -0.317802705153436,
      -0.3194084920817636,
      -0.29876633906174255,
      -0.12577181857733827,
      0.04586667116357379,
      0.11918803350837176,
      0.09201288216047687,
      0.14191395660911432
    ],
    "ay_ego": [
      -0.3442661167173802,
      -0.34934735895309754,
      -0.5582074736598555,
      -0.8766123247866867,
      -1.0936651388037089,
      -1.2606638918858954,
      -1.124923819689186,
      -0.9629327360191453,
      -0.7458404725638585,
      -0.7379734472816909
    ],
    "a_ego": [
      0.4512292203880354,
      0.45122922012482714,
      0.6423349150190732,
      0.9329903283431537,
      1.1337392827237185,
      1.2669222543838843,
      1.1258584953837385,
      0.9702810115780427,
      0.7514947644513285,
      0.7514947637696994
    ],
    "yaw": [
      1.802428173579377,
      1.7848249744792042,
      1.7368988379953478,
      1.6570040237952162,
      1.5361945820555156,
      1.3920395788223465,
      1.2453765853010128,
      1.1107366559834675,
      1.0075259520496447,
      0.9402907365601327
    ],
    "yaw_diff": [
      -0.03520639820034566,
      -0.0958522729677127,
      -0.15978962840026334,
      -0.24161888347940108,
      -0.2883100064663382,
      -0.29332598704266744,
      -0.26927985863509063,
      -0.20642140786764562,
      -0.1344704309790239,
      -0.1344704309790239
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.357649036488827,
    "v_std": 0.24808760741761202,
    "vy_max": 0.06832740212468269,
    "a_max": 1.2669222543838843,
    "ax_avg": -0.12400619239739596,
    "a_std": 0.270610846281628,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "cd7e4f70ce8e539b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cd7e4f70ce8e539b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2a5a7c87bce352a7": {
    "vx_ego": [
      10.184763552876484,
      10.185295308954032,
      10.197785956395917,
      10.229801508473752,
      10.356968217819546,
      10.603635677534017,
      10.986656453922283,
      11.45161672694752,
      11.920942542692488,
      12.415181737362609
    ],
    "vy_ego": [
      -0.043191775171773195,
      -0.03885493685963404,
      -0.044346358845248623,
      -0.03775119097509094,
      -0.03710398738873799,
      -0.016132437805508104,
      -0.01281172581563439,
      3.153961097535074e-05,
      0.008426447343891752,
      0.05469254694164771
    ],
    "v_ego": [
      10.184855136792262,
      10.1853694207289,
      10.19788237880829,
      10.229871165131646,
      10.357034680390152,
      10.60364794952293,
      10.986663923904768,
      11.451616726990954,
      11.920945520854898,
      12.415302205199557
    ],
    "ax_ego": [
      -0.004398528763831178,
      0.0033002624875485276,
      0.04374761495927598,
      0.08093004635093054,
      0.42447090269404997,
      0.5613351826366519,
      0.9684510607010868,
      0.8884699208578329,
      0.9882942631033531,
      0.9899052629454791
    ],
    "ay_ego": [
      -0.39167395220480355,
      -0.39168474640423423,
      -0.42597763000907873,
      -0.44701225220510454,
      -0.4480991851569123,
      -0.5970045791614291,
      -0.5413521860144205,
      -0.2979532593213381,
      -0.16214196293663025,
      -0.15199716225983245
    ],
    "a_ego": [
      0.3916986493351962,
      0.3916986498550078,
      0.4282181629529236,
      0.4542792379405466,
      0.6172263984731943,
      0.8194581470736858,
      1.1094862082403962,
      0.937099218337809,
      1.0015066483193924,
      1.0015066484762845
    ],
    "yaw": [
      0.6972064030982594,
      0.6775511841375319,
      0.6580235593902742,
      0.6360008013024272,
      0.614107492400662,
      0.587133857021128,
      0.560338827032119,
      0.5405098423253882,
      0.5299376595660623,
      0.5196811494661283
    ],
    "yaw_diff": [
      -0.039310437921455055,
      -0.03905524949451533,
      -0.04404551617569408,
      -0.04378661780353044,
      -0.05394727075906802,
      -0.05359005997801791,
      -0.03965796941346156,
      -0.021144365518651842,
      -0.020513020199868004,
      -0.020513020199868004
    ],
    "min_front_frame": [
      9,
      13.299491265227255
    ],
    "v_avg": 10.853318910832435,
    "v_std": 0.7729992020444186,
    "vy_max": 0.05469254694164771,
    "a_max": 1.1094862082403962,
    "ax_avg": 0.49445059879723774,
    "a_std": 0.2736525026191771,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "2a5a7c87bce352a7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.016295521450509,
    "speed_mode": "accelerating",
    "front_frame": [
      50.422377786054746,
      53.431969383548456,
      56.31880456744501,
      28.967136966106466,
      32.04939075223516,
      35.24888125101044,
      38.11678696979029,
      41.11122228507504,
      43.91933634753408,
      13.299491265227255
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.1,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2a5a7c87bce352a7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e25ab8d2df785bf3": {
    "vx_ego": [
      5.2866033878088174,
      5.19397644603955,
      5.107470361170436,
      5.046051347889957,
      5.090337442395361,
      5.248000233152909,
      5.448474425776273,
      5.674232780405506,
      5.8895556589928795,
      6.081157253243722
    ],
    "vy_ego": [
      0.046489179291943905,
      0.025390434634343317,
      0.01308571496144495,
      0.00460499211732901,
      0.01720695907061698,
      0.025867764114559044,
      0.010862000307218844,
      -0.001405635084720247,
      -0.006548086011000098,
      0.011904947118457576
    ],
    "v_ego": [
      5.286807791454396,
      5.194038505458403,
      5.107487124425329,
      5.046053449131752,
      5.090366524808661,
      5.248063984784605,
      5.448485252929364,
      5.674232954509217,
      5.889559299116145,
      6.081168906258452
    ],
    "ax_ego": [
      -0.1931928927599103,
      -0.18216532475462338,
      -0.166670002911694,
      -0.07950928793212314,
      0.25467916358546033,
      0.37401111515155394,
      0.42512060370178784,
      0.47771055219205943,
      0.3820000389124255,
      0.38424644066255076
    ],
    "ay_ego": [
      0.31623525288969345,
      0.3227135312641183,
      0.305767521488285,
      0.3468226995657233,
      0.30121708463099645,
      0.34027920438506554,
      0.3240729915084933,
      0.349459815432957,
      0.1858145289823913,
      0.1811235535053763
    ],
    "a_ego": [
      0.37057823598148687,
      0.37057823573965387,
      0.3482422534209095,
      0.3558197743261738,
      0.39445304972605616,
      0.5056424143540987,
      0.5345566681999547,
      0.5918864200825009,
      0.42479532590418473,
      0.4247953257702515
    ],
    "yaw": [
      -1.5220304063894967,
      -1.4875159867317498,
      -1.4546131467353143,
      -1.420737029033549,
      -1.3910146908056102,
      -1.361582232852311,
      -1.327684516104949,
      -1.2951656904544515,
      -1.2711826422278052,
      -1.2589387583146898
    ],
    "yaw_diff": [
      0.06902883931549386,
      0.06580567999287101,
      0.06775223540353048,
      0.05944467645587759,
      0.05886491590659837,
      0.06779543349472394,
      0.06503765130099515,
      0.04796609645329264,
      0.024487767826230744,
      0.024487767826230744
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.406626379287633,
    "v_std": 0.3414391349137649,
    "vy_max": 0.046489179291943905,
    "a_max": 0.5918864200825009,
    "ax_avg": 0.1676230405847487,
    "a_std": 0.079612940110688,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "e25ab8d2df785bf3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "e25ab8d2df785bf3",
    "pedestrians": "No"
  },
  "0c54c8dfbe56567f": {
    "vx_ego": [
      7.004084096002087,
      6.615797023801702,
      6.252623001265636,
      5.972846556144984,
      5.774509436314398,
      5.585170811861124,
      5.331158858923508,
      5.016109349584539,
      4.68441423553929,
      4.346306592855886
    ],
    "vy_ego": [
      0.0025071304502048974,
      0.015580518705469615,
      0.021342496846630143,
      0.020354150442746965,
      0.01377360809483208,
      0.0019485661518782171,
      -0.017912664058169936,
      -0.001662611175597295,
      0.007074541273417445,
      -0.017928206520920476
    ],
    "v_ego": [
      7.004084544719064,
      6.615815370209978,
      6.252659426046468,
      5.972881237283497,
      5.774525862992041,
      5.5851711517710445,
      5.331188952064282,
      5.01610962512437,
      4.684419577627241,
      4.346343568988949
    ],
    "ax_ego": [
      -0.7766987241077876,
      -0.7765403823655651,
      -0.676351696118352,
      -0.4427871417557774,
      -0.3506362063516054,
      -0.40676021929417405,
      -0.6090843995076899,
      -0.6508312899938865,
      -0.6761489768391137,
      -0.676218202658691
    ],
    "ay_ego": [
      0.060315209986506024,
      0.06232071187009834,
      0.011434186649684763,
      -0.006682376421830841,
      0.009560709399975654,
      -0.03987193686132973,
      0.028058317430044978,
      0.10995804742247486,
      -0.025680018498239372,
      -0.02378778999627984
    ],
    "a_ego": [
      0.7790371188758476,
      0.7790371214341804,
      0.6764483405748819,
      0.4428375628364129,
      0.35076652686491677,
      0.40870973483551676,
      0.6097303296545518,
      0.6600546494253863,
      0.6766364623863025,
      0.6766364729748594
    ],
    "yaw": [
      -1.6565201266119627,
      -1.6539377789899394,
      -1.651963726996105,
      -1.6516059912328385,
      -1.6503606949015706,
      -1.649613843605941,
      -1.646530420589591,
      -1.6430056976765717,
      -1.6404647405301827,
      -1.637666345414624
    ],
    "yaw_diff": [
      0.005164695244046502,
      0.003948103987668983,
      0.0007154715265329514,
      0.0024905926625358177,
      0.0014937025912589164,
      0.006166846032700235,
      0.007049445826038614,
      0.005081914292778045,
      0.005596790231117144,
      0.005596790231117144
    ],
    "min_front_frame": [
      9,
      17.27587169366179
    ],
    "v_avg": 5.658319931682693,
    "v_std": 0.7992581155102321,
    "vy_max": 0.021342496846630143,
    "a_max": 0.7790371214341804,
    "ax_avg": -0.6042057238992643,
    "a_std": 0.14437834135736924,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0c54c8dfbe56567f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.11922210010657,
    "right_rear_min": 7.607902474949201,
    "speed_mode": "decelerating",
    "front_frame": [
      23.819190210431554,
      23.014361552348642,
      22.2271340406013,
      21.406186960715278,
      20.769876262522967,
      20.051520173456346,
      19.29729071836061,
      18.545372782279735,
      17.777106245176345,
      17.27587169366179
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0c54c8dfbe56567f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5bb6cc197a7455e4": {
    "vx_ego": [
      8.367471020479115,
      7.848924941475706,
      7.26824199214192,
      6.657429944328177,
      6.118754345625202,
      5.551847240577793,
      4.906679265018704,
      4.26398870159476,
      3.602654062712427,
      2.911007280150262
    ],
    "vy_ego": [
      0.030572711675177278,
      -0.0037048116687139476,
      0.0183494213746358,
      -0.010464846693884144,
      -0.03250356868269444,
      -0.006361268012536669,
      0.010955713832859981,
      0.0018142188443999174,
      -0.011760591236545714,
      -0.023401301033117772
    ],
    "v_ego": [
      8.367526872933064,
      7.848925815839318,
      7.268265154601883,
      6.65743816919495,
      6.118840676474949,
      5.551850884924953,
      4.906691496052108,
      4.2639890875467525,
      3.602673258440819,
      2.9111013390086353
    ],
    "ax_ego": [
      -1.037091354115623,
      -1.0371366030443074,
      -1.2851331009196931,
      -1.1581332689271067,
      -0.9946984794496035,
      -1.2721418690449993,
      -1.309049143837955,
      -1.2620606394046812,
      -1.3832711104395796,
      -1.3832810369154587
    ],
    "ay_ego": [
      -0.05570650056203569,
      -0.054857628589137286,
      -0.108018846596102,
      -0.028120843981990773,
      0.18651500742313093,
      0.1750555496902707,
      0.06927684763518405,
      0.014986208797280742,
      -0.02039974849225612,
      -0.01971508469724348
    ],
    "a_ego": [
      1.0385863907187716,
      1.0385863915865203,
      1.2896647464746094,
      1.1584746222779527,
      1.0120340473587852,
      1.2841298144870974,
      1.3108809795710485,
      1.2621496123632365,
      1.3834215245959183,
      1.3834215234896867
    ],
    "yaw": [
      2.5907792857997465,
      2.5915977762755924,
      2.583326834804562,
      2.582575332362273,
      2.5922549871682365,
      2.6032004553342474,
      2.6115624901037213,
      2.6181587140528606,
      2.621253939494763,
      2.6217489002749885
    ],
    "yaw_diff": [
      0.0016369809516918465,
      -0.016541882942060937,
      -0.0015030048845776633,
      0.01935930961192689,
      0.02189093633202166,
      0.016724069538947894,
      0.013192447898278559,
      0.006190450883805099,
      0.000989921560450746,
      0.000989921560450746
    ],
    "min_front_frame": [
      9,
      63.82223883983211
    ],
    "v_avg": 5.749730275501743,
    "v_std": 1.7363919723836212,
    "vy_max": 0.03250356868269444,
    "a_max": 1.3834215245959183,
    "ax_avg": -1.2121996606099008,
    "a_std": 0.13605975190980168,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5bb6cc197a7455e4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      67.3545745991665,
      65.38402376069754,
      63.82223883983211
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5bb6cc197a7455e4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d6981f197dd555fd": {
    "vx_ego": [
      5.173465137726383,
      5.039962942709128,
      4.755579531791913,
      4.16182961832021,
      3.410909539828256,
      2.6984854872254687,
      2.0884805645775617,
      1.6479348270178977,
      1.3583155170662704,
      1.1152168565523168
    ],
    "vy_ego": [
      -0.04180359091642449,
      0.00029971027579023257,
      0.038299364775721934,
      0.052567125379269886,
      0.04502077162023843,
      0.048327881242727244,
      0.04495403631812667,
      0.01456281039185281,
      -0.012084475474825052,
      -0.01986007364330722
    ],
    "v_ego": [
      5.173634029527386,
      5.039962951620527,
      4.755733752486614,
      4.162161586795735,
      3.4112066426366914,
      2.698918210852616,
      2.0889643209015087,
      1.647999171585052,
      1.3583692717558473,
      1.1153936792287953
    ],
    "ax_ego": [
      -0.26701270829129686,
      -0.2668940427323274,
      -0.8706956680066293,
      -1.5044206343678486,
      -1.4993243373169984,
      -1.3501091510596939,
      -1.0897911053513563,
      -0.672249284430934,
      -0.48623978071028245,
      -0.48622096489307765
    ],
    "ay_ego": [
      0.0965715969902749,
      0.09689906652360332,
      0.06722004501656342,
      -0.00032321632721821203,
      -0.025145034850903913,
      0.018993704675751677,
      -0.03773668874599012,
      -0.09093882419097654,
      -0.01786793976123513,
      -0.01837298269230067
    ],
    "a_ego": [
      0.2839398875366144,
      0.28393988648858604,
      0.8732865971360944,
      1.5044206690884547,
      1.4995351750621624,
      1.3502427487649904,
      1.0904442722947572,
      0.6783722946606385,
      0.486567968136513,
      0.48656797386857165
    ],
    "yaw": [
      -0.7388140797985526,
      -0.7375873842490629,
      -0.7369780988013501,
      -0.7364367827122411,
      -0.7361252726816161,
      -0.737721078241651,
      -0.7382767455729846,
      -0.7392556200841869,
      -0.7396302486476046,
      -0.7406689542952138
    ],
    "yaw_diff": [
      0.0024533910989794627,
      0.0012185708954255414,
      0.0010826321782180237,
      0.0006230200612500347,
      -0.003191611120069826,
      -0.0011113346626672183,
      -0.0019577490224045313,
      -0.0007492571268354897,
      -0.0020774112952184343,
      -0.0020774112952184343
    ],
    "min_front_frame": [
      9,
      11.381731887214151
    ],
    "v_avg": 3.1452343617390772,
    "v_std": 1.4924057736080567,
    "vy_max": 0.052567125379269886,
    "a_max": 1.5044206690884547,
    "ax_avg": -0.8492957677160442,
    "a_std": 0.4575031660485423,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d6981f197dd555fd",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 28.894172681306948,
    "right_rear_min": 10.023262067773402,
    "speed_mode": "decelerating",
    "front_frame": [
      17.260470969089862,
      16.339099066656445,
      15.043825960872267,
      14.027720311759971,
      13.198529411372686,
      12.510827564553034,
      12.186481820718491,
      11.763897989163286,
      11.617963216328956,
      11.381731887214151
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d6981f197dd555fd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f8b10bcaa98a53e8": {
    "vx_ego": [
      5.047919436010781,
      4.509739100408141,
      3.9283431611336113,
      3.3298004849481857,
      2.831957005206296,
      2.526322283365658,
      2.445089522223966,
      2.684106850122105,
      3.1888637889693956,
      3.745086134000337
    ],
    "vy_ego": [
      0.006995004950161476,
      -0.023675793554593927,
      -0.01644584274685057,
      -0.03215916058903168,
      -0.011864102077371097,
      0.022219497845263225,
      0.023225159386591865,
      -0.015294915642722673,
      -0.04314426080837652,
      0.015310384411073574
    ],
    "v_ego": [
      5.04792428256899,
      4.509801248054116,
      3.928377585895845,
      3.329955777659962,
      2.831981856625341,
      2.5264199938874707,
      2.445199824087585,
      2.6841504274755033,
      3.189155639325392,
      3.7451174292607177
    ],
    "ax_ego": [
      -1.0766838337953388,
      -1.0754055648202119,
      -1.246662183073885,
      -1.143987994975109,
      -0.8477751453464701,
      -0.37374072753005333,
      0.049704023765323055,
      0.906547022479414,
      1.1118769664642385,
      1.1119007888706571
    ],
    "ay_ego": [
      0.075851745111922,
      0.0922195228830398,
      0.27958922297028865,
      0.2555009565376225,
      0.0338880581113884,
      -0.05817918773235753,
      -0.04255578477533251,
      -0.13933173006390998,
      -0.01088119440802282,
      0.008089561030113324
    ],
    "a_ego": [
      1.0793523823074431,
      1.0793523841855608,
      1.2776293407352834,
      1.172172884620187,
      0.8484521775266944,
      0.37824191901465715,
      0.0654330558380718,
      0.9171918201602615,
      1.1119302086666512,
      1.1119302160157578
    ],
    "yaw": [
      1.076111935387237,
      1.0913226994934346,
      1.1115373828179536,
      1.1528688994046175,
      1.1699692462355347,
      1.154642012383663,
      1.14387687876672,
      1.1410480615200287,
      1.1377143347367604,
      1.1206530146895797
    ],
    "yaw_diff": [
      0.030421528212395188,
      0.040429366649037846,
      0.0826630331733278,
      0.034200693661834425,
      -0.03065446770374347,
      -0.021530267233885958,
      -0.005657634493382524,
      -0.00666745356653653,
      -0.0341226400943615,
      -0.0341226400943615
    ],
    "min_front_frame": [
      0,
      18.005577794602274
    ],
    "v_avg": 3.423808406484092,
    "v_std": 0.8306121793307797,
    "vy_max": 0.04314426080837652,
    "a_max": 1.2776293407352834,
    "ax_avg": -0.2584226647961435,
    "a_std": 0.3663820169174641,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f8b10bcaa98a53e8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.5928147579091885,
    "right_rear_min": 8.979862909030636,
    "speed_mode": "decelerating",
    "front_frame": [
      18.005577794602274,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f8b10bcaa98a53e8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "541d2d0ac174524b": {
    "vx_ego": [
      7.473580857409889,
      6.9224540225646605,
      6.5064077144557695,
      6.219831053843615,
      6.018279257579451,
      5.948394713155416,
      5.929548835874009,
      5.9953094432232135,
      6.231387685973982,
      6.655353593791084
    ],
    "vy_ego": [
      -0.011547742734243416,
      -0.0916002127951332,
      -0.021321805708759967,
      0.04816298894467515,
      0.03707567811299417,
      0.0010645527698538437,
      0.03087613505652076,
      0.04862372889099964,
      0.04743558128645775,
      0.0252799222153266
    ],
    "v_ego": [
      7.473589778854991,
      6.923060038271065,
      6.506442650644685,
      6.22001752504456,
      6.018393459065185,
      5.948394808414107,
      5.929629223883298,
      5.9955066163763595,
      6.231568231776024,
      6.655401605677535
    ],
    "ax_ego": [
      -1.1247087897729033,
      -1.0880012766072606,
      -0.5731407109510331,
      -0.5526520040636099,
      -0.22682276851783406,
      -0.030045465239880276,
      -0.010655798902551084,
      0.33789586859661613,
      0.6431356947031049,
      1.0650693348550382
    ],
    "ay_ego": [
      -0.7861241250405725,
      -0.8361903000154114,
      -1.35340697748126,
      -1.5719106312939108,
      -1.6411835656014304,
      -1.814908548465972,
      -2.095864129562005,
      -2.4379977114475606,
      -2.421365773196518,
      -2.2676558546815797
    ],
    "a_ego": [
      1.3722102614990295,
      1.3722102593039058,
      1.4697621308376452,
      1.6662314576223634,
      1.6567836504258242,
      1.815157229904986,
      2.095891217509857,
      2.461301781382812,
      2.505321482247102,
      2.5053214890149724
    ],
    "yaw": [
      -2.882350762957762,
      -2.9275963065318455,
      -3.0204124612951198,
      3.137035635005538,
      3.006889983367845,
      2.8681553812617535,
      2.698848750752901,
      2.504959338277504,
      2.3058479165113246,
      2.126364701840029
    ],
    "yaw_diff": [
      -0.090491087148167,
      -0.1856323095265484,
      -0.2514744217578553,
      -0.26029130327538574,
      -0.27746920421218313,
      -0.33861326101770484,
      -0.38777882495079385,
      -0.39822284353235915,
      -0.3589664293425905,
      -0.3589664293425905
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.3902003938007805,
    "v_std": 0.47926859166338087,
    "vy_max": 0.0916002127951332,
    "a_max": 2.5053214890149724,
    "ax_avg": -0.15599259159003137,
    "a_std": 0.44145817183271646,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "541d2d0ac174524b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "541d2d0ac174524b",
    "pedestrians": "No"
  },
  "9b7ffde4ab9c53a5": {
    "vx_ego": [
      1.5178905303262642,
      0.9732453476570744,
      0.4721567894970074,
      0.1167505727454981,
      -0.023744696266159507,
      -0.030855690302742975,
      -0.018927800272172272,
      -0.010115846169641953,
      0.005134393004919564,
      0.028346643518235466
    ],
    "vy_ego": [
      0.027390884556877104,
      0.054794272493527474,
      0.06917679394284051,
      0.06984560342128487,
      0.04465968231773039,
      0.01305153322637937,
      0.005990674866120143,
      0.004304966799565071,
      0.002980221956055782,
      0.001574505826486397
    ],
    "v_ego": [
      1.51813764942806,
      0.9747866017925332,
      0.4771975090969478,
      0.13604816997550995,
      0.05057961867682248,
      0.03350247966372148,
      0.019853206504109315,
      0.01099377473269383,
      0.0059366416799672105,
      0.028390337570158627
    ],
    "ax_ego": [
      -1.0894140231319351,
      -1.089349669494732,
      -0.915227608973497,
      -0.5065672696237511,
      -0.05548169839822431,
      0.02704086035866965,
      0.020670769400496516,
      0.014577894353263137,
      0.04642399334527027,
      0.04642353692469475
    ],
    "ay_ego": [
      0.05698155367653357,
      0.058198729930110105,
      0.001595234828100367,
      0.0016753522313398272,
      -0.10242860176345386,
      -0.02399782525661731,
      -0.00424540915994084,
      -0.0024950914817857862,
      -0.002802283410435473,
      -0.0028097721035945968
    ],
    "a_ego": [
      1.0909032089309758,
      1.0909032012941202,
      0.9152289992135854,
      0.5065700400331243,
      0.11648964467439905,
      0.036153889776678404,
      0.021102232264474125,
      0.01478987779791913,
      0.046508493315029036,
      0.046508489546239144
    ],
    "yaw": [
      -0.7021421434518045,
      -0.7010248249176286,
      -0.7002173721577336,
      -0.6996057924856756,
      -0.6993642031452842,
      -0.6994052855126691,
      -0.6994074686681934,
      -0.6994500373487547,
      -0.6995125818344726,
      -0.6993511631462229
    ],
    "yaw_diff": [
      0.002234637068351697,
      0.0016149055197900442,
      0.0012231593441160982,
      0.0004831786807826255,
      -8.216473476974073e-05,
      -4.3663110484981615e-06,
      -8.513736112258918e-05,
      -0.00012508897143592712,
      0.00032283737649940747,
      0.00032283737649940747
    ],
    "min_front_frame": [
      3,
      9.478885770784338
    ],
    "v_avg": 0.32554259891205234,
    "v_std": 0.4946144512309901,
    "vy_max": 0.06984560342128487,
    "a_max": 1.0909032089309758,
    "ax_avg": -0.3500903215239745,
    "a_std": 0.44551303790194613,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9b7ffde4ab9c53a5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.573482610518964,
      9.911519936754399,
      9.597957045953793,
      9.478885770784338,
      9.487299370663209,
      9.492324869002656,
      9.537244356835448,
      9.68848024182302,
      10.39598004348593,
      11.579836180406327
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9b7ffde4ab9c53a5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "700237dffc2d5be7": {
    "vx_ego": [
      3.069235846314986,
      3.0114423055479818,
      2.9419207563725136,
      2.847018653241565,
      2.7611784034097933,
      2.6935344984435132,
      2.6446688069416746,
      2.697895577726434,
      2.932822916707854,
      3.2712441864029262
    ],
    "vy_ego": [
      -0.14427253082558766,
      -0.023771830865483068,
      0.04490885786270815,
      0.03184947176098252,
      -0.010885039746875824,
      -0.06262289854749814,
      -0.07434870200646548,
      -0.0592058018048478,
      -0.017259576061437354,
      0.023995553506836353
    ],
    "v_ego": [
      3.0726248133242184,
      3.0115361295503065,
      2.9422635066033695,
      2.8471967969841616,
      2.761199858675019,
      2.6942623706179467,
      2.645713670808001,
      2.698545140493893,
      2.9328737023152875,
      3.27133219249636
    ],
    "ax_ego": [
      -0.11581833831917843,
      -0.1166658340790459,
      -0.1605051261895455,
      -0.2173647593103701,
      -0.12455885480779255,
      -0.14926552420781738,
      -0.057917965139196365,
      0.25803440344643974,
      0.6748921290878781,
      0.6788704278313784
    ],
    "ay_ego": [
      0.21751026634057538,
      0.217056873650753,
      -0.011968125915753747,
      -0.13426672533831263,
      -0.22286818634542604,
      -0.2535248867000768,
      -0.22787343904037785,
      -0.15552853370240297,
      -0.1322753472724702,
      -0.11005045916189882
    ],
    "a_ego": [
      0.24642362600725545,
      0.24642362557270847,
      0.16095071162022634,
      0.25548971040558366,
      0.2553138006374279,
      0.2942024216306203,
      0.2351186825965856,
      0.30128205747700865,
      0.6877326176653408,
      0.6877326234414822
    ],
    "yaw": [
      1.03177752563079,
      1.027877143372692,
      1.022039615346404,
      1.0139408485033101,
      0.9972718513527866,
      0.9726029797296425,
      0.9317370640826118,
      0.8895691773601079,
      0.8483564789508727,
      0.8155251896495287
    ],
    "yaw_diff": [
      -0.007800764516195713,
      -0.011675056052576238,
      -0.016197533686187704,
      -0.033337994301047,
      -0.04933774324628826,
      -0.08173183129406136,
      -0.08433577344500787,
      -0.08242539681847028,
      -0.0656625786026881,
      -0.0656625786026881
    ],
    "min_front_frame": [
      8,
      31.68389097748379
    ],
    "v_avg": 2.8877548181868566,
    "v_std": 0.18738246938528588,
    "vy_max": 0.14427253082558766,
    "a_max": 0.6877326234414822,
    "ax_avg": 0.066970055831275,
    "a_std": 0.1789502662418731,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "700237dffc2d5be7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.299549624674816,
    "speed_mode": "quasi_constant",
    "front_frame": [
      43.12247063388616,
      41.56011310272125,
      40.05558578677204,
      38.59755283413988,
      37.19742722676188,
      35.81235674026844,
      34.4532928936081,
      33.10694842363357,
      31.68389097748379,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "700237dffc2d5be7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ebfb953d479d5982": {
    "vx_ego": [
      3.267261952608828,
      3.3344660668019737,
      3.386894555534316,
      3.412630361292961,
      3.4244271903025942,
      3.376709068683499,
      3.2389793623022634,
      3.085512768363335,
      3.0153413982885904,
      3.027988615065477
    ],
    "vy_ego": [
      0.016367456315387496,
      0.020167476687195318,
      0.03000353525790289,
      0.028702713655340606,
      0.025377712637685956,
      0.018597174086885104,
      0.022235114521900856,
      0.008606492834043022,
      -0.027887689476661315,
      -0.05320563973600556
    ],
    "v_ego": [
      3.267302949007252,
      3.334527054586565,
      3.3870274493183494,
      3.412751064550373,
      3.4245212234679525,
      3.3767602801225616,
      3.239055681790262,
      3.0855247714857317,
      3.0154703565873997,
      3.0284560246214345
    ],
    "ax_ego": [
      0.13434064144391364,
      0.13436666812422376,
      0.07514021285001027,
      0.02882545780043172,
      0.01588466832736407,
      -0.21331372979456587,
      -0.3451475452818563,
      -0.27536930405586163,
      -0.0020388425121214415,
      0.0709476855771354
    ],
    "ay_ego": [
      0.017547385237935392,
      0.0173469869337984,
      0.18348142837570272,
      0.46117181679540464,
      0.6152983905093958,
      0.6522680765876794,
      0.6611660949515651,
      0.6628213695105618,
      0.6402714161957727,
      0.6363317302744858
    ],
    "a_ego": [
      0.13548180199661755,
      0.135481804898247,
      0.19827124387044373,
      0.46207180353682986,
      0.6155033972703345,
      0.6862626254243049,
      0.7458333816125375,
      0.7177467669701246,
      0.6402746623724302,
      0.6402746637521064
    ],
    "yaw": [
      0.7379419734989114,
      0.7394335760080586,
      0.7514197878690876,
      0.7991164147919603,
      0.8787324892911421,
      0.9730490914539695,
      1.0706517426621551,
      1.1798258428689807,
      1.2997865709235814,
      1.4140071149563584
    ],
    "yaw_diff": [
      0.0029832050182942993,
      0.02397242372205799,
      0.09539325384574537,
      0.1592321489983637,
      0.18863320432565467,
      0.19520530241637135,
      0.21834820041365122,
      0.23992145610920135,
      0.22844108806555408,
      0.22844108806555408
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.2571396855537884,
    "v_std": 0.15165173470867668,
    "vy_max": 0.05320563973600556,
    "a_max": 0.7458333816125375,
    "ax_avg": -0.03763640875213266,
    "a_std": 0.23524674621682334,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "ebfb953d479d5982",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ebfb953d479d5982",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "b999dd3826b058a7": {
    "vx_ego": [
      4.862823054186897,
      4.650408453259127,
      4.542857921303719,
      4.523836781931288,
      4.546973286352855,
      4.570144606134899,
      4.565711950928766,
      4.576641086076904,
      4.571729836579132,
      4.533483357442772
    ],
    "vy_ego": [
      -0.018986376926780957,
      -0.00847552071090299,
      0.00018759149182234758,
      0.023428723019955244,
      0.03495547597551285,
      0.044104540675620196,
      0.05256147984590109,
      0.016710167574910173,
      -0.010421509737618795,
      -0.011442829797242204
    ],
    "v_ego": [
      4.862860119193271,
      4.65041617670884,
      4.542857925176894,
      4.523897449613196,
      4.547107646857192,
      4.570357418352761,
      4.566014490561473,
      4.576671591939667,
      4.571741714766164,
      4.5334977986720535
    ],
    "ax_ego": [
      -0.49606417702724825,
      -0.3571207618798032,
      -0.07900691590176082,
      0.0051972062771078464,
      0.10109065504525638,
      -0.0007548317951280858,
      -0.011967663239119408,
      0.05530857309380459,
      -0.07656368257141137,
      -0.07651665228429115
    ],
    "ay_ego": [
      -1.111070253928007,
      -1.163194540227154,
      -1.1023306354631768,
      -1.0446123792110038,
      -1.0440222296730488,
      -0.8711318853790914,
      -0.6056569119981173,
      -0.31083455842396834,
      -0.021657194229528595,
      -0.02182277444734919
    ],
    "a_ego": [
      1.2167813184353904,
      1.2167813184709366,
      1.105158324694231,
      1.0446253078276253,
      1.048905017906275,
      0.8711322124081793,
      0.6057751398122081,
      0.31571690003592795,
      0.07956777960199322,
      0.0795677796685002
    ],
    "yaw": [
      1.6434576543685018,
      1.5214217898372877,
      1.3955337428824197,
      1.2718801456047104,
      1.1540339546808767,
      1.047395532428438,
      0.9647927461681819,
      0.9224406677069283,
      0.910244066078141,
      0.9080807601421215
    ],
    "yaw_diff": [
      -0.24407172906242813,
      -0.251776093909736,
      -0.2473071945554186,
      -0.2356923818476675,
      -0.21327684450487716,
      -0.16520557252051238,
      -0.0847041569225071,
      -0.024393203257574658,
      -0.004326611872039088,
      -0.004326611872039088
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.594542233184151,
    "v_std": 0.0953901265585087,
    "vy_max": 0.05256147984590109,
    "a_max": 1.2167813184709366,
    "ax_avg": -0.09363982502825932,
    "a_std": 0.4313216766732417,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "b999dd3826b058a7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 29.678822266549915,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b999dd3826b058a7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c3e80fd14bce51a0": {
    "vx_ego": [
      5.216848049395063,
      5.3225440161454545,
      5.436049453933486,
      5.547150346457842,
      5.667539110333362,
      5.780470770491218,
      5.882371254276213,
      5.9999770765989595,
      6.106302866960984,
      6.194284647712487
    ],
    "vy_ego": [
      -0.04024446020540029,
      0.050190358980756855,
      0.011538947982784542,
      -0.009676279400856469,
      -0.03131186559719801,
      -0.034050550539132196,
      -0.0265480039772239,
      7.10659532243696e-05,
      0.013778499928850607,
      0.06216199185443072
    ],
    "v_ego": [
      5.217003276504079,
      5.322780652623251,
      5.436061700618482,
      5.547158785954338,
      5.667625605144138,
      5.780571059030012,
      5.882431161488444,
      5.999977077019825,
      6.106318412113491,
      6.194596549422562
    ],
    "ax_ego": [
      0.19254415720415669,
      0.23111170851875082,
      0.2259184183902401,
      0.21703303820258102,
      0.2621601022002609,
      0.18516211175282016,
      0.21904080232538425,
      0.24922540603331814,
      0.17613208350829748,
      0.17859062732137948
    ],
    "ay_ego": [
      -0.5605988538313547,
      -0.5458312062518154,
      -0.4523943859547356,
      -0.3568582622354166,
      -0.3502459735637399,
      -0.2913380543711518,
      -0.2621945680524292,
      -0.18205875607327754,
      -0.13376879380786622,
      -0.13046834352047984
    ],
    "a_ego": [
      0.5927430534308163,
      0.5927430535508348,
      0.5056676895069625,
      0.4176735076553508,
      0.43749304129695965,
      0.3451997531191644,
      0.34165020796063916,
      0.3086400714026315,
      0.22117097693365037,
      0.22117097645943914
    ],
    "yaw": [
      2.951234673244751,
      2.881547590935596,
      2.8423505455348774,
      2.809382936962113,
      2.7816894776099783,
      2.754194261048766,
      2.729160208767995,
      2.7059722465755804,
      2.690687144445974,
      2.672079058881756
    ],
    "yaw_diff": [
      -0.1393741646183102,
      -0.07839409080143689,
      -0.06593521714552875,
      -0.05538691870426948,
      -0.05499043312242424,
      -0.05006810456154209,
      -0.0463759243848294,
      -0.030570204259213085,
      -0.03721617112843578,
      -0.03721617112843578
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.7154524279918615,
    "v_std": 0.31729228313403296,
    "vy_max": 0.06216199185443072,
    "a_max": 0.5927430535508348,
    "ax_avg": 0.2136918455457189,
    "a_std": 0.12879147374567626,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "c3e80fd14bce51a0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c3e80fd14bce51a0",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "380ae43ebd795e88": {
    "vx_ego": [
      4.47393612923502,
      4.859455218711533,
      5.3769041664001005,
      5.935777820922525,
      6.494454627209818,
      6.974522040078893,
      7.411561584224817,
      7.809344522550858,
      8.154741768392666,
      8.481415715975851
    ],
    "vy_ego": [
      -0.18882397660458614,
      -0.030277358445257363,
      -0.03979180437915408,
      -0.1387109237087092,
      -0.14512165571535496,
      -0.1249315230534438,
      -0.1506068060413801,
      -0.13790281018081396,
      -0.09598969039303196,
      0.041608713026696
    ],
    "v_ego": [
      4.477919046009564,
      4.859549540965415,
      5.377051404101183,
      5.937398341000197,
      6.4960758308262205,
      6.97564087184817,
      7.413091630809851,
      7.81056201927562,
      8.155306697471879,
      8.481517778805978
    ],
    "ax_ego": [
      0.5456581732140646,
      1.0740050161239392,
      1.0749354192963558,
      1.2056593396549489,
      1.0588508376582815,
      0.9229888244225227,
      0.8720803048064243,
      0.7359701651473797,
      0.6530379876676015,
      0.6539682256284056
    ],
    "ay_ego": [
      2.4594180959304537,
      2.2788140356126223,
      2.650855451592226,
      2.31629344305965,
      1.5616876449147146,
      1.5710853316373168,
      1.3596272103091818,
      0.7155615233357648,
      0.32403499054467594,
      0.32215345312582
    ],
    "a_ego": [
      2.519222144350412,
      2.519222138590495,
      2.8605105804548345,
      2.6112889073517573,
      1.8868050764954263,
      1.8221463962302282,
      1.6152740352783468,
      1.0264893461043136,
      0.7290111716799946,
      0.7290111710340625
    ],
    "yaw": [
      -3.0458707164677694,
      -2.8237738556621528,
      -2.5822975373748616,
      -2.345693667151959,
      -2.1894531824158463,
      -2.076560367107067,
      -1.9713220391462896,
      -1.9049949546814928,
      -1.8777225167523302,
      -1.874843363173285
    ],
    "yaw_diff": [
      0.44419372161123327,
      0.48295263657458243,
      0.4732077404458055,
      0.31248096947222503,
      0.2257856306175583,
      0.21047665592155518,
      0.13265416892959347,
      0.05454487585832535,
      0.005758307158090226,
      0.005758307158090226
    ],
    "min_front_frame": [
      8,
      58.95734628202018
    ],
    "v_avg": 6.598411316111407,
    "v_std": 1.330585853618951,
    "vy_max": 0.18882397660458614,
    "a_max": 2.8605105804548345,
    "ax_avg": 0.8797154293619924,
    "a_std": 0.7577440606368417,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "380ae43ebd795e88",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      70.23614111367095,
      66.62157587544111,
      62.95186298968196,
      58.95734628202018,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "380ae43ebd795e88",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "80a81ca168f454b9": {
    "vx_ego": [
      2.434847077232911,
      2.1596635396483608,
      1.914053641250553,
      1.6972019192438534,
      1.4968366465964091,
      1.2838362576728226,
      1.0462316347527219,
      0.7834001953344336,
      0.49548383361984316,
      0.21310010203716007
    ],
    "vy_ego": [
      -0.015170333774311096,
      -0.001453546967067454,
      -0.00031843061547143225,
      -0.02325367261353306,
      -0.05516138869548182,
      -0.03745816253139139,
      0.010641283948188085,
      0.026542111319663664,
      0.022693284786141937,
      0.018515879387056122
    ],
    "v_ego": [
      2.4348943362159425,
      2.159664028798293,
      1.9140536677383313,
      1.6973612131703248,
      1.497852704840098,
      1.284382595045412,
      1.0462857499179747,
      0.7838496984265122,
      0.49600324046623057,
      0.21390299501812507
    ],
    "ax_ego": [
      -0.5503681365362263,
      -0.5503758827306601,
      -0.4320556505227913,
      -0.43537895145923333,
      -0.36613723275126825,
      -0.4859030928921209,
      -0.46449330627797103,
      -0.5870054514238568,
      -0.5648068922268725,
      -0.5648149314064065
    ],
    "ay_ego": [
      0.026151632029304206,
      0.025988282200451046,
      -0.024460765868111217,
      -0.07682452037261578,
      -0.05287937972450721,
      0.12289461150171968,
      0.07308033804990771,
      -0.003770947282003251,
      -0.007903871767865528,
      -0.0073062404411907145
    ],
    "a_ego": [
      0.5509891047671944,
      0.550989113416303,
      0.4327475178617746,
      0.44210500823246046,
      0.36993607827137515,
      0.5012034529193586,
      0.470207153695613,
      0.5870175636594953,
      0.5648621926593255,
      0.5648621848637135
    ],
    "yaw": [
      1.1293329754298997,
      1.1290361841638918,
      1.128663676631763,
      1.1273425136692765,
      1.1270162298175492,
      1.1268743269109116,
      1.1276437041377,
      1.1291773834986294,
      1.1306383091507453,
      1.131696411588486
    ],
    "yaw_diff": [
      -0.0005935825320158017,
      -0.0007450150642576148,
      -0.0026423259249730435,
      -0.0006525677034545652,
      -0.0002838058132752508,
      0.0015387544535769848,
      0.003067358721858593,
      0.0029218513042317262,
      0.0021162048754814755,
      0.0021162048754814755
    ],
    "min_front_frame": [
      9,
      9.012420742049349
    ],
    "v_avg": 1.3528250229637244,
    "v_std": 0.6877680968974347,
    "vy_max": 0.05516138869548182,
    "a_max": 0.5870175636594953,
    "ax_avg": -0.5001339528227408,
    "a_std": 0.06836996259125498,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "80a81ca168f454b9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.01203336869767,
      13.884358061010898,
      12.83244009781927,
      11.95882560976452,
      11.166902644621757,
      10.493392233961027,
      9.910401674532174,
      9.502117232939714,
      9.203939241370248,
      9.012420742049349
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "80a81ca168f454b9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ebb383e16f7c5121": {
    "vx_ego": [
      0.9810506696365867,
      0.5977310315943251,
      0.2809763336084954,
      0.0567475877303121,
      -0.044155375758641625,
      -0.03388477527494021,
      -0.01695110252157133,
      -0.011323644069252363,
      -0.00868611495237878,
      -0.004885132086082136
    ],
    "vy_ego": [
      -0.003743801403326197,
      0.004114543703869322,
      0.008475768023244262,
      0.0007581987931819731,
      -0.006252892374767416,
      -0.0038676951726634608,
      -0.002056484857578423,
      -0.0014158701351151674,
      -0.0010627734325893141,
      -0.0008321621898461421
    ],
    "v_ego": [
      0.9810578129974517,
      0.597745192871266,
      0.2811041420748836,
      0.05675265261306691,
      0.04459591765439143,
      0.03410479528426821,
      0.017075391845175068,
      0.011411818577537291,
      0.00875089025956536,
      0.004955502942051263
    ],
    "ax_ego": [
      -0.7666469459106647,
      -0.7666319769233447,
      -0.5004117136284911,
      -0.3965064873526059,
      -0.007090552299771379,
      0.04817272912426081,
      0.019562125189830776,
      0.002948066304219086,
      0.007601871808415452,
      0.007601865151721407
    ],
    "ay_ego": [
      0.016763302749284725,
      0.01743449191292329,
      0.0012246658573739078,
      -0.0320381323043044,
      0.003906960337214566,
      0.005635648035942183,
      0.0016075839728364244,
      0.0009521363417254092,
      0.0004616929991889721,
      0.0004620698616555983
    ],
    "a_ego": [
      0.7668301950192193,
      0.7668301960340748,
      0.500413212198744,
      0.3977987386031413,
      0.008095694596040598,
      0.04850126142755902,
      0.019628068375984742,
      0.0030980088036198714,
      0.007615879162452732,
      0.007615895373625268
    ],
    "yaw": [
      1.1358490442710243,
      1.1367245369898318,
      1.1374720960621194,
      1.1375632198282242,
      1.1380752648072314,
      1.1380653430124894,
      1.1380837171484026,
      1.13814040180468,
      1.1381062431106705,
      1.1380575074653216
    ],
    "yaw_diff": [
      0.0017509854376149825,
      0.0014951181445752582,
      0.00018224753220952294,
      0.0010240899580145069,
      -1.9843589484036528e-05,
      3.6748271826425594e-05,
      0.00011336931255456761,
      -6.831738801871268e-05,
      -9.74712906978148e-05,
      -9.74712906978148e-05
    ],
    "min_front_frame": [
      8,
      9.860423900109117
    ],
    "v_avg": 0.20375541171196568,
    "v_std": 0.314726284083118,
    "vy_max": 0.008475768023244262,
    "a_max": 0.7668301960340748,
    "ax_avg": -0.23514010185364304,
    "a_std": 0.30811680861889423,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ebb383e16f7c5121",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.08611286431187,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.60200705015602,
      10.234381856125859,
      10.003676844174983,
      9.976839814052575,
      9.936517601417167,
      9.894736126408059,
      9.88210299643645,
      9.870497323056895,
      9.860423900109117,
      9.872719192057842
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ebb383e16f7c5121",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c93008394b945625": {
    "vx_ego": [
      8.418262125252767,
      8.195768404113927,
      7.9619173314949805,
      7.735196282192592,
      7.553801923165025,
      7.406292060764759,
      7.252880073373538,
      7.052235142906623,
      6.753499506218371,
      6.390846904579735
    ],
    "vy_ego": [
      0.023813984145471423,
      0.006802889198845197,
      -0.033762627306029636,
      -0.031106687555586543,
      0.003746502839606869,
      -0.011085883809090369,
      -0.020465093480578567,
      0.0025599914488765307,
      0.016444359835799283,
      0.005987799719577858
    ],
    "v_ego": [
      8.418295808256332,
      8.19577122747906,
      7.961988916631494,
      7.735258828898797,
      7.5538028522523115,
      7.406300357544712,
      7.252908945987817,
      7.052235607550517,
      6.753519526695854,
      6.390849709664738
    ],
    "ax_ego": [
      -0.4452145264335372,
      -0.4443747901649577,
      -0.49121798306791536,
      -0.4163532711521452,
      -0.30929327802775164,
      -0.27994737345017634,
      -0.33522064436380333,
      -0.4680129944675978,
      -0.7261079135117477,
      -0.7239020780170805
    ],
    "ay_ego": [
      -0.13497540033528518,
      -0.1377148475546262,
      -0.13957115247145374,
      0.055376751243854744,
      -0.008437914032698335,
      -0.2630211027842476,
      -0.15436753317320162,
      -0.1250353593627368,
      -0.17663421527473575,
      -0.18546732623306839
    ],
    "a_ego": [
      0.4652250350562718,
      0.465225035193877,
      0.510661544950783,
      0.4200197983160026,
      0.3094083551334309,
      0.38412319952261964,
      0.36905584361402954,
      0.4844275013678481,
      0.7472833117834932,
      0.7472833115074167
    ],
    "yaw": [
      1.2147372737736806,
      1.208578388722208,
      1.2050215517849394,
      1.2019977067332448,
      1.1989682072611998,
      1.1918749142057745,
      1.1789305012797582,
      1.1659757683829106,
      1.1530992197182701,
      1.1409158533651964
    ],
    "yaw_diff": [
      -0.012317770102945325,
      -0.007113673874536985,
      -0.006047690103389236,
      -0.0060589989440900105,
      -0.014186586110850552,
      -0.02588882585203267,
      -0.02590946579369513,
      -0.025753097329280994,
      -0.02436673270614742,
      -0.02436673270614742
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.472093178096162,
    "v_std": 0.6040716956311342,
    "vy_max": 0.033762627306029636,
    "a_max": 0.7472833117834932,
    "ax_avg": -0.4639644852656713,
    "a_std": 0.1405070017887158,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c93008394b945625",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c93008394b945625",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "22e04303d53f54f5": {
    "vx_ego": [
      4.746541277897487,
      4.919825529550123,
      5.193337094754821,
      5.591690802617927,
      6.044023008621586,
      6.471250726977032,
      6.862527511805783,
      7.233261402727893,
      7.574133353910137,
      7.899087601913171
    ],
    "vy_ego": [
      -0.03789943149115249,
      -0.04728267434507227,
      -0.039521959376881854,
      -0.0186308729127031,
      0.007582055181499431,
      0.024948706157579936,
      0.012785341114290999,
      0.011294302020972868,
      0.008481840295653437,
      0.023950022360516965
    ],
    "v_ego": [
      4.746692582176779,
      4.920052732695694,
      5.193487476159873,
      5.591721840498453,
      6.044027764356143,
      6.471298819351468,
      6.862539421762084,
      7.233270220408694,
      7.574138103073433,
      7.899123910046571
    ],
    "ax_ego": [
      0.29353636720253584,
      0.38193804682097987,
      0.6903382329686287,
      0.8889818543149142,
      0.9131827032287301,
      0.7955839603802162,
      0.7695131289524342,
      0.7135548032636907,
      0.6499357996173716,
      0.649922373160697
    ],
    "ay_ego": [
      -0.9487818403910719,
      -0.9167736405145359,
      -0.7489219249941946,
      -0.5408042977014351,
      -0.1826420444873901,
      -0.026551148963613627,
      -0.01834550404518231,
      -0.04726961935422146,
      0.02087442558132835,
      0.02128836862611702
    ],
    "a_ego": [
      0.9931518411231646,
      0.9931518411359365,
      1.0185533494300918,
      1.0405565941905928,
      0.9312683640555308,
      0.7960268849263556,
      0.7697317800044619,
      0.7151187832623175,
      0.6502709322025878,
      0.6502709325916343
    ],
    "yaw": [
      0.3145677207040718,
      0.21986605922224467,
      0.13538426508404577,
      0.07144501284667398,
      0.03583733906548387,
      0.024730755300479912,
      0.024871562050401474,
      0.02275774628611822,
      0.022246883440928022,
      0.021609978903067775
    ],
    "yaw_diff": [
      -0.18940332296365425,
      -0.1689635882763978,
      -0.12787850447474358,
      -0.07121534756238022,
      -0.02221316753000792,
      0.0002816134998431252,
      -0.004227631528566506,
      -0.0010217256903803998,
      -0.0012738090757204931,
      -0.0012738090757204931
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.253635287052918,
    "v_std": 1.0716568297284625,
    "vy_max": 0.04728267434507227,
    "a_max": 1.0405565941905928,
    "ax_avg": 0.6746487269910199,
    "a_std": 0.1480899541153935,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "22e04303d53f54f5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "22e04303d53f54f5",
    "pedestrians": "No"
  },
  "6d7ca07eac51558e": {
    "vx_ego": [
      5.960698312873372,
      5.214239296094784,
      4.463264887675034,
      3.676775401815877,
      2.795004580379709,
      1.8065775462976035,
      0.8861317312970157,
      0.2124865309675411,
      -0.09511299259513374,
      -0.19074661113807523
    ],
    "vy_ego": [
      -0.08071706008780954,
      0.0376639709714256,
      0.03782486899026327,
      0.026163224792556,
      0.0022585221324550875,
      0.002628724847414887,
      0.006267532199413922,
      -0.0006446813051794661,
      -0.018038729757750144,
      -0.04395974289761538
    ],
    "v_ego": [
      5.961244804642792,
      5.214375323243271,
      4.463425162167162,
      3.6768684868689347,
      2.7950054928865122,
      1.8065794588063357,
      0.8861538958732378,
      0.21248750894253773,
      0.09680845588932356,
      0.19574659296213698
    ],
    "ax_ego": [
      -1.5342221348929082,
      -1.4529617613126238,
      -1.5435706056206,
      -1.6007531706120284,
      -1.9309158717824655,
      -2.026684608948662,
      -1.655387154129458,
      -1.0391330535320285,
      -0.1912675662640771,
      -0.1912673672461085
    ],
    "ay_ego": [
      -0.7688593857370067,
      -0.9131727164742182,
      -0.7799411420815592,
      -0.5650431828854969,
      -0.2938414278143233,
      -0.08487377748197254,
      -0.025220228161411812,
      -0.017712215434789916,
      -0.05184056794375659,
      -0.051841299410897226
    ],
    "a_ego": [
      1.716095077270266,
      1.7160950701955835,
      1.7294271883046806,
      1.697552506330757,
      1.9531458953701843,
      2.0284610083147894,
      1.655579261154639,
      1.0392839965661003,
      0.19816842934563106,
      0.198168428610281
    ],
    "yaw": [
      1.8440939711915232,
      1.7475473783410473,
      1.6602970931767014,
      1.5807288306183902,
      1.5225191159820874,
      1.481427285973937,
      1.4574563659939073,
      1.4493660431072477,
      1.449242298800737,
      1.4492384792675175
    ],
    "yaw_diff": [
      -0.19309318570095169,
      -0.17450057032869193,
      -0.15913652511662235,
      -0.11641942927260551,
      -0.08218366001630084,
      -0.04794183996005952,
      -0.016180645773319124,
      -0.00024748861302148484,
      -7.639066438969166e-06,
      -7.639066438969166e-06
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.5308695182282244,
    "v_std": 2.0992513860474373,
    "vy_max": 0.08071706008780954,
    "a_max": 2.0284610083147894,
    "ax_avg": -1.3166163294340962,
    "a_std": 0.6466527590268271,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "6d7ca07eac51558e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6d7ca07eac51558e",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "00ff8eeb53cc598b": {
    "vx_ego": [
      4.37692871819495,
      4.3767635663329685,
      4.4400957587161205,
      4.556652855997204,
      4.639163603774891,
      4.6094283627201476,
      4.523846353235485,
      4.410992574820763,
      4.248058698499701,
      4.062526777865883
    ],
    "vy_ego": [
      0.02279313641574543,
      -0.001738150541928274,
      -0.017386401696781073,
      0.0023160630035703456,
      0.04421715507310009,
      0.04393736453881447,
      0.031163920738733975,
      0.0040733466655067385,
      -0.004765261470147553,
      -0.09309219330885718
    ],
    "v_ego": [
      4.376988066150895,
      4.376763911470094,
      4.4401297991762405,
      4.556653444603321,
      4.639374321974073,
      4.6096377648413505,
      4.523953693135884,
      4.410994455593541,
      4.248061371215799,
      4.0635932347286445
    ],
    "ax_ego": [
      -0.07406884418974158,
      0.07884876361712623,
      0.16850730498182187,
      0.27775757205450347,
      0.05517735541228222,
      -0.161345228390613,
      -0.176710451987104,
      -0.2743930342629415,
      -0.37837384520568523,
      -0.3685860490714499
    ],
    "ay_ego": [
      -1.1793937725675034,
      -1.1790838502003442,
      -1.16342663000952,
      -0.887381925829774,
      -0.7602060221849174,
      -0.7273454184709196,
      -0.5538765366070383,
      -0.4257452553226412,
      -0.38213202803916124,
      -0.3915813860226051
    ],
    "a_ego": [
      1.1817173369510208,
      1.1817173322445673,
      1.1755663465953528,
      0.9298365184928861,
      0.762205836186334,
      0.7450259327668106,
      0.5813826636951728,
      0.5065082029757906,
      0.5377654261748873,
      0.5377654297642103
    ],
    "yaw": [
      -2.3716521055224042,
      -2.5011456883679517,
      -2.6305872461043824,
      -2.7491634071493865,
      -2.8471878443008927,
      -2.927037716187207,
      -2.994327219833628,
      -3.0429410538874473,
      -3.087408033363415,
      -3.1127075186417126
    ],
    "yaw_diff": [
      -0.2589871656910949,
      -0.25888311547286147,
      -0.23715232209000803,
      -0.19604887430301243,
      -0.15969974377262908,
      -0.13457900729284145,
      -0.09722766810763872,
      -0.08893395895193557,
      -0.05059897055659501,
      -0.05059897055659501
    ],
    "min_front_frame": [
      9,
      21.631592075860244
    ],
    "v_avg": 4.424615006288984,
    "v_std": 0.1655746041072715,
    "vy_max": 0.09309219330885718,
    "a_max": 1.1817173369510208,
    "ax_avg": -0.08531864570418013,
    "a_std": 0.26894117158610653,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "00ff8eeb53cc598b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      28.12866721642386,
      25.885393826880644,
      23.679058333547726,
      21.631592075860244
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "00ff8eeb53cc598b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f4cc7553b85f5fb0": {
    "vx_ego": [
      4.613372664389177,
      5.174679267361959,
      5.707144110832823,
      6.22895929777327,
      6.719450460941008,
      7.150963716322233,
      7.394656530816387,
      7.496732260011167,
      7.6787821272226005,
      7.9035482479901535
    ],
    "vy_ego": [
      0.012312148472460205,
      0.02356022323216811,
      0.019684137392662393,
      -0.0030567358374042897,
      0.006144704024574121,
      0.024840024227225754,
      0.01166380221910357,
      0.001378199458200502,
      0.0007854071161896847,
      -0.029702523734828734
    ],
    "v_ego": [
      4.613389093663497,
      5.1747329017239565,
      5.707178056367146,
      6.22896004778888,
      6.719453270499608,
      7.151006859104576,
      7.394665729634278,
      7.496732386695278,
      7.678782167389409,
      7.903604060694364
    ],
    "ax_ego": [
      1.121622869835294,
      1.1228290503832452,
      1.0062800458097596,
      1.081223612551528,
      0.8806042756827293,
      0.8454925547536931,
      0.129460175689599,
      0.2788152662890011,
      0.44947976737055995,
      0.44953839072848034
    ],
    "ay_ego": [
      0.12610081697385517,
      0.11486597925628855,
      -0.026051353533360688,
      0.10758484294023418,
      0.0690969902372448,
      -0.006502312436757252,
      -0.09230763438089751,
      -0.015735229191006395,
      -0.07359785102725977,
      -0.07323891357690837
    ],
    "a_ego": [
      1.128689185816465,
      1.1286891820049691,
      1.0066172080864761,
      1.0865629290425158,
      0.8833109783142912,
      0.8455175576006402,
      0.1589988567712966,
      0.27925893030214827,
      0.45546537184655805,
      0.4554653699247372
    ],
    "yaw": [
      -0.6086621046495022,
      -0.5986509758238225,
      -0.593870517781475,
      -0.5866333388913956,
      -0.5812529083342677,
      -0.5816919320087446,
      -0.5832575076065047,
      -0.5855094326809631,
      -0.5883827133964081,
      -0.5891812161058647
    ],
    "yaw_diff": [
      0.020022257651359343,
      0.009560916084695004,
      0.01447435778015893,
      0.010760861114255782,
      -0.0008780473489538032,
      -0.003131151195520321,
      -0.004503850148916744,
      -0.005746561430890029,
      -0.0015970054189131666,
      -0.0015970054189131666
    ],
    "min_front_frame": [
      2,
      19.87133243143408
    ],
    "v_avg": 6.606850457356098,
    "v_std": 1.0737316389892593,
    "vy_max": 0.029702523734828734,
    "a_max": 1.128689185816465,
    "ax_avg": 0.7365346009093889,
    "a_std": 0.35166803523089163,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f4cc7553b85f5fb0",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.346542263930183,
    "speed_mode": "accelerating",
    "front_frame": [
      23.868380627681006,
      26.0902087047735,
      19.87133243143408,
      21.104905665452204,
      22.139292653274076,
      23.100773560177124,
      23.92764985253038,
      24.854901513711752,
      25.628477125436273,
      26.391214376560548
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f4cc7553b85f5fb0",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "79a151c333745253": {
    "vx_ego": [
      7.654350738442222,
      7.652663428276432,
      7.5986283912062,
      7.497535402494606,
      7.374129396361611,
      7.223840780275862,
      7.052189016780931,
      6.778522686149362,
      6.486395385900721,
      6.258408432469685
    ],
    "vy_ego": [
      -0.017122862623322632,
      -0.019433170376141895,
      -0.014812390399048692,
      -0.020254948605530565,
      0.008305098358655894,
      -0.0024183309153182897,
      -0.0015872310339459794,
      0.019479133464163745,
      -0.0009517996349450719,
      -0.044338853154415325
    ],
    "v_ego": [
      7.65436989042961,
      7.652688102529101,
      7.598642828463136,
      7.497562762298356,
      7.374134073160265,
      7.223841185069131,
      7.052189195399393,
      6.778550674243136,
      6.4863954557332315,
      6.258565493905669
    ],
    "ax_ego": [
      -0.003325770219427598,
      -0.0032191830580665503,
      -0.21130253542862776,
      -0.19192190186038624,
      -0.30217172726123587,
      -0.29903855007557034,
      -0.38727969123835776,
      -0.7047910642321641,
      -0.46203255420363726,
      -0.45202334838096475
    ],
    "ay_ego": [
      0.038142582897613915,
      0.03815172063656827,
      0.25798250080081475,
      0.24877602134878907,
      0.04568846139871939,
      -0.06415296783335099,
      -0.15456694279156058,
      -0.33470559660613497,
      -0.3974672830063556,
      -0.4088144014779986
    ],
    "a_ego": [
      0.03828730047488045,
      0.038287294590922616,
      0.3334722360227443,
      0.3142030000045208,
      0.3056062634518818,
      0.30584253744880935,
      0.4169850105814444,
      0.7802296332625256,
      0.6094705261162277,
      0.6094705262253075
    ],
    "yaw": [
      2.633775540681067,
      2.6365695416133503,
      2.6456410803885193,
      2.663151652211842,
      2.6691997421602265,
      2.670036519722313,
      2.6622717340492885,
      2.641656564676528,
      2.6170274738812753,
      2.592200681041372
    ],
    "yaw_diff": [
      0.00558800186456665,
      0.01814307755033795,
      0.035021143646645214,
      0.012096179896769144,
      0.0016735551241726654,
      -0.015529571346048598,
      -0.04123033874552107,
      -0.04925818159050532,
      -0.049653585679807044,
      -0.049653585679807044
    ],
    "min_front_frame": [
      2,
      21.452185487165675
    ],
    "v_avg": 7.1576939661231025,
    "v_std": 0.4761123011653803,
    "vy_max": 0.044338853154415325,
    "a_max": 0.7802296332625256,
    "ax_avg": -0.3017106325958438,
    "a_std": 0.22752939852100917,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "79a151c333745253",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.961685387433622,
    "right_rear_min": 14.232531892693013,
    "speed_mode": "decelerating",
    "front_frame": [
      28.963892051407758,
      25.17035299832331,
      21.452185487165675,
      32.12250190309592,
      31.312632001945406,
      30.41840075906348,
      29.59745472525572,
      28.809073174150864,
      27.961978681904235,
      26.76136382138693
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "79a151c333745253",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a9f639a57ac75fa5": {
    "vx_ego": [
      4.604729154056003,
      4.791964802051126,
      4.982096099404047,
      5.126087471164314,
      5.209702701053699,
      5.237961875489749,
      5.241514374333469,
      5.2258581737881915,
      5.173339022561686,
      5.09138823433422
    ],
    "vy_ego": [
      -0.12305796634484478,
      0.04757852504425486,
      0.013350900983364333,
      0.006703211969588008,
      0.0067053714920231045,
      0.0050889855882645385,
      0.003978120546773933,
      0.012195249021767829,
      0.011444408228041603,
      -0.011126658472363271
    ],
    "v_ego": [
      4.606373176946723,
      4.792200995382213,
      4.98211398808318,
      5.126091853944724,
      5.209707016270018,
      5.237964347612381,
      5.2415158839583285,
      5.225872403402858,
      5.173351681148227,
      5.0914003923523525
    ],
    "ax_ego": [
      0.28979600636114367,
      0.4337450021233229,
      0.3218661357689988,
      0.25062542654921544,
      0.082843964792054,
      0.03082248678066092,
      -0.01719343892323659,
      -0.045684871280626704,
      -0.16402551869045448,
      -0.1637747530092629
    ],
    "ay_ego": [
      -1.0286111057030205,
      -0.9766718040790828,
      -0.599043758309227,
      -0.369438625762592,
      -0.24928180465749872,
      -0.2550326303509949,
      -0.1592809822680974,
      -0.05088150406251414,
      -0.07783728211756577,
      -0.07836353933518561
    ],
    "a_ego": [
      1.0686545429082583,
      1.0686545464976283,
      0.6800376708125154,
      0.4464280486689078,
      0.2626871535415587,
      0.25688843538604694,
      0.1602062597225746,
      0.06838153931867191,
      0.18155719007828403,
      0.18155719214721913
    ],
    "yaw": [
      -0.3818036002304614,
      -0.5251275133506454,
      -0.5984878089113939,
      -0.6449880298976458,
      -0.6747962306632849,
      -0.6985913313355024,
      -0.7181241854570029,
      -0.7297251385756791,
      -0.735752449556224,
      -0.7389632951726892
    ],
    "yaw_diff": [
      -0.2866478262403681,
      -0.14672059112149682,
      -0.0930004419725039,
      -0.05961640153127812,
      -0.047590201344435146,
      -0.03906570824300082,
      -0.02320190623735252,
      -0.012054621961089751,
      -0.00642169123293046,
      -0.00642169123293046
    ],
    "min_front_frame": [
      3,
      30.25379399501742
    ],
    "v_avg": 5.068659173910101,
    "v_std": 0.20385237572571668,
    "vy_max": 0.12305796634484478,
    "a_max": 1.0686545464976283,
    "ax_avg": 0.10190204404718153,
    "a_std": 0.3553800948213457,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "a9f639a57ac75fa5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      35.184839864987005,
      32.76075420761969,
      30.25379399501742,
      -1,
      -1,
      -1,
      -1,
      77.96335250770191,
      75.38621938986579
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a9f639a57ac75fa5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "68e8dda3806f5b88": {
    "vx_ego": [
      9.298879876109696,
      9.477659677160547,
      9.513193669485938,
      9.418643097186944,
      9.402941288060443,
      9.38488370727781,
      9.311685852598494,
      9.335640722867836,
      9.39682562596775,
      9.407963552672241
    ],
    "vy_ego": [
      -0.03748551095536978,
      -0.031184286063572486,
      0.012376764046718947,
      0.011165595922059346,
      0.034259346719475836,
      0.038898658193886604,
      0.11261441715141274,
      0.15620559685506885,
      0.12390175113698199,
      0.012806377763615373
    ],
    "v_ego": [
      9.298955431329341,
      9.4777109797552,
      9.513201720631997,
      9.418649715469812,
      9.403003699326584,
      9.384964320909152,
      9.312366800359257,
      9.336947461293608,
      9.397642443122585,
      9.407972268864354
    ],
    "ax_ego": [
      0.3529293787484614,
      0.36559293286581634,
      -0.22383327104393266,
      -0.1562572157907063,
      0.09286641316710345,
      -0.16754410956464222,
      -0.12701565390046787,
      0.22171273256385426,
      0.02204145743922166,
      0.021467704260136895
    ],
    "ay_ego": [
      0.49853088116488065,
      0.48931992915583317,
      0.3721735398408433,
      0.23162391027244394,
      0.31744214121694386,
      0.3038916235481588,
      0.16947266077308587,
      0.0761995601280906,
      -0.150456758776899,
      -0.150539691584099
    ],
    "a_ego": [
      0.6108127256850558,
      0.6108127254981668,
      0.4342976824528199,
      0.27940285126777165,
      0.33074715979872193,
      0.34701750317893865,
      0.21178753288442848,
      0.23444169583213148,
      0.15206269137331155,
      0.15206268795610692
    ],
    "yaw": [
      1.035651846110413,
      1.061289038571024,
      1.0792434557073576,
      1.0953320319437476,
      1.1075042699636906,
      1.1234902138453893,
      1.1282664296181961,
      1.1301874137402075,
      1.1316504383027932,
      1.1354628655234387
    ],
    "yaw_diff": [
      0.05127438492122227,
      0.035908834272667,
      0.03217715247278008,
      0.024344476039885876,
      0.03197188776339743,
      0.009552431545613693,
      0.00384196824402272,
      0.0029260491251714704,
      0.007624854441290907,
      0.007624854441290907
    ],
    "min_front_frame": [
      2,
      17.47703351701134
    ],
    "v_avg": 9.395141484106189,
    "v_std": 0.06413641728677763,
    "vy_max": 0.15620559685506885,
    "a_max": 0.6108127256850558,
    "ax_avg": 0.0401960368744845,
    "a_std": 0.1604575411257395,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "68e8dda3806f5b88",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 19.30392355784176,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      26.871755889141564,
      22.21500544758715,
      17.47703351701134,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      0,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.6666666666666666,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "68e8dda3806f5b88",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ffb89fa44ab351b9": {
    "vx_ego": [
      3.785526297569783,
      3.8751850190404893,
      3.9391095409298806,
      3.9030144330648646,
      3.837248157573356,
      3.7489311324368497,
      3.613777759565636,
      3.4780931611397343,
      3.3577894757570785,
      3.235809976769418
    ],
    "vy_ego": [
      -0.0905413027354871,
      -0.04582967799138982,
      -0.013062864041250677,
      0.0005815739717609514,
      -0.024832240927533222,
      -0.013159554271894969,
      -6.7564932049180015e-06,
      -0.009529619488277907,
      -0.018594626169883943,
      -0.057811553872325616
    ],
    "v_ego": [
      3.7866089152556315,
      3.875456010739979,
      3.93913120038693,
      3.9030144763939747,
      3.8373285060038316,
      3.7489542287980626,
      3.6137777595719522,
      3.478106216206541,
      3.3578409616340372,
      3.236326371292246
    ],
    "ax_ego": [
      0.12394308536055687,
      0.2690333288498333,
      -0.011754008303470953,
      -0.14144127164275308,
      -0.1223059914170671,
      -0.23390456093161074,
      -0.3075708461333358,
      -0.23501552957968566,
      -0.24419333734425416,
      -0.23779945386319734
    ],
    "ay_ego": [
      1.110425725205825,
      1.0844483605943114,
      0.8761361488684611,
      0.635677934755801,
      0.521913384766033,
      0.24562573343041105,
      0.10858507725506837,
      0.08871301183925408,
      0.16525860126820346,
      0.17433361932944347
    ],
    "a_ego": [
      1.1173214307474715,
      1.1173214303984829,
      0.8762149896373929,
      0.6512235177412741,
      0.5360525503478637,
      0.3391804011847338,
      0.32617563427341606,
      0.25120170702686667,
      0.29485723884016785,
      0.2948572384835384
    ],
    "yaw": [
      -0.8882046613701138,
      -0.7561884689635323,
      -0.6402983568894514,
      -0.54783600861779,
      -0.4664866767687389,
      -0.41915896841524536,
      -0.3987292160712043,
      -0.38209131480324415,
      -0.36087069228035873,
      -0.32321890186793534
    ],
    "yaw_diff": [
      0.26403238481316293,
      0.2317802241481619,
      0.18492469654332266,
      0.16269866369810226,
      0.09465541670698707,
      0.04085950468808208,
      0.03327580253592033,
      0.04244124504577085,
      0.07530358082484678,
      0.07530358082484678
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.6776544646283185,
    "v_std": 0.2327410788029677,
    "vy_max": 0.0905413027354871,
    "a_max": 1.1173214307474715,
    "ax_avg": -0.11410085850049848,
    "a_std": 0.3263918166798311,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "ffb89fa44ab351b9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "ffb89fa44ab351b9",
    "pedestrians": "No"
  },
  "932938d86cfc5d6f": {
    "vx_ego": [
      7.06871798201238,
      7.504958881558102,
      7.94700840939124,
      8.302465592041102,
      8.627658409049232,
      8.922052734197317,
      9.152989129144672,
      9.340528104000095,
      9.509054891420686,
      9.685507918224072
    ],
    "vy_ego": [
      0.03363485950285994,
      -0.1386095816735664,
      -0.4187194787590056,
      -0.2834409054677818,
      -0.1701813716280638,
      -0.030144680708426463,
      0.07997409711382097,
      0.11691692377979557,
      0.0565676094575176,
      -0.028134354775070314
    ],
    "v_ego": [
      7.0687980034089914,
      7.506238767186237,
      7.958031707704318,
      8.307302429424295,
      8.629336667582692,
      8.922103658531032,
      9.153338508678114,
      9.341259809505447,
      9.509223145057193,
      9.685548780316983
    ],
    "ax_ego": [
      0.7157681907799835,
      1.0517830734356552,
      0.8380587611850083,
      0.6282104859703249,
      0.6857249377270962,
      0.4944346705125334,
      0.42834709230313295,
      0.318176635234631,
      0.3526516142876956,
      0.35264664296872394
    ],
    "ay_ego": [
      2.113741044141263,
      1.9682422794369046,
      1.41435821885671,
      0.5883678665309988,
      0.4093125119451736,
      0.38482656871767407,
      0.3288318719190959,
      0.07810076570279187,
      0.0009857612193321652,
      -0.002116203535942135
    ],
    "a_ego": [
      2.2316418405783325,
      2.2316418404682987,
      1.6440047622943421,
      0.8607120081939783,
      0.7985959069865671,
      0.6265437984657227,
      0.5400107697762753,
      0.32762188695597527,
      0.35265299202601297,
      0.352652992493352
    ],
    "yaw": [
      1.8159001935177894,
      1.9801629962550467,
      2.1251174329243687,
      2.1699393201053163,
      2.186037649291455,
      2.192686065248635,
      2.200236048927836,
      2.207232415929248,
      2.215737337459162,
      2.224533453819717
    ],
    "yaw_diff": [
      0.3285256054745145,
      0.2899088733386441,
      0.08964377436189519,
      0.032196658372277476,
      0.013296831914360041,
      0.015099967358401578,
      0.013992734002823859,
      0.017009843059828,
      0.017592232721110435,
      0.017592232721110435
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.608118147739528,
    "v_std": 0.8368627845059671,
    "vy_max": 0.4187194787590056,
    "a_max": 2.2316418405783325,
    "ax_avg": 0.5865802104404785,
    "a_std": 0.7176171206995896,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "932938d86cfc5d6f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 23.374994583010537,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "932938d86cfc5d6f",
    "pedestrians": "No"
  },
  "6f393be3019c508a": {
    "vx_ego": [
      2.1112499000540152,
      2.7536524680494208,
      3.3067506697454845,
      3.7643098229750067,
      4.188178551556005,
      4.6441570327062625,
      5.151178640119845,
      5.677027879955753,
      6.115859378607326,
      6.494802088038465
    ],
    "vy_ego": [
      -0.07432303517991734,
      -0.012259532611270885,
      -0.024170023025760656,
      -0.02792691960987348,
      -0.03358058592268853,
      -0.007118721491938901,
      -0.07878063770327581,
      -0.16762770396959015,
      -0.11467897871940291,
      -0.09134091387099774
    ],
    "v_ego": [
      2.112557704309268,
      2.7536797582388757,
      3.3068390015051046,
      3.7644134146218615,
      4.188313173040511,
      4.6441624886119905,
      5.151781029052367,
      5.6795021434042114,
      6.116934461563186,
      6.495444351646436
    ],
    "ax_ego": [
      1.279556685052996,
      1.2969202152584307,
      0.9510631384577343,
      0.9349243793142168,
      0.8289526591274361,
      1.0521086779637143,
      1.0445952117465036,
      1.1398697231528419,
      0.6722651699783149,
      0.8904618024400199
    ],
    "ay_ego": [
      0.39027223306372605,
      0.32798732891881643,
      0.8794829958620003,
      1.368343806139372,
      1.805330113117614,
      2.1620718284406117,
      2.3758393730942338,
      2.113391771108234,
      1.729487346101855,
      1.6279265103050578
    ],
    "a_ego": [
      1.337750995575918,
      1.3377509980101956,
      1.2953808063050318,
      1.6572411915095693,
      1.9865496038115193,
      2.404472345772162,
      2.5953404175846613,
      2.4011929876518745,
      1.8555503062683076,
      1.855550307741273
    ],
    "yaw": [
      0.8784229685815088,
      0.926762449018689,
      1.0287675621527352,
      1.188344948602126,
      1.3879736127719648,
      1.6070855732187814,
      1.8520737987266775,
      2.0753385733271066,
      2.227485564158043,
      2.357282022511875
    ],
    "yaw_diff": [
      0.09667896087436034,
      0.2040102262680925,
      0.3191547728987816,
      0.39925732833967764,
      0.43822392089363316,
      0.48997645101579224,
      0.4465295492008581,
      0.30429398166187305,
      0.25959291670766405,
      0.25959291670766405
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.42136275259938,
    "v_std": 1.385014377507565,
    "vy_max": 0.16762770396959015,
    "a_max": 2.5953404175846613,
    "ax_avg": 1.009071766249221,
    "a_std": 0.452758943795376,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "6f393be3019c508a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "6f393be3019c508a",
    "pedestrians": "No"
  },
  "c0be0cb86f2c5cf1": {
    "vx_ego": [
      8.419106061582045,
      7.779151759228659,
      7.146566639149124,
      6.5621744792466306,
      6.039889470447386,
      5.61703764372721,
      5.319119664144863,
      4.9515774272829844,
      4.360700320392851,
      3.6628199063045983
    ],
    "vy_ego": [
      0.013639456649161552,
      -0.016149740483285324,
      -0.025323537094466442,
      -0.02978418916838388,
      -0.043379024800092036,
      -0.049991444633484594,
      -0.03434882330631073,
      -0.020432364296715022,
      -0.025245529015230694,
      -0.045522568883674674
    ],
    "v_ego": [
      8.41911710994361,
      7.779168522871068,
      7.146611505415009,
      6.562242070664584,
      6.040045244450891,
      5.617260100403494,
      5.31923056871528,
      4.951619583519026,
      4.360773397117715,
      3.663102779106668
    ],
    "ax_ego": [
      -1.2798852437050923,
      -1.2799267382349906,
      -1.2503952517663697,
      -1.0871487744444248,
      -1.0019803602513064,
      -0.6894977677991758,
      -0.5026682036266968,
      -0.9677356163567021,
      -1.3958519935710048,
      -1.3958054416518209
    ],
    "ay_ego": [
      -0.04506150286787791,
      -0.043867274596223194,
      0.012146723937365267,
      -0.02273364382256815,
      -0.029723381181777364,
      -0.00496134701257317,
      0.00569866016695994,
      0.005369009933380409,
      -0.047615704084454924,
      -0.04896123410696529
    ],
    "a_ego": [
      1.2806782484663177,
      1.2806782550778952,
      1.2504542488800994,
      1.087386442961961,
      1.0024211299240529,
      0.689515617491167,
      0.5027005049380683,
      0.9677505099109743,
      1.3966638977333117,
      1.3966638942100966
    ],
    "yaw": [
      0.8756104157024488,
      0.8765434789849982,
      0.8767102080754519,
      0.8769756358420222,
      0.8770520351749225,
      0.8766964267983071,
      0.8738572971500859,
      0.8717104648988606,
      0.8704898854681637,
      0.8695259191517741
    ],
    "yaw_diff": [
      0.001866126565098769,
      0.00033345818090735335,
      0.000530855533140695,
      0.00015279866580053536,
      -0.0007112167532308256,
      -0.0056782592964423895,
      -0.0042936645024505005,
      -0.002441158861393733,
      -0.001927932632779239,
      -0.001927932632779239
    ],
    "min_front_frame": [
      9,
      13.704257044449772
    ],
    "v_avg": 5.9859170882207335,
    "v_std": 1.4319641572303887,
    "vy_max": 0.049991444633484594,
    "a_max": 1.3966638977333117,
    "ax_avg": -1.0850895391407585,
    "a_std": 0.2853549414459578,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c0be0cb86f2c5cf1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.287771339624097,
    "right_rear_min": 8.498434901063495,
    "speed_mode": "decelerating",
    "front_frame": [
      20.83018408947275,
      19.92217193029366,
      19.09359155924726,
      18.32712598024499,
      17.910029154310198,
      16.992209002984872,
      16.24374577822029,
      15.252248970716472,
      14.530098277374716,
      13.704257044449772
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c0be0cb86f2c5cf1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "01e3dbb4fbcd5781": {
    "vx_ego": [
      2.9927376877339382,
      3.04193860788685,
      3.0885789686229232,
      3.1359222637689097,
      3.194608697723214,
      3.267213672416398,
      3.3169522732766,
      3.2514431917247184,
      3.1328487958119804,
      3.037398029441963
    ],
    "vy_ego": [
      0.0071337412102535636,
      -0.03848988317794416,
      -0.0037198691316908603,
      0.016062437720305134,
      0.003470334337696168,
      -0.011049267162914655,
      -0.00737161701291511,
      0.0048919243663286816,
      0.008894156020337274,
      0.021462232928742386
    ],
    "v_ego": [
      2.9927461900145715,
      3.0421821058673726,
      3.0885812087180415,
      3.135963400026703,
      3.194610582651542,
      3.267232355913715,
      3.316960464632069,
      3.2514468717690943,
      3.1328614210385832,
      3.0374738544883324
    ],
    "ax_ego": [
      0.08239753816202641,
      0.11040067166591619,
      0.06633223635405396,
      0.1296389722809982,
      0.10574786308618966,
      0.18187762439780455,
      0.013548257714479608,
      -0.2771368734440805,
      -0.19587204392865398,
      -0.18278872147669722
    ],
    "ay_ego": [
      -0.4619349502770297,
      -0.45605366395841224,
      -0.37635836166589537,
      -0.49871305262353194,
      -0.43889643997252276,
      -0.37377657887540494,
      -0.31440499333479843,
      -0.25796776457631393,
      -0.2672026033479515,
      -0.276317520026232
    ],
    "a_ego": [
      0.46922622750929477,
      0.4692262276494973,
      0.38215910557720195,
      0.5152872713265438,
      0.45145619451708685,
      0.41567824236107265,
      0.31469676693755944,
      0.37861882439052186,
      0.3313051294935097,
      0.3313051291068895
    ],
    "yaw": [
      0.12703926167872714,
      0.06604841169972671,
      -0.01300236079445532,
      -0.08980873075715085,
      -0.159790457627267,
      -0.2183348987789516,
      -0.2713609428400598,
      -0.31813909047634903,
      -0.3606516488971506,
      -0.4087852709240282
    ],
    "yaw_diff": [
      -0.12198169995800087,
      -0.15810154498836407,
      -0.15361273992539104,
      -0.13996345374023234,
      -0.11708888230336917,
      -0.10605208812221639,
      -0.09355629527257847,
      -0.08502511684160319,
      -0.0962672440537552,
      -0.0962672440537552
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.146005845512003,
    "v_std": 0.10345041257662828,
    "vy_max": 0.03848988317794416,
    "a_max": 0.5152872713265438,
    "ax_avg": 0.003414552481203681,
    "a_std": 0.0655070147722189,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "01e3dbb4fbcd5781",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "01e3dbb4fbcd5781",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "1175b3b9d27252ef": {
    "vx_ego": [
      2.3678066725618057,
      3.283200416463683,
      4.146134142503732,
      4.893338711878448,
      5.426525751424199,
      5.759213733847805,
      5.943919951035065,
      5.927248956829505,
      5.854171642613707,
      5.892307516382939
    ],
    "vy_ego": [
      -0.1248724947829093,
      -0.011411097499182787,
      -0.010754858536020984,
      -0.010299283644750327,
      -0.05201323633164634,
      -0.06110766731100048,
      -0.08497190100910457,
      -0.07286056252964412,
      -0.05605956131487311,
      0.027870377532120294
    ],
    "v_ego": [
      2.371097125505726,
      3.283220246619687,
      4.146148091254977,
      4.893349550605579,
      5.426775019071977,
      5.759537913682431,
      5.944527282154048,
      5.927696758253461,
      5.854440049705633,
      5.892373428896598
    ],
    "ax_ego": [
      1.822633789039944,
      1.850885986056529,
      1.6355288761538558,
      1.4035050269492328,
      0.7816149207149279,
      0.5851021788157217,
      0.20601182231279958,
      -0.250145968011669,
      -0.013045990026278265,
      0.1717225154827392
    ],
    "ay_ego": [
      0.5776707971069598,
      0.4794982839668656,
      1.064361843354277,
      1.6530526406637347,
      1.9811309948654001,
      1.937325704298819,
      1.9695500584889127,
      1.6416529435233187,
      1.5613533149177834,
      1.5519361382286974
    ],
    "a_ego": [
      1.911987834370369,
      1.9119878497803322,
      1.9513638405796108,
      2.168503952838711,
      2.129742215175483,
      2.023752812028144,
      1.9802950042421257,
      1.6606015152020281,
      1.5614078172791748,
      1.561407826118443
    ],
    "yaw": [
      -1.8722167095891777,
      -1.818780680202382,
      -1.715891497522578,
      -1.5669179142217138,
      -1.385985103262556,
      -1.210430208130262,
      -1.0412146773661421,
      -0.8928559518961791,
      -0.7592993581560463,
      -0.6407417752464075
    ],
    "yaw_diff": [
      0.1068720587735914,
      0.20577836535960792,
      0.2979471666017286,
      0.3618656219183154,
      0.3511097902645881,
      0.33843106152823976,
      0.2967174509399262,
      0.26711318748026547,
      0.2371151658192776,
      0.2371151658192776
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.949916546575012,
    "v_std": 1.2088011779804206,
    "vy_max": 0.1248724947829093,
    "a_max": 2.168503952838711,
    "ax_avg": 0.8193813157487805,
    "a_std": 0.20838278105189445,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "1175b3b9d27252ef",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "1175b3b9d27252ef",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6c8d2b130c4d5288": {
    "vx_ego": [
      9.824201390092075,
      9.582228534685065,
      9.63258046441711,
      9.716464427095369,
      9.628535084192432,
      9.601881080334378,
      9.578860748905209,
      9.618944147452774,
      9.641647042965031,
      9.615871810504421
    ],
    "vy_ego": [
      -0.004654737511062379,
      0.008789691438662928,
      0.02601125594408238,
      0.005696681727527242,
      -0.015400357884843174,
      -0.03319453489647284,
      -0.04882574671118256,
      -0.020980799767244207,
      0.048335997483028414,
      0.11023028746928176
    ],
    "v_ego": [
      9.824202492806647,
      9.582232566036387,
      9.632615583988906,
      9.716466097053623,
      9.628547400233721,
      9.60193845835466,
      9.578985186357622,
      9.618967029040846,
      9.641768202449642,
      9.616503594983424
    ],
    "ax_ego": [
      -0.49037115682369875,
      -0.4775757847962861,
      0.6760081656126459,
      -0.3420511907349552,
      -0.009016734091307488,
      -0.09551540288443533,
      0.007938884876052016,
      0.15666887241572486,
      -0.06560004394558205,
      -0.0464994759489305
    ],
    "ay_ego": [
      0.5058455919789061,
      0.5179430513045171,
      0.3880725892667485,
      0.366841021182182,
      0.38767312977534685,
      0.38374710132635437,
      0.4435565677897684,
      0.5399455993055067,
      0.6706618965278056,
      0.6722563075545512
    ],
    "a_ego": [
      0.7045165962339727,
      0.7045165964109165,
      0.779478912168362,
      0.501568890487824,
      0.3877779739019305,
      0.39545547153194793,
      0.4436276081608477,
      0.5622156043666855,
      0.6738625566240755,
      0.6738625559492117
    ],
    "yaw": [
      2.361195320410298,
      2.3861901375309102,
      2.4083046096120038,
      2.429630843871217,
      2.451406371942917,
      2.4732888134628825,
      2.496514972909572,
      2.5192721861447143,
      2.5434305848085765,
      2.5718750290711148
    ],
    "yaw_diff": [
      0.049989634241224934,
      0.044228944162187034,
      0.04265246851842619,
      0.043551056143400046,
      0.04376488303993131,
      0.04645231889337875,
      0.0455144264702847,
      0.04831679732772454,
      0.05688888852507645,
      0.05688888852507645
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.644222661130549,
    "v_std": 0.0702076659950627,
    "vy_max": 0.11023028746928176,
    "a_max": 0.779478912168362,
    "ax_avg": -0.06860138663207727,
    "a_std": 0.1358012650098599,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6c8d2b130c4d5288",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6c8d2b130c4d5288",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b31e39a660f1535f": {
    "vx_ego": [
      2.115099758862907,
      1.5989826007975627,
      1.057367837175768,
      0.5301254812530305,
      0.15174041404072858,
      -0.010580836213414522,
      -0.03104598468889428,
      -0.017897862656114295,
      -0.009965109213447933,
      -0.0060580183667334146
    ],
    "vy_ego": [
      -0.07950269765886175,
      -0.04710515466503584,
      -0.020526367608686646,
      -0.011169747340942726,
      -0.02455032449182093,
      -0.02070847069161043,
      -0.0010498721505418016,
      0.002431795221460131,
      0.0016526568787285463,
      0.0008034732819741648
    ],
    "v_ego": [
      2.1165934113279676,
      1.599676296395416,
      1.0575670545459368,
      0.5302431415203951,
      0.15371360280048557,
      0.023254996309618976,
      0.031063731212388854,
      0.018062312024108292,
      0.0101012215298326,
      0.006111068306485023
    ],
    "ax_ego": [
      -1.032378703752089,
      -1.0324672601062166,
      -1.1341279647144211,
      -0.9748646153182653,
      -0.5387131924377221,
      -0.11053580717357825,
      0.028677978968796067,
      0.02391587512790251,
      0.007814174141673834,
      0.00781416845431384
    ],
    "ay_ego": [
      0.060015148919468075,
      0.058471975567540024,
      0.04209550845609933,
      -0.006503187508438479,
      -0.0478665924375051,
      0.06325080903624797,
      0.015362036385360815,
      -0.0014237284216949645,
      -0.0016984009754987773,
      -0.0016984231904062386
    ],
    "a_ego": [
      1.0341216592164915,
      1.0341216635957342,
      1.1349089268216426,
      0.9748863060108083,
      0.5408355705554326,
      0.12735316843822292,
      0.032533346579161806,
      0.02395821541250867,
      0.00799661699657919,
      0.007996616157231962
    ],
    "yaw": [
      -0.7789215751959933,
      -0.7804162884902673,
      -0.7814879063142934,
      -0.7820804553527865,
      -0.7828201718326622,
      -0.7825737689640174,
      -0.7824328684935549,
      -0.7825548107036208,
      -0.7824380122958539,
      -0.7824350045528182
    ],
    "yaw_diff": [
      -0.002989426588548172,
      -0.0021432356480521886,
      -0.0011850980769860797,
      -0.0014794329597513922,
      0.0004928057372894923,
      0.0002818009409251143,
      -0.00024388442013179024,
      0.00023359681553380973,
      6.015486071264675e-06,
      6.015486071264675e-06
    ],
    "min_front_frame": [
      4,
      8.638343450610341
    ],
    "v_avg": 0.5546386835972633,
    "v_std": 0.7340229111938978,
    "vy_max": 0.07950269765886175,
    "a_max": 1.1349089268216426,
    "ax_avg": -0.4754865346809606,
    "a_std": 0.4762715812595801,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b31e39a660f1535f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.987273683542221,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.76771289879858,
      9.797539323956219,
      9.133982524434137,
      8.775053830582666,
      8.638343450610341,
      8.63975301742556,
      8.653809824207931,
      8.654771184034697,
      8.65778562559608,
      8.646210320866546
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b31e39a660f1535f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4c775cb227b0519d": {
    "vx_ego": [
      12.659330354580808,
      12.081755833601195,
      11.461752929952231,
      10.776149776067255,
      10.07020405049407,
      9.340528555843264,
      8.549852509894285,
      7.766743901589634,
      7.054125242093396,
      6.369799816271831
    ],
    "vy_ego": [
      0.008322098020223545,
      -0.01754268576365073,
      -0.026236645010630527,
      -0.026207921756249086,
      -0.01057485532377074,
      -0.005087291961668114,
      -0.003705217816825618,
      0.01003888046351431,
      0.007092404309877717,
      -0.019731195090559525
    ],
    "v_ego": [
      12.659333090006223,
      12.081768569567135,
      11.46178295854576,
      10.7761816452488,
      10.07020960289071,
      9.340529941232614,
      8.549853312752486,
      7.7667503894486485,
      7.054128807538044,
      6.369830376033287
    ],
    "ax_ego": [
      -1.155207969925766,
      -1.1551112421880854,
      -1.3250651575293528,
      -1.4174291421823266,
      -1.4064557868177447,
      -1.512244822882129,
      -1.650460554788595,
      -1.4819714027675959,
      -1.368596875196982,
      -1.368650461438651
    ],
    "ay_ego": [
      -0.08051096457283434,
      -0.08188688871956885,
      -0.017921326886410478,
      -0.01639251177681373,
      0.036360820308902794,
      -0.008496413005895397,
      0.01248513599817764,
      0.05302889597152456,
      -0.027681508742854844,
      -0.024892001332133398
    ],
    "a_ego": [
      1.1580101334601773,
      1.1580101227422293,
      1.3251863437477984,
      1.4175239283871293,
      1.4069257228178955,
      1.5122686908640832,
      1.6505077768777612,
      1.4829198570485576,
      1.3688767923831655,
      1.3688768013691193
    ],
    "yaw": [
      -1.5539000735092832,
      -1.555091184614699,
      -1.5564698069323146,
      -1.5572431040940489,
      -1.5582641352169977,
      -1.5581120000485216,
      -1.5581549449929541,
      -1.5578311974743513,
      -1.5565760605344863,
      -1.5545378782292119
    ],
    "yaw_diff": [
      -0.0023822222108318414,
      -0.002757244635231082,
      -0.0015465943234684865,
      -0.0020420622458976467,
      0.00030427033695223926,
      -8.588988886515381e-05,
      0.0006474950372057364,
      0.0025102738797300184,
      0.004076364610548833,
      0.004076364610548833
    ],
    "min_front_frame": [
      9,
      21.31618507670388
    ],
    "v_avg": 9.613036869326372,
    "v_std": 2.050222513431347,
    "vy_max": 0.026236645010630527,
    "a_max": 1.6505077768777612,
    "ax_avg": -1.3841193415717228,
    "a_std": 0.1431659364961733,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4c775cb227b0519d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.575132556928324,
    "right_rear_min": 6.6754777405438235,
    "speed_mode": "decelerating",
    "front_frame": [
      31.529857127648498,
      30.98152594869249,
      30.129696770100026,
      29.154161091820953,
      28.023071705160316,
      26.8216320074724,
      25.39034738406691,
      23.99412107052739,
      22.659525555812376,
      21.31618507670388
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4c775cb227b0519d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c28c7b29e80059d2": {
    "vx_ego": [
      9.393601143967452,
      9.344727331811402,
      9.2811559875237,
      9.219074558959388,
      9.144576203525247,
      9.028178557345312,
      8.894998176996953,
      8.67161843823289,
      8.329766661445877,
      7.954021823380161
    ],
    "vy_ego": [
      0.12371484100810859,
      0.08853840427278703,
      0.09062100841620246,
      0.04593093992661412,
      0.003768636547219373,
      -0.0029254561903995224,
      -0.04231779803403768,
      -0.05538506527196185,
      -0.019247193777582883,
      0.023283082540244138
    ],
    "v_ego": [
      9.394415778207406,
      9.34514675941123,
      9.281598387773164,
      9.219188975983451,
      9.144576980085063,
      9.028179031322075,
      8.895098839518848,
      8.671795306841359,
      8.329788898201652,
      7.954055900529015
    ],
    "ax_ego": [
      -0.10822453365379375,
      -0.09798881146377,
      -0.16362865701347543,
      -0.08866821574089842,
      -0.21029595289435304,
      -0.25530585988210885,
      -0.2771776111920894,
      -0.6154472274763912,
      -0.7516193088184728,
      -0.7513750703434386
    ],
    "ay_ego": [
      0.40284880163802794,
      0.4054601124752606,
      0.18851744457972297,
      0.08357378536784249,
      0.01988971448808364,
      -0.031825081767715785,
      -0.0315561801809206,
      0.10011080687049487,
      0.11782236322318895,
      0.1193700439551088
    ],
    "a_ego": [
      0.41713272068464774,
      0.41713272465791174,
      0.249626048935007,
      0.12184674834965728,
      0.21123443977287756,
      0.25728178699563015,
      0.2789681355527255,
      0.6235362567330295,
      0.7607980643142147,
      0.760798070270589
    ],
    "yaw": [
      -1.2276508952854885,
      -1.202325969592568,
      -1.1866188058812197,
      -1.1744215774507443,
      -1.1670248549837268,
      -1.1666167763169573,
      -1.1639900284273983,
      -1.160567493516303,
      -1.1584136978290218,
      -1.1563542405992195
    ],
    "yaw_diff": [
      0.05064985138584088,
      0.031414327422696786,
      0.024394456860950875,
      0.014793444934035005,
      0.0008161573335390138,
      0.005253495779117934,
      0.006845069822190464,
      0.004307591374562492,
      0.00411891445960455,
      0.00411891445960455
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.926384485787327,
    "v_std": 0.4507150127012107,
    "vy_max": 0.12371484100810859,
    "a_max": 0.760798070270589,
    "ax_avg": -0.33197312484787916,
    "a_std": 0.21921903030221784,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c28c7b29e80059d2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c28c7b29e80059d2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1be3fd906c435f85": {
    "vx_ego": [
      5.690620246323461,
      5.563246969279971,
      5.380940813753089,
      5.18751323980233,
      4.970856966106663,
      4.688922710022568,
      4.323446011598665,
      3.7869448677348947,
      3.1260744769119087,
      2.426637489259268
    ],
    "vy_ego": [
      -0.015426164401867837,
      -0.0027313411866902726,
      -0.0021678292320084225,
      -0.03434096972717793,
      -0.04024975839570377,
      -0.013578924369662904,
      0.002301047873173978,
      -0.006042442253931135,
      -0.004331003946272505,
      0.0011756057826688426
    ],
    "v_ego": [
      5.69064115495035,
      5.563247639771887,
      5.380941250431688,
      5.187626905949027,
      4.971019917536244,
      4.6889423719803185,
      4.323446623936708,
      3.7869496883866907,
      3.126077477094137,
      2.42663777402551
    ],
    "ax_ego": [
      -0.25513223629535287,
      -0.2546380826990164,
      -0.47438214810287027,
      -0.29977876794615943,
      -0.5674678390180836,
      -0.5602886653807524,
      -0.9015521665435464,
      -1.2445382707987414,
      -1.3988905555933315,
      -1.3988403689101592
    ],
    "ay_ego": [
      -0.061949682060041075,
      -0.0639504874913363,
      -0.12949942339386658,
      -0.12636771719816758,
      0.04908229082235552,
      0.054188545081863465,
      0.0582028559622037,
      0.017412304115836164,
      0.021563853338857686,
      0.02460487878940676
    ],
    "a_ego": [
      0.2625456552761975,
      0.26254564938503683,
      0.49174030046157235,
      0.32532462197195183,
      0.5695865338929845,
      0.5629029996120414,
      0.9034289576062523,
      1.244660072396212,
      1.3990567487772037,
      1.3990567457229715
    ],
    "yaw": [
      2.252631959383235,
      2.244782191318889,
      2.235885906338662,
      2.229844263521455,
      2.227220854432423,
      2.227044186652864,
      2.2297301157356664,
      2.236378900654577,
      2.2386899044923174,
      2.2408638278095734
    ],
    "yaw_diff": [
      -0.015699536128692237,
      -0.017792569960453974,
      -0.012083285634414409,
      -0.005246818178063606,
      -0.0003533355591178733,
      0.005371858165604593,
      0.013297569837821044,
      0.0046220076754810435,
      0.0043478466345119315,
      0.0043478466345119315
    ],
    "min_front_frame": [
      9,
      10.869146932381303
    ],
    "v_avg": 4.514553080406255,
    "v_std": 1.038198298665941,
    "vy_max": 0.04024975839570377,
    "a_max": 1.3990567487772037,
    "ax_avg": -0.7355509101288014,
    "a_std": 0.4358872437568233,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "1be3fd906c435f85",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.044570808516777,
    "right_rear_min": 8.064142885353608,
    "speed_mode": "decelerating",
    "front_frame": [
      18.438162842455945,
      18.18348687647213,
      17.848764956898716,
      17.321609466941002,
      16.63600545827408,
      15.799752339701602,
      14.533103208960775,
      13.143989974714499,
      11.803142659506724,
      10.869146932381303
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1be3fd906c435f85",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d084fdb9e50258ba": {
    "vx_ego": [
      2.8661026244047623,
      2.9078767856468186,
      3.00829448971749,
      3.1304962836224113,
      3.271585005393315,
      3.4356218158294802,
      3.5921531204647237,
      3.7262661062460105,
      3.8592731643869085,
      3.9952566062787476
    ],
    "vy_ego": [
      -0.047951813515026975,
      -0.014253138606647564,
      -0.011580731216660922,
      -0.02088344351630228,
      -0.05750681170897821,
      -0.0799489395096945,
      -0.08714432377522546,
      -0.04014321893451833,
      0.017877499622422688,
      0.08956723617623163
    ],
    "v_ego": [
      2.866503729291006,
      2.9079117167589206,
      3.0083167802277946,
      3.1305659392491365,
      3.272090383975863,
      3.436551919341854,
      3.59321000973095,
      3.7264823322517215,
      3.8593145715722232,
      3.9962604569535034
    ],
    "ax_ego": [
      0.004199916391707248,
      0.18277837524851293,
      0.2317153366849588,
      0.25183114046657035,
      0.3107389976401059,
      0.3573969154181943,
      0.2824955103367612,
      0.2586714212288853,
      0.27324645716738183,
      0.272592494936611
    ],
    "ay_ego": [
      1.05374389912424,
      1.0377793161809834,
      1.078277339525071,
      0.8838640073015723,
      0.5412893052373262,
      0.3267077105876991,
      0.2743916685451163,
      0.21842702444087747,
      0.07212743451520152,
      0.07456088461825187
    ],
    "a_ego": [
      1.0537522689129803,
      1.053752268586671,
      1.102893475449143,
      0.9190399919001824,
      0.6241416799242661,
      0.48422152297052606,
      0.39382039196491603,
      0.33855763049541077,
      0.28260572033182646,
      0.28260572147573826
    ],
    "yaw": [
      -0.6300999633698406,
      -0.4597490963319676,
      -0.28191727690790835,
      -0.1192973221863518,
      0.0035758455494925914,
      0.07506800444204714,
      0.11975515888470906,
      0.14056261795787975,
      0.14441861362287406,
      0.13550230752243203
    ],
    "yaw_diff": [
      0.3407017340757461,
      0.35566363884811847,
      0.3252399094431131,
      0.24574633547168878,
      0.14298431778510912,
      0.08937430888532383,
      0.041614918146341384,
      0.007711991329988621,
      -0.017832612200884057,
      -0.017832612200884057
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.379720783935297,
    "v_std": 0.38428912072320476,
    "vy_max": 0.08956723617623163,
    "a_max": 1.102893475449143,
    "ax_avg": 0.24256665655196885,
    "a_std": 0.32621069361764105,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "d084fdb9e50258ba",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d084fdb9e50258ba",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "dd4e7db697465be3": {
    "vx_ego": [
      9.24824638844617,
      9.096211167807017,
      8.950647106559083,
      8.79986684751228,
      8.630357276513546,
      8.273489397350131,
      7.742309232396073,
      7.066681428000237,
      6.217169125768617,
      5.331173655785209
    ],
    "vy_ego": [
      -0.01098298907676476,
      0.04183902558113051,
      0.037750002227125545,
      -0.013750429812855458,
      -0.008135023334535862,
      -0.03710725421319028,
      0.023297021858490474,
      0.04500030967755242,
      0.017907439034275274,
      -0.03173152730620643
    ],
    "v_ego": [
      9.248252910007201,
      9.096307388902305,
      8.950726712888883,
      8.799877590527368,
      8.630361110572082,
      8.273572611416443,
      7.742344283308056,
      7.06682470652234,
      6.2171949152960675,
      5.331268089110077
    ],
    "ax_ego": [
      -0.3291833384063828,
      -0.28157544013648517,
      -0.3136774333856207,
      -0.29989134838641757,
      -0.3792505666237463,
      -1.0474798169857316,
      -1.0760822104942598,
      -1.6222323368157876,
      -1.774949117068783,
      -1.7692417831766567
    ],
    "ay_ego": [
      0.9811845620992544,
      0.9958915991875612,
      0.7948434282139284,
      0.3360890167032152,
      -0.07699196135206961,
      -0.39863722005182106,
      -0.5179910149994822,
      -0.4767657760550452,
      -0.29485343888059024,
      -0.32736284177269914
    ],
    "a_ego": [
      1.0349322756520238,
      1.0349322711271562,
      0.8544996241018838,
      0.45043384418309174,
      0.386986762560777,
      1.1207700924824437,
      1.1942644662562836,
      1.690841021452987,
      1.7992728860856437,
      1.7992728857823688
    ],
    "yaw": [
      -0.5684859315999121,
      -0.5203353359896824,
      -0.47030139082698397,
      -0.43263950209059965,
      -0.42585916762479803,
      -0.436395718972983,
      -0.4725351101200728,
      -0.5087148934843295,
      -0.5336065010841349,
      -0.5519511632328249
    ],
    "yaw_diff": [
      0.09630119122045944,
      0.10006789032539687,
      0.07532377747276864,
      0.013560668931603237,
      -0.021073102696369972,
      -0.07227878229417961,
      -0.0723595667285134,
      -0.04978321519961071,
      -0.03668932429738003,
      -0.03668932429738003
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.935673031855082,
    "v_std": 1.2638138610892367,
    "vy_max": 0.04500030967755242,
    "a_max": 1.7992728860856437,
    "ax_avg": -0.8893563391479871,
    "a_std": 0.4818741396090824,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dd4e7db697465be3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 46.991931613766845,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dd4e7db697465be3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3d86e3fc3499578f": {
    "vx_ego": [
      0.6104180948064883,
      0.5691589630346876,
      0.5656951101435452,
      0.6287975215957867,
      0.7409052864209376,
      0.9178126664153798,
      1.278791034280273,
      1.8823639265430223,
      2.504196530572362,
      3.0538848073165856
    ],
    "vy_ego": [
      0.020135634637684113,
      0.04175802099901538,
      0.04889902756812864,
      0.0513088472846821,
      0.042463830074649406,
      0.021657479893766485,
      0.0035743486805924207,
      -0.0074390627001957865,
      0.013046326111006451,
      0.18612846942222294
    ],
    "v_ego": [
      0.6107501078587259,
      0.5706887571351613,
      0.5678046077106335,
      0.630887407525849,
      0.7421211628239018,
      0.9180681549143606,
      1.2787960296013203,
      1.882378625995398,
      2.5042305146203394,
      3.0595516376568184
    ],
    "ax_ego": [
      -0.08137695052320515,
      -0.08176209825855599,
      0.07084774067694846,
      0.18447414593578496,
      0.2680467935999203,
      0.4422874687334702,
      1.0038723654601225,
      1.4134291338120317,
      1.0891206445668493,
      1.1556305107563145
    ],
    "ay_ego": [
      0.025874550327774498,
      0.024630466115477423,
      -0.0271961507853649,
      0.00043727074495000795,
      -0.08385152757720545,
      -0.07107560622672246,
      -0.12251603485915977,
      -0.2500696637383527,
      -0.5396600922553321,
      -0.3767425050385785
    ],
    "a_ego": [
      0.0853914540871668,
      0.08539145491621188,
      0.07588829275038701,
      0.18447466418031955,
      0.2808561237292666,
      0.4479619925832508,
      1.0113208714014126,
      1.4353803513462358,
      1.2154903510907615,
      1.2154903506378172
    ],
    "yaw": [
      0.33442529262366777,
      0.3191736836769376,
      0.3049815006492258,
      0.28937484424360205,
      0.27156918005514014,
      0.24937358468175008,
      0.21988961282275943,
      0.16619914672319736,
      0.06872246283585343,
      -0.07617772801868988
    ],
    "yaw_diff": [
      -0.030503217893460333,
      -0.028384366055423604,
      -0.031213312811247507,
      -0.03561132837692382,
      -0.04439119074678011,
      -0.05896794371798131,
      -0.10738093219912415,
      -0.19495336777468786,
      -0.2898003817090866,
      -0.2898003817090866
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.2765277005842508,
    "v_std": 0.856047946662127,
    "vy_max": 0.18612846942222294,
    "a_max": 1.4353803513462358,
    "ax_avg": 0.5464569754759682,
    "a_std": 0.5221615534769743,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "3d86e3fc3499578f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.879641342941877,
    "right_rear_min": 7.779772137851454,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3d86e3fc3499578f",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "3ae3cf56296b5861": {
    "vx_ego": [
      3.317378959098768,
      3.566798955114938,
      3.761149725986486,
      3.929951932657231,
      4.1480340448577815,
      4.404450876622692,
      4.6791265517488965,
      5.028170676168845,
      5.472618286715036,
      5.953857343078165
    ],
    "vy_ego": [
      0.009581853733473311,
      -0.012564248889209928,
      -0.003316241879546933,
      -0.00874090635837832,
      0.009169876946352518,
      0.01984546952516769,
      -0.0027066121123647813,
      0.031975187367265345,
      0.10068211101371194,
      -0.06776547183564663
    ],
    "v_ego": [
      3.3173927970911428,
      3.5668210841811456,
      3.7611511879673785,
      3.929961653304046,
      4.148044180567804,
      4.404495586016981,
      4.679127334560436,
      5.028272343587947,
      5.473544354398345,
      5.954242976306803
    ],
    "ax_ego": [
      0.47392225916943187,
      0.5216783549780695,
      0.2689826871073507,
      0.4195331804407342,
      0.47953808672560294,
      0.5778911950145047,
      0.5506876130389111,
      0.8203515989043441,
      0.9462772004283435,
      0.9805947935397996
    ],
    "ay_ego": [
      -0.6154159979523203,
      -0.5754918141390188,
      -0.8984350962572167,
      -1.1478771929036646,
      -1.4671887969601147,
      -1.6897441571009817,
      -1.9290565006818783,
      -1.5435846408765648,
      -0.8369252867972984,
      -0.796441033874209
    ],
    "a_ego": [
      0.7767490960869594,
      0.7767490805875754,
      0.9378365039548233,
      1.222141620058459,
      1.543567213484959,
      1.7858313329461435,
      2.006119595133228,
      1.7480361235898265,
      1.263283212795628,
      1.2632832103514955
    ],
    "yaw": [
      -0.8621727759131457,
      -0.9423310127886557,
      -1.0444539013294367,
      -1.1765293679883073,
      -1.3427531749005472,
      -1.5298040347213941,
      -1.7232821252396135,
      -1.9100512507414251,
      -2.0366970460362737,
      -2.078711564740017
    ],
    "yaw_diff": [
      -0.1603164737510201,
      -0.204245777081562,
      -0.2641509333177412,
      -0.33244761382447985,
      -0.3741017196416938,
      -0.3869561810364388,
      -0.37353825100362315,
      -0.2532915905896971,
      -0.08402903740748702,
      -0.08402903740748702
    ],
    "min_front_frame": [
      9,
      40.61324032354307
    ],
    "v_avg": 4.426305349798203,
    "v_std": 0.8119531058743849,
    "vy_max": 0.10068211101371194,
    "a_max": 2.006119595133228,
    "ax_avg": 0.6039456969347092,
    "a_std": 0.40886800125621675,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "3ae3cf56296b5861",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.607080348131168,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      43.45270398999891,
      40.61324032354307
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3ae3cf56296b5861",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1cff6bb966075bc7": {
    "vx_ego": [
      3.3570965002962203,
      3.2016036452457928,
      3.067426021074873,
      3.0123077827479543,
      3.110760712447654,
      3.2981010202200896,
      3.438604111792952,
      3.435106199602104,
      3.414976602374398,
      3.4897063483084865
    ],
    "vy_ego": [
      0.01556969173692968,
      0.0008885222150527561,
      0.003958901430737738,
      0.01535438253692778,
      0.024623694188300016,
      0.004725917594838869,
      -0.03428767394217247,
      -0.048566939422480804,
      -0.017859219682290206,
      -0.014574851653888554
    ],
    "v_ego": [
      3.357132605007123,
      3.2016037685389604,
      3.0674285758054363,
      3.012346914793677,
      3.1108581671981312,
      3.2981044061511926,
      3.438775055484694,
      3.4354495120944035,
      3.415023301017469,
      3.489736784304123
    ],
    "ax_ego": [
      -0.3470891442874714,
      -0.2766194168492925,
      -0.2618866100817946,
      0.037043114920362,
      0.3500882197620693,
      0.3935459905185713,
      0.1793992303602271,
      -0.16655051057569273,
      0.10056509106768396,
      0.20516899812490225
    ],
    "ay_ego": [
      0.6478710860210157,
      0.6809475128270284,
      0.6666384010392402,
      0.6620760288038974,
      0.7000899445814822,
      0.7197403642411098,
      0.7807503509275081,
      0.8834511702674361,
      0.8609259238670259,
      0.8421475335084143
    ],
    "a_ego": [
      0.7349883115970346,
      0.7349883107936878,
      0.7162341476642179,
      0.663111499130985,
      0.782743695037065,
      0.8203076487337959,
      0.8010962453583644,
      0.899013371880489,
      0.8667795474789098,
      0.8667795486661427
    ],
    "yaw": [
      0.4327109239071696,
      0.5386753925589692,
      0.6451374187034304,
      0.7518746195103871,
      0.8613706306038434,
      0.978415791577254,
      1.1002447126025925,
      1.2237419435505248,
      1.3431247613986068,
      1.4658119639216247
    ],
    "yaw_diff": [
      0.2119289373035993,
      0.21292405228892242,
      0.2134744016139134,
      0.2189920221869126,
      0.2340903219468211,
      0.24365784205067698,
      0.2469944618958646,
      0.23876563569616405,
      0.2453744050460358,
      0.2453744050460358
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.282645909039521,
    "v_std": 0.1641285449300939,
    "vy_max": 0.048566939422480804,
    "a_max": 0.899013371880489,
    "ax_avg": 0.021366496295956466,
    "a_std": 0.07234889786045476,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "1cff6bb966075bc7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "1cff6bb966075bc7",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "6e3cf172a2755fae": {
    "vx_ego": [
      0.7014506534562761,
      1.0633177491707375,
      1.3509309171526884,
      1.4873725998400755,
      1.5044045217252404,
      1.4236977265419386,
      1.333959441839627,
      1.2741942132690596,
      1.2520197247875802,
      1.2837346167087387
    ],
    "vy_ego": [
      0.011202700435999025,
      -0.014008239617846918,
      -0.023729990782108357,
      -0.02248472574208371,
      -0.015408379694898833,
      0.00702765417677198,
      -0.002833659823658019,
      -0.029324807396758357,
      -0.016549859639480413,
      0.014816750490385888
    ],
    "v_ego": [
      0.7015401055757935,
      1.0634100180451163,
      1.3511393175322532,
      1.487542541793922,
      1.5044834273438081,
      1.4237150713832853,
      1.3339624515334325,
      1.2745316149304475,
      1.2521291024136667,
      1.2838201206677773
    ],
    "ax_ego": [
      0.7237225267618324,
      0.7237434947346836,
      0.426715350538815,
      0.11898936269360555,
      -0.05082548143956319,
      -0.2719782854869817,
      -0.0870084223508481,
      -0.15202188402336284,
      0.0633797766849192,
      0.06348518224173533
    ],
    "ay_ego": [
      -0.051293923517785334,
      -0.0509971459536927,
      0.012396647981085362,
      -0.01192066893064253,
      0.0423596390273233,
      0.053621834753631525,
      -0.09080824491025997,
      -0.013595847342247253,
      0.06678826682232789,
      0.0666880841431566
    ],
    "a_ego": [
      0.7255379813161952,
      0.7255379763087492,
      0.4268953821097514,
      0.11958499396656921,
      0.06616319658305903,
      0.2772137964437988,
      0.1257640763639018,
      0.15262863521294578,
      0.09207425632477675,
      0.09207425769970172
    ],
    "yaw": [
      -0.579631638854246,
      -0.5800416954684885,
      -0.5799841276739083,
      -0.5807568044892921,
      -0.5804052165998246,
      -0.5793598707580142,
      -0.5789433247959465,
      -0.5786460170824848,
      -0.5782228100427822,
      -0.5766434013621373
    ],
    "yaw_diff": [
      -0.0008201132284850754,
      0.0001151355891604311,
      -0.0015453536307676874,
      0.0007031757789350834,
      0.002090691683620749,
      0.0008330919241354984,
      0.0005946154269234061,
      0.0008464140794051112,
      0.0031588173612897563,
      0.0031588173612897563
    ],
    "min_front_frame": [
      9,
      9.616805421243686
    ],
    "v_avg": 1.2676273771219502,
    "v_std": 0.22425677726315654,
    "vy_max": 0.029324807396758357,
    "a_max": 0.7255379813161952,
    "ax_avg": 0.1558201620354835,
    "a_std": 0.2450911049409026,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "6e3cf172a2755fae",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.123126205537826,
    "right_rear_min": 6.811912622091185,
    "speed_mode": "quasi_constant",
    "front_frame": [
      12.17633820012894,
      12.377157135486895,
      12.162872325950662,
      11.808487745883747,
      11.25680105139038,
      10.699549164898855,
      10.296575295645276,
      9.956935297823328,
      9.711783714234247,
      9.616805421243686
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6e3cf172a2755fae",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1eed252c6ca25157": {
    "vx_ego": [
      2.163433758610477,
      1.5674299942454526,
      1.0394204768715762,
      0.6440428971682335,
      0.40496566279586343,
      0.33608147973543306,
      0.37830892304427927,
      0.46047127063145815,
      0.5307586691610428,
      0.5817740450222149
    ],
    "vy_ego": [
      -0.04388700136005663,
      -0.01766739940436879,
      -0.009935143245012268,
      -0.012632869308094374,
      -0.00588912045726378,
      0.00790395942642555,
      0.013545023179251048,
      0.0010945935305283483,
      -0.022088673599328562,
      -0.05465678021794135
    ],
    "v_ego": [
      2.163878854461089,
      1.567529560761778,
      1.0394679575683101,
      0.644166781804066,
      0.4050084811253378,
      0.33617440948973626,
      0.3785513292908227,
      0.4604725716174055,
      0.5312181043516673,
      0.5843358649657767
    ],
    "ax_ego": [
      -1.1919775883051658,
      -1.1919284368508447,
      -0.9201123663883459,
      -0.6614223848798644,
      -0.2949078425543947,
      0.019372059300149548,
      0.1495477020025394,
      0.17909672573583263,
      0.10204853694447037,
      0.10203795782998754
    ],
    "ay_ego": [
      0.055203352730033184,
      0.056254350619176774,
      -0.026329312838067165,
      0.014329175135463224,
      0.011500781212858718,
      0.04377389963295745,
      -0.021389848220013094,
      -0.028158541647276256,
      -0.06494669215954714,
      -0.06496331239338995
    ],
    "a_ego": [
      1.1932552037072521,
      1.1932551908696158,
      0.9204890002033086,
      0.6615775816034203,
      0.2951320104099074,
      0.04786889355943735,
      0.15106965539483938,
      0.18129683019015375,
      0.12096270795155802,
      0.12096270828331965
    ],
    "yaw": [
      -2.046512920804804,
      -2.0456311797814672,
      -2.045828901817481,
      -2.0462024024988468,
      -2.046800411772873,
      -2.0467231578746485,
      -2.0468553042039797,
      -2.0467029542791444,
      -2.0468871067163796,
      -2.0467242242514763
    ],
    "yaw_diff": [
      0.0017634820466732037,
      -0.0003954440720272956,
      -0.0007470013627317584,
      -0.00119601854805218,
      0.0001545077964486552,
      -0.00026429265866223517,
      0.00030469984967052,
      -0.000368304874470482,
      0.00032576492980673777,
      0.00032576492980673777
    ],
    "min_front_frame": [
      3,
      11.505043076185247
    ],
    "v_avg": 0.8110803915435989,
    "v_std": 0.5755409074728758,
    "vy_max": 0.05465678021794135,
    "a_max": 1.1932552037072521,
    "ax_avg": -0.3708245637165636,
    "a_std": 0.4381640496800047,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1eed252c6ca25157",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 2.9004737253060178,
    "right_rear_min": 3.0733513064314955,
    "speed_mode": "decelerating",
    "front_frame": [
      12.19404264451116,
      11.740291520850837,
      11.513392957798958,
      11.505043076185247,
      11.639724124653586,
      11.754074736918426,
      11.824066894794894,
      11.779748349722752,
      11.733083617134563,
      11.531378235751873
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1eed252c6ca25157",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aa84169dd1f3538d": {
    "vx_ego": [
      1.2035458380863602,
      0.7703033758568724,
      0.33186847008967674,
      0.024179489505982255,
      -0.05171824856638696,
      -0.032252101891409396,
      -0.01831658673576604,
      -0.0116160053895224,
      -0.008040054560786623,
      -0.005495950830755436
    ],
    "vy_ego": [
      -0.0450119133055259,
      -0.008285655069078579,
      0.014458096206630966,
      0.00994484631490293,
      -0.0001784745856480141,
      -0.001622451969335404,
      -0.0012320940782769513,
      -0.0008484138498617176,
      -0.0006545366889127305,
      -0.0005387677796359885
    ],
    "v_ego": [
      1.204387253633325,
      0.7703479362836106,
      0.33218325964079354,
      0.02614474480649877,
      0.05171855651458487,
      0.03229288508025652,
      0.01835797934050928,
      0.01164694755161414,
      0.008066653309617231,
      0.0055222953791385756
    ],
    "ax_ego": [
      -0.8664581876919397,
      -0.8663230505712347,
      -0.8874747885987714,
      -0.34330086429756074,
      0.03970856913776778,
      0.03815508036192589,
      0.017587131257799753,
      0.00921531560328749,
      0.0050882598368695315,
      0.005088268859513429
    ],
    "ay_ego": [
      0.07615915308446491,
      0.07768126973250383,
      0.016290413825878758,
      -0.03422607777584108,
      -0.006327171152396598,
      0.0005737624544843375,
      0.0009855389457454197,
      0.0005476421480177032,
      0.00023100919017549374,
      0.00023076283920180247
    ],
    "a_ego": [
      0.8697988316944002,
      0.8697988316951824,
      0.8876242887511879,
      0.3450027649561234,
      0.040209495865536585,
      0.03815939413537902,
      0.017614723185240752,
      0.009231573733144274,
      0.005093501095851957,
      0.0050934989422449645
    ],
    "yaw": [
      -2.1425172371218304,
      -2.1407603889671663,
      -2.139407441203806,
      -2.1391407968719474,
      -2.1388975796818848,
      -2.1390321477660574,
      -2.139008638774824,
      -2.1389808846212466,
      -2.139065102207758,
      -2.1390169472217044
    ],
    "yaw_diff": [
      0.003513696309328296,
      0.00270589552672007,
      0.0005332886637177126,
      0.00048643438012518914,
      -0.0002691361683453408,
      4.70179824665351e-05,
      5.5508307155172076e-05,
      -0.00016843517302245203,
      9.630997210674508e-05,
      9.630997210674508e-05
    ],
    "min_front_frame": [
      6,
      8.041003881551584
    ],
    "v_avg": 0.24606685115399488,
    "v_std": 0.39418406688986884,
    "vy_max": 0.0450119133055259,
    "a_max": 0.8876242887511879,
    "ax_avg": -0.28487142661023424,
    "a_std": 0.3834292818773225,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aa84169dd1f3538d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      8.844424193480602,
      8.403008985274415,
      8.075537346734015,
      8.049669781214462,
      8.104894964276616,
      8.06516289767086,
      8.041003881551584,
      8.047820536557023,
      8.066627716141701,
      8.048898258499365
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aa84169dd1f3538d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7af0e9b8a12056e8": {
    "vx_ego": [
      7.794652006301753,
      7.474403145700052,
      7.116922860416004,
      6.709497900104292,
      6.278514652043399,
      5.8658648857649425,
      5.476873634085654,
      5.082297408624036,
      4.810172724471713,
      4.813965873836853
    ],
    "vy_ego": [
      0.18027811691365203,
      0.10964889281311008,
      0.08276161538796867,
      0.06345512813131426,
      0.09696966429963627,
      0.08532859056867892,
      0.07433402469897032,
      0.014227442069778717,
      -0.03308660646070849,
      -0.10236668211273003
    ],
    "v_ego": [
      7.796736503100632,
      7.475207372651675,
      7.117404055278409,
      6.709797957076656,
      6.279263440222749,
      5.86648547483232,
      5.477378054413493,
      5.082317322817854,
      4.81028651566398,
      4.815054140097761
    ],
    "ax_ego": [
      -0.6411004242963034,
      -0.6413600786329103,
      -0.7884342467827592,
      -0.8414977668139003,
      -0.8824286096591167,
      -0.7686922467440442,
      -0.7931375579388784,
      -0.7555273258662596,
      -0.31622136412998036,
      0.406531805837664
    ],
    "ay_ego": [
      -0.1034366376302237,
      -0.10181423740607018,
      -0.016577113295315582,
      -0.039502326078227734,
      0.6029983328819712,
      1.3193478599598139,
      1.875805083949248,
      2.500948216264988,
      2.5505766668636713,
      2.5377488322736688
    ],
    "a_ego": [
      0.6493911702796293,
      0.6493911682511493,
      0.7886084974086334,
      0.8424244330017809,
      1.0687783870397822,
      1.526946805158892,
      2.0365932089602707,
      2.612577945357735,
      2.570104527968001,
      2.5701045202216974
    ],
    "yaw": [
      2.6412458220634196,
      2.6437759604069773,
      2.6434053635885535,
      2.644169344115162,
      2.6606880387207212,
      2.7418962414875834,
      2.88436225242041,
      3.1023237189282997,
      -2.9145849609121353,
      -2.6323897761215256
    ],
    "yaw_diff": [
      0.005060276687115284,
      -0.000741193636847548,
      0.001527961053216842,
      0.03303738921111865,
      0.16241640553372427,
      0.2849320218656537,
      0.435922933015779,
      0.5325532546783025,
      0.5643903695812194,
      0.5643903695812194
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.142993083615553,
    "v_std": 1.0479998976192295,
    "vy_max": 0.18027811691365203,
    "a_max": 2.612577945357735,
    "ax_avg": -0.6021867815026487,
    "a_std": 0.7986441204221029,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "7af0e9b8a12056e8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7af0e9b8a12056e8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0695553567185c3c": {
    "vx_ego": [
      7.016267387162163,
      6.679384721221424,
      6.413243932971811,
      6.215729204226988,
      6.129395885226501,
      6.268846946793202,
      6.481962359759507,
      6.625975063897661,
      6.718450232917584,
      6.789140549451641
    ],
    "vy_ego": [
      -0.07371724400897772,
      0.01979127381928203,
      0.06650666823339302,
      0.024545576822993187,
      -0.01263759281176391,
      -0.006690084278916153,
      0.0019245110489136685,
      0.042972575412429936,
      -0.008501922696401376,
      -0.05303595192339117
    ],
    "v_ego": [
      7.016654635951498,
      6.679414042309817,
      6.413588767665047,
      6.215777668612499,
      6.129408913311596,
      6.268850516605585,
      6.481962645455604,
      6.626114411148603,
      6.7184556123323365,
      6.789347701539887
    ],
    "ax_ego": [
      -0.6744422850889433,
      -0.6722570044096352,
      -0.39392491882764946,
      -0.39947433698088325,
      0.04936504379553247,
      0.5014316248132743,
      0.35307782122430786,
      0.2322451793187183,
      0.13640659310599895,
      0.14381960155164739
    ],
    "ay_ego": [
      0.28762323369401255,
      0.2926944063998548,
      0.4983063222571388,
      0.7427331161818593,
      0.637519501140051,
      -0.013569314634836155,
      -0.31845267612585126,
      -0.5922074910881224,
      -0.3654937400052182,
      -0.36264079620551065
    ],
    "a_ego": [
      0.7332117841910317,
      0.7332117671693353,
      0.6352055041282354,
      0.8433458530042889,
      0.6394278863818768,
      0.5016151918179308,
      0.47547455743942874,
      0.636119120776661,
      0.39011848536795535,
      0.39011847541873906
    ],
    "yaw": [
      -0.5868039390638558,
      -0.5792726858820174,
      -0.5560787226734828,
      -0.500319476043749,
      -0.4378450808090997,
      -0.41342020201537444,
      -0.42774914408678466,
      -0.46864923021814736,
      -0.4967660782920461,
      -0.5171270330162726
    ],
    "yaw_diff": [
      0.015062506363676675,
      0.046387926417069236,
      0.1115184932594675,
      0.12494879046929874,
      0.04884975758745047,
      -0.028657884142820444,
      -0.0818001722627254,
      -0.056233696147797496,
      -0.040721909448453,
      -0.040721909448453
    ],
    "min_front_frame": [
      1,
      20.061470226217004
    ],
    "v_avg": 6.533957491493247,
    "v_std": 0.2672606422364886,
    "vy_max": 0.07371724400897772,
    "a_max": 0.8433458530042889,
    "ax_avg": -0.07237526814976322,
    "a_std": 0.14561735051072416,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "0695553567185c3c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      23.427312839733222,
      20.061470226217004,
      23.265600418920243,
      23.27128068215285,
      43.797987233845625,
      42.690835753413374,
      40.8365557109864,
      39.88070436351425,
      38.52750063365796,
      37.58049414152134
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0695553567185c3c",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "ee8e4ad158ef5a8d": {
    "vx_ego": [
      6.545111806479002,
      6.850773332472675,
      7.166387329805662,
      7.464969678688208,
      7.634019349640384,
      7.657799048630979,
      7.701761956401529,
      7.811414120822988,
      7.968129362140991,
      8.154480574119173
    ],
    "vy_ego": [
      0.008309197732739193,
      0.040188904248940505,
      0.03133246966420944,
      0.03480086435853558,
      -0.0016963429212051295,
      -0.009025301584244971,
      -0.024475241072839715,
      -0.02986575129303226,
      0.006537997309268295,
      0.006839827906474305
    ],
    "v_ego": [
      6.545117080853312,
      6.850891212166743,
      7.166455824496121,
      7.465050797140929,
      7.634019538111171,
      7.657804367133063,
      7.701800845938531,
      7.811471214188341,
      7.968132044414312,
      8.154483442679417
    ],
    "ax_ego": [
      0.5868198739434092,
      0.640890510627171,
      0.6229741550495538,
      0.5731052833057129,
      0.10346922993785636,
      -0.009379388215957754,
      0.1839854338384565,
      0.2539760919172732,
      0.372550514824423,
      0.37275677894917275
    ],
    "ay_ego": [
      -0.8396147931336045,
      -0.7991057044190557,
      -0.5721646732945462,
      -0.41049704329262304,
      -0.3173899559558907,
      -0.24112568184592734,
      -0.12175120340460248,
      -0.029263694673168833,
      0.058633455794188966,
      0.057307505719409874
    ],
    "a_ego": [
      1.0243586116706123,
      1.0243586156454345,
      0.8458541311750865,
      0.7049521177391462,
      0.3338296956317925,
      0.24130803419896532,
      0.22062183798344612,
      0.25565644738886534,
      0.3771362727639861,
      0.37713627041739517
    ],
    "yaw": [
      -0.13327110219151445,
      -0.1992384561800098,
      -0.24686455902644744,
      -0.28088706363251514,
      -0.3000072399374722,
      -0.3172783096394886,
      -0.3271101417369642,
      -0.33128719833163256,
      -0.3349775419677934,
      -0.3314193743798949
    ],
    "yaw_diff": [
      -0.1319347079769907,
      -0.09525220569287529,
      -0.06804500921213541,
      -0.0382403526099141,
      -0.034542139404032834,
      -0.019663664194951136,
      -0.008354113189336765,
      -0.007380687272321662,
      0.007116335175797017,
      0.007116335175797017
    ],
    "min_front_frame": [
      1,
      53.94083169753939
    ],
    "v_avg": 7.495522636712195,
    "v_std": 0.4768137838835711,
    "vy_max": 0.040188904248940505,
    "a_max": 1.0243586156454345,
    "ax_avg": 0.3701148484177071,
    "a_std": 0.3094488175138467,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ee8e4ad158ef5a8d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      53.94083169753939,
      55.32544491451256,
      56.60971014528068,
      57.74178416697319,
      58.77306531310699,
      59.84374218258943,
      60.763299684325176,
      61.52893515056311,
      62.189440392455246
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ee8e4ad158ef5a8d",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "42559fd839fa54b2": {
    "vx_ego": [
      2.1157112990069717,
      2.4024331135754564,
      2.700713758225527,
      3.0065549998912062,
      3.3050465505803985,
      3.5836917257543934,
      3.8443992672448237,
      4.099387044686903,
      4.377745092772209,
      4.700202085912492
    ],
    "vy_ego": [
      -0.08528361317000965,
      -0.04178194311792538,
      -0.04954675416994436,
      -0.040205948780878575,
      -0.02442595931163738,
      -0.04999228558725144,
      -0.08235672613713962,
      -0.08680289828142729,
      -0.07656013018658803,
      -0.0056792469899801246
    ],
    "v_ego": [
      2.1174294782639396,
      2.402796411678395,
      2.7011682074090513,
      3.006823820194356,
      3.3051368094213114,
      3.584040403491392,
      3.84528131042874,
      4.100305950206262,
      4.378414501943065,
      4.7002055170239645
    ],
    "ax_ego": [
      0.5642925786819607,
      0.6013835351877419,
      0.6140869732066796,
      0.6342935633413381,
      0.5715558730769509,
      0.5638921639828278,
      0.5225271034300365,
      0.5494187816498429,
      0.6024986814406443,
      0.7001506988201557
    ],
    "ay_ego": [
      0.47852554395909164,
      0.4309879977564474,
      0.5267387750610719,
      0.6629013534174452,
      0.6458258312812641,
      0.7357638015450412,
      0.9291493774522381,
      1.070677820056627,
      1.04518077775486,
      0.9824441559591082
    ],
    "a_ego": [
      0.7398735098494075,
      0.7398735098684217,
      0.8090466907508983,
      0.9174783533462425,
      0.8624193413872926,
      0.9269966258111445,
      1.0659986582725447,
      1.2034167989482316,
      1.206402718550472,
      1.206402719093652
    ],
    "yaw": [
      -1.0687995655448796,
      -0.987282549465994,
      -0.8904180017707171,
      -0.7894662032434061,
      -0.6911141613360973,
      -0.5835464445946694,
      -0.46307749043588753,
      -0.33614752835149836,
      -0.21372731829773028,
      -0.11748010798071742
    ],
    "yaw_diff": [
      0.16303403215777124,
      0.19372909539055394,
      0.2019035970546219,
      0.19670408381461768,
      0.2151354334828557,
      0.2409379083175638,
      0.25385992416877834,
      0.24484042010753615,
      0.19249442063402572,
      0.19249442063402572
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.414160241006048,
    "v_std": 0.8160731270360682,
    "vy_max": 0.08680289828142729,
    "a_max": 1.206402719093652,
    "ax_avg": 0.5924099952818178,
    "a_std": 0.1798406561800331,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "42559fd839fa54b2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "42559fd839fa54b2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c8507cfbe8575463": {
    "vx_ego": [
      0.6682279449298953,
      0.8753455594364941,
      1.051625112509053,
      1.1608331994245533,
      1.227962814292791,
      1.304236718281567,
      1.3597626781965282,
      1.3859087810048585,
      1.3777989918756763,
      1.3291361849934904
    ],
    "vy_ego": [
      -0.00023702033785760745,
      -0.009572094318688218,
      -0.01858369039157054,
      -0.015668205881824493,
      -0.013427776086644583,
      -0.02016246642178987,
      -0.007560199732250972,
      0.01381473902377528,
      0.025403313645728343,
      0.03536656012172956
    ],
    "v_ego": [
      0.6682279869654307,
      0.8753978943399593,
      1.0517892996262361,
      1.1609389344671837,
      1.2280362284788282,
      1.3043925568501538,
      1.3597836951648548,
      1.385977631955389,
      1.3780331601082076,
      1.3296066304865863
    ],
    "ax_ego": [
      0.41423591559012385,
      0.4142352482438779,
      0.2908289124706122,
      0.14583073742698863,
      0.1226208898385749,
      0.18233987977999538,
      0.0396807290475647,
      0.06495465580376818,
      -0.09727575911136417,
      -0.09728860932685605
    ],
    "ay_ego": [
      -0.01860785968173373,
      -0.018622600447200932,
      -0.021273997530244074,
      0.024433483946553015,
      -0.02504137424333993,
      -0.011050894620980065,
      0.05642031394201623,
      0.019991843755788177,
      0.01802689379665566,
      0.017957381795520644
    ],
    "a_ego": [
      0.41465364607913835,
      0.4146536411694503,
      0.2916059658164693,
      0.14786344753273462,
      0.1251517201192174,
      0.18267444821350132,
      0.06897689528430455,
      0.06796161510251093,
      0.09893200801888159,
      0.09893200223236018
    ],
    "yaw": [
      -2.0544262280732273,
      -2.0543906505817553,
      -2.0553739420904718,
      -2.05726446239862,
      -2.059262628911174,
      -2.0610807715972657,
      -2.062014156145774,
      -2.0636728689685793,
      -2.0651590991596693,
      -2.0658736888838805
    ],
    "yaw_diff": [
      7.115498294396616e-05,
      -0.00196658301743291,
      -0.0037810406162961385,
      -0.0039963330251087115,
      -0.003636285372182968,
      -0.0018667690970168849,
      -0.003317425645610328,
      -0.002972460382180131,
      -0.0014291794484222464,
      -0.0014291794484222464
    ],
    "min_front_frame": [
      9,
      9.305383211592945
    ],
    "v_avg": 1.1742184018442827,
    "v_std": 0.2291919067031998,
    "vy_max": 0.03536656012172956,
    "a_max": 0.41465364607913835,
    "ax_avg": 0.14801625997632856,
    "a_std": 0.12783209847151564,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c8507cfbe8575463",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      14.349522832714138,
      14.166064025987664,
      13.759245501466943,
      13.196248103704034,
      12.566248776153989,
      11.969843505484699,
      11.326873675886535,
      10.630820120672364,
      9.973799635629316,
      9.305383211592945
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c8507cfbe8575463",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7e7480ffa3aa55a4": {
    "vx_ego": [
      2.006016626729822,
      2.511056932257165,
      3.0099321340256755,
      3.4719858536537234,
      3.856878792244578,
      4.044469007496361,
      4.022983156650432,
      3.905728808944612,
      3.747023379842562,
      3.5848739511669137
    ],
    "vy_ego": [
      -0.050469125673884396,
      -0.028552994858751513,
      -0.0374274182023443,
      -0.014492846113174584,
      -0.015374978683453944,
      -0.03887485410078306,
      -0.04112535730389277,
      0.00038174001656732237,
      0.05372947488129365,
      0.07200057010476268
    ],
    "v_ego": [
      2.006651399561663,
      2.511219263734684,
      3.010164823240357,
      3.4720161017138205,
      3.85690943736504,
      4.044655832933126,
      4.023193355247352,
      3.9057288275999573,
      3.7474085800133663,
      3.5855969276886785
    ],
    "ax_ego": [
      1.0091565878605337,
      1.0157524795196688,
      0.9848857023355697,
      0.8679394561122253,
      0.6709728173202083,
      0.08195452969809872,
      -0.16583797809545292,
      -0.3033199417335337,
      -0.3243461882402313,
      -0.31380698932472456
    ],
    "ay_ego": [
      0.21292651043770888,
      0.17883409778131343,
      0.19349277506338333,
      0.29129867265609277,
      0.12552531783223964,
      0.13899259158837204,
      0.09483775550566644,
      0.020925048596938896,
      -0.2537973117427798,
      -0.2667183848243216
    ],
    "a_ego": [
      1.0313751585477977,
      1.0313751665517312,
      1.00371275804722,
      0.9155183319669722,
      0.6826134535734719,
      0.1613551531699206,
      0.19104040108872386,
      0.3040408602671992,
      0.4118416264461732,
      0.41184162411337527
    ],
    "yaw": [
      -1.867116013931998,
      -1.8334461620749605,
      -1.7965678796628366,
      -1.766387109092597,
      -1.7379025575710196,
      -1.7156314491361646,
      -1.7006962855605048,
      -1.7038524467551843,
      -1.7329874117778181,
      -1.7734770909277517
    ],
    "yaw_diff": [
      0.06733970371407505,
      0.07375656482424775,
      0.06036154114047898,
      0.056969103043154945,
      0.04454221686971005,
      0.029870327151319653,
      -0.006312322389359082,
      -0.05826993004526759,
      -0.08097935829986724,
      -0.08097935829986724
    ],
    "min_front_frame": [
      3,
      15.558685303513023
    ],
    "v_avg": 3.416354454909805,
    "v_std": 0.6564642065264106,
    "vy_max": 0.07200057010476268,
    "a_max": 1.0313751665517312,
    "ax_avg": 0.35233504754523626,
    "a_std": 0.34021931737750705,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "7e7480ffa3aa55a4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      19.58694683214236,
      18.47577051741963,
      17.105846963590693,
      15.558685303513023,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "7e7480ffa3aa55a4",
    "maneuvering": "Yes"
  },
  "613181e5c29d526a": {
    "vx_ego": [
      3.8435084471716796,
      4.183075760427412,
      4.524123235352132,
      4.809974301905862,
      5.095467458894593,
      5.374939312755775,
      5.627221561685162,
      5.861412493540488,
      6.110273973478864,
      6.362110895983262
    ],
    "vy_ego": [
      -0.13319185526112065,
      -0.07582362122508068,
      -0.07219566443427872,
      -0.06314648376890197,
      -0.07330939354937138,
      -0.05670434246929812,
      -0.05864532337478412,
      -0.041616764351212865,
      -0.04944135321040788,
      -0.03891910748356375
    ],
    "v_ego": [
      3.8458155511917047,
      4.1837629042539035,
      4.5246992455428625,
      4.810388785057519,
      5.095994789227742,
      5.375238413155495,
      5.627527145936138,
      5.86156023380359,
      6.110473997848323,
      6.36222993530698
    ],
    "ax_ego": [
      0.5834564075572228,
      0.8359182894339301,
      0.578165985259752,
      0.6031645343521608,
      0.5758445872654715,
      0.5695375103514102,
      0.4402861731037315,
      0.4925348873686972,
      0.5031693854229082,
      0.5033446532178978
    ],
    "ay_ego": [
      1.5371155942160262,
      1.4157635188719575,
      1.4398609592054894,
      1.4027274970221904,
      1.377477480241064,
      1.2987224175849783,
      0.8515321961167233,
      0.2803561924169276,
      -0.038580891592761624,
      -0.036222594706107225
    ],
    "a_ego": [
      1.6441246088729613,
      1.644124608409854,
      1.551604166131147,
      1.52690925938721,
      1.4929973868879383,
      1.4181159662154055,
      0.9586234898278357,
      0.566736455419812,
      0.5046463272658978,
      0.5046463279270826
    ],
    "yaw": [
      -1.4524387327554877,
      -1.2818598400484755,
      -1.1202635863530477,
      -0.970115481323698,
      -0.8280637066498961,
      -0.7036168588663901,
      -0.6059093703592605,
      -0.5595681602496398,
      -0.5481607719577135,
      -0.5528468311065667
    ],
    "yaw_diff": [
      0.3411577854140244,
      0.3231925073908557,
      0.30029621005869944,
      0.2841035493476036,
      0.24889369556701202,
      0.19541497701425925,
      0.09268242021924133,
      0.02281477658385267,
      -0.009372118297706455,
      -0.009372118297706455
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.179769100132425,
    "v_std": 0.7944807601765242,
    "vy_max": 0.13319185526112065,
    "a_max": 1.6441246088729613,
    "ax_avg": 0.5685422413333183,
    "a_std": 0.4670347713227892,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "613181e5c29d526a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "613181e5c29d526a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7b7ce3374d1e51dc": {
    "vx_ego": [
      3.719337208650756,
      3.966711284883994,
      4.152218188379216,
      4.27506732151109,
      4.372674718419818,
      4.404365669424853,
      4.412974120877003,
      4.461723110354322,
      4.52883457952304,
      4.627446625708096
    ],
    "vy_ego": [
      0.030264071614693355,
      0.026678242959458975,
      0.038513502336330774,
      0.02066560012672225,
      0.02504882127109731,
      0.03820202289522712,
      0.046535978764708386,
      0.044674477107935484,
      0.032726599306252435,
      0.00900598143342668
    ],
    "v_ego": [
      3.7194603352750915,
      3.966800996555465,
      4.152396798689811,
      4.275117269792795,
      4.372746463786221,
      4.404531342215823,
      4.413219481155423,
      4.461946763731579,
      4.528952823665287,
      4.627455389463935
    ],
    "ax_ego": [
      0.49011432887966994,
      0.49598564002986845,
      0.24355516351858786,
      0.24874678161156918,
      0.14307274102797513,
      -0.01959152077558657,
      0.03816791545823345,
      0.1409346345699905,
      0.11339237249654066,
      0.2682713429021679
    ],
    "ay_ego": [
      0.2157860970318351,
      0.20192556418338603,
      0.27182242220057745,
      0.5429743063138296,
      0.7632546342338244,
      0.946386509223164,
      0.9922856075985491,
      1.087616627048714,
      1.1775286542200873,
      1.1521553944780318
    ],
    "a_ego": [
      0.5355144209499888,
      0.5355144149195398,
      0.3649747208883857,
      0.5972403692644178,
      0.7765484182616479,
      0.9465892734052642,
      0.9930193939786114,
      1.0967098516263079,
      1.1829757231869826,
      1.1829757252147493
    ],
    "yaw": [
      0.45468263798723807,
      0.4827925995786202,
      0.508848631423729,
      0.5614231340927296,
      0.6356726223966656,
      0.7295638668053199,
      0.8376805082485321,
      0.9554866058420504,
      1.0838430908519818,
      1.2166090742174087
    ],
    "yaw_diff": [
      0.05621992318276425,
      0.0521120636902177,
      0.10514900533800109,
      0.14849897660787192,
      0.18778248881730875,
      0.2162332828864244,
      0.23561219518703647,
      0.25671297001986293,
      0.2655319667308538,
      0.2655319667308538
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.292262766433142,
    "v_std": 0.2616802950033882,
    "vy_max": 0.046535978764708386,
    "a_max": 1.1829757252147493,
    "ax_avg": 0.2162649399719016,
    "a_std": 0.2839787122445282,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "7b7ce3374d1e51dc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "7b7ce3374d1e51dc",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "2fd50ca82a7a5df4": {
    "vx_ego": [
      3.2747241896066948,
      3.776229395517667,
      4.1639404613186635,
      4.322500868218812,
      4.3211462215598235,
      4.202873581620008,
      3.923052152037797,
      3.4762987547648434,
      2.9164982884575776,
      2.315376371528273
    ],
    "vy_ego": [
      -0.00795951048411525,
      0.016955100855019056,
      -0.008508951229673434,
      -0.019798306711241054,
      -0.0012543778746123557,
      0.009923270258155092,
      0.01581156016744112,
      0.03023858613181396,
      0.021546055080252646,
      0.08612317396526226
    ],
    "v_ego": [
      3.27473386274402,
      3.776267459147555,
      4.1639491552680745,
      4.322546208972325,
      4.321146403625384,
      4.202885296361537,
      3.923084015547375,
      3.476430267454081,
      2.9165778746787305,
      2.3169775447606917
    ],
    "ax_ego": [
      0.9767248801348243,
      1.0247394864723174,
      0.5325981908198003,
      0.10945490059465801,
      -0.10865016504988706,
      -0.3704640376962284,
      -0.7572290478035844,
      -1.043632641004716,
      -1.2077675891797846,
      -1.2015786619416966
    ],
    "ay_ego": [
      0.6463948179899028,
      0.567209596345932,
      0.7487121504642641,
      0.8035492017718028,
      0.8559228126409857,
      0.7587763146334358,
      0.6641053114550614,
      0.4603755882462696,
      0.24115522313142024,
      0.2703092532806718
    ],
    "a_ego": [
      1.171246238926122,
      1.171246234283152,
      0.9188202855386614,
      0.8109696017313398,
      0.8627912375335204,
      0.8443844496879909,
      1.0071899997221712,
      1.1406641800387953,
      1.2316080509304548,
      1.2316080436741035
    ],
    "yaw": [
      0.45409487273798377,
      0.5331809095245468,
      0.621040872515795,
      0.713931223549718,
      0.8049963552406052,
      0.896323094658485,
      0.9813620238178842,
      1.05272642595739,
      1.1099318578413704,
      1.1341314562526819
    ],
    "yaw_diff": [
      0.15817207357312602,
      0.17571992598249642,
      0.18578070206784614,
      0.1821302633817743,
      0.18265347883575966,
      0.1700778583187983,
      0.1427288042790118,
      0.11441086376796061,
      0.04839919682262295,
      0.04839919682262295
    ],
    "min_front_frame": [
      9,
      10.49844509055153
    ],
    "v_avg": 3.669459808855977,
    "v_std": 0.6360126805753106,
    "vy_max": 0.08612317396526226,
    "a_max": 1.2316080509304548,
    "ax_avg": -0.2045804684654297,
    "a_std": 0.15996470684728425,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "2fd50ca82a7a5df4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      11.29410603209653,
      10.49844509055153
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "2fd50ca82a7a5df4",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "407c0f671669566d": {
    "vx_ego": [
      6.237063725397643,
      6.156319230670636,
      6.05824897572124,
      5.98157192672218,
      5.922203042492788,
      5.7811136317606575,
      5.514389564967361,
      5.158671641973736,
      4.714277698114944,
      4.204834055037821
    ],
    "vy_ego": [
      -0.01461846603282968,
      -0.01816322148286087,
      -0.015826962084141805,
      -0.044850301726051534,
      -0.038869716162317935,
      -0.004839925818112434,
      0.00736440844303532,
      -0.0015422894809073995,
      -0.015717062762041767,
      -0.04465811838619693
    ],
    "v_ego": [
      6.237080856796734,
      6.156346024432003,
      6.058269649376483,
      5.981740069922448,
      5.922330599632662,
      5.781115657743825,
      5.514394482509629,
      5.158671872523087,
      4.714303897820526,
      4.205071197725861
    ],
    "ax_ego": [
      -0.16143877852565441,
      -0.1613939233548664,
      -0.230792409805135,
      -0.07457969443479281,
      -0.16136834702311345,
      -0.4028579732546117,
      -0.6640730890209846,
      -0.7588365695172143,
      -1.0187467919295488,
      -1.0188197100933558
    ],
    "ay_ego": [
      0.0201215747333484,
      0.020478299797414376,
      0.02245735461633208,
      0.07712551442777289,
      0.1331823604953319,
      0.06235344718623326,
      0.01309764205602204,
      -0.019838657588449826,
      -0.04349519701167143,
      -0.041752318243909126
    ],
    "a_ego": [
      0.16268791283191575,
      0.1626879198295598,
      0.23188244694246493,
      0.10728688548809528,
      0.2092302190604419,
      0.4076548773053253,
      0.6642022401266803,
      0.7590958513729119,
      1.0196748786891985,
      1.0196748784556038
    ],
    "yaw": [
      0.8501598029966573,
      0.8523698102607201,
      0.8537428828534366,
      0.8627287574080547,
      0.8705433155861446,
      0.8730687403066368,
      0.8742409173729566,
      0.8755911298876559,
      0.875257320138692,
      0.876968064172604
    ],
    "yaw_diff": [
      0.004420014528125682,
      0.0027461451854329244,
      0.017971749109236157,
      0.015629116356179917,
      0.0050508494409844396,
      0.002344354132639559,
      0.00270042502939849,
      -0.0006676194979278183,
      0.0034214880678240522,
      0.0034214880678240522
    ],
    "min_front_frame": [
      9,
      15.54712785724731
    ],
    "v_avg": 5.572932430848326,
    "v_std": 0.6428752291868828,
    "vy_max": 0.044850301726051534,
    "a_max": 1.0196748786891985,
    "ax_avg": -0.4652907286959277,
    "a_std": 0.3426968889070632,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "407c0f671669566d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 26.9211725367771,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.418653740691923,
      24.338029106826593,
      24.06389922813199,
      23.602539292526178,
      22.888205541829866,
      21.827029453033095,
      20.516064388964015,
      18.97968349765011,
      17.314039349518584,
      15.54712785724731
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "407c0f671669566d",
    "merging_vehicles": "No"
  },
  "6f11adda2af357ff": {
    "vx_ego": [
      8.617428504360305,
      8.698299404010294,
      8.83992204926706,
      8.934230257620401,
      9.022643312161012,
      9.230645816920735,
      9.593099203144167,
      9.987624480411544,
      10.259553672356377,
      10.525478952675018
    ],
    "vy_ego": [
      -0.019309204644490485,
      -0.015049368733928148,
      -0.04608818890067479,
      -0.07104650465340523,
      -0.05943573568400051,
      -0.07203587179002469,
      -0.10015623253448425,
      -0.11593818670710965,
      -0.1241145410175224,
      -0.07382146282084623
    ],
    "v_ego": [
      8.617450137549127,
      8.698312422838416,
      8.840042192109383,
      8.93451274004371,
      9.022839073438035,
      9.230926896268912,
      9.593622026757192,
      9.988297373669493,
      10.260304380243952,
      10.525737826469829
    ],
    "ax_ego": [
      0.040862855436493706,
      0.2896690115420455,
      0.29976731346315666,
      0.1057892052741305,
      0.2850625731236376,
      0.5791809685632434,
      0.9123957746753558,
      0.738865976212703,
      0.40790875881541677,
      0.6979722319448106
    ],
    "ay_ego": [
      2.0860702737885672,
      2.0662649375510296,
      2.1892070069481084,
      2.1731811985214886,
      2.25897211268874,
      2.247474613561648,
      2.2393793575711647,
      2.556821348012788,
      2.5339728325415165,
      2.4698669250229752
    ],
    "a_ego": [
      2.086470455131999,
      2.0864704475262776,
      2.2096352100497527,
      2.1757545536111893,
      2.276887277952358,
      2.320903430336975,
      2.4181162000121676,
      2.6614391476151926,
      2.566594606005555,
      2.5665946045077837
    ],
    "yaw": [
      0.34597170910159236,
      0.46566774587248794,
      0.5903833211686238,
      0.7154042531033975,
      0.8376751176742794,
      0.9628389505070003,
      1.0853968161479397,
      1.209049209654708,
      1.33489173624218,
      1.4506984930062696
    ],
    "yaw_diff": [
      0.23939207354179115,
      0.24943115059227172,
      0.2500418638695474,
      0.24454172914176375,
      0.25032766566544185,
      0.2451157312818788,
      0.24730478701353675,
      0.2516850531749437,
      0.23161351352817938,
      0.23161351352817938
    ],
    "min_front_frame": [
      9,
      35.20611364915713
    ],
    "v_avg": 9.371204506938804,
    "v_std": 0.6471875866711252,
    "vy_max": 0.1241145410175224,
    "a_max": 2.6614391476151926,
    "ax_avg": 0.4357474669050993,
    "a_std": 0.1972035667644751,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "6f11adda2af357ff",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.243176594732565,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      35.20611364915713
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6f11adda2af357ff",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "cf34e1f8d98f56ee": {
    "vx_ego": [
      5.437858517213407,
      4.937474209720091,
      4.439837298625402,
      3.9393776757455075,
      3.412468452405799,
      2.813688271015943,
      2.2163995372050893,
      1.691231414882188,
      1.1466490303692733,
      0.5630595165739145
    ],
    "vy_ego": [
      -0.005617266686176681,
      -0.007881062937162842,
      -0.010770178758823246,
      -0.004339551272478204,
      -0.013174220090430122,
      -0.03244194096527009,
      -0.024799015405711167,
      -0.0052337687588678294,
      -0.010837487523732814,
      -0.02747423079287803
    ],
    "v_ego": [
      5.437861418509616,
      4.937480499485953,
      4.439850361782006,
      3.9393800659326237,
      3.412493882593758,
      2.813875293254177,
      2.2165382693939724,
      1.6912395132032094,
      1.1467002441713448,
      0.5637294143133836
    ],
    "ax_ego": [
      -1.000766901250247,
      -1.0007672743068636,
      -0.9897608885754874,
      -1.01209046866098,
      -1.0955451496792137,
      -1.2996010435774665,
      -1.0895263909828898,
      -1.0111428925983545,
      -1.1671838356850757,
      -1.167180915166863
    ],
    "ay_ego": [
      -0.0034157115750459432,
      -0.003303035913348351,
      0.0009997258033717094,
      0.01923361563964121,
      -0.04631377020827954,
      -0.03404247445701569,
      0.06627641336675716,
      0.012732093112147125,
      -0.03337182092607349,
      -0.03347374489645305
    ],
    "a_ego": [
      1.0007727303057299,
      1.0007727251328515,
      0.9897613934708811,
      1.0122732085385722,
      1.0965236615306375,
      1.3000468309006397,
      1.091540342642892,
      1.0112230493057326,
      1.1676608174964371,
      1.1676608156169106
    ],
    "yaw": [
      -0.7409121432277636,
      -0.7407995468624611,
      -0.7403060214719206,
      -0.7406333492935291,
      -0.7400732745718416,
      -0.7403349645001025,
      -0.7401679903734006,
      -0.74007185853348,
      -0.739763338768617,
      -0.7398506638698208
    ],
    "yaw_diff": [
      0.0002251927306049506,
      0.000987050781080967,
      -0.0006546556432169837,
      0.001120149443375018,
      -0.0005233798565218439,
      0.00033394825340371526,
      0.0001922636798412647,
      0.0006170395297260267,
      -0.0001746502024075891,
      -0.0001746502024075891
    ],
    "min_front_frame": [
      9,
      9.09302816564079
    ],
    "v_avg": 3.059914896264005,
    "v_std": 1.5658320236474206,
    "vy_max": 0.03244194096527009,
    "a_max": 1.3000468309006397,
    "ax_avg": -1.0833565760483441,
    "a_std": 0.09698637789433504,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cf34e1f8d98f56ee",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.230337221630654,
    "speed_mode": "decelerating",
    "front_frame": [
      17.910811133064627,
      16.629489560880433,
      15.313766481116575,
      13.986639887528101,
      12.713122816013765,
      11.658836649513253,
      10.80203010175788,
      10.107450302464047,
      9.503005634497367,
      9.09302816564079
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cf34e1f8d98f56ee",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8993f8b000855b17": {
    "vx_ego": [
      8.424649855915797,
      8.504790963133617,
      8.52607356422198,
      8.425983273809372,
      8.25264505049649,
      8.093031865864925,
      7.949364726354413,
      7.774235135254027,
      7.484333581556211,
      7.102690556956045
    ],
    "vy_ego": [
      -0.024392278799791,
      -0.002146546063567456,
      -0.029085660497798926,
      -0.040121675791959355,
      -0.03215106843689952,
      -0.01357470977951758,
      -0.025710386146630793,
      -0.02368670468113443,
      0.00304870723714723,
      0.042590488602388454
    ],
    "v_ego": [
      8.424685167888894,
      8.504791234019754,
      8.52612317517003,
      8.426078796177,
      8.25270767813121,
      8.09304325051156,
      7.949406303401757,
      7.774271219747665,
      7.484334202494289,
      7.102818250356119
    ],
    "ax_ego": [
      0.1602741932300934,
      0.16025032226487257,
      -0.07394502978913509,
      -0.32446086068156677,
      -0.36633026488755455,
      -0.2705013042118354,
      -0.30373875140468626,
      -0.3950967428552526,
      -0.764368916254291,
      -0.7628859631770772
    ],
    "ay_ego": [
      0.03171484998441071,
      0.03183523301099529,
      0.16800311877659316,
      0.2079446432828676,
      0.2876482291443129,
      0.3078279115720417,
      0.20012368874969666,
      0.24504804465173416,
      0.1888889993927262,
      0.19479195043535424
    ],
    "a_ego": [
      0.1633819106421852,
      0.16338190795452193,
      0.1835563002165225,
      0.38537750944270494,
      0.4657675028406823,
      0.4097913843934602,
      0.36373990694404607,
      0.46491932676806186,
      0.7873619842406316,
      0.7873619858534107
    ],
    "yaw": [
      -0.6674647931501377,
      -0.6682159353212607,
      -0.6592164237092374,
      -0.6468716027455459,
      -0.6329792084117847,
      -0.6170139898318681,
      -0.5996789150651376,
      -0.585800539524649,
      -0.5751499393659583,
      -0.5674198352843389
    ],
    "yaw_diff": [
      -0.0015022843422458632,
      0.017999023224046562,
      0.024689641927382988,
      0.02778478866752243,
      0.031930437159833236,
      0.034670149533460926,
      0.027756751080977082,
      0.021301200317381586,
      0.015460208163238676,
      0.015460208163238676
    ],
    "min_front_frame": [
      9,
      33.974945817939656
    ],
    "v_avg": 8.053825927789829,
    "v_std": 0.4540292766749127,
    "vy_max": 0.042590488602388454,
    "a_max": 0.7873619858534107,
    "ax_avg": -0.29408033177664333,
    "a_std": 0.21587894636552188,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "8993f8b000855b17",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.358236158575753,
    "right_rear_min": 32.3500895735061,
    "speed_mode": "decelerating",
    "front_frame": [
      50.242458055300425,
      49.16601922242506,
      47.90668944064676,
      46.58316644661821,
      44.730612554550504,
      43.068513315336254,
      41.1096863558792,
      38.85773796243642,
      36.48903113938024,
      33.974945817939656
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 10,
    "token": "8993f8b000855b17",
    "smoothness": "No"
  },
  "ad568870afa55435": {
    "vx_ego": [
      6.665808904245996,
      7.15693019145356,
      7.644767336679663,
      8.027534042144229,
      8.281718376719487,
      8.372957395913778,
      8.228542145430655,
      8.009863819474832,
      7.849024389036807,
      7.711395860244264
    ],
    "vy_ego": [
      0.0559462505004662,
      -0.1588535299874363,
      -0.10399801228465133,
      -0.0770149696621516,
      -0.019825327318130803,
      -0.02143763916884378,
      -0.024558013325547634,
      -0.0261815776097869,
      -0.03013771689981315,
      -0.006414027918861809
    ],
    "v_ego": [
      6.666043679040085,
      7.158692912070538,
      7.645474688894302,
      8.027903468735566,
      8.281742106277914,
      8.37298483971877,
      8.228578791938924,
      8.009906608790024,
      7.84908224836984,
      7.71139852770861
    ],
    "ax_ego": [
      0.9682528892183235,
      1.008447569530372,
      0.9533792551253798,
      0.5807319931147726,
      0.43588867268079196,
      -0.07081100508594905,
      -0.5068936737729234,
      -0.3678853305482711,
      -0.2753870397799896,
      -0.2753709459238646
    ],
    "ay_ego": [
      0.5960868570869857,
      0.5252301506405302,
      0.37968442634667227,
      0.13160568390919483,
      0.07402377741294144,
      0.004750667736320449,
      -0.03788209322859043,
      0.014729419042538355,
      -0.004332181467422258,
      -0.005256727106517367
    ],
    "a_ego": [
      1.1370282312552629,
      1.1370282369552607,
      1.0262028394589569,
      0.5954575584071994,
      0.4421294545649535,
      0.07097018588973272,
      0.5083072392740344,
      0.3681800812346336,
      0.2754211129798372,
      0.27542111581880635
    ],
    "yaw": [
      0.7682949535149578,
      0.8399561740047672,
      0.8630894997884883,
      0.8758817798755387,
      0.8751742716486952,
      0.8777135086851617,
      0.8770956367486464,
      0.8765816043227329,
      0.8774095341862396,
      0.8740521827586305
    ],
    "yaw_diff": [
      0.14332244097961877,
      0.04626665156744214,
      0.025584560174100934,
      -0.0014150164536870236,
      0.005078474072933048,
      -0.0012357438730306036,
      -0.0010280648518270485,
      0.0016558597270133202,
      -0.006714702855218135,
      -0.006714702855218135
    ],
    "min_front_frame": [
      0,
      33.82582488760098
    ],
    "v_avg": 7.795180787154457,
    "v_std": 0.5070605950379544,
    "vy_max": 0.1588535299874363,
    "a_max": 1.1370282369552607,
    "ax_avg": 0.24503523845586428,
    "a_std": 0.3651615981294036,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ad568870afa55435",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 30.377327050790985,
    "right_rear_min": 24.73196037743651,
    "speed_mode": "accelerating",
    "front_frame": [
      33.82582488760098,
      35.200007818616946,
      36.30783751486713,
      37.30526177232663,
      38.09881122927326,
      38.842588346759484,
      39.427857083813066,
      40.04199956693174,
      40.59732250787386,
      41.077121355462516
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ad568870afa55435",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a62cc53f0187532a": {
    "vx_ego": [
      3.2609227834014844,
      2.87270453708784,
      2.423241467241538,
      1.8633897526714227,
      1.2539814521473291,
      0.6371180538851603,
      0.14822397413778793,
      -0.0490888498793977,
      -0.05450365026329458,
      -0.024388885484366567
    ],
    "vy_ego": [
      0.011763061451213863,
      -0.03597141929291925,
      -0.08003032206818328,
      -0.0833476351238529,
      -0.03458455520236969,
      0.01771675676920098,
      0.035717938243774935,
      0.012892686655070937,
      -0.003588482089657792,
      0.0074166615329562665
    ],
    "v_ego": [
      3.2609439996604648,
      2.8729297416419723,
      2.4245626535540916,
      1.8652528511281263,
      1.2544582790145196,
      0.6373643369822578,
      0.152466775467922,
      0.050753685104314224,
      0.05462165409186476,
      0.025491657526806284
    ],
    "ax_ego": [
      -0.7763593708203039,
      -0.7764587984987936,
      -1.0210817329603383,
      -1.2180381916466974,
      -1.219273649890154,
      -1.2481787778644209,
      -0.7073691168920078,
      -0.0818823968751821,
      0.060229007677426505,
      0.060229785901136895
    ],
    "ay_ego": [
      -0.0890207105481362,
      -0.08814933746234183,
      -0.0741115916170918,
      0.06710436021607113,
      0.13536970157664913,
      0.07507508006703156,
      -0.003323422053386149,
      -0.08797776497781401,
      0.022008567449597477,
      0.022006446213132247
    ],
    "a_ego": [
      0.7814464534227494,
      0.7814464610331535,
      1.0237677634098987,
      1.2198852534029438,
      1.2267653359226485,
      1.2504345361346152,
      0.707376924041719,
      0.12018658015151404,
      0.06412417958142609,
      0.06412418252600395
    ],
    "yaw": [
      0.5619903049079475,
      0.5631126290106738,
      0.5644169440242519,
      0.5651390636125354,
      0.5663293319029606,
      0.566655814572955,
      0.5664611919870173,
      0.5664627074432802,
      0.5666226852381038,
      0.5666579559534943
    ],
    "yaw_diff": [
      0.0022446482054525596,
      0.002608630027156167,
      0.001444239176566997,
      0.0023805365808504675,
      0.0006529653399887092,
      -0.00038924517187544083,
      3.03091252584764e-06,
      0.0003199555896471473,
      7.054143078111252e-05,
      7.054143078111252e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.2598845634172338,
    "v_std": 1.1992254364101218,
    "vy_max": 0.0833476351238529,
    "a_max": 1.2504345361346152,
    "ax_avg": -0.6928183241869335,
    "a_std": 0.4591305410443663,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a62cc53f0187532a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a62cc53f0187532a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8a6fbabba3745db9": {
    "vx_ego": [
      4.383851632660225,
      3.8679089248054392,
      3.374861827035962,
      2.9274742980552,
      2.5139827514945394,
      2.1101313822847327,
      1.703304556698034,
      1.3253156320406605,
      1.0339305580986615,
      0.7988435771051948
    ],
    "vy_ego": [
      0.002604816620594308,
      -0.015352178677421335,
      -0.03640153516544076,
      -0.025775069948650753,
      -0.01104315304419523,
      -0.025897197643106717,
      -0.026766265540012935,
      -0.017644163840060068,
      -0.006213993210900048,
      0.007691514978154401
    ],
    "v_ego": [
      4.383852406530966,
      3.86793939197342,
      3.3750581362914196,
      2.9275877646971824,
      2.5140070059650217,
      2.1102902917249664,
      1.703514850489788,
      1.325433076789979,
      1.0339492311916647,
      0.7988806043989819
    ],
    "ax_ego": [
      -1.0319261061706788,
      -1.0318735167875734,
      -0.9404167411078193,
      -0.849209496675398,
      -0.8047636233144657,
      -0.8106575013708879,
      -0.816616661320454,
      -0.6953600665408748,
      -0.4701839743454574,
      -0.47016572717956434
    ],
    "ay_ego": [
      -0.044862490057466564,
      -0.0460561567655734,
      -0.0528355508253564,
      0.09046284527456105,
      -0.04121330103168558,
      -0.01991731464698454,
      0.018470599665489362,
      0.016581864465858076,
      0.028817352863673734,
      0.029113509632184148
    ],
    "a_ego": [
      1.0329008333866012,
      1.0329008298106694,
      0.9418998048555217,
      0.8540142244827378,
      0.8058182335937526,
      0.8109021420317238,
      0.8168255227392003,
      0.695557747688065,
      0.47106624752507925,
      0.471066245296128
    ],
    "yaw": [
      -2.0566378876503544,
      -2.0577946526025475,
      -2.0588122755251463,
      -2.0592007255739366,
      -2.0600918407574103,
      -2.060277162317874,
      -2.060011160909099,
      -2.060250620498744,
      -2.060320415154769,
      -2.059690538814751
    ],
    "yaw_diff": [
      -0.002313529904386158,
      -0.002035245845197764,
      -0.0007769000975805795,
      -0.0017822303669472461,
      -0.00037064312092738305,
      0.000532002817549504,
      -0.0004789191792893277,
      -0.0001395893120506031,
      0.001259752680036641,
      0.001259752680036641
    ],
    "min_front_frame": [
      9,
      11.763072868429816
    ],
    "v_avg": 2.404051276005339,
    "v_std": 1.1612851712647672,
    "vy_max": 0.03640153516544076,
    "a_max": 1.0329008333866012,
    "ax_avg": -0.7921173414813174,
    "a_std": 0.18942754800169173,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8a6fbabba3745db9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.24824550394891,
    "right_rear_min": 49.86433051731789,
    "speed_mode": "decelerating",
    "front_frame": [
      22.50271752242288,
      20.432714878886124,
      18.636149441535938,
      17.08495929734496,
      15.718559164058686,
      14.5538242563434,
      13.591321214640436,
      12.812842101984897,
      12.235668625801575,
      11.763072868429816
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8a6fbabba3745db9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "748a5531d6415e0c": {
    "vx_ego": [
      4.460523879740977,
      4.062541376710693,
      3.663451441595213,
      3.2542814518623957,
      2.865879877255377,
      2.5433690295592877,
      2.267250295406401,
      1.9877010096441385,
      1.6708053125985214,
      1.3302029640721742
    ],
    "vy_ego": [
      -0.0004025710335870958,
      0.00431788362713359,
      -0.005210864664211279,
      -0.012481676355831306,
      -0.015982053971917987,
      -0.015339346318108849,
      -0.017341755523639146,
      -0.005999528393960674,
      0.0012070490523884425,
      -0.013275358944048743
    ],
    "v_ego": [
      4.4605238979073905,
      4.062543671347476,
      3.6634551475399,
      3.254305388278776,
      2.8659244401949007,
      2.543415285805057,
      2.26731661629007,
      1.9877100638879095,
      1.6708057486060004,
      1.3302692061314099
    ],
    "ax_ego": [
      -0.7959793342027957,
      -0.7959587585271058,
      -0.8004428563310779,
      -0.8362753037139642,
      -0.7173811954794608,
      -0.5727030202927729,
      -0.5315778600560551,
      -0.5863981256256345,
      -0.6811952667853043,
      -0.6812053574934411
    ],
    "ay_ego": [
      0.01833992407058649,
      0.019211716070112572,
      -0.026867430958388394,
      -0.015034182027746312,
      -0.009186901225282817,
      0.005486755656550352,
      0.013381880763680937,
      0.059129680050582806,
      -0.028002288558722666,
      -0.027755834058708906
    ],
    "a_ego": [
      0.7961905885482701,
      0.7961905772554522,
      0.8008936415640708,
      0.8364104316847838,
      0.7174400175496649,
      0.5727293024982212,
      0.5317462703532093,
      0.5893717679021805,
      0.6817705769943638,
      0.6817705812090028
    ],
    "yaw": [
      -2.0577078897950747,
      -2.05661263688944,
      -2.0546417028374897,
      -2.055566991010769,
      -2.056405976358217,
      -2.0569895317341924,
      -2.0541899110963593,
      -2.0510106174933718,
      -2.0506981583261936,
      -2.0503363615603756
    ],
    "yaw_diff": [
      0.0021905058112690057,
      0.003941868103900958,
      -0.0018505763465581637,
      -0.0016779706948968354,
      -0.0011671107519504176,
      0.005599241275666245,
      0.0063585872059750415,
      0.0006249183343562947,
      0.0007235935316360909,
      0.0007235935316360909
    ],
    "min_front_frame": [
      9,
      9.751262785067338
    ],
    "v_avg": 2.8106269465988887,
    "v_std": 0.9874771660176881,
    "vy_max": 0.017341755523639146,
    "a_max": 0.8364104316847838,
    "ax_avg": -0.6999117078507613,
    "a_std": 0.10247198805722732,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "748a5531d6415e0c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.897544652516673,
    "right_rear_min": 9.24354160060173,
    "speed_mode": "decelerating",
    "front_frame": [
      17.149667947393425,
      16.369517519691712,
      15.647103437007118,
      14.911418054644475,
      14.187008829409862,
      13.393794922248377,
      12.484445287701917,
      11.424995458705641,
      10.507344586822622,
      9.751262785067338
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "748a5531d6415e0c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6092bab95402500f": {
    "vx_ego": [
      5.379020593742159,
      5.508626130873234,
      5.6273701221813255,
      5.813693124320086,
      6.054304147573462,
      6.252167553406205,
      6.392862937712488,
      6.480623736428337,
      6.546723030770616,
      6.605102887215807
    ],
    "vy_ego": [
      0.0019879977441252805,
      -0.017706872705383514,
      0.002532712458640507,
      0.017279666261560855,
      0.010499110194887251,
      -0.008919188026595304,
      -0.005449964447845179,
      0.009857625895030697,
      0.008188040586400103,
      -4.530938789670813e-05
    ],
    "v_ego": [
      5.379020961107819,
      5.508654589196932,
      5.627370692130692,
      5.813718803883857,
      6.054313251116109,
      6.252173915349795,
      6.39286526078021,
      6.4806312336026854,
      6.546728151193621,
      6.6051028873712125
    ],
    "ax_ego": [
      0.2588572570436881,
      0.25991920169788296,
      0.21505470566175156,
      0.5302110362763941,
      0.43192616006352225,
      0.3595712707195102,
      0.20335642765145348,
      0.14766401959951583,
      0.11675558336625408,
      0.1167765730181818
    ],
    "ay_ego": [
      0.09115652175792929,
      0.08808291494140952,
      0.024481412417662288,
      0.07116058459502425,
      -0.029271071003104304,
      0.012505361827437722,
      0.06737723253351578,
      0.009353536977548142,
      -0.026822222072470467,
      -0.026730689059949055
    ],
    "a_ego": [
      0.274438683467156,
      0.2744386840732195,
      0.21644367854300173,
      0.5349650192201293,
      0.43291685500207566,
      0.359788664081122,
      0.21422774827513894,
      0.14795996532263908,
      0.11979690248123792,
      0.11979690206132389
    ],
    "yaw": [
      2.5270796647831704,
      2.5389289742249077,
      2.540346637180157,
      2.5419596141305374,
      2.5448610768549838,
      2.5473320555121957,
      2.549933964357226,
      2.550535342248005,
      2.550121445671993,
      2.549337542423452
    ],
    "yaw_diff": [
      0.023698618883474687,
      0.0028353259104987316,
      0.0032259539007606364,
      0.005802925448892715,
      0.004941957314423817,
      0.005203817690060397,
      0.0012027557815583734,
      -0.0008277931520241921,
      -0.0015678064970821026,
      -0.0015678064970821026
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.066057974573292,
    "v_std": 0.43288616157225634,
    "vy_max": 0.017706872705383514,
    "a_max": 0.5349650192201293,
    "ax_avg": 0.2640092235098154,
    "a_std": 0.13070637852155184,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6092bab95402500f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6092bab95402500f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c5a2a467d5e25058": {
    "vx_ego": [
      5.253068048462886,
      4.783946319211383,
      4.387662846323134,
      4.138952363101999,
      3.9977528690083357,
      3.9196829918985694,
      3.9994384043429427,
      4.263978990710559,
      4.5772522889384595,
      4.881794307239884
    ],
    "vy_ego": [
      -0.02174740357157079,
      -0.028191034911386303,
      0.008870834505936731,
      0.021321832204236557,
      -0.0039975454170582125,
      -0.011174244810364886,
      -0.016581002742228845,
      -0.013546922798235883,
      -0.0063868804099942444,
      -0.013217402229454889
    ],
    "v_ego": [
      5.253113064778235,
      4.7840293811331795,
      4.387671813696787,
      4.13900728249615,
      3.997754867676824,
      3.919698919652631,
      3.9994727752274004,
      4.264000510358592,
      4.577256744911054,
      4.881812200189745
    ],
    "ax_ego": [
      -0.9380984154875436,
      -0.9375603825419377,
      -0.6473821726130363,
      -0.34790731244452755,
      -0.2170070071493001,
      -0.09519421776233208,
      0.4142536115728622,
      0.6440056557979609,
      0.6090946572240376,
      0.609090494490578
    ],
    "ay_ego": [
      0.06357691062989301,
      0.07107174710006514,
      0.12877113335386475,
      -0.023568299543102023,
      -0.022184505316711303,
      0.01797345973593864,
      -0.022837785101667868,
      0.05131914225682083,
      -0.009397297966276613,
      -0.009663289560278288
    ],
    "a_ego": [
      0.9402503181097475,
      0.9402503199404083,
      0.6600649075677436,
      0.34870469282148686,
      0.21813801463303817,
      0.09687612889799894,
      0.41488265706041483,
      0.6460471647346945,
      0.6091671450988922,
      0.6091671442583739
    ],
    "yaw": [
      1.0731180132405265,
      1.0811096569023542,
      1.0839448588459741,
      1.0872222167357846,
      1.090647981249668,
      1.0922009041955603,
      1.0932765732809369,
      1.094272495835888,
      1.0950228765967833,
      1.095459574597083
    ],
    "yaw_diff": [
      0.015983287323655393,
      0.005670403887239939,
      0.006554715779620857,
      0.006851529027767089,
      0.003105845891784309,
      0.002151338170753192,
      0.001991845109902357,
      0.0015007615217905723,
      0.0008733960005993247,
      0.0008733960005993247
    ],
    "min_front_frame": [
      3,
      14.47329706234199
    ],
    "v_avg": 4.420381756012059,
    "v_std": 0.4212323151125177,
    "vy_max": 0.028191034911386303,
    "a_max": 0.9402503199404083,
    "ax_avg": -0.09067050889132386,
    "a_std": 0.26592001024558515,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c5a2a467d5e25058",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.479556877954192,
    "right_rear_min": 26.55982228535127,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      15.959879375901247,
      15.200164362691185,
      14.658282216904832,
      14.47329706234199,
      14.523497638979258,
      14.789275741562058,
      15.28386834455113,
      15.66616620522881,
      16.033171836770297,
      16.213299930659357
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c5a2a467d5e25058",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2d151a8187f050bf": {
    "vx_ego": [
      9.05721856656587,
      9.11736707462269,
      9.189709794221027,
      9.2821811413968,
      9.35375872543042,
      9.374107031611729,
      9.32853670256039,
      9.242925037519807,
      9.187397243340016,
      9.15827670551609
    ],
    "vy_ego": [
      -0.00031585742972017883,
      -0.01946368309338853,
      -0.011577618846934534,
      -0.01724013499881938,
      -0.05856807219905491,
      -0.04018334382778832,
      -0.04276866556985226,
      -0.11385236776289354,
      -0.1133885488012023,
      -0.041314245002661565
    ],
    "v_ego": [
      9.057218572073406,
      9.117387850057355,
      9.189717087226356,
      9.282197151750072,
      9.353942084097316,
      9.374193156812678,
      9.32863474307848,
      9.243626215444658,
      9.188096923189859,
      9.158369892160875
    ],
    "ax_ego": [
      0.11976873602510521,
      0.1205950002162577,
      0.1681106670452983,
      0.2017858150656165,
      0.08398178308479717,
      -0.003447700651303162,
      -0.17887578394164447,
      -0.16437867792233063,
      -0.05836715080284591,
      -0.05852639995748693
    ],
    "ay_ego": [
      -0.14352487110573786,
      -0.14283130906741137,
      -0.041616860778940425,
      -0.16143231865493057,
      -0.1222019734721752,
      0.0895459524563807,
      -0.21473597421520096,
      -0.15732550950739863,
      0.11979092571324441,
      0.11971320042253841
    ],
    "a_ego": [
      0.18693297931336247,
      0.18693297442417586,
      0.17318533273781836,
      0.2584142191676035,
      0.14827765243149804,
      0.08961229960837624,
      0.27947823654604903,
      0.22753387813083106,
      0.1332538561396187,
      0.13325385490630498
    ],
    "yaw": [
      2.629722452280287,
      2.623951572730826,
      2.6180486081274994,
      2.613163319759627,
      2.6099937515381364,
      2.607161846287288,
      2.6040986435889644,
      2.6017363153806388,
      2.600666160585087,
      2.599336338373498
    ],
    "yaw_diff": [
      -0.011541759098922633,
      -0.011805929206652799,
      -0.009770576735744996,
      -0.006339136442981008,
      -0.005663810501697064,
      -0.0061264053966469945,
      -0.004724656416651207,
      -0.002140309591103673,
      -0.002659644423177454,
      -0.002659644423177454
    ],
    "min_front_frame": [
      7,
      18.11148633170438
    ],
    "v_avg": 9.229338367589104,
    "v_std": 0.09991612955655858,
    "vy_max": 0.11385236776289354,
    "a_max": 0.27947823654604903,
    "ax_avg": 0.023064628816146376,
    "a_std": 0.05653752838233234,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2d151a8187f050bf",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.684834632680872,
    "speed_mode": "quasi_constant",
    "front_frame": [
      44.76314255498856,
      52.17556898603439,
      47.707916170082946,
      43.17501743214848,
      38.61272922597827,
      41.185956325801214,
      42.6800505520282,
      18.11148633170438,
      18.808622333732888,
      19.606087414617498
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2d151a8187f050bf",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c0b8f52197ac558c": {
    "vx_ego": [
      1.426459654235694,
      1.3777989918756763,
      1.2556623595547143,
      0.9621605386292118,
      0.5106958365727885,
      0.14384298610608925,
      -0.005206444079833771,
      -0.03170537445078776,
      -0.015949139449464488,
      -0.007317843494208079
    ],
    "vy_ego": [
      0.014269834603845344,
      0.025403313645728343,
      0.006986996693038927,
      -0.014431334169246801,
      -0.002889365334625249,
      0.0061817976441001996,
      0.004088763440944118,
      0.0019370683284151754,
      0.0004361220633354781,
      0.00013093392532280944
    ],
    "v_ego": [
      1.4265310278230323,
      1.3780331601082076,
      1.2556817985960063,
      0.9622687594955784,
      0.5107040100927516,
      0.14397575932784376,
      0.006620048824022169,
      0.03176449279893533,
      0.0159551011163387,
      0.007319014762830032
    ],
    "ax_ego": [
      -0.09724885278141512,
      -0.09727575911136417,
      -0.39118387856515613,
      -0.7828917872843847,
      -1.0229642009728994,
      -0.44444452616809005,
      -0.1517586519454599,
      0.04576254748132381,
      0.01726257423467054,
      0.017262494712978877
    ],
    "ay_ego": [
      0.018171452842367028,
      0.01802689379665566,
      -0.09556085609549206,
      0.005027612565965012,
      0.04130317820708079,
      -0.0051096682492817735,
      -0.003225925259324247,
      -0.005386045659965116,
      -0.0006119189479578393,
      -0.0006137495925283799
    ],
    "a_ego": [
      0.09893200223236019,
      0.09893200801888159,
      0.40268685608917276,
      0.7829079304014309,
      1.0237976894885672,
      0.4444738974905003,
      0.1517929347304478,
      0.04607841403338059,
      0.017273416396485698,
      0.01727340187334135
    ],
    "yaw": [
      -2.0636728689685793,
      -2.0651590991596693,
      -2.0658736888838805,
      -2.0669230090812114,
      -2.0668698708687927,
      -2.066959246832345,
      -2.0666801815170546,
      -2.0666500785431765,
      -2.0667218265831147,
      -2.066616145694661
    ],
    "yaw_diff": [
      -0.002972460382180131,
      -0.0014291794484222464,
      -0.0020986403946618992,
      0.00010627642483740374,
      -0.0001787519271045923,
      0.0005581306305808553,
      6.0205947756131195e-05,
      -0.00014349607987629298,
      0.00021136177690728175,
      0.00021136177690728175
    ],
    "min_front_frame": [
      5,
      8.41070733028671
    ],
    "v_avg": 0.5738853172945546,
    "v_std": 0.585331451481994,
    "vy_max": 0.025403313645728343,
    "a_max": 1.0237976894885672,
    "ax_avg": -0.29074800403997964,
    "a_std": 0.3339100474183665,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c0b8f52197ac558c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.630820120672364,
      9.973799635629316,
      9.305383211592945,
      8.820187675055559,
      8.433440657764619,
      8.41070733028671,
      8.436855400463507,
      8.455885666471813,
      8.460483148536476,
      8.452987855579348
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c0b8f52197ac558c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d5489fba77675698": {
    "vx_ego": [
      4.429794863625017,
      3.752680474090708,
      3.0830303771542527,
      2.410082135344299,
      1.7851452151001428,
      1.305643010218457,
      0.9850390999484766,
      0.7512050028938091,
      0.6030579056877314,
      0.5259360100335889
    ],
    "vy_ego": [
      0.005741812372370925,
      0.017993352205610824,
      0.008143316390227806,
      0.002723342698953579,
      -0.004907898114227094,
      -0.011587750303804711,
      -0.007207304223302458,
      -0.013884700042942677,
      -0.013808100143297197,
      -0.008947348829782209
    ],
    "v_ego": [
      4.429798584835195,
      3.7527236111050404,
      3.0830411317492543,
      2.410083674004119,
      1.785151961727302,
      1.3056944305960017,
      0.9850654666881141,
      0.7513333090366554,
      0.6032159656723619,
      0.5260121117437632
    ],
    "ax_ego": [
      -1.3542766840686395,
      -1.3542361539296692,
      -1.3245352949368696,
      -1.367239769854438,
      -1.1325457082356367,
      -0.7854155170689546,
      -0.496992453662166,
      -0.43832112280978375,
      -0.1542495089194616,
      -0.15425248071685915
    ],
    "ay_ego": [
      0.03339627399431422,
      0.035000957206976824,
      -0.0497117710065722,
      0.03711294539522736,
      -0.06060620296581759,
      0.037373613052621546,
      -0.016641456571577784,
      -0.008373623469806746,
      0.009388469142297518,
      0.009339629194776447
    ],
    "a_ego": [
      1.354688395214432,
      1.3546883876433087,
      1.3254678448420052,
      1.367743381993686,
      1.1341661664328089,
      0.7863042168304202,
      0.49727098957607,
      0.43840109976053165,
      0.15453496159358548,
      0.1545349684725141
    ],
    "yaw": [
      -2.0026943597152838,
      -2.0015094439412535,
      -1.9997015729974557,
      -1.998876589901636,
      -1.9980266431030445,
      -1.9974462821448427,
      -1.9967227621129076,
      -1.9962306263480452,
      -1.9959545910612233,
      -1.9962712027909322
    ],
    "yaw_diff": [
      0.002369831548060475,
      0.003615741887595725,
      0.0016499661916391517,
      0.0016998935971832552,
      0.0011607219164035953,
      0.0014470400638701975,
      0.0009842715297248006,
      0.0005520705736437037,
      -0.0006332234594177422,
      -0.0006332234594177422
    ],
    "min_front_frame": [
      7,
      13.3785106890766
    ],
    "v_avg": 1.9632120247157807,
    "v_std": 1.324564110560398,
    "vy_max": 0.017993352205610824,
    "a_max": 1.367743381993686,
    "ax_avg": -0.8562064694202478,
    "a_std": 0.4846721715248694,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d5489fba77675698",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.3389507770863425,
    "right_rear_min": 4.020698244018824,
    "speed_mode": "decelerating",
    "front_frame": [
      19.3286710303363,
      17.591102156639806,
      16.141131289528694,
      14.983922185924417,
      14.116931231220216,
      13.636895279216835,
      13.42277322404806,
      13.3785106890766,
      13.606757389083377,
      14.048653843556242
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d5489fba77675698",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "167063f69e8357d8": {
    "vx_ego": [
      5.627285169724444,
      6.138186544992563,
      6.654388634259869,
      7.110865072072371,
      7.431088132843752,
      7.58148754435957,
      7.781014172238668,
      8.156764315976885,
      8.578503377144257,
      9.017600051448579
    ],
    "vy_ego": [
      0.01619527655125022,
      -0.017020120970837632,
      -0.012346360343083784,
      0.006168775438913338,
      0.006722025144309168,
      0.010059745999371622,
      0.015497529472287025,
      -0.026839206184569864,
      -0.04632726586739369,
      -0.010621818138562084
    ],
    "v_ego": [
      5.627308474606953,
      6.1382101418610295,
      6.654400087790082,
      7.110867747821585,
      7.431091173153058,
      7.581494218408986,
      7.781029605521287,
      8.156808472030129,
      8.578628468889312,
      9.017606307158568
    ],
    "ax_ego": [
      1.0218465640118957,
      1.0217601944704031,
      1.042944833062397,
      0.7830004223565746,
      0.49795699154682116,
      0.10361481165598066,
      0.6948339391013822,
      0.8082488599916393,
      0.878029903422645,
      0.8779832170011843
    ],
    "ay_ego": [
      -0.041509383423181,
      -0.04358367348919197,
      0.03536697425035092,
      0.07347234888314763,
      -0.08904863965308182,
      -0.0077290558272367,
      -0.08594341543067266,
      -0.183549523743237,
      0.0129872239541384,
      0.015831474037165116
    ],
    "a_ego": [
      1.0226893122034129,
      1.022689313329815,
      1.0435443199400665,
      0.7864399833814284,
      0.5058565267488652,
      0.1039026828262143,
      0.7001288978345577,
      0.8288284788447811,
      0.8781259472822872,
      0.878125939091847
    ],
    "yaw": [
      -1.54363945960672,
      -1.5416094333467674,
      -1.5426617187915506,
      -1.5414043733107419,
      -1.5420130445345295,
      -1.5456569886290419,
      -1.5494501454597573,
      -1.552597522309151,
      -1.5553673207763623,
      -1.5586067572928362
    ],
    "yaw_diff": [
      0.004060052519905266,
      -0.002104570889566393,
      0.002514690961617383,
      -0.0012173424475752093,
      -0.007287888189024816,
      -0.007586313661430921,
      -0.006294753698787403,
      -0.005539596934422519,
      -0.006478873032947696,
      -0.006478873032947696
    ],
    "min_front_frame": [
      0,
      14.254332110993316
    ],
    "v_avg": 7.407744469724099,
    "v_std": 1.0065351697355918,
    "vy_max": 0.04632726586739369,
    "a_max": 1.0435443199400665,
    "ax_avg": 0.7730219736620924,
    "a_std": 0.27340236016227076,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "167063f69e8357d8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.083453125304887,
    "right_rear_min": 5.185695708037419,
    "speed_mode": "accelerating",
    "front_frame": [
      14.254332110993316,
      14.446122476701694,
      14.83417357288928,
      15.405243866345845,
      15.580123786593402,
      16.076014410535105,
      16.519216168470077,
      16.995410810795345,
      17.327912488433718,
      17.52970665027789
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "167063f69e8357d8",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "1d3700dc6c9950e0": {
    "vx_ego": [
      2.7544297399481494,
      2.195508459539968,
      1.662974921728617,
      1.201593105592602,
      0.8826791824283166,
      0.697292232562765,
      0.6073478389589964,
      0.6013398290441323,
      0.5832385755985489,
      0.5259572324179023
    ],
    "vy_ego": [
      0.0013295083721671652,
      0.003233979311722479,
      0.0015489365238381403,
      0.018297161702176323,
      0.008649560762564817,
      0.0014313118630978061,
      -0.005688574251113909,
      -0.007332050259642481,
      0.002358930275061011,
      0.004632574364045572
    ],
    "v_ego": [
      2.7544300608117354,
      2.195510841361015,
      1.6629756430876113,
      1.2017324067919735,
      0.8827215608524053,
      0.6972937015677214,
      0.6073744786910077,
      0.6013845267013744,
      0.5832433459699877,
      0.5259776336289763
    ],
    "ax_ego": [
      -1.120373136856508,
      -1.1142858475019517,
      -1.017925019787782,
      -0.8268425664220794,
      -0.44823042728988427,
      -0.2933662747790587,
      -0.06634523259126598,
      0.04214883926136414,
      -0.11454253239677567,
      -0.11454692477383709
    ],
    "ay_ego": [
      -0.15185363826731407,
      -0.19147464697328043,
      0.001263280554551105,
      -0.019628842979601158,
      -0.05203923285562115,
      0.004078686788524133,
      -0.043391517643583274,
      0.0306592331712156,
      0.0018734463085304173,
      0.0015822932680342877
    ],
    "a_ego": [
      1.1306173062733083,
      1.1306173050049628,
      1.0179258036751577,
      0.8270755232287851,
      0.4512411746557197,
      0.29339462650781634,
      0.07927492473034951,
      0.05212018063789954,
      0.11455785232334513,
      0.11455785275191377
    ],
    "yaw": [
      2.942891836090509,
      2.90743509753972,
      2.8835118252182816,
      2.868360425678688,
      2.8600479061944695,
      2.8538557113267684,
      2.8495150528357627,
      2.846909020238819,
      2.8443630569158422,
      2.8418212095234523
    ],
    "yaw_diff": [
      -0.07091347710157869,
      -0.04784654464287641,
      -0.030302799079187537,
      -0.01662503896843681,
      -0.012384389735402124,
      -0.008681316982011467,
      -0.00521206519388695,
      -0.005091926645953926,
      -0.00508369478477988,
      -0.00508369478477988
    ],
    "min_front_frame": [
      9,
      13.026773209741183
    ],
    "v_avg": 1.1712644199463809,
    "v_std": 0.7423615295398457,
    "vy_max": 0.018297161702176323,
    "a_max": 1.1306173062733083,
    "ax_avg": -0.5074309123137779,
    "a_std": 0.43427112189893696,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1d3700dc6c9950e0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.796735229312006,
      15.926287468454069,
      15.27513962018031,
      14.829241480589744,
      14.481157092972545,
      14.155931470553984,
      13.861538291711414,
      13.559332907743785,
      13.248057365225668,
      13.026773209741183
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1d3700dc6c9950e0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9568c56631be548e": {
    "vx_ego": [
      5.141650015018996,
      4.9834475481724745,
      4.90160945406064,
      4.765773710005327,
      4.698915327536284,
      4.8768892235881225,
      5.267786104138369,
      5.74276673966089,
      6.220309411426381,
      6.714953288672352
    ],
    "vy_ego": [
      0.05638671758082836,
      0.07566595582579927,
      0.07517273545123482,
      0.11486424189885014,
      0.07889468957652213,
      0.10892133391727976,
      0.17567262421086205,
      0.11839383492456035,
      0.09509409824138637,
      -0.07614454234283041
    ],
    "v_ego": [
      5.141959192648692,
      4.984021950418886,
      4.902185857379529,
      4.767157732763301,
      4.69957760095509,
      4.878105406418795,
      5.270714497091492,
      5.743987023514548,
      6.221036253020872,
      6.715384997182235
    ],
    "ax_ego": [
      -0.4568348178669621,
      -0.12233628572457644,
      -0.11114865841135702,
      -0.31113562931215766,
      0.13118542002468725,
      0.6515249063358799,
      0.9720771320092347,
      0.9635931090557379,
      0.9722314329785806,
      1.0070677136116328
    ],
    "ay_ego": [
      -1.7868345684056424,
      -1.840247167341915,
      -2.1639898541471,
      -2.4001540826849888,
      -2.337649254628616,
      -2.1651517702858105,
      -1.6226325638899097,
      -1.0823823610300576,
      -0.8837519631053131,
      -0.8438400987227037
    ],
    "a_ego": [
      1.8443090374622466,
      1.8443090315114838,
      2.166842429231584,
      2.420236558780338,
      2.3413273269862924,
      2.2610543761589983,
      1.8915259416596013,
      1.4491594996026853,
      1.3138689019700858,
      1.3138689021402798
    ],
    "yaw": [
      -1.939682104986363,
      -2.1236068436837092,
      -2.325416524882533,
      -2.5672446161166125,
      -2.81157831483012,
      -3.055077142991441,
      3.027345772694428,
      2.9150525387275836,
      2.8367985224990364,
      2.796474696078266
    ],
    "yaw_diff": [
      -0.3678494773946923,
      -0.40361936239764784,
      -0.48365618246815867,
      -0.48866739742701526,
      -0.48699765632264214,
      -0.4015247829874342,
      -0.22458646793368864,
      -0.15650803245709444,
      -0.08064765284154074,
      -0.08064765284154074
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.332413051139343,
    "v_std": 0.6437854170693537,
    "vy_max": 0.17567262421086205,
    "a_max": 2.420236558780338,
    "ax_avg": 0.36962243227006997,
    "a_std": 0.3951273376375811,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "9568c56631be548e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9568c56631be548e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6adef8f2b0795473": {
    "vx_ego": [
      1.2687270038695666,
      2.0733547562653882,
      2.935179530762709,
      3.865515180234007,
      4.7473797818947245,
      5.431292081099271,
      5.909967894799731,
      6.304714893015417,
      6.605507379404417,
      6.836839678818358
    ],
    "vy_ego": [
      0.010577558946289756,
      0.038259752550850123,
      0.036726918003371134,
      0.028678931512491568,
      0.04157352253324231,
      0.07917732795613008,
      0.09524852945925133,
      0.12001977416662513,
      0.13933652056792,
      0.12369185623424617
    ],
    "v_ego": [
      1.2687710964161776,
      2.073707731092682,
      2.9354092975792017,
      3.865621565768207,
      4.747561811216219,
      5.4318691736338724,
      5.910735385713669,
      6.30585716841108,
      6.606976797698791,
      6.837958501567831
    ],
    "ax_ego": [
      1.606708768144773,
      1.6093758232940714,
      1.834513631073903,
      1.8845198704763273,
      1.6386512431212925,
      1.0911670928844885,
      0.8269839901155907,
      0.7685500160241532,
      0.4608656612836012,
      0.48633930585384927
    ],
    "ay_ego": [
      0.14306999656193997,
      0.1090484040172236,
      0.18079386791670493,
      0.326115815111048,
      0.37977581213348705,
      0.07671245783473368,
      -0.17766721545062059,
      -0.44226901786425543,
      -0.6109253328753388,
      -0.5908477119120753
    ],
    "a_ego": [
      1.6130660524446998,
      1.613066054141049,
      1.8434008476921775,
      1.9125288669940792,
      1.6820842916050929,
      1.0938603319350382,
      0.8458535093936068,
      0.8867192403987517,
      0.7652626477878132,
      0.7652626601959216
    ],
    "yaw": [
      2.6388048412475382,
      2.659961199754332,
      2.689841717270816,
      2.729545272190762,
      2.7672561549927828,
      2.7820914101483045,
      2.774848733644486,
      2.7454533487111146,
      2.7019378917042216,
      2.659550811122924
    ],
    "yaw_diff": [
      0.042312717013587964,
      0.05976103503296759,
      0.07940710983989163,
      0.0754217656040419,
      0.029670510311043508,
      -0.01448535300763698,
      -0.05879076986674292,
      -0.08703091401378593,
      -0.08477416116259562,
      -0.08477416116259562
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.598446852909773,
    "v_std": 1.8753015561876707,
    "vy_max": 0.13933652056792,
    "a_max": 1.9125288669940792,
    "ax_avg": 1.2207675402272051,
    "a_std": 0.44764632355008344,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "6adef8f2b0795473",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.370172413077725,
    "right_rear_min": 5.46195494247264,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6adef8f2b0795473",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "77b5e5af1c1057fc": {
    "vx_ego": [
      5.945263450993481,
      5.451710282611896,
      4.940448692542547,
      4.39129314403723,
      3.8485112300065816,
      3.3532676787954863,
      2.8729615487046978,
      2.374045495977037,
      1.8700397315078203,
      1.3725676835197043
    ],
    "vy_ego": [
      -0.019266923072514507,
      0.003150479609779898,
      0.026670534589413264,
      0.02455607326919601,
      -0.01892069867773863,
      -0.03977488513225867,
      0.007895178019655509,
      0.019196293935122878,
      -0.0012630014267347132,
      -0.010252026802814996
    ],
    "v_ego": [
      5.945294670245,
      5.4517111929244795,
      4.940520681169207,
      4.391361802175128,
      3.848557740287292,
      3.353503565995085,
      2.872972397043114,
      2.374123104362893,
      1.8700401580154489,
      1.372605970370307
    ],
    "ax_ego": [
      -0.9873336655252329,
      -0.9866714622040623,
      -1.0587233422341649,
      -1.1384686753715165,
      -1.0329906678462166,
      -0.9471439467086104,
      -0.9742479655324866,
      -1.0211006765585493,
      -0.9949244317489737,
      -0.9949395045860462
    ],
    "ay_ego": [
      0.10922231528058193,
      0.11505088091045938,
      0.06441502762525785,
      0.009007341303906298,
      -0.1002191739137678,
      0.07554082721638149,
      0.08458142045634476,
      -0.06510182100646396,
      -0.015150402290611119,
      -0.014125568695845227
    ],
    "a_ego": [
      0.9933565730565955,
      0.993356572196598,
      1.060681107202086,
      1.1385043069745238,
      1.0378408368711123,
      0.9501516049364428,
      0.9779126315937443,
      1.023173904459396,
      0.9950397778885955,
      0.9950397728115736
    ],
    "yaw": [
      1.5681075226462968,
      1.574012824809184,
      1.5781138889674011,
      1.5824917171509152,
      1.5875258520051663,
      1.5916160831053867,
      1.5891647781892126,
      1.5867188547204305,
      1.586905868262279,
      1.5879359226570395
    ],
    "yaw_diff": [
      0.01181060432577441,
      0.008202128316434187,
      0.00875565636702813,
      0.010068269708502164,
      0.008180462200440886,
      -0.004902609832348137,
      -0.0048918469375642815,
      0.00037402708369693727,
      0.00206010878952112,
      0.00206010878952112
    ],
    "min_front_frame": [
      9,
      10.70204908296112
    ],
    "v_avg": 3.6420691282587954,
    "v_std": 1.4643333798832237,
    "vy_max": 0.03977488513225867,
    "a_max": 1.1385043069745238,
    "ax_avg": -1.013654433831586,
    "a_std": 0.050219922959300105,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "77b5e5af1c1057fc",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.529024879226188,
    "right_rear_min": 3.5410305886026783,
    "speed_mode": "decelerating",
    "front_frame": [
      27.06236311945651,
      24.244615176631143,
      21.674601992590397,
      19.30014538326769,
      17.27277241278073,
      15.475254690612983,
      13.937091763220854,
      12.597204911601382,
      11.495079012375243,
      10.70204908296112
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "77b5e5af1c1057fc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ae02e969e8595cca": {
    "vx_ego": [
      2.2459859615480378,
      1.9587698822409187,
      1.6978484610043412,
      1.3622306949522565,
      0.9189951412114428,
      0.46212584109856997,
      0.11436319624729402,
      -0.012831130768520575,
      -0.019941318686009516,
      -0.011397444807727681
    ],
    "vy_ego": [
      0.00926019881050788,
      0.019804523899927817,
      0.017696852522892104,
      0.01129695340486625,
      0.006492224851441741,
      0.009955538202471276,
      0.004333676189299772,
      -0.008217198106741725,
      -0.0034010448599691425,
      -0.0015462214659109248
    ],
    "v_ego": [
      2.24600505136406,
      1.9588699984279216,
      1.6979406865741886,
      1.3622775368574274,
      0.9190180730289048,
      0.4622330643214109,
      0.11444527690215438,
      0.015236806145787745,
      0.020229268327760022,
      0.011501849806306915
    ],
    "ax_ego": [
      -0.5744714988898301,
      -0.5744476958608971,
      -0.46926651752489407,
      -0.8732170336928535,
      -0.899711760666095,
      -0.9277648479042799,
      -0.46326333450121515,
      -0.04552952092525831,
      0.0170877237841621,
      0.01708768942762689
    ],
    "ay_ego": [
      0.024805547572561065,
      0.025350591623275576,
      -0.03178044110827352,
      0.008261650748114469,
      -0.02861691049322873,
      0.04302647024097139,
      -0.06576231149982234,
      0.015560685960681962,
      0.00370982911283537,
      0.0037099629845132416
    ],
    "a_ego": [
      0.5750067984181602,
      0.5750067893299554,
      0.47034143014089047,
      0.873256115240214,
      0.9001667511339564,
      0.9287620201904516,
      0.46790768182087417,
      0.048115197425039204,
      0.017485798127916837,
      0.017485792956611665
    ],
    "yaw": [
      -2.0728834089698416,
      -2.071934621112467,
      -2.071659049120325,
      -2.071329919283839,
      -2.071578263205324,
      -2.071377884668734,
      -2.0716476695369925,
      -2.0719690258373373,
      -2.07202992783271,
      -2.0720379016865484
    ],
    "yaw_diff": [
      0.0018975757147492445,
      0.0005511439842837973,
      0.0006582596729725054,
      -0.0004966878429701893,
      0.00040075707318010245,
      -0.0005395697365173646,
      -0.0006427126006895989,
      -0.00012180399074512849,
      -1.5947707677099743e-05,
      -1.5947707677099743e-05
    ],
    "min_front_frame": [
      6,
      9.813593473829192
    ],
    "v_avg": 0.8807757611755923,
    "v_std": 0.8327651908622448,
    "vy_max": 0.019804523899927817,
    "a_max": 0.9287620201904516,
    "ax_avg": -0.47934967967535336,
    "a_std": 0.34127590693028664,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ae02e969e8595cca",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.52904152893131,
      12.443120412081226,
      11.565274387144791,
      10.802501986182309,
      10.23488278109096,
      9.871230724528251,
      9.813593473829192,
      9.821184082131664,
      9.836324669954212,
      9.826261005866883
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ae02e969e8595cca",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "03269d4ad9e45809": {
    "vx_ego": [
      5.723476916883025,
      5.9170276247807365,
      6.155549538025614,
      6.375348010374395,
      6.531927803326731,
      6.671752982122784,
      6.824825969022193,
      6.921449180268517,
      6.972333857264715,
      7.031359298028394
    ],
    "vy_ego": [
      -0.012877911875611048,
      -0.046793896596026396,
      -0.0703305983092184,
      -0.049298535890864414,
      -0.03556920564769506,
      -0.020606783314051746,
      0.008584954066325867,
      0.027963158176916636,
      0.010776723202094995,
      -0.018016789757416607
    ],
    "v_ego": [
      5.723491404615465,
      5.917212653029888,
      6.15595130813637,
      6.375538612464498,
      6.532024647554783,
      6.671784805730982,
      6.824831368530363,
      6.921505666634606,
      6.9723421857309065,
      7.03138238063352
    ],
    "ax_ego": [
      0.3337719943975768,
      0.4506663245473349,
      0.5018299196161974,
      0.3801431000887829,
      0.24868245050145832,
      0.3116376500934439,
      0.30071173780860166,
      0.08559034071925062,
      0.11802301947548823,
      0.1180688352798526
    ],
    "ay_ego": [
      1.1518647372571404,
      1.1113487225427512,
      0.6003395288397355,
      0.2941408332840946,
      0.2307247752263795,
      0.16576102882362528,
      0.13457006462678164,
      -0.022311988644588533,
      -0.0671830005918527,
      -0.06710244993423531
    ],
    "a_ego": [
      1.1992481466237908,
      1.199248147456734,
      0.7824581893682976,
      0.4806533120141501,
      0.3392298381491133,
      0.35297980626720066,
      0.3294490120633622,
      0.08845072787554469,
      0.13580496564793335,
      0.13580496548918056
    ],
    "yaw": [
      2.208250957175984,
      2.311458676373869,
      2.386293842186661,
      2.418546897987736,
      2.436704944902403,
      2.4494677984302466,
      2.4562667914696386,
      2.4575256723978463,
      2.456778526502178,
      2.4560961560379324
    ],
    "yaw_diff": [
      0.20641543839577015,
      0.1496703316255843,
      0.06450611160214947,
      0.03631609382933476,
      0.025525707055686908,
      0.01359798607878382,
      0.0025177618564153903,
      -0.0014942917913360887,
      -0.0013647409284915923,
      -0.0013647409284915923
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.512606503306138,
    "v_std": 0.435209146041879,
    "vy_max": 0.0703305983092184,
    "a_max": 1.199248147456734,
    "ax_avg": 0.28491253725279875,
    "a_std": 0.3961140761055468,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "03269d4ad9e45809",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "03269d4ad9e45809",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c5ae8b49dc6b54f6": {
    "vx_ego": [
      5.886724047795145,
      5.556501604938703,
      5.219617619303093,
      4.914128540928438,
      4.690369072078401,
      4.501662865717843,
      4.228138695574463,
      3.860841337654512,
      3.455965983833791,
      3.0308853954360937
    ],
    "vy_ego": [
      -0.03288445865952827,
      -0.023453990671645997,
      -0.011486806511955994,
      -6.754869444991485e-05,
      -0.008771493329721824,
      -0.02161168189026519,
      6.949318191673548e-05,
      0.006639312120104046,
      -0.023258211077530566,
      -0.07157847228681735
    ],
    "v_ego": [
      5.886815896773992,
      5.556551104360042,
      5.219630258788752,
      4.914128541392693,
      4.690377273887979,
      4.501714742337314,
      4.228138696145554,
      3.8608470463108624,
      3.4560442453473867,
      3.031730489005037
    ],
    "ax_ego": [
      -0.6605515254072549,
      -0.6605469520724963,
      -0.6871653187039082,
      -0.5348257345352803,
      -0.3602372584265244,
      -0.3947238618143229,
      -0.6999090666389223,
      -0.7692585994009891,
      -0.8502547045842478,
      -0.8501897240628877
    ],
    "ay_ego": [
      -0.0018370690019767766,
      -0.0030673591158909552,
      -0.003746415224799904,
      0.032383581847988785,
      -0.043475581096363985,
      -0.0524524419739785,
      -0.019815836637609663,
      -0.0064190083250911245,
      -0.10054745649758284,
      -0.10109544254700015
    ],
    "a_ego": [
      0.6605540799513461,
      0.6605540739290088,
      0.6871755313284084,
      0.5358052469829943,
      0.36285122090234867,
      0.39819365358409,
      0.7001895235898747,
      0.7692853803500032,
      0.8561792181989585,
      0.8561792192093329
    ],
    "yaw": [
      -0.5658421541439749,
      -0.5677046653853282,
      -0.5702403055903078,
      -0.5710842249731205,
      -0.5698435512901794,
      -0.5722655114153236,
      -0.5812928859615831,
      -0.5845319689100563,
      -0.5836717029825756,
      -0.5843162282093766
    ],
    "yaw_diff": [
      -0.0037250224827065637,
      -0.0050712804099593,
      -0.0016878387656253935,
      0.002481347365882236,
      -0.004843920250288347,
      -0.01805474909251914,
      -0.006478165896946386,
      0.001720531854961349,
      -0.0012890504536018366,
      -0.0012890504536018366
    ],
    "min_front_frame": [
      9,
      14.553933866711482
    ],
    "v_avg": 4.534597829434961,
    "v_std": 0.8649444557831885,
    "vy_max": 0.07157847228681735,
    "a_max": 0.8561792192093329,
    "ax_avg": -0.6467662745646834,
    "a_std": 0.16194345971052815,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c5ae8b49dc6b54f6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.823367471730098,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.215028411006973,
      16.195556216963382,
      16.095064197063568,
      16.042300384121116,
      15.870492779578449,
      15.591874518148508,
      15.184103724689555,
      14.940229578244615,
      14.662832105251981,
      14.553933866711482
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c5ae8b49dc6b54f6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "08c1c8fbe5435208": {
    "vx_ego": [
      2.286883471080221,
      1.9143620288251197,
      1.4953838913474453,
      1.117986573634688,
      0.7438958778651726,
      0.29314520347423884,
      0.01774603301892954,
      -0.03321803728925787,
      -0.024056783484266674,
      -0.012136821567285145
    ],
    "vy_ego": [
      0.009425991077540496,
      -0.013211853366987047,
      -0.014949921612411932,
      -0.0030020663960249605,
      -0.00392506747774457,
      0.010845532207963637,
      0.02270470264619669,
      0.00852088937950359,
      0.001677826210228616,
      0.0018833610413378577
    ],
    "v_ego": [
      2.2869028968471126,
      1.9144076186843855,
      1.4954586195069544,
      1.1179906042673506,
      0.7439062328408741,
      0.29334576166842236,
      0.028817099266948233,
      0.034293491469494085,
      0.024115222006040417,
      0.012282079895854246
    ],
    "ax_ego": [
      -0.745104216730632,
      -0.7449953530643687,
      -0.9311595242971656,
      -0.5784610116019759,
      -0.9179012646375735,
      -0.8851061384832168,
      -0.2166324635772968,
      0.012807521322823208,
      0.023839046952687116,
      0.023839149569511334
    ],
    "ay_ego": [
      -0.053025774819574434,
      -0.054533913519589305,
      0.030647071547048044,
      0.011103490573161234,
      -0.017896822076635233,
      0.07669040625044443,
      -0.02891338073408907,
      -0.027748061907875994,
      0.0004054744885370245,
      0.00039995310770500093
    ],
    "a_ego": [
      0.746988638859377,
      0.7469886370027763,
      0.9316637283289146,
      0.5785675668809043,
      0.9180757201144683,
      0.8884223628384923,
      0.21855344394688273,
      0.030561209761360723,
      0.0238424950282741,
      0.023842504371099426
    ],
    "yaw": [
      2.571029973332775,
      2.569005761607603,
      2.566555940059141,
      2.5653598203437964,
      2.5645632737707,
      2.5644229059490162,
      2.5656064705385697,
      2.5650998352321617,
      2.5648528845010645,
      2.5650838522096717
    ],
    "yaw_diff": [
      -0.004048423450344174,
      -0.0048996430969241445,
      -0.0023922394306890027,
      -0.0015930931461927145,
      -0.00028073564336761336,
      0.002367129179106975,
      -0.0010132706128160862,
      -0.0004939014621943016,
      0.00046193541721439857,
      0.00046193541721439857
    ],
    "min_front_frame": [
      6,
      9.349728695753814
    ],
    "v_avg": 0.7951519626453436,
    "v_std": 0.818578127506438,
    "vy_max": 0.02270470264619669,
    "a_max": 0.9316637283289146,
    "ax_avg": -0.49588742545472086,
    "a_std": 0.3731023401734175,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "08c1c8fbe5435208",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.737474087588243,
    "right_rear_min": 6.228907307812182,
    "speed_mode": "decelerating",
    "front_frame": [
      12.600218049498235,
      11.518878748907749,
      10.647995012126094,
      10.025505768734872,
      9.554385045426745,
      9.35751087798189,
      9.349728695753814,
      9.364242063567985,
      9.420249077701234,
      9.59811492331327
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "08c1c8fbe5435208",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b47df4a21c515394": {
    "vx_ego": [
      1.6691694835055662,
      1.347081645606891,
      0.9496607047847693,
      0.649636298583411,
      0.5181765682886386,
      0.27984025220194936,
      0.0517767142410952,
      -0.009701941828545032,
      -0.010906162706779955,
      -0.0054618844366663725
    ],
    "vy_ego": [
      0.06437828943422556,
      0.02802443571450638,
      -0.0019279701907149328,
      -0.010982544421285923,
      -0.011119292056296103,
      -0.010533346743256579,
      -0.0007541496794715839,
      0.0039005082978733775,
      0.0008055459944624826,
      0.0002412202256851766
    ],
    "v_ego": [
      1.670410527031219,
      1.3473731216437732,
      0.9496626618338541,
      0.6497291256509287,
      0.518295856224245,
      0.2800384226245825,
      0.05178220620389863,
      0.010456655307805205,
      0.010935871677006475,
      0.005467208501308318
    ],
    "ax_ego": [
      -0.6441065394229234,
      -0.6440091418403137,
      -0.9456422368715335,
      -0.2544986739687081,
      -0.2713252529431309,
      -0.682060407962748,
      -0.23021612815347883,
      -0.015704517520807378,
      0.010888563199172996,
      0.01088857807411678
    ],
    "ay_ego": [
      -0.07613580786782108,
      -0.07695529705354501,
      -0.046983315534415065,
      0.008458291101271621,
      -0.00802816962533572,
      0.008967091284344097,
      0.02985320770065641,
      -0.011239744872583599,
      -0.0011285020039517174,
      -0.0011283518470876798
    ],
    "a_ego": [
      0.6485906994145535,
      0.6485906972185899,
      0.9468086776609115,
      0.25463919128874224,
      0.27144399862989627,
      0.6821193508737398,
      0.23214366170972128,
      0.019312269037120293,
      0.01094688655807246,
      0.010946885875305491
    ],
    "yaw": [
      -3.1231260160790995,
      -3.124398417399571,
      -3.1252687259885343,
      -3.1260772527399405,
      -3.1256604104466224,
      -3.1264402905325026,
      -3.127118307527418,
      -3.126893844272025,
      -3.1271063277073186,
      -3.12712026339038
    ],
    "yaw_diff": [
      -0.0025448026409433666,
      -0.0017406171779263957,
      -0.0016170535028123822,
      0.0008336845866363518,
      -0.0015597601717605158,
      -0.0013560339898308627,
      0.0004489265107858742,
      -0.00042496687058690696,
      -2.7871366122589336e-05,
      -2.7871366122589336e-05
    ],
    "min_front_frame": [
      6,
      9.705768488893472
    ],
    "v_avg": 0.5494151656698621,
    "v_std": 0.5710617180277322,
    "vy_max": 0.06437828943422556,
    "a_max": 0.9468086776609115,
    "ax_avg": -0.3665785757410355,
    "a_std": 0.3175111000377498,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b47df4a21c515394",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.967720087472943,
      11.210109038934252,
      10.602325690734318,
      10.289149092964646,
      9.988185386508867,
      9.743182609581929,
      9.705768488893472,
      9.724083069405124,
      9.706136120634469,
      9.717697047860138
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b47df4a21c515394",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fccd90b794b15d6a": {
    "vx_ego": [
      5.1681596497595566,
      5.941354916647196,
      6.69720827342836,
      7.433210587924448,
      8.180374224420223,
      8.952322652768567,
      9.712548464403486,
      10.413942477793622,
      11.034244807211667,
      11.60933929150958
    ],
    "vy_ego": [
      0.0675977639391081,
      0.07174757140432986,
      0.06201408982082546,
      0.04845813383253361,
      0.05014155051406499,
      0.027236332989023282,
      -0.006048385809067192,
      -0.01997902556114184,
      -0.005864737455135938,
      0.04408334531222735
    ],
    "v_ego": [
      5.168601708691858,
      5.9417881112986715,
      6.697495382978145,
      7.433368538903923,
      8.18052789413047,
      8.95236408425774,
      9.71255034768713,
      10.41396164253819,
      11.034246365775193,
      11.609422988534877
    ],
    "ax_ego": [
      1.5464596329732214,
      1.5464582326264715,
      1.4772996871352437,
      1.4665891554115351,
      1.5216600936613793,
      1.5654494498332743,
      1.4746945770528856,
      1.330859787675097,
      1.1503561682103918,
      1.1503131712576047
    ],
    "ay_ego": [
      0.0024584811016372665,
      0.003218674217212225,
      -0.07078692822321031,
      0.03693312525284009,
      0.033345392012672614,
      0.1975915592695381,
      0.16871354162139784,
      0.05842083858619118,
      0.00868506626807819,
      0.013203972418638354
    ],
    "a_ego": [
      1.5464615871546883,
      1.546461582168114,
      1.4789946432685843,
      1.4670541252836111,
      1.5220254123404235,
      1.5778702114806111,
      1.484314102444501,
      1.332141422234035,
      1.1503889534047935,
      1.1503889502495925
    ],
    "yaw": [
      2.5507075798632046,
      2.550216015159198,
      2.5490847464973365,
      2.549805395664241,
      2.5518421124904487,
      2.561261577101061,
      2.5746243848429144,
      2.581638804607497,
      2.5818865267779207,
      2.5779581962441203
    ],
    "yaw_diff": [
      -0.0009831294080129283,
      -0.0022625373237232793,
      0.0014412983338090157,
      0.004073433652415304,
      0.018838929221224987,
      0.026725615483706555,
      0.014028839529165005,
      0.0004954443408475839,
      -0.007856661067600967,
      -0.007856661067600967
    ],
    "min_front_frame": [
      0,
      16.72185761504331
    ],
    "v_avg": 8.514432706479619,
    "v_std": 2.0870659872380193,
    "vy_max": 0.07174757140432986,
    "a_max": 1.5778702114806111,
    "ax_avg": 1.4230139955837104,
    "a_std": 0.15163530189657728,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "fccd90b794b15d6a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.660751563519296,
    "right_rear_min": 6.829137464310076,
    "speed_mode": "accelerating",
    "front_frame": [
      16.72185761504331,
      17.856890188318637,
      19.00598864615555,
      20.06963506436711,
      21.111533174068278,
      22.017586046447118,
      22.924214910283027,
      23.52164385591481,
      24.308179929795354,
      24.816947446264127
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "fccd90b794b15d6a",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "86b0e721370e5f56": {
    "vx_ego": [
      6.187897693755518,
      5.746522502031303,
      5.262377369406544,
      4.685427758175031,
      4.075544749138913,
      3.489192486543667,
      2.9636015414387193,
      2.60062630814242,
      2.417541844829118,
      2.3060249635842878
    ],
    "vy_ego": [
      -0.10937215993081617,
      -0.003447175999521157,
      0.05161808499512688,
      0.06317727304178611,
      0.05782033398707154,
      0.039744468267398636,
      0.030206713628753157,
      0.01374012089978116,
      -0.011289009528272276,
      -0.020456445015130775
    ],
    "v_ego": [
      6.188864204177758,
      5.746523535962807,
      5.262630521397138,
      4.685853673014779,
      4.075954881160505,
      3.4894188385618943,
      2.9637554794493766,
      2.6006626050921744,
      2.4175682023959335,
      2.306115695019782
    ],
    "ax_ego": [
      -0.8827540439428128,
      -0.8823850069563436,
      -1.0550544279907055,
      -1.2535927253446681,
      -1.186308375282113,
      -1.159844394084217,
      -0.9427986707840801,
      -0.509247357051998,
      -0.22309362869043048,
      -0.22305997788853746
    ],
    "ay_ego": [
      0.23021708006140557,
      0.23162752024707717,
      0.10908931171101871,
      -0.0034936534386863505,
      0.009470607982888568,
      -0.02937624703920727,
      0.02259904267855778,
      -0.07696629903946575,
      -0.024602705456360327,
      -0.02490585833975356
    ],
    "a_ego": [
      0.9122798945769818,
      0.9122798959952787,
      1.0606791805029354,
      1.2535975935887171,
      1.1863461778418862,
      1.1602163515390966,
      0.9430694833161635,
      0.5150307581613719,
      0.2244461188749676,
      0.22444610826493447
    ],
    "yaw": [
      0.5409091457999344,
      0.5425072526901893,
      0.5479567083244022,
      0.5509254120434515,
      0.5524924432109384,
      0.5559587663970462,
      0.5584104070767433,
      0.5594642430182946,
      0.5593174286630813,
      0.5579584091562819
    ],
    "yaw_diff": [
      0.0031962137805097157,
      0.010898911268425904,
      0.005937407438098452,
      0.0031340623349738195,
      0.0069326463722156895,
      0.004903281359394107,
      0.0021076718831025687,
      -0.00029362871042648564,
      -0.002718039013598794,
      -0.002718039013598794
    ],
    "min_front_frame": [
      0,
      17.09832699695712
    ],
    "v_avg": 3.973734763623215,
    "v_std": 1.3627526548940532,
    "vy_max": 0.10937215993081617,
    "a_max": 1.2535975935887171,
    "ax_avg": -0.8318138608015906,
    "a_std": 0.364244551812694,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "86b0e721370e5f56",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.871500400329466,
    "right_rear_min": 18.90333628410965,
    "speed_mode": "decelerating",
    "front_frame": [
      17.09832699695712,
      21.351903035233033,
      18.617581908230004,
      42.01188893250202,
      39.80106089517482,
      37.94460719402525,
      36.34978638167965,
      34.99185967880068,
      33.718927704708804,
      32.50610117567757
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "86b0e721370e5f56",
    "merging_vehicles": "No"
  },
  "d1d48a8f642b5874": {
    "vx_ego": [
      5.430135694650016,
      6.114598267636675,
      6.746545707150436,
      7.323877744581509,
      7.891242059794211,
      8.40741459860361,
      8.83306545661884,
      9.197406924916915,
      9.545882319271364,
      9.889981893965345
    ],
    "vy_ego": [
      -0.05252702969296763,
      0.06819572941023244,
      0.07129500135090794,
      0.03223528490020211,
      0.00849589333201406,
      -0.0036500718510330543,
      -0.0014058932763942877,
      -0.030260257563697657,
      -0.007940097584114625,
      0.027278977715486263
    ],
    "v_ego": [
      5.430389742105126,
      6.114978547149223,
      6.746922406244762,
      7.323948684362072,
      7.891246633230309,
      8.407415390941358,
      8.833065568501622,
      9.197456704203475,
      9.545885621487788,
      9.890019514924505
    ],
    "ax_ego": [
      1.3617338614065657,
      1.376069910523428,
      1.1525805694742155,
      1.155042066256736,
      1.1131329681717377,
      0.9541938317623969,
      0.7484272152233507,
      0.7098945344457999,
      0.6846773256692913,
      0.6909984719779239
    ],
    "ay_ego": [
      -0.3358974304991266,
      -0.27125227780727684,
      0.07429215775969078,
      0.3112449946034344,
      0.3740900741903538,
      0.5674971522080404,
      0.5483732794847136,
      0.48191243708691256,
      0.3930900146759687,
      0.3818689692685007
    ],
    "a_ego": [
      1.4025498897070119,
      1.4025498910425935,
      1.1549724212439436,
      1.196242292133296,
      1.17431187869261,
      1.1101976789462502,
      0.9278235554995353,
      0.8580150622541929,
      0.7894952817614593,
      0.7894952805216842
    ],
    "yaw": [
      -0.8869957725735054,
      -0.9342110949980709,
      -0.9423149809092635,
      -0.9230624335400683,
      -0.8974394661352783,
      -0.8671398082021411,
      -0.8351364464080455,
      -0.8033847771520394,
      -0.7824325076193239,
      -0.7661193617871883
    ],
    "yaw_diff": [
      -0.094430644849131,
      -0.016207771822385197,
      0.038505094738390255,
      0.051245934809580174,
      0.06059931586627432,
      0.06400672358819115,
      0.06350333851201229,
      0.0419045390654309,
      0.03262629166427122,
      0.03262629166427122
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.938132881315023,
    "v_std": 1.4287346746590905,
    "vy_max": 0.07129500135090794,
    "a_max": 1.4025498910425935,
    "ax_avg": 0.9946750754911445,
    "a_std": 0.2186857102252699,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d1d48a8f642b5874",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.265689891466655,
    "right_rear_min": 15.033806591764987,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d1d48a8f642b5874",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ed9a6ef4e38b58ec": {
    "vx_ego": [
      5.93563027212829,
      6.288441426869488,
      6.726483373978264,
      7.180969990367684,
      7.634845007660867,
      8.060685483649994,
      8.396977617227744,
      8.57933602224401,
      8.582207772587724,
      8.47320171564482
    ],
    "vy_ego": [
      -0.10192294398412782,
      -0.12480662843369306,
      -0.10099893717498487,
      -0.12384714852784251,
      -0.10148504076406217,
      -0.08412928214809678,
      -0.07355381634281777,
      -0.06286115831992589,
      -0.043737804760919374,
      0.005005753959884451
    ],
    "v_ego": [
      5.936505286270379,
      6.289679822826385,
      6.727241586691865,
      7.1820378806269005,
      7.635519465269075,
      8.061124499872241,
      8.397299760525542,
      8.579566312337647,
      8.582319223113904,
      8.473203194281313
    ],
    "ax_ego": [
      0.5568885964707088,
      0.9225464705753242,
      0.8921328813435812,
      0.9487194637220265,
      0.8648298627333394,
      0.8481280195892127,
      0.5009245015615376,
      0.229494915475945,
      -0.218041929649684,
      -0.21817969440285406
    ],
    "ay_ego": [
      2.1484276302439107,
      2.018606994565973,
      1.9549766307481413,
      1.4225516099000826,
      0.45653285834945956,
      0.44141299937136314,
      0.22350703914678724,
      0.017270153927293863,
      0.05414932912907222,
      0.05359154450797689
    ],
    "a_ego": [
      2.2194292489905108,
      2.219429248451425,
      2.1489147737278356,
      1.7098893834614934,
      0.9779329947537788,
      0.956120585295779,
      0.5485259818940561,
      0.2301438125303037,
      0.2246651573575358,
      0.2246651568278296
    ],
    "yaw": [
      -1.250691124489638,
      -1.0756392350148816,
      -0.9270041157445477,
      -0.8023244300973333,
      -0.7420319345280051,
      -0.7156468935944258,
      -0.6968309373604242,
      -0.6910223236000901,
      -0.6911691943394609,
      -0.6937265397496697
    ],
    "yaw_diff": [
      0.3501037789495127,
      0.2972702385406678,
      0.24935937129442864,
      0.1205849911386565,
      0.05277008186715859,
      0.037631912468003126,
      0.011617227520668294,
      -0.00029374147874161594,
      -0.0051146908204176,
      -0.0051146908204176
    ],
    "min_front_frame": [
      9,
      57.606476368103515
    ],
    "v_avg": 7.586449703181525,
    "v_std": 0.9463237545843106,
    "vy_max": 0.12480662843369306,
    "a_max": 2.2194292489905108,
    "ax_avg": 0.5327443087419137,
    "a_std": 0.8115475482338969,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "ed9a6ef4e38b58ec",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      78.36245917405678,
      74.43591069776461,
      60.428415133423734,
      66.01112464828222,
      61.753355729110474,
      57.606476368103515
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ed9a6ef4e38b58ec",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f18ef27ec008527a": {
    "vx_ego": [
      2.1995139997236106,
      1.5877750978880047,
      1.0332859976469135,
      0.5876848792766894,
      0.29348709137959694,
      0.14701697810651007,
      0.04579318217249191,
      -0.01139762713253964,
      -0.015650286496559546,
      -0.013771431453244123
    ],
    "vy_ego": [
      0.018079829043962437,
      0.017399629435638775,
      0.019771508367052437,
      0.019258005223917546,
      0.003009832999822673,
      0.00027928688759085163,
      -0.014604901611413413,
      -0.02025457606654021,
      -0.005308953708462879,
      -0.007077652752399887
    ],
    "v_ego": [
      2.1995883058423487,
      1.587870431923764,
      1.0334751402313873,
      0.5880003300132249,
      0.2935025245226056,
      0.14701724338571867,
      0.04806577456529851,
      0.02324120814173969,
      0.016526235412307178,
      0.01548371701998442
    ],
    "ax_ego": [
      -1.2233550088602017,
      -1.2232750012662748,
      -0.9946234966813094,
      -0.7877120541484485,
      -0.38904038494717086,
      -0.19685667912653254,
      -0.20802162264650834,
      -0.020765201214158015,
      0.003757759152149044,
      0.0037577501815728182
    ],
    "ay_ego": [
      -0.015397754676005182,
      -0.020805253974807536,
      0.024545183177899332,
      -0.02866629020928163,
      -0.03756206351708624,
      0.0261242891052908,
      -0.08590258866010735,
      0.06330794528136377,
      -0.003537483231303562,
      -0.0035374955635367683
    ],
    "a_ego": [
      1.223451906922543,
      1.2234519145908271,
      0.9949263119285726,
      0.7882334910704638,
      0.3908494975505335,
      0.19858255360928212,
      0.22506054791320915,
      0.0666264926077654,
      0.005160866347553848,
      0.005160868268920732
    ],
    "yaw": [
      1.0802694849732688,
      1.0758491301366804,
      1.0747282621906242,
      1.0740696358572461,
      1.0732790707215771,
      1.072622207166272,
      1.0720047762734908,
      1.0718414107457745,
      1.072022586138845,
      1.0720257899205938
    ],
    "yaw_diff": [
      -0.00884070967317685,
      -0.0022417358921122954,
      -0.0013172526667561968,
      -0.0015811302713379938,
      -0.0013137271106100634,
      -0.0012348617855626465,
      -0.00032673105543246095,
      0.0003623507861409969,
      6.407563497567992e-06,
      6.407563497567992e-06
    ],
    "min_front_frame": [
      7,
      9.826457820719735
    ],
    "v_avg": 0.595277091105838,
    "v_std": 0.7308152613032809,
    "vy_max": 0.02025457606654021,
    "a_max": 1.2234519145908271,
    "ax_avg": -0.5036133939556883,
    "a_std": 0.4721463484657489,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f18ef27ec008527a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.2808817289860692,
    "speed_mode": "decelerating",
    "front_frame": [
      12.097338403151769,
      11.148602350899543,
      10.541276965440835,
      10.181257374174308,
      9.95428544387321,
      9.87151070012933,
      9.832900509188518,
      9.826457820719735,
      9.887393254805023,
      9.888043377262026
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f18ef27ec008527a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a9e8e0a755d758a1": {
    "vx_ego": [
      4.052752723104493,
      3.8049910150997963,
      3.6411078006498085,
      3.612510135584695,
      3.7139290341919855,
      3.810042937306189,
      3.844348296610742,
      3.8894528200341068,
      4.015917837401058,
      4.217276443937708
    ],
    "vy_ego": [
      0.029284386042918165,
      0.02204997809960707,
      0.021211928026028115,
      -0.013307642520952512,
      -0.04877537320363892,
      0.022367130324445372,
      0.06166528691932516,
      0.034839340788771045,
      0.016621206663659294,
      -0.027187697370076647
    ],
    "v_ego": [
      4.052858523301398,
      3.8050549045348045,
      3.641169587075486,
      3.6125346466230073,
      3.714249306124371,
      3.810108590661915,
      3.844842835964138,
      3.8896088516633474,
      4.015952233439405,
      4.217364079075954
    ],
    "ax_ego": [
      -0.5524293189333036,
      -0.42140830896498516,
      -0.21478467583916555,
      0.11701060525716414,
      0.25487402854680585,
      0.10855605267157888,
      0.050951773885375,
      0.1374747071256314,
      0.37608919265540747,
      0.4267163998101927
    ],
    "ay_ego": [
      -0.9885215997547451,
      -1.051079500268022,
      -1.1395573081840606,
      -1.3137942264823461,
      -1.1348598291996732,
      -0.9749274109968717,
      -0.964815712473504,
      -0.7340234589592952,
      -0.7051341795372275,
      -0.6756999292882709
    ],
    "a_ego": [
      1.1324103079709202,
      1.1324102961155038,
      1.1596220572285771,
      1.3189945986549734,
      1.163128368822113,
      0.9809525336552722,
      0.966160153544857,
      0.7467862702285348,
      0.7991603668750317,
      0.7991603595694337
    ],
    "yaw": [
      0.604948621720699,
      0.4766478217093281,
      0.3290159787668927,
      0.16792472064605893,
      0.010080498570681109,
      -0.14793529723408916,
      -0.2844417020583624,
      -0.38753366436928655,
      -0.474550749485199,
      -0.5478463654120573
    ],
    "yaw_diff": [
      -0.2566016000227417,
      -0.29526368588487084,
      -0.32218251624166755,
      -0.31568844415075564,
      -0.31603159160954053,
      -0.27301280964854646,
      -0.2061839246218483,
      -0.17403417023182488,
      -0.1465912318537167,
      -0.1465912318537167
    ],
    "min_front_frame": [
      8,
      23.785731357852622
    ],
    "v_avg": 3.860374355846383,
    "v_std": 0.1806119730757998,
    "vy_max": 0.06166528691932516,
    "a_max": 1.3189945986549734,
    "ax_avg": 0.02830504562147012,
    "a_std": 0.18200529923323427,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "a9e8e0a755d758a1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      23.785731357852622,
      75.29774465607008
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a9e8e0a755d758a1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a4a08c828e87562c": {
    "vx_ego": [
      1.7990669458361106,
      1.4619079779302033,
      1.2258940978741502,
      1.0068264465986851,
      0.7182929527341175,
      0.44449745097012544,
      0.22301690395187718,
      0.060991576721095384,
      -0.015723458337604492,
      -0.01425761432400963
    ],
    "vy_ego": [
      0.05219693904982481,
      0.010789465801718356,
      -0.015169551014201033,
      -0.011635694657393503,
      -0.012453462937654036,
      -0.015164323047602096,
      -0.008159600213146032,
      0.004344145112515855,
      0.012650653509115371,
      0.004681883479638289
    ],
    "v_ego": [
      1.7998239902963407,
      1.4619477926753275,
      1.2259879503815072,
      1.0068936800679082,
      0.7184009010898,
      0.4447560461786114,
      0.22316612315474585,
      0.0611460875909805,
      0.020180836858318767,
      0.015006651829409334
    ],
    "ax_ego": [
      -0.6743274358767708,
      -0.6743622596930019,
      -0.26968313751474365,
      -0.6065669054712102,
      -0.5475614898821408,
      -0.5476233219938234,
      -0.3383031088390172,
      -0.3098043589996603,
      0.0029329976023577016,
      0.0029352249286053803
    ],
    "ay_ego": [
      -0.08156436344498347,
      -0.08127593230089558,
      -0.021209124144889624,
      0.03650055323394924,
      -0.038021376651412475,
      0.02710375925661726,
      0.0007594327799655964,
      0.0491484987869619,
      -0.015933556017678034,
      -0.01593314681299706
    ],
    "a_ego": [
      0.6792423986768831,
      0.6792423974323389,
      0.27051584354116764,
      0.6076641351925457,
      0.5488799598130891,
      0.5482936408142915,
      0.3383039612364762,
      0.31367868239362773,
      0.016201255578007525,
      0.01620125651750582
    ],
    "yaw": [
      2.5467434735770857,
      2.5471711953580916,
      2.5474323449243093,
      2.5476818086175,
      2.54819346391487,
      2.5481615645524593,
      2.548035008197945,
      2.547841675234139,
      2.54801027785979,
      2.5478705192393893
    ],
    "yaw_diff": [
      0.0008554435620116152,
      0.0005222991324353998,
      0.0004989273863813537,
      0.0010233105947401455,
      -6.379872482131788e-05,
      -0.0002531127090286134,
      -0.00038666592761238405,
      0.00033720525130220835,
      -0.0002795172408012192,
      -0.0002795172408012192
    ],
    "min_front_frame": [
      7,
      9.988200429793634
    ],
    "v_avg": 0.697731006012295,
    "v_std": 0.6159006200770266,
    "vy_max": 0.05219693904982481,
    "a_max": 0.6792423986768831,
    "ax_avg": -0.3962363795739406,
    "a_std": 0.2378711695400964,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a4a08c828e87562c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.919305203883322,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.048573641548243,
      11.385124861396237,
      10.979913087080103,
      10.65741020533192,
      10.42169684845259,
      10.184836219836573,
      10.06257958783697,
      9.988200429793634,
      9.995317255692724,
      9.998440786631502
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a4a08c828e87562c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fd89a82cf20e5632": {
    "vx_ego": [
      1.5509893507113297,
      2.040087479702861,
      2.4742182172385543,
      2.7651040698919527,
      2.842443929367095,
      2.7483754500773845,
      2.5819064916274286,
      2.3573782449937797,
      2.096074652115508,
      1.830072311520309
    ],
    "vy_ego": [
      0.054448438308801195,
      0.03515867590132615,
      -0.0069278961172054565,
      -0.0423997917831056,
      -0.025089107050304094,
      0.013813059240264103,
      0.03200784695819903,
      0.021000016887519735,
      -0.00018123794946800498,
      -0.02092433245239722
    ],
    "v_ego": [
      1.5519447794474581,
      2.040390417868969,
      2.4742279163932617,
      2.765429127581521,
      2.842554652929022,
      2.748410161383057,
      2.5821048843481855,
      2.357471779402508,
      2.0960746599509146,
      1.830191927935938
    ],
    "ax_ego": [
      0.9781949812012739,
      0.9781942782874674,
      0.7584076149798571,
      0.40489860104821074,
      -0.0959495834245205,
      -0.2803821325122873,
      -0.38474081624580436,
      -0.5123502387440062,
      -0.5325509259349948,
      -0.5318273863200232
    ],
    "ay_ego": [
      -0.03850568960171574,
      -0.03852340081719996,
      -0.13665980560625285,
      -0.021398898163265734,
      0.06417056161362554,
      0.052718543137295126,
      -0.03866847967537282,
      -0.08424625979449621,
      -0.07546410780755947,
      -0.08040490184120419
    ],
    "a_ego": [
      0.9789525572667269,
      0.9789525517025133,
      0.7706218352264449,
      0.40546367281595025,
      0.11543042725879138,
      0.2852952593764163,
      0.3866791266746791,
      0.5192303914741527,
      0.53787110006154,
      0.537871097085613
    ],
    "yaw": [
      0.5674244464332092,
      0.5674425435617695,
      0.5666944006324889,
      0.56517675614694,
      0.5628680034581519,
      0.5594335519043101,
      0.5539513961436222,
      0.5460173768422503,
      0.5376081759519271,
      0.5283243324485086
    ],
    "yaw_diff": [
      3.619425712053648e-05,
      -0.0014962858585612082,
      -0.003035288971097838,
      -0.004617505377576103,
      -0.0068689031076836216,
      -0.01096431152137578,
      -0.015868038602743884,
      -0.016818401780646308,
      -0.018567687006836975,
      -0.018567687006836975
    ],
    "min_front_frame": [
      0,
      25.429978179723484
    ],
    "v_avg": 2.3288800307240836,
    "v_std": 0.4130679593449417,
    "vy_max": 0.054448438308801195,
    "a_max": 0.9789525572667269,
    "ax_avg": 0.07818943923351727,
    "a_std": 0.2691417007973994,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "fd89a82cf20e5632",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.257596568462336,
    "right_rear_min": 6.5120304939641755,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      25.429978179723484,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "fd89a82cf20e5632",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f34d9948bdc257ab": {
    "vx_ego": [
      0.7181371915695687,
      1.5470137625154012,
      2.3588205582926633,
      3.107238261333274,
      3.7888349220041757,
      4.436583436104198,
      4.918450672790583,
      5.173608668969633,
      5.40697129813618,
      5.693099415685804
    ],
    "vy_ego": [
      0.021012492550017192,
      0.05036134439770579,
      0.07621172850781921,
      0.0719986616455559,
      -0.004589450203516643,
      -0.06981245400499736,
      -0.056400575774277595,
      0.015384452408587102,
      0.05845173722452657,
      0.059701121353842534
    ],
    "v_ego": [
      0.7184445356174629,
      1.5478332747494488,
      2.3600514091405427,
      3.108072299669391,
      3.7888377016245443,
      4.437132673726168,
      4.918774038886296,
      5.173631542834651,
      5.407287233396522,
      5.693412437262292
    ],
    "ax_ego": [
      1.6577722760890226,
      1.6577611765621236,
      1.589709972742915,
      1.4042869663981117,
      1.322528645950066,
      1.2675726536237957,
      0.6592573303780149,
      0.3611108940873501,
      0.5725041119142229,
      0.5725588577497763
    ],
    "ay_ego": [
      0.05810831157893337,
      0.05842410007103627,
      0.03771363034666242,
      -0.06490554022816519,
      -0.26662477315856226,
      -0.051669772966523864,
      0.06630336770503598,
      0.1825741742605356,
      -0.024102503210793436,
      -0.022764924791825625
    ],
    "a_ego": [
      1.6587903710969427,
      1.6587903707176948,
      1.5901572612016097,
      1.4057861192755892,
      1.3491370534606073,
      1.268625318072,
      0.6625830998645954,
      0.4046410840924112,
      0.5730112466782126,
      0.5730112454293599
    ],
    "yaw": [
      -0.5941631865396935,
      -0.5943536774556915,
      -0.5952795089419864,
      -0.5962173581192716,
      -0.5980374839541607,
      -0.601520999422342,
      -0.6035728262706901,
      -0.6054546041602608,
      -0.6061098953301801,
      -0.6084461423866969
    ],
    "yaw_diff": [
      -0.0003809818319959746,
      -0.0018516629725899847,
      -0.0018756983545702433,
      -0.003640251669778216,
      -0.00696703093636275,
      -0.004103653696696075,
      -0.0037635557791413365,
      -0.0013105823398387173,
      -0.0046724941130336095,
      -0.0046724941130336095
    ],
    "min_front_frame": [
      9,
      34.021972618777795
    ],
    "v_avg": 3.7153477146907314,
    "v_std": 1.6359021775681915,
    "vy_max": 0.07621172850781921,
    "a_max": 1.6587903710969427,
    "ax_avg": 1.1065062885495398,
    "a_std": 0.477174946355912,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f34d9948bdc257ab",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.958059989667096,
    "right_rear_min": 6.44083634627074,
    "speed_mode": "accelerating",
    "front_frame": [
      51.16449793267655,
      50.50228672906291,
      49.445785758787174,
      48.050329056332735,
      46.29230606797312,
      44.20470721668793,
      41.90257262659728,
      39.38411658322476,
      36.81099509011488,
      34.021972618777795
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f34d9948bdc257ab",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f227c6775ba75451": {
    "vx_ego": [
      4.780990295795173,
      4.722633888112702,
      4.792293047970051,
      4.972843426719354,
      5.134910670251433,
      5.2633267233976095,
      5.405002722050881,
      5.529335562038192,
      5.686577145460205,
      5.8936867443043575
    ],
    "vy_ego": [
      -0.057266931528957454,
      0.010131051358783491,
      0.03637084825580694,
      0.05402952163485342,
      0.036207275149816365,
      0.006560155413516622,
      0.0037187772973816813,
      -0.06997951323029694,
      -0.017346703170664224,
      0.0012492578694138778
    ],
    "v_ego": [
      4.781333256523159,
      4.722644754727178,
      4.792431063273099,
      4.973136931140543,
      5.135038321009474,
      5.263330811650591,
      5.4050040013567076,
      5.529778376200276,
      5.686603603151993,
      5.893686876704099
    ],
    "ax_ego": [
      -0.23568493856704903,
      0.01840750400867697,
      0.2699630159511386,
      0.39971653999881146,
      0.21330403750447335,
      0.2710171211138024,
      0.2707753338911518,
      0.2202031309299427,
      0.40976159676050894,
      0.41940108299152806
    ],
    "ay_ego": [
      1.6090917068233421,
      1.6261564122834375,
      1.9191363498704395,
      1.7053909086756354,
      1.6483243698557781,
      1.4392619268060631,
      1.0563327424615185,
      0.6524479533986578,
      0.35884334507070414,
      0.34752819062927925
    ],
    "a_ego": [
      1.626260591429003,
      1.6262605920990556,
      1.938031052221679,
      1.7516082506491373,
      1.6620685427130129,
      1.464556306152247,
      1.0904852792404571,
      0.6886056569368616,
      0.5446770717418298,
      0.5446770710214698
    ],
    "yaw": [
      1.4061573000854284,
      1.5629130862797904,
      1.7444022597695008,
      1.926472513858798,
      2.0947215157802725,
      2.248799337303379,
      2.366159224814683,
      2.4576080584318274,
      2.493453187717241,
      2.5207444486220645
    ],
    "yaw_diff": [
      0.31351157238872407,
      0.3629783469794208,
      0.3641405081785942,
      0.33649800384294926,
      0.3081556430462129,
      0.234719775022608,
      0.1828976672342888,
      0.07169025857082723,
      0.054582521809646956,
      0.054582521809646956
    ],
    "min_front_frame": [
      7,
      21.517725897657222
    ],
    "v_avg": 5.218298799573713,
    "v_std": 0.3865716596902507,
    "vy_max": 0.06997951323029694,
    "a_max": 1.938031052221679,
    "ax_avg": 0.2256864424582985,
    "a_std": 0.5040266761287909,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "f227c6775ba75451",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      24.215603930064262,
      21.517725897657222,
      25.31211650626188,
      28.319917491136323
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f227c6775ba75451",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "352290f8ed8e572e": {
    "vx_ego": [
      10.547813974111099,
      10.531222373218656,
      10.197492180468931,
      9.526928253885103,
      8.787466178438637,
      8.059452837609308,
      7.382716864723911,
      6.676961322460075,
      5.968595657206309,
      5.2827746348148885
    ],
    "vy_ego": [
      0.053528327560098954,
      0.040831664537518186,
      -0.0067642066150886415,
      -0.036728060193031015,
      -0.058980378248627764,
      -0.01862879490683919,
      0.015822753383870347,
      -0.04026547583726024,
      -0.06235170605416317,
      0.013632991949389162
    ],
    "v_ego": [
      10.547949796728497,
      10.53130152920379,
      10.197494423887473,
      9.52699905033478,
      8.787664110685006,
      8.059474367081789,
      7.382733820489772,
      6.677082732014948,
      5.968921330899736,
      5.282792225775406
    ],
    "ax_ego": [
      -0.0429660607217496,
      -0.028454518131854324,
      -1.3101158433832762,
      -1.3718016533997774,
      -1.582462507940267,
      -1.3285872334461613,
      -1.378571804795304,
      -1.4440714860048014,
      -1.3927441092145094,
      -1.353978771160614
    ],
    "ay_ego": [
      0.5399944336640331,
      0.5409532419961088,
      0.40736927043988624,
      0.26702148590442176,
      0.2910942065208836,
      0.19085236954485785,
      0.04802056186147409,
      -0.34469667925957465,
      -0.543284639826192,
      -0.6337474748236293
    ],
    "a_ego": [
      0.5417010898660671,
      0.5417010888194861,
      1.3719887920761593,
      1.397547942005915,
      1.6090131839443151,
      1.3422252656827063,
      1.379407914772883,
      1.484640783955733,
      1.4949563049209138,
      1.4949563119365503
    ],
    "yaw": [
      -1.6537007058941868,
      -1.6268526770853045,
      -1.5998055595225211,
      -1.5796883926159782,
      -1.5620723929561644,
      -1.5525231701488271,
      -1.5492533921505274,
      -1.5518224062107353,
      -1.5834691668357954,
      -1.649315015553321
    ],
    "yaw_diff": [
      0.05369605761776475,
      0.05409423512556666,
      0.04023433381308594,
      0.035231999319627505,
      0.019098445614674553,
      0.0065395559965995,
      -0.005138028120415861,
      -0.06329352125012022,
      -0.13169169743505105,
      -0.13169169743505105
    ],
    "min_front_frame": [
      0,
      40.327344318205434
    ],
    "v_avg": 8.29624133871012,
    "v_std": 1.82883111215367,
    "vy_max": 0.06235170605416317,
    "a_max": 1.6090131839443151,
    "ax_avg": -1.1233753988198314,
    "a_std": 0.36969330910456333,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "352290f8ed8e572e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.401480530786921,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      40.327344318205434,
      42.100653465483965,
      43.9325240927322,
      46.03715779483807,
      48.2488424604195,
      51.101470185667026,
      54.196891559138145,
      57.63860887464658,
      61.41113244138987,
      65.55804952180885
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "352290f8ed8e572e",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "58d75e229a0e52bc": {
    "vx_ego": [
      13.805748034127816,
      13.660790677592207,
      13.52081566100806,
      13.38301237733514,
      13.266196924551778,
      13.170745359183579,
      13.016212782454641,
      12.830175486424315,
      12.676249221557573,
      12.528557171890316
    ],
    "vy_ego": [
      0.01490966715699682,
      -0.0032081830097142605,
      -0.003667162176830968,
      0.021027288867008186,
      0.031132852419508354,
      0.004642602193048226,
      -0.013124762669453532,
      0.013274955029405344,
      0.039816509052291504,
      0.05622012958141964
    ],
    "v_ego": [
      13.805756085053755,
      13.660791054306788,
      13.520816158318226,
      13.383028896284378,
      13.266233455487162,
      13.170746177427112,
      13.016219399561868,
      12.830182353999277,
      12.676311753875103,
      12.528683311198126
    ],
    "ax_ego": [
      -0.2930680595487959,
      -0.287087930196277,
      -0.2727564607095983,
      -0.27951276741717956,
      -0.18848127677605292,
      -0.19407729073434418,
      -0.42392973135387085,
      -0.3202203473376409,
      -0.295456471647689,
      -0.29542752064644867
    ],
    "ay_ego": [
      0.3853193914691259,
      0.38979537332694736,
      0.370236703715168,
      0.19710562458360517,
      0.15759526146728217,
      0.012661436707477448,
      0.06546682852588523,
      0.04446576692353144,
      0.04791882219408474,
      0.048097000898307395
    ],
    "a_ego": [
      0.4841073444700401,
      0.48410733596122735,
      0.45986009137203865,
      0.34202048826306214,
      0.24568568971772065,
      0.19448986286765851,
      0.42895491926658535,
      0.3232928630160851,
      0.29931712306343244,
      0.29931712522126036
    ],
    "yaw": [
      -1.6110519728928023,
      -1.5956220074273846,
      -1.5816059859124476,
      -1.5728984490121913,
      -1.5669968416710405,
      -1.5617730443390676,
      -1.5589305806921079,
      -1.558846660286858,
      -1.5591168857308133,
      -1.5585137993957892
    ],
    "yaw_diff": [
      0.0308599309308355,
      0.028032043029873943,
      0.01741507380051255,
      0.011803214682301721,
      0.010447594663945736,
      0.005684927293919451,
      0.00016784081049969757,
      -0.0005404508879105485,
      0.0012061726700483,
      0.0012061726700483
    ],
    "min_front_frame": [
      9,
      24.104514372849643
    ],
    "v_avg": 13.18587686455118,
    "v_std": 0.40179538549092303,
    "vy_max": 0.05622012958141964,
    "a_max": 0.4841073444700401,
    "ax_avg": -0.28500178563678974,
    "a_std": 0.09740535867863767,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "58d75e229a0e52bc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.209667873485273,
      25.77669380502963,
      25.495332559278456,
      25.200587018934627,
      24.999155868097144,
      24.817489303733456,
      24.62109707724714,
      24.487626527012587,
      24.238481445346732,
      24.104514372849643
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_change",
    "lane_change_frame": 5,
    "token": "58d75e229a0e52bc",
    "smoothness": "No"
  },
  "bdef1564d4565c48": {
    "vx_ego": [
      8.4907414048561,
      9.122392087263597,
      9.68936951778356,
      10.180313309251712,
      10.546844999595242,
      10.724573024038042,
      10.868935521343763,
      11.13579239985476,
      11.473747983550325,
      11.80201132221184
    ],
    "vy_ego": [
      0.03410036353493828,
      0.04686193536925193,
      0.004497841744507958,
      -0.01773243288990993,
      0.002548040402054466,
      0.01978793536899176,
      -0.017941802231662057,
      -0.04938710850354433,
      -0.04079447642065476,
      -0.046376752507172714
    ],
    "v_ego": [
      8.490809881214568,
      9.122512451882761,
      9.689370561741024,
      10.180328752732091,
      10.546845307389175,
      10.724591279405974,
      10.868950329971867,
      11.135901914939327,
      11.473820504929106,
      11.802102442056228
    ],
    "ax_ego": [
      1.2631650926856604,
      1.2632274474760183,
      1.0043420941786865,
      0.9603945780179153,
      0.5062196820200655,
      0.20382316968125697,
      0.37294852278549373,
      0.6954689809830943,
      0.6564376706378258,
      0.6564647148945901
    ],
    "ay_ego": [
      0.04908890817517132,
      0.047457299993387894,
      0.1897282452474049,
      0.2749138057751208,
      0.2969803393265634,
      0.22103328562153546,
      0.10610173929937511,
      0.09909308493126125,
      -0.031570009711021245,
      -0.031002510822037997
    ],
    "a_ego": [
      1.2641185752473554,
      1.264118578053277,
      1.0221055959067482,
      0.9989671396457295,
      0.5869034745262776,
      0.30066525880381617,
      0.38774757217838834,
      0.702493091062722,
      0.657196379285194,
      0.6571963767238116
    ],
    "yaw": [
      -1.6070867793333599,
      -1.6057951307206115,
      -1.5950241096603275,
      -1.5811021890515113,
      -1.569327955543862,
      -1.5588100947810188,
      -1.5477191004215114,
      -1.5401709110886963,
      -1.5394380733632842,
      -1.5403025655710947
    ],
    "yaw_diff": [
      0.0025832972254966613,
      0.021542042120568095,
      0.02784384121763228,
      0.02354846701529878,
      0.021035721525686224,
      0.02218198871901489,
      0.015096378665630183,
      0.001465675450824211,
      -0.001728984415620971,
      -0.001728984415620971
    ],
    "min_front_frame": [
      4,
      20.809229477441036
    ],
    "v_avg": 10.403523342626212,
    "v_std": 0.9918405960341296,
    "vy_max": 0.04938710850354433,
    "a_max": 1.264118578053277,
    "ax_avg": 0.7582491953360606,
    "a_std": 0.3212802211239398,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "bdef1564d4565c48",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.544302147468555,
    "right_rear_min": 10.390019573837305,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      20.809229477441036,
      23.262865883071825,
      26.03209504473705,
      28.937329726237056,
      31.855977679204155,
      34.77973534097237
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.6666666666666666,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "bdef1564d4565c48",
    "pedestrians": "No"
  },
  "b5155b952c645ce0": {
    "vx_ego": [
      -0.12931768262215146,
      0.17335617505571058,
      0.7028588755460202,
      1.5520975624328417,
      2.463940067669876,
      3.3340853134672064,
      4.163599605285071,
      4.888469878664209,
      5.387414988920198,
      5.781004267258773
    ],
    "vy_ego": [
      0.003342997514739196,
      -0.005647982795629655,
      -0.009146655524936959,
      -0.01365029662948486,
      -0.014644394333395705,
      0.003096659112212574,
      0.03429582200943737,
      0.04946574249954305,
      -0.03352817359587401,
      -0.1777524967052657
    ],
    "v_ego": [
      0.12936088539874427,
      0.17344815692190535,
      0.7029183880374078,
      1.5521575866863653,
      2.463983586664981,
      3.3340867515371246,
      4.163740851270322,
      4.888720140720707,
      5.387519317948353,
      5.7837363605327905
    ],
    "ax_ego": [
      0.6053460836576114,
      0.6053486784939135,
      1.5126214575643213,
      1.88431234204635,
      1.7628913463614713,
      1.7176500657095304,
      1.6002684912430447,
      1.3046831825509735,
      0.7221335132107423,
      0.9038591519136197
    ],
    "ay_ego": [
      -0.018031975290628305,
      -0.01794466186310295,
      0.002625379068699696,
      -0.023421435183641925,
      -0.0003085960941056065,
      0.06286392515646444,
      0.17577366199436034,
      0.7434261808310259,
      1.3423036399576143,
      1.2273119096732297
    ],
    "a_ego": [
      0.6056145912480063,
      0.6056145915049509,
      1.5126237359301442,
      1.884457897119026,
      1.7628913733715161,
      1.7188000527455285,
      1.6098930474774398,
      1.5016260164156527,
      1.524223039041711,
      1.5242230447423886
    ],
    "yaw": [
      -0.3463557000366278,
      -0.3464999387063,
      -0.3475197965706224,
      -0.3481630515652849,
      -0.350603943730478,
      -0.3513276814768228,
      -0.3437655749445217,
      -0.2967370215448223,
      -0.18087102628126,
      -0.03966423639077282
    ],
    "yaw_diff": [
      -0.00028847733934445063,
      -0.0020397157286446976,
      -0.001286509989325002,
      -0.0048817843303862185,
      -0.0014474754926896427,
      0.01512421306460221,
      0.09405710679939883,
      0.23173199052712457,
      0.28241357978097437,
      0.28241357978097437
    ],
    "min_front_frame": [
      7,
      32.37914541444194
    ],
    "v_avg": 2.85796720257187,
    "v_std": 2.0535574836991115,
    "vy_max": 0.1777524967052657,
    "a_max": 1.884457897119026,
    "ax_avg": 1.2619114312751578,
    "a_std": 0.4268255890432688,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b5155b952c645ce0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      39.81534467619853,
      39.80041012020622,
      39.594457807812866,
      38.985640646404235,
      37.93843574087761,
      34.00323168348282,
      34.59164090114279,
      32.37914541444194,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b5155b952c645ce0",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "1df82f9400b35ebb": {
    "vx_ego": [
      0.38101869578895375,
      0.1419204241697142,
      0.0007653332101458347,
      -0.020634837707192464,
      -0.009582285792704572,
      0.0067669839520588864,
      0.07114535231091607,
      0.22897485555037556,
      0.3607125660577908,
      0.42632249043561044
    ],
    "vy_ego": [
      -0.07282868741146016,
      -0.07608377986414928,
      -0.03698523935659924,
      -0.0012196685107663825,
      -0.00501410176734303,
      -0.0034736156711392303,
      0.0027685872692963173,
      -0.0009432910099912012,
      -0.003624269532974511,
      0.010060538986140899
    ],
    "v_ego": [
      0.387916568672687,
      0.16102840853379854,
      0.036993157004877125,
      0.020670851904997217,
      0.010814870204784725,
      0.007606449739412373,
      0.07119920105529332,
      0.22897679854571484,
      0.3607307730727221,
      0.42644118034719963
    ],
    "ax_ego": [
      -0.4782278548886953,
      -0.4782264949320396,
      -0.08632742395846005,
      0.0007271235939328036,
      0.043483064960003724,
      0.021914457900661356,
      0.23559950819956477,
      0.3957216916101635,
      0.13121768235793202,
      0.13122064025173175
    ],
    "ay_ego": [
      -0.006568574585859521,
      -0.006666945031300386,
      0.16308020344777263,
      -0.020015783715682627,
      0.004838085391834567,
      0.0013240017033123008,
      0.023646756570312982,
      -0.03854218517446234,
      0.027461553359406997,
      0.027447402438783138
    ],
    "a_ego": [
      0.4782729632370337,
      0.4782729645412068,
      0.1845198549855018,
      0.020028986656190063,
      0.04375138864738566,
      0.021954417450486652,
      0.23678322862942053,
      0.39759421178990006,
      0.13406049782206056,
      0.1340604950338127
    ],
    "yaw": [
      0.5620080415568407,
      0.561802344176797,
      0.5620160124540867,
      0.5619902703449948,
      0.5619897593758534,
      0.5620194637965279,
      0.5620594766826521,
      0.561967394873409,
      0.5616954367392542,
      0.5618032468793326
    ],
    "yaw_diff": [
      -0.0004113947600874468,
      0.0004273365545794938,
      -5.1484218183794894e-05,
      -1.0219382828857704e-06,
      5.940884134902902e-05,
      8.002577224841545e-05,
      -0.00018416361848627716,
      -0.0005439162683096299,
      0.00021562028015686963,
      0.00021562028015686963
    ],
    "min_front_frame": [
      9,
      8.9798626875084
    ],
    "v_avg": 0.17123782590814868,
    "v_std": 0.1595727267134923,
    "vy_max": 0.07608377986414928,
    "a_max": 0.4782729645412068,
    "ax_avg": -0.008289760490520487,
    "a_std": 0.1705976068848582,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1df82f9400b35ebb",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.55195693644927,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.708518826777267,
      9.607024581973732,
      9.59793781087889,
      9.572707181575453,
      9.570851517835164,
      9.561557953152178,
      9.4773211524436,
      9.356887286307849,
      9.186098568940933,
      8.9798626875084
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1df82f9400b35ebb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0f8b3b73fda650e4": {
    "vx_ego": [
      3.7470293367262384,
      3.2688261004038135,
      2.737012412681927,
      2.1334328664721314,
      1.519356555992645,
      0.9624270853316654,
      0.5083544847375496,
      0.18097293023722993,
      -0.010055703688465034,
      -0.13806010598187932
    ],
    "vy_ego": [
      0.004337601375338451,
      -0.0074840098052302295,
      -0.014984153047305382,
      -0.005045158470527555,
      0.001601674647928375,
      -0.007498468959804161,
      -0.005786325750585852,
      -0.004380976776778817,
      -0.0007240806747138323,
      0.014788678999849307
    ],
    "v_ego": [
      3.7470318473523503,
      3.2688346677499562,
      2.7370534287838604,
      2.1334388318785913,
      1.51935740021876,
      0.9624562959515336,
      0.5083874149882858,
      0.18102594962095345,
      0.010081739408142987,
      0.13884991138019617
    ],
    "ax_ego": [
      -0.9563938920188282,
      -0.9564114967302656,
      -1.1708040434617248,
      -1.2434515470614507,
      -1.212878708381749,
      -1.0148334901343548,
      -0.8014263578393519,
      -0.508099656556159,
      -0.256008102440726,
      -0.2560088348085835
    ],
    "ay_ego": [
      -0.016387440533594866,
      -0.015325983983856817,
      -0.005170137988977808,
      0.053732536836969824,
      -0.02118404038716215,
      -0.013446773336910633,
      0.02224635220225568,
      -0.016361243002002424,
      0.031032059119561417,
      0.03102599649626732
    ],
    "a_ego": [
      0.956534277952528,
      0.9565342842067399,
      1.1708154587778339,
      1.244611961779434,
      1.2130636936339758,
      1.014922572618941,
      0.8017350604943978,
      0.5083630113069373,
      0.25788202187919423,
      0.2578820194558647
    ],
    "yaw": [
      1.1005584479033943,
      1.101668292082534,
      1.1024525608163298,
      1.103353269603498,
      1.1041709551782812,
      1.1045347638558771,
      1.105222984625438,
      1.1054370431318978,
      1.1056374088713299,
      1.1056137192154536
    ],
    "yaw_diff": [
      0.002219688358279459,
      0.0015685374675915575,
      0.0018014175743363836,
      0.001635371149566467,
      0.0007276173551917786,
      0.0013764415391217533,
      0.00042811701291967097,
      0.00040073147886410254,
      -4.7379311752582254e-05,
      -4.7379311752582254e-05
    ],
    "min_front_frame": [
      8,
      11.700080839040755
    ],
    "v_avg": 1.5206517487332631,
    "v_std": 1.3111106433484963,
    "vy_max": 0.014984153047305382,
    "a_max": 1.244611961779434,
    "ax_avg": -0.8376316129433192,
    "a_std": 0.354855381820313,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0f8b3b73fda650e4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.463362203331991,
    "right_rear_min": 3.4898130636004954,
    "speed_mode": "decelerating",
    "front_frame": [
      18.20985433412217,
      16.44831327889523,
      14.937058481896896,
      13.743261579244612,
      12.838088811307673,
      12.231269897970167,
      11.899669818171088,
      11.745424998094533,
      11.700080839040755,
      11.737332616992381
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0f8b3b73fda650e4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "52d4fbbe8bd551dc": {
    "vx_ego": [
      6.395031261757214,
      6.763820975175557,
      7.207141633821502,
      7.563186850618056,
      7.9489660126196515,
      8.4408409858142,
      8.963396685997612,
      9.447705862264826,
      9.793639797733466,
      10.03634568656577
    ],
    "vy_ego": [
      -0.04730087205473765,
      -0.003255691049039111,
      -0.13266459973786926,
      -0.22040915804072148,
      -0.25750990747517477,
      -0.08637216887692745,
      -0.022647746632264543,
      0.033499874859739265,
      0.02909378912112448,
      0.028172975956591628
    ],
    "v_ego": [
      6.395206189901089,
      6.763821758721103,
      7.2083625343060325,
      7.566397791175804,
      7.953135986655216,
      8.441282882320515,
      8.963425297897032,
      9.447765254359826,
      9.793683011835446,
      10.036385228598073
    ],
    "ax_ego": [
      0.5172055021986524,
      0.9640983643703739,
      0.8336949770367916,
      0.6642478980868367,
      0.9234430086123907,
      1.0515042961768961,
      1.0392220199607156,
      0.899155712466301,
      0.4853608416953815,
      0.48618651157966297
    ],
    "ay_ego": [
      2.52642342659666,
      2.3918259164157174,
      2.1210681363182484,
      1.745121589130807,
      0.8407421535971457,
      0.3777864114745682,
      0.0994168915377533,
      -0.15629113286448998,
      -0.13043662565803024,
      -0.12732453074939823
    ],
    "a_ego": [
      2.578820827812776,
      2.578820829491556,
      2.2790299150386213,
      1.8672639425006883,
      1.2488372027571368,
      1.1173109941163657,
      1.0439665344704587,
      0.9126378873752979,
      0.5025821922474992,
      0.5025821924546832
    ],
    "yaw": [
      1.873966874967067,
      2.0551976352689367,
      2.234333118348292,
      2.3764433034968553,
      2.4648883559636214,
      2.4812098055830774,
      2.487595193952237,
      2.479965855374406,
      2.4730104353073488,
      2.4666039841619822
    ],
    "yaw_diff": [
      0.3624615206037394,
      0.35827096615871046,
      0.28422037029712666,
      0.1768901049335323,
      0.03264289923891184,
      0.012770776738319611,
      -0.015258677155662426,
      -0.013910840134114366,
      -0.012812902290733064,
      -0.012812902290733064
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.256946593577014,
    "v_std": 1.2183303308527367,
    "vy_max": 0.25750990747517477,
    "a_max": 2.578820829491556,
    "ax_avg": 0.7864119132184003,
    "a_std": 0.7621092363189255,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "52d4fbbe8bd551dc",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 33.942805096237976,
    "right_rear_min": 20.567726187043224,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "52d4fbbe8bd551dc",
    "pedestrians": "No"
  },
  "962deb8ccdaf50e3": {
    "vx_ego": [
      0.7040462181427598,
      0.8874846438651895,
      1.05967107431575,
      1.2115409213725807,
      1.3423670324973145,
      1.4528145173330596,
      1.5477644677827374,
      1.5695679654608652,
      1.4171011025422888,
      1.1565082296008624
    ],
    "vy_ego": [
      -0.025054701327881568,
      0.0014691534241672022,
      -0.0027367302835831775,
      -0.014371138530793526,
      -0.01811184336165561,
      -0.019018350407729256,
      0.0004236506699553111,
      0.003727167263589126,
      0.008332174326164954,
      0.02851524438940356
    ],
    "v_ego": [
      0.7044918845095037,
      0.8874858598920358,
      1.059674608280363,
      1.2116261526489898,
      1.3424892136645283,
      1.4529389937041135,
      1.5477645257630988,
      1.5695723908048238,
      1.4171255978054917,
      1.1568597167751622
    ],
    "ax_ego": [
      0.36687835267503077,
      0.36684541809415927,
      0.32194734526342395,
      0.28542262911674754,
      0.23785895813803745,
      0.20392432613690373,
      0.17584288691739344,
      -0.08867887994859014,
      -0.5211851671009836,
      -0.5211855703308512
    ],
    "ay_ego": [
      0.05192467073352382,
      0.05215678443383455,
      -0.0720740432646516,
      0.019292028306143544,
      -0.037458049084575645,
      0.03349273789174697,
      0.039394227763404996,
      -0.01752628423014283,
      0.040342525074590185,
      0.04033720591706691
    ],
    "a_ego": [
      0.3705346098441131,
      0.3705346015410113,
      0.3299162936786863,
      0.28607387082374625,
      0.2407903432609687,
      0.20665646440863045,
      0.1802016261317257,
      0.09039421656196935,
      0.5227441991409126,
      0.522744190692054
    ],
    "yaw": [
      1.1037001421638588,
      1.1030674335320603,
      1.1022775668965363,
      1.1009083925568763,
      1.1002841823082417,
      1.100223676008583,
      1.0994122259479062,
      1.1007714188759516,
      1.101481678335888,
      1.1014714687113853
    ],
    "yaw_diff": [
      -0.0012654172635970795,
      -0.0015797332710478784,
      -0.0027383486793199907,
      -0.0012484204972693647,
      -0.00012101259931718289,
      -0.0016229001213536876,
      0.0027183858560908547,
      0.0014205189198728263,
      -2.0419249005421136e-05,
      -2.0419249005421136e-05
    ],
    "min_front_frame": [
      9,
      10.033327138009431
    ],
    "v_avg": 1.2350028943848108,
    "v_std": 0.2723192197308576,
    "vy_max": 0.02851524438940356,
    "a_max": 0.5227441991409126,
    "ax_avg": 0.08276702989612714,
    "a_std": 0.1339104046422742,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "962deb8ccdaf50e3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.331283000340235,
    "right_rear_min": 3.3595697455713776,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.748532521472239,
      12.243254994780273,
      12.669803720656926,
      12.953242598025074,
      12.975386770329541,
      12.751007893407358,
      12.202254880068017,
      11.372080558089312,
      10.635569249571658,
      10.033327138009431
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "962deb8ccdaf50e3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "134221cd9f46577f": {
    "vx_ego": [
      4.120909655760689,
      3.404787954283486,
      2.706848724750201,
      2.0615959920327054,
      1.5089020920361853,
      1.074501562589692,
      0.7334524740275614,
      0.43966074405553723,
      0.17031248727577236,
      -0.08896960453844624
    ],
    "vy_ego": [
      -0.03493071279302873,
      -0.043700849426953736,
      -0.024918712898275297,
      0.004846229671033986,
      0.01036812717663571,
      0.012773924843650586,
      0.01693910256947556,
      0.01846664262966627,
      0.01932798201723125,
      0.025309670590275432
    ],
    "v_ego": [
      4.121057697441023,
      3.405068395476743,
      2.706963420686415,
      2.061601688083161,
      1.5089377129001473,
      1.0745774896039844,
      0.7336480524427295,
      0.44004839137699436,
      0.17140570063716823,
      0.09249956733474901
    ],
    "ax_ego": [
      -1.4325194680132158,
      -1.4324087342669465,
      -1.3599707697042525,
      -1.221063902327502,
      -0.9896894067205853,
      -0.7478973852199471,
      -0.6163049152077167,
      -0.5588135774361849,
      -0.51855301037062,
      -0.5185556426852586
    ],
    "ay_ego": [
      -0.036903303214525285,
      -0.04097660248046853,
      0.07748665175724767,
      0.012826210471205468,
      0.004717495013014217,
      0.003259742130376997,
      0.013789908314263077,
      -0.009044931881719398,
      0.012002631029649408,
      0.011888226893798703
    ],
    "a_ego": [
      1.4329947243535164,
      1.4329947187464014,
      1.3621764480604286,
      1.2211312645421537,
      0.9897006499614628,
      0.747904489047626,
      0.6164591714627228,
      0.5588867730764183,
      0.5186919005691781,
      0.5186918974684297
    ],
    "yaw": [
      2.2260329236975913,
      2.223189367383033,
      2.220020556435302,
      2.2169841591016546,
      2.2163373696069164,
      2.216011172331319,
      2.2161207261456424,
      2.2155316403448957,
      2.2151251902967943,
      2.21490457493845
    ],
    "yaw_diff": [
      -0.005687112629116697,
      -0.006337621895461609,
      -0.006072794667295156,
      -0.0012935789894763516,
      -0.0006523945511949236,
      0.00021910762864685296,
      -0.0011781716014933608,
      -0.0008129000962027177,
      -0.00044123071668877856,
      -0.00044123071668877856
    ],
    "min_front_frame": [
      9,
      15.999282383588444
    ],
    "v_avg": 1.6315808115983117,
    "v_std": 1.3317780706764362,
    "vy_max": 0.043700849426953736,
    "a_max": 1.4329947243535164,
    "ax_avg": -0.939577681195223,
    "a_std": 0.37251216757559474,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "134221cd9f46577f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 30.411698532240326,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.055932459939992,
      19.192529753714002,
      17.714935715188847,
      18.43038860372971,
      17.613245721462373,
      16.962771782264305,
      16.50639834781595,
      16.187918041138953,
      16.02272561337503,
      15.999282383588444
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "134221cd9f46577f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0f3cdfd8866b5915": {
    "vx_ego": [
      0.6253791296143157,
      1.1056308222948026,
      1.50396171663078,
      1.7533370920190787,
      1.9171654524678823,
      2.080125180808503,
      2.2646245663845344,
      2.4361229211859925,
      2.620323291060054,
      2.847719024343407
    ],
    "vy_ego": [
      -0.00791108991111461,
      -0.007004025293108396,
      -0.018562077974885405,
      -0.02776635288346485,
      -0.02503937347663332,
      -0.010097942963024242,
      -0.008940634518156187,
      0.01733926321878365,
      0.022667859535259405,
      0.006902089424545954
    ],
    "v_ego": [
      0.6254291655341482,
      1.105653006860013,
      1.504076259978113,
      1.7535569362305772,
      1.9173289603926817,
      2.0801496908361408,
      2.264642214924452,
      2.4361846270709338,
      2.62042133664182,
      2.8477273887164465
    ],
    "ax_ego": [
      0.9598688748520869,
      0.9604243212794688,
      0.6333846463674224,
      0.3675086727873012,
      0.2984148788986455,
      0.3699981023606607,
      0.3847118226421917,
      0.3110754694817929,
      0.4038002073609408,
      0.4941003505099495
    ],
    "ay_ego": [
      -0.03896795940213249,
      -0.021257525736787297,
      0.013234910394025301,
      0.10988048243347674,
      0.29545877478737814,
      0.509118575459287,
      0.678312659023269,
      0.8424973526184834,
      0.7152072165375889,
      0.6560798834337837
    ],
    "a_ego": [
      0.9606595436312376,
      0.9606595439101089,
      0.633522906537027,
      0.3835835567300783,
      0.4199372900171547,
      0.6293650130315346,
      0.7798148817968883,
      0.8980922763739096,
      0.8213257393094316,
      0.8213257391684143
    ],
    "yaw": [
      1.9721308089137988,
      1.9536857802286365,
      1.9607843364370614,
      1.9848420905683257,
      2.038307563454822,
      2.1318228831298134,
      2.267846645627276,
      2.4175603826978183,
      2.5698887586840513,
      2.701400181297134
    ],
    "yaw_diff": [
      -0.03689005737032458,
      0.014197112416849844,
      0.04811550826252864,
      0.10693094577299256,
      0.18703063934998276,
      0.27204752499492546,
      0.2994274741410843,
      0.3046567519724661,
      0.2630228452261658,
      0.2630228452261658
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.9155169587185323,
    "v_std": 0.6558748039940869,
    "vy_max": 0.02776635288346485,
    "a_max": 0.9606595439101089,
    "ax_avg": 0.518328734654046,
    "a_std": 0.19733133741184333,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "0f3cdfd8866b5915",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "0f3cdfd8866b5915",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "ebfd1e0fff105c51": {
    "vx_ego": [
      4.871343629355626,
      4.86187131847014,
      4.955871799035425,
      5.001243472065137,
      4.916776812926333,
      4.866106422408777,
      4.854382799634622,
      4.937723936596884,
      5.122131965855813,
      5.342609257317352
    ],
    "vy_ego": [
      0.015842828608985116,
      -0.005095354993909229,
      -0.0013624986249534121,
      -0.025875217890922286,
      -0.024517022062759075,
      -0.011954529685149318,
      -0.01831443230987695,
      -0.015356025351230596,
      -0.002710050076869752,
      -0.031221355455383293
    ],
    "v_ego": [
      4.8713693917092735,
      4.861873988495083,
      4.955871986328654,
      5.001310407660681,
      4.916837938401148,
      4.866121106691441,
      4.854417347511368,
      4.937747814698156,
      5.1221326827810065,
      5.342700482846623
    ],
    "ax_ego": [
      -0.042540957853805794,
      0.003179905798813387,
      0.37562008106456163,
      -0.18883569630159303,
      -0.1421775413738019,
      -0.056078408574707805,
      0.012134360074912864,
      0.331735062832847,
      0.40953075347017026,
      0.47647962636978936
    ],
    "ay_ego": [
      0.645393766374019,
      0.6467864649645139,
      0.7025212557955052,
      0.7330976003140393,
      0.7192203416399338,
      0.6995972501536052,
      0.6611354794650808,
      0.8067359463901996,
      0.8266707992321534,
      0.789979253964278
    ],
    "a_ego": [
      0.6467942847378609,
      0.646794281871896,
      0.7966345210593384,
      0.7570277483579517,
      0.7331386997695335,
      0.701841221595567,
      0.661246826005199,
      0.8722792208408979,
      0.9225508378083956,
      0.9225508419807829
    ],
    "yaw": [
      -1.3238028417447185,
      -1.2530668993573104,
      -1.1844857381379887,
      -1.108584639382907,
      -1.035588944159185,
      -0.9655163410328187,
      -0.8941198034869713,
      -0.8191957065890694,
      -0.7404138346878715,
      -0.6576369265280821
    ],
    "yaw_diff": [
      0.1414718847748162,
      0.13716232243864335,
      0.15180219751016333,
      0.14599139044744414,
      0.14014520625273263,
      0.1427930750916948,
      0.14984819379580383,
      0.1575637438023958,
      0.16555381631957866,
      0.16555381631957866
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.973038314712344,
    "v_std": 0.14579898677863956,
    "vy_max": 0.031221355455383293,
    "a_max": 0.9225508419807829,
    "ax_avg": 0.11790471855071857,
    "a_std": 0.10291741949412546,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "ebfd1e0fff105c51",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ebfd1e0fff105c51",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "accb5d206fd05911": {
    "vx_ego": [
      3.174088997975184,
      3.4336151591930415,
      3.716524162975043,
      3.9973216491339505,
      4.309773240308944,
      4.640023343184144,
      4.957669921878168,
      5.235171360799608,
      5.447478949634049,
      5.627439315547663
    ],
    "vy_ego": [
      -0.0581950103265958,
      -0.01173442576635364,
      -0.036325442442794786,
      -0.037865190682295546,
      -0.050566104360576514,
      -0.0749116097926601,
      -0.04677808451483445,
      -0.026305244050705,
      0.008583254427841691,
      0.04468994769982393
    ],
    "v_ego": [
      3.174622438384448,
      3.4336352104130574,
      3.716701681833775,
      3.9975009867791615,
      4.310069873423546,
      4.640628015104796,
      4.957890604227402,
      5.235237448559616,
      5.44748571168045,
      5.62761676392387
    ],
    "ax_ego": [
      0.466571982072734,
      0.5850793715344091,
      0.5654831632057897,
      0.5894970199397849,
      0.6946425729954404,
      0.6636659979900494,
      0.6157432534382518,
      0.4883468392447192,
      0.35843386944654365,
      0.3603076671923875
    ],
    "ay_ego": [
      0.9640844061979065,
      0.8971233402548191,
      0.9791961163662275,
      1.1429566155122313,
      1.2538576755439663,
      1.263237363830961,
      0.9387871245722134,
      0.4631729270087037,
      0.1864396168795145,
      0.1827921065525709
    ],
    "a_ego": [
      1.0710500253159279,
      1.0710500262009535,
      1.1307503005420465,
      1.2860235462311962,
      1.433418073954087,
      1.4269622259424823,
      1.122702551621438,
      0.6730615096067503,
      0.4040229814114564,
      0.4040229810982869
    ],
    "yaw": [
      1.9880817585729829,
      2.1152546961074012,
      2.2530288669379255,
      2.390871639349138,
      2.5383921090745982,
      2.6840711362781944,
      2.7926823106325336,
      2.857212898937805,
      2.881012635470549,
      2.891162260250079
    ],
    "yaw_diff": [
      0.25434587506883677,
      0.27554834166104847,
      0.2756855448224247,
      0.2950409394509208,
      0.2913580544071923,
      0.2172223487086784,
      0.12906117661054317,
      0.04759947306548806,
      0.020299249559059263,
      0.020299249559059263
    ],
    "min_front_frame": [
      9,
      53.42416500424206
    ],
    "v_avg": 4.454138873433012,
    "v_std": 0.8193976429349435,
    "vy_max": 0.0749116097926601,
    "a_max": 1.433418073954087,
    "ax_avg": 0.538777173706011,
    "a_std": 0.36213505798379647,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "accb5d206fd05911",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      61.324089526837525,
      58.81201267134704,
      56.16475575397806,
      53.42416500424206
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "accb5d206fd05911",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d8faa48b75625ac0": {
    "vx_ego": [
      1.1849754068646419,
      2.2211379310348858,
      3.188226085060224,
      4.002334104747027,
      4.664677551253517,
      5.140571485154453,
      5.451517661706362,
      5.747590344033878,
      6.0951976337605265,
      6.555191695478844
    ],
    "vy_ego": [
      0.0024137587956316597,
      0.0236750479291441,
      0.04299436644425558,
      0.05007551828094492,
      0.029009191562085146,
      -0.03204833764239723,
      -0.07941443577930318,
      -0.08015698753547529,
      -0.10548792845673827,
      -0.12682096717231278
    ],
    "v_ego": [
      1.1849778652386496,
      2.221264103292623,
      3.1885159690684293,
      4.002647354383383,
      4.664767753100211,
      5.140671385133337,
      5.452096061929443,
      5.748149259151352,
      6.0961103908681,
      6.556418360826994
    ],
    "ax_ego": [
      2.072115799271534,
      2.072323633986949,
      1.795098032837239,
      1.4584179707929184,
      1.194798955383548,
      0.7362664682974882,
      0.5831350992495368,
      0.6673404012708223,
      0.7942222610682454,
      1.1078072978187317
    ],
    "ay_ego": [
      0.059211890549636714,
      0.051426523250479694,
      0.20282890138454712,
      0.43615256376845124,
      0.8504222664302863,
      1.2947688653195033,
      1.821557189285799,
      1.9643189807650883,
      2.040236534818188,
      1.8884165616012305
    ],
    "a_ego": [
      2.0729616334059755,
      2.072961632851536,
      1.8065205536425506,
      1.5222391521746925,
      1.4665478427334182,
      1.4894679341764998,
      1.9126204897510501,
      2.0745824325300495,
      2.1893729965410835,
      2.1893729968258615
    ],
    "yaw": [
      0.5951194073529954,
      0.5988764203305945,
      0.615027630699227,
      0.6569925717622682,
      0.7354392789068721,
      0.8557299896063684,
      1.010905852731368,
      1.1799789133125018,
      1.3533581934746368,
      1.5126604216532327
    ],
    "yaw_diff": [
      0.007514025955198234,
      0.03230242073726486,
      0.08392988212608254,
      0.15689341428920778,
      0.24058142139899252,
      0.31035172624999907,
      0.33814612116226783,
      0.34675856032427,
      0.3186044563571917,
      0.3186044563571917
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.425561850299252,
    "v_std": 1.666503682927752,
    "vy_max": 0.12682096717231278,
    "a_max": 2.1893729968258615,
    "ax_avg": 1.2481525919977012,
    "a_std": 0.2759831544709506,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "d8faa48b75625ac0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.566929149513472,
    "right_rear_min": 7.5546295375072035,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "d8faa48b75625ac0",
    "road_shape": "Straight"
  },
  "016d8cf09d875f57": {
    "vx_ego": [
      9.637027274990034,
      9.635286469100414,
      9.577879254945586,
      9.458062066450545,
      9.291960610229417,
      9.11167065203756,
      8.925217118049858,
      8.720268968626034,
      8.619266946866023,
      8.60757313621051
    ],
    "vy_ego": [
      0.009146035588487145,
      -0.02150144876499116,
      -0.009789460627083635,
      -0.0010066354865214677,
      -0.04647959971884319,
      -0.023909532763677355,
      0.016766617495869163,
      0.019595991959147074,
      0.001489514061301378,
      0.013815457053571567
    ],
    "v_ego": [
      9.637031615018643,
      9.635310459654558,
      9.577884257802262,
      9.458062120019394,
      9.292076858014308,
      9.111702021958331,
      8.92523286664233,
      8.720290986434055,
      8.619267075569088,
      8.607584223350152
    ],
    "ax_ego": [
      -0.006840084201248792,
      0.0003973689023150373,
      -0.23037084792835427,
      -0.24907536860547885,
      -0.4138466969847008,
      -0.3069339771121146,
      -0.44005690650056634,
      -0.37973421181472444,
      -0.024052340621967934,
      -0.022946585305985825
    ],
    "ay_ego": [
      0.34402992602743565,
      0.34409769148105973,
      0.16096072099555225,
      0.032313923551707174,
      0.14923403996816015,
      -0.2665685297887803,
      -0.14773153053672244,
      -0.0029289628061608397,
      0.1508045517022108,
      0.15097676207345623
    ],
    "a_ego": [
      0.34409791739317896,
      0.3440979209246099,
      0.28103217125204183,
      0.2511627538096776,
      0.4399316847993165,
      0.40653074592164856,
      0.46419250971291076,
      0.3797455074726624,
      0.15271060180452417,
      0.15271060363769734
    ],
    "yaw": [
      0.9808469632751926,
      1.0018813806010367,
      1.0137699294082603,
      1.0179227128119241,
      1.0275931087943748,
      1.0219443277434905,
      1.0059789978880949,
      1.0013852946046802,
      1.0077705959329297,
      1.0150987089883778
    ],
    "yaw_diff": [
      0.0420688346516882,
      0.02377709761444713,
      0.008305566807327747,
      0.01934079196490135,
      -0.011297562101768577,
      -0.03193065971079134,
      -0.00918740656682937,
      0.012770602656499097,
      0.014656226110896231,
      0.014656226110896231
    ],
    "min_front_frame": [
      0,
      17.97690364025741
    ],
    "v_avg": 9.158444248446312,
    "v_std": 0.3978335294997115,
    "vy_max": 0.04647959971884319,
    "a_max": 0.46419250971291076,
    "ax_avg": -0.20734596501728272,
    "a_std": 0.10468804264253811,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "016d8cf09d875f57",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 32.59045039119086,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.97690364025741,
      18.254478528851784,
      18.582444028306128,
      46.94310201798658,
      54.652374608172195,
      50.08210321816603,
      45.55347376726146,
      41.16887252392631,
      36.8632189866571,
      32.499677604198126
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "016d8cf09d875f57",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "228dbe4bb59c537b": {
    "vx_ego": [
      0.00616715672665238,
      0.8215844052628047,
      1.7425385983124762,
      2.808641495256611,
      3.899017763911889,
      4.9419756917583655,
      5.959314860860287,
      6.941113497973229,
      7.865262288553706,
      8.773753279142941
    ],
    "vy_ego": [
      -0.003245280528999306,
      -0.007946696706885772,
      -0.023075666538445158,
      -0.02648412003907607,
      0.0005531844165135302,
      0.007318144805527171,
      0.001672384629327589,
      0.007726657052865238,
      0.016274795904971467,
      0.009763196266137003
    ],
    "v_ego": [
      0.006968907217275583,
      0.8216228361965043,
      1.742691382028098,
      2.808766358651345,
      3.899017803154208,
      4.941981110159565,
      5.959315095524033,
      6.941117798523187,
      7.865279126434537,
      8.77375871125214
    ],
    "ax_ego": [
      1.6308253062551652,
      1.6308308441662227,
      2.0529600883765857,
      2.2114255659383724,
      2.149986909654073,
      2.021864106112656,
      2.047512364257919,
      1.8796889260434784,
      1.816978577045581,
      1.8169769087532543
    ],
    "ay_ego": [
      -0.01032569413790451,
      -0.009409758266748496,
      -0.054313304663648004,
      0.039075780208380435,
      0.04671656929717578,
      -0.026222595793670332,
      -0.022850087456241862,
      0.006188425173177865,
      -0.01017310625921683,
      -0.010468223514950227
    ],
    "a_ego": [
      1.6308579948854172,
      1.6308579907013832,
      2.053678421645094,
      2.211770772545099,
      2.150494396535543,
      2.022034146130299,
      2.0476398629363053,
      1.8796991129690437,
      1.81700705599443,
      1.817007064005556
    ],
    "yaw": [
      1.600350197705883,
      1.5997885603984074,
      1.5991363195215926,
      1.5989585858869984,
      1.5972958755672164,
      1.5969258849651464,
      1.595710192521401,
      1.594130933787911,
      1.5928430813616823,
      1.593005502969274
    ],
    "yaw_diff": [
      -0.0011232746149509865,
      -0.0013044817536296271,
      -0.00035546726918855853,
      -0.0033254206395638697,
      -0.0007399812041399834,
      -0.0024313848874908395,
      -0.0031585174669799265,
      -0.0025757048524575055,
      0.0003248432151834457,
      0.0003248432151834457
    ],
    "min_front_frame": [
      0,
      15.688788468048035
    ],
    "v_avg": 4.3760519129140905,
    "v_std": 2.8681436226089936,
    "vy_max": 0.02648412003907607,
    "a_max": 2.211770772545099,
    "ax_avg": 1.9259049596603308,
    "a_std": 0.1930034856372706,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "228dbe4bb59c537b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.66785594995712,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      15.688788468048035,
      17.69136252206777,
      19.887548306643684,
      22.100398953921907,
      24.32371775432712,
      26.656833293991035,
      28.78941167608081,
      30.73239927600189,
      32.79711722760869,
      34.699331518500884
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "228dbe4bb59c537b",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "3cc02c2389685e70": {
    "vx_ego": [
      12.124822906075675,
      7.200072049555583,
      4.735412394220638,
      4.696268409912225,
      4.634568891287445,
      4.519592029183465,
      4.407267575321502,
      4.316921736439046,
      4.244966574301445,
      4.206153312542178
    ],
    "vy_ego": [
      0.7025107406567361,
      -0.2575216399851761,
      0.012854624241149804,
      -0.005782715711508235,
      -0.02255422924972228,
      8.552976979103732e-05,
      0.01807186559683993,
      0.016718567968493137,
      0.0187241716435258,
      -0.02024279852309996
    ],
    "v_ego": [
      12.145157547122864,
      7.204675906232854,
      4.735429841598629,
      4.696271970163195,
      4.6346237712835325,
      4.519592029992757,
      4.40730462673122,
      4.3169541101400215,
      4.24500786943208,
      4.206202023144108
    ],
    "ax_ego": [
      -9.94586096840092,
      -9.771238473152115,
      -0.09569374700036137,
      -0.06229076848926951,
      -0.18066548214384928,
      -0.27110755974787415,
      -0.1874697941848798,
      -0.17878200080512718,
      -0.11144565235031559,
      -0.04317300492004433
    ],
    "ay_ego": [
      0.3360008888956534,
      1.8857215156482483,
      0.6967118256248424,
      0.6886308382186909,
      0.6757690151035358,
      0.8012549543963956,
      0.6308438730081024,
      0.6365610627487983,
      0.7171966550069512,
      0.7245186451415425
    ],
    "a_ego": [
      9.95153490674175,
      9.951534903409966,
      0.7032529140931233,
      0.6914423845735526,
      0.6995025219484718,
      0.8458775389482908,
      0.6581101092093815,
      0.661190585549858,
      0.7258038132863088,
      0.7258038133762887
    ],
    "yaw": [
      -1.0363318561082306,
      -0.8794587603465346,
      -0.8006411426180973,
      -0.7232182623363481,
      -0.6467907419944616,
      -0.5712845475512462,
      -0.49495955640752276,
      -0.42202609200922525,
      -0.34332322059597853,
      -0.24868361979802012
    ],
    "yaw_diff": [
      0.3137461915233921,
      0.15763523545687463,
      0.1548457605634983,
      0.15285504068377298,
      0.15101238888643076,
      0.15264998228744697,
      0.14586692879659502,
      0.15740574282649344,
      0.18927920159591682,
      0.18927920159591682
    ],
    "min_front_frame": [
      9,
      52.05275623586188
    ],
    "v_avg": 5.511121969584126,
    "v_std": 2.3631742017089294,
    "vy_max": 0.7025107406567361,
    "a_max": 9.95153490674175,
    "ax_avg": -2.0847727451194755,
    "a_std": 3.6953951667965663,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "3cc02c2389685e70",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      52.05275623586188
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "3cc02c2389685e70",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "55e7ff380d7e5491": {
    "vx_ego": [
      5.213036120947725,
      4.654522821445255,
      4.117555869439768,
      3.5791024013624257,
      3.1356495273364215,
      2.6746408543407467,
      2.097499187682958,
      1.5409869490929513,
      1.0080939942836482,
      0.4974937680720128
    ],
    "vy_ego": [
      0.0033832528731977674,
      -0.013045172871907068,
      -0.0020361215163657576,
      -0.007307268230769728,
      -0.0008723912181565763,
      0.0024175926407837695,
      0.0038581281675532375,
      0.018715843713624405,
      -0.008640564143488686,
      -0.04669877228954799
    ],
    "v_ego": [
      5.213037218810711,
      4.654541102180746,
      4.117556372868344,
      3.579109860790428,
      3.135649648693483,
      2.6746419469646354,
      2.097502735989545,
      1.5411006002466923,
      1.008131023557691,
      0.4996807226658246
    ],
    "ax_ego": [
      -1.1170669054315656,
      -1.1170097660438236,
      -1.0310125760152447,
      -1.1228602909371435,
      -0.6509353181900361,
      -1.1929890283358933,
      -1.1156041888775803,
      -1.110330503380839,
      -1.0212327309435818,
      -1.0212062982440033
    ],
    "ay_ego": [
      -0.04459737109076629,
      -0.04600617779238644,
      0.0569016829303641,
      -0.05279008993019725,
      0.08104441505052273,
      -0.0832745413448078,
      0.08552189282307529,
      -0.03401225352065752,
      -0.07645963021555255,
      -0.07681189635530797
    ],
    "a_ego": [
      1.1179567955510006,
      1.1179567906821544,
      1.0325815868113755,
      1.124100541125341,
      0.6559611159802424,
      1.1958919144161846,
      1.1188774286727055,
      1.1108513222423158,
      1.024090994884334,
      1.024090997419135
    ],
    "yaw": [
      -1.539099974144811,
      -1.5403611713043115,
      -1.5422547994108085,
      -1.54062284228314,
      -1.5404322322995783,
      -1.5417264270280238,
      -1.5420961870650562,
      -1.543185113679162,
      -1.5433921433984517,
      -1.543737091262996
    ],
    "yaw_diff": [
      -0.00252239431900092,
      -0.003787256212993917,
      0.003263914255336786,
      0.00038121996712359163,
      -0.0025883894568909938,
      -0.0007395200740649699,
      -0.0021778532282112906,
      -0.0004140594385795282,
      -0.0006898957290886187,
      -0.0006898957290886187
    ],
    "min_front_frame": [
      9,
      11.991302962983127
    ],
    "v_avg": 2.85209512327681,
    "v_std": 1.4928786926739908,
    "vy_max": 0.04669877228954799,
    "a_max": 1.1958919144161846,
    "ax_avg": -1.050024760639971,
    "a_std": 0.141887694137523,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "55e7ff380d7e5491",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.196026990495367,
    "right_rear_min": 4.405868023712519,
    "speed_mode": "decelerating",
    "front_frame": [
      18.864485843426834,
      17.935581089693088,
      16.998151919385005,
      16.099546780780617,
      15.274727120322382,
      14.355928804357767,
      13.662531439042159,
      12.931519100218994,
      12.337908473806781,
      11.991302962983127
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "55e7ff380d7e5491",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6fcec1c4552351ed": {
    "vx_ego": [
      4.432408765363888,
      4.48312869018532,
      4.5279986587046706,
      4.53623878804687,
      4.542899754215176,
      4.654571397469094,
      4.885145658421209,
      5.1738156877482595,
      5.5041980702485365,
      5.848578862656659
    ],
    "vy_ego": [
      -0.053171698016394486,
      0.002837734174023887,
      -0.010993905767325618,
      -0.028287692109658424,
      -0.02702627209488373,
      -0.03342583603059701,
      -0.01943354626574223,
      -0.02227278257427745,
      -0.0007539933809423971,
      0.09607327992970482
    ],
    "v_ego": [
      4.432727680869261,
      4.483129588300788,
      4.528012005195582,
      4.536326987299949,
      4.542980144820319,
      4.654691416265071,
      4.885184312460693,
      5.1738636286274104,
      5.504198121891483,
      5.849367896433828
    ],
    "ax_ego": [
      0.07813797958722407,
      0.13167233147676252,
      0.05804539947266324,
      -0.015203577852587524,
      0.058233854066415236,
      0.41018908302958146,
      0.5171038901988511,
      0.6313104972018004,
      0.6843365041495937,
      0.6901266341199371
    ],
    "ay_ego": [
      0.7523699859091746,
      0.7448681334955349,
      0.9264055602290878,
      0.9534665008983785,
      1.0320813964866138,
      1.1491685765686455,
      1.0273787322612322,
      0.7174034241729528,
      0.37623780881096847,
      0.36550864443913533
    ],
    "a_ego": [
      0.75641664415251,
      0.7564166439031127,
      0.928222241935255,
      0.9535877081395907,
      1.0337229758175968,
      1.2201817492527314,
      1.1501754182564858,
      0.9556257724089813,
      0.7809425969241054,
      0.7809425973024188
    ],
    "yaw": [
      0.0846297203696729,
      0.1561100751316014,
      0.2516458360682451,
      0.35883933514645416,
      0.4680205874888996,
      0.5890019878200496,
      0.7003438124623611,
      0.7878287180969767,
      0.8350580526980533,
      0.8506698875720389
    ],
    "yaw_diff": [
      0.14296070952385703,
      0.19107152187328735,
      0.21438699815641815,
      0.21836250468489082,
      0.24196280066230014,
      0.22268364928462292,
      0.17496981126923128,
      0.09445866920215318,
      0.031223669747971083,
      0.031223669747971083
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.8590481782164385,
    "v_std": 0.4663906104278135,
    "vy_max": 0.09607327992970482,
    "a_max": 1.2201817492527314,
    "ax_avg": 0.32439525954502413,
    "a_std": 0.1579017305075652,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "6fcec1c4552351ed",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "6fcec1c4552351ed",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "d34d0398de585e6c": {
    "vx_ego": [
      1.6786436111615957,
      2.213116684204595,
      2.7565191770388138,
      3.1716513496085015,
      3.3388082067669633,
      3.383343401532202,
      3.4770035693122168,
      3.655810433750035,
      3.998674376433809,
      4.5998049009740525
    ],
    "vy_ego": [
      -0.015597323121297968,
      -0.000912675302650337,
      -0.0007225988051194066,
      0.005585832812152081,
      0.020384571395354767,
      0.001807861722001869,
      -0.01617121019584622,
      0.021990242305383267,
      0.044686447537990226,
      0.03161181896446075
    ],
    "v_ego": [
      1.678716071818636,
      2.213116872395344,
      2.756519271750476,
      3.1716562684190155,
      3.3388704335935824,
      3.383343884540189,
      3.4770411744828524,
      3.6558765704372824,
      3.9989240612122003,
      4.599913524635344
    ],
    "ax_ego": [
      1.068941070925529,
      1.0689122996735048,
      1.1052190936229542,
      0.5638272975178441,
      0.13395892367016626,
      0.08802420794933213,
      0.30714839770127644,
      0.45584298789198907,
      0.9762421951843957,
      1.4315209626416248
    ],
    "ay_ego": [
      0.02424758885144062,
      0.025484473231534254,
      -0.10692345947525522,
      -0.4452548004300671,
      -0.8935192041871244,
      -1.3493033595106103,
      -1.6009409641629049,
      -1.9442723242281192,
      -2.1170521622415746,
      -1.8400289219450594
    ],
    "a_ego": [
      1.0692160486433624,
      1.0692160505572246,
      1.1103791564573342,
      0.7184379296308724,
      0.9035051529914268,
      1.3521715191393904,
      1.630138677826311,
      1.9969946670859462,
      2.3312997836636487,
      2.331299787688555
    ],
    "yaw": [
      3.090690984873829,
      3.0895338570685835,
      3.081248618494631,
      3.033644001279991,
      2.928122164610726,
      2.767447553159101,
      2.5567616871374366,
      2.297648602071947,
      2.023469010119055,
      1.7943679905545147
    ],
    "yaw_diff": [
      -0.002314255610491145,
      -0.01657047714790494,
      -0.09520923442928009,
      -0.2110436733385299,
      -0.3213492229032502,
      -0.4213717320433288,
      -0.5182261701309789,
      -0.5483591839057844,
      -0.4582020391290804,
      -0.4582020391290804
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.227397813328493,
    "v_std": 0.8008575396778446,
    "vy_max": 0.044686447537990226,
    "a_max": 2.331299787688555,
    "ax_avg": 0.7199637436778616,
    "a_std": 0.5598000493470566,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "d34d0398de585e6c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "d34d0398de585e6c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "77424ed925b45c77": {
    "vx_ego": [
      5.503737104949691,
      5.131547158860751,
      4.791339233802652,
      4.511078129928932,
      4.292084837372939,
      4.052849450403143,
      3.711032743987192,
      3.2575699646746297,
      2.7498238334349896,
      2.253403809074422
    ],
    "vy_ego": [
      0.06553800411373462,
      0.040997429825226694,
      0.06110096282651911,
      0.07434149037226123,
      0.05156802487918255,
      0.016007074579406533,
      -0.041666863241289986,
      -0.09506060156436313,
      -0.09138141617744511,
      0.02795234956963144
    ],
    "v_ego": [
      5.504127301433281,
      5.131710926471221,
      4.791728809212278,
      4.511690653348684,
      4.292394612846847,
      4.052881060933031,
      3.711266650947824,
      3.2589566724214127,
      2.751341795951513,
      2.2535771698784974
    ],
    "ax_ego": [
      -0.785430095905355,
      -0.7182558993563565,
      -0.6567097419602282,
      -0.4937666156287477,
      -0.4063983504047894,
      -0.5640748382711998,
      -0.8052781974404288,
      -0.9887827441194811,
      -1.008204196703459,
      -0.9659522673228189
    ],
    "ay_ego": [
      0.7895988915571841,
      0.8511611522552055,
      0.9302632651955796,
      0.8354046818326233,
      0.8646227574393629,
      0.8964942146985595,
      0.7592439296769042,
      0.5718174236909396,
      0.558762569090077,
      0.6289892933667847
    ],
    "a_ego": [
      1.1137175786985805,
      1.1137175782345439,
      1.1387086667615254,
      0.9704156084571878,
      0.9553701543871785,
      1.0591894543275377,
      1.106762991802732,
      1.142219979296893,
      1.1526887311267557,
      1.1526887324495463
    ],
    "yaw": [
      -3.0921400865772286,
      -3.0103039860418113,
      -2.924512067781621,
      -2.832115930307512,
      -2.730219455853277,
      -2.616834375220352,
      -2.4964285590674966,
      -2.3864361608872287,
      -2.2937035190061197,
      -2.2225874504664285
    ],
    "yaw_diff": [
      0.1636722010708347,
      0.17158383652038012,
      0.1847922749482187,
      0.20379294890847,
      0.2267701612658497,
      0.2408116323057108,
      0.21998479636053592,
      0.18546528376221794,
      0.14223213707938243,
      0.14223213707938243
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.025967565344458,
    "v_std": 0.9876755760932486,
    "vy_max": 0.09506060156436313,
    "a_max": 1.1526887324495463,
    "ax_avg": -0.7392852947112865,
    "a_std": 0.06909208991085003,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "77424ed925b45c77",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "77424ed925b45c77",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0e2f2cb6712550b7": {
    "vx_ego": [
      6.295042539679086,
      6.023351703181907,
      5.763794086987883,
      5.511641309255825,
      5.185896205567346,
      4.7262834569766685,
      4.174366057144562,
      3.669656059253658,
      3.316890934463067,
      3.0437039370067476
    ],
    "vy_ego": [
      -0.06048225586852185,
      -0.041626862456711766,
      -0.05032440719708786,
      -0.07779683008223115,
      -0.0830723236431079,
      -0.0559803351577135,
      -0.0352304035744857,
      -0.023960514218612117,
      -0.03711273447541208,
      0.011105313634763858
    ],
    "v_ego": [
      6.295333087267444,
      6.023495541286834,
      5.764013777148371,
      5.512190333131296,
      5.186561526278587,
      4.726614974124262,
      4.174514721542692,
      3.669734281860024,
      3.317098555391974,
      3.0437241964641446
    ],
    "ax_ego": [
      -0.5445840399671055,
      -0.5439588367493436,
      -0.4951332853153334,
      -0.5139560146084744,
      -0.7894757647415874,
      -1.049134074516879,
      -1.1585832117143433,
      -0.8603914029027719,
      -0.5509165441925848,
      -0.5435467458479276
    ],
    "ay_ego": [
      -0.06850545271310654,
      -0.07330455400292918,
      -0.071197979409959,
      -0.08167115754282125,
      0.03499728072320052,
      0.06251061087424453,
      0.015124504949519446,
      0.012051772752321666,
      -0.16194687035461344,
      -0.18518305144936734
    ],
    "a_ego": [
      0.5488759182532256,
      0.5488759183233196,
      0.5002260713909424,
      0.5204046146284741,
      0.7902510947618693,
      1.050994711111459,
      1.1586819275005074,
      0.8604758052470004,
      0.5742262859559412,
      0.574226285941327
    ],
    "yaw": [
      2.563878844333047,
      2.5550614235630973,
      2.550402709271883,
      2.5484976163585626,
      2.5473100392902355,
      2.5467657894767437,
      2.546465352393077,
      2.5453131972759033,
      2.5382728654327664,
      2.4958179178281714
    ],
    "yaw_diff": [
      -0.01763484153989925,
      -0.009317428582428455,
      -0.003810185826640833,
      -0.002375154136654345,
      -0.0010884996269835412,
      -0.0006008741673335649,
      -0.0023043102343471844,
      -0.014080663686273809,
      -0.08490989520919001,
      -0.08490989520919001
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.771328099449564,
    "v_std": 1.107624856666206,
    "vy_max": 0.0830723236431079,
    "a_max": 1.1586819275005074,
    "ax_avg": -0.7049679920556351,
    "a_std": 0.22701196675090318,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0e2f2cb6712550b7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0e2f2cb6712550b7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a9f07bb60bd75461": {
    "vx_ego": [
      4.83976234717606,
      4.37394151686006,
      3.916046188373853,
      3.540541965267618,
      3.2158414066470913,
      2.8373073929520505,
      2.445139138488961,
      2.0609081641629095,
      1.6696583227358137,
      1.2800506920098258
    ],
    "vy_ego": [
      0.03606305826958245,
      0.02026947713438032,
      -0.004837256537098877,
      -0.04451624158640155,
      -0.06137237008281349,
      -0.018547578468665282,
      0.005712911201760651,
      0.005883198722079319,
      0.00884847602576777,
      -0.004461424499754507
    ],
    "v_ego": [
      4.8398967056451605,
      4.373988482451158,
      3.9160491759588756,
      3.540821811894248,
      3.216426980442044,
      2.837368015391626,
      2.4451458124056606,
      2.060916561421286,
      1.6696817691431352,
      1.2800584667988415
    ],
    "ax_ego": [
      -0.931657564888531,
      -0.931668167944449,
      -0.8999171410043151,
      -0.6021941720764404,
      -0.6969780898852721,
      -0.8174292850939773,
      -0.7512436688779639,
      -0.7856960456108582,
      -0.7792192374654622,
      -0.7792075393670133
    ],
    "ay_ego": [
      -0.028288658732330607,
      -0.027937359728380573,
      -0.0712279263237306,
      -0.10447144877332354,
      0.01869121440369187,
      0.13755302392723123,
      -0.04052062904072684,
      0.028678962855368306,
      -0.02769491782514083,
      -0.028022149414594355
    ],
    "a_ego": [
      0.9320869414528355,
      0.9320869440291281,
      0.9027315648418189,
      0.6111890906189562,
      0.6972286707214551,
      0.8289218723865213,
      0.7523356773456115,
      0.7862192817522344,
      0.7797112468789954,
      0.779711248004163
    ],
    "yaw": [
      -0.6244887168803253,
      -0.6241116528607631,
      -0.6240354847048686,
      -0.625185787161106,
      -0.6265394371843309,
      -0.6277768420297649,
      -0.6277777490174982,
      -0.6291646535084314,
      -0.6306231156079409,
      -0.6310430686300227
    ],
    "yaw_diff": [
      0.0007541280391243355,
      0.0001523363117890142,
      -0.0023006049124747463,
      -0.002707300046449923,
      -0.002474809690867996,
      -1.8139754665025265e-06,
      -0.0027738089818665213,
      -0.002916924199019011,
      -0.0008399060441635076,
      -0.0008399060441635076
    ],
    "min_front_frame": [
      9,
      10.549468459286164
    ],
    "v_avg": 3.0180353781552034,
    "v_std": 1.1132125565704447,
    "vy_max": 0.06137237008281349,
    "a_max": 0.9320869440291281,
    "ax_avg": -0.7975210912214281,
    "a_std": 0.09786738193506306,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a9f07bb60bd75461",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 23.02767426690814,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.14226981876359,
      21.865984884104204,
      19.765373007331515,
      17.90057725935555,
      16.17500100024012,
      14.626536219198766,
      13.32198448679101,
      12.19032200474233,
      11.242743165905495,
      10.549468459286164
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a9f07bb60bd75461",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "312d2bf03023521a": {
    "vx_ego": [
      4.0081212135696145,
      4.2307060980391995,
      4.498414249309299,
      4.740647884496351,
      4.94547757502299,
      5.1384212847115425,
      5.323782080379094,
      5.5038400953499105,
      5.636546580753837,
      5.7314235489883565
    ],
    "vy_ego": [
      -0.035196370739959626,
      -0.006133672259915901,
      -0.03863508732336962,
      -0.05666228918008587,
      -0.06828455522947863,
      -0.042820510741021334,
      -0.03476923863055115,
      -0.006139887900897811,
      0.013657534410244754,
      0.009002445477912513
    ],
    "v_ego": [
      4.00827574490329,
      4.23071054433194,
      4.498580156934122,
      4.740986498588121,
      4.945948971182189,
      5.13859970179783,
      5.323895616869334,
      5.50384352006893,
      5.63656312705304,
      5.731430619131917
    ],
    "ax_ego": [
      0.37594283089358815,
      0.5213428004091868,
      0.5575965364232155,
      0.41561598485563456,
      0.40862603918511625,
      0.3643542904506887,
      0.3783866670801114,
      0.34394390081224424,
      0.1863254598787684,
      0.19209302903516365
    ],
    "ay_ego": [
      1.15061189809948,
      1.0924479107268623,
      1.0384405162182277,
      0.7428791083652835,
      0.4030844893028047,
      0.08477195840558019,
      0.10947119884449913,
      0.2784853905044509,
      0.2535988402264304,
      0.24925853421402563
    ],
    "a_ego": [
      1.2104712934011996,
      1.210471293831448,
      1.1786740869106886,
      0.8512379317870638,
      0.573979394592366,
      0.37408599800278847,
      0.39390406598618266,
      0.4425511491684994,
      0.3146896070149523,
      0.3146896068865777
    ],
    "yaw": [
      0.3855390407116309,
      0.51500222185788,
      0.6444586980932702,
      0.7442957376068655,
      0.8058198978982566,
      0.8249377672300813,
      0.8326843003128572,
      0.8453010261575291,
      0.8655553871784811,
      0.8884935638207822
    ],
    "yaw_diff": [
      0.2589263622924982,
      0.2589129524707803,
      0.1996740790271907,
      0.12304832058278214,
      0.03823573866364938,
      0.015493066165551905,
      0.025233451689343767,
      0.04050872204190403,
      0.045876353284602045,
      0.045876353284602045
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.975883450086071,
    "v_std": 0.5664908170138414,
    "vy_max": 0.06828455522947863,
    "a_max": 1.210471293831448,
    "ax_avg": 0.3744227539023718,
    "a_std": 0.3674695224778092,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "312d2bf03023521a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "312d2bf03023521a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6d593ca981fd56b8": {
    "vx_ego": [
      10.705442509576981,
      10.253306303197004,
      9.83014266753111,
      9.416354210099394,
      8.910544937419095,
      8.307096549288444,
      7.658336630190857,
      6.997436059691593,
      6.502055829933918,
      6.163652016631338
    ],
    "vy_ego": [
      0.013137028858592692,
      0.0377656930645065,
      0.034815990381823314,
      0.030538383225022614,
      0.03299320416131252,
      0.06330311372960185,
      0.07228566072413575,
      0.04236020221263545,
      0.013389941410242884,
      -0.019240905170546663
    ],
    "v_ego": [
      10.705450570031378,
      10.253375853578763,
      9.830204322250983,
      9.416403729816738,
      8.910606019417866,
      8.307337742225714,
      7.65867776826192,
      6.997564275960865,
      6.5020696171379635,
      6.163682048463835
    ],
    "ax_ego": [
      -0.9048562745464918,
      -0.904158380598049,
      -0.7895085403372546,
      -0.8660076647869822,
      -1.1575691960512076,
      -1.2564537136383422,
      -1.3392579079336582,
      -1.3050819615120137,
      -0.676749735862328,
      -0.6768337726343401
    ],
    "ay_ego": [
      0.14592033160184498,
      0.15018401100706244,
      0.04160950456422967,
      0.05295386105564479,
      0.05677541397541627,
      0.11247804371866521,
      -0.012123541609652004,
      -0.013655083710618347,
      -0.03408798647709033,
      -0.03237649522478671
    ],
    "a_ego": [
      0.9165465731543315,
      0.9165465696667332,
      0.7906042538056212,
      0.8676251419077843,
      1.158960694449436,
      1.2614781983190828,
      1.3393127805796523,
      1.3051533961857469,
      0.6776077005257489,
      0.6776076986143783
    ],
    "yaw": [
      -1.6306500847914556,
      -1.6259362784183475,
      -1.62086038566065,
      -1.6179621215883766,
      -1.6152471467296865,
      -1.613854825537679,
      -1.6118398200966355,
      -1.6086336459900004,
      -1.6060802113201855,
      -1.6035513844743803
    ],
    "yaw_diff": [
      0.009427612746216063,
      0.010151785515394973,
      0.0057965281445468975,
      0.0054299497173802,
      0.0027846423840149903,
      0.004030010882086987,
      0.0064123482132703025,
      0.005106869339629672,
      0.005057653691610486,
      0.005057653691610486
    ],
    "min_front_frame": [
      5,
      19.11017502549716
    ],
    "v_avg": 8.474537194714603,
    "v_std": 1.5219084902800164,
    "vy_max": 0.07228566072413575,
    "a_max": 1.3393127805796523,
    "ax_avg": -0.9876477147900667,
    "a_std": 0.24171865806472753,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6d593ca981fd56b8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      30.31388286875225,
      28.339972451473372,
      26.288896845046533,
      23.98058637974646,
      21.57197198176725,
      19.11017502549716,
      27.357963439795977,
      24.38100351673634,
      21.478885729447985,
      25.686386205710008
    ],
    "safe_frame": [
      1,
      1,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6d593ca981fd56b8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "76d34ae8c95156b2": {
    "vx_ego": [
      0.8465113805551931,
      1.2802359001960315,
      1.7352977474111104,
      2.1991429490563608,
      2.6635783426611557,
      3.1685750048633006,
      3.707227988482966,
      4.226115890094213,
      4.689484679407231,
      5.133269003682125
    ],
    "vy_ego": [
      0.028770440342026693,
      0.00866081927639839,
      4.0205337800580665e-05,
      -0.014534651640576435,
      -0.030508137804541535,
      0.0044472287584462755,
      0.024198212798041574,
      0.012638550511102853,
      -0.027075612613181033,
      -0.07015200566523294
    ],
    "v_ego": [
      0.8470001509131703,
      1.2802651951612531,
      1.7352977478768716,
      2.199190979993011,
      2.663753054238671,
      3.168578125798399,
      3.707306962215845,
      4.22613478836937,
      4.689562841800238,
      5.133748335092258
    ],
    "ax_ego": [
      0.867497977161158,
      0.8680729126907789,
      0.9533027656035156,
      0.905184947933501,
      0.9485243718888259,
      1.0628090699475221,
      1.091467365093433,
      0.9845937755388734,
      0.8780210334322514,
      0.9070249849022531
    ],
    "ay_ego": [
      -0.06457314165054434,
      -0.05631928440479711,
      -0.11808957164326628,
      -0.30904149714025,
      -0.35986630321415475,
      -0.15926470883266747,
      -0.007118044212240937,
      0.20632622096301861,
      0.5185174099642148,
      0.46592586020461824
    ],
    "a_ego": [
      0.8698979428653238,
      0.8698979500742148,
      0.9605890431595613,
      0.9564865063972738,
      1.01449605236103,
      1.074675935639331,
      1.0914905751390658,
      1.0059798269780433,
      1.0196966409601613,
      1.0196966364779017
    ],
    "yaw": [
      -2.075491326295602,
      -2.085002653532043,
      -2.108367628153794,
      -2.155088436652936,
      -2.21741656325218,
      -2.274172508495471,
      -2.2920348674107536,
      -2.276617779692167,
      -2.227216277688057,
      -2.1683087331158033
    ],
    "yaw_diff": [
      -0.01902265447288176,
      -0.04672994924350249,
      -0.0934416169982839,
      -0.12465625319848783,
      -0.11351189048658217,
      -0.035724717830564856,
      0.030834175437172817,
      0.09880300400822062,
      0.11781508914450711,
      0.11781508914450711
    ],
    "min_front_frame": [
      0,
      16.499019529688415
    ],
    "v_avg": 2.9650838181459087,
    "v_std": 1.3919104292166242,
    "vy_max": 0.07015200566523294,
    "a_max": 1.0914905751390658,
    "ax_avg": 0.9466499204192113,
    "a_std": 0.07134247791029097,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "76d34ae8c95156b2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      16.499019529688415,
      18.39996317417586,
      20.465832786677314,
      22.563619863344073,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 12,
    "token": "76d34ae8c95156b2",
    "smoothness": "No"
  },
  "14f29b916f44585a": {
    "vx_ego": [
      4.224325381277276,
      4.265955600189629,
      4.30294653268447,
      4.332629823525234,
      4.35467819065795,
      4.394886462314365,
      4.423710170524801,
      4.328338639776802,
      4.189008716920267,
      4.087072787306417
    ],
    "vy_ego": [
      0.0036291988620984483,
      0.028996370780826064,
      0.021799456924748606,
      0.024429266550863,
      0.02755171643937722,
      0.021936539559060324,
      0.0041208822082884206,
      -0.022297057216878385,
      -0.030345707348311796,
      -0.0518696546784565
    ],
    "v_ego": [
      4.224326940234122,
      4.266054145496481,
      4.3030017522031665,
      4.332698694435664,
      4.354765348588917,
      4.394941208753753,
      4.423712089916651,
      4.328396070063993,
      4.189118629543505,
      4.087401916843646
    ],
    "ax_ego": [
      0.06331904257738917,
      0.10788745110662197,
      0.04269443568960832,
      0.07463222844778676,
      0.014936022015139362,
      0.14651375638687994,
      -0.029757625780659824,
      -0.35280821012083624,
      -0.2056384712752595,
      -0.20400973493679395
    ],
    "ay_ego": [
      -0.5931269201185582,
      -0.5866593070326784,
      -0.4708733455738651,
      -0.2163976982798062,
      -0.13867014827827678,
      -0.061626325229533103,
      -0.2126151336421376,
      -0.10707641174044004,
      -0.1384060683873467,
      -0.14079576911947952
    ],
    "a_ego": [
      0.5964971454434997,
      0.5964971455374671,
      0.472804951762118,
      0.22890594868609396,
      0.13947220073246136,
      0.15894679855816596,
      0.2146874736582594,
      0.368699052181961,
      0.24787783409346756,
      0.24787783392414642
    ],
    "yaw": [
      -1.3767343805755292,
      -1.4522518340427828,
      -1.51214778154107,
      -1.552581729803177,
      -1.57369952933953,
      -1.5839003409856174,
      -1.595351559193262,
      -1.6074664542844526,
      -1.6200414018710072,
      -1.6317083580272522
    ],
    "yaw_diff": [
      -0.15103490693450716,
      -0.11979189499657439,
      -0.080867896524214,
      -0.04223559907270591,
      -0.020401623292174875,
      -0.02290243641528944,
      -0.024229790182380917,
      -0.025149895173109282,
      -0.023333912312490046,
      -0.023333912312490046
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.29044167960799,
    "v_std": 0.09626009092433259,
    "vy_max": 0.0518696546784565,
    "a_max": 0.5964971455374671,
    "ax_avg": -0.0342231105890124,
    "a_std": 0.1632239378608575,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "14f29b916f44585a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.992724981145193,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "14f29b916f44585a",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "0a2a71c0b34c5f10": {
    "vx_ego": [
      6.338580700926348,
      6.549336152007095,
      6.710652339258262,
      6.854295065104907,
      6.992169971153765,
      7.104852958501016,
      7.203350088196932,
      7.293915981942547,
      7.373087714997361,
      7.424007685219054
    ],
    "vy_ego": [
      -0.05619624339392226,
      -0.05201972919750375,
      -0.035330856921931275,
      -0.02517228041794839,
      -0.02256041286709376,
      -0.02520155516703282,
      -0.023156443499107393,
      -0.0404319601387626,
      -0.07735044433885907,
      -0.09592783691029005
    ],
    "v_ego": [
      6.33882980682772,
      6.54954273855915,
      6.71074534517912,
      6.854341287331914,
      6.992206366929768,
      7.104897654456641,
      7.203387308343365,
      7.294028043203397,
      7.373493442343624,
      7.424627415573516
    ],
    "ax_ego": [
      0.4205170426546705,
      0.42104201618932113,
      0.22270390398396872,
      0.3504818623343967,
      0.19974424441742072,
      0.24935120585872278,
      0.14231222445621544,
      0.2184142696124708,
      0.094008873821902,
      0.10201096371127656
    ],
    "ay_ego": [
      -0.0795963066527397,
      -0.07677092983718237,
      -0.15804557163939859,
      -0.22169160298696705,
      -0.27245736107324625,
      -0.2991814845684688,
      -0.2559352842358159,
      -0.3419442555751484,
      -0.36423926672789664,
      -0.3620796529613559
    ],
    "a_ego": [
      0.4279838258576917,
      0.4279838257047036,
      0.27308502625469055,
      0.41471038407582467,
      0.33783246851195875,
      0.38946833577556994,
      0.2928406374575498,
      0.4057470481607864,
      0.3761753737071821,
      0.37617537373666465
    ],
    "yaw": [
      -0.5528468311065667,
      -0.5595614307923134,
      -0.570890448023837,
      -0.5864214810200516,
      -0.6045926535069135,
      -0.6245099704066748,
      -0.6441570076093847,
      -0.6624176096622678,
      -0.681416411990055,
      -0.7034501663332081
    ],
    "yaw_diff": [
      -0.013429199371493228,
      -0.022658034463047372,
      -0.031062065992429222,
      -0.036342344973723684,
      -0.03983463379952257,
      -0.039294074405419765,
      -0.036521204105766314,
      -0.037997604655574335,
      -0.04406750868630627,
      -0.04406750868630627
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.9846099408748215,
    "v_std": 0.34659239532621255,
    "vy_max": 0.09592783691029005,
    "a_max": 0.4279838258576917,
    "ax_avg": 0.24205866070403656,
    "a_std": 0.05175792104479884,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0a2a71c0b34c5f10",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0a2a71c0b34c5f10",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6d72d039fb9a551b": {
    "vx_ego": [
      2.509102007282181,
      2.71048091881238,
      2.904001391684952,
      3.087796131379589,
      3.2760334240553606,
      3.476768099595584,
      3.7123465277340872,
      3.9880791804990414,
      4.255947237277813,
      4.525465527335891
    ],
    "vy_ego": [
      0.002918990652272635,
      -0.010372359607393022,
      -0.021240973908494443,
      -0.031252540153570374,
      -0.047228269545608104,
      -0.03586074526968708,
      -0.03322013037540361,
      -0.008081427290897336,
      0.00427290058633556,
      0.06253116430990802
    ],
    "v_ego": [
      2.509103705201102,
      2.7105007650044723,
      2.904079072938738,
      3.087954285644269,
      3.276373834740499,
      3.4769530355494864,
      3.7124951608105152,
      3.98808736857619,
      4.255949382238007,
      4.525897522659507
    ],
    "ax_ego": [
      0.40249963641251507,
      0.4029078615672832,
      0.3711379633299981,
      0.36280487781379545,
      0.3844183216779678,
      0.4119697845159272,
      0.5203439966179705,
      0.5751845811384302,
      0.5031116543024474,
      0.5859196715515843
    ],
    "ay_ego": [
      -0.06266685219214824,
      -0.05998622688435329,
      -0.1823607578298556,
      -0.32952389931714404,
      -0.435831106768787,
      -0.6055536139060186,
      -0.6568241952532299,
      -0.6616461335846888,
      -0.8238114355022985,
      -0.7671276003305756
    ],
    "a_ego": [
      0.4073488574623469,
      0.4073488582634572,
      0.41352005250171153,
      0.4901156798008592,
      0.5811421510000899,
      0.7324030875608997,
      0.8379593655341621,
      0.8767057137186681,
      0.9652909499002377,
      0.9652909492479786
    ],
    "yaw": [
      -2.291913832197068,
      -2.2985703774108455,
      -2.316255571147063,
      -2.3556104988411244,
      -2.410755773580852,
      -2.491268784486053,
      -2.5800777604219034,
      -2.6723160453834676,
      -2.765136454539864,
      -2.869142148691861
    ],
    "yaw_diff": [
      -0.013313090427555352,
      -0.03537038747243493,
      -0.07870985538812292,
      -0.11029054947945482,
      -0.16102602181040204,
      -0.17761795187170115,
      -0.18447656992312833,
      -0.1856408183127929,
      -0.20801138830399424,
      -0.20801138830399424
    ],
    "min_front_frame": [
      3,
      77.25682957367026
    ],
    "v_avg": 3.4447394133362783,
    "v_std": 0.6369771659443145,
    "vy_max": 0.06253116430990802,
    "a_max": 0.9652909499002377,
    "ax_avg": 0.45202983489279197,
    "a_std": 0.22207660987938962,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "6d72d039fb9a551b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      79.25526638515036,
      78.50737185274114,
      77.25682957367026,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6d72d039fb9a551b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "bed7a2c445315bb7": {
    "vx_ego": [
      6.522436689126414,
      6.563646709774221,
      6.579941038149962,
      6.562420375553204,
      6.53575658850593,
      6.49845680265218,
      6.471145080070428,
      6.442136139131927,
      6.373345369413229,
      6.289345120194026
    ],
    "vy_ego": [
      -0.032824945690332896,
      -0.034355512378014375,
      -0.03291512699013088,
      -0.02400692705248675,
      -0.008418120568529197,
      -0.00432574184088419,
      -0.026814719908236695,
      -0.047519454640694736,
      -0.026226161176275298,
      0.050150563830013595
    ],
    "v_ego": [
      6.522519286343423,
      6.563736621160291,
      6.580023364024992,
      6.562464286990243,
      6.535762009815885,
      6.498458242381717,
      6.471200636398432,
      6.442311396826372,
      6.373399329192475,
      6.289545064625968
    ],
    "ax_ego": [
      0.08086827617312281,
      0.08248775882170226,
      -0.01872546493241295,
      -0.053294686037186005,
      -0.0546400518254268,
      -0.0935163825111836,
      -0.014362745208790884,
      -0.10631245185530543,
      -0.1796379014503841,
      -0.15366453476829156
    ],
    "ay_ego": [
      -0.14756301903700336,
      -0.1466638753702349,
      -0.2101967111725869,
      -0.21828215930847936,
      -0.21185190702907133,
      -0.35595680735289076,
      -0.5657040985281087,
      -0.6513927051081829,
      -0.497721730770833,
      -0.5063436657398478
    ],
    "a_ego": [
      0.1682691970579508,
      0.1682691971040544,
      0.21102914591285002,
      0.22469406897418231,
      0.21878474758387434,
      0.3680360885821402,
      0.5658863980883732,
      0.66001120724397,
      0.5291471410855505,
      0.5291471412380702
    ],
    "yaw": [
      0.40457727306210134,
      0.393568989560679,
      0.3798010724753,
      0.3621560455683651,
      0.34335716445646725,
      0.32096538107312883,
      0.28885551578319973,
      0.24502153738922464,
      0.19694346977771837,
      0.1452185996463776
    ],
    "yaw_diff": [
      -0.02201656700284471,
      -0.027535834170758,
      -0.03529005381386974,
      -0.03759776222379574,
      -0.04478356676667683,
      -0.06421973057985819,
      -0.0876679567879502,
      -0.09615613522301253,
      -0.10344974026268156,
      -0.10344974026268156
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.483942023775979,
    "v_std": 0.08834823223139175,
    "vy_max": 0.050150563830013595,
    "a_max": 0.66001120724397,
    "ax_avg": -0.05107981835941563,
    "a_std": 0.17984935792948142,
    "ini_direction_judge": "right",
    "scenario_type": "side_to_main_ego",
    "scene_token": "bed7a2c445315bb7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "bed7a2c445315bb7",
    "merging_vehicles": "No"
  },
  "2b156c54c8ce5645": {
    "vx_ego": [
      6.808554769478802,
      6.763819906348746,
      6.680580620179951,
      6.564566093706203,
      6.461352297292963,
      6.333901382656572,
      6.181656428377547,
      6.056927930421693,
      5.93804334716538,
      5.802074668363196
    ],
    "vy_ego": [
      -0.041582136072384035,
      0.018034027953288012,
      0.01894252540791941,
      -0.0018268606106286445,
      0.0040088608393231695,
      0.0048143403222103975,
      -0.0019276523381621669,
      -0.003239440479849698,
      0.007804695345210222,
      0.03784550354814009
    ],
    "v_ego": [
      6.808681746346562,
      6.763843947910373,
      6.680607475521427,
      6.564566347905763,
      6.461353540915269,
      6.33390321232426,
      6.181656728931572,
      6.056928796700275,
      5.938048476232277,
      5.8021980954980075
    ],
    "ax_ego": [
      -0.09345366563886731,
      -0.08444037181894601,
      -0.2519731803206149,
      -0.21292717745561543,
      -0.19917774883574002,
      -0.3123125840450272,
      -0.2969079812207115,
      -0.20168111601262553,
      -0.27441091414031044,
      -0.270814077978967
    ],
    "ay_ego": [
      0.4134242192094791,
      0.4153588766689853,
      0.3020331593392315,
      0.3059738456325229,
      0.37420096885536,
      0.2757099032351464,
      0.26607211950962706,
      0.27448736664574797,
      0.23564752850164933,
      0.2397724813193852
    ],
    "a_ego": [
      0.4238551316786298,
      0.4238551318795647,
      0.3933376576700008,
      0.3727706763016239,
      0.4239081748722986,
      0.4165994489852525,
      0.39868373693054454,
      0.3406150128872998,
      0.3617058300446047,
      0.36170583024006253
    ],
    "yaw": [
      -1.8410072114144227,
      -1.819257399682393,
      -1.7927965741897314,
      -1.766690598058871,
      -1.741472779760266,
      -1.7162591949394204,
      -1.6935314597266156,
      -1.6711903269713608,
      -1.6517972616601604,
      -1.6366663570822446
    ],
    "yaw_diff": [
      0.04349962346405922,
      0.05292165098532342,
      0.05221195226172082,
      0.05043563659720984,
      0.05042716964169136,
      0.0454554704256096,
      0.04468226551050947,
      0.03878613062240088,
      0.030261809155831543,
      0.030261809155831543
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.359178836828578,
    "v_std": 0.33657586915858345,
    "vy_max": 0.041582136072384035,
    "a_max": 0.4239081748722986,
    "ax_avg": -0.2198098817467425,
    "a_std": 0.02923012848533559,
    "ini_direction_judge": "left",
    "scenario_type": "side_to_main_ego",
    "scene_token": "2b156c54c8ce5645",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "2b156c54c8ce5645",
    "merging_vehicles": "No"
  },
  "2113dcf1e88b598e": {
    "vx_ego": [
      4.875377932438229,
      4.9921385182578994,
      5.173280861176423,
      5.383873132029135,
      5.627709144541883,
      5.885414909311073,
      6.002208327273605,
      5.989102090365342,
      5.940812876512945,
      5.8940863420546465
    ],
    "vy_ego": [
      0.013364991270087945,
      0.016038616313858056,
      0.003918988420580777,
      -0.008182702211165904,
      -0.04562882407356539,
      -0.07171258015605408,
      -0.04769087664371119,
      -0.025711467597184123,
      -0.03427555903629664,
      0.03498352828352247
    ],
    "v_ego": [
      4.875396251290485,
      4.992164282421747,
      5.173282345579498,
      5.38387935028272,
      5.627894118153492,
      5.885851794676255,
      6.0023977895260865,
      5.989157280317867,
      5.940911752221982,
      5.894190161069313
    ],
    "ax_ego": [
      0.17525780373709682,
      0.28434166251581994,
      0.4452605035220748,
      0.3987242463742905,
      0.5884141185091265,
      0.442442613630258,
      0.022678178062324944,
      -0.0750083462364541,
      -0.11474904833711053,
      -0.0718576129968076
    ],
    "ay_ego": [
      1.0507993867691996,
      1.0266666769382133,
      1.1962363498893795,
      1.2070409989844466,
      1.1945336083629714,
      0.7259364480403333,
      0.11635186225321843,
      -0.20330946306933098,
      -0.6431533524511484,
      -0.6493458756210948
    ],
    "a_ego": [
      1.0653143428140244,
      1.0653143416746131,
      1.2764162020255767,
      1.271191959491609,
      1.3315936754015967,
      0.8501406900915808,
      0.11854136666167821,
      0.21670484484355082,
      0.6533097112881635,
      0.6533097142487055
    ],
    "yaw": [
      -0.23301431974365283,
      -0.12809441293386767,
      -0.016046897708793913,
      0.09981033699912174,
      0.21602930728213504,
      0.3036300519281442,
      0.33473855016136755,
      0.32746165477763,
      0.2934525115928277,
      0.22710709437104654
    ],
    "yaw_diff": [
      0.20983981361957033,
      0.2240950304501475,
      0.23171446941583132,
      0.2324379405660266,
      0.1752014892920183,
      0.06221699646644674,
      -0.014553790767475094,
      -0.06801828636960461,
      -0.13269083444356233,
      -0.13269083444356233
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.576512512553945,
    "v_std": 0.4142969583802116,
    "vy_max": 0.07171258015605408,
    "a_max": 1.3315936754015967,
    "ax_avg": 0.20955041187806192,
    "a_std": 0.4119896540732592,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "2113dcf1e88b598e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "2113dcf1e88b598e",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5a35f8abb51c5303": {
    "vx_ego": [
      0.7997334374864553,
      0.5583102006524087,
      0.3009443439765611,
      0.08974090532515015,
      0.005723255480387206,
      -0.0037077022393984514,
      -0.0025588600598130543,
      -0.0010892349173503236,
      -0.0005660313598156101,
      -0.00023745456688197057
    ],
    "vy_ego": [
      -0.014616391486811486,
      -0.012041910985501114,
      -0.005275308187833588,
      0.0011806088946753196,
      0.0023534145173070876,
      0.0019619981020698304,
      0.0011786094504455781,
      0.0007927505338390007,
      0.00043830560762453397,
      0.00036400066313868227
    ],
    "v_ego": [
      0.7998669951523177,
      0.5584400485036111,
      0.30099057634410975,
      0.08974867088675882,
      0.006188231830180082,
      0.004194817331966424,
      0.0028172477779538838,
      0.0013471770908374248,
      0.0007158933621495737,
      0.00043460459511894794
    ],
    "ax_ego": [
      -0.4828827834470337,
      -0.48288740505917294,
      -0.5466196963085745,
      -0.29819424128331967,
      -0.03787494536679009,
      0.00015218035236982431,
      0.004442828714897894,
      0.0014356988506588593,
      0.0006571859780285334,
      0.0006571883627177039
    ],
    "ay_ego": [
      0.003520375996240721,
      0.0028160773125710525,
      0.022531655979016657,
      0.003384591864448949,
      0.0012961447152541848,
      -0.0028603341086525114,
      -0.0002743177515609214,
      -0.001269091256208723,
      -0.00014858989301536865,
      -0.0001485641090324609
    ],
    "a_ego": [
      0.4828956156321051,
      0.4828956163149673,
      0.5470838764884549,
      0.29821344871857064,
      0.03789711700987577,
      0.0028643795266633854,
      0.004451289388339373,
      0.001916200356530758,
      0.0006737747145920799,
      0.0006737713548260904
    ],
    "yaw": [
      -2.1053070056278544,
      -2.1067655256837954,
      -2.1077474198805577,
      -2.1076065496238017,
      -2.107779188576558,
      -2.107877265334875,
      -2.1078020468491463,
      -2.1078060922776887,
      -2.107838588470052,
      -2.1078789508976925
    ],
    "yaw_diff": [
      -0.0029170401118818745,
      -0.0019637883935246236,
      0.000281740513512041,
      -0.0003452779055130861,
      -0.00019615351663393454,
      0.00015043697145777912,
      -8.090857084752656e-06,
      -6.499238472645885e-05,
      -8.07248552812112e-05,
      -8.07248552812112e-05
    ],
    "min_front_frame": [
      2,
      10.85306481389176
    ],
    "v_avg": 0.17647442628750037,
    "v_std": 0.2718320733848082,
    "vy_max": 0.014616391486811486,
    "a_max": 0.5470838764884549,
    "ax_avg": -0.1841113989206218,
    "a_std": 0.22589354537958736,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5a35f8abb51c5303",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.297257938470574,
      11.024513147104525,
      10.85306481389176,
      10.916777719458201,
      10.886012035972326,
      10.87641991923505,
      10.903122105163536,
      10.976487883328963,
      10.94063370445645,
      11.03134141889763
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5a35f8abb51c5303",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9630074ccab7581e": {
    "vx_ego": [
      6.7449569566746685,
      7.105211954503332,
      7.4281039418475565,
      7.66307326705393,
      7.761949936095615,
      7.77178753818913,
      7.755684023522787,
      7.723512471730931,
      7.6876242266573165,
      7.639238040991167
    ],
    "vy_ego": [
      0.007402649683548201,
      -0.03676296942667845,
      0.00991421474302534,
      0.010246803449037056,
      0.015000927372194273,
      0.032603684341243167,
      0.006132058546846952,
      -0.026312868393205235,
      -0.03459772000232997,
      -0.03298906518726463
    ],
    "v_ego": [
      6.744961018910068,
      7.105307061228116,
      7.4281105580453755,
      7.663080117891076,
      7.761964431654962,
      7.771855926288423,
      7.755686447689117,
      7.7235572936326635,
      7.687702078808587,
      7.639309270172827
    ],
    "ax_ego": [
      0.7181549302107305,
      0.7240708950287222,
      0.5673633884232563,
      0.3724528356644621,
      0.023084443436066644,
      0.017403546944245035,
      -0.08167002746660382,
      -0.04704635651380522,
      -0.09730987328827825,
      -0.09692515708441886
    ],
    "ay_ego": [
      0.25414338573900663,
      0.2367629460487239,
      0.055710788243447856,
      -0.032477898812833084,
      0.01559804636744383,
      -0.146002394903327,
      -0.07255212107104214,
      -0.12622285975447345,
      -0.07494842562274831,
      -0.0754452962060448
    ],
    "a_ego": [
      0.7617974562184261,
      0.7617974492273952,
      0.5700920157744932,
      0.3738661909103248,
      0.027860197042266017,
      0.1470359913890051,
      0.10924195008467662,
      0.13470549352502864,
      0.12282702448040254,
      0.12282702795173833
    ],
    "yaw": [
      0.8749493347508079,
      0.8990504052260166,
      0.9026793277160265,
      0.9034026659118815,
      0.9022456425173502,
      0.895782410090666,
      0.8921601704476769,
      0.8899302795681823,
      0.8844830968068385,
      0.8793669488700002
    ],
    "yaw_diff": [
      0.048202140950417416,
      0.007257844980019801,
      0.0014466763917098113,
      -0.0023140467890625516,
      -0.012926464853368458,
      -0.007244479285978045,
      -0.004459781758989312,
      -0.010894365522687632,
      -0.010232295873676467,
      -0.010232295873676467
    ],
    "min_front_frame": [
      4,
      18.922821362050378
    ],
    "v_avg": 7.528153420432122,
    "v_std": 0.32591824421182386,
    "vy_max": 0.03676296942667845,
    "a_max": 0.7617974562184261,
    "ax_avg": 0.20995786253543763,
    "a_std": 0.26965263536270156,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9630074ccab7581e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      33.38278045107531,
      29.98365586789287,
      26.457076100288543,
      22.69970957337198,
      18.922821362050378,
      20.67589806412546,
      26.332144046701288,
      22.455689254394887,
      25.653752403409857,
      21.902698047721422
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9630074ccab7581e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5a1f551705995574": {
    "vx_ego": [
      4.201746811000705,
      3.588540202915327,
      2.936644124213572,
      2.2284248696272133,
      1.5674299942454526,
      1.0394204768715762,
      0.6440428971682335,
      0.40496566279586343,
      0.33608147973543306,
      0.3457635707494567
    ],
    "vy_ego": [
      -0.034491097795350534,
      0.003994014492354925,
      0.005248143188378407,
      -0.022438452456117974,
      -0.01766739940436879,
      -0.009935143245012268,
      -0.012632869308094374,
      -0.00588912045726378,
      0.00790395942642555,
      0.02983660220386973
    ],
    "v_ego": [
      4.201888373051064,
      3.5885424255665894,
      2.9366488137475724,
      2.2285378353803393,
      1.567529560761778,
      1.0394679575683101,
      0.644166781804066,
      0.4050084811253378,
      0.33617440948973626,
      0.34704851201018927
    ],
    "ax_ego": [
      -1.2264148877375225,
      -1.2265554946110888,
      -1.3808951831461993,
      -1.4519420342358793,
      -1.1919284368508447,
      -0.9201123663883459,
      -0.6614223848798644,
      -0.2949078425543947,
      0.019372059300149548,
      0.019366273335508243
    ],
    "ay_ego": [
      0.05960805121448676,
      0.05664104565159561,
      -0.0727173009679184,
      -0.030590843290497882,
      0.056254350619176774,
      -0.026329312838067165,
      0.014329175135463224,
      0.011500781212858718,
      0.04377389963295745,
      0.04377646122180215
    ],
    "a_ego": [
      1.2278626130939196,
      1.2278626101535786,
      1.3828084873533406,
      1.4522642564196941,
      1.1932551908696158,
      0.9204890002033086,
      0.6615775816034203,
      0.2951320104099074,
      0.04786889355943735,
      0.04786889491109613
    ],
    "yaw": [
      -2.0432046345540087,
      -2.0456237475132464,
      -2.047230504895678,
      -2.046512920804804,
      -2.0456311797814672,
      -2.045828901817481,
      -2.0462024024988468,
      -2.046800411772873,
      -2.0467231578746485,
      -2.0468553042039797
    ],
    "yaw_diff": [
      -0.004838225918475381,
      -0.0032135147648633122,
      0.0014351681817483808,
      0.0017634820466732037,
      -0.0003954440720272956,
      -0.0007470013627317584,
      -0.00119601854805218,
      0.0001545077964486552,
      -0.00026429265866223517,
      -0.00026429265866223517
    ],
    "min_front_frame": [
      6,
      11.505043076185247
    ],
    "v_avg": 1.729501315050498,
    "v_std": 1.362428822566027,
    "vy_max": 0.034491097795350534,
    "a_max": 1.4522642564196941,
    "ax_avg": -0.831544029776848,
    "a_std": 0.5181684451806243,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5a1f551705995574",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 2.9004737253060178,
    "right_rear_min": 3.0733513064314955,
    "speed_mode": "decelerating",
    "front_frame": [
      15.23763505527917,
      14.11393463918922,
      13.054975751992153,
      12.19404264451116,
      11.740291520850837,
      11.513392957798958,
      11.505043076185247,
      11.639724124653586,
      11.754074736918426,
      11.824066894794894
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5a1f551705995574",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f9d9a2a2e2d25a8c": {
    "vx_ego": [
      7.708437319768803,
      7.553801923165025,
      7.406292060764759,
      7.252880073373538,
      7.052235142906623,
      6.753499506218371,
      6.600172571703601,
      6.501375405664216,
      6.27316900717921,
      6.071451569992614
    ],
    "vy_ego": [
      -0.015387281695594446,
      0.003746502839606869,
      -0.011085883809090369,
      -0.020465093480578567,
      0.0025599914488765307,
      0.016444359835799283,
      0.0142131710554243,
      0.04830936920831297,
      0.06185116968811366,
      0.05908668856158217
    ],
    "v_ego": [
      7.708452677499061,
      7.5538028522523115,
      7.406300357544712,
      7.252908945987817,
      7.052235607550517,
      6.753519526695854,
      6.600187875394152,
      6.501554887911726,
      6.27347391481192,
      6.071739075712242
    ],
    "ax_ego": [
      -0.30931742119940236,
      -0.30929327802775164,
      -0.27994737345017634,
      -0.33522064436380333,
      -0.4680129944675978,
      -0.7261079135117477,
      0.11340058872820385,
      -0.5067983449772586,
      -0.4029046982427283,
      -0.4009227630890499
    ],
    "ay_ego": [
      -0.007500872943081827,
      -0.008437914032698335,
      -0.2630211027842476,
      -0.15436753317320162,
      -0.1250353593627368,
      -0.17663421527473575,
      -0.15256583819827796,
      -0.12944881622128235,
      -0.15670086936519081,
      -0.16170434707423817
    ],
    "a_ego": [
      0.30940835501381786,
      0.3094083551334309,
      0.38412319952261964,
      0.36905584361402954,
      0.4844275013678481,
      0.7472833117834932,
      0.19009478822168263,
      0.5230693629842793,
      0.4323047054172213,
      0.43230470483868677
    ],
    "yaw": [
      1.2019977067332448,
      1.1989682072611998,
      1.1918749142057745,
      1.1789305012797582,
      1.1659757683829106,
      1.1530992197182701,
      1.1409158533651964,
      1.1251353803148012,
      1.111788322175356,
      1.099339350727041
    ],
    "yaw_diff": [
      -0.0060589989440900105,
      -0.014186586110850552,
      -0.02588882585203267,
      -0.02590946579369513,
      -0.025753097329280994,
      -0.02436673270614742,
      -0.03156094610079041,
      -0.026694116278890512,
      -0.024897942896629832,
      -0.024897942896629832
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.917417572136031,
    "v_std": 0.5320464340809136,
    "vy_max": 0.06185116968811366,
    "a_max": 0.7472833117834932,
    "ax_avg": -0.36251248426013116,
    "a_std": 0.14260328109865128,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f9d9a2a2e2d25a8c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f9d9a2a2e2d25a8c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8d0a07b3cb955714": {
    "vx_ego": [
      4.711178740513692,
      4.240791780629334,
      3.7668672854911796,
      3.266427583807255,
      2.7081673623505575,
      2.109913126165905,
      1.5179772151595994,
      0.9955389838281488,
      0.5709382709223789,
      0.18614593632966647
    ],
    "vy_ego": [
      -0.027027248901216883,
      0.004662479479409454,
      0.0001481646035532691,
      -0.014083090700108158,
      0.02681609051904288,
      0.020857268006004848,
      -0.004251835300237539,
      -0.009165440569708638,
      -0.020718130923034372,
      -0.050995485027807194
    ],
    "v_ego": [
      4.711256265291811,
      4.240794343677634,
      3.766867288405106,
      3.266457943047877,
      2.7083001246559624,
      2.1100162145338732,
      1.5179831698168176,
      0.9955811737987114,
      0.571314055623332,
      0.19300479036870963
    ],
    "ax_ego": [
      -0.9407793608191566,
      -0.9407469160710684,
      -0.95497592732174,
      -1.0462455551745777,
      -1.1868053488705819,
      -1.2068463192358863,
      -1.1609173100896013,
      -0.9288249054792583,
      -0.7696181647455281,
      -0.7695982122743746
    ],
    "ay_ego": [
      0.06744475505101316,
      0.06789567616633868,
      -0.08121760771224629,
      0.09086044723753389,
      0.07642244289548017,
      -0.06318388098703287,
      -0.027990982207740434,
      0.009489309733918483,
      -0.060676878474142104,
      -0.060929436251755176
    ],
    "a_ego": [
      0.9431938298818499,
      0.9431938204522494,
      0.9584233519517966,
      1.0501834994870016,
      1.1892633543021227,
      1.2084991688328919,
      1.161254707611827,
      0.9288733778280974,
      0.772006349123918,
      0.772006350063178
    ],
    "yaw": [
      -2.116992595943256,
      -2.116513287053882,
      -2.116217743870136,
      -2.1115007177445406,
      -2.1111940350246634,
      -2.10735066935401,
      -2.106070179857298,
      -2.105835452402783,
      -2.107465403698555,
      -2.1077935675169384
    ],
    "yaw_diff": [
      0.00095861777874795,
      0.0005910863674918332,
      0.00943405225119065,
      0.0006133654397544319,
      0.007686731341307151,
      0.0025609789934240013,
      0.0004694549090293876,
      -0.0032599025915436286,
      -0.000656327636766818,
      -0.000656327636766818
    ],
    "min_front_frame": [
      9,
      9.989472982640095
    ],
    "v_avg": 2.4081575369219834,
    "v_std": 1.4997748186301156,
    "vy_max": 0.050995485027807194,
    "a_max": 1.2084991688328919,
    "ax_avg": -0.9905358020081774,
    "a_std": 0.14982766710540726,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8d0a07b3cb955714",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.669424618696908,
      18.450072073831855,
      16.47040292753647,
      14.718765670279174,
      13.253036363678444,
      12.030301352759134,
      11.149681373457614,
      10.540732449231994,
      10.177103532837116,
      9.989472982640095
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8d0a07b3cb955714",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f2d7208949535747": {
    "vx_ego": [
      3.2815622047008044,
      3.0924954546335695,
      2.958645743396437,
      2.8724391426164884,
      2.792715273637133,
      2.7125218283513814,
      2.657707674461595,
      2.6261056768113478,
      2.6350449142164662,
      2.6891061008665567
    ],
    "vy_ego": [
      -0.029757117356291385,
      -0.027691804206143145,
      -0.023476579251047847,
      -0.016366849420587082,
      0.013785044833367066,
      0.02431050756359865,
      0.02090055998710752,
      0.004133983149137044,
      0.009580646203364684,
      0.010196660781401023
    ],
    "v_ego": [
      3.2816971202952536,
      3.0926194355189387,
      2.958738884168589,
      2.872485770512241,
      2.7927492954196915,
      2.7126307655227833,
      2.657789855556649,
      2.626108930641961,
      2.6350623310881542,
      2.6891254328515113
    ],
    "ax_ego": [
      -0.43449777845415216,
      -0.33324011068351994,
      -0.2079206800542459,
      -0.15917596140460594,
      -0.1625377059956027,
      -0.1491315200316562,
      -0.061961993322962455,
      -0.07455234589871967,
      0.10557836640925358,
      0.11197655220827822
    ],
    "ay_ego": [
      -0.775420204070578,
      -0.8240241744785178,
      -0.9512811518478459,
      -0.8231373562096025,
      -0.7967676421056851,
      -0.769002819855145,
      -0.7075373653979182,
      -0.4024718506420399,
      -0.18581613586247048,
      -0.1820320835517936
    ],
    "a_ego": [
      0.8888559007862018,
      0.8888559002973246,
      0.9737385886649376,
      0.8383866016801644,
      0.81317721400502,
      0.7833297819003927,
      0.7102453182181365,
      0.40931851025604843,
      0.21371576404305484,
      0.21371576377670512
    ],
    "yaw": [
      -2.207264025418291,
      -2.3337113296737106,
      -2.482293057835321,
      -2.636898334180449,
      -2.790190298700733,
      -2.9360512590466605,
      -3.0725983158880306,
      3.1120333397096074,
      3.0535702380911562,
      3.0187866439553446
    ],
    "yaw_diff": [
      -0.25289460851083945,
      -0.2971634563232204,
      -0.30921055269025643,
      -0.30658392904056786,
      -0.2917219206918551,
      -0.27309411368274006,
      -0.19710730316389657,
      -0.11692620323690228,
      -0.06956718827162334,
      -0.06956718827162334
    ],
    "min_front_frame": [
      7,
      32.82753353168088
    ],
    "v_avg": 2.831900782157577,
    "v_std": 0.20870535697411258,
    "vy_max": 0.029757117356291385,
    "a_max": 0.9737385886649376,
    "ax_avg": -0.1365463177227933,
    "a_std": 0.2712202654869698,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "f2d7208949535747",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      32.82753353168088,
      34.306426453197034,
      35.90352210426549
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f2d7208949535747",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "45c4158a235e514a": {
    "vx_ego": [
      3.5523576292114916,
      2.8115601554337792,
      2.0478127947769615,
      1.2289701388460712,
      0.453974954766703,
      0.022035906308444833,
      -0.05422880997579145,
      -0.03663125101917341,
      -0.020082082362323058,
      -0.009830091835341014
    ],
    "vy_ego": [
      -0.006218091275295823,
      -0.023971520517684586,
      -0.015599274132449659,
      0.0021184275943686437,
      0.004359773043319026,
      -0.009305754372476929,
      -0.018723826644852924,
      -0.007236985892204595,
      -0.0037272594530328544,
      -0.0017553952826344977
    ],
    "v_ego": [
      3.5523630713197374,
      2.8116623448449043,
      2.0478722078796054,
      1.2289719646561528,
      0.453995888942201,
      0.023920247307990614,
      0.057370249394760375,
      0.03733928917418838,
      0.020425045778096795,
      0.009985595530038933
    ],
    "ax_ego": [
      -1.481603474439893,
      -1.4815970340054465,
      -1.5734152190168769,
      -1.701927794199899,
      -1.398054042234659,
      -0.3297186141460432,
      0.024695805623219623,
      0.04569193555836388,
      0.020504051549562606,
      0.02050413501639132
    ],
    "ay_ego": [
      -0.03649586475322297,
      -0.03675645083057688,
      0.06855619408592312,
      -0.011615037136630924,
      0.019137639087369596,
      -0.07361135500905279,
      0.035860410113544766,
      0.010099146470846115,
      0.003943340772705694,
      0.003942938342011975
    ],
    "a_ego": [
      1.4820529017604087,
      1.482052903189153,
      1.5749080618186806,
      1.7019674279368036,
      1.3981850214612186,
      0.337835753141458,
      0.04354138064980794,
      0.04679471908783384,
      0.020879800439582843,
      0.02087980640569526
    ],
    "yaw": [
      1.2242950905988637,
      1.2241192086886281,
      1.2239462133368428,
      1.2218413454075296,
      1.2213924350153058,
      1.2218433018585944,
      1.2221688600831728,
      1.2221054006548295,
      1.2220698370995549,
      1.222089561194878
    ],
    "yaw_diff": [
      -0.0003517638204710849,
      -0.0003459907035705534,
      -0.0042097358586263844,
      -0.0008978207844476671,
      0.0009017336865770886,
      0.000651116449156941,
      -0.00012691885668658642,
      -7.112711054935161e-05,
      3.944819064649607e-05,
      3.944819064649607e-05
    ],
    "min_front_frame": [
      4,
      36.37750094880582
    ],
    "v_avg": 1.0243905904827675,
    "v_std": 1.2628146059880514,
    "vy_max": 0.023971520517684586,
    "a_max": 1.7019674279368036,
    "ax_avg": -0.785492025029528,
    "a_std": 0.7258274827254877,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "45c4158a235e514a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.171212735866934,
    "right_rear_min": 5.81565197519206,
    "speed_mode": "decelerating",
    "front_frame": [
      40.302446029805765,
      38.7459281430961,
      37.591183637668124,
      36.75072708811952,
      36.37750094880582,
      36.38240019555226,
      36.415535052748055,
      36.414692121909155,
      36.39822071898908,
      36.38848307129305
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "45c4158a235e514a",
    "pedestrians": "No"
  },
  "e63c18e2bcfa5526": {
    "vx_ego": [
      5.879213136661897,
      5.95542591112043,
      5.960418064085349,
      5.856616777048585,
      5.799915085442474,
      5.829486119162405,
      5.768252285290499,
      5.5475500846725625,
      5.2230464582689535,
      4.861359595245238
    ],
    "vy_ego": [
      0.037818979815099296,
      0.04685104445421187,
      0.02392025002530726,
      0.008362981782141066,
      -0.0004951208702370924,
      -0.0003114574304470541,
      0.006946165050236208,
      0.00872158522227362,
      0.009598486675925638,
      0.013077883929312278
    ],
    "v_ego": [
      5.879334773725007,
      5.955610195707158,
      5.960466062065635,
      5.85662274802392,
      5.799915106575945,
      5.829486127482669,
      5.768256467596423,
      5.547556940491854,
      5.223055277917545,
      4.861377186079169
    ],
    "ax_ego": [
      0.15279053116915964,
      0.15325745531805332,
      -0.13327400036092701,
      -0.28184605192116235,
      0.05503863304852044,
      0.06322881456720215,
      -0.3081303180735168,
      -0.5746326099987571,
      -0.7233482576514193,
      -0.7233407041246024
    ],
    "ay_ego": [
      -0.06639291416891889,
      -0.06530786817453288,
      -0.029295135250227748,
      -0.05842763170829551,
      -0.026340166380737058,
      -0.006320530210010546,
      -0.012701376247136253,
      -0.013238376304903097,
      -0.005454480529805605,
      -0.006377999028112031
    ],
    "a_ego": [
      0.16659221310372035,
      0.16659221247125353,
      0.1364557222015021,
      0.2878384705535151,
      0.061016845975636905,
      0.0635439382924075,
      0.30839198737103724,
      0.5747850825144768,
      0.7233688223895153,
      0.7233688223272262
    ],
    "yaw": [
      -3.1052714356372135,
      -3.112362062246598,
      -3.112482180907395,
      -3.1135574855581503,
      -3.1156890989242623,
      -3.1171251678249137,
      -3.1191803440559602,
      -3.120631767469,
      -3.1216588279488624,
      -3.122935554857779
    ],
    "yaw_diff": [
      -0.014181253218769285,
      -0.00024023732159328404,
      -0.0021506093015108974,
      -0.0042632267322240125,
      -0.0028721378013027987,
      -0.004110352462093125,
      -0.0029028468260792195,
      -0.0020541209597251253,
      -0.002553453817832896,
      -0.002553453817832896
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.668168088566532,
    "v_std": 0.3413429494646406,
    "vy_max": 0.04685104445421187,
    "a_max": 0.7233688223895153,
    "ax_avg": -0.23202565080274495,
    "a_std": 0.24598403560752086,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e63c18e2bcfa5526",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 30.080420728762512,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e63c18e2bcfa5526",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "af064082155f5dc0": {
    "vx_ego": [
      6.987794689395898,
      6.688270638314265,
      6.272728602763466,
      5.709023397280337,
      5.0220831780421715,
      4.195159993556481,
      3.24597531489348,
      2.369266823381929,
      1.8490886790128118,
      1.5405432118978037
    ],
    "vy_ego": [
      0.033856968517860686,
      -0.017935199245596944,
      -0.041990268936833886,
      0.019564437963238035,
      0.07456551859508709,
      0.03835157746224471,
      0.04227263551474225,
      0.057129015096199165,
      0.03605073445044826,
      0.007707460327039173
    ],
    "v_ego": [
      6.987876710093469,
      6.68829468569595,
      6.272869144706615,
      5.709056920186304,
      5.022636704335434,
      4.195335292325353,
      3.2462505634364067,
      2.3699554858149043,
      1.8494400769713417,
      1.5405624922959453
    ],
    "ax_ego": [
      -0.5990502738139272,
      -0.5992098014119992,
      -1.0625937562725256,
      -1.1924383825775324,
      -1.5542071647324263,
      -1.7535521886640573,
      -2.0431657683451165,
      -1.463839008817815,
      -0.6171002295826452,
      -0.6171314751734182
    ],
    "ay_ego": [
      -0.03104130762598234,
      -0.027792140462012227,
      0.002265253793713673,
      0.2097859009421893,
      -0.06401847031517471,
      -0.07550512757329786,
      0.08728502508675029,
      -0.020463045716426875,
      -0.05492849011479112,
      -0.054576360588498685
    ],
    "a_ego": [
      0.5998539766773844,
      0.5998539732132043,
      1.0625961708213076,
      1.2107515932173072,
      1.5555250803015366,
      1.7551770003786984,
      2.0450293475991206,
      1.4639820285702676,
      0.6195400167682827,
      0.6195400203254064
    ],
    "yaw": [
      -0.711840993455356,
      -0.7064178531090513,
      -0.703714855676333,
      -0.7051368238586688,
      -0.7085668692732909,
      -0.7082791746459096,
      -0.7085389936457918,
      -0.7078629497191797,
      -0.7067496066851413,
      -0.7061790087037371
    ],
    "yaw_diff": [
      0.010846280692609511,
      0.005405994865436581,
      -0.0028439363646717286,
      -0.006860090829244214,
      0.0005753892547626371,
      -0.0005196379997642886,
      0.0013520878532240488,
      0.002226686068076855,
      0.0011411959628084833,
      0.0011411959628084833
    ],
    "min_front_frame": [
      8,
      9.500686377429716
    ],
    "v_avg": 4.388227807586173,
    "v_std": 1.9420814304526408,
    "vy_max": 0.07456551859508709,
    "a_max": 2.0450293475991206,
    "ax_avg": -1.1502288049391463,
    "a_std": 0.5108500435267294,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "af064082155f5dc0",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 46.839897293941696,
    "speed_mode": "decelerating",
    "front_frame": [
      25.55104628503391,
      22.19597541511859,
      18.966951031157034,
      16.04827736447875,
      13.931361672789308,
      11.76760584761981,
      10.177250301773894,
      9.520463825401013,
      9.500686377429716,
      9.643147624928554
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "af064082155f5dc0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1f57ce2072e25edb": {
    "vx_ego": [
      7.7730901439669005,
      8.137409667255916,
      8.463012288149228,
      8.738490577596163,
      8.953605349062837,
      9.091486914886264,
      9.172706184540473,
      9.193987853467148,
      9.154559564162073,
      9.085280591758629
    ],
    "vy_ego": [
      -0.0023601891765512306,
      0.09410038587122749,
      0.10173324407008,
      0.09178998529394189,
      0.1050971681113575,
      0.10398803169333704,
      0.1214262140991158,
      0.11177831674909822,
      0.11242091003147081,
      0.16237467943910033
    ],
    "v_ego": [
      7.773090502285968,
      8.137953733916847,
      8.463623729958336,
      8.738972649925001,
      8.954222141621887,
      9.092081600727285,
      9.173509855741013,
      9.194667315449575,
      9.155249820447478,
      9.08673147878317
    ],
    "ax_ego": [
      0.725941334948875,
      0.7370149143588047,
      0.5763588579983132,
      0.5322626662148466,
      0.33377572306225084,
      0.22188237844323144,
      0.10454524652025268,
      -0.019069531987750438,
      -0.1380663357877001,
      -0.13817883492807526
    ],
    "ay_ego": [
      -0.3463092488431694,
      -0.32207131941467293,
      -0.4490422918891927,
      -0.31375471035724145,
      -0.21111545328334713,
      -0.1692781651237858,
      0.06820377278903926,
      -0.1295149364875719,
      0.07112543296971528,
      0.07090666535806986
    ],
    "a_ego": [
      0.8043139422027167,
      0.8043139429208128,
      0.7306356910925025,
      0.617855617533331,
      0.3949379291999712,
      0.2790822227432286,
      0.12482573129222715,
      0.13091128990125955,
      0.15530982033654994,
      0.15530983746782293
    ],
    "yaw": [
      -0.5994015717150654,
      -0.6325340905834709,
      -0.6566199695676119,
      -0.677622039400858,
      -0.6939137567630771,
      -0.7043146947462549,
      -0.7089837449950349,
      -0.709601205018739,
      -0.7112596788646177,
      -0.7128436529725064
    ],
    "yaw_diff": [
      -0.06626503773681103,
      -0.0481717579682821,
      -0.04200413966649208,
      -0.032583434724438254,
      -0.02080187596635552,
      -0.00933810049756012,
      -0.0012349200474082167,
      -0.003316947691757388,
      -0.003167948215777372,
      -0.003167948215777372
    ],
    "min_front_frame": [
      6,
      18.858831682911077
    ],
    "v_avg": 8.777010282885657,
    "v_std": 0.4708738520057282,
    "vy_max": 0.16237467943910033,
    "a_max": 0.8043139429208128,
    "ax_avg": 0.29364664188430495,
    "a_std": 0.2761055949778252,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1f57ce2072e25edb",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 22.1736593031748,
    "speed_mode": "accelerating",
    "front_frame": [
      28.439924626842284,
      24.491737173883426,
      20.45509169719128,
      32.20590448711694,
      27.832125198125397,
      23.350945807589103,
      18.858831682911077,
      20.480797836825523,
      26.959762718639396,
      22.4659138661936
    ],
    "safe_frame": [
      1,
      1,
      0,
      1,
      1,
      0,
      0,
      0,
      1,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1f57ce2072e25edb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "55dab3d9ebd95046": {
    "vx_ego": [
      2.6126617124206954,
      2.8887796047812735,
      3.1530832976546836,
      3.3589079749734188,
      3.5021251832283617,
      3.576237434171829,
      3.6298802121811633,
      3.7164911832360055,
      3.822973395640126,
      3.9685882139309374
    ],
    "vy_ego": [
      -0.0329714501924363,
      0.0013021959517878212,
      -0.004011510071633806,
      -0.0030832402156519834,
      -0.028109470212729137,
      -0.05036721340942818,
      -0.04126467896799291,
      -0.026972568279944653,
      -0.017036502253702013,
      -0.036839462460125594
    ],
    "v_ego": [
      2.612869751839313,
      2.888779898281374,
      3.153085849475398,
      3.358909390071465,
      3.5022379903881355,
      3.5765920988782796,
      3.630114754179914,
      3.716589059138847,
      3.823011355748402,
      3.9687591962407973
    ],
    "ax_ego": [
      0.5217998375908547,
      0.5862524338644557,
      0.4798545994514166,
      0.35134960110479546,
      0.22836501100783962,
      0.10109545402109066,
      0.14633230661784336,
      0.22203846123589815,
      0.21677157244508877,
      0.3783085690400534
    ],
    "ay_ego": [
      0.6582024832574112,
      0.6015094878463848,
      0.7481243869980276,
      0.8495698915117427,
      0.8307927602049084,
      1.0047249193864958,
      1.0962142281634195,
      1.1208174548772378,
      1.1212060035226168,
      1.0774857046948312
    ],
    "a_ego": [
      0.8399437954268517,
      0.8399437958466138,
      0.8887916150796282,
      0.9193560478725166,
      0.8616073285792671,
      1.0097982246270445,
      1.105937962992509,
      1.1425991621848384,
      1.141968833618271,
      1.1419688337388416
    ],
    "yaw": [
      -3.05074933531106,
      -2.9485093883658138,
      -2.8356773477203303,
      -2.7140402145018654,
      -2.585046091969326,
      -2.4499145515316023,
      -2.3066863851969743,
      -2.1595705507128704,
      -2.0138045964803615,
      -1.8671289288043231
    ],
    "yaw_diff": [
      0.20447989389049237,
      0.22566408129096693,
      0.24327426643692984,
      0.25798824506507856,
      0.2702630808754476,
      0.28645633266925596,
      0.29423166896820785,
      0.29153190846501786,
      0.2933513353520767,
      0.2933513353520767
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.423094934424193,
    "v_std": 0.40441139139332316,
    "vy_max": 0.05036721340942818,
    "a_max": 1.1425991621848384,
    "ax_avg": 0.32321678463793363,
    "a_std": 0.12651273235858704,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "55dab3d9ebd95046",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "55dab3d9ebd95046",
    "pedestrians": "No"
  },
  "4e50c7903a8c5303": {
    "vx_ego": [
      3.7286668264831064,
      3.6460713420286095,
      3.5014700904536182,
      3.3324530397953147,
      3.2016036452457928,
      3.067426021074873,
      3.0123077827479543,
      3.110760712447654,
      3.2981010202200896,
      3.5132786731380214
    ],
    "vy_ego": [
      -0.007303571137550202,
      -0.01237779705909936,
      -0.012905510521337149,
      -0.0012813029039264734,
      0.0008885222150527561,
      0.003958901430737738,
      0.01535438253692778,
      0.024623694188300016,
      0.004725917594838869,
      -0.06283053639318492
    ],
    "v_ego": [
      3.7286739794552917,
      3.6460923522344224,
      3.501493873554984,
      3.332453286120927,
      3.2016037685389604,
      3.0674285758054363,
      3.012346914793677,
      3.1108581671981312,
      3.2981044061511926,
      3.5138404504800604
    ],
    "ax_ego": [
      -0.18058752663364297,
      -0.14671390276223967,
      -0.4216482335185521,
      -0.24851530573116765,
      -0.2766194168492925,
      -0.2618866100817946,
      0.037043114920362,
      0.3500882197620693,
      0.3935459905185713,
      0.4780974915938947
    ],
    "ay_ego": [
      0.4888681916198193,
      0.5000789778553199,
      0.6504463400355588,
      0.7152750587114821,
      0.6809475128270284,
      0.6666384010392402,
      0.6620760288038974,
      0.7000899445814822,
      0.7197403642411098,
      0.6665789041757821
    ],
    "a_ego": [
      0.5211563714983144,
      0.5211563617155118,
      0.7751565481210677,
      0.757217450140559,
      0.7349883107936878,
      0.7162341476642179,
      0.663111499130985,
      0.782743695037065,
      0.8203076487337959,
      0.8203076538473604
    ],
    "yaw": [
      0.18735278223723817,
      0.25583043212393203,
      0.33565167818908226,
      0.4327109239071696,
      0.5386753925589692,
      0.6451374187034304,
      0.7518746195103871,
      0.8613706306038434,
      0.978415791577254,
      1.1002447126025925
    ],
    "yaw_diff": [
      0.13695529977338772,
      0.15964249213030046,
      0.19411849143617466,
      0.2119289373035993,
      0.21292405228892242,
      0.2134744016139134,
      0.2189920221869126,
      0.2340903219468211,
      0.24365784205067698,
      0.24365784205067698
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.341289577433308,
    "v_std": 0.2358320481509588,
    "vy_max": 0.06283053639318492,
    "a_max": 0.8203076538473604,
    "ax_avg": -0.027719617878179215,
    "a_std": 0.1050106595846805,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "4e50c7903a8c5303",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "4e50c7903a8c5303",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "b1b2eb47b045566c": {
    "vx_ego": [
      1.993737702300097,
      2.5232443576862127,
      3.0537195828787764,
      3.580784538012182,
      4.139542768781134,
      4.758229895158328,
      5.425358922960515,
      6.114598267636675,
      6.746545707150436,
      7.323566526753551
    ],
    "vy_ego": [
      0.12466915958870807,
      0.01819874112300196,
      0.029044734325363364,
      0.0664577726014659,
      0.12096156632180177,
      0.09227135395002195,
      0.07421612557121682,
      0.06819572941023244,
      0.07129500135090794,
      -0.03255355276794303
    ],
    "v_ego": [
      1.9976317040248999,
      2.5233099854702297,
      3.0538577058287046,
      3.5814011983030136,
      4.141309700456512,
      4.759124471784512,
      5.425866518468924,
      6.114978547149223,
      6.746922406244762,
      7.323638877332967
    ],
    "ax_ego": [
      1.0269720670359122,
      1.1176744727113683,
      1.0492722487128925,
      1.108634623134523,
      1.1925507917256981,
      1.3124401826655308,
      1.3808409504620733,
      1.376069910523428,
      1.1525805694742155,
      1.1537971858046554
    ],
    "ay_ego": [
      -0.8182756475451407,
      -0.6892390360292606,
      -1.0619382793411813,
      -1.2204554681635649,
      -1.2333117960207194,
      -0.9093648229180844,
      -0.8428700546538784,
      -0.27125227780727684,
      0.07429215775969078,
      0.05208965422826206
    ],
    "a_ego": [
      1.313105731400725,
      1.313105736693424,
      1.49287814675181,
      1.6488123839245543,
      1.7155860156370597,
      1.596697721622966,
      1.6177613110422793,
      1.4025498910425935,
      1.1549724212439436,
      1.1549724144101288
    ],
    "yaw": [
      -0.05369716897390646,
      -0.17388597288545865,
      -0.3339420962656988,
      -0.5171267201812041,
      -0.6902004450666368,
      -0.8044176464797315,
      -0.8869957725735054,
      -0.9342110949980709,
      -0.9423149809092635,
      -0.9230624335400683
    ],
    "yaw_diff": [
      -0.24037760782310438,
      -0.32011224676048033,
      -0.36636924783101055,
      -0.3461474497708654,
      -0.22843440282618932,
      -0.16515625218754781,
      -0.094430644849131,
      -0.016207771822385197,
      0.038505094738390255,
      0.038505094738390255
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.566804111506375,
    "v_std": 1.7246002276609134,
    "vy_max": 0.12466915958870807,
    "a_max": 1.7155860156370597,
    "ax_avg": 1.1870833002250296,
    "a_std": 0.19353991423562758,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "b1b2eb47b045566c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b1b2eb47b045566c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b72c6ad506465ebb": {
    "vx_ego": [
      4.767399459563511,
      4.905375844448677,
      5.010816840025928,
      5.040105357482098,
      5.029696288638947,
      5.012044927955213,
      5.015158166824843,
      5.06661596827166,
      5.127353831379293,
      5.181480712420582
    ],
    "vy_ego": [
      -0.04960278835612453,
      -0.01371980467808731,
      -0.008028732798847749,
      -0.006436552814191865,
      -0.004958905409425007,
      0.005199364893900826,
      0.01294563087483347,
      -0.0009275833770984176,
      -0.012374954210506939,
      -0.02810323974490893
    ],
    "v_ego": [
      4.7676575006662505,
      4.905395030814641,
      5.010823272161749,
      5.040109467435392,
      5.029698733193794,
      5.012047624797361,
      5.0151748750794996,
      5.066616053181481,
      5.127368764937005,
      5.181556924831634
    ],
    "ax_ego": [
      0.24721056492027876,
      0.31387198878368366,
      0.11512011380086251,
      0.003496178841595532,
      -0.04765550824404549,
      -0.02616413448080665,
      0.03893069818253206,
      0.1669851527539571,
      0.07807824105028609,
      0.1446927609569723
    ],
    "ay_ego": [
      0.8501330963188088,
      0.8278428120048622,
      0.908953894338429,
      0.8840866656052462,
      0.7770282082629216,
      0.6873590874071491,
      0.7687505188371315,
      0.8188931066675796,
      0.8170024557181053,
      0.80786956216321
    ],
    "a_ego": [
      0.8853470194589286,
      0.8853470205129412,
      0.9162149434682451,
      0.8840935785127584,
      0.7784882040867958,
      0.6878568724482722,
      0.7697356425899339,
      0.8357451533738872,
      0.8207248164731715,
      0.8207248165756462
    ],
    "yaw": [
      -2.2723397150524463,
      -2.1929269135539045,
      -2.106984820216821,
      -2.0184078803973486,
      -1.93637161984846,
      -1.8654715842628642,
      -1.7943231794332897,
      -1.71261863060396,
      -1.6303601950964257,
      -1.5484125228031393
    ],
    "yaw_diff": [
      0.1588256029970836,
      0.17188418667416716,
      0.17715387963894447,
      0.16407252109777737,
      0.14180007117119153,
      0.14229680965914904,
      0.16340909765865952,
      0.1645168710150684,
      0.16389534458657273,
      0.16389534458657273
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.01564482470988,
    "v_std": 0.10820919508759566,
    "vy_max": 0.04960278835612453,
    "a_max": 0.9162149434682451,
    "ax_avg": 0.10345660565653159,
    "a_std": 0.06569321919862335,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "b72c6ad506465ebb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "b72c6ad506465ebb",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "dcb8fbfc6c1d5fd6": {
    "vx_ego": [
      4.161033397274201,
      4.084642849986739,
      3.9797589680083214,
      3.739832333741826,
      3.3982626817706523,
      3.1451144976180445,
      2.9959704591135523,
      2.958306284354376,
      3.0748996652083282,
      3.2591000107925945
    ],
    "vy_ego": [
      -0.017735530004062028,
      0.02174215613668684,
      0.017972660604596458,
      0.017478414475480486,
      -0.0018947467116159356,
      0.012060715375113551,
      -0.004349621338049614,
      -0.022021908331546713,
      -0.004704810017925443,
      0.0012982471921771932
    ],
    "v_ego": [
      4.161071194086422,
      4.084700715266819,
      3.979799550225095,
      3.7398731769237052,
      3.3982632099912693,
      3.145137622423312,
      2.9959736165538664,
      2.958388249790273,
      3.0749032645492433,
      3.2591002693679223
    ],
    "ax_ego": [
      -0.15271230818774792,
      -0.15277427239047486,
      -0.2669202029047666,
      -0.6930027340509626,
      -0.6738090489333279,
      -0.33862552020842795,
      -0.2565001502251416,
      0.10245126106261938,
      0.36457047633751827,
      0.3717730804200832
    ],
    "ay_ego": [
      0.007776930857148118,
      0.006446096180225333,
      0.012047655956396897,
      0.05343253153466804,
      -0.006442452508396812,
      0.11369176498180134,
      -0.26586191673999066,
      -0.06235428341462852,
      -0.21402778624818303,
      -0.20125681756644045
    ],
    "a_ego": [
      0.1529102015092079,
      0.15291020391198137,
      0.26719195484289093,
      0.6950595836533099,
      0.6738398471586248,
      0.35720170822814606,
      0.36942507472853264,
      0.11993463867237358,
      0.4227523217006181,
      0.42275232695043696
    ],
    "yaw": [
      2.285377080884104,
      2.2766642389281055,
      2.278738375042777,
      2.2830481176780255,
      2.2917735311054837,
      2.2957542369417228,
      2.2886855580922743,
      2.266730147319209,
      2.2377719471143998,
      2.2030878831488145
    ],
    "yaw_diff": [
      -0.017425683911996614,
      0.004148272229342886,
      0.008619485270497051,
      0.01745082685491628,
      0.007961411672478214,
      -0.014137357698897013,
      -0.04391082154613013,
      -0.05791640040961887,
      -0.06936812793117042,
      -0.06936812793117042
    ],
    "min_front_frame": [
      3,
      14.143832455196451
    ],
    "v_avg": 3.4797210869177926,
    "v_std": 0.445525300704156,
    "vy_max": 0.022021908331546713,
    "a_max": 0.6950595836533099,
    "ax_avg": -0.16955494190806286,
    "a_std": 0.19251866789514668,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "dcb8fbfc6c1d5fd6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.352003820388815,
      14.906266272783922,
      14.517588224522562,
      14.143832455196451,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "dcb8fbfc6c1d5fd6",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "a76311c957b05f8c": {
    "vx_ego": [
      9.956241307707492,
      10.17930870326877,
      10.519213313933761,
      10.841117762896449,
      11.136307545285657,
      11.435121055554859,
      11.745607026492268,
      12.054613256708974,
      12.345398400511044,
      12.626661671119606
    ],
    "vy_ego": [
      -0.12640451985290913,
      -0.11497117504045917,
      -0.10554437362349312,
      -0.16068072550234191,
      -0.26669650255444566,
      -0.2924897297668183,
      -0.247538637801882,
      -0.15613952572249712,
      -0.03635665684496203,
      0.02299746318291529
    ],
    "v_ego": [
      9.9570436917762,
      10.179957959025838,
      10.51974278957641,
      10.842308455515221,
      11.139500561859181,
      11.438861123259304,
      11.748215174995279,
      12.055624426810773,
      12.345451934774912,
      12.626682614219533
    ],
    "ax_ego": [
      0.26506427672004707,
      0.6923763547079445,
      0.7367513894877549,
      0.6116220127523888,
      0.606697163913106,
      0.6144802569866319,
      0.6388841538505161,
      0.600488858685465,
      0.5624948143767511,
      0.5625740136195435
    ],
    "ay_ego": [
      2.9717753608490334,
      2.9021238614258213,
      3.0007460782648625,
      2.7993195687132886,
      1.7533177576271597,
      0.5068337288299924,
      0.23393671926516674,
      0.3192289080984632,
      0.13368798696964798,
      0.13335430171027954
    ],
    "a_ego": [
      2.9835730033204357,
      2.9835730129520512,
      3.089867252186425,
      2.865357139042956,
      1.855317926370286,
      0.7965340010985542,
      0.6803670705301951,
      0.6800690885278564,
      0.5781633800758506,
      0.5781633770696987
    ],
    "yaw": [
      -2.6631984914096765,
      -2.517959143457142,
      -2.3764391230736748,
      -2.2359470351119826,
      -2.1228510715538955,
      -2.0705063908025965,
      -2.05840351584469,
      -2.054464617095628,
      -2.0550015918887325,
      -2.05440841234142
    ],
    "yaw_diff": [
      0.2904786959050689,
      0.28304004076693445,
      0.2809841759233844,
      0.22619192711617409,
      0.10468936150259811,
      0.024205749915813257,
      0.007877797498123229,
      -0.0010739495862086557,
      0.0011863590946248337,
      0.0011863590946248337
    ],
    "min_front_frame": [
      4,
      33.73216605640883
    ],
    "v_avg": 11.285338873181265,
    "v_std": 0.8685691280920058,
    "vy_max": 0.2924897297668183,
    "a_max": 3.089867252186425,
    "ax_avg": 0.5891433295100148,
    "a_std": 1.096421424355908,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "a76311c957b05f8c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      33.73216605640883,
      34.71803857216159,
      35.86935546098673,
      36.55207233000382,
      37.39399186494626,
      37.96733227207288
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a76311c957b05f8c",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "252522eebf5e5dc1": {
    "vx_ego": [
      5.662902507586861,
      6.600909542840968,
      7.533283230490522,
      8.401624522954048,
      9.122392087263597,
      9.68936951778356,
      10.180313309251712,
      10.546844999595242,
      10.724573024038042,
      10.827263909551077
    ],
    "vy_ego": [
      -0.0024691513262528053,
      0.010908707273710627,
      0.044725227349036834,
      0.04977903891013846,
      0.04686193536925193,
      0.004497841744507958,
      -0.01773243288990993,
      0.002548040402054466,
      0.01978793536899176,
      0.010222545547239198
    ],
    "v_ego": [
      5.662903045889258,
      6.600918556736127,
      7.533415996528476,
      8.401771990325472,
      9.122512451882761,
      9.689370561741024,
      10.180328752732091,
      10.546845307389175,
      10.724591279405974,
      10.82726873535079
    ],
    "ax_ego": [
      1.8759334408629191,
      1.8760527622681578,
      1.8535103877243437,
      1.6196326220026493,
      1.2632274474760183,
      1.0043420941786865,
      0.9603945780179153,
      0.5062196820200655,
      0.20382316968125697,
      0.2062620544516976
    ],
    "ay_ego": [
      0.05597854908443446,
      0.051825938610667956,
      0.0649689341705093,
      -0.013625791421912663,
      0.047457299993387894,
      0.1897282452474049,
      0.2749138057751208,
      0.2969803393265634,
      0.22103328562153546,
      0.21875913645953823
    ],
    "a_ego": [
      1.876768465342859,
      1.8767684712630008,
      1.8546486782701728,
      1.6196899371321198,
      1.264118578053277,
      1.0221055959067482,
      0.9989671396457295,
      0.5869034745262776,
      0.30066525880381617,
      0.3006652538807202
    ],
    "yaw": [
      -1.6096203183903437,
      -1.607406766604723,
      -1.6080599288873725,
      -1.6070867793333599,
      -1.6057951307206115,
      -1.5950241096603275,
      -1.5811021890515113,
      -1.569327955543862,
      -1.5588100947810188,
      -1.5477191004215114
    ],
    "yaw_diff": [
      0.004427103571241542,
      -0.0013063245652991107,
      0.00194629910802524,
      0.0025832972254966613,
      0.021542042120568095,
      0.02784384121763228,
      0.02354846701529878,
      0.021035721525686224,
      0.02218198871901489,
      0.02218198871901489
    ],
    "min_front_frame": [
      7,
      20.809229477441036
    ],
    "v_avg": 8.928992667798113,
    "v_std": 1.730300736434414,
    "vy_max": 0.04977903891013846,
    "a_max": 1.8767684712630008,
    "ax_avg": 1.136939823868371,
    "a_std": 0.5984545655658402,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "252522eebf5e5dc1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.091355121746323,
    "right_rear_min": 7.721115930622124,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      20.809229477441036,
      23.262865883071825,
      26.03209504473705
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "252522eebf5e5dc1",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e7d1a48359b65c2d": {
    "vx_ego": [
      4.686713982055854,
      4.8470083279193465,
      5.019934017067566,
      5.167875331175162,
      5.319606562959672,
      5.523030750838125,
      5.789272903191191,
      6.0765560869666,
      6.357732439297771,
      6.649302357888766
    ],
    "vy_ego": [
      0.037893163238871486,
      -0.042220992344286,
      -0.025262424744582068,
      -0.04833548217761874,
      -0.05367630677786761,
      -0.03606283373163355,
      0.0032787158160427765,
      0.015297352017254351,
      0.027961805748181856,
      0.05046940962033064
    ],
    "v_ego": [
      4.686867167033656,
      4.847192212313644,
      5.019997582252016,
      5.168101368723928,
      5.319877360484256,
      5.523148486387117,
      5.789273831630454,
      6.076575342002235,
      6.357793928107444,
      6.649493891111754
    ],
    "ax_ego": [
      0.2863048274178628,
      0.35428491645123744,
      0.3338363092282239,
      0.25822748061847367,
      0.34986637262918585,
      0.4635734593042131,
      0.6026043548363382,
      0.5491369119696643,
      0.5789113705011426,
      0.5923533711440508
    ],
    "ay_ego": [
      0.7431469888257626,
      0.7132461710948614,
      0.2925260794573833,
      0.0276814794924142,
      0.061650699279710126,
      -0.03329131958560544,
      -0.2802599984406062,
      -0.38075574780936305,
      -0.40611809391718345,
      -0.386248318813821
    ],
    "a_ego": [
      0.7963905456517991,
      0.7963905465325041,
      0.4438673095890591,
      0.2597069426362205,
      0.3552566500691881,
      0.4647673225723016,
      0.6645883501790022,
      0.6682262248501223,
      0.7071564756844396,
      0.7071564749701615
    ],
    "yaw": [
      -2.035492015780387,
      -1.942205690575161,
      -1.8947099208455485,
      -1.8745033267768794,
      -1.8692142801539684,
      -1.8711605386421577,
      -1.892038325919001,
      -1.9218819983846074,
      -1.9555772934195774,
      -1.9895027891887507
    ],
    "yaw_diff": [
      0.18657265041045168,
      0.09499153945922512,
      0.040413188137338185,
      0.010578093245821929,
      -0.0038925169763786016,
      -0.041755574553686614,
      -0.05968734493121275,
      -0.06739059006994008,
      -0.0678509915383465,
      -0.0678509915383465
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.54383211700465,
    "v_std": 0.6256943831095262,
    "vy_max": 0.05367630677786761,
    "a_max": 0.7963905465325041,
    "ax_avg": 0.43690993741003925,
    "a_std": 0.18039703834059398,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e7d1a48359b65c2d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.624122388495778,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e7d1a48359b65c2d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8b8466eb334f5957": {
    "vx_ego": [
      10.957540875257418,
      10.769146023805202,
      10.603314895813288,
      10.431119974441502,
      10.26340875931947,
      10.08914630165065,
      9.921936003150432,
      9.767048330182332,
      9.575639269527194,
      9.38260852604765
    ],
    "vy_ego": [
      0.049360212944999704,
      0.0345976934930623,
      0.039016218439571704,
      0.010494294392688674,
      -0.014709107658151477,
      -0.005496787378002965,
      -0.010301238069606145,
      -0.0030600305243169146,
      0.003073079070217144,
      -0.005555337305226393
    ],
    "v_ego": [
      10.957652050670301,
      10.769201599117478,
      10.603386678089095,
      10.431125253365876,
      10.263419299566968,
      10.08914779903548,
      9.92194135066916,
      9.76704880953834,
      9.575639762643865,
      9.382610170673969
    ],
    "ax_ego": [
      -0.3776279861231421,
      -0.3769814015835837,
      -0.28699247114456883,
      -0.4028119926979525,
      -0.2685589093327216,
      -0.4286801286015257,
      -0.2401510821382022,
      -0.3794180816312389,
      -0.3861452956220877,
      -0.3859887078038962
    ],
    "ay_ego": [
      0.1035117406195857,
      0.1058423054089359,
      0.22082049687852862,
      0.27798603430638025,
      0.18385862864964622,
      -0.00800827287535984,
      -2.44218774821843e-05,
      0.0032975730466082154,
      -0.06331871857226805,
      -0.06426637491016024
    ],
    "a_ego": [
      0.3915578837790351,
      0.39155787663409564,
      0.36211375330874473,
      0.4894218392457404,
      0.32546564044597626,
      0.4287549242775724,
      0.240151083379979,
      0.3794324111837669,
      0.39130224820808734,
      0.3913022482636853
    ],
    "yaw": [
      -1.6932277512936575,
      -1.6870508945341682,
      -1.6798146443951862,
      -1.6652660976996585,
      -1.6516498516278721,
      -1.6482417270705354,
      -1.6479615943911536,
      -1.6486128805277667,
      -1.6507983626789797,
      -1.6532530086338708
    ],
    "yaw_diff": [
      0.012353713518978626,
      0.014472500277963984,
      0.029097093391055484,
      0.027232492143572706,
      0.006816249114673489,
      0.0005602653587635231,
      -0.0013025722732260547,
      -0.004370964302426117,
      -0.004909291909782176,
      -0.004909291909782176
    ],
    "min_front_frame": [
      3,
      18.60421945126555
    ],
    "v_avg": 10.176117277337053,
    "v_std": 0.4947209661608451,
    "vy_max": 0.049360212944999704,
    "a_max": 0.4894218392457404,
    "ax_avg": -0.3533356056678919,
    "a_std": 0.06141400139355087,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8b8466eb334f5957",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.513184364060486,
    "right_rear_min": 3.2692770055679516,
    "speed_mode": "decelerating",
    "front_frame": [
      27.50554887505929,
      24.860201124946563,
      21.897051598408108,
      18.60421945126555,
      28.60851426256014,
      23.57734246188169,
      28.480201048025908,
      23.506323707098318,
      27.286579176737412,
      23.0030479654233
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      0,
      1,
      0,
      1,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8b8466eb334f5957",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e2e83df1a791542b": {
    "vx_ego": [
      3.3593507172800887,
      2.9062415558774095,
      2.435997221611366,
      2.052876009569275,
      1.6695092173269348,
      1.1382771804480063,
      0.5765466876698775,
      0.15259837083724243,
      -0.02755247569987714,
      -0.08878420628979256
    ],
    "vy_ego": [
      -0.021114738614798956,
      0.01628920011719326,
      0.033408341522281226,
      0.010723213296940481,
      -0.008942239408594177,
      -0.0005993397132659783,
      0.020070224042108564,
      0.02352375073652232,
      0.008901199233724663,
      -0.0093656835312654
    ],
    "v_ego": [
      3.359417073522878,
      2.906287205206878,
      2.4362262992139225,
      2.052904015770947,
      1.6695331654043999,
      1.1382773382338571,
      0.576895915184193,
      0.15440087315457315,
      0.02895462424191999,
      0.08927682406154609
    ],
    "ax_ego": [
      -0.9062488802583173,
      -0.9061790149695592,
      -0.9745219377856239,
      -0.557797335127623,
      -0.9757079289668592,
      -1.1492652160974395,
      -1.0976491674243005,
      -0.5981281565414636,
      -0.12246283211140475,
      -0.12246405113246504
    ],
    "ay_ego": [
      0.07986796844652772,
      0.08065687489218465,
      -0.031249743923056184,
      -0.07280605189911954,
      -0.01811892682853311,
      0.0464965831299744,
      0.03560078450481552,
      -0.02195270127282814,
      -0.03653960144614674,
      -0.036535581044574564
    ],
    "a_ego": [
      0.9097614661839825,
      0.9097614734855363,
      0.9750228477941961,
      0.5625287443932221,
      0.9758761489852159,
      1.1502054030364564,
      1.0982263476190226,
      0.5985308786861907,
      0.12779783927198987,
      0.12779785797124962
    ],
    "yaw": [
      -2.0986978655604576,
      -2.097827308046944,
      -2.0996063971150485,
      -2.1011247801255006,
      -2.1027270283708717,
      -2.1036027978489686,
      -2.1037734559043892,
      -2.103910836922705,
      -2.1040824711903783,
      -2.104049564572855
    ],
    "yaw_diff": [
      0.001741115027027007,
      -0.003558178136208845,
      -0.0030367660209043024,
      -0.0032044964907420592,
      -0.0017515389561939543,
      -0.0003413161108412055,
      -0.00027476203663123755,
      -0.0003432685353468301,
      6.581323504661896e-05,
      6.581323504661896e-05
    ],
    "min_front_frame": [
      7,
      8.580561869485795
    ],
    "v_avg": 1.4412173333995115,
    "v_std": 1.1644398390794126,
    "vy_max": 0.033408341522281226,
    "a_max": 1.1502054030364564,
    "ax_avg": -0.7410424520415055,
    "a_std": 0.35581908562228765,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e2e83df1a791542b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.395649072787696,
    "speed_mode": "decelerating",
    "front_frame": [
      14.756121056153335,
      13.191393572927966,
      11.875496604879869,
      10.79026041580999,
      9.834753664468462,
      9.134450140889037,
      8.706458959050444,
      8.580561869485795,
      8.61139713395848,
      8.612797673033217
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e2e83df1a791542b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "42ba77cc2fb05229": {
    "vx_ego": [
      1.6729894129015803,
      1.3253156320406605,
      1.0339305580986615,
      0.8138502016173705,
      0.5727393324949012,
      0.2686917391421845,
      0.0428848856555644,
      -0.018452580966931496,
      -0.015406347111489908,
      -0.007293362555123514
    ],
    "vy_ego": [
      -0.02633570821945308,
      -0.017644163840060068,
      -0.006213993210900048,
      0.016521470120200277,
      0.023480157900117538,
      0.0004957534278367121,
      -0.009150795637555997,
      -0.004731256610407509,
      -0.0032757789867615176,
      -0.0010666356934257342
    ],
    "v_ego": [
      1.6731966845557025,
      1.325433076789979,
      1.0339492311916647,
      0.8140178804225171,
      0.5732204295048454,
      0.2686921964901715,
      0.04385031902382407,
      0.019049475936484112,
      0.01575075424510908,
      0.007370946280021826
    ],
    "ax_ego": [
      -0.695356083192688,
      -0.6953600665408748,
      -0.4701839743454574,
      -0.4101392038983774,
      -0.5542705739779197,
      -0.6619129763551385,
      -0.24130886778089355,
      -0.004042330014860923,
      0.016226288631403886,
      0.01622694084556634
    ],
    "ay_ego": [
      0.016748372219455965,
      0.016581864465858076,
      0.028817352863673734,
      0.06443334056898092,
      -0.0373307720070106,
      -0.05481539384599196,
      0.016272579489736358,
      0.0014102081812272284,
      0.004416116556055099,
      0.004413700150701767
    ],
    "a_ego": [
      0.6955577549025516,
      0.695557747688065,
      0.47106624752507925,
      0.4151696303335217,
      0.555526287151609,
      0.6641788280800656,
      0.2418569133040165,
      0.004281252043905581,
      0.01681649571659598,
      0.016816490663209553
    ],
    "yaw": [
      -2.060011160909099,
      -2.060250620498744,
      -2.060320415154769,
      -2.059690538814751,
      -2.0599478762212873,
      -2.0600679633208525,
      -2.0599628984953187,
      -2.060029206308873,
      -2.0600858543539546,
      -2.059937010969617
    ],
    "yaw_diff": [
      -0.0004789191792893277,
      -0.0001395893120506031,
      0.001259752680036641,
      -0.0005146748130728795,
      -0.00024017419913047178,
      0.0002101296510677031,
      -0.00013261562710908947,
      -0.00011329609016286213,
      0.00029768676867547583,
      0.00029768676867547583
    ],
    "min_front_frame": [
      8,
      11.161190710792942
    ],
    "v_avg": 0.577453099444032,
    "v_std": 0.5793859331557928,
    "vy_max": 0.02633570821945308,
    "a_max": 0.6955577549025516,
    "ax_avg": -0.37001208466292396,
    "a_std": 0.272809338250045,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "42ba77cc2fb05229",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.799307122772079,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.591321214640436,
      12.812842101984897,
      12.235668625801575,
      11.763072868429816,
      11.385898163002052,
      11.20192158252376,
      11.19633751122909,
      11.178588103749007,
      11.161190710792942,
      11.163461400163744
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "42ba77cc2fb05229",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b81d52bf71365207": {
    "vx_ego": [
      7.846065468287929,
      7.939025251475046,
      8.026023362738847,
      8.166729752406926,
      8.383687244051409,
      8.56618443960846,
      8.699866878240826,
      8.936120767961947,
      9.013769485712775,
      8.840976525709786
    ],
    "vy_ego": [
      -0.12826010273255584,
      -0.0010157639888062064,
      -0.02100923979089897,
      0.016497531629654283,
      -0.006338282821376495,
      -0.06187248996335093,
      -0.14454073601907602,
      -0.09278600146299176,
      -0.09052017724434336,
      0.022478219120093623
    ],
    "v_ego": [
      7.847113736056923,
      7.939025316456353,
      8.026050860004961,
      8.16674641564181,
      8.383689640003345,
      8.566407885362707,
      8.701067504822653,
      8.936602465236344,
      9.014223995666796,
      8.841005101145814
    ],
    "ax_ego": [
      0.18487974991525102,
      0.18993910833818622,
      0.17400281694579267,
      0.39275894910772446,
      0.4806745176307895,
      0.2552028330329638,
      0.2869259398428432,
      0.6680234275866069,
      -0.34795214495375204,
      -0.3412787528964025
    ],
    "ay_ego": [
      0.4382438108522463,
      0.43607487660177513,
      1.0138821106193197,
      1.123678177082684,
      1.310977595956262,
      1.1854791794426096,
      0.6010728853157055,
      0.4640266119502539,
      0.47377679501102016,
      0.478606271816615
    ],
    "a_ego": [
      0.47564499332908483,
      0.47564499669349897,
      1.028704969628784,
      1.1903412274453355,
      1.396320253021796,
      1.2126373616543298,
      0.6660443742097415,
      0.8133732208541109,
      0.5878223768017267,
      0.5878223801461827
    ],
    "yaw": [
      2.194366965743898,
      2.20594011804572,
      2.2538340151218277,
      2.315393613509916,
      2.3917701881205,
      2.4716569733170877,
      2.5329777163979905,
      2.5574361791440583,
      2.582944189670574,
      2.5969580565662236
    ],
    "yaw_diff": [
      0.023146304603644197,
      0.09578779415221561,
      0.12311919677617666,
      0.15275314922116756,
      0.15977357039317575,
      0.1226414861618057,
      0.048916925492135555,
      0.051016021053031047,
      0.028027733791299525,
      0.028027733791299525
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.442193292039772,
    "v_std": 0.40901361971382094,
    "vy_max": 0.14454073601907602,
    "a_max": 1.396320253021796,
    "ax_avg": 0.19431764445500033,
    "a_std": 0.3209746288934106,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b81d52bf71365207",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b81d52bf71365207",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a12c7f84ebd25b1e": {
    "vx_ego": [
      11.327880479279468,
      11.085075032748435,
      10.88211671206519,
      10.70386705806443,
      10.530469727170345,
      10.27289900683267,
      9.846496550395301,
      9.330544450321982,
      8.805954420353702,
      8.297089270142703
    ],
    "vy_ego": [
      -0.009056321098451559,
      0.01225536777704428,
      0.015302480297878063,
      0.027279657831362436,
      0.026986833738658733,
      0.00866475000575928,
      0.004809262795528735,
      -0.004220189389794404,
      0.007151896495144028,
      0.03282274466449703
    ],
    "v_ego": [
      11.327884099415595,
      11.085081807352712,
      10.882127471267362,
      10.703901820198478,
      10.530504307204206,
      10.272902661004645,
      9.846497724874322,
      9.330545404714176,
      8.805957324616692,
      8.297154192208584
    ],
    "ax_ego": [
      -0.4862548004669332,
      -0.484998604999283,
      -0.327103096117198,
      -0.3869813010666648,
      -0.30730604421372293,
      -0.7230413128722947,
      -0.9830251994832983,
      -1.0806728904541736,
      -1.0177529332844237,
      -1.017734076755597
    ],
    "ay_ego": [
      0.1888510408270176,
      0.19205413514650774,
      0.24714810567176526,
      0.1447207252078492,
      0.035832272575227093,
      0.15826870275454946,
      0.03789348638974395,
      0.0914482035591147,
      0.05683184879067844,
      0.057168568510140155
    ],
    "a_ego": [
      0.5216401504855478,
      0.5216401419351502,
      0.4099739279839621,
      0.413156889909795,
      0.3093880355931561,
      0.7401606058091037,
      0.983755284168755,
      1.084535232298503,
      1.019338458141365,
      1.0193384600882407
    ],
    "yaw": [
      -1.6743139327206942,
      -1.6677181606179499,
      -1.657981387686422,
      -1.650019741250055,
      -1.6457367102798532,
      -1.639342092891449,
      -1.6341008237889525,
      -1.6297923153218479,
      -1.6269560217078536,
      -1.6266251733342705
    ],
    "yaw_diff": [
      0.013191544205488626,
      0.01947354586305572,
      0.015923292872733974,
      0.008566061940403547,
      0.012789234776808378,
      0.01048253820499312,
      0.008617016934209243,
      0.005672587227988579,
      0.0006616967471662072,
      0.0006616967471662072
    ],
    "min_front_frame": [
      9,
      21.57993890465073
    ],
    "v_avg": 10.108255681285675,
    "v_std": 0.9617784191059101,
    "vy_max": 0.03282274466449703,
    "a_max": 1.084535232298503,
    "ax_avg": -0.6814870259713588,
    "a_std": 0.28574378237579134,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a12c7f84ebd25b1e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.981466593966904,
    "right_rear_min": 28.908242943621577,
    "speed_mode": "decelerating",
    "front_frame": [
      47.584217725083825,
      42.454182680377016,
      37.34198778698376,
      32.22600980959439,
      27.297551052251336,
      22.531414390865578,
      26.244597307142968,
      21.610741187858267,
      25.8272915846061,
      21.57993890465073
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      1,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a12c7f84ebd25b1e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9963c72e34ae5101": {
    "vx_ego": [
      2.5598266482188334,
      2.370960621645347,
      2.154060078074707,
      1.9147230709498864,
      1.7308533908586778,
      1.5567906101324689,
      1.3099549950207234,
      1.0226754979399368,
      0.7671788788151783,
      0.551177121329216
    ],
    "vy_ego": [
      -0.07541047896013175,
      -0.047882270453794895,
      -0.0204929379993678,
      -0.01688931666428417,
      -0.023791120713552494,
      -0.004204491489630091,
      0.008888284823926229,
      0.018015867785802775,
      0.027764420265217582,
      0.022831204082309348
    ],
    "v_ego": [
      2.5609371740181883,
      2.3714440708599267,
      2.1541575570192304,
      1.9147975578230587,
      1.7310168913305815,
      1.5567962877477937,
      1.3099851489947718,
      1.022834173059726,
      0.7676811155243938,
      0.5516497828845847
    ],
    "ax_ego": [
      -0.3777137309082401,
      -0.3777029641166703,
      -0.49007103023085674,
      -0.46734952755902465,
      -0.26826666163977875,
      -0.4281097806331275,
      -0.5591539865913898,
      -0.589939914944251,
      -0.43197398347968496,
      -0.4319669958226387
    ],
    "ay_ego": [
      0.0559681117005392,
      0.05604073195695661,
      0.04142989142542497,
      -0.04599450322921994,
      0.009319057405828612,
      0.058689850980989805,
      -0.016080406824906524,
      0.04747200752435948,
      -0.010584903735743084,
      -0.010866432820382771
    ],
    "a_ego": [
      0.38183778236830684,
      0.3818377832807935,
      0.49181912384031573,
      0.46960736284362736,
      0.26842847572171746,
      0.4321139697833377,
      0.5593851626604862,
      0.59184685075011,
      0.4321036479716436,
      0.43210365057735334
    ],
    "yaw": [
      2.6131072776379556,
      2.613299539179068,
      2.6119722362249407,
      2.6096366934484028,
      2.608375746946199,
      2.6068224351744744,
      2.605139101546463,
      2.6040455052477833,
      2.60344359633379,
      2.602791853316522
    ],
    "yaw_diff": [
      0.00038452308222503007,
      -0.0026546059082548368,
      -0.004671085553075827,
      -0.0025218930044079713,
      -0.0031066235434487055,
      -0.0033666672560226374,
      -0.002187192597359555,
      -0.0012038178279869527,
      -0.0013034860345353394,
      -0.0013034860345353394
    ],
    "min_front_frame": [
      7,
      10.773210212011108
    ],
    "v_avg": 1.5941299759262255,
    "v_std": 0.6443930191117689,
    "vy_max": 0.07541047896013175,
    "a_max": 0.59184685075011,
    "ax_avg": -0.44222485759256625,
    "a_std": 0.08780243839006971,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9963c72e34ae5101",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.358222456014113,
      12.803866534304722,
      12.318126864245835,
      12.022640058962475,
      11.569443082088462,
      11.217778417581178,
      10.942691553784561,
      10.773210212011108,
      10.82525383644808,
      11.054027385337378
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9963c72e34ae5101",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7b22018666ac5b0e": {
    "vx_ego": [
      7.402126719279394,
      7.2280877900674945,
      7.173884867819902,
      7.267586585076822,
      7.411048455718329,
      7.507764653333047,
      7.657341640070342,
      7.861810121876173,
      8.099701684795999,
      8.41101593141842
    ],
    "vy_ego": [
      -0.024898430984716224,
      -0.007685447580803917,
      -0.05208641917011558,
      -0.17283392108993123,
      -0.15291954125358576,
      -0.09766203326799383,
      -0.08766549201816343,
      -0.016523482000676104,
      0.01901102784037345,
      0.08010960673095724
    ],
    "v_ego": [
      7.402168594414438,
      7.2280918759398265,
      7.174073953605255,
      7.269641417282417,
      7.41262595839708,
      7.50839982703233,
      7.657843445203483,
      7.861827485889783,
      8.099723995412848,
      8.411397419434245
    ],
    "ax_ego": [
      -0.4473632890787287,
      -0.23866439344804202,
      0.013474434650967981,
      0.35717317515769875,
      0.2167169772940301,
      0.1593355557323928,
      0.42245523109679783,
      0.38439179404847396,
      0.5725196438090263,
      0.6876524821986281
    ],
    "ay_ego": [
      1.7412323482177703,
      1.781870724030914,
      1.3997308089633336,
      0.3952020646413966,
      -0.31133490446044,
      -0.8446395570693732,
      -1.077534370196443,
      -1.2300578344525994,
      -1.3453186800675603,
      -1.2902694165805106
    ],
    "a_ego": [
      1.7977830800447836,
      1.7977830708565412,
      1.3997956629273829,
      0.5326887918372741,
      0.3793358287623942,
      0.8595369687726627,
      1.1573887597673023,
      1.2887200345420347,
      1.4620742434931056,
      1.4620742469645465
    ],
    "yaw": [
      -0.7936928822499378,
      -0.6753566960116442,
      -0.5583545714001383,
      -0.47905668220296516,
      -0.4789136304045283,
      -0.525011066332183,
      -0.5899633084783815,
      -0.6733786109659636,
      -0.7587054827318798,
      -0.8460178242539285
    ],
    "yaw_diff": [
      0.23667237247658734,
      0.23400424922301166,
      0.15859577839434635,
      0.00028610359687375464,
      -0.09219487185530939,
      -0.1299044842923971,
      -0.16683060497516422,
      -0.17065374353183227,
      -0.1746246830440974,
      -0.1746246830440974
    ],
    "min_front_frame": [
      9,
      20.816052755419463
    ],
    "v_avg": 7.602579397261169,
    "v_std": 0.38618973815714736,
    "vy_max": 0.17283392108993123,
    "a_max": 1.7977830800447836,
    "ax_avg": 0.21276916114612449,
    "a_std": 0.4620051354555483,
    "ini_direction_judge": "straight",
    "scenario_type": "roundout_interior",
    "scene_token": "7b22018666ac5b0e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.533096482321955,
    "right_rear_min": 28.63978365544983,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      20.816052755419463
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "roundout_interior",
    "lane_change_frame": -1,
    "token": "7b22018666ac5b0e",
    "incoming_vehicles": "No"
  },
  "f68fcc74e570541d": {
    "vx_ego": [
      2.617030829462711,
      2.9908372180834393,
      3.2297297554022695,
      3.243078348671787,
      3.2471599879699564,
      3.464862893606389,
      3.893623643087012,
      4.348863591438104,
      4.780455428989237,
      5.228195339450728
    ],
    "vy_ego": [
      0.05689675582667397,
      -0.029806472018419905,
      0.016019307623995838,
      0.05597379482315401,
      0.0648414697005637,
      0.045182094692968466,
      0.04241307247364756,
      0.08457217699710884,
      0.08336027859936757,
      -0.08675602150071648
    ],
    "v_ego": [
      2.617649251366937,
      2.9909857389909553,
      3.2297694826639805,
      3.2435613515595216,
      3.24780732243555,
      3.4651574701839,
      3.893854638108982,
      4.349685849582468,
      4.7811821806537385,
      5.2289150992075735
    ],
    "ax_ego": [
      0.7051547801835978,
      0.7915095238199423,
      0.2050635714264497,
      -0.049012402041101244,
      0.1498873504973257,
      0.7420814071549305,
      0.9426659842442481,
      0.8634341955519724,
      0.862402263957229,
      0.9249363402209188
    ],
    "ay_ego": [
      -0.8277199016509842,
      -0.7455710399955814,
      -1.2746407387517356,
      -1.813126505163139,
      -1.909457814963851,
      -1.6298800585356001,
      -0.9323450582565698,
      0.03728663272756713,
      0.6822529575076243,
      0.5947264309274429
    ],
    "a_ego": [
      1.0873653937866945,
      1.087365394877805,
      1.2910306275266055,
      1.8137888353606482,
      1.9153316592605136,
      1.7908639870344853,
      1.3258531085707133,
      0.8642389154791875,
      1.099639378572109,
      1.0996393777529803
    ],
    "yaw": [
      -2.0570730378391273,
      -2.1667389274045963,
      -2.339346101645814,
      -2.5865060065318093,
      -2.8762137759965345,
      -3.1383160970147737,
      2.970773450739652,
      2.9064252416287273,
      2.946092587576511,
      3.0439550293391253
    ],
    "yaw_diff": [
      -0.21933177913093793,
      -0.34521434848243526,
      -0.49431980977199075,
      -0.5794155389294504,
      -0.5242046420364783,
      -0.34819151885032085,
      -0.12869641822184974,
      0.07933469189556774,
      0.19572488352522832,
      0.19572488352522832
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7048568384753606,
    "v_std": 0.7955651010112708,
    "vy_max": 0.08675602150071648,
    "a_max": 1.9153316592605136,
    "ax_avg": 0.6138123015015513,
    "a_std": 0.3508333627291112,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f68fcc74e570541d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f68fcc74e570541d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "61874b16298352f3": {
    "vx_ego": [
      7.888805231528703,
      7.610501299397155,
      7.312165591605044,
      6.989978575856439,
      6.60568030054965,
      6.1011422333951195,
      5.508135591809178,
      4.891894254519807,
      4.284789536380723,
      3.684420502775253
    ],
    "vy_ego": [
      0.009042313059818508,
      0.01041743909518189,
      -0.02561771235587429,
      -0.027990002291482075,
      0.0019253913465702155,
      0.02473557373088564,
      0.00183910802635312,
      -0.011710794885834819,
      -0.02178811794721347,
      -0.0038040735901263556
    ],
    "v_ego": [
      7.888810413770894,
      7.610508429215692,
      7.312210466489534,
      6.990034615877112,
      6.605680581151464,
      6.1011923753251205,
      5.508135898838497,
      4.891908271842468,
      4.2848449322188324,
      3.68442246658096
    ],
    "ax_ego": [
      -0.5566587108207555,
      -0.5563847987739393,
      -0.6368164755454178,
      -0.6533019541755408,
      -0.8837175691722405,
      -1.134741352473945,
      -1.237433311840629,
      -1.2275325532023411,
      -1.2007351317305743,
      -1.2007146372798128
    ],
    "ay_ego": [
      -0.06260215208926909,
      -0.0649916113760706,
      -0.19736760284606458,
      -0.004795993783889452,
      0.15972756785025982,
      -0.01227638041187129,
      -0.01752096624096422,
      -0.055899165905274106,
      0.039739637511425396,
      0.0403542001685514
    ],
    "a_ego": [
      0.5601677871663395,
      0.5601677908055542,
      0.666700228123022,
      0.6533195580157963,
      0.8980365460241877,
      1.134807757521253,
      1.2375573463524365,
      1.2288046573480929,
      1.2013925650517316,
      1.2013925676685517
    ],
    "yaw": [
      2.574165998895769,
      2.5698724301420115,
      2.565916723431548,
      2.559182830506548,
      2.5604744625256997,
      2.562675413023304,
      2.5653307085078305,
      2.564406427334868,
      2.565723210088561,
      2.566235034979588
    ],
    "yaw_diff": [
      -0.008587137507515052,
      -0.007911413420926827,
      -0.013467785850000524,
      0.0025832640383036676,
      0.004401900995208763,
      0.005310590969052953,
      -0.001848562345925231,
      0.0026335655073861375,
      0.001023649782053937,
      0.001023649782053937
    ],
    "min_front_frame": [
      9,
      14.848953195683295
    ],
    "v_avg": 6.087774845131057,
    "v_std": 1.3761142921068323,
    "vy_max": 0.027990002291482075,
    "a_max": 1.2375573463524365,
    "ax_avg": -0.9288036495015197,
    "a_std": 0.28167405185832717,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "61874b16298352f3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.15405951430781,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      42.594498900392935,
      38.70620149100431,
      35.05919926283212,
      31.33810725292503,
      27.87795156465364,
      24.729823615472853,
      21.793226520539513,
      19.151363531156747,
      16.86594405111952,
      14.848953195683295
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "61874b16298352f3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "70633315e71a5979": {
    "vx_ego": [
      2.6471145198640547,
      3.4216604402656796,
      4.190779565575595,
      4.929992836621065,
      5.618997600842624,
      6.266372255943699,
      6.87682133135994,
      7.47474226607904,
      8.051986684077733,
      8.599511486076421
    ],
    "vy_ego": [
      0.036045108020793304,
      0.0010930024700963603,
      -0.008715591800681377,
      -0.003976652731742414,
      -0.02159954547885312,
      -0.027743264259454836,
      -0.02189994730090472,
      -0.017048947103824208,
      -0.00513181677607033,
      0.024870311241141252
    ],
    "v_ego": [
      2.647359917179252,
      3.421660614837995,
      4.190788628502565,
      4.929994440453454,
      5.619039115243821,
      6.2664336698614065,
      6.876856202592786,
      7.474761709305907,
      8.051988319422014,
      8.59954744922903
    ],
    "ax_ego": [
      1.5490523212069642,
      1.54939780621087,
      1.5268684909359724,
      1.4299638000418324,
      1.325975927250702,
      1.2627462451605167,
      1.1782166737339816,
      1.2133513953650745,
      1.0950809783134758,
      1.0952040815404693
    ],
    "ay_ego": [
      -0.09544866202897317,
      -0.08966576818925709,
      -0.005364072483646232,
      -0.04520132534748417,
      -0.10587320038399567,
      -0.11351210953341895,
      -0.006910690802053143,
      -0.1161230270081256,
      -0.027083703660114034,
      -0.021538410843513656
    ],
    "a_ego": [
      1.551990187120977,
      1.5519901777640304,
      1.5268779132225023,
      1.4306780312995817,
      1.3301959608297975,
      1.2678379544238731,
      1.1782369404801945,
      1.218895469692091,
      1.095415846182603,
      1.0954158495131276
    ],
    "yaw": [
      1.1908941121080514,
      1.1871613491487267,
      1.1834993074418811,
      1.17969826440372,
      1.1758881958682013,
      1.1677037389982665,
      1.1622421715703293,
      1.1572766968336297,
      1.1511417324607542,
      1.1460782067525446
    ],
    "yaw_diff": [
      -0.007465525918649352,
      -0.007324083413691174,
      -0.007602086076322401,
      -0.0076201370710373695,
      -0.016368913739869484,
      -0.010923134855874483,
      -0.009930949473399231,
      -0.012269928745750835,
      -0.010127051416419341,
      -0.010127051416419341
    ],
    "min_front_frame": [
      4,
      27.323832837873653
    ],
    "v_avg": 5.807843006662823,
    "v_std": 1.899083044329397,
    "vy_max": 0.036045108020793304,
    "a_max": 1.551990187120977,
    "ax_avg": 1.322585771975986,
    "a_std": 0.17218619176289737,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "70633315e71a5979",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.19068809289307,
    "right_rear_min": 29.786264438289326,
    "speed_mode": "accelerating",
    "front_frame": [
      27.90929945689498,
      28.353313494258103,
      28.515820192084792,
      28.15317434863922,
      27.323832837873653,
      44.94794312536375,
      46.38127472405938,
      47.73134690245764,
      49.093707218438084,
      50.1124171867809
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "70633315e71a5979",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "2d305230053e5e19": {
    "vx_ego": [
      6.314957640072187,
      6.387437851501285,
      6.467066942811481,
      6.526274888720459,
      6.557419061496945,
      6.454936056575963,
      6.307611907086713,
      6.275459540568042,
      6.261090459827528,
      6.23515722114081
    ],
    "vy_ego": [
      -0.06904703027154513,
      0.012832125321843968,
      0.04154527105260142,
      0.03725919227979668,
      0.023957893924413165,
      0.019220306094726025,
      0.016038299641735643,
      0.005393303401713956,
      -0.021872814156715048,
      -0.041734458853764034
    ],
    "v_ego": [
      6.315335104988128,
      6.38745074111978,
      6.467200387521008,
      6.526381246184794,
      6.557462827097441,
      6.454964671835998,
      6.307632297263172,
      6.275461858144629,
      6.261128665515701,
      6.235296892482363
    ],
    "ax_ego": [
      0.13588643471591497,
      0.14945134710802807,
      0.17071264210811843,
      0.06826212039536247,
      0.05657244014842045,
      -0.46613496367439783,
      -0.12297925797842126,
      -0.005363651058776536,
      -0.05223015683882914,
      -0.05194288049529801
    ],
    "ay_ego": [
      -0.3439997523856857,
      -0.33832713539801823,
      -0.2425373669643768,
      -0.19364059307783288,
      -0.028619958869630667,
      -0.07785301947632299,
      -0.032017482804448535,
      -0.09850130260773422,
      -0.0828931818828108,
      -0.0830734969864969
    ],
    "a_ego": [
      0.3698661281885862,
      0.36986613213301006,
      0.29659261715279983,
      0.20532022883390186,
      0.06339986616741368,
      0.47259168105385957,
      0.1270787830365724,
      0.09864722686472613,
      0.09797585869011531,
      0.09797585792282872
    ],
    "yaw": [
      2.9287445095424993,
      2.8889890103076907,
      2.861918251651881,
      2.8458253841252295,
      2.8393663123720385,
      2.8360366939041306,
      2.832205179199929,
      2.828702667768756,
      2.825820597128915,
      2.822358738208005
    ],
    "yaw_diff": [
      -0.07951099846961718,
      -0.05414151731161976,
      -0.0321857350533028,
      -0.012918143506381874,
      -0.0066592369358158265,
      -0.0076630294084027994,
      -0.007005022862346166,
      -0.005764141279682278,
      -0.0069237178418202205,
      -0.0069237178418202205
    ],
    "min_front_frame": [
      6,
      18.089716219131876
    ],
    "v_avg": 6.378831469215301,
    "v_std": 0.11027340222411917,
    "vy_max": 0.06904703027154513,
    "a_max": 0.47259168105385957,
    "ax_avg": -0.011776592556987837,
    "a_std": 0.1387329741953034,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2d305230053e5e19",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.768603691700737,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      18.495057590178515,
      18.506449907776922,
      18.458288598878188,
      18.349332301044072,
      18.18054608092412,
      18.10171835833708,
      18.089716219131876,
      18.106678603375332,
      18.142948419410853,
      18.27941575402359
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2d305230053e5e19",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7117e9fc77fd5606": {
    "vx_ego": [
      3.659579153627452,
      3.5869039267595686,
      3.5072250288980475,
      3.4352813409483636,
      3.3757990416083734,
      3.3141252205988927,
      3.254993907986,
      3.2054652870453184,
      3.1680686573158856,
      3.1447927509518117
    ],
    "vy_ego": [
      -0.02220776842719885,
      -0.005076742181416627,
      0.005825560544443054,
      -0.00026968401740412595,
      0.00310200457472809,
      0.007613481160849922,
      0.016568043685422307,
      0.020933775171888547,
      -0.002727711620218898,
      -0.02874496781283664
    ],
    "v_ego": [
      3.659646535752208,
      3.5869075194538245,
      3.5072298670723834,
      3.435281351534028,
      3.375800466816188,
      3.314133965745055,
      3.2550360737014166,
      3.2055336419066753,
      3.1680698315974603,
      3.1449241198498927
    ],
    "ax_ego": [
      -0.1465862698437827,
      -0.14503170167839016,
      -0.17270486369394797,
      -0.11433041534666052,
      -0.1235670344782787,
      -0.11927779465548569,
      -0.11255614910482128,
      -0.07557619281137576,
      -0.07045945214598073,
      -0.027440201755910804
    ],
    "ay_ego": [
      -0.08912316991184846,
      -0.0916312133774444,
      -0.17754236543298854,
      -0.2115116129291375,
      -0.20220758858136595,
      -0.34243256329331856,
      -0.40337675417758856,
      -0.5255490788556167,
      -0.5454273130206266,
      -0.5492745429643872
    ],
    "a_ego": [
      0.17155312274001452,
      0.17155312225882777,
      0.24768581200199172,
      0.24043420363422754,
      0.23697409328795221,
      0.36261171065136444,
      0.41878597458863576,
      0.5309553608410499,
      0.5499595332255023,
      0.5499595332578039
    ],
    "yaw": [
      -2.191943803985952,
      -2.2091442658273897,
      -2.231167084149969,
      -2.2574846752999926,
      -2.288832579891518,
      -2.330887862788116,
      -2.3903781044367465,
      -2.463694906457574,
      -2.540265399358545,
      -2.61882035087113
    ],
    "yaw_diff": [
      -0.03440092368287573,
      -0.04404563664515848,
      -0.05263518230004749,
      -0.06269580918305095,
      -0.0841105657931962,
      -0.11898048329726052,
      -0.14663360404165537,
      -0.1531409858019419,
      -0.15710990302516947,
      -0.15710990302516947
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.365256337342913,
    "v_std": 0.16990236808802547,
    "vy_max": 0.02874496781283664,
    "a_max": 0.5499595332578039,
    "ax_avg": -0.11075300755146342,
    "a_std": 0.14713911585338516,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "7117e9fc77fd5606",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7117e9fc77fd5606",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6f31e863bab65c62": {
    "vx_ego": [
      8.60747951676856,
      8.936120767961947,
      9.013769485712775,
      9.09782147973164,
      9.301291788948156,
      9.345227300471647,
      9.39434579369217,
      9.453633794300004,
      9.597541405416507,
      9.841122862743017
    ],
    "vy_ego": [
      -0.11432876795230928,
      -0.09278600146299176,
      -0.09052017724434336,
      -0.02814433673342176,
      0.020925807114357653,
      0.05608540588594568,
      0.0604492596982924,
      0.03562301353677544,
      0.03409475377931681,
      0.03780392175377667
    ],
    "v_ego": [
      8.608238768689668,
      8.936602465236344,
      9.014223995666796,
      9.09786501222988,
      9.301315328089773,
      9.345395597310688,
      9.394540276376478,
      9.45370091106253,
      9.597601965122305,
      9.841195472914015
    ],
    "ax_ego": [
      0.6564753836991314,
      0.6680234275866069,
      -0.34795214495375204,
      0.686101047060834,
      0.12742818353138832,
      0.04812853770015581,
      0.14800833038689476,
      0.0886804096359398,
      0.4867088043202271,
      0.4870434099844199
    ],
    "ay_ego": [
      0.4802250156898556,
      0.4640266119502539,
      0.47377679501102016,
      0.2761160795909413,
      0.10904860584026572,
      0.07164435189308473,
      -0.007949349899719349,
      0.0020230006361338787,
      0.08540742982196303,
      0.08347819702569653
    ],
    "a_ego": [
      0.8133732200516832,
      0.8133732208541109,
      0.5878223768017267,
      0.739577403783163,
      0.16771863460514702,
      0.08630914956906638,
      0.1482216516833636,
      0.08870348124381525,
      0.49414561545319685,
      0.49414561880878066
    ],
    "yaw": [
      2.5329777163979905,
      2.5574361791440583,
      2.582944189670574,
      2.5969580565662236,
      2.6020523419276875,
      2.603125250031762,
      2.6043606372348274,
      2.6068358401505685,
      2.6093037867518585,
      2.613266235303681
    ],
    "yaw_diff": [
      0.048916925492135555,
      0.051016021053031047,
      0.028027733791299525,
      0.010188570722927892,
      0.0021458162081486876,
      0.002470774406130971,
      0.0049504058314822075,
      0.004935893202580033,
      0.007924897103644746,
      0.007924897103644746
    ],
    "min_front_frame": [
      4,
      79.80781690766746
    ],
    "v_avg": 9.259067979269847,
    "v_std": 0.3365185489610464,
    "vy_max": 0.11432876795230928,
    "a_max": 0.8133732208541109,
    "ax_avg": 0.3048645388951846,
    "a_std": 0.28353895882382846,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6f31e863bab65c62",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 41.31167097927657,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      79.80781690766746,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6f31e863bab65c62",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "757fb1d7679c5dc2": {
    "vx_ego": [
      2.3244405876396534,
      2.8577112723368097,
      3.444336127275404,
      4.034434231528194,
      4.598262233814342,
      5.129490914784655,
      5.720531356174944,
      6.360016925878865,
      6.946712409139559,
      7.488206239532039
    ],
    "vy_ego": [
      0.11344746341340006,
      -0.04752452615433919,
      -0.07322233946916484,
      -0.07111698244878184,
      -0.03145263703651757,
      0.02634863011101718,
      0.11601589569292114,
      0.10646930237018015,
      0.059787397221230165,
      -0.11641153835674478
    ],
    "v_ego": [
      2.327207419294961,
      2.8581064180024964,
      3.4451143476888926,
      4.035060990086657,
      4.598369802364727,
      5.129558586775966,
      5.721707672105783,
      6.3609080334346,
      6.94696968671665,
      7.489111050854376
    ],
    "ax_ego": [
      0.9924085974310107,
      1.1485215723593456,
      1.1844506084747985,
      1.1448863714503479,
      1.0841194978691644,
      1.0536220171251638,
      1.2939183515050083,
      1.2667836196552145,
      1.0842172984640563,
      1.082497188308362
    ],
    "ay_ego": [
      -1.149358411579993,
      -0.9933769592934631,
      -1.3225019461982532,
      -1.5803207076625667,
      -1.7281420890847918,
      -1.8787009551502507,
      -1.0938964429784295,
      -0.30221490568805515,
      -0.25138637335843744,
      -0.25869298973374993
    ],
    "a_ego": [
      1.5185188778953889,
      1.5185188788519919,
      1.7753688748016532,
      1.9514554421251489,
      2.0400466087142317,
      2.1539815769531,
      1.6943536019149896,
      1.3023342843704941,
      1.1129790020476595,
      1.1129789870581095
    ],
    "yaw": [
      0.2323106719604815,
      0.08685395076049757,
      -0.08853052777389564,
      -0.2822987709891489,
      -0.4820920170686133,
      -0.6785760523076223,
      -0.832639568722749,
      -0.8887962164146795,
      -0.9025341465213341,
      -0.8957897424852532
    ],
    "yaw_diff": [
      -0.29091344239996786,
      -0.3507689570687864,
      -0.38753648643050653,
      -0.39958649215892883,
      -0.39296807047801796,
      -0.30812703283025344,
      -0.11231329538386103,
      -0.027475860213309167,
      0.013488808072161795,
      0.013488808072161795
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.8912114007325105,
    "v_std": 1.6582926477062387,
    "vy_max": 0.11641153835674478,
    "a_max": 2.1539815769531,
    "ax_avg": 1.133542512264247,
    "a_std": 0.35166990093132167,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "757fb1d7679c5dc2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 42.02057270411601,
    "right_rear_min": 25.43954262269114,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "757fb1d7679c5dc2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "2e8d3c1cd8b15c97": {
    "vx_ego": [
      -0.25211273847209154,
      0.3900946148233028,
      1.2027768137018389,
      2.0204613656223263,
      2.6418071299131536,
      3.1933862379223794,
      3.7365074124475295,
      4.303789375373919,
      4.847158520353867,
      5.3729126177503925
    ],
    "vy_ego": [
      0.003999411433269427,
      -0.0014924005073428896,
      -0.002003176812267495,
      -0.0031960667835243192,
      0.0017550693545537316,
      0.0196504911179418,
      0.008879948869923465,
      -0.024239013547310832,
      -0.003485378858413421,
      0.05577282681866144
    ],
    "v_ego": [
      0.2521444589748301,
      0.3900974695808925,
      1.2027784818062257,
      2.020463893469844,
      2.641807712898199,
      3.1934466969644606,
      3.7365179641970494,
      4.303857632096951,
      4.847159773445154,
      5.373202081272648
    ],
    "ax_ego": [
      1.284413746129324,
      1.284417160965856,
      1.9662883552712744,
      1.3044504145332658,
      1.1809168580583635,
      1.0254253361807775,
      1.1470209001751799,
      1.1223289562911767,
      1.051409056362756,
      1.051517677132201
    ],
    "ay_ego": [
      -0.01122514785255587,
      -0.01082751286295346,
      0.004221404622286325,
      -0.017469635748103795,
      0.03189864974836773,
      0.03255932640763078,
      -0.07075933087587502,
      -0.005374848161935036,
      0.12768989422556118,
      0.12679226651227182
    ],
    "a_ego": [
      1.2844627963433877,
      1.2844627975999876,
      1.9662928867115395,
      1.3045673888876652,
      1.1813475989319173,
      1.0259421181614385,
      1.1492013872009907,
      1.1223418263267237,
      1.0591344168182601,
      1.0591344127016262
    ],
    "yaw": [
      -3.1213291825410945,
      -3.1216387601136995,
      -3.123242740736459,
      -3.1244934695806776,
      -3.1250661708231977,
      -3.125672542088072,
      -3.1253187374083398,
      -3.1218177239744556,
      -3.1196745319339656,
      -3.11882085001183
    ],
    "yaw_diff": [
      -0.0006191551452099375,
      -0.003207961245519364,
      -0.0025014576884370143,
      -0.0011454024850401368,
      -0.0012127425297485672,
      0.0007076093594644561,
      0.007002026867768407,
      0.004286384080979921,
      0.0017073638442708372,
      0.0017073638442708372
    ],
    "min_front_frame": [
      8,
      67.2188766430281
    ],
    "v_avg": 2.7961476164706256,
    "v_std": 1.720132368221661,
    "vy_max": 0.05577282681866144,
    "a_max": 1.9662928867115395,
    "ax_avg": 1.2418188461100175,
    "a_std": 0.25928007069525233,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "2e8d3c1cd8b15c97",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.295738302082428,
    "right_rear_min": 2.6878583679621095,
    "speed_mode": "accelerating",
    "front_frame": [
      69.34992540681458,
      69.90148382224777,
      70.18862220247405,
      70.08298810442655,
      69.81583135514217,
      69.37404491584559,
      68.8459843963717,
      68.1461616005774,
      67.2188766430281,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "2e8d3c1cd8b15c97",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d68c7a7e02265029": {
    "vx_ego": [
      5.192674644261303,
      5.692928045591134,
      6.1783915960177165,
      6.545443326498631,
      6.845138197591622,
      7.15824345905288,
      7.464777653922685,
      7.815926909774412,
      8.254429299662092,
      8.749143941539169
    ],
    "vy_ego": [
      -0.05061612208685151,
      -0.010064727077643276,
      -0.07752033124209712,
      -0.14201470491540147,
      -0.15412591785643553,
      -0.15462836078169517,
      -0.15165670241440798,
      -0.1522861128399593,
      -0.20035725951329564,
      -0.03660840869816262
    ],
    "v_ego": [
      5.192921331290256,
      5.692936942476109,
      6.178877901002594,
      6.546983772457182,
      6.846873136160985,
      7.159913361838352,
      7.466318046928531,
      7.817410346086464,
      8.256860547118361,
      8.749220530159183
    ],
    "ax_ego": [
      0.9199085429618583,
      1.0884387721236894,
      0.9016531381799271,
      0.653478173714644,
      0.6639399788691052,
      0.6808177929837518,
      0.6164145554862539,
      0.854872742370253,
      0.9567625529120171,
      1.050970427375883
    ],
    "ay_ego": [
      1.4537370998386465,
      1.3322478527232473,
      1.6821102373239016,
      1.9475093163363306,
      2.256857859324074,
      2.18528938103756,
      1.9659000482849582,
      1.8214972291255243,
      1.4719369574053274,
      1.4062198089193387
    ],
    "a_ego": [
      1.7203439431873757,
      1.7203439486764929,
      1.9085264556981083,
      2.0542215705074827,
      2.352493080273255,
      2.288886748207257,
      2.0602742303057906,
      2.012128117531187,
      1.7555605911589531,
      1.7555605914396084
    ],
    "yaw": [
      0.9743452400539803,
      1.095182294491831,
      1.2327471243689947,
      1.3844823092112684,
      1.5429793228443862,
      1.7013767028277251,
      1.8425200306760297,
      1.966855121849099,
      2.075372499996032,
      2.1408131697058934
    ],
    "yaw_diff": [
      0.2416741088757015,
      0.27512965975432735,
      0.3034703696845473,
      0.3169940272662357,
      0.31679475996667783,
      0.28228665569660905,
      0.2486701823461388,
      0.2170347562938657,
      0.13088133941972302,
      0.13088133941972302
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.990831591551801,
    "v_std": 1.068956265266773,
    "vy_max": 0.20035725951329564,
    "a_max": 2.352493080273255,
    "ax_avg": 0.8387256676977382,
    "a_std": 0.22020387914887768,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "d68c7a7e02265029",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.148492374442865,
    "right_rear_min": 46.922643779344476,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d68c7a7e02265029",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "25b5cecdb3b75e7c": {
    "vx_ego": [
      2.4439635419140164,
      3.231863518478101,
      3.99682473483343,
      4.716640672405815,
      5.373495637547261,
      5.981410024898361,
      6.5222481378192905,
      6.92796778200486,
      7.225027843706592,
      7.489525390335032
    ],
    "vy_ego": [
      -0.03922054841939948,
      -0.010542511679149547,
      -0.007237732678447406,
      -0.020629980152198524,
      -0.016591297026156582,
      0.015449290882403544,
      0.03393247367249996,
      0.022655915190493037,
      -0.005410296733662445,
      -0.014337849825678983
    ],
    "v_ego": [
      2.4442782259029396,
      3.231880713550882,
      3.9968312881269634,
      4.716685788631024,
      5.373521251272433,
      5.9814299767316,
      6.522336405311883,
      6.928004826715298,
      7.225029869394747,
      7.489539114418907
    ],
    "ax_ego": [
      1.5758343297372286,
      1.5760882285286404,
      1.4837277176090498,
      1.395700311074628,
      1.2322060787772575,
      1.1995816444442824,
      0.9632053942576474,
      0.6600799194357326,
      0.5283517586625406,
      0.5293251856826453
    ],
    "ay_ego": [
      0.07887788621818892,
      0.07363052656420366,
      -0.01667126941180247,
      0.005919057673695993,
      0.09358352340967552,
      0.14338950071461112,
      0.018730676927684042,
      -0.12353508757729248,
      -0.13093666922740532,
      -0.1269442025116357
    ],
    "a_ego": [
      1.5778071985235174,
      1.5778071994222456,
      1.4838213744333113,
      1.3957128621523691,
      1.2357547072252624,
      1.2081211324212626,
      0.9633874972124141,
      0.6715403322995668,
      0.5443344488732699,
      0.5443344401645758
    ],
    "yaw": [
      -0.3331458356703608,
      -0.3298162179643316,
      -0.326800397357082,
      -0.32434965555219086,
      -0.32023615883454726,
      -0.315448255548321,
      -0.3119383809679471,
      -0.31414517347932847,
      -0.3191574152291978,
      -0.3267068551558509
    ],
    "yaw_diff": [
      0.006659235412058484,
      0.006031641214499173,
      0.0049014836097822645,
      0.008226993435287211,
      0.009575806572452494,
      0.007019749160747768,
      -0.004413585022762678,
      -0.010024483499738723,
      -0.015098879853306157,
      -0.015098879853306157
    ],
    "min_front_frame": [
      5,
      17.693920539779395
    ],
    "v_avg": 5.390953746005667,
    "v_std": 1.6583763830466394,
    "vy_max": 0.03922054841939948,
    "a_max": 1.5778071994222456,
    "ax_avg": 1.1144100568209652,
    "a_std": 0.39206472042132473,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "25b5cecdb3b75e7c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.730138088891617,
    "speed_mode": "accelerating",
    "front_frame": [
      28.432000488242387,
      27.0058039384185,
      25.184814949683393,
      22.96603097630811,
      20.464963139402126,
      17.693920539779395,
      19.707438139326587,
      22.183309394240727,
      18.70910723575279,
      20.21604459867547
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "25b5cecdb3b75e7c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "14743d928b9257a1": {
    "vx_ego": [
      2.6238916313520533,
      1.8681658360530717,
      1.2152409375591255,
      0.789849011733685,
      0.5485689103020126,
      0.3439804258750066,
      0.12182953425273399,
      -0.007971161905455186,
      -0.02317985804914409,
      -0.011014874591879343
    ],
    "vy_ego": [
      -0.09005362705547879,
      -0.043481362578689724,
      -0.000491751065609513,
      0.03470571123773421,
      0.025281851056075676,
      -0.006770338779976172,
      -0.011456923764201599,
      -0.002127477456656196,
      0.0024944836805232394,
      -0.0010652198646172262
    ],
    "v_ego": [
      2.6254365253849095,
      1.8686717796037837,
      1.2152410370534288,
      0.7906111229480622,
      0.5491511825925163,
      0.34404704746930553,
      0.12236705650777423,
      0.008250186813130977,
      0.023313692715030514,
      0.011066262044376335
    ],
    "ax_ego": [
      -1.5114151637886044,
      -1.5113749815936204,
      -1.1002526830447488,
      -0.6013602464480131,
      -0.3638165656338271,
      -0.4545377964509721,
      -0.43403258530801464,
      -0.08516184605320715,
      0.024330039254910826,
      0.02432980359897792
    ],
    "ay_ego": [
      0.09472428723106777,
      0.09536331584810959,
      0.0818767344637104,
      0.06106994243013217,
      -0.09804245242909351,
      -0.029914531906779375,
      0.011702390977481492,
      0.025628459420248766,
      -0.00712015758112741,
      -0.007120985924788125
    ],
    "a_ego": [
      1.5143805624484117,
      1.5143805654447178,
      1.1032949588363075,
      0.6044532106593816,
      0.3767954563259805,
      0.45552111654862615,
      0.4341903166397759,
      0.08893457120515898,
      0.025350492187048122,
      0.02535049868751835
    ],
    "yaw": [
      1.5920522701741735,
      1.5924750777389167,
      1.5933610661168378,
      1.5939345776233185,
      1.5942171847390623,
      1.594354729948365,
      1.5949345154321333,
      1.5951796506667146,
      1.5950049077145816,
      1.5950389333348751
    ],
    "yaw_diff": [
      0.0008456151294864434,
      0.001771976755842175,
      0.0011470230129613235,
      0.0005652142314875874,
      0.00027509041860529493,
      0.001159570967536716,
      0.0004902704691627235,
      -0.00034948590426608916,
      6.805124058706369e-05,
      6.805124058706369e-05
    ],
    "min_front_frame": [
      6,
      9.887272585946596
    ],
    "v_avg": 0.7558155893132317,
    "v_std": 0.849105352051861,
    "vy_max": 0.09005362705547879,
    "a_max": 1.5143805654447178,
    "ax_avg": -0.6013292025467118,
    "a_std": 0.542521296526377,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "14743d928b9257a1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.447734858346297,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.897994482834427,
      11.83105983679992,
      11.103616466718755,
      10.604056626031067,
      10.275162545670083,
      10.037238988802603,
      9.887272585946596,
      9.901072587334054,
      9.903461177190414,
      9.903782029925537
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "14743d928b9257a1",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "7e5bb23808a850ca": {
    "vx_ego": [
      3.5456814147003066,
      3.616861843745,
      3.673531219587781,
      3.7160033240936663,
      3.802390816903433,
      3.9065323438883546,
      4.0067618723231195,
      4.138630509427227,
      4.2845524937037185,
      4.436392660461804
    ],
    "vy_ego": [
      0.010837491032915425,
      0.02745870019510721,
      0.013349815390687692,
      -0.017868530532530347,
      -0.022836795194604687,
      -0.003126845662124067,
      0.021197832062730848,
      0.0068418645696715075,
      -0.01571658700713674,
      -0.04740213644872693
    ],
    "v_ego": [
      3.5456979772342505,
      3.616966073514498,
      3.673555476491005,
      3.716046284568933,
      3.802459394087768,
      3.9065335952746696,
      4.006817945650442,
      4.138636164809931,
      4.2845813193834825,
      4.436645895306416
    ],
    "ax_ego": [
      0.12973732828936835,
      0.15081265579166653,
      0.06918787287960469,
      0.1031735342996348,
      0.24858404096698603,
      0.174091926221928,
      0.2232448787161534,
      0.3029492818551782,
      0.2841833916109653,
      0.33207451867347704
    ],
    "ay_ego": [
      0.40900687706915684,
      0.401713751959786,
      0.311130748608773,
      0.3822821095880722,
      0.4400505382925674,
      0.5446736228422383,
      0.4971224177311083,
      0.5723522606383156,
      0.6269095409514074,
      0.6029115107127567
    ],
    "a_ego": [
      0.4290902001229202,
      0.4290901952510033,
      0.31873077115876314,
      0.3959600857295906,
      0.5054092417784369,
      0.5718193370250346,
      0.5449485976528544,
      0.6475842629607043,
      0.6883137167043932,
      0.6883137189553613
    ],
    "yaw": [
      -0.944500875211463,
      -0.8925210162864725,
      -0.8399205653871087,
      -0.7845031016522201,
      -0.7282361385377703,
      -0.6696389374431461,
      -0.6098860205549123,
      -0.5405701630788736,
      -0.46410561220301727,
      -0.3862618611378051
    ],
    "yaw_diff": [
      0.10395971784998093,
      0.10520090179872765,
      0.11083492746977708,
      0.1125339262288998,
      0.11719440218924837,
      0.11950583377646762,
      0.13863171495207727,
      0.1529291017517127,
      0.15568750213042437,
      0.15568750213042437
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.912794012632139,
    "v_std": 0.28335897893636186,
    "vy_max": 0.04740213644872693,
    "a_max": 0.6883137189553613,
    "ax_avg": 0.20180394293049622,
    "a_std": 0.12200189248037585,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "7e5bb23808a850ca",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "7e5bb23808a850ca",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "1b25edea36205814": {
    "vx_ego": [
      -0.11150493988680861,
      0.15331443707778125,
      0.6225939735204816,
      1.3381260334749405,
      2.0982539724565523,
      2.8272541934617506,
      3.4517128687997944,
      3.9998138802192584,
      4.511458067853133,
      4.991994125349229
    ],
    "vy_ego": [
      -0.003081987851139077,
      0.0013107752657075047,
      0.009246088046302864,
      0.011818772229171104,
      -4.0894636368249415e-05,
      -0.02109649801531721,
      -0.06086378583369234,
      -0.04128879481238085,
      -0.03738868503003262,
      0.1025993215842681
    ],
    "v_ego": [
      0.11154752470707438,
      0.15332004026960774,
      0.6226626261533466,
      1.3381782261120463,
      2.0982539728550673,
      2.827332901636375,
      3.4522494303083198,
      4.000026980030472,
      4.511612994458345,
      4.993048364307196
    ],
    "ax_ego": [
      0.5296352655374188,
      0.5296462335359472,
      1.3473958020014098,
      1.5141977983736217,
      1.5288956763768315,
      1.3952519829436572,
      1.10631366993028,
      1.0888205378373643,
      0.9579920358823738,
      0.9696948751537852
    ],
    "ay_ego": [
      0.00916595313431115,
      0.008508822478233674,
      0.0330943678043184,
      0.07568437887163232,
      0.22471002802899412,
      0.37606799800258683,
      0.18064682040215269,
      0.12702309218142321,
      -0.24709205934094355,
      -0.19620162613899975
    ],
    "a_ego": [
      0.5297145733295927,
      0.529714576690864,
      1.3478021681357357,
      1.5160880903841663,
      1.5453208682796464,
      1.4450450633215148,
      1.1209653027618707,
      1.0962048301133223,
      0.9893448471606873,
      0.9893448483714377
    ],
    "yaw": [
      -0.3106040663932531,
      -0.3093633747609309,
      -0.3007348636782462,
      -0.2750752463167364,
      -0.2244215119334245,
      -0.15538143146802547,
      -0.09904605462424995,
      -0.08366458203315003,
      -0.0916040139134115,
      -0.14439123276152105
    ],
    "yaw_diff": [
      0.002481383264644421,
      0.017257022165369396,
      0.05131923472301958,
      0.10130746876662383,
      0.13808016093079806,
      0.11267075368755103,
      0.030762945182199852,
      -0.015878863760522943,
      -0.1055744376962191,
      -0.1055744376962191
    ],
    "min_front_frame": [
      4,
      13.205345020727751
    ],
    "v_avg": 2.410823306083785,
    "v_std": 1.7231829933494358,
    "vy_max": 0.1025993215842681,
    "a_max": 1.5453208682796464,
    "ax_avg": 1.096784387757269,
    "a_std": 0.3501565328710414,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "1b25edea36205814",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      14.96967800798465,
      14.907651232246666,
      14.637424281184295,
      14.10295807548343,
      13.205345020727751,
      36.38488346374444,
      -1,
      -1,
      -1,
      55.79519818951334
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "1b25edea36205814",
    "maneuvering": "Yes"
  },
  "a9853ab9c01c53d2": {
    "vx_ego": [
      0.6985080578345337,
      0.617148132882572,
      0.7010189733573321,
      1.150509300547679,
      1.9479483788013914,
      2.96644519467535,
      4.0409338789271265,
      5.059278137592932,
      5.982834847784606,
      6.851661056652932
    ],
    "vy_ego": [
      -0.03613475577743208,
      -0.016043398383881982,
      -0.014622383560321778,
      -0.004252560129552135,
      0.020774637166858456,
      0.010316069503136405,
      -0.01527260067105829,
      0.0013305657409673488,
      0.021490925673027683,
      0.025858552908973764
    ],
    "v_ego": [
      0.6994420829738992,
      0.6173566299572304,
      0.7011714591367457,
      1.150517159765279,
      1.9480591551655673,
      2.966463132132686,
      4.04096274001534,
      5.059278312559114,
      5.982873446409521,
      6.851709852293289
    ],
    "ax_ego": [
      -0.16285835164101548,
      -0.16299825877077806,
      0.4986281750082724,
      1.2993205055347996,
      1.890709979016455,
      2.183806678981447,
      2.114165724625371,
      1.9585920451630865,
      1.7370507812013558,
      1.7394007815319414
    ],
    "ay_ego": [
      0.035236488661494626,
      0.03458353338432971,
      -0.01910210954488898,
      0.06004225111819719,
      0.011770289156568747,
      -0.0974861082214469,
      -0.1215672624369353,
      -0.09824352204774214,
      -0.18141278572438804,
      -0.15729253257180587
    ],
    "a_ego": [
      0.16662668703548147,
      0.16662668796939634,
      0.49899393533503517,
      1.300707056958848,
      1.890746615614909,
      2.1859815078037923,
      2.1176579776907154,
      1.9610544584484306,
      1.74649821508541,
      1.7464982163165186
    ],
    "yaw": [
      0.15744225616520455,
      0.15343471491854516,
      0.1576842395789256,
      0.157520998708699,
      0.15272602803028384,
      0.14819386790684558,
      0.1398877110396482,
      0.1242287612457776,
      0.10799583158329504,
      0.09411969581406782
    ],
    "yaw_diff": [
      -0.008015082493318781,
      0.008499049320760899,
      -0.00032648174045318834,
      -0.009589941356830334,
      -0.009064320246876534,
      -0.016612313734394757,
      -0.0313178995877412,
      -0.032465859324965124,
      -0.027752271538454443,
      -0.027752271538454443
    ],
    "min_front_frame": [
      9,
      30.62666463848777
    ],
    "v_avg": 3.0017833970408674,
    "v_std": 2.2324842985051974,
    "vy_max": 0.03613475577743208,
    "a_max": 2.1859815078037923,
    "ax_avg": 1.3095818060650937,
    "a_std": 0.7607790596383245,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "a9853ab9c01c53d2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.757591853384287,
    "speed_mode": "accelerating",
    "front_frame": [
      43.8302973221238,
      43.4642479546544,
      43.15992377827198,
      42.69420642362002,
      41.86162723654341,
      40.65521794336426,
      38.80364367842795,
      36.5211885190081,
      33.81430678327935,
      30.62666463848777
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "a9853ab9c01c53d2",
    "pedestrians": "No"
  },
  "5c34deba76605c7b": {
    "vx_ego": [
      0.5814073484299291,
      1.1309219897692842,
      1.7497392089701664,
      2.4682279108532876,
      3.2655341424201585,
      4.135239689396187,
      4.990289813842682,
      5.729444959181788,
      6.254690042888929,
      6.643575889970202
    ],
    "vy_ego": [
      -0.026627559569884354,
      -0.0016643340464686344,
      0.023406867597019196,
      0.012760216304517957,
      -0.0160416445852892,
      -0.007235645814221495,
      0.0035656239911556475,
      0.010846381973064118,
      0.022991426109336605,
      0.0075796011674344466
    ],
    "v_ego": [
      0.582016779600871,
      1.130923214436566,
      1.7498957628551046,
      2.4682608944427495,
      3.2655735437550266,
      4.1352460196858685,
      4.990291087683811,
      5.7294552257867855,
      6.254732299490398,
      6.643580213721154
    ],
    "ax_ego": [
      1.0990299754428627,
      1.0990412277880504,
      1.3762418597083574,
      1.4977347334571247,
      1.691417024982577,
      1.7870357759612616,
      1.633397223181085,
      1.3231560852755115,
      0.7777255470060462,
      0.7777108296581917
    ],
    "ay_ego": [
      0.05043169293445179,
      0.05018619348689765,
      0.048302289806332915,
      -0.09216777981749595,
      -0.058961607809926965,
      0.03632926642556714,
      -0.07834730276226204,
      0.07803706599104235,
      -0.007821068141175192,
      -0.009167446897548085
    ],
    "a_ego": [
      1.1001864580943423,
      1.1001864725557071,
      1.3770892373459511,
      1.5005679696169618,
      1.6924443930588808,
      1.7874050129068364,
      1.6352751415421811,
      1.3254553216423808,
      0.7777648716499883,
      0.777764859485341
    ],
    "yaw": [
      -1.5432199979804833,
      -1.5429966213905892,
      -1.5433160964652248,
      -1.543468795216542,
      -1.5466279642985148,
      -1.5505494286503492,
      -1.5551993372584256,
      -1.556562329587789,
      -1.5556697988588652,
      -1.5539386064253815
    ],
    "yaw_diff": [
      0.00044675317978803974,
      -0.000638950149271178,
      -0.0003053975026343636,
      -0.006318338163945558,
      -0.007842928703668761,
      -0.009299817216152917,
      -0.0027259846587268655,
      0.0017850614578476254,
      0.003462384866967483,
      0.003462384866967483
    ],
    "min_front_frame": [
      0,
      12.392640529818735
    ],
    "v_avg": 3.694997504145834,
    "v_std": 2.0735196899882795,
    "vy_max": 0.026627559569884354,
    "a_max": 1.7874050129068364,
    "ax_avg": 1.3062490282461068,
    "a_std": 0.342865017406724,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5c34deba76605c7b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.670482570815022,
    "right_rear_min": 7.254092663842417,
    "speed_mode": "accelerating",
    "front_frame": [
      12.392640529818735,
      13.240721077864547,
      14.203526985762725,
      15.27023291943093,
      16.26291142550619,
      17.1762568422072,
      17.857183856144147,
      18.369177363898437,
      18.75711851414973,
      19.125317161238815
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5c34deba76605c7b",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "fa861c2b864254dc": {
    "vx_ego": [
      4.628370584212231,
      4.902647966012346,
      5.154738620920961,
      5.3537926920461345,
      5.508626130873234,
      5.6273701221813255,
      5.813693124320086,
      6.054304147573462,
      6.252167553406205,
      6.431924478762394
    ],
    "vy_ego": [
      0.07005932568923834,
      0.022456756024153535,
      -0.01873421866724101,
      -0.037641226748461154,
      -0.017706872705383514,
      0.002532712458640507,
      0.017279666261560855,
      0.010499110194887251,
      -0.008919188026595304,
      -0.01940183516890226
    ],
    "v_ego": [
      4.628900795428337,
      4.9026993977334685,
      5.154772664333821,
      5.353925013609896,
      5.508654589196932,
      5.627370692130692,
      5.813718803883857,
      6.054313251116109,
      6.252173915349795,
      6.4319537414156525
    ],
    "ax_ego": [
      0.5123835536236828,
      0.5678503685246247,
      0.43548900093723,
      0.35976886463187346,
      0.25991920169788296,
      0.21505470566175156,
      0.5302110362763941,
      0.43192616006352225,
      0.3595712707195102,
      0.3596025906911693
    ],
    "ay_ego": [
      0.7025246370547804,
      0.6585011238808577,
      0.5227645674258092,
      0.24967341994900735,
      0.08808291494140952,
      0.024481412417662288,
      0.07116058459502425,
      -0.029271071003104304,
      0.012505361827437722,
      0.011569748235180755
    ],
    "a_ego": [
      0.8695273265935834,
      0.8695273263019999,
      0.6803921390589401,
      0.43791603371826965,
      0.2744386840732195,
      0.21644367854300173,
      0.5349650192201293,
      0.43291685500207566,
      0.359788664081122,
      0.35978866339286747
    ],
    "yaw": [
      2.3386707591323495,
      2.420133050106407,
      2.4868063566509537,
      2.5270796647831704,
      2.5389289742249077,
      2.540346637180157,
      2.5419596141305374,
      2.5448610768549838,
      2.5473320555121957,
      2.549933964357226
    ],
    "yaw_diff": [
      0.16292458194811488,
      0.13334661308909368,
      0.08054661626443327,
      0.023698618883474687,
      0.0028353259104987316,
      0.0032259539007606364,
      0.005802925448892715,
      0.004941957314423817,
      0.005203817690060397,
      0.005203817690060397
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.572848286419856,
    "v_std": 0.5531109435495568,
    "vy_max": 0.07005932568923834,
    "a_max": 0.8695273265935834,
    "ax_avg": 0.4031776752827641,
    "a_std": 0.2203842974366486,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "fa861c2b864254dc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "fa861c2b864254dc",
    "pedestrians": "No"
  },
  "2731fa425acf52f4": {
    "vx_ego": [
      2.4730869942553952,
      2.250485085871727,
      2.0457109625295247,
      1.8630229280536434,
      1.7342070437745831,
      1.6836294349560048,
      1.7135031966697418,
      1.7970422079159896,
      1.9146984408580967,
      2.031299213666651
    ],
    "vy_ego": [
      0.0377462618609693,
      -0.010199928181546802,
      -0.05580875064768184,
      -0.06672332442637452,
      -0.049100757874264156,
      -0.03397064538708339,
      -0.03377974150469665,
      -0.046010623938839035,
      -0.05507120930980247,
      -0.011680694452656182
    ],
    "v_ego": [
      2.473375034530684,
      2.250508200444065,
      2.046472076247885,
      1.864217378010429,
      1.7349020015842986,
      1.6839721134859362,
      1.713836128669701,
      1.7976311286097646,
      1.9154902655767452,
      2.0313327974671336
    ],
    "ax_ego": [
      -0.5151364626578101,
      -0.37791325363010964,
      -0.41951966325744355,
      -0.2715009398746836,
      -0.21972653986263452,
      0.03150070643429689,
      0.0976982774220149,
      0.24512831126821777,
      0.2332565108399799,
      0.23423361461629535
    ],
    "ay_ego": [
      0.7151117329893579,
      0.7961984287130673,
      0.7482650851412579,
      0.677021710464835,
      0.5197071192925691,
      0.4059130788841947,
      0.31669550208254954,
      0.2076781573611947,
      0.1200995814163811,
      0.11818258341110602
    ],
    "a_ego": [
      0.8813344233709722,
      0.8813344229941623,
      0.8578446161753845,
      0.7294320782592217,
      0.5642475008038463,
      0.407133543343098,
      0.33142268246236123,
      0.32127574765324163,
      0.26235950393616697,
      0.2623595038071581
    ],
    "yaw": [
      2.896363049635131,
      3.0774615013036266,
      -3.005896849364165,
      -2.8167612667455657,
      -2.6599754492652408,
      -2.531227790392286,
      -2.424565651427362,
      -2.3420924680914994,
      -2.293105142218532,
      -2.28490395277536
    ],
    "yaw_diff": [
      0.36219690333699095,
      0.399653913023589,
      0.37827116523719884,
      0.3135716349606499,
      0.25749531774590917,
      0.2133242779298481,
      0.16494636667172546,
      0.09797465174593523,
      0.016402378886343882,
      0.016402378886343882
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.9511737124626645,
    "v_std": 0.2418081733844992,
    "vy_max": 0.06672332442637452,
    "a_max": 0.8813344233709722,
    "ax_avg": -0.09619794387018765,
    "a_std": 0.25153683104795427,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "2731fa425acf52f4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "2731fa425acf52f4",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "b814c5b773165d87": {
    "vx_ego": [
      12.835004563267828,
      12.344619198515332,
      11.861441870653199,
      11.387816404697768,
      10.898243735342573,
      10.401456765823625,
      9.883879776611007,
      9.245433716795281,
      8.497849236954234,
      7.72913829754852
    ],
    "vy_ego": [
      0.014109933350313852,
      -0.011939983078339544,
      -0.034818687588831665,
      -0.028711760863769697,
      0.0005562236094442952,
      0.0121805371068886,
      0.004523285808654798,
      -0.00743749366062918,
      -0.029960041049192476,
      -0.05437471723275866
    ],
    "v_ego": [
      12.835012319017272,
      12.34462497281911,
      11.861492974827843,
      11.387852599692161,
      10.89824374953682,
      10.401463897778152,
      9.883880811635406,
      9.245436708342497,
      8.4979020503924,
      7.729329559056553
    ],
    "ax_ego": [
      -0.9812291756689464,
      -0.9802764208935453,
      -0.9529936577305719,
      -0.9424226922558976,
      -1.0165772171575718,
      -0.9701300033627367,
      -1.0999275167459284,
      -1.4534995414072016,
      -1.5379063538595377,
      -1.5375275015138572
    ],
    "ay_ego": [
      -0.18056041119614968,
      -0.1856634103795059,
      -0.15360422062360696,
      -0.14210291092656058,
      -0.05017951567447565,
      -0.15083235827929875,
      -0.15734759073755578,
      -0.24619468071941863,
      -0.10380074629042957,
      -0.10926912202675865
    ],
    "a_ego": [
      0.9977037422377861,
      0.9977037452638975,
      0.9652933068596716,
      0.9530759508940807,
      1.0178149253362114,
      0.981785426520825,
      1.1111250183511205,
      1.4742024072987678,
      1.5414053808690262,
      1.541405384361928
    ],
    "yaw": [
      -0.5687386264692951,
      -0.5739417628096726,
      -0.5790607718400711,
      -0.5859463669608646,
      -0.5928811053070713,
      -0.5986944129136114,
      -0.6055246319446165,
      -0.6147790298663924,
      -0.6220943428308097,
      -0.625650508738206
    ],
    "yaw_diff": [
      -0.010406272680755002,
      -0.01023801806079705,
      -0.013771190241586906,
      -0.013869476692413452,
      -0.011626615213080171,
      -0.013660438062010227,
      -0.018508795843551917,
      -0.014630625928834462,
      -0.0071123318147927606,
      -0.0071123318147927606
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.508523964309822,
    "v_std": 1.5906914486031838,
    "vy_max": 0.05437471723275866,
    "a_max": 1.541405384361928,
    "ax_avg": -1.1472490080595794,
    "a_std": 0.24029217998019958,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b814c5b773165d87",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b814c5b773165d87",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4421e25bf73a553b": {
    "vx_ego": [
      4.934852634310352,
      4.741827258979846,
      4.528313961229474,
      4.21945605117315,
      3.750639659331572,
      3.161601652946919,
      2.562608265034679,
      2.077060833466977,
      1.701425830359218,
      1.34670214065568
    ],
    "vy_ego": [
      -0.07495813149865338,
      -0.011889642715290805,
      -0.03448298685158835,
      -0.013036846750690056,
      0.004411960493819533,
      -0.009894383210885538,
      -0.039406164300955115,
      -0.027116798972815714,
      0.005239067458850943,
      0.03551068733821444
    ],
    "v_ego": [
      4.93542189116975,
      4.741842164982742,
      4.528445252826622,
      4.219476191087576,
      3.750642254274093,
      3.161617135381167,
      2.5629112286243863,
      2.0772378358553616,
      1.7014338964653881,
      1.3471702433478197
    ],
    "ax_ego": [
      -0.3861943403989161,
      -0.38440713175991775,
      -0.46553413504538643,
      -0.7667372626128368,
      -1.1102517773730594,
      -1.2464501112628699,
      -1.1479618664052595,
      -0.7914896768549384,
      -0.7107472021785513,
      -0.7092461938666818
    ],
    "ay_ego": [
      0.20726673495932454,
      0.2105628834482069,
      0.2855960651102785,
      0.3130050215599104,
      0.12949173705994987,
      0.040245078059320205,
      0.031059239478674172,
      0.14816415808797867,
      0.09926823599475909,
      0.10947882577408247
    ],
    "a_ego": [
      0.4382984918715244,
      0.43829849513078406,
      0.5461567021459414,
      0.8281655470983723,
      1.1177777592736584,
      1.247099653666547,
      1.1483819587043507,
      0.8052381798634827,
      0.7176459907796807,
      0.7176459968586508
    ],
    "yaw": [
      -2.101009651714598,
      -2.092454946032368,
      -2.0608910643110825,
      -2.031831996041923,
      -2.0087010320868424,
      -1.9923644618716834,
      -1.975753867261429,
      -1.9614628813832655,
      -1.9457634335722855,
      -1.9313824984783587
    ],
    "yaw_diff": [
      0.017109411364460314,
      0.0631277634425711,
      0.058118136538318765,
      0.04626192791016148,
      0.03267314043031799,
      0.03322118922050876,
      0.02858197175632693,
      0.031398895621959966,
      0.02876187018785359,
      0.02876187018785359
    ],
    "min_front_frame": [
      9,
      20.64814983742694
    ],
    "v_avg": 3.3026198094014907,
    "v_std": 1.2544956051473688,
    "vy_max": 0.07495813149865338,
    "a_max": 1.247099653666547,
    "ax_avg": -0.7719019697758417,
    "a_std": 0.2761749549115624,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "4421e25bf73a553b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.6515985767628347,
    "right_rear_min": 12.121706790798228,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      30.811103639976935,
      28.620329201393275,
      26.625917684588195,
      24.85392102571961,
      23.462602543748066,
      22.34261439700086,
      21.41131134448677,
      20.64814983742694
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "4421e25bf73a553b",
    "maneuvering": "Yes"
  },
  "8f82805b2edb5a25": {
    "vx_ego": [
      2.4886195882800908,
      2.5722457818421076,
      2.6907735354914837,
      2.792550331805037,
      2.9235130622781327,
      3.0786225585657903,
      3.1914000655184376,
      3.2063946100255243,
      3.1481411125298306,
      3.081441199640224
    ],
    "vy_ego": [
      0.05396886885561447,
      0.02368060664532684,
      0.026693612134807226,
      0.03993492182820679,
      0.04473418773388038,
      0.050773355633147554,
      0.058010567648639766,
      0.05964409708474472,
      0.0320660060923561,
      -0.0021771304099309496
    ],
    "v_ego": [
      2.489204711143084,
      2.5723547837216403,
      2.6909059381981644,
      2.7928358622815352,
      2.923855292736471,
      3.079041213064941,
      3.19192725546025,
      3.2069493001165124,
      3.1483044155778956,
      3.081441968744017
    ],
    "ax_ego": [
      0.09903292913670941,
      0.25964572424694576,
      0.2322982282614302,
      0.19566996879819995,
      0.3373294896386262,
      0.2939467844750781,
      0.1644206040915514,
      -0.09804873869817408,
      -0.1334200252823015,
      -0.13326283886027762
    ],
    "ay_ego": [
      -0.9442977338935928,
      -0.91328518534962,
      -0.915944014740402,
      -0.8952817387762483,
      -0.6864536646297006,
      -0.5168059481772834,
      -0.2984016959613183,
      -0.17337468930903555,
      -0.08050058884199487,
      -0.08076053268440211
    ],
    "a_ego": [
      0.9494765564720233,
      0.9494765567926419,
      0.9449422760106383,
      0.9164148233609664,
      0.764859345411561,
      0.5945528573429438,
      0.34070178632114884,
      0.19917916069033784,
      0.15582441384532106,
      0.155824413557596
    ],
    "yaw": [
      -1.2904147518586258,
      -1.4629123963816584,
      -1.6371694827023973,
      -1.8064678630262603,
      -1.947146460192152,
      -2.049121868186509,
      -2.1160678438324956,
      -2.153065016644302,
      -2.164345297226923,
      -2.1662947634806304
    ],
    "yaw_diff": [
      -0.34499528904606525,
      -0.34851417264147777,
      -0.33859676064772604,
      -0.2813571943317834,
      -0.20395081598871379,
      -0.1338919512919734,
      -0.07399434562361318,
      -0.022560561165241744,
      -0.0038989325074147985,
      -0.0038989325074147985
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.917682074104451,
    "v_std": 0.25195685659484907,
    "vy_max": 0.05964409708474472,
    "a_max": 0.9494765567926419,
    "ax_avg": 0.1217612125807788,
    "a_std": 0.3336126023902486,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "8f82805b2edb5a25",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8f82805b2edb5a25",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f6c6b09c85e357ee": {
    "vx_ego": [
      3.9678838587662666,
      4.237504596666383,
      4.541042755904098,
      4.736415578746649,
      4.770227597923462,
      4.711022876031906,
      4.592775601533976,
      4.427581124415019,
      4.161340866573974,
      3.799239319352535
    ],
    "vy_ego": [
      -0.04867254190335635,
      0.0408004736251939,
      0.001817008055980729,
      0.02781637613580612,
      -0.004032005121245241,
      -0.07623393617955188,
      -0.08884719569380461,
      -0.08927882990948266,
      -0.06312600526978862,
      0.05085809742193215
    ],
    "v_ego": [
      3.96818237143824,
      4.237701014160481,
      4.541043119423923,
      4.736497259090865,
      4.770229301936746,
      4.711639645762541,
      4.593634895181421,
      4.4284811530304795,
      4.161819638134257,
      3.799579707255487
    ],
    "ax_ego": [
      0.42264181756842056,
      0.6516898893950999,
      0.551213367655503,
      0.21521657914331427,
      -0.0941555339446114,
      -0.15522724320613046,
      -0.31105909318443203,
      -0.3310443348306174,
      -0.725492797017062,
      -0.7226511483229647
    ],
    "ay_ego": [
      1.5007087414553821,
      1.4163520347046383,
      1.4560080966849775,
      1.3671288859832014,
      1.2651904977677426,
      0.7356913157547771,
      0.3049443929941238,
      0.4655146667790242,
      0.2992953311738604,
      0.3060927948983814
    ],
    "a_ego": [
      1.559087179293748,
      1.559087168233953,
      1.5568544422309787,
      1.3839651609877395,
      1.2686891897601174,
      0.7518890936237673,
      0.43560170140998733,
      0.5712217228098314,
      0.7848041117285961,
      0.7848041037489561
    ],
    "yaw": [
      0.21479089449181357,
      0.37150966139075203,
      0.5430780661047476,
      0.6880541691077893,
      0.831781449391773,
      0.9521899199260202,
      1.010565566298784,
      1.0533377365557322,
      1.0913300645720123,
      1.100717819756659
    ],
    "yaw_diff": [
      0.3134375337978769,
      0.3431368094279912,
      0.2899522060060833,
      0.2874545605679675,
      0.24081694106849438,
      0.11675129274552765,
      0.08554434051389626,
      0.07598465603256033,
      0.018775510369293258,
      0.018775510369293258
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.394880810541444,
    "v_std": 0.3217760086299085,
    "vy_max": 0.08927882990948266,
    "a_max": 1.559087179293748,
    "ax_avg": -0.04988684967434805,
    "a_std": 0.42052427269564197,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f6c6b09c85e357ee",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f6c6b09c85e357ee",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1b18327179f15a8f": {
    "vx_ego": [
      2.1563244657741265,
      2.6000694153771238,
      3.013488743157528,
      3.3849982001390124,
      3.7404747671501366,
      4.1360928320965336,
      4.5745146402845585,
      4.981753815672493,
      5.3106723343719535,
      5.701462824965974
    ],
    "vy_ego": [
      0.01548684408452361,
      -0.016143272001204023,
      -0.014029344771037566,
      0.004179514729656164,
      6.0660264475931314e-05,
      0.011163108610826367,
      0.04793186842539554,
      0.06251760831142666,
      0.10285473986011939,
      0.3201192624052611
    ],
    "v_ego": [
      2.156380078751371,
      2.6001195299467375,
      3.013521399899434,
      3.3850007803969158,
      3.7404747676420085,
      4.136107896406256,
      4.574765748996173,
      4.982146076874546,
      5.311668263415492,
      5.710442599889423
    ],
    "ax_ego": [
      0.8866703681772949,
      0.8882224341350805,
      0.7648781629707142,
      0.727964532882819,
      0.7057519763049811,
      0.8989571296064554,
      0.9033983099809161,
      0.796163655265708,
      0.6240716775105881,
      1.1124012553970897
    ],
    "ay_ego": [
      -0.12877479840027,
      -0.11759332703464936,
      -0.19811717993581118,
      -0.47220937820620645,
      -0.7375575362356724,
      -1.0688722641944697,
      -1.4649344846438221,
      -1.8301985205928517,
      -2.200008817669174,
      -1.9980159477675004
    ],
    "a_ego": [
      0.8959728179507959,
      0.8959728137973415,
      0.7901196245981826,
      0.867706204888033,
      1.0208217137759275,
      1.396643060353822,
      1.7210931267003062,
      1.9958715366341382,
      2.286810935887136,
      2.286810941145394
    ],
    "yaw": [
      0.5726382300964044,
      0.5600387863124766,
      0.5313249932044616,
      0.47335161336578296,
      0.3897313838708089,
      0.27165360103061303,
      0.11805066520386492,
      -0.05647363946524381,
      -0.25855878222563256,
      -0.49016519387826507
    ],
    "yaw_diff": [
      -0.025198887567855488,
      -0.05742758621603006,
      -0.11594675967735724,
      -0.1672404589899481,
      -0.23615556568039175,
      -0.3072058716534962,
      -0.34904860933821746,
      -0.4041702855207775,
      -0.46321282330526503,
      -0.46321282330526503
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9610627142218364,
    "v_std": 1.1279067115588113,
    "vy_max": 0.3201192624052611,
    "a_max": 2.286810941145394,
    "ax_avg": 0.8308479502231647,
    "a_std": 0.5775556393762912,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "1b18327179f15a8f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.1913667488589725,
    "right_rear_min": 25.734121646343013,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1b18327179f15a8f",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4cc7fc580fe45bd1": {
    "vx_ego": [
      11.232398888868216,
      11.361449228236262,
      11.520696428453729,
      11.684005284907833,
      11.821953573310166,
      11.944806714460569,
      12.055880563679171,
      12.19303331906216,
      12.325050005521529,
      12.430152589343129
    ],
    "vy_ego": [
      -0.012434611848848753,
      0.010748741756229752,
      0.0351013077216753,
      0.05597510948716611,
      0.0525650558138504,
      0.02524793517569668,
      0.003709949319423256,
      0.008523052462115821,
      0.039805087364952474,
      0.0341940048162761
    ],
    "v_ego": [
      11.232405771615436,
      11.361454312773507,
      11.520749901737744,
      11.68413936542338,
      11.82207043519001,
      11.944833397919492,
      12.055881134509463,
      12.193036297911332,
      12.325114282779952,
      12.430199621257861
    ],
    "ax_ego": [
      0.25783868075321986,
      0.25837399543205847,
      0.3782779670725393,
      0.2739232976101672,
      0.2760320163129972,
      0.21309149209238237,
      0.2306468376161323,
      0.31813494443875995,
      0.20829495269234255,
      0.21063280949738594
    ],
    "ay_ego": [
      0.13608493051946527,
      0.13506583145757517,
      0.17063965952990529,
      0.19840617977678937,
      0.28472068185317745,
      0.26605700402322413,
      0.29988903123144356,
      0.3740936058586824,
      0.23606370985089153,
      0.23398009013311327
    ],
    "a_ego": [
      0.29154741227980147,
      0.2915474238316152,
      0.41498447413971423,
      0.338229190264897,
      0.3965596307048374,
      0.34087286983855397,
      0.37832710021257565,
      0.4910762352399107,
      0.3148219535319466,
      0.31482195446865185
    ],
    "yaw": [
      -1.9535308902924244,
      -1.9495825109198295,
      -1.9450250692018145,
      -1.9388791368927585,
      -1.9283121654388675,
      -1.9144356658778507,
      -1.9008484047854814,
      -1.8873362255880939,
      -1.8774561177523976,
      -1.8675088006431801
    ],
    "yaw_diff": [
      0.007896758745189913,
      0.009114883436029952,
      0.012291864618112047,
      0.021133942907781922,
      0.02775299912203355,
      0.027174522184738592,
      0.027024358394775128,
      0.019760215671392523,
      0.01989463421843496,
      0.01989463421843496
    ],
    "min_front_frame": [
      0,
      19.244548374875173
    ],
    "v_avg": 11.856988452111818,
    "v_std": 0.3857105224792972,
    "vy_max": 0.05597510948716611,
    "a_max": 0.4910762352399107,
    "ax_avg": 0.2625246993517985,
    "a_std": 0.060080073212348185,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4cc7fc580fe45bd1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.8602739419292424,
    "right_rear_min": 3.7607703907500785,
    "speed_mode": "accelerating",
    "front_frame": [
      19.244548374875173,
      19.450072533691877,
      19.539578470033028,
      19.638012235114005,
      34.419109409570964,
      34.74655327976624,
      34.87532183298225,
      34.899929307252854,
      34.823149822442225,
      34.48065863475084
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4cc7fc580fe45bd1",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "8d39d3f85647574c": {
    "vx_ego": [
      8.534903048683987,
      8.293869702039366,
      8.09751862867707,
      7.889853899962138,
      7.578664753899881,
      7.074748381410624,
      6.396607104597145,
      5.712767516862661,
      4.991550166811571,
      4.20990759512453
    ],
    "vy_ego": [
      -0.031223809232023836,
      -0.05821555045537652,
      -0.02782464784597094,
      -0.027403355686459907,
      -0.0015422051777598256,
      0.03056072692047218,
      0.01674616755930769,
      -0.023308360507246828,
      -0.02581232502537878,
      -0.035296631925391786
    ],
    "v_ego": [
      8.534960162572416,
      8.294074010082221,
      8.097566433984962,
      7.889901489033348,
      7.5786649108138535,
      7.074814387551248,
      6.3966290250967806,
      5.712815066269055,
      4.991616906766768,
      4.2100555592191995
    ],
    "ax_ego": [
      -0.48167060873432266,
      -0.4809709493489432,
      -0.3047330538725312,
      -0.5264302371087926,
      -0.7183568158610377,
      -1.2965207032827508,
      -1.4135864407612513,
      -1.3226876772633214,
      -1.5641271887889465,
      -1.5633770562433607
    ],
    "ay_ego": [
      0.08283901891502743,
      0.08680909782368243,
      -0.0696663425576425,
      -0.09008269086461262,
      -0.20107122815638323,
      -0.17707190245723292,
      -0.3014469442243436,
      -0.19666344560336557,
      -0.08680388032327002,
      -0.09940306268466803
    ],
    "a_ego": [
      0.4887421389375968,
      0.48874213403653394,
      0.31259499901284055,
      0.5340820964382058,
      0.7459665901944437,
      1.3085566066015726,
      1.4453708471137285,
      1.3372281788912572,
      1.5665340010188062,
      1.5665340050120995
    ],
    "yaw": [
      -0.6014420661967373,
      -0.5931937996336161,
      -0.5963876166526912,
      -0.6014189665828793,
      -0.6141342432650403,
      -0.631249530762783,
      -0.6469248059393263,
      -0.6609024904181955,
      -0.6736036499336322,
      -0.6816606308341183
    ],
    "yaw_diff": [
      0.016496533126242552,
      -0.006387634038150347,
      -0.010062699860376112,
      -0.025430553364321984,
      -0.03423057499548543,
      -0.03135055035308665,
      -0.027955368957738314,
      -0.02540231903087342,
      -0.016113961800972243,
      -0.016113961800972243
    ],
    "min_front_frame": [
      9,
      15.657746294378388
    ],
    "v_avg": 6.878109795138985,
    "v_std": 1.4162443027754252,
    "vy_max": 0.05821555045537652,
    "a_max": 1.5665340050120995,
    "ax_avg": -0.9672460731265259,
    "a_std": 0.4818594141149034,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "8d39d3f85647574c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 43.68901356385086,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      46.31239077000894,
      42.43348066516503,
      38.5495086892089,
      34.578267576127054,
      30.68887822015415,
      27.04872961198354,
      23.66741578115115,
      20.67960153437058,
      17.95817452458605,
      15.657746294378388
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 7,
    "token": "8d39d3f85647574c",
    "smoothness": "No"
  },
  "14f16328a6c0551e": {
    "vx_ego": [
      0.5339650200493291,
      1.1192652220482058,
      1.7799882976869261,
      2.4670187010653546,
      3.054808954423493,
      3.5163126726586484,
      3.880607299680925,
      4.22395223662249,
      4.546094019301713,
      4.944814570675996
    ],
    "vy_ego": [
      0.035272604011115566,
      -0.02296593654073903,
      -0.05808431169873263,
      -0.029298618235303664,
      -0.007998988941399832,
      -0.009070923713297319,
      0.0010766290483998908,
      0.027553512668200275,
      0.07527068794464409,
      0.1482810719526002
    ],
    "v_ego": [
      0.5351287688304615,
      1.1195008135449533,
      1.7809357448172904,
      2.46719267193235,
      3.054819427044754,
      3.516324372630719,
      3.8806074490299824,
      4.224042103640599,
      4.546717113346119,
      4.947037337100768
    ],
    "ax_ego": [
      1.1703633749576143,
      1.1709389621358306,
      1.4686773072452233,
      1.2724246559200503,
      1.0894710431033034,
      0.7850508488628303,
      0.6900000575230976,
      0.7098430932613966,
      0.6529861142519686,
      1.0158516730290479
    ],
    "ay_ego": [
      -0.126855517892198,
      -0.12142777156815443,
      -0.14026870373026912,
      -0.2521304480751353,
      -0.6447482053188502,
      -1.1389864466014374,
      -1.378358256550321,
      -1.546707896683868,
      -1.8605982023857786,
      -1.6900478959647351
    ],
    "a_ego": [
      1.177218226099934,
      1.1772182281785073,
      1.4753604109041456,
      1.2971639325234983,
      1.265957109076954,
      1.383327495874357,
      1.54141868510224,
      1.701817421086981,
      1.9718561144584246,
      1.9718561084041462
    ],
    "yaw": [
      1.1626685903314868,
      1.1580320818068741,
      1.1365761367800737,
      1.0775228160928365,
      0.9893836451977778,
      0.8557341196640729,
      0.6838071487333407,
      0.4972437559546213,
      0.29314713256442215,
      0.08946018745408843
    ],
    "yaw_diff": [
      -0.009273017049225452,
      -0.04291189005360074,
      -0.11810664137447446,
      -0.17627834179011748,
      -0.2672990510674098,
      -0.34385394186146434,
      -0.37312678555743883,
      -0.40819324678039826,
      -0.40737389022066745,
      -0.40737389022066745
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.0072305801918,
    "v_std": 1.418026045939256,
    "vy_max": 0.1482810719526002,
    "a_max": 1.9718561144584246,
    "ax_avg": 1.0025607130290362,
    "a_std": 0.28392269405497705,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "14f16328a6c0551e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "14f16328a6c0551e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ce01babf6dfb598e": {
    "vx_ego": [
      2.3714024184895193,
      2.215786274636709,
      2.0607414247357507,
      1.822654442736149,
      1.4277492336061854,
      0.9001056607109735,
      0.36328053893082785,
      0.024755753114174096,
      -0.05352427230476424,
      -0.018968452577755025
    ],
    "vy_ego": [
      0.009335145232828856,
      0.01264665927426012,
      0.015990049217026514,
      -0.0022053712319430874,
      -0.01837486203222871,
      -0.003063754508275618,
      0.0014241533195534506,
      0.009412249150808238,
      0.01587727955746698,
      1.9609172426007793e-05
    ],
    "v_ego": [
      2.371420792553371,
      2.2158223649153883,
      2.0608034601329392,
      1.822655776960667,
      1.4278674692063522,
      0.9001108748568841,
      0.36328333044409056,
      0.026484670024881012,
      0.05582952383730772,
      0.01896846271351963
    ],
    "ax_ego": [
      -0.3114990196031727,
      -0.3112514460920176,
      -0.3093888717596802,
      -0.6439932366430484,
      -0.9345477336485877,
      -1.1756224525431744,
      -0.9718400525282718,
      -0.3822403194744825,
      0.0691116295722059,
      0.0691089023875353
    ],
    "ay_ego": [
      0.03613631940319981,
      0.03821007206184765,
      0.06502629174187505,
      -0.02388473468007915,
      0.050691627468220424,
      0.05392945926483356,
      -0.025141663874936493,
      0.057553158703683854,
      -0.03171859972135867,
      -0.03172456127993614
    ],
    "a_ego": [
      0.31358806226281616,
      0.3135880614777032,
      0.3161485293124535,
      0.6444360087648169,
      0.9359215285284811,
      1.1768587585178716,
      0.9721652076476274,
      0.3865488687200182,
      0.07604266506645845,
      0.07604267339865364
    ],
    "yaw": [
      -0.46599328343690594,
      -0.4593333285668002,
      -0.44882576440073535,
      -0.4344673135604756,
      -0.4207023025990605,
      -0.4116206175390368,
      -0.4071518790587765,
      -0.40619789699701275,
      -0.4061076805638344,
      -0.4060215161681816
    ],
    "yaw_diff": [
      0.013319909740211466,
      0.021015128332129707,
      0.028716901680519547,
      0.02753002192283016,
      0.01816337012004743,
      0.008937476960520607,
      0.0019079641235274503,
      0.00018043286635671674,
      0.000172328791305576,
      0.000172328791305576
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.1263246725645402,
    "v_std": 0.9166010954286142,
    "vy_max": 0.01837486203222871,
    "a_max": 1.1768587585178716,
    "ax_avg": -0.49021626003326935,
    "a_std": 0.3692088308078791,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ce01babf6dfb598e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ce01babf6dfb598e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4e021aea953652b9": {
    "vx_ego": [
      0.8015033125977535,
      0.8143535248947037,
      0.8292440667853395,
      0.8422056936978171,
      0.8488206467877145,
      0.8046526076946751,
      0.6894351605244403,
      0.5467295628767715,
      0.3855024811896915,
      0.21058097938459472
    ],
    "vy_ego": [
      0.021759064458664323,
      0.015062314378974428,
      0.01152851429238344,
      0.008995455044350065,
      -0.0003073977939168637,
      -0.007257395090768282,
      -0.009303143829605953,
      -0.0006942195363709991,
      0.0030790944888761107,
      -0.009656320844585495
    ],
    "v_ego": [
      0.801798613737445,
      0.8144928095587338,
      0.8293242001415841,
      0.8422537317866132,
      0.8488207024492969,
      0.8046853353040206,
      0.6894979253431262,
      0.5467300036253638,
      0.3855147777015556,
      0.21080226139875416
    ],
    "ax_ego": [
      0.02569383711404001,
      0.025691004884619544,
      0.03382094765139468,
      0.018008223676930824,
      0.008442339498988575,
      -0.18511114532360207,
      -0.27577078639730157,
      -0.2950614430751651,
      -0.3498420378006245,
      -0.34984331303983046
    ],
    "ay_ego": [
      -0.013039185482002414,
      -0.013044773289174649,
      0.002542981713650484,
      -0.01146535117069912,
      -0.02443141636961215,
      -0.0029299025669464046,
      -0.0064287312145207415,
      0.04030045071168868,
      -0.02544986554858801,
      -0.02543245412815434
    ],
    "a_ego": [
      0.02881308077378888,
      0.02881308456495954,
      0.033916415730945684,
      0.021348311349280617,
      0.025848930384863803,
      0.18513433083052835,
      0.2758457090752268,
      0.2978009091946566,
      0.3507665136083187,
      0.3507665226353072
    ],
    "yaw": [
      -2.0466325408770887,
      -2.046414997366269,
      -2.0453083084785497,
      -2.0449472418686536,
      -2.044559079762056,
      -2.044430201600978,
      -2.044817754392813,
      -2.0450449851760055,
      -2.0451732593402143,
      -2.0451234829748453
    ],
    "yaw_diff": [
      0.0004350870216391911,
      0.0022133777754387296,
      0.0007221332197921981,
      0.0007763242131950676,
      0.00025775632215641053,
      -0.0007751055836706655,
      -0.000454461566384623,
      -0.000256548328417594,
      9.955273073813942e-05,
      9.955273073813942e-05
    ],
    "min_front_frame": [
      9,
      10.78987913676707
    ],
    "v_avg": 0.6773920361046494,
    "v_std": 0.2121898260041544,
    "vy_max": 0.021759064458664323,
    "a_max": 0.3507665226353072,
    "ax_avg": -0.134397237281055,
    "a_std": 0.13905487328432262,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4e021aea953652b9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.703705097493555,
    "right_rear_min": 3.2849978105579334,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.812915341186256,
      11.773127312975882,
      11.739280123960953,
      11.697820720697285,
      11.596510593986062,
      11.472481509991443,
      11.253165924753294,
      11.133126171709543,
      10.925165717213822,
      10.78987913676707
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4e021aea953652b9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "40688677dc5e5d16": {
    "vx_ego": [
      3.6646521661382265,
      3.6450452854962316,
      3.683454579331253,
      3.813459502628871,
      4.033479064435048,
      4.260978143785717,
      4.457037310540817,
      4.6328397901441,
      4.797180506791451,
      4.96010037366303
    ],
    "vy_ego": [
      -0.05934840588540213,
      -0.05838659533799473,
      -0.05894821738392464,
      -0.04858426799958404,
      -0.023473457528212505,
      -0.017408164277108895,
      -0.04240053054390858,
      -0.06062807112028468,
      -0.045518729979272976,
      -0.01520160792764269
    ],
    "v_ego": [
      3.6651327031995353,
      3.645512875828786,
      3.6839262384484734,
      3.8137689769160756,
      4.0335473675716464,
      4.261013704038404,
      4.457238987595721,
      4.633236480490737,
      4.797396457404663,
      4.960123668387283
    ],
    "ax_ego": [
      -0.0861206098330225,
      0.038701003142472434,
      0.14202435376202055,
      0.3975283847644553,
      0.4930336876206246,
      0.41054401460730544,
      0.3725331225752796,
      0.33276862858860323,
      0.32585906365560896,
      0.326472523453666
    ],
    "ay_ego": [
      0.9525709391074696,
      0.9556727397654429,
      0.9099517001120601,
      0.8231351162800924,
      0.7566645086598756,
      0.40553029381961236,
      0.09937370339067877,
      0.042221392417857107,
      0.114294023934644,
      0.11252974893567615
    ],
    "a_ego": [
      0.9564560384409198,
      0.9564560382866646,
      0.9209685193307902,
      0.9141007801915925,
      0.9031187052620948,
      0.5770625677821293,
      0.38555941220681783,
      0.33543644129766587,
      0.34532195596817067,
      0.34532195552227896
    ],
    "yaw": [
      0.26676956274940766,
      0.3974070121920082,
      0.525122733602963,
      0.638791545849615,
      0.73327217923542,
      0.8016714007517356,
      0.8363211677291679,
      0.8481072698684755,
      0.8532005912013384,
      0.858609715381764
    ],
    "yaw_diff": [
      0.26127489888520106,
      0.25543144282190966,
      0.22733762449330386,
      0.18896126677161007,
      0.13679844303263122,
      0.06929953395486455,
      0.023572204278615283,
      0.010186642665725776,
      0.010818248360851213,
      0.010818248360851213
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.195089745988132,
    "v_std": 0.4720984891863511,
    "vy_max": 0.06062807112028468,
    "a_max": 0.9564560384409198,
    "ax_avg": 0.2753344172337014,
    "a_std": 0.27440384876511625,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "40688677dc5e5d16",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "40688677dc5e5d16",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "166dac05bf555e13": {
    "vx_ego": [
      1.9615169662304823,
      2.9438945421342018,
      3.9204062591047486,
      4.905303535995883,
      5.871101883347101,
      6.738680473914757,
      7.438184870800506,
      8.060919357137774,
      8.668188042444175,
      9.233537575097046
    ],
    "vy_ego": [
      -0.03437417765096418,
      -0.0021053372037847656,
      0.029129913089288653,
      0.044081768591527334,
      0.047011086026532437,
      0.03442931511548656,
      -0.00591205076276069,
      0.0020077935244380077,
      -0.001292391340783728,
      -0.01222404045527635
    ],
    "v_ego": [
      1.9618181345117633,
      2.9438952949539976,
      3.9205144800477756,
      4.905501603564702,
      5.871290093910474,
      6.738768426593937,
      7.438187220321209,
      8.06091960718585,
      8.668188138789302,
      9.233545666638253
    ],
    "ax_ego": [
      1.964736438518442,
      1.9646312567252804,
      1.9413629634308283,
      1.9985967808249354,
      1.8656962191012798,
      1.6058702483590146,
      1.1921882548112024,
      1.2986034646647386,
      1.130546667764583,
      1.1307668174794678
    ],
    "ay_ego": [
      0.05331633763282147,
      0.05706076764795207,
      0.08621067808191579,
      -0.05640128033047232,
      -0.060807459253498064,
      -0.1445396386011303,
      -0.0724621653730604,
      -0.005622912669106348,
      -0.07632052630366817,
      -0.07298633787021878
    ],
    "a_ego": [
      1.965459718412135,
      1.9654597187697662,
      1.9432762121726985,
      1.9993924569095263,
      1.866686885653209,
      1.6123619201939707,
      1.1943883791800443,
      1.2986156381262886,
      1.1331198483518288,
      1.1331198528965725
    ],
    "yaw": [
      -1.5475551095805202,
      -1.549460979046553,
      -1.5481269083531548,
      -1.5498291355227234,
      -1.555792596695354,
      -1.5619078914382822,
      -1.5638559028481347,
      -1.567402981012244,
      -1.5694524167576698,
      -1.5724013089003983
    ],
    "yaw_diff": [
      -0.003811738932065545,
      0.0026681413867963855,
      -0.003404454339137164,
      -0.011926922345261382,
      -0.012230589485856314,
      -0.003896022819704914,
      -0.007094156328218748,
      -0.004098871490851419,
      -0.005897784285457064,
      -0.005897784285457064
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.974262866651726,
    "v_std": 2.3582920551189126,
    "vy_max": 0.047011086026532437,
    "a_max": 1.9993924569095263,
    "ax_avg": 1.6092999111679773,
    "a_std": 0.3613592336016941,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "166dac05bf555e13",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.32615212847307,
    "right_rear_min": 4.4183241396241195,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "166dac05bf555e13",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "7c541724eabb537a": {
    "vx_ego": [
      1.6186308087193726,
      2.2702232707187746,
      2.915767197389587,
      3.519993224637528,
      4.062252685572574,
      4.558211867377757,
      5.003856083393001,
      5.3388567896831285,
      5.5797320878775185,
      5.805758638653684
    ],
    "vy_ego": [
      -0.027774364859123324,
      -0.02056258711774145,
      -0.046078243852694656,
      -0.03445865841189916,
      -0.03967044643919404,
      -0.017554926153285688,
      0.020314670675128155,
      0.0030729608847746004,
      0.00990742393663413,
      0.035198403860724925
    ],
    "v_ego": [
      1.6188690837368096,
      2.270316391805782,
      2.9161312648661197,
      3.520161885571976,
      4.062446384355401,
      4.558245671674101,
      5.0038973200050565,
      5.338857674056712,
      5.579740883727404,
      5.805865335842385
    ],
    "ax_ego": [
      1.2988208264110412,
      1.3108628359776437,
      1.2785045863691697,
      1.1390202992313898,
      1.029760186333968,
      0.9531865867294742,
      0.8330228836678668,
      0.5110773314415047,
      0.4494891048832327,
      0.4569604565945352
    ],
    "ay_ego": [
      0.2587781015818539,
      0.18852128086913272,
      0.21657420485831472,
      -0.00703825989319784,
      -0.04399002347100628,
      -0.17180628503213574,
      -0.36366061939947036,
      -0.4882897414463051,
      -0.27376973224544443,
      -0.2611081280671598
    ],
    "a_ego": [
      1.32434951767929,
      1.324349518853648,
      1.296718305406773,
      1.139042044510864,
      1.0306993565165101,
      0.9685463688938847,
      0.9089423363538167,
      0.7068429177087857,
      0.5262987000767455,
      0.5262986922212731
    ],
    "yaw": [
      -1.8123743857361774,
      -1.7585442182867592,
      -1.7097331284044106,
      -1.6971334736409183,
      -1.6991165789876268,
      -1.7167244688101855,
      -1.7525284779631094,
      -1.7900837177279212,
      -1.826178131350697,
      -1.8541130175310603
    ],
    "yaw_diff": [
      0.10766033489883631,
      0.09762217976469723,
      0.02519930952698468,
      -0.0039662106934170716,
      -0.03521577964511735,
      -0.07160801830584784,
      -0.07511047952962357,
      -0.07218882724555176,
      -0.05586977236072643,
      -0.05586977236072643
    ],
    "min_front_frame": [
      1,
      14.987962613593817
    ],
    "v_avg": 4.067453189564175,
    "v_std": 1.374544466372321,
    "vy_max": 0.046078243852694656,
    "a_max": 1.324349518853648,
    "ax_avg": 0.9260705097639825,
    "a_std": 0.29267453252529396,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "7c541724eabb537a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      15.938587501549971,
      14.987962613593817,
      -1,
      -1,
      -1,
      -1,
      64.17068972229086,
      61.485142144654695,
      23.918774575660127,
      21.131417297134515
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6666666666666666,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "7c541724eabb537a",
    "maneuvering": "Yes"
  },
  "92e7b3a7f4d054f3": {
    "vx_ego": [
      5.378832462068969,
      5.443755489076354,
      5.581057227298641,
      5.783566736111286,
      6.060939196330707,
      6.407418954536348,
      6.852107077324351,
      7.3218146213583655,
      7.790966125162749,
      8.276945331762576
    ],
    "vy_ego": [
      -0.1383476842496365,
      0.06919306545336301,
      0.04673821304815329,
      0.01873351096164111,
      0.02812243022042804,
      0.02509268826291211,
      -0.06465670351675268,
      -0.07718016800934624,
      -0.10590430006915641,
      0.14709768701715742
    ],
    "v_ego": [
      5.380611372023087,
      5.444195211889061,
      5.581252926981658,
      5.783597075824518,
      6.061004439257524,
      6.407468088251078,
      6.85241212190482,
      7.322221392983901,
      7.791685882028779,
      8.278252336967755
    ],
    "ax_ego": [
      0.03103928012553292,
      0.24460584279930464,
      0.31967640128105557,
      0.49929693020950794,
      0.5747926202561966,
      0.8049585138895051,
      0.9602299178801457,
      0.9371400984304363,
      0.9373984168607394,
      1.0012834364154983
    ],
    "ay_ego": [
      1.7466979748576907,
      1.7297644984191742,
      2.3525629363185225,
      2.6928951997317077,
      2.5591927170928916,
      2.7141214302890764,
      2.4254113338416508,
      2.0884678397242804,
      1.3206644607316036,
      1.2729107990241548
    ],
    "a_ego": [
      1.7469737411543051,
      1.7469737371588892,
      2.374183095482662,
      2.7387920660858343,
      2.622947563242979,
      2.83097392206951,
      2.6085746363712974,
      2.2890892253577206,
      1.6195278354423297,
      1.619527839313774
    ],
    "yaw": [
      -0.641520833648705,
      -0.5188107461232063,
      -0.32983626252813936,
      -0.10300447390240315,
      0.11658471632935438,
      0.3287221203892446,
      0.5359289899527161,
      0.6965164002255242,
      0.8129761055561747,
      0.862230200123846
    ],
    "yaw_diff": [
      0.24542017505099745,
      0.37794896719013393,
      0.45366357725147244,
      0.4391783804635151,
      0.4242748081197804,
      0.414413739126943,
      0.3211748205456162,
      0.23291941066130106,
      0.09850818913534254,
      0.09850818913534254
    ],
    "min_front_frame": [
      0,
      18.42664962742406
    ],
    "v_avg": 6.490270084811219,
    "v_std": 0.9775629209440315,
    "vy_max": 0.14709768701715742,
    "a_max": 2.83097392206951,
    "ax_avg": 0.6310421458147923,
    "a_std": 0.4640019186941573,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "92e7b3a7f4d054f3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.209894077733324,
    "right_rear_min": 22.38238958490346,
    "speed_mode": "accelerating",
    "front_frame": [
      18.42664962742406,
      20.130453633436893,
      -1,
      -1,
      -1,
      -1,
      -1,
      31.744194449267972,
      33.11538860420616,
      34.6486468681507
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "92e7b3a7f4d054f3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "9f8f670a268550e5": {
    "vx_ego": [
      10.909101967224125,
      11.028438397852774,
      11.116789885583323,
      11.221158943908451,
      11.361449228236262,
      11.520696428453729,
      11.684005284907833,
      11.821953573310166,
      11.944806714460569,
      12.052390537306579
    ],
    "vy_ego": [
      0.04715073720946528,
      0.014040121599069089,
      -0.009905296981948641,
      -0.009762623664010484,
      0.010748741756229752,
      0.0351013077216753,
      0.05597510948716611,
      0.0525650558138504,
      0.02524793517569668,
      -0.005478005121371865
    ],
    "v_ego": [
      10.909203862945851,
      11.028447334971863,
      11.116794298497926,
      11.221163190742635,
      11.361454312773507,
      11.520749901737744,
      11.68413936542338,
      11.82207043519001,
      11.944833397919492,
      12.05239178222718
    ],
    "ax_ego": [
      0.23829608821753406,
      0.23847070525217132,
      0.11497140981250022,
      0.30279846014397915,
      0.25837399543205847,
      0.3782779670725393,
      0.2739232976101672,
      0.2760320163129972,
      0.21309149209238237,
      0.21668669701649915
    ],
    "ay_ego": [
      0.037642937575767546,
      0.03652040021050732,
      0.06899025648591835,
      0.12539697682955078,
      0.13506583145757517,
      0.17063965952990529,
      0.19840617977678937,
      0.28472068185317745,
      0.26605700402322413,
      0.2631372061667838
    ],
    "a_ego": [
      0.2412509407424392,
      0.24125094174946468,
      0.13408236485185765,
      0.32773664620172677,
      0.2915474238316152,
      0.41498447413971423,
      0.338229190264897,
      0.3965596307048374,
      0.34087286983855397,
      0.3408728706324113
    ],
    "yaw": [
      -1.967125746507031,
      -1.9624167904267384,
      -1.9578783018141923,
      -1.9535308902924244,
      -1.9495825109198295,
      -1.9450250692018145,
      -1.9388791368927585,
      -1.9283121654388675,
      -1.9144356658778507,
      -1.9008484047854814
    ],
    "yaw_diff": [
      0.009417912160585296,
      0.009076977225092264,
      0.008694823043535749,
      0.007896758745189913,
      0.009114883436029952,
      0.012291864618112047,
      0.021133942907781922,
      0.02775299912203355,
      0.027174522184738592,
      0.027174522184738592
    ],
    "min_front_frame": [
      0,
      18.59132362816317
    ],
    "v_avg": 11.46612478824296,
    "v_std": 0.3801050956732679,
    "vy_max": 0.05597510948716611,
    "a_max": 0.41498447413971423,
    "ax_avg": 0.2510922128962828,
    "a_std": 0.07884546475263454,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9f8f670a268550e5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.8602739419292424,
    "right_rear_min": 35.173663789095095,
    "speed_mode": "accelerating",
    "front_frame": [
      18.59132362816317,
      18.81494347912706,
      18.96564999616628,
      19.244548374875173,
      19.450072533691877,
      19.539578470033028,
      19.638012235114005,
      34.419109409570964,
      34.74655327976624,
      34.87532183298225
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9f8f670a268550e5",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "d4e058ec6a795ef1": {
    "vx_ego": [
      10.056780666899595,
      10.111979568643722,
      10.170526385625077,
      10.258746381040428,
      10.389539478689997,
      10.52994000338412,
      10.670483227432776,
      10.766562592129787,
      10.82250526192743,
      10.890231819972747
    ],
    "vy_ego": [
      0.016611755337808454,
      -0.03734187158603053,
      -0.02046885772609386,
      -0.026837256934013176,
      0.014335228944307055,
      0.0068383163354051035,
      -0.023190472529712736,
      0.0008225351751498522,
      -0.028038758628402327,
      -0.03398390757217573
    ],
    "v_ego": [
      10.05679438651009,
      10.112048517092946,
      10.170546983069913,
      10.258781484604778,
      10.389549368382005,
      10.52994222384147,
      10.670508427668306,
      10.766562623549477,
      10.82254158303087,
      10.89028484470084
    ],
    "ax_ego": [
      0.11030518134822472,
      0.1108375121884584,
      0.12373517634249231,
      0.22913310309996357,
      0.2957880514863105,
      0.26683958040580447,
      0.29412109670857356,
      0.08840607319745593,
      0.13539696469915954,
      0.13541760186721608
    ],
    "ay_ego": [
      0.06333665653779372,
      0.06240040395300444,
      0.11517403370536805,
      -0.11980069551817339,
      -0.38528492559167876,
      -0.4124111404821335,
      -0.30608256100613146,
      -0.06879441653088157,
      -0.027982591003868074,
      -0.027882548229859166
    ],
    "a_ego": [
      0.12719577466901638,
      0.12719577242041025,
      0.16904275170640393,
      0.2585617635746953,
      0.48573145388193023,
      0.49120902929905497,
      0.4244923482009143,
      0.11201921944031912,
      0.1382583214458906,
      0.13825832123694495
    ],
    "yaw": [
      1.084945328307933,
      1.093412675370891,
      1.0961268326504718,
      1.0966377138741796,
      1.080406298595121,
      1.0620640306840476,
      1.0479473039081404,
      1.0369897022944758,
      1.037422290175154,
      1.036683448217134
    ],
    "yaw_diff": [
      0.01693469412591586,
      0.0054283145591615956,
      0.0010217624474155862,
      -0.03246283055811716,
      -0.03668453582214681,
      -0.028233453551814502,
      -0.021915203227329094,
      0.0008651757613562516,
      -0.0014776839160397515,
      -0.0014776839160397515
    ],
    "min_front_frame": [
      0,
      35.63916752611756
    ],
    "v_avg": 10.46675604424507,
    "v_std": 0.2953289002570367,
    "vy_max": 0.03734187158603053,
    "a_max": 0.49120902929905497,
    "ax_avg": 0.1789980341343659,
    "a_std": 0.1499734421403055,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d4e058ec6a795ef1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      35.63916752611756,
      42.22701908134643,
      43.13920238455893,
      44.65397014226646,
      39.72169819220681,
      46.261689601901466,
      41.02936938498334,
      35.736893145457294,
      48.50754877822132,
      43.13795645120005
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d4e058ec6a795ef1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "31aa58748e2c5495": {
    "vx_ego": [
      5.114861576634198,
      4.505027442168188,
      3.9136504373445513,
      3.3805665359470405,
      2.932461415858297,
      2.549596627089625,
      2.1449847985964623,
      1.6363284017290889,
      1.0413531081827494,
      0.42215826350786567
    ],
    "vy_ego": [
      -0.03701173014142434,
      -0.012361509171320506,
      0.003419172763130529,
      -0.0021993663872050817,
      -0.0146867972127116,
      -0.015627583248468024,
      -0.005918273873236846,
      -0.0019040718110752142,
      0.006858071678707556,
      0.037498637456968076
    ],
    "v_ego": [
      5.114995485462028,
      4.505044401734287,
      3.9136519309296762,
      3.3805672513910263,
      2.9324981939482955,
      2.5496445207567624,
      2.1449929631995404,
      1.6363295095410142,
      1.0413756906462832,
      0.42382041864344583
    ],
    "ax_ego": [
      -1.2196806558900979,
      -1.2197013835220676,
      -1.1457964683949147,
      -0.9864988672940203,
      -0.8060478990399946,
      -0.7255008677841559,
      -0.8930363062295708,
      -1.141567067108772,
      -1.2383671235228912,
      -1.2383854570291626
    ],
    "ay_ego": [
      0.04513803631387692,
      0.04457456814930205,
      0.03280154169156624,
      -0.06649520158022937,
      -0.008717824069126523,
      -0.011579864331434264,
      0.03786683764968252,
      -0.03092310026554046,
      0.061026654888969634,
      0.060653417024421286
    ],
    "a_ego": [
      1.2205156060758797,
      1.2205156111624884,
      1.1462658889296158,
      0.9887373903143242,
      0.8060950415449096,
      0.7255932761633735,
      0.8938387671374202,
      1.14198581726629,
      1.239869906574596,
      1.2398699033277911
    ],
    "yaw": [
      0.8868120720018402,
      0.8863500986180481,
      0.8871984942492868,
      0.8864252042863607,
      0.8844099176929959,
      0.8828962986706816,
      0.8815714443738604,
      0.8803859118516255,
      0.8794708067681433,
      0.8791694117504686
    ],
    "yaw_diff": [
      -0.0009239467675841162,
      0.0016967912624772374,
      -0.001546579925852054,
      -0.0040305731867296135,
      -0.0030272380446285663,
      -0.0026497085936425524,
      -0.0023710650444697112,
      -0.0018302101669644966,
      -0.0006027900353493543,
      -0.0006027900353493543
    ],
    "min_front_frame": [
      9,
      11.92716509938893
    ],
    "v_avg": 2.764292036625236,
    "v_std": 1.4294507550131936,
    "vy_max": 0.037498637456968076,
    "a_max": 1.239869906574596,
    "ax_avg": -1.0614582095815648,
    "a_std": 0.18420902116172563,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "31aa58748e2c5495",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.087316332028795,
    "speed_mode": "decelerating",
    "front_frame": [
      20.240391733405335,
      19.086330047532673,
      18.06029677081125,
      17.398163576255918,
      16.283021880734452,
      14.944719738181156,
      13.726677942675476,
      12.823227816892542,
      12.195195344034932,
      11.92716509938893
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "31aa58748e2c5495",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c4fd814210875a8e": {
    "vx_ego": [
      0.4984397842412308,
      1.3903220211338942,
      2.2416790714592643,
      2.9179123282469823,
      3.4664030463243467,
      4.002217066781101,
      4.514103431618516,
      5.021175580715922,
      5.532363063287439,
      6.048327540348778
    ],
    "vy_ego": [
      -0.0009694592556664938,
      -0.008657531185326861,
      -0.008045981738622032,
      -0.00907881755190354,
      -0.010560092422554845,
      -0.011506424504410084,
      -0.02323325470771853,
      -0.027135453102056672,
      -0.016547004889373884,
      -0.03879182719282803
    ],
    "v_ego": [
      0.4984407270335091,
      1.390348976083365,
      2.2416935109957845,
      2.917926452168366,
      3.466419131484057,
      4.0022336073046505,
      4.514163219853085,
      5.021248902931713,
      5.532387808839687,
      6.048451937578611
    ],
    "ax_ego": [
      1.7837485257674581,
      1.7837631927355502,
      1.621601959792407,
      1.0833085856513838,
      1.110591861659,
      1.0326235307215372,
      1.014748297725945,
      1.0133459235125413,
      1.0311910767711985,
      1.031942209043144
    ],
    "ay_ego": [
      -0.01777217573291967,
      -0.01623513629669382,
      0.008570534600301494,
      -0.027303390161567354,
      0.007302740718431566,
      -0.04477043505393752,
      -0.04470879207965334,
      -0.0011609343629424007,
      -0.1214067219927844,
      -0.11484726547130403
    ],
    "a_ego": [
      1.7838370590970078,
      1.783837074233153,
      1.6216246082450494,
      1.0836526043249821,
      1.1106158711297098,
      1.0335936087528466,
      1.0157327324778525,
      1.0133465885214594,
      1.038313357786356,
      1.038313352120197
    ],
    "yaw": [
      -1.8773938125082612,
      -1.87825549740371,
      -1.879632037225169,
      -1.881011056709504,
      -1.8821145896609957,
      -1.8843636446706133,
      -1.8868617633866671,
      -1.8884484929316785,
      -1.896265319365806,
      -1.9026240331397726
    ],
    "yaw_diff": [
      -0.0017233697908975998,
      -0.0027530796429178217,
      -0.0027580389686701068,
      -0.002207065902983363,
      -0.004498110019235391,
      -0.004996237432107531,
      -0.0031734590900227566,
      -0.0156336528682548,
      -0.012717427547933369,
      -0.012717427547933369
    ],
    "min_front_frame": [
      0,
      12.010998550617506
    ],
    "v_avg": 3.5633314274272827,
    "v_std": 1.7193987514848874,
    "vy_max": 0.03879182719282803,
    "a_max": 1.783837074233153,
    "ax_avg": 1.2506865163380168,
    "a_std": 0.31661588185234274,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "c4fd814210875a8e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.233801580436616,
    "right_rear_min": 6.2341636094524775,
    "speed_mode": "accelerating",
    "front_frame": [
      12.010998550617506,
      13.114927700295539,
      13.743301185477264,
      -1,
      -1,
      -1,
      -1,
      78.31223680857632,
      75.63296117793054,
      72.7464728050999
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c4fd814210875a8e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f518d10b147c5398": {
    "vx_ego": [
      6.1826931572712045,
      5.521705663059456,
      4.905102694966894,
      4.372424709913808,
      3.8679089248054392,
      3.374861827035962,
      2.9274742980552,
      2.5139827514945394,
      2.1101313822847327,
      1.7047930306360615
    ],
    "vy_ego": [
      -0.022728931251558393,
      -0.02628456250909572,
      -0.022450167051628167,
      -0.014081294802465116,
      -0.015352178677421335,
      -0.03640153516544076,
      -0.025775069948650753,
      -0.01104315304419523,
      -0.025897197643106717,
      -0.03630933451380214
    ],
    "v_ego": [
      6.182734935389355,
      5.521768222923628,
      4.905154070788412,
      4.372447384100598,
      3.86793939197342,
      3.3750581362914196,
      2.9275877646971824,
      2.5140070059650217,
      2.1102902917249664,
      1.7051796518484854
    ],
    "ax_ego": [
      -1.3219980195091334,
      -1.3219929754208803,
      -1.144597892367604,
      -0.9862184110077771,
      -1.0318735167875734,
      -0.9404167411078193,
      -0.849209496675398,
      -0.8047636233144657,
      -0.8106575013708879,
      -0.8106627815931141
    ],
    "ay_ego": [
      -0.011745918680413525,
      -0.01230073128242326,
      -0.010065499759676189,
      0.02188195830439643,
      -0.0460561567655734,
      -0.0528355508253564,
      0.09046284527456105,
      -0.04121330103168558,
      -0.01991731464698454,
      -0.019701681593852993
    ],
    "a_ego": [
      1.322050199573268,
      1.3220502014115179,
      1.144642149100658,
      0.9864611367458629,
      1.0329008298106694,
      0.9418998048555217,
      0.8540142244827378,
      0.8058182335937526,
      0.8109021420317238,
      0.8109021529863579
    ],
    "yaw": [
      -2.0532301778087305,
      -2.0536498544320967,
      -2.0554655998114293,
      -2.0566378876503544,
      -2.0577946526025475,
      -2.0588122755251463,
      -2.0592007255739366,
      -2.0600918407574103,
      -2.060277162317874,
      -2.060011160909099
    ],
    "yaw_diff": [
      -0.0008393532467323439,
      -0.003631490758665201,
      -0.0023445756778501803,
      -0.002313529904386158,
      -0.002035245845197764,
      -0.0007769000975805795,
      -0.0017822303669472461,
      -0.00037064312092738305,
      0.000532002817549504,
      0.000532002817549504
    ],
    "min_front_frame": [
      9,
      13.591321214640436
    ],
    "v_avg": 3.748216685570248,
    "v_std": 1.4144830017996148,
    "vy_max": 0.03640153516544076,
    "a_max": 1.3220502014115179,
    "ax_avg": -1.0022390959154654,
    "a_std": 0.19063832185538857,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f518d10b147c5398",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.224790439501858,
    "right_rear_min": 49.86433051731789,
    "speed_mode": "decelerating",
    "front_frame": [
      29.641186849941892,
      27.141379526403778,
      24.786061170586365,
      22.50271752242288,
      20.432714878886124,
      18.636149441535938,
      17.08495929734496,
      15.718559164058686,
      14.5538242563434,
      13.591321214640436
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f518d10b147c5398",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b894f0e8e2875363": {
    "vx_ego": [
      0.2648569090906702,
      0.8751803371065106,
      1.5722803139915482,
      2.379243717463435,
      3.1764007469673414,
      3.869931592181295,
      4.345331261828664,
      4.707539456318663,
      5.141669291965783,
      5.616435524048547
    ],
    "vy_ego": [
      0.01268626923109735,
      0.035502032050141186,
      0.048260595967192677,
      0.02761874780904916,
      -0.03160855639585369,
      -0.055696410151933495,
      -0.011553136184330404,
      0.00037034773795707743,
      -0.0030197874196418173,
      0.1587157597741029
    ],
    "v_ego": [
      0.2651605621506853,
      0.8759001180143514,
      1.5730208106978338,
      2.379404014100961,
      3.1765580124046395,
      3.8703323653488293,
      4.345346620234246,
      4.707539470886513,
      5.141670178751257,
      5.618677663667417
    ],
    "ax_ego": [
      1.2204833707113787,
      1.2205913395777364,
      1.5649794949579778,
      1.6579004119011473,
      1.535475691247453,
      1.2434052193843397,
      0.6590702219744553,
      0.7895855374238026,
      0.9493218853099858,
      0.9659815088576172
    ],
    "ay_ego": [
      0.04955319073046438,
      0.046818456567699895,
      0.0985245138112194,
      0.19329146382203344,
      0.3189509087386018,
      0.19259958233752444,
      0.12766951816187536,
      0.017240289100243417,
      -0.3187580693506529,
      -0.26400469874212296
    ],
    "a_ego": [
      1.22148891804002,
      1.221488921819414,
      1.5680777721339796,
      1.6691301224795083,
      1.5682523013204934,
      1.258233340326351,
      0.6713218776124782,
      0.7897737324557554,
      1.0014083825815827,
      1.0014083864302106
    ],
    "yaw": [
      2.6043233368896184,
      2.6065639293619425,
      2.626532385623984,
      2.6741755305216435,
      2.7412035892271307,
      2.78389074332482,
      2.79248356421785,
      2.7978723123583675,
      2.783194770297529,
      2.7260357131033652
    ],
    "yaw_diff": [
      0.00448118494464822,
      0.039936912524082935,
      0.09528628979531906,
      0.13405611741097445,
      0.08537430819537839,
      0.0171856417860603,
      0.01077749628103497,
      -0.02935508412167742,
      -0.11431811438832717,
      -0.11431811438832717
    ],
    "min_front_frame": [
      3,
      17.712062378523257
    ],
    "v_avg": 3.1953609816256727,
    "v_std": 1.7603812230405536,
    "vy_max": 0.1587157597741029,
    "a_max": 1.6691301224795083,
    "ax_avg": 1.1806794681345893,
    "a_std": 0.3196976103269192,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b894f0e8e2875363",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.082855232725027,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      19.74038476346722,
      19.407739943520934,
      18.73532695454848,
      17.712062378523257,
      51.17236376134159,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b894f0e8e2875363",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "70af821c5fe95428": {
    "vx_ego": [
      7.31718358357389,
      6.7275437651429275,
      6.1547409421676855,
      5.651326373088354,
      5.18579001395597,
      4.711142631259618,
      4.228034920075581,
      3.738686075939257,
      3.2734812405732145,
      2.824377403379171
    ],
    "vy_ego": [
      -0.028735628678248748,
      -0.01786186017065683,
      -0.017646435155703966,
      -0.011419191281269558,
      0.024071443522705405,
      -0.006851830517411006,
      -0.05594501289129328,
      -0.0809890770055226,
      -0.08947206548092668,
      -0.09371421296434512
    ],
    "v_ego": [
      7.317240007822537,
      6.727567477027803,
      6.154766239417129,
      5.6513379100079915,
      5.1858458811691195,
      4.711147613867903,
      4.228405033797724,
      3.7395631837176233,
      3.274703754980926,
      2.825931717227151
    ],
    "ax_ego": [
      -1.179325558223793,
      -1.1793327470734347,
      -1.1119055844165784,
      -0.9015073308893466,
      -0.9606481558647542,
      -0.938094523575944,
      -0.9945984111547739,
      -0.9626385401396576,
      -0.8978580390038643,
      -0.8978518302551046
    ],
    "ay_ego": [
      0.007352597899534685,
      0.006090885969776694,
      -0.01691689744363284,
      0.09285962626922423,
      0.05397693012356547,
      -0.15593645372981269,
      -0.06812362999334032,
      -0.023537711066931866,
      0.002367672176206592,
      0.00409250353117091
    ],
    "a_ego": [
      1.179348478175867,
      1.1793484757321182,
      1.1120342665924874,
      0.9062772080539673,
      0.962163389633963,
      0.9509666202159818,
      0.9969286977688375,
      0.96292626031513,
      0.897861160801267,
      0.897861157238464
    ],
    "yaw": [
      2.6126236838791366,
      2.611553830808202,
      2.611099600806194,
      2.6132706077892243,
      2.6134951772578017,
      2.6145937978123905,
      2.613047588421397,
      2.613582529628565,
      2.6144946191017313,
      2.616415683779133
    ],
    "yaw_diff": [
      -0.002139706141869091,
      -0.0009084600040161206,
      0.004342013966060598,
      0.0004491389371548138,
      0.002197241109177739,
      -0.003092418781987405,
      0.001069882414336476,
      0.0018241789463324665,
      0.0038421293548029922,
      0.0038421293548029922
    ],
    "min_front_frame": [
      8,
      13.843160423820125
    ],
    "v_avg": 4.981650881903591,
    "v_std": 1.4182279106111921,
    "vy_max": 0.09371421296434512,
    "a_max": 1.179348478175867,
    "ax_avg": -1.002376072059725,
    "a_std": 0.10561385349432635,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "70af821c5fe95428",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 18.83684260328617,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.966852572909943,
      24.325187284049953,
      21.930222214624347,
      19.93167735845277,
      18.15546154961595,
      16.73750785702256,
      15.450132816603663,
      14.483438385557388,
      13.843160423820125,
      15.981991349899452
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "70af821c5fe95428",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "42eef0001e6c5498": {
    "vx_ego": [
      8.450663210565601,
      8.298961233988095,
      8.1663397468153,
      8.027104952547077,
      7.850064052241345,
      7.691954712978013,
      7.575062283211276,
      7.471338034844253,
      7.3979788804708875,
      7.352904939399565
    ],
    "vy_ego": [
      -0.011469174528933035,
      0.005081266680753149,
      0.021200083234339306,
      0.029364309556930923,
      0.01959712881139941,
      -0.01015857473845072,
      -0.02268819983992776,
      -0.004183964769830517,
      0.013702777628662233,
      -0.025329579177873374
    ],
    "v_ego": [
      8.45067099349935,
      8.29896278956041,
      8.166367264821277,
      8.027158661810638,
      7.850088513625146,
      7.69196142106455,
      7.575096260044621,
      7.471339206358628,
      7.3979915708256945,
      7.352948567440673
    ],
    "ax_ego": [
      -0.3035315959405554,
      -0.303231710398382,
      -0.22743751963409198,
      -0.32986555730473766,
      -0.37882260493586195,
      -0.25390464762261367,
      -0.2120520861952082,
      -0.20065564348977943,
      -0.09384398732397319,
      -0.08581348915583972
    ],
    "ay_ego": [
      0.08882068309991106,
      0.0898391494830926,
      0.07592161077016603,
      0.07030849288652011,
      0.12216068372351296,
      0.10847590632114978,
      0.23024065065172977,
      0.372100861673522,
      0.3061527292284396,
      0.30849997201088375
    ],
    "a_ego": [
      0.3162602464435823,
      0.3162602456379455,
      0.23977471993361718,
      0.33727521413222616,
      0.3980324090550772,
      0.27610612513408406,
      0.3130125308550312,
      0.42275493908702594,
      0.32021272237511783,
      0.3202127225014888
    ],
    "yaw": [
      -2.570374052569501,
      -2.5670170081691044,
      -2.563937741360358,
      -2.5604365168481666,
      -2.55315062954627,
      -2.5418792591287884,
      -2.5291362176871193,
      -2.5115768332626978,
      -2.4911395469463096,
      -2.465010834972983
    ],
    "yaw_diff": [
      0.00671408880079305,
      0.006158533617492523,
      0.007002449024382962,
      0.014571774603793664,
      0.02254274083496277,
      0.025486082883338312,
      0.03511876884884302,
      0.040874572632776385,
      0.05225742394665289,
      0.05225742394665289
    ],
    "min_front_frame": [
      7,
      18.918190220886256
    ],
    "v_avg": 7.828258524905098,
    "v_std": 0.3720784539524479,
    "vy_max": 0.029364309556930923,
    "a_max": 0.42275493908702594,
    "ax_avg": -0.23891588420010432,
    "a_std": 0.05002689125547339,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "42eef0001e6c5498",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.7354867563523175,
    "speed_mode": "decelerating",
    "front_frame": [
      29.024149148098598,
      27.772763990453456,
      26.086881074396167,
      23.93004419722285,
      21.381772954379347,
      26.420249185050967,
      22.607604522709504,
      18.918190220886256,
      28.90569796994084,
      27.094056741768064
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "42eef0001e6c5498",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a541237b06645d49": {
    "vx_ego": [
      10.64892715335491,
      10.521523467913571,
      10.46968806981719,
      10.624136801065578,
      10.805822359393938,
      10.809536958698057,
      10.72193570246368,
      10.61278200658395,
      10.423562508503831,
      10.158831267879474
    ],
    "vy_ego": [
      -0.015086948097277994,
      0.023733390816999878,
      0.0059974440517164,
      0.0200508472598816,
      0.032902706082093,
      0.058126232741026795,
      0.04860812667515041,
      -0.00839609075611586,
      -0.015723340606326547,
      -0.0006412922884024841
    ],
    "v_ego": [
      10.648937840623466,
      10.521550235573448,
      10.469689787601519,
      10.624155721949474,
      10.805872452090368,
      10.809693238958815,
      10.722045884892687,
      10.612785327783278,
      10.423574367371613,
      10.15883128812077
    ],
    "ax_ego": [
      -0.2559547028654099,
      -0.2537967177303863,
      0.045656271595891994,
      0.5711638282933857,
      0.15518122475736273,
      -0.14075390890066333,
      -0.2089357592977896,
      -0.22760224306064347,
      -0.5294746735427773,
      -0.5294838617244881
    ],
    "ay_ego": [
      0.2549821948923777,
      0.2571302331990038,
      0.2629692773569223,
      0.10480655450918551,
      0.12764394232577062,
      0.05984282315138967,
      -0.1891369744804978,
      -0.11470605577314276,
      0.00915027053743985,
      0.008602650295310592
    ],
    "a_ego": [
      0.36128759960875323,
      0.36128760116518177,
      0.26690323334433363,
      0.5807000366960924,
      0.20093329373117783,
      0.15294713581347227,
      0.28182786701988916,
      0.25487302775552295,
      0.5295537341707062,
      0.529553741766386
    ],
    "yaw": [
      -1.5770262736165153,
      -1.5685985348303602,
      -1.554470029666031,
      -1.5470386268676972,
      -1.5428349680364981,
      -1.5408387657335112,
      -1.5429554237992942,
      -1.5447320949490742,
      -1.5465378793071451,
      -1.5475721434894787
    ],
    "yaw_diff": [
      0.016855477572310207,
      0.02825701032865835,
      0.014862805596667528,
      0.008407317662398217,
      0.003992404605973832,
      -0.004233316131565967,
      -0.0035533422995599473,
      -0.0036115687161419885,
      -0.0020685283646670882,
      -0.0020685283646670882
    ],
    "min_front_frame": [
      9,
      39.093230766208364
    ],
    "v_avg": 10.579713614496544,
    "v_std": 0.18686020806575407,
    "vy_max": 0.058126232741026795,
    "a_max": 0.5807000366960924,
    "ax_avg": -0.13740005424755175,
    "a_std": 0.14126900330984749,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a541237b06645d49",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.286223216468631,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      75.44526731306694,
      70.1881890321053,
      64.95129269795213,
      59.67872405866803,
      54.31308680071244,
      48.91443832798469,
      43.630981941413765,
      47.708937504132045,
      44.17991242140413,
      39.093230766208364
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a541237b06645d49",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "a49be33c358b5cb4": {
    "vx_ego": [
      3.3925634794889294,
      3.2514431917247184,
      3.1328487958119804,
      2.996091848776298,
      2.7851174858907393,
      2.481313104449936,
      2.103597607478023,
      1.689902907985771,
      1.2398126235025528,
      0.7716840463842228
    ],
    "vy_ego": [
      -0.024791277630401565,
      0.0048919243663286816,
      0.008894156020337274,
      0.0023101791685786743,
      -0.006169629991822578,
      -0.00739408283668852,
      -0.010805971856939323,
      -0.024520441671380344,
      -0.02178334327703635,
      -0.026839693550877453
    ],
    "v_ego": [
      3.3926540598488053,
      3.2514468717690943,
      3.1328614210385832,
      2.9960927394243932,
      2.7851243194063326,
      2.4813241212658967,
      2.1036253618967033,
      1.690080794068297,
      1.240003973961619,
      0.7721506566686532
    ],
    "ax_ego": [
      -0.28889656705822636,
      -0.2771368734440805,
      -0.19587204392865398,
      -0.34801344608048473,
      -0.49387099682456564,
      -0.7237810845620203,
      -0.793318843543325,
      -0.8702254295049922,
      -0.9391240580598922,
      -0.9362455274744899
    ],
    "ay_ego": [
      -0.24472635121392458,
      -0.25796776457631393,
      -0.2672026033479515,
      -0.35292573639287883,
      -0.4308355522241639,
      -0.42409843503488703,
      -0.34486182049332736,
      -0.22819351997780207,
      -0.06470441659058801,
      -0.09790285385960545
    ],
    "a_ego": [
      0.37861882340489816,
      0.37861882439052186,
      0.3313051294935097,
      0.4956510204380399,
      0.6553837307751775,
      0.8388793363582242,
      0.8650343708517544,
      0.8996469200286341,
      0.9413504437525954,
      0.9413504429859483
    ],
    "yaw": [
      -0.2713609428400598,
      -0.31813909047634903,
      -0.3606516488971506,
      -0.4087852709240282,
      -0.47320815961047846,
      -0.5529977744580143,
      -0.6350100392439002,
      -0.7029401787165472,
      -0.7544816152054277,
      -0.7898826061570605
    ],
    "yaw_diff": [
      -0.09355629527257847,
      -0.08502511684160319,
      -0.0962672440537552,
      -0.12884577737290048,
      -0.15957922969507177,
      -0.16402452957177172,
      -0.13586027894529407,
      -0.10308287297776086,
      -0.0708019819032657,
      -0.0708019819032657
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.384536431934838,
    "v_std": 0.8568889589215372,
    "vy_max": 0.026839693550877453,
    "a_max": 0.9413504437525954,
    "ax_avg": -0.586648487048073,
    "a_std": 0.24116863424666418,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "a49be33c358b5cb4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "a49be33c358b5cb4",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "dc2a5d567a8e5f17": {
    "vx_ego": [
      9.054162651325315,
      8.136665649218715,
      7.307056588146239,
      6.655559578077212,
      6.031777902345535,
      5.368243861776905,
      4.736153279025491,
      4.085793696071947,
      3.3617827360362433,
      2.5902442635837306
    ],
    "vy_ego": [
      0.26920425987252883,
      0.25473823732374234,
      0.22846421200094225,
      0.19303915586096398,
      0.1569644758277059,
      0.14512319256143724,
      0.13663631619819772,
      0.1255430758762689,
      0.10165099518527748,
      0.07159767757394495
    ],
    "v_ego": [
      9.058163845404199,
      8.140652274647936,
      7.310627324555435,
      6.658358462341212,
      6.033819893723691,
      5.370205107863631,
      4.738123823342751,
      4.087722005073454,
      3.363319207142475,
      2.5912336005197227
    ],
    "ax_ego": [
      -1.8349171342681738,
      -1.8349123695326188,
      -1.4836698275213918,
      -1.121167728123736,
      -1.3733301389697679,
      -1.2799507739467966,
      -1.2484531669987453,
      -1.352359358351415,
      -1.5429033515511312,
      -1.542819654097145
    ],
    "ay_ego": [
      -0.031393469555287656,
      -0.031671007965590255,
      -0.06887493041480897,
      -0.109791986480518,
      -0.05829024648660886,
      -0.022273786054207663,
      -0.010167048398175262,
      -0.05446997274537092,
      -0.06653114493416032,
      -0.06844447147414527
    ],
    "a_ego": [
      1.835185668961494,
      1.8351856736061793,
      1.4852676234056275,
      1.1265306719665815,
      1.374566631138044,
      1.2801445642083522,
      1.2484945650912254,
      1.3534558773936933,
      1.5443371217043136,
      1.5443371169352271
    ],
    "yaw": [
      1.5659365710875113,
      1.5657853162678097,
      1.5659334728826528,
      1.5646010509194705,
      1.5636683917434753,
      1.562209314700831,
      1.5622839279320768,
      1.5611387970637778,
      1.5594421945928905,
      1.5582020796285967
    ],
    "yaw_diff": [
      -0.0003025096394031479,
      0.0002963132296862625,
      -0.0026648439263645685,
      -0.0018653183519905525,
      -0.0029181540852887267,
      0.00014922646249182492,
      -0.002290261736598076,
      -0.0033932049417746413,
      -0.0024802299285875407,
      -0.0024802299285875407
    ],
    "min_front_frame": [
      9,
      13.416883264269277
    ],
    "v_avg": 5.73522255446145,
    "v_std": 1.990064449573397,
    "vy_max": 0.26920425987252883,
    "a_max": 1.8351856736061793,
    "ax_avg": -1.4614483503360922,
    "a_std": 0.22433272227204243,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dc2a5d567a8e5f17",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 32.763072648781026,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      35.86396619228743,
      32.61595736402495,
      29.701032740064086,
      26.95006730881798,
      24.174340042402335,
      21.563705039434673,
      18.99473096417799,
      16.73093131378089,
      14.871131234856618,
      13.416883264269277
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dc2a5d567a8e5f17",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "749a9bb4860f5cc1": {
    "vx_ego": [
      9.376834771084493,
      9.328006912911496,
      9.3399002549099,
      9.35372673426989,
      9.26350227501559,
      9.176148385747378,
      9.071771011420191,
      8.922820619713521,
      8.771120103072903,
      8.595934074025857
    ],
    "vy_ego": [
      -0.01313483020343753,
      -0.025047997624668028,
      -0.005688981282863992,
      -0.020263756098055197,
      -0.0172909465130493,
      -0.009437991947648605,
      -0.028354174517517983,
      -0.01331893937178208,
      0.024180808193579928,
      0.015472595937495282
    ],
    "v_ego": [
      9.376843970547002,
      9.32804054287446,
      9.339901987503618,
      9.353748683774139,
      9.263518412355552,
      9.176153239399733,
      9.071815322351766,
      8.922830560182726,
      8.771153434640993,
      8.595947999274065
    ],
    "ax_ego": [
      -0.09805075240101152,
      -0.09651341946551134,
      0.1454985967115781,
      -0.08965951581203174,
      -0.2714723254969798,
      -0.07788847197470307,
      -0.33946807031667414,
      -0.2561765993953675,
      -0.3506386865780051,
      -0.35042398157676824
    ],
    "ay_ego": [
      0.1576045920518396,
      0.1585506764146748,
      0.30661715904169984,
      0.26617699224800284,
      0.060459330383262164,
      0.02631621742325975,
      -0.006946987253811598,
      0.10724917618149114,
      0.05226365514121373,
      0.053684405576599176
    ],
    "a_ego": [
      0.18561561756013756,
      0.18561561660721507,
      0.33938757175807355,
      0.2808718924667282,
      0.2781232714843017,
      0.08221409469198324,
      0.33953914560243426,
      0.27772078760759544,
      0.3545123103276785,
      0.35451231609949463
    ],
    "yaw": [
      2.509413586767873,
      2.5191386766018447,
      2.529557331662917,
      2.5463839189945148,
      2.5548163404653303,
      2.556321504330738,
      2.5589161709897614,
      2.560033388710803,
      2.560301874633743,
      2.564354984747899
    ],
    "yaw_diff": [
      0.0194501796679436,
      0.02083731012214507,
      0.03365317466319517,
      0.016864842941631153,
      0.003010327730815554,
      0.005189333318046607,
      0.002234435442082905,
      0.0005369718458805295,
      0.008106220228311756,
      0.008106220228311756
    ],
    "min_front_frame": [
      9,
      55.07514950144243
    ],
    "v_avg": 9.119995415290404,
    "v_std": 0.2595221997277944,
    "vy_max": 0.028354174517517983,
    "a_max": 0.35451231609949463,
    "ax_avg": -0.17847932263054742,
    "a_std": 0.0858113482428117,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "749a9bb4860f5cc1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 21.908317253371354,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      77.52197249661289,
      72.9319536210132,
      68.37405458056651,
      63.866238600147476,
      59.41743731062212,
      55.07514950144243
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "749a9bb4860f5cc1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1316af62e13e5dd5": {
    "vx_ego": [
      5.527619961274798,
      5.327665782235937,
      5.222475970689377,
      5.2286714860952666,
      5.288765536943012,
      5.370159944682948,
      5.44161870786656,
      5.486807520552,
      5.458419135343403,
      5.3849355755923805
    ],
    "vy_ego": [
      0.03236231599348294,
      0.03629357720166704,
      0.031747573062591794,
      0.021719197955416103,
      0.017073882450455713,
      0.02481907319063792,
      0.023571790154172767,
      0.04010309752755514,
      0.06334092156929172,
      -0.004420913181346631
    ],
    "v_ego": [
      5.52771469558443,
      5.327789401895851,
      5.222572466976721,
      5.228716595213926,
      5.288793096937906,
      5.370217297081302,
      5.441669761304374,
      5.4869540754427035,
      5.458786635272373,
      5.384937390328117
    ],
    "ax_ego": [
      -0.4122207137202557,
      -0.3793841066571046,
      -0.029561038192952305,
      0.05845047210344878,
      0.1835005490042626,
      0.1475770744756877,
      0.14373327282523876,
      0.041527989759109124,
      -0.14934790038265872,
      -0.14217348320932893
    ],
    "ay_ego": [
      -0.5819303178476122,
      -0.6038513942395204,
      -0.7125416104385109,
      -0.6302118564444366,
      -0.5327606559082141,
      -0.5718584344102162,
      -0.5840534280037137,
      -0.5008790152952134,
      -0.35329584797288877,
      -0.3562435326943623
    ],
    "a_ego": [
      0.7131401066061703,
      0.7131401031417473,
      0.7131545425679849,
      0.6329166151178678,
      0.5634770341093027,
      0.5905938214347541,
      0.6014795594863916,
      0.5025976142965018,
      0.3835658372999231,
      0.3835658403904505
    ],
    "yaw": [
      2.7378470387978626,
      2.6824772909764762,
      2.620457229910029,
      2.5580256068511438,
      2.5034724693384725,
      2.450259971111336,
      2.397051846172659,
      2.344523301339316,
      2.3014511452286173,
      2.2812290992185753
    ],
    "yaw_diff": [
      -0.11073949564277275,
      -0.12404012213289484,
      -0.12486324611777011,
      -0.10910627502534265,
      -0.1064249964542725,
      -0.10641624987735465,
      -0.10505708966668603,
      -0.08614431222139718,
      -0.04044409202008392,
      -0.04044409202008392
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.373815141603771,
    "v_std": 0.10085712454068496,
    "vy_max": 0.06334092156929172,
    "a_max": 0.7131545425679849,
    "ax_avg": -0.05378978839945533,
    "a_std": 0.11831855805951284,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "1316af62e13e5dd5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "1316af62e13e5dd5",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "87b468bcdad158c2": {
    "vx_ego": [
      -0.06786941221112018,
      -0.05454440752266893,
      -0.038692784003137776,
      -0.02330392503975665,
      -0.014190778052738615,
      -0.009716374087242474,
      -0.007154103499026744,
      -0.005440242076456561,
      -0.004250818360305249,
      -0.003296853020641874
    ],
    "vy_ego": [
      0.013750417867706328,
      0.006867100209161814,
      0.0035028756287215843,
      0.0029175432049748495,
      0.002145984010628159,
      0.0016998002890193445,
      0.0013029233228566257,
      0.0011367783381250117,
      0.0009632964294209452,
      0.0008261108536783792
    ],
    "v_ego": [
      0.06924832926085284,
      0.054974989379550164,
      0.038851018925940235,
      0.023485846389080633,
      0.014352122808698358,
      0.009863936659660141,
      0.0072717814914937074,
      0.005557742243076649,
      0.004358600319281793,
      0.0033987790428741714
    ],
    "ax_ego": [
      0.02664969030471309,
      0.026649370760292036,
      0.03675612284847335,
      0.024799637310918696,
      0.0116528649523682,
      0.006244508762957161,
      0.004004976431515391,
      0.0028502117490943994,
      0.0019078189017153182,
      0.0019078088488496702
    ],
    "ay_ego": [
      -0.013769127813411275,
      -0.013769733914352635,
      0.00029898726629888975,
      -0.0026375843019357595,
      -0.00044920040765382245,
      -0.0013368178795695085,
      -0.0002482397276583957,
      -0.00041756346483088204,
      -0.00027479183139128105,
      -0.0002749219212003747
    ],
    "a_ego": [
      0.029996581039831435,
      0.0299965753710583,
      0.03675733886229352,
      0.02493950403883222,
      0.011661519738197396,
      0.006385998100045559,
      0.004012662355516804,
      0.0028806364334704455,
      0.0019275070719303774,
      0.0019275156721815802
    ],
    "yaw": [
      2.2931784727192728,
      2.2932013656744505,
      2.2932737218993453,
      2.293250628277999,
      2.293258815253641,
      2.29328748122892,
      2.2932125913799384,
      2.293262696512377,
      2.293179954501057,
      2.2932443905355573
    ],
    "yaw_diff": [
      4.578591035553359e-05,
      0.00014471244978953024,
      -4.61872426926746e-05,
      1.6373951283732424e-05,
      5.73319505585701e-05,
      -0.00014977969796348134,
      0.00010021026487727624,
      -0.00016548402263971695,
      0.00012887206900025205,
      0.00012887206900025205
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.02313631465205087,
    "v_std": 0.022233474164595014,
    "vy_max": 0.013750417867706328,
    "a_max": 0.03675733886229352,
    "ax_avg": 0.014342301087089731,
    "a_std": 0.013102189151229742,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "87b468bcdad158c2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.7852490701508823,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "87b468bcdad158c2",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "69610203b8c35c96": {
    "vx_ego": [
      5.132270776469303,
      5.648199919524608,
      6.063663094332338,
      6.2826724255327004,
      6.387437851501285,
      6.467066942811481,
      6.526274888720459,
      6.557419061496945,
      6.454936056575963,
      6.221898407797581
    ],
    "vy_ego": [
      0.0791584185859796,
      0.03942241519544509,
      0.042167110713564604,
      0.016393382195173833,
      0.012832125321843968,
      0.04154527105260142,
      0.03725919227979668,
      0.023957893924413165,
      0.019220306094726025,
      0.004133066345682224
    ],
    "v_ego": [
      5.132881196582857,
      5.648337495027863,
      6.063809708986089,
      6.2826938131289465,
      6.38745074111978,
      6.467200387521008,
      6.526381246184794,
      6.557462827097441,
      6.454964671835998,
      6.221899780548663
    ],
    "ax_ego": [
      1.0252547388123832,
      1.0474862329095256,
      0.6204867723619779,
      0.2650272916164961,
      0.14945134710802807,
      0.17071264210811843,
      0.06826212039536247,
      0.05657244014842045,
      -0.46613496367439783,
      -0.4658332497827774
    ],
    "ay_ego": [
      -0.5524811659701132,
      -0.5090729884456854,
      -0.47383003635962684,
      -0.6857613946932993,
      -0.33832713539801823,
      -0.2425373669643768,
      -0.19364059307783288,
      -0.028619958869630667,
      -0.07785301947632299,
      -0.07963844657703958
    ],
    "a_ego": [
      1.1646384495666215,
      1.1646384484894914,
      0.7807168103946208,
      0.7351925977274759,
      0.36986613213301006,
      0.29659261715279983,
      0.20532022883390186,
      0.06339986616741368,
      0.47259168105385957,
      0.4725916829318809
    ],
    "yaw": [
      3.055137998467665,
      3.013259319138474,
      2.9712181997632032,
      2.9287445095424993,
      2.8889890103076907,
      2.861918251651881,
      2.8458253841252295,
      2.8393663123720385,
      2.8360366939041306,
      2.832205179199929
    ],
    "yaw_diff": [
      -0.08375735865838241,
      -0.08408223875054155,
      -0.08494738044140782,
      -0.07951099846961718,
      -0.05414151731161976,
      -0.0321857350533028,
      -0.012918143506381874,
      -0.0066592369358158265,
      -0.0076630294084027994,
      -0.0076630294084027994
    ],
    "min_front_frame": [
      0,
      18.083845324466754
    ],
    "v_avg": 6.174308186803343,
    "v_std": 0.43222496824794754,
    "vy_max": 0.0791584185859796,
    "a_max": 1.1646384495666215,
    "ax_avg": 0.24712853720031366,
    "a_std": 0.3608644648599276,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "69610203b8c35c96",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.077876601604983,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      18.083845324466754,
      18.435751617455292,
      18.488799122651375,
      18.495057590178515,
      18.506449907776922,
      18.458288598878188,
      18.349332301044072,
      18.18054608092412,
      18.10171835833708,
      18.089716219131876
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "69610203b8c35c96",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "406d4391f1205862": {
    "vx_ego": [
      5.2951590149099745,
      5.422722537403501,
      5.454245695017338,
      5.382822418988132,
      5.316368917221617,
      5.292303271316513,
      5.392356100984854,
      5.6647777267619706,
      5.98959177356665,
      6.272765114587803
    ],
    "vy_ego": [
      0.026524602587677304,
      0.023391451778732808,
      -0.004968610982778898,
      -0.005677229616227297,
      -0.02683674441009032,
      -0.03745098853414852,
      -0.017753131561774715,
      0.0028195118910323558,
      -0.043043235247411715,
      -0.027196822683771327
    ],
    "v_ego": [
      5.295225448243428,
      5.422772987843044,
      5.454247958124958,
      5.382825412856835,
      5.316436652011446,
      5.292435780633492,
      5.392385325021648,
      5.664778428435293,
      5.989746433203817,
      6.27282407293189
    ],
    "ax_ego": [
      0.234847165113789,
      0.28140481504864123,
      -0.16206249448344576,
      -0.12538021537075145,
      -0.14120699232760273,
      0.044639225209617495,
      0.35203829685437943,
      0.7354908655223087,
      0.5629399932093007,
      0.5669263575949289
    ],
    "ay_ego": [
      -0.7176287172401943,
      -0.7006821677929331,
      -0.28802673628670233,
      -0.16064171948559824,
      -0.08464505609910711,
      -0.30461972830656003,
      -0.30883182254833386,
      -0.21164223964934925,
      -0.21127628060821863,
      -0.2003337403471215
    ],
    "a_ego": [
      0.7550789142664427,
      0.7550789165349302,
      0.33049001941687506,
      0.203779195321077,
      0.1646335330490986,
      0.30787308960166915,
      0.4683033814426901,
      0.7653360378752246,
      0.6012812176528801,
      0.6012812174493073
    ],
    "yaw": [
      1.0576621883889892,
      0.992033481183487,
      0.9522097596503758,
      0.9316232040956371,
      0.9241184983442285,
      0.9077014801086885,
      0.8750754436932981,
      0.8475819770906001,
      0.8373462306654906,
      0.8179772205000906
    ],
    "yaw_diff": [
      -0.13125741441100436,
      -0.0796474430662224,
      -0.0411731111094773,
      -0.015009411502817205,
      -0.032834036471080186,
      -0.0652520728307806,
      -0.05498693320539605,
      -0.020471492850218986,
      -0.038738020330800094,
      -0.038738020330800094
    ],
    "min_front_frame": [
      7,
      22.91246142561777
    ],
    "v_avg": 5.548367849930585,
    "v_std": 0.3151103212790432,
    "vy_max": 0.043043235247411715,
    "a_max": 0.7653360378752246,
    "ax_avg": 0.23496370163711652,
    "a_std": 0.2208389350673227,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "406d4391f1205862",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      25.57240244226177,
      22.91246142561777,
      -1,
      73.610700994645
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "406d4391f1205862",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "db36705ca2645415": {
    "vx_ego": [
      7.364590590013831,
      7.556280140547237,
      7.638846515169509,
      7.795106167232197,
      7.965370519034206,
      7.994642186073165,
      8.027996479822432,
      8.061579408774616,
      8.08637202542643,
      8.077394257400485
    ],
    "vy_ego": [
      -0.021529022632630124,
      -0.020316757884649483,
      0.014125226777272237,
      0.05069038108176516,
      0.04265524000270915,
      0.038416640303179594,
      0.0033602810600732447,
      0.0029081965564743406,
      0.03065006761240463,
      0.05215347731603792
    ],
    "v_ego": [
      7.364622058010566,
      7.556307453583365,
      7.638859574854669,
      7.795270981380676,
      7.965484729443585,
      7.994734487248022,
      8.027997183079362,
      8.061579933337267,
      8.086430112246305,
      8.077562625859516
    ],
    "ax_ego": [
      0.380764290598639,
      0.38770337040133973,
      -0.05614357473616377,
      0.6776171794406735,
      -0.0003042531285738087,
      0.11336376523745169,
      0.01723047127147439,
      0.11814929497292515,
      -0.02083126536100105,
      -0.017311513015427063
    ],
    "ay_ego": [
      0.3270953780172722,
      0.3188399721021204,
      0.42485319820975426,
      0.3220479306436276,
      0.3625253090485642,
      0.31982568109427983,
      0.2208051629708318,
      0.3612272831597956,
      0.2608570517675508,
      0.2611142572362348
    ],
    "a_ego": [
      0.5019689545333924,
      0.501968954449017,
      0.42854677809220776,
      0.750253231585827,
      0.3625254367223399,
      0.3393225744866263,
      0.22147643020152888,
      0.38005842445814353,
      0.2616874912436571,
      0.2616874926604516
    ],
    "yaw": [
      -1.3573274374138036,
      -1.3358428945426755,
      -1.3160499390760645,
      -1.296358105622936,
      -1.2738632683533078,
      -1.2519170259364838,
      -1.2307029465126456,
      -1.2125315029539743,
      -1.1967397519306555,
      -1.1832535758200766
    ],
    "yaw_diff": [
      0.04296908574225622,
      0.039585910933221946,
      0.03938366690625683,
      0.04498967453925662,
      0.04389248483364794,
      0.04242815884767648,
      0.03634288711734257,
      0.03158350204663751,
      0.02697235222115779,
      0.02697235222115779
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.856884913904333,
    "v_std": 0.2423564294957212,
    "vy_max": 0.05215347731603792,
    "a_max": 0.750253231585827,
    "ax_avg": 0.16002377656813377,
    "a_std": 0.14828812737623176,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "db36705ca2645415",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "db36705ca2645415",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e4b8bdb842ae567e": {
    "vx_ego": [
      7.043443560673498,
      6.757576039099823,
      6.455139986665113,
      6.161899839941252,
      5.893750871204119,
      5.594757778040025,
      5.25478468767077,
      4.854112615982843,
      4.392542192178704,
      3.9199754500415387
    ],
    "vy_ego": [
      0.03997503616464648,
      0.033906048224670915,
      0.02668693058199212,
      0.03183475973342231,
      0.015831146952309805,
      -0.004907907959992741,
      -0.0012349565710292332,
      0.025755766126365875,
      0.02682436052382764,
      -0.0031910773765437828
    ],
    "v_ego": [
      7.043556998840098,
      6.757661100138292,
      6.455195151171401,
      6.1619820747382335,
      5.893772133110775,
      5.594759930729817,
      5.254784832787821,
      4.854180945137146,
      4.39262409686825,
      3.919976748898287
    ],
    "ax_ego": [
      -0.5715659392568966,
      -0.5710970325339828,
      -0.6379674658452106,
      -0.5342791075465555,
      -0.5373850662509945,
      -0.6586560624175752,
      -0.7015392120350189,
      -0.9008753329656478,
      -0.9451642528209016,
      -0.9452725135027612
    ],
    "ay_ego": [
      -0.08519789887179521,
      -0.08828637073589715,
      -0.0887249626997865,
      -0.0631489160217612,
      -0.1581528943715238,
      -0.09594938162512098,
      0.009204390254132666,
      -0.002530781265577875,
      -0.03077567506951051,
      -0.02724853497854529
    ],
    "a_ego": [
      0.5778808743078344,
      0.5778808733872728,
      0.6441076047393312,
      0.5379980951225267,
      0.560174122418803,
      0.6656080621459357,
      0.701599591521165,
      0.9008788877533878,
      0.9456651664233368,
      0.9456651666643457
    ],
    "yaw": [
      2.7377646603784145,
      2.73235892849812,
      2.726760258090268,
      2.719911599936806,
      2.7133886557859914,
      2.705959718830089,
      2.7012896380450586,
      2.696304317058116,
      2.6942746167986584,
      2.698006173863927
    ],
    "yaw_diff": [
      -0.01081146376058939,
      -0.011197340815703782,
      -0.01369731630692339,
      -0.01304588830162956,
      -0.014857873911805264,
      -0.009340161570060346,
      -0.009970641973885641,
      -0.004059400518914735,
      0.007463114130537463,
      0.007463114130537463
    ],
    "min_front_frame": [
      9,
      63.85064711561232
    ],
    "v_avg": 5.632849401242011,
    "v_std": 0.9748031387650562,
    "vy_max": 0.03997503616464648,
    "a_max": 0.9456651666643457,
    "ax_avg": -0.7003801985175545,
    "a_std": 0.15513101155698578,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e4b8bdb842ae567e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 33.29829372657529,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      63.85064711561232
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e4b8bdb842ae567e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5022f5d01ba85e74": {
    "vx_ego": [
      2.862840530348202,
      2.5548225361755836,
      2.1913670500216944,
      1.7184829277409706,
      1.1152775833864337,
      0.4937296196738919,
      0.08110284597535433,
      -0.062068544030241,
      -0.05532433572072989,
      -0.017622729185175892
    ],
    "vy_ego": [
      0.008331575460359009,
      0.0009618986242733163,
      -0.017059563186652582,
      -0.02131090268193503,
      0.006513648760273882,
      0.022091673854917254,
      0.026240010779582178,
      0.010881772328723179,
      -0.006126718612125152,
      -0.0008521413656674926
    ],
    "v_ego": [
      2.8628526537972623,
      2.554822717254488,
      2.1914334524728107,
      1.7186150608877768,
      1.1152966043275017,
      0.49422361274734533,
      0.08524206585374756,
      0.06301521345713376,
      0.0556625439940737,
      0.017643319666126662
    ],
    "ax_ego": [
      -0.616443365044873,
      -0.6158101642044455,
      -0.8381080589548612,
      -1.0524544564314429,
      -1.36019938743856,
      -1.1262969910848264,
      -0.5242780366099967,
      -0.04842829496690504,
      0.07540326599446652,
      0.07540361816834344
    ],
    "ay_ego": [
      0.047885525691805014,
      0.05543720798457738,
      -0.027424836593554935,
      0.07157733826592566,
      0.07228777697963301,
      0.00014750369786764583,
      0.017099411368350914,
      -0.07856634507809872,
      0.010547996312658476,
      0.010545522011540135
    ],
    "a_ego": [
      0.6183004495216117,
      0.6183004466815719,
      0.8385566409893063,
      1.0548856327657699,
      1.3621188994683582,
      1.1262970007436202,
      0.5245568125005882,
      0.09229285092753635,
      0.0761374595638975,
      0.07613746559594173
    ],
    "yaw": [
      1.1637110825333932,
      1.1759676275791762,
      1.1863906005270253,
      1.1941058190581175,
      1.1997001543841113,
      1.2029645747635915,
      1.2037346990347109,
      1.203904706647207,
      1.2038520655800466,
      1.2038848973131442
    ],
    "yaw_diff": [
      0.024513090091565992,
      0.020845945895698215,
      0.015430437062184499,
      0.011188670651987476,
      0.006528840758960541,
      0.0015402485422386647,
      0.0003400152249923849,
      -0.00010528213432081657,
      6.566346619507613e-05,
      6.566346619507613e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.1158807244458266,
    "v_std": 1.07377628273564,
    "vy_max": 0.026240010779582178,
    "a_max": 1.3621188994683582,
    "ax_avg": -0.6031211870573101,
    "a_std": 0.4381339753211312,
    "ini_direction_judge": "straight",
    "scenario_type": "side_ego_to_main",
    "scene_token": "5022f5d01ba85e74",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "5022f5d01ba85e74",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "5816a23cfee25d4e": {
    "vx_ego": [
      4.997177468342697,
      5.016238665111864,
      5.071830956506946,
      5.091486327106433,
      5.028223019770944,
      4.946906802081308,
      4.914014647913666,
      4.9921385182578994,
      5.173280861176423,
      5.4293316422613005
    ],
    "vy_ego": [
      0.0027289523230584756,
      -0.014140400094999173,
      -0.013613977957951828,
      -0.005469617814970462,
      -0.006898413635891165,
      0.011362129986353775,
      0.02113845385678581,
      0.016038616313858056,
      0.003918988420580777,
      -0.02575656928476322
    ],
    "v_ego": [
      4.997178213481355,
      5.016258595435257,
      5.071849228021078,
      5.09148926502166,
      5.028227751868954,
      4.946919850419667,
      4.914060112996332,
      4.992164282421747,
      5.173282345579498,
      5.429392736072894
    ],
    "ax_ego": [
      0.010141219010202207,
      0.06775766439480696,
      0.16231747048032685,
      -0.07866565286755306,
      -0.17002498033218158,
      -0.15503202714721973,
      0.02071094038065019,
      0.28434166251581994,
      0.4452605035220748,
      0.580558293540503
    ],
    "ay_ego": [
      0.743847054235084,
      0.740823981897849,
      0.8278362381530826,
      0.8746864750554878,
      0.9233388821822832,
      0.945809602115439,
      1.0197055359509208,
      1.0266666769382133,
      1.1962363498893795,
      1.136745536152886
    ],
    "a_ego": [
      0.7439161810427468,
      0.743916173529803,
      0.84359931153515,
      0.8782167810888567,
      0.9388627084332336,
      0.9584313918560583,
      1.0199158411851468,
      1.0653143416746131,
      1.2764162020255767,
      1.276416211963078
    ],
    "yaw": [
      -0.7469043614720099,
      -0.669328198328996,
      -0.5915411499365264,
      -0.5099151080492068,
      -0.42105413899812205,
      -0.3310518802575143,
      -0.23301431974365283,
      -0.12809441293386767,
      -0.016046897708793913,
      0.09981033699912174
    ],
    "yaw_diff": [
      0.1551523262860277,
      0.15557409678493928,
      0.16325208377463918,
      0.17772193810216952,
      0.1800045174812155,
      0.19607512102772295,
      0.20983981361957033,
      0.2240950304501475,
      0.23171446941583132,
      0.23171446941583132
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.066082238131843,
    "v_std": 0.13985797925248614,
    "vy_max": 0.02575656928476322,
    "a_max": 1.276416211963078,
    "ax_avg": 0.11673650934974296,
    "a_std": 0.18080046990267887,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "5816a23cfee25d4e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "5816a23cfee25d4e",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "06d348162e80510a": {
    "vx_ego": [
      5.435383078782891,
      4.9515774272829844,
      4.360700320392851,
      3.682568148101959,
      3.0661878783081438,
      2.5346121122764136,
      2.1485356296863016,
      1.938089002803895,
      1.8266724986134013,
      1.741307205733228
    ],
    "vy_ego": [
      -0.034785798422238834,
      -0.020432364296715022,
      -0.025245529015230694,
      -0.03520719793823934,
      -0.020309072450161114,
      -0.0020170169020061746,
      -0.0005536768984459872,
      0.002488067069770783,
      0.003801340428810862,
      -0.010586971798363876
    ],
    "v_ego": [
      5.435494390107606,
      4.951619583519026,
      4.360773397117715,
      3.6827364434889653,
      3.0662551367274675,
      2.5346129148364027,
      2.148535701027474,
      1.938090599860373,
      1.8266764539402105,
      1.7413393892950109
    ],
    "ax_ego": [
      -0.9677218593112555,
      -0.9677356163567021,
      -1.3958519935710048,
      -1.3168124945790718,
      -1.1489007754232745,
      -0.9774251855001777,
      -0.5668770187060603,
      -0.27489098173596044,
      -0.17075068366231613,
      -0.17072242609656085
    ],
    "ay_ego": [
      0.0074465627605440066,
      0.005369009933380409,
      -0.047615704084454924,
      -0.0076997649219126,
      0.048783425484188125,
      0.015264714229095477,
      -0.013179384564750485,
      0.03306593804692186,
      -0.03185791239094418,
      -0.032008971168165506
    ],
    "a_ego": [
      0.9677505093182748,
      0.9677505099109743,
      1.3966638977333117,
      1.31683500570854,
      1.1499360044672802,
      0.9775443748242596,
      0.567030202471241,
      0.2768725484743531,
      0.17369721515630995,
      0.17369721070742655
    ],
    "yaw": [
      0.8738572971500859,
      0.8717104648988606,
      0.8704898854681637,
      0.8695259191517741,
      0.8681460590449381,
      0.8673256031567328,
      0.8669142925838846,
      0.86787596393354,
      0.8673349966743535,
      0.8664502316703198
    ],
    "yaw_diff": [
      -0.0042936645024505005,
      -0.002441158861393733,
      -0.001927932632779239,
      -0.00275972021367199,
      -0.0016409117764106806,
      -0.0008226211456963117,
      0.001923342699310826,
      -0.0010819345183730178,
      -0.0017695300080675658,
      -0.0017695300080675658
    ],
    "min_front_frame": [
      9,
      11.916101973481117
    ],
    "v_avg": 3.168613400992025,
    "v_std": 1.2964764945049705,
    "vy_max": 0.03520719793823934,
    "a_max": 1.3966638977333117,
    "ax_avg": -0.7957689034942385,
    "a_std": 0.44110403527759157,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "06d348162e80510a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.00530448972998,
    "speed_mode": "decelerating",
    "front_frame": [
      16.24374577822029,
      15.252248970716472,
      14.530098277374716,
      13.704257044449772,
      13.174031937654398,
      12.63703258528989,
      12.379874062381164,
      12.180437165552785,
      11.963936306333396,
      11.916101973481117
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "06d348162e80510a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6f790c3c333058b2": {
    "vx_ego": [
      3.2372795220969683,
      3.710199356384384,
      4.053329999017164,
      4.142576165760625,
      4.123755480210991,
      4.110049344909606,
      4.1088562985559145,
      4.327727593327418,
      4.828939674457011,
      5.407787406011807
    ],
    "vy_ego": [
      -0.03292934341845899,
      -0.06919529470541752,
      -0.03473680098949594,
      0.016121244271641633,
      0.026769223035624234,
      0.03326634076171442,
      0.06227517035524349,
      0.08818649592681888,
      0.02694506408138242,
      -0.0064135045371080945
    ],
    "v_ego": [
      3.237446995063602,
      3.7108445471246116,
      4.053478842460568,
      4.142607534348971,
      4.123842365061026,
      4.11018396997258,
      4.109328202884917,
      4.328625992172501,
      4.829014849430817,
      5.407791209140785
    ],
    "ax_ego": [
      0.9347047591960671,
      0.9482373334491137,
      0.42504140370750815,
      -0.03557446928039942,
      -0.007552147343770965,
      -0.030175088996252764,
      0.04074914591086125,
      0.8632142744999989,
      1.1430077053184509,
      1.1729721885055748
    ],
    "ay_ego": [
      -0.3634185277626037,
      -0.32648426298073063,
      -0.7616883692931524,
      -1.3106485884182417,
      -1.510104327544215,
      -1.4581530600402832,
      -1.2539915101449397,
      -1.0427537322745564,
      -0.6175050647404181,
      -0.5584938601381388
    ],
    "a_ego": [
      1.0028688913237442,
      1.0028688919897537,
      0.8722553334787416,
      1.3111312921242142,
      1.5101232118596375,
      1.4584652489863354,
      1.254653418441942,
      1.3536891186210653,
      1.2991455343407137,
      1.2991455448946267
    ],
    "yaw": [
      -2.2877273347312967,
      -2.3269526815450416,
      -2.4045648027418935,
      -2.541263620425518,
      -2.7141716420099513,
      -2.8953757617260667,
      -3.067375761864527,
      3.070252478337853,
      2.9924147867320796,
      2.941465765085302
    ],
    "yaw_diff": [
      -0.0784506936274898,
      -0.1552242423937038,
      -0.2733976353672487,
      -0.3458160431688668,
      -0.36240823943223077,
      -0.344000000276921,
      -0.2911141339544123,
      -0.1556753832115465,
      -0.10189804329355479,
      -0.10189804329355479
    ],
    "min_front_frame": [
      2,
      46.00087572555747
    ],
    "v_avg": 4.205316450766038,
    "v_std": 0.5552759002125516,
    "vy_max": 0.08818649592681888,
    "a_max": 1.5101232118596375,
    "ax_avg": 0.5454625104967151,
    "a_std": 0.1983585014399171,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "6f790c3c333058b2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.157791297462264,
    "speed_mode": "accelerating",
    "front_frame": [
      49.71567044669954,
      48.04553861360709,
      46.00087572555747,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "6f790c3c333058b2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b6e039ab90075f16": {
    "vx_ego": [
      1.5377273745339572,
      2.6095435969608287,
      3.721812517251161,
      4.79839581163037,
      5.7475909843236455,
      6.610513533677423,
      7.3401992105307965,
      7.889539962464913,
      8.295833466506016,
      8.642453227192622
    ],
    "vy_ego": [
      0.007505711860504083,
      0.011690316339527662,
      0.017349422634969747,
      0.007744457963045903,
      -0.026069518967076544,
      -0.050702798986493214,
      -0.06668544550551436,
      0.000979469829565982,
      0.014383750054563382,
      0.047652167824589586
    ],
    "v_ego": [
      1.5377456922721748,
      2.6095697821547863,
      3.721852954649497,
      4.798402061280507,
      5.747650106164921,
      6.6107079766661485,
      7.340502121716143,
      7.889540023264475,
      8.295845936145804,
      8.642584596826955
    ],
    "ax_ego": [
      2.1435787766328596,
      2.1436095259229626,
      2.30536298086437,
      2.000647852191421,
      1.7975913822917602,
      1.6565031823048169,
      1.2643273479265487,
      0.9327055341729229,
      0.6929722485775918,
      0.6951007318567445
    ],
    "ay_ego": [
      0.018258360237220828,
      0.014196642972066575,
      0.035939795671325214,
      0.02754145815378206,
      0.1511581475270446,
      0.14559991717649257,
      0.0805304520312558,
      0.12414258493206182,
      -0.16412811155887996,
      -0.15486620162033965
    ],
    "a_ego": [
      2.143656534837001,
      2.1436565359915623,
      2.3056431082135735,
      2.000837414782966,
      1.803935576248057,
      1.6628896923331347,
      1.2668894175970287,
      0.9409309192870705,
      0.7121436472387911,
      0.7121436426958353
    ],
    "yaw": [
      -0.5374664363587864,
      -0.5355716213679048,
      -0.5333859293352585,
      -0.5274589727590444,
      -0.5126454802212106,
      -0.49669813848815264,
      -0.4863748621673136,
      -0.48852950586519167,
      -0.4914104170102823,
      -0.5047551986714244
    ],
    "yaw_diff": [
      0.003789629981763243,
      0.004371384065292583,
      0.01185391315242823,
      0.029626985075667633,
      0.0318946834661159,
      0.02064655264167803,
      -0.0043092873957560895,
      -0.0057618222901812954,
      -0.026689563322284116,
      -0.026689563322284116
    ],
    "min_front_frame": [
      9,
      73.23133480579992
    ],
    "v_avg": 5.719440125114142,
    "v_std": 2.351839657692638,
    "vy_max": 0.06668544550551436,
    "a_max": 2.3056431082135735,
    "ax_avg": 1.5632399562741996,
    "a_std": 0.5837587982617478,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "b6e039ab90075f16",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.131348831181959,
    "right_rear_min": 10.621708681869883,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      77.4278120926841,
      73.23133480579992
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b6e039ab90075f16",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "963324efc6715315": {
    "vx_ego": [
      4.868635024864577,
      5.026777803547873,
      5.198774636081201,
      5.575330698555339,
      6.036429149399236,
      6.414674887606702,
      6.853382342618554,
      7.167925357669176,
      7.547824479220251,
      8.115761379037947
    ],
    "vy_ego": [
      -0.010430747221290115,
      -0.03696192004628008,
      -0.08917867573068083,
      -0.10755356157179552,
      -0.09645488022583759,
      -0.06137671490594698,
      -0.08688114296478888,
      -0.05164041384882312,
      -0.007433459590377112,
      0.019852919821803372
    ],
    "v_ego": [
      4.868646198464795,
      5.026913692294218,
      5.199539455852442,
      5.576368008557213,
      6.037199716725973,
      6.414968512379831,
      6.853933021785275,
      7.168111373678514,
      7.547828139633144,
      8.115785661284393
    ],
    "ax_ego": [
      0.2156166355640739,
      0.4275290538552051,
      0.31237291869187744,
      1.2339065655334902,
      0.6407915126763716,
      0.8842726247599978,
      0.8758998593786473,
      0.3855169082313833,
      1.1349321043132559,
      1.1365598873899185
    ],
    "ay_ego": [
      1.4419496553962612,
      1.3938896096852063,
      1.5621450504197816,
      1.3424638695729223,
      1.1167507872281608,
      0.8189251661150547,
      0.4350357142473338,
      0.2307369891052416,
      0.1941603146798037,
      0.18439286324278203
    ],
    "a_ego": [
      1.4579812557880731,
      1.457981253610177,
      1.593070619553039,
      1.8233854923124067,
      1.2875348863206735,
      1.2052288175265748,
      0.9779860102937169,
      0.44929149187764195,
      1.1514204745432814,
      1.1514204729978774
    ],
    "yaw": [
      1.4353104100137393,
      1.584486212771058,
      1.7385011293276205,
      1.8794937210814107,
      1.982074251896718,
      2.0544933281748485,
      2.105573523165976,
      2.124125499594505,
      2.1326628484204804,
      2.1412628269567566
    ],
    "yaw_diff": [
      0.29835160551463735,
      0.30802983311312504,
      0.2819851835075804,
      0.20516106163061476,
      0.14483815255626098,
      0.10216038998225496,
      0.03710395285705825,
      0.017074697651950466,
      0.017199957072552507,
      0.017199957072552507
    ],
    "min_front_frame": [
      8,
      21.32172399091948
    ],
    "v_avg": 6.28092937806558,
    "v_std": 1.0675877371598448,
    "vy_max": 0.10755356157179552,
    "a_max": 1.8233854923124067,
    "ax_avg": 0.7247398070394221,
    "a_std": 0.356461759220755,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "963324efc6715315",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 18.581430490996492,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      31.7107074470139,
      28.381568630006946,
      24.894942155965584,
      21.32172399091948,
      23.424754782096706
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "963324efc6715315",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "150c33d5cd005743": {
    "vx_ego": [
      2.8442430319628,
      2.3607334668315056,
      1.7370589627570008,
      1.0249626087876562,
      0.47811223392212876,
      0.1419204241697142,
      0.0007653332101458347,
      -0.020634837707192464,
      -0.009582285792704572,
      0.012159166528343182
    ],
    "vy_ego": [
      -0.016387339721214422,
      -0.01842575615156461,
      -0.04792616411788719,
      -0.08049117156428576,
      -0.08083764135360352,
      -0.07608377986414928,
      -0.03698523935659924,
      -0.0012196685107663825,
      -0.00501410176734303,
      -0.0025954251800926727
    ],
    "v_ego": [
      2.8442902400725703,
      2.360805373152996,
      1.7377199881745857,
      1.028118270488658,
      0.48489796090066434,
      0.16102840853379854,
      0.036993157004877125,
      0.020670851904997217,
      0.010814870204784725,
      0.012433083387858392
    ],
    "ax_ego": [
      -0.967010384024406,
      -0.9670110622774235,
      -1.527546675115687,
      -1.320643655035632,
      -0.8666020041367065,
      -0.4782264949320396,
      -0.08632742395846005,
      0.0007271235939328036,
      0.043483064960003724,
      0.04348320825804396
    ],
    "ay_ego": [
      -0.002938464904402638,
      -0.0027053093224048697,
      -0.10106060905169423,
      -0.02560921551039841,
      0.02546724645999826,
      -0.006666945031300386,
      0.16308020344777263,
      -0.020015783715682627,
      0.004838085391834567,
      0.004836792222613712
    ],
    "a_ego": [
      0.9670148485866303,
      0.9670148464555448,
      1.5308860478033268,
      1.3208919318040107,
      0.8669761324373414,
      0.4782729645412068,
      0.1845198549855018,
      0.020028986656190063,
      0.04375138864738566,
      0.04375138808560431
    ],
    "yaw": [
      0.5589774503278309,
      0.5592185551364528,
      0.5608981171642742,
      0.561560446804447,
      0.5620080415568407,
      0.561802344176797,
      0.5620160124540867,
      0.5619902703449948,
      0.5619897593758534,
      0.5620194637965279
    ],
    "yaw_diff": [
      0.00048220961724387834,
      0.0033591240556427593,
      0.0013246592803457524,
      0.000895189504787286,
      -0.0004113947600874468,
      0.0004273365545794938,
      -5.1484218183794894e-05,
      -1.0219382828857704e-06,
      5.940884134902902e-05,
      5.940884134902902e-05
    ],
    "min_front_frame": [
      9,
      9.561557953152178
    ],
    "v_avg": 0.8697772203825791,
    "v_std": 1.0216695300210359,
    "vy_max": 0.08083764135360352,
    "a_max": 1.5308860478033268,
    "ax_avg": -0.6125674302668374,
    "a_std": 0.5340075492471341,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "150c33d5cd005743",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.55195693644927,
    "right_rear_min": 17.069193590803796,
    "speed_mode": "decelerating",
    "front_frame": [
      12.974684946025308,
      11.696505830425604,
      10.64669113060742,
      9.999847228078147,
      9.708518826777267,
      9.607024581973732,
      9.59793781087889,
      9.572707181575453,
      9.570851517835164,
      9.561557953152178
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "150c33d5cd005743",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8c67448dd4da50a3": {
    "vx_ego": [
      2.975096890308504,
      3.536726510283838,
      4.068756264734581,
      4.536297011714801,
      4.944876053036822,
      5.312982689151448,
      5.651816306096409,
      5.970702366447451,
      6.231693125823683,
      6.512709307375822
    ],
    "vy_ego": [
      0.03696130741477355,
      0.018340909642755476,
      0.030271649425269387,
      0.02812614234561961,
      0.042325351444628345,
      0.03463028853132988,
      0.021137974177508262,
      0.0017640059638260874,
      -0.03291269744879899,
      -0.0470005449012989
    ],
    "v_ego": [
      2.975326477038972,
      3.5367740665062306,
      4.068868874094597,
      4.536384205330924,
      4.945057190293347,
      5.313095548934417,
      5.651855834308726,
      5.970702627029606,
      6.231780039450325,
      6.512878900578505
    ],
    "ax_ego": [
      1.1221397162470248,
      1.1266858880921342,
      1.0029089945057372,
      0.8677506939139477,
      0.7675830955817787,
      0.7149188645324,
      0.6432721218375974,
      0.6420183863187321,
      0.4365051381584658,
      0.7048583257326346
    ],
    "ay_ego": [
      -0.20500265680637295,
      -0.1783327232832026,
      -0.11576807383600074,
      -0.018615270460324962,
      0.3872709436653449,
      0.9892342068371434,
      1.2666357209011303,
      1.5166339371251396,
      1.8722496366783705,
      1.7885832874116598
    ],
    "a_ego": [
      1.1407118970522858,
      1.1407119051800785,
      1.0095685703211084,
      0.8679503413689338,
      0.85974565566239,
      1.220529925418057,
      1.4206213683442084,
      1.64692626052626,
      1.9224607766300543,
      1.9224607760271502
    ],
    "yaw": [
      1.4024609771551417,
      1.3787431025213028,
      1.3563629050575705,
      1.3490817933913402,
      1.3654843178031228,
      1.4339650886330912,
      1.5390263171773695,
      1.6619379734989805,
      1.805629165754159,
      1.9519751353478996
    ],
    "yaw_diff": [
      -0.047435749267677796,
      -0.04476039492746464,
      -0.014562223332460711,
      0.032805048823565386,
      0.1369615416599368,
      0.21012245708855648,
      0.2458233126432221,
      0.2873823845103569,
      0.29269193918748115,
      0.29269193918748115
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.9742723763565655,
    "v_std": 1.122050376181508,
    "vy_max": 0.0470005449012989,
    "a_max": 1.9224607766300543,
    "ax_avg": 0.8028641224920452,
    "a_std": 0.37807715774010237,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "8c67448dd4da50a3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8c67448dd4da50a3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a5b2403d85fc511d": {
    "vx_ego": [
      0.5844818706584167,
      1.4335697113608386,
      2.202190858311645,
      2.7844147532462626,
      3.11928248811454,
      3.2412747639366373,
      3.2425064891832442,
      3.2604813977261333,
      3.43698159190597,
      3.776238117210096
    ],
    "vy_ego": [
      -0.02009012472781463,
      -0.008238262892005799,
      -0.007189673763458471,
      0.01146205192719063,
      0.005601591558296315,
      -0.005979503641240447,
      -0.01832504871267404,
      -0.028776333364690765,
      0.00728249724679636,
      -0.08910740728868105
    ],
    "v_ego": [
      0.5848270430135232,
      1.43359338248566,
      2.20220259464024,
      2.78443834493239,
      3.119287517765238,
      3.2412802794260633,
      3.242558270841986,
      3.2606083822317693,
      3.4369893072086573,
      3.77728929894232
    ],
    "ax_ego": [
      1.698137416939114,
      1.698823169865404,
      1.3777325640600484,
      0.9536202471159558,
      0.3876675639122452,
      0.107534536544594,
      -0.08392829886585831,
      0.18121895093526005,
      0.5597904371787287,
      0.8162888815239491
    ],
    "ay_ego": [
      0.06233628365645483,
      0.03945038362392905,
      0.14682073985234934,
      0.29881833020806486,
      0.4258025082170265,
      0.5981279081050209,
      0.8309920795799591,
      0.992971688593787,
      1.3311559537388138,
      1.1912237357550561
    ],
    "a_ego": [
      1.699281171280593,
      1.699281170153902,
      1.3855335967497384,
      0.9993417684545327,
      0.5758419193785441,
      0.6077175914879781,
      0.8352196092496523,
      1.0093726182767555,
      1.4440711570871578,
      1.4440711640102268
    ],
    "yaw": [
      2.4870615283770574,
      2.5005356659117046,
      2.5250332463572187,
      2.5614575362620453,
      2.6233104081792202,
      2.7064783383782074,
      2.81953764175205,
      2.9642168178965917,
      3.128916325125834,
      -2.9515875466227346
    ],
    "yaw_diff": [
      0.026948275069294425,
      0.04899516089102818,
      0.0728485798096532,
      0.12370574383434985,
      0.16633586039797432,
      0.22611860674768547,
      0.28935835228908324,
      0.32939901445848463,
      0.40536287086203515,
      0.40536287086203515
    ],
    "min_front_frame": [
      5,
      42.480382292432104
    ],
    "v_avg": 2.708307442148785,
    "v_std": 0.9546270153976734,
    "vy_max": 0.08910740728868105,
    "a_max": 1.699281171280593,
    "ax_avg": 0.7696885469209441,
    "a_std": 0.3991428905853005,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "a5b2403d85fc511d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.767185668145162,
    "right_rear_min": 26.558832112741957,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      44.08928593643358,
      42.480382292432104,
      64.171309455759,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a5b2403d85fc511d",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "063f7dfe767d55aa": {
    "vx_ego": [
      8.881486855111394,
      8.930397420927015,
      8.960625340657106,
      8.96602814932833,
      8.960929125319808,
      8.971095464650677,
      8.995403941228641,
      9.006195140639242,
      9.006807751984311,
      9.00982940230687
    ],
    "vy_ego": [
      0.1237697244759457,
      0.06629432709449112,
      0.1080624325637336,
      0.08094236024678203,
      -0.007291007323003917,
      -0.0630379832158372,
      -0.05460760786204544,
      -0.08911579527514801,
      -0.12049212795074693,
      -0.11139853375437303
    ],
    "v_ego": [
      8.882349222036552,
      8.93064348373088,
      8.961276917100479,
      8.966393502419484,
      8.960932091461949,
      8.971316939179212,
      8.995569690503665,
      9.006636027743179,
      9.007613681442093,
      9.010518047925768
    ],
    "ax_ego": [
      0.0919468648851389,
      0.09634990040089161,
      0.02252028031676489,
      -0.0017558912789685521,
      -0.01845443090304283,
      0.05854588726017815,
      0.035847689562010676,
      -0.0012104621487922795,
      -0.014595321988813525,
      0.009488466432628823
    ],
    "ay_ego": [
      0.229307725455576,
      0.22749275908880698,
      0.12164444344451744,
      -0.17226916229119088,
      -0.21963038384164307,
      -0.396300499254016,
      -0.6835148449762547,
      -0.8027254248452462,
      -0.6495293208946791,
      -0.6496239964824277
    ],
    "a_ego": [
      0.2470551738292801,
      0.24705517348377812,
      0.12371149359082231,
      0.17227811071256913,
      0.22040433645094792,
      0.40060168075541547,
      0.6844542352486744,
      0.8027263374971539,
      0.6496932831158563,
      0.6496932874834436
    ],
    "yaw": [
      2.139233769957575,
      2.1585108782083178,
      2.1635937834617396,
      2.165206911382552,
      2.1641203631690873,
      2.153152239589873,
      2.1221752467452086,
      2.0847519947843365,
      2.0479354469530318,
      2.010863568832995
    ],
    "yaw_diff": [
      0.038554216501485605,
      0.01016581050684362,
      0.0032262558416249476,
      -0.0021730964269295328,
      -0.021936247158429012,
      -0.061953985689328306,
      -0.0748465039217443,
      -0.07363309566260945,
      -0.07414375624007352,
      -0.07414375624007352
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.969324960354326,
    "v_std": 0.038016584012674604,
    "vy_max": 0.1237697244759457,
    "a_max": 0.8027263374971539,
    "ax_avg": 0.027868298253799585,
    "a_std": 0.23898128048345219,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "063f7dfe767d55aa",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "063f7dfe767d55aa",
    "road_shape": "Straight"
  },
  "6e395976280452e1": {
    "vx_ego": [
      4.071795563696904,
      3.887918125914146,
      3.6418142557483817,
      3.214298980064747,
      2.6130624360696593,
      1.9209103706133073,
      1.1763543339313742,
      0.4736847366780659,
      0.04104513478765936,
      -0.18123917227854155
    ],
    "vy_ego": [
      0.012640687066196366,
      0.01593095724481719,
      0.010356263280094091,
      0.003788668105677573,
      0.010196198473883422,
      0.002463363304887334,
      0.005208545760021749,
      0.011920004320170458,
      -0.020705078192395247,
      -0.07079532685890144
    ],
    "v_ego": [
      4.071815184842173,
      3.8879507647616247,
      3.641828980822859,
      3.2143012129001365,
      2.6130823288334453,
      1.9209119501134155,
      1.1763658648176005,
      0.47383469297294123,
      0.04597176690850946,
      0.19457547603248865
    ],
    "ax_ego": [
      -0.3705293637992011,
      -0.36619385331085613,
      -0.6201175898751302,
      -1.0898477918044835,
      -1.3167053227915553,
      -1.4534315211529423,
      -1.5247418792247345,
      -1.2860912978550272,
      -0.4444827971561324,
      -0.4445435200291469
    ],
    "ay_ego": [
      0.18485056764629695,
      0.19329718271318674,
      0.13347926609235855,
      0.19753219710691916,
      0.12689121373042467,
      0.02342083992786259,
      0.0625416307926362,
      -0.029565347896047173,
      -0.1003999970767608,
      -0.10013078400509706
    ],
    "a_ego": [
      0.4140793906928947,
      0.414079387373373,
      0.6343205339172735,
      1.1076042516147162,
      1.322805460825436,
      1.4536202125809485,
      1.5260240017260467,
      1.2864310849068608,
      0.45568093703901325,
      0.4556809356395985
    ],
    "yaw": [
      -0.3356727840388065,
      -0.31274354217903116,
      -0.28975855165681685,
      -0.26414300867577334,
      -0.23875437808397043,
      -0.21891732254071128,
      -0.20688222966592662,
      -0.20495486747701652,
      -0.20407587932611515,
      -0.2034702473263434
    ],
    "yaw_diff": [
      0.0458584837195507,
      0.04596998104442862,
      0.05123108596208703,
      0.050777261183605815,
      0.039674111086518304,
      0.024070185749569317,
      0.0038547243778201956,
      0.0017579763018027439,
      0.0012112639995435215,
      0.0012112639995435215
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.1240638223005193,
    "v_std": 1.4946722185892252,
    "vy_max": 0.07079532685890144,
    "a_max": 1.5260240017260467,
    "ax_avg": -0.8916684936999208,
    "a_std": 0.4479689608877502,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6e395976280452e1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6e395976280452e1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e22c42694be05703": {
    "vx_ego": [
      4.15346026927626,
      4.1932981791969395,
      4.260520371017284,
      4.276309135504507,
      4.195833752887743,
      4.1624639318064185,
      4.126939368041748,
      3.971477915425992,
      3.8459594595344475,
      3.786894662427786
    ],
    "vy_ego": [
      0.06520148650930446,
      0.03159376883601128,
      0.01598064838219493,
      0.01382780596212596,
      -0.007305261783010053,
      -0.04175184575433111,
      -0.03184972350426829,
      -0.025554854583252462,
      -0.03301873542326095,
      -0.019712955942537302
    ],
    "v_ego": [
      4.153972007885879,
      4.193417196736527,
      4.260550341561049,
      4.276331492134003,
      4.195840112387716,
      4.162673323744399,
      4.127062266598376,
      3.9715601321532517,
      3.846101194881831,
      3.78694597069407
    ],
    "ax_ego": [
      0.012839771940091227,
      0.12296102793450114,
      0.12040059122918642,
      -0.06780065946224084,
      -0.2550655128772035,
      0.12093261637222683,
      -0.26322708023054847,
      -0.3592100091350413,
      -0.15453810491621564,
      -0.0910068328003997
    ],
    "ay_ego": [
      0.9281713120319942,
      0.9200801212543347,
      0.5453741708307213,
      0.14926241039918434,
      -0.12398079845830104,
      -0.210184298396026,
      -0.4957633943854011,
      -0.709772561167358,
      -0.6767475599726316,
      -0.6881766069507939
    ],
    "a_ego": [
      0.9282601166821006,
      0.9282601165180482,
      0.5585063012873126,
      0.16393961260686593,
      0.283601223984786,
      0.24249151942874597,
      0.5613108220756432,
      0.7954928781886532,
      0.6941680529958187,
      0.694168053118744
    ],
    "yaw": [
      -1.0513270298709754,
      -0.93230510093593,
      -0.8420055039602885,
      -0.8010479384752212,
      -0.7946026965894538,
      -0.8064837084994898,
      -0.8509317723084069,
      -0.9266560230558594,
      -1.0139439490472149,
      -1.1069680935370196
    ],
    "yaw_diff": [
      0.23804385787009075,
      0.180599193951283,
      0.0819151309701347,
      0.012890483771534678,
      -0.023762023820071976,
      -0.08889612761783416,
      -0.15144850149490496,
      -0.17457585198271097,
      -0.18604828897960957,
      -0.18604828897960957
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.09744540387771,
    "v_std": 0.16163340157409967,
    "vy_max": 0.06520148650930446,
    "a_max": 0.9282601166821006,
    "ax_avg": -0.08137141919456439,
    "a_std": 0.26277477337710536,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "e22c42694be05703",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.17663761578567,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "e22c42694be05703",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5c838efd36805c92": {
    "vx_ego": [
      9.43408865927923,
      9.557239563001497,
      9.641256716916569,
      9.683933359543264,
      9.659590717557904,
      9.484304201661606,
      9.259637019960241,
      9.096211167807017,
      8.950647106559083,
      8.80395799315035
    ],
    "vy_ego": [
      0.029503853720510342,
      0.0707174666554744,
      0.10402844490500662,
      0.10709858648405568,
      0.058726924306522044,
      -0.013733801192525874,
      0.0015063840923588145,
      0.04183902558113051,
      0.037750002227125545,
      0.10374998143432279
    ],
    "v_ego": [
      9.43413479384969,
      9.557501191456437,
      9.641817930185065,
      9.684525565008427,
      9.659769235461546,
      9.484314145311256,
      9.259637142491664,
      9.096307388902305,
      8.950726712888883,
      8.80456929121485
    ],
    "ax_ego": [
      0.24465565370583572,
      0.24640396297988618,
      0.0865976090278326,
      0.07831876389052109,
      -0.1815277516126505,
      -0.519261339128765,
      -0.3747458672800915,
      -0.28157544013648517,
      -0.3136774333856207,
      -0.2835267726890412
    ],
    "ay_ego": [
      0.22897139890958654,
      0.22708891875972834,
      0.2610764209618094,
      0.3237452446141783,
      0.5702491357430448,
      0.7670945745714611,
      0.931227072974661,
      0.9958915991875612,
      0.7948434282139284,
      0.8060906845979384
    ],
    "a_ego": [
      0.3350884814624979,
      0.3350884808459635,
      0.2750637080233691,
      0.33308379154145784,
      0.5984449861275752,
      0.9263187489470184,
      1.0038019358839982,
      1.0349322711271562,
      0.8544996241018838,
      0.854499632900469
    ],
    "yaw": [
      -0.7142626980771264,
      -0.7065957473845788,
      -0.6973715384620918,
      -0.6825600584369176,
      -0.6545462829642826,
      -0.6122403711619462,
      -0.5684859315999121,
      -0.5203353359896824,
      -0.47030139082698397,
      -0.43263950209059965
    ],
    "yaw_diff": [
      0.015333901385095272,
      0.018448417844973974,
      0.029622960050348368,
      0.0560275509452699,
      0.0846118236046729,
      0.08750887912406813,
      0.09630119122045944,
      0.10006789032539687,
      0.07532377747276864,
      0.07532377747276864
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.357330339677011,
    "v_std": 0.29834537015244894,
    "vy_max": 0.10709858648405568,
    "a_max": 1.0349322711271562,
    "ax_avg": -0.12983386146285786,
    "a_std": 0.29581957022580163,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "5c838efd36805c92",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 45.95954381502407,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5c838efd36805c92",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ca009ab283bc5484": {
    "vx_ego": [
      5.512285496539043,
      6.176435040679172,
      6.810597062674483,
      7.3530199531505325,
      7.838010672845946,
      8.332555932553166,
      8.850994769382378,
      9.38713105404705,
      9.888053975157206,
      10.356080958161545
    ],
    "vy_ego": [
      -0.007781786125296453,
      0.014712417251883103,
      0.03780841560705506,
      0.04197555628652205,
      0.007811043136125573,
      -0.01862368058157582,
      -0.030979489583553566,
      0.03329811311593689,
      0.07136983651396722,
      0.03248203637496072
    ],
    "v_ego": [
      5.512290989375469,
      6.176452563320706,
      6.810702006871319,
      7.353139763308965,
      7.838014564929171,
      8.33257674495743,
      8.851048985086969,
      9.38719011153985,
      9.888311537830221,
      10.356131898285344
    ],
    "ax_ego": [
      1.3283129031367449,
      1.3282924174290753,
      1.2084999092307736,
      0.961308105997753,
      0.9785229434838251,
      0.999635624824806,
      1.0757232074007557,
      1.0686925405084646,
      0.9360775055163896,
      0.9361105560911439
    ],
    "ay_ego": [
      0.03846788437415816,
      0.039169036398866375,
      0.02040150902479332,
      -0.022056013815121123,
      -0.08391685509926983,
      -0.03815526037284739,
      0.2264834087585738,
      0.10035535526333522,
      -0.08577411091920217,
      -0.08541261479607459
    ],
    "a_ego": [
      1.32886980053269,
      1.3288698053654437,
      1.208672102839011,
      0.9615610965520599,
      0.9821146519088293,
      1.0003635370768968,
      1.0993066693982496,
      1.0733941230826944,
      0.9399990927856079,
      0.9399990893567788
    ],
    "yaw": [
      -2.0415724943499303,
      -2.04210034893984,
      -2.043360758284326,
      -2.0440047841610127,
      -2.0429945211245224,
      -2.043499715439339,
      -2.0365740831850383,
      -2.0346626584900913,
      -2.0382286179256353,
      -2.038614792168529
    ],
    "yaw_diff": [
      -0.001055709179819786,
      -0.00252081868897136,
      -0.0012880517533737645,
      0.002020526072980644,
      -0.0010103886296333187,
      0.013851264508601524,
      0.0038228493898939675,
      -0.007131918871087883,
      -0.0007723484857873331,
      -0.0007723484857873331
    ],
    "min_front_frame": [
      0,
      18.851171414737593
    ],
    "v_avg": 8.050585916550544,
    "v_std": 1.5239355382415265,
    "vy_max": 0.07136983651396722,
    "a_max": 1.3288698053654437,
    "ax_avg": 1.082117571361973,
    "a_std": 0.1447750846569635,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "ca009ab283bc5484",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.333562363677384,
    "right_rear_min": 9.828951178746507,
    "speed_mode": "accelerating",
    "front_frame": [
      18.851171414737593,
      19.658174647266737,
      20.355067427645196,
      21.180257154130082,
      22.1802388077352,
      23.023304421404546,
      23.816135211976167,
      24.52880425741179,
      25.16602134401122,
      25.773997589724566
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ca009ab283bc5484",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "2e037aeeebce56df": {
    "vx_ego": [
      2.5154726387400714,
      2.1724611997152787,
      1.789149559006895,
      1.4345431415960168,
      1.1860054020594082,
      0.9590603833878804,
      0.8130402524220673,
      0.7817255512063676,
      0.7723451158817531,
      0.766615081814084
    ],
    "vy_ego": [
      -0.0038520513493940367,
      -0.02301878617901343,
      -0.01566592716953452,
      -0.004124693573196669,
      0.0030799343037426485,
      -0.01137485886468853,
      -0.023009526734274144,
      -0.012254958733631693,
      -0.027057436517941347,
      -0.04599363606890311
    ],
    "v_ego": [
      2.5154755881442252,
      2.1725831465758687,
      1.789218143706532,
      1.4345490713800078,
      1.186009401189305,
      0.9591278363170884,
      0.8133657789574591,
      0.7818216046020103,
      0.7728189198624223,
      0.7679935535039688
    ],
    "ax_ego": [
      -0.686127107819485,
      -0.6860280613028276,
      -0.8473035472382888,
      -0.5711294444364415,
      -0.42301025754797084,
      -0.4848291818268139,
      -0.09928036314539557,
      -0.026028998164666816,
      -0.011448601790357308,
      -0.011453312757269287
    ],
    "ay_ego": [
      -0.047298002979465015,
      -0.048713550748014256,
      0.07320341708240691,
      -0.02079523513002124,
      0.05113994445787892,
      -0.10477812650896864,
      0.05759057148475258,
      -0.019561432692541326,
      -0.03768126602390395,
      -0.03767984689232794
    ],
    "a_ego": [
      0.68775541377046,
      0.68775541504331,
      0.8504598999571514,
      0.571507903800456,
      0.4260903330397858,
      0.49602196659582243,
      0.11477484232279309,
      0.032560073624625804,
      0.03938208085053901,
      0.03938209282078725
    ],
    "yaw": [
      -2.119979834139085,
      -2.1220430792934373,
      -2.122657979518002,
      -2.1216684498897855,
      -2.1213730794062386,
      -2.120405492422771,
      -2.120599108114293,
      -2.122181500321725,
      -2.1215470910837064,
      -2.1214224361383254
    ],
    "yaw_diff": [
      -0.004126490308704156,
      -0.00122980044912957,
      0.0019790592564330467,
      0.0005907409670937724,
      0.0019351739669355439,
      -0.00038723138304419535,
      -0.003164784414863675,
      0.0012688184760367704,
      0.0002493098907621061,
      0.0002493098907621061
    ],
    "min_front_frame": [
      9,
      9.675817044368603
    ],
    "v_avg": 1.3192963044238888,
    "v_std": 0.607285499387714,
    "vy_max": 0.04599363606890311,
    "a_max": 0.8504598999571514,
    "ax_avg": -0.38466388760295167,
    "a_std": 0.29732094685831456,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2e037aeeebce56df",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.926855727610562,
    "speed_mode": "decelerating",
    "front_frame": [
      12.234821073666772,
      11.66061568726426,
      11.208067126442922,
      10.882612517853017,
      10.540421574703908,
      10.30448294839354,
      10.154260175767494,
      9.94608897870265,
      9.7635045064243,
      9.675817044368603
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2e037aeeebce56df",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8df9b515d98e5c38": {
    "vx_ego": [
      8.495948518732396,
      8.58005393437204,
      8.660446198784568,
      8.762067597265018,
      8.84983910449183,
      8.891695492011245,
      8.906476356862548,
      8.803105216550183,
      8.612315862690894,
      8.43147440573326
    ],
    "vy_ego": [
      -0.04511049728007199,
      -0.033632221847245125,
      -0.04106532220690218,
      -0.03600461763362994,
      -0.05597791777739003,
      -0.0690490260736496,
      -0.04577968871748128,
      -0.025208390620067744,
      -0.029136946091076865,
      -0.02934275869612679
    ],
    "v_ego": [
      8.496068278322394,
      8.580119850158242,
      8.66054355815673,
      8.762141571073393,
      8.850016141379147,
      8.89196359026817,
      8.906594010914084,
      8.803141309590043,
      8.612365150200304,
      8.431525464115193
    ],
    "ax_ego": [
      0.16562012162567313,
      0.1685973387490238,
      0.1512288407965037,
      0.25393656615563776,
      0.09597163969475864,
      0.06984083066386788,
      -0.012432291029380626,
      -0.4015782820192563,
      -0.36221227512292037,
      -0.3617538653287696
    ],
    "ay_ego": [
      -0.21544467095376724,
      -0.21312289441326052,
      -0.13897864863267637,
      -0.15330536268730977,
      -0.1515192240934197,
      -0.11361612463280671,
      -0.010715641386438343,
      -0.11109844833215662,
      -0.08766063635030916,
      -0.08953356834393145
    ],
    "a_ego": [
      0.27174699801410834,
      0.27174699769517024,
      0.20539042593173415,
      0.2966248706019173,
      0.17935615655887732,
      0.1333655330450733,
      0.016413007968132113,
      0.41666291149003204,
      0.3726689139371076,
      0.3726689133006709
    ],
    "yaw": [
      -0.14133384961910916,
      -0.15522743267350805,
      -0.1645741923999186,
      -0.17355642089429613,
      -0.17992788862286493,
      -0.1859243239958192,
      -0.19202487989651726,
      -0.19775577884679404,
      -0.2030139904392527,
      -0.20818806686011546
    ],
    "yaw_diff": [
      -0.02778716610879778,
      -0.018693519452821106,
      -0.01796445698875504,
      -0.012742935457137616,
      -0.011992870745908546,
      -0.012201111801396103,
      -0.011461797900553572,
      -0.0105164231849173,
      -0.010348152841725522,
      -0.010348152841725522
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.699447892417771,
    "v_std": 0.15931329383748297,
    "vy_max": 0.0690490260736496,
    "a_max": 0.41666291149003204,
    "ax_avg": -0.023278137581486207,
    "a_std": 0.1166209063690041,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8df9b515d98e5c38",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8df9b515d98e5c38",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c37a081992495a0e": {
    "vx_ego": [
      13.771511336099916,
      13.586082345446279,
      13.388136623591455,
      13.171351243447786,
      12.994204700515027,
      12.830015586368676,
      12.667355898168095,
      12.505363195482161,
      12.3076821669233,
      12.108956527477833
    ],
    "vy_ego": [
      -0.0698080432507,
      -0.0022643748059661406,
      0.007079752952331042,
      -0.04160119645851976,
      0.017590945818523426,
      0.023252444306615657,
      -0.010842953975120792,
      -0.012002204338249944,
      0.018126372365478954,
      0.0762567376691867
    ],
    "v_ego": [
      13.77168826408843,
      13.58608253414649,
      13.388138495506112,
      13.171416941157862,
      12.994216607408912,
      12.830036657103882,
      12.667360538822006,
      12.505368955125986,
      12.307695514895425,
      12.109196640338615
    ],
    "ax_ego": [
      -0.37088313657801675,
      -0.37100614870037807,
      -0.4197876660667796,
      -0.4472506347126763,
      -0.26129639837659346,
      -0.39599179638807525,
      -0.2550752803278168,
      -0.39263466811239883,
      -0.3980049621505561,
      -0.3974513876602991
    ],
    "ay_ego": [
      0.10236218207227268,
      0.10191542890413421,
      0.36800622215608303,
      0.24352340044691143,
      0.17053717124666767,
      0.14808195857241452,
      0.07704109974470491,
      0.1176233447224598,
      0.1875277747239014,
      0.18869820017559433
    ],
    "a_ego": [
      0.3847496813728959,
      0.384749680990382,
      0.5582564501440054,
      0.5092511922579255,
      0.31202361221772096,
      0.42277389850994485,
      0.2664558681736769,
      0.4098746562394804,
      0.4399711538150699,
      0.43997115394376257
    ],
    "yaw": [
      -1.6017157503639265,
      -1.6029201139154425,
      -1.5949060290819537,
      -1.5797319866637636,
      -1.576338070776441,
      -1.5706150151857041,
      -1.5635161793618182,
      -1.5595629058884892,
      -1.5558425521149855,
      -1.5528997796761237
    ],
    "yaw_diff": [
      -0.0024087271030319712,
      0.016028169666977732,
      0.030348084836380185,
      0.006787831774645259,
      0.01144611118147365,
      0.014197671647771859,
      0.007906546946657933,
      0.007440707547007541,
      0.005885544877723525,
      0.005885544877723525
    ],
    "min_front_frame": [
      9,
      57.106983733944894
    ],
    "v_avg": 12.933120114859372,
    "v_std": 0.5226229592864219,
    "vy_max": 0.0762567376691867,
    "a_max": 0.5582564501440054,
    "ax_avg": -0.370938207907359,
    "a_std": 0.08074101578389657,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "c37a081992495a0e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.800056317667643,
    "right_rear_min": 12.710567639281209,
    "speed_mode": "decelerating",
    "front_frame": [
      58.48410546954955,
      58.38865412540952,
      58.300059546304475,
      58.15591430111691,
      58.06989507575281,
      58.06274118165106,
      57.94465555254408,
      57.77171555575986,
      57.578994742067074,
      57.106983733944894
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_change",
    "lane_change_frame": 5,
    "token": "c37a081992495a0e",
    "smoothness": "No"
  },
  "2752876d0e005d74": {
    "vx_ego": [
      5.407131170362918,
      5.291756969646128,
      5.089661242899705,
      4.710609286395015,
      4.240791780629334,
      3.7668672854911796,
      3.266427583807255,
      2.7081673623505575,
      2.109913126165905,
      1.5064749838149487
    ],
    "vy_ego": [
      -0.04493218082149664,
      -0.007148247614817027,
      0.004072963039323696,
      -0.015705847258712158,
      0.004662479479409454,
      0.0001481646035532691,
      -0.014083090700108158,
      0.02681609051904288,
      0.020857268006004848,
      -0.012663709372611853
    ],
    "v_ego": [
      5.407317855867513,
      5.291761797666476,
      5.089662872578428,
      4.710635469096401,
      4.240794343677634,
      3.766867288405106,
      3.266457943047877,
      2.7083001246559624,
      2.1100162145338732,
      1.5065282096248063
    ],
    "ax_ego": [
      -0.23076224754132513,
      -0.23081330448500487,
      -0.5775354805488027,
      -0.9385015474730183,
      -0.9407469160710684,
      -0.95497592732174,
      -1.0462455551745777,
      -1.1868053488705819,
      -1.2068463192358863,
      -1.2069262429126713
    ],
    "ay_ego": [
      0.06755798607229747,
      0.06738332370827352,
      -0.037864843592580105,
      0.022159146512100714,
      0.06789567616633868,
      -0.08121760771224629,
      0.09086044723753389,
      0.07642244289548017,
      -0.06318388098703287,
      -0.06163847990811616
    ],
    "a_ego": [
      0.24044811575986316,
      0.24044811049634293,
      0.5787754121185755,
      0.9387631130287314,
      0.9431938204522494,
      0.9584233519517966,
      1.0501834994870016,
      1.1892633543021227,
      1.2084991688328919,
      1.2084991758527102
    ],
    "yaw": [
      -2.118707378760131,
      -2.119464205617172,
      -2.120198167315826,
      -2.116992595943256,
      -2.116513287053882,
      -2.116217743870136,
      -2.1115007177445406,
      -2.1111940350246634,
      -2.10735066935401,
      -2.106070179857298
    ],
    "yaw_diff": [
      -0.001513653714082075,
      -0.0014679233973078354,
      0.006411142745140097,
      0.00095861777874795,
      0.0005910863674918332,
      0.00943405225119065,
      0.0006133654397544319,
      0.007686731341307151,
      0.0025609789934240013,
      0.0025609789934240013
    ],
    "min_front_frame": [
      9,
      11.149681373457614
    ],
    "v_avg": 3.809834211915407,
    "v_std": 1.3072213025633908,
    "vy_max": 0.04493218082149664,
    "a_max": 1.2084991758527102,
    "ax_avg": -0.8520158889634676,
    "a_std": 0.35452595983942387,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2752876d0e005d74",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      28.40889286115862,
      25.730119203919536,
      23.13889652032289,
      20.669424618696908,
      18.450072073831855,
      16.47040292753647,
      14.718765670279174,
      13.253036363678444,
      12.030301352759134,
      11.149681373457614
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2752876d0e005d74",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e0bb2b04e9455fa6": {
    "vx_ego": [
      5.646605686880706,
      5.784221004291346,
      5.885760947652315,
      5.989893290928129,
      6.129244436856572,
      6.199882174193122,
      6.143688633034747,
      6.0911974656686105,
      6.11737943015371,
      6.155721033476291
    ],
    "vy_ego": [
      0.03590464384164882,
      0.017996465408166795,
      0.01687103924261457,
      -0.00699546758224967,
      -0.039788419153561794,
      -0.06589801338075141,
      -0.04155320098966797,
      -0.002740801184075714,
      -0.006852517747728548,
      -0.02768898040841794
    ],
    "v_ego": [
      5.646719837796358,
      5.784249000453937,
      5.885785127310902,
      5.989897375854824,
      6.129373580149604,
      6.20023237645535,
      6.143829155192456,
      6.0911980822953735,
      6.1173832681520945,
      6.1557833069089165
    ],
    "ax_ego": [
      0.27128392063211104,
      0.2766030317750626,
      0.12772304302039858,
      0.28805055485709724,
      0.2693829750836567,
      0.013251107628266123,
      -0.23812560746360534,
      0.028098083979019632,
      0.0766405017362244,
      0.07667653575726499
    ],
    "ay_ego": [
      0.2324843137693513,
      0.22612978967798486,
      0.12228360120520007,
      -0.04320139954799106,
      -0.07871302987455828,
      -0.01721543368433155,
      0.10558375847567435,
      0.01386400118834662,
      -0.05046812907188468,
      -0.05041336036562598
    ],
    "a_ego": [
      0.35727289533679396,
      0.35727289145269053,
      0.17682323049334606,
      0.29127218040243175,
      0.2806473380186513,
      0.02172470967160459,
      0.26048365588604705,
      0.03133229727042874,
      0.09176490918862519,
      0.09176490635907392
    ],
    "yaw": [
      -0.4612707831628904,
      -0.43807540248421073,
      -0.4230031238211759,
      -0.4156292749446273,
      -0.41524748942822687,
      -0.41490415771775657,
      -0.4152673129321526,
      -0.41673841947745954,
      -0.4175647773732976,
      -0.4182791713116393
    ],
    "yaw_diff": [
      0.04639076135735931,
      0.030144557326069688,
      0.014747697753097144,
      0.0007635710328008916,
      0.000686663420940592,
      -0.0007263104287920097,
      -0.002942213090613932,
      -0.0016527157916761404,
      -0.001428787876683324,
      -0.001428787876683324
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.014445111056982,
    "v_std": 0.17501359058891228,
    "vy_max": 0.06589801338075141,
    "a_max": 0.35727289533679396,
    "ax_avg": 0.1189584147005496,
    "a_std": 0.12328948373652993,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e0bb2b04e9455fa6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e0bb2b04e9455fa6",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "ac0fb7997f4e5106": {
    "vx_ego": [
      4.880111217140474,
      4.213612759822959,
      3.5007192795267916,
      2.7387006847854347,
      2.008624120130177,
      1.3626294722043464,
      0.855675186680885,
      0.47854065697418924,
      0.20306844500426724,
      -0.01100012604201484
    ],
    "vy_ego": [
      0.030574095191319595,
      0.015427667358965502,
      0.003926273196787733,
      -0.015579370513515878,
      -0.018394134450643196,
      0.006462742848060921,
      0.0023122601392719377,
      0.002277888643684528,
      -0.0028197568481836965,
      -0.042803763485055026
    ],
    "v_ego": [
      4.880206990175421,
      4.213641003059348,
      3.5007214813052174,
      2.73874499682424,
      2.008708341235959,
      1.3626447980178165,
      0.855678310843695,
      0.47854607840202984,
      0.20308802127435777,
      0.04419462570748556
    ],
    "ax_ego": [
      -1.3329899033915509,
      -1.3329822911436526,
      -1.518569897659919,
      -1.529502219438749,
      -1.39094377169942,
      -1.193045170221871,
      -0.8347819768059191,
      -0.6737585966080437,
      -0.4281588235862745,
      -0.42813855263027417
    ],
    "ay_ego": [
      -0.03227171191110645,
      -0.032584719859451994,
      -0.0233268785073788,
      -0.07304124864154171,
      0.051676187999188716,
      0.044353066901891725,
      -0.060346775202972214,
      0.06008569465121022,
      -0.0799624390642137,
      -0.08007086699099003
    ],
    "a_ego": [
      1.333380495557622,
      1.3333804980090644,
      1.5187490501527086,
      1.5312452655506155,
      1.3919033746763945,
      1.1938693281650787,
      0.8369603826211824,
      0.6764325075016421,
      0.43556167172500454,
      0.43556166496724075
    ],
    "yaw": [
      1.1156084347504482,
      1.1153736177958482,
      1.114735403454814,
      1.1132659149234687,
      1.1121937025131226,
      1.1116821920484337,
      1.1118250531091716,
      1.1117772965535573,
      1.1121915441593648,
      1.1119382925178272
    ],
    "yaw_diff": [
      -0.0004696339092000734,
      -0.0012764286820683424,
      -0.0029389770626906397,
      -0.0021444248206923255,
      -0.0010230209293777826,
      0.00028572212147581766,
      -9.551311122857342e-05,
      0.000828495211615099,
      -0.0005065032830753324,
      -0.0005065032830753324
    ],
    "min_front_frame": [
      9,
      9.549240519032821
    ],
    "v_avg": 2.028617464684557,
    "v_std": 1.645301714353158,
    "vy_max": 0.042803763485055026,
    "a_max": 1.5312452655506155,
    "ax_avg": -1.0662871203185675,
    "a_std": 0.4106137982160534,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "ac0fb7997f4e5106",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 31.164839927824016,
    "right_rear_min": 46.00730701512119,
    "speed_mode": "decelerating",
    "front_frame": [
      17.770367132710746,
      15.894109139635802,
      14.028831329748588,
      12.499406518680745,
      11.33012770480836,
      10.500731300356673,
      10.030486352423397,
      9.739784279462254,
      9.575925532986986,
      9.549240519032821
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ac0fb7997f4e5106",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "be851166b6665891": {
    "vx_ego": [
      8.801800664245826,
      8.84983910449183,
      8.891695492011245,
      8.906476356862548,
      8.803105216550183,
      8.612315862690894,
      8.4272990132498,
      8.296942875810615,
      8.269866763317129,
      8.287065204049433
    ],
    "vy_ego": [
      -0.03629905214652851,
      -0.05597791777739003,
      -0.0690490260736496,
      -0.04577968871748128,
      -0.025208390620067744,
      -0.029136946091076865,
      -0.030641511909432095,
      -0.04585559398153505,
      -0.05378728539802524,
      -0.07711047469376453
    ],
    "v_ego": [
      8.801875513451948,
      8.850016141379147,
      8.89196359026817,
      8.906594010914084,
      8.803141309590043,
      8.612365150200304,
      8.427354719066543,
      8.297069592329807,
      8.270041677953493,
      8.287423949664598
    ],
    "ax_ego": [
      0.09500429882486591,
      0.09597163969475864,
      0.06984083066386788,
      -0.012432291029380626,
      -0.4015782820192563,
      -0.36221227512292037,
      -0.3784554369335585,
      -0.14364231760079724,
      0.034095204698002715,
      0.03423121612298457
    ],
    "ay_ego": [
      -0.15212762450729483,
      -0.1515192240934197,
      -0.11361612463280671,
      -0.010715641386438343,
      -0.11109844833215662,
      -0.08766063635030916,
      -0.09472858189043235,
      -0.13505125916779426,
      -0.07622989577257282,
      -0.07616891668319267
    ],
    "a_ego": [
      0.17935615666443377,
      0.17935615655887732,
      0.1333655330450733,
      0.016413007968132113,
      0.41666291149003204,
      0.3726689139371076,
      0.3901307754734853,
      0.19715972714663366,
      0.08350736490212118,
      0.08350736510002951
    ],
    "yaw": [
      -0.17355642089429613,
      -0.17992788862286493,
      -0.1859243239958192,
      -0.19202487989651726,
      -0.19775577884679404,
      -0.2030139904392527,
      -0.20818806686011546,
      -0.21325610439332354,
      -0.2186897646236518,
      -0.22047470164840538
    ],
    "yaw_diff": [
      -0.012742935457137616,
      -0.011992870745908546,
      -0.012201111801396103,
      -0.011461797900553572,
      -0.0105164231849173,
      -0.010348152841725522,
      -0.010136075066416173,
      -0.010867320460656527,
      -0.003569874049507149,
      -0.003569874049507149
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.614784565481813,
    "v_std": 0.25492888826880566,
    "vy_max": 0.07711047469376453,
    "a_max": 0.41666291149003204,
    "ax_avg": -0.09691774127014334,
    "a_std": 0.13370907166344623,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "be851166b6665891",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "be851166b6665891",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "741ee8b9ea3059a5": {
    "vx_ego": [
      0.14041438391848224,
      0.989096031283842,
      1.881014535428631,
      2.7922440754533,
      3.6589906251418154,
      4.503045878910874,
      5.318452086894734,
      6.064127077945122,
      6.746137736093201,
      7.407675014381839
    ],
    "vy_ego": [
      0.011178498194356548,
      -0.0009871445984125232,
      0.0029096711033613845,
      0.015883708233182622,
      0.013472518939382061,
      0.008838417571974705,
      0.004692084479498038,
      -0.0017889322844718836,
      0.0035945199549840545,
      -0.005954745532443656
    ],
    "v_ego": [
      0.1408586455745197,
      0.9890965238822271,
      1.8810167858580418,
      2.7922892524040717,
      3.659015428177676,
      4.503054552767641,
      5.31845415663722,
      6.064127341814811,
      6.746138693720609,
      7.407677407777105
    ],
    "ax_ego": [
      1.697362339403302,
      1.6973723313174762,
      1.8702514681368783,
      1.7747350093582412,
      1.692205970829615,
      1.6839703619767996,
      1.5775936719206545,
      1.405139680346767,
      1.322991079320964,
      1.3231408879683597
    ],
    "ay_ego": [
      -0.025128965297252292,
      -0.02444452459130356,
      0.02707178707091596,
      0.010792112719380138,
      -0.012091339940733768,
      0.018397036708296996,
      -0.0034476400610981076,
      0.03479594522380048,
      -0.05832850087767502,
      -0.0548251076459399
    ],
    "a_ego": [
      1.6975483427936775,
      1.6975483397843547,
      1.8704473891888438,
      1.774767822318949,
      1.692249168477551,
      1.6840708509370736,
      1.5775974391162293,
      1.4055704461495455,
      1.324276258934474,
      1.3242762558628347
    ],
    "yaw": [
      -1.5398847669861682,
      -1.5402880031944606,
      -1.5425802726913191,
      -1.5440739740989875,
      -1.5434292194723338,
      -1.5419077955205047,
      -1.5403067378980297,
      -1.5378004414462454,
      -1.5395566196449133,
      -1.5422045528882313
    ],
    "yaw_diff": [
      -0.0008064724165848247,
      -0.0045845389937171355,
      -0.002987402815336715,
      0.001289509253307397,
      0.0030428479036581635,
      0.0032021152449499546,
      0.005012592903568702,
      -0.003512356397335825,
      -0.005295866486636047,
      -0.005295866486636047
    ],
    "min_front_frame": [
      0,
      11.626755689004062
    ],
    "v_avg": 3.9501728788613923,
    "v_std": 2.3538088256246743,
    "vy_max": 0.015883708233182622,
    "a_max": 1.8704473891888438,
    "ax_avg": 1.6044762800579058,
    "a_std": 0.18122164684878542,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "741ee8b9ea3059a5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.0805411743117115,
    "right_rear_min": 3.663811462780718,
    "speed_mode": "accelerating",
    "front_frame": [
      11.626755689004062,
      12.992780297806478,
      14.37495411010684,
      15.692511688726672,
      16.87931646523405,
      18.063699067137044,
      19.057855057918353,
      20.055457134360434,
      20.88126628687708,
      21.758760466588413
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "741ee8b9ea3059a5",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "e8d6682562335254": {
    "vx_ego": [
      11.671978090973745,
      11.734572358164877,
      11.804419073466478,
      11.864003348994189,
      11.828582599421228,
      11.716662839173805,
      11.596309006709792,
      11.438320945116466,
      11.318425728247629,
      11.263230721797207
    ],
    "vy_ego": [
      0.0068521811621007345,
      0.022415162379224363,
      0.014237787156614168,
      0.005403677296011544,
      -0.006274613605786072,
      0.009724042478152839,
      0.010552836010200295,
      -0.02095334680477645,
      -0.02297403408492471,
      0.020404042254347665
    ],
    "v_ego": [
      11.671980102303026,
      11.734593766658975,
      11.804427659848752,
      11.86400457959595,
      11.82858426364316,
      11.716666874323879,
      11.596313808337824,
      11.438340136848195,
      11.318449044462762,
      11.263249203377184
    ],
    "ax_ego": [
      0.11997041980325987,
      0.12925587054399193,
      0.14912110424758424,
      0.08947223805149218,
      -0.2307941156837624,
      -0.2162408962875702,
      -0.26843600310078386,
      -0.3640242399232103,
      -0.11401225268578391,
      -0.10666993258596888
    ],
    "ay_ego": [
      0.4831976724478498,
      0.48079705861421274,
      0.5369053473679902,
      0.6355700060619529,
      0.6577135972839829,
      0.7177549027091819,
      0.5600955628999281,
      0.4782541401983993,
      0.4519587076744458,
      0.4537477173105508
    ],
    "a_ego": [
      0.49786834834802457,
      0.49786834770063854,
      0.5572292667873441,
      0.6418368281639296,
      0.6970316347817272,
      0.7496213881622634,
      0.6210997724527931,
      0.6010330023123366,
      0.46611743928461014,
      0.46611743743656564
    ],
    "yaw": [
      2.047052677684911,
      2.0663166087776697,
      2.0886325598998914,
      2.114130370184373,
      2.142312081647648,
      2.170164663539777,
      2.1974829969414786,
      2.2227298952994143,
      2.2434017050167547,
      2.2596148115569488
    ],
    "yaw_diff": [
      0.03852786218551696,
      0.04463190224444347,
      0.05099562056896367,
      0.056363422926549944,
      0.05570516378425783,
      0.05463666680340307,
      0.0504937967158714,
      0.04134361943468079,
      0.03242621308038807,
      0.03242621308038807
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.62366094393997,
    "v_std": 0.20343764762983887,
    "vy_max": 0.02297403408492471,
    "a_max": 0.7496213881622634,
    "ax_avg": -0.08123578076207513,
    "a_std": 0.09400513007897424,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "e8d6682562335254",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "e8d6682562335254",
    "road_shape": "Straight"
  },
  "24567f5ad57455c4": {
    "vx_ego": [
      4.682076880596858,
      4.4331572048247025,
      4.197942512389866,
      3.937682392413522,
      3.618486940337362,
      3.252311307359628,
      2.879316922023593,
      2.546459938228394,
      2.2919840987703637,
      2.0958311681339596
    ],
    "vy_ego": [
      0.007261605800978677,
      -0.02510336490166698,
      -0.013238821887042507,
      0.008087549305430874,
      0.01914896992644466,
      0.01636543972165594,
      -0.005867121339347081,
      -0.005092792983397043,
      0.004423937784507115,
      0.012039642961424235
    ],
    "v_ego": [
      4.682082511739665,
      4.433228279890238,
      4.19796338761251,
      3.937690697855438,
      3.6185376079904557,
      3.25235248206534,
      2.8793228996700297,
      2.546465030889395,
      2.291988368260563,
      2.095865749117628
    ],
    "ax_ego": [
      -0.49769780587152535,
      -0.49778500329957975,
      -0.44290963505748276,
      -0.5981590712571982,
      -0.6787084923203437,
      -0.7861457116175158,
      -0.7058401827146581,
      -0.6256049834170253,
      -0.3922980593573685,
      -0.3923026461420064
    ],
    "ay_ego": [
      -0.017785200876147378,
      -0.01514981774645549,
      0.08493229411167807,
      0.02234569343721421,
      0.05676588614232336,
      -0.051162011963545806,
      -0.024280288598056865,
      0.02330563033291677,
      0.013832535733740492,
      0.013701618529771947
    ],
    "a_ego": [
      0.4980154810239692,
      0.49801548820063163,
      0.4509794223795861,
      0.5985763147189036,
      0.6810782505536918,
      0.7878087530376698,
      0.7062576696568094,
      0.6260389346370009,
      0.3925418530811493,
      0.3925418455659927
    ],
    "yaw": [
      1.0839434174781597,
      1.0892380929595502,
      1.0905333998934963,
      1.0918773764325085,
      1.0941783580441966,
      1.09539166835633,
      1.096495148038028,
      1.096118512722804,
      1.0960213652813977,
      1.0956876382711505
    ],
    "yaw_diff": [
      0.010589350962781019,
      0.0025906138678921664,
      0.0026879530780243854,
      0.004601963223376249,
      0.0024266206242669064,
      0.0022069593633959883,
      -0.0007532706304482772,
      -0.00019429488281241802,
      -0.0006674540204945068,
      -0.0006674540204945068
    ],
    "min_front_frame": [
      9,
      21.959481692755524
    ],
    "v_avg": 3.3935497015091256,
    "v_std": 0.8737492786064691,
    "vy_max": 0.02510336490166698,
    "a_max": 0.7878087530376698,
    "ax_avg": -0.5617451591054704,
    "a_std": 0.13013454302346766,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "24567f5ad57455c4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.8255113626198916,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      34.3601002732136,
      33.13569085908736,
      31.878086248193323,
      30.31608548888754,
      28.741173610467747,
      27.080223635527712,
      25.587890495208722,
      24.278562769745037,
      23.05871352884486,
      21.959481692755524
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "24567f5ad57455c4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "517530489c455086": {
    "vx_ego": [
      5.303082555151695,
      5.162016903365414,
      5.01525143935242,
      4.790123220503296,
      4.443976213251313,
      4.01000511696407,
      3.5066581269812818,
      3.0044644753893186,
      2.5285330634317296,
      2.0465895836453174
    ],
    "vy_ego": [
      0.04873564091719729,
      -0.012072674563419206,
      -0.039379794586731354,
      -0.024345248958604015,
      0.002660621754607684,
      0.017438719408636283,
      0.0054604028238793845,
      -0.004762115312928028,
      0.006153227210161871,
      0.028507334005540286
    ],
    "v_ego": [
      5.303306492128269,
      5.162031020838733,
      5.0154060422011915,
      4.790185086064183,
      4.443977009712314,
      4.0100430355561825,
      3.5066623783197137,
      3.004468249394336,
      2.5285405504109573,
      2.046788116043675
    ],
    "ax_ego": [
      -0.28287945992087205,
      -0.28064144599596397,
      -0.3081153969150282,
      -0.593628963993683,
      -0.79133415142855,
      -0.9441343677068545,
      -1.0689855556271615,
      -0.9398706069909951,
      -0.9638628880729918,
      -0.963881218645088
    ],
    "ay_ego": [
      -0.22408312711299921,
      -0.22687970521760448,
      -0.0758479335473003,
      -0.021176401637726966,
      -0.000611558955475322,
      -0.049520103826405926,
      -0.07036193626479637,
      -0.0035456844491459916,
      0.042952945441944834,
      0.042539613142362154
    ],
    "a_ego": [
      0.3608795321182192,
      0.3608795115413629,
      0.3173137356615705,
      0.5940065545753984,
      0.791334387741048,
      0.9454321472047584,
      1.0712987072775,
      0.9398772950570913,
      0.9648194766517452,
      0.9648194765566467
    ],
    "yaw": [
      -2.018337109204534,
      -2.0282624322245755,
      -2.037762388504351,
      -2.0457185303423833,
      -2.052709997080586,
      -2.059142012487237,
      -2.0639094888874556,
      -2.0664575927922777,
      -2.066841607690657,
      -2.067270433703377
    ],
    "yaw_diff": [
      -0.019850646040082687,
      -0.01899991255955147,
      -0.01591228367606412,
      -0.01398293347640589,
      -0.012864030813301675,
      -0.009534952800437146,
      -0.005096207809644149,
      -0.000768029796758718,
      -0.0008576520254397479,
      -0.0008576520254397479
    ],
    "min_front_frame": [
      9,
      12.321613724765294
    ],
    "v_avg": 3.981140798066955,
    "v_std": 1.1005780576667497,
    "vy_max": 0.04873564091719729,
    "a_max": 1.0712987072775,
    "ax_avg": -0.7137334055297189,
    "a_std": 0.27969255199013526,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "517530489c455086",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.037507308989118,
    "speed_mode": "decelerating",
    "front_frame": [
      30.34031474035564,
      27.702288394985278,
      25.127116332641993,
      22.724165542507947,
      20.358446706468804,
      18.276940869668437,
      16.432541517316928,
      14.854013770297206,
      13.470554736981647,
      12.321613724765294
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "517530489c455086",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "a899eed59bf85d84": {
    "vx_ego": [
      0.933300683714503,
      1.2070395040121134,
      1.6242026488247485,
      2.198679606963048,
      2.7661843079992785,
      3.309201758383884,
      3.787832185392695,
      4.18083069131599,
      4.519233164118578,
      4.898620716733508
    ],
    "vy_ego": [
      0.015004637239773244,
      0.0008179012210403069,
      -0.013835270121973497,
      -0.008660076681407336,
      -0.0016469308235687041,
      -0.0023028222769840845,
      -0.03827913451720155,
      -0.033690606844693466,
      -0.07355806149337207,
      -0.09281136541564683
    ],
    "v_ego": [
      0.9334212903939229,
      1.207039781120828,
      1.6242615734999943,
      2.1986966618893367,
      2.766184798274075,
      3.3092025596329746,
      3.7880256013966145,
      4.180966434502829,
      4.519831764577071,
      4.899499859777631
    ],
    "ax_ego": [
      0.5474689173316464,
      0.5474188760955799,
      1.1220931523108244,
      1.184530596212284,
      1.1006350112042513,
      1.1019699678869082,
      0.8608725841302625,
      0.7813118297593636,
      0.6177819906772115,
      0.948925641093066
    ],
    "ay_ego": [
      -0.02331556438947513,
      -0.02446256769184274,
      0.04308798976867534,
      0.3298943417756228,
      0.6173135805694762,
      1.0467229655309294,
      1.415264505195765,
      1.8237819509059783,
      1.8136286102444175,
      1.6644649255398356
    ],
    "a_ego": [
      0.54796517315162,
      0.5479651842259925,
      1.1229201295395628,
      1.2296109181763963,
      1.2619324406021464,
      1.5198574856526965,
      1.6565250453205134,
      1.984093944291031,
      1.9159601571802571,
      1.9159601667770174
    ],
    "yaw": [
      -0.7084017821664342,
      -0.7063066066464131,
      -0.6919373641116076,
      -0.6456813213937943,
      -0.5535698837555821,
      -0.41661187721722737,
      -0.2350679526959404,
      -0.03416472185524915,
      0.18217683348250585,
      0.37202134743235404
    ],
    "yaw_diff": [
      0.004190351040042284,
      0.028738485069611075,
      0.0925120854356265,
      0.18422287527642434,
      0.27391601307670954,
      0.3630878490425739,
      0.4018064616813825,
      0.43268311067551,
      0.3796890278996964,
      0.3796890278996964
    ],
    "min_front_frame": [
      0,
      12.560579253544065
    ],
    "v_avg": 2.9427130325065276,
    "v_std": 1.3442957022204463,
    "vy_max": 0.09281136541564683,
    "a_max": 1.984093944291031,
    "ax_avg": 0.8813008566701397,
    "a_std": 0.5021681100144695,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "a899eed59bf85d84",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.51969383032638,
    "right_rear_min": 13.426051591812811,
    "speed_mode": "accelerating",
    "front_frame": [
      12.560579253544065,
      14.191806827700544,
      15.794026670032414,
      17.34361365943319,
      19.13518607048318,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "a899eed59bf85d84",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "1719439969a55cc6": {
    "vx_ego": [
      13.271833523537529,
      13.162131188054168,
      13.02171032355363,
      12.881394459198097,
      12.83695019045512,
      12.857816899041728,
      12.909602034065394,
      13.01998816356056,
      13.120217011683188,
      13.182160472021291
    ],
    "vy_ego": [
      0.008078850809180249,
      -0.022867016027334874,
      0.006313692545439509,
      0.017741912071575883,
      0.015440965262224937,
      -0.01056904309121176,
      -0.0008946620006464734,
      0.014671931491134271,
      0.014530359411824623,
      -0.012403000672429998
    ],
    "v_ego": [
      13.271835982422514,
      13.162151051859656,
      13.02171185417865,
      12.881406677413123,
      12.836959477058187,
      12.857821242883839,
      12.909602065066352,
      13.01999643029255,
      13.120225057711684,
      13.182166306967389
    ],
    "ax_ego": [
      -0.2193657447662747,
      -0.21939927058619432,
      -0.34238668625753116,
      -0.2188935828266582,
      0.04066378476932574,
      0.042859371371057886,
      0.16428136280400663,
      0.27738482901730455,
      0.12378691428521033,
      0.12399505238339051
    ],
    "ay_ego": [
      -0.02267065539611376,
      -0.022343793266117466,
      0.07219989910498757,
      0.15903571648488513,
      -0.01851380167154715,
      0.04523127150749848,
      0.0016104229957082739,
      -0.05359904343992807,
      -0.10579345340412878,
      -0.10554943884934047
    ],
    "a_ego": [
      0.22053409848128186,
      0.2205340904061617,
      0.34991637337681625,
      0.2705674772040273,
      0.044680020636739086,
      0.06231206654017583,
      0.16428925596936264,
      0.2825158417268571,
      0.16283566848643935,
      0.1628356750130954
    ],
    "yaw": [
      -1.5475375977703305,
      -1.5460476778476973,
      -1.5473230500825017,
      -1.5437376898121173,
      -1.5408194552582168,
      -1.5382749638198483,
      -1.5381167450327793,
      -1.5403223270143647,
      -1.5433558363566782,
      -1.545325423030319
    ],
    "yaw_diff": [
      0.0029798398452665076,
      -0.002550744469608901,
      0.007170720540768727,
      0.005836469107801001,
      0.0050889828767370915,
      0.00031643757413801765,
      -0.004411163963170761,
      -0.006067018684627001,
      -0.003939173347281777,
      -0.003939173347281777
    ],
    "min_front_frame": [
      0,
      26.80400930676235
    ],
    "v_avg": 13.026387614585394,
    "v_std": 0.14517843040709144,
    "vy_max": 0.022867016027334874,
    "a_max": 0.34991637337681625,
    "ax_avg": -0.022707396980636264,
    "a_std": 0.09048695350513314,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "1719439969a55cc6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.513147165856992,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      26.80400930676235,
      27.8119305510838,
      28.980543754007414,
      30.2241383556108,
      31.658834406233137,
      32.77366323970357,
      33.899574868667436,
      34.60713703031048,
      35.26145679214802,
      35.33803461447893
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "1719439969a55cc6",
    "merging_vehicles": "No"
  },
  "25d56d0a299a50fb": {
    "vx_ego": [
      7.048965208361016,
      7.0615555550167795,
      7.117683587038157,
      7.208349900490911,
      7.332356664900795,
      7.459345694080575,
      7.577571455215591,
      7.702429762519755,
      7.803672216330709,
      7.936233190967849
    ],
    "vy_ego": [
      -0.04716021273939042,
      -0.055757740753491714,
      -0.02738557461276958,
      0.00499673549254398,
      0.01264366172528364,
      0.00528800827583864,
      0.01270144196238307,
      0.03241748913764464,
      0.042209933910730246,
      0.0396032708912446
    ],
    "v_ego": [
      7.0491229663235195,
      7.061775681954382,
      7.117736270394488,
      7.20835163232711,
      7.3323675660387435,
      7.459347568442561,
      7.577582100216801,
      7.702497980535414,
      7.8037863719128415,
      7.936332004174536
    ],
    "ax_ego": [
      -0.05220364218890661,
      0.08248466352836226,
      0.13851397800636334,
      0.21768905630684643,
      0.28440332086762354,
      0.22254393558320365,
      0.25406865624073144,
      0.25842012050613195,
      0.17227253770813838,
      0.3747735798767038
    ],
    "ay_ego": [
      -1.3863086632089547,
      -1.384836888511282,
      -1.6542628952167777,
      -1.635672622939172,
      -1.670707370123389,
      -1.5804336450724288,
      -1.5784157996610875,
      -1.6399319286848684,
      -1.8005640843488602,
      -1.769534858078414
    ],
    "a_ego": [
      1.3872912203088386,
      1.3872912194269076,
      1.6600517608177594,
      1.6500949835292744,
      1.6947413860247655,
      1.5960251594952333,
      1.5987330354701879,
      1.6601679702374925,
      1.8087865681432542,
      1.8087865684287334
    ],
    "yaw": [
      0.6872104363505621,
      0.5900791995165077,
      0.47891471943284103,
      0.35954709950763586,
      0.24479569719588737,
      0.13611364667192266,
      0.030134849387593317,
      -0.07766137978476331,
      -0.18959185949447294,
      -0.30291325084013404
    ],
    "yaw_diff": [
      -0.1942624736681089,
      -0.22232896016733328,
      -0.23873523985041034,
      -0.22950280462349698,
      -0.21736410104792941,
      -0.2119575945686587,
      -0.21559245834471324,
      -0.22386095941941925,
      -0.2266427826913222,
      -0.2266427826913222
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.424890014232038,
    "v_std": 0.3048851139806939,
    "vy_max": 0.055757740753491714,
    "a_max": 1.8087865684287334,
    "ax_avg": 0.19529662064351982,
    "a_std": 0.13786009996619636,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "25d56d0a299a50fb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "25d56d0a299a50fb",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "48d1f3140a8c5487": {
    "vx_ego": [
      6.975265029796775,
      6.86705912925797,
      6.760375060577139,
      6.65608234334532,
      6.551677714170103,
      6.45065912675167,
      6.33595976002868,
      6.209804601095892,
      6.102661238923756,
      6.007468410251851
    ],
    "vy_ego": [
      -0.021696218378781662,
      -0.0371200945923813,
      -0.034192298251876974,
      -0.01654071598755258,
      0.008019654417299682,
      -0.005120857070427753,
      -0.029200633239645946,
      -0.026315517247407216,
      -0.025837149008619997,
      -0.050171812996732235
    ],
    "v_ego": [
      6.975298772224581,
      6.867159455418796,
      6.760461528100954,
      6.656102895589783,
      6.551682622442128,
      6.450661159348068,
      6.336027048370633,
      6.209860359962993,
      6.102715932708266,
      6.007677913386609
    ],
    "ax_ego": [
      -0.21902459543816544,
      -0.21552030263833796,
      -0.21373280270438544,
      -0.2053783001219573,
      -0.21261769133959496,
      -0.19015212992680802,
      -0.27115434820907697,
      -0.23660703233054514,
      -0.19340963627225866,
      -0.1897082041721062
    ],
    "ay_ego": [
      -0.23458890874734606,
      -0.2378123803396053,
      -0.24647251941840997,
      -0.27296266957707394,
      -0.2762410440697624,
      -0.37746194235862673,
      -0.289516752467574,
      -0.19239234084057683,
      -0.23594617249930844,
      -0.23893237768706088
    ],
    "a_ego": [
      0.32094194103314494,
      0.3209419403756852,
      0.3262367449879462,
      0.34159751922932285,
      0.34859058664761977,
      0.4226527539775991,
      0.39666690120560844,
      0.30495524353974357,
      0.30508668230527664,
      0.30508668249761056
    ],
    "yaw": [
      1.8738610713958352,
      1.8590252590514014,
      1.8408267245477803,
      1.8188347192540268,
      1.794329273543462,
      1.7712036645276945,
      1.748925152552566,
      1.7292462574766767,
      1.711759154250215,
      1.696170506205215
    ],
    "yaw_diff": [
      -0.029671624688867748,
      -0.036397069007242155,
      -0.043984010587506894,
      -0.0490108914211298,
      -0.04625121803153487,
      -0.04455702395025707,
      -0.03935779015177854,
      -0.03497420645292326,
      -0.031177296090000084,
      -0.031177296090000084
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.4917647687552815,
    "v_std": 0.3112289095207463,
    "vy_max": 0.050171812996732235,
    "a_max": 0.4226527539775991,
    "ax_avg": -0.21473050431532364,
    "a_std": 0.03833481505312133,
    "ini_direction_judge": "right",
    "scenario_type": "side_to_main_ego",
    "scene_token": "48d1f3140a8c5487",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.188985057661625,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "48d1f3140a8c5487",
    "merging_vehicles": "No"
  },
  "da0d775d13c956be": {
    "vx_ego": [
      4.985531021855141,
      4.983688762586212,
      4.952541639325618,
      4.885592746303172,
      4.742358147029958,
      4.499863249153412,
      4.295207153406947,
      4.192529360589615,
      4.138481701240374,
      4.103532460736734
    ],
    "vy_ego": [
      -0.005292375120768744,
      0.008786948015853557,
      0.0055802261590855995,
      -0.004085017133538704,
      -0.0007215344033610904,
      -0.008158610255539323,
      -0.01966211099371895,
      0.00033680107289302263,
      0.01362733086532053,
      -0.054718693611866986
    ],
    "v_ego": [
      4.985533830906615,
      4.983696508896134,
      4.95254478305629,
      4.885594454116628,
      4.742358201919517,
      4.499870645252239,
      4.295252156659366,
      4.192529374117839,
      4.138504137444825,
      4.103897268664344
    ],
    "ax_ego": [
      -0.003981463485194688,
      -0.003319741645006643,
      -0.12072548156558038,
      -0.1472534489750799,
      -0.42577122565696723,
      -0.5443062010552113,
      -0.27420461051855693,
      -0.1361531191613457,
      -0.07781351118998972,
      -0.05699571059516213
    ],
    "ay_ego": [
      -0.06833463114639114,
      -0.06836997285902548,
      -0.12854251892339738,
      -0.08007863646389626,
      -0.08002161312916185,
      -0.08960192133658346,
      0.058852746128493214,
      0.11244529562269923,
      0.34935153126678004,
      0.35334533261782275
    ],
    "a_ego": [
      0.06845052129383143,
      0.06845052135180178,
      0.1763457429892008,
      0.1676191106436653,
      0.433225801592229,
      0.5516318924920526,
      0.2804493076413247,
      0.17658317123961678,
      0.35791260793964585,
      0.35791260820072723
    ],
    "yaw": [
      -0.29065585628907487,
      -0.30033683410426293,
      -0.30957283746744935,
      -0.31820479069695723,
      -0.32715305487358837,
      -0.3346960203684098,
      -0.3338215002234555,
      -0.32842106504701624,
      -0.3038543732378541,
      -0.2446205445127596
    ],
    "yaw_diff": [
      -0.019361955630376126,
      -0.018472006726372836,
      -0.017263906459015765,
      -0.017896528353262275,
      -0.015085930989642837,
      0.0017490402899085211,
      0.010800870352878578,
      0.04913338361832431,
      0.11846765745018895,
      0.11846765745018895
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.57797813610338,
    "v_std": 0.3528673111252942,
    "vy_max": 0.054718693611866986,
    "a_max": 0.5516318924920526,
    "ax_avg": -0.17905245138480946,
    "a_std": 0.1517802541955098,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "da0d775d13c956be",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "da0d775d13c956be",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c0475666b2a55982": {
    "vx_ego": [
      5.147909941208823,
      5.045132917670369,
      4.973039029737811,
      7.289677964887632,
      7.200072049555583,
      4.735412394220638,
      4.696268409912225,
      4.634568891287445,
      4.519592029183465,
      4.401829562641816
    ],
    "vy_ego": [
      -0.05361957682500251,
      -0.011160962434562771,
      0.013395845170497411,
      0.2995975343104811,
      -0.2575216399851761,
      0.012854624241149804,
      -0.005782715711508235,
      -0.02255422924972228,
      8.552976979103732e-05,
      0.06525949843551837
    ],
    "v_ego": [
      5.148189178907038,
      5.045145262927877,
      4.973057071858659,
      7.295831927500332,
      7.204675906232854,
      4.735429841598629,
      4.696271970163195,
      4.6346237712835325,
      4.519592029992757,
      4.4023132897016195
    ],
    "ax_ego": [
      -0.23867361836517545,
      -0.1609436428632679,
      -0.13303317846781837,
      9.394718794491466,
      -9.771238473152115,
      -0.09569374700036137,
      -0.06229076848926951,
      -0.18066548214384928,
      -0.27110755974787415,
      -0.20922185596118745
    ],
    "ay_ego": [
      0.9244123289854025,
      0.9410634341357199,
      0.8146785760626991,
      1.9476537157026237,
      1.8857215156482483,
      0.6967118256248424,
      0.6886308382186909,
      0.6757690151035358,
      0.8012549543963956,
      0.8195944304165365
    ],
    "a_ego": [
      0.9547267934250832,
      0.9547267898437823,
      0.8254689629954584,
      9.594482592816634,
      9.951534903409966,
      0.7032529140931233,
      0.6914423845735526,
      0.6995025219484718,
      0.8458775389482908,
      0.8458775415990489
    ],
    "yaw": [
      -1.2841612712016617,
      -1.200874170879422,
      -1.1181383292272846,
      -1.0363318561082306,
      -0.8794587603465346,
      -0.8006411426180973,
      -0.7232182623363481,
      -0.6467907419944616,
      -0.5712845475512462,
      -0.49495955640752276
    ],
    "yaw_diff": [
      0.16657420064447948,
      0.16547168330427464,
      0.16361294623810796,
      0.3137461915233921,
      0.15763523545687463,
      0.1548457605634983,
      0.15285504068377298,
      0.15101238888643076,
      0.15264998228744697,
      0.15264998228744697
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.2655130250166495,
    "v_std": 1.0166101302788275,
    "vy_max": 0.2995975343104811,
    "a_max": 9.951534903409966,
    "ax_avg": -0.1728149531699451,
    "a_std": 3.5851950647505046,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "c0475666b2a55982",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "c0475666b2a55982",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "0db4879927b35dc0": {
    "vx_ego": [
      7.828115921298507,
      7.504944305522076,
      7.180908898275371,
      6.846224174021366,
      6.472752016275399,
      6.033549337522618,
      5.575440750541525,
      5.1547491034136685,
      4.7633705086311195,
      4.38183236823655
    ],
    "vy_ego": [
      0.025096689650590198,
      0.004256682274862089,
      -0.010838017460700455,
      -0.004515604472945189,
      0.001347032592528441,
      -0.0055374475512413035,
      -0.0036119716277004388,
      -0.0032001689539553624,
      0.010657541211994526,
      0.025637208991216576
    ],
    "v_ego": [
      7.828156150787911,
      7.504945512682435,
      7.180917077083739,
      6.846225663213146,
      6.472752156439642,
      6.03355187859067,
      5.575441920524156,
      5.154750096777278,
      4.7633824311807444,
      4.3819073666396
    ],
    "ax_ego": [
      -0.646432073175635,
      -0.6464230393507222,
      -0.6495097197431029,
      -0.6890942000628982,
      -0.8048373328731143,
      -0.9519868792802488,
      -0.8804239598452807,
      -0.8022206797803828,
      -0.7633386295248051,
      -0.7630877442585051
    ],
    "ay_ego": [
      0.0021473060701459046,
      0.004034813521265099,
      0.06939953299360758,
      0.07280116449800167,
      0.03193765121913275,
      0.004595858313255957,
      0.022932510902099468,
      0.059972336546191995,
      0.06369830803510564,
      0.06663662531970646
    ],
    "a_ego": [
      0.6464356396065337,
      0.646435631384577,
      0.6532068364771566,
      0.692929163849084,
      0.8054707604573261,
      0.9519979728105427,
      0.8807225721678305,
      0.804459259514184,
      0.7659917347931,
      0.765991739688838
    ],
    "yaw": [
      -1.6772723163933598,
      -1.6743524133154395,
      -1.6697968085857269,
      -1.6656324345943176,
      -1.6625874562099696,
      -1.6600334043899916,
      -1.6591781591323005,
      -1.6553848494431274,
      -1.6519413194467953,
      -1.6480913961597439
    ],
    "yaw_diff": [
      0.005839806155840677,
      0.009111209459425229,
      0.008328747982818463,
      0.006089956768696059,
      0.005108103639956063,
      0.0017104905153821903,
      0.00758661937834626,
      0.006887059992664035,
      0.007699846574102942,
      0.007699846574102942
    ],
    "min_front_frame": [
      6,
      16.231704780174642
    ],
    "v_avg": 6.174203025391932,
    "v_std": 1.126098399636877,
    "vy_max": 0.025637208991216576,
    "a_max": 0.9519979728105427,
    "ax_avg": -0.7597354257894695,
    "a_std": 0.09860607319507386,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0db4879927b35dc0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.93635927412431,
    "right_rear_min": 3.2091569731877163,
    "speed_mode": "decelerating",
    "front_frame": [
      18.059890470031128,
      23.146839350095206,
      19.521158672831053,
      24.769767660130555,
      21.73381461141157,
      18.8605192791029,
      16.231704780174642,
      20.55677200379736,
      23.898262011016804,
      21.63714218788158
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0db4879927b35dc0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ccaf88fb91a25119": {
    "vx_ego": [
      6.21675224251098,
      6.01563028943222,
      5.833954972904971,
      5.619955801247803,
      5.275695726278305,
      4.831260690840622,
      4.360085094432765,
      3.8893367099249154,
      3.3918763606362354,
      2.861848386566935
    ],
    "vy_ego": [
      -0.051635486235663386,
      -0.020486342880684738,
      -0.016023830575420117,
      -0.03361757050544156,
      -0.05468786711616547,
      -0.056576367864535904,
      0.003893107826310249,
      0.02717785066048295,
      -0.009054211986057714,
      -0.03235010728347243
    ],
    "v_ego": [
      6.2169666774242955,
      6.015665172645416,
      5.83397697878805,
      5.620056347495595,
      5.275979165906636,
      4.831591947615459,
      4.360086832504981,
      3.889431665261146,
      3.391888445187666,
      2.862031222250558
    ],
    "ax_ego": [
      -0.4028309664719277,
      -0.4026628648090015,
      -0.3242812908833279,
      -0.5319732038393212,
      -0.8477028780265888,
      -0.9328795221672246,
      -0.9525554769084299,
      -0.9306972042388717,
      -1.0597153159786388,
      -1.0596686221124725
    ],
    "ay_ego": [
      -0.022445471305824694,
      -0.02528235601724868,
      -0.06609353222042044,
      -0.20577155524325097,
      -0.21114395433716399,
      0.03762894869795258,
      0.10857389660758882,
      0.02584671390277532,
      0.0011747309820484553,
      0.010018032491887319
    ],
    "a_ego": [
      0.40345580517678503,
      0.4034557971103837,
      0.33094819929760805,
      0.5703835749303255,
      0.87360284962201,
      0.9336381208257633,
      0.9587232278467033,
      0.9310560340804542,
      1.0597159670933465,
      1.0597159759410795
    ],
    "yaw": [
      -0.584568077432593,
      -0.5916118506201435,
      -0.5962283267386014,
      -0.6049842691173142,
      -0.6201387364868218,
      -0.6283316648491478,
      -0.6335334956814332,
      -0.6310297447091742,
      -0.6192741907063146,
      -0.6109290885778242
    ],
    "yaw_diff": [
      -0.014087546375101123,
      -0.00923295223691567,
      -0.0175118847574256,
      -0.030308934739015303,
      -0.01638585672465198,
      -0.010403661664570851,
      0.005007501944518156,
      0.023511108005719095,
      0.016690204256980756,
      0.016690204256980756
    ],
    "min_front_frame": [
      9,
      37.729286101272386
    ],
    "v_avg": 4.829767445507981,
    "v_std": 1.1048569958844543,
    "vy_max": 0.056576367864535904,
    "a_max": 1.0597159759410795,
    "ax_avg": -0.7444967345435805,
    "a_std": 0.27662004835528503,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ccaf88fb91a25119",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.518496881123994,
    "speed_mode": "decelerating",
    "front_frame": [
      59.38004797671599,
      56.349034486679756,
      53.40549390020445,
      50.56938648846768,
      47.837565788085804,
      45.39194768768544,
      43.12601283071703,
      41.094482557295926,
      39.287021529734126,
      37.729286101272386
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ccaf88fb91a25119",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a73f7d7149c45478": {
    "vx_ego": [
      2.150232574473942,
      1.4156624147406138,
      0.7018705976673459,
      0.19426058399224658,
      -0.0022127105199828303,
      -0.02809803862787475,
      -0.014371292507449203,
      -0.0080834396628483,
      -0.0051687124175921525,
      -0.0034364676187154755
    ],
    "vy_ego": [
      0.008275556097504744,
      0.00639039308507694,
      0.002054825073453892,
      -0.006630808243697046,
      -0.005030550953963007,
      0.000978118694678819,
      -0.0004538788905792344,
      -0.00021725502571014123,
      -0.00017384286811475657,
      8.956277792657809e-05
    ],
    "v_ego": [
      2.1502484993966533,
      1.415676837994112,
      0.7018736055558721,
      0.19437371764457603,
      0.005495682918952003,
      0.028115058081291985,
      0.014378457997364636,
      0.00808635866933352,
      0.005171635079794947,
      0.0034376345334648263
    ],
    "ax_ego": [
      -1.4691377291400607,
      -1.4691367952928727,
      -1.3860395361281137,
      -0.6444015252777259,
      -0.1414945955457387,
      0.03794953494753607,
      0.016957109330687507,
      0.008194341440005845,
      0.0034644847506074762,
      0.0034644975413375373
    ],
    "ay_ego": [
      -0.004357968900554718,
      -0.004662900801027686,
      -0.010774982375834685,
      -0.02460416041959109,
      0.030997550337555274,
      -0.007014527874687159,
      0.0012945901921254902,
      -0.00035151509739441214,
      0.0005266743539683409,
      0.0005266047472532586
    ],
    "a_ego": [
      1.4691441927447941,
      1.4691441950766073,
      1.3860814175059977,
      0.6448710650123888,
      0.14485015945997937,
      0.03859236717330287,
      0.017006455263176887,
      0.008201877498420301,
      0.0035042888668486956,
      0.0035042910515200518
    ],
    "yaw": [
      0.06470974366329782,
      0.06450219419216227,
      0.0649563251398271,
      0.0645084745944223,
      0.06445098383549858,
      0.06479448105604795,
      0.0646861263057755,
      0.06477014216547235,
      0.0647067748844315,
      0.06472700669562298
    ],
    "yaw_diff": [
      -0.0004150989422710971,
      0.0009082618953296651,
      -0.0008957010908096086,
      -0.00011498151784744559,
      0.0006869944410987372,
      -0.00021670950054489269,
      0.00016803171939369643,
      -0.00012673456208170397,
      4.046362238296908e-05,
      4.046362238296908e-05
    ],
    "min_front_frame": [
      3,
      10.996800204779163
    ],
    "v_avg": 0.4526857487871415,
    "v_std": 0.714842968695989,
    "vy_max": 0.008275556097504744,
    "a_max": 1.4691441950766073,
    "ax_avg": -0.5040180213374337,
    "a_std": 0.6315364264439267,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a73f7d7149c45478",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.924133843344315,
    "right_rear_min": 5.990452186540191,
    "speed_mode": "decelerating",
    "front_frame": [
      12.504453070432794,
      11.650331533686503,
      11.131244222521657,
      10.996800204779163,
      11.012315969464428,
      11.047929145731763,
      11.039604664379208,
      11.034323609483447,
      11.036276402916231,
      11.052210351964295
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a73f7d7149c45478",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ddaf241c401e560a": {
    "vx_ego": [
      4.112402040442543,
      4.211929135150118,
      4.314576777179666,
      4.407729089267282,
      4.48312869018532,
      4.5279986587046706,
      4.53623878804687,
      4.542899754215176,
      4.654571397469094,
      4.889703554209905
    ],
    "vy_ego": [
      0.036537895429291756,
      -0.0018072568046674231,
      -0.009627629491214693,
      -0.013066989586586586,
      0.002837734174023887,
      -0.010993905767325618,
      -0.028287692109658424,
      -0.02702627209488373,
      -0.03342583603059701,
      -0.0021592508161218937
    ],
    "v_ego": [
      4.112564353300552,
      4.211929522879458,
      4.314587518804978,
      4.40774845818019,
      4.483129588300788,
      4.528012005195582,
      4.536326987299949,
      4.542980144820319,
      4.654691416265071,
      4.889704030963129
    ],
    "ax_ego": [
      0.1772285228093503,
      0.2153311775516876,
      0.1990396019731734,
      0.1768566832783458,
      0.13167233147676252,
      0.05804539947266324,
      -0.015203577852587524,
      0.058233854066415236,
      0.41018908302958146,
      0.5353354746045528
    ],
    "ay_ego": [
      0.5329352133358024,
      0.5187122270717968,
      0.5864732255763262,
      0.5919511525477827,
      0.7448681334955349,
      0.9264055602290878,
      0.9534665008983785,
      1.0320813964866138,
      1.1491685765686455,
      1.0964759140876676
    ],
    "a_ego": [
      0.5616314547018014,
      0.5616314543716188,
      0.6193283519035276,
      0.6178061616905949,
      0.7564166439031127,
      0.928222241935255,
      0.9535877081395907,
      1.0337229758175968,
      1.2201817492527314,
      1.2201817489802362
    ],
    "yaw": [
      -0.12265916125190567,
      -0.05022805162915082,
      0.016358696673070047,
      0.0846297203696729,
      0.1561100751316014,
      0.2516458360682451,
      0.35883933514645416,
      0.4680205874888996,
      0.5890019878200496,
      0.7003438124623611
    ],
    "yaw_diff": [
      0.14486221924550968,
      0.13317349660444172,
      0.1365420473932057,
      0.14296070952385703,
      0.19107152187328735,
      0.21438699815641815,
      0.21836250468489082,
      0.24196280066230014,
      0.22268364928462292,
      0.22268364928462292
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.4681674026010025,
    "v_std": 0.21115891285884303,
    "vy_max": 0.036537895429291756,
    "a_max": 1.2201817492527314,
    "ax_avg": 0.1946728550409945,
    "a_std": 0.24633146685478866,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "ddaf241c401e560a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "ddaf241c401e560a",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "524695a4857859fe": {
    "vx_ego": [
      3.3178623953468698,
      3.27556820869319,
      3.2572193614337634,
      3.2551878119096647,
      3.298655749014027,
      3.391975486753483,
      3.503960599469394,
      3.6356887477175195,
      3.7681901085847502,
      3.9062245908108713
    ],
    "vy_ego": [
      0.008874988654929528,
      0.005627795760791532,
      0.01236288462398527,
      0.021475847968195683,
      0.04145151297816729,
      0.04468902325658697,
      0.0064588423371463866,
      -0.014279323762471152,
      -0.007821649435079459,
      0.0032586301960830094
    ],
    "v_ego": [
      3.3178742652307505,
      3.2755730432836696,
      3.25724282321954,
      3.255258653755671,
      3.298916182389524,
      3.3922698612486823,
      3.503966552248787,
      3.635716788938173,
      3.7681982262927516,
      3.9062259500093326
    ],
    "ax_ego": [
      -0.09602785525074194,
      -0.07467384633258249,
      -0.0025116480461933044,
      -0.009250401939260348,
      0.17926726488260336,
      0.18940520980042105,
      0.25830866033105515,
      0.2725116680802986,
      0.2625977553578534,
      0.2896056388573471
    ],
    "ay_ego": [
      0.36939222981446207,
      0.37429371531301014,
      0.2917063771079008,
      0.2330467714759721,
      0.203197837700635,
      0.06504963157094124,
      0.25650073990880085,
      0.3802123484785487,
      0.47427990458481845,
      0.4582876568182814
    ],
    "a_ego": [
      0.3816699731854181,
      0.3816699734704301,
      0.2917171897940277,
      0.2332302888379034,
      0.2709725327495447,
      0.20026429553731417,
      0.36402746266701735,
      0.4677863178583574,
      0.5421245327523626,
      0.5421245267002435
    ],
    "yaw": [
      -1.9413288194286231,
      -1.8839171401603303,
      -1.8348798047198451,
      -1.797403810165032,
      -1.7700228866201728,
      -1.7509375109015717,
      -1.716452552331718,
      -1.6660389182245465,
      -1.6101109155154691,
      -1.552205510233299
    ],
    "yaw_diff": [
      0.11482335853658565,
      0.09807467088097033,
      0.0749519891096262,
      0.05476184708971843,
      0.03817075143720228,
      0.06896991713970735,
      0.10082726821434296,
      0.11185600541815477,
      0.11581081056434028,
      0.11581081056434028
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4611242346616877,
    "v_std": 0.22241367767830264,
    "vy_max": 0.04468902325658697,
    "a_max": 0.5421245327523626,
    "ax_avg": 0.12692324457408005,
    "a_std": 0.115115212326135,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "524695a4857859fe",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "524695a4857859fe",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "68559679a9bd5d3c": {
    "vx_ego": [
      5.386451455073134,
      5.648654971105977,
      6.013673315701596,
      6.348163484395114,
      6.609849479917608,
      6.67499655228762,
      6.572494412182665,
      6.411769097912404,
      6.111171119901347,
      5.700388612817863
    ],
    "vy_ego": [
      -0.15654980653860395,
      -0.04642110834456892,
      -0.10065055249700006,
      -0.15671378793372348,
      -0.2154946635108257,
      -0.11200764526407436,
      -0.038472007496623384,
      -0.016014868481674105,
      -0.01349958334492296,
      -0.0023353840906723544
    ],
    "v_ego": [
      5.388725927321481,
      5.648845714117194,
      6.014515548379552,
      6.350097545387476,
      6.613361331211892,
      6.675936240382259,
      6.572607008906981,
      6.411789098290502,
      6.111186030179966,
      5.700389091207934
    ],
    "ax_ego": [
      0.33767099980241855,
      0.7785131735732053,
      0.7140381972893257,
      0.6709722166961476,
      0.4178687301612667,
      -0.14669162288548987,
      -0.26229127659415563,
      -0.380478167668896,
      -0.8216421635394996,
      -0.821350717846141
    ],
    "ay_ego": [
      2.360776079398701,
      2.2541523183456524,
      2.00482998433586,
      1.5857553063943364,
      0.9021405668306031,
      0.30713455106436244,
      0.11872896842614873,
      0.025927952082514444,
      0.06920012828763644,
      0.07257752936067474
    ],
    "a_ego": [
      2.384803010977776,
      2.3848030182239586,
      2.1281902671707513,
      1.7218663151754663,
      0.9942192303350561,
      0.34036754352065685,
      0.2879119339675403,
      0.38136058366311754,
      0.8245510916012998,
      0.8245510896690821
    ],
    "yaw": [
      2.2164678576471872,
      2.406940399575821,
      2.5979879711876452,
      2.7518484572944297,
      2.8563136370922644,
      2.885930414902952,
      2.890891126361856,
      2.892997670625788,
      2.8963644595658926,
      2.90047574232488
    ],
    "yaw_diff": [
      0.38094508385726744,
      0.38209514322364857,
      0.307720972213569,
      0.2089303595956693,
      0.059233555621375444,
      0.009921422917807732,
      0.004213088527864173,
      0.006733577880209118,
      0.008222565517974623,
      0.008222565517974623
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.148745353538524,
    "v_std": 0.42792201586781636,
    "vy_max": 0.2154946635108257,
    "a_max": 2.3848030182239586,
    "ax_avg": 0.04866093689881819,
    "a_std": 0.8061810086654185,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "68559679a9bd5d3c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "68559679a9bd5d3c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "82e1485de4fa5b71": {
    "vx_ego": [
      6.437283034462066,
      6.380227505169513,
      6.276119434024018,
      6.137331931169798,
      6.0573456931854714,
      6.001353335141087,
      5.914355252966759,
      5.857573752449156,
      5.818140958063627,
      5.757447650926673
    ],
    "vy_ego": [
      0.05905554682241254,
      0.04519987521204705,
      0.08624644682162108,
      0.09874409489242586,
      0.10429935367288401,
      0.10103786237175827,
      0.07152357482625149,
      0.04339139677910753,
      0.03430322728528479,
      0.03397723359623672
    ],
    "v_ego": [
      6.4375539161535285,
      6.38038760942004,
      6.276712005478929,
      6.138126231158213,
      6.058243574001392,
      6.002203803840861,
      5.9147877121712,
      5.85773446638679,
      5.818242081531133,
      5.757547907361598
    ],
    "ax_ego": [
      -0.11582796270160758,
      -0.11463613972831864,
      -0.3019538747230843,
      -0.2532564610178295,
      -0.06661072913042752,
      -0.15667400547601687,
      -0.19067896142150687,
      -0.0362302585629985,
      -0.12130374210736791,
      -0.12128074268761208
    ],
    "ay_ego": [
      0.10989344067465054,
      0.11113614049097437,
      0.06711472040170897,
      -0.013477850463635588,
      0.030777600240960032,
      -0.07934644915831743,
      -0.08267986181160603,
      -0.05348563167671048,
      -0.01655754698488795,
      -0.01672507603834019
    ],
    "a_ego": [
      0.15966428920368492,
      0.15966429236069093,
      0.30932269259607137,
      0.2536148408520202,
      0.07337744825134988,
      0.17562062232531925,
      0.20783268722212772,
      0.06460142747183271,
      0.12242855145515524,
      0.12242853717719178
    ],
    "yaw": [
      0.8449747655065808,
      0.8557590760873812,
      0.8563126613308498,
      0.8564596737484877,
      0.856257118999011,
      0.8547869495215468,
      0.8529432575255951,
      0.8519360073431879,
      0.8504958717162212,
      0.8491145745921035
    ],
    "yaw_diff": [
      0.021568621161600854,
      0.0011071704869372034,
      0.0002940248352758523,
      -0.0004051094989534487,
      -0.002940338954928512,
      -0.0036873839919033813,
      -0.002014500364814431,
      -0.0028802712539333086,
      -0.0027625942482354393,
      -0.0027625942482354393
    ],
    "min_front_frame": [
      9,
      33.47453499935778
    ],
    "v_avg": 6.0641539307503685,
    "v_std": 0.2265736147944998,
    "vy_max": 0.10429935367288401,
    "a_max": 0.30932269259607137,
    "ax_avg": -0.14784528775567699,
    "a_std": 0.07265330017208994,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "82e1485de4fa5b71",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.598274765381344,
    "speed_mode": "quasi_constant",
    "front_frame": [
      60.623604315885906,
      57.457754419641226,
      54.304764968399276,
      51.22776375743693,
      48.141550410823776,
      45.14116867123237,
      42.14272947210539,
      39.22705300963319,
      36.31370650954207,
      33.47453499935778
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "82e1485de4fa5b71",
    "merging_vehicles": "No"
  },
  "48271cdeceb35236": {
    "vx_ego": [
      1.6041661508628928,
      1.1819329513576922,
      0.7133653000049159,
      0.2668065884955623,
      0.018961163612529492,
      -0.03335612021534836,
      -0.021225650320613538,
      -0.012699517064977435,
      -0.008292473971487592,
      -0.005168370942711442
    ],
    "vy_ego": [
      -0.03848020504496894,
      -0.03363333946780404,
      -0.007559973159524915,
      0.025757389994599804,
      0.026896559823149025,
      0.012081833162572199,
      0.004654861189071991,
      0.002341537411956077,
      0.0013587323399812203,
      0.0009131240978573396
    ],
    "v_ego": [
      1.6046276096822503,
      1.1824113933098164,
      0.7134053577351914,
      0.26804700857120983,
      0.032908215628644266,
      0.03547677336496374,
      0.02173007050661572,
      0.012913579330892077,
      0.008403051715865495,
      0.0052484144100434504
    ],
    "ax_ego": [
      -0.8444529422714986,
      -0.8444508753045945,
      -1.0298414602888166,
      -0.756409471350917,
      -0.23505179520926642,
      0.02579848523699749,
      0.02272492999609696,
      0.011379819568441064,
      0.006248194313212018,
      0.006248194043448646
    ],
    "ay_ego": [
      0.010168207367184661,
      0.010337704934461598,
      0.09327401007633272,
      0.040462990517982564,
      -0.035733806743594346,
      -0.023490063056634588,
      -0.006211249316397018,
      -0.0030410517673027434,
      -0.0008912443687816415,
      -0.0008912595547481197
    ],
    "a_ego": [
      0.844514158645107,
      0.8445141496422708,
      1.0340568041870437,
      0.757490951728819,
      0.23775250025075964,
      0.0348904700875217,
      0.02355848172947378,
      0.01177914637236881,
      0.006311437926537818,
      0.006311439803920889
    ],
    "yaw": [
      -1.5408705651475485,
      -1.5406698445732618,
      -1.5408454036307613,
      -1.5405890181584836,
      -1.5400340737874456,
      -1.540254159831644,
      -1.5403152989962607,
      -1.5403313537363597,
      -1.540304141179551,
      -1.540301485394484
    ],
    "yaw_diff": [
      0.0004014411485733227,
      -0.0003511181149988829,
      0.0005127709445553741,
      0.0011098887420759596,
      -0.0004401720883966398,
      -0.00012227832923361603,
      -3.210948019782833e-05,
      5.442511361719582e-05,
      5.311570133947896e-06,
      5.311570133947896e-06
    ],
    "min_front_frame": [
      3,
      9.648535522967807
    ],
    "v_avg": 0.3885171474255492,
    "v_std": 0.5520276985195028,
    "vy_max": 0.03848020504496894,
    "a_max": 1.0340568041870437,
    "ax_avg": -0.36378069212668973,
    "a_std": 0.4102553783522081,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "48271cdeceb35236",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.491333221370002,
    "right_rear_min": 5.044149484905812,
    "speed_mode": "decelerating",
    "front_frame": [
      10.913773037585889,
      10.329563817213062,
      9.8779113825041,
      9.648535522967807,
      9.66245284887436,
      9.680053489855954,
      9.715886433435127,
      9.706802227067772,
      9.706334624391399,
      9.716721345026604
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "48271cdeceb35236",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "635eb3ecbf415418": {
    "vx_ego": [
      7.927481376428318,
      8.199450187076634,
      8.580793864284066,
      9.036958413001587,
      9.529373684893988,
      10.008434595042964,
      10.450023268506428,
      10.916463695509695,
      11.42313273805938,
      11.925822824691913
    ],
    "vy_ego": [
      0.059719733277165954,
      -0.06073514022693782,
      -0.10587832655819795,
      -0.08835704500522912,
      -0.0921428191491307,
      -0.14788695304901012,
      -0.1922945215179519,
      -0.1791799254431874,
      -0.11783840079676988,
      0.05895083686332825
    ],
    "v_ego": [
      7.927706315206216,
      8.19967512329662,
      8.581447055209852,
      9.037390349305612,
      9.529819154919508,
      10.009527141385597,
      10.451792358027957,
      10.917934102249518,
      11.423740518762948,
      11.9259685244893
    ],
    "ax_ego": [
      0.4036387023716961,
      0.6793070522629387,
      0.8599723307246441,
      0.9805240827360802,
      1.009666549822886,
      0.9417587366668911,
      0.8637883080849282,
      1.0332037310657287,
      1.00392538931418,
      1.0076521535060075
    ],
    "ay_ego": [
      2.0245211973297375,
      1.949397928045741,
      1.536787479736496,
      1.1807179953909133,
      1.1175116642682368,
      1.2285589279980653,
      1.1324259397664014,
      0.9553408591856792,
      0.5242885861521008,
      0.5170897694657308
    ],
    "a_ego": [
      2.0643667989215824,
      2.0643668165137687,
      1.7610417847077984,
      1.534771143026011,
      1.506073989419781,
      1.5479879061711608,
      1.424260773257496,
      1.4071908566778617,
      1.132583201746784,
      1.1325831943620817
    ],
    "yaw": [
      -2.6384844365557,
      -2.4999675607218474,
      -2.3905238682994607,
      -2.3152955960498716,
      -2.2529910925464023,
      -2.1873262461477063,
      -2.125361968500243,
      -2.0776479009079147,
      -2.0500336899104656,
      -2.042876339502884
    ],
    "yaw_diff": [
      0.2770337516677053,
      0.21888738484477344,
      0.15045654449917834,
      0.12460900700693855,
      0.13132969279739193,
      0.12392855529492675,
      0.09542813518465643,
      0.05522842199489819,
      0.01431470081516295,
      0.01431470081516295
    ],
    "min_front_frame": [
      6,
      34.152984542706626
    ],
    "v_avg": 9.80050006428531,
    "v_std": 1.3069334450320689,
    "vy_max": 0.1922945215179519,
    "a_max": 2.0643668165137687,
    "ax_avg": 0.8783437036555981,
    "a_std": 0.3098326963408221,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "635eb3ecbf415418",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.622659811744226,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      57.06493107006418,
      34.152984542706626,
      35.71568369066965,
      37.129171041174104,
      38.02135793034315
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "635eb3ecbf415418",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "f5a6d648a71e5d47": {
    "vx_ego": [
      1.2039210656663404,
      1.4414943245244205,
      1.8455560825921804,
      2.433261848724087,
      3.0350516246044705,
      3.648167315787335,
      4.226458793299186,
      4.695870153722873,
      5.021331767293706,
      5.265681515136722
    ],
    "vy_ego": [
      0.002334135104092715,
      0.0011056946919757006,
      -0.004177583683900663,
      0.002244845241087739,
      0.04261059843868773,
      0.06054976515493824,
      0.024702080239812102,
      -0.008369493169014974,
      0.007970207579896582,
      -0.010173515334114924
    ],
    "v_ego": [
      1.2039233283485542,
      1.441494748584561,
      1.8455608107560235,
      2.4332628842330863,
      3.035350725552739,
      3.6486697628093565,
      4.22653097992008,
      4.695877612229815,
      5.021338092724069,
      5.265691342954581
    ],
    "ax_ego": [
      0.47514719170163255,
      0.4751532304114993,
      1.1410949586622634,
      1.2096994107500025,
      1.197501188818861,
      1.2544778473704268,
      1.0571378957763145,
      0.8225665511821724,
      0.480919922372217,
      0.4962579753417804
    ],
    "ay_ego": [
      -0.005674566173355568,
      -0.005144241483900633,
      -0.020573662957485278,
      0.0389941509065161,
      0.11378943532787861,
      -0.018346032200186987,
      0.06756424778348505,
      0.2853435460383663,
      0.3892909918334527,
      0.3695395296243006
    ],
    "a_ego": [
      0.4751810754682932,
      0.47518107663387443,
      1.141280412647094,
      1.2103277275902686,
      1.2028953124918322,
      1.254611990394094,
      1.0592947928999379,
      0.8706530137715499,
      0.6187337456912889,
      0.6187337408330601
    ],
    "yaw": [
      -3.1392683164087583,
      -3.1403844107024623,
      -3.1411190225809706,
      3.1412134207750535,
      3.1404202508042385,
      -3.1409891674950474,
      -3.12883574004627,
      -3.1018250453088214,
      -3.070750338362034,
      -3.0303303363148064
    ],
    "yaw_diff": [
      -0.002232188587408146,
      -0.0014692237570166355,
      -0.0017057276471241778,
      -0.0015863399416300439,
      0.0035517777606006717,
      0.024306854897554686,
      0.05402138947489732,
      0.0621494138935752,
      0.0808400040944548,
      0.0808400040944548
    ],
    "min_front_frame": [
      0,
      30.600226165758805
    ],
    "v_avg": 3.2817700288112865,
    "v_std": 1.4330517624918497,
    "vy_max": 0.06054976515493824,
    "a_max": 1.254611990394094,
    "ax_avg": 0.860995617238717,
    "a_std": 0.30280026955363054,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "f5a6d648a71e5d47",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.423929716630239,
    "right_rear_min": 13.99649731455778,
    "speed_mode": "accelerating",
    "front_frame": [
      30.600226165758805,
      33.24855795908079,
      35.79077399203957,
      -1,
      -1,
      40.46452072665824,
      41.08271253136502,
      41.19169537761138,
      40.71778583505118,
      39.775933363318
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "f5a6d648a71e5d47",
    "pedestrians": "No"
  },
  "3aa2680fdc805d09": {
    "vx_ego": [
      5.534213284272059,
      5.480163517291427,
      5.387990065477904,
      5.192742706857344,
      4.890740905984007,
      4.6123091653925545,
      4.379067006298795,
      4.118184405496435,
      3.9321216039092652,
      3.826221947974993
    ],
    "vy_ego": [
      0.012881949309675012,
      0.06957594006129719,
      -0.0012264062473898996,
      -0.028541499853181218,
      -0.035430299497787754,
      -0.012476728864507791,
      -0.0058070528867473215,
      -0.00933844451732968,
      -0.006397366607907573,
      0.014651787766314595
    ],
    "v_ego": [
      5.534228276863121,
      5.480605166191719,
      5.387990205054281,
      5.192821144313947,
      4.890869239264915,
      4.612326040722547,
      4.37907085664504,
      4.118194993467409,
      3.9321268080047327,
      3.826250000986645
    ],
    "ax_ego": [
      -0.10816120668506793,
      -0.10374310127839159,
      -0.2651483026817921,
      -0.5156800168353588,
      -0.691467672244728,
      -0.4218382718969812,
      -0.5111401037000654,
      -0.5323872313896241,
      -0.21181364558105314,
      -0.21179257190431067
    ],
    "ay_ego": [
      -0.16969184226731748,
      -0.17242834320017986,
      -0.0557695433163187,
      -0.01149997776883388,
      0.08324575580905402,
      0.08905074420964948,
      0.011130815148178819,
      -0.02153699059143105,
      0.045629671377813194,
      0.0457274087824676
    ],
    "a_ego": [
      0.20123162764249097,
      0.20123161928886232,
      0.27094992964890396,
      0.5158082291433509,
      0.6964606217294437,
      0.4311352023221067,
      0.511261284135985,
      0.5328226779243208,
      0.21667276562683926,
      0.21667277038843968
    ],
    "yaw": [
      -2.070786075273584,
      -2.096612392916651,
      -2.0940908986890534,
      -2.092118269080702,
      -2.0872157040838606,
      -2.082950912981803,
      -2.078873634333716,
      -2.0786549129913547,
      -2.0778815058385316,
      -2.077420037187534
    ],
    "yaw_diff": [
      -0.05165263528613462,
      0.005042988455195463,
      0.003945259216703079,
      0.009805129993682549,
      0.008529582204115371,
      0.00815455729617387,
      0.0004374426847224555,
      0.0015468143056462935,
      0.0009229373019952192,
      0.0009229373019952192
    ],
    "min_front_frame": [
      9,
      21.076433988790473
    ],
    "v_avg": 4.735448273151436,
    "v_std": 0.6202900382335099,
    "vy_max": 0.06957594006129719,
    "a_max": 0.6964606217294437,
    "ax_avg": -0.3573172124197373,
    "a_std": 0.17057161161034237,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3aa2680fdc805d09",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      42.335686777357125,
      39.62244653279907,
      36.84765716646999,
      34.24655227468445,
      31.743159086237345,
      29.34978801245088,
      27.12267970637239,
      24.99626786159446,
      23.004936032244704,
      21.076433988790473
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3aa2680fdc805d09",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "b528a0aa02695437": {
    "vx_ego": [
      8.162288775487632,
      8.457387401751294,
      8.764001152417984,
      9.04439174389536,
      9.22434245173716,
      9.341833245025603,
      9.411008224510406,
      9.477268938767478,
      9.530065348625994,
      9.519071780083049
    ],
    "vy_ego": [
      -0.03131308197532423,
      -0.12395439439531941,
      -0.10167132462424489,
      -0.05037251334683246,
      0.010435975874891756,
      0.030245232098515817,
      0.01655292710725087,
      -0.0076921908657681115,
      -0.01116867849039549,
      0.006469629000236399
    ],
    "v_ego": [
      8.162348838634268,
      8.458295712210079,
      8.764590877949445,
      9.044532017033465,
      9.224348355114998,
      9.341882206061596,
      9.411022781887116,
      9.477272060436334,
      9.530071893142313,
      9.519073978621705
    ],
    "ax_ego": [
      0.5886478249680571,
      0.6021371292096679,
      0.6290913992526418,
      0.4945574048424322,
      0.2252299541292229,
      0.24485699426077573,
      0.03205775082387625,
      0.23302117560840013,
      -0.021999839418356287,
      -0.021993377660315474
    ],
    "ay_ego": [
      0.4000769196338501,
      0.3794715815706864,
      0.17832209019142045,
      0.2469000530333918,
      0.07217431313039976,
      -0.02790084556986122,
      -0.09134076839139271,
      -0.08863258068091792,
      -0.003180793489194828,
      -0.0032252288809284024
    ],
    "a_ego": [
      0.7117357680089813,
      0.7117357680998042,
      0.6538767135048348,
      0.5527627545994512,
      0.2365114452048713,
      0.24644148356543955,
      0.09680307514854981,
      0.2493082482391633,
      0.022228593784906128,
      0.02222860234570852
    ],
    "yaw": [
      -2.1013088325364153,
      -2.0667042963809594,
      -2.05309222317369,
      -2.046926270076238,
      -2.0448582044156502,
      -2.0458000462574075,
      -2.047514186451759,
      -2.049716986323622,
      -2.051759538762896,
      -2.053779557584216
    ],
    "yaw_diff": [
      0.06920907231091178,
      0.02722414641453863,
      0.01233190619490454,
      0.004136131321175185,
      -0.0018836836835145476,
      -0.003428280388702909,
      -0.0044055997437260075,
      -0.004085104878548407,
      -0.004040037642639938,
      -0.004040037642639938
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.093343872109132,
    "v_std": 0.4560406512120523,
    "vy_max": 0.12395439439531941,
    "a_max": 0.7117357680998042,
    "ax_avg": 0.30056064160164025,
    "a_std": 0.26605971469708084,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b528a0aa02695437",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b528a0aa02695437",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b0b850e74a1e5bc7": {
    "vx_ego": [
      2.1633300279431418,
      2.100426250989053,
      2.0488134330313597,
      1.9988023596089541,
      1.9394480123853548,
      1.8873561005431712,
      1.8326413765289686,
      1.7511691421049709,
      1.5866706917069453,
      1.3577025137767225
    ],
    "vy_ego": [
      0.03090776296727915,
      -0.007400967510784673,
      -0.0021458457757943528,
      0.009564277576129765,
      0.007759275100439722,
      0.025368819630520067,
      0.011667125507208831,
      -0.012898915276858158,
      -0.008006354870973786,
      0.013532264183769627
    ],
    "v_ego": [
      2.16355080818827,
      2.1004392898067827,
      2.0488145567678493,
      1.9988252420318982,
      1.9394635338401154,
      1.887526589817206,
      1.8326785143018385,
      1.7512166474414235,
      1.5866908916484384,
      1.3577699503559395
    ],
    "ax_ego": [
      -0.12803162720833444,
      -0.1252049327153298,
      -0.07960883812717968,
      -0.12189421183758728,
      -0.11571522297825759,
      -0.09252703555758479,
      -0.1255509964904197,
      -0.2006151188569371,
      -0.4578494755422753,
      -0.4579750879478258
    ],
    "ay_ego": [
      0.07566221238965859,
      0.08025330654538768,
      0.1636616760623271,
      0.019027406698622455,
      0.04708400688519248,
      0.011924027707281813,
      -0.10987063976090075,
      -0.051001412945815644,
      0.032157201284175374,
      0.03031572132877186
    ],
    "a_ego": [
      0.14871740970482147,
      0.14871741117877968,
      0.18199645963449285,
      0.12337034118936928,
      0.12492764519221806,
      0.09329220088431071,
      0.16683707681809523,
      0.2069965459529521,
      0.45897737182650683,
      0.45897736778680337
    ],
    "yaw": [
      2.4387969432980876,
      2.4750522759019304,
      2.5019843193232445,
      2.5187215221355124,
      2.5280352587711974,
      2.5265395595282043,
      2.5207540450488506,
      2.5120647768848148,
      2.5064191730681564,
      2.5023977284049046
    ],
    "yaw_diff": [
      0.07251066520768568,
      0.05386408684262811,
      0.03347440562453574,
      0.018627473271370043,
      -0.002991398485986174,
      -0.01157102895870743,
      -0.017378536328071625,
      -0.011291207633316702,
      -0.008042889326503655,
      -0.008042889326503655
    ],
    "min_front_frame": [
      9,
      10.769922788327714
    ],
    "v_avg": 1.8666976024199762,
    "v_std": 0.2347369358091732,
    "vy_max": 0.03090776296727915,
    "a_max": 0.45897737182650683,
    "ax_avg": -0.19049725472617313,
    "a_std": 0.1274727949023402,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "b0b850e74a1e5bc7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      15.072427854986119,
      15.057648923058528,
      15.024082887086434,
      14.770678170041537,
      14.47994931045694,
      13.965395736108839,
      13.265702862760477,
      12.344255660614682,
      11.48595958220142,
      10.769922788327714
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "b0b850e74a1e5bc7",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "dd72153f54fa59e7": {
    "vx_ego": [
      0.1565195962737838,
      0.922447028090619,
      1.6799496258786937,
      2.4085970989218684,
      3.107261118872311,
      3.7661445446805604,
      4.3924600897368125,
      4.9779007137767755,
      5.5126698482231,
      6.035783664414823
    ],
    "vy_ego": [
      -0.012054508442847084,
      -0.010928438677579977,
      -0.006535644254581752,
      0.012970525160553859,
      0.028894580464176922,
      0.05027954069609497,
      0.07075943174484034,
      0.03866479949711232,
      -0.022412690251538248,
      -0.10241888151985368
    ],
    "v_ego": [
      0.1569831047963664,
      0.9225117616622266,
      1.6799623389039962,
      2.4086320224263775,
      3.1073954620607607,
      3.766480155747506,
      4.393029995016148,
      4.978050871871388,
      5.512715409323468,
      6.0366525550928145
    ],
    "ax_ego": [
      1.5318662044286557,
      1.5318677077786502,
      1.498198602018721,
      1.416394401627438,
      1.378061637038973,
      1.2570846818518957,
      1.2471678899063483,
      1.093881195171962,
      1.0454605914135517,
      1.0461389253322455
    ],
    "ay_ego": [
      0.003231183860003539,
      0.0024182474566072365,
      0.021703338378391,
      0.06029147229253373,
      0.025236933871531364,
      0.10555992676620457,
      0.03586703821439374,
      -0.11893022124062402,
      -0.20109447847376594,
      -0.19753528770424333
    ],
    "a_ego": [
      1.531869612212408,
      1.531869616532614,
      1.4983557941916255,
      1.417677030424331,
      1.3782927041487851,
      1.2615089359515328,
      1.2476835296034512,
      1.1003274361185327,
      1.0646252098609206,
      1.0646252115104655
    ],
    "yaw": [
      -0.5804114214836459,
      -0.5798807433767793,
      -0.5786262649909737,
      -0.5781431608188872,
      -0.5761675551611782,
      -0.5728897971102398,
      -0.5692439980265854,
      -0.5668358324790552,
      -0.5704403734495918,
      -0.5738436902381063
    ],
    "yaw_diff": [
      0.0010613562137331556,
      0.002508956771611226,
      0.0009662083441730474,
      0.0039512113154178685,
      0.006555516101876879,
      0.007291598167308733,
      0.004816331095060411,
      -0.007209081941073059,
      -0.006806633577029153,
      -0.006806633577029153
    ],
    "min_front_frame": [
      0,
      13.02692129611979
    ],
    "v_avg": 3.2962413676901052,
    "v_std": 1.8868113149147296,
    "vy_max": 0.10241888151985368,
    "a_max": 1.531869616532614,
    "ax_avg": 1.304612183656844,
    "a_std": 0.1791095407008134,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "dd72153f54fa59e7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.647823723625223,
    "right_rear_min": 2.8554877384044586,
    "speed_mode": "accelerating",
    "front_frame": [
      13.02692129611979,
      14.710610798161053,
      16.113729039785785,
      18.056518338195115,
      19.99260970111868,
      22.15078094396146,
      24.422350304220057,
      26.861334973380096,
      29.226154396907383,
      31.567062375995004
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "dd72153f54fa59e7",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "495a149c042a5636": {
    "vx_ego": [
      7.8817525478728045,
      6.996471780672098,
      6.051485834386201,
      5.027499962378839,
      4.056929652244786,
      3.3074625883919433,
      2.784326918509077,
      2.2801373216842977,
      1.7169813383393833,
      1.1539207076666187
    ],
    "vy_ego": [
      0.02678240459574957,
      0.015230129410834542,
      0.007957583504584503,
      0.007529403680924279,
      0.0005994203375452867,
      -0.02360935628013547,
      -0.021309456071348973,
      0.008313608268494865,
      -0.010056796186053527,
      -0.06131717525405146
    ],
    "v_ego": [
      7.881798051402699,
      6.996488357353485,
      6.051491066415952,
      5.0275056005576975,
      4.056929696527627,
      3.307546851567835,
      2.784408461783635,
      2.280152477756715,
      1.7170107906927163,
      1.155548698914488
    ],
    "ax_ego": [
      -1.770706980815537,
      -1.7706503794595407,
      -2.009416347691711,
      -2.0865546604894076,
      -1.7957532825540945,
      -1.202091108706738,
      -0.8901727684169292,
      -1.126588658135826,
      -1.1260856185359218,
      -1.1261152611737217
    ],
    "ay_ego": [
      0.01713464614963684,
      0.022226573794765257,
      0.010229307650956407,
      0.006739465391774294,
      -0.017487222576078973,
      -0.06417096327832733,
      0.09326376017586009,
      0.03458580660680686,
      -0.10184831733355143,
      -0.10152020104769158
    ],
    "a_ego": [
      1.7707898825121933,
      1.7707898765417849,
      2.009442384619602,
      2.08656554452618,
      1.795838426684659,
      1.203802702339492,
      0.8950450751739826,
      1.1271194181003734,
      1.1306820508069921,
      1.1306820652460723
    ],
    "yaw": [
      -1.5527983876087563,
      -1.5499226967869926,
      -1.547574982126461,
      -1.5467333422022795,
      -1.545791670632393,
      -1.544740051218033,
      -1.5430860918257214,
      -1.5421729281766205,
      -1.541394954450229,
      -1.5411035834516864
    ],
    "yaw_diff": [
      0.005751381643527509,
      0.004695429321063038,
      0.0016832798483630285,
      0.0018833431397728972,
      0.002103238828720322,
      0.0033079187846229985,
      0.0018263272982017575,
      0.0015559474527830908,
      0.0005827419970851899,
      0.0005827419970851899
    ],
    "min_front_frame": [
      8,
      10.065866453325109
    ],
    "v_avg": 4.125888005297285,
    "v_std": 2.1765665075605636,
    "vy_max": 0.06131717525405146,
    "a_max": 2.08656554452618,
    "ax_avg": -1.4904135065979427,
    "a_std": 0.4126344808952277,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "495a149c042a5636",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.9661164309352155,
    "right_rear_min": 4.0724678353228505,
    "speed_mode": "decelerating",
    "front_frame": [
      18.226997238753977,
      16.963666197178377,
      15.462667575413162,
      14.025944009346539,
      12.783716233059511,
      11.864903868036333,
      11.037941385790017,
      10.413927822809422,
      10.065866453325109,
      10.076892321788476
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.2,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "495a149c042a5636",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3a5278b27c87565f": {
    "vx_ego": [
      0.33797234884146926,
      1.0152522675003417,
      1.75702375049896,
      2.54578003225258,
      3.368066348572075,
      4.1706079103123646,
      4.862959895648549,
      5.484408304119042,
      6.0148638042459215,
      6.485964538002915
    ],
    "vy_ego": [
      -0.005627287541052017,
      0.006641827802230604,
      0.016349199464290032,
      0.015823084649396746,
      -0.0014443841463243068,
      -0.005721022454707292,
      -0.005796731399112964,
      -0.016536277209258987,
      -0.025589834091020336,
      -0.0022217181852188794
    ],
    "v_ego": [
      0.33801919316288753,
      1.0152739928419028,
      1.7570998139378864,
      2.545829205312833,
      3.36806665828175,
      4.170611834210659,
      4.862963350548825,
      5.484433233685487,
      6.014918239114853,
      6.4859649185193
    ],
    "ax_ego": [
      1.3545604405670697,
      1.3545593172834034,
      1.612504965761201,
      1.542239499446123,
      1.7466172901794434,
      1.4635889490834466,
      1.3058288996765888,
      1.1799573102273437,
      0.942195615177446,
      0.9422816724580112
    ],
    "ay_ego": [
      0.02444547317110468,
      0.02450736292773248,
      0.01667144486199501,
      0.019875964352204623,
      -0.018106934513283712,
      0.019399627394548813,
      -0.003902313413144287,
      -0.045511037016046973,
      0.06427689973481743,
      0.06300279586650576
    ],
    "a_ego": [
      1.3547810038186294,
      1.3547809988617907,
      1.612591145231276,
      1.5423675721470411,
      1.7467111436729459,
      1.4637175128494688,
      1.305834730461916,
      1.18083466600927,
      0.9443855659099866,
      0.9443855687891801
    ],
    "yaw": [
      2.5576041145930457,
      2.5575584310202757,
      2.557992237914375,
      2.5624654424435223,
      2.568506861364402,
      2.5697158368447983,
      2.5705865589306507,
      2.5702755810910567,
      2.5726538759215565,
      2.5740060777703437
    ],
    "yaw_diff": [
      -9.136714554003333e-05,
      0.0008676137881984403,
      0.008946409058294691,
      0.012082837841759897,
      0.0024179509607922256,
      0.0017414441717047424,
      -0.000621955679187991,
      0.004756589660999566,
      0.00270440369757452,
      0.00270440369757452
    ],
    "min_front_frame": [
      0,
      14.64691570550881
    ],
    "v_avg": 3.604318043961638,
    "v_std": 2.037520002633082,
    "vy_max": 0.025589834091020336,
    "a_max": 1.7467111436729459,
    "ax_avg": 1.3444333959860075,
    "a_std": 0.25212774810383953,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3a5278b27c87565f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.2620007763373495,
    "right_rear_min": 9.034571819488582,
    "speed_mode": "accelerating",
    "front_frame": [
      14.64691570550881,
      16.386743077986885,
      18.085139696400493,
      19.56170817137454,
      21.225021510005124,
      22.76262453361802,
      24.405251699466145,
      25.83423985891894,
      27.695164025615313,
      29.352088315796994
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3a5278b27c87565f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4c111cf640f258b4": {
    "vx_ego": [
      2.0885596447758292,
      1.7962746335930546,
      1.4048617259048017,
      0.8643960811842174,
      0.4005456717036123,
      0.24106213931280968,
      0.32354578770920395,
      0.415762402303443,
      0.32376087582688146,
      0.10198127071167461
    ],
    "vy_ego": [
      0.0242189060038765,
      0.012207122709193753,
      0.011471567156799305,
      0.018116411342594525,
      0.007463383777725683,
      -0.010085861406322696,
      -0.012960504724621517,
      -0.01028152918687262,
      -0.008521579986171765,
      -0.006423894223258886
    ],
    "v_ego": [
      2.0887000610892326,
      1.7963161116949042,
      1.4049085613538168,
      0.8645859063890449,
      0.4006151984359949,
      0.24127303954312013,
      0.32380526775685137,
      0.4158895105812967,
      0.3238730029527779,
      0.10218339391975331
    ],
    "ax_ego": [
      -0.5846039433283411,
      -0.5846281975103578,
      -0.9810517888259946,
      -1.1808905122084556,
      -0.6745402288670402,
      0.03661148709380733,
      0.29328945319313854,
      0.07558459267895715,
      -0.443560318455103,
      -0.4435606749780449
    ],
    "ay_ego": [
      -0.019458972963214013,
      -0.01871617161354996,
      0.02281078112020752,
      0.009380407430233603,
      -0.05117904133455267,
      -0.018784706022369136,
      0.006713751592711405,
      0.004268383280637085,
      0.004177804065042881,
      0.004139601179813195
    ],
    "a_ego": [
      0.5849277068013015,
      0.5849277086991842,
      0.9813169437516087,
      1.1809277682684516,
      0.6764789831413264,
      0.04114931551759825,
      0.2933662860909188,
      0.07570501797288133,
      0.44357999296045614,
      0.4435799913036055
    ],
    "yaw": [
      0.025656988317464272,
      0.02692756724396823,
      0.02799367728793706,
      0.02920352995037174,
      0.029560839646701594,
      0.02981228302934752,
      0.029240418842300626,
      0.029408138727750784,
      0.030217061108145215,
      0.03013092036277449
    ],
    "yaw_diff": [
      0.0025411578530079165,
      0.0021322200879376613,
      0.002419705324869355,
      0.00071461939265971,
      0.0005028867652918517,
      -0.0011437283740937873,
      0.0003354397709003157,
      0.0016178447607888627,
      -0.00017228149074145077,
      -0.00017228149074145077
    ],
    "min_front_frame": [
      8,
      10.128240658097775
    ],
    "v_avg": 0.7962150053716793,
    "v_std": 0.676976169974393,
    "vy_max": 0.0242189060038765,
    "a_max": 1.1809277682684516,
    "ax_avg": -0.44873501312074343,
    "a_std": 0.3422238832332111,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "4c111cf640f258b4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.731479722492498,
      11.802464908872942,
      10.968756758972418,
      10.522321205058143,
      10.418954585395484,
      10.452903416742936,
      10.37826645469962,
      10.212470661595987,
      10.128240658097775,
      10.252227247309788
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "4c111cf640f258b4",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "df5915c3464e569e": {
    "vx_ego": [
      8.5008727937931,
      8.45585951768015,
      8.358247817497684,
      8.285351531139671,
      8.334360530877268,
      8.413056994377932,
      8.380055476134084,
      8.249409873912782,
      8.097498109348397,
      7.924123121151938
    ],
    "vy_ego": [
      -0.025243180218660122,
      -0.034672375918422205,
      0.02784210081246119,
      0.05179428433629418,
      0.014743055272125716,
      0.04092851763548744,
      0.08491084603392451,
      0.07869210997712628,
      -0.009380862954489366,
      0.02442282538260665
    ],
    "v_ego": [
      8.500910273282459,
      8.455930602624042,
      8.358294189682633,
      8.28551342057017,
      8.334373570720452,
      8.413156549964306,
      8.380485644332257,
      8.249785192111512,
      8.097503543160116,
      7.924160757681182
    ],
    "ax_ego": [
      -0.09440227240481625,
      -0.08235664577626925,
      -0.30762866585167853,
      0.011052678243241007,
      0.18233726189277652,
      0.13185941480873015,
      -0.26431123966952025,
      -0.25855104187295547,
      -0.34900504827751183,
      -0.3438153521935297
    ],
    "ay_ego": [
      0.44137166757355406,
      0.4437771030689172,
      0.46381853262192635,
      0.22016846695705813,
      0.14365730650515549,
      0.1242018087174851,
      0.10991022264560935,
      -0.11358227813427813,
      -0.25300778625355574,
      -0.26001627273381905
    ],
    "a_ego": [
      0.4513543374909042,
      0.45135433343633496,
      0.5565635877932015,
      0.22044572016387576,
      0.23212991790562276,
      0.1811435744441285,
      0.28625284008660246,
      0.2823996727331023,
      0.4310654980720602,
      0.4310654921126819
    ],
    "yaw": [
      0.9479646521007796,
      0.9751801703083403,
      0.9946674360680556,
      1.012421762906191,
      1.0278655672551391,
      1.0327318140092476,
      1.0344539952868297,
      1.0350915602700481,
      1.0346548290216524,
      1.0144237553000766
    ],
    "yaw_diff": [
      0.05443103641512126,
      0.038974531519430755,
      0.03550865367627054,
      0.030887608697896418,
      0.009732493508217033,
      0.0034443625551641155,
      0.001275129966436861,
      -0.0008734624967914328,
      -0.040462147443151686,
      -0.040462147443151686
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.300011374412913,
    "v_std": 0.1653882484108024,
    "vy_max": 0.08491084603392451,
    "a_max": 0.5565635877932015,
    "ax_avg": -0.13748209111015336,
    "a_std": 0.12005177518787274,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "df5915c3464e569e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "df5915c3464e569e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "db1f0ea31f525bdb": {
    "vx_ego": [
      4.460783507810974,
      4.348337791991608,
      4.362826893308473,
      4.433717876491502,
      4.50484721555025,
      4.591553515292865,
      4.7334653726925,
      4.861336915947804,
      4.867543993312005,
      4.887954212923286
    ],
    "vy_ego": [
      -0.01795732791951865,
      -0.00043301612096890985,
      0.011618206374890638,
      -0.016470499373155145,
      -0.04043501876453126,
      -0.04003921864116533,
      -0.03380334356670067,
      -0.034398573082073725,
      -0.01741519907817235,
      0.01996940578635442
    ],
    "v_ego": [
      4.4608196521698105,
      4.348337813551911,
      4.362842362920649,
      4.433748468922196,
      4.505028682061118,
      4.591728086769474,
      4.733586071945374,
      4.861458615702389,
      4.867575147441148,
      4.8879950045803
    ],
    "ax_ego": [
      -0.3237418169571702,
      -0.11794804792651116,
      0.16633432138210635,
      0.11949006675304068,
      0.19354209638726966,
      0.18477280353403464,
      0.40702110402869585,
      0.13538093024090436,
      -0.09182595596999032,
      0.17212134210679508
    ],
    "ay_ego": [
      1.3434194205644272,
      1.3768343252814197,
      1.2955362151685403,
      1.30547915557845,
      1.4363887919333018,
      1.5044084689125006,
      1.5086576123885673,
      1.6177614413853658,
      1.6402830109608355,
      1.633809842546337
    ],
    "a_ego": [
      1.3818771666093883,
      1.3818771657722755,
      1.306170429646481,
      1.3109361928417678,
      1.4493692782260805,
      1.5157129775328444,
      1.5625984674709978,
      1.6234161750783898,
      1.6428512903597048,
      1.6428512890733389
    ],
    "yaw": [
      1.2877419658347518,
      1.4387591347744761,
      1.5903280828009785,
      1.7440489234505867,
      1.9027792408771222,
      2.0639497030440896,
      2.2247832123674645,
      2.386331662614238,
      2.548971102465943,
      2.7098570169613634
    ],
    "yaw_diff": [
      0.3020343378794488,
      0.3031378960530047,
      0.30744168129921645,
      0.3174606348530711,
      0.3223409243339348,
      0.3216670186467496,
      0.3230969004935469,
      0.3252788797034105,
      0.32177182899084045,
      0.32177182899084045
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.605311990606436,
    "v_std": 0.2039945032574203,
    "vy_max": 0.04043501876453126,
    "a_max": 1.6428512903597048,
    "ax_avg": 0.0845146843579175,
    "a_std": 0.12675556456014114,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "db1f0ea31f525bdb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "db1f0ea31f525bdb",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "906ffee6860e524a": {
    "vx_ego": [
      0.8126874039919412,
      0.28924159056109844,
      -0.03710596404908531,
      -0.06080116015204997,
      0.10038260546146817,
      0.49573344105754835,
      1.1112681007648595,
      1.6742699452095748,
      1.9308244812224733,
      1.9987952178295312
    ],
    "vy_ego": [
      0.02001188352880451,
      0.025390052808535707,
      0.026024700175506798,
      0.010802581685111778,
      -0.008723247176905695,
      -0.023472068574021954,
      -0.008474955255270422,
      0.022809604422018737,
      0.010501443133748234,
      -0.03159455740828143
    ],
    "v_ego": [
      0.8129337562738621,
      0.2903538401535863,
      0.04532259466576285,
      0.06175335494447846,
      0.10076091762455408,
      0.49628880965210304,
      1.111300416918898,
      1.674425312603092,
      1.93085303883955,
      1.999044906668189
    ],
    "ax_ego": [
      -1.0469295839559956,
      -1.0469209710404053,
      -0.2584630788136694,
      0.16367820103449882,
      0.4810551029518659,
      1.1003436639723783,
      1.3617103337284542,
      0.8903666231244873,
      0.13595222624996994,
      0.13593793870287385
    ],
    "ay_ego": [
      0.01118683627043382,
      0.011965977094984315,
      -0.009433390246698758,
      -0.051472645313578376,
      -0.026613852022394024,
      -0.03244698703483395,
      0.0903527716178879,
      0.028031716647198612,
      -0.0835078616163086,
      -0.08353111825527103
    ],
    "a_ego": [
      1.0469893500260714,
      1.0469893524826424,
      0.25863517154746685,
      0.17158084598657056,
      0.48179073174512205,
      1.1008219591795019,
      1.3647046040524273,
      0.8908077798898546,
      0.15955115409814988,
      0.15955115447956608
    ],
    "yaw": [
      0.5543610274907461,
      0.5551052484860246,
      0.5550508215523324,
      0.5550939495282787,
      0.5548823392774905,
      0.5548080802506694,
      0.5541326215570297,
      0.5529695369358233,
      0.5521466605540659,
      0.5523177993332256
    ],
    "yaw_diff": [
      0.0014884419905569768,
      -0.00010885386738435088,
      8.625595189259982e-05,
      -0.00042322050157639346,
      -0.00014851805364224369,
      -0.0013509173872794378,
      -0.002326169242412801,
      -0.0016457527635147517,
      0.00034227755831928164,
      0.00034227755831928164
    ],
    "min_front_frame": [
      0,
      8.834566540984186
    ],
    "v_avg": 0.8523036948344075,
    "v_std": 0.742046929947173,
    "vy_max": 0.03159455740828143,
    "a_max": 1.3647046040524273,
    "ax_avg": 0.19167304559544585,
    "a_std": 0.44445101002981474,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "906ffee6860e524a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.977280310738207,
    "right_rear_min": 20.31491975660435,
    "speed_mode": "accelerating",
    "front_frame": [
      8.834566540984186,
      8.96716144916887,
      9.728017359420852,
      10.71907939578552,
      11.800453296802948,
      12.806500774056746,
      13.272105286982859,
      13.346848531122886,
      13.072259012895618,
      12.630861469591633
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "906ffee6860e524a",
    "merging_vehicles": "No"
  },
  "1cffb22700735548": {
    "vx_ego": [
      3.1702472477147348,
      2.5554667030468603,
      2.096748271156142,
      1.8125802259762769,
      1.4401657914964558,
      0.9174574311688218,
      0.3866543201262487,
      0.036381225126374914,
      -0.06741615296319184,
      -0.06981490047718561
    ],
    "vy_ego": [
      0.018445867388114934,
      0.013014137893751165,
      0.01872773695454577,
      0.017741329248344373,
      -0.000551242427914933,
      -0.012682989983764159,
      -0.026561230702951022,
      -0.022269346946435228,
      -0.004535541258858248,
      0.0037304276283068316
    ],
    "v_ego": [
      3.170300910271224,
      2.555499841159515,
      2.0968319056919436,
      1.8126670489540293,
      1.4401658969941022,
      0.9175450922117244,
      0.38756555864620756,
      0.04265580095504804,
      0.06756854900667385,
      0.06991449362563792
    ],
    "ax_ego": [
      -1.2295423550913471,
      -1.2295304123642241,
      -0.6053420119792214,
      -0.5313467539946852,
      -0.9583239956306013,
      -1.1324938747921676,
      -0.990687533937292,
      -0.4103829275922818,
      -0.004798151199878803,
      -0.004796694839856438
    ],
    "ay_ego": [
      -0.014848758635001014,
      -0.01580750425314259,
      0.03833679322133454,
      -0.04113803322768711,
      -0.028944854327290215,
      -0.01726559722286064,
      -0.037098482987958536,
      0.05435105237063842,
      0.01651967774713975,
      0.016520100133493896
    ],
    "a_ego": [
      1.229632013488823,
      1.2296320230537476,
      0.6065547470604341,
      0.5329368731459017,
      0.958761015682964,
      1.1326254797104114,
      0.9913819079137772,
      0.41396640461879014,
      0.017202383782669268,
      0.017202383259518735
    ],
    "yaw": [
      1.0781266737555186,
      1.0773469161950346,
      1.0773107628750214,
      1.0774578261332715,
      1.0779173308994716,
      1.0783997094951636,
      1.0788525046258486,
      1.0790054745902204,
      1.0792489574041824,
      1.0793367626038854
    ],
    "yaw_diff": [
      -0.0015595151209679692,
      -7.230664002655374e-05,
      0.0002941265165001816,
      0.0009190095324003167,
      0.0009647571913840025,
      0.0009055902613699374,
      0.0003059399287437259,
      0.0004869656279238299,
      0.00017561039940616752,
      0.00017561039940616752
    ],
    "min_front_frame": [
      6,
      11.43082013026444
    ],
    "v_avg": 1.2560715097516106,
    "v_std": 1.0753670874065135,
    "vy_max": 0.026561230702951022,
    "a_max": 1.2296320230537476,
    "ax_avg": -0.7097244711421555,
    "a_std": 0.4415020780360862,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "1cffb22700735548",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.560563547378513,
    "right_rear_min": 22.83903568235061,
    "speed_mode": "decelerating",
    "front_frame": [
      12.979996345062837,
      12.799358137873293,
      12.566176340422919,
      12.35672605498157,
      11.88622162155207,
      11.59591917504005,
      11.43082013026444,
      11.574373882210619,
      11.788498700573854,
      11.779946882181143
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1cffb22700735548",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "2d6a7d3813ef54e0": {
    "vx_ego": [
      9.399614067832172,
      9.23170403466668,
      9.111810840173577,
      9.041530966773687,
      8.970238838570067,
      8.887209067606001,
      8.786947449466417,
      8.62363728930204,
      8.482196888936208,
      8.415927777724193
    ],
    "vy_ego": [
      -0.014409835210294375,
      0.010477445256059426,
      0.01721027949717424,
      0.01031819027411185,
      0.02045386453408682,
      -0.00611304950167213,
      -0.036232506447502644,
      -0.03484111943070456,
      -0.01867053245933814,
      0.001902675062500414
    ],
    "v_ego": [
      9.39962511313825,
      9.231709980309182,
      9.111827093444273,
      9.041536854328365,
      8.97026215790627,
      8.887211170030367,
      8.78702215054724,
      8.623707671358291,
      8.482217437171805,
      8.415927992802818
    ],
    "ax_ego": [
      -0.3379518128725428,
      -0.33354401981906306,
      -0.14708491532650497,
      -0.13531974454774703,
      -0.1507807508068668,
      -0.18131593454442962,
      -0.21996623206665125,
      -0.4343685803952589,
      -0.1328813225270145,
      -0.13241405845629073
    ],
    "ay_ego": [
      0.31016123291702513,
      0.3148965175732984,
      0.29247969683624986,
      0.23427136074875599,
      -0.011800650250653452,
      -0.10509546291746821,
      -0.13437585437003746,
      -0.1790775748259528,
      -0.07019693960253798,
      -0.07107441917879076
    ],
    "a_ego": [
      0.4587062439388059,
      0.45870625670122506,
      0.32738104004054625,
      0.27054482758230897,
      0.1512418267551034,
      0.2095722415911917,
      0.25776348361875734,
      0.4698349087074493,
      0.1502832532456322,
      0.15028325235523896
    ],
    "yaw": [
      2.25400251917531,
      2.268105949287125,
      2.2839674528599323,
      2.299237326104475,
      2.3042864852937006,
      2.3039890204501763,
      2.300624549608285,
      2.2914910926394594,
      2.2822736491118887,
      2.2756585685112136
    ],
    "yaw_diff": [
      0.02820686022363006,
      0.03172300714561427,
      0.03053974648908575,
      0.010098318378450877,
      -0.000594929687048662,
      -0.006728941683782352,
      -0.018266913937651452,
      -0.018434887055141402,
      -0.013230161201350121,
      -0.013230161201350121
    ],
    "min_front_frame": [
      1,
      18.771675110410257
    ],
    "v_avg": 8.895104762103687,
    "v_std": 0.3045308322844829,
    "vy_max": 0.036232506447502644,
    "a_max": 0.4698349087074493,
    "ax_avg": -0.220562737136237,
    "a_std": 0.12523632100306997,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "2d6a7d3813ef54e0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.34239129955389,
      18.771675110410257,
      29.161452282987085,
      24.66183364058199,
      -1,
      75.91398460207326,
      71.4856035407889,
      67.17242493819938,
      62.9000621129956,
      58.70582858195757
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2222222222222222,
    "unsafe_ratio": 0.2222222222222222,
    "oversafe_ratio": 0.5555555555555556,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "2d6a7d3813ef54e0",
    "road_shape": "Straight"
  },
  "83280d03b9995f85": {
    "vx_ego": [
      6.55404007096755,
      6.791427698681455,
      7.065865617782553,
      7.35164498421457,
      7.66720466748632,
      7.99527050441119,
      8.363326375236872,
      8.713402536179126,
      8.9612575235102,
      9.157955415610544
    ],
    "vy_ego": [
      -0.09206944606282863,
      -0.04372790969211726,
      -0.09052120193235069,
      -0.12278855068176986,
      -0.10537947569703965,
      -0.058275912493630955,
      -0.07315986073110192,
      -0.14209262646568988,
      -0.19277678582015367,
      -0.1102328002521995
    ],
    "v_ego": [
      6.554686722853094,
      6.79156847248879,
      7.066445430098565,
      7.352670331390207,
      7.667928810769059,
      7.995482882270747,
      8.363646359331252,
      8.71456103725189,
      8.963330814592268,
      9.158618818608073
    ],
    "ax_ego": [
      0.393856357968582,
      0.5839028000102106,
      0.556350389409239,
      0.6372948819991646,
      0.6490610930795151,
      0.6892443405341682,
      0.8067760114741114,
      0.6181657982081075,
      0.39393662664069984,
      0.40567298150746844
    ],
    "ay_ego": [
      1.6671493713433885,
      1.610455653938654,
      1.7397669615363054,
      1.7015286781296988,
      1.2854017612110988,
      1.3085779186227604,
      1.3538661146917401,
      1.1090491425143356,
      0.5552385658769959,
      0.5467223724909078
    ],
    "a_ego": [
      1.7130411136580848,
      1.7130411241890084,
      1.8265581940494204,
      1.816960266246934,
      1.4399784686842265,
      1.4789976098917321,
      1.5760206182663294,
      1.2696924645700824,
      0.6807906659511405,
      0.6807906583577993
    ],
    "yaw": [
      -2.869450316725109,
      -2.7536133673102574,
      -2.6262127738817895,
      -2.5023767962119368,
      -2.4053129578074026,
      -2.3285075401028985,
      -2.2452088054096464,
      -2.165285677041907,
      -2.112648403353145,
      -2.091348338901353
    ],
    "yaw_diff": [
      0.2316738988297029,
      0.25480118685693576,
      0.24767195533970554,
      0.19412767680906828,
      0.15361083540900822,
      0.16659746938650422,
      0.15984625673547903,
      0.1052745473775234,
      0.042600128903584,
      0.042600128903584
    ],
    "min_front_frame": [
      9,
      44.70286163272807
    ],
    "v_avg": 7.8628939679653955,
    "v_std": 0.8760906388772085,
    "vy_max": 0.19277678582015367,
    "a_max": 1.8265581940494204,
    "ax_avg": 0.5734261280831265,
    "a_std": 0.40475758723048105,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "83280d03b9995f85",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.433255681898835,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      44.70286163272807
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "83280d03b9995f85",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d0c18f1bd62950d5": {
    "vx_ego": [
      3.590852621944093,
      3.2807053901185754,
      2.9622820319111303,
      2.619997788565698,
      2.2274978818277833,
      1.8154618880914082,
      1.5007185662267106,
      1.353898166816005,
      1.3626818048771367,
      1.4414023364577206
    ],
    "vy_ego": [
      -0.04843069258549043,
      -0.03276544355369627,
      -0.007775659651391036,
      0.007156940707041509,
      0.00882076294772742,
      -0.011613628263873119,
      -0.015926915003115053,
      0.009844087653252682,
      0.022082566313932905,
      0.03523984166232899
    ],
    "v_ego": [
      3.591179205289967,
      3.280869005468573,
      2.9622922370128424,
      2.6200075637084397,
      2.2275153466152013,
      1.8154990342806223,
      1.5008030789011164,
      1.3539339541386293,
      1.3628607196181934,
      1.4418330492765667
    ],
    "ax_ego": [
      -0.6202892997509492,
      -0.6202867714380239,
      -0.6533777717445866,
      -0.7157657462734721,
      -0.8542254830954189,
      -0.7939222824143451,
      -0.4649783388468416,
      -0.12230053453958094,
      0.15743718670799817,
      0.15743863662312382
    ],
    "ay_ego": [
      0.03184906592884306,
      0.031898088252259656,
      0.07163676365843645,
      -0.01005196070416027,
      0.012727638481192533,
      -0.09382225100447054,
      0.07987980886147478,
      0.0223024592827687,
      0.02647299799250281,
      0.02646434621815128
    ],
    "a_ego": [
      0.6211064147036823,
      0.6211064054211294,
      0.6572931906823436,
      0.715836325882124,
      0.8543202963472831,
      0.7994468120504009,
      0.471789825516102,
      0.12431741808261136,
      0.15964738451111604,
      0.1596473799424914
    ],
    "yaw": [
      -1.5896868385697305,
      -1.5896078054366618,
      -1.589321805567872,
      -1.5891561710258917,
      -1.5895637415400825,
      -1.5894839285089297,
      -1.5889720602242714,
      -1.5891348909825558,
      -1.5891686043110451,
      -1.589113641188218
    ],
    "yaw_diff": [
      0.00015806626613734664,
      0.0005719997375797092,
      0.0003312690839605281,
      -0.0008151410283816496,
      0.0001596260623055734,
      0.0010237365693166467,
      -0.00032566151656876485,
      -6.742665697867523e-05,
      0.00010992624565409059,
      0.00010992624565409059
    ],
    "min_front_frame": [
      6,
      11.474509227581825
    ],
    "v_avg": 2.2156793194310156,
    "v_std": 0.8054574017983552,
    "vy_max": 0.04843069258549043,
    "a_max": 0.8543202963472831,
    "ax_avg": -0.45302704047720954,
    "a_std": 0.2619312573346705,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d0c18f1bd62950d5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.655222137930462,
    "right_rear_min": 5.640002847401882,
    "speed_mode": "decelerating",
    "front_frame": [
      17.487326024999685,
      15.912620739868823,
      14.43676450305861,
      13.200832062128365,
      12.34011956201211,
      11.719075184503595,
      11.474509227581825,
      11.578429753757787,
      11.86910321341025,
      12.380817393998878
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d0c18f1bd62950d5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fab7cc2db66f5e63": {
    "vx_ego": [
      0.7230745083007218,
      0.4973257845291499,
      0.2724532572884588,
      0.05628845653554826,
      -0.03941467781034088,
      -0.02430366575991902,
      -0.013495108946772031,
      -0.00791360864948604,
      -0.005572604455153875,
      -0.003722338777042221
    ],
    "vy_ego": [
      -0.021936932000421017,
      -0.004350993599089192,
      0.018234625055583056,
      0.0029495932680246584,
      -0.017286885141338647,
      -0.00571997744519386,
      -0.0022256962716855075,
      -0.0012892012245573586,
      -0.0009886345900085812,
      -0.0006665447798955629
    ],
    "v_ego": [
      0.7234071976003016,
      0.4973448171066365,
      0.2730627747570306,
      0.05636568494750225,
      0.043038973323986394,
      0.024967705368002614,
      0.01367741530330352,
      0.008017932504992822,
      0.0056596217864944166,
      0.0037815457044280453
    ],
    "ax_ego": [
      -0.4514964941512118,
      -0.45149260943473957,
      -0.448002056871621,
      -0.4166830411220206,
      0.03387679684398964,
      0.02657134075704609,
      0.01666238185241846,
      0.005663585344161505,
      0.003700522132316081,
      0.003700526693852935
    ],
    "ay_ego": [
      0.0352811873247858,
      0.035330807013227244,
      0.05540801786982302,
      -0.1164185027077331,
      0.03546108714843059,
      0.010791562663443634,
      0.003188607063414204,
      0.0005576571510201795,
      0.0006441703247721717,
      0.0006441713464076402
    ],
    "a_ego": [
      0.45287288107136847,
      0.452872876532031,
      0.4514154310670668,
      0.4326407569004635,
      0.049042084643268744,
      0.02867915574674557,
      0.01696473353756725,
      0.005690973594094858,
      0.003756170850624109,
      0.0037561755197874826
    ],
    "yaw": [
      -2.123356449705271,
      -2.1232465532308256,
      -2.1229888205949905,
      -2.12278684176379,
      -2.122726770045474,
      -2.1226056971730953,
      -2.1226486960130178,
      -2.1226562169644825,
      -2.122639112034088,
      -2.122638602700118
    ],
    "yaw_diff": [
      0.00021979294889096224,
      0.0005154652716701236,
      0.0004039576624013108,
      0.00012014343663135918,
      0.00024214574475767137,
      -8.59976798448514e-05,
      -1.5041902929446849e-05,
      3.420986078861432e-05,
      1.0186679402224286e-06,
      1.0186679402224286e-06
    ],
    "min_front_frame": [
      3,
      8.748263572423433
    ],
    "v_avg": 0.1649323668402679,
    "v_std": 0.24065676462523947,
    "vy_max": 0.021936932000421017,
    "a_max": 0.45287288107136847,
    "ax_avg": -0.16774990479558083,
    "a_std": 0.21085407932753605,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fab7cc2db66f5e63",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.355118326745516,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.237517362173262,
      8.997777053674325,
      8.812576274229734,
      8.748263572423433,
      8.756575946014598,
      8.807521942312878,
      8.838247064053139,
      8.814145839617055,
      8.816212250020172,
      8.839367943570325
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fab7cc2db66f5e63",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7d635921b94555f6": {
    "vx_ego": [
      6.527548651983276,
      5.874298186787669,
      5.090808036234794,
      4.229401502906607,
      3.492498922807166,
      2.8770333937859163,
      2.362568525635582,
      1.84540107811085,
      1.187072846563444,
      0.4420409004286225
    ],
    "vy_ego": [
      0.054581808541630306,
      0.008443658307575319,
      -0.018417554610618225,
      -0.023766330311532302,
      -0.02091919633460204,
      -0.01471220325272804,
      -0.003044276300004478,
      -0.008562473409004734,
      -0.0033099627691155487,
      0.02526503211259873
    ],
    "v_ego": [
      6.527776848041939,
      5.874304255200143,
      5.090841351693313,
      4.2294682776024155,
      3.4925615726261006,
      2.877071010226174,
      2.3625704869785533,
      1.845420942507039,
      1.1870774612053632,
      0.4427623284555699
    ],
    "ax_ego": [
      -1.3065522142438066,
      -1.3066804068477984,
      -1.8272388504827146,
      -1.6183445162845618,
      -1.3292945234413158,
      -1.1325402130015823,
      -0.9253354162459732,
      -1.1433324923805719,
      -1.4900310476004686,
      -1.4900677078231628
    ],
    "ay_ego": [
      -0.07056155169319744,
      -0.06814655002680536,
      -0.018741988561303047,
      0.005563436396706645,
      0.0007766458370475071,
      0.028128497192846658,
      0.012496497559510544,
      -0.039945762120742134,
      0.05657202963638697,
      0.05559794577961774
    ],
    "a_ego": [
      1.3084561976324411,
      1.308456204051356,
      1.8273349662414453,
      1.618354079060838,
      1.3292947503205716,
      1.1328894678740715,
      0.9254197939369804,
      1.1440300922810456,
      1.4911045963816658,
      1.491104592398631
    ],
    "yaw": [
      1.09917904956882,
      1.1010273376287905,
      1.1019536945991435,
      1.1023969708616956,
      1.1020669913636758,
      1.102389535220131,
      1.1018067537055927,
      1.101176077924433,
      1.1004733588026838,
      1.0998196315461874
    ],
    "yaw_diff": [
      0.0036965761199407865,
      0.0018527139407060744,
      0.0008865525251042783,
      -0.0006599589960396557,
      0.000645087712910275,
      -0.001165563029076555,
      -0.0012613515623192129,
      -0.0014054382434984802,
      -0.001307454512992745,
      -0.001307454512992745
    ],
    "min_front_frame": [
      9,
      10.077395238027812
    ],
    "v_avg": 3.3929854534536608,
    "v_std": 1.9201280905768843,
    "vy_max": 0.054581808541630306,
    "a_max": 1.8273349662414453,
    "ax_avg": -1.3569417388351956,
    "a_std": 0.24754971911088164,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7d635921b94555f6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.348455400921417,
    "right_rear_min": 8.309514086413309,
    "speed_mode": "decelerating",
    "front_frame": [
      18.00512253172787,
      16.731121028265754,
      15.462339450212777,
      14.4566512327084,
      13.638339941531777,
      12.818061463986966,
      12.011032080680975,
      11.121535611433936,
      10.37397735515726,
      10.077395238027812
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7d635921b94555f6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dec31dc25db65e6c": {
    "vx_ego": [
      7.41803217547212,
      7.266448200182618,
      7.142915801315382,
      7.046199892224799,
      6.914248542798071,
      6.6760037825205725,
      6.322282970005704,
      5.964847915866562,
      5.6789012960419845,
      5.426887740659787
    ],
    "vy_ego": [
      0.3327295773107761,
      0.2355122674821546,
      0.15582099786981196,
      0.08349383715417735,
      0.04780016843549095,
      0.04598661991352104,
      0.05889902332834396,
      0.052824697675699195,
      0.03712465930284958,
      -0.03067017192975463
    ],
    "v_ego": [
      7.425490578268687,
      7.2702637829773264,
      7.144615198039578,
      7.046694554330526,
      6.914413768909676,
      6.676162166502553,
      6.322557318662534,
      5.965081819061847,
      5.679022642190792,
      5.426974406533505
    ],
    "ax_ego": [
      -0.29848729558110393,
      -0.29389978093006874,
      -0.1864324698007446,
      -0.19296513313610983,
      -0.33169031580105646,
      -0.6206188228153566,
      -0.7944890280926585,
      -0.6369496360680995,
      -0.5080438534601088,
      -0.5001601837412492
    ],
    "ay_ego": [
      -0.3725508911034161,
      -0.3761804773815222,
      -0.4321630360596992,
      -0.34449476080383257,
      -0.2288546498117498,
      -0.011061260708449316,
      0.10079030201281663,
      0.038246098571409815,
      0.22731355298908162,
      0.2441716594522559
    ],
    "a_ego": [
      0.47737703347068416,
      0.4773770342127199,
      0.47066118974517374,
      0.3948571676284051,
      0.4029800445886411,
      0.620717387158745,
      0.800856729221558,
      0.6380968601577808,
      0.5565788429424141,
      0.5565788431837385
    ],
    "yaw": [
      -0.6339981884665988,
      -0.6462521369665668,
      -0.6632716645808718,
      -0.6804426110613202,
      -0.6958253281998446,
      -0.7043398963238455,
      -0.7028799921826404,
      -0.6962121082011279,
      -0.6820729490745144,
      -0.648634210877199
    ],
    "yaw_diff": [
      -0.02450789699993594,
      -0.03403905522861006,
      -0.034341892960896736,
      -0.030765434277048698,
      -0.017029136248001953,
      0.00291980828241023,
      0.013335767963025047,
      0.02827831825322691,
      0.06687747639463093,
      0.06687747639463093
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.587127623547703,
    "v_std": 0.6658913995356094,
    "vy_max": 0.3327295773107761,
    "a_max": 0.800856729221558,
    "ax_avg": -0.43637365194265565,
    "a_std": 0.11714297094713078,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dec31dc25db65e6c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dec31dc25db65e6c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3f5c9cc5b40a5ff5": {
    "vx_ego": [
      0.04005907800194003,
      1.049435064281015,
      2.0716992265094816,
      3.1057348845573123,
      4.062632670978686,
      4.882523466516073,
      5.583037215477332,
      6.142662398181197,
      6.568161597276754,
      7.029604902114463
    ],
    "vy_ego": [
      -0.030737870198802184,
      0.005118252222847647,
      0.02326724167063071,
      0.01266745234613409,
      0.019770968765868924,
      0.02641930820480698,
      0.008398811071071544,
      -0.001163206183155463,
      -0.02185294807758753,
      -0.14902577992128574
    ],
    "v_ego": [
      0.050493033130560964,
      1.0494475454487064,
      2.0718298795159185,
      3.105760718005359,
      4.062680778809646,
      4.8825949433601545,
      5.583043532826185,
      6.142662508316552,
      6.5681979506772485,
      7.031184378389805
    ],
    "ax_ego": [
      2.0187663128659286,
      2.0186478362084093,
      2.0707967110750287,
      2.0654758417939094,
      1.7621240972883603,
      1.5174914855860404,
      1.2939760856827205,
      0.9805408518453937,
      0.7715131296183932,
      1.118700350882969
    ],
    "ay_ego": [
      0.06815290516593181,
      0.07157628946800487,
      -0.02223755055212112,
      -0.03712788067038647,
      0.10001853492457952,
      0.2899745600186241,
      0.7770169142951382,
      1.5308085900495891,
      2.1227210027219807,
      1.9620617962897398
    ],
    "a_ego": [
      2.0199163954096844,
      2.0199163972409604,
      2.070916108212429,
      2.0658095102301504,
      1.7649603512750018,
      1.5449484309465227,
      1.509347340879333,
      1.817920598240556,
      2.2585785274306,
      2.258578528084733
    ],
    "yaw": [
      2.906371295221583,
      2.9046754622383615,
      2.9009340725143637,
      2.8992960096292486,
      2.901675604988937,
      2.9218496397573066,
      2.9759674923835924,
      3.075261548571709,
      -3.061813299127095,
      -2.8922303396551516
    ],
    "yaw_diff": [
      -0.003391665966443469,
      -0.007482779447995469,
      -0.003276125770230287,
      0.004759190719377138,
      0.04034806953673886,
      0.10823570525257153,
      0.19858811237623364,
      0.2922209189615641,
      0.3391659189438867,
      0.3391659189438867
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.054789526848014,
    "v_std": 2.290316608418561,
    "vy_max": 0.14902577992128574,
    "a_max": 2.258578528084733,
    "ax_avg": 1.5618032702847153,
    "a_std": 0.25205495487372814,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "3f5c9cc5b40a5ff5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "3f5c9cc5b40a5ff5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "3461796610c15a0e": {
    "vx_ego": [
      0.7357597920989762,
      0.9922659944339218,
      1.3830372796566288,
      1.9524777746526651,
      2.533460043088518,
      3.022060753752483,
      3.444172612937617,
      3.8229072363692946,
      4.122688699456319,
      4.379830024395676
    ],
    "vy_ego": [
      0.020472791547733085,
      -0.0066492028930398225,
      -0.02327766956677798,
      -0.030481798745408142,
      -0.035812787882161634,
      -0.028407900210187284,
      0.0072982181218824715,
      0.01791603947297646,
      0.011329069858322355,
      0.026948862546986932
    ],
    "v_ego": [
      0.7360445685305242,
      0.9922882724334964,
      1.3832331570709504,
      1.9527156988582284,
      2.533713153792664,
      3.022194270420976,
      3.4441803454083653,
      3.82294921786245,
      4.1227042654608015,
      4.379912931074133
    ],
    "ax_ego": [
      0.5130055166975528,
      0.5130330588138778,
      1.0499695174560892,
      1.2276987855618178,
      1.096187243002534,
      0.8580999096364783,
      0.830223138389803,
      0.6848414665268366,
      0.5142912370464419,
      0.514286409770584
    ],
    "ay_ego": [
      -0.055235378747493846,
      -0.05497909778410947,
      -0.01620582009151013,
      -0.018405594996175376,
      -0.005719491756580063,
      0.02634483164860001,
      0.09550881367582208,
      -0.06702357283680498,
      0.029825785679679508,
      0.029908793931246735
    ],
    "a_ego": [
      0.5159705487985745,
      0.5159705617853392,
      1.050094574879716,
      1.2278367456617045,
      1.096202163976814,
      0.8585042254250851,
      0.83569874536676,
      0.688113358096207,
      0.515155368790979,
      0.5151553622249688
    ],
    "yaw": [
      -1.5457217880669432,
      -1.5462213470940247,
      -1.5472634941283032,
      -1.5481438874392133,
      -1.548453827785275,
      -1.5492547305795048,
      -1.5508745485657096,
      -1.5518320472386686,
      -1.5525111651421055,
      -1.5526725637875913
    ],
    "yaw_diff": [
      -0.000999118054163084,
      -0.0020842940685570355,
      -0.0017607866218201096,
      -0.0006198806921235978,
      -0.0016018055884594595,
      -0.0032396359724096158,
      -0.0019149973459180458,
      -0.0013582358068737754,
      -0.00032279729097162146,
      -0.00032279729097162146
    ],
    "min_front_frame": [
      0,
      14.6459453110111
    ],
    "v_avg": 2.638993588091259,
    "v_std": 1.2578142105315575,
    "vy_max": 0.035812787882161634,
    "a_max": 1.2278367456617045,
    "ax_avg": 0.7801636282902016,
    "a_std": 0.2590124588214684,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3461796610c15a0e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.7516095996403647,
    "right_rear_min": 4.044770704888066,
    "speed_mode": "accelerating",
    "front_frame": [
      14.6459453110111,
      14.801865834127346,
      15.103682610189091,
      15.495470047294022,
      15.619673712110385,
      15.834990927195902,
      16.047048101267528,
      16.110225793342785,
      16.229644883500733,
      16.48423087739819
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3461796610c15a0e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f2722839a7ed50fe": {
    "vx_ego": [
      1.4020995764487358,
      2.045117834859266,
      2.6950886014621376,
      3.3560494728999997,
      3.99177344468179,
      4.624868030299841,
      5.242416122551034,
      5.766151345012582,
      6.193054260600852,
      6.574586665610192
    ],
    "vy_ego": [
      -0.0484042198922719,
      -0.027952103930020844,
      -0.00882783206152693,
      0.012050429543701585,
      0.02393739637025577,
      0.022770342173141445,
      0.02059495041896081,
      0.01647440257787347,
      -0.02491065737908721,
      -0.06633344804938068
    ],
    "v_ego": [
      1.4029348490864084,
      2.04530884674505,
      2.695103059318891,
      3.3560711073224527,
      3.9918452165147524,
      4.624924084368544,
      5.242456576259433,
      5.766174879374602,
      6.193104360140997,
      6.5749212884984
    ],
    "ax_ego": [
      1.2860087907849995,
      1.2859896771833486,
      1.3138941826995945,
      1.329955662838377,
      1.2129152967360832,
      1.3198378040226866,
      1.1504047974471665,
      0.9446947888481669,
      0.7629148229782875,
      0.7630184668127967
    ],
    "ay_ego": [
      0.03891127604780423,
      0.0395378691151901,
      0.03706352828324248,
      0.03567149393411477,
      0.016381628638118664,
      -0.06844960185854009,
      0.03234460895066363,
      -0.07616779760378173,
      -0.0969602246003407,
      -0.09614121801686623
    ],
    "a_ego": [
      1.2865973330377942,
      1.2865973313031172,
      1.3144168396899965,
      1.3304339595016954,
      1.213025916793709,
      1.3216115832278486,
      1.1508594057128037,
      0.9477604008760302,
      0.7690515667200349,
      0.769051568166347
    ],
    "yaw": [
      0.06602614808263145,
      0.0655389006768235,
      0.06554992080373498,
      0.06465875250307357,
      0.06496410833195085,
      0.06220507429062444,
      0.060822410470989643,
      0.05958638005995481,
      0.05927034566231365,
      0.058196916613055885
    ],
    "yaw_diff": [
      -0.0009744948116159058,
      2.2040253822963596e-05,
      -0.0017823366013228203,
      0.000610711657754559,
      -0.005518068082652816,
      -0.0027653276392695936,
      -0.0024720608220696605,
      -0.0006320687952823256,
      -0.0021468580985155306,
      -0.0021468580985155306
    ],
    "min_front_frame": [
      0,
      12.734375505470126
    ],
    "v_avg": 4.189284426762954,
    "v_std": 1.697594605368152,
    "vy_max": 0.06633344804938068,
    "a_max": 1.3304339595016954,
    "ax_avg": 1.1369634290351507,
    "a_std": 0.21453477109682684,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "f2722839a7ed50fe",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.806175007788328,
    "right_rear_min": 6.840560719125072,
    "speed_mode": "accelerating",
    "front_frame": [
      12.734375505470126,
      13.656610208701089,
      14.478101654121636,
      15.46595080004705,
      16.1671169576715,
      16.821447284506576,
      17.39575274076784,
      17.823968262503076,
      18.28596357163782,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.7777777777777778,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2222222222222222,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "f2722839a7ed50fe",
    "pedestrians": "No"
  },
  "e2acd907240850a3": {
    "vx_ego": [
      1.8041049492593961,
      2.5700759087087093,
      3.3022084821658506,
      3.96655925496168,
      4.519941485209913,
      4.978373521224831,
      5.33081223101264,
      5.648654971105977,
      6.013673315701596,
      6.433633337728887
    ],
    "vy_ego": [
      -0.08243666909041746,
      -0.0018347082269187139,
      0.003445539021523031,
      0.0013780568536144733,
      0.013356044791358546,
      -0.02780002751667965,
      -0.058958207405893415,
      -0.04642110834456892,
      -0.10065055249700006,
      -0.08522330407124867
    ],
    "v_ego": [
      1.8059873954025734,
      2.5700765635831115,
      3.3022102797107333,
      3.966559494343032,
      4.51996121815819,
      4.978451140501677,
      5.331138256745409,
      5.648845714117194,
      6.014515548379552,
      6.43419776941099
    ],
    "ax_ego": [
      1.5310983794793782,
      1.5356894212420271,
      1.4013675800252894,
      1.2782446665328389,
      0.9552401807309536,
      0.9096325884565991,
      0.5602279031206987,
      0.7785131735732053,
      0.7140381972893257,
      1.0128516352374342
    ],
    "ay_ego": [
      0.25806435497200986,
      0.22916688526940773,
      0.5144201584083157,
      0.9685622756756681,
      1.3311922441782442,
      1.6500123210104007,
      1.9704096775998468,
      2.2541523183456524,
      2.00482998433586,
      1.871717225958242
    ],
    "a_ego": [
      1.552694258040358,
      1.5526942583196326,
      1.4928024630615977,
      1.6037525711223901,
      1.6384616546758777,
      1.8841369656870444,
      2.0485042350491116,
      2.3848030182239586,
      2.1281902671707513,
      2.128190266153842
    ],
    "yaw": [
      1.5585344728472004,
      1.5773793470362247,
      1.6385254245118857,
      1.7405836374053092,
      1.8718164931543573,
      2.0368417171999753,
      2.2164678576471872,
      2.406940399575821,
      2.5979879711876452,
      2.7518484572944297
    ],
    "yaw_diff": [
      0.037689748378048726,
      0.12229215495132184,
      0.20411642578684708,
      0.26246571149809617,
      0.33005044809123607,
      0.35925228089442385,
      0.38094508385726744,
      0.38209514322364857,
      0.307720972213569,
      0.307720972213569
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.4571943380352455,
    "v_std": 1.447690357173508,
    "vy_max": 0.10065055249700006,
    "a_max": 2.3848030182239586,
    "ax_avg": 1.067690372568775,
    "a_std": 0.29839324512746074,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "e2acd907240850a3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "e2acd907240850a3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "18538a3ac6c45eef": {
    "vx_ego": [
      0.7143190784172515,
      1.279380901572282,
      1.8170625306895904,
      2.3158560077009422,
      2.7274741965376865,
      3.035863093941824,
      3.2730866440201334,
      3.4631478038048504,
      3.665464679158571,
      3.9396219404631783
    ],
    "vy_ego": [
      -0.031006109080762123,
      -0.024475883568425727,
      -0.0186135193996968,
      -0.024661285275674683,
      -0.06381746574384095,
      -0.06603172224119669,
      -0.06654083080400816,
      -0.07528676604716045,
      -0.0743175594281158,
      -0.11123888648743208
    ],
    "v_ego": [
      0.714991695470094,
      1.2796150046730306,
      1.817157864232082,
      2.315987311579231,
      2.7282206951991377,
      3.0365811224961803,
      3.273762951318722,
      3.463966051816934,
      3.6662179986736194,
      3.941192094233142
    ],
    "ax_ego": [
      1.1305918521579694,
      1.131571949649009,
      1.0258728506987898,
      0.9765436725935551,
      0.7011741465636858,
      0.5778195537496884,
      0.4167911496313217,
      0.40440949059719833,
      0.46830478214321036,
      0.6841866717027102
    ],
    "ay_ego": [
      0.06203502585012122,
      0.04038815523591649,
      0.2208919763537239,
      0.2775647724372145,
      0.5638350660440148,
      0.8074691777996069,
      0.9405988700502177,
      1.1473258249429017,
      1.290531491082829,
      1.190239258974674
    ],
    "a_ego": [
      1.1322924889789798,
      1.1322924888542802,
      1.0493847583314309,
      1.015223988773232,
      0.8997528357889025,
      0.9929158623931145,
      1.0288056652015216,
      1.216512878956074,
      1.3728732273792323,
      1.3728732262449483
    ],
    "yaw": [
      1.1449069097566191,
      1.1640445252866922,
      1.2021188092484447,
      1.2651397023320778,
      1.3626748719665684,
      1.4816334028147518,
      1.6192365859467779,
      1.776413649884754,
      1.9471005377570259,
      2.120707394510172
    ],
    "yaw_diff": [
      0.038275231060146186,
      0.076148567923505,
      0.12604178616726625,
      0.1950703392689812,
      0.23791706169636662,
      0.27520636626405226,
      0.3143541278759523,
      0.34137377574454364,
      0.34721371350629227,
      0.34721371350629227
    ],
    "min_front_frame": [
      9,
      31.40003711051472
    ],
    "v_avg": 2.6237692789692173,
    "v_std": 1.016247145398702,
    "vy_max": 0.11123888648743208,
    "a_max": 1.3728732273792323,
    "ax_avg": 0.7517266119487138,
    "a_std": 0.15047594332174052,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "18538a3ac6c45eef",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.170352427774551,
    "right_rear_min": 8.846180571782666,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      31.40003711051472
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "18538a3ac6c45eef",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "81c70798936b5140": {
    "vx_ego": [
      3.9341269349182566,
      4.568579330584838,
      5.137308024815459,
      5.5051603639227045,
      5.6439521110823625,
      5.61525212084258,
      5.562915578209284,
      5.622888060062944,
      5.8683960202675385,
      6.197262502226675
    ],
    "vy_ego": [
      -0.05020987904597174,
      0.12387962528668195,
      0.09220241986319158,
      0.0537538474431742,
      -0.0005186559331817053,
      0.0007538360386894483,
      -0.001984810642531476,
      -0.01594309159393409,
      -0.0256502081330221,
      0.0031587390106398994
    ],
    "v_ego": [
      3.934447327389595,
      4.570258555203215,
      5.138135364902519,
      5.505422791087031,
      5.643952134913533,
      5.615252171443048,
      5.5629159322927775,
      5.622910662474372,
      5.86845207732577,
      6.197263307229811
    ],
    "ax_ego": [
      1.1818891670240876,
      1.362702718479141,
      0.9260123447513855,
      0.5486280599424633,
      0.006527308687276074,
      -0.12059477129157681,
      -0.0872529199195155,
      0.32979443147973336,
      0.6542355792844478,
      0.6620984058109316
    ],
    "ay_ego": [
      -1.1817518478003994,
      -0.9676986905826948,
      -0.5056941210248491,
      -0.18185007358214747,
      -0.02606601726853149,
      0.18706572656193848,
      0.3131246262780074,
      0.3952187619253066,
      0.3457905221695314,
      0.33048599567768777
    ],
    "a_ego": [
      1.671346592693613,
      1.6713465992145085,
      1.055094975189937,
      0.5779811393272826,
      0.026870858098363207,
      0.22256838256368233,
      0.3250540010770875,
      0.5147448268927165,
      0.7399968097390245,
      0.7399968191258999
    ],
    "yaw": [
      0.27889771087133064,
      0.11105122521308913,
      0.04247517020902875,
      0.01762038606005928,
      0.01802686513130764,
      0.024931007730820305,
      0.047810610777161464,
      0.0822868977107752,
      0.11645648620868954,
      0.13970871352046318
    ],
    "yaw_diff": [
      -0.335692971316483,
      -0.13715211000812078,
      -0.04970956829793895,
      0.0008129581424967253,
      0.013808285199025327,
      0.04575920609268232,
      0.06895257386722747,
      0.06833917699582867,
      0.0465044546235473,
      0.0465044546235473
    ],
    "min_front_frame": [
      9,
      27.24328803777257
    ],
    "v_avg": 5.365901032426167,
    "v_std": 0.6278159119673149,
    "vy_max": 0.12387962528668195,
    "a_max": 1.6713465992145085,
    "ax_avg": 0.5464040324248375,
    "a_std": 0.5345515986213467,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "81c70798936b5140",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 21.116901051400607,
    "right_rear_min": 27.966181700764242,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      38.779895609467545,
      37.6272177578221,
      36.15940836575611,
      34.6542839601842,
      33.15393568484511,
      31.754541347033843,
      30.315937508162328,
      28.761860945545486,
      27.24328803777257
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6666666666666666,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "81c70798936b5140",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6fed9368351f54d5": {
    "vx_ego": [
      4.56509939948087,
      4.142591622332864,
      3.722748680083994,
      3.335649295760379,
      3.0231200275270576,
      2.9239444006242064,
      2.9641147319684045,
      2.9317319708355023,
      2.9094830544386285,
      2.957229418846863
    ],
    "vy_ego": [
      0.04256797895318511,
      -0.01722940831176692,
      -0.021123226898906833,
      -0.024611616309619833,
      -0.013007461395494468,
      0.00011548967667174281,
      0.02513748419042372,
      0.05841675370218291,
      0.06642863072591187,
      0.07899757838925936
    ],
    "v_ego": [
      4.56529786103522,
      4.1426274515014265,
      3.722808607191853,
      3.335740091188773,
      3.023148010747597,
      2.9239444029050063,
      2.9642213205804233,
      2.932313909855512,
      2.910241297048348,
      2.958284376642097
    ],
    "ax_ego": [
      -0.8548542996756135,
      -0.8320631804026017,
      -0.8518770574477542,
      -0.7049533333872748,
      -0.5501937554719463,
      0.1617380728198567,
      0.0014385741142822206,
      -0.11149342757439606,
      0.06213857625788205,
      0.1674685140891914
    ],
    "ay_ego": [
      -0.49025605964552826,
      -0.5280130094621397,
      -0.5454755365738974,
      -0.4984578248677104,
      -0.5307092545195197,
      -0.7274741639156415,
      -0.6660770040310804,
      -0.6502643272315833,
      -0.7796907396911288,
      -0.7640243230463615
    ],
    "a_ego": [
      0.9854576995960017,
      0.9854576978962406,
      1.0115523130349837,
      0.8633767459375307,
      0.7644380167109615,
      0.7452367834213787,
      0.6660785575249379,
      0.659753347594562,
      0.7821629320157382,
      0.7821629430097622
    ],
    "yaw": [
      -1.577443475996502,
      -1.6222004320944237,
      -1.689384411895611,
      -1.7626945292770153,
      -1.8477358181724188,
      -1.9612086962968651,
      -2.0870213394222636,
      -2.2092052734802485,
      -2.335121022541841,
      -2.4713727835356774
    ],
    "yaw_diff": [
      -0.08951391219584348,
      -0.13436795960237458,
      -0.14662023476280872,
      -0.17008257779080704,
      -0.22694575624889257,
      -0.25162528625079705,
      -0.24436786811596978,
      -0.2518314981231846,
      -0.272503521987673,
      -0.272503521987673
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.3478627328696255,
    "v_std": 0.5659348365219896,
    "vy_max": 0.07899757838925936,
    "a_max": 1.0115523130349837,
    "ax_avg": -0.3512651316678374,
    "a_std": 0.1241081991222282,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "6fed9368351f54d5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.43310145684831,
    "right_rear_min": 11.977467815051677,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6fed9368351f54d5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b287d1e7b2965ba1": {
    "vx_ego": [
      5.985285675806485,
      6.066606382714926,
      6.1190497534710335,
      6.1169403298803555,
      6.103104880840922,
      6.087189287815942,
      6.040965060442062,
      5.94708527014631,
      5.789551617326623,
      5.600994558797467
    ],
    "vy_ego": [
      -0.0174650552345752,
      0.002901993225757682,
      0.024141574864184,
      0.018637687297621497,
      0.023950693123494737,
      -6.260747697606206e-05,
      0.0026339360150759994,
      0.017174965513597318,
      0.019031516957203287,
      0.0023220170981828048
    ],
    "v_ego": [
      5.985311157255622,
      6.066607076806784,
      6.119097376336712,
      6.116968723371454,
      6.103151876059236,
      6.087189288137905,
      6.040965634656491,
      5.9471100704318225,
      5.789582897612489,
      5.60099504011941
    ],
    "ax_ego": [
      0.16171565989432832,
      0.16390181275089905,
      0.04529825312291433,
      -0.05547400563785687,
      0.0004219366451673409,
      -0.06279349445952097,
      -0.12295045517499244,
      -0.2510463920999218,
      -0.3781422892477634,
      -0.37545255704002606
    ],
    "ay_ego": [
      0.1849220499355982,
      0.18298719894223406,
      0.19581025546476993,
      0.05901366285677188,
      -0.08304105715796577,
      -0.2516187302616202,
      -0.13877912184399754,
      -0.23069889095543683,
      -0.18990397351102983,
      -0.19516784605573234
    ],
    "a_ego": [
      0.2456585418979807,
      0.24565854188233618,
      0.20098156104768936,
      0.08099368929294253,
      0.08304212909388266,
      0.25933570591977473,
      0.18540889700208277,
      0.34094907137937214,
      0.42314904002350884,
      0.42314904079050925
    ],
    "yaw": [
      -2.3102442975906907,
      -2.29836024345974,
      -2.286332891801706,
      -2.2750437476036938,
      -2.276898537849032,
      -2.2866725329368482,
      -2.303191041837466,
      -2.320979236930237,
      -2.3391642441924843,
      -2.353134049836643
    ],
    "yaw_diff": [
      0.023768108261901233,
      0.02405470331606807,
      0.022578288396024604,
      -0.0037095804906766006,
      -0.019547990175632357,
      -0.03303701780123536,
      -0.03557639018554237,
      -0.03637001452449429,
      -0.02793961128831768,
      -0.02793961128831768
    ],
    "min_front_frame": [
      9,
      38.22379106245022
    ],
    "v_avg": 5.985697914078793,
    "v_std": 0.16020947531963028,
    "vy_max": 0.024141574864184,
    "a_max": 0.42314904079050925,
    "ax_avg": -0.08745215312467725,
    "a_std": 0.114611090142639,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b287d1e7b2965ba1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.679916373805541,
    "right_rear_min": 42.088093938095724,
    "speed_mode": "quasi_constant",
    "front_frame": [
      65.30964262933293,
      62.26513582138103,
      59.22646766221559,
      56.199053903190624,
      53.139008501432635,
      50.125281561087874,
      47.08166224885548,
      44.07344866170306,
      41.08759204719903,
      38.22379106245022
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b287d1e7b2965ba1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "61984566807c5b11": {
    "vx_ego": [
      2.5328117519300717,
      2.6383119139996065,
      2.736497688490882,
      2.831781817106038,
      2.932101380989527,
      3.0422713062011075,
      3.1371000006798995,
      3.182459048715611,
      3.2348941617185054,
      3.3211099845821184
    ],
    "vy_ego": [
      -0.002339723831743301,
      -0.0024238332808775853,
      -0.0019152733492918683,
      -0.016788354833332964,
      -0.010380034486656808,
      -0.0005269260921255681,
      -0.018793463735943483,
      -0.026008536231271584,
      -0.015529419862612283,
      -0.022445651595071392
    ],
    "v_ego": [
      2.5328128326077883,
      2.6383130273945965,
      2.7364983587402247,
      2.831831581953698,
      2.9321197542932373,
      3.042271351833314,
      3.1371562932925445,
      3.182565323871415,
      3.2349314367389215,
      3.321185832946805
    ],
    "ax_ego": [
      0.2038361052281521,
      0.21837288994038434,
      0.17622383564689847,
      0.20664325377888162,
      0.19913640390257836,
      0.2409498495203357,
      0.14004098267529522,
      0.045745814742833096,
      0.16755364603143974,
      0.1805977321597303
    ],
    "ay_ego": [
      0.27959388012544584,
      0.2683936954596137,
      0.31922508764032986,
      0.30103784020502095,
      0.35662302199191853,
      0.28966752204339263,
      0.2773706955217757,
      0.2848996056593532,
      0.28950213943564274,
      0.28154959122334255
    ],
    "a_ego": [
      0.34600851954566736,
      0.34600851842603975,
      0.3646361156400739,
      0.3651372557924307,
      0.40845475535718667,
      0.376781240656474,
      0.3107184892517597,
      0.28854889511370607,
      0.3344932182216006,
      0.33449321843539515
    ],
    "yaw": [
      -0.41461369877724874,
      -0.3615709735542374,
      -0.30721603802627095,
      -0.2461134026937577,
      -0.19131841943755296,
      -0.14045025619256174,
      -0.08887862832715493,
      -0.042290949480210345,
      -0.0006112545328946176,
      0.04506523153324122
    ],
    "yaw_diff": [
      0.10608545044602269,
      0.10870987105593288,
      0.12220527066502651,
      0.10958996651240949,
      0.10173632648998243,
      0.10314325573081362,
      0.09317535769388917,
      0.08335938989463146,
      0.09135297213227167,
      0.09135297213227167
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.9589685793672547,
    "v_std": 0.2543322498187748,
    "vy_max": 0.026008536231271584,
    "a_max": 0.40845475535718667,
    "ax_avg": 0.1779100513626529,
    "a_std": 0.03216908255427525,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "61984566807c5b11",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "61984566807c5b11",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c73dd42b15465858": {
    "vx_ego": [
      6.991784594344113,
      6.831520854660596,
      6.6790227784908875,
      6.51170884939734,
      6.316527534660741,
      6.085224028856157,
      5.778284726015071,
      5.286676332581005,
      4.616907106393724,
      3.923146175419586
    ],
    "vy_ego": [
      0.06810118654198138,
      -0.031055606255935064,
      -0.07078299822988177,
      -0.07699636825525458,
      0.010498981439237554,
      0.027496761120518798,
      0.010132799375328183,
      -0.013617412221307745,
      -0.0372852285982429,
      -0.12485894865901281
    ],
    "v_ego": [
      6.992116245123224,
      6.831591442580752,
      6.679397840257649,
      6.512164047384258,
      6.3165362600667905,
      6.085286152124687,
      5.778293610446102,
      5.286693870405942,
      4.617057658004771,
      3.9251325672860475
    ],
    "ax_ego": [
      -0.32888381752430185,
      -0.3097438213822361,
      -0.3062476837504857,
      -0.3747609863815188,
      -0.41387461688028904,
      -0.5075084865671354,
      -0.7154495423996405,
      -1.2626803124238704,
      -1.4229258499705577,
      -1.37103417659154
    ],
    "ay_ego": [
      -0.6180051831635606,
      -0.6278166449312824,
      -0.7744306868644291,
      -1.013332229230448,
      -1.1154445887813933,
      -1.0487585789369405,
      -1.0130488433006775,
      -0.7038655049282951,
      -0.710722946920761,
      -0.8062942127681253
    ],
    "a_ego": [
      0.7000678337464051,
      0.7000678356682605,
      0.8327848056730196,
      1.0804110346117344,
      1.189751582953138,
      1.1651006054549518,
      1.2402161128741618,
      1.445609982122013,
      1.590548673192419,
      1.5905486697757516
    ],
    "yaw": [
      2.2883597777958515,
      2.25763550983738,
      2.211627040355116,
      2.1449146592700483,
      2.0484497541563913,
      1.9586845035636133,
      1.8751297501584976,
      1.8027659246108572,
      1.7364203833781495,
      1.668034283108496
    ],
    "yaw_diff": [
      -0.061448535916943214,
      -0.09201693896452756,
      -0.13342476217013566,
      -0.19292981022731404,
      -0.1795305011855559,
      -0.1671095068102315,
      -0.14472765109528085,
      -0.13269108246541528,
      -0.13677220053930705,
      -0.13677220053930705
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.902426969368022,
    "v_std": 0.9585176116749581,
    "vy_max": 0.12485894865901281,
    "a_max": 1.590548673192419,
    "ax_avg": -0.7013109293871574,
    "a_std": 0.3155505424369865,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "c73dd42b15465858",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.274189822589381,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c73dd42b15465858",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "2ba94c9278825a74": {
    "vx_ego": [
      7.241755742692789,
      7.690896634661934,
      8.126264468736515,
      8.496420234228239,
      8.82002605229508,
      9.144584916795058,
      9.469713065916018,
      9.713155390697148,
      9.811111940273019,
      9.849944145449836
    ],
    "vy_ego": [
      0.14809582108788844,
      0.09935371533485204,
      0.05302676524890959,
      -0.015571061952669218,
      -0.019024190101641025,
      0.011743227134146217,
      0.02955081045314234,
      0.05196035892809636,
      0.03429253944903188,
      0.024753122459643784
    ],
    "v_ego": [
      7.243269883764355,
      7.691538351058591,
      8.126437476144286,
      8.496434502458863,
      8.82004656920659,
      9.14459245695833,
      9.469759173346436,
      9.71329437022934,
      9.81117187102691,
      9.849975247966514
    ],
    "ax_ego": [
      0.8989656268457982,
      0.8996137783384999,
      0.8410571152861338,
      0.6393782001605083,
      0.6583819135678384,
      0.6391326482914708,
      0.6596184027911437,
      0.31250996287059596,
      0.07751420759635438,
      0.07756281803574142
    ],
    "ay_ego": [
      -0.16037319606150763,
      -0.15669648744975823,
      0.126924965761691,
      0.25774996876280754,
      0.4428184487299386,
      0.3344948857418535,
      0.23817953479464724,
      0.18486003684078436,
      0.022897110192900066,
      0.02273189446824239
    ],
    "a_ego": [
      0.9131586720090006,
      0.9131586605599071,
      0.8505804007306067,
      0.6893761884760158,
      0.7934449714056028,
      0.7213718671389427,
      0.7013030215931869,
      0.36309187558269246,
      0.08082530565656112,
      0.08082530400660948
    ],
    "yaw": [
      2.4681226819969124,
      2.4640342443749566,
      2.468946381723384,
      2.4887100910464266,
      2.5093422578796782,
      2.5275461138502235,
      2.54101894248603,
      2.5496698356355294,
      2.556778731338694,
      2.5589095096372114
    ],
    "yaw_diff": [
      -0.008176875243911752,
      0.009824274696854651,
      0.039527418646085444,
      0.04126433366650328,
      0.036407711941090604,
      0.02694565727161269,
      0.017301786298999033,
      0.014217791406329283,
      0.004261556597034755,
      0.004261556597034755
    ],
    "min_front_frame": [
      0,
      27.457160727703275
    ],
    "v_avg": 8.836651990216023,
    "v_std": 0.8781370644918434,
    "vy_max": 0.14809582108788844,
    "a_max": 0.9131586720090006,
    "ax_avg": 0.5703734673784084,
    "a_std": 0.3038736743716087,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "2ba94c9278825a74",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 32.16697465874887,
    "right_rear_min": 22.96947302203508,
    "speed_mode": "accelerating",
    "front_frame": [
      27.457160727703275,
      29.070826739343826,
      30.777175432811568,
      32.62016997781305,
      34.17419783671543,
      34.88223833418095,
      36.87157247693929,
      39.22641927329608,
      35.446283889417266,
      37.0942226224439
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2ba94c9278825a74",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "94839be4b8c95789": {
    "vx_ego": [
      0.9390023869617574,
      1.9016003210229693,
      2.766630569622793,
      3.5083885497373233,
      4.203704335717055,
      4.8363738189185055,
      5.372957384548988,
      5.868179544722932,
      6.327717738883983,
      6.740348770885885
    ],
    "vy_ego": [
      -0.006024416241757646,
      -0.032387563783236595,
      -0.029496793965490875,
      0.0014092401864436166,
      -0.0013561100534724702,
      0.011343301500434944,
      0.01643196484002063,
      0.013532670430267846,
      0.013936887046029245,
      0.005205645673288295
    ],
    "v_ego": [
      0.9390217123746032,
      1.901876109320077,
      2.7667878071195817,
      3.508388832767238,
      4.203704554456801,
      4.8363871212723755,
      5.372982511198785,
      5.868195148618834,
      6.327733086959939,
      6.74035078107436
    ],
    "ax_ego": [
      1.925688972538094,
      1.9254581182628663,
      1.537315528857434,
      1.4296516578734149,
      1.3519029687851503,
      1.1791775462816085,
      0.9679781209375737,
      1.0129699486125674,
      0.8252491500938129,
      0.825243585830884
    ],
    "ay_ego": [
      -0.009043003510713743,
      -0.031158563388509974,
      0.158399212979352,
      0.00666071320785544,
      -0.10116049996290122,
      -0.11583211521178172,
      -0.13094801940618722,
      -0.02907092970398678,
      -0.006504233101008117,
      -0.007175065222385479
    ],
    "a_ego": [
      1.925710205318369,
      1.9257102121702563,
      1.5454544140603728,
      1.4296671738417446,
      1.3556825158431627,
      1.1848530561082884,
      0.9767952837725208,
      1.0133870118301307,
      0.825274781378174,
      0.8252747769779233
    ],
    "yaw": [
      -2.264077306115646,
      -2.252592248912289,
      -2.2404548228586134,
      -2.2371672814926535,
      -2.2425632502150306,
      -2.2573038515695187,
      -2.2703192292849135,
      -2.276927542205037,
      -2.2784464735792502,
      -2.2776335888657897
    ],
    "yaw_diff": [
      0.02297011440671426,
      0.02427485210735103,
      0.006575082731919757,
      -0.01079193744475404,
      -0.029481202708976362,
      -0.026030755430789476,
      -0.013216625840247076,
      -0.0030378627484264342,
      0.0016257694269210532,
      0.0016257694269210532
    ],
    "min_front_frame": [
      6,
      20.688188856984308
    ],
    "v_avg": 4.246542766516259,
    "v_std": 1.8431090367131904,
    "vy_max": 0.032387563783236595,
    "a_max": 1.9257102121702563,
    "ax_avg": 1.2980635598073405,
    "a_std": 0.38907294980405377,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "94839be4b8c95789",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      25.886582039081105,
      25.01740297458992,
      23.805194398512135,
      27.320813003104103,
      25.469235937884026,
      23.187319614370782,
      20.688188856984308,
      24.383087839855055,
      21.32970174695241,
      24.600051377742698
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "94839be4b8c95789",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "fcdc1e7c917e5283": {
    "vx_ego": [
      7.945934919690773,
      7.922099942692753,
      7.890296902884497,
      7.849462194558084,
      7.7873654101249095,
      7.657053607396811,
      7.418324685003675,
      7.059502051023825,
      6.582904802722732,
      6.058744048719955
    ],
    "vy_ego": [
      0.003593850307884061,
      0.031999240390692574,
      -0.0051676233715647335,
      -0.00875691285029978,
      -0.052381811153949354,
      -0.06581586610515489,
      -0.08294477179421023,
      -0.013579584642191111,
      -0.012407602118441385,
      0.09993386071031507
    ],
    "v_ego": [
      7.945935732418256,
      7.922164568689426,
      7.890298595110327,
      7.849467079192019,
      7.7875415815872,
      7.657336460857633,
      7.4187883759615945,
      7.059515111785558,
      6.582916495771486,
      6.0595681549443725
    ],
    "ax_ego": [
      -0.04816342192274141,
      -0.04625386614231297,
      -0.07666457298836887,
      -0.08400972317582917,
      -0.16148747581096196,
      -0.35424649512230866,
      -0.5978030113469113,
      -0.8378662794942856,
      -1.0629942150110994,
      -1.0192340222763026
    ],
    "ay_ego": [
      -0.14766139569881992,
      -0.1482706429570107,
      0.5009778983570565,
      0.5962179425954267,
      0.4946857922930279,
      0.38710022624471097,
      0.10281075830499922,
      0.12003988623113038,
      -0.6039332219859115,
      -0.6751696574190199
    ],
    "a_ego": [
      0.155317748473996,
      0.1553177507434239,
      0.5068099361631954,
      0.6021075225080674,
      0.5203770151922323,
      0.524725799313457,
      0.6065793372665148,
      0.8464215714406025,
      1.222575984454687,
      1.222575992920214
    ],
    "yaw": [
      -2.5720197879424234,
      -2.5849249851983105,
      -2.5690790868426534,
      -2.5337765167852924,
      -2.493369796462942,
      -2.4631795557372405,
      -2.4447334371966143,
      -2.446611642213579,
      -2.464444309651573,
      -2.5328409006275754
    ],
    "yaw_diff": [
      -0.02581039451177425,
      0.03169179671131417,
      0.07060514011472208,
      0.08081344064470031,
      0.06038048145140351,
      0.03689223708125233,
      -0.003756410033929569,
      -0.03566533487598811,
      -0.13679318195200452,
      -0.13679318195200452
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.417353215631787,
    "v_std": 0.6170235137564614,
    "vy_max": 0.09993386071031507,
    "a_max": 1.222575992920214,
    "ax_avg": -0.42887230832911216,
    "a_std": 0.35199219479098415,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "fcdc1e7c917e5283",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.264117541440362,
    "right_rear_min": 13.421108475101123,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "fcdc1e7c917e5283",
    "pedestrians": "No"
  },
  "8625ec015e075c02": {
    "vx_ego": [
      8.422070850132611,
      8.419416004474973,
      8.397792499988823,
      8.329159137723442,
      8.230127116118828,
      8.006053884903215,
      7.671236446150075,
      7.321021328257223,
      6.91565986444662,
      6.483137152026263
    ],
    "vy_ego": [
      -0.023976012622742404,
      -0.0503155451943027,
      -0.035638944323867605,
      -0.02979880622857034,
      -0.024890994186054005,
      -0.0003207190414813432,
      -0.008264878084359495,
      -0.014157380370991568,
      -0.013860823996641791,
      -0.037481559163337286
    ],
    "v_ego": [
      8.422104977607127,
      8.419566349313813,
      8.39786812275717,
      8.329212442384607,
      8.230164755888305,
      8.006053891327149,
      7.671240898378239,
      7.321035017005186,
      6.915673754823872,
      6.483245498919543
    ],
    "ax_ego": [
      -0.006040234046209552,
      -0.005335526728408285,
      -0.08287067066807936,
      -0.19289719765891453,
      -0.20432379397568018,
      -0.693274350213268,
      -0.645983587780629,
      -0.7553555169931956,
      -0.866971058921897,
      -0.8643262645270028
    ],
    "ay_ego": [
      -0.13840526845818343,
      -0.13843422616403075,
      -0.15175817497820732,
      -0.18158662398501896,
      -0.2339753336579266,
      -0.16204127842840496,
      -0.19863525539767046,
      -0.2145124346111349,
      -0.20797383675213488,
      -0.21870537616317676
    ],
    "a_ego": [
      0.13853700864503612,
      0.13853700884277664,
      0.1729106466637999,
      0.2649208011367529,
      0.3106326923312392,
      0.7119597605050028,
      0.6758333821059976,
      0.7852245167178966,
      0.8915671224207177,
      0.891567122046276
    ],
    "yaw": [
      -0.22125501792557162,
      -0.22634610009587985,
      -0.23670733223659413,
      -0.2473523192711114,
      -0.26049032163003527,
      -0.27559839291441707,
      -0.2860959051566303,
      -0.2990646992763538,
      -0.31391492828524914,
      -0.32631187746386037
    ],
    "yaw_diff": [
      -0.010182164340616473,
      -0.020722464281428543,
      -0.021289974069034545,
      -0.026276004717847745,
      -0.030216142568763593,
      -0.020995024484426472,
      -0.02593758823944703,
      -0.029700458017790643,
      -0.024793898357222455,
      -0.024793898357222455
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.8196165708405,
    "v_std": 0.6628651956304685,
    "vy_max": 0.0503155451943027,
    "a_max": 0.8915671224207177,
    "ax_avg": -0.4317378201513284,
    "a_std": 0.3038476724330594,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8625ec015e075c02",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8625ec015e075c02",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "430f1f445caf5b3e": {
    "vx_ego": [
      7.5220916922139365,
      7.315946011411117,
      7.090848467367772,
      6.836918931050624,
      6.5821053085462,
      6.320897799298797,
      6.02018670950252,
      5.7038971434665084,
      5.436204281602073,
      5.207189597876737
    ],
    "vy_ego": [
      -0.049952933470210015,
      -0.03942730460559085,
      -0.02243911456909764,
      -0.01207965387458465,
      -0.011631471557542294,
      0.004112384386383283,
      -0.004300682604861938,
      -0.01858825732156233,
      -0.02969921294737543,
      -0.044163850975290186
    ],
    "v_ego": [
      7.522257554859193,
      7.316052252016158,
      7.090883971765053,
      6.836929602372408,
      6.582115585730978,
      6.32089913705999,
      6.02018824565658,
      5.703927431739963,
      5.436285407753939,
      5.207376878426283
    ],
    "ax_ego": [
      -0.41658412134659906,
      -0.4113933329622482,
      -0.49167564549503706,
      -0.5247412218930182,
      -0.496626474605629,
      -0.5488680509860521,
      -0.6538505360437086,
      -0.6123713532712398,
      -0.4594213697482843,
      -0.4580827791358764
    ],
    "ay_ego": [
      -0.26316716343411406,
      -0.2712099031470475,
      -0.2611760892344108,
      -0.3384977824260581,
      -0.23694023319147028,
      -0.19807946264250034,
      -0.21522106119434545,
      -0.139042906471709,
      -0.1324179705934561,
      -0.13697693775529252
    ],
    "a_ego": [
      0.49274667534959143,
      0.49274667525090227,
      0.5567386190671006,
      0.6244470343120677,
      0.5502531502718033,
      0.5835165900931774,
      0.6883608273763587,
      0.6279582821711567,
      0.47812395246157574,
      0.47812395256634593
    ],
    "yaw": [
      -1.7702927709840388,
      -1.789719594181193,
      -1.8105251223640342,
      -1.8335260513688225,
      -1.8550444177889975,
      -1.8743219513678904,
      -1.8896704864878622,
      -1.902352616351578,
      -1.9125768038127045,
      -1.9225144829303606
    ],
    "yaw_diff": [
      -0.03885364639430833,
      -0.04161105636568241,
      -0.04600185800957668,
      -0.043036732840350034,
      -0.03855506715778567,
      -0.030697070239943614,
      -0.025364259727431726,
      -0.02044837492225282,
      -0.01987535823531239,
      -0.01987535823531239
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.403691606738055,
    "v_std": 0.760657502142473,
    "vy_max": 0.049952933470210015,
    "a_max": 0.6883608273763587,
    "ax_avg": -0.5073614885487693,
    "a_std": 0.06948920548573714,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "430f1f445caf5b3e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "430f1f445caf5b3e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "27209d511a785510": {
    "vx_ego": [
      4.6690928172202755,
      4.361680851393471,
      4.013645437780395,
      3.624757014428448,
      3.2581706443442884,
      2.9559870429487214,
      2.7467817820910185,
      2.6021349157480014,
      2.4964169042644615,
      2.41590517578982
    ],
    "vy_ego": [
      -0.011831411563890393,
      0.0009347986642371797,
      -0.0014838216010397975,
      0.008485139639940659,
      0.0041014644042664805,
      0.0008406755551938483,
      0.009537513007033926,
      0.002870546639724636,
      -0.007609985810355879,
      -0.010446912991299295
    ],
    "v_ego": [
      4.669107807506436,
      4.36168095156684,
      4.013645712060536,
      3.624766945783266,
      3.2581732258548093,
      2.955987162491765,
      2.746798340355817,
      2.602136499070114,
      2.4964285032384548,
      2.4159277630755205
    ],
    "ax_ego": [
      -0.6148633164734206,
      -0.6147211487818054,
      -0.7774622453119086,
      -0.7781016450344782,
      -0.6884743226807687,
      -0.5202404562204705,
      -0.3165722677816769,
      -0.261904933770538,
      -0.16098892097577341,
      -0.16097724341954417
    ],
    "ay_ego": [
      0.04994379367747423,
      0.051664225961632025,
      0.0348554223282602,
      0.056837598115650666,
      -0.02735582836742447,
      0.027939474544967736,
      0.003980604370306277,
      -0.0527654380497517,
      0.00507593013264449,
      0.005434081535560012
    ],
    "a_ego": [
      0.6168883857486636,
      0.6168883878010973,
      0.7782431775165881,
      0.7801747769345773,
      0.6890175863767275,
      0.5209901597212103,
      0.3165972930073576,
      0.26716733667484893,
      0.1610689223396472,
      0.16106893599043326
    ],
    "yaw": [
      -1.6404647405301827,
      -1.637666345414624,
      -1.6319514132580357,
      -1.6285596016273125,
      -1.6251330084815854,
      -1.6240291050565139,
      -1.6242827624946763,
      -1.6263554825216868,
      -1.6269238847687726,
      -1.6246990998193578
    ],
    "yaw_diff": [
      0.005596790231117144,
      0.011429864313176719,
      0.0067836232614464365,
      0.006853186291454261,
      0.0022078068501429904,
      -0.000507314876324827,
      -0.004145440054021066,
      -0.0011368044941715283,
      0.004449569898829608,
      0.004449569898829608
    ],
    "min_front_frame": [
      9,
      15.468338491416171
    ],
    "v_avg": 3.314465291100356,
    "v_std": 0.7716699216972145,
    "vy_max": 0.011831411563890393,
    "a_max": 0.7801747769345773,
    "ax_avg": -0.48943065004503844,
    "a_std": 0.23155190993694252,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "27209d511a785510",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.527584653860492,
    "right_rear_min": 3.754477264551558,
    "speed_mode": "decelerating",
    "front_frame": [
      17.777106245176345,
      17.27587169366179,
      16.791285752460436,
      16.371746271703454,
      16.008885300121594,
      15.98795586531355,
      15.67731638096543,
      15.560289332023537,
      15.835861715307683,
      15.468338491416171
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "27209d511a785510",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "27f3c1e778bf5748": {
    "vx_ego": [
      8.811897044496003,
      8.872495601986616,
      8.913235568650254,
      8.894660341865437,
      8.814709040728502,
      8.680313110278988,
      8.552924854602967,
      8.418222163145533,
      8.221922092737712,
      7.996160342182606
    ],
    "vy_ego": [
      0.008388237963489864,
      0.0014698031006306067,
      0.011442009672806286,
      0.006227679295497168,
      -0.002945318330364266,
      0.008752899055791019,
      0.009822080818683965,
      0.02717959717496843,
      0.02756333817461698,
      -0.006688359799395638
    ],
    "v_ego": [
      8.811901036968898,
      8.872495723729203,
      8.913242912758374,
      8.894662522049007,
      8.814709532798053,
      8.680317523323854,
      8.552930494383594,
      8.41826603990259,
      8.221968294554523,
      7.996163139409467
    ],
    "ax_ego": [
      0.09780625848052249,
      0.14544242693117437,
      0.010200391015917715,
      -0.08705420458213528,
      -0.23302930496610047,
      -0.30440158337907053,
      -0.20517650661887524,
      -0.33313839758925756,
      -0.45153622101652224,
      -0.4514824230767428
    ],
    "ay_ego": [
      -0.9276016423007032,
      -0.9213345471153708,
      -0.5168269852192579,
      -0.17459086322876508,
      -0.06325563702364238,
      -0.09280622966869732,
      -0.0009015450164301247,
      -0.07889469791045806,
      -0.07932681866387456,
      -0.0796324036617081
    ],
    "a_ego": [
      0.9327437327567099,
      0.9327437200324189,
      0.516927635774781,
      0.19509075851611632,
      0.2414620727738637,
      0.3182346936287812,
      0.20517848730249963,
      0.3423529834932371,
      0.45845141841771286,
      0.4584514129765424
    ],
    "yaw": [
      2.5666743226291766,
      2.515157521252642,
      2.4736907259919896,
      2.454889332438657,
      2.449221702141771,
      2.4434301260106635,
      2.4405831365355137,
      2.4361949441093635,
      2.4314031431892014,
      2.4307263539628807
    ],
    "yaw_diff": [
      -0.10303360275306961,
      -0.08293359052130445,
      -0.03760278710666487,
      -0.011335260593772212,
      -0.01158315226221518,
      -0.005693978950299439,
      -0.008776384852300367,
      -0.009583601840324363,
      -0.0013535784526412797,
      -0.0013535784526412797
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.617665721987755,
    "v_std": 0.29938321580343874,
    "vy_max": 0.02756333817461698,
    "a_max": 0.9327437327567099,
    "ax_avg": -0.18123695648010898,
    "a_std": 0.2582685624422591,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "27f3c1e778bf5748",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "27f3c1e778bf5748",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fd38927a12a152fa": {
    "vx_ego": [
      5.867445410282268,
      6.052141581142751,
      6.296027731384904,
      6.541953972106157,
      6.7938980717498945,
      7.056959476836228,
      7.327130313863918,
      7.614480974942163,
      7.885285719000273,
      8.135223350350131
    ],
    "vy_ego": [
      0.004652997742618292,
      -0.013303294116097708,
      0.022307790724102827,
      0.08099741355610535,
      0.12976936871070954,
      0.11138596224923614,
      0.08003574659802881,
      0.040404498209312134,
      0.027245354798933974,
      0.03429172858100582
    ],
    "v_ego": [
      5.8674472552406,
      6.052156202200288,
      6.296067251220776,
      6.542455376550787,
      6.795137312695197,
      7.057838471536087,
      7.32756742426005,
      7.614588172792518,
      7.885332788134422,
      8.135295623561019
    ],
    "ax_ego": [
      0.27626651109713296,
      0.4576704589080271,
      0.512893218024299,
      0.4773423410519336,
      0.5409669552139372,
      0.51773979702422,
      0.5645504592777901,
      0.5856494462733649,
      0.49924201682736113,
      0.5021817064544266
    ],
    "ay_ego": [
      -1.5081316466193586,
      -1.4633256647306634,
      -1.3439973511153471,
      -1.0580483672894352,
      -0.529746986848573,
      -0.15298170204055245,
      -0.101725578575625,
      -0.14715193279214117,
      -0.21358091738038806,
      -0.20657427979195986
    ],
    "a_ego": [
      1.5332267440560121,
      1.5332267444890604,
      1.4385368722769643,
      1.1607420290851795,
      0.7571506565463575,
      0.539868408579262,
      0.5736421483880952,
      0.6038534302666184,
      0.5430095760066292,
      0.5430095757618338
    ],
    "yaw": [
      1.6511542549190716,
      1.5292079709926587,
      1.409774968064296,
      1.307240506548919,
      1.2403401536173155,
      1.2183590144082568,
      1.2138605897432848,
      1.2108360043660846,
      1.2009111788821596,
      1.1869180547858726
    ],
    "yaw_diff": [
      -0.24389256785282587,
      -0.23886600585672557,
      -0.20506892303075386,
      -0.13380070586320691,
      -0.043962278418117506,
      -0.008996849329943934,
      -0.006049170754400368,
      -0.019849650967850074,
      -0.027986248192573893,
      -0.027986248192573893
    ],
    "min_front_frame": [
      5,
      70.28337762800415
    ],
    "v_avg": 6.957388587819175,
    "v_std": 0.7396511343258393,
    "vy_max": 0.12976936871070954,
    "a_max": 1.5332267444890604,
    "ax_avg": 0.4934502910152493,
    "a_std": 0.41881239369769035,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "fd38927a12a152fa",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 25.092460136468482,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      70.28337762800415,
      73.87219621313616,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "fd38927a12a152fa",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "8d27ff75eeb1559e": {
    "vx_ego": [
      6.886105997675504,
      6.270821361651063,
      5.73637008936965,
      5.360418873851624,
      5.110040815544112,
      4.89824526860821,
      4.691375312489154,
      4.479779994087151,
      4.156758454149515,
      3.7769354858994353
    ],
    "vy_ego": [
      -0.04656421642683917,
      -0.03253686098321529,
      -0.02014570461459897,
      -0.010549515766379525,
      -0.016241748128917877,
      -0.039365023776699815,
      -0.024135977932975727,
      0.008778287263314422,
      0.04991774623254375,
      -0.05865002531227148
    ],
    "v_ego": [
      6.886263430734696,
      6.270905771661853,
      5.736405464367838,
      5.3604292547731305,
      5.1100666268561525,
      4.898403445668767,
      4.691437398928338,
      4.479788594761002,
      4.157058169851897,
      3.7773908309990287
    ],
    "ax_ego": [
      -1.233689620341144,
      -1.2300581432952171,
      -0.9098972205297473,
      -0.5929755483456646,
      -0.409632738560871,
      -0.43936316762999345,
      -0.3866048094405483,
      -0.4773012778002256,
      -0.792485103102992,
      -0.7258144539206386
    ],
    "ay_ego": [
      -0.19408803508535322,
      -0.21591020393608884,
      -0.21161650456883235,
      -0.39780794740156483,
      -0.4495471115431906,
      -0.5957092929492711,
      -0.8872252824146948,
      -0.5335007344271079,
      -0.8131422113379,
      -0.8731702404119781
    ],
    "a_ego": [
      1.2488635813013242,
      1.248863584243932,
      0.9341811906336427,
      0.7140526338805059,
      0.6081871307399597,
      0.7402091290817631,
      0.9677974893738863,
      0.7158488272142322,
      1.1354439195749169,
      1.1354439177084998
    ],
    "yaw": [
      2.376467539927588,
      2.3587533867463493,
      2.3387538313043725,
      2.3093570024878622,
      2.2698122342038567,
      2.2222577958375203,
      2.141694605866139,
      2.0573194269615733,
      1.9706758626752026,
      1.8916443192245955
    ],
    "yaw_diff": [
      -0.03542830636247718,
      -0.03999911088395347,
      -0.05879365763302058,
      -0.0790895365680111,
      -0.09510887673267288,
      -0.1611263799427629,
      -0.16875035780913095,
      -0.17328712857274153,
      -0.15806308690121407,
      -0.15806308690121407
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.136814898860271,
    "v_std": 0.9083942820700213,
    "vy_max": 0.05865002531227148,
    "a_max": 1.248863584243932,
    "ax_avg": -0.7197822082967041,
    "a_std": 0.22783101874911688,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "8d27ff75eeb1559e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8d27ff75eeb1559e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b023b7bcbab05bcb": {
    "vx_ego": [
      9.532010242090577,
      9.568439668685038,
      9.61470359082995,
      9.669996525212795,
      9.71532685426498,
      9.772034054602083,
      9.82395761028169,
      9.854758218481798,
      9.874079928390705,
      9.876723672283342
    ],
    "vy_ego": [
      -0.005114886046074574,
      0.01139287785038201,
      0.022533432034327117,
      0.022474965484623244,
      0.009584270000022599,
      0.009229148387614128,
      0.0012457855046905664,
      -0.013716497144863116,
      -0.02210257383361025,
      -0.011062581792371962
    ],
    "v_ego": [
      9.532011614416913,
      9.568446451275731,
      9.61472999595296,
      9.670022643287918,
      9.715331581754361,
      9.772038412812487,
      9.823957689271317,
      9.854767764236176,
      9.874104666045335,
      9.87672986769194
    ],
    "ax_ego": [
      0.07073699772453035,
      0.07480120152959041,
      0.10927277877210545,
      0.1103840842731155,
      0.07104888902439191,
      0.15520777221553544,
      0.051494858352597456,
      0.07237187131342568,
      0.004638077706600317,
      0.006553917660612668
    ],
    "ay_ego": [
      0.2961074750363814,
      0.29510699843253263,
      0.29204150587428346,
      0.2607917870145159,
      0.40116918870071216,
      0.42242403179943105,
      0.3699024548332498,
      0.38424155489913825,
      0.20590015691128727,
      0.20584808102388086
    ],
    "a_ego": [
      0.3044394186361245,
      0.3044394197112608,
      0.3118153000317602,
      0.2831907523826279,
      0.4074121532237201,
      0.4500350155241215,
      0.37346960589640826,
      0.3909977752733569,
      0.20595238862636475,
      0.2059523884248889
    ],
    "yaw": [
      1.220425706848145,
      1.2341741547719685,
      1.2483225423999778,
      1.262662035503889,
      1.2810558961989535,
      1.3022458998686939,
      1.3232486774132688,
      1.343935496027687,
      1.3597280684224218,
      1.3690338804690287
    ],
    "yaw_diff": [
      0.02749689584764692,
      0.02829677525601859,
      0.028678986207822277,
      0.03678772139012931,
      0.04238000733948066,
      0.042005555089149826,
      0.04137363722883647,
      0.0315851447894695,
      0.01861162409321393,
      0.01861162409321393
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.730214068674513,
    "v_std": 0.12282352815672336,
    "vy_max": 0.022533432034327117,
    "a_max": 0.4500350155241215,
    "ax_avg": 0.07265104485725052,
    "a_std": 0.07760631454954642,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "b023b7bcbab05bcb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.23628927891551,
    "right_rear_min": 4.214414086612953,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b023b7bcbab05bcb",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "b7453f77be5b53df": {
    "vx_ego": [
      9.382192253825927,
      9.128233532671732,
      8.907076636451428,
      8.790311401144184,
      8.837954976182145,
      8.914197742263237,
      8.850639090704561,
      9.054061378049326,
      9.21468051151097,
      8.989732104707024
    ],
    "vy_ego": [
      -0.021623994029793092,
      -0.000757466280830954,
      0.012618261385816343,
      0.03651782288145888,
      0.01455518944386247,
      -0.01974873154929968,
      -0.02518642398985449,
      -0.021741020025497715,
      -0.028940451885302032,
      -0.05895793364718349
    ],
    "v_ego": [
      9.382217173188279,
      9.128233564099235,
      8.907085574313255,
      8.790387254295082,
      8.837966961612976,
      8.914219618147671,
      8.85067492736351,
      9.05408748077001,
      9.214725957888026,
      8.989925436417153
    ],
    "ax_ego": [
      -0.5109320316553326,
      -0.5056294639157092,
      -0.376996867312548,
      -0.09101266843342576,
      0.28176805279213846,
      0.02348878365537914,
      -0.2789373595133488,
      1.0923816894139833,
      -0.4501067823344268,
      -0.4499655045527103
    ],
    "ay_ego": [
      -0.2885120875939004,
      -0.2977072602636428,
      -0.43383896885163625,
      -0.13693056293878467,
      -0.05484827440907859,
      -0.22174272246975296,
      -0.03900673697494464,
      -0.038667762736120215,
      -0.08859151068389864,
      -0.08930630156829764
    ],
    "a_ego": [
      0.5867629552547061,
      0.5867629569028466,
      0.5747546336113576,
      0.16441801872697884,
      0.2870567344270587,
      0.22298331311088523,
      0.28165151528389065,
      1.093065849453712,
      0.4587423800660959,
      0.4587423795412659
    ],
    "yaw": [
      -0.46265272741443164,
      -0.48074294169130205,
      -0.5025451803336249,
      -0.521447711077445,
      -0.5244111498204906,
      -0.5283225066870569,
      -0.5350207086112001,
      -0.5376245330165745,
      -0.5402636334406514,
      -0.5418519297220725
    ],
    "yaw_diff": [
      -0.03618042855374082,
      -0.04360447728464578,
      -0.03780506148764018,
      -0.00592687748609122,
      -0.007822713733132591,
      -0.013396403848286331,
      -0.005207648810748866,
      -0.00527820084815378,
      -0.0031765925628421954,
      -0.0031765925628421954
    ],
    "min_front_frame": [
      6,
      28.684254803218035
    ],
    "v_avg": 9.00695239480952,
    "v_std": 0.17879211289213118,
    "vy_max": 0.05895793364718349,
    "a_max": 1.093065849453712,
    "ax_avg": -0.12659421518560005,
    "a_std": 0.2549556605179448,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "b7453f77be5b53df",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.419429393646052,
    "right_rear_min": 19.810146228028266,
    "speed_mode": "quasi_constant",
    "front_frame": [
      48.259705612035376,
      49.765626902736486,
      46.31990156009384,
      41.898276262967904,
      37.507609653532576,
      33.08514956201956,
      28.684254803218035,
      58.759797787891976,
      60.01429138008926,
      61.442191404660896
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "b7453f77be5b53df",
    "pedestrians": "No"
  },
  "cc0668b663b25703": {
    "vx_ego": [
      4.800010724048367,
      4.758465429439457,
      4.803995905001731,
      4.9596513097624495,
      5.179200068871891,
      5.406750754319416,
      5.55803128904331,
      5.66289032472982,
      5.756644630771539,
      5.845479466498421
    ],
    "vy_ego": [
      0.043308916207725895,
      0.021301315963808326,
      -0.021190096581194605,
      -0.051382697806983874,
      -0.03468445715560253,
      -0.014193172254613112,
      -0.014773671542790023,
      -0.011854617348893592,
      -0.019055468592051206,
      -0.02157342652273253
    ],
    "v_ego": [
      4.800206101117161,
      4.758513106972831,
      4.804042638806042,
      4.959917468674484,
      5.179316206312449,
      5.406769383418552,
      5.558050923782121,
      5.662902732863341,
      5.756676169099149,
      5.845519275991364
    ],
    "ax_ego": [
      -0.08334003903140913,
      -0.08115574801071326,
      0.2636898257305053,
      0.35642012734676226,
      0.5188860091732925,
      0.38974561702674615,
      0.21437602302374775,
      0.20364798215394375,
      0.17087714966350143,
      0.18189305089966018
    ],
    "ay_ego": [
      -0.16762964239394598,
      -0.16869796573023085,
      -0.23507524507593092,
      -0.13892993953864316,
      -0.1830328420082763,
      -0.24862284061837017,
      -0.28092791953700114,
      -0.2759317005944621,
      -0.36268541056230685,
      -0.35728787411168467
    ],
    "a_ego": [
      0.18720379033256515,
      0.1872037902305841,
      0.35326009545559095,
      0.3825399786664046,
      0.5502215115473157,
      0.46229315684823474,
      0.3533802134003349,
      0.3429443162210519,
      0.4009235679177164,
      0.40092356746995234
    ],
    "yaw": [
      1.6130785947823476,
      1.6000897093428357,
      1.5877533632862262,
      1.5747544343451332,
      1.5555063307599406,
      1.5313217207654923,
      1.507376695830052,
      1.4820503626945878,
      1.4553706258124635,
      1.4247721512756053
    ],
    "yaw_diff": [
      -0.025977770879023865,
      -0.024672692113218986,
      -0.025997857882186004,
      -0.038496207170385155,
      -0.04836921998889654,
      -0.047890049870880524,
      -0.05065266627092857,
      -0.053359473764248655,
      -0.06119694907371631,
      -0.06119694907371631
    ],
    "min_front_frame": [
      5,
      63.96023405292597
    ],
    "v_avg": 5.27319140070375,
    "v_std": 0.40346526181739634,
    "vy_max": 0.051382697806983874,
    "a_max": 0.5502215115473157,
    "ax_avg": 0.21350399979760368,
    "a_std": 0.10514712994966992,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "cc0668b663b25703",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.03704552772041,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      63.96023405292597,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "cc0668b663b25703",
    "pedestrians": "No"
  },
  "bc60aa8501245df7": {
    "vx_ego": [
      3.342423240291018,
      2.8760104343607207,
      2.4274545519335637,
      1.9931073743147185,
      1.5315742603542954,
      1.0300472000891883,
      0.5346849545702272,
      0.15806325075123914,
      -0.008671787093549118,
      -0.06160886880135005
    ],
    "vy_ego": [
      0.10240277369683981,
      0.06444753538521653,
      0.015334836508900551,
      -0.0005545169852543275,
      0.010595393342723414,
      0.004323510043005574,
      -0.017023212994654535,
      -0.021916721574045797,
      -0.0017324617189380834,
      0.014631272491486203
    ],
    "v_ego": [
      3.343991543843721,
      2.8767324351369505,
      2.4275029884458914,
      1.9931074514528309,
      1.531610909252051,
      1.0300562737786068,
      0.5349558770818649,
      0.15957548033016647,
      0.00884315073960808,
      0.06332240401076135
    ],
    "ax_ego": [
      -0.9327456929712754,
      -0.9326954926066338,
      -0.8614242284504731,
      -0.8760048993972944,
      -0.9701219090462936,
      -1.0359699771077922,
      -0.9454792938666252,
      -0.5610868665620334,
      -0.1058741946428443,
      -0.10587416118397958
    ],
    "ay_ego": [
      -0.07952771567584732,
      -0.08011427381979774,
      -0.1224086285841387,
      0.05268220308152616,
      -0.008869590399768978,
      -0.018645530072925964,
      -0.06824248397737398,
      0.04797215160674895,
      0.032727355324709016,
      0.03272745445039356
    ],
    "a_ego": [
      0.9361298976729048,
      0.936129894191188,
      0.8700779124385025,
      0.877587601490351,
      0.9701624544608418,
      1.0361377559284382,
      0.9479388860838732,
      0.5631339087270292,
      0.11081707845734176,
      0.11081707576548784
    ],
    "yaw": [
      -0.5286200399031991,
      -0.5292488995051816,
      -0.529823293504071,
      -0.5305204797397765,
      -0.5306313825711552,
      -0.5311021926396962,
      -0.5315889003185696,
      -0.5321723989098656,
      -0.5326995417552911,
      -0.5326985852251434
    ],
    "yaw_diff": [
      -0.001257719203965113,
      -0.001148787997778733,
      -0.001394372471410943,
      -0.00022180566275742386,
      -0.0009416201370819888,
      -0.0009734153577469762,
      -0.0011669971825918335,
      -0.0010542856908510867,
      1.91306029551086e-06,
      1.91306029551086e-06
    ],
    "min_front_frame": [
      7,
      8.543629734955939
    ],
    "v_avg": 1.3969698514072453,
    "v_std": 1.1632045099728725,
    "vy_max": 0.10240277369683981,
    "a_max": 1.0361377559284382,
    "ax_avg": -0.7327276715835245,
    "a_std": 0.33459686949081446,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bc60aa8501245df7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 45.17464169858772,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.525798812781048,
      13.010424829417145,
      11.649142636246912,
      10.565807319564561,
      9.651411295949575,
      9.01684996268033,
      8.683629470018086,
      8.543629734955939,
      8.57339912357442,
      8.567299649834704
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bc60aa8501245df7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "60e98c18f487568c": {
    "vx_ego": [
      3.536299581042434,
      3.371707904811608,
      3.262882924602843,
      3.1708040397002315,
      3.134435977264252,
      3.2382850575313666,
      3.3839193438274364,
      3.5142099285933455,
      3.7057214533735094,
      3.9399908828156214
    ],
    "vy_ego": [
      -0.10129789895945285,
      0.04258188688726694,
      0.04810137025570421,
      0.0486967992401931,
      0.055842502036926644,
      0.029727716674092797,
      0.0028211577255843334,
      -0.024782100171650834,
      -0.05993709155372784,
      0.015563839445832617
    ],
    "v_ego": [
      3.5377501312577877,
      3.3719767811270533,
      3.2632374601743708,
      3.1711779572322247,
      3.134933377378577,
      3.238421506068903,
      3.3839205198202307,
      3.5142973088105345,
      3.7062061390236507,
      3.9400216230077363
    ],
    "ax_ego": [
      -0.3873318905878922,
      -0.2547042713697199,
      -0.19378634036230083,
      -0.19761967696506905,
      0.005333420010569245,
      0.3260935872333081,
      0.20549219208806374,
      0.3047433023233246,
      0.4609850559169576,
      0.4713039896941122
    ],
    "ay_ego": [
      1.0903520504068605,
      1.1287246442652998,
      1.3492463393232608,
      1.5298430602224087,
      1.5661865705581302,
      1.1624599427211053,
      0.5461910440861235,
      0.002677538999626139,
      -0.2264775553668921,
      -0.20413685139437943
    ],
    "a_ego": [
      1.1571056940888484,
      1.15710569457842,
      1.3630916439800491,
      1.5425541564672673,
      1.5661956516239106,
      1.2073318293103361,
      0.5835680745628974,
      0.3047550648078219,
      0.5136139648254555,
      0.513613964762251
    ],
    "yaw": [
      2.9506203379129987,
      3.070012369179926,
      -3.028193896984411,
      -2.8055850201688055,
      -2.5615837362595735,
      -2.337410725115861,
      -2.2011082828236748,
      -2.1531579744683293,
      -2.1589497383372085,
      -2.206867129393494
    ],
    "yaw_diff": [
      0.23878406253385442,
      0.3699580820304984,
      0.4452177536312112,
      0.4880025678184641,
      0.44834602228742515,
      0.2726048845843714,
      0.09590061671069172,
      -0.011583527737757393,
      -0.09583478211257201,
      -0.09583478211257201
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4261942803901064,
    "v_std": 0.24063217101351814,
    "vy_max": 0.10129789895945285,
    "a_max": 1.5661956516239106,
    "ax_avg": 0.07405093679813535,
    "a_std": 0.4436466505376624,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "60e98c18f487568c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.846058708498583,
    "right_rear_min": 8.946628219809106,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "60e98c18f487568c",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "7b73da0bb98b5e56": {
    "vx_ego": [
      7.299635504716435,
      7.483680599891105,
      7.6817868609888365,
      7.908067778070626,
      8.144097068031805,
      8.245447838552575,
      8.245485615754806,
      8.260709791810278,
      8.279547460804359,
      8.31082599369643
    ],
    "vy_ego": [
      -0.12308833773343097,
      -0.050570878896699256,
      -0.015534069354907531,
      0.0007389408669741249,
      0.013931129998420722,
      0.05017207530458195,
      0.0541818352008831,
      -0.0004910261945350602,
      -0.027120769999728622,
      -0.041896023453154824
    ],
    "v_ego": [
      7.300673204616321,
      7.483851463984228,
      7.681802567429824,
      7.9080678125944575,
      8.144108983179638,
      8.245600481191875,
      8.245663630714336,
      8.260709806403861,
      8.279591879548006,
      8.310931594850329
    ],
    "ax_ego": [
      0.3660844325343449,
      0.3784832618711727,
      0.41408296732544575,
      0.49053259864953386,
      0.4535132995644492,
      -0.04818327768475022,
      0.04813364925579292,
      0.012718520547359202,
      0.06262321066431803,
      0.062610063931244
    ],
    "ay_ego": [
      0.5112567431286195,
      0.5021470686534428,
      0.25167513422732124,
      0.06836823742839615,
      0.03316828461278807,
      0.14523103529575038,
      -0.1095211463775137,
      -0.09443631911776683,
      -0.0152007583080669,
      -0.015254817965166798
    ],
    "a_ego": [
      0.6288094060512108,
      0.6288093972531645,
      0.4845668963284495,
      0.4952741122115411,
      0.45472458476091737,
      0.1530152994361062,
      0.11963164169451357,
      0.09528892450555988,
      0.06444167570018505,
      0.06444167577449268
    ],
    "yaw": [
      3.055776443973877,
      3.0802448913922276,
      3.100488722731956,
      3.108675547935197,
      3.110193712081449,
      3.111205991269485,
      3.1118032769314596,
      3.112249354027825,
      3.1121550246180982,
      3.1130183396958646
    ],
    "yaw_diff": [
      0.04893689483670105,
      0.040487662679456804,
      0.0163736504064822,
      0.003036328292504109,
      0.002024558376072072,
      0.0011945713239489564,
      0.0008921541927309207,
      -0.0001886588194537353,
      0.0017266301555327601,
      0.0017266301555327601
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.986100142451288,
    "v_std": 0.35319876054999105,
    "vy_max": 0.12308833773343097,
    "a_max": 0.6288094060512108,
    "ax_avg": 0.22405987266589103,
    "a_std": 0.22711559687664654,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7b73da0bb98b5e56",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7b73da0bb98b5e56",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "170ea72e455e5e57": {
    "vx_ego": [
      1.6026602765332654,
      0.7397151888161986,
      0.09706995435749528,
      -0.11147715976305571,
      -0.07809191601338344,
      -0.035024054082235745,
      -0.018147214893294582,
      -0.011465375147951633,
      -0.007265743757318231,
      -0.00306334987668726
    ],
    "vy_ego": [
      -0.04094403378624545,
      -0.0386531679761179,
      -0.026737342196618073,
      -0.0028832711740234135,
      0.008139008307116953,
      0.00542477447624384,
      0.003337005272019059,
      0.0021076272848264193,
      0.0015317658531911094,
      0.001030141404580042
    ],
    "v_ego": [
      1.6031832009724813,
      0.7407243940629836,
      0.10068496167107216,
      0.11151444032725448,
      0.07851490815676124,
      0.03544167804257413,
      0.018451477246250386,
      0.011657483435759697,
      0.007425452105832421,
      0.003231919519485285
    ],
    "ax_ego": [
      -1.7259273743381915,
      -1.7259290303275128,
      -0.8446067756279326,
      0.01044510367393927,
      0.12309800133655904,
      0.049173435580506554,
      0.018333554683790873,
      0.008393702463158187,
      0.008404952253933739,
      0.00840504544091637
    ],
    "ay_ego": [
      0.003873172251794621,
      0.0030465386314219023,
      0.0449834939986159,
      0.050235193176757585,
      -0.006122032839931596,
      -0.004734917367706235,
      -0.003618072143857431,
      -0.0012999870742085987,
      -0.0010027308323643526,
      -0.0010020439299838445
    ],
    "a_ego": [
      1.72593172024655,
      1.7259317191374928,
      0.8458038307840279,
      0.0513095977792215,
      0.12325014084839292,
      0.04940087255574778,
      0.018687152629057947,
      0.00849377462811071,
      0.00846455500974977,
      0.008464566196887263
    ],
    "yaw": [
      2.439488571674554,
      2.4390096219481743,
      2.4393070650976125,
      2.4397400878161153,
      2.439684897143831,
      2.4396850406333606,
      2.4397062088379484,
      2.439716411599404,
      2.439697314012985,
      2.4396140978883136
    ],
    "yaw_diff": [
      -0.0009578994527590368,
      0.0005948862988764958,
      0.0008660454370055248,
      -0.00011038134456864412,
      2.869790591830679e-07,
      4.233640917572501e-05,
      2.040552291138198e-05,
      -3.819517283787377e-05,
      -0.00016643224934309586,
      -0.00016643224934309586
    ],
    "min_front_frame": [
      2,
      10.086864566883465
    ],
    "v_avg": 0.27108299155404547,
    "v_std": 0.49138016774900095,
    "vy_max": 0.04094403378624545,
    "a_max": 1.72593172024655,
    "ax_avg": -0.40702093848608323,
    "a_std": 0.6789180221188426,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "170ea72e455e5e57",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.43194191518396,
    "right_rear_min": 35.59007802058249,
    "speed_mode": "decelerating",
    "front_frame": [
      10.691854061499294,
      10.162208238050868,
      10.086864566883465,
      10.141839869193474,
      10.148856808658495,
      10.248907588580686,
      10.388207234892015,
      10.659065118185486,
      11.104191152983255,
      11.59495669824653
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "170ea72e455e5e57",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6b0ff02cbbf25aa3": {
    "vx_ego": [
      6.851877483265835,
      6.331298059164721,
      5.825534656619983,
      5.378594133894703,
      5.128621157124042,
      5.061172785509013,
      4.995178245180982,
      4.889189027212408,
      4.757239283127458,
      4.638565301957152
    ],
    "vy_ego": [
      -0.056694217098239186,
      -0.013415784494793748,
      -0.025350450205220865,
      -0.06076192965856153,
      -0.05362191640157099,
      -0.0611027205731125,
      -0.07812730090057474,
      -0.07518995136494588,
      -0.032435512991805915,
      0.0320735199674691
    ],
    "v_ego": [
      6.852112030603246,
      6.331312272922303,
      5.825589813985028,
      5.378937336432015,
      5.128901469439525,
      5.061541613702144,
      4.995789184530845,
      4.889767159344141,
      4.75734985674105,
      4.638676187362506
    ],
    "ax_ego": [
      -1.0469901946018658,
      -1.0388788099582071,
      -0.9862321588557996,
      -0.8028514428922471,
      -0.19005761388224202,
      -0.05745116431307243,
      -0.17119547245716132,
      -0.21665797190985242,
      -0.28999386853015957,
      -0.1834466201831212
    ],
    "ay_ego": [
      -0.27179450567289765,
      -0.301316340358578,
      -0.26287894641856546,
      0.028461563485647268,
      0.36451960384998133,
      0.7188444426728752,
      0.9721428132698435,
      1.0645958193259344,
      1.0538852515186017,
      1.0775518106090198
    ],
    "a_ego": [
      1.0816934505239586,
      1.0816934495259123,
      1.0206660627411426,
      0.8033557742060553,
      0.4110917637043568,
      0.7211365814064657,
      0.987101585036736,
      1.086418397910468,
      1.0930556102749365,
      1.0930556102062636
    ],
    "yaw": [
      1.9300601844502425,
      1.9017555642748296,
      1.880491929737357,
      1.8763348686559858,
      1.893932469394874,
      1.9487246284168744,
      2.035884218308059,
      2.1381113828871694,
      2.2387769977427165,
      2.3386707591323495
    ],
    "yaw_diff": [
      -0.05660924035082582,
      -0.042527269074945195,
      -0.008314122162742521,
      0.03519520147777655,
      0.10958431804400082,
      0.1743191797823691,
      0.20445432915822082,
      0.2013312297110943,
      0.1997875227792658,
      0.1997875227792658
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.3859976925062805,
    "v_std": 0.6899251524915085,
    "vy_max": 0.07812730090057474,
    "a_max": 1.0930556102749365,
    "ax_avg": -0.49837553175837285,
    "a_std": 0.2152774511912858,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6b0ff02cbbf25aa3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 41.2016516007468,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6b0ff02cbbf25aa3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9e522849163c53b8": {
    "vx_ego": [
      7.219745961507503,
      7.136986879642949,
      7.039067359359489,
      6.938477514891366,
      6.835490478536797,
      6.735306661261389,
      6.653692848888923,
      6.600397233313293,
      6.558443874591385,
      6.502158437481644
    ],
    "vy_ego": [
      0.0011361951726716057,
      0.024301710886540984,
      0.008566094022393278,
      -0.014628533996442705,
      -0.015185915989027965,
      -0.00779840636826612,
      0.007551822016052201,
      -0.006815015165126281,
      0.01001278571894848,
      0.016228059828741648
    ],
    "v_ego": [
      7.219746050910889,
      7.137028253646444,
      7.03907257155138,
      6.938492935692876,
      6.835507347242897,
      6.735311175912656,
      6.653697134478797,
      6.600400751618153,
      6.558451517854127,
      6.502178688412027
    ],
    "ax_ego": [
      -0.16904030791703226,
      -0.16293605756795948,
      -0.22807482658996395,
      -0.17572807844913402,
      -0.22967268918809378,
      -0.17037290532606986,
      -0.16011787967859425,
      -0.05382791330066013,
      -0.11429150259488005,
      -0.11157199865416184
    ],
    "ay_ego": [
      0.3185077233791713,
      0.32167318269389356,
      0.49614834792129164,
      0.38948736497029424,
      0.6252810807478015,
      0.5655469661076052,
      0.29373669047024287,
      0.2268104371822024,
      0.19398759529429155,
      0.19556437235897361
    ],
    "a_ego": [
      0.3605853512732704,
      0.36058535095065697,
      0.546059804114045,
      0.4272947051239088,
      0.6661275959604357,
      0.5906524339599074,
      0.3345429400259107,
      0.23311031436872365,
      0.2251526919524999,
      0.22515269178902475
    ],
    "yaw": [
      -1.505107870823873,
      -1.4860380566237468,
      -1.4550109882531035,
      -1.4199822686513752,
      -1.3831051661578442,
      -1.3402790044437776,
      -1.3104792984830413,
      -1.2886312275506981,
      -1.2752153067146401,
      -1.2612533192908617
    ],
    "yaw_diff": [
      0.03813962840025242,
      0.06205413674128657,
      0.07005743920345653,
      0.07375420498706209,
      0.08565232342813323,
      0.059599411921472445,
      0.0436961418646864,
      0.026831841672116052,
      0.02792397484755682,
      0.02792397484755682
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.821988642732025,
    "v_std": 0.2397934072429042,
    "vy_max": 0.024301710886540984,
    "a_max": 0.6661275959604357,
    "ax_avg": -0.15756341592665496,
    "a_std": 0.15018096736487596,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "9e522849163c53b8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9e522849163c53b8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "edb0dbd58be650f3": {
    "vx_ego": [
      3.8001993808129466,
      3.8151885492180675,
      3.8344430489152965,
      3.8540275173065925,
      3.861981797555316,
      3.8669124430455915,
      3.860902474560679,
      3.6907550327451535,
      3.8500149656000926,
      4.503194654351438
    ],
    "vy_ego": [
      -0.011335651799028401,
      -0.011252791575221188,
      -0.009949375457705134,
      -0.025476972445658497,
      -0.04133280341794876,
      -0.026246289469879613,
      -0.011383330167602512,
      0.01202368756642569,
      -0.01541260871078487,
      0.05450022212888084
    ],
    "v_ego": [
      3.800216287388497,
      3.8152051440784804,
      3.8344559569053382,
      3.854111723897144,
      3.862202973082458,
      3.867001514079321,
      3.8609192556015053,
      3.690774617989613,
      3.8500458158120603,
      4.503524438613769
    ],
    "ax_ego": [
      0.029934303271536046,
      0.02995233124567072,
      0.04696163038326438,
      0.03147097161922584,
      -0.0018659827068620294,
      0.016913714309548022,
      -0.038810547356956604,
      -0.6454071900635706,
      1.2853112841099326,
      1.3294342878090746
    ],
    "ay_ego": [
      -0.011657822114759152,
      -0.011611423423365581,
      -0.03485031598574014,
      -0.1940327874600447,
      -0.30400990820897,
      -0.3803815240241692,
      -0.5950279105337684,
      -0.49828351457910536,
      -0.5941329491667342,
      -0.48746644342084466
    ],
    "a_ego": [
      0.032124248299558095,
      0.03212424786616903,
      0.05848024668689655,
      0.19656842234746913,
      0.3040156347635573,
      0.38075737359990103,
      0.5962922713739705,
      0.8153753135133902,
      1.4159869555705253,
      1.4159869558240248
    ],
    "yaw": [
      2.5026274678571783,
      2.5010779278346575,
      2.4976984123073995,
      2.4868583419422507,
      2.458727102830954,
      2.4105283655161784,
      2.343716802795625,
      2.266713964890183,
      2.1971289439280977,
      2.1155857180942657
    ],
    "yaw_diff": [
      -0.003099080045041447,
      -0.006759031054516029,
      -0.02168014073029756,
      -0.05626247822259334,
      -0.09639747462955128,
      -0.13362312544110644,
      -0.1540056758108843,
      -0.13917004192417082,
      -0.163086451667664,
      -0.163086451667664
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.893845772744818,
    "v_std": 0.20921931462702767,
    "vy_max": 0.05450022212888084,
    "a_max": 1.4159869558240248,
    "ax_avg": 0.2083894802620863,
    "a_std": 0.5057782535352555,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "edb0dbd58be650f3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "edb0dbd58be650f3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a0c45624aa5251db": {
    "vx_ego": [
      8.751883858217145,
      8.948963568707063,
      9.182713010936267,
      9.466823543404114,
      9.79520416312777,
      10.055260422127445,
      10.135777645817878,
      10.06582796955016,
      9.957446881346176,
      9.814962066543261
    ],
    "vy_ego": [
      -0.0649439429431129,
      -0.03774205718696866,
      -0.05550640187790856,
      -0.12361821657361682,
      -0.1833850631307952,
      -0.07218382195378314,
      -0.024887981137841686,
      -0.008776201014117746,
      0.014427709565171198,
      0.018751994291623275
    ],
    "v_ego": [
      8.752124815348946,
      8.949043156501535,
      9.182880768139572,
      9.467630615176073,
      9.796920673289904,
      10.055519512235778,
      10.135808201473948,
      10.065831795449522,
      9.957457333759155,
      9.814979979855948
    ],
    "ax_ego": [
      0.2861994959409332,
      0.5229527236949018,
      0.43273389351950836,
      0.7312119165470112,
      0.5895370634291405,
      0.45334314388896535,
      -0.13135637946640472,
      -0.14860736616444406,
      -0.2850170668057733,
      -0.28498854555036757
    ],
    "ay_ego": [
      2.0942096740712475,
      2.0479611198795524,
      2.0365013150548976,
      1.815470331897044,
      0.7839733188544427,
      0.17357633136110304,
      -0.018422764148119483,
      -0.05919309424522291,
      0.028315181875713583,
      0.028600715354624683
    ],
    "a_ego": [
      2.113675545217488,
      2.113675542688193,
      2.0819693150526692,
      1.9571927326910645,
      0.9809016840806748,
      0.4854366579893927,
      0.13264198681179104,
      0.15996240709822104,
      0.2864201073514592,
      0.2864200970841784
    ],
    "yaw": [
      1.1757814165167015,
      1.28997077980249,
      1.4042965415969373,
      1.5152039105315258,
      1.5887170722658839,
      1.6016099597484201,
      1.6007733210712174,
      1.5972579441844243,
      1.5941744537666338,
      1.5951763238225627
    ],
    "yaw_diff": [
      0.22837872657157687,
      0.22865152358889462,
      0.22181473786917705,
      0.14702632346871614,
      0.025785774965072505,
      -0.001673277354405478,
      -0.007030753773586085,
      -0.006166980835581093,
      0.002003740111857777,
      0.002003740111857777
    ],
    "min_front_frame": [
      9,
      25.12817089043176
    ],
    "v_avg": 9.617819685123036,
    "v_std": 0.47490308926182084,
    "vy_max": 0.1833850631307952,
    "a_max": 2.113675545217488,
    "ax_avg": 0.21660088790334706,
    "a_std": 0.8528265908932304,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "a0c45624aa5251db",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 22.263588295185645,
    "right_rear_min": 21.90388906335766,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      25.666306753306046,
      25.795399902857486,
      25.735421584855363,
      25.586499604581928,
      25.410650709163928,
      25.253139333052385,
      25.12817089043176
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.14285714285714285,
    "unsafe_ratio": 0.8571428571428571,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a0c45624aa5251db",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "f66694a622cf5c99": {
    "vx_ego": [
      0.4850327891812741,
      0.7313411600326709,
      0.9680063737614385,
      1.154251722760855,
      1.27372270674284,
      1.389609864487244,
      1.4853962185542715,
      1.5654106062440767,
      1.6460341979899902,
      1.700525160245829
    ],
    "vy_ego": [
      0.007267024823810336,
      -0.0027805952291220515,
      -0.008774626383514894,
      -0.008067526848508921,
      0.0014511019385124446,
      0.019569757052359527,
      0.01699690410505139,
      -0.0011098169420126203,
      -0.001149396142738679,
      0.0096336067115107
    ],
    "v_ego": [
      0.48508722538400884,
      0.7313464459937992,
      0.9680461423459835,
      1.1542799160021164,
      1.2737235333341153,
      1.3897476572642047,
      1.4854934603842878,
      1.5654109996531558,
      1.6460345992912917,
      1.7005524475908922
    ],
    "ax_ego": [
      0.4926091756347484,
      0.49263450903184114,
      0.45399761504999164,
      0.29092344898710554,
      0.186939945708669,
      0.276606322217152,
      0.10654146415188759,
      0.21351088628292497,
      0.1089865557100761,
      0.10898146443512179
    ],
    "ay_ego": [
      -0.02181703260955961,
      -0.021237146055654188,
      -0.005929147082747832,
      0.0018094770372070745,
      0.03275541908949214,
      0.040042319910433916,
      -0.05045141618329553,
      -0.020085473098299764,
      0.020729982761273837,
      0.020756776082464613
    ],
    "a_ego": [
      0.49309206324116894,
      0.49309205617372537,
      0.4540363303263399,
      0.29092907619848035,
      0.18978793634287816,
      0.2794896149668328,
      0.11788311574830401,
      0.214453549261612,
      0.11094053141583661,
      0.11094053967671731
    ],
    "yaw": [
      1.1371625679136586,
      1.1359854187067906,
      1.1350520801344062,
      1.1334459828925079,
      1.1327308934743359,
      1.132792069412525,
      1.1327719015421307,
      1.1330843945757043,
      1.133208380882036,
      1.1329625685581624
    ],
    "yaw_diff": [
      -0.0023542984137359113,
      -0.0018666771447688468,
      -0.0032121944837966154,
      -0.0014301788363439982,
      0.0001223518763784348,
      -4.033574078876612e-05,
      0.0006249860671472263,
      0.00024797261266318316,
      -0.000491624647747102,
      -0.000491624647747102
    ],
    "min_front_frame": [
      0,
      13.23586835298934
    ],
    "v_avg": 1.2399722427243856,
    "v_std": 0.38426842300888703,
    "vy_max": 0.019569757052359527,
    "a_max": 0.49309206324116894,
    "ax_avg": 0.27317313872095184,
    "a_std": 0.14727448347692237,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f66694a622cf5c99",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.031453505439501,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.23586835298934,
      13.611311053036106,
      14.103968552599259,
      14.537116126506268,
      15.026627082705243,
      15.543844777677183,
      16.149342265017818,
      17.115565412518077,
      18.34783845669869,
      19.87386467490647
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f66694a622cf5c99",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4e9b792f30975e78": {
    "vx_ego": [
      5.7817027301858,
      6.0286486320011115,
      6.304603827281934,
      6.571494697196014,
      6.804940737785402,
      7.047459366208628,
      7.272600469940528,
      7.407534988040521,
      7.460556294186692,
      7.489856617238189
    ],
    "vy_ego": [
      0.007000139968226016,
      0.04512670005566388,
      -0.04711825825025029,
      -0.019412178052930606,
      -0.0003875668971042856,
      0.028234547068109794,
      -0.011456589049100074,
      -0.06267054087829438,
      -0.03576904998481112,
      0.024560821519146625
    ],
    "v_ego": [
      5.781706967859709,
      6.028817524787659,
      6.304779896970119,
      6.571523368894924,
      6.804940748822096,
      7.04751592463684,
      7.272609493765757,
      7.407800091507495,
      7.460642039641461,
      7.489896887190129
    ],
    "ax_ego": [
      0.47799741143676056,
      0.5151026429279986,
      0.585298488945737,
      0.47736839602083525,
      0.45614383413489057,
      0.5141093089013005,
      0.38664887698995204,
      0.15276895528963577,
      0.058679380741896,
      0.05845920273491487
    ],
    "ay_ego": [
      -0.6394439922858282,
      -0.6099503283447579,
      -0.3148078135712138,
      -0.053828592082594495,
      0.050708842651783714,
      0.0020133479244351105,
      -0.2018331483477442,
      -0.044633314125538115,
      0.07890218514543926,
      0.07906545549772521
    ],
    "a_ego": [
      0.7983546483929821,
      0.7983546428745105,
      0.664588805689391,
      0.48039369567584805,
      0.458953793036251,
      0.5141132512091452,
      0.43615819819138285,
      0.15915554162552964,
      0.09833018125162575,
      0.09833018172191407
    ],
    "yaw": [
      2.672462489627031,
      2.61308278806848,
      2.590519938024939,
      2.5719411602834596,
      2.568981226011146,
      2.5667494490637317,
      2.565319144030015,
      2.5639075225765873,
      2.5614451612486406,
      2.558657563532046
    ],
    "yaw_diff": [
      -0.11875940311710131,
      -0.045125700087082166,
      -0.03715755548295885,
      -0.005919868544626894,
      -0.004463553894828998,
      -0.0028606100674331003,
      -0.0028232429068557607,
      -0.004924722655893277,
      -0.005575195433189073,
      -0.005575195433189073
    ],
    "min_front_frame": [
      5,
      22.2659776432946
    ],
    "v_avg": 6.817023294407619,
    "v_std": 0.5909876947567795,
    "vy_max": 0.06267054087829438,
    "a_max": 0.7983546483929821,
    "ax_avg": 0.36825764981239206,
    "a_std": 0.25019704507180945,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4e9b792f30975e78",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 28.41734107820009,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      72.84403531717882,
      29.43607328727985,
      26.322577410492627,
      23.126774853155798,
      25.691844018669087,
      22.2659776432946,
      53.197432371840705,
      49.51707706743171,
      45.82996192265975,
      42.11645445488921
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4e9b792f30975e78",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "dcc3b1a2a6da565a": {
    "vx_ego": [
      5.932808878703522,
      6.325731115228883,
      6.789393412027481,
      7.283809559305661,
      7.671720717685432,
      7.850692600486884,
      7.843678619303794,
      7.75297420497341,
      7.624876134650493,
      7.480717199713644
    ],
    "vy_ego": [
      0.042730202819072804,
      -0.13054418340394847,
      -0.12329626027856211,
      -0.09050402197018004,
      -0.03168351979815798,
      -0.019965860369871358,
      -0.017093699336017565,
      -0.0020814465372254176,
      -0.009026479078461769,
      -0.03724072820818769
    ],
    "v_ego": [
      5.932962755778625,
      6.327077992722663,
      6.790512857736214,
      7.284371810542437,
      7.6717861424567015,
      7.850717989007109,
      7.843697245399038,
      7.752974484377126,
      7.624881477510795,
      7.480809895588112
    ],
    "ax_ego": [
      0.7445854850068299,
      0.8410903625789585,
      1.0368474723847922,
      0.9477205096654774,
      0.6049979163571875,
      0.11156691935103613,
      -0.13872400573956548,
      -0.22424944212807663,
      -0.28813353751486237,
      -0.2880028384343221
    ],
    "ay_ego": [
      0.9683128335257378,
      0.8857789105288127,
      0.668443474385935,
      0.28601249015281544,
      0.1385583668524381,
      0.12635622689013137,
      0.17413718440399453,
      -0.046431362110477555,
      0.02364749357073817,
      0.025189274288849983
    ],
    "a_ego": [
      1.2214897822141204,
      1.221489777427881,
      1.233640693005817,
      0.9899380328909515,
      0.6206616629222022,
      0.1685617796755568,
      0.22263896505459638,
      0.2290058594931315,
      0.28910229918319,
      0.2891022906955688
    ],
    "yaw": [
      -2.1007397040691917,
      -1.9967341991960628,
      -1.938385189934334,
      -1.9091833385349513,
      -1.9028910187204857,
      -1.895922903558346,
      -1.8867522567318158,
      -1.8845862741263177,
      -1.8844239927825692,
      -1.8790718782052804
    ],
    "yaw_diff": [
      0.20801100974625797,
      0.1166980185234574,
      0.05840370279876561,
      0.012584639628931082,
      0.013936230324279375,
      0.018341293653060475,
      0.004331965210996103,
      0.000324562687497032,
      0.010704229154577583,
      0.010704229154577583
    ],
    "min_front_frame": [
      8,
      19.620566298349196
    ],
    "v_avg": 7.255979265111881,
    "v_std": 0.6431453340289539,
    "vy_max": 0.13054418340394847,
    "a_max": 1.233640693005817,
    "ax_avg": 0.33476988415274556,
    "a_std": 0.442988277586418,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "dcc3b1a2a6da565a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      59.14647432420945,
      45.518300750942906,
      42.13198262341682,
      38.630086068594316,
      34.94831192050285,
      31.076934863865446,
      27.18735339516621,
      23.364748149188255,
      19.620566298349196,
      26.33117994619841
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dcc3b1a2a6da565a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "117372631fc4501c": {
    "vx_ego": [
      6.187248585322211,
      5.416226584400224,
      4.6643859930982146,
      3.900017550299871,
      3.110089331133285,
      2.3530774696829764,
      1.6918207081481753,
      1.1880086191727417,
      0.8778892359738675,
      0.6730360568955158
    ],
    "vy_ego": [
      0.01123894805686998,
      -0.00376504971102376,
      0.01143962672217258,
      0.009018849184207367,
      -0.003750522347018226,
      -0.0030853345408584643,
      -0.010793320359429037,
      -0.006273197684394827,
      0.0025209727208284627,
      -0.006123338293877456
    ],
    "v_ego": [
      6.187258792916708,
      5.4162278930232475,
      4.664400021189259,
      3.9000279783980543,
      3.11009159254948,
      2.3530794924139022,
      1.69185513690841,
      1.1880251816514293,
      0.8778928556163559,
      0.6730639116408822
    ],
    "ax_ego": [
      -1.5420668576980239,
      -1.5420576196732085,
      -1.4652980829380347,
      -1.5923047647329642,
      -1.5673965451561476,
      -1.4606375567760868,
      -1.184381214822984,
      -0.8307898016204242,
      -0.40970077756667467,
      -0.409708531368071
    ],
    "ay_ego": [
      0.0010158443375982706,
      0.0054322740378766055,
      0.06473632097386106,
      -0.05207374478453719,
      0.009073225940911867,
      0.005686379461844804,
      -0.029921407162110836,
      0.05368685711190896,
      -0.016659035497053637,
      -0.016467412855105973
    ],
    "a_ego": [
      1.5420671922942837,
      1.5420671878985768,
      1.4667273990469771,
      1.5931560308667778,
      1.5674228061363666,
      1.4606486255003974,
      1.1847591116476497,
      0.8325226562100627,
      0.4100393281167429,
      0.41003933513984014
    ],
    "yaw": [
      -2.0664576209448526,
      -2.0635936481647548,
      -2.0631290079253124,
      -2.0618292595114647,
      -2.0612526531717466,
      -2.060139906083075,
      -2.0593102801867342,
      -2.0582919934719923,
      -2.057819915705015,
      -2.0573521967039685
    ],
    "yaw_diff": [
      0.005727945560195735,
      0.000929280478884742,
      0.0025994968276954467,
      0.001153212679436244,
      0.002225494177342746,
      0.0016592517926818928,
      0.0020365734294838234,
      0.0009441555339542163,
      0.0009354380020933917,
      0.0009354380020933917
    ],
    "min_front_frame": [
      9,
      12.377083560153237
    ],
    "v_avg": 3.006192285630773,
    "v_std": 1.8686830258518732,
    "vy_max": 0.01143962672217258,
    "a_max": 1.5931560308667778,
    "ax_avg": -1.2004341752352619,
    "a_std": 0.45232852971353743,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "117372631fc4501c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5198727523811066,
    "right_rear_min": 18.911621016627077,
    "speed_mode": "decelerating",
    "front_frame": [
      19.59288568290692,
      18.1680780540032,
      16.72442178861981,
      15.567958352888331,
      14.55850713226832,
      13.847503015950076,
      13.278916635494776,
      12.851040152754699,
      12.581288381414474,
      12.377083560153237
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "117372631fc4501c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0722adecc3d45ac4": {
    "vx_ego": [
      11.285851200045506,
      10.8930678465329,
      10.80433944069512,
      10.720205246425888,
      10.310181956462138,
      10.159901926799995,
      9.970855748218488,
      9.509277656381757,
      9.110864881001826,
      8.722618377745077
    ],
    "vy_ego": [
      0.043016631473579814,
      0.017975392830870796,
      0.01432609077074698,
      0.01851620246590535,
      0.017622384390553858,
      0.0004523302911092486,
      0.013061296112871101,
      0.02186472836820741,
      0.003810413086184461,
      -0.004600229281825019
    ],
    "v_ego": [
      11.285933179854997,
      10.893082677732522,
      10.80434893858195,
      10.720221237234373,
      10.310197016730042,
      10.159901936869122,
      9.970864303019965,
      9.509302793186677,
      9.110865677811319,
      8.72261959080445
    ],
    "ax_ego": [
      -0.7855804527975108,
      -0.7855951273655952,
      0.43075982517378414,
      -0.7671650522587093,
      -0.8723118293453084,
      0.27201063337217957,
      -1.0288361906611638,
      -0.8166702509618745,
      -0.7768296757134782,
      -0.7761526991597159
    ],
    "ay_ego": [
      -0.04254047168956898,
      -0.04226851314938329,
      -0.029751987049543932,
      -0.036576858549418334,
      -0.1604028139568335,
      -0.2705868927059789,
      -0.08848101169767225,
      -0.1654027245927277,
      -0.11639290524211954,
      -0.12082490724592113
    ],
    "a_ego": [
      0.7867314278386958,
      0.7867314226242812,
      0.4317860670715827,
      0.7680365121453878,
      0.8869368581477652,
      0.38367571094846653,
      1.0326339122095585,
      0.8332516787314795,
      0.7855008933539215,
      0.7855009042794908
    ],
    "yaw": [
      -1.9953017467689724,
      -1.9949555630120885,
      -1.996297647612339,
      -1.9982012668427478,
      -2.002793731551083,
      -2.0117688356731263,
      -2.0217781475024257,
      -2.029218688184307,
      -2.0348494180342223,
      -2.0405571259332835
    ],
    "yaw_diff": [
      0.0006923675137677776,
      -0.002684169200501074,
      -0.0038072384608174303,
      -0.009184929416670151,
      -0.017950208244086774,
      -0.020018623658598855,
      -0.01488108136376276,
      -0.01126145969983039,
      -0.011415415798122552,
      -0.011415415798122552
    ],
    "min_front_frame": [
      7,
      18.177521882396356
    ],
    "v_avg": 10.148733735182542,
    "v_std": 0.7862177450917671,
    "vy_max": 0.043016631473579814,
    "a_max": 1.0326339122095585,
    "ax_avg": -0.5906370819717393,
    "a_std": 0.186151949705035,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0722adecc3d45ac4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.6159568709113312,
    "right_rear_min": 47.460028460124214,
    "speed_mode": "decelerating",
    "front_frame": [
      31.82376873406504,
      31.33914759981988,
      30.79683586914823,
      28.273100078475245,
      25.770882727838888,
      23.423747390536274,
      20.746827435843706,
      18.177521882396356,
      24.923801626088338,
      23.979015631269775
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0722adecc3d45ac4",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "a28e921b642a5936": {
    "vx_ego": [
      10.011714915019235,
      9.694020321678146,
      9.356727381588408,
      8.940092095585007,
      8.490977085242504,
      8.05909074625809,
      7.600546127877008,
      7.1511404292649985,
      6.72021816707943,
      6.281796357609009
    ],
    "vy_ego": [
      0.019955972176609826,
      0.028395233354671312,
      0.014479892765669078,
      -0.010294677507043382,
      -0.02961595396164407,
      -0.024366192985148416,
      0.014996651153586615,
      0.014494797167623918,
      -0.0036858042436547223,
      -0.004435247314727331
    ],
    "v_ego": [
      10.011734803741264,
      9.69406190852865,
      9.356738585675073,
      8.940098022836578,
      8.491028734307896,
      8.059127581058844,
      7.6005609228222095,
      7.151155119154759,
      6.720219177846608,
      6.2817979233567005
    ],
    "ax_ego": [
      -0.635691124145906,
      -0.6354098823217776,
      -0.7141942495848621,
      -0.9523614415501942,
      -0.8440466459749179,
      -0.8834729372283514,
      -0.9507320769727672,
      -0.8468442008416655,
      -0.8768406864828981,
      -0.8768318289049416
    ],
    "ay_ego": [
      0.08228871692896511,
      0.08443291617264206,
      -0.02100362722135013,
      -0.023979870978008466,
      -0.02978802997841168,
      0.05644040381445281,
      0.06442727196327497,
      -0.07700069811529897,
      0.009618566310894194,
      0.01039447347261857
    ],
    "a_ego": [
      0.6409950376186239,
      0.6409950357729706,
      0.7145030290324442,
      0.9526632928604345,
      0.8445721208467061,
      0.8852739406520611,
      0.952912564487205,
      0.8503377023332568,
      0.8768934406697755,
      0.8768934378016281
    ],
    "yaw": [
      1.0878690412162197,
      1.0912428035373112,
      1.094365189178355,
      1.0958391952774273,
      1.0965148221634395,
      1.0966855153993635,
      1.095518679511419,
      1.0951599191198347,
      1.0953523080365624,
      1.0962372021535103
    ],
    "yaw_diff": [
      0.006747524642182867,
      0.006244771282087669,
      0.002948012198144667,
      0.0013512537720243856,
      0.0003413864718480042,
      -0.002333671775889279,
      -0.000717520783168446,
      0.0003847778334553631,
      0.0017697882338958415,
      0.0017697882338958415
    ],
    "min_front_frame": [
      0,
      32.13601054258722
    ],
    "v_avg": 8.230652277932858,
    "v_std": 1.2175464527302837,
    "vy_max": 0.02961595396164407,
    "a_max": 0.952912564487205,
    "ax_avg": -0.8216425074008281,
    "a_std": 0.1107290196506413,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a28e921b642a5936",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.539527193335658,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      32.13601054258722,
      33.164661415030196,
      34.21838298721395,
      35.45297764938738,
      36.6579551254664,
      38.02107032019991,
      39.43099843074671,
      40.93720882754496,
      37.96717175844987,
      35.36799847377431
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a28e921b642a5936",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9e76a394983a59b6": {
    "vx_ego": [
      -0.08845809136638058,
      0.7365180641863547,
      1.5367334950608689,
      2.28600310628163,
      2.913898539416736,
      3.377625447641587,
      3.7675383919311556,
      4.043801852868878,
      4.124103659878867,
      4.143116693786467
    ],
    "vy_ego": [
      -0.017567235919829716,
      0.031590050693900196,
      0.03829355707697912,
      0.019148382116287443,
      -0.009389961828917048,
      -0.021138919673267642,
      -0.029149129873344837,
      -0.05381241340679255,
      -0.06650491913154521,
      0.05786446947480817
    ],
    "v_ego": [
      0.09018559589006378,
      0.7371952184975554,
      1.5372105357938455,
      2.2860833017339797,
      2.9139136688306566,
      3.3776915961172334,
      3.76765115243537,
      4.04415988817238,
      4.1246398511500315,
      4.143520753557258
    ],
    "ax_ego": [
      1.649179843442722,
      1.6503232102432421,
      1.5455463376193295,
      1.4503577928921352,
      1.0795987278176011,
      0.8154336337530048,
      0.7747916034014333,
      0.3695159979711031,
      -0.027189576603241616,
      0.10493938490188315
    ],
    "ay_ego": [
      0.11429801202280887,
      0.09639239619624818,
      0.0923312746259557,
      0.2820319549916802,
      0.6818937301176595,
      1.1135882091085436,
      1.2740725533080002,
      1.3916597264670554,
      1.1770041218149212,
      1.1726319575570319
    ],
    "a_ego": [
      1.6531358660346487,
      1.6531358662590365,
      1.548301826519163,
      1.4775248732388144,
      1.2769152173418399,
      1.3802212541912269,
      1.4911615941252414,
      1.4398815461790389,
      1.1773181285638887,
      1.1773181313424261
    ],
    "yaw": [
      0.36660643742344534,
      0.3774598560082852,
      0.4126624559620481,
      0.4712626036645698,
      0.5730226420154273,
      0.7176742424796012,
      0.8863571193562879,
      1.060596152614394,
      1.218691581697628,
      1.3310408427626301
    ],
    "yaw_diff": [
      0.021706837169679694,
      0.0704051999075258,
      0.1172002954050434,
      0.203520076701715,
      0.2893032009283478,
      0.3373657537533734,
      0.3484780665162124,
      0.31619085816646786,
      0.22469852213000419,
      0.22469852213000419
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.7022251562178377,
    "v_std": 1.405422047252101,
    "vy_max": 0.06650491913154521,
    "a_max": 1.6531358662590365,
    "ax_avg": 0.9412496955439213,
    "a_std": 0.16529299764608607,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "9e76a394983a59b6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "9e76a394983a59b6",
    "with_lead": "Far",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d559cac76f5a5a7d": {
    "vx_ego": [
      7.891572851690797,
      7.893837515597681,
      7.834688455668525,
      7.698372748500375,
      7.5512788446369745,
      7.400214809204666,
      7.232263577662605,
      7.023673421472913,
      6.80311879170169,
      6.602301787094693
    ],
    "vy_ego": [
      -0.0020124601514908136,
      0.0110764726783108,
      0.020771753535061777,
      0.0003321437804002514,
      0.0277162136867255,
      0.03741260065996155,
      0.013378585729545645,
      -0.010473814271142246,
      -0.006059302863498761,
      -0.012320734535759659
    ],
    "v_ego": [
      7.89157310829337,
      7.893845286734746,
      7.834715991223331,
      7.698372755665492,
      7.551329709260684,
      7.40030938036108,
      7.232275951824656,
      7.023681230828347,
      6.803121490107013,
      6.602313283113221
    ],
    "ax_ego": [
      0.00293821584946595,
      0.0058868777302956005,
      -0.24366378326584914,
      -0.30212565227097793,
      -0.2862482173212401,
      -0.31892971907408996,
      -0.3542263944647393,
      -0.48054284306739503,
      -0.40167568373406926,
      -0.4016384562953663
    ],
    "ay_ego": [
      0.22925390359732778,
      0.2291971378656409,
      0.09822341024638058,
      -0.009797899304630792,
      0.12423261758752727,
      0.13904544433962687,
      0.11842437455056186,
      0.03691565833123009,
      -0.02920914912109615,
      -0.029716721671739527
    ],
    "a_ego": [
      0.22927273153820737,
      0.22927272697643966,
      0.26271634436375574,
      0.3022844828815193,
      0.31204452437470637,
      0.3479221195904081,
      0.37349788623656344,
      0.4819587013980795,
      0.40273630243077224,
      0.4027363071815608
    ],
    "yaw": [
      0.49945166220005555,
      0.5123150807864337,
      0.5214544323688147,
      0.5269273893931037,
      0.5270880397659264,
      0.5345912655770642,
      0.5466667484126572,
      0.5554418228249851,
      0.5550814449439436,
      0.5538177702793974
    ],
    "yaw_diff": [
      0.025726837172756367,
      0.01827870316476199,
      0.01094591404857792,
      0.00032130074564551414,
      0.01500645162227543,
      0.02415096567118602,
      0.017550148824655887,
      -0.0007207557620829697,
      -0.0025273493290924876,
      -0.0025273493290924876
    ],
    "min_front_frame": [
      9,
      13.099474223095443
    ],
    "v_avg": 7.393153818741195,
    "v_std": 0.4413931222001257,
    "vy_max": 0.03741260065996155,
    "a_max": 0.4819587013980795,
    "ax_avg": -0.27802256559139654,
    "a_std": 0.07848436192603786,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "d559cac76f5a5a7d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.594909534910836,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.170439025664642,
      13.360853942346777,
      13.478604959687162,
      13.471300052022253,
      13.598720223501338,
      13.69634178236331,
      13.776136616906108,
      13.691564868544246,
      13.465299338018129,
      13.099474223095443
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d559cac76f5a5a7d",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "e0cbc7ab694157a5": {
    "vx_ego": [
      5.6420290300447995,
      5.909859221276307,
      6.191735201820332,
      6.476816970589261,
      6.78512841235308,
      7.170823790658197,
      7.5859097582144965,
      7.896653166146159,
      8.095270879929755,
      8.254824871794828
    ],
    "vy_ego": [
      0.05758125861307839,
      0.0024352350054122063,
      -0.025181881738463918,
      -0.007810758749152047,
      0.00751124428623573,
      0.01207446148654645,
      0.028145508516173923,
      0.03578540203585412,
      0.014016415331946863,
      -0.015603063736748801
    ],
    "v_ego": [
      5.64232285297569,
      5.9098597230115475,
      6.191786409157616,
      6.476821680304723,
      6.7851325698848175,
      7.1708339563324,
      7.585961971261361,
      7.896734250397757,
      8.095283014159383,
      8.254839618042283
    ],
    "ax_ego": [
      0.49286068608614786,
      0.5663826634349352,
      0.5546601050273042,
      0.5835038412138536,
      0.6492691460510209,
      0.8925462476604269,
      0.7677972883790564,
      0.47515494082707854,
      0.31913743139282125,
      0.3190841547305016
    ],
    "ay_ego": [
      0.889801483743182,
      0.8449076960477646,
      0.5454825491559475,
      0.26583362985903525,
      0.203203532047952,
      0.021701387714998355,
      0.04272473183743797,
      -0.007816604228998547,
      -0.026806507915092037,
      -0.027433386490691547
    ],
    "a_ego": [
      1.017181565090951,
      1.017181565051389,
      0.7779453988183046,
      0.6412053114840461,
      0.6803249954621577,
      0.8928100326729448,
      0.7689850965739276,
      0.47521923056001986,
      0.3202612823658358,
      0.3202612816036718
    ],
    "yaw": [
      2.349506104733106,
      2.434221171658113,
      2.496197096798568,
      2.525490148184923,
      2.5408818274056886,
      2.548317923868345,
      2.5483227227169816,
      2.548462496092877,
      2.5500984843580268,
      2.5520629361286167
    ],
    "yaw_diff": [
      0.16943013385001393,
      0.1239518502809096,
      0.05858610277271037,
      0.030783358441531128,
      0.01487219292531261,
      9.597697273378003e-06,
      0.0002795467517904271,
      0.0032719765302999804,
      0.003928903541179807,
      0.003928903541179807
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.000957604552758,
    "v_std": 0.891947980573824,
    "vy_max": 0.05758125861307839,
    "a_max": 1.017181565090951,
    "ax_avg": 0.5620396504803147,
    "a_std": 0.24314734333762095,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "e0cbc7ab694157a5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "e0cbc7ab694157a5",
    "pedestrians": "No"
  },
  "b9633d9afd4356a8": {
    "vx_ego": [
      5.061865996212514,
      5.122835520515681,
      5.25761065847817,
      5.397069119103187,
      5.508180453490866,
      5.609228976725334,
      5.707231191496572,
      5.690217221316004,
      5.506014669524483,
      5.253634376621872
    ],
    "vy_ego": [
      0.008676806819395644,
      0.1411333470547378,
      0.13710342208662296,
      0.12650829360696436,
      0.07394519152298695,
      0.044004715028975294,
      0.01748456162858769,
      -0.012407505909282524,
      -0.01946934889926677,
      -0.019817308268522904
    ],
    "v_ego": [
      5.06187343288916,
      5.124779252993053,
      5.25939798688891,
      5.398551604340612,
      5.508676773923862,
      5.609401583794828,
      5.707257974113902,
      5.690230748569351,
      5.506049091368998,
      5.253671753062814
    ],
    "ax_ego": [
      0.02557585782233812,
      0.26655353573241897,
      0.31168936879981557,
      0.27338827452546954,
      0.1773259985792069,
      0.22812900676659614,
      0.1641440566771028,
      -0.2321873526837351,
      -0.5049463075930706,
      -0.5048290380181717
    ],
    "ay_ego": [
      -1.4473884864341644,
      -1.4228621713386453,
      -0.9878876738552167,
      -0.6581303465151851,
      -0.24937323452950094,
      -0.06514860836235661,
      -0.08584496382482469,
      -0.07846679474537666,
      -0.03504609316438237,
      -0.036696672697616894
    ],
    "a_ego": [
      1.447614435948167,
      1.447614432795549,
      1.0358920401170666,
      0.7126546861223962,
      0.3059926794415487,
      0.23724920421334483,
      0.18523668415435804,
      0.24508774882456746,
      0.5061610437380206,
      0.5061610449386921
    ],
    "yaw": [
      -0.06031470184110693,
      -0.22783586340481293,
      -0.34317665676625564,
      -0.41832877269019475,
      -0.45022442337242596,
      -0.45899361665190497,
      -0.46097522278148967,
      -0.4629211775165025,
      -0.46670589900176385,
      -0.4699751068891883
    ],
    "yaw_diff": [
      -0.335042323127412,
      -0.2306815867228854,
      -0.15030423184787822,
      -0.06379130136446243,
      -0.017538386558958008,
      -0.003963212259169402,
      -0.0038919094700257117,
      -0.007569442970522644,
      -0.006538415774848927,
      -0.006538415774848927
    ],
    "min_front_frame": [
      9,
      20.747471146588406
    ],
    "v_avg": 5.411989020194548,
    "v_std": 0.21802960190023116,
    "vy_max": 0.1411333470547378,
    "a_max": 1.447614435948167,
    "ax_avg": 0.02048434006079706,
    "a_std": 0.4619065912192689,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "b9633d9afd4356a8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      22.734150051851955,
      22.799262908545387,
      22.76067582099238,
      22.5759022536842,
      22.23920970357383,
      21.68367524806454,
      21.324653507764623,
      20.747471146588406
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b9633d9afd4356a8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d546193a3a28587f": {
    "vx_ego": [
      6.1056906977893695,
      6.339286368172354,
      6.488351564946077,
      6.752458623308561,
      7.163901092976641,
      7.505998355132162,
      7.7509080561915,
      7.840583727685301,
      7.809903580924002,
      7.804203416922798
    ],
    "vy_ego": [
      -0.040278899899563125,
      -0.00011556806835688604,
      -0.006871105242945097,
      0.001936991541151789,
      0.01398355909469573,
      0.033906034924462425,
      0.01481658000035918,
      -0.03843781455495554,
      -0.05247305482759357,
      -0.07104517071747818
    ],
    "v_ego": [
      6.105823555168357,
      6.339286369225784,
      6.488355203164009,
      6.7524589011285645,
      7.163914740550509,
      7.506074934774567,
      7.750922217812356,
      7.840677946225778,
      7.810079856493945,
      7.804526788280744
    ],
    "ax_ego": [
      0.44527869523664143,
      0.4930452814174598,
      0.1085122544880362,
      0.9594095122291595,
      0.6880265743528281,
      0.6803585137041468,
      0.30445371862158593,
      0.07293636294080436,
      -0.1546570832454236,
      0.16766998360076435
    ],
    "ay_ego": [
      0.825649733589036,
      0.7980457173916043,
      0.9264313661109967,
      1.1939438198777896,
      1.2957993653134334,
      1.4872717366379136,
      1.777246980376278,
      1.9775780859850347,
      2.2195823745059684,
      2.21863731057696
    ],
    "a_ego": [
      0.9380674810520254,
      0.9380674904158562,
      0.9327646999583357,
      1.531655462948558,
      1.4671320874966864,
      1.6355014294618244,
      1.803135850688769,
      1.9789226359833438,
      2.2249639841164925,
      2.2249639860646835
    ],
    "yaw": [
      2.70069936990532,
      2.7595192883499493,
      2.827256075200337,
      2.907238319020731,
      2.9944798907745485,
      3.086543184722954,
      -3.0879322261901745,
      -2.9613283743947263,
      -2.8261428617588202,
      -2.6811468139957295
    ],
    "yaw_diff": [
      0.11763983688925883,
      0.13547357370077506,
      0.15996448764078863,
      0.1744831435076346,
      0.18412658789681124,
      0.21741979253291532,
      0.2532077035908964,
      0.2703710252718121,
      0.28999209552618144,
      0.28999209552618144
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.156212051282461,
    "v_std": 0.6459276395768883,
    "vy_max": 0.07104517071747818,
    "a_max": 2.2249639860646835,
    "ax_avg": 0.37650338133460026,
    "a_std": 0.4796407868499647,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "d546193a3a28587f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.912347607002578,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d546193a3a28587f",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "11ba25cefa3b5a5e": {
    "vx_ego": [
      1.5698157706014575,
      0.9652962873399744,
      0.3988645553722102,
      0.04318574299641407,
      -0.04478922663328823,
      -0.03163566628437223,
      -0.017818289429521794,
      -0.011158923819224292,
      -0.007344591457550735,
      -0.004662390182180016
    ],
    "vy_ego": [
      -0.015597081951615577,
      0.006179696097693033,
      0.012365362446488143,
      0.010156328300865908,
      0.0074311440429614545,
      0.0017526572812581551,
      0.0012202856187517016,
      0.0009625962174212681,
      0.0008074507374590443,
      0.0006576579241948047
    ],
    "v_ego": [
      1.5698932519743032,
      0.9653160679260437,
      0.3990561811583727,
      0.04436394259651971,
      0.04540150574810595,
      0.03168417884057772,
      0.01786002618098698,
      0.011200364828033282,
      0.007388842965698377,
      0.004708545014773122
    ],
    "ax_ego": [
      -1.2090446804472978,
      -1.209024710676099,
      -1.0567261535591599,
      -0.36598642838452006,
      0.014088275357266096,
      0.03852593988265726,
      0.01674402183761698,
      0.009893205227908746,
      0.005364321100004459,
      0.0053643104451916905
    ],
    "ay_ego": [
      0.04441645395811855,
      0.044956851931010955,
      -0.01929687837712113,
      0.010413236383346847,
      -0.0213074857946734,
      -0.0014071466285945043,
      -0.0007152706475154133,
      -0.0003185976690414675,
      -0.0003000929290612312,
      -0.0003003986153242511
    ],
    "a_ego": [
      1.209860264948032,
      1.2098602686099629,
      1.0569023290404078,
      0.3661345398260493,
      0.025543853535290244,
      0.038551629089786675,
      0.0167592923298626,
      0.009898333908099868,
      0.005372708500377217,
      0.005372714945023735
    ],
    "yaw": [
      -0.5773842732369872,
      -0.5769373096776325,
      -0.5765914359362554,
      -0.5766795945806031,
      -0.5767132430873169,
      -0.5767091812180825,
      -0.5767895977441402,
      -0.5767326520955391,
      -0.5767873426751942,
      -0.5767317170767277
    ],
    "yaw_diff": [
      0.0008939271187093922,
      0.0006917474827541348,
      -0.00017631728869549335,
      -6.729701342744754e-05,
      8.123738468812647e-06,
      -0.00016083305211544996,
      0.00011389129720207336,
      -0.00010938115931002912,
      0.00011125119693300434,
      0.00011125119693300434
    ],
    "min_front_frame": [
      3,
      8.819996916715004
    ],
    "v_avg": 0.3096872907233415,
    "v_std": 0.5101115688136685,
    "vy_max": 0.015597081951615577,
    "a_max": 1.2098602686099629,
    "ax_avg": -0.37508018992164316,
    "a_std": 0.5123944355955844,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "11ba25cefa3b5a5e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 22.217791985180853,
    "right_rear_min": 13.336646058279083,
    "speed_mode": "decelerating",
    "front_frame": [
      9.802699561212652,
      9.178590627010061,
      8.870097377654734,
      8.819996916715004,
      8.843160064455567,
      8.846764666701436,
      8.862493561195697,
      8.85016059303303,
      8.857904627682766,
      8.863372023624683
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "11ba25cefa3b5a5e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f40172a8fb1a54ee": {
    "vx_ego": [
      0.2965682379734233,
      0.13661005813009425,
      0.024444677584751322,
      -0.009871306372652041,
      -0.009220544337184163,
      -0.005065324945788061,
      -0.0030107090246204076,
      -0.001923988125840637,
      -0.0013448936931312217,
      -0.001016932489570765
    ],
    "vy_ego": [
      -0.011398649549796441,
      -0.02244929325748645,
      -0.012758031579816427,
      -0.0001498884266869999,
      -0.001991753709836677,
      -0.0008865837523255081,
      -0.0005476056791029456,
      -0.0003698042721243294,
      -0.00024220717649953318,
      -0.00020810875250454032
    ],
    "v_ego": [
      0.2967872116285001,
      0.1384423300514274,
      0.027573712699127714,
      0.009872444279063594,
      0.009433213700252269,
      0.0051423290011735345,
      0.0030601047058420342,
      0.0019592053256504718,
      0.0013665296784819614,
      0.0010380081604754318
    ],
    "ax_ego": [
      -0.3199434807106938,
      -0.31993000417761325,
      -0.12877791263381447,
      -0.008486344281553489,
      0.011089025194699658,
      0.005531806039053943,
      0.00268669031189341,
      0.0016603359612151647,
      0.0006559371489510357,
      0.0006559429786759594
    ],
    "ay_ego": [
      -0.022266027104064223,
      -0.02245892825749779,
      0.06113029491543476,
      -0.010698736599316819,
      0.0033328462213212213,
      0.0010881129198928676,
      0.00026761733310990505,
      0.00044290902380048774,
      6.811020269163612e-05,
      6.807611059326e-05
    ],
    "a_ego": [
      0.3207173316368684,
      0.3207173382147636,
      0.14255056555051046,
      0.013655804776234053,
      0.011579047616434563,
      0.005637807000966905,
      0.0026999859016303704,
      0.0017183957365718137,
      0.0006594638300048829,
      0.000659466108384499
    ],
    "yaw": [
      -0.5727830089134376,
      -0.5733859833567966,
      -0.5737994820210376,
      -0.5737671541457083,
      -0.573800148636527,
      -0.5738114343989968,
      -0.5737996717407619,
      -0.5737283572310504,
      -0.5738348517447376,
      -0.5737882808060002
    ],
    "yaw_diff": [
      -0.001205948886717989,
      -0.0008269973284820153,
      6.465575065850437e-05,
      -6.598898163723277e-05,
      -2.2571524939785093e-05,
      2.352531646998557e-05,
      0.00014262901942285744,
      -0.0002129890273743218,
      9.314187747477831e-05,
      9.314187747477831e-05
    ],
    "min_front_frame": [
      3,
      8.623232736945084
    ],
    "v_avg": 0.04946750892299945,
    "v_std": 0.09152482438812352,
    "vy_max": 0.02244929325748645,
    "a_max": 0.3207173382147636,
    "ax_avg": -0.07548580041691857,
    "a_std": 0.12612124528481053,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f40172a8fb1a54ee",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.761129532196803,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.750608225441619,
      8.664284111263342,
      8.643304936598257,
      8.623232736945084,
      8.634700877450303,
      8.645546942342191,
      8.648610258711878,
      8.645521417110448,
      8.642236867899642,
      8.644793587365253
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f40172a8fb1a54ee",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6012210b020c53a9": {
    "vx_ego": [
      4.453415805621666,
      4.653347434080143,
      4.924223730279852,
      5.24083262496425,
      5.59164518790535,
      5.921800353877002,
      6.252043066465614,
      6.484695422167896,
      6.653430859345642,
      6.837952247073571
    ],
    "vy_ego": [
      -0.07264044236451328,
      0.04182640873506038,
      0.0357171239187003,
      0.026098249922997585,
      0.0005822093752190227,
      0.033752765396772855,
      0.036640837527095016,
      0.07077212802349075,
      0.023716902260880968,
      -0.029193833535291258
    ],
    "v_ego": [
      4.454008191688446,
      4.653535407701108,
      4.924353262997309,
      5.24089760647341,
      5.5916452182155485,
      5.9218965442119735,
      6.252150434523744,
      6.485081604142714,
      6.653473129993518,
      6.838014566610324
    ],
    "ax_ego": [
      0.19879327445607708,
      0.6052166424799367,
      0.47710578645129587,
      0.7657231738574104,
      0.5987928359582939,
      0.6788287839507702,
      0.5998723698633353,
      0.29573669491286503,
      0.367731872535651,
      0.37049420788573834
    ],
    "ay_ego": [
      2.071199523703731,
      1.9907533999446139,
      2.2903683181212227,
      2.3332052613518726,
      2.06559516076476,
      1.6514154285675482,
      1.209409980753237,
      0.4948819585325641,
      0.15071470894481787,
      0.14379045883917763
    ],
    "a_ego": [
      2.0807177206338037,
      2.0807177328330067,
      2.3395334928397045,
      2.4556422317964657,
      2.1506362380862485,
      1.785491930990174,
      1.3500071709702135,
      0.5765139595872866,
      0.39741873832382063,
      0.397418739027316
    ],
    "yaw": [
      2.8460725188662304,
      3.0455210104662136,
      -3.0145703655851492,
      -2.7846320340451243,
      -2.5784146201982456,
      -2.4228000536641474,
      -2.306097739842434,
      -2.244936970608166,
      -2.2131633688748247,
      -2.1944047590480773
    ],
    "yaw_diff": [
      0.39889698319996647,
      0.4461878622564468,
      0.45987666308004993,
      0.4124348276937573,
      0.31122913306819644,
      0.23340462764342718,
      0.12232153846853677,
      0.06354720346668152,
      0.03751721965349475,
      0.03751721965349475
    ],
    "min_front_frame": [
      7,
      29.561061212027994
    ],
    "v_avg": 5.701505596655809,
    "v_std": 0.8152517497975944,
    "vy_max": 0.07264044236451328,
    "a_max": 2.4556422317964657,
    "ax_avg": 0.49582956423513735,
    "a_std": 0.7788678601309496,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "6012210b020c53a9",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 31.35462223558244,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      32.946160591867866,
      29.561061212027994,
      42.00600887654264,
      38.51525601244603
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6012210b020c53a9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e3eaafd948b15069": {
    "vx_ego": [
      3.5027643712883556,
      3.443347492202638,
      3.3889165853920007,
      3.3674640845250505,
      3.3812442019779865,
      3.3963403611000382,
      3.4168399365002533,
      3.4281433754145025,
      3.4480331503309216,
      3.4828220108696666
    ],
    "vy_ego": [
      -0.003339419424355672,
      -0.011696752805188004,
      -0.01712562438294933,
      0.004293465835006172,
      0.020706342929235122,
      0.02403207054284906,
      0.027442933603177178,
      0.00793715548809426,
      -0.020738934795077046,
      -0.027614783087400507
    ],
    "v_ego": [
      3.5027659631338777,
      3.443367358572765,
      3.3889598566161094,
      3.367466821575977,
      3.3813076029913716,
      3.39642538396646,
      3.4169501410274927,
      3.4281525638214503,
      3.4480955191521905,
      3.482931485924349
    ],
    "ax_ego": [
      -0.1489264471707683,
      -0.08527096075465561,
      -0.13039140444407243,
      0.050853553321511334,
      -0.005568140470467164,
      0.0625097397966208,
      0.006903675106041257,
      0.02902208407281104,
      0.053402432874946476,
      0.09294496863782817
    ],
    "ay_ego": [
      0.6502004126147276,
      0.6615652095550223,
      0.5905708103599364,
      0.6811970236467972,
      0.5536451872336766,
      0.6546865273062451,
      0.5788673784134559,
      0.5009229840114906,
      0.5191087725514455,
      0.5135045967599843
    ],
    "a_ego": [
      0.6670379773530662,
      0.6670379773608116,
      0.6047940148530652,
      0.6830925771157809,
      0.553673186577887,
      0.6576639845740011,
      0.5789085441770893,
      0.5017630090739107,
      0.5218483856225211,
      0.5218483861129791
    ],
    "yaw": [
      -0.1753803450281195,
      -0.07840327840707934,
      0.014599204069040419,
      0.10291005706721666,
      0.18929891233873397,
      0.27762376318436677,
      0.3669078809842055,
      0.4514996496488919,
      0.5340381061543886,
      0.6105880048783978
    ],
    "yaw_diff": [
      0.19395413324208033,
      0.1860049649522395,
      0.1766217059963525,
      0.17277771054303462,
      0.1766497016912656,
      0.1785682355996775,
      0.16918353732937275,
      0.16507691301099348,
      0.15309979744801838,
      0.15309979744801838
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.425642269678204,
    "v_std": 0.04204696365571271,
    "vy_max": 0.027614783087400507,
    "a_max": 0.6830925771157809,
    "ax_avg": -0.007452049903020447,
    "a_std": 0.06596844286718098,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "e3eaafd948b15069",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e3eaafd948b15069",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e429babc45b05f4e": {
    "vx_ego": [
      8.622444359130247,
      8.464889053160674,
      8.302139403773735,
      8.147938348577718,
      7.998786866140081,
      7.708451500310192,
      7.183586153421439,
      6.552341634045039,
      5.908568359677139,
      5.256839741692156
    ],
    "vy_ego": [
      -0.005072929615231203,
      0.01426854007743028,
      0.024717391602478767,
      -0.012685332793083148,
      -0.01976606372953249,
      -0.007393319868419734,
      0.005657647296329227,
      -0.011542173468642503,
      -0.0010712863012605212,
      0.047961052554847505
    ],
    "v_ego": [
      8.62244585143403,
      8.46490107878145,
      8.302176198391608,
      8.147948223319258,
      7.998811288385945,
      7.7084550458449925,
      7.183588381345437,
      6.5523518000034455,
      5.9085684567949395,
      5.257058524726182
    ],
    "ax_ego": [
      -0.3151273889998915,
      -0.31510319297493805,
      -0.3359898792037777,
      -0.2806818859237467,
      -0.31546401868275464,
      -0.8457033592547096,
      -1.253787431128269,
      -1.2711752753234131,
      -1.3036342683474964,
      -1.3034367535138043
    ],
    "ay_ego": [
      0.047325339692492446,
      0.047486208145851166,
      0.031081558426559297,
      0.10924618569384568,
      0.10300900198555811,
      0.07814573906552374,
      0.04704481055656784,
      0.029327603160618554,
      0.11582471317558618,
      0.11802670621262445
    ],
    "a_ego": [
      0.31866119794367614,
      0.31866120282687715,
      0.3374244540657846,
      0.3011927126846952,
      0.33185599523518344,
      0.8493061452672984,
      1.2546697321030453,
      1.2715135425549748,
      1.3087695250853448,
      1.3087695266126909
    ],
    "yaw": [
      2.5351986273093132,
      2.5357091123450743,
      2.5368053380071363,
      2.5456253771637156,
      2.553071082076781,
      2.5572271820758763,
      2.559661033973919,
      2.5649437285776298,
      2.5690847345335746,
      2.570773980188169
    ],
    "yaw_diff": [
      0.0010209700715222425,
      0.002192451324123823,
      0.017640078313158725,
      0.014891409826130797,
      0.00831219999819055,
      0.004867703796085365,
      0.01056538920742156,
      0.008282011911889597,
      0.003378491309188547,
      0.003378491309188547
    ],
    "min_front_frame": [
      9,
      22.066262873527137
    ],
    "v_avg": 7.4146304849027285,
    "v_std": 1.0970516506833925,
    "vy_max": 0.047961052554847505,
    "a_max": 1.3087695266126909,
    "ax_avg": -0.7540103453352801,
    "a_std": 0.4559119577921161,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e429babc45b05f4e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.319507898432207,
    "speed_mode": "decelerating",
    "front_frame": [
      55.54818078103861,
      51.302759530185575,
      47.11138081871609,
      43.01613008876813,
      38.9769032365445,
      35.01013073753047,
      31.307767301315216,
      27.883165377786973,
      24.755817095592427,
      22.066262873527137
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e429babc45b05f4e",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "25d82b3bc5bf5637": {
    "vx_ego": [
      8.121875723039643,
      7.934704861555851,
      7.658539531591107,
      7.268369883919383,
      6.925962243248621,
      6.700904440893441,
      6.660928278146639,
      6.718929740005013,
      6.774660633833755,
      6.87232110502528
    ],
    "vy_ego": [
      0.005239178442320025,
      -0.008893375210346832,
      0.016768178586275884,
      0.013252004667745787,
      0.023812657426079298,
      0.013263017848728964,
      0.016971129185430645,
      0.016418620121315897,
      0.02249888516717169,
      0.03744581624661425
    ],
    "v_ego": [
      8.12187741285791,
      7.934709845490299,
      7.658557888320544,
      7.268381964721858,
      6.926003179147348,
      6.700917566544741,
      6.660949898163127,
      6.718949800542531,
      6.774697993523441,
      6.872423121412874
    ],
    "ax_ego": [
      -0.3751843724302585,
      -0.3733904473936992,
      -0.7312511477960366,
      -0.8305597504187284,
      -0.5389177501189184,
      -0.36135548306863174,
      0.20375153895462664,
      0.027689025633287255,
      0.19552063293681252,
      0.19567716491803577
    ],
    "ay_ego": [
      0.15402127732985446,
      0.15832069805121426,
      0.1947620613143068,
      0.02405757931678637,
      -0.025520278731130358,
      0.002261660343705091,
      -0.2852822232725906,
      -0.06436115255841807,
      -0.034082474726599574,
      -0.03317203304502363
    ],
    "a_ego": [
      0.4055685727299477,
      0.4055685757505019,
      0.7567433525842291,
      0.8309080972876627,
      0.5395216640875059,
      0.36136256066625727,
      0.35057187072229706,
      0.07006454238178397,
      0.19846897235462543,
      0.19846898157319273
    ],
    "yaw": [
      1.0075167365097368,
      1.019003567263593,
      1.0269880043405555,
      1.0347758342586042,
      1.0332283520874985,
      1.0339255718808,
      1.0226609225692398,
      1.009720228448852,
      1.0051570473168308,
      1.0005024517167438
    ],
    "yaw_diff": [
      0.022973661507712517,
      0.015968874153924784,
      0.015575659836097433,
      -0.003094964342211348,
      0.0013944395866030135,
      -0.022529298623120475,
      -0.02588138824077557,
      -0.009126362264042509,
      -0.009309191200173927,
      -0.009309191200173927
    ],
    "min_front_frame": [
      0,
      16.19011878179034
    ],
    "v_avg": 7.163746867072469,
    "v_std": 0.5220914960976518,
    "vy_max": 0.03744581624661425,
    "a_max": 0.8309080972876627,
    "ax_avg": -0.2588020588783511,
    "a_std": 0.22915587156285538,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "25d82b3bc5bf5637",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.19011878179034,
      18.02129582283356,
      53.69072523881542,
      50.007682912416556,
      46.50275936459926,
      43.08982017048751,
      39.78979409084016,
      36.38683108524275,
      33.00672619915694,
      29.61076672270548
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "25d82b3bc5bf5637",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e9d16ba0eb935220": {
    "vx_ego": [
      1.900800494174276,
      1.4282937836765295,
      0.9651872295431958,
      0.5101827151988756,
      0.13431223284016355,
      -0.03194303311132808,
      -0.03995666940511375,
      -0.02303194350002342,
      -0.013553849322485519,
      -0.007439277553144354
    ],
    "vy_ego": [
      -0.06621920871230713,
      -0.018719805830344452,
      0.03842915019258067,
      0.048395065873403365,
      0.010853906886799464,
      -0.005145163118574467,
      -0.00491540863152732,
      -0.0016536588193658132,
      -0.0009092096266176582,
      -0.00043146460959215096
    ],
    "v_ego": [
      1.901953601499168,
      1.4284164531464003,
      0.9659519592908302,
      0.5124729117607955,
      0.1347500767540324,
      0.03235475340453302,
      0.040257877141802276,
      0.023091232294512508,
      0.013584310567775437,
      0.007451779131324811
    ],
    "ax_ego": [
      -0.9450086588079425,
      -0.9449964663929451,
      -0.9074400166826005,
      -0.9125221546454398,
      -0.5909572706382207,
      -0.07406626137455942,
      0.04201523765482941,
      0.02568333505052916,
      0.012229130973927301,
      0.012229135874367343
    ],
    "ay_ego": [
      0.0953642092489694,
      0.0954850918403895,
      0.1356387504344604,
      -0.09634507641313791,
      -0.05384882972266958,
      -0.010134829250680355,
      0.011030610532062229,
      0.0020206960546810086,
      0.000955588740087085,
      0.0009556677496230331
    ],
    "a_ego": [
      0.9498082425561843,
      0.9498082565754629,
      0.9175212556101031,
      0.9175941676295732,
      0.5934055882637744,
      0.0747564434543605,
      0.04343909027479555,
      0.025762703892703943,
      0.012266409181893832,
      0.01226642022276295
    ],
    "yaw": [
      1.5909583055596261,
      1.591086221134624,
      1.5916164050144586,
      1.5914234016432234,
      1.5913974540395257,
      1.59116251366301,
      1.5912776505289863,
      1.5912411192861613,
      1.5912639421449382,
      1.5912573580426634
    ],
    "yaw_diff": [
      0.0002558311499956112,
      0.001060367759669223,
      -0.00038600674247035727,
      -5.189520739534714e-05,
      -0.00046988075303122656,
      0.00023027373195239065,
      -7.30624856499773e-05,
      4.564571755372171e-05,
      -1.3168204549440787e-05,
      -1.3168204549440787e-05
    ],
    "min_front_frame": [
      8,
      11.86656761883406
    ],
    "v_avg": 0.5060284954991174,
    "v_std": 0.6568441773883765,
    "vy_max": 0.06621920871230713,
    "a_max": 0.9498082565754629,
    "ax_avg": -0.4282833988988055,
    "a_std": 0.42739901680538656,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e9d16ba0eb935220",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.762256882382394,
      12.918661766765137,
      12.353556705865511,
      11.996490909999077,
      11.866642534264525,
      11.879597578781137,
      11.892000241294415,
      11.891685234920493,
      11.86656761883406,
      11.89807524866695
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e9d16ba0eb935220",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c89f33e9f07d5aa8": {
    "vx_ego": [
      0.8173843945593406,
      0.8882924498253078,
      1.1174865204067908,
      1.5601149218076396,
      2.0560121857937528,
      2.618798765890015,
      3.098061007589159,
      3.548789461668454,
      3.9776622028188013,
      4.26755218601099
    ],
    "vy_ego": [
      0.022492096378909684,
      0.007061327114198761,
      -0.019966416341883536,
      -0.01238908033348371,
      0.045249309689239736,
      0.08621104855189243,
      0.10861974452528766,
      0.057109403318031715,
      0.026035714011110045,
      -0.018743408850128818
    ],
    "v_ego": [
      0.8176937952978842,
      0.8883205157809092,
      1.1176648786968364,
      1.560164112700445,
      2.0565100554482485,
      2.620217418673397,
      3.0999645571595,
      3.5492489525526967,
      3.9777474100472228,
      4.267593347040285
    ],
    "ax_ego": [
      0.13935550860830426,
      0.14762539685331783,
      0.7713493370230914,
      0.9926516851528866,
      1.0040423988317417,
      1.281648103179042,
      0.6796559824527231,
      1.1398463819400506,
      0.5778592636513963,
      0.5818660956897721
    ],
    "ay_ego": [
      -0.13951624697544354,
      -0.13073438670559237,
      -0.2434851635294793,
      -0.23993672258457507,
      -0.3417024144720475,
      -0.46890446277766995,
      -0.5921824675380618,
      -0.4485285125931671,
      -0.23697245871247216,
      -0.22695622104067584
    ],
    "a_ego": [
      0.19719214221056608,
      0.1971921338780707,
      0.8088663824049926,
      1.0212379736777775,
      1.060594964492961,
      1.364731935434667,
      0.9014501258213035,
      1.2249194263423462,
      0.6245616661114963,
      0.6245616699592789
    ],
    "yaw": [
      1.700195479074933,
      1.6390128773163162,
      1.5671167152982202,
      1.4692397051656978,
      1.3569678210766056,
      1.2512718489262369,
      1.153288995006227,
      1.089417973738715,
      1.0528229983564006,
      1.0355499656371379
    ],
    "yaw_diff": [
      -0.12236520351723357,
      -0.14379232403619202,
      -0.19575402026504474,
      -0.22454376817818433,
      -0.2113919443007375,
      -0.19596570784001965,
      -0.12774204253502397,
      -0.07318995076462897,
      -0.03454606543852545,
      -0.03454606543852545
    ],
    "min_front_frame": [
      9,
      48.11448278161592
    ],
    "v_avg": 2.3955125043397425,
    "v_std": 1.2285263726406808,
    "vy_max": 0.10861974452528766,
    "a_max": 1.364731935434667,
    "ax_avg": 0.7315900153382325,
    "a_std": 0.376158636344744,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "c89f33e9f07d5aa8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      51.68317258593075,
      50.737310421912305,
      49.560133325586975,
      48.11448278161592
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c89f33e9f07d5aa8",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "c8fa1980b26e5f46": {
    "vx_ego": [
      6.783038720476239,
      6.346848663971473,
      5.925293573654197,
      5.5643137861708745,
      5.236647655812435,
      4.859962438480605,
      4.424444112218273,
      3.973556759761204,
      3.556849365484948,
      3.1674171122379766
    ],
    "vy_ego": [
      -0.04270267558466079,
      -0.028974462392968525,
      -0.034607203820141715,
      -0.020371765965203438,
      -0.0033680282288387417,
      -0.02228326972368381,
      -0.024055592590294557,
      0.0036509123535485785,
      0.015096877308454743,
      0.009684134915180227
    ],
    "v_ego": [
      6.783173136665614,
      6.346914800344136,
      5.925394636017417,
      5.564351078052121,
      5.236648738911177,
      4.860013523391877,
      4.424509506564294,
      3.9735584369938457,
      3.5568814043281147,
      3.1674319164532987
    ],
    "ax_ego": [
      -0.8725572415494219,
      -0.8725469021918316,
      -0.8137903743984244,
      -0.6303134844648053,
      -0.6803443446789268,
      -0.8264233679504279,
      -0.9154601138026786,
      -0.8880228374691449,
      -0.7788821270595458,
      -0.7788864944221995
    ],
    "ay_ego": [
      -0.003222786013917553,
      -0.0053316607328889615,
      -0.043753561232384455,
      0.07578496951868789,
      -0.03139269939663636,
      -0.05873376778308135,
      0.07386714310386155,
      0.06685076693107658,
      -0.0057311712044879615,
      -0.005104810420201725
    ],
    "a_ego": [
      0.8725631932015169,
      0.8725631914828474,
      0.8149657339937942,
      0.634853093481565,
      0.6810682263268533,
      0.8285078385703573,
      0.9184353950027947,
      0.890535560719517,
      0.7789032123288347,
      0.7789032226680855
    ],
    "yaw": [
      -1.5525840073812174,
      -1.5550009084480219,
      -1.5560840963448999,
      -1.5571724791767751,
      -1.5582647593068542,
      -1.558978531745677,
      -1.5577846204019659,
      -1.5560034631423394,
      -1.5549815058970524,
      -1.5541773301178967
    ],
    "yaw_diff": [
      -0.004833802133608955,
      -0.0021663757937560035,
      -0.0021767656637505794,
      -0.0021845602601580083,
      -0.0014275448776457367,
      0.002387822687422325,
      0.0035623145192529293,
      0.0020439144905739504,
      0.001608351558311405,
      0.001608351558311405
    ],
    "min_front_frame": [
      9,
      15.052658888809518
    ],
    "v_avg": 4.983887717772189,
    "v_std": 1.1431274960198141,
    "vy_max": 0.04270267558466079,
    "a_max": 0.9184353950027947,
    "ax_avg": -0.8057227287987405,
    "a_std": 0.08694320004853011,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c8fa1980b26e5f46",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.598474149614482,
    "right_rear_min": 27.12801143278341,
    "speed_mode": "decelerating",
    "front_frame": [
      20.342498222224368,
      19.894149132893137,
      19.404862871109543,
      18.886979224767853,
      18.165181379712617,
      17.50508713077942,
      16.746895621619263,
      16.08867853746805,
      15.585171765058595,
      15.052658888809518
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c8fa1980b26e5f46",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "64a417561b53530f": {
    "vx_ego": [
      8.061903001578738,
      8.423166403916035,
      8.857028930264544,
      9.322451847158849,
      9.779428972802268,
      10.20429943158561,
      10.568238543840298,
      10.866031604979309,
      11.121111273373952,
      11.349217865275932
    ],
    "vy_ego": [
      -0.02140493752982886,
      -0.003240874470805899,
      0.005779528803354417,
      0.010414281225115118,
      -0.1491511651116264,
      -0.1450496970475017,
      -0.12950341476615002,
      -0.1053422785078153,
      -0.04692815271358164,
      0.028184946688424972
    ],
    "v_ego": [
      8.06193141735992,
      8.423167027391012,
      8.857030815939181,
      9.322457664148915,
      9.78056629772216,
      10.205330288828089,
      10.569031982823583,
      10.866542220782582,
      11.121210285139037,
      11.349252862841599
    ],
    "ax_ego": [
      0.6190152644630816,
      0.8270426634187282,
      0.9237185194825519,
      0.9360929336992723,
      0.8732048794296334,
      0.8314968253136585,
      0.6283840172191166,
      0.5648558980882301,
      0.4561461749199168,
      0.4563171256009797
    ],
    "ay_ego": [
      1.907456530207571,
      1.8269019574722671,
      2.1081133823983214,
      2.14057220396848,
      1.2306765859560262,
      0.3250710897002943,
      0.12122266357327688,
      0.15729256253776602,
      0.17272214301695263,
      0.17226997867803312
    ],
    "a_ego": [
      2.005385327629033,
      2.0053853318828145,
      2.3016076851370495,
      2.3363046335878774,
      1.508990265270158,
      0.8927811511594707,
      0.639969848711824,
      0.5863472826190619,
      0.48775226455900744,
      0.48775225747347417
    ],
    "yaw": [
      -2.5524163284925634,
      -2.4411187052923298,
      -2.3282655275320887,
      -2.212032774651745,
      -2.1072643466505925,
      -2.0687743049661007,
      -2.059551328819256,
      -2.0553119555130017,
      -2.0531234219194285,
      -2.05213234162657
    ],
    "yaw_diff": [
      0.22259524640046724,
      0.22570635552048213,
      0.23246550576068703,
      0.20953685600230543,
      0.07698008336898354,
      0.01844595229368906,
      0.008478746612508914,
      0.004377067187146366,
      0.0019821605857170965,
      0.0019821605857170965
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.855652086297606,
    "v_std": 1.097369186357656,
    "vy_max": 0.1491511651116264,
    "a_max": 2.3363046335878774,
    "ax_avg": 0.711627430163517,
    "a_std": 0.7443020057330185,
    "ini_direction_judge": "left",
    "scenario_type": "lane_change",
    "scene_token": "64a417561b53530f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 30.17031888094849,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_change",
    "lane_change_frame": 8,
    "token": "64a417561b53530f",
    "smoothness": "No"
  },
  "faf7e71648b65503": {
    "vx_ego": [
      7.014369495278423,
      6.809342617141976,
      6.588001123878403,
      6.393989816985945,
      6.368183181757001,
      6.432205248852513,
      6.389265839555307,
      6.223997966273894,
      5.975908563548785,
      5.742147577406069
    ],
    "vy_ego": [
      0.06466839875110031,
      -0.028094267158785158,
      -0.029996143905993478,
      -0.041260392345386254,
      -0.03039320038060378,
      -0.015482359523704137,
      -0.005085632198390311,
      0.043506358040079185,
      0.054597893986140233,
      0.0012927907749559209
    ],
    "v_ego": [
      7.014667591417965,
      6.809400573139542,
      6.588069411965263,
      6.394122942178736,
      6.368255709614846,
      6.432223881895145,
      6.389267863547688,
      6.2241500212777225,
      5.976157970629911,
      5.742147722935937
    ],
    "ax_ego": [
      -0.4106250567514807,
      -0.40904223238041987,
      -0.4746745047865818,
      -0.3038645311754883,
      0.1940210844893595,
      0.05762251512814043,
      -0.2262476146492508,
      -0.41799906722407293,
      -0.5438820019541446,
      -0.3751472604208901
    ],
    "ay_ego": [
      -0.26614885377583175,
      -0.2685751363691361,
      -0.6033219871429114,
      -0.7928158417024769,
      -0.8851179643837539,
      -0.9480706777028762,
      -1.1073774007012762,
      -1.2833153383263034,
      -1.4313372403258422,
      -1.484519605756351
    ],
    "a_ego": [
      0.48933439445674143,
      0.48933439665167366,
      0.767667444707966,
      0.8490527734840198,
      0.9061335398832048,
      0.9498201746486983,
      1.1302533745662477,
      1.3496745821803675,
      1.5311870975139668,
      1.5311870972798494
    ],
    "yaw": [
      2.3805208036341967,
      2.3746006302012743,
      2.342386865474489,
      2.290190251676181,
      2.2221107179674604,
      2.148404038223304,
      2.0671207240394454,
      1.9651233286670724,
      1.852458188814934,
      1.7368511661199464
    ],
    "yaw_diff": [
      -0.011840346865844786,
      -0.064427529453571,
      -0.10439322759661529,
      -0.13615906741744155,
      -0.14741335948831313,
      -0.16256662836771696,
      -0.2039947907447459,
      -0.22533027970427666,
      -0.23121404538997536,
      -0.23121404538997536
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.393846368860276,
    "v_std": 0.35013528893771007,
    "vy_max": 0.06466839875110031,
    "a_max": 1.5311870975139668,
    "ax_avg": -0.2909838669724829,
    "a_std": 0.36238167846987274,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "faf7e71648b65503",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 48.70905831816164,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "faf7e71648b65503",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "ebffacdb3be25252": {
    "vx_ego": [
      -0.005398593846756742,
      -0.005188480806416749,
      -0.0038542091493554264,
      -0.002128538798434777,
      -0.00139658759587202,
      -0.0009583782162729002,
      -0.0006533488683485455,
      -0.00047321900590802384,
      -0.00038190548988848615,
      -0.00035578818740241824
    ],
    "vy_ego": [
      0.006713081670199565,
      0.0034214330516683616,
      0.001500293879235838,
      0.001015847801054604,
      0.0007311615035723614,
      0.0005668872042557068,
      0.00042512151997498607,
      0.0003388013195999522,
      0.00029885257228464166,
      0.00028432271905844863
    ],
    "v_ego": [
      0.00861453893328071,
      0.0062150251170533235,
      0.004135917055629573,
      0.002358521607140719,
      0.0015764054228686812,
      0.001113485477128138,
      0.0007794825530556585,
      0.0005819987643588664,
      0.0004849377930911464,
      0.000455438956247583
    ],
    "ax_ego": [
      0.0004208098121666107,
      0.0004213702352781749,
      0.0049154230684751304,
      0.0019872431538140944,
      0.0009403337337714809,
      0.0008126094029287383,
      0.0004075098452538749,
      0.00031299521425874014,
      5.223772301060499e-05,
      5.2241570880730055e-05
    ],
    "ay_ego": [
      -0.006582401831506875,
      -0.006582361446523262,
      -0.0011030095773307137,
      -0.0008347778194189653,
      -0.0003043914287462479,
      -0.0003524924901774009,
      -0.00021453618467443664,
      -0.00013073598134833862,
      -2.9058717946097584e-05,
      -2.9060754705374587e-05
    ],
    "a_ego": [
      0.006595839201302649,
      0.006595834677116627,
      0.005037659582562199,
      0.002155455719836265,
      0.0009883732456733116,
      0.0008857680268330222,
      0.00046053235338410376,
      0.00033920185873309686,
      5.9776155731223996e-05,
      5.978050846331347e-05
    ],
    "yaw": [
      2.2188283263791106,
      2.21874241132123,
      2.218782823456796,
      2.2187840127143903,
      2.2188507416665004,
      2.2188068609048988,
      2.2187993815922447,
      2.2188005814917675,
      2.218807539274842,
      2.2188034124243954
    ],
    "yaw_diff": [
      -0.00017183011576094032,
      8.082427113187407e-05,
      2.3785151883615185e-06,
      0.00013345790422025772,
      -8.776152320333352e-05,
      -1.4958625308203466e-05,
      2.3997990457047536e-06,
      1.3915566149158565e-05,
      -8.253700893412486e-06,
      -8.253700893412486e-06
    ],
    "min_front_frame": [
      6,
      7.8271873697026235
    ],
    "v_avg": 0.0026315751679854395,
    "v_std": 0.002671463691251082,
    "vy_max": 0.006713081670199565,
    "a_max": 0.006595839201302649,
    "ax_avg": 0.001032277375983818,
    "a_std": 0.002557477280530215,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ebffacdb3be25252",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      7.837581759221922,
      7.840370115543193,
      7.840170374701749,
      7.832603966586074,
      7.83133214578869,
      7.840689622981291,
      7.8271873697026235,
      7.85108125448963,
      7.833397579411177,
      7.848623605297326
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ebffacdb3be25252",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7fc551e4e0375d00": {
    "vx_ego": [
      3.796672955703234,
      3.9584805359231208,
      4.21097862265249,
      4.527281831328842,
      4.955239749869192,
      5.56161784799472,
      6.236026671478665,
      6.907459605397737,
      7.539406547242532,
      8.122825362680125
    ],
    "vy_ego": [
      0.08387457848329594,
      0.07140847346913659,
      0.08423451711943783,
      0.05936275891652665,
      0.05686854318721135,
      0.1035141366459218,
      0.011749572560379562,
      0.01959837775627271,
      0.032911916848004985,
      0.027244919337799267
    ],
    "v_ego": [
      3.7975993044927843,
      3.959124565275181,
      4.211821033034359,
      4.527671003664733,
      4.9555660635176615,
      5.562581079284954,
      6.236037740412468,
      6.907487408357118,
      7.539478382413081,
      8.122871053896475
    ],
    "ax_ego": [
      0.19237350031361122,
      0.5104067691444792,
      0.614766016235279,
      0.714506376476189,
      1.0312090820475093,
      1.3819007887589239,
      1.3210151095712612,
      1.3668834806771026,
      1.1611033091640728,
      1.1756673108260618
    ],
    "ay_ego": [
      -1.6104003681166317,
      -1.539442066493952,
      -1.9704116020793028,
      -1.9763517748041863,
      -1.8457502269256296,
      -1.035572499125332,
      -0.7503712030455857,
      -0.7017050921610659,
      -0.50085450551076,
      -0.46564203086169853
    ],
    "a_ego": [
      1.6218498417711469,
      1.6218498531244117,
      2.0640879671967762,
      2.1015436468931097,
      2.114281455032248,
      1.7268642653425952,
      1.5192556934484895,
      1.5364766467840378,
      1.2645220955927137,
      1.2645220941723363
    ],
    "yaw": [
      0.46594361661401906,
      0.26468967536875243,
      0.046900793049300914,
      -0.17297871943432191,
      -0.37498939034581086,
      -0.5218077807985186,
      -0.5818465215694772,
      -0.6383145054506072,
      -0.6816167043279004,
      -0.7117521468052499
    ],
    "yaw_diff": [
      -0.40250788249053326,
      -0.435577764638903,
      -0.43975902496724567,
      -0.4040213418229779,
      -0.29363678090541556,
      -0.12007748154191722,
      -0.11293596776225989,
      -0.0866043977545865,
      -0.0602708849546989,
      -0.0602708849546989
    ],
    "min_front_frame": [
      9,
      75.03959417409176
    ],
    "v_avg": 5.582023763434881,
    "v_std": 1.472142543510661,
    "vy_max": 0.1035141366459218,
    "a_max": 2.114281455032248,
    "ax_avg": 0.946983174321449,
    "a_std": 0.302380442118859,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "7fc551e4e0375d00",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      79.02507012337328,
      75.03959417409176
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "7fc551e4e0375d00",
    "pedestrians": "No"
  },
  "72cccfbb9c6f5e9e": {
    "vx_ego": [
      6.497726004435405,
      6.6965172457751905,
      6.882279938652666,
      6.989875549031493,
      6.983565634688505,
      6.964896821422274,
      7.012029270084655,
      7.110860402254566,
      7.215693286988014,
      7.3065334378448625
    ],
    "vy_ego": [
      -0.17961895639264336,
      0.01169151457125972,
      0.030500592783945013,
      0.06230324756489214,
      0.025587534212422547,
      -0.004694055082835824,
      0.018005001921940433,
      0.04228166417780521,
      0.0744567640317606,
      -0.012290237570365292
    ],
    "v_ego": [
      6.5002081657599,
      6.696527451931898,
      6.882347523929689,
      6.990153209022349,
      6.983612510435364,
      6.964898403222492,
      7.012052386043487,
      7.110986105982603,
      7.216077426247169,
      7.306543774472621
    ],
    "ax_ego": [
      0.3972718998821288,
      0.3996623270120809,
      0.34054710738327026,
      0.08453931328429787,
      -0.11277791442868723,
      0.038411530643201075,
      0.15107654798613077,
      0.2400519825149284,
      0.17780045151241178,
      0.18242274918630663
    ],
    "ay_ego": [
      0.4533962043447069,
      0.4512904888182284,
      0.4278865648854903,
      0.16463449943426367,
      0.15763130219541321,
      0.27238853227713283,
      0.41522121853311234,
      0.14194004183213632,
      0.18869923979575415,
      0.1842344833288622
    ],
    "a_ego": [
      0.6028209357264753,
      0.6028209360419619,
      0.5468630950764711,
      0.1850713751355169,
      0.19382075589241204,
      0.27508354767678167,
      0.44185154030684143,
      0.2788761907812427,
      0.25926897935833554,
      0.2592689805359348
    ],
    "yaw": [
      2.39092511920577,
      2.396209650536224,
      2.4257781082265257,
      2.442472079640228,
      2.4591990776608634,
      2.479008632275244,
      2.5004008835670115,
      2.516713767626643,
      2.5237538037212777,
      2.5485413994836903
    ],
    "yaw_diff": [
      0.010569062660907846,
      0.05913691538060384,
      0.03338794282740487,
      0.03345399604127053,
      0.03961910922876122,
      0.042784502583534945,
      0.032625768119262766,
      0.014080072189269544,
      0.04957519152482526,
      0.04957519152482526
    ],
    "min_front_frame": [
      0,
      27.85953882756956
    ],
    "v_avg": 6.966340695704757,
    "v_std": 0.22340980936571964,
    "vy_max": 0.17961895639264336,
    "a_max": 0.6028209360419619,
    "ax_avg": 0.18990059949760693,
    "a_std": 0.1586294897228063,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "72cccfbb9c6f5e9e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.103567105138731,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      27.85953882756956,
      29.145714854932194,
      -1,
      31.732260017118147,
      33.192500960696115,
      34.63008417427535,
      36.18588363535881,
      37.879839298282405,
      39.604575021670314,
      41.603632554155006
    ],
    "safe_frame": [
      1,
      1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7777777777777778,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2222222222222222,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "72cccfbb9c6f5e9e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "0ed2cf016ddc5f90": {
    "vx_ego": [
      6.546817968922764,
      6.001013526239078,
      5.427101970258152,
      5.045705096370808,
      4.873346535352428,
      4.722436095469715,
      4.602864119636348,
      4.498713147301196,
      4.389035036053841,
      4.256844374424315
    ],
    "vy_ego": [
      0.043293248856075106,
      -0.0049007378619077,
      -0.05317548517950321,
      -0.07099469396852953,
      -0.020210719147244482,
      0.02175126759805046,
      0.008301280138889311,
      0.0036514450847389135,
      0.031038577568310632,
      0.046387389701274095
    ],
    "v_ego": [
      6.546961113647041,
      6.001015527336682,
      5.42736247433355,
      5.046204530745264,
      4.873388444070507,
      4.722486187744478,
      4.602871605322881,
      4.498714629174853,
      4.389144784693893,
      4.2570971116467655
    ],
    "ax_ego": [
      -1.0916671587022915,
      -1.0913628115833978,
      -1.2047371777272404,
      -0.3211815923840391,
      -0.3677827013368091,
      -0.23599351741123173,
      -0.24261181086005806,
      -0.1741732267982521,
      -0.2644256347601176,
      -0.2644093915794782
    ],
    "ay_ego": [
      -0.12524979095920225,
      -0.12787461057529992,
      -0.1817865733442916,
      0.09289890836536589,
      0.15406086630849702,
      0.1017737375174286,
      -0.12105305905639811,
      0.04829987960961726,
      0.03467902023807118,
      0.03480267615012232
    ],
    "a_ego": [
      1.0988287835347497,
      1.098828786725668,
      1.2183751580061275,
      0.3343468595064468,
      0.3987466187070746,
      0.2570035678903929,
      0.2711352685943096,
      0.18074620688584,
      0.26668998999393223,
      0.2666899934805206
    ],
    "yaw": [
      2.2025998824046003,
      2.200195132394517,
      2.195107960642517,
      2.194249056112445,
      2.196455538929528,
      2.2010559784105306,
      2.2029065612520826,
      2.19992598965136,
      2.19843504082056,
      2.198902688887988
    ],
    "yaw_diff": [
      -0.004809500020166446,
      -0.010174343504000483,
      -0.0017178090601435159,
      0.004412965634165822,
      0.009200878962005277,
      0.0037011656831040796,
      -0.0059611432014454735,
      -0.0029818976615993975,
      0.0009352961348554345,
      0.0009352961348554345
    ],
    "min_front_frame": [
      9,
      17.185115558903874
    ],
    "v_avg": 5.0365246408715905,
    "v_std": 0.7066572722944967,
    "vy_max": 0.07099469396852953,
    "a_max": 1.2183751580061275,
    "ax_avg": -0.5258345023142915,
    "a_std": 0.39722105073824526,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0ed2cf016ddc5f90",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.72650408990184,
      19.290024059839315,
      20.803242279560955,
      20.62471850171746,
      18.17986180013426,
      19.877406640231715,
      18.82131017359312,
      18.72292157220433,
      18.063520586268385,
      17.185115558903874
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0ed2cf016ddc5f90",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "26e5d2127cf9563d": {
    "vx_ego": [
      5.937352452517044,
      5.241235819772576,
      4.546828989604583,
      3.839384131076824,
      3.20502756537663,
      2.687807278768172,
      2.1276790870728486,
      1.40867365008405,
      0.7307574808820321,
      0.18034910127573303
    ],
    "vy_ego": [
      -0.07446263765390171,
      -0.06995189853466366,
      0.007249950206110967,
      0.049270874181156055,
      0.05887753855653366,
      0.060014902172288664,
      0.026744711452752035,
      -0.03684955910812182,
      -0.08155129575495074,
      -0.1139280832135596
    ],
    "v_ego": [
      5.937819366553392,
      5.241702603789698,
      4.54683476964873,
      3.839700264995578,
      3.2055683208084216,
      2.688477218851206,
      2.127847169596031,
      1.4091555423187263,
      0.7352938934224633,
      0.2133199626750398
    ],
    "ax_ego": [
      -1.3957593699343727,
      -1.39310308065822,
      -1.3880040268832239,
      -1.4402999838667534,
      -1.0926886938261293,
      -0.9719816307739686,
      -1.2647124955075868,
      -1.6119485207434996,
      -1.1015923270063148,
      -1.1013620147279872
    ],
    "ay_ego": [
      -0.15682830899054234,
      -0.17889420270720108,
      -0.24336637229404012,
      -0.11198426619689938,
      -0.12606962984001613,
      -0.09269193300726991,
      -0.20348765223107013,
      -0.140381438257275,
      -0.06597669144508045,
      -0.06971579906844627
    ],
    "a_ego": [
      1.404542394255307,
      1.404542391350887,
      1.4091779056625913,
      1.4446468493726168,
      1.0999373314800491,
      0.9763913585272289,
      1.2809781110165548,
      1.6180497463719519,
      1.1035663001076224,
      1.103566300738403
    ],
    "yaw": [
      -0.4139162003890283,
      -0.42974016118232405,
      -0.4670855513264359,
      -0.4982424799286659,
      -0.5181110459848023,
      -0.5371556718016527,
      -0.5538365954665679,
      -0.5661864257351401,
      -0.5730336497079493,
      -0.5764282793658874
    ],
    "yaw_diff": [
      -0.031647921586591465,
      -0.07469078028822373,
      -0.06231385720445992,
      -0.03973713211227281,
      -0.038089251633700805,
      -0.033361847329830496,
      -0.02469966053714434,
      -0.013694447945618471,
      -0.0067892593158760395,
      -0.0067892593158760395
    ],
    "min_front_frame": [
      9,
      8.519588352571482
    ],
    "v_avg": 2.9945719112659286,
    "v_std": 1.818755995121256,
    "vy_max": 0.1139280832135596,
    "a_max": 1.6180497463719519,
    "ax_avg": -1.2761452143928056,
    "a_std": 0.1938422264684161,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "26e5d2127cf9563d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 30.06259669870127,
    "right_rear_min": 5.678217405759847,
    "speed_mode": "decelerating",
    "front_frame": [
      21.713065731328953,
      18.953818140838955,
      16.581088756114713,
      14.5552470483472,
      12.818989471771626,
      11.32910093631397,
      10.131191467631142,
      9.195632546316242,
      8.748079595948044,
      8.519588352571482
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "26e5d2127cf9563d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c74dd20cc31755b0": {
    "vx_ego": [
      4.375267916862177,
      3.9045312562101295,
      3.430249920292031,
      2.9626201058859345,
      2.4834490435764645,
      1.9548832084447119,
      1.3961713758956125,
      0.893274166960156,
      0.4804910258888797,
      0.09950187583828163
    ],
    "vy_ego": [
      -0.06547497569279792,
      -0.009882821118917473,
      0.008444806366201929,
      -0.016523324810126416,
      -0.02923218571264319,
      -0.019582630397439238,
      -0.01665894916930466,
      -0.01704244401391286,
      -0.023773105886908535,
      -0.04715516411058166
    ],
    "v_ego": [
      4.375757799143535,
      3.9045437634729003,
      3.430260315255687,
      2.9626661830287877,
      2.4836210807452885,
      1.9549812884200128,
      1.396270758648792,
      0.8934367253792113,
      0.48107877371929253,
      0.11011009398612237
    ],
    "ax_ego": [
      -0.9414831897819045,
      -0.9415323744321835,
      -0.9555937832647365,
      -0.9149252616106653,
      -1.0017920723715734,
      -1.1124341307871453,
      -1.122428446503233,
      -0.8891598779432877,
      -0.7619594234310629,
      -0.7619687681360917
    ],
    "ay_ego": [
      0.10760758731310538,
      0.10717635102648437,
      -0.033687248709388384,
      -0.0638045540356138,
      0.010152609834910453,
      0.03150761209966535,
      -0.022051298931184793,
      0.0205429371223666,
      -0.046724297413368254,
      -0.04657179106896092
    ],
    "a_ego": [
      0.9476127845746157,
      0.9476127807935357,
      0.9561873819183249,
      0.9171473466401285,
      1.001843516599769,
      1.1128802383726537,
      1.1226450361998728,
      0.8893971558363203,
      0.7633906751619192,
      0.7633906832927712
    ],
    "yaw": [
      -0.5804688256847523,
      -0.5809268471001148,
      -0.5809146775706282,
      -0.5807281784513514,
      -0.5809857311239826,
      -0.5806429164733549,
      -0.5809766520285563,
      -0.5809709098484324,
      -0.5806947108066494,
      -0.5804945811835438
    ],
    "yaw_diff": [
      -0.0009160428307248836,
      2.4339058973144034e-05,
      0.00037299823855363456,
      -0.0005151053452623344,
      0.0006856293012553749,
      -0.0006674711104028841,
      1.1484360247893122e-05,
      0.000552398083565997,
      0.00040025924621112097,
      0.00040025924621112097
    ],
    "min_front_frame": [
      9,
      10.660033869005368
    ],
    "v_avg": 2.199272678179963,
    "v_std": 1.3982302984151787,
    "vy_max": 0.06547497569279792,
    "a_max": 1.1226450361998728,
    "ax_avg": -0.9403277328261884,
    "a_std": 0.11526711076579589,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c74dd20cc31755b0",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 2.976665391214488,
    "speed_mode": "decelerating",
    "front_frame": [
      20.32240543165155,
      18.339390479165395,
      16.562490513719986,
      14.986157956424094,
      13.51054647916026,
      12.528603980678001,
      11.747359887794845,
      11.145263371699007,
      10.748893558270995,
      10.660033869005368
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c74dd20cc31755b0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "41cf41279f5459f6": {
    "vx_ego": [
      2.970720203498055,
      2.4288940708527025,
      1.9243704909840342,
      1.4587005621137366,
      0.985424976307558,
      0.5205847088672734,
      0.14724053970958617,
      -0.024253376061400805,
      -0.03617249751795255,
      -0.016486952262361767
    ],
    "vy_ego": [
      0.01497086446299778,
      0.02792634093613966,
      0.0058343661654644,
      -0.019107087827710312,
      -0.017835906799478773,
      -0.006202899528192557,
      -0.0034751856174553425,
      -0.011911910046960756,
      -0.003165798416484591,
      0.005299446865151677
    ],
    "v_ego": [
      2.9707579258926997,
      2.429054607854977,
      1.9243793353698968,
      1.458825695796515,
      0.9855863754649365,
      0.5206216621203738,
      0.14728154483521005,
      0.027020730029786652,
      0.03631076777348696,
      0.017317728834288917
    ],
    "ax_ego": [
      -1.0837024269260773,
      -1.0836759536251865,
      -0.9344422133536958,
      -0.928149853831445,
      -0.9649302030823939,
      -0.8944559110563614,
      -0.5989236920529141,
      -0.08704845382874297,
      0.039369944426539606,
      0.03937177888115654
    ],
    "ay_ego": [
      0.030115084233808653,
      0.031052951340452217,
      -0.11797189053653157,
      0.02427587468979131,
      -0.01713419403098898,
      0.06281977741063882,
      -0.051817511673161176,
      0.018070091605851983,
      0.01692691962072052,
      0.01692265110001874
    ],
    "a_ego": [
      1.084120781289557,
      1.0841207765984424,
      0.9418596588951654,
      0.9284672688141932,
      0.9650823163988248,
      0.8966591890219983,
      0.6011610794273795,
      0.08890422669715248,
      0.042854557890557574,
      0.04285455742998228
    ],
    "yaw": [
      2.565869707694011,
      2.5667351518906614,
      2.566903011333009,
      2.567800510255081,
      2.568219726067843,
      2.567935372847078,
      2.5680123147249794,
      2.568065925113191,
      2.5679977253222788,
      2.56810601395079
    ],
    "yaw_diff": [
      0.0017308883933004893,
      0.0003357188846955239,
      0.0017949978441436087,
      0.0008384316255245494,
      -0.0005687064415305088,
      0.00015388375580283054,
      0.00010722077642366656,
      -0.00013639958182487533,
      0.00021657725702262098,
      0.00021657725702262098
    ],
    "min_front_frame": [
      6,
      8.823714303922305
    ],
    "v_avg": 1.0517156373972172,
    "v_std": 1.0374260034967349,
    "vy_max": 0.02792634093613966,
    "a_max": 1.084120781289557,
    "ax_avg": -0.6496586984449121,
    "a_std": 0.41846501820426363,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "41cf41279f5459f6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.45291805393273,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.192879092869342,
      11.81591088538168,
      10.726902405601452,
      9.88464062589876,
      9.282046362788883,
      8.931869624847174,
      8.823714303922305,
      8.907108990531738,
      9.06057632878105,
      9.483698820307179
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "41cf41279f5459f6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "da026eb9dcf75339": {
    "vx_ego": [
      3.4474282025397254,
      3.5116799371026586,
      3.6260707474882197,
      3.780466634132004,
      3.8888159864273315,
      3.9570029920092282,
      4.008339899245209,
      4.040740673193981,
      4.072389511744055,
      4.1126202815565716
    ],
    "vy_ego": [
      -0.033694504629441985,
      -0.023142204193711907,
      -0.026609793876222573,
      -0.0440806339518234,
      -0.04809208954044213,
      -0.021367048714343403,
      0.0006795551510584974,
      -0.010520588238052853,
      -0.018650251702518328,
      -0.01466730553585971
    ],
    "v_ego": [
      3.447592860432987,
      3.511756190606671,
      3.6261683836964758,
      3.78072361778469,
      3.8891133469428665,
      3.9570606805482202,
      4.008339956849506,
      4.0407543690233165,
      4.072432217637459,
      4.112646436313501
    ],
    "ax_ego": [
      0.12373754595638636,
      0.12970359064487386,
      0.32501792273527247,
      0.2916295964788794,
      0.14260349728117477,
      0.13292277025414118,
      0.07313271203453399,
      0.05852713836142817,
      0.07287017514066668,
      0.09107471574703654
    ],
    "ay_ego": [
      -0.19541342209588441,
      -0.19150551965710566,
      -0.09552689684043435,
      -0.062181538261137655,
      0.09511233658242708,
      0.22545958012912223,
      0.20812782207681096,
      0.2906428159019256,
      0.391820605654401,
      0.38799335644185123
    ],
    "a_ego": [
      0.2312950190006977,
      0.23129501828900487,
      0.3387654618155672,
      0.2981851190836916,
      0.17141211744503632,
      0.2617259733462372,
      0.2206027739897274,
      0.29647710259002863,
      0.3985391441758426,
      0.39853914298524923
    ],
    "yaw": [
      1.6458487999390328,
      1.615012511950268,
      1.5957462817667654,
      1.589824084292201,
      1.5930016829892684,
      1.606614191990868,
      1.6282542256720665,
      1.6620017552117723,
      1.7060773706298966,
      1.7527583385340568
    ],
    "yaw_diff": [
      -0.0616725759775294,
      -0.03853246036700542,
      -0.011844394949128922,
      0.006355197394134926,
      0.02722501800319943,
      0.04328006736239676,
      0.06749505907941167,
      0.08815123083624865,
      0.09336193580832042,
      0.09336193580832042
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.844658805983569,
    "v_std": 0.22888092166856164,
    "vy_max": 0.04809208954044213,
    "a_max": 0.3985391441758426,
    "ax_avg": 0.14412196646343933,
    "a_std": 0.07234425339201167,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "da026eb9dcf75339",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "da026eb9dcf75339",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a627522c77eb526c": {
    "vx_ego": [
      8.608870155428324,
      8.622276736976016,
      8.605544183445806,
      8.541925459909088,
      8.506269583876595,
      8.55167720269387,
      8.629690592450695,
      8.733605045893121,
      8.896143573931088,
      9.086654367109166
    ],
    "vy_ego": [
      -0.0787610838564976,
      -0.03535486902881724,
      -0.044749832064987505,
      -0.08021027505231126,
      -0.05275445212509178,
      -0.032417153305773994,
      0.004318563277224463,
      0.06316626436993111,
      0.022881716023926302,
      -0.027547561981389634
    ],
    "v_ego": [
      8.609230433746953,
      8.622349221399109,
      8.605660534828678,
      8.542302046337804,
      8.506433169419665,
      8.551738644913238,
      8.629691673021743,
      8.733833469594222,
      8.896173000842754,
      9.086696124305863
    ],
    "ax_ego": [
      0.026355520787706893,
      0.03011248372314102,
      -0.09065480137014192,
      -0.15577472363615716,
      0.01715127390543074,
      0.16462687445646648,
      0.14900331327263888,
      0.2733688740275721,
      0.37864543941850387,
      0.3832381784206359
    ],
    "ay_ego": [
      0.3016857034159334,
      0.30133389501951613,
      0.5040404619017875,
      0.490335464097047,
      0.33744536114249174,
      0.031695957078406584,
      -0.32620597402445506,
      -0.4962940473528106,
      -0.3447527924337156,
      -0.33964004380390594
    ],
    "a_ego": [
      0.3028347356588372,
      0.30283473704911923,
      0.5121279920543567,
      0.5144848218122549,
      0.33788095233849125,
      0.16765035487114655,
      0.3586256054096913,
      0.5666024379800499,
      0.5120809083370288,
      0.5120809123119962
    ],
    "yaw": [
      1.8148933927415245,
      1.8273537526597403,
      1.8517746498141987,
      1.88487097201345,
      1.9059804224278785,
      1.914434364274347,
      1.901590611251184,
      1.8710749098171822,
      1.851763686291451,
      1.8383425462901464
    ],
    "yaw_diff": [
      0.024920719836431626,
      0.048841794308916775,
      0.06619264439850259,
      0.04221890082885693,
      0.016907883692937276,
      -0.02568750604632619,
      -0.06103140286800368,
      -0.03862244705146223,
      -0.026842280002609353,
      -0.026842280002609353
    ],
    "min_front_frame": [
      9,
      23.32383167223195
    ],
    "v_avg": 8.678410831841003,
    "v_std": 0.1723170524551596,
    "vy_max": 0.08021027505231126,
    "a_max": 0.5666024379800499,
    "ax_avg": 0.11760724330057967,
    "a_std": 0.12499552036034327,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a627522c77eb526c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      41.35183504507027,
      -1,
      32.85668897086103,
      28.625983512624817,
      29.922258149838107,
      36.38810078617828,
      32.1499323690835,
      27.777113170525254,
      23.32383167223195
    ],
    "safe_frame": [
      -1,
      1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.875,
    "unsafe_ratio": 0.125,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a627522c77eb526c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6545ea70cb285327": {
    "vx_ego": [
      4.050587155627299,
      3.512809172951001,
      2.900124660036104,
      2.1696379212999695,
      1.4156624147406138,
      0.7018705976673459,
      0.19426058399224658,
      -0.0022127105199828303,
      -0.02809803862787475,
      -0.009122995825159193
    ],
    "vy_ego": [
      0.008068731285945985,
      0.012552784642359704,
      0.016629504594579347,
      0.012728835886523765,
      0.00639039308507694,
      0.002054825073453892,
      -0.006630808243697046,
      -0.005030550953963007,
      0.000978118694678819,
      -0.002530123975588801
    ],
    "v_ego": [
      4.0505951920375125,
      3.5128316011404492,
      2.9001723369780263,
      2.1696752597579847,
      1.415676837994112,
      0.7018736055558721,
      0.19437371764457603,
      0.005495682918952003,
      0.028115058081291985,
      0.009467342824558607
    ],
    "ax_ego": [
      -1.0755605014885108,
      -1.0755586867733935,
      -1.375171437657519,
      -1.5467591158285765,
      -1.4691367952928727,
      -1.3860395361281137,
      -0.6444015252777259,
      -0.1414945955457387,
      0.03794953494753607,
      0.03795029756630323
    ],
    "ay_ego": [
      0.01020651962151816,
      0.01039611397897855,
      0.004235882758139187,
      -0.022171086774003063,
      -0.004662900801027686,
      -0.010774982375834685,
      -0.02460416041959109,
      0.030997550337555274,
      -0.007014527874687159,
      -0.007010397001823116
    ],
    "a_ego": [
      1.0756089277265233,
      1.0756089288768342,
      1.3751779614478223,
      1.5469180067112607,
      1.4691441950766073,
      1.3860814175059977,
      0.6448710650123888,
      0.14485015945997937,
      0.03859236717330287,
      0.038592366492534905
    ],
    "yaw": [
      0.0648906604828173,
      0.06506693244025069,
      0.06493785507493896,
      0.06470974366329782,
      0.06450219419216227,
      0.0649563251398271,
      0.0645084745944223,
      0.06445098383549858,
      0.06479448105604795,
      0.0646861263057755
    ],
    "yaw_diff": [
      0.0003525439148667764,
      -0.00025815473062346106,
      -0.0004562228232822818,
      -0.0004150989422710971,
      0.0009082618953296651,
      -0.0008957010908096086,
      -0.00011498151784744559,
      0.0006869944410987372,
      -0.00021670950054489269,
      -0.00021670950054489269
    ],
    "min_front_frame": [
      6,
      10.996800204779163
    ],
    "v_avg": 1.4988276634933337,
    "v_std": 1.4810946234356464,
    "vy_max": 0.016629504594579347,
    "a_max": 1.5469180067112607,
    "ax_avg": -0.8638222361478614,
    "a_std": 0.5814961969398599,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6545ea70cb285327",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.924133843344315,
    "right_rear_min": 7.760884109445707,
    "speed_mode": "decelerating",
    "front_frame": [
      17.2366768074638,
      15.378051070691411,
      13.78865977228242,
      12.504453070432794,
      11.650331533686503,
      11.131244222521657,
      10.996800204779163,
      11.012315969464428,
      11.047929145731763,
      11.039604664379208
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6545ea70cb285327",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "510e507046865b40": {
    "vx_ego": [
      2.978413856790355,
      2.4521171678621934,
      1.9607412337399688,
      1.551472002181654,
      1.2205063305964783,
      0.9856399708850437,
      0.8411461060550587,
      0.7208345952573522,
      0.6003268135801879,
      0.48100950248727614
    ],
    "vy_ego": [
      -0.018442787737209657,
      -0.03407857162915258,
      -0.02092625478616185,
      0.014195078508608752,
      0.037143843575362046,
      0.02647783960423259,
      -0.004803552263885543,
      -0.017089742844703458,
      -0.016692945487049173,
      -0.01538736258743173
    ],
    "v_ego": [
      2.9784709565044136,
      2.4523539618025754,
      1.960852899589235,
      1.5515369392339378,
      1.2210714017376834,
      0.9859955518136871,
      0.841159821821002,
      0.7210371509362946,
      0.6005588543451634,
      0.4812555583164251
    ],
    "ax_ego": [
      -1.0525098410155964,
      -1.0525410550803034,
      -0.9127596755470473,
      -0.7243178711002063,
      -0.5996064979370263,
      -0.34020270823961957,
      -0.23781205555642104,
      -0.2433688729258825,
      -0.23862632731715255,
      -0.2386255353029389
    ],
    "ay_ego": [
      -0.02496953761065058,
      -0.02361703586585191,
      0.0869780858637751,
      0.055402546856900166,
      0.03944891229700112,
      -0.07411249307313045,
      -0.0461936552582045,
      9.016734043184888e-05,
      0.0028719199384523502,
      0.002936599604856426
    ],
    "a_ego": [
      1.0528059855657954,
      1.0528059826067893,
      0.9168944392487487,
      0.7264336312378208,
      0.6009027950090776,
      0.3481817690848941,
      0.24225694531650507,
      0.24336888962922856,
      0.23864360878306737,
      0.23864360397013237
    ],
    "yaw": [
      -1.5586388498803814,
      -1.5573538427141487,
      -1.5561258848363624,
      -1.555852400454293,
      -1.5552948257085335,
      -1.5534266955870062,
      -1.5520888504382895,
      -1.5511161830993094,
      -1.550595377762947,
      -1.55032433041205
    ],
    "yaw_diff": [
      0.002570014332465398,
      0.0024559157555725797,
      0.0005469687641386223,
      0.0011151494915191407,
      0.0037362602430546232,
      0.0026756902974334196,
      0.0019453346779600977,
      0.0010416106727246799,
      0.0005420947017942268,
      0.0005420947017942268
    ],
    "min_front_frame": [
      9,
      11.517972358541076
    ],
    "v_avg": 1.3794293096100416,
    "v_std": 0.7995131533244949,
    "vy_max": 0.037143843575362046,
    "a_max": 1.0528059855657954,
    "ax_avg": -0.5640370440022194,
    "a_std": 0.3308645802196124,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "510e507046865b40",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.863951074072121,
    "right_rear_min": 4.657213391193667,
    "speed_mode": "decelerating",
    "front_frame": [
      17.40066046046527,
      16.02925086849252,
      14.921570780908345,
      14.024557100968119,
      13.37539225821768,
      12.818035010862982,
      12.293012707593013,
      11.925869278053122,
      11.625013648357172,
      11.517972358541076
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "510e507046865b40",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "247ba5f9646c5528": {
    "vx_ego": [
      5.784198247282727,
      6.472661447320255,
      7.071319856410571,
      7.582028164177761,
      8.055975743958603,
      8.489376010885627,
      8.829795673983119,
      8.928608719047851,
      8.833134924661959,
      8.693165866399095
    ],
    "vy_ego": [
      -0.023908542723506968,
      -0.0320808452782854,
      -0.03550304625522928,
      -0.03756884006101632,
      -0.04317281524990986,
      -0.02210726116356833,
      0.0060263767398395784,
      0.008151973729799311,
      0.0030445478683317068,
      0.028144082658797177
    ],
    "v_ego": [
      5.784247659141483,
      6.47274094895352,
      7.07140898109845,
      7.582121240136452,
      8.05609142694061,
      8.489404795696604,
      8.829797730497999,
      8.92861244049337,
      8.833135449349486,
      8.693211424445805
    ],
    "ax_ego": [
      1.3765581305542933,
      1.378725718271648,
      1.0165295989942416,
      1.0268899373542253,
      0.8694335964134531,
      0.8643828395826159,
      0.4973105937418556,
      -0.10205034215865583,
      -0.2798477280710227,
      -0.27984333324398286
    ],
    "ay_ego": [
      0.1646562486533047,
      0.14539385288533932,
      0.04290903461048216,
      0.0599145219306284,
      0.031273716424866725,
      0.09664453881742104,
      0.057206573285298774,
      -0.05217838355848141,
      -0.0010781929779142283,
      -0.0019035338847747559
    ],
    "a_ego": [
      1.3863707898739464,
      1.3863707940809036,
      1.0174348189847824,
      1.0286363270746084,
      0.8699958758014052,
      0.8697688544941916,
      0.500590070491738,
      0.11461612471844758,
      0.27984980508589014,
      0.2798498072222908
    ],
    "yaw": [
      -1.5915855504812355,
      -1.577603629605301,
      -1.5701963054441204,
      -1.5664051499650435,
      -1.562781964661525,
      -1.5614627813015831,
      -1.560276269829195,
      -1.5603732697002624,
      -1.5612950520088964,
      -1.5642443280564402
    ],
    "yaw_diff": [
      0.027963841751868834,
      0.014814648322361457,
      0.0075823109581536485,
      0.007246370607036923,
      0.0026383667198839333,
      0.0023730229447762596,
      -0.0001939997421347428,
      -0.0018435646172680897,
      -0.005898552095087606,
      -0.005898552095087606
    ],
    "min_front_frame": [
      0,
      16.955381507394627
    ],
    "v_avg": 7.874077209675377,
    "v_std": 1.0530252840493632,
    "vy_max": 0.04317281524990986,
    "a_max": 1.3863707940809036,
    "ax_avg": 0.6368089011438671,
    "a_std": 0.434785888854208,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "247ba5f9646c5528",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.506095812841507,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      16.955381507394627,
      17.609409280573537,
      18.051953780100302,
      18.476896143065535,
      18.67019435379916,
      18.73299837864846,
      18.69415063723099,
      18.62563724338571,
      18.69292425602609,
      19.015442831020216
    ],
    "safe_frame": [
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.8,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "247ba5f9646c5528",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "cdd097ea065a5ff7": {
    "vx_ego": [
      5.846013510259506,
      5.244817464145868,
      4.71573073225931,
      4.186892868241994,
      3.66592460170001,
      3.340059988952348,
      3.286883587983504,
      3.59246215627964,
      4.260123349764045,
      5.088352212840307
    ],
    "vy_ego": [
      -0.03256513880631795,
      -0.009562368642713537,
      0.008811604641884685,
      -0.005127773618042397,
      -0.003165321527333731,
      0.008881286712577152,
      0.005820994582574901,
      -0.01027613034004582,
      0.00312664004794061,
      -0.0012150067477056936
    ],
    "v_ego": [
      5.8461042113874555,
      5.2448261812097785,
      4.715738964738325,
      4.186896008285607,
      3.6659259682390952,
      3.340071796691507,
      3.2868887424026454,
      3.5924768535310188,
      4.260124497134188,
      5.0883523579011545
    ],
    "ax_ego": [
      -1.2023765877675545,
      -1.2021993900754564,
      -0.9141227946081845,
      -1.2011816535710322,
      -0.8826696098562606,
      -0.42067332337040864,
      0.20791949728352546,
      1.0142822158464906,
      1.6564125441778361,
      1.6565071597630376
    ],
    "ay_ego": [
      0.07148624364053263,
      0.07440676066429586,
      -0.012570230958936057,
      0.02641413232133305,
      0.01403986749446684,
      0.09197003574579124,
      -0.0992202906727056,
      0.011430836002321254,
      -0.03667509957960302,
      -0.032118864855320894
    ],
    "a_ego": [
      1.2044997890582552,
      1.204499788098924,
      0.914209218028695,
      1.201472043479135,
      0.8827812628522795,
      0.4306094895268641,
      0.2303805187766755,
      1.0143466258603018,
      1.6568185113158487,
      1.6568185150540176
    ],
    "yaw": [
      0.5555164913052273,
      0.5579456204073847,
      0.5573560812825279,
      0.5612338574058628,
      0.5633310780367076,
      0.5675269649238752,
      0.5679126744652514,
      0.5661605183285183,
      0.5610347632151318,
      0.5582841823297303
    ],
    "yaw_diff": [
      0.004858258204314847,
      -0.0011790782497136387,
      0.007755552246669906,
      0.004194441261689441,
      0.00839177377433531,
      0.0007714190827523559,
      -0.003504312273466148,
      -0.010251510226773064,
      -0.005501161770802954,
      -0.005501161770802954
    ],
    "min_front_frame": [
      4,
      11.510416115873875
    ],
    "v_avg": 4.322740558152077,
    "v_std": 0.8328973386510365,
    "vy_max": 0.03256513880631795,
    "a_max": 1.6568185150540176,
    "ax_avg": -0.12881019421780077,
    "a_std": 0.4369395969835325,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cdd097ea065a5ff7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.911886136362293,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.828796440723877,
      12.371800921935082,
      12.10878888828006,
      11.69365211703696,
      11.510416115873875,
      11.65313663212025,
      12.363052007247173,
      13.852880032023254,
      15.595356390608256,
      17.573722218926026
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cdd097ea065a5ff7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "19a595ad0fe35941": {
    "vx_ego": [
      8.551988839623982,
      8.728534499077943,
      8.964628150044101,
      9.255253929461539,
      9.609476465578496,
      9.965126946953172,
      10.251486089102768,
      10.478408968762142,
      10.657100769716246,
      10.805081411257369
    ],
    "vy_ego": [
      0.0033097760761862105,
      -0.04776787355127876,
      -0.10970885407349762,
      -0.13094441707151172,
      -0.12116938793280996,
      -0.07901258758858012,
      -0.04565013911502691,
      -0.030143988151893508,
      -0.021568808714639953,
      -0.037279351350637036
    ],
    "v_ego": [
      8.551989480095894,
      8.728665205593433,
      8.965299431766082,
      9.256180191589587,
      9.610240369682696,
      9.965440183849868,
      10.251587729238276,
      10.478452327355248,
      10.657122596151176,
      10.805145721087554
    ],
    "ax_ego": [
      0.2589010026038735,
      0.4548859210562195,
      0.5240905693128106,
      0.6573494813876154,
      0.7692156759160311,
      0.6567588349367541,
      0.4892528865079684,
      0.41824106060360855,
      0.296070220423591,
      0.2960989355143755
    ],
    "ay_ego": [
      1.8068932814923646,
      1.7677589890711034,
      1.7820692011814765,
      1.2600018921787934,
      0.6427136300973412,
      0.22193090334648205,
      0.05291332899954322,
      -0.09998969527291585,
      0.01397612099506535,
      0.013354126187262344
    ],
    "a_ego": [
      1.8253473805967828,
      1.8253473764236918,
      1.8575364229651625,
      1.4211661088608563,
      1.002383941605141,
      0.6932427375224844,
      0.4921058903754281,
      0.43002735254353525,
      0.29639991123437004,
      0.29639991953266726
    ],
    "yaw": [
      1.2277255047705486,
      1.3372684152808678,
      1.4445884034218306,
      1.5305059231759839,
      1.5799633440297551,
      1.5977159603358735,
      1.6012057143737388,
      1.5985764787260668,
      1.5957343281876961,
      1.5978350562157884
    ],
    "yaw_diff": [
      0.21908582102063834,
      0.21463997628192555,
      0.1718350395083066,
      0.0989148417075425,
      0.0355052326122367,
      0.006979508075730667,
      -0.005258471295344069,
      -0.005684301076741338,
      0.004201456056184494,
      0.004201456056184494
    ],
    "min_front_frame": [
      3,
      44.031439662673975
    ],
    "v_avg": 9.727012323640981,
    "v_std": 0.7821167935801195,
    "vy_max": 0.13094441707151172,
    "a_max": 1.8575364229651625,
    "ax_avg": 0.48208645882628487,
    "a_std": 0.6277120761850995,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "19a595ad0fe35941",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.9217206663349984,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      44.031439662673975,
      45.26789900377202,
      46.07355785977348,
      46.810116534340054,
      47.4561194624159,
      47.740915605389304,
      47.976262136396954
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "19a595ad0fe35941",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "216b31d31f085114": {
    "vx_ego": [
      3.569126656133432,
      3.979856304885421,
      4.392392483014481,
      4.811387731113682,
      5.223885304778313,
      5.6039245604106185,
      5.963140202918765,
      6.309960900443181,
      6.631247311473777,
      6.935761266858335
    ],
    "vy_ego": [
      0.022480123372052352,
      -0.03951627210035252,
      -0.020109332742654584,
      -0.026148013300179573,
      -0.0022561434747221387,
      0.06738878831891038,
      0.06430136196241198,
      0.06108603641608146,
      0.03534865039580648,
      -0.0045474240060876525
    ],
    "v_ego": [
      3.569197450894113,
      3.980052479967689,
      4.392438515233363,
      4.8114587827093365,
      5.223885791981117,
      5.604329730446312,
      5.963486878061883,
      6.3102565771105334,
      6.631341525891499,
      6.93576275761487
    ],
    "ax_ego": [
      0.8202185795971961,
      0.822304318397343,
      0.82749966605257,
      0.8498873581442078,
      0.7918328768249594,
      0.727374351017424,
      0.7121196073486158,
      0.6765913020236124,
      0.609009227344137,
      0.6091147063455921
    ],
    "ay_ego": [
      -0.20619336527334686,
      -0.19771146436878373,
      -0.4198016386718311,
      -0.6541107452256132,
      -0.50215790814426,
      -0.1996029663648757,
      -0.09872007054157292,
      -0.06432713774241455,
      -0.09521420975495631,
      -0.09453705841720231
    ],
    "a_ego": [
      0.8457388617056626,
      0.8457388575664284,
      0.9278949903672664,
      1.07245950438837,
      0.9376363205063626,
      0.7542644037071327,
      0.7189297514347838,
      0.6796423843641145,
      0.6164073204704529,
      0.6164073173646257
    ],
    "yaw": [
      -0.0781607666971464,
      -0.08848855721100493,
      -0.13000361892148657,
      -0.18705145650630034,
      -0.24931306125676062,
      -0.29450766349249724,
      -0.30686496518331813,
      -0.3129790193595482,
      -0.3151626630791654,
      -0.3162744418589425
    ],
    "yaw_diff": [
      -0.020655581027717057,
      -0.08303012342096328,
      -0.11409567516962754,
      -0.12452320950092055,
      -0.09038920447147325,
      -0.024714603381641775,
      -0.012228108352460132,
      -0.004367287439234424,
      -0.002223557559554168,
      -0.002223557559554168
    ],
    "min_front_frame": [
      9,
      43.089493126184
    ],
    "v_avg": 5.342221048991071,
    "v_std": 1.085812429643797,
    "vy_max": 0.06738878831891038,
    "a_max": 1.07245950438837,
    "ax_avg": 0.7445951993095657,
    "a_std": 0.14291918118795682,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "216b31d31f085114",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      60.80747503827819,
      58.36083540442433,
      55.647973295817174,
      52.75495706304984,
      49.657577556416065,
      46.44409006253685,
      43.089493126184
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "216b31d31f085114",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "b39406677030585e": {
    "vx_ego": [
      5.005967058118795,
      4.476709895269903,
      3.9403755930465465,
      3.4537995800099526,
      3.056307278410277,
      2.6180288702385393,
      2.1320494221834365,
      1.7349699642004537,
      1.4478486032527869,
      1.207299417284506
    ],
    "vy_ego": [
      0.013564729842443723,
      0.02217768394497638,
      0.025862883410168486,
      0.002478418788551595,
      -0.012812091544001744,
      -0.021236819126137396,
      -0.02877884970297339,
      0.01126140741399008,
      0.0059629079920161185,
      -0.04916659541391671
    ],
    "v_ego": [
      5.005985436341804,
      4.476764829212344,
      3.940460468398993,
      3.4538004692565285,
      3.056334132543981,
      2.6181150028005034,
      2.1322436448077298,
      1.7350065117960416,
      1.4478608822026953,
      1.2083001436233065
    ],
    "ax_ego": [
      -1.0584748069981529,
      -1.0584825564892926,
      -1.087036838455518,
      -0.859580660777502,
      -0.7302686124432773,
      -1.0228482380711186,
      -0.920789119150534,
      -0.6674952523505114,
      -0.48107206457897234,
      -0.48110147456767166
    ],
    "ay_ego": [
      0.008364903788487435,
      0.007317351176413439,
      0.047937862372087324,
      -0.10721386804801956,
      0.060888052616572735,
      -0.08926389252059715,
      0.07369404165371811,
      0.09221144966684257,
      -0.1096108199354284,
      -0.10948167502018552
    ],
    "a_ego": [
      1.05850785951979,
      1.0585078488232138,
      1.0880933447127472,
      0.8662411476514522,
      0.7328025663650941,
      1.0267358767634063,
      0.9237334105256105,
      0.6738344480361134,
      0.4934013205953059,
      0.49340132346439197
    ],
    "yaw": [
      -1.543346008828119,
      -1.5443356846566048,
      -1.54193104774252,
      -1.5395962795099063,
      -1.538451116271328,
      -1.537988037366251,
      -1.5364431038379847,
      -1.535687987445478,
      -1.5350830172324446,
      -1.534814573944197
    ],
    "yaw_diff": [
      -0.0019793516569714953,
      0.004809273828169314,
      0.004669536465227608,
      0.0022903264771567677,
      0.000926157810154038,
      0.0030898670565324693,
      0.0015102327850131658,
      0.0012099404260670354,
      0.0005368865764951991,
      0.0005368865764951991
    ],
    "min_front_frame": [
      9,
      13.917595952804215
    ],
    "v_avg": 2.9074871520983927,
    "v_std": 1.2381910167236483,
    "vy_max": 0.04916659541391671,
    "a_max": 1.0880933447127472,
    "ax_avg": -0.836714962388255,
    "a_std": 0.21884974875986646,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b39406677030585e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.848117254282524,
      17.18652486070896,
      16.698641840411373,
      16.18377427410678,
      15.682389123313193,
      15.166413098114893,
      14.81187824225739,
      14.47367754325599,
      14.088076983386557,
      13.917595952804215
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b39406677030585e",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "5f70e91ff9d250f5": {
    "vx_ego": [
      0.15801856897400995,
      0.34162686480464,
      0.6499707424020378,
      1.1348256262649628,
      1.6879842311827868,
      2.2142234761665405,
      2.682193620461913,
      3.1347522321540886,
      3.535278469172177,
      3.9428094258926882
    ],
    "vy_ego": [
      0.025914646949000406,
      0.017320580164128185,
      0.002075116183289427,
      -0.007323268236360758,
      0.009102296541295796,
      0.006500350472752547,
      -0.0123183858836724,
      -0.019468829749213934,
      -0.01941264827724687,
      -0.12195102692372722
    ],
    "v_ego": [
      0.16012943847739328,
      0.3420656621958272,
      0.6499740549328337,
      1.134849255313377,
      1.6880087726442863,
      2.214233017765589,
      2.6822219073516944,
      3.1348126885552263,
      3.5353317673883886,
      3.9446949466183034
    ],
    "ax_ego": [
      0.36720142394568656,
      0.36719402835187676,
      0.8661723946011214,
      1.0736423846558776,
      1.1422861915352973,
      0.9659295523294855,
      0.9255307541014413,
      0.9186232901538625,
      0.7197673710326404,
      0.9490297556689619
    ],
    "ay_ego": [
      -0.016890127488043,
      -0.017050297703009865,
      -0.04362871456106715,
      0.033855634809129787,
      0.22873634160619866,
      0.3749171983978505,
      0.6889734882151831,
      1.0169689826073116,
      1.2851478970345436,
      1.1265046515965835
    ],
    "a_ego": [
      0.3675896654617784,
      0.3675896722012741,
      0.8672704779382795,
      1.0741760442952955,
      1.164962684957592,
      1.0361384105021556,
      1.1538161223743493,
      1.370435938232232,
      1.4729800357287768,
      1.4729800430466902
    ],
    "yaw": [
      -0.7231124290912216,
      -0.7226762543100355,
      -0.7225015661228776,
      -0.7144746017338857,
      -0.6793901105079979,
      -0.6016270980615868,
      -0.4856702013052199,
      -0.3368954030040184,
      -0.16603404520400916,
      0.023525160705852047
    ],
    "yaw_diff": [
      0.0008723495623723654,
      0.0003493763743156464,
      0.01605392877798395,
      0.0701689824517755,
      0.1555260248928223,
      0.23191379351273378,
      0.297549596602403,
      0.34172271560001843,
      0.3791184118197224,
      0.3791184118197224
    ],
    "min_front_frame": [
      4,
      26.633081800151512
    ],
    "v_avg": 1.9486321511242921,
    "v_std": 1.29282954051228,
    "vy_max": 0.12195102692372722,
    "a_max": 1.4729800430466902,
    "ax_avg": 0.8295377146376252,
    "a_std": 0.38048913196611633,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "5f70e91ff9d250f5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.347737346934114,
    "right_rear_min": 5.611245270780561,
    "speed_mode": "accelerating",
    "front_frame": [
      28.3548415852237,
      28.150287848634406,
      27.90089734491257,
      27.389454610120943,
      26.633081800151512,
      47.128316161955524,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "5f70e91ff9d250f5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1d372d9debb155cb": {
    "vx_ego": [
      6.345883160124009,
      6.516651178666803,
      6.593774511847759,
      6.518366936973249,
      6.4701234928969225,
      6.5949698694119965,
      6.865779612810795,
      7.224591741723305,
      7.57723677012596,
      7.893131348775612
    ],
    "vy_ego": [
      -0.012564633773902045,
      0.02524215179726985,
      0.015582799266894654,
      -0.007877039624581972,
      -0.008773563977534149,
      -0.0062546909980065735,
      0.032689617578413266,
      0.07254707773896074,
      0.04094213921911827,
      0.019067417678111376
    ],
    "v_ego": [
      6.345895598886524,
      6.516700066033942,
      6.593792924920083,
      6.518371696426897,
      6.470129441422446,
      6.594972835396031,
      6.865857433910623,
      7.224955980008809,
      7.577347380799743,
      7.893154379298635
    ],
    "ax_ego": [
      0.34034145800137416,
      0.34245396673572753,
      -0.035344495388690125,
      -0.2652307402254484,
      0.0731428801539187,
      0.42625362295442254,
      0.6562883662144917,
      0.7760264986903326,
      0.6300478446570362,
      0.6319639488949955
    ],
    "ay_ego": [
      0.2086662942887438,
      0.20518092167675286,
      0.20597237481017916,
      0.32565609848963945,
      0.32856842881077486,
      0.2694268835400578,
      0.2803186546498888,
      0.22701348023744736,
      0.15566315433248265,
      0.14769181948396157
    ],
    "a_ego": [
      0.39921664595392037,
      0.3992166453858814,
      0.20898290011200932,
      0.4199990952895411,
      0.33661119014137325,
      0.5042648080680218,
      0.7136476495955202,
      0.8085494708916051,
      0.6489925301370696,
      0.6489925317331776
    ],
    "yaw": [
      2.442684011047198,
      2.4528930631893173,
      2.469923887748992,
      2.4936694005346434,
      2.519156855931995,
      2.54180858670573,
      2.556505077168154,
      2.56887659340141,
      2.586030953970039,
      2.5986635157137976
    ],
    "yaw_diff": [
      0.020418104284238403,
      0.034061649119349724,
      0.04749102557130236,
      0.050974910794702843,
      0.045303461547470114,
      0.029392980924848544,
      0.024743032466512105,
      0.03430872113725769,
      0.025265123487517194,
      0.025265123487517194
    ],
    "min_front_frame": [
      0,
      29.78866904962299
    ],
    "v_avg": 6.860117773710373,
    "v_std": 0.5007189839947871,
    "vy_max": 0.07254707773896074,
    "a_max": 0.8085494708916051,
    "ax_avg": 0.3575943350688161,
    "a_std": 0.17960585882675764,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1d372d9debb155cb",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 24.535394924484653,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      29.78866904962299,
      31.24845331038901,
      32.97209516436374,
      34.72164088108943,
      36.75186210401131,
      38.889186005797676,
      41.0826143249848,
      42.86155934010977,
      44.56488428722601,
      46.0559277498436
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1d372d9debb155cb",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "f36dbc258c8b5e17": {
    "vx_ego": [
      14.290474937705405,
      14.347836146028042,
      14.41041416401585,
      14.486538743573304,
      14.566556619693323,
      14.643747020858266,
      14.68501353627019,
      14.75064894263215,
      14.750840643194685,
      14.624049960527572
    ],
    "vy_ego": [
      -0.07476845198337845,
      -0.04161799467511518,
      -0.04235327152939039,
      -0.03016640727140807,
      -0.03076288432907326,
      -0.0033702552063488156,
      0.008195904612966487,
      -0.017538582139271064,
      -0.00941149844896838,
      -0.010122053189465241
    ],
    "v_ego": [
      14.290670532434728,
      14.347896505437639,
      14.410476403577983,
      14.486570152426628,
      14.566589103485537,
      14.643747408690013,
      14.685015823392604,
      14.750659369351542,
      14.750843645609807,
      14.624053463522594
    ],
    "ax_ego": [
      0.11443967957662801,
      0.116910823460824,
      0.13505759945249501,
      0.17068841042363062,
      0.14991621674025857,
      0.1593414008630409,
      0.00572198763968193,
      0.2562886798772639,
      -0.254697027165555,
      -0.2520850557827543
    ],
    "ay_ego": [
      0.30170463914963325,
      0.30075569649098943,
      0.28724379886821566,
      0.2768971475644074,
      0.1708419477812591,
      0.2319421998451722,
      0.2505216305572089,
      0.06355085048653464,
      0.2750847255478954,
      0.27748028178540834
    ],
    "a_ego": [
      0.3226796081967556,
      0.32267960830221065,
      0.3174107042273693,
      0.32527920896093404,
      0.2272924177428861,
      0.2814016099776511,
      0.2505869679763721,
      0.26405037025308736,
      0.37488955957285924,
      0.37488955990892037
    ],
    "yaw": [
      -2.002953744312176,
      -1.9947502925667173,
      -1.9844744824974625,
      -1.9755540092310486,
      -1.9678088394914723,
      -1.9627894348254868,
      -1.9553628211456446,
      -1.94826432286147,
      -1.9430983685717296,
      -1.9336444535033128
    ],
    "yaw_diff": [
      0.016406903490917557,
      0.02055162013850964,
      0.01784094653282775,
      0.01549033947915257,
      0.010038809331970988,
      0.014853227359684418,
      0.014196996568349274,
      0.010331908579480853,
      0.018907830136833503,
      0.018907830136833503
    ],
    "min_front_frame": [
      3,
      18.346549729111892
    ],
    "v_avg": 14.555652240792906,
    "v_std": 0.15641215171172876,
    "vy_max": 0.07476845198337845,
    "a_max": 0.37488955990892037,
    "ax_avg": 0.06015827150855137,
    "a_std": 0.047095709989454185,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f36dbc258c8b5e17",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.54492056804045,
    "right_rear_min": 3.9429892965385216,
    "speed_mode": "quasi_constant",
    "front_frame": [
      55.225565034443626,
      56.27724325872229,
      57.28048423530372,
      18.346549729111892,
      20.434716565140253,
      22.727652529036817,
      25.09501618372527,
      27.33588132383904,
      29.763160058787566,
      32.37010437634264
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f36dbc258c8b5e17",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "27f94d9f461852c4": {
    "vx_ego": [
      5.936286859170546,
      6.738680473914757,
      7.438184870800506,
      8.060919357137774,
      8.668188042444175,
      9.220756158545667,
      9.709853275934012,
      10.111805693949867,
      10.458445974714367,
      10.786217587413606
    ],
    "vy_ego": [
      0.07039853213014974,
      0.03442931511548656,
      -0.00591205076276069,
      0.0020077935244380077,
      -0.001292391340783728,
      -0.00964176258871687,
      -0.016112566598407402,
      -0.01464402872583295,
      -0.007130128769340605,
      0.051033815162670026
    ],
    "v_ego": [
      5.936704273221548,
      6.738768426593937,
      7.438187220321209,
      8.06091960718585,
      8.668188138789302,
      9.220761199540071,
      9.709866644551246,
      10.111816297766405,
      10.458448405225099,
      10.786338317210372
    ],
    "ax_ego": [
      1.6049563155044728,
      1.6058702483590146,
      1.1921882548112024,
      1.2986034646647386,
      1.130546667764583,
      1.0796411791032292,
      0.8766966505892027,
      0.7311076359142177,
      0.6556004307180977,
      0.6555384324479029
    ],
    "ay_ego": [
      -0.15435724368965809,
      -0.1445396386011303,
      -0.0724621653730604,
      -0.005622912669106348,
      -0.07632052630366817,
      -0.06265722981341158,
      0.01555172599346543,
      -0.014282861162495138,
      0.10342113284304603,
      0.10381336106418887
    ],
    "a_ego": [
      1.6123619114073495,
      1.6123619201939707,
      1.1943883791800443,
      1.2986156381262886,
      1.1331198483518288,
      1.081457814278163,
      0.8768345758098858,
      0.7312471370303363,
      0.6637076581419671,
      0.6637076542813841
    ],
    "yaw": [
      -1.555792596695354,
      -1.5619078914382822,
      -1.5638559028481347,
      -1.567402981012244,
      -1.5694524167576698,
      -1.5724013089003983,
      -1.5729603389216376,
      -1.5730762939513765,
      -1.5716414914777785,
      -1.5722397890508417
    ],
    "yaw_diff": [
      -0.012230589485856314,
      -0.003896022819704914,
      -0.007094156328218748,
      -0.004098871490851419,
      -0.005897784285457064,
      -0.001118060042478497,
      -0.0002319100594778689,
      0.002869604947195903,
      -0.0011965951461263558,
      -0.0011965951461263558
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.712999853040504,
    "v_std": 1.5559995605199046,
    "vy_max": 0.07039853213014974,
    "a_max": 1.6123619201939707,
    "ax_avg": 1.0830749279876661,
    "a_std": 0.3375742025741692,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "27f94d9f461852c4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.225692306508895,
    "right_rear_min": 9.524879104797428,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "27f94d9f461852c4",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f3521da962a75e3d": {
    "vx_ego": [
      8.731855631922745,
      8.97005550578741,
      9.326454085540204,
      9.78181792031046,
      15.908360538591593,
      16.72780911327911,
      11.8489607661024,
      12.15166995985924,
      12.312299316107547,
      12.41024501478634
    ],
    "vy_ego": [
      -0.08257672468762767,
      -0.062062345359919835,
      -0.07278815413041073,
      -0.16998573620937174,
      0.28276762143031164,
      -0.3146035331075467,
      0.029638285664007863,
      0.018769443691885768,
      0.0033275895859649074,
      0.01606705264143199
    ],
    "v_ego": [
      8.732246085183416,
      8.970270202821018,
      9.326738118177827,
      9.783294791460671,
      15.910873406370486,
      16.730767260151204,
      11.848997833766832,
      12.151684455472088,
      12.31229976577385,
      12.410255415470296
    ],
    "ax_ego": [
      0.3716022007485892,
      0.6113093450314856,
      0.8517800308771303,
      0.995900889702636,
      23.522105053107285,
      -20.27965845452374,
      0.7640407177678802,
      0.4466081095781206,
      0.1959099910200118,
      0.19590659407406036
    ],
    "ay_ego": [
      2.105406901547945,
      2.0486891629688544,
      2.1535728888743746,
      1.6587175720879006,
      2.5122345412486773,
      1.408218292272826,
      0.07957300697695212,
      -0.07036071265194932,
      0.003810930820568481,
      0.003981953966470959
    ],
    "a_ego": [
      2.1379491146159006,
      2.1379491111317055,
      2.3159027200415316,
      1.934725449789629,
      23.65588190111834,
      20.32849295424597,
      0.7681732108363397,
      0.4521166148526647,
      0.19594705349961317,
      0.1959470580516323
    ],
    "yaw": [
      1.1156599816782777,
      1.2309397564185285,
      1.3472013089321937,
      1.4572261810399794,
      1.5160352519987526,
      1.588387569557886,
      1.59076415012008,
      1.5918581633623368,
      1.5917606700287656,
      1.590887682143388
    ],
    "yaw_diff": [
      0.2305595494805015,
      0.23252310502733042,
      0.22004974421557133,
      0.11761814191754638,
      0.1447046351182668,
      0.004753161124388061,
      0.00218802648451355,
      -0.00019498666714223845,
      -0.0017459757707554147,
      -0.0017459757707554147
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.817742733464765,
    "v_std": 2.6376533585418627,
    "vy_max": 0.3146035331075467,
    "a_max": 23.65588190111834,
    "ax_avg": 0.7675504477383458,
    "a_std": 8.36084355844309,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "f3521da962a75e3d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.024832832151002,
    "right_rear_min": 15.625395742939707,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f3521da962a75e3d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f2a41314d1575761": {
    "vx_ego": [
      5.70290146974549,
      5.766512442500884,
      5.951694113175,
      6.305122511687283,
      6.763820975175557,
      7.207141633821502,
      7.563186850618056,
      7.9489660126196515,
      8.4408409858142,
      8.96706496519476
    ],
    "vy_ego": [
      -0.0346714223495021,
      0.06439801561811512,
      0.04803296914768995,
      0.06607717586312667,
      -0.003255691049039111,
      -0.13266459973786926,
      -0.22040915804072148,
      -0.25750990747517477,
      -0.08637216887692745,
      0.04526416071467665
    ],
    "v_ego": [
      5.703006863151492,
      5.766872016434304,
      5.951887934338742,
      6.305468743920296,
      6.763821758721103,
      7.2083625343060325,
      7.566397791175804,
      7.953135986655216,
      8.441282882320515,
      8.967179207212741
    ],
    "ax_ego": [
      0.06525101538100345,
      0.18311176007609475,
      0.5450886134195536,
      0.8768405179896506,
      0.9640983643703739,
      0.8336949770367916,
      0.6642478980868367,
      0.9234430086123907,
      1.0515042961768961,
      1.053895152970996
    ],
    "ay_ego": [
      1.2702476692863716,
      1.2586726829702652,
      1.5022655612492033,
      2.0729112305201456,
      2.3918259164157174,
      2.1210681363182484,
      1.745121589130807,
      0.8407421535971457,
      0.3777864114745682,
      0.3710644955779058
    ],
    "a_ego": [
      1.271922496198456,
      1.2719224974556158,
      1.598099938362753,
      2.2507354939230204,
      2.578820829491556,
      2.2790299150386213,
      1.8672639425006883,
      1.2488372027571368,
      1.1173109941163657,
      1.1173109922193751
    ],
    "yaw": [
      1.515809849339896,
      1.6089527731858846,
      1.7303406655137121,
      1.873966874967067,
      2.0551976352689367,
      2.234333118348292,
      2.3764433034968553,
      2.4648883559636214,
      2.4812098055830774,
      2.487595193952237
    ],
    "yaw_diff": [
      0.1862858476919773,
      0.24277578465565508,
      0.2872524189067098,
      0.3624615206037394,
      0.35827096615871046,
      0.28422037029712666,
      0.1768901049335323,
      0.03264289923891184,
      0.012770776738319611,
      0.012770776738319611
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.062741571823625,
    "v_std": 1.0963532047116318,
    "vy_max": 0.25750990747517477,
    "a_max": 2.578820829491556,
    "ax_avg": 0.7161175604120588,
    "a_std": 0.5179260408023902,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "f2a41314d1575761",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.008242061360013,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f2a41314d1575761",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "dd2b5010e1d25d72": {
    "vx_ego": [
      0.1639641688969657,
      0.9587356259292167,
      1.726258821288362,
      2.4143125758382356,
      3.1130002955066516,
      3.85440384866832,
      4.518192368017223,
      4.987447912144499,
      5.324552747728234,
      5.673150999466346
    ],
    "vy_ego": [
      0.032540611732353245,
      0.032276420576102915,
      0.011560269965361136,
      -0.015777538380691625,
      -0.046526982699733266,
      -0.04350286985676105,
      -0.04425911704465235,
      -0.06309469644420962,
      0.004290948855296461,
      0.05116745803425471
    ],
    "v_ego": [
      0.1671620174979605,
      0.9592787747840001,
      1.7262975287932139,
      2.414364128413113,
      3.1133479728330467,
      3.854649339215557,
      4.518409138607376,
      4.9878469921474045,
      5.324554476722194,
      5.673381740329808
    ],
    "ax_ego": [
      1.5885631328544907,
      1.5887391896719847,
      1.4804189095262024,
      1.2770766503610937,
      1.5265502419965467,
      1.4439150082754175,
      1.2117904550924434,
      0.6641674935348272,
      0.6863719443022003,
      0.7129638613519028
    ],
    "ay_ego": [
      0.02393299327770876,
      0.0036612314583014394,
      0.1327698854933822,
      0.2841309048561992,
      0.30671824249053037,
      0.21347256581110213,
      -0.0350833096206595,
      -0.1895552989079912,
      -0.5145390672026746,
      -0.47701093108898157
    ],
    "a_ego": [
      1.588743407612351,
      1.5887434082995862,
      1.486360652794831,
      1.3083023893549663,
      1.5570586763562235,
      1.459609909351459,
      1.212298208225637,
      0.6906878244275286,
      0.8578210172308564,
      0.857821016280315
    ],
    "yaw": [
      -1.9115164903798574,
      -1.898756302222863,
      -1.8583322924524235,
      -1.7955754069189176,
      -1.730287155447329,
      -1.6939367096845137,
      -1.683177575943403,
      -1.6909190761680848,
      -1.7381446498327515,
      -1.7917688652452461
    ],
    "yaw_diff": [
      0.025520376313988624,
      0.08084801954087917,
      0.12551377106701178,
      0.13057650294317735,
      0.07270089152563042,
      0.02151826748222163,
      -0.015483000449363793,
      -0.09445114732933346,
      -0.10724843082498925,
      -0.10724843082498925
    ],
    "min_front_frame": [
      3,
      21.898299982530947
    ],
    "v_avg": 3.273929210934368,
    "v_std": 1.815360241508845,
    "vy_max": 0.06309469644420962,
    "a_max": 1.5887434082995862,
    "ax_avg": 1.2180556886967109,
    "a_std": 0.32367990884197095,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "dd2b5010e1d25d72",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      24.03219737251878,
      23.68504092602162,
      22.956053415257056,
      21.898299982530947,
      -1,
      -1,
      -1,
      -1,
      -1,
      72.13461948499686
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "dd2b5010e1d25d72",
    "maneuvering": "Yes"
  },
  "6a8087fb9f3e5751": {
    "vx_ego": [
      8.147993201249008,
      8.042070557902429,
      7.898087212742405,
      7.729689397787562,
      7.599483581216633,
      7.4925122451940505,
      7.425910316000447,
      7.3644877652626946,
      7.25249915136023,
      7.125431577921433
    ],
    "vy_ego": [
      0.006949214743394272,
      0.033496388563934776,
      0.04291145866461532,
      -0.004422152738762897,
      -0.01612406237835673,
      -0.004781692072458377,
      0.006252102974030116,
      0.011654829734853767,
      -0.011405956391830507,
      -0.014406298360003955
    ],
    "v_ego": [
      8.147996164652117,
      8.042140316254617,
      7.898203783985941,
      7.729690662743515,
      7.59950068666151,
      7.492513771022504,
      7.425912947919162,
      7.364496987558625,
      7.252508120389944,
      7.125446141335457
    ],
    "ax_ego": [
      -0.21320464369091333,
      -0.2112438106189563,
      -0.36610522698128883,
      -0.3077911489240087,
      -0.21300157252081897,
      -0.21467228643587896,
      -0.05184014634786095,
      -0.19379419891608782,
      -0.2541171794937655,
      -0.25411328121277155
    ],
    "ay_ego": [
      0.20567886586619533,
      0.2076922479757998,
      0.009591075379308811,
      0.09975031041575584,
      0.028266480694656426,
      0.09953594985674098,
      0.04033284361190565,
      -0.04045997284950048,
      0.004970149285053835,
      0.00516577898794561
    ],
    "a_ego": [
      0.2962431703100912,
      0.2962431727383073,
      0.3662308369730116,
      0.3235514113460193,
      0.21486894570226542,
      0.2366254337079844,
      0.06568210598930335,
      0.1979727277594329,
      0.2541657791634868,
      0.2541657824359396
    ],
    "yaw": [
      2.1548198375466594,
      2.164306810870223,
      2.169927437620505,
      2.1794922156419565,
      2.1852033724923534,
      2.1879343102862636,
      2.1911516565148945,
      2.190418545341623,
      2.1923578917040185,
      2.1931277281390145
    ],
    "yaw_diff": [
      0.018973946647126816,
      0.011241253500564596,
      0.019129556042902784,
      0.011422313700793829,
      0.005461875587820408,
      0.006434692457261804,
      -0.0014662223465427004,
      0.003878692724790689,
      0.0015396728699919038,
      0.0015396728699919038
    ],
    "min_front_frame": [
      0,
      18.8126935109754
    ],
    "v_avg": 7.607840958252339,
    "v_std": 0.32313955108087694,
    "vy_max": 0.04291145866461532,
    "a_max": 0.3662308369730116,
    "ax_avg": -0.2279883495142351,
    "a_std": 0.07830751844288719,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "6a8087fb9f3e5751",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.626471846894376,
    "right_rear_min": 18.094191118197802,
    "speed_mode": "decelerating",
    "front_frame": [
      18.8126935109754,
      23.87620426696811,
      19.926472946158626,
      31.16784922210009,
      30.439187027146186,
      29.764765710602752,
      28.981689136122654,
      28.20824898531693,
      27.380545761157652,
      26.564010473907594
    ],
    "safe_frame": [
      0,
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "6a8087fb9f3e5751",
    "merging_vehicles": "No"
  },
  "d69b6aacdd0459e3": {
    "vx_ego": [
      4.822077114047561,
      4.799001769352051,
      4.827732428732034,
      4.859080568047549,
      4.8866470173657035,
      4.9433664928622365,
      4.984931596757503,
      5.016238665111864,
      5.071830956506946,
      5.168471493277964
    ],
    "vy_ego": [
      0.03103827771447798,
      0.03263517562771945,
      0.021441094992208587,
      -0.012715019529560223,
      0.0032699880256235048,
      0.029524477654649495,
      0.016546128695160256,
      -0.014140400094999173,
      -0.013613977957951828,
      -0.02117991721523138
    ],
    "v_ego": [
      4.822177005098914,
      4.799112734342919,
      4.827780040969697,
      4.859097204059508,
      4.8866481114513265,
      4.94345466020817,
      4.984959056875604,
      5.016258595435257,
      5.071849228021078,
      5.168514889764776
    ],
    "ax_ego": [
      -0.06525736680606742,
      -0.03418320438739858,
      0.14428172420790103,
      -0.014526004661525094,
      0.12780131328938116,
      0.09476384856536241,
      0.05912470219507365,
      0.06775766439480696,
      0.16231747048032685,
      0.22927500600945228
    ],
    "ay_ego": [
      0.5467478384055108,
      0.5495663992941493,
      0.6126838688601938,
      0.760054772289348,
      0.8003840888144977,
      0.8195276291493303,
      0.688578350261724,
      0.740823981897849,
      0.8278362381530826,
      0.8118452937147296
    ],
    "a_ego": [
      0.5506284797606823,
      0.5506284761028319,
      0.6294431976770422,
      0.7601935685674007,
      0.8105232046683823,
      0.8249883162409278,
      0.691112056658552,
      0.743916173529803,
      0.84359931153515,
      0.8435993179865604
    ],
    "yaw": [
      -1.1765171525502809,
      -1.1198439111165268,
      -1.0568814308757153,
      -0.9793301918465285,
      -0.9023097731768666,
      -0.8253579458103582,
      -0.7469043614720099,
      -0.669328198328996,
      -0.5915411499365264,
      -0.5099151080492068
    ],
    "yaw_diff": [
      0.11334648286750815,
      0.12592496048162305,
      0.15510247805837363,
      0.15404083733932383,
      0.15390365473301681,
      0.15690716867669652,
      0.1551523262860277,
      0.15557409678493928,
      0.16325208377463918,
      0.16325208377463918
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.937985152622725,
    "v_std": 0.11538101571910896,
    "vy_max": 0.03263517562771945,
    "a_max": 0.8435993179865604,
    "ax_avg": 0.07713551532873132,
    "a_std": 0.10868764842936442,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "d69b6aacdd0459e3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d69b6aacdd0459e3",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "ff94ab2c81a25745": {
    "vx_ego": [
      10.437138555051872,
      10.285909358984084,
      10.078968239335099,
      9.766746960559985,
      9.335484436690663,
      8.703019811885156,
      7.8799352470165305,
      6.996471780672098,
      6.051485834386201,
      5.046786877174309
    ],
    "vy_ego": [
      -0.005812248276471532,
      0.003942979651882589,
      -0.017382295280050114,
      -0.02128765514729261,
      -0.0069151303818679455,
      -0.043566642333618885,
      -0.02282681201426949,
      0.015230129410834542,
      0.007957583504584503,
      0.008824663526134577
    ],
    "v_ego": [
      10.43714017341821,
      10.28591011473097,
      10.078983228169143,
      9.766770159877286,
      9.335486997833685,
      8.703128856818665,
      7.879968309613954,
      6.996488357353485,
      6.051491066415952,
      5.046794592442333
    ],
    "ax_ego": [
      -0.30249331660627454,
      -0.30243115019658656,
      -0.5253080139172978,
      -0.72383712320216,
      -1.001248186677022,
      -1.5285748769868195,
      -1.7634377811220527,
      -1.7706503794595407,
      -2.009416347691711,
      -2.0094070252353524
    ],
    "ay_ego": [
      -0.027095800967888224,
      -0.027781043558278023,
      -0.1165472513265089,
      0.03287664730081607,
      -0.033246145307501127,
      -0.09499405295532187,
      0.21557151228339097,
      0.022226573794765257,
      0.010229307650956407,
      0.011920508971925238
    ],
    "a_ego": [
      0.30370444353277953,
      0.3037044401888409,
      0.5380815656361965,
      0.7245833663998376,
      1.0017999987531605,
      1.5315237590883626,
      1.7765651929486903,
      1.7707898765417849,
      2.009442384619602,
      2.009442383249477
    ],
    "yaw": [
      -1.5475040111210334,
      -1.5497695509660123,
      -1.5512148363660938,
      -1.552925013696882,
      -1.554434006947028,
      -1.5539286268276475,
      -1.5527983876087563,
      -1.5499226967869926,
      -1.547574982126461,
      -1.5467333422022795
    ],
    "yaw_diff": [
      -0.0045310796899578065,
      -0.0028905708001629726,
      -0.003420354661576308,
      -0.003017986500291947,
      0.0010107602387607884,
      0.0022604784377824316,
      0.005751381643527509,
      0.004695429321063038,
      0.0016832798483630285,
      0.0016832798483630285
    ],
    "min_front_frame": [
      9,
      14.025944009346539
    ],
    "v_avg": 8.45821618566737,
    "v_std": 1.7979580859426858,
    "vy_max": 0.043566642333618885,
    "a_max": 2.009442384619602,
    "ax_avg": -1.1936804201094817,
    "a_std": 0.6624628253486551,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ff94ab2c81a25745",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.469270428833131,
    "right_rear_min": 9.517902221974328,
    "speed_mode": "decelerating",
    "front_frame": [
      22.333909082091164,
      21.800041441088858,
      21.226200343390918,
      20.704141516165798,
      20.170016497902953,
      19.349833672157363,
      18.226997238753977,
      16.963666197178377,
      15.462667575413162,
      14.025944009346539
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ff94ab2c81a25745",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "367967cea49c5dda": {
    "vx_ego": [
      3.623220261347251,
      3.7132585173938857,
      3.818222471753366,
      3.8335212033824155,
      3.859672646464168,
      4.128784768478738,
      4.531708448021712,
      4.905317831744812,
      5.3866765351433346,
      5.931066677015209
    ],
    "vy_ego": [
      -0.03480234864498977,
      -0.0638519785540399,
      -0.10860655610084935,
      -0.1495785433613097,
      -0.11482788283469203,
      -0.046727719682441604,
      -0.025189151840827373,
      0.00480126600601638,
      0.009147430549480084,
      -0.021662402009484882
    ],
    "v_ego": [
      3.6233874021015815,
      3.713807465683096,
      3.819766776627923,
      3.8364382645126267,
      3.8613803724238323,
      4.129049181616604,
      4.531778453459725,
      4.905320181454915,
      5.38668430203121,
      5.931106236349256
    ],
    "ax_ego": [
      0.05076867051515732,
      0.34575674096350995,
      0.09960343160524576,
      -0.0014072349321458955,
      0.12505907598991384,
      0.9542079393037272,
      0.6576534451786573,
      0.8383057117643026,
      1.0873357864061681,
      1.0898316457754547
    ],
    "ay_ego": [
      1.4553180862510031,
      1.4145601724663672,
      1.0209960061056758,
      0.618360927120591,
      0.3049483053048979,
      0.14708503568321593,
      -0.014682635134573296,
      -0.24629297580938814,
      -0.20841175281690544,
      -0.19493987506454213
    ],
    "a_ego": [
      1.4562033477763876,
      1.4562033530553988,
      1.0258429158849234,
      0.6183625283760256,
      0.32959557247599713,
      0.9654774980040697,
      0.6578173255014285,
      0.8737372009418495,
      1.1071289767284276,
      1.1071289766887213
    ],
    "yaw": [
      -2.5521600187997997,
      -2.3473041350521155,
      -2.175557928342494,
      -2.058247957198149,
      -2.0070747200290318,
      -1.995532067459028,
      -1.9928846691881823,
      -2.0131641506052635,
      -2.0362374932392515,
      -2.0486129357070597
    ],
    "yaw_diff": [
      0.4097117674953683,
      0.3434924134192432,
      0.2346199422886901,
      0.1023464743382343,
      0.023085305140007506,
      0.0052947965416914045,
      -0.04055896283416249,
      -0.04614668526797594,
      -0.02475088493561639,
      -0.02475088493561639
    ],
    "min_front_frame": [
      4,
      11.461461194666496
    ],
    "v_avg": 4.373871863626078,
    "v_std": 0.7533594536547955,
    "vy_max": 0.1495785433613097,
    "a_max": 1.4562033530553988,
    "ax_avg": 0.524711521256999,
    "a_std": 0.3395549456913098,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "367967cea49c5dda",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      52.25116441436349,
      50.311958368241434,
      11.461461194666496,
      12.072546072949336,
      12.76667543260825,
      13.649232017676244,
      14.68652292850069,
      15.485215158387401
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.625,
    "unsafe_ratio": 0.125,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "367967cea49c5dda",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "330af4c06f715d2d": {
    "vx_ego": [
      5.056047919591248,
      4.45099873522858,
      3.818523035813681,
      3.1403309485545807,
      2.504040340539663,
      2.0054810237715106,
      1.6104608222614,
      1.2486835832333765,
      0.8704812515077183,
      0.46849681157982836
    ],
    "vy_ego": [
      -0.0325508198692277,
      1.0892896127323581e-05,
      0.008137177773953619,
      -0.01445774944704814,
      -0.04363961883905887,
      -0.048683010667634585,
      -0.022719860470513664,
      -0.0034770216358923633,
      -0.006076977045189447,
      -0.014181188964629748
    ],
    "v_ego": [
      5.056152699541139,
      4.4509987352419085,
      3.8185317058657313,
      3.140364229348052,
      2.50442058037032,
      2.0060718262901984,
      1.6106210765101345,
      1.2486884241939624,
      0.8705024634522589,
      0.4687113915629913
    ],
    "ax_ego": [
      -1.2101100236910765,
      -1.2099800143608694,
      -1.3200475123884206,
      -1.3927280949654437,
      -1.152228326561359,
      -0.8417061992835109,
      -0.7382690344813073,
      -0.7088388028255976,
      -0.8039719102478269,
      -0.8039701644488507
    ],
    "ay_ego": [
      0.07950398178490281,
      0.08145873201478748,
      -0.01748454223746232,
      -0.05287606800707001,
      -0.044720465465615755,
      0.03646106809015687,
      0.07211092831952265,
      0.005198853855740981,
      -0.016308237261591696,
      -0.016393892579726288
    ],
    "a_ego": [
      1.2127189091282744,
      1.2127189122687032,
      1.320163302088083,
      1.3937314752397474,
      1.1530958488182372,
      0.8424955402840826,
      0.7417824163843904,
      0.7088578676100307,
      0.8041372961566452,
      0.8041372924058601
    ],
    "yaw": [
      2.6193835736596194,
      2.620999003681129,
      2.6228954047188715,
      2.624330047860866,
      2.6260429845337083,
      2.6273871233394606,
      2.62804440350141,
      2.6281037372635563,
      2.627938177754695,
      2.6278316465009253
    ],
    "yaw_diff": [
      0.0032308600430193124,
      0.0037928020754849356,
      0.00286928628398897,
      0.0034258733456846713,
      0.002688277611504475,
      0.0013145603238990944,
      0.0001186675242923485,
      -0.00033111901772286956,
      -0.00021306250753916345,
      -0.00021306250753916345
    ],
    "min_front_frame": [
      9,
      10.159713802630792
    ],
    "v_avg": 2.517506313237669,
    "v_std": 1.4787831459631717,
    "vy_max": 0.048683010667634585,
    "a_max": 1.3937314752397474,
    "ax_avg": -1.018185008325426,
    "a_std": 0.2491346601009175,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "330af4c06f715d2d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.350119842400716,
      18.975917234485998,
      16.920190144859195,
      15.176500225899007,
      13.81085533491317,
      12.713782838684978,
      11.811236483164471,
      11.0845215534381,
      10.486212490580838,
      10.159713802630792
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "330af4c06f715d2d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1b818742aecc51d0": {
    "vx_ego": [
      2.1301910367274903,
      1.6021703416957782,
      1.112418166174634,
      0.7384360298661492,
      0.4524271084163771,
      0.19289885908599397,
      0.013911924998440755,
      -0.033664483804410186,
      -0.018360474972253717,
      -0.007073223078165217
    ],
    "vy_ego": [
      -0.035648529787329825,
      -0.027236366279122567,
      -0.02612085027776221,
      -0.022775586825717717,
      -0.011120040075005326,
      0.01144553288835289,
      0.019192182672091385,
      0.005684760588894538,
      0.0017229262409462114,
      0.0003703269913455193
    ],
    "v_ego": [
      2.130489303101552,
      1.6024018295850941,
      1.112724797627234,
      0.7387871801538899,
      0.45256374547821876,
      0.19323811751250458,
      0.02370404043367218,
      0.034141089214763554,
      0.01844113651699635,
      0.007082910898353025
    ],
    "ax_ego": [
      -1.056020216771904,
      -1.0560130235466387,
      -0.9030239965671865,
      -0.5929582397237034,
      -0.5510843326874095,
      -0.48701995440642276,
      -0.22893610772899795,
      0.03864067481597234,
      0.02257452240634418,
      0.022574591016934147
    ],
    "ay_ego": [
      0.018084393697044426,
      0.01849967115591517,
      -0.01572948730856727,
      0.027515828194546454,
      0.018850047936190897,
      0.07183631410866947,
      -0.040829545206049,
      -0.013150916140698736,
      -0.0027048375715483654,
      -0.002704256502138012
    ],
    "a_ego": [
      1.0561750534482286,
      1.0561750535460448,
      0.9031609796415944,
      0.5935963231502236,
      0.5514066249517902,
      0.49228943926795093,
      0.23254847491186897,
      0.0408172554880091,
      0.022735989271703026,
      0.022735988274346017
    ],
    "yaw": [
      -3.1249465913990613,
      -3.1245533562458125,
      -3.124869439946549,
      -3.1253190808293723,
      -3.1254276574033066,
      -3.125090737023192,
      -3.125019922589611,
      -3.1253039107025398,
      -3.1252161330569326,
      -3.125241880667098
    ],
    "yaw_diff": [
      0.0007864703064974776,
      -0.0006321674014726497,
      -0.0008992817656467977,
      -0.00021715314786874274,
      0.0006738407602293606,
      0.00014162886716206913,
      -0.0005679762258576915,
      0.00017555529121437985,
      -5.14952203305441e-05,
      -5.14952203305441e-05
    ],
    "min_front_frame": [
      6,
      11.011647141029691
    ],
    "v_avg": 0.6313574150522279,
    "v_std": 0.7175506995270315,
    "vy_max": 0.035648529787329825,
    "a_max": 1.0561750535460448,
    "ax_avg": -0.47912660831930126,
    "a_std": 0.3912190029909054,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1b818742aecc51d0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.613773792133987,
      11.966433350456366,
      11.592533906544753,
      11.411118646054137,
      11.175109657390655,
      11.03760265313399,
      11.011647141029691,
      11.04435132374948,
      11.050018713026267,
      11.04815509573721
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1b818742aecc51d0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "73e4db7c9a4d5076": {
    "vx_ego": [
      6.010245430930597,
      5.7038971434665084,
      5.436204281602073,
      5.171901189068565,
      4.872077453860342,
      4.566168611994145,
      4.2051212365143735,
      3.793467459712121,
      3.380045198166857,
      2.9684218551774375
    ],
    "vy_ego": [
      -0.025289507753263107,
      -0.01858825732156233,
      -0.02969921294737543,
      -0.025701031851340206,
      -0.021639107647943856,
      -0.008248529868597476,
      0.018177959999904347,
      0.009255458534648042,
      0.01185481209374628,
      -0.009365783888999224
    ],
    "v_ego": [
      6.010298636442663,
      5.703927431739963,
      5.436285407753939,
      5.171965047496654,
      4.872125508173417,
      4.566176062243498,
      4.2051605263074,
      3.793478750620256,
      3.3800659872583267,
      2.9684366303161864
    ],
    "ax_ego": [
      -0.614085421537899,
      -0.6123713532712398,
      -0.4594213697482843,
      -0.5992364134233732,
      -0.6006707563045385,
      -0.6243284682885499,
      -0.8196673558344695,
      -0.8267970432156131,
      -0.8263728974743003,
      -0.8197720883487319
    ],
    "ay_ego": [
      -0.13126576013678268,
      -0.139042906471709,
      -0.1324179705934561,
      -0.06312566187796786,
      -0.14073135998581165,
      -0.021256746283662975,
      -0.026162688349580798,
      -0.04658241909272201,
      0.16983817431617187,
      0.19927592496343255
    ],
    "a_ego": [
      0.6279582826348152,
      0.6279582821711567,
      0.47812395246157574,
      0.6025521789521961,
      0.6169365227986768,
      0.6246902316973548,
      0.8200847885934406,
      0.828108249227485,
      0.8436451689751568,
      0.8436451689577039
    ],
    "yaw": [
      -1.8896704864878622,
      -1.902352616351578,
      -1.9125768038127045,
      -1.9225144829303606,
      -1.933471030424586,
      -1.9448827422980672,
      -1.9535631430201508,
      -1.9558789783314796,
      -1.9480125791325915,
      -1.9122507076688986
    ],
    "yaw_diff": [
      -0.025364259727431726,
      -0.02044837492225282,
      -0.01987535823531239,
      -0.02191309498845051,
      -0.022823423746962668,
      -0.017360801444167073,
      -0.00463167062265768,
      0.015732798397776193,
      0.07152374292738584,
      0.07152374292738584
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.6107919988352295,
    "v_std": 0.9625362204239567,
    "vy_max": 0.02969921294737543,
    "a_max": 0.8436451689751568,
    "ax_avg": -0.6802723167447,
    "a_std": 0.12370586396124628,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "73e4db7c9a4d5076",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "73e4db7c9a4d5076",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e0dbf07da5c55877": {
    "vx_ego": [
      4.997240154271146,
      5.235171360799608,
      5.447478949634049,
      5.586873946894806,
      5.680385480751594,
      5.794058555425556,
      5.899081558557785,
      5.994915745600129,
      6.107269137222561,
      6.210939379126713
    ],
    "vy_ego": [
      0.06449361387670272,
      -0.026305244050705,
      0.008583254427841691,
      0.005936499379350035,
      -0.0016021607531677695,
      -0.01407657035440213,
      -0.04073712577290389,
      -0.046460931761712176,
      -0.017834064550277695,
      0.005913930739341211
    ],
    "v_ego": [
      4.997656309280459,
      5.235237448559616,
      5.44748571168045,
      5.586877100896066,
      5.680385706697442,
      5.794075654798875,
      5.899222215507124,
      5.995095780304474,
      6.1072951761258105,
      6.210942194688638
    ],
    "ax_ego": [
      0.4574623236031332,
      0.4883468392447192,
      0.35843386944654365,
      0.198046195465656,
      0.17594951744701512,
      0.27874334293296005,
      0.14115933308983483,
      0.2419433034564379,
      0.20733825573815878,
      0.2073468253705166
    ],
    "ay_ego": [
      0.49370033149817893,
      0.4631729270087037,
      0.1864396168795145,
      0.027778314323778322,
      0.013112283335323709,
      -0.06470739670470069,
      -0.0870378244047192,
      0.04082475702905257,
      0.049641228899281964,
      0.04960542099914566
    ],
    "a_ego": [
      0.6730615089557488,
      0.6730615096067503,
      0.4040229814114564,
      0.19998482513703744,
      0.1764374242163586,
      0.286155374609217,
      0.16583588331683125,
      0.24536345056649161,
      0.21319803915414662,
      0.21319803888341465
    ],
    "yaw": [
      2.7926823106325336,
      2.857212898937805,
      2.881012635470549,
      2.891162260250079,
      2.8943134419340066,
      2.894239308229168,
      2.892316355884546,
      2.891334039237848,
      2.89034147845984,
      2.8905141768614677
    ],
    "yaw_diff": [
      0.12906117661054317,
      0.04759947306548806,
      0.020299249559059263,
      0.006302363367855612,
      -0.00014826740967688323,
      -0.003845904689244506,
      -0.001964633293395579,
      -0.001985121556016267,
      0.00034539680325540445,
      0.00034539680325540445
    ],
    "min_front_frame": [
      9,
      35.79700210780467
    ],
    "v_avg": 5.695427329853895,
    "v_std": 0.36723280067836334,
    "vy_max": 0.06449361387670272,
    "a_max": 0.6730615096067503,
    "ax_avg": 0.27547698057949754,
    "a_std": 0.18558592098917123,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e0dbf07da5c55877",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      61.324089526837525,
      58.81201267134704,
      56.16475575397806,
      53.42416500424206,
      50.6087595799161,
      47.76745345339144,
      44.85924755051124,
      41.93886488361008,
      38.853735932037885,
      35.79700210780467
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e0dbf07da5c55877",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cf0aec572cdd543e": {
    "vx_ego": [
      6.374537315516997,
      5.712767516862661,
      4.991550166811571,
      4.163763674311063,
      3.2644632874558264,
      2.363745344433812,
      1.5775443364765938,
      0.9863801604982254,
      0.5873258825527543,
      0.275635537349464
    ],
    "vy_ego": [
      -0.014076389039477721,
      -0.023308360507246828,
      -0.02581232502537878,
      -0.025333895351297375,
      -0.03143082157231203,
      -0.04498433926481615,
      -0.02580669864193197,
      0.007499581627134655,
      0.025520193326049434,
      0.015469930194071307
    ],
    "v_ego": [
      6.374552857389061,
      5.712815066269055,
      4.991616906766768,
      4.163840744044618,
      3.2646145946637577,
      2.3641733532276374,
      1.5777554053921579,
      0.9864086702523893,
      0.5878800664963652,
      0.2760693177267934
    ],
    "ax_ego": [
      -1.3253072861428001,
      -1.3226876772633214,
      -1.5641271887889465,
      -1.747952728127395,
      -1.850093602238172,
      -1.7532389098654808,
      -1.3919236696552422,
      -0.9727936220647255,
      -0.6233735586290627,
      -0.6233688733872491
    ],
    "ay_ego": [
      -0.17815671520807164,
      -0.19666344560336557,
      -0.08680388032327002,
      -0.0595521347586363,
      -0.09931677384193405,
      0.02084826906334214,
      0.037436820818941396,
      0.09109086781138148,
      -0.020227859499329537,
      -0.020371835956974782
    ],
    "a_ego": [
      1.3372281846704115,
      1.3372281788912572,
      1.5665340010188062,
      1.7489668940612666,
      1.8527574473224997,
      1.7533628618712205,
      1.3924270241917691,
      0.977049117152479,
      0.6237016593675105,
      0.6237016626628039
    ],
    "yaw": [
      -0.6469248059393263,
      -0.6609024904181955,
      -0.6736036499336322,
      -0.6816606308341183,
      -0.6906815973004407,
      -0.6928456258019896,
      -0.6952379448846897,
      -0.6961930387059482,
      -0.6966032457410863,
      -0.696834221365727
    ],
    "yaw_diff": [
      -0.027955368957738314,
      -0.02540231903087342,
      -0.016113961800972243,
      -0.018041932932644666,
      -0.004328057003097907,
      -0.004784638165400201,
      -0.0019101876425169362,
      -0.0008204140702763318,
      -0.0004619512492813893,
      -0.0004619512492813893
    ],
    "min_front_frame": [
      9,
      10.206544063936452
    ],
    "v_avg": 3.02997269822286,
    "v_std": 2.0940104870686493,
    "vy_max": 0.04498433926481615,
    "a_max": 1.8527574473224997,
    "ax_avg": -1.3174867116162396,
    "a_std": 0.4253852424849917,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cf0aec572cdd543e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 43.68901356385086,
    "right_rear_min": 23.00096174555881,
    "speed_mode": "decelerating",
    "front_frame": [
      23.66741578115115,
      20.67960153437058,
      17.95817452458605,
      15.657746294378388,
      13.808132367219397,
      12.395743016790334,
      11.425923632470672,
      10.899952693245226,
      10.46894984195534,
      10.206544063936452
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cf0aec572cdd543e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f606d0e6eda7549a": {
    "vx_ego": [
      2.7672746182549153,
      3.4527508864104828,
      4.1513138917199965,
      5.019141233372164,
      5.8517981723007955,
      6.42752802896817,
      6.8684417042693,
      7.080376994631451,
      7.056903936412786,
      6.956408849698926
    ],
    "vy_ego": [
      0.012131901224722852,
      -0.0006114122908462694,
      0.00027379996412202345,
      0.019180146250514563,
      0.0024827755495908654,
      0.005256034529284914,
      0.015010405550554218,
      -0.012908495023725042,
      -0.03611436399744594,
      0.013453591989426306
    ],
    "v_ego": [
      2.7673012116257265,
      3.4527509405448527,
      4.151313900749236,
      5.019177880743701,
      5.851798698991393,
      6.427530177997643,
      6.868458106243391,
      7.080388761597069,
      7.056996345120579,
      6.95642185921088
    ],
    "ax_ego": [
      1.3703406303958416,
      1.3717488120443513,
      1.4221705772686595,
      2.049152732503366,
      1.2818503561943588,
      1.022449923335075,
      0.7412142011581847,
      0.10565334648485544,
      -0.20104675596894572,
      -0.20117450255654404
    ],
    "ay_ego": [
      -0.11619921974221276,
      -0.0981879970022766,
      0.006291905781218077,
      0.05310169454484537,
      0.19286093382389513,
      0.35164062943630753,
      0.43338274735885646,
      0.3890129909346212,
      0.02428786460287062,
      0.02320592842507431
    ],
    "a_ego": [
      1.3752584128018892,
      1.375258407027715,
      1.422184495389762,
      2.049840655048471,
      1.2962776228381903,
      1.0812284578192821,
      0.8586146386516341,
      0.4031051187213437,
      0.2025085145187831,
      0.2025085074581871
    ],
    "yaw": [
      1.1985216700284311,
      1.1853849986967078,
      1.1790992097783497,
      1.1781988157402707,
      1.1923339305137994,
      1.213938765357498,
      1.241843221991454,
      1.274945196749809,
      1.2927485079995416,
      1.287368719284999
    ],
    "yaw_diff": [
      -0.02627334266344672,
      -0.012571577836716141,
      -0.001800788076157911,
      0.02827022954705738,
      0.043209669687397145,
      0.05580891326791182,
      0.06620394951671038,
      0.03560662249946489,
      -0.010759577429085176,
      -0.010759577429085176
    ],
    "min_front_frame": [
      8,
      19.73330788721393
    ],
    "v_avg": 5.5632137882824475,
    "v_std": 1.5352146001960263,
    "vy_max": 0.03611436399744594,
    "a_max": 2.049840655048471,
    "ax_avg": 0.8962359320859201,
    "a_std": 0.5742440809397522,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f606d0e6eda7549a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.086607973720817,
    "right_rear_min": 7.621532261593117,
    "speed_mode": "accelerating",
    "front_frame": [
      36.51693614995956,
      37.582391976739636,
      37.520262935494515,
      36.24976338378361,
      33.196851223116646,
      32.950298706514175,
      31.279665386657847,
      29.392425085204547,
      19.73330788721393,
      20.13870801195941
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f606d0e6eda7549a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6f0e15842e1b5924": {
    "vx_ego": [
      5.636960080063226,
      5.1781255321470345,
      4.69500224444078,
      4.174518564052829,
      3.6537760788124656,
      3.1896741499445627,
      2.8016064149320377,
      2.4436966532210067,
      2.102870016397586,
      1.7811137595837516
    ],
    "vy_ego": [
      0.025200827129603393,
      0.002665862336844224,
      -0.030500371804116022,
      -0.03264551708974642,
      -0.0052579111656612665,
      0.0032384235483975676,
      -0.005893462398181684,
      0.004560942586450269,
      0.01060815469608331,
      0.001868312586629492
    ],
    "v_ego": [
      5.637016411712354,
      5.178126218381994,
      4.695101313921155,
      4.174646209130512,
      3.653779861969249,
      3.1896757939031435,
      2.801612613672237,
      2.443700909514261,
      2.1028967732178487,
      1.781114739473706
    ],
    "ax_ego": [
      -0.917670061343044,
      -0.9176013916185378,
      -1.014799773989551,
      -1.0671061750234658,
      -1.0159184725380157,
      -0.8404602511719458,
      -0.7117980737447003,
      -0.7198260254683115,
      -0.6435169553195279,
      -0.6435289760886145
    ],
    "ay_ego": [
      -0.057353224666181035,
      -0.05844160796338818,
      -0.045027711185834166,
      0.03948127135120186,
      0.060144732371477556,
      -0.03520006262380117,
      0.004639117736887334,
      0.044178101157436554,
      -0.014461389112264819,
      -0.013916129865764007
    ],
    "a_ego": [
      0.9194605667808465,
      0.919460567638234,
      1.0157982457475885,
      1.0678362981097425,
      1.0176972691699686,
      0.8411970507608367,
      0.7118131912236824,
      0.7211804292709162,
      0.6436794260800726,
      0.6436794246642511
    ],
    "yaw": [
      1.5905637978594682,
      1.5893777223570704,
      1.590852631317355,
      1.5910234224529647,
      1.5903885029931597,
      1.5897237072389925,
      1.5902243348681284,
      1.5908913046698954,
      1.5915017820710773,
      1.5923490877113888
    ],
    "yaw_diff": [
      -0.0023721510047955974,
      0.002949817920569142,
      0.0003415822712193872,
      -0.0012698389196099669,
      -0.001329591508334449,
      0.0010012552582718826,
      0.0013339396035338957,
      0.0012209548023638384,
      0.0016946112806230929,
      0.0016946112806230929
    ],
    "min_front_frame": [
      9,
      14.953655839258484
    ],
    "v_avg": 3.5657670844896456,
    "v_std": 1.2590883347357267,
    "vy_max": 0.03264551708974642,
    "a_max": 1.0678362981097425,
    "ax_avg": -0.8492226156305713,
    "a_std": 0.15284542123536737,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6f0e15842e1b5924",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.287926481700577,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.141223746376564,
      19.948633786615538,
      25.922432482280875,
      23.675901510281836,
      21.71078201136996,
      19.976110910299884,
      18.460703499062358,
      17.156283973158633,
      16.01607180723283,
      14.953655839258484
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6f0e15842e1b5924",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "29163817326a5eab": {
    "vx_ego": [
      4.760538995808239,
      4.814057145032516,
      4.9226726937631256,
      5.085997058457141,
      5.233070768834307,
      5.36319873705571,
      5.506659785748537,
      5.619684924495452,
      5.726391366548232,
      5.863232600483333
    ],
    "vy_ego": [
      -0.002121413873322986,
      0.017024743339400628,
      0.010354471231661666,
      -0.010069170502076785,
      -0.018583133946766694,
      -0.011685012350866192,
      -0.012899699666534092,
      -0.045368752232544995,
      -0.024131259924086046,
      0.038726476911479235
    ],
    "v_ego": [
      4.760539468485451,
      4.8140872486406385,
      4.922683583676244,
      5.086007025833654,
      5.233103763971757,
      5.363211466338952,
      5.50667489490996,
      5.619868056661169,
      5.7264422114069795,
      5.863360492702502
    ],
    "ax_ego": [
      0.0766416139843572,
      0.13485805431868758,
      0.2935491713135247,
      0.36326919795602874,
      0.23343037671476563,
      0.29089643072711463,
      0.28251336770818963,
      0.1665661161381576,
      0.2662218592978393,
      0.28015650838547534
    ],
    "ay_ego": [
      0.7694372714836637,
      0.7613940872835323,
      0.7146170665641731,
      0.8037031049650197,
      0.890461364788266,
      0.8629540939362049,
      0.7529598362977862,
      0.4161062330681004,
      0.47360520923302346,
      0.46549791434367993
    ],
    "a_ego": [
      0.7732448847178702,
      0.7732448842151789,
      0.7725598150328821,
      0.8819882035004947,
      0.9205493919142952,
      0.9106648679130164,
      0.8042153430589419,
      0.44820605556314663,
      0.5433009963000753,
      0.5433010007804668
    ],
    "yaw": [
      -0.41181886101148535,
      -0.3357968996446186,
      -0.25835375652461157,
      -0.1783256137578585,
      -0.09489745241677174,
      -0.013396630432046249,
      0.061108046889026435,
      0.11931230407373632,
      0.15485091568148596,
      0.18452523765834955
    ],
    "yaw_diff": [
      0.15204392273373346,
      0.1548862862400141,
      0.16005628553350615,
      0.1668563226821735,
      0.16300164396945097,
      0.14900935464214538,
      0.11640851436941976,
      0.07107722321549928,
      0.05934864395372719,
      0.05934864395372719
    ],
    "min_front_frame": [
      3,
      62.60263603157024
    ],
    "v_avg": 5.28959782126273,
    "v_std": 0.36972102603559176,
    "vy_max": 0.045368752232544995,
    "a_max": 0.9205493919142952,
    "ax_avg": 0.23881026965441404,
    "a_std": 0.15865737198827104,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "29163817326a5eab",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 19.765933992162083,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      62.60263603157024,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "29163817326a5eab",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "c20652fc6a78529b": {
    "vx_ego": [
      1.514359216656096,
      1.914103182541691,
      2.255406667680601,
      2.503306912627574,
      2.71048091881238,
      2.904001391684952,
      3.087796131379589,
      3.2760334240553606,
      3.476768099595584,
      3.698274072058215
    ],
    "vy_ego": [
      0.009776410133494284,
      8.826333630063132e-05,
      -0.00911556349011522,
      -0.010400787978809278,
      -0.010372359607393022,
      -0.021240973908494443,
      -0.031252540153570374,
      -0.047228269545608104,
      -0.03586074526968708,
      -0.010671239204987915
    ],
    "v_ego": [
      1.5143907736335305,
      1.9141031845766954,
      2.2554250885622102,
      2.5033285192318604,
      2.7105007650044723,
      2.904079072938738,
      3.087954285644269,
      3.276373834740499,
      3.4769530355494864,
      3.698289467768068
    ],
    "ax_ego": [
      0.7994310939525122,
      0.7994264954468465,
      0.5659550011401033,
      0.4256800153335272,
      0.4029078615672832,
      0.3711379633299981,
      0.36280487781379545,
      0.3844183216779678,
      0.4119697845159272,
      0.46405417291211687
    ],
    "ay_ego": [
      0.0013087433973426044,
      -0.0030108609495794747,
      0.01683569661544726,
      -0.00938773805181442,
      -0.05998622688435329,
      -0.1823607578298556,
      -0.32952389931714404,
      -0.435831106768787,
      -0.6055536139060186,
      -0.5666286309903067
    ],
    "a_ego": [
      0.7994321652194079,
      0.7994321652936444,
      0.5662053549693977,
      0.4257835190329487,
      0.4073488582634572,
      0.41352005250171153,
      0.4901156798008592,
      0.5811421510000899,
      0.7324030875608997,
      0.7324030863227557
    ],
    "yaw": [
      -2.3046190420078285,
      -2.299215691564698,
      -2.2932268721537135,
      -2.291913832197068,
      -2.2985703774108455,
      -2.316255571147063,
      -2.3556104988411244,
      -2.410755773580852,
      -2.491268784486053,
      -2.5800777604219034
    ],
    "yaw_diff": [
      0.010806700886260678,
      0.01197763882196945,
      0.002626079913291335,
      -0.013313090427555352,
      -0.03537038747243493,
      -0.07870985538812292,
      -0.11029054947945482,
      -0.16102602181040204,
      -0.17761795187170115,
      -0.17761795187170115
    ],
    "min_front_frame": [
      6,
      77.25682957367026
    ],
    "v_avg": 2.734139802764983,
    "v_std": 0.6612628860100628,
    "vy_max": 0.047228269545608104,
    "a_max": 0.7994321652936444,
    "ax_avg": 0.4987785587690078,
    "a_std": 0.15170622228953232,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "c20652fc6a78529b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      79.25526638515036,
      78.50737185274114,
      77.25682957367026,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c20652fc6a78529b",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "599c8b2bc9b252a7": {
    "vx_ego": [
      4.3037964609217365,
      4.438650465733056,
      4.687037677575098,
      5.020005768697592,
      5.326946537446142,
      5.597578739043837,
      5.828357281058875,
      6.054836682878912,
      6.274630758728097,
      6.4559237904608135
    ],
    "vy_ego": [
      -0.019824542226070996,
      0.012720910813400169,
      0.044975820896808294,
      0.08065649969679534,
      0.12055871416704722,
      0.06997108785598893,
      0.0368543477328207,
      0.02897295927623711,
      0.03375150990431486,
      0.002182491119968155
    ],
    "v_ego": [
      4.303842119492412,
      4.4386686943862115,
      4.687253461833904,
      5.020653681414447,
      5.328310596837524,
      5.598016049720771,
      5.828473800114299,
      6.054906001640764,
      6.274721533486371,
      6.455924159367535
    ],
    "ax_ego": [
      0.1772098757358171,
      0.3571961151117757,
      0.6484163831852088,
      0.6984957688936823,
      0.5562189296670497,
      0.5369592788648057,
      0.38910781585873677,
      0.5170355513218896,
      0.3625103956735467,
      0.3624370429495527
    ],
    "ay_ego": [
      -1.2387713915637062,
      -1.1993201557015931,
      -1.1451437987215165,
      -0.9081882070572211,
      -0.7269741415703638,
      -0.4450026261056599,
      -0.25589453830361,
      -0.03400635232051141,
      -0.02308392952171931,
      -0.024208369539113428
    ],
    "a_ego": [
      1.251382395838692,
      1.251382395801954,
      1.315978011113154,
      1.1457321495882824,
      0.9153528828992268,
      0.697389851087572,
      0.46571118420752394,
      0.5181526737640916,
      0.3632446211212977,
      0.36324462178779493
    ],
    "yaw": [
      0.15800546168119,
      0.010627612819911484,
      -0.12577354230463952,
      -0.23891533542142718,
      -0.32529392496447607,
      -0.3696455187741645,
      -0.39443859645325446,
      -0.40533928648078943,
      -0.40841997111006023,
      -0.4053178439198559
    ],
    "yaw_diff": [
      -0.29475569772255705,
      -0.272802310249102,
      -0.2262835862335753,
      -0.17275717908609778,
      -0.0887031876193769,
      -0.049586155358179895,
      -0.02180138005506993,
      -0.006161369258541605,
      0.006204254380408614,
      0.006204254380408614
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.399077009829424,
    "v_std": 0.7290115021355076,
    "vy_max": 0.12055871416704722,
    "a_max": 1.315978011113154,
    "ax_avg": 0.46055871572620644,
    "a_std": 0.3716879128057033,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "599c8b2bc9b252a7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "599c8b2bc9b252a7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0e15e43a4c725f49": {
    "vx_ego": [
      13.942718109727652,
      13.972782032636328,
      13.961167105064517,
      13.813795585008604,
      13.655463802320128,
      13.680741579918188,
      13.815552231979861,
      13.903707913684578,
      13.981076879639803,
      14.103742575518778
    ],
    "vy_ego": [
      0.007965673442240195,
      0.010542738965159337,
      0.03140699428543936,
      0.025395898135499806,
      0.02108412898470302,
      -0.00474434095062648,
      -0.03000906095806899,
      0.014286138963585326,
      0.030120783337313384,
      0.0508220003487887
    ],
    "v_ego": [
      13.942720385178813,
      13.972786009987752,
      13.961202431553865,
      13.81381892946499,
      13.655480079329703,
      13.680742402562569,
      13.815584823607843,
      13.903715253227162,
      13.981109325657513,
      14.103834142254385
    ],
    "ax_ego": [
      0.05871834759344409,
      0.06118984100743545,
      -0.1077495111180995,
      -0.48346458794267355,
      -0.1513457901418737,
      0.2511195775741296,
      0.2885168406074192,
      0.06401415456098614,
      0.24536360030164,
      0.24535294271182972
    ],
    "ay_ego": [
      0.26553145725866384,
      0.2649728312843797,
      0.4139846395387246,
      0.41550765527044287,
      0.40821801168372823,
      0.29233716328400383,
      0.22350730085714882,
      0.0797892916961849,
      0.032031450844875235,
      0.032112964538354175
    ],
    "a_ego": [
      0.2719463166472643,
      0.2719463144838988,
      0.42777709022363175,
      0.6374830345843883,
      0.4353705241018098,
      0.38538559817142576,
      0.36496230058806756,
      0.10229439404745845,
      0.24744557016889718,
      0.24744556772913914
    ],
    "yaw": [
      -1.9341636936928652,
      -1.9248462217864226,
      -1.9142033330588126,
      -1.8988902015588942,
      -1.8835365689093908,
      -1.8687791413806436,
      -1.8575575072577748,
      -1.8552872285070297,
      -1.8544164827647918,
      -1.854748698680217
    ],
    "yaw_diff": [
      0.01863494381288522,
      0.02128577745521998,
      0.03062626299983684,
      0.030707265299006803,
      0.029514855057494405,
      0.022443268245737613,
      0.004540557501490294,
      0.0017414914844757767,
      -0.0006644318308506314,
      -0.0006644318308506314
    ],
    "min_front_frame": [
      1,
      27.892344765872487
    ],
    "v_avg": 13.883099378282457,
    "v_std": 0.1336301350630676,
    "vy_max": 0.0508220003487887,
    "a_max": 0.6374830345843883,
    "ax_avg": 0.04717154151542376,
    "a_std": 0.13815656992504316,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0e15e43a4c725f49",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.4595614136017905,
    "speed_mode": "quasi_constant",
    "front_frame": [
      27.897225483200437,
      27.892344765872487,
      28.03771058535663,
      28.143733854078633,
      28.293219820281124,
      28.428910648167196,
      28.47312684385577,
      28.36088942802441,
      28.111237378240048,
      27.92515785449062
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0e15e43a4c725f49",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f3a61425920f57a7": {
    "vx_ego": [
      5.599130008483397,
      5.800999379525637,
      6.11149686456135,
      6.445083419781301,
      6.754325816428407,
      6.946054516593821,
      7.04495440907192,
      7.1698156607134,
      7.296332981524833,
      7.400763879254857
    ],
    "vy_ego": [
      -0.016447401811353846,
      -0.052583590613325626,
      -0.07579991565297783,
      -0.13842867468556275,
      -0.12038173728279045,
      -0.12530913236917796,
      -0.07208521075073238,
      0.002146151382986794,
      0.007563167837536078,
      0.07949272810195485
    ],
    "v_ego": [
      5.599154165490144,
      5.8012376985655925,
      6.111966913584874,
      6.4465698465086865,
      6.7553985076487155,
      6.9471847338435255,
      7.045323193687488,
      7.169815981918705,
      7.296336901404347,
      7.401190788670732
    ],
    "ax_ego": [
      0.250083820576634,
      0.5750823586155278,
      0.7128359962463291,
      0.6654129370590431,
      0.5885961544757573,
      0.20522246546947293,
      0.2037995097876589,
      0.2973229934372795,
      0.20615589732759976,
      0.2096062448501077
    ],
    "ay_ego": [
      1.9177976308889424,
      1.8465562318854614,
      1.9012013569186936,
      1.6282027202341631,
      0.952167385562011,
      0.8049745935107477,
      0.630053705662923,
      0.4690111141733309,
      0.30948443489110666,
      0.30715808269486833
    ],
    "a_ego": [
      1.934034557694729,
      1.934034548994881,
      2.0304437340379513,
      1.7589253750467844,
      1.1194052720939118,
      0.8307227916285688,
      0.6621947690893302,
      0.555312873652875,
      0.37186135782414326,
      0.37186135271758325
    ],
    "yaw": [
      0.29034329826763705,
      0.4625878039429401,
      0.6239058604096162,
      0.7739969490469709,
      0.8687990091616993,
      0.9331730707188102,
      0.9768406627968589,
      1.00510026389474,
      1.031216199670768,
      1.0424068499631995
    ],
    "yaw_diff": [
      0.34448901135060606,
      0.32263611293335215,
      0.3001821772747095,
      0.18960412022945672,
      0.1287481231142218,
      0.08733518415609742,
      0.05651920219576212,
      0.05223187155205622,
      0.022381300584862984,
      0.022381300584862984
    ],
    "min_front_frame": [
      5,
      19.198447833545615
    ],
    "v_avg": 6.65741787313228,
    "v_std": 0.605222544054838,
    "vy_max": 0.13842867468556275,
    "a_max": 2.0304437340379513,
    "ax_avg": 0.391411837784541,
    "a_std": 0.6542475480077282,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "f3a61425920f57a7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      46.91704094942064,
      19.198447833545615,
      19.728915923991217,
      20.23407717185746,
      20.849685322328956,
      21.442703021139998
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8333333333333334,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.16666666666666666,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f3a61425920f57a7",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "c26281cfd29f5c15": {
    "vx_ego": [
      3.901428705287697,
      2.9653889800465167,
      2.0654129974552413,
      1.2798790362739911,
      0.6777020568522222,
      0.2895701010249049,
      0.07919880627960985,
      -0.02490581038667653,
      -0.029663854959651743,
      0.027320248972970754
    ],
    "vy_ego": [
      0.03884710424045856,
      0.04023114761990021,
      0.02549537403783675,
      -0.012024739881831725,
      -0.042622092344967666,
      -0.03401899091170485,
      -0.0020226400734619718,
      0.013556082991336479,
      0.009731441783381495,
      0.001587319637681807
    ],
    "v_ego": [
      3.9016221036833776,
      2.9656618735486577,
      2.065570348391546,
      1.2799355225412201,
      0.6790410301429477,
      0.2915615460759945,
      0.07922462993906594,
      0.0283560712561717,
      0.031219308932944025,
      0.02736632214195543
    ],
    "ax_ego": [
      -1.8719616781066835,
      -1.8719494166703603,
      -1.7277921631154012,
      -1.4143271394031345,
      -0.9944777155217146,
      -0.5580780628482551,
      -0.28342482600350233,
      -0.13299691507942313,
      0.11396768825392498,
      0.11396497233057845
    ],
    "ay_ego": [
      -0.006439539340954092,
      -0.009345759170170775,
      -0.05994318924504094,
      -0.09263273344820211,
      -0.03233280384108911,
      0.06650842655884559,
      0.06132395578864533,
      0.0009929810159960417,
      -0.016279180866917854,
      -0.016298093355807043
    ],
    "a_ego": [
      1.8719727540663924,
      1.8719727460053923,
      1.7288316704815028,
      1.4173574286531747,
      0.9950031843534546,
      0.5620271301599188,
      0.289983205632125,
      0.1330006219231377,
      0.11512447913298741,
      0.11512446640633829
    ],
    "yaw": [
      -0.721940444626998,
      -0.7234929440866887,
      -0.7245286130514397,
      -0.7249105397561066,
      -0.7256058015248118,
      -0.7257437525777417,
      -0.7259986833554524,
      -0.7259369812880583,
      -0.7259902108393939,
      -0.7258241373754126
    ],
    "yaw_diff": [
      -0.00310499891938143,
      -0.002071337929501871,
      -0.0007638534093339366,
      -0.0013905235374103153,
      -0.00027590210585981545,
      -0.0005098615554213204,
      0.00012340413478817425,
      -0.00010645910267115255,
      0.00033214692796246226,
      0.00033214692796246226
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.134955875665388,
    "v_std": 1.3265097746524868,
    "vy_max": 0.042622092344967666,
    "a_max": 1.8719727540663924,
    "ax_avg": -0.8627075256163972,
    "a_std": 0.7182474308137323,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c26281cfd29f5c15",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c26281cfd29f5c15",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e849e6a954285f60": {
    "vx_ego": [
      6.217448667015818,
      6.366418219844408,
      6.510145279819119,
      6.600272309098354,
      6.561653432629679,
      6.4125611798834665,
      6.234864490590418,
      6.053012884925419,
      5.850103810922878,
      5.630219835092347
    ],
    "vy_ego": [
      0.04236904487380411,
      0.034071898887181096,
      0.0343347133195282,
      0.01646803639993033,
      -0.014881178306871412,
      -0.0266403573382874,
      -0.0479354474525695,
      -0.05134980618885132,
      -0.023980383434745622,
      0.01751891992059118
    ],
    "v_ego": [
      6.217593028088947,
      6.366509392458368,
      6.510235820374704,
      6.600292853387143,
      6.561670307125211,
      6.412616517022326,
      6.235048758682469,
      6.053230690108281,
      5.850152960168141,
      5.630247090849786
    ],
    "ax_ego": [
      0.2976243764699659,
      0.30039284737246813,
      0.2761731445102628,
      0.08681686275777037,
      -0.24188851417683344,
      -0.3556515877566237,
      -0.35704919640026694,
      -0.3725105479027454,
      -0.4397361407263153,
      -0.43981375665626754
    ],
    "ay_ego": [
      -0.19724710337090148,
      -0.1930047321961057,
      -0.1603884065813443,
      -0.29628204935739266,
      -0.2061774918141681,
      -0.20499133093988828,
      -0.17649963119340273,
      -0.03297711485212948,
      0.07057140856060978,
      0.07008606671773446
    ],
    "a_ego": [
      0.3570527821728142,
      0.35705278237626076,
      0.31936819928475835,
      0.30873972927130383,
      0.31783519537876465,
      0.41049908359741094,
      0.3982916625558255,
      0.37396737612093134,
      0.4453629948335428,
      0.4453629949738317
    ],
    "yaw": [
      2.5523991879006207,
      2.5382113033010505,
      2.5244548293990556,
      2.5098171946678645,
      2.495582318117169,
      2.4815803259085687,
      2.4698665180145865,
      2.4619010780462114,
      2.458885817637854,
      2.457782203620388
    ],
    "yaw_diff": [
      -0.02837576919914042,
      -0.027512947803989718,
      -0.029275269462382347,
      -0.028469753101391326,
      -0.0280039844172002,
      -0.023427615787964484,
      -0.01593087993675013,
      -0.006030520816715068,
      -0.002207228034931674,
      -0.002207228034931674
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.243759741826537,
    "v_std": 0.3018540283026874,
    "vy_max": 0.05134980618885132,
    "a_max": 0.4453629949738317,
    "ax_avg": -0.1245642512508585,
    "a_std": 0.0480373593094705,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e849e6a954285f60",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e849e6a954285f60",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fd513762a5ea5dd4": {
    "vx_ego": [
      1.180266001657988,
      1.8823639265430223,
      2.504196530572362,
      3.118336934066067,
      3.73842503163965,
      4.30781049023687,
      4.964743721324272,
      5.665601484382721,
      6.430691475925479,
      7.284259585150007
    ],
    "vy_ego": [
      0.054335471043977124,
      -0.0074390627001957865,
      0.013046326111006451,
      0.01173932137143155,
      0.0420107816965829,
      0.13320071072057527,
      0.1704376742943583,
      0.14708839924713102,
      0.09061373820697272,
      0.04187481259626713
    ],
    "v_ego": [
      1.1815160507091322,
      1.882378625995398,
      2.5042305146203394,
      3.1183590309691445,
      3.7386610735621217,
      4.309869330865065,
      4.967668388615292,
      5.667510492009059,
      6.431329855332601,
      7.284379946418208
    ],
    "ax_ego": [
      1.3979724954319208,
      1.4134291338120317,
      1.0891206445668493,
      1.4134390170491913,
      1.1398024411267134,
      1.2882446913920342,
      1.4596029910678658,
      1.356048163499108,
      1.7070905909062786,
      1.707043516284093
    ],
    "ay_ego": [
      -0.32556052712946526,
      -0.2500696637383527,
      -0.5396600922553321,
      -1.0742991283590326,
      -1.585384465221277,
      -2.0807233885161005,
      -1.9317828536777923,
      -0.8550663781117334,
      -0.08988556891244881,
      -0.0907751959063271
    ],
    "a_ego": [
      1.435380351965627,
      1.4353803513462358,
      1.2154903510907615,
      1.775367137273291,
      1.952586363611958,
      2.447240119893771,
      2.421203396102396,
      1.6031235550344898,
      1.7094553814181468,
      1.7094553818919616
    ],
    "yaw": [
      0.21988961282275943,
      0.16619914672319736,
      0.06872246283585343,
      -0.07617772801868988,
      -0.27627996873612026,
      -0.5266067239969917,
      -0.7510970182103018,
      -0.8773083886435853,
      -0.90724541876396,
      -0.9067242751165758
    ],
    "yaw_diff": [
      -0.10738093219912415,
      -0.19495336777468786,
      -0.2898003817090866,
      -0.40020448143486076,
      -0.5006535105217429,
      -0.44898058842662025,
      -0.2524227408665669,
      -0.05987406024074948,
      0.001042287294768407,
      0.001042287294768407
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.108590330909636,
    "v_std": 1.8948529624717887,
    "vy_max": 0.1704376742943583,
    "a_max": 2.447240119893771,
    "ax_avg": 1.3971793685136087,
    "a_std": 0.3850564965438149,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "fd513762a5ea5dd4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 40.96349792573646,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "fd513762a5ea5dd4",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b6765fe7ee17596e": {
    "vx_ego": [
      3.6299620168097375,
      4.031573934077333,
      4.355293234877851,
      4.491278804251796,
      4.497573775536729,
      4.499610260547098,
      4.573102390217958,
      4.761923778475081,
      5.0453074423200714,
      5.42429728024848
    ],
    "vy_ego": [
      0.08115532451822238,
      -0.004927693750772066,
      0.014755461753846788,
      0.054834766166345084,
      0.020773583535587392,
      -0.02509623218232654,
      -0.05689631830146902,
      -0.04161337643559859,
      0.04191383802925275,
      -0.012024680953962363
    ],
    "v_ego": [
      3.6308691012179266,
      4.031576945575699,
      4.355318230098042,
      4.491613535145468,
      4.4976217502329625,
      4.499680246160884,
      4.5734563146982685,
      4.7621055999531094,
      5.045481538698625,
      5.424310608497922
    ],
    "ax_ego": [
      0.7876773717317893,
      0.8265598061697546,
      0.5081475867550969,
      0.08453120830596617,
      -0.008014614774041806,
      0.023293830655173986,
      0.24482872983198295,
      0.45999502217434957,
      0.645119815902579,
      0.8716622851158494
    ],
    "ay_ego": [
      -0.6628725579593997,
      -0.6137055838503185,
      -1.2638920203151236,
      -1.5686661002800004,
      -1.8329607407996718,
      -1.9220674012620145,
      -2.004680660041935,
      -1.9298650901074963,
      -1.6447834238807364,
      -1.5367813603799405
    ],
    "a_ego": [
      1.0294832053190266,
      1.0294831989034317,
      1.3622176804539257,
      1.5709420292758518,
      1.8329782626542133,
      1.9222085468389494,
      2.0195756127704922,
      1.9839291031790414,
      1.76677448712138,
      1.7667744872803108
    ],
    "yaw": [
      2.203686373236345,
      2.1427885395597754,
      2.0273828025256058,
      1.8606168779520904,
      1.6799412014912982,
      1.481936357667836,
      1.2720301524291997,
      1.0575998680006522,
      0.8580405574712238,
      0.7158710404176968
    ],
    "yaw_diff": [
      -0.12179566735313951,
      -0.23081147406833935,
      -0.3335318491470307,
      -0.3613513529215844,
      -0.39600968764692457,
      -0.41981241047727247,
      -0.428860568857095,
      -0.39911862105885687,
      -0.28433903410705397,
      -0.28433903410705397
    ],
    "min_front_frame": [
      9,
      67.48740977887847
    ],
    "v_avg": 4.531203387027891,
    "v_std": 0.4703271685647813,
    "vy_max": 0.08115532451822238,
    "a_max": 2.0195756127704922,
    "ax_avg": 0.44438010418685003,
    "a_std": 0.3517736661805236,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "b6765fe7ee17596e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.556085751926257,
    "right_rear_min": 12.643034620076298,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      67.48740977887847
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b6765fe7ee17596e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c12b3554dcd655c0": {
    "vx_ego": [
      9.760698745710359,
      10.071823863008213,
      10.377091372665303,
      10.605686039386141,
      10.745461990355114,
      10.837555879632612,
      10.878320188474738,
      10.886644000762502,
      10.915980835998742,
      10.974746174542851
    ],
    "vy_ego": [
      -0.04589448693607512,
      -0.05760542349397024,
      -0.027239802120679002,
      -0.004841328852781324,
      0.014370143566002191,
      0.02582746979743611,
      -0.015320171044386655,
      -0.021276196446820883,
      0.021214528829087698,
      -0.016532908868744478
    ],
    "v_ego": [
      9.760806642303846,
      10.07198859770391,
      10.377127124761662,
      10.605687144381317,
      10.74547159910595,
      10.837586654894878,
      10.878330976331705,
      10.886664791196312,
      10.916001450536971,
      10.974758627537948
    ],
    "ax_ego": [
      0.6185465069041186,
      0.6310736433385379,
      0.5935605975855371,
      0.32537448529499635,
      0.23606789578026371,
      0.12670425944243646,
      0.031478389175544824,
      0.0022524504523554756,
      0.11482702342979309,
      0.12005506066054558
    ],
    "ay_ego": [
      0.4948686221594434,
      0.4787909627663526,
      0.4854788353540521,
      0.7054885518165657,
      0.8764424288836299,
      0.7260826023329592,
      0.45253191373007123,
      0.3519442803801942,
      0.30365453451924096,
      0.30162577615902636
    ],
    "a_ego": [
      0.792145652264325,
      0.7921456490717518,
      0.7668141121437625,
      0.7769058195336284,
      0.9076780170112957,
      0.7370548926446784,
      0.4536254202856005,
      0.3519514881704197,
      0.32464029577956455,
      0.32464030315680514
    ],
    "yaw": [
      -0.8632714105972075,
      -0.8375407404872683,
      -0.8169432863134877,
      -0.7907836685091943,
      -0.7555781236132881,
      -0.7195646660126787,
      -0.6886741901055445,
      -0.6696528544790747,
      -0.6585014775218909,
      -0.6412271217724133
    ],
    "yaw_diff": [
      0.05146134021987825,
      0.04119490834756134,
      0.052319235608586645,
      0.07041108979181243,
      0.07202691520121896,
      0.06178095181426824,
      0.038042671252939586,
      0.022302753914367646,
      0.03454871149895533,
      0.03454871149895533
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.605442360875449,
    "v_std": 0.38858785197800777,
    "vy_max": 0.05760542349397024,
    "a_max": 0.9076780170112957,
    "ax_avg": 0.279994031206413,
    "a_std": 0.21813564241925323,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "c12b3554dcd655c0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 21.064956696011908,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c12b3554dcd655c0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "88642e4f16be55bd": {
    "vx_ego": [
      3.6271468226073913,
      4.007126935309826,
      4.484002983966511,
      5.072062074253741,
      5.648199919524608,
      6.063663094332338,
      6.2826724255327004,
      6.387437851501285,
      6.467066942811481,
      6.552857729232625
    ],
    "vy_ego": [
      0.00898117089718431,
      0.14632232760863478,
      0.1487187802980581,
      0.05740465912205983,
      0.03942241519544509,
      0.042167110713564604,
      0.016393382195173833,
      0.012832125321843968,
      0.04154527105260142,
      0.02572964012532264
    ],
    "v_ego": [
      3.6271579417198776,
      4.009797563374282,
      4.486468548405742,
      5.0723869115015345,
      5.648337495027863,
      6.063809708986089,
      6.2826938131289465,
      6.38745074111978,
      6.467200387521008,
      6.552908242448137
    ],
    "ax_ego": [
      0.7210088642940402,
      0.8351502627974804,
      1.097020114946229,
      1.2660895476288732,
      1.0474862329095256,
      0.6204867723619779,
      0.2650272916164961,
      0.14945134710802807,
      0.17071264210811843,
      0.17459348895960144
    ],
    "ay_ego": [
      -0.8596605596058937,
      -0.7492623628381173,
      -0.33151721383233423,
      -0.4654661331559617,
      -0.5090729884456854,
      -0.47383003635962684,
      -0.6857613946932993,
      -0.33832713539801823,
      -0.2425373669643768,
      -0.23975882863775733
    ],
    "a_ego": [
      1.1219937879206372,
      1.1219937833234457,
      1.1460177990170097,
      1.3489408673956942,
      1.1646384484894914,
      0.7807168103946208,
      0.7351925977274759,
      0.36986613213301006,
      0.29659261715279983,
      0.2965926200984036
    ],
    "yaw": [
      -2.9990281466232247,
      -3.140676304675991,
      3.077826538395317,
      3.055137998467665,
      3.013259319138474,
      2.9712181997632032,
      2.9287445095424993,
      2.8889890103076907,
      2.861918251651881,
      2.8458253841252295
    ],
    "yaw_diff": [
      -0.28329631610553285,
      -0.12936492821655587,
      -0.045377079855303926,
      -0.08375735865838241,
      -0.08408223875054155,
      -0.08494738044140782,
      -0.07951099846961718,
      -0.05414151731161976,
      -0.0321857350533028,
      -0.0321857350533028
    ],
    "min_front_frame": [
      2,
      17.571648012575917
    ],
    "v_avg": 5.459821135323326,
    "v_std": 1.0347150526877222,
    "vy_max": 0.1487187802980581,
    "a_max": 1.3489408673956942,
    "ax_avg": 0.634702656473037,
    "a_std": 0.3798916230129575,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "88642e4f16be55bd",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.28672630887347,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      17.571648012575917,
      18.083845324466754,
      18.435751617455292,
      18.488799122651375,
      18.495057590178515,
      18.506449907776922,
      18.458288598878188,
      18.349332301044072
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "88642e4f16be55bd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a354ac8030d55e5e": {
    "vx_ego": [
      1.1222270597903854,
      1.7434561729055156,
      2.324874867095989,
      2.8625446771652525,
      3.380265804098787,
      3.86312345683378,
      4.310421341538317,
      4.754530126957184,
      5.190081801458215,
      5.603613366908438
    ],
    "vy_ego": [
      0.0012827413653725,
      -0.007638222461347138,
      -0.003233082875579836,
      0.008461976232871156,
      0.021086278928026253,
      0.020851593652406915,
      -0.007111201424348519,
      -0.0042653503985430885,
      -0.005987695602373264,
      -0.038189466835338866
    ],
    "v_ego": [
      1.1222277928973172,
      1.7434729046603266,
      2.324877115135222,
      2.8625571843735953,
      3.3803315721270084,
      3.863179730700763,
      4.310427207455739,
      4.7545320402072715,
      5.190085255400567,
      5.6037434988739525
    ],
    "ax_ego": [
      1.2424537307478831,
      1.242459036625908,
      1.08317390129914,
      1.0675157181094268,
      1.0033624540486619,
      0.9280164561546378,
      0.8611368804450975,
      0.9152069133286337,
      0.82702134263453,
      0.827058268242739
    ],
    "ay_ego": [
      -0.01883438629516571,
      -0.018480750385991628,
      0.028504757089040572,
      0.012438806474816136,
      0.03980035851584096,
      -0.03453702892813108,
      -0.062165057229729224,
      0.052962347441025126,
      -0.07030825226622914,
      -0.06987251327585815
    ],
    "a_ego": [
      1.2425964780074217,
      1.2425964734491277,
      1.083548901357158,
      1.067588184796555,
      1.004151523791376,
      0.9286588982295896,
      0.8633777974925517,
      0.9167380784340688,
      0.830004549089794,
      0.8300045464816223
    ],
    "yaw": [
      1.5871261462014212,
      1.5868415218392335,
      1.5859169510789952,
      1.5853547954165217,
      1.5854939545286644,
      1.5859209632929219,
      1.5868457863088923,
      1.5857086120922004,
      1.5851840367071528,
      1.5846571694700415
    ],
    "yaw_diff": [
      -0.0005692487243753597,
      -0.0018491415204766604,
      -0.0011243113249470582,
      0.0002783182242853677,
      0.0008540175285149942,
      0.0018496460319408214,
      -0.0022743484333838104,
      -0.001049150770095153,
      -0.001053734474222523,
      -0.001053734474222523
    ],
    "min_front_frame": [
      0,
      12.44318010093039
    ],
    "v_avg": 3.5155434301831763,
    "v_std": 1.4206691060387657,
    "vy_max": 0.038189466835338866,
    "a_max": 1.2425964780074217,
    "ax_avg": 0.999740470163666,
    "a_std": 0.14756285650249729,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a354ac8030d55e5e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.853075612306413,
    "right_rear_min": 49.63375246598248,
    "speed_mode": "accelerating",
    "front_frame": [
      12.44318010093039,
      12.981185490391544,
      13.429763398118792,
      13.926421759220128,
      14.427484140660763,
      14.90663672780071,
      15.52127159269682,
      16.046919555308595,
      16.620888175960623,
      17.27059243561053
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a354ac8030d55e5e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d70c87fa9c59524a": {
    "vx_ego": [
      8.340589374310088,
      7.944232582870915,
      7.597700236751188,
      7.3885311944137095,
      7.280041388895239,
      7.176880726868274,
      7.084141215911668,
      6.897193179792872,
      6.630197636693349,
      6.392294478580314
    ],
    "vy_ego": [
      0.05615105263055131,
      0.030811844395202792,
      -0.008373897513572537,
      0.004210950216163578,
      0.07091243274891479,
      0.11156250561045744,
      0.16175570757312618,
      0.14049901626476102,
      0.011448090714266668,
      -0.121482583717609
    ],
    "v_ego": [
      8.340778384033822,
      7.944292334783691,
      7.597704851446168,
      7.388532394388361,
      7.28038674777282,
      7.17774777770516,
      7.08598769939032,
      6.89862404635538,
      6.630207520160668,
      6.393448734371386
    ],
    "ax_ego": [
      -0.797419522796469,
      -0.7914485000444473,
      -0.5972657409886368,
      -0.23942532521126614,
      -0.19406395432777834,
      -0.21747109051490654,
      -0.15174754264078927,
      -0.5801341668772136,
      -0.4824516124162897,
      -0.47313432355753515
    ],
    "ay_ego": [
      0.27925332513052503,
      0.29575258281797,
      0.09047317095634425,
      0.06541180321611109,
      0.09839775421020369,
      -0.012047360634843678,
      0.1107011930564728,
      -0.6507520689437178,
      -0.5013338508419822,
      -0.5101363628139199
    ],
    "a_ego": [
      0.8449025475955219,
      0.8449025496861196,
      0.6040792663397754,
      0.2481998999848787,
      0.21758432021390167,
      0.21780453188124588,
      0.18783522257991078,
      0.8717992353821195,
      0.695769493670949,
      0.6957694997578305
    ],
    "yaw": [
      2.8783179902792035,
      2.8990858077425425,
      2.9166079550344923,
      2.9201505167202133,
      2.916637019800107,
      2.9140009462610656,
      2.9104164669659074,
      2.8942679607632495,
      2.870723035208016,
      2.8523003026827567
    ],
    "yaw_diff": [
      0.041535634926678,
      0.03504429458389957,
      0.007085123371441959,
      -0.007026993840212548,
      -0.005272147078082767,
      -0.007168958590316521,
      -0.032297012405315684,
      -0.04708985111046715,
      -0.036845465050518555,
      -0.036845465050518555
    ],
    "min_front_frame": [
      4,
      20.381738832406736
    ],
    "v_avg": 7.273771049040778,
    "v_std": 0.5550324505681695,
    "vy_max": 0.16175570757312618,
    "a_max": 0.8717992353821195,
    "ax_avg": -0.45245617793753323,
    "a_std": 0.27667731060121303,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d70c87fa9c59524a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      32.68075199014348,
      30.543880547883195,
      27.603919855848535,
      23.954032409317065,
      20.381738832406736,
      41.04190661108533,
      37.499845081010385,
      34.10919541629928,
      30.869656802760232,
      27.581048756534912
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d70c87fa9c59524a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "72c1d1069773561d": {
    "vx_ego": [
      4.320086813712175,
      4.061282093762659,
      4.03190451775052,
      4.218980219462039,
      4.513767660416432,
      4.744884404381834,
      4.775126363782731,
      4.698442905648349,
      4.47023895551851,
      4.114519599598534
    ],
    "vy_ego": [
      0.02390612009731452,
      0.010996464504412194,
      -0.0059144095384168205,
      0.02128853272257225,
      -0.017953408315541264,
      -0.05093218337902483,
      -0.041550212760170346,
      -0.053626173047761405,
      -0.07432688761684858,
      -0.07208975433158593
    ],
    "v_ego": [
      4.320152958008306,
      4.061296980934638,
      4.031908855678317,
      4.219033928974432,
      4.513803364912054,
      4.7451577527253725,
      4.775307132559465,
      4.6987489296697955,
      4.470856831263782,
      4.1151510869177175
    ],
    "ax_ego": [
      -0.6947567379592752,
      -0.34377624987503136,
      0.26891159681915977,
      0.5051372694765067,
      0.6393202864753865,
      0.2168284208168862,
      -0.10773402316772612,
      -0.1978419655144481,
      -0.7101774906630836,
      -0.7076598977089844
    ],
    "ay_ego": [
      1.639458672509994,
      1.7470917477737395,
      2.1123169111257054,
      2.366847927666729,
      2.1202483248268194,
      1.0757555863407635,
      0.3855560628796913,
      0.08896888111628724,
      0.14328366440981144,
      0.15524095412921984
    ],
    "a_ego": [
      1.7805930651914954,
      1.7805930711752305,
      2.1293652058610033,
      2.420151394792167,
      2.2145390914657397,
      1.0973899241460643,
      0.40032498969111663,
      0.21692603607152397,
      0.7244875959816135,
      0.7244876014566715
    ],
    "yaw": [
      2.9317087259974213,
      3.13825038999671,
      -2.8988887357483617,
      -2.6337030351014175,
      -2.368346438913039,
      -2.1911194900896316,
      -2.1170069202312836,
      -2.089480042264847,
      -2.072536092784477,
      -2.055669546548251
    ],
    "yaw_diff": [
      0.41308332799857705,
      0.49209236286902946,
      0.5303714012938885,
      0.5307131923767567,
      0.354453897646815,
      0.14822513971669693,
      0.055053755932870985,
      0.03388789896074229,
      0.03373309247245082,
      0.03373309247245082
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.395141782164388,
    "v_std": 0.2715603270924165,
    "vy_max": 0.07432688761684858,
    "a_max": 2.420151394792167,
    "ax_avg": -0.11317487913006097,
    "a_std": 0.7683067714456674,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "72c1d1069773561d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "72c1d1069773561d",
    "pedestrians": "No"
  },
  "1e921882661b5a6b": {
    "vx_ego": [
      5.27004573646436,
      4.977473359895465,
      4.601381134133961,
      4.058748861409191,
      3.521081126112045,
      3.059242164872877,
      2.5812081608270985,
      2.0934479168643683,
      1.5647497511599866,
      1.0009051986062418
    ],
    "vy_ego": [
      0.03885969662824307,
      0.027429618067728714,
      -0.0015074611900509766,
      -0.015959906347321473,
      -0.023760266172055608,
      -0.050661683186109634,
      -0.053398268404010456,
      -0.008653745205707851,
      0.033297851407467716,
      0.04485476296508764
    ],
    "v_ego": [
      5.270189004243417,
      4.977548938224153,
      4.60138138106408,
      4.058780240244723,
      3.5211612923737294,
      3.0596616200945057,
      2.5817604351660823,
      2.0934658029043245,
      1.5651039999513112,
      1.0019097595879853
    ],
    "ax_ego": [
      -0.5852587657277228,
      -0.5852668670522291,
      -0.9192781187106548,
      -1.2511972784971936,
      -0.8995139233006744,
      -0.9480270699661972,
      -0.9640925282693311,
      -0.98702655953101,
      -1.1277376723593466,
      -1.1277244977026868
    ],
    "ay_ego": [
      -0.005058661315638797,
      -0.004012086405813932,
      -0.07211871739306384,
      0.02551612266787106,
      -0.07886198128889718,
      -0.04339981740985086,
      0.033205055757480686,
      0.14167228555681546,
      0.024191129648487297,
      0.024798045053036726
    ],
    "a_ego": [
      0.585280627490304,
      0.5852806185980015,
      0.9221026889336248,
      1.2514574312515732,
      0.9029642907139694,
      0.9490199521295121,
      0.964664179283448,
      0.9971421492016644,
      1.1279971047889028,
      1.1279971124773456
    ],
    "yaw": [
      -1.5907374625044484,
      -1.5889492466626591,
      -1.5868991515845217,
      -1.5862582361487987,
      -1.5877361246801913,
      -1.588847708621292,
      -1.5887811317587142,
      -1.5892192094402382,
      -1.5894822436025458,
      -1.5889440707158227
    ],
    "yaw_diff": [
      0.0035764316835784626,
      0.004100190156274941,
      0.0012818308714459548,
      -0.0029557770627852697,
      -0.002223167882201338,
      0.0001331537251556547,
      -0.0008761553630480812,
      -0.0005260683246151032,
      0.0010763457734461745,
      0.0010763457734461745
    ],
    "min_front_frame": [
      9,
      11.837916290683058
    ],
    "v_avg": 3.273096247385431,
    "v_std": 1.390225469659987,
    "vy_max": 0.053398268404010456,
    "a_max": 1.2514574312515732,
    "ax_avg": -0.9395123281117046,
    "a_std": 0.20614818841054136,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1e921882661b5a6b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.395357933117973,
    "right_rear_min": 6.596973438428207,
    "speed_mode": "decelerating",
    "front_frame": [
      19.229735264586783,
      18.498763652563106,
      17.603198469291357,
      16.775250378982076,
      15.998003411455468,
      15.129134524640728,
      14.275119716625005,
      13.364482265855258,
      12.477479521077955,
      11.837916290683058
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1e921882661b5a6b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "68ca75d95a615a5d": {
    "vx_ego": [
      10.86490866506346,
      11.028762011408915,
      11.168658220022161,
      11.263005264033307,
      11.248536416112891,
      11.035962115854076,
      10.728611642058898,
      10.511452495360164,
      10.393182662546108,
      10.296244709580693
    ],
    "vy_ego": [
      -0.03318339973153428,
      0.006252610855098872,
      0.002998282988317058,
      0.000617477941141864,
      -0.005555631652482518,
      -0.01362835876751678,
      -0.03074343062679663,
      -0.013948463906256592,
      0.007071913930963625,
      0.03708305923079269
    ],
    "v_ego": [
      10.864959339003015,
      11.028763783826316,
      11.168658622474297,
      11.263005280959474,
      11.248537788070985,
      11.035970530711337,
      10.728655690469726,
      10.51146175000693,
      10.393185068544467,
      10.296311488724994
    ],
    "ax_ego": [
      0.3214036692053053,
      0.3351777861082458,
      0.22633364279360219,
      0.1493102489080526,
      -0.2060950731827185,
      -0.6447058863507612,
      -0.5865079348064879,
      -0.2801195664775794,
      -0.19409659516127192,
      -0.19385465935995266
    ],
    "ay_ego": [
      0.5937897391951001,
      0.5861249212825617,
      0.7500699378303135,
      0.6536966774520074,
      0.7051992765529842,
      0.5945868660852089,
      0.2431420769617149,
      0.37376023997851127,
      0.10664327778487585,
      0.10708244044092864
    ],
    "a_ego": [
      0.6751937299412801,
      0.6751937289762947,
      0.7834742047425635,
      0.6705318012896767,
      0.7346980324194712,
      0.8770286319250649,
      0.6349091487608506,
      0.4670799594420439,
      0.22146394051831753,
      0.221463942903463
    ],
    "yaw": [
      -0.8115691563144124,
      -0.7882225690274407,
      -0.7578709158615302,
      -0.7263984143107731,
      -0.6957909732670076,
      -0.6660515365126874,
      -0.6452203764159641,
      -0.6322330257761771,
      -0.6227440493068594,
      -0.6204800581150959
    ],
    "yaw_diff": [
      0.0466931745739434,
      0.06070330633182097,
      0.06294500310151419,
      0.06121488208753112,
      0.05947887350864023,
      0.041662320193446734,
      0.02597470127957391,
      0.018977952938635356,
      0.0045279823835271404,
      0.0045279823835271404
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.853950934279155,
    "v_std": 0.3379558694989824,
    "vy_max": 0.03708305923079269,
    "a_max": 0.8770286319250649,
    "ax_avg": -0.10731543683235656,
    "a_std": 0.21216686962094145,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "68ca75d95a615a5d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 26.028777374253888,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "68ca75d95a615a5d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d11b9fcd004e5270": {
    "vx_ego": [
      5.740193607482497,
      5.631722090942223,
      5.527704119836237,
      5.387509982989189,
      5.0956579537556514,
      4.606906045433665,
      4.037833858185416,
      3.4218584091235815,
      2.6741283155061004,
      1.8470417917319257
    ],
    "vy_ego": [
      0.03382034880377746,
      -0.008527308143954582,
      -0.004491858358503353,
      0.01539261912583842,
      0.01165653242196267,
      -0.01959098362476981,
      -0.01500517278080532,
      0.008487979133245352,
      -0.002083805030397984,
      0.001126350513478147
    ],
    "v_ego": [
      5.74029323879679,
      5.631728546777697,
      5.527705944896673,
      5.387531972019445,
      5.09567128614291,
      4.606947700820212,
      4.037861738781889,
      3.4218689363971166,
      2.6741291274048264,
      1.847042135163614
    ],
    "ax_ego": [
      -0.2169535620017726,
      -0.21690584380451938,
      -0.199302140545373,
      -0.36146281647624723,
      -0.8059420388795262,
      -1.1490616745552238,
      -1.1271841051479372,
      -1.336733361983169,
      -1.6541759253928576,
      -1.6541681771903372
    ],
    "ay_ego": [
      -0.09062160176422131,
      -0.09073574068115157,
      0.07956563423431101,
      -0.004015988005036549,
      -0.012111239277267444,
      -0.11502652410691455,
      0.13717014285087353,
      -0.04007938125428668,
      0.009299495854095244,
      0.010588767696585809
    ],
    "a_ego": [
      0.23511937982984324,
      0.23511937332663113,
      0.2145973750470303,
      0.3614851253573206,
      0.8060330341556226,
      1.1548046731719497,
      1.1354997379955158,
      1.337334078620803,
      1.6542020652787426,
      1.6542020675934772
    ],
    "yaw": [
      -1.5445019017612345,
      -1.5450280542531531,
      -1.5462522513010724,
      -1.546434267962126,
      -1.5464900941247384,
      -1.5465998009390938,
      -1.5463798530576245,
      -1.5461723101252454,
      -1.5452406010726762,
      -1.5444611961403074
    ],
    "yaw_diff": [
      -0.0010523049838373488,
      -0.002448394095838413,
      -0.0003640333221071046,
      -0.00011165232522492019,
      -0.00021941362871080727,
      0.00043989576293856913,
      0.0004150858647582467,
      0.001863418105138237,
      0.0015588098647376647,
      0.0015588098647376647
    ],
    "min_front_frame": [
      9,
      12.561996105296384
    ],
    "v_avg": 4.397078062720117,
    "v_std": 1.2911735131738333,
    "vy_max": 0.03382034880377746,
    "a_max": 1.6542020675934772,
    "ax_avg": -0.8721889645976963,
    "a_std": 0.5565561856314047,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d11b9fcd004e5270",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.940373930927894,
    "right_rear_min": 23.630894578131063,
    "speed_mode": "decelerating",
    "front_frame": [
      19.6145621782132,
      19.257873398487032,
      18.922295820740764,
      18.404240779264914,
      17.662764811697595,
      16.744623730171842,
      15.75892338334833,
      14.645150947891592,
      13.519698381154472,
      12.561996105296384
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d11b9fcd004e5270",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6e9027bc59c857a9": {
    "vx_ego": [
      2.441242070858091,
      2.620323291060054,
      2.8240928361618267,
      3.0145617003726124,
      3.169168274951964,
      3.216895303155864,
      3.162092272085765,
      3.045643053462962,
      2.829156074492379,
      2.5506488770646296
    ],
    "vy_ego": [
      0.035914085325418954,
      0.022667859535259405,
      -0.03594429163302992,
      -0.07347284568245427,
      -0.018231704195003307,
      0.005028100941056657,
      0.0011080833029417647,
      0.00956421210461944,
      0.015144983313337468,
      0.019527141735634523
    ],
    "v_ego": [
      2.4415062297795314,
      2.62042133664182,
      2.824321571521478,
      3.015456931280249,
      3.169220716516895,
      3.2168992326874855,
      3.162092466237052,
      3.045658070640954,
      2.8291966111171365,
      2.5507236234714687
    ],
    "ax_ego": [
      0.29059887092970255,
      0.4038002073609408,
      0.39959559993838834,
      0.367582371070469,
      0.2526978038734141,
      -0.06208725066876112,
      -0.15710193532804287,
      -0.30875452131110664,
      -0.5575220001694065,
      -0.5570692920894491
    ],
    "ay_ego": [
      0.7681980643264628,
      0.7152072165375889,
      0.48469436105629915,
      0.19624374214823348,
      0.16287711010390282,
      0.0002023477901148575,
      0.03605706859641382,
      0.050538500612799506,
      0.05158721513669509,
      0.05626567234167709
    ],
    "a_ego": [
      0.8213257391684143,
      0.8213257393094316,
      0.6281761433944261,
      0.4166874198414566,
      0.3006412032277767,
      0.06208758040247456,
      0.16118663182653534,
      0.3128633798868774,
      0.5599035822697113,
      0.5599035828364567
    ],
    "yaw": [
      2.4175603826978183,
      2.5698887586840513,
      2.701400181297134,
      2.7724410048007355,
      2.783560195855616,
      2.7889772621429527,
      2.793033291633817,
      2.7972579109557385,
      2.8039786832945834,
      2.812373562394548
    ],
    "yaw_diff": [
      0.3046567519724661,
      0.2630228452261658,
      0.1420816470072026,
      0.022238382109761368,
      0.010834132574673028,
      0.00811205898172851,
      0.00844923864384306,
      0.013441544677689876,
      0.016789758199928784,
      0.016789758199928784
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.887549678989407,
    "v_std": 0.2637629519625795,
    "vy_max": 0.07347284568245427,
    "a_max": 0.8213257393094316,
    "ax_avg": 0.007173985360614854,
    "a_std": 0.24611112734107565,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6e9027bc59c857a9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6e9027bc59c857a9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "44a4f1048fcc57ea": {
    "vx_ego": [
      2.6262866044081425,
      3.1590760776621147,
      3.702082208186397,
      4.219388688240933,
      4.696578859676675,
      5.140515439717161,
      5.549059039810014,
      5.933144728947791,
      6.298775080190203,
      6.670981582439689
    ],
    "vy_ego": [
      0.01114754609299018,
      0.02129664702184242,
      -0.011367659972854716,
      -0.0551380208037453,
      -0.04858316577677435,
      0.019054988794430905,
      0.04189950924762398,
      0.016729086112202918,
      -0.02971832302171551,
      0.006009188735726756
    ],
    "v_ego": [
      2.6263102627598185,
      3.159147861628421,
      3.702099660984767,
      4.2197489384788875,
      4.696830134160565,
      5.140550756345907,
      5.54921722373277,
      5.93316831355416,
      6.298845186980572,
      6.670984288963571
    ],
    "ax_ego": [
      1.0500119886368393,
      1.0748418116532414,
      1.1052010576036853,
      0.9815314622411047,
      0.9558619884773476,
      0.8291915705212837,
      0.795849670247817,
      0.7238994704695053,
      0.7302020299281189,
      0.7600071683103649
    ],
    "ay_ego": [
      0.42299210045501545,
      0.35519371171901115,
      0.597764881562433,
      0.7078368389817327,
      0.9278690036264959,
      1.027786661651205,
      1.077547307090731,
      0.9540847861405728,
      0.6751858475284681,
      0.6414515086089709
    ],
    "a_ego": [
      1.1320103768642917,
      1.1320103766851035,
      1.256499992581637,
      1.2101392490076555,
      1.3321460238677647,
      1.3205696053187357,
      1.3395838520421353,
      1.197626077910352,
      0.9945204538941776,
      0.9945204541787283
    ],
    "yaw": [
      -2.8735722822626233,
      -2.8097792861747366,
      -2.730765557765655,
      -2.6377359499905255,
      -2.547603284682946,
      -2.4622794809983874,
      -2.368220413851364,
      -2.275578975453171,
      -2.201409838966888,
      -2.1561429344592433
    ],
    "yaw_diff": [
      0.12758599217577338,
      0.15802745681816344,
      0.18605921555025873,
      0.1802653306151587,
      0.17064760736911744,
      0.18811813429404722,
      0.18528287679638566,
      0.1483382729725662,
      0.09053380901528918,
      0.09053380901528918
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.799690262758944,
    "v_std": 1.2914539527736129,
    "vy_max": 0.0551380208037453,
    "a_max": 1.3395838520421353,
    "ax_avg": 0.9006598218089307,
    "a_std": 0.1215138139721691,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "44a4f1048fcc57ea",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "44a4f1048fcc57ea",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "ea8ce810e307587d": {
    "vx_ego": [
      1.2897403596861028,
      1.886132975280429,
      2.500747337050219,
      3.1025146046849974,
      3.596397597530223,
      3.978892847796533,
      4.296570329130725,
      4.555829044830771,
      4.7904378154550855,
      5.149352639983188
    ],
    "vy_ego": [
      -0.020106229564060774,
      0.010393499012236296,
      0.014230808345362833,
      0.01574182084057013,
      0.007784957698442549,
      -0.02973536559253076,
      -0.038719085450515944,
      -0.06516167949668139,
      -0.10216484012836569,
      -0.040883713517970044
    ],
    "v_ego": [
      1.2898970718125227,
      1.8861616116499458,
      2.5007878277994564,
      3.102554540569284,
      3.59640602339162,
      3.9790039565465785,
      4.296744786550003,
      4.55629502229591,
      4.791527117558717,
      5.149514937247279
    ],
    "ax_ego": [
      1.188111837272539,
      1.1971394217603784,
      1.2680986452684504,
      1.144254003544515,
      0.8467740188224553,
      0.7148573611005797,
      0.6203548068924135,
      0.46681990468364065,
      0.5617435902043646,
      0.9139093117305582
    ],
    "ay_ego": [
      0.22907444841629523,
      0.17590354646375705,
      0.4641065177108071,
      0.6879049757238986,
      1.0229288089632775,
      1.3212942315484406,
      1.739032608230235,
      1.8112318640477636,
      1.992426930766664,
      1.8574419851096318
    ],
    "a_ego": [
      1.2099937358450903,
      1.2099937408066623,
      1.3503588537545608,
      1.3351144071776577,
      1.3279343308913139,
      1.5022781010994166,
      1.8463679207900514,
      1.870422863619556,
      2.0701016727639145,
      2.070101678207095
    ],
    "yaw": [
      -1.8867398264214716,
      -1.8421641464031033,
      -1.7707090149097242,
      -1.669099503540139,
      -1.5406341684883742,
      -1.3770791348712406,
      -1.1910750010256002,
      -0.9861866318971859,
      -0.7750328140177196,
      -0.5925910873981564
    ],
    "yaw_diff": [
      0.08915136003673663,
      0.14291026298675824,
      0.20321902273917036,
      0.25693067010352966,
      0.3271100672342673,
      0.3720082676912808,
      0.4097767382568285,
      0.4223076357589326,
      0.3648834532391265,
      0.3648834532391265
    ],
    "min_front_frame": [
      1,
      30.781591836165525
    ],
    "v_avg": 3.5148892895421313,
    "v_std": 1.2256199415033562,
    "vy_max": 0.10216484012836569,
    "a_max": 2.070101678207095,
    "ax_avg": 0.8922062901279896,
    "a_std": 0.3304212930205386,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ea8ce810e307587d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      31.668330255564495,
      30.781591836165525,
      54.12613205360772,
      52.67859712803242,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ea8ce810e307587d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4e8e687d6fd55093": {
    "vx_ego": [
      3.187990982200347,
      2.847236591258877,
      2.538766690229556,
      2.270622829567518,
      2.028077165766839,
      1.816283048279524,
      1.6234657205311998,
      1.4086083609958702,
      1.1707091162525316,
      0.9376149124771421
    ],
    "vy_ego": [
      0.03579873924700294,
      0.035976012352008535,
      0.02452692377771859,
      0.01588207689344978,
      0.016118857033024292,
      0.011265490238209108,
      0.016771508837020832,
      0.018062163971854894,
      0.015862168620008443,
      0.0208799098158311
    ],
    "v_ego": [
      3.1881919723132115,
      2.847463868088272,
      2.5388851642815853,
      2.27067837320032,
      2.0281412198998634,
      1.816317985028466,
      1.6235523487860062,
      1.4087241591009994,
      1.1708165711460157,
      0.9378473728349598
    ],
    "ax_ego": [
      -0.68149017264772,
      -0.6814898529094264,
      -0.5522478057532623,
      -0.5203237249604549,
      -0.4498592657290047,
      -0.3973633780397685,
      -0.3739196981301369,
      -0.4854314983912612,
      -0.4661845928781921,
      -0.4661854977387456
    ],
    "ay_ego": [
      -0.0011333734321685718,
      -0.001311442059910073,
      -0.05477176565770944,
      0.019336476101191158,
      -0.018353240598111276,
      0.007386686836894862,
      0.01647391513381022,
      -0.016856601165745055,
      0.009863856365616375,
      0.009821186362158424
    ],
    "a_ego": [
      0.6814911150930407,
      0.6814911147614385,
      0.5549572823853706,
      0.5206828958826428,
      0.4502334954250865,
      0.39743202859055327,
      0.37428242081290525,
      0.48572408282197216,
      0.46628893435230395,
      0.4662889383241707
    ],
    "yaw": [
      -2.493566610170807,
      -2.4938279021205414,
      -2.4947886283358027,
      -2.494877760062566,
      -2.494873544002939,
      -2.4937711718203994,
      -2.493503761833585,
      -2.4944098743959744,
      -2.494058889785582,
      -2.494150412412269
    ],
    "yaw_diff": [
      -0.0005225838994684651,
      -0.0019214524305226632,
      -0.00017826345352656148,
      8.432119254386805e-06,
      0.0022047443650787812,
      0.0005348199736285864,
      -0.0018122251247785215,
      0.0007019692207848038,
      -0.0001830452533742033,
      -0.0001830452533742033
    ],
    "min_front_frame": [
      9,
      9.728938637241665
    ],
    "v_avg": 1.98306190346797,
    "v_std": 0.695151387018758,
    "vy_max": 0.035976012352008535,
    "a_max": 0.6814911150930407,
    "ax_avg": -0.5074495487177972,
    "a_std": 0.09999126334402107,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4e8e687d6fd55093",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.130642985216098,
    "right_rear_min": 9.67046085303321,
    "speed_mode": "decelerating",
    "front_frame": [
      11.591959070070692,
      11.288149524604005,
      11.096983934628364,
      10.831412929142724,
      10.59121531828301,
      10.314425775916632,
      10.084796310921826,
      9.922468184245972,
      9.78332896213511,
      9.728938637241665
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4e8e687d6fd55093",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "daea2a5f018858f6": {
    "vx_ego": [
      4.340391972641857,
      3.9815781622432302,
      3.620819854015026,
      3.262677906279439,
      2.932060970421572,
      2.571744678396387,
      2.0766798873219754,
      1.4927799813888973,
      0.9665858267503705,
      0.5029274635685962
    ],
    "vy_ego": [
      -0.008554242381202837,
      -0.007397390712330587,
      0.005633756216238739,
      0.014051112705569357,
      0.024414801408828346,
      0.00024643583783046097,
      -0.032517956597786224,
      -0.009135349235839807,
      0.0037764637927846234,
      -0.02035739754486951
    ],
    "v_ego": [
      4.340400402179111,
      3.9815850340588645,
      3.6208242368884047,
      3.262708162538024,
      2.932162617727285,
      2.5717446902036674,
      2.07693446500098,
      1.4928079338753186,
      0.9665932040695691,
      0.5033393062799105
    ],
    "ax_ego": [
      -0.7190126291608949,
      -0.7166789936332746,
      -0.7266624481261954,
      -0.7049434368178806,
      -0.6169991871681684,
      -0.8225549626551087,
      -1.159463018908503,
      -1.1772238340320098,
      -0.9273767913614663,
      -0.9273037445918635
    ],
    "ay_ego": [
      -0.13213961666504026,
      -0.14426108259243176,
      -0.12185577089661231,
      -0.13439735805411263,
      -0.040471380871292706,
      -0.20221574061663183,
      -0.045229022324214,
      0.08669803976806711,
      -0.04972545004612333,
      -0.051069440359803264
    ],
    "a_ego": [
      0.7310540603712192,
      0.7310540608367782,
      0.7368087556602211,
      0.7176405081686308,
      0.6183251002796261,
      0.8470465585442634,
      1.1603448438618684,
      1.1804120066792994,
      0.9287089606212369,
      0.9287089546638148
    ],
    "yaw": [
      2.4332282502652216,
      2.4163427569531963,
      2.395420055901699,
      2.374344963737182,
      2.3568229621213366,
      2.3436810668852974,
      2.331385027328391,
      2.3241015004558716,
      2.3210403310783922,
      2.3195910437650338
    ],
    "yaw_diff": [
      -0.033770986624050536,
      -0.04184540210299481,
      -0.04215018432903417,
      -0.035044003231690546,
      -0.026283790472078294,
      -0.02459207911381256,
      -0.014567053745039082,
      -0.006122338754958712,
      -0.002898574626716943,
      -0.002898574626716943
    ],
    "min_front_frame": [
      9,
      10.482724310293408
    ],
    "v_avg": 2.5749100052821134,
    "v_std": 1.2283055783121493,
    "vy_max": 0.032517956597786224,
    "a_max": 1.1804120066792994,
    "ax_avg": -0.8498219046455364,
    "a_std": 0.18153349611317365,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "daea2a5f018858f6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.275193741980541,
    "speed_mode": "decelerating",
    "front_frame": [
      20.214608792899188,
      18.267084495635086,
      16.638594752457724,
      15.199272373153214,
      13.99585311222219,
      12.79780649177589,
      11.856578947728408,
      11.165950308757255,
      10.811383111992514,
      10.482724310293408
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "daea2a5f018858f6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b5e2d8766c6d51b2": {
    "vx_ego": [
      10.063870849072746,
      10.456990604633742,
      10.885765767135934,
      11.310262080277369,
      11.708175705942605,
      12.005807388180287,
      12.2075183352609,
      12.36725257644165,
      12.477632227193283,
      12.587691380989739
    ],
    "vy_ego": [
      -0.07125404154972514,
      -0.01855621023338916,
      -0.03298492024706423,
      -0.03570503035608308,
      0.006683263006022955,
      -0.018238313650311255,
      -0.06632084689343731,
      -0.021222323868882675,
      -0.01768622901568051,
      -0.006082194855345335
    ],
    "v_ego": [
      10.064123091718095,
      10.457007068867103,
      10.88581574076616,
      11.310318438211759,
      11.708177613413158,
      12.005821241304952,
      12.207698487448964,
      12.367270785283754,
      12.477644761724433,
      12.587692850405018
    ],
    "ax_ego": [
      0.7745232413728653,
      0.8038046279488436,
      0.9112737025555756,
      0.793379200142641,
      0.7981259645879629,
      0.39116272740268854,
      0.41776131962210916,
      0.22258807482523207,
      0.21937849828911452,
      0.22123891017968822
    ],
    "ay_ego": [
      0.8434417558604412,
      0.815584677179099,
      0.6081352655508772,
      0.7624584196796029,
      0.6351749507641424,
      0.492893507954257,
      0.3493498360697675,
      0.2974495307391207,
      0.2287575371295713,
      0.22695876951110278
    ],
    "a_ego": [
      1.1451114561280373,
      1.1451114555192057,
      1.0955584248117411,
      1.1003605758837847,
      1.0200256239074081,
      0.6292473992735792,
      0.5445822510276841,
      0.3715126840248206,
      0.31694942231399353,
      0.3169494256746493
    ],
    "yaw": [
      -0.8148672502271055,
      -0.7795714240726963,
      -0.7448253776485065,
      -0.7137492969413916,
      -0.6870734924114156,
      -0.6612987813270769,
      -0.639930004497895,
      -0.6304593650516956,
      -0.6201545953603858,
      -0.6119898194845801
    ],
    "yaw_diff": [
      0.07059165230881836,
      0.06949209284837954,
      0.06215216141422997,
      0.053351609059951954,
      0.05154942216867742,
      0.042737553658363625,
      0.018941278892398827,
      0.02060953938261978,
      0.016329551751611326,
      0.016329551751611326
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.60715700791434,
    "v_std": 0.8449263715748994,
    "vy_max": 0.07125404154972514,
    "a_max": 1.1451114561280373,
    "ax_avg": 0.5553236266926722,
    "a_std": 0.3462602164123901,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "b5e2d8766c6d51b2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b5e2d8766c6d51b2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1e8bf2f0e05e58b0": {
    "vx_ego": [
      2.0961898664783347,
      1.5409869490929513,
      1.0080939942836482,
      0.5773284142643483,
      0.29855305987118613,
      0.12517609801044036,
      0.016826261459712655,
      -0.022642007449513096,
      -0.019490486494672308,
      -0.010833584885684776
    ],
    "vy_ego": [
      0.03343939239711573,
      0.018715843713624405,
      -0.008640564143488686,
      -0.024019708565412357,
      -0.01852013104951648,
      -0.0075918621787194945,
      0.004819378160465572,
      0.005566945984019058,
      0.0021591872336264167,
      0.0005668308825824453
    ],
    "v_ego": [
      2.0964565698555138,
      1.5411006002466923,
      1.008131023557691,
      0.5778278673762234,
      0.2991269376243793,
      0.12540610784351788,
      0.01750284207105189,
      0.023316333093623284,
      0.019609720888091674,
      0.010848403510415107
    ],
    "ax_ego": [
      -1.1103668965550275,
      -1.110330503380839,
      -1.0212327309435818,
      -0.7018676893826733,
      -0.41325096993164073,
      -0.28023467008821656,
      -0.15316487818283453,
      -0.004707266611706367,
      0.0173137639225344,
      0.017313632298792028
    ],
    "ay_ego": [
      -0.03280316353098963,
      -0.03401225352065752,
      -0.07645963021555255,
      0.013904354812035395,
      0.007755678026142377,
      0.0362181826162763,
      0.013434980427602456,
      -0.010442314285758675,
      -0.0031855468096082637,
      -0.003186211888375564
    ],
    "a_ego": [
      1.110851336814645,
      1.1108513222423158,
      1.024090994884334,
      0.7020054020320012,
      0.4133237407784448,
      0.2825654385650827,
      0.15375297918366526,
      0.01145426936108302,
      0.01760437813844781,
      0.01760436904792104
    ],
    "yaw": [
      -1.5420961870650562,
      -1.543185113679162,
      -1.5433921433984517,
      -1.543737091262996,
      -1.5439475317817997,
      -1.5436135939509854,
      -1.5435763785536016,
      -1.5436043031925806,
      -1.5436376457241359,
      -1.5435991698543057
    ],
    "yaw_diff": [
      -0.0021778532282112906,
      -0.0004140594385795282,
      -0.0006898957290886187,
      -0.00042088103760740125,
      0.0006678756616285142,
      7.443079476754377e-05,
      -5.584927795787564e-05,
      -6.668506311058309e-05,
      7.695173966038027e-05,
      7.695173966038027e-05
    ],
    "min_front_frame": [
      9,
      11.594646873973865
    ],
    "v_avg": 0.5719326406067199,
    "v_std": 0.703975909176718,
    "vy_max": 0.03343939239711573,
    "a_max": 1.110851336814645,
    "ax_avg": -0.47605282088551937,
    "a_std": 0.44023760304933696,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1e8bf2f0e05e58b0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.196026990495367,
    "right_rear_min": 7.827288318165601,
    "speed_mode": "decelerating",
    "front_frame": [
      13.662531439042159,
      12.931519100218994,
      12.337908473806781,
      11.991302962983127,
      11.779493828658001,
      11.648514019301857,
      11.61663565260194,
      11.601936275936552,
      11.6018195756878,
      11.594646873973865
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1e8bf2f0e05e58b0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "584d2d7503175ef5": {
    "vx_ego": [
      6.35371763483711,
      5.986787251193803,
      5.689006505642695,
      5.461180954228195,
      5.171625739153091,
      4.754040840990303,
      4.2500297494332475,
      3.7241063263525405,
      3.2728901429031456,
      2.8977468779955413
    ],
    "vy_ego": [
      -0.06481820517082149,
      -0.0208639659458969,
      0.017600414441228285,
      0.04266079000448553,
      0.014280557706079833,
      -0.006297168165507738,
      -0.0075983656855722614,
      -0.022034260040498355,
      -0.024997976857492166,
      -0.018007132590282637
    ],
    "v_ego": [
      6.354048251544966,
      5.986823606565642,
      5.6890337312968535,
      5.461347577093824,
      5.171645455771224,
      4.754045011580211,
      4.250036541752168,
      3.7241715103623445,
      3.272985607417109,
      2.897802827273973
    ],
    "ax_ego": [
      -0.7338025281704641,
      -0.7335868340993982,
      -0.45723439828044604,
      -0.45489312370644824,
      -0.7032790525164128,
      -0.9670408562877304,
      -1.0490063613587046,
      -1.054756781322033,
      -0.7504136834815536,
      -0.7504030075892039
    ],
    "ay_ego": [
      0.11102320883694655,
      0.11243958894865225,
      0.1922617476240826,
      -0.008757975540028468,
      -0.11107368521830707,
      0.03562090891495662,
      -0.03291008824182379,
      -0.04580507527500033,
      -0.002642498984067543,
      -0.004795038678267138
    ],
    "a_ego": [
      0.7421538272149629,
      0.742153827940623,
      0.4960119701885711,
      0.4549774237596518,
      0.7119963407605118,
      0.9676966812393408,
      1.0495224724030991,
      1.0557509046483284,
      0.7504183361014269,
      0.7504183274646541
    ],
    "yaw": [
      0.8592696434032709,
      0.861200117080381,
      0.867698226733116,
      0.8714320900795546,
      0.8711370558113541,
      0.8714802504742849,
      0.8719188101512991,
      0.8706040722643087,
      0.8679604402062695,
      0.8650919432755824
    ],
    "yaw_diff": [
      0.0038609473542201567,
      0.012996219305470014,
      0.007467726692877097,
      -0.0005900685364008673,
      0.0006863893258615139,
      0.000877119354028455,
      -0.0026294757739808716,
      -0.005287264116078383,
      -0.005736993861374273,
      -0.005736993861374273
    ],
    "min_front_frame": [
      9,
      14.67356563608842
    ],
    "v_avg": 4.756194012065832,
    "v_std": 1.1217136077411312,
    "vy_max": 0.06481820517082149,
    "a_max": 1.0557509046483284,
    "ax_avg": -0.7654416626812395,
    "a_std": 0.19463212453008424,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "584d2d7503175ef5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.887932324245014,
    "right_rear_min": 15.571953351067178,
    "speed_mode": "decelerating",
    "front_frame": [
      22.322966200721208,
      19.322865846091062,
      28.03446574400734,
      25.22809146752241,
      22.567380029578757,
      20.084180292919694,
      17.947240507989413,
      16.34264689518515,
      15.208441673818413,
      14.67356563608842
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "584d2d7503175ef5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a27fe5d9685c5795": {
    "vx_ego": [
      8.135628654504488,
      8.218109933494151,
      8.307558351423436,
      8.389663321318315,
      8.440739488045855,
      8.519443248286397,
      8.607586636684387,
      8.625505017673683,
      8.622533552873596,
      8.63929772385984
    ],
    "vy_ego": [
      0.06980595394080882,
      0.06408906320395874,
      0.048746181933987276,
      0.04849778234441848,
      0.09353936118307304,
      0.11222964387640011,
      0.08095579951162457,
      0.04810585864368999,
      0.06370434669609315,
      0.10048604538078498
    ],
    "v_ego": [
      8.135928126231212,
      8.218359829492599,
      8.307701363948901,
      8.389803494717036,
      8.44125776867092,
      8.52018243664637,
      8.607967329718567,
      8.625639163769241,
      8.622768877467315,
      8.63988209449678
    ],
    "ax_ego": [
      0.15552143603460877,
      0.16711881750798097,
      0.18419086420690095,
      0.14055733462088293,
      0.057076140902835894,
      0.24393274501118015,
      0.09731901039034459,
      -0.03220156206733159,
      0.016598451829890587,
      0.03922929845619866
    ],
    "ay_ego": [
      0.4319589253078113,
      0.4276058123203598,
      0.3932413797174031,
      0.5112012308804376,
      0.5923866273458186,
      0.4359744756416342,
      0.39959037233944955,
      0.45804014329543485,
      0.663257233549576,
      0.662304106384589
    ],
    "a_ego": [
      0.4591028536388619,
      0.4591028532860808,
      0.43424078249207754,
      0.5301726725977126,
      0.5951299035660317,
      0.4995767483577347,
      0.4112705380278728,
      0.4591706801067319,
      0.6634648946696321,
      0.6634648952214839
    ],
    "yaw": [
      -1.5730155303104028,
      -1.5460328553154854,
      -1.5193351692065464,
      -1.4922411491610807,
      -1.4648437004214403,
      -1.4366550168364436,
      -1.4086715846252806,
      -1.3800316873932061,
      -1.349316031508498,
      -1.3151740455919734
    ],
    "yaw_diff": [
      0.05396534998983471,
      0.053395372217877934,
      0.054188040090931366,
      0.0547948974792809,
      0.05637736716999342,
      0.0559668644223259,
      0.05727979446414899,
      0.0614313117694163,
      0.06828397183304924,
      0.06828397183304924
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.450949048515895,
    "v_std": 0.1740318688018869,
    "vy_max": 0.11222964387640011,
    "a_max": 0.6634648952214839,
    "ax_avg": 0.10693425368934917,
    "a_std": 0.08806775364836845,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "a27fe5d9685c5795",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a27fe5d9685c5795",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "fceded25dc595e06": {
    "vx_ego": [
      8.579830777434166,
      8.107815839406951,
      7.630716612397126,
      7.15427253970733,
      6.627434868946226,
      6.012713100921856,
      5.327769657431382,
      4.588674653973807,
      3.835702710911368,
      3.0847065984763704
    ],
    "vy_ego": [
      0.052313605004909836,
      0.03826488589993429,
      0.036738667385669416,
      0.00803450335131728,
      -0.018084059165461575,
      -0.022713532413299514,
      -0.010466821455502429,
      -0.010777908157375143,
      -0.014802277547214832,
      -0.011677605330112265
    ],
    "v_ego": [
      8.57999026122263,
      8.10790613458439,
      7.630805052443336,
      7.154277051222889,
      6.627459541583048,
      6.012756001913933,
      5.327779938867398,
      4.5886873115658995,
      3.8357312723799355,
      3.084728702033601
    ],
    "ax_ego": [
      -0.9439884692995731,
      -0.9439667370879149,
      -0.9641361692324525,
      -0.9417264150883164,
      -1.165627972897587,
      -1.2933607120793547,
      -1.4464929422280082,
      -1.509894153931896,
      -1.5019836903264248,
      -1.5019802562979474
    ],
    "ay_ego": [
      -0.03743985658096853,
      -0.03798371718511465,
      -0.03124752489711782,
      -0.058887549382520984,
      -0.049764044463567476,
      0.007923926338456035,
      0.015062826062965357,
      -0.022215795015288774,
      0.008626595507110549,
      0.009205352121317626
    ],
    "a_ego": [
      0.9447306351713988,
      0.9447306301267063,
      0.9646424003921993,
      0.9435657816746912,
      1.1666897750999232,
      1.2933849852843633,
      1.4465713672834961,
      1.5100575808974561,
      1.5020084634104525,
      1.5020084649616743
    ],
    "yaw": [
      -1.5407078008194386,
      -1.5412839365868896,
      -1.5432887653642973,
      -1.5424537650983785,
      -1.542604705867991,
      -1.5435249264882525,
      -1.5446674091570642,
      -1.5449648539233785,
      -1.5448159484944688,
      -1.54443062025952
    ],
    "yaw_diff": [
      -0.0011522715349019386,
      -0.004009657554815416,
      0.0016700005318375233,
      -0.00030188153922505734,
      -0.0018404412405228499,
      -0.002284965337623568,
      -0.0005948895326284287,
      0.00029781085781932504,
      0.0007706564698977125,
      0.0007706564698977125
    ],
    "min_front_frame": [
      9,
      13.290922473282327
    ],
    "v_avg": 6.095012126781706,
    "v_std": 1.7612961982884738,
    "vy_max": 0.052313605004909836,
    "a_max": 1.5100575808974561,
    "ax_avg": -1.2213157518469475,
    "a_std": 0.24410835279034263,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fceded25dc595e06",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.7502324134783835,
    "right_rear_min": 12.827574722021378,
    "speed_mode": "decelerating",
    "front_frame": [
      40.744010575295164,
      36.61290380039536,
      32.675551612487524,
      29.005274183701633,
      25.54075707981696,
      22.424405502707813,
      19.615378635307394,
      17.12220675182415,
      15.050388368411083,
      13.290922473282327
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fceded25dc595e06",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9897a102ee075dee": {
    "vx_ego": [
      0.6665945368645696,
      1.2153452298589373,
      1.8494109595378483,
      2.546210947614882,
      3.2323311794714695,
      4.002905103223197,
      4.821657180575663,
      5.58471221281643,
      6.254678229336828,
      6.885574729225146
    ],
    "vy_ego": [
      -0.051870129763588124,
      0.03840979161312125,
      0.07270288001267156,
      0.012862076259143596,
      -0.04641413940644621,
      -0.0662145474464454,
      -0.11944177844815718,
      -0.12402836970911002,
      -0.11955353523542467,
      -0.0470295014881259
    ],
    "v_ego": [
      0.6686095923178051,
      1.2159520302350075,
      1.8508394328036244,
      2.546243433523113,
      3.2326644004783827,
      4.0034527138089,
      4.823136355675185,
      5.586089288265422,
      6.255820713569673,
      6.885735336603794
    ],
    "ax_ego": [
      1.0947428557881673,
      1.1005894216650747,
      1.4257425186406538,
      1.3683934236775717,
      1.4835186005393899,
      1.7151439813247094,
      1.617196652463083,
      1.4779509628086167,
      1.2361718929794276,
      1.30719005952932
    ],
    "ay_ego": [
      0.24267870829543298,
      0.21461075701721044,
      0.42155238792310895,
      0.845055448033467,
      1.6239101678634067,
      2.0609509139596316,
      1.8146760349922582,
      1.3960230442823665,
      1.0840065496265239,
      0.9972187794244979
    ],
    "a_ego": [
      1.1213183650325058,
      1.121318354486612,
      1.4867575946412617,
      1.6082970099502982,
      2.1995253286644614,
      2.681275358187856,
      2.4307147353634537,
      2.033032067783074,
      1.6441384213701542,
      1.6441384205014955
    ],
    "yaw": [
      1.0392133671432462,
      1.0647825417851493,
      1.148359827819276,
      1.3186933958790281,
      1.5529366748030036,
      1.8136683682509442,
      2.043664656994468,
      2.1979879301493197,
      2.301348095859642,
      2.3695681269566364
    ],
    "yaw_diff": [
      0.05113834928380623,
      0.16715457206825324,
      0.3406671361195044,
      0.4684865578479509,
      0.5214633868958813,
      0.45999257748704725,
      0.3086465463097037,
      0.2067203314206445,
      0.13644006219398896,
      0.13644006219398896
    ],
    "min_front_frame": [
      8,
      13.887927389711036
    ],
    "v_avg": 3.706854329728091,
    "v_std": 2.0474443744123683,
    "vy_max": 0.12402836970911002,
    "a_max": 2.681275358187856,
    "ax_avg": 1.3826640369416014,
    "a_std": 0.4992953911988169,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "9897a102ee075dee",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.089674465986466,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      29.68333409878136,
      33.087598483036885,
      36.48308044823263,
      -1,
      -1,
      -1,
      -1,
      16.87260983881929,
      13.887927389711036,
      22.660011636260613
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      1,
      0,
      1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.16666666666666666,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9897a102ee075dee",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "fde7abb615895be2": {
    "vx_ego": [
      0.0005472104233804412,
      0.11943882751478092,
      0.5363137245943568,
      1.365285453419128,
      2.260794884576601,
      2.98291540709379,
      3.4751417416093506,
      3.8483577637421686,
      4.201910704472332,
      4.571270105435081
    ],
    "vy_ego": [
      0.0532351005685717,
      0.02231604707022356,
      0.004968533265202302,
      0.004194116310187956,
      0.026603146057226024,
      0.03755644625261079,
      0.028950707642926954,
      0.016594595418212732,
      0.01737732216880583,
      -0.11372266108036277
    ],
    "v_ego": [
      0.05323791291733175,
      0.12150571786934977,
      0.5363367389160275,
      1.365291895504217,
      2.26095140096108,
      2.983151825256743,
      3.475262330781476,
      3.8483935425514524,
      4.201946636939232,
      4.572684465441243
    ],
    "ax_ego": [
      0.23786046323074772,
      0.23796833336367218,
      1.4295796074594294,
      1.8863584254115304,
      1.6957294596316566,
      1.1929220805479115,
      0.7756356724987485,
      0.7182025479257408,
      0.7051248451884401,
      0.7894531081032818
    ],
    "ay_ego": [
      -0.06225344298756587,
      -0.061839862911635596,
      -0.008784120751500368,
      -0.005323829665305091,
      0.07694840744939901,
      -0.04280379496444986,
      0.16494858587595146,
      0.3941180893957619,
      0.7806415534833262,
      0.6952453308950699
    ],
    "a_ego": [
      0.24587210320032651,
      0.24587211376814105,
      1.4296065944312206,
      1.886365938062754,
      1.6974744350568785,
      1.193689765023608,
      0.7929809155553884,
      0.8192337689792772,
      1.0519516539874265,
      1.0519516528934811
    ],
    "yaw": [
      -0.6351560396041955,
      -0.6368944414175405,
      -0.6386185118242109,
      -0.6416984708361235,
      -0.6441498594324819,
      -0.6450501971964036,
      -0.6331211460279629,
      -0.5916646335686163,
      -0.5189566776110037,
      -0.4048060975475989
    ],
    "yaw_diff": [
      -0.003476803626689895,
      -0.003448140813340883,
      -0.006159918023825206,
      -0.004902777192716812,
      -0.001800675527843243,
      0.02385810233688135,
      0.08291302491869312,
      0.14541591191522518,
      0.22830116012680968,
      0.22830116012680968
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.3418762467138152,
    "v_std": 1.6367623333696606,
    "vy_max": 0.11372266108036277,
    "a_max": 1.886365938062754,
    "ax_avg": 0.9668834543361158,
    "a_std": 0.5191646498352858,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "fde7abb615895be2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.751652473652465,
    "right_rear_min": 9.159175480668239,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "fde7abb615895be2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "91e06c22962d53bb": {
    "vx_ego": [
      7.973044903147915,
      7.774235135254027,
      7.484333581556211,
      7.045562517838776,
      6.543626468818122,
      6.047016943627629,
      5.579376628850933,
      5.123576062627039,
      4.640359108222659,
      4.1355888546771205
    ],
    "vy_ego": [
      -0.03556479655669298,
      -0.02368670468113443,
      0.00304870723714723,
      -0.015713149154323425,
      -0.044240035862924465,
      -0.02511166920043939,
      -0.02127799478477055,
      -0.03966981642612932,
      -0.03554590442858263,
      -0.012982200486936435
    ],
    "v_ego": [
      7.973124223437577,
      7.774271219747665,
      7.484334202494289,
      7.045580039700848,
      6.543776015741238,
      6.0470690844780055,
      5.579417202506913,
      5.123729634149334,
      4.6404952499260945,
      4.135609231112038
    ],
    "ax_ego": [
      -0.39845945547838363,
      -0.3950967428552526,
      -0.764368916254291,
      -0.9913981123910927,
      -1.0158778842573963,
      -0.9708388466106198,
      -0.8998363423293633,
      -0.9232361866571506,
      -1.0095686358090097,
      -1.009603337205941
    ],
    "ay_ego": [
      0.2395413258226811,
      0.24504804465173416,
      0.1888889993927262,
      -0.03842261585741891,
      0.012030943391336923,
      0.01436352419855702,
      -0.03907102601877782,
      -0.01384021736913238,
      0.037339335416300024,
      0.03638869923943949
    ],
    "a_ego": [
      0.46491933110704037,
      0.46491932676806186,
      0.7873619842406316,
      0.9921423862843217,
      1.0159491224082875,
      0.9709450946967295,
      0.9006841777509179,
      0.923339920056564,
      1.0102589056170679,
      1.010258895496452
    ],
    "yaw": [
      -0.5996789150651376,
      -0.585800539524649,
      -0.5751499393659583,
      -0.5674198352843389,
      -0.5641938765792304,
      -0.5661859841332294,
      -0.567910655038646,
      -0.5669462121715841,
      -0.5665883628742084,
      -0.5675299588131691
    ],
    "yaw_diff": [
      0.027756751080977082,
      0.021301200317381586,
      0.015460208163238676,
      0.006451917410217112,
      -0.003984215107998068,
      -0.0034493418108332285,
      0.001928885734123753,
      0.0007156985947514016,
      -0.0018831918779214085,
      -0.0018831918779214085
    ],
    "min_front_frame": [
      9,
      19.749924125483318
    ],
    "v_avg": 6.234740610329401,
    "v_std": 1.2788105906384395,
    "vy_max": 0.044240035862924465,
    "a_max": 1.0159491224082875,
    "ax_avg": -0.8378284459848502,
    "a_std": 0.20543033342461048,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "91e06c22962d53bb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.139524434778362,
    "right_rear_min": 35.83246547813147,
    "speed_mode": "decelerating",
    "front_frame": [
      41.1096863558792,
      38.85773796243642,
      36.48903113938024,
      33.974945817939656,
      31.30741398147853,
      28.822969067345014,
      26.382471891202805,
      24.052472396734483,
      21.82003904441036,
      19.749924125483318
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "91e06c22962d53bb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "44e882ff27ec5566": {
    "vx_ego": [
      3.983442584035438,
      4.074469644487228,
      4.164922984061826,
      4.176604368539691,
      4.16412996651224,
      4.159126608493517,
      4.122180600239022,
      4.097734197909749,
      4.093624878522562,
      4.139409269823571
    ],
    "vy_ego": [
      -0.09121584500573018,
      -0.01966654527401651,
      0.007960306083221846,
      0.0006198042978753371,
      0.002586807170097627,
      -0.012012588344014308,
      -0.030007661036386635,
      -0.01156919025929426,
      -0.02802959751933476,
      -0.06881270201956058
    ],
    "v_ego": [
      3.9844868114585394,
      4.074517107198212,
      4.1649305912151044,
      4.176604414528889,
      4.164130769989886,
      4.159143956123364,
      4.12228982007668,
      4.097750529605519,
      4.093720838600986,
      4.139981194529819
    ],
    "ax_ego": [
      0.16452516483958288,
      0.21477443840082575,
      0.15164309911602875,
      -0.0988688028711569,
      0.053533941473352664,
      -0.0688267682697532,
      -0.05891406073725125,
      -0.023836090831660495,
      0.01630999690680479,
      0.1952008071857823
    ],
    "ay_ego": [
      0.7180850644256724,
      0.7046890288294215,
      0.7693629377024352,
      0.9218634808916234,
      1.013313432735868,
      1.0499580394579966,
      1.1713083418834023,
      1.2182462264670808,
      1.178282227822091,
      1.1621151697848595
    ],
    "a_ego": [
      0.7366917195250087,
      0.7366917175745519,
      0.7841651352997244,
      0.9271501052056221,
      1.014726562110513,
      1.0522114847562434,
      1.172789025493587,
      1.2184793915070606,
      1.1783951053871915,
      1.1783951047802574
    ],
    "yaw": [
      1.5509014783242887,
      1.6215077719567845,
      1.704048132995999,
      1.8063242246593814,
      1.922260306926495,
      2.049077618953633,
      2.187357521047294,
      2.3281402277844876,
      2.4783444756537434,
      2.6309199641557877
    ],
    "yaw_diff": [
      0.14121258726499164,
      0.16508072207842917,
      0.2045521833267645,
      0.2318721645342272,
      0.2536346240542757,
      0.27655980418732273,
      0.2815654134743868,
      0.3004084957385116,
      0.30515097700408855,
      0.30515097700408855
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.117755603332699,
    "v_std": 0.05538489075710808,
    "vy_max": 0.09121584500573018,
    "a_max": 1.2184793915070606,
    "ax_avg": 0.05455417252125553,
    "a_std": 0.18295795104975446,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "44e882ff27ec5566",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "44e882ff27ec5566",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "82c9641923725260": {
    "vx_ego": [
      4.121744947005265,
      4.146520328591184,
      4.19638952989088,
      4.214611912048429,
      4.2450285304812265,
      4.284258668344892,
      4.312882380346133,
      4.34209640082563,
      4.344482319619424,
      4.33733198624804
    ],
    "vy_ego": [
      -0.018507103141127246,
      0.053470305184996514,
      0.057549308454764914,
      0.04855500930439316,
      0.022605874159308925,
      0.004396148906141928,
      -0.028508930195624504,
      -0.04041120174189938,
      -0.03079653871155852,
      -0.014783921289213353
    ],
    "v_ego": [
      4.121786496293823,
      4.146865070020548,
      4.196784127100347,
      4.214891595060194,
      4.245088721115979,
      4.284260923824966,
      4.31297660390142,
      4.34228444707266,
      4.3445914712757965,
      4.337357181886115
    ],
    "ax_ego": [
      -0.01114848932572049,
      0.11918803350837176,
      0.09201288216047687,
      -0.01563283668318477,
      0.13645714657751506,
      0.02109035524045541,
      0.09311485720443244,
      0.023207821947980115,
      -0.014311819190015765,
      -0.014322179590924966
    ],
    "ay_ego": [
      -0.9702169615952039,
      -0.9629327360191453,
      -0.7458404725638585,
      -0.4252141357434321,
      -0.06765492338615053,
      -0.1306737765895071,
      -0.060651117845166476,
      -0.05204609792750315,
      0.02891678867914322,
      0.028911657952710373
    ],
    "a_ego": [
      0.9702810115534958,
      0.9702810115780427,
      0.7514947644513285,
      0.42550140636523986,
      0.15230804808171933,
      0.1323647950639936,
      0.11112576086610212,
      0.056985957121455766,
      0.032264668540710736,
      0.03226466788623786
    ],
    "yaw": [
      1.2453765853010128,
      1.1107366559834675,
      1.0075259520496447,
      0.9402907365601327,
      0.9171921334880055,
      0.9098605520668817,
      0.9063809169263892,
      0.9026283434029434,
      0.899087164074706,
      0.8987288275989213
    ],
    "yaw_diff": [
      -0.26927985863509063,
      -0.20642140786764562,
      -0.1344704309790239,
      -0.04619720614425438,
      -0.014663162842247779,
      -0.006959270280984864,
      -0.007505147046891647,
      -0.007082358656474774,
      -0.0007166729515695192,
      -0.0007166729515695192
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.254688663755185,
    "v_std": 0.07821728510985361,
    "vy_max": 0.057549308454764914,
    "a_max": 0.9702810115780427,
    "ax_avg": 0.04296557718493856,
    "a_std": 0.36957452977902766,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "82c9641923725260",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "82c9641923725260",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3968f1bc11085a70": {
    "vx_ego": [
      5.187213421885757,
      4.761586865438097,
      4.345146746215199,
      3.9795722602280206,
      3.64270213622334,
      3.3092571846251255,
      2.9919031673245846,
      2.7339140860329,
      2.5715521746140557,
      2.44524850992121
    ],
    "vy_ego": [
      -0.02252729291282396,
      -0.003838322300429353,
      0.009537423806335182,
      -0.013389100050120298,
      -0.017458519583324644,
      -0.01300925773762443,
      -0.019273855566549578,
      -0.002275927583553314,
      -0.02270723053989398,
      -0.07198142360499599
    ],
    "v_ego": [
      5.187262337988867,
      4.761588412476521,
      4.345157213335024,
      3.9795947836904837,
      3.6427439730445133,
      3.3092827553383675,
      2.991965247818778,
      2.7339150333643274,
      2.571652426958408,
      2.4463077485500673
    ],
    "ax_ego": [
      -0.8512554935980915,
      -0.8512647590010706,
      -0.8144911698183649,
      -0.6477844896729974,
      -0.6997014275148139,
      -0.634093797845055,
      -0.6352220554883176,
      -0.39672191696605,
      -0.2527244892617939,
      -0.2526421367235624
    ],
    "ay_ego": [
      0.03483595937877512,
      0.03460873640716593,
      0.015004231455181599,
      -0.11324911275176312,
      0.0964731469474273,
      -0.06881206023294836,
      0.05378669636832187,
      0.01958355038028677,
      -0.10247477092787546,
      -0.10267763941310329
    ],
    "a_ego": [
      0.8519679920318427,
      0.8519679891597168,
      0.8146293590791147,
      0.6576093875546237,
      0.7063208589219268,
      0.6378166226268084,
      0.637495151734522,
      0.39720497837604546,
      0.272710003757389,
      0.27271000510376303
    ],
    "yaw": [
      -1.5415420483674824,
      -1.541808974186924,
      -1.5420227689991874,
      -1.5424174780223172,
      -1.5424501085376499,
      -1.5417389874561227,
      -1.540942897528395,
      -1.5404682808769292,
      -1.5405789186870593,
      -1.5413817877632767
    ],
    "yaw_diff": [
      -0.0005338516388833092,
      -0.0004275896245267141,
      -0.0007894180462595379,
      -6.526103066528677e-05,
      0.0014222421630543103,
      0.0015921798554554556,
      0.000949233302931507,
      -0.00022127562026019731,
      -0.0016057381524348102,
      -0.0016057381524348102
    ],
    "min_front_frame": [
      9,
      12.121897135068975
    ],
    "v_avg": 3.596946993256536,
    "v_std": 0.9034713702375918,
    "vy_max": 0.07198142360499599,
    "a_max": 0.8519679920318427,
    "ax_avg": -0.6035901735890118,
    "a_std": 0.21091588034355613,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3968f1bc11085a70",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.705735320414494,
    "right_rear_min": 18.358659887711745,
    "speed_mode": "decelerating",
    "front_frame": [
      17.270435064273197,
      16.54755974157388,
      15.823075498016976,
      15.210406995236585,
      14.615499952349131,
      14.084082265922909,
      13.588200810992594,
      13.141658146578655,
      12.602059453381946,
      12.121897135068975
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3968f1bc11085a70",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a81fbf9466e05120": {
    "vx_ego": [
      6.908122703593108,
      6.4412240079711545,
      5.935110889320775,
      5.3857417901735225,
      4.850034815928464,
      4.319730981147068,
      3.786773275712386,
      3.2830982272983786,
      2.7868108345588354,
      2.27847405703104
    ],
    "vy_ego": [
      -0.006575772812455111,
      -0.009166654906158783,
      -0.024639879821527252,
      -0.04258723176138457,
      -0.02950152520991156,
      0.0040263773335073305,
      0.012502992762455145,
      -0.010650884256603536,
      -0.05388808819173126,
      -0.09935928979771047
    ],
    "v_ego": [
      6.908125833298539,
      6.4412305306071875,
      5.935162035885091,
      5.385910164747514,
      4.850124540226567,
      4.319732857619351,
      3.786793916557585,
      3.283115503820297,
      2.787331798272942,
      2.280639449152933
    ],
    "ax_ego": [
      -0.9338156906006935,
      -0.9338034531307222,
      -1.0906972105861992,
      -1.1069713713649239,
      -1.0357551799261078,
      -1.0854668323801022,
      -1.046383857984202,
      -0.968326066817692,
      -1.016840350878021,
      -1.0167612311556595
    ],
    "ay_ego": [
      -0.015265525019696451,
      -0.015996467746209914,
      -0.07904048581307527,
      -0.01923104463973161,
      0.08220226973589702,
      0.0483140073748765,
      -0.009207050840972415,
      -0.07990028033931415,
      -0.09473135279536049,
      -0.09557680559159108
    ],
    "a_ego": [
      0.9339404586300869,
      0.9339404563778231,
      1.0935574075365604,
      1.1071384060267604,
      1.0390120335652984,
      1.0865415259003737,
      1.0464243632652532,
      0.9716169134370409,
      1.0212435206042563,
      1.0212435199051524
    ],
    "yaw": [
      1.5934092584069104,
      1.592626505861859,
      1.5912917268651985,
      1.5901225300468391,
      1.5906426133898095,
      1.5904468357412647,
      1.5907679831992887,
      1.5910167772185324,
      1.590878433703248,
      1.5900469519770526
    ],
    "yaw_diff": [
      -0.0015655050901028922,
      -0.0026695579933209146,
      -0.0023383936367187275,
      0.0010401666859407577,
      -0.00039155529708967407,
      0.0006422949160480584,
      0.0004975880384874287,
      -0.00027668703056882293,
      -0.0016629634523908088,
      -0.0016629634523908088
    ],
    "min_front_frame": [
      9,
      16.918536345484465
    ],
    "v_avg": 4.5978166630188015,
    "v_std": 1.4939758950607154,
    "vy_max": 0.09935928979771047,
    "a_max": 1.1071384060267604,
    "ax_avg": -1.0234821244824321,
    "a_std": 0.05945504370437192,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a81fbf9466e05120",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.354431731221207,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.747024621583343,
      31.351193799975704,
      28.267951956603483,
      25.54702219225443,
      23.17985350948767,
      23.479042258706112,
      21.503763876308447,
      19.750182108342067,
      18.24056903425551,
      16.918536345484465
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a81fbf9466e05120",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b02be1e28abb59f1": {
    "vx_ego": [
      2.6842116368582047,
      2.1613303968125916,
      1.620332381018978,
      1.1137893169952506,
      0.7364788491793,
      0.5034015420818586,
      0.36987386990516213,
      0.28952185386937174,
      0.2505264004663663,
      0.23176129116030522
    ],
    "vy_ego": [
      -0.04691475136993628,
      -0.028484128980240664,
      -0.022784618925770217,
      -0.028058962702849577,
      -0.025457826500356107,
      -0.001297328509349105,
      0.011961497818763461,
      -0.002740329129099675,
      0.0006425362688263214,
      0.027628243654827973
    ],
    "v_ego": [
      2.6846215944414036,
      2.1615180845391597,
      1.620492568276147,
      1.1141426964445384,
      0.7369187175113605,
      0.5034032137677058,
      0.37006723317349927,
      0.2895348222091665,
      0.25052722443577047,
      0.2334022620450417
    ],
    "ax_ego": [
      -1.0458710014037058,
      -1.0459213516837615,
      -1.1181154066268855,
      -0.9081228764642655,
      -0.6011722514310702,
      -0.3311607505156475,
      -0.20289742730720386,
      -0.11849575067258586,
      -0.0374974880346066,
      -0.037529362646297984
    ],
    "ay_ego": [
      0.029149153933733574,
      0.027283137018544845,
      -0.008496270916820148,
      -0.016220334004129033,
      0.025146139444569865,
      0.07076590745472403,
      -0.019064648679709306,
      -0.04039621542864881,
      0.05369620661627484,
      0.05367393350166113
    ],
    "a_ego": [
      1.0462771261727186,
      1.0462771351193523,
      1.1181476866478317,
      0.9082677237428054,
      0.6016979343654651,
      0.3386373522516048,
      0.20379113532527077,
      0.1251922407676188,
      0.06549308523716944,
      0.06549308511727087
    ],
    "yaw": [
      1.2621730318771789,
      1.2603889026557673,
      1.2598610767210576,
      1.259186256055502,
      1.2587693645342841,
      1.2584580549140947,
      1.2576651224690352,
      1.2571531693338085,
      1.25693051669208,
      1.2563368037206841
    ],
    "yaw_diff": [
      -0.003568258442823158,
      -0.0010556518694193606,
      -0.001349641331111151,
      -0.000833783042435865,
      -0.0006226192403788744,
      -0.0015858648901190264,
      -0.0010239062704533453,
      -0.0004453052834572091,
      -0.0011874259427915312,
      -0.0011874259427915312
    ],
    "min_front_frame": [
      9,
      11.9473241557687
    ],
    "v_avg": 0.9964628416843793,
    "v_std": 0.8337725329329725,
    "vy_max": 0.04691475136993628,
    "a_max": 1.1181476866478317,
    "ax_avg": -0.544678366678603,
    "a_std": 0.4196254690145464,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "b02be1e28abb59f1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.437002229101386,
    "right_rear_min": 33.24775229925779,
    "speed_mode": "decelerating",
    "front_frame": [
      15.6528978886532,
      14.4285881591401,
      13.540689281466063,
      12.915302292310866,
      12.584893936022652,
      12.38284170884183,
      12.24100940891534,
      12.106339981357467,
      12.045286123700443,
      11.9473241557687
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "b02be1e28abb59f1",
    "merging_vehicles": "No"
  },
  "13bae3f5ab31581d": {
    "vx_ego": [
      3.5532717571892234,
      3.5868503631776436,
      3.6615264522925566,
      3.784838097790809,
      3.915414606460764,
      3.988300244368289,
      4.006943165682916,
      4.007494995674187,
      3.971056626544655,
      3.912736706381118
    ],
    "vy_ego": [
      -0.019857285114945222,
      -0.003732744475123728,
      0.013956501040885194,
      -0.0070555545563100175,
      -0.0036020429167451518,
      -0.0026994074657593625,
      0.020708404525296764,
      0.030837240345492845,
      0.02340690387685962,
      -0.010063562905447965
    ],
    "v_ego": [
      3.553327242488472,
      3.5868523054635117,
      3.661553050927901,
      3.784844674136423,
      3.9154162633364376,
      3.988301157890264,
      4.00699667719241,
      4.007613638531761,
      3.9711256105005437,
      3.9127496481068795
    ],
    "ax_ego": [
      0.05079779443642912,
      0.08659253807335757,
      0.2054646868301792,
      0.2873376461230075,
      0.2362046374884849,
      0.05627231925742454,
      0.017418675707087966,
      -0.0201552226526871,
      -0.1297202059848029,
      -0.10495878039492804
    ],
    "ay_ego": [
      0.5239700195471615,
      0.5192559373644771,
      0.30564544543611627,
      0.3145099667717149,
      0.33214792562721884,
      0.3506817524810582,
      0.378335395341947,
      0.35573115213564116,
      0.4059046993257618,
      0.41300074144309
    ],
    "a_ego": [
      0.5264266305040604,
      0.5264266293969632,
      0.3682864046500571,
      0.4260040399787963,
      0.4075719264982944,
      0.3551679397662403,
      0.3787361636178093,
      0.3563016777955586,
      0.42612903770510263,
      0.4261290391589534
    ],
    "yaw": [
      -1.422342136575704,
      -1.3537458530785615,
      -1.3015219550808006,
      -1.2541154384750164,
      -1.2130968872432306,
      -1.1703782019678144,
      -1.1306963807971173,
      -1.0874849001432234,
      -1.0380718456391655,
      -0.9776158230722429
    ],
    "yaw_diff": [
      0.13719256699428506,
      0.1044477959955219,
      0.09481303321156842,
      0.08203710246357154,
      0.08543737055083245,
      0.07936364234139415,
      0.08642296130778782,
      0.09882610900811573,
      0.12091204513384524,
      0.12091204513384524
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8388780268574605,
    "v_std": 0.16949553556555258,
    "vy_max": 0.030837240345492845,
    "a_max": 0.5264266305040604,
    "ax_avg": 0.06852540888835527,
    "a_std": 0.05962865733110096,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "13bae3f5ab31581d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "13bae3f5ab31581d",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "f8331125139c53d2": {
    "vx_ego": [
      3.9831108518125964,
      3.975313386804382,
      4.004206402969989,
      4.044600629471101,
      4.0518553229650305,
      4.024008653559273,
      4.017066860153812,
      4.0910671797588005,
      4.198297744991347,
      4.327971265121166
    ],
    "vy_ego": [
      -0.012359129656489332,
      -0.0036872950753441547,
      -0.002063997753731339,
      -0.01864972466480963,
      -0.048988906227757534,
      -0.03817631244327546,
      -0.0054532655459780255,
      0.032692770126279636,
      0.03435872967136269,
      0.004706021000631666
    ],
    "v_ego": [
      3.9831300262372973,
      3.9753150968761077,
      4.004206934921394,
      4.044643626346838,
      4.052151462022791,
      4.024189741395363,
      4.017070561622128,
      4.091197805840993,
      4.1984383379899795,
      4.327973823667163
    ],
    "ax_ego": [
      -0.07708341052688455,
      0.05002921926508008,
      0.07071008308522014,
      0.09222720743052032,
      -0.03946976061921398,
      -0.045544093422870635,
      0.0375305006878463,
      0.2496611975934251,
      0.16038196106026287,
      0.3436922194163532
    ],
    "ay_ego": [
      1.0116414550107624,
      1.0133397107894946,
      1.0697072972197654,
      1.0072734598901243,
      1.085373704283745,
      1.1291520778489557,
      1.238015330199983,
      1.2240687034639701,
      1.2364900339734215,
      1.1985431144443293
    ],
    "a_ego": [
      1.014573942931095,
      1.014573946168149,
      1.0720417984272508,
      1.0114868663455072,
      1.0860911287520751,
      1.1300702099234035,
      1.2385840691257308,
      1.2492697484465667,
      1.2468480170209715,
      1.246848001509908
    ],
    "yaw": [
      2.0953288786488855,
      2.220708881815093,
      2.3507274898672934,
      2.4837653901559156,
      2.61972853269738,
      2.7539313886992796,
      2.8931195601163884,
      3.03623115468989,
      -3.0996041606010847,
      -2.9493268207800623
    ],
    "yaw_diff": [
      0.25076000633241513,
      0.26003721610440067,
      0.26607580057724434,
      0.2719262850829285,
      0.2684057120037995,
      0.27837634283421764,
      0.2862231891470035,
      0.29469998377722284,
      0.30055467964204485,
      0.30055467964204485
    ],
    "min_front_frame": [
      6,
      61.284664300022364
    ],
    "v_avg": 4.071831741692005,
    "v_std": 0.1049593570988454,
    "vy_max": 0.048988906227757534,
    "a_max": 1.2492697484465667,
    "ax_avg": 0.08421351239697387,
    "a_std": 0.09964474669839463,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "f8331125139c53d2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      61.284664300022364,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "f8331125139c53d2",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "b1457b7279f75735": {
    "vx_ego": [
      6.112276949073394,
      5.93210220793307,
      5.6069827866114155,
      5.028666253701946,
      4.40257143529086,
      4.011414612942534,
      3.8398005207657264,
      3.7559896785160998,
      3.743872293525499,
      3.7605641527539353
    ],
    "vy_ego": [
      0.05995013161541285,
      -0.008394531813324835,
      0.003433365508248132,
      0.000910052936103356,
      -0.000372515974699561,
      0.009431262877945323,
      0.013559166643873577,
      0.012100217670985264,
      0.0088211696678962,
      -0.010610280521337029
    ],
    "v_ego": [
      6.112570941956802,
      5.932108147490972,
      5.606983837800446,
      5.0286663360494614,
      4.402571451050758,
      4.011425699878832,
      3.8398244608670353,
      3.75600916936942,
      3.7438826855635035,
      3.760579120964039
    ],
    "ax_ego": [
      -0.36056631440803,
      -0.35963418454916707,
      -0.9414942503801011,
      -1.3715167033602775,
      -1.1332452576530543,
      -0.43136053842416,
      -0.25450221997378586,
      -0.08041567874012465,
      0.03273654655435833,
      0.03399109929375528
    ],
    "ay_ego": [
      -0.193567597512303,
      -0.19529398309093737,
      -0.13448205083697626,
      -0.1561912206572577,
      -0.09596908183333874,
      -0.0633031966105422,
      -0.08429719168458027,
      -0.05521336678967801,
      -0.11856223903071064,
      -0.11820866973522426
    ],
    "a_ego": [
      0.409238905643727,
      0.40923891130715767,
      0.9510503906187662,
      1.3803817461146928,
      1.1373015777097433,
      0.43598074362372263,
      0.2680996018227035,
      0.09754587259072756,
      0.12299872358801549,
      0.12299871719562466
    ],
    "yaw": [
      0.13959172995022479,
      0.13479758822054422,
      0.11866177544332862,
      0.10560341287981695,
      0.09242398795994829,
      0.08037782531069068,
      0.06986735614405953,
      0.061017440933937954,
      0.05026616891982791,
      0.039669086335774546
    ],
    "yaw_diff": [
      -0.009588283459361135,
      -0.032271625554431194,
      -0.026116725127023344,
      -0.026358849839737325,
      -0.02409232529851521,
      -0.021020938333262296,
      -0.01769983042024316,
      -0.02150254402822009,
      -0.021194165168106724,
      -0.021194165168106724
    ],
    "min_front_frame": [
      0,
      25.58187064102806
    ],
    "v_avg": 4.619462185099127,
    "v_std": 0.9148505813113065,
    "vy_max": 0.05995013161541285,
    "a_max": 1.3803817461146928,
    "ax_avg": -0.48660075016405874,
    "a_std": 0.4352058110724613,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "b1457b7279f75735",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.5636782441063,
    "right_rear_min": 13.103694011057598,
    "speed_mode": "decelerating",
    "front_frame": [
      25.58187064102806,
      -1,
      -1,
      -1,
      -1,
      30.266340592114688,
      32.791945491497046,
      35.38629361493262,
      37.96817291596552,
      40.55885795038495
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.16666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8333333333333334,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 5,
    "token": "b1457b7279f75735",
    "smoothness": "No"
  },
  "0c77bbb199f3589f": {
    "vx_ego": [
      5.608878568726172,
      5.457337524461808,
      5.279007624354414,
      5.06312342495826,
      4.837253894028978,
      4.620166044680223,
      4.433796213823007,
      4.2741797093174885,
      4.10103816392647,
      3.920552884905588
    ],
    "vy_ego": [
      0.025195807891493782,
      0.023877161920077494,
      0.009013334708478649,
      -0.005662711273783039,
      -0.002189145681509297,
      0.0198171543037029,
      0.015743740745238766,
      0.02900690106181547,
      0.01724565436789316,
      -0.006958177130577781
    ],
    "v_ego": [
      5.608935159854413,
      5.457389758369865,
      5.279015318996016,
      5.063126591609183,
      4.837254389388399,
      4.6202085450789765,
      4.433824165557751,
      4.274278136463576,
      4.101074424413189,
      3.9205590595692486
    ],
    "ax_ego": [
      -0.3029990103178911,
      -0.3029291856396764,
      -0.4103257572595125,
      -0.45321449086496535,
      -0.4502511395199194,
      -0.41812840670133644,
      -0.32723379254048535,
      -0.3133186200569864,
      -0.37846383075899837,
      -0.34403856611351036
    ],
    "ay_ego": [
      -0.02878341860953154,
      -0.029509179267746405,
      -0.04844206501437803,
      -0.02587788081145359,
      0.04462540119354791,
      0.09418573864945334,
      0.24822445327744408,
      0.27159396039924866,
      0.48916963693488097,
      0.5139642614749063
    ],
    "a_ego": [
      0.304363081599055,
      0.30436307787472106,
      0.413175338970575,
      0.4539526841481186,
      0.4524571969486959,
      0.42860508379572604,
      0.4107278103383254,
      0.41464664112924254,
      0.6184834718016149,
      0.6184834654595756
    ],
    "yaw": [
      -0.46882063527608137,
      -0.47121612696462956,
      -0.4720753477544725,
      -0.4728295237025435,
      -0.4725843999597136,
      -0.46989714049746734,
      -0.4500387307554776,
      -0.4232285759575027,
      -0.3751053385402937,
      -0.30649683925872806
    ],
    "yaw_diff": [
      -0.0047909833770963806,
      -0.0017184415796859254,
      -0.0015083518961419573,
      0.0004902474856598449,
      0.005374518924492477,
      0.039716819483979426,
      0.05362030959594988,
      0.09624647483441795,
      0.1372169985631313,
      0.1372169985631313
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.759566554930062,
    "v_std": 0.5545245202636981,
    "vy_max": 0.02900690106181547,
    "a_max": 0.6184834718016149,
    "ax_avg": -0.37009027997732813,
    "a_std": 0.10157227896337805,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "0c77bbb199f3589f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.109397749250327,
    "right_rear_min": 14.552090181730783,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "0c77bbb199f3589f",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "01e6276eff385ea8": {
    "vx_ego": [
      4.540023961177109,
      4.521092434686803,
      4.588619538573495,
      4.689811468742584,
      4.762294798355216,
      4.772569266684691,
      4.73226886163604,
      4.655109871805361,
      4.558535795241852,
      4.446982607241942
    ],
    "vy_ego": [
      -0.049181587393781534,
      0.043345018485252185,
      0.056104214703452504,
      0.046218743144105456,
      0.028531326201516993,
      0.006370330512782019,
      -0.001955084087065906,
      -0.00598173256888046,
      -0.013720099743148584,
      -0.01528984633765429
    ],
    "v_ego": [
      4.540290342764531,
      4.521300210515746,
      4.588962513759066,
      4.690039209278244,
      4.7623802644282796,
      4.7725735181780164,
      4.732269265496613,
      4.655113715013227,
      4.558556442300372,
      4.447008892335766
    ],
    "ax_ego": [
      -0.15802724039647625,
      0.08085655149407556,
      0.16902312232404035,
      0.23569304389022178,
      0.05716043367235599,
      -0.015811913275077576,
      -0.1456119014814954,
      -0.16287803699268355,
      -0.22310111601880428,
      -0.22271790620326318
    ],
    "ay_ego": [
      -1.3734280355330404,
      -1.3801229598602678,
      -0.6246412530935457,
      -0.21295592081773004,
      -0.22011453745495452,
      -0.1187799384292407,
      0.007274935732824395,
      0.05013788630216997,
      0.05644955620174538,
      0.057943040522624514
    ],
    "a_ego": [
      1.3824894854918326,
      1.382489481425801,
      0.647105486722561,
      0.31764986250518873,
      0.2274153134171496,
      0.11982775294009641,
      0.14579352023657788,
      0.17042025283820966,
      0.23013183257474396,
      0.2301318354521426
    ],
    "yaw": [
      -0.2461186001371334,
      -0.4191948747083645,
      -0.5321838657171066,
      -0.5752605359212346,
      -0.5943360194168508,
      -0.6074336901541155,
      -0.6115335570081317,
      -0.6076194961433901,
      -0.600167727848475,
      -0.593467813154697
    ],
    "yaw_diff": [
      -0.34615254914246213,
      -0.2259779820174843,
      -0.08615334040825595,
      -0.03815096699123233,
      -0.02619534147452951,
      -0.008199733708032397,
      0.007828121729483328,
      0.014903536589830013,
      0.013399829387556128,
      0.013399829387556128
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.626849437406986,
    "v_std": 0.10610577721318348,
    "vy_max": 0.056104214703452504,
    "a_max": 1.3824894854918326,
    "ax_avg": -0.038541496298710655,
    "a_std": 0.469988879410158,
    "ini_direction_judge": "right",
    "scenario_type": "side_to_main_ego",
    "scene_token": "01e6276eff385ea8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "01e6276eff385ea8",
    "merging_vehicles": "No"
  },
  "35ceec8930305499": {
    "vx_ego": [
      5.030774018425784,
      4.816300122768906,
      4.6133393356654935,
      4.4210419732587685,
      4.235965974216466,
      4.045896983737632,
      3.8441335018340843,
      3.6610408052698022,
      3.4776737481539444,
      3.2760196322226425
    ],
    "vy_ego": [
      -0.0014006814583900074,
      0.012890334573444795,
      -0.0034887231636546723,
      -0.012519608580007446,
      0.00982221565087582,
      0.033191082612971545,
      0.02051080434308661,
      0.007062494197558777,
      0.00042790956144522774,
      -0.006208865879179015
    ],
    "v_ego": [
      5.030774213416505,
      4.816317372568921,
      4.613340654795378,
      4.4210596998813285,
      4.235977361913062,
      4.046033125294736,
      3.844188220290206,
      3.6610476173733186,
      3.477673774479961,
      3.2760255158841
    ],
    "ax_ego": [
      -0.42891739990165234,
      -0.4289372469131275,
      -0.3829665944171109,
      -0.38600239746067394,
      -0.3536957345511784,
      -0.4080903148887851,
      -0.4011131423242309,
      -0.3305475489014773,
      -0.4052699993074544,
      -0.400899837773074
    ],
    "ay_ego": [
      0.011699467526795237,
      0.010947708131807704,
      -0.05421428718360213,
      0.06223507249020033,
      0.18457447439595803,
      0.1300954894303315,
      0.11768998411123571,
      0.27555681036459534,
      0.15994692074914627,
      0.17060513692191065
    ],
    "a_ego": [
      0.42907693188844875,
      0.4290769326155306,
      0.3867849549481805,
      0.3909872825211181,
      0.3989591573560405,
      0.42832527531788883,
      0.418022350246158,
      0.43034083912996696,
      0.4356911633207607,
      0.43569116661991314
    ],
    "yaw": [
      -0.4908046395499296,
      -0.492557284587698,
      -0.4913760723079944,
      -0.488933148412768,
      -0.47983137763460837,
      -0.46649931445252635,
      -0.4475790007711438,
      -0.41772892454468846,
      -0.3854544749302784,
      -0.3590144136955719
    ],
    "yaw_diff": [
      -0.0035052900755367933,
      0.0023624245594071613,
      0.0048858477904527575,
      0.018203541556319314,
      0.026664126364164042,
      0.037840627362765056,
      0.059700152452910715,
      0.06454889922882012,
      0.05288012246941298,
      0.05288012246941298
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.142243755589751,
    "v_std": 0.5544320367105269,
    "vy_max": 0.033191082612971545,
    "a_max": 0.43569116661991314,
    "ax_avg": -0.39264402164387646,
    "a_std": 0.01787737513974117,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "35ceec8930305499",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "35ceec8930305499",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "21acd3bbf97b5cbe": {
    "vx_ego": [
      14.311489709751978,
      14.475829814199274,
      14.572921974035026,
      14.575062866601792,
      14.486900220053004,
      14.295255421886955,
      14.14129010966454,
      14.179216546510283,
      14.061768401956762,
      13.67141328562229
    ],
    "vy_ego": [
      -0.08813726748913187,
      0.1535446138443204,
      0.25452150807482354,
      0.17890498673798483,
      0.11807253278985108,
      0.18434555600891311,
      0.24722670838261074,
      0.21620359740174777,
      0.11200301760655051,
      -0.042943540059749985
    ],
    "v_ego": [
      14.311761103730637,
      14.476644112435077,
      14.575144461012577,
      14.57616083060537,
      14.487381375140615,
      14.296443993560377,
      14.143451029046407,
      14.180864778579634,
      14.062214451011,
      13.671480730847062
    ],
    "ax_ego": [
      0.32552796755769686,
      0.33083328349087926,
      0.048457542188398386,
      -0.048175346312878405,
      -0.3085697160796671,
      -0.46276750381337567,
      -0.16244769622466554,
      0.30827546216858887,
      -0.7809384216529635,
      -0.7816008106107681
    ],
    "ay_ego": [
      0.7024107745967045,
      0.6999276439674442,
      0.19984812163713542,
      -0.003421108777016471,
      0.2985514317516825,
      0.5236624890662951,
      0.2615383129108043,
      -0.0841369120021809,
      -0.08309952484810265,
      -0.07661929863784239
    ],
    "a_ego": [
      0.7741765650882151,
      0.7741765743389384,
      0.205639016523693,
      0.04829666632004684,
      0.42935792421063557,
      0.6988391553431808,
      0.30788235274034625,
      0.31955090445267054,
      0.7853472795163947,
      0.7853472760958459
    ],
    "yaw": [
      -2.042148436580125,
      -2.0345821038121823,
      -2.026067743734611,
      -2.017516948315199,
      -2.008273717617521,
      -1.9986084876106682,
      -1.9892000836192216,
      -1.983854996487163,
      -1.9794786952227357,
      -1.971184262339913
    ],
    "yaw_diff": [
      0.015132665535885437,
      0.01702872015514245,
      0.017101590838824343,
      0.018486461395355924,
      0.01933046001370542,
      0.018816807982893202,
      0.010690174264117225,
      0.00875260252885468,
      0.016588865765645444,
      0.016588865765645444
    ],
    "min_front_frame": [
      0,
      36.383148206027116
    ],
    "v_avg": 14.278154686596874,
    "v_std": 0.2653190933299221,
    "vy_max": 0.25452150807482354,
    "a_max": 0.7853472795163947,
    "ax_avg": -0.1531405239288755,
    "a_std": 0.26762291404063626,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "21acd3bbf97b5cbe",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.446361734037518,
    "right_rear_min": 3.541939121797827,
    "speed_mode": "quasi_constant",
    "front_frame": [
      36.383148206027116,
      36.65837441070842,
      36.808615428170164,
      36.98789833855735,
      37.3126025116917,
      37.56839616163206,
      38.171836889509834,
      38.55315723006692,
      39.20274398613921,
      39.72440187207676
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "21acd3bbf97b5cbe",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "131c7298c6745bde": {
    "vx_ego": [
      5.140820617677287,
      4.634516636358184,
      4.1986648315533515,
      3.7934708665540695,
      3.3473100907902023,
      2.899061263897885,
      2.443052898350695,
      1.97318371720131,
      1.5189542027838723,
      1.0873593809966864
    ],
    "vy_ego": [
      0.016905549834610678,
      -0.0029894653454178854,
      -0.004866968958720186,
      0.004364088762118357,
      -0.006647552843766391,
      -0.022055398823386252,
      -0.018418383882485845,
      -0.015667491750052553,
      -0.017215236565503278,
      -0.014449979987718131
    ],
    "v_ego": [
      5.140848414488711,
      4.634517600525844,
      4.198667652376142,
      3.7934733768230413,
      3.3473166916001125,
      2.8991451589133064,
      2.443122326246595,
      1.9732459178029782,
      1.5190517550514187,
      1.0874553900565955
    ],
    "ax_ego": [
      -1.0126191665361062,
      -1.0125673207327213,
      -0.7308959112263267,
      -0.8898567238893504,
      -0.8947326700866707,
      -0.8983911128384876,
      -0.9257731073181761,
      -0.9537927801371958,
      -0.8632398004524122,
      -0.8632418761509426
    ],
    "ay_ego": [
      -0.049412727216762764,
      -0.0504639583203908,
      0.024500516453975496,
      -0.010322161751337211,
      -0.06640803729168765,
      -0.014476670842338446,
      0.014357165994322074,
      -0.018613590037607874,
      0.001974677422020066,
      0.0005631961814202002
    ],
    "a_ego": [
      1.013824044914736,
      1.0138240429705758,
      0.7313064394314287,
      0.8899165893915612,
      0.8971937239734556,
      0.8985077437762312,
      0.9258844282354789,
      0.9539743881131869,
      0.8632420590054921,
      0.8632420598711221
    ],
    "yaw": [
      2.632693271997049,
      2.6316551156147474,
      2.630602169741566,
      2.629186193890737,
      2.626898064936423,
      2.6253571291813333,
      2.6239860608973213,
      2.6222610814903016,
      2.6207553979318723,
      2.6191203037840594
    ],
    "yaw_diff": [
      -0.002076312764603294,
      -0.00210589174636322,
      -0.002831951701657509,
      -0.004576257908627923,
      -0.003081871510179468,
      -0.002742136568024023,
      -0.003449958814039533,
      -0.0030113671168585654,
      -0.0032701882956258643,
      -0.0032701882956258643
    ],
    "min_front_frame": [
      9,
      10.81014791362847
    ],
    "v_avg": 3.1036844283884744,
    "v_std": 1.2868547359835458,
    "vy_max": 0.022055398823386252,
    "a_max": 1.013824044914736,
    "ax_avg": -0.9045110469368389,
    "a_std": 0.07778651045713339,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "131c7298c6745bde",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.858706916399356,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.433639075779457,
      19.577215685373616,
      18.567987297829532,
      17.378572515471355,
      16.09216080895205,
      14.729900555030738,
      13.455533356734907,
      12.370958179673307,
      11.493215566218634,
      10.81014791362847
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "131c7298c6745bde",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "376450d3edc951fc": {
    "vx_ego": [
      8.373327581048859,
      7.664630030193697,
      6.956629301815564,
      6.2634812054685485,
      5.596814105609818,
      4.8466360991757105,
      3.999806838174722,
      3.2161923420759226,
      2.601148588123434,
      2.0909200139877857
    ],
    "vy_ego": [
      -0.014255395806716642,
      -0.009849909232665155,
      -0.017359095483442832,
      -0.026173587997416536,
      -0.026490680970042924,
      -0.04292551722551785,
      -0.06941884553625854,
      -0.06522561272507965,
      -0.0634864210295858,
      -0.08366635487094631
    ],
    "v_ego": [
      8.373339715780265,
      7.664636359310135,
      6.956650960129802,
      6.263535891807949,
      5.596876797726682,
      4.846826186058483,
      4.000409193923148,
      3.216853674288461,
      2.6019232316022856,
      2.092593262875534
    ],
    "ax_ego": [
      -1.4173845416426996,
      -1.4173685173175874,
      -1.4146310016991501,
      -1.358313255637628,
      -1.30844893148149,
      -1.692354578829236,
      -1.6950891448994296,
      -1.4394421324622872,
      -1.0209827917035945,
      -1.0208176431826645
    ],
    "ay_ego": [
      0.020493047037598355,
      0.02157320466478241,
      -0.09216728279042652,
      -0.017926385053849914,
      -0.003048772877700223,
      -0.08210884077425451,
      -0.03285471185524791,
      0.04623300403017361,
      -0.05301691455899726,
      -0.05610703071822942
    ],
    "a_ego": [
      1.4175326817624243,
      1.4175326864106395,
      1.4176303040586116,
      1.3584315425232112,
      1.308452483398275,
      1.6943452665314624,
      1.6954075148019636,
      1.4401844129725996,
      1.0223583785464965,
      1.022358381160455
    ],
    "yaw": [
      2.6236219978586766,
      2.6243840741972644,
      2.622997078736512,
      2.620163689217702,
      2.6193320265777666,
      2.618410805710977,
      2.617902716937804,
      2.6176653984669835,
      2.6164627605954887,
      2.6134359051099367
    ],
    "yaw_diff": [
      0.0015241526771756497,
      -0.0027739909215043212,
      -0.005666779037620806,
      -0.0016633252798703424,
      -0.001842441733579392,
      -0.0010161775463455314,
      -0.0004746369416412932,
      -0.0024052757429897653,
      -0.006053710971103854,
      -0.006053710971103854
    ],
    "min_front_frame": [
      9,
      13.738409959517792
    ],
    "v_avg": 5.161364527350274,
    "v_std": 2.0592870474475236,
    "vy_max": 0.08366635487094631,
    "a_max": 1.6954075148019636,
    "ax_avg": -1.3784832538855767,
    "a_std": 0.21622822027138255,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "376450d3edc951fc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      31.82211003291992,
      29.103216092342365,
      26.607777708805727,
      24.155824677643242,
      21.87429035647118,
      20.10823057248921,
      17.908441007379825,
      16.148012344276005,
      14.858989940713414,
      13.738409959517792
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "376450d3edc951fc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9e8403c32a50530b": {
    "vx_ego": [
      4.969389981823917,
      4.40257143529086,
      4.011414612942534,
      3.8398005207657264,
      3.7559896785160998,
      3.743872293525499,
      3.750133399305312,
      3.8721987797010837,
      4.235930706746914,
      4.716178294549942
    ],
    "vy_ego": [
      -0.017881336264460534,
      -0.000372515974699561,
      0.009431262877945323,
      0.013559166643873577,
      0.012100217670985264,
      0.0088211696678962,
      -0.025698944523412523,
      -0.03937275634858588,
      -0.028633684443677018,
      -0.02799693538518326
    ],
    "v_ego": [
      4.969422152890465,
      4.402571451050758,
      4.011425699878832,
      3.8398244608670353,
      3.75600916936942,
      3.7438826855635035,
      3.7502214532391056,
      3.872398946836579,
      4.236027483414883,
      4.71626139377102
    ],
    "ax_ego": [
      -1.1344116163253135,
      -1.1332452576530543,
      -0.43136053842416,
      -0.25450221997378586,
      -0.08041567874012465,
      0.03273654655435833,
      -0.0077319193800359535,
      0.49415066803393154,
      0.9601355125733197,
      0.9603209598118913
    ],
    "ay_ego": [
      -0.08102565726389817,
      -0.09596908183333874,
      -0.0633031966105422,
      -0.08429719168458027,
      -0.05521336678967801,
      -0.11856223903071064,
      -0.1785633416981468,
      -0.002885052302341635,
      -0.04233233110267037,
      -0.037893110805590935
    ],
    "a_ego": [
      1.137301574952245,
      1.1373015777097433,
      0.43598074362372263,
      0.2680996018227035,
      0.09754587259072756,
      0.12299872358801549,
      0.17873066210280905,
      0.49415909001572367,
      0.9610682747656473,
      0.9610682773354643
    ],
    "yaw": [
      0.10560341287981695,
      0.09242398795994829,
      0.08037782531069068,
      0.06986735614405953,
      0.061017440933937954,
      0.05026616891982791,
      0.039669086335774546,
      0.031215390358652575,
      0.025698781371176933,
      0.021075695695229213
    ],
    "yaw_diff": [
      -0.026358849839737325,
      -0.02409232529851521,
      -0.021020938333262296,
      -0.01769983042024316,
      -0.02150254402822009,
      -0.021194165168106724,
      -0.01690739195424394,
      -0.011033217974951284,
      -0.00924617135189544,
      -0.00924617135189544
    ],
    "min_front_frame": [
      2,
      30.266340592114688
    ],
    "v_avg": 4.12980448968816,
    "v_std": 0.4161341239009902,
    "vy_max": 0.03937275634858588,
    "a_max": 1.1373015777097433,
    "ax_avg": -0.05943235435229731,
    "a_std": 0.4049214929394081,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "9e8403c32a50530b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.5636782441063,
    "right_rear_min": 11.470924015065858,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      -1,
      -1,
      30.266340592114688,
      32.791945491497046,
      35.38629361493262,
      37.96817291596552,
      40.55885795038495,
      42.83714636436001,
      44.81973450265704,
      46.216471407986425
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "9e8403c32a50530b",
    "pedestrians": "No"
  },
  "6b2cda5004dc5df9": {
    "vx_ego": [
      5.648996379860639,
      5.585986154578725,
      5.4893651308656475,
      5.34774296746581,
      5.219967967091346,
      5.137646962023929,
      5.130154433089633,
      5.110819147142979,
      4.954326999680955,
      4.716659929474011
    ],
    "vy_ego": [
      0.010743266173255384,
      -0.057040600523960094,
      -0.05498125231509654,
      -0.029773686839116964,
      0.004238137018655275,
      0.02542174836388611,
      0.0009520573751888861,
      0.060525470552813765,
      0.034513733500660226,
      -0.054384927452827636
    ],
    "v_ego": [
      5.649006595627825,
      5.586277378474269,
      5.4896404689259715,
      5.347825849680225,
      5.219969687581064,
      5.137709856704988,
      5.1301545214313435,
      5.111177524542551,
      4.954447216145091,
      4.716973458759316
    ],
    "ax_ego": [
      -0.1444091315960444,
      -0.1119357394754942,
      -0.2820042195335495,
      -0.28965845341998364,
      -0.22959856922002303,
      -0.10210646521107541,
      0.07408474521964631,
      -0.14848271872661245,
      -0.4778699155039654,
      -0.47332021300506755
    ],
    "ay_ego": [
      -0.6722952877216813,
      -0.6784580720816078,
      -0.9202017106899306,
      -1.1561886159998296,
      -1.1153165677315977,
      -0.9501724628864279,
      -0.8903992856057815,
      -0.7104012699747788,
      -0.3132937884086431,
      -0.3201259559566633
    ],
    "a_ego": [
      0.6876299522134721,
      0.6876299625122642,
      0.9624435402616618,
      1.191920356150216,
      1.1387038900629405,
      0.9556429455950379,
      0.8934760418061282,
      0.7257527692969727,
      0.5714128577475367,
      0.5714128557499648
    ],
    "yaw": [
      -0.04448507373680336,
      -0.09255771178249222,
      -0.16479270881209718,
      -0.26514278019709075,
      -0.3790921845000384,
      -0.48311783749431303,
      -0.568293953546174,
      -0.6575404323554181,
      -0.702846735352364,
      -0.7172120221006335
    ],
    "yaw_diff": [
      -0.09614527609137773,
      -0.1444699940592099,
      -0.20070014276998716,
      -0.2278988086058953,
      -0.20805130598854926,
      -0.17035223210372186,
      -0.17849295761848838,
      -0.09061260599389165,
      -0.02873057349653907,
      -0.02873057349653907
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.234318255787265,
    "v_std": 0.2748529197420476,
    "vy_max": 0.060525470552813765,
    "a_max": 1.191920356150216,
    "ax_avg": -0.21853006804721692,
    "a_std": 0.211669935617381,
    "ini_direction_judge": "right",
    "scenario_type": "roundout_entrance",
    "scene_token": "6b2cda5004dc5df9",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.09411886857747,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "6b2cda5004dc5df9",
    "merge_risk": "No"
  },
  "a46bfe77eed85821": {
    "vx_ego": [
      7.980486268710804,
      8.232247443432838,
      8.44411120558052,
      8.627033170446133,
      8.785151562724929,
      8.927133248598706,
      9.10736084407871,
      9.300586805303123,
      9.38212280029538,
      9.357439647982014
    ],
    "vy_ego": [
      -0.00816338074731604,
      -0.04924719781295828,
      -0.04973297842933677,
      -0.047595369631409756,
      -0.0029966705637622937,
      0.05114679129008515,
      0.048846616078596305,
      0.026490285772158284,
      0.0037197862021662864,
      0.012202493185291985
    ],
    "v_ego": [
      7.980490443943086,
      8.23239474614762,
      8.444257659578724,
      8.62716446135045,
      8.785152073816521,
      8.92727976667561,
      9.107491835635123,
      9.300624530547335,
      9.382123537698265,
      9.357447604259706
    ],
    "ax_ego": [
      0.5038116137303199,
      0.5040008692858534,
      0.34405008029907275,
      0.38813167568843976,
      0.24474287347020396,
      0.32283318520001075,
      0.39764470507798,
      0.3755020381511828,
      -0.04935051502888134,
      -0.049337022738312766
    ],
    "ay_ego": [
      0.02959097044675535,
      0.026170545606875706,
      0.06379141508025518,
      0.03757949061455387,
      0.21458223923104025,
      0.0772047326688843,
      -0.024248358650181268,
      -0.11124448384075841,
      -0.009502042205077662,
      -0.009571833164517405
    ],
    "a_ego": [
      0.5046798665109693,
      0.5046798724917188,
      0.3499139928492998,
      0.38994668326268084,
      0.3254913386065129,
      0.33193649424680366,
      0.3983833510248408,
      0.3916339053768061,
      0.050256961106725506,
      0.05025695775522178
    ],
    "yaw": [
      -0.5168709127705414,
      -0.5100831431699278,
      -0.5073341859883013,
      -0.5046137946039497,
      -0.5024998910012631,
      -0.5003743577613967,
      -0.49864928573792155,
      -0.4999002034046862,
      -0.5006896183817718,
      -0.5021038651032288
    ],
    "yaw_diff": [
      0.013575539201227338,
      0.005497914363252976,
      0.0054407827687030785,
      0.004227807205373191,
      0.004251066479732835,
      0.003450144046950321,
      -0.002501835333529323,
      -0.0015788299541712458,
      -0.0028284934429139152,
      -0.0028284934429139152
    ],
    "min_front_frame": [
      7,
      17.893753012922947
    ],
    "v_avg": 8.814442665965244,
    "v_std": 0.46468514727484556,
    "vy_max": 0.05114679129008515,
    "a_max": 0.5046798724917188,
    "ax_avg": 0.2982029503135869,
    "a_std": 0.15166638603151367,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "a46bfe77eed85821",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.479953380770608,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      26.59234498478031,
      28.61583636648889,
      30.76894062810348,
      32.91883622961338,
      35.076428635003815,
      37.26460187647547,
      39.15993851311116,
      17.893753012922947,
      19.62564215877945,
      21.537947054031857
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a46bfe77eed85821",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "b75644dcc9ca58fe": {
    "vx_ego": [
      -0.08099491351644192,
      0.24368298561782997,
      0.6642447670423814,
      1.1867597848349847,
      1.7428250342694036,
      2.37167893290345,
      3.079115859797951,
      3.811638687343206,
      4.535457638198817,
      5.25874457164814
    ],
    "vy_ego": [
      -0.008554244154630977,
      0.014684094459908967,
      0.022015754477156008,
      0.012588417577046485,
      0.0038294613096157004,
      -0.015413749277345956,
      -0.012326934767473263,
      0.00919910376089117,
      0.00576025892771348,
      -0.009427336278972742
    ],
    "v_ego": [
      0.08144538727633963,
      0.2441250091853087,
      0.6646095124119019,
      1.1868265480510087,
      1.742829241449107,
      2.371729020028391,
      3.079140534529081,
      3.811649788000131,
      4.535461296106374,
      5.2587530218206755
    ],
    "ax_ego": [
      0.6493585752460469,
      0.6493541869863712,
      1.0329287388238162,
      1.0571537738689258,
      1.1671516925852679,
      1.3482628936325654,
      1.481233796433676,
      1.4489164795817833,
      1.4465049434262944,
      1.4466226497799768
    ],
    "ay_ego": [
      0.04643056878042917,
      0.04649200195252154,
      -0.017716207830465902,
      -0.02115977610995401,
      -0.02167256258282879,
      -0.06651893707946466,
      0.05551886960435948,
      -0.004013227637878591,
      -0.05400851006372409,
      -0.050757998529734505
    ],
    "a_ego": [
      0.6510164029906237,
      0.6510164102403905,
      1.0330806568260058,
      1.0573655175625576,
      1.1673528915771625,
      1.349902811070723,
      1.4822738966127234,
      1.4489220375160774,
      1.4475128567705402,
      1.4475128549588725
    ],
    "yaw": [
      -2.0227853886502807,
      -2.022879994951368,
      -2.0232191739611958,
      -2.023535345490762,
      -2.0248786066058444,
      -2.026257082491511,
      -2.0284118675081215,
      -2.0309194287135455,
      -2.0335708380749544,
      -2.035817893891341
    ],
    "yaw_diff": [
      -0.00018921260217474867,
      -0.000678358019655434,
      -0.0006323430591326229,
      -0.002686522230164634,
      -0.0027569517713335046,
      -0.004309570033220744,
      -0.005015122410847894,
      -0.0053028187228179036,
      -0.004494111632773468,
      -0.004494111632773468
    ],
    "min_front_frame": [
      0,
      13.136723333043236
    ],
    "v_avg": 2.297656935885832,
    "v_std": 1.7326697561897382,
    "vy_max": 0.022015754477156008,
    "a_max": 1.4822738966127234,
    "ax_avg": 1.1727487730364723,
    "a_std": 0.30523816541109117,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b75644dcc9ca58fe",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.1128688803191347,
    "right_rear_min": 3.559916435760147,
    "speed_mode": "accelerating",
    "front_frame": [
      13.136723333043236,
      14.011578760375782,
      15.054271917013155,
      16.219904888672964,
      17.285653139926957,
      18.438110000232978,
      19.42535766439403,
      20.349664110153114,
      21.329232453239428,
      21.980471527345216
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b75644dcc9ca58fe",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dea63e35e7545f27": {
    "vx_ego": [
      5.769305216982795,
      5.752345350243308,
      5.861249765627326,
      6.052543129162562,
      6.175353453233787,
      6.189898525848551,
      6.181708879228425,
      6.152873279492882,
      6.076282379279607,
      5.962854542206232
    ],
    "vy_ego": [
      0.004594161598454161,
      -0.11432672025571078,
      -0.13278463342780888,
      -0.07846290448977467,
      -0.018780441846577123,
      -0.014981187819292696,
      0.006081237372075776,
      0.015994351486517733,
      0.013492919298061956,
      -0.011978624122410242
    ],
    "v_ego": [
      5.7693070461733695,
      5.753481348490689,
      5.862753668195598,
      6.053051689664803,
      6.175382010642128,
      6.189916655035877,
      6.181711870427117,
      6.152894068060734,
      6.076297360367992,
      5.96286657396804
    ],
    "ax_ego": [
      -0.14867900005616808,
      0.11681828282911932,
      0.3388329760609683,
      0.4355254099931556,
      0.05544563741212283,
      0.003190725813451825,
      -0.03591967424298331,
      -0.07943893429206514,
      -0.2269245409952863,
      -0.22680081928794332
    ],
    "ay_ego": [
      1.6277761191297149,
      1.6303723628586617,
      0.9861890066638705,
      0.4885771350010352,
      0.056055545975785936,
      0.09155091335847976,
      0.07400256619878401,
      -0.03019082024713834,
      0.020095310135554836,
      0.021446686414070548
    ],
    "a_ego": [
      1.6345520912674205,
      1.6345520954611634,
      1.0427734857249702,
      0.6545150873704334,
      0.07884442239423183,
      0.09160649795723279,
      0.08225936300341408,
      0.08498252707853574,
      0.22781257383069423,
      0.2278125808374634
    ],
    "yaw": [
      -0.9320565614057381,
      -0.7694415228702958,
      -0.6531869370884458,
      -0.6003178652878671,
      -0.5879060745956219,
      -0.5825576434130588,
      -0.5792743389008965,
      -0.5791058843605059,
      -0.5791095438874881,
      -0.573152799710511
    ],
    "yaw_diff": [
      0.3252300770708847,
      0.2325091715637,
      0.1057381436011573,
      0.024823581384490367,
      0.010696862365126236,
      0.006566609024324599,
      0.0003369090807812114,
      -7.319053964449651e-06,
      0.011913488353954227,
      0.011913488353954227
    ],
    "min_front_frame": [
      9,
      22.73198770485377
    ],
    "v_avg": 6.0177662291026355,
    "v_std": 0.1621445333149331,
    "vy_max": 0.13278463342780888,
    "a_max": 1.6345520954611634,
    "ax_avg": 0.023205006323437173,
    "a_std": 0.6061563195572326,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "dea63e35e7545f27",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      26.461420540461773,
      30.115621933727986,
      37.70521001923519,
      36.292074126791306,
      33.88611351719413,
      31.094868173503713,
      28.405709442389263,
      25.62120424946818,
      22.73198770485377
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "dea63e35e7545f27",
    "pedestrians": "No"
  },
  "3af9cb4d21e15e9e": {
    "vx_ego": [
      1.2086540777808281,
      1.732303602876737,
      2.182047851497264,
      2.4695569284620307,
      2.641409911056889,
      2.7599477914793424,
      2.8701150159234037,
      2.993003909742517,
      3.1250380400710305,
      3.3070370609007584
    ],
    "vy_ego": [
      0.02641823738696958,
      0.00015141749707014984,
      0.04077794338649787,
      0.05452274612213004,
      0.05311357264280936,
      0.04744358429985285,
      0.02535716784739106,
      0.02348360930635901,
      0.04513217655571189,
      0.03569802187335047
    ],
    "v_ego": [
      1.208942762500714,
      1.7323036094943005,
      2.18242884577955,
      2.4701587302761574,
      2.6419438619752023,
      2.7603555396692863,
      2.8702270277088258,
      2.993096036487979,
      3.125363925249609,
      3.3072297275721256
    ],
    "ax_ego": [
      1.0352438800179868,
      1.0601361835060894,
      0.7639535381401865,
      0.43013426761928386,
      0.2981761052480396,
      0.21889109913040672,
      0.25654948956960605,
      0.24905686078958345,
      0.30041865822837693,
      0.4476460205853402
    ],
    "ay_ego": [
      -0.3416056228517454,
      -0.2540385094924331,
      -0.5186992950037226,
      -0.7621071438969487,
      -0.8540694128062654,
      -0.9687956241097361,
      -1.076973607535548,
      -1.0380190267316494,
      -1.0079203730954682,
      -0.9517183859646483
    ],
    "a_ego": [
      1.09014874795994,
      1.0901487475954803,
      0.9234034692777953,
      0.8751130138211534,
      0.9046234308440882,
      0.9932161268186751,
      1.1071087534323618,
      1.0674796577749304,
      1.051738964150633,
      1.0517389628273006
    ],
    "yaw": [
      -0.6740357303241766,
      -0.7575682514449323,
      -0.874679802794303,
      -1.0154993099362049,
      -1.1717275775353646,
      -1.337380350111099,
      -1.5110702894813755,
      -1.6902569287508857,
      -1.8644639344664495,
      -2.014441871579444
    ],
    "yaw_diff": [
      -0.16706504224151142,
      -0.23422310269874136,
      -0.28163901428380367,
      -0.3124565351983195,
      -0.3313055451514688,
      -0.34737987874055287,
      -0.35837327853902057,
      -0.3484140114311276,
      -0.2999558742259887,
      -0.2999558742259887
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.5292050066713747,
    "v_std": 0.6213086065744309,
    "vy_max": 0.05452274612213004,
    "a_max": 1.1071087534323618,
    "ax_avg": 0.50602061028349,
    "a_std": 0.08114548550046585,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "3af9cb4d21e15e9e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3af9cb4d21e15e9e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "dd6549a070e25b02": {
    "vx_ego": [
      5.391474212115478,
      5.59164518790535,
      5.921800353877002,
      6.252043066465614,
      6.484695422167896,
      6.653430859345642,
      6.766110961605744,
      6.771702830662228,
      6.842668353366774,
      7.01338546226561
    ],
    "vy_ego": [
      0.07328995542907779,
      0.0005822093752190227,
      0.033752765396772855,
      0.036640837527095016,
      0.07077212802349075,
      0.023716902260880968,
      -0.05612394242271446,
      -0.06367422604411344,
      -0.03420453789162714,
      -0.08107170429858179
    ],
    "v_ego": [
      5.391972329071525,
      5.5916452182155485,
      5.9218965442119735,
      6.252150434523744,
      6.485081604142714,
      6.653473129993518,
      6.766343727721381,
      6.772002187969313,
      6.842753842173452,
      7.013854023542013
    ],
    "ax_ego": [
      0.16315682067603288,
      0.5987928359582939,
      0.6788287839507702,
      0.5998723698633353,
      0.29573669491286503,
      0.367731872535651,
      0.08312908370961113,
      -0.05754944481646717,
      0.34234808810768813,
      0.3435744153232083
    ],
    "ay_ego": [
      2.1444384261119995,
      2.06559516076476,
      1.6514154285675482,
      1.209409980753237,
      0.4948819585325641,
      0.15071470894481787,
      0.03607003352030912,
      0.20344969752667558,
      0.09394884268215938,
      0.08936004875243433
    ],
    "a_ego": [
      2.1506362573710183,
      2.1506362380862485,
      1.785491930990174,
      1.3500071709702135,
      0.5765139595872866,
      0.39741873832382063,
      0.09061728243859313,
      0.21143253775703347,
      0.35500506823467537,
      0.3550050664113428
    ],
    "yaw": [
      -2.7846320340451243,
      -2.5784146201982456,
      -2.4228000536641474,
      -2.306097739842434,
      -2.244936970608166,
      -2.2131633688748247,
      -2.1944047590480773,
      -2.184468894757618,
      -2.177827121384412,
      -2.164447401597764
    ],
    "yaw_diff": [
      0.4124348276937573,
      0.31122913306819644,
      0.23340462764342718,
      0.12232153846853588,
      0.06354720346668241,
      0.03751721965349475,
      0.019871728580918457,
      0.013283546746412078,
      0.026759439573296184,
      0.026759439573296184
    ],
    "min_front_frame": [
      9,
      28.29411665050258
    ],
    "v_avg": 6.369117304156518,
    "v_std": 0.5317321531258636,
    "vy_max": 0.08107170429858179,
    "a_max": 2.1506362573710183,
    "ax_avg": 0.3415621520220989,
    "a_std": 0.7859648294090861,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "dd6549a070e25b02",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 31.35462223558244,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      32.946160591867866,
      29.561061212027994,
      42.00600887654264,
      38.51525601244603,
      35.14807576488701,
      31.695526564001593,
      28.29411665050258
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7142857142857143,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2857142857142857,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "dd6549a070e25b02",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "68643a176fcb5c7c": {
    "vx_ego": [
      0.6283959148971133,
      0.8567559579853686,
      1.122445866230351,
      1.5125499741432473,
      2.0199627132209366,
      2.578707214342268,
      3.1857391003467406,
      3.8208104212588143,
      4.4906024230488875,
      5.194246084459305
    ],
    "vy_ego": [
      -0.012803729631879581,
      -0.0012728951427727602,
      0.006570645269449487,
      0.019017099504572203,
      0.0028535749564292945,
      -0.03364607597440695,
      -0.019375786791722936,
      0.009870857014168836,
      0.025815602127787773,
      0.04924168690299768
    ],
    "v_ego": [
      0.6285263410167201,
      0.8567569035645242,
      1.1224650978969724,
      1.5126695192124104,
      2.019964728823976,
      2.578926706156911,
      3.1857980219392217,
      3.8208231716500767,
      4.490676626879936,
      5.194479485920594
    ],
    "ax_ego": [
      0.4567196579491662,
      0.45671605321851444,
      0.6060441820477984,
      0.9543895576097128,
      1.0753523982780153,
      1.1595467575415481,
      1.2684225817119994,
      1.2718720526944947,
      1.407294053287337,
      1.4072908921010456
    ],
    "ay_ego": [
      0.022791205049536117,
      0.022863295974556587,
      0.0083767639873524,
      0.03894958545945794,
      -0.1090188708700067,
      -0.04467779554191331,
      0.09133025273640533,
      0.01818417621851868,
      0.046139235696297395,
      0.046235814174810215
    ],
    "a_ego": [
      0.45728796724253895,
      0.4572879656959246,
      0.6061020712461597,
      0.9551840125765961,
      1.0808644201231024,
      1.160407164894979,
      1.2717063579544727,
      1.2720020372193015,
      1.40805020559941,
      1.4080502141269553
    ],
    "yaw": [
      1.590119307520859,
      1.5899614648198255,
      1.5899269350301197,
      1.5894442901529149,
      1.5886711934323383,
      1.5878303565980392,
      1.586921493990783,
      1.5863882022616984,
      1.5864210880513316,
      1.5863524608713728
    ],
    "yaw_diff": [
      -0.00031568540206716733,
      -6.90595794115012e-05,
      -0.0009652897544096817,
      -0.001546193441153143,
      -0.0016816736685982825,
      -0.0018177252145124,
      -0.0010665834581691236,
      6.577157926646038e-05,
      -0.0001372543599176268,
      -0.0001372543599176268
    ],
    "min_front_frame": [
      0,
      14.726464167420461
    ],
    "v_avg": 2.541108660306134,
    "v_std": 1.5077385513598847,
    "vy_max": 0.04924168690299768,
    "a_max": 1.4080502141269553,
    "ax_avg": 1.006364818643963,
    "a_std": 0.3547863658414252,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "68643a176fcb5c7c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.820496993810498,
    "right_rear_min": 6.921689517517717,
    "speed_mode": "accelerating",
    "front_frame": [
      14.726464167420461,
      14.915192294302669,
      15.378086635198752,
      16.041718635321356,
      16.937624400364665,
      17.784690474464327,
      18.380738345031602,
      20.268188306428343,
      21.57478721160676,
      22.661414509731546
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "68643a176fcb5c7c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a0da100b0dcb543c": {
    "vx_ego": [
      5.708893351329313,
      5.149043957074379,
      4.535250017508265,
      3.882597256271132,
      3.2289251362593747,
      2.5149268435037166,
      1.7958386407874105,
      1.2357254502924717,
      0.823662807235573,
      0.43864441262685827
    ],
    "vy_ego": [
      0.038120700767464655,
      0.03249737178182999,
      0.026668415791342603,
      0.032259633846228875,
      -0.016085059596032014,
      -0.03497781952873247,
      -0.04422383783929673,
      -0.0373812330519987,
      0.004961933236035998,
      0.049120437011185764
    ],
    "v_ego": [
      5.709020623949351,
      5.149146507049193,
      4.5353284253413815,
      3.8827312730061574,
      3.2289652002940246,
      2.515170069008168,
      1.7963830804086334,
      1.2362907202939848,
      0.8236777530106197,
      0.441386155266487
    ],
    "ax_ego": [
      -1.1195143768990343,
      -1.1186700363254352,
      -1.3362796108075023,
      -1.2730534669704665,
      -1.3416076186330108,
      -1.5140550182085613,
      -1.36178163622649,
      -0.8780464956012284,
      -0.770100823889653,
      -0.7700428872212128
    ],
    "ay_ego": [
      -0.096883214773752,
      -0.10618924247358885,
      0.009850135997299891,
      -0.1087180416814757,
      -0.0988979312549817,
      0.04528564699988524,
      -0.043570021056467234,
      0.08685893466642658,
      0.08888719958602609,
      0.08938773012665563
    ],
    "a_ego": [
      1.1236987129068583,
      1.1236987164669474,
      1.3363159145348136,
      1.2776872631252845,
      1.3452478593852708,
      1.5147321175662465,
      1.3624784664348122,
      0.8823322066937058,
      0.7752136564881764,
      0.7752136572953146
    ],
    "yaw": [
      2.540799679717555,
      2.532484029287341,
      2.528734902810868,
      2.5215204491550516,
      2.520521859797173,
      2.5224191192093066,
      2.526947830263632,
      2.5296823708035348,
      2.531250333911559,
      2.531900313085858
    ],
    "yaw_diff": [
      -0.016631300860427523,
      -0.0074982529529465936,
      -0.0144289073116326,
      -0.0019971787157571086,
      0.003794518824267179,
      0.00905742210865057,
      0.005469081079805704,
      0.0031359262160481904,
      0.0012999583485981958,
      0.0012999583485981958
    ],
    "min_front_frame": [
      9,
      12.5497175046361
    ],
    "v_avg": 2.9318099807628,
    "v_std": 1.7657096336344535,
    "vy_max": 0.049120437011185764,
    "a_max": 1.5147321175662465,
    "ax_avg": -1.1483151970782592,
    "a_std": 0.24924838035852911,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a0da100b0dcb543c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.844795732894298,
      21.58923250425609,
      19.363260212456506,
      17.419801315253366,
      15.796540154362022,
      14.48915468708972,
      13.57069305735055,
      13.024203242472183,
      12.708749092752244,
      12.5497175046361
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a0da100b0dcb543c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c09cdf83367d5d3f": {
    "vx_ego": [
      4.046239683880393,
      3.6645381467879834,
      3.3455391506987753,
      3.0482450546084916,
      2.6324081524148966,
      2.2129058906185075,
      1.9993684553584212,
      2.1433623605523193,
      2.681229290359699,
      3.387445966114677
    ],
    "vy_ego": [
      -0.011331889675336715,
      -0.01985506913655044,
      -0.028641217493525994,
      -0.021311297048921984,
      -0.0061601782293095875,
      -0.01035198678415783,
      -0.008856657005012147,
      0.002325761674785043,
      0.0092728382927042,
      0.02773774135226792
    ],
    "v_ego": [
      4.046255551881532,
      3.664591935404913,
      3.345661747427225,
      3.0483195508881664,
      2.632415360215068,
      2.2129301038135996,
      1.9993880715497987,
      2.1433636223934984,
      2.6812453250332724,
      3.3875595279849953
    ],
    "ax_ego": [
      -0.7634461867468336,
      -0.7634216201959999,
      -0.5126912492171569,
      -0.6767044834354343,
      -0.9867449831128547,
      -0.6913216656023488,
      -0.16293077382756702,
      0.738906141503432,
      1.4125932387596194,
      1.4125399418337947
    ],
    "ay_ego": [
      -0.024333985109867867,
      -0.025093105930181075,
      -0.026956097942630375,
      0.03468309930725971,
      -0.0101177830408965,
      -0.030963838186820858,
      0.02425408040420999,
      -0.0017016399672271088,
      0.011640416831787181,
      0.01691319630332777
    ],
    "a_ego": [
      0.7638338974473498,
      0.7638339048169496,
      0.513399404207038,
      0.6775927060404172,
      0.9867968540849988,
      0.6920147430557136,
      0.1647261286994376,
      0.7389081008691595,
      1.4126411991349426,
      1.4126411941767147
    ],
    "yaw": [
      1.2067628412360705,
      1.2057684940520013,
      1.2045518792981253,
      1.2028740715967472,
      1.1997446773794067,
      1.197196780059695,
      1.195641569020005,
      1.1928108722181998,
      1.1908941121080514,
      1.1871613491487267
    ],
    "yaw_diff": [
      -0.0019886943681384217,
      -0.002433229507751822,
      -0.0033556154027563068,
      -0.006258788434680973,
      -0.0050957946394234455,
      -0.0031104220793798376,
      -0.0056613936036105095,
      -0.0038335202202968155,
      -0.007465525918649352,
      -0.007465525918649352
    ],
    "min_front_frame": [
      2,
      11.299434466257747
    ],
    "v_avg": 2.916173079659207,
    "v_std": 0.65797681961995,
    "vy_max": 0.028641217493525994,
    "a_max": 1.4126411991349426,
    "ax_avg": -0.09932216400413493,
    "a_std": 0.3609237437913,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c09cdf83367d5d3f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.21018251439059,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.945375380879085,
      11.623208068300052,
      11.299434466257747,
      23.829574582419475,
      24.30491742543884,
      25.221959885092435,
      26.182265754202994,
      27.147402240381513,
      27.90929945689498,
      28.353313494258103
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c09cdf83367d5d3f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "97bbc33ac7d4586d": {
    "vx_ego": [
      9.213065794711467,
      8.670331547903762,
      8.11378747791301,
      7.567732415138459,
      7.030446925884051,
      6.4775347888386765,
      5.992028654768938,
      5.511396713774349,
      4.98878636225755,
      4.549785354781684
    ],
    "vy_ego": [
      0.02346611850301905,
      -0.003749689449771748,
      0.03306323620549533,
      0.02718256514134147,
      -0.027851285008199375,
      -0.0690616268113238,
      -0.0705623806148421,
      -0.03678750963895616,
      0.03011108351400882,
      0.04361365317145882
    ],
    "v_ego": [
      9.213095679325166,
      8.670332358724561,
      8.113854843064814,
      7.567781233557497,
      7.030502092436151,
      6.477902936052156,
      5.992444113141989,
      5.511519487171222,
      4.98887723296508,
      4.549994387395314
    ],
    "ax_ego": [
      -1.0864009336367362,
      -1.084898946475449,
      -1.1415116011402635,
      -1.0431848337747411,
      -1.1048334426241329,
      -1.111067777457037,
      -0.8346851328202485,
      -1.084458330919012,
      -0.9877166286325509,
      -0.7320503051052141
    ],
    "ay_ego": [
      0.13305041327359599,
      0.14478844719695033,
      0.16547035418820166,
      -0.1337895602734899,
      -0.36891454380277544,
      -0.306239499775943,
      -0.6751295899932069,
      -1.1830764444764275,
      -1.4717047664576264,
      -1.614187544509166
    ],
    "a_ego": [
      1.0945178852257493,
      1.0945178931864217,
      1.1534423148354567,
      1.0517291684914933,
      1.1647982128119458,
      1.1524991268223763,
      1.073545171027075,
      1.604904902159201,
      1.772427447906218,
      1.772427453537427
    ],
    "yaw": [
      -1.595097372190636,
      -1.5842854878479207,
      -1.579433596527076,
      -1.577670689045701,
      -1.5873386238290494,
      -1.6062251844588025,
      -1.6455479101820034,
      -1.7316665360143402,
      -1.870920651336867,
      -2.036243175259456
    ],
    "yaw_diff": [
      0.02162376868543081,
      0.009703782641689251,
      0.0035258149627499513,
      -0.01933586956669675,
      -0.03777312125950605,
      -0.07864545144640189,
      -0.17223725166467352,
      -0.2785082306450537,
      -0.3306450478451781,
      -0.3306450478451781
    ],
    "min_front_frame": [
      2,
      66.07252531262564
    ],
    "v_avg": 6.811630436383394,
    "v_std": 1.4982463415606206,
    "vy_max": 0.0705623806148421,
    "a_max": 1.772427453537427,
    "ax_avg": -1.0210807932585386,
    "a_std": 0.28245328633195044,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "97bbc33ac7d4586d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.229558072436163,
    "right_rear_min": 40.81381717165177,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      66.07252531262564,
      70.55976881052057,
      75.2634185556369,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "97bbc33ac7d4586d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6f8c03f8038757cc": {
    "vx_ego": [
      2.033809714801527,
      1.4708370669223942,
      0.9724438653335663,
      0.6063870646499767,
      0.3040744859139263,
      0.053727182681075944,
      0.04480272434431006,
      0.5153156133314211,
      1.3936896534987222,
      2.3860199138341103
    ],
    "vy_ego": [
      -0.06463170867347767,
      0.009192856335299093,
      0.04776651106359214,
      0.04296573591820463,
      0.0155237220025774,
      0.0010983581867909029,
      -0.005119167083943624,
      -0.018889207260754437,
      -0.03255408949868843,
      -0.0905284440039007
    ],
    "v_ego": [
      2.0348364095885256,
      1.4708657947074821,
      0.9736163057406524,
      0.6079073339233604,
      0.30447048942160526,
      0.05373840851339196,
      0.04509423444638533,
      0.5156616948097642,
      1.3940698042108497,
      2.3877366748422455
    ],
    "ax_ego": [
      -1.1261370496438556,
      -1.1276806832299047,
      -0.8644255614506721,
      -0.5989049681702052,
      -0.6100831393501959,
      -0.39129892232042823,
      0.3555999719660681,
      1.5264356775109882,
      1.9876616696375635,
      1.9870875445925635
    ],
    "ay_ego": [
      0.09097252569667813,
      0.06925990445229435,
      0.03235471329347639,
      -0.06338463639010875,
      -0.050711710042012,
      -0.007363520880693003,
      -0.017439766126100334,
      -0.037865663623975254,
      0.0008483410574537942,
      -0.04777793429968902
    ],
    "a_ego": [
      1.1298055828381273,
      1.1298055840252363,
      0.8650308542252193,
      0.6022497596755526,
      0.6121871563948199,
      0.3913682000992019,
      0.3560273662301839,
      1.5269052642715308,
      1.9876618506750428,
      1.9876618527508265
    ],
    "yaw": [
      -1.8635591068192698,
      -1.8828259246687926,
      -1.8939048298465402,
      -1.897814646690924,
      -1.9001843500114033,
      -1.9008009327244426,
      -1.9011796866248432,
      -1.9016009015163093,
      -1.8966830837191813,
      -1.8722167095891777
    ],
    "yaw_diff": [
      -0.038533635699045554,
      -0.022157810355495133,
      -0.007819633688767702,
      -0.00473940664095851,
      -0.0012331654260786529,
      -0.0007575078008010827,
      -0.0008424297829323635,
      0.009835635594256154,
      0.04893274826000704,
      0.04893274826000704
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.9787997150204262,
    "v_std": 0.7777688752052598,
    "vy_max": 0.0905284440039007,
    "a_max": 1.9876618527508265,
    "ax_avg": 0.11382545395419212,
    "a_std": 0.5778907311945699,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6f8c03f8038757cc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6f8c03f8038757cc",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e5caf6d750415ee7": {
    "vx_ego": [
      4.405194467166114,
      3.8032844581453333,
      3.172059764595429,
      2.5527845190805296,
      1.987001413233026,
      1.473019599215895,
      0.9570581726176833,
      0.3949667604921665,
      -0.0018488950130908283,
      -0.22878229786514132
    ],
    "vy_ego": [
      -0.028261943152830045,
      0.005860217150117253,
      0.007675579781588039,
      -0.018192442762071107,
      -0.024437102483700582,
      0.005574792578889945,
      0.029866035063155393,
      0.02736126424892003,
      0.00955553123123491,
      -0.017231749347890145
    ],
    "v_ego": [
      4.405285124822424,
      3.8032889729436663,
      3.1720690510596063,
      2.552849342564277,
      1.9871516771922173,
      1.4730301483630446,
      0.9575240601805747,
      0.3959133499580124,
      0.00973275859561604,
      0.22943032276062106
    ],
    "ax_ego": [
      -1.203811306334688,
      -1.203883808178593,
      -1.3210166142960675,
      -1.1560850108199714,
      -1.1070654507352813,
      -0.9488976701998121,
      -1.114873559660938,
      -1.1333902620717795,
      -0.4538560379346459,
      -0.4538727710648398
    ],
    "ay_ego": [
      0.05873437521243944,
      0.05722929284065317,
      -0.049678711569360906,
      -0.05419208188563038,
      0.027919232742020152,
      0.08851982719779117,
      0.005372259461379135,
      -0.01758493171790672,
      -0.05371724166947946,
      -0.053575712067044895
    ],
    "a_ego": [
      1.2052432900003318,
      1.2052433013933876,
      1.321950403619378,
      1.1573544547724834,
      1.1074174442226448,
      0.9530176012633546,
      1.1148865032830793,
      1.1335266719326285,
      0.4570239000559074,
      0.45702390444873603
    ],
    "yaw": [
      -1.5514818516729088,
      -1.5527320786003096,
      -1.5527114397994815,
      -1.5527465143097476,
      -1.5528894405834577,
      -1.5534169274777925,
      -1.554079032204962,
      -1.5548874863955193,
      -1.5550649644171002,
      -1.554753135215278
    ],
    "yaw_diff": [
      -0.0025004538548016875,
      4.127760165628658e-05,
      -7.014902053237293e-05,
      -0.0002858525474200846,
      -0.0010549737886695887,
      -0.001324209454339087,
      -0.0016169083811146123,
      -0.0003549560431617138,
      0.0006236584036445336,
      0.0006236584036445336
    ],
    "min_front_frame": [
      9,
      9.595825282475156
    ],
    "v_avg": 1.8986274808440058,
    "v_std": 1.4713145508457048,
    "vy_max": 0.029866035063155393,
    "a_max": 1.321950403619378,
    "ax_avg": -1.0096752491296614,
    "a_std": 0.29082855435830596,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e5caf6d750415ee7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.068935535352692,
    "right_rear_min": 3.4676324436609116,
    "speed_mode": "decelerating",
    "front_frame": [
      17.126932286961097,
      15.64714754715245,
      14.066757781566277,
      12.62749639974191,
      11.511490158985781,
      10.664240420901606,
      10.02178316140291,
      9.681392940710944,
      9.604794751238344,
      9.595825282475156
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e5caf6d750415ee7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2991861b44895b0f": {
    "vx_ego": [
      2.0547391953645753,
      2.3386107757093706,
      2.61040726454765,
      2.8247166661705747,
      2.971824670073558,
      3.082818114360315,
      3.182019834057708,
      3.2786145944346856,
      3.372032874632244,
      3.467301521767302
    ],
    "vy_ego": [
      -0.01499427400022002,
      -0.004856025540913356,
      0.004011877303866873,
      -0.0013401528456029599,
      -0.01212255189497613,
      -0.010292049179866147,
      -0.008506903688062506,
      -5.172201582515079e-05,
      -0.001585135324586373,
      -0.026850451830688682
    ],
    "v_ego": [
      2.0547939043174757,
      2.3386158173689062,
      2.6104103474286653,
      2.8247169840802555,
      2.971849394892389,
      3.082835294417204,
      3.1820312053383453,
      3.2786145948426575,
      3.3720332472048065,
      3.4674054838760004
    ],
    "ax_ego": [
      0.5677526265185834,
      0.5677950315515756,
      0.5193899602014216,
      0.3378442676501439,
      0.25055864851123794,
      0.19334870552432748,
      0.2034404786297362,
      0.1829861639919391,
      0.19063614244505572,
      0.19055943348202514
    ],
    "ay_ego": [
      0.027584177570813384,
      0.026697089506573096,
      0.021856869674858698,
      -0.04227475783246959,
      -0.008592061082860758,
      -0.000598736051368523,
      0.002044662831868743,
      0.04726930535720211,
      -0.03572478835991992,
      -0.0361317237406287
    ],
    "a_ego": [
      0.5684223181499898,
      0.568422318740896,
      0.5198496450994442,
      0.3404789337592798,
      0.25070592306012573,
      0.1933496325644099,
      0.20345075323328782,
      0.18899291902459533,
      0.1939546320913544,
      0.19395463167828572
    ],
    "yaw": [
      -2.1691216791430676,
      -2.1675592831838872,
      -2.166240795758929,
      -2.166150454417507,
      -2.1668153512416657,
      -2.1681757856975503,
      -2.1686304621298755,
      -2.1674323609637822,
      -2.166102922434809,
      -2.1639678710738646
    ],
    "yaw_diff": [
      0.003124791918360792,
      0.002636974849916207,
      0.00018068268284388012,
      -0.0013297936483169792,
      -0.0027208689117692586,
      -0.0009093528646504367,
      0.0023962023321866255,
      0.0026588770579465404,
      0.004270102721888769,
      0.004270102721888769
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.9183306273766707,
    "v_std": 0.43839949672555323,
    "vy_max": 0.026850451830688682,
    "a_max": 0.568422318740896,
    "ax_avg": 0.3204311458506046,
    "a_std": 0.15719523640147545,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2991861b44895b0f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2991861b44895b0f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "28d8f3699547568b": {
    "vx_ego": [
      6.20678683707138,
      6.470462941510008,
      6.63394656026477,
      6.683803138702749,
      6.675594120172609,
      6.609582398431491,
      6.646038813128696,
      6.858704297861662,
      7.123755022391287,
      7.386047597974025
    ],
    "vy_ego": [
      -0.028739542114424865,
      -0.005234156071708906,
      -0.016444149490468102,
      -0.017474546396672785,
      -0.06113972055506456,
      -0.05475762883033353,
      0.003875668920486408,
      -0.030215444894490684,
      -0.0017219283627740722,
      -0.05000734487411984
    ],
    "v_ego": [
      6.2068533736607225,
      6.470465058544411,
      6.633966941016607,
      6.683825981928651,
      6.675874094282535,
      6.609809216578834,
      6.646039943185917,
      6.858770853339263,
      7.12375523050044,
      7.386216883769338
    ],
    "ax_ego": [
      0.5023751890015034,
      0.5555593229839018,
      0.10850007083666104,
      0.10109348599186754,
      -0.10277433343884362,
      -0.11777025780523454,
      0.2825702964995379,
      0.5461633195305059,
      0.5004014653397417,
      0.5543393522655022
    ],
    "ay_ego": [
      0.8611813470623962,
      0.8278695419409153,
      1.0234391762609267,
      1.1379145553902896,
      1.4323042116067546,
      1.710511708950642,
      1.8107709784168395,
      1.3476441744447851,
      0.8542700885590642,
      0.8202968323636057
    ],
    "a_ego": [
      0.9970025792607056,
      0.9970025776435045,
      1.0291744326775731,
      1.1423963534076378,
      1.4359867402592008,
      1.7145612091963232,
      1.832685872903623,
      1.4541111348571498,
      0.9900399036002903,
      0.9900399035674785
    ],
    "yaw": [
      -1.665492777244496,
      -1.6025384048748799,
      -1.530833229952833,
      -1.4495889041180894,
      -1.3473363702303298,
      -1.2301816278853472,
      -1.1054248186163873,
      -0.982993796123941,
      -0.9084265671633821,
      -0.8440287301188358
    ],
    "yaw_diff": [
      0.12590874473923241,
      0.1434103498440935,
      0.16248865166948745,
      0.20450506777551913,
      0.23430948468996515,
      0.24951361853791987,
      0.2448620449848926,
      0.1491344579211178,
      0.12879567408909254,
      0.12879567408909254
    ],
    "min_front_frame": [
      8,
      16.99733420030019
    ],
    "v_avg": 6.729557757680672,
    "v_std": 0.3128999285803475,
    "vy_max": 0.06113972055506456,
    "a_max": 1.832685872903623,
    "ax_avg": 0.2930457911205143,
    "a_std": 0.3089368583989678,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "28d8f3699547568b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      16.99733420030019,
      18.58042766543002
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "28d8f3699547568b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ba69db6d6eb15ceb": {
    "vx_ego": [
      1.3975171169924787,
      1.1860054020594082,
      0.9590603833878804,
      0.8130402524220673,
      0.7817255512063676,
      0.7723451158817531,
      0.749563325311155,
      0.7253564932916856,
      0.7332666141220237,
      0.7576788237880576
    ],
    "vy_ego": [
      -0.022077251521343433,
      0.0030799343037426485,
      -0.01137485886468853,
      -0.023009526734274144,
      -0.012254958733631693,
      -0.027057436517941347,
      -0.018796786254195286,
      0.010106487946898113,
      0.005764004234639519,
      -0.026478709086256047
    ],
    "v_ego": [
      1.3976914886060179,
      1.186009401189305,
      0.9591278363170884,
      0.8133657789574591,
      0.7818216046020103,
      0.7728189198624223,
      0.749798971608392,
      0.7254268973914821,
      0.7332892683864899,
      0.7581413602038403
    ],
    "ax_ego": [
      -0.42302534808681824,
      -0.42301025754797084,
      -0.4848291818268139,
      -0.09928036314539557,
      -0.026028998164666816,
      -0.011448601790357308,
      -0.07966033612938325,
      -0.0171666402102899,
      0.04885316462946503,
      0.04881832580803572
    ],
    "ay_ego": [
      0.051014995294206805,
      0.05113994445787892,
      -0.10477812650896864,
      0.05759057148475258,
      -0.019561432692541326,
      -0.03768126602390395,
      0.07110755106606975,
      0.04474165469276712,
      -0.06365625607372613,
      -0.06368297772778551
    ],
    "a_ego": [
      0.4260903365119205,
      0.4260903330397858,
      0.49602196659582243,
      0.11477484232279309,
      0.032560073624625804,
      0.03938208085053901,
      0.10678039600441665,
      0.04792190731551022,
      0.08024182594904859,
      0.0802418256707632
    ],
    "yaw": [
      -2.1216684498897855,
      -2.1213730794062386,
      -2.120405492422771,
      -2.120599108114293,
      -2.122181500321725,
      -2.1215470910837064,
      -2.1214224361383254,
      -2.121341539735503,
      -2.1218770970118777,
      -2.1213299223250717
    ],
    "yaw_diff": [
      0.0005907409670937724,
      0.0019351739669355439,
      -0.00038723138304419535,
      -0.003164784414863675,
      0.0012688184760367704,
      0.0002493098907621061,
      0.000161792805644545,
      -0.0010711145527491084,
      0.0010943493736119692,
      0.0010943493736119692
    ],
    "min_front_frame": [
      6,
      9.675817044368603
    ],
    "v_avg": 0.8877491527124507,
    "v_std": 0.21681618278580872,
    "vy_max": 0.027057436517941347,
    "a_max": 0.49602196659582243,
    "ax_avg": -0.14667782364641951,
    "a_std": 0.17584513186295017,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ba69db6d6eb15ceb",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.234156536135622,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.882612517853017,
      10.540421574703908,
      10.30448294839354,
      10.154260175767494,
      9.94608897870265,
      9.7635045064243,
      9.675817044368603,
      9.815040999644333,
      9.962947499326503,
      10.162533924445887
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ba69db6d6eb15ceb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e970702e97ea50b2": {
    "vx_ego": [
      0.7304561601344223,
      0.5485689103020126,
      0.3439804258750066,
      0.12182953425273399,
      -0.007971161905455186,
      -0.02317985804914409,
      -0.013206759151614256,
      -0.007649101129852801,
      -0.0050726052757196745,
      -0.0032538027497762204
    ],
    "vy_ego": [
      0.07450951370593016,
      0.025281851056075676,
      -0.006770338779976172,
      -0.011456923764201599,
      -0.002127477456656196,
      0.0024944836805232394,
      0.0005155088834887152,
      0.00029912274879896427,
      0.00019195409910369388,
      1.1348825658900476e-05
    ],
    "v_ego": [
      0.7342464637374966,
      0.5491511825925163,
      0.34404704746930553,
      0.12236705650777423,
      0.008250186813130977,
      0.023313692715030514,
      0.013216816435802636,
      0.007654947583985435,
      0.005076235875077298,
      0.0032538225413035558
    ],
    "ax_ego": [
      -0.3637888330840819,
      -0.3638165656338271,
      -0.4545377964509721,
      -0.43403258530801464,
      -0.08516184605320715,
      0.024330039254910826,
      0.015562245391037491,
      0.006668304346251408,
      0.003637596911366782,
      0.0036376405889835682
    ],
    "ay_ego": [
      -0.09814526782077998,
      -0.09804245242909351,
      -0.029914531906779375,
      0.011702390977481492,
      0.025628459420248766,
      -0.00712015758112741,
      -0.0007980655030615561,
      -6.94443970986445e-05,
      -0.00036064033515434077,
      -0.00036032431970117463
    ],
    "a_ego": [
      0.37679544672446696,
      0.3767954563259805,
      0.45552111654862615,
      0.4341903166397759,
      0.08893457120515898,
      0.025350492187048122,
      0.01558269521482226,
      0.0066686659369414964,
      0.0036554305821510803,
      0.0036554428828787402
    ],
    "yaw": [
      1.5939345776233185,
      1.5942171847390623,
      1.594354729948365,
      1.5949345154321333,
      1.5951796506667146,
      1.5950049077145816,
      1.5950389333348751,
      1.5950917580759627,
      1.5951508604358284,
      1.5950634022989543
    ],
    "yaw_diff": [
      0.0005652142314875874,
      0.00027509041860529493,
      0.001159570967536716,
      0.0004902704691627235,
      -0.00034948590426608916,
      6.805124058706369e-05,
      0.00010564948217517411,
      0.00011820471973145175,
      -0.00017491627374832674,
      -0.00017491627374832674
    ],
    "min_front_frame": [
      3,
      9.887272585946596
    ],
    "v_avg": 0.1810577452271423,
    "v_std": 0.2543794643870839,
    "vy_max": 0.07450951370593016,
    "a_max": 0.45552111654862615,
    "ax_avg": -0.16475018000375527,
    "a_std": 0.19220977682910578,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e970702e97ea50b2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.856399008612405,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.604056626031067,
      10.275162545670083,
      10.037238988802603,
      9.887272585946596,
      9.901072587334054,
      9.903461177190414,
      9.903782029925537,
      9.925785552381319,
      9.925541120205164,
      9.905497208762423
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e970702e97ea50b2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f5e28113983e54bd": {
    "vx_ego": [
      9.53560398587994,
      9.459549404086935,
      9.394549804230378,
      9.340895398289403,
      9.23170403466668,
      9.111810840173577,
      9.041530966773687,
      8.970238838570067,
      8.887209067606001,
      8.796698685209714
    ],
    "vy_ego": [
      -0.03873842574304209,
      -0.01889209218846677,
      0.00740001976168525,
      0.008610327912117022,
      0.010477445256059426,
      0.01721027949717424,
      0.01031819027411185,
      0.02045386453408682,
      -0.00611304950167213,
      -0.029064771792101318
    ],
    "v_ego": [
      9.53568267305275,
      9.459568269192244,
      9.394552718701274,
      9.340899366738242,
      9.231709980309182,
      9.111827093444273,
      9.041536854328365,
      8.97026215790627,
      8.887211170030367,
      8.796746700873548
    ],
    "ax_ego": [
      -0.15477754419257903,
      -0.1472340212218933,
      -0.1128980971627412,
      -0.10307713285678659,
      -0.33354401981906306,
      -0.14708491532650497,
      -0.13531974454774703,
      -0.1507807508068668,
      -0.18131593454442962,
      -0.180961301087943
    ],
    "ay_ego": [
      0.3974568218941673,
      0.4003125777153637,
      0.3384359000626987,
      0.218080577568527,
      0.3148965175732984,
      0.29247969683624986,
      0.23427136074875599,
      -0.011800650250653452,
      -0.10509546291746821,
      -0.10570491150125205
    ],
    "a_ego": [
      0.42653020227939026,
      0.42653020629527283,
      0.3567700082605273,
      0.24121366800121,
      0.45870625670122506,
      0.32738104004054625,
      0.27054482758230897,
      0.1512418267551034,
      0.2095722415911917,
      0.20957223291010832
    ],
    "yaw": [
      2.2035576665383183,
      2.2224686477249156,
      2.2392780873784592,
      2.25400251917531,
      2.268105949287125,
      2.2839674528599323,
      2.299237326104475,
      2.3042864852937006,
      2.3039890204501763,
      2.300624549608285
    ],
    "yaw_diff": [
      0.03782196237319457,
      0.03361887930708729,
      0.0294488635937018,
      0.02820686022363006,
      0.03172300714561427,
      0.03053974648908575,
      0.010098318378450877,
      -0.000594929687048662,
      -0.006728941683782352,
      -0.006728941683782352
    ],
    "min_front_frame": [
      4,
      18.771675110410257
    ],
    "v_avg": 9.176999698457653,
    "v_std": 0.2407471497002756,
    "vy_max": 0.03873842574304209,
    "a_max": 0.45870625670122506,
    "ax_avg": -0.16469934615665544,
    "a_std": 0.10167469469801156,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "f5e28113983e54bd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      37.437797868688996,
      32.68838079920741,
      27.98657473082142,
      23.34239129955389,
      18.771675110410257,
      29.161452282987085,
      24.66183364058199,
      -1,
      75.91398460207326,
      71.4856035407889
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      1,
      1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.5555555555555556,
    "unsafe_ratio": 0.2222222222222222,
    "oversafe_ratio": 0.2222222222222222,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "f5e28113983e54bd",
    "road_shape": "Straight"
  },
  "fe41706ad44652b0": {
    "vx_ego": [
      6.8629529738918515,
      6.912306067335114,
      6.943211245103079,
      6.934157036955807,
      6.973593515471446,
      7.117890641569105,
      7.268197453704022,
      7.480040973557413,
      7.806222772687209,
      8.156218894672659
    ],
    "vy_ego": [
      -0.04703944046295794,
      0.0003750216686628782,
      0.0003855846497309301,
      0.004922272668420824,
      -0.024778776242836642,
      -0.03654735113749341,
      -0.0425434406936569,
      0.0016670897195250056,
      0.016431754323840586,
      0.04819348119132716
    ],
    "v_ego": [
      6.863114178768271,
      6.912306077508366,
      6.943211255809618,
      6.93415878401497,
      6.973637537668379,
      7.117984468528448,
      7.268321963863164,
      7.480041159331001,
      7.806240066726781,
      8.156361276295002
    ],
    "ax_ego": [
      0.09797848507479641,
      0.0984659663149855,
      0.0252679448089455,
      -0.06144181533826977,
      0.2189292809712273,
      0.3580930719005929,
      0.2429405836082375,
      0.6042654914893295,
      0.700231395091084,
      0.7002067650844442
    ],
    "ay_ego": [
      -0.04776737666136721,
      -0.046754236149953644,
      -0.0897303830765889,
      0.12051739343019295,
      -0.025949221576595807,
      -0.06682013694354724,
      0.01478857177383125,
      0.12622876184307316,
      0.005710806292655746,
      0.008192433452295811
    ],
    "a_ego": [
      0.10900232020769572,
      0.10900231704101289,
      0.09322022678549602,
      0.1352757878974281,
      0.22046177030725725,
      0.3642740436050277,
      0.24339028127478876,
      0.6173090672598907,
      0.7002546822262012,
      0.7002546892637652
    ],
    "yaw": [
      0.5715905590707115,
      0.5612757100202916,
      0.5563554137111333,
      0.556810131064227,
      0.5645199375462653,
      0.5628945540167134,
      0.5619216981260285,
      0.5606996691913072,
      0.5630872850082369,
      0.5595432313146769
    ],
    "yaw_diff": [
      -0.02062969810083981,
      -0.009840592618316713,
      0.0009094347061875396,
      0.015419612964076457,
      -0.003250767059103765,
      -0.0019457117813697078,
      -0.002444057869442684,
      0.0047752316338594,
      -0.007088107387120068,
      -0.007088107387120068
    ],
    "min_front_frame": [
      1,
      17.964378693831023
    ],
    "v_avg": 7.2455376768514,
    "v_std": 0.41657489403912823,
    "vy_max": 0.04819348119132716,
    "a_max": 0.7002546892637652,
    "ax_avg": 0.29849371690053733,
    "a_std": 0.23854864589356753,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "fe41706ad44652b0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.3268473562737815,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      18.727112144359786,
      17.964378693831023,
      -1,
      -1,
      34.09334716304745,
      36.6468179151128,
      39.096946853836755,
      41.506288966224304,
      43.811498108253424,
      45.935265087970755
    ],
    "safe_frame": [
      1,
      0,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.125,
    "oversafe_ratio": 0.375,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "fe41706ad44652b0",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4cb4fba2908b5dbb": {
    "vx_ego": [
      6.893912789034914,
      6.112318258248301,
      5.307196708702492,
      4.510548535776563,
      3.723643216387698,
      2.913906286908483,
      2.1362031496599503,
      1.4038764024298382,
      0.7012061320286924,
      0.01553935760925329
    ],
    "vy_ego": [
      -0.1111529629622674,
      -0.08910571080985186,
      -0.042198573380340054,
      0.02606582235527055,
      0.049314591611970826,
      0.03450188680560751,
      0.021089203004713397,
      0.011180569665923179,
      0.0024300234462681924,
      -0.003428452248850484
    ],
    "v_ego": [
      6.894808809821665,
      6.112967717714079,
      5.307364470663184,
      4.510623850499081,
      3.723969754428193,
      2.914110538239401,
      2.1363072464185637,
      1.4039209231425394,
      0.7012103426280801,
      0.01591307386179383
    ],
    "ax_ego": [
      -1.5638721222455851,
      -1.5638703716774414,
      -1.6573547188795437,
      -1.529257082434899,
      -1.6180393454136586,
      -1.6209157286227687,
      -1.4900205692522366,
      -1.4393601147904214,
      -1.3713322518297735,
      -1.3713344401144196
    ],
    "ay_ego": [
      0.0021717743049100013,
      -0.0031914562414284697,
      0.14024108226095233,
      0.09603320132580573,
      -0.028235325436924974,
      -0.030437368565075507,
      -0.01097385152107877,
      -0.02119778782225923,
      -0.011711068654919998,
      -0.011451489955405236
    ],
    "a_ego": [
      1.5638736302337672,
      1.5638736281437446,
      1.6632775551140027,
      1.5322694279839242,
      1.6182856845777231,
      1.6212014781333772,
      1.4900609793602293,
      1.439516198678588,
      1.3713822567167615,
      1.371382252789545
    ],
    "yaw": [
      0.9518489088313328,
      0.9484194525317197,
      0.9462093940580202,
      0.9443299575422848,
      0.942804036538122,
      0.9428475817367781,
      0.944067292408262,
      0.9451251354594821,
      0.9456263957940066,
      0.9458156836415355
    ],
    "yaw_diff": [
      -0.006858912599226219,
      -0.0044201169473989665,
      -0.003758873031470822,
      -0.003051842008325645,
      8.709039731225054e-05,
      0.002439421342967929,
      0.002115686102440062,
      0.0010025206690491562,
      0.0003785756950576147,
      0.0003785756950576147
    ],
    "min_front_frame": [
      9,
      12.741186351635434
    ],
    "v_avg": 3.3721196727416576,
    "v_std": 2.215749079997214,
    "vy_max": 0.1111529629622674,
    "a_max": 1.6632775551140027,
    "ax_avg": -1.5225356745260747,
    "a_std": 0.09790592157138564,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4cb4fba2908b5dbb",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 29.265144557638713,
    "speed_mode": "decelerating",
    "front_frame": [
      26.66714965823199,
      23.461006250375707,
      20.704710928902657,
      18.545815312585376,
      16.49848303437265,
      14.944384336000198,
      13.859842927610288,
      13.18758250880921,
      12.825552627430575,
      12.741186351635434
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4cb4fba2908b5dbb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8848228852a65400": {
    "vx_ego": [
      0.7221920598881544,
      1.1201977252513973,
      1.6086577274736666,
      2.1849581193050303,
      2.7528735752636355,
      3.280513517817414,
      3.772136268078573,
      4.087245433326115,
      4.265608128876865,
      4.482312068341571
    ],
    "vy_ego": [
      -0.033716048019671485,
      -0.009859486145123275,
      0.015378328851794909,
      0.021602889397989378,
      0.011069725711114309,
      0.03275508644427094,
      0.03723862734762129,
      0.004524951600292093,
      -0.04509958182173457,
      -0.09841158901026636
    ],
    "v_ego": [
      0.722978660307177,
      1.1202411138346293,
      1.6087312321077798,
      2.1850649116095653,
      2.7528958317037917,
      3.280677039312275,
      3.7723200739492504,
      4.087247938091371,
      4.26584653749064,
      4.483392278047061
    ],
    "ax_ego": [
      0.7959970809092116,
      0.7959648031928632,
      1.1578788369442128,
      1.147429649878476,
      1.1243133017098472,
      0.9862912150331056,
      0.9799742741882016,
      0.2804690167516283,
      0.43298032615767057,
      0.43323912893980926
    ],
    "ay_ego": [
      0.04615531233122805,
      0.04670878675640505,
      0.05197087606929418,
      -0.03401264013490385,
      -0.021672538627370952,
      0.09105916389591556,
      -0.058303083934253985,
      -0.07371655492424681,
      -0.12521831156843316,
      -0.12431993828009599
    ],
    "a_ego": [
      0.7973340991531588,
      0.7973341073114262,
      1.1590445949154384,
      1.147933648391399,
      1.124522164891494,
      0.9904858061481259,
      0.9817070987147527,
      0.2899948272427021,
      0.4507234056399246,
      0.45072340731150357
    ],
    "yaw": [
      -2.057772797723925,
      -2.0584681290941607,
      -2.058898621421296,
      -2.059812688252345,
      -2.0611833997620956,
      -2.062613452897496,
      -2.0615628837871123,
      -2.0616353822298388,
      -2.061661645232359,
      -2.063735879187994
    ],
    "yaw_diff": [
      -0.0013906627404711713,
      -0.0008609846542704247,
      -0.001828133662097997,
      -0.002741423019501532,
      -0.0028601062708011327,
      0.002101138220767851,
      -0.00014499688545299705,
      -5.252600504057625e-05,
      -0.004148467911269549,
      -0.004148467911269549
    ],
    "min_front_frame": [
      0,
      12.844372470299033
    ],
    "v_avg": 2.827939561645354,
    "v_std": 1.2939577366672599,
    "vy_max": 0.09841158901026636,
    "a_max": 1.1590445949154384,
    "ax_avg": 0.8134537633705026,
    "a_std": 0.3041534211986251,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8848228852a65400",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.51607029291963,
    "right_rear_min": 12.02283984065117,
    "speed_mode": "accelerating",
    "front_frame": [
      12.844372470299033,
      14.040630019892157,
      15.331688642622822,
      16.642911425771253,
      17.842372365347245,
      18.981150656444395,
      20.111994153628228,
      21.049982808713317,
      22.04227055648468,
      23.002598347025398
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8848228852a65400",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "7508fad57cde547d": {
    "vx_ego": [
      -0.15601426303245214,
      0.31327042870457755,
      0.8723011977110193,
      1.5472499288525507,
      2.2728978754231313,
      2.98647422661877,
      3.5183700776643807,
      3.87537290917894,
      4.069605812477607,
      4.130851636969798
    ],
    "vy_ego": [
      0.007657562584521691,
      -0.012458182292826619,
      -0.022495963742653856,
      -0.0021686089897491323,
      0.01337088809290915,
      0.015015743099927509,
      0.018114915823817856,
      -0.0023054890988080667,
      -0.022151912355750536,
      -0.03672449640589598
    ],
    "v_ego": [
      0.15620207596026062,
      0.3135180502089012,
      0.8725912261264088,
      1.547251448601414,
      2.2729372038733002,
      2.9865119753315943,
      3.5184167111897597,
      3.875373594955463,
      4.069666101312556,
      4.1310148795776955
    ],
    "ax_ego": [
      0.9385694186114137,
      0.9385693779675122,
      1.2975258686292015,
      1.4022445219582635,
      1.500392908667631,
      1.3539548204640135,
      0.773685634822651,
      0.6543240644563795,
      0.12258043722964043,
      0.12255637157335474
    ],
    "ay_ego": [
      -0.040230698021056874,
      -0.04023188454449297,
      -0.0005993613828380734,
      0.08060215778024231,
      -0.023108738471248322,
      0.017413593125535018,
      -0.014257327627798765,
      -0.067004238208109,
      -0.018366308278114793,
      -0.018526220343644012
    ],
    "a_ego": [
      0.9394312442195164,
      0.9394312544259553,
      1.2975260070596006,
      1.404559150481314,
      1.5005708560990536,
      1.3540667963890411,
      0.7738169892952822,
      0.6577458090057018,
      0.12394871871534843,
      0.12394871945061571
    ],
    "yaw": [
      -1.6316693468175774,
      -1.6316680827507812,
      -1.6319784028665156,
      -1.6322513694141725,
      -1.6328658379227545,
      -1.6340246940073073,
      -1.6347194718216287,
      -1.6346911797798,
      -1.6350616251253638,
      -1.633756954837217
    ],
    "yaw_diff": [
      2.5281335922500148e-06,
      -0.0006206402314687942,
      -0.0005459330953136998,
      -0.001228937017164089,
      -0.00231771216910559,
      -0.0013895556286427357,
      5.6584083657273965e-05,
      -0.0007408906911274826,
      0.002609340576293473,
      0.002609340576293473
    ],
    "min_front_frame": [
      0,
      12.348514682666904
    ],
    "v_avg": 2.3743483267137355,
    "v_std": 1.4836959075512257,
    "vy_max": 0.03672449640589598,
    "a_max": 1.5005708560990536,
    "ax_avg": 0.9104403424380061,
    "a_std": 0.4754340539941416,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7508fad57cde547d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5105953767223737,
    "right_rear_min": 7.166134240793239,
    "speed_mode": "accelerating",
    "front_frame": [
      12.348514682666904,
      13.086243361963746,
      13.886052890698979,
      14.736846403052088,
      15.217982348037294,
      15.343458941239877,
      15.142056945136767,
      14.606367816632003,
      13.910618985891153,
      13.187826885294799
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7508fad57cde547d",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "da36c99454f65715": {
    "vx_ego": [
      8.91667037523076,
      9.188102897333323,
      9.401565080020115,
      9.555164868991296,
      9.775818628471079,
      10.102158679134819,
      10.438979660379426,
      10.64241047071445,
      10.711050622670644,
      10.751213980684577
    ],
    "vy_ego": [
      0.004594672556979651,
      -0.031787669082868675,
      -0.019216190266950983,
      -0.00938021475611761,
      0.0017180991477340202,
      0.009596381591098324,
      0.04577433624245186,
      0.030054086351739562,
      0.0320416770655827,
      0.02589559448548484
    ],
    "v_ego": [
      8.916671559025474,
      9.188157884358036,
      9.401584718323928,
      9.555169473224131,
      9.775818779448954,
      10.102163237097221,
      10.439080018836611,
      10.642452906885659,
      10.711098548257429,
      10.751245166969325
    ],
    "ax_ego": [
      0.5414301132135695,
      0.5451200559662918,
      0.3094078045914163,
      0.30570138212182835,
      0.577150529610756,
      0.728277795864175,
      0.6182830215043793,
      0.1920661474053878,
      0.08018408562833094,
      0.08024230201400398
    ],
    "ay_ego": [
      0.22908944946671894,
      0.22016507075640912,
      0.16667688880539028,
      0.2112961684216018,
      0.22698810261522248,
      0.2835346670448933,
      0.3931941915901398,
      0.33505222756178427,
      0.02981262015181358,
      0.029655552294734114
    ],
    "a_ego": [
      0.587901814380108,
      0.5879018062549798,
      0.35144611934679904,
      0.3716172840717262,
      0.6201824993974232,
      0.7815244432294101,
      0.7327179313902508,
      0.3861986537693546,
      0.0855469456402029,
      0.08554693924631282
    ],
    "yaw": [
      1.5958091902101934,
      1.612235820042982,
      1.6212593882986277,
      1.6301905265161731,
      1.6404144039907989,
      1.6524859538925951,
      1.6654184982324995,
      1.6840872379970022,
      1.6924335549684657,
      1.6943917019172487
    ],
    "yaw_diff": [
      0.032853259665577283,
      0.018047136511291306,
      0.017862276435090862,
      0.02044775494925144,
      0.024143099803592527,
      0.025865088679808856,
      0.037337479529005346,
      0.01669263394292697,
      0.003916293897566092,
      0.003916293897566092
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.948344229242675,
    "v_std": 0.6401751311572527,
    "vy_max": 0.04577433624245186,
    "a_max": 0.7815244432294101,
    "ax_avg": 0.39778632379201395,
    "a_std": 0.23272142671081408,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "da36c99454f65715",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "da36c99454f65715",
    "road_shape": "Straight"
  },
  "60fe616f485b5589": {
    "vx_ego": [
      5.532491314316829,
      5.8327604231224885,
      6.140795992201378,
      6.441443565062359,
      6.7261466631480715,
      6.911928577003304,
      6.921755742220801,
      6.693458188945115,
      6.632705971538682,
      6.880110451143372
    ],
    "vy_ego": [
      0.062402896084553294,
      0.11221107793973362,
      0.1540969113316346,
      0.1273019372192663,
      0.04835301551093929,
      -0.05477752811720071,
      -0.14083773902436647,
      -0.10821919423552373,
      -0.016054114231565997,
      0.09512640765774893
    ],
    "v_ego": [
      5.532843235121604,
      5.833839685794977,
      6.142729139065018,
      6.44270137326751,
      6.72632046131367,
      6.912145631508465,
      6.9231884145746125,
      6.694332970592171,
      6.632725400577703,
      6.880768042403851
    ],
    "ax_ego": [
      0.5734098775913669,
      0.65665458122417,
      0.5963955311946916,
      0.6159741318520551,
      0.5212842924123715,
      0.2283466419824573,
      -0.16460465909238373,
      -0.7390278044097716,
      0.4960455630871372,
      0.49519731515140586
    ],
    "ay_ego": [
      -0.9509787730980642,
      -0.8955245756679465,
      -0.480037207485674,
      -0.20534477024964334,
      0.09174048144025126,
      0.4426944945455506,
      0.6247576840725084,
      0.2949858072809587,
      0.0786131881105808,
      0.08379052912471988
    ],
    "a_ego": [
      1.1104771562722242,
      1.110477151799147,
      0.7655869318370334,
      0.6493000891573724,
      0.5292954084920404,
      0.49811705893856423,
      0.6460780584438417,
      0.7957252806012427,
      0.5022362332641329,
      0.5022362329662818
    ],
    "yaw": [
      -0.3873708897471136,
      -0.47747457632649487,
      -0.5418094486164864,
      -0.5647942923052947,
      -0.5571304913364721,
      -0.5226019485062317,
      -0.47194880913026793,
      -0.44326847033097905,
      -0.4430787747641713,
      -0.4535248345198784
    ],
    "yaw_diff": [
      -0.18020737315876256,
      -0.12866974457998304,
      -0.04596968737761653,
      0.015327601937645152,
      0.06905708566048085,
      0.10130627875192744,
      0.05736067759857777,
      0.00037939113361551424,
      -0.02089211951141423,
      -0.02089211951141423
    ],
    "min_front_frame": [
      5,
      27.837704332640957
    ],
    "v_avg": 6.472159435421958,
    "v_std": 0.45857119915612454,
    "vy_max": 0.1540969113316346,
    "a_max": 1.1104771562722242,
    "ax_avg": 0.32796754709935,
    "a_std": 0.22424186512716565,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "60fe616f485b5589",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      40.528110723696464,
      37.59074091673852,
      34.51473467665693,
      31.22864851766342,
      27.837704332640957,
      44.237390886260165,
      43.32424902491188,
      40.08696215646946,
      36.79813891217987
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4444444444444444,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5555555555555556,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 12,
    "token": "60fe616f485b5589",
    "smoothness": "No"
  },
  "8d83f07bed9d5f6a": {
    "vx_ego": [
      1.0279000814933188,
      0.538958922671971,
      0.15192320207565319,
      -0.021653199328654414,
      -0.0386575750616649,
      -0.011698775450666474,
      0.042572973729830044,
      0.28982307140561947,
      0.7680268491309736,
      1.312554092211116
    ],
    "vy_ego": [
      0.03551425063454183,
      0.02309439031422883,
      -0.001417576520049181,
      -0.012887321252625525,
      -0.004241239101296359,
      -0.0019220143067672697,
      -0.0012996321826103732,
      -0.0011979581314641718,
      0.006506573974603913,
      0.021625775148289894
    ],
    "v_ego": [
      1.0285134124220765,
      0.5394534930758327,
      0.15192981554688317,
      0.025198096956611894,
      0.03888953868024949,
      0.011855609897450853,
      0.04259280615327987,
      0.2898255472222412,
      0.7680544098505901,
      1.3127322343611858
    ],
    "ax_ego": [
      -0.9778953864265777,
      -0.9779022624646682,
      -0.570255585222356,
      -0.1240071857879028,
      0.05598608561030077,
      0.051850227059184635,
      0.1652363781935986,
      0.823764945223279,
      1.0890501283374807,
      1.0890531867229858
    ],
    "ay_ego": [
      -0.024535751156639474,
      -0.024259998645016545,
      -0.07352857280049462,
      0.027669810809721453,
      0.0069462300129615705,
      0.002319705248840412,
      0.0001694340095753158,
      0.0002989308789318468,
      0.030501842002077395,
      0.0303925525205771
    ],
    "a_ego": [
      0.978203143462137,
      0.9782031396738475,
      0.5749764199472612,
      0.12705668245818957,
      0.056415351575230796,
      0.051902091273189566,
      0.16523646506271414,
      0.8237649994618503,
      1.0894771885622034,
      1.0894771914823214
    ],
    "yaw": [
      -0.3335910829185824,
      -0.3333090838298227,
      -0.3330889455134113,
      -0.33254819173305095,
      -0.33269885151732204,
      -0.33258790194247456,
      -0.33266148421069786,
      -0.33247764152949766,
      -0.3324863864388163,
      -0.33238603587262155
    ],
    "yaw_diff": [
      0.0005639981775193981,
      0.0004402766328228669,
      0.0010815075607206737,
      -0.0003013195685421799,
      0.0002218991496949485,
      -0.00014716453644658678,
      0.00036768536240039396,
      -1.7489818637250742e-05,
      0.00020070113238945808,
      0.00020070113238945808
    ],
    "min_front_frame": [
      2,
      10.26137848800913
    ],
    "v_avg": 0.42090449641664013,
    "v_std": 0.44739255860083854,
    "vy_max": 0.03551425063454183,
    "a_max": 1.0894771914823214,
    "ax_avg": 0.0624880531245325,
    "a_std": 0.4270962518210596,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8d83f07bed9d5f6a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.5911081390923227,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      10.719131857897233,
      10.344731765261537,
      10.26137848800913,
      10.263477213931296,
      10.300341303946938,
      10.397339728640786,
      10.607967198966426,
      10.873838146485271,
      11.461635629849319,
      12.24923401254385
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8d83f07bed9d5f6a",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "04377176d16d5a0f": {
    "vx_ego": [
      7.210249801582043,
      6.627434868946226,
      6.012713100921856,
      5.327769657431382,
      4.588674653973807,
      3.835702710911368,
      3.089282682103822,
      2.3186564471150106,
      1.5801231901457338,
      0.9023749609621782
    ],
    "vy_ego": [
      0.005709641403098348,
      -0.018084059165461575,
      -0.022713532413299514,
      -0.010466821455502429,
      -0.010777908157375143,
      -0.014802277547214832,
      -0.03746584379507684,
      -0.048388026648187574,
      -0.01132764201418679,
      0.03427588085963096
    ],
    "v_ego": [
      7.210252062252667,
      6.627459541583048,
      6.012756001913933,
      5.327779938867398,
      4.5886873115658995,
      3.8357312723799355,
      3.0895098607057174,
      2.3191612968637845,
      1.5801637926208574,
      0.9030256951937725
    ],
    "ax_ego": [
      -1.1656354717141015,
      -1.165627972897587,
      -1.2933607120793547,
      -1.4464929422280082,
      -1.509894153931896,
      -1.5019836903264248,
      -1.4836758909856635,
      -1.5984926919347524,
      -1.3555027811299256,
      -1.355494361834099
    ],
    "ay_ego": [
      -0.04958810248979966,
      -0.049764044463567476,
      0.007923926338456035,
      0.015062826062965357,
      -0.022215795015288774,
      0.008626595507110549,
      -0.093947606060478,
      0.06482364298639333,
      0.09137340737543626,
      0.09149835959912914
    ],
    "a_ego": [
      1.1666897757444756,
      1.1666897750999232,
      1.2933849852843633,
      1.4465713672834961,
      1.5100575808974561,
      1.5020084634104525,
      1.4866473361818524,
      1.5998065479484822,
      1.3585789963142962,
      1.3585790057164004
    ],
    "yaw": [
      -1.5424537650983785,
      -1.542604705867991,
      -1.5435249264882525,
      -1.5446674091570642,
      -1.5449648539233785,
      -1.5448159484944688,
      -1.54443062025952,
      -1.5430911200407083,
      -1.542054714477549,
      -1.5419625341356193
    ],
    "yaw_diff": [
      -0.00030188153922505734,
      -0.0018404412405228499,
      -0.002284965337623568,
      -0.0005948895326284287,
      0.00029781085781932504,
      0.0007706564698977125,
      0.002679000437623369,
      0.00207281112631863,
      0.00018436068385918603,
      0.00018436068385918603
    ],
    "min_front_frame": [
      9,
      10.358465937187407
    ],
    "v_avg": 4.149452677394701,
    "v_std": 2.0560810375057343,
    "vy_max": 0.048388026648187574,
    "a_max": 1.5998065479484822,
    "ax_avg": -1.3876160669061812,
    "a_std": 0.13948168195007438,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "04377176d16d5a0f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.7502324134783835,
    "right_rear_min": 5.169263699762521,
    "speed_mode": "decelerating",
    "front_frame": [
      29.005274183701633,
      25.54075707981696,
      22.424405502707813,
      19.615378635307394,
      17.12220675182415,
      15.050388368411083,
      13.290922473282327,
      11.988209493824355,
      11.010812291307081,
      10.358465937187407
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "04377176d16d5a0f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5cb436b6276f59ae": {
    "vx_ego": [
      1.8602922297874644,
      2.2806729223509192,
      2.7142087314892303,
      3.1231165479844036,
      3.4588280520983283,
      3.802383430659357,
      4.184077991656016,
      4.596701537445399,
      5.0919729999427155,
      5.6684153942535405
    ],
    "vy_ego": [
      0.011698891154632518,
      -0.03315741486875767,
      -0.02601382343578562,
      -0.012792824377815482,
      0.01882579576919119,
      0.022464005400960108,
      0.04461333951998303,
      0.07927454630041009,
      0.11868576967369027,
      0.006359036983692334
    ],
    "v_ego": [
      1.860329015056709,
      2.2809139380751438,
      2.714333390927158,
      3.12314274868274,
      3.4588792844747647,
      3.802449787346504,
      4.184315833003452,
      4.597385069585104,
      5.0933560001308225,
      5.668418961153266
    ],
    "ax_ego": [
      0.8280181700025488,
      0.8492653700237275,
      0.8884895119225044,
      0.7563058386748289,
      0.6230822105642775,
      0.7882669704149481,
      0.78115819251334,
      0.9321640592990981,
      1.0885567024929568,
      1.2374165676371152
    ],
    "ay_ego": [
      -0.3705111868313611,
      -0.3188117925681082,
      -0.6292376684302392,
      -0.9188721175335475,
      -1.3059726380513867,
      -1.518491471229106,
      -1.6664570074556855,
      -1.7832315998633765,
      -1.4434299438975138,
      -1.3180462690622345
    ],
    "a_ego": [
      0.9071342951413278,
      0.9071342942486681,
      1.08873948039364,
      1.1900943197890752,
      1.4469954984244302,
      1.710900688188153,
      1.8404583883991692,
      2.0121741406250777,
      1.8078843152929667,
      1.8078843240793077
    ],
    "yaw": [
      -2.3614557005256405,
      -2.423082767225452,
      -2.520959321855826,
      -2.657110836384061,
      -2.8343648705492352,
      -3.030345307667877,
      3.0486545232954,
      2.844159019047301,
      2.66924597285748,
      2.5615384182711995
    ],
    "yaw_diff": [
      -0.1232541333996231,
      -0.19575310926074785,
      -0.2723030290564701,
      -0.35450806833034854,
      -0.39196087423728354,
      -0.4083709524326187,
      -0.40899100849619785,
      -0.3498260923796419,
      -0.2154151091725609,
      -0.2154151091725609
    ],
    "min_front_frame": [
      9,
      77.31971369853858
    ],
    "v_avg": 3.6783524028435663,
    "v_std": 1.1671513376305023,
    "vy_max": 0.11868576967369027,
    "a_max": 2.0121741406250777,
    "ax_avg": 0.8772723593545345,
    "a_std": 0.39691194678070696,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "5cb436b6276f59ae",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 9.784156386130967,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      77.31971369853858
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5cb436b6276f59ae",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f73281d701fd56a6": {
    "vx_ego": [
      5.373746790815522,
      4.601438044300333,
      3.8281068594428334,
      3.0656967105482424,
      2.3389564744096947,
      1.6552932053428666,
      1.067037537882754,
      0.6613645317962206,
      0.40007946974364106,
      0.17666243128443765
    ],
    "vy_ego": [
      0.010596367578250554,
      0.013786280959722674,
      -0.005179847422157824,
      -0.02318236269543883,
      -0.016504294646006556,
      -0.00551211636197968,
      0.0120259227524806,
      0.03379413409006121,
      0.032275152479102426,
      0.011392175183014427
    ],
    "v_ego": [
      5.373757238172002,
      4.601458696661003,
      3.8281103638913794,
      3.0657843601607824,
      2.3390147030159496,
      1.6553023829744973,
      1.0671053041143306,
      0.6622273683689999,
      0.4013792067084471,
      0.1770293655943249
    ],
    "ax_ego": [
      -1.5446368382638047,
      -1.5446287826161909,
      -1.548737511941789,
      -1.5009020770031243,
      -1.4059866654729452,
      -1.328626725724587,
      -1.0243951886279912,
      -0.5982716738050764,
      -0.4468374491162057,
      -0.4468435730238318
    ],
    "ay_ego": [
      0.012217782599243332,
      0.013197644895007632,
      -0.07790052540344261,
      0.006031937194754922,
      0.029222870476468876,
      0.022504432732370683,
      0.05098794368905485,
      0.03526445280024071,
      -0.04171390156035654,
      -0.041648109822451984
    ],
    "a_ego": [
      1.5446851576723475,
      1.5446851633640917,
      1.5506954480986186,
      1.5009141977536937,
      1.4062903255183887,
      1.3288173033951065,
      1.0256633331097569,
      0.5993100844377877,
      0.44878029760236227,
      0.4487802845541318
    ],
    "yaw": [
      2.4410303170067253,
      2.441664679307589,
      2.4423266522678264,
      2.442336930121892,
      2.4431307084954916,
      2.444106652038295,
      2.4447377672073394,
      2.4444848317657115,
      2.4443023683832306,
      2.4444496477435975
    ],
    "yaw_diff": [
      0.0012687246017275555,
      0.0013239459204745785,
      2.0555708131198003e-05,
      0.001587556747199237,
      0.001951887085606785,
      0.001262230338088699,
      -0.0005058708832557102,
      -0.0003649267649619148,
      0.0002945587207339173,
      0.0002945587207339173
    ],
    "min_front_frame": [
      9,
      12.852178738235427
    ],
    "v_avg": 2.3171168989661717,
    "v_std": 1.743403673841158,
    "vy_max": 0.03379413409006121,
    "a_max": 1.5506954480986186,
    "ax_avg": -1.1389866485595546,
    "a_std": 0.4465445240099373,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f73281d701fd56a6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 23.63878648753041,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.073483032473415,
      20.596652891939943,
      18.499737358542127,
      16.772181168591505,
      15.445467507416161,
      14.407978722785176,
      13.773276020944007,
      13.298553019113518,
      13.0072667117125,
      12.852178738235427
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f73281d701fd56a6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a0e088521cf1547d": {
    "vx_ego": [
      1.4404917568287239,
      1.666771866160823,
      2.0758142352529085,
      2.877599355596686,
      3.9531973776550133,
      5.038533547041854,
      5.963113244663838,
      6.6102571634071365,
      7.039469626965183,
      7.421724213959719
    ],
    "vy_ego": [
      0.022683425787318454,
      -0.008633980626924314,
      -0.028149653282962313,
      -0.026640601826389238,
      -0.007046258122129986,
      0.02731106115898034,
      0.024933712742152097,
      -0.0009348587762442687,
      -0.0021429411598257245,
      0.025456288194034123
    ],
    "v_ego": [
      1.4406703437278607,
      1.6667942282857529,
      2.0760050920598845,
      2.8777226713142694,
      3.953203657345773,
      5.0386075654616915,
      5.963165372410562,
      6.610257229513561,
      7.039469953140091,
      7.421767870978223
    ],
    "ax_ego": [
      0.4525391279098302,
      0.45261204272460004,
      1.183645259274388,
      2.023357398716243,
      2.278807888985113,
      2.0628160706375698,
      1.636283742478177,
      0.9523120977403295,
      0.7645474527037042,
      0.7645106924554583
    ],
    "ay_ego": [
      -0.06631411144767356,
      -0.06581459787038647,
      -0.006199098706711941,
      0.0006658833465470679,
      0.04305531928531485,
      0.0076249098716596846,
      -0.12017836361000722,
      -0.04176643869419318,
      0.042439600127572676,
      0.0430967683111577
    ],
    "a_ego": [
      0.45737208448536093,
      0.457372083223469,
      1.1836614924155928,
      2.0233575082867565,
      2.2792145917880458,
      2.062830162793625,
      1.6406911119946888,
      0.95322755253076,
      0.7657244459299383,
      0.7657244480344022
    ],
    "yaw": [
      0.017795570535015525,
      0.016691848808424954,
      0.017541470114456347,
      0.01632196578521478,
      0.013761268641816092,
      0.008966250506297575,
      0.0043280947946749485,
      0.0020341206959120844,
      0.0022351004051644535,
      0.0013755400912225995
    ],
    "yaw_diff": [
      -0.002207443453181142,
      0.001699242612062786,
      -0.0024390086584831355,
      -0.005121394286797375,
      -0.009590036271037033,
      -0.009276311423245254,
      -0.004587948197525728,
      0.00040195941850473815,
      -0.001719120627883708,
      -0.001719120627883708
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.408766398423767,
    "v_std": 2.190424849232972,
    "vy_max": 0.028149653282962313,
    "a_max": 2.2792145917880458,
    "ax_avg": 1.2571431773625412,
    "a_std": 0.6548236431311388,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "a0e088521cf1547d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.102844740707216,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "a0e088521cf1547d",
    "pedestrians": "No"
  },
  "0c9105d8ad6a5f52": {
    "vx_ego": [
      4.992901550257306,
      5.173608668969633,
      5.40697129813618,
      5.707211717929949,
      5.992762850845109,
      6.264849472437692,
      6.544645181050399,
      6.796649631117953,
      6.958648327689964,
      7.049583269462146
    ],
    "vy_ego": [
      -0.0852983134370735,
      0.015384452408587102,
      0.05845173722452657,
      0.015163557994214205,
      -0.060431545230204,
      -0.11165308556807085,
      -0.10961535182735993,
      -0.08124745538027334,
      -0.007506729505723619,
      0.0924679826827246
    ],
    "v_ego": [
      4.993630111736053,
      5.173631542834651,
      5.407287233396522,
      5.7072318620122635,
      5.993067541595716,
      6.265844342450561,
      6.545563082822015,
      6.797135231638515,
      6.958652376678275,
      7.050189685455421
    ],
    "ax_ego": [
      0.3614538194867639,
      0.3611108940873501,
      0.5725041119142229,
      0.6290080778476068,
      0.5128693431783881,
      0.5745590515461745,
      0.5424013563838088,
      0.4646716808739492,
      0.182669357781844,
      0.18199529302310447
    ],
    "ay_ego": [
      0.18189432046665835,
      0.1825741742605356,
      -0.024102503210793436,
      -0.20091519692063106,
      -0.17595224216822353,
      -0.08675522942568803,
      -0.025500727462722916,
      0.0809285933363327,
      0.12297992729312397,
      0.12397528214585642
    ],
    "a_ego": [
      0.40464108471532834,
      0.4046410840924112,
      0.5730112466782126,
      0.6603166500635865,
      0.5422122782603289,
      0.5810719177058408,
      0.5430004774474178,
      0.47166641625795114,
      0.22020934764322198,
      0.22020934872459516
    ],
    "yaw": [
      -0.6035728262706901,
      -0.6054546041602608,
      -0.6061098953301801,
      -0.6084461423866969,
      -0.6116214726026588,
      -0.6139830301419695,
      -0.6186799811354133,
      -0.6208521566223162,
      -0.6241450689780681,
      -0.6296040531254832
    ],
    "yaw_diff": [
      -0.0037635557791413365,
      -0.0013105823398387173,
      -0.0046724941130336095,
      -0.0063506604319236715,
      -0.004723115078621554,
      -0.00939390198688761,
      -0.0043443509738057,
      -0.006585824711503818,
      -0.01091796829483016,
      -0.01091796829483016
    ],
    "min_front_frame": [
      9,
      18.199251718755836
    ],
    "v_avg": 6.089223301061999,
    "v_std": 0.7126553510492847,
    "vy_max": 0.11165308556807085,
    "a_max": 0.6603166500635865,
    "ax_avg": 0.43832429861232114,
    "a_std": 0.1422761651501929,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "0c9105d8ad6a5f52",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.958059989667096,
    "right_rear_min": 5.070780977586419,
    "speed_mode": "accelerating",
    "front_frame": [
      41.90257262659728,
      39.38411658322476,
      36.81099509011488,
      34.021972618777795,
      31.153351731057914,
      28.152319736863497,
      25.02243131832325,
      21.72550155024953,
      -1,
      18.199251718755836
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      0
    ],
    "safe_ratio": 0.4444444444444444,
    "unsafe_ratio": 0.1111111111111111,
    "oversafe_ratio": 0.4444444444444444,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0c9105d8ad6a5f52",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0c4bafb20cea5e44": {
    "vx_ego": [
      0.2838836060290435,
      0.10487003618663875,
      0.0030202206892099683,
      -0.008008960003259655,
      -0.005176493130069612,
      -0.00289852501971238,
      -0.0018039007486632007,
      -0.0012830529712739961,
      -0.0009226108828635088,
      -0.0005739910221669568
    ],
    "vy_ego": [
      0.03135024799000516,
      0.007243579264763898,
      -0.0026876852379539525,
      -0.00026115619429570866,
      -8.76467781337504e-05,
      -2.435362040814626e-05,
      5.2909772828184224e-05,
      -9.10721015622253e-05,
      -5.845280533804323e-05,
      5.4038640096758434e-05
    ],
    "v_ego": [
      0.28560941829899095,
      0.10511990263671213,
      0.00404294261025896,
      0.008013216763050399,
      0.005177235080945728,
      0.0028986273283617605,
      0.0018046765236707618,
      0.00128628109477594,
      0.0009244606923120476,
      0.0005765291563761323
    ],
    "ax_ego": [
      -0.3580274410340786,
      -0.35802842130541607,
      -0.04937400462357117,
      0.00525756896998922,
      0.006072299520082888,
      0.003039620579416003,
      0.0013388683113813703,
      0.0007445117607335639,
      0.000697247265557677,
      0.0006972381485719899
    ],
    "ay_ego": [
      -0.04820903564535997,
      -0.04820168545272356,
      0.008466529040984258,
      0.0012346880183329854,
      -0.0005383007674666504,
      0.0007904803186657596,
      -0.00048138191558082325,
      -9.457874699053562e-05,
      0.00022505379327840614,
      0.00022509870409218312
    ],
    "a_ego": [
      0.3612585772701683,
      0.36125856798549677,
      0.05009465487025794,
      0.00540060052001706,
      0.006096112628376714,
      0.0031407248209620654,
      0.0014227778828297356,
      0.0007504951040832253,
      0.0007326683828285872,
      0.0007326735032796508
    ],
    "yaw": [
      1.078373941783816,
      1.0783944593445836,
      1.078230156863166,
      1.0783613957659655,
      1.0782734089300807,
      1.0783409442755647,
      1.078335120089684,
      1.078339948873124,
      1.0783398400908095,
      1.0782782839939686
    ],
    "yaw_diff": [
      4.103512153497135e-05,
      -0.00032860496283504403,
      0.0002624778055988486,
      -0.00017597367176946932,
      0.00013507069096796442,
      -1.1648371761374676e-05,
      9.657566879983648e-06,
      -2.17564628979261e-07,
      -0.00012311219368177362,
      -0.00012311219368177362
    ],
    "min_front_frame": [
      5,
      8.362962572304104
    ],
    "v_avg": 0.04154532901854548,
    "v_std": 0.08688190337464476,
    "vy_max": 0.03135024799000516,
    "a_max": 0.3612585772701683,
    "ax_avg": -0.07475825124073329,
    "a_std": 0.1417936817436764,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0c4bafb20cea5e44",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.426672138255967,
      8.370027706272962,
      8.375815355734838,
      8.386918548250435,
      8.376504725448878,
      8.362962572304104,
      8.371087222187425,
      8.391248862499683,
      8.36595148642289,
      8.382842186020644
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0c4bafb20cea5e44",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b4507882ebac5f7a": {
    "vx_ego": [
      1.9432859241791918,
      1.9588682544945744,
      1.9641752920458013,
      1.9303536342040495,
      1.8925615074040905,
      1.883766739997805,
      1.8748180203045064,
      1.8610166866519084,
      1.8600102104979175,
      1.8747851545885208
    ],
    "vy_ego": [
      0.0028076015521719677,
      -0.0009854945510359148,
      0.0025047666575235272,
      0.0007370714821404167,
      -0.0015921868435282427,
      -0.00043884488432166524,
      -0.005736712216321438,
      -0.007012585067366239,
      -0.010633350214688142,
      -0.010405760743037451
    ],
    "v_ego": [
      1.9432879523476316,
      1.9588685023926773,
      1.9641768891164608,
      1.9303537749229158,
      1.8925621771467873,
      1.8837667911147575,
      1.8748267971003512,
      1.8610298988318739,
      1.8600406047431586,
      1.8748140323035096
    ],
    "ax_ego": [
      0.030112625672714402,
      0.03212164636601711,
      -0.0100970635813145,
      -0.12643334202192064,
      -0.023272125001532765,
      -0.01283429369412993,
      -0.022270488769927446,
      -0.032127195278729676,
      0.028857819324957595,
      0.031307269460648046
    ],
    "ay_ego": [
      0.08519200994078288,
      0.08445501444954809,
      0.14790972740158198,
      0.0765776576691059,
      0.16258646749032069,
      0.10025356430603288,
      0.11876984819812687,
      0.1177545447403855,
      0.09625058932538899,
      0.09548195462563208
    ],
    "a_ego": [
      0.09035733939562114,
      0.09035734408965791,
      0.1482539650497598,
      0.14781585716329196,
      0.1642435728211855,
      0.10107173814024895,
      0.12083977619582703,
      0.12205854940762274,
      0.10048357916434197,
      0.10048357467871498
    ],
    "yaw": [
      2.427343637515408,
      2.4510272924463457,
      2.4787868203591,
      2.508292960577374,
      2.541009685757011,
      2.575220166132431,
      2.6071529024610207,
      2.639467980925776,
      2.6702941563872127,
      2.695843494083417
    ],
    "yaw_diff": [
      0.047367309861875206,
      0.05551905582550898,
      0.059012280436547826,
      0.06543345035927395,
      0.06842096075084036,
      0.06386547265717901,
      0.06463015692951046,
      0.06165235092287347,
      0.05109867539240831,
      0.05109867539240831
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.9043727420020122,
    "v_std": 0.03858814178199449,
    "vy_max": 0.010633350214688142,
    "a_max": 0.1642435728211855,
    "ax_avg": -0.010463514752321781,
    "a_std": 0.025282766381157607,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "b4507882ebac5f7a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.8875463577901885,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "b4507882ebac5f7a",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "1c295a44b8d856d0": {
    "vx_ego": [
      8.950200523110615,
      8.355397073415588,
      7.810432527338154,
      7.247482003747331,
      6.643927903703442,
      6.0818759656582175,
      5.536228280663231,
      5.00210940222472,
      4.48571273448238,
      3.9772121556844335
    ],
    "vy_ego": [
      -0.015941517878137468,
      -0.021061229641036405,
      -0.015492373721457398,
      0.00035198612413811503,
      -0.004278750038529289,
      -0.03317178793217179,
      -0.04412654319278353,
      -0.020406817371915853,
      -0.0034243357739462965,
      -0.007353394653429879
    ],
    "v_ego": [
      8.950214720099277,
      8.355423617617229,
      7.81044789226235,
      7.247482012294729,
      6.643929281480283,
      6.0819664278229695,
      5.5364041333188005,
      5.002151028309741,
      4.485714041529273,
      3.977218953456919
    ],
    "ax_ego": [
      -1.1903980521218238,
      -1.1893393407990391,
      -0.9912971770101457,
      -1.2605452394041345,
      -1.1536780084514673,
      -1.094562112254918,
      -1.0881032308280851,
      -1.048586760918106,
      -1.017012236860216,
      -1.0170037097984843
    ],
    "ay_ego": [
      -0.13609161393862818,
      -0.14505295102273313,
      -0.01296803473140945,
      -0.05494180290160722,
      -0.06696734632265755,
      -0.0590441647507563,
      0.005959358113898416,
      0.05998165660520327,
      -0.012964847563235238,
      -0.01361776660952363
    ],
    "a_ego": [
      1.1981520979741482,
      1.1981520880809315,
      0.9913819965447624,
      1.2617420109873911,
      1.1556199949196286,
      1.0961534705391678,
      1.088119549906005,
      1.0503009065509892,
      1.0170948712857408,
      1.0170948772417012
    ],
    "yaw": [
      -2.0146277561998094,
      -2.022159090460875,
      -2.0277526736417575,
      -2.0320926772161556,
      -2.0358210716402803,
      -2.0362317136899204,
      -2.0366305342265933,
      -2.038004804181603,
      -2.03910782516955,
      -2.0397498242882817
    ],
    "yaw_diff": [
      -0.01506266852213134,
      -0.011187166361764866,
      -0.008680007148796243,
      -0.007456788848249296,
      -0.0008212840992802839,
      -0.0007976410733459005,
      -0.002748539910019332,
      -0.002206041975894024,
      -0.0012839982374632797,
      -0.0012839982374632797
    ],
    "min_front_frame": [
      1,
      15.098723469635148
    ],
    "v_avg": 6.4090952108191575,
    "v_std": 1.594641764741673,
    "vy_max": 0.04412654319278353,
    "a_max": 1.2617420109873911,
    "ax_avg": -1.105052586844642,
    "a_std": 0.0872623863709871,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1c295a44b8d856d0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.208415965123824,
    "right_rear_min": 3.2606310932959257,
    "speed_mode": "decelerating",
    "front_frame": [
      15.839494373631293,
      15.098723469635148,
      33.28883258812473,
      30.895334508454848,
      28.671276860193576,
      26.45759500247904,
      24.34733117538221,
      22.446822951912555,
      20.62474353134468,
      18.99135791076318
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1c295a44b8d856d0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "839206ee819e582f": {
    "vx_ego": [
      4.767075211806211,
      4.892796151501053,
      5.011708998527845,
      5.121100022207376,
      5.261380304329089,
      5.41312029893375,
      5.550085610687602,
      5.6832880794768785,
      5.807579113230389,
      5.915312551103632
    ],
    "vy_ego": [
      0.047499320726353655,
      0.014730543550497632,
      0.007023555011699045,
      0.003058464492392332,
      -0.01779762159828202,
      -0.0222796354398751,
      -0.026812595973589204,
      0.011297414712312825,
      0.04390608050327538,
      0.05004024779942906
    ],
    "v_ego": [
      4.767311848462055,
      4.8928183257767515,
      5.0117139200327445,
      5.121100935507661,
      5.26141040616645,
      5.413166148649415,
      5.5501503764550755,
      5.683299308139874,
      5.807745078800811,
      5.915524203622532
    ],
    "ax_ego": [
      0.2100785570383238,
      0.280745367481771,
      0.1808179868507377,
      0.2534743580729921,
      0.3077535705070732,
      0.2989260706538597,
      0.24890871668436942,
      0.2836316983889096,
      0.21298098985284045,
      0.21535514678163015
    ],
    "ay_ego": [
      0.8042711950276016,
      0.7824111417368353,
      0.41318382125673125,
      0.2619457049193255,
      0.21095147427938604,
      -0.002165277513579783,
      -0.022567834726522185,
      0.11414172589458815,
      0.17454083445705318,
      0.17160292940905442
    ],
    "a_ego": [
      0.8312551685724611,
      0.8312551690524473,
      0.4510166454988862,
      0.3645062448384085,
      0.3731122949736427,
      0.2989339126684477,
      0.24992970292804995,
      0.30573726289278624,
      0.27536413152707484,
      0.2753641309740729
    ],
    "yaw": [
      0.8379788195954856,
      0.9269949254164408,
      0.9887319191587489,
      1.022886490023951,
      1.0497113025974374,
      1.0603284390893555,
      1.0600277172586412,
      1.0573164575615999,
      1.0641916742282893,
      1.0779092084097828
    ],
    "yaw_diff": [
      0.1780322116419104,
      0.12347398748461624,
      0.06830914173040403,
      0.05364962514697291,
      0.021234272983836178,
      -0.0006014436614285579,
      -0.00542251939408267,
      0.013750433333378886,
      0.027435068362986925,
      0.027435068362986925
    ],
    "min_front_frame": [
      6,
      24.264481104898387
    ],
    "v_avg": 5.342424055161337,
    "v_std": 0.3751178124180529,
    "vy_max": 0.05004024779942906,
    "a_max": 0.8312551690524473,
    "ax_avg": 0.2492672462312507,
    "a_std": 0.21039455330946327,
    "ini_direction_judge": "left",
    "scenario_type": "lane_change",
    "scene_token": "839206ee819e582f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      32.21532531320147,
      29.65636398646063,
      27.012917890463356,
      24.264481104898387,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 13,
    "token": "839206ee819e582f",
    "smoothness": "No"
  },
  "3ce72ef7e80855e2": {
    "vx_ego": [
      3.651961270907627,
      3.61841620706983,
      3.6321927687476165,
      3.656532372672303,
      3.6778153694096516,
      3.769901378117071,
      3.934383770440156,
      4.136344887765379,
      4.331013073745017,
      4.497216779290497
    ],
    "vy_ego": [
      0.03993554813212432,
      -0.020622338031874077,
      -0.05283127628125117,
      -0.05265901140346174,
      -0.043392218059140175,
      -0.02877995078872675,
      -0.015484933521749289,
      -0.01827947549413733,
      -0.011697225165057445,
      0.03391250254601619
    ],
    "v_ego": [
      3.6521796193798934,
      3.6184749727490884,
      3.632576971393171,
      3.6569115335050877,
      3.6780713391740982,
      3.7700112315875653,
      3.934414243095034,
      4.136385278206943,
      4.33102886968291,
      4.4973446407586914
    ],
    "ax_ego": [
      -0.1369592476702051,
      -0.002094904104667644,
      0.06579062075100292,
      0.03514587745028104,
      0.05066364666458521,
      0.3174736247071257,
      0.3413687148252804,
      0.47401944024047193,
      0.3005491169692426,
      0.36694273307657843
    ],
    "ay_ego": [
      0.9241616087587023,
      0.934252717780906,
      0.7756060320735088,
      0.4396262205040507,
      0.09532316051161113,
      -0.11091956069194488,
      -0.3433658888025159,
      -0.7109296855784484,
      -0.7360000099744479,
      -0.705250905505967
    ],
    "a_ego": [
      0.9342550586568218,
      0.9342550665124685,
      0.7783913686363788,
      0.4410288499139556,
      0.10795049802236355,
      0.3362925085825953,
      0.4841825410468714,
      0.8544679324366491,
      0.7950004945868769,
      0.7950005088518469
    ],
    "yaw": [
      -3.127988287189565,
      -2.983103113170942,
      -2.8561804240657986,
      -2.772999329529366,
      -2.7390428118335475,
      -2.7440587435716823,
      -2.7770152956589627,
      -2.8418826715822068,
      -2.9283817603560864,
      -3.0204499966925047
    ],
    "yaw_diff": [
      0.289770348037246,
      0.2538453782102863,
      0.16636218907286526,
      0.06791303539163707,
      -0.01003186347626972,
      -0.06591310417456064,
      -0.1297347518464882,
      -0.17299817754775937,
      -0.1841364726728365,
      -0.1841364726728365
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.890739869953248,
    "v_std": 0.3059802472938383,
    "vy_max": 0.05283127628125117,
    "a_max": 0.9342550665124685,
    "ax_avg": 0.18128996229096955,
    "a_std": 0.269292518602822,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3ce72ef7e80855e2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.25473451314507,
    "right_rear_min": 8.71651040731394,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3ce72ef7e80855e2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bcf2a79dad3f56f2": {
    "vx_ego": [
      5.0041354922157835,
      4.827985169622805,
      4.687898885715462,
      4.599773130408931,
      4.617051762239521,
      4.759876700710906,
      5.087357106816474,
      5.4045332961959645,
      5.61407598290743,
      5.882515561907261
    ],
    "vy_ego": [
      -0.04912385475915304,
      -0.037201873480774195,
      -0.00473776310669205,
      -0.010312988402419121,
      -0.01835546236551089,
      -0.02171749688095259,
      0.0002044858795668958,
      0.024399699472463343,
      0.00020259621373508452,
      -0.05588703251066107
    ],
    "v_ego": [
      5.004376602291249,
      4.828128496372919,
      4.687901279793713,
      4.599784691587397,
      4.617088248907283,
      4.759926244769064,
      5.08735711092612,
      5.404588374245088,
      5.614075986562994,
      5.882781034211961
    ],
    "ax_ego": [
      -0.3534935273211812,
      -0.3527828670007679,
      -0.20795758714162155,
      -0.1453332562517853,
      0.2131980082866893,
      0.3576966041895523,
      0.9520707964752286,
      0.3234915926524269,
      0.5196213667456704,
      0.5485162673738291
    ],
    "ay_ego": [
      -0.07078276186018385,
      -0.07424366474165907,
      -0.20539697329233847,
      -0.18655625418738356,
      -0.15259801026001613,
      -0.2764686286561877,
      -0.3541920953869181,
      -0.5481429086609884,
      -0.6471450916093202,
      -0.6228427142625429
    ],
    "a_ego": [
      0.3605105729857672,
      0.36051057266542597,
      0.2922914208241814,
      0.23648465351725206,
      0.26218227146915796,
      0.45208601314326263,
      1.0158202803328706,
      0.6364805251004404,
      0.8299416451610764,
      0.8299416499270594
    ],
    "yaw": [
      2.7006646284871594,
      2.690864285656869,
      2.6692664429564634,
      2.6493333400253727,
      2.632516714644109,
      2.610270162119684,
      2.5732409206629363,
      2.52633842234225,
      2.4762785974944084,
      2.430782233588315
    ],
    "yaw_diff": [
      -0.019600685660580375,
      -0.043195685400811534,
      -0.03986620586218148,
      -0.03363325076252721,
      -0.044493105048849735,
      -0.07405848291349582,
      -0.09380499664137254,
      -0.10011964969568332,
      -0.09099272781218648,
      -0.09099272781218648
    ],
    "min_front_frame": [
      9,
      19.669710285636953
    ],
    "v_avg": 5.048600806966779,
    "v_std": 0.42373199010547874,
    "vy_max": 0.05588703251066107,
    "a_max": 1.0158202803328706,
    "ax_avg": 0.18550273980080406,
    "a_std": 0.2655447056319199,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "bcf2a79dad3f56f2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      35.042159096523996,
      32.850175045324,
      31.443940928129816,
      29.536463584367855,
      28.27683748886055,
      26.916147012948475,
      25.423579090636135,
      23.93770105338757,
      22.63356334403385,
      19.669710285636953
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bcf2a79dad3f56f2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "12ace39c31df5dd8": {
    "vx_ego": [
      8.717359576009837,
      8.683426541083405,
      8.648461469907023,
      8.581829598993272,
      8.53460190180283,
      8.526782977744471,
      8.540965056173517,
      8.569560579406032,
      8.566279530533809,
      8.548011022489163
    ],
    "vy_ego": [
      0.11726832975829238,
      0.08337066651268854,
      0.057856772694812264,
      0.0860943331599704,
      0.1286088563351715,
      0.12274946659867325,
      0.07046455095370607,
      0.03581493278782766,
      0.03714739186442184,
      0.06559636433588523
    ],
    "v_ego": [
      8.718148303316175,
      8.683826757969467,
      8.64865499384806,
      8.582261444418906,
      8.53557085731144,
      8.527666467510507,
      8.54125572405593,
      8.569635420105131,
      8.566360074381933,
      8.548262707919681
    ],
    "ax_ego": [
      -0.08295330550050414,
      -0.06605180796594237,
      -0.08311028421353239,
      -0.19006189437548737,
      -0.011812263910536858,
      -0.03445494611854988,
      0.07964382988336965,
      0.031070027477677287,
      -0.04741538764617975,
      -0.03156431055092515
    ],
    "ay_ego": [
      0.508168296846235,
      0.510640213386714,
      0.491260129190499,
      0.5965797482216956,
      0.5016108694407989,
      0.39662259064381566,
      0.31898477252767365,
      0.474578849859474,
      0.5494414939986179,
      0.5505795754563358
    ],
    "a_ego": [
      0.514894424919384,
      0.514894424968069,
      0.49824073887461257,
      0.6261237255382203,
      0.5017499316590351,
      0.3981163431976185,
      0.3287771657871374,
      0.4755948184551686,
      0.5514836120077102,
      0.5514836122771322
    ],
    "yaw": [
      -1.3151740455919734,
      -1.2819981409184809,
      -1.2501611268360264,
      -1.2219168436203622,
      -1.1947354208789667,
      -1.1677355799845768,
      -1.1406014122578116,
      -1.113382976214445,
      -1.083695179998557,
      -1.054877586929909
    ],
    "yaw_diff": [
      0.06635180934698504,
      0.06367402816490886,
      0.05648856643132838,
      0.05436284548279113,
      0.053999681788779785,
      0.05426833545353027,
      0.05443687208673342,
      0.059375592431775814,
      0.057635186137296124,
      0.057635186137296124
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.592164275083721,
    "v_std": 0.06373262105449208,
    "vy_max": 0.1286088563351715,
    "a_max": 0.6261237255382203,
    "ax_avg": -0.043671034292061095,
    "a_std": 0.0786142486737202,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "12ace39c31df5dd8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "12ace39c31df5dd8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "aff2f948de815a32": {
    "vx_ego": [
      3.5409549488773715,
      3.3337294235847867,
      3.1581144025914463,
      3.0271876957315187,
      2.8853924027509965,
      2.6615036069286053,
      2.3910990660597093,
      2.053600839627358,
      1.5947767116762195,
      1.0931899106467398
    ],
    "vy_ego": [
      -0.0327132956240932,
      -0.007103849464479728,
      0.009576444776989934,
      0.011023227111988665,
      -0.0018990418108693063,
      -0.0012987072726557969,
      -0.002425625718271096,
      -0.004893398765931756,
      -0.0019493406512064992,
      0.002922253151236065
    ],
    "v_ego": [
      3.541106057390789,
      3.333736992378398,
      3.1581289220280566,
      3.0272077657016316,
      2.885393027684958,
      2.6615039237871803,
      2.3911002963848547,
      2.0536066697081194,
      1.5947779030428626,
      1.0931938164402992
    ],
    "ax_ego": [
      -0.41443700924234755,
      -0.4143405879496534,
      -0.28803287761557494,
      -0.2353450462560556,
      -0.3318316593771042,
      -0.5637090538734165,
      -0.5178969208914196,
      -0.8321633200750015,
      -1.0031674654197626,
      -1.0031759128476117
    ],
    "ay_ego": [
      0.06160048797269935,
      0.062245699900585816,
      -0.01985567121485461,
      -0.04788806295945505,
      0.0033779030628256074,
      0.013302827430445308,
      -0.027351159185356938,
      -0.007138518542798983,
      0.006606524580681783,
      0.0051673525961069555
    ],
    "a_ego": [
      0.418990041347305,
      0.4189900356554774,
      0.2887164461316694,
      0.24016776921825642,
      0.33184885172931416,
      0.5638659970564873,
      0.5186186523618256,
      0.832193937568182,
      1.0031892193618042,
      1.003189221259126
    ],
    "yaw": [
      -0.32301838858078324,
      -0.3214613350776463,
      -0.3233444713049858,
      -0.32930113672655814,
      -0.32869651399826405,
      -0.32742267391538316,
      -0.32836895047890663,
      -0.3310902754962283,
      -0.3327575443919588,
      -0.33419217621670116
    ],
    "yaw_diff": [
      0.003114107006273903,
      -0.003766272454678976,
      -0.01191333084314472,
      0.0012092454565881816,
      0.00254768016576179,
      -0.0018925531270469476,
      -0.005442650034643393,
      -0.0033345377914609786,
      -0.002869263649484699,
      -0.002869263649484699
    ],
    "min_front_frame": [
      9,
      11.249691821666532
    ],
    "v_avg": 2.573975537454715,
    "v_std": 0.7496429307936822,
    "vy_max": 0.0327132956240932,
    "a_max": 1.003189221259126,
    "ax_avg": -0.5604099853547947,
    "a_std": 0.2713520173006947,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aff2f948de815a32",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.565076526543989,
    "speed_mode": "decelerating",
    "front_frame": [
      22.775274509292846,
      21.207157251124993,
      19.590759350438894,
      18.070390174808974,
      16.613525340543415,
      15.188499218942928,
      13.93280298022081,
      12.829291663977106,
      11.911985902537868,
      11.249691821666532
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aff2f948de815a32",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "65871def84015af2": {
    "vx_ego": [
      2.731120366510813,
      2.563694710939797,
      2.318500889494238,
      1.9735650831807625,
      1.593276351645688,
      1.1443627355304864,
      0.6792070891644175,
      0.3134301503604888,
      0.06852440547526248,
      -0.11606857148748859
    ],
    "vy_ego": [
      0.028140353978803434,
      0.01221242749268514,
      0.01452624800256852,
      0.022669913406901054,
      0.03358368104676279,
      0.045675766438109555,
      0.03421934360681039,
      0.02021924387294982,
      0.014310639282749022,
      0.011291987048221569
    ],
    "v_ego": [
      2.731265336047051,
      2.563723798361663,
      2.3185463951507645,
      1.9736952810715656,
      1.5936302571004495,
      1.145273917502065,
      0.6800685505506647,
      0.3140816406251605,
      0.07000277524797957,
      0.11661656082496796
    ],
    "ax_ego": [
      -0.3348253670688125,
      -0.3347787171570412,
      -0.6459473595794267,
      -0.7335756973107819,
      -0.7875028121785785,
      -1.0079065818253712,
      -0.8526522066019341,
      -0.6104733909711273,
      -0.3691823730235717,
      -0.36918141894537476
    ],
    "ay_ego": [
      -0.03810088691573496,
      -0.0385086608551809,
      0.02518986952950486,
      -0.012941627434530811,
      0.049849652657843246,
      -0.008769223011923677,
      -0.03836093889812059,
      -0.017301307743756322,
      -0.006000546024322817,
      -0.006059008022469697
    ],
    "a_ego": [
      0.3369862074574131,
      0.33698621102676224,
      0.6464383349357823,
      0.7336898455107949,
      0.7890789992512012,
      1.0079447291191796,
      0.8535147023082219,
      0.6107185082617286,
      0.36923113506840893,
      0.3692311358387002
    ],
    "yaw": [
      2.4283047532757216,
      2.4270867805762633,
      2.4248111625737225,
      2.4224552807220783,
      2.4215130390477375,
      2.4202082411360144,
      2.4198427908664897,
      2.4200241818528663,
      2.420541167971118,
      2.4203828141226422
    ],
    "yaw_diff": [
      -0.0024359453989166724,
      -0.004551236005081449,
      -0.0047117637032885185,
      -0.0018844833486815205,
      -0.00260959582344622,
      -0.0007309005390494505,
      0.00036278197275319,
      0.0010339722365033666,
      -0.00031670769695146817,
      -0.00031670769695146817
    ],
    "min_front_frame": [
      8,
      9.838330803921094
    ],
    "v_avg": 1.3506904512482332,
    "v_std": 0.9742137143317624,
    "vy_max": 0.045675766438109555,
    "a_max": 1.0079447291191796,
    "ax_avg": -0.604602592466202,
    "a_std": 0.23046805487706115,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "65871def84015af2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.271464474301329,
    "speed_mode": "decelerating",
    "front_frame": [
      15.022973109492078,
      13.72860311897745,
      12.62555969927861,
      11.751962870322927,
      11.081525833879002,
      10.516103201244643,
      10.154816980291518,
      9.92279992521022,
      9.838330803921094,
      9.922931444154889
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "65871def84015af2",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "981ab4a5d11b5090": {
    "vx_ego": [
      8.058900740000977,
      8.12700896467333,
      8.192988952925917,
      8.25262841141398,
      8.3249854430115,
      8.39365696709481,
      8.431714985613457,
      8.459494807116668,
      8.465428987898676,
      8.449283045401316
    ],
    "vy_ego": [
      0.00035070293315841994,
      0.006194265735505855,
      -1.6580380576503018e-05,
      -0.023382853624477118,
      -0.040861687676764014,
      -0.03907374789937634,
      -0.049778689400736376,
      -0.054941585040023444,
      -0.03361171778548089,
      -0.014698744386186124
    ],
    "v_ego": [
      8.058900747631828,
      8.127011325254117,
      8.192988952942695,
      8.252661537632623,
      8.325085723514993,
      8.393747913717336,
      8.431861924660353,
      8.459673218830654,
      8.465495714766366,
      8.449295830682736
    ],
    "ax_ego": [
      0.13295972098599432,
      0.13971591456131702,
      0.12504430825131566,
      0.11277130528962218,
      0.17342150959993988,
      0.09793091254162375,
      0.050948445554387656,
      0.05637840307259338,
      -0.036438617092211426,
      -0.03011728229068099
    ],
    "ay_ego": [
      -0.3262973310305801,
      -0.32346205217179724,
      -0.3796422576358718,
      -0.4023103494384518,
      -0.3409863445146693,
      -0.3331086563315072,
      -0.3162286165318693,
      -0.3165340074250995,
      -0.30826913172984033,
      -0.30895077199485993
    ],
    "a_ego": [
      0.35234675483442934,
      0.35234675530916376,
      0.3997052949473045,
      0.41781692708890383,
      0.3825528814914335,
      0.34720576111899026,
      0.32030654382648577,
      0.3215156328852592,
      0.31041525476861226,
      0.3104152544718067
    ],
    "yaw": [
      -0.9185126885650698,
      -0.9393079245462448,
      -0.9600825635656816,
      -0.9810101440660731,
      -1.0013379975902446,
      -1.0216881883405573,
      -1.039699023851243,
      -1.0578192027784128,
      -1.0787683198041815,
      -1.0992508533299978
    ],
    "yaw_diff": [
      -0.041590471962349884,
      -0.04154927803887354,
      -0.041855161000783125,
      -0.04065570704834287,
      -0.04070038150062549,
      -0.036021671021371215,
      -0.036240357854339766,
      -0.041898234051537475,
      -0.04096506705163261,
      -0.04096506705163261
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.31567228896337,
    "v_std": 0.1418693639880365,
    "vy_max": 0.054941585040023444,
    "a_max": 0.41781692708890383,
    "ax_avg": 0.08226146204739014,
    "a_std": 0.03599143492701976,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "981ab4a5d11b5090",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "981ab4a5d11b5090",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "df78364de73e581b": {
    "vx_ego": [
      6.862974198245244,
      7.195686033169581,
      7.429985219934382,
      7.478920156351871,
      7.536591162091584,
      7.5567483242847295,
      7.490296587381412,
      7.423881955747003,
      7.341726784827856,
      7.287027964240856
    ],
    "vy_ego": [
      -0.07772756022651928,
      -0.04961698454622887,
      -0.041099340594451306,
      -0.05022250679366236,
      -0.02114032246282882,
      -0.0460334172861705,
      -0.06343370866765419,
      -0.042048499543839046,
      -0.019371546344812085,
      -0.03818070244110405
    ],
    "v_ego": [
      6.863414341229787,
      7.195857095100433,
      7.430098890609779,
      7.479088781748411,
      7.5366208115939335,
      7.556888533787375,
      7.490565185774232,
      7.4240010351009404,
      7.341752341223895,
      7.287127988286409
    ],
    "ax_ego": [
      0.6642312918056369,
      0.6719372823050197,
      0.26829342351433716,
      -0.06912576409764992,
      0.2999220671309599,
      -0.21848363004608648,
      -0.045463039436392225,
      -0.2192764758259441,
      -0.10937077749849514,
      -0.10938254653811791
    ],
    "ay_ego": [
      0.36561215784774836,
      0.35124884110685706,
      0.285114229382205,
      0.2683161478593885,
      0.02149658110902522,
      0.04670448158146419,
      0.10755608266505894,
      0.10812577099949928,
      -0.03230527253342631,
      -0.03226539771381733
    ],
    "a_ego": [
      0.7582054200412128,
      0.7582054205361274,
      0.3914990228560629,
      0.2770774737581263,
      0.3006914520758529,
      0.2234197958953246,
      0.11676985429916381,
      0.24448589980790714,
      0.1140420869858329,
      0.1140420859893151
    ],
    "yaw": [
      -2.1376464795019876,
      -2.116148049468623,
      -2.095699601441525,
      -2.0760272951227665,
      -2.070214770728888,
      -2.064704238403813,
      -2.0572441002633086,
      -2.052893785660551,
      -2.053398846845807,
      -2.053034292330924
    ],
    "yaw_diff": [
      0.042996860066729425,
      0.04089689605419622,
      0.03934461263751654,
      0.011625048787757386,
      0.011021064650149626,
      0.014920276281008782,
      0.008700629205515398,
      -0.0010101223705119011,
      0.0007291090297654179,
      0.0007291090297654179
    ],
    "min_front_frame": [
      0,
      25.429095203094345
    ],
    "v_avg": 7.360541500445519,
    "v_std": 0.19732713525973067,
    "vy_max": 0.07772756022651928,
    "a_max": 0.7582054205361274,
    "ax_avg": 0.11332818313132678,
    "a_std": 0.23055935716726506,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "df78364de73e581b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      25.429095203094345,
      27.583103628772815,
      29.513751008134967,
      31.47709997064714,
      33.47849464183754,
      35.10311516716737,
      36.55625548786732,
      37.926657743377625,
      39.341720879941164,
      40.404374318169126
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "df78364de73e581b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c91c301500e95244": {
    "vx_ego": [
      4.255131970358828,
      4.036678044184267,
      3.7059194857556306,
      3.211618852963229,
      2.593953243989011,
      1.8229540147310506,
      0.9843487261218798,
      0.3007517154406791,
      -0.0306903695780031,
      -0.1526640462889524
    ],
    "vy_ego": [
      -0.0020661311832984586,
      -0.004528449412680435,
      -0.01194941256526623,
      -0.03486241405804716,
      -0.009512197127774347,
      0.027330566699734937,
      0.023249887055026508,
      -0.003379335835692568,
      -0.02571686834989008,
      -0.025196642823548308
    ],
    "v_ego": [
      4.2551324719763866,
      4.036680584249068,
      3.7059387506222943,
      3.2118080647234826,
      2.5939706848565796,
      1.8231588794452842,
      0.9846232639267869,
      0.30077070045335463,
      0.040040680595614206,
      0.15472938259714236
    ],
    "ax_ego": [
      -0.45306466642725274,
      -0.41899623216654175,
      -0.8983068773156687,
      -1.0779430943523791,
      -1.387076898718385,
      -1.706229251333986,
      -1.653244097328084,
      -1.0818131431095872,
      -0.2439220761308022,
      -0.24392160055858655
    ],
    "ay_ego": [
      0.5147205695738539,
      0.5428139794985528,
      0.6271485166043756,
      0.4623608621173344,
      0.44882515242819127,
      0.14529404885457783,
      0.001539576065605952,
      -0.09019894206681262,
      0.0008875060571799376,
      0.001009689104296739
    ],
    "a_ego": [
      0.685714850872628,
      0.6857148524779187,
      1.0955685773659705,
      1.1729189577630106,
      1.4578841999316687,
      1.7124043385661842,
      1.653244814189542,
      1.08556691445282,
      0.24392369071281778,
      0.24392369030323804
    ],
    "yaw": [
      2.9709662188770256,
      3.0353738651767674,
      3.111626736821047,
      -3.086785655394149,
      -3.017986949615313,
      -2.968321999745798,
      -2.939127038463107,
      -2.9313102137236084,
      -2.930990999431149,
      -2.9304900851556654
    ],
    "yaw_diff": [
      0.12881529259948366,
      0.15250574328855926,
      0.1695458299287802,
      0.1375974115576719,
      0.09932989973902995,
      0.058389922565382335,
      0.015633649478997036,
      0.0006384285849190263,
      0.0010018285509669766,
      0.0010018285509669766
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.1106853463445994,
    "v_std": 1.5823650617421943,
    "vy_max": 0.03486241405804716,
    "a_max": 1.7124043385661842,
    "ax_avg": -0.9164517937441273,
    "a_std": 0.5030884478579705,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "c91c301500e95244",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "c91c301500e95244",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "47af60921ec65144": {
    "vx_ego": [
      6.078906982506175,
      5.511396713774349,
      4.98878636225755,
      4.621037987157096,
      4.360910361729056,
      4.122073683489891,
      4.072244766890154,
      4.25812390305107,
      4.582619543127738,
      5.03818490973609
    ],
    "vy_ego": [
      0.03200907047881857,
      -0.03678750963895616,
      0.03011108351400882,
      0.03670434026998226,
      0.05110597041611209,
      0.07332466113137137,
      0.0719657547719379,
      0.04807030191052353,
      0.0722921005598452,
      0.10140532374854794
    ],
    "v_ego": [
      6.078991255344529,
      5.511519487171222,
      4.98887723296508,
      4.621183753903708,
      4.361209809588163,
      4.122725792245944,
      4.072880615893883,
      4.258395229151546,
      4.583189721674157,
      5.039205316751541
    ],
    "ax_ego": [
      -1.1821984476367462,
      -1.084458330919012,
      -0.9877166286325509,
      -0.44703975724116074,
      -0.5508660997727479,
      -0.3546279418394753,
      0.22559559074828195,
      0.5671910450777116,
      0.7807933681220666,
      1.0893643496762813
    ],
    "ay_ego": [
      -1.0854153948746832,
      -1.1830764444764275,
      -1.4717047664576264,
      -1.6418247919588111,
      -1.7372663845490006,
      -1.7145410871763462,
      -1.7816405780961984,
      -1.7714633701102702,
      -1.7727117558654202,
      -1.601696156476969
    ],
    "a_ego": [
      1.604904903421289,
      1.604904902159201,
      1.772427447906218,
      1.7015972473076082,
      1.8225114405025817,
      1.75083183565674,
      1.7958665095390645,
      1.8600505781453316,
      1.9370454958742869,
      1.9370454986960741
    ],
    "yaw": [
      -1.6455479101820034,
      -1.7316665360143402,
      -1.870920651336867,
      -2.036243175259456,
      -2.22642794222335,
      -2.4355694271256962,
      -2.651562156338494,
      -2.860473654046709,
      -3.066913876973824,
      3.0338897018903612
    ],
    "yaw_diff": [
      -0.17223725166467352,
      -0.2785082306450537,
      -0.3306450478451781,
      -0.38036953392778816,
      -0.41828296980469215,
      -0.4319854584255953,
      -0.4178229954164303,
      -0.41288044585422945,
      -0.36476345663080423,
      -0.36476345663080423
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.763817821468978,
    "v_std": 0.6143401631856181,
    "vy_max": 0.10140532374854794,
    "a_max": 1.9370454986960741,
    "ax_avg": -0.19439628524173516,
    "a_std": 0.1123160376324486,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "47af60921ec65144",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.847070881817626,
    "right_rear_min": 40.81381717165177,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "47af60921ec65144",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "af6aff5482395ecf": {
    "vx_ego": [
      5.008063426641355,
      5.389891850719822,
      5.767241055056754,
      6.156178040710133,
      6.56862226133,
      6.9446031136881325,
      7.280914302490521,
      7.622550258547664,
      7.996353157760892,
      8.399068982698967
    ],
    "vy_ego": [
      0.03509422111891691,
      0.012863354254973647,
      0.013543950317945974,
      -0.010641308992968224,
      -0.03853175937158548,
      -0.033897885011705764,
      -0.03632091070492205,
      -0.029280737591683703,
      -0.04511021489140754,
      -0.06134470636215461
    ],
    "v_ego": [
      5.008186387268219,
      5.38990720034572,
      5.767256958530837,
      6.1561872377615945,
      6.568735274656782,
      6.944685844100881,
      7.28100489553231,
      7.622606496840761,
      7.996480397970106,
      8.39929300293391
    ],
    "ax_ego": [
      0.7618169196895099,
      0.7673437764300293,
      0.7421571688381887,
      0.8141796361271334,
      0.8340338343170214,
      0.6684444360091306,
      0.6755132141058076,
      0.689597093588546,
      0.8028084414305128,
      0.8054823274332801
    ],
    "ay_ego": [
      -0.27100311492349005,
      -0.254933787748133,
      -0.16042617024616707,
      -0.24088767937802347,
      -0.12583878432179418,
      -0.14085225861480016,
      -0.20177611782505184,
      -0.30424130033441155,
      -0.2309895470790938,
      -0.22148540711858855
    ],
    "a_ego": [
      0.808583766485234,
      0.8085837664469333,
      0.7592982413767122,
      0.849067343595454,
      0.843473672633082,
      0.683123212011168,
      0.7050047547046103,
      0.753728678182636,
      0.8353786952585599,
      0.8353786957864204
    ],
    "yaw": [
      0.9869463470576985,
      0.9659299348994648,
      0.9472049487873659,
      0.9344137651390785,
      0.9243836629828359,
      0.9138623848869079,
      0.9021589849672709,
      0.8842339570922125,
      0.8690997122852441,
      0.8572809169312807
    ],
    "yaw_diff": [
      -0.042032824316467376,
      -0.03744997222419766,
      -0.025582367296574926,
      -0.02006020431248512,
      -0.021042556191856132,
      -0.023406799839273962,
      -0.03585005575011668,
      -0.03026848961393691,
      -0.023637590707926703,
      -0.023637590707926703
    ],
    "min_front_frame": [
      8,
      17.667739308338525
    ],
    "v_avg": 6.713434369594111,
    "v_std": 1.0759573728572196,
    "vy_max": 0.06134470636215461,
    "a_max": 0.849067343595454,
    "ax_avg": 0.7561376847969159,
    "a_std": 0.05659400711358123,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "af6aff5482395ecf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.082622569095214,
    "right_rear_min": 3.9167619688139568,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      27.79184838784958,
      30.15274920318379,
      32.54036168736049,
      35.11164639182818,
      17.667739308338525,
      20.186533079842754
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.3333333333333333,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "af6aff5482395ecf",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "a83a32870332554f": {
    "vx_ego": [
      6.656583188424046,
      6.163696154928391,
      5.635581678948821,
      5.069817816440195,
      4.466087307866338,
      3.8697262690280922,
      3.289550475504583,
      2.6796261274455473,
      2.091138502340259,
      1.5271327714207659
    ],
    "vy_ego": [
      0.02132721850615793,
      0.006205566721901867,
      0.007218305213662735,
      0.00017145771905324736,
      -0.006727311423951443,
      -0.0011316124531164373,
      -0.00562439548760163,
      -0.011073727443652981,
      -0.010432877957226805,
      -0.003990418315515387
    ],
    "v_ego": [
      6.656617353781036,
      6.163699278788459,
      5.635586301711098,
      5.069817819339486,
      4.466092374571286,
      3.8697264344851074,
      3.2895552837301625,
      2.6796490087935614,
      2.091164527461274,
      1.5271379849200273
    ],
    "ax_ego": [
      -0.9857776352186652,
      -0.9857845078197344,
      -1.126672307627009,
      -1.1363936903973149,
      -1.2785144807258408,
      -1.1069292702881897,
      -1.2137776867635564,
      -1.2259156929751673,
      -1.12800583901351,
      -1.127992468832799
    ],
    "ay_ego": [
      -0.02709747134882673,
      -0.02684590513345958,
      0.0214589503295054,
      -0.04493077373702409,
      0.02296920233319566,
      -0.009864522560474986,
      -0.01260421291635605,
      -0.007859376455847666,
      0.015449920992353927,
      0.016397228554188015
    ],
    "a_ego": [
      0.986149998251181,
      0.9861499878212394,
      1.1268766460100297,
      1.1372815807896637,
      1.2787207911352225,
      1.1069732238071932,
      1.2138431278663362,
      1.2259408860467373,
      1.1281116402675944,
      1.1281116429005469
    ],
    "yaw": [
      -2.0339190562892906,
      -2.033663865748243,
      -2.0340626114521294,
      -2.033842419174231,
      -2.033548131991756,
      -2.0341075322390703,
      -2.0344204751569688,
      -2.0343088136418004,
      -2.033779226895036,
      -2.0329394166933854
    ],
    "yaw_diff": [
      0.0005103810820950017,
      -0.0007974914077726325,
      0.0004403845557972019,
      0.0005885743649498565,
      -0.0011188004946287577,
      -0.0006258858357970354,
      0.00022332303033678613,
      0.0010591734935285757,
      0.001679620403301385,
      0.001679620403301385
    ],
    "min_front_frame": [
      9,
      13.737680927252885
    ],
    "v_avg": 4.14490463675815,
    "v_std": 1.6610195862189574,
    "vy_max": 0.02132721850615793,
    "a_max": 1.2787207911352225,
    "ax_avg": -1.1315763579661786,
    "a_std": 0.08961306298193468,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a83a32870332554f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      31.628325665572795,
      28.876737776550797,
      26.162280017606353,
      23.51866157155599,
      21.14335258930536,
      19.102897606911228,
      17.32439057452252,
      15.831032918775165,
      14.66889261029482,
      13.737680927252885
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a83a32870332554f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3260b9e0a6ac5b8b": {
    "vx_ego": [
      4.427398066980829,
      4.493145658855463,
      4.5268186263462775,
      4.53047111041942,
      4.554931519623433,
      4.607843308300927,
      4.672498589762404,
      4.70982581027842,
      4.771694332185006,
      4.886477641168936
    ],
    "vy_ego": [
      -0.013332184447785056,
      -0.041523255314732666,
      -0.03360188233199224,
      -0.03870874531897672,
      -0.025607770668986785,
      -0.02678446208578833,
      -0.035384014376432696,
      -0.019008377310586383,
      -0.0017140962128098791,
      -0.09718655196839471
    ],
    "v_ego": [
      4.427418140479588,
      4.493337522646571,
      4.526943335445216,
      4.530636472871018,
      4.5550035023452695,
      4.6079211539763625,
      4.672632566316878,
      4.709864168059707,
      4.771694640055285,
      4.887444011293371
    ],
    "ax_ego": [
      0.13033462669332635,
      0.1316300066386871,
      0.0005407007401807933,
      0.012020172834143542,
      0.08240347372102988,
      0.12605314791415867,
      0.12617629018385315,
      0.016340842167016235,
      0.22783064277227813,
      0.2298101612538182
    ],
    "ay_ego": [
      -0.13992970062825238,
      -0.1387118493047341,
      -0.17456133262759896,
      -0.30060696531867204,
      -0.3913128575270043,
      -0.46348853271615575,
      -0.4387684189785626,
      -0.36084525530656364,
      -0.2643573757789896,
      -0.26263837193686956
    ],
    "a_ego": [
      0.1912261384675251,
      0.19122613781918013,
      0.17456217003123464,
      0.30084719070163174,
      0.39989509242705396,
      0.48032386580144415,
      0.45655030576871525,
      0.3612150625319858,
      0.348986566954637,
      0.34898656797813205
    ],
    "yaw": [
      1.7792816983107635,
      1.7699839413461025,
      1.7509317886076832,
      1.7258215683955749,
      1.6847852250245947,
      1.6383497657112007,
      1.5916002188601173,
      1.5456393340629249,
      1.5088206228825989,
      1.5013081930684944
    ],
    "yaw_diff": [
      -0.018595513929322127,
      -0.03810430547683863,
      -0.050220440424216584,
      -0.08207268674196033,
      -0.09287091862678798,
      -0.09349909370216691,
      -0.0919217695943848,
      -0.07363742236065196,
      -0.015024859628208986,
      -0.015024859628208986
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.618289551348926,
    "v_std": 0.13397799976255848,
    "vy_max": 0.09718655196839471,
    "a_max": 0.48032386580144415,
    "ax_avg": 0.10831400649184922,
    "a_std": 0.10416661425827135,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "3260b9e0a6ac5b8b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 26.5074455176892,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3260b9e0a6ac5b8b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6fb8d5597c8c5881": {
    "vx_ego": [
      7.275062024818377,
      6.582125635311285,
      5.857387426715857,
      5.085792739068058,
      4.229482479120302,
      3.2792388212270622,
      2.3466541173275064,
      1.5152715925953653,
      0.8383001573644832,
      0.2562899927801175
    ],
    "vy_ego": [
      -0.014708846167085787,
      0.007082039064379764,
      0.012638824055212272,
      -0.006529132999954668,
      -0.0016508368304522791,
      0.00546692332634216,
      0.0036840551243420006,
      -0.00812051696342321,
      -0.010483145032308502,
      0.01725101231419107
    ],
    "v_ego": [
      7.275076894102909,
      6.582129445270679,
      5.857401062461278,
      5.085796930111849,
      4.229482801294723,
      3.279243378264765,
      2.346657009158411,
      1.5152933518372764,
      0.8383657019267222,
      0.256869923940303
    ],
    "ax_ego": [
      -1.3861171059739086,
      -1.3855323813534386,
      -1.5137298712873888,
      -1.5726495734216792,
      -1.8525050440211537,
      -1.9485426788668934,
      -1.7818050769156553,
      -1.5438167936736051,
      -1.164059257680478,
      -1.1639958219714013
    ],
    "ay_ego": [
      0.11086360485937533,
      0.1179465493700868,
      -0.026644959183866515,
      -0.002862460878909859,
      0.05730000625230963,
      0.0027008306242284064,
      0.03482620001744541,
      -0.0650454449539511,
      0.05604189099814178,
      0.05734448167870203
    ],
    "a_ego": [
      1.3905435521248155,
      1.3905435513809845,
      1.5139643579284303,
      1.5726521784761158,
      1.853391008082302,
      1.9485445506458994,
      1.7821453914678396,
      1.5451864619967095,
      1.1654075033816598,
      1.1654075094772116
    ],
    "yaw": [
      -1.6415033695609615,
      -1.6363923828520996,
      -1.6336231063969087,
      -1.6314710357899052,
      -1.629610435743515,
      -1.6275175833759365,
      -1.6235189463580337,
      -1.621283659339058,
      -1.6211847143604112,
      -1.6200656764865915
    ],
    "yaw_diff": [
      0.010221973417723795,
      0.005538552910381966,
      0.004304141214007018,
      0.003721200092780208,
      0.004185704735157003,
      0.007997274035805635,
      0.004470574037951369,
      0.0001978899572936399,
      0.0022380757476394564,
      0.0022380757476394564
    ],
    "min_front_frame": [
      9,
      11.929935733042626
    ],
    "v_avg": 3.7266316498368908,
    "v_std": 2.340118140259045,
    "vy_max": 0.01725101231419107,
    "a_max": 1.9485445506458994,
    "ax_avg": -1.53127536051656,
    "a_std": 0.2550137114561701,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6fb8d5597c8c5881",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.944017106575224,
    "right_rear_min": 6.568439551618139,
    "speed_mode": "decelerating",
    "front_frame": [
      20.907646841173737,
      17.506951673872898,
      21.94571380325604,
      19.2466969256472,
      16.92829435022066,
      15.057217488961035,
      13.715689005677975,
      12.78157884530023,
      12.197224318728916,
      11.929935733042626
    ],
    "safe_frame": [
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.4,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6fb8d5597c8c5881",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5a918026bb9253a5": {
    "vx_ego": [
      3.1852152443559643,
      3.168281630757285,
      3.1628812988386454,
      3.145712098120565,
      3.1243967590552755,
      3.095981456470365,
      3.105569918985199,
      3.1829262979090664,
      3.2918520497001915,
      3.4267383153895734
    ],
    "vy_ego": [
      -0.01458057148071723,
      -0.029149615670319817,
      -0.028154371855286575,
      -0.007720077485687038,
      0.013338153436596473,
      0.038069371641718086,
      0.04236039559718807,
      0.04082430630623757,
      0.03780618025510685,
      0.01019506964647765
    ],
    "v_ego": [
      3.1852486160333435,
      3.168415722705556,
      3.1630066043557044,
      3.1457215712549123,
      3.124425229435361,
      3.0962155053977685,
      3.1058588063240875,
      3.1831880940193438,
      3.2920691402795343,
      3.42675348130035
    ],
    "ax_ego": [
      -0.06360972205787943,
      -0.011693859284509223,
      -0.01926203434082044,
      -0.05359290877336965,
      -0.03271455890240616,
      -0.06922112107081199,
      0.12749849108572947,
      0.2017471332150626,
      0.24646521727988616,
      0.30029434366853125
    ],
    "ay_ego": [
      -0.5868295949761891,
      -0.590151187506048,
      -0.6249875642456313,
      -0.6930622907197467,
      -0.6522519229779755,
      -0.6544798120066694,
      -0.692251354712374,
      -0.7144345722641351,
      -0.6407183605128058,
      -0.6173236003782255
    ],
    "a_ego": [
      0.5902670330284412,
      0.5902670331805466,
      0.6252843204724023,
      0.6951313103928591,
      0.6530718286625492,
      0.6581302211011019,
      0.7038947388141602,
      0.7423736685839106,
      0.6864875241597908,
      0.686487523865692
    ],
    "yaw": [
      -2.7015440625341443,
      -2.7897056241845752,
      -2.8858819451416546,
      -2.9965609719578095,
      -3.1105294236127916,
      3.0599528324734147,
      2.9492230581875014,
      2.8376518349437854,
      2.733849426922328,
      2.6483255510301014
    ],
    "yaw_diff": [
      -0.17632312330086197,
      -0.1923526419141588,
      -0.22135805363230965,
      -0.2279369033099643,
      -0.22540610218675994,
      -0.22145954857182648,
      -0.2231424464874321,
      -0.20760481604291492,
      -0.17104775178445308,
      -0.17104775178445308
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.1890902771105956,
    "v_std": 0.09479527845997736,
    "vy_max": 0.04236039559718807,
    "a_max": 0.7423736685839106,
    "ax_avg": 0.06259109808194126,
    "a_std": 0.04715192223650722,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "5a918026bb9253a5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5a918026bb9253a5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c022ad6a9b6f5367": {
    "vx_ego": [
      2.631224357004795,
      2.154471136459244,
      1.778025727185216,
      1.527018438417584,
      1.2694815920539269,
      0.93557617753849,
      0.5489585706404355,
      0.20300088754657208,
      0.013878989702787881,
      -0.06704251931796973
    ],
    "vy_ego": [
      -0.0010076155908627094,
      0.011090935318954998,
      0.007327527801870515,
      0.00029376902846067754,
      -0.005418502715602291,
      -0.00251423030959802,
      0.004465136255008578,
      0.007056769512582425,
      0.009988606737271819,
      0.00628948393398682
    ],
    "v_ego": [
      2.6312245499357285,
      2.1544996836115424,
      1.7780408260768938,
      1.5270184666753441,
      1.269493155844273,
      0.9355795558537936,
      0.5489767296720015,
      0.20312350514071414,
      0.017099667240094586,
      0.0673368918547346
    ],
    "ax_ego": [
      -0.9534613538691218,
      -0.9534916242874285,
      -0.5522557381448914,
      -0.45177274506112364,
      -0.5783711256546,
      -0.7572973307909495,
      -0.7891602530236154,
      -0.5946711627646736,
      -0.16184263892992135,
      -0.1618424101853792
    ],
    "ay_ego": [
      0.012186812092983834,
      0.009529203320896684,
      -0.02925629223422288,
      -0.0018279065010466666,
      -0.028024131010246173,
      0.03520687579184384,
      -0.00877156659104017,
      0.01924162115731226,
      -0.007394204195659865,
      -0.007399079111008816
    ],
    "a_ego": [
      0.9535392344895559,
      0.9535392405675865,
      0.5530301356610262,
      0.4517764429695727,
      0.5790496618683484,
      0.7581152757504094,
      0.7892089997793725,
      0.5949823794102229,
      0.1620114626546159,
      0.1620114567131087
    ],
    "yaw": [
      1.014464262344485,
      1.0116769847128548,
      1.011067221644463,
      1.0106176446533377,
      1.0093795658480755,
      1.0083940640107953,
      1.0078975310422653,
      1.0079711309861938,
      1.0085236047072406,
      1.0084934632292788
    ],
    "yaw_diff": [
      -0.00557455526326045,
      -0.0012195261367837773,
      -0.000899153982250489,
      -0.002476157610524332,
      -0.0019710036745603787,
      -0.0009930659370600559,
      0.0001471998878570524,
      0.0011049474420934402,
      -6.028295592352961e-05,
      -6.028295592352961e-05
    ],
    "min_front_frame": [
      7,
      12.243777290703704
    ],
    "v_avg": 1.1132393031905121,
    "v_std": 0.8660133876391805,
    "vy_max": 0.011090935318954998,
    "a_max": 0.9535392405675865,
    "ax_avg": -0.5954166382711704,
    "a_std": 0.2681242704365143,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c022ad6a9b6f5367",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.972356816203053,
      15.188325286534699,
      14.599947045784635,
      13.91200615233088,
      13.161348297297513,
      12.73380362564627,
      12.372450037164674,
      12.243777290703704,
      12.288828682645146,
      12.39236945802516
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c022ad6a9b6f5367",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "205143f7ff4d5b4b": {
    "vx_ego": [
      2.642086498209912,
      2.794576354945656,
      2.9823262663473815,
      3.1210960854200716,
      3.1395064721944355,
      3.151805249702091,
      3.1908590000365518,
      3.217525011490706,
      3.263729530984645,
      3.3385882633697865
    ],
    "vy_ego": [
      -0.012679440448583268,
      -0.0003896401608878275,
      0.00729026928983334,
      0.013325385853658611,
      0.03154528352383146,
      0.05735818716884156,
      0.05500750692825984,
      0.018574524509660906,
      -0.009369814222002004,
      -0.03496291531143925
    ],
    "v_ego": [
      2.6421169225136887,
      2.7945763821088887,
      2.982335176832381,
      3.121124531372089,
      3.13966494930006,
      3.1523271235208057,
      3.1913331045086353,
      3.2175786256949537,
      3.2637429808181593,
      3.3387713305582283
    ],
    "ax_ego": [
      0.3049793286780381,
      0.3049940675716622,
      0.445996077755596,
      0.1090546305207068,
      -0.03547138926456154,
      0.08461956597684066,
      0.07161850758773314,
      0.03494736801076058,
      0.1498709654798968,
      0.14978441749611765
    ],
    "ay_ego": [
      0.027575689308219797,
      0.027412199369130252,
      0.007943385766831235,
      0.0274242625753569,
      0.05513124386887916,
      0.051391459098815616,
      -0.061834947254042,
      -0.07572056861994328,
      -0.03454910100500001,
      -0.034922412933877156
    ],
    "a_ego": [
      0.30622346344088375,
      0.30622346403918915,
      0.4460668097390977,
      0.11245000051493995,
      0.06555664349925092,
      0.09900279296269437,
      0.0946190854479388,
      0.08339618122556375,
      0.15380164717625788,
      0.1538016470970825
    ],
    "yaw": [
      -2.2418363375167196,
      -2.2413002832672317,
      -2.240896571233355,
      -2.2399893473088173,
      -2.2392210191511928,
      -2.2389598038342378,
      -2.239041806688487,
      -2.23840477133975,
      -2.238287942150242,
      -2.2357963349809196
    ],
    "yaw_diff": [
      0.0010721084989757657,
      0.0008074240677533595,
      0.0018144478490755844,
      0.0015366563152490187,
      0.0005224306339099982,
      -0.0001640057084983937,
      0.0012740706974740945,
      0.0002336583790158997,
      0.0049832143386447925,
      0.0049832143386447925
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.084357112722789,
    "v_std": 0.20617618037719904,
    "vy_max": 0.05735818716884156,
    "a_max": 0.4460668097390977,
    "ax_avg": 0.16203935398127906,
    "a_std": 0.1203442201054157,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "205143f7ff4d5b4b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "205143f7ff4d5b4b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fa1f681041595461": {
    "vx_ego": [
      2.4035982799991418,
      3.3990165826082746,
      4.322441069708795,
      5.1194980711902085,
      5.813408912779097,
      6.399321125186796,
      6.830309601602498,
      7.0736873963131615,
      7.11633365606846,
      7.0565506310289345
    ],
    "vy_ego": [
      0.025519537482389776,
      0.03707395042395789,
      0.02635901900284421,
      0.006149578050626214,
      -0.006452625912928056,
      0.014731843785920518,
      0.011821869004815078,
      0.011377186944967477,
      -0.015357370701850837,
      0.04928344061152745
    ],
    "v_ego": [
      2.4037337494839455,
      3.3992187641642118,
      4.322521439968587,
      5.119501764647656,
      5.813412493842202,
      6.399338082214701,
      6.830319832213573,
      7.073696545734942,
      7.116350227000325,
      7.0567227284195715
    ],
    "ax_ego": [
      1.990965036639932,
      1.9909420766362609,
      1.7020784777915365,
      1.4857443661625862,
      1.290892172589843,
      1.0564666203528186,
      0.6718228067656015,
      0.30061152501217037,
      -0.13452887759311305,
      -0.10719537248127237
    ],
    "ay_ego": [
      0.010212589080849321,
      0.013989504288458687,
      0.03319514302425908,
      0.08647433029067453,
      0.21075534250249778,
      0.5240168381684095,
      0.8028803983437447,
      0.8594470044891088,
      0.6878564820187612,
      0.692642553980377
    ],
    "a_ego": [
      1.9909912290360248,
      1.9909912251818047,
      1.702402144641963,
      1.4882587582080897,
      1.3079833392085198,
      1.1792859562479847,
      1.0468824278470916,
      0.910503400595212,
      0.7008884067821989,
      0.700888404431018
    ],
    "yaw": [
      -0.5295567736801959,
      -0.5314538085759185,
      -0.5256770630291961,
      -0.5151197277524459,
      -0.4992918605732765,
      -0.4728075276671544,
      -0.422594529858319,
      -0.36316607571094894,
      -0.305336748116979,
      -0.26574246733382434
    ],
    "yaw_diff": [
      -0.0037940697914451427,
      0.011553491093444723,
      0.02111467055350058,
      0.03165573435833868,
      0.05296866581224424,
      0.10042599561767074,
      0.11885690829474016,
      0.11565865518793994,
      0.07918856156630927,
      0.07918856156630927
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.5534815627689715,
    "v_std": 1.6028742978400143,
    "vy_max": 0.04928344061152745,
    "a_max": 1.9909912290360248,
    "ax_avg": 1.0247798831876365,
    "a_std": 0.45831772131108334,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "fa1f681041595461",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "fa1f681041595461",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "fc39a399fd24554b": {
    "vx_ego": [
      2.102407531663268,
      2.786721462486427,
      3.4433920485360536,
      4.062696378602936,
      4.651427404788496,
      5.187886240235807,
      5.69644960415326,
      6.157795718435846,
      6.564079983294739,
      6.9660088919415255
    ],
    "vy_ego": [
      0.008041377733798316,
      -0.007875305742797156,
      -0.020184016456378906,
      -0.013399804711822894,
      0.00650111005287024,
      0.009047073445988207,
      -0.011658754120457804,
      -0.03352605129009767,
      -0.017331776840721513,
      -0.006027847525088781
    ],
    "v_ego": [
      2.102422910108785,
      2.7867325903148714,
      3.443451204016347,
      4.062718476522798,
      4.651431947954238,
      5.187894128754553,
      5.696461534953561,
      6.157886983868894,
      6.56410286464031,
      6.966011499958508
    ],
    "ax_ego": [
      1.3686100793639455,
      1.3686453405594021,
      1.2579647693151794,
      1.2189052657219361,
      1.1359083451056307,
      1.0100564698476115,
      1.0242680701082971,
      0.8212816178721822,
      0.803860909270661,
      0.80386931778508
    ],
    "ay_ego": [
      -0.03720885663593576,
      -0.03588883273749721,
      -0.028458198895253917,
      -0.015097309404900006,
      -0.003289487694529858,
      -0.038827919335007566,
      -0.10231431436934224,
      0.039255370075659546,
      0.0269737023507855,
      0.026721794861249593
    ],
    "a_ego": [
      1.369115790701699,
      1.3691158010008584,
      1.258286624709392,
      1.2189987594562723,
      1.135913108124871,
      1.010802492874303,
      1.0293654833771357,
      0.8222192407956203,
      0.8043133357541467,
      0.8043133309829301
    ],
    "yaw": [
      -2.0407306190565366,
      -2.0416951031531227,
      -2.0429025746442893,
      -2.0476054490578166,
      -2.053214586280628,
      -2.0558638830678655,
      -2.0585437863615943,
      -2.0575185761472126,
      -2.0574615297753347,
      -2.0571481621466057
    ],
    "yaw_diff": [
      -0.0019289681931722313,
      -0.0024149429823330237,
      -0.009405748827054694,
      -0.011218274445623067,
      -0.005298593574474708,
      -0.005359806587457605,
      0.0020504204287634664,
      0.00011409274375573375,
      0.0006267352574580443,
      0.0006267352574580443
    ],
    "min_front_frame": [
      4,
      17.509389523795903
    ],
    "v_avg": 4.761911414109287,
    "v_std": 1.559588679639849,
    "vy_max": 0.03352605129009767,
    "a_max": 1.3691158010008584,
    "ax_avg": 1.0813370184949926,
    "a_std": 0.21146345083538043,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fc39a399fd24554b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.494468315391407,
    "right_rear_min": 3.8179225316299648,
    "speed_mode": "accelerating",
    "front_frame": [
      20.264893271178696,
      22.239190590569113,
      24.111161051837527,
      25.874759780695815,
      17.509389523795903,
      18.457971286063973,
      19.263007178720205,
      20.14459865544361,
      21.134696976492773,
      22.04849711934049
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fc39a399fd24554b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a0b9c3ee286454cb": {
    "vx_ego": [
      1.4152921379190568,
      1.9261243050738215,
      2.4347106483527075,
      2.7303138905354234,
      2.780209503713744,
      2.8949850208132086,
      3.203360817049298,
      3.6217189560745373,
      4.056417210534071,
      4.4912680248951
    ],
    "vy_ego": [
      0.021428560757293998,
      0.000933897420059844,
      -0.0172379725442885,
      -0.0035622660953956095,
      0.01930305911950078,
      -0.0034463029236994486,
      -0.0385260113515541,
      -0.03707586293303731,
      0.002206831058844533,
      0.0552974082079066
    ],
    "v_ego": [
      1.4154543506844803,
      1.9261245314777815,
      2.4347716707936904,
      2.7303162143953976,
      2.7802765136999583,
      2.894987072119096,
      3.2035924799757862,
      3.6219087255757656,
      4.056417810830183,
      4.491608428480787
    ],
    "ax_ego": [
      1.0216577944731335,
      1.0217749067534274,
      1.0125025441794766,
      0.1698310383575321,
      0.02978506725972409,
      0.42933268335584435,
      0.8041440431744485,
      0.8693149709271311,
      0.8695876205394732,
      0.86970123772688
    ],
    "ay_ego": [
      -0.05020053387612747,
      -0.047757483817273516,
      -0.041524961859169415,
      0.08820979132317813,
      -0.0016317860168800857,
      -0.09164271872645846,
      -0.05173617338834067,
      0.05927872108243851,
      0.1150828509684122,
      0.11422102708981707
    ],
    "a_ego": [
      1.0228903864095877,
      1.0228903838298278,
      1.013353701541233,
      0.19137280077084143,
      0.029829732772372827,
      0.43900448846578605,
      0.8058065982664934,
      0.8713337394197519,
      0.8771697055772735,
      0.8771697019010174
    ],
    "yaw": [
      -1.5488266699338311,
      -1.5512177953032564,
      -1.5531195114093777,
      -1.5538652750194117,
      -1.5543055654198716,
      -1.5545097741173501,
      -1.5547645814758626,
      -1.5546366616653926,
      -1.553514582665663,
      -1.5525235763082932
    ],
    "yaw_diff": [
      -0.004782250738850635,
      -0.0038034322122424413,
      -0.0014915272200681784,
      -0.0008805808009197946,
      -0.0004084173949570058,
      -0.000509614717024931,
      0.00025583962094000157,
      0.0022441579994594285,
      0.0019820127147394118,
      0.0019820127147394118
    ],
    "min_front_frame": [
      0,
      13.307748970730449
    ],
    "v_avg": 2.9555457798032925,
    "v_std": 0.8868418601610467,
    "vy_max": 0.0552974082079066,
    "a_max": 1.0228903864095877,
    "ax_avg": 0.7097631906747071,
    "a_std": 0.3440507528726104,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a0b9c3ee286454cb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.448619905173798,
    "right_rear_min": 5.191558463976826,
    "speed_mode": "accelerating",
    "front_frame": [
      13.307748970730449,
      13.481550405420958,
      13.438589133799567,
      13.327634269764516,
      13.439889847542538,
      13.916928107534105,
      14.58312705190557,
      15.37724838327057,
      16.2944038064209,
      17.147560166837412
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a0b9c3ee286454cb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "561ac555b4a85edc": {
    "vx_ego": [
      4.904339011342363,
      4.394441699272234,
      3.871302498385817,
      3.392141133672881,
      2.963939120233747,
      2.5325764762950027,
      2.1048938867038087,
      1.7080403536508386,
      1.2702481253036455,
      0.7611255804884268
    ],
    "vy_ego": [
      -0.007987259013087056,
      0.014628105893828125,
      0.01846764392529132,
      -0.0053893144278902155,
      -0.011048181769658993,
      -0.001880340107669104,
      -0.0084162450994016,
      -0.016025054186761194,
      -0.0185441769145574,
      -0.02067682285660945
    ],
    "v_ego": [
      4.904345515405815,
      4.394466046038436,
      3.8713465471177364,
      3.3921454148467074,
      2.963959711394946,
      2.5325771743348184,
      2.104910712468498,
      1.708115526555909,
      1.2703834800306812,
      0.7614063831340583
    ],
    "ax_ego": [
      -1.0199774473803844,
      -1.0196561128762225,
      -1.0732328942778544,
      -0.8435039688940086,
      -0.8692056464333826,
      -0.8562583107018075,
      -0.8544727991364454,
      -0.7330070524883013,
      -1.0182248089469035,
      -1.0182264287903158
    ],
    "ay_ego": [
      0.07976804800395147,
      0.08377562199830446,
      -0.022274501080106653,
      -0.0267597901985488,
      0.02537309337406634,
      0.00021221238173479984,
      -0.027404121466400255,
      -0.01180443851662277,
      -0.0035121012113894026,
      -0.0030083002031216916
    ],
    "a_ego": [
      1.0230918505427387,
      1.0230918548043721,
      1.0734640183808621,
      0.8439283333976974,
      0.8695759021839575,
      0.8562583369988336,
      0.8549121301849784,
      0.7331020964137805,
      1.0182308659679675,
      1.018230872718556
    ],
    "yaw": [
      -1.5435451087640475,
      -1.5396154133693734,
      -1.5368287138038346,
      -1.5336096302632845,
      -1.5319397872396237,
      -1.5329488436344967,
      -1.5330618779109622,
      -1.5342215819580174,
      -1.5350807202837387,
      -1.534585937091515
    ],
    "yaw_diff": [
      0.007859390789348275,
      0.005573399131077572,
      0.006438167081100232,
      0.0033396860473215995,
      -0.0020181127897460627,
      -0.00022606855293094696,
      -0.0023194080941104644,
      -0.0017182766514425296,
      0.0009895663844474711,
      0.0009895663844474711
    ],
    "min_front_frame": [
      9,
      9.55757160990895
    ],
    "v_avg": 2.7903656511327606,
    "v_std": 1.2937322999086225,
    "vy_max": 0.02067682285660945,
    "a_max": 1.0734640183808621,
    "ax_avg": -0.9305765469925626,
    "a_std": 0.10694316682386433,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "561ac555b4a85edc",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.977218631013399,
    "right_rear_min": 2.8836374918019057,
    "speed_mode": "decelerating",
    "front_frame": [
      18.019954066182855,
      15.720814545990311,
      15.701556654625072,
      14.457457060616626,
      13.412494062358734,
      12.444641389543664,
      11.562249448690906,
      10.770152837767473,
      10.056709659283477,
      9.55757160990895
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "561ac555b4a85edc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "19c8d441cb445d87": {
    "vx_ego": [
      7.29709174141411,
      7.198588238316207,
      7.08402908098308,
      6.96977436921868,
      6.86705912925797,
      6.760375060577139,
      6.65608234334532,
      6.551677714170103,
      6.45065912675167,
      6.358324259893538
    ],
    "vy_ego": [
      -0.016436244938597522,
      -0.015294722458044863,
      -0.0397395499993638,
      -0.044152208621848654,
      -0.0371200945923813,
      -0.034192298251876974,
      -0.01654071598755258,
      0.008019654417299682,
      -0.005120857070427753,
      -0.0522225020919147
    ],
    "v_ego": [
      7.297110252199954,
      7.198604486520946,
      7.0841405443460905,
      6.969914215780839,
      6.867159455418796,
      6.760461528100954,
      6.656102895589783,
      6.551682622442128,
      6.450661159348068,
      6.3585387144905745
    ],
    "ax_ego": [
      -0.1991658457157751,
      -0.19579742371193168,
      -0.26353312458580164,
      -0.19706195296858703,
      -0.21552030263833796,
      -0.21373280270438544,
      -0.2053783001219573,
      -0.21261769133959496,
      -0.19015212992680802,
      -0.18169634814812852
    ],
    "ay_ego": [
      -0.21831159355284377,
      -0.22133764857489457,
      -0.2902799006347294,
      -0.14476494806686846,
      -0.2378123803396053,
      -0.24647251941840997,
      -0.27296266957707394,
      -0.2762410440697624,
      -0.37746194235862673,
      -0.38160422979503583
    ],
    "a_ego": [
      0.2955113973762467,
      0.29551139708798585,
      0.3920613835440364,
      0.24452055843343057,
      0.3209419403756852,
      0.3262367449879462,
      0.34159751922932285,
      0.34859058664761977,
      0.4226527539775991,
      0.4226527547855668
    ],
    "yaw": [
      1.9185212398185603,
      1.9031983142833955,
      1.8887282441179858,
      1.8738610713958352,
      1.8590252590514014,
      1.8408267245477803,
      1.8188347192540268,
      1.794329273543462,
      1.7712036645276945,
      1.748925152552566
    ],
    "yaw_diff": [
      -0.030645851070329577,
      -0.028940140330819375,
      -0.02973434544430109,
      -0.029671624688867748,
      -0.036397069007242155,
      -0.043984010587506894,
      -0.0490108914211298,
      -0.04625121803153487,
      -0.04455702395025707,
      -0.04455702395025707
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.819437587423813,
    "v_std": 0.30285308372094377,
    "vy_max": 0.0522225020919147,
    "a_max": 0.4226527547855668,
    "ax_avg": -0.20746559218613075,
    "a_std": 0.05483298633904948,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "19c8d441cb445d87",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.731639794474905,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "19c8d441cb445d87",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8b369f66349d550a": {
    "vx_ego": [
      1.4828846951290815,
      2.374544724667545,
      3.2314038521129316,
      4.035878271511088,
      4.786571056989854,
      5.49411535907224,
      6.176435040679172,
      6.810597062674483,
      7.3530199531505325,
      7.833701268221537
    ],
    "vy_ego": [
      0.03510646990127697,
      0.015134701331939948,
      -0.0023062006241285626,
      -0.008954167588522965,
      0.0023299873919877534,
      0.002711003591294059,
      0.014712417251883103,
      0.03780841560705506,
      0.04197555628652205,
      0.02303346099441761
    ],
    "v_ego": [
      1.4833001999854913,
      2.374592956409766,
      3.231404675061855,
      4.035888204543397,
      4.786571624080665,
      5.494116027927874,
      6.176452563320706,
      6.810702006871319,
      7.353139763308965,
      7.833735130833892
    ],
    "ax_ego": [
      1.783365797550089,
      1.7834475937764873,
      1.6441230244571203,
      1.573588942473243,
      1.4291272134172914,
      1.4009934545875968,
      1.3282924174290753,
      1.2084999092307736,
      0.961308105997753,
      0.9612853152201267
    ],
    "ay_ego": [
      -0.04826159784252304,
      -0.0451379634592598,
      -0.06634589079670561,
      -0.018525678256969158,
      0.04100921013312475,
      -0.0035032740803476736,
      0.039169036398866375,
      0.02040150902479332,
      -0.022056013815121123,
      -0.02302718382416269
    ],
    "a_ego": [
      1.784018707776849,
      1.7840187094008828,
      1.6454611198006586,
      1.5736979890147094,
      1.4297154777946608,
      1.400997834661628,
      1.3288698053654437,
      1.208672102839011,
      0.9615610965520599,
      0.9615610788986471
    ],
    "yaw": [
      -2.0325930666676895,
      -2.034344564617917,
      -2.038042652772882,
      -2.042042673449334,
      -2.043321271536305,
      -2.0415724943499303,
      -2.04210034893984,
      -2.043360758284326,
      -2.0440047841610127,
      -2.0429945211245224
    ],
    "yaw_diff": [
      -0.003502995900454664,
      -0.007396176309930169,
      -0.00800004135290422,
      -0.0025571961739423443,
      0.0034975543727497893,
      -0.001055709179819786,
      -0.00252081868897136,
      -0.0012880517533737645,
      0.002020526072980644,
      0.002020526072980644
    ],
    "min_front_frame": [
      0,
      13.844262837725152
    ],
    "v_avg": 4.957990315234393,
    "v_std": 2.0449801641793073,
    "vy_max": 0.04197555628652205,
    "a_max": 1.7840187094008828,
    "ax_avg": 1.4074031774139557,
    "a_std": 0.28491274759110063,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "8b369f66349d550a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.680447094363181,
    "right_rear_min": 6.4961534080510805,
    "speed_mode": "accelerating",
    "front_frame": [
      13.844262837725152,
      14.96349448001504,
      16.039282574348483,
      16.998137835994328,
      17.900883605043983,
      18.851171414737593,
      19.658174647266737,
      20.355067427645196,
      21.180257154130082,
      22.1802388077352
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8b369f66349d550a",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "774aad2507f75660": {
    "vx_ego": [
      7.9384601816428955,
      7.578664753899881,
      7.074748381410624,
      6.396607104597145,
      5.712767516862661,
      4.991550166811571,
      4.163763674311063,
      3.2644632874558264,
      2.363745344433812,
      1.4872043137239477
    ],
    "vy_ego": [
      -0.0019437540977587098,
      -0.0015422051777598256,
      0.03056072692047218,
      0.01674616755930769,
      -0.023308360507246828,
      -0.02581232502537878,
      -0.025333895351297375,
      -0.03143082157231203,
      -0.04498433926481615,
      -0.031002430074899
    ],
    "v_ego": [
      7.9384604196096955,
      7.5786649108138535,
      7.074814387551248,
      6.3966290250967806,
      5.712815066269055,
      4.991616906766768,
      4.163840744044618,
      3.2646145946637577,
      2.3641733532276374,
      1.487527418715254
    ],
    "ax_ego": [
      -0.7208553608343732,
      -0.7183568158610377,
      -1.2965207032827508,
      -1.4135864407612513,
      -1.3226876772633214,
      -1.5641271887889465,
      -1.747952728127395,
      -1.850093602238172,
      -1.7532389098654808,
      -1.753283769956941
    ],
    "ay_ego": [
      -0.19192110160246953,
      -0.20107122815638323,
      -0.17707190245723292,
      -0.3014469442243436,
      -0.19666344560336557,
      -0.08680388032327002,
      -0.0595521347586363,
      -0.09931677384193405,
      0.02084826906334214,
      0.01665391018762985
    ],
    "a_ego": [
      0.745966594750703,
      0.7459665901944437,
      1.3085566066015726,
      1.4453708471137285,
      1.3372281788912572,
      1.5665340010188062,
      1.7489668940612666,
      1.8527574473224997,
      1.7533628618712205,
      1.7533628633910783
    ],
    "yaw": [
      -0.6014189665828793,
      -0.6141342432650403,
      -0.631249530762783,
      -0.6469248059393263,
      -0.6609024904181955,
      -0.6736036499336322,
      -0.6816606308341183,
      -0.6906815973004407,
      -0.6928456258019896,
      -0.6952379448846897
    ],
    "yaw_diff": [
      -0.025430553364321984,
      -0.03423057499548543,
      -0.03135055035308665,
      -0.027955368957738314,
      -0.02540231903087342,
      -0.016113961800972243,
      -0.018041932932644666,
      -0.004328057003097907,
      -0.004784638165400201,
      -0.004784638165400201
    ],
    "min_front_frame": [
      9,
      11.425923632470672
    ],
    "v_avg": 5.097315682675867,
    "v_std": 2.1201116117530163,
    "vy_max": 0.04498433926481615,
    "a_max": 1.8527574473224997,
    "ax_avg": -1.414070319697967,
    "a_std": 0.3830732753052168,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "774aad2507f75660",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 43.68901356385086,
    "right_rear_min": 34.26445884790633,
    "speed_mode": "decelerating",
    "front_frame": [
      34.578267576127054,
      30.68887822015415,
      27.04872961198354,
      23.66741578115115,
      20.67960153437058,
      17.95817452458605,
      15.657746294378388,
      13.808132367219397,
      12.395743016790334,
      11.425923632470672
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "774aad2507f75660",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "17c882b28a195c3d": {
    "vx_ego": [
      3.018148508994064,
      3.4282217528590637,
      3.7721314952846052,
      4.010450812345319,
      4.199922426187673,
      4.36327397036578,
      4.5601299978985175,
      4.791964802051126,
      4.982096099404047,
      5.150772080353648
    ],
    "vy_ego": [
      0.08343990399957901,
      -0.01930551820427473,
      0.03375124461968193,
      0.0653151983547976,
      0.0675446135139508,
      0.05591061737435854,
      0.03258722117175705,
      0.04757852504425486,
      0.013350900983364333,
      -0.04679583147795707
    ],
    "v_ego": [
      3.019301680839884,
      3.4282761104976958,
      3.7722824873319665,
      4.010982646855674,
      4.200465529058523,
      4.363632172583609,
      4.560246432454899,
      4.792200995382213,
      4.98211398808318,
      5.150984650879321
    ],
    "ax_ego": [
      0.7735701890475088,
      0.875888805885433,
      0.5419905017569229,
      0.48918549238128156,
      0.3549070207288642,
      0.33748408343868774,
      0.46819263024433744,
      0.4337450021233229,
      0.3218661357689988,
      0.34936384918779906
    ],
    "ay_ego": [
      -0.9656394342719641,
      -0.873893102284509,
      -1.3262635304314676,
      -1.7004281791941103,
      -1.9465565695718285,
      -1.8125955323069316,
      -1.6511918536690062,
      -0.9766718040790828,
      -0.599043758309227,
      -0.5834347759388826
    ],
    "a_ego": [
      1.2372834575811953,
      1.2372834576182827,
      1.4327346775126446,
      1.7693949357206022,
      1.9786463736367557,
      1.8437456631307638,
      1.7162863620730662,
      1.0686545464976283,
      0.6800376708125154,
      0.6800376731433115
    ],
    "yaw": [
      0.7217271435170431,
      0.6105975000186865,
      0.4453757635910437,
      0.24383936031922315,
      0.023008544765614827,
      -0.19281702007059207,
      -0.3818036002304614,
      -0.5251275133506454,
      -0.5984878089113939,
      -0.6449880298976458
    ],
    "yaw_diff": [
      -0.22225928699671327,
      -0.33044347285528564,
      -0.4030728065436411,
      -0.4416616311072167,
      -0.4316511296724138,
      -0.37797316031973865,
      -0.2866478262403681,
      -0.14672059112149682,
      -0.0930004419725039,
      -0.0930004419725039
    ],
    "min_front_frame": [
      9,
      30.25379399501742
    ],
    "v_avg": 4.228048669396697,
    "v_std": 0.6499029271047174,
    "vy_max": 0.08343990399957901,
    "a_max": 1.9786463736367557,
    "ax_avg": 0.4946193710563156,
    "a_std": 0.4422749829139274,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "17c882b28a195c3d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      42.62458716442448,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      35.184839864987005,
      32.76075420761969,
      30.25379399501742
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "17c882b28a195c3d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "de18caace4a351b6": {
    "vx_ego": [
      5.073135112519099,
      4.997582043069249,
      5.1195866114425534,
      5.3956987667242595,
      5.674893032115424,
      5.873626644042975,
      6.036828985021679,
      6.239186145100684,
      6.472771196900162,
      6.696130444046355
    ],
    "vy_ego": [
      0.07610086805791223,
      -0.0015623999084688478,
      -0.06900909696960267,
      -0.11981520217067576,
      -0.12937952685863463,
      -0.1509747705057296,
      -0.050972056683527445,
      -0.05627939325892939,
      -0.043083007005360496,
      0.0089480269270239
    ],
    "v_ego": [
      5.07370586573496,
      4.997582287296697,
      5.120051691880308,
      5.397028892261083,
      5.676367675540614,
      5.87556663947749,
      6.037044172851514,
      6.239439968724912,
      6.472914576364574,
      6.696136422659736
    ],
    "ax_ego": [
      -0.3905028503856872,
      0.059442546304083466,
      0.45494327909676097,
      0.670727659378211,
      0.48451332971655214,
      0.3350735502174709,
      0.3233455882106782,
      0.48888018071401296,
      0.44672993282555096,
      0.4466344265571083
    ],
    "ay_ego": [
      2.0222678010757202,
      2.0587680996703,
      2.0194949159956304,
      1.5025826108669407,
      1.1430914516204584,
      0.634576966155122,
      0.3140571862628653,
      0.16092030456904435,
      0.08986522194845803,
      0.09033874546539591
    ],
    "a_ego": [
      2.0596260668934483,
      2.0596260593931053,
      2.0701046115903203,
      1.6454877986587095,
      1.2415358365511595,
      0.7176086747176199,
      0.45075967616753115,
      0.5146835683384112,
      0.45567904384354446,
      0.4556790536312356
    ],
    "yaw": [
      -0.008650799197841444,
      0.2109676807027581,
      0.42712756758666737,
      0.604710319001821,
      0.7252754176041452,
      0.8056769576701656,
      0.8287014360549585,
      0.8489795230951221,
      0.8567609760045852,
      0.8557008986352064
    ],
    "yaw_diff": [
      0.4392369598011991,
      0.43231977376781855,
      0.35516550283030734,
      0.24113019720464823,
      0.1608030801320408,
      0.04604895676958587,
      0.0405561740803273,
      0.015562905818926165,
      -0.002120154738757707,
      -0.002120154738757707
    ],
    "min_front_frame": [
      4,
      17.807944141639698
    ],
    "v_avg": 5.758583819279188,
    "v_std": 0.5749005983655123,
    "vy_max": 0.1509747705057296,
    "a_max": 2.0701046115903203,
    "ax_avg": 0.33197876426347417,
    "a_std": 0.6925381651399266,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "de18caace4a351b6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.48828042767656,
    "right_rear_min": 9.472155608326146,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      17.807944141639698,
      18.07334383874604,
      18.613564707787944,
      19.031919774438183,
      19.733907223274393,
      20.35243542215112
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "de18caace4a351b6",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "8612b2c9d3875ac2": {
    "vx_ego": [
      1.5339855980263493,
      2.0296392646840924,
      2.3201786791921157,
      2.3455764323329937,
      2.33198555921186,
      2.3489619459453808,
      2.335111924966087,
      2.275336729422423,
      2.072690251776028,
      1.732742543104424
    ],
    "vy_ego": [
      0.004714692630005679,
      -0.011024759055786149,
      -0.013492610548286432,
      -0.028742179598115314,
      -0.04489822162154722,
      -0.03175022170070041,
      -0.01671380648226628,
      -0.02965301278557808,
      -0.046550456839207,
      -0.05051652766290249
    ],
    "v_ego": [
      1.5339928432945351,
      2.0296692070531153,
      2.320217910868951,
      2.3457525259080563,
      2.332417736743877,
      2.3491765153086206,
      2.335171739604167,
      2.2755299456227753,
      2.073212923179699,
      1.7334787683300605
    ],
    "ax_ego": [
      0.9911405113950675,
      0.9913962520231365,
      0.17056487713896556,
      -0.06888223337591805,
      0.014994139400147107,
      0.05294157288959488,
      -0.10825907551203572,
      -0.13072639481252496,
      -0.6798282736152772,
      -0.679831893090699
    ],
    "ay_ego": [
      -0.05233083637401598,
      -0.04723872935778595,
      0.015034680419169902,
      -0.05797771568178631,
      0.017296267380520355,
      0.03702283756842535,
      0.03141255943749719,
      -0.06042904571542011,
      -0.005602360157205499,
      -0.005145311986682666
    ],
    "a_ego": [
      0.9925210475169179,
      0.992521045659416,
      0.17122622149874414,
      0.0900343134062369,
      0.02289072042661603,
      0.06460263649141802,
      0.11272433774981756,
      0.14401756791015632,
      0.6798513573172148,
      0.6798513639750412
    ],
    "yaw": [
      -0.5863620918231564,
      -0.5914990416319725,
      -0.593950467899015,
      -0.5920401094656857,
      -0.5894692689697103,
      -0.5892844109442001,
      -0.5884070730793218,
      -0.5859439000182751,
      -0.5857701793807503,
      -0.5850979016808494
    ],
    "yaw_diff": [
      -0.010273899617632365,
      -0.004902852534084845,
      0.0038207168666584135,
      0.005141680991950892,
      0.000369716051020319,
      0.0017546757297566273,
      0.004926346122093417,
      0.0003474412750497091,
      0.0013445553998017168,
      0.0013445553998017168
    ],
    "min_front_frame": [
      9,
      10.470357397467689
    ],
    "v_avg": 2.132862011591386,
    "v_std": 0.27580435926221286,
    "vy_max": 0.05051652766290249,
    "a_max": 0.9925210475169179,
    "ax_avg": 0.05535094824404565,
    "a_std": 0.3754625986945994,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8612b2c9d3875ac2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.40884746878837,
    "speed_mode": "quasi_constant",
    "front_frame": [
      12.495825406510503,
      13.186717677239406,
      13.728296329038875,
      14.12525993093346,
      14.127999043108913,
      13.703453716338956,
      13.035419701030408,
      12.2190014840748,
      11.347606999390718,
      10.470357397467689
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8612b2c9d3875ac2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c42697d5870e5dee": {
    "vx_ego": [
      2.207126449523251,
      1.6363284017290889,
      1.0413531081827494,
      0.48826288954465247,
      0.10685207947501318,
      -0.04356244247329377,
      -0.04267011228485871,
      -0.02214283839289966,
      -0.011910921145400207,
      -0.005703731494937234
    ],
    "vy_ego": [
      0.010940860679521824,
      -0.0019040718110752142,
      0.006858071678707556,
      0.019166200547578616,
      -0.0063400895654806624,
      -0.02463359381023301,
      -0.01443851199965555,
      -0.006241752855506994,
      -0.0033709291480618474,
      -0.0018404839834212153
    ],
    "v_ego": [
      2.207153566614141,
      1.6363295095410142,
      1.0413756906462832,
      0.48863891837421575,
      0.10704000945362838,
      0.05004498314763009,
      0.045046743624446904,
      0.023005755166985952,
      0.012378740075354791,
      0.005993324141039674
    ],
    "ax_ego": [
      -1.1416029144600794,
      -1.141567067108772,
      -1.2383671235228912,
      -0.9739669681584664,
      -0.5516631815972094,
      -0.05002224349904179,
      0.05359628906414797,
      0.02851266627057596,
      0.012414396732195389,
      0.012414406763226022
    ],
    "ay_ego": [
      -0.02956970561445116,
      -0.03092310026554046,
      0.061026654888969634,
      -0.012676340577854273,
      -0.08954899036879452,
      0.016404512212105104,
      0.02436288144551825,
      0.008424596674003191,
      0.003060859178776014,
      0.003060820000423399
    ],
    "a_ego": [
      1.1419858063014061,
      1.14198581726629,
      1.239869906574596,
      0.9740494569960197,
      0.558883966137897,
      0.052643450357993574,
      0.058873696960324184,
      0.02973122881713545,
      0.012786168508847399,
      0.012786168869439505
    ],
    "yaw": [
      0.8815714443738604,
      0.8803859118516255,
      0.8794708067681433,
      0.8791694117504686,
      0.878964971575227,
      0.8787271813846953,
      0.8787848298276904,
      0.8787809997953381,
      0.8787449425641647,
      0.8787480766458431
    ],
    "yaw_diff": [
      -0.0023710650444697112,
      -0.0018302101669644966,
      -0.0006027900353493543,
      -0.00040888035048314286,
      -0.00047558038106343403,
      0.00011529688599010157,
      -7.660064704539948e-06,
      -7.211446234678398e-05,
      6.268163356804024e-06,
      6.268163356804024e-06
    ],
    "min_front_frame": [
      5,
      11.831503851388492
    ],
    "v_avg": 0.5617007240784739,
    "v_std": 0.7572294968312148,
    "vy_max": 0.02463359381023301,
    "a_max": 1.239869906574596,
    "ax_avg": -0.49902517395163154,
    "a_std": 0.5182197796665003,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c42697d5870e5dee",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.726677942675476,
      12.823227816892542,
      12.195195344034932,
      11.92716509938893,
      12.01581071100162,
      11.831503851388492,
      11.914716223000386,
      12.016884395369074,
      11.98702926644656,
      11.918385085613345
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c42697d5870e5dee",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "08fc5ba619bc535c": {
    "vx_ego": [
      1.0768580561878327,
      0.7834001953344336,
      0.49548383361984316,
      0.23202133972380878,
      0.037277999053040994,
      -0.027874608279231626,
      -0.01744586770204885,
      -0.011228606149052476,
      -0.006655852704070947,
      -0.003689830855552715
    ],
    "vy_ego": [
      0.030079175446677264,
      0.026542111319663664,
      0.022693284786141937,
      0.005912929359241426,
      -0.004666608213325719,
      -0.0024755702782997477,
      -0.002586809892398792,
      -0.0008377239333888092,
      -0.0006569910600872217,
      -0.0004688775645059419
    ],
    "v_ego": [
      1.077278065297994,
      0.7838496984265122,
      0.49600324046623057,
      0.23209667128340827,
      0.03756895587603153,
      0.02798432123392328,
      0.01763660639966781,
      0.011259812495735063,
      0.006688199493983644,
      0.0037195023743890666
    ],
    "ax_ego": [
      -0.5869989832176743,
      -0.5870054514238568,
      -0.5648068922268725,
      -0.48912998997535223,
      -0.289813125009158,
      0.029203937683400447,
      0.01251056253554642,
      0.012358783626924195,
      0.005932057128910135,
      0.005932061614803219
    ],
    "ay_ego": [
      -0.004671223960341114,
      -0.003770947282003251,
      -0.007903871767865528,
      -0.057718042897175886,
      0.01578762074345945,
      -0.007085798692464413,
      0.006642995034234952,
      0.0003485066161122794,
      0.0003761590648909594,
      0.0003761031154575164
    ],
    "a_ego": [
      0.5870175692701805,
      0.5870175636594953,
      0.5648621926593255,
      0.4925236233615281,
      0.2902428231607341,
      0.0300512648540135,
      0.014164870559969404,
      0.012363696437498115,
      0.005943971519342366,
      0.0059439724557974385
    ],
    "yaw": [
      1.1276437041377,
      1.1291773834986294,
      1.1306383091507453,
      1.131696411588486,
      1.1325797533078497,
      1.1330226932208867,
      1.132996445214494,
      1.1330809265270612,
      1.1330275383707757,
      1.1330369691255513
    ],
    "yaw_diff": [
      0.003067358721858593,
      0.0029218513042317262,
      0.0021162048754814755,
      0.0017666834387273234,
      0.0008858798260740208,
      -5.2496012785230306e-05,
      0.0001689626251342169,
      -0.0001067763125708332,
      1.886150955110466e-05,
      1.886150955110466e-05
    ],
    "min_front_frame": [
      4,
      8.962852394253686
    ],
    "v_avg": 0.26940850733478755,
    "v_std": 0.36765717312184176,
    "vy_max": 0.030079175446677264,
    "a_max": 0.5870175692701805,
    "ax_avg": -0.245181703926333,
    "a_std": 0.25797636722160355,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "08fc5ba619bc535c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      9.910401674532174,
      9.502117232939714,
      9.203939241370248,
      9.012420742049349,
      8.962852394253686,
      8.968508969329969,
      8.985052177966915,
      8.982333424501398,
      8.971176614842289,
      8.980390874479173
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "08fc5ba619bc535c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4aa06b58da9a56f8": {
    "vx_ego": [
      7.69925902055213,
      7.321021328257223,
      6.91565986444662,
      6.4777777245104184,
      5.962385022130688,
      5.359402802853259,
      4.727809107111777,
      4.19130005599082,
      3.915361604147503,
      3.8060021512257043
    ],
    "vy_ego": [
      -0.0067490369738489875,
      -0.014157380370991568,
      -0.013860823996641791,
      -0.025004376303420894,
      -0.03201726468678734,
      -0.03436106296127317,
      -0.01874706744924093,
      0.013339287627331275,
      0.018463188419330034,
      -0.029740035406989107
    ],
    "v_ego": [
      7.699261978595962,
      7.321035017005186,
      6.915673754823872,
      6.477825983074699,
      5.962470985872081,
      5.3595129523007214,
      4.727846275612925,
      4.191321282834693,
      3.915405136197162,
      3.806118343514912
    ],
    "ax_ego": [
      -0.7580738856516039,
      -0.7553555169931956,
      -0.866971058921897,
      -0.8857639764696351,
      -1.1770415476070122,
      -1.2341304276395737,
      -1.289437802990242,
      -0.8541647955832034,
      -0.24676743683818683,
      -0.18758613092257215
    ],
    "ay_ego": [
      -0.20469861983953486,
      -0.2145124346111349,
      -0.20797383675213488,
      -0.1687966454216236,
      -0.025788681912887634,
      0.10337393692691738,
      0.2634747468283981,
      0.4016247324430958,
      0.6186361597138362,
      0.6390745728349028
    ],
    "a_ego": [
      0.7852245163462049,
      0.7852245167178966,
      0.8915671224207177,
      0.9017040143621928,
      1.1773240254526,
      1.2384522934944275,
      1.316080844779906,
      0.9438749513170078,
      0.6660366851676952,
      0.6660366852948971
    ],
    "yaw": [
      -0.2860959051566303,
      -0.2990646992763538,
      -0.31391492828524914,
      -0.32631187746386037,
      -0.3329662927084055,
      -0.3291307298166207,
      -0.3140636188279391,
      -0.2836042068856721,
      -0.2207845923822164,
      -0.12674439143856792
    ],
    "yaw_diff": [
      -0.02593758823944703,
      -0.029700458017790643,
      -0.024793898357222455,
      -0.013308830489090262,
      0.0076711257835695434,
      0.030134221977363262,
      0.06091882388453396,
      0.12563922900691143,
      0.18808040188729697,
      0.18808040188729697
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.637647170983222,
    "v_std": 1.372821310691643,
    "vy_max": 0.03436106296127317,
    "a_max": 1.316080844779906,
    "ax_avg": -0.8255292579617122,
    "a_std": 0.2210434855785282,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4aa06b58da9a56f8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4aa06b58da9a56f8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cf039efb320e55ec": {
    "vx_ego": [
      2.2530066965246545,
      2.028077165766839,
      1.816283048279524,
      1.6234657205311998,
      1.4086083609958702,
      1.1707091162525316,
      0.9491348760368004,
      0.7839403818546589,
      0.7214297229413464,
      0.7167121661451692
    ],
    "vy_ego": [
      0.025304981447520136,
      0.016118857033024292,
      0.011265490238209108,
      0.016771508837020832,
      0.018062163971854894,
      0.015862168620008443,
      0.018878280922707658,
      0.02275972430381007,
      0.0024347256827779717,
      -0.04550572650412954
    ],
    "v_ego": [
      2.2531488003838085,
      2.0281412198998634,
      1.816317985028466,
      1.6235523487860062,
      1.4087241591009994,
      1.1708165711460157,
      0.9493226018588145,
      0.7842706977522581,
      0.7214338313611154,
      0.718155345482556
    ],
    "ax_ego": [
      -0.449859193199005,
      -0.4498592657290047,
      -0.3973633780397685,
      -0.3739196981301369,
      -0.4854314983912612,
      -0.4661845928781921,
      -0.4201056327551922,
      -0.2407188497310963,
      -0.009392108495069093,
      -0.009437263052433344
    ],
    "ay_ego": [
      -0.01835514390232701,
      -0.018353240598111276,
      0.007386686836894862,
      0.01647391513381022,
      -0.016856601165745055,
      0.009863856365616375,
      0.0018146809466293434,
      0.015769440730900502,
      -0.09520099624284811,
      -0.09519652924431424
    ],
    "a_ego": [
      0.45023350054536687,
      0.4502334954250865,
      0.39743202859055327,
      0.37428242081290525,
      0.48572408282197216,
      0.46628893435230395,
      0.42010955206895556,
      0.24123482310153216,
      0.09566316630560547,
      0.0956631648759563
    ],
    "yaw": [
      -2.494877760062566,
      -2.494873544002939,
      -2.4937711718203994,
      -2.493503761833585,
      -2.4944098743959744,
      -2.494058889785582,
      -2.494150412412269,
      -2.4935407968877645,
      -2.4928954146316498,
      -2.492421094848485
    ],
    "yaw_diff": [
      8.432119254386805e-06,
      0.0022047443650787812,
      0.0005348199736285864,
      -0.0018122251247785215,
      0.0007019692207848038,
      -0.0001830452533742033,
      0.0012192310490091174,
      0.0012907645122295364,
      0.0009486395663298453,
      0.0009486395663298453
    ],
    "min_front_frame": [
      6,
      9.728938637241665
    ],
    "v_avg": 1.3473883560799904,
    "v_std": 0.5364921954931143,
    "vy_max": 0.04550572650412954,
    "a_max": 0.48572408282197216,
    "ax_avg": -0.33022714804011594,
    "a_std": 0.1417544447538726,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cf039efb320e55ec",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.739375938117197,
    "right_rear_min": 42.146447092675714,
    "speed_mode": "decelerating",
    "front_frame": [
      10.831412929142724,
      10.59121531828301,
      10.314425775916632,
      10.084796310921826,
      9.922468184245972,
      9.78332896213511,
      9.728938637241665,
      9.804492821234922,
      9.98220374864242,
      10.287796431574327
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cf039efb320e55ec",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "622867ce25805447": {
    "vx_ego": [
      2.665413437679203,
      3.0522431026592374,
      3.5040174100156984,
      3.9702759907976732,
      4.311298103876035,
      4.474247119271588,
      4.488287231991128,
      4.4258329643323115,
      4.340205754675147,
      4.269737411388423
    ],
    "vy_ego": [
      -0.17620259057424326,
      -0.017535346941624175,
      -0.03909897890739744,
      -0.05562208367306243,
      -0.08598659816501103,
      -0.144437873273767,
      -0.11423484771270087,
      -0.08842899025164819,
      -0.06935053373374434,
      0.04589166006959422
    ],
    "v_ego": [
      2.6712312042737785,
      3.052293473131843,
      3.504235542860201,
      3.970665593990078,
      4.312155497607789,
      4.476577887577291,
      4.4897407360878345,
      4.4267162902638635,
      4.340759782508636,
      4.269984028854657
    ],
    "ax_ego": [
      0.7253843961893323,
      0.8661235380778229,
      1.0203551221912324,
      0.903911658751579,
      0.5378759834682193,
      0.18785997344049282,
      -0.07394825968311258,
      -0.14383434433899323,
      -0.17316279692287778,
      -0.10469442675887419
    ],
    "ay_ego": [
      1.1194037744538339,
      1.0144344945369785,
      1.5644258494549454,
      1.7166683133447593,
      1.8548944257354447,
      1.6374806560901527,
      1.3342994660811804,
      1.0298432338510728,
      0.8855436184683085,
      0.8962209199981115
    ],
    "a_ego": [
      1.3338843025151963,
      1.3338843004244938,
      1.8677667985657933,
      1.9401047355410923,
      1.9313062688802958,
      1.6482215472109627,
      1.3363470396175854,
      1.0398391245381486,
      0.9023152744180379,
      0.9023152777364631
    ],
    "yaw": [
      -0.6538560968448858,
      -0.5221351537841245,
      -0.3183908898696221,
      -0.09626420148573459,
      0.12337784086927542,
      0.33258326140626204,
      0.49015255691375614,
      0.6165526614188637,
      0.7212668189500573,
      0.7980835846198369
    ],
    "yaw_diff": [
      0.26344188612152264,
      0.4074885278290047,
      0.44425337676777504,
      0.43928408471002,
      0.41841084107397325,
      0.3151385910149882,
      0.25280020901021505,
      0.20942831506238724,
      0.15363353133955915,
      0.15363353133955915
    ],
    "min_front_frame": [
      8,
      14.27052062382624
    ],
    "v_avg": 3.951436003715597,
    "v_std": 0.618250870144063,
    "vy_max": 0.17620259057424326,
    "a_max": 1.9401047355410923,
    "ax_avg": 0.374587084441482,
    "a_std": 0.38558275509150286,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "622867ce25805447",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      14.27052062382624,
      34.30972619931065
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "622867ce25805447",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "bf80166d9d045752": {
    "vx_ego": [
      6.162853736231546,
      5.625199919991377,
      5.118704012267336,
      4.658995940148355,
      4.205317374516449,
      3.75077335396046,
      3.3069958917685396,
      2.835002496427788,
      2.38039826163709,
      1.9735222159036638
    ],
    "vy_ego": [
      0.0037831462122321913,
      -0.00709108765114852,
      -0.013802644255064278,
      -0.013666295920806038,
      -0.0013860403104795083,
      0.0027537031535738166,
      0.01202989921912967,
      0.00019342577003600425,
      -0.010102491750122344,
      -0.0017711327707060631
    ],
    "v_ego": [
      6.162854897397665,
      5.625204389477334,
      5.118722621728018,
      4.659015983870741,
      4.205317602930564,
      3.750774364802668,
      3.3070177723515823,
      2.835002503026288,
      2.3804196992010547,
      1.9735230106529285
    ],
    "ax_ego": [
      -1.0753047185100653,
      -1.0753090245793056,
      -0.950724971390101,
      -0.8881857793712635,
      -0.9265279127914076,
      -0.8916496774695798,
      -0.883459105554768,
      -1.0045939445828544,
      -0.8137820145893506,
      -0.8135962209990003
    ],
    "ay_ego": [
      -0.01920904106307203,
      -0.018966332208533054,
      -0.0461593002556277,
      0.030258261896536742,
      0.019273386300558804,
      -0.0008386237678624786,
      0.036562210884037216,
      -0.07139928037691784,
      0.03597719117780401,
      0.03995891660874318
    ],
    "a_ego": [
      1.0754762781710128,
      1.0754762759350585,
      0.9518448677304499,
      0.8887010414590152,
      0.926728351029088,
      0.8916500718451323,
      0.8842153507219606,
      1.0071280210235842,
      0.814576899717974,
      0.8145768998936802
    ],
    "yaw": [
      -0.3363047232001888,
      -0.3360790042437842,
      -0.33786563006931564,
      -0.3387079936613462,
      -0.3386848562537517,
      -0.3385668422171211,
      -0.3386647189075193,
      -0.3376514112901325,
      -0.33709394833062345,
      -0.33220053814631484
    ],
    "yaw_diff": [
      0.0004514379128092161,
      -0.0035732516510629253,
      -0.0016847271840610967,
      4.6274815188929175e-05,
      0.00023602807326128517,
      -0.00019575338079647064,
      0.0020266152347736544,
      0.0011149259190180727,
      0.009786820368617222,
      0.009786820368617222
    ],
    "min_front_frame": [
      9,
      14.366734221728628
    ],
    "v_avg": 4.001785284543884,
    "v_std": 1.3295263338467944,
    "vy_max": 0.013802644255064278,
    "a_max": 1.0754762781710128,
    "ax_avg": -0.9323133369837697,
    "a_std": 0.08977115838951671,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bf80166d9d045752",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      28.54227829734119,
      25.655253392399477,
      23.029675499401673,
      24.266608397267877,
      22.05981828218947,
      20.04494118087788,
      18.277187605906672,
      16.734566208201393,
      15.451959127980176,
      14.366734221728628
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bf80166d9d045752",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "141d6f95ecf059c4": {
    "vx_ego": [
      2.4039095226083926,
      2.519872070393564,
      2.6595400970894243,
      2.7977248132629167,
      2.9078767856468186,
      3.00829448971749,
      3.1304962836224113,
      3.271585005393315,
      3.4356218158294802,
      3.61443796859655
    ],
    "vy_ego": [
      -0.027785134111610543,
      0.002651931734419355,
      -0.015215026219056682,
      -0.01728493041358825,
      -0.014253138606647564,
      -0.011580731216660922,
      -0.02088344351630228,
      -0.05750681170897821,
      -0.0799489395096945,
      -0.07813828584447552
    ],
    "v_ego": [
      2.404070091857746,
      2.5198734658493214,
      2.659583618736074,
      2.797778207715262,
      2.9079117167589206,
      3.0083167802277946,
      3.1305659392491365,
      3.272090383975863,
      3.436551919341854,
      3.6152824814317164
    ],
    "ax_ego": [
      0.18692111271510217,
      0.2815406800646436,
      0.29264994191472615,
      0.27771116049291006,
      0.18277837524851293,
      0.2317153366849588,
      0.25183114046657035,
      0.3107389976401059,
      0.3573969154181943,
      0.3716349043412422
    ],
    "ay_ego": [
      0.7275969690676403,
      0.6964708872805516,
      0.8453931319551237,
      0.9310763668075733,
      1.0377793161809834,
      1.078277339525071,
      0.8838640073015723,
      0.5412893052373262,
      0.3267077105876991,
      0.31041582057891665
    ],
    "a_ego": [
      0.7512235697680609,
      0.7512235694922124,
      0.894613623895582,
      0.9716103588835958,
      1.053752268586671,
      1.102893475449143,
      0.9190399919001824,
      0.6241416799242661,
      0.48422152297052606,
      0.48422152346875946
    ],
    "yaw": [
      -1.0813517922854157,
      -0.948660508250946,
      -0.7931464434270334,
      -0.6300999633698406,
      -0.4597490963319676,
      -0.28191727690790835,
      -0.1192973221863518,
      0.0035758455494925914,
      0.07506800444204714,
      0.11975515888470906
    ],
    "yaw_diff": [
      0.26538256806893923,
      0.3110281296478252,
      0.3260929601143856,
      0.3407017340757461,
      0.35566363884811847,
      0.3252399094431131,
      0.24574633547168878,
      0.14298431778510912,
      0.08937430888532383,
      0.08937430888532383
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.9752024605143683,
    "v_std": 0.3748415535932293,
    "vy_max": 0.0799489395096945,
    "a_max": 1.102893475449143,
    "ax_avg": 0.2744918564986966,
    "a_std": 0.21063881357578867,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "141d6f95ecf059c4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "141d6f95ecf059c4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b24954d56c155570": {
    "vx_ego": [
      6.815064647598219,
      6.5990467445134104,
      6.405212304710311,
      6.290559469157969,
      6.279973203223022,
      6.40209602707821,
      6.492855792067809,
      6.423904558218498,
      6.307602467468571,
      6.181468435837434
    ],
    "vy_ego": [
      0.036555318541013904,
      -0.006871717878138561,
      -0.03361892183686299,
      -0.02137066040377933,
      0.03701091312890403,
      0.05975844928433771,
      0.07094630536444413,
      0.047818969041206305,
      0.02393762511097508,
      -0.018385402910513715
    ],
    "v_ego": [
      6.815162686411578,
      6.599050322340301,
      6.405300531615815,
      6.290595769888499,
      6.2800822638632585,
      6.402374919683435,
      6.493243389465189,
      6.424082535810118,
      6.307647889468114,
      6.1814957774227
    ],
    "ax_ego": [
      -0.43890558824755854,
      -0.42310076004512875,
      -0.34898671270890536,
      -0.11109126187029844,
      0.06802007125327508,
      0.4345105625199618,
      -0.054441520862640314,
      -0.2146461426555746,
      -0.2529469461656273,
      -0.25149333474827773
    ],
    "ay_ego": [
      -0.4991126545396597,
      -0.5125790676670459,
      -0.8130777511123679,
      -0.9930764705974471,
      -0.9135160015220725,
      -0.8980653115081394,
      -0.8655854625003346,
      -0.6373553187989488,
      -0.18255053048733677,
      -0.18454797528304154
    ],
    "a_ego": [
      0.6646439327313243,
      0.664643930056676,
      0.884809106531637,
      0.9992708065975997,
      0.9160448761551891,
      0.9976576229727436,
      0.8672958388495563,
      0.6725286380208852,
      0.311940465082241,
      0.31194046323598257
    ],
    "yaw": [
      2.7879030350478664,
      2.756661222255966,
      2.7097464767401007,
      2.636373921247098,
      2.5509970848686114,
      2.475476843211387,
      2.406042670517844,
      2.351627916863951,
      2.3232028702238585,
      2.315283501377249
    ],
    "yaw_diff": [
      -0.06248362558380105,
      -0.09382949103173033,
      -0.1467451109860054,
      -0.17075367275697317,
      -0.15104048331444897,
      -0.1388683453870856,
      -0.10882950730778607,
      -0.0568500932801852,
      -0.015838737693218974,
      -0.015838737693218974
    ],
    "min_front_frame": [
      4,
      24.06050972067673
    ],
    "v_avg": 6.4199036085969015,
    "v_std": 0.17319068720911082,
    "vy_max": 0.07094630536444413,
    "a_max": 0.9992708065975997,
    "ax_avg": -0.1593081633530774,
    "a_std": 0.24144583331624295,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "b24954d56c155570",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      40.75170770380955,
      37.64191158286694,
      34.407365298628875,
      24.06050972067673,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "b24954d56c155570",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "f2644280215250cd": {
    "vx_ego": [
      0.9240277291144213,
      1.3324654218479621,
      1.7982585251991043,
      2.318346723612216,
      2.825171259772861,
      3.348709281266415,
      3.893570906623305,
      4.385128456143381,
      4.7141026499060175,
      4.928327153049287
    ],
    "vy_ego": [
      -0.007089836353987189,
      -0.0029665040996829095,
      -0.017592983564139075,
      -0.02034213988636946,
      -0.010298100546678457,
      -0.0077519966468313495,
      -0.002412174615665119,
      0.0037000388656456273,
      0.002209828332439212,
      -0.01976736307923943
    ],
    "v_ego": [
      0.9240549279950195,
      1.3324687240483513,
      1.798344582253898,
      2.3184359670990813,
      2.8251900286390375,
      3.348718253883393,
      3.893571653827601,
      4.38513001713359,
      4.714103167856235,
      4.9283667960213755
    ],
    "ax_ego": [
      0.8168737157345158,
      0.8168716868138632,
      1.046301992062,
      1.0340451624940457,
      0.9932374174651241,
      1.1008885052960926,
      1.0785576256381617,
      0.8876684970485481,
      0.42835399647061967,
      0.4284752376926227
    ],
    "ay_ego": [
      0.007541573483558273,
      0.0077577025525266685,
      -0.06465638948882457,
      0.05331636760406705,
      -0.019596721340927936,
      0.024240099131190573,
      -0.0036898155883127726,
      0.008266670774954965,
      -0.06303665163866998,
      -0.06220724624979865
    ],
    "a_ego": [
      0.8169085277976491,
      0.8169085228267726,
      1.0482978142181925,
      1.0354187718656782,
      0.993430721761766,
      1.1011553403125987,
      1.078563937168912,
      0.8877069891006434,
      0.4329673957033794,
      0.43296740154627417
    ],
    "yaw": [
      1.1001292231471416,
      1.099864642363686,
      1.1001261205266004,
      1.1000844435530357,
      1.0994580507368963,
      1.099007337950927,
      1.098951528371037,
      1.097758219132682,
      1.0951095980379453,
      1.093173610741238
    ],
    "yaw_diff": [
      -0.0005291615669111849,
      0.0005229563258288827,
      -8.335394712943867e-05,
      -0.001252785632278819,
      -0.0009014255719383968,
      -0.00011161915978030734,
      -0.0023866184767098453,
      -0.005297242189473472,
      -0.0038719745934145955,
      -0.0038719745934145955
    ],
    "min_front_frame": [
      0,
      13.803190957110038
    ],
    "v_avg": 3.046838411875758,
    "v_std": 1.3602478445324186,
    "vy_max": 0.02034213988636946,
    "a_max": 1.1011553403125987,
    "ax_avg": 0.8631273836715595,
    "a_std": 0.23642256687105193,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f2644280215250cd",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.2376998431399406,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.803190957110038,
      15.301431491914931,
      16.876699681400854,
      18.546602410661713,
      20.31231384865247,
      21.792978102646313,
      22.975252486663038,
      23.79256740832868,
      24.409503680836842,
      24.934286677092448
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f2644280215250cd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9c1e4098a32a5432": {
    "vx_ego": [
      8.437440787114582,
      8.25264505049649,
      8.093031865864925,
      7.949364726354413,
      7.774235135254027,
      7.484333581556211,
      7.045562517838776,
      6.543626468818122,
      6.047016943627629,
      5.561620172561572
    ],
    "vy_ego": [
      -0.05876837430280979,
      -0.03215106843689952,
      -0.01357470977951758,
      -0.025710386146630793,
      -0.02368670468113443,
      0.00304870723714723,
      -0.015713149154323425,
      -0.044240035862924465,
      -0.02511166920043939,
      -0.00833796027044098
    ],
    "v_ego": [
      8.437645451065299,
      8.25270767813121,
      8.09304325051156,
      7.949406303401757,
      7.774271219747665,
      7.484334202494289,
      7.045580039700848,
      6.543776015741238,
      6.0470690844780055,
      5.561626422677568
    ],
    "ax_ego": [
      -0.37029091075134657,
      -0.36633026488755455,
      -0.2705013042118354,
      -0.30373875140468626,
      -0.3950967428552526,
      -0.764368916254291,
      -0.9913981123910927,
      -1.0158778842573963,
      -0.9708388466106198,
      -0.9708621753415463
    ],
    "ay_ego": [
      0.28253143340740117,
      0.2876482291443129,
      0.3078279115720417,
      0.20012368874969666,
      0.24504804465173416,
      0.1888889993927262,
      -0.03842261585741891,
      0.012030943391336923,
      0.01436352419855702,
      0.012689128107596148
    ],
    "a_ego": [
      0.46576750578835197,
      0.4657675028406823,
      0.4097913843934602,
      0.36373990694404607,
      0.46491932676806186,
      0.7873619842406316,
      0.9921423862843217,
      1.0159491224082875,
      0.9709450946967295,
      0.9709450949878939
    ],
    "yaw": [
      -0.6468716027455459,
      -0.6329792084117847,
      -0.6170139898318681,
      -0.5996789150651376,
      -0.585800539524649,
      -0.5751499393659583,
      -0.5674198352843389,
      -0.5641938765792304,
      -0.5661859841332294,
      -0.567910655038646
    ],
    "yaw_diff": [
      0.02778478866752243,
      0.031930437159833236,
      0.034670149533460926,
      0.027756751080977082,
      0.021301200317381586,
      0.015460208163238676,
      0.006451917410217112,
      -0.003984215107998068,
      -0.0034493418108332285,
      -0.0034493418108332285
    ],
    "min_front_frame": [
      9,
      26.382471891202805
    ],
    "v_avg": 7.318945966794944,
    "v_std": 0.9346785988703383,
    "vy_max": 0.05876837430280979,
    "a_max": 1.0159491224082875,
    "ax_avg": -0.6419303908965621,
    "a_std": 0.2647737485107197,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "9c1e4098a32a5432",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 22.613684123977567,
    "right_rear_min": 35.83246547813147,
    "speed_mode": "decelerating",
    "front_frame": [
      46.58316644661821,
      44.730612554550504,
      43.068513315336254,
      41.1096863558792,
      38.85773796243642,
      36.48903113938024,
      33.974945817939656,
      31.30741398147853,
      28.822969067345014,
      26.382471891202805
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 7,
    "token": "9c1e4098a32a5432",
    "smoothness": "No"
  },
  "1b65613f0242544a": {
    "vx_ego": [
      6.307972399099015,
      6.1534288458946005,
      6.00163742219449,
      5.763188398237125,
      5.336395189536425,
      4.736045210612868,
      4.03027853149534,
      3.1922514375200413,
      2.2336532879086075,
      1.244067250362146
    ],
    "vy_ego": [
      0.01897354105992166,
      -0.09892086188443328,
      -0.07389539516178445,
      -0.07240911453152021,
      -0.03274415081376558,
      -0.013336558090879524,
      0.03323852131981675,
      0.06337517528626346,
      0.08524895273256983,
      0.1551946037275409
    ],
    "v_ego": [
      6.30800093397705,
      6.154223907074207,
      6.0020923249239875,
      5.763643256954948,
      5.336495647737381,
      4.736063988244965,
      4.0304155915651885,
      3.192880463342049,
      2.235279489130371,
      1.2537099698294574
    ],
    "ax_ego": [
      -0.3265418135767577,
      -0.2793816887795772,
      -0.3177601572079602,
      -0.6315500442618309,
      -1.0755715241285402,
      -1.3263724271251287,
      -1.4967569085539207,
      -1.8569783312486634,
      -1.9804331241858737,
      -1.9798181351919455
    ],
    "ay_ego": [
      0.6464957120049594,
      0.6682305987026123,
      0.4541037651897459,
      0.19784642152771856,
      -0.02742021217862395,
      0.0017315044240435729,
      0.1543369527146049,
      0.06655294020975644,
      0.14983814552268693,
      0.15775612387308147
    ],
    "a_ego": [
      0.7242832744546828,
      0.7242832740494427,
      0.554239792028984,
      0.6618146756596172,
      1.0759209875971896,
      1.3263735573153497,
      1.5046930378908252,
      1.8581705563746387,
      1.9860933586380822,
      1.9860933621193066
    ],
    "yaw": [
      -2.2628769908638766,
      -2.1911663835783295,
      -2.149156082093273,
      -2.121884693247263,
      -2.121359905900894,
      -2.1264569669235183,
      -2.128172946812366,
      -2.1213119754015963,
      -2.1095014620882795,
      -2.10550274207581
    ],
    "yaw_diff": [
      0.14342121457109425,
      0.08402060297011271,
      0.05454277769202065,
      0.0010495746927379201,
      -0.010194122045248832,
      -0.0034319597776955035,
      0.013721942821539379,
      0.02362102662663368,
      0.00799744002493874,
      0.00799744002493874
    ],
    "min_front_frame": [
      6,
      51.25271565014178
    ],
    "v_avg": 4.50128055727796,
    "v_std": 1.6795911250806697,
    "vy_max": 0.1551946037275409,
    "a_max": 1.9860933621193066,
    "ax_avg": -1.1271164154260198,
    "a_std": 0.5418839901378923,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1b65613f0242544a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      51.25271565014178,
      52.34920012249661,
      54.16421914165226,
      56.42039582346601
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1b65613f0242544a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f79931e74df250f7": {
    "vx_ego": [
      10.143191510622941,
      10.287722086017649,
      10.43540086530683,
      10.516609831677535,
      10.49653057444947,
      10.418055426971826,
      10.324208252730937,
      10.256262592988929,
      10.162015165954175,
      10.026604804795753
    ],
    "vy_ego": [
      0.05345456550656369,
      0.10712917054468374,
      0.10795580079891565,
      0.09489298123464884,
      0.07399569968058195,
      0.07708067194014934,
      0.0835173933470541,
      0.09704460541244586,
      0.11062039609191565,
      0.10156356906049702
    ],
    "v_ego": [
      10.143332362283452,
      10.288279855170975,
      10.435959259913421,
      10.517037939915602,
      10.496791388987576,
      10.418340573692332,
      10.324546053011195,
      10.25672170002597,
      10.162617236967758,
      10.027119181006755
    ],
    "ax_ego": [
      0.29014320777153335,
      0.29073326171811603,
      0.30047284874024105,
      0.02371384346623466,
      -0.10418084642567135,
      -0.20932025406635468,
      -0.16554576470613386,
      -0.10512317106822147,
      -0.27065463382568533,
      -0.27062446121709083
    ],
    "ay_ego": [
      -0.06978936443367281,
      -0.06728898155989751,
      0.01808385431736559,
      -0.00491563306858659,
      -0.06142785160281955,
      0.010869178712021435,
      -0.04701653080514635,
      -0.02897169115307724,
      -0.03523164406718908,
      -0.03546266925502338
    ],
    "a_ego": [
      0.29841855908105175,
      0.2984185592563284,
      0.30101654209868184,
      0.024217964827913645,
      0.12094225777000915,
      0.20960226098083276,
      0.17209286557289324,
      0.10904237700870176,
      0.2729380874026066,
      0.27293808807077824
    ],
    "yaw": [
      2.428399764412595,
      2.4197908215499586,
      2.418523690780886,
      2.420079726678101,
      2.4204894569293356,
      2.41898764375194,
      2.417494872730849,
      2.4143318614745377,
      2.411435762201915,
      2.4105821373469922
    ],
    "yaw_diff": [
      -0.017217885725273163,
      -0.0025342615381456213,
      0.0031120717944306264,
      0.0008194605024689494,
      -0.0030036263547907893,
      -0.0029855420421824874,
      -0.006326022512622487,
      -0.005792198545245597,
      -0.001707249709845371,
      -0.001707249709845371
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.307074555097504,
    "v_std": 0.15437513789616236,
    "vy_max": 0.11062039609191565,
    "a_max": 0.30101654209868184,
    "ax_avg": -0.022038596961303246,
    "a_std": 0.0926695165738754,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f79931e74df250f7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f79931e74df250f7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8ff8246f69f75f6a": {
    "vx_ego": [
      7.3388825946857,
      7.605967548311165,
      7.845430416878218,
      8.043264445209683,
      8.234403960500604,
      8.410736305525885,
      8.56748636325843,
      8.56852482234158,
      8.452107452068503,
      8.380368031871198
    ],
    "vy_ego": [
      0.0038304499647883183,
      -0.030468388209260233,
      -0.009809315498873872,
      0.031247429287195594,
      0.004803931923672344,
      0.005292595350955054,
      -0.03985001324686355,
      -0.027847365435960114,
      0.0013921800308986931,
      0.04288722747509777
    ],
    "v_ego": [
      7.338883594316485,
      7.606028574009081,
      7.845436549278088,
      8.043325141843471,
      8.234405361801784,
      8.410737970752434,
      8.567579040089152,
      8.568570073638046,
      8.45210756672424,
      8.380477770621985
    ],
    "ax_ego": [
      0.5330020981144487,
      0.5361674320209963,
      0.42430151966694984,
      0.3657871504101844,
      0.3963945864171981,
      0.30966590318706216,
      0.3209251487265048,
      -0.3132910650219554,
      -0.15058238865514043,
      -0.1384969530340352
    ],
    "ay_ego": [
      0.19043325888238335,
      0.1813299314567896,
      0.36770549957294907,
      0.2939183310608616,
      0.1635483494340122,
      0.3077768331220812,
      0.43391970661095564,
      0.45085409429859424,
      0.4926225533909515,
      0.49615585177266686
    ],
    "a_ego": [
      0.566000055373645,
      0.5660000522986846,
      0.5614615872950482,
      0.4692421813294337,
      0.4288085012490439,
      0.4365999892387955,
      0.5397029394680624,
      0.5490179466724169,
      0.515123321043135,
      0.5151233204272276
    ],
    "yaw": [
      -0.8339606550332508,
      -0.816932274305715,
      -0.8018673688323126,
      -0.7862295454902867,
      -0.7689208162896245,
      -0.754840064365227,
      -0.7276769385944033,
      -0.7034866103817066,
      -0.6791497473049192,
      -0.6547057806213094
    ],
    "yaw_diff": [
      0.03405676145507153,
      0.03012981094680489,
      0.031275646684051805,
      0.03461745840132435,
      0.02816150384879501,
      0.054326251541647386,
      0.048380656425393465,
      0.04867372615357479,
      0.04888793336721964,
      0.04888793336721964
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.144755164307476,
    "v_std": 0.4033297378213665,
    "vy_max": 0.04288722747509777,
    "a_max": 0.566000055373645,
    "ax_avg": 0.2283873431832213,
    "a_std": 0.049796222566419364,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "8ff8246f69f75f6a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.049522398724749,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8ff8246f69f75f6a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2b34624bf9455480": {
    "vx_ego": [
      13.447581069364984,
      13.337241882112869,
      13.214067399795148,
      13.076242227587459,
      12.99480165685315,
      13.023130559791712,
      13.089878200674493,
      13.107469895645844,
      13.080644529745967,
      13.045739657855904
    ],
    "vy_ego": [
      -0.02210120916925995,
      -0.030481438431134267,
      -0.025167701119516495,
      0.007534642972319094,
      -0.0001431542821522802,
      -0.022730314678797492,
      -0.01016537634069914,
      0.02683390616971032,
      0.029198569986045364,
      0.014428058204583705
    ],
    "v_ego": [
      13.447599231111488,
      13.337276713785107,
      13.214091367154555,
      13.076244398350244,
      12.994801657641665,
      13.023150396297595,
      13.089882147802914,
      13.107497363104157,
      13.080677118179409,
      13.045747636276653
    ],
    "ax_ego": [
      -0.22068965169903307,
      -0.2206858125865177,
      -0.2720149449922475,
      -0.27913448906351673,
      -0.04661774209621096,
      0.16006328920030283,
      0.1072636836552806,
      -0.03699547934673704,
      -0.07092439053986317,
      -0.06940851569469612
    ],
    "ay_ego": [
      -0.021511193375349583,
      -0.021550498558764744,
      0.04174842101389069,
      0.16934134220173447,
      0.20150685681264252,
      0.141174583027869,
      0.1534517653194852,
      0.15607688385665605,
      0.18449624703370912,
      0.18507185837314144
    ],
    "a_ego": [
      0.22173554926414532,
      0.22173554488422223,
      0.27520003807464943,
      0.3264851499891465,
      0.20682898061117946,
      0.21342567662470338,
      0.18722430961540884,
      0.1604015559977488,
      0.19765913675561386,
      0.19765913794365542
    ],
    "yaw": [
      -1.6334898217511977,
      -1.6336679221003996,
      -1.6336878178123035,
      -1.6321611157877762,
      -1.6244426920497084,
      -1.6161044187933773,
      -1.6114277710105394,
      -1.6083490371408127,
      -1.6020292586586071,
      -1.5938257896887724
    ],
    "yaw_diff": [
      -0.00035620069840369695,
      -3.9791423807944426e-05,
      0.003053404049054631,
      0.015436847476135718,
      0.01667654651266215,
      0.009353295565675879,
      0.0061574677394533595,
      0.012639556964411103,
      0.016406937939669408,
      0.016406937939669408
    ],
    "min_front_frame": [
      0,
      75.21165102888126
    ],
    "v_avg": 13.141696802970378,
    "v_std": 0.13920065596309783,
    "vy_max": 0.030481438431134267,
    "a_max": 0.3264851499891465,
    "ax_avg": -0.09491440531632388,
    "a_std": 0.04497368236908282,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2b34624bf9455480",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.431271956529262,
    "right_rear_min": 11.102412744768822,
    "speed_mode": "quasi_constant",
    "front_frame": [
      75.21165102888126,
      76.43139070108182,
      77.43404552027,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2b34624bf9455480",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "c0deb9fb709b5a64": {
    "vx_ego": [
      5.3860756656692494,
      5.226728984067405,
      5.117666008136245,
      4.989032838986436,
      4.830807585301688,
      4.657224753147594,
      4.404987957043448,
      3.9800587183048326,
      3.431209876628307,
      2.850258294326151
    ],
    "vy_ego": [
      0.017608217022825112,
      -0.0851324207280113,
      -0.06372724674456443,
      -0.015252498663372194,
      -0.01706209749732457,
      -0.012165251155796142,
      -0.039701872044712205,
      -0.06535398195647146,
      -0.0010835671986273443,
      0.01070783751551474
    ],
    "v_ego": [
      5.386104448079444,
      5.22742225211904,
      5.118062771480124,
      4.989056153943403,
      4.830837716315808,
      4.6572406416961485,
      4.405166868614816,
      3.9805952499735358,
      3.431210047722161,
      2.8502784078330454
    ],
    "ax_ego": [
      -0.42623124591708494,
      -0.1854287172129474,
      -0.23760794363357157,
      -0.2748301841286504,
      -0.3589964631788998,
      -0.34432236163579744,
      -0.6619924411502404,
      -1.0359267120675102,
      -1.1619415931612895,
      -1.161644150822388
    ],
    "ay_ego": [
      1.4700115428372467,
      1.519283780599409,
      1.1368399493957555,
      0.8677287901526263,
      0.7155619768968011,
      0.2307162517647433,
      0.20091537738175022,
      -0.01092965015211178,
      -0.02777893838023443,
      -0.03824675047854381
    ],
    "a_ego": [
      1.5305577450951575,
      1.5305577464309121,
      1.1614054440288795,
      0.9102114498114866,
      0.8005669262187999,
      0.41447301184857055,
      0.6918099312733993,
      1.0359843676559264,
      1.162273606056564,
      1.162273611101119
    ],
    "yaw": [
      -2.5142652762340543,
      -2.3535025159143723,
      -2.2295716876782237,
      -2.14013604757435,
      -2.059367656641035,
      -2.0105237587709013,
      -1.9808934600897357,
      -1.9636388833310112,
      -1.9835092023158896,
      -1.9925191885783295
    ],
    "yaw_diff": [
      0.3215255206393639,
      0.2478616564722973,
      0.17887128020774767,
      0.16153678186663,
      0.09768779574026709,
      0.059260597362331247,
      0.034509153517448876,
      -0.03974063796975669,
      -0.018019972524879968,
      -0.018019972524879968
    ],
    "min_front_frame": [
      9,
      32.51020254410248
    ],
    "v_avg": 4.4875974557777525,
    "v_std": 0.7880869007159208,
    "vy_max": 0.0851324207280113,
    "a_max": 1.5305577464309121,
    "ax_avg": -0.584892181290838,
    "a_std": 0.3335632596463549,
    "ini_direction_judge": "left",
    "scenario_type": "carpark_areas",
    "scene_token": "c0deb9fb709b5a64",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      53.32587229803226,
      40.31467628672204,
      38.01152390069868,
      35.93670841333547,
      34.08557369704579,
      32.51020254410248
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "c0deb9fb709b5a64",
    "maneuvering": "Yes"
  },
  "6740833c5f9d571a": {
    "vx_ego": [
      6.708708191583078,
      5.957092630525678,
      5.331725139964515,
      4.764746966556056,
      4.139702662219511,
      3.506669790879776,
      2.8132465663855744,
      2.106900235876977,
      1.4551841334960254,
      0.8281546742369572
    ],
    "vy_ego": [
      -0.02311845999085463,
      0.0177899677023641,
      0.009846941209408405,
      -0.01748231664307892,
      -0.008875664214078718,
      0.029064769148084153,
      0.04574062716210463,
      0.0103629669836117,
      -0.029015410356515975,
      -0.050691419294202546
    ],
    "v_ego": [
      6.708748025004833,
      5.957119194007637,
      5.331734232909665,
      4.764779038601931,
      4.139712177072525,
      3.506790239389069,
      2.8136183906587986,
      2.106925721287574,
      1.4554733788072989,
      0.8297046368742201
    ],
    "ax_ego": [
      -1.5033591910108273,
      -1.5030712898790612,
      -0.9989421941440633,
      -1.2688027117788918,
      -1.231223082571466,
      -1.3009101440634971,
      -1.472488204640943,
      -1.3527230021233227,
      -1.2540597613324054,
      -1.2540594032998378
    ],
    "ay_ego": [
      0.11194562035300504,
      0.11574699335828958,
      -0.06388222441763339,
      0.01621567495908565,
      0.05544928225469437,
      0.0977116101724349,
      -0.04786145577026073,
      -0.10571411519439865,
      -0.043365659058232274,
      -0.04337598462298978
    ],
    "a_ego": [
      1.5075213693719065,
      1.5075213659945883,
      1.000982740029967,
      1.2689063281156132,
      1.2324710552217215,
      1.304574551986125,
      1.4732658387932425,
      1.3568474470716558,
      1.254809334272998,
      1.2548093333438188
    ],
    "yaw": [
      -1.6060802113201855,
      -1.6035513844743803,
      -1.5998051519417216,
      -1.5967723489747248,
      -1.5946791444973623,
      -1.594587860611576,
      -1.5959122181281682,
      -1.5971457988393638,
      -1.5959537237653012,
      -1.5959619589239753
    ],
    "yaw_diff": [
      0.005057653691610486,
      0.007492465065317422,
      0.006065605933993634,
      0.004186408954724996,
      0.00018256777157255044,
      -0.0026487150331844234,
      -0.0024671614223912286,
      0.002384150148125208,
      -1.647031734819393e-05,
      -1.647031734819393e-05
    ],
    "min_front_frame": [
      9,
      12.105854556070092
    ],
    "v_avg": 3.7614605034613553,
    "v_std": 1.8637708780031135,
    "vy_max": 0.050691419294202546,
    "a_max": 1.5075213693719065,
    "ax_avg": -1.3139638984844315,
    "a_std": 0.14690525623549128,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6740833c5f9d571a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.05931894175337,
    "speed_mode": "decelerating",
    "front_frame": [
      21.478885729447985,
      25.686386205710008,
      22.86348777553897,
      20.328257663484738,
      18.126369060505912,
      16.361729058560424,
      14.775836392127639,
      13.56470199818236,
      12.663267619218242,
      12.105854556070092
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6740833c5f9d571a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1a1b315baec45bc3": {
    "vx_ego": [
      0.6953569243605853,
      0.41481399050665896,
      0.1471695067748724,
      -0.014410738469389561,
      -0.03566426909980614,
      -0.016978942929162744,
      -0.009357592139373037,
      -0.006115967588229991,
      -0.0041292783938943,
      -0.0028725648746813605
    ],
    "vy_ego": [
      -0.0005537784722643713,
      -0.007919464760645284,
      -0.002002740930722724,
      0.007155447513410384,
      0.004500422027717135,
      0.0017132066338627376,
      0.0010886291356427503,
      0.0007854060755844011,
      0.0005779353190116655,
      0.0005558890253806643
    ],
    "v_ego": [
      0.6953571448736319,
      0.4148895812648875,
      0.14718313318989645,
      0.016089431697555855,
      0.0359470984761072,
      0.017065156898255485,
      0.009420702948391183,
      0.006166191875367216,
      0.00416952626652518,
      0.0029258574072896656
    ],
    "ax_ego": [
      -0.5610889090333361,
      -0.5610860565698514,
      -0.5095136463774483,
      -0.13680180072235676,
      0.05178853659170316,
      0.02295243925016877,
      0.007533190097015596,
      0.0054332564919651735,
      0.00251347002731722,
      0.002513474176558212
    ],
    "ay_ego": [
      -0.014889888689949365,
      -0.01499708930429866,
      0.03814908161853062,
      -0.0015308505622145321,
      -0.009083062532667666,
      -0.0020690952040797,
      -0.0004270256120857828,
      -0.0007862150566661085,
      -4.388038932356486e-05,
      -4.378974415612021e-05
    ],
    "a_ego": [
      0.5612864443627855,
      0.5612864469811361,
      0.510939828427165,
      0.13681036577804784,
      0.05257903144108427,
      0.02304551198164696,
      0.0075452835540588585,
      0.005489846101924005,
      0.0025138530320584006,
      0.0025138556000530816
    ],
    "yaw": [
      2.7823697121358206,
      2.782178639546661,
      2.781709754722856,
      2.7815261214468556,
      2.7814943651355466,
      2.781530829634088,
      2.7814825617759125,
      2.781494794942387,
      2.7815066832547437,
      2.781468786397391
    ],
    "yaw_diff": [
      -0.00038214517831924866,
      -0.0009377696476100539,
      -0.00036726655200070013,
      -6.351262261805601e-05,
      7.29289970831104e-05,
      -9.653571635137581e-05,
      2.4466332948946956e-05,
      2.3776624713534034e-05,
      -7.579371470534113e-05,
      -7.579371470534113e-05
    ],
    "min_front_frame": [
      8,
      7.7033172365568205
    ],
    "v_avg": 0.13492138248979074,
    "v_std": 0.2229966376816694,
    "vy_max": 0.007919464760645284,
    "a_max": 0.5612864469811361,
    "ax_avg": -0.16757560460682644,
    "a_std": 0.23786622064789234,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1a1b315baec45bc3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.603832119911362,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.12836845691196,
      7.86478196425933,
      7.754954392265094,
      7.752712614502867,
      7.757642559631667,
      7.720096557291902,
      7.746601213511633,
      7.719970699445268,
      7.7033172365568205,
      7.712671680466568
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1a1b315baec45bc3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1fdff45f05055069": {
    "vx_ego": [
      10.482228409252457,
      10.640726030802705,
      10.759397340308606,
      10.814102526061006,
      10.8964736901687,
      11.069174208039119,
      11.291630872235604,
      11.476511727784022,
      11.612692001127115,
      11.737910074726583
    ],
    "vy_ego": [
      -0.05679886682135171,
      0.053633173125414046,
      0.013503742760486936,
      0.010878130127949248,
      0.018493863981738023,
      0.021779689313447648,
      0.03491807733576202,
      0.02266180030512821,
      0.09836414200450694,
      0.14284142840944636
    ],
    "v_ego": [
      10.482382292924232,
      10.640861195404336,
      10.759405814342559,
      10.814107997328033,
      10.896489384363372,
      11.06919563485916,
      11.291684862187264,
      11.476534102034345,
      11.613108585450926,
      11.73877917826372
    ],
    "ax_ego": [
      0.2918750335021704,
      0.342088545169526,
      0.1307622994452478,
      0.08284453345292003,
      0.24073634083693823,
      0.443848649939204,
      0.43740183207349725,
      0.29198278830925173,
      0.2479440913963666,
      0.24963480192307952
    ],
    "ay_ego": [
      1.1528589761925285,
      1.138968955731588,
      1.3480611392092128,
      1.2746256355223233,
      1.1810992344254,
      1.1021199531180876,
      0.9441311404966901,
      0.5904366899421395,
      0.24893375095970263,
      0.24723824910748035
    ],
    "a_ego": [
      1.1892328847494835,
      1.1892328850382952,
      1.3543882803694993,
      1.2773150462801723,
      1.2053835021933164,
      1.1881372038253284,
      1.0405306209606868,
      0.6586876600473668,
      0.35134638866115736,
      0.35134639055056144
    ],
    "yaw": [
      1.785826153165082,
      1.8296387696294392,
      1.891325102040628,
      1.9523006605847315,
      2.0082421922043063,
      2.0600236684447415,
      2.1045932583038116,
      2.139310837119667,
      2.150924475171385,
      2.157739447009178
    ],
    "yaw_diff": [
      0.08762523292871416,
      0.12337266482237785,
      0.12195111708820683,
      0.11188306323914965,
      0.10356295248087033,
      0.08913917971814023,
      0.06943515763171071,
      0.023227276103436445,
      0.013629943675585565,
      0.013629943675585565
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.078254904715795,
    "v_std": 0.4095700152363609,
    "vy_max": 0.14284142840944636,
    "a_max": 1.3543882803694993,
    "ax_avg": 0.2759118916048201,
    "a_std": 0.3616008300292505,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "1fdff45f05055069",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "1fdff45f05055069",
    "road_shape": "Curve"
  },
  "eb2304df049d5ce3": {
    "vx_ego": [
      11.398882736613098,
      11.453891314806388,
      11.523258316355474,
      11.633275246801524,
      11.734572358164877,
      11.804419073466478,
      11.864003348994189,
      11.828582599421228,
      11.716662839173805,
      11.61427931143798
    ],
    "vy_ego": [
      0.029287134812816973,
      0.04690073548863438,
      0.05124822371162896,
      0.03440423392853997,
      0.022415162379224363,
      0.014237787156614168,
      0.005403677296011544,
      -0.006274613605786072,
      0.009724042478152839,
      0.051377370894186924
    ],
    "v_ego": [
      11.398920360249985,
      11.453987337621191,
      11.523372275765857,
      11.63332612020987,
      11.734593766658975,
      11.804427659848752,
      11.86400457959595,
      11.82858426364316,
      11.716666874323879,
      11.614392948335107
    ],
    "ax_ego": [
      0.10653313154276872,
      0.11138484073611037,
      0.16304736233200304,
      0.27478180316676437,
      0.12925587054399193,
      0.14912110424758424,
      0.08947223805149218,
      -0.2307941156837624,
      -0.2162408962875702,
      -0.1965547762725296
    ],
    "ay_ego": [
      0.35180225528117476,
      0.3502963787486908,
      0.3073525144982325,
      0.3729894581846459,
      0.48079705861421274,
      0.5369053473679902,
      0.6355700060619529,
      0.6577135972839829,
      0.7177549027091819,
      0.7233936933302916
    ],
    "a_ego": [
      0.36757874657987194,
      0.3675787476313816,
      0.34792242027758097,
      0.4632776438254431,
      0.49786834770063854,
      0.5572292667873441,
      0.6418368281639296,
      0.6970316347817272,
      0.7496213881622634,
      0.7496213815157516
    ],
    "yaw": [
      2.0031281750545302,
      2.0169485474356197,
      2.0308886719529564,
      2.047052677684911,
      2.0663166087776697,
      2.0886325598998914,
      2.114130370184373,
      2.142312081647648,
      2.170164663539777,
      2.1974829969414786
    ],
    "yaw_diff": [
      0.027640744762178926,
      0.027880249034673454,
      0.03232801146390951,
      0.03852786218551696,
      0.04463190224444347,
      0.05099562056896367,
      0.056363422926549944,
      0.05570516378425783,
      0.05463666680340307,
      0.05463666680340307
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.657227618625273,
    "v_std": 0.1522034179856623,
    "vy_max": 0.051377370894186924,
    "a_max": 0.7496213881622634,
    "ax_avg": 0.03800065623768526,
    "a_std": 0.1506869573122895,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "eb2304df049d5ce3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "eb2304df049d5ce3",
    "road_shape": "Straight"
  },
  "5085749584aa5377": {
    "vx_ego": [
      2.6289538957140492,
      2.7175694951002853,
      2.8161226441663243,
      2.8894295334678213,
      2.9505470466796537,
      3.00445325781409,
      3.0498707559392337,
      3.056441572872375,
      2.9171447478939863,
      2.6709010346559454
    ],
    "vy_ego": [
      -0.03776856255678629,
      0.028711762437479083,
      0.0444729392454144,
      0.0258717019908431,
      -0.004931998041902752,
      -0.00844904576978489,
      -0.009795895832424094,
      -0.035819449461091585,
      -0.041327447053260705,
      -0.04384615715085104
    ],
    "v_ego": [
      2.629225180563217,
      2.7177211641376835,
      2.8164737863703713,
      2.8895453576367296,
      2.950551168726737,
      3.0044651378846314,
      3.0498864876431897,
      3.0566514556524518,
      2.9174374780010983,
      2.6712609049703655
    ],
    "ax_ego": [
      0.14642501523876306,
      0.20895804167135834,
      0.1674671836728697,
      0.11085955315353271,
      0.12625139064911378,
      0.08596039180221406,
      0.09100887692003173,
      -0.0642877731505878,
      -0.4925596896430081,
      -0.4925520224041943
    ],
    "ay_ego": [
      0.6562437829603223,
      0.639087415123974,
      0.5949766409071996,
      0.609858615906925,
      0.5608465968390991,
      0.4259566561176329,
      0.16075324630676743,
      0.016539033807424976,
      -0.009334050986252378,
      -0.009730235422590706
    ],
    "a_ego": [
      0.6723809840869583,
      0.6723809837800083,
      0.6180958346668722,
      0.6198527017939918,
      0.5748811345198537,
      0.43454373985791755,
      0.18472742589125668,
      0.06638115256565363,
      0.4926481222627672,
      0.4926481221478886
    ],
    "yaw": [
      -2.1085509833265865,
      -2.0120744761327076,
      -1.9065622947506826,
      -1.7948511321261025,
      -1.684110135121086,
      -1.6002649732309768,
      -1.55136581043766,
      -1.5284717538135815,
      -1.526067657216132,
      -1.5268720035803853
    ],
    "yaw_diff": [
      0.1929530143877578,
      0.21102436276405,
      0.22342232524916028,
      0.22148199401003277,
      0.16769032378021853,
      0.0977983255866337,
      0.045788113248157014,
      0.004808193194898891,
      -0.001608692728506611,
      -0.001608692728506611
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.8703218121586476,
    "v_std": 0.14762188830999184,
    "vy_max": 0.0444729392454144,
    "a_max": 0.6723809840869583,
    "ax_avg": -0.011246903208990694,
    "a_std": 0.1955054384505729,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "5085749584aa5377",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5085749584aa5377",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6922b2ea23cd51a3": {
    "vx_ego": [
      4.225015065794034,
      4.167764038487964,
      4.195298167655206,
      4.238599605414417,
      4.285679968984923,
      4.319388002751197,
      4.318206966227722,
      4.282581868965652,
      4.244304911036184,
      4.281934248484587
    ],
    "vy_ego": [
      -0.0038857395286719942,
      0.011190656120959819,
      -0.009541613805074123,
      -0.04748784326318456,
      -0.024039282488251414,
      -0.027290978024874235,
      -0.027257512104538195,
      -0.035784714520668226,
      -0.02475890155378946,
      -0.018815353748037555
    ],
    "v_ego": [
      4.225016852647839,
      4.167779062198226,
      4.195309018168404,
      4.238865615972868,
      4.285747389156431,
      4.3194742175168175,
      4.318292993202726,
      4.282731372639038,
      4.244377125215433,
      4.281975586791911
    ],
    "ax_ego": [
      -0.21504202528130267,
      -0.014851680474241291,
      0.10989954538673197,
      0.08481448188101759,
      0.12249320186765654,
      0.023488937430520412,
      -0.011280822646271949,
      -0.11113471452540824,
      -0.017492143336660604,
      0.18032012951900478
    ],
    "ay_ego": [
      1.298701417698377,
      1.3163008266673186,
      1.1235681293823407,
      1.18998749460629,
      1.1870938403625952,
      1.1458394535470429,
      1.1794967818180093,
      1.2129168958390477,
      1.3070650056541886,
      1.2946851128783365
    ],
    "a_ego": [
      1.3163846113385171,
      1.3163846089566587,
      1.1289301357656916,
      1.1930061750284868,
      1.1933969877331705,
      1.1460801819622397,
      1.179550726030304,
      1.2179976687106076,
      1.3071820470325832,
      1.3071820418819031
    ],
    "yaw": [
      0.9915377159320165,
      1.1443487856552208,
      1.2954549963877016,
      1.4412442778912582,
      1.5751205745153514,
      1.7108324812911864,
      1.8450929095126665,
      1.9855174018860464,
      2.130841485112625,
      2.2826104229554685
    ],
    "yaw_diff": [
      0.3056221394464087,
      0.3022124214649615,
      0.29157856300711327,
      0.26775259324818634,
      0.27142381355167,
      0.2685208564429602,
      0.2808489847467599,
      0.29064816645315705,
      0.303537875685687,
      0.303537875685687
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.25595692335097,
    "v_std": 0.04799848141965118,
    "vy_max": 0.04748784326318456,
    "a_max": 1.3163846113385171,
    "ax_avg": 0.015121490982104652,
    "a_std": 0.07034926061862769,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "6922b2ea23cd51a3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6922b2ea23cd51a3",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "1ce94ab175d8507a": {
    "vx_ego": [
      2.447753176011954,
      3.256338188857115,
      3.9434904751146322,
      4.464511532876782,
      4.855794289508773,
      5.0961875084149515,
      5.28473710768275,
      5.4964189713605816,
      5.786748725800038,
      6.196041998581883
    ],
    "vy_ego": [
      -0.13191380876437664,
      -0.0022118416205909597,
      -0.01927423782390092,
      -0.08948920600825433,
      -0.06427877779563573,
      -0.06195852568591098,
      -0.07288623591427656,
      -0.11270685270928604,
      -0.22244591687888393,
      0.12700034669833293
    ],
    "v_ego": [
      2.4513051347433947,
      3.2563389400448766,
      3.9435375772982715,
      4.465408329053657,
      4.856219717362561,
      5.096564134770578,
      5.285239701347971,
      5.497574405442835,
      5.791022621392913,
      6.197343425714931
    ],
    "ax_ego": [
      1.6141528391655127,
      1.6277524620634394,
      1.1568647330297228,
      1.0108136538445747,
      0.6622104095505041,
      0.40178598025774725,
      0.4193270414773037,
      0.5313976939859317,
      0.7177843969044319,
      0.9352732261341851
    ],
    "ay_ego": [
      0.4620962923002044,
      0.41163610716525223,
      1.0257182115108403,
      1.571688230484015,
      2.095147557624257,
      2.487545992347505,
      2.500171005825888,
      2.6071486006617426,
      2.042594106068919,
      1.952605722712367
    ],
    "a_ego": [
      1.6789944525053326,
      1.6789944498049276,
      1.546102797343349,
      1.8686755033018958,
      2.1973087891181646,
      2.5197851174208905,
      2.535091758908648,
      2.6607531518549496,
      2.165041598350236,
      2.165041596804212
    ],
    "yaw": [
      -1.9336702908086134,
      -1.9025428499962576,
      -1.7997572181756634,
      -1.629745661579927,
      -1.4407797882753424,
      -1.213482913311481,
      -0.9722176037503896,
      -0.7285437803624908,
      -0.5030692084481256,
      -0.39430149794114444
    ],
    "yaw_diff": [
      0.06225488162471171,
      0.20557126364118838,
      0.3400231131914726,
      0.3779317466091694,
      0.4545937499277226,
      0.482530619122183,
      0.48734764677579756,
      0.4509491438287303,
      0.2175354210139624,
      0.2175354210139624
    ],
    "min_front_frame": [
      8,
      13.476437996274617
    ],
    "v_avg": 4.684055398717199,
    "v_std": 1.1116734253930864,
    "vy_max": 0.22244591687888393,
    "a_max": 2.6607531518549496,
    "ax_avg": 0.9077362436413352,
    "a_std": 0.3758560693046596,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "1ce94ab175d8507a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.185031121475658,
    "right_rear_min": 13.03377905121316,
    "speed_mode": "accelerating",
    "front_frame": [
      29.011484321320506,
      27.54951375533253,
      36.76650786953774,
      -1,
      -1,
      -1,
      -1,
      -1,
      13.476437996274617,
      16.194141761437667
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "1ce94ab175d8507a",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "238f1cddb9415996": {
    "vx_ego": [
      6.298309338924582,
      6.038238692105828,
      5.7784202267958555,
      5.586861333211103,
      5.58813521348598,
      5.764870621634994,
      6.037003139090251,
      6.372045185449239,
      6.737101475841807,
      7.113921992230688
    ],
    "vy_ego": [
      -0.04033320519477268,
      -0.02479443063560538,
      -0.007876313451099737,
      -0.002897844231009028,
      -0.022127523222798207,
      -0.015400516625383887,
      0.003999698083443359,
      -0.002602942091805449,
      -0.004092785753196271,
      0.03439558023883382
    ],
    "v_ego": [
      6.298438480784415,
      6.0382895977780375,
      5.778425594723622,
      5.586862084751201,
      5.588179022855834,
      5.764891192390588,
      6.0370044640508835,
      6.372045717092303,
      6.737102719024334,
      7.114005142497678
    ],
    "ax_ego": [
      -0.5204269473709778,
      -0.5203602232782165,
      -0.5191964562867788,
      -0.24693843602944082,
      0.2518064377781779,
      0.4549759524158312,
      0.6335867376875699,
      0.7066094508641869,
      0.7536838747665862,
      0.753638573592328
    ],
    "ay_ego": [
      -0.016071663791721202,
      -0.018103428656592813,
      -0.011815019825527406,
      -0.09175812571490238,
      -0.06351822079290852,
      0.06454782809553938,
      -0.023287348936144814,
      -0.0483799029207479,
      0.06746102246918012,
      0.06796508904897769
    ],
    "a_ego": [
      0.5206750483045146,
      0.5206750388671226,
      0.519330872290707,
      0.2634352763457811,
      0.259694140248162,
      0.4595318698290076,
      0.6340145540869321,
      0.7082637439945721,
      0.7566970150831589,
      0.756697002066028
    ],
    "yaw": [
      2.3782764986593197,
      2.374372237998156,
      2.3702427631336684,
      2.3647774027211645,
      2.3612319116153984,
      2.360087072723532,
      2.3585416229957596,
      2.35671540037412,
      2.3576713353855556,
      2.357002528558534
    ],
    "yaw_diff": [
      -0.007808521322327344,
      -0.008258949728975118,
      -0.01093072082500779,
      -0.007090982211532371,
      -0.0022896777837324578,
      -0.003090899455544971,
      -0.0036524452432793453,
      0.0019118700228712981,
      -0.0013376136540435013,
      -0.0013376136540435013
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.1315244015948895,
    "v_std": 0.47815384371078035,
    "vy_max": 0.04033320519477268,
    "a_max": 0.7566970150831589,
    "ax_avg": 0.17473789641392665,
    "a_std": 0.17139870942923155,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "238f1cddb9415996",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "238f1cddb9415996",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8aaf40c869ca574f": {
    "vx_ego": [
      8.425694501699283,
      8.04339146771409,
      7.679757666090262,
      7.295089625152771,
      6.7432648800762385,
      6.055910543595732,
      5.460321145401147,
      5.070318845062117,
      4.81542721656964,
      4.590605393388021
    ],
    "vy_ego": [
      0.04628709230081146,
      -0.02536561082855765,
      -0.0017859682417420662,
      0.01876912386014082,
      0.0044305863410033786,
      0.0011225876487302167,
      0.00563424951669908,
      -0.019202122256821802,
      -0.043183355590393185,
      -0.009031895331778995
    ],
    "v_ego": [
      8.425821641292865,
      8.043431464064856,
      7.679757873758437,
      7.295113770121894,
      6.743266335609541,
      6.055910647643093,
      5.460324052259399,
      5.070355205712041,
      4.815620840585321,
      4.59061427838764
    ],
    "ax_ego": [
      -0.7682148494329144,
      -0.761794460587168,
      -0.6916829824337812,
      -0.8484271170653671,
      -1.3591498335370102,
      -1.390437216695214,
      -0.9919032920789759,
      -0.5681063465809566,
      -0.45204038698664706,
      -0.4493375084246535
    ],
    "ay_ego": [
      0.25190825375012615,
      0.27070469124633467,
      0.3012283098351946,
      0.06376403541801387,
      0.07709379618036605,
      0.0216916770098691,
      -0.01573883446228438,
      -0.08204394167772579,
      -0.12418155364635257,
      -0.1336314990802656
    ],
    "a_ego": [
      0.8084626294373002,
      0.8084626336721245,
      0.7544294816844438,
      0.8508198547193406,
      1.3613345376553048,
      1.3906064081625087,
      0.9920281506829035,
      0.574000025602421,
      0.4687873395614045,
      0.4687873441377386
    ],
    "yaw": [
      -1.610986755599919,
      -1.5864176348595622,
      -1.5712127211337958,
      -1.56179586810061,
      -1.5547998676653154,
      -1.5504265828516632,
      -1.5509562415520235,
      -1.5508812889951538,
      -1.5564764648579539,
      -1.577443475996502
    ],
    "yaw_diff": [
      0.049138241480713774,
      0.030409827451532756,
      0.01883370606637147,
      0.013992000870589383,
      0.008746569627304357,
      -0.0010593174007205164,
      0.00014990511373946802,
      -0.011190351725600234,
      -0.041934022277096084,
      -0.041934022277096084
    ],
    "min_front_frame": [
      8,
      20.78234211945503
    ],
    "v_avg": 6.418021610943508,
    "v_std": 1.3383531233339403,
    "vy_max": 0.04628709230081146,
    "a_max": 1.3906064081625087,
    "ax_avg": -0.8281093993822688,
    "a_std": 0.3087471321338952,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8aaf40c869ca574f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.095747563931114,
    "right_rear_min": 19.034333329443132,
    "speed_mode": "decelerating",
    "front_frame": [
      28.686485824141776,
      26.595007091764852,
      24.690459510123105,
      22.767481773092264,
      24.242685541881155,
      21.115118576254314,
      25.718161926344603,
      23.146409998071746,
      20.78234211945503,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8aaf40c869ca574f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1139adeebbbe5d34": {
    "vx_ego": [
      1.3957398769409934,
      2.1027356140434597,
      2.8195955280023584,
      3.5198420490954265,
      4.148613674890432,
      4.689637803380128,
      5.16748313910177,
      5.6044420186689,
      5.990562638771886,
      6.3462496126582835
    ],
    "vy_ego": [
      -0.006595544092773076,
      -0.012681630430909197,
      -0.027202086694583905,
      -0.04438521450816246,
      -0.03849447564950781,
      -0.02380298591853869,
      -0.021810020807858432,
      -0.03273173723049361,
      -0.03306411861196645,
      -0.04013742101423157
    ],
    "v_ego": [
      1.395755460417454,
      2.1027738552486124,
      2.819726741202317,
      3.520121886788471,
      4.1487922637971915,
      4.689698210869291,
      5.167529164882257,
      5.604537599770713,
      5.990653884592997,
      6.346376537736402
    ],
    "ax_ego": [
      1.4139398735242517,
      1.4139724592753216,
      1.4534358720394054,
      1.3478587861810918,
      1.1676540504015758,
      0.9967929675378809,
      0.9151456971672605,
      0.8331945592694066,
      0.7112092685879658,
      0.7112744960506563
    ],
    "ay_ego": [
      -0.019630790170403256,
      -0.01712304044136792,
      -0.04565603899452508,
      0.0005511993660867187,
      0.05692416792667454,
      0.052676047853205066,
      0.06712754726382969,
      0.018050271219536673,
      -0.0369458873782762,
      -0.035668300472996795
    ],
    "a_ego": [
      1.414076141466396,
      1.4140761344789954,
      1.4541527801533154,
      1.3478588988860472,
      1.16904077872132,
      0.9981838438636482,
      0.9176043562698517,
      0.8333900562685156,
      0.7121682542205863,
      0.7121682640996768
    ],
    "yaw": [
      2.412995486505294,
      2.411221924077103,
      2.410743827557395,
      2.4125996457965746,
      2.4147978927696903,
      2.417659867950814,
      2.423320766766089,
      2.429290900147546,
      2.428535401329111,
      2.426739109718179
    ],
    "yaw_diff": [
      -0.003547124856381423,
      -0.0009561930394159646,
      0.003711636478358926,
      0.004396493946231317,
      0.005723950362247265,
      0.011321797630550634,
      0.011940266762913154,
      -0.001510997636869682,
      -0.003592583221863954,
      -0.003592583221863954
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.17859656053057,
    "v_std": 1.599674688359119,
    "vy_max": 0.04438521450816246,
    "a_max": 1.4541527801533154,
    "ax_avg": 1.0964478030034817,
    "a_std": 0.2836160351503083,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1139adeebbbe5d34",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.997766678810796,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1139adeebbbe5d34",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8b7722d516e553ba": {
    "vx_ego": [
      7.882892737008366,
      7.066681428000237,
      6.217169125768617,
      5.296298341312388,
      4.335712548879788,
      3.3349826735999644,
      2.4121626935601306,
      1.7056051648216006,
      1.131162013436394,
      0.5848798393116895
    ],
    "vy_ego": [
      -0.00175708752379089,
      0.04500030967755242,
      0.017907439034275274,
      0.006037233748919402,
      -0.013772702426525063,
      -0.019557899723939842,
      -0.01949856792436977,
      -0.008974962331315006,
      -0.006027581676728455,
      -0.023471110651845817
    ],
    "v_ego": [
      7.882892932834736,
      7.06682470652234,
      6.2171949152960675,
      5.29630178222311,
      4.335734423814008,
      3.3350400214470555,
      2.412241500006657,
      1.7056287779628274,
      1.1311780727994802,
      0.5853505953430806
    ],
    "ax_ego": [
      -1.638416235996236,
      -1.6222323368157876,
      -1.774949117068783,
      -1.9087430328309987,
      -1.9339882394507668,
      -2.0702005660648117,
      -1.621636919124569,
      -1.2050759527780555,
      -1.0926936601707626,
      -1.0925884505022068
    ],
    "ay_ego": [
      -0.4177745669867414,
      -0.4767657760550452,
      -0.29485343888059024,
      -0.17628781723047648,
      -0.14555283814210473,
      -0.04448458753114959,
      -0.02807840184214372,
      0.023268739928796744,
      -0.03800563401982293,
      -0.04091877313380071
    ],
    "a_ego": [
      1.690841018900663,
      1.690841021452987,
      1.7992728860856437,
      1.9168665472287747,
      1.9394576919915263,
      2.0706784545802575,
      1.6218799875816436,
      1.2053005792008118,
      1.0933544087781542,
      1.093354411051416
    ],
    "yaw": [
      -0.4725351101200728,
      -0.5087148934843295,
      -0.5336065010841349,
      -0.5519511632328249,
      -0.5645362216679584,
      -0.5753668795834028,
      -0.5818265063210701,
      -0.5876695921363749,
      -0.5923918158545987,
      -0.5950579611311795
    ],
    "yaw_diff": [
      -0.0723595667285134,
      -0.04978321519961071,
      -0.03668932429738003,
      -0.025170116870266934,
      -0.021661315830888928,
      -0.012919253475334624,
      -0.011686171630609588,
      -0.009444447436447456,
      -0.005332290553161645,
      -0.005332290553161645
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9968387728249355,
    "v_std": 2.4353336223147224,
    "vy_max": 0.04500030967755242,
    "a_max": 2.0706784545802575,
    "ax_avg": -1.5960524510802978,
    "a_std": 0.3408150834788414,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8b7722d516e553ba",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 27.073721610719332,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8b7722d516e553ba",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0cf908f72d885124": {
    "vx_ego": [
      13.732328268941187,
      13.655463802320128,
      13.680741579918188,
      13.815552231979861,
      13.903707913684578,
      13.981076879639803,
      14.083978801768007,
      14.15351525796362,
      14.215301242973313,
      14.282847583357322
    ],
    "vy_ego": [
      0.027811241266815223,
      0.02108412898470302,
      -0.00474434095062648,
      -0.03000906095806899,
      0.014286138963585326,
      0.030120783337313384,
      0.04098972459865946,
      0.03789584022011727,
      0.031162756980859463,
      0.05356082968563314
    ],
    "v_ego": [
      13.732356431111961,
      13.655480079329703,
      13.680742402562569,
      13.815584823607843,
      13.903715253227162,
      13.981109325657513,
      14.08403844947085,
      14.153565990665214,
      14.21533540040126,
      14.28294800984351
    ],
    "ax_ego": [
      -0.15759533408281953,
      -0.1513457901418737,
      0.2511195775741296,
      0.2885168406074192,
      0.06401415456098614,
      0.24536360030164,
      0.16629787342651425,
      0.11198094912537832,
      0.13514847357511203,
      0.13513228045265918
    ],
    "ay_ego": [
      0.40584628126552214,
      0.40821801168372823,
      0.29233716328400383,
      0.22350730085714882,
      0.0797892916961849,
      0.032031450844875235,
      -0.007216134403906213,
      -0.04740311210899595,
      0.028709820496050073,
      0.028785923012516527
    ],
    "a_ego": [
      0.43537052419947864,
      0.4353705241018098,
      0.38538559817142576,
      0.36496230058806756,
      0.10229439404745845,
      0.24744557016889718,
      0.1664543640218429,
      0.12160093751545917,
      0.1381642634786513,
      0.13816425943064534
    ],
    "yaw": [
      -1.8988902015588942,
      -1.8835365689093908,
      -1.8687791413806436,
      -1.8575575072577748,
      -1.8552872285070297,
      -1.8544164827647918,
      -1.854748698680217,
      -1.8554963465376213,
      -1.855351103924901,
      -1.8559142376879278
    ],
    "yaw_diff": [
      0.030707265299006803,
      0.029514855057494405,
      0.022443268245737613,
      0.004540557501490294,
      0.0017414914844757767,
      -0.0006644318308506314,
      -0.0014952957148084423,
      0.00029048522544039557,
      -0.0011262675260534927,
      -0.0011262675260534927
    ],
    "min_front_frame": [
      9,
      26.634279361176553
    ],
    "v_avg": 13.95048761658776,
    "v_std": 0.2164366329567406,
    "vy_max": 0.05356082968563314,
    "a_max": 0.43537052419947864,
    "ax_avg": 0.10886326253991456,
    "a_std": 0.13055657319041117,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0cf908f72d885124",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.4595614136017905,
    "speed_mode": "quasi_constant",
    "front_frame": [
      28.143733854078633,
      28.293219820281124,
      28.428910648167196,
      28.47312684385577,
      28.36088942802441,
      28.111237378240048,
      27.92515785449062,
      27.556549168070546,
      27.160835825414882,
      26.634279361176553
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0cf908f72d885124",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3fe8df1737825eb3": {
    "vx_ego": [
      9.204888818312988,
      9.403477788107294,
      9.706211915788725,
      10.000143698251177,
      10.278144931967066,
      10.554125447317862,
      10.821256533929693,
      11.059257181573916,
      11.12700690401569,
      11.052975043981313
    ],
    "vy_ego": [
      0.027344691072827665,
      -0.13827884822359326,
      -0.2158877100615113,
      -0.190497066149236,
      -0.11038574072725194,
      -0.030536314784968432,
      0.010646712614367004,
      0.016841242604703766,
      0.007775002858138258,
      0.026122222369972192
    ],
    "v_ego": [
      9.204929434256046,
      9.404494433582983,
      9.708612529993903,
      10.001957964213018,
      10.278737678055423,
      10.554169622677243,
      10.821261771420446,
      11.059270004645276,
      11.127009620409352,
      11.053005912120705
    ],
    "ax_ego": [
      0.23166631683030725,
      0.591109031695073,
      0.6460281599158944,
      0.548297623084342,
      0.5680285939870134,
      0.5352712261622398,
      0.5331179712909133,
      0.41901749504630276,
      -0.1480052846850109,
      -0.14799873960625962
    ],
    "ay_ego": [
      2.4502317199298047,
      2.3891201014957923,
      1.4542543002434556,
      0.5858965556270981,
      0.17606098269261056,
      0.014267858055393517,
      0.03361455595116519,
      -0.0647330351480829,
      -0.0034701753263882765,
      -0.003739081987020214
    ],
    "a_ego": [
      2.4611592316841038,
      2.461159228234279,
      1.591291284831567,
      0.8024369491590205,
      0.5946881142359843,
      0.535461349987762,
      0.5341766652383209,
      0.4239882392170345,
      0.1480459604700074,
      0.1480459646837667
    ],
    "yaw": [
      -2.3533266912605235,
      -2.205049020227842,
      -2.0963945595468814,
      -2.04727846459083,
      -2.0363895946859065,
      -2.039486185761815,
      -2.0422193927030126,
      -2.043495044206134,
      -2.0442102499324344,
      -2.0460271611664345
    ],
    "yaw_diff": [
      0.29655534206536327,
      0.21730892136192104,
      0.09823218991210236,
      0.02177773980984732,
      -0.006193182151816856,
      -0.005466413882395216,
      -0.0025513030062427333,
      -0.0014304114526009215,
      -0.0036338224680001474,
      -0.0036338224680001474
    ],
    "min_front_frame": [
      6,
      37.49497215770891
    ],
    "v_avg": 10.32134489713744,
    "v_std": 0.6781846198155755,
    "vy_max": 0.2158877100615113,
    "a_max": 2.4611592316841038,
    "ax_avg": 0.3776532393720815,
    "a_std": 0.8384606410284624,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "3fe8df1737825eb3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.823465190660242,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      37.49497215770891,
      38.970153066154424,
      40.41351725947477,
      41.881519469181804
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3fe8df1737825eb3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a4e50a4546d0513e": {
    "vx_ego": [
      8.822606844539052,
      8.976788348077315,
      9.305359052502922,
      9.801957792624641,
      10.461306673887812,
      11.148583688640194,
      11.768206110427792,
      12.316818837848116,
      12.80856294043243,
      13.281253543519353
    ],
    "vy_ego": [
      -0.11554905296214502,
      -0.07708868470367758,
      -0.09262607219452379,
      -0.1523921769347265,
      -0.1546945791965758,
      -0.16130187714207705,
      -0.07849690722443256,
      -0.03468187712756793,
      -0.004456716568818242,
      -0.006123487722939636
    ],
    "v_ego": [
      8.823363480949189,
      8.977119343725246,
      9.305820043674188,
      9.803142350490777,
      10.462450369677386,
      11.14975051551306,
      11.768467904615019,
      12.316867666617648,
      12.808563715785686,
      13.281254955174502
    ],
    "ax_ego": [
      0.12698309277245845,
      0.5442267414692743,
      0.7972410007815603,
      1.230354172685555,
      1.4487930755705434,
      1.3078517445177118,
      1.1730757260624778,
      1.0215238978938648,
      0.9453722605401869,
      0.9453798850776475
    ],
    "ay_ego": [
      2.7813349883492133,
      2.7305249042618427,
      2.430928625866949,
      2.1063855021295694,
      1.7509150357857717,
      0.7455734346235395,
      0.16961136131495055,
      0.048877637270339336,
      -0.016091603590629444,
      -0.015637537687380663
    ],
    "a_ego": [
      2.7842322143214955,
      2.7842322099502423,
      2.558321167755635,
      2.4393915786167653,
      2.2725986971662735,
      1.505442105181851,
      1.1852740919146594,
      1.022692572278398,
      0.9455092018087297,
      0.9455092065624482
    ],
    "yaw": [
      1.0107124008743558,
      1.1618227007626531,
      1.3049346997441797,
      1.4304701117115348,
      1.5260619624003557,
      1.5843245933696959,
      1.5970467006982392,
      1.5979427133778175,
      1.5961905435071846,
      1.5957102400661165
    ],
    "yaw_diff": [
      0.30222059977659477,
      0.2862239979630532,
      0.25107082393471014,
      0.19118370137764185,
      0.11652526193868029,
      0.025444214657086572,
      0.0017920253591565682,
      -0.0035043397412657384,
      -0.0009606068821361724,
      -0.0009606068821361724
    ],
    "min_front_frame": [
      3,
      42.69858380916783
    ],
    "v_avg": 10.86968003462227,
    "v_std": 1.5515723891513447,
    "vy_max": 0.16130187714207705,
    "a_max": 2.7842322143214955,
    "ax_avg": 0.954080159737128,
    "a_std": 0.751942383870836,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "a4e50a4546d0513e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      42.69858380916783,
      45.2286445227487,
      47.46062724104742,
      49.66609903263739,
      51.70308976648545,
      53.42060747876477,
      55.26339540339549
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a4e50a4546d0513e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "85482a4d20fd5eac": {
    "vx_ego": [
      9.64764805586431,
      9.594809898717118,
      9.534767453816398,
      9.477395236794823,
      9.426669889767009,
      9.345144671382409,
      9.223076902132224,
      9.127912230485034,
      9.051691460227994,
      8.970152157756983
    ],
    "vy_ego": [
      0.07151627216210632,
      0.049984049856846235,
      0.09025001246505271,
      0.11855066169506312,
      0.09915303708312528,
      0.09032284336662233,
      0.08095213742930119,
      0.05803086992582429,
      0.029585636141032268,
      0.07535409068679355
    ],
    "v_ego": [
      9.647913120825994,
      9.594940093495117,
      9.535194568707363,
      9.478136669926718,
      9.42719133864391,
      9.345581156091946,
      9.223432158974191,
      9.128096694782688,
      9.051739810723145,
      8.97046865956821
    ],
    "ax_ego": [
      -0.1059583281893692,
      -0.10595516239132569,
      -0.13472677153271578,
      -0.10227860036442442,
      -0.11211286520761674,
      -0.23017252151474493,
      -0.27343653935126966,
      -0.12139943134631004,
      -0.1900638438214769,
      -0.14579289527339734
    ],
    "ay_ego": [
      0.0012483227583808525,
      0.0014930002952227746,
      0.3980210467400755,
      0.5430355839988941,
      0.8038278978012909,
      0.834467414329082,
      0.8623063242191511,
      0.8390467635284873,
      0.935932575034209,
      0.9438424017081204
    ],
    "a_ego": [
      0.10596568134257037,
      0.10596568070490432,
      0.4202047793822602,
      0.5525835299586168,
      0.8116086395724875,
      0.865629975935168,
      0.9046213228974553,
      0.8477837538658292,
      0.955036151011238,
      0.9550361498782927
    ],
    "yaw": [
      1.7205148631087128,
      1.722824084079259,
      1.7290542216354265,
      1.7508343494454535,
      1.7885008602843477,
      1.833001433711694,
      1.8796653645158687,
      1.9286109809895513,
      1.980497566432137,
      2.0275912502974727
    ],
    "yaw_diff": [
      0.004618441941092399,
      0.01246027511233505,
      0.043560255620053834,
      0.07533302167778855,
      0.08900114685469251,
      0.0933278616083495,
      0.09789123294736513,
      0.10377317088517124,
      0.09418736773067149,
      0.09418736773067149
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.340269427173927,
    "v_std": 0.2242228297952509,
    "vy_max": 0.11855066169506312,
    "a_max": 0.955036151011238,
    "ax_avg": -0.15218969589926507,
    "a_std": 0.3188794378384596,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "85482a4d20fd5eac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "85482a4d20fd5eac",
    "road_shape": "Curve"
  },
  "d0de8d6a350d55d9": {
    "vx_ego": [
      6.113494118156698,
      6.129395885226501,
      6.268846946793202,
      6.481962359759507,
      6.625975063897661,
      6.718450232917584,
      6.697284727277766,
      6.5964739805335455,
      6.638485343855628,
      6.813689241907422
    ],
    "vy_ego": [
      0.05038940689943061,
      -0.01263759281176391,
      -0.006690084278916153,
      0.0019245110489136685,
      0.042972575412429936,
      -0.008501922696401376,
      -0.026850585812088656,
      -0.02007984777523486,
      -0.012017725653104883,
      -0.02180878093795524
    ],
    "v_ego": [
      6.113701777570134,
      6.129408913311596,
      6.268850516605585,
      6.481962645455604,
      6.626114411148603,
      6.7184556123323365,
      6.697338551408795,
      6.596504542266514,
      6.638496221759552,
      6.8137241438299325
    ],
    "ax_ego": [
      0.009466003488941999,
      0.04936504379553247,
      0.5014316248132743,
      0.35307782122430786,
      0.2322451793187183,
      0.13640659310599895,
      -0.2236036805780589,
      -0.18214712986399617,
      0.3497109458220906,
      0.35059395674832583
    ],
    "ay_ego": [
      0.6393578029414252,
      0.637519501140051,
      -0.013569314634836155,
      -0.31845267612585126,
      -0.5922074910881224,
      -0.3654937400052182,
      -0.2578993499044912,
      -0.09429445338113174,
      -0.1205143593267034,
      -0.1179208512118949
    ],
    "a_ego": [
      0.6394278734964084,
      0.6394278863818768,
      0.5016151918179308,
      0.47547455743942874,
      0.636119120776661,
      0.39011848536795535,
      0.34133660900819557,
      0.20510733983974808,
      0.36989384481457244,
      0.3698938356596185
    ],
    "yaw": [
      -0.500319476043749,
      -0.4378450808090997,
      -0.41342020201537444,
      -0.42774914408678466,
      -0.46864923021814736,
      -0.4967660782920461,
      -0.5171270330162726,
      -0.5314031390412532,
      -0.540831301046288,
      -0.5482380344043118
    ],
    "yaw_diff": [
      0.12494879046929874,
      0.04884975758745047,
      -0.028657884142820444,
      -0.0818001722627254,
      -0.056233696147797496,
      -0.040721909448453,
      -0.02855221204996128,
      -0.018856324010069425,
      -0.014813466716047774,
      -0.014813466716047774
    ],
    "min_front_frame": [
      0,
      23.27128068215285
    ],
    "v_avg": 6.508455733568866,
    "v_std": 0.2385564665626351,
    "vy_max": 0.05038940689943061,
    "a_max": 0.6394278863818768,
    "ax_avg": 0.15765463578751354,
    "a_std": 0.14051730530121176,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "d0de8d6a350d55d9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      23.27128068215285,
      43.797987233845625,
      42.690835753413374,
      40.8365557109864,
      39.88070436351425,
      38.52750063365796,
      37.58049414152134,
      35.80661248088358,
      32.53085676955408,
      35.44644316418302
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 7,
    "token": "d0de8d6a350d55d9",
    "smoothness": "Yes"
  },
  "0a06f8a3204d5e11": {
    "vx_ego": [
      9.743514207655707,
      10.347978188171213,
      10.955331617783967,
      11.562474612621767,
      12.117176601894911,
      12.587310617030386,
      12.98469848103776,
      13.28277836406674,
      13.536315936845075,
      13.803592899780254
    ],
    "vy_ego": [
      -0.014930592052929903,
      -0.07932588666049423,
      0.002280857834864314,
      0.010197617885573607,
      0.01096858086332464,
      -0.02071514930973528,
      -0.016514322603101483,
      -0.0193904358097452,
      -0.005294159176159496,
      -0.03228079394775474
    ],
    "v_ego": [
      9.74352564718581,
      10.348282233257926,
      10.95533185521687,
      11.562479109556627,
      12.117181566324557,
      12.587327662654088,
      12.98470898273486,
      13.282792517310522,
      13.536316972138593,
      13.803630645323778
    ],
    "ax_ego": [
      1.206016889090608,
      1.216348014278028,
      1.2132213460536805,
      1.2152416188654138,
      1.0031754699577276,
      0.877541097617363,
      0.7127292438884842,
      0.4795652052910192,
      0.5345823840058203,
      0.5345624263514359
    ],
    "ay_ego": [
      0.4115109677688537,
      0.37988885346325485,
      0.14019877702802563,
      0.1525006604836816,
      0.059906498877673076,
      0.08634861813321698,
      0.20535634053092844,
      0.05191289805216509,
      -0.04037736126461397,
      -0.040640619869320216
    ],
    "a_ego": [
      1.2742911807612287,
      1.274291188396015,
      1.2212951042235691,
      1.2247728947321583,
      1.0049625924046568,
      0.8817791457394546,
      0.741723804181924,
      0.48236680556397316,
      0.5361050798043602,
      0.5361050714646308
    ],
    "yaw": [
      2.180984486075567,
      2.2070914634503938,
      2.2116366070818776,
      2.217432853590089,
      2.2218428710539926,
      2.2273609516415185,
      2.23272734183435,
      2.2378320951324113,
      2.2369955160839523,
      2.237487993311592
    ],
    "yaw_diff": [
      0.052213954749653624,
      0.009090287262967678,
      0.011592493016422623,
      0.008820034927807363,
      0.011036161175051795,
      0.010732780385662721,
      0.010209506596122964,
      -0.001673158096918037,
      0.00098495445527913,
      0.00098495445527913
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.092157719170363,
    "v_std": 1.326835361517605,
    "vy_max": 0.07932588666049423,
    "a_max": 1.274291188396015,
    "ax_avg": 0.8992983695399579,
    "a_std": 0.3100637514929901,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0a06f8a3204d5e11",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0a06f8a3204d5e11",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ef7089ecfb0c5028": {
    "vx_ego": [
      7.408637948513858,
      7.160937538303879,
      6.894998979516283,
      6.562769567536848,
      6.125056275924107,
      5.595945589208397,
      5.1671761199884765,
      4.9834475481724745,
      4.90160945406064,
      4.946135964159775
    ],
    "vy_ego": [
      0.06882703030897502,
      0.01681387713681423,
      -0.018001752858739034,
      -0.042249836950406405,
      -0.053389974104281424,
      0.0006793504774347259,
      0.0731390219232888,
      0.07566595582579927,
      0.07517273545123482,
      0.1829929406872699
    ],
    "v_ego": [
      7.408957646812457,
      7.160957277763497,
      6.895022479342368,
      6.562905564253543,
      6.125288962373298,
      5.595945630445134,
      5.167693718817618,
      4.984021950418886,
      4.902185857379529,
      4.949519915334832
    ],
    "ax_ego": [
      -0.4954468944860819,
      -0.4955443032183532,
      -0.5676942632098972,
      -0.76025867727094,
      -0.9858275286779298,
      -1.1101194289465022,
      -0.5589392355777306,
      -0.12233628572457644,
      -0.11114865841135702,
      0.41031336367178395
    ],
    "ay_ego": [
      -0.08814898888995434,
      -0.08759968178033387,
      -0.24359677258795528,
      -0.558514319817925,
      -1.0923545675078747,
      -1.6309545748941832,
      -1.853843787018957,
      -1.840247167341915,
      -2.1639898541471,
      -2.127639312930074
    ],
    "a_ego": [
      0.503227453045066,
      0.5032274443034471,
      0.6177508916195072,
      0.9433618085376568,
      1.471425980963552,
      1.9729110400352,
      1.9362721543566663,
      1.8443090315114838,
      2.166842429231584,
      2.166842426742935
    ],
    "yaw": [
      -1.5428054034291363,
      -1.5416967956340435,
      -1.5485155231136285,
      -1.574618123184666,
      -1.6376183404037903,
      -1.7625224008682614,
      -1.939682104986363,
      -2.1236068436837092,
      -2.325416524882533,
      -2.5672446161166125
    ],
    "yaw_diff": [
      0.002217215590185617,
      -0.013637454959170014,
      -0.05220520014207519,
      -0.12600043443824838,
      -0.24980812092894222,
      -0.35431940823620334,
      -0.3678494773946923,
      -0.40361936239764784,
      -0.48365618246815867,
      -0.48365618246815867
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.9752499002941155,
    "v_std": 0.9304510943803268,
    "vy_max": 0.1829929406872699,
    "a_max": 2.166842429231584,
    "ax_avg": -0.4797001911851585,
    "a_std": 0.6649559314592226,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "ef7089ecfb0c5028",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.2908584555497,
    "right_rear_min": 9.752151038877653,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ef7089ecfb0c5028",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b043b68462d7540c": {
    "vx_ego": [
      2.0687433191891933,
      1.7349699642004537,
      1.4478486032527869,
      1.265735980599729,
      1.1332626602767897,
      0.9692956072757823,
      0.7773261803378256,
      0.5831799771026542,
      0.4015930498460584,
      0.22944050027601798
    ],
    "vy_ego": [
      -0.033282185791015266,
      0.01126140741399008,
      0.0059629079920161185,
      -0.022907066602977994,
      -0.019588190157345472,
      0.010999433987501868,
      0.035861207216457074,
      0.012421942433830165,
      -0.01953257882881105,
      -0.03864868671987304
    ],
    "v_ego": [
      2.069011025727255,
      1.7350065117960416,
      1.4478608822026953,
      1.2659432476557198,
      1.1334319363646266,
      0.969358015303001,
      0.7781529520740864,
      0.5833122580121917,
      0.40206777951032396,
      0.23267286939409224
    ],
    "ax_ego": [
      -0.6675647079078322,
      -0.6674952523505114,
      -0.48107206457897234,
      -0.2473551977314021,
      -0.2825327382275181,
      -0.37334571940928696,
      -0.3945676317529182,
      -0.38204737167543623,
      -0.34430533471765673,
      -0.34430522049979034
    ],
    "ay_ego": [
      0.09170738778186158,
      0.09221144966684257,
      -0.1096108199354284,
      -0.004443564479835762,
      0.01798594730274947,
      0.10363766796990433,
      -0.0033417960639400453,
      -0.08982874275366187,
      -0.038233600573438345,
      -0.038234638897286254
    ],
    "a_ego": [
      0.6738344635129921,
      0.6738344480361134,
      0.4934013205953059,
      0.24739510728797262,
      0.2831046493272701,
      0.387463278806493,
      0.39458178319334436,
      0.3924657911574109,
      0.3464216675207353,
      0.346421668599144
    ],
    "yaw": [
      -1.5364431038379847,
      -1.535687987445478,
      -1.5350830172324446,
      -1.534814573944197,
      -1.5347591538370993,
      -1.5349301629058614,
      -1.5346879204364485,
      -1.5344718699112523,
      -1.5345970853103128,
      -1.5346001046282596
    ],
    "yaw_diff": [
      0.0015102327850131658,
      0.0012099404260670354,
      0.0005368865764951991,
      0.00011084021419538459,
      -0.00034201813752421373,
      0.0004844849388256911,
      0.00043210105039248603,
      -0.0002504307981210374,
      -6.038635893546029e-06,
      -6.038635893546029e-06
    ],
    "min_front_frame": [
      8,
      12.581757696564166
    ],
    "v_avg": 1.0616817478040033,
    "v_std": 0.5571516500645618,
    "vy_max": 0.03864868671987304,
    "a_max": 0.6738344635129921,
    "ax_avg": -0.41845912388513246,
    "a_std": 0.13997260128061595,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b043b68462d7540c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.81187824225739,
      14.47367754325599,
      14.088076983386557,
      13.917595952804215,
      13.577960917383484,
      13.256253218059959,
      12.928681930826071,
      12.73596882235968,
      12.581757696564166,
      12.595908774905608
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b043b68462d7540c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4674e35da8425113": {
    "vx_ego": [
      10.846539678019784,
      10.97888743205385,
      11.102350429305721,
      11.169675773748262,
      11.224381751311505,
      11.280457775376359,
      11.280172206295102,
      11.26224729829256,
      11.273190346213136,
      11.306973426770261
    ],
    "vy_ego": [
      0.13540179095672222,
      0.16562334105927512,
      0.1623950118909594,
      0.09430564885571968,
      0.048102867616498735,
      0.06105332663891705,
      0.04762669767935357,
      0.053056601255369706,
      0.039843568076479485,
      0.033229980543530324
    ],
    "v_ego": [
      10.847384783064156,
      10.980136626509418,
      11.103538048522731,
      11.170073878272468,
      11.224484824928387,
      11.280622993910514,
      11.28027274962819,
      11.26237227278671,
      11.273260756847156,
      11.3070222563368
    ],
    "ax_ego": [
      0.26118225750928603,
      0.26319374260020295,
      0.22472952863438678,
      0.040250866173897865,
      0.17752556895581023,
      0.04620733151507978,
      -0.047671956962092414,
      -0.023127925853881473,
      0.06762959943173641,
      0.06818572972049709
    ],
    "ay_ego": [
      0.2430042555066677,
      0.2408242012834187,
      0.10911717037164569,
      -0.0585241362780574,
      0.10362698203690542,
      0.054097221705811264,
      -0.05417287269680616,
      -0.10351720620006431,
      -0.11902752059819763,
      -0.1187098131635823
    ],
    "a_ego": [
      0.35674534311185735,
      0.3567453462453273,
      0.24981977085520757,
      0.07102961885609178,
      0.2055574835396689,
      0.07114511144156134,
      0.07216173235739257,
      0.10606937792675732,
      0.13689891664674153,
      0.13689891701123608
    ],
    "yaw": [
      -2.4760795812142535,
      -2.467764772090382,
      -2.4595520374470485,
      -2.452316914289555,
      -2.4471756768075297,
      -2.4448257818565082,
      -2.4436384233420982,
      -2.4476188814767426,
      -2.4513876883330044,
      -2.4560662171885337
    ],
    "yaw_diff": [
      0.016629618247742783,
      0.016425469286667216,
      0.014470246314987278,
      0.010282474964050436,
      0.004699789902042895,
      0.0023747170288199726,
      -0.007960916269288631,
      -0.007537613712523594,
      -0.009357057711058658,
      -0.009357057711058658
    ],
    "min_front_frame": [
      9,
      43.84177238969996
    ],
    "v_avg": 11.172916919080654,
    "v_std": 0.14484385825106397,
    "vy_max": 0.16562334105927512,
    "a_max": 0.3567453462453273,
    "ax_avg": 0.10781047417249232,
    "a_std": 0.10602057105936175,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4674e35da8425113",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 22.58822702410574,
    "speed_mode": "quasi_constant",
    "front_frame": [
      49.034849514173196,
      48.55525858304088,
      47.783193697427315,
      47.00455810977595,
      46.4242272312658,
      45.62463079194678,
      45.123180390132895,
      44.53207115545156,
      44.20640785817261,
      43.84177238969996
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4674e35da8425113",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "ff32fea658445802": {
    "vx_ego": [
      10.722307320560517,
      10.608682725612946,
      10.501083026401428,
      10.39843697472076,
      10.287681474124161,
      10.177351142726087,
      9.989556016327075,
      9.694020321678146,
      9.356727381588408,
      8.999626344978124
    ],
    "vy_ego": [
      -0.048810198440348174,
      -0.053954320342512574,
      -0.020158083844208363,
      -0.0034044203682732643,
      0.01453660566738435,
      0.027880010288624746,
      0.03027715469198533,
      0.028395233354671312,
      0.014479892765669078,
      -0.009287430166058375
    ],
    "v_ego": [
      10.722418417130411,
      10.608819926900548,
      10.501102374309111,
      10.398437532019791,
      10.287691744309887,
      10.177389330143642,
      9.98960189944688,
      9.69406190852865,
      9.356738585675073,
      8.999631137195756
    ],
    "ax_ego": [
      -0.22701809023051595,
      -0.22601407492435774,
      -0.20420841409692214,
      -0.20623887724339324,
      -0.23681301056400272,
      -0.20488943316084435,
      -0.5470555493405249,
      -0.6354098823217776,
      -0.7141942495848621,
      -0.7142244267967501
    ],
    "ay_ego": [
      0.14048524633282583,
      0.14209488902762657,
      0.061914363439171866,
      0.09499989218159398,
      0.12257126237035625,
      0.149909707424269,
      0.04100397857507157,
      0.08443291617264206,
      -0.02100362722135013,
      -0.01995087719724553
    ],
    "a_ego": [
      0.2669706308362503,
      0.26697063424969925,
      0.21338806149374404,
      0.22706706938948656,
      0.2666535511322682,
      0.25387516657011183,
      0.5485901022833427,
      0.6409950357729706,
      0.7145030290324442,
      0.7145030226206786
    ],
    "yaw": [
      1.0636268241660165,
      1.0707328918798895,
      1.0723634659385302,
      1.0745141705528125,
      1.078037138109205,
      1.0833924267074508,
      1.0878690412162197,
      1.0912428035373112,
      1.094365189178355,
      1.0958391952774273
    ],
    "yaw_diff": [
      0.01421213542774602,
      0.0032611481172812873,
      0.004301409228564701,
      0.007045935112785173,
      0.010710577196491489,
      0.008953229017537812,
      0.006747524642182867,
      0.006244771282087669,
      0.002948012198144667,
      0.002948012198144667
    ],
    "min_front_frame": [
      0,
      27.761530376582627
    ],
    "v_avg": 10.073589285565976,
    "v_std": 0.5357905522765612,
    "vy_max": 0.053954320342512574,
    "a_max": 0.7145030290324442,
    "ax_avg": -0.3916066008263951,
    "a_std": 0.20394865011168117,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ff32fea658445802",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.18388119857216,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.761530376582627,
      28.354011541733435,
      29.052601622135093,
      29.60740199682402,
      30.310847798206986,
      31.162883812173007,
      32.13601054258722,
      33.164661415030196,
      34.21838298721395,
      35.45297764938738
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ff32fea658445802",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2c9ea4fc0e8e5ef2": {
    "vx_ego": [
      4.237235018341719,
      4.184397950783713,
      4.128128483678446,
      4.0599712418759015,
      4.015530934521186,
      4.110934085025711,
      4.328537642647567,
      4.51807549237053,
      4.583358431750172,
      4.5670444150934255
    ],
    "vy_ego": [
      -0.046855766781839225,
      -0.015245068173172172,
      0.008789047299588848,
      -0.002540146054940573,
      -0.03305695881986792,
      -0.03558715179159089,
      0.0005592619291410195,
      0.0005410724538768008,
      -0.031822860028518196,
      -0.06670016925754485
    ],
    "v_ego": [
      4.237494078289911,
      4.184425721963115,
      4.128137839887343,
      4.059972036504849,
      4.015666999219807,
      4.111088115912723,
      4.328537678776848,
      4.5180755247692135,
      4.583468905568772,
      4.567531456050964
    ],
    "ax_ego": [
      -0.10596815366676499,
      -0.10606121430386904,
      -0.11892451589432754,
      -0.15338152962589877,
      -0.02483223856409881,
      0.4053209847651633,
      0.4645387907363642,
      0.2943810398490334,
      -0.033969870773944186,
      -0.03284465239986688
    ],
    "ay_ego": [
      0.017221769289849587,
      0.016639042818902675,
      -0.035774653722343515,
      -0.11305964618595861,
      -0.10725427831944623,
      0.003608286662932947,
      0.026000320834834417,
      -0.1655270650031868,
      -0.14204062266639034,
      -0.1423050230419712
    ],
    "a_ego": [
      0.10735845997878286,
      0.10735845996259685,
      0.12418883335330012,
      0.19054757208129053,
      0.11009141787591596,
      0.40533704546172883,
      0.4652658431287622,
      0.3377268213677549,
      0.14604619340419095,
      0.14604619397383842
    ],
    "yaw": [
      2.596512093914434,
      2.591015445926942,
      2.5840845176387037,
      2.5777699629325506,
      2.5716626694252414,
      2.565831155450076,
      2.5590073481062783,
      2.55116333362914,
      2.5414660419150685,
      2.5335516311050488
    ],
    "yaw_diff": [
      -0.010993295974984107,
      -0.013861856576476761,
      -0.012629109412306327,
      -0.012214587014618417,
      -0.011663027950330473,
      -0.013647614687595677,
      -0.015688028954276234,
      -0.019394583428143264,
      -0.015828821620039513,
      -0.015828821620039513
    ],
    "min_front_frame": [
      5,
      18.790454291723574
    ],
    "v_avg": 4.273439835694354,
    "v_std": 0.203517074307755,
    "vy_max": 0.06670016925754485,
    "a_max": 0.4652658431287622,
    "ax_avg": 0.05882586401217906,
    "a_std": 0.12901397066897596,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2c9ea4fc0e8e5ef2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.392241320673622,
    "speed_mode": "quasi_constant",
    "front_frame": [
      23.440906016723385,
      22.235514422657328,
      21.003430242433016,
      20.010719279798067,
      19.115627823062198,
      18.790454291723574,
      18.982307220892455,
      19.650723946356763,
      20.803823939409092,
      22.594449815731366
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2c9ea4fc0e8e5ef2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0bb13e6e40385c18": {
    "vx_ego": [
      2.702293727206521,
      2.5796832508806578,
      2.4789428660526607,
      2.4008297770591205,
      2.2501553810174464,
      1.9084889222108283,
      1.4595115995587773,
      1.0847723006568386,
      0.8417125141600904,
      0.6666228740514437
    ],
    "vy_ego": [
      -0.16578254784161217,
      -0.16715626556781515,
      -0.13363125840636902,
      -0.07213976146502032,
      -0.03593501611696881,
      -0.021152928427241924,
      -0.02686683881575347,
      -0.02877521220597573,
      -0.015837957812604275,
      -0.002178628020779172
    ],
    "v_ego": [
      2.7073742336937032,
      2.5850932076025375,
      2.482542053294697,
      2.4019133547232667,
      2.250442304104928,
      1.908606143913012,
      1.4597588623723348,
      1.0851538863727253,
      0.8418615072572058,
      0.6666264340908331
    ],
    "ax_ego": [
      -0.2460982703127514,
      -0.24605622968514432,
      -0.15779179352854267,
      -0.15487890941133806,
      -0.4476497555213175,
      -0.9190060012074949,
      -0.8768917400940326,
      -0.6220484640041296,
      -0.3501781372983484,
      -0.3501705446041048
    ],
    "ay_ego": [
      -0.016022210122440914,
      -0.01665540617123376,
      0.1375983528633138,
      0.10296278060052058,
      0.050264697260936436,
      0.009780686669705274,
      -0.03160732094381752,
      0.024578514498999948,
      0.02768385098756687,
      0.027779773755529535
    ],
    "a_ego": [
      0.24661928121729595,
      0.246619282947618,
      0.2093598739387547,
      0.18598067310727853,
      0.4504629212366196,
      0.9190580460923679,
      0.8774611937757624,
      0.6225338504409816,
      0.35127072671551035,
      0.3512707305458907
    ],
    "yaw": [
      -0.5252381987063033,
      -0.5278113617170918,
      -0.5291175175507131,
      -0.5296714004758778,
      -0.5287814560876278,
      -0.5286742361378218,
      -0.5285209934077234,
      -0.5283991070455136,
      -0.5282609960608416,
      -0.527987085742706
    ],
    "yaw_diff": [
      -0.005146326021576941,
      -0.0026123116672427393,
      -0.0011077658503293453,
      0.0017798887764999272,
      0.0002144398996120067,
      0.0003064854601968481,
      0.00024377272441955533,
      0.00027622196934395937,
      0.0005478206362712346,
      0.0005478206362712346
    ],
    "min_front_frame": [
      9,
      10.99280912360965
    ],
    "v_avg": 1.8389371987425243,
    "v_std": 0.7277863150779889,
    "vy_max": 0.16715626556781515,
    "a_max": 0.9190580460923679,
    "ax_avg": -0.4370769845667205,
    "a_std": 0.2573301313263137,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0bb13e6e40385c18",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.046112809161238,
    "right_rear_min": 22.075845975497323,
    "speed_mode": "decelerating",
    "front_frame": [
      19.38073390574329,
      18.047346463842167,
      16.781766788809957,
      15.517793381191092,
      14.322162130720885,
      13.25953602217172,
      12.455678842353812,
      11.820752366540377,
      11.387945865726007,
      10.99280912360965
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0bb13e6e40385c18",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "786f447064055cfd": {
    "vx_ego": [
      9.652413248098934,
      9.556460261809644,
      9.474476036113456,
      9.389762285609686,
      9.308407691653837,
      9.236793791864416,
      9.163692544042224,
      9.127327980958935,
      9.161725786236282,
      9.237335045358117
    ],
    "vy_ego": [
      0.05352128253037458,
      -0.004950828769434423,
      -0.008491738265324233,
      0.012436152494229802,
      0.0037904763314968726,
      0.037692386618780827,
      0.026159145041875664,
      0.007922646377670262,
      0.009333577127414117,
      -0.0019260962029541417
    ],
    "v_ego": [
      9.652561630974418,
      9.556461544225057,
      9.47447984158006,
      9.389770521058908,
      9.308408463413665,
      9.236870696801708,
      9.1637298815823,
      9.127331419441365,
      9.161730540561036,
      9.237335246165305
    ],
    "ax_ego": [
      -0.1928947099549139,
      -0.19194591705740516,
      -0.1360463034768088,
      -0.20043047750423787,
      -0.12365227912736051,
      -0.1596174200256774,
      -0.13185418609213062,
      -0.013807598933428866,
      0.1512188353010472,
      0.15121371934774494
    ],
    "ay_ego": [
      0.08761715044044008,
      0.0896766318577443,
      -0.059935096351636845,
      -0.38433367627674175,
      -0.44499217211082487,
      -0.4982306196965984,
      -0.3305669797707007,
      -0.1585123647526652,
      -0.0169464819710475,
      -0.01699210319523882
    ],
    "a_ego": [
      0.2118611200288837,
      0.2118611181325107,
      0.14866342006150654,
      0.4334567464384101,
      0.46185270311355836,
      0.5231744175501225,
      0.3558933189942473,
      0.1591126002797654,
      0.15216543431739113,
      0.1521654378956543
    ],
    "yaw": [
      -0.24277089149710368,
      -0.23206793706757664,
      -0.23091356803593216,
      -0.24489562227363862,
      -0.26616855444877596,
      -0.295238922907114,
      -0.3165136439074617,
      -0.3279072488131873,
      -0.332869551502065,
      -0.33256790334553704
    ],
    "yaw_diff": [
      0.02140590885905408,
      0.002308738063288962,
      -0.02796410847541292,
      -0.04254586435027469,
      -0.058140736916676095,
      -0.042549442000695326,
      -0.022787209811451214,
      -0.009924605377755413,
      0.0006032963130558899,
      0.0006032963130558899
    ],
    "min_front_frame": [
      9,
      76.46529470907926
    ],
    "v_avg": 9.330867978580383,
    "v_std": 0.17161910665946795,
    "vy_max": 0.05352128253037458,
    "a_max": 0.5231744175501225,
    "ax_avg": -0.08478163375231709,
    "a_std": 0.13976221995385182,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "786f447064055cfd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      76.46529470907926
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "786f447064055cfd",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0aee34efc8445718": {
    "vx_ego": [
      8.60498005508218,
      8.053852269353763,
      7.311527896377713,
      6.364367400663404,
      5.513963825748156,
      4.797118674627887,
      4.152731790512004,
      3.6645381467879834,
      3.3455391506987753,
      3.0892598476312805
    ],
    "vy_ego": [
      -0.07625510837093463,
      -0.004179037089989013,
      -0.010194549762715166,
      -0.03441143279912939,
      -0.04301226720163509,
      -0.017927652713810138,
      -0.012502011703976468,
      -0.01985506913655044,
      -0.028641217493525994,
      -0.03693613580849786
    ],
    "v_ego": [
      8.605317924976088,
      8.053853353577141,
      7.311535003564872,
      6.364460429394965,
      5.514131584101803,
      4.79715217386268,
      4.152750609442575,
      3.664591935404913,
      3.345661747427225,
      3.0894806496101097
    ],
    "ax_ego": [
      -1.1023648117444407,
      -1.102655521808576,
      -1.8667256331706512,
      -1.9219569458517323,
      -1.4792284017779107,
      -1.38819418367183,
      -1.1894146125994018,
      -0.7634216201959999,
      -0.5126912492171569,
      -0.5126452931834131
    ],
    "ay_ego": [
      0.09260221196094875,
      0.08907380885494265,
      -0.04631034069506301,
      -0.06441757689851446,
      0.07497592473411069,
      0.016016855638930128,
      -0.019653495176670643,
      -0.025093105930181075,
      -0.026956097942630375,
      -0.027816254531230017
    ],
    "a_ego": [
      1.1062474170963819,
      1.1062474150021189,
      1.8672999858597068,
      1.9230361738462423,
      1.4811272915979123,
      1.388286581093708,
      1.1895769754570928,
      0.7638339048169496,
      0.513399404207038,
      0.5133993968045285
    ],
    "yaw": [
      1.208288885274087,
      1.205088549646367,
      1.2072363957574481,
      1.206730161933617,
      1.2086405551629023,
      1.2081863667459833,
      1.2067628412360705,
      1.2057684940520013,
      1.2045518792981253,
      1.2028740715967472
    ],
    "yaw_diff": [
      -0.00640067125543986,
      0.004295692222162195,
      -0.001012467647662163,
      0.0038207864585704243,
      -0.0009083768338378206,
      -0.0028470510198257415,
      -0.0019886943681384217,
      -0.002433229507751822,
      -0.0033556154027563068,
      -0.0033556154027563068
    ],
    "min_front_frame": [
      8,
      11.299434466257747
    ],
    "v_avg": 5.4898935411362375,
    "v_std": 1.9058560061608405,
    "vy_max": 0.07625510837093463,
    "a_max": 1.9230361738462423,
    "ax_avg": -1.183929827322111,
    "a_std": 0.472350226726741,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0aee34efc8445718",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.631776793346112,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.697467032157803,
      15.732808729152195,
      14.504844998019589,
      13.76776330779052,
      13.064430868107467,
      12.423249927933028,
      11.945375380879085,
      11.623208068300052,
      11.299434466257747,
      23.829574582419475
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.1,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0aee34efc8445718",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8872d388cf435f07": {
    "vx_ego": [
      2.9154918806879113,
      2.745059165563661,
      2.583082892061927,
      2.448860706907897,
      2.3422943149822757,
      2.1681781713736936,
      1.8915218316268547,
      1.575114078344679,
      1.1943445774920878,
      0.7582033176962863
    ],
    "vy_ego": [
      -0.012732393708681844,
      -0.00108251088878486,
      -0.022567298878932718,
      0.024294840248381022,
      0.037752694420282396,
      0.007046024695290587,
      -0.005410595019437525,
      -0.01588982201622341,
      -0.00388558650021242,
      0.04967125421676459
    ],
    "v_ego": [
      2.9155196826992418,
      2.7450593790071074,
      2.583181470636877,
      2.448981216975773,
      2.342598540922938,
      2.1681896202328295,
      1.891529569966982,
      1.575194224926982,
      1.1943508980057762,
      0.7598286020288537
    ],
    "ax_ego": [
      -0.3441760263714473,
      -0.33637424060365684,
      -0.3047774268474222,
      -0.22988223869137425,
      -0.21100727978847203,
      -0.48915690781076776,
      -0.6189244607249,
      -0.6457870560757217,
      -0.8751672628197411,
      -0.8713772142388326
    ],
    "ay_ego": [
      0.2161080393336402,
      0.22806181525336178,
      0.3499299911282312,
      0.4320271836235562,
      0.15956318803751823,
      0.19753328412302934,
      0.14302569060858314,
      0.10229869337721628,
      0.14418780613924134,
      0.1655584753767676
    ],
    "a_ego": [
      0.4063985996450644,
      0.40639859906051023,
      0.46404771156287344,
      0.4893805585180718,
      0.2645458052973566,
      0.5275356658989242,
      0.6352352605591652,
      0.6538393873587252,
      0.8869655356047637,
      0.8869655338645962
    ],
    "yaw": [
      -0.4079568817656877,
      -0.37283075455040504,
      -0.3104543077908223,
      -0.2511775782119068,
      -0.1950170455469683,
      -0.14263578033291827,
      -0.09494541562626983,
      -0.05360200580985558,
      -0.018500666042265905,
      0.005970056615177079
    ],
    "yaw_diff": [
      0.07025225443056526,
      0.12475289351916552,
      0.118553459157831,
      0.11232106532987696,
      0.10476253042810008,
      0.09538072941329687,
      0.0826868196328285,
      0.07020267953517935,
      0.048941445314885965,
      0.048941445314885965
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.062443320540336,
    "v_std": 0.6649034296016012,
    "vy_max": 0.04967125421676459,
    "a_max": 0.8869655356047637,
    "ax_avg": -0.49266301139723356,
    "a_std": 0.1944123236352689,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "8872d388cf435f07",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.813614136670578,
    "right_rear_min": 13.044290598701304,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "8872d388cf435f07",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "3c8a95ec33f45af6": {
    "vx_ego": [
      6.943419535332092,
      6.768348800708627,
      6.585528524625373,
      6.407825388786746,
      6.22752372831193,
      6.03220762021412,
      5.8476890245704105,
      5.638154885475027,
      5.4000996159085375,
      5.2032558818490955
    ],
    "vy_ego": [
      0.005389289288713073,
      0.020239553795066367,
      0.01424662262664933,
      -0.014467885162715355,
      -0.019024987349734346,
      -0.003931846884877466,
      0.002832420207939279,
      -0.03041805080178417,
      -0.04118963965594569,
      -0.0636589074852989
    ],
    "v_ego": [
      6.943421626840067,
      6.768379062049623,
      6.585543934627626,
      6.40784172189678,
      6.227552788763156,
      6.032208901620469,
      5.847689710534022,
      5.63823693812352,
      5.4002567020606085,
      5.203645282732042
    ],
    "ax_ego": [
      -0.3502545501942991,
      -0.3501339531767661,
      -0.3814660504741514,
      -0.3291650030423215,
      -0.38847909063648584,
      -0.3860908625343582,
      -0.34882213646205384,
      -0.4764093903402832,
      -0.4505073547186321,
      -0.30957249409042115
    ],
    "ay_ego": [
      0.05777829347038174,
      0.058504668143123884,
      0.007938880836610512,
      0.05891194352936788,
      0.3484804128329718,
      0.6186740097208456,
      0.7280265385092641,
      0.9465949418209454,
      1.1758027855402415,
      1.2205056082732146
    ],
    "a_ego": [
      0.35498814223599123,
      0.3549881425649692,
      0.3815486515416949,
      0.3343952994858913,
      0.5218760408276945,
      0.7292624249449533,
      0.8072790865987628,
      1.0597206665368941,
      1.2591541077802075,
      1.2591541084886049
    ],
    "yaw": [
      -2.3134071092757993,
      -2.3113329053039635,
      -2.3079495364982154,
      -2.300950144591632,
      -2.284127822364751,
      -2.247148109834617,
      -2.1915777869034287,
      -2.113146752036861,
      -2.0150778793114403,
      -1.897586575108321
    ],
    "yaw_diff": [
      0.00414840794367155,
      0.006766737611496154,
      0.013998783813167215,
      0.03364464445376125,
      0.0739594250602682,
      0.11114064586237671,
      0.1568620697331351,
      0.19613774545084173,
      0.23498260840623875,
      0.23498260840623875
    ],
    "min_front_frame": [
      2,
      22.27066157604132
    ],
    "v_avg": 6.1054776669247905,
    "v_std": 0.5549012000038265,
    "vy_max": 0.0636589074852989,
    "a_max": 1.2591541084886049,
    "ax_avg": -0.37709008856697723,
    "a_std": 0.3565885990835221,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "3c8a95ec33f45af6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 34.71925803676495,
    "right_rear_min": 6.466728196578222,
    "speed_mode": "decelerating",
    "front_frame": [
      24.51176464537971,
      23.290343386671836,
      22.27066157604132,
      38.57923920113035,
      37.58514952284526,
      36.584308927444496,
      63.57143701041529,
      72.96984147009319,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.375,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.625,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3c8a95ec33f45af6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d852a7b32d6c5448": {
    "vx_ego": [
      8.632067073232735,
      8.65892582998602,
      8.717223667766989,
      8.787019370175097,
      8.843923088789147,
      8.890865409366269,
      8.934788955634994,
      8.953920903992156,
      8.93551173519794,
      8.920228781372177
    ],
    "vy_ego": [
      -0.05696271628825278,
      -0.04000444155261168,
      -0.050097604992418804,
      -0.028175275094067476,
      0.0018379537120686296,
      -0.011282290079520196,
      -0.018155186487445407,
      -0.0001028962740361461,
      0.028194215225287422,
      0.028563110844810335
    ],
    "v_ego": [
      8.632255018697935,
      8.65901824022464,
      8.717367621243408,
      8.787064541583781,
      8.843923279771914,
      8.890872567838045,
      8.934807400975886,
      8.953920904583386,
      8.935556215683064,
      8.920274511657233
    ],
    "ax_ego": [
      0.050696458081650325,
      0.061350457758527946,
      0.18067454688061793,
      0.10544557496605751,
      0.12358527706371222,
      0.06261562991993606,
      0.1145977840243982,
      -0.036868827388685646,
      -0.0389386185528114,
      -0.025314486932554003
    ],
    "ay_ego": [
      0.4471350814244031,
      0.4457981981218695,
      0.6330338188121943,
      0.7079278211565577,
      0.6812429501733687,
      0.5572062348786566,
      0.5360408803175793,
      0.5481221148783522,
      0.49310160364055006,
      0.49398844474949466
    ],
    "a_ego": [
      0.44999990211380286,
      0.4499999023509744,
      0.6583123177113328,
      0.7157377796703159,
      0.6923621002537829,
      0.5607133896189024,
      0.5481536987697411,
      0.5493606859356921,
      0.4946366419177652,
      0.49463664117681677
    ],
    "yaw": [
      1.5346067589743912,
      1.558468550637838,
      1.5907263354436174,
      1.6264832032303636,
      1.662479784227401,
      1.6988399443384279,
      1.730296401614274,
      1.758519488698905,
      1.7844553701320764,
      1.812058255527204
    ],
    "yaw_diff": [
      0.047723583326893415,
      0.06451556961155891,
      0.07151373557349228,
      0.07199316199407502,
      0.07272032022205366,
      0.06291291455169201,
      0.05644617416926234,
      0.05187176286634276,
      0.055205770790255126,
      0.055205770790255126
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.827506030225928,
    "v_std": 0.11503784531129024,
    "vy_max": 0.05696271628825278,
    "a_max": 0.7157377796703159,
    "ax_avg": 0.059784379582084914,
    "a_std": 0.09187967955268252,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "d852a7b32d6c5448",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 21.400196960221553,
    "right_rear_min": 4.411907226736045,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d852a7b32d6c5448",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6ec94adda61e5483": {
    "vx_ego": [
      0.06413811291341456,
      -0.0383910454402678,
      -0.07230382891678903,
      -0.042332660984523915,
      -0.02315387618467373,
      -0.014308600647093269,
      -0.009979696295305398,
      -0.007223172303851714,
      -0.005801000693889666,
      -0.0043816143568792916
    ],
    "vy_ego": [
      -0.02019924416879327,
      -0.0019068787721157534,
      0.005870200704733956,
      0.003774176205007973,
      0.002135144195039014,
      0.0009646968294743858,
      0.0007302597354746822,
      0.0006503850101097932,
      0.0004086732007423505,
      0.00014307259976446094
    ],
    "v_ego": [
      0.0672436390529576,
      0.038438373491190454,
      0.07254173235002151,
      0.042500571667415034,
      0.02325211437931635,
      0.014341084075159586,
      0.010006378836911375,
      0.007252394004224122,
      0.005815378133493417,
      0.004383949605232032
    ],
    "ax_ego": [
      -0.2050585690681059,
      -0.20506096864394205,
      0.06940710577292662,
      0.05047598518379847,
      0.026241142350653533,
      0.009139271377950238,
      0.008176288667860639,
      0.0028498804408153638,
      0.0028387892301802837,
      0.0028388105170391157
    ],
    "ay_ego": [
      0.03658974357107593,
      0.03657635919284835,
      -0.005501586761465528,
      -0.0029016106378612285,
      -0.0036349678926707995,
      -0.0010559390181435345,
      0.00011744426593383352,
      -0.0004359940785128718,
      -0.0005308646477468632,
      -0.0005307578420760505
    ],
    "a_ego": [
      0.20829744617459006,
      0.20829745776892247,
      0.06962480727921734,
      0.0505593159028956,
      0.026491707069345494,
      0.009200070028530129,
      0.008177132109473776,
      0.0028830382174782664,
      0.002887999578880677,
      0.0028880008723297015
    ],
    "yaw": [
      1.5955528973538704,
      1.5954876223901189,
      1.5955811721812831,
      1.5956680824673581,
      1.5955036356752894,
      1.595641061145313,
      1.595656654081004,
      1.5956268551259045,
      1.5956274350316568,
      1.5955891488225746
    ],
    "yaw_diff": [
      -0.00013054992750305416,
      0.00018709958232854262,
      0.00017382057214998525,
      -0.0003288935841374574,
      0.00027485094004697785,
      3.1185871382177766e-05,
      -5.9597910198938564e-05,
      1.1598115046140833e-06,
      -7.657241816438898e-05,
      -7.657241816438898e-05
    ],
    "min_front_frame": [
      9,
      15.489860310151371
    ],
    "v_avg": 0.028577561559592145,
    "v_std": 0.024193256944788927,
    "vy_max": 0.02019924416879327,
    "a_max": 0.20829745776892247,
    "ax_avg": -0.023815226417082374,
    "a_std": 0.07767210210365842,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6ec94adda61e5483",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      15.542485891964896,
      15.545225048432199,
      15.548949000933725,
      15.560921642798888,
      15.559230955896684,
      15.505946418884658,
      15.511041134611004,
      15.509248905154413,
      15.494737252998139,
      15.489860310151371
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6ec94adda61e5483",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "563aa14962ba55f4": {
    "vx_ego": [
      3.5642314602100016,
      3.2158414066470913,
      2.8373073929520505,
      2.445139138488961,
      2.0609081641629095,
      1.6696583227358137,
      1.2789637658109299,
      0.9289892687405359,
      0.6030590465246745,
      0.2593134859552359
    ],
    "vy_ego": [
      -0.07554276927228565,
      -0.06137237008281349,
      -0.018547578468665282,
      0.005712911201760651,
      0.005883198722079319,
      0.00884847602576777,
      -0.027571179414731417,
      -0.05800249005727748,
      -0.045612677545205316,
      -0.02023457796575784
    ],
    "v_ego": [
      3.5650319229903182,
      3.216426980442044,
      2.837368015391626,
      2.4451458124056606,
      2.060916561421286,
      1.6696817691431352,
      1.2792609132587436,
      0.9307982328560365,
      0.6047815555620826,
      0.2601017534422032
    ],
    "ax_ego": [
      -0.6969521517265111,
      -0.6969780898852721,
      -0.8174292850939773,
      -0.7512436688779639,
      -0.7856960456108582,
      -0.7792192374654622,
      -0.7835552347607648,
      -0.6165844960582102,
      -0.6874451306239443,
      -0.6873858923175515
    ],
    "ay_ego": [
      0.019634663294582078,
      0.01869121440369187,
      0.13755302392723123,
      -0.04052062904072684,
      0.028678962855368306,
      -0.02769491782514083,
      -0.12046118549028739,
      -0.005848537354862404,
      0.05134998704269217,
      0.05213699264693289
    ],
    "a_ego": [
      0.697228672530688,
      0.6972286707214551,
      0.8289218723865213,
      0.7523356773456115,
      0.7862192817522344,
      0.7797112468789954,
      0.7927608107939763,
      0.6166122332297246,
      0.6893603040412586,
      0.6893603056163466
    ],
    "yaw": [
      -0.625185787161106,
      -0.6265394371843309,
      -0.6277768420297649,
      -0.6277777490174982,
      -0.6291646535084314,
      -0.6306231156079409,
      -0.6310430686300227,
      -0.6321012471308112,
      -0.6334104128343341,
      -0.6322655423299379
    ],
    "yaw_diff": [
      -0.002707300046449923,
      -0.002474809690867996,
      -1.8139754665025265e-06,
      -0.0027738089818665213,
      -0.002916924199019011,
      -0.0008399060441635076,
      -0.002116357001576974,
      -0.0026183314070458152,
      0.002289741008792312,
      0.002289741008792312
    ],
    "min_front_frame": [
      9,
      9.469262335027077
    ],
    "v_avg": 1.8869513516913134,
    "v_std": 1.0700429040263746,
    "vy_max": 0.07554276927228565,
    "a_max": 0.8289218723865213,
    "ax_avg": -0.7302489232420515,
    "a_std": 0.06170460952364914,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "563aa14962ba55f4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.39595337201068,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.90057725935555,
      16.17500100024012,
      14.626536219198766,
      13.32198448679101,
      12.19032200474233,
      11.242743165905495,
      10.549468459286164,
      10.001374744680389,
      9.602357741192574,
      9.469262335027077
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "563aa14962ba55f4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2193ada652c557c3": {
    "vx_ego": [
      6.199736822254687,
      6.181708879228425,
      6.152873279492882,
      6.076282379279607,
      5.971320096406836,
      5.857016382730741,
      5.726070183171766,
      5.553867165234463,
      5.347792847938454,
      5.149793813866145
    ],
    "vy_ego": [
      -0.010564519990169607,
      0.006081237372075776,
      0.015994351486517733,
      0.013492919298061956,
      -0.006397786408802286,
      0.013657310291440794,
      0.011117269055615608,
      -0.003883669827491776,
      -0.021340714698541152,
      -0.0525979667394445
    ],
    "v_ego": [
      6.199745823362702,
      6.181711870427117,
      6.152894068060734,
      6.076297360367992,
      5.971323523761133,
      5.857032305673299,
      5.726080975351291,
      5.553868523107188,
      5.347835428522976,
      5.150062414324621
    ],
    "ax_ego": [
      -0.03616245691256908,
      -0.03591967424298331,
      -0.07943893429206514,
      -0.2269245409952863,
      -0.19293860261570048,
      -0.26401229850231733,
      -0.26082148281920553,
      -0.42817052631862784,
      -0.39617697385707984,
      -0.39605212296062464
    ],
    "ay_ego": [
      0.07388423803015609,
      0.07400256619878401,
      -0.03019082024713834,
      0.020095310135554836,
      0.0437700312570978,
      0.16793191500562082,
      0.07504059408857108,
      0.06278179258966082,
      -0.07877319895055261,
      -0.07939851401286872
    ],
    "a_ego": [
      0.08225936979609179,
      0.08225936300341408,
      0.08498252707853574,
      0.22781257383069423,
      0.197841148438707,
      0.31289554461182695,
      0.2714017992961263,
      0.4327488337231447,
      0.4039324343098195,
      0.4039324301527044
    ],
    "yaw": [
      -0.5825576434130588,
      -0.5792743389008965,
      -0.5791058843605059,
      -0.5791095438874881,
      -0.573152799710511,
      -0.5676032441751653,
      -0.5566757766725691,
      -0.5479392975077082,
      -0.5454682848546373,
      -0.5470468774477437
    ],
    "yaw_diff": [
      0.006566609024324599,
      0.0003369090807812114,
      -7.319053964449651e-06,
      0.011913488353954227,
      0.011099111070691503,
      0.021854935005192422,
      0.017472958329721733,
      0.004942025306141851,
      -0.0031571851862128852,
      -0.0031571851862128852
    ],
    "min_front_frame": [
      5,
      19.816721479435536
    ],
    "v_avg": 5.821685229295905,
    "v_std": 0.3503132117152941,
    "vy_max": 0.0525979667394445,
    "a_max": 0.4327488337231447,
    "ax_avg": -0.23166176135164598,
    "a_std": 0.13111782643426712,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2193ada652c557c3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      33.88611351719413,
      31.094868173503713,
      28.405709442389263,
      25.62120424946818,
      22.73198770485377,
      19.816721479435536,
      26.016218430605683,
      32.22738170707526,
      29.502152292728052,
      26.899146121263097
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2193ada652c557c3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1a46cad936c05c2b": {
    "vx_ego": [
      7.7817445788806445,
      7.651821843057893,
      7.526634146837843,
      7.423624507755742,
      7.390706472278859,
      7.443110406256765,
      7.519381184683331,
      7.618857329592492,
      7.761445800396975,
      7.914564733025289
    ],
    "vy_ego": [
      0.09875003628911738,
      0.019630831974362994,
      0.025062100827583755,
      0.053717411375053814,
      -0.018158693642376544,
      -0.03701667470293879,
      0.04274948971641157,
      0.06891706605887737,
      0.017928906120629584,
      -0.0338884407614195
    ],
    "v_ego": [
      7.782371120719277,
      7.651847024572688,
      7.526675872471413,
      7.423818855039266,
      7.39072877986599,
      7.443202452838013,
      7.519502704264472,
      7.619169021007436,
      7.761466508217021,
      7.914637284150481
    ],
    "ax_ego": [
      -0.261018564809753,
      -0.26104555718077566,
      -0.2385436914552112,
      -0.1772448456010016,
      0.043283676411902026,
      0.1663211308056338,
      0.13829862321545014,
      0.2658295773835611,
      0.30558972507773297,
      0.30669810929278224
    ],
    "ay_ego": [
      -0.003992424845087536,
      -0.0013613775709870324,
      0.376744110830897,
      0.1557110220772152,
      -0.11947420276130594,
      -0.3384854190970537,
      -0.2861546071669135,
      -0.34829240413466417,
      -0.1943270906288197,
      -0.19257301808694238
    ],
    "a_ego": [
      0.26104909620890643,
      0.26104910701381917,
      0.4459139129684587,
      0.23592722964603705,
      0.12707305681842979,
      0.37714068660616934,
      0.3178222276464307,
      0.4381471932921937,
      0.36214375353628003,
      0.36214375258850073
    ],
    "yaw": [
      1.0335980029547454,
      1.0436773405633466,
      1.055331516085236,
      1.06931976283279,
      1.0802870925054877,
      1.0673667085620537,
      1.0358483969339922,
      1.0113858309217143,
      1.0003690637777427,
      0.9946394997244549
    ],
    "yaw_diff": [
      0.020158675217202493,
      0.023308351043778597,
      0.027976493495108112,
      0.021934659345395513,
      -0.025840767886867955,
      -0.06303662325612303,
      -0.04892513202455584,
      -0.02203353428794319,
      -0.011459128106575678,
      -0.011459128106575678
    ],
    "min_front_frame": [
      1,
      20.255774407790593
    ],
    "v_avg": 7.603341962314607,
    "v_std": 0.16509000885538908,
    "vy_max": 0.09875003628911738,
    "a_max": 0.4459139129684587,
    "ax_avg": 0.028816818314032083,
    "a_std": 0.093734244305024,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1a46cad936c05c2b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      23.995741734801847,
      20.255774407790593,
      46.85003384649013,
      43.15117683296966,
      39.55766084965983,
      35.939125433476,
      32.24206722183434,
      28.49895867392371,
      24.688714777664078,
      20.815614813949615
    ],
    "safe_frame": [
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1a46cad936c05c2b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "666e41a5d36c50cc": {
    "vx_ego": [
      6.528394130721775,
      6.901453175686347,
      7.31700572343415,
      7.563148547059114,
      7.635895229700558,
      7.74439706218778,
      7.8906171398443,
      7.9584228686244085,
      7.892814036410378,
      7.770709215253078
    ],
    "vy_ego": [
      0.03150542200316364,
      -0.2132138998927955,
      -0.04366217723407795,
      -0.0149898872435692,
      -0.03921482530449394,
      -0.02722374716262488,
      -0.006194420671854939,
      -0.014305905434848665,
      -0.014946873742994526,
      -0.00038521256672074955
    ],
    "v_ego": [
      6.528470151395204,
      6.904745911566816,
      7.317135993166242,
      7.563163401752072,
      7.635995924664143,
      7.744444911627449,
      7.890619571266385,
      7.958435726622052,
      7.892828189083516,
      7.77070922480103
    ],
    "ax_ego": [
      0.6969551057006812,
      0.8336296145845634,
      0.835884599033303,
      0.1509180171840525,
      0.13966688972831556,
      0.2952531884349701,
      0.2896204459722672,
      -0.018424698998356085,
      -0.2442248330854241,
      -0.24423561259300347
    ],
    "ay_ego": [
      1.176589058556733,
      1.0840525348098031,
      0.5100725260110921,
      0.4368772769025652,
      0.1861166300887803,
      0.12957275629707474,
      -0.02166448084615713,
      -0.07785549197459377,
      0.008154747874324214,
      0.007825230405724526
    ],
    "a_ego": [
      1.367519006112042,
      1.3675190062810707,
      0.9792226737021574,
      0.46220991225261127,
      0.23269344658151708,
      0.3224337830554315,
      0.29042959982671956,
      0.08000591955465582,
      0.24436094002212597,
      0.24436093936957753
    ],
    "yaw": [
      -0.9495069887009637,
      -0.8287374268316361,
      -0.7965301630234818,
      -0.7688846327225132,
      -0.7452079179925989,
      -0.736482395515611,
      -0.7357216404027094,
      -0.7378274353913257,
      -0.7399376365114989,
      -0.7412868433863332
    ],
    "yaw_diff": [
      0.24153912373865527,
      0.06441452761630861,
      0.055291060601937225,
      0.04735342945982857,
      0.01745104495397576,
      0.0015215102258032687,
      -0.004211589977232588,
      -0.004220402240346477,
      -0.0026984137496686156,
      -0.0026984137496686156
    ],
    "min_front_frame": [
      0,
      21.921714860876524
    ],
    "v_avg": 7.520654900594491,
    "v_std": 0.4472083328196853,
    "vy_max": 0.2132138998927955,
    "a_max": 1.3675190062810707,
    "ax_avg": 0.27350427159613694,
    "a_std": 0.46425873536179274,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "666e41a5d36c50cc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      21.921714860876524,
      28.883506504723368,
      25.359228015279545,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      33.51692318537408
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "666e41a5d36c50cc",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "609d74e2399c53ad": {
    "vx_ego": [
      2.8434386699417518,
      2.2801373216842977,
      1.7169813383393833,
      1.2160472138726606,
      0.8441560180864265,
      0.6048546540676475,
      0.4504091023368737,
      0.37216327990452525,
      0.3599974319607451,
      0.3569355970719976
    ],
    "vy_ego": [
      -0.006382774136045086,
      0.008313608268494865,
      -0.010056796186053527,
      -0.002626489825501087,
      0.04312085127790578,
      0.027683171547228422,
      -0.0070569130301927855,
      -0.013838149575919438,
      -0.012447257981764532,
      -0.010012541881682217
    ],
    "v_ego": [
      2.8434458337597692,
      2.280152477756715,
      1.7170107906927163,
      1.2160500502924474,
      0.8452566419061507,
      0.6054878285599198,
      0.45046438204304684,
      0.3724204630427543,
      0.360212555652348,
      0.3570760023469456
    ],
    "ax_ego": [
      -1.1266197741927342,
      -1.126588658135826,
      -1.1260856185359218,
      -0.8776092252990854,
      -0.6099405990618104,
      -0.34732572553801283,
      -0.27045651861797687,
      -0.04252404637200951,
      -0.006123490855785505,
      -0.006123440708428573
    ],
    "ay_ego": [
      0.03355703321931732,
      0.03458580660680686,
      -0.10184831733355143,
      0.13324253819900173,
      0.049262289347617325,
      -0.11025205771112712,
      -0.028159347511012595,
      0.0011079188745136527,
      0.004876269941343176,
      0.004876330386931972
    ],
    "a_ego": [
      1.12711942139268,
      1.1271194181003734,
      1.1306820508069921,
      0.8876663372663025,
      0.6119267174553245,
      0.36440454971095615,
      0.2719185122701322,
      0.04253847674848406,
      0.007827844454365178,
      0.007827842879884365
    ],
    "yaw": [
      -1.5430860918257214,
      -1.5421729281766205,
      -1.541394954450229,
      -1.5411035834516864,
      -1.5412251247835265,
      -1.5409500859455174,
      -1.5406851673695905,
      -1.5406371515598876,
      -1.540346286485434,
      -1.5403367074083976
    ],
    "yaw_diff": [
      0.0018263272982017575,
      0.0015559474527830908,
      0.0005827419970851899,
      -0.00024308266368011644,
      0.0005500776760181125,
      0.0005298371518538403,
      9.603161940585636e-05,
      0.0005817301489070559,
      1.9158154072940192e-05,
      1.9158154072940192e-05
    ],
    "min_front_frame": [
      2,
      10.065866453325109
    ],
    "v_avg": 1.1047577026052813,
    "v_std": 0.8477165396266088,
    "vy_max": 0.04312085127790578,
    "a_max": 1.1306820508069921,
    "ax_avg": -0.5539397097317592,
    "a_std": 0.45582317308973497,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "609d74e2399c53ad",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.319285056810133,
    "right_rear_min": 3.7564516459143755,
    "speed_mode": "decelerating",
    "front_frame": [
      11.037941385790017,
      10.413927822809422,
      10.065866453325109,
      10.076892321788476,
      10.268176303913341,
      10.488129075106098,
      10.6567430127162,
      10.664419531843198,
      10.523973395801606,
      10.303104979205063
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "609d74e2399c53ad",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "98e3abe2a38c5156": {
    "vx_ego": [
      2.729640114470996,
      2.7447810999444098,
      2.8604250291017137,
      3.0543672004205487,
      3.294039383932147,
      3.555675616715896,
      3.8577530128039066,
      4.167946073032822,
      4.4529481148576435,
      4.733452824870703
    ],
    "vy_ego": [
      0.03757844092073026,
      -0.010954281606486815,
      -0.02892307788982812,
      -0.03009030784446337,
      -0.005142674190345975,
      0.029696621147868196,
      0.07342952673409364,
      0.08415657971837565,
      0.071350742044618,
      0.03702970778803527
    ],
    "v_ego": [
      2.7298987698724773,
      2.7448029588474214,
      2.860571252660238,
      3.054515415189623,
      3.294043398316711,
      3.5557996260497537,
      3.8584517883723795,
      4.1687956051621935,
      4.453519713889741,
      4.733597663990393
    ],
    "ax_ego": [
      -0.07728375103755375,
      0.14756071985753044,
      0.31668898051424277,
      0.44685891838769937,
      0.4914709757564532,
      0.5441352866436149,
      0.6655699919635957,
      0.5828689601656272,
      0.5611576837706774,
      0.5613705109339062
    ],
    "ay_ego": [
      -1.1567700485132275,
      -1.1499198042003993,
      -1.3249304362355951,
      -1.4574667035349098,
      -1.4253712115689028,
      -1.2197265155278718,
      -0.825784913977313,
      -0.39128304743698644,
      -0.09095604466286444,
      -0.0896331266579461
    ],
    "a_ego": [
      1.1593488359039006,
      1.1593488353973351,
      1.3622527560047712,
      1.5244317252194475,
      1.507722391815019,
      1.335595740803516,
      1.0606149812042724,
      0.7020246775834411,
      0.5684812645246847,
      0.5684812643708448
    ],
    "yaw": [
      2.1155378997172725,
      1.921201939980543,
      1.7060544112136593,
      1.4710311895166677,
      1.2367832351617507,
      1.033837898775817,
      0.8837463321496863,
      0.8054916382879032,
      0.7805103469260363,
      0.7781533159195824
    ],
    "yaw_diff": [
      -0.38867191947345914,
      -0.4302950575337672,
      -0.47004644339398327,
      -0.46849590870983393,
      -0.4058906727718674,
      -0.3001831332522613,
      -0.15650938772356637,
      -0.04996258272373377,
      -0.004714062012907805,
      -0.004714062012907805
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5453996192350927,
    "v_std": 0.6929908272889015,
    "vy_max": 0.08415657971837565,
    "a_max": 1.5244317252194475,
    "ax_avg": 0.4240398276955794,
    "a_std": 0.34675623626342467,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "98e3abe2a38c5156",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "98e3abe2a38c5156",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "88b50c0011ba516b": {
    "vx_ego": [
      4.109283146738846,
      3.7370039958562034,
      3.319929086422879,
      2.79195605750811,
      2.1160587927882473,
      1.433421402613933,
      1.0199257110117554,
      0.8961504466608035,
      0.8081998526089624,
      0.6605521300362538
    ],
    "vy_ego": [
      -0.001977894416015591,
      -0.02444907092740234,
      -0.027775894419530323,
      -0.011747148426791476,
      -0.017874114497702376,
      -0.013986013580341017,
      -0.010938004005376534,
      -0.00997458824664349,
      -0.002855583690387742,
      0.007221044042463265
    ],
    "v_ego": [
      4.1092836227423195,
      3.737083973115194,
      3.320045276677331,
      2.791980770448176,
      2.1161342817755044,
      1.433489632347428,
      1.0199843606224837,
      0.896205955939285,
      0.8082048973591792,
      0.6605915984725321
    ],
    "ax_ego": [
      -0.7444949918166031,
      -0.744543824914432,
      -0.924001652473083,
      -1.1884869417856903,
      -1.515390016172724,
      -1.2152431073452838,
      -0.43888646380182994,
      -0.05665357668419233,
      -0.2953613084242594,
      -0.2952611923819104
    ],
    "ay_ego": [
      -0.03405204180908583,
      -0.032967207859634806,
      -0.010526944939286187,
      -0.05433377800256678,
      -0.004264089833880047,
      0.011719940001057028,
      -0.01866798190757768,
      -0.01344714576091472,
      0.0252705664306839,
      0.026414475071176946
    ],
    "a_ego": [
      0.7452733286461898,
      0.7452733351008023,
      0.9240616160964282,
      1.1897282757954166,
      1.5153960154289967,
      1.2152996202352115,
      0.4392833045506927,
      0.058227600673795135,
      0.29644038868180245,
      0.29644037548902363
    ],
    "yaw": [
      2.2037717999894966,
      2.2052288842107277,
      2.2031035874424614,
      2.1926653867397246,
      2.189249379797385,
      2.1880842205968998,
      2.183848302602983,
      2.173969654673826,
      2.169249608494357,
      2.1731232053366445
    ],
    "yaw_diff": [
      0.002914168442462284,
      -0.004250593536532676,
      -0.020876401405473644,
      -0.0068320138846793554,
      -0.0023303184009701994,
      -0.008471835987833742,
      -0.019757295858314095,
      -0.009440092358937946,
      0.007747193684575215,
      0.007747193684575215
    ],
    "min_front_frame": [
      4,
      12.44322514235335
    ],
    "v_avg": 2.0893004369499435,
    "v_std": 1.2443532082819873,
    "vy_max": 0.027775894419530323,
    "a_max": 1.5153960154289967,
    "ax_avg": -0.7418323075800008,
    "a_std": 0.4485541543438979,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "88b50c0011ba516b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 22.973929855150935,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.003506928580144,
      14.005499964385278,
      13.239405091310807,
      12.673571844579845,
      12.44322514235335,
      12.596021023251485,
      13.011538410784818,
      13.251808877338597,
      13.386708578450225,
      13.565761621823954
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "88b50c0011ba516b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ed02d0df47ca55e7": {
    "vx_ego": [
      3.3385565882834856,
      3.332441365134949,
      3.3642248291068073,
      3.4235010757033324,
      3.4760621182766784,
      3.513608767810405,
      3.5407735517653007,
      3.52847106469193,
      3.474132688486584,
      3.4270805252713936
    ],
    "vy_ego": [
      -0.02296530250913431,
      -0.010773175396938894,
      -0.0023292583458598415,
      -0.0076936344026568015,
      -0.006346073214223535,
      -0.015275416234645567,
      -0.012327965808762498,
      -0.0059554707443183474,
      -0.021645550295681826,
      -0.02514395335718911
    ],
    "v_ego": [
      3.338635574346263,
      3.3324587789454525,
      3.364225635450626,
      3.423509720645203,
      3.476067911126506,
      3.5136419725941477,
      3.5407950129344745,
      3.5284760906090873,
      3.4742001190286413,
      3.427172762655084
    ],
    "ax_ego": [
      -0.021249348855968242,
      0.000540950942260976,
      0.1272561820111095,
      0.1111878990020082,
      0.10151754914156505,
      0.04919116575324484,
      0.0662765166320152,
      -0.11690725888846781,
      -0.09875589978207622,
      -0.0851572989439308
    ],
    "ay_ego": [
      0.39320978224296776,
      0.3937831537537037,
      0.36573814307280905,
      0.37347136178458196,
      0.4051867332516197,
      0.3374888904396138,
      0.4687551576092056,
      0.34427622917401696,
      0.30072551394340596,
      0.3048553719459298
    ],
    "a_ego": [
      0.393783528957681,
      0.39378352531325506,
      0.3872447871287503,
      0.38967115232938515,
      0.4177105476126133,
      0.34105501309660413,
      0.47341733644016987,
      0.3635841431568427,
      0.3165257690588448,
      0.3165257704638237
    ],
    "yaw": [
      -2.4595630438706735,
      -2.4042010842304897,
      -2.3497698914543284,
      -2.293785123452607,
      -2.2377819447239293,
      -2.182218598878751,
      -2.1258901120845435,
      -2.0705608083323215,
      -2.0200031754517314,
      -1.9750997878615548
    ],
    "yaw_diff": [
      0.11072391928036751,
      0.10886238555232275,
      0.11196953600344273,
      0.11200635745735532,
      0.11112669169035705,
      0.11265697358841464,
      0.110658607504444,
      0.10111526576118024,
      0.08980677518035307,
      0.08980677518035307
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4419183578335484,
    "v_std": 0.07339115575073836,
    "vy_max": 0.02514395335718911,
    "a_max": 0.47341733644016987,
    "ax_avg": 0.013390045701176068,
    "a_std": 0.04529297384278229,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "ed02d0df47ca55e7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ed02d0df47ca55e7",
    "with_lead": "Far",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "4f12e3acfb125088": {
    "vx_ego": [
      8.14423327980964,
      8.319337403440239,
      8.50940760919644,
      8.671631160351204,
      8.810569363581347,
      8.945609522076309,
      9.099686845624774,
      9.233064475458308,
      9.32770226979948,
      9.417098435299845
    ],
    "vy_ego": [
      -0.06224389345484438,
      -0.060109512648617525,
      -0.04371123120137366,
      -0.021684110762094644,
      -0.04842551917590421,
      -0.07155923699559308,
      -0.0667527549230239,
      -0.07732660801779676,
      -0.03223721321825938,
      0.0193779336514939
    ],
    "v_ego": [
      8.144471131892562,
      8.319554554529384,
      8.509519876654817,
      8.671658271739814,
      8.810702443130495,
      8.945895731890783,
      9.099931682091155,
      9.233388273666268,
      9.32775797670257,
      9.417118372646666
    ],
    "ax_ego": [
      0.2859249761953506,
      0.4362196795562353,
      0.3571403803858919,
      0.3032738737295621,
      0.2564652115689033,
      0.291186338767527,
      0.3315029316178384,
      0.2020845436815281,
      0.17813161434205507,
      0.17961810251903362
    ],
    "ay_ego": [
      1.590604110526027,
      1.5561127565365038,
      1.815216665890323,
      1.7795825918529653,
      1.5796199214669078,
      1.27982475113402,
      0.936099373819137,
      0.3639939882708706,
      0.2269235626310636,
      0.22574878338281912
    ],
    "a_ego": [
      1.616098551584836,
      1.6160985489405593,
      1.850016431123832,
      1.8052393868163448,
      1.6003041901589217,
      1.312532238651719,
      0.9930640620502796,
      0.4163289400129495,
      0.2884877385700836,
      0.28848773968985414
    ],
    "yaw": [
      1.0002907233376235,
      1.095742959402162,
      1.1937661076817356,
      1.295649146487576,
      1.3946361334932682,
      1.4777543210447344,
      1.5386357512902578,
      1.575178948699743,
      1.5862351560596857,
      1.5928027306800705
    ],
    "yaw_diff": [
      0.1909044721290769,
      0.1960462965591474,
      0.20376607761168053,
      0.1979739740113846,
      0.16623637510293232,
      0.12176286049104679,
      0.07308639481897039,
      0.022112414719885454,
      0.013135149240769639,
      0.013135149240769639
    ],
    "min_front_frame": [
      5,
      23.245087020845716
    ],
    "v_avg": 8.847999831494452,
    "v_std": 0.4119350034179894,
    "vy_max": 0.07732660801779676,
    "a_max": 1.850016431123832,
    "ax_avg": 0.28215476523639255,
    "a_std": 0.6018421354805321,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "4f12e3acfb125088",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 16.182598026484566,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      23.245087020845716,
      23.76941332666742,
      24.4802307433484,
      25.280657701232634,
      26.136913361491093
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4f12e3acfb125088",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "a6c24c9ca7335016": {
    "vx_ego": [
      3.409478726918598,
      4.412802324813933,
      5.393287189215902,
      6.311385892172364,
      7.097112020669506,
      7.76073139432326,
      8.31924457091008,
      8.724351705587509,
      8.937983394268246,
      9.037722558998684
    ],
    "vy_ego": [
      0.011417637487430188,
      -0.027625204876554177,
      -0.05592214177921129,
      -0.05856589634487497,
      -0.012473477288416746,
      0.018439434419613487,
      0.05151182291021161,
      0.06989640603156166,
      0.05574100219324407,
      0.04265984528694888
    ],
    "v_ego": [
      3.4094978445155615,
      4.412888794183208,
      5.393577105344981,
      6.311657614614962,
      7.097122981995399,
      7.760753300265147,
      8.319404047076711,
      8.7246316936799,
      8.938157204678177,
      9.037823239908692
    ],
    "ax_ego": [
      2.0068198407809072,
      2.006632978708176,
      1.9162091568510438,
      1.7571110905177667,
      1.385319871840339,
      1.2692088539793596,
      0.9651234829079562,
      0.6557710474410433,
      0.1996667601054091,
      0.2004508121700354
    ],
    "ay_ego": [
      -0.02510407078508048,
      -0.037150669946598325,
      0.015664008035990218,
      0.060268703383324684,
      0.018661503349056918,
      0.010303724827125271,
      0.04749894581885783,
      -0.030573821102974685,
      -0.1331089081731326,
      -0.13192522518986788
    ],
    "a_ego": [
      2.006976852811683,
      2.0069768517640476,
      1.9162731783197144,
      1.758144391404768,
      1.385445559747109,
      1.269250677275735,
      0.9662916159805418,
      0.6564833777017967,
      0.23996832400555376,
      0.23996831695251805
    ],
    "yaw": [
      2.641800691029939,
      2.647803784654064,
      2.652468743010211,
      2.6561516587879215,
      2.6522469160325297,
      2.649066719524376,
      2.6467614806512962,
      2.64510814778367,
      2.6420968160236225,
      2.636180186382701
    ],
    "yaw_diff": [
      0.0120061872482502,
      0.009329916712293773,
      0.007365831555421032,
      -0.0078094855107835315,
      -0.00636039301630742,
      -0.004610477746159525,
      -0.003306665735252068,
      -0.006022663520095506,
      -0.011833259281843311,
      -0.011833259281843311
    ],
    "min_front_frame": [
      6,
      44.23368466784714
    ],
    "v_avg": 6.940551382626275,
    "v_std": 1.892523589751409,
    "vy_max": 0.06989640603156166,
    "a_max": 2.006976852811683,
    "ax_avg": 1.2362313895302037,
    "a_std": 0.6587610411956889,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "a6c24c9ca7335016",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.129957359499294,
    "right_rear_min": 7.368932752439903,
    "speed_mode": "accelerating",
    "front_frame": [
      56.481112763247566,
      54.4830641807359,
      52.01957230730559,
      49.09965232570308,
      45.80729690603441,
      48.18205679573662,
      44.23368466784714,
      51.7264483789279,
      47.34175364222564,
      49.22966165491644
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a6c24c9ca7335016",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "aa41c7c6037e5950": {
    "vx_ego": [
      5.9629708755721085,
      5.405887875143259,
      4.799938157930297,
      4.129762036687498,
      3.4177527769360876,
      2.6750918394729166,
      2.107916448087237,
      1.899906086796324,
      2.0676655055747073,
      2.432209559124961
    ],
    "vy_ego": [
      -0.024655961398073467,
      0.02899974963323393,
      0.031482778452751825,
      0.01398741195441311,
      0.02152896221377576,
      0.03382075734117518,
      0.04019845666858901,
      0.03267734971386932,
      0.01989431158169991,
      -0.004574645396443144
    ],
    "v_ego": [
      5.963021849645838,
      5.405965658797666,
      4.8000414045395905,
      4.1297857241458,
      3.4178205834227664,
      2.6753056261372685,
      2.1082997102013863,
      1.9001870823237494,
      2.0677612112081074,
      2.4322138612546675
    ],
    "ax_ego": [
      -1.1140179415377793,
      -1.114233377925576,
      -1.3086122140122396,
      -1.3720150282551922,
      -1.4759980545389169,
      -1.4946930204723372,
      -0.7740088956781989,
      -0.057894712540469545,
      0.7290924813022504,
      0.7289819668447312
    ],
    "ay_ego": [
      0.03657101786326589,
      0.029281439054025388,
      -0.1194417893615517,
      0.0029760588473856653,
      0.02132285658096955,
      0.033356751988819155,
      -0.00782709372299023,
      -0.029008826944005243,
      -0.03337337761420053,
      -0.03570605368387511
    ],
    "a_ego": [
      1.1146180571907252,
      1.114618061560333,
      1.314051851225021,
      1.3720182559588479,
      1.4761520657491354,
      1.4950651819743386,
      0.7740484700489585,
      0.06475577025108145,
      0.7298558957937191,
      0.7298558969101288
    ],
    "yaw": [
      0.2524225175028598,
      0.2458796824938417,
      0.24099923859988573,
      0.23840106293811353,
      0.23801370831423868,
      0.23846573193121667,
      0.23846778219749354,
      0.23758611088274628,
      0.23609439038253177,
      0.2392940559855259
    ],
    "yaw_diff": [
      -0.013085670018036233,
      -0.009760887787911954,
      -0.0051963513235444014,
      -0.0007747092477496942,
      0.0009040472339559846,
      4.100532553730218e-06,
      -0.0017633426294945131,
      -0.0029834410004290213,
      0.006399331205988235,
      0.006399331205988235
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4900402711676834,
    "v_std": 1.4198418220145408,
    "vy_max": 0.04019845666858901,
    "a_max": 1.4950651819743386,
    "ax_avg": -0.7253398796813729,
    "a_std": 0.42466205928360623,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aa41c7c6037e5950",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aa41c7c6037e5950",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d94aa4b0e05e5be9": {
    "vx_ego": [
      4.498134611224136,
      4.657185065993354,
      4.837738519111326,
      4.992071841929761,
      5.184920707893409,
      5.331301491733735,
      5.4663116934369835,
      5.692364879034123,
      5.993960599385786,
      6.302987658421272
    ],
    "vy_ego": [
      -0.11427509338356684,
      -0.04559520256906735,
      -0.044733190912547904,
      -0.07195925223231381,
      -0.08277433367786191,
      -0.07209226919956002,
      -0.12168745773673484,
      -0.10779860043472889,
      -0.0609576818499975,
      -0.004524801847658022
    ],
    "v_ego": [
      4.499585956247566,
      4.657408255823064,
      4.837945332231717,
      4.992590450754982,
      5.185581388567506,
      5.331788901582723,
      5.467665988991677,
      5.693385500237697,
      5.994270556620358,
      6.302989282558128
    ],
    "ax_ego": [
      0.16397042300744336,
      0.5274562166306931,
      0.2464885953932503,
      0.40732219846531725,
      0.39172165529786807,
      0.23350593103777306,
      0.3179807295036937,
      0.5917887171143514,
      0.6178568778964604,
      0.6190715132623155
    ],
    "ay_ego": [
      1.9184662921065136,
      1.8518069962375279,
      2.004240556260446,
      1.8939395731886044,
      1.593871852569642,
      1.5202338357116547,
      0.9313035173986574,
      0.23523504896006472,
      0.19301184726377982,
      0.18907976379913247
    ],
    "a_ego": [
      1.9254607795460688,
      1.925460779080327,
      2.0193406931516336,
      1.9372450749072643,
      1.6413023297500935,
      1.5380623963521076,
      0.9840924681425077,
      0.6368276171485451,
      0.6473026299561421,
      0.6473026306228247
    ],
    "yaw": [
      -1.4334385015657114,
      -1.241215889046384,
      -1.040505434713034,
      -0.8365551127079605,
      -0.6635711553835564,
      -0.5183436847986733,
      -0.3955492288104222,
      -0.3454712995239842,
      -0.3351594394193519,
      -0.3288016250636838
    ],
    "yaw_diff": [
      0.38444522503865475,
      0.4014209086667,
      0.40790064401014714,
      0.34596791464880816,
      0.2904549411697661,
      0.24558891197650223,
      0.10015585857287601,
      0.020623720209264618,
      0.012715628711336135,
      0.012715628711336135
    ],
    "min_front_frame": [
      6,
      17.49233786687718
    ],
    "v_avg": 5.296321161361542,
    "v_std": 0.5519431034844888,
    "vy_max": 0.12168745773673484,
    "a_max": 2.0193406931516336,
    "ax_avg": 0.41171628576091657,
    "a_std": 0.5647376789705262,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "d94aa4b0e05e5be9",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 30.436911716166545,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      17.49233786687718,
      21.60584271792742,
      18.71896339880012,
      49.54118910716991
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "d94aa4b0e05e5be9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8cd3d83dd4825865": {
    "vx_ego": [
      8.274424315527066,
      7.754865239146392,
      7.227942630865235,
      6.762882863386492,
      6.346848663971473,
      5.925293573654197,
      5.5643137861708745,
      5.236647655812435,
      4.859962438480605,
      4.4466859244110735
    ],
    "vy_ego": [
      -0.07255487931191984,
      -0.01625802854912789,
      -0.001358690288563641,
      -0.021897806178458865,
      -0.028974462392968525,
      -0.034607203820141715,
      -0.020371765965203438,
      -0.0033680282288387417,
      -0.02228326972368381,
      -0.05695914145360554
    ],
    "v_ego": [
      8.274742410727812,
      7.754882281557427,
      7.227942758566808,
      6.762918315180372,
      6.346914800344136,
      5.925394636017417,
      5.564351078052121,
      5.236648738911177,
      4.860013523391877,
      4.44705071414198
    ],
    "ax_ego": [
      -1.0392075230086097,
      -1.0393632484384783,
      -1.0683239246272553,
      -0.7919338047162551,
      -0.8725469021918316,
      -0.8137903743984244,
      -0.6303134844648053,
      -0.6803443446789268,
      -0.8264233679504279,
      -0.8264928982808403
    ],
    "ay_ego": [
      0.0832256803527971,
      0.08125776336652794,
      -0.02683397542107892,
      -0.08644226321526212,
      -0.0053316607328889615,
      -0.043753561232384455,
      0.07578496951868789,
      -0.03139269939663636,
      -0.05873376778308135,
      -0.057747048428226144
    ],
    "a_ego": [
      1.0425347906654607,
      1.0425347890175736,
      1.0686608770643196,
      0.796637568736336,
      0.8725631914828474,
      0.8149657339937942,
      0.634853093481565,
      0.6810682263268533,
      0.8285078385703573,
      0.8285078349121602
    ],
    "yaw": [
      -1.549400244655852,
      -1.5512937718242552,
      -1.5514663383534417,
      -1.5525840073812174,
      -1.5550009084480219,
      -1.5560840963448999,
      -1.5571724791767751,
      -1.5582647593068542,
      -1.558978531745677,
      -1.5577846204019659
    ],
    "yaw_diff": [
      -0.0037870543368065945,
      -0.0003451330583730261,
      -0.002235338055551317,
      -0.004833802133608955,
      -0.0021663757937560035,
      -0.0021767656637505794,
      -0.0021845602601580083,
      -0.0014275448776457367,
      0.002387822687422325,
      0.002387822687422325
    ],
    "min_front_frame": [
      9,
      16.746895621619263
    ],
    "v_avg": 6.2400859256891135,
    "v_std": 1.1990484450359664,
    "vy_max": 0.07255487931191984,
    "a_max": 1.0686608770643196,
    "ax_avg": -0.8588739872755854,
    "a_std": 0.1417947324889346,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8cd3d83dd4825865",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.115506122167721,
    "right_rear_min": 24.979794789857532,
    "speed_mode": "decelerating",
    "front_frame": [
      21.11652008740347,
      21.354156354343917,
      20.819226878506164,
      20.342498222224368,
      19.894149132893137,
      19.404862871109543,
      18.886979224767853,
      18.165181379712617,
      17.50508713077942,
      16.746895621619263
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8cd3d83dd4825865",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "173b456bbf29598f": {
    "vx_ego": [
      2.729991450291818,
      2.2271597084857047,
      1.7688551544782256,
      1.366270960919831,
      0.9778050768173641,
      0.596458216003493,
      0.2383140314725067,
      0.000833434090822505,
      -0.05351735437637412,
      -0.026436553620495656
    ],
    "vy_ego": [
      -0.09482294404616609,
      -0.06266097956618055,
      -0.04706479087320192,
      -0.05088873322962806,
      -0.03715102994229086,
      -0.013840076694122905,
      0.015024777707666373,
      0.02894791251900426,
      0.013531762592815088,
      -0.0004259392756701119
    ],
    "v_ego": [
      2.73163773392154,
      2.228041015210968,
      1.769481181607797,
      1.3672183446042971,
      0.9785105861847302,
      0.5966187653443099,
      0.2387871888143158,
      0.028959907658548716,
      0.05520159253422604,
      0.026439984712474784
    ],
    "ax_ego": [
      -1.005431202400727,
      -1.00528951697585,
      -0.8275527002405588,
      -0.7824855545232766,
      -0.7711081693522613,
      -0.7542176665279957,
      -0.6783664716175577,
      -0.27155044358543834,
      0.05416163855895681,
      0.05416039391033346
    ],
    "ay_ego": [
      0.07287161565092493,
      0.07480081779193165,
      0.0037406895788733574,
      -0.009191379516146125,
      0.0700000030425656,
      0.0256675171631075,
      0.08938241684214532,
      -0.03369994173913489,
      -0.027917762534167022,
      -0.02792017804039744
    ],
    "a_ego": [
      1.008068536920257,
      1.0080685369973015,
      0.8275611544979414,
      0.7825395354197828,
      0.7742788963078839,
      0.7546542982984019,
      0.6842297028450298,
      0.2736335679054553,
      0.06093344366031857,
      0.060933444103628165
    ],
    "yaw": [
      2.459302910636472,
      2.4612218257686713,
      2.4632661653947325,
      2.4648419527791576,
      2.466092962755404,
      2.466864823692763,
      2.466613855423831,
      2.4665772394272416,
      2.466402407029719,
      2.4664470066039046
    ],
    "yaw_diff": [
      0.003837830264398434,
      0.004088679252122418,
      0.003151574768850196,
      0.0025020199524927733,
      0.0015437218747180737,
      -0.0005019365378640117,
      -7.32319931788794e-05,
      -0.0003496647950456122,
      8.919914837157705e-05,
      8.919914837157705e-05
    ],
    "min_front_frame": [
      7,
      8.891182633727826
    ],
    "v_avg": 1.0020896300593207,
    "v_std": 0.9359255347968984,
    "vy_max": 0.09482294404616609,
    "a_max": 1.0080685369973015,
    "ax_avg": -0.5987679692754375,
    "a_std": 0.34083911888663765,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "173b456bbf29598f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.085591444471353,
    "speed_mode": "decelerating",
    "front_frame": [
      13.042428463579299,
      11.832276988049076,
      10.89290624855148,
      10.070305904888476,
      9.495239295262198,
      9.12307533491558,
      8.92792558928966,
      8.891182633727826,
      8.900092908531303,
      8.904311097642665
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "173b456bbf29598f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2c120899a8d05979": {
    "vx_ego": [
      4.65317197099547,
      4.807323686347091,
      5.044091715562526,
      5.318327851520152,
      5.63307130881088,
      5.904342835517335,
      6.007298380970815,
      5.959622641140276,
      5.914255041344528,
      5.91173194112705
    ],
    "vy_ego": [
      0.054695956027480896,
      0.052685043965340794,
      0.08602927726684073,
      0.10163814557755649,
      0.14159685243636566,
      0.11219342991983616,
      0.1367628229317972,
      0.12889424359729817,
      0.11229352606741783,
      0.040338977867585335
    ],
    "v_ego": [
      4.65349342314606,
      4.807612374055485,
      5.044825296435304,
      5.319298962165165,
      5.6348506669447955,
      5.905408680611534,
      6.008854958122292,
      5.961016335393179,
      5.915320999748519,
      5.9118695669709425
    ],
    "ax_ego": [
      0.18524177000441577,
      0.4634932364489193,
      0.5607626443680049,
      0.618198449657722,
      0.6692105037609585,
      0.4400030522612204,
      -0.0005146090546683801,
      -0.16463941995812992,
      -0.005031116168090544,
      -0.0009529080432569281
    ],
    "ay_ego": [
      -1.646384941715254,
      -1.5906199873740714,
      -1.8780526081061653,
      -1.9909059098857753,
      -1.371225189574343,
      -0.8804243651914624,
      -0.6844973296839987,
      -0.6006903151658157,
      -0.3030235202755074,
      -0.30306377580064436
    ],
    "a_ego": [
      1.6567733368391433,
      1.6567733473434998,
      1.9599837606809316,
      2.0846763933947443,
      1.5258116590415702,
      0.9842508566529062,
      0.6844975231270044,
      0.6228442769570549,
      0.30306528334676947,
      0.30306527388713167
    ],
    "yaw": [
      0.5217519844346806,
      0.3502544651222041,
      0.16749360601764665,
      -0.02189627010439026,
      -0.1825372104069633,
      -0.2744985699098327,
      -0.3436454768850454,
      -0.3958370864980211,
      -0.4312108131059665,
      -0.4446681144057626
    ],
    "yaw_diff": [
      -0.34299503862495306,
      -0.3655217182091149,
      -0.37877975224407384,
      -0.32128188060514606,
      -0.18392271900573876,
      -0.1382938139504254,
      -0.1043832192259514,
      -0.07074745321589082,
      -0.02691460259959222,
      -0.02691460259959222
    ],
    "min_front_frame": [
      6,
      67.58259834145306
    ],
    "v_avg": 5.516255126359328,
    "v_std": 0.49288000541235727,
    "vy_max": 0.14159685243636566,
    "a_max": 2.0846763933947443,
    "ax_avg": 0.2765771603277095,
    "a_std": 0.642906213434754,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "2c120899a8d05979",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      68.96285755470367,
      67.58259834145306,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2c120899a8d05979",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6c1a4bb1d99b52a3": {
    "vx_ego": [
      6.7416285029418885,
      6.994838467544906,
      7.231661965758374,
      7.460057662924528,
      7.688247971332698,
      7.869668023273398,
      8.017791135933019,
      8.155745381431522,
      8.261226393711066,
      8.34891141328225
    ],
    "vy_ego": [
      -0.023200817166931564,
      -0.019463159159399446,
      -0.016821912994935406,
      -0.029671883067281524,
      -0.04260397039515684,
      -0.05756610129374762,
      -0.07958475399084852,
      -0.07944215153077838,
      -0.05754182063843016,
      -0.011511960803938681
    ],
    "v_ego": [
      6.741668424774071,
      6.994865545642062,
      7.231681530858025,
      7.460116671661625,
      7.688366014114753,
      7.8698785665695,
      8.018186106128608,
      8.156132280816774,
      8.261426788955449,
      8.348919349956388
    ],
    "ax_ego": [
      0.5063760431177761,
      0.5063815524188756,
      0.4407920504867333,
      0.4726465449443841,
      0.4381348935778181,
      0.2853285201503444,
      0.303692935436648,
      0.24524618163935927,
      0.17456016478375477,
      0.17499042578545326
    ],
    "ay_ego": [
      -0.00597366895937132,
      -0.005486860817946443,
      -0.0765929501757652,
      -0.22928751289818766,
      -0.2029129991081683,
      -0.26314045902941713,
      -0.1669097084369427,
      -0.09614502387921811,
      -0.05097565121075797,
      -0.049478470206339574
    ],
    "a_ego": [
      0.5064112772879885,
      0.5064112777888996,
      0.4473970404338032,
      0.5253261082593366,
      0.4828414544936231,
      0.388143357007946,
      0.3465375157246806,
      0.2634189727893969,
      0.1818509503568581,
      0.18185095031517945
    ],
    "yaw": [
      -2.439183640420791,
      -2.4401449924842638,
      -2.443397305128089,
      -2.452062628550932,
      -2.4646135566850473,
      -2.4776360025247666,
      -2.488401446520614,
      -2.4965439369825857,
      -2.503684980336015,
      -2.5122512447276675
    ],
    "yaw_diff": [
      -0.001922704126945618,
      -0.006504625287650612,
      -0.01733064684568575,
      -0.025101856268230804,
      -0.026044891679438464,
      -0.02153088799169467,
      -0.016284980923943593,
      -0.014282086706858266,
      -0.01713252878330529,
      -0.01713252878330529
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.677124127947725,
    "v_std": 0.5255317922046836,
    "vy_max": 0.07958475399084852,
    "a_max": 0.5253261082593366,
    "ax_avg": 0.35481493123411467,
    "a_std": 0.12704730163768274,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6c1a4bb1d99b52a3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 16.97725028679864,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6c1a4bb1d99b52a3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "960b735b1eac5dab": {
    "vx_ego": [
      13.26430218657221,
      13.320517404516641,
      13.313304987030563,
      13.260925466597964,
      13.336167961286925,
      13.599368697720523,
      13.962446966669187,
      14.280802349785692,
      14.414082521382376,
      14.427668429725697
    ],
    "vy_ego": [
      -0.020244288450649572,
      -0.03884015729379431,
      -0.042027506859646624,
      -0.036229320073800475,
      -0.001063995701800713,
      -0.008674147184162317,
      -0.024289871137732788,
      -0.03492873234617627,
      -0.05076905477924348,
      -0.05443141879729074
    ],
    "v_ego": [
      13.264317635216642,
      13.320574029742463,
      13.313371323185788,
      13.260974956401187,
      13.336168003731158,
      13.599371464055615,
      13.962468094677584,
      14.280845064980848,
      14.414171930088251,
      14.4277711063579
    ],
    "ax_ego": [
      0.11191497035006068,
      0.11409691711300508,
      -0.14228314253230362,
      -0.06687579169483068,
      0.36778703909451194,
      0.6850420411099744,
      0.7671274453780876,
      0.5057707662595462,
      0.02727774380005769,
      0.027307296144889928
    ],
    "ay_ego": [
      0.22351661400171197,
      0.22241072870575412,
      0.10638005748752795,
      0.059920536770206534,
      -0.03588507355046176,
      -0.10115962712109607,
      -0.14850791312079328,
      -0.10665394704217493,
      0.025784327178929672,
      0.025753012769400063
    ],
    "a_ego": [
      0.24996927275816375,
      0.24996927558825408,
      0.17765474741733633,
      0.08979333071915785,
      0.3695335500731024,
      0.6924708428861095,
      0.7813700261155427,
      0.5168937341682945,
      0.03753540774910641,
      0.037535397819199984
    ],
    "yaw": [
      -1.5496697690753836,
      -1.5398837830309533,
      -1.5334874222595092,
      -1.5307929066621708,
      -1.5329943544839746,
      -1.5349790724463794,
      -1.5383776865288836,
      -1.5421328395351757,
      -1.542436650480623,
      -1.54128923740102
    ],
    "yaw_diff": [
      0.019571972088860523,
      0.012792721542888241,
      0.005389031194676708,
      -0.004402895643607518,
      -0.003969435924809694,
      -0.006797228165008384,
      -0.007510306012584067,
      -0.000607621890894805,
      0.002294826159205954,
      0.002294826159205954
    ],
    "min_front_frame": [
      7,
      34.73282507515708
    ],
    "v_avg": 13.718003360843744,
    "v_std": 0.4755238527646525,
    "vy_max": 0.05443141879729074,
    "a_max": 0.7813700261155427,
    "ax_avg": 0.2397165285022999,
    "a_std": 0.25208236472404855,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "960b735b1eac5dab",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.00904265816589,
    "right_rear_min": 4.112169924825983,
    "speed_mode": "accelerating",
    "front_frame": [
      38.74777098368553,
      38.145324538345804,
      37.68341035914535,
      37.167748413412234,
      36.6608787706945,
      36.461032156227766,
      35.72219552377559,
      34.73282507515708,
      45.80632575318852,
      44.458056870381306
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "960b735b1eac5dab",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "90e387c7930d56de": {
    "vx_ego": [
      8.632191162004533,
      8.609470909074094,
      8.503460314801004,
      8.370449198358184,
      8.216164797243202,
      7.935461075212516,
      7.6457723054034235,
      7.488726141949717,
      7.438281234439024,
      7.403362384628305
    ],
    "vy_ego": [
      0.03385379995852977,
      0.025173926491872667,
      -0.0032589768397492946,
      -0.010478953633866084,
      -0.04251807455881762,
      -0.022296496734504956,
      -0.004045082270910161,
      0.010879994220433176,
      0.018895195411667842,
      -0.008201086280137826
    ],
    "v_ego": [
      8.632257545808095,
      8.609507713032617,
      8.503460939307338,
      8.370455757649307,
      8.216274810528347,
      7.935492398709712,
      7.645773375451601,
      7.488734045444218,
      7.438305233789306,
      7.4033669270099995
    ],
    "ax_ego": [
      -0.047274284994437546,
      -0.04501544393441803,
      -0.3784522501383597,
      -0.15323292191971172,
      -0.46287145493693965,
      -0.6597784927371041,
      -0.49903853520384456,
      -0.12681379885315988,
      -0.07326284260342734,
      -0.06596105728087559
    ],
    "ay_ego": [
      0.1885798101912111,
      0.18913173637910857,
      0.33843041681476915,
      0.31870923636870685,
      0.21135260393442373,
      0.02213433852790303,
      -0.04156136489713827,
      -0.33550428222985845,
      -0.35667494601704974,
      -0.3580971947857807
    ],
    "a_ego": [
      0.19441502728309995,
      0.19441503002183078,
      0.5077019328899645,
      0.3536324443638857,
      0.5088417307820781,
      0.6601496712265429,
      0.5007662195780701,
      0.35867096756517974,
      0.3641214923931296,
      0.3641214934483494
    ],
    "yaw": [
      -1.1684701106385553,
      -1.1565095573093247,
      -1.1378638151002427,
      -1.1174686457765963,
      -1.09771960583616,
      -1.0930099662183146,
      -1.095983787750953,
      -1.110502284985686,
      -1.1347822540302688,
      -1.1552126233000493
    ],
    "yaw_diff": [
      0.023921106658461255,
      0.03729148441816399,
      0.040790338647292756,
      0.039498079880872616,
      0.009419279235690858,
      -0.005947643065276953,
      -0.02903699446946595,
      -0.04855993808916548,
      -0.04086073853956096,
      -0.04086073853956096
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.024362874673054,
    "v_std": 0.47595184440571187,
    "vy_max": 0.04251807455881762,
    "a_max": 0.6601496712265429,
    "ax_avg": -0.2511701082602278,
    "a_std": 0.13864925986770368,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "90e387c7930d56de",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "90e387c7930d56de",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "36e3e0f9a589578d": {
    "vx_ego": [
      3.4634177555206964,
      3.5227532834201334,
      3.6224455585064264,
      3.746547610920597,
      3.8751850190404893,
      3.9391095409298806,
      3.9030144330648646,
      3.837248157573356,
      3.7489311324368497,
      3.633460964282238
    ],
    "vy_ego": [
      -0.02302690637314364,
      -0.005735791161684434,
      -0.02146519889755827,
      -0.04908489393124915,
      -0.04582967799138982,
      -0.013062864041250677,
      0.0005815739717609514,
      -0.024832240927533222,
      -0.013159554271894969,
      0.03543516291777138
    ],
    "v_ego": [
      3.4634943031096697,
      3.5227579529606605,
      3.6225091551446282,
      3.746869136720293,
      3.875456010739979,
      3.93913120038693,
      3.9030144763939747,
      3.8373285060038316,
      3.7489542287980626,
      3.6336337500818403
    ],
    "ax_ego": [
      0.07141974876134072,
      0.17184864635841832,
      0.2377975939189661,
      0.27985783235942424,
      0.2690333288498333,
      -0.011754008303470953,
      -0.14144127164275308,
      -0.1223059914170671,
      -0.23390456093161074,
      -0.22883802554061017
    ],
    "ay_ego": [
      0.8607425278706949,
      0.8464316402692807,
      0.9082685990707553,
      0.9446000908052946,
      1.0844483605943114,
      0.8761361488684611,
      0.635677934755801,
      0.521913384766033,
      0.24562573343041105,
      0.25035275630891435
    ],
    "a_ego": [
      0.8637004572178755,
      0.8637004567002183,
      0.9388820712590064,
      0.9851851287358566,
      1.1173214303984829,
      0.8762149896373929,
      0.6512235177412741,
      0.5360525503478637,
      0.3391804011847338,
      0.3391804011507676
    ],
    "yaw": [
      -1.2662476605806647,
      -1.1487279737901832,
      -1.0214144980847069,
      -0.8882046613701138,
      -0.7561884689635323,
      -0.6402983568894514,
      -0.54783600861779,
      -0.4664866767687389,
      -0.41915896841524536,
      -0.3987292160712043
    ],
    "yaw_diff": [
      0.23503937358096305,
      0.2546269514109527,
      0.26641967342918615,
      0.26403238481316293,
      0.2317802241481619,
      0.18492469654332266,
      0.16269866369810226,
      0.09465541670698707,
      0.04085950468808208,
      0.04085950468808208
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7293148720339873,
    "v_std": 0.15549956663134118,
    "vy_max": 0.04908489393124915,
    "a_max": 1.1173214303984829,
    "ax_avg": 0.029171329241247067,
    "a_std": 0.2570532615173126,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "36e3e0f9a589578d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "36e3e0f9a589578d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "7bf4d5a2cad05f50": {
    "vx_ego": [
      6.363393395128768,
      6.069279864885755,
      5.758516558855972,
      5.391241020851888,
      4.937474209720091,
      4.439837298625402,
      3.9393776757455075,
      3.412468452405799,
      2.813688271015943,
      2.163879459236431
    ],
    "vy_ego": [
      -0.04047784436413471,
      -0.003999566825579226,
      -0.004770103434844408,
      -0.01349995148317129,
      -0.007881062937162842,
      -0.010770178758823246,
      -0.004339551272478204,
      -0.013174220090430122,
      -0.03244194096527009,
      -0.04982449011259549
    ],
    "v_ego": [
      6.363522134561394,
      6.069281182713686,
      5.758518534528235,
      5.391257923120184,
      4.937480499485953,
      4.439850361782006,
      3.9393800659326237,
      3.412493882593758,
      2.813875293254177,
      2.164453001088342
    ],
    "ax_ego": [
      -0.5882549179883836,
      -0.5883392431250715,
      -0.6547331519704349,
      -0.8142969116202707,
      -1.0007672743068636,
      -0.9897608885754874,
      -1.01209046866098,
      -1.0955451496792137,
      -1.2996010435774665,
      -1.2996067153904645
    ],
    "ay_ego": [
      0.053745886469148574,
      0.052814838158881605,
      -0.04022158324067204,
      0.028115023188479082,
      -0.003303035913348351,
      0.0009997258033717094,
      0.01923361563964121,
      -0.04631377020827954,
      -0.03404247445701569,
      -0.033825467850975066
    ],
    "a_ego": [
      0.5907050607958887,
      0.5907050635729567,
      0.6559674352035526,
      0.8147821271991671,
      1.0007727251328515,
      0.9897613934708811,
      1.0122732085385722,
      1.0965236615306375,
      1.3000468309006397,
      1.3000468364498754
    ],
    "yaw": [
      -0.7410106222893584,
      -0.7425932385528644,
      -0.7419315158941266,
      -0.7409121432277636,
      -0.7407995468624611,
      -0.7403060214719206,
      -0.7406333492935291,
      -0.7400732745718416,
      -0.7403349645001025,
      -0.7401679903734006
    ],
    "yaw_diff": [
      -0.003165232527011952,
      0.0013234453174755245,
      0.0020387453327261884,
      0.0002251927306049506,
      0.000987050781080967,
      -0.0006546556432169837,
      0.001120149443375018,
      -0.0005233798565218439,
      0.00033394825340371526,
      0.00033394825340371526
    ],
    "min_front_frame": [
      9,
      10.80203010175788
    ],
    "v_avg": 4.529011287906036,
    "v_std": 1.352587112112833,
    "vy_max": 0.04982449011259549,
    "a_max": 1.3000468364498754,
    "ax_avg": -0.9342995764894635,
    "a_std": 0.25205030285348645,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7bf4d5a2cad05f50",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.934601575389483,
    "speed_mode": "decelerating",
    "front_frame": [
      21.599609423826553,
      20.401315927979173,
      19.152486062538017,
      17.910811133064627,
      16.629489560880433,
      15.313766481116575,
      13.986639887528101,
      12.713122816013765,
      11.658836649513253,
      10.80203010175788
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7bf4d5a2cad05f50",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6360aa4dd01151c3": {
    "vx_ego": [
      6.6551709590753925,
      6.708262762669864,
      6.9085416822295285,
      7.135704635092885,
      7.404840290926928,
      7.836824113337029,
      8.370264771654496,
      8.910748535017762,
      9.360261934795142,
      9.725351008160974
    ],
    "vy_ego": [
      0.1047702284023444,
      0.06499426277340414,
      0.04888679917376714,
      0.1150872050437155,
      0.16240388935052552,
      0.13990520342283297,
      0.1320979454480522,
      0.0433910516813083,
      0.016912690752480586,
      -0.011970221143918103
    ],
    "v_ego": [
      6.65599559008868,
      6.708577609837764,
      6.90871464848826,
      7.136632658617849,
      7.406621008085331,
      7.838072827508398,
      8.371307079231528,
      8.910854181148247,
      9.360277214221991,
      9.725358374791744
    ],
    "ax_ego": [
      -0.048384666563059286,
      0.3141043004728955,
      0.5474456213917691,
      0.42498352055638033,
      0.7132733207996818,
      1.041314261382321,
      1.094815887548579,
      1.068101520917371,
      0.7301630006189352,
      0.7301983419669642
    ],
    "ay_ego": [
      -2.244373133769603,
      -2.222811359822418,
      -2.4747153373059554,
      -2.5036410431995395,
      -2.133671123727858,
      -1.3944976180066995,
      -0.3937657254251043,
      -0.11978598420872216,
      -0.06791496176305722,
      -0.0675339667382785
    ],
    "a_ego": [
      2.2448946165789625,
      2.2448946195603825,
      2.5345438858063494,
      2.539454560715307,
      2.249735827690599,
      1.7403904727343709,
      1.1634746555676843,
      1.0747974418460686,
      0.7333147001827556,
      0.7333147041173459
    ],
    "yaw": [
      0.33824243482091154,
      0.17630755343599175,
      0.005865183840914785,
      -0.17985877519795895,
      -0.34627009882910875,
      -0.45954764010474314,
      -0.513784846465103,
      -0.5183755067180411,
      -0.5206033805993147,
      -0.5211251690994425
    ],
    "yaw_diff": [
      -0.3238697627698396,
      -0.34088473919015394,
      -0.37144791807774746,
      -0.3328226472622996,
      -0.22655508255126877,
      -0.10847441272071978,
      -0.009181320505876167,
      -0.004455747762547091,
      -0.001043577000255702,
      -0.001043577000255702
    ],
    "min_front_frame": [
      9,
      53.31854017493304
    ],
    "v_avg": 7.902241119201979,
    "v_std": 1.0718170312674185,
    "vy_max": 0.16240388935052552,
    "a_max": 2.539454560715307,
    "ax_avg": 0.6616015109091838,
    "a_std": 0.6956873353426208,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "6360aa4dd01151c3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 46.200279036839525,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      71.09832121067758,
      66.90835644131718,
      62.49665901203857,
      58.07909650763434,
      53.31854017493304
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "6360aa4dd01151c3",
    "pedestrians": "No"
  },
  "86db4cfb30b55a5e": {
    "vx_ego": [
      4.251482182542084,
      3.7241063263525405,
      3.2728901429031456,
      3.0077262359500923,
      2.8896543040709197,
      2.8171395032320152,
      2.761830242177503,
      2.7642935954067576,
      2.7140437840545473,
      2.5620136948635004
    ],
    "vy_ego": [
      -0.004721310625452446,
      -0.022034260040498355,
      -0.024997976857492166,
      -0.024418132819554073,
      -0.010026608479231536,
      0.002568147205148863,
      -0.0010548579112086287,
      0.010180803776836278,
      -0.0031241485499315935,
      -0.043080180468912044
    ],
    "v_ego": [
      4.251484804071023,
      3.7241715103623445,
      3.272985607417109,
      3.0078253532465786,
      2.889671699330771,
      2.817140673812792,
      2.7618304436245644,
      2.7643123431284606,
      2.714045582164988,
      2.5623758652113002
    ],
    "ax_ego": [
      -1.0548160933364414,
      -1.054756781322033,
      -0.7504136834815536,
      -0.31048558607608784,
      -0.16211816944403534,
      -0.12784535452718201,
      -0.09342768086852456,
      0.10329485108004119,
      -0.30421289939263063,
      -0.3040629850648966
    ],
    "ay_ego": [
      -0.04441830842234307,
      -0.04580507527500033,
      -0.002642498984067543,
      -0.030439045891660632,
      0.05478676899111033,
      -0.03868178348416994,
      -0.0019097236195255926,
      0.022308859489333567,
      -0.0885604084542536,
      -0.08907373568705836
    ],
    "a_ego": [
      1.0557509066463806,
      1.0557509046483284,
      0.7504183361014269,
      0.31197409295614015,
      0.1711253660927282,
      0.13356913957833622,
      0.09344719683743244,
      0.10567644709850306,
      0.3168413390049585,
      0.31684133138816256
    ],
    "yaw": [
      0.8719188101512991,
      0.8706040722643087,
      0.8679604402062695,
      0.8650919432755824,
      0.862257752978775,
      0.8592503249877211,
      0.8569076178758954,
      0.8546669978160792,
      0.8534993248342249,
      0.8518114977676821
    ],
    "yaw_diff": [
      -0.0026294757739808716,
      -0.005287264116078383,
      -0.005736993861374273,
      -0.00566838059361463,
      -0.006014855982107825,
      -0.0046854142236514296,
      -0.004481240119632357,
      -0.002335345963708768,
      -0.003375654133085604,
      -0.003375654133085604
    ],
    "min_front_frame": [
      9,
      10.807627606175052
    ],
    "v_avg": 3.076584388236993,
    "v_std": 0.5037596026630091,
    "vy_max": 0.043080180468912044,
    "a_max": 1.0557509066463806,
    "ax_avg": -0.4058844382433344,
    "a_std": 0.3603698220099508,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "86db4cfb30b55a5e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.213859640959544,
    "right_rear_min": 38.613948460536,
    "speed_mode": "decelerating",
    "front_frame": [
      17.947240507989413,
      16.34264689518515,
      15.208441673818413,
      14.67356563608842,
      14.363537955958499,
      14.168884674752313,
      13.783846029319282,
      13.148648531827353,
      12.046562474427956,
      10.807627606175052
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "86db4cfb30b55a5e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6347504b632c5be1": {
    "vx_ego": [
      2.0028752966945076,
      2.060696309569015,
      2.1124623670163354,
      2.1936127196885598,
      2.4024331135754564,
      2.700713758225527,
      3.0065549998912062,
      3.3050465505803985,
      3.5836917257543934,
      3.875824428155859
    ],
    "vy_ego": [
      -0.012597863274977916,
      0.01245732270583122,
      -0.0064880234119201186,
      -0.037541334314528885,
      -0.04178194311792538,
      -0.04954675416994436,
      -0.040205948780878575,
      -0.02442595931163738,
      -0.04999228558725144,
      -0.14897807971958255
    ],
    "v_ego": [
      2.0029149158834,
      2.060733962732782,
      2.1124723303532407,
      2.193933936052213,
      2.402796411678395,
      2.7011682074090513,
      3.006823820194356,
      3.3051368094213114,
      3.584040403491392,
      3.8786865645636572
    ],
    "ax_ego": [
      0.108163841214364,
      0.12296377876614102,
      0.08125708618074612,
      0.25268689631635577,
      0.6013835351877419,
      0.6140869732066796,
      0.6342935633413381,
      0.5715558730769509,
      0.5638921639828278,
      0.6482277488786428
    ],
    "ay_ego": [
      0.2746068015958847,
      0.26830620730439697,
      0.2056258922472765,
      0.287556428535398,
      0.4309879977564474,
      0.5267387750610719,
      0.6629013534174452,
      0.6458258312812641,
      0.7357638015450412,
      0.6626639644939982
    ],
    "a_ego": [
      0.2951411730493862,
      0.2951411726047698,
      0.22109889555824058,
      0.38280460702821506,
      0.7398735098684217,
      0.8090466907508983,
      0.9174783533462425,
      0.8624193413872926,
      0.9269966258111445,
      0.9269966258057123
    ],
    "yaw": [
      -1.2613597388416424,
      -1.2068527619420821,
      -1.1411775289968253,
      -1.0687995655448796,
      -0.987282549465994,
      -0.8904180017707171,
      -0.7894662032434061,
      -0.6911141613360973,
      -0.5835464445946694,
      -0.46307749043588753
    ],
    "yaw_diff": [
      0.1090139537991206,
      0.13135046589051358,
      0.14475592690389139,
      0.16303403215777124,
      0.19372909539055394,
      0.2019035970546219,
      0.19670408381461768,
      0.2151354334828557,
      0.2409379083175638,
      0.2409379083175638
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.72487073617798,
    "v_std": 0.6487824731190064,
    "vy_max": 0.14897807971958255,
    "a_max": 0.9269966258111445,
    "ax_avg": 0.41985114601517876,
    "a_std": 0.28446091841950466,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "6347504b632c5be1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "6347504b632c5be1",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b648072650cc5932": {
    "vx_ego": [
      3.6062749860782795,
      3.5856979609191217,
      3.563576238258189,
      3.5488575110348566,
      3.539410793263571,
      3.516184332698364,
      3.488943968800233,
      3.56073600936383,
      3.6184563624350665,
      3.585493021652912
    ],
    "vy_ego": [
      0.03476419492882388,
      0.027056041883110726,
      0.018423363358867073,
      -0.011324160966134311,
      -0.012260199581094255,
      0.0028388971358266346,
      0.028835953440767836,
      0.03972458350460495,
      -0.01523550741648716,
      -0.08375686758566947
    ],
    "v_ego": [
      3.606442544178812,
      3.5858000357440356,
      3.563623861492096,
      3.5488755782994286,
      3.5394320273123525,
      3.5161854787326545,
      3.4890631306467297,
      3.5609575918444842,
      3.6184884368383785,
      3.586471165531586
    ],
    "ax_ego": [
      -0.0532646631381159,
      -0.03530087431153629,
      -0.05625678708515644,
      0.002608412897511625,
      -0.023020385947623734,
      -0.063396767567937,
      -0.05481800068610898,
      0.3239958073701127,
      -0.10408474492385444,
      -0.0017180278811719796
    ],
    "ay_ego": [
      0.35056853976198354,
      0.352830377902707,
      0.42681105853300033,
      0.5862814488442749,
      0.8373800437495971,
      0.9084995747705255,
      0.8814578173038419,
      0.8611261401742871,
      0.7880109510682421,
      0.7948534079822698
    ],
    "a_ego": [
      0.35459191390959044,
      0.3545919165718896,
      0.4305026199446466,
      0.5862872513340078,
      0.8376964103058188,
      0.9107088598977658,
      0.8831607423823113,
      0.9200606026153262,
      0.7948552655228116,
      0.7948552646871184
    ],
    "yaw": [
      0.24991074031196747,
      0.30097674397384533,
      0.3578606011008284,
      0.4375681402841243,
      0.5380804000257078,
      0.6572116918248444,
      0.7774417146614494,
      0.8994350659104732,
      1.0275140802718745,
      1.1566778450635877
    ],
    "yaw_diff": [
      0.10213200732375571,
      0.11376771425396615,
      0.15941507836659174,
      0.20102451948316702,
      0.23826258359827324,
      0.24046004567321,
      0.24398670249804755,
      0.2561580287228027,
      0.2583275295834264,
      0.2583275295834264
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.561533985062055,
    "v_std": 0.03799109872236133,
    "vy_max": 0.08375686758566947,
    "a_max": 0.9200606026153262,
    "ax_avg": -0.006525603127388047,
    "a_std": 0.22039518371153347,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "b648072650cc5932",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "b648072650cc5932",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "6ed01f269a835519": {
    "vx_ego": [
      3.3382460797579387,
      3.6212273863276057,
      3.9174160176506856,
      4.2316646784069185,
      4.543148939362227,
      4.84703628453515,
      5.158530158880517,
      5.417698751241984,
      5.637084689158628,
      5.857845642796917
    ],
    "vy_ego": [
      0.005448045664001588,
      -0.08545096390514839,
      -0.07395010360523857,
      -0.054453417088230704,
      -0.016964561841131598,
      0.02552185608702473,
      0.03719859776411738,
      0.02026600783458754,
      0.02636705636444958,
      0.03809873451957424
    ],
    "v_ego": [
      3.3382505253831387,
      3.622235449376722,
      3.918113943362212,
      4.232015019480592,
      4.543180612917187,
      4.847103476174038,
      5.158664278256094,
      5.417736655678504,
      5.637146353821936,
      5.8579695363160456
    ],
    "ax_ego": [
      0.5352796426852451,
      0.6116058346685033,
      0.5847150275403191,
      0.6768133205157814,
      0.5705915793391497,
      0.644753593192583,
      0.6001847507936182,
      0.4360243318359341,
      0.4417249733524955,
      0.441798056011001
    ],
    "ay_ego": [
      0.6766401419650877,
      0.6085264838448124,
      0.35245106588556,
      0.17022485325113113,
      0.16439440811884132,
      0.1428821321496857,
      0.012946419654996821,
      0.0010651337092349722,
      -0.02036289944346162,
      -0.018710364777741267
    ],
    "a_ego": [
      0.8627665834927647,
      0.8627665840429191,
      0.6827249938850514,
      0.6978916617154606,
      0.5938015424647273,
      0.6603957144185499,
      0.6003243663779448,
      0.4360256328047599,
      0.4421940747646981,
      0.4421940750905825
    ],
    "yaw": [
      0.88366750924713,
      1.002308378336192,
      1.0629213391861305,
      1.0902815631723286,
      1.1007720985083327,
      1.1080990009459644,
      1.1135459655085467,
      1.1173954399367745,
      1.1154185770714597,
      1.1116777970261111
    ],
    "yaw_diff": [
      0.2372817381781238,
      0.12122592169987723,
      0.05472044797239617,
      0.020981070672008162,
      0.014653804875263354,
      0.010893929125164625,
      0.007698948856455612,
      -0.003953725730629465,
      -0.007481560090697226,
      -0.007481560090697226
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.657241585076647,
    "v_std": 0.8257662078776455,
    "vy_max": 0.08545096390514839,
    "a_max": 0.8627665840429191,
    "ax_avg": 0.5543491109934628,
    "a_std": 0.15066421208096126,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6ed01f269a835519",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 44.81040072169731,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6ed01f269a835519",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f0d6814d23245178": {
    "vx_ego": [
      8.830339962239874,
      8.588280356031323,
      8.22375466072076,
      7.599913875621453,
      7.044313899316269,
      6.504984307962212,
      5.876177421077462,
      5.387711350511978,
      4.948849157328547,
      4.549605754515385
    ],
    "vy_ego": [
      0.05023219613650954,
      -0.044744551645652275,
      -0.014664914636013548,
      0.016315041916186906,
      -0.011051386980622108,
      -0.05567839587849198,
      -0.03676349437005216,
      -0.03266000502190952,
      -0.012338102915869786,
      0.024919691168749925
    ],
    "v_ego": [
      8.83048283630398,
      8.588396913784054,
      8.223767736229403,
      7.599931387680827,
      7.044322568228585,
      6.505222588859064,
      5.8762924228206055,
      5.3878103411649185,
      4.948864537525252,
      4.549674000687022
    ],
    "ax_ego": [
      -0.48555658748905817,
      -0.48280323357446153,
      -0.9747511772906831,
      -1.52061910028955,
      -0.7013718845388199,
      -1.4570919954202277,
      -1.0612215183748492,
      -0.8889512019424102,
      -0.8634353801477705,
      -0.7241517743307042
    ],
    "ay_ego": [
      0.13908676003272605,
      0.14836226888639076,
      0.13648917454101211,
      -0.009577539121297461,
      -0.20766147011221478,
      -0.24477895929312396,
      -0.40577924411371924,
      -0.8171625054318092,
      -1.0617064796154483,
      -1.161182815904609
    ],
    "a_ego": [
      0.5050844745885786,
      0.5050844733102313,
      0.9842607136305195,
      1.520649261802675,
      0.7314682539869396,
      1.477509330606858,
      1.1361548776532722,
      1.2074720699537722,
      1.3684813862630187,
      1.3684813934498576
    ],
    "yaw": [
      -1.569555571987703,
      -1.550399003510954,
      -1.5455412426131216,
      -1.5454475149499634,
      -1.5491794236762213,
      -1.5591490543013928,
      -1.5887107479437752,
      -1.643922431493727,
      -1.7387265853975615,
      -1.8638806017257856
    ],
    "yaw_diff": [
      0.03831313695349792,
      0.009715521795664817,
      0.0001874553263165879,
      -0.007463817452515897,
      -0.019939261250343066,
      -0.05912338728476474,
      -0.11042336709990375,
      -0.1896083078076689,
      -0.2503080326564482,
      -0.2503080326564482
    ],
    "min_front_frame": [
      0,
      68.29055038492217
    ],
    "v_avg": 6.7554765333283715,
    "v_std": 1.4646903302192327,
    "vy_max": 0.05567839587849198,
    "a_max": 1.520649261802675,
    "ax_avg": -0.9159953853398534,
    "a_std": 0.36465393425926884,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "f0d6814d23245178",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.9548260526574435,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      68.29055038492217,
      73.40422282944178,
      78.40325669001179,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f0d6814d23245178",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "866fab78f1da518b": {
    "vx_ego": [
      3.5633060462348,
      3.6922369538850273,
      3.97254725476334,
      4.368741944806566,
      4.7632215497963255,
      5.157350491818477,
      5.504812197056021,
      5.818817140254083,
      6.097027878856534,
      6.380161570588505
    ],
    "vy_ego": [
      0.06569503265859344,
      -0.009591237232523975,
      -0.005831549076046105,
      0.006462083729382062,
      0.024287162633414017,
      0.08270615468117218,
      0.14516905638044808,
      0.1104751355182636,
      0.09494664261411834,
      -0.01446513236883229
    ],
    "v_ego": [
      3.5639115893144004,
      3.6922494113298785,
      3.9725515350077427,
      4.3687467240432225,
      4.763283468229966,
      5.158013610245947,
      5.506726012776296,
      5.819865777428419,
      6.097767117601122,
      6.380177968275557
    ],
    "ax_ego": [
      0.22054650553814337,
      0.3049193916476971,
      0.8371289039187295,
      0.7857706466089247,
      0.8257483735910516,
      0.7781376741537818,
      0.6722517332973872,
      0.6433029196626439,
      0.5116928306799842,
      0.6330478494878935
    ],
    "ay_ego": [
      -0.8730661594270459,
      -0.8472953807580532,
      -1.2112856992421055,
      -1.64691289895929,
      -1.865977504274512,
      -1.7225076601645533,
      -1.5465875567598322,
      -1.463699335064724,
      -1.369145753330376,
      -1.317436930360314
    ],
    "a_ego": [
      0.9004916878249228,
      0.9004916977167174,
      1.4724122544194644,
      1.8247623422875374,
      2.0405225857477793,
      1.8901139857857836,
      1.68637346505621,
      1.5988290683857975,
      1.4616393696229921,
      1.4616393690710623
    ],
    "yaw": [
      -0.7281945431124079,
      -0.8262033936309501,
      -0.9636455226185631,
      -1.1372166006357958,
      -1.3330476184084477,
      -1.524864599585117,
      -1.6891060188410456,
      -1.8156487844639329,
      -1.9314614891413977,
      -2.021741670434846
    ],
    "yaw_diff": [
      -0.19601770103708427,
      -0.274884257975226,
      -0.3471421560344654,
      -0.39166203554530377,
      -0.3836339623533389,
      -0.328482838511857,
      -0.2530855312457745,
      -0.2316254093549297,
      -0.18056036258689634,
      -0.18056036258689634
    ],
    "min_front_frame": [
      9,
      36.129665100124605
    ],
    "v_avg": 4.9323293214252555,
    "v_std": 0.9644084920698368,
    "vy_max": 0.14516905638044808,
    "a_max": 2.0405225857477793,
    "ax_avg": 0.6212546828586237,
    "a_std": 0.3621078594291713,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "866fab78f1da518b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.296689720031884,
    "right_rear_min": 10.128523396554412,
    "speed_mode": "accelerating",
    "front_frame": [
      40.18893344118659,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      36.129665100124605
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "866fab78f1da518b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "255c8b9b215458f9": {
    "vx_ego": [
      1.0162640842962998,
      1.6283366214661732,
      2.3473417838293593,
      3.1949131143230396,
      4.008228124483914,
      4.698083449769451,
      5.247408661857679,
      5.653379081687353,
      5.920925908085357,
      6.120605919355406
    ],
    "vy_ego": [
      -0.005148585494743507,
      -0.02665233252980659,
      -0.02913522140914382,
      -0.009051209231109247,
      0.001256145644800366,
      0.008856714940200572,
      0.009321541907884479,
      -0.010598660755364753,
      -0.0027854475813864354,
      0.019883474069191553
    ],
    "v_ego": [
      1.0162771260651267,
      1.6285547272465704,
      2.3475225901442904,
      3.194925935364056,
      4.008228321316753,
      4.6980917979959855,
      5.247416941284782,
      5.653389016587302,
      5.920926563279993,
      6.120638216116805
    ],
    "ax_ego": [
      1.224039133882515,
      1.2241293260450912,
      1.651577435031699,
      1.738476029209401,
      1.514850894938506,
      1.2445757591609607,
      0.9531118217863648,
      0.6707106635818123,
      0.3994102912624846,
      0.39936793990206193
    ],
    "ay_ego": [
      -0.04912871975661315,
      -0.046827895853820134,
      0.02015338288714419,
      0.028373931020060583,
      -0.03972997626794983,
      -0.0018807603711623044,
      -0.09164158879882062,
      -0.023530558428814352,
      0.024293188466846208,
      0.02497980365000707
    ],
    "a_ego": [
      1.225024666029538,
      1.2250246767774537,
      1.651700391338478,
      1.7387075614079608,
      1.5153718041821433,
      1.2445771802305614,
      0.9575073501683918,
      0.6711232982264338,
      0.4001483971881788,
      0.4001483999868172
    ],
    "yaw": [
      -1.9214361195042644,
      -1.9233157445547677,
      -1.925479578619811,
      -1.9283605260450223,
      -1.9319825859953488,
      -1.9360864097117405,
      -1.940846744751177,
      -1.942464194382055,
      -1.9437736721658228,
      -1.9454928323760474
    ],
    "yaw_diff": [
      -0.0037592501010066393,
      -0.004327668130086337,
      -0.005761894850422777,
      -0.00724411990065299,
      -0.00820764743278346,
      -0.009520670078873028,
      -0.00323489926175613,
      -0.0026189555675353304,
      -0.0034383204204493367,
      -0.0034383204204493367
    ],
    "min_front_frame": [
      9,
      65.87760502253025
    ],
    "v_avg": 3.9835971235401657,
    "v_std": 1.7568921310263927,
    "vy_max": 0.02913522140914382,
    "a_max": 1.7387075614079608,
    "ax_avg": 1.1020249294800897,
    "a_std": 0.46051679299553216,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "255c8b9b215458f9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      79.04802289765661,
      76.82880999454562,
      74.36224019915561,
      71.60735460101019,
      68.77162429104405,
      65.87760502253025
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "255c8b9b215458f9",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "291e2af79c2258d5": {
    "vx_ego": [
      5.677997938534165,
      5.035339872742655,
      4.37163324742168,
      3.685438971080921,
      2.974101792015487,
      2.2376724966350436,
      1.5247665321073627,
      0.8993078425350917,
      0.39362159201854136,
      -0.05476217587582208
    ],
    "vy_ego": [
      -0.049229823657586214,
      -0.02605229346077073,
      0.009770556119628349,
      -0.01009308483440309,
      -0.015320253004757325,
      0.010316761102347666,
      0.017430346271544897,
      0.02208577912077379,
      -0.0016493205538503156,
      -0.04157497120485926
    ],
    "v_ego": [
      5.6782113526651665,
      5.035407268138952,
      4.371644165955129,
      3.6854527917100595,
      2.974141250751528,
      2.2376962791577752,
      1.524866156226788,
      0.899579000024174,
      0.39362504742648224,
      0.06875590256362973
    ],
    "ax_ego": [
      -1.285232748325903,
      -1.285099088254089,
      -1.3697479521105678,
      -1.37513493065027,
      -1.4700314377731398,
      -1.4757133903778321,
      -1.375919425805577,
      -1.125986867757301,
      -0.896745540400034,
      -0.8967666401473635
    ],
    "ay_ego": [
      0.06628053444141724,
      0.06882330374314324,
      0.06092403497436967,
      -0.12155865935327428,
      0.11505970418949604,
      -0.006850692584317454,
      0.03731257014861218,
      -0.015485546639590418,
      -0.0798802571874283,
      -0.07964314370119989
    ],
    "a_ego": [
      1.2869406849638385,
      1.2869406799730947,
      1.371102180856209,
      1.3804972238864837,
      1.4745274373742725,
      1.4757292917501235,
      1.376425259213243,
      1.1260933480474098,
      0.9002962955136928,
      0.9002963052350048
    ],
    "yaw": [
      -1.5448858348177774,
      -1.5429072805626105,
      -1.5436255591229606,
      -1.542457839934364,
      -1.5413797949672836,
      -1.5408368496237905,
      -1.5405682815811494,
      -1.5398896510910212,
      -1.5400617922814015,
      -1.5397973812339059
    ],
    "yaw_diff": [
      0.003957108510333818,
      -0.0014365571207002326,
      0.0023354383771931886,
      0.002156089934160832,
      0.0010858906869861684,
      0.0005371360852821638,
      0.0013572609802565694,
      -0.0003442823807606743,
      0.000528822094991277,
      0.000528822094991277
    ],
    "min_front_frame": [
      9,
      9.297672435806243
    ],
    "v_avg": 2.6869379214619684,
    "v_std": 1.8772804696762582,
    "vy_max": 0.049229823657586214,
    "a_max": 1.4757292917501235,
    "ax_avg": -1.2556378021602077,
    "a_std": 0.2027536985489805,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "291e2af79c2258d5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.517733635363225,
    "right_rear_min": 16.901037396644476,
    "speed_mode": "decelerating",
    "front_frame": [
      20.678399298599178,
      18.26912141368818,
      16.07777261205411,
      14.17618137418705,
      12.504036504549338,
      11.213563255313504,
      10.278885322907948,
      9.68031617193139,
      9.358283059947576,
      9.297672435806243
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "291e2af79c2258d5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7e082b46989356a4": {
    "vx_ego": [
      2.0281467766821892,
      1.7403264771829452,
      1.4562108073644704,
      1.2142827233604006,
      1.0225000183258075,
      0.8437968911260012,
      0.6629348044438315,
      0.4937766040821012,
      0.34190258524630757,
      0.1920492921778561
    ],
    "vy_ego": [
      -0.018110582647135942,
      0.0017199716020201983,
      0.006964867581426226,
      0.0008083320737619082,
      -0.009267675794572383,
      -0.023280024357951234,
      -0.01584690024321944,
      0.0069746874059983255,
      0.011617082259208683,
      0.002630954469925409
    ],
    "v_ego": [
      2.028227635392579,
      1.7403273271101365,
      1.456227463298749,
      1.2142829924083975,
      1.0225420173718582,
      0.8441179733947214,
      0.6631241808215861,
      0.49382586101100817,
      0.34209988950352765,
      0.1920673125428644
    ],
    "ax_ego": [
      -0.575640346569542,
      -0.5756433677265245,
      -0.5608116875608227,
      -0.4068913267079756,
      -0.3602422039693882,
      -0.35459840609559135,
      -0.3688266504260129,
      -0.3078034537450288,
      -0.2997082447425437,
      -0.29971379561881734
    ],
    "ay_ego": [
      0.03939406155406383,
      0.0393498968919897,
      -0.019413755501922647,
      -0.009790780387390507,
      -0.03271088580083609,
      -0.024856210317158636,
      0.055183888015796934,
      0.03682541122472148,
      -0.017852475122098713,
      -0.017759013016207928
    ],
    "a_ego": [
      0.5769867422085431,
      0.5769867426492093,
      0.5611476123156065,
      0.40700910448142397,
      0.36172427008786356,
      0.35546850886803566,
      0.3729321111958748,
      0.30999851136616435,
      0.30023947580996346,
      0.30023947413281293
    ],
    "yaw": [
      1.1022070559499277,
      1.1021303325163743,
      1.1019669291146175,
      1.1010971788894617,
      1.1006033562642341,
      1.100196442154164,
      1.1003934860170315,
      1.100710166418903,
      1.1009520889421196,
      1.1012639324740467
    ],
    "yaw_diff": [
      -0.00015344686710694333,
      -0.0003268068035136018,
      -0.0017395004503115707,
      -0.000987645250455138,
      -0.0008138282201404223,
      0.00039408772573512607,
      0.0006333608037429883,
      0.0004838450464332844,
      0.0006236870638542946,
      0.0006236870638542946
    ],
    "min_front_frame": [
      9,
      9.766958720439293
    ],
    "v_avg": 0.9996842652855429,
    "v_std": 0.5778831224233478,
    "vy_max": 0.023280024357951234,
    "a_max": 0.5769867426492093,
    "ax_avg": -0.41098794831622476,
    "a_std": 0.10924528136433581,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7e082b46989356a4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.598538135975932,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.543705602190206,
      12.98618613307151,
      12.40931926005306,
      11.742236485216385,
      11.252924510109716,
      10.806005298317347,
      10.40455758945325,
      10.146945894922288,
      9.898716550313777,
      9.766958720439293
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7e082b46989356a4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e84ff3e29bc05254": {
    "vx_ego": [
      5.923164247576945,
      5.7374233457252934,
      5.503346893268057,
      5.1248869183715655,
      4.634516636358184,
      4.1986648315533515,
      3.7934708665540695,
      3.3473100907902023,
      2.899061263897885,
      2.449903570595389
    ],
    "vy_ego": [
      -0.052948409126574614,
      -0.05923186351180565,
      -0.04224301159210908,
      -0.006246749233075555,
      -0.0029894653454178854,
      -0.004866968958720186,
      0.004364088762118357,
      -0.006647552843766391,
      -0.022055398823386252,
      -0.025934778131399883
    ],
    "v_ego": [
      5.923400901323731,
      5.7377290857732826,
      5.503509016951962,
      5.124890725466445,
      4.634517600525844,
      4.198667652376142,
      3.7934733768230413,
      3.3473166916001125,
      2.8991451589133064,
      2.4500408400540516
    ],
    "ax_ego": [
      -0.37181572164597393,
      -0.37171051439947017,
      -0.5650898146722696,
      -0.9488843706835182,
      -1.0125673207327213,
      -0.7308959112263267,
      -0.8898567238893504,
      -0.8947326700866707,
      -0.8983911128384876,
      -0.8983704155096732
    ],
    "ay_ego": [
      -0.0414017307709158,
      -0.042335928842481135,
      0.06694660924802137,
      0.04319647044695063,
      -0.0504639583203908,
      0.024500516453975496,
      -0.010322161751337211,
      -0.06640803729168765,
      -0.014476670842338446,
      -0.01570842092714908
    ],
    "a_ego": [
      0.374113664778425,
      0.3741136690714125,
      0.569041604046793,
      0.9498670875372672,
      1.0138240429705758,
      0.7313064394314287,
      0.8899165893915612,
      0.8971937239734556,
      0.8985077437762312,
      0.8985077395053687
    ],
    "yaw": [
      2.6387037717589545,
      2.636190864351245,
      2.6342711067242988,
      2.632693271997049,
      2.6316551156147474,
      2.630602169741566,
      2.629186193890737,
      2.626898064936423,
      2.6253571291813333,
      2.6239860608973213
    ],
    "yaw_diff": [
      -0.005025814815419416,
      -0.003839515253892145,
      -0.00315566945449941,
      -0.002076312764603294,
      -0.00210589174636322,
      -0.002831951701657509,
      -0.004576257908627923,
      -0.003081871510179468,
      -0.002742136568024023,
      -0.002742136568024023
    ],
    "min_front_frame": [
      9,
      13.455533356734907
    ],
    "v_avg": 4.361269104980791,
    "v_std": 1.1603845567820277,
    "vy_max": 0.05923186351180565,
    "a_max": 1.0138240429705758,
    "ax_avg": -0.758231457568446,
    "a_std": 0.22575407743166387,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e84ff3e29bc05254",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.746466267752643,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.061445637938814,
      21.753416281939426,
      21.192745176059976,
      20.433639075779457,
      19.577215685373616,
      18.567987297829532,
      17.378572515471355,
      16.09216080895205,
      14.729900555030738,
      13.455533356734907
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e84ff3e29bc05254",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "51bf8103b6cd5b4c": {
    "vx_ego": [
      7.399311977484538,
      6.676961322460075,
      5.968595657206309,
      5.383204379227625,
      4.870651750677981,
      4.425235567281864,
      4.166647095383783,
      3.9742406512803603,
      3.872340529666639,
      3.9228166623654963
    ],
    "vy_ego": [
      0.11307432052781674,
      -0.04026547583726024,
      -0.06235170605416317,
      -0.022119301488970566,
      0.028698256979889814,
      0.07604958792114846,
      0.06995485702413395,
      0.09036592195859416,
      0.078431268875375,
      0.08254848397299841
    ],
    "v_ego": [
      7.400175912916461,
      6.677082732014948,
      5.968921330899736,
      5.383249822554573,
      4.870736296119526,
      4.425888991576654,
      4.1672342986075765,
      3.9752678845759273,
      3.873134730633096,
      3.9236851069802494
    ],
    "ax_ego": [
      -1.444952257125393,
      -1.4440714860048014,
      -1.3927441092145094,
      -0.9522597767371355,
      -1.0772197031763555,
      -0.6537046569320111,
      -0.3468650132029682,
      -0.36685690498160406,
      0.016302712774101114,
      0.23848330162583076
    ],
    "ay_ego": [
      -0.3409857049109165,
      -0.34469667925957465,
      -0.543284639826192,
      -0.7767566496056961,
      -1.1507154444061625,
      -1.409963989389107,
      -1.2607748681210638,
      -1.3070143127414828,
      -1.318047354801166,
      -1.2963951316537856
    ],
    "a_ego": [
      1.4846407903346055,
      1.484640783955733,
      1.4949563049209138,
      1.228881432481639,
      1.5762450072581444,
      1.5541326294331008,
      1.307619442142851,
      1.357523628687093,
      1.318148173743053,
      1.3181481792765155
    ],
    "yaw": [
      -1.5492533921505274,
      -1.5518224062107353,
      -1.5834691668357954,
      -1.649315015553321,
      -1.7528065235371217,
      -1.902151942377032,
      -2.057231248012318,
      -2.2194982841005695,
      -2.3853787975876566,
      -2.5549354371330804
    ],
    "yaw_diff": [
      -0.005138028120415861,
      -0.06329352125012022,
      -0.13169169743505105,
      -0.2069830159676016,
      -0.2986908376798203,
      -0.3101586112705723,
      -0.3245340721765029,
      -0.3317610269741742,
      -0.33911327909084754,
      -0.33911327909084754
    ],
    "min_front_frame": [
      0,
      54.196891559138145
    ],
    "v_avg": 5.066537710687875,
    "v_std": 1.188824354842389,
    "vy_max": 0.11307432052781674,
    "a_max": 1.5762450072581444,
    "ax_avg": -0.7423887892974846,
    "a_std": 0.1138518781693251,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "51bf8103b6cd5b4c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      54.196891559138145,
      57.63860887464658,
      61.41113244138987,
      65.55804952180885,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "51bf8103b6cd5b4c",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "16e645697d7559b3": {
    "vx_ego": [
      8.211832691786107,
      8.096635550782725,
      7.926644626118794,
      7.649751833161163,
      7.198024450792037,
      6.675140331670805,
      6.272903901137711,
      5.949038124496019,
      5.534888683821863,
      5.013821551933871
    ],
    "vy_ego": [
      0.004327324858720727,
      -0.009254714671189379,
      -0.007508205337775881,
      -0.01733023319638302,
      -0.02059475351202758,
      0.012590262609653735,
      -0.009256646870011376,
      -0.004721662365071655,
      -0.001077611540823642,
      -0.05466831066549671
    ],
    "v_ego": [
      8.211833831954193,
      8.09664083999916,
      7.926648182045508,
      7.649771463640938,
      7.198053913251291,
      6.675152205171865,
      6.272910730946199,
      5.9490399982520366,
      5.5348887887243,
      5.014119581624235
    ],
    "ax_ego": [
      -0.23154379957099833,
      -0.2290957085394831,
      -0.45080470019377106,
      -0.6566202151480012,
      -1.1501160245519138,
      -0.9318540530569084,
      -0.6809338194740278,
      -0.6166600303937484,
      -1.044536349390973,
      -1.0411472129690318
    ],
    "ay_ego": [
      0.18517594868433998,
      0.1881962056270064,
      0.13405307915371323,
      0.07196618073280797,
      -0.18427876248885747,
      -0.7241598585195044,
      -0.5429660680428249,
      -0.500924280678593,
      -0.24304523020174082,
      -0.2571763114735524
    ],
    "a_ego": [
      0.2964838327648237,
      0.2964838199356084,
      0.47031383750362643,
      0.660552222091694,
      1.1647856164271273,
      1.1801523108860041,
      0.8709093050079172,
      0.7944776447821452,
      1.0724398207465247,
      1.0724398231398926
    ],
    "yaw": [
      -1.6225528087842727,
      -1.6094396754751072,
      -1.5996360042005078,
      -1.5917876402311006,
      -1.595102495943388,
      -1.6327711317104736,
      -1.678541545522464,
      -1.7220395720885078,
      -1.7547582700339381,
      -1.7683086153971992
    ],
    "yaw_diff": [
      0.02622626661833083,
      0.019607342549198936,
      0.01569672793881427,
      -0.00662971142457458,
      -0.07533727153417136,
      -0.09154082762398064,
      -0.08699605313208769,
      -0.06543739589086073,
      -0.027100690726522103,
      -0.027100690726522103
    ],
    "min_front_frame": [
      8,
      13.878613605668491
    ],
    "v_avg": 6.852905953560972,
    "v_std": 1.0772128230667923,
    "vy_max": 0.05466831066549671,
    "a_max": 1.1801523108860041,
    "ax_avg": -0.7033311913288858,
    "a_std": 0.326316167602397,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "16e645697d7559b3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.645764714909207,
    "right_rear_min": 17.105664191550655,
    "speed_mode": "decelerating",
    "front_frame": [
      16.999396781085633,
      16.870961775800502,
      16.436701028474005,
      15.880183313419765,
      15.53183944035593,
      15.039410654204419,
      14.714455570316236,
      14.278939595659173,
      13.878613605668491,
      32.050224875382725
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "16e645697d7559b3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8fa565e2239853e3": {
    "vx_ego": [
      3.4015993428844005,
      3.3276608207293936,
      3.2288235870581623,
      3.1029756102616837,
      3.041571317861939,
      3.0505185128976247,
      3.0730474926557254,
      3.0732390765308724,
      3.097300457268168,
      3.166236648986855
    ],
    "vy_ego": [
      0.01770094001601019,
      -0.005636744213837641,
      -0.0069823074557213705,
      -0.0021412309164570154,
      -0.01031323222394076,
      -0.01608235721568252,
      -0.008290074713902196,
      -0.006932934851740735,
      -0.015062257686882075,
      -0.04564476378177629
    ],
    "v_ego": [
      3.401645397861017,
      3.327665594783039,
      3.228831136643808,
      3.1029763490475895,
      3.041588802648924,
      3.050560905758931,
      3.0730586745873243,
      3.0732468965415047,
      3.097337081139253,
      3.1665656414873515
    ],
    "ax_ego": [
      -0.16814490671797522,
      -0.12906168634510612,
      -0.26880256600189234,
      -0.23581373216733303,
      -0.012290161779115084,
      0.04832350261517494,
      0.041784069219221294,
      -0.04144043879964206,
      0.13766146685655115,
      0.13782193228782075
    ],
    "ay_ego": [
      0.48372680269795726,
      0.4955879443710546,
      0.3688701216671074,
      0.28344656861288164,
      0.08120773502165719,
      0.022510320425856552,
      -0.07245851537515016,
      -0.0007518728058494659,
      -0.0747801330047342,
      -0.07448397662661176
    ],
    "a_ego": [
      0.5121174956038751,
      0.5121174957840926,
      0.45642084324437715,
      0.3687140810127865,
      0.08213248020061557,
      0.0533092433886803,
      0.08364296079699444,
      0.04144725902424737,
      0.15666125158858865,
      0.15666125173016554
    ],
    "yaw": [
      -0.5633354876783354,
      -0.48356033735561954,
      -0.4176014857169488,
      -0.36756470880948156,
      -0.33493793482196993,
      -0.32450558883743996,
      -0.3311271698647251,
      -0.3375028386116433,
      -0.3410138022163297,
      -0.343163885124885
    ],
    "yaw_diff": [
      0.15955030064543174,
      0.13191770327734154,
      0.10007355381493444,
      0.06525354797502325,
      0.020864691969059934,
      -0.013243162054570323,
      -0.01275133749383639,
      -0.00702192720937278,
      -0.004300165817110568,
      -0.004300165817110568
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.1563476480498744,
    "v_std": 0.11807330200015899,
    "vy_max": 0.04564476378177629,
    "a_max": 0.5121174957840926,
    "ax_avg": -0.048996252083229566,
    "a_std": 0.18681119422703985,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "8fa565e2239853e3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8fa565e2239853e3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "179ea24426e95029": {
    "vx_ego": [
      8.654454602040014,
      9.16676702306592,
      9.71877149657791,
      10.315474528134956,
      10.793741958591745,
      11.238063407421397,
      11.681864623646506,
      12.032145620523702,
      12.346832941063312,
      12.628272032115497
    ],
    "vy_ego": [
      0.6611355704045228,
      0.5560006217722147,
      0.5644567154562568,
      0.5782351985071617,
      0.6230639322770841,
      0.6443551672284913,
      0.6389727105173164,
      0.6517134194475097,
      0.5936930069684386,
      0.5976407442021342
    ],
    "v_ego": [
      8.679670771476628,
      9.183613360033181,
      9.735149243145628,
      10.331668339885564,
      10.811710046628543,
      11.256520898162002,
      11.69932678447737,
      12.049782513164942,
      12.361098456894894,
      12.642405980518145
    ],
    "ax_ego": [
      0.9650124013901806,
      0.9854306484361319,
      1.1831623230158201,
      1.1889126713818043,
      0.7148685722052909,
      1.061805478136915,
      0.7119713563509793,
      0.6828466095041393,
      0.5739064631192071,
      0.5765056459897493
    ],
    "ay_ego": [
      0.5267303129756062,
      0.48746298500211466,
      0.16460012768457122,
      0.14793520237598332,
      0.1972134274528823,
      -0.10204691980341782,
      0.1072064411215913,
      0.05857180024589222,
      -0.2538426286099848,
      -0.24788296680517866
    ],
    "a_ego": [
      1.099406093053983,
      1.099406078127835,
      1.1945569407265477,
      1.1980810341017176,
      0.7415727958161251,
      1.066697917520667,
      0.7199975231083857,
      0.6853540310637585,
      0.6275386111703601,
      0.6275386243811575
    ],
    "yaw": [
      1.4731968591684999,
      1.5134564536696158,
      1.5298670874463367,
      1.5362920605336379,
      1.5401981188061253,
      1.5404259960589917,
      1.5410060129361858,
      1.5434261034930197,
      1.5441802314716377,
      1.533819406579068
    ],
    "yaw_diff": [
      0.08051918900223187,
      0.032821267553441835,
      0.012849946174602334,
      0.007812116544974934,
      0.00045575450573265286,
      0.0011600337543882233,
      0.004840181113667796,
      0.0015082559572361376,
      -0.020721649785139462,
      -0.020721649785139462
    ],
    "min_front_frame": [
      4,
      15.994161359149444
    ],
    "v_avg": 10.87509463943869,
    "v_std": 1.2967703373002852,
    "vy_max": 0.6611355704045228,
    "a_max": 1.1980810341017176,
    "ax_avg": 0.8644422169530219,
    "a_std": 0.23121665989725046,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "179ea24426e95029",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 28.70846689486095,
    "right_rear_min": 38.02858979897896,
    "speed_mode": "accelerating",
    "front_frame": [
      58.35058631183294,
      26.23378932034877,
      28.367127606907346,
      31.14076863112364,
      15.994161359149444,
      18.290137927302528,
      20.54081372079219,
      23.283539574674265,
      26.164544039396716,
      29.64820887531739
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.1,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "179ea24426e95029",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d5a0b92fbf8b51df": {
    "vx_ego": [
      1.79623719245726,
      1.3754683133049563,
      0.971864934159954,
      0.6318989822498432,
      0.37985194798378286,
      0.2553367056369793,
      0.3322374048179796,
      0.684192208202641,
      1.2677774562452206,
      1.9250353251791175
    ],
    "vy_ego": [
      0.04811949803597293,
      0.01198680232713778,
      0.009604596692617096,
      0.014111113422873578,
      0.010677093337197768,
      0.006114661217110212,
      -0.012890149048957161,
      -0.029383348243955998,
      -0.007274316482364207,
      -0.01909922456442137
    ],
    "v_ego": [
      1.7968816148143911,
      1.375520543043982,
      0.9719123924137194,
      0.632056522227578,
      0.3800019772438108,
      0.255409910393754,
      0.3324873668317194,
      0.6848228668197578,
      1.2677983255407337,
      1.92513006925933
    ],
    "ax_ego": [
      -0.8456359742189904,
      -0.8421232440550566,
      -0.7744615093819038,
      -0.5866321775998006,
      -0.42251707584510184,
      -0.07570022404586832,
      0.3830732298210977,
      1.0266591690596785,
      1.3117654430396442,
      1.318271829718765
    ],
    "ay_ego": [
      0.05576693987056419,
      0.0950715222564742,
      0.053074139678037036,
      0.02975851413949329,
      -0.018111365372212945,
      0.008271262248303386,
      -0.07679133590241491,
      0.03419461621689568,
      0.16497871867137726,
      0.10052829998946794
    ],
    "a_ego": [
      0.8474728033841724,
      0.847472803411399,
      0.7762779745791197,
      0.5873864834666136,
      0.4229050731976874,
      0.07615075639660362,
      0.3906942649633407,
      1.0272284659181374,
      1.3220992985277027,
      1.3220992988912872
    ],
    "yaw": [
      -2.162642485308278,
      -2.1160748491440984,
      -2.0822484147370552,
      -2.06143521633692,
      -2.0483609971153753,
      -2.0406947950529672,
      -2.0327655982044277,
      -2.0191041082503367,
      -1.989665702888247,
      -1.940664479022734
    ],
    "yaw_diff": [
      0.09313527232835916,
      0.06765286881408628,
      0.041626396800270804,
      0.026148438443089006,
      0.015332404124816179,
      0.015858393697079087,
      0.027322979908182,
      0.058876810724179496,
      0.09800244773102573,
      0.09800244773102573
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.9622021588588776,
    "v_std": 0.5752585343611785,
    "vy_max": 0.04811949803597293,
    "a_max": 1.3220992988912872,
    "ax_avg": 0.0492699466492464,
    "a_std": 0.3829250615455626,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "d5a0b92fbf8b51df",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "d5a0b92fbf8b51df",
    "pedestrians": "No"
  },
  "fab1993d5d4759da": {
    "vx_ego": [
      6.28756976280048,
      5.769598276303104,
      5.320543295296199,
      4.949579439161205,
      4.535942397741753,
      4.013245435309993,
      3.3816244746539383,
      2.645664670270783,
      1.9423546918677004,
      1.324491230412792
    ],
    "vy_ego": [
      0.04958595051926462,
      0.008126319592873354,
      -0.0018645973083826206,
      -0.028736474600025375,
      -0.031315063930178466,
      -0.02409329911198088,
      -0.006944590967891573,
      -0.0045548567936966045,
      -0.014123392361600096,
      -0.013350948046878974
    ],
    "v_ego": [
      6.287765285741174,
      5.769603999148458,
      5.320543622022514,
      4.9496628581692095,
      4.536050492318196,
      4.013317756059018,
      3.381631605441704,
      2.6456685911578988,
      1.9424060387139113,
      1.3245585178670447
    ],
    "ax_ego": [
      -1.0360882757958514,
      -1.036229223612219,
      -0.7598048532525203,
      -0.7241692986287731,
      -0.9307081692219701,
      -1.1604046332600588,
      -1.3662614284541703,
      -1.5775521774059542,
      -1.2357107991837561,
      -1.235708575077695
    ],
    "ay_ego": [
      -0.03902559249432147,
      -0.03508414700149237,
      -0.09800686799427993,
      -0.03589353198122114,
      -0.024316474976367797,
      0.009389829834543617,
      0.01846434328698532,
      -0.044854457249310586,
      0.003195025637322324,
      0.003964782862912242
    ],
    "a_ego": [
      1.0368229897678547,
      1.0368229845247474,
      0.7660997070878778,
      0.7250582864257026,
      0.9310257715078502,
      1.1604426232243166,
      1.3663861909631,
      1.578189720779285,
      1.2357149296695336,
      1.2357149355833237
    ],
    "yaw": [
      -2.102149045048493,
      -2.098345150131702,
      -2.102570125828384,
      -2.103857151556287,
      -2.106473005988301,
      -2.1090183563857066,
      -2.111753973475965,
      -2.1147102536516087,
      -2.1150861837286934,
      -2.1144632542902424
    ],
    "yaw_diff": [
      0.007607789833582679,
      -0.008449951393364685,
      -0.0025740514558059147,
      -0.00523170886402724,
      -0.0050907007948115535,
      -0.00547123418051676,
      -0.00591256035128751,
      -0.0007518601541693926,
      0.001245858876901984,
      0.001245858876901984
    ],
    "min_front_frame": [
      9,
      10.552740723281177
    ],
    "v_avg": 4.017120876663913,
    "v_std": 1.5780979892662648,
    "vy_max": 0.04958595051926462,
    "a_max": 1.578189720779285,
    "ax_avg": -1.1062637433892968,
    "a_std": 0.2506393124417569,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fab1993d5d4759da",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.803644093209236,
      25.15428600504763,
      22.676031627038245,
      20.27801186190085,
      17.94576115957635,
      15.816363838155212,
      13.954358248199306,
      12.463162081014788,
      11.383245033143478,
      10.552740723281177
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fab1993d5d4759da",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8f828599b2285a97": {
    "vx_ego": [
      5.723324373445864,
      5.831902506974302,
      6.027845907601758,
      6.170619163460863,
      6.4207446750464285,
      6.747708211462661,
      7.000482624330317,
      7.2359986934391065,
      7.344598843869564,
      7.363208577095973
    ],
    "vy_ego": [
      -0.10566642980191904,
      -0.07487790437718034,
      -0.04418867906051438,
      -0.02574664622353029,
      0.00839909681003892,
      -0.024156552273329357,
      -0.0514463021886149,
      -0.14535239382139942,
      -0.037684694780113936,
      0.03698940987543331
    ],
    "v_ego": [
      5.724299719447487,
      5.832383179405916,
      6.028007873680025,
      6.170672876620685,
      6.420750168552292,
      6.7477514511175025,
      7.000671660316571,
      7.237458421976742,
      7.344695522184075,
      7.363301485492947
    ],
    "ax_ego": [
      0.11776224706337081,
      0.36615476333946706,
      0.43581654188283775,
      0.14011771473661566,
      0.8633234150677371,
      0.4621948146445466,
      0.5572026548917308,
      0.4087016138429243,
      0.029719044204467915,
      0.044743973750393684
    ],
    "ay_ego": [
      1.7381506404268676,
      1.7032223121604728,
      1.5062238687960732,
      1.3130439437188757,
      1.302510015658986,
      1.5534346623180613,
      1.3998090070341411,
      1.0879688371353118,
      0.551105897577933,
      0.5500899151404491
    ],
    "a_ego": [
      1.7421353551460186,
      1.7421353435819642,
      1.5680071431947384,
      1.320498910306188,
      1.562645084430944,
      1.6207354184985086,
      1.5066320236847155,
      1.1622018756375216,
      0.5519066333480749,
      0.5519066387770692
    ],
    "yaw": [
      -0.03966423639077282,
      0.10444249783909618,
      0.2345828844268684,
      0.3463232413608721,
      0.44611378298926074,
      0.5585217213046381,
      0.6699737110398365,
      0.7701938313144734,
      0.8113592501929864,
      0.8386459343326029
    ],
    "yaw_diff": [
      0.288213468459738,
      0.26028077317554443,
      0.22348071386800744,
      0.19958108325677726,
      0.22481587663075464,
      0.22290397947039686,
      0.20044024054927378,
      0.08233083775702599,
      0.05457336827923309,
      0.05457336827923309
    ],
    "min_front_frame": [
      9,
      20.098210399890373
    ],
    "v_avg": 6.586999235879423,
    "v_std": 0.6019921700828644,
    "vy_max": 0.14535239382139942,
    "a_max": 1.7421353551460186,
    "ax_avg": 0.34257367834240915,
    "a_std": 0.424880013771591,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "8f828599b2285a97",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 39.11098637451219,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      27.34348505408961,
      23.716879254768994,
      20.098210399890373
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "8f828599b2285a97",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ef41e9c7f99d5d85": {
    "vx_ego": [
      7.4571385113928415,
      7.427014566214588,
      7.436111198631872,
      7.429431948962303,
      7.4369369669951295,
      7.480283519565885,
      7.545845038654916,
      7.6242093369567145,
      7.6682720656543175,
      7.71981655328934
    ],
    "vy_ego": [
      -0.02729943071176688,
      -0.05197129948171231,
      -0.04922532154443049,
      -0.03217612923586333,
      -0.006766947572456772,
      0.00997614117231016,
      0.0059008130851527785,
      0.022488235951155344,
      0.06422839001917424,
      -0.008256416790742183
    ],
    "v_ego": [
      7.45718848072217,
      7.427196401249497,
      7.436274126919979,
      7.429501624439852,
      7.436940045653062,
      7.480290171943979,
      7.545847345857725,
      7.624242502340422,
      7.668541045008418,
      7.719820968445987
    ],
    "ax_ego": [
      -0.15043820697776344,
      0.013888549066758737,
      0.004954781471071978,
      -0.05102145941085301,
      0.07657519727497741,
      0.10439667002072853,
      0.16510984557458844,
      0.1508027967184919,
      0.03237142182692121,
      0.1839282081744949
    ],
    "ay_ego": [
      -1.583097370831228,
      -1.5901685593951491,
      -1.676716638695135,
      -1.664538826458432,
      -1.7448276361788084,
      -1.8553605998098068,
      -1.9081899609910742,
      -1.8337672606041011,
      -1.6045929085136776,
      -1.5943452337203166
    ],
    "a_ego": [
      1.5902292097843729,
      1.5902292096059687,
      1.676723959492599,
      1.6653205979954813,
      1.7465071545261504,
      1.8582953532843005,
      1.9153198658012143,
      1.839957567326374,
      1.604919409504253,
      1.6049194092068833
    ],
    "yaw": [
      2.1818524834778437,
      2.078375431285097,
      1.9682349777333132,
      1.853791559276078,
      1.7355900180263766,
      1.6127702836470832,
      1.488114763775266,
      1.362788106923003,
      1.2452724512110611,
      1.1505888172359569
    ],
    "yaw_diff": [
      -0.20695410438549366,
      -0.22028090710356718,
      -0.22888683691447032,
      -0.236403082499403,
      -0.24563946875858678,
      -0.24931103974363422,
      -0.25065331370452615,
      -0.23503131142388378,
      -0.18936726795020853,
      -0.18936726795020853
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.522584271258109,
    "v_std": 0.10473502787655953,
    "vy_max": 0.06422839001917424,
    "a_max": 1.9153198658012143,
    "ax_avg": 0.05305678037394166,
    "a_std": 0.11672242588456912,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "ef41e9c7f99d5d85",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ef41e9c7f99d5d85",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "4256146a0b765876": {
    "vx_ego": [
      9.612689955439041,
      9.449325330821576,
      9.289539804725596,
      9.106088939507764,
      8.918919185078753,
      8.812310132438956,
      8.88651845601555,
      9.082191789407618,
      9.274231409751504,
      9.46464304918054
    ],
    "vy_ego": [
      -0.021537483256363288,
      -0.0029233329067048786,
      -0.014819132565674131,
      -0.016446790728573468,
      -0.018383353423057525,
      -0.0011601597059236468,
      0.0023144584817229585,
      0.00012689469034921075,
      0.006746921426115549,
      -0.028236136451186056
    ],
    "v_ego": [
      9.612714083056026,
      9.449325783016564,
      9.289551624824057,
      9.106103792026033,
      8.918938130609996,
      8.812310208807723,
      8.88651875741131,
      9.082191790294093,
      9.274233863914048,
      9.4646851679178
    ],
    "ax_ego": [
      -0.327118074724373,
      -0.3260037312406933,
      -0.3131297332686947,
      -0.42067670559589027,
      -0.32792961847928565,
      -0.09851218302220133,
      0.3953448881540878,
      0.3873465147270484,
      0.38081633993174163,
      0.38108479289059555
    ],
    "ay_ego": [
      0.16444363265056539,
      0.1666418774229198,
      0.097750366575255,
      -0.030270141505425813,
      0.046727019442970086,
      0.013364111052967517,
      0.0033169417152608127,
      -0.003987718433274889,
      0.04526093378069257,
      0.04294199509828081
    ],
    "a_ego": [
      0.3661255838243137,
      0.3661255906023091,
      0.328032565490868,
      0.42176435612527746,
      0.33124197955874124,
      0.09941453449086678,
      0.39535880247176824,
      0.3873670408920906,
      0.383496593056194,
      0.3834965897051614
    ],
    "yaw": [
      1.002935419815781,
      1.0096669143519215,
      1.0179925849884768,
      1.02000074820776,
      1.0206729894985749,
      1.0204239881149517,
      1.0205031495965562,
      1.0207279454999014,
      1.0211308506809536,
      1.0272180697033093
    ],
    "yaw_diff": [
      0.01346298907228105,
      0.01665134127311063,
      0.00401632643856642,
      0.00134448258162978,
      -0.0004980027672463194,
      0.00015832296320894557,
      0.0004495918066904636,
      0.0008058103621042534,
      0.012174438044711522,
      0.012174438044711522
    ],
    "min_front_frame": [
      0,
      15.387108757505226
    ],
    "v_avg": 9.189657320187763,
    "v_std": 0.25793019570596865,
    "vy_max": 0.028236136451186056,
    "a_max": 0.42176435612527746,
    "ax_avg": -0.02687775106276649,
    "a_std": 0.08651835679997744,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4256146a0b765876",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      15.387108757505226,
      17.62861644119895,
      51.40379930316809,
      46.8168533141197,
      42.3314706950458,
      37.90379778841479,
      33.501050754333335,
      28.96722197081412,
      24.403557510912602,
      19.778085660415858
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4256146a0b765876",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bb0d850edd125bbe": {
    "vx_ego": [
      5.202670382105525,
      5.109580921507074,
      5.053331819276867,
      4.971494323869575,
      4.872194515206857,
      4.749282532323928,
      4.555765664484461,
      4.291738528899593,
      3.9658168524337407,
      3.590243434143261
    ],
    "vy_ego": [
      0.03349794071340506,
      -0.1786044734576313,
      -0.09744897209511816,
      -0.05354081268181643,
      -0.05729409317414591,
      -0.037634952542066724,
      0.006795297374040388,
      0.04739719132751219,
      0.024124197220224408,
      -0.02877192908152404
    ],
    "v_ego": [
      5.20277822099598,
      5.112701512054871,
      5.054271339953806,
      4.971782621041474,
      4.8725313756942015,
      4.749431646154098,
      4.555770732352753,
      4.292000243963994,
      3.9658902259062825,
      3.5903587202829566
    ],
    "ax_ego": [
      -0.2577694288006422,
      -0.06647946509803204,
      -0.14209218289716746,
      -0.18370343538037254,
      -0.21364694349768032,
      -0.2805115159835019,
      -0.5035798208773256,
      -0.5514468602419444,
      -0.7523279458198494,
      -0.7494157988412605
    ],
    "ay_ego": [
      1.1922351914202824,
      1.217969744213979,
      0.5706730384256814,
      0.09423709861591667,
      -0.32097462639007623,
      -0.6042781880296383,
      -0.41375449853878393,
      -0.24374496512182328,
      0.09413079501621441,
      0.11503870148344902
    ],
    "a_ego": [
      1.2197826978954764,
      1.2197826925728967,
      0.5880968502096243,
      0.20646448344956744,
      0.38557713528183957,
      0.66621230784769,
      0.651755645204489,
      0.6029139637568013,
      0.7581938700833045,
      0.7581938686060992
    ],
    "yaw": [
      0.5660473194524488,
      0.7244486455514438,
      0.796311596857169,
      0.8206883841890618,
      0.8099423378660131,
      0.7578753917831429,
      0.6940269236318592,
      0.6477622661380674,
      0.6443605056739306,
      0.6722035439388274
    ],
    "yaw_diff": [
      0.3168026521979901,
      0.14372590261145035,
      0.04875357466378549,
      -0.021492092646097305,
      -0.10413389216574043,
      -0.1276969363025673,
      -0.09252931498758366,
      -0.006803520928273743,
      0.05568607652979374,
      0.05568607652979374
    ],
    "min_front_frame": [
      1,
      36.00779345052857
    ],
    "v_avg": 4.636751663840042,
    "v_std": 0.5071662753562202,
    "vy_max": 0.1786044734576313,
    "a_max": 1.2197826978954764,
    "ax_avg": -0.3700973397437776,
    "a_std": 0.30243226323917005,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "bb0d850edd125bbe",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.184473668701767,
    "right_rear_min": 8.259174984861344,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      36.00779345052857,
      37.261225567435304,
      38.47725828726341,
      39.19598534621676,
      36.828255398582286,
      41.56720576307948,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "bb0d850edd125bbe",
    "maneuvering": "Yes"
  },
  "604f30d83d8652ae": {
    "vx_ego": [
      3.7001508241542767,
      3.7943435946686592,
      3.8240771570235084,
      3.674079150312364,
      3.5868503631776436,
      3.6615264522925566,
      3.784838097790809,
      3.915414606460764,
      3.988300244368289,
      4.0201235148001455
    ],
    "vy_ego": [
      0.04093145974324286,
      -0.04995589594165578,
      -0.07877373795862465,
      -0.047756004726731305,
      -0.003732744475123728,
      0.013956501040885194,
      -0.0070555545563100175,
      -0.0036020429167451518,
      -0.0026994074657593625,
      0.013167876030379722
    ],
    "v_ego": [
      3.700377211297017,
      3.7946724372391376,
      3.8248884172823883,
      3.674389505584225,
      3.5868523054635117,
      3.661553050927901,
      3.784844674136423,
      3.9154162633364376,
      3.988301157890264,
      4.020145080368149
    ],
    "ax_ego": [
      0.0782361825743314,
      0.298652919327301,
      -0.15845526126324905,
      -0.4324317712815482,
      0.08659253807335757,
      0.2054646868301792,
      0.2873376461230075,
      0.2362046374884849,
      0.05627231925742454,
      0.07014005819096958
    ],
    "ay_ego": [
      1.2102777937586335,
      1.1754572208527558,
      0.9535872844421708,
      0.6355648963463487,
      0.5192559373644771,
      0.30564544543611627,
      0.3145099667717149,
      0.33214792562721884,
      0.3506817524810582,
      0.34817328974475986
    ],
    "a_ego": [
      1.212803874634753,
      1.212803877087142,
      0.9666627017071664,
      0.7687262024163364,
      0.5264266293969632,
      0.3682864046500571,
      0.4260040399787963,
      0.4075719264982944,
      0.3551679397662403,
      0.35516794260563705
    ],
    "yaw": [
      -1.8481988682338863,
      -1.6639430545895566,
      -1.519078372811438,
      -1.422342136575704,
      -1.3537458530785615,
      -1.3015219550808006,
      -1.2541154384750164,
      -1.2130968872432306,
      -1.1703782019678144,
      -1.1306963807971173
    ],
    "yaw_diff": [
      0.3685116272886595,
      0.289729363556237,
      0.19347247247146804,
      0.13719256699428506,
      0.1044477959955219,
      0.09481303321156842,
      0.08203710246357154,
      0.08543737055083245,
      0.07936364234139415,
      0.07936364234139415
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7951440103525456,
    "v_std": 0.13718089656830812,
    "vy_max": 0.07877373795862465,
    "a_max": 1.212803877087142,
    "ax_avg": 0.07280139553202583,
    "a_std": 0.3353066525624877,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "604f30d83d8652ae",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "604f30d83d8652ae",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "79d36fbd8d115f06": {
    "vx_ego": [
      5.877986210988532,
      6.087949436245721,
      6.222948750215308,
      6.306924287397692,
      6.441794246322027,
      6.550400274993722,
      6.626881070606419,
      6.776888264067872,
      7.013610242926657,
      7.312214109449632
    ],
    "vy_ego": [
      -0.08700180448316264,
      0.00398558724099729,
      0.007175309544830366,
      0.03629113749202181,
      0.009661655172700456,
      -0.08865190372577536,
      -0.037923607465337295,
      0.03530588457551875,
      0.008639311875747069,
      0.06661715308972926
    ],
    "v_ego": [
      5.878630045389372,
      6.087950740864306,
      6.222952886923806,
      6.3070286992868,
      6.441801491782266,
      6.551000146746452,
      6.626989582303934,
      6.776980230836336,
      7.013615563844044,
      7.31251755741619
    ],
    "ax_ego": [
      0.4165075975479033,
      0.4270608752684794,
      0.11941271810083964,
      0.21467952819615213,
      0.325731680528059,
      0.15776736004514158,
      0.18493859727443612,
      0.40599476554317054,
      0.525207138371884,
      0.6531459145771379
    ],
    "ay_ego": [
      0.46263351335142006,
      0.45290987300382457,
      0.7640461406386656,
      0.878587070491341,
      1.0852881711437736,
      1.6003439230098262,
      1.7163652438776962,
      1.5421352309263596,
      1.4382289587620565,
      1.3848268823296699
    ],
    "a_ego": [
      0.6225016839262403,
      0.6225016821257756,
      0.7733213447649497,
      0.9044349287047019,
      1.1331158555612177,
      1.6081017417471115,
      1.7263000710053797,
      1.59468267066296,
      1.5311254279184878,
      1.5311254291375738
    ],
    "yaw": [
      -1.7021567199594976,
      -1.6791041543943113,
      -1.6305096036066735,
      -1.5695112914059242,
      -1.4881788887067584,
      -1.3702077774568058,
      -1.2521340409347679,
      -1.1411651116039958,
      -1.0291140922009925,
      -0.938537564465658
    ],
    "yaw_diff": [
      0.04610513113037262,
      0.0971891015752755,
      0.12199662440149872,
      0.1626648053983315,
      0.23594222249990526,
      0.2361474730440758,
      0.22193785866154414,
      0.22410203880600665,
      0.18115305547066907,
      0.18115305547066907
    ],
    "min_front_frame": [
      9,
      17.6715885401747
    ],
    "v_avg": 6.52194669453935,
    "v_std": 0.41083815260331713,
    "vy_max": 0.08865190372577536,
    "a_max": 1.7263000710053797,
    "ax_avg": 0.3430446175453204,
    "a_std": 0.4194369924805381,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "79d36fbd8d115f06",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.096064391932325,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      17.6715885401747
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "79d36fbd8d115f06",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4cc313afb2665204": {
    "vx_ego": [
      8.70910492657735,
      8.658389628956165,
      8.853991968011817,
      9.012583009320238,
      8.979245231583217,
      9.038656098593115,
      9.099146098368179,
      9.115089057274327,
      9.032741399446815,
      8.89630618689058
    ],
    "vy_ego": [
      -0.056136257200399164,
      -0.03315596487773087,
      -0.011065171126083406,
      0.0025173538827907294,
      -0.013206228410796328,
      -0.025472757861713546,
      0.0003004216320396935,
      -0.011344694638136588,
      -0.030403538507678185,
      -5.252742043904135e-05
    ],
    "v_ego": [
      8.709285843368923,
      8.658453111544963,
      8.853998882292105,
      9.012583360888176,
      8.979254943110748,
      9.03869199220925,
      9.099146103327609,
      9.115096117109166,
      9.032792567331223,
      8.896306187045653
    ],
    "ax_ego": [
      -0.10131983212619616,
      -0.10061186200179108,
      0.8835744287878016,
      -0.24931589086033606,
      0.115924351920106,
      0.12197649418459128,
      0.12003627644369703,
      -0.05631026534970391,
      -0.27287856844045616,
      -0.27280352619817977
    ],
    "ay_ego": [
      0.13595885184412412,
      0.13648357548036263,
      0.15124561434570954,
      0.07153145718367146,
      0.008528541318146302,
      0.04132345055123038,
      0.0877884672536509,
      -0.11300128932622552,
      0.07782827837721773,
      0.07809089577179174
    ],
    "a_ego": [
      0.16955977641189865,
      0.16955976277221932,
      0.8964256840734212,
      0.2593745608233437,
      0.11623765046279932,
      0.12878622868546005,
      0.1487128866144861,
      0.12625425685157468,
      0.2837603813594745,
      0.28376037762274314
    ],
    "yaw": [
      2.544311942430201,
      2.5495090850537716,
      2.555282326893945,
      2.559922782519254,
      2.5639157990212187,
      2.566661022988501,
      2.5673782680196284,
      2.5679634158185465,
      2.569091379976895,
      2.5700539285953186
    ],
    "yaw_diff": [
      0.010394285247141255,
      0.011546483680346498,
      0.009280911250618473,
      0.007986033003929194,
      0.00549044793456499,
      0.0014344900622544898,
      0.0011702955978361018,
      0.0022559283166971866,
      0.0019250972368469732,
      0.0019250972368469732
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.939560910822781,
    "v_std": 0.1493141263105449,
    "vy_max": 0.056136257200399164,
    "a_max": 0.8964256840734212,
    "ax_avg": 0.01882716063595328,
    "a_std": 0.22150678808936816,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4cc313afb2665204",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.581262500082795,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4cc313afb2665204",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1cf600346a7e5fc5": {
    "vx_ego": [
      9.52748230940008,
      8.67534961117993,
      7.934397107117191,
      7.23572941676307,
      6.623855371695936,
      5.980411823336108,
      5.249389453763645,
      4.654522821445255,
      4.117555869439768,
      3.6020878865184813
    ],
    "vy_ego": [
      0.05441543956040357,
      0.012479366286508253,
      -0.001405541754715689,
      0.008299280105832724,
      0.008695593108611122,
      0.003452961821888756,
      -0.00309909300074962,
      -0.013045172871907068,
      -0.0020361215163657576,
      0.020536296988460323
    ],
    "v_ego": [
      9.52763770280934,
      8.67535858687021,
      7.934397231609801,
      7.235734176340416,
      6.623861079346744,
      5.98041282016916,
      5.2493903685725645,
      4.654541102180746,
      4.117556372868344,
      3.6021464270205863
    ],
    "ax_ego": [
      -1.704366518238469,
      -1.7044630956671496,
      -1.2593294376472297,
      -1.5353488588746655,
      -0.9121669443105968,
      -1.661608903128458,
      -1.2624802324000302,
      -1.1170097660438236,
      -1.0310125760152447,
      -1.0309183544953024
    ],
    "ay_ego": [
      -0.044549531032636876,
      -0.04068673389158767,
      0.029562336696926046,
      0.022567572118516413,
      -0.010309998940933797,
      -0.008852369040724499,
      -0.018667987698714104,
      -0.04600617779238644,
      0.0569016829303641,
      0.058584176305824284
    ],
    "a_ego": [
      1.7049486470881021,
      1.7049486369993694,
      1.2596763728338602,
      1.5355147064613421,
      0.9122252081427554,
      1.6616324838523682,
      1.2626182443500304,
      1.1179567906821544,
      1.0325815868113755,
      1.032581599365752
    ],
    "yaw": [
      -1.5435502133841124,
      -1.5412838658419359,
      -1.5399378243749955,
      -1.5395010991941733,
      -1.5391117059791288,
      -1.5390410284517348,
      -1.539099974144811,
      -1.5403611713043115,
      -1.5422547994108085,
      -1.54062284228314
    ],
    "yaw_diff": [
      0.0045326950843529445,
      0.0026920829338807906,
      0.0008734503616443234,
      0.0007787864300889957,
      0.00014135505478796162,
      -0.00011789138615236894,
      -0.00252239431900092,
      -0.003787256212993917,
      0.003263914255336786,
      0.003263914255336786
    ],
    "min_front_frame": [
      9,
      16.099546780780617
    ],
    "v_avg": 6.360103586778791,
    "v_std": 1.8876046603559968,
    "vy_max": 0.05441543956040357,
    "a_max": 1.7049486470881021,
    "ax_avg": -1.3218704686820968,
    "a_std": 0.28960686315080114,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1cf600346a7e5fc5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.000797530928015,
    "right_rear_min": 4.405868023712519,
    "speed_mode": "decelerating",
    "front_frame": [
      25.948887530216098,
      24.64840099093001,
      23.381498483199433,
      22.082450408181185,
      21.063956337512156,
      19.839031699257824,
      18.864485843426834,
      17.935581089693088,
      16.998151919385005,
      16.099546780780617
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1cf600346a7e5fc5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1f1a5be0eaa35282": {
    "vx_ego": [
      0.5883466931208051,
      1.0891865510572392,
      1.5660775229285422,
      1.9946285415140146,
      2.3386107757093706,
      2.61040726454765,
      2.8247166661705747,
      2.971824670073558,
      3.082818114360315,
      3.1794969539784352
    ],
    "vy_ego": [
      0.033940000210124,
      0.011991493258124208,
      -0.006613002694263792,
      -0.01111671055193475,
      -0.004856025540913356,
      0.004011877303866873,
      -0.0013401528456029599,
      -0.01212255189497613,
      -0.010292049179866147,
      -0.0091457756303166
    ],
    "v_ego": [
      0.589324829716558,
      1.0892525597466014,
      1.5660914850757068,
      1.994659519786728,
      2.3386158173689062,
      2.6104103474286653,
      2.8247169840802555,
      2.971849394892389,
      3.082835294417204,
      3.1795101077949144
    ],
    "ax_ego": [
      1.001585024051757,
      1.0014545889190214,
      0.9061176669651112,
      0.8081952414985142,
      0.5677950315515756,
      0.5193899602014216,
      0.3378442676501439,
      0.25055864851123794,
      0.19334870552432748,
      0.19334895698931528
    ],
    "ay_ego": [
      -0.03645190262218018,
      -0.039874911086245524,
      -0.013996887667423075,
      0.01207392368783855,
      0.026697089506573096,
      0.021856869674858698,
      -0.04227475783246959,
      -0.008592061082860758,
      -0.000598736051368523,
      -0.0005108239909296652
    ],
    "a_ego": [
      1.0022481237745149,
      1.0022481240696348,
      0.9062257661591127,
      0.8082854248432675,
      0.568422318740896,
      0.5198496450994442,
      0.3404789337592798,
      0.25070592306012573,
      0.1933496325644099,
      0.19334963178140735
    ],
    "yaw": [
      -2.178618234083101,
      -2.175200423643582,
      -2.171365894497778,
      -2.1691216791430676,
      -2.1675592831838872,
      -2.166240795758929,
      -2.166150454417507,
      -2.1668153512416657,
      -2.1681757856975503,
      -2.1686304621298755
    ],
    "yaw_diff": [
      0.006835620879038551,
      0.007669058291607911,
      0.004488430709420399,
      0.003124791918360792,
      0.002636974849916207,
      0.00018068268284388012,
      -0.0013297936483169792,
      -0.0027208689117692586,
      -0.0009093528646504367,
      -0.0009093528646504367
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.2247266340307927,
    "v_std": 0.8472565750135225,
    "vy_max": 0.033940000210124,
    "a_max": 1.0022481240696348,
    "ax_avg": 0.5779638091862426,
    "a_std": 0.31363298327366207,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1f1a5be0eaa35282",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1f1a5be0eaa35282",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "adccb045b1495f50": {
    "vx_ego": [
      4.371403938724728,
      4.51807549237053,
      4.583358431750172,
      4.531024006145422,
      4.502096095454047,
      4.624977509704009,
      4.788062055888341,
      4.7861564021165846,
      4.61623160205439,
      4.391157297305408
    ],
    "vy_ego": [
      0.04901711454655411,
      0.0005410724538768008,
      -0.031822860028518196,
      -0.029087452114352708,
      -0.016076891141524996,
      -0.010198022954492458,
      -0.024714547395717545,
      -0.018809242423746042,
      -0.023833952580298412,
      -0.029665949920582246
    ],
    "v_ego": [
      4.371678747691387,
      4.5180755247692135,
      4.583468905568772,
      4.53111737037749,
      4.502124800483806,
      4.62498875295282,
      4.788125840022447,
      4.786193361443114,
      4.6162931298934256,
      4.391257505346643
    ],
    "ax_ego": [
      0.29307360476399025,
      0.2943810398490334,
      -0.033969870773944186,
      -0.1769263054896507,
      0.06092220598021861,
      0.4300165439798348,
      0.2236203124226163,
      -0.22946436299149908,
      -0.4499539616672249,
      -0.4494837004300203
    ],
    "ay_ego": [
      -0.16783108654263842,
      -0.1655270650031868,
      -0.14204062266639034,
      0.008145871203154409,
      -0.09910151396004065,
      0.0333181479423956,
      0.12300197265406046,
      0.18839607180042453,
      0.057734692766824275,
      0.06128837185141886
    ],
    "a_ego": [
      0.33772682958190064,
      0.3377268213677549,
      0.14604619340419095,
      0.17711372841164963,
      0.11632981238989563,
      0.43130537566632826,
      0.2552166323043597,
      0.29689556034559555,
      0.4536428797731869,
      0.45364287878954085
    ],
    "yaw": [
      2.5590073481062783,
      2.55116333362914,
      2.5414660419150685,
      2.5335516311050488,
      2.525584025304123,
      2.5206420971250814,
      2.5319676174994195,
      2.5468203572993815,
      2.560895160976261,
      2.5687971277304236
    ],
    "yaw_diff": [
      -0.015688028954276234,
      -0.019394583428143264,
      -0.015828821620039513,
      -0.015935211601851407,
      -0.00988385635808342,
      0.022651040748676188,
      0.02970547959992409,
      0.028149607353759265,
      0.015803933508324874,
      0.015803933508324874
    ],
    "min_front_frame": [
      0,
      18.982307220892455
    ],
    "v_avg": 4.571332393854911,
    "v_std": 0.1340687056562642,
    "vy_max": 0.04901711454655411,
    "a_max": 0.4536428797731869,
    "ax_avg": -0.003778449435664577,
    "a_std": 0.11910060632357615,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "adccb045b1495f50",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.392241320673622,
    "speed_mode": "quasi_constant",
    "front_frame": [
      18.982307220892455,
      19.650723946356763,
      20.803823939409092,
      22.594449815731366,
      24.874064350866192,
      27.236756726986847,
      29.562908828978884,
      31.70604749030232,
      33.67552512262408,
      19.300358006338303
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "adccb045b1495f50",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ceea7304846852b9": {
    "vx_ego": [
      6.505768296096948,
      6.830309601602498,
      7.0736873963131615,
      7.11633365606846,
      6.980686485657435,
      6.76506822795246,
      6.565233109122021,
      6.473005027658606,
      6.472291936333123,
      6.480836846323948
    ],
    "vy_ego": [
      -0.06316107633698564,
      0.011821869004815078,
      0.011377186944967477,
      -0.015357370701850837,
      -0.05048385111881282,
      -0.028718259897358323,
      -0.014041396272152618,
      -0.022043841840890366,
      -0.0005658553781502373,
      0.04341639485182025
    ],
    "v_ego": [
      6.506074887677226,
      6.830319832213573,
      7.073696545734942,
      7.116350227000325,
      6.980869031163967,
      6.765129183341836,
      6.565248124627223,
      6.47304256274101,
      6.472291961068743,
      6.480982272156904
    ],
    "ax_ego": [
      0.6306779383129875,
      0.6718228067656015,
      0.30061152501217037,
      -0.13452887759311305,
      -0.4106519461398984,
      -0.4511023111185219,
      -0.34821819889763145,
      -0.020777694914217857,
      0.017137497967367358,
      0.01709130007208951
    ],
    "ay_ego": [
      0.8355885155047584,
      0.8028803983437447,
      0.8594470044891088,
      0.6878564820187612,
      0.29357335033791715,
      0.10409444798423939,
      -0.02183459624308548,
      -0.1300441591682588,
      0.08052923922658109,
      0.08053905960759898
    ],
    "a_ego": [
      1.0468824332837792,
      1.0468824278470916,
      0.910503400595212,
      0.7008884067821989,
      0.5047973186310675,
      0.46295674657317093,
      0.3489020831646165,
      0.13169356833090878,
      0.08233257075418846,
      0.08233257350909534
    ],
    "yaw": [
      -0.4728075276671544,
      -0.422594529858319,
      -0.36316607571094894,
      -0.305336748116979,
      -0.26574246733382434,
      -0.2544526611712038,
      -0.2535675370884918,
      -0.25819339572376165,
      -0.2634279521358882,
      -0.2640015854728157
    ],
    "yaw_diff": [
      0.10042599561767074,
      0.11885690829474016,
      0.11565865518793994,
      0.07918856156630927,
      0.022579612325241083,
      0.0017702481654240376,
      -0.00925171727053975,
      -0.010469112824253113,
      -0.0011472666738550075,
      -0.0011472666738550075
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.726400462772574,
    "v_std": 0.2476355525496779,
    "vy_max": 0.06316107633698564,
    "a_max": 1.0468824332837792,
    "ax_avg": 0.027206203946683338,
    "a_std": 0.3613411480804631,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ceea7304846852b9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ceea7304846852b9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6efbee464bcd5780": {
    "vx_ego": [
      9.143355575938171,
      9.258340947977096,
      9.349748200147403,
      9.335122081215122,
      9.239410703946005,
      9.126687280906836,
      9.00269003636584,
      8.861474073440409,
      8.71954206211364,
      8.600931689866986
    ],
    "vy_ego": [
      -0.004433842090450779,
      -0.02411911513986212,
      -0.026249816245983444,
      -0.021039132536300104,
      -0.03618942934144673,
      -0.029287819229005557,
      -0.00481250619525353,
      -0.0029554186012584194,
      -0.01310796532115821,
      -0.017480466591272392
    ],
    "v_ego": [
      9.14335665097864,
      9.258372364552237,
      9.34978504881329,
      9.33514578977147,
      9.239481578042573,
      9.126734273540663,
      9.002691322659944,
      8.861474566275957,
      8.71955191461831,
      8.600949453430733
    ],
    "ax_ego": [
      0.22886643563621828,
      0.23184298863060718,
      0.1358069145679765,
      -0.19367192054554994,
      -0.18861703000051824,
      -0.2615191352461731,
      -0.2343704386819806,
      -0.33050934146965344,
      -0.23724856779987633,
      -0.23723456909339466
    ],
    "ay_ego": [
      0.21676698883985424,
      0.21358044253708489,
      0.300372413769961,
      0.20939725856329744,
      0.09405683829778141,
      0.12425249103759844,
      0.06592715420205321,
      -0.04403846279279683,
      -0.0204668010992262,
      -0.02062846263274632
    ],
    "a_ego": [
      0.31522654204797657,
      0.31522654839259473,
      0.32964693991976673,
      0.28522977527184334,
      0.2107678173649654,
      0.2895357311783032,
      0.243466408749062,
      0.3334303690485564,
      0.23812973957556793,
      0.23812974245885216
    ],
    "yaw": [
      -1.597761445733225,
      -1.5839284549599815,
      -1.5699078358048562,
      -1.5568819452787666,
      -1.5470815064862067,
      -1.541894955441986,
      -1.5393490073804146,
      -1.5389448206680256,
      -1.5396252933807877,
      -1.5403067199632705
    ],
    "yaw_diff": [
      0.02766598154648703,
      0.028041238310250627,
      0.0260517810521792,
      0.019600877585119747,
      0.010373102088441222,
      0.0050918961231429805,
      0.0008083734247779084,
      -0.0013609454255241182,
      -0.0013628531649656495,
      -0.0013628531649656495
    ],
    "min_front_frame": [
      9,
      18.528677405081076
    ],
    "v_avg": 9.063754296268382,
    "v_std": 0.2473531068374602,
    "vy_max": 0.03618942934144673,
    "a_max": 0.3334303690485564,
    "ax_avg": -0.10866546640023442,
    "a_std": 0.041897030620465826,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "6efbee464bcd5780",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.337923096231876,
    "right_rear_min": 13.886938542604277,
    "speed_mode": "quasi_constant",
    "front_frame": [
      27.2675772826129,
      26.51954133777349,
      25.52609329797723,
      24.578000148499935,
      23.67778930314191,
      22.668770679121117,
      21.582006555816633,
      20.619677816736054,
      19.496890763091546,
      18.528677405081076
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "6efbee464bcd5780",
    "pedestrians": "No"
  },
  "eea61634eb875210": {
    "vx_ego": [
      1.2295189178798307,
      1.745849367813681,
      2.227186729062829,
      2.6627444082360117,
      3.053076635665998,
      3.5283512174336766,
      3.987393318658251,
      4.306353460088486,
      4.601786267589362,
      4.913292867493854
    ],
    "vy_ego": [
      -0.05017766297385973,
      -0.007813498613218783,
      0.009767213827062249,
      -0.0009967743892049796,
      0.006126352016023295,
      0.01872839103632873,
      0.025701513253864494,
      0.01762727562030708,
      -0.01056896482445202,
      -0.08283624125611488
    ],
    "v_ego": [
      1.2305423874397452,
      1.7458668522702436,
      2.2272081457689414,
      2.662744594802763,
      3.0530827822773876,
      3.5284009219753525,
      3.987476149830115,
      4.306389536962706,
      4.601798404492692,
      4.91399111157432
    ],
    "ax_ego": [
      1.0326481056908947,
      1.032585823017761,
      0.8927638385156332,
      0.8494356492869367,
      0.7119640782297552,
      1.1888846187294202,
      0.6498658976025915,
      0.630989215059081,
      0.5670554994523829,
      0.6973946595690949
    ],
    "ay_ego": [
      0.08209214649054913,
      0.08287175423994414,
      -0.012584439594471586,
      -0.013443330538011056,
      0.06847006358432528,
      0.12173363667135917,
      0.4458631386048099,
      0.7542417827566759,
      1.0813560492219332,
      1.0022592144273925
    ],
    "a_ego": [
      1.0359059951088319,
      1.0359059848982786,
      0.8928525295260548,
      0.849542020982761,
      0.7152489065330938,
      1.1951007133077252,
      0.7881114281834478,
      0.9833758469562102,
      1.2210171352802792,
      1.2210171350558958
    ],
    "yaw": [
      1.0777179679239788,
      1.0769629808865173,
      1.0769585484528776,
      1.0786958474037487,
      1.081003094953072,
      1.0918193986508111,
      1.1270882306912267,
      1.2013089411167752,
      1.3103645507879593,
      1.4353104100137393
    ],
    "yaw_diff": [
      -0.0015099740749229262,
      -8.864867279356758e-06,
      0.0034745979017420936,
      0.004614495098646643,
      0.02163260739547823,
      0.07053766408083106,
      0.14844142085109713,
      0.2181112193423682,
      0.24989171845155989,
      0.24989171845155989
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.2257500887394266,
    "v_std": 1.187352340976869,
    "vy_max": 0.08283624125611488,
    "a_max": 1.2210171352802792,
    "ax_avg": 0.8253587385153554,
    "a_std": 0.17272260359036054,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "eea61634eb875210",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.686155316979551,
    "right_rear_min": 9.422861048758632,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "eea61634eb875210",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b0fe3222f2905745": {
    "vx_ego": [
      12.035279459071369,
      12.19303331906216,
      12.325050005521529,
      12.425343068272657,
      12.498274796871494,
      12.533050086138418,
      12.534090964797908,
      12.447492016865601,
      12.293309874811028,
      12.140431666893315
    ],
    "vy_ego": [
      -0.015907300741773156,
      0.008523052462115821,
      0.039805087364952474,
      0.03960776729368076,
      0.03502485703076319,
      0.022903930509317494,
      0.013903302759418423,
      -0.0022722624874491615,
      0.011194557451604137,
      0.04439241985221409
    ],
    "v_ego": [
      12.035289971586147,
      12.193036297911332,
      12.325114282779952,
      12.425406196157185,
      12.498323873172883,
      12.533071014387774,
      12.53409867583849,
      12.447492224263877,
      12.293314971814677,
      12.140512828766598
    ],
    "ax_ego": [
      0.3130512455089737,
      0.31813494443875995,
      0.20829495269234255,
      0.1913947540143528,
      0.09865512366939855,
      0.03926378827934752,
      -0.035337171125508694,
      -0.3110451537922098,
      -0.3056912828889093,
      -0.30572948384968424
    ],
    "ay_ego": [
      0.37835802753259795,
      0.3740936058586824,
      0.23606370985089153,
      0.2556351447007102,
      0.20415082416044442,
      0.0836180438033663,
      -0.027658999606870696,
      0.03705681417294368,
      0.04630546370841469,
      0.04605251951515825
    ],
    "a_ego": [
      0.49107624592631016,
      0.4910762352399107,
      0.3148219535319466,
      0.31934507835626286,
      0.22673859934209045,
      0.09237760724086283,
      0.04487466905066107,
      0.31324478475190537,
      0.30917851866440926,
      0.3091785112983895
    ],
    "yaw": [
      -1.9008484047854814,
      -1.8873362255880939,
      -1.8774561177523976,
      -1.8675088006431801,
      -1.857926130759679,
      -1.8512135021578557,
      -1.849380561624153,
      -1.8479015486020254,
      -1.847305436297431,
      -1.8481328462274502
    ],
    "yaw_diff": [
      0.027024358394775128,
      0.019760215671392523,
      0.01989463421843496,
      0.019165339767002187,
      0.013425257203646623,
      0.0036658810674055076,
      0.002958026044255213,
      0.0011922246091886635,
      -0.001654819860038348,
      -0.001654819860038348
    ],
    "min_front_frame": [
      9,
      33.616025408179375
    ],
    "v_avg": 12.342566033667893,
    "v_std": 0.16596471063901863,
    "vy_max": 0.04439241985221409,
    "a_max": 0.49107624592631016,
    "ax_avg": 0.02109917169468629,
    "a_std": 0.1366548117315949,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b0fe3222f2905745",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.107391681468903,
    "right_rear_min": 3.7607703907500785,
    "speed_mode": "quasi_constant",
    "front_frame": [
      34.87532183298225,
      34.899929307252854,
      34.823149822442225,
      34.48065863475084,
      34.27936040614776,
      34.20525929880539,
      34.20266392598407,
      33.917988088735235,
      33.822350910005746,
      33.616025408179375
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b0fe3222f2905745",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3466b16cf2c95855": {
    "vx_ego": [
      3.039234229630397,
      2.7851174858907393,
      2.481313104449936,
      2.103597607478023,
      1.689902907985771,
      1.2398126235025528,
      0.8048708725264645,
      0.4439245173280119,
      0.1733786552878893,
      -0.046021527168560256
    ],
    "vy_ego": [
      0.013615549907831426,
      -0.006169629991822578,
      -0.00739408283668852,
      -0.010805971856939323,
      -0.024520441671380344,
      -0.02178334327703635,
      -0.022016363541713713,
      -0.014334746157299155,
      -0.0033068970357217897,
      -0.01779600648664132
    ],
    "v_ego": [
      3.0392647278176286,
      2.7851243194063326,
      2.4813241212658967,
      2.1036253618967033,
      1.690080794068297,
      1.240003973961619,
      0.8051719330087911,
      0.4441558983423529,
      0.1734101890819614,
      0.04934246456956837
    ],
    "ax_ego": [
      -0.5205829688792628,
      -0.49387099682456564,
      -0.7237810845620203,
      -0.793318843543325,
      -0.8702254295049922,
      -0.9391240580598922,
      -0.8034982235442976,
      -0.6430783192782596,
      -0.43901357933940544,
      -0.43883397626518583
    ],
    "ay_ego": [
      -0.3981472188334675,
      -0.4308355522241639,
      -0.42409843503488703,
      -0.34486182049332736,
      -0.22819351997780207,
      -0.06470441659058801,
      -0.07860953546959515,
      0.06218568061056329,
      -0.028421848807207606,
      -0.031071932348979675
    ],
    "a_ego": [
      0.6553837313757281,
      0.6553837307751775,
      0.8388793363582242,
      0.8650343708517544,
      0.8996469200286341,
      0.9413504437525954,
      0.8073344129328239,
      0.6460780011722658,
      0.43993263613196076,
      0.43993263541662064
    ],
    "yaw": [
      -0.4087852709240282,
      -0.47320815961047846,
      -0.5529977744580143,
      -0.6350100392439002,
      -0.7029401787165472,
      -0.7544816152054277,
      -0.7898826061570605,
      -0.8093867024009126,
      -0.8185229630847476,
      -0.8245606324476474
    ],
    "yaw_diff": [
      -0.12884577737290048,
      -0.15957922969507177,
      -0.16402452957177172,
      -0.13586027894529407,
      -0.10308287297776086,
      -0.0708019819032657,
      -0.03900819248770415,
      -0.01827252136766999,
      -0.01207533872579969,
      -0.01207533872579969
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.481150378341915,
    "v_std": 1.044521766542745,
    "vy_max": 0.024520441671380344,
    "a_max": 0.9413504437525954,
    "ax_avg": -0.6665327479801207,
    "a_std": 0.17168047258712688,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "3466b16cf2c95855",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "3466b16cf2c95855",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "213c18fea71457d2": {
    "vx_ego": [
      5.66029133730753,
      5.519697743971372,
      5.288690083274271,
      4.968449236515383,
      4.607131477341938,
      4.157867298176536,
      3.6589434320043632,
      3.1576681069143397,
      2.6195354387997076,
      2.0420919482494786
    ],
    "vy_ego": [
      0.029062874253951154,
      0.0463752735354761,
      0.028491842952000468,
      0.026834104526586744,
      0.02504103183584938,
      0.024644145612166657,
      0.015252741617836296,
      -0.01594029286755272,
      0.004123653909987701,
      0.060276686008085334
    ],
    "v_ego": [
      5.660365948757957,
      5.519892557903473,
      5.288766829993398,
      4.968521700163544,
      4.607199529300887,
      4.157940331842053,
      3.6589752233015638,
      3.157708340927118,
      2.6195386845109097,
      2.042981351843787
    ],
    "ax_ego": [
      -0.2837374706002038,
      -0.28082095732069384,
      -0.6465848755905423,
      -0.6359030851646257,
      -0.8093942738956297,
      -0.9879359699577249,
      -1.0085489249318393,
      -0.996340669871311,
      -1.1556427410285282,
      -1.1548485478805233
    ],
    "ay_ego": [
      0.19663580672923475,
      0.20077893663003007,
      0.15930873297919537,
      -0.0028662796732349116,
      0.0006611217061832653,
      0.075624321903496,
      -0.014129379479339288,
      0.02549960693462744,
      0.13564770246513402,
      0.14225069493883197
    ],
    "a_ego": [
      0.34521383620975926,
      0.34521383440528075,
      0.6659213720446834,
      0.6359095448890938,
      0.8093945439011458,
      0.9908261799123368,
      1.0086478936406105,
      0.9966669255039183,
      1.163576574221052,
      1.163576567636326
    ],
    "yaw": [
      -1.995884610358686,
      -1.9812074648322546,
      -1.9614086543145057,
      -1.9534573626394205,
      -1.9531991676869322,
      -1.9487794120722506,
      -1.9424472284462386,
      -1.9324567652396731,
      -1.9255038006343894,
      -1.9197881574289912
    ],
    "yaw_diff": [
      0.029354291052862802,
      0.0395976210354978,
      0.015902583350170474,
      0.0005163899049764886,
      0.008839511229363328,
      0.012664367252023911,
      0.019980926413130984,
      0.013905929210567436,
      0.011431286410796382,
      0.011431286410796382
    ],
    "min_front_frame": [
      9,
      26.611496575671033
    ],
    "v_avg": 4.168189049854469,
    "v_std": 1.197411880645056,
    "vy_max": 0.060276686008085334,
    "a_max": 1.163576574221052,
    "ax_avg": -0.7959757516241622,
    "a_std": 0.2898435858176875,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "213c18fea71457d2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      45.392905593324016,
      42.63003507380731,
      39.96964662738279,
      37.37430692641968,
      34.98979430222782,
      32.82227638082144,
      30.919819236662104,
      29.210217078865448,
      27.789620423277345,
      26.611496575671033
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "213c18fea71457d2",
    "maneuvering": "Yes"
  },
  "d781ee7dce4a5351": {
    "vx_ego": [
      0.39085159479829323,
      0.9862271819967505,
      1.653630807300837,
      2.3985416967662134,
      3.1319638586230942,
      3.8313341716772324,
      4.483555156745611,
      5.079667448815686,
      5.675333930808565,
      6.29726782144613
    ],
    "vy_ego": [
      -0.006833546482089892,
      -0.007110036258171082,
      -0.007529581620618342,
      -0.006969719054958912,
      -0.014883687836090509,
      -0.014609268155660438,
      -0.00762764224940593,
      -0.011239823126548476,
      -0.030283009968122165,
      -0.06747797373006303
    ],
    "v_ego": [
      0.3909113281984702,
      0.9862528109591598,
      1.6536479496718155,
      2.398551823102818,
      3.1319992234808844,
      3.8313620248911104,
      4.4835616449990345,
      5.079679884026313,
      5.675414723778318,
      6.297629339041764
    ],
    "ax_ego": [
      1.1907345083795413,
      1.1907367486330653,
      1.4788135568210246,
      1.5007052407405954,
      1.4329115235316003,
      1.3637042330916824,
      1.2448616786682083,
      1.1386877524672703,
      1.243901640090409,
      1.2438835251758595
    ],
    "ay_ego": [
      -0.0027026206775933037,
      -0.0014049214088716067,
      -0.014910213922902371,
      -0.030707047995300663,
      -0.10239611517692315,
      -0.10376532428347718,
      -0.1557863984515151,
      -0.031058827434607528,
      -0.07119144030982938,
      -0.071507339745019
    ],
    "a_ego": [
      1.1907375754566556,
      1.1907375774491242,
      1.4788887214110724,
      1.5010193677574164,
      1.436565487081246,
      1.3676463277747755,
      1.2545716404251788,
      1.1391112537327406,
      1.2459372020262487,
      1.2459372070218195
    ],
    "yaw": [
      -0.5877576087098269,
      -0.5888474412653637,
      -0.5916974901786494,
      -0.5976105262346645,
      -0.6067540513484462,
      -0.6215991435825968,
      -0.638824121727945,
      -0.647812627222408,
      -0.6490279428606709,
      -0.6487739856002152
    ],
    "yaw_diff": [
      -0.002179665111073703,
      -0.0057000978265713265,
      -0.01182607211203024,
      -0.018287050227563384,
      -0.029690184468301295,
      -0.03444995629069636,
      -0.0179770109889259,
      -0.002430631276525874,
      0.0005079145209114788,
      0.0005079145209114788
    ],
    "min_front_frame": [
      3,
      15.723215262715431
    ],
    "v_avg": 3.3929010752149686,
    "v_std": 1.9172904326273421,
    "vy_max": 0.06747797373006303,
    "a_max": 1.5010193677574164,
    "ax_avg": 1.3028940407599259,
    "a_std": 0.12371156495142932,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "d781ee7dce4a5351",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.423673877674364,
    "right_rear_min": 8.250333778562183,
    "speed_mode": "accelerating",
    "front_frame": [
      51.72997024806329,
      16.809505500100524,
      17.610350959498945,
      15.723215262715431,
      18.18111357377569,
      19.554938345657618,
      20.433744952663062,
      21.197106974474305,
      22.083509252383628,
      23.008510340558473
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d781ee7dce4a5351",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6e7339e7dc70532a": {
    "vx_ego": [
      2.4539788125847677,
      3.315824794346826,
      4.167785920543654,
      4.97798891605665,
      5.7225515957216535,
      6.39067254447705,
      6.902186159870078,
      7.169609178762752,
      7.204181029019025,
      7.132004448954417
    ],
    "vy_ego": [
      -0.06088922091826798,
      0.007274591611632464,
      -0.02626082028091803,
      -0.052558477218833,
      -0.039790349682021886,
      -0.01520227058196566,
      -0.017237191833607834,
      -0.004608921714108094,
      0.0008443264907171955,
      -0.08323680222438057
    ],
    "v_ego": [
      2.4547341016572406,
      3.315832774204436,
      4.167868653180393,
      4.978266369119919,
      5.722689930235978,
      6.39069062619711,
      6.902207683508543,
      7.169610660165478,
      7.20418107849635,
      7.132490155979897
    ],
    "ax_ego": [
      1.7133246838917606,
      1.7373310385984495,
      1.6737110169623222,
      1.5659461660051048,
      1.4117516094468217,
      1.2608618583942839,
      0.7836591455151058,
      0.28593826803766415,
      -0.1506450735596488,
      -0.14136710501757138
    ],
    "ay_ego": [
      0.4927346797781163,
      0.3999372508207651,
      0.4240993688821241,
      0.033541109503601035,
      -0.2455786043547987,
      -0.47326165152871746,
      -0.5194637291684436,
      -0.602262701877601,
      -0.456847584884571,
      -0.4598032199274468
    ],
    "a_ego": [
      1.782770018002559,
      1.782770019456138,
      1.7266061632541647,
      1.5663053344903157,
      1.4329520081609648,
      1.3467550693281896,
      0.9401937152901267,
      0.6666941241688629,
      0.4810443368366967,
      0.48104434248486605
    ],
    "yaw": [
      2.86476197481085,
      2.918534403822531,
      2.9823953666203464,
      3.01307259161806,
      3.0008226359271983,
      2.967199098954918,
      2.930498252844738,
      2.889217102271572,
      2.8519042993116184,
      2.8316618023252715
    ],
    "yaw_diff": [
      0.10754485802336244,
      0.12772192559563056,
      0.061354449995427274,
      -0.02449991138172347,
      -0.06724707394456075,
      -0.07340169222035975,
      -0.08256230114633212,
      -0.0746256059199073,
      -0.04048499397269367,
      -0.04048499397269367
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.543857203274534,
    "v_std": 1.6503860222492697,
    "vy_max": 0.08323680222438057,
    "a_max": 1.782770019456138,
    "ax_avg": 1.0140511608274292,
    "a_std": 0.5047729763727483,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "6e7339e7dc70532a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "6e7339e7dc70532a",
    "maneuvering": "Yes"
  },
  "8a492ff6a81054a7": {
    "vx_ego": [
      3.7206683033711183,
      3.8143913361261323,
      3.9777230805471504,
      4.169365687512539,
      4.435849087180295,
      4.752767537687765,
      5.052370475715189,
      5.328953555350516,
      5.5971207780303125,
      5.8520226697121105
    ],
    "vy_ego": [
      0.1046789129732999,
      0.07306713886308147,
      0.07537350153596528,
      0.06935389807630732,
      0.09135630727527055,
      0.10494806735259687,
      0.04491763113777214,
      -0.007011475177418625,
      -0.008350912925280785,
      -0.007989880349547285
    ],
    "v_ego": [
      3.722140553301526,
      3.815091096146426,
      3.978437139160465,
      4.169942469553422,
      4.436789728972653,
      4.753926099987217,
      5.052570139786835,
      5.328958167959951,
      5.597127007814396,
      5.852028124079075
    ],
    "ax_ego": [
      0.03204312122602293,
      0.4165932690371886,
      0.3361149907506654,
      0.46751863018173073,
      0.6236320038643111,
      0.6537867053818958,
      0.5480576946117716,
      0.5611186339504637,
      0.5080684619586906,
      0.5109546823502891
    ],
    "ay_ego": [
      -1.748278171866851,
      -1.6982206517397136,
      -1.9528928780082175,
      -1.7050263518314768,
      -1.3381378992786508,
      -0.722155288495023,
      -0.29616143000779344,
      -0.39085552569280996,
      -0.18546910139795575,
      -0.17736305596990173
    ],
    "a_ego": [
      1.74857179659401,
      1.7485717982977849,
      1.9816063887620414,
      1.7679616879352213,
      1.4763231061423163,
      0.9741382431849411,
      0.6229597332472068,
      0.6838290453988024,
      0.5408625977181586,
      0.5408625897939949
    ],
    "yaw": [
      -1.0258119741862703,
      -1.2480468685490298,
      -1.4812538369868413,
      -1.7042427939886036,
      -1.886500182644619,
      -2.0015372022049087,
      -2.0411083698589265,
      -2.0641993566920025,
      -2.0902948359700284,
      -2.106203954781709
    ],
    "yaw_diff": [
      -0.4444697887255189,
      -0.46641393687562305,
      -0.4459779140035245,
      -0.36451477731203097,
      -0.23007403912057933,
      -0.0791423353080356,
      -0.046181973666151954,
      -0.052190958556051825,
      -0.031818237623361334,
      -0.031818237623361334
    ],
    "min_front_frame": [
      9,
      21.93970273451161
    ],
    "v_avg": 4.670701052676197,
    "v_std": 0.7250096515610078,
    "vy_max": 0.10494806735259687,
    "a_max": 1.9816063887620414,
    "ax_avg": 0.465788819331303,
    "a_std": 0.559492358345869,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "8a492ff6a81054a7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      55.85897681283629,
      30.03971674974759,
      27.499785198506597,
      24.80295712387747,
      21.93970273451161
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "8a492ff6a81054a7",
    "pedestrians": "No"
  },
  "a9c27d1fdee5599e": {
    "vx_ego": [
      1.5661517843786468,
      2.1159382873971344,
      2.668178586917344,
      3.212964178567659,
      3.711679864705724,
      4.153069196306206,
      4.56824761120355,
      4.976684881277774,
      5.294520548632709,
      5.523506100959538
    ],
    "vy_ego": [
      0.002190213677035202,
      0.013804422275370154,
      0.014553892190821927,
      -0.015303959504564979,
      -0.029444767548414852,
      0.0027130165419655405,
      0.016907050067783924,
      0.014826123127220647,
      0.00674061550860694,
      -0.011328460399929963
    ],
    "v_ego": [
      1.5661533158501344,
      2.1159833170768323,
      2.668218279575743,
      3.2130006261959343,
      3.7117966555830995,
      4.1530700824530085,
      4.5682788975290185,
      4.9767069656014264,
      5.294524839472513,
      5.523517718026463
    ],
    "ax_ego": [
      1.0996320405567568,
      1.0995961826187397,
      1.1096454006632857,
      1.0695337091882768,
      0.9254401855403712,
      0.8401664877717657,
      0.8204045763666027,
      0.813336586125353,
      0.4579870507645496,
      0.4579632540560533
    ],
    "ay_ego": [
      0.011823166395316775,
      0.014786699664729563,
      -0.04309350317205418,
      -0.0943023280209675,
      0.047390084042805425,
      0.09154495128809703,
      -0.006587613747893961,
      0.0007909575645531075,
      -0.026169526547920208,
      -0.026582803456143916
    ],
    "a_ego": [
      1.0996955996468423,
      1.0996955993895219,
      1.1104818617288728,
      1.0736830464155647,
      0.9266527705017564,
      0.8451391632631188,
      0.820431024265999,
      0.8133369707224138,
      0.4587341090302229,
      0.4587341141720302
    ],
    "yaw": [
      2.5506899325627357,
      2.5479948702443163,
      2.54472142199515,
      2.543196730503458,
      2.543889981048056,
      2.5445432781318154,
      2.5461580132752366,
      2.5462903647714468,
      2.54662643721327,
      2.5475288182014673
    ],
    "yaw_diff": [
      -0.0053901246368388556,
      -0.006546896498332622,
      -0.0030493829833835306,
      0.0013865010891960239,
      0.0013065941675183268,
      0.0032294702868425063,
      0.00026470299242031814,
      0.0006721448836461974,
      0.0018047619763947864,
      0.0018047619763947864
    ],
    "min_front_frame": [
      0,
      13.001174204779613
    ],
    "v_avg": 3.7791250697364176,
    "v_std": 1.2945490171319574,
    "vy_max": 0.029444767548414852,
    "a_max": 1.1104818617288728,
    "ax_avg": 0.8693705473651756,
    "a_std": 0.2350763179520534,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a9c27d1fdee5599e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.864401915079515,
    "right_rear_min": 3.1735275903675118,
    "speed_mode": "accelerating",
    "front_frame": [
      13.001174204779613,
      13.877691021993076,
      14.81381490160541,
      15.740840384888148,
      16.797989027981615,
      17.716803729320578,
      18.865251690306096,
      19.78432539456178,
      20.93196265369515,
      22.16487651779268
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a9c27d1fdee5599e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b9e84e372b3958ac": {
    "vx_ego": [
      4.837061543621262,
      3.9687191375216293,
      3.067415341113986,
      2.2348395563182755,
      1.5711403530729804,
      1.0308375275001544,
      0.6292151804414817,
      0.37783724406404473,
      0.19219669703087447,
      0.004581664605086596
    ],
    "vy_ego": [
      -0.011401012840357438,
      0.005324388137580849,
      0.003809818531218756,
      -0.010552722631904321,
      -0.004132484316746954,
      0.0003760768135908643,
      -0.01783248094188894,
      -0.02434116142869841,
      -0.01946053215056949,
      -0.02202119839675877
    ],
    "v_ego": [
      4.837074979765508,
      3.9687227090890924,
      3.0674177070654514,
      2.2348644707095358,
      1.5711457877870272,
      1.03083759610154,
      0.6294678233830139,
      0.3786204895955982,
      0.1931794053753171,
      0.02249277282557476
    ],
    "ax_ego": [
      -1.7367144698713408,
      -1.7366917378000712,
      -1.8684792124724112,
      -1.4617786435169182,
      -1.192917091166266,
      -0.9683453575778722,
      -0.63813692440929,
      -0.3673267109026241,
      -0.37523511732633724,
      -0.3752345254898661
    ],
    "ay_ego": [
      -0.0013701763779625509,
      -0.008988980329927565,
      -0.022201175964299713,
      -0.010745342792057966,
      0.04916422447954705,
      -0.021819106428471235,
      -0.0499422606533117,
      0.024650330484708743,
      -0.005122384631623955,
      -0.005165368074111248
    ],
    "a_ego": [
      1.736715010369807,
      1.7367150007731271,
      1.8686111044451492,
      1.4618181367851064,
      1.1939297748884818,
      0.9685911443679186,
      0.6400882468017292,
      0.3681528912497433,
      0.3752700788755005,
      0.37527007627433606
    ],
    "yaw": [
      -2.0452673683378033,
      -2.0496542987711788,
      -2.0514318902339816,
      -2.0490760348049535,
      -2.047372541788024,
      -2.045543894997709,
      -2.0452038442546083,
      -2.0448084708395378,
      -2.0448037296032093,
      -2.044918285492953
    ],
    "yaw_diff": [
      -0.008773860866750915,
      -0.0035551829256057488,
      0.004711710858056328,
      0.0034069860338590274,
      0.003657293580629606,
      0.0006801014862016785,
      0.0007907468301411313,
      9.482472656863195e-06,
      -0.00022911177948703454,
      -0.00022911177948703454
    ],
    "min_front_frame": [
      9,
      9.95964912760265
    ],
    "v_avg": 1.793382374169766,
    "v_std": 1.596811014274,
    "vy_max": 0.02434116142869841,
    "a_max": 1.8686111044451492,
    "ax_avg": -1.0720859790532997,
    "a_std": 0.5786718232956463,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b9e84e372b3958ac",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.6008271501846845,
    "right_rear_min": 10.6673925551072,
    "speed_mode": "decelerating",
    "front_frame": [
      17.51063230653692,
      15.433319112041326,
      13.727751895555322,
      12.421215364744837,
      11.43987728956937,
      10.801836524066905,
      10.411317390614725,
      10.142099462392826,
      10.001889252971916,
      9.95964912760265
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b9e84e372b3958ac",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7f163959c6e05719": {
    "vx_ego": [
      4.089887550661796,
      3.7942781780793964,
      3.4957385971754817,
      3.1702700545017213,
      2.843951690516525,
      2.5485273858918633,
      2.227562552583928,
      1.8156082530169533,
      1.3083791598062087,
      0.761527893572714
    ],
    "vy_ego": [
      -0.013679088509165771,
      0.03384323107216991,
      0.024480971788362504,
      0.018056774393122588,
      0.012639615213004052,
      0.005511257474097864,
      0.004882260945850647,
      0.00664972483708276,
      0.006362786291574718,
      0.027593768646544642
    ],
    "v_ego": [
      4.0899104262221675,
      3.794429108171466,
      3.495824317348071,
      3.1703214766915724,
      2.843979778033686,
      2.548533345004487,
      2.2275679029260074,
      1.8156204303938865,
      1.3083946311662216,
      0.7620276561630909
    ],
    "ax_ego": [
      -0.592873797041621,
      -0.5900636161133685,
      -0.6080515716562682,
      -0.6955211817436683,
      -0.6124034079795092,
      -0.5703432997697787,
      -0.7139517184156146,
      -0.9349881747470501,
      -1.0946952275512651,
      -1.0936012060376175
    ],
    "ay_ego": [
      0.19968822596266944,
      0.2078452621709532,
      0.1463494606148964,
      0.19151568322662574,
      0.12803427088272906,
      0.1184922775568154,
      0.12613429705412177,
      0.07963331548365257,
      0.06517529849646997,
      0.08149767873247127
    ],
    "a_ego": [
      0.6255994939309554,
      0.6255994917418788,
      0.6254157644446844,
      0.721406938680153,
      0.6256442348694577,
      0.5825220162645195,
      0.725008218658207,
      0.9383732476215098,
      1.0966336948852247,
      1.0966336988647178
    ],
    "yaw": [
      -0.45737520693952977,
      -0.4435842642565588,
      -0.4167407849852213,
      -0.3895617848088405,
      -0.3610977106895126,
      -0.33554709109515024,
      -0.30986864122906854,
      -0.28562910974700456,
      -0.26256433819279085,
      -0.24764674282021418
    ],
    "yaw_diff": [
      0.02758188536594197,
      0.05368695854267491,
      0.054358000352761615,
      0.056928148238655885,
      0.05110123918872467,
      0.0513568997321634,
      0.04847906296412796,
      0.04612954310842743,
      0.02983519074515334,
      0.02983519074515334
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.605660907212066,
    "v_std": 1.03133214817331,
    "vy_max": 0.03384323107216991,
    "a_max": 1.0966336988647178,
    "ax_avg": -0.7506493201055762,
    "a_std": 0.19093724766459955,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "7f163959c6e05719",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.37697816579751,
    "right_rear_min": 12.714011640932801,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "7f163959c6e05719",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "ef4e7ef102395420": {
    "vx_ego": [
      6.430022636806839,
      5.927667533441401,
      5.416898146113278,
      4.893465514791914,
      4.358901470359983,
      3.824159242502431,
      3.321305728138352,
      2.8306021153998038,
      2.317115668018401,
      1.793809038628735
    ],
    "vy_ego": [
      -0.039948007800949537,
      -0.0033213248249235328,
      0.006935862249116909,
      -0.00046580676287710787,
      0.008189307533104095,
      -0.0064147457058274515,
      -0.02330819426779751,
      -0.01570856142269239,
      0.00171448668524532,
      0.013450775141310656
    ],
    "v_ego": [
      6.430146728743882,
      5.927668463925243,
      5.416902586492635,
      4.893465536961881,
      4.358909163204057,
      3.8241646226305734,
      3.3213875130259423,
      2.830645702769567,
      2.317116302312198,
      1.7938594678564006
    ],
    "ax_ego": [
      -1.004709212053672,
      -1.004695782993107,
      -1.0384266817651575,
      -1.0553048931955498,
      -1.0829360232255802,
      -1.0559987471863848,
      -0.955528262840365,
      -1.0073350215277532,
      -1.046642470514092,
      -1.0466143564257506
    ],
    "ay_ego": [
      0.07536151687551906,
      0.07554018168022658,
      -0.0150947341108712,
      0.00890248763648055,
      0.007975110834585297,
      -0.0783393290548543,
      -0.006065051233419105,
      0.030200753993436302,
      0.027121190038761067,
      0.028185614634009426
    ],
    "a_ego": [
      1.0075316168792372,
      1.0075316051680034,
      1.0385363856888568,
      1.055342442948538,
      1.0829653885477866,
      1.0589005640455476,
      0.9555475110810501,
      1.0077876418859735,
      1.046993801334545,
      1.0469938108455012
    ],
    "yaw": [
      -2.0338301411642217,
      -2.0336523181521624,
      -2.0327971831435825,
      -2.031662167734855,
      -2.032620280690913,
      -2.033350927233122,
      -2.034532792843258,
      -2.0350407388309324,
      -2.0362399772159776,
      -2.0352229716000374
    ],
    "yaw_diff": [
      0.00035564602411852775,
      0.0017102700171598428,
      0.0022700308174545825,
      -0.0019162259121152658,
      -0.0014612930844180028,
      -0.002363731220272669,
      -0.0010158919753484597,
      -0.0023984767700904186,
      0.002034011231880406,
      0.002034011231880406
    ],
    "min_front_frame": [
      9,
      12.0211419997471
    ],
    "v_avg": 4.111426608792238,
    "v_std": 1.4829040892357235,
    "vy_max": 0.039948007800949537,
    "a_max": 1.0829653885477866,
    "ax_avg": -1.0298191451727412,
    "a_std": 0.0346018369430441,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ef4e7ef102395420",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 25.599103309486647,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.62868112780914,
      20.585494161652427,
      24.538024982784474,
      21.98717220515643,
      19.69161121965299,
      17.634549683335763,
      15.887924650679691,
      14.335980882355237,
      13.008950761683733,
      12.0211419997471
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ef4e7ef102395420",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1b301e5f9ede59d7": {
    "vx_ego": [
      7.976416680684557,
      8.073943536981863,
      8.183693035151947,
      8.306965723344167,
      8.431618874866338,
      8.506922057426127,
      8.545226413922364,
      8.603878813390535,
      8.686024427440959,
      8.790483134298869
    ],
    "vy_ego": [
      -0.08094401129583106,
      -0.02262730594924367,
      -0.053078656265237445,
      -0.06083927448477899,
      -0.09130205956225934,
      -0.01240944469525429,
      0.02051017809116562,
      0.02048752788007313,
      0.06529571032156012,
      0.020553806652569673
    ],
    "v_ego": [
      7.976827376649661,
      8.073975243543028,
      8.183865164904992,
      8.307188510328553,
      8.432113194038763,
      8.50693110853972,
      8.545251028062419,
      8.6039032057729,
      8.686269848668497,
      8.790507163603293
    ],
    "ax_ego": [
      0.18941158002560526,
      0.20669791480815028,
      0.2425866143537086,
      0.26185286288480647,
      0.2415043427569345,
      0.06047399576031573,
      0.09253306761203049,
      0.14444310767432622,
      0.197843048705391,
      0.22634935222561747
    ],
    "ay_ego": [
      0.5911119713748905,
      0.5852914568661276,
      0.7433944960423607,
      0.7717386319139535,
      0.40742060418945536,
      0.18229725347329223,
      0.13911053239326102,
      -0.37753227081988927,
      -0.7558619158903402,
      -0.7478202260341816
    ],
    "a_ego": [
      0.6207174150533442,
      0.6207174215909455,
      0.7819741953604802,
      0.8149524144325175,
      0.4736199914367633,
      0.1920661156662581,
      0.16707515920815139,
      0.404220765009715,
      0.7813252253795852,
      0.781325232997611
    ],
    "yaw": [
      2.5316631118042103,
      2.561049452749813,
      2.6056762161631806,
      2.6525616685371385,
      2.6914075913705884,
      2.69947839779486,
      2.7050442070792995,
      2.6980901800568873,
      2.6601060668703242,
      2.6221952829176103
    ],
    "yaw_diff": [
      0.0587726818912051,
      0.08925352682673537,
      0.09377090474791583,
      0.0776918456668998,
      0.01614161284854365,
      0.011131618568878565,
      -0.013908054044824425,
      -0.07596822637312606,
      -0.07582156790542793,
      -0.07582156790542793
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.410683184411182,
    "v_std": 0.25478232179759136,
    "vy_max": 0.09130205956225934,
    "a_max": 0.8149524144325175,
    "ax_avg": 0.1863695886806886,
    "a_std": 0.23258671430770478,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1b301e5f9ede59d7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1b301e5f9ede59d7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ff1a305b2c1752af": {
    "vx_ego": [
      3.567608664384727,
      3.5166885404804837,
      3.4857886244118603,
      3.525284701429287,
      3.6428172860645107,
      3.7721121871901975,
      3.8709343574380783,
      3.922187361221987,
      3.991758312249962,
      4.1130697897930295
    ],
    "vy_ego": [
      -0.04206531689101478,
      -0.029218121909944772,
      -0.02389993874437324,
      -0.0036233184002305574,
      0.00443044962593131,
      -0.005599903151157548,
      -0.018935502338223165,
      -0.042080849764777994,
      -0.02209221767054026,
      -0.0031812043178354177
    ],
    "v_ego": [
      3.567856649737783,
      3.5168099165855837,
      3.485870557142235,
      3.525286563467941,
      3.6428199802535253,
      3.7721163438664136,
      3.8709806706884176,
      3.9224130958437335,
      3.9918194460043237,
      4.113071020024939
    ],
    "ax_ego": [
      -0.1312739660982852,
      -0.057634167144814286,
      -0.047296954354050846,
      0.22476546903308076,
      0.23648266376412452,
      0.29411905879900113,
      0.10347487571633346,
      0.11652623367694415,
      0.1804739148565101,
      0.3091563512890636
    ],
    "ay_ego": [
      0.7295647814623532,
      0.7390371614554396,
      0.858234849767624,
      1.0450974307356076,
      0.9163736114833105,
      1.104479779768955,
      1.0386250035928537,
      1.0124371769809029,
      1.0534769278829896,
      1.023135770155849
    ],
    "a_ego": [
      0.7412810698550077,
      0.7412810689843563,
      0.8595371191791692,
      1.0689939924058642,
      0.9463956075996662,
      1.1429705178469345,
      1.0437667114795173,
      1.0191208959039126,
      1.06882387301436,
      1.0688238646824693
    ],
    "yaw": [
      1.818039413246574,
      1.9182410672187387,
      2.0306955083150147,
      2.1617341403086274,
      2.2961586710295148,
      2.4351795961445237,
      2.577736448732728,
      2.7151119316877343,
      2.840672838689766,
      2.9644495080894915
    ],
    "yaw_diff": [
      0.20040330794432926,
      0.224908882192552,
      0.26207726398722553,
      0.2688490614417747,
      0.27804185023001793,
      0.28511370517640877,
      0.27475096591001247,
      0.25112181400406364,
      0.24755333879945063,
      0.24755333879945063
    ],
    "min_front_frame": [
      9,
      53.466308789280255
    ],
    "v_avg": 3.7409044243614895,
    "v_std": 0.21298439118238427,
    "vy_max": 0.042080849764777994,
    "a_max": 1.1429705178469345,
    "ax_avg": 0.12287934795379074,
    "a_std": 0.13582677558802214,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "ff1a305b2c1752af",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      71.13000909441719,
      53.466308789280255
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ff1a305b2c1752af",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "8a808765078856bf": {
    "vx_ego": [
      8.714212041227347,
      8.518063013118876,
      8.396027459019471,
      8.295060081543179,
      8.186806814147596,
      8.033976251272057,
      7.827869926117184,
      7.58222434813349,
      7.24091129499198,
      6.8856164726753155
    ],
    "vy_ego": [
      -0.08547212277767269,
      -0.05635860350528654,
      -0.04078973580654832,
      -0.07959363629043925,
      -0.10985758620867514,
      -0.1022483683114348,
      -0.05427850978962423,
      -0.06226166552795925,
      -0.03441427030432065,
      0.0593922729302887
    ],
    "v_ego": [
      8.714631201791834,
      8.518249455589622,
      8.396126541159092,
      8.295441935385302,
      8.187543862564715,
      8.034626882116292,
      7.828058107655743,
      7.582479975603143,
      7.240993075811011,
      6.885872613609802
    ],
    "ax_ego": [
      -0.49159564045574317,
      -0.2579125341175414,
      -0.21889019766362877,
      -0.18067864245153611,
      -0.24180468653639636,
      -0.36527187215665624,
      -0.4589457378012082,
      -0.5184985771568709,
      -0.8265258945312925,
      -0.5809136790941924
    ],
    "ay_ego": [
      2.0110902845197565,
      2.054174169371647,
      1.8644097795432688,
      1.4652233779153971,
      0.9783513805977325,
      0.3436245364057424,
      -0.08494016283890074,
      -0.8879917077045536,
      -1.7183028901836803,
      -1.8161082558815345
    ],
    "a_ego": [
      2.0703020084530777,
      2.070302005352994,
      1.87721515673878,
      1.476321211331713,
      1.0077901221724959,
      0.5014991152623204,
      0.4667397792228495,
      1.0282850030345423,
      1.906753753567655,
      1.9067537595714397
    ],
    "yaw": [
      2.6536204751459778,
      2.7684598577037938,
      2.8823991417863377,
      2.9867566125976075,
      3.0644470226253926,
      3.104177423844864,
      3.106280155720927,
      3.0757800784054923,
      2.984646620744939,
      2.845886310088316
    ],
    "yaw_diff": [
      0.229678765115632,
      0.2278785681650879,
      0.20871494162253956,
      0.1553808200555702,
      0.07946080243894293,
      0.0042054637521262705,
      -0.06100015463086983,
      -0.18226691532110628,
      -0.2775206213132462,
      -0.2775206213132462
    ],
    "min_front_frame": [
      2,
      60.87423213515422
    ],
    "v_avg": 7.9684023651286555,
    "v_std": 0.5541776224128124,
    "vy_max": 0.10985758620867514,
    "a_max": 2.0703020084530777,
    "ax_avg": -0.4141037461965066,
    "a_std": 0.6005259875144967,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "8a808765078856bf",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.4253376403301,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      60.87423213515422,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8a808765078856bf",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "27b5c3ce868856a2": {
    "vx_ego": [
      8.71813800306041,
      8.810854550083628,
      8.871073190932911,
      9.026473713953294,
      9.121471071719336,
      8.998655786937494,
      8.79734435985171,
      8.566866328771203,
      8.37200095051698,
      8.193648536788949
    ],
    "vy_ego": [
      -0.06789019953829722,
      0.023069235190528836,
      -0.024812340391248355,
      -0.010845041120552956,
      -0.024400686793835558,
      -0.010378474815956551,
      -0.0326285128247501,
      -0.049690082826203685,
      0.010454743947936329,
      0.05579224245011627
    ],
    "v_ego": [
      8.718402337561596,
      8.810884750826197,
      8.871107890851306,
      9.026480228948971,
      9.121503708584934,
      8.99866177187048,
      8.79740486766773,
      8.567010435348207,
      8.372007478324912,
      8.193838485028936
    ],
    "ax_ego": [
      0.18244607083901468,
      0.18982881412095942,
      0.06007494396598295,
      0.5682728768500284,
      -0.18004509973057603,
      -0.3097228510585919,
      -0.4972985173035448,
      -0.4229599003302038,
      -0.35797012937858746,
      -0.35640512126576324
    ],
    "ay_ego": [
      0.4634885760375196,
      0.46051411636528805,
      0.8730491073486588,
      0.9950159642912104,
      1.131141422144207,
      1.043208761432638,
      0.8057878097809754,
      0.5567084802633255,
      0.21129595698488235,
      0.21392519020553175
    ],
    "a_ego": [
      0.4981046364790056,
      0.4981046376438106,
      0.8751135599079732,
      1.1458581202565066,
      1.1453807903170947,
      1.0882154034921951,
      0.946889544616438,
      0.6991562123620425,
      0.4156784754656896,
      0.41567847847697903
    ],
    "yaw": [
      2.447425082118598,
      2.4634046658549353,
      2.5064447063534776,
      2.5574225531507144,
      2.6168644683387416,
      2.6751940455500174,
      2.7294879456852033,
      2.770724272672819,
      2.7863073931419375,
      2.7936682825212724
    ],
    "yaw_diff": [
      0.031959167472674466,
      0.08608008099708453,
      0.10195569359447365,
      0.11888383037605443,
      0.11665915442255148,
      0.10858780027037174,
      0.0824726539752314,
      0.031166240938237166,
      0.014721778758669757,
      0.014721778758669757
    ],
    "min_front_frame": [
      9,
      24.039987254642377
    ],
    "v_avg": 8.747730195501326,
    "v_std": 0.2799171922132722,
    "vy_max": 0.06789019953829722,
    "a_max": 1.1458581202565066,
    "ax_avg": -0.11237789132912816,
    "a_std": 0.28803836041955755,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "27b5c3ce868856a2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 24.653105827027687,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      25.76727827767838,
      25.46593441244013,
      25.106691763100713,
      24.844882022544276,
      24.483693975645636,
      24.039987254642377
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "27b5c3ce868856a2",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "89e02236312d5038": {
    "vx_ego": [
      4.081826433315001,
      4.820598189644366,
      5.589825297923645,
      6.25731468173204,
      6.871287040366254,
      7.409323468419913,
      7.788933276081279,
      8.012676481262137,
      8.166120233635061,
      8.306819503218396
    ],
    "vy_ego": [
      -0.05721947638605829,
      0.11607377015464992,
      0.22196208694878328,
      0.13184497433019837,
      0.023077353238449394,
      -0.1133926744654925,
      -0.021171152063282683,
      0.0017793066233915411,
      0.021937291600201192,
      0.04545273685318385
    ],
    "v_ego": [
      4.08222746796243,
      4.82199544028408,
      5.5942304233334745,
      6.258703549735797,
      6.871325793130299,
      7.410191101334737,
      7.788962048753732,
      8.012676678819846,
      8.166149699518536,
      8.306943855012923
    ],
    "ax_ego": [
      1.2574881368151796,
      1.6833550552008485,
      1.4250495260198361,
      1.25204005768625,
      1.2019931462803786,
      0.9641490572800164,
      0.5552557767487859,
      0.33976115889392866,
      0.2776520106586167,
      0.28873230328661315
    ],
    "ay_ego": [
      -1.946789412712858,
      -1.5929787154403678,
      -0.7226220748775368,
      -0.07802143940208595,
      0.4153432711107456,
      0.5762610695921787,
      0.18761886991997648,
      -0.10861053552881364,
      -0.40820524969042493,
      -0.40044451831125055
    ],
    "a_ego": [
      2.317599066206618,
      2.317599065782582,
      1.597794985193556,
      1.2544686728082777,
      1.271730142979232,
      1.1232364955704859,
      0.5860971062571002,
      0.35669860319435104,
      0.49368225094446605,
      0.4936822411295774
    ],
    "yaw": [
      -0.2962328330950271,
      -0.5357004225561277,
      -0.6662618514965974,
      -0.684771017246294,
      -0.655384742393847,
      -0.6017895975509995,
      -0.5888818855183091,
      -0.5892853259994772,
      -0.6077310102969739,
      -0.6351337351957014
    ],
    "yaw_diff": [
      -0.47893517892220117,
      -0.2611228578809395,
      -0.03701833149939304,
      0.05877254970489387,
      0.1071902896856951,
      0.025815424065380732,
      -0.000806880962336276,
      -0.0368913685949932,
      -0.05480544979745505,
      -0.05480544979745505
    ],
    "min_front_frame": [
      9,
      67.60925196798419
    ],
    "v_avg": 6.731340605788586,
    "v_std": 1.412863282943596,
    "vy_max": 0.22196208694878328,
    "a_max": 2.317599066206618,
    "ax_avg": 0.9245476228870453,
    "a_std": 0.6893904645394796,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "89e02236312d5038",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 18.94398349089868,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      77.93037164492047,
      75.5724760657454,
      73.56023043290554,
      71.72368026829263,
      70.16294658359169,
      68.939221163191,
      68.17888472715201,
      67.60925196798419
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "89e02236312d5038",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c9b41d0b992158c6": {
    "vx_ego": [
      3.5014997307188405,
      3.9314588035573212,
      4.523450078705306,
      5.187170082978078,
      5.839969196570094,
      6.398143722918244,
      6.895225038899721,
      7.363519620949386,
      7.713569230293163,
      7.983031885730902
    ],
    "vy_ego": [
      -0.24477701861581225,
      -0.008790608066186145,
      -0.00815922550268669,
      -0.059728080130881045,
      -0.20047189320978465,
      -0.18933116293228158,
      -0.18594280366880023,
      -0.17311685199997973,
      -0.1318929396522246,
      0.01427155070637065
    ],
    "v_ego": [
      3.510045035760447,
      3.931468631295249,
      4.5234574373481005,
      5.187513943431759,
      5.843409038981839,
      6.4009444137857825,
      6.897731733208089,
      7.365554334369747,
      7.7146967547697916,
      7.9830446426007065
    ],
    "ax_ego": [
      0.665488985492001,
      1.1458452124375318,
      1.311004782085121,
      1.4193639430873217,
      1.2568578399442225,
      1.052392212660772,
      1.0300676261396267,
      0.8888789071861289,
      0.5326954551892804,
      0.5511341199565789
    ],
    "ay_ego": [
      2.227388113623817,
      2.0226646202514313,
      2.602043310639786,
      2.8474834359297856,
      2.309926137827094,
      1.6997546292843673,
      1.6843429590581054,
      1.1787691410199208,
      0.7106732184054484,
      0.6964711379685589
    ],
    "a_ego": [
      2.32467920335771,
      2.3246792073064357,
      2.9136511337315785,
      3.181627872776904,
      2.629724394693492,
      1.9991736215353264,
      1.9743481248628723,
      1.476347655351289,
      0.8881558823416489,
      0.8881558783251575
    ],
    "yaw": [
      1.0177584335975278,
      1.2428503935161341,
      1.5158271215677592,
      1.8058098684942603,
      2.0628113431258583,
      2.22378773790514,
      2.3503407555577636,
      2.4486175353370823,
      2.505457409226754,
      2.5316631118042103
    ],
    "yaw_diff": [
      0.4501839198372126,
      0.5459534561032502,
      0.5799654938530021,
      0.5140029492631961,
      0.321952789558563,
      0.25310603530524745,
      0.1965535595586374,
      0.11367974777934364,
      0.052411405154912494,
      0.052411405154912494
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.935786596555151,
    "v_std": 1.5167849135321172,
    "vy_max": 0.24477701861581225,
    "a_max": 3.181627872776904,
    "ax_avg": 0.9853729084178585,
    "a_std": 0.7449556225741489,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "c9b41d0b992158c6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.513720980952385,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c9b41d0b992158c6",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4ccda56c15a55d57": {
    "vx_ego": [
      9.48789028684099,
      9.775818628471079,
      10.102158679134819,
      10.438979660379426,
      10.64241047071445,
      10.711050622670644,
      10.757816835294882,
      10.771442601751943,
      10.70860987172686,
      10.610329967616332
    ],
    "vy_ego": [
      -0.014775386061783413,
      0.0017180991477340202,
      0.009596381591098324,
      0.04577433624245186,
      0.030054086351739562,
      0.0320416770655827,
      0.036680623969729265,
      0.036535925004361536,
      0.04436665832508946,
      0.008731269596179203
    ],
    "v_ego": [
      9.48790179160624,
      9.775818779448954,
      10.102163237097221,
      10.439080018836611,
      10.642452906885659,
      10.711098548257429,
      10.757879369556473,
      10.771504565131679,
      10.70870177870394,
      10.61033356010856
    ],
    "ax_ego": [
      0.5747997099891492,
      0.577150529610756,
      0.728277795864175,
      0.6182830215043793,
      0.1920661474053878,
      0.08018408562833094,
      0.1066536980374129,
      -0.05266093235023601,
      -0.19921585067424838,
      -0.19547662686121614
    ],
    "ay_ego": [
      0.23287685286421586,
      0.22698810261522248,
      0.2835346670448933,
      0.3931941915901398,
      0.33505222756178427,
      0.02981262015181358,
      0.07279567656092359,
      0.08162328721014053,
      0.24745680968183847,
      0.2504210719682768
    ],
    "a_ego": [
      0.6201825015296317,
      0.6201824993974232,
      0.7815244432294101,
      0.7327179313902508,
      0.3861986537693546,
      0.0855469456402029,
      0.1291287025839656,
      0.09713668107870077,
      0.31768196017051087,
      0.3176819556329569
    ],
    "yaw": [
      1.6301905265161731,
      1.6404144039907989,
      1.6524859538925951,
      1.6654184982324995,
      1.6840872379970022,
      1.6924335549684657,
      1.6943917019172487,
      1.6979847511081987,
      1.7049039369739654,
      1.7199242776897428
    ],
    "yaw_diff": [
      0.02044775494925144,
      0.024143099803592527,
      0.025865088679808856,
      0.037337479529005346,
      0.01669263394292697,
      0.003916293897566092,
      0.007186098381899875,
      0.01383837173153335,
      0.030040681431554805,
      0.030040681431554805
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.400693455563275,
    "v_std": 0.4327759827881065,
    "vy_max": 0.04577433624245186,
    "a_max": 0.7815244432294101,
    "ax_avg": 0.24300615781538903,
    "a_std": 0.2510318449888869,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "4ccda56c15a55d57",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "4ccda56c15a55d57",
    "road_shape": "Curve"
  },
  "6012a63b7a3b52c7": {
    "vx_ego": [
      9.33711255293712,
      9.261137639965881,
      9.17548320490413,
      9.099079144103365,
      9.034155608652975,
      8.937117804077468,
      8.816098149994353,
      8.71575417359183,
      8.588224894700755,
      8.413004315118327
    ],
    "vy_ego": [
      -0.09506308601160107,
      -0.02598144079114917,
      0.018063605565325602,
      0.058192428174209,
      0.05360063435318985,
      0.028634839281429514,
      -0.011700427048295658,
      -0.04772492988352095,
      -0.04475223486246005,
      -0.006265760699452283
    ],
    "v_ego": [
      9.337596468928071,
      9.261174084405194,
      9.175500985631455,
      9.099265224695545,
      9.034314616469757,
      8.937163677475038,
      8.8161059141963,
      8.715884836516357,
      8.58834149323855,
      8.413006648396085
    ],
    "ax_ego": [
      -0.15191667731271938,
      -0.1518052357200739,
      -0.1903247858704005,
      -0.11680749638683388,
      -0.14685041995900436,
      -0.24381874912086132,
      -0.2412228043025468,
      -0.15912792216712876,
      -0.3507300782609878,
      -0.3506743346101703
    ],
    "ay_ego": [
      0.1517588369010761,
      0.15187029593562362,
      0.2679208076159299,
      0.30355821176761966,
      0.21935275712407878,
      0.19758466577338446,
      0.12361916170882052,
      0.08786600736046467,
      -0.00989092144270945,
      -0.011701441098807275
    ],
    "a_ego": [
      0.21473104438647042,
      0.21473103264223617,
      0.3286412683613942,
      0.3252561746434881,
      0.26397097927626634,
      0.31382683532744865,
      0.271053755659604,
      0.18177494564074836,
      0.35086951723389204,
      0.35086950947335754
    ],
    "yaw": [
      2.476210956224133,
      2.4769449658931295,
      2.483548205436573,
      2.4948035534048714,
      2.5097221271801042,
      2.5240810300540417,
      2.537671669019786,
      2.547824528408585,
      2.549728768051825,
      2.544566258419578
    ],
    "yaw_diff": [
      0.0014680193379934536,
      0.01320647908688688,
      0.022510695936596825,
      0.029837147550465737,
      0.02871780574787497,
      0.027181277931488168,
      0.02030571877759879,
      0.003808479286479205,
      -0.010325019264493918,
      -0.010325019264493918
    ],
    "min_front_frame": [
      6,
      18.24220349693491
    ],
    "v_avg": 8.937835394995236,
    "v_std": 0.285986250735623,
    "vy_max": 0.09506308601160107,
    "a_max": 0.35086951723389204,
    "ax_avg": -0.21032785037107274,
    "a_std": 0.058381330894169955,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "6012a63b7a3b52c7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.867977894689032,
    "right_rear_min": 17.404847245075544,
    "speed_mode": "quasi_constant",
    "front_frame": [
      45.29987096857254,
      40.66148475790629,
      36.09214126690533,
      31.578167636035474,
      27.041661412152493,
      22.606318282611078,
      18.24220349693491,
      78.6054422727521,
      69.63023727197358,
      65.35437294232509
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6012a63b7a3b52c7",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "15208e349fb854b4": {
    "vx_ego": [
      6.4584946668303,
      6.513236846542094,
      6.535539802149111,
      6.536297919079535,
      6.563646709774221,
      6.579941038149962,
      6.562420375553204,
      6.53575658850593,
      6.49845680265218,
      6.454225662093114
    ],
    "vy_ego": [
      0.09014330738076293,
      -0.047024075605266,
      -0.10145399030781466,
      -0.07256321964076617,
      -0.034355512378014375,
      -0.03291512699013088,
      -0.02400692705248675,
      -0.008418120568529197,
      -0.00432574184088419,
      0.024917404119308983
    ],
    "v_ego": [
      6.45912371590303,
      6.513406595848299,
      6.53632721163993,
      6.536700689782889,
      6.563736621160291,
      6.580023364024992,
      6.562464286990243,
      6.535762009815885,
      6.498458242381717,
      6.454273760404756
    ],
    "ax_ego": [
      0.10843196531868367,
      0.11117181435566773,
      -0.02673715050707113,
      0.025423355620673896,
      0.08248775882170226,
      -0.01872546493241295,
      -0.053294686037186005,
      -0.0546400518254268,
      -0.0935163825111836,
      -0.08204041525246321
    ],
    "ay_ego": [
      -0.37071219569782166,
      -0.3698997843512357,
      -0.1581133412143653,
      0.011390077102771692,
      -0.1466638753702349,
      -0.2101967111725869,
      -0.21828215930847936,
      -0.21185190702907133,
      -0.35595680735289076,
      -0.35877560244658097
    ],
    "a_ego": [
      0.3862447710221748,
      0.3862447705409378,
      0.16035804902532358,
      0.027858228002195957,
      0.1682691971040544,
      0.21102914591285002,
      0.22469406897418231,
      0.21878474758387434,
      0.3680360885821402,
      0.36803608878166244
    ],
    "yaw": [
      0.43387683277652495,
      0.42647798596952957,
      0.4146197038710413,
      0.40457727306210134,
      0.393568989560679,
      0.3798010724753,
      0.3621560455683651,
      0.34335716445646725,
      0.32096538107312883,
      0.28885551578319973
    ],
    "yaw_diff": [
      -0.014797693613990748,
      -0.02371656419697654,
      -0.020084861617879923,
      -0.02201656700284471,
      -0.027535834170758,
      -0.03529005381386974,
      -0.03759776222379574,
      -0.04478356676667683,
      -0.06421973057985819,
      -0.06421973057985819
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.524027649795204,
    "v_std": 0.04060049872751766,
    "vy_max": 0.10145399030781466,
    "a_max": 0.3862447710221748,
    "ax_avg": -0.00014392569490161573,
    "a_std": 0.11495570936763318,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "15208e349fb854b4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "15208e349fb854b4",
    "merging_vehicles": "No"
  },
  "873e80bc10d156ea": {
    "vx_ego": [
      3.311521802447644,
      3.450478608381694,
      3.614201885069177,
      3.8011320132043283,
      3.9889150848789017,
      4.089230772794831,
      4.061333101204692,
      3.9632903854616277,
      3.8928322346438273,
      3.8580662023711647
    ],
    "vy_ego": [
      0.012477304249739696,
      0.04499219151468359,
      0.015538788787635927,
      0.0054005218230333,
      0.019213524533478354,
      0.012788099363835626,
      0.010515493387913244,
      -0.003212202882491022,
      -0.01318171997335571,
      -0.02981909418883477
    ],
    "v_ego": [
      3.3115453086448072,
      3.4507719316403636,
      3.614235288410894,
      3.8011358496432024,
      3.988961357784687,
      4.089250768619791,
      4.061346714396853,
      3.9632916871888115,
      3.892854552230729,
      3.858181436928142
    ],
    "ax_ego": [
      0.2445551442699021,
      0.32239877839713216,
      0.32836396203042256,
      0.4184234521434822,
      0.3324950999160008,
      0.06873085236003995,
      -0.1803621484878664,
      -0.2118406438969394,
      -0.07006344800640388,
      -0.06954311413365195
    ],
    "ay_ego": [
      -0.7086176283453057,
      -0.6767608078111146,
      -0.29854979923283625,
      -0.1465926831249168,
      -0.01771987086016999,
      0.0032146606454406534,
      0.0017923473765249914,
      -0.04280333181805017,
      -0.08206567448997937,
      -0.08250707194639806
    ],
    "a_ego": [
      0.7496306835973288,
      0.7496306846048363,
      0.4437959826116992,
      0.4433594479081631,
      0.33296694324129605,
      0.06880598890505793,
      0.18037105398671183,
      0.21612168706864196,
      0.10790580001112687,
      0.10790579986531885
    ],
    "yaw": [
      -2.014441871579444,
      -2.126702698807875,
      -2.1873858982895262,
      -2.214747867337683,
      -2.2288015145057685,
      -2.228114114490214,
      -2.2272558585739723,
      -2.2263906352502687,
      -2.231824353662288,
      -2.238147786333187
    ],
    "yaw_diff": [
      -0.22452165445686223,
      -0.12136639896330248,
      -0.054723938096313596,
      -0.028107294336170874,
      0.0013748000311091246,
      0.0017165118324831141,
      0.001730446647407291,
      -0.010867436824038457,
      -0.012646865341798375,
      -0.012646865341798375
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8031574895488283,
    "v_std": 0.24925971990029785,
    "vy_max": 0.04499219151468359,
    "a_max": 0.7496306846048363,
    "ax_avg": 0.1183157934592118,
    "a_std": 0.2406677542895092,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "873e80bc10d156ea",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "873e80bc10d156ea",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e9fd1602f4555be6": {
    "vx_ego": [
      5.425642765748178,
      4.438173870060076,
      3.6943432890764134,
      3.282878207569829,
      2.849632609086722,
      2.155489991100388,
      1.4099618021663447,
      0.8660615061847461,
      0.5603376872836565,
      0.39008252301153734
    ],
    "vy_ego": [
      -0.06781281580820897,
      -0.05600202933497567,
      -0.021908314075322455,
      0.0248219420069542,
      0.03306717396062764,
      0.015677006855561948,
      0.00967583849094722,
      -0.0022675762522970655,
      -0.01465406858483409,
      -0.017759780085759375
    ],
    "v_ego": [
      5.426066531061278,
      4.4385271800647645,
      3.694408249201698,
      3.2829720459580356,
      2.8498244585876056,
      2.155547000247942,
      1.4099950019126555,
      0.8660644747344455,
      0.5605292726669018,
      0.3904865997031666
    ],
    "ax_ego": [
      -1.9745262832544397,
      -1.9742243252658958,
      -1.0001505266680593,
      -0.6458127397965566,
      -1.0879293668991958,
      -1.6888854227389354,
      -1.2932819550009014,
      -0.8823469454861951,
      -0.3404882726704138,
      -0.3404917850571237
    ],
    "ay_ego": [
      0.06324248616634509,
      0.07205519784606418,
      0.14255863554174442,
      0.11272476287009786,
      -0.02890757045085457,
      -0.012427928397960697,
      -0.0033771527863901696,
      -0.040804271211170084,
      -0.005723696573191023,
      -0.005510838570199406
    ],
    "a_ego": [
      1.9755388265784837,
      1.975538822197179,
      1.010259392711555,
      0.6555768200963598,
      1.0883133533091727,
      1.6889311485505671,
      1.2932863643802543,
      0.8832899415015961,
      0.3405363776875299,
      0.34053637842840423
    ],
    "yaw": [
      2.5365490926159233,
      2.5410126316599655,
      2.545971359829767,
      2.550933315199135,
      2.555004743763853,
      2.5577421989795366,
      2.5589248701182914,
      2.5597513183869918,
      2.560920234837944,
      2.561545388899124
    ],
    "yaw_diff": [
      0.00892707808808435,
      0.00991745633960317,
      0.009923910738735664,
      0.008142857129436187,
      0.005474910431367164,
      0.002365342277509619,
      0.0016528965374007498,
      0.0023378329019045907,
      0.0012503081223602663,
      0.0012503081223602663
    ],
    "min_front_frame": [
      9,
      13.085736923264877
    ],
    "v_avg": 2.5074420814138487,
    "v_std": 1.633074711164811,
    "vy_max": 0.06781281580820897,
    "a_max": 1.9755388265784837,
    "ax_avg": -1.1228137622837715,
    "a_std": 0.5759540291692206,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e9fd1602f4555be6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.3335660312797732,
    "speed_mode": "decelerating",
    "front_frame": [
      22.461438496489997,
      20.711508874239335,
      18.942499833163094,
      17.246395261546823,
      15.727465190809482,
      14.460596921543535,
      13.744992803155448,
      13.353023455743859,
      13.178208812675893,
      13.085736923264877
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e9fd1602f4555be6",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "1113bc93478c56fe": {
    "vx_ego": [
      2.6057725057363585,
      2.6738293666281185,
      2.784736829796171,
      2.9271999404993667,
      3.059204285693203,
      3.149664276674367,
      3.2005707658531253,
      3.1936502971146954,
      3.123990821022399,
      3.0346807682966728
    ],
    "vy_ego": [
      0.013579299362052266,
      -0.054424840066970015,
      -0.07229824782717349,
      -0.05252566900486841,
      -0.028740792839359725,
      -0.04155613647061637,
      -0.06633556655828061,
      -0.045550766414646116,
      0.004505208036379327,
      -0.0430260056960145
    ],
    "v_ego": [
      2.6058078879730764,
      2.6743832083415495,
      2.7856751870708307,
      2.927671162812502,
      3.0593392905620482,
      3.149938407054498,
      3.2012581330820966,
      3.193975123976664,
      3.123994069573701,
      3.034985766463467
    ],
    "ax_ego": [
      0.09347668543755744,
      0.18932918995730807,
      0.26387722509104233,
      0.3113107654971197,
      0.21753321402487613,
      0.14499677637669123,
      0.06140081494163333,
      -0.08123674264630527,
      -0.19216577098124657,
      -0.1581195585853482
    ],
    "ay_ego": [
      0.6555177362731106,
      0.6345044121822748,
      0.3289572544859324,
      0.14094340522194979,
      0.042052540229997167,
      -0.016214070303461108,
      0.05702036115991614,
      0.3129656131588695,
      0.4052944748603527,
      0.419749329578307
    ],
    "a_ego": [
      0.6621490718025779,
      0.6621490702618743,
      0.4217156212433577,
      0.3417300633394162,
      0.22156063581734933,
      0.14590051828365033,
      0.0837936850980071,
      0.32333710485449885,
      0.4485435261924376,
      0.44854352574601225
    ],
    "yaw": [
      -1.8395802143479174,
      -1.6912468117990036,
      -1.596192640523103,
      -1.5619148593237375,
      -1.5546055195404824,
      -1.548414772241446,
      -1.5374337909573645,
      -1.5151289530072063,
      -1.4743146268504592,
      -1.3918295367482316
    ],
    "yaw_diff": [
      0.2966668050978276,
      0.1901083425518011,
      0.06855556239873106,
      0.014618679566510195,
      0.012381494598072695,
      0.021961962568163074,
      0.0446096759003165,
      0.08162865231349414,
      0.1649701802044552,
      0.1649701802044552
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.9757028236910434,
    "v_std": 0.20673876507967923,
    "vy_max": 0.07229824782717349,
    "a_max": 0.6621490718025779,
    "ax_avg": 0.08504025991133282,
    "a_std": 0.1850695061281858,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "1113bc93478c56fe",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1113bc93478c56fe",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c2cf2b10f7e953c4": {
    "vx_ego": [
      5.179299321087566,
      5.25762216181209,
      5.339803921376441,
      5.385266752143065,
      5.380223047350327,
      5.322545807693373,
      5.289566717318738,
      5.29904971777934,
      5.333687632332146,
      5.444151358285754
    ],
    "vy_ego": [
      -0.015165440749462356,
      -0.009261562034692528,
      -0.005657665655023347,
      -0.01661830241598139,
      -0.025813173239261467,
      -0.011895290457405228,
      -0.002823580544334403,
      0.011184536110867338,
      0.007545284439766875,
      -0.010591666280896389
    ],
    "v_ego": [
      5.179321523907475,
      5.257630319156052,
      5.339806918599948,
      5.385292393149392,
      5.38028497006918,
      5.322559099994041,
      5.289567470934956,
      5.299061521188947,
      5.333692969285931,
      5.44416166138729
    ],
    "ax_ego": [
      0.1307209136979105,
      0.18567975338368609,
      0.1482983231018451,
      0.0366117725443349,
      -0.048675732438980435,
      -0.17045574692313847,
      0.04325840555498811,
      -0.002911048296954155,
      0.14576677346310052,
      0.29523836326768377
    ],
    "ay_ego": [
      0.7684918741881824,
      0.757093611719349,
      0.8383304594278993,
      0.8262359542940467,
      0.8596597801033806,
      0.986442905580116,
      1.028305512460815,
      1.110910880292425,
      1.262228530064518,
      1.2358410676283922
    ],
    "a_ego": [
      0.7795304471098494,
      0.7795304405364006,
      0.8513461997562519,
      0.8270467181828558,
      0.8610367381568942,
      1.0010618200832888,
      1.0292150001862872,
      1.1109146943641883,
      1.2706174933293957,
      1.270617501682495
    ],
    "yaw": [
      -0.8269779841149587,
      -0.7549596318173515,
      -0.680465837251722,
      -0.6010688022410346,
      -0.5212601980819123,
      -0.43790239239894013,
      -0.3442819980101441,
      -0.2460990254915018,
      -0.13354370165026067,
      -0.014016533392684435
    ],
    "yaw_diff": [
      0.14403670459521445,
      0.14898758913125887,
      0.1587940700213748,
      0.15961720831824477,
      0.16671561136594426,
      0.1872407887775921,
      0.19636594503728455,
      0.2251106476824823,
      0.23905433651515245,
      0.23905433651515245
    ],
    "min_front_frame": [
      9,
      36.311178672384905
    ],
    "v_avg": 5.323137884767321,
    "v_std": 0.06989017029548272,
    "vy_max": 0.025813173239261467,
    "a_max": 1.270617501682495,
    "ax_avg": 0.0763531777354476,
    "a_std": 0.17982209759892498,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "c2cf2b10f7e953c4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      36.311178672384905
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "c2cf2b10f7e953c4",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "766a723ba30f574c": {
    "vx_ego": [
      1.2478026668170412,
      0.9044150688265755,
      0.6057906946181255,
      0.3711352811557094,
      0.1532304756623203,
      0.009949353906399954,
      -0.0205334476899721,
      -0.014234602727154905,
      -0.008524525602607318,
      -0.004444274916262441
    ],
    "vy_ego": [
      -0.0086031745156252,
      0.004131592749672897,
      0.0058632810351574305,
      0.003026912341716148,
      0.01017372101763267,
      0.007825555858391953,
      0.00017579635367043212,
      0.0005659377170269576,
      0.0004723300274530537,
      0.0003924247546552794
    ],
    "v_ego": [
      1.2478323244440601,
      0.9044245058484586,
      0.6058190684935629,
      0.37114762442571536,
      0.1535678458240707,
      0.012658158145939267,
      0.020534200213175684,
      0.014245848528588234,
      0.008537601091895865,
      0.004461566621646008
    ],
    "ax_ego": [
      -0.6867632968567494,
      -0.6868020237859538,
      -0.5076822038552206,
      -0.43094544262489454,
      -0.4406676223803092,
      -0.13244681153984542,
      0.010515643498767378,
      0.014679793950063734,
      0.008160481347737437,
      0.008160485609855264
    ],
    "ay_ego": [
      0.022228557642697933,
      0.020998018574471866,
      -0.01509414423807412,
      0.005257053970820658,
      0.022960245771614513,
      -0.03238010633825588,
      0.00177738952989663,
      -0.00021495134697916557,
      -0.0001599617055181475,
      -0.00016011929072798792
    ],
    "a_ego": [
      0.6871229400074098,
      0.6871229414453688,
      0.5079065399279414,
      0.43097750653093064,
      0.44126536947760553,
      0.13634745752506017,
      0.010664795906821414,
      0.014681367596307095,
      0.008162048981352837,
      0.008162056332562161
    ],
    "yaw": [
      2.5023977284049046,
      2.5006059788438995,
      2.500256970477267,
      2.5010444336141178,
      2.5006933034168037,
      2.5005353179941,
      2.500575148119404,
      2.5005492008602417,
      2.5005610260034277,
      2.500578957898358
    ],
    "yaw_diff": [
      -0.0035834991220102808,
      -0.0006980167332653053,
      0.0015749262737019265,
      -0.0007022603946280626,
      -0.00031597084540724296,
      7.966025060746063e-05,
      -5.189451832432468e-05,
      2.3650286371967866e-05,
      3.586378986053518e-05,
      3.586378986053518e-05
    ],
    "min_front_frame": [
      9,
      9.50287321089357
    ],
    "v_avg": 0.33432287436371133,
    "v_std": 0.42267947222124796,
    "vy_max": 0.01017372101763267,
    "a_max": 0.6871229414453688,
    "ax_avg": -0.28437909966365493,
    "a_std": 0.2723692706078206,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "766a723ba30f574c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.769922788327714,
      10.264858684822688,
      9.918138646582387,
      9.707830954298727,
      9.558305207863988,
      9.532364094416286,
      9.535180866949602,
      9.549724116587377,
      9.52882357040741,
      9.50287321089357
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "766a723ba30f574c",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "507a3844cf3051de": {
    "vx_ego": [
      6.553969952549949,
      6.547131711613515,
      6.5109009338831445,
      6.481603205759919,
      6.513236846542094,
      6.535539802149111,
      6.536297919079535,
      6.563646709774221,
      6.579941038149962,
      6.5719905928156015
    ],
    "vy_ego": [
      -0.015266263992581575,
      0.04297669864377829,
      0.07807043104915001,
      0.05442834308363764,
      -0.047024075605266,
      -0.10145399030781466,
      -0.07256321964076617,
      -0.034355512378014375,
      -0.03291512699013088,
      -0.022059983197511457
    ],
    "v_ego": [
      6.553987732498731,
      6.547272763971396,
      6.511368977645531,
      6.481831728874801,
      6.513406595848299,
      6.53632721163993,
      6.536700689782889,
      6.563736621160291,
      6.580023364024992,
      6.572027616718864
    ],
    "ax_ego": [
      -0.013825982365867212,
      -0.013613151546012003,
      -0.13090640643185714,
      0.015997809912204494,
      0.11117181435566773,
      -0.02673715050707113,
      0.025423355620673896,
      0.08248775882170226,
      -0.01872546493241295,
      -0.015013814745592054
    ],
    "ay_ego": [
      0.13684880870555358,
      0.1368701441418647,
      -0.02899387364075208,
      -0.22785233840018412,
      -0.3698997843512357,
      -0.1581133412143653,
      0.011390077102771692,
      -0.1466638753702349,
      -0.2101967111725869,
      -0.21049438430322526
    ],
    "a_ego": [
      0.1375454624206501,
      0.13754546249305905,
      0.1340788273874681,
      0.22841326151609292,
      0.3862447705409378,
      0.16035804902532358,
      0.027858228002195957,
      0.1682691971040544,
      0.21102914591285002,
      0.21102914598796263
    ],
    "yaw": [
      0.43982606934847945,
      0.4413811774878201,
      0.44013957241880464,
      0.43387683277652495,
      0.42647798596952957,
      0.4146197038710413,
      0.40457727306210134,
      0.393568989560679,
      0.3798010724753,
      0.3621560455683651
    ],
    "yaw_diff": [
      0.0031102162786812437,
      -0.002483210138030878,
      -0.012525479284559382,
      -0.014797693613990748,
      -0.02371656419697654,
      -0.020084861617879923,
      -0.02201656700284471,
      -0.027535834170758,
      -0.03529005381386974,
      -0.03529005381386974
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.539668330216573,
    "v_std": 0.028936796584696448,
    "vy_max": 0.10145399030781466,
    "a_max": 0.3862447705409378,
    "ax_avg": 0.0016258768181435894,
    "a_std": 0.08728680828695076,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "507a3844cf3051de",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "507a3844cf3051de",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8b1aea091a6f5a16": {
    "vx_ego": [
      0.7733476512397286,
      0.42256395004796127,
      0.14039723787553016,
      0.004062091432135284,
      -0.01925169046471785,
      -0.009999960754329192,
      -0.005581053594316493,
      -0.003485035602722305,
      -0.002356209467425374,
      -0.0015268340850821513
    ],
    "vy_ego": [
      0.0009667351752081776,
      -0.018110683292037855,
      -0.020329310836095675,
      -0.00221493460306958,
      0.00376085368848418,
      -0.0003513725691764117,
      -0.00012517275674836428,
      -6.866275080213264e-05,
      3.3122544470108334e-05,
      0.000282211581354218
    ],
    "v_ego": [
      0.7733482554806107,
      0.4229518751931955,
      0.14186142986079336,
      0.0046267182860967315,
      0.019615595994399285,
      0.010006132008448304,
      0.005582457115076212,
      0.0034857119395597987,
      0.002356442266922137,
      0.0015526962677932534
    ],
    "ax_ego": [
      -0.7016484709458498,
      -0.7015595103326706,
      -0.42724140391381854,
      -0.1181255292822625,
      0.024858662767547442,
      0.012148087412221412,
      0.0055275233857340605,
      0.0028565460383966914,
      0.001658738551532416,
      0.0016587533502883268
    ],
    "ay_ego": [
      -0.039999157413443676,
      -0.041530338929879174,
      0.03148685019305636,
      0.04089958642465813,
      -0.017033696635318764,
      0.0005889753887193616,
      0.00031612377339124706,
      -9.070564753201993e-05,
      0.0004980820179530141,
      0.000498031762730414
    ],
    "a_ego": [
      0.7027876701923808,
      0.7027876746143512,
      0.42840009214906877,
      0.12500566722322126,
      0.03013469654160664,
      0.012162356670624711,
      0.005536555700066608,
      0.0028579857914227,
      0.001731906255819871,
      0.0017319059771769114
    ],
    "yaw": [
      2.2257539228662537,
      2.2235715152660416,
      2.2223892425808547,
      2.22186025386665,
      2.22222613526727,
      2.2221460907580806,
      2.222135661387665,
      2.2221732371908174,
      2.2221530393347844,
      2.2221832728726367
    ],
    "yaw_diff": [
      -0.00436481520042431,
      -0.002364545370373783,
      -0.0010579774284096288,
      0.0007317628012399879,
      -0.00016008901837860634,
      -2.0858740831464218e-05,
      7.515160630511275e-05,
      -4.039571206604364e-05,
      6.0467075704728757e-05,
      6.0467075704728757e-05
    ],
    "min_front_frame": [
      2,
      10.057888946671033
    ],
    "v_avg": 0.13853873144128953,
    "v_std": 0.24611140885379232,
    "vy_max": 0.020329310836095675,
    "a_max": 0.7027876746143512,
    "ax_avg": -0.1899866602968881,
    "a_std": 0.27978617959106644,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "8b1aea091a6f5a16",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.421434369110928,
      10.145382436860158,
      10.057888946671033,
      10.077094466076009,
      10.086413609632796,
      10.092007495603356,
      10.086948399484777,
      10.093534706601641,
      10.08526684858912,
      10.082232746820031
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "8b1aea091a6f5a16",
    "merging_vehicles": "No"
  },
  "712475eda7975c99": {
    "vx_ego": [
      0.9014139945369322,
      1.0536592963206828,
      1.2019612499097727,
      1.317548012992214,
      1.4144310041902546,
      1.5195942353674885,
      1.60676575974602,
      1.6945824311915592,
      1.770594420426204,
      1.8180808238918358
    ],
    "vy_ego": [
      -0.03779837013482318,
      -0.015469432992691767,
      -0.004460068058561195,
      -0.0027789252769773176,
      0.0025880802615391163,
      0.001936929199229831,
      -0.004161194214094666,
      -0.013485489585391863,
      -0.0040275241399245765,
      0.03469396977657091
    ],
    "v_ego": [
      0.9022061329496034,
      1.0537728484261262,
      1.2019695247766269,
      1.317550943593995,
      1.4144333719811946,
      1.5195954698066274,
      1.606771148057337,
      1.694636089115434,
      1.7705990010714179,
      1.818411821822019
    ],
    "ax_ego": [
      0.30447268428355867,
      0.30444794531746383,
      0.2887476262115551,
      0.1736033709368513,
      0.21392868226983577,
      0.20673660383524614,
      0.14196053496403693,
      0.20931367079504384,
      0.09488070674050365,
      0.09498607535821753
    ],
    "ay_ego": [
      0.04346087569136187,
      0.043633812994724824,
      -0.0029296614127859166,
      0.010604598499353766,
      0.01153839286017544,
      -0.017243668545152427,
      -0.0015059683664563894,
      -0.033242815832022723,
      0.08211223862477049,
      0.08199033089946207
    ],
    "a_ego": [
      0.3075588776002013,
      0.30755887411109445,
      0.28876248814345934,
      0.17392696142338163,
      0.2142396219365225,
      0.2074544949385927,
      0.14196852266610482,
      0.2119370132519041,
      0.12547815843224952,
      0.12547816094030173
    ],
    "yaw": [
      1.099540609932296,
      1.098972588431555,
      1.0982349835463672,
      1.0984214555446115,
      1.098545445268864,
      1.0980173707847156,
      1.0989151852025514,
      1.0993031274997125,
      1.1008827268969217,
      1.1021668575566395
    ],
    "yaw_diff": [
      -0.0011360430014817346,
      -0.0014752097703758515,
      0.0003729439964885728,
      0.00024797944850529774,
      -0.0010561489682969771,
      0.0017956288356715255,
      0.000775884594322207,
      0.003159198794418394,
      0.0025682613194355497,
      0.0025682613194355497
    ],
    "min_front_frame": [
      9,
      13.576842882716656
    ],
    "v_avg": 1.429994635160038,
    "v_std": 0.29345822747612654,
    "vy_max": 0.03779837013482318,
    "a_max": 0.3075588776002013,
    "ax_avg": 0.2033077900712313,
    "a_std": 0.0674408847344652,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "712475eda7975c99",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.371016129796458,
    "speed_mode": "quasi_constant",
    "front_frame": [
      14.464832869916084,
      14.462677316425825,
      14.442205073110488,
      14.395328597919525,
      14.320138292599568,
      14.254840786600232,
      14.20658896691585,
      14.073670957327895,
      13.904684091134069,
      13.576842882716656
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "712475eda7975c99",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "19efcf474dd85579": {
    "vx_ego": [
      3.5535918594260645,
      3.6428172860645107,
      3.7721121871901975,
      3.8709343574380783,
      3.922187361221987,
      3.991758312249962,
      4.090389342936373,
      4.185484251157323,
      4.19962007319698,
      4.1859669876632255
    ],
    "vy_ego": [
      0.02270102252418038,
      0.00443044962593131,
      -0.005599903151157548,
      -0.018935502338223165,
      -0.042080849764777994,
      -0.02209221767054026,
      -0.002905745334171317,
      -0.025632742469076708,
      -0.060736545670174225,
      -0.05600972762320522
    ],
    "v_ego": [
      3.5536643679169866,
      3.6428199802535253,
      3.7721163438664136,
      3.8709806706884176,
      3.9224130958437335,
      3.9918194460043237,
      4.090390375033097,
      4.1855627404415365,
      4.200059248055788,
      4.186341685934721
    ],
    "ax_ego": [
      0.11153683132806252,
      0.23648266376412452,
      0.29411905879900113,
      0.10347487571633346,
      0.11652623367694415,
      0.1804739148565101,
      0.2184345638682614,
      0.16542601557438577,
      -0.08012989172594587,
      0.05520895071331863
    ],
    "ay_ego": [
      0.9398000701131399,
      0.9163736114833105,
      1.104479779768955,
      1.0386250035928537,
      1.0124371769809029,
      1.0534769278829896,
      1.024237626003832,
      0.9655534780826308,
      1.067111185734697,
      1.0686903450200067
    ],
    "a_ego": [
      0.9463956025507343,
      0.9463956075996662,
      1.1429705178469345,
      1.0437667114795173,
      1.0191208959039126,
      1.06882387301436,
      1.0472709168187013,
      0.9796220116280985,
      1.0701154527751309,
      1.0701154525460543
    ],
    "yaw": [
      2.1617341403086274,
      2.2961586710295148,
      2.4351795961445237,
      2.577736448732728,
      2.7151119316877343,
      2.840672838689766,
      2.9644495080894915,
      3.089792896830736,
      -3.064931369004624,
      -2.938367048697826
    ],
    "yaw_diff": [
      0.2688490614417747,
      0.27804185023001793,
      0.28511370517640877,
      0.27475096591001247,
      0.25112181400406364,
      0.24755333879945063,
      0.250686777482489,
      0.25692208268845285,
      0.2531286406135953,
      0.2531286406135953
    ],
    "min_front_frame": [
      7,
      28.324299724731368
    ],
    "v_avg": 3.941616795403854,
    "v_std": 0.22016392792675432,
    "vy_max": 0.060736545670174225,
    "a_max": 1.1429705178469345,
    "ax_avg": 0.1401553216570996,
    "a_std": 0.05872982870966003,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "19efcf474dd85579",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      71.13000909441719,
      53.466308789280255,
      28.324299724731368,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "19efcf474dd85579",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7287189737c85540": {
    "vx_ego": [
      5.11020458291768,
      5.232047171010371,
      5.407271777607297,
      5.634735809578201,
      5.7849003209495535,
      5.789537949116134,
      5.766830773195943,
      5.843487587722095,
      6.045202172227525,
      6.309913361798634
    ],
    "vy_ego": [
      -0.02268146550312644,
      -0.004634907837552715,
      0.019125602865110003,
      0.018017448989232077,
      -0.0026882168576128004,
      -0.00290720968479391,
      -0.03192524790660156,
      -0.0368003227707574,
      -0.034366594307004394,
      0.09976500467569349
    ],
    "v_ego": [
      5.1102549181181,
      5.232049223970306,
      5.407305601276234,
      5.634764615510659,
      5.784900945550591,
      5.789538679042054,
      5.766919141806448,
      5.843603464611388,
      6.045299857402332,
      6.310701996573984
    ],
    "ax_ego": [
      0.21629068639002813,
      0.2744250861615332,
      0.42766550223707556,
      0.4780206662919005,
      0.12718468350212958,
      -0.11364624155148628,
      0.032704526881705276,
      0.27516082670536685,
      0.5280586355032528,
      0.5300214420269992
    ],
    "ay_ego": [
      0.8021010242365566,
      0.784116427347538,
      0.8744123599962745,
      0.9207570482109713,
      1.082414496511222,
      0.9450341884771405,
      1.0241798863831155,
      0.7806312663539445,
      0.34118624067492415,
      0.33812905378343633
    ],
    "a_ego": [
      0.8307512949736539,
      0.8307512862168988,
      0.9733934236052474,
      1.0374474922772396,
      1.0898610397546922,
      0.9518429942009482,
      1.0247019204384695,
      0.8277068651174424,
      0.6286922723840691,
      0.6286922824568961
    ],
    "yaw": [
      -0.32134554386520625,
      -0.24807892859636127,
      -0.17436996141190536,
      -0.09283325735346287,
      -0.0022577210286508992,
      0.0848545913892911,
      0.1753018165443441,
      0.2542373493129756,
      0.3012493589909261,
      0.3070281063662159
    ],
    "yaw_diff": [
      0.14653323053768996,
      0.14741793436891182,
      0.16307340811688498,
      0.18115107264962393,
      0.17422462483588402,
      0.18089445031010598,
      0.157871065537263,
      0.09402401935590099,
      0.011557494750579655,
      0.011557494750579655
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.69253384438621,
    "v_std": 0.3447694612865146,
    "vy_max": 0.09976500467569349,
    "a_max": 1.0898610397546922,
    "ax_avg": 0.2775885814148505,
    "a_std": 0.15410824405314644,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "7287189737c85540",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "7287189737c85540",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "499f1df141b05d36": {
    "vx_ego": [
      6.536221438887862,
      6.6164568757676,
      6.622120055224984,
      6.5085814137752624,
      6.367231249482928,
      6.2475750208552565,
      6.1181110044631355,
      5.875206016191127,
      5.476073162128328,
      5.018371963282209
    ],
    "vy_ego": [
      0.011011320067023433,
      0.03035069154413783,
      0.021299201536035817,
      0.01841341462568291,
      0.0030137967866337156,
      0.009458887255867854,
      0.0073388465802817215,
      -0.019224309566978626,
      -0.01703838809435787,
      0.006939811968384557
    ],
    "v_ego": [
      6.536230714054311,
      6.6165264870148865,
      6.622154308214134,
      6.5086074604003405,
      6.367231962741973,
      6.247582181273223,
      6.118115406038206,
      5.875237468117075,
      5.476099668893089,
      5.018376761747477
    ],
    "ax_ego": [
      0.1597584306105992,
      0.16062056930060037,
      -0.13904030340015916,
      -0.3153038563917736,
      -0.25065134203644757,
      -0.2277060275705814,
      -0.2909479263935885,
      -0.6803106464775797,
      -0.9156084901498915,
      -0.915079565149858
    ],
    "ay_ego": [
      0.12810878716413954,
      0.12702616945327155,
      0.01733484314660331,
      0.09649960443438882,
      0.032744996453125785,
      0.16234166371420158,
      0.005790559827500014,
      0.059898674474588354,
      0.0998772200854598,
      0.10461240955922435
    ],
    "a_ego": [
      0.20477943622304567,
      0.20477943013989522,
      0.14011674688104078,
      0.32974034559258547,
      0.25278119007827193,
      0.27965130210579975,
      0.29100554368576015,
      0.6829424770173218,
      0.9210398288491999,
      0.921039829100045
    ],
    "yaw": [
      0.971421391410456,
      0.9781796998957428,
      0.9849610268608002,
      0.9897192651339037,
      0.9971394597639527,
      1.0038531060233145,
      1.0109851858673877,
      1.018095681593834,
      1.0247140116973648,
      1.0298871270036
    ],
    "yaw_diff": [
      0.013516616970573603,
      0.013562653930114799,
      0.00951647654620702,
      0.014840389260097897,
      0.013427292518723544,
      0.014264159688146538,
      0.014220991452892573,
      0.01323666020706149,
      0.010346230612470642,
      0.010346230612470642
    ],
    "min_front_frame": [
      3,
      22.570529448667116
    ],
    "v_avg": 6.138616241849471,
    "v_std": 0.5084279814394298,
    "vy_max": 0.03035069154413783,
    "a_max": 0.921039829100045,
    "ax_avg": -0.341426915765868,
    "a_std": 0.28540559582862185,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "499f1df141b05d36",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.049630099711038,
    "speed_mode": "decelerating",
    "front_frame": [
      32.30880143941111,
      29.112619736320955,
      25.833945259065597,
      22.570529448667116,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "499f1df141b05d36",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "355e4d5dc6c15b9b": {
    "vx_ego": [
      2.601236238808791,
      2.677598479815705,
      2.757422453072574,
      2.8249773958936495,
      2.8189183200250096,
      2.7474431285640044,
      2.670736464301623,
      2.5488509090889306,
      2.3163146671620694,
      2.0208287262704996
    ],
    "vy_ego": [
      -0.02594597970724441,
      -0.0028810663322262897,
      0.008401427365056696,
      0.010953361916311688,
      0.01354695085654592,
      -0.0008771723388398267,
      -0.010365226308172937,
      -0.010525583114597031,
      -0.033422913581203306,
      -0.05602759713090254
    ],
    "v_ego": [
      2.6013656344226344,
      2.6776000298130014,
      2.757435251948909,
      2.8249986306983113,
      2.818950871308355,
      2.747443268590796,
      2.6707565781378793,
      2.5488726419072747,
      2.3165557900604044,
      2.0216052613109987
    ],
    "ax_ego": [
      0.15270874568825635,
      0.15264914660628928,
      0.16666728678163673,
      0.10358080569516898,
      -0.12786611060486733,
      -0.15821059682122282,
      -0.14834624748363445,
      -0.3391770237143811,
      -0.5906471896982584,
      -0.5907450536453785
    ],
    "ay_ego": [
      0.03768847918601234,
      0.037929146117362436,
      -0.0002101974317703422,
      0.0019866604297457888,
      0.02288115801910893,
      -0.048418552897736805,
      0.05095867694831765,
      -0.019977752020664152,
      -0.03281191684122656,
      -0.031000077727857605
    ],
    "a_ego": [
      0.15729075774830203,
      0.15729075651423585,
      0.1666674193299718,
      0.1035998558306114,
      0.12989722719716382,
      0.16545376759457142,
      0.15685469676996835,
      0.3397648657403307,
      0.5915578793197214,
      0.5915578781705255
    ],
    "yaw": [
      -0.07510073822844318,
      -0.07667703094688487,
      -0.07735925526540005,
      -0.07811229347490381,
      -0.07684132909124902,
      -0.07395656245178144,
      -0.07021815446181026,
      -0.06721639278492424,
      -0.06327977116479605,
      -0.0602124793672271
    ],
    "yaw_diff": [
      -0.003152585436883376,
      -0.0013644486370303632,
      -0.0015060764190075182,
      0.002541928767309576,
      0.005769533278935174,
      0.007476815979942347,
      0.00600352335377205,
      0.007873243240256372,
      0.006134583595137896,
      0.006134583595137896
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.5985583958198566,
    "v_std": 0.2394981597458972,
    "vy_max": 0.05602759713090254,
    "a_max": 0.5915578793197214,
    "ax_avg": -0.1379386237196391,
    "a_std": 0.17799949329102419,
    "ini_direction_judge": "straight",
    "scenario_type": "side_ego_to_main",
    "scene_token": "355e4d5dc6c15b9b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "355e4d5dc6c15b9b",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "a55fdc98ef8057e5": {
    "vx_ego": [
      7.314669030957647,
      7.142058677963789,
      6.995484633590098,
      6.861073609873952,
      6.720193457558221,
      6.591065157623859,
      6.475025393375818,
      6.359342258587153,
      6.215763601545767,
      6.074035706932106
    ],
    "vy_ego": [
      0.10247307320913501,
      -0.00810776202742547,
      0.04886730973828568,
      0.028622984580390032,
      -0.02524472484565843,
      -0.03686768324540424,
      -0.004903989810461695,
      -0.008373080776602926,
      0.020896125851508796,
      0.0476332608703407
    ],
    "v_ego": [
      7.315386781516327,
      7.1420632799831,
      6.995655314032864,
      6.861133314209474,
      6.7202408738929025,
      6.5911682680774515,
      6.475027250442868,
      6.359347770827921,
      6.215798725697028,
      6.074222476714806
    ],
    "ax_ego": [
      -0.34983341099352594,
      -0.3359195201273312,
      -0.2470313876160205,
      -0.2904118028003008,
      -0.2731255237605507,
      -0.2449452385495401,
      -0.21072964792866877,
      -0.24462175006683717,
      -0.3277869360359038,
      -0.22506457664838178
    ],
    "ay_ego": [
      -0.5682895735160395,
      -0.5766233836631939,
      -0.5527457526552215,
      -0.25805458581580254,
      -0.24134569307611498,
      -0.3326679798504139,
      -0.8403857034867195,
      -1.091217472662696,
      -1.0830349093561373,
      -1.1089431141777581
    ],
    "a_ego": [
      0.6673353391020195,
      0.6673353359367143,
      0.6054356890255842,
      0.3884986286543187,
      0.3644794854252643,
      0.41311760396507735,
      0.8664035521285731,
      1.1183002160645967,
      1.1315515411680823,
      1.131551542857938
    ],
    "yaw": [
      2.4031289944390304,
      2.3788245964719437,
      2.3307559747709603,
      2.304443156206251,
      2.2939869433518756,
      2.2741622250361795,
      2.2243580550744193,
      2.149731390417699,
      2.0588386382916593,
      1.9651814454526424
    ],
    "yaw_diff": [
      -0.04860879593417344,
      -0.09613724340196672,
      -0.05262563712941848,
      -0.02091242570875096,
      -0.0396494366313922,
      -0.09960833992352036,
      -0.14925332931344037,
      -0.18178550425207973,
      -0.1873143856780337,
      -0.1873143856780337
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.6750044055394735,
    "v_std": 0.38551370240655214,
    "vy_max": 0.10247307320913501,
    "a_max": 1.131551542857938,
    "ax_avg": -0.274946979452706,
    "a_std": 0.2942093549932393,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "a55fdc98ef8057e5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a55fdc98ef8057e5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7c4757c2c9675f2b": {
    "vx_ego": [
      6.432901913915405,
      6.425830621625263,
      6.4035486129489465,
      6.387237014648318,
      6.3767809069556565,
      6.340379674098245,
      6.289196478220474,
      6.246938613274541,
      6.215700444010836,
      6.1867828811214585
    ],
    "vy_ego": [
      -0.0923647874479947,
      0.003284134564281782,
      0.04179737038084985,
      0.039537538254835525,
      0.03137898650984683,
      0.009097302816251318,
      -0.0012493300447515843,
      0.004676476020039511,
      0.013216808124844937,
      0.007066529179515557
    ],
    "v_ego": [
      6.43356497503653,
      6.425831460858333,
      6.4036850218113575,
      6.387359383831852,
      6.376858111649387,
      6.3403862005903635,
      6.289196602308309,
      6.246940363685923,
      6.215714495831795,
      6.186786916806831
    ],
    "ax_ego": [
      -0.019162309443150727,
      -0.004228676985333302,
      -0.08698203326766249,
      0.014652997160574888,
      -0.06324995141610507,
      -0.08680054823416114,
      -0.11848798870987604,
      -0.05007515450246114,
      -0.07863716167215275,
      -0.039245104662716926
    ],
    "ay_ego": [
      0.5439530883374042,
      0.544274080871963,
      0.6184727405589886,
      0.663733751497876,
      0.6992642938357914,
      0.71019762814533,
      0.7225318112227542,
      0.7524001705244284,
      0.6908931938583556,
      0.6942456558677529
    ],
    "a_ego": [
      0.544290507371748,
      0.5442905077420205,
      0.6245593686159249,
      0.6638954761129435,
      0.7021190134071342,
      0.7154823591095754,
      0.7321827788860822,
      0.7540646774008409,
      0.6953540166818997,
      0.6953540169807275
    ],
    "yaw": [
      0.8903119213728786,
      0.917755999087358,
      0.9569995444785213,
      1.0075648624426092,
      1.0621385919595872,
      1.1210142528071836,
      1.179320822673056,
      1.237265506203977,
      1.2937523640565267,
      1.3506151724732687
    ],
    "yaw_diff": [
      0.05488815542895886,
      0.07848709078232652,
      0.10113063592817584,
      0.10914745903395584,
      0.11775132169519287,
      0.11661313973174492,
      0.11588936706184194,
      0.1129737157050994,
      0.11372561683348392,
      0.11372561683348392
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.330632353241068,
    "v_std": 0.0854771873015201,
    "vy_max": 0.0923647874479947,
    "a_max": 0.7540646774008409,
    "ax_avg": -0.05322159317330447,
    "a_std": 0.06996189545630437,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "7c4757c2c9675f2b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7c4757c2c9675f2b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "013d05a439b95210": {
    "vx_ego": [
      7.082610475745127,
      7.020761626152838,
      7.014055826280815,
      7.104173699747225,
      7.256263542948707,
      7.455253918743223,
      7.68158614934423,
      7.923235956515918,
      8.21344329277447,
      8.538602459014218
    ],
    "vy_ego": [
      0.004915645227482557,
      -0.0390271894322356,
      -0.05265269479546353,
      -0.02782578906920241,
      -0.0001066268728786568,
      -0.017884842069035845,
      -0.051291689370455806,
      -0.04649221781146462,
      -0.02903457142213428,
      -0.0011576337693839367
    ],
    "v_ego": [
      7.082612181582626,
      7.020870097984667,
      7.01425344854697,
      7.10422819387986,
      7.2562635437321195,
      7.455275371206084,
      7.681757390545187,
      7.923372359604447,
      8.21349461130642,
      8.53860253748818
    ],
    "ax_ego": [
      -0.1712955556508487,
      -0.06961686245297027,
      0.06582877518675556,
      0.31361423280620704,
      0.3005745219774022,
      0.49566616786050044,
      0.4266990214493187,
      0.5622241574856238,
      0.6035648214403304,
      0.6997582757557149
    ],
    "ay_ego": [
      1.1479768073817196,
      1.1585967462068816,
      1.3043272590656585,
      1.3929881673436313,
      1.405860514722633,
      1.3397083725573231,
      1.4199268915611294,
      1.5069761020106156,
      1.320866958475059,
      1.2725244066875185
    ],
    "a_ego": [
      1.160686399365504,
      1.1606864037538172,
      1.3059873760432457,
      1.4278550071271223,
      1.4376330651867084,
      1.4284619258005111,
      1.4826545222283773,
      1.608438054539723,
      1.4522327691081245,
      1.4522327671912765
    ],
    "yaw": [
      0.5690992385528562,
      0.6572064707173955,
      0.7470479258196857,
      0.8393967045819308,
      0.9328967789937338,
      1.0288719669573418,
      1.12426106794433,
      1.2175629268912695,
      1.3030235142045399,
      1.377173046360237
    ],
    "yaw_diff": [
      0.1762144643290786,
      0.1796829102045805,
      0.18469755752449024,
      0.18700014882360594,
      0.1919503759272161,
      0.1907782019739761,
      0.1866037178938793,
      0.17092117462654066,
      0.14829906431139417,
      0.14829906431139417
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.529072973587655,
    "v_std": 0.5147201335166574,
    "vy_max": 0.05265269479546353,
    "a_max": 1.608438054539723,
    "ax_avg": 0.3227017555858034,
    "a_std": 0.13469455413827075,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "013d05a439b95210",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.66620303306382,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "013d05a439b95210",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "475a45837ca75030": {
    "vx_ego": [
      0.6942112302493781,
      0.8690293093413464,
      1.0118459351999607,
      1.099954638270846,
      1.1615748378368007,
      1.2241261190321822,
      1.3047884679520547,
      1.3899545832089952,
      1.5210999392168412,
      1.7071567728605275
    ],
    "vy_ego": [
      0.0395034376286556,
      0.011634973597120957,
      -0.005241331557638063,
      -0.022915135967057743,
      -0.023690194024506228,
      0.0029407135391703587,
      0.01530186707975345,
      0.009954248501613194,
      0.02323452404999682,
      0.05939456376159613
    ],
    "v_ego": [
      0.6953342748555087,
      0.869107193103879,
      1.011859510078934,
      1.1001933056103987,
      1.1618163922016718,
      1.2241296512595843,
      1.3048781909576068,
      1.3899902267451105,
      1.5212773804251833,
      1.70818967369786
    ],
    "ax_ego": [
      0.34964428315964136,
      0.3496641979264921,
      0.22160113469997636,
      0.13085068628527682,
      0.11575717028766737,
      0.1344925054132107,
      0.18809340545571837,
      0.15249552104456826,
      0.3720617512219179,
      0.37209377308012326
    ],
    "ay_ego": [
      -0.056352014789219446,
      -0.056228277343394195,
      -0.011745124302420085,
      -0.05679928686074787,
      0.057527588288466824,
      0.05431558013926314,
      0.00015248101392779934,
      -0.014481771597127095,
      0.0738031375075925,
      0.07364151721592149
    ],
    "a_ego": [
      0.3541562851581542,
      0.3541562797474905,
      0.22191216921384993,
      0.14264663013621268,
      0.12926386148995925,
      0.14504625558140832,
      0.1880934672613296,
      0.15318161001649552,
      0.3793110199141134,
      0.3793110188524255
    ],
    "yaw": [
      1.0783691470563368,
      1.0780152546001738,
      1.077892880199422,
      1.0783967036699584,
      1.0792417423506617,
      1.0803588152809276,
      1.081357308840182,
      1.082663174464949,
      1.083748593555104,
      1.084182961031423
    ],
    "yaw_diff": [
      -0.0007077849123260371,
      -0.0002447488015033805,
      0.001007646941072693,
      0.0016900773614065834,
      0.002234145860531722,
      0.0019969871185088195,
      0.002611731249534177,
      0.002170838180309609,
      0.0008687349526383947,
      0.0008687349526383947
    ],
    "min_front_frame": [
      0,
      15.297091396976208
    ],
    "v_avg": 1.1986775798935736,
    "v_std": 0.2863791411454678,
    "vy_max": 0.05939456376159613,
    "a_max": 0.3793110199141134,
    "ax_avg": 0.23867544285745926,
    "a_std": 0.10294273633188052,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "475a45837ca75030",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.246184958603288,
    "right_rear_min": 48.93285194555631,
    "speed_mode": "quasi_constant",
    "front_frame": [
      15.297091396976208,
      15.533329938528379,
      15.598356693711631,
      15.680562326645042,
      15.962708143343749,
      16.234412768287985,
      16.606071608879184,
      16.847807259570747,
      17.41490340458466,
      17.91784014501927
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "475a45837ca75030",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "e67729beeaa95c34": {
    "vx_ego": [
      2.3682923165315,
      3.068316057839912,
      3.7606656929840723,
      4.445699401441065,
      5.106598310100508,
      5.726215469582268,
      6.29360764402375,
      6.836001399778112,
      7.392960459850847,
      7.954016874138045
    ],
    "vy_ego": [
      -0.008879041268910703,
      -5.4471029019342865e-05,
      -0.00627367531311962,
      -0.023446739977611264,
      -0.017283458887645153,
      -0.018349699331962288,
      -0.018941009170235557,
      -0.01948283685165464,
      -0.022006576254920418,
      -0.040086944081396236
    ],
    "v_ego": [
      2.3683089608233114,
      3.068316058323417,
      3.7606709259637845,
      4.4457612303844005,
      5.106627558249425,
      5.726244870379615,
      6.2936361460401065,
      6.8360291630960806,
      7.3929932131929155,
      7.954117889317366
    ],
    "ax_ego": [
      1.4000461692742836,
      1.400060521022702,
      1.3693230637125902,
      1.3708707526491302,
      1.2724514669342437,
      1.2058757352171077,
      1.0634475754309891,
      1.1060190395908742,
      1.1215173510826317,
      1.1220767917798706
    ],
    "ay_ego": [
      0.02178015455143978,
      0.020837679225144567,
      -0.02906433591717361,
      -0.024010245937364005,
      -0.010809522494269808,
      -0.05751609338351105,
      -0.002928803688162007,
      -0.055504396227509745,
      -0.11527697074195797,
      -0.1096977782970392
    ],
    "a_ego": [
      1.4002155731286097,
      1.400215580331061,
      1.3696314790619921,
      1.3710810013922465,
      1.2724973797535548,
      1.2072466151468393,
      1.0634516084811254,
      1.1074108785532586,
      1.1274262498109777,
      1.1274262411414386
    ],
    "yaw": [
      -2.046476713098789,
      -2.0458035403500294,
      -2.044585830265348,
      -2.0436342269397154,
      -2.0467392418164936,
      -2.0496914912816315,
      -2.0521003490669596,
      -2.0542447967182937,
      -2.059892775698567,
      -2.064866209503321
    ],
    "yaw_diff": [
      0.00134634549751933,
      0.002435420169362601,
      0.001903206651265421,
      -0.006210029753556334,
      -0.005904498930275892,
      -0.004817715570656134,
      -0.004288895302668294,
      -0.011295957960546943,
      -0.009946867609507137,
      -0.009946867609507137
    ],
    "min_front_frame": [
      0,
      14.475085433674865
    ],
    "v_avg": 5.295270601577042,
    "v_std": 1.7794661586705667,
    "vy_max": 0.040086944081396236,
    "a_max": 1.400215580331061,
    "ax_avg": 1.2431688466694422,
    "a_std": 0.12701622142338673,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e67729beeaa95c34",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.1727030283197943,
    "right_rear_min": 2.896614998149519,
    "speed_mode": "accelerating",
    "front_frame": [
      14.475085433674865,
      15.946344632261663,
      17.546664340153143,
      19.1572103462876,
      20.786495859112197,
      22.39275893791779,
      23.903230195334118,
      25.42619456298848,
      26.89449611764665,
      22.151020358246146
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e67729beeaa95c34",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "3bcb5a54eca95746": {
    "vx_ego": [
      1.0908624831800848,
      1.6548740363328698,
      2.1771207549986484,
      2.4727767365495685,
      2.6162700576099964,
      2.9396291768445506,
      3.4236856447652277,
      3.9324924809361477,
      4.382871492521109,
      4.763958721886166
    ],
    "vy_ego": [
      -0.002296103948958128,
      -0.0077236560035260915,
      -0.0013073311707598734,
      -0.0034577412748723058,
      -0.015092083561175862,
      -0.009981623595938238,
      -0.002423010673715087,
      0.0007913495420315275,
      -0.012840066489330448,
      0.009130160050547342
    ],
    "v_ego": [
      1.0908648996567656,
      1.6548920602234773,
      2.177121147515837,
      2.4727791540684456,
      2.6163135869640763,
      2.9396461232885467,
      3.423686502171631,
      3.9324925605591976,
      4.382890300619177,
      4.763967470885776
    ],
    "ax_ego": [
      1.1280152093965055,
      1.1280211291860038,
      0.9609311569177856,
      0.22171791782888178,
      0.3522065783036215,
      0.9411779062510833,
      0.9950331279190778,
      1.0401895902743028,
      0.7613906528297982,
      0.7627633735326343
    ],
    "ay_ego": [
      -0.012462408771258981,
      -0.011914612320195417,
      0.03078402224325283,
      -0.04759050771807355,
      -0.007584574548476802,
      0.019176209055107196,
      -0.002331037262264024,
      0.00013785576864444593,
      -0.09788674488210386,
      -0.08654242941435869
    ],
    "a_ego": [
      1.1280840501763263,
      1.1280840508919572,
      0.9614241230387487,
      0.22676792434389567,
      0.35228823365452683,
      0.9413732406484148,
      0.9950358583443825,
      1.0401895994092782,
      0.7676571767659053,
      0.7676571865695158
    ],
    "yaw": [
      1.1027475928714034,
      1.102261965077109,
      1.1013847979954383,
      1.100536261648892,
      1.0996821297074908,
      1.0988639782899394,
      1.0978096801101156,
      1.096785116345281,
      1.094207724175413,
      1.079321951469514
    ],
    "yaw_diff": [
      -0.000971255588588793,
      -0.0017543341633414755,
      -0.001697072693092494,
      -0.001708263882802541,
      -0.001636302835102743,
      -0.002108596359647663,
      -0.002049127529669015,
      -0.0051547843397363735,
      -0.029771545411797717,
      -0.029771545411797717
    ],
    "min_front_frame": [
      3,
      12.905783060866943
    ],
    "v_avg": 2.945465380595293,
    "v_std": 1.1226460120456314,
    "vy_max": 0.015092083561175862,
    "a_max": 1.1280840508919572,
    "ax_avg": 0.8291446642439693,
    "a_std": 0.2964227380654961,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3bcb5a54eca95746",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.7567159618445225,
    "right_rear_min": 10.417535045764469,
    "speed_mode": "accelerating",
    "front_frame": [
      13.0631917873704,
      13.038552665985964,
      13.029632628664688,
      12.905783060866943,
      13.30669247138668,
      14.030888236663781,
      14.892327371629762,
      15.986821045436788,
      16.824947706082263,
      18.1129004240739
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3bcb5a54eca95746",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4a29aee6f5bd5073": {
    "vx_ego": [
      2.2957397075971744,
      2.464104798053235,
      2.639136592139062,
      2.8504855456731435,
      3.060402577084618,
      3.258191776514612,
      3.441306404615261,
      3.586440737232433,
      3.750001712937625,
      3.9361613561884683
    ],
    "vy_ego": [
      -0.024721521785494138,
      -0.044003607776144094,
      -0.0419883842179678,
      -0.019276449428487386,
      -0.009501852327146176,
      -0.004114881534353021,
      -0.006632097725086883,
      -0.008841077709953682,
      -0.001169025704447213,
      0.004253914596715536
    ],
    "v_ego": [
      2.2958728097779613,
      2.4644976715927913,
      2.6394705863821666,
      2.8505507235609904,
      3.0604173275917486,
      3.2581943749257016,
      3.4413127953102793,
      3.5864516344620334,
      3.7500018951536838,
      3.936163654847298
    ],
    "ax_ego": [
      0.3366952749465614,
      0.3367111375191678,
      0.36311657936006303,
      0.48223229261765554,
      0.3574852298570972,
      0.4337348081109411,
      0.29873486008194355,
      0.2819298611998411,
      0.37232032858543584,
      0.37231904490918377
    ],
    "ay_ego": [
      -0.04049760893837262,
      -0.04036551356870155,
      0.03382680477057587,
      0.05314306200348398,
      0.00380483533557216,
      0.03610782445663918,
      -0.0003275370233399577,
      0.030243842141863472,
      0.00981946173975945,
      0.009868005670284508
    ],
    "a_ego": [
      0.339122049564852,
      0.3391220500278874,
      0.36468877543343664,
      0.4851516969798068,
      0.3575054773537217,
      0.43523517637482656,
      0.2987350396399459,
      0.283547415124285,
      0.3724497938069311,
      0.37244979358028324
    ],
    "yaw": [
      -2.2255773712867475,
      -2.225969692965847,
      -2.2274019698698675,
      -2.2277570964976663,
      -2.2262551374249933,
      -2.2247975073735766,
      -2.2213928275288195,
      -2.218637389130845,
      -2.2179964747833862,
      -2.2181268581069262
    ],
    "yaw_diff": [
      -0.0007846433581990553,
      -0.0028645538080409594,
      -0.0007102532555975927,
      0.003003918145346063,
      0.0029152601028332725,
      0.006809359689514238,
      0.00551087679594886,
      0.0012818286949176638,
      -0.00026076664707996855,
      -0.00026076664707996855
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.1282933473604655,
    "v_std": 0.530865791067506,
    "vy_max": 0.044003607776144094,
    "a_max": 0.4851516969798068,
    "ax_avg": 0.363527941718789,
    "a_std": 0.05648113130942204,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4a29aee6f5bd5073",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4a29aee6f5bd5073",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ae643fddc1195062": {
    "vx_ego": [
      5.169039652678071,
      4.691446729037275,
      4.1986832213832965,
      3.700222057537747,
      3.244442855165728,
      2.8361832047617064,
      2.4549070758133666,
      2.079899362606712,
      1.677133423364343,
      1.253261207739821
    ],
    "vy_ego": [
      0.025271038628629672,
      0.03954820294085293,
      0.05261176637302167,
      0.06392756409600064,
      0.05141594089268464,
      0.03068400298139684,
      0.0346597270080784,
      0.037292341732638956,
      0.02987459062180864,
      0.01685323393935456
    ],
    "v_ego": [
      5.169101426394302,
      4.6916134188304985,
      4.199012835356246,
      3.7007742444710305,
      3.2448502337417393,
      2.8363491814322415,
      2.4551517361570157,
      2.080233659309384,
      1.6773994786366844,
      1.253374519574931
    ],
    "ax_ego": [
      -0.9551811854828403,
      -0.9551828520049186,
      -1.016095532397299,
      -0.9779137394255618,
      -0.845068153830941,
      -0.7882912759688223,
      -0.7372829239177285,
      -0.763328038451212,
      -0.8477645111053991,
      -0.8477787141109174
    ],
    "ay_ego": [
      0.027998894711558198,
      0.027942342362961392,
      0.04718375440794309,
      0.008366089939285726,
      -0.06538343250244755,
      0.01367736609743464,
      0.045406696191984064,
      -0.0035890926470248385,
      -0.02458029981848725,
      -0.02408567864129474
    ],
    "a_ego": [
      0.9555914583154629,
      0.9555914688092287,
      1.0171904628130268,
      0.977949524882628,
      0.8475937575661097,
      0.7884099226366429,
      0.7386798210048425,
      0.7633364761832123,
      0.8481207799770875,
      0.848120786218079
    ],
    "yaw": [
      0.8606820125638777,
      0.8606228164414189,
      0.8619069785944015,
      0.862558911141252,
      0.862054614975106,
      0.8646279298493331,
      0.8687183379008429,
      0.8721630563418727,
      0.8723617810132213,
      0.8729452229511401
    ],
    "yaw_diff": [
      -0.00011839224491749789,
      0.0025683243059650973,
      0.001303865093701173,
      -0.001008592332292002,
      0.005146629748454146,
      0.008180816103019461,
      0.006889436882059785,
      0.0003974493426970316,
      0.001166883875837632,
      0.001166883875837632
    ],
    "min_front_frame": [
      9,
      8.720508600995636
    ],
    "v_avg": 3.1307860733904067,
    "v_std": 1.239102860755691,
    "vy_max": 0.06392756409600064,
    "a_max": 1.0171904628130268,
    "ax_avg": -0.8733886926695641,
    "a_std": 0.0919476465830415,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "ae643fddc1195062",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.566633845006848,
    "speed_mode": "decelerating",
    "front_frame": [
      22.094056281926655,
      20.08957043217259,
      18.055611989996166,
      16.066519765778967,
      14.368013666620126,
      12.838216095118193,
      11.518660058053388,
      10.402001808936935,
      9.455958722309143,
      8.720508600995636
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ae643fddc1195062",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "075cf94c3db15021": {
    "vx_ego": [
      5.414196746926534,
      5.721692284382487,
      6.015481991614792,
      6.286562507559484,
      6.500594906242097,
      6.601357289490648,
      6.584110145113542,
      6.4778280111815905,
      6.3257255802876085,
      6.157984744064678
    ],
    "vy_ego": [
      0.06873931824667456,
      0.06642276236373734,
      0.037546155392509606,
      0.013249816448842155,
      0.02528642926494934,
      0.006151376431276612,
      -0.0029646493131486595,
      -0.004992543667324101,
      -0.00010568456671944393,
      0.013877801141669643
    ],
    "v_ego": [
      5.414633090829228,
      5.722077820208505,
      6.015599164275046,
      6.286576470471708,
      6.500644086439871,
      6.601360155524262,
      6.584110812564793,
      6.477829935089459,
      6.32572558117045,
      6.158000381739014
    ],
    "ax_ego": [
      0.6098978247565373,
      0.631287929921787,
      0.5475009841166896,
      0.536587520248697,
      0.3197948747172803,
      0.08313370335106399,
      -0.15212623699102992,
      -0.27300833700023064,
      -0.33546118906207034,
      -0.33547640150717484
    ],
    "ay_ego": [
      -0.5037982456749872,
      -0.47672169264962944,
      -0.31378261551058934,
      -0.07056640114945589,
      -0.014151903613615362,
      -0.010036213124018614,
      -0.013427371894447438,
      -0.0379402889151111,
      0.016515411151451227,
      0.016203486013627803
    ],
    "a_ego": [
      0.7910676513345434,
      0.7910676473650422,
      0.6310442594663309,
      0.5412077086090255,
      0.3201078541231534,
      0.08373731669174402,
      0.15271766858174202,
      0.275632032961689,
      0.3358674860304873,
      0.3358674871540814
    ],
    "yaw": [
      -2.9761224562419275,
      -3.0197456575604646,
      -3.0484471633862817,
      -3.0601158232207633,
      -3.0652891273237484,
      -3.063300236173161,
      -3.06280943946219,
      -3.0644614241261166,
      -3.0660595124164347,
      -3.066989325434383
    ],
    "yaw_diff": [
      -0.08724640263707428,
      -0.057403011651634195,
      -0.02333731966896302,
      -0.01034660820597022,
      0.003977782301174848,
      0.0009815934219421507,
      -0.0033039693278533733,
      -0.003196176580636312,
      -0.001859626035896511,
      -0.001859626035896511
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.208655749831234,
    "v_std": 0.37144838744710346,
    "vy_max": 0.06873931824667456,
    "a_max": 0.7910676513345434,
    "ax_avg": 0.16321306725515497,
    "a_std": 0.2374369068873451,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "075cf94c3db15021",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "075cf94c3db15021",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "95528bd014555540": {
    "vx_ego": [
      2.0513402356732993,
      2.6418071299131536,
      3.1933862379223794,
      3.7365074124475295,
      4.303789375373919,
      4.847158520353867,
      5.327429406664001,
      5.7044843937157115,
      5.898030928706647,
      5.965862114806334
    ],
    "vy_ego": [
      -0.015369056824836618,
      0.0017550693545537316,
      0.0196504911179418,
      0.008879948869923465,
      -0.024239013547310832,
      -0.003485378858413421,
      0.02479074804184002,
      0.01426084901006372,
      0.007252235821330388,
      -0.0028324286260011655
    ],
    "v_ego": [
      2.0513978089097864,
      2.641807712898199,
      3.1934466969644606,
      3.7365179641970494,
      4.303857632096951,
      4.847159773445154,
      5.327487087190059,
      5.704502219296667,
      5.8980353873899904,
      5.965862787186227
    ],
    "ax_ego": [
      1.18093493308821,
      1.1809168580583635,
      1.0254253361807775,
      1.1470209001751799,
      1.1223289562911767,
      1.051409056362756,
      0.8695848361189162,
      0.6385168677206154,
      0.13563925271877325,
      0.13566296968661448
    ],
    "ay_ego": [
      0.03122232396917289,
      0.03189864974836773,
      0.03255932640763078,
      -0.07075933087587502,
      -0.005374848161935036,
      0.12768989422556118,
      0.0028639653974526433,
      -0.014818627608789338,
      0.009657439656067194,
      0.009318335059209027
    ],
    "a_ego": [
      1.1813475990165176,
      1.1813475989319173,
      1.0259421181614385,
      1.1492013872009907,
      1.1223418263267237,
      1.0591344168182601,
      0.8695895523209557,
      0.6386887990938576,
      0.13598262028221775,
      0.13598261915578388
    ],
    "yaw": [
      -3.1244934695806776,
      -3.1250661708231977,
      -3.125672542088072,
      -3.1253187374083398,
      -3.1218177239744556,
      -3.1196745319339656,
      -3.11882085001183,
      -3.117460805652624,
      -3.1164856695876537,
      -3.1139858817164594
    ],
    "yaw_diff": [
      -0.0011454024850401368,
      -0.0012127425297485672,
      0.0007076093594644561,
      0.007002026867768407,
      0.004286384080979921,
      0.0017073638442708372,
      0.002720088718412228,
      0.0019502721299407,
      0.004999575742388629,
      0.004999575742388629
    ],
    "min_front_frame": [
      5,
      67.2188766430281
    ],
    "v_avg": 4.367007506957454,
    "v_std": 1.3401289659753137,
    "vy_max": 0.02479074804184002,
    "a_max": 1.1813475990165176,
    "ax_avg": 0.8487439966401384,
    "a_std": 0.39021079300671074,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "95528bd014555540",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.295738302082428,
    "right_rear_min": 2.6878583679621095,
    "speed_mode": "accelerating",
    "front_frame": [
      70.08298810442655,
      69.81583135514217,
      69.37404491584559,
      68.8459843963717,
      68.1461616005774,
      67.2188766430281,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "95528bd014555540",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "8c4218fc392a52be": {
    "vx_ego": [
      0.9920702134847226,
      0.7182929527341175,
      0.44449745097012544,
      0.22301690395187718,
      0.060991576721095384,
      -0.015723458337604492,
      -0.013542848652664965,
      -0.009568412632592118,
      -0.005747434016499492,
      -0.0031580488551274833
    ],
    "vy_ego": [
      0.007064823643176621,
      -0.012453462937654036,
      -0.015164323047602096,
      -0.008159600213146032,
      0.004344145112515855,
      0.012650653509115371,
      0.006229695455056081,
      0.0029017718411639844,
      0.0016398914660983718,
      0.0008982497157943234
    ],
    "v_ego": [
      0.9920953685088607,
      0.7184009010898,
      0.4447560461786114,
      0.22316612315474585,
      0.0611460875909805,
      0.020180836858318767,
      0.014906973371269422,
      0.009998739926896821,
      0.0059768086630406485,
      0.003283310086375728
    ],
    "ax_ego": [
      -0.5475419678432056,
      -0.5475614898821408,
      -0.5476233219938234,
      -0.3383031088390172,
      -0.3098043589996603,
      0.0029329976023577016,
      0.005794280035425624,
      0.010104356089163036,
      0.005178931162213936,
      0.005179056400658428
    ],
    "ay_ego": [
      -0.03830152920998528,
      -0.038021376651412475,
      0.02710375925661726,
      0.0007594327799655964,
      0.0491484987869619,
      -0.015933556017678034,
      -0.009741883893111501,
      -0.0035669261485938076,
      -0.0014827481956446724,
      -0.001482299479458675
    ],
    "a_ego": [
      0.548879962914874,
      0.5488799598130891,
      0.5482936408142915,
      0.3383039612364762,
      0.31367868239362773,
      0.016201255578007525,
      0.011334812875199893,
      0.010715454919233638,
      0.005387009392477251,
      0.005387006306660917
    ],
    "yaw": [
      2.5476818086175,
      2.54819346391487,
      2.5481615645524593,
      2.548035008197945,
      2.547841675234139,
      2.54801027785979,
      2.5478705192393893,
      2.547811203859322,
      2.547888148921887,
      2.5478020128542544
    ],
    "yaw_diff": [
      0.0010233105947401455,
      -6.379872482131788e-05,
      -0.0002531127090286134,
      -0.00038666592761238405,
      0.00033720525130220835,
      -0.0002795172408012192,
      -0.00011863076013440832,
      0.00015389012513011835,
      -0.00017227213526549434,
      -0.00017227213526549434
    ],
    "min_front_frame": [
      9,
      9.982301569467868
    ],
    "v_avg": 0.24939111954288995,
    "v_std": 0.3362320083212305,
    "vy_max": 0.015164323047602096,
    "a_max": 0.548879962914874,
    "ax_avg": -0.22616446262680284,
    "a_std": 0.23784494146104115,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8c4218fc392a52be",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.919305203883322,
    "right_rear_min": 48.185079177747056,
    "speed_mode": "decelerating",
    "front_frame": [
      10.65741020533192,
      10.42169684845259,
      10.184836219836573,
      10.06257958783697,
      9.988200429793634,
      9.995317255692724,
      9.998440786631502,
      9.992408325774909,
      9.988253236155092,
      9.982301569467868
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8c4218fc392a52be",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "834a7c22e2c55c71": {
    "vx_ego": [
      3.8359476041119955,
      3.956658080435907,
      4.0836202634465915,
      4.191533598231029,
      4.265955600189629,
      4.30294653268447,
      4.332629823525234,
      4.35467819065795,
      4.394886462314365,
      4.46795203493971
    ],
    "vy_ego": [
      0.0015361720100559584,
      0.011149578817517769,
      0.013628583218475265,
      0.014545069875112726,
      0.028996370780826064,
      0.021799456924748606,
      0.024429266550863,
      0.02755171643937722,
      0.021936539559060324,
      0.042288525155343606
    ],
    "v_ego": [
      3.835947911705398,
      3.9566737897616178,
      4.083643005248151,
      4.191558834629096,
      4.266054145496481,
      4.3030017522031665,
      4.332698694435664,
      4.354765348588917,
      4.394941208753753,
      4.468152157870378
    ],
    "ax_ego": [
      0.20763836474547603,
      0.27652230287104557,
      0.2373737915056743,
      0.19448617501571042,
      0.10788745110662197,
      0.04269443568960832,
      0.07463222844778676,
      0.014936022015139362,
      0.14651375638687994,
      0.14720983122688885
    ],
    "ay_ego": [
      -0.7338394658419638,
      -0.7107527475832518,
      -0.744540344612273,
      -0.6367904047562392,
      -0.5866593070326784,
      -0.4708733455738651,
      -0.2163976982798062,
      -0.13867014827827678,
      -0.061626325229533103,
      -0.059944559844248915
    ],
    "a_ego": [
      0.7626493638241587,
      0.7626493638509428,
      0.7814644212305136,
      0.6658279746765349,
      0.5964971455374671,
      0.472804951762118,
      0.22890594868609396,
      0.13947220073246136,
      0.15894679855816596,
      0.15894679822119676
    ],
    "yaw": [
      -1.1069680935370196,
      -1.2022639145895533,
      -1.293207219165651,
      -1.3767343805755292,
      -1.4522518340427828,
      -1.51214778154107,
      -1.552581729803177,
      -1.57369952933953,
      -1.5839003409856174,
      -1.595351559193262
    ],
    "yaw_diff": [
      -0.1905916421050673,
      -0.18188660915219534,
      -0.16705432281975652,
      -0.15103490693450716,
      -0.11979189499657439,
      -0.080867896524214,
      -0.04223559907270591,
      -0.020401623292174875,
      -0.02290243641528944,
      -0.02290243641528944
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.2187436848692625,
    "v_std": 0.19190621048320428,
    "vy_max": 0.042288525155343606,
    "a_max": 0.7814644212305136,
    "ax_avg": 0.14498943590108312,
    "a_std": 0.2614305274533806,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "834a7c22e2c55c71",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.992724981145193,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "834a7c22e2c55c71",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "50eebed7d9655bb5": {
    "vx_ego": [
      4.518045074345472,
      4.5553934330298835,
      4.665301710338222,
      4.828892355640539,
      5.090341009508006,
      5.463593407892281,
      5.839481256066435,
      6.1432289143234,
      6.341541303988274,
      6.475936389964056
    ],
    "vy_ego": [
      0.012574037147805806,
      -0.019003285044026708,
      0.028698373515083753,
      0.029367309012427706,
      0.08334168022212063,
      0.2053519437304152,
      0.2418241768560101,
      0.16511207775218173,
      0.028780007242454886,
      -0.09656011101878637
    ],
    "v_ego": [
      4.5180625715263805,
      4.555433069921482,
      4.665389977818269,
      4.828981654676507,
      5.0910232202123415,
      5.467451174684403,
      5.844486313822911,
      6.145447379320622,
      6.341606610237359,
      6.476656234655398
    ],
    "ax_ego": [
      -0.0275579760932273,
      0.1742895653867355,
      0.28968852895314867,
      0.38933214869923194,
      0.696993582594846,
      0.8591809083667532,
      0.7113125883832387,
      0.5246044906357199,
      0.2690993607551306,
      0.26871073699318093
    ],
    "ay_ego": [
      -1.386849169191132,
      -1.376129789617171,
      -1.6183599609867725,
      -1.6699005479417421,
      -1.6680638101726524,
      -1.2851830884928492,
      -0.8359207344106163,
      -0.35157426506405165,
      -0.22869242421125488,
      -0.22914892810105886
    ],
    "a_ego": [
      1.3871229434093029,
      1.3871229399279994,
      1.644082846797006,
      1.7146857910494537,
      1.8078265760260592,
      1.5459260668770476,
      1.0976015090232187,
      0.6315174862586872,
      0.3531496720236909,
      0.35314967283757
    ],
    "yaw": [
      2.0592215534736233,
      1.9133720088560413,
      1.7405360350736938,
      1.5672022937170995,
      1.3871504151982137,
      1.2238520821370251,
      1.1239799583173113,
      1.0873800769461774,
      1.0859879588728902,
      1.08768559298063
    ],
    "yaw_diff": [
      -0.2916990892351641,
      -0.345671947564695,
      -0.3466674827131886,
      -0.36010375703777164,
      -0.32659666612237714,
      -0.19974424763942755,
      -0.0731997627422678,
      -0.0027842361465744148,
      0.003395268215479419,
      0.003395268215479419
    ],
    "min_front_frame": [
      9,
      26.609696865162753
    ],
    "v_avg": 5.393453820687567,
    "v_std": 0.7249469003910548,
    "vy_max": 0.2418241768560101,
    "a_max": 1.8078265760260592,
    "ax_avg": 0.4155653934674758,
    "a_std": 0.5280740746913304,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "50eebed7d9655bb5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      27.89560036511017,
      28.294966953598035,
      28.095366824025458,
      27.52139568289427,
      26.609696865162753
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "50eebed7d9655bb5",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "8aae579b8090538a": {
    "vx_ego": [
      8.28651311329545,
      7.821105564631747,
      7.421616098964828,
      7.132688083746329,
      6.713282710364313,
      6.058483292606812,
      5.359989564177969,
      4.783946319211383,
      4.387662846323134,
      4.064190015433968
    ],
    "vy_ego": [
      -0.07752505195816939,
      0.014057900740338969,
      0.01738271468385566,
      0.01910511550754279,
      2.777219228411454e-05,
      -0.01912894069262583,
      -0.05206151628658251,
      -0.028191034911386303,
      0.008870834505936731,
      0.05993693860063476
    ],
    "v_ego": [
      8.28687575087853,
      7.821118198677661,
      7.421636455606249,
      7.132713670508261,
      6.713282710421758,
      6.058513491209531,
      5.360242394666009,
      4.7840293811331795,
      4.387671813696787,
      4.064631953592105
    ],
    "ax_ego": [
      -0.9375364633501014,
      -0.9275973844765851,
      -0.671449479197311,
      -0.48321749966262306,
      -1.1918463423927173,
      -1.42787554905658,
      -1.365784477656616,
      -0.9375603825419377,
      -0.6473821726130363,
      -0.6469566736349707
    ],
    "ay_ego": [
      -0.3043182218407725,
      -0.33338759124178036,
      -0.033899508331202366,
      0.3252487235161421,
      0.55220180448547,
      0.4508794931253729,
      0.18483336234884107,
      0.07107174710006514,
      0.12877113335386475,
      0.13089213612886358
    ],
    "a_ego": [
      0.9856897078976455,
      0.9856897045631541,
      0.6723046777908342,
      0.5824825183034054,
      1.3135541620930244,
      1.4973713303368084,
      1.3782345994949239,
      0.9402503199404083,
      0.6600649075677436,
      0.6600649126117847
    ],
    "yaw": [
      0.9972995304750765,
      0.9661307011797325,
      0.9535939967937475,
      0.9633979711549998,
      0.9974013692762929,
      1.039470108571264,
      1.0731180132405265,
      1.0811096569023542,
      1.0839448588459741,
      1.0872222167357846
    ],
    "yaw_diff": [
      -0.06233765859068785,
      -0.025073408771970174,
      0.01960794872250471,
      0.0680067962425861,
      0.08413747858994247,
      0.06729580933852475,
      0.015983287323655393,
      0.005670403887239939,
      0.006554715779620857,
      0.006554715779620857
    ],
    "min_front_frame": [
      9,
      14.47329706234199
    ],
    "v_avg": 6.203071582039007,
    "v_std": 1.4206795570793804,
    "vy_max": 0.07752505195816939,
    "a_max": 1.4973713303368084,
    "ax_avg": -0.923720642458248,
    "a_std": 0.3154418576292521,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "8aae579b8090538a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.822630301498624,
    "right_rear_min": 14.879000030879435,
    "speed_mode": "decelerating",
    "front_frame": [
      24.067535340533357,
      22.768285742681254,
      21.36661880219405,
      19.881438466551977,
      18.362550255076776,
      17.038548616401023,
      15.959879375901247,
      15.200164362691185,
      14.658282216904832,
      14.47329706234199
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_change",
    "lane_change_frame": 6,
    "token": "8aae579b8090538a",
    "smoothness": "No"
  },
  "81e0cc64152b5264": {
    "vx_ego": [
      0.325731258163658,
      0.08658711070339212,
      -0.04089611256416493,
      -0.03673649018468879,
      -0.019791273183381676,
      -0.012017608531156344,
      -0.008069134516975584,
      -0.005777122668971849,
      -0.004187874786899865,
      -0.003551809675891181
    ],
    "vy_ego": [
      0.19900699266824387,
      0.06451551206878084,
      -0.0120819172761656,
      -0.016493606294847814,
      -0.008882971162519352,
      -0.004851566999890703,
      -0.0030110677001327123,
      -0.002122110939532268,
      -0.0015954480436287217,
      -0.0012832359413462121
    ],
    "v_ego": [
      0.38171276593236714,
      0.10797953064103626,
      0.04264346078742856,
      0.040269203613917906,
      0.02169335545491737,
      0.01295996208183304,
      0.008612633775322698,
      0.00615455125675552,
      0.004481489673163412,
      0.0037765124724958763
    ],
    "ax_ego": [
      -0.4782470580164732,
      -0.4781610341345657,
      -0.0317695077426876,
      0.0483985955424283,
      0.01938248658985225,
      0.011710767146415557,
      0.004082958505494639,
      0.00508497687088832,
      0.0012721105234246451,
      0.0012721195743603338
    ],
    "ay_ego": [
      -0.26903832767330643,
      -0.2691911988951724,
      -0.0372266063219845,
      0.01960128962665096,
      0.010840772347842555,
      0.005288209236775232,
      0.002074188399562185,
      0.0014819246420725964,
      0.0006244522364093377,
      0.0006244628122805572
    ],
    "a_ego": [
      0.5487275009133963,
      0.5487275062608558,
      0.04893998202354291,
      0.05221718687853086,
      0.02220817713148808,
      0.012849405592846731,
      0.00457960780793174,
      0.005296516819783655,
      0.0014171117737723964,
      0.0014171245588839602
    ],
    "yaw": [
      1.1988601171919695,
      1.198540441832289,
      1.198753488774602,
      1.1986437264582492,
      1.1986485648805174,
      1.1985922262668232,
      1.1985811278651153,
      1.1985709373434155,
      1.1985860821803354,
      1.198581566244271
    ],
    "yaw_diff": [
      -0.0006393507193611647,
      0.0004260938846263329,
      -0.0002195246327056921,
      9.676844536343765e-06,
      -0.00011267722738850239,
      -2.2196803415752697e-05,
      -2.0381043399630983e-05,
      3.028967383977843e-05,
      -9.031872128861806e-06,
      -9.031872128861806e-06
    ],
    "min_front_frame": [
      1,
      8.581932367009028
    ],
    "v_avg": 0.06302834656892378,
    "v_std": 0.11039181471224326,
    "vy_max": 0.19900699266824387,
    "a_max": 0.5487275062608558,
    "ax_avg": -0.08969735851408625,
    "a_std": 0.21276524980358585,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "81e0cc64152b5264",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.677274336428914,
      8.581932367009028,
      8.609970627593906,
      8.596191079412236,
      8.621107787926707,
      8.597733528794942,
      8.599719137909545,
      8.599129710211795,
      8.585004986952454,
      8.587648475377314
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "81e0cc64152b5264",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a549496e4b835d1b": {
    "vx_ego": [
      10.11340072571182,
      10.049903908406396,
      10.008751624076302,
      9.951942613117044,
      9.853302024732105,
      9.774288065518666,
      9.729397191610781,
      9.671898191614638,
      9.599329933525262,
      9.53551191352424
    ],
    "vy_ego": [
      -0.10123198040801551,
      -0.10236571850511389,
      -0.09436963892012784,
      -0.019156926788281403,
      0.0861561698647142,
      0.09242021620459795,
      0.024957182525725763,
      -0.07153249161214248,
      -0.1191262686822343,
      -0.11307852640551896
    ],
    "v_ego": [
      10.113907363263996,
      10.050425230234152,
      10.009196506273614,
      9.951961051100374,
      9.853678687484972,
      9.774724992760868,
      9.72942920078477,
      9.672162711943733,
      9.600069074780881,
      9.536182370639562
    ],
    "ax_ego": [
      -0.1263870639826309,
      -0.12613413279232816,
      -0.03659570467262956,
      -0.18900675062130118,
      -0.2064731769230595,
      -0.11175894594007833,
      -0.06756295959293188,
      -0.16255113457052162,
      -0.12893144563653425,
      -0.1285539341121177
    ],
    "ay_ego": [
      0.07006139641306147,
      0.07051573520431882,
      0.13779057692255856,
      0.35711212345155624,
      0.26739119548239587,
      -0.08188193866938127,
      -0.2190222395180575,
      -0.21519357341086157,
      -0.07885084248710875,
      -0.0794648227840482
    ],
    "a_ego": [
      0.1445070559159579,
      0.14450705299976982,
      0.14256748819116455,
      0.40404531985471914,
      0.33783017066302096,
      0.13854498864229506,
      0.2292062279094124,
      0.269687124993945,
      0.15113164140858598,
      0.1511316381033531
    ],
    "yaw": [
      2.4196507360008854,
      2.4232491632342548,
      2.427649226038441,
      2.432500804366888,
      2.4376309018917293,
      2.441723269846662,
      2.4409267624977167,
      2.439684625586641,
      2.436993710081378,
      2.432224734505649
    ],
    "yaw_diff": [
      0.007196854466738678,
      0.008800125608372511,
      0.009703156656893697,
      0.010260195049682785,
      0.00818473590986546,
      -0.0015930146978906379,
      -0.0024842738221515503,
      -0.005381831010526028,
      -0.009537951151457946,
      -0.009537951151457946
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.829173718926693,
    "v_std": 0.18815149826629132,
    "vy_max": 0.1191262686822343,
    "a_max": 0.40404531985471914,
    "ax_avg": -0.12839552488441333,
    "a_std": 0.09114320458080288,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "a549496e4b835d1b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 33.06766370069893,
    "right_rear_min": 25.516842003511464,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "a549496e4b835d1b",
    "pedestrians": "No"
  },
  "9ebf7c0f1b4f5f39": {
    "vx_ego": [
      9.411372052950206,
      9.593979341144403,
      9.698786651632577,
      9.661767895017576,
      9.532083244483246,
      9.35797055533019,
      9.275371571438239,
      9.302653453402195,
      9.335351700841093,
      9.369159683686187
    ],
    "vy_ego": [
      0.01737877764776563,
      0.017898168940822856,
      0.012720161714630862,
      0.015840557538617794,
      0.01949771475606088,
      0.0006239856713232683,
      -0.04852563191704462,
      -0.050459716343763006,
      -0.005871122368465542,
      0.05114443984850858
    ],
    "v_ego": [
      9.411388098520042,
      9.593996036207074,
      9.698794993008168,
      9.661780880378911,
      9.53210318558496,
      9.357970576133747,
      9.275498505481934,
      9.302790304906871,
      9.335353547052975,
      9.369299276474099
    ],
    "ax_ego": [
      0.36240423090117474,
      0.36689885360771435,
      0.05104587288366304,
      -0.19983434254035934,
      -0.31985973530359935,
      -0.376438287448537,
      0.04590937654339901,
      0.06369375899762265,
      0.0674205925734164,
      0.0676611069179751
    ],
    "ay_ego": [
      0.2955802674467638,
      0.28998232941999047,
      0.22752357669074152,
      0.21195174789471172,
      0.029765897734256613,
      -0.1496888273138215,
      -0.08542827575951498,
      0.13501675667131594,
      0.145103082466862,
      0.14499109462326948
    ],
    "a_ego": [
      0.4676585518078039,
      0.4676585508193974,
      0.23317945683229221,
      0.2913027770107266,
      0.32124174532027255,
      0.40510804642684456,
      0.09698278792573108,
      0.14928636748641375,
      0.1600013776326178,
      0.16000138408594952
    ],
    "yaw": [
      -0.5829330060426797,
      -0.5675818538699621,
      -0.5536902366591121,
      -0.5426985407980305,
      -0.5367921203852086,
      -0.5379672030812843,
      -0.5390066871026755,
      -0.5374635050954135,
      -0.5347333175356779,
      -0.5330751046389404
    ],
    "yaw_diff": [
      0.030702304345435305,
      0.027783234421699943,
      0.021983391722163237,
      0.011812840825643711,
      -0.002350165392151382,
      -0.002078968042782403,
      0.0030863640145240012,
      0.0054603751194712835,
      0.0033164257934750196,
      0.0033164257934750196
    ],
    "min_front_frame": [
      2,
      53.515400198132525
    ],
    "v_avg": 9.453897540374879,
    "v_std": 0.14690546239648528,
    "vy_max": 0.05114443984850858,
    "a_max": 0.4676585518078039,
    "ax_avg": 0.012890142713246944,
    "a_std": 0.13009942343063272,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9ebf7c0f1b4f5f39",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      59.14334848126094,
      58.22245857523409,
      53.515400198132525,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9ebf7c0f1b4f5f39",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0a8612e9d0df52f1": {
    "vx_ego": [
      5.708796866519025,
      5.734913342299463,
      5.780752501737535,
      5.771128649606938,
      5.746850533289204,
      5.746526633523029,
      5.691107591061032,
      5.573770784240298,
      5.413780679953879,
      5.2295427685641
    ],
    "vy_ego": [
      0.0663554484291482,
      0.015012686847506451,
      0.029642209237830563,
      0.03997703331932412,
      0.04982626052012984,
      0.04947453944152791,
      0.0460197290627673,
      0.04743236667869377,
      0.04197471578602974,
      0.0028554740298014636
    ],
    "v_ego": [
      5.709182490402078,
      5.73493299215002,
      5.780828500043334,
      5.771267109873447,
      5.747066530692317,
      5.746739604318475,
      5.691293651578304,
      5.573972603508152,
      5.413943398984441,
      5.229543548147678
    ],
    "ax_ego": [
      0.02467641104457352,
      0.09136095677903394,
      0.09450746363236551,
      -0.11860486709605172,
      0.02747892560991705,
      -0.024359892152083257,
      -0.19724251651292574,
      -0.2709604091741544,
      -0.36876323451481924,
      -0.3687972016395241
    ],
    "ay_ego": [
      -0.9278710360070945,
      -0.9236919073989728,
      -0.809637932620955,
      -0.9105783687012221,
      -0.716359871218224,
      -0.48805452876337596,
      -0.11185771798731009,
      -0.04872861983225406,
      -0.006201824826215119,
      -0.003661830474201072
    ],
    "a_ego": [
      0.9281991083398645,
      0.928199097294289,
      0.815135106973658,
      0.9182701563513054,
      0.7168867110251562,
      0.48866207893809616,
      0.22675263922098102,
      0.2753071407184738,
      0.36881538167626177,
      0.36881538056264085
    ],
    "yaw": [
      2.6879514465789103,
      2.615952011821492,
      2.538185463746878,
      2.4623264968703706,
      2.389791959892249,
      2.337527990342458,
      2.312004577360894,
      2.3046381139488394,
      2.3031352152396245,
      2.3100227546407317
    ],
    "yaw_diff": [
      -0.14399886951483687,
      -0.1555330961492274,
      -0.151717933753015,
      -0.14506907395624324,
      -0.10452793909958213,
      -0.051046825963127596,
      -0.014732926824109427,
      -0.0030057974184298786,
      0.013775078802214402,
      0.013775078802214402
    ],
    "min_front_frame": [
      2,
      32.364546971382325
    ],
    "v_avg": 5.639877042969824,
    "v_std": 0.17328744501135868,
    "vy_max": 0.0663554484291482,
    "a_max": 0.9281991083398645,
    "ax_avg": -0.11107043640236687,
    "a_std": 0.2721352322204701,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "0a8612e9d0df52f1",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 41.48876497393223,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      32.364546971382325,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "0a8612e9d0df52f1",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "24108688ab4856ab": {
    "vx_ego": [
      2.939086467307455,
      2.8411247984253674,
      2.731012835239923,
      2.6343211814440695,
      2.5785841264397678,
      2.658656180062939,
      2.9358159067329996,
      3.298589605675479,
      3.6561685662642214,
      3.997857147639221
    ],
    "vy_ego": [
      0.0068638480438676375,
      0.04222121694984904,
      0.021627946216849603,
      -0.00021907133490550734,
      0.0004708056456804721,
      -0.0021514330548096927,
      -0.009611508432013749,
      -0.006335943828536972,
      -0.011341683458592211,
      -0.028327236587569082
    ],
    "v_ego": [
      2.939094482101551,
      2.8414385003705975,
      2.7310984739299977,
      2.6343211905531048,
      2.578584169420323,
      2.6586570505522236,
      2.9358316401525557,
      3.298595690722722,
      3.656186157558481,
      3.9979575041841926
    ],
    "ax_ego": [
      -0.19752996571815212,
      -0.1899261972954674,
      -0.24787290483484148,
      -0.13892372698415048,
      -0.08421679051476952,
      0.4045103797687784,
      0.7040864513557805,
      0.7469571468459818,
      0.6833537574310733,
      0.6833686401812746
    ],
    "ay_ego": [
      -0.17305900504005722,
      -0.1813712922668842,
      -0.15709898929898988,
      -0.06676736069734948,
      -0.02212659721050692,
      -0.03140403643258646,
      -0.012526420602069183,
      0.011038125546782407,
      -0.03718325652136138,
      -0.03690872727434666
    ],
    "a_ego": [
      0.2626166532839624,
      0.2626166523236414,
      0.29346391497086405,
      0.15413527297039034,
      0.08707499129327884,
      0.40572756973730606,
      0.7041978714792284,
      0.7470387000951665,
      0.6843646340662991,
      0.6843646341916102
    ],
    "yaw": [
      1.8821061286734624,
      1.8392057222518425,
      1.8162861580334537,
      1.8035029105802178,
      1.7946888266280316,
      1.7904814830327407,
      1.7892051032995056,
      1.7880329242209296,
      1.7875937853859458,
      1.787192050747091
    ],
    "yaw_diff": [
      -0.0858008128432397,
      -0.04583912843677762,
      -0.02556649490647178,
      -0.017628167904372383,
      -0.008414687190581915,
      -0.002552759466470267,
      -0.002344358157151838,
      -0.0008782776699676198,
      -0.0008034692777094676,
      -0.0008034692777094676
    ],
    "min_front_frame": [
      9,
      40.82275356174848
    ],
    "v_avg": 3.0271764859545747,
    "v_std": 0.45181604327884917,
    "vy_max": 0.04222121694984904,
    "a_max": 0.7470387000951665,
    "ax_avg": 0.23638067902355075,
    "a_std": 0.23959226683836957,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "24108688ab4856ab",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      54.05841645014637,
      52.704600627262636,
      51.33224110791416,
      49.938692132069576,
      48.722906965249614,
      47.387983000049175,
      46.003242172411035,
      44.45443863144993,
      42.738864184004804,
      40.82275356174848
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "24108688ab4856ab",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2251b1d81d0051c1": {
    "vx_ego": [
      0.8593088661770281,
      0.6447747629997448,
      0.3852555939907781,
      0.12085302245996925,
      -0.010635442083888993,
      -0.02245308290502584,
      -0.011692241387514138,
      -0.00676184789956418,
      -0.00444656331203725,
      -0.0031737166201945494
    ],
    "vy_ego": [
      -0.057874270385654236,
      -0.02366425033845289,
      0.010314335878151738,
      0.020511624529569016,
      0.0047157053265003464,
      -0.00192402098912244,
      -1.8340346704136907e-05,
      8.28101211242402e-05,
      9.929668993628537e-05,
      6.544178891325559e-05
    ],
    "v_ego": [
      0.8612555710491058,
      0.6452088745092228,
      0.3853936406141058,
      0.12258131904393854,
      0.011634023596595496,
      0.02253536750768772,
      0.01169225577175832,
      0.006762354954673788,
      0.004447671876452666,
      0.0031743912507810504
    ],
    "ax_ego": [
      -0.4291017320150291,
      -0.42914899960569053,
      -0.6089146896040072,
      -0.4486546880004324,
      -0.07730648456159593,
      0.030037252219296998,
      0.01300611437911999,
      0.006715459351653977,
      0.0025456986594602523,
      0.0025456913534694144
    ],
    "ay_ego": [
      0.06751510907426157,
      0.06721396797203698,
      0.0696985445719304,
      -0.029252367150955194,
      -0.03392648582277024,
      0.0073570954154545,
      0.0002683088205979082,
      0.00013385495761700792,
      -6.765919480757794e-05,
      -6.763948651708967e-05
    ],
    "a_ego": [
      0.43438069290842946,
      0.43438068713181877,
      0.6128906805711682,
      0.4496073064894516,
      0.0844233320566945,
      0.030925125284107808,
      0.01300888161472624,
      0.00671679324182273,
      0.0025465976186707893,
      0.002546589791714644
    ],
    "yaw": [
      -1.629478348947742,
      -1.6301800998103115,
      -1.6297158222574644,
      -1.6300837862351774,
      -1.6299449353998723,
      -1.6298574769166634,
      -1.6299023935760144,
      -1.629830266454629,
      -1.6298426557761774,
      -1.6298504058391203
    ],
    "yaw_diff": [
      -0.0014035017251390336,
      0.0009285551056943397,
      -0.0007359279554259857,
      0.00027770167061014206,
      0.00017491696641780408,
      -8.983331870204836e-05,
      0.0001442542427709803,
      -2.4778643096912134e-05,
      -1.550012588591443e-05,
      -1.550012588591443e-05
    ],
    "min_front_frame": [
      9,
      11.948459702985115
    ],
    "v_avg": 0.20746854701743217,
    "v_std": 0.2986693152176722,
    "vy_max": 0.057874270385654236,
    "a_max": 0.6128906805711682,
    "ax_avg": -0.19382763778237544,
    "a_std": 0.23116769048123045,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2251b1d81d0051c1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      12.93682062708059,
      12.61656550627148,
      12.355475717679854,
      12.178706911780983,
      12.343726725904991,
      12.280144914708027,
      12.185752544338067,
      12.11465939002874,
      12.045764674448561,
      11.948459702985115
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2251b1d81d0051c1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a38e63debd3256ef": {
    "vx_ego": [
      5.140404299206109,
      4.944311735982917,
      4.624436884995107,
      4.141271396415334,
      3.6322377198091327,
      3.1353238864868818,
      2.674903150897084,
      2.1875295698153674,
      1.6089737312220256,
      1.0042852774588942
    ],
    "vy_ego": [
      0.03619226845528159,
      0.012768951668847311,
      0.00011287297876955149,
      -0.0008468979541307875,
      0.0038799079383601137,
      0.00859165005526799,
      0.01110468196144701,
      0.0238665366246108,
      0.03207866771085673,
      0.04060354561069501
    ],
    "v_ego": [
      5.140531707867639,
      4.944328224208536,
      4.624436886372605,
      4.1412714830114625,
      3.6322397920415246,
      3.135335658207248,
      2.6749262009709005,
      2.1876597611116453,
      1.6092934812160988,
      1.0051057488825978
    ],
    "ax_ego": [
      -0.39231582924932584,
      -0.3923629581853831,
      -0.8871633398638737,
      -1.045469151437585,
      -0.9906947997637737,
      -0.9969688171726353,
      -0.8447155016326552,
      -1.1048338089627632,
      -1.209452021655665,
      -1.2094342487564627
    ],
    "ay_ego": [
      -0.015488908543810067,
      -0.014244757258325505,
      0.018148213271314904,
      -0.04057795930721958,
      0.04753227055959816,
      -0.02687783422855225,
      0.039529947641879455,
      0.01824371789899581,
      0.01888695941997653,
      0.019993239009953815
    ],
    "a_ego": [
      0.39262146676852083,
      0.3926214513565621,
      0.8873489444651209,
      1.0462563344559315,
      0.9918344131071146,
      0.997331058569531,
      0.8456399325121053,
      1.1049844246277616,
      1.2095994832683699,
      1.209599492258168
    ],
    "yaw": [
      -1.547298436242302,
      -1.5441273268669775,
      -1.54131442892623,
      -1.5423700823430215,
      -1.543140262317202,
      -1.5430067539510912,
      -1.54278153606429,
      -1.542099009343808,
      -1.5415389074220722,
      -1.5406242076706294
    ],
    "yaw_diff": [
      0.006342218750648776,
      0.005625795881495144,
      -0.002111306833583182,
      -0.00154035994836077,
      0.00026701673222140343,
      0.00045043577360237563,
      0.001365053440963937,
      0.0011202038434716677,
      0.0018293995028857424,
      0.0018293995028857424
    ],
    "min_front_frame": [
      9,
      11.909229062770855
    ],
    "v_avg": 3.3095128943890257,
    "v_std": 1.358045726098273,
    "vy_max": 0.04060354561069501,
    "a_max": 1.209599492258168,
    "ax_avg": -0.9073410476680122,
    "a_std": 0.28113969545771517,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a38e63debd3256ef",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.576446385986912,
    "right_rear_min": 4.319542442244557,
    "speed_mode": "decelerating",
    "front_frame": [
      19.726758358548754,
      19.205505507497932,
      18.55448981429315,
      18.107153564069712,
      16.892948257945715,
      15.709971053506639,
      14.537484407515032,
      13.426932357343473,
      12.515147160106391,
      11.909229062770855
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a38e63debd3256ef",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1741767a7646583a": {
    "vx_ego": [
      6.718613622652692,
      6.031777902345535,
      5.368243861776905,
      4.736153279025491,
      4.085793696071947,
      3.3617827360362433,
      2.5662529306208968,
      1.7787482577340823,
      1.084411514188017,
      0.45140282129114756
    ],
    "vy_ego": [
      0.17984350285359083,
      0.1569644758277059,
      0.14512319256143724,
      0.13663631619819772,
      0.1255430758762689,
      0.10165099518527748,
      0.05820920401694893,
      0.028310824169046817,
      0.021835310722729772,
      0.006044310752636224
    ],
    "v_ego": [
      6.721020212438955,
      6.033819893723691,
      5.370205107863631,
      4.738123823342751,
      4.087722005073454,
      3.363319207142475,
      2.5669130128137625,
      1.778973543130185,
      1.0846313257959619,
      0.45144328631853875
    ],
    "ax_ego": [
      -1.3733839050047376,
      -1.3733301389697679,
      -1.2799507739467966,
      -1.2484531669987453,
      -1.352359358351415,
      -1.5429033515511312,
      -1.6387850027766122,
      -1.5111908203522204,
      -1.2660119924224884,
      -1.265997311789575
    ],
    "ay_ego": [
      -0.05700937376475371,
      -0.05829024648660886,
      -0.022273786054207663,
      -0.010167048398175262,
      -0.05446997274537092,
      -0.06653114493416032,
      -0.12199836266994321,
      -0.0008838933995409769,
      -0.03199229582405785,
      -0.032567655713906726
    ],
    "a_ego": [
      1.3745666296048045,
      1.374566631138044,
      1.2801445642083522,
      1.2484945650912254,
      1.3534558773936933,
      1.5443371217043136,
      1.6433197758865095,
      1.5111910788462057,
      1.2664161527513982,
      1.2664161423707179
    ],
    "yaw": [
      1.5646010509194705,
      1.5636683917434753,
      1.562209314700831,
      1.5622839279320768,
      1.5611387970637778,
      1.5594421945928905,
      1.5582020796285967,
      1.557820829810044,
      1.5565762771771303,
      1.556121809438538
    ],
    "yaw_diff": [
      -0.0018653183519905525,
      -0.0029181540852887267,
      0.00014922646249182492,
      -0.002290261736598076,
      -0.0033932049417746413,
      -0.0024802299285875407,
      -0.000762499637105396,
      -0.0024891052658273516,
      -0.0009089354771845137,
      -0.0009089354771845137
    ],
    "min_front_frame": [
      9,
      11.161267202777742
    ],
    "v_avg": 3.6196171417643406,
    "v_std": 2.025021867987701,
    "vy_max": 0.17984350285359083,
    "a_max": 1.6433197758865095,
    "ax_avg": -1.3852365822163488,
    "a_std": 0.12922474557040853,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1741767a7646583a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 21.348659152056282,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.95006730881798,
      24.174340042402335,
      21.563705039434673,
      18.99473096417799,
      16.73093131378089,
      14.871131234856618,
      13.416883264269277,
      12.310111523884201,
      11.561489414759139,
      11.161267202777742
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1741767a7646583a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f7f7750b2dc2548e": {
    "vx_ego": [
      4.539630300820989,
      4.690111873255128,
      4.829545514208696,
      4.94537746727316,
      5.056790417758356,
      5.194564526120248,
      5.369899047086716,
      5.526839759380313,
      5.65666147324686,
      5.79094502668222
    ],
    "vy_ego": [
      0.039486369329055915,
      0.0534351834241335,
      0.027840843246290214,
      0.0020085828151613916,
      -0.017703110548818173,
      -0.015176327715891724,
      -0.020714232706979196,
      -0.013281014467753927,
      -0.002455550437292009,
      0.010213712354501636
    ],
    "v_ego": [
      4.539802026685178,
      4.69041626110906,
      4.829625760487659,
      4.945377875169704,
      5.056821405710887,
      5.194586695488855,
      5.3699389992195865,
      5.526855716518419,
      5.656662006222688,
      5.790954033833769
    ],
    "ax_ego": [
      0.29548790637858735,
      0.3149077523616133,
      0.24692983268626306,
      0.21783355282986566,
      0.225982331951684,
      0.3236289534230963,
      0.3762137397773093,
      0.2506233000378857,
      0.26857933807975093,
      0.26856665743469565
    ],
    "ay_ego": [
      -0.41677331608348595,
      -0.40230112745261604,
      -0.32689595777811514,
      -0.3123192984112608,
      -0.20920179229201707,
      -0.19357291129085832,
      -0.12215092855394015,
      -0.0136439364992113,
      0.016484253844356325,
      0.016689569238024445
    ],
    "a_ego": [
      0.5108944116108788,
      0.5108944016595691,
      0.40967707951768195,
      0.38078182847738945,
      0.3079503275733172,
      0.37710233555276096,
      0.39554725045665384,
      0.25099441333438993,
      0.26908472916195436,
      0.2690847286766679
    ],
    "yaw": [
      -3.0227210011246037,
      -3.0701311117101415,
      -3.10299187549597,
      -3.1303810559261507,
      3.1306717278403573,
      3.110486428177185,
      3.0965750133146965,
      3.0890015829275734,
      3.0871918730353274,
      3.0864273804720574
    ],
    "yaw_diff": [
      -0.09482022117107558,
      -0.06572152757165739,
      -0.05477836086036092,
      -0.04426504682615473,
      -0.04037059932634435,
      -0.027822829724977183,
      -0.015146860774246207,
      -0.003619419784492095,
      -0.0015289851265398724,
      -0.0015289851265398724
    ],
    "min_front_frame": [
      7,
      17.90874573110774
    ],
    "v_avg": 5.160104078044581,
    "v_std": 0.3994546036045113,
    "vy_max": 0.0534351834241335,
    "a_max": 0.5108944116108788,
    "ax_avg": 0.2788753364960751,
    "a_std": 0.08969058371515443,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "f7f7750b2dc2548e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      25.743134418814968,
      23.233695792715917,
      20.582803117917443,
      17.90874573110774,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "f7f7750b2dc2548e",
    "pedestrians": "No"
  },
  "de28290571ec523a": {
    "vx_ego": [
      4.783552281341302,
      4.741622333536328,
      4.745143592800627,
      4.7789849309075,
      4.752933632071681,
      4.698199778810752,
      4.758852877749342,
      4.959687966343522,
      5.212014967180549,
      5.459268872104498
    ],
    "vy_ego": [
      -0.020051730445642568,
      -0.0488048278221965,
      -0.050862369913621364,
      -0.05383232276606603,
      -0.03584279433639004,
      -0.011243319152486553,
      -0.03807064451240949,
      -0.027694349677799934,
      -0.015265637412799071,
      0.05733182715421625
    ],
    "v_ego": [
      4.783594307653967,
      4.7418734973751935,
      4.745416177425334,
      4.779288115275679,
      4.753068778882117,
      4.698213232053539,
      4.759005157176947,
      4.959765286835338,
      5.212037323139549,
      5.459569905801551
    ],
    "ax_ego": [
      -0.11338986238158426,
      -0.04162807437763771,
      0.06650738904135596,
      0.07712890335296338,
      -0.17245200210651015,
      -0.04627963456095631,
      0.28990318345912375,
      0.5143076377904826,
      0.49505013915364904,
      0.49508010951383147
    ],
    "ay_ego": [
      0.794248939450874,
      0.8012214068016067,
      0.677278944630598,
      0.5191914047652232,
      0.5148103021780833,
      0.3366615986006595,
      0.19842024170832215,
      0.07835821488912996,
      -0.00558864981501872,
      0.0012479584801781962
    ],
    "a_ego": [
      0.8023020869409183,
      0.8023020873047357,
      0.6805365542254398,
      0.5248891144942106,
      0.5429266435341272,
      0.33982765712556007,
      0.35130392553930184,
      0.520242593537128,
      0.4950816834450677,
      0.4950816823884677
    ],
    "yaw": [
      -0.12276969102311636,
      -0.03287337397121652,
      0.045668289138932686,
      0.10910096170929912,
      0.15922659783341475,
      0.19919509609746847,
      0.23345989005358958,
      0.24563437155853263,
      0.2467671130155531,
      0.23295780515576092
    ],
    "yaw_diff": [
      0.17979263410379967,
      0.1570833262202984,
      0.12686534514073286,
      0.10025127224823127,
      0.07993699652810743,
      0.06852958791224223,
      0.024348963009886093,
      0.0022654829140409394,
      -0.02761861571958435,
      -0.02761861571958435
    ],
    "min_front_frame": [
      5,
      19.413946017924
    ],
    "v_avg": 4.889183178161922,
    "v_std": 0.23918520986741001,
    "vy_max": 0.05733182715421625,
    "a_max": 0.8023020873047357,
    "ax_avg": 0.15642277888847178,
    "a_std": 0.1533969352390815,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "de28290571ec523a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      19.467956263119795,
      19.44052708373677,
      19.450932904880617,
      19.413946017924,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "de28290571ec523a",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "6021973f81a75e0b": {
    "vx_ego": [
      2.8133370867597853,
      2.7658815896179534,
      2.606682936791952,
      2.3514320033124525,
      2.1407941172895533,
      1.9658104890450847,
      1.831491969970664,
      1.697093268954434,
      1.4507204674399599,
      1.126120255027733
    ],
    "vy_ego": [
      -0.03578883011307497,
      0.006318760989349782,
      0.03271856565335598,
      0.021015766724545425,
      -0.028200921010136118,
      -0.03503811184117768,
      0.00830859976173013,
      0.029584710533113553,
      0.01165791180966431,
      -0.02818312811921868
    ],
    "v_ego": [
      2.813564714752248,
      2.7658888073326406,
      2.6068882671684896,
      2.351525914943961,
      2.14097985617973,
      1.9661227194966926,
      1.8315108159377669,
      1.6973511182509573,
      1.4507673078605603,
      1.1264728658491117
    ],
    "ax_ego": [
      -0.09493509577806297,
      -0.09480147378353268,
      -0.5421206947952495,
      -0.47887285906463134,
      -0.363684818614359,
      -0.33589927683154747,
      -0.20132969153627547,
      -0.33636679240092576,
      -0.6491907133485318,
      -0.649204415399671
    ],
    "ay_ego": [
      0.09222452160833607,
      0.09236188116852531,
      0.02580032476286919,
      -0.07325356765564874,
      -0.11556362618204873,
      0.10046811548662257,
      0.08071245404536065,
      0.01093664159933359,
      -0.07929229566038427,
      -0.07917994225091021
    ],
    "a_ego": [
      0.13235571312291902,
      0.13235571965169704,
      0.542734285339662,
      0.48444328906799294,
      0.3816039818803041,
      0.35060257615338464,
      0.21690584347157704,
      0.336544542608493,
      0.654015176008225,
      0.6540151651370831
    ],
    "yaw": [
      1.5488554124885154,
      1.5503032971193607,
      1.5514486362213527,
      1.5513836816780877,
      1.5522854047581394,
      1.5537798277408355,
      1.554815218733213,
      1.5557338061345398,
      1.5562532601495933,
      1.5564263253743484
    ],
    "yaw_diff": [
      0.0028957692616904396,
      0.002290678203983987,
      -0.00012990908652987798,
      0.0018034461601033058,
      0.002988845965392173,
      0.0020707819847549658,
      0.0018371748026537738,
      0.0010389080301069775,
      0.0003461304495102624,
      0.0003461304495102624
    ],
    "min_front_frame": [
      9,
      10.291737468626872
    ],
    "v_avg": 2.075107238777216,
    "v_std": 0.5375555989652759,
    "vy_max": 0.03578883011307497,
    "a_max": 0.654015176008225,
    "ax_avg": -0.3746405831552787,
    "a_std": 0.18407536224358528,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6021973f81a75e0b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.993940525571007,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.840929291101613,
      15.969271386379301,
      15.078885403321939,
      14.341567963439546,
      13.622372477177633,
      12.973676205665408,
      12.202192761946524,
      11.308311103548442,
      10.626743872002889,
      10.291737468626872
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6021973f81a75e0b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3b34e3fd5b9e5767": {
    "vx_ego": [
      3.51017501033479,
      3.426834003543466,
      3.381601545898564,
      3.4915987380527844,
      3.762866066610326,
      4.0640251330419455,
      4.329682686098985,
      4.523735070577411,
      4.657491011215983,
      4.796641562469962
    ],
    "vy_ego": [
      0.043469111398377225,
      0.01939469117493746,
      0.011991855272323992,
      -0.01065191719876879,
      -0.021230605210687647,
      -0.019774668363748527,
      -0.03958522685360233,
      -0.03350367002170884,
      -0.008880196448720845,
      0.033590991267561154
    ],
    "v_ego": [
      3.5104441552066614,
      3.426888886714524,
      3.3816228086255316,
      3.49161498606473,
      3.7629259591234425,
      4.0640732423894015,
      4.329863641327562,
      4.5238591362549005,
      4.657499476913191,
      4.796759180270427
    ],
    "ax_ego": [
      -0.19823251151059784,
      -0.14581178189976754,
      -0.043277487495589254,
      0.4857305123348501,
      0.6142667767155371,
      0.6051752038636636,
      0.47389987007558876,
      0.32931809775677295,
      0.21546255176533508,
      0.3342123590863268
    ],
    "ay_ego": [
      0.5710757971718885,
      0.5866537468664943,
      0.5168271510252587,
      0.5782293883474254,
      0.7625147452305989,
      0.8815245020907116,
      0.9362729625413825,
      1.1172050897289776,
      1.116041217772666,
      1.0864042577336555
    ],
    "a_ego": [
      0.6045028492367155,
      0.6045028490034453,
      0.5186359464603436,
      0.7551710774133988,
      0.9791590318587582,
      1.0692625847553556,
      1.049375122272144,
      1.1647307079434595,
      1.136649511054628,
      1.1366495115856352
    ],
    "yaw": [
      -0.07403473598027281,
      0.016461269937153414,
      0.09993961419514302,
      0.18782549736456944,
      0.28350123895856816,
      0.3880285945019286,
      0.5004735275854184,
      0.6144810126878948,
      0.7302486280711267,
      0.8379788195954856
    ],
    "yaw_diff": [
      0.18099201183485245,
      0.16695668851597922,
      0.17577176633885283,
      0.19135148318799744,
      0.2090547110867209,
      0.2248898661669796,
      0.22801497020495276,
      0.23153523076646376,
      0.21546038304871784,
      0.21546038304871784
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.994555147289037,
    "v_std": 0.5214737897133565,
    "vy_max": 0.043469111398377225,
    "a_max": 1.1647307079434595,
    "ax_avg": 0.267074359069212,
    "a_std": 0.24090113756079706,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "3b34e3fd5b9e5767",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 18.941701603154605,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "3b34e3fd5b9e5767",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "caee3d86c00351e6": {
    "vx_ego": [
      -0.2765112932820857,
      0.1302800116068659,
      0.8376297818002891,
      1.916185600915242,
      3.013697008521203,
      3.9834419222816795,
      4.83154989547141,
      5.5912922263424525,
      6.317102983173131,
      7.051825177045819
    ],
    "vy_ego": [
      0.011566297890742955,
      0.004665430443302372,
      0.021216660967550205,
      0.061719170933346335,
      0.06486876699364896,
      0.018649617082673764,
      0.008574390014424615,
      0.0176634204896553,
      0.004963972552380014,
      -0.01596821580791552
    ],
    "v_ego": [
      0.2767530931343478,
      0.13036352122241254,
      0.8378984413766456,
      1.9171793117013356,
      3.014395066360898,
      3.9834855787875636,
      4.831557503807018,
      5.5913201264800545,
      6.317104933514907,
      7.05184325630777
    ],
    "ax_ego": [
      0.8135854464373818,
      0.81358965082483,
      2.01581281092755,
      2.298794233625605,
      2.0921054511844703,
      1.7870823162275231,
      1.6053761964942588,
      1.4336683869709763,
      1.4694725670711772,
      1.4694415763527764
    ],
    "ay_ego": [
      -0.013881398118792687,
      -0.01363263478384219,
      0.0790068108821147,
      0.07088421552628654,
      -0.08402203348915682,
      -0.11690163905453732,
      -0.017983295004764366,
      0.012198691554423768,
      -0.024935853282836873,
      -0.026699632182058286
    ],
    "a_ego": [
      0.8137038600550242,
      0.8137038580837739,
      2.01736049452382,
      2.2998868451645853,
      2.0937919956355335,
      1.7909017835120848,
      1.6054769170466454,
      1.433720283693999,
      1.4696841232570006,
      1.4696841213923453
    ],
    "yaw": [
      2.390471026608294,
      2.390165269179056,
      2.389542843396139,
      2.3872844184743425,
      2.384701268991332,
      2.383566942015894,
      2.378229507127098,
      2.3762162427938365,
      2.377815502948618,
      2.3790157957111835
    ],
    "yaw_diff": [
      -0.0006115148584759922,
      -0.001244851565833649,
      -0.004516849843593462,
      -0.0051662989660208325,
      -0.002268653950876498,
      -0.010674869777592022,
      -0.004026528666522644,
      0.0031985203095628023,
      0.002400585525131227,
      0.002400585525131227
    ],
    "min_front_frame": [
      0,
      56.26072568846484
    ],
    "v_avg": 3.395190083269295,
    "v_std": 2.416483641836963,
    "vy_max": 0.06486876699364896,
    "a_max": 2.2998868451645853,
    "ax_avg": 1.579892863611655,
    "a_std": 0.4731577275224311,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "caee3d86c00351e6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 31.57156714185196,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      56.26072568846484,
      59.374843474058906,
      62.51585323641161,
      65.44947347247778,
      66.95193595172681,
      67.93613033265387,
      68.97960801003818,
      69.3314979808702,
      69.48987395720486,
      69.82587199345849
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "caee3d86c00351e6",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "dccee2a69ee5501d": {
    "vx_ego": [
      5.958629016342301,
      5.672298932699764,
      5.286315748688582,
      4.73548613185781,
      4.118194401520079,
      3.462918058737095,
      2.7580285916955978,
      2.1067154963016783,
      1.5500205886413654,
      1.0174921179130747
    ],
    "vy_ego": [
      -0.04474752630562229,
      0.012973776139175275,
      -0.013139399625294423,
      -0.00992224862201141,
      -0.0032940642955294752,
      -0.021981334545453812,
      -0.03168354221929337,
      -0.012593318771839335,
      0.016186078899833145,
      0.048587849610914
    ],
    "v_ego": [
      5.958797034260094,
      5.672313769598275,
      5.286332077977645,
      4.735496526873962,
      4.118195718949125,
      3.46298782276171,
      2.758210571993727,
      2.1067531355228395,
      1.550105097844103,
      1.018651554333005
    ],
    "ax_ego": [
      -0.5736099787105392,
      -0.5709869342412114,
      -0.972536730816366,
      -1.226188382525758,
      -1.2460795921518886,
      -1.3751714031436266,
      -1.4425071719418834,
      -1.1615479568854905,
      -1.065436077057148,
      -1.0651566194971156
    ],
    "ay_ego": [
      0.23856808641842123,
      0.24477962905348277,
      0.27319106978013935,
      0.444025338363333,
      0.21834864866996778,
      0.10614023615879398,
      0.09057351951310655,
      0.10541126037364701,
      0.0724420234197391,
      0.07644107956407076
    ],
    "a_ego": [
      0.6212432209156512,
      0.6212432260183913,
      1.0101787234913444,
      1.3041075302864436,
      1.2650654063539237,
      1.3792614464835358,
      1.4453478832242297,
      1.166321220744276,
      1.0678960066654763,
      1.0678959980744585
    ],
    "yaw": [
      0.9560948121196855,
      0.9669483857359564,
      0.9950875582635768,
      1.030003832474541,
      1.0658892539367089,
      1.092107229293899,
      1.1109853857708285,
      1.1234603291194702,
      1.1320951141193765,
      1.1358490442710243
    ],
    "yaw_diff": [
      0.021707147232541857,
      0.05627834505524065,
      0.06983254842192865,
      0.07177084292433555,
      0.05243595071438012,
      0.03775631295385917,
      0.024949886697283485,
      0.01726956999981244,
      0.007507860303295644,
      0.007507860303295644
    ],
    "min_front_frame": [
      9,
      10.60200705015602
    ],
    "v_avg": 3.6667843310114483,
    "v_std": 1.6744550835011525,
    "vy_max": 0.048587849610914,
    "a_max": 1.4453478832242297,
    "ax_avg": -1.0699220846971027,
    "a_std": 0.2718157076406779,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "dccee2a69ee5501d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.021395146917143,
    "right_rear_min": 12.30972184902556,
    "speed_mode": "decelerating",
    "front_frame": [
      22.321812466280363,
      20.76785771082139,
      19.147082279548997,
      17.65016890734522,
      16.267401938057407,
      14.71188671466548,
      13.328084522975791,
      12.189092907681752,
      11.29229323562662,
      10.60200705015602
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dccee2a69ee5501d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9820fb92380b522b": {
    "vx_ego": [
      4.471770882405115,
      3.5562422205002346,
      2.6605507061968265,
      1.7839906513776917,
      1.0587404678718004,
      0.4971681322297693,
      0.08752605470454473,
      -0.06626494090911345,
      -0.049258934554084144,
      -0.020152047199102293
    ],
    "vy_ego": [
      -0.13858450489073926,
      -0.035011876761840144,
      0.0027803247069025927,
      -0.013738414699783985,
      -0.03921992945257924,
      -0.021435273672344487,
      0.0012571590598263955,
      0.00967287413030316,
      0.007267428384373005,
      -0.0017581998120087326
    ],
    "v_ego": [
      4.473917800957237,
      3.5564145655959214,
      2.6605521589418064,
      1.7840435499845468,
      1.0594666493928273,
      0.49763000578968875,
      0.08753508268714127,
      0.06696720755436189,
      0.049792149468822246,
      0.020228600369125743
    ],
    "ax_ego": [
      -1.9213997633764395,
      -1.77203871245267,
      -1.8500947651942343,
      -1.6815136017068175,
      -1.2427004677015774,
      -1.0140152816619685,
      -0.6250027214422517,
      0.009798284159605349,
      0.05821339564644183,
      0.058215325481132056
    ],
    "ay_ego": [
      -0.8550235028931183,
      -1.1325727524689049,
      -0.7873355509781833,
      -0.44965116657703097,
      -0.1276338177133441,
      0.05006115589031998,
      0.024935805981117373,
      0.008358366979267395,
      -0.01804696651419109,
      -0.018040769668117726
    ],
    "a_ego": [
      2.1030554536679853,
      2.103055452922226,
      2.010658576196672,
      1.740595922185594,
      1.2492377051025165,
      1.0152502700187163,
      0.6254999570185027,
      0.01287900116594764,
      0.060946635945337516,
      0.06094664462537884
    ],
    "yaw": [
      2.2350327628845625,
      2.085021560854237,
      1.9193515597968458,
      1.7865612954511558,
      1.6996504222619606,
      1.6500484019378296,
      1.6338695959216614,
      1.6352108803637844,
      1.6354726536779522,
      1.635366201510553
    ],
    "yaw_diff": [
      -0.30002240406065095,
      -0.33134000211478254,
      -0.26558052869137994,
      -0.17382174637839043,
      -0.09920404064826194,
      -0.03235761203233656,
      0.002682568884246006,
      0.0005235466283357582,
      -0.00021290433479848048,
      -0.00021290433479848048
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.4256547770741477,
    "v_std": 1.5487284930775005,
    "vy_max": 0.13858450489073926,
    "a_max": 2.1030554536679853,
    "ax_avg": -0.9980538308248781,
    "a_std": 0.8275005285956881,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "9820fb92380b522b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.318515675499928,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9820fb92380b522b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "feb4ce395d4d54fb": {
    "vx_ego": [
      8.255382203502332,
      8.126173452944775,
      7.9587625557584465,
      7.796480428020001,
      7.666976323370928,
      7.440469147901261,
      7.090297398992574,
      6.6028645259939065,
      5.941776771734904,
      5.206869672034157
    ],
    "vy_ego": [
      -0.031031180189529106,
      -0.023661165768721126,
      -0.018672453938933575,
      0.012411307576113195,
      0.018378378096793213,
      0.0011291613777348886,
      -0.026716023563950753,
      -0.015075503990291672,
      -0.01885118983834566,
      -0.008424202341631215
    ],
    "v_ego": [
      8.255440524893082,
      8.126207900251503,
      7.958784459920926,
      7.796490306865948,
      7.666998350587527,
      7.440469233581706,
      7.090347731393428,
      6.602881735988408,
      5.9418066757920345,
      5.206876486794572
    ],
    "ax_ego": [
      -0.2585577752559503,
      -0.25739554939354203,
      -0.4120036987891426,
      -0.23709480435875036,
      -0.2812116504653134,
      -0.6253109879935266,
      -0.7753707887711415,
      -1.1745291388890866,
      -1.4698122456775766,
      -1.4698095701678955
    ],
    "ay_ego": [
      0.14451773269251406,
      0.14657773133622504,
      0.061163313622207116,
      0.09513154637326973,
      0.12835858880469236,
      0.10812374027902605,
      0.007120765048390654,
      -0.03468441529303279,
      0.02210842033054905,
      0.022285473013698764
    ],
    "a_ego": [
      0.2962051623586116,
      0.2962051656728456,
      0.41651890563236504,
      0.2554681141929139,
      0.309121205479918,
      0.6345900841624983,
      0.775403485531537,
      1.1750411510937644,
      1.4699785099766842,
      1.4699785083002328
    ],
    "yaw": [
      2.5332377635708054,
      2.541222922331065,
      2.547046243240827,
      2.5480633254137706,
      2.554513334566276,
      2.5645662257683033,
      2.5723442222170174,
      2.569657135996202,
      2.5697572567149614,
      2.5698777173726186
    ],
    "yaw_diff": [
      0.015970317520519473,
      0.011646641819523573,
      0.0020341643458872127,
      0.012900018305010974,
      0.020105782404054473,
      0.015555992897428261,
      -0.00537417244163052,
      0.0002002414375184003,
      0.00024092131531450178,
      0.00024092131531450178
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.208630340606914,
    "v_std": 0.9540809202598572,
    "vy_max": 0.031031180189529106,
    "a_max": 1.4699785099766842,
    "ax_avg": -0.6961096209761926,
    "a_std": 0.46660995689715057,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "feb4ce395d4d54fb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "feb4ce395d4d54fb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "350b10a4761e5c11": {
    "vx_ego": [
      6.007382627558291,
      6.675513600651554,
      7.308972834815326,
      7.931770996966781,
      8.535927276054478,
      9.074450144821853,
      9.59012647589078,
      10.06353949332164,
      10.483976947129085,
      10.893430573217145
    ],
    "vy_ego": [
      -0.02523753743882022,
      -0.010699748454132638,
      0.012132932370638547,
      0.04109700667210439,
      0.03519833346944624,
      0.0029537852861296066,
      -0.03456234126419705,
      -0.04596614389707089,
      -0.03979949718570275,
      0.0225521140956486
    ],
    "v_ego": [
      6.007435639870405,
      6.675522175612995,
      7.308982905173353,
      7.931877464527601,
      8.535999846811729,
      9.07445062555882,
      9.590188756172372,
      10.063644470072914,
      10.484052490707509,
      10.893453917438316
    ],
    "ax_ego": [
      1.3362747181909242,
      1.336418735763066,
      1.1974336143597584,
      1.2937638050146192,
      1.1219609619201176,
      1.0318652470236236,
      1.030865773063517,
      0.8628214554815096,
      0.8188753650562226,
      0.8187658154632952
    ],
    "ay_ego": [
      0.061291854937645,
      0.058067224431364896,
      0.01541701702204089,
      0.09821496823633236,
      0.04333620694333693,
      -0.11144505285006759,
      -0.02942139995679584,
      -0.008130939551351269,
      0.021087976783614723,
      0.024982176933456765
    ],
    "a_ego": [
      1.3376796380142486,
      1.3376796476928674,
      1.1975328576755346,
      1.2974864019139352,
      1.1227975894634579,
      1.0378660259493409,
      1.031285537981242,
      0.8628597662524417,
      0.8191468526831975,
      0.8191468548041977
    ],
    "yaw": [
      -1.5732451788520976,
      -1.5708321625372026,
      -1.5714686623342096,
      -1.5715417502701445,
      -1.5665405680879534,
      -1.5648145522211967,
      -1.5645681514131198,
      -1.5643634650287943,
      -1.5646482509937463,
      -1.5694041047456153
    ],
    "yaw_diff": [
      0.004826032629789978,
      -0.001272999594013946,
      -0.00014617587186993575,
      0.010002364364382288,
      0.003452031733513383,
      0.0004928016161538373,
      0.00040937276865093963,
      -0.0005695719299039226,
      -0.009511707503738087,
      -0.009511707503738087
    ],
    "min_front_frame": [
      7,
      19.97414729546042
    ],
    "v_avg": 8.656560829194602,
    "v_std": 1.5705935001775992,
    "vy_max": 0.04596614389707089,
    "a_max": 1.3376796476928674,
    "ax_avg": 1.0849045491336653,
    "a_std": 0.19563423309491018,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "350b10a4761e5c11",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.824429080489987,
    "right_rear_min": 6.327828943786434,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      19.97414729546042,
      22.13581792523467,
      24.42274273529504
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "350b10a4761e5c11",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "21b0b3ef9d2e59ed": {
    "vx_ego": [
      5.142838815204721,
      4.722722800312221,
      4.307606173570575,
      3.9015357070548267,
      3.493615153640843,
      3.0909825781093474,
      2.648093131681886,
      2.0844056663624917,
      1.404159475357004,
      0.6767525756375674
    ],
    "vy_ego": [
      0.046191391986574626,
      0.012448135433483998,
      -0.0056605721275726495,
      -0.007404509281934368,
      -0.0034982615207741485,
      0.0009951339069231846,
      -0.003428486593688662,
      -0.02983971246219408,
      -0.05365830590847542,
      -0.06444608516875189
    ],
    "v_ego": [
      5.143046249439135,
      4.722739205658584,
      4.307609892812967,
      3.9015427333532453,
      3.4936169050974377,
      3.090982738299747,
      2.6480953511120218,
      2.0846192435080053,
      1.4051843459232758,
      0.6798142000029562
    ],
    "ax_ego": [
      -0.84025041728339,
      -0.8402904853486459,
      -0.8201733189227765,
      -0.8040887256360119,
      -0.8275939903579773,
      -0.7829355116377685,
      -0.9886248832997055,
      -1.2660963413124326,
      -1.4547704512447386,
      -1.4547774839001035
    ],
    "ay_ego": [
      -0.061284332316511536,
      -0.0607325692838791,
      -0.007895587062111242,
      0.010173649054840583,
      0.0050715116890858725,
      0.014017312251227654,
      -0.02994893509344576,
      -0.06979437698581392,
      -0.021119600296073404,
      -0.020629527565801276
    ],
    "a_ego": [
      0.8424823636921972,
      0.8424823705807049,
      0.8202113223845777,
      0.8041530835792627,
      0.8276095293720659,
      0.7830609812947155,
      0.9890784087182309,
      1.268018612065125,
      1.4549237448510786,
      1.454923745448642
    ],
    "yaw": [
      2.562981513935844,
      2.56363814582906,
      2.5638490342278546,
      2.5644129379035974,
      2.5643872762589384,
      2.5644721051122854,
      2.5646243243489844,
      2.5652388328940106,
      2.5658554490975463,
      2.5661923212427773
    ],
    "yaw_diff": [
      0.0013132637864323726,
      0.0004217767975891462,
      0.0011278073514855436,
      -5.1323289318006005e-05,
      0.00016965770669408187,
      0.0003044384733978944,
      0.0012290170900524089,
      0.0012332324070714051,
      0.000673744290462075,
      0.000673744290462075
    ],
    "min_front_frame": [
      9,
      11.046710688137496
    ],
    "v_avg": 3.147725086520737,
    "v_std": 1.3785959144667632,
    "vy_max": 0.06444608516875189,
    "a_max": 1.454923745448642,
    "ax_avg": -1.0079601608943551,
    "a_std": 0.26118827719437454,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "21b0b3ef9d2e59ed",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.655519865779416,
    "right_rear_min": 6.805235630229131,
    "speed_mode": "decelerating",
    "front_frame": [
      20.55393086969685,
      19.44242964871825,
      18.184314447726575,
      16.85599412949516,
      15.626127250914804,
      14.4502102122294,
      13.445984523918334,
      12.4219951462261,
      11.565723054243692,
      11.046710688137496
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "21b0b3ef9d2e59ed",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "11f0b99dbce15be4": {
    "vx_ego": [
      10.83101847963801,
      10.814487510542426,
      10.813251802155717,
      10.894912233427997,
      10.989244767251172,
      10.998265833844378,
      10.962449226041326,
      10.904096706666621,
      10.723311977411921,
      10.428406667852007
    ],
    "vy_ego": [
      -0.006879996934386484,
      -0.014109968713866078,
      0.0013347187143983863,
      0.02090383381074551,
      0.024144799187736155,
      0.020613993471273018,
      0.008627997323976455,
      0.01838226717151159,
      -0.020968467006253322,
      -0.07430421515955454
    ],
    "v_ego": [
      10.831020664767372,
      10.814496715376782,
      10.813251884530292,
      10.894932287277742,
      10.989271291850297,
      10.998285152178743,
      10.9624526213741,
      10.904112201187413,
      10.723332478362991,
      10.428671379734366
    ],
    "ax_ego": [
      -0.03332853511838639,
      -0.03252435737463905,
      0.02899636240397401,
      0.2963114058839049,
      0.07999910605988347,
      -0.04439522540299158,
      -0.09978705523987991,
      -0.134141158667161,
      -0.5892915228015738,
      -0.5891506085991778
    ],
    "ay_ego": [
      0.12479575728448702,
      0.12500775159199695,
      0.36172634687208105,
      0.2224014095278448,
      0.16116046403935766,
      0.2377604141711936,
      0.18295755055291243,
      0.11774341361611117,
      0.02118233442910761,
      0.02479425903823039
    ],
    "a_ego": [
      0.12916954861478036,
      0.12916954664594768,
      0.36288667522255996,
      0.370489994759465,
      0.1799237397892829,
      0.24186969753451948,
      0.20840086779514222,
      0.1784863073138752,
      0.5896721039167991,
      0.5896721079498644
    ],
    "yaw": [
      -1.5595010222183112,
      -1.5530626182471927,
      -1.543231393312424,
      -1.5315443709225813,
      -1.523098025785947,
      -1.5137186623783299,
      -1.5030550257533544,
      -1.4970737343592688,
      -1.4902588485349775,
      -1.4841288690296728
    ],
    "yaw_diff": [
      0.012876807942237,
      0.01966244986953747,
      0.0233740447796853,
      0.016892690273268673,
      0.018758726815234272,
      0.021327273249950984,
      0.011962582788171083,
      0.0136297716485827,
      0.01225995901060939,
      0.01225995901060939
    ],
    "min_front_frame": [
      0,
      18.925837860952893
    ],
    "v_avg": 10.83598266766401,
    "v_std": 0.15923138682794308,
    "vy_max": 0.07430421515955454,
    "a_max": 0.5896721079498644,
    "ax_avg": -0.11173115888560473,
    "a_std": 0.1661390660253272,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "11f0b99dbce15be4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      18.925837860952893,
      19.501546938480054,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      0,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "11f0b99dbce15be4",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "81b86d3bfe9758ac": {
    "vx_ego": [
      5.538318281942894,
      5.667539110333362,
      5.780470770491218,
      5.882371254276213,
      5.9999770765989595,
      6.106302866960984,
      6.212849953162301,
      6.276836432608231,
      6.304509863413887,
      6.35886983333913
    ],
    "vy_ego": [
      -0.009548127848335808,
      -0.03131186559719801,
      -0.034050550539132196,
      -0.0265480039772239,
      7.10659532243696e-05,
      0.013778499928850607,
      0.045838973812255546,
      0.068306310872988,
      0.05621536715410169,
      0.023893646311732297
    ],
    "v_ego": [
      5.53832651248085,
      5.667625605144138,
      5.780571059030012,
      5.882431161488444,
      5.999977077019825,
      6.106318412113491,
      6.213019052926602,
      6.277208085910734,
      6.30476048596513,
      6.358914723731124
    ],
    "ax_ego": [
      0.2523612964989114,
      0.2621601022002609,
      0.18516211175282016,
      0.21904080232538425,
      0.24922540603331814,
      0.17613208350829748,
      0.2528518501182888,
      0.008932044159160796,
      0.1073513746595767,
      0.11309728022916468
    ],
    "ay_ego": [
      -0.35737086824535275,
      -0.3502459735637399,
      -0.2913380543711518,
      -0.2621945680524292,
      -0.18205875607327754,
      -0.13376879380786622,
      -0.19576041412807774,
      -0.2682872560696324,
      -0.3050232241446941,
      -0.3029397472199025
    ],
    "a_ego": [
      0.43749304159157637,
      0.43749304129695965,
      0.3451997531191644,
      0.34165020796063916,
      0.3086400714026315,
      0.22117097693365037,
      0.3197752301974593,
      0.2684359014406115,
      0.32336277601004904,
      0.3233627765233541
    ],
    "yaw": [
      2.809382936962113,
      2.7816894776099783,
      2.754194261048766,
      2.729160208767995,
      2.7059722465755804,
      2.690687144445974,
      2.672079058881756,
      2.65001271880117,
      2.629110496869412,
      2.61020890221107
    ],
    "yaw_diff": [
      -0.05538691870426948,
      -0.05499043312242424,
      -0.05006810456154209,
      -0.0463759243848294,
      -0.030570204259213085,
      -0.03721617112843578,
      -0.04413268016117211,
      -0.04180444386351567,
      -0.03780318931668436,
      -0.03780318931668436
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.012915217581035,
    "v_std": 0.27187173238623674,
    "vy_max": 0.068306310872988,
    "a_max": 0.43749304159157637,
    "ax_avg": 0.18263143514851835,
    "a_std": 0.06299872258950363,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "81b86d3bfe9758ac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "81b86d3bfe9758ac",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0590cb08d06a5905": {
    "vx_ego": [
      0.3013378123760297,
      1.2936355056969457,
      2.2612179112472295,
      3.0390792092732024,
      3.717912736163197,
      4.162733888682694,
      4.409072298219832,
      4.718589045565388,
      4.979651151129487,
      5.401188796521932
    ],
    "vy_ego": [
      0.003892422670260076,
      -0.026803951489773326,
      -0.01889296138942842,
      0.018419020264630603,
      -0.024261332067070596,
      -0.04269849527547942,
      0.006284103910034755,
      0.07893329244199365,
      0.14219054392549227,
      0.12893007814940527
    ],
    "v_ego": [
      0.3013629508115011,
      1.2939131630118224,
      2.2612968372452444,
      3.039135025059621,
      3.71799189428355,
      4.162952868996493,
      4.409076776479568,
      4.719249203590059,
      4.98168081451703,
      5.402727402037386
    ],
    "ax_ego": [
      1.9845770763334238,
      1.984598061980558,
      1.8859265769848939,
      1.2255041055149174,
      1.490913892090889,
      0.3185462361263612,
      0.7396608419836876,
      0.5890805543057972,
      0.596713442635179,
      1.1938878955915355
    ],
    "ay_ego": [
      -0.062269618487780565,
      -0.06159700650699362,
      0.10131759882068225,
      0.055091224324190224,
      -0.31055952492608074,
      -1.2444459459738693,
      -2.0891403755998237,
      -2.4382361213167267,
      -2.5927106060500758,
      -2.3775716311658637
    ],
    "a_ego": [
      1.9855537457582793,
      1.985553741107908,
      1.8886461578624905,
      1.2267417640365295,
      1.5229154448464683,
      1.2845689615591176,
      2.216214265391636,
      2.508388184224057,
      2.6604915371686637,
      2.6604915276250534
    ],
    "yaw": [
      -2.266434220446803,
      -2.266773140716955,
      -2.2656449697648737,
      -2.2649898589295936,
      -2.2713230814575804,
      -2.3618718921981112,
      -2.5695615525762756,
      -2.8309014399925094,
      -3.1017071529897677,
      2.942326532415591
    ],
    "yaw_diff": [
      -0.0006778405403045085,
      0.0022563419041627952,
      0.0013102216705602743,
      -0.012666445055973696,
      -0.18109762148106157,
      -0.4153793207563288,
      -0.5226797748324676,
      -0.5416114259945166,
      -0.4783032435484529,
      -0.4783032435484529
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.428938693603228,
    "v_std": 1.5940561107971185,
    "vy_max": 0.14219054392549227,
    "a_max": 2.6604915371686637,
    "ax_avg": 1.2009408683547242,
    "a_std": 0.5027461246043438,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "0590cb08d06a5905",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "0590cb08d06a5905",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d01e896e6c325436": {
    "vx_ego": [
      0.5250045896023136,
      0.3500842758079158,
      0.18428768915892554,
      0.04873240921257696,
      -0.010786769421741362,
      -0.01058924668049483,
      -0.006303438993201533,
      -0.003734259065015859,
      -0.0025127138956053995,
      -0.0016318614893562067
    ],
    "vy_ego": [
      -0.04009002001625697,
      -0.0074936674178162355,
      0.003135419054348665,
      0.005976017667383208,
      0.006822164570580477,
      0.0010385899077608382,
      0.0022025393189237597,
      0.0012309081525281812,
      0.000793104684634951,
      0.0006796743984273242
    ],
    "v_ego": [
      0.5265330272721718,
      0.3501644688133302,
      0.18431435979918423,
      0.049097459148340176,
      0.012763084422893159,
      0.010640057060790298,
      0.006677164262800391,
      0.00393189847842152,
      0.0026349091373249226,
      0.0017677469299425758
    ],
    "ax_ego": [
      -0.3498422441994904,
      -0.34984924568118103,
      -0.3133508253689706,
      -0.22886968606963268,
      -0.009200267903961204,
      0.00999038872016746,
      0.007152293495829137,
      0.0031244996248437017,
      0.0017616938146877274,
      0.001761696997189082
    ],
    "ay_ego": [
      0.06511743577210813,
      0.0650798314768771,
      -0.022150495316199323,
      0.033539825226007736,
      -0.030151231779524477,
      0.00701627311669338,
      -0.0023620383294779466,
      -0.0015242627186154492,
      -0.00022687645122741902,
      -0.00022689763214809265
    ],
    "a_ego": [
      0.35585091859944734,
      0.3558509226751423,
      0.314132749330865,
      0.2313141869358716,
      0.03152366900167659,
      0.012208028310422754,
      0.0075322325588369045,
      0.0034764744700643774,
      0.0017762426694656742,
      0.0017762485314221767
    ],
    "yaw": [
      2.6278316465009253,
      2.6277241399808204,
      2.6281172670551394,
      2.6281808026244358,
      2.6280630491894375,
      2.628075951067115,
      2.6281246192212073,
      2.628112736217486,
      2.6281074385752516,
      2.6281137807083987
    ],
    "yaw_diff": [
      -0.00021501304020965506,
      0.000786254148637866,
      0.00012707113859278252,
      -0.00023550686999662673,
      2.580375535465862e-05,
      9.733630818509198e-05,
      -2.3766007442915793e-05,
      -1.0595284468450927e-05,
      1.2684266294193947e-05,
      1.2684266294193947e-05
    ],
    "min_front_frame": [
      8,
      9.69494368631121
    ],
    "v_avg": 0.11485241753251993,
    "v_std": 0.17454797872846667,
    "vy_max": 0.04009002001625697,
    "a_max": 0.3558509226751423,
    "ax_avg": -0.12273216965705187,
    "a_std": 0.15284783981132288,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d01e896e6c325436",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.159713802630792,
      9.924017914258764,
      9.787976916596861,
      9.723982883939925,
      9.704895304873636,
      9.716188574988076,
      9.706776144382827,
      9.705458038684236,
      9.69494368631121,
      9.69680525349473
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d01e896e6c325436",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "026e84581e0f5044": {
    "vx_ego": [
      6.19114179684027,
      6.018279257579451,
      5.948394713155416,
      5.929548835874009,
      5.9953094432232135,
      6.231387685973982,
      6.574907354473205,
      6.991179042800388,
      7.491613314497561,
      8.036445564377141
    ],
    "vy_ego": [
      0.05465217184238606,
      0.03707567811299417,
      0.0010645527698538437,
      0.03087613505652076,
      0.04862372889099964,
      0.04743558128645775,
      0.06629305927288609,
      0.10359631368871769,
      0.08600784163476494,
      0.04811709851268109
    ],
    "v_ego": [
      6.191383012580441,
      6.018393459065185,
      5.948394808414107,
      5.929629223883298,
      5.9955066163763595,
      6.231568231776024,
      6.575241553708396,
      6.991946553335576,
      7.492107006895978,
      8.036589610299028
    ],
    "ax_ego": [
      -0.4378949757310897,
      -0.22682276851783406,
      -0.030045465239880276,
      -0.010655798902551084,
      0.33789586859661613,
      0.6431356947031049,
      0.7432843696347305,
      0.9268277498108197,
      1.0774879330901403,
      1.11288660730185
    ],
    "ay_ego": [
      -1.5978673561705414,
      -1.6411835656014304,
      -1.814908548465972,
      -2.095864129562005,
      -2.4379977114475606,
      -2.421365773196518,
      -2.1036033009963755,
      -1.496532028846723,
      -0.8048962852609494,
      -0.7551964668497303
    ],
    "a_ego": [
      1.656783660495832,
      1.6567836504258242,
      1.815157229904986,
      2.095891217509857,
      2.461301781382812,
      2.505321482247102,
      2.231057709272924,
      1.7602891214750707,
      1.344930584075527,
      1.344930594586255
    ],
    "yaw": [
      3.137035635005538,
      3.006889983367845,
      2.8681553812617535,
      2.698848750752901,
      2.504959338277504,
      2.3058479165113246,
      2.126364701840029,
      1.9879289378433673,
      1.910741435052638,
      1.8653690158645528
    ],
    "yaw_diff": [
      -0.26029130327538574,
      -0.27746920421218313,
      -0.33861326101770484,
      -0.38777882495079385,
      -0.39822284353235915,
      -0.3589664293425914,
      -0.27687152799332315,
      -0.15437500558145878,
      -0.0907448383761702,
      -0.0907448383761702
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.54107600763344,
    "v_std": 0.6971035694545452,
    "vy_max": 0.10359631368871769,
    "a_max": 2.505321482247102,
    "ax_avg": 0.41360992147459064,
    "a_std": 0.39862881151242735,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "026e84581e0f5044",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "026e84581e0f5044",
    "pedestrians": "No"
  },
  "c20bcc28c238595c": {
    "vx_ego": [
      6.610409324493682,
      6.118850027543666,
      5.440026274278511,
      4.740907896997811,
      4.19784121427406,
      3.6146478851561854,
      3.0689534300781416,
      2.6454984119325795,
      2.3544198718604314,
      2.1399633025995892
    ],
    "vy_ego": [
      0.0255942243322127,
      -0.009371870631105672,
      -0.01846864127854264,
      -0.001231550835267381,
      0.010961813376548557,
      -0.002220434478136024,
      -0.012447583454433087,
      -0.006585906612897485,
      -0.0051882389738558965,
      -0.003593278799577826
    ],
    "v_ego": [
      6.610458872247236,
      6.118857204701729,
      5.440057624285905,
      4.740908056958463,
      4.197855526529042,
      3.6146485671491435,
      3.0689786734876874,
      2.645506609650355,
      2.354425588298543,
      2.1399663193904415
    ],
    "ax_ego": [
      -0.983175170757888,
      -0.9829995046177826,
      -1.7324896512661196,
      -1.0640620686816975,
      -1.1081001022612065,
      -1.2245102192737969,
      -0.9584225575127208,
      -0.7353822942298766,
      -0.42890913481934617,
      -0.42890460973677147
    ],
    "ay_ego": [
      -0.09285624321231778,
      -0.09469780006949136,
      0.017506482947470037,
      0.0017110623562915372,
      -0.017413869158782902,
      -0.08511026251584347,
      0.019003912485931418,
      0.009600460825641643,
      0.006223165182503404,
      0.00652714344498298
    ],
    "a_ego": [
      0.9875503522850403,
      0.9875503528513406,
      1.7325780988715604,
      1.0640634444155859,
      1.1082369238887395,
      1.2274644735761104,
      0.958610946859568,
      0.7354449588615463,
      0.42895427928436475,
      0.42895427245220863
    ],
    "yaw": [
      -2.0365439939462946,
      -2.0384172299991903,
      -2.040154134594899,
      -2.04263724084879,
      -2.0462393602187365,
      -2.0494144236655325,
      -2.051318417021922,
      -2.0508626878784546,
      -2.049823450833787,
      -2.049114735128107
    ],
    "yaw_diff": [
      -0.0037464721057913764,
      -0.0034738091914174873,
      -0.00496621250778162,
      -0.007204238739893398,
      -0.006350126893591934,
      -0.0038079867127791545,
      0.0009114582869349519,
      0.002078474089334925,
      0.0014174314113599706,
      0.0014174314113599706
    ],
    "min_front_frame": [
      7,
      16.10857879963296
    ],
    "v_avg": 4.093166304269855,
    "v_std": 1.5131655069349186,
    "vy_max": 0.0255942243322127,
    "a_max": 1.7325780988715604,
    "ax_avg": -0.9646955313157207,
    "a_std": 0.3628813413961083,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c20bcc28c238595c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.396887320382245,
    "right_rear_min": 9.158843618702612,
    "speed_mode": "decelerating",
    "front_frame": [
      27.52239252138201,
      25.191077661055193,
      22.98483119475152,
      21.191054349179502,
      19.635470164785175,
      18.245051201279924,
      17.130612911880817,
      16.10857879963296,
      17.641582306207383,
      17.056695978310614
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c20bcc28c238595c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "85a89a122095548d": {
    "vx_ego": [
      4.668581584880111,
      4.205317374516449,
      3.75077335396046,
      3.3069958917685396,
      2.835002496427788,
      2.38039826163709,
      1.8952635150188668,
      1.371178827038094,
      0.8709603193725657,
      0.35547297630597596
    ],
    "vy_ego": [
      -0.010914718715193228,
      -0.0013860403104795083,
      0.0027537031535738166,
      0.01202989921912967,
      0.00019342577003600425,
      -0.010102491750122344,
      -0.016265709764321734,
      -0.01986084894440815,
      -0.003099495699040833,
      0.031090374852734692
    ],
    "v_ego": [
      4.668594343672014,
      4.205317602930564,
      3.750774364802668,
      3.3070177723515823,
      2.835002503026288,
      2.3804196992010547,
      1.895333312289901,
      1.3713226567946568,
      0.8709658344591653,
      0.35682999914849156
    ],
    "ax_ego": [
      -0.9265283585392586,
      -0.9265279127914076,
      -0.8916496774695798,
      -0.883459105554768,
      -1.0045939445828544,
      -0.8137820145893506,
      -1.126631021251599,
      -0.969676858654031,
      -1.0310553756079452,
      -1.0309652556138238
    ],
    "ay_ego": [
      0.019251954214838274,
      0.019273386300558804,
      -0.0008386237678624786,
      0.036562210884037216,
      -0.07139928037691784,
      0.03597719117780401,
      -0.01801941449841815,
      0.006003422553022997,
      0.06929552492211366,
      0.07062368047564277
    ],
    "a_ego": [
      0.926728351200363,
      0.926728351029088,
      0.8916500718451323,
      0.8842153507219606,
      1.0071280210235842,
      0.814576899717974,
      1.1267751139181619,
      0.9696954425444618,
      1.0333813707166741,
      1.0333813732242336
    ],
    "yaw": [
      -0.3387079936613462,
      -0.3386848562537517,
      -0.3385668422171211,
      -0.3386647189075193,
      -0.3376514112901325,
      -0.33709394833062345,
      -0.33220053814631484,
      -0.3318341868331022,
      -0.3300061452785834,
      -0.32871794624009154
    ],
    "yaw_diff": [
      4.6274815188929175e-05,
      0.00023602807326128517,
      -0.00019575338079647064,
      0.0020266152347736544,
      0.0011149259190180727,
      0.009786820368617222,
      0.00073270262642533,
      0.0036560831090375334,
      0.0025763980769837325,
      0.0025763980769837325
    ],
    "min_front_frame": [
      9,
      12.734115507705985
    ],
    "v_avg": 2.564157808867639,
    "v_std": 1.371074467165681,
    "vy_max": 0.031090374852734692,
    "a_max": 1.1267751139181619,
    "ax_avg": -0.9604869524654618,
    "a_std": 0.086403249610035,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "85a89a122095548d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.266608397267877,
      22.05981828218947,
      20.04494118087788,
      18.277187605906672,
      16.734566208201393,
      15.451959127980176,
      14.366734221728628,
      13.59775722512363,
      13.073970580183277,
      12.734115507705985
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "85a89a122095548d",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "04715723caea505e": {
    "vx_ego": [
      7.683416147125426,
      7.923235956515918,
      8.21344329277447,
      8.487147634917546,
      8.807520039020554,
      9.140013174920584,
      9.45105872464282,
      9.726344291519451,
      9.971228741187685,
      10.260372717045158
    ],
    "vy_ego": [
      -0.08451047979751092,
      -0.04649221781146462,
      -0.02903457142213428,
      -0.027648828395303804,
      -0.06409803273080206,
      -0.06965564322238382,
      -0.04585280457323243,
      -0.06384069462079486,
      -0.026988082070272507,
      -0.053677081789628156
    ],
    "v_ego": [
      7.683880901673537,
      7.923372359604447,
      8.21349461130642,
      8.487192670995407,
      8.807753277399895,
      9.140278592381886,
      9.451169953838223,
      9.726553804480941,
      9.971265264030498,
      10.260513121759267
    ],
    "ax_ego": [
      0.41937903155829104,
      0.5622241574856238,
      0.6035648214403304,
      0.4939389509350813,
      0.7963341664381641,
      0.5438516745174555,
      0.7075140363642053,
      0.39953651420306174,
      0.5785569116399355,
      0.5790248354245082
    ],
    "ay_ego": [
      1.5528020540716647,
      1.5069761020106156,
      1.320866958475059,
      1.1665596273900078,
      1.0551095125908827,
      0.8934453649379381,
      0.7710673387830443,
      0.6392782091660856,
      0.07602673212469763,
      0.07237687354597468
    ],
    "a_ego": [
      1.6084380594974588,
      1.608438054539723,
      1.4522327691081245,
      1.2668216336592784,
      1.3218941667911752,
      1.0459537580622413,
      1.0464802686101329,
      0.7538607662533784,
      0.583530773827654,
      0.5835307805614618
    ],
    "yaw": [
      1.12426106794433,
      1.2175629268912695,
      1.3030235142045399,
      1.377173046360237,
      1.4458914613851126,
      1.500589473728172,
      1.5428820399250092,
      1.5813697186885256,
      1.595817636826935,
      1.6021236189697774
    ],
    "yaw_diff": [
      0.1866037178938793,
      0.17092117462654066,
      0.14829906431139417,
      0.13743683004975127,
      0.10939602468611875,
      0.08458513239367438,
      0.07697535752703288,
      0.028895836276818798,
      0.012611964285684785,
      0.012611964285684785
    ],
    "min_front_frame": [
      5,
      40.93191422300819
    ],
    "v_avg": 8.966547455747053,
    "v_std": 0.8415455483882636,
    "vy_max": 0.08451047979751092,
    "a_max": 1.6084380594974588,
    "ax_avg": 0.5683925100006657,
    "a_std": 0.3701185818232089,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "04715723caea505e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.66620303306382,
    "right_rear_min": 10.84036005531398,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      40.93191422300819,
      42.16038168777164,
      43.111269905537476,
      43.927437320859944,
      44.484766011001184
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "04715723caea505e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8c554c3017d05e9b": {
    "vx_ego": [
      8.719385181473854,
      8.709831205617792,
      8.759524534415485,
      8.880526099151208,
      9.024201344989619,
      9.155753199957676,
      9.244946698696975,
      9.319275221305636,
      9.419077468023245,
      9.539911498505392
    ],
    "vy_ego": [
      -0.10868906858419924,
      -0.04763244658431742,
      -0.03110598145147858,
      -0.008132480682718768,
      -0.025794270194421376,
      -0.051608650171406534,
      -0.04985752541690462,
      -0.053781203331505836,
      -0.040152056037656314,
      0.045598953593948166
    ],
    "v_ego": [
      8.720062571824558,
      8.709961451138637,
      8.759579764526885,
      8.880529822873623,
      9.024238209360794,
      9.155898651214294,
      9.245081137263686,
      9.319430404712136,
      9.419163048606135,
      9.540020475024372
    ],
    "ax_ego": [
      -0.01895905800790748,
      -0.018666127632729776,
      0.22071464738322508,
      0.2647625125449691,
      0.3110744147778356,
      0.22065655286566563,
      0.1419886181266982,
      0.1600348832572757,
      0.24092340282809255,
      0.24235200918988933
    ],
    "ay_ego": [
      0.1550252167046443,
      0.15506076075032657,
      0.3544686695599563,
      0.36325265965415976,
      0.3334935693495381,
      0.46826389707854504,
      0.5084913274028313,
      0.45206413010323326,
      0.2719605241757808,
      0.2706882351024244
    ],
    "a_ego": [
      0.15618022824566857,
      0.15618022872717077,
      0.4175679504812443,
      0.44950159376240895,
      0.4560540015468213,
      0.5176489076871934,
      0.5279433660170594,
      0.4795551496805794,
      0.3633271428619569,
      0.36332714869830685
    ],
    "yaw": [
      1.4578493588497845,
      1.4597387078495347,
      1.4724736315567986,
      1.4902230649576294,
      1.5116660195307898,
      1.5365242930560223,
      1.562845558577345,
      1.589144296050489,
      1.6070277651675273,
      1.6122930253632206
    ],
    "yaw_diff": [
      0.00377869799950048,
      0.025469847414527624,
      0.03549886680166159,
      0.042885909146320955,
      0.04971654705046502,
      0.05264253104264549,
      0.05259747494628764,
      0.03576693823407684,
      0.010530520391386577,
      0.010530520391386577
    ],
    "min_front_frame": [
      5,
      19.05727822401331
    ],
    "v_avg": 9.077396553654513,
    "v_std": 0.28791878603062643,
    "vy_max": 0.10868906858419924,
    "a_max": 0.5279433660170594,
    "ax_avg": 0.1764881855333014,
    "a_std": 0.12757601321521497,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "8c554c3017d05e9b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      23.562999890264162,
      19.05727822401331,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "8c554c3017d05e9b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "70f3a3d098bf5381": {
    "vx_ego": [
      1.1529995159309159,
      0.453974954766703,
      0.022035906308444833,
      -0.05422880997579145,
      -0.03663125101917341,
      -0.020082082362323058,
      -0.012113327836755079,
      0.001934737988673211,
      0.034688380740828945,
      0.07778533068410005
    ],
    "vy_ego": [
      -0.00572664152862834,
      0.004359773043319026,
      -0.009305754372476929,
      -0.018723826644852924,
      -0.007236985892204595,
      -0.0037272594530328544,
      -0.0023598141873246085,
      -0.0019238514564415214,
      -0.0025494099556163836,
      -0.0039086161124351655
    ],
    "v_ego": [
      1.1530137371948888,
      0.453995888942201,
      0.023920247307990614,
      0.057370249394760375,
      0.03733928917418838,
      0.020425045778096795,
      0.012341046725436379,
      0.0027284456218270915,
      0.034781938553543966,
      0.07788347032297152
    ],
    "ax_ego": [
      -1.3980453032935485,
      -1.398054042234659,
      -0.3297186141460432,
      0.024695805623219623,
      0.04569193555836388,
      0.020504051549562606,
      0.011371169205050144,
      0.04482114389803687,
      0.08619399199301404,
      0.0861939689450352
    ],
    "ay_ego": [
      0.019765239062471185,
      0.019137639087369596,
      -0.07361135500905279,
      0.035860410113544766,
      0.010099146470846115,
      0.003943340772705694,
      0.00152525709781888,
      0.00021829341884337973,
      -0.002716465156775996,
      -0.0027175413447989433
    ],
    "a_ego": [
      1.3981850144871195,
      1.3981850214612186,
      0.337835753141458,
      0.04354138064980794,
      0.04679471908783384,
      0.020879800439582843,
      0.011473007378378504,
      0.04482167547454287,
      0.08623678703801381,
      0.0862367979081922
    ],
    "yaw": [
      1.2218413454075296,
      1.2213924350153058,
      1.2218433018585944,
      1.2221688600831728,
      1.2221054006548295,
      1.2220698370995549,
      1.222089561194878,
      1.2220975757348276,
      1.2221749251065304,
      1.222187461675948
    ],
    "yaw_diff": [
      -0.0008978207844476671,
      0.0009017336865770886,
      0.000651116449156941,
      -0.00012691885668658642,
      -7.112711054935161e-05,
      3.944819064649607e-05,
      1.6029079898949306e-05,
      0.000154698743405568,
      2.507313883537421e-05,
      2.507313883537421e-05
    ],
    "min_front_frame": [
      9,
      36.222946393018276
    ],
    "v_avg": 0.1873799359015905,
    "v_std": 0.3460564743446577,
    "vy_max": 0.018723826644852924,
    "a_max": 1.3981850214612186,
    "ax_avg": -0.28063458929019686,
    "a_std": 0.5327768617507828,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "70f3a3d098bf5381",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.863677533104735,
    "right_rear_min": 5.81565197519206,
    "speed_mode": "decelerating",
    "front_frame": [
      36.75072708811952,
      36.37750094880582,
      36.38240019555226,
      36.415535052748055,
      36.414692121909155,
      36.39822071898908,
      36.38848307129305,
      36.35414308319553,
      36.298021002500406,
      36.222946393018276
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "70f3a3d098bf5381",
    "pedestrians": "No"
  },
  "fbc91394092b5dbb": {
    "vx_ego": [
      3.067175325133689,
      2.527629011948836,
      1.972888343381629,
      1.40841845568537,
      0.9092979314666851,
      0.5268361558347999,
      0.22856621426321408,
      0.024671998427696833,
      -0.033413770115890445,
      -0.012531111784323975
    ],
    "vy_ego": [
      -0.013430848760576986,
      -0.0008771597326215907,
      -0.004158323013146004,
      -0.01871649191124891,
      -0.029331160246460874,
      -0.021241526281703837,
      -0.007285875202405298,
      0.005951302949988796,
      0.008625637814916274,
      0.0010575852474165783
    ],
    "v_ego": [
      3.0672047311530055,
      2.527629164148619,
      1.97289272569529,
      1.4085428120524512,
      0.9097708750729472,
      0.5272642008837372,
      0.22868230862942265,
      0.025379627917265068,
      0.03450915329404196,
      0.012575660980909766
    ],
    "ax_ego": [
      -1.079098373167454,
      -1.0791204516250985,
      -1.1398484857805937,
      -1.1179697191887934,
      -0.878374688149673,
      -0.6515881654837886,
      -0.5414747181050654,
      -0.2741019706780343,
      0.04176518138170483,
      0.04176428911966814
    ],
    "ay_ego": [
      0.01903746106267068,
      0.01774175766323627,
      -0.007179630886194888,
      -0.0375109644616084,
      0.00045491626050153666,
      0.029138164512164666,
      0.02712270736878497,
      0.025857111464501203,
      -0.015137580874718119,
      -0.015140069608176057
    ],
    "a_ego": [
      1.0792662896136238,
      1.0792662873825614,
      1.1398710969385857,
      1.1185988402809606,
      0.878374805951787,
      0.6522393502615945,
      0.5421535867279427,
      0.27531887066249133,
      0.04442383066086642,
      0.044423839921956844
    ],
    "yaw": [
      -0.6319583211887356,
      -0.6331590341157967,
      -0.6305363202430849,
      -0.628530583510601,
      -0.6273341547404592,
      -0.6283365333165163,
      -0.6280354632490721,
      -0.6279519993379039,
      -0.6280785351309608,
      -0.6280191466887759
    ],
    "yaw_diff": [
      -0.0024014258541220634,
      0.00524542774542347,
      0.004011473464967885,
      0.0023928575402836216,
      -0.0020047571521142338,
      0.0006021401348883515,
      0.00016692782233640457,
      -0.00025307158611376224,
      0.00011877688436978673,
      0.00011877688436978673
    ],
    "min_front_frame": [
      7,
      10.129199384250702
    ],
    "v_avg": 1.0714451259827689,
    "v_std": 1.0655038887866046,
    "vy_max": 0.029331160246460874,
    "a_max": 1.1398710969385857,
    "ax_avg": -0.6678047101677127,
    "a_std": 0.418711401639687,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fbc91394092b5dbb",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.3291633201161765,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.664731395102597,
      13.235007125918028,
      12.131654042716866,
      11.27513863543684,
      10.697303030784528,
      10.346821264811075,
      10.203364349037951,
      10.129199384250702,
      10.134350758748488,
      10.144235355675765
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fbc91394092b5dbb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3d04f4c65587562b": {
    "vx_ego": [
      4.832957513209102,
      4.82163200623773,
      4.944798801007649,
      5.136069357835356,
      5.329160385781867,
      5.510707706056091,
      5.73385751576889,
      5.954821496403099,
      6.080709824571585,
      6.150172221731728
    ],
    "vy_ego": [
      0.07940621715341178,
      0.08825772893863215,
      0.1028177798573735,
      0.1355042600105293,
      0.16088521764383448,
      0.19665427057413176,
      0.2005510105579047,
      0.14994060732144399,
      0.11042456276172974,
      -0.003974662091495329
    ],
    "v_ego": [
      4.833609797222664,
      4.822439696905859,
      4.9458676365529115,
      5.137856542662153,
      5.331588362828008,
      5.514215476722054,
      5.737363742955051,
      5.956708926894814,
      6.081712386713344,
      6.1501735060808915
    ],
    "ax_ego": [
      -0.16475284684121783,
      0.18357148448741178,
      0.3946189734002251,
      0.4667004601972842,
      0.42163117080146606,
      0.4120445577236922,
      0.519754276107631,
      0.38938320332707843,
      0.1344104472412874,
      0.14902215158278503
    ],
    "ay_ego": [
      -1.8176118972672932,
      -1.8158078082125932,
      -1.925969972987898,
      -1.9415276786186417,
      -1.967658794682583,
      -1.7461431508363077,
      -0.8347436199062901,
      -0.4894513586564223,
      -0.5541641545153024,
      -0.5504148157518136
    ],
    "a_ego": [
      1.8250634261937022,
      1.825063419797442,
      1.9659818084149334,
      1.9968322529423068,
      2.0123255145435914,
      1.7941005046435556,
      0.9833317947195771,
      0.6254453705351688,
      0.5702316007354055,
      0.5702315942329621
    ],
    "yaw": [
      0.7355101160534376,
      0.5443606665435438,
      0.34937917503069854,
      0.15136510511040444,
      -0.039468301906225814,
      -0.21686474166254066,
      -0.3324675766398133,
      -0.38030962823632175,
      -0.416900768757882,
      -0.443355836135955
    ],
    "yaw_diff": [
      -0.38229889901978775,
      -0.38996298302569044,
      -0.3960281398405882,
      -0.3816668140332605,
      -0.3547928795126297,
      -0.23120566995454528,
      -0.0956841031930169,
      -0.07318228104312052,
      -0.05291013475614592,
      -0.05291013475614592
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.451153607553774,
    "v_std": 0.48704401901699657,
    "vy_max": 0.2005510105579047,
    "a_max": 2.0123255145435914,
    "ax_avg": 0.29063838780276435,
    "a_std": 0.6095814420975372,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "3d04f4c65587562b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.19774843802937,
    "right_rear_min": 27.043010557921452,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3d04f4c65587562b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "3b4031def0f45d96": {
    "vx_ego": [
      0.5983545631153873,
      1.088161172444667,
      1.5549257385795872,
      1.9759498192107705,
      2.319291216181764,
      2.558525713360887,
      2.6736666930711177,
      2.722558533976307,
      2.7657875626835855,
      2.8608877010403795
    ],
    "vy_ego": [
      0.25112405152876593,
      0.13632102653235606,
      0.028662850380279936,
      -0.05608349885093933,
      -0.16665101684851727,
      -0.1975834903760763,
      -0.12488868742490761,
      -0.07027416902469563,
      -0.04540549427782281,
      -0.0263266420280861
    ],
    "v_ego": [
      0.6489156127396136,
      1.096666840700031,
      1.5551898956362844,
      1.9767455695871534,
      2.325270802911895,
      2.5661436167132248,
      2.6765819191432496,
      2.7234653347820177,
      2.7661602449615645,
      2.8610088308225445
    ],
    "ax_ego": [
      0.9797519041991214,
      0.9798693747978772,
      0.8927053152530556,
      0.7903710662543069,
      0.5651896641767122,
      0.2884333768720416,
      0.07914346135717054,
      0.055254504552943284,
      0.07862954899928781,
      0.27146359982097457
    ],
    "ay_ego": [
      -0.23071537374986614,
      -0.23021595684348703,
      -0.28292918454769594,
      -0.341840899144943,
      -0.7697546570380148,
      -0.6534847904141663,
      -0.8445853448667278,
      -0.9774557059984423,
      -1.034839768301726,
      -1.0016903047481622
    ],
    "a_ego": [
      1.0065502359377523,
      1.0065502364274448,
      0.9364676734142411,
      0.8611281105040022,
      0.9549667996971919,
      0.7143081857269004,
      0.8482853837236872,
      0.9790161987742105,
      1.0378226977834901,
      1.0378226980820124
    ],
    "yaw": [
      -2.8804722132941634,
      -2.8809819210726264,
      -2.896463078367571,
      -2.9366359359146426,
      -3.013504863910595,
      3.138525738784929,
      2.9696741761753422,
      2.7813742822229144,
      2.5893744698322916,
      2.4005622993298976
    ],
    "yaw_diff": [
      -0.0010194155569260843,
      -0.030962314589888962,
      -0.08034571509414334,
      -0.15373785599190448,
      -0.26230940896812527,
      -0.3377031252191731,
      -0.3765997879048557,
      -0.3839996247812456,
      -0.3776243410047879,
      -0.3776243410047879
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.119614866799758,
    "v_std": 0.7370605167624401,
    "vy_max": 0.25112405152876593,
    "a_max": 1.0378226980820124,
    "ax_avg": 0.49808118162834913,
    "a_std": 0.09761922793455494,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "3b4031def0f45d96",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3b4031def0f45d96",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c41d82a41da35d8d": {
    "vx_ego": [
      8.250922119625201,
      8.16869677384328,
      8.108929779973383,
      8.025934979764383,
      7.930195911905576,
      7.855747906133464,
      7.751258666184302,
      7.643410465593943,
      7.532600148830257,
      7.4059504632522355
    ],
    "vy_ego": [
      0.05171113733119759,
      -0.004256944425795606,
      0.023369666767766084,
      -0.016641366615443687,
      -0.02938248157964196,
      -0.03554390270007168,
      -0.0632650393071903,
      -0.025760958404659196,
      0.006213040205990783,
      0.02823575512890031
    ],
    "v_ego": [
      8.251084163056666,
      8.168697883051708,
      8.108963455205851,
      8.025952232258073,
      7.930250344814323,
      7.855828316208257,
      7.751516843514938,
      7.643453877176793,
      7.532602711150124,
      7.406004288549508
    ],
    "ax_ego": [
      -0.1662001701183036,
      -0.16134449544079543,
      -0.06955109626584749,
      -0.2597982299581227,
      -0.13002948905803385,
      -0.177094088509867,
      -0.24613544318930786,
      -0.18975423527816776,
      -0.25375969288124933,
      -0.25195303978183725
    ],
    "ay_ego": [
      -0.34265692771061657,
      -0.3449698773843694,
      -0.7204013869022987,
      -0.8170743654524464,
      -0.7033152499927668,
      -0.43220696937884484,
      -0.2729439252535993,
      -0.10779770567203122,
      -0.14213740658766116,
      -0.14531582233965912
    ],
    "a_ego": [
      0.380836272767487,
      0.3808362673270913,
      0.7237510022394005,
      0.8573830176583226,
      0.7152342335886066,
      0.4670815566523541,
      0.3675337300532284,
      0.21823614538878777,
      0.29085567569269144,
      0.2908556729334318
    ],
    "yaw": [
      2.6925675986740565,
      2.6784448264496548,
      2.6422783290639,
      2.5997252615587607,
      2.5535938471707436,
      2.518438051576769,
      2.4994212090127608,
      2.482167470447769,
      2.469732440430251,
      2.457162596239395
    ],
    "yaw_diff": [
      -0.02824554444880345,
      -0.0723329947715099,
      -0.0851061350102782,
      -0.09226282877603431,
      -0.0703115911879495,
      -0.03803368512801608,
      -0.034507477129983144,
      -0.024870060035036445,
      -0.025139688381711878,
      -0.025139688381711878
    ],
    "min_front_frame": [
      9,
      43.6347185389414
    ],
    "v_avg": 7.867435411498624,
    "v_std": 0.267231308191401,
    "vy_max": 0.0632650393071903,
    "a_max": 0.8573830176583226,
    "ax_avg": -0.1905619980481532,
    "a_std": 0.20701887467739205,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "c41d82a41da35d8d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.412749638345673,
    "right_rear_min": 29.799541930753062,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      56.73581125519674,
      55.800349500368924,
      54.338971882577354,
      52.30086552553928,
      49.820830955675326,
      46.775912726805274,
      43.6347185389414
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c41d82a41da35d8d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "73471e4908bc5708": {
    "vx_ego": [
      5.018377313120346,
      4.73660745513666,
      4.6158862388944915,
      4.540135020515714,
      4.521092434686803,
      4.588619538573495,
      4.689811468742584,
      4.762294798355216,
      4.772569266684691,
      4.7648406390442535
    ],
    "vy_ego": [
      -0.04074864731355099,
      0.018589453161426794,
      0.023958178411187553,
      0.057993392958457735,
      0.043345018485252185,
      0.056104214703452504,
      0.046218743144105456,
      0.028531326201516993,
      0.006370330512782019,
      -0.0334847635586466
    ],
    "v_ego": [
      5.018542747561175,
      4.736643933401056,
      4.61594841443536,
      4.540505394572289,
      4.521300210515746,
      4.588962513759066,
      4.690039209278244,
      4.7623802644282796,
      4.7725735181780164,
      4.764958294138389
    ],
    "ax_ego": [
      -0.765341137544773,
      -0.35854156286764394,
      -0.11792156289974273,
      -0.15847147621864793,
      0.08085655149407556,
      0.16902312232404035,
      0.23569304389022178,
      0.05716043367235599,
      -0.015811913275077576,
      -0.015324801710441191
    ],
    "ay_ego": [
      -1.863772582550614,
      -1.982635419585489,
      -1.8739935298210746,
      -1.802127963669142,
      -1.3801229598602678,
      -0.6246412530935457,
      -0.21295592081773004,
      -0.22011453745495452,
      -0.1187799384292407,
      -0.11884376325505577
    ],
    "a_ego": [
      2.01479410766602,
      2.0147940984871133,
      1.8776999879661205,
      1.8090821999603022,
      1.382489481425801,
      0.647105486722561,
      0.31764986250518873,
      0.2274153134171496,
      0.11982775294009641,
      0.1198277497580927
    ],
    "yaw": [
      0.37974814295434456,
      0.1690097410562091,
      -0.03891007380114246,
      -0.2461186001371334,
      -0.4191948747083645,
      -0.5321838657171066,
      -0.5752605359212346,
      -0.5943360194168508,
      -0.6074336901541155,
      -0.6115335570081317
    ],
    "yaw_diff": [
      -0.4214768037962709,
      -0.4158396297147031,
      -0.4144170526719819,
      -0.34615254914246213,
      -0.2259779820174843,
      -0.08615334040825595,
      -0.03815096699123233,
      -0.02619534147452951,
      -0.008199733708032397,
      -0.008199733708032397
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.701185450026761,
    "v_std": 0.1389393225585206,
    "vy_max": 0.057993392958457735,
    "a_max": 2.01479410766602,
    "ax_avg": -0.08886793031356327,
    "a_std": 0.796187828004531,
    "ini_direction_judge": "right",
    "scenario_type": "side_to_main_ego",
    "scene_token": "73471e4908bc5708",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "73471e4908bc5708",
    "merging_vehicles": "No"
  },
  "a00a4902bd105b99": {
    "vx_ego": [
      6.530279170029298,
      6.491093748635315,
      6.416546441029288,
      6.278274680280529,
      6.156319230670636,
      6.05824897572124,
      5.98157192672218,
      5.922203042492788,
      5.7811136317606575,
      5.5797116875743535
    ],
    "vy_ego": [
      0.018067865761794533,
      -0.08036542832477744,
      -0.03880077645618574,
      -0.023922350860752672,
      -0.01816322148286087,
      -0.015826962084141805,
      -0.044850301726051534,
      -0.038869716162317935,
      -0.004839925818112434,
      0.019796405543511142
    ],
    "v_ego": [
      6.530304164913892,
      6.491591226782713,
      6.416663753863001,
      6.278320256240701,
      6.156346024432003,
      6.058269649376483,
      5.981740069922448,
      5.922330599632662,
      5.781115657743825,
      5.579746805557245
    ],
    "ax_ego": [
      -0.08138037968869764,
      -0.07067096444285807,
      -0.22644841350480938,
      -0.3262825940452378,
      -0.1613939233548664,
      -0.230792409805135,
      -0.07457969443479281,
      -0.16136834702311345,
      -0.4028579732546117,
      -0.4027845973063172
    ],
    "ay_ego": [
      0.2863018588057885,
      0.2891316849334065,
      0.08238806554368357,
      0.057337117692214584,
      0.020478299797414376,
      0.02245735461633208,
      0.07712551442777289,
      0.1331823604953319,
      0.06235344718623326,
      0.06282563182315976
    ],
    "a_ego": [
      0.29764327735382545,
      0.29764327045595096,
      0.24097028307008198,
      0.3312821701241108,
      0.1626879198295598,
      0.23188244694246493,
      0.10728688548809528,
      0.2092302190604419,
      0.4076548773053253,
      0.40765486853610783
    ],
    "yaw": [
      0.8018617765713578,
      0.8390795936813232,
      0.8470067838724189,
      0.8501598029966573,
      0.8523698102607201,
      0.8537428828534366,
      0.8627287574080547,
      0.8705433155861446,
      0.8730687403066368,
      0.8742409173729566
    ],
    "yaw_diff": [
      0.07443563421993082,
      0.015854380382191335,
      0.006306038248476753,
      0.004420014528125682,
      0.0027461451854329244,
      0.017971749109236157,
      0.015629116356179917,
      0.0050508494409844396,
      0.002344354132639559,
      0.002344354132639559
    ],
    "min_front_frame": [
      9,
      20.516064388964015
    ],
    "v_avg": 6.119642820846497,
    "v_std": 0.2982515279942498,
    "vy_max": 0.08036542832477744,
    "a_max": 0.4076548773053253,
    "ax_avg": -0.21385592968604397,
    "a_std": 0.09335841444044789,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "a00a4902bd105b99",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 28.435860749849763,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      24.10698702529811,
      24.308436805277275,
      24.3759192731368,
      24.418653740691923,
      24.338029106826593,
      24.06389922813199,
      23.602539292526178,
      22.888205541829866,
      21.827029453033095,
      20.516064388964015
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "a00a4902bd105b99",
    "merging_vehicles": "No"
  },
  "19f93eaa916d5528": {
    "vx_ego": [
      3.4664527982444984,
      2.708086797448381,
      2.0214986004264968,
      1.4712418782398573,
      0.992795092693264,
      0.5849690820183177,
      0.2933129260471099,
      0.09006894735414603,
      -0.007746811521517785,
      -0.03559683424078922
    ],
    "vy_ego": [
      -0.08890580325619712,
      -0.0281538893258928,
      0.02287573620248906,
      0.018046409954155074,
      0.000581627725961209,
      -0.004435101333044478,
      -0.004178081153495633,
      0.02537694915759936,
      0.021689605795242473,
      -0.014753580516228632
    ],
    "v_ego": [
      3.4675927160365507,
      2.7082331406284803,
      2.021628029790122,
      1.4713525536726324,
      0.9927952630661764,
      0.584985894736948,
      0.2933426817707279,
      0.09357566364194972,
      0.023031545504002472,
      0.038533138284015556
    ],
    "ax_ego": [
      -1.5168599807495144,
      -1.5170847803842165,
      -1.2292665666099967,
      -0.9716957699727654,
      -0.9420769365236822,
      -0.6892146150633378,
      -0.4774064880155552,
      -0.3355695616348241,
      -0.05570242500383027,
      -0.055696543493859975
    ],
    "ay_ego": [
      0.11030733606222554,
      0.1071713758715992,
      0.08398016877287573,
      -0.10580200333921236,
      0.03799089897791347,
      -0.05898570703477024,
      0.06008958203665582,
      0.058132650883199605,
      -0.07288063044647178,
      -0.07288512899734932
    ],
    "a_ego": [
      1.520865513314232,
      1.5208655215631781,
      1.232131876274715,
      0.9774388642230041,
      0.9428426500402896,
      0.6917341246832461,
      0.481173266785143,
      0.34056766698337054,
      0.09172974678686585,
      0.0917297497332446
    ],
    "yaw": [
      2.5668029042991103,
      2.564735646756292,
      2.5633436335391346,
      2.5629783645419826,
      2.5633951985264947,
      2.5630888703842567,
      2.5631347825607653,
      2.563137804655124,
      2.563193852974099,
      2.5631131923499524
    ],
    "yaw_diff": [
      -0.004134515085636892,
      -0.0027840264343144128,
      -0.0007305379943041146,
      0.0008336679690241766,
      -0.000612656284475932,
      9.182435301724468e-05,
      6.044188717524435e-06,
      0.00011209663794975455,
      -0.00016132124829315586,
      -0.00016132124829315586
    ],
    "min_front_frame": [
      7,
      10.438806667636657
    ],
    "v_avg": 1.1695070627131605,
    "v_std": 1.155759016360988,
    "vy_max": 0.08890580325619712,
    "a_max": 1.5208655215631781,
    "ax_avg": -0.7790573667451584,
    "a_std": 0.5103408561446141,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "19f93eaa916d5528",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.395067939425893,
      13.902976273081869,
      12.715721580927896,
      11.84406565431421,
      11.203390800866226,
      10.792524790827121,
      10.563547688696035,
      10.438806667636657,
      10.47563753720144,
      10.484122762238314
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "19f93eaa916d5528",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7fbe5b01c5a9525c": {
    "vx_ego": [
      6.085791432784475,
      5.414622684072064,
      4.750308828729898,
      4.150307378575013,
      3.7456226505607324,
      3.447105247739893,
      3.0341264836865594,
      2.534140783899314,
      2.085245116399159,
      1.691621266233832
    ],
    "vy_ego": [
      0.01316908116903659,
      -0.0022839575965769576,
      -0.02287980425647773,
      -0.019728012373224635,
      -0.021335628659587602,
      -0.05608987445665092,
      -0.05227200247273589,
      -0.02168104635859336,
      -0.004569076393107663,
      0.001166874238696436
    ],
    "v_ego": [
      6.085805681095294,
      5.41462316577341,
      4.75036392855874,
      4.1503542657376125,
      3.7456834155389997,
      3.4475615531869,
      3.034576721925263,
      2.5342335291746565,
      2.0852501221497697,
      1.6916216686866015
    ],
    "ax_ego": [
      -1.3423453703562997,
      -1.342310481392312,
      -1.314993033501209,
      -1.085124449772188,
      -0.5336132768352514,
      -0.6608977581409295,
      -0.9917200424069524,
      -1.0083886093804,
      -0.7872489685485533,
      -0.787257396548362
    ],
    "ay_ego": [
      -0.04017496006441362,
      -0.04132387106417351,
      -0.0671989247307831,
      0.06682904296376418,
      -0.09884684130174529,
      -0.07886351001942504,
      0.06200764233119216,
      0.04719967697494909,
      0.005380501671383653,
      0.003963074433025793
    ],
    "a_ego": [
      1.3429464325628067,
      1.3429464214090556,
      1.3167089175826543,
      1.0871803863558458,
      0.5426912817156611,
      0.6655864331011342,
      0.9936566762313432,
      1.0094926433781855,
      0.7872673550192443,
      0.787267371595614
    ],
    "yaw": [
      -1.9024819194133031,
      -1.903337831815778,
      -1.9046244603906768,
      -1.905358195176782,
      -1.9070072773229299,
      -1.9096851847725083,
      -1.9121324462558464,
      -1.9133129452051092,
      -1.9150512610184323,
      -1.9168517245946213
    ],
    "yaw_diff": [
      -0.001711824804949913,
      -0.002573257149797392,
      -0.0014674695722103337,
      -0.003298164292295791,
      -0.005355814899156819,
      -0.004894522966676362,
      -0.0023609978985255076,
      -0.0034766316266461317,
      -0.0036009271523780306,
      -0.0036009271523780306
    ],
    "min_front_frame": [
      9,
      12.026749014491672
    ],
    "v_avg": 3.6940074051827247,
    "v_std": 1.358172964714286,
    "vy_max": 0.05608987445665092,
    "a_max": 1.3429464325628067,
    "ax_avg": -0.9853899386882456,
    "a_std": 0.2744430541016816,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7fbe5b01c5a9525c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      74.9247421595189,
      25.8569822841283,
      23.450662974873758,
      67.31451171198425,
      19.168981168887633,
      17.30560283661987,
      15.599815285706221,
      14.099879739350134,
      12.936980328648715,
      12.026749014491672
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7fbe5b01c5a9525c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "045cd0254b3f5ad2": {
    "vx_ego": [
      2.054654747829852,
      2.5912165542432493,
      3.122430459193789,
      3.607051129713828,
      4.044575640510225,
      4.4552596851336785,
      4.846178279047966,
      5.255746713415355,
      5.731148520608316,
      6.350941462233108
    ],
    "vy_ego": [
      -0.1366261269196719,
      0.04748374705920799,
      0.07437622668598404,
      0.04785272112758377,
      0.020022279814962074,
      -0.0178398564739497,
      -0.07420467317208823,
      -0.11693814468828201,
      -0.15041664785980458,
      0.10450397537478573
    ],
    "v_ego": [
      2.059192276436764,
      2.5916515848429627,
      3.123316153641379,
      3.607368533334114,
      4.044625199384696,
      4.455295402378663,
      4.846746356664116,
      5.257047464619227,
      5.733122058113212,
      6.351801204192457
    ],
    "ax_ego": [
      1.0347497710770268,
      1.124260451804924,
      0.9874034699484946,
      0.9337695718350736,
      0.8307391968219033,
      0.8501308089170594,
      0.822506947951324,
      0.9478634383685791,
      1.0497445362377649,
      1.4284945251569805
    ],
    "ay_ego": [
      0.9098730604735685,
      0.7966269545331557,
      1.1160450484283906,
      1.4288498572729824,
      1.8316002676925585,
      2.1535768516261222,
      2.6001976053406173,
      2.7921119445173446,
      2.4986344019469557,
      2.3031588903748164
    ],
    "a_ego": [
      1.3778882664858925,
      1.3778882640408048,
      1.490141658563996,
      1.7069087637932143,
      2.0111904817166755,
      2.315300336485497,
      2.7271863277464714,
      2.948615642723265,
      2.7101914076230593,
      2.710191410715491
    ],
    "yaw": [
      -2.0130480394741777,
      -1.908238514438584,
      -1.7515361599186468,
      -1.5555889221181316,
      -1.3368738029013452,
      -1.0945914782040038,
      -0.8287082182458649,
      -0.5542319868654664,
      -0.30803984681890495,
      -0.1506122297609757
    ],
    "yaw_diff": [
      0.2096190500711872,
      0.3134047090398746,
      0.3918944756010303,
      0.43743023843357287,
      0.4845646493946827,
      0.5317665199162778,
      0.5489524627607971,
      0.49238428009312285,
      0.3148552341158585,
      0.3148552341158585
    ],
    "min_front_frame": [
      9,
      64.37429075017565
    ],
    "v_avg": 4.207016623360759,
    "v_std": 1.3147421456300856,
    "vy_max": 0.15041664785980458,
    "a_max": 2.948615642723265,
    "ax_avg": 1.000966271811913,
    "a_std": 0.5888682441858164,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "045cd0254b3f5ad2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      64.37429075017565
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "045cd0254b3f5ad2",
    "pedestrians": "No"
  },
  "b867b28707205c0b": {
    "vx_ego": [
      2.7469232302677162,
      3.4905011879532797,
      4.237399546500224,
      4.937219762535775,
      5.577764989924524,
      6.249841623055714,
      6.931801294195038,
      7.504958881558102,
      7.94700840939124,
      8.370560477950958
    ],
    "vy_ego": [
      -0.19481278080313968,
      0.00523172832256158,
      0.016288509033209442,
      0.018881124658280957,
      -0.02077413866834532,
      0.017336459730189824,
      0.029715595926635974,
      -0.1386095816735664,
      -0.4187194787590056,
      -0.08668613486737042
    ],
    "v_ego": [
      2.753822661782831,
      3.490505108732044,
      4.237430852793569,
      4.937255865401567,
      5.577803675970062,
      6.249865667845642,
      6.931864987061222,
      7.506238767186237,
      7.958031707704318,
      8.371009329884469
    ],
    "ax_ego": [
      1.4793822869613418,
      1.5107051310011033,
      1.5171863026519876,
      1.340674094375978,
      1.2732239322714658,
      1.4127511516235405,
      1.2634349420191437,
      1.0517830734356552,
      0.8380587611850083,
      0.9005900482778891
    ],
    "ay_ego": [
      0.7191471006226968,
      0.6507799062152579,
      1.367691949591879,
      2.128124714487625,
      2.569218953567374,
      2.5332510147529352,
      2.129418099530417,
      1.9682422794369046,
      1.41435821885671,
      1.3753869339530986
    ],
    "a_ego": [
      1.6449147404376316,
      1.6449147330991356,
      2.0426540446030605,
      2.515218047753293,
      2.8674004277530973,
      2.900556243233428,
      2.4760228785943497,
      2.2316418404682987,
      1.6440047622943421,
      1.644004760682303
    ],
    "yaw": [
      0.8414250904823423,
      0.8871463485880917,
      1.0147346388000305,
      1.203215867868567,
      1.4327400725087625,
      1.6418510641847721,
      1.8159001935177894,
      1.9801629962550467,
      2.1251174329243687,
      2.1699393201053163
    ],
    "yaw_diff": [
      0.0914425162114989,
      0.2551765804238775,
      0.37696245813707296,
      0.45904840928039103,
      0.4182219833520193,
      0.3480982586660346,
      0.3285256054745145,
      0.2899088733386441,
      0.08964377436189519,
      0.08964377436189519
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.8013828624361965,
    "v_std": 1.830579223034994,
    "vy_max": 0.4187194787590056,
    "a_max": 2.900556243233428,
    "ax_avg": 1.2587789723803113,
    "a_std": 0.4854798501480846,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "b867b28707205c0b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 23.374994583010537,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "b867b28707205c0b",
    "pedestrians": "No"
  },
  "6891e8163e4d5e58": {
    "vx_ego": [
      5.1557824577104565,
      4.229482479120302,
      3.2792388212270622,
      2.3466541173275064,
      1.5152715925953653,
      0.8383001573644832,
      0.39839608632439927,
      0.12209188066759687,
      -0.021596309359907057,
      -0.054116700432471354
    ],
    "vy_ego": [
      -0.02070803288444062,
      -0.0016508368304522791,
      0.00546692332634216,
      0.0036840551243420006,
      -0.00812051696342321,
      -0.010483145032308502,
      0.018306645108692808,
      0.023412543136247167,
      0.007685089012616889,
      -0.0033739666022457645
    ],
    "v_ego": [
      5.155824044113687,
      4.229482801294723,
      3.279243378264765,
      2.346657009158411,
      1.5152933518372764,
      0.8383657019267222,
      0.3988164676310819,
      0.12431642892657972,
      0.022922939844196556,
      0.054221775296746925
    ],
    "ax_ego": [
      -1.8526084549428863,
      -1.8525050440211537,
      -1.9485426788668934,
      -1.7818050769156553,
      -1.5438167936736051,
      -1.164059257680478,
      -0.5955714289219466,
      -0.5096935233125954,
      -0.0650409149651411,
      -0.06504048380937015
    ],
    "ay_ego": [
      0.0538531386850066,
      0.05730000625230963,
      0.0027008306242284064,
      0.03482620001744541,
      -0.0650454449539511,
      0.05604189099814178,
      0.06156700753953903,
      -0.040786454221531245,
      -0.022115976279785184,
      -0.02211725848900191
    ],
    "a_ego": [
      1.8533910132166107,
      1.853391008082302,
      1.9485445506458994,
      1.7821453914678396,
      1.5451864619967095,
      1.1654075033816598,
      0.5987452073841618,
      0.5113228163839086,
      0.06869815882766245,
      0.06869816341960146
    ],
    "yaw": [
      -1.6314710357899052,
      -1.629610435743515,
      -1.6275175833759365,
      -1.6235189463580337,
      -1.621283659339058,
      -1.6211847143604112,
      -1.6200656764865915,
      -1.619708010811369,
      -1.6200542887102207,
      -1.6200740232981612
    ],
    "yaw_diff": [
      0.003721200092780208,
      0.004185704735157003,
      0.007997274035805635,
      0.004470574037951369,
      0.0001978899572936399,
      0.0022380757476394564,
      0.000715331350444881,
      -0.0006925557977033314,
      -3.9469175880935126e-05,
      -3.9469175880935126e-05
    ],
    "min_front_frame": [
      8,
      11.79277797637685
    ],
    "v_avg": 1.7965143898294191,
    "v_std": 1.7785833876409656,
    "vy_max": 0.023412543136247167,
    "a_max": 1.9485445506458994,
    "ax_avg": -1.1378683657109727,
    "a_std": 0.7233488153285031,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6891e8163e4d5e58",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.453327222374364,
    "right_rear_min": 13.635713317301631,
    "speed_mode": "decelerating",
    "front_frame": [
      19.2466969256472,
      16.92829435022066,
      15.057217488961035,
      13.715689005677975,
      12.78157884530023,
      12.197224318728916,
      11.929935733042626,
      11.797865141276368,
      11.79277797637685,
      11.796664958535699
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6891e8163e4d5e58",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3043c8dc13aa548b": {
    "vx_ego": [
      3.1784048547611605,
      3.992419592802624,
      4.780039354191337,
      5.574245527645206,
      6.339018469449634,
      7.012545854939374,
      7.599082897130905,
      8.08000444929464,
      8.47380202125365,
      8.829732142344191
    ],
    "vy_ego": [
      0.0358722306267687,
      -0.006452911157801111,
      -0.020090894071025822,
      -0.01769868793559537,
      0.0036435884301724286,
      0.010613926214664726,
      0.04995887136091026,
      0.03929219769326586,
      0.015570213653573362,
      -0.017821507908838186
    ],
    "v_ego": [
      3.1786072795643463,
      3.9924248076897677,
      4.7800815758355535,
      5.574273624969196,
      6.339019516594047,
      7.012553887354954,
      7.599247118385813,
      8.080099985607896,
      8.473816326010121,
      8.829750127364324
    ],
    "ax_ego": [
      1.6280144523331346,
      1.6280972991815534,
      1.5231571050613968,
      1.6597700469489791,
      1.409007075698002,
      1.2909950016487133,
      1.0510553430158733,
      0.8724001224978146,
      0.7064265669224469,
      0.7170047703890676
    ],
    "ay_ego": [
      -0.09190635356200777,
      -0.09042688557821321,
      -0.28235342209739267,
      -0.6900493121038761,
      -1.0066254498817009,
      -1.097526195677221,
      -0.7343414858043174,
      -0.36358415183295706,
      -0.47063157612298545,
      -0.45435309217551545
    ],
    "a_ego": [
      1.630606584934153,
      1.630606585672229,
      1.549106523667473,
      1.7974995582430748,
      1.731645383938805,
      1.694470963008713,
      1.282175788203594,
      0.9451324823527614,
      0.8488419021807534,
      0.8488419011395067
    ],
    "yaw": [
      -0.312247926214794,
      -0.3131566571097647,
      -0.3312400052857255,
      -0.3788065687036808,
      -0.4531731865276068,
      -0.5327971205277876,
      -0.6005635629064463,
      -0.6341166227761637,
      -0.6563909179441494,
      -0.6792620911254987
    ],
    "yaw_diff": [
      -0.0018174617899413548,
      -0.0361666963519216,
      -0.09513312683591058,
      -0.148733235647852,
      -0.15924786800036161,
      -0.1355328847573174,
      -0.0671061197394347,
      -0.04454859033597147,
      -0.045742346362698694,
      -0.045742346362698694
    ],
    "min_front_frame": [
      9,
      33.43624708655636
    ],
    "v_avg": 6.385987424937602,
    "v_std": 1.852621276003088,
    "vy_max": 0.04995887136091026,
    "a_max": 1.7974995582430748,
    "ax_avg": 1.2485927783696982,
    "a_std": 0.36214197021924444,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "3043c8dc13aa548b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.975116461434347,
    "right_rear_min": 11.562568356832877,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      45.73523913185377,
      41.871384736863014,
      37.72722806747725,
      33.43624708655636
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "3043c8dc13aa548b",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "988cf241460c557e": {
    "vx_ego": [
      7.781417154855871,
      7.861631636421869,
      7.924167094402358,
      7.893894556857245,
      7.642402630760908,
      7.107974410726213,
      6.379995989130329,
      5.493788859300969,
      4.4423653085323025,
      3.3207014548535407
    ],
    "vy_ego": [
      -0.06866359516396003,
      -0.060065521010433165,
      -0.02156516887882093,
      -0.007119758196924952,
      -0.03385018516150873,
      -0.022697426705139967,
      -0.026876225114827734,
      -0.06634259304766082,
      -0.07579300861331306,
      -0.0425002745230961
    ],
    "v_ego": [
      7.781720094374127,
      7.861861093507278,
      7.924196438536709,
      7.89389776762641,
      7.6424775960219025,
      7.108010649732996,
      6.380052597964652,
      5.494189418852588,
      4.443011829221925,
      3.3209734153710055
    ],
    "ax_ego": [
      0.15557034587978652,
      0.17385810412220265,
      0.07625562002217055,
      -0.1975862358067001,
      -0.8080950827914256,
      -1.329729726571516,
      -1.5823134219563773,
      -1.9626017079955616,
      -2.2435769979828337,
      -2.2436991115608445
    ],
    "ay_ego": [
      0.5462214358702345,
      0.5406786121347616,
      0.21118248913018206,
      -0.04650039666274347,
      0.01820350650073524,
      -0.006689805932957774,
      -0.05765700804358301,
      -0.113278648116233,
      0.04893950567952721,
      0.04297812474165412
    ],
    "a_ego": [
      0.5679436499524377,
      0.5679436609285632,
      0.22452831291439646,
      0.2029842542416859,
      0.8083000868987973,
      1.3297465545100613,
      1.5833635387616574,
      1.9658681330003132,
      2.244110697156854,
      2.2441106974534994
    ],
    "yaw": [
      3.039242632680611,
      3.0728906802193037,
      3.0917975216797142,
      3.0951620191673834,
      3.097667760061789,
      3.0965556767291806,
      3.094798196953887,
      3.094252188335111,
      3.092926162212687,
      3.0902691505850663
    ],
    "yaw_diff": [
      0.06729609507738576,
      0.0378136829208211,
      0.006728994975338409,
      0.005011481788811167,
      -0.0022241666652167424,
      -0.0035149595505874487,
      -0.0010920172375517012,
      -0.00265205224484788,
      -0.005314023255241551,
      -0.005314023255241551
    ],
    "min_front_frame": [
      0,
      17.228408053599132
    ],
    "v_avg": 6.58503909012096,
    "v_std": 1.5631643139632654,
    "vy_max": 0.07579300861331306,
    "a_max": 2.2441106974534994,
    "ax_avg": -0.9961918214641099,
    "a_std": 0.7630122803169724,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "988cf241460c557e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.228408053599132,
      19.106678442905956,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      0,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "988cf241460c557e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fc6dc98b89a95817": {
    "vx_ego": [
      11.457470887255903,
      11.245827505248368,
      10.947551507975053,
      10.526956165568695,
      10.057381975636803,
      9.521754639650922,
      8.940083752390894,
      8.355397073415588,
      7.810432527338154,
      7.31481042697167
    ],
    "vy_ego": [
      -0.006478962095199492,
      -0.0009872525931138298,
      0.017835188500462174,
      0.019320242314814884,
      -0.005222459985704919,
      -0.003832588604900433,
      -0.011423503176147598,
      -0.021061229641036405,
      -0.015492373721457398,
      0.009769903860574747
    ],
    "v_ego": [
      11.457472719115083,
      11.245827548583003,
      10.947566036051835,
      10.526973894883936,
      10.057383331560567,
      9.521755410975924,
      8.940091050777305,
      8.355423617617229,
      7.81044789226235,
      7.314816951472874
    ],
    "ax_ego": [
      -0.4232943637162048,
      -0.4232653050743509,
      -0.7698322674935822,
      -0.9123869471389229,
      -0.9658633567595473,
      -1.1767245389648473,
      -1.1499309753624283,
      -1.1893393407990391,
      -0.9912971770101457,
      -0.9912315652189884
    ],
    "ay_ego": [
      0.03156140734424259,
      0.031948673579763914,
      0.034537574838593654,
      -0.08134154955133266,
      -0.08288196285245181,
      -0.08314556272655688,
      -0.15416367526965385,
      -0.14505295102273313,
      -0.01296803473140945,
      -0.017270135655841734
    ],
    "a_ego": [
      0.4244693637795971,
      0.42446935840315925,
      0.7706066208838604,
      0.9160056708300968,
      0.9694129376571656,
      1.1796583510504846,
      1.1602188099107138,
      1.1981520880809315,
      0.9913819965447624,
      0.9913820017894499
    ],
    "yaw": [
      -2.002538862188063,
      -2.001623945628724,
      -2.001821510982298,
      -2.003047541363003,
      -2.0046509404773127,
      -2.009021051419064,
      -2.0146277561998094,
      -2.022159090460875,
      -2.0277526736417575,
      -2.0320926772161556
    ],
    "yaw_diff": [
      0.0018298331186779038,
      -0.000395130707147473,
      -0.0024520607614100243,
      -0.0032067982286196894,
      -0.008740221883502208,
      -0.011213409561491083,
      -0.01506266852213134,
      -0.011187166361764866,
      -0.008680007148796243,
      -0.008680007148796243
    ],
    "min_front_frame": [
      7,
      15.098723469635148
    ],
    "v_avg": 9.617775845330012,
    "v_std": 1.39482394841107,
    "vy_max": 0.021061229641036405,
    "a_max": 1.1981520880809315,
    "ax_avg": -0.8993165837538057,
    "a_std": 0.2693562784191638,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fc6dc98b89a95817",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.255454866788616,
    "right_rear_min": 3.2606310932959257,
    "speed_mode": "decelerating",
    "front_frame": [
      20.284593127482523,
      19.712943412490638,
      18.970041760083234,
      18.189671717378328,
      17.394996081578377,
      16.6219352791099,
      15.839494373631293,
      15.098723469635148,
      33.28883258812473,
      30.895334508454848
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.8,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fc6dc98b89a95817",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "7eab8efaacef55bb": {
    "vx_ego": [
      11.105903163301564,
      10.96258669245092,
      10.81039591093682,
      10.65250663740462,
      10.472300525319335,
      10.290592543386957,
      10.134830034387177,
      9.955209110345915,
      9.76174711167531,
      9.602815847179823
    ],
    "vy_ego": [
      0.12475192684124625,
      0.04416515381996966,
      0.013710356261437795,
      0.009934467657098267,
      -0.0005425077345257989,
      -0.03509569121973577,
      -0.049623247302426066,
      -0.00665814601452519,
      0.03993035139712431,
      0.06824444677113872
    ],
    "v_ego": [
      11.106603806559514,
      10.962675656531754,
      10.810404605058423,
      10.65251126981789,
      10.472300539371389,
      10.290652389501524,
      10.134951519005368,
      9.955211336863856,
      9.761828778731164,
      9.603058340933009
    ],
    "ax_ego": [
      -0.2864715824956475,
      -0.28584745139674095,
      -0.32255625651074277,
      -0.30707095881662466,
      -0.40853501572205736,
      -0.318756895377079,
      -0.3113460687177956,
      -0.4105390127190056,
      -0.3510950061912347,
      -0.26958165571255643
    ],
    "ay_ego": [
      -0.22255132499482827,
      -0.22335240012206867,
      -0.12817952556859274,
      -0.3738228316487142,
      -0.7458768938545027,
      -0.8624724681573726,
      -0.8538822738862781,
      -0.939770626312073,
      -1.2174133077433211,
      -1.2380180118435438
    ],
    "a_ego": [
      0.3627603338769473,
      0.36276033425706955,
      0.3470915288352823,
      0.48377275988879753,
      0.8504311846687319,
      0.9194915533488626,
      0.9088736502744632,
      1.0255296734094443,
      1.2670291493264696,
      1.2670291499195132
    ],
    "yaw": [
      2.1886586483487935,
      2.185859239912252,
      2.180586296039359,
      2.1692415717051503,
      2.1437634463350053,
      2.1083258622739542,
      2.067735092675256,
      2.0188875072888743,
      1.9594306963066697,
      1.893060757064841
    ],
    "yaw_diff": [
      -0.005598816873082946,
      -0.010545887745785798,
      -0.02268944866841771,
      -0.05095625074029009,
      -0.07087516812210204,
      -0.0811815391973969,
      -0.09769517077276291,
      -0.11891362196440936,
      -0.13273987848365731,
      -0.13273987848365731
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.375019824237388,
    "v_std": 0.48677479998291356,
    "vy_max": 0.12475192684124625,
    "a_max": 1.2670291499195132,
    "ax_avg": -0.3271799903659484,
    "a_std": 0.34627184876861145,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "7eab8efaacef55bb",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 18.78991621955259,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "7eab8efaacef55bb",
    "road_shape": "Curve"
  },
  "baa0c0c3397d5ed5": {
    "vx_ego": [
      8.917617271261326,
      8.872879093554436,
      8.846587776816005,
      8.840387277028956,
      8.88524083601672,
      8.987584410648822,
      9.044661507188742,
      9.056723979312256,
      9.04254692231629,
      8.994911868006916
    ],
    "vy_ego": [
      0.11929961732515748,
      0.04897223743004098,
      -0.01924359352676186,
      -0.1026515593828572,
      -0.0842026516839347,
      -0.08645448341464634,
      -0.12226597536955808,
      -0.0528685755474938,
      0.03270156459262896,
      0.0935565168297785
    ],
    "v_ego": [
      8.91841522891776,
      8.873014239190328,
      8.846608706662806,
      8.840983234374963,
      8.88563980817193,
      8.988000217859378,
      9.045487866796064,
      9.05687828800465,
      9.04260605326908,
      8.99539839779501
    ],
    "ax_ego": [
      -0.08939555674123006,
      -0.08925490725450791,
      -0.015673688931085616,
      -0.006548615939840657,
      0.18847763383595673,
      0.22304880970922597,
      0.010292751976412134,
      0.039105634634889586,
      -0.09579635201624927,
      -0.0953772934123194
    ],
    "ay_ego": [
      -0.15659078126338832,
      -0.1566709849423114,
      -0.21223739287477142,
      0.10527013856983608,
      0.183808681450628,
      0.07512777012523222,
      0.1722850476545477,
      0.21686446723419733,
      0.1668576602995539,
      0.16709755169241833
    ],
    "a_ego": [
      0.18031150363122375,
      0.18031149711486724,
      0.2128153553176756,
      0.10547362914605729,
      0.2632668794835754,
      0.2353613251082094,
      0.17259223154179826,
      0.2203620834194706,
      0.19240171480593013,
      0.1924017148578985
    ],
    "yaw": [
      2.5829482821573517,
      2.5820502654022097,
      2.579337293664127,
      2.585745768142785,
      2.591835151958181,
      2.599334585837177,
      2.610134850633677,
      2.6132176041562376,
      2.6143603150942445,
      2.616869978254228
    ],
    "yaw_diff": [
      -0.001796033510284012,
      -0.005425943476165429,
      0.012816948957316221,
      0.012178767630791398,
      0.014998867757991974,
      0.021600529592999962,
      0.006165507045121643,
      0.0022854218760137712,
      0.0050193263199673765,
      0.0050193263199673765
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.949303204104197,
    "v_std": 0.08139902471027707,
    "vy_max": 0.12226597536955808,
    "a_max": 0.2632668794835754,
    "ax_avg": 0.0068878415861251515,
    "a_std": 0.04026078008215115,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "baa0c0c3397d5ed5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "baa0c0c3397d5ed5",
    "pedestrians": "No"
  },
  "92c38e520e515a8a": {
    "vx_ego": [
      11.985043324406139,
      11.983142793855155,
      11.99957305915426,
      12.073739382142683,
      12.1529581171396,
      12.091797683575594,
      11.878189108505708,
      11.6393764756037,
      11.395021479485145,
      11.12418107998454
    ],
    "vy_ego": [
      0.01375724830051439,
      -0.0123850554743834,
      -0.017194334142112133,
      0.005104576601548061,
      0.02531250617601799,
      -0.004208894636865246,
      -0.012892958595082327,
      -0.009236030707648446,
      0.007088363170858258,
      -0.003655493342394678
    ],
    "v_ego": [
      11.985051220156421,
      11.983149194077567,
      11.999585378133167,
      12.073740461207763,
      12.15298447789341,
      12.091798416088409,
      11.878196105714242,
      11.639380140071895,
      11.395023684171099,
      11.124181680596447
    ],
    "ax_ego": [
      -0.010452267988947161,
      0.0027837458204110765,
      0.06227462995395777,
      0.23440815673435647,
      0.08140648280967619,
      -0.3266661360849847,
      -0.5268137818202365,
      -0.426589033374396,
      -0.5506663456791562,
      -0.532288607601529
    ],
    "ay_ego": [
      0.5376216766432337,
      0.5377160687305045,
      0.34929278371773065,
      0.3039138984512685,
      0.148972481504762,
      -0.06615337934700746,
      -0.3655505241216626,
      -0.6265369229909198,
      -0.646474526482937,
      -0.6616884324659418
    ],
    "a_ego": [
      0.5377232718627626,
      0.537723274381704,
      0.3548007585859756,
      0.38381094514805925,
      0.16976399997976238,
      0.3332972158055372,
      0.6412175499792266,
      0.7579754080880403,
      0.8492130107664234,
      0.8492130141734815
    ],
    "yaw": [
      -1.1125399947324173,
      -1.0879238163258398,
      -1.0690189241372983,
      -1.0572836344361447,
      -1.0496171673418861,
      -1.0454912730270554,
      -1.0537544908679894,
      -1.0751799720761461,
      -1.1041890974512971,
      -1.1322842857250208
    ],
    "yaw_diff": [
      0.049232356813154965,
      0.037809784377083044,
      0.023470579402307123,
      0.015332934188517111,
      0.008251788629661583,
      -0.01652643568186818,
      -0.042850962416313365,
      -0.05801825075030198,
      -0.05619037654744741,
      -0.05619037654744741
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.832309075811043,
    "v_std": 0.32163813916934386,
    "vy_max": 0.02531250617601799,
    "a_max": 0.8492130141734815,
    "ax_avg": -0.19926031572308478,
    "a_std": 0.2207865046782448,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "92c38e520e515a8a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "92c38e520e515a8a",
    "road_shape": "Straight"
  },
  "178d9a3c6c6852a4": {
    "vx_ego": [
      6.166795410787568,
      6.1272578081338365,
      6.006344077885535,
      5.666889458566919,
      5.149043957074379,
      4.535250017508265,
      3.882597256271132,
      3.2289251362593747,
      2.5149268435037166,
      1.757825446272979
    ],
    "vy_ego": [
      -0.03486219169387894,
      0.006092405312321247,
      0.0348083518997333,
      0.046864139839687624,
      0.03249737178182999,
      0.026668415791342603,
      0.032259633846228875,
      -0.016085059596032014,
      -0.03497781952873247,
      -0.02029586049041776
    ],
    "v_ego": [
      6.166893951651862,
      6.127260837008619,
      6.006444938839663,
      5.667083234188445,
      5.149146507049193,
      4.5353284253413815,
      3.8827312730061574,
      3.2289652002940246,
      2.515170069008168,
      1.757942610416462
    ],
    "ax_ego": [
      -0.08092150994636567,
      -0.07827316668253001,
      -0.4041621564054286,
      -0.9514988055442568,
      -1.1186700363254352,
      -1.3362796108075023,
      -1.2730534669704665,
      -1.3416076186330108,
      -1.5140550182085613,
      -1.5138344036629385
    ],
    "ay_ego": [
      -0.1433393954002109,
      -0.14480256494520266,
      -0.13296909640333776,
      -0.13185697010301428,
      -0.10618924247358885,
      0.009850135997299891,
      -0.1087180416814757,
      -0.0988979312549817,
      0.04528564699988524,
      0.05214187087436806
    ],
    "a_ego": [
      0.16460398854735495,
      0.16460398366145565,
      0.42547365284892347,
      0.9605916080816523,
      1.1236987164669474,
      1.3363159145348136,
      1.2776872631252845,
      1.3452478593852708,
      1.5147321175662465,
      1.5147321137454648
    ],
    "yaw": [
      2.588506120646234,
      2.570124388903884,
      2.554052975794006,
      2.540799679717555,
      2.532484029287341,
      2.528734902810868,
      2.5215204491550516,
      2.520521859797173,
      2.5224191192093066,
      2.526947830263632
    ],
    "yaw_diff": [
      -0.036763463484700054,
      -0.03214282621975606,
      -0.026506592152902186,
      -0.016631300860427523,
      -0.0074982529529465936,
      -0.0144289073116326,
      -0.0019971787157571086,
      0.003794518824267179,
      0.00905742210865057,
      0.00905742210865057
    ],
    "min_front_frame": [
      9,
      13.57069305735055
    ],
    "v_avg": 4.503696704680398,
    "v_std": 1.514445583773488,
    "vy_max": 0.046864139839687624,
    "a_max": 1.5147321175662465,
    "ax_avg": -0.9612355793186496,
    "a_std": 0.5078436515913648,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "178d9a3c6c6852a4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      29.55099411184476,
      27.835358383431107,
      25.96942101874965,
      23.844795732894298,
      21.58923250425609,
      19.363260212456506,
      17.419801315253366,
      15.796540154362022,
      14.48915468708972,
      13.57069305735055
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "178d9a3c6c6852a4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "51467056c4f35555": {
    "vx_ego": [
      2.997960663074716,
      2.850051110227892,
      2.7110083547049504,
      2.5565894925752772,
      2.334158394265859,
      2.0574536913940675,
      1.7961021228468637,
      1.598226880888416,
      1.4340045901405776,
      1.2660247961375244
    ],
    "vy_ego": [
      0.027824764903405352,
      0.01695070232239937,
      -0.0011920630208441807,
      -0.008424616708130772,
      -0.016527713077946538,
      -0.030111032723935893,
      -0.02793444638096021,
      -0.02322753203942729,
      -0.03711090724215438,
      -0.0652137796115334
    ],
    "v_ego": [
      2.9980897843269005,
      2.8501015170025896,
      2.7110086167871708,
      2.5566033731717153,
      2.3342169082631035,
      2.057674018527419,
      1.7963193393685937,
      1.5983956584772612,
      1.4344847102637872,
      1.2677032860595896
    ],
    "ax_ego": [
      -0.2968463992767787,
      -0.29237904271180076,
      -0.26264942474984665,
      -0.35671400720511476,
      -0.5337043520999651,
      -0.5755278857179154,
      -0.4721930816227387,
      -0.3206455372715957,
      -0.33761236417175977,
      -0.33661970414170517
    ],
    "ay_ego": [
      -0.1690498018219353,
      -0.17666385012057584,
      -0.1977241103444084,
      -0.10634676406681529,
      -0.1430111822025266,
      -0.08529202288562149,
      -0.028748191225188457,
      -0.0507527878920777,
      -0.08508440533860027,
      -0.08893054233611895
    ],
    "a_ego": [
      0.34160740662290145,
      0.34160740705742065,
      0.32875453477163347,
      0.3722291191777096,
      0.5525328349387101,
      0.5818136096782673,
      0.47306739988198127,
      0.3246373454348845,
      0.34816872989036246,
      0.3481687329107043
    ],
    "yaw": [
      -0.38307416215299206,
      -0.4089169879318693,
      -0.43608826875319284,
      -0.4620870608709967,
      -0.48406649453789585,
      -0.5038258729773174,
      -0.5198594190557104,
      -0.534506903349637,
      -0.5477298930411194,
      -0.5591387399010941
    ],
    "yaw_diff": [
      -0.05168565155775451,
      -0.05434256164264706,
      -0.05199758423560774,
      -0.04395886733379828,
      -0.0395187568788431,
      -0.03206709215678605,
      -0.029294968587853187,
      -0.02644597938296478,
      -0.02281769371994935,
      -0.02281769371994935
    ],
    "min_front_frame": [
      9,
      11.604609473678565
    ],
    "v_avg": 2.1604597212248136,
    "v_std": 0.5874170806679592,
    "vy_max": 0.0652137796115334,
    "a_max": 0.5818136096782673,
    "ax_avg": -0.37848917989692205,
    "a_std": 0.09239289706777326,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "51467056c4f35555",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 20.24179830940511,
    "right_rear_min": 5.9161125032100506,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      15.778985888206298,
      14.744419647881944,
      13.831311158747228,
      13.159146759170664,
      12.674406228848317,
      12.288851825917195,
      11.936237610652102,
      11.604609473678565
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "51467056c4f35555",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9c68b0b158bb5d03": {
    "vx_ego": [
      4.55613961310038,
      5.286905309821562,
      5.96380468328593,
      6.583012774435281,
      7.1699676884748325,
      7.74858025910231,
      8.25504752485415,
      8.605754471158908,
      8.742240691593514,
      8.729216112792164
    ],
    "vy_ego": [
      0.025950698452549742,
      0.03413045108552357,
      0.06265426060137785,
      0.04721731214563904,
      0.029781985218159807,
      -0.0013128677058771021,
      -0.01998759995309013,
      0.007363025934749107,
      -0.022403220254265183,
      -0.0075499837856023155
    ],
    "v_ego": [
      4.556213517035023,
      5.2870154759288095,
      5.964133789307102,
      6.583182107685033,
      7.170029541111854,
      7.7485803703240785,
      8.255071722386942,
      8.60575762103619,
      8.742269397246414,
      8.729219377818701
    ],
    "ax_ego": [
      1.4613347677334372,
      1.4614323248278145,
      1.2462152170536736,
      1.229541371209925,
      1.1178602110005398,
      1.1959783653040585,
      0.8312158332053523,
      0.5719618218388448,
      -0.026284562420839756,
      -0.025446085620767847
    ],
    "ay_ego": [
      0.0420016941825366,
      0.038457707799313956,
      0.06928784550349049,
      -0.030971910681582226,
      0.07571298477873618,
      -0.04406708651054171,
      0.21626312343012433,
      0.23504155260015058,
      0.13671591613832526,
      0.13687445663527337
    ],
    "a_ego": [
      1.4619382496195734,
      1.4619382460763546,
      1.2481398850892678,
      1.229931397586081,
      1.1204213079918985,
      1.1967899391241956,
      0.8588885259025302,
      0.6183727493105593,
      0.13921968232687723,
      0.13921968306464708
    ],
    "yaw": [
      -1.6153849686785131,
      -1.6129598812748402,
      -1.6132407284416557,
      -1.6092544440422356,
      -1.6051007888378628,
      -1.5998647070925376,
      -1.5921947305844424,
      -1.582094676351434,
      -1.5680694493525458,
      -1.5619400427380308
    ],
    "yaw_diff": [
      0.004850174807345731,
      -0.0005616943336308466,
      0.007972568798840118,
      0.00830731040874566,
      0.010472163490650388,
      0.0153399530161904,
      0.02020010846601661,
      0.028050453997776614,
      0.012258813229029997,
      0.012258813229029997
    ],
    "min_front_frame": [
      7,
      20.369296679835696
    ],
    "v_avg": 7.164147291988016,
    "v_std": 1.4370931936346492,
    "vy_max": 0.06265426060137785,
    "a_max": 1.4619382496195734,
    "ax_avg": 0.9063809264132038,
    "a_std": 0.47056385222990627,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "9c68b0b158bb5d03",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.916786612143944,
    "right_rear_min": 33.89162770598871,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      20.369296679835696,
      24.238521189015838,
      28.7710235056093
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.3333333333333333,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9c68b0b158bb5d03",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "7db790f4d8965df8": {
    "vx_ego": [
      7.449106713277864,
      7.4369369669951295,
      7.480283519565885,
      7.545845038654916,
      7.6242093369567145,
      7.6682720656543175,
      7.720471080420677,
      7.791603998736486,
      7.836375039138965,
      7.879260415966659
    ],
    "vy_ego": [
      -0.01289007461872993,
      -0.006766947572456772,
      0.00997614117231016,
      0.0059008130851527785,
      0.022488235951155344,
      0.06422839001917424,
      0.07503516570458002,
      0.07368522942517108,
      0.04791281738529163,
      -0.04124873473449897
    ],
    "v_ego": [
      7.449117865883518,
      7.436940045653062,
      7.480290171943979,
      7.545847345857725,
      7.624242502340422,
      7.668541045008418,
      7.7208357047475324,
      7.791952411697714,
      7.836521510983685,
      7.87936838590101
    ],
    "ax_ego": [
      -0.12972051679878366,
      0.07657519727497741,
      0.10439667002072853,
      0.16510984557458844,
      0.1508027967184919,
      0.03237142182692121,
      0.18654631536374394,
      0.10307341589510566,
      0.07997412685318342,
      0.09184427133888465
    ],
    "ay_ego": [
      -1.7416830450891658,
      -1.7448276361788084,
      -1.8553605998098068,
      -1.9081899609910742,
      -1.8337672606041011,
      -1.6045929085136776,
      -1.2611789022088788,
      -0.8186882991423208,
      -0.5311011231303688,
      -0.5291775647232518
    ],
    "a_ego": [
      1.746507154875013,
      1.7465071545261504,
      1.8582953532843005,
      1.9153198658012143,
      1.839957567326374,
      1.604919409504253,
      1.2749006828583087,
      0.8251512953494234,
      0.5370886928210911,
      0.5370886939642298
    ],
    "yaw": [
      1.853791559276078,
      1.7355900180263766,
      1.6127702836470832,
      1.488114763775266,
      1.362788106923003,
      1.2452724512110611,
      1.1505888172359569,
      1.0838372338573574,
      1.0439704603089932,
      1.0215807843511961
    ],
    "yaw_diff": [
      -0.236403082499403,
      -0.24563946875858678,
      -0.24931103974363422,
      -0.25065331370452615,
      -0.23503131142388378,
      -0.18936726795020853,
      -0.13350316675719887,
      -0.07973354709672842,
      -0.04477935191559412,
      -0.04477935191559412
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.643365699001706,
    "v_std": 0.1544450618698677,
    "vy_max": 0.07503516570458002,
    "a_max": 1.9153198658012143,
    "ax_avg": 0.08609735440678415,
    "a_std": 0.5277599194978739,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "7db790f4d8965df8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7db790f4d8965df8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3fd20b372fd15206": {
    "vx_ego": [
      9.103733894723348,
      8.653876631573771,
      8.207205734413963,
      7.820691544770677,
      7.470678500612489,
      7.160937538303879,
      6.894998979516283,
      6.562769567536848,
      6.125056275924107,
      5.662959819203613
    ],
    "vy_ego": [
      0.09343430012227108,
      -0.06555201303168992,
      -0.044984918999054144,
      -0.0033092347920801735,
      0.021898499705863855,
      0.01681387713681423,
      -0.018001752858739034,
      -0.042249836950406405,
      -0.053389974104281424,
      0.10675333022491484
    ],
    "v_ego": [
      9.104213353957281,
      8.654124902086352,
      8.207329018014008,
      7.820692244902778,
      7.470710595639683,
      7.160957277763497,
      6.895022479342368,
      6.562905564253543,
      6.125288962373298,
      5.663965941584459
    ],
    "ax_ego": [
      -0.905112303203845,
      -0.8956841238379397,
      -0.8888077115077279,
      -0.6567911574481267,
      -0.7436091085311018,
      -0.4955443032183532,
      -0.5676942632098972,
      -0.76025867727094,
      -0.9858275286779298,
      -0.8420625297701523
    ],
    "ay_ego": [
      0.26480164835914044,
      0.29512393928770275,
      0.2059211007494484,
      0.15974813434390572,
      0.0995651354562261,
      -0.08759968178033387,
      -0.24359677258795528,
      -0.558514319817925,
      -1.0923545675078747,
      -1.2066586560194694
    ],
    "a_ego": [
      0.9430525936471872,
      0.9430525909174045,
      0.9123500686520876,
      0.6759394136521472,
      0.7502451082738472,
      0.5032274443034471,
      0.6177508916195072,
      0.9433618085376568,
      1.471425980963552,
      1.4714259805337204
    ],
    "yaw": [
      -1.6003024354014803,
      -1.5666290822562163,
      -1.5542095359666712,
      -1.5479801311246413,
      -1.5428054034291363,
      -1.5416967956340435,
      -1.5485155231136285,
      -1.574618123184666,
      -1.6376183404037903,
      -1.7625224008682614
    ],
    "yaw_diff": [
      0.06734670629052797,
      0.024839092579090227,
      0.01245880968405988,
      0.010349455391009954,
      0.002217215590185617,
      -0.013637454959170014,
      -0.05220520014207519,
      -0.12600043443824838,
      -0.24980812092894222,
      -0.24980812092894222
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.366521033991728,
    "v_std": 1.0464845630004123,
    "vy_max": 0.10675333022491484,
    "a_max": 1.471425980963552,
    "ax_avg": -0.7741391706676013,
    "a_std": 0.3103454876368353,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3fd20b372fd15206",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.2908584555497,
    "right_rear_min": 9.752151038877653,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3fd20b372fd15206",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3a76a6ab17535552": {
    "vx_ego": [
      8.50483032499078,
      8.16875386404043,
      7.839534137156435,
      7.503949540388744,
      7.118166137766778,
      6.669918009168095,
      6.242754033116897,
      5.880145699004009,
      5.501144817668247,
      5.087738664402043
    ],
    "vy_ego": [
      -0.050026039421836366,
      -0.0205452524702725,
      -0.0031281807687801866,
      -0.0025493709615869165,
      -0.02044042312634886,
      -0.022804328942481522,
      -0.010321314958454675,
      0.001929478251328831,
      0.005881805518457295,
      0.018974905264237396
    ],
    "v_ego": [
      8.504977452145479,
      8.168779700706496,
      7.839534761269702,
      7.503949973446834,
      7.118195485918267,
      6.6699569928481095,
      6.242762565366374,
      5.880146015568123,
      5.501147962070678,
      5.087774048076552
    ],
    "ax_ego": [
      -0.6725391131385183,
      -0.6724373251706873,
      -0.6446137345619988,
      -0.6975628868776125,
      -0.8458274061540958,
      -0.9476726109528426,
      -0.7612387721538554,
      -0.6891973878731931,
      -0.8268107194091892,
      -0.826811803473154
    ],
    "ay_ego": [
      -0.019560349410806394,
      -0.022792523183141428,
      -0.012406939929746896,
      -0.1129447146394173,
      -0.09234759694979433,
      -0.04355764264972206,
      0.02953462980246091,
      0.006939084682610619,
      0.0257582339161187,
      0.025723459253605974
    ],
    "a_ego": [
      0.6728235028372728,
      0.6728234949790046,
      0.6447331222640786,
      0.706647358810608,
      0.8508537357641249,
      0.9486730974278645,
      0.7618115006928405,
      0.6892323195755297,
      0.8272118545719823,
      0.8272118560069731
    ],
    "yaw": [
      -2.014778688382434,
      -2.0195849723031776,
      -2.0228618138081873,
      -2.0270185186200833,
      -2.0315797511780667,
      -2.036156758600049,
      -2.0386421745615015,
      -2.0391597117902904,
      -2.038420028085198,
      -2.038462086603372
    ],
    "yaw_diff": [
      -0.00961256784148734,
      -0.006553683010019462,
      -0.008313409623792012,
      -0.009122465115966705,
      -0.00915401484396483,
      -0.004970831922904928,
      -0.0010350744575777782,
      0.0014793674101847287,
      -8.411703634791934e-05,
      -8.411703634791934e-05
    ],
    "min_front_frame": [
      2,
      16.582556773150962
    ],
    "v_avg": 6.851722495741662,
    "v_std": 1.1055980594144732,
    "vy_max": 0.050026039421836366,
    "a_max": 0.9486730974278645,
    "ax_avg": -0.7584711759765146,
    "a_std": 0.09446173057427881,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3a76a6ab17535552",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.31357938451111,
    "right_rear_min": 31.375833176642082,
    "speed_mode": "decelerating",
    "front_frame": [
      23.50389266558575,
      23.059201076085422,
      16.582556773150962,
      21.783559123363858,
      21.048268668101567,
      20.43062696814043,
      19.770916388819323,
      19.276682841576836,
      18.628211318968734,
      17.89969571538111
    ],
    "safe_frame": [
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3a76a6ab17535552",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "9fe3ed9455355edb": {
    "vx_ego": [
      0.0037492755361860355,
      0.8268456756691716,
      1.6363130551203642,
      2.3479235976028177,
      2.937394392556433,
      3.4585317975559673,
      3.956106995563845,
      4.435506619149487,
      4.882812115734886,
      5.3234618953959
    ],
    "vy_ego": [
      0.0013418907508628269,
      0.01204537479970802,
      0.03699590650059903,
      0.044591003415421104,
      0.029554111143226258,
      0.02037855614873263,
      0.020626476936070448,
      0.018845515402609703,
      0.010018676486902578,
      0.010274865055186488
    ],
    "v_ego": [
      0.003982177524105911,
      0.8269334087016162,
      1.6367312276165384,
      2.348346988365593,
      2.9375430657111123,
      3.458591834873901,
      3.956160766690351,
      4.435546654243387,
      4.882822394010041,
      5.323471811194646
    ],
    "ax_ego": [
      1.6461970535508406,
      1.646193261992393,
      1.5914332368372786,
      1.2531662741803749,
      1.1042389013675509,
      0.9806261566787251,
      1.0098844312261188,
      0.9079302827848656,
      0.8812943670785952,
      0.8812950670004787
    ],
    "ay_ego": [
      0.021113168415481165,
      0.02140565369993075,
      0.09863988910578037,
      0.0027689192582627253,
      -0.032224660259230875,
      -0.04300016000592116,
      -0.005241749076864977,
      -0.03972624236538441,
      0.003048428869286468,
      0.0028385082909778148
    ],
    "a_ego": [
      1.646332440608521,
      1.646332426285614,
      1.594487245177326,
      1.2531693331936355,
      1.1047090024174866,
      0.9815684759215846,
      1.0098980346382929,
      0.9087989726723283,
      0.8812996393752994,
      0.8812996381757433
    ],
    "yaw": [
      2.4271334881769047,
      2.4269558246077514,
      2.4310423420320517,
      2.439770701296204,
      2.442653886381547,
      2.4396568733573916,
      2.436333570873852,
      2.4340855200868745,
      2.4340120363096256,
      2.4342502325838034
    ],
    "yaw_diff": [
      -0.00035532713830654927,
      0.008173034848600658,
      0.01745671852830455,
      0.005766370170685597,
      -0.005994026048310452,
      -0.006646604967079028,
      -0.00449610157395508,
      -0.00014696755449783439,
      0.0004763925483555198,
      0.0004763925483555198
    ],
    "min_front_frame": [
      0,
      12.948273294295191
    ],
    "v_avg": 2.9810130328931295,
    "v_std": 1.6766238671706357,
    "vy_max": 0.044591003415421104,
    "a_max": 1.646332440608521,
    "ax_avg": 1.1902259032697224,
    "a_std": 0.3060871540268963,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "9fe3ed9455355edb",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 26.268286875804872,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      12.948273294295191,
      14.117747617203621,
      15.277423293469608,
      16.613824199653884,
      18.02426057834453,
      19.388617006291053,
      21.01128323029888,
      22.510353805327078,
      23.990265442768955,
      25.356919695158634
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9fe3ed9455355edb",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "9d7030a6966b54cd": {
    "vx_ego": [
      0.30618037650210184,
      1.099725611333676,
      1.8405515052889845,
      2.420893739036037,
      2.6696283987848917,
      2.6259592655082713,
      2.554587167967288,
      2.7505028901146478,
      3.2734384056945123,
      3.8971684069348926
    ],
    "vy_ego": [
      -0.0154129107176679,
      0.017771011736883335,
      0.03614919334613498,
      0.02336479202739783,
      0.00615662960805663,
      0.006792989185846476,
      0.0031027353864825358,
      -0.010807020448030835,
      -0.021593207148422167,
      -0.03363043350760697
    ],
    "v_ego": [
      0.3065680687412824,
      1.099869187258821,
      1.840906463620877,
      2.4210064868170775,
      2.6696354979073296,
      2.625968051749834,
      2.5545890522175982,
      2.7505241210031217,
      3.2735096246186273,
      3.897313510364461
    ],
    "ax_ego": [
      1.5871839731602229,
      1.5870039716463333,
      1.376714861906692,
      0.9448384699887303,
      0.0501947209802633,
      -0.22487617309366909,
      -0.0606302180449376,
      0.8442891283884992,
      1.2474636731857913,
      1.2474623733230397
    ],
    "ay_ego": [
      0.060013526226842195,
      0.06459861563864888,
      -0.00831140569815636,
      -0.05417685491157326,
      -0.034979360422308745,
      0.028403594303231527,
      -0.039727458818128704,
      -0.017436487394015265,
      -0.02364780858228699,
      -0.023716085691382283
    ],
    "a_ego": [
      1.5883181633371983,
      1.588318163078061,
      1.3767399501937325,
      0.9463904405575716,
      0.06118059880256375,
      0.22666287167199745,
      0.07248651132674816,
      0.8444691607203033,
      1.2476877953915118,
      1.2476877917080347
    ],
    "yaw": [
      -0.6974071151854128,
      -0.700296097625847,
      -0.70317387239272,
      -0.7044727469319427,
      -0.7063849458593637,
      -0.7072351127871264,
      -0.7069007250014109,
      -0.707050848402504,
      -0.7068769153885819,
      -0.7068221774536283
    ],
    "yaw_diff": [
      -0.005777964880868458,
      -0.005755549533746018,
      -0.002597749078445455,
      -0.00382439785484201,
      -0.00170033385552526,
      0.0006687755714309684,
      -0.00030024680218621036,
      0.0003478660278442014,
      0.00010947586990717184,
      0.00010947586990717184
    ],
    "min_front_frame": [
      0,
      11.584464043765685
    ],
    "v_avg": 2.343989006429903,
    "v_std": 0.9813230116118786,
    "vy_max": 0.03614919334613498,
    "a_max": 1.5883181633371983,
    "ax_avg": 0.8599644781440965,
    "a_std": 0.570932212289609,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9d7030a6966b54cd",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.809449666742764,
    "speed_mode": "accelerating",
    "front_frame": [
      11.584464043765685,
      12.314527266103399,
      12.714845161495328,
      12.982352871192607,
      12.953567674892714,
      13.105882980471339,
      13.660107841219261,
      14.424792456732458,
      15.431067718796395,
      16.356036885944423
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9d7030a6966b54cd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "906ad81ffb6953a5": {
    "vx_ego": [
      1.933136034155459,
      2.063086811345393,
      2.244318221370508,
      2.4948616883748795,
      2.8114192793565564,
      3.2023927875547735,
      3.623646826691112,
      3.933993797922449,
      4.102582452719868,
      4.244117219808119
    ],
    "vy_ego": [
      0.04511610169512981,
      0.02481150853957048,
      0.002685474329452875,
      -0.0007277203033244639,
      0.006170298510388417,
      0.00642302411739748,
      0.003592443183226157,
      0.012737303147886125,
      0.018094654383973285,
      0.019135234813206115
    ],
    "v_ego": [
      1.9336624289628377,
      2.063236002522084,
      2.2443198280432437,
      2.494861794508384,
      2.8114260504095507,
      3.202399228862892,
      3.6236486074447933,
      3.934014417993886,
      4.102622356235368,
      4.244160356617449
    ],
    "ax_ego": [
      0.259881397650125,
      0.25986580984765034,
      0.46500790165314543,
      0.537161734573016,
      0.7290640727086652,
      0.8348010115678501,
      0.8501506313893732,
      0.3912362384595585,
      0.2830773421993538,
      0.28307727221740037
    ],
    "ay_ego": [
      -0.038960576923614695,
      -0.039064408763219025,
      -0.04158199690153436,
      0.026605514175235184,
      0.0031029278775094316,
      0.016821429266903665,
      0.007518516527557084,
      0.029783511393829065,
      0.00030822960279400236,
      0.00036735511509400354
    ],
    "a_ego": [
      0.2627855920685213,
      0.26278559161376225,
      0.46686337516042165,
      0.5378202138949594,
      0.7290706757756472,
      0.834970472170895,
      0.8501838766658216,
      0.39236826048360596,
      0.28307751000766224,
      0.28307751057939023
    ],
    "yaw": [
      0.8784533446123417,
      0.8788528947099281,
      0.8797760043517424,
      0.8796358152775072,
      0.8798370555774948,
      0.8814164990541419,
      0.8840301894041414,
      0.8840772796330297,
      0.8846144043580797,
      0.8844055351149114
    ],
    "yaw_diff": [
      0.0007991001951728194,
      0.0018462192836286029,
      -0.0002803781484703727,
      0.0004024805999751635,
      0.0031588869532941377,
      0.005227380699998951,
      9.418045777676021e-05,
      0.001074249450099929,
      -0.00041773848633663846,
      -0.00041773848633663846
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.065435107160049,
    "v_std": 0.8306358620458707,
    "vy_max": 0.04511610169512981,
    "a_max": 0.8501838766658216,
    "ax_avg": 0.48933234122661384,
    "a_std": 0.22519582116842013,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "906ad81ffb6953a5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.59134635514766,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "906ad81ffb6953a5",
    "pedestrians": "No"
  },
  "b6a62a2356885962": {
    "vx_ego": [
      0.49984976694096606,
      0.9433291809605551,
      1.4961381547567236,
      2.0707201400102084,
      2.4002282090915394,
      2.4295841408319996,
      2.2888177745440377,
      2.1225049633095723,
      1.994754002480421,
      1.9036886325564222
    ],
    "vy_ego": [
      -0.04658954253310463,
      -0.02171609302077865,
      0.0061817759878129985,
      0.025971355639574645,
      0.027513041289842333,
      0.01018487472240659,
      -0.003023462250125286,
      -0.01441506489984079,
      -0.012621746352538432,
      0.0047243579130883395
    ],
    "v_ego": [
      0.502016309480461,
      0.9435791076257458,
      1.4961509257000838,
      2.070883002382717,
      2.4003858904684043,
      2.42960548835721,
      2.288819771496371,
      2.1225539129477573,
      1.9947939339422123,
      1.9036944947344443
    ],
    "ax_ego": [
      0.886926342751225,
      0.8868905000243739,
      1.3243045056292289,
      0.9741149941770503,
      0.3441273777635713,
      -0.2267438341364081,
      -0.3363158560533016,
      -0.328923745176671,
      -0.18214492940557253,
      -0.18209733342472986
    ],
    "ay_ego": [
      0.04835816148682548,
      0.04901100228240529,
      0.0571602572479748,
      0.014196428672758055,
      -0.023488896216491223,
      -0.0410787205464196,
      -0.0016043520247096266,
      -0.03782828001644681,
      0.039291326970863905,
      0.03951131740600071
    ],
    "a_ego": [
      0.8882436879868324,
      0.8882436813049727,
      1.3255375206453157,
      0.9742184357050606,
      0.3449280799991511,
      0.23043486628678783,
      0.3363196827101921,
      0.33109184361752303,
      0.18633460141179453,
      0.18633459969515853
    ],
    "yaw": [
      1.1012464414238496,
      1.1005103525332947,
      1.0993472738889927,
      1.098279846010166,
      1.0966098246982883,
      1.0970869512985404,
      1.0981563484353616,
      1.0988518716208429,
      1.0981521862872572,
      1.0993601367142913
    ],
    "yaw_diff": [
      -0.0014721777811099734,
      -0.0023261572886039694,
      -0.0021348557576534866,
      -0.0033400426237553127,
      0.0009542532005042403,
      0.002138794273642386,
      0.0013910463709625454,
      -0.001399370667171329,
      0.002415900854068287,
      0.002415900854068287
    ],
    "min_front_frame": [
      0,
      11.370714987018292
    ],
    "v_avg": 1.8152482837135409,
    "v_std": 0.6107490871271269,
    "vy_max": 0.04658954253310463,
    "a_max": 1.3255375206453157,
    "ax_avg": 0.31601380221487657,
    "a_std": 0.3884358876891989,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b6a62a2356885962",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.839348030244736,
    "right_rear_min": 25.033230540997913,
    "speed_mode": "accelerating",
    "front_frame": [
      11.370714987018292,
      12.096393963925644,
      12.750387203773075,
      13.027683652462333,
      12.832475159945604,
      12.463402506266759,
      12.141679738121123,
      11.980725397276128,
      11.881510170237323,
      11.79046330061721
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b6a62a2356885962",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "71c47324c7eb5657": {
    "vx_ego": [
      9.003089289294593,
      8.882321838066765,
      8.775134938572608,
      8.720137281058355,
      8.714461724689542,
      8.73343678192352,
      8.738997486965395,
      8.70841134565162,
      8.659030125654287,
      8.608246585189537
    ],
    "vy_ego": [
      -0.039070793461553066,
      -0.11802721030125696,
      -0.14573410965308486,
      -0.06700344761528276,
      -0.02625053905509489,
      -0.019207826318430765,
      0.011116857321038065,
      0.04045706598010845,
      0.01876278686905497,
      0.005064073641626532
    ],
    "v_ego": [
      9.003174066845133,
      8.883105969049861,
      8.776345003523623,
      8.720394696485712,
      8.714501261798045,
      8.73345790420075,
      8.739004557826034,
      8.708505321768,
      8.659050453667513,
      8.608248074740247
    ],
    "ax_ego": [
      -0.24466788425519662,
      -0.241443976049839,
      -0.19532723843232763,
      -0.035511953166561694,
      0.012903450604717759,
      0.05881173651824491,
      -0.039026587002881585,
      -0.08353036229354016,
      -0.11200567365336062,
      -0.09270034867498189
    ],
    "ay_ego": [
      -0.33054487951881617,
      -0.3329070414886121,
      -0.2970810293246117,
      -0.13774579711907975,
      -0.5187312560821615,
      -0.388526471084469,
      -0.16660202357334078,
      0.15264690449973511,
      0.561995843413317,
      0.5655008872289174
    ],
    "a_ego": [
      0.4112448066079656,
      0.41124480767962984,
      0.3555416544628353,
      0.14224979241346805,
      0.5188917180627239,
      0.3929524641551981,
      0.17111197723077565,
      0.17400689319173918,
      0.573048513604554,
      0.5730485215940758
    ],
    "yaw": [
      -1.1805853024059214,
      -1.1903038147473497,
      -1.205014039064999,
      -1.2264894609490913,
      -1.250006497580534,
      -1.2768288731656035,
      -1.2961581943232523,
      -1.2999189851141364,
      -1.2768569814086015,
      -1.2426157224667378
    ],
    "yaw_diff": [
      -0.019437024682856574,
      -0.02942044863529869,
      -0.04295084376818448,
      -0.047034073262885556,
      -0.05364475117013878,
      -0.0386586423152977,
      -0.007521581581768189,
      0.04612400741106981,
      0.06848251788372739,
      0.06848251788372739
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.754578730990492,
    "v_std": 0.10719940776985623,
    "vy_max": 0.14573410965308486,
    "a_max": 0.5730485215940758,
    "ax_avg": -0.09724988364057265,
    "a_std": 0.15445053964126848,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "71c47324c7eb5657",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "71c47324c7eb5657",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e456e929ecb85b07": {
    "vx_ego": [
      1.50389682570715,
      1.4702927538811197,
      1.4191237020806295,
      1.2508931545241009,
      0.8456445445890367,
      0.3333081498037756,
      0.014163411716858483,
      -0.05122927780341516,
      -0.02977972180628952,
      -0.011779823007063974
    ],
    "vy_ego": [
      0.04841281326842756,
      0.023801167722199756,
      0.011737177215018768,
      0.004366323130531341,
      -0.0006226585415000652,
      -0.010929503112826082,
      -0.01564581217525301,
      -0.00447790306605877,
      -0.0019008479493090088,
      -0.0006921738789332078
    ],
    "v_ego": [
      1.5046758663780735,
      1.47048538846881,
      1.4191722387138244,
      1.250900774966958,
      0.8456447738245998,
      0.3334872962556586,
      0.02110435192287457,
      0.05142461006296988,
      0.029840325966490173,
      0.011800141302392576
    ],
    "ax_ego": [
      -0.06955397119396328,
      -0.0687244703669279,
      -0.13727810412786814,
      -0.536916432160741,
      -1.0842762612985704,
      -0.9652242175727695,
      -0.31137328162060574,
      0.049797867213770455,
      0.035999993017949,
      0.03600033161371478
    ],
    "ay_ego": [
      0.02988941988973088,
      0.031750265375184335,
      0.07334685664500981,
      0.03679775679878072,
      0.031763131110908005,
      -0.055751652633867554,
      0.03681776459690553,
      0.007899951335341571,
      0.0024140246988552643,
      0.002408938679798055
    ],
    "a_ego": [
      0.07570424248478624,
      0.07570424148361424,
      0.1556439502603472,
      0.5381759285118964,
      1.0847414011245142,
      0.9668329933139294,
      0.3135424505503174,
      0.05042059906567037,
      0.036080839964433474,
      0.036080837876363944
    ],
    "yaw": [
      -3.035281854208806,
      -3.008369017403864,
      -2.981989990461275,
      -2.956787041789839,
      -2.9369708891125486,
      -2.929470491278651,
      -2.9296570855897572,
      -2.9298379260665377,
      -2.929874936935457,
      -2.9297338328025693
    ],
    "yaw_diff": [
      0.05382567360988322,
      0.05275805388517796,
      0.050405897342872485,
      0.039632305354580843,
      0.01500079566779533,
      -0.00037318862221269455,
      -0.0003616809535609278,
      -7.402173783876975e-05,
      0.00028220826577562974,
      0.00028220826577562974
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.6938535767862652,
    "v_std": 0.6341372016494857,
    "vy_max": 0.04841281326842756,
    "a_max": 1.0847414011245142,
    "ax_avg": -0.3051548546496011,
    "a_std": 0.37806940834489067,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "e456e929ecb85b07",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.900110143880531,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "e456e929ecb85b07",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d7b1d984a0ff5791": {
    "vx_ego": [
      8.586741029711698,
      8.488992183684086,
      8.410451570816317,
      8.383517843190688,
      8.43300500831198,
      8.592763619249707,
      8.831348662565228,
      9.042654270562542,
      9.164290142198638,
      9.234687954143313
    ],
    "vy_ego": [
      0.017324564705646583,
      0.00813885027082506,
      0.003439715508350538,
      -0.02265729003400807,
      -0.009090873542569433,
      0.005603535428832629,
      0.012765947593263771,
      -0.014609652273380735,
      -0.04056274658346615,
      -0.057287208678680646
    ],
    "v_ego": [
      8.586758506670405,
      8.488996085258448,
      8.410452274205557,
      8.383548459923658,
      8.43300990834214,
      8.592765446345584,
      8.831357889317507,
      9.042666072506632,
      9.164379910654596,
      9.234865642481097
    ],
    "ax_ego": [
      -0.19729588219682037,
      -0.19288427446596124,
      -0.11999885503511738,
      0.011180771752946433,
      0.18433409415063257,
      0.4545543614781016,
      0.4999917719813304,
      0.34530808308778954,
      0.14090010658902352,
      0.14088502700184577
    ],
    "ay_ego": [
      -0.2822799865944519,
      -0.2853126600345508,
      -0.37389077852229063,
      -0.3295307071473207,
      -0.15144527045704959,
      -0.13686338670842588,
      -0.11459814510346647,
      -0.15633579555099547,
      -0.015144235935607736,
      -0.015283869189835778
    ],
    "a_ego": [
      0.34439462243708974,
      0.3443946243951137,
      0.3926754887610681,
      0.32972033090181857,
      0.23856807877447303,
      0.4747117590286391,
      0.5129566325823128,
      0.3790495392640999,
      0.14171163649775392,
      0.14171163498712033
    ],
    "yaw": [
      -0.23950731650154394,
      -0.2550519894873898,
      -0.27401944541848755,
      -0.2918886438880827,
      -0.3078435354321298,
      -0.3180770205317985,
      -0.3261202534840162,
      -0.3306263158866204,
      -0.33247940623714245,
      -0.3314883259517484
    ],
    "yaw_diff": [
      -0.031089345971691662,
      -0.03793491186219555,
      -0.03573839693919034,
      -0.03190978308809411,
      -0.02046697019933741,
      -0.01608646590443541,
      -0.00901212480520841,
      -0.003706180701044115,
      0.0019821605707881496,
      0.0019821605707881496
    ],
    "min_front_frame": [
      1,
      43.306186930344836
    ],
    "v_avg": 8.716880019570564,
    "v_std": 0.30946150774700015,
    "vy_max": 0.057287208678680646,
    "a_max": 0.5129566325823128,
    "ax_avg": 0.1266975204343771,
    "a_std": 0.11850231926599361,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "d7b1d984a0ff5791",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 40.96152817608698,
    "right_rear_min": 40.314831935604516,
    "speed_mode": "accelerating",
    "front_frame": [
      44.46894893770983,
      43.306186930344836,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d7b1d984a0ff5791",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "f24100a519ef5940": {
    "vx_ego": [
      8.489597709642426,
      7.608361969356781,
      6.69904043134781,
      5.823036444257931,
      5.146868210866409,
      4.7031117785093945,
      4.395928355401654,
      4.1758851063823235,
      4.040237385190048,
      3.944458329037851
    ],
    "vy_ego": [
      0.005656394595763531,
      -0.0008057189543712595,
      -0.009716401848951436,
      -0.023726285155095686,
      -0.04008727895238759,
      -0.03103426110831449,
      0.004851967651075442,
      0.01377529933411846,
      -0.0028496770774315144,
      -0.007058715854600453
    ],
    "v_ego": [
      8.489599593995335,
      7.608362012019252,
      6.6990474777611135,
      5.823084781090114,
      5.147024321873853,
      4.703214169747784,
      4.395931033059365,
      4.175907827117051,
      4.0402383901629815,
      3.944464644915149
    ],
    "ax_ego": [
      -1.7624772890866742,
      -1.7624743693213882,
      -1.8747916412667849,
      -1.6292151110259274,
      -1.0755884459550134,
      -0.6995277079038009,
      -0.5291463801794057,
      -0.35102893422864057,
      -0.19156193524797185,
      -0.19155930104828275
    ],
    "ay_ego": [
      0.0020851118490840606,
      0.003823566034514392,
      -0.004888970789294764,
      -0.046200598081602796,
      -0.04097289660681175,
      0.06821999538490199,
      0.09210883478049457,
      -0.056057995490204224,
      -0.010416488127022516,
      -0.01046501423517383
    ],
    "a_ego": [
      1.7624785224897737,
      1.7624785167973098,
      1.874798015840422,
      1.6298700479665007,
      1.0763685629598596,
      0.7028463430191989,
      0.5371032760108513,
      0.35547687902882663,
      0.19184493285163556,
      0.19184494348574582
    ],
    "yaw": [
      -1.5913085966917757,
      -1.5903222253063087,
      -1.5891162202794669,
      -1.5889175968406037,
      -1.5899206675021662,
      -1.5903801284658154,
      -1.5894535001222398,
      -1.5894325371154772,
      -1.589430982336916,
      -1.5896843013052622
    ],
    "yaw_diff": [
      0.001972742770933955,
      0.002412010053683744,
      0.0003972468777262428,
      -0.0020061413231249325,
      -0.0009189219272984772,
      0.0018532566871511946,
      4.192601352537295e-05,
      3.1095571224604157e-06,
      -0.0005066379366924778,
      -0.0005066379366924778
    ],
    "min_front_frame": [
      8,
      16.35127045330676
    ],
    "v_avg": 5.5026874251742,
    "v_std": 1.523389791434323,
    "vy_max": 0.04008727895238759,
    "a_max": 1.874798015840422,
    "ax_avg": -1.0067371115263888,
    "a_std": 0.6598541923425048,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f24100a519ef5940",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.9241310129975053,
    "right_rear_min": 20.083078698401096,
    "speed_mode": "decelerating",
    "front_frame": [
      23.83265687641287,
      22.04721724092605,
      20.43000211359937,
      19.135579122096157,
      18.176883361433234,
      17.44413917125566,
      16.875961322229855,
      16.46205169272104,
      16.35127045330676,
      16.36751939108116
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f24100a519ef5940",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e7d1f889fc4d5309": {
    "vx_ego": [
      11.497207994159071,
      11.256840461844227,
      11.032608600134841,
      10.823634390665223,
      10.601319885516313,
      10.429804418776705,
      10.32612527887395,
      10.308804202543522,
      10.257238354227113,
      10.087804660101012
    ],
    "vy_ego": [
      -0.022899085655693374,
      -0.016204733779652675,
      -0.010651350255635982,
      -0.017106784204454314,
      0.002485514128186192,
      -0.009457514020328683,
      -0.012937361911880552,
      0.023560511497244252,
      0.05686623693204357,
      0.08713018261079661
    ],
    "v_ego": [
      11.497230798287001,
      11.2568521255638,
      11.032613741767248,
      10.823647909316746,
      10.601320176884768,
      10.42980870670721,
      10.326133383330513,
      10.308831125985185,
      10.25739598652263,
      10.088180932610076
    ],
    "ax_ego": [
      -0.48324043202460926,
      -0.47688011493564836,
      -0.4202364727343397,
      -0.41551351706326944,
      -0.47373398016977736,
      -0.21251121486569968,
      -0.20197245974688122,
      0.13267145473652617,
      -0.33901754612156354,
      -0.3389539944366941
    ],
    "ay_ego": [
      0.3832213570737068,
      0.3911077548196231,
      0.25674417559243157,
      0.1738362464386068,
      0.11954300343832808,
      -0.0005374255806874619,
      0.09248403439208049,
      0.07735782205098486,
      0.07712209125360282,
      0.07740090671278284
    ],
    "a_ego": [
      0.6167494820919953,
      0.616749479044031,
      0.4924594041307738,
      0.45041150455794526,
      0.4885840906523207,
      0.21251189441993676,
      0.2221399808986241,
      0.15357717126701467,
      0.34767903810499634,
      0.3476790340307442
    ],
    "yaw": [
      -1.6057195919045812,
      -1.589292028707133,
      -1.5752489305254769,
      -1.5648074591456564,
      -1.5597931277668393,
      -1.5558157616181378,
      -1.5532651799662553,
      -1.5526849149166257,
      -1.5521710624247926,
      -1.5513485711262227
    ],
    "yaw_diff": [
      0.032855126394896406,
      0.028086196363312332,
      0.020882942759640866,
      0.010028662757634255,
      0.007954732297402956,
      0.005101163303764977,
      0.001160530099259205,
      0.0010277049836662222,
      0.0016449825971398546,
      0.0016449825971398546
    ],
    "min_front_frame": [
      1,
      12.520253835452758
    ],
    "v_avg": 10.662201488697516,
    "v_std": 0.44755401116441446,
    "vy_max": 0.08713018261079661,
    "a_max": 0.6167494820919953,
    "ax_avg": -0.32293882773619564,
    "a_std": 0.1567221197227104,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e7d1f889fc4d5309",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.114511797042196,
    "right_rear_min": 13.039310535569983,
    "speed_mode": "decelerating",
    "front_frame": [
      12.542170588201108,
      12.520253835452758,
      12.588185999932705,
      12.683697493811572,
      12.991439798217039,
      13.484420161381507,
      13.963954948191512,
      14.465615782494382,
      14.888481227708105,
      15.148050100840642
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e7d1f889fc4d5309",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9f03709a3c1e5725": {
    "vx_ego": [
      2.5020271263236755,
      2.65776359999497,
      2.7919995690281043,
      2.900992703428977,
      3.024099747722614,
      3.156548100851217,
      3.2752401073143407,
      3.386708748648557,
      3.5101845189763186,
      3.6419346483520876
    ],
    "vy_ego": [
      -0.06794737129604622,
      -0.03234537652059433,
      -0.0058283420692575305,
      0.007974444654544222,
      0.0008850618036795321,
      -0.005752492623228189,
      -0.011894080808545926,
      -0.008385037457901534,
      0.01421887859398474,
      0.04436555170823775
    ],
    "v_ego": [
      2.5029495772239505,
      2.6579604167181423,
      2.7920056523983607,
      2.9010036637542727,
      3.0240998772379157,
      3.156553342517564,
      3.2752617040045418,
      3.386719128747739,
      3.510213317416689,
      3.642204865880806
    ],
    "ax_ego": [
      0.3055241389068616,
      0.32907477573610977,
      0.2110975813262494,
      0.22148689026902824,
      0.26911867613869456,
      0.26052369106406603,
      0.2142066659653545,
      0.2313336077474273,
      0.26345243590281714,
      0.266382502940151
    ],
    "ay_ego": [
      0.3954936846718257,
      0.3761250397058117,
      0.3395104062631016,
      0.18310243756864752,
      0.059355825953631064,
      -0.008163811904790208,
      -0.04856074585005758,
      -0.05197765177948144,
      -0.12101135355628508,
      -0.1144172010362635
    ],
    "a_ego": [
      0.499760196564389,
      0.4997601960135174,
      0.39978682419850803,
      0.2873724851210098,
      0.2755866033051703,
      0.2606515709341912,
      0.2196420765279432,
      0.23710106359514624,
      0.2899153905411926,
      0.2899153907015498
    ],
    "yaw": [
      -1.1064348251741785,
      -1.0454116093217674,
      -0.9898009529182474,
      -0.9487373692159414,
      -0.9258390508075868,
      -0.9195520918248186,
      -0.9220475405897937,
      -0.9306521959878762,
      -0.9497697647464746,
      -0.9746598234517752
    ],
    "yaw_diff": [
      0.12204643170482221,
      0.11122131280703984,
      0.08212716740461201,
      0.04579663681670931,
      0.012573917965536419,
      -0.004990897529950189,
      -0.017209310796165056,
      -0.03823513751719676,
      -0.04978011741060118,
      -0.04978011741060118
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.0848971545899984,
    "v_std": 0.35611683705780195,
    "vy_max": 0.06794737129604622,
    "a_max": 0.499760196564389,
    "ax_avg": 0.25722009659967593,
    "a_std": 0.09795556172453879,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9f03709a3c1e5725",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9f03709a3c1e5725",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c159f0c331075464": {
    "vx_ego": [
      0.4681967053528628,
      1.2761072033181013,
      2.0627730812929017,
      2.784070422780131,
      3.38412294404059,
      3.927444047756706,
      4.524093447906336,
      5.160089166496251,
      5.746172512549161,
      6.2757879313907345
    ],
    "vy_ego": [
      0.006736565988384345,
      0.013251513766107198,
      0.025218545450828203,
      0.02471262845851996,
      0.005320488567976671,
      -0.0005872893708631054,
      0.013527975134727357,
      0.02452958363469652,
      0.02647622299424761,
      -0.008196443544400734
    ],
    "v_ego": [
      0.46824516679255884,
      1.2761760054857008,
      2.0629272308884934,
      2.7841801006767626,
      3.3841271264508594,
      3.927444091666791,
      4.524113673582957,
      5.160147469468801,
      5.74623350851317,
      6.275793283838814
    ],
    "ax_ego": [
      1.6158426662530345,
      1.6158328269808595,
      1.530963975221836,
      1.3548980316433974,
      1.0456229089880544,
      1.127692495814561,
      1.2589615661292017,
      1.2851181315344125,
      1.059190525416857,
      1.0591100103846678
    ],
    "ay_ego": [
      0.010853854235753226,
      0.01223153029435653,
      0.02310936673378352,
      -0.07006075425378713,
      -0.07142495488871542,
      -0.06081310120027575,
      -0.022638933122202925,
      0.029281375998007897,
      -0.017165291690557968,
      -0.021568453182751603
    ],
    "a_ego": [
      1.6158791193141542,
      1.6158791214327568,
      1.531138379199569,
      1.3567082167650353,
      1.048059536467989,
      1.1293310402154317,
      1.259165098898236,
      1.2854516758629382,
      1.0593296070495053,
      1.059329605113398
    ],
    "yaw": [
      -3.115831974337576,
      -3.1166845811602046,
      -3.118548699648926,
      -3.1231417217543673,
      -3.1282587581277763,
      -3.135706688262888,
      3.1391690246229267,
      3.1372385963440528,
      3.1374360611125534,
      -3.141591995088861
    ],
    "yaw_diff": [
      -0.0017052136452573308,
      -0.0037282369774427337,
      -0.009186044210882649,
      -0.01023407274681798,
      -0.01489586027022316,
      -0.0166191885875433,
      -0.003860856557747816,
      0.0003949295370011541,
      0.008314501956343534,
      0.008314501956343534
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5609387657364913,
    "v_std": 1.8283598717990113,
    "vy_max": 0.02647622299424761,
    "a_max": 1.6158791214327568,
    "ax_avg": 1.2953233138366882,
    "a_std": 0.21595547788836156,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "c159f0c331075464",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.08347981629716,
    "right_rear_min": 6.776225806513538,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c159f0c331075464",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0c3c5692dcdd5bdc": {
    "vx_ego": [
      0.10954755544794514,
      0.9615197306593001,
      1.8074914483001638,
      2.3766078341683454,
      2.7018396396053634,
      3.2520197190933877,
      4.075555532215453,
      4.955981063998884,
      5.738741316868989,
      6.44237729707333
    ],
    "vy_ego": [
      0.0174632405885044,
      0.0008395357473708724,
      -0.010113938197510358,
      0.012780985647107473,
      0.02648161271337092,
      0.022670164364799406,
      0.03957812120223436,
      0.05381707313853831,
      0.05732818367000023,
      0.054167287174930134
    ],
    "v_ego": [
      0.11093075171688238,
      0.961520097172911,
      1.8075197446844355,
      2.3766422008843624,
      2.701969413956187,
      3.2520987361586307,
      4.0757477012015695,
      4.956273255590001,
      5.739027654801998,
      6.442605011394519
    ],
    "ax_ego": [
      1.703945082556121,
      1.703973033520267,
      1.6798874780141368,
      0.5965122439281635,
      0.7043977507175353,
      1.4964507467333024,
      1.7977347823276362,
      1.7236639740925326,
      1.4070052791791225,
      1.4070493489487395
    ],
    "ay_ego": [
      -0.0348224812598497,
      -0.033426836483438443,
      -0.01572729417237461,
      0.09566114318627444,
      -0.039667856894029185,
      0.0049996209124411675,
      0.056425318859330956,
      0.027838033386231795,
      0.021756913637116876,
      0.01869065578569791
    ],
    "a_ego": [
      1.7043008682648375,
      1.7043008690843149,
      1.6799610967432197,
      0.6041340178072393,
      0.7055138057376965,
      1.496459098541596,
      1.7986200722217494,
      1.7238887585013354,
      1.4071734857255283,
      1.4071734829049227
    ],
    "yaw": [
      -3.1085965002613003,
      -3.109415557027142,
      -3.1103777532698844,
      -3.1116848249872886,
      -3.111566962159866,
      -3.113254155763866,
      -3.113682084982176,
      -3.112173390957986,
      -3.110523546152618,
      -3.1083443048605437
    ],
    "yaw_diff": [
      -0.0016381135316834161,
      -0.001924392485484816,
      -0.002614143434808369,
      0.0002357256548455311,
      -0.003374387208000762,
      -0.0008558584366191724,
      0.003017388048379921,
      0.00329968961073579,
      0.004358482584148504,
      0.004358482584148504
    ],
    "min_front_frame": [
      1,
      34.235145362606914
    ],
    "v_avg": 3.2424334567561495,
    "v_std": 1.9548754860478934,
    "vy_max": 0.05732818367000023,
    "a_max": 1.7986200722217494,
    "ax_avg": 1.4220619720017555,
    "a_std": 0.40584957135563204,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "0c3c5692dcdd5bdc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      34.235145362606914,
      37.562759517401155,
      40.620897232131675,
      43.63363363836011,
      46.356394477267905,
      48.42046578477916,
      50.028675566322114,
      50.879091414934486,
      50.727015463558025
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "0c3c5692dcdd5bdc",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "45f13336bbd35146": {
    "vx_ego": [
      9.487401477912133,
      9.426669889767009,
      9.345144671382409,
      9.223076902132224,
      9.127912230485034,
      9.051691460227994,
      8.995325422304417,
      8.984628592596252,
      8.952348173486474,
      8.897274034784212
    ],
    "vy_ego": [
      0.05455059862973077,
      0.09915303708312528,
      0.09032284336662233,
      0.08095213742930119,
      0.05803086992582429,
      0.029585636141032268,
      0.059792500883170785,
      0.05712238798011171,
      0.05792887712547312,
      0.08825142894606408
    ],
    "v_ego": [
      9.487558303952614,
      9.42719133864391,
      9.345581156091946,
      9.223432158974191,
      9.128096694782688,
      9.051739810723145,
      8.995524142389815,
      8.984810176854415,
      8.95253559468666,
      8.897711703845902
    ],
    "ax_ego": [
      -0.14230356999140978,
      -0.11211286520761674,
      -0.23017252151474493,
      -0.27343653935126966,
      -0.12139943134631004,
      -0.1900638438214769,
      -0.04509985722472348,
      -0.012572015592002495,
      -0.1252379124490084,
      -0.1044842007459531
    ],
    "ay_ego": [
      0.7990358388455677,
      0.8038278978012909,
      0.834467414329082,
      0.8623063242191511,
      0.8390467635284873,
      0.935932575034209,
      0.8815960555313417,
      0.6598912227832429,
      0.6377683567571631,
      0.6414951780543997
    ],
    "a_ego": [
      0.811608635853476,
      0.8116086395724875,
      0.865629975935168,
      0.9046213228974553,
      0.8477837538658292,
      0.955036151011238,
      0.8827488896906701,
      0.6600109707288273,
      0.649948468415241,
      0.6499484684746681
    ],
    "yaw": [
      1.7508343494454535,
      1.7885008602843477,
      1.833001433711694,
      1.8796653645158687,
      1.9286109809895513,
      1.980497566432137,
      2.0275912502974727,
      2.0707679125129363,
      2.1067902703002623,
      2.139233769957575
    ],
    "yaw_diff": [
      0.07533302167778855,
      0.08900114685469251,
      0.0933278616083495,
      0.09789123294736513,
      0.10377317088517124,
      0.09418736773067149,
      0.08635332443092736,
      0.07204471557465197,
      0.06488699931462527,
      0.06488699931462527
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.149418108094528,
    "v_std": 0.19958667164118735,
    "vy_max": 0.09915303708312528,
    "a_max": 0.955036151011238,
    "ax_avg": -0.13568827572445158,
    "a_std": 0.10637926912170045,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "45f13336bbd35146",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "45f13336bbd35146",
    "road_shape": "Straight"
  },
  "bc1a3b9fa4ca5000": {
    "vx_ego": [
      3.2508578553518985,
      4.008228124483914,
      4.698083449769451,
      5.247408661857679,
      5.653379081687353,
      5.920925908085357,
      6.027479842649062,
      6.045491137601611,
      6.010342646315031,
      5.91770279886346
    ],
    "vy_ego": [
      0.009346418268243228,
      0.001256145644800366,
      0.008856714940200572,
      0.009321541907884479,
      -0.010598660755364753,
      -0.0027854475813864354,
      0.015941280352787857,
      0.007015454611394301,
      0.0024691810624148935,
      0.00901207295870865
    ],
    "v_ego": [
      3.250871291090681,
      4.008228321316753,
      4.6980917979959855,
      5.247416941284782,
      5.653389016587302,
      5.920926563279993,
      6.027500923099063,
      6.045495208121749,
      6.010343153511977,
      5.917709661104999
    ],
    "ax_ego": [
      1.5146970578216552,
      1.514850894938506,
      1.2445757591609607,
      0.9531118217863648,
      0.6707106635818123,
      0.3994102912624846,
      0.02686365553651272,
      0.04537275203872445,
      -0.18574755042859295,
      -0.18455944290609316
    ],
    "ay_ego": [
      -0.045216582389671967,
      -0.03972997626794983,
      -0.0018807603711623044,
      -0.09164158879882062,
      -0.023530558428814352,
      0.024293188466846208,
      0.009211033669593317,
      -0.09258608018493994,
      -0.11170457556565802,
      -0.11365683924970729
    ],
    "a_ego": [
      1.515371807939088,
      1.5153718041821433,
      1.2445771802305614,
      0.9575073501683918,
      0.6711232982264338,
      0.4001483971881788,
      0.028398928325674408,
      0.10310610491905754,
      0.21674885165215177,
      0.21674885253223664
    ],
    "yaw": [
      -1.9283605260450223,
      -1.9319825859953488,
      -1.9360864097117405,
      -1.940846744751177,
      -1.942464194382055,
      -1.9437736721658228,
      -1.9454928323760474,
      -1.9474679059482962,
      -1.9551495381949051,
      -1.965693466525944
    ],
    "yaw_diff": [
      -0.00724411990065299,
      -0.00820764743278346,
      -0.009520670078873028,
      -0.00323489926175613,
      -0.0026189555675353304,
      -0.0034383204204493367,
      -0.0039501471444975955,
      -0.015363264493217788,
      -0.021087856662077797,
      -0.021087856662077797
    ],
    "min_front_frame": [
      9,
      56.85399872626864
    ],
    "v_avg": 5.277997287739328,
    "v_std": 0.9332430935933742,
    "vy_max": 0.015941280352787857,
    "a_max": 1.515371807939088,
    "ax_avg": 0.5999285902792335,
    "a_std": 0.5528075437491464,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "bc1a3b9fa4ca5000",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      79.04802289765661,
      76.82880999454562,
      74.36224019915561,
      71.60735460101019,
      68.77162429104405,
      65.87760502253025,
      62.83348871969405,
      59.81529213887244,
      56.85399872626864
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "bc1a3b9fa4ca5000",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "5503e65e815a58c7": {
    "vx_ego": [
      0.6992279075841588,
      1.319656288219787,
      1.9877270572473449,
      2.731083174789349,
      3.4905011879532797,
      4.237399546500224,
      4.937219762535775,
      5.577764989924524,
      6.249841623055714,
      7.073466112059175
    ],
    "vy_ego": [
      -0.026045659985745928,
      -0.02494199730370872,
      -0.029557173250115087,
      -0.030524691388920555,
      0.00523172832256158,
      0.016288509033209442,
      0.018881124658280957,
      -0.02077413866834532,
      0.017336459730189824,
      0.059943379241366834
    ],
    "v_ego": [
      0.6997128290581887,
      1.3198919737113048,
      1.9879468002448473,
      2.7312537532059995,
      3.490505108732044,
      4.237430852793569,
      4.937255865401567,
      5.577803675970062,
      6.249865667845642,
      7.073720099577337
    ],
    "ax_ego": [
      1.2408083110699222,
      1.2408080275192552,
      1.4313573454602184,
      1.5427425093300808,
      1.5107051310011033,
      1.5171863026519876,
      1.340674094375978,
      1.2732239322714658,
      1.4127511516235405,
      1.830094226631443
    ],
    "ay_ego": [
      -0.00029327368649889607,
      0.0008823273995149927,
      -0.027433164643182906,
      0.06199474409330974,
      0.6507799062152579,
      1.367691949591879,
      2.128124714487625,
      2.569218953567374,
      2.5332510147529352,
      2.2503292288266232
    ],
    "a_ego": [
      1.2408083457285608,
      1.2408083412267443,
      1.431620211133268,
      1.5439876289625087,
      1.6449147330991356,
      2.0426540446030605,
      2.515218047753293,
      2.8674004277530973,
      2.900556243233428,
      2.9005562425957483
    ],
    "yaw": [
      0.8395171106268535,
      0.8385696592184477,
      0.8373287463062942,
      0.8414250904823423,
      0.8871463485880917,
      1.0147346388000305,
      1.203215867868567,
      1.4327400725087625,
      1.6418510641847721,
      1.8159001935177894
    ],
    "yaw_diff": [
      -0.0018949028168115944,
      -0.0024818258243071156,
      0.008192688352096189,
      0.0914425162114989,
      0.2551765804238775,
      0.37696245813707296,
      0.45904840928039103,
      0.4182219833520193,
      0.3480982586660346,
      0.3480982586660346
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.830538662654056,
    "v_std": 2.0405710067827876,
    "vy_max": 0.059943379241366834,
    "a_max": 2.900556243233428,
    "ax_avg": 1.4340351031934995,
    "a_std": 0.6663854092527614,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "5503e65e815a58c7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "5503e65e815a58c7",
    "pedestrians": "No"
  },
  "4fbdc88ce3f75540": {
    "vx_ego": [
      10.095979100228067,
      9.91708597326452,
      9.747220109984177,
      9.495750310965615,
      9.16279709272727,
      8.796699665700325,
      8.379146360156074,
      8.012009284490524,
      7.723340907473709,
      7.453472146823797
    ],
    "vy_ego": [
      -0.04248859407701483,
      -0.03804841453109109,
      -0.0339534027643853,
      -0.043192802684243414,
      -0.05106712447755968,
      -0.037017038435607996,
      -0.019719659413254598,
      -0.01799432372040566,
      -0.01386491484340413,
      -0.009371674574429889
    ],
    "v_ego": [
      10.096068505753543,
      9.917158962271817,
      9.747279246335319,
      9.495848544833017,
      9.16293939812404,
      8.796777550311635,
      8.379169564454712,
      8.01202949136163,
      7.723353352587232,
      7.453478038591277
    ],
    "ax_ego": [
      -0.35859964567179187,
      -0.35793270183615383,
      -0.3224184302973819,
      -0.6842860575447925,
      -0.6483974595700778,
      -0.8167254151978722,
      -0.8537409612664509,
      -0.6150539336171144,
      -0.5398467850775976,
      -0.5397550314003926
    ],
    "ay_ego": [
      -0.11010158091079296,
      -0.11225080331830371,
      -0.12393394652381044,
      -0.11238230865465376,
      -0.07634278276863021,
      0.013025181347873838,
      -0.0499690236625749,
      -0.049748269242232794,
      -0.03234346145086268,
      -0.033840082799473155
    ],
    "a_ego": [
      0.37512139900969466,
      0.37512139620306056,
      0.3454175260411585,
      0.6934530927530319,
      0.6528763175807413,
      0.8168292717448866,
      0.8552020417830833,
      0.6170625831716613,
      0.5408148027349485,
      0.5408147974361592
    ],
    "yaw": [
      1.5239359542309159,
      1.517937013432538,
      1.511512224888774,
      1.5063564366812459,
      1.502141124249962,
      1.4988214754764289,
      1.4957335307700457,
      1.4924693282045536,
      1.48933221167372,
      1.4865596737389866
    ],
    "yaw_diff": [
      -0.011997881596755633,
      -0.012849577087528097,
      -0.010311576415056312,
      -0.008430624862567626,
      -0.006639297547066381,
      -0.006175889412766367,
      -0.006528405130984183,
      -0.006274233061667189,
      -0.005545075869466842,
      -0.005545075869466842
    ],
    "min_front_frame": [
      6,
      17.56354284889661
    ],
    "v_avg": 8.87841026546242,
    "v_std": 0.9027690598361386,
    "vy_max": 0.05106712447755968,
    "a_max": 0.8552020417830833,
    "ax_avg": -0.5736756421479626,
    "a_std": 0.17129351489200342,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4fbdc88ce3f75540",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.9403079635924447,
    "right_rear_min": 27.080311152270248,
    "speed_mode": "decelerating",
    "front_frame": [
      38.252470717784966,
      36.78481621721868,
      35.49623567192184,
      34.320807007208245,
      33.61300480342004,
      32.95544346862256,
      17.56354284889661,
      20.14234355324228,
      22.86371041598812,
      25.681463266416667
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4fbdc88ce3f75540",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4b6430ca30c45a3c": {
    "vx_ego": [
      0.15208374974800257,
      0.8543246164431616,
      1.6162253828310569,
      2.432452535157862,
      3.231863518478101,
      3.99682473483343,
      4.716640672405815,
      5.373495637547261,
      5.981410024898361,
      6.581466172619841
    ],
    "vy_ego": [
      0.029455759408231676,
      -0.012196671046461549,
      -0.03170291813120035,
      -0.025398632816770794,
      -0.010542511679149547,
      -0.007237732678447406,
      -0.020629980152198524,
      -0.016591297026156582,
      0.015449290882403544,
      0.06404436225030663
    ],
    "v_ego": [
      0.15491000193573268,
      0.8544116742211396,
      1.6165362857435122,
      2.4325851323941103,
      3.231880713550882,
      3.9968312881269634,
      4.716685788631024,
      5.373521251272433,
      5.9814299767316,
      6.581777773647125
    ],
    "ax_ego": [
      1.4044815006239149,
      1.4044823000284756,
      1.64304148403827,
      1.6218783577629943,
      1.5760882285286404,
      1.4837277176090498,
      1.395700311074628,
      1.2322060787772575,
      1.1995816444442824,
      1.200077531462331
    ],
    "ay_ego": [
      -0.08332123086040866,
      -0.08330778900285651,
      0.0023562289522160995,
      0.02359022171780667,
      0.07363052656420366,
      -0.01667126941180247,
      0.005919057673695993,
      0.09358352340967552,
      0.14338950071461112,
      0.13917824912365587
    ],
    "a_ego": [
      1.4069508566779783,
      1.4069508587018316,
      1.6430431735306155,
      1.6220499085850233,
      1.5778071994222456,
      1.4838213744333113,
      1.3957128621523691,
      1.2357547072252624,
      1.2081211324212626,
      1.2081211307438706
    ],
    "yaw": [
      -0.33261926990362733,
      -0.3326288481175866,
      -0.33323578782674834,
      -0.3331458356703608,
      -0.3298162179643316,
      -0.326800397357082,
      -0.32434965555219086,
      -0.32023615883454726,
      -0.315448255548321,
      -0.3119383809679471
    ],
    "yaw_diff": [
      -1.9156427918498586e-05,
      -0.0012138794183235158,
      0.0001799043127750366,
      0.006659235412058484,
      0.006031641214499173,
      0.0049014836097822645,
      0.008226993435287211,
      0.009575806572452494,
      0.007019749160747768,
      0.007019749160747768
    ],
    "min_front_frame": [
      8,
      17.693920539779395
    ],
    "v_avg": 3.494056988625452,
    "v_std": 2.093781411626667,
    "vy_max": 0.06404436225030663,
    "a_max": 1.6430431735306155,
    "ax_avg": 1.4161265154349845,
    "a_std": 0.15626808836002837,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "4b6430ca30c45a3c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.227039339809944,
    "speed_mode": "accelerating",
    "front_frame": [
      30.532578284935695,
      30.21161293396175,
      29.506840039026695,
      28.432000488242387,
      27.0058039384185,
      25.184814949683393,
      22.96603097630811,
      20.464963139402126,
      17.693920539779395,
      19.707438139326587
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "4b6430ca30c45a3c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "833189ada8fa5ba2": {
    "vx_ego": [
      5.479021716774688,
      5.490670464077888,
      5.539667549135727,
      5.637360140991115,
      5.720131676989307,
      5.787786546357333,
      5.878479017214007,
      5.88611988049718,
      5.889111969822265,
      5.987740397111942
    ],
    "vy_ego": [
      -0.011936457815598323,
      -0.012970163814018498,
      -0.006237897168891671,
      0.005582968652575682,
      -0.02099274043153576,
      -0.03240752575367489,
      -0.0207768516414939,
      -0.021625472623575615,
      0.008398702270691505,
      0.017085476721667714
    ],
    "v_ego": [
      5.4790347189914606,
      5.490685783237523,
      5.539671061201064,
      5.637362905541415,
      5.720170198276213,
      5.787877275298814,
      5.878515733872751,
      5.886159606114188,
      5.88911795868479,
      5.987764772995102
    ],
    "ax_ego": [
      -0.008255886316498479,
      0.0586722793362115,
      0.14654059867491143,
      0.2442493296544318,
      0.08820699147209993,
      0.19998942268408576,
      0.17171978735999754,
      -0.13274417792226478,
      0.1459407591712315,
      0.2432074102541097
    ],
    "ay_ego": [
      0.8561434854727203,
      0.8541705847243614,
      0.9996737102179232,
      0.9975011851439057,
      0.9660385135222722,
      1.1294066860871048,
      1.1072537134171707,
      1.1165355096377216,
      1.0911755934877898,
      1.073691315273857
    ],
    "a_ego": [
      0.8561832907597818,
      0.8561832888878782,
      1.0103572011723725,
      1.0269694977944261,
      0.9700571544774464,
      1.1469765611222271,
      1.1204902816388354,
      1.124398755359603,
      1.1008918570917425,
      1.1008918588567254
    ],
    "yaw": [
      -1.5611441756861568,
      -1.4829199076915012,
      -1.3999890149536074,
      -1.3126259332010421,
      -1.2218778332073124,
      -1.12869142925216,
      -1.0349506914495068,
      -0.940972232417232,
      -0.8518593397722688,
      -0.7620604875053789
    ],
    "yaw_diff": [
      0.1564485359893113,
      0.16586178547578756,
      0.17472616350513048,
      0.18149619998745958,
      0.18637280791030486,
      0.18748147560530626,
      0.1879569180645495,
      0.1782257852899265,
      0.17959770453377977,
      0.17959770453377977
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.729636001421332,
    "v_std": 0.1751315593036884,
    "vy_max": 0.03240752575367489,
    "a_max": 1.1469765611222271,
    "ax_avg": 0.11575265143683158,
    "a_std": 0.10258126210953672,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "833189ada8fa5ba2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "833189ada8fa5ba2",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "aa7cf4712b635bb0": {
    "vx_ego": [
      10.338452271538923,
      9.829828693713864,
      9.328225078029664,
      8.834326770690469,
      8.352364559342277,
      7.860415306103816,
      7.360355084343141,
      6.926513296979239,
      6.5422734734700105,
      6.152962334404248
    ],
    "vy_ego": [
      -0.03728371854524348,
      0.01329020992579566,
      0.014467933377746267,
      0.0035976734325218196,
      0.0029197708083441576,
      0.02716322858194507,
      0.012647472530716589,
      -0.03555084899223925,
      -0.04112888574742696,
      0.05828839993302537
    ],
    "v_ego": [
      10.338519499742548,
      9.829837678081988,
      9.328236297793799,
      8.834327503245078,
      8.352365069680472,
      7.860462239933358,
      7.360365950560973,
      6.926604530077799,
      6.542402753340104,
      6.153238417789784
    ],
    "ax_ego": [
      -1.0196645706415504,
      -1.0140340015162619,
      -0.9947596376125388,
      -0.9813102452472544,
      -0.9465404646137995,
      -1.0221155749942508,
      -0.9790377632188799,
      -0.7562086850052862,
      -0.7830745825688644,
      -0.7723045555615541
    ],
    "ay_ego": [
      0.3840055422375702,
      0.39863658642515964,
      0.20566795455153075,
      0.20101686218594114,
      0.22678626490639414,
      0.14168056402228182,
      -0.03398112062833407,
      -0.22673519980925783,
      -0.2686692391719622,
      -0.2982191207893236
    ],
    "a_ego": [
      1.0895761070667747,
      1.0895761030179516,
      1.0157982300400215,
      1.0016873645555824,
      0.9733297802397194,
      1.0318883810119677,
      0.9796273058504367,
      0.7894684452908604,
      0.8278822150177175,
      0.827882220213411
    ],
    "yaw": [
      -1.6396782813916406,
      -1.625289922912988,
      -1.6096377001177324,
      -1.59724287115721,
      -1.5847120429161223,
      -1.5763490291883269,
      -1.5708999150903007,
      -1.5732863331195417,
      -1.5908396716960551,
      -1.6288321155349053
    ],
    "yaw_diff": [
      0.028776716957305215,
      0.031304445590511154,
      0.024789657921044927,
      0.025061656482175287,
      0.01672602745559093,
      0.01089822819605235,
      -0.0047728360584819995,
      -0.035106677153026844,
      -0.07598488767770029,
      -0.07598488767770029
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.152635994024589,
    "v_std": 1.3521973048855966,
    "vy_max": 0.05828839993302537,
    "a_max": 1.0895761070667747,
    "ax_avg": -0.9269050080980241,
    "a_std": 0.10396245430552271,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aa7cf4712b635bb0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 39.539916441959065,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aa7cf4712b635bb0",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "8fc671c2e6c05780": {
    "vx_ego": [
      5.699827631395148,
      5.879789084375032,
      6.063101146652958,
      6.145814792603696,
      6.076538663347416,
      5.972021904911728,
      5.838376067006186,
      5.6845873036404555,
      5.5758948052111785,
      5.488311603912251
    ],
    "vy_ego": [
      0.006550635518071335,
      -0.02227760481153984,
      -0.026636559669305004,
      0.0031020760834126193,
      -0.022298550104157044,
      -0.04394520213419595,
      -0.06474214233420028,
      -0.06207818168559731,
      -0.045851410628168665,
      -0.08173901005794049
    ],
    "v_ego": [
      5.699831395615251,
      5.879831287410542,
      6.0631596565532915,
      6.145815575484058,
      6.076579576743215,
      5.972183588398477,
      5.8387350209428615,
      5.684926253994123,
      5.5760833235020435,
      5.48892025150695
    ],
    "ax_ego": [
      0.3567596498800467,
      0.3638104345197327,
      0.3704307831050376,
      -0.03898621787183211,
      -0.23876303916670466,
      -0.17851018000653263,
      -0.3555118732169188,
      -0.260448928595071,
      -0.17574523350470989,
      -0.1754026106130655
    ],
    "ay_ego": [
      0.2632539924105319,
      0.25342075615701154,
      0.16626735737087028,
      0.1930200284605978,
      0.01352490054404816,
      0.03382711192222285,
      -0.04271174655466117,
      -0.016042951662611715,
      -0.10687178366652458,
      -0.10743318558792603
    ],
    "a_ego": [
      0.4433735584161711,
      0.4433735579808839,
      0.4060342340233199,
      0.1969178929678051,
      0.23914579613041023,
      0.18168697770331058,
      0.3580684086762642,
      0.26094256207903166,
      0.20568900127058187,
      0.20568900110469795
    ],
    "yaw": [
      2.493453187717241,
      2.5207444486220645,
      2.539047066118551,
      2.548807672429607,
      2.561362101356978,
      2.566927327411573,
      2.5700612481358602,
      2.567043190002082,
      2.5586876593036205,
      2.5554901837481587
    ],
    "yaw_diff": [
      0.054582521809646956,
      0.0366052349929733,
      0.01952121262211204,
      0.025108857854741373,
      0.011130452109190614,
      0.006267841448574174,
      -0.006036116267556402,
      -0.01671106139692302,
      -0.006394951110923586,
      -0.006394951110923586
    ],
    "min_front_frame": [
      0,
      25.31211650626188
    ],
    "v_avg": 5.842606593015081,
    "v_std": 0.21328152530024552,
    "vy_max": 0.08173901005794049,
    "a_max": 0.4433735584161711,
    "ax_avg": -0.03323672154700175,
    "a_std": 0.10149869897132739,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8fc671c2e6c05780",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      25.31211650626188,
      28.319917491136323,
      33.08166096921498,
      30.01376799522228,
      52.89578191791533,
      53.05554742253377,
      53.29906248469611,
      53.62063769091612,
      54.02728411833767,
      54.233170220698305
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8fc671c2e6c05780",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "99dae52a2a6451da": {
    "vx_ego": [
      2.3322322520637693,
      1.5973321507740383,
      0.8565872989863774,
      0.25487286215240956,
      -0.037605528141059066,
      -0.07144322935008826,
      -0.03559809770992246,
      -0.023598183989987212,
      -0.01410400495522433,
      -0.008045870144727841
    ],
    "vy_ego": [
      -0.0676392610164005,
      -0.033136800540660594,
      -0.02339740543105845,
      -0.012081674455356364,
      0.027593734777627863,
      0.025147862518085016,
      0.004827808913456563,
      0.004223818353010021,
      0.0027082501779504995,
      0.0017938267060224624
    ],
    "v_ego": [
      2.3332128808141976,
      1.5976758267704017,
      0.8569067856924013,
      0.2551590537672657,
      0.04664321971890507,
      0.07574001590439375,
      0.035923979449248626,
      0.023973212740567608,
      0.014361670334726438,
      0.00824341195361861
    ],
    "ax_ego": [
      -1.4696823319062604,
      -1.469540206667815,
      -1.4934292088825152,
      -0.9132655549608231,
      -0.25664238520132765,
      0.1212401617834721,
      0.022141099031296765,
      0.025859794579950208,
      0.012116372332277012,
      0.012116427184910081
    ],
    "ay_ego": [
      0.07495408035131468,
      0.0776907663262496,
      -0.03784343249430766,
      0.0854818556959982,
      0.0732036962572821,
      -0.08310113592875112,
      0.001827899424987128,
      -0.004236788514472293,
      -0.0018283960585776318,
      -0.0018280595369254632
    ],
    "a_ego": [
      1.47159242688957,
      1.471592428013152,
      1.4939086074209513,
      0.9172573911019369,
      0.2668784274300849,
      0.14698631100184556,
      0.022216423713585377,
      0.026204567400237435,
      0.012253550940090391,
      0.012253554969794364
    ],
    "yaw": [
      2.1990550036722283,
      2.2009171852123095,
      2.2010980355200767,
      2.202327051782875,
      2.202175540085872,
      2.202455507248845,
      2.202413138566068,
      2.2023543578863123,
      2.2023969789473505,
      2.2023689099357386
    ],
    "yaw_diff": [
      0.0037243630801624406,
      0.00036170061553431054,
      0.0024580325255962876,
      -0.0003030233940055638,
      0.0005599343259463652,
      -8.4737365554588e-05,
      -0.00011756135951124236,
      8.524212207650095e-05,
      -5.613802322379513e-05,
      -5.613802322379513e-05
    ],
    "min_front_frame": [
      3,
      10.24675057373563
    ],
    "v_avg": 0.5247840057145726,
    "v_std": 0.7779405407092175,
    "vy_max": 0.0676392610164005,
    "a_max": 1.4939086074209513,
    "ax_avg": -0.5409085832706835,
    "a_std": 0.6392735136943319,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "99dae52a2a6451da",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.4105705347953177,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.051313912597857,
      11.082597805655826,
      10.490277814308957,
      10.24675057373563,
      10.292070141293522,
      10.319275177798053,
      10.331033510412379,
      10.334412557669546,
      10.333677526597011,
      10.337634607585285
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "99dae52a2a6451da",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ac4c20c8dd0a5e68": {
    "vx_ego": [
      2.3892689857301566,
      2.335111924966087,
      2.275336729422423,
      2.072690251776028,
      1.7085584324449106,
      1.2646928390756622,
      0.8279852151474356,
      0.5325498966703222,
      0.33036499705696565,
      0.1429259014712433
    ],
    "vy_ego": [
      -0.030323901641482465,
      -0.01671380648226628,
      -0.02965301278557808,
      -0.046550456839207,
      -0.05346349939796924,
      -0.04477511028009806,
      -0.0419297223140907,
      -0.04894339186415561,
      -0.022246600396212762,
      0.025543800073460944
    ],
    "v_ego": [
      2.389461409017265,
      2.335171739604167,
      2.2755299456227753,
      2.073212923179699,
      1.709394706569108,
      1.2654851985344806,
      0.8290462098798125,
      0.534794210936075,
      0.331113186855549,
      0.14519056110353898
    ],
    "ax_ego": [
      -0.1082865871188457,
      -0.10825907551203572,
      -0.13072639481252496,
      -0.6798282736152772,
      -0.7765683342815896,
      -0.9988625951183991,
      -0.7479074455942125,
      -0.4337777410299841,
      -0.3748871453052582,
      -0.3748703851842302
    ],
    "ay_ego": [
      0.03131755964915354,
      0.03141255943749719,
      -0.06042904571542011,
      -0.005602360157205499,
      -0.016933202193485597,
      0.052510567615195514,
      -0.03920491135039489,
      0.01184396394666834,
      0.09563089692277132,
      0.09569661638554655
    ],
    "a_ego": [
      0.11272432963750836,
      0.11272433774981756,
      0.14401756791015632,
      0.6798513573172148,
      0.776752927992813,
      1.0002418925629606,
      0.7489342910090659,
      0.43393940601775954,
      0.386892284959754,
      0.38689229518797036
    ],
    "yaw": [
      -0.5892844109442001,
      -0.5884070730793218,
      -0.5859439000182751,
      -0.5857701793807503,
      -0.5850979016808494,
      -0.5849619059567588,
      -0.5844879722937262,
      -0.5842174024578082,
      -0.5838120050831608,
      -0.5836367281876197
    ],
    "yaw_diff": [
      0.0017546757297566273,
      0.004926346122093417,
      0.0003474412750497091,
      0.0013445553998017168,
      0.0002719914481812413,
      0.0009478673260652215,
      0.0005411396718359995,
      0.0008107947492947964,
      0.00035055379108217544,
      0.00035055379108217544
    ],
    "min_front_frame": [
      9,
      8.66721997581723
    ],
    "v_avg": 1.388840009130247,
    "v_std": 0.8353177410752953,
    "vy_max": 0.05346349939796924,
    "a_max": 1.0002418925629606,
    "ax_avg": -0.4733973977572356,
    "a_std": 0.2954789061203962,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ac4c20c8dd0a5e68",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.366918316127267,
    "right_rear_min": 5.6844276324256615,
    "speed_mode": "decelerating",
    "front_frame": [
      13.703453716338956,
      13.035419701030408,
      12.2190014840748,
      11.347606999390718,
      10.470357397467689,
      9.732346080980797,
      9.282289875960858,
      8.96927828696897,
      8.794190269997987,
      8.66721997581723
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ac4c20c8dd0a5e68",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8c75e07d70c558df": {
    "vx_ego": [
      1.4727399616372772,
      0.9863801604982254,
      0.5873258825527543,
      0.3242744356412691,
      0.12715906831223506,
      -0.004129665194431279,
      -0.03258006641311253,
      -0.015772137215019712,
      -0.008577358377502217,
      -0.0019653796490031452
    ],
    "vy_ego": [
      -0.039452474752082356,
      0.007499581627134655,
      0.025520193326049434,
      0.00783299411099192,
      -0.01647273866853717,
      -0.015021582860154557,
      0.00016559684031695193,
      0.0021408410287498706,
      0.0014712159992870308,
      0.00039133312871481734
    ],
    "v_ego": [
      1.473268302912756,
      0.9864086702523893,
      0.5878800664963652,
      0.3243690265842385,
      0.12822160415966408,
      0.015578898749352801,
      0.032580487255354944,
      0.01591676828504419,
      0.008702617609240659,
      0.002003960773654378
    ],
    "ax_ego": [
      -0.9727061735890035,
      -0.9727936220647255,
      -0.6233735586290627,
      -0.4288132645016186,
      -0.3596528035905315,
      -0.16547932325113957,
      0.05167696572867285,
      0.015555078327389376,
      0.01322394553809638,
      0.013223918734865739
    ],
    "ay_ego": [
      0.09201993089979682,
      0.09109086781138148,
      -0.020227859499329537,
      -0.05091960035269544,
      -0.046508724128092704,
      0.05234354991866621,
      0.008423008171390575,
      -0.0005192527214642438,
      -0.0021598110198043172,
      -0.002159977143568496
    ],
    "a_ego": [
      0.9770491122870764,
      0.977049117152479,
      0.6237016593675105,
      0.4318259157491747,
      0.3626474879970251,
      0.17356051867214226,
      0.05235891379295163,
      0.015563742646290664,
      0.013399161139258209,
      0.013399161465072036
    ],
    "yaw": [
      -0.6952379448846897,
      -0.6961930387059482,
      -0.6966032457410863,
      -0.696834221365727,
      -0.6970707547318877,
      -0.6968679323752391,
      -0.6969660160783437,
      -0.697001461495355,
      -0.6969897302604979,
      -0.6969772282328488
    ],
    "yaw_diff": [
      -0.0019101876425169362,
      -0.0008204140702763318,
      -0.0004619512492813893,
      -0.0004730667323213922,
      0.0004056447132971819,
      -0.00019616740620920226,
      -7.089083402256335e-05,
      2.3462469714186085e-05,
      2.5004055298261108e-05,
      2.5004055298261108e-05
    ],
    "min_front_frame": [
      6,
      10.014187182574025
    ],
    "v_avg": 0.357493040307806,
    "v_std": 0.4831568194030072,
    "vy_max": 0.039452474752082356,
    "a_max": 0.977049117152479,
    "ax_avg": -0.3429138837297057,
    "a_std": 0.36391518567421666,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8c75e07d70c558df",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.517617074020796,
    "speed_mode": "decelerating",
    "front_frame": [
      11.425923632470672,
      10.899952693245226,
      10.46894984195534,
      10.206544063936452,
      10.068611405461695,
      10.022862355504401,
      10.014187182574025,
      10.048854160656893,
      10.084201674118875,
      10.074132941214115
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8c75e07d70c558df",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "48f6a3bdc0bf5d64": {
    "vx_ego": [
      0.01038527169851058,
      0.904765556703538,
      1.8398852492791344,
      2.787040857758715,
      3.371793981977712,
      3.4192634450617456,
      3.0917645261745386,
      2.5396501937173985,
      1.8561628277234838,
      1.0946909732798518
    ],
    "vy_ego": [
      -0.011939806720805177,
      0.004154737105288964,
      0.014098556323125622,
      0.007554291681578507,
      0.006710231200910188,
      0.014167392000509427,
      0.009317489387743905,
      -0.000634998692350397,
      -4.6533608806020865e-05,
      0.022342556511666722
    ],
    "v_ego": [
      0.015824438466563964,
      0.9047750960528683,
      1.839939265249084,
      2.7870510957173433,
      3.371800659010536,
      3.419292795554603,
      3.0917785659583967,
      2.5396502731030033,
      1.8561628283067777,
      1.0949189544490798
    ],
    "ax_ego": [
      1.7887663407178387,
      1.7887424844470379,
      1.9517573226993097,
      1.8368125014649714,
      0.5022334812407379,
      -0.31254475082909733,
      -0.9975995937979273,
      -1.2109102656021613,
      -1.5229644520338133,
      -1.5229432711075273
    ],
    "ay_ego": [
      0.030819039250810976,
      0.03217334566579233,
      0.005322056790020735,
      -0.022974768245059174,
      0.05721156876637301,
      0.014553387266329681,
      0.004113082074217789,
      -0.02530748936019267,
      0.045783333899638845,
      0.046482528999420736
    ],
    "a_ego": [
      1.7890318149394187,
      1.7890318051496714,
      1.9517645787847604,
      1.8369561795301268,
      0.5054815855003029,
      0.3128834005691997,
      0.9976080728371933,
      1.2111746944014365,
      1.5236524655647754,
      1.5236524644793108
    ],
    "yaw": [
      0.8503090435075852,
      0.8495519167344923,
      0.8491303282756282,
      0.8500458107454778,
      0.8529424716838941,
      0.8559401685436612,
      0.8587884478654519,
      0.8604257734543859,
      0.8624511069186471,
      0.8629102116581857
    ],
    "yaw_diff": [
      -0.0015142535461858397,
      -0.0008431769177281723,
      0.0018309649396992533,
      0.00579332187683268,
      0.005995393719534059,
      0.00569655864358154,
      0.003274651177867849,
      0.004050666928522517,
      0.00091820947907717,
      0.00091820947907717
    ],
    "min_front_frame": [
      0,
      12.634206607757866
    ],
    "v_avg": 2.092119397186826,
    "v_std": 1.0916030439133206,
    "vy_max": 0.022342556511666722,
    "a_max": 1.9517645787847604,
    "ax_avg": 0.23013497971993688,
    "a_std": 0.5456175004064621,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "48f6a3bdc0bf5d64",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.5315662765751705,
    "right_rear_min": 15.13373271847049,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      12.634206607757866,
      13.835374825026198,
      -1,
      -1,
      -1,
      69.00044956427614,
      67.44693256620883,
      66.12625364158009,
      65.01749532484796,
      64.32638980491545
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "48f6a3bdc0bf5d64",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6f81927cafa65005": {
    "vx_ego": [
      5.695150071529636,
      5.738219643369791,
      5.758383160686229,
      5.8006082437088535,
      5.8588683966306565,
      5.900459302294404,
      5.951815826488861,
      6.005685307070038,
      6.111699389712238,
      6.262110992194778
    ],
    "vy_ego": [
      -0.042443273569200635,
      0.04020410364555982,
      0.0067451761499337515,
      -0.025411591012295176,
      -0.017090979531753536,
      -0.023563878418272788,
      -0.05232692879823131,
      -0.02473194452644978,
      -0.007876522163331678,
      -0.0027197063276083178
    ],
    "v_ego": [
      5.695308224206596,
      5.738360484102134,
      5.758387111220991,
      5.800663905618122,
      5.85889332473453,
      5.900506354068155,
      5.952045844910869,
      6.005736231024219,
      6.111704465188932,
      6.26211158279451
    ],
    "ax_ego": [
      0.08425694911579375,
      0.08807029143337368,
      -0.004551645321999864,
      0.18289217268499586,
      0.05202869951845468,
      0.11882292126039543,
      0.08772005482896024,
      0.13036248534634537,
      0.2959473532175363,
      0.3061788052346025
    ],
    "ay_ego": [
      0.3077401492534872,
      0.3066706008326152,
      0.6190457221617838,
      0.8214230439710468,
      0.7101063085555056,
      0.6948178824288351,
      0.433856399314332,
      0.31927057660104924,
      0.36523594197370607,
      0.35670249327401526
    ],
    "a_ego": [
      0.31906618895906225,
      0.31906619007377857,
      0.6190624553322077,
      0.8415375000533837,
      0.712009799808899,
      0.7049047995011416,
      0.4426354970460378,
      0.344859505695932,
      0.47008736335481893,
      0.47008736367061343
    ],
    "yaw": [
      2.52787580750349,
      2.5402886512003024,
      2.5862690148385363,
      2.6543923293600535,
      2.718440825513059,
      2.7793459876930307,
      2.8317674179054437,
      2.858666089645621,
      2.8842147750878704,
      2.912557266024676
    ],
    "yaw_diff": [
      0.024825687393624563,
      0.09196072727646776,
      0.13624662904303442,
      0.1280969923060109,
      0.12181032435994332,
      0.10484286042482616,
      0.0537973434803547,
      0.051097370884498616,
      0.056684981873611484,
      0.056684981873611484
    ],
    "min_front_frame": [
      4,
      14.166499484930098
    ],
    "v_avg": 5.908371752786906,
    "v_std": 0.16993221539475037,
    "vy_max": 0.05232692879823131,
    "a_max": 0.8415375000533837,
    "ax_avg": 0.1341728087318458,
    "a_std": 0.17506011618301504,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6f81927cafa65005",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.24131244513316,
    "right_rear_min": 15.239202838997642,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      14.166499484930098,
      15.114935614148346,
      16.19559562590152,
      17.215679385235692,
      18.325280060658653,
      19.464190410138002
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.3333333333333333,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6f81927cafa65005",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7346e23546d15b29": {
    "vx_ego": [
      5.11901826558324,
      5.122783124567996,
      5.172317292710559,
      5.192955882859983,
      5.184020190812115,
      5.205048525664121,
      5.280677037463317,
      5.411957526499529,
      5.575296304426639,
      5.801211334819491
    ],
    "vy_ego": [
      0.008138589375200511,
      0.03266013978341875,
      0.028270662131824942,
      -0.0023385849660293445,
      -0.0237054597093862,
      -0.01790896053190094,
      -0.020496511176820942,
      -0.05695966518310325,
      -0.06605842989907362,
      -0.031064630762396517
    ],
    "v_ego": [
      5.119024735241261,
      5.122887235347789,
      5.172394552507577,
      5.192956409436705,
      5.184074390628255,
      5.205079335167291,
      5.280716815069974,
      5.4122572621867,
      5.5756876345715485,
      5.801294507480424
    ],
    "ax_ego": [
      -0.06045715587722389,
      0.06659000101499923,
      0.11998201687965632,
      -0.04594520478775932,
      0.019383616391233982,
      0.08045128249443212,
      0.22544240992809617,
      0.32166135105281607,
      0.3753179373480946,
      0.548399997678434
    ],
    "ay_ego": [
      1.163880672138896,
      1.1635458983632123,
      1.2082077450964048,
      1.1701575020450665,
      1.2196954712493702,
      1.3131782641932908,
      1.2151992735070256,
      1.2628762115206702,
      1.4638292647530982,
      1.4081608974745181
    ],
    "a_ego": [
      1.1654498216033375,
      1.1654498212420097,
      1.2141505836120368,
      1.1710591536875234,
      1.2198494854573763,
      1.3156403621068726,
      1.2359342840645657,
      1.3031969729806478,
      1.5111782391375361,
      1.5111782391994488
    ],
    "yaw": [
      0.14650635897165543,
      0.25557204941804545,
      0.3716334368490847,
      0.49164203350023794,
      0.6109581292410535,
      0.7317737347925191,
      0.8531009815789613,
      0.9759209291840671,
      1.1016499255880206,
      1.2220354175730426
    ],
    "yaw_diff": [
      0.21813138089278006,
      0.23212277486207844,
      0.24001719330230653,
      0.23863219148163117,
      0.24163121110293106,
      0.2426544935728845,
      0.24563989521021168,
      0.2514579928079068,
      0.24077098397004404,
      0.24077098397004404
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.306637287763752,
    "v_std": 0.21310654406187773,
    "vy_max": 0.06605842989907362,
    "a_max": 1.5111782391994488,
    "ax_avg": 0.16508262521227793,
    "a_std": 0.1251741094696189,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "7346e23546d15b29",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "7346e23546d15b29",
    "pedestrians": "No"
  },
  "9a6489254d5f5577": {
    "vx_ego": [
      -0.017008084023215776,
      0.02150150304319449,
      0.2736385713396623,
      0.9320576505658547,
      1.8135281662453124,
      2.733682836262038,
      3.6401757994211623,
      4.474858221219028,
      5.243516250718491,
      5.996189559274201
    ],
    "vy_ego": [
      0.0029550140392217523,
      0.0017437550897624002,
      -0.0024935943603800748,
      -0.013633661685808818,
      -0.013785521753383212,
      -0.000674138598870222,
      0.014071579707720439,
      0.021787943837623613,
      0.02464014876509113,
      0.02480720950504134
    ],
    "v_ego": [
      0.017262880122180232,
      0.021572095747274398,
      0.2736499328296018,
      0.9321573583410173,
      1.8135805607623552,
      2.733682919384856,
      3.6402029970932896,
      4.474911263311061,
      5.243574144462922,
      5.996240874780829
    ],
    "ax_ego": [
      0.07701912527659838,
      0.07701909259112233,
      0.9315302534517458,
      1.7021444684253468,
      1.8238818332597806,
      1.8568304563293072,
      1.769100676764304,
      1.5695870768523714,
      1.5048485499934245,
      1.5052380435775363
    ],
    "ay_ego": [
      -0.002421933187941594,
      -0.0024229726878457827,
      -0.014564869703087235,
      -0.03012681659596994,
      0.038314562916474615,
      0.04183198633676877,
      0.034151704468577626,
      0.004631399581254914,
      0.07075039736267386,
      0.0619129681762115
    ],
    "a_ego": [
      0.0770571957622337,
      0.07705719577175074,
      0.9316441104441876,
      1.7024110597823352,
      1.8242842287940053,
      1.857301606802994,
      1.76943028781753,
      1.5695939098008929,
      1.5065107955618138,
      1.5065107976584562
    ],
    "yaw": [
      2.5925176631551703,
      2.592531176192587,
      2.592295281446966,
      2.592230411413995,
      2.593850058158095,
      2.5969015172624133,
      2.59823057930441,
      2.5987154368310166,
      2.6020013023534703,
      2.6078731594943614
    ],
    "yaw_diff": [
      2.7026074833180758e-05,
      -0.00047178949124138114,
      -0.00012974006594212995,
      0.003239293488199735,
      0.00610291820863651,
      0.0026581240839931297,
      0.0009697150532135268,
      0.006571731044907381,
      0.011743714281782225,
      0.011743714281782225
    ],
    "min_front_frame": [
      9,
      65.88785367574076
    ],
    "v_avg": 2.514683502683539,
    "v_std": 2.1259401136354636,
    "vy_max": 0.02480720950504134,
    "a_max": 1.857301606802994,
    "ax_avg": 1.2817199576521536,
    "a_std": 0.6518758753525062,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "9a6489254d5f5577",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 48.12989210151899,
    "speed_mode": "accelerating",
    "front_frame": [
      74.70975198018384,
      77.17943057630556,
      77.36970179652444,
      77.04380347236372,
      76.20649909954359,
      74.95126303600226,
      73.29686959744306,
      71.21834309243368,
      68.7156376751149,
      65.88785367574076
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "9a6489254d5f5577",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "ef7fb2d0c7bf52a4": {
    "vx_ego": [
      6.960509297777618,
      7.363519620949386,
      7.713569230293163,
      7.934508965680058,
      8.073943536981863,
      8.183693035151947,
      8.306965723344167,
      8.431618874866338,
      8.506922057426127,
      8.537465065078477
    ],
    "vy_ego": [
      -0.07993127442948555,
      -0.17311685199997973,
      -0.1318929396522246,
      -0.046506126592339214,
      -0.02262730594924367,
      -0.053078656265237445,
      -0.06083927448477899,
      -0.09130205956225934,
      -0.01240944469525429,
      0.031222015443429285
    ],
    "v_ego": [
      6.960968229569834,
      7.365554334369747,
      7.7146967547697916,
      7.9346452564855,
      8.073975243543028,
      8.183865164904992,
      8.307188510328553,
      8.432113194038763,
      8.50693110853972,
      8.537522155267522
    ],
    "ax_ego": [
      0.768930584995677,
      0.8888789071861289,
      0.5326954551892804,
      0.3570424381359488,
      0.20669791480815028,
      0.2425866143537086,
      0.26185286288480647,
      0.2415043427569345,
      0.06047399576031573,
      0.06148768296605489
    ],
    "ay_ego": [
      1.26029684752734,
      1.1787691410199208,
      0.7106732184054484,
      0.4533604343530392,
      0.5852914568661276,
      0.7433944960423607,
      0.7717386319139535,
      0.40742060418945536,
      0.18229725347329223,
      0.18195785122641003
    ],
    "a_ego": [
      1.4763476516150067,
      1.476347655351289,
      0.8881558823416489,
      0.5770745065126679,
      0.6207174215909455,
      0.7819741953604802,
      0.8149524144325175,
      0.4736199914367633,
      0.1920661156662581,
      0.19206612085286265
    ],
    "yaw": [
      2.3503407555577636,
      2.4486175353370823,
      2.505457409226754,
      2.5316631118042103,
      2.561049452749813,
      2.6056762161631806,
      2.6525616685371385,
      2.6914075913705884,
      2.69947839779486,
      2.7050442070792995
    ],
    "yaw_diff": [
      0.1965535595586374,
      0.11367974777934364,
      0.052411405154912494,
      0.0587726818912051,
      0.08925352682673537,
      0.09377090474791583,
      0.0776918456668998,
      0.01614161284854365,
      0.011131618568878565,
      0.011131618568878565
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.001745995181745,
    "v_std": 0.4933580410735236,
    "vy_max": 0.17311685199997973,
    "a_max": 1.476347655351289,
    "ax_avg": 0.36221507990370055,
    "a_std": 0.42720827874083633,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "ef7fb2d0c7bf52a4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ef7fb2d0c7bf52a4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b08965aff8165bec": {
    "vx_ego": [
      7.604465607543881,
      7.730729258646705,
      7.872991440955085,
      7.96459895683558,
      7.922707570199558,
      7.860043141966548,
      7.784811346246235,
      7.654657344723315,
      7.486768155643087,
      7.27214066833831
    ],
    "vy_ego": [
      0.07524187210500699,
      -0.15496045846076667,
      -0.071176797545212,
      -0.007681327362485835,
      0.05101850324238466,
      0.04228142283796954,
      -0.06147782061203477,
      -0.07724033889638227,
      -0.06867928285919156,
      -0.08225383836167044
    ],
    "v_ego": [
      7.604837836248423,
      7.732282173729992,
      7.873313175903828,
      7.964602660900069,
      7.9228718360560695,
      7.860156863084385,
      7.7850540922379805,
      7.655047036764661,
      7.487083161034439,
      7.272605832438961
    ],
    "ax_ego": [
      0.2499841731632925,
      0.2622929432795206,
      0.3077960492208264,
      0.06071488611195652,
      -0.22980870421827548,
      -0.022928094173715302,
      -0.2776955609429516,
      -0.24181543002172692,
      -0.42925895559118193,
      -0.4292582849041324
    ],
    "ay_ego": [
      0.2674700083855054,
      0.25541085510395883,
      0.15991773212641675,
      0.35386713975561246,
      0.2868796994324328,
      -0.16285550394196885,
      -0.10766572509126918,
      0.13060778626090214,
      -0.027500383429894137,
      -0.02751075638890721
    ],
    "a_ego": [
      0.3661042095058145,
      0.36610421057284936,
      0.34686033062949956,
      0.3590379506325285,
      0.3675758458888802,
      0.16446158416673295,
      0.29783675550013855,
      0.27483285107236766,
      0.4301389566686834,
      0.43013895066121033
    ],
    "yaw": [
      2.139037564732738,
      2.1861094574238025,
      2.188681036256206,
      2.1968512243506204,
      2.209568756554394,
      2.214621577764114,
      2.219221477636507,
      2.222007909602726,
      2.2242748914854746,
      2.2242507393789115
    ],
    "yaw_diff": [
      0.09414378538212897,
      0.0051431576648068855,
      0.016340376188828998,
      0.025435064407547614,
      0.010105642419439675,
      0.009199799744785686,
      0.005572863932438388,
      0.004533963765497084,
      -4.8304213126293405e-05,
      -4.8304213126293405e-05
    ],
    "min_front_frame": [
      9,
      28.99503172027269
    ],
    "v_avg": 7.71578546683988,
    "v_std": 0.20499624143011314,
    "vy_max": 0.15496045846076667,
    "a_max": 0.4301389566686834,
    "ax_avg": -0.07499769780763879,
    "a_std": 0.07457890624606728,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b08965aff8165bec",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.586554211309336,
    "right_rear_min": 15.260403181155183,
    "speed_mode": "quasi_constant",
    "front_frame": [
      33.648704900380295,
      34.50850783580228,
      35.21922958271063,
      35.79146301400377,
      36.207448861050416,
      36.72344388673348,
      37.11083191738056,
      36.178685336549925,
      32.48090289214099,
      28.99503172027269
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b08965aff8165bec",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "742ac4ddb9d7557d": {
    "vx_ego": [
      10.642452862561289,
      11.132470544253572,
      11.634374325243883,
      12.105393530514595,
      12.493184496802082,
      12.85203079278288,
      13.213063173998183,
      13.472524268155848,
      13.67926185128973,
      13.921517477745263
    ],
    "vy_ego": [
      -0.023030806813044258,
      -0.037695925068431,
      -0.03253197221745818,
      -0.003073784802229085,
      -0.014829786816785706,
      -0.04896332069320408,
      -0.05043662479455868,
      -0.06294573177882956,
      -0.03329621778408143,
      -0.030294314847023607
    ],
    "v_ego": [
      10.6424777824481,
      11.132534365607867,
      11.634419808014082,
      12.105393920760184,
      12.493193298501104,
      12.852124062014521,
      13.213159436455294,
      13.472671313484845,
      13.679302373815315,
      13.921550439109824
    ],
    "ax_ego": [
      0.9736661695802141,
      0.9836704693135168,
      1.0205924128616135,
      0.8619450061325189,
      0.6875449406562989,
      0.7474447908941835,
      0.6961504200429305,
      0.34199985051864107,
      0.48429909552826866,
      0.4844304845312588
    ],
    "ay_ego": [
      -0.49176995361532544,
      -0.4714402435739524,
      -0.41649658666961187,
      -0.40264704550642505,
      -0.14406600249227453,
      -0.1598122886941455,
      0.06426879381366257,
      -0.02449149802466008,
      -0.05784804305664032,
      -0.056737252730635374
    ],
    "a_ego": [
      1.0908086436510418,
      1.0908086429161359,
      1.1023058921633901,
      0.9513536865182376,
      0.7024763757566354,
      0.7643387227221388,
      0.6991107817679625,
      0.3428756789716424,
      0.4877417452043468,
      0.487741745384389
    ],
    "yaw": [
      0.7519043771729325,
      0.7311322925597471,
      0.7111705678429727,
      0.691469799548942,
      0.6813309889931177,
      0.6780277437047686,
      0.6763088517768214,
      0.6779861000884797,
      0.6742809850709435,
      0.6719876981436451
    ],
    "yaw_diff": [
      -0.04154416922637072,
      -0.03992344943354875,
      -0.03940153658806134,
      -0.020277621111648658,
      -0.006606490576698265,
      -0.0034377838558943274,
      0.0033544966233165496,
      -0.007410230035072463,
      -0.004586573854596709,
      -0.004586573854596709
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.514682680021114,
    "v_std": 1.058934443555597,
    "vy_max": 0.06294573177882956,
    "a_max": 1.1023058921633901,
    "ax_avg": 0.7281743640059444,
    "a_std": 0.2646707145501576,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "742ac4ddb9d7557d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 20.365533804045217,
    "right_rear_min": 15.756700371560413,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "742ac4ddb9d7557d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "87fa0c79b31c563a": {
    "vx_ego": [
      9.348851000143824,
      9.225973567225582,
      9.126064743159372,
      9.15900053783004,
      9.327130419372473,
      9.592863192767656,
      9.949662636694308,
      10.300481690231786,
      10.505533244793169,
      10.589024005829447
    ],
    "vy_ego": [
      0.005157197821598292,
      0.029319869561839962,
      0.03668886534774218,
      -0.02376712329754227,
      -0.007734131792962451,
      -0.02236310347165249,
      -0.029887755814507422,
      -0.03519870226114197,
      -0.025339512437599687,
      0.01070761838950407
    ],
    "v_ego": [
      9.348852422601372,
      9.226020155944612,
      9.126138491671986,
      9.1590313749938,
      9.327133625974161,
      9.592889259423009,
      9.94970752645415,
      10.3005418303816,
      10.505563804401222,
      10.589029419598564
    ],
    "ax_ego": [
      -0.24639165163235355,
      -0.24550829078014613,
      -0.15428859124865563,
      0.28600913490555047,
      0.3859365905571247,
      0.6769480943507671,
      0.7496507601407051,
      0.6526640439973632,
      0.16553952037336217,
      0.1680376453872443
    ],
    "ay_ego": [
      0.1538132272010037,
      0.15521931995747656,
      -0.10306398152150317,
      -0.11132776807655069,
      -0.046048239652104084,
      -0.13873875684198886,
      -0.1923417821531352,
      -0.2797569254549852,
      -0.19738134463950668,
      -0.19525900483573272
    ],
    "a_ego": [
      0.2904605908830089,
      0.2904605965184439,
      0.18554555687636254,
      0.3069121978584879,
      0.3886740180484352,
      0.691018932515742,
      0.7739325702807585,
      0.7100945652988891,
      0.25760964270993914,
      0.2576096450770622
    ],
    "yaw": [
      1.1054882174902265,
      1.1112051978110462,
      1.11182386412711,
      1.112578533208144,
      1.1065792504588,
      1.1032293970193279,
      1.0955215749535405,
      1.0844028619110901,
      1.0720611784997938,
      1.0593366279040493
    ],
    "yaw_diff": [
      0.011433960641639374,
      0.0012373326321277744,
      0.0015093381620676638,
      -0.011998565498688052,
      -0.006699706878944056,
      -0.015415644131574702,
      -0.022237426084900758,
      -0.024683366822592756,
      -0.02544910119148902,
      -0.02544910119148902
    ],
    "min_front_frame": [
      0,
      22.247991805600037
    ],
    "v_avg": 9.712490791144448,
    "v_std": 0.5460016605594112,
    "vy_max": 0.03668886534774218,
    "a_max": 0.7739325702807585,
    "ax_avg": 0.24385972560509614,
    "a_std": 0.20921000304133902,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "87fa0c79b31c563a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5799979306049683,
    "right_rear_min": 19.28429680276131,
    "speed_mode": "accelerating",
    "front_frame": [
      22.247991805600037,
      22.492832043471413,
      22.85345033268039,
      23.100533368571295,
      23.466034780721674,
      23.924618189355417,
      24.233138079273285,
      24.55204789794834,
      24.496155729250106,
      24.55900147943009
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "87fa0c79b31c563a",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "e0416692bc5251ba": {
    "vx_ego": [
      4.576512260227324,
      3.9851067558062145,
      3.4333007247589187,
      2.946249123655482,
      2.4521171678621934,
      1.9607412337399688,
      1.551472002181654,
      1.2205063305964783,
      0.9856399708850437,
      0.8155237352236079
    ],
    "vy_ego": [
      -0.04386700842041978,
      0.0066113833097537,
      0.034279487418457814,
      0.0057366865120793975,
      -0.03407857162915258,
      -0.02092625478616185,
      0.014195078508608752,
      0.037143843575362046,
      0.02647783960423259,
      -0.011669462038753742
    ],
    "v_ego": [
      4.576722493492343,
      3.985112240020549,
      3.433471850749295,
      2.946254708645,
      2.4523539618025754,
      1.960852899589235,
      1.5515369392339378,
      1.2210714017376834,
      0.9859955518136871,
      0.8156072210674322
    ],
    "ax_ego": [
      -1.1828081734287106,
      -1.1828309619561406,
      -1.0243575526575859,
      -0.9238509047556818,
      -1.0525410550803034,
      -0.9127596755470473,
      -0.7243178711002063,
      -0.5996064979370263,
      -0.34020270823961957,
      -0.3403015610948929
    ],
    "ay_ego": [
      0.09912228240944118,
      0.09885003393135448,
      0.007697713069546745,
      -0.12168743648903382,
      -0.02361703586585191,
      0.0869780858637751,
      0.055402546856900166,
      0.03944891229700112,
      -0.07411249307313045,
      -0.07365728769962933
    ],
    "a_ego": [
      1.1869542543838072,
      1.1869542593420856,
      1.0243864751514147,
      0.9318306318302508,
      1.0528059826067893,
      0.9168944392487487,
      0.7264336312378208,
      0.6009027950090776,
      0.3481817690848941,
      0.34818177510445186
    ],
    "yaw": [
      -1.5581434657956221,
      -1.5583736352109199,
      -1.5586531300172566,
      -1.5586388498803814,
      -1.5573538427141487,
      -1.5561258848363624,
      -1.555852400454293,
      -1.5552948257085335,
      -1.5534266955870062,
      -1.5520888504382895
    ],
    "yaw_diff": [
      -0.00046033883059548586,
      -0.0005589896126734217,
      2.8560273750422027e-05,
      0.002570014332465398,
      0.0024559157555725797,
      0.0005469687641386223,
      0.0011151494915191407,
      0.0037362602430546232,
      0.0026756902974334196,
      0.0026756902974334196
    ],
    "min_front_frame": [
      9,
      12.293012707593013
    ],
    "v_avg": 2.3928979268151735,
    "v_std": 1.242244657124211,
    "vy_max": 0.04386700842041978,
    "a_max": 1.1869542593420856,
    "ax_avg": -0.8283576961797214,
    "a_std": 0.2979320721190921,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e0416692bc5251ba",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.937593952327448,
    "right_rear_min": 4.657213391193667,
    "speed_mode": "decelerating",
    "front_frame": [
      19.85604128398766,
      20.572246795852834,
      18.957235404186545,
      17.40066046046527,
      16.02925086849252,
      14.921570780908345,
      14.024557100968119,
      13.37539225821768,
      12.818035010862982,
      12.293012707593013
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e0416692bc5251ba",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9a594a58c8125976": {
    "vx_ego": [
      8.775179636104573,
      8.64466872137394,
      8.516112699098446,
      8.405251100659253,
      8.313079066097359,
      8.112812383315008,
      7.7283545316335145,
      7.26396437228465,
      6.7751782633842685,
      6.268131013524243
    ],
    "vy_ego": [
      0.01825299793032853,
      -0.009118456057627178,
      -0.011822083274042106,
      0.019035710532973038,
      0.007267018761696775,
      0.011309748207733783,
      -0.0006799297692050565,
      -0.02941624285975264,
      -0.026079786838066887,
      -0.002447234083295946
    ],
    "v_ego": [
      8.775198619851167,
      8.644673530477702,
      8.516120904813338,
      8.405272656101591,
      8.313082242390472,
      8.112820266545652,
      7.7283545615431475,
      7.264023934236775,
      6.775228457839352,
      6.26813149125472
    ],
    "ax_ego": [
      -0.26175064945288584,
      -0.2604672861548449,
      -0.2528572957369347,
      -0.18789084202442816,
      -0.17982649497216002,
      -0.6219890579011397,
      -0.9165557903713131,
      -0.9414399353803125,
      -1.0141363018547802,
      -1.0141769300967853
    ],
    "ay_ego": [
      0.12328665791218946,
      0.12597536033799983,
      -0.3113880426021216,
      -0.48162598940195717,
      -0.44981541444618617,
      -0.311828140837962,
      -0.1628838621231965,
      -0.0813104856518228,
      0.01941956069315104,
      0.017166908036572504
    ],
    "a_ego": [
      0.28933199357859607,
      0.28933198677152644,
      0.4011225811182616,
      0.5169782995291609,
      0.4844290199475734,
      0.6957781094337527,
      0.9309165748891524,
      0.944944732249364,
      1.0143222161015724,
      1.014322211268232
    ],
    "yaw": [
      -0.2292056248892652,
      -0.21890842575708142,
      -0.2239961060105344,
      -0.2510999942701196,
      -0.27755065368633014,
      -0.30106777655853034,
      -0.3144750029124288,
      -0.3187837183035088,
      -0.3214597869853649,
      -0.3236809903783827
    ],
    "yaw_diff": [
      0.020594398264367597,
      -0.010175360506905984,
      -0.05420777651917036,
      -0.05290131883242111,
      -0.047034245744400405,
      -0.02681445270779692,
      -0.00861743078216004,
      -0.005352137363712206,
      -0.00444240678603558,
      -0.00444240678603558
    ],
    "min_front_frame": [
      9,
      49.745861141467735
    ],
    "v_avg": 7.880290666505393,
    "v_std": 0.8080529134131047,
    "vy_max": 0.02941624285975264,
    "a_max": 1.0143222161015724,
    "ax_avg": -0.5651090583945584,
    "a_std": 0.28284464989084757,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "9a594a58c8125976",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      76.80188675348901,
      72.58333534768643,
      68.35692519532054,
      64.25444243187553,
      60.24542624512608,
      56.50144425478522,
      52.99316798988086,
      49.745861141467735
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "9a594a58c8125976",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "7c04e29efc0c5e46": {
    "vx_ego": [
      7.697468255334892,
      7.24091129499198,
      6.875950676599253,
      6.566412462903791,
      6.248499098454387,
      5.87246497928979,
      5.425051343084785,
      4.952384879264793,
      4.704349895368234,
      4.881730931841768
    ],
    "vy_ego": [
      0.12472850102615524,
      -0.03441427030432065,
      -0.025614052788722974,
      -0.017277734981396176,
      -0.06715099884558651,
      -0.14958236516158863,
      -0.06904207041837607,
      0.04646744553661297,
      0.06928640827796584,
      0.0851593618131874
    ],
    "v_ego": [
      7.698478728999426,
      7.240993075811011,
      6.875998384723922,
      6.566435193703226,
      6.248859915219035,
      5.87436973784868,
      5.425490658234856,
      4.952602872820034,
      4.704860098283814,
      4.882473656642207
    ],
    "ax_ego": [
      -0.9794742059337077,
      -0.8265258945312925,
      -0.6195768672599847,
      -0.6371569960259102,
      -0.684338349851457,
      -0.8579305269991286,
      -0.9828402510544815,
      -0.8906690275484672,
      -0.013652657781231203,
      0.7973825622378041
    ],
    "ay_ego": [
      -1.635952376920047,
      -1.7183028901836803,
      -2.156133536927534,
      -2.094403650141951,
      -1.7258501915035338,
      -2.0551830752780846,
      -2.449828450840476,
      -2.6674866164312228,
      -2.8007684195795726,
      -2.6848968668526765
    ],
    "a_ego": [
      1.9067537595714394,
      1.906753753567655,
      2.243387466200909,
      2.189176942897191,
      1.8565769201921583,
      2.227065841430488,
      2.6396277005745117,
      2.812254640937379,
      2.800801695082811,
      2.8008016952644548
    ],
    "yaw": [
      3.0757800784054923,
      2.984646620744939,
      2.845886310088316,
      2.686931316640771,
      2.5460234442894807,
      2.404399200019026,
      2.1921498423394157,
      1.9243424162491227,
      1.6318993273043763,
      1.3383334083120446
    ],
    "yaw_diff": [
      -0.18226691532110628,
      -0.2775206213132462,
      -0.3179099868950903,
      -0.2818157447025804,
      -0.28324848854090945,
      -0.42449871535922057,
      -0.5356148521805859,
      -0.5848861778894929,
      -0.5871318379846633,
      -0.5871318379846633
    ],
    "min_front_frame": [
      4,
      66.42734141217029
    ],
    "v_avg": 6.047056232228622,
    "v_std": 0.9960944410521888,
    "vy_max": 0.14958236516158863,
    "a_max": 2.812254640937379,
    "ax_avg": -0.5694782214747857,
    "a_std": 0.37301307968781294,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "7c04e29efc0c5e46",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.4253376403301,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      66.42734141217029,
      67.86080251571599,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7c04e29efc0c5e46",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "bbde51f27b4455c2": {
    "vx_ego": [
      1.982346014395559,
      1.6558596965392332,
      1.4058080016104122,
      1.279072815656352,
      1.2214345551950887,
      1.207732429640965,
      1.2446505364172893,
      1.298037273435655,
      1.2711653467735173,
      1.1764421098477
    ],
    "vy_ego": [
      0.007569115857502862,
      -0.011070110304781333,
      -0.004042450128100117,
      0.012841765663610505,
      0.008189333568803137,
      0.015756925087912654,
      0.013147930340626557,
      0.002726709188042631,
      0.005036309227054225,
      0.003179110814472641
    ],
    "v_ego": [
      1.9823604647754711,
      1.6558967002700264,
      1.4058138137018354,
      1.2791372790660225,
      1.2214620083362908,
      1.2078352132202035,
      1.2447199789013141,
      1.2980401373498685,
      1.2711753235681014,
      1.1764464053107044
    ],
    "ax_ego": [
      -0.6530174891094397,
      -0.6529392587739229,
      -0.34733455797681423,
      -0.15956373106374833,
      -0.07094611853494256,
      0.01615205623748862,
      0.13157392578446409,
      0.08197083579818566,
      -0.18944129659590683,
      -0.18943514828095637
    ],
    "ay_ego": [
      -0.04319619079792597,
      -0.04436301062285672,
      0.067838122249158,
      -0.004469757057136391,
      -0.018503871302083023,
      0.04452425260239581,
      -0.0573479791338465,
      0.011561011127333671,
      -0.00606314877530896,
      -0.0062522552179229696
    ],
    "a_ego": [
      0.6544446133801148,
      0.6544446136685392,
      0.35389730995762125,
      0.15962632301451418,
      0.07331947209533204,
      0.047363466833636084,
      0.1435287032515509,
      0.08278209286880496,
      0.189538298581078,
      0.1895382971843368
    ],
    "yaw": [
      1.106209535638107,
      1.1044226159490225,
      1.1036462153304831,
      1.1028561108179158,
      1.1019757085570592,
      1.1010930149367355,
      1.100600397688686,
      1.0997976704996364,
      1.0990884451489937,
      1.0980902018867584
    ],
    "yaw_diff": [
      -0.003573839378169019,
      -0.0015528012370786826,
      -0.0015802090251346712,
      -0.0017608045217132329,
      -0.0017653872406473425,
      -0.0009852344960989967,
      -0.0016054543780992248,
      -0.0014184507012853231,
      -0.0019964865244705976,
      -0.0019964865244705976
    ],
    "min_front_frame": [
      9,
      11.583332877285821
    ],
    "v_avg": 1.3742887324499837,
    "v_std": 0.24135877078312196,
    "vy_max": 0.015756925087912654,
    "a_max": 0.6544446136685392,
    "ax_avg": -0.20329807825155927,
    "a_std": 0.21558401035407537,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bbde51f27b4455c2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.148186579617296,
    "right_rear_min": 33.36768017716335,
    "speed_mode": "quasi_constant",
    "front_frame": [
      12.917191637403933,
      12.384502291875354,
      12.208937346816214,
      12.192068782708692,
      12.33073574589745,
      12.381610208040145,
      12.395583532760739,
      12.185574591455778,
      11.922917107514944,
      11.583332877285821
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bbde51f27b4455c2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f72ccf055618500a": {
    "vx_ego": [
      8.29621123636771,
      8.158427084399916,
      8.028129196505475,
      7.875621909330832,
      7.717763929515728,
      7.589756979410137,
      7.464810707572536,
      7.324857651961892,
      7.098158027048254,
      6.797666855110503
    ],
    "vy_ego": [
      0.08297112819471009,
      0.11757743556926492,
      0.127777629323802,
      0.09838171783412131,
      0.04656391552069872,
      0.028515351754460738,
      0.08436626540635617,
      0.11883752007624881,
      0.12244662882567958,
      0.10932568531892928
    ],
    "v_ego": [
      8.296626126718484,
      8.159274290329083,
      8.02914600180737,
      7.8762363741279255,
      7.717904396269927,
      7.589810546501841,
      7.465287440321919,
      7.325821590626034,
      7.099214080013388,
      6.798545931192814
    ],
    "ax_ego": [
      -0.27595312223386814,
      -0.27580598545354773,
      -0.24645921854050437,
      -0.3646858090277478,
      -0.2671542002457461,
      -0.244961945306262,
      -0.255203238447844,
      -0.30641716645706,
      -0.6012704137655915,
      -0.6012813494174013
    ],
    "ay_ego": [
      0.0945489787064373,
      0.09497737885231099,
      0.011043916199994827,
      -0.05539089502544994,
      -0.11194211061917876,
      0.10332467153002847,
      0.18137418970830604,
      0.07269366042762122,
      -0.009009378657483302,
      -0.008247239532006206
    ],
    "a_ego": [
      0.2917012770713397,
      0.29170129260196637,
      0.24670653515589855,
      0.36886839192040205,
      0.2896591148899352,
      0.26586150980353734,
      0.31308990658692865,
      0.31492197155158913,
      0.6013379078136015,
      0.6013379067688227
    ],
    "yaw": [
      2.6204228461274877,
      2.621975636566792,
      2.6239911998619365,
      2.6262894238128407,
      2.627572042500881,
      2.6296494472857685,
      2.6316848677282767,
      2.6356093024661114,
      2.637307886305144,
      2.6385754307287828
    ],
    "yaw_diff": [
      0.0031055808786089045,
      0.004031126590288814,
      0.004596447901808354,
      0.002565237376080276,
      0.004154809569775431,
      0.0040708408850163025,
      0.007848869475669318,
      0.0033971676780648608,
      0.002535088847277933,
      0.002535088847277933
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.635786677790878,
    "v_std": 0.45234758339401643,
    "vy_max": 0.127777629323802,
    "a_max": 0.6013379078136015,
    "ax_avg": -0.34391924488955733,
    "a_std": 0.12520063597527145,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f72ccf055618500a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f72ccf055618500a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "07fb7a73409e53cf": {
    "vx_ego": [
      7.443864232650246,
      6.922102478004126,
      6.343394029254416,
      5.691029441337011,
      5.035339872742655,
      4.37163324742168,
      3.685438971080921,
      2.974101792015487,
      2.2376724966350436,
      1.499817593185016
    ],
    "vy_ego": [
      -0.020051624131159865,
      -0.022650722681691715,
      -0.027183834402099205,
      -0.04523787984643596,
      -0.02605229346077073,
      0.009770556119628349,
      -0.01009308483440309,
      -0.015320253004757325,
      0.010316761102347666,
      0.0064886121334985294
    ],
    "v_ego": [
      7.443891239248457,
      6.922139537110536,
      6.343452275475348,
      5.691209236000522,
      5.035407268138952,
      4.371644165955129,
      3.6854527917100595,
      2.974141250751528,
      2.2376962791577752,
      1.4998316288552902
    ],
    "ax_ego": [
      -1.0434499187610669,
      -1.043336672685566,
      -1.2714636754995212,
      -1.3373587555110835,
      -1.285099088254089,
      -1.3697479521105678,
      -1.37513493065027,
      -1.4700314377731398,
      -1.4757133903778321,
      -1.4757151924551626
    ],
    "ay_ego": [
      0.03625480966142637,
      0.03937898034693904,
      -0.04236181197412238,
      0.05031275998779201,
      0.06882330374314324,
      0.06092403497436967,
      -0.12155865935327428,
      0.11505970418949604,
      -0.006850692584317454,
      -0.006454361687149149
    ],
    "a_ego": [
      1.0440795679382215,
      1.0440795547580426,
      1.2721691716232093,
      1.338304828788921,
      1.2869406799730947,
      1.371102180856209,
      1.3804972238864837,
      1.4745274373742725,
      1.4757292917501235,
      1.4757293071657032
    ],
    "yaw": [
      -1.5517748321176794,
      -1.5487805925325033,
      -1.5482120211173678,
      -1.5448858348177774,
      -1.5429072805626105,
      -1.5436255591229606,
      -1.542457839934364,
      -1.5413797949672836,
      -1.5408368496237905,
      -1.5405682815811494
    ],
    "yaw_diff": [
      0.005988479170352168,
      0.0011371428302711095,
      0.0066523725991807225,
      0.003957108510333818,
      -0.0014365571207002326,
      0.0023354383771931886,
      0.002156089934160832,
      0.0010858906869861684,
      0.0005371360852821638,
      0.0005371360852821638
    ],
    "min_front_frame": [
      9,
      10.278885322907948
    ],
    "v_avg": 4.62048656724036,
    "v_std": 1.9136164138469989,
    "vy_max": 0.04523787984643596,
    "a_max": 1.4757293071657032,
    "ax_avg": -1.31470510140783,
    "a_std": 0.15313312236420154,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "07fb7a73409e53cf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.957369389834637,
    "right_rear_min": 16.901037396644476,
    "speed_mode": "decelerating",
    "front_frame": [
      24.009697452451192,
      22.898532008120625,
      23.195917635610925,
      20.678399298599178,
      18.26912141368818,
      16.07777261205411,
      14.17618137418705,
      12.504036504549338,
      11.213563255313504,
      10.278885322907948
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "07fb7a73409e53cf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "597a23643be958dc": {
    "vx_ego": [
      7.550589140476303,
      7.552282528173825,
      7.625079928856915,
      7.680383662415002,
      7.659154878579255,
      7.65884687661268,
      7.610264782615312,
      7.55370220675138,
      7.564890891790166,
      7.5944014171593075
    ],
    "vy_ego": [
      0.06409299241828759,
      0.04469914241802231,
      0.03347481974491018,
      0.01172577702081945,
      0.010131494143232445,
      0.0211892737724777,
      0.03123128859672386,
      0.019991098785436368,
      0.021934362605816826,
      0.06266048430135562
    ],
    "v_ego": [
      7.550861161480577,
      7.5524148057884455,
      7.625153407310147,
      7.680392613384945,
      7.659161579522785,
      7.658876188105068,
      7.610328866409276,
      7.553728660225446,
      7.564922691009654,
      7.594659914785137
    ],
    "ax_ego": [
      0.0028199971023954995,
      0.0029584621047666123,
      0.2877580343513052,
      -0.06688369821220655,
      -0.018156905419932607,
      0.016724889189804706,
      -0.21117595247564158,
      -0.0146081392076675,
      0.05948693003798358,
      0.0595112279791474
    ],
    "ay_ego": [
      0.030286139778891736,
      0.03027292375101512,
      0.010921566515288375,
      0.04581402223387014,
      0.07060953453663338,
      0.09495101941011279,
      -0.03247464335398484,
      -0.11169956185309177,
      -0.004463103356239027,
      -0.004126549769345667
    ],
    "a_ego": [
      0.03041714395475169,
      0.03041714007693878,
      0.2879652182970624,
      0.0810700543961028,
      0.07290664977838715,
      0.09641274814790242,
      0.21365833792520936,
      0.1126507427817645,
      0.05965412087117222,
      0.059654125327465356
    ],
    "yaw": [
      1.0444042080179692,
      1.0489773300146368,
      1.05182688652069,
      1.0564952751053511,
      1.060501201645079,
      1.06446380704831,
      1.0651915962981993,
      1.0619096083135202,
      1.0578058014045668,
      1.052149411001501
    ],
    "yaw_diff": [
      0.00914624399333519,
      0.005699113012106238,
      0.009336777169322463,
      0.008011853079455733,
      0.007925210806461802,
      0.0014555784997787313,
      -0.0065639759693580935,
      -0.0082076138179068,
      -0.011312780806131517,
      -0.011312780806131517
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.605049988802148,
    "v_std": 0.046896452931640506,
    "vy_max": 0.06409299241828759,
    "a_max": 0.2879652182970624,
    "ax_avg": 0.011843484544995475,
    "a_std": 0.07890045040082044,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "597a23643be958dc",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.769289090666927,
    "right_rear_min": 18.149324755504164,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "597a23643be958dc",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8b2a7b6817795ae7": {
    "vx_ego": [
      1.6760848005746845,
      1.4105946922389436,
      1.1984426871330425,
      1.0281776506373912,
      0.8349513106751079,
      0.5959739563675583,
      0.3379919522020827,
      0.13661005813009425,
      0.024444677584751322,
      -0.03994370115841572
    ],
    "vy_ego": [
      0.14948497698650598,
      0.10691837520481362,
      0.07615530084302746,
      0.05491388720993695,
      0.03758472630512116,
      0.022023289862444895,
      -0.002763918239744395,
      -0.02244929325748645,
      -0.012758031579816427,
      0.017808404705808186
    ],
    "v_ego": [
      1.6827376554478526,
      1.4146409172398193,
      1.2008599019823918,
      1.0296430528482825,
      0.8357968071544132,
      0.5963807357425001,
      0.33800325293909667,
      0.1384423300514274,
      0.027573712699127714,
      0.0437337231481459
    ],
    "ax_ego": [
      -0.531322107382253,
      -0.531449084807793,
      -0.318314752668757,
      -0.3632456397489785,
      -0.40963673738055817,
      -0.546251544547145,
      -0.4856383270830449,
      -0.31993000417761325,
      -0.12877791263381447,
      -0.12877593653382313
    ],
    "ay_ego": [
      -0.08066938596449932,
      -0.07982855786441176,
      -0.025802938854124963,
      -0.05101334371079169,
      -0.01881334564365386,
      -0.04390220966997635,
      -0.05680497056791817,
      -0.02245892825749779,
      0.06113029491543476,
      0.06113446016682402
    ],
    "a_ego": [
      0.5374111383522003,
      0.5374111353458844,
      0.31935884741162507,
      0.3668102452674953,
      0.410068529133968,
      0.5480129140212373,
      0.4889492707973298,
      0.3207173382147636,
      0.14255056555051046,
      0.14255056664234006
    ],
    "yaw": [
      -0.5784499397634022,
      -0.5768675947284639,
      -0.5734594425934354,
      -0.5716386383623757,
      -0.5717746664019092,
      -0.5719349961920276,
      -0.5727830089134376,
      -0.5733859833567966,
      -0.5737994820210376,
      -0.5737671541457083
    ],
    "yaw_diff": [
      0.003164690069876519,
      0.006816304270057083,
      0.003641608462119361,
      -0.0002720560790669957,
      -0.00032065958023674845,
      -0.0016960254428199928,
      -0.001205948886717989,
      -0.0008269973284820153,
      6.465575065850437e-05,
      6.465575065850437e-05
    ],
    "min_front_frame": [
      9,
      8.623232736945084
    ],
    "v_avg": 0.7307812089253058,
    "v_std": 0.5643531004442166,
    "vy_max": 0.14948497698650598,
    "a_max": 0.5480129140212373,
    "ax_avg": -0.37633420469637807,
    "a_std": 0.1451447538083797,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8b2a7b6817795ae7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.745697792694585,
    "right_rear_min": 23.503747477430426,
    "speed_mode": "decelerating",
    "front_frame": [
      11.84750271538729,
      11.06782204016462,
      10.373910547846922,
      9.82775794316301,
      9.345392123478005,
      8.94644772044931,
      8.750608225441619,
      8.664284111263342,
      8.643304936598257,
      8.623232736945084
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8b2a7b6817795ae7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3921f38b62d55f1a": {
    "vx_ego": [
      4.852800916925695,
      4.232157116856098,
      3.536644211976524,
      2.698760136465074,
      1.8681658360530717,
      1.2152409375591255,
      0.789849011733685,
      0.5485689103020126,
      0.3439804258750066,
      0.11669891256590276
    ],
    "vy_ego": [
      -0.01984751723629624,
      0.007290929640735688,
      -0.004099034397813506,
      -0.04557452276096114,
      -0.043481362578689724,
      -0.000491751065609513,
      0.03470571123773421,
      0.025281851056075676,
      -0.006770338779976172,
      -0.02179526869715164
    ],
    "v_ego": [
      4.852841504031973,
      4.232163397059564,
      3.536646587403107,
      2.699144922248132,
      1.8686717796037837,
      1.2152410370534288,
      0.7906111229480622,
      0.5491511825925163,
      0.34404704746930553,
      0.11871676348201737
    ],
    "ax_ego": [
      -1.2412835561569748,
      -1.241299251054189,
      -1.5407575088837737,
      -1.8108891812801535,
      -1.5113749815936204,
      -1.1002526830447488,
      -0.6013602464480131,
      -0.3638165656338271,
      -0.4545377964509721,
      -0.454555054661079
    ],
    "ay_ego": [
      0.05169826982073639,
      0.051320113864470274,
      -0.0958744166442621,
      -0.08319212823811156,
      0.09536331584810959,
      0.0818767344637104,
      0.06106994243013217,
      -0.09804245242909351,
      -0.029914531906779375,
      -0.029650994082605082
    ],
    "a_ego": [
      1.2423596813677442,
      1.2423596841312714,
      1.5437375440626588,
      1.8127990945160721,
      1.5143805654447178,
      1.1032949588363075,
      0.6044532106593816,
      0.3767954563259805,
      0.45552111654862615,
      0.455521107269491
    ],
    "yaw": [
      1.593337139394745,
      1.5930324928339097,
      1.5930965923455997,
      1.5920522701741735,
      1.5924750777389167,
      1.5933610661168378,
      1.5939345776233185,
      1.5942171847390623,
      1.594354729948365,
      1.5949345154321333
    ],
    "yaw_diff": [
      -0.0006092931216707953,
      0.00012819902338012668,
      -0.002088644342852497,
      0.0008456151294864434,
      0.001771976755842175,
      0.0011470230129613235,
      0.0005652142314875874,
      0.00027509041860529493,
      0.001159570967536716,
      0.001159570967536716
    ],
    "min_front_frame": [
      9,
      9.887272585946596
    ],
    "v_avg": 2.0207235343891887,
    "v_std": 1.6263189743009463,
    "vy_max": 0.04557452276096114,
    "a_max": 1.8127990945160721,
    "ax_avg": -1.0320126825207352,
    "a_std": 0.49743808633210185,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3921f38b62d55f1a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.447734858346297,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.64972251089126,
      16.413142054074154,
      14.49242708654847,
      12.897994482834427,
      11.83105983679992,
      11.103616466718755,
      10.604056626031067,
      10.275162545670083,
      10.037238988802603,
      9.887272585946596
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3921f38b62d55f1a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a82d8d2d870a5280": {
    "vx_ego": [
      0.6629883104801817,
      0.7141916770134775,
      0.7687307348659598,
      0.8027974364321229,
      0.8143535248947037,
      0.8292440667853395,
      0.8422056936978171,
      0.8488206467877145,
      0.8046526076946751,
      0.7121003620647569
    ],
    "vy_ego": [
      -0.018083326864955673,
      -0.01682790277472157,
      -0.010293544652658082,
      0.007199542505163858,
      0.015062314378974428,
      0.01152851429238344,
      0.008995455044350065,
      -0.0003073977939168637,
      -0.007257395090768282,
      -0.008446370992903796
    ],
    "v_ego": [
      0.6632348803733641,
      0.7143899004235145,
      0.7687996486660714,
      0.802829718778691,
      0.8144928095587338,
      0.8293242001415841,
      0.8422537317866132,
      0.8488207024492969,
      0.8046853353040206,
      0.7121504523874906
    ],
    "ax_ego": [
      0.10241071065238302,
      0.10241102920782778,
      0.11574157977223365,
      0.020517344636404748,
      0.025691004884619544,
      0.03382094765139468,
      0.018008223676930824,
      0.008442339498988575,
      -0.18511114532360207,
      -0.1851099973903267
    ],
    "ay_ego": [
      0.0026797980821351985,
      0.0026676841820210753,
      0.02330308784670596,
      0.04519890497493897,
      -0.013044773289174649,
      0.002542981713650484,
      -0.01146535117069912,
      -0.02443141636961215,
      -0.0029299025669464046,
      -0.003001643127776052
    ],
    "a_ego": [
      0.10244576601347238,
      0.10244576829865429,
      0.11806416556840446,
      0.049637711891892936,
      0.02881308456495954,
      0.033916415730945684,
      0.021348311349280617,
      0.025848930384863803,
      0.18513433083052835,
      0.18513433229769483
    ],
    "yaw": [
      -2.0462336669257666,
      -2.0461153882930447,
      -2.046171709267159,
      -2.0466325408770887,
      -2.046414997366269,
      -2.0453083084785497,
      -2.0449472418686536,
      -2.044559079762056,
      -2.044430201600978,
      -2.044817754392813
    ],
    "yaw_diff": [
      0.00023655726544369315,
      -0.00011264194822846463,
      -0.0009216632198594255,
      0.0004350870216391911,
      0.0022133777754387296,
      0.0007221332197921981,
      0.0007763242131950676,
      0.00025775632215641053,
      -0.0007751055836706655,
      -0.0007751055836706655
    ],
    "min_front_frame": [
      9,
      11.253165924753294
    ],
    "v_avg": 0.7800981379869381,
    "v_std": 0.06002724354396273,
    "vy_max": 0.018083326864955673,
    "a_max": 0.18513433229769483,
    "ax_avg": 0.005682203726685406,
    "a_std": 0.06026800110048378,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a82d8d2d870a5280",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.298086710793436,
    "right_rear_min": 3.2313022336698336,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.81113388674457,
      11.84072168218164,
      11.8557667489878,
      11.812915341186256,
      11.773127312975882,
      11.739280123960953,
      11.697820720697285,
      11.596510593986062,
      11.472481509991443,
      11.253165924753294
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a82d8d2d870a5280",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "516c42e0454456b6": {
    "vx_ego": [
      5.221749459315959,
      4.895166820983965,
      4.513245404043843,
      4.173874837116478,
      3.9609513078056455,
      3.7293196170471057,
      3.300265586295934,
      2.6764667436492147,
      2.060375434534061,
      1.496018846722833
    ],
    "vy_ego": [
      -0.0572163346920207,
      -0.01703338588594372,
      -0.019913012310339928,
      -0.037798534865004285,
      0.00562644182357297,
      0.017818915768966326,
      0.024474929527874112,
      0.005703877187227535,
      -0.010159564998504012,
      -0.01598575079062725
    ],
    "v_ego": [
      5.222062918504726,
      4.895196455863339,
      4.513289333200581,
      4.174045985030837,
      3.960955303920362,
      3.729362186735361,
      3.300356338679907,
      2.676472821471423,
      2.06040048242869,
      1.4961042523762358
    ],
    "ax_ego": [
      -0.6531342024369917,
      -0.653035623751795,
      -0.8746437489385759,
      -0.4823912449701041,
      -0.3694881512992342,
      -0.5567582186950519,
      -1.1588093561451798,
      -1.335935616516276,
      -1.1286259582700142,
      -1.128626717927284
    ],
    "ay_ego": [
      0.09093819124209712,
      0.0916434360149962,
      -0.10778304580338016,
      0.07352560597592853,
      0.027502443633936224,
      -0.03445510956137404,
      -0.04346029444801042,
      -0.0947061869375343,
      -0.0020478962509430376,
      0.0015749506909087385
    ],
    "a_ego": [
      0.659434637412526,
      0.6594346406229588,
      0.8812598212332048,
      0.48796242473978924,
      0.37051029453493406,
      0.5578233310461059,
      1.1596240429911384,
      1.3392883309134629,
      1.1286278162263956,
      1.1286278168151767
    ],
    "yaw": [
      1.0237443565419513,
      1.0248242255930253,
      1.024580079816452,
      1.0267505532969639,
      1.022268296557638,
      1.0186672976498985,
      1.0113875229312788,
      1.0061490262899737,
      1.0025951133145778,
      1.0058050737086104
    ],
    "yaw_diff": [
      0.00215973810214809,
      -0.0004882915531467802,
      0.004340946961023828,
      -0.008964513478651792,
      -0.007201997815478922,
      -0.014559549437239472,
      -0.010476993282610092,
      -0.007107825950791735,
      0.006419920788065081,
      0.006419920788065081
    ],
    "min_front_frame": [
      6,
      10.277791588333532
    ],
    "v_avg": 3.602824607821146,
    "v_std": 1.1557951573377614,
    "vy_max": 0.0572163346920207,
    "a_max": 1.3392883309134629,
    "ax_avg": -0.8341448838950507,
    "a_std": 0.31762715062361696,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "516c42e0454456b6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.733767444805384,
    "speed_mode": "decelerating",
    "front_frame": [
      12.460460134009026,
      12.02338921301942,
      11.701604224871149,
      11.252958460256693,
      10.919293126352892,
      10.559677634942808,
      10.277791588333532,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.42857142857142855,
    "unsafe_ratio": 0.5714285714285714,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "516c42e0454456b6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0c81f22d5e0658de": {
    "vx_ego": [
      9.144130156989311,
      9.193755476836905,
      9.24345292242349,
      9.159308470259402,
      9.239931069904433,
      9.43609713686131,
      9.442628861315821,
      9.422021193726538,
      9.361510218523124,
      9.274632117361948
    ],
    "vy_ego": [
      0.07726645306004798,
      0.0747481535853689,
      0.04250549037908424,
      0.002717814109344019,
      0.007822651348986298,
      0.0415478633298223,
      0.07032445757631045,
      0.07529680821686835,
      0.07998545429762416,
      0.110448655565059
    ],
    "v_ego": [
      9.144456595814201,
      9.194059334936501,
      9.243550651441886,
      9.159308873483806,
      9.239934381285368,
      9.436188605641023,
      9.442890730167745,
      9.422322059044665,
      9.361851913185342,
      9.275289743070989
    ],
    "ax_ego": [
      0.08345779822844868,
      0.10461784154238662,
      0.08305107939667138,
      -0.42159239389218117,
      0.7436442126113167,
      0.039568662860816575,
      -0.01496816860546274,
      -0.06806950217846335,
      -0.1745323362151937,
      -0.17416296031181827
    ],
    "ay_ego": [
      0.621921743567678,
      0.6187139604155325,
      0.317653322489018,
      0.314681456740961,
      0.3037195076297846,
      0.21896406738272595,
      0.09965163352362674,
      -0.013910987878035914,
      0.1185761213531156,
      0.11911799251275983
    ],
    "a_ego": [
      0.6274965013507255,
      0.6274965000556266,
      0.3283308012923312,
      0.5260841812907449,
      0.8032759515043284,
      0.22251054331285047,
      0.10076950994883704,
      0.06947641837750913,
      0.21100197378195829,
      0.2110019736515417
    ],
    "yaw": [
      -0.8681625964931912,
      -0.8340542881806694,
      -0.8051737647643531,
      -0.7838164675391732,
      -0.7673052479047991,
      -0.7570204414805535,
      -0.7516344327757019,
      -0.749890299717333,
      -0.747606678213747,
      -0.7444986908810923
    ],
    "yaw_diff": [
      0.06821661662504352,
      0.05776104683263261,
      0.042714594450359744,
      0.03302243926874815,
      0.020569612848491348,
      0.010772017409703238,
      0.0034882661167376927,
      0.004567243007171928,
      0.006215974665309432,
      0.006215974665309432
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.291985288807153,
    "v_std": 0.10941995197165254,
    "vy_max": 0.110448655565059,
    "a_max": 0.8032759515043284,
    "ax_avg": 0.020101423343652086,
    "a_std": 0.2411376339050657,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0c81f22d5e0658de",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0c81f22d5e0658de",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6b5a3fa1663e5a8d": {
    "vx_ego": [
      3.2408920636775256,
      2.709542762265732,
      2.1631227198765566,
      1.6328940456831516,
      1.2141958259730141,
      0.8463858035441835,
      0.47744891916678345,
      0.23741907768243115,
      0.19849315799951828,
      0.2601052051282009
    ],
    "vy_ego": [
      -0.1296196967210393,
      -0.04528168650052674,
      0.005934327206508917,
      0.004025628639309067,
      -0.01948800689606387,
      -0.05129097086867632,
      -0.05305356249436287,
      -0.03551434394655022,
      -0.016346791007095435,
      0.023399339715255797
    ],
    "v_ego": [
      3.2434831021890687,
      2.709921108017528,
      2.1631308600002788,
      1.632899007934487,
      1.2143522084729255,
      0.8479384954899645,
      0.48038750078126824,
      0.24006059042152283,
      0.1991651358768682,
      0.2611555988944013
    ],
    "ax_ego": [
      -1.0627315671945685,
      -1.062791546854095,
      -1.1228956637341896,
      -0.9979902559937452,
      -0.6767987203071167,
      -0.7945012749124819,
      -0.6812463546361642,
      -0.2788746718721678,
      0.12321157900453128,
      0.1232328359345282
    ],
    "ay_ego": [
      0.16672429132268915,
      0.16634152614459818,
      0.032717379700212684,
      -0.044065820490870544,
      -0.049230191885715785,
      -0.07996660379927947,
      0.07291527319297432,
      -0.002773185750967035,
      0.07963117291788319,
      0.07959826887330256
    ],
    "a_ego": [
      1.0757301581850705,
      1.0757301591870676,
      1.123372199481318,
      0.9989626357346879,
      0.6785868548700713,
      0.7985154560562683,
      0.6851373824057979,
      0.2788884600893673,
      0.14670452242881835,
      0.146704520244241
    ],
    "yaw": [
      -1.5490190469115124,
      -1.5493792062115097,
      -1.5499730596469754,
      -1.5504662667651092,
      -1.5503291886345525,
      -1.55080405198597,
      -1.550804422725691,
      -1.5508164557800188,
      -1.5505365144620695,
      -1.5502694827078298
    ],
    "yaw_diff": [
      -0.0007203185999946626,
      -0.0011877068709313932,
      -0.0009864142362676631,
      0.00027415626111348956,
      -0.0009497267028351075,
      -7.414794418458825e-07,
      -2.4066108655684815e-05,
      0.0005598826358985676,
      0.0005340635084793988,
      0.0005340635084793988
    ],
    "min_front_frame": [
      6,
      13.790328233282365
    ],
    "v_avg": 1.2992493608078313,
    "v_std": 1.0449297360295748,
    "vy_max": 0.1296196967210393,
    "a_max": 1.123372199481318,
    "ax_avg": -0.643138564056547,
    "a_std": 0.3675531874546871,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6b5a3fa1663e5a8d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.4914142325657798,
    "right_rear_min": 6.771357205127922,
    "speed_mode": "decelerating",
    "front_frame": [
      18.307134048177087,
      16.862552462216748,
      15.605714728517626,
      14.76261251669233,
      14.17034822922197,
      13.821685523967878,
      13.790328233282365,
      14.28609589786689,
      15.296674087470617,
      16.608057042484056
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6b5a3fa1663e5a8d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "97e5f17eb7235c14": {
    "vx_ego": [
      9.050129417467865,
      9.117377361051634,
      9.219763410571916,
      9.280727674862833,
      9.274617662183868,
      9.283569830229624,
      9.3445334297753,
      9.395312973114123,
      9.358793770110143,
      9.29087231205411
    ],
    "vy_ego": [
      0.0022665888617510177,
      0.002770871451879542,
      -0.0031201290446265517,
      0.00890868461026284,
      -0.008449562592905191,
      -0.023218168161008856,
      0.011330132815998484,
      0.010416204005650687,
      0.0014251685318450447,
      0.018652669026452684
    ],
    "v_ego": [
      9.05012970129944,
      9.117377782100808,
      9.219763938524997,
      9.280731950639797,
      9.274621511134617,
      9.283598864453507,
      9.344540298596703,
      9.395318747124678,
      9.358793878623343,
      9.290891035899383
    ],
    "ax_ego": [
      0.1328850766369091,
      0.1359644605202905,
      0.273561237485449,
      -0.029782870321285515,
      0.004963524290901496,
      0.031091048732479223,
      0.21282668225193097,
      -0.010055668980992083,
      -0.13601668803075145,
      -0.135779470403113
    ],
    "ay_ego": [
      0.23789942047345608,
      0.2361530069839323,
      0.23200182467006641,
      0.24140820918640807,
      0.1866884931441691,
      0.11114477791565767,
      0.11632493597758137,
      0.036261583669352046,
      0.08574785849000768,
      0.08612299743578226
    ],
    "a_ego": [
      0.2724969318256693,
      0.27249693068386444,
      0.3586929011073546,
      0.2432384484968671,
      0.18675446459409437,
      0.11541150275950082,
      0.2425421353261177,
      0.03763002695806509,
      0.1607894109028239,
      0.16078941280530132
    ],
    "yaw": [
      0.03359956444402506,
      0.04659112900797707,
      0.06002385555873829,
      0.07147095555764567,
      0.08488367468801114,
      0.09450289578851173,
      0.09690503927455965,
      0.10106139228466113,
      0.10526603289101959,
      0.10802643369844543
    ],
    "yaw_diff": [
      0.02598312912790403,
      0.02686545310152244,
      0.02289419999781475,
      0.026825438260730944,
      0.019238442201001182,
      0.004804286972095839,
      0.008312706020202953,
      0.008409281212716918,
      0.005520801614851689,
      0.005520801614851689
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.261576770839728,
    "v_std": 0.10166313915408862,
    "vy_max": 0.023218168161008856,
    "a_max": 0.3586929011073546,
    "ax_avg": 0.04796573321818183,
    "a_std": 0.08711231700338304,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "97e5f17eb7235c14",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "97e5f17eb7235c14",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f2592c08589e5398": {
    "vx_ego": [
      5.994900292348503,
      5.303699297054142,
      4.694659302542754,
      4.288526208915265,
      4.061282093762659,
      4.03190451775052,
      4.218980219462039,
      4.513767660416432,
      4.744884404381834,
      4.876031688091137
    ],
    "vy_ego": [
      -0.011324822878759022,
      0.10737109959526059,
      0.1049579078398557,
      0.06874472957614208,
      0.010996464504412194,
      -0.0059144095384168205,
      0.02128853272257225,
      -0.017953408315541264,
      -0.05093218337902483,
      0.12624765979457298
    ],
    "v_ego": [
      5.994910989065092,
      5.304786026467128,
      4.695832421346544,
      4.289077159762648,
      4.061296980934638,
      4.031908855678317,
      4.219033928974432,
      4.513803364912054,
      4.7451577527253725,
      4.877665783432944
    ],
    "ax_ego": [
      -1.3992209176133175,
      -1.3721044711300707,
      -1.0841760529379472,
      -0.5685143165190037,
      -0.34377624987503136,
      0.26891159681915977,
      0.5051372694765067,
      0.6393202864753865,
      0.2168284208168862,
      0.29588725903837354
    ],
    "ay_ego": [
      0.6571899782227748,
      0.7120724372763868,
      1.1299412208031958,
      1.4601042230353196,
      1.7470917477737395,
      2.1123169111257054,
      2.366847927666729,
      2.1202483248268194,
      1.0757555863407635,
      1.0567475485127586
    ],
    "a_ego": [
      1.5458712248318438,
      1.54587122219927,
      1.565951747735007,
      1.5668799795174626,
      1.7805930711752305,
      2.1293652058610033,
      2.420151394792167,
      2.2145390914657397,
      1.0973899241460643,
      1.0973899267575618
    ],
    "yaw": [
      2.6447704200947935,
      2.68437261779329,
      2.777575097847407,
      2.9317087259974213,
      3.13825038999671,
      -2.8988887357483617,
      -2.6337030351014175,
      -2.368346438913039,
      -2.1911194900896316,
      -2.1170069202312836
    ],
    "yaw_diff": [
      0.0792043953969932,
      0.18640496010823426,
      0.30826725630002816,
      0.41308332799857705,
      0.49209236286902946,
      0.5303714012938885,
      0.5307131923767567,
      0.354453897646815,
      0.14822513971669693,
      0.14822513971669693
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.6733473263299175,
    "v_std": 0.5795016075843548,
    "vy_max": 0.12624765979457298,
    "a_max": 2.420151394792167,
    "ax_avg": -0.28417071754490575,
    "a_std": 0.42232306217314186,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "f2592c08589e5398",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "f2592c08589e5398",
    "pedestrians": "No"
  },
  "35b810aad36b553a": {
    "vx_ego": [
      5.204739551848979,
      5.288765536943012,
      5.370159944682948,
      5.44161870786656,
      5.486807520552,
      5.458419135343403,
      5.35599359814899,
      5.21748151049767,
      5.062891682786235,
      4.904659494379606
    ],
    "vy_ego": [
      -0.0003403525792742279,
      0.017073882450455713,
      0.02481907319063792,
      0.023571790154172767,
      0.04010309752755514,
      0.06334092156929172,
      0.037625188663029,
      0.024205091272385015,
      0.0222214777784151,
      0.02136680446026684
    ],
    "v_ego": [
      5.204739562977286,
      5.288793096937906,
      5.370217297081302,
      5.441669761304374,
      5.4869540754427035,
      5.458786635272373,
      5.356125752653208,
      5.217537656675662,
      5.062940448563531,
      4.904706035649931
    ],
    "ax_ego": [
      0.15417821349916186,
      0.1835005490042626,
      0.1475770744756877,
      0.14373327282523876,
      0.041527989759109124,
      -0.14934790038265872,
      -0.2579414027561926,
      -0.2961017111178707,
      -0.32248641487430374,
      -0.31298886905375367
    ],
    "ay_ego": [
      -0.5419736625441836,
      -0.5327606559082141,
      -0.5718584344102162,
      -0.5840534280037137,
      -0.5008790152952134,
      -0.35329584797288877,
      -0.18805911138390882,
      0.1372266070518158,
      0.30187208185020276,
      0.3117085260502291
    ],
    "a_ego": [
      0.5634770380497769,
      0.5634770341093027,
      0.5905938214347541,
      0.6014795594863916,
      0.5025976142965018,
      0.3835658372999231,
      0.3192177887122486,
      0.3263546613883191,
      0.4417286968027514,
      0.44172869203160675
    ],
    "yaw": [
      2.5580256068511438,
      2.5034724693384725,
      2.450259971111336,
      2.397051846172659,
      2.344523301339316,
      2.3014511452286173,
      2.2812290992185753,
      2.2813636484830835,
      2.3030909195357108,
      2.33404621760792
    ],
    "yaw_diff": [
      -0.10910627502534265,
      -0.1064249964542725,
      -0.10641624987735465,
      -0.10505708966668603,
      -0.08614431222139718,
      -0.04044409202008392,
      0.0002690985290163539,
      0.04345454210525457,
      0.061910596144418406,
      0.061910596144418406
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.279247032255827,
    "v_std": 0.17676645273794978,
    "vy_max": 0.06334092156929172,
    "a_max": 0.6014795594863916,
    "ax_avg": -0.06683491986213194,
    "a_std": 0.10133598170144757,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "35b810aad36b553a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "35b810aad36b553a",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "cdba9f9589685289": {
    "vx_ego": [
      0.5827365812725752,
      1.457811530112508,
      2.2805256278332475,
      2.9551813389280905,
      3.4054223779011767,
      3.798145343400746,
      4.290617232776622,
      4.816640349529995,
      5.283256858599205,
      5.685906804575904
    ],
    "vy_ego": [
      -0.015402677331962045,
      2.0623969778310602e-05,
      0.0270223041406924,
      0.06088408232209963,
      0.03636966558768817,
      -0.0015337861521429463,
      -0.000541189918807472,
      -0.006087881676802409,
      0.0055095412945642686,
      0.04423356463969519
    ],
    "v_ego": [
      0.5829401046610545,
      1.457811530258394,
      2.280685717964073,
      2.955808454116915,
      3.4056165850672424,
      3.7981456530913515,
      4.29061726690767,
      4.816644196847401,
      5.283259731357225,
      5.6860788596855825
    ],
    "ax_ego": [
      1.7501497497480465,
      1.7501590959764612,
      1.5406345371272039,
      1.156647780414701,
      0.6418477503734781,
      0.9292583817451663,
      1.0407250854141235,
      1.0632688870597387,
      0.8038796842041532,
      0.8057026390231572
    ],
    "ay_ego": [
      0.031713203354430064,
      0.03119300735957664,
      0.10291487810800726,
      0.11730667894093011,
      -0.11167770694577064,
      0.07904256149532443,
      0.08953190464014482,
      0.039269766806236506,
      0.1892937208804072,
      0.18137782986483508
    ],
    "a_ego": [
      1.7504370522272856,
      1.7504370496928128,
      1.54406808435546,
      1.1625811562477713,
      0.6514909399893141,
      0.9326139965555886,
      1.0445691290473438,
      1.063993816135353,
      0.8258660057424076,
      0.8258660058964511
    ],
    "yaw": [
      1.1856678995243355,
      1.1859651267675035,
      1.1894078967956143,
      1.197357888793566,
      1.2053468884885485,
      1.2136883584624978,
      1.2238983063503648,
      1.2321928489325402,
      1.2411538504252286,
      1.2509897269377832
    ],
    "yaw_diff": [
      0.0005944544863361045,
      0.006885540056221551,
      0.015899983995903533,
      0.015977999389964914,
      0.01668293994789849,
      0.020419895775734,
      0.01658908516435087,
      0.017922002985376828,
      0.01967175302510915,
      0.01967175302510915
    ],
    "min_front_frame": [
      9,
      37.048593524014
    ],
    "v_avg": 3.4557608099956907,
    "v_std": 1.5766564492668034,
    "vy_max": 0.06088408232209963,
    "a_max": 1.7504370522272856,
    "ax_avg": 1.148227359108623,
    "a_std": 0.3742504541980884,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "cdba9f9589685289",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.016966932457956,
    "speed_mode": "accelerating",
    "front_frame": [
      54.0658391758515,
      53.351726005000835,
      52.23485059800121,
      50.69497217991003,
      48.91807217174463,
      46.95858476423977,
      44.77299598896308,
      42.41880340907818,
      39.783784989714164,
      37.048593524014
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "cdba9f9589685289",
    "pedestrians": "No"
  },
  "2d4d907377f35695": {
    "vx_ego": [
      9.776387526667422,
      9.23805439986805,
      8.648206033032322,
      8.03919060557564,
      7.5093135051919,
      6.997323807447449,
      6.372049754044184,
      5.5961975777090265,
      4.7169965424722875,
      3.8007000924616063
    ],
    "vy_ego": [
      0.0018893477792390478,
      -0.017811665811720556,
      -0.038400460123606844,
      -0.02811629780509836,
      -0.004602861232708949,
      0.001746798805080163,
      -0.021494980331124708,
      -0.022898126302809796,
      -0.0118850239139109,
      -0.023579400995938055
    ],
    "v_ego": [
      9.776387709231534,
      9.2380715709698,
      8.648291287018168,
      8.039239772452238,
      7.509314915862099,
      6.9973240254812366,
      6.372086008694012,
      5.596244423981547,
      4.717011515301712,
      3.8007732346180543
    ],
    "ax_ego": [
      -1.0766454374952872,
      -1.0766639193210026,
      -1.2825404141232501,
      -1.153420103680139,
      -0.9660621911458155,
      -1.081904564595662,
      -1.4191802445560475,
      -1.6841827434214143,
      -1.832633467087111,
      -1.8326090234782564
    ],
    "ay_ego": [
      -0.026139195015671666,
      -0.025366333348838,
      -0.002262421994438879,
      0.06370011865808409,
      0.044803192211022386,
      -0.00826534914265803,
      -0.06119228545382948,
      0.0628729065142061,
      -0.029526803155459025,
      -0.03100662633416914
    ],
    "a_ego": [
      1.0769626992591181,
      1.0769626948205897,
      1.282542409596158,
      1.1551777528547529,
      0.9671005548513308,
      1.0819361362341953,
      1.4204988779781649,
      1.6853559017643798,
      1.8328713148479099,
      1.8328713113065398
    ],
    "yaw": [
      -1.550207092323454,
      -1.5494892558230147,
      -1.5479638003935015,
      -1.5473543465429174,
      -1.5468882815051286,
      -1.546505111634496,
      -1.5456313929827834,
      -1.5453283803830216,
      -1.5458455777028124,
      -1.5466530688155222
    ],
    "yaw_diff": [
      0.0014356730008788787,
      0.0030509108590264233,
      0.0012189077011681704,
      0.0009321300755775752,
      0.0007663397412649431,
      0.0017474373034254143,
      0.0006060251995236854,
      -0.0010343946395816594,
      -0.00161498222541967,
      -0.00161498222541967
    ],
    "min_front_frame": [
      9,
      20.42551667320401
    ],
    "v_avg": 7.069474446361039,
    "v_std": 1.8584190166087724,
    "vy_max": 0.038400460123606844,
    "a_max": 1.8328713148479099,
    "ax_avg": -1.3405842108903987,
    "a_std": 0.31512993970185976,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2d4d907377f35695",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.997786634014075,
    "right_rear_min": 6.771985076549865,
    "speed_mode": "decelerating",
    "front_frame": [
      31.835394582767186,
      30.91137623924987,
      29.910309219998428,
      29.082463186928276,
      28.262843634064456,
      26.908064776885617,
      25.0125793324051,
      23.236223855659677,
      21.657280242218466,
      20.42551667320401
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2d4d907377f35695",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "97181536d6be5368": {
    "vx_ego": [
      6.512836414616565,
      6.41365699993886,
      6.329932414928456,
      6.237783244791818,
      6.105008192219925,
      5.971118538845995,
      5.87624261857022,
      5.80729822038095,
      5.725738433017428,
      5.62892111969084
    ],
    "vy_ego": [
      -0.11994383242151008,
      -0.09783953935423195,
      -0.019434064802688944,
      -0.0011498881049276655,
      0.006482926620942742,
      0.011763613575918708,
      -0.004674309885805528,
      -0.01108925040938269,
      -0.0008184896298013555,
      -0.048594482701599606
    ],
    "v_ego": [
      6.51394079543954,
      6.414403221526207,
      6.329962247947199,
      6.2377833507783995,
      6.105011634338625,
      5.971130126496549,
      5.8762444776807845,
      5.8073088080378845,
      5.725738491518639,
      5.629130873896131
    ],
    "ax_ego": [
      -0.19905762239699598,
      -0.18285537188214726,
      -0.15009654397801586,
      -0.21884865731137554,
      -0.3124390649465786,
      -0.22272322168349074,
      -0.15484253352007993,
      -0.11551949032483161,
      -0.21221371244424878,
      -0.1797056250922488
    ],
    "ay_ego": [
      0.47698902491773276,
      0.48343187662486675,
      0.25033646167010476,
      0.10606527759220345,
      0.057873909366706694,
      -0.11460108432184515,
      -0.32896898699924837,
      -0.6557089301771261,
      -0.6521376852233427,
      -0.6618339023635404
    ],
    "a_ego": [
      0.5168582658005137,
      0.5168582652557651,
      0.29188579368590767,
      0.24319658286600793,
      0.31775392789087303,
      0.250477627753091,
      0.36358878502262515,
      0.6658069943752019,
      0.6857975067305435,
      0.6857975109371194
    ],
    "yaw": [
      2.553878079647242,
      2.58761477421891,
      2.6041096198728058,
      2.6153636603388937,
      2.620757706631869,
      2.617528412507518,
      2.601560623882801,
      2.560490417665286,
      2.5021481795548475,
      2.452677621035895
    ],
    "yaw_diff": [
      0.06747338914333678,
      0.03298969130779117,
      0.022508080932175822,
      0.01078809258595026,
      -0.006458588248701602,
      -0.031935577249433855,
      -0.08214041243503001,
      -0.11668447622087719,
      -0.09894111703790465,
      -0.09894111703790465
    ],
    "min_front_frame": [
      0,
      21.598797362917402
    ],
    "v_avg": 6.061065402765996,
    "v_std": 0.2900104938609534,
    "vy_max": 0.11994383242151008,
    "a_max": 0.6857975109371194,
    "ax_avg": -0.1948301843580013,
    "a_std": 0.17294563803311494,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "97181536d6be5368",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      21.598797362917402,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "97181536d6be5368",
    "merging_vehicles": "No"
  },
  "315673fa4e595935": {
    "vx_ego": [
      1.5942992672427876,
      2.519129177081744,
      3.444851229689246,
      4.364325781219724,
      5.25672800774162,
      6.018776144468735,
      6.637445477142702,
      7.198457351026992,
      7.690896634661934,
      8.140708495006118
    ],
    "vy_ego": [
      -0.05399831410186984,
      -0.03393069299444851,
      -0.029865706611899467,
      -0.04014214548209383,
      -0.01590220152175137,
      0.02474329380329232,
      0.08847298557530126,
      0.11519767576282236,
      0.09935371533485204,
      -0.018982880015743664
    ],
    "v_ego": [
      1.595213456392822,
      2.519357676621489,
      3.4449806900943494,
      4.364510386797476,
      5.2567520606728655,
      6.018827004310239,
      6.638035095660365,
      7.199379052324978,
      7.691538351058591,
      8.140730627554166
    ],
    "ax_ego": [
      1.850090786114475,
      1.8519051030034146,
      1.853594689389189,
      1.8265133052904754,
      1.7451426003258397,
      1.3025084259869748,
      1.172325830384659,
      1.0721591975231601,
      0.8996137783384999,
      0.8988332225373676
    ],
    "ay_ego": [
      0.12419226156243601,
      0.093312005514819,
      0.1337091865896748,
      0.10266033954412412,
      0.22326652478970854,
      0.1277417990329781,
      0.11024301696535921,
      -0.028780620913364197,
      -0.15669648744975823,
      -0.161113619313615
    ],
    "a_ego": [
      1.8542544687010112,
      1.8542544703743566,
      1.858410993055701,
      1.8293960751347567,
      1.7593665441185662,
      1.3087574897540217,
      1.1774979300944461,
      1.0725454158093566,
      0.9131586605599071,
      0.9131586720090006
    ],
    "yaw": [
      2.39745611883789,
      2.414138762606904,
      2.431809065614815,
      2.4495591843848548,
      2.4614332103481473,
      2.4697075191827746,
      2.4690402375869485,
      2.4681226819969124,
      2.4640342443749566,
      2.468946381723384
    ],
    "yaw_diff": [
      0.03336528753802881,
      0.03534060601582123,
      0.035500237540079915,
      0.023748051926585134,
      0.01654861766925464,
      -0.0013345631916523715,
      -0.0018351111800720687,
      -0.008176875243911752,
      0.009824274696854651,
      0.009824274696854651
    ],
    "min_front_frame": [
      0,
      15.916130589851733
    ],
    "v_avg": 5.2869324401487345,
    "v_std": 2.132550408325778,
    "vy_max": 0.11519767576282236,
    "a_max": 1.858410993055701,
    "ax_avg": 1.4472686938894055,
    "a_std": 0.39321768592059503,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "315673fa4e595935",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 26.346800055144307,
    "right_rear_min": 14.307381665117894,
    "speed_mode": "accelerating",
    "front_frame": [
      15.916130589851733,
      17.66636121553245,
      19.417593362907347,
      21.1813266766103,
      22.856577696050408,
      24.447945881421767,
      25.954070433745713,
      27.457160727703275,
      29.070826739343826,
      30.777175432811568
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "315673fa4e595935",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "cd7568df56095ff2": {
    "vx_ego": [
      4.465145465779773,
      4.572874661516635,
      4.675180529180681,
      4.733608143396291,
      4.780457221135812,
      4.824920172492115,
      4.805517172415986,
      4.771182941120414,
      4.760166292473619,
      4.754064820144087
    ],
    "vy_ego": [
      -0.009802622807451034,
      0.003898583287252677,
      0.008394165296070621,
      0.008838873858946883,
      -0.0035636227085564798,
      -0.021877713477158167,
      -0.019099963413312437,
      -0.014250622142910174,
      -0.011747816102301245,
      0.0058978015832991115
    ],
    "v_ego": [
      4.465156225932925,
      4.5728763233759695,
      4.675188064927567,
      4.733616395623834,
      4.780458549398409,
      4.824969772471983,
      4.805555129533666,
      4.771204223031111,
      4.760180788918129,
      4.754068478492411
    ],
    "ax_ego": [
      0.19393177143135248,
      0.2372900363657526,
      0.17145182339828832,
      0.06008865445952355,
      0.1244713713622306,
      0.060502177201632035,
      -0.1303897915489911,
      -0.0021482303572740724,
      -0.038447318527140506,
      0.014928359284449244
    ],
    "ay_ego": [
      0.6467826852852,
      0.6321635917634557,
      0.6674081069220048,
      0.6752539698939926,
      0.6159912243841047,
      0.710092067616821,
      0.7522366298212139,
      0.7429789720521736,
      0.7295552892420591,
      0.7304151400346214
    ],
    "a_ego": [
      0.6752313484689795,
      0.6752313441404607,
      0.6890785941616616,
      0.6779222449900527,
      0.6284411752956857,
      0.71266489876973,
      0.763453629885252,
      0.7429820777147806,
      0.7305676672033823,
      0.7305676783862814
    ],
    "yaw": [
      -1.064906570241533,
      -0.9971294385468774,
      -0.9279904249804103,
      -0.8569735612078256,
      -0.786416435529965,
      -0.7137280589638231,
      -0.6387893076389581,
      -0.5615164159109611,
      -0.48490516407335527,
      -0.41181886101148535
    ],
    "yaw_diff": [
      0.1355542633893112,
      0.13827802713293424,
      0.1420337275451693,
      0.1411142513557213,
      0.14537675313228382,
      0.14987750264972988,
      0.154545783455994,
      0.15322250367521173,
      0.14617260612373983,
      0.14617260612373983
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.714327395170601,
    "v_std": 0.10763505734756258,
    "vy_max": 0.021877713477158167,
    "a_max": 0.763453629885252,
    "ax_avg": 0.06916788530698231,
    "a_std": 0.038456463465230455,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "cd7568df56095ff2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.155370440896125,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "cd7568df56095ff2",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "2ef107f7be2351a5": {
    "vx_ego": [
      7.771719620875231,
      7.81446711013756,
      7.917132909562386,
      8.091987041364611,
      8.319337403440239,
      8.50940760919644,
      8.671631160351204,
      8.810569363581347,
      8.945609522076309,
      9.10894018595666
    ],
    "vy_ego": [
      -0.06890351198248279,
      -0.026607325773783774,
      -0.02413136124821369,
      -0.049039530023190725,
      -0.060109512648617525,
      -0.04371123120137366,
      -0.021684110762094644,
      -0.04842551917590421,
      -0.07155923699559308,
      0.01415658369613404
    ],
    "v_ego": [
      7.772025061685055,
      7.814512407387072,
      7.917169685580287,
      8.092135636104828,
      8.319554554529384,
      8.509519876654817,
      8.671658271739814,
      8.810702443130495,
      8.945895731890783,
      9.108951186618473
    ],
    "ax_ego": [
      0.0028032590567558247,
      0.1879849865280413,
      0.22091264496272556,
      0.49490992598963146,
      0.4362196795562353,
      0.3571403803858919,
      0.3032738737295621,
      0.2564652115689033,
      0.291186338767527,
      0.3685163018728096
    ],
    "ay_ego": [
      1.7442816247703616,
      1.7341245256509614,
      1.4966945377160537,
      1.537786653131711,
      1.5561127565365038,
      1.815216665890323,
      1.7795825918529653,
      1.5796199214669078,
      1.27982475113402,
      1.2597367255410656
    ],
    "a_ego": [
      1.744283877347054,
      1.744283871858053,
      1.5129100885160027,
      1.6154639040823822,
      1.6160985489405593,
      1.850016431123832,
      1.8052393868163448,
      1.6003041901589217,
      1.312532238651719,
      1.3125322405270425
    ],
    "yaw": [
      0.6933541909409267,
      0.7997288202444691,
      0.9020638857876935,
      1.0002907233376235,
      1.095742959402162,
      1.1937661076817356,
      1.295649146487576,
      1.3946361334932682,
      1.4777543210447344,
      1.5386357512902578
    ],
    "yaw_diff": [
      0.21274925860708493,
      0.20467013108644871,
      0.19645367509986,
      0.1909044721290769,
      0.1960462965591474,
      0.20376607761168053,
      0.1979739740113846,
      0.16623637510293232,
      0.12176286049104679,
      0.12176286049104679
    ],
    "min_front_frame": [
      8,
      23.245087020845716
    ],
    "v_avg": 8.3962124855321,
    "v_std": 0.46113610705060815,
    "vy_max": 0.07155923699559308,
    "a_max": 1.850016431123832,
    "ax_avg": 0.29194126024180833,
    "a_std": 0.17841905556005475,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "2ef107f7be2351a5",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 16.182598026484566,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      23.245087020845716,
      23.76941332666742
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2ef107f7be2351a5",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "6cb33358dfbc5a84": {
    "vx_ego": [
      5.925443759004411,
      6.037151101614105,
      6.16519644111556,
      6.258362321942007,
      6.3681367648232445,
      6.492886559316804,
      6.639503263346208,
      6.842737035314713,
      7.09595397403439,
      7.360957617785517
    ],
    "vy_ego": [
      -0.03255787278506128,
      -0.14595872022248368,
      -0.12915909951856075,
      -0.05997276328244361,
      -0.02951674543570304,
      -0.04895376276858254,
      -0.03829612652201009,
      -0.05254974922480837,
      -0.04837388192392478,
      -0.02170710859127256
    ],
    "v_ego": [
      5.925533204379553,
      6.038915247933969,
      6.166549215771525,
      6.258649669460585,
      6.368205170513477,
      6.493071102571264,
      6.639613706932922,
      6.842938813887727,
      7.096118857098353,
      7.360989624323487
    ],
    "ax_ego": [
      0.15396315253461068,
      0.3386142882164458,
      0.18141910041239956,
      0.19403929317858057,
      0.24491078335244895,
      0.2534933656384738,
      0.3304489131812392,
      0.4812951483587824,
      0.5298292975749648,
      0.5297928923921671
    ],
    "ay_ego": [
      1.3908419327071941,
      1.357750457259728,
      0.47504515720434914,
      0.13505335017695705,
      -0.058578808632977375,
      -0.171359075116599,
      -0.10421312005099966,
      -0.16327135093700545,
      0.012336171693712678,
      0.013811588722228069
    ],
    "a_ego": [
      1.3993376769440173,
      1.3993376791801653,
      0.5085083985321669,
      0.2364120443024486,
      0.25181892030419234,
      0.3059784617379746,
      0.34649222013405473,
      0.5082347428801942,
      0.5299728914773258,
      0.5299728944128089
    ],
    "yaw": [
      -0.5206007383154512,
      -0.38644181371601255,
      -0.31435867514961324,
      -0.30093929745230474,
      -0.3027369148003831,
      -0.30865459157788544,
      -0.3207874049686374,
      -0.32861471138196474,
      -0.3346333604822994,
      -0.33741816156974314
    ],
    "yaw_diff": [
      0.26831784919887725,
      0.14416627713279861,
      0.026838755394616998,
      -0.003595234696156746,
      -0.011835353555004646,
      -0.0242656267815039,
      -0.0156546128266547,
      -0.012037298200669344,
      -0.005569602174887445,
      -0.005569602174887445
    ],
    "min_front_frame": [
      1,
      21.670658189023907
    ],
    "v_avg": 6.519058461287287,
    "v_std": 0.44267325815550196,
    "vy_max": 0.14595872022248368,
    "a_max": 1.3993376791801653,
    "ax_avg": 0.32378062348401127,
    "a_std": 0.41335165754214515,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6cb33358dfbc5a84",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 34.45780661417534,
    "right_rear_min": 28.197535924402132,
    "speed_mode": "accelerating",
    "front_frame": [
      49.394627499205036,
      21.670658189023907,
      35.72945880970248,
      32.619408954839486,
      29.516595148436334,
      33.87861750080399,
      30.670162494754347,
      27.34761347226428,
      29.804282391515702,
      26.261736435119946
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6cb33358dfbc5a84",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8a91af177fee5522": {
    "vx_ego": [
      11.410433768483259,
      11.222974374513246,
      11.052340485252554,
      10.919276856324734,
      10.769146023805202,
      10.603314895813288,
      10.431119974441502,
      10.26340875931947,
      10.08914630165065,
      9.874803191481742
    ],
    "vy_ego": [
      0.06329607751051203,
      0.0587462599655062,
      0.04376991947836051,
      0.03940171454093355,
      0.0345976934930623,
      0.039016218439571704,
      0.010494294392688674,
      -0.014709107658151477,
      -0.005496787378002965,
      -0.012267178967436343
    ],
    "v_ego": [
      11.41060932546423,
      11.223128126063648,
      11.052427154602912,
      10.919347945741894,
      10.769201599117478,
      10.603386678089095,
      10.431125253365876,
      10.263419299566968,
      10.08914779903548,
      9.874810811057488
    ],
    "ax_ego": [
      -0.3756410933243911,
      -0.3752533953894475,
      -0.3083292240270467,
      -0.2245719081829931,
      -0.3769814015835837,
      -0.28699247114456883,
      -0.4028119926979525,
      -0.2685589093327216,
      -0.4286801286015257,
      -0.42868235849495895
    ],
    "ay_ego": [
      0.08841907115611938,
      0.09005026665505889,
      0.06362402063367215,
      0.1433457313997351,
      0.1058423054089359,
      0.22082049687852862,
      0.27798603430638025,
      0.18385862864964622,
      -0.00800827287535984,
      -0.007888183987985638
    ],
    "a_ego": [
      0.3859069358511904,
      0.38590693343856397,
      0.3148252315026778,
      0.26642173457786,
      0.39155787663409564,
      0.36211375330874473,
      0.4894218392457404,
      0.32546564044597626,
      0.4287549242775724,
      0.4287549275885104
    ],
    "yaw": [
      -1.7074825167033516,
      -1.7031378519409568,
      -1.6983401693260443,
      -1.6932277512936575,
      -1.6870508945341682,
      -1.6798146443951862,
      -1.6652660976996585,
      -1.6516498516278721,
      -1.6482417270705354,
      -1.6479615943911536
    ],
    "yaw_diff": [
      0.008689329524789624,
      0.00959536522982507,
      0.010224836064773424,
      0.012353713518978626,
      0.014472500277963984,
      0.029097093391055484,
      0.027232492143572706,
      0.006816249114673489,
      0.0005602653587635231,
      0.0005602653587635231
    ],
    "min_front_frame": [
      6,
      18.60421945126555
    ],
    "v_avg": 10.663660399210507,
    "v_std": 0.47632324592580255,
    "vy_max": 0.06329607751051203,
    "a_max": 0.4894218392457404,
    "ax_avg": -0.347650288277919,
    "a_std": 0.06109723664394715,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8a91af177fee5522",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.513184364060486,
    "right_rear_min": 7.938082397443447,
    "speed_mode": "decelerating",
    "front_frame": [
      32.62495854648359,
      31.454055044427637,
      29.70202241499836,
      27.50554887505929,
      24.860201124946563,
      21.897051598408108,
      18.60421945126555,
      28.60851426256014,
      23.57734246188169,
      28.480201048025908
    ],
    "safe_frame": [
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      1,
      0,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8a91af177fee5522",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "671da9103fe05141": {
    "vx_ego": [
      4.38048358457515,
      4.444679641111077,
      4.601780911720266,
      4.779790044215391,
      5.004008411597136,
      5.247343843975631,
      5.434835199721759,
      5.480163517291427,
      5.387990065477904,
      5.255348264202767
    ],
    "vy_ego": [
      0.09966223857645273,
      0.04140279080961551,
      0.04828512701183785,
      0.031172439755081743,
      0.0963911735319023,
      0.13500124641077615,
      0.12660565823405845,
      0.06957594006129719,
      -0.0012264062473898996,
      -0.03947810324364509
    ],
    "v_ego": [
      4.381617166815287,
      4.444872473220589,
      4.602034225531526,
      4.779891692055465,
      5.004936707059316,
      5.249080181654821,
      5.436309652772874,
      5.480605166191719,
      5.387990205054281,
      5.2554965415928825
    ],
    "ax_ego": [
      -0.031611555834474614,
      0.3417766011024004,
      0.3503609348820226,
      0.41624530446508834,
      0.5006359977218576,
      0.4828309127386451,
      0.28935112650989375,
      -0.10374310127839159,
      -0.2651483026817921,
      -0.26525780488670375
    ],
    "ay_ego": [
      -1.8803705478984571,
      -1.8493191888986877,
      -2.0741349090328467,
      -2.23800839315681,
      -1.9051638071167414,
      -1.1106156263479026,
      -0.6245866817563651,
      -0.17242834320017986,
      -0.0557695433163187,
      -0.05524639859560354
    ],
    "a_ego": [
      1.8806362454941201,
      1.8806362507114474,
      2.1035181020281475,
      2.2763878670669375,
      1.9698440380300457,
      1.2110296279547321,
      0.688354993764098,
      0.20123161928886232,
      0.27094992964890396,
      0.27094993561744374
    ],
    "yaw": [
      -0.9699535615066137,
      -1.1695134175792692,
      -1.3870747836555117,
      -1.6126824870840641,
      -1.8372882151569703,
      -1.9915389958327,
      -2.070786075273584,
      -2.096612392916651,
      -2.0940908986890534,
      -2.092118269080702
    ],
    "yaw_diff": [
      -0.39911971214531095,
      -0.4351227321524851,
      -0.4512154068571048,
      -0.44921145614581226,
      -0.3085015613514597,
      -0.15849415888176743,
      -0.05165263528613462,
      0.005042988455195463,
      0.003945259216703079,
      0.003945259216703079
    ],
    "min_front_frame": [
      9,
      34.24655227468445
    ],
    "v_avg": 5.002283401194876,
    "v_std": 0.39957024587134105,
    "vy_max": 0.13500124641077615,
    "a_max": 2.2763878670669375,
    "ax_avg": 0.1715440112738546,
    "a_std": 0.8014408027767329,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "671da9103fe05141",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      45.06266201358812,
      42.335686777357125,
      39.62244653279907,
      36.84765716646999,
      34.24655227468445
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "671da9103fe05141",
    "pedestrians": "No"
  },
  "a2b2f9572f3a5b05": {
    "vx_ego": [
      6.977064758582701,
      7.167925357669176,
      7.547824479220251,
      7.882015384574746,
      7.989204233245221,
      8.119305609720184,
      8.259539337233498,
      8.47567699334703,
      8.586243396518936,
      8.509094229984997
    ],
    "vy_ego": [
      -0.03758445595377635,
      -0.05164041384882312,
      -0.007433459590377112,
      0.003432207862710701,
      -0.009347935799794538,
      -0.016793603549490665,
      0.00027787098810927446,
      -0.006515555862562472,
      -0.002878449292891716,
      0.010919987255697539
    ],
    "v_ego": [
      6.977165988908823,
      7.168111373678514,
      7.547828139633144,
      7.882016131848741,
      7.989209702117418,
      8.119322977265643,
      8.259539341907626,
      8.475679497717001,
      8.5862438790041,
      8.509101236963023
    ],
    "ax_ego": [
      0.38117018870512226,
      0.3855169082313833,
      1.1349321043132559,
      0.20157589451059693,
      0.2269832049868791,
      0.29396134551773545,
      0.26714512208611324,
      0.5975192651112923,
      -0.15496951627121308,
      -0.1537462656084579
    ],
    "ay_ego": [
      0.23784897048908565,
      0.2307369891052416,
      0.1941603146798037,
      0.11871002716518403,
      0.03390838430327982,
      0.11913099057118871,
      0.11919787505808267,
      0.1224389070907676,
      0.15846965074227276,
      0.15965670960856532
    ],
    "a_ego": [
      0.44929149281976893,
      0.44929149187764195,
      1.1514204745432814,
      0.2339335627850481,
      0.22950196921197538,
      0.3171836464464555,
      0.2925314507412265,
      0.6099348802525728,
      0.2216487788816164,
      0.2216487742162817
    ],
    "yaw": [
      2.105573523165976,
      2.124125499594505,
      2.1326628484204804,
      2.1412628269567566,
      2.1476838788789574,
      2.1533644720320115,
      2.1585532690975344,
      2.166624340748931,
      2.1743448666644727,
      2.182035151325441
    ],
    "yaw_diff": [
      0.03710395285705825,
      0.017074697651950466,
      0.017199957072552507,
      0.012842103844401542,
      0.011361186306108273,
      0.010377594131045775,
      0.016142143302793066,
      0.015441051831083463,
      0.015380569321936655,
      0.015380569321936655
    ],
    "min_front_frame": [
      7,
      19.22915801179685
    ],
    "v_avg": 7.951421826904403,
    "v_std": 0.533278661621815,
    "vy_max": 0.05164041384882312,
    "a_max": 1.1514204745432814,
    "ax_avg": 0.3180088251582707,
    "a_std": 0.27370192926239023,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "a2b2f9572f3a5b05",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 18.581430490996492,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      28.381568630006946,
      24.894942155965584,
      21.32172399091948,
      23.424754782096706,
      25.572928406858836,
      21.596804079037913,
      23.346472073497203,
      19.22915801179685,
      20.129557227754457,
      21.47048305305165
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 6,
    "token": "a2b2f9572f3a5b05",
    "smoothness": "No"
  },
  "fb7d83b69f38539f": {
    "vx_ego": [
      1.1166768458593455,
      0.4736847366780659,
      0.04104513478765936,
      -0.06253986405399534,
      -0.0450345163044352,
      -0.021634993726591355,
      -0.011196539083019048,
      -0.011262666119855914,
      -0.005803460398508848,
      -0.0007887375589607095
    ],
    "vy_ego": [
      0.028854970222499304,
      0.011920004320170458,
      -0.020705078192395247,
      -0.026899940547434102,
      -0.006458804114413742,
      -0.0037203156594149585,
      -0.0020856700521838575,
      -0.0013552978566835476,
      -0.0008941791839437963,
      -0.0004983584266522351
    ],
    "v_ego": [
      1.1170495903875162,
      0.47383469297294123,
      0.04597176690850946,
      0.06807966948618147,
      0.04549531634534272,
      0.021952532932564647,
      0.011389139871129411,
      0.01134391821231453,
      0.005871942524417186,
      0.0009329887771729036
    ],
    "ax_ego": [
      -1.2860319266104154,
      -1.2860912978550272,
      -0.4444827971561324,
      0.0302537140747599,
      0.03976857868012341,
      0.0538264566343453,
      -0.012071746523473028,
      0.011807367918143965,
      0.010029446530164021,
      0.010029447442680152
    ],
    "ay_ego": [
      -0.03204405570536442,
      -0.029565347896047173,
      -0.1003999970767608,
      0.07545073994949869,
      0.006307620249800941,
      0.004668264270028624,
      0.0018674473056861786,
      0.0010528890330237398,
      0.000791636406402252,
      0.0007916328336990245
    ],
    "a_ego": [
      1.2864310855103531,
      1.2864310849068608,
      0.45568093703901325,
      0.08129022926677107,
      0.040265691642549305,
      0.05402851214964077,
      0.012215335589597927,
      0.011854219184335888,
      0.010060640431968563,
      0.010060641060532564
    ],
    "yaw": [
      -0.20688222966592662,
      -0.20495486747701652,
      -0.20407587932611515,
      -0.2034702473263434,
      -0.20344218338702147,
      -0.20359852104903958,
      -0.20351114005688536,
      -0.20349108547321026,
      -0.20349303332778412,
      -0.2034919649046762
    ],
    "yaw_diff": [
      0.0038547243778201956,
      0.0017579763018027439,
      0.0012112639995435215,
      5.612787864384128e-05,
      -0.0003126753240362268,
      0.00017476198430843581,
      4.010916735019965e-05,
      -3.895709147716531e-06,
      2.136846215861077e-06,
      2.136846215861077e-06
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.18019215584180898,
    "v_std": 0.34017946775290947,
    "vy_max": 0.028854970222499304,
    "a_max": 1.2864310855103531,
    "ax_avg": -0.2872962756864831,
    "a_std": 0.497387016317506,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fb7d83b69f38539f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fb7d83b69f38539f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "354ac12e8832565a": {
    "vx_ego": [
      3.1011400838873,
      2.369266823381929,
      1.8490886790128118,
      1.6526556229132807,
      1.6095450558328326,
      1.6222857468858345,
      1.6313335052420475,
      1.4531056791837198,
      0.9881098036742235,
      0.4052975894197306
    ],
    "vy_ego": [
      0.0694570563427237,
      0.057129015096199165,
      0.03605073445044826,
      0.01835033999855995,
      0.014035444235118932,
      0.007632099499041756,
      -0.0015407302051658744,
      0.008752828716928951,
      0.029128569498846624,
      0.0486085178213973
    ],
    "v_ego": [
      3.101917810414764,
      2.3699554858149043,
      1.8494400769713417,
      1.6527574967081367,
      1.6096062501278978,
      1.6223036995247508,
      1.6313342328213647,
      1.4531320404170185,
      0.9885390521765752,
      0.4082020627020858
    ],
    "ax_ego": [
      -1.4638248448769555,
      -1.463839008817815,
      -0.6171002295826452,
      -0.1686818260267505,
      -0.0038367460025891574,
      0.05479236193853478,
      -0.018601698157488765,
      -0.6943174133116333,
      -1.1656405229176983,
      -1.1656340397310854
    ],
    "ay_ego": [
      -0.021452655991493708,
      -0.020463045716426875,
      -0.05492849011479112,
      -0.01200485355198437,
      0.0033554575758039406,
      -0.028190079374659723,
      -0.005414611905270065,
      0.04070040036501099,
      0.039093952814420185,
      0.039286718396688625
    ],
    "a_ego": [
      1.46398203299362,
      1.4639820285702676,
      0.6195400167682827,
      0.16910847093071213,
      0.005097030059888203,
      0.0616188567076103,
      0.019373724381930628,
      0.6955093047671107,
      1.1662959169158147,
      1.1662959147755727
    ],
    "yaw": [
      -0.7085389936457918,
      -0.7078629497191797,
      -0.7067496066851413,
      -0.7061790087037371,
      -0.7048424331403886,
      -0.7047214005554685,
      -0.7042497216585456,
      -0.7051546973806258,
      -0.7054885329092551,
      -0.7053231587253623
    ],
    "yaw_diff": [
      0.0013520878532240488,
      0.002226686068076855,
      0.0011411959628084833,
      0.00267315112669686,
      0.0002420651698402665,
      0.0009433577938458004,
      -0.001809951444160296,
      -0.0006676710572586231,
      0.0003307483677854606,
      0.0003307483677854606
    ],
    "min_front_frame": [
      9,
      8.653022970123988
    ],
    "v_avg": 1.6687188207678836,
    "v_std": 0.6843813324727598,
    "vy_max": 0.0694570563427237,
    "a_max": 1.46398203299362,
    "ax_avg": -0.6706683967486127,
    "a_std": 0.5693286077685397,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "354ac12e8832565a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.518306960971525,
    "speed_mode": "decelerating",
    "front_frame": [
      10.177250301773894,
      9.520463825401013,
      9.500686377429716,
      9.643147624928554,
      9.994176185030936,
      9.995302766097298,
      9.847675219052133,
      9.432590545007532,
      8.8989283652325,
      8.653022970123988
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "354ac12e8832565a",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "2d1f929350f65cdc": {
    "vx_ego": [
      1.078004879851262,
      1.622460682270292,
      2.2293073200696485,
      2.919779192630604,
      3.623808892900154,
      4.277544041980203,
      4.847208828235296,
      5.3247488670279814,
      5.713096393252389,
      6.062836330976794
    ],
    "vy_ego": [
      0.00023092260189527813,
      -0.006380786618116696,
      -0.008076459507240674,
      0.004129276288587835,
      0.005567424403378762,
      -0.004284094558786755,
      -0.020373098698095227,
      -0.017768396004403275,
      -0.0013938532046360308,
      0.012622205560330446
    ],
    "v_ego": [
      1.0780049045845672,
      1.6224732293479753,
      2.22932194994673,
      2.9197821125284826,
      3.623813169642818,
      4.277546187307219,
      4.847251642701537,
      5.324778513028719,
      5.713096563285117,
      6.062849470033489
    ],
    "ax_ego": [
      1.0889279513184213,
      1.088913653302368,
      1.338614250685762,
      1.4233815270185728,
      1.3925113893676342,
      1.2224440184653036,
      1.0561368076794075,
      0.853842114307886,
      0.6995030420175821,
      0.6994867216075439
    ],
    "ay_ego": [
      -0.007995913278612377,
      -0.009750130553317082,
      0.025891194248382043,
      0.06408226124894467,
      -0.001750564105208019,
      -0.047000104921724684,
      -0.04624800120873285,
      0.02330425378937495,
      0.011476960521723367,
      0.012431974520055067
    ],
    "a_ego": [
      1.0889573076074623,
      1.0889573037516744,
      1.3388646182787156,
      1.4248233250703408,
      1.3925124897081769,
      1.223347206701455,
      1.057148917679554,
      0.8541600812555225,
      0.6995971886840802,
      0.6995971895996559
    ],
    "yaw": [
      2.441927348561538,
      2.4435383241084176,
      2.4465630864605576,
      2.4505754977449037,
      2.4548936454569414,
      2.454305481119098,
      2.4527294906900847,
      2.4510976757080423,
      2.4497110843899943,
      2.448345787945313
    ],
    "yaw_diff": [
      0.0032219510937592233,
      0.006049524704279996,
      0.00802482256869208,
      0.008636295424075513,
      -0.001176328675686733,
      -0.003151980858026704,
      -0.003263629964084913,
      -0.002773182636095939,
      -0.002730592889362171,
      -0.002730592889362171
    ],
    "min_front_frame": [
      0,
      11.076988762287046
    ],
    "v_avg": 3.7698917742406657,
    "v_std": 1.6686770811560396,
    "vy_max": 0.020373098698095227,
    "a_max": 1.4248233250703408,
    "ax_avg": 1.0863761475770481,
    "a_std": 0.25392193010208525,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2d1f929350f65cdc",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.1506194665478615,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      11.076988762287046,
      11.951431931403679,
      12.99653472377085,
      13.853171635519958,
      14.710360394152351,
      15.651597765362787,
      16.542019050845756,
      17.359130561253345,
      18.32396498342534,
      19.192065420908044
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2d1f929350f65cdc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a7ce8d99f16150ac": {
    "vx_ego": [
      9.227102009471572,
      9.182576238519763,
      9.144753565494376,
      9.178536543013132,
      9.281784316271072,
      9.394723671332667,
      9.449218005550632,
      9.408176785461855,
      9.335551985965278,
      9.262680715527559
    ],
    "vy_ego": [
      0.08630343350918412,
      0.014288621732551299,
      0.009803378257684514,
      0.018195473203493684,
      -0.001209034377417595,
      -0.0194983265766302,
      -0.02244411610542052,
      -0.0712457563028881,
      -0.07124682285610984,
      -0.04979883120999684
    ],
    "v_ego": [
      9.227505609634155,
      9.182587355475514,
      9.14475882021212,
      9.17855457829132,
      9.281784395014775,
      9.394743905260942,
      9.449244660541392,
      9.408446544690284,
      9.335823851831574,
      9.262814580968142
    ],
    "ax_ego": [
      -0.08916446413146845,
      -0.08785245990852826,
      -0.0634201302140403,
      0.19992228498203324,
      0.21489067391724037,
      0.2352292469411982,
      -0.018586405594181565,
      -0.14781639370977445,
      -0.14567441849581214,
      -0.14563291733693018
    ],
    "ay_ego": [
      -0.24306362238751109,
      -0.2435408955876097,
      -0.1506993849281446,
      -0.2626254551510993,
      -0.4178040916484049,
      -0.3153273790754413,
      -0.32166897457058863,
      -0.29888206159143826,
      0.05649379491803357,
      0.05660071122489224
    ],
    "a_ego": [
      0.2589019625108904,
      0.25890195544953803,
      0.16350051233585455,
      0.330062190694056,
      0.4698279054449134,
      0.3934007557327645,
      0.3222054991371274,
      0.33343691006022613,
      0.15624527214714004,
      0.15624527872300265
    ],
    "yaw": [
      2.5723720451396663,
      2.566979545895796,
      2.55671014308881,
      2.5444716448201863,
      2.5281414750603277,
      2.5104685552275283,
      2.4939353695884394,
      2.482676854641353,
      2.476210956224133,
      2.4769449658931295
    ],
    "yaw_diff": [
      -0.010784998487740616,
      -0.020538805613972144,
      -0.02447699653724733,
      -0.03266033951971714,
      -0.03534583966559879,
      -0.0330663712781778,
      -0.022517029894173035,
      -0.012931796834440235,
      0.0014680193379934536,
      0.0014680193379934536
    ],
    "min_front_frame": [
      5,
      26.78643403371362
    ],
    "v_avg": 9.286626430192022,
    "v_std": 0.10104968963023424,
    "vy_max": 0.08630343350918412,
    "a_max": 0.4698279054449134,
    "ax_avg": -0.0048104983550263545,
    "a_std": 0.10047271981450213,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a7ce8d99f16150ac",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.404847245075544,
    "speed_mode": "quasi_constant",
    "front_frame": [
      43.33024825822946,
      38.80471879495872,
      40.387789617170895,
      35.88097824648539,
      31.332479856540314,
      26.78643403371362,
      54.66523246121683,
      49.95913165479115,
      45.29987096857254,
      40.66148475790629
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a7ce8d99f16150ac",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "49c9a9f57deb5a8c": {
    "vx_ego": [
      5.082499879035086,
      4.985599270334557,
      4.86469273867017,
      4.730413518939428,
      4.65759005923589,
      4.725051303460826,
      4.933198980969018,
      5.236825568668598,
      5.5730937000719845,
      5.937378567610912
    ],
    "vy_ego": [
      -0.015175989499678355,
      -0.2162396774383022,
      -0.2664283522715394,
      -0.14928876846037697,
      -0.06242009361247214,
      -0.02718505356968981,
      -0.010667334034588971,
      0.04286051094126475,
      0.10370178846286593,
      0.007637344720524908
    ],
    "v_ego": [
      5.082522536206697,
      4.990286533101991,
      4.871983118665787,
      4.73276866078972,
      4.658008311282792,
      4.725129505894461,
      4.933210514244164,
      5.23700096047913,
      5.574058436248443,
      5.937383479628024
    ],
    "ax_ego": [
      -0.20967672427169287,
      -0.1907167365463257,
      -0.35286447070134697,
      -0.2728237602079407,
      -0.05101326299721043,
      0.3039468738725324,
      0.535842283397199,
      0.6823151719482788,
      0.6614334988744612,
      0.8154179145814759
    ],
    "ay_ego": [
      -0.6791421645992366,
      -0.6847083489000864,
      -0.8941129269365697,
      -1.266933235257429,
      -1.75300391403598,
      -1.9477764815380227,
      -2.1653303400219492,
      -2.069820047567689,
      -1.4684265226558466,
      -1.3888356117990295
    ],
    "a_ego": [
      0.7107731061582481,
      0.7107730978676409,
      0.9612238349096539,
      1.2959755502068144,
      1.7537460122911437,
      1.971349011253341,
      2.2306461920474736,
      2.1793827160881865,
      1.610518775386507,
      1.6105187772955605
    ],
    "yaw": [
      2.5048709111892697,
      2.4770690743410206,
      2.4074333700346315,
      2.270333737312024,
      2.090408521490591,
      1.884459911228994,
      1.6676539283544347,
      1.448994958400951,
      1.2746087038349692,
      1.166928287438136
    ],
    "yaw_diff": [
      -0.05560367369649821,
      -0.1392714086127782,
      -0.27419926544521545,
      -0.35985043164286523,
      -0.41189722052319455,
      -0.4336119657491184,
      -0.43731793990696755,
      -0.34877250913196356,
      -0.21536083279366647,
      -0.21536083279366647
    ],
    "min_front_frame": [
      0,
      13.000147806267922
    ],
    "v_avg": 5.074235205654121,
    "v_std": 0.38742352069322084,
    "vy_max": 0.2664283522715394,
    "a_max": 2.2306461920474736,
    "ax_avg": 0.19218607879494307,
    "a_std": 0.537022582085817,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "49c9a9f57deb5a8c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.576157994742113,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.000147806267922,
      13.353695169280375,
      14.037154564174505,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      0,
      0,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.6666666666666666,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "49c9a9f57deb5a8c",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "27bcec96f13c5426": {
    "vx_ego": [
      4.114430899620693,
      3.7303971098344397,
      3.3090666842649163,
      2.8479240207247574,
      2.3602595880753277,
      1.8515633014066555,
      1.3702151475334219,
      0.9517031671142397,
      0.6010554274360603,
      0.2794387989104255
    ],
    "vy_ego": [
      0.05462255098664848,
      0.019993764104275336,
      -0.005583234166805839,
      0.0083283985403797,
      0.03772975252940025,
      0.04317519801975278,
      0.039804112758068166,
      0.03764743822320388,
      0.03207753762038096,
      0.022982269841665126
    ],
    "v_ego": [
      4.114793463933498,
      3.730450689617033,
      3.309071394427108,
      2.847936198380033,
      2.3605611318767927,
      1.852066617819121,
      1.3707931710956596,
      0.9524475040127117,
      0.6019107868032705,
      0.2803822873570589
    ],
    "ax_ego": [
      -0.7680642250086258,
      -0.7680583090516437,
      -0.9172633124582905,
      -0.9270108697167843,
      -1.0242977868406318,
      -1.0109587793933175,
      -0.9147544110806701,
      -0.7595087597865772,
      -0.6432428905306701,
      -0.6432466681471729
    ],
    "ay_ego": [
      -0.06988905961749176,
      -0.06995407021443545,
      -0.012189762445162622,
      0.12549002216034766,
      0.043239230495135506,
      0.00018495475490121205,
      -0.0013736750937347053,
      -0.0008986324056038386,
      -0.018073400023431052,
      -0.017938591770701895
    ],
    "a_ego": [
      0.7712374046895795,
      0.7712374070562427,
      0.9173443054221381,
      0.9354661395448118,
      1.0252100210105382,
      1.0109587963120394,
      0.914755442495319,
      0.7595092914064614,
      0.6434967474717014,
      0.6434967514736614
    ],
    "yaw": [
      0.8631032311227936,
      0.8630185908290642,
      0.8644432643541899,
      0.8691233771178748,
      0.8740085840860079,
      0.8765798634003702,
      0.8785024201372406,
      0.8798940325033899,
      0.8809794158037123,
      0.8811889943566957
    ],
    "yaw_diff": [
      -0.00016928058745890873,
      0.0028493470502515272,
      0.009360225527369703,
      0.009770413936266209,
      0.005142558628724592,
      0.0038451134737407244,
      0.0027832247322987502,
      0.002170766600644747,
      0.00041915710596684974,
      0.00041915710596684974
    ],
    "min_front_frame": [
      9,
      69.04837133661162
    ],
    "v_avg": 2.1420413245322285,
    "v_std": 1.2749357601165212,
    "vy_max": 0.05462255098664848,
    "a_max": 1.0252100210105382,
    "ax_avg": -0.8376406012014384,
    "a_std": 0.13318072317090376,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "27bcec96f13c5426",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      78.35325315072552,
      76.40618522807117,
      74.65367293577614,
      73.12349619289563,
      71.79367959925591,
      70.77915727153373,
      69.9899521983482,
      69.46929991100751,
      69.09560802163082,
      69.04837133661162
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "27bcec96f13c5426",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "65612a858cc756b3": {
    "vx_ego": [
      5.855200380436796,
      6.354643052386708,
      6.756054726909952,
      6.937281633090967,
      6.939395586737613,
      6.902369145568292,
      6.9477397201924385,
      7.136546427956377,
      7.512922525817849,
      8.00202419344438
    ],
    "vy_ego": [
      -0.05863115601533675,
      0.02292777553510783,
      0.0449564102050406,
      0.02154956173497391,
      0.003408954089913152,
      -0.0005574725044605877,
      -0.0023999897043553986,
      0.01116983282083961,
      0.01645154808231286,
      0.14318695525017766
    ],
    "v_ego": [
      5.85549392515464,
      6.354684414362183,
      6.756204300627744,
      6.937315103152821,
      6.939396424056018,
      6.902369168080532,
      6.94774013471217,
      7.136555169235517,
      7.512940538322898,
      8.003305173278285
    ],
    "ax_ego": [
      0.9971475714487378,
      1.0014854905417345,
      0.6013576691545022,
      0.11902292023806069,
      -0.11032094995770898,
      -0.03785319491304498,
      0.220795145983893,
      0.5328825204676433,
      0.9734307747882099,
      0.9789477522508836
    ],
    "ay_ego": [
      0.3323699587377173,
      0.3190609484405275,
      0.3233065346480161,
      0.14095168017606324,
      0.2692083669152972,
      0.2738502990829117,
      0.3831671154338892,
      0.27437634765387087,
      0.45160477192420656,
      0.43951751109076964
    ],
    "a_ego": [
      1.0510818563353796,
      1.0510818600781708,
      0.6827577620188909,
      0.18448260537636327,
      0.29093617309776487,
      0.2764540661175472,
      0.44223018309470463,
      0.5993714714363924,
      1.073086363406734,
      1.073086363808842
    ],
    "yaw": [
      2.421809451227258,
      2.435127363724635,
      2.4561039722670364,
      2.476296163909624,
      2.4936174620694382,
      2.5138330134078264,
      2.5379292698475853,
      2.559463950138653,
      2.5837023313499015,
      2.5960842595442086
    ],
    "yaw_diff": [
      0.02663582499475403,
      0.04195321708480293,
      0.040384383285175574,
      0.03464259631962818,
      0.0404311026767763,
      0.04819251287951776,
      0.04306936058213573,
      0.048476762422496655,
      0.024763856388614336,
      0.024763856388614336
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.934600435098281,
    "v_std": 0.5523796987545886,
    "vy_max": 0.14318695525017766,
    "a_max": 1.073086363808842,
    "ax_avg": 0.527689570000291,
    "a_std": 0.347371386658647,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "65612a858cc756b3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 47.41558598240844,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "65612a858cc756b3",
    "pedestrians": "No"
  },
  "581e219460ef5789": {
    "vx_ego": [
      7.174727042016546,
      7.505562249816153,
      7.89601846204099,
      8.345574289990783,
      8.756837207008257,
      9.111849123186897,
      9.355645866053132,
      9.380082237962101,
      9.33396217540383,
      9.34807615963106
    ],
    "vy_ego": [
      0.08964959394587746,
      -0.0402334743090802,
      -0.03932487797207296,
      -0.01460047384632368,
      0.015056878135373708,
      0.03496747972692482,
      0.041248048369157964,
      0.015121761175055148,
      -0.004430036858744657,
      -0.0060837542023284286
    ],
    "v_ego": [
      7.175287114613474,
      7.5056700845640885,
      7.896116387118396,
      8.345587061650708,
      8.756850151716845,
      9.111916218247416,
      9.355736794742107,
      9.380094426955047,
      9.333963226684363,
      9.348078139293005
    ],
    "ax_ego": [
      0.6578969474884443,
      0.6623688549880616,
      0.9026397884136071,
      0.8953784829416291,
      0.7499910533864775,
      0.6709044510048674,
      0.30441538318503686,
      -0.2073057290503214,
      0.024769871572943275,
      0.03209881565283079
    ],
    "ay_ego": [
      0.16674791388300522,
      0.14798906575115958,
      0.28490491525021866,
      -0.00398350711218326,
      -0.10003491860576547,
      -0.10963221453648697,
      0.061174518125028096,
      0.004137055130985237,
      0.3686412827719111,
      0.36807555081231547
    ],
    "a_ego": [
      0.6786996834380777,
      0.6786996858995125,
      0.9465354712640703,
      0.8953873441387062,
      0.7566330452076623,
      0.679802916176679,
      0.3105012837131631,
      0.207347005095907,
      0.36947251846579904,
      0.3694725227565696
    ],
    "yaw": [
      2.429673435558821,
      2.4580882927644474,
      2.4720781967181327,
      2.477681186658257,
      2.4711857609004086,
      2.4630993183899896,
      2.461117005412498,
      2.465618158387048,
      2.477704870819789,
      2.497600454210475
    ],
    "yaw_diff": [
      0.0568297144112524,
      0.027979807907370535,
      0.011205979880248407,
      -0.012990851515696455,
      -0.016172885020838024,
      -0.003964625954983703,
      0.009002305949100453,
      0.024173424865481685,
      0.039791166781371956,
      0.039791166781371956
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.620929960558545,
    "v_std": 0.7967327496659129,
    "vy_max": 0.08964959394587746,
    "a_max": 0.9465354712640703,
    "ax_avg": 0.46931579195835776,
    "a_std": 0.2436693277896856,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "581e219460ef5789",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.456040694259805,
    "right_rear_min": 20.17812855247525,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "581e219460ef5789",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5c9f7765dd945010": {
    "vx_ego": [
      6.679425429201275,
      5.833984735015452,
      5.082496751237332,
      4.602082005318875,
      4.1797283688468125,
      3.683007040411245,
      3.2161529957382347,
      2.709542762265732,
      2.1631227198765566,
      1.6016636941049707
    ],
    "vy_ego": [
      -0.010694561378617143,
      0.0070833339441192245,
      0.007795038009835192,
      0.0003322813279680453,
      -0.010048365307087428,
      -0.026825247859829447,
      -0.05943779183635373,
      -0.04528168650052674,
      0.005934327206508917,
      0.023082972281076433
    ],
    "v_ego": [
      6.679433990833633,
      5.833989035129658,
      5.082502728868486,
      4.602082017314628,
      4.179740447323037,
      3.6831047302027047,
      3.2167021843954413,
      2.709921108017528,
      2.1631308600002788,
      1.6018300198907842
    ],
    "ax_ego": [
      -1.6909091287108864,
      -1.6908429928552877,
      -1.3152537008481384,
      -0.6064580037552895,
      -1.0829257076006635,
      -0.9038948700894325,
      -0.9637752910365502,
      -1.062791546854095,
      -1.1228956637341896,
      -1.122911676028728
    ],
    "ay_ego": [
      0.05051218595346174,
      0.05267960931740365,
      0.013979626618348178,
      -0.004484018692764885,
      -0.00691947973862304,
      -0.042158796830444115,
      -0.11400332848135525,
      0.16634152614459818,
      0.032717379700212684,
      0.03216355765394303
    ],
    "a_ego": [
      1.6916634306172154,
      1.6916634321654118,
      1.3153279923863526,
      0.6064745804586437,
      1.0829478137852493,
      0.904877505701287,
      0.9704944979325822,
      1.0757301591870676,
      1.123372199481318,
      1.1233722119594225
    ],
    "yaw": [
      -1.556303856198825,
      -1.555022021083817,
      -1.552073909205578,
      -1.550004641706059,
      -1.5483127345871182,
      -1.5471596706854818,
      -1.5490190469115124,
      -1.5493792062115097,
      -1.5499730596469754,
      -1.5504662667651092
    ],
    "yaw_diff": [
      0.002563670230015802,
      0.005896223756478136,
      0.004138534999038157,
      0.0033838142378814773,
      0.0023061278032727728,
      -0.0037187524520612136,
      -0.0007203185999946626,
      -0.0011877068709313932,
      -0.0009864142362676631,
      -0.0009864142362676631
    ],
    "min_front_frame": [
      9,
      14.76261251669233
    ],
    "v_avg": 3.975243712197618,
    "v_std": 1.536455798739685,
    "vy_max": 0.05943779183635373,
    "a_max": 1.6916634321654118,
    "ax_avg": -1.1562658581513259,
    "a_std": 0.3182060383604465,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5c9f7765dd945010",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.242568461676301,
    "right_rear_min": 5.613346107112625,
    "speed_mode": "decelerating",
    "front_frame": [
      23.82962210939699,
      20.731641133385764,
      26.514679234719335,
      24.21353924913232,
      21.969479204933503,
      20.030912507831562,
      18.307134048177087,
      16.862552462216748,
      15.605714728517626,
      14.76261251669233
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5c9f7765dd945010",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "566cac9a7c0358ce": {
    "vx_ego": [
      6.250114966295862,
      6.373175757665814,
      6.479966382560622,
      6.581415411511517,
      6.717638599290637,
      6.850491212886362,
      6.869558147466544,
      6.676140516630773,
      6.256053352421976,
      5.732383263971026
    ],
    "vy_ego": [
      0.0064713054776330825,
      0.017952177347373866,
      0.018882214110185203,
      0.021275847864874464,
      0.029574067256610048,
      0.03442441219081038,
      0.031909243089506045,
      0.028043074043625937,
      0.024267446707111784,
      0.005178654871104804
    ],
    "v_ego": [
      6.2501183164569065,
      6.373201041766276,
      6.479993893293844,
      6.5814498008101285,
      6.717703698149656,
      6.8505777054192984,
      6.869632256621785,
      6.6761994137234115,
      6.256100419376269,
      5.732385603177912
    ],
    "ax_ego": [
      0.2406905988222296,
      0.2501712196397035,
      0.17358212066415885,
      0.2312778844287935,
      0.31395052940755735,
      0.21808773804365417,
      -0.14010632124597933,
      -0.6317749711537063,
      -1.047685122119094,
      -1.046442350336706
    ],
    "ay_ego": [
      0.36083553398855306,
      0.35432839062166144,
      0.15336211243004927,
      0.0256270311938779,
      -0.0551667001805685,
      -0.05754178025786777,
      -0.19030282524508432,
      -0.20681386903478005,
      -0.13807024330005,
      -0.14719346068549916
    ],
    "a_ego": [
      0.4337444488984357,
      0.43374444957434727,
      0.23162618622097475,
      0.23269337024004433,
      0.3187605680194749,
      0.22555114267110743,
      0.23631535402792317,
      0.6647643120696248,
      1.0567438228798103,
      1.0567438229991142
    ],
    "yaw": [
      2.912557266024676,
      2.939068851820366,
      2.958644012312912,
      2.965136484156875,
      2.962774279938478,
      2.9579144847437964,
      2.9493051659516176,
      2.9353445050900415,
      2.922695959878599,
      2.913982870940405
    ],
    "yaw_diff": [
      0.053023171591379814,
      0.03915032098509208,
      0.012984943687925465,
      -0.004724408436793226,
      -0.009719590389363653,
      -0.017218637584357488,
      -0.027921321723152204,
      -0.025297090422885304,
      -0.017426177876387783,
      -0.017426177876387783
    ],
    "min_front_frame": [
      0,
      19.464190410138002
    ],
    "v_avg": 6.478736214879548,
    "v_std": 0.32676052305234227,
    "vy_max": 0.03442441219081038,
    "a_max": 1.0567438229991142,
    "ax_avg": -0.14382486738493885,
    "a_std": 0.31238376371124443,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "566cac9a7c0358ce",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.15933317134926,
    "right_rear_min": 12.445314579708144,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      19.464190410138002,
      20.44071102997072,
      21.32966883389932,
      22.180543433922747,
      22.995012762460842,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "566cac9a7c0358ce",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "50ab222cd07b5bcd": {
    "vx_ego": [
      10.783502602740734,
      10.651272364800265,
      10.511034991495674,
      10.34817968771988,
      10.175483765878965,
      10.037563561938683,
      9.899718370966951,
      9.634380297836525,
      9.214894274867847,
      8.738862421453733
    ],
    "vy_ego": [
      0.028781210808013213,
      0.031754369566203255,
      0.026004875661999716,
      0.04463947918871369,
      0.06944541996146625,
      0.05865779234657831,
      0.011511541879410503,
      -0.005509355396371651,
      0.018664156395031495,
      0.03377899340862267
    ],
    "v_ego": [
      10.783541011254687,
      10.651319698945496,
      10.511067160189047,
      10.348275969089757,
      10.175720737914341,
      10.037734953492354,
      9.899725063861975,
      9.63438187308026,
      9.21491317635311,
      8.738927705473476
    ],
    "ax_ego": [
      -0.26518480957599905,
      -0.2644324178719598,
      -0.2972944632896953,
      -0.35476704095466727,
      -0.3372289802309787,
      -0.21644901227167831,
      -0.33563728703859347,
      -0.72570069169356,
      -0.9522618357509157,
      -0.9521009741212608
    ],
    "ay_ego": [
      0.12923528450354224,
      0.13076789478996872,
      0.1289449436300355,
      0.15008699602630432,
      0.18557996706878477,
      0.0034003573295235887,
      0.02850982515213113,
      0.059700397815356826,
      0.06986166854723623,
      0.07202082150624128
    ],
    "a_ego": [
      0.2949995626955579,
      0.2949995693715689,
      0.3240536936843353,
      0.38520872228433567,
      0.38491987385023013,
      0.21647571998576096,
      0.3368459567529827,
      0.7281522034738501,
      0.9548210599687817,
      0.9548210636831843
    ],
    "yaw": [
      -1.719687453037214,
      -1.7138998477982237,
      -1.7072228808118664,
      -1.7023245095186672,
      -1.6965630364161417,
      -1.6908123577508993,
      -1.6852909035452441,
      -1.6813102424903974,
      -1.6804409902186686,
      -1.6781734065837641
    ],
    "yaw_diff": [
      0.011575210477980491,
      0.013353933972714671,
      0.009796742586398288,
      0.01152294620505101,
      0.01150135733048474,
      0.011042908411310393,
      0.00796132210969347,
      0.0017385045434576973,
      0.0045351672698088485,
      0.0045351672698088485
    ],
    "min_front_frame": [
      7,
      18.427874695639314
    ],
    "v_avg": 9.999560734965451,
    "v_std": 0.6167119071793767,
    "vy_max": 0.06944541996146625,
    "a_max": 0.9548210636831843,
    "ax_avg": -0.4701057512799308,
    "a_std": 0.2669561653019506,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "50ab222cd07b5bcd",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.274910583905337,
    "right_rear_min": 3.0078537274432873,
    "speed_mode": "decelerating",
    "front_frame": [
      27.942023486994575,
      24.940766737239574,
      21.74833584321711,
      18.546375649821986,
      31.127748047237734,
      26.879173617793484,
      22.635509619557922,
      18.427874695639314,
      22.988634204090957,
      18.61437671933987
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "50ab222cd07b5bcd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "850551ecc7a35ebf": {
    "vx_ego": [
      5.028867114426297,
      5.038306519315045,
      5.127218117590457,
      5.318978253676515,
      5.528590652454509,
      5.771748486744256,
      6.048671538495765,
      6.314190166375442,
      6.557327100894216,
      6.778864637802395
    ],
    "vy_ego": [
      0.14583907044110744,
      0.014129826820105329,
      0.005236435195719036,
      0.01677894456891954,
      0.0292233772827237,
      0.025873036065677646,
      0.025895165794435626,
      -0.011625398229059503,
      -0.0019241465457926488,
      0.050468184262840055
    ],
    "v_ego": [
      5.030981364408478,
      5.038326332680174,
      5.127220791579137,
      5.319004718560091,
      5.5286678873112995,
      5.7718064770251845,
      6.048726968562909,
      6.314200868442207,
      6.55732738319978,
      6.779052501291798
    ],
    "ax_ego": [
      0.017255386329869976,
      0.027207577121697926,
      0.33631533254733437,
      0.43784278733009735,
      0.4021622253706072,
      0.5764080524642068,
      0.5335461478496679,
      0.5315812881881306,
      0.43606407229288663,
      0.45365026298435185
    ],
    "ay_ego": [
      -0.47474412971770635,
      -0.4742778666058359,
      -0.6807404221511072,
      -0.7884617717182878,
      -0.649843512893092,
      -0.6391040800761769,
      -0.5240561851333597,
      -0.6190199292518427,
      -0.4436398031363773,
      -0.42564019595186814
    ],
    "a_ego": [
      0.47505761446251493,
      0.47505762493093,
      0.7592861945649294,
      0.9018748648665901,
      0.7642192399856688,
      0.8606394530322184,
      0.7478678874385167,
      0.8159438330931295,
      0.6220676410741355,
      0.6220676309821275
    ],
    "yaw": [
      0.18615274977064106,
      0.16517993747421938,
      0.10971154960692525,
      0.03703464184997947,
      -0.03147281713446021,
      -0.08811447803085931,
      -0.13726506798120924,
      -0.17741843199698176,
      -0.2201196139018942,
      -0.26057561244390404
    ],
    "yaw_diff": [
      -0.041945624592843345,
      -0.11093677573458827,
      -0.14535381551389157,
      -0.13701491796887935,
      -0.11328332179279821,
      -0.09830117990069986,
      -0.08030672803154504,
      -0.08540236380982485,
      -0.0809119970840197,
      -0.0809119970840197
    ],
    "min_front_frame": [
      6,
      18.90083952018494
    ],
    "v_avg": 5.7515315293061064,
    "v_std": 0.6135800704597,
    "vy_max": 0.14583907044110744,
    "a_max": 0.9018748648665901,
    "ax_avg": 0.37520331324788503,
    "a_std": 0.14250701707362934,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "850551ecc7a35ebf",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 25.2449113366711,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      18.90083952018494,
      24.47673678633128,
      25.116230212523394,
      25.668018786315642
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "850551ecc7a35ebf",
    "with_lead": "Far",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "8b794f146fda58da": {
    "vx_ego": [
      10.932395502370719,
      10.971427519788229,
      10.973361489835945,
      10.96199601972927,
      10.983270603956672,
      11.033623175065397,
      11.099749222130708,
      11.140144433359898,
      11.13624273852695,
      11.107347985348897
    ],
    "vy_ego": [
      0.028460317107516175,
      -0.020704479198993653,
      0.010367024701760208,
      0.007077085852054132,
      0.011846640096878858,
      0.006181608847739994,
      0.013785461580576808,
      0.0171813121924691,
      -0.0009616189505292638,
      0.01861367060325314
    ],
    "v_ego": [
      10.932432547695202,
      10.971447055763674,
      10.973366386930481,
      10.961998304219195,
      10.983276992893348,
      11.033624906694453,
      11.099757782633919,
      11.140157682618689,
      11.136242780045036,
      11.107363581713146
    ],
    "ax_ego": [
      0.0744447851316633,
      0.0813549451361899,
      -0.07435304878663777,
      0.028683898695300067,
      0.056414679734635126,
      0.14498827611252957,
      0.11960844718483177,
      0.04215293978433297,
      -0.057759121923676895,
      -0.05777015744643904
    ],
    "ay_ego": [
      0.3437475962124047,
      0.342178031609629,
      0.09365993748305564,
      0.018600362266781623,
      0.00025644954242750803,
      -0.015579260151521182,
      -0.03584113175943106,
      -0.05952092834172285,
      0.007885649371827265,
      0.007804345705453023
    ],
    "a_ego": [
      0.3517164140825758,
      0.3517164090774736,
      0.1195849478538082,
      0.03418683256485968,
      0.05641526261508726,
      0.14582288420186965,
      0.1248629943728869,
      0.07293566509686539,
      0.05829493658466036,
      0.05829493033940927
    ],
    "yaw": [
      -0.6412271217724133,
      -0.621079392740699,
      -0.6139934508637774,
      -0.6111312354203796,
      -0.6111362813064716,
      -0.6109694840950732,
      -0.6128176505980616,
      -0.615264843623168,
      -0.6147954451402542,
      -0.6162028429018045
    ],
    "yaw_diff": [
      0.04029545806342849,
      0.01417188375384315,
      0.0057244308867956395,
      -1.0091772183917769e-05,
      0.00033359442279667917,
      -0.003696333005976715,
      -0.004894386050212862,
      0.0009387969658276596,
      -0.0028147955231005994,
      -0.0028147955231005994
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.033966802120714,
    "v_std": 0.07555911017372605,
    "vy_max": 0.028460317107516175,
    "a_max": 0.3517164140825758,
    "ax_avg": 0.0357765643622729,
    "a_std": 0.11237922515724236,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8b794f146fda58da",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 27.986323504673848,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8b794f146fda58da",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "59bf40c427da5eb1": {
    "vx_ego": [
      5.697238792447014,
      4.956397954182906,
      4.230318409497129,
      3.6560574107991943,
      3.371707904811608,
      3.262882924602843,
      3.1708040397002315,
      3.134435977264252,
      3.2382850575313666,
      3.452802572363992
    ],
    "vy_ego": [
      0.014915137609939011,
      0.017073851720689204,
      -0.006469604824097863,
      0.023455367169748276,
      0.04258188688726694,
      0.04810137025570421,
      0.0486967992401931,
      0.055842502036926644,
      0.029727716674092797,
      0.14311552133310457
    ],
    "v_ego": [
      5.6972583160229835,
      4.9564273621875135,
      4.23032335661435,
      3.65613264875726,
      3.3719767811270533,
      3.2632374601743708,
      3.1711779572322247,
      3.134933377378577,
      3.238421506068903,
      3.4557673035333045
    ],
    "ax_ego": [
      -1.4816370958126857,
      -1.4816120220210416,
      -1.4226941481135884,
      -0.8663632095178616,
      -0.2547042713697199,
      -0.19378634036230083,
      -0.19761967696506905,
      0.005333420010569245,
      0.3260935872333081,
      0.48102510520374053
    ],
    "ay_ego": [
      -0.013030630140328903,
      -0.015623566765906871,
      0.03082131241595487,
      0.5913389852548102,
      1.1287246442652998,
      1.3492463393232608,
      1.5298430602224087,
      1.5661865705581302,
      1.1624599427211053,
      1.1073684998256599
    ],
    "a_ego": [
      1.4816943952820039,
      1.4816943948182324,
      1.4230279661256453,
      1.0489361307001865,
      1.15710569457842,
      1.3630916439800491,
      1.5425541564672673,
      1.5661956516239106,
      1.2073318293103361,
      1.2073318293834558
    ],
    "yaw": [
      2.913982870940405,
      2.9122328081669364,
      2.918195052147043,
      2.9506203379129987,
      3.070012369179926,
      -3.028193896984411,
      -2.8055850201688055,
      -2.5615837362595735,
      -2.337410725115861,
      -2.2011082828236748
    ],
    "yaw_diff": [
      -0.0035001255469371273,
      0.01192448796021317,
      0.06485057153191143,
      0.23878406253385442,
      0.3699580820304984,
      0.4452177536312112,
      0.4880025678184641,
      0.44834602228742515,
      0.2726048845843714,
      0.2726048845843714
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8175656069096546,
    "v_std": 0.8296155188090149,
    "vy_max": 0.14311552133310457,
    "a_max": 1.5661956516239106,
    "ax_avg": -0.508596465171465,
    "a_std": 0.1710323925402005,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "59bf40c427da5eb1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.846058708498583,
    "right_rear_min": 8.946628219809106,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "59bf40c427da5eb1",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "ccd74f5377b85a36": {
    "vx_ego": [
      7.150378542572842,
      7.14094332249905,
      7.05900123102826,
      6.909024584488514,
      6.791825569676032,
      6.755728800922686,
      6.741430198734836,
      6.650558658225887,
      6.516657610106488,
      6.38564978443258
    ],
    "vy_ego": [
      -0.14139888222742059,
      -0.05209894793620817,
      -0.003652053293036417,
      -0.002350907053446427,
      -0.0024848636883532116,
      -0.016148500485168693,
      -0.012333317802083688,
      0.011354962531247459,
      0.021006829451241327,
      0.008862243683639193
    ],
    "v_ego": [
      7.151776488815997,
      7.141133371917922,
      7.05900217574352,
      6.909024984455524,
      6.791826024233299,
      6.755748101112429,
      6.741441480510086,
      6.65056835177847,
      6.516691468394249,
      6.385655934106297
    ],
    "ax_ego": [
      -0.019113748131419625,
      -0.019419541016737978,
      -0.3077044748839139,
      -0.29220607351059924,
      -0.17684047464253716,
      0.032533161456370426,
      -0.08953489151204051,
      -0.2738691705536964,
      -0.2620604104047135,
      -0.2620662217346372
    ],
    "ay_ego": [
      0.1493545157809774,
      0.149315066388355,
      0.18607697669886006,
      0.16141608712745703,
      0.08705647260096666,
      0.03665724513247415,
      0.05652412451922534,
      0.11223519856937156,
      -0.003838879422879235,
      -0.0034192445355751833
    ],
    "a_ego": [
      0.1505725962843225,
      0.1505725991801285,
      0.3595923874624897,
      0.3338256170218525,
      0.1971075414425351,
      0.0490118374992059,
      0.1058842455266021,
      0.29597476645429743,
      0.2620885264499579,
      0.2620885266612449
    ],
    "yaw": [
      -2.1429186242967466,
      -2.144966364608911,
      -2.140005461732037,
      -2.1277496439063013,
      -2.1186432037895626,
      -2.112034651721734,
      -2.109154608630071,
      -2.10640100866354,
      -2.103750317174378,
      -2.102149045048493
    ],
    "yaw_diff": [
      -0.004095480624329184,
      0.009921805753748458,
      0.02451163565147141,
      0.018212880233477335,
      0.013217104135657465,
      0.005760086183325797,
      0.005507199933061813,
      0.005301382978323943,
      0.003202544251769801,
      0.003202544251769801
    ],
    "min_front_frame": [
      9,
      27.803644093209236
    ],
    "v_avg": 6.810286838106779,
    "v_std": 0.24449084861500078,
    "vy_max": 0.14139888222742059,
    "a_max": 0.3595923874624897,
    "ax_avg": -0.1670281844933925,
    "a_std": 0.09698986766648092,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ccd74f5377b85a36",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      50.65273072510615,
      48.40875099926365,
      46.15022578207218,
      43.956832459209224,
      41.644349674356555,
      39.154771919711415,
      36.4775440336712,
      33.727910925435694,
      30.71466472947476,
      27.803644093209236
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ccd74f5377b85a36",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "64d046ec9cee51d4": {
    "vx_ego": [
      2.208228969804538,
      2.020005778264485,
      1.8609354406245717,
      1.7463307189803448,
      1.7247795786445559,
      1.8287866362712133,
      1.9374513043358081,
      1.965560477522895,
      1.935938566802786,
      1.8840923399602394
    ],
    "vy_ego": [
      0.01994460452586544,
      -0.010804735081821393,
      -0.0046907044715763235,
      0.021464624502862628,
      0.07236006891138963,
      0.14640147410190688,
      0.14340943696313851,
      0.07456187329105131,
      0.01546783575250869,
      -0.03934755817434662
    ],
    "v_ego": [
      2.208319037261986,
      2.0200346745841014,
      1.8609413523485925,
      1.7464626277591675,
      1.7262967805340288,
      1.8346372809423093,
      1.9427516113190098,
      1.966974189904052,
      1.9360003585684822,
      1.8845031641870846
    ],
    "ax_ego": [
      -0.3790732494625087,
      -0.3742545799927846,
      -0.2590537269545037,
      -0.2012992101041937,
      0.10993034454478805,
      0.2892256758119123,
      0.1180908885263632,
      -0.021249744301288225,
      -0.10333938910248514,
      -0.10222589866282106
    ],
    "ay_ego": [
      0.10736979117753187,
      0.12311908927232984,
      0.2096980011721696,
      0.17892505660849872,
      0.28568338352519296,
      0.27906676222989973,
      -0.001750863241065363,
      0.01293529050901304,
      0.028494735481681882,
      0.03226213045720877
    ],
    "a_ego": [
      0.39398578719996,
      0.3939857875467382,
      0.3332897915397677,
      0.269324243006319,
      0.3061040285166765,
      0.40190763781040134,
      0.1181038673161673,
      0.0248771657031643,
      0.10719598542037778,
      0.10719598602120937
    ],
    "yaw": [
      2.843345936142532,
      2.8851524462332634,
      2.925171725285875,
      2.964690012442875,
      3.0031473057177003,
      3.041416251613586,
      3.0793852263380814,
      3.11576844191796,
      -3.132004368624807,
      -3.0953544685884813
    ],
    "yaw_diff": [
      0.08361302018146244,
      0.08003855810522342,
      0.07903657431399935,
      0.076914586549651,
      0.07653789179177117,
      0.07593794944899113,
      0.07276643115975734,
      0.07082499327363845,
      0.07329980007265124,
      0.07329980007265124
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.9126921077408814,
    "v_std": 0.13238273002887865,
    "vy_max": 0.14640147410190688,
    "a_max": 0.40190763781040134,
    "ax_avg": -0.09232488896975215,
    "a_std": 0.13552380374612233,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "64d046ec9cee51d4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.6583963399995545,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "64d046ec9cee51d4",
    "pedestrians": "Yes",
    "main_road_vehicles": "No"
  },
  "ec574c9ae43e56a9": {
    "vx_ego": [
      4.52545936035153,
      4.4244163370676555,
      4.4574473438905455,
      4.586674352130259,
      4.673708545581897,
      4.7321275584102915,
      4.834297137226322,
      4.953505788785751,
      5.056667663619504,
      5.1974345279702385
    ],
    "vy_ego": [
      0.008368697016083115,
      0.033462772386926604,
      0.035952414468659155,
      0.009204841326758695,
      0.004646487125406384,
      0.014018601081668969,
      0.007792591577798991,
      0.01810877714972481,
      0.04244547288246259,
      0.041924747660259776
    ],
    "v_ego": [
      4.525467098243342,
      4.42454287817928,
      4.457592332152303,
      4.586683588563024,
      4.673710855293453,
      4.732148322933511,
      4.834303417812965,
      4.953538889253198,
      5.056845803310929,
      5.197603616764518
    ],
    "ax_ego": [
      -0.32491605550944486,
      -0.08997457523573119,
      0.19646297220634468,
      0.3155942953515132,
      0.03140546941489808,
      0.19374595075322754,
      0.20666050425238236,
      0.2626277759804986,
      0.13545052135969915,
      0.39714318928320835
    ],
    "ay_ego": [
      1.4540434026000406,
      1.4871843329831427,
      1.4569473633065613,
      1.5819787966917445,
      1.6242223480055895,
      1.5986301711216953,
      1.5873277782721247,
      1.5970698339413039,
      1.6537067927476636,
      1.6110152986307789
    ],
    "a_ego": [
      1.4899035739847464,
      1.4899035755576149,
      1.4701337758496986,
      1.613151162303359,
      1.6245259429353414,
      1.6103278912860737,
      1.6007242234976544,
      1.6185195096759777,
      1.6592447077258912,
      1.6592447092627585
    ],
    "yaw": [
      1.3635568384690122,
      1.522975778741059,
      1.6891129265801352,
      1.8631673066184686,
      2.0355122388901714,
      2.205167066756972,
      2.372650451525819,
      2.5330989669326813,
      2.689790130995898,
      2.8497635267351376
    ],
    "yaw_diff": [
      0.31883788054409345,
      0.3322742956781526,
      0.3481087600766668,
      0.34468986454340556,
      0.33930965573360083,
      0.33496676953769455,
      0.32089703081372445,
      0.3133823281264334,
      0.31994679147847904,
      0.31994679147847904
    ],
    "min_front_frame": [
      9,
      69.44103217635991
    ],
    "v_avg": 4.744243680250652,
    "v_std": 0.2484668410116383,
    "vy_max": 0.04244547288246259,
    "a_max": 1.6592447092627585,
    "ax_avg": 0.13242000478565957,
    "a_std": 0.06830230825439973,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "ec574c9ae43e56a9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      69.44103217635991
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ec574c9ae43e56a9",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "0b23b3823c4d57da": {
    "vx_ego": [
      2.473198747687104,
      1.7776452442445232,
      1.1080101085413507,
      0.54651291178591,
      0.15549802674014748,
      -0.022668190024609118,
      -0.04052821677032736,
      -0.024480837292025395,
      -0.014088306842440534,
      -0.0074009594955560705
    ],
    "vy_ego": [
      -0.025054778375882325,
      -0.0014844948955519133,
      0.0024274960554782066,
      -0.0007539244357623043,
      -0.005195021326152308,
      -0.0025582182811037966,
      0.0031000894005385714,
      0.0016451485887265093,
      0.0012321960675556942,
      0.0009293712436681395
    ],
    "v_ego": [
      2.4733256533421804,
      1.7776458640883075,
      1.1080127676912912,
      0.5465134318118527,
      0.15558478256776526,
      0.022812087141810634,
      0.040646610053902105,
      0.02453605323595484,
      0.014142089549838683,
      0.007459083882315497
    ],
    "ax_ego": [
      -1.3911687711233558,
      -1.391298691398256,
      -1.2872064258017302,
      -0.9587882235379583,
      -0.6052740319253236,
      -0.10743188275816498,
      0.035993716387996845,
      0.028195686732780546,
      0.013374512010810347,
      0.013374449666956487
    ],
    "ay_ego": [
      0.028943962810595858,
      0.021823322807811407,
      -0.015934013943087022,
      -0.0016395309828986515,
      -0.016904604876355672,
      0.027433599668386266,
      -0.004777947184805793,
      -0.0010436500950732012,
      -0.0006071380630216557,
      -0.0006084852663125039
    ],
    "a_ego": [
      1.3914698353654846,
      1.3914698365774492,
      1.2873050436573312,
      0.9587896253385921,
      0.6055100489580362,
      0.11087926687947296,
      0.03630945329690804,
      0.02821499523044516,
      0.013388285482274418,
      0.013388284364072637
    ],
    "yaw": [
      2.669724698359237,
      2.6646064872122937,
      2.662900206685257,
      2.6613586713316657,
      2.6607233029475346,
      2.659633917703168,
      2.659520816345445,
      2.659535468443801,
      2.6595210114941796,
      2.659621420870034
    ],
    "yaw_diff": [
      -0.010236422293886882,
      -0.003412561054073393,
      -0.0030830707071825003,
      -0.0012707367682622817,
      -0.0021787704887330506,
      -0.00022620271544582238,
      2.9304196711876784e-05,
      -2.8913899242866137e-05,
      0.00020081875170863128,
      0.00020081875170863128
    ],
    "min_front_frame": [
      9,
      10.670941594588768
    ],
    "v_avg": 0.6170678423365217,
    "v_std": 0.8380479357997884,
    "vy_max": 0.025054778375882325,
    "a_max": 1.3914698365774492,
    "ax_avg": -0.5650229661746244,
    "a_std": 0.585105334318763,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0b23b3823c4d57da",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.99480092519997,
      11.951771740383291,
      11.25337979197619,
      10.847743573964491,
      10.706705784240212,
      10.683315838640077,
      10.696045835249905,
      10.680369865155843,
      10.714216965783015,
      10.670941594588768
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0b23b3823c4d57da",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "402b6ac9448a58d7": {
    "vx_ego": [
      -0.026033450818152015,
      0.04598899480172629,
      0.31416997376546,
      0.8785536899320083,
      1.5799943258992202,
      2.256957007475019,
      2.8460183487139,
      3.3989007466986116,
      3.9164654316962704,
      4.4087276144796315
    ],
    "vy_ego": [
      0.0019422815291848788,
      -0.0016062191329435324,
      -0.0015371844005136852,
      -0.004283477778010837,
      -0.022758964650123836,
      -0.034534713150036284,
      -0.016770434186023475,
      0.024303631155267735,
      0.0360608101199307,
      -0.01423259916610814
    ],
    "v_ego": [
      0.02610580431704322,
      0.04601703578867549,
      0.3141737343440266,
      0.8785641321355102,
      1.5801582326924342,
      2.2572212075919693,
      2.8460677589753516,
      3.3989876363993607,
      3.9166314429236713,
      4.408750587814453
    ],
    "ax_ego": [
      0.144044642958781,
      0.14404521035372742,
      0.9286832320410519,
      1.328856245113671,
      1.4769479834063135,
      1.231268105961603,
      1.1249811275036063,
      1.08652918064755,
      0.9845109306510649,
      0.9845570005376547
    ],
    "ay_ego": [
      -0.007104279079278401,
      -0.0070928851357311236,
      0.007478034541002772,
      -0.012459498710623476,
      -0.05526795281641948,
      0.026487519406905368,
      0.04492321882651928,
      0.10007149108998423,
      -0.1044837061177005,
      -0.10404858864832
    ],
    "a_ego": [
      0.1442197280068125,
      0.14421973389726614,
      0.9287133392359618,
      1.3289146546282515,
      1.4779816955214615,
      1.2315529779277075,
      1.1258777166411194,
      1.0911278402312028,
      0.9900397049692078,
      0.99003969420797
    ],
    "yaw": [
      -1.619916876432046,
      -1.619995985258976,
      -1.61966362908402,
      -1.6169163905333805,
      -1.6156414713680949,
      -1.6132914444281836,
      -1.6132569750089858,
      -1.6147999797306305,
      -1.6183037109024196,
      -1.6187456627124948
    ],
    "yaw_diff": [
      -0.00015821765386014874,
      0.0006647123499119445,
      0.005494477101279038,
      0.002549838330571319,
      0.00470005387982253,
      6.893883839564907e-05,
      -0.003086009443289406,
      -0.007007462343578297,
      -0.0008839036201502282,
      -0.0008839036201502282
    ],
    "min_front_frame": [
      0,
      13.48511887180792
    ],
    "v_avg": 1.9672677572982493,
    "v_std": 1.5554486403559462,
    "vy_max": 0.0360608101199307,
    "a_max": 1.4779816955214615,
    "ax_avg": 0.9434423659175023,
    "a_std": 0.4306346959980894,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "402b6ac9448a58d7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.237772094000389,
    "right_rear_min": 3.2534692667478575,
    "speed_mode": "accelerating",
    "front_frame": [
      13.48511887180792,
      14.461412003865629,
      15.64430667039576,
      16.787085955132884,
      17.986501975595914,
      19.18765339657141,
      20.181943888457543,
      21.23821141780438,
      22.274402381077877,
      23.26684681702863
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "402b6ac9448a58d7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ab4015c25a66588a": {
    "vx_ego": [
      5.491165761703027,
      5.5823318546347895,
      5.623253701335658,
      5.532476474201252,
      5.4422459057173755,
      5.4159465083062015,
      5.450021866576958,
      5.514371623920957,
      5.575464180523133,
      5.621970260765657
    ],
    "vy_ego": [
      0.09288406520319059,
      -0.1286595009615441,
      -0.11622456017385518,
      -0.07923272718883023,
      -0.08354196136736114,
      -0.06004403540579473,
      -0.039926724920769985,
      -0.02452162084765952,
      -0.014997041740504535,
      -0.010299747492438893
    ],
    "v_ego": [
      5.491951280926322,
      5.583814305871745,
      5.624454670274513,
      5.5330438063192755,
      5.442887079262865,
      5.416279337979343,
      5.450168115712568,
      5.514426145719394,
      5.575484350220836,
      5.621979695599396
    ],
    "ax_ego": [
      0.0711094706291957,
      0.30287825405010416,
      -0.13520481577596807,
      -0.22254044309723992,
      -0.13453412453364558,
      0.030568720848283753,
      0.10609201888628397,
      0.1513995019400818,
      0.09302051755456658,
      0.09302729512073758
    ],
    "ay_ego": [
      1.4071445750082712,
      1.3760004285504543,
      0.4954954156453891,
      0.17372843572961255,
      0.100663884252231,
      0.0882112350857782,
      0.03697431556401004,
      0.040174063009559474,
      0.014616604010014071,
      0.014573403883415437
    ],
    "a_ego": [
      1.4089401732466758,
      1.408940174793619,
      0.5136107953836352,
      0.2823221886337912,
      0.1680257368880762,
      0.09335774574002269,
      0.11235041825820957,
      0.15663896235100924,
      0.09416189143653067,
      0.094161891114346
    ],
    "yaw": [
      2.1507714227164465,
      2.316939725332942,
      2.3973973525288184,
      2.4207133850818425,
      2.4340262845270138,
      2.4384121578150553,
      2.4404733690920586,
      2.441182209243443,
      2.441933816349363,
      2.4423982460300895
    ],
    "yaw_diff": [
      0.3323366052329906,
      0.16091525439175314,
      0.04663206510604834,
      0.026625798890342445,
      0.00877174657608304,
      0.004122422554006633,
      0.0014176803027687868,
      0.001503214211839854,
      0.0009288593614531493,
      0.0009288593614531493
    ],
    "min_front_frame": [
      1,
      17.75490781835517
    ],
    "v_avg": 5.525448878788626,
    "v_std": 0.07122732770766509,
    "vy_max": 0.1286595009615441,
    "a_max": 1.408940174793619,
    "ax_avg": 0.03558163956224,
    "a_std": 0.5028421269091085,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "ab4015c25a66588a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      17.75490781835517,
      18.291384244860236,
      18.851045406560875,
      19.453565464626287,
      20.013235259367733,
      20.326905355789762,
      20.4845246900302,
      20.323617363321038,
      20.199503308716814
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ab4015c25a66588a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "28113a97a08b5ff1": {
    "vx_ego": [
      6.41656566743977,
      6.576171478130179,
      6.715473767248057,
      6.829169092898096,
      6.940269178343192,
      7.026528109875038,
      7.093117347397687,
      7.175185994293916,
      7.300014798543583,
      7.456060022474464
    ],
    "vy_ego": [
      -0.03122925742472571,
      -0.009543903877510473,
      0.03108893316883732,
      -0.01889147084190279,
      -0.04061732977259647,
      -0.02688678226438901,
      -0.022988410049346264,
      0.006397597720565251,
      0.05850144206936836,
      0.04315716605514197
    ],
    "v_ego": [
      6.416641662979638,
      6.5761784035923245,
      6.715545729154288,
      6.8291952225035395,
      6.94038803204391,
      7.026579550387558,
      7.093154599397266,
      7.175188846432417,
      7.300249206546274,
      7.456184922580972
    ],
    "ax_ego": [
      0.31401303165772954,
      0.32668421475837306,
      0.2279064281337408,
      0.22471438325498422,
      0.21938522407595012,
      0.12904443506278887,
      0.13531581366492632,
      0.19053148396232353,
      0.30771264393295483,
      0.3225623184942
    ],
    "ay_ego": [
      0.4327077848496223,
      0.42322291218500496,
      0.21808693246414865,
      -0.06114612691958375,
      -0.20856837482075194,
      -0.6798977840901913,
      -0.8042115160148409,
      -0.7897089550645844,
      -0.4884803479548829,
      -0.47880443525787575
    ],
    "a_ego": [
      0.5346402632802222,
      0.5346402618309355,
      0.315441357618658,
      0.23288495631734948,
      0.30270553929227084,
      0.6920357382617076,
      0.8155161138314128,
      0.8123684386348863,
      0.5773215062461582,
      0.5773215192030928
    ],
    "yaw": [
      2.7135451041119847,
      2.7431509004636223,
      2.761127521713828,
      2.7743001180136204,
      2.7676624932782996,
      2.7339476742219544,
      2.680847300485323,
      2.6208328886512007,
      2.569390047654818,
      2.538688641998303
    ],
    "yaw_diff": [
      0.05921159270327525,
      0.03595324250041099,
      0.026345192599585232,
      -0.013275249470641626,
      -0.06742963811269043,
      -0.10620074747326314,
      -0.1200288236682443,
      -0.10288568199276504,
      -0.06140281131303027,
      -0.06140281131303027
    ],
    "min_front_frame": [
      0,
      16.112982790250864
    ],
    "v_avg": 6.952930617561819,
    "v_std": 0.30817984549399724,
    "vy_max": 0.05850144206936836,
    "a_max": 0.8155161138314128,
    "ax_avg": 0.23978699769979714,
    "a_std": 0.19419167706296236,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "28113a97a08b5ff1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.415853856937274,
    "right_rear_min": 39.479901857763295,
    "speed_mode": "accelerating",
    "front_frame": [
      16.112982790250864,
      16.52447305666847,
      16.863304200131076,
      17.377174585071597,
      -1,
      18.536567885501306,
      19.160207891933982,
      19.941325450324506,
      20.552046151276517,
      21.153318553037856
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      -1,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4444444444444444,
    "unsafe_ratio": 0.5555555555555556,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "28113a97a08b5ff1",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "9bd3994107ba52bc": {
    "vx_ego": [
      6.681013215013544,
      6.843969129433478,
      7.096754448208978,
      7.434438544942871,
      7.7435732547987,
      8.01396232306149,
      8.244340154481653,
      8.480308246082227,
      8.708099401687207,
      8.898915927681806
    ],
    "vy_ego": [
      -0.02264679209244802,
      0.014531931763686057,
      0.0031138723588863826,
      0.014578326110423756,
      6.211178953474672e-05,
      -0.007473569044002648,
      -0.02714711632626088,
      -0.015254608096796574,
      -0.03381549216845681,
      -0.009236095149648627
    ],
    "v_ego": [
      6.68105159809275,
      6.843984557381702,
      7.096755131352285,
      7.434452838381885,
      7.743573255047802,
      8.013965807868372,
      8.24438484962483,
      8.480321966272177,
      8.708165057988719,
      8.898920720705547
    ],
    "ax_ego": [
      0.3257491613098056,
      0.32612467436617076,
      0.6846359919961064,
      0.6661242846367141,
      0.5716013793593736,
      0.5096167227339733,
      0.414776688445531,
      0.5307454435921016,
      0.3808771790092887,
      0.3832565592990541
    ],
    "ay_ego": [
      0.11807953873945835,
      0.11703842251188705,
      0.11041519342126233,
      0.18671383824741314,
      0.36384937301552805,
      0.3036199738165011,
      0.4038864672811113,
      0.3832529241602788,
      0.23269631676832708,
      0.22875622242609897
    ],
    "a_ego": [
      0.3464899617059129,
      0.3464899646086621,
      0.6934824846200136,
      0.6917973836144911,
      0.6775798868984612,
      0.5932067873772586,
      0.578933484720531,
      0.6546552755238295,
      0.44633507741115236,
      0.44633507541353756
    ],
    "yaw": [
      2.4268212854278017,
      2.4300155071784966,
      2.4398747860966328,
      2.448517904445419,
      2.468535732416154,
      2.4906489076799874,
      2.5147909613409327,
      2.536938611770756,
      2.556971547501698,
      2.567284028107707
    ],
    "yaw_diff": [
      0.006388443501389673,
      0.01971855783627241,
      0.01728623669757212,
      0.040035655941470516,
      0.04422635052766655,
      0.0482841073218907,
      0.0442953008596465,
      0.04006587146188423,
      0.020624961212018178,
      0.020624961212018178
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.814557578271606,
    "v_std": 0.7438912309100943,
    "vy_max": 0.03381549216845681,
    "a_max": 0.6934824846200136,
    "ax_avg": 0.479350808474812,
    "a_std": 0.1322465762060211,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "9bd3994107ba52bc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "9bd3994107ba52bc",
    "pedestrians": "No"
  },
  "dd149fc9cb395631": {
    "vx_ego": [
      2.3750679361863374,
      1.9538232904722515,
      1.5676752603615853,
      1.1895820207697514,
      0.7703033758568724,
      0.33186847008967674,
      0.024179489505982255,
      -0.05171824856638696,
      -0.032252101891409396,
      -0.01317459317736994
    ],
    "vy_ego": [
      -0.0012741582458848377,
      -0.015651155433074826,
      -0.009646927792699933,
      -0.013348365533539575,
      -0.008285655069078579,
      0.014458096206630966,
      0.00994484631490293,
      -0.0001784745856480141,
      -0.001622451969335404,
      -0.0013352610953984816
    ],
    "v_ego": [
      2.3750682779616388,
      1.9538859764730914,
      1.5677049419982072,
      1.1896569097857845,
      0.7703479362836106,
      0.33218325964079354,
      0.02614474480649877,
      0.05171855651458487,
      0.03229288508025652,
      0.013242085469520552
    ],
    "ax_ego": [
      -0.8423724928346538,
      -0.842220978863413,
      -0.7018101270969851,
      -0.8106029084505997,
      -0.8663230505712347,
      -0.8874747885987714,
      -0.34330086429756074,
      0.03970856913776778,
      0.03815508036192589,
      0.03815509018136117
    ],
    "ay_ego": [
      0.010736779978276545,
      0.019248921966290022,
      0.05991702477124544,
      -0.05049503254836557,
      0.07768126973250383,
      0.016290413825878758,
      -0.03422607777584108,
      -0.006327171152396598,
      0.0005737624544843375,
      0.000572863385309208
    ],
    "a_ego": [
      0.8424409149185305,
      0.8424409167618284,
      0.7043631906575786,
      0.8121741337303422,
      0.8697988316951824,
      0.8876242887511879,
      0.3450027649561234,
      0.040209495865536585,
      0.03815939413537902,
      0.03815939044594439
    ],
    "yaw": [
      -2.1648826848198794,
      -2.1547768976169763,
      -2.146867764035274,
      -2.1425172371218304,
      -2.1407603889671663,
      -2.139407441203806,
      -2.1391407968719474,
      -2.1388975796818848,
      -2.1390321477660574,
      -2.139008638774824
    ],
    "yaw_diff": [
      0.020211574405806232,
      0.01581826716340462,
      0.00870105382688724,
      0.003513696309328296,
      0.00270589552672007,
      0.0005332886637177126,
      0.00048643438012518914,
      -0.0002691361683453408,
      4.70179824665351e-05,
      4.70179824665351e-05
    ],
    "min_front_frame": [
      9,
      8.041003881551584
    ],
    "v_avg": 0.8312245574013988,
    "v_std": 0.8444298452138201,
    "vy_max": 0.015651155433074826,
    "a_max": 0.8876242887511879,
    "ax_avg": -0.5178086471032164,
    "a_std": 0.3612624948352748,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dd149fc9cb395631",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.511337652010178,
      10.434794620208244,
      9.5651180642059,
      8.844424193480602,
      8.403008985274415,
      8.075537346734015,
      8.049669781214462,
      8.104894964276616,
      8.06516289767086,
      8.041003881551584
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dd149fc9cb395631",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1f1c016bd3715dc2": {
    "vx_ego": [
      7.71455615856379,
      7.121135516753505,
      6.474526892088413,
      5.792506587016534,
      5.1936821214182345,
      4.712800394931811,
      4.395586126247022,
      4.261343786948267,
      4.306193737349105,
      4.459379633676926
    ],
    "vy_ego": [
      -0.12885991994548185,
      -0.058281298718190655,
      -0.027030787993887806,
      -0.043400090625864696,
      -0.06252545317588121,
      -0.06379666514291893,
      -0.07697919558362942,
      -0.09196792538758558,
      -0.06440201861558936,
      -0.023782138940237285
    ],
    "v_ego": [
      7.715632287933559,
      7.121374007714275,
      6.474583317857267,
      5.7926691713316645,
      5.194058472007633,
      4.713232179402241,
      4.396260136730765,
      4.262336093020199,
      4.306675298137348,
      4.459443049012414
    ],
    "ax_ego": [
      -1.1895005106341605,
      -1.1888761777864532,
      -1.3990619323034708,
      -1.3303719274689279,
      -1.0671742877178494,
      -0.8588552263430866,
      -0.41175949983601745,
      -0.1288735227719091,
      0.30411002101812323,
      0.3054438099081456
    ],
    "ay_ego": [
      -0.04115589510102369,
      -0.05637994166427518,
      -0.1496737719578709,
      -0.16016714702352675,
      -0.13525841618839934,
      -0.031903645948064885,
      -0.16946481909182323,
      -0.04839562583896762,
      -0.07759757419842771,
      -0.07216900133301536
    ],
    "a_ego": [
      1.1902122804359292,
      1.1902122768356045,
      1.407045318542661,
      1.3399787238546164,
      1.0757117641431155,
      0.8594475798102023,
      0.44526869485180703,
      0.1376608930378818,
      0.3138539284525906,
      0.3138539242459909
    ],
    "yaw": [
      -0.6019760714837579,
      -0.6147779388745027,
      -0.626905965739776,
      -0.6368800248195816,
      -0.6469035810109482,
      -0.6551271279226738,
      -0.6633878752568476,
      -0.6725831098838355,
      -0.686547220818454,
      -0.704358361684625
    ],
    "yaw_diff": [
      -0.025603734781489695,
      -0.024256053730546512,
      -0.019948118159611283,
      -0.020047112382733268,
      -0.01644709382345111,
      -0.016521494668347625,
      -0.018390469253975805,
      -0.027928221869236936,
      -0.03562228173234194,
      -0.03562228173234194
    ],
    "min_front_frame": [
      3,
      18.15909245436314
    ],
    "v_avg": 5.443626401314736,
    "v_std": 1.204616463279671,
    "vy_max": 0.12885991994548185,
    "a_max": 1.407045318542661,
    "ax_avg": -0.6964919253935606,
    "a_std": 0.4554009634075168,
    "ini_direction_judge": "straight",
    "scenario_type": "roundout_entrance",
    "scene_token": "1f1c016bd3715dc2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.680316475747968,
    "speed_mode": "decelerating",
    "front_frame": [
      22.463164583463968,
      20.80355519424437,
      19.329813558919852,
      18.15909245436314,
      -1,
      -1,
      -1,
      45.440417085789555,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "1f1c016bd3715dc2",
    "merge_risk": "No"
  },
  "6268acf58d415ae8": {
    "vx_ego": [
      8.617704528357116,
      8.441153685879595,
      8.268509734979267,
      8.100532688327135,
      7.961206332715523,
      7.851977436775432,
      7.716717112737678,
      7.474403145700052,
      7.116922860416004,
      6.722760670643891
    ],
    "vy_ego": [
      0.19063749861070312,
      0.19856707260770357,
      0.13056009151586245,
      0.027124155613889922,
      -0.013161901187690006,
      0.03225234178351233,
      0.10567954174893446,
      0.10964889281311008,
      0.08276161538796867,
      0.06933702259488195
    ],
    "v_ego": [
      8.61981287464776,
      8.4434888778847,
      8.269540445208763,
      8.10057810001695,
      7.961217212695093,
      7.852043675450424,
      7.717440713316998,
      7.475207372651675,
      7.117404055278409,
      6.7231182242660745
    ],
    "ax_ego": [
      -0.3514248759800569,
      -0.35112406628951204,
      -0.33823154924069143,
      -0.3337665969088193,
      -0.22340323317180846,
      -0.21324984414714124,
      -0.3293608547778645,
      -0.6413600786329103,
      -0.7884342467827592,
      -0.788446679004533
    ],
    "ay_ego": [
      -0.06331918281796194,
      -0.06496657196448784,
      -0.26097165585908677,
      -0.14124666319152002,
      0.046191789902916267,
      0.2580190027832081,
      0.19495766771929415,
      -0.10181423740607018,
      -0.016577113295315582,
      -0.015974765043042127
    ],
    "a_ego": [
      0.3570836909890073,
      0.3570836952319423,
      0.4272081296787222,
      0.3624234554700247,
      0.22812866116744862,
      0.3347376612005604,
      0.38273628631546325,
      0.6493911682511493,
      0.7886084974086334,
      0.7886084952316058
    ],
    "yaw": [
      2.6361549492181617,
      2.631465172294381,
      2.6298517137276614,
      2.630203786866849,
      2.6322646796596914,
      2.6361403486926296,
      2.6412458220634196,
      2.6437759604069773,
      2.6434053635885535,
      2.644169344115162
    ],
    "yaw_diff": [
      -0.009379553847561617,
      -0.0032269171334391444,
      0.0007041462783750063,
      0.004121785585684989,
      0.0077513380658764675,
      0.010210946741580074,
      0.005060276687115284,
      -0.000741193636847548,
      0.001527961053216842,
      0.001527961053216842
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.827985155141685,
    "v_std": 0.5617626031779214,
    "vy_max": 0.19856707260770357,
    "a_max": 0.7886084974086334,
    "ax_avg": -0.43588020249360965,
    "a_std": 0.18933119876084778,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6268acf58d415ae8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6268acf58d415ae8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d232efb9cc535426": {
    "vx_ego": [
      6.91927161838919,
      6.394108637569516,
      6.005339250106415,
      5.7534928487721775,
      5.449020595478871,
      4.9350954724622715,
      4.22936507889474,
      3.4646970598228943,
      2.7429113770259557,
      2.069302300981068
    ],
    "vy_ego": [
      0.08111623091790543,
      0.020341547748186972,
      -0.00622059391756391,
      -0.02027604870190336,
      0.018424998433088202,
      0.03889465336686149,
      0.02971146907321698,
      0.0027192121950558867,
      -0.056538768072722234,
      -0.2109910323450574
    ],
    "v_ego": [
      6.919747074276955,
      6.39414099372276,
      6.005342471887625,
      5.753528576362817,
      5.449051745993991,
      4.935248739058462,
      4.229469439772417,
      3.464698126887878,
      2.743494023050461,
      2.080031064329467
    ],
    "ax_ego": [
      -1.09532251285749,
      -0.9836803728454315,
      -0.5600959756019297,
      -0.44542262458869464,
      -0.7760501342962731,
      -1.2739053084652032,
      -1.5460198908727358,
      -1.5196860565370744,
      -1.3960068718746594,
      -1.3379055184857955
    ],
    "ay_ego": [
      -1.2348375687406712,
      -1.3254916619817565,
      -1.475253448942273,
      -1.6101591327717477,
      -1.5690414005808753,
      -1.4184403088206983,
      -1.1870928741653155,
      -0.9508200155907753,
      -0.6481865153122046,
      -0.7609137760265019
    ],
    "a_ego": [
      1.6506226789747613,
      1.6506226770235788,
      1.5779988087769743,
      1.6706327386184396,
      1.7504698591172767,
      1.90651715036167,
      1.9491964998091433,
      1.7926250060961568,
      1.5391494225557993,
      1.539149424500966
    ],
    "yaw": [
      1.1509894246278032,
      1.0638354289935443,
      0.9543550807995598,
      0.8254143097434934,
      0.677965842694881,
      0.5321838959643486,
      0.3932901811846503,
      0.26145223797269,
      0.15131251864536574,
      0.06889331897940307
    ],
    "yaw_diff": [
      -0.1743079912685177,
      -0.2189606963879691,
      -0.25788154211213277,
      -0.2948969340972247,
      -0.2915638934610649,
      -0.2777874295593965,
      -0.2636758864239206,
      -0.22027943865464855,
      -0.16483839933192534,
      -0.16483839933192534
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.797475225534283,
    "v_std": 1.5353228028501273,
    "vy_max": 0.2109910323450574,
    "a_max": 1.9491964998091433,
    "ax_avg": -1.0934095266425288,
    "a_std": 0.13717536030327765,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "d232efb9cc535426",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d232efb9cc535426",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7a735f01957d5f72": {
    "vx_ego": [
      7.5840233050843695,
      7.030446925884051,
      6.4775347888386765,
      5.992028654768938,
      5.511396713774349,
      4.98878636225755,
      4.621037987157096,
      4.360910361729056,
      4.122073683489891,
      4.0211128172478485
    ],
    "vy_ego": [
      0.08328917779088088,
      -0.027851285008199375,
      -0.0690616268113238,
      -0.0705623806148421,
      -0.03678750963895616,
      0.03011108351400882,
      0.03670434026998226,
      0.05110597041611209,
      0.07332466113137137,
      0.07969962882658921
    ],
    "v_ego": [
      7.584480640043847,
      7.030502092436151,
      6.477902936052156,
      5.992444113141989,
      5.511519487171222,
      4.98887723296508,
      4.621183753903708,
      4.361209809588163,
      4.122725792245944,
      4.021902574636788
    ],
    "ax_ego": [
      -1.1083483982983,
      -1.1048334426241329,
      -1.111067777457037,
      -0.8346851328202485,
      -1.084458330919012,
      -0.9877166286325509,
      -0.44703975724116074,
      -0.5508660997727479,
      -0.3546279418394753,
      0.02106778369860618
    ],
    "ay_ego": [
      -0.3582160103797938,
      -0.36891454380277544,
      -0.306239499775943,
      -0.6751295899932069,
      -1.1830764444764275,
      -1.4717047664576264,
      -1.6418247919588111,
      -1.7372663845490006,
      -1.7145410871763462,
      -1.7507050872523229
    ],
    "a_ego": [
      1.1647982151870013,
      1.1647982128119458,
      1.1524991268223763,
      1.073545171027075,
      1.604904902159201,
      1.772427447906218,
      1.7015972473076082,
      1.8225114405025817,
      1.75083183565674,
      1.7508318463065307
    ],
    "yaw": [
      -1.577670689045701,
      -1.5873386238290494,
      -1.6062251844588025,
      -1.6455479101820034,
      -1.7316665360143402,
      -1.870920651336867,
      -2.036243175259456,
      -2.22642794222335,
      -2.4355694271256962,
      -2.651562156338494
    ],
    "yaw_diff": [
      -0.01933586956669675,
      -0.03777312125950605,
      -0.07864545144640189,
      -0.17223725166467352,
      -0.2785082306450537,
      -0.3306450478451781,
      -0.38036953392778816,
      -0.41828296980469215,
      -0.4319854584255953,
      -0.4319854584255953
    ],
    "min_front_frame": [
      0,
      70.55976881052057
    ],
    "v_avg": 5.471274843218505,
    "v_std": 1.1954177813723748,
    "vy_max": 0.08328917779088088,
    "a_max": 1.8225114405025817,
    "ax_avg": -0.756257572590606,
    "a_std": 0.29713312101001527,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "7a735f01957d5f72",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.229558072436163,
    "right_rear_min": 40.81381717165177,
    "speed_mode": "decelerating",
    "front_frame": [
      70.55976881052057,
      75.2634185556369,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7a735f01957d5f72",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f7b40e0f94c25b3b": {
    "vx_ego": [
      1.0740937088127327,
      1.6611097983092844,
      2.20834924238296,
      2.62268161111079,
      2.7696162096469576,
      2.7222762945045114,
      2.759055714515294,
      2.992567965166512,
      3.393889459857831,
      3.8706341092653167
    ],
    "vy_ego": [
      0.0407271342879688,
      0.024344332040986495,
      0.0023355974534362105,
      -0.014070624828265727,
      -0.02754541275988026,
      -0.037917873579813924,
      -0.0413388316698689,
      -0.03557094019849896,
      3.2014426137871865e-08,
      0.06494296473651288
    ],
    "v_ego": [
      1.0748655705614547,
      1.6612881774519535,
      2.208350477471558,
      2.6227193551239423,
      2.7697531836796023,
      2.7225403557629826,
      2.7593653862443315,
      2.9927793633890625,
      3.3938894598578315,
      3.871178889753983
    ],
    "ax_ego": [
      1.1740589532797612,
      1.1740781796275108,
      1.014930555626594,
      0.6423512863340441,
      -0.05459263943763114,
      -0.13477667903613488,
      0.28224689716766904,
      0.6521123648547217,
      0.9533933672845656,
      0.9534910783510528
    ],
    "ay_ego": [
      -0.0346284948066294,
      -0.03397015141007845,
      -0.060066654564359084,
      -0.01584634701041117,
      -0.03498972121256864,
      -0.0072344698330416525,
      0.01584604651090996,
      0.029112533257857613,
      0.13548331751220843,
      0.13479390850376116
    ],
    "a_ego": [
      1.1745695204750297,
      1.1745695139344767,
      1.0167064648830855,
      0.6425467156313037,
      0.06484317135443388,
      0.13497070336104242,
      0.28269136553988106,
      0.6527618830700116,
      0.9629717763809676,
      0.9629717723094349
    ],
    "yaw": [
      1.5857598908966735,
      1.5851991563241064,
      1.5844315056173952,
      1.583386852137253,
      1.5836619856157794,
      1.583595370974783,
      1.58566856067239,
      1.5876023294992538,
      1.589369994500766,
      1.5900930652848513
    ],
    "yaw_diff": [
      -0.001121469145134224,
      -0.0015353014134222853,
      -0.0020893069602845316,
      0.0005502669570529584,
      -0.00013322928199288597,
      0.004146379395213895,
      0.003867537653727826,
      0.0035353300030243062,
      0.001446141568170578,
      0.001446141568170578
    ],
    "min_front_frame": [
      0,
      15.437374088196297
    ],
    "v_avg": 2.6076730219296707,
    "v_std": 0.7635570155276888,
    "vy_max": 0.06494296473651288,
    "a_max": 1.1745695204750297,
    "ax_avg": 0.6657293364052153,
    "a_std": 0.3988634364343714,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f7b40e0f94c25b3b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.629006540321533,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      15.437374088196297,
      15.76803184047648,
      16.061687924335033,
      16.046975728070077,
      16.25863907987985,
      16.516471931167256,
      16.955502276062745,
      17.590595125863793,
      18.353037697677124,
      18.99641939569998
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f7b40e0f94c25b3b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "911993e744795177": {
    "vx_ego": [
      1.2028501261885058,
      0.7438958778651726,
      0.29314520347423884,
      0.01774603301892954,
      -0.03321803728925787,
      -0.024056783484266674,
      -0.01450533427246958,
      -0.009210509385834913,
      -0.006497293464954589,
      -0.0044786038860751285
    ],
    "vy_ego": [
      0.004065225844639864,
      -0.00392506747774457,
      0.010845532207963637,
      0.02270470264619669,
      0.00852088937950359,
      0.001677826210228616,
      0.0014402534753996873,
      0.0009965573162579212,
      0.0008312690056021966,
      0.0006960538635298196
    ],
    "v_ego": [
      1.202856995711823,
      0.7439062328408741,
      0.29334576166842236,
      0.028817099266948233,
      0.034293491469494085,
      0.024115222006040417,
      0.014576661223664406,
      0.009264265196503186,
      0.006550254233952792,
      0.00453237065444807
    ],
    "ax_ego": [
      -0.9179152221973592,
      -0.9179012646375735,
      -0.8851061384832168,
      -0.2166324635772968,
      0.012807521322823208,
      0.023839046952687116,
      0.014365096382298867,
      0.006814984616796428,
      0.004037527211866556,
      0.0040375430573660635
    ],
    "ay_ego": [
      -0.017165677837397808,
      -0.017896822076635233,
      0.07669040625044443,
      -0.02891338073408907,
      -0.027748061907875994,
      0.0004054744885370245,
      -0.0013724695293933758,
      -0.00039446466570916593,
      -0.0002695870476622838,
      -0.0002691833579722461
    ],
    "a_ego": [
      0.9180757134557284,
      0.9180757201144683,
      0.8884223628384923,
      0.21855344394688273,
      0.030561209761360723,
      0.0238424950282741,
      0.014430511656966611,
      0.006826391264765374,
      0.004046517411655385,
      0.0040465063474921315
    ],
    "yaw": [
      2.5653598203437964,
      2.5645632737707,
      2.5644229059490162,
      2.5656064705385697,
      2.5650998352321617,
      2.5648528845010645,
      2.5650838522096717,
      2.5649043022577867,
      2.5650011193868623,
      2.5649046595882075
    ],
    "yaw_diff": [
      -0.0015930931461927145,
      -0.00028073564336761336,
      0.002367129179106975,
      -0.0010132706128160862,
      -0.0004939014621943016,
      0.00046193541721439857,
      -0.00035909990377014367,
      0.0001936342581512207,
      -0.00019291959730960428,
      -0.00019291959730960428
    ],
    "min_front_frame": [
      3,
      9.349728695753814
    ],
    "v_avg": 0.2362258354272171,
    "v_std": 0.3913101691273053,
    "vy_max": 0.02270470264619669,
    "a_max": 0.9180757201144683,
    "ax_avg": -0.28716533693516083,
    "a_std": 0.4010455341782611,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "911993e744795177",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 22.287540795679778,
    "right_rear_min": 6.228907307812182,
    "speed_mode": "decelerating",
    "front_frame": [
      10.025505768734872,
      9.554385045426745,
      9.35751087798189,
      9.349728695753814,
      9.364242063567985,
      9.420249077701234,
      9.59811492331327,
      9.70388179111104,
      9.779747622094659,
      9.765845210232836
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "911993e744795177",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0854af027e06530a": {
    "vx_ego": [
      8.720274145090114,
      8.705877045910157,
      8.654277796773437,
      8.556139619689452,
      8.415872407525349,
      8.053852269353763,
      7.311527896377713,
      6.364367400663404,
      5.513963825748156,
      4.774351639731237
    ],
    "vy_ego": [
      -0.03324852352505481,
      -0.04826795684673435,
      -0.07209144586110483,
      -0.06368626129181942,
      -0.039085823951357845,
      -0.004179037089989013,
      -0.010194549762715166,
      -0.03441143279912939,
      -0.04301226720163509,
      -0.0033558508117845776
    ],
    "v_ego": [
      8.720337529582425,
      8.706010850795185,
      8.654578057900457,
      8.556376635673356,
      8.41596317015352,
      8.053853353577141,
      7.311535003564872,
      6.364460429394965,
      5.514131584101803,
      4.774352819130465
    ],
    "ax_ego": [
      -0.029405649542910507,
      -0.028916801162035266,
      -0.17853878335965337,
      -0.2160451286166814,
      -0.3459342352674916,
      -1.102655521808576,
      -1.8667256331706512,
      -1.9219569458517323,
      -1.4792284017779107,
      -1.4792623006557968
    ],
    "ay_ego": [
      -0.10846424621364915,
      -0.10859559279439264,
      -0.15669594394714595,
      -0.013552894291514739,
      -0.05607492999062959,
      0.08907380885494265,
      -0.04631034069506301,
      -0.06441757689851446,
      0.07497592473411069,
      0.07430406774669046
    ],
    "a_ego": [
      0.11237964643001676,
      0.11237964301335998,
      0.23754939699572455,
      0.2164698097718834,
      0.3504495582870069,
      1.1062474150021189,
      1.8672999858597068,
      1.9230361738462423,
      1.4811272915979123,
      1.481127289811779
    ],
    "yaw": [
      1.228539127214122,
      1.224034892758234,
      1.2191492295570856,
      1.2132296181394342,
      1.208288885274087,
      1.205088549646367,
      1.2072363957574481,
      1.206730161933617,
      1.2086405551629023,
      1.2081863667459833
    ],
    "yaw_diff": [
      -0.009008468911775758,
      -0.009771326402296943,
      -0.01183922283530281,
      -0.009881465730694483,
      -0.00640067125543986,
      0.004295692222162195,
      -0.001012467647662163,
      0.0038207864585704243,
      -0.0009083768338378206,
      -0.0009083768338378206
    ],
    "min_front_frame": [
      9,
      12.423249927933028
    ],
    "v_avg": 7.507159943387419,
    "v_std": 1.3869279886177668,
    "vy_max": 0.07209144586110483,
    "a_max": 1.9230361738462423,
    "ax_avg": -0.8648669401213439,
    "a_std": 0.7174766106974462,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0854af027e06530a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.631776793346112,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.28422894680694,
      19.6211592127535,
      18.824805807875393,
      17.79953741509975,
      16.697467032157803,
      15.732808729152195,
      14.504844998019589,
      13.76776330779052,
      13.064430868107467,
      12.423249927933028
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0854af027e06530a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f2b83fb414eb5cf0": {
    "vx_ego": [
      2.5459161851095766,
      2.7824927236757655,
      3.000694965925098,
      3.157720197056163,
      3.2755797896986225,
      3.422000699595378,
      3.5994123597193473,
      3.774239180172502,
      3.9375472961060978,
      4.138426389057017
    ],
    "vy_ego": [
      -0.0019109383455976348,
      0.014243213532834309,
      -0.005230710350662582,
      -0.025786306152972394,
      -0.03528269879912849,
      -0.06126554000843454,
      -0.07336228807356349,
      -0.062791846761181,
      -0.0482736699495423,
      -0.07728497194966444
    ],
    "v_ego": [
      2.54591690227475,
      2.782529178003408,
      3.000699524920647,
      3.157825482271214,
      3.2757698068571033,
      3.422549087219025,
      3.6001599076446293,
      3.7747614765927766,
      3.937843198539378,
      4.139147973258839
    ],
    "ax_ego": [
      0.4721690747823477,
      0.47373377961118396,
      0.3989522868401663,
      0.23272225545750985,
      0.2511871302125438,
      0.35888149249827533,
      0.388700977302978,
      0.34443457424210033,
      0.3471389625443224,
      0.4865430905252207
    ],
    "ay_ego": [
      0.11227657614037016,
      0.10547971103243023,
      0.13250012028578578,
      0.2147775029472635,
      0.4360612466661872,
      0.6137972174082511,
      0.8021268900999825,
      0.870439507756029,
      1.0583472824468163,
      1.0019382469630003
    ],
    "a_ego": [
      0.4853345904946634,
      0.4853345891075381,
      0.4203798390155575,
      0.31668442329469293,
      0.5032339269449971,
      0.7110154356664147,
      0.8913450496736713,
      0.9361090281563867,
      1.1138242363941042,
      1.113824236432806
    ],
    "yaw": [
      -0.39049100345047205,
      -0.3761200823231503,
      -0.34889995218750613,
      -0.31426616447155076,
      -0.26070468428414306,
      -0.17427605120873213,
      -0.0699851789933485,
      0.04028526759722923,
      0.16143678046553306,
      0.29655588540679434
    ],
    "yaw_diff": [
      0.02874184225464349,
      0.05444026027128834,
      0.06926757543191076,
      0.10712296037481539,
      0.17285726615082186,
      0.20858174443076727,
      0.22054089318115544,
      0.24230302573660767,
      0.27023820988252256,
      0.27023820988252256
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.3637202537581765,
    "v_std": 0.4845329821772629,
    "vy_max": 0.07728497194966444,
    "a_max": 1.113824236432806,
    "ax_avg": 0.3754463624016649,
    "a_std": 0.28123439693203095,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "f2b83fb414eb5cf0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f2b83fb414eb5cf0",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ad898232cb525d5f": {
    "vx_ego": [
      1.1631680553376111,
      1.3069023077671056,
      1.4406826435506597,
      1.5393958614293393,
      1.6248938020286177,
      1.8088901031712878,
      2.3031675666130287,
      3.0160542071257064,
      3.609260008963791,
      4.100510087685421
    ],
    "vy_ego": [
      0.005891456429511943,
      0.008974264624665662,
      0.007580026380935023,
      -0.007810575597197,
      -0.018432308708163037,
      -0.01592950626565859,
      -0.026458306516868424,
      -0.0628342225493066,
      -0.0673567667992907,
      0.1718172999901746
    ],
    "v_ego": [
      1.1631829753812342,
      1.306933119739698,
      1.4407025842373062,
      1.539415675922828,
      1.624998343960796,
      1.8089602412769885,
      2.3033195353406613,
      3.0167086567721535,
      3.6098884672990876,
      4.1041082056624445
    ],
    "ax_ego": [
      0.2874939997254182,
      0.2874904675509765,
      0.24768049320218638,
      0.14718467721049305,
      0.19468645011290675,
      0.5411537239151152,
      1.435719185230347,
      1.4143582618484634,
      0.9524400503342774,
      1.0319009950861133
    ],
    "ay_ego": [
      0.0019589592475562634,
      0.0024216411145392414,
      -0.014576870950115173,
      -0.05113775198166993,
      -0.0011660435437210181,
      -0.003157210235557373,
      -0.07777835416049494,
      -0.3005705526323753,
      -0.6464575225518355,
      -0.5101271553990859
    ],
    "a_ego": [
      0.2875006737373886,
      0.2875006665702998,
      0.2481090725458757,
      0.1558152716626192,
      0.19468994199781145,
      0.5411629337673343,
      1.4378244159891036,
      1.4459432734269826,
      1.1511078915308581,
      1.1511078917005453
    ],
    "yaw": [
      0.8697204624811906,
      0.8681110721531211,
      0.8669182927049576,
      0.8662274562633171,
      0.8646704185357987,
      0.8625291369086936,
      0.8575373517778229,
      0.8356730222158015,
      0.7667960735556542,
      0.6296054716288586
    ],
    "yaw_diff": [
      -0.0032187806561390087,
      -0.002385558896327078,
      -0.0013816728832809488,
      -0.0031140754550367244,
      -0.004282563254210281,
      -0.009983570261741459,
      -0.04372865912404267,
      -0.13775389732029475,
      -0.2743812038535911,
      -0.2743812038535911
    ],
    "min_front_frame": [
      8,
      53.31381215410835
    ],
    "v_avg": 2.19182178055932,
    "v_std": 0.9828241897765321,
    "vy_max": 0.1718172999901746,
    "a_max": 1.4459432734269826,
    "ax_avg": 0.6540108304216297,
    "a_std": 0.5126450399439477,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "ad898232cb525d5f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.204957181858513,
    "speed_mode": "accelerating",
    "front_frame": [
      61.133013235185814,
      60.550120762262196,
      59.81861541009365,
      59.028914425488395,
      58.26442905858079,
      57.479716790457374,
      56.426149749864365,
      55.10029575458899,
      53.31381215410835,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ad898232cb525d5f",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "f1b8c54a906f525e": {
    "vx_ego": [
      3.8378260245492326,
      3.6600083986567387,
      3.48583349223161,
      3.3128791471566936,
      3.145857549863042,
      3.006417157831577,
      2.8877523121897806,
      2.745059165563661,
      2.583082892061927,
      2.4354533734850596
    ],
    "vy_ego": [
      -0.00781875238248153,
      0.012408641727140735,
      0.024249796428963855,
      0.015324589165563562,
      0.011825278271094586,
      0.008975671054375356,
      0.009564390724317473,
      -0.00108251088878486,
      -0.022567298878932718,
      0.008130798057080946
    ],
    "v_ego": [
      3.8378339890615627,
      3.6600294333006906,
      3.4859178401377258,
      3.312914590915189,
      3.145879775394554,
      3.0064305562535405,
      2.8877681510341775,
      2.7450593790071074,
      2.583181470636877,
      2.43546694584361
    ],
    "ax_ego": [
      -0.3557234344665285,
      -0.35556952786186524,
      -0.34155042339249175,
      -0.3515362894439911,
      -0.3169618798869144,
      -0.24149336467607563,
      -0.23321774825112807,
      -0.33637424060365684,
      -0.3047774268474222,
      -0.28351157296686186
    ],
    "ay_ego": [
      0.05930559625870602,
      0.06022147601165845,
      0.08926640787906401,
      0.048539705996432536,
      0.08525111237852612,
      0.05938878494668004,
      0.12692089095724268,
      0.22806181525336178,
      0.3499299911282312,
      0.3673710344419253
    ],
    "a_ego": [
      0.36063321474354415,
      0.36063321438399504,
      0.35302292177027517,
      0.3548716188345718,
      0.32822642407829206,
      0.24868870694105727,
      0.265517288816956,
      0.40639859906051023,
      0.46404771156287344,
      0.4640477227107946
    ],
    "yaw": [
      -0.47022299638531156,
      -0.4676477407513365,
      -0.4604986210961162,
      -0.4477431975257158,
      -0.43628704793309525,
      -0.4235668562920202,
      -0.4079568817656877,
      -0.37283075455040504,
      -0.3104543077908223,
      -0.2511775782119068
    ],
    "yaw_diff": [
      0.005150511267950075,
      0.014298239310440608,
      0.025510847140800874,
      0.02291229918524107,
      0.025440383282150147,
      0.031219949052665008,
      0.07025225443056526,
      0.12475289351916552,
      0.118553459157831,
      0.118553459157831
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.1100482131585037,
    "v_std": 0.4406675013160129,
    "vy_max": 0.024249796428963855,
    "a_max": 0.4640477227107946,
    "ax_avg": -0.31207159083969355,
    "a_std": 0.06797316223552166,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "f1b8c54a906f525e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.813614136670578,
    "right_rear_min": 12.691144747054707,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "f1b8c54a906f525e",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "40e9f6044a485b14": {
    "vx_ego": [
      4.007926716037264,
      3.851387845071928,
      3.674303244077101,
      3.4369904004452994,
      3.142174462816884,
      2.8266893863998726,
      2.539970385907787,
      2.317133979972625,
      2.165706523226606,
      2.050579368480172
    ],
    "vy_ego": [
      0.04133947211903033,
      0.025445488928682147,
      -0.0006893372220926341,
      -5.385356506604211e-05,
      0.048958913597095144,
      0.03209554056942898,
      -0.0474971366158039,
      -0.07028802341046059,
      -0.049674640267376,
      -0.042744103202062234
    ],
    "v_ego": [
      4.00813990687455,
      3.8514719012443295,
      3.67430330874049,
      3.4369904008672103,
      3.142555859487494,
      2.8268715943442024,
      2.540414442423766,
      2.318199794534269,
      2.1662761399766115,
      2.051024818181167
    ],
    "ax_ego": [
      -0.3131430713209449,
      -0.3110576764826018,
      -0.39651837565959586,
      -0.5536710879565874,
      -0.6243611617796713,
      -0.6287702187598422,
      -0.5191067305719814,
      -0.38968591282797693,
      -0.2346004051539577,
      -0.2312945119780645
    ],
    "ay_ego": [
      -0.14264887244975336,
      -0.14714075916393132,
      -0.16109658061299065,
      0.003837338615000574,
      0.015533255022059766,
      -0.37662527275590985,
      -0.39060557726961215,
      -0.3006312714180378,
      -0.10786426692602288,
      -0.11478197425482958
    ],
    "a_ego": [
      0.3441035947610841,
      0.34410359066143587,
      0.4279940776703834,
      0.5536843855543312,
      0.6245543550007807,
      0.7329383221511638,
      0.6496495322243052,
      0.49217301024233295,
      0.2582093146613604,
      0.2582093199034601
    ],
    "yaw": [
      -0.7094265689488306,
      -0.7238187129415721,
      -0.7373137054749092,
      -0.7484875868488758,
      -0.7618786873025918,
      -0.7864704277293506,
      -0.8284982939439662,
      -0.8906652586513756,
      -0.9458876548831114,
      -0.9755819261398908
    ],
    "yaw_diff": [
      -0.028784287985482937,
      -0.02698998506667416,
      -0.022347762747933375,
      -0.026782200907431886,
      -0.04918348085351765,
      -0.08405573242923126,
      -0.12433392941481869,
      -0.11044479246347172,
      -0.05938854251355874,
      -0.05938854251355874
    ],
    "min_front_frame": [
      9,
      15.932685041646431
    ],
    "v_avg": 3.001624816667409,
    "v_std": 0.6862204475300472,
    "vy_max": 0.07028802341046059,
    "a_max": 0.7329383221511638,
    "ax_avg": -0.4202209152491224,
    "a_std": 0.15998327976756477,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "40e9f6044a485b14",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 21.463062149388477,
    "speed_mode": "decelerating",
    "front_frame": [
      60.468959334814315,
      61.00907620739679,
      61.75685754500017,
      20.110616960571793,
      19.044541764883853,
      18.28905244806093,
      17.446336857032986,
      16.90216173987023,
      16.399311177482243,
      15.932685041646431
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "40e9f6044a485b14",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "589acfd69c38539a": {
    "vx_ego": [
      8.597740462987199,
      8.686024427440959,
      8.756893870192982,
      8.807938692513911,
      8.872495601986616,
      8.913235568650254,
      8.894660341865437,
      8.814709040728502,
      8.680313110278988,
      8.528184946776708
    ],
    "vy_ego": [
      0.11681191064391827,
      0.06529571032156012,
      -0.014871652426557969,
      0.013409433523672298,
      0.0014698031006306067,
      0.011442009672806286,
      0.006227679295497168,
      -0.002945318330364266,
      0.008752899055791019,
      -0.01337064892767792
    ],
    "v_ego": [
      8.598533950119382,
      8.686269848668497,
      8.756906498294322,
      8.80794889994209,
      8.872495723729203,
      8.913242912758374,
      8.894662522049007,
      8.814709532798053,
      8.680317523323854,
      8.528195428147832
    ],
    "ax_ego": [
      0.1689965059537456,
      0.197843048705391,
      0.0919922905534643,
      0.11363966825079252,
      0.14544242693117437,
      0.010200391015917715,
      -0.08705420458213528,
      -0.23302930496610047,
      -0.30440158337907053,
      -0.30413613006171625
    ],
    "ay_ego": [
      -0.7628297979852365,
      -0.7558619158903402,
      -0.8895220419388817,
      -0.9476864288896373,
      -0.9213345471153708,
      -0.5168269852192579,
      -0.17459086322876508,
      -0.06325563702364238,
      -0.09280622966869732,
      -0.09367248128795705
    ],
    "a_ego": [
      0.781325232997611,
      0.7813252253795852,
      0.8942662045590176,
      0.9544755322698134,
      0.9327437200324189,
      0.516927635774781,
      0.19509075851611632,
      0.2414620727738637,
      0.3182346936287812,
      0.31823469226273843
    ],
    "yaw": [
      2.6980901800568873,
      2.6601060668703242,
      2.6221952829176103,
      2.5666743226291766,
      2.515157521252642,
      2.4736907259919896,
      2.454889332438657,
      2.449221702141771,
      2.4434301260106635,
      2.4405831365355137
    ],
    "yaw_diff": [
      -0.07596822637312606,
      -0.07582156790542793,
      -0.11104192057686735,
      -0.10303360275306961,
      -0.08293359052130445,
      -0.03760278710666487,
      -0.011335260593772212,
      -0.01158315226221518,
      -0.005693978950299439,
      -0.005693978950299439
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.755328283983062,
    "v_std": 0.12286020533308048,
    "vy_max": 0.11681191064391827,
    "a_max": 0.9544755322698134,
    "ax_avg": -0.020050689157853695,
    "a_std": 0.29094199207833055,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "589acfd69c38539a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "589acfd69c38539a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bbb7e4525bd05d3d": {
    "vx_ego": [
      6.798384801240751,
      6.729083816865199,
      6.608721409050584,
      6.2920548656032285,
      5.701547782215638,
      4.997775511429778,
      4.370493530137401,
      3.832009868231997,
      3.23872170194385,
      2.5638576096906687
    ],
    "vy_ego": [
      0.018574806406346234,
      0.02180966543573426,
      -0.024574708108129784,
      -0.06184308038886899,
      0.0017687301119864163,
      0.03238347419013765,
      0.008402568517460463,
      -0.005607748888152075,
      0.004208268646880287,
      -0.01960114020678727
    ],
    "v_ego": [
      6.798410176590868,
      6.72911916047736,
      6.608767099748798,
      6.292358778578447,
      5.701548056562732,
      4.997880425945363,
      4.370501607382221,
      3.8320139714091597,
      3.23872443597276,
      2.563932535669797
    ],
    "ax_ego": [
      -0.13867170695118186,
      -0.13789726596411936,
      -0.34350445016229986,
      -0.924315034375035,
      -1.437105704027274,
      -1.374450128575464,
      -1.1331472443713002,
      -1.0239752388683891,
      -1.3501782281706318,
      -1.3494741744829262
    ],
    "ay_ego": [
      -0.09862913572688112,
      -0.09970903387060234,
      -0.15046942854243905,
      -0.20612415646975443,
      -0.4778165287461583,
      -0.4808675584742052,
      -0.391149184905932,
      -0.176019111572002,
      -0.0868517146757587,
      -0.09717988114760573
    ],
    "a_ego": [
      0.17016917677119436,
      0.17016917287155156,
      0.3750151413039107,
      0.9470192451329011,
      1.5144574737148464,
      1.4561410524856624,
      1.1987578413836741,
      1.0389937523653219,
      1.352968760972738,
      1.3529687641982862
    ],
    "yaw": [
      2.8789045133760474,
      2.871095233671606,
      2.868681313617004,
      2.8607279428730426,
      2.8220261499445165,
      2.7714389649006392,
      2.7297551723415214,
      2.6984969293721566,
      2.6773761409220196,
      2.669724698359237
    ],
    "yaw_diff": [
      -0.015618559408882682,
      -0.004827840109204118,
      -0.015906741487922815,
      -0.07740358585705209,
      -0.10117437008775454,
      -0.08336758511823561,
      -0.06251648593872972,
      -0.04224157690027397,
      -0.015302885125564991,
      -0.015302885125564991
    ],
    "min_front_frame": [
      9,
      12.99480092519997
    ],
    "v_avg": 5.113325624833751,
    "v_std": 1.4711620616546435,
    "vy_max": 0.06184308038886899,
    "a_max": 1.5144574737148464,
    "ax_avg": -0.9212719175948623,
    "a_std": 0.5015635579381227,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "bbb7e4525bd05d3d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      23.16355521811273,
      20.534007464910655,
      18.240366564454195,
      16.190555973514755,
      14.440309035093538,
      12.99480092519997
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bbb7e4525bd05d3d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "645e303a25a65190": {
    "vx_ego": [
      5.608854200849253,
      5.5384227196518205,
      5.547011372793241,
      5.6592019823711235,
      5.764717074007085,
      5.856332540291679,
      6.07401024793744,
      6.404783963862711,
      6.793435663143294,
      7.251796233440425
    ],
    "vy_ego": [
      0.015486501824104604,
      0.06823721631555202,
      0.0693682041352146,
      0.013506699588953675,
      -0.006213657117738358,
      -0.029160629668539325,
      -0.02637088448237035,
      -0.08626858183718422,
      -0.16311164137944312,
      0.12279511537850318
    ],
    "v_ego": [
      5.6088755805529384,
      5.538843068660275,
      5.547445098208949,
      5.65921810042757,
      5.76472042278579,
      5.856405140083962,
      6.074067493500333,
      6.405364930428643,
      6.795393551283153,
      7.252835807579099
    ],
    "ax_ego": [
      -0.15250905924319824,
      -0.13501685041793426,
      0.16721335417483296,
      0.29094872289215895,
      0.1364690168284995,
      0.24992691820469543,
      0.6460428576004329,
      0.725076881699053,
      0.8692658249137031,
      0.9674931363209883
    ],
    "ay_ego": [
      0.49485356618011184,
      0.49990950975993853,
      0.9861818032387223,
      1.4742373782137683,
      1.5817655482577369,
      1.7132016375086834,
      1.8295584943336214,
      1.9713474042379624,
      1.5239744172897713,
      1.4635840013672172
    ],
    "a_ego": [
      0.5178214606526266,
      0.5178214632913558,
      1.000257394300875,
      1.502673286737734,
      1.5876416605170185,
      1.731335702631275,
      1.9402720577395431,
      2.100463537548361,
      1.7544574941891864,
      1.7544574938955624
    ],
    "yaw": [
      1.0658729211050453,
      1.1010378771621152,
      1.1682960706158523,
      1.288232542905256,
      1.424764817646358,
      1.5705788468313089,
      1.71955078244603,
      1.88134815008315,
      2.025553144433779,
      2.0912870473939074
    ],
    "yaw_diff": [
      0.07032991211413986,
      0.13451638690747414,
      0.23987294457880726,
      0.2730645494822044,
      0.2916280583699016,
      0.29794387122944244,
      0.32359473527423965,
      0.28840998870125834,
      0.13146780592025653,
      0.13146780592025653
    ],
    "min_front_frame": [
      8,
      26.13905542611181
    ],
    "v_avg": 6.05031691935107,
    "v_std": 0.5576105711991475,
    "vy_max": 0.16311164137944312,
    "a_max": 2.100463537548361,
    "ax_avg": 0.37649108029732314,
    "a_std": 0.5374987092779541,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "645e303a25a65190",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.830530210466947,
    "right_rear_min": 25.046029593710863,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      26.13905542611181,
      27.61324667239987
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "645e303a25a65190",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d6eda165241a53b9": {
    "vx_ego": [
      4.601244987910792,
      3.5007270376569153,
      2.4724318161004604,
      1.602563223548483,
      0.8508403682799566,
      0.24589444290659007,
      -0.05732581270632199,
      -0.0884743170148197,
      -0.04775446295150441,
      -0.020412741781901222
    ],
    "vy_ego": [
      -0.04125570792266586,
      -0.025250439180830808,
      -0.021735297656158892,
      -0.009333306522653184,
      -0.01635223091847876,
      0.002529829638692166,
      0.02787338691090181,
      0.022049861026522573,
      0.010252394019212071,
      0.0026075845434445997
    ],
    "v_ego": [
      4.601429937770473,
      3.5008181010816584,
      2.4725273524129157,
      1.60259040184345,
      0.8509974898616232,
      0.24590745635369232,
      0.06374303491617841,
      0.09118059630495828,
      0.04884260757690751,
      0.020578618131589572
    ],
    "ax_ego": [
      -2.2021273428807415,
      -2.20136724414934,
      -1.9122775878261657,
      -1.567214633135895,
      -1.4397117534100596,
      -0.980135631098068,
      -0.23277651761650542,
      0.10819774776009367,
      0.054683066725147986,
      0.05468196507658708
    ],
    "ay_ego": [
      -0.05102715759604215,
      -0.07714204607552566,
      0.05722637798280095,
      -0.012878732644915902,
      -0.018691703879040955,
      0.09271950509793409,
      0.008655759408824237,
      -0.0318912575212156,
      -0.01529254979056843,
      -0.015296473677140692
    ],
    "a_ego": [
      2.2027184579685453,
      2.202718465643392,
      1.9131336678965456,
      1.5672675483368552,
      1.439833085014013,
      0.9845114331350419,
      0.23293739357306012,
      0.11279984453287754,
      0.05678115766311921,
      0.05678115366556537
    ],
    "yaw": [
      -0.623992653439642,
      -0.6358535025003005,
      -0.6387324088892526,
      -0.6393918049161528,
      -0.6401134003986092,
      -0.6408774919164082,
      -0.6405747544745595,
      -0.640701612797339,
      -0.640726326149255,
      -0.6406544863395656
    ],
    "yaw_diff": [
      -0.02372169812131686,
      -0.005757812777904325,
      -0.001318792053800255,
      -0.001443190964912855,
      -0.0015281830355979853,
      0.0006054748836974433,
      -0.00025371664555895457,
      -4.9426703832011754e-05,
      0.00014367961937877816,
      0.00014367961937877816
    ],
    "min_front_frame": [
      5,
      9.075604029723468
    ],
    "v_avg": 1.3498615596253445,
    "v_std": 1.571278568948344,
    "vy_max": 0.04125570792266586,
    "a_max": 2.202718465643392,
    "ax_avg": -1.0318047930554946,
    "a_std": 0.8566203622294295,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d6eda165241a53b9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.72557902594001,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.32410532173534,
      12.368781018518213,
      10.911467818562668,
      9.926962764953046,
      9.335603371786279,
      9.075604029723468,
      9.078776260442373,
      9.111619258534262,
      9.121962828830814,
      9.09190228351442
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d6eda165241a53b9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6370add5182e51b7": {
    "vx_ego": [
      2.113046853757871,
      1.88036847426775,
      1.6424527860032159,
      1.3825881998406624,
      1.145769305042462,
      0.8762152115032206,
      0.49272012504042373,
      0.14649639366646283,
      -0.015048551854506854,
      -0.0705937924532854
    ],
    "vy_ego": [
      -0.003282487511310883,
      0.018433502799535484,
      0.02591041459832244,
      0.018990781686861302,
      0.0018501307904963404,
      -0.00019212480688585165,
      0.016249941188455352,
      0.00991045966463528,
      -0.001963739450204648,
      -0.002793002466016093
    ],
    "v_ego": [
      2.113049403326931,
      1.8804588251396217,
      1.6426571473787166,
      1.3827186192887262,
      1.145770798790678,
      0.8762152325665052,
      0.49298801426452454,
      0.1468312315825336,
      0.01517613869026215,
      0.07064902260974816
    ],
    "ax_ego": [
      -0.4653437927665943,
      -0.4653588453785136,
      -0.48635131476088733,
      -0.5531200527079583,
      -0.39412873892704714,
      -0.6841153802325409,
      -0.8498211909330061,
      -0.535086049848431,
      -0.11109081515288004,
      -0.11109071507410484
    ],
    "ay_ego": [
      0.042083831393940924,
      0.041917016365182524,
      -0.00908081391179888,
      -0.01775716466777405,
      -0.05305395904371342,
      0.04226544808258231,
      0.020626033977881097,
      -0.04582273140524701,
      -0.001649970777049696,
      -0.0016567014471286015
    ],
    "a_ego": [
      0.4672428643983691,
      0.4672428610829515,
      0.48643608269837924,
      0.5534050140762126,
      0.3976835241978683,
      0.6854197411603604,
      0.850071461605699,
      0.5370445078909521,
      0.11110306753144343,
      0.11110306762353982
    ],
    "yaw": [
      1.0956876382711505,
      1.0953291596382715,
      1.0957441967547785,
      1.095882367540983,
      1.0954306060095251,
      1.0948052758188647,
      1.093785403231496,
      1.0939292225183894,
      1.0944026978310848,
      1.094342116199988
    ],
    "yaw_diff": [
      -0.0007169572657579337,
      0.0008300742330140665,
      0.00027634157240896684,
      -0.0009035230629157454,
      -0.0012506603813209338,
      -0.002039745174737373,
      0.00028763857378688584,
      0.0009469506253907412,
      -0.00012116326219357987,
      -0.00012116326219357987
    ],
    "min_front_frame": [
      8,
      11.027128206123415
    ],
    "v_avg": 0.9766514433638246,
    "v_std": 0.7364250192084902,
    "vy_max": 0.02591041459832244,
    "a_max": 0.850071461605699,
    "ax_avg": -0.46555068957819634,
    "a_std": 0.2157150525233193,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6370add5182e51b7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.3000969514822027,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.959481692755524,
      20.944106680603287,
      20.07609370286893,
      19.31202357973851,
      11.930445712365609,
      11.427340772675626,
      11.103116448387986,
      17.722248138086805,
      11.027128206123415,
      11.076942091257012
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6370add5182e51b7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6292d2ef6730548d": {
    "vx_ego": [
      3.337261386506894,
      2.835002496427788,
      2.38039826163709,
      1.8952635150188668,
      1.371178827038094,
      0.8709603193725657,
      0.3982221963947848,
      0.07517447391849567,
      -0.03762691071346386,
      -0.04705232150368744
    ],
    "vy_ego": [
      0.03927474847826673,
      0.00019342577003600425,
      -0.010102491750122344,
      -0.016265709764321734,
      -0.01986084894440815,
      -0.003099495699040833,
      0.006916416377795179,
      0.013351588664155239,
      0.013583493594474149,
      -0.0121076982128672
    ],
    "v_ego": [
      3.337492482049652,
      2.835002503026288,
      2.3804196992010547,
      1.895333312289901,
      1.3713226567946568,
      0.8709658344591653,
      0.3982822548356851,
      0.07635094268428769,
      0.04000369618010442,
      0.048585155293569195
    ],
    "ax_ego": [
      -1.0045210838211835,
      -1.0045939445828544,
      -0.8137820145893506,
      -1.126631021251599,
      -0.969676858654031,
      -1.0310553756079452,
      -0.8599683737524584,
      -0.4322236396716492,
      -0.01885263820005352,
      -0.018848781504922283
    ],
    "ay_ego": [
      -0.07241719054844592,
      -0.07139928037691784,
      0.03597719117780401,
      -0.01801941449841815,
      0.006003422553022997,
      0.06929552492211366,
      -0.02607217332252612,
      0.05246370642038087,
      -0.05137531975239251,
      -0.051376730176303405
    ],
    "a_ego": [
      1.0071280242989047,
      1.0071280210235842,
      0.814576899717974,
      1.1267751139181619,
      0.9696954425444618,
      1.0333813707166741,
      0.8603635057789282,
      0.4353960440591664,
      0.05472518110305977,
      0.05472517672725219
    ],
    "yaw": [
      -0.3386647189075193,
      -0.3376514112901325,
      -0.33709394833062345,
      -0.33220053814631484,
      -0.3318341868331022,
      -0.3300061452785834,
      -0.32871794624009154,
      -0.32782990850505955,
      -0.3290517500380525,
      -0.32912683566901435
    ],
    "yaw_diff": [
      0.0020266152347736544,
      0.0011149259190180727,
      0.009786820368617222,
      0.00073270262642533,
      0.0036560831090375334,
      0.0025763980769837325,
      0.0017760754700639758,
      -0.0024436830659858577,
      -0.0001501712619237372,
      -0.0001501712619237372
    ],
    "min_front_frame": [
      7,
      12.666107804575422
    ],
    "v_avg": 1.3253758536814364,
    "v_std": 1.169448433302119,
    "vy_max": 0.03927474847826673,
    "a_max": 1.1267751139181619,
    "ax_avg": -0.7280153731636048,
    "a_std": 0.38510360091033324,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6292d2ef6730548d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.277187605906672,
      16.734566208201393,
      15.451959127980176,
      14.366734221728628,
      13.59775722512363,
      13.073970580183277,
      12.734115507705985,
      12.666107804575422,
      12.698098990544985,
      12.81979650983852
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6292d2ef6730548d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a8d02b285a5451a0": {
    "vx_ego": [
      3.595471418990209,
      3.2903263759613353,
      2.8873480295866227,
      2.3361658135585164,
      1.7666957300828745,
      1.2398444907328616,
      0.7469027473711385,
      0.3642913449405936,
      0.09684035794294023,
      -0.14233697410932758
    ],
    "vy_ego": [
      -0.03506288752561677,
      -0.013731063579612589,
      0.01296838004674851,
      -0.004363888903349197,
      -0.044054098560737075,
      -0.020160404992587394,
      0.006021251343498388,
      0.0029586231463518634,
      -0.0065436997215971935,
      -0.025888518899574664
    ],
    "v_ego": [
      3.5956423808350437,
      3.290355026810007,
      2.887377152856687,
      2.3361698893629046,
      1.767244908407734,
      1.2400083883305364,
      0.7469270175179743,
      0.36430335909726214,
      0.09706119169144391,
      0.14467214524369584
    ],
    "ax_ego": [
      -0.6102351472217358,
      -0.6100171480053381,
      -1.0018924292518616,
      -1.2030165263356698,
      -1.0746187959465878,
      -1.032819708896968,
      -0.9389782766444061,
      -0.5914739807157476,
      -0.47833791850672486,
      -0.47835042869965183
    ],
    "ay_ego": [
      0.06454490800935406,
      0.06657362273519302,
      0.0670693860009241,
      -0.1191811889509625,
      -0.02568761753206291,
      0.12026382525977157,
      -0.012332578596723369,
      0.0013081625348305252,
      -0.038781650722866025,
      -0.038627033800287855
    ],
    "a_ego": [
      0.613639128523165,
      0.6136391187861595,
      1.0041348227856344,
      1.2089056697842502,
      1.0749257696679189,
      1.03979802786509,
      0.939059261444635,
      0.5914754273449998,
      0.47990747099220754,
      0.47990747064131983
    ],
    "yaw": [
      -1.5544733549351082,
      -1.5511482820692597,
      -1.5490094393949003,
      -1.5473770975528662,
      -1.5456707792405524,
      -1.5458374236406547,
      -1.5450212859577939,
      -1.5444227899837344,
      -1.5438038575341562,
      -1.543480623846742
    ],
    "yaw_diff": [
      0.006650145731696977,
      0.004277685348718752,
      0.0032646836840681814,
      0.003412636624627652,
      -0.0003332888002045564,
      0.001632275365721636,
      0.0011969919481189528,
      0.001237864899156449,
      0.000646467374828319,
      0.000646467374828319
    ],
    "min_front_frame": [
      9,
      10.639444591960107
    ],
    "v_avg": 1.646976146015329,
    "v_std": 1.2572253510645406,
    "vy_max": 0.044054098560737075,
    "a_max": 1.2089056697842502,
    "ax_avg": -0.8019740360224692,
    "a_std": 0.26056770392693673,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a8d02b285a5451a0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.64574298437124,
    "right_rear_min": 3.606901716423025,
    "speed_mode": "decelerating",
    "front_frame": [
      15.072926239197868,
      14.317788815547656,
      13.48583635789842,
      12.722496571284115,
      12.06036279495662,
      11.474842151952224,
      11.00369861187675,
      10.75336950168614,
      10.65417218635102,
      10.639444591960107
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a8d02b285a5451a0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8de2e76340335ed9": {
    "vx_ego": [
      0.6771422735860595,
      1.3506201188100155,
      1.8758567406942945,
      2.113491795594977,
      2.177353449934997,
      2.327222036211686,
      2.737547290327776,
      3.306036045332109,
      3.880854110542649,
      4.488613678707385
    ],
    "vy_ego": [
      -0.04149647505586984,
      -0.036507626074455346,
      -0.02968410467176308,
      -0.004852246719187381,
      0.011725821375212053,
      0.0021999091956741434,
      -0.02944759140496722,
      -0.02745620637737134,
      -0.022891928695577768,
      0.1558710209573968
    ],
    "v_ego": [
      0.6784125707262213,
      1.3511134342074957,
      1.8760915909620153,
      2.1134973655875475,
      2.1773850235616936,
      2.3272230759920145,
      2.737705668515245,
      3.3061500535069195,
      3.8809216260722375,
      4.491319241810066
    ],
    "ax_ego": [
      1.3476354180265058,
      1.348044341858842,
      0.7558144434325571,
      0.1952213137602274,
      0.06009368953082205,
      0.5405140251944904,
      1.1046511937411712,
      1.1687954956284916,
      1.1465935506091256,
      1.3115217048973513
    ],
    "ay_ego": [
      0.04226751311881172,
      0.026157870587254384,
      0.11295285934516797,
      0.07124685424996878,
      0.02665035403590406,
      -0.15021889087602447,
      -0.4277974902004272,
      -0.6440623728489828,
      -1.107452336745586,
      -0.9061116262497376
    ],
    "a_ego": [
      1.3482980985615622,
      1.3482981056915038,
      0.7642079699502717,
      0.2078159656686306,
      0.06573806273131161,
      0.5610001128413195,
      1.1845948473868941,
      1.3345033723154518,
      1.594091417849585,
      1.5940914219836324
    ],
    "yaw": [
      -2.28820880232999,
      -2.2762567491252526,
      -2.259689414090263,
      -2.2494131589580597,
      -2.2457614116584317,
      -2.2555076534628933,
      -2.3013414923490676,
      -2.390855869935721,
      -2.513731028061374,
      -2.6771832999143945
    ],
    "yaw_diff": [
      0.023904106409474934,
      0.0331346700699795,
      0.020552510264406187,
      0.007303494599256055,
      -0.019492483608923195,
      -0.09166767777234863,
      -0.17902875517330674,
      -0.24575031625130617,
      -0.32690454370604094,
      -0.32690454370604094
    ],
    "min_front_frame": [
      7,
      30.548612279964036
    ],
    "v_avg": 2.4939819650941453,
    "v_std": 1.090367642937188,
    "vy_max": 0.1558710209573968,
    "a_max": 1.5940914219836324,
    "ax_avg": 0.8978885176679585,
    "a_std": 0.5332165720894279,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "8de2e76340335ed9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.811558583589377,
    "right_rear_min": 8.399228626344623,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      30.548612279964036,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8de2e76340335ed9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c887e4bc08f85aa5": {
    "vx_ego": [
      8.076425269842652,
      7.66793230762303,
      7.14865101542715,
      6.521388428680914,
      6.10862725192751,
      5.98847842942283,
      6.076150511635527,
      6.416342517715359,
      6.937122371271062,
      7.506399951877569
    ],
    "vy_ego": [
      -0.06320090199219841,
      -0.025128883057794482,
      -0.01756492969758261,
      -0.04949116023493216,
      -0.03471661300002493,
      -0.009723567243452802,
      0.006699399783074433,
      0.01559992239380259,
      0.01477296847146059,
      -0.029890091937422536
    ],
    "v_ego": [
      8.076672550832155,
      7.667973482938812,
      7.148672594763514,
      6.521576221487772,
      6.108725902036335,
      5.988486323556435,
      6.0761542049232204,
      6.416361481573537,
      6.937138101161524,
      7.506459462032923
    ],
    "ax_ego": [
      -0.8378537839601784,
      -0.8037901858251688,
      -1.2772186919050348,
      -1.2395552956422005,
      -0.422966900881501,
      -0.06600495769076989,
      0.41544334142506406,
      0.9448086295221199,
      1.1386207419436105,
      1.1385283149341943
    ],
    "ay_ego": [
      -0.6749368840049753,
      -0.7151643871821107,
      -0.7285312817933852,
      -0.6627522787896415,
      -0.5516160079997867,
      -0.3117073275248856,
      -0.22460328725993944,
      -0.05427376908866727,
      -0.06960032533906724,
      -0.07109633581066888
    ],
    "a_ego": [
      1.0758897530354747,
      1.075889754353309,
      1.4703895454957236,
      1.4056094457549315,
      0.6951123790603374,
      0.31861907110602566,
      0.4722709038066957,
      0.946366202075368,
      1.1407459836753853,
      1.1407459896368688
    ],
    "yaw": [
      -0.4379238573538675,
      -0.4869228485624481,
      -0.536258582133128,
      -0.5824992772797422,
      -0.6337306221477392,
      -0.6738362683877046,
      -0.6990354129519452,
      -0.7117567331192685,
      -0.7162875845375725,
      -0.714973656282746
    ],
    "yaw_diff": [
      -0.09799798241716118,
      -0.09867146714135988,
      -0.09248139029322822,
      -0.10246268973599415,
      -0.08021129247993075,
      -0.0503982891284811,
      -0.025442640334646605,
      -0.00906170283660801,
      0.002627856509652915,
      0.002627856509652915
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.844822032530622,
    "v_std": 0.6991216207240949,
    "vy_max": 0.06320090199219841,
    "a_max": 1.4703895454957236,
    "ax_avg": -0.10099887880798653,
    "a_std": 0.35621042905489353,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "c887e4bc08f85aa5",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 18.114674095267773,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "c887e4bc08f85aa5",
    "pedestrians": "No"
  },
  "5798a6e25f2553e4": {
    "vx_ego": [
      7.884050235629436,
      7.343558573222513,
      6.77773115382407,
      6.168347059096119,
      5.548328022149537,
      4.946179104005136,
      4.419941875558282,
      3.9869964743475834,
      3.575672940492441,
      3.158387239597602
    ],
    "vy_ego": [
      0.0016361166202170097,
      -3.4102176132755346e-05,
      -0.011987964815019847,
      -0.0015554474615235847,
      0.008596248562039221,
      -0.0068539751426399675,
      -0.013552039117999959,
      -0.008534748791804825,
      -0.012938507613295291,
      -0.03084846244761552
    ],
    "v_ego": [
      7.884050405394816,
      7.343558573301695,
      6.777741755542015,
      6.1683472552116045,
      5.548334681402983,
      4.946183852817473,
      4.419962651547853,
      3.9870056092758386,
      3.5756963492932563,
      3.1585378868850604
    ],
    "ax_ego": [
      -1.0810036170589121,
      -1.0809562603216443,
      -1.1823678507552609,
      -1.255246650775024,
      -1.2247620941696677,
      -1.1838396843399912,
      -0.9211713987408338,
      -0.8106512388462211,
      -0.834654354100592,
      -0.834598374857246
    ],
    "ay_ego": [
      -0.0276809715433024,
      -0.02947244953480166,
      -0.05574930180943449,
      0.07565301959394594,
      -0.054936712350407146,
      -0.04033921179935357,
      -0.006473805427322954,
      0.01389755269641546,
      -0.04379704921099925,
      -0.044851064581277855
    ],
    "a_ego": [
      1.0813579686117045,
      1.081357971261199,
      1.18368142637783,
      1.2575243670226024,
      1.2259935683676084,
      1.184526762140393,
      0.9211941467545562,
      0.8107703577548101,
      0.8358026515503927,
      0.8358026473447127
    ],
    "yaw": [
      1.1014600682937221,
      1.0998027967244912,
      1.098480705974529,
      1.0976389193451903,
      1.09678955654294,
      1.0951931175029812,
      1.0941167854205618,
      1.093362223786476,
      1.0925506904293862,
      1.0912878319198578
    ],
    "yaw_diff": [
      -0.0033145431384618007,
      -0.002644181499924514,
      -0.0016835732586772956,
      -0.0016987256045006838,
      -0.003192878079917527,
      -0.0021526641648388356,
      -0.0015091232681716527,
      -0.0016230667141794441,
      -0.0025257170190569056,
      -0.0025257170190569056
    ],
    "min_front_frame": [
      9,
      18.500376327651892
    ],
    "v_avg": 5.380941902067259,
    "v_std": 1.5482260469073936,
    "vy_max": 0.03084846244761552,
    "a_max": 1.2575243670226024,
    "ax_avg": -1.0409251523965393,
    "a_std": 0.1663987653789968,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5798a6e25f2553e4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.451636916975383,
    "right_rear_min": 29.817828709141804,
    "speed_mode": "decelerating",
    "front_frame": [
      32.51140533994515,
      30.907181569911522,
      29.519000695026293,
      27.810432286504184,
      26.125071095589934,
      24.687525564859865,
      23.097237141071624,
      21.716579276549133,
      20.218120455086826,
      18.500376327651892
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5798a6e25f2553e4",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "c823f9a693a05d93": {
    "vx_ego": [
      9.752870368772484,
      9.659590717557904,
      9.484304201661606,
      9.259637019960241,
      9.096211167807017,
      8.950647106559083,
      8.79986684751228,
      8.630357276513546,
      8.273489397350131,
      7.753231662689054
    ],
    "vy_ego": [
      0.04679970143874623,
      0.058726924306522044,
      -0.013733801192525874,
      0.0015063840923588145,
      0.04183902558113051,
      0.037750002227125545,
      -0.013750429812855458,
      -0.008135023334535862,
      -0.03710725421319028,
      0.043738781326451814
    ],
    "v_ego": [
      9.752982653636533,
      9.659769235461546,
      9.484314145311256,
      9.259637142491664,
      9.096307388902305,
      8.950726712888883,
      8.799877590527368,
      8.630361110572082,
      8.273572611416443,
      7.753355034842401
    ],
    "ax_ego": [
      -0.1974292709460497,
      -0.1815277516126505,
      -0.519261339128765,
      -0.3747458672800915,
      -0.28157544013648517,
      -0.3136774333856207,
      -0.29989134838641757,
      -0.3792505666237463,
      -1.0474798169857316,
      -1.032392492923111
    ],
    "ay_ego": [
      0.564940782980315,
      0.5702491357430448,
      0.7670945745714611,
      0.931227072974661,
      0.9958915991875612,
      0.7948434282139284,
      0.3360890167032152,
      -0.07699196135206961,
      -0.39863722005182106,
      -0.436223961069835
    ],
    "a_ego": [
      0.5984449893688643,
      0.5984449861275752,
      0.9263187489470184,
      1.0038019358839982,
      1.0349322711271562,
      0.8544996241018838,
      0.45043384418309174,
      0.386986762560777,
      1.1207700924824437,
      1.120770094022611
    ],
    "yaw": [
      -0.6825600584369176,
      -0.6545462829642826,
      -0.6122403711619462,
      -0.5684859315999121,
      -0.5203353359896824,
      -0.47030139082698397,
      -0.43263950209059965,
      -0.42585916762479803,
      -0.436395718972983,
      -0.4725351101200728
    ],
    "yaw_diff": [
      0.0560275509452699,
      0.0846118236046729,
      0.08750887912406813,
      0.09630119122045944,
      0.10006789032539687,
      0.07532377747276864,
      0.013560668931603237,
      -0.021073102696369972,
      -0.07227878229417961,
      -0.07227878229417961
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.966090362605048,
    "v_std": 0.5969050678402668,
    "vy_max": 0.058726924306522044,
    "a_max": 1.120770094022611,
    "ax_avg": -0.4627231327408669,
    "a_std": 0.263544500895812,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "c823f9a693a05d93",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c823f9a693a05d93",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9551ef5e14315cc0": {
    "vx_ego": [
      6.990709551808925,
      6.9193845506194425,
      6.877557175028432,
      6.783526794272205,
      6.695110255341949,
      6.655018405706088,
      6.846928773814346,
      7.264533770702577,
      7.742903343800982,
      8.226110887205603
    ],
    "vy_ego": [
      -0.11386511105708497,
      -0.009449186352344707,
      -0.02178490930960386,
      -0.04869725834949876,
      -0.044127741964372635,
      -0.065971310803143,
      -0.09863155895229925,
      -0.14054063885706336,
      -0.09784688451272139,
      -0.08986126781523973
    ],
    "v_ego": [
      6.991636811310252,
      6.919391002571956,
      6.8775916771831325,
      6.783701584797175,
      6.6952556776269425,
      6.655345385037195,
      6.847639141931195,
      7.265893102492533,
      7.743521563491205,
      8.2266016906166
    ],
    "ax_ego": [
      -0.3306378726232235,
      0.08815447310168811,
      -0.2024722339574152,
      -0.1321558001685251,
      -0.17680084786385486,
      0.052751879207791674,
      0.7115723672429733,
      0.9901404340332306,
      0.9404294352563147,
      1.0157332026443493
    ],
    "ay_ego": [
      2.5010667582620814,
      2.521286403743598,
      2.930743486706423,
      3.02243808023613,
      3.049646039838156,
      2.9276648266221437,
      2.2358257714114607,
      1.7067616059774064,
      1.137324462946517,
      1.0706075450387023
    ],
    "a_ego": [
      2.5228270515626723,
      2.5228270532936183,
      2.937729121344551,
      3.025325950105153,
      3.054766686361812,
      2.928140040674356,
      2.3463273671701104,
      1.9731733980433879,
      1.4757758829555028,
      1.4757758821880589
    ],
    "yaw": [
      0.9703278347585963,
      1.1367142740050153,
      1.3343929038835998,
      1.555600591054413,
      1.7790507884339015,
      2.006189376734179,
      2.204013450172634,
      2.350109547028949,
      2.4390433971017442,
      2.5072290002020092
    ],
    "yaw_diff": [
      0.3327728784928381,
      0.39535725975716884,
      0.4424153743416266,
      0.4469003947589769,
      0.4542771766005549,
      0.3956481468769102,
      0.29219219371262994,
      0.1778677001455904,
      0.13637120620053,
      0.13637120620053
    ],
    "min_front_frame": [
      9,
      60.56566095337193
    ],
    "v_avg": 7.100657763705819,
    "v_std": 0.48269675810193635,
    "vy_max": 0.14054063885706336,
    "a_max": 3.054766686361812,
    "ax_avg": 0.2956715036873329,
    "a_std": 0.5748523380038101,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "9551ef5e14315cc0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.6064976071463,
    "right_rear_min": 32.299672865020945,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      60.56566095337193
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9551ef5e14315cc0",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a29d602c497c532d": {
    "vx_ego": [
      2.1257852251196603,
      1.519356555992645,
      0.9624270853316654,
      0.5083544847375496,
      0.18097293023722993,
      -0.010055703688465034,
      -0.06027044856298229,
      -0.03659158409142063,
      -0.02274651981039919,
      -0.014839180719639761
    ],
    "vy_ego": [
      0.01393192234327112,
      0.001601674647928375,
      -0.007498468959804161,
      -0.005786325750585852,
      -0.004380976776778817,
      -0.0007240806747138323,
      0.0035082524731454533,
      -0.0002966867027349891,
      -0.0006476517117220328,
      -0.0007873187224475666
    ],
    "v_ego": [
      2.1258308779856465,
      1.51935740021876,
      0.9624562959515336,
      0.5083874149882858,
      0.18102594962095345,
      0.010081739408142987,
      0.06037246727936854,
      0.0365927868482176,
      0.02275573809448024,
      0.01486005232833468
    ],
    "ax_ego": [
      -1.2128609749861106,
      -1.212878708381749,
      -1.0148334901343548,
      -0.8014263578393519,
      -0.508099656556159,
      -0.256008102440726,
      0.05514977254559719,
      0.039565669967670816,
      0.01581465059434701,
      0.015814664369032564
    ],
    "ay_ego": [
      -0.022175785207171783,
      -0.02118404038716215,
      -0.013446773336910633,
      0.02224635220225568,
      -0.016361243002002424,
      0.031032059119561417,
      -0.014095714275098946,
      -0.00112856012905143,
      -0.00027894279482614404,
      -0.00027873014688139814
    ],
    "a_ego": [
      1.2130636875670682,
      1.2130636936339758,
      1.014922572618941,
      0.8017350604943978,
      0.5083630113069373,
      0.25788202187919423,
      0.0569226367340475,
      0.03958176206228739,
      0.01581711043471802,
      0.015817120458538864
    ],
    "yaw": [
      1.103353269603498,
      1.1041709551782812,
      1.1045347638558771,
      1.105222984625438,
      1.1054370431318978,
      1.1056374088713299,
      1.1056137192154536,
      1.1056379879649714,
      1.1056720586874293,
      1.1056588014246622
    ],
    "yaw_diff": [
      0.001635371149566467,
      0.0007276173551917786,
      0.0013764415391217533,
      0.00042811701291967097,
      0.00040073147886410254,
      -4.7379311752582254e-05,
      4.853749903555027e-05,
      6.814144491595897e-05,
      -2.6514525534260258e-05,
      -2.6514525534260258e-05
    ],
    "min_front_frame": [
      5,
      11.700080839040755
    ],
    "v_avg": 0.5441720722723723,
    "v_std": 0.7134245455443536,
    "vy_max": 0.01393192234327112,
    "a_max": 1.2130636936339758,
    "ax_avg": -0.4879762532861804,
    "a_std": 0.4803214675579453,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a29d602c497c532d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.96490364812795,
    "right_rear_min": 3.4898130636004954,
    "speed_mode": "decelerating",
    "front_frame": [
      13.743261579244612,
      12.838088811307673,
      12.231269897970167,
      11.899669818171088,
      11.745424998094533,
      11.700080839040755,
      11.737332616992381,
      11.774815068782464,
      11.771193534705251,
      11.77691418459974
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a29d602c497c532d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0d2e670274c65f81": {
    "vx_ego": [
      7.274598289446246,
      7.13990637903229,
      7.009702165943797,
      6.876993145225844,
      6.664865120636577,
      6.380017277489783,
      6.234009155450087,
      6.334784351614894,
      6.53272728858108,
      6.820669213245623
    ],
    "vy_ego": [
      0.022772301170890685,
      0.002389129688363134,
      0.01667427784864106,
      0.0006871655829150392,
      -0.03469799443942767,
      -0.01896324049401743,
      -0.011313067035902513,
      0.006721813210357919,
      0.05245112031845389,
      0.13637024143261645
    ],
    "v_ego": [
      7.274633932406143,
      7.139906778753253,
      7.009721997824089,
      6.8769931795574575,
      6.664955440743482,
      6.380045459521286,
      6.234019420544122,
      6.334787917857848,
      6.532937849619769,
      6.8220323481544005
    ],
    "ax_ego": [
      -0.269440787983047,
      -0.2691655358025032,
      -0.24568892553677435,
      -0.28129655787389135,
      -0.5478243513383696,
      -0.5853655618645165,
      0.00831401159536449,
      0.3870219465102318,
      0.44139001329528726,
      0.7637301100332059
    ],
    "ay_ego": [
      -0.08616054105843991,
      -0.08701663668412636,
      -0.5192404060154163,
      -0.6444157577292643,
      -1.3501039486935227,
      -1.6697894541264464,
      -1.8879009908956315,
      -1.8033161673305838,
      -2.0350967041693537,
      -1.9373074170875932
    ],
    "a_ego": [
      0.28288156013499427,
      0.2828815666028203,
      0.5744333271759822,
      0.7031354224340296,
      1.4570148222297354,
      1.7694207137164573,
      1.8879192975902108,
      1.844379349926808,
      2.082412960763974,
      2.082412953588681
    ],
    "yaw": [
      1.0407815866836723,
      1.0376026760457875,
      1.0141517622343066,
      0.9745865593720306,
      0.9065311103913632,
      0.7885904438421681,
      0.6449104729024931,
      0.49434891814697596,
      0.33824243482091154,
      0.17630755343599175
    ],
    "yaw_diff": [
      -0.00635782127576956,
      -0.0469018276229618,
      -0.07913040572455188,
      -0.1361108979613348,
      -0.2358813330983902,
      -0.28735994187935,
      -0.3011231095110344,
      -0.31221296665212883,
      -0.3238697627698396,
      -0.3238697627698396
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.727003432498185,
    "v_std": 0.3377281493612264,
    "vy_max": 0.13637024143261645,
    "a_max": 2.082412960763974,
    "ax_avg": -0.05983256389650125,
    "a_std": 0.7115470500173979,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "0d2e670274c65f81",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0d2e670274c65f81",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "acd0bceedc6852c2": {
    "vx_ego": [
      3.661691013140985,
      3.722879305627783,
      3.8637112834521607,
      4.032439572943323,
      4.209100007773056,
      4.366182241094568,
      4.50502991904334,
      4.635924531027243,
      4.706986083114422,
      4.733684483284233
    ],
    "vy_ego": [
      -0.050720510775075445,
      -0.09009158251445393,
      -0.06035447377566805,
      -0.02966805261635086,
      -0.009680602301030738,
      -0.015506098501762544,
      -0.003949804449644212,
      0.005913996859241655,
      0.007299603944565192,
      0.0013510081326628676
    ],
    "v_ego": [
      3.662042278009736,
      3.7239692288620705,
      3.8641826489414655,
      4.032548710528538,
      4.2091111400741195,
      4.366209775255918,
      4.505031650547067,
      4.635928303235396,
      4.706991743231614,
      4.73368467607517
    ],
    "ax_ego": [
      0.05292887900872445,
      0.2359022367508955,
      0.33653255163437024,
      0.3411180727292583,
      0.3653987761571479,
      0.26263836776659766,
      0.2927303187598252,
      0.2308471217639444,
      0.05339678695544025,
      0.05339672869583075
    ],
    "ay_ego": [
      1.131889802588033,
      1.1082987526706463,
      0.6722817863054164,
      0.402953118148756,
      0.2382280533304147,
      0.11049766041009935,
      0.02380880966521938,
      0.018430703149467577,
      -0.01185031858074527,
      -0.011850582884296197
    ],
    "a_ego": [
      1.1331266440411225,
      1.1331266436172904,
      0.7518091237192733,
      0.5279514702776468,
      0.4361982015216711,
      0.28493621247431544,
      0.2936969508505383,
      0.23158170144741827,
      0.05469594964556179,
      0.054695950033925994
    ],
    "yaw": [
      -0.6740609232546142,
      -0.5110674180237529,
      -0.4013022825172974,
      -0.3409982917644586,
      -0.30692755140776395,
      -0.2853013221635495,
      -0.2803326735737352,
      -0.28018063233344564,
      -0.28012534699728214,
      -0.2801203960257605
    ],
    "yaw_diff": [
      0.3259870104617226,
      0.219530271012911,
      0.12060798150567753,
      0.06814148071338932,
      0.04325245848842896,
      0.009937297179628546,
      0.00030408248057911536,
      0.0001105706723270039,
      9.901943043288952e-06,
      9.901943043288952e-06
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.24397001547611,
    "v_std": 0.386022002944234,
    "vy_max": 0.09009158251445393,
    "a_max": 1.1331266440411225,
    "ax_avg": 0.22248898402220343,
    "a_std": 0.3776834239574424,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "acd0bceedc6852c2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "acd0bceedc6852c2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0c4f97d3255155e4": {
    "vx_ego": [
      5.381378954804906,
      5.069168319847619,
      4.855238794272445,
      4.671973300135022,
      4.500834740067434,
      4.422024463405233,
      4.4535303427156805,
      4.5114577237384434,
      4.457600978019917,
      4.327785910177716
    ],
    "vy_ego": [
      -0.009499094453554235,
      0.10908869904114793,
      0.05778449489833293,
      -0.009756046675941044,
      -0.07655815661989118,
      -0.05301693953744113,
      -0.04960327603629455,
      -0.03851376941564144,
      -0.022411079579582438,
      0.047690833738252
    ],
    "v_ego": [
      5.381387338597045,
      5.070341980498477,
      4.85558264240851,
      4.671983486445694,
      4.501485811234211,
      4.422342269751659,
      4.45380657398621,
      4.511622114441087,
      4.457657314748638,
      4.3280486711629536
    ],
    "ax_ego": [
      -0.728655857334057,
      -0.5399785045313004,
      -0.3431757685856417,
      -0.40195102290888274,
      -0.23345977889370184,
      -0.008789124328021036,
      0.1341402348097902,
      0.06348503778979825,
      -0.2813205989354881,
      -0.2405265546354693
    ],
    "ay_ego": [
      1.4853771260551443,
      1.5638758781744952,
      1.9391108547958464,
      2.022406056707647,
      2.08722858217156,
      2.1880871699608937,
      1.7715809203892239,
      0.9640632454358725,
      0.6645914347040166,
      0.680419009188244
    ],
    "a_ego": [
      1.6544741052778884,
      1.6544741000365972,
      1.96924364041919,
      2.0619628713983364,
      2.1002444197271415,
      2.188104821998692,
      1.7766520650037123,
      0.9661512776079735,
      0.7216807150446553,
      0.7216807130230939
    ],
    "yaw": [
      2.692175127818609,
      2.8157707130231215,
      3.002975282797151,
      -3.059370143026487,
      -2.8208300328771534,
      -2.5861347649639184,
      -2.363859175958227,
      -2.2143337341797382,
      -2.1280152560205767,
      -2.0673740208873723
    ],
    "yaw_diff": [
      0.2471911704090255,
      0.3744091395480593,
      0.441679762711896,
      0.47708022029866726,
      0.46939053582647006,
      0.4445511780113831,
      0.2990508835569772,
      0.172636956318323,
      0.12128247026640793,
      0.12128247026640793
    ],
    "min_front_frame": [
      5,
      46.61187252971394
    ],
    "v_avg": 4.665425820327448,
    "v_std": 0.32002436306892196,
    "vy_max": 0.10908869904114793,
    "a_max": 2.188104821998692,
    "ax_avg": -0.25802319375529736,
    "a_std": 0.5407607697082444,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "0c4f97d3255155e4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      46.61187252971394,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "0c4f97d3255155e4",
    "pedestrians": "No"
  },
  "551867c095c35991": {
    "vx_ego": [
      0.418908689979624,
      0.6986007461232631,
      1.0233962337672131,
      1.4787850826437334,
      2.1027356140434597,
      2.8195955280023584,
      3.5198420490954265,
      4.148613674890432,
      4.689637803380128,
      5.187965511151075
    ],
    "vy_ego": [
      -0.012567440650875616,
      0.0015476407188324548,
      0.007002472048336261,
      -0.0021085630895862906,
      -0.012681630430909197,
      -0.027202086694583905,
      -0.04438521450816246,
      -0.03849447564950781,
      -0.02380298591853869,
      -0.026833784015531048
    ],
    "v_ego": [
      0.4190971618908413,
      0.6986024603991704,
      1.023420190295122,
      1.4787865859169593,
      2.1027738552486124,
      2.819726741202317,
      3.520121886788471,
      4.1487922637971915,
      4.689698210869291,
      5.188034907058513
    ],
    "ax_ego": [
      0.5593858940887926,
      0.5593671779771533,
      0.739846068826575,
      1.081759055536434,
      1.4139724592753216,
      1.4534358720394054,
      1.3478587861810918,
      1.1676540504015758,
      0.9967929675378809,
      0.9970751919375462
    ],
    "ay_ego": [
      0.027278024249551003,
      0.027659220502484205,
      -0.008810749302312793,
      -0.037578721514086366,
      -0.01712304044136792,
      -0.04565603899452508,
      0.0005511993660867187,
      0.05692416792667454,
      0.052676047853205066,
      0.04703248401901655
    ],
    "a_ego": [
      0.5600505951362581,
      0.5600505979614068,
      0.739898530111667,
      1.0824115735457152,
      1.4140761344789954,
      1.4541527801533154,
      1.3478588988860472,
      1.16904077872132,
      0.9981838438636482,
      0.9981838472597588
    ],
    "yaw": [
      2.416620407463218,
      2.415938943809635,
      2.4150531117592733,
      2.412995486505294,
      2.411221924077103,
      2.410743827557395,
      2.4125996457965746,
      2.4147978927696903,
      2.417659867950814,
      2.423320766766089
    ],
    "yaw_diff": [
      -0.0013629273071655845,
      -0.0017716641007234912,
      -0.004115250507958912,
      -0.003547124856381423,
      -0.0009561930394159646,
      0.003711636478358926,
      0.004396493946231317,
      0.005723950362247265,
      0.011321797630550634,
      0.011321797630550634
    ],
    "min_front_frame": [
      0,
      11.434505803863486
    ],
    "v_avg": 2.6089054263466487,
    "v_std": 1.6346020579459066,
    "vy_max": 0.04438521450816246,
    "a_max": 1.4541527801533154,
    "ax_avg": 1.0317147523801775,
    "a_std": 0.3127882308120774,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "551867c095c35991",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.742655394991307,
    "speed_mode": "accelerating",
    "front_frame": [
      11.434505803863486,
      12.303619653414104,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "551867c095c35991",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e13b89a8813159df": {
    "vx_ego": [
      7.232839279930805,
      7.042109512116122,
      6.86694943886866,
      6.677909244616138,
      6.43398758041131,
      6.10548025020286,
      5.703549503892392,
      5.340760185173096,
      5.0995482121694895,
      4.965408714490796
    ],
    "vy_ego": [
      0.008462694879171728,
      0.03556047264536266,
      0.0487142208711413,
      0.03685199948080076,
      0.030687088818376562,
      0.038193762718715885,
      0.04495941561331662,
      0.03204712725706815,
      0.024350519249717095,
      0.035575621097633015
    ],
    "v_ego": [
      7.232844230765279,
      7.042199296232046,
      6.8671222263255,
      6.678010927603773,
      6.4340607614714935,
      6.105599712487528,
      5.7037267021135785,
      5.340856333388457,
      5.09960634912429,
      4.965536157028526
    ],
    "ax_ego": [
      -0.38186442913991886,
      -0.38140900968050784,
      -0.3200344053563105,
      -0.4371017711894063,
      -0.5390583275859231,
      -0.776728301940504,
      -0.830886273417377,
      -0.6238407413759752,
      -0.3414681886055462,
      -0.20702869702245547
    ],
    "ay_ego": [
      0.1113837920504974,
      0.11293342935991152,
      0.051744711015189654,
      0.05879865204366841,
      0.2555718282272825,
      0.3863680343045319,
      0.7237145278688325,
      0.9402503550645511,
      1.156853971975271,
      1.1882974186368183
    ],
    "a_ego": [
      0.39777731379995085,
      0.3977773147534382,
      0.324190585504596,
      0.44103881899337216,
      0.5965742534866619,
      0.867517788271645,
      1.1018778140981982,
      1.1283829140852588,
      1.2061971796951418,
      1.2061971797885043
    ],
    "yaw": [
      -0.5851165965150562,
      -0.5810560958948583,
      -0.5770232294435638,
      -0.5712036352571106,
      -0.5583005576834842,
      -0.5340173340985711,
      -0.4882222684264258,
      -0.41022651259777776,
      -0.30771516319434866,
      -0.19318736706805273
    ],
    "yaw_diff": [
      0.008121001240395831,
      0.008065732902589051,
      0.01163918837290634,
      0.02580615514725282,
      0.048566447169826166,
      0.09159013134429062,
      0.15599151165729608,
      0.2050226988068582,
      0.22905559225259187,
      0.22905559225259187
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.146956269654046,
    "v_std": 0.7876772844879532,
    "vy_max": 0.0487142208711413,
    "a_max": 1.2061971797885043,
    "ax_avg": -0.4839420145313924,
    "a_std": 0.35251367208471834,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "e13b89a8813159df",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e13b89a8813159df",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9ed1a37904015782": {
    "vx_ego": [
      7.167369205971705,
      7.212613832072316,
      7.251703927561469,
      7.2246552955164685,
      7.129839444148768,
      7.038976162919187,
      6.9514663521312885,
      6.870107853400391,
      6.790846946937542,
      6.694368493272096
    ],
    "vy_ego": [
      -0.037946210138037895,
      -0.0614871862444053,
      -0.04237709836535508,
      -0.009684006246705845,
      0.017299018527056287,
      0.021680590432693325,
      -0.023159436723902083,
      -0.040427362563877356,
      -0.007470576760189029,
      0.026431730797021658
    ],
    "v_ego": [
      7.1674696545974514,
      7.212875914964374,
      7.251827746952923,
      7.224661785787009,
      7.129860430287651,
      7.039009551786816,
      6.9515049308997,
      6.870226800404598,
      6.790851056108362,
      6.694420673972247
    ],
    "ax_ego": [
      0.07681645731258266,
      0.09697722972135386,
      0.050769350661564405,
      -0.16441760134722674,
      -0.215251351809602,
      -0.14805331528642274,
      -0.20282979879781285,
      -0.12247513671853477,
      -0.1939385747914567,
      -0.1923010703486161
    ],
    "ay_ego": [
      -0.563952969486341,
      -0.560837887759895,
      -0.5595539239579103,
      -0.5019401279428678,
      -0.4494794453910623,
      -0.30445443746568546,
      -0.10431933793584278,
      0.05257284763749158,
      0.18547021099759772,
      0.18716748772687924
    ],
    "a_ego": [
      0.5691605396603999,
      0.5691605392430231,
      0.5618524012436823,
      0.5281827710859927,
      0.49836223400747176,
      0.33854436734325954,
      0.2280843079822323,
      0.13328189458039186,
      0.26834934313248254,
      0.2683493434298189
    ],
    "yaw": [
      2.668722064791394,
      2.632877866430315,
      2.5915448829435315,
      2.5505233265355587,
      2.51366049046065,
      2.4864059843882944,
      2.478215105096469,
      2.4788427625773073,
      2.482725253010787,
      2.491513920150303
    ],
    "yaw_diff": [
      -0.07168839672215732,
      -0.08266596697356743,
      -0.08204311281594556,
      -0.07372567214981718,
      -0.05450901214471138,
      -0.016381758583650985,
      0.0012553149616767456,
      0.0077649808669590925,
      0.017577334279032186,
      0.017577334279032186
    ],
    "min_front_frame": [
      6,
      41.26252160758783
    ],
    "v_avg": 7.033270854576114,
    "v_std": 0.1873187688516529,
    "vy_max": 0.0614871862444053,
    "a_max": 0.5691605396603999,
    "ax_avg": -0.10147038114041709,
    "a_std": 0.15764909798909812,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "9ed1a37904015782",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 18.465440850565624,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      41.91683886420937,
      41.26252160758783,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9ed1a37904015782",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a08215e27d775f96": {
    "vx_ego": [
      4.731859858494581,
      5.028387632530546,
      5.317596660449798,
      5.589932299024775,
      5.839143278029396,
      6.070587397275824,
      6.2751104639852695,
      6.423863344959465,
      6.571992101859642,
      6.747031933910826
    ],
    "vy_ego": [
      0.03730831727831774,
      -0.0010235721227189742,
      -0.002976242567098719,
      -0.002156540597784584,
      -0.009038020384611656,
      0.010641790160744069,
      0.015981564276416726,
      -0.01368569116477536,
      -0.0061150529850042545,
      0.01726299500470274
    ],
    "v_ego": [
      4.73200693479738,
      5.028387736709057,
      5.317597493346658,
      5.589932715010777,
      5.839150272699647,
      6.070596724841956,
      6.275130815020046,
      6.423877923252937,
      6.571994946801049,
      6.74705401847421
    ],
    "ax_ego": [
      0.5865175928140491,
      0.6018138825012301,
      0.5571648965555027,
      0.5304467787979346,
      0.4617625560735882,
      0.46338428964671013,
      0.3554101238264826,
      0.24198479138844398,
      0.3474373651037225,
      0.3531351607498771
    ],
    "ay_ego": [
      -0.43719487298902077,
      -0.41588736259317693,
      -0.5268341654241029,
      -0.4719564946399589,
      -0.173138379401151,
      -0.07494138593900387,
      -0.12527623498014864,
      -0.408438023693035,
      -0.2570205775881811,
      -0.24913419278531762
    ],
    "a_ego": [
      0.7315341712102537,
      0.7315341738674367,
      0.7668030775967289,
      0.7100117731206592,
      0.4931546984600984,
      0.46940516743837074,
      0.3768427937073457,
      0.4747402010169151,
      0.4321716094030004,
      0.4321715952866793
    ],
    "yaw": [
      -0.4287064846738817,
      -0.46456387094288676,
      -0.5096898220643307,
      -0.5555884107329498,
      -0.5825636942644097,
      -0.5962837775602732,
      -0.6052379822998493,
      -0.6215428956111471,
      -0.6483635074575889,
      -0.6708766347551305
    ],
    "yaw_diff": [
      -0.07171477253801006,
      -0.09025190224288782,
      -0.09179717733723836,
      -0.053950567062919674,
      -0.02744016659172699,
      -0.017908409479152176,
      -0.032609826622595595,
      -0.0536412236928836,
      -0.04502625459508325,
      -0.04502625459508325
    ],
    "min_front_frame": [
      9,
      19.20660929429679
    ],
    "v_avg": 5.859572958095372,
    "v_std": 0.6449776383033653,
    "vy_max": 0.03730831727831774,
    "a_max": 0.7668030775967289,
    "ax_avg": 0.4499057437457541,
    "a_std": 0.1450023995520969,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "a08215e27d775f96",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.106916497447077,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      27.826656813806384,
      27.57756181611165,
      27.509781487086986,
      27.273764767539816,
      25.722237856305615,
      22.508591700107043,
      19.20660929429679
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "a08215e27d775f96",
    "pedestrians": "No"
  },
  "bd7154fc2b1f548b": {
    "vx_ego": [
      7.667960274199524,
      7.472896897720967,
      7.257046219351823,
      7.01642546993915,
      6.736242842991454,
      6.301548394894622,
      5.70549652828643,
      5.0547493350230575,
      4.3942074327237615,
      3.735547339046218
    ],
    "vy_ego": [
      0.08482677383957293,
      0.02516039357748001,
      0.006466697140310895,
      -0.0003909048929373604,
      0.013110116721844811,
      0.012251513254029511,
      -0.007202055847368882,
      -0.00784961849378929,
      0.014106268149726375,
      -0.037431312970363395
    ],
    "v_ego": [
      7.6684294577352725,
      7.472939253692126,
      7.257049100562878,
      7.016425480828358,
      6.736255600473757,
      6.301560304621071,
      5.705501073866951,
      5.054755429931951,
      4.39423007460987,
      3.735734870871589
    ],
    "ax_ego": [
      -0.3901382696971096,
      -0.3885758221354588,
      -0.4740718263835224,
      -0.488616177823559,
      -0.6317488821951001,
      -1.1059801402493479,
      -1.27866286073524,
      -1.3241445517613044,
      -1.3181903560023729,
      -1.31460440131513
    ],
    "ay_ego": [
      -0.22328585046487204,
      -0.22599396143880568,
      -0.21962471338899858,
      -0.16229500415240836,
      -0.16436711836562756,
      -0.2112237546365007,
      -0.10175675282887575,
      0.1262766208185248,
      0.10819085102007014,
      0.14541782109292511
    ],
    "a_ego": [
      0.4495157844837885,
      0.4495157841000159,
      0.5224740293084513,
      0.5148644846983855,
      0.652781126990187,
      1.1259696022312093,
      1.2827054019414998,
      1.3301520886441862,
      1.3226228014449584,
      1.3226228013490942
    ],
    "yaw": [
      1.2465685834140974,
      1.2396132678913432,
      1.2270435764963954,
      1.21462913082597,
      1.200825544315966,
      1.186682173111096,
      1.176924490172928,
      1.1781828952726014,
      1.1859438733836236,
      1.214221421352282
    ],
    "yaw_diff": [
      -0.013910631045508381,
      -0.02513938278989558,
      -0.024828891340850756,
      -0.027607173020007814,
      -0.028286742409740384,
      -0.019515365876335622,
      0.0025168101993466863,
      0.01552195622204433,
      0.05655509593731667,
      0.05655509593731667
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.134288064719383,
    "v_std": 1.2924700664275117,
    "vy_max": 0.08482677383957293,
    "a_max": 1.3301520886441862,
    "ax_avg": -0.8714733288298145,
    "a_std": 0.3869818246169286,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bd7154fc2b1f548b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 30.649457665393804,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bd7154fc2b1f548b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "93e2377357d9551e": {
    "vx_ego": [
      9.823538306970113,
      9.889614438219724,
      9.953423311529258,
      9.983702472131926,
      9.981057709164828,
      9.990100240860633,
      9.997985052376475,
      9.990848067245789,
      9.996239361688508,
      10.015741849712764
    ],
    "vy_ego": [
      -0.000395471050899765,
      -0.010660625766040432,
      -0.022304493682174353,
      -0.018250834671170058,
      -0.018380827235203068,
      -0.0037694409389992245,
      -0.017505332045894217,
      -0.01609107390414044,
      0.003506986392365352,
      0.020748901061096614
    ],
    "v_ego": [
      9.823538314930449,
      9.889620184091285,
      9.953448302419242,
      9.983719153953567,
      9.98107463395042,
      9.990100951998867,
      9.998000377285122,
      9.990861025229423,
      9.996239976867512,
      10.015763341702066
    ],
    "ax_ego": [
      0.13181809786374585,
      0.13263775504578829,
      0.12418338027476451,
      -0.0028366124550244995,
      -0.00689624592718073,
      0.04301827632479242,
      -0.011452431318065682,
      -0.016757407403071044,
      0.038501444773208784,
      0.03925010488298001
    ],
    "ay_ego": [
      0.11772396703963858,
      0.11679970236749851,
      0.2732309722521824,
      0.15556369808046605,
      0.1992345386831553,
      0.09430357494423564,
      0.021660389696978564,
      0.10702514455741693,
      0.1409543105103444,
      0.1407476754726963
    ],
    "a_ego": [
      0.1767341035000489,
      0.17673410688580396,
      0.3001277663501657,
      0.15558955791019652,
      0.19935385527292382,
      0.10365199633976793,
      0.024501646167553452,
      0.10832909244708225,
      0.14611803071856339,
      0.1461180306611486
    ],
    "yaw": [
      1.8966769060845665,
      1.9036668084921682,
      1.9146670203621943,
      1.9249975031919715,
      1.9338956264705363,
      1.9397850914099481,
      1.9440574092258414,
      1.9471346333128001,
      1.9513799804902534,
      1.9566951918063857
    ],
    "yaw_diff": [
      0.013979804815203334,
      0.022000423740052177,
      0.020660965659554442,
      0.017796246557129525,
      0.011778929878823785,
      0.008544635631786424,
      0.006154448173917526,
      0.00849069435490657,
      0.010630422632264658,
      0.010630422632264658
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.962236626242795,
    "v_std": 0.05683320620541584,
    "vy_max": 0.022304493682174353,
    "a_max": 0.3001277663501657,
    "ax_avg": 0.04714663620619379,
    "a_std": 0.06779423139142685,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "93e2377357d9551e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "93e2377357d9551e",
    "road_shape": "Straight"
  },
  "3b1e0182cb145b8d": {
    "vx_ego": [
      5.7378193881014985,
      5.8570417399473085,
      6.108477816330707,
      6.433890561618829,
      6.753285188973235,
      7.05497316590262,
      7.253901385834948,
      7.344078950658672,
      7.447402270756217,
      7.582948078960551
    ],
    "vy_ego": [
      -0.13956042411994507,
      -0.12582080482812819,
      -0.09023956181715809,
      -0.016217938198885395,
      0.008989509938690077,
      0.06608913652560444,
      0.08640632272933013,
      0.04187870065595645,
      -0.0015747214514107988,
      -0.19907311583630527
    ],
    "v_ego": [
      5.739516394475583,
      5.85839302355284,
      6.109144327245946,
      6.433911001902907,
      6.753291172080041,
      7.055282711952281,
      7.254415990831087,
      7.344198353739938,
      7.4474024372402825,
      7.58556073561212
    ],
    "ax_ego": [
      0.17174092834425084,
      0.37212858467080523,
      0.6391228437549599,
      0.6598878859203703,
      0.6191967156856928,
      0.5933602117406784,
      0.2041967316837307,
      0.15465129184836426,
      0.26231777833074343,
      0.3069676835536253
    ],
    "ay_ego": [
      1.5525497881735042,
      1.5170451866864425,
      0.7747466035382282,
      0.1321460437518579,
      -0.253924944973801,
      -0.34251157114891406,
      0.010405707019948848,
      0.30140507164256747,
      0.6547395566778551,
      0.6350317710630518
    ],
    "a_ego": [
      1.562019779396579,
      1.5620197764361372,
      1.0043457119455668,
      0.6729893007052368,
      0.669240203810184,
      0.6851208048569539,
      0.20446169315767324,
      0.3387654635322632,
      0.7053329028955698,
      0.7053329065099365
    ],
    "yaw": [
      0.2677215819086116,
      0.3980995135174926,
      0.4883612424275068,
      0.5127198343165299,
      0.5042860433748834,
      0.47443477215984253,
      0.46008787639738213,
      0.4768537046868714,
      0.5151149233849828,
      0.5843242140423188
    ],
    "yaw_diff": [
      0.260755863217762,
      0.18052345782002832,
      0.048717183778046236,
      -0.01686758188329307,
      -0.05970254243008166,
      -0.028693791524920798,
      0.0335316565789785,
      0.07652243739622278,
      0.1384185813146721,
      0.1384185813146721
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.758111614863303,
    "v_std": 0.6489405077766647,
    "vy_max": 0.19907311583630527,
    "a_max": 1.562019779396579,
    "ax_avg": 0.39835706555332207,
    "a_std": 0.42821228077151596,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "3b1e0182cb145b8d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3b1e0182cb145b8d",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "ee5975ff12275983": {
    "vx_ego": [
      5.137210589101695,
      5.233070768834307,
      5.36319873705571,
      5.506659785748537,
      5.619684924495452,
      5.726391366548232,
      5.871146188861246,
      6.0198763934738695,
      6.153604197202632,
      6.279918521803361
    ],
    "vy_ego": [
      -0.03584747373066133,
      -0.018583133946766694,
      -0.011685012350866192,
      -0.012899699666534092,
      -0.045368752232544995,
      -0.024131259924086046,
      -0.028148702932684788,
      -0.014241272413739292,
      -0.009309487206506928,
      0.06514500774556542
    ],
    "v_ego": [
      5.1373356594787,
      5.233103763971757,
      5.363211466338952,
      5.50667489490996,
      5.619868056661169,
      5.7264422114069795,
      5.871213666735075,
      6.019893238799499,
      6.1536112391328315,
      6.280256404998372
    ],
    "ax_ego": [
      0.15841507503358654,
      0.23343037671476563,
      0.29089643072711463,
      0.28251336770818963,
      0.1665661161381576,
      0.2662218592978393,
      0.31181085597549413,
      0.2831398742044951,
      0.25206212387995663,
      0.2558484576973389
    ],
    "ay_ego": [
      0.9068163274658435,
      0.890461364788266,
      0.8629540939362049,
      0.7529598362977862,
      0.4161062330681004,
      0.47360520923302346,
      0.19799718216591256,
      0.036402095503806464,
      -0.15803332661337416,
      -0.15182691939146437
    ],
    "a_ego": [
      0.920549394522932,
      0.9205493919142952,
      0.9106648679130164,
      0.8042153430589419,
      0.44820605556314663,
      0.5433009963000753,
      0.36936282169407886,
      0.2854703153072234,
      0.29750604467029573,
      0.29750604491003074
    ],
    "yaw": [
      -0.1783256137578585,
      -0.09489745241677174,
      -0.013396630432046249,
      0.061108046889026435,
      0.11931230407373632,
      0.15485091568148596,
      0.18452523765834955,
      0.19203767133704866,
      0.18623539487850316,
      0.1617976604028296
    ],
    "yaw_diff": [
      0.1668563226821735,
      0.16300164396945097,
      0.14900935464214538,
      0.11640851436941976,
      0.07107722321549928,
      0.05934864395372719,
      0.01502486735739822,
      -0.011604552917091004,
      -0.04887546895134709,
      -0.04887546895134709
    ],
    "min_front_frame": [
      0,
      62.60263603157024
    ],
    "v_avg": 5.691161060243329,
    "v_std": 0.3695713563059417,
    "vy_max": 0.06514500774556542,
    "a_max": 0.920549394522932,
    "ax_avg": 0.25009045373769384,
    "a_std": 0.26476342786384593,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "ee5975ff12275983",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 19.765933992162083,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      62.60263603157024,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ee5975ff12275983",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "3a4e9626c9aa5fa0": {
    "vx_ego": [
      10.897132624120598,
      10.747240358443054,
      10.647324247877021,
      10.562542128676087,
      10.487714970470023,
      10.469143871144059,
      10.446492956163304,
      10.419400697995211,
      10.427095186412211,
      10.457915453818103
    ],
    "vy_ego": [
      -0.041523165664443695,
      0.02347752842082995,
      0.04885087540433952,
      0.0159825684792394,
      -0.0066921744336871924,
      -0.010204137158636772,
      -0.00555466461543519,
      -0.022823422208870348,
      -0.013920444995227932,
      0.0388046871792298
    ],
    "v_ego": [
      10.897211735162362,
      10.747266001941515,
      10.64743631337881,
      10.562554220573372,
      10.487717105596417,
      10.469148844062174,
      10.446494432941059,
      10.419425695017189,
      10.427104478487284,
      10.457987447064305
    ],
    "ax_ego": [
      -0.30039877518408886,
      -0.29896028926700163,
      -0.10208630749180383,
      -0.23837113152920036,
      -0.06073852645287308,
      -0.01347604298112156,
      -0.077166842814921,
      -0.03123622535239908,
      0.061784524920588155,
      0.06168204885440207
    ],
    "ay_ego": [
      0.25219084846064366,
      0.25389446106115404,
      0.1410058557443818,
      0.04834040432426222,
      0.14447471263343187,
      0.09956019758989851,
      -0.03515301484943789,
      -0.07000134806158742,
      0.02731550661900494,
      0.02754612335701187
    ],
    "a_ego": [
      0.39222397705826206,
      0.3922239818217942,
      0.17408120384325396,
      0.2432233357158488,
      0.15672303974265903,
      0.1004680878616124,
      0.0847965570234283,
      0.07665435737585546,
      0.06755341902165783,
      0.06755341636717242
    ],
    "yaw": [
      1.9372206862357144,
      1.9429054420532448,
      1.9497782696105888,
      1.9573290815673297,
      1.9640775116691371,
      1.97023844284096,
      1.9713327063152195,
      1.9704676773962135,
      1.9685876210003732,
      1.9648519629082182
    ],
    "yaw_diff": [
      0.011369511635060725,
      0.013745655114687949,
      0.015101623913481799,
      0.013496860203614958,
      0.01232186234364585,
      0.0021885269485188985,
      -0.0017300578380119447,
      -0.0037601127916806476,
      -0.007471316184310073,
      -0.007471316184310073
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.55623462742245,
    "v_std": 0.1518161194919279,
    "vy_max": 0.04885087540433952,
    "a_max": 0.3922239818217942,
    "ax_avg": -0.09989675672984191,
    "a_std": 0.12075258653380168,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "3a4e9626c9aa5fa0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "3a4e9626c9aa5fa0",
    "road_shape": "Straight"
  },
  "2ff39958d9f35279": {
    "vx_ego": [
      8.394407972341272,
      8.214675255323009,
      7.9326382514340885,
      7.470177666134372,
      6.836839610528698,
      6.089498720183892,
      5.346372002698102,
      4.601438044300333,
      3.8281068594428334,
      3.053737647487216
    ],
    "vy_ego": [
      0.00895956903289008,
      -0.00032557301601254807,
      -0.026333247084483702,
      -0.030454629471122097,
      -0.003323507773048462,
      -0.0008868915124602417,
      0.0068403891413000295,
      0.013786280959722674,
      -0.005179847422157824,
      -0.04416149267708036
    ],
    "v_ego": [
      8.394412753729945,
      8.214675261774742,
      7.932681959338676,
      7.4702397450195,
      6.836840418336391,
      6.089498784768564,
      5.346376378647291,
      4.601458696661003,
      3.8281103638913794,
      3.054056950535832
    ],
    "ax_ego": [
      -0.35949202217743265,
      -0.35940790196326516,
      -0.7687486746966619,
      -1.081354758510662,
      -1.4520071553556182,
      -1.5373693542959557,
      -1.4351376831096512,
      -1.5446287826161909,
      -1.548737511941789,
      -1.5487383133578942
    ],
    "ay_ego": [
      -0.04748333243653033,
      -0.048115907056094476,
      -0.14876335616682024,
      0.0981760916894574,
      -0.014395729689338665,
      0.006270667735217228,
      0.027241694041422626,
      0.013197644895007632,
      -0.07790052540344261,
      -0.077884606756212
    ],
    "a_ego": [
      0.3626143693629608,
      0.3626143688623863,
      0.783010255990233,
      1.0858023110737374,
      1.4520785158651728,
      1.537382142735569,
      1.4353962098931374,
      1.5446851633640917,
      1.5506954480986186,
      1.5506954488977598
    ],
    "yaw": [
      2.4481837683450474,
      2.446423926018941,
      2.4435669868560135,
      2.4424655782064004,
      2.4416063877933105,
      2.440916243432743,
      2.4410303170067253,
      2.441664679307589,
      2.4423266522678264,
      2.442336930121892
    ],
    "yaw_diff": [
      -0.0035196846522129732,
      -0.005713878325854793,
      -0.002202817299226112,
      -0.0017183808261798106,
      -0.0013802887211351589,
      0.00022814714796481894,
      0.0012687246017275555,
      0.0013239459204745785,
      2.0555708131198003e-05,
      2.0555708131198003e-05
    ],
    "min_front_frame": [
      9,
      16.772181168591505
    ],
    "v_avg": 6.176835131270332,
    "v_std": 1.8085711308519221,
    "vy_max": 0.04416149267708036,
    "a_max": 1.5506954488977598,
    "ax_avg": -1.163562215802512,
    "a_std": 0.4664430129273573,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2ff39958d9f35279",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 44.87056973737707,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      29.910397043532658,
      25.84784949668681,
      27.765742670224217,
      28.845251094070974,
      25.315361291357345,
      25.888570489475747,
      23.073483032473415,
      20.596652891939943,
      18.499737358542127,
      16.772181168591505
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2ff39958d9f35279",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "52c6827af61d5b87": {
    "vx_ego": [
      1.3196198608558067,
      0.9550802679208353,
      0.6256127191756581,
      0.41063893065869367,
      0.20666025787129186,
      0.027189973689271243,
      -0.016246191874418513,
      -0.013099439255326237,
      -0.007737665161265403,
      -0.0036593401042986757
    ],
    "vy_ego": [
      0.03113742813301556,
      0.02272645962413904,
      0.01644561687653944,
      0.011609636860979908,
      0.007496893117000225,
      0.008717062529696071,
      0.00674190633869145,
      0.0017855302936490088,
      0.001109443874265744,
      0.0007279727003684769
    ],
    "v_ego": [
      1.3199871653148139,
      0.9553506215724058,
      0.625828836590973,
      0.4108030124531212,
      0.2067961933639896,
      0.028553140779429043,
      0.017589543811597563,
      0.013220568340034414,
      0.007816797800762545,
      0.003731047339743951
    ],
    "ax_ego": [
      -0.7291597780280267,
      -0.7291819036568681,
      -0.5888093469672316,
      -0.2710704707415615,
      -0.5448357723588775,
      -0.17306269449332762,
      -0.0006971212070177893,
      0.013289515398643,
      0.008156785883473225,
      0.008156856861313837
    ],
    "ay_ego": [
      -0.013552666150178715,
      -0.012304643325067015,
      -0.00790408603638629,
      -0.011944563846399503,
      -0.004840543727317272,
      0.00991624555900698,
      -0.017838605515104362,
      -0.0019480868441254324,
      -0.0007622505919100814,
      -0.0007614939355560005
    ],
    "a_ego": [
      0.729285716748696,
      0.7292857141532468,
      0.588862396194602,
      0.2713335082763138,
      0.5448572746192076,
      0.17334655506031085,
      0.017852221842134544,
      0.013431539818018782,
      0.0081923245732634,
      0.008192324875751155
    ],
    "yaw": [
      3.1379327105583625,
      3.1396442630433015,
      3.1412341386921465,
      3.1409703768662305,
      3.14072673645384,
      3.14141869957116,
      -3.141428253982289,
      3.141166465740801,
      3.1413200759546145,
      3.1412261928864993
    ],
    "yaw_diff": [
      0.003423104969877855,
      0.0031797512976901032,
      -0.0005275236518320625,
      -0.0004872808247808891,
      0.0013839262346397874,
      0.0006767072522748663,
      -0.001181174912992411,
      0.00030722042762665325,
      -0.00018776613623039395,
      -0.00018776613623039395
    ],
    "min_front_frame": [
      5,
      9.052341550954973
    ],
    "v_avg": 0.3589676927366871,
    "v_std": 0.4439642864190805,
    "vy_max": 0.03113742813301556,
    "a_max": 0.729285716748696,
    "ax_avg": -0.3007213929309481,
    "a_std": 0.2932827623160214,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "52c6827af61d5b87",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.550495165967405,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      9.052341550954973,
      9.072551875331825,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "52c6827af61d5b87",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "49454db3d9ef54a1": {
    "vx_ego": [
      6.378329997472893,
      5.935355774623467,
      5.534710219297109,
      5.142908951227069,
      4.691446729037275,
      4.1986832213832965,
      3.700222057537747,
      3.244442855165728,
      2.8361832047617064,
      2.4421706222920907
    ],
    "vy_ego": [
      0.05793285199070208,
      0.017358931288971036,
      0.0075331004865484275,
      0.021452013566869876,
      0.03954820294085293,
      0.05261176637302167,
      0.06392756409600064,
      0.05141594089268464,
      0.03068400298139684,
      0.027533473152468346
    ],
    "v_ego": [
      6.378593087194254,
      5.935381159104412,
      5.534715345814525,
      5.1429536911679055,
      4.6916134188304985,
      4.199012835356246,
      3.7007742444710305,
      3.2448502337417393,
      2.8363491814322415,
      2.4423258260376266
    ],
    "ax_ego": [
      -0.8859748315129032,
      -0.8860243522528222,
      -0.7165081191200894,
      -0.850658372289133,
      -0.9551828520049186,
      -1.016095532397299,
      -0.9779137394255618,
      -0.845068153830941,
      -0.7882912759688223,
      -0.7882287268895896
    ],
    "ay_ego": [
      -0.07306799940606046,
      -0.07246493204878507,
      -0.01765387133047397,
      0.04327500178903915,
      0.027942342362961392,
      0.04718375440794309,
      0.008366089939285726,
      -0.06538343250244755,
      0.01367736609743464,
      0.016901684221466762
    ],
    "a_ego": [
      0.8889827527075659,
      0.8889827440180536,
      0.7167255708693259,
      0.8517584118313353,
      0.9555914688092287,
      1.0171904628130268,
      0.977949524882628,
      0.8475937575661097,
      0.7884099226366429,
      0.7884099142092934
    ],
    "yaw": [
      0.8636276597810887,
      0.8643083143890106,
      0.8620849661355366,
      0.8606820125638777,
      0.8606228164414189,
      0.8619069785944015,
      0.862558911141252,
      0.862054614975106,
      0.8646279298493331,
      0.8687183379008429
    ],
    "yaw_diff": [
      0.0013613092158437645,
      -0.004446696506947845,
      -0.002805907143317965,
      -0.00011839224491749789,
      0.0025683243059650973,
      0.001303865093701173,
      -0.001008592332292002,
      0.005146629748454146,
      0.008180816103019461,
      0.008180816103019461
    ],
    "min_front_frame": [
      9,
      11.518660058053388
    ],
    "v_avg": 4.410656902315048,
    "v_std": 1.2781573939028466,
    "vy_max": 0.06392756409600064,
    "a_max": 1.0171904628130268,
    "ax_avg": -0.8709945955692081,
    "a_std": 0.08885933692241094,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "49454db3d9ef54a1",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 9.173034144085273,
    "speed_mode": "decelerating",
    "front_frame": [
      28.107548304239693,
      26.088988483801632,
      24.11982021540623,
      22.094056281926655,
      20.08957043217259,
      18.055611989996166,
      16.066519765778967,
      14.368013666620126,
      12.838216095118193,
      11.518660058053388
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "49454db3d9ef54a1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a0d88b07304b5398": {
    "vx_ego": [
      3.594315700995802,
      4.555340119882555,
      5.4808837759406694,
      6.287996284623862,
      6.960476244724557,
      7.549792460339903,
      8.052442898704673,
      8.43053927535317,
      8.755709454200547,
      9.096190350222585
    ],
    "vy_ego": [
      -0.02092263594451116,
      0.03625745021785454,
      0.052874420585883986,
      0.051151212044518335,
      0.029805154064359574,
      -0.008705556558543215,
      -0.016714169286520697,
      -0.034402375542298635,
      -0.047942774637162344,
      -0.04161221505582846
    ],
    "v_ego": [
      3.594376596173502,
      4.555484410082852,
      5.48113881138965,
      6.2882043320758205,
      6.960540058112135,
      7.549797479463952,
      8.052460245189309,
      8.430609467690653,
      8.75584071097783,
      9.096285531134361
    ],
    "ax_ego": [
      1.920968992050106,
      1.922756790943704,
      1.7771556871500833,
      1.4507698893185494,
      1.2396752313510884,
      1.1177961648678743,
      0.89250945899057,
      0.6203386657401034,
      0.6804259951249232,
      0.6807101726712207
    ],
    "ay_ego": [
      0.19974861766277263,
      0.18173520066965232,
      0.08646745554332569,
      -0.048225377891029764,
      -0.10969493513970363,
      -0.1448383776563183,
      0.050319120277694196,
      0.038177017436387406,
      -0.06665932810592706,
      -0.0636919472914429
    ],
    "a_ego": [
      1.9313263263043325,
      1.9313263215424186,
      1.7792579793942254,
      1.4515712034985018,
      1.2445190468693832,
      1.1271408172164834,
      0.893926813700742,
      0.6215123046831414,
      0.683683406896259,
      0.6836834086972267
    ],
    "yaw": [
      2.6271568294366636,
      2.636529661553542,
      2.6465435900528655,
      2.6484479390386166,
      2.6457212754112907,
      2.6422657982589772,
      2.6402705699834454,
      2.6450814094231565,
      2.645829150759738,
      2.6414690017933626
    ],
    "yaw_diff": [
      0.018745664233756898,
      0.020027856998646953,
      0.003808697971502184,
      -0.005453327254651974,
      -0.0069109543046268485,
      -0.003990456551063559,
      0.009621678879422113,
      0.0014954826731630178,
      -0.008720297932750753,
      -0.008720297932750753
    ],
    "min_front_frame": [
      5,
      40.119849511639
    ],
    "v_avg": 6.876473764229006,
    "v_std": 1.7655161374086306,
    "vy_max": 0.052874420585883986,
    "a_max": 1.9313263263043325,
    "ax_avg": 1.2303107048208222,
    "a_std": 0.49246140638961533,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "a0d88b07304b5398",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.516168631883634,
    "right_rear_min": 29.276992508389867,
    "speed_mode": "accelerating",
    "front_frame": [
      48.728027321232574,
      46.65723256471615,
      44.14084599810113,
      41.25745399081506,
      43.7332198369426,
      40.119849511639,
      42.56581255115364,
      44.228310208208974,
      46.23403902537342,
      47.92008620337013
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a0d88b07304b5398",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "38f555fbc07f5185": {
    "vx_ego": [
      4.855201952659627,
      4.471501920197987,
      4.058957977885145,
      3.59856710660201,
      3.2224556476163464,
      3.0197963268401913,
      2.903984400918646,
      2.7895465878084167,
      2.6310370507657,
      2.443837878550184
    ],
    "vy_ego": [
      -0.01766557074805908,
      -0.020209264266088267,
      -0.0478384526145077,
      -0.05163030623484066,
      -0.03092866383509496,
      -0.009690726885668743,
      0.000929910769113862,
      -0.00938194990967256,
      -0.009111028946449773,
      0.0029200322517584087
    ],
    "v_ego": [
      4.855234090494474,
      4.471547588553259,
      4.059239877586198,
      3.5989374694817724,
      3.222604068622317,
      3.0198118758931134,
      2.903984549806157,
      2.7895623646976757,
      2.631052826028078,
      2.4438396230573347
    ],
    "ax_ego": [
      -0.767552235718552,
      -0.7674613851924268,
      -0.8827649096712659,
      -0.9590691077915895,
      -0.5454137186289538,
      -0.26517992697102666,
      -0.19808635654047596,
      -0.2596614175566075,
      -0.374396378975435,
      -0.3744053470807899
    ],
    "ay_ego": [
      -0.03066442207428166,
      -0.03285950855838482,
      -0.08553959042449122,
      0.05494104211094192,
      0.024549589202934735,
      0.0656917409873621,
      -0.01318589761473471,
      -0.024536937280763907,
      0.0220676401536605,
      0.021914865517451254
    ],
    "a_ego": [
      0.768164527518485,
      0.7681645169260144,
      0.8868996038317459,
      0.9606414896455346,
      0.5459659392294509,
      0.27319553162947174,
      0.19852474038110923,
      0.260818160906458,
      0.375046169600316,
      0.3750461641629397
    ],
    "yaw": [
      -2.1162590130151058,
      -2.119119040504328,
      -2.119579496628954,
      -2.1205845728300963,
      -2.120831382684459,
      -2.1204028821356022,
      -2.119554458884954,
      -2.119245766559229,
      -2.119571772046725,
      -2.119979834139085
    ],
    "yaw_diff": [
      -0.005720054978444189,
      -0.0009209122492519484,
      -0.0020101524022848594,
      -0.0004936197087257455,
      0.0008570010977138054,
      0.001696846501296534,
      0.0006173846514503367,
      -0.0006520109749921232,
      -0.0008161241847206568,
      -0.0008161241847206568
    ],
    "min_front_frame": [
      9,
      12.234821073666772
    ],
    "v_avg": 3.399581433422038,
    "v_std": 0.7771931713580459,
    "vy_max": 0.05163030623484066,
    "a_max": 0.9606414896455346,
    "ax_avg": -0.5393990784127124,
    "a_std": 0.26862031889599086,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "38f555fbc07f5185",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.834096552470175,
    "right_rear_min": 17.581451955344022,
    "speed_mode": "decelerating",
    "front_frame": [
      22.839797064694004,
      20.498911435566065,
      18.509633567537797,
      16.87986178734895,
      15.73905513747,
      14.684883354914582,
      13.921537685679732,
      13.333475158483182,
      12.724384871094983,
      12.234821073666772
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "38f555fbc07f5185",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ee9ddfe6625b5969": {
    "vx_ego": [
      3.5228508583795923,
      3.081109316516398,
      2.637936132010508,
      2.1911081054832273,
      1.7547652895858772,
      1.4105946922389436,
      1.1984426871330425,
      1.0281776506373912,
      0.8349513106751079,
      0.6301284147402126
    ],
    "vy_ego": [
      -0.20753860247452538,
      -0.049468973106625125,
      0.050431048337531426,
      0.10864042462958812,
      0.13005152341939785,
      0.10691837520481362,
      0.07615530084302746,
      0.05491388720993695,
      0.03758472630512116,
      0.02827908436043114
    ],
    "v_ego": [
      3.5289588325599537,
      3.0815064172615916,
      2.638418148664647,
      2.1937997793276383,
      1.7595779665246758,
      1.4146409172398193,
      1.2008599019823918,
      1.0296430528482825,
      0.8357968071544132,
      0.630762653995366
    ],
    "ax_ego": [
      -0.8838527886143923,
      -0.8848461090009424,
      -0.8882223173890118,
      -0.9018063407004193,
      -0.8460440726820808,
      -0.531449084807793,
      -0.318314752668757,
      -0.3632456397489785,
      -0.40963673738055817,
      -0.4096337218330502
    ],
    "ay_ego": [
      0.2953066177104244,
      0.29231680156873097,
      0.18374027102500684,
      0.12460613673410764,
      -0.0029355572022260468,
      -0.07982855786441176,
      -0.025802938854124963,
      -0.05101334371079169,
      -0.01881334564365386,
      -0.01887901233900402
    ],
    "a_ego": [
      0.9318807597568524,
      0.9318807590531529,
      0.9070277682101301,
      0.9103742996368471,
      0.8460491654842345,
      0.5374111353458844,
      0.31935884741162507,
      0.3668102452674953,
      0.410068529133968,
      0.4100685347227863
    ],
    "yaw": [
      -0.5941464405921247,
      -0.5975272431196554,
      -0.5908438350595303,
      -0.5830311641649053,
      -0.5784499397634022,
      -0.5768675947284639,
      -0.5734594425934354,
      -0.5716386383623757,
      -0.5717746664019092,
      -0.5719349961920276
    ],
    "yaw_diff": [
      -0.006761605055061404,
      0.013366816120250258,
      0.015625341789250013,
      0.009162448803006207,
      0.003164690069876519,
      0.006816304270057083,
      0.003641608462119361,
      -0.0002720560790669957,
      -0.00032065958023674845,
      -0.00032065958023674845
    ],
    "min_front_frame": [
      9,
      8.94644772044931
    ],
    "v_avg": 1.8313964477558777,
    "v_std": 0.942288769219961,
    "vy_max": 0.20753860247452538,
    "a_max": 0.9318807597568524,
    "ax_avg": -0.6437051564825984,
    "a_std": 0.2545651631541582,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ee9ddfe6625b5969",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5863370400009176,
    "right_rear_min": 23.503747477430426,
    "speed_mode": "decelerating",
    "front_frame": [
      17.128712972668037,
      15.473594671512659,
      14.062834361492646,
      12.822190960418828,
      11.84750271538729,
      11.06782204016462,
      10.373910547846922,
      9.82775794316301,
      9.345392123478005,
      8.94644772044931
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ee9ddfe6625b5969",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cc063cc1396551a6": {
    "vx_ego": [
      3.3227913105940283,
      2.960948490745022,
      2.6464333052445372,
      2.405064526033583,
      2.1596635396483608,
      1.914053641250553,
      1.6972019192438534,
      1.4968366465964091,
      1.2838362576728226,
      1.0409028633738875
    ],
    "vy_ego": [
      -0.034244704480489885,
      -0.03486582800170557,
      -0.03479070548834118,
      -0.019926664978129005,
      -0.001453546967067454,
      -0.00031843061547143225,
      -0.02325367261353306,
      -0.05516138869548182,
      -0.03745816253139139,
      0.02318830477192485
    ],
    "v_ego": [
      3.322967768959569,
      2.9611537600751956,
      2.646661979228912,
      2.4051470737487746,
      2.159664028798293,
      1.9140536677383313,
      1.6973612131703248,
      1.497852704840098,
      1.284382595045412,
      1.0411611155139022
    ],
    "ax_ego": [
      -0.7237731887391581,
      -0.7237627325635196,
      -0.5343648349401197,
      -0.4312379188847761,
      -0.5503758827306601,
      -0.4320556505227913,
      -0.43537895145923333,
      -0.36613723275126825,
      -0.4859030928921209,
      -0.48580838689431005
    ],
    "ay_ego": [
      -0.008317769817515364,
      -0.009182537427034454,
      0.004398084089232118,
      0.045176963484732297,
      0.025988282200451046,
      -0.024460765868111217,
      -0.07682452037261578,
      -0.05287937972450721,
      0.12289461150171968,
      0.12326842170739785
    ],
    "a_ego": [
      0.723820982033808,
      0.7238209806584855,
      0.5343829338257701,
      0.4335978559838293,
      0.550989113416303,
      0.4327475178617746,
      0.44210500823246046,
      0.36993607827137515,
      0.5012034529193586,
      0.5012034442889279
    ],
    "yaw": [
      1.131968121359853,
      1.1307733062365415,
      1.1303160303354973,
      1.1293329754298997,
      1.1290361841638918,
      1.128663676631763,
      1.1273425136692765,
      1.1270162298175492,
      1.1268743269109116,
      1.1276437041377
    ],
    "yaw_diff": [
      -0.0023896302466228647,
      -0.0009145518020883259,
      -0.0019661098111951603,
      -0.0005935825320158017,
      -0.0007450150642576148,
      -0.0026423259249730435,
      -0.0006525677034545652,
      -0.0002838058132752508,
      0.0015387544535769848,
      0.0015387544535769848
    ],
    "min_front_frame": [
      9,
      9.910401674532174
    ],
    "v_avg": 2.093040590711881,
    "v_std": 0.7055432241817505,
    "vy_max": 0.05516138869548182,
    "a_max": 0.723820982033808,
    "ax_avg": -0.5168797872377957,
    "a_std": 0.11340452884939735,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cc063cc1396551a6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.271384703872553,
      17.709521949247307,
      16.300622427127625,
      15.01203336869767,
      13.884358061010898,
      12.83244009781927,
      11.95882560976452,
      11.166902644621757,
      10.493392233961027,
      9.910401674532174
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cc063cc1396551a6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "81b16700f22d5688": {
    "vx_ego": [
      0.4653516585962865,
      0.162259386133208,
      -0.011481406972866998,
      -0.028097024242271524,
      -0.017195467090970043,
      -0.009487163332562117,
      -0.005957332754763858,
      -0.004182422633983836,
      -9.097367984801913e-05,
      0.006838844525303133
    ],
    "vy_ego": [
      -0.027468413912467404,
      0.005229304139650698,
      0.014312134841745485,
      0.00534501686048873,
      0.002681294437286837,
      0.0015372943769711486,
      0.001131267821923145,
      0.0008581004576865934,
      0.0007560882004756329,
      0.0006763514785884531
    ],
    "v_ego": [
      0.4661616456994091,
      0.16234362941030506,
      0.01834829446583262,
      0.0286009086658047,
      0.017403259129716454,
      0.009610907454563188,
      0.0060637925785683895,
      0.0042695427723284645,
      0.0007615415795106467,
      0.006872208215985413
    ],
    "ax_ego": [
      -0.6061841806601365,
      -0.6061864492610858,
      -0.08876652033392182,
      0.022298646483299777,
      0.021307901149089932,
      0.009525367988527999,
      0.004593675168217993,
      0.0025060987856006427,
      0.013859796088252333,
      0.013859818600194848
    ],
    "ay_ego": [
      0.06538419389000699,
      0.06536320498453968,
      -0.02903695413292564,
      -0.006857343733491962,
      -0.003795607698194446,
      -0.0007800841439717767,
      -0.0008455670612752069,
      -0.000246472056701644,
      -0.00016116574267737056,
      -0.00015944371880643408
    ],
    "a_ego": [
      0.609700216248319,
      0.6097002212838813,
      0.09339507394670334,
      0.02332922626377564,
      0.021643319735613134,
      0.009557257273326387,
      0.0046708495165458065,
      0.0025181897462113047,
      0.01386073309765928,
      0.013860735692226941
    ],
    "yaw": [
      -0.7398506638698208,
      -0.7398852971709464,
      -0.7400034859443454,
      -0.739811798959376,
      -0.7398334012960304,
      -0.739840128122846,
      -0.739786248086719,
      -0.739819713273338,
      -0.7398491903476723,
      -0.7399735800108673
    ],
    "yaw_diff": [
      -6.926660225126113e-05,
      -0.0002363775467979501,
      0.0003833739699388161,
      -4.320467330876099e-05,
      -1.3453653631367857e-05,
      0.00010776007225410389,
      -6.693037323790563e-05,
      -5.895414866863291e-05,
      -0.0002487793263901139,
      -0.0002487793263901139
    ],
    "min_front_frame": [
      2,
      8.940575994597951
    ],
    "v_avg": 0.0720435729972024,
    "v_std": 0.13907267540867696,
    "vy_max": 0.027468413912467404,
    "a_max": 0.6097002212838813,
    "ax_avg": -0.12131858459919606,
    "a_std": 0.23602568681679287,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "81b16700f22d5688",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.5866180532424705,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.09302816564079,
      8.956049555594522,
      8.940575994597951,
      9.0288517391331,
      9.052156806076868,
      9.086627937328696,
      9.079888631307083,
      9.061755168802199,
      9.192403444807285,
      9.323932215277113
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "81b16700f22d5688",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a9fc9ff67fef5b5c": {
    "vx_ego": [
      1.337854264893355,
      0.893274166960156,
      0.4804910258888797,
      0.14996238972437276,
      -0.00773312266777737,
      -0.022397341114929657,
      -0.0151082215254074,
      -0.008658481368696819,
      -0.005542349637735676,
      -0.0036222119153762316
    ],
    "vy_ego": [
      -0.027306234038531385,
      -0.01704244401391286,
      -0.023773105886908535,
      -0.05376828785635329,
      -0.03907782334446288,
      -0.0045132708751347275,
      -0.0021464111846486323,
      -0.0011091602059023907,
      -0.0007662456450989868,
      -0.000662682256601949
    ],
    "v_ego": [
      1.338132902409438,
      0.8934367253792113,
      0.48107877371929253,
      0.15931022286987212,
      0.03983563057786258,
      0.022847549168583878,
      0.01525992918182677,
      0.008729234558334846,
      0.0055950667462990955,
      0.0036823317250226925
    ],
    "ax_ego": [
      -0.8891599971843442,
      -0.8891598779432877,
      -0.7619594234310629,
      -0.5601267085683392,
      -0.0706413955610336,
      0.011982281833706141,
      0.017174640106445392,
      0.008624365599149855,
      0.0038402949263191743,
      0.0038402943325988696
    ],
    "ay_ego": [
      0.020537833295826036,
      0.0205429371223666,
      -0.046724297413368254,
      -0.07302429712073266,
      0.13178806813689298,
      0.006479423677162992,
      0.0029850690802273074,
      0.0011636216133661227,
      0.0002070225472077462,
      0.0002069713140152459
    ],
    "a_ego": [
      0.8893971571740885,
      0.8893971558363203,
      0.7633906751619192,
      0.5648667786492478,
      0.1495269262376003,
      0.01362196788759042,
      0.017432122653298757,
      0.008702510973672611,
      0.0038458709619753465,
      0.0038458676115820985
    ],
    "yaw": [
      -0.5809766520285563,
      -0.5809709098484324,
      -0.5806947108066494,
      -0.5804945811835438,
      -0.5804461879319831,
      -0.5805376575371765,
      -0.5804998484550286,
      -0.5804928792058982,
      -0.5804544666601965,
      -0.5804398446296992
    ],
    "yaw_diff": [
      1.1484360247893122e-05,
      0.000552398083565997,
      0.00040025924621112097,
      9.678650312139325e-05,
      -0.00018293921038670113,
      7.56181642957987e-05,
      1.3938498260701593e-05,
      7.682509140338745e-05,
      2.92440609945821e-05,
      2.92440609945821e-05
    ],
    "min_front_frame": [
      3,
      10.660033869005368
    ],
    "v_avg": 0.29679083663357436,
    "v_std": 0.4435380694579164,
    "vy_max": 0.05376828785635329,
    "a_max": 0.8893971571740885,
    "ax_avg": -0.3125585525889848,
    "a_std": 0.3761898449806703,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a9fc9ff67fef5b5c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 2.976665391214488,
    "speed_mode": "decelerating",
    "front_frame": [
      11.747359887794845,
      11.145263371699007,
      10.748893558270995,
      10.660033869005368,
      10.736841085846475,
      10.69597177800927,
      10.724545006461245,
      10.720979446001854,
      10.694428677566378,
      10.716736670258085
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a9fc9ff67fef5b5c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3d6cbc2a95885eef": {
    "vx_ego": [
      1.2237977589954552,
      1.5610366006067944,
      1.7967937480796223,
      1.8541762359875142,
      1.8154301876650565,
      1.728811637440836,
      1.5839028591933602,
      1.253575219490907,
      0.8052213768242404,
      0.3948111614898403
    ],
    "vy_ego": [
      -0.015711334557422907,
      0.012342379795841407,
      0.020797246814029724,
      0.020811894432768985,
      0.012117748095250458,
      -0.04824223174324782,
      -0.1016301244070078,
      -0.10467008667449074,
      -0.09426080071017767,
      -0.08632059103357398
    ],
    "v_ego": [
      1.2238986073020401,
      1.5610853925308,
      1.7969141044059564,
      1.8542930321420903,
      1.8154706293698286,
      1.729484602612707,
      1.5871600264459425,
      1.2579374618660981,
      0.810719781580078,
      0.4041374737305887
    ],
    "ax_ego": [
      0.6744516587032562,
      0.6745100457365261,
      0.2685253046171052,
      -0.03904732747568158,
      -0.11609245985444791,
      -0.23034117210754845,
      -0.34894355810342315,
      -0.972101108472999,
      -0.8208007805414308,
      -0.8207989481217622
    ],
    "ay_ego": [
      0.05920420800874271,
      0.05853519521800482,
      -0.025149101139330582,
      0.03231870795757936,
      -0.05669475652579786,
      -0.1675220909952354,
      -0.03958953605775317,
      0.03098373737543797,
      0.01597034074967263,
      0.016063801397676658
    ],
    "a_ego": [
      0.6770451817814791,
      0.6770451763942348,
      0.26970041992519295,
      0.05068720417462795,
      0.1291965736874477,
      0.2848169702445681,
      0.3511822007265533,
      0.9725947548060206,
      0.8209561334937956,
      0.8209561248648647
    ],
    "yaw": [
      2.2462976717379153,
      2.2472895730956743,
      2.2472269329220174,
      2.248180697323229,
      2.2495904151831274,
      2.2520007144833145,
      2.252964094187588,
      2.2535577669802516,
      2.254873205235379,
      2.2549870791560007
    ],
    "yaw_diff": [
      0.0019838027155181237,
      -0.00012528034731396076,
      0.0019075288024232862,
      0.0028194357197968145,
      0.004820598600374204,
      0.0019267594085468076,
      0.001187345585327293,
      0.0026308765102545095,
      0.0002277478412437972,
      0.0002277478412437972
    ],
    "min_front_frame": [
      9,
      9.27184883772907
    ],
    "v_avg": 1.4041101111986132,
    "v_std": 0.45783121058992715,
    "vy_max": 0.10467008667449074,
    "a_max": 0.9725947548060206,
    "ax_avg": -0.17306383456204055,
    "a_std": 0.3086476067164543,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "3d6cbc2a95885eef",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 25.982865557640526,
    "right_rear_min": 3.9036077886248144,
    "speed_mode": "decelerating",
    "front_frame": [
      12.689334945877787,
      12.865069890267524,
      12.739382530180258,
      12.34925339717964,
      11.731220821154364,
      11.090317380569891,
      10.311817692279385,
      9.627648232357096,
      9.312407925658917,
      9.27184883772907
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3d6cbc2a95885eef",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "53a7531622255064": {
    "vx_ego": [
      1.929043923797304,
      1.8912229384996597,
      1.853901131564403,
      1.8561772238107919,
      2.003799878893561,
      2.2973595104833286,
      2.676578593477059,
      3.1590760776621147,
      3.702082208186397,
      4.262993741874509
    ],
    "vy_ego": [
      0.008901942333889253,
      -0.033038705382695564,
      -0.08083711802261201,
      -0.09713800909029552,
      -0.057628650189953,
      -0.015473077515811784,
      0.019912210835029476,
      0.02129664702184242,
      -0.011367659972854716,
      -0.10896925929358003
    ],
    "v_ego": [
      1.929064463546155,
      1.8915115011970327,
      1.8556626970616117,
      1.8587172132963004,
      2.004628398476028,
      2.297411616697367,
      2.676652660170903,
      3.159147861628421,
      3.702099660984767,
      4.264386232827911
    ],
    "ax_ego": [
      -0.07576081667951133,
      -0.07370350270529126,
      -0.06759912898976143,
      0.09369406865084497,
      0.511694832259662,
      0.6700103187542658,
      0.8488440326349003,
      1.0748418116532414,
      1.1052010576036853,
      1.1559516744986063
    ],
    "ay_ego": [
      0.05475830894241328,
      0.05749754197217212,
      0.030400253290233513,
      0.19043290927306472,
      0.28237111116415287,
      0.2986178284227618,
      0.3879334413760458,
      0.35519371171901115,
      0.597764881562433,
      0.4925118853219395
    ],
    "a_ego": [
      0.09347819928827951,
      0.09347819876244177,
      0.07412029169049969,
      0.2122340015985953,
      0.5844356643646261,
      0.7335437510395129,
      0.9332891013387767,
      1.1320103766851035,
      1.256499992581637,
      1.2564999924232005
    ],
    "yaw": [
      -3.132004368624807,
      -3.0953544685884813,
      -3.0580829536042824,
      -3.019115702777354,
      -2.97721416313981,
      -2.928841706485269,
      -2.8735722822626233,
      -2.8097792861747366,
      -2.730765557765655,
      -2.6377359499905255
    ],
    "yaw_diff": [
      0.07329980007265124,
      0.07454302996839779,
      0.07793450165385707,
      0.08380307927508746,
      0.09674491330908186,
      0.11053884844529183,
      0.12758599217577338,
      0.15802745681816344,
      0.18605921555025873,
      0.18605921555025873
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.5639282305886497,
    "v_std": 0.8241353736973366,
    "vy_max": 0.10896925929358003,
    "a_max": 1.256499992581637,
    "ax_avg": 0.5243174347680641,
    "a_std": 0.4691010861331802,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "53a7531622255064",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "53a7531622255064",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "24b9908a6761529b": {
    "vx_ego": [
      5.059486146666006,
      5.1871537446236795,
      5.304476248490437,
      5.436854857653994,
      5.592193214464228,
      5.732339959388919,
      5.8406217391733115,
      5.924433934406458,
      5.9770696191869375,
      6.003905040486127
    ],
    "vy_ego": [
      0.03218453277777911,
      -0.011477194796289614,
      -0.0035569155999050084,
      0.015573884967035434,
      0.02270168530550143,
      0.016291867062728616,
      0.011240992744774969,
      0.020642282083479513,
      0.015410886006844426,
      -0.022660140612426438
    ],
    "v_ego": [
      5.059588512167304,
      5.187166441937626,
      5.304477441034863,
      5.4368771633253585,
      5.592239293379304,
      5.732363110876642,
      5.840632556497777,
      5.924469895860422,
      5.977089486364998,
      6.003947802666784
    ],
    "ax_ego": [
      0.2523287189399563,
      0.25715998148008745,
      0.21277400274554042,
      0.31603472693231566,
      0.3045591436536016,
      0.2552546647914561,
      0.17784529470553923,
      0.1568241370703137,
      0.05276640663735255,
      0.05480875261666942
    ],
    "ay_ego": [
      0.18642585525614963,
      0.17970288142426416,
      0.19779739282648395,
      0.12103088500261,
      0.10035544074647187,
      0.02667460802694854,
      0.12967312797248706,
      0.13932911328938677,
      0.12336540577104564,
      0.12247170209531533
    ],
    "a_ego": [
      0.31372660376491235,
      0.3137266033778807,
      0.2905109031573749,
      0.33841752872996744,
      0.32066725194574164,
      0.25664465435927153,
      0.22010013395513667,
      0.20977705255307433,
      0.13417643984870514,
      0.1341764404711905
    ],
    "yaw": [
      -0.14466432949358365,
      -0.11827479999981942,
      -0.10181186784068871,
      -0.09050571624464204,
      -0.08176408514365359,
      -0.07503079413142938,
      -0.06741581838683934,
      -0.05758620463003411,
      -0.04569702687679305,
      -0.02908197536388728
    ],
    "yaw_diff": [
      0.052779058987528465,
      0.032925864318261416,
      0.02261230319209334,
      0.017483262201976907,
      0.01346658202444842,
      0.015229951489180077,
      0.01965922751361046,
      0.02377835550648212,
      0.03323010302581154,
      0.03323010302581154
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.605885170411108,
    "v_std": 0.32591527787129876,
    "vy_max": 0.03218453277777911,
    "a_max": 0.33841752872996744,
    "ax_avg": 0.20403558295728325,
    "a_std": 0.07201328656120204,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "24b9908a6761529b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.2626793919118517,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "24b9908a6761529b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "166d08e80654527d": {
    "vx_ego": [
      1.0483127397370515,
      1.709701217832443,
      2.417043639613847,
      3.1750139385253178,
      3.8473490220831503,
      4.172759630942447,
      4.1416741920707265,
      3.9857423465896273,
      3.8223495321433574,
      3.6764555931676983
    ],
    "vy_ego": [
      -0.07314493733306049,
      -0.035839483746793244,
      0.007270861927757943,
      0.030495622968697234,
      0.025228369135178452,
      -0.012986778005961375,
      -0.0380625072671823,
      -0.03367331995524725,
      -0.00841386914668174,
      0.024425323577188518
    ],
    "v_ego": [
      1.0508614476478144,
      1.7100768178222217,
      2.417054575559047,
      3.1751603885237514,
      3.8474317366697224,
      4.1727798401096985,
      4.141849087994898,
      3.9858845876260136,
      3.8223587925612845,
      3.6765367297180513
    ],
    "ax_ego": [
      1.3221932877424234,
      1.321806857144568,
      1.5071587395863755,
      1.5255126174347975,
      1.1653179670737983,
      0.13679643250861037,
      -0.2625735356112878,
      -0.3622144750591533,
      -0.2916826781961934,
      -0.291805430137036
    ],
    "ay_ego": [
      0.050743538874264416,
      0.059971859654810444,
      0.04800338235406609,
      -0.03164897438244774,
      -0.1239364317820556,
      -0.17905536589606352,
      -0.0811666635224492,
      0.0063647793630285665,
      0.04579940299304211,
      0.045010665028390226
    ],
    "a_ego": [
      1.3231666549942236,
      1.3231666529749218,
      1.5079230056700583,
      1.525840884080718,
      1.1718900134005232,
      0.22533106311215945,
      0.2748324741925137,
      0.3622703912255568,
      0.2952564479807735,
      0.29525644620187136
    ],
    "yaw": [
      0.5953571423145665,
      0.5883765941202501,
      0.580477161884164,
      0.5736275201071208,
      0.564171137001575,
      0.5551022812889429,
      0.5455995094786453,
      0.5399349690142197,
      0.5367982113134515,
      0.5340946791139256
    ],
    "yaw_diff": [
      -0.013961096388632743,
      -0.01579886447217227,
      -0.013699283554086339,
      -0.018912766211091725,
      -0.018137711425264103,
      -0.019005543620595144,
      -0.01132908092885132,
      -0.0062735154015363115,
      -0.005407064399051809,
      -0.005407064399051809
    ],
    "min_front_frame": [
      0,
      10.02945284336481
    ],
    "v_avg": 3.1999994004232506,
    "v_std": 1.0457948475676093,
    "vy_max": 0.07314493733306049,
    "a_max": 1.525840884080718,
    "ax_avg": 0.5770509782486902,
    "a_std": 0.5487800113161033,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "166d08e80654527d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.392286497802647,
    "right_rear_min": 9.384816785238275,
    "speed_mode": "accelerating",
    "front_frame": [
      10.02945284336481,
      10.888884580717926,
      11.604488058970693,
      12.311542372555047,
      12.880471207948817,
      13.381754989656908,
      14.232014212914905,
      15.340918757971723,
      16.438223447505763,
      17.671550765656516
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "166d08e80654527d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "518661c5f7625f5b": {
    "vx_ego": [
      6.067573783344636,
      5.941692490552106,
      5.785544725542272,
      5.531866190068852,
      5.3162991091587966,
      5.32401286522759,
      5.460249857621749,
      5.614985610206962,
      5.856517020640064,
      6.178438330483494
    ],
    "vy_ego": [
      -0.05400417784932321,
      -0.03304531963680879,
      -0.015695702951503465,
      -0.008623342710203818,
      -0.021507866203883452,
      -0.01912860683550388,
      -0.01375386311606297,
      -0.009185289074740144,
      0.0125707860128772,
      0.024398600019686523
    ],
    "v_ego": [
      6.067814109508985,
      5.941784382273829,
      5.7855660160732025,
      5.531872911308283,
      5.316342615591217,
      5.324047228632402,
      5.460267179947236,
      5.6149931230916605,
      5.856530511976161,
      6.178486505226873
    ],
    "ax_ego": [
      -0.25194406903359884,
      -0.25197722883458173,
      -0.3727760705053395,
      -0.6419102035033964,
      -0.22041021836889418,
      0.24933775896182314,
      0.29512635684468247,
      0.322327360551128,
      0.6438209022992745,
      0.6444572483397939
    ],
    "ay_ego": [
      0.0148353589293303,
      0.014261145769545569,
      0.01643360977842312,
      -0.09295206156804095,
      -0.20436856461392655,
      -0.1330971926965817,
      -0.2069607881909522,
      -0.08865624166437218,
      -0.07915928720769558,
      -0.07379975255195467
    ],
    "a_ego": [
      0.25238047031370886,
      0.25238047493777205,
      0.37313812760390935,
      0.6486052691055791,
      0.30057806733655784,
      0.282637896871271,
      0.360461279963653,
      0.33429755689491425,
      0.648669058140345,
      0.6486690592393232
    ],
    "yaw": [
      2.776830609497249,
      2.774551582496067,
      2.7729056574468767,
      2.7683026475003847,
      2.756863353827222,
      2.74037665452982,
      2.7235960604549936,
      2.7094167263430027,
      2.6982309528133213,
      2.689910532211448
    ],
    "yaw_diff": [
      -0.004558054002363754,
      -0.003291850098380955,
      -0.009206019892983974,
      -0.02287858734632575,
      -0.03297339859480353,
      -0.03356118814965292,
      -0.02835866822398181,
      -0.02237154705936284,
      -0.016640841203746426,
      -0.016640841203746426
    ],
    "min_front_frame": [
      2,
      16.240721842986666
    ],
    "v_avg": 5.707770458362985,
    "v_std": 0.2890352873610038,
    "vy_max": 0.05400417784932321,
    "a_max": 0.6486690592393232,
    "ax_avg": 0.04160518367508912,
    "a_std": 0.1607121094209145,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "518661c5f7625f5b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.597963387646677,
    "right_rear_min": 11.916650478845668,
    "speed_mode": "quasi_constant",
    "front_frame": [
      22.080305337814448,
      19.139479918768327,
      16.240721842986666,
      20.939620018944307,
      19.27789501615356,
      18.320635791439738,
      17.90014149272472,
      17.740250904021888,
      17.852767585240308,
      17.92866459945483
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "518661c5f7625f5b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f9ff7b08b88e5365": {
    "vx_ego": [
      6.7472576849802195,
      6.657690432397115,
      6.620262587114838,
      6.633212786375206,
      6.665909926849148,
      6.7359654345631705,
      6.819026091240099,
      6.9427111521166545,
      7.121969905214641,
      7.305978924907724
    ],
    "vy_ego": [
      0.07452230276417893,
      0.0014587340924004377,
      -0.003398944685404748,
      0.003887646907471759,
      0.003603206490457145,
      -0.0024175972373548515,
      0.017842870125241883,
      0.028398868395406285,
      0.011450156467910921,
      -0.12707837218049822
    ],
    "v_ego": [
      6.74766921545017,
      6.657690592205171,
      6.620263459650033,
      6.633213925626853,
      6.665910900691895,
      6.735965868411612,
      6.819049435297234,
      6.942769234062954,
      7.12197910954997,
      7.307084026057992
    ],
    "ax_ego": [
      -0.18046887581300003,
      -0.17559676626380094,
      0.026324873165217328,
      0.02874096042553616,
      0.10128796733254797,
      0.18069532855460244,
      0.1475161365953462,
      0.3465309639759787,
      0.37008624042880667,
      0.3709034495996383
    ],
    "ay_ego": [
      -0.33757063033406864,
      -0.34013044623675154,
      -0.3810282546299566,
      -0.5578711224837519,
      -0.4893299012637055,
      -0.5751996636291491,
      -0.2798688482984807,
      0.039746617488446975,
      0.04152320056238738,
      0.03344596292524656
    ],
    "a_ego": [
      0.382783157415982,
      0.38278315634248544,
      0.3819365520260084,
      0.5586109845925549,
      0.4997029163384051,
      0.6029141355122983,
      0.31636621628096584,
      0.3488029566902981,
      0.3724083800610195,
      0.37240837982100833
    ],
    "yaw": [
      -3.0540427827698924,
      -3.068420876566476,
      -3.094944721270525,
      -3.131462776448932,
      3.1123456308840405,
      3.073475748457379,
      3.038970191090856,
      3.0286746807827356,
      3.033976142704064,
      3.055776443973877
    ],
    "yaw_diff": [
      -0.028756187593167226,
      -0.05304768940809801,
      -0.07303611035681357,
      -0.07875379969322793,
      -0.07773976485332312,
      -0.06901111473304589,
      -0.02059102061624074,
      0.010602923842657042,
      0.04360060253962583,
      0.04360060253962583
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.825159576700388,
    "v_std": 0.21918353093110035,
    "vy_max": 0.12707837218049822,
    "a_max": 0.6029141355122983,
    "ax_avg": 0.12160202780008729,
    "a_std": 0.09140351552336257,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f9ff7b08b88e5365",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f9ff7b08b88e5365",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "09d424ddf3a558b3": {
    "vx_ego": [
      7.395294594739126,
      7.044313899316269,
      6.504984307962212,
      5.876177421077462,
      5.387711350511978,
      4.948849157328547,
      4.5744736976802,
      4.32631220259505,
      4.140820123925059,
      3.99017794177421
    ],
    "vy_ego": [
      0.06518130134585232,
      -0.011051386980622108,
      -0.05567839587849198,
      -0.03676349437005216,
      -0.03266000502190952,
      -0.012338102915869786,
      0.036068029085920106,
      0.0637273697477001,
      0.09637396819787658,
      0.12133719617527228
    ],
    "v_ego": [
      7.395581839518976,
      7.044322568228585,
      6.505222588859064,
      5.8762924228206055,
      5.3878103411649185,
      4.948864537525252,
      4.574615886988776,
      4.326781535041698,
      4.141941482016489,
      3.992022384981971
    ],
    "ax_ego": [
      -0.7021419798471735,
      -0.7013718845388199,
      -1.4570919954202277,
      -1.0612215183748492,
      -0.8889512019424102,
      -0.8634353801477705,
      -0.6246799832511905,
      -0.33223988561055445,
      -0.3626970502704527,
      -0.16751779458211047
    ],
    "ay_ego": [
      -0.20504257421258265,
      -0.20766147011221478,
      -0.24477895929312396,
      -0.40577924411371924,
      -0.8171625054318092,
      -1.0617064796154483,
      -1.1165894633436486,
      -1.2306593428769177,
      -1.210249535037875,
      -1.2522742819924886
    ],
    "a_ego": [
      0.7314682611729857,
      0.7314682539869396,
      1.477509330606858,
      1.1361548776532722,
      1.2074720699537722,
      1.3684813862630187,
      1.2794518791751275,
      1.274717913814959,
      1.2634290986574117,
      1.2634290992538746
    ],
    "yaw": [
      -1.5454475149499634,
      -1.5491794236762213,
      -1.5591490543013928,
      -1.5887107479437752,
      -1.643922431493727,
      -1.7387265853975615,
      -1.8638806017257856,
      -2.0028712071680914,
      -2.1542963708710126,
      -2.3124853608719613
    ],
    "yaw_diff": [
      -0.007463817452515897,
      -0.019939261250343066,
      -0.05912338728476474,
      -0.11042336709990375,
      -0.1896083078076689,
      -0.2503080326564482,
      -0.2779812108846116,
      -0.3028503274058423,
      -0.31637798000189754,
      -0.31637798000189754
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.4193455587146335,
    "v_std": 1.1718623350475497,
    "vy_max": 0.12133719617527228,
    "a_max": 1.477509330606858,
    "ax_avg": -0.7161348673985558,
    "a_std": 0.23694249256530703,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "09d424ddf3a558b3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.9548260526574435,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "09d424ddf3a558b3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "024d012881be5995": {
    "vx_ego": [
      3.301099964282771,
      2.8700660616662637,
      2.4507960601972147,
      2.065635587389581,
      1.7403264771829452,
      1.4562108073644704,
      1.2142827233604006,
      1.0225000183258075,
      0.8437968911260012,
      0.6664906406863893
    ],
    "vy_ego": [
      0.0011723223339010769,
      0.007045188085348597,
      0.0034267922851473065,
      -0.0050742909883015885,
      0.0017199716020201983,
      0.006964867581426226,
      0.0008083320737619082,
      -0.009267675794572383,
      -0.023280024357951234,
      -0.035839457964129795
    ],
    "v_ego": [
      3.30110017244666,
      2.870074708610153,
      2.4507984559289153,
      2.065641819948302,
      1.7403273271101365,
      1.456227463298749,
      1.2142829924083975,
      1.0225420173718582,
      0.8441179733947214,
      0.6674535495970609
    ],
    "ax_ego": [
      -0.8620571899454692,
      -0.8620627788665164,
      -0.8150437683577642,
      -0.7255956006215387,
      -0.5756433677265245,
      -0.5608116875608227,
      -0.4068913267079756,
      -0.3602422039693882,
      -0.35459840609559135,
      -0.3546032888040255
    ],
    "ay_ego": [
      0.006406803295005092,
      0.005604998229192137,
      -0.010337880426799173,
      -0.012751109553442996,
      0.0393498968919897,
      -0.019413755501922647,
      -0.009790780387390507,
      -0.03271088580083609,
      -0.024856210317158636,
      -0.02478633606199021
    ],
    "a_ego": [
      0.862080997276439,
      0.8620810000877004,
      0.8151093277042923,
      0.7257076315129775,
      0.5769867426492093,
      0.5611476123156065,
      0.40700910448142397,
      0.36172427008786356,
      0.35546850886803566,
      0.3554685005538592
    ],
    "yaw": [
      1.10100538547371,
      1.1000752814492956,
      1.100992639435984,
      1.1022070559499277,
      1.1021303325163743,
      1.1019669291146175,
      1.1010971788894617,
      1.1006033562642341,
      1.100196442154164,
      1.1003934860170315
    ],
    "yaw_diff": [
      -0.0018602080488290262,
      0.0018347159733766993,
      0.0024288330278876558,
      -0.00015344686710694333,
      -0.0003268068035136018,
      -0.0017395004503115707,
      -0.000987645250455138,
      -0.0008138282201404223,
      0.00039408772573512607,
      0.00039408772573512607
    ],
    "min_front_frame": [
      9,
      10.40455758945325
    ],
    "v_avg": 1.7632566480114953,
    "v_std": 0.8452563339626221,
    "vy_max": 0.035839457964129795,
    "a_max": 0.8620810000877004,
    "ax_avg": -0.5877549618655615,
    "a_std": 0.20340221155648378,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "024d012881be5995",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.2226667251905887,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.831142374228989,
      14.94726784992334,
      14.216607889925074,
      13.543705602190206,
      12.98618613307151,
      12.40931926005306,
      11.742236485216385,
      11.252924510109716,
      10.806005298317347,
      10.40455758945325
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "024d012881be5995",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "70297f5b95955dce": {
    "vx_ego": [
      9.323177679703603,
      9.33396217540383,
      9.325338647228477,
      9.331399992164094,
      9.328006912911496,
      9.3399002549099,
      9.35372673426989,
      9.26350227501559,
      9.176148385747378,
      9.137183045537542
    ],
    "vy_ego": [
      -0.0760724110383908,
      -0.004430036858744657,
      -0.02781575653154622,
      -0.020625306995807335,
      -0.025047997624668028,
      -0.005688981282863992,
      -0.020263756098055197,
      -0.0172909465130493,
      -0.009437991947648605,
      -0.0199878687626196
    ],
    "v_ego": [
      9.323488030723516,
      9.333963226684363,
      9.325380131758944,
      9.33142278631982,
      9.32804054287446,
      9.339901987503618,
      9.353748683774139,
      9.263518412355552,
      9.176153239399733,
      9.13720490755003
    ],
    "ax_ego": [
      0.020312506233115868,
      0.024769871572943275,
      -0.058851244230895675,
      0.08368836721121986,
      -0.09651341946551134,
      0.1454985967115781,
      -0.08965951581203174,
      -0.2714723254969798,
      -0.07788847197470307,
      -0.07781992566893939
    ],
    "ay_ego": [
      0.36891373946036965,
      0.3686412827719111,
      0.2811475605154743,
      0.18756649292350225,
      0.1585506764146748,
      0.30661715904169984,
      0.26617699224800284,
      0.060459330383262164,
      0.02631621742325975,
      0.026518218740873508
    ],
    "a_ego": [
      0.36947252275656967,
      0.36947251846579904,
      0.28724104813088047,
      0.20538970780957402,
      0.18561561660721507,
      0.33938757175807355,
      0.2808718924667282,
      0.2781232714843017,
      0.08221409469198324,
      0.0822140909838944
    ],
    "yaw": [
      2.465618158387048,
      2.477704870819789,
      2.497600454210475,
      2.509413586767873,
      2.5191386766018447,
      2.529557331662917,
      2.5463839189945148,
      2.5548163404653303,
      2.556321504330738,
      2.5589161709897614
    ],
    "yaw_diff": [
      0.024173424865481685,
      0.039791166781371956,
      0.02362626511479604,
      0.0194501796679436,
      0.02083731012214507,
      0.03365317466319517,
      0.016864842941631153,
      0.003010327730815554,
      0.005189333318046607,
      0.005189333318046607
    ],
    "min_front_frame": [
      9,
      68.37405458056651
    ],
    "v_avg": 9.291282194894418,
    "v_std": 0.07142496749499759,
    "vy_max": 0.0760724110383908,
    "a_max": 0.36947252275656967,
    "ax_avg": -0.039793556092020385,
    "a_std": 0.10102873342528784,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "70297f5b95955dce",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 21.713917698069753,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      77.52197249661289,
      72.9319536210132,
      68.37405458056651
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 7,
    "token": "70297f5b95955dce",
    "smoothness": "No"
  },
  "483bb60b0a0451e6": {
    "vx_ego": [
      2.78203134705235,
      2.9235130622781327,
      3.0786225585657903,
      3.1914000655184376,
      3.2063946100255243,
      3.1481411125298306,
      3.0728961209025436,
      2.994032866337545,
      2.916207575533268,
      2.834814987016966
    ],
    "vy_ego": [
      -0.0021427859088646306,
      0.04473418773388038,
      0.050773355633147554,
      0.058010567648639766,
      0.05964409708474472,
      0.0320660060923561,
      0.004819968930004803,
      -0.010607407653905332,
      -0.007779111274510253,
      -0.0065032432094009884
    ],
    "v_ego": [
      2.782032172264254,
      2.923855292736471,
      3.079041213064941,
      3.19192725546025,
      3.2069493001165124,
      3.1483044155778956,
      3.0728999010638773,
      2.9940516565026987,
      2.916217951074618,
      2.8348224464308593
    ],
    "ax_ego": [
      0.2377459081921673,
      0.3373294896386262,
      0.2939467844750781,
      0.1644206040915514,
      -0.09804873869817408,
      -0.1334200252823015,
      -0.1674431518200322,
      -0.14783539161437764,
      -0.16303572225218346,
      -0.16218102776524057
    ],
    "ay_ego": [
      -0.7269709081821099,
      -0.6864536646297006,
      -0.5168059481772834,
      -0.2984016959613183,
      -0.17337468930903555,
      -0.08050058884199487,
      -0.052772136206562584,
      0.030730406951979865,
      0.07042253653502129,
      0.07236915479373551
    ],
    "a_ego": [
      0.76485934537354,
      0.764859345411561,
      0.5945528573429438,
      0.34070178632114884,
      0.19917916069033784,
      0.15582441384532106,
      0.1755622608968976,
      0.15099556591241575,
      0.17759498974441118,
      0.17759498960429426
    ],
    "yaw": [
      -1.8064678630262603,
      -1.947146460192152,
      -2.049121868186509,
      -2.1160678438324956,
      -2.153065016644302,
      -2.164345297226923,
      -2.1662947634806304,
      -2.1630229418655205,
      -2.1554275148264677,
      -2.1434564532868565
    ],
    "yaw_diff": [
      -0.2813571943317834,
      -0.20395081598871379,
      -0.1338919512919734,
      -0.07399434562361318,
      -0.022560561165241744,
      -0.0038989325074147985,
      0.006543643230219942,
      0.015190854078105609,
      0.023942123079222277,
      0.023942123079222277
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.015010160429237,
    "v_std": 0.14093032773380512,
    "vy_max": 0.05964409708474472,
    "a_max": 0.764859345411561,
    "ax_avg": 0.016147872896511352,
    "a_std": 0.24372898081195293,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "483bb60b0a0451e6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "483bb60b0a0451e6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8db638d42ddc59f2": {
    "vx_ego": [
      0.5058123291305521,
      0.35442379023893034,
      0.20898054888131196,
      0.06556516883420907,
      -0.012269574747662876,
      -0.012510874919718758,
      -0.006785058912960512,
      -0.004019385095767332,
      -0.002715605710413389,
      -0.0020281700750781366
    ],
    "vy_ego": [
      -0.023846931815354466,
      -0.017934783843333607,
      -0.013443331086860674,
      -0.011616844030236911,
      -0.006301250905279037,
      -0.00041185178496198384,
      0.00034315951554197196,
      0.00022188567840171806,
      7.52390337237798e-05,
      3.2456068393287496e-05
    ],
    "v_ego": [
      0.5063741585601305,
      0.3548772739396486,
      0.20941249475961402,
      0.06658635317751822,
      0.013793049969450789,
      0.01251765206217301,
      0.006793731147569197,
      0.004025504912722919,
      0.0027166478031989158,
      0.0020284297497862734
    ],
    "ax_ego": [
      -0.3027868672836004,
      -0.30279001664235583,
      -0.27898434669784544,
      -0.29469408119468254,
      -0.01664569598923423,
      0.015680877145582243,
      0.007222379611461148,
      0.0038402445387918454,
      0.0013748743053758885,
      0.0013748781089016982
    ],
    "ay_ego": [
      0.011631485825634641,
      0.011549121551741398,
      0.006391035291874486,
      0.0007158785313735871,
      0.02054706558502016,
      0.003005095604457532,
      1.4865141186227396e-05,
      -0.000500877440261054,
      -8.54473548608306e-05,
      -8.540684305068634e-05
    ],
    "a_ego": [
      0.303010195310205,
      0.3030101918861724,
      0.279057540723281,
      0.29469495070877927,
      0.026443545509653738,
      0.01596623022653668,
      0.007222394909202361,
      0.0038727711432362047,
      0.0013775269892221875,
      0.0013775282730953272
    ],
    "yaw": [
      2.206371871947063,
      2.2060998577755706,
      2.206076837454189,
      2.2057194538136913,
      2.2057020473373585,
      2.205784819829142,
      2.2057874082371276,
      2.205833781208146,
      2.2058129362849668,
      2.205783163548559
    ],
    "yaw_diff": [
      -0.0005440283429845039,
      -4.6040642763145456e-05,
      -0.0007147672809955097,
      -3.481295266549722e-05,
      0.00016554498356669,
      5.176815971452697e-06,
      9.274594203656505e-05,
      -4.168984635821715e-05,
      -5.9545472815614175e-05,
      -5.9545472815614175e-05
    ],
    "min_front_frame": [
      8,
      8.45845412647325
    ],
    "v_avg": 0.11791252960818126,
    "v_std": 0.17088801919300678,
    "vy_max": 0.023846931815354466,
    "a_max": 0.303010195310205,
    "ax_avg": -0.11664077540976056,
    "a_std": 0.1402126923629397,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8db638d42ddc59f2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.803164383812717,
      8.647311131990534,
      8.519140226046058,
      8.477400075089403,
      8.487579054638875,
      8.47999571219215,
      8.497926278317697,
      8.49713552612473,
      8.45845412647325,
      8.504729512282625
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8db638d42ddc59f2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "520e72270acb562a": {
    "vx_ego": [
      4.525933990510438,
      4.4482753973152,
      4.412652318692126,
      4.503978637586836,
      4.725073107887968,
      4.994491409301234,
      5.21944457202812,
      5.461304701299122,
      5.802553465881271,
      6.2547247472509
    ],
    "vy_ego": [
      0.10097210075465979,
      -0.007817757543402859,
      -0.05404832763442502,
      -0.06316926953988222,
      -0.039146640569614366,
      0.0440240262634333,
      0.12256561564217994,
      0.14694584617009765,
      0.14452768241092429,
      0.09293470021473693
    ],
    "v_ego": [
      4.527060177597439,
      4.448282267088354,
      4.412983311477517,
      4.504421597103536,
      4.725235267619375,
      4.9946854307826305,
      5.220883447330687,
      5.463281259658753,
      5.804353105677998,
      6.255415135894406
    ],
    "ax_ego": [
      -0.16883895347845643,
      -0.13162761344040616,
      -0.006894846958874878,
      0.3555436777756508,
      0.5288117235725118,
      0.5848764997163074,
      0.42003707044496896,
      0.6482179657059535,
      0.8007146593099579,
      1.0669376064755902
    ],
    "ay_ego": [
      -0.6925109394307218,
      -0.7005370545758055,
      -1.0382363536345192,
      -1.2454277479242684,
      -1.654415931570317,
      -1.986752170281461,
      -2.264692547137637,
      -2.1385140011579082,
      -1.9066044089277208,
      -1.771419905541513
    ],
    "a_ego": [
      0.7127958988679166,
      0.7127958988755211,
      1.0382592474535868,
      1.295183995463946,
      1.7368747547308674,
      2.071054008479377,
      2.303315756384424,
      2.2345980990353436,
      2.06791787500773,
      2.0679178750280593
    ],
    "yaw": [
      2.1583212138523793,
      2.104909567632606,
      2.0169766845949706,
      1.8898439296786345,
      1.7271285201908646,
      1.5231184839189131,
      1.3014299083251601,
      1.0903918871698504,
      0.9111326180124588,
      0.7666205362177698
    ],
    "yaw_diff": [
      -0.10682329243954669,
      -0.1758657660752707,
      -0.25426550983267227,
      -0.3254308189755397,
      -0.40802007254390293,
      -0.443377151187506,
      -0.42207604231061957,
      -0.3585185383147831,
      -0.289024163589378,
      -0.289024163589378
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.03566010002307,
    "v_std": 0.6056012432959953,
    "vy_max": 0.14694584617009765,
    "a_max": 2.303315756384424,
    "ax_avg": 0.4097777789123203,
    "a_std": 0.5960555395812508,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "520e72270acb562a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.168800567590917,
    "right_rear_min": 13.447617578495445,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "520e72270acb562a",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "1309e3cfb6f25c6e": {
    "vx_ego": [
      0.43857982374668036,
      0.15806325075123914,
      -0.008671787093549118,
      -0.02927433716662875,
      -0.018333433989826287,
      -0.01068783737683867,
      -0.0068425582514937645,
      -0.0047757900712299215,
      -0.0036564787251045557,
      -0.0030021942166222723
    ],
    "vy_ego": [
      -0.0461587141699773,
      -0.021916721574045797,
      -0.0017324617189380834,
      0.0033999296248756142,
      0.00032076082570133696,
      0.0003415439741466745,
      0.0003350188693234078,
      0.00032120884256510007,
      0.00026299508237485176,
      6.0858506416215175e-05
    ],
    "v_ego": [
      0.441002141368378,
      0.15957548033016647,
      0.00884315073960808,
      0.029471110226789356,
      0.018336239782644162,
      0.0106932932289368,
      0.006850754780890069,
      0.004786579773178371,
      0.0036659245873988723,
      0.00300281099507169
    ],
    "ax_ego": [
      -0.5610587755755537,
      -0.5610868665620334,
      -0.1058741946428443,
      0.023463974955815828,
      0.020299655536140368,
      0.010282734703064397,
      0.005098416838178025,
      0.0031686478863785835,
      0.0013085674671393678,
      0.001308568241842762
    ],
    "ay_ego": [
      0.048299531187555256,
      0.04797215160674895,
      0.032727355324709016,
      -0.012197936538234042,
      -0.00011791538451300272,
      0.00020104813879527183,
      -0.0002265056841710732,
      0.00017098790318928513,
      -0.0004042436127755986,
      -0.00040423512970697397
    ],
    "a_ego": [
      0.5631339044696893,
      0.5631339087270292,
      0.11081707845734176,
      0.02644518437292388,
      0.02029999800305062,
      0.010284699962940964,
      0.00510344580462838,
      0.003173257993118198,
      0.001369584504338965,
      0.0013695827407092537
    ],
    "yaw": [
      -0.5315889003185696,
      -0.5321723989098656,
      -0.5326995417552911,
      -0.5326985852251434,
      -0.5327075073801768,
      -0.5327076765306418,
      -0.5327277477216041,
      -0.532715825187431,
      -0.5326914347432554,
      -0.5326958384897214
    ],
    "yaw_diff": [
      -0.0011669971825918335,
      -0.0010542856908510867,
      1.91306029551086e-06,
      -1.7844310066905678e-05,
      -3.383009299362527e-07,
      -4.014238192473485e-05,
      2.3845068346295406e-05,
      4.8780888351140916e-05,
      -8.80749293186156e-06,
      -8.80749293186156e-06
    ],
    "min_front_frame": [
      1,
      8.543629734955939
    ],
    "v_avg": 0.0686227485813062,
    "v_std": 0.13204015234464164,
    "vy_max": 0.0461587141699773,
    "a_max": 0.5631339087270292,
    "ax_avg": -0.11630892711518721,
    "a_std": 0.21850411834353842,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1309e3cfb6f25c6e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 23.63717554765778,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.683629470018086,
      8.543629734955939,
      8.57339912357442,
      8.567299649834704,
      8.579237769604923,
      8.576231851481428,
      8.573435462757056,
      8.557114001414725,
      8.570910866919512,
      8.571169854190847
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1309e3cfb6f25c6e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aa10437e9b425118": {
    "vx_ego": [
      4.1605535703983225,
      3.410909539828256,
      2.6984854872254687,
      2.0884805645775617,
      1.6479348270178977,
      1.3583155170662704,
      1.1127283432394157,
      0.8560279576420369,
      0.6437980227502615,
      0.4846682068425019
    ],
    "vy_ego": [
      0.05888934010570557,
      0.04502077162023843,
      0.048327881242727244,
      0.04495403631812667,
      0.01456281039185281,
      -0.012084475474825052,
      -0.013500328663785033,
      -0.005477419144791218,
      0.0014011791902319715,
      0.004242694057310703
    ],
    "v_ego": [
      4.160970315507227,
      3.4112066426366914,
      2.698918210852616,
      2.0889643209015087,
      1.647999171585052,
      1.3583692717558473,
      1.1128102375168756,
      0.8560454814934103,
      0.6437995475303392,
      0.4846867763584954
    ],
    "ax_ego": [
      -1.4993164411730997,
      -1.4993243373169984,
      -1.3501091510596939,
      -1.0897911053513563,
      -0.672249284430934,
      -0.48623978071028245,
      -0.49617500425903577,
      -0.5306641050291983,
      -0.3182556074369624,
      -0.31825811698001355
    ],
    "ay_ego": [
      -0.02561207698516399,
      -0.025145034850903913,
      0.018993704675751677,
      -0.03773668874599012,
      -0.09093882419097654,
      -0.01786793976123513,
      0.007065978532070777,
      0.021744985379677673,
      0.005210939902663525,
      0.005055955885631208
    ],
    "a_ego": [
      1.4995351844019742,
      1.4995351750621624,
      1.3502427487649904,
      1.0904442722947572,
      0.6783722946606385,
      0.486567968136513,
      0.49622531465461317,
      0.5311094395278645,
      0.3182982650906836,
      0.31829827475746936
    ],
    "yaw": [
      -0.7364367827122411,
      -0.7361252726816161,
      -0.737721078241651,
      -0.7382767455729846,
      -0.7392556200841869,
      -0.7396302486476046,
      -0.7406689542952138,
      -0.7414985028386467,
      -0.7416915112913806,
      -0.7421785254559641
    ],
    "yaw_diff": [
      0.0006230200612500347,
      -0.003191611120069826,
      -0.0011113346626672183,
      -0.0019577490224045313,
      -0.0007492571268354897,
      -0.0020774112952184343,
      -0.001659097086865735,
      -0.00038601690546768985,
      -0.0009740283291670426,
      -0.0009740283291670426
    ],
    "min_front_frame": [
      8,
      11.2548808233623
    ],
    "v_avg": 1.8463769976138065,
    "v_std": 1.1699779469151925,
    "vy_max": 0.05888934010570557,
    "a_max": 1.4995351844019742,
    "ax_avg": -0.8260382933747575,
    "a_std": 0.45828975402388666,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aa10437e9b425118",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.661507453223534,
    "speed_mode": "decelerating",
    "front_frame": [
      14.027720311759971,
      13.198529411372686,
      12.510827564553034,
      12.186481820718491,
      11.763897989163286,
      11.617963216328956,
      11.381731887214151,
      11.274788127715862,
      11.2548808233623,
      11.448366354902666
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aa10437e9b425118",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cae6cbccfd535659": {
    "vx_ego": [
      1.793863593033479,
      2.3132886688828145,
      2.8385873764590004,
      3.3276009332663326,
      3.7224779297960224,
      4.019075430436914,
      4.252216908723527,
      4.444679641111077,
      4.601780911720266,
      4.877094599212741
    ],
    "vy_ego": [
      -0.031432843740420324,
      -0.015688722158121893,
      -0.013506680719840514,
      -0.018601596045535684,
      -0.011339837954271736,
      -4.940724840896138e-05,
      0.045100680155663264,
      0.04140279080961551,
      0.04828512701183785,
      0.10487513586151916
    ],
    "v_ego": [
      1.7941389617520134,
      2.313341868722515,
      2.8386195102930682,
      3.327652925178708,
      3.7224952021115234,
      4.0190754307406,
      4.252456079747888,
      4.444872473220589,
      4.602034225531526,
      4.878222065854737
    ],
    "ax_ego": [
      1.038745621920471,
      1.0386899305188997,
      1.0624308327556482,
      0.8940339881306109,
      0.694295555457192,
      0.5166401378765466,
      0.48145513647534754,
      0.3417766011024004,
      0.3503609348820226,
      0.8054635029067185
    ],
    "ay_ego": [
      0.01868628543295142,
      0.021560508512005916,
      -0.06715210348729994,
      -0.23214205708388724,
      -0.6323044363425807,
      -1.1063964161951463,
      -1.6621243057515804,
      -1.8493191888986877,
      -2.0741349090328467,
      -1.9431976081735463
    ],
    "a_ego": [
      1.0389136847314255,
      1.038913676533644,
      1.0645509285105288,
      0.9236810632463264,
      0.9390714661547968,
      1.2210774184442854,
      1.7304497265764958,
      1.8806362507114474,
      2.1035181020281475,
      2.103518100451278
    ],
    "yaw": [
      -0.5844973165650676,
      -0.5872643912095772,
      -0.5925423009951168,
      -0.6150044342672719,
      -0.6779056459751964,
      -0.792336873574724,
      -0.9699535615066137,
      -1.1695134175792692,
      -1.3870747836555117,
      -1.6126824870840641
    ],
    "yaw_diff": [
      -0.005534149289019075,
      -0.010555819571079317,
      -0.04492426654431014,
      -0.12580242341584902,
      -0.22886245519905524,
      -0.35523337586377934,
      -0.39911971214531095,
      -0.4351227321524851,
      -0.4512154068571048,
      -0.4512154068571048
    ],
    "min_front_frame": [
      4,
      32.13721128754533
    ],
    "v_avg": 3.619290874315317,
    "v_std": 0.9764648994801242,
    "vy_max": 0.10487513586151916,
    "a_max": 2.1035181020281475,
    "ax_avg": 0.7223892242025857,
    "a_std": 0.4663183482226441,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "cae6cbccfd535659",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      37.925195303230396,
      36.842570617612765,
      35.518454021166754,
      33.931544648111604,
      32.13721128754533,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "cae6cbccfd535659",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ad84af7b33615884": {
    "vx_ego": [
      9.068321164877693,
      9.163958182679053,
      9.339654328059636,
      9.527585087475703,
      9.701390961946647,
      9.878124155610712,
      10.078103998900497,
      10.262298393016714,
      10.400092484253262,
      10.512506584683845
    ],
    "vy_ego": [
      -0.03298680625233574,
      -0.09608006731267693,
      -0.1575707091195182,
      -0.10985080012149791,
      -0.06542255858011567,
      -0.024833027131857643,
      0.007300647359303747,
      0.010217891502922516,
      -0.010911778622163804,
      -0.0011468657438538643
    ],
    "v_ego": [
      9.068381160866334,
      9.164461847442281,
      9.340983433023286,
      9.528218343288358,
      9.701611552093356,
      9.878155369951232,
      10.07810664321955,
      10.262303479853838,
      10.400098208571585,
      10.512506647242713
    ],
    "ax_ego": [
      0.07036526571142365,
      0.34307920694636945,
      0.3726478271792744,
      0.3804820156436248,
      0.31737145154155216,
      0.3900762849171154,
      0.4099687690031589,
      0.3265397886608126,
      0.22477923129774627,
      0.22493134666923073
    ],
    "ay_ego": [
      2.1764991684067416,
      2.1504410144253336,
      1.388808380315242,
      0.38613973453209416,
      0.19139955093878291,
      0.11335362059258414,
      0.13033442510205423,
      -0.018652175118379716,
      0.06725907613317424,
      0.0667486254742646
    ],
    "a_ego": [
      2.1776363104737846,
      2.1776363100301226,
      1.437934324068829,
      0.5420982003408162,
      0.37061897732463667,
      0.4062124460872489,
      0.43018769615674557,
      0.32707206731131117,
      0.23462626908573952,
      0.23462627669793787
    ],
    "yaw": [
      1.3145893591988496,
      1.4404767910171645,
      1.5427115829896396,
      1.5846891149033895,
      1.5950769516856464,
      1.5987166536018242,
      1.60160251878811,
      1.6040584871841292,
      1.6072759695564809,
      1.609546088647071
    ],
    "yaw_diff": [
      0.25177486363662993,
      0.20446958394495018,
      0.08395506382749973,
      0.02077567356451393,
      0.007279403832355591,
      0.005771730372571504,
      0.004911936792038496,
      0.0064349647447032865,
      0.004540238181180101,
      0.004540238181180101
    ],
    "min_front_frame": [
      3,
      27.98498765578144
    ],
    "v_avg": 9.793482668555255,
    "v_std": 0.4896888332442921,
    "vy_max": 0.1575707091195182,
    "a_max": 2.1776363104737846,
    "ax_avg": 0.30602411875703084,
    "a_std": 0.7481258191616658,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "ad84af7b33615884",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.450474294871125,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      37.525132758147116,
      39.08451433634621,
      27.98498765578144,
      28.638695313711867,
      29.156835784837515,
      29.53005231903664,
      29.73809851358166,
      29.884402046341492,
      29.988558788241036
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ad84af7b33615884",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "39c08e30ff9255ef": {
    "vx_ego": [
      1.0221791918630596,
      0.5106958365727885,
      0.14384298610608925,
      -0.005206444079833771,
      -0.03170537445078776,
      -0.015949139449464488,
      -0.009436940681217868,
      -0.006015965852816226,
      -0.004370225257913259,
      -0.003527675397509044
    ],
    "vy_ego": [
      -0.023486635767730246,
      -0.002889365334625249,
      0.0061817976441001996,
      0.004088763440944118,
      0.0019370683284151754,
      0.0004361220633354781,
      0.00020866318403720777,
      0.0001201488899738876,
      0.00011262156811997492,
      0.00012148837670151124
    ],
    "v_ego": [
      1.0224489827553762,
      0.5107040100927516,
      0.14397575932784376,
      0.006620048824022169,
      0.03176449279893533,
      0.0159551011163387,
      0.009439247308191331,
      0.006017165520243965,
      0.0043716761570945315,
      0.0035297667254174402
    ],
    "ax_ego": [
      -1.0229663974039156,
      -1.0229642009728994,
      -0.44444452616809005,
      -0.1517586519454599,
      0.04576254748132381,
      0.01726257423467054,
      0.008786116377299754,
      0.004897822979319044,
      0.0016851253751675793,
      0.00168512634045988
    ],
    "ay_ego": [
      0.04124881930238761,
      0.04130317820708079,
      -0.0051096682492817735,
      -0.003225925259324247,
      -0.005386045659965116,
      -0.0006119189479578393,
      -0.00030282750952265007,
      -5.00548937465645e-05,
      1.864051181241016e-05,
      1.8861436528418672e-05
    ],
    "a_ego": [
      1.0237976925698684,
      1.0237976894885672,
      0.4444738974905003,
      0.1517929347304478,
      0.04607841403338059,
      0.017273416396485698,
      0.00879133354480301,
      0.004898078748768098,
      0.0016852284707760854,
      0.0016852318941616383
    ],
    "yaw": [
      -2.0669230090812114,
      -2.0668698708687927,
      -2.066959246832345,
      -2.0666801815170546,
      -2.0666500785431765,
      -2.0667218265831147,
      -2.066616145694661,
      -2.066656405442761,
      -2.0665879561873552,
      -2.0667170920849203
    ],
    "yaw_diff": [
      0.00010627642483740374,
      -0.0001787519271045923,
      0.0005581306305808553,
      6.0205947756131195e-05,
      -0.00014349607987629298,
      0.00021136177690728175,
      -8.05194962003597e-05,
      0.0001368985108118892,
      -0.0002582717951300495,
      -0.0002582717951300495
    ],
    "min_front_frame": [
      9,
      8.384439238202711
    ],
    "v_avg": 0.1754826250626215,
    "v_std": 0.3194483151191605,
    "vy_max": 0.023486635767730246,
    "a_max": 1.0237976925698684,
    "ax_avg": -0.25620544637021236,
    "a_std": 0.3971502583518315,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "39c08e30ff9255ef",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      8.820187675055559,
      8.433440657764619,
      8.41070733028671,
      8.436855400463507,
      8.455885666471813,
      8.460483148536476,
      8.452987855579348,
      8.447527922638313,
      8.415354894971701,
      8.384439238202711
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "39c08e30ff9255ef",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "c7c04f1581855ac4": {
    "vx_ego": [
      4.011577667625598,
      3.428244327260872,
      2.8157446517259976,
      2.1605585634137046,
      1.54274618251021,
      0.9736952988676867,
      0.4472188279563154,
      0.08658711070339212,
      -0.04089611256416493,
      -0.05677749782656686
    ],
    "vy_ego": [
      0.07158147800680004,
      0.0230654358521456,
      0.0009608320039335982,
      0.028280492915732314,
      0.09707770946817157,
      0.14281621317814777,
      0.1350901032229037,
      0.06451551206878084,
      -0.0120819172761656,
      -0.030701453534685633
    ],
    "v_ego": [
      4.012216256806963,
      3.4283219192087837,
      2.8157448156609823,
      2.160743643336675,
      1.5457974852241845,
      0.984113309423046,
      0.46717664332390935,
      0.10797953064103626,
      0.04264346078742856,
      0.06454659951219945
    ],
    "ax_ego": [
      -1.166576795274315,
      -1.1663058449520443,
      -1.2836985097928204,
      -1.336881101663912,
      -1.1335958396584713,
      -1.1409399774325333,
      -0.9641973406841593,
      -0.4781610341345657,
      -0.0317695077426876,
      -0.03176541867503459
    ],
    "ay_ego": [
      -0.11324043053543015,
      -0.11599781142152438,
      -0.016694730966235694,
      0.05435739302405801,
      0.18997573557577735,
      -0.021368732918295108,
      -0.013370771547064286,
      -0.2691911988951724,
      -0.0372266063219845,
      -0.0372300935142321
    ],
    "a_ego": [
      1.172060072854775,
      1.17206007364123,
      1.2838070641986445,
      1.3379857271893771,
      1.1494043273794268,
      1.1411400680242032,
      0.964290044184927,
      0.5487275062608558,
      0.04893998202354291,
      0.04893998045237353
    ],
    "yaw": [
      1.2203946136160053,
      1.2180306878176492,
      1.2145019376459594,
      1.2073254415100303,
      1.2031015083998742,
      1.2002529342758765,
      1.1988601171919695,
      1.198540441832289,
      1.198753488774602,
      1.1986437264582492
    ],
    "yaw_diff": [
      -0.004727851596712185,
      -0.007057500343379708,
      -0.014352992271858156,
      -0.008447866220312239,
      -0.005697148247995276,
      -0.0027856341678140772,
      -0.0006393507193611647,
      0.0004260938846263329,
      -0.0002195246327056921,
      -0.0002195246327056921
    ],
    "min_front_frame": [
      7,
      8.581932367009028
    ],
    "v_avg": 1.5629283663925206,
    "v_std": 1.4005327144333848,
    "vy_max": 0.14281621317814777,
    "a_max": 1.3379857271893771,
    "ax_avg": -0.8733891370010545,
    "a_std": 0.46710771665764683,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c7c04f1581855ac4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.226275030658273,
      13.382656612548523,
      11.804624551175689,
      10.58476717640979,
      9.643196813257484,
      8.995373424340828,
      8.677274336428914,
      8.581932367009028,
      8.609970627593906,
      8.596191079412236
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c7c04f1581855ac4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c505de060d305ef5": {
    "vx_ego": [
      9.97602170601925,
      10.107147054351218,
      10.24957382175306,
      10.397735216666405,
      10.561264674498302,
      10.714949298661816,
      10.743668942423193,
      10.664645084120915,
      10.604268959839388,
      10.586304459092071
    ],
    "vy_ego": [
      0.025617908686327295,
      0.02344941386032917,
      0.026004314936111106,
      0.04552764882229887,
      0.06220154222924501,
      0.07402541792144435,
      0.038619351166580884,
      0.04731599495363836,
      0.02907663196634669,
      -0.0497687743519144
    ],
    "v_ego": [
      9.97605459869846,
      10.10717425660065,
      10.249606809627426,
      10.397834890144777,
      10.561447843769406,
      10.715205002023609,
      10.743738353044215,
      10.664750047405839,
      10.604308823451891,
      10.586421445960536
    ],
    "ax_ego": [
      0.2604546436488743,
      0.2629301048875675,
      0.3059020610352279,
      0.2854416842618124,
      0.3676704045542093,
      0.2410925958605539,
      -0.13104247358073057,
      -0.19185751784411165,
      -0.06526847237679095,
      -0.004149194315059002
    ],
    "ay_ego": [
      0.2222746267011786,
      0.2193408048795737,
      0.2678882960834317,
      0.3575264437812459,
      0.7037507013162277,
      0.9270258279929654,
      1.1936101348864092,
      1.300223384509844,
      1.060521755255801,
      1.0625201935678472
    ],
    "a_ego": [
      0.3424071130590169,
      0.3424071096537081,
      0.4066204743050756,
      0.45749547879414565,
      0.7940066599142215,
      0.9578635213561604,
      1.2007819468936518,
      1.3143021558148404,
      1.0625282899091417,
      1.0625282949422663
    ],
    "yaw": [
      1.7234427841885864,
      1.7346536287524077,
      1.7463759464013884,
      1.759626531161798,
      1.783375547127242,
      1.8205284801340054,
      1.8730010500174585,
      1.9303766018860602,
      1.9876588573418148,
      2.0452200493013475
    ],
    "yaw_diff": [
      0.02242168912764253,
      0.02344463529796137,
      0.026501169520819268,
      0.04749803193088775,
      0.07430586601352696,
      0.10494513976690634,
      0.11475110373720332,
      0.11456451091150921,
      0.11512238391906537,
      0.11512238391906537
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.460654207072682,
    "v_std": 0.253273248430391,
    "vy_max": 0.07402541792144435,
    "a_max": 1.3143021558148404,
    "ax_avg": 0.1331173836131553,
    "a_std": 0.35755033244509754,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "c505de060d305ef5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "c505de060d305ef5",
    "road_shape": "Curve"
  },
  "8898650e43665faf": {
    "vx_ego": [
      -0.049108205233732646,
      0.08304689282472939,
      0.43586972071000885,
      1.0252933890944298,
      1.5642296794948565,
      2.002556591785104,
      2.4048748006825367,
      2.8101900494851253,
      3.2002051720624847,
      3.601252096993984
    ],
    "vy_ego": [
      -0.003590932048998189,
      0.0021065737264433747,
      0.009740849067424687,
      0.005948857486896497,
      0.005197670773705365,
      0.004825323997760589,
      0.019234271006883352,
      0.029826332988413418,
      0.013172719845016667,
      -0.05587028029672925
    ],
    "v_ego": [
      0.049239319798905924,
      0.08307360628206188,
      0.4359785517343433,
      1.0253106468900737,
      1.5642383149616472,
      2.002562405283205,
      2.4049517176315693,
      2.810348327941707,
      3.2002322827950462,
      3.6016854602149815
    ],
    "ax_ego": [
      0.26430541794396006,
      0.2643181002258458,
      1.146842767033909,
      1.210233167230864,
      0.9488129814256698,
      0.8063971579511381,
      0.8103412782104272,
      0.8067053364987214,
      0.7514016556853971,
      0.8569760239248634
    ],
    "ay_ego": [
      0.01157927989913532,
      0.011286031660508566,
      0.023700804344312876,
      0.04249727284952315,
      0.21941013501635237,
      0.31103852598887305,
      0.5675607732913004,
      0.6915372009825671,
      0.8339672073715767,
      0.7250502311870265
    ],
    "a_ego": [
      0.26455894178332723,
      0.2645589397802355,
      1.1470876428697854,
      1.2109790820923767,
      0.9738515703482551,
      0.8643039633144138,
      0.9893322083864085,
      1.0625427992689607,
      1.1225443203445922,
      1.1225443168652312
    ],
    "yaw": [
      0.2436570334259634,
      0.2447664903876423,
      0.2522253359067994,
      0.280371677980534,
      0.33025292079643653,
      0.4040506758791394,
      0.4971382492579303,
      0.613641249981889,
      0.7455925935731291,
      0.8808231935747602
    ],
    "yaw_diff": [
      0.0022189139233578237,
      0.014917691038314196,
      0.05629268414746913,
      0.09976248563180512,
      0.14759551016540573,
      0.18617514675758184,
      0.23300600144791728,
      0.26390268718248033,
      0.27046120000326224,
      0.27046120000326224
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.717762063353354,
    "v_std": 1.228664840045195,
    "vy_max": 0.05587028029672925,
    "a_max": 1.2109790820923767,
    "ax_avg": 0.7866333886130796,
    "a_std": 0.3324848628689626,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "8898650e43665faf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "8898650e43665faf",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "2dad1998a320527d": {
    "vx_ego": [
      5.6017221433728395,
      5.378979060741978,
      5.165629359052751,
      4.928411632283219,
      4.586112949229428,
      4.079915380798114,
      3.4568604887658383,
      2.9062415558774095,
      2.435997221611366,
      1.948707000587552
    ],
    "vy_ego": [
      0.011415010290775296,
      -0.009454253392242595,
      -0.023371930461425716,
      -0.013652306556804827,
      0.009615990081934367,
      0.019866117760764412,
      0.007176054400661602,
      0.01628920011719326,
      0.033408341522281226,
      0.02074237315604044
    ],
    "v_ego": [
      5.601733773932276,
      5.378987369273872,
      5.1656822320233005,
      4.928430541531337,
      4.5861230304425,
      4.079963747033532,
      3.4568679370995863,
      2.906287205206878,
      2.4362262992139225,
      1.9488173901582153
    ],
    "ax_ego": [
      -0.44583981975345405,
      -0.4450973357477762,
      -0.40879724002322454,
      -0.5403702572134322,
      -0.828837154172806,
      -1.1959938162437578,
      -1.2962879592087146,
      -0.9061790149695592,
      -0.9745219377856239,
      -0.9744733743258044
    ],
    "ay_ego": [
      -0.11208615241692921,
      -0.11499917407390511,
      -0.043895584633309004,
      0.0282127823929256,
      0.05295860055088719,
      -0.0037934655859956923,
      -0.033295199669923004,
      0.08065687489218465,
      -0.031249743923056184,
      -0.032729410476109
    ],
    "a_ego": [
      0.45971344383368157,
      0.4597134415344509,
      0.41114718264984607,
      0.5411062520164237,
      0.83052732737074,
      1.1959998323053642,
      1.2967154828683716,
      0.9097614734855363,
      0.9750228477941961,
      0.9750228569526116
    ],
    "yaw": [
      -2.0853153120461485,
      -2.091854520569125,
      -2.096753363719539,
      -2.099447232799402,
      -2.1000679824280004,
      -2.099601849330763,
      -2.0986978655604576,
      -2.097827308046944,
      -2.0996063971150485,
      -2.1011247801255006
    ],
    "yaw_diff": [
      -0.013078417045952584,
      -0.009797686300828445,
      -0.005387738159726041,
      -0.0012414992571967431,
      0.0009322661944750621,
      0.0018079675406106333,
      0.001741115027027007,
      -0.003558178136208845,
      -0.0030367660209043024,
      -0.0030367660209043024
    ],
    "min_front_frame": [
      9,
      10.79026041580999
    ],
    "v_avg": 4.048911952591543,
    "v_std": 1.2311744231301653,
    "vy_max": 0.033408341522281226,
    "a_max": 1.2967154828683716,
    "ax_avg": -0.8016397909444153,
    "a_std": 0.3045177276031187,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2dad1998a320527d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 36.48137860836337,
    "right_rear_min": 20.491465769371167,
    "speed_mode": "decelerating",
    "front_frame": [
      28.98635102928047,
      26.283136705868685,
      23.661426398580787,
      21.174446515446693,
      18.817607357534136,
      16.581987547414602,
      14.756121056153335,
      13.191393572927966,
      11.875496604879869,
      10.79026041580999
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2dad1998a320527d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2248832a822755d9": {
    "vx_ego": [
      6.370763414844778,
      6.3748492115196225,
      6.384309018401864,
      6.400783280117636,
      6.466814224124009,
      6.5248420972397865,
      6.519361815045341,
      6.537415470633925,
      6.594144831939831,
      6.65805003476011
    ],
    "vy_ego": [
      -0.0018874540809940069,
      -0.06671097585352781,
      -0.10471394176814908,
      -0.06608627306411319,
      -0.07431582993590258,
      -0.05006410429860475,
      -0.04317277856493895,
      -0.015441301170464605,
      -0.0009280147275729234,
      0.04457634036667818
    ],
    "v_ego": [
      6.370763694441005,
      6.375198257616126,
      6.38516770743322,
      6.40112443204481,
      6.467241224193796,
      6.525034161477755,
      6.51950476372863,
      6.537433706697577,
      6.594144897241045,
      6.658199254715165
    ],
    "ax_ego": [
      -0.05493308348856656,
      0.08636206879211261,
      -0.028483416690823493,
      0.0991204619197508,
      0.16958444293429392,
      0.06253654076372576,
      -0.08175860507973194,
      0.1669764438450859,
      0.058895227586890406,
      0.2054414404241447
    ],
    "ay_ego": [
      1.2777256055576105,
      1.2759866586691293,
      1.0106251029456956,
      0.5050648661351472,
      0.24441560757253245,
      -0.2575934390968415,
      -0.765012785889888,
      -1.3088317654684263,
      -1.354079685638271,
      -1.3396993036369855
    ],
    "a_ego": [
      1.2789059256877044,
      1.2789059230559778,
      1.01102641099547,
      0.5146993151105789,
      0.29748591985232675,
      0.2650758359346082,
      0.7693692430033782,
      1.3194399278096554,
      1.3553598942313259,
      1.3553598819534873
    ],
    "yaw": [
      -0.006813692762948459,
      0.1037322260165597,
      0.19900918291710834,
      0.25236274610451165,
      0.2828039687339583,
      0.2785720968907624,
      0.23843416770831175,
      0.15441902768241714,
      0.05111971775162744,
      -0.057576575727814994
    ],
    "yaw_diff": [
      0.22109183755901632,
      0.1905539138010973,
      0.10670712637480662,
      0.0608824452588933,
      -0.0084637436863918,
      -0.08027585836490131,
      -0.16803028005178922,
      -0.2065986198615794,
      -0.21739258695888486,
      -0.21739258695888486
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.483381209958912,
    "v_std": 0.09478940859310253,
    "vy_max": 0.10471394176814908,
    "a_max": 1.3553598942313259,
    "ax_avg": 0.0683741521006882,
    "a_std": 0.42448979240401896,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "2248832a822755d9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "2248832a822755d9",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d2f121776fd05b4b": {
    "vx_ego": [
      1.9156624309378505,
      3.3577171346414687,
      4.692141214170479,
      5.679500470705547,
      6.093606515628818,
      6.083652792162791,
      6.063520271719309,
      6.315989881597103,
      6.881733986778239,
      7.566745667698104
    ],
    "vy_ego": [
      0.07548995842448303,
      0.04016665360496097,
      0.030486773656091426,
      0.05179447271479054,
      0.03151373958339754,
      0.04188028715945924,
      0.036326663917468416,
      0.026145376788968555,
      -0.019693270157256304,
      -0.09546620867602584
    ],
    "v_ego": [
      1.9171492594812864,
      3.3579573726190652,
      4.692240255686528,
      5.679736636865158,
      6.093688003425882,
      6.083796943853623,
      6.063629087606066,
      6.3160439964557265,
      6.881762164567169,
      7.567347870729018
    ],
    "ax_ego": [
      2.8843623243663843,
      2.8846991815686747,
      2.4537817089964262,
      1.497006064607326,
      0.1592983554939944,
      -0.19812373832185276,
      0.11760382891973799,
      0.8917417529597691,
      1.3711620629804901,
      1.3710475960500872
    ],
    "ay_ego": [
      -0.09569483378301902,
      -0.08493587797179436,
      -0.0550733482520811,
      -0.041423439341150226,
      -0.021168952537744493,
      -0.07651377206452885,
      0.051637757992985665,
      -0.008618200619417204,
      -0.005209741782335575,
      -0.018467401658319393
    ],
    "a_ego": [
      2.8859493272469305,
      2.8859493189433905,
      2.454399671832833,
      1.497579065958777,
      0.16069875735249572,
      0.2123849641621757,
      0.1284411095682576,
      0.8917833971058658,
      1.3711719601736145,
      1.3711719642549336
    ],
    "yaw": [
      2.2138162063885582,
      2.210086331952673,
      2.203878039053148,
      2.1953147888574764,
      2.1960800368785676,
      2.1904081971413447,
      2.1902979271356138,
      2.1937340333199535,
      2.2002154426238487,
      2.2098846912311982
    ],
    "yaw_diff": [
      -0.0074597488717706995,
      -0.01241658579905014,
      -0.01712650039134278,
      0.00153049604218225,
      -0.0113436794744457,
      -0.0002205400114618783,
      0.00687221236867952,
      0.01296281860779036,
      0.019338497214699046,
      0.019338497214699046
    ],
    "min_front_frame": [
      9,
      15.561227909183357
    ],
    "v_avg": 5.465335159128952,
    "v_std": 1.6111491043736514,
    "vy_max": 0.09546620867602584,
    "a_max": 2.8859493272469305,
    "ax_avg": 1.3432579137621037,
    "a_std": 1.0177673216788714,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "d2f121776fd05b4b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      16.766580048172173,
      17.369811768191486,
      17.536879904456715,
      17.09724145368331,
      16.3699373460548,
      15.98172692174837,
      15.947739915142122,
      16.113098677720924,
      16.080745312798122,
      15.561227909183357
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.1,
    "ANC_result": "A",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "d2f121776fd05b4b",
    "merging_vehicles": "No"
  },
  "35b108769e3c5d33": {
    "vx_ego": [
      4.167897674335324,
      4.16412996651224,
      4.159126608493517,
      4.122180600239022,
      4.097734197909749,
      4.093624878522562,
      4.127897317902418,
      4.185031982217174,
      4.222392511330867,
      4.31148789839936
    ],
    "vy_ego": [
      -0.02209023003550492,
      0.002586807170097627,
      -0.012012588344014308,
      -0.030007661036386635,
      -0.01156919025929426,
      -0.02802959751933476,
      -0.026133903509381273,
      -0.02237417568773603,
      -0.026282511411419907,
      -0.0340733911369962
    ],
    "v_ego": [
      4.167956214020587,
      4.164130769989886,
      4.159143956123364,
      4.12228982007668,
      4.097750529605519,
      4.093720838600986,
      4.127980044532509,
      4.1850917906204055,
      4.222474308998111,
      4.31162253612578
    ],
    "ax_ego": [
      -0.06404202168977557,
      0.053533941473352664,
      -0.0688267682697532,
      -0.05891406073725125,
      -0.023836090831660495,
      0.01630999690680479,
      0.1491529934660335,
      0.09357397217345104,
      0.07623992223847814,
      0.2972810627164414
    ],
    "ay_ego": [
      1.0127036158823026,
      1.013313432735868,
      1.0499580394579966,
      1.1713083418834023,
      1.2182462264670808,
      1.178282227822091,
      1.332830383886547,
      1.3180836356951677,
      1.3763812740349899,
      1.346054180830269
    ],
    "a_ego": [
      1.0147265612780638,
      1.014726562110513,
      1.0522114847562434,
      1.172789025493587,
      1.2184793915070606,
      1.1783951053871915,
      1.341150046665562,
      1.3214009834095437,
      1.3784911814215972,
      1.3784911635481976
    ],
    "yaw": [
      1.8063242246593814,
      1.922260306926495,
      2.049077618953633,
      2.187357521047294,
      2.3281402277844876,
      2.4783444756537434,
      2.6309199641557877,
      2.7888669182811365,
      2.9496097953273637,
      3.111639227508731
    ],
    "yaw_diff": [
      0.2318721645342272,
      0.2536346240542757,
      0.27655980418732273,
      0.2815654134743868,
      0.3004084957385116,
      0.30515097700408855,
      0.31589390825069774,
      0.3214857540924543,
      0.32405886436273423,
      0.32405886436273423
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.165216080869383,
    "v_std": 0.061681692695395744,
    "vy_max": 0.0340733911369962,
    "a_max": 1.3784911814215972,
    "ax_avg": 0.0470472947446121,
    "a_std": 0.137811549623308,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "35b108769e3c5d33",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "35b108769e3c5d33",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "2bce4431c5da5d1f": {
    "vx_ego": [
      3.9338746281385495,
      3.2355288512229654,
      2.5158344627497913,
      1.8205956524614857,
      1.214538858441397,
      0.6537677057000209,
      0.20222458248946457,
      -0.01595458600109571,
      -0.04871596119565427,
      -0.025217333673047498
    ],
    "vy_ego": [
      -0.15347540091202908,
      -0.04637450023955127,
      -0.01649747629134913,
      -0.03262117419742394,
      -0.05371472017051321,
      -0.04096766961180806,
      -0.010501506204391876,
      0.015067006421593863,
      0.011282356202243604,
      -0.0026795484496137056
    ],
    "v_ego": [
      3.9368673191507635,
      3.2358611746131305,
      2.515888552913963,
      1.8208878797904284,
      1.2157260833868493,
      0.6550500461565447,
      0.2024970700913945,
      0.021944555064405156,
      0.050005364079174525,
      0.025359296076027864
    ],
    "ax_ego": [
      -1.4157528070286234,
      -1.4002614127088082,
      -1.487725641114285,
      -1.2962851281685392,
      -1.1339516409532364,
      -1.1123219237559294,
      -0.6946713200787061,
      -0.17803719061661172,
      0.04699771330559411,
      0.04699531384266635
    ],
    "ay_ego": [
      -0.1979570582892177,
      -0.2877690457899981,
      -0.1723279480490637,
      -0.19666808338189712,
      -0.027655755112209225,
      0.023347657993933082,
      0.08944484443059257,
      0.012809522993173852,
      -0.027928153560815343,
      -0.02793220090955653
    ],
    "a_ego": [
      1.4295254483694746,
      1.42952546239518,
      1.4976730300395047,
      1.311119166411671,
      1.134288836589413,
      1.112566930661654,
      0.7004060416180782,
      0.17849740928643304,
      0.05466961511910707,
      0.054669620181802416
    ],
    "yaw": [
      1.668034283108496,
      1.6042692948193134,
      1.5540821818110575,
      1.5185844207527412,
      1.495218099511344,
      1.4803769084289713,
      1.474341537863613,
      1.4741692152608814,
      1.4740866479575019,
      1.4741727768938766
    ],
    "yaw_diff": [
      -0.1275299765783653,
      -0.10037422601651169,
      -0.07099552211663251,
      -0.04673264248279452,
      -0.02968238216474539,
      -0.012070741130716378,
      -0.00034464520546340083,
      -0.00016513460675904312,
      0.00017225787274943727,
      0.00017225787274943727
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.368008734132268,
    "v_std": 1.3730361056730822,
    "vy_max": 0.15347540091202908,
    "a_max": 1.4976730300395047,
    "ax_avg": -0.862501403727648,
    "a_std": 0.5635362461985588,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "2bce4431c5da5d1f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.347642660571215,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2bce4431c5da5d1f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4d6f4dbf01c2567c": {
    "vx_ego": [
      4.220109321113591,
      4.38737438315712,
      4.593271662620255,
      4.790034016238329,
      4.994715630895754,
      5.2025985552863965,
      5.406394525607534,
      5.570530111489132,
      5.699047220755867,
      5.845686649944741
    ],
    "vy_ego": [
      0.0005635533492753808,
      0.007852492594547344,
      -0.014261005346003053,
      -0.02942512077483317,
      -0.049066387746663886,
      -0.06210694149983764,
      -0.10927868664461204,
      -0.0804450021712777,
      -0.053195906154895,
      0.14337982021842133
    ],
    "v_ego": [
      4.220109358742045,
      4.3873814103202,
      4.593293801065171,
      4.790124394465441,
      4.994956630834833,
      5.202969248386018,
      5.407498830131532,
      5.571110941399522,
      5.699295485306655,
      5.847444756659788
    ],
    "ax_ego": [
      0.23443826070794793,
      0.42838970901950174,
      0.40918316749614836,
      0.40194931390919963,
      0.44809540438681733,
      0.40663969412816187,
      0.4102176954360961,
      0.24723067668530907,
      0.2705607471030791,
      0.3312532186205741
    ],
    "ay_ego": [
      1.3205347829002252,
      1.270927091540916,
      1.42575173238913,
      1.5488678869372918,
      1.6127563164081122,
      1.4702511698743967,
      0.8134303751181999,
      0.10429790036999939,
      -0.6765046013865664,
      -0.6489475329929454
    ],
    "a_ego": [
      1.3411835858424128,
      1.3411835872864182,
      1.4833067339470911,
      1.600173422519468,
      1.6738495833099365,
      1.525448898966359,
      0.9110145623500412,
      0.26833013158396163,
      0.7286024935245373,
      0.7286024947967992
    ],
    "yaw": [
      2.5736810401907446,
      2.723087466122692,
      2.8777585662489527,
      3.0391145011351997,
      -3.078679966900779,
      -2.925411523540176,
      -2.8090110048594443,
      -2.77260109343751,
      -2.802837538421698,
      -2.8943536425914553
    ],
    "yaw_diff": [
      0.29881285186389483,
      0.30934220025252124,
      0.322711869772494,
      0.33078167828721483,
      0.30653688672120616,
      0.23280103736146351,
      0.07281982284386856,
      -0.06047288996837619,
      -0.1830322083395144,
      -0.1830322083395144
    ],
    "min_front_frame": [
      4,
      16.375182995101714
    ],
    "v_avg": 5.071418485731121,
    "v_std": 0.5368989100771613,
    "vy_max": 0.14337982021842133,
    "a_max": 1.6738495833099365,
    "ax_avg": 0.35879578874928353,
    "a_std": 0.4461844229950013,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "4d6f4dbf01c2567c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.901593768057303,
    "right_rear_min": 9.09242593617307,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      56.09236571823985,
      -1,
      16.375182995101714,
      16.77726509202827,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4d6f4dbf01c2567c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d2777b7b71325a67": {
    "vx_ego": [
      9.342268989048872,
      8.922825938325271,
      8.42776454902852,
      7.779430073478734,
      7.121135516753505,
      6.474526892088413,
      5.792506587016534,
      5.1936821214182345,
      4.712800394931811,
      4.2838854051245665
    ],
    "vy_ego": [
      0.016664831808861358,
      -0.03432118992617195,
      -0.06431000060565806,
      -0.075362000363135,
      -0.058281298718190655,
      -0.027030787993887806,
      -0.043400090625864696,
      -0.06252545317588121,
      -0.06379666514291893,
      -0.0443623054086415
    ],
    "v_ego": [
      9.34228385248294,
      8.92289194542488,
      8.428009911600709,
      7.779795093654078,
      7.121374007714275,
      6.474583317857267,
      5.7926691713316645,
      5.194058472007633,
      4.713232179402241,
      4.284115098638275
    ],
    "ax_ego": [
      -0.842175166900477,
      -0.8360487938707609,
      -1.1482748198861283,
      -1.4489961730323142,
      -1.1888761777864532,
      -1.3990619323034708,
      -1.3303719274689279,
      -1.0671742877178494,
      -0.8588552263430866,
      -0.8585623887439349
    ],
    "ay_ego": [
      -0.38274658454368926,
      -0.39594996648302694,
      -0.25099638226963217,
      -0.255147569834122,
      -0.05637994166427518,
      -0.1496737719578709,
      -0.16016714702352675,
      -0.13525841618839934,
      -0.031903645948064885,
      -0.03899724880172856
    ],
    "a_ego": [
      0.9250697053323635,
      0.9250697063955041,
      1.1753868494657254,
      1.4712886160962948,
      1.1902122768356045,
      1.407045318542661,
      1.3399787238546164,
      1.0757117641431155,
      0.8594475798102023,
      0.8594475904787886
    ],
    "yaw": [
      -0.5569382896844592,
      -0.5726729132780635,
      -0.5877911568174699,
      -0.6019760714837579,
      -0.6147779388745027,
      -0.626905965739776,
      -0.6368800248195816,
      -0.6469035810109482,
      -0.6551271279226738,
      -0.6633878752568476
    ],
    "yaw_diff": [
      -0.03146924718720845,
      -0.030236487078812768,
      -0.028369829332576035,
      -0.025603734781489695,
      -0.024256053730546512,
      -0.019948118159611283,
      -0.020047112382733268,
      -0.01644709382345111,
      -0.016521494668347625,
      -0.016521494668347625
    ],
    "min_front_frame": [
      6,
      18.15909245436314
    ],
    "v_avg": 6.805301305011396,
    "v_std": 1.704911396277392,
    "vy_max": 0.075362000363135,
    "a_max": 1.4712886160962948,
    "ax_avg": -1.0978396894053404,
    "a_std": 0.21813685898154414,
    "ini_direction_judge": "straight",
    "scenario_type": "roundout_entrance",
    "scene_token": "d2777b7b71325a67",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.391005303639073,
    "speed_mode": "decelerating",
    "front_frame": [
      26.77040839122073,
      25.56148615254568,
      24.030297214839965,
      22.463164583463968,
      20.80355519424437,
      19.329813558919852,
      18.15909245436314,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "d2777b7b71325a67",
    "merge_risk": "No"
  },
  "1c044069a36c5d4b": {
    "vx_ego": [
      2.2350152942311308,
      2.7661843079992785,
      3.309201758383884,
      3.787832185392695,
      4.18083069131599,
      4.519233164118578,
      4.854885906515217,
      5.205500312811482,
      5.55187848869629,
      5.941552187886948
    ],
    "vy_ego": [
      -0.10517009633399166,
      -0.0016469308235687041,
      -0.0023028222769840845,
      -0.03827913451720155,
      -0.033690606844693466,
      -0.07355806149337207,
      -0.08735145654555754,
      -0.13436115657165892,
      -0.10291979181056288,
      -0.1076844924763729
    ],
    "v_ego": [
      2.2374883496031814,
      2.766184798274075,
      3.3092025596329746,
      3.7880256013966145,
      4.180966434502829,
      4.519831764577071,
      4.855671677764129,
      5.207234047656751,
      5.552832361668677,
      5.942527942829051
    ],
    "ax_ego": [
      1.0391878557813876,
      1.1006350112042513,
      1.1019699678869082,
      0.8608725841302625,
      0.7813118297593636,
      0.6177819906772115,
      0.773986391108475,
      0.6874324472023264,
      0.7381441285636399,
      0.8598518061984666
    ],
    "ay_ego": [
      0.7159344116423554,
      0.6173135805694762,
      1.0467229655309294,
      1.415264505195765,
      1.8237819509059783,
      1.8136286102444175,
      1.6863045445294185,
      1.5034111279286322,
      1.217734579389893,
      1.1350723140352237
    ],
    "a_ego": [
      1.2619324393077482,
      1.2619324406021464,
      1.5198574856526965,
      1.6565250453205134,
      1.984093944291031,
      1.9159601571802571,
      1.8554454857315776,
      1.6531208029198052,
      1.423985344157325,
      1.423985353405028
    ],
    "yaw": [
      -0.6456813213937943,
      -0.5535698837555821,
      -0.41661187721722737,
      -0.2350679526959404,
      -0.03416472185524915,
      0.18217683348250585,
      0.37202134743235404,
      0.5391449716067271,
      0.659773380390728,
      0.7631386740314188
    ],
    "yaw_diff": [
      0.18422287527642434,
      0.27391601307670954,
      0.3630878490425739,
      0.4018064616813825,
      0.43268311067551,
      0.3796890278996964,
      0.3342472483487462,
      0.24125681756800166,
      0.2067305872813816,
      0.2067305872813816
    ],
    "min_front_frame": [
      0,
      17.34361365943319
    ],
    "v_avg": 4.235996553790535,
    "v_std": 1.1520070710291608,
    "vy_max": 0.13436115657165892,
    "a_max": 1.984093944291031,
    "ax_avg": 0.8561174012512293,
    "a_std": 0.2480738744569263,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "1c044069a36c5d4b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.51969383032638,
    "right_rear_min": 14.920248624184355,
    "speed_mode": "accelerating",
    "front_frame": [
      17.34361365943319,
      19.13518607048318,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      42.865405657313325
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "1c044069a36c5d4b",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "64ee149f402a5601": {
    "vx_ego": [
      4.08594289242391,
      3.6329412927669167,
      3.086922346808274,
      2.3247979877755,
      1.4328212615013027,
      0.5968817260105417,
      0.08429551283164989,
      -0.040480590236903216,
      -0.021145326581270045,
      0.015259586168343879
    ],
    "vy_ego": [
      -0.0636997391247478,
      -0.02849544419220318,
      -0.024809651529244636,
      -0.039070610984360155,
      -0.03847846924095455,
      -0.016958069022628808,
      0.014841442952270648,
      0.0239469924361587,
      0.008588742030490102,
      0.0033497308613276095
    ],
    "v_ego": [
      4.0864394008615905,
      3.6330530448963536,
      3.087022043010595,
      2.325126275411231,
      1.4333378387544617,
      0.5971225761519151,
      0.08559206687804867,
      0.04703335659577685,
      0.022823043747381127,
      0.015622921201633274
    ],
    "ax_ego": [
      -0.9061378337565259,
      -0.9062510862984231,
      -1.2777808879943664,
      -1.7710185352200738,
      -1.797350566806474,
      -1.5465170510001711,
      -0.5038336279837092,
      0.004537379729395441,
      0.0728118232913267,
      0.07281495141919092
    ],
    "ay_ego": [
      0.05525794707241466,
      0.053368352879015535,
      -0.029467693379236715,
      -0.0568872654481446,
      0.0422549924975274,
      0.03990078699479627,
      0.08712150617083003,
      -0.05091723974791182,
      -0.010487130212215527,
      -0.010465405742954011
    ],
    "a_ego": [
      0.9078211357308372,
      0.9078211346438742,
      1.2781206291570308,
      1.771931943688364,
      1.7978471971751435,
      1.5470316938696085,
      0.5113105529174033,
      0.05111900936398377,
      0.07356318040361869,
      0.07356318282635539
    ],
    "yaw": [
      2.627378809851841,
      2.6252936150106434,
      2.6259656990834963,
      2.623317916024534,
      2.621059688785577,
      2.62006176119809,
      2.6198527629931494,
      2.621161316015373,
      2.6209794961228554,
      2.620681091906925
    ],
    "yaw_diff": [
      -0.004170389682395026,
      0.0013441681457058152,
      -0.005295566117924366,
      -0.0045164544779146,
      -0.001995855174973471,
      -0.00041799640988138265,
      0.0026171060444468708,
      -0.0003636397850348416,
      -0.0005968084318608291,
      -0.0005968084318608291
    ],
    "min_front_frame": [
      5,
      8.295843753200698
    ],
    "v_avg": 1.5333172567508986,
    "v_std": 1.5409307717278606,
    "vy_max": 0.0636997391247478,
    "a_max": 1.7978471971751435,
    "ax_avg": -0.855872543461983,
    "a_std": 0.660694981988894,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "64ee149f402a5601",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.069662603964753,
    "right_rear_min": 3.3891434476128097,
    "speed_mode": "decelerating",
    "front_frame": [
      14.538318112961568,
      12.64989278215273,
      10.934172320545116,
      9.534287998235472,
      8.69001296743624,
      8.295843753200698,
      8.614589861683593,
      9.080802178963406,
      9.911514297226137,
      10.792158761689684
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "64ee149f402a5601",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "acd37cf126fa5a59": {
    "vx_ego": [
      3.784213947705125,
      3.882010556582628,
      4.039787901606277,
      4.23564253936202,
      4.420935100173931,
      4.591913659930291,
      4.725898545324803,
      4.845247635133713,
      4.954779878741643,
      5.070901399211798
    ],
    "vy_ego": [
      -0.02300106355843612,
      0.02109906415647167,
      0.015967122230077013,
      0.0192550111035108,
      0.01749277198572674,
      0.005463946198070335,
      0.00020108250250405746,
      -0.018932495742121302,
      -0.016472431888125083,
      -0.0014342267010443166
    ],
    "v_ego": [
      3.7842838491491126,
      3.882067893781257,
      4.0398194562327605,
      4.2356863052763645,
      4.4209697077701895,
      4.591916910720669,
      4.725898549602738,
      4.845284623751619,
      4.954807260408356,
      5.070901602036309
    ],
    "ax_ego": [
      0.1752579461139784,
      0.21574283911538727,
      0.4150943728989725,
      0.36325563527138294,
      0.3725863096251354,
      0.30253056967742886,
      0.23336629167572523,
      0.25086673509289964,
      0.1969206509125872,
      0.26974756417464474
    ],
    "ay_ego": [
      0.6091487851856987,
      0.5960139499611888,
      0.7379512834465303,
      0.7661311981950603,
      0.7955425372797855,
      0.6786205506858283,
      0.700141722528444,
      0.7919935498783003,
      0.8786550632164696,
      0.8590976217540052
    ],
    "a_ego": [
      0.6338592826245448,
      0.6338592913083363,
      0.846684968068273,
      0.8478865899424373,
      0.878469400003003,
      0.7430010749672482,
      0.7380096596356828,
      0.8307754822002168,
      0.9004512551336552,
      0.9004512602476282
    ],
    "yaw": [
      -2.5741743448810164,
      -2.5070138417789516,
      -2.421034088327011,
      -2.3311537224126786,
      -2.240582553432973,
      -2.1563457305622507,
      -2.081405020583686,
      -1.9994655767195693,
      -1.914897580749726,
      -1.8311292558277052
    ],
    "yaw_diff": [
      0.13432100620412957,
      0.17195950690388084,
      0.17976073182866514,
      0.18114233795941104,
      0.16847364574144486,
      0.14988141995712922,
      0.16387888772823356,
      0.16913599193968665,
      0.16753664984404137,
      0.16753664984404137
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.455163615872938,
    "v_std": 0.43282085903469053,
    "vy_max": 0.02300106355843612,
    "a_max": 0.9004512602476282,
    "ax_avg": 0.2795368914558142,
    "a_std": 0.0968702975742989,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "acd37cf126fa5a59",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "acd37cf126fa5a59",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "e2080118123b5cc8": {
    "vx_ego": [
      3.8417845249511355,
      3.8894528200341068,
      4.015917837401058,
      4.258269728489678,
      4.585589853048137,
      4.899691144568629,
      5.08112077008151,
      5.074918240857816,
      4.952216275419234,
      4.8132678177993355
    ],
    "vy_ego": [
      0.006529798167503209,
      0.034839340788771045,
      0.016621206663659294,
      0.03396129395577829,
      0.023769358254201123,
      -0.00037238664314598324,
      0.01717228471621013,
      0.04955491547471835,
      0.01740247012370366,
      -0.00482194291320992
    ],
    "v_ego": [
      3.841790074225573,
      3.8896088516633474,
      4.015952233439405,
      4.258405153347754,
      4.585651456747432,
      4.899691158719706,
      5.081149787943286,
      5.075160178855353,
      4.952246852136266,
      4.813270233115552
    ],
    "ax_ego": [
      0.0612068632918534,
      0.1374747071256314,
      0.37608919265540747,
      0.5906895465481025,
      0.7201465773743898,
      0.5359763656768962,
      0.18928485661974734,
      -0.21379486339090786,
      -0.27883340185126126,
      -0.2773062841510048
    ],
    "ay_ego": [
      -0.744273764254223,
      -0.7340234589592952,
      -0.7051341795372275,
      -0.431103981554269,
      -0.2817608832468538,
      -0.1567008779572194,
      -0.012607599155021118,
      0.07389185359739459,
      0.09981449134154022,
      0.10398185652157038
    ],
    "a_ego": [
      0.7467862587589426,
      0.7467862702285348,
      0.7991603668750317,
      0.7312761334223525,
      0.7733047835311089,
      0.5584136725732791,
      0.18970426590356895,
      0.22620400005392421,
      0.29616042725137565,
      0.2961604323931714
    ],
    "yaw": [
      -0.2844417020583624,
      -0.38753366436928655,
      -0.474550749485199,
      -0.5478463654120573,
      -0.5859792611925928,
      -0.603914105213059,
      -0.6158080552123093,
      -0.6191349275457254,
      -0.6040847150799351,
      -0.5890982607361839
    ],
    "yaw_diff": [
      -0.2061839246218483,
      -0.17403417023182488,
      -0.1465912318537167,
      -0.07626579156107094,
      -0.03586968804093238,
      -0.023787899998500617,
      -0.0066537446668322175,
      0.030100424931580605,
      0.029972908687502464,
      0.029972908687502464
    ],
    "min_front_frame": [
      2,
      23.785731357852622
    ],
    "v_avg": 4.541292598019367,
    "v_std": 0.47114075816868,
    "vy_max": 0.04955491547471835,
    "a_max": 0.7991603668750317,
    "ax_avg": 0.18409335598988535,
    "a_std": 0.24166144686039553,
    "ini_direction_judge": "right",
    "scenario_type": "side_to_main_ego",
    "scene_token": "e2080118123b5cc8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      23.785731357852622,
      75.29774465607008,
      63.06609925303861,
      73.84037252733988,
      72.75286571368467,
      71.439330905686,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "e2080118123b5cc8",
    "merging_vehicles": "No"
  },
  "7bfd8ff8489158cc": {
    "vx_ego": [
      8.624455365999163,
      8.203634797132395,
      7.757367643547706,
      7.2249986208733805,
      6.582125635311285,
      5.857387426715857,
      5.085792739068058,
      4.229482479120302,
      3.2792388212270622,
      2.304976312147159
    ],
    "vy_ego": [
      0.0004683487883903048,
      -0.005795120900790707,
      -0.007375108888797222,
      -0.002805699330047484,
      0.007082039064379764,
      0.012638824055212272,
      -0.006529132999954668,
      -0.0016508368304522791,
      0.00546692332634216,
      -0.0023994191403234055
    ],
    "v_ego": [
      8.624455378715941,
      8.203636843994724,
      7.757371149390237,
      7.224999165645002,
      6.582129445270679,
      5.857401062461278,
      5.085796930111849,
      4.229482801294723,
      3.279243378264765,
      2.3049775610126293
    ],
    "ax_ego": [
      -0.8417262244852851,
      -0.8415066420223922,
      -0.9435205053521843,
      -1.1858634834751978,
      -1.3855323813534386,
      -1.5137298712873888,
      -1.5726495734216792,
      -1.8525050440211537,
      -1.9485426788668934,
      -1.94851631114465
    ],
    "ay_ego": [
      0.05316035279805632,
      0.0565298124594904,
      0.03184038626648082,
      0.06325102005674352,
      0.1179465493700868,
      -0.026644959183866515,
      -0.002862460878909859,
      0.05730000625230963,
      0.0027008306242284064,
      0.01049230458784435
    ],
    "a_ego": [
      0.8434032606623396,
      0.8434032536482816,
      0.9440576011121568,
      1.1875491118173382,
      1.3905435513809845,
      1.5139643579284303,
      1.5726521784761158,
      1.853391008082302,
      1.9485445506458994,
      1.9485445602429312
    ],
    "yaw": [
      -1.6510216322718492,
      -1.6470180791507265,
      -1.6440565163196437,
      -1.6415033695609615,
      -1.6363923828520996,
      -1.6336231063969087,
      -1.6314710357899052,
      -1.629610435743515,
      -1.6275175833759365,
      -1.6235189463580337
    ],
    "yaw_diff": [
      0.008007106242245321,
      0.005923125662165685,
      0.0051062935173642465,
      0.010221973417723795,
      0.005538552910381966,
      0.004304141214007018,
      0.003721200092780208,
      0.004185704735157003,
      0.007997274035805635,
      0.007997274035805635
    ],
    "min_front_frame": [
      9,
      13.715689005677975
    ],
    "v_avg": 5.914949371616183,
    "v_std": 2.0407311573310207,
    "vy_max": 0.012638824055212272,
    "a_max": 1.9485445602429312,
    "ax_avg": -1.4034092715430262,
    "a_std": 0.4150491978382717,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7bfd8ff8489158cc",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.165957706627445,
    "right_rear_min": 4.036871931628695,
    "speed_mode": "decelerating",
    "front_frame": [
      18.70684387475444,
      20.77837972934432,
      24.63525493380103,
      20.907646841173737,
      17.506951673872898,
      21.94571380325604,
      19.2466969256472,
      16.92829435022066,
      15.057217488961035,
      13.715689005677975
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.1,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7bfd8ff8489158cc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8a6de2af60965cd0": {
    "vx_ego": [
      8.830340243342297,
      9.021423777998347,
      9.160620053330934,
      9.294128981617275,
      9.477659677160547,
      9.513193669485938,
      9.418643097186944,
      9.402941288060443,
      9.38488370727781,
      9.3019170694484
    ],
    "vy_ego": [
      -0.014143983222116852,
      0.03125111522881774,
      -0.01755611853235539,
      -0.014527151757228296,
      -0.031184286063572486,
      0.012376764046718947,
      0.011165595922059346,
      0.034259346719475836,
      0.038898658193886604,
      0.1464183438843718
    ],
    "v_ego": [
      8.830351570886172,
      9.021477906332034,
      9.160636876265032,
      9.294140334914056,
      9.4777109797552,
      9.513201720631997,
      9.418649715469812,
      9.403003699326584,
      9.384964320909152,
      9.303069358997671
    ],
    "ax_ego": [
      0.37054978980442244,
      0.39246657589021317,
      0.16151837431258165,
      0.3719329566267152,
      0.36559293286581634,
      -0.22383327104393266,
      -0.1562572157907063,
      0.09286641316710345,
      -0.16754410956464222,
      -0.1660907557219165
    ],
    "ay_ego": [
      0.6786640191185084,
      0.6662296805105224,
      0.5792029504454882,
      0.40669744503344396,
      0.48931992915583317,
      0.3721735398408433,
      0.23162391027244394,
      0.31744214121694386,
      0.3038916235481588,
      0.30468837919512637
    ],
    "a_ego": [
      0.7732347622618817,
      0.7732347640814795,
      0.6013021229343348,
      0.5511233401170932,
      0.6108127254981668,
      0.4342976824528199,
      0.27940285126777165,
      0.33074715979872193,
      0.34701750317893865,
      0.3470175032369844
    ],
    "yaw": [
      0.9371180700548072,
      0.9697077758795771,
      1.0091949381514587,
      1.035651846110413,
      1.061289038571024,
      1.0792434557073576,
      1.0953320319437476,
      1.1075042699636906,
      1.1234902138453893,
      1.1282664296181961
    ],
    "yaw_diff": [
      0.06517941164953989,
      0.07897432454376307,
      0.05291381591790856,
      0.05127438492122227,
      0.035908834272667,
      0.03217715247278008,
      0.024344476039885876,
      0.03197188776339743,
      0.009552431545613693,
      0.009552431545613693
    ],
    "min_front_frame": [
      5,
      17.47703351701134
    ],
    "v_avg": 9.28072064834877,
    "v_std": 0.20562969761580616,
    "vy_max": 0.1464183438843718,
    "a_max": 0.7732347640814795,
    "ax_avg": 0.10412016905456548,
    "a_std": 0.17397445941183765,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "8a6de2af60965cd0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 18.26475693521328,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      31.442089356257704,
      26.871755889141564,
      22.21500544758715,
      17.47703351701134,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      0,
      0,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8a6de2af60965cd0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d84b338d48335e67": {
    "vx_ego": [
      4.503051150867743,
      4.899292746281136,
      5.182359371475325,
      5.28441892437221,
      5.304539487424916,
      5.311346475477169,
      5.319852732004732,
      5.362088572829441,
      5.45353385658538,
      5.620460017445836
    ],
    "vy_ego": [
      -0.10506228515382787,
      0.11286370332997142,
      0.06719532455777838,
      0.04620483354026508,
      0.010225473121288964,
      -0.03926806438676289,
      -0.04160007960231438,
      -0.01688334489689991,
      -0.025387551466331537,
      -0.06335190220436049
    ],
    "v_ego": [
      4.504276606858537,
      4.900592579402241,
      5.182794985985897,
      5.28462091875147,
      5.304549343153548,
      5.31149163262491,
      5.320015381259826,
      5.362115152642936,
      5.453592948936734,
      5.6208170465885265
    ],
    "ax_ego": [
      0.791955962759493,
      0.7929736920697189,
      0.3305433978658168,
      0.06296036191122131,
      0.008310069796615333,
      0.04841880825570316,
      0.0246075695683442,
      0.15461304276239118,
      0.22516316117162438,
      0.46542741211914795
    ],
    "ay_ego": [
      0.4576821609624359,
      0.45591657985735723,
      0.9517474461255342,
      1.1169452358740855,
      1.1827920374208356,
      1.5009257077893747,
      1.695156834318864,
      1.5982649024704583,
      1.615311123067399,
      1.5631077291850697
    ],
    "a_ego": [
      0.9146951445227861,
      0.9146951427134132,
      1.007512848096319,
      1.1187183144624961,
      1.1828212295381564,
      1.5017064830704894,
      1.6953354315350144,
      1.6057259702269089,
      1.6309287150130323,
      1.6309287075130023
    ],
    "yaw": [
      3.0019425285872376,
      3.0041704785628403,
      3.082109672664289,
      -3.0989847298431386,
      -2.983873768400928,
      -2.848228363807377,
      -2.697841909151915,
      -2.5481351554402183,
      -2.3980380096214766,
      -2.2471402248912407
    ],
    "yaw_diff": [
      0.004455899951205211,
      0.1558783882028978,
      0.20418180934431707,
      0.23022192288442067,
      0.2712908091871027,
      0.3007729093109237,
      0.29941350742339345,
      0.30019429163748335,
      0.3017955694604719,
      0.3017955694604719
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.224486659620463,
    "v_std": 0.29674550120965065,
    "vy_max": 0.11286370332997142,
    "a_max": 1.6953354315350144,
    "ax_avg": 0.2904973478280076,
    "a_std": 0.305681247912802,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "d84b338d48335e67",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d84b338d48335e67",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f8f02729d1ee5c16": {
    "vx_ego": [
      13.14133310640783,
      13.014095028850479,
      12.87529039261046,
      12.779697399000272,
      12.764086574068548,
      12.734168241720846,
      12.61711027998168,
      12.446212034855783,
      12.257110585874402,
      12.054686335519675
    ],
    "vy_ego": [
      -0.009098282302342775,
      0.01571671166040263,
      0.047957630914653285,
      0.031191672130529563,
      0.05999018595100705,
      0.06216492229713977,
      0.031164523748795137,
      -0.05773663269839527,
      -0.06427399310477047,
      -0.018934437937176363
    ],
    "v_ego": [
      13.1413362559639,
      13.014104519135236,
      12.87537970812551,
      12.779735464023682,
      12.76422754782785,
      12.734319977368875,
      12.617148768432584,
      12.446345951135388,
      12.257279105109093,
      12.054701205782944
    ],
    "ax_ego": [
      -0.258076570197579,
      -0.25105003378571816,
      -0.30651444433541436,
      -0.07875523117069436,
      0.01566810634564385,
      -0.13615191908171517,
      -0.3319297977684765,
      -0.35161087065210217,
      -0.40483855018227743,
      -0.4048102569253458
    ],
    "ay_ego": [
      0.45224696697355504,
      0.4561849505438272,
      0.3541375761216399,
      0.1618777025912676,
      0.1117378668867137,
      0.04641321224426858,
      -0.19521685748885917,
      -0.12983937816979824,
      0.09766038812787634,
      0.09777761410212389
    ],
    "a_ego": [
      0.5207022519844962,
      0.5207022455938559,
      0.46836367003382967,
      0.18001882410730383,
      0.11283102610918397,
      0.1438455120623005,
      0.3850805267660872,
      0.3748179137718063,
      0.41645144149465474,
      0.4164514448665874
    ],
    "yaw": [
      -1.5946433749444027,
      -1.5791741164893773,
      -1.5660223113959348,
      -1.5546333020850787,
      -1.5515294563904765,
      -1.5486031797094482,
      -1.5490914046863173,
      -1.54848210005292,
      -1.5486040735067095,
      -1.5483145065605537
    ],
    "yaw_diff": [
      0.030938516910050673,
      0.026303610186884985,
      0.02277801862171236,
      0.006207691389204406,
      0.0058525533620565895,
      -0.0009764499537383564,
      0.0012186092667945125,
      -0.0002439469075787848,
      0.0005791338923115674,
      0.0005791338923115674
    ],
    "min_front_frame": [
      0,
      43.417496723325755
    ],
    "v_avg": 12.668457850290507,
    "v_std": 0.31773040779046147,
    "vy_max": 0.06427399310477047,
    "a_max": 0.5207022519844962,
    "ax_avg": -0.2508069567753679,
    "a_std": 0.14507062314757357,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f8f02729d1ee5c16",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.244741189695139,
    "right_rear_min": 3.7800665084567306,
    "speed_mode": "decelerating",
    "front_frame": [
      43.417496723325755,
      44.95238940692416,
      46.51388331575491,
      47.678983379371,
      48.69050986956277,
      49.1055238573215,
      49.16200850776785,
      49.03348895730363,
      48.391198755813754,
      47.371109146598435
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f8f02729d1ee5c16",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "f03963c1aacd54f4": {
    "vx_ego": [
      0.09633429622216036,
      0.0820364325242168,
      0.24722355528937145,
      0.7082485969046506,
      1.279380901572282,
      1.8170625306895904,
      2.3158560077009422,
      2.7274741965376865,
      3.035863093941824,
      3.339668306617508
    ],
    "vy_ego": [
      0.010172354008182598,
      0.008389072658515847,
      0.0036068690390532593,
      -0.009520083212408603,
      -0.024475883568425727,
      -0.0186135193996968,
      -0.024661285275674683,
      -0.06381746574384095,
      -0.06603172224119669,
      -0.12154616426629694
    ],
    "v_ego": [
      0.09686987877914749,
      0.08246425165712858,
      0.2472498651044764,
      0.7083125771873442,
      1.2796150046730306,
      1.817157864232082,
      2.315987311579231,
      2.7282206951991377,
      3.0365811224961803,
      3.341879391640773
    ],
    "ax_ego": [
      -0.028613133174994403,
      -0.0286166247849585,
      0.6892861360243233,
      1.154873777569179,
      1.131571949649009,
      1.0258728506987898,
      0.9765436725935551,
      0.7011741465636858,
      0.5778195537496884,
      0.6831178005458461
    ],
    "ay_ego": [
      -0.0033972190697787365,
      -0.003367682641480232,
      -0.014966959406388702,
      -0.023909077242434906,
      0.04038815523591649,
      0.2208919763537239,
      0.2775647724372145,
      0.5638350660440148,
      0.8074691777996069,
      0.7205775331192884
    ],
    "a_ego": [
      0.028814102233073888,
      0.028814102457942855,
      0.6894486109850497,
      1.1551212430266748,
      1.1322924888542802,
      1.0493847583314309,
      1.015223988773232,
      0.8997528357889025,
      0.9929158623931145,
      0.9929158628297131
    ],
    "yaw": [
      1.1331006378418125,
      1.1341328140758278,
      1.1367838622789241,
      1.1449069097566191,
      1.1640445252866922,
      1.2021188092484447,
      1.2651397023320778,
      1.3626748719665684,
      1.4816334028147518,
      1.6192365859467779
    ],
    "yaw_diff": [
      0.002064352468030606,
      0.0053020964061927245,
      0.016246094955389978,
      0.038275231060146186,
      0.076148567923505,
      0.12604178616726625,
      0.1950703392689812,
      0.23791706169636662,
      0.27520636626405226,
      0.27520636626405226
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.5654337962548532,
    "v_std": 1.1919999605306366,
    "vy_max": 0.12154616426629694,
    "a_max": 1.1551212430266748,
    "ax_avg": 0.6883030129434123,
    "a_std": 0.4038664055649056,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f03963c1aacd54f4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.170352427774551,
    "right_rear_min": 7.700474111469856,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f03963c1aacd54f4",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4104fd0bb7845b56": {
    "vx_ego": [
      2.056623736260756,
      2.6472295027971042,
      3.1745214393692454,
      3.62042940208985,
      4.0622352083083,
      4.509559315706922,
      4.96098024499261,
      5.405605038380948,
      5.80705856533988,
      6.189542690278225
    ],
    "vy_ego": [
      0.03586605615898342,
      0.0007551627850820308,
      0.015451219774066827,
      0.01082985170574946,
      0.004221303854097247,
      0.05177701749886543,
      0.047464212910926395,
      0.01177182281898137,
      0.010705735753906431,
      0.028588165575432978
    ],
    "v_ego": [
      2.0569364517494337,
      2.647229610507981,
      3.1745590416950025,
      3.6204455998129066,
      4.062237401608355,
      4.509856547765146,
      4.961207296889961,
      5.405617856155017,
      5.807068433733608,
      6.189608711218148
    ],
    "ax_ego": [
      1.18079420205912,
      1.1806409437889063,
      0.9347508918570988,
      0.8682266037701358,
      0.9111948706122375,
      0.8709506898144912,
      0.9393414867227368,
      0.8402302056028678,
      0.7650999358614292,
      0.7652093036782717
    ],
    "ay_ego": [
      -0.0052401045405309765,
      -0.019732237724213175,
      -0.32127503282852166,
      -0.7276687155250119,
      -0.9010855628685766,
      -0.5252440190252383,
      -0.3349992164675561,
      -0.20912830356641054,
      -0.02437132806956066,
      -0.020654317821719337
    ],
    "a_ego": [
      1.180805829216654,
      1.1808058262713494,
      0.9884214063579407,
      1.1328367910021484,
      1.2814957213507314,
      1.0170724574041532,
      0.9972897792078078,
      0.8658645654835415,
      0.7654879969581739,
      0.7654880007423147
    ],
    "yaw": [
      2.802102486854476,
      2.814376342316643,
      2.7804023599006227,
      2.704798233073295,
      2.6004654304990673,
      2.5063506420873285,
      2.461771512748957,
      2.4424600183283784,
      2.4322550410653077,
      2.4273971902414484
    ],
    "yaw_diff": [
      0.02454771092433372,
      -0.06794796483204024,
      -0.15120825365465507,
      -0.20866560514845567,
      -0.18822957682347763,
      -0.08915825867674343,
      -0.03862298884115667,
      -0.020409954526141583,
      -0.009715701647718511,
      -0.009715701647718511
    ],
    "min_front_frame": [
      9,
      50.350040660953944
    ],
    "v_avg": 4.243476695113556,
    "v_std": 1.3061959974664696,
    "vy_max": 0.05177701749886543,
    "a_max": 1.2814957213507314,
    "ax_avg": 0.9256439133767296,
    "a_std": 0.1695881698612607,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "4104fd0bb7845b56",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      50.350040660953944
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "4104fd0bb7845b56",
    "pedestrians": "No"
  },
  "310fcecd57a95e06": {
    "vx_ego": [
      5.572892558689375,
      5.420367950295766,
      5.2777341128752795,
      5.134832819343561,
      4.895166820983965,
      4.513245404043843,
      4.173874837116478,
      3.9609513078056455,
      3.7293196170471057,
      3.4508447597886027
    ],
    "vy_ego": [
      0.04527087499008031,
      0.007410524820624875,
      -0.017591758551526393,
      -0.04011405716535421,
      -0.01703338588594372,
      -0.019913012310339928,
      -0.037798534865004285,
      0.00562644182357297,
      0.017818915768966326,
      0.025713191790579737
    ],
    "v_ego": [
      5.573076432529683,
      5.420373015989918,
      5.277763431243991,
      5.1349895053631816,
      4.895196455863339,
      4.513289333200581,
      4.174045985030837,
      3.960955303920362,
      3.729362186735361,
      3.4509405564849303
    ],
    "ax_ego": [
      -0.30504545779891745,
      -0.30502312443708124,
      -0.265450176508385,
      -0.30546763793798803,
      -0.653035623751795,
      -0.8746437489385759,
      -0.4823912449701041,
      -0.3694881512992342,
      -0.5567582186950519,
      -0.5564926397909177
    ],
    "ay_ego": [
      -0.07879294060610592,
      -0.07887939006555209,
      0.0008892566936018059,
      0.02252908425846481,
      0.0916434360149962,
      -0.10778304580338016,
      0.07352560597592853,
      0.027502443633936224,
      -0.03445510956137404,
      -0.03850723389310079
    ],
    "a_ego": [
      0.31505723101225347,
      0.31505724022544324,
      0.2654516660068267,
      0.3062973024121152,
      0.6594346406229588,
      0.8812598212332048,
      0.48796242473978924,
      0.37051029453493406,
      0.5578233310461059,
      0.55782332794852
    ],
    "yaw": [
      1.017552431858321,
      1.0172690344538182,
      1.018299094854905,
      1.0237443565419513,
      1.0248242255930253,
      1.024580079816452,
      1.0267505532969639,
      1.022268296557638,
      1.0186672976498985,
      1.0113875229312788
    ],
    "yaw_diff": [
      -0.0005667948090053443,
      0.0020601208021737705,
      0.010890523374092353,
      0.00215973810214809,
      -0.0004882915531467802,
      0.004340946961023828,
      -0.008964513478651792,
      -0.007201997815478922,
      -0.014559549437239472,
      -0.014559549437239472
    ],
    "min_front_frame": [
      9,
      10.277791588333532
    ],
    "v_avg": 4.612999220636218,
    "v_std": 0.7160027452099821,
    "vy_max": 0.04527087499008031,
    "a_max": 0.8812598212332048,
    "ax_avg": -0.4673796024128051,
    "a_std": 0.18635776068405324,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "310fcecd57a95e06",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.135085606922626,
    "speed_mode": "decelerating",
    "front_frame": [
      13.48253463692525,
      13.127867845634725,
      12.790442171665395,
      12.460460134009026,
      12.02338921301942,
      11.701604224871149,
      11.252958460256693,
      10.919293126352892,
      10.559677634942808,
      10.277791588333532
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "310fcecd57a95e06",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ba9ec722d0e05e2c": {
    "vx_ego": [
      9.037625466607981,
      9.056723979312256,
      9.04254692231629,
      8.988363483875052,
      8.908191988496116,
      8.775314436980656,
      8.61131333381839,
      8.441153685879595,
      8.268509734979267,
      8.099393480414815
    ],
    "vy_ego": [
      -0.13344070957205112,
      -0.0528685755474938,
      0.03270156459262896,
      0.0736723507757504,
      0.07716339048946841,
      0.1246892844511529,
      0.1661520179233551,
      0.19856707260770357,
      0.13056009151586245,
      -0.0027773093662868398
    ],
    "v_ego": [
      9.038610540213147,
      9.05687828800465,
      9.04260605326908,
      8.988665403358125,
      8.908526179606715,
      8.776200253272373,
      8.612916104680133,
      8.4434888778847,
      8.269540445208763,
      8.09939395658918
    ],
    "ax_ego": [
      0.03843691531292438,
      0.039105634634889586,
      -0.09579635201624927,
      -0.12157083937216447,
      -0.2009184780937138,
      -0.33330935993458777,
      -0.32586009633399843,
      -0.35112406628951204,
      -0.33823154924069143,
      -0.3383234155854405
    ],
    "ay_ego": [
      0.21698398032001698,
      0.21686446723419733,
      0.1668576602995539,
      0.08756091359927062,
      0.17873541213228664,
      0.2867205414818297,
      0.03462273632070789,
      -0.06496657196448784,
      -0.26097165585908677,
      -0.2608525504628538
    ],
    "a_ego": [
      0.220362075172409,
      0.2203620834194706,
      0.19240171480593013,
      0.14982116865113404,
      0.2689137080730406,
      0.4396632783479173,
      0.3276942725363628,
      0.3570836952319423,
      0.4272081296787222,
      0.4272081303256931
    ],
    "yaw": [
      2.610134850633677,
      2.6132176041562376,
      2.6143603150942445,
      2.616869978254228,
      2.6239118844221734,
      2.631682870799927,
      2.6361549492181617,
      2.631465172294381,
      2.6298517137276614,
      2.630203786866849
    ],
    "yaw_diff": [
      0.006165507045121643,
      0.0022854218760137712,
      0.0050193263199673765,
      0.0140838123358904,
      0.01554197275550706,
      0.008944156836469652,
      -0.009379553847561617,
      -0.0032269171334391444,
      0.0007041462783750063,
      0.0007041462783750063
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.723682610208687,
    "v_std": 0.33253743058908053,
    "vy_max": 0.19856707260770357,
    "a_max": 0.4396632783479173,
    "ax_avg": -0.2027591606918544,
    "a_std": 0.10177555433310784,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ba9ec722d0e05e2c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ba9ec722d0e05e2c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f304e815462d5f1f": {
    "vx_ego": [
      3.7952999780201386,
      3.4847683296606613,
      3.1800035226871803,
      2.866806951354267,
      2.516636641122096,
      2.0406034404885816,
      1.4419986526892514,
      0.8713313958351074,
      0.4035867695155529,
      -0.008707866142798608
    ],
    "vy_ego": [
      -0.023139452524666648,
      -0.01758930723667307,
      0.010590696216833173,
      0.027062094918715918,
      0.02192962303918211,
      -0.00041747794588142817,
      -0.03897972673855121,
      -0.050443345752913926,
      -0.04048385644874336,
      -0.02450219200807203
    ],
    "v_ego": [
      3.795370516487528,
      3.484812720238352,
      3.180021158286409,
      2.866934678941,
      2.5167321851569637,
      2.040603483193556,
      1.4425254013202777,
      0.8727903141641208,
      0.40561215854676064,
      0.02600354487298467
    ],
    "ax_ego": [
      -0.621082661392209,
      -0.6210864795123994,
      -0.5980325893425804,
      -0.6547309746786438,
      -0.7459769082024365,
      -1.1581347401285667,
      -1.236331831616567,
      -1.0464396543962604,
      -0.82457759601898,
      -0.8245699605551604
    ],
    "ay_ego": [
      0.007453517584237734,
      0.0071285417114437255,
      0.09139478026682538,
      -0.02755332534879462,
      0.01067493430719696,
      -0.10204753370235226,
      -0.05545465575993669,
      0.007392082623830121,
      0.03195917940593124,
      0.03215558631296722
    ],
    "a_ego": [
      0.6211273840416376,
      0.6211273872081619,
      0.6049760191741592,
      0.6553104874343333,
      0.7460532834816354,
      1.1626219400249573,
      1.2375748933756812,
      1.0464657630226049,
      0.8251967044315801,
      0.8251967047807871
    ],
    "yaw": [
      2.6032666080352542,
      2.6027433615939737,
      2.6016773841255483,
      2.6015087518492552,
      2.6018464607601715,
      2.6016335760678957,
      2.6011691182709327,
      2.600681862029245,
      2.6004823035613915,
      2.600720497310269
    ],
    "yaw_diff": [
      -0.0010464928825610897,
      -0.0021319549368508106,
      -0.0003372645525860918,
      0.0006754178218324469,
      -0.000425769384551522,
      -0.0009289155939260496,
      -0.0009745124833751007,
      -0.00039911693570715556,
      0.00047638749775469336,
      0.00047638749775469336
    ],
    "min_front_frame": [
      9,
      8.948969146231246
    ],
    "v_avg": 2.063140616120795,
    "v_std": 1.257813873155926,
    "vy_max": 0.050443345752913926,
    "a_max": 1.2375748933756812,
    "ax_avg": -0.8330963395843802,
    "a_std": 0.22336173086655117,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f304e815462d5f1f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.416138396736406,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.01737226040216,
      16.215991133911377,
      14.555996369432812,
      13.077762503778589,
      11.74736009288855,
      10.618750077312773,
      9.788772184431402,
      9.255037706624735,
      8.970453601905177,
      8.948969146231246
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f304e815462d5f1f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "566ee79ab35c5b14": {
    "vx_ego": [
      1.5824543114111562,
      2.463940067669876,
      3.3340853134672064,
      4.163599605285071,
      4.888469878664209,
      5.387414988920198,
      5.653902207328555,
      5.831902506974302,
      6.027845907601758,
      6.285853374238458
    ],
    "vy_ego": [
      -0.018352751531428013,
      -0.014644394333395705,
      0.003096659112212574,
      0.03429582200943737,
      0.04946574249954305,
      -0.03352817359587401,
      -0.07785461879334207,
      -0.07487790437718034,
      -0.04418867906051438,
      0.008050705562851146
    ],
    "v_ego": [
      1.5825607322287922,
      2.463983586664981,
      3.3340867515371246,
      4.163740851270322,
      4.888720140720707,
      5.387519317948353,
      5.654438213624954,
      5.832383179405916,
      6.028007873680025,
      6.285858529770223
    ],
    "ax_ego": [
      1.7628853420586375,
      1.7628913463614713,
      1.7176500657095304,
      1.6002684912430447,
      1.3046831825509735,
      0.7221335132107423,
      0.3954509107705549,
      0.36615476333946706,
      0.43581654188283775,
      0.6010545637835224
    ],
    "ay_ego": [
      -0.00461161301135915,
      -0.0003085960941056065,
      0.06286392515646444,
      0.17577366199436034,
      0.7434261808310259,
      1.3423036399576143,
      1.6269034100678035,
      1.7032223121604728,
      1.5062238687960732,
      1.448233358741908
    ],
    "a_ego": [
      1.7628913739138228,
      1.7628913733715161,
      1.7188000527455285,
      1.6098930474774398,
      1.5016260164156527,
      1.524223039041711,
      1.6742748067505253,
      1.7421353435819642,
      1.5680071431947384,
      1.5680071587903763
    ],
    "yaw": [
      -0.3481630515652849,
      -0.350603943730478,
      -0.3513276814768228,
      -0.3437655749445217,
      -0.2967370215448223,
      -0.18087102628126,
      -0.03966423639077282,
      0.10444249783909618,
      0.2345828844268684,
      0.3463232413608721
    ],
    "yaw_diff": [
      -0.0048817843303862185,
      -0.0014474754926896427,
      0.01512421306460221,
      0.09405710679939883,
      0.23173199052712457,
      0.28241357978097437,
      0.288213468459738,
      0.26028077317554443,
      0.22348071386800744,
      0.22348071386800744
    ],
    "min_front_frame": [
      4,
      32.37914541444194
    ],
    "v_avg": 4.562129917685139,
    "v_std": 1.5382295840214841,
    "vy_max": 0.07785461879334207,
    "a_max": 1.7628913739138228,
    "ax_avg": 1.0668988720910781,
    "a_std": 0.09577953838469792,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "566ee79ab35c5b14",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      38.985640646404235,
      37.93843574087761,
      34.00323168348282,
      34.59164090114279,
      32.37914541444194,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "566ee79ab35c5b14",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "01ff2ecc002851a1": {
    "vx_ego": [
      1.8366337078903332,
      2.0450373297664046,
      2.2551596498512474,
      2.4704495930256813,
      2.65776359999497,
      2.7919995690281043,
      2.900992703428977,
      3.024099747722614,
      3.156548100851217,
      3.286824253974653
    ],
    "vy_ego": [
      -0.006596780762450738,
      -0.013046655811577823,
      -0.002775554368464994,
      -0.013967530507893677,
      -0.03234537652059433,
      -0.0058283420692575305,
      0.007974444654544222,
      0.0008850618036795321,
      -0.005752492623228189,
      -0.0016323106842068835
    ],
    "v_ego": [
      1.8366455549385192,
      2.045078945998411,
      2.2551613578676033,
      2.4704890778121733,
      2.6579604167181423,
      2.7920056523983607,
      2.9010036637542727,
      3.0240998772379157,
      3.156553342517564,
      3.2868246592956862
    ],
    "ax_ego": [
      0.4164808693987917,
      0.4178523482379515,
      0.42803393414675606,
      0.43183427187889906,
      0.32907477573610977,
      0.2110975813262494,
      0.22148689026902824,
      0.26911867613869456,
      0.26052369106406603,
      0.26054325315184024
    ],
    "ay_ego": [
      0.07107744740638355,
      0.06251186245239476,
      0.29366713127434324,
      0.17957432198557155,
      0.3761250397058117,
      0.3395104062631016,
      0.18310243756864752,
      0.059355825953631064,
      -0.008163811904790208,
      -0.007513663161949097
    ],
    "a_ego": [
      0.4225024474544267,
      0.4225024471825428,
      0.5190890412752439,
      0.46768341373813616,
      0.4997601960135174,
      0.39978682419850803,
      0.2873724851210098,
      0.2755866033051703,
      0.2606515709341912,
      0.2606515718292432
    ],
    "yaw": [
      -1.2184277299434112,
      -1.197895684504916,
      -1.1612408622978565,
      -1.1064348251741785,
      -1.0454116093217674,
      -0.9898009529182474,
      -0.9487373692159414,
      -0.9258390508075868,
      -0.9195520918248186,
      -0.9220475405897937
    ],
    "yaw_diff": [
      0.04106409087699037,
      0.07330964441411902,
      0.10961207424735608,
      0.12204643170482221,
      0.11122131280703984,
      0.08212716740461201,
      0.04579663681670931,
      0.012573917965536419,
      -0.004990897529950189,
      -0.004990897529950189
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.6425822548538647,
    "v_std": 0.45829803582041423,
    "vy_max": 0.03234537652059433,
    "a_max": 0.5190890412752439,
    "ax_avg": 0.3246046291348386,
    "a_std": 0.09660584661442613,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "01ff2ecc002851a1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "01ff2ecc002851a1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ba9d1824bc8c5e7d": {
    "vx_ego": [
      3.054779877622764,
      2.702620776832295,
      2.3395551717511913,
      1.9487877519679473,
      1.5425829500660098,
      1.141482548619085,
      0.7533464280508447,
      0.42854880286407726,
      0.21159490765631941,
      0.04845397595459894
    ],
    "vy_ego": [
      0.02503730096608439,
      0.0034172431635363654,
      -0.004170793901728892,
      -0.0033579795306426796,
      -0.003994856534860369,
      -0.006869082890173628,
      0.0038482743451612733,
      0.016911194292519187,
      0.0007759076973329736,
      -0.030424780397602224
    ],
    "v_ego": [
      3.0548824800912744,
      2.702622937243824,
      2.3395588894467942,
      1.9487906450531862,
      1.5425881228354792,
      1.1415032164219572,
      0.7533562569411647,
      0.4288823439227046,
      0.21159633025844546,
      0.05721411581114553
    ],
    "ax_ego": [
      -0.7043731150265548,
      -0.704453641845509,
      -0.7477895295655231,
      -0.8152875513623877,
      -0.8095453223326038,
      -0.7948599142128262,
      -0.7577206624768149,
      -0.5414994650245493,
      -0.32629957171477614,
      -0.3262813981221879
    ],
    "ay_ego": [
      -0.02476810233063184,
      -0.022360811165293492,
      0.004863338281712905,
      -0.00996719613948939,
      0.0029024014279678614,
      -0.015992768379415823,
      0.055607685635204136,
      -0.0024080018992225297,
      -0.0624295842979211,
      -0.06252456883241475
    ],
    "a_ego": [
      0.7048084449446337,
      0.7048084416246521,
      0.7478053440482147,
      0.8153484754418574,
      0.8095505251957091,
      0.7950207870633692,
      0.7597583938634749,
      0.541504819087531,
      0.3322180962814301,
      0.33221810978369176
    ],
    "yaw": [
      -1.6333944660219295,
      -1.629977025797296,
      -1.6287050437923152,
      -1.6296753911520574,
      -1.630322578571113,
      -1.6306198220662775,
      -1.631482837970067,
      -1.6310625627618944,
      -1.6313153479292337,
      -1.6316064541862896
    ],
    "yaw_diff": [
      0.006834880449266834,
      0.002543964009961819,
      -0.001940694719484437,
      -0.0012943748381113451,
      -0.0005944869903289351,
      -0.0017260318075789094,
      0.0008405504163451205,
      -0.0005055703346785734,
      -0.000582212514111724,
      -0.000582212514111724
    ],
    "min_front_frame": [
      9,
      11.139676312453732
    ],
    "v_avg": 1.4180995338025975,
    "v_std": 1.0138972084216735,
    "vy_max": 0.030424780397602224,
    "a_max": 0.8153484754418574,
    "ax_avg": -0.6528110171683734,
    "a_std": 0.17748376100054855,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ba9d1824bc8c5e7d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.761823514763785,
    "right_rear_min": 8.311145121800262,
    "speed_mode": "decelerating",
    "front_frame": [
      16.459493986880787,
      15.396174229752106,
      14.420067728574082,
      13.496673699590044,
      12.633309793964425,
      11.984939338287749,
      11.522724019442235,
      11.272256763559739,
      11.145673970400901,
      11.139676312453732
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ba9d1824bc8c5e7d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "09dc77e888295011": {
    "vx_ego": [
      6.3010035887792855,
      5.564096455851946,
      4.847840526600725,
      4.183886395026095,
      3.6152263067217745,
      3.1541907219936904,
      2.762150089283679,
      2.387048318366087,
      1.9645819910890194,
      1.5028040358610806
    ],
    "vy_ego": [
      -0.0036776236361848735,
      -0.009999320853295995,
      -0.015931362109057295,
      -0.01598559431635241,
      -0.01487903116211331,
      -0.010216965510951602,
      -0.0107571780410907,
      -0.022710281963291747,
      -0.0012589050935916113,
      0.04676434062064119
    ],
    "v_ego": [
      6.301004662014228,
      5.564105440809125,
      4.847866703989606,
      4.183916933414202,
      3.61525692508589,
      3.154207269203362,
      2.762171036089048,
      2.387156348277426,
      1.9645823944424756,
      1.5035314674971174
    ],
    "ax_ego": [
      -1.4738283325431936,
      -1.4738164243182819,
      -1.3912469633282634,
      -1.264606066722771,
      -1.0100858426155812,
      -0.8340975433283195,
      -0.7340658120523608,
      -0.7664202857096102,
      -0.9234945188963749,
      -0.9235567114762611
    ],
    "ay_ego": [
      -0.019346317798464983,
      -0.02023405506615633,
      -0.019233411556594714,
      0.010680134091013718,
      -0.02427430708953544,
      0.036053984533178554,
      -0.04506651583704419,
      -0.012539316844739978,
      0.0940525772152157,
      0.09343991527416123
    ],
    "a_ego": [
      1.4739553025174847,
      1.473955314646528,
      1.3913799039407675,
      1.2646511650475951,
      1.0103774796763365,
      0.834876398987932,
      0.7354478956892748,
      0.7665228560285292,
      0.9282715193909975,
      0.9282715212044848
    ],
    "yaw": [
      1.5961441823290472,
      1.5955418447828973,
      1.5947845134798837,
      1.5943213861914218,
      1.5931565960698628,
      1.5926459522298517,
      1.5920644467594793,
      1.5911149727592782,
      1.5906262059762695,
      1.5899628143257603
    ],
    "yaw_diff": [
      -0.0012046750922998228,
      -0.0015146626060271728,
      -0.0009262545769237462,
      -0.0023295802431180235,
      -0.001021287680022187,
      -0.0011630109407447797,
      -0.0018989480004023562,
      -0.0009775335660173745,
      -0.0013267833010184304,
      -0.0013267833010184304
    ],
    "min_front_frame": [
      9,
      15.824599003884007
    ],
    "v_avg": 3.6283799180822482,
    "v_std": 1.4994964003497016,
    "vy_max": 0.04676434062064119,
    "a_max": 1.473955314646528,
    "ax_avg": -1.0795218500991015,
    "a_std": 0.277382251563626,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "09dc77e888295011",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.01806846559963,
      24.29787929378064,
      22.779111913934585,
      21.420185849090057,
      20.05736100727412,
      18.958736741344044,
      18.08565181561788,
      17.19782574597235,
      16.470323634862602,
      15.824599003884007
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "09dc77e888295011",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "50dac69523a15131": {
    "vx_ego": [
      1.0348425200162377,
      1.854545891008233,
      2.630333907396782,
      3.3580236629438627,
      4.032867906804965,
      4.602180688304579,
      4.992986148012853,
      5.256346415187455,
      5.340811933194261,
      5.257295261613855
    ],
    "vy_ego": [
      -0.03607612235399399,
      -0.02808742524242136,
      -0.026354224891472877,
      -0.022513491213563164,
      -0.04714364829728801,
      -0.055271958303323765,
      -0.03175363019761379,
      0.01621088953748484,
      0.026703806109132255,
      0.04465112053547493
    ],
    "v_ego": [
      1.0354711622433808,
      1.854758573322218,
      2.6304659301292714,
      3.358099131678149,
      4.033143448640557,
      4.602512583054858,
      4.993087117934049,
      5.256371412808802,
      5.340878691658418,
      5.257484873050285
    ],
    "ax_ego": [
      1.639800220639852,
      1.6411836209831534,
      1.468261922492934,
      1.4462207778126452,
      1.2574138774692691,
      1.0242670891107715,
      0.5409494828487564,
      0.5124784136505743,
      -0.17039928802942417,
      -0.15854399606280845
    ],
    "ay_ego": [
      0.08753438933905955,
      0.05588717216818395,
      0.23689603292249178,
      0.23638649242462817,
      0.1962482995079253,
      0.17146615730088266,
      0.1558017557657275,
      0.04788100477579234,
      -0.334026304661798,
      -0.33981362197712545
    ],
    "a_ego": [
      1.642134900952863,
      1.6421349073070493,
      1.4872500810075826,
      1.46541226689892,
      1.2726362615893256,
      1.0385199627041284,
      0.5629391886287722,
      0.5147103215170147,
      0.37497931885232144,
      0.3749793279219223
    ],
    "yaw": [
      -1.904565404469651,
      -1.8852747038318545,
      -1.8537133393280714,
      -1.815518977220288,
      -1.7798176907443688,
      -1.7567994814152197,
      -1.7447990753052434,
      -1.7442226243615966,
      -1.7594582458216452,
      -1.7946419258283068
    ],
    "yaw_diff": [
      0.03858140127559295,
      0.06312272900756621,
      0.07638872421556675,
      0.07140257295183838,
      0.04603641865829822,
      0.02400081221995265,
      0.001152901887293556,
      -0.030471242920097286,
      -0.07036736001332322,
      -0.07036736001332322
    ],
    "min_front_frame": [
      4,
      18.823465130726863
    ],
    "v_avg": 3.836227292451999,
    "v_std": 1.4737018771749253,
    "vy_max": 0.055271958303323765,
    "a_max": 1.6421349073070493,
    "ax_avg": 0.9201632120915724,
    "a_std": 0.5047994786974234,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "50dac69523a15131",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      24.007230103532912,
      23.2222529554051,
      22.108858031749307,
      20.648308756759125,
      18.823465130726863,
      -1,
      78.7933109511779,
      76.2593596985503,
      73.6426600157958,
      71.01635876020372
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1111111111111111,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8888888888888888,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "50dac69523a15131",
    "maneuvering": "Yes"
  },
  "c02bb4d7993e5bbb": {
    "vx_ego": [
      7.1791296435236305,
      6.831059205261299,
      6.377394014469235,
      5.847001998583895,
      5.426369279700769,
      5.145873183475633,
      4.959875081097929,
      4.696202730328508,
      4.3922542610822966,
      4.160932418027182
    ],
    "vy_ego": [
      -0.017422849132409546,
      -0.011923227834741645,
      -0.02063023056400448,
      -0.0049936490987421145,
      -0.008175009899655361,
      -0.005164325065877939,
      0.016946884088105296,
      -0.009546436067735087,
      -0.0019079849796372894,
      0.057963434130616776
    ],
    "v_ego": [
      7.179150785029635,
      6.831069610913589,
      6.377427382746209,
      5.84700413100379,
      5.426375437662521,
      5.1458757748965365,
      4.959904033041011,
      4.696212433311182,
      4.392254675494383,
      4.161336125222973
    ],
    "ax_ego": [
      -0.6961237452871154,
      -0.6960103979084491,
      -1.1185011087243044,
      -1.0030477409488465,
      -0.679471177993273,
      -0.4426326681987468,
      -0.30124732161962525,
      -0.7533910023509445,
      -0.46257797429398584,
      -0.46264441897729913
    ],
    "ay_ego": [
      0.04486574981335034,
      0.046591199915479,
      0.006644841945792179,
      0.06184774923618502,
      -0.08054556952718797,
      0.06766792629579982,
      -0.014302714916052853,
      -0.10787857439412246,
      0.11492612619200107,
      0.11465836479844038
    ],
    "a_ego": [
      0.697568064248124,
      0.6975680711631244,
      1.1185208465388488,
      1.00495269277124,
      0.6842285221284078,
      0.4477751971758995,
      0.3015866648858464,
      0.7610754162608782,
      0.4766407418417221,
      0.4766407441974458
    ],
    "yaw": [
      1.030899735760019,
      1.0333785952408965,
      1.036685770924938,
      1.0369295597470967,
      1.0366627568095859,
      1.035477543330575,
      1.033735824707971,
      1.0329062713387693,
      1.0316026506832516,
      1.0310238505147473
    ],
    "yaw_diff": [
      0.00495771896175512,
      0.006614351368082971,
      0.00048757764431739403,
      -0.0005336058750216033,
      -0.0023704269580218096,
      -0.003483437245207721,
      -0.0016591067384035263,
      -0.002607241311035402,
      -0.001157600337008624,
      -0.001157600337008624
    ],
    "min_front_frame": [
      8,
      12.748278758260517
    ],
    "v_avg": 5.501661038932182,
    "v_std": 0.9782269715591069,
    "vy_max": 0.057963434130616776,
    "a_max": 1.1185208465388488,
    "ax_avg": -0.661564755630259,
    "a_std": 0.24148653057542677,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c02bb4d7993e5bbb",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 32.29102910600946,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.781749800840018,
      17.54961309477464,
      16.30498713349393,
      15.306904222108912,
      14.483294693615216,
      13.82721348390184,
      13.277669175056538,
      12.780446009574488,
      12.748278758260517,
      12.897939161001634
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c02bb4d7993e5bbb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e859a9e666c15716": {
    "vx_ego": [
      6.563471787178249,
      6.461352297292963,
      6.333901382656572,
      6.181656428377547,
      6.056927930421693,
      5.93804334716538,
      5.772401489180665,
      5.631736642282347,
      5.663478726762568,
      5.8142243118582435
    ],
    "vy_ego": [
      -0.017598322841219538,
      0.0040088608393231695,
      0.0048143403222103975,
      -0.0019276523381621669,
      -0.003239440479849698,
      0.007804695345210222,
      0.014809276100661406,
      0.01979360702663102,
      0.014830841453602028,
      -0.008201986175894863
    ],
    "v_ego": [
      6.563495379906324,
      6.461353540915269,
      6.33390321232426,
      6.181656728931572,
      6.056928796700275,
      5.938048476232277,
      5.772420485979325,
      5.631771426017286,
      5.66349814534713,
      5.814230097027524
    ],
    "ax_ego": [
      -0.20854995156667888,
      -0.19917774883574002,
      -0.3123125840450272,
      -0.2969079812207115,
      -0.20168111601262553,
      -0.27441091414031044,
      -0.3895067936293605,
      -0.1739733731460522,
      0.299956906857301,
      0.30274325319972467
    ],
    "ay_ego": [
      0.3690596952059727,
      0.37420096885536,
      0.2757099032351464,
      0.26607211950962706,
      0.27448736664574797,
      0.23564752850164933,
      0.14762757006153845,
      0.15353005472027592,
      0.1599403672840269,
      0.15460139002488296
    ],
    "a_ego": [
      0.42390817510870155,
      0.4239081748722986,
      0.4165994489852525,
      0.39868373693054454,
      0.3406150128872998,
      0.3617058300446047,
      0.4165446455371857,
      0.23203062786241482,
      0.33993391572237824,
      0.3399339158653908
    ],
    "yaw": [
      -1.766690598058871,
      -1.741472779760266,
      -1.7162591949394204,
      -1.6935314597266156,
      -1.6711903269713608,
      -1.6517972616601604,
      -1.6366663570822446,
      -1.6242782340132371,
      -1.6093671094666957,
      -1.5916507113536418
    ],
    "yaw_diff": [
      0.05043563659720984,
      0.05042716964169136,
      0.0454554704256096,
      0.04468226551050947,
      0.03878613062240088,
      0.030261809155831543,
      0.02477624613801499,
      0.029822249093082842,
      0.03543279622610784,
      0.03543279622610784
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.041730628938124,
    "v_std": 0.3161736474576956,
    "vy_max": 0.01979360702663102,
    "a_max": 0.42390817510870155,
    "ax_avg": -0.1453820302539481,
    "a_std": 0.05722311038961247,
    "ini_direction_judge": "left",
    "scenario_type": "side_to_main_ego",
    "scene_token": "e859a9e666c15716",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "e859a9e666c15716",
    "merging_vehicles": "No"
  },
  "d66a4334c9625c4a": {
    "vx_ego": [
      7.579876113894329,
      7.435578861909543,
      7.266953915760423,
      7.068848976317719,
      6.7786810248068905,
      6.361990792763765,
      5.889537127575119,
      5.303699297054142,
      4.694659302542754,
      4.206192315663305
    ],
    "vy_ego": [
      -0.05716457967471289,
      -0.022203069512749085,
      0.023467463001257016,
      0.07974828018809088,
      0.09279030769835783,
      0.07070282341026024,
      0.09421192971928649,
      0.10737109959526059,
      0.1049579078398557,
      0.024466867081684662
    ],
    "v_ego": [
      7.580091667727719,
      7.435612011661973,
      7.266991807866956,
      7.069298808098369,
      6.77931607739894,
      6.362383652095267,
      5.890290609535935,
      5.304786026467128,
      4.695832421346544,
      4.206263475334115
    ],
    "ax_ego": [
      -0.28867165558699337,
      -0.2887402958728178,
      -0.3857396125062058,
      -0.4068970725451174,
      -0.7543864345716716,
      -0.9127864076931029,
      -0.9777682608761007,
      -1.3721044711300707,
      -1.0841760529379472,
      -0.8978498891087054
    ],
    "ay_ego": [
      0.049010633392935876,
      0.048604649855209764,
      0.14666986086639638,
      0.10588339834441715,
      -0.011494856589838509,
      -0.045279594959886704,
      0.23504297235770455,
      0.7120724372763868,
      1.1299412208031958,
      1.282992760750278
    ],
    "a_ego": [
      0.2928026074421341,
      0.2928026134587427,
      0.4126828040311419,
      0.4204480011734496,
      0.7544740051146759,
      0.9139087852674418,
      1.0056221809563566,
      1.54587122219927,
      1.565951747735007,
      1.5659517385635275
    ],
    "yaw": [
      2.6381784298286304,
      2.636772188070298,
      2.637199720956311,
      2.6381560628763596,
      2.6396710330332738,
      2.6408688637581323,
      2.6447704200947935,
      2.68437261779329,
      2.777575097847407,
      2.9317087259974213
    ],
    "yaw_diff": [
      -0.0028124835166645212,
      0.0008550657720256538,
      0.0019126838400973512,
      0.0030299403138283054,
      0.002395661449717146,
      0.007803112673322232,
      0.0792043953969932,
      0.18640496010823426,
      0.30826725630002816,
      0.30826725630002816
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.259086655753295,
    "v_std": 1.1308155742224288,
    "vy_max": 0.10737109959526059,
    "a_max": 1.565951747735007,
    "ax_avg": -0.7369120152828733,
    "a_std": 0.5036089359187725,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "d66a4334c9625c4a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d66a4334c9625c4a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e8daa33268685b31": {
    "vx_ego": [
      1.7027079083830354,
      1.7160157893730392,
      1.7559288653974956,
      1.8126348759580149,
      1.8426999949781684,
      1.850502523914955,
      1.9019483261531245,
      1.980965437609234,
      2.0729435591717413,
      2.183695298721299
    ],
    "vy_ego": [
      0.02807236298537613,
      0.013442352542445385,
      0.022030581070293632,
      0.02616924072404203,
      0.031526939870485604,
      0.025510193848478968,
      0.01685138830017019,
      0.00395265077328022,
      -0.0005444474845384129,
      0.004872900693583815
    ],
    "v_ego": [
      1.7029393056811255,
      1.7160684386758736,
      1.756067062170016,
      1.8128237704474752,
      1.842969674039738,
      1.8506783515797136,
      1.9020229768970498,
      1.9809693809977174,
      2.0729436306698426,
      2.1837007356363354
    ],
    "ax_ego": [
      -0.012734757291077009,
      0.078824112428698,
      0.09555767667442538,
      0.1503382279513385,
      -0.007168509383389449,
      0.05561496282892936,
      0.15834709541736558,
      0.16096734643566157,
      0.20137130614682033,
      0.2414157845790446
    ],
    "ay_ego": [
      -0.5750655086461011,
      -0.5697800209296804,
      -0.5978662221442591,
      -0.6240415583393017,
      -0.6538356606111957,
      -0.6273724865690347,
      -0.5633844902607752,
      -0.5286177949851631,
      -0.4178858077651637,
      -0.3961027267998725
    ],
    "a_ego": [
      0.5752064962060682,
      0.575206495921942,
      0.6054546136189423,
      0.6418952011957192,
      0.6538749564050136,
      0.6298327246136681,
      0.5852143936144341,
      0.5525823556661162,
      0.46387385275613435,
      0.463873852703739
    ],
    "yaw": [
      -2.8508289670792726,
      -3.0104389927015447,
      3.0998676340642546,
      2.9261136676201094,
      2.7507311197647413,
      2.580222396860556,
      2.4254217508089377,
      2.2916265927355273,
      2.1769454121318423,
      2.0786339040483206
    ],
    "yaw_diff": [
      -0.3192200512445442,
      -0.3457573608275739,
      -0.3475079328882904,
      -0.3507650957107362,
      -0.34101744580837057,
      -0.3096012921032365,
      -0.26759031614682094,
      -0.22936236120736986,
      -0.19662301616704347,
      -0.19662301616704347
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.8821183326794888,
    "v_std": 0.14846663086124445,
    "vy_max": 0.031526939870485604,
    "a_max": 0.6538749564050136,
    "ax_avg": 0.11225332457878168,
    "a_std": 0.06319371639906472,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "e8daa33268685b31",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "e8daa33268685b31",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "c9f0c60627ba5237": {
    "vx_ego": [
      1.3119132211152869,
      1.9779700909431832,
      2.6482776093399787,
      3.335675160046115,
      4.064068614647298,
      4.790234551843355,
      5.447511906081374,
      6.022926604127575,
      6.472055733703447,
      6.838283409272146
    ],
    "vy_ego": [
      0.009277621793209345,
      0.007748261406397172,
      -0.004230546711622818,
      -0.0018583060091319492,
      0.010568816239713064,
      0.013883553353865707,
      0.017902475033734877,
      0.026135018871953353,
      0.04096612393881616,
      0.08515074206364881
    ],
    "v_ego": [
      1.3119460255678301,
      1.977985266937195,
      2.6482809884256904,
      3.3356756776775973,
      4.0640823569949855,
      4.790254671176433,
      5.447541322974123,
      6.022983307126059,
      6.472185383892694,
      6.838813539964419
    ],
    "ax_ego": [
      1.3321048890069065,
      1.3321042014901057,
      1.3490998260580316,
      1.400541246002048,
      1.5129950469660858,
      1.391669233233028,
      1.2373533010784403,
      1.0639972537676339,
      0.7320028761243647,
      0.7322948998883599
    ],
    "ay_ego": [
      -0.0009427329838381793,
      -0.0016552519581959357,
      -0.03638905176237872,
      0.05625972681904101,
      0.006537637505238392,
      0.00653178415654776,
      0.05486373156619029,
      0.06212426780313046,
      0.12148646990371714,
      0.11971356186512017
    ],
    "a_ego": [
      1.332105222593764,
      1.3321052298848757,
      1.3495904948383328,
      1.401670766840317,
      1.5130091714355396,
      1.391684561576966,
      1.2385690213835805,
      1.065809354751187,
      0.7420156150809825,
      0.7420156044834483
    ],
    "yaw": [
      -2.492624944526315,
      -2.4920900562981076,
      -2.4910222375201414,
      -2.4901529076253652,
      -2.4892651215540633,
      -2.4892757881068714,
      -2.4870707294436194,
      -2.4834204192897076,
      -2.4784797991544663,
      -2.4760583028008
    ],
    "yaw_diff": [
      0.0010697764564149281,
      0.0021356375559324903,
      0.0017386597895523437,
      0.0017755721426038207,
      -2.1333105616250236e-05,
      0.004410117326504093,
      0.007300620307823635,
      0.00988124027048265,
      0.00484299270733235,
      0.00484299270733235
    ],
    "min_front_frame": [
      0,
      11.86280262522837
    ],
    "v_avg": 4.290974854073703,
    "v_std": 1.83638216088244,
    "vy_max": 0.08515074206364881,
    "a_max": 1.5130091714355396,
    "ax_avg": 1.2084162773615004,
    "a_std": 0.2589372426957603,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c9f0c60627ba5237",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.046161229443048,
    "right_rear_min": 26.58288818734632,
    "speed_mode": "accelerating",
    "front_frame": [
      11.86280262522837,
      12.779334826427567,
      13.829267119778754,
      14.717609946416436,
      15.700875731122446,
      16.62471190585402,
      17.64416411157635,
      18.649240139349754,
      19.850791269479018,
      20.92444546679468
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c9f0c60627ba5237",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "80a22559c9565d0a": {
    "vx_ego": [
      8.035973364896972,
      7.422894777650654,
      6.776024948560304,
      6.0359200080454105,
      5.237934889006865,
      4.438762734478431,
      3.6445900546405934,
      2.8840013830407383,
      2.1872008432677643,
      1.528296822020921
    ],
    "vy_ego": [
      0.03751025368484795,
      0.040949009719018825,
      0.04823450907987814,
      0.057267972663196165,
      0.08840689894541409,
      0.102592167125934,
      0.08916743759302226,
      0.07466193655964748,
      0.049288309110790296,
      0.015106243383937734
    ],
    "v_ego": [
      8.036060909454648,
      7.423007726081816,
      6.776196622839234,
      6.036191677226284,
      5.238680910425495,
      4.439948171516198,
      3.6456806632386263,
      2.884967657037376,
      2.187756125852747,
      1.5283714780080206
    ],
    "ax_ego": [
      -1.2261091810393676,
      -1.2261074844014883,
      -1.3611128856459533,
      -1.5992212782692607,
      -1.5923908682614876,
      -1.6036802668547239,
      -1.572569427551365,
      -1.4693434511061507,
      -1.3178794671525327,
      -1.318008414183937
    ],
    "ay_ego": [
      -0.002340909133289437,
      -0.0031022608945914243,
      -0.008467483241917706,
      0.03302002385467018,
      0.06467109920797631,
      -0.03559238980559132,
      -0.03665336695220167,
      -0.038846185408841216,
      -0.06184249566256805,
      -0.059030464057602594
    ],
    "a_ego": [
      1.2261114156896995,
      1.22611140901959,
      1.3611392234976945,
      1.599562133474199,
      1.5937035572512668,
      1.6040751904169928,
      1.5729965269440873,
      1.469856864946159,
      1.3193296723003005,
      1.3193296690162442
    ],
    "yaw": [
      -0.6967420732566235,
      -0.6973630172277224,
      -0.6987932380756888,
      -0.6992431208662548,
      -0.7004347558469819,
      -0.7018636669402556,
      -0.7030119951765137,
      -0.7043558448693391,
      -0.7042757948587259,
      -0.7021421434518045
    ],
    "yaw_diff": [
      -0.0012418879421978168,
      -0.0028604416959328027,
      -0.0008997655811320282,
      -0.002383269961454104,
      -0.0028578221865473985,
      -0.002296656472516201,
      -0.0026876993856508324,
      0.00016010002122635036,
      0.00426730281384291,
      0.00426730281384291
    ],
    "min_front_frame": [
      9,
      10.573482610518964
    ],
    "v_avg": 4.819686194168044,
    "v_std": 2.1361450967444493,
    "vy_max": 0.102592167125934,
    "a_max": 1.6040751904169928,
    "ax_avg": -1.4286422724466268,
    "a_std": 0.1484121366236487,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "80a22559c9565d0a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      32.133292535480535,
      28.285276921488972,
      24.777564479992126,
      21.57729933414996,
      18.802773995733425,
      16.38329268774906,
      14.365241358993122,
      12.752757991399145,
      11.51481866914721,
      10.573482610518964
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "80a22559c9565d0a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "522b72a25cbb5ef9": {
    "vx_ego": [
      6.2659275910180146,
      6.389932720303089,
      6.497665614534844,
      6.646922615009934,
      6.8445526828967935,
      6.941143340621046,
      6.944158885189292,
      6.952755314287074,
      7.0229602387761005,
      7.146025545916276
    ],
    "vy_ego": [
      0.04646093470479906,
      0.08130218251557197,
      0.030171845976833644,
      -0.0013297842080337574,
      -0.009884543018205072,
      -0.00023127820180590675,
      0.005465595374070542,
      -0.028616267030590503,
      -0.020856292584927605,
      0.03235123216624469
    ],
    "v_ego": [
      6.266099839161076,
      6.390449922727025,
      6.4977356654913345,
      6.6469227480283335,
      6.844559820261663,
      6.9411433444741295,
      6.944161036114168,
      6.952814203693776,
      7.022991207482069,
      7.146098775213695
    ],
    "ax_ego": [
      0.24896399405817404,
      0.2511824227300351,
      0.1798024449196889,
      0.41720234624249675,
      0.3733091995414483,
      0.013058786030863068,
      -0.0010425857625059286,
      0.03568574807090687,
      0.24589892505393057,
      0.24629821969639276
    ],
    "ay_ego": [
      -0.13833366304285655,
      -0.13426340733899828,
      -0.07732893407249314,
      -0.03109309975699201,
      -0.010316044573199762,
      0.05182098141502891,
      0.0278272601555436,
      0.015033705949917655,
      0.14568012744325567,
      0.14500399894331376
    ],
    "a_ego": [
      0.28481445305365577,
      0.28481445194864646,
      0.19572604130234114,
      0.4183593892369841,
      0.3734517093787537,
      0.05344105170574992,
      0.027846784245878095,
      0.038723183365637986,
      0.2858128423891442,
      0.2858128281501114
    ],
    "yaw": [
      -2.1329073354851986,
      -2.14918323521297,
      -2.149457189422094,
      -2.148785268970827,
      -2.1490515212296764,
      -2.148947315252292,
      -2.1469003201639394,
      -2.140449022392268,
      -2.135792260819037,
      -2.13304490390315
    ],
    "yaw_diff": [
      -0.03255179945554243,
      -0.0005479084182482552,
      0.0013438409025336995,
      -0.0005325045176984844,
      0.00020841195476872798,
      0.004093990176705198,
      0.012902595543343054,
      0.009313523146461833,
      0.005494713831773801,
      0.005494713831773801
    ],
    "min_front_frame": [
      8,
      50.83567843656515
    ],
    "v_avg": 6.7652976562647265,
    "v_std": 0.28126242927059786,
    "vy_max": 0.08130218251557197,
    "a_max": 0.4183593892369841,
    "ax_avg": 0.20103595005814306,
    "a_std": 0.13335495480016604,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "522b72a25cbb5ef9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.88539480690424,
    "right_rear_min": 23.403597466140763,
    "speed_mode": "quasi_constant",
    "front_frame": [
      77.65865633531192,
      74.48673779765144,
      75.18884724134388,
      68.02735835052542,
      64.62606697163527,
      65.06991908822847,
      61.51679933969501,
      54.27042242051849,
      50.83567843656515,
      51.69467813828818
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "522b72a25cbb5ef9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8d8f5c8c6c29525c": {
    "vx_ego": [
      3.940814331007987,
      4.1054083159837145,
      4.481923044938662,
      4.941195653509736,
      5.484152457387815,
      6.128878902104664,
      6.798015770526625,
      7.356817090208356,
      7.7611614743634245,
      8.101940576718425
    ],
    "vy_ego": [
      0.11949209544968364,
      0.04523577215913129,
      0.06021265447446944,
      0.0800337061628571,
      0.11805553705867755,
      0.017808001311066413,
      0.027875237501248318,
      0.00899900159088185,
      -0.009281212756588442,
      -0.04162946935255496
    ],
    "v_ego": [
      3.9426255151044822,
      4.105657525419171,
      4.482327491885338,
      4.94184377336897,
      5.485422981475815,
      6.128904773413792,
      6.798072921438432,
      7.356822594083085,
      7.761167023847205,
      8.102047526483355
    ],
    "ax_ego": [
      0.06647369682025317,
      0.6666750871632819,
      0.8723836918848102,
      0.9652872841947789,
      1.2077450801935647,
      1.3777738984765748,
      1.3010498371347468,
      0.9357601813178668,
      0.6797399301725601,
      0.6822480601916012
    ],
    "ay_ego": [
      -2.3013526716967947,
      -2.203675843657714,
      -2.043483523182038,
      -1.488542411666508,
      -0.7173745557311559,
      -0.5338895981302366,
      -0.4646293470719065,
      -0.42891757778702944,
      -0.23805962320107663,
      -0.23077334972629443
    ],
    "a_ego": [
      2.3023125052639846,
      2.3023125104478557,
      2.221908687453885,
      1.7741302241825643,
      1.4047328685348803,
      1.4775990722503196,
      1.38152492155184,
      1.0293771930030018,
      0.72022132492008,
      0.7202213233299173
    ],
    "yaw": [
      0.26395487977400445,
      -0.0009435738909355173,
      -0.25190918587754685,
      -0.4434149057031771,
      -0.5570438079224748,
      -0.5937827813159611,
      -0.6338971987775739,
      -0.662606200014821,
      -0.6821635061376455,
      -0.6928628678486239
    ],
    "yaw_diff": [
      -0.5297969073298799,
      -0.5019312239732227,
      -0.3830114396512605,
      -0.22725780443859533,
      -0.07347794678697261,
      -0.08022883492322563,
      -0.057418002474494134,
      -0.03911461224564916,
      -0.02139872342195681,
      -0.02139872342195681
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.9104892126519655,
    "v_std": 1.4643712914168956,
    "vy_max": 0.11949209544968364,
    "a_max": 2.3023125104478557,
    "ax_avg": 0.8755136747550039,
    "a_std": 0.5773855949784056,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "8d8f5c8c6c29525c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "8d8f5c8c6c29525c",
    "pedestrians": "No"
  },
  "54229e2cb94b5adb": {
    "vx_ego": [
      7.186004917368232,
      7.072756470835255,
      6.953943455677314,
      6.816606288124408,
      6.585484006673656,
      6.19645314361207,
      5.643496877001217,
      5.010022274018881,
      4.551237657246613,
      4.260755069227819
    ],
    "vy_ego": [
      0.023889793205912113,
      0.01124063156878119,
      0.023253990385356804,
      0.0204083302602025,
      -0.0034673260256812277,
      -0.0007715461846840022,
      -0.012333878502437834,
      -0.012413185103258284,
      0.0115159097799995,
      0.0367891109991334
    ],
    "v_ego": [
      7.18604462793405,
      7.0727654031177964,
      6.953982336246346,
      6.8166368384446905,
      6.585484919465254,
      6.196453191646284,
      5.643510354848426,
      5.010037651887431,
      4.551252226466657,
      4.260913892422453
    ],
    "ax_ego": [
      -0.23555721670970378,
      -0.2197090231124632,
      -0.2571488635721236,
      -0.2968120953337159,
      -0.6292328580459015,
      -0.928538715711994,
      -1.283576184374804,
      -1.2488549923580199,
      -0.5856705309003606,
      -0.5785507349198943
    ],
    "ay_ego": [
      0.4589246224146398,
      0.466719354891325,
      0.5073353159934284,
      0.4074918501217292,
      0.3802384852485632,
      0.2193287776627335,
      0.1321350420315896,
      0.21365269583634255,
      0.269517438679022,
      0.28447964296760425
    ],
    "a_ego": [
      0.5158478568361432,
      0.5158478565112077,
      0.5687834921044971,
      0.5041299711899906,
      0.7351974532795494,
      0.9540908024329278,
      1.2903594423364642,
      1.2669989212212007,
      0.6447089424827382,
      0.6447089421896717
    ],
    "yaw": [
      -0.5506321148666191,
      -0.5163929359235667,
      -0.48340941733051523,
      -0.4498066827045307,
      -0.41706136431857993,
      -0.3941645281168339,
      -0.3774944958865586,
      -0.3612379161604403,
      -0.3406194540467987,
      -0.31491750132961094
    ],
    "yaw_diff": [
      0.06847835788610479,
      0.06596703718610297,
      0.06720546925196902,
      0.06549063677190159,
      0.04579367240349208,
      0.0333400644605506,
      0.03251315945223654,
      0.0412369242272832,
      0.05140390543437556,
      0.05140390543437556
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.027708144247939,
    "v_std": 1.0362729103316932,
    "vy_max": 0.0367891109991334,
    "a_max": 1.2903594423364642,
    "ax_avg": -0.6263651215038981,
    "a_std": 0.2871041333644801,
    "ini_direction_judge": "left",
    "scenario_type": "side_to_main_ego",
    "scene_token": "54229e2cb94b5adb",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.442710740026873,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "54229e2cb94b5adb",
    "merging_vehicles": "No"
  },
  "1039f028cca95109": {
    "vx_ego": [
      5.36794839658135,
      4.850034815928464,
      4.319730981147068,
      3.786773275712386,
      3.2830982272983786,
      2.7868108345588354,
      2.3447328223178974,
      2.043812257473196,
      1.7953392266341015,
      1.5243980893114337
    ],
    "vy_ego": [
      -0.06781088780254721,
      -0.02950152520991156,
      0.0040263773335073305,
      0.012502992762455145,
      -0.010650884256603536,
      -0.05388808819173126,
      -0.05855428623182926,
      -0.019099816095895523,
      0.010312387079407986,
      0.021611419253212992
    ],
    "v_ego": [
      5.368376691781684,
      4.850124540226567,
      4.319732857619351,
      3.786793916557585,
      3.283115503820297,
      2.787331798272942,
      2.345463837387175,
      2.0439015012403554,
      1.795368843446496,
      1.524551274355339
    ],
    "ax_ego": [
      -1.0357977895415582,
      -1.0357551799261078,
      -1.0854668323801022,
      -1.046383857984202,
      -0.968326066817692,
      -1.016840350878021,
      -0.7517262069176581,
      -0.4519709753223565,
      -0.5419146408840592,
      -0.5418963689919302
    ],
    "ay_ego": [
      0.08166357868816349,
      0.08220226973589702,
      0.0483140073748765,
      -0.009207050840972415,
      -0.07990028033931415,
      -0.09473135279536049,
      0.06764321384154362,
      0.08940079097241432,
      0.024824184095360295,
      0.025219864508008005
    ],
    "a_ego": [
      1.0390120311639015,
      1.0390120335652984,
      1.0865415259003737,
      1.0464243632652532,
      0.9716169134370409,
      1.0212435206042563,
      0.7547634692707528,
      0.4607279717581032,
      0.5424829196578443,
      0.5424829179729445
    ],
    "yaw": [
      1.5901225300468391,
      1.5906426133898095,
      1.5904468357412647,
      1.5907679831992887,
      1.5910167772185324,
      1.590878433703248,
      1.5900469519770526,
      1.589957249803009,
      1.5895139351226788,
      1.590244102432158
    ],
    "yaw_diff": [
      0.0010401666859407577,
      -0.00039155529708967407,
      0.0006422949160480584,
      0.0004975880384874287,
      -0.00027668703056882293,
      -0.0016629634523908088,
      -0.00017940434808716432,
      -0.0008866293606604181,
      0.0014603346189585587,
      0.0014603346189585587
    ],
    "min_front_frame": [
      9,
      13.957676289490282
    ],
    "v_avg": 3.210476076470779,
    "v_std": 1.2667247494559992,
    "vy_max": 0.06781088780254721,
    "a_max": 1.0865415259003737,
    "ax_avg": -0.8476078269643686,
    "a_std": 0.23660830528488958,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1039f028cca95109",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.04957431180238,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.54702219225443,
      23.17985350948767,
      23.479042258706112,
      21.503763876308447,
      19.750182108342067,
      18.24056903425551,
      16.918536345484465,
      15.819721566558227,
      14.82756248627015,
      13.957676289490282
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1039f028cca95109",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "a9956fd52aa15f39": {
    "vx_ego": [
      2.091903134648298,
      1.4512543150600528,
      0.8095584052146994,
      0.28194297760131054,
      -0.021672128657052037,
      -0.0768331963910998,
      -0.02889963601292255,
      -0.018741714070775198,
      -0.002059076874487002,
      0.022460938379749523
    ],
    "vy_ego": [
      0.015614438155031829,
      0.0022214508426613433,
      -0.0006438545691356268,
      -0.0028766906502883105,
      -0.005229535195433892,
      -0.0007423794395739203,
      -0.00013431123006996462,
      -0.00042884242032205366,
      -0.0001536915568585989,
      9.117196226184933e-05
    ],
    "v_ego": [
      2.0919614086857035,
      1.4512560152585998,
      0.8095586612485062,
      0.2819576527916747,
      0.02229415167455577,
      0.07683678282506116,
      0.028899948117357115,
      0.018746619752162276,
      0.002064804753408123,
      0.02246112341860059
    ],
    "ax_ego": [
      -1.2813044747041449,
      -1.2813301260687078,
      -1.28543925412139,
      -0.8250264096470624,
      -0.3894366814631792,
      0.16879326498994052,
      0.02294096804764214,
      0.0176905981840371,
      0.04904002415235287,
      0.04904004050687219
    ],
    "ay_ego": [
      -0.023520267255072058,
      -0.02207861371409292,
      0.014832758174692873,
      -0.02311695733246133,
      0.013682245130077264,
      0.004210023054617387,
      -0.0017788324718150707,
      0.0006056183465083624,
      0.0004912473594496473,
      0.0004895879376728765
    ],
    "a_ego": [
      1.2815203314300616,
      1.28152033037123,
      1.285524829301723,
      0.825350210717507,
      0.38967695941748115,
      0.16884575979302735,
      0.02300982963704254,
      0.01770096149057119,
      0.04904248457033472,
      0.04904248433006203
    ],
    "yaw": [
      -2.2542986983339754,
      -2.2531735642549444,
      -2.2522417196499456,
      -2.251910324880698,
      -2.2519873948491034,
      -2.251869035299911,
      -2.2518612280583503,
      -2.251914234663235,
      -2.251848992140201,
      -2.251815156322067
    ],
    "yaw_diff": [
      0.002250268158062063,
      0.0018636892099976876,
      0.0006627895384951898,
      -0.0001541399368107932,
      0.0002367190983845191,
      1.5614483121595413e-05,
      -0.00010601320976899586,
      0.0001304850460677187,
      6.767163626797412e-05,
      6.767163626797412e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.48060371685256287,
    "v_std": 0.7011154614848276,
    "vy_max": 0.015614438155031829,
    "a_max": 1.285524829301723,
    "ax_avg": -0.4755032050123639,
    "a_std": 0.5403110438894443,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a9956fd52aa15f39",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a9956fd52aa15f39",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6632c49f6f675b7b": {
    "vx_ego": [
      8.322420993995927,
      8.033826843976588,
      7.721932573489162,
      7.348012228805073,
      6.904921000398157,
      6.424403672705653,
      5.889642205024867,
      5.264920229158542,
      4.612418290314557,
      3.971729556769974
    ],
    "vy_ego": [
      0.01445501130522775,
      -0.005697513428896794,
      -0.02648375013785209,
      -0.040794249760428336,
      -0.04021590695639299,
      -0.02489876817813963,
      -0.021137938697289638,
      -0.029585550151981277,
      -0.022487921946519496,
      0.005172767537982903
    ],
    "v_ego": [
      8.322433547265847,
      8.033828864287445,
      7.721977988736715,
      7.348125467456473,
      6.905038112922463,
      6.4244519220343355,
      5.889680136956721,
      5.265003354621974,
      4.612473110107173,
      3.9717329252662767
    ],
    "ax_ego": [
      -0.5803184081413502,
      -0.5736200361157792,
      -0.6759869784681266,
      -0.8215297992397195,
      -0.9535186650790701,
      -0.9702278833269689,
      -1.1697427338534376,
      -1.3297881381016925,
      -1.2814495685594882,
      -1.2814835163384577
    ],
    "ay_ego": [
      -0.3462537186056076,
      -0.3572410210660827,
      -0.23354130982294624,
      -0.2290530487411248,
      -0.13858393951744202,
      -0.11426086753758313,
      -0.08520291095550336,
      -0.12340705069094732,
      0.00958526055962794,
      0.0022069162856855895
    ],
    "a_ego": [
      0.6757670400929021,
      0.6757670404553666,
      0.7151922388087589,
      0.8528637113727244,
      0.9635368975531482,
      0.9769327978093332,
      1.172841677055435,
      1.3355020750250461,
      1.2814854169990755,
      1.2814854166656249
    ],
    "yaw": [
      1.1621255327192457,
      1.1430829747349303,
      1.1269998638036611,
      1.1135834262145567,
      1.100635540411208,
      1.0888565744789829,
      1.08018191172571,
      1.0723737257262684,
      1.0651660202880768,
      1.0594083019781153
    ],
    "yaw_diff": [
      -0.038085115968630845,
      -0.03216622186253826,
      -0.02683287517820876,
      -0.025895771606697426,
      -0.02355793186445032,
      -0.017349325506545554,
      -0.015616371998883327,
      -0.014415410876383206,
      -0.011515436619923047,
      -0.011515436619923047
    ],
    "min_front_frame": [
      2,
      35.05004190200556
    ],
    "v_avg": 6.449474542965542,
    "v_std": 1.4100807214523756,
    "vy_max": 0.040794249760428336,
    "a_max": 1.3355020750250461,
    "ax_avg": -0.9637665727224091,
    "a_std": 0.24805508364320059,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6632c49f6f675b7b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.530177329557268,
    "right_rear_min": 4.6621450591936275,
    "speed_mode": "decelerating",
    "front_frame": [
      41.86566959581689,
      38.63471881935085,
      35.05004190200556,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6632c49f6f675b7b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bcc94c5142785550": {
    "vx_ego": [
      7.106157280770101,
      7.323419509272044,
      7.532049512668239,
      7.699707998380002,
      7.837521261833125,
      7.939025251475046,
      8.026023362738847,
      8.166729752406926,
      8.383687244051409,
      8.648323713731198
    ],
    "vy_ego": [
      0.011626907412408016,
      0.03386249355994009,
      0.09518529669749709,
      0.13923969710214346,
      0.056351669371248914,
      -0.0010157639888062064,
      -0.02100923979089897,
      0.016497531629654283,
      -0.006338282821376495,
      -0.04113281586624762
    ],
    "v_ego": [
      7.1061667925836005,
      7.3234977966308215,
      7.532650934564355,
      7.700966884331218,
      7.837723843076332,
      7.939025316456353,
      8.026050860004961,
      8.16674641564181,
      8.383689640003345,
      8.648421530315602
    ],
    "ax_ego": [
      0.38335274258737767,
      0.4920297531637672,
      0.3501969230411453,
      0.3366332195518329,
      0.21905657870031364,
      0.18993910833818622,
      0.17400281694579267,
      0.39275894910772446,
      0.4806745176307895,
      0.5837599489746091
    ],
    "ay_ego": [
      -1.2483969937636823,
      -1.209694618864562,
      -0.8893137258891851,
      -0.5591293031309293,
      -0.30020327939970676,
      0.43607487660177513,
      1.0138821106193197,
      1.123678177082684,
      1.310977595956262,
      1.268437847502362
    ],
    "a_ego": [
      1.3059304649511259,
      1.3059304533198832,
      0.9557807216942548,
      0.652646536898428,
      0.371628569453729,
      0.47564499669349897,
      1.028704969628784,
      1.1903412274453355,
      1.396320253021796,
      1.3963202537395438
    ],
    "yaw": [
      2.431667176510558,
      2.343300827019914,
      2.2646257323330614,
      2.2113188707094578,
      2.194366965743898,
      2.20594011804572,
      2.2538340151218277,
      2.315393613509916,
      2.3917701881205,
      2.4716569733170877
    ],
    "yaw_diff": [
      -0.1767326989812883,
      -0.15735018937370526,
      -0.1066137232472073,
      -0.033903809931119966,
      0.023146304603644197,
      0.09578779415221561,
      0.12311919677617666,
      0.15275314922116756,
      0.15977357039317575,
      0.15977357039317575
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.86649400136084,
    "v_std": 0.44859705401904654,
    "vy_max": 0.13923969710214346,
    "a_max": 1.3963202537395438,
    "ax_avg": 0.36024045580415387,
    "a_std": 0.3647136824646221,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "bcc94c5142785550",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "bcc94c5142785550",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "11d702a710115591": {
    "vx_ego": [
      13.398978931789298,
      13.245007573113199,
      13.10035389854704,
      12.937941979190231,
      12.747355594576204,
      12.548521429100795,
      12.346993045144318,
      12.157921065648864,
      11.976236361086926,
      11.79433043156641
    ],
    "vy_ego": [
      0.07671361554668008,
      0.0005527484096397445,
      -0.03934893349672653,
      -0.04075176869720251,
      -0.01727199992506313,
      0.022756035418134354,
      0.03144291554334029,
      0.029568994300743945,
      -0.006284832731930146,
      -0.1005106513507107
    ],
    "v_ego": [
      13.399198535485013,
      13.24500758464701,
      13.100412993709165,
      12.938006158738093,
      12.747367295898972,
      12.548542062476812,
      12.347033081424057,
      12.157957022624005,
      11.976238010149224,
      11.794758696980978
    ],
    "ax_ego": [
      -0.30850664289321006,
      -0.3083742094439762,
      -0.26973067568585185,
      -0.37919649692800705,
      -0.3827044571813825,
      -0.4126501787639629,
      -0.3938800051160442,
      -0.36250966831889136,
      -0.36418928605984097,
      -0.36379843292560526
    ],
    "ay_ego": [
      0.019425197942782548,
      0.02142497986479617,
      0.07554665624226256,
      0.123034142263452,
      0.14834039740667992,
      0.15781131875442236,
      -0.01717893071101227,
      0.07561435596514508,
      -0.22870880262040416,
      -0.229330010239023
    ],
    "a_ego": [
      0.3091175941682306,
      0.3091175873553691,
      0.2801105758005805,
      0.39865697465988903,
      0.4104480174751346,
      0.44179699224976676,
      0.39425445348225147,
      0.37031174765688474,
      0.43004831411928085,
      0.4300483151872084
    ],
    "yaw": [
      -1.5866661664996164,
      -1.5801826609725036,
      -1.5753113673720414,
      -1.5713944923885341,
      -1.5679401965494066,
      -1.5650544245257736,
      -1.5629274391004135,
      -1.5615817455135366,
      -1.56178226974495,
      -1.5634889150478366
    ],
    "yaw_diff": [
      0.012967011054225708,
      0.009742587200924469,
      0.00783374996701447,
      0.006908591678254972,
      0.005771544047266097,
      0.004253970850720101,
      0.002691387173753945,
      -0.00040104846282673634,
      -0.0034132906057733337,
      -0.0034132906057733337
    ],
    "min_front_frame": [
      4,
      59.068474255041494
    ],
    "v_avg": 12.625452144213332,
    "v_std": 0.522894651491787,
    "vy_max": 0.1005106513507107,
    "a_max": 0.44179699224976676,
    "ax_avg": -0.35455400533167725,
    "a_std": 0.055099197018405266,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "11d702a710115591",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      71.91368835416891,
      74.45596634605837,
      77.04356259746443,
      79.43059672260901,
      59.068474255041494,
      59.38595647515891,
      59.99794387724965,
      60.68457985465693,
      61.29352884124423,
      62.00036044132864
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "11d702a710115591",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "08226b91e42858de": {
    "vx_ego": [
      0.4880243547192225,
      0.29348709137959694,
      0.14701697810651007,
      0.04579318217249191,
      -0.01139762713253964,
      -0.015650286496559546,
      -0.011699332595071,
      -0.007015595750036572,
      -0.0001610559471148178,
      0.010204087184914893
    ],
    "vy_ego": [
      0.02140505497269976,
      0.003009832999822673,
      0.00027928688759085163,
      -0.014604901611413413,
      -0.02025457606654021,
      -0.005308953708462879,
      -0.0048502266375297105,
      -0.0028436477529982986,
      -0.002008878400914099,
      -0.0016662400013024593
    ],
    "v_ego": [
      0.4884935487572971,
      0.2935025245226056,
      0.14701724338571867,
      0.04806577456529851,
      0.02324120814173969,
      0.016526235412307178,
      0.012664875901701267,
      0.0075700010747068915,
      0.0020153241545121815,
      0.010339233579878383
    ],
    "ax_ego": [
      -0.38906995723626225,
      -0.38904038494717086,
      -0.19685667912653254,
      -0.20802162264650834,
      -0.020765201214158015,
      0.003757759152149044,
      0.01204612351223842,
      0.006688312267560017,
      0.020729977949367824,
      0.020729916394833788
    ],
    "ay_ego": [
      -0.03725449013455026,
      -0.03756206351708624,
      0.0261242891052908,
      -0.08590258866010735,
      0.06330794528136377,
      -0.003537483231303562,
      0.005372198128192118,
      0.002655339414210564,
      0.0006833818037214768,
      0.0006853081565166667
    ],
    "a_ego": [
      0.39084949617341486,
      0.3908494975505335,
      0.19858255360928212,
      0.22506054791320915,
      0.0666264926077654,
      0.005160866347553848,
      0.013189753765732483,
      0.007196134267303099,
      0.02074123902930907,
      0.020741241067163435
    ],
    "yaw": [
      1.0740696358572461,
      1.0732790707215771,
      1.072622207166272,
      1.0720047762734908,
      1.0718414107457745,
      1.072022586138845,
      1.0720257899205938,
      1.071990433999638,
      1.0720068709081811,
      1.0719139424355029
    ],
    "yaw_diff": [
      -0.0015811302713379938,
      -0.0013137271106100634,
      -0.0012348617855626465,
      -0.00032673105543246095,
      0.0003623507861409969,
      6.407563497567992e-06,
      -7.071184191165258e-05,
      3.287381708627635e-05,
      -0.00018585694535655506,
      -0.00018585694535655506
    ],
    "min_front_frame": [
      4,
      9.826457820719735
    ],
    "v_avg": 0.10494359694957656,
    "v_std": 0.15482390568058954,
    "vy_max": 0.02140505497269976,
    "a_max": 0.3908494975505335,
    "ax_avg": -0.11398017558944826,
    "a_std": 0.14895445561904058,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "08226b91e42858de",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.2808817289860692,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.181257374174308,
      9.95428544387321,
      9.87151070012933,
      9.832900509188518,
      9.826457820719735,
      9.887393254805023,
      9.888043377262026,
      9.949779908681824,
      9.957622369812025,
      9.96980169316068
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "08226b91e42858de",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1fc3acd944ba540e": {
    "vx_ego": [
      8.619074935101816,
      8.610741617660455,
      8.652401145271183,
      8.729219328858923,
      8.79683964695338,
      8.870352649408222,
      9.006653396353236,
      9.230452357389924,
      9.480353807823219,
      9.73120700622553
    ],
    "vy_ego": [
      -0.02419721541583053,
      -0.013148198947972922,
      -0.004473471290819209,
      -0.016422348917882523,
      -0.028565206668790477,
      -0.017494341475440933,
      -0.020550486103526833,
      0.007336183631732496,
      0.02390593351545567,
      0.0771012175623782
    ],
    "v_ego": [
      8.61910890070048,
      8.610751655996436,
      8.652402301709941,
      8.729234776592287,
      8.796886025477589,
      8.870369900790333,
      9.006676841350554,
      9.230455272717347,
      9.48038394872093,
      9.731512441330096
    ],
    "ax_ego": [
      -0.017817826674368722,
      -0.01452882716286226,
      0.18261129541470444,
      0.1266894002922854,
      0.14605854896703788,
      0.14888268490714207,
      0.39771354467461856,
      0.49711016589566337,
      0.5017108378158195,
      0.5017077822574572
    ],
    "ay_ego": [
      0.24924498277200147,
      0.24945830996124488,
      0.35386847539565885,
      0.4382835324098583,
      0.43134458692758604,
      0.3342244295492639,
      0.3290238754447711,
      0.21322067164628633,
      0.10582847585518715,
      0.10584296545052566
    ],
    "a_ego": [
      0.24988104446798912,
      0.24988104215295895,
      0.39820821575136356,
      0.45622654342780433,
      0.45540229731314097,
      0.3658852595728478,
      0.5161712644368591,
      0.5409080992683576,
      0.5127508469848524,
      0.512750847988628
    ],
    "yaw": [
      -1.2966614490329849,
      -1.2834714555477968,
      -1.2669552579277514,
      -1.2428139037041452,
      -1.2166128971024444,
      -1.196199655198228,
      -1.177242026573493,
      -1.1654177681112974,
      -1.15866272160476,
      -1.1586916026692222
    ],
    "yaw_diff": [
      0.026379986970376024,
      0.03303239524009083,
      0.048282708447212386,
      0.052402013203401765,
      0.0408264838084329,
      0.03791525724946965,
      0.023648516924391405,
      0.013510093013074709,
      -5.776212892438792e-05,
      -5.776212892438792e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.972778206538598,
    "v_std": 0.36883772322209846,
    "vy_max": 0.0771012175623782,
    "a_max": 0.5409080992683576,
    "ax_avg": 0.24701376063874975,
    "a_std": 0.10226722405395341,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "1fc3acd944ba540e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "1fc3acd944ba540e",
    "pedestrians": "No"
  },
  "bdb2a3cdeadc51c7": {
    "vx_ego": [
      6.291268680998125,
      6.38844445219533,
      6.510659994395203,
      6.6246687128683,
      6.702800411593714,
      6.7797105653593865,
      6.877885197665407,
      6.9848382613393545,
      7.078285492124136,
      7.16698114890599
    ],
    "vy_ego": [
      -0.03999760564019428,
      0.0007984540729346623,
      -0.007297379414444638,
      -0.018763617799580468,
      0.008237766021132575,
      0.011819585730743043,
      0.006096474193225454,
      -0.02170041670439904,
      -0.060867417309392824,
      0.0001961428455423686
    ],
    "v_ego": [
      6.291395824851973,
      6.3884445020923675,
      6.510664083975187,
      6.624695285717606,
      6.702805473713964,
      6.779720868343515,
      6.877887899585344,
      6.984871970562905,
      7.078547192080092,
      7.166981151589966
    ],
    "ax_ego": [
      0.1789304294312173,
      0.2056764221497262,
      0.2830876989145083,
      0.1691998692386638,
      0.1413240569642042,
      0.16606999677175,
      0.22743822561708665,
      0.2002837803897416,
      0.1702218048628372,
      0.1806312363618486
    ],
    "ay_ego": [
      -0.5475654995588187,
      -0.5380904052794486,
      -0.5593432641200665,
      -0.4611317136571433,
      -0.392098392363052,
      -0.29286248676839893,
      -0.29887200737651926,
      -0.3520104903691454,
      -0.3315682777807035,
      -0.3260143281444018
    ],
    "a_ego": [
      0.5760590897499479,
      0.5760590897487111,
      0.6268999381027262,
      0.49119349862427386,
      0.41678968121885107,
      0.33667147188905044,
      0.37556973156142254,
      0.4049999728606564,
      0.3727103240872509,
      0.3727103241192222
    ],
    "yaw": [
      2.949004709782656,
      2.8997430920777276,
      2.8584030615410345,
      2.821388722960031,
      2.7853492740850943,
      2.7594056669780196,
      2.7385578855962933,
      2.719102337756005,
      2.700379116845453,
      2.668722064791394
    ],
    "yaw_diff": [
      -0.09852323540985708,
      -0.08268006107338621,
      -0.07402867716200667,
      -0.07207889774987386,
      -0.051887214214149324,
      -0.04169556276345254,
      -0.038911095680576935,
      -0.03744644182110335,
      -0.06331410410811866,
      -0.06331410410811866
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.740601425251292,
    "v_std": 0.2774143357013319,
    "vy_max": 0.060867417309392824,
    "a_max": 0.6268999381027262,
    "ax_avg": 0.19228635207015837,
    "a_std": 0.09898695567517303,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "bdb2a3cdeadc51c7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 19.568362330915033,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bdb2a3cdeadc51c7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "61a7d33a4c3b5977": {
    "vx_ego": [
      8.217418089081317,
      8.312704938618623,
      8.341035841461178,
      8.249379178765533,
      8.197716138034,
      8.214581115599431,
      8.210906815740076,
      8.163768552228216,
      8.076782450778838,
      7.994769333477288
    ],
    "vy_ego": [
      0.01342425975613093,
      0.007079690490139345,
      0.018776562919735174,
      0.025452568449372492,
      0.001698366042187871,
      -0.007851343386558352,
      0.004334099866114105,
      0.018825630220095313,
      0.025962067352446105,
      0.0409675573798407
    ],
    "v_ego": [
      8.217429054242626,
      8.31270795340194,
      8.341056975459109,
      8.249418444247507,
      8.197716313963925,
      8.214584867682346,
      8.210907959610099,
      8.163790258127873,
      8.076824176998668,
      7.994874297715165
    ],
    "ax_ego": [
      0.18492623451051887,
      0.19512608914271398,
      -0.08400485397805763,
      -0.28438759160597554,
      0.07691038387017753,
      -0.009339303803989743,
      -0.005141696170077717,
      -0.18380118727395567,
      -0.1646056824793727,
      -0.16408906236396106
    ],
    "ay_ego": [
      0.4066850922620618,
      0.40189089202857,
      0.26941152754709463,
      0.1358361031109169,
      0.056751235845457396,
      0.0751121180925659,
      0.14427824876678916,
      0.09802752938916029,
      0.10695703504996143,
      0.107747932135423
    ],
    "a_ego": [
      0.44675549966222144,
      0.44675550333448616,
      0.2822045121310673,
      0.3151630517173718,
      0.09558195392983339,
      0.07569050719802836,
      0.14436983793963645,
      0.2083081202484877,
      0.19630292420434992,
      0.19630292220683732
    ],
    "yaw": [
      2.7261004746208117,
      2.751328317035588,
      2.769999525002498,
      2.7813735602876157,
      2.7901650962848388,
      2.795339224530138,
      2.800534172165512,
      2.806147648588551,
      2.811581285563904,
      2.8163936385575585
    ],
    "yaw_diff": [
      0.05045568482955254,
      0.037342415933819595,
      0.022748070570235868,
      0.017583071994446087,
      0.010348256490598118,
      0.010389895270748184,
      0.01122695284607822,
      0.010867273950705858,
      0.009624705987309135,
      0.009624705987309135
    ],
    "min_front_frame": [
      9,
      29.253637471941406
    ],
    "v_avg": 8.197931030144925,
    "v_std": 0.0970567880022704,
    "vy_max": 0.0409675573798407,
    "a_max": 0.44675550333448616,
    "ax_avg": -0.04384066701519797,
    "a_std": 0.12439590264474855,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "61a7d33a4c3b5977",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.973327881437135,
    "right_rear_min": 41.02715914171007,
    "speed_mode": "quasi_constant",
    "front_frame": [
      32.03950813498818,
      31.91398108835151,
      31.696300080760803,
      31.461437013489014,
      31.3466501863149,
      31.2506920625852,
      30.837442750174198,
      30.46243394189725,
      29.941819466507017,
      29.253637471941406
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "61a7d33a4c3b5977",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "1a5f614c9b815e92": {
    "vx_ego": [
      1.9509196889110514,
      1.758997860575082,
      1.5323397177754494,
      1.2518531717682433,
      0.903546651871822,
      0.5076630250091538,
      0.17380100171476945,
      0.0001087584337203032,
      -0.029997675664302743,
      -0.015812568098551704
    ],
    "vy_ego": [
      -0.03139941581977346,
      -0.01585703718188003,
      -0.008816827466293531,
      -0.004999191019975591,
      0.0009557342546338554,
      0.00868469050121981,
      0.015419502809090511,
      0.010218284995481516,
      0.0031848219031406447,
      0.0008795552686234678
    ],
    "v_ego": [
      1.9511723542256887,
      1.7590693332372955,
      1.532365082843744,
      1.2518631536941507,
      0.9035471573397512,
      0.5077373049230741,
      0.17448366474812718,
      0.010218863764909873,
      0.030166266520990387,
      0.015837011313435952
    ],
    "ax_ego": [
      -0.38384567544509596,
      -0.3838476339424105,
      -0.5227902410548887,
      -0.5991725076924341,
      -0.79405444270151,
      -0.7894763661302943,
      -0.5459621485414227,
      -0.14879559914027346,
      0.028370192912492355,
      0.028370142059773236
    ],
    "ay_ego": [
      0.030861676961560003,
      0.030837335041715874,
      -0.0037741149131488294,
      0.016590714364387527,
      0.005838140760937804,
      0.02404799172589539,
      0.002689048680021844,
      -0.023519976174311306,
      -0.004610923804180834,
      -0.00461127397048689
    ],
    "a_ego": [
      0.3850843357795557,
      0.3850843379256833,
      0.5228038638778469,
      0.5994021569677246,
      0.794075904345139,
      0.7898425403739299,
      0.5459687707394719,
      0.15064302042495403,
      0.0287424505604514,
      0.02874245654293669
    ],
    "yaw": [
      1.10274443754985,
      1.1026810260931184,
      1.1025160247174364,
      1.1020783346595544,
      1.1017628250651126,
      1.1013977046835528,
      1.1012347905958393,
      1.1010602156969709,
      1.1010402902259822,
      1.101052667342393
    ],
    "yaw_diff": [
      -0.00012682291346344243,
      -0.00033000275136396695,
      -0.0008753801157639352,
      -0.0006310191888836414,
      -0.0007302407631195607,
      -0.00032582817542703424,
      -0.0003491497977368141,
      -3.985094197744843e-05,
      2.4754232821777578e-05,
      2.4754232821777578e-05
    ],
    "min_front_frame": [
      6,
      9.87391843421419
    ],
    "v_avg": 0.8136460192611168,
    "v_std": 0.7281763904771092,
    "vy_max": 0.03139941581977346,
    "a_max": 0.794075904345139,
    "ax_avg": -0.41112042796760645,
    "a_std": 0.26765689922569724,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1a5f614c9b815e92",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.442585155836785,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.709483862503646,
      12.056296483582354,
      11.454024389325603,
      10.864092241143481,
      10.36835880187332,
      10.016034598566023,
      9.87391843421419,
      9.882016528448736,
      9.897674465220042,
      9.895397693509777
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1a5f614c9b815e92",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "01d53ccf583c5a49": {
    "vx_ego": [
      7.744233252618727,
      7.636258368942897,
      7.506024270917113,
      7.321349802222647,
      7.051872937368228,
      6.698829262955914,
      6.329117860515623,
      5.936362893690486,
      5.556501604938703,
      5.226274685662982
    ],
    "vy_ego": [
      -0.030210137274641724,
      0.0013262925683097393,
      0.019107384437243358,
      0.03542306973251863,
      0.01038641744534008,
      0.0046919771419817735,
      0.011015198092322098,
      -0.008499202885667412,
      -0.023453990671645997,
      -0.011735767706049671
    ],
    "v_ego": [
      7.744292177039796,
      7.636258484120506,
      7.506048590819061,
      7.3214354958829535,
      7.051880586230438,
      6.698830906127126,
      6.329127445934935,
      5.936368977922023,
      5.556551104360042,
      5.226287862168075
    ],
    "ax_ego": [
      -0.21641247830975718,
      -0.21504104027533294,
      -0.3063575532895296,
      -0.43322164065897406,
      -0.6452882476186663,
      -0.7669256852680514,
      -0.7118277148591338,
      -0.8591069157681641,
      -0.6605469520724963,
      -0.6605370569687052
    ],
    "ay_ego": [
      0.17933362906791703,
      0.18097584772954586,
      0.1580562538865738,
      0.09069273014341425,
      -0.09716109534130574,
      0.049263066425302926,
      -0.053036297275292466,
      -0.09937808184911473,
      -0.0030673591158909552,
      -0.004742247514717579
    ],
    "a_ego": [
      0.28106033388374174,
      0.2810603253113558,
      0.34472703672645705,
      0.4426128796545797,
      0.6525620284407387,
      0.7685062500965715,
      0.7138007736548408,
      0.8648356467402906,
      0.6605540739290088,
      0.6605540799513462
    ],
    "yaw": [
      -0.5866584329002502,
      -0.579045936993351,
      -0.5702129653587709,
      -0.5640387761091894,
      -0.5607919782158487,
      -0.5617033798015989,
      -0.5628200890298938,
      -0.5658421541439749,
      -0.5677046653853282,
      -0.5702403055903078
    ],
    "yaw_diff": [
      0.015224991813798328,
      0.017665943269160378,
      0.012348378499162926,
      0.006493595786681405,
      -0.001822803171500409,
      -0.002233418456589753,
      -0.006044130228162192,
      -0.0037250224827065637,
      -0.0050712804099593,
      -0.0050712804099593
    ],
    "min_front_frame": [
      9,
      16.095064197063568
    ],
    "v_avg": 6.700708163060495,
    "v_std": 0.855968482865343,
    "vy_max": 0.03542306973251863,
    "a_max": 0.8648356467402906,
    "ax_avg": -0.5475265285088811,
    "a_std": 0.20101923003325936,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "01d53ccf583c5a49",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 29.68070182805548,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.109799232933437,
      17.10335379538826,
      16.928275620062767,
      16.67888704996375,
      16.45598029983653,
      16.339732261610532,
      16.30374025888321,
      16.215028411006973,
      16.195556216963382,
      16.095064197063568
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "01d53ccf583c5a49",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "6704953640e55b83": {
    "vx_ego": [
      3.5006150572675434,
      3.8159203621852607,
      4.305786438808167,
      4.794719597269821,
      5.186082469181155,
      5.474686972897751,
      5.666219808129433,
      5.778791523398241,
      5.886790811427774,
      6.093154712832756
    ],
    "vy_ego": [
      0.19028557222008358,
      0.11018581572128738,
      0.12760720929882363,
      0.09063584158661472,
      0.04354438958189695,
      0.044193608439077714,
      0.05290917583100048,
      -0.026910000642141108,
      0.009419891018607629,
      0.002780468050260776
    ],
    "v_ego": [
      3.50578299074021,
      3.817510854539415,
      4.30767692108976,
      4.795576177293339,
      5.186265273876006,
      5.474865343206461,
      5.666466826420628,
      5.778854178730756,
      5.8867983481564305,
      6.093155347233369
    ],
    "ax_ego": [
      0.4649730126210837,
      0.9208228699488115,
      1.1097904518354056,
      0.8749084976585527,
      0.6860878085656062,
      0.46819871877554475,
      0.3057021600452515,
      0.17785270364735073,
      0.278283381084641,
      0.5390431215067292
    ],
    "ay_ego": [
      -1.9772450057521533,
      -1.8104648445855562,
      -1.532632086082545,
      -1.088709724550024,
      -0.4162554744267838,
      -0.05336894596892101,
      0.8139075233154784,
      1.4982880258775078,
      1.7863522889606698,
      1.7256675728280044
    ],
    "a_ego": [
      2.0311813595141524,
      2.031181358545063,
      1.8922462731565275,
      1.396693861805419,
      0.8024868229775632,
      0.47123060666397215,
      0.8694246759586874,
      1.5088070097539286,
      1.8078982660711094,
      1.807898243473292
    ],
    "yaw": [
      -2.5198919306166987,
      -2.7594392845490763,
      -2.9699897924677865,
      -3.1048105996156634,
      3.112752153225899,
      3.090718016221156,
      3.1231649428378967,
      -3.045504293429936,
      -2.91086301596127,
      -2.7626393901796553
    ],
    "yaw_diff": [
      -0.47909470786475516,
      -0.42110101583742043,
      -0.26964161429575384,
      -0.13124510867604755,
      -0.04406827400948643,
      0.06489385323348174,
      0.22903214182350684,
      0.2692825549373321,
      0.2964472515632295,
      0.2964472515632295
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.051295226128638,
    "v_std": 0.861286074709987,
    "vy_max": 0.19028557222008358,
    "a_max": 2.0311813595141524,
    "ax_avg": 0.5825662725688978,
    "a_std": 0.5335279498973297,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "6704953640e55b83",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "6704953640e55b83",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "682660223761501d": {
    "vx_ego": [
      2.3438104642865674,
      3.3342060331332735,
      4.231728500830697,
      4.902674332892426,
      5.391460879287846,
      5.752511567754719,
      5.987140258869351,
      6.189015880567182,
      6.506293320902107,
      7.01408090765765
    ],
    "vy_ego": [
      0.05994660936782226,
      -0.0064969596711383915,
      -0.0037605173594661423,
      -0.045384397682266986,
      -0.080006070615108,
      -0.017438958126263282,
      0.059959442220553716,
      0.08028181187593385,
      0.07373273680927128,
      -0.05221586113859722
    ],
    "v_ego": [
      2.34457695298617,
      3.3342123630427754,
      4.231730171718612,
      4.902884391657137,
      5.3920544678467905,
      5.752538001127188,
      5.98744048939825,
      6.189536552863297,
      6.506711096559671,
      7.014275263726254
    ],
    "ax_ego": [
      1.976603562752039,
      1.987449679933337,
      1.6171870973196414,
      1.0928725541928226,
      0.8533167330040747,
      0.571627111866475,
      0.40826150545810796,
      0.4708814410677678,
      0.8464811941131246,
      1.1798959328428997
    ],
    "ay_ego": [
      -0.35653712952533,
      -0.29004161779993376,
      -0.753624540364008,
      -1.4324168586160464,
      -1.8146442143751096,
      -1.9914481164370064,
      -2.249776460050816,
      -2.421971175359028,
      -2.321509778782727,
      -2.1711249737198965
    ],
    "a_ego": [
      2.0085020211625917,
      2.008502021488434,
      1.7841648061700999,
      1.8017182012055621,
      2.005263840892217,
      2.0718646566514205,
      2.286519533491394,
      2.467321159843616,
      2.4710196407497467,
      2.471019640522802
    ],
    "yaw": [
      -2.245960447591801,
      -2.2795065539480768,
      -2.348331753590534,
      -2.4572063212506565,
      -2.6070396871242885,
      -2.7874042230030898,
      -2.9799576495191813,
      3.108416787110622,
      2.9217874783255144,
      2.7736318144669947
    ],
    "yaw_diff": [
      -0.06709221271255128,
      -0.1376503992849143,
      -0.2177491353202452,
      -0.2996667317472639,
      -0.3607290717576026,
      -0.38510685303218306,
      -0.3896217410995675,
      -0.3732586175702153,
      -0.2963113277170395,
      -0.2963113277170395
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.165595975092614,
    "v_std": 1.3996109801287615,
    "vy_max": 0.08028181187593385,
    "a_max": 2.4710196407497467,
    "ax_avg": 1.100457681255029,
    "a_std": 0.25419086779496936,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "682660223761501d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "682660223761501d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "40884b7d89be5e0b": {
    "vx_ego": [
      6.532192439428786,
      6.614437162714885,
      6.712317520816521,
      6.828041699777005,
      6.94089100185393,
      7.059751584937111,
      7.169939808155732,
      7.256961671847048,
      7.340677297689928,
      7.421824748421467
    ],
    "vy_ego": [
      -0.00042531733688866424,
      -0.013754021839410102,
      0.00022338827711498865,
      0.004656382757561417,
      0.003866563269990575,
      0.010449850221430523,
      0.008654503736051922,
      -0.006433998120803697,
      -0.006317700938516246,
      -0.024105279226534382
    ],
    "v_ego": [
      6.532192453275196,
      6.614451462715596,
      6.712317524533741,
      6.828043287486836,
      6.940892078827359,
      7.059759318871409,
      7.1699450313800295,
      7.256964524027172,
      7.340680016331284,
      7.421863893980269
    ],
    "ax_ego": [
      0.1620102636313181,
      0.16645055173160322,
      0.22370031693689724,
      0.23967123704113139,
      0.21163941429813649,
      0.2643927233178456,
      0.17693018655129994,
      0.1715827122600908,
      0.16203831819449638,
      0.1623394175007359
    ],
    "ay_ego": [
      -0.2567229292914482,
      -0.2538665029535423,
      -0.14886051867428252,
      -0.19955922582464314,
      -0.15176842619756067,
      -0.18530813917792385,
      -0.1957932087164402,
      -0.25052729420835507,
      -0.08707143198384505,
      -0.08650875422939094
    ],
    "a_ego": [
      0.3035687532435957,
      0.3035687524986984,
      0.2687029694991194,
      0.3118752739101917,
      0.26043213487383365,
      0.3228662549555336,
      0.2638925377735364,
      0.3036520250054144,
      0.18395067499473386,
      0.18395067554319935
    ],
    "yaw": [
      1.294978563251838,
      1.2775862081172,
      1.2603607691462675,
      1.2468362335043661,
      1.2341995740329306,
      1.2212091971757453,
      1.2080908199846114,
      1.194715633997813,
      1.1831382518270799,
      1.1796689790868085
    ],
    "yaw_diff": [
      -0.03478471026927599,
      -0.03445087794186508,
      -0.02704907128380274,
      -0.025273318942871104,
      -0.025980753714370586,
      -0.02623675438226769,
      -0.026750371973596643,
      -0.02315476434146646,
      -0.006938545480542846,
      -0.006938545480542846
    ],
    "min_front_frame": [
      1,
      64.67846904141125
    ],
    "v_avg": 6.987710959142889,
    "v_std": 0.2956891457595205,
    "vy_max": 0.024105279226534382,
    "a_max": 0.3228662549555336,
    "ax_avg": 0.19407551414635552,
    "a_std": 0.04782247105231531,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "40884b7d89be5e0b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.192949397220776,
    "speed_mode": "quasi_constant",
    "front_frame": [
      67.6254907656756,
      64.67846904141125,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "40884b7d89be5e0b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0bf961d076bc5a15": {
    "vx_ego": [
      5.799518204391175,
      5.0220831780421715,
      4.195159993556481,
      3.24597531489348,
      2.369266823381929,
      1.8490886790128118,
      1.6526556229132807,
      1.6095450558328326,
      1.6222857468858345,
      1.6496786917571562
    ],
    "vy_ego": [
      0.0866826874237212,
      0.07456551859508709,
      0.03835157746224471,
      0.04227263551474225,
      0.057129015096199165,
      0.03605073445044826,
      0.01835033999855995,
      0.014035444235118932,
      0.007632099499041756,
      -0.007241054531065938
    ],
    "v_ego": [
      5.800165971018729,
      5.022636704335434,
      4.195335292325353,
      3.2462505634364067,
      2.3699554858149043,
      1.8494400769713417,
      1.6527574967081367,
      1.6096062501278978,
      1.6223036995247508,
      1.6496945835239698
    ],
    "ax_ego": [
      -1.554417611932507,
      -1.5542071647324263,
      -1.7535521886640573,
      -2.0431657683451165,
      -1.463839008817815,
      -0.6171002295826452,
      -0.1686818260267505,
      -0.0038367460025891574,
      0.05479236193853478,
      0.05477905003300167
    ],
    "ay_ego": [
      -0.0586870965276689,
      -0.06401847031517471,
      -0.07550512757329786,
      0.08728502508675029,
      -0.020463045716426875,
      -0.05492849011479112,
      -0.01200485355198437,
      0.0033554575758039406,
      -0.028190079374659723,
      -0.028215907978958187
    ],
    "a_ego": [
      1.555525084203018,
      1.5555250803015366,
      1.7551770003786984,
      2.0450293475991206,
      1.4639820285702676,
      0.6195400167682827,
      0.16910847093071213,
      0.005097030059888203,
      0.0616188567076103,
      0.061618842780395804
    ],
    "yaw": [
      -0.7051368238586688,
      -0.7085668692732909,
      -0.7082791746459096,
      -0.7085389936457918,
      -0.7078629497191797,
      -0.7067496066851413,
      -0.7061790087037371,
      -0.7048424331403886,
      -0.7047214005554685,
      -0.7042497216585456
    ],
    "yaw_diff": [
      -0.006860090829244214,
      0.0005753892547626371,
      -0.0005196379997642886,
      0.0013520878532240488,
      0.002226686068076855,
      0.0011411959628084833,
      0.00267315112669686,
      0.0002420651698402665,
      0.0009433577938458004,
      0.0009433577938458004
    ],
    "min_front_frame": [
      5,
      9.500686377429716
    ],
    "v_avg": 2.9018146123786925,
    "v_std": 1.5005140447002039,
    "vy_max": 0.0866826874237212,
    "a_max": 2.0450293475991206,
    "ax_avg": -0.9049229132132371,
    "a_std": 0.776586119499177,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0bf961d076bc5a15",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 37.45317485487381,
    "speed_mode": "decelerating",
    "front_frame": [
      16.04827736447875,
      13.931361672789308,
      11.76760584761981,
      10.177250301773894,
      9.520463825401013,
      9.500686377429716,
      9.643147624928554,
      9.994176185030936,
      9.995302766097298,
      9.847675219052133
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0bf961d076bc5a15",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ee86c71bc0765fd0": {
    "vx_ego": [
      4.2224525662971315,
      3.995755462971133,
      3.7962867704451346,
      3.608292976482226,
      3.436138144426706,
      3.265736646861052,
      3.07235375908921,
      2.8401982120177305,
      2.6885026785356474,
      2.625227133717662
    ],
    "vy_ego": [
      -0.033413052537484,
      -0.052327163911602,
      -0.01065221389965132,
      0.003660252787908269,
      -0.00603595570269877,
      -0.003535877879280891,
      -0.002086063701489449,
      0.015098162379922231,
      0.026534059528346976,
      0.024256888235214102
    ],
    "v_ego": [
      4.2225847660774205,
      3.996098078369284,
      3.796301715237833,
      3.6082948329621614,
      3.4361434458336357,
      3.265738561043067,
      3.0723544672858574,
      2.8402383417692194,
      2.6886336137169016,
      2.625339197177063
    ],
    "ax_ego": [
      -0.5057786190461582,
      -0.375319982882208,
      -0.41969442061274387,
      -0.33827205230754986,
      -0.3631876413387354,
      -0.32150961189413757,
      -0.4506800086942584,
      -0.4790497992622035,
      -0.13058141789872177,
      -0.1256103387066249
    ],
    "ay_ego": [
      0.9863203709862561,
      1.0429644231341735,
      0.8429761054792818,
      0.6955395901597389,
      0.35298194562254603,
      0.14521134022770874,
      0.2183116253305964,
      0.1940307152889029,
      0.15825988147530046,
      0.16223360720250102
    ],
    "a_ego": [
      1.108440294155127,
      1.1084402904416188,
      0.9416751675086712,
      0.7734360366907784,
      0.5064597878969977,
      0.35278146758446133,
      0.5007718402537662,
      0.516852617917991,
      0.20517723261857482,
      0.2051772416617604
    ],
    "yaw": [
      -1.6461460053708832,
      -1.5177467281905852,
      -1.4076944874530168,
      -1.3074790900096318,
      -1.230410549928983,
      -1.1939357595232805,
      -1.1658605071770012,
      -1.1368400706449877,
      -1.1086748558541615,
      -1.0776558865056955
    ],
    "yaw_diff": [
      0.25679855436059595,
      0.22010448147513673,
      0.20043079488677007,
      0.15413708016129757,
      0.07294958081140512,
      0.056150504692558556,
      0.05804087306402694,
      0.056330429581652464,
      0.06203793869693186,
      0.06203793869693186
    ],
    "min_front_frame": [
      9,
      12.666707610159715
    ],
    "v_avg": 3.3551727019472444,
    "v_std": 0.5252127400981768,
    "vy_max": 0.052327163911602,
    "a_max": 1.108440294155127,
    "ax_avg": -0.35096838926433416,
    "a_std": 0.32518243626217624,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "ee86c71bc0765fd0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      13.980575193186397,
      12.666707610159715
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ee86c71bc0765fd0",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "e742fc9deaac5321": {
    "vx_ego": [
      8.316054065251665,
      8.431618874866338,
      8.506922057426127,
      8.545226413922364,
      8.603878813390535,
      8.686024427440959,
      8.756893870192982,
      8.807938692513911,
      8.872495601986616,
      8.956563282181836
    ],
    "vy_ego": [
      0.027972296261874252,
      -0.09130205956225934,
      -0.01240944469525429,
      0.02051017809116562,
      0.02048752788007313,
      0.06529571032156012,
      -0.014871652426557969,
      0.013409433523672298,
      0.0014698031006306067,
      -0.08797955476223596
    ],
    "v_ego": [
      8.31610110962745,
      8.432113194038763,
      8.50693110853972,
      8.545251028062419,
      8.6039032057729,
      8.686269848668497,
      8.756906498294322,
      8.80794889994209,
      8.872495723729203,
      8.956995379578133
    ],
    "ax_ego": [
      0.22549949750914186,
      0.2415043427569345,
      0.06047399576031573,
      0.09253306761203049,
      0.14444310767432622,
      0.197843048705391,
      0.0919922905534643,
      0.11363966825079252,
      0.14544242693117437,
      0.1835112516978712
    ],
    "ay_ego": [
      0.41649234533101376,
      0.40742060418945536,
      0.18229725347329223,
      0.13911053239326102,
      -0.37753227081988927,
      -0.7558619158903402,
      -0.8895220419388817,
      -0.9476864288896373,
      -0.9213345471153708,
      -0.9145132538663401
    ],
    "a_ego": [
      0.47361999228939217,
      0.4736199914367633,
      0.1920661156662581,
      0.16707515920815139,
      0.404220765009715,
      0.7813252253795852,
      0.8942662045590176,
      0.9544755322698134,
      0.9327437200324189,
      0.9327437327567097
    ],
    "yaw": [
      2.6525616685371385,
      2.6914075913705884,
      2.69947839779486,
      2.7050442070792995,
      2.6980901800568873,
      2.6601060668703242,
      2.6221952829176103,
      2.5666743226291766,
      2.515157521252642,
      2.4736907259919896
    ],
    "yaw_diff": [
      0.0776918456668998,
      0.01614161284854365,
      0.011131618568878565,
      -0.013908054044824425,
      -0.07596822637312606,
      -0.07582156790542793,
      -0.11104192057686735,
      -0.10303360275306961,
      -0.08293359052130445,
      -0.08293359052130445
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.648491599625348,
    "v_std": 0.19337766474021428,
    "vy_max": 0.09130205956225934,
    "a_max": 0.9544755322698134,
    "ax_avg": 0.1496882697451442,
    "a_std": 0.29772778845842557,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "e742fc9deaac5321",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e742fc9deaac5321",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4ac092ec1bee5e7a": {
    "vx_ego": [
      0.49386910985061117,
      0.18986270136118066,
      0.0022451489747900392,
      -0.027713298216223026,
      -0.01701216402253618,
      -0.009530445362225068,
      -0.006120407991841817,
      -0.004622168097124326,
      -0.0036125076240086903,
      -0.0026408404662386963
    ],
    "vy_ego": [
      -0.021715431078876135,
      -0.00930236665943203,
      0.0025477270455562754,
      0.005077142247220107,
      0.0013170732784537863,
      0.0005029737333469325,
      0.0002546883444798538,
      0.0001267088219651987,
      0.00013487887568175254,
      0.00036165738774677114
    ],
    "v_ego": [
      0.4943462932111219,
      0.1900904505587574,
      0.003395821994401307,
      0.02817453231945151,
      0.01706307143366901,
      0.009543708470966318,
      0.006125704868781639,
      0.004623904523629108,
      0.0036150247087158457,
      0.002665489529942977
    ],
    "ax_ego": [
      -0.6080182263788023,
      -0.6080253619486831,
      -0.14244619323268318,
      0.02261902653661907,
      0.020184510220196957,
      0.009742534650352148,
      0.0038976311657902994,
      0.0020953287132233172,
      0.0019433284184964916,
      0.0019433308156289802
    ],
    "ay_ego": [
      0.024715953989435824,
      0.024539541352281008,
      0.02284456494308184,
      -0.012700201024632457,
      -0.002351835997308296,
      -0.0009020443055204326,
      -9.111380554800816e-05,
      -0.0004211685214654755,
      0.00045352622852991525,
      0.0004535147380391215
    ],
    "a_ego": [
      0.6085203710562469,
      0.6085203610912353,
      0.14426639287762621,
      0.025940614247360314,
      0.020321062604782027,
      0.009784204890660972,
      0.003898695990982278,
      0.002137237782730667,
      0.001995547890204754,
      0.001995547613210943
    ],
    "yaw": [
      -2.0538994041014256,
      -2.054189554911221,
      -2.054297022031765,
      -2.054497049435276,
      -2.054363704171074,
      -2.054416207463776,
      -2.0544154532539416,
      -2.05439750254706,
      -2.0543775085942153,
      -2.0543715359642016
    ],
    "yaw_diff": [
      -0.0005803016195908839,
      -0.00021493424108776082,
      -0.0004000548070219878,
      0.0002666905284041121,
      -0.00010500658540468777,
      1.5084196691717011e-06,
      3.590141376275113e-05,
      3.9987905689820025e-05,
      1.1945260027346194e-05,
      1.1945260027346194e-05
    ],
    "min_front_frame": [
      1,
      9.83560840053846
    ],
    "v_avg": 0.0759644001619437,
    "v_std": 0.14969080824599668,
    "vy_max": 0.021715431078876135,
    "a_max": 0.6085203710562469,
    "ax_avg": -0.12960640910398616,
    "a_std": 0.23640533221411406,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4ac092ec1bee5e7a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.158659620782724,
    "right_rear_min": 3.4534337915922038,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.951617851980778,
      9.83560840053846,
      9.84526198139643,
      9.87402036210896,
      9.904722421003889,
      9.883012220178287,
      9.899257473747738,
      9.941895439365958,
      10.066633766798336,
      10.300632058175912
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4ac092ec1bee5e7a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "27c0f4e2b49b5c08": {
    "vx_ego": [
      7.419992042874059,
      7.27546474963007,
      7.181757070095104,
      7.119037703988186,
      7.045623097753833,
      6.959116138122239,
      6.839287673930284,
      6.713077678745073,
      6.582871339147957,
      6.441493100804058
    ],
    "vy_ego": [
      -0.013569609290607243,
      0.01787579986522525,
      0.016390640701749337,
      -0.010848643570146699,
      -0.005944219769918657,
      0.022239734075482964,
      0.042091779811835206,
      0.04070567758340227,
      0.009573356087120288,
      -0.008825713984597083
    ],
    "v_ego": [
      7.420004450848439,
      7.275486709996147,
      7.181775773926922,
      7.119045970063172,
      7.045625605249756,
      6.959151674568182,
      6.8394171977371325,
      6.713201089871572,
      6.582878300327478,
      6.441499147010237
    ],
    "ax_ego": [
      -0.29505414847768907,
      -0.28318160673323456,
      -0.09549732295259118,
      -0.1556729922741144,
      -0.13567306217700562,
      -0.21166721921745646,
      -0.2707715518574239,
      -0.23922635611209828,
      -0.2848770488128062,
      -0.2806110375199952
    ],
    "ay_ego": [
      0.44647273002820365,
      0.45409583393690206,
      0.2988838461257366,
      0.2972688999695615,
      0.4182884374951598,
      0.37534675229744313,
      0.37553801880278365,
      0.29083476873734215,
      0.2152582170410295,
      0.22079057631764337
    ],
    "a_ego": [
      0.535158714021113,
      0.53515871364565,
      0.3137694889023222,
      0.33556352515237653,
      0.43974128387340194,
      0.43091553250200776,
      0.46297520113025226,
      0.37658214530853124,
      0.357058864816401,
      0.3570588648510568
    ],
    "yaw": [
      -1.0261962162854954,
      -0.9998309739835526,
      -0.973499931953189,
      -0.9488742615073585,
      -0.9243007695384828,
      -0.9000252893343514,
      -0.8757208373499463,
      -0.850918009988692,
      -0.8272246293657612,
      -0.8076585863804854
    ],
    "yaw_diff": [
      0.05273048460388563,
      0.052662084060727254,
      0.04925134089166083,
      0.04914698393775141,
      0.04855096040826279,
      0.048608903968810235,
      0.04960565472250855,
      0.04738676124586161,
      0.03913208597055173,
      0.03913208597055173
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.957808591959905,
    "v_std": 0.2965492100603845,
    "vy_max": 0.042091779811835206,
    "a_max": 0.535158714021113,
    "ax_avg": -0.22522323461344146,
    "a_std": 0.07535762653982457,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "27c0f4e2b49b5c08",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "27c0f4e2b49b5c08",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a984f0459c1055d5": {
    "vx_ego": [
      2.1434534956696636,
      2.6064521729245955,
      3.053436599737461,
      3.497104202048134,
      3.9321004860349635,
      4.3457571112372655,
      4.753710355061645,
      5.149609689748348,
      5.527525427734995,
      5.888158116289319
    ],
    "vy_ego": [
      -0.05676679125583184,
      0.002755167192835417,
      0.012654560988438757,
      -0.001841425908897465,
      -0.024737652009144906,
      -0.04183585205286522,
      -0.05745816780445856,
      -0.03133205483095736,
      -0.02078444384246758,
      0.015243617192250869
    ],
    "v_ego": [
      2.1442050640477426,
      2.606453629107874,
      3.053462822195495,
      3.4971046868562707,
      3.93217830009059,
      4.345958479827695,
      4.754057591244321,
      5.149705006542608,
      5.527564504134056,
      5.888177848051881
    ],
    "ax_ego": [
      0.9228105656080668,
      0.9323154792304265,
      0.8659920688585521,
      0.9193764024117005,
      0.830957769757855,
      0.84483047090973,
      0.799297094883287,
      0.7912361422531426,
      0.7175658206965508,
      0.7250311097579296
    ],
    "ay_ego": [
      0.29586587358889344,
      0.26439327252976536,
      0.6085691041307124,
      0.8377787717161793,
      0.9000695672878981,
      0.9911873264120667,
      0.8320074116693064,
      0.6730601492150452,
      0.3383011978446453,
      0.3219911456013354
    ],
    "a_ego": [
      0.9690799529205004,
      0.9690799530336279,
      1.0584415986857154,
      1.2438352944219548,
      1.2249963432920004,
      1.3023789159140504,
      1.1537383494369602,
      1.0387803412026115,
      0.7933148224349753,
      0.7933148227295865
    ],
    "yaw": [
      -2.385469745381821,
      -2.351542582455478,
      -2.2781703144657506,
      -2.1632375669979504,
      -2.0406322030298387,
      -1.9223537132236292,
      -1.81896030457485,
      -1.7482923181761802,
      -1.7029928748308123,
      -1.680381766870576
    ],
    "yaw_diff": [
      0.06785432585268669,
      0.14674453597945458,
      0.22986549493560027,
      0.24521072793622345,
      0.23655697961241895,
      0.20678681729755866,
      0.14133597279733934,
      0.0905988866907359,
      0.045222215920472486,
      0.045222215920472486
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.089886793209853,
    "v_std": 1.19863950823569,
    "vy_max": 0.05745816780445856,
    "a_max": 1.3023789159140504,
    "ax_avg": 0.8349412924367241,
    "a_std": 0.16955821595374101,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "a984f0459c1055d5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "a984f0459c1055d5",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "01add9e74d3c5053": {
    "vx_ego": [
      5.551347360255123,
      5.339895602954793,
      5.149314991492748,
      4.921639867302048,
      4.758465429439457,
      4.803995905001731,
      4.9596513097624495,
      5.179200068871891,
      5.406750754319416,
      5.603333933340209
    ],
    "vy_ego": [
      -0.03162713825254404,
      -0.018188126155964934,
      0.0032860936862625367,
      0.02280392566962014,
      0.021301315963808326,
      -0.021190096581194605,
      -0.051382697806983874,
      -0.03468445715560253,
      -0.014193172254613112,
      -0.004346688921462449
    ],
    "v_ego": [
      5.551437452596001,
      5.339926577996087,
      5.149316040021595,
      4.921692696871967,
      4.758513106972831,
      4.804042638806042,
      4.959917468674484,
      5.179316206312449,
      5.406769383418552,
      5.6033356192741515
    ],
    "ax_ego": [
      -0.4243101270046654,
      -0.4227730482256494,
      -0.34020035278380995,
      -0.5698566120236197,
      -0.08115574801071326,
      0.2636898257305053,
      0.35642012734676226,
      0.5188860091732925,
      0.38974561702674615,
      0.39558660076080376
    ],
    "ay_ego": [
      -0.11384994074396249,
      -0.11943132907928661,
      -0.08522412573698929,
      -0.08560968018649218,
      -0.16869796573023085,
      -0.23507524507593092,
      -0.13892993953864316,
      -0.1830328420082763,
      -0.24862284061837017,
      -0.23921999200644606
    ],
    "a_ego": [
      0.4393186689478596,
      0.4393186687037692,
      0.35071274804583724,
      0.5762513128910612,
      0.1872037902305841,
      0.35326009545559095,
      0.3825399786664046,
      0.5502215115473157,
      0.46229315684823474,
      0.4622931572898864
    ],
    "yaw": [
      1.6524208196934174,
      1.6392431091679338,
      1.6253659633412423,
      1.6130785947823476,
      1.6000897093428357,
      1.5877533632862262,
      1.5747544343451332,
      1.5555063307599406,
      1.5313217207654923,
      1.507376695830052
    ],
    "yaw_diff": [
      -0.02635542105096711,
      -0.027754291653383056,
      -0.024574737117789347,
      -0.025977770879023865,
      -0.024672692113218986,
      -0.025997857882186004,
      -0.038496207170385155,
      -0.04836921998889654,
      -0.047890049870880524,
      -0.047890049870880524
    ],
    "min_front_frame": [
      8,
      63.96023405292597
    ],
    "v_avg": 5.167426719094415,
    "v_std": 0.2876968738555921,
    "vy_max": 0.051382697806983874,
    "a_max": 0.5762513128910612,
    "ax_avg": 0.008603229198965234,
    "a_std": 0.10514136234416309,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "01add9e74d3c5053",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.03704552772041,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      63.96023405292597,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "01add9e74d3c5053",
    "pedestrians": "No"
  },
  "d3cca8ce7e1458ad": {
    "vx_ego": [
      1.308181545720114,
      2.0263124689723884,
      2.7934217959897873,
      3.5757121525728115,
      4.297506716646583,
      4.97311935640159,
      5.591922150295227,
      6.138186544992563,
      6.654388634259869,
      7.175862088568646
    ],
    "vy_ego": [
      -0.03370257353078767,
      -0.016263440249585877,
      -0.0018237823812368298,
      0.015614207659914697,
      0.025855840645257408,
      0.0025347269632492175,
      -0.005919725192468556,
      -0.017020120970837632,
      -0.012346360343083784,
      -0.0036854110832189035
    ],
    "v_ego": [
      1.3086156120210644,
      2.026377734135896,
      2.79342239134954,
      3.5757462440080583,
      4.297584496448903,
      4.973120002358372,
      5.591925283666508,
      6.1382101418610295,
      6.654400087790082,
      7.17586303495347
    ],
    "ax_ego": [
      1.4362067177408306,
      1.4361607695710112,
      1.6322511325183577,
      1.4969593057628794,
      1.3902073002768396,
      1.311974584584751,
      1.1632986432869874,
      1.0217601944704031,
      1.042944833062397,
      1.0429884725010694
    ],
    "ay_ego": [
      0.028612302049126646,
      0.03083287063598271,
      0.018895607729495723,
      0.02518200770537371,
      0.017913519028248143,
      -0.05869424928328218,
      0.04695062340031507,
      -0.04358367348919197,
      0.03536697425035092,
      0.03405560631862525
    ],
    "a_ego": [
      1.4364916985184566,
      1.4364917061948024,
      1.6323605005019353,
      1.4971710979785027,
      1.3903227078297304,
      1.3132868405246654,
      1.1642457191293527,
      1.022689313329815,
      1.0435443199400665,
      1.0435443153464272
    ],
    "yaw": [
      -1.5432483381826776,
      -1.5447944977541748,
      -1.5456361068847388,
      -1.5476409877491935,
      -1.5475062393690107,
      -1.5446804776505592,
      -1.54363945960672,
      -1.5416094333467674,
      -1.5426617187915506,
      -1.5414043733107419
    ],
    "yaw_diff": [
      -0.0030923191429943486,
      -0.001683218261128161,
      -0.004009761728909211,
      0.000269496760365584,
      0.005651523436903005,
      0.0020820360876783184,
      0.004060052519905266,
      -0.002104570889566393,
      0.002514690961617383,
      0.002514690961617383
    ],
    "min_front_frame": [
      0,
      11.250319035805994
    ],
    "v_avg": 4.453526502859292,
    "v_std": 1.8971380100898845,
    "vy_max": 0.03370257353078767,
    "a_max": 1.6323605005019353,
    "ax_avg": 1.2974751953775523,
    "a_std": 0.20536910962941834,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d3cca8ce7e1458ad",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.3802278098912817,
    "right_rear_min": 3.5574512306000954,
    "speed_mode": "accelerating",
    "front_frame": [
      11.250319035805994,
      11.849394565504932,
      12.405383495115927,
      12.919717741252672,
      13.351631828104615,
      13.691781724456671,
      14.254332110993316,
      14.446122476701694,
      14.83417357288928,
      15.405243866345845
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d3cca8ce7e1458ad",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a82f1c8ad27d53cc": {
    "vx_ego": [
      7.7274639095584625,
      7.1885775768413644,
      6.5526757914846385,
      5.799553231675014,
      5.064201937605827,
      4.356329643200699,
      3.542189825378532,
      2.708086797448381,
      2.0214986004264968,
      1.4068415310036528
    ],
    "vy_ego": [
      -0.04488399730543069,
      -0.03474380757301221,
      -0.04215872001585064,
      -0.03967042680350108,
      -0.02716388932870606,
      -0.020616990997118112,
      -0.03639146054052178,
      -0.0281538893258928,
      0.02287573620248906,
      0.06537969829819035
    ],
    "v_ego": [
      7.727594259971383,
      7.188661538174623,
      6.552811410835979,
      5.799688908018677,
      5.064274789319205,
      4.356378429446517,
      3.542376758253626,
      2.7082331406284803,
      2.021628029790122,
      1.40835989658406
    ],
    "ax_ego": [
      -1.0778585024503644,
      -1.0778626626825805,
      -1.4655313494653093,
      -1.546857701307797,
      -1.3946600496875923,
      -1.436887957656443,
      -1.8198080829894034,
      -1.5170847803842165,
      -1.2292665666099967,
      -1.2292971569868896
    ],
    "ay_ego": [
      0.004347692461222519,
      0.0031532159934552495,
      0.005276646631537374,
      0.019347038728682597,
      0.011925361141841506,
      0.002016528233565462,
      -0.0997500445513726,
      0.1071713758715992,
      0.08398016877287573,
      0.08353114432892739
    ],
    "a_ego": [
      1.0778672709263788,
      1.077867274935223,
      1.4655408487194361,
      1.5469786863440658,
      1.3947110340256725,
      1.436889372653379,
      1.8225398569857307,
      1.5208655215631781,
      1.232131876274715,
      1.232131872913346
    ],
    "yaw": [
      2.5696236642144235,
      2.5685154659997194,
      2.5698917134724066,
      2.570484577561899,
      2.5696184092158747,
      2.5689691885298362,
      2.5668029042991103,
      2.564735646756292,
      2.5633436335391346,
      2.5629783645419826
    ],
    "yaw_diff": [
      -0.002216396429408185,
      0.0027524949453745506,
      0.0011857281789851015,
      -0.0017323366920489747,
      -0.0012984413720769084,
      -0.004332568461451913,
      -0.004134515085636892,
      -0.0027840264343144128,
      -0.0007305379943041146,
      -0.0007305379943041146
    ],
    "min_front_frame": [
      9,
      11.84406565431421
    ],
    "v_avg": 4.637000716102267,
    "v_std": 2.0863573436603735,
    "vy_max": 0.06537969829819035,
    "a_max": 1.8225398569857307,
    "ax_avg": -1.3795114810220592,
    "a_std": 0.2192325769583438,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a82f1c8ad27d53cc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      31.810605169267166,
      28.4350321109897,
      25.383522661157354,
      22.400641654745197,
      19.743449148865285,
      17.41719697780921,
      15.395067939425893,
      13.902976273081869,
      12.715721580927896,
      11.84406565431421
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a82f1c8ad27d53cc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "db3833e656c256dd": {
    "vx_ego": [
      3.551981093824302,
      3.435106199602104,
      3.414976602374398,
      3.5265856682512706,
      3.646559235804764,
      3.6508037759740044,
      3.610761551058306,
      3.5707711228157164,
      3.5424201425672166,
      3.5685597119869175
    ],
    "vy_ego": [
      -0.053151695606306726,
      -0.048566939422480804,
      -0.017859219682290206,
      0.013897394374109917,
      0.007323281577410259,
      -0.0357339741035505,
      -0.046374335130525246,
      -0.033705841034050055,
      -0.035888205534536866,
      -0.020074192930748858
    ],
    "v_ego": [
      3.5523787514327796,
      3.4354495120944035,
      3.415023301017469,
      3.5266130512271476,
      3.6465665893667825,
      3.6509786533984667,
      3.6110593400773388,
      3.5709302002775725,
      3.54260192933985,
      3.5686161731458275
    ],
    "ax_ego": [
      -0.27410869461688975,
      -0.16655051057569273,
      0.10056509106768396,
      0.3526862623413769,
      0.11828119154026363,
      -0.09837583468766437,
      -0.030255894489745194,
      -0.11360541401201735,
      0.01183640512312173,
      0.10493324312361435
    ],
    "ay_ego": [
      0.8562064383295124,
      0.8834511702674361,
      0.8609259238670259,
      0.9560365203861504,
      0.9040284797375786,
      0.8354132564623006,
      0.9949322026028037,
      0.9230185061533522,
      0.8315562990438108,
      0.8249939315424489
    ],
    "a_ego": [
      0.8990133711472174,
      0.899013371880489,
      0.8667795474789098,
      1.0190159115324886,
      0.9117334766524821,
      0.8411855407241855,
      0.9953921372642246,
      0.9299835228617805,
      0.8316405347057576,
      0.8316405308751531
    ],
    "yaw": [
      1.1002447126025925,
      1.2237419435505248,
      1.3431247613986068,
      1.4658119639216247,
      1.5960498271297328,
      1.7258857409758597,
      1.8549696265303481,
      1.9844178851554348,
      2.108752405971772,
      2.221032742855749
    ],
    "yaw_diff": [
      0.2469944618958646,
      0.23876563569616405,
      0.2453744050460358,
      0.2604757264162161,
      0.25967182769225383,
      0.25816777110897693,
      0.2588965172501734,
      0.24866904163267467,
      0.22456067376795374,
      0.22456067376795374
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.552021750137764,
    "v_std": 0.07479415813634537,
    "vy_max": 0.053151695606306726,
    "a_max": 1.0190159115324886,
    "ax_avg": 0.0005405844814051167,
    "a_std": 0.061763538659272914,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "db3833e656c256dd",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 21.19509796336739,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "db3833e656c256dd",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "230ab732c0d65fb3": {
    "vx_ego": [
      7.898225575819952,
      7.129853698096924,
      6.264222360982048,
      5.271144138812783,
      4.177473376311522,
      3.058535387918689,
      2.1040027259340723,
      1.3268950431934405,
      0.6657418016200509,
      0.06272617060019506
    ],
    "vy_ego": [
      -0.08085561886894643,
      -0.014526932136750492,
      0.03851070585788352,
      0.085281189801798,
      0.09793266965906433,
      0.08597088451761525,
      0.08009681823142101,
      0.06618311781813718,
      0.05369921329587021,
      0.043283782560456355
    ],
    "v_ego": [
      7.89863943205658,
      7.129868497246193,
      6.26434073644571,
      5.271833970590725,
      4.178621138315622,
      3.059743406257405,
      2.1055267680627585,
      1.328544564828539,
      0.6679039990394627,
      0.07621061809817344
    ],
    "ax_ego": [
      -1.5367706848572997,
      -1.536864823784065,
      -1.925639619805861,
      -2.046196007079392,
      -2.3270641168705652,
      -2.1477976661181835,
      -1.6695822348712337,
      -1.4385845201456822,
      -1.2060399437168274,
      -1.2060420297279615
    ],
    "ay_ego": [
      0.1215595589880274,
      0.12036350582797578,
      0.08330593886139215,
      0.06110081031952996,
      -0.07298822704566865,
      -0.012770630530832938,
      -0.03285449525869222,
      -0.02892860141475173,
      -0.02081827871850095,
      -0.020697289478442127
    ],
    "a_ego": [
      1.5415709079436268,
      1.541570906614427,
      1.9274407448260604,
      2.047108059778318,
      2.328208471188492,
      2.1478356323487304,
      1.6699054634488524,
      1.4388753544287969,
      1.2062196095940778,
      1.2062196131974043
    ],
    "yaw": [
      -0.3327365336670758,
      -0.33351479790170835,
      -0.33382911575337393,
      -0.33567404870032014,
      -0.33895665994895535,
      -0.3415926402509316,
      -0.34378666272944164,
      -0.3446950555780376,
      -0.34464627083370203,
      -0.3445459565366158
    ],
    "yaw_diff": [
      -0.0015565284692651282,
      -0.0006286357033311596,
      -0.003689865893892419,
      -0.006565222497270429,
      -0.005271960603952519,
      -0.004388044957020054,
      -0.0018167856971919027,
      9.756948867112314e-05,
      0.00020062859417246948,
      0.00020062859417246948
    ],
    "min_front_frame": [
      0,
      22.29280537868513
    ],
    "v_avg": 3.7981233130941163,
    "v_std": 2.6357807704447254,
    "vy_max": 0.09793266965906433,
    "a_max": 2.328208471188492,
    "ax_avg": -1.704058164697707,
    "a_std": 0.37068091300721445,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "230ab732c0d65fb3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.316267980036492,
    "speed_mode": "decelerating",
    "front_frame": [
      22.29280537868513,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "230ab732c0d65fb3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "55eed45c895852b9": {
    "vx_ego": [
      0.8958206931491619,
      0.6073258823682006,
      0.4028546564673782,
      0.2870685921536191,
      0.24845143497869626,
      0.30013713602030945,
      0.26841078691152664,
      0.12063592201247936,
      0.008139362863574662,
      -0.05321905226290259
    ],
    "vy_ego": [
      -0.08275739967949775,
      -0.030819991317138168,
      0.0010773499313713047,
      0.006252423196685564,
      -0.008804988603946615,
      0.0021202114402541494,
      0.012347681478518086,
      -0.0037843682645599397,
      -0.0032559434137974857,
      0.009442588266217924
    ],
    "v_ego": [
      0.8996352046668455,
      0.6081073912222263,
      0.40285609703754505,
      0.28713667372331825,
      0.24860740811023505,
      0.30014462466455255,
      0.2686946515440155,
      0.12069526553665148,
      0.008766435726039948,
      0.05405025436505247
    ],
    "ax_ego": [
      -0.578177267958924,
      -0.579485407423327,
      -0.23877582535184944,
      -0.22410118810146754,
      0.0696366795806054,
      0.13703297596514882,
      -0.2638030319816691,
      -0.327288533654202,
      -0.12271637824325718,
      -0.1227169752595744
    ],
    "ay_ego": [
      0.0837638938835957,
      0.0741755282049647,
      0.03622895820286064,
      -0.023744525790716918,
      -0.038258614621596125,
      0.08089315858286199,
      -0.04198644481590967,
      -0.023361228245279322,
      0.02539957328521715,
      0.025396682197128526
    ],
    "a_ego": [
      0.5842134396802146,
      0.584213442502879,
      0.24150865861273282,
      0.22535559680983155,
      0.07945431854704761,
      0.15912806040223426,
      0.2671233820372169,
      0.32812121425876406,
      0.12531738830750216,
      0.12531738699590309
    ],
    "yaw": [
      1.2783270237172166,
      1.2617623606259172,
      1.2524733360437024,
      1.2464873397186125,
      1.2445683325884187,
      1.2435657239546627,
      1.2420680471033627,
      1.241056149198808,
      1.2405708299807219,
      1.2405472736256733
    ],
    "yaw_diff": [
      -0.033129326182598895,
      -0.018578049164429622,
      -0.011971992650179786,
      -0.0038380142603875456,
      -0.002005217267512016,
      -0.0029953537025999566,
      -0.0020237958091096075,
      -0.0009706384361720666,
      -4.711271009716356e-05,
      -4.711271009716356e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.3198694006596482,
    "v_std": 0.25345002517943277,
    "vy_max": 0.08275739967949775,
    "a_max": 0.584213442502879,
    "ax_avg": -0.22503949524285166,
    "a_std": 0.17148724312805405,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "55eed45c895852b9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "55eed45c895852b9",
    "pedestrians": "No"
  },
  "e717645716555e33": {
    "vx_ego": [
      1.20262446811543,
      1.0225000183258075,
      0.8437968911260012,
      0.6629348044438315,
      0.4937766040821012,
      0.34190258524630757,
      0.19670716392501666,
      0.060712231245675034,
      -0.005109714120588535,
      -0.005318466286773627
    ],
    "vy_ego": [
      0.0064938823741163,
      -0.009267675794572383,
      -0.023280024357951234,
      -0.01584690024321944,
      0.0069746874059983255,
      0.011617082259208683,
      0.014650014301687414,
      0.008717641751637497,
      -0.0028569126657263647,
      0.001092926387929767
    ],
    "v_ego": [
      1.2026420006877399,
      1.0225420173718582,
      0.8441179733947214,
      0.6631241808215861,
      0.49382586101100817,
      0.34209988950352765,
      0.1972519486810283,
      0.061334919096206635,
      0.005854154795846245,
      0.005429601434081591
    ],
    "ax_ego": [
      -0.36025830588141694,
      -0.3602422039693882,
      -0.35459840609559135,
      -0.3688266504260129,
      -0.3078034537450288,
      -0.2997082447425437,
      -0.2810823243295433,
      -0.2628709150639024,
      -0.00041748919077394097,
      -0.00041753510369499066
    ],
    "ay_ego": [
      -0.032532982345459066,
      -0.03271088580083609,
      -0.024856210317158636,
      0.055183888015796934,
      0.03682541122472148,
      -0.017852475122098713,
      0.030317220546519807,
      -0.054197339418834964,
      0.00789974465194636,
      0.007899741395534503
    ],
    "a_ego": [
      0.36172426224520593,
      0.36172427008786356,
      0.35546850886803566,
      0.3729321111958748,
      0.30999851136616435,
      0.30023947580996346,
      0.28271258711306946,
      0.26839983156964503,
      0.007910768786304414,
      0.007910767957609362
    ],
    "yaw": [
      1.1010971788894617,
      1.1006033562642341,
      1.100196442154164,
      1.1003934860170315,
      1.100710166418903,
      1.1009520889421196,
      1.1012639324740467,
      1.1009660960209282,
      1.1009347750305118,
      1.1009287184418823
    ],
    "yaw_diff": [
      -0.000987645250455138,
      -0.0008138282201404223,
      0.00039408772573512607,
      0.0006333608037429883,
      0.0004838450464332844,
      0.0006236870638542946,
      -0.0005956729062370769,
      -6.264198083272277e-05,
      -1.2113177259021057e-05,
      -1.2113177259021057e-05
    ],
    "min_front_frame": [
      7,
      9.701437709441253
    ],
    "v_avg": 0.4838222546797605,
    "v_std": 0.41315849510013203,
    "vy_max": 0.023280024357951234,
    "a_max": 0.3729321111958748,
    "ax_avg": -0.25962255285478963,
    "a_std": 0.1320162016288455,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e717645716555e33",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.598538135975932,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.742236485216385,
      11.252924510109716,
      10.806005298317347,
      10.40455758945325,
      10.146945894922288,
      9.898716550313777,
      9.766958720439293,
      9.701437709441253,
      9.717207009587694,
      9.7204162065046
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e717645716555e33",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4023c5e9f11e5056": {
    "vx_ego": [
      10.635761568357601,
      10.745461990355114,
      10.837555879632612,
      10.878320188474738,
      10.886644000762502,
      10.915980835998742,
      10.94786955308929,
      10.971427519788229,
      10.973361489835945,
      10.93630387338418
    ],
    "vy_ego": [
      -0.049521318549355264,
      0.014370143566002191,
      0.02582746979743611,
      -0.015320171044386655,
      -0.021276196446820883,
      0.021214528829087698,
      0.011228933065945412,
      -0.020704479198993653,
      0.010367024701760208,
      0.02589509216456598
    ],
    "v_ego": [
      10.63587685618555,
      10.74547159910595,
      10.837586654894878,
      10.878330976331705,
      10.886664791196312,
      10.916001450536971,
      10.947875311693924,
      10.971447055763674,
      10.973366386930481,
      10.936334530673246
    ],
    "ax_ego": [
      0.2050723593907035,
      0.23606789578026371,
      0.12670425944243646,
      0.031478389175544824,
      0.0022524504523554756,
      0.11482702342979309,
      0.012548580362550743,
      0.0813549451361899,
      -0.07435304878663777,
      -0.07408468305675685
    ],
    "ay_ego": [
      0.8842085206148238,
      0.8764424288836299,
      0.7260826023329592,
      0.45253191373007123,
      0.3519442803801942,
      0.30365453451924096,
      0.4126731336661996,
      0.342178031609629,
      0.09365993748305564,
      0.09387238715552208
    ],
    "a_ego": [
      0.9076780158811412,
      0.9076780170112957,
      0.7370548926446784,
      0.4536254202856005,
      0.3519514881704197,
      0.32464029577956455,
      0.412863878438156,
      0.3517164090774736,
      0.1195849478538082,
      0.11958497118742113
    ],
    "yaw": [
      -0.7907836685091943,
      -0.7555781236132881,
      -0.7195646660126787,
      -0.6886741901055445,
      -0.6696528544790747,
      -0.6585014775218909,
      -0.6412271217724133,
      -0.621079392740699,
      -0.6139934508637774,
      -0.6111312354203796
    ],
    "yaw_diff": [
      0.07041108979181243,
      0.07202691520121896,
      0.06178095181426824,
      0.038042671252939586,
      0.022302753914367646,
      0.03454871149895533,
      0.04029545806342849,
      0.01417188375384315,
      0.0057244308867956395,
      0.0057244308867956395
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.87289556133127,
    "v_std": 0.10256312903303494,
    "vy_max": 0.049521318549355264,
    "a_max": 0.9076780170112957,
    "ax_avg": 0.06618681713264431,
    "a_std": 0.27433443457721246,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "4023c5e9f11e5056",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 25.905861778530234,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4023c5e9f11e5056",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3dc04b54c3515f56": {
    "vx_ego": [
      8.63950851863632,
      7.914621953402829,
      7.197508730127945,
      6.530049162245178,
      5.935066633251257,
      5.376460758746145,
      4.791941540815678,
      4.135136157697844,
      3.4588281396127787,
      2.8036375454723697
    ],
    "vy_ego": [
      0.017689236869404823,
      0.014032814943731431,
      0.0001847866750468441,
      0.008395611195575192,
      0.011495585617388837,
      -0.010517621781878983,
      -0.018488370689766276,
      -0.03411754276830847,
      -0.022436115743848628,
      0.012388024173485057
    ],
    "v_ego": [
      8.63952662781304,
      7.914634393652133,
      7.197508732500023,
      6.530054559314669,
      5.93507776609718,
      5.376471046207272,
      4.791977206795301,
      4.135276901179005,
      3.458900906164683,
      2.8036649139162932
    ],
    "ax_ego": [
      -1.4497936383279044,
      -1.4497917891353862,
      -1.4187087981548916,
      -1.2511114444147848,
      -1.1286613382455597,
      -1.1057995388801498,
      -1.2323202636397421,
      -1.3948723231825049,
      -1.3103946517817333,
      -1.3103572328218958
    ],
    "ay_ego": [
      0.0025276581849558166,
      0.0034289462518447555,
      -0.02508327817317546,
      0.07333592144870749,
      -0.0927899458094803,
      -0.019680192076410807,
      -0.028542791071776596,
      -0.029025816205594746,
      0.07252750897656968,
      0.07320036523051243
    ],
    "a_ego": [
      1.4497958417625436,
      1.4497958440817735,
      1.4189305214865207,
      1.253258953177826,
      1.132469156530801,
      1.1059746516750355,
      1.2326507709401275,
      1.3951742887492442,
      1.312400237342449,
      1.3124002328095405
    ],
    "yaw": [
      1.0957609501699435,
      1.0963826164877373,
      1.0974994391012292,
      1.0980624134041879,
      1.0967815454528713,
      1.095701689297981,
      1.0949007122584224,
      1.0951765954471058,
      1.0949637289053173,
      1.095477210735516
    ],
    "yaw_diff": [
      0.001243332635587624,
      0.0022336452269837714,
      0.001125948605917415,
      -0.002561735902633089,
      -0.002159712309780737,
      -0.0016019540791170073,
      0.000551766377366647,
      -0.00042573308357685136,
      0.0010269636603972288,
      0.0010269636603972288
    ],
    "min_front_frame": [
      1,
      21.158163607298697
    ],
    "v_avg": 5.67830930536396,
    "v_std": 1.8252758365373574,
    "vy_max": 0.03411754276830847,
    "a_max": 1.4497958440817735,
    "ax_avg": -1.3051811018584552,
    "a_std": 0.11850138389724613,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3dc04b54c3515f56",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.502443146330368,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.021516249346938,
      21.158163607298697,
      27.811814290559145,
      24.406475462436852,
      21.313523784685906,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      0,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3dc04b54c3515f56",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "6639fa7905a3599b": {
    "vx_ego": [
      2.8719152183108667,
      2.7752479741709664,
      2.67566988522678,
      2.4802477439204584,
      2.119917934975713,
      1.7177767254379726,
      1.3200172416530516,
      0.8710455386451952,
      0.4564848401194701,
      0.10168279593245633
    ],
    "vy_ego": [
      0.006247369633705757,
      0.003433507507268896,
      -8.263292186283522e-06,
      -0.014197150282585502,
      -0.011519781256216222,
      0.004022236600285112,
      -0.008446557928283305,
      0.0013880085196101843,
      0.01316378707075061,
      -0.005827693747560314
    ],
    "v_ego": [
      2.871922013354975,
      2.7752500981197814,
      2.67566988523954,
      2.480288376439052,
      2.1199492343902677,
      1.7177814345380709,
      1.3200442653949778,
      0.8710466445382524,
      0.4566746046682936,
      0.10184965882641389
    ],
    "ax_ego": [
      -0.1933450063027853,
      -0.19334456531328933,
      -0.20496004505949092,
      -0.5767070318827827,
      -0.8647935912059603,
      -0.7437218230233782,
      -0.8473106118383973,
      -0.9485956188670084,
      -0.7096069104014047,
      -0.7095976887366353
    ],
    "ay_ego": [
      0.00030893874690732237,
      0.0005157346691417458,
      0.019251587653783403,
      -0.028146950046703867,
      0.015759701300419038,
      -0.02480023022485789,
      -0.04575459408581456,
      0.0840027274774765,
      -0.03803219924214496,
      -0.038203976448467514
    ],
    "a_ego": [
      0.1933452531234564,
      0.19334525315723106,
      0.20586219589322333,
      0.5773934979024102,
      0.8649371789765891,
      0.744135203750248,
      0.8485450817805245,
      0.9523077792170648,
      0.710625369283015,
      0.7106253750583705
    ],
    "yaw": [
      -0.5787647198621976,
      -0.5776951450286218,
      -0.5746207512669548,
      -0.5700616499571738,
      -0.5725333724574206,
      -0.5818845796923169,
      -0.5852595311548084,
      -0.5855054536934052,
      -0.5859521262902475,
      -0.5861942134012937
    ],
    "yaw_diff": [
      0.002139149667151452,
      0.006148787523334143,
      0.009118202619561977,
      -0.004943445000493707,
      -0.018702414469792483,
      -0.00674990292498312,
      -0.0004918450771935756,
      -0.0008933451936845582,
      -0.0004841742220924594,
      -0.0004841742220924594
    ],
    "min_front_frame": [
      7,
      9.461085122952909
    ],
    "v_avg": 1.7390476215509625,
    "v_std": 0.9582924711753539,
    "vy_max": 0.014197150282585502,
    "a_max": 0.9523077792170648,
    "ax_avg": -0.5991982892631132,
    "a_std": 0.2807008627691968,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6639fa7905a3599b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.437694570260344,
    "right_rear_min": 3.1915157171419963,
    "speed_mode": "decelerating",
    "front_frame": [
      12.29498618621868,
      11.855207864436196,
      11.318190871206449,
      10.804393189958201,
      10.271581175917824,
      9.890445985179635,
      9.596074395490822,
      9.461085122952909,
      9.549952230008964,
      9.679134010200473
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6639fa7905a3599b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9170b75b8a3f527f": {
    "vx_ego": [
      5.761819444651414,
      6.092860354798749,
      6.396625196295577,
      6.617478588968655,
      6.81369944403282,
      7.022970815640358,
      7.239865523062349,
      7.465154388548234,
      7.666064313158679,
      7.823787480489012
    ],
    "vy_ego": [
      -0.004740689613840887,
      -0.06474514867224901,
      -0.12242377701810014,
      -0.08344208636624406,
      -0.05696453228145604,
      -0.008621276458698812,
      0.002119471552701646,
      -0.031896996249042964,
      -0.06727829098489879,
      -0.09144794166096437
    ],
    "v_ego": [
      5.761821394915079,
      6.093204348891881,
      6.397796611573614,
      6.618004643186324,
      6.813937559997979,
      7.022976107302656,
      7.239865833300126,
      7.465222532733413,
      7.666359528610885,
      7.824321904541673
    ],
    "ax_ego": [
      0.5953782724374161,
      0.7404107238296985,
      0.4835495338882686,
      0.40482075032317233,
      0.38145659053635167,
      0.4552625570876776,
      0.4125593215507613,
      0.48845403099698737,
      0.31395416218874517,
      0.31489902710914436
    ],
    "ay_ego": [
      1.2893172974955,
      1.2118606942643653,
      0.6743225250101157,
      0.20707015965265774,
      0.07375919065413594,
      0.024657975554093537,
      -0.1097306162989538,
      -0.17122344987118515,
      -0.1485448953249286,
      -0.1465312414943558
    ],
    "a_ego": [
      1.4201459012762252,
      1.420145901752678,
      0.8297776927946303,
      0.45470637878832687,
      0.38852226277212354,
      0.4559298319307887,
      0.42690280152720095,
      0.5175952184699895,
      0.3473223313907859,
      0.34732233157135584
    ],
    "yaw": [
      1.2220354175730426,
      1.337877016753895,
      1.4221408144222227,
      1.4499692252578957,
      1.4564780541147029,
      1.4530421639061148,
      1.4485570932901168,
      1.4436242508916641,
      1.4377512857564385,
      1.4313470966196002
    ],
    "yaw_diff": [
      0.2316831983617047,
      0.16852759533665562,
      0.055656821671346,
      0.013017657713614295,
      -0.0068717804171760655,
      -0.00897014123199602,
      -0.009865684796905416,
      -0.011745930270451233,
      -0.012808378273676535,
      -0.012808378273676535
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.890351046505363,
    "v_std": 0.6462477415283594,
    "vy_max": 0.12242377701810014,
    "a_max": 1.420145901752678,
    "ax_avg": 0.4590744969948223,
    "a_std": 0.4015095742448573,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "9170b75b8a3f527f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9170b75b8a3f527f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d099441c0eb55204": {
    "vx_ego": [
      2.0752419766323187,
      2.0623237794540765,
      2.040326989265938,
      1.9339274404027427,
      1.6566105463974798,
      1.2319855055079687,
      0.7789667162089231,
      0.37865573449955714,
      0.08765844289571548,
      -0.12343530255237722
    ],
    "vy_ego": [
      -0.014586273361105961,
      -0.015230526772890052,
      -0.01023028971972395,
      -0.006397148786411622,
      -0.0034135388450541315,
      0.003743124182023605,
      -0.002561022605002461,
      -0.010249071683021388,
      -0.008709648277686666,
      -0.009128378676568523
    ],
    "v_ego": [
      2.075293237339576,
      2.0623800183883487,
      2.0403526366671905,
      1.9339380207895234,
      1.6566140632877662,
      1.231991191835545,
      0.7789709261571296,
      0.37879441487403537,
      0.08809007085944716,
      0.12377237661715854
    ],
    "ax_ego": [
      -0.025842357402382322,
      -0.025841954768391046,
      -0.06219303616498967,
      -0.3634212549267869,
      -0.7458552022231368,
      -0.9526446566311768,
      -0.8594314482910799,
      -0.7417995733151,
      -0.4221860881840062,
      -0.42218614554236145
    ],
    "ay_ego": [
      -0.002085804388139604,
      -0.0020907991673251546,
      0.015503600084180644,
      -0.005964038514364195,
      0.015748231255944933,
      0.012160809793365035,
      -0.03723705922735565,
      0.0070938769855879436,
      -0.0008565603008017231,
      -0.0008238858712441011
    ],
    "a_ego": [
      0.025926396125532887,
      0.02592639711586738,
      0.06409629757630247,
      0.363470188994863,
      0.7460214403561114,
      0.9527222717574956,
      0.8602377653251482,
      0.741833492140353,
      0.42218695710746723,
      0.4221869494380953
    ],
    "yaw": [
      -0.7450957636907263,
      -0.7452890638204048,
      -0.7460902006946544,
      -0.746805461560174,
      -0.7470971261212365,
      -0.7472191553052306,
      -0.7471838501642489,
      -0.746913943611776,
      -0.7468109002733867,
      -0.7467334914147046
    ],
    "yaw_diff": [
      -0.00038660025935710607,
      -0.0016022737484990834,
      -0.0014305217310393026,
      -0.0005833291221248871,
      -0.00024405836798835345,
      7.061028196342356e-05,
      0.0005398131049458854,
      0.00020608667677857184,
      0.00015481771736425287,
      0.00015481771736425287
    ],
    "min_front_frame": [
      8,
      10.979741245967388
    ],
    "v_avg": 1.237019695681572,
    "v_std": 0.7871952783231221,
    "vy_max": 0.015230526772890052,
    "a_max": 0.9527222717574956,
    "ax_avg": -0.46214017174494104,
    "a_std": 0.33315169468161676,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d099441c0eb55204",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.201138997928986,
    "speed_mode": "decelerating",
    "front_frame": [
      14.62335618022431,
      14.394864763601202,
      14.003352541899101,
      13.33944051409006,
      12.514411163914748,
      11.829338507661179,
      11.325753453630963,
      11.037028384498749,
      10.979741245967388,
      10.992615050977243
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d099441c0eb55204",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1b35b775c4a95647": {
    "vx_ego": [
      7.422896821096874,
      6.7432648800762385,
      6.055910543595732,
      5.460321145401147,
      5.070318845062117,
      4.81542721656964,
      4.527162796257963,
      4.142591622332864,
      3.722748680083994,
      3.309478669143956
    ],
    "vy_ego": [
      0.01781428839891558,
      0.0044305863410033786,
      0.0011225876487302167,
      0.00563424951669908,
      -0.019202122256821802,
      -0.043183355590393185,
      -0.027810027673628137,
      -0.01722940831176692,
      -0.021123226898906833,
      -0.051598579696939706
    ],
    "v_ego": [
      7.422918197415436,
      6.743266335609541,
      6.055910647643093,
      5.460324052259399,
      5.070355205712041,
      4.815620840585321,
      4.527248212928183,
      4.1426274515014265,
      3.722808607191853,
      3.309880885310768
    ],
    "ax_ego": [
      -1.3596559106913562,
      -1.3591498335370102,
      -1.390437216695214,
      -0.9919032920789759,
      -0.5681063465809566,
      -0.45204038698664706,
      -0.7031078821522276,
      -0.8320631804026017,
      -0.8518770574477542,
      -0.8096358638299609
    ],
    "ay_ego": [
      0.0675833765574145,
      0.07709379618036605,
      0.0216916770098691,
      -0.01573883446228438,
      -0.08204394167772579,
      -0.12418155364635257,
      -0.2087440331432347,
      -0.5280130094621397,
      -0.5454755365738974,
      -0.606405679559527
    ],
    "a_ego": [
      1.3613345320915218,
      1.3613345376553048,
      1.3906064081625087,
      0.9920281506829035,
      0.574000025602421,
      0.4687873395614045,
      0.7334403624818412,
      0.9854576978962406,
      1.0115523130349837,
      1.0115523121429453
    ],
    "yaw": [
      -1.56179586810061,
      -1.5547998676653154,
      -1.5504265828516632,
      -1.5509562415520235,
      -1.5508812889951538,
      -1.5564764648579539,
      -1.577443475996502,
      -1.6222004320944237,
      -1.689384411895611,
      -1.7626945292770153
    ],
    "yaw_diff": [
      0.013992000870589383,
      0.008746569627304357,
      -0.0010593174007205164,
      0.00014990511373946802,
      -0.011190351725600234,
      -0.041934022277096084,
      -0.08951391219584348,
      -0.13436795960237458,
      -0.14662023476280872,
      -0.14662023476280872
    ],
    "min_front_frame": [
      5,
      20.78234211945503
    ],
    "v_avg": 5.1270960436157065,
    "v_std": 1.2474000776936085,
    "vy_max": 0.051598579696939706,
    "a_max": 1.3906064081625087,
    "ax_avg": -0.9317976970402706,
    "a_std": 0.3078554154606332,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "1b35b775c4a95647",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.43310145684831,
    "right_rear_min": 13.645723170638211,
    "speed_mode": "decelerating",
    "front_frame": [
      22.767481773092264,
      24.242685541881155,
      21.115118576254314,
      25.718161926344603,
      23.146409998071746,
      20.78234211945503,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1b35b775c4a95647",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "029585f0509d52b0": {
    "vx_ego": [
      4.761343168144339,
      4.908171293174681,
      5.21384349606417,
      5.555293936187833,
      5.969383824804316,
      6.401531180792903,
      6.822858987732197,
      7.247367400373081,
      7.6547797895598055,
      8.03804906856142
    ],
    "vy_ego": [
      -0.1974810664320512,
      -0.08307520503071009,
      -0.10393034193770911,
      -0.16783510243244315,
      -0.12938282624413722,
      -0.12046071402399727,
      -0.08912214456057477,
      -0.047461568685220445,
      -0.04961131284109488,
      -0.012100126245971676
    ],
    "v_ego": [
      4.765436762400054,
      4.908874304037018,
      5.2148792428421515,
      5.557828653265034,
      5.970785807878418,
      6.40266446429039,
      6.8234410324358405,
      7.247522806897025,
      7.654940555550714,
      8.038058176055726
    ],
    "ax_ego": [
      0.08086293689773358,
      0.6248110877744419,
      0.7023649653195748,
      0.7827671108509463,
      0.9084429636577898,
      0.8520247424727067,
      0.837256701005038,
      0.8643750603178519,
      0.7665549699852332,
      0.7666490724910433
    ],
    "ay_ego": [
      2.4345771085304433,
      2.3544246897803363,
      2.467222699067324,
      2.3847029618338658,
      1.6126787741866704,
      1.1850705116232958,
      0.48291722948801136,
      0.2774770400120041,
      0.0916084685683366,
      0.09081755464413527
    ],
    "a_ego": [
      2.435919643983393,
      2.4359196446625893,
      2.565249381892805,
      2.509886962795167,
      1.8509460950907162,
      1.4595678399117946,
      0.9665442741614149,
      0.9078203305904277,
      0.7720094776118346,
      0.7720094744126638
    ],
    "yaw": [
      -1.6411432617590527,
      -1.4149470918834053,
      -1.173366874885962,
      -0.9368935265355867,
      -0.7700716168101385,
      -0.6586788091159542,
      -0.6003862839851005,
      -0.579277307555981,
      -0.566626087328775,
      -0.565594363983619
    ],
    "yaw_diff": [
      0.4523923397512948,
      0.4831604339948865,
      0.47294669670075073,
      0.3336438194508964,
      0.2227856153883685,
      0.1165850502617074,
      0.04221795285823915,
      0.02530244045441199,
      0.0020634466903119986,
      0.0020634466903119986
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.258443180565237,
    "v_std": 1.10220564316536,
    "vy_max": 0.1974810664320512,
    "a_max": 2.565249381892805,
    "ax_avg": 0.7186109610772359,
    "a_std": 0.7379467535609331,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "029585f0509d52b0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "029585f0509d52b0",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ac6472ee06855dd3": {
    "vx_ego": [
      1.6177282719651012,
      2.295002888486651,
      2.9560284040905933,
      3.408277399079289,
      3.509581167365014,
      3.400640885976285,
      3.1231539349616186,
      2.6884113389933093,
      2.155347295979818,
      1.564792135431111
    ],
    "vy_ego": [
      -0.006248055995545343,
      -0.009905795791306904,
      -0.017236938354343145,
      -0.021289254373361377,
      -0.012046225975865577,
      0.009869020113290272,
      0.04225120485765532,
      0.04413778117954803,
      0.02939092672247534,
      0.029339682379411536
    ],
    "v_ego": [
      1.6177403376682291,
      2.2950242663101257,
      2.9560786589389347,
      3.4083438883754757,
      3.5096018409334464,
      3.4006552064170763,
      3.1234397170072237,
      2.6887736370611885,
      2.1555476781693135,
      1.5650671691876936
    ],
    "ax_ego": [
      1.3545911617673188,
      1.354649824374993,
      1.2903866555606784,
      0.5191664099071611,
      -0.11371807254782591,
      -0.3219689019810458,
      -0.7883344797209453,
      -0.9512545474433906,
      -1.18088693187976,
      -1.1808177071949713
    ],
    "ay_ego": [
      0.015258454038541314,
      0.00859637779092115,
      0.07475035407092068,
      0.035859171682519814,
      0.046853579857574774,
      0.0849355576558021,
      0.09133090344014028,
      -0.054300323120925365,
      -0.013560399345402763,
      -0.018638147896259782
    ],
    "a_ego": [
      1.3546770965650008,
      1.354677099677382,
      1.2925499357018284,
      0.5204033448870663,
      0.12299210531356367,
      0.33298351730556025,
      0.7936073247142353,
      0.9528030956723255,
      1.1809647879233316,
      1.180964791254249
    ],
    "yaw": [
      -2.1109633277932742,
      -2.106045298506113,
      -2.0953496322947993,
      -2.085679382614428,
      -2.0824473250828457,
      -2.07927824233502,
      -2.0757590442488825,
      -2.0732400110278464,
      -2.0741452351956298,
      -2.078445298169304
    ],
    "yaw_diff": [
      0.009836058574322237,
      0.021391332422627585,
      0.01934049936074267,
      0.006464115063164577,
      0.00633816549565136,
      0.007038396172275085,
      0.005038066442072164,
      -0.001810448335566761,
      -0.008600125947348047,
      -0.008600125947348047
    ],
    "min_front_frame": [
      9,
      11.238994318100309
    ],
    "v_avg": 2.6720272400068703,
    "v_std": 0.6931879152021683,
    "vy_max": 0.04413778117954803,
    "a_max": 1.354677099677382,
    "ax_avg": -0.0018186589157787258,
    "a_std": 0.4252223180728612,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ac6472ee06855dd3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.975097098731046,
    "right_rear_min": null,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      13.521099796380069,
      14.021657455996824,
      14.34427301597936,
      14.231591567674723,
      13.928390887497535,
      13.369332771378552,
      12.699427850103357,
      12.009290210342666,
      11.510754287412752,
      11.238994318100309
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ac6472ee06855dd3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c8deb087395357c3": {
    "vx_ego": [
      7.624526265547074,
      7.418457031273547,
      7.1891475628834245,
      6.82049500731828,
      6.270821361651063,
      5.73637008936965,
      5.360418873851624,
      5.110040815544112,
      4.89824526860821,
      4.6905270680845055
    ],
    "vy_ego": [
      0.06200078329967873,
      0.038391725100503926,
      -0.013807361554701192,
      -0.03841133048844991,
      -0.03253686098321529,
      -0.02014570461459897,
      -0.010549515766379525,
      -0.016241748128917877,
      -0.039365023776699815,
      0.04038650689155032
    ],
    "v_ego": [
      7.624778348984774,
      7.418556372327983,
      7.18916082196982,
      6.820603167987674,
      6.270905771661853,
      5.736405464367838,
      5.3604292547731305,
      5.1100666268561525,
      4.898403445668767,
      4.690700933375771
    ],
    "ax_ego": [
      -0.41219861171262423,
      -0.412225104880983,
      -0.5047205064038234,
      -0.9712456548474819,
      -1.2300581432952171,
      -0.9098972205297473,
      -0.5929755483456646,
      -0.409632738560871,
      -0.43936316762999345,
      -0.3899977685561022
    ],
    "ay_ego": [
      -0.03636400971453102,
      -0.03606244939137146,
      -0.23104654007518985,
      -0.22669958233175108,
      -0.21591020393608884,
      -0.21161650456883235,
      -0.39780794740156483,
      -0.4495471115431906,
      -0.5957092929492711,
      -0.6291353562824702
    ],
    "a_ego": [
      0.4137995126874043,
      0.41379951347269933,
      0.5550903469393502,
      0.9973519051415626,
      1.248863584243932,
      0.9341811906336427,
      0.7140526338805059,
      0.6081871307399597,
      0.7402091290817631,
      0.7402091299108717
    ],
    "yaw": [
      2.390447128012246,
      2.3911786902713743,
      2.3891858765986993,
      2.376467539927588,
      2.3587533867463493,
      2.3387538313043725,
      2.3093570024878622,
      2.2698122342038567,
      2.2222577958375203,
      2.141694605866139
    ],
    "yaw_diff": [
      0.0014631245182563646,
      -0.003985627345350018,
      -0.025436673342222882,
      -0.03542830636247718,
      -0.03999911088395347,
      -0.05879365763302058,
      -0.0790895365680111,
      -0.09510887673267288,
      -0.1611263799427629,
      -0.1611263799427629
    ],
    "min_front_frame": [
      2,
      16.339522708813426
    ],
    "v_avg": 6.1120010207973765,
    "v_std": 1.0433571188966133,
    "vy_max": 0.06200078329967873,
    "a_max": 1.248863584243932,
    "ax_avg": -0.6272314464762508,
    "a_std": 0.25056221170152615,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "c8deb087395357c3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.08930893106289,
      16.853369568863478,
      16.339522708813426,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      0,
      0,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c8deb087395357c3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b2cc98272c505ed6": {
    "vx_ego": [
      1.0909366065615265,
      1.9685338424755603,
      2.8229771596550908,
      3.6600513810557507,
      4.476364831532923,
      5.266616619224463,
      6.035799061734485,
      6.744731012809506,
      7.432403539667813,
      8.137518751600496
    ],
    "vy_ego": [
      0.007369660827224178,
      0.0019701995442825693,
      -0.0039993060586271945,
      0.0044927920886828066,
      0.011880011432578552,
      0.006244886333908628,
      -0.008053072356533075,
      -0.020814334918808353,
      -0.018480476344044483,
      -0.033363295605151944
    ],
    "v_ego": [
      1.090961498604184,
      1.9685348284086412,
      2.82297999255809,
      3.660054138554355,
      4.476380595934221,
      5.266620321657584,
      6.035804434009544,
      6.744763129398427,
      7.432426515242014,
      8.137587144979973
    ],
    "ax_ego": [
      1.7551949987709554,
      1.7551966418330285,
      1.6625814936650118,
      1.6856787259273895,
      1.5796686227274683,
      1.5813719232282688,
      1.4953830738501215,
      1.3404412787827997,
      1.4103507144031013,
      1.4103825603517224
    ],
    "ay_ego": [
      -0.011373042377232245,
      -0.011117091016726532,
      -0.026217757853319035,
      0.04682374445167636,
      -0.037646396448892006,
      -0.012431098695218412,
      -0.06828149134300832,
      0.039423460380238806,
      0.013787362311134643,
      0.010013147192674987
    ],
    "a_ego": [
      1.7552318450288806,
      1.7552318482794842,
      1.6627881987505917,
      1.6863289210852854,
      1.58011715033895,
      1.581420782647504,
      1.4969411810814288,
      1.341020891370906,
      1.4104181043140493,
      1.4104181045565822
    ],
    "yaw": [
      1.0773994397511024,
      1.0772536161516453,
      1.0758561335880228,
      1.0748246470794909,
      1.073576838423616,
      1.0721636063460873,
      1.0711250630714315,
      1.0719904411769945,
      1.0735397507559266,
      1.0762158006192286
    ],
    "yaw_diff": [
      -0.0002916471989142799,
      -0.002794965127244975,
      -0.0020629730170638183,
      -0.0024956173117498537,
      -0.0028264641550572733,
      -0.002077086549311602,
      0.00173075621112595,
      0.0030986191578641353,
      0.005352099726604109,
      0.005352099726604109
    ],
    "min_front_frame": [
      0,
      14.429037974643832
    ],
    "v_avg": 4.763611259934703,
    "v_std": 2.250998500131228,
    "vy_max": 0.033363295605151944,
    "a_max": 1.7552318482794842,
    "ax_avg": 1.5676250033539867,
    "a_std": 0.1413003843452318,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "b2cc98272c505ed6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.388742090908184,
    "right_rear_min": 44.49949486026878,
    "speed_mode": "accelerating",
    "front_frame": [
      14.429037974643832,
      15.782282351028845,
      17.03731877102159,
      18.410569290177943,
      19.914372306498866,
      21.439491407334895,
      23.09688490211363,
      24.995058201317832,
      26.638256643266566,
      28.619180150351486
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b2cc98272c505ed6",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "2d4b17f8d7585219": {
    "vx_ego": [
      4.169879497590632,
      4.134177591279389,
      4.112158277765413,
      4.09637482796685,
      4.082963277406572,
      4.0914801233564475,
      4.0869221412911685,
      4.012299381045514,
      3.8641570488123227,
      3.715405649561331
    ],
    "vy_ego": [
      -0.012162715888160758,
      -0.013247926368403329,
      0.008143244534638994,
      0.02063833788092584,
      0.05099706948605642,
      0.018852074663179064,
      0.009789951567412913,
      0.0059071114208009146,
      -0.01730192831380717,
      0.0037041992143389546
    ],
    "v_ego": [
      4.169897235674337,
      4.134198817641662,
      4.112166340729197,
      4.096426817629106,
      4.0832817470444995,
      4.091523554929141,
      4.086933866864949,
      4.012303729418244,
      3.8641957836798766,
      3.7154074960741625
    ],
    "ax_ego": [
      -0.08091899885202203,
      -0.059189186795962134,
      -0.02733050350166899,
      -0.042033534423136704,
      -0.010763898349133827,
      0.03476284036900479,
      -0.05244819987949334,
      -0.24564109729475075,
      -0.34415110270891575,
      -0.24600410208328988
    ],
    "ay_ego": [
      0.42176905746027776,
      0.4253629689224224,
      0.4684481168284716,
      0.2978801722247628,
      0.6192860282660124,
      0.6661900419924927,
      0.7927483968897987,
      0.8633688136780479,
      0.865957114634415,
      0.8987789973570541
    ],
    "a_ego": [
      0.4294613163093326,
      0.42946130811059685,
      0.469244706503756,
      0.3008312068598525,
      0.6193795656244746,
      0.6670964151608672,
      0.7944814877905872,
      0.8976331417188255,
      0.9318378109315613,
      0.9318378100999966
    ],
    "yaw": [
      -1.094826755291257,
      -1.043535954514828,
      -0.994492012410524,
      -0.9508841100615717,
      -0.9022044228482465,
      -0.8156454145314912,
      -0.7245408251297156,
      -0.622044303661824,
      -0.5068609256452162,
      -0.39574403882380105
    ],
    "yaw_diff": [
      0.102581601552858,
      0.09808788420860792,
      0.08721580469790458,
      0.09735937442665032,
      0.17311801663351067,
      0.18220917880355114,
      0.20499304293578335,
      0.23036675603321544,
      0.22223377364283037,
      0.22223377364283037
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.036633538968518,
    "v_std": 0.13333814857261211,
    "vy_max": 0.05099706948605642,
    "a_max": 0.9318378109315613,
    "ax_avg": -0.10737177835193687,
    "a_std": 0.22227808056167012,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "2d4b17f8d7585219",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "2d4b17f8d7585219",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "a3d10c0a5a835300": {
    "vx_ego": [
      -0.0875952865361233,
      0.14650952302184295,
      0.683237633384207,
      1.622503728049597,
      2.6302669602123716,
      3.5479477155335486,
      4.385650671368776,
      5.137205093753959,
      5.7770605220368445,
      6.438815984477839
    ],
    "vy_ego": [
      0.001731374462520155,
      -0.0033445412006958414,
      0.005151020281296326,
      0.018948197383927945,
      0.024805933582564776,
      0.01145661365744255,
      -0.005311438114875333,
      -0.09247197669789786,
      -0.11992965740830869,
      -0.31608923902432473
    ],
    "v_ego": [
      0.08761239570331936,
      0.14654769289187422,
      0.6832570502251626,
      1.622614366298703,
      2.630383929453214,
      3.5479662126570797,
      4.385653887694769,
      5.138037294703692,
      5.778305235793856,
      6.446569916552081
    ],
    "ax_ego": [
      0.46820941277307493,
      0.46820973648856545,
      1.6787802134204968,
      2.0782391638869075,
      1.956760582348093,
      1.7366600777898697,
      1.6549816119929592,
      1.4131555272609886,
      1.231186931852479,
      1.549623760298134
    ],
    "ay_ego": [
      -0.010160911999735539,
      -0.010146418672471236,
      0.0473772764501994,
      0.14078762126533673,
      0.43764075353230136,
      0.9700248476654189,
      1.5055154351901874,
      1.7694180852172932,
      1.9038769699520919,
      1.6550634383735452
    ],
    "a_ego": [
      0.4683196540205995,
      0.4683196634293386,
      1.6794486033505185,
      2.0830024427769893,
      2.005103839152369,
      1.989204974575882,
      2.2373066087666023,
      2.2644754148637416,
      2.2672822448646044,
      2.2672822461090703
    ],
    "yaw": [
      -0.7097687773891294,
      -0.7097997591021205,
      -0.70671818466794,
      -0.676579115788013,
      -0.6118131518783085,
      -0.4947477105625864,
      -0.3352547163287919,
      -0.14675828932508428,
      0.02540685650997083,
      0.20388194648740246
    ],
    "yaw_diff": [
      -6.196342598219218e-05,
      0.00616314886836089,
      0.06027813775985402,
      0.12953192781940892,
      0.23413088263144433,
      0.31898598846758897,
      0.3769928540074152,
      0.3443302916701102,
      0.3569501799548633,
      0.3569501799548633
    ],
    "min_front_frame": [
      0,
      66.55052852230394
    ],
    "v_avg": 3.0466947981973753,
    "v_std": 2.244834604527512,
    "vy_max": 0.31608923902432473,
    "a_max": 2.2672822461090703,
    "ax_avg": 1.4235807018111568,
    "a_std": 0.6749526151991743,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "a3d10c0a5a835300",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.760019055969894,
    "right_rear_min": 6.8660557585627915,
    "speed_mode": "accelerating",
    "front_frame": [
      66.55052852230394,
      73.64643251525511,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a3d10c0a5a835300",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "48b503ec9c5a5d7a": {
    "vx_ego": [
      10.433369700951632,
      10.434558178851946,
      10.466354707285861,
      10.535141553277306,
      10.564805719754983,
      10.507904722057756,
      10.395344626566501,
      10.30239226322827,
      10.262885432061113,
      10.24493188191984
    ],
    "vy_ego": [
      0.03342576617592874,
      0.009954800325135738,
      -0.021628781635033345,
      -0.03606357864273346,
      -0.001541829846107401,
      0.006732828635917176,
      -0.011262864509528181,
      -0.04444416888948455,
      -0.05514448553924395,
      -0.06733599237953819
    ],
    "v_ego": [
      10.433423244485962,
      10.434562927401203,
      10.466377055262242,
      10.535203278973533,
      10.56480583226246,
      10.507906879051847,
      10.395350727955359,
      10.302488128096726,
      10.263033582031076,
      10.2451531663049
    ],
    "ax_ego": [
      0.0007379792120593559,
      0.005188998595569275,
      0.12221172461961996,
      0.15048498659588372,
      -0.033049650394333954,
      -0.1921038554815838,
      -0.25774823160711513,
      -0.11634142620577037,
      -0.04835823123785174,
      -0.030520566701712715
    ],
    "ay_ego": [
      -0.329153100656201,
      -0.32911302731471764,
      -0.4052728756049557,
      -0.3341298562566611,
      -0.36049222612302356,
      -0.5573471050034745,
      -0.6052586244178667,
      -0.6619713941757543,
      -0.6165022963257841,
      -0.6176423679971029
    ],
    "a_ego": [
      0.32915392794999215,
      0.32915393124597936,
      0.4232987235223037,
      0.36645394258059266,
      0.36200403932321096,
      0.589524967025692,
      0.6578542037023122,
      0.672117143181592,
      0.6183959895596174,
      0.6183959894249497
    ],
    "yaw": [
      -1.36870428665617,
      -1.38222752085362,
      -1.3967937053727366,
      -1.4130277407088592,
      -1.4327167795626643,
      -1.455236588782596,
      -1.4813020502132823,
      -1.5087537103355095,
      -1.5388189816448326,
      -1.5677239081113703
    ],
    "yaw_diff": [
      -0.027046468394900103,
      -0.02913236903823302,
      -0.03246807067224511,
      -0.03937807770761026,
      -0.04503961843986337,
      -0.052130922861372664,
      -0.054903320244454434,
      -0.06013054261864603,
      -0.0578098529330755,
      -0.0578098529330755
    ],
    "min_front_frame": [
      9,
      54.57503172880856
    ],
    "v_avg": 10.41483048218253,
    "v_std": 0.10671011979143331,
    "vy_max": 0.06733599237953819,
    "a_max": 0.672117143181592,
    "ax_avg": -0.03994982726052355,
    "a_std": 0.13842552796819022,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "48b503ec9c5a5d7a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      64.70794693281675,
      59.61871541733244,
      54.57503172880856
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6666666666666666,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "48b503ec9c5a5d7a",
    "road_shape": "Straight"
  },
  "0ad9939a6b875bf8": {
    "vx_ego": [
      6.282958336689434,
      5.964847915866562,
      5.6789012960419845,
      5.4492092136539965,
      5.195015733041186,
      4.868821755630067,
      4.543806785615545,
      4.257335927099168,
      4.074182283756306,
      3.994261622998767
    ],
    "vy_ego": [
      0.07559705525578941,
      0.052824697675699195,
      0.03712465930284958,
      -0.004226374631385088,
      -0.09237911123048503,
      -0.15882262636896471,
      -0.15735313498212355,
      -0.08659859801665926,
      -0.020538812272584916,
      0.06090912852545083
    ],
    "v_ego": [
      6.283413115126094,
      5.965081819061847,
      5.679022642190792,
      5.449210852629409,
      5.195837022726673,
      4.8714114910099084,
      4.546530557919366,
      4.258216588355715,
      4.074234053669882,
      3.9947260024810807
    ],
    "ax_ego": [
      -0.6371904951157448,
      -0.6369496360680995,
      -0.5080438534601088,
      -0.4108742938577006,
      -0.5845367699304528,
      -0.6613677632036932,
      -0.5709017789712144,
      -0.527126621376793,
      -0.1949383814090401,
      -0.13066865662533764
    ],
    "ay_ego": [
      0.03399817367252206,
      0.038246098571409815,
      0.22731355298908162,
      0.3499468462267791,
      0.6425066677053999,
      0.9296167425552617,
      0.9931891775258318,
      1.0008081013393189,
      0.7989399052546313,
      0.8119308141983976
    ],
    "a_ego": [
      0.6380968601073939,
      0.6380968601577808,
      0.5565788429424141,
      0.5397040675565945,
      0.8686184740417534,
      1.1408744918894944,
      1.145580020595216,
      1.1311407209850264,
      0.8223782248787085,
      0.8223782249483161
    ],
    "yaw": [
      -0.7028799921826404,
      -0.6962121082011279,
      -0.6820729490745144,
      -0.648634210877199,
      -0.5857287979079795,
      -0.4946537873926145,
      -0.3926695622524981,
      -0.295423154094545,
      -0.20241187418433476,
      -0.12265916125190567
    ],
    "yaw_diff": [
      0.013335767963025047,
      0.02827831825322691,
      0.06687747639463093,
      0.12581082593843895,
      0.18215002103072997,
      0.2039684502802328,
      0.1944928163159062,
      0.18602255982042049,
      0.1595054258648582,
      0.1595054258648582
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.031768414517076,
    "v_std": 0.7687447342882012,
    "vy_max": 0.15882262636896471,
    "a_max": 1.145580020595216,
    "ax_avg": -0.4862598250018184,
    "a_std": 0.2283003070644185,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "0ad9939a6b875bf8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0ad9939a6b875bf8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9ca9d2ce60a35d66": {
    "vx_ego": [
      2.134752318417549,
      1.6191957190876312,
      1.1049522377883756,
      0.6079647804254302,
      0.19123610761733847,
      -0.019745476001362634,
      -0.043870378751550705,
      -0.026202862530876274,
      -0.015747380753745346,
      -0.00895194455484638
    ],
    "vy_ego": [
      -0.013202188300525108,
      -0.00190074146666952,
      -0.006965058360478893,
      -0.0130835306809709,
      -0.006815959091048138,
      -0.003983824045699102,
      -0.0023752352831371924,
      -0.0010084574048258152,
      -0.0002514946491822996,
      -0.0004445390127613192
    ],
    "v_ego": [
      2.1347931419144626,
      1.619196834708441,
      1.1049741896675704,
      0.6081055443036361,
      0.19135753487898274,
      0.02014335316047152,
      0.04393463183474708,
      0.026222261366048272,
      0.01574938888217561,
      0.00896297530103205
    ],
    "ax_ego": [
      -1.03111221493358,
      -1.0311051895630923,
      -1.025887962462173,
      -0.9618911877967937,
      -0.704992571659431,
      -0.13893498171606508,
      0.042437702760056845,
      0.028231317551348577,
      0.013590743229151781,
      0.013590798961019428
    ],
    "ay_ego": [
      0.023561962568067696,
      0.023867327167596153,
      -0.0352824681345103,
      0.019398025669242924,
      0.007024910804437123,
      0.004299999828921125,
      0.0020906387677427207,
      0.0033952337937444496,
      -0.0003834659008274009,
      -0.00038147158747007474
    ],
    "a_ego": [
      1.0313813872013071,
      1.0313813849639064,
      1.0264945027044479,
      0.9620867635307074,
      0.7050275707139319,
      0.13900150770035577,
      0.04248916786674134,
      0.028434748164864528,
      0.013596151941554358,
      0.013596151550012
    ],
    "yaw": [
      -0.34449169392789303,
      -0.34419553735150615,
      -0.3425718414538894,
      -0.3400409427660417,
      -0.3391207346875588,
      -0.3391810411033352,
      -0.3389805112934611,
      -0.3391216433990949,
      -0.3389117848266961,
      -0.3390583440847912
    ],
    "yaw_diff": [
      0.0005923131527737491,
      0.0032473917952334785,
      0.005061797375695454,
      0.0018404161569657296,
      -0.0001206128315527355,
      0.0004010596197482341,
      -0.00028226421126764656,
      0.00041971714479760447,
      -0.0002931185161901828,
      -0.0002931185161901828
    ],
    "min_front_frame": [
      4,
      11.807174446909539
    ],
    "v_avg": 0.5773439856017568,
    "v_std": 0.7400411733077754,
    "vy_max": 0.013202188300525108,
    "a_max": 1.0313813872013071,
    "ax_avg": -0.47960735456295583,
    "a_std": 0.46180865367924806,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9ca9d2ce60a35d66",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.980335331934777,
    "right_rear_min": 21.01420339171987,
    "speed_mode": "decelerating",
    "front_frame": [
      14.01180197461207,
      13.056527621139587,
      12.370004406855555,
      11.952119729726855,
      11.807174446909539,
      11.82783944005644,
      11.860177581750714,
      11.864935924310481,
      11.853757974435345,
      11.81613259373576
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9ca9d2ce60a35d66",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "075154c90a0a5d7c": {
    "vx_ego": [
      0.9224363493347272,
      0.8859042721005674,
      0.8987997711254203,
      1.0002621038592443,
      1.1121591851194805,
      1.165400109283869,
      1.157203638888012,
      0.9550802679208353,
      0.6256127191756581,
      0.33120473889297003
    ],
    "vy_ego": [
      0.019105155822738168,
      0.00012938945643273594,
      -0.011448221348113886,
      -0.007411174677892162,
      -0.0016611329155556982,
      0.000555728849488229,
      0.015510768516500982,
      0.02272645962413904,
      0.01644561687653944,
      0.012580931120248356
    ],
    "v_ego": [
      0.9226341775335389,
      0.8859042815494615,
      0.8988726774950629,
      1.0002895590412948,
      1.1121604256617794,
      1.165400241785374,
      1.157307584782727,
      0.9553506215724058,
      0.625828836590973,
      0.3314435983587749
    ],
    "ax_ego": [
      -0.07307161401992694,
      -0.07293895557970478,
      0.12446913109043574,
      0.2813452155037205,
      0.16623390597089854,
      0.04671545613698992,
      -0.07949489033474456,
      -0.7291819036568681,
      -0.5888093469672316,
      -0.5888072425351388
    ],
    "ay_ego": [
      -0.0433585164382206,
      -0.04358129392866727,
      -0.007130890353487739,
      0.02076004705540323,
      -0.006363647665231932,
      0.0082957323049093,
      0.04895398338430174,
      -0.012304643325067015,
      -0.00790408603638629,
      -0.00805939827452661
    ],
    "a_ego": [
      0.08496718027097656,
      0.08496717261127992,
      0.12467322965112254,
      0.28211010233697315,
      0.16635566568635032,
      0.04744631720757413,
      0.09335914566084866,
      0.7292857141532468,
      0.588862396194602,
      0.5888623971373799
    ],
    "yaw": [
      -3.136197562428008,
      -3.13924924384225,
      -3.140517504656038,
      -3.1411947241363674,
      3.139981480624634,
      3.1384786510493417,
      3.1379327105583625,
      3.1396442630433015,
      3.1412341386921465,
      3.1409703768662305
    ],
    "yaw_diff": [
      -0.006103362828484116,
      -0.002536521627575894,
      -0.0013544389606590101,
      -0.004018204837169748,
      -0.0030056591505847052,
      -0.0010918809819582265,
      0.003423104969877855,
      0.0031797512976901032,
      -0.0005275236518320625,
      -0.0005275236518320625
    ],
    "min_front_frame": [
      1,
      10.519434018328385
    ],
    "v_avg": 0.9055192004371392,
    "v_std": 0.2436415551151943,
    "vy_max": 0.02272645962413904,
    "a_max": 0.7292857141532468,
    "ax_avg": -0.15135402443915702,
    "a_std": 0.24386037683545558,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "075154c90a0a5d7c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.550495165967405,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.56987364027026,
      10.519434018328385,
      10.521531670190683,
      10.529892849875688,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "075154c90a0a5d7c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "99e900e2392c5e87": {
    "vx_ego": [
      8.051430438495759,
      7.644890423473395,
      7.206246943072227,
      6.642326206083011,
      6.137089565560913,
      5.698088042362861,
      5.279748115479764,
      4.977473359895465,
      4.601381134133961,
      4.1417171491970635
    ],
    "vy_ego": [
      -0.0021919717988915233,
      -0.004263842726576317,
      -0.030329850349448212,
      -0.036899126789127296,
      -0.009319236485173826,
      0.0075873127218743786,
      0.022893968311944166,
      0.027429618067728714,
      -0.0015074611900509766,
      -0.04022131854026251
    ],
    "v_ego": [
      8.051430736873812,
      7.644891612525977,
      7.206310769343773,
      6.642428695407646,
      6.137096641237231,
      5.6980930938194545,
      5.279797751495524,
      4.977548938224153,
      4.60138138106408,
      4.141912444562073
    ],
    "ax_ego": [
      -0.8130963240236253,
      -0.8130762766543107,
      -0.9414895376654796,
      -1.3141726286826154,
      -0.7067162627045384,
      -1.0493037910009944,
      -0.6240682868690732,
      -0.5852668670522291,
      -0.9192781187106548,
      -0.919324155582361
    ],
    "ay_ego": [
      -0.01951546726846106,
      -0.020332911128175563,
      -0.0779650226331299,
      0.05457256853212302,
      0.07026706878407973,
      0.009806905155088658,
      0.05880425140772616,
      -0.004012086405813932,
      -0.07211871739306384,
      -0.07152952190567217
    ],
    "a_ego": [
      0.8133304897785639,
      0.8133304733827348,
      0.9447121753675788,
      1.3153052357588975,
      0.710200913070785,
      1.0493496181910866,
      0.6268326464530408,
      0.5852806185980015,
      0.9221026889336248,
      0.9221026925138409
    ],
    "yaw": [
      -1.5914726527497969,
      -1.5924780125597904,
      -1.5922775824497677,
      -1.5921741286028832,
      -1.5915991922042978,
      -1.5910770899041071,
      -1.5907374625044484,
      -1.5889492466626591,
      -1.5868991515845217,
      -1.5862582361487987
    ],
    "yaw_diff": [
      -0.0020107196199870003,
      0.0004008602200453737,
      0.00020690769376896512,
      0.0011498727971708256,
      0.0010442046003813488,
      0.0006792547993175191,
      0.0035764316835784626,
      0.004100190156274941,
      0.0012818308714459548,
      0.0012818308714459548
    ],
    "min_front_frame": [
      9,
      16.775250378982076
    ],
    "v_avg": 6.038089206455372,
    "v_std": 1.2589715261278105,
    "vy_max": 0.04022131854026251,
    "a_max": 1.3153052357588975,
    "ax_avg": -0.8685792248945882,
    "a_std": 0.2033784118934543,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "99e900e2392c5e87",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.59441401033746,
    "right_rear_min": 3.5192795672215405,
    "speed_mode": "decelerating",
    "front_frame": [
      22.99221557949512,
      20.950749780317334,
      21.754633897458852,
      21.096343943838473,
      20.56216943215,
      19.989156943128393,
      19.229735264586783,
      18.498763652563106,
      17.603198469291357,
      16.775250378982076
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "99e900e2392c5e87",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "537935a8e7b653f2": {
    "vx_ego": [
      4.74467611059427,
      4.532562306062534,
      4.455683284324235,
      4.597297246738317,
      4.8298359058326685,
      5.0426939062622225,
      5.248591140411879,
      5.423523744244206,
      5.604670134944589,
      5.849186555933525
    ],
    "vy_ego": [
      0.006509346014487605,
      -0.009323844348605226,
      -0.038477893309639244,
      -0.023094439993650975,
      -0.0048434722997677815,
      -0.051777067567502,
      -0.11793912291414621,
      -0.12833646070484628,
      -0.1158879017019463,
      0.031723878769576164
    ],
    "v_ego": [
      4.744680575763716,
      4.532571896000366,
      4.455849422779,
      4.597355253624232,
      4.829838334405655,
      5.04295971597831,
      5.249916056083547,
      5.4250419400707806,
      5.605868115403776,
      5.849272584740575
    ],
    "ax_ego": [
      -0.4943146584893789,
      -0.3500403358387586,
      0.11644205888614428,
      0.477185040901149,
      0.4443052743074704,
      0.4289664837128534,
      0.4343189714496943,
      0.3182336932603791,
      0.4525081966591362,
      0.5366382192485841
    ],
    "ay_ego": [
      1.1122062874818515,
      1.1656850149524292,
      1.8200052001002,
      1.8441111566614348,
      1.6363936933954937,
      1.657708839017445,
      1.461671179499594,
      1.286921830997071,
      1.157653561813439,
      1.1211355159064982
    ],
    "a_ego": [
      1.2171071470957822,
      1.2171071402299618,
      1.8237263175897347,
      1.9048494747310103,
      1.6956389640964202,
      1.7123115484938876,
      1.5248329764078605,
      1.3256849107623556,
      1.2429502955561196,
      1.2429502899895961
    ],
    "yaw": [
      -0.5267526524818794,
      -0.40024805447500295,
      -0.2258471297755988,
      -0.025545232251391103,
      0.15453744587424795,
      0.33035432732801595,
      0.4944190279232278,
      0.6246033627251543,
      0.7334028136289099,
      0.8072067782559222
    ],
    "yaw_diff": [
      0.25300919601375293,
      0.3488018493988083,
      0.40060379504841537,
      0.3601653562512781,
      0.351633762907536,
      0.32812940119042366,
      0.26036866960385296,
      0.2175989018075113,
      0.14760792925402466,
      0.14760792925402466
    ],
    "min_front_frame": [
      9,
      24.121835543354315
    ],
    "v_avg": 5.033335389484996,
    "v_std": 0.4574982528219051,
    "vy_max": 0.12833646070484628,
    "a_max": 1.9048494747310103,
    "ax_avg": 0.23642429440972731,
    "a_std": 0.2596919227127041,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "537935a8e7b653f2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      62.89219035220611,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      26.990390677749403,
      24.121835543354315
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "537935a8e7b653f2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a978cd72e68155b1": {
    "vx_ego": [
      14.622486258564562,
      14.75064894263215,
      14.750840643194685,
      14.618700126617476,
      14.55526679201772,
      14.525519340541349,
      14.49682108484344,
      14.546173509361262,
      14.566238118473537,
      14.520907353702725
    ],
    "vy_ego": [
      0.054484187892322566,
      -0.017538582139271064,
      -0.00941149844896838,
      0.007837850980659589,
      0.014567577175674806,
      0.02914690363106054,
      0.009144006021777784,
      0.015558443218123053,
      0.008081111565639176,
      0.06298712368022974
    ],
    "v_ego": [
      14.622587763752342,
      14.750659369351542,
      14.750843645609807,
      14.618702227758584,
      14.55527408196488,
      14.525548583596835,
      14.496823968676983,
      14.546181829937321,
      14.566240360107876,
      14.521043962214542
    ],
    "ax_ego": [
      0.25583110532074343,
      0.2562886798772639,
      -0.254697027165555,
      -0.27348435630536655,
      0.019058514550026828,
      -0.13866482221433776,
      0.022603447369575966,
      0.1745796304847311,
      -0.09450063309691445,
      -0.08859074018411822
    ],
    "ay_ego": [
      0.06536849909751685,
      0.06355085048653464,
      0.2750847255478954,
      0.34931990778423,
      0.3118426235851985,
      0.3718739334176415,
      0.3391569804375552,
      0.40117506520643414,
      0.4725542085224379,
      0.4736977206821194
    ],
    "a_ego": [
      0.2640503647486505,
      0.26405037025308736,
      0.37488955957285924,
      0.4436418500526564,
      0.3124244690502864,
      0.39688556949735826,
      0.33990936028963575,
      0.4375151201085192,
      0.4819106241285674,
      0.481910624313062
    ],
    "yaw": [
      -1.9553628211456446,
      -1.94826432286147,
      -1.9430983685717296,
      -1.9336444535033128,
      -1.922747215847871,
      -1.912009087767407,
      -1.8983621761092255,
      -1.8860424856683118,
      -1.8705587570562456,
      -1.858067752311582
    ],
    "yaw_diff": [
      0.014196996568349274,
      0.010331908579480853,
      0.018907830136833503,
      0.021794475310883854,
      0.021476256160927854,
      0.027293823316362875,
      0.02463938088182749,
      0.0309674572241323,
      0.02498200948932716,
      0.02498200948932716
    ],
    "min_front_frame": [
      0,
      25.09501618372527
    ],
    "v_avg": 14.59539057929707,
    "v_std": 0.08634723099322351,
    "vy_max": 0.06298712368022974,
    "a_max": 0.481910624313062,
    "ax_avg": -0.012157620136395075,
    "a_std": 0.07842360574532976,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a978cd72e68155b1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.6225204650968883,
    "right_rear_min": 3.2944183051756832,
    "speed_mode": "quasi_constant",
    "front_frame": [
      25.09501618372527,
      27.33588132383904,
      29.763160058787566,
      32.37010437634264,
      34.9445002669463,
      37.422016772219564,
      40.006274553834345,
      42.950486102638436,
      45.475431735471304,
      47.98885173024199
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a978cd72e68155b1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "25cbb9887e5d5752": {
    "vx_ego": [
      2.096872381959995,
      1.7085584324449106,
      1.2646928390756622,
      0.8279852151474356,
      0.5325498966703222,
      0.33036499705696565,
      0.15750459322882238,
      0.04070526542485932,
      -0.0029794173633160164,
      -0.015028831826122427
    ],
    "vy_ego": [
      -0.043587237466397366,
      -0.05346349939796924,
      -0.04477511028009806,
      -0.0419297223140907,
      -0.04894339186415561,
      -0.022246600396212762,
      0.00029105042305342665,
      0.00027778001182933096,
      0.0007835230126725409,
      -0.0008723168492901856
    ],
    "v_ego": [
      2.097325352322938,
      1.709394706569108,
      1.2654851985344806,
      0.8290462098798125,
      0.534794210936075,
      0.331113186855549,
      0.15750486214249249,
      0.04070621322406715,
      0.0030807200678114877,
      0.015054126435745979
    ],
    "ax_ego": [
      -0.7765567821860132,
      -0.7765683342815896,
      -0.9988625951183991,
      -0.7479074455942125,
      -0.4337777410299841,
      -0.3748871453052582,
      -0.31655561009664634,
      -0.15064067963767358,
      -0.024098763129680612,
      -0.024098891948272826
    ],
    "ay_ego": [
      -0.017455255990763474,
      -0.016933202193485597,
      0.052510567615195514,
      -0.03920491135039489,
      0.01184396394666834,
      0.09563089692277132,
      -0.005314399265404474,
      0.00533716160057883,
      -0.0033128459562962904,
      -0.003311907643102966
    ],
    "a_ego": [
      0.776752934928989,
      0.776752927992813,
      1.0002418925629606,
      0.7489342910090659,
      0.43393940601775954,
      0.386892284959754,
      0.3166002165558516,
      0.15073519713607336,
      0.02432540508831461,
      0.024325404937451146
    ],
    "yaw": [
      -0.5857701793807503,
      -0.5850979016808494,
      -0.5849619059567588,
      -0.5844879722937262,
      -0.5842174024578082,
      -0.5838120050831608,
      -0.5836367281876197,
      -0.5833947247509592,
      -0.5832834428516851,
      -0.5832445776543482
    ],
    "yaw_diff": [
      0.0013445553998017168,
      0.0002719914481812413,
      0.0009478673260652215,
      0.0005411396718359995,
      0.0008107947492947964,
      0.00035055379108217544,
      0.0004840068733209524,
      0.0002225637985482365,
      7.773039467373621e-05,
      7.773039467373621e-05
    ],
    "min_front_frame": [
      8,
      8.629150472216121
    ],
    "v_avg": 0.698350478696808,
    "v_std": 0.7179820385442226,
    "vy_max": 0.05346349939796924,
    "a_max": 1.0002418925629606,
    "ax_avg": -0.46239539883277303,
    "a_std": 0.32828493045820095,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "25cbb9887e5d5752",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.217598836714918,
    "right_rear_min": 5.357879399637846,
    "speed_mode": "decelerating",
    "front_frame": [
      11.347606999390718,
      10.470357397467689,
      9.732346080980797,
      9.282289875960858,
      8.96927828696897,
      8.794190269997987,
      8.66721997581723,
      8.651060882775326,
      8.629150472216121,
      8.643293327604363
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "25cbb9887e5d5752",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c2f27daee5bd5a3e": {
    "vx_ego": [
      4.7519312955918505,
      4.19784121427406,
      3.6146478851561854,
      3.0689534300781416,
      2.6454984119325795,
      2.3544198718604314,
      2.1897118430663505,
      2.0894354145976206,
      2.0024678789657644,
      1.914121569937945
    ],
    "vy_ego": [
      0.00255178168347725,
      0.010961813376548557,
      -0.002220434478136024,
      -0.012447583454433087,
      -0.006585906612897485,
      -0.0051882389738558965,
      -0.007544123884915321,
      -0.01112924151742678,
      -0.007187755441695809,
      0.0016879192593125536
    ],
    "v_ego": [
      4.751931980743727,
      4.197855526529042,
      3.6146485671491435,
      3.0689786734876874,
      2.645506609650355,
      2.354425588298543,
      2.1897248387571953,
      2.08946505397709,
      2.0024807789634176,
      1.9141223141620625
    ],
    "ax_ego": [
      -1.108155653225261,
      -1.1081001022612065,
      -1.2245102192737969,
      -0.9584225575127208,
      -0.7353822942298766,
      -0.42890913481934617,
      -0.22991041133222087,
      -0.171198428179307,
      -0.1766928105915519,
      -0.1766918698571983
    ],
    "ay_ego": [
      -0.013422261413764791,
      -0.017413869158782902,
      -0.08511026251584347,
      0.019003912485931418,
      0.009600460825641643,
      0.006223165182503404,
      -0.009276223656261157,
      -0.005749301625423225,
      0.01795083093390254,
      0.017960040929889967
    ],
    "a_ego": [
      1.1082369371558431,
      1.1082369238887395,
      1.2274644735761104,
      0.958610946859568,
      0.7354449588615463,
      0.42895427928436475,
      0.2300974697041929,
      0.17129493944727447,
      0.17760231317738961,
      0.17760230838543858
    ],
    "yaw": [
      -2.04263724084879,
      -2.0462393602187365,
      -2.0494144236655325,
      -2.051318417021922,
      -2.0508626878784546,
      -2.049823450833787,
      -2.049114735128107,
      -2.0491950567574,
      -2.0496304558880527,
      -2.0495783466511703
    ],
    "yaw_diff": [
      -0.007204238739893398,
      -0.006350126893591934,
      -0.0038079867127791545,
      0.0009114582869349519,
      0.002078474089334925,
      0.0014174314113599706,
      -0.00016064325858611284,
      -0.0008707982613049836,
      0.00010421847376473892,
      0.00010421847376473892
    ],
    "min_front_frame": [
      9,
      14.529079753075612
    ],
    "v_avg": 2.882913993171827,
    "v_std": 0.9461400356592675,
    "vy_max": 0.012447583454433087,
    "a_max": 1.2274644735761104,
    "ax_avg": -0.6317973481282487,
    "a_std": 0.4187496103424917,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c2f27daee5bd5a3e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.736786836519848,
    "right_rear_min": 4.825248636316451,
    "speed_mode": "decelerating",
    "front_frame": [
      21.191054349179502,
      19.635470164785175,
      18.245051201279924,
      17.130612911880817,
      16.10857879963296,
      17.641582306207383,
      17.056695978310614,
      16.334950942146925,
      15.368565505112521,
      14.529079753075612
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c2f27daee5bd5a3e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "134cbee5a9635cd7": {
    "vx_ego": [
      4.335832473503107,
      4.546094019301713,
      4.904380983049772,
      5.351650933988661,
      5.794711384914209,
      6.230724312781239,
      6.647237068451746,
      7.029272571797884,
      7.386488057434381,
      7.7082923248669175
    ],
    "vy_ego": [
      0.12945890114722935,
      0.07527068794464409,
      0.09577118971600751,
      0.12057231590901887,
      0.05591001898545411,
      0.052455975612685446,
      0.04684077511676099,
      0.06208260257320486,
      0.012068132605067117,
      -0.02134770848212053
    ],
    "v_ego": [
      4.337764729139919,
      4.546717113346119,
      4.905315988565861,
      5.353009004534307,
      5.7949811013218415,
      6.2309451202254,
      6.647402101754677,
      7.029546723521532,
      7.3864979159575554,
      7.7083218854858195
    ],
    "ax_ego": [
      0.26232214430351786,
      0.6529861142519686,
      0.854117320646868,
      0.9471012769292702,
      0.8460531494902604,
      0.9180166815071922,
      0.7454830037333207,
      0.7856509916840516,
      0.643519652402737,
      0.6436666542087718
    ],
    "ay_ego": [
      -1.9543294514637874,
      -1.8605982023857786,
      -1.9000874363117612,
      -1.1904784769126713,
      -0.9747103881443892,
      -1.0253167460594141,
      -0.5428177843802932,
      -0.2900999147865693,
      -0.09168891877960558,
      -0.09065120625828343
    ],
    "a_ego": [
      1.9718561084041462,
      1.9718561144584246,
      2.0832303432551056,
      1.521262578502925,
      1.2906844201891394,
      1.3762372823301012,
      0.9221692121811401,
      0.8374995171898958,
      0.650018769617857,
      0.6500187712184906
    ],
    "yaw": [
      0.4972437559546213,
      0.29314713256442215,
      0.08946018745408843,
      -0.06608574987415378,
      -0.15136359537924313,
      -0.23402397427460922,
      -0.2938181781298377,
      -0.3265188496527871,
      -0.33280653416990263,
      -0.334418908661003
    ],
    "yaw_diff": [
      -0.40819324678039826,
      -0.40737389022066745,
      -0.3110918746564844,
      -0.1705556910101787,
      -0.1653207577907322,
      -0.11958840771045692,
      -0.06540134304589884,
      -0.012575369034231065,
      -0.003224748982200709,
      -0.003224748982200709
    ],
    "min_front_frame": [
      8,
      21.970363430366355
    ],
    "v_avg": 5.994050168385303,
    "v_std": 1.1360826617152033,
    "vy_max": 0.12945890114722935,
    "a_max": 2.0832303432551056,
    "ax_avg": 0.7298916989157959,
    "a_std": 0.5258467215474892,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "134cbee5a9635cd7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      68.58695623241168,
      38.78685918931266,
      28.92733266505146,
      25.55283206312052,
      21.970363430366355,
      24.860151156440295
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "134cbee5a9635cd7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e5c10d26102f51e3": {
    "vx_ego": [
      4.129446021781982,
      4.002090252827927,
      3.878657718417957,
      3.78168391147211,
      3.6936809524690344,
      3.5572673711968523,
      3.2970498193776825,
      2.907999763614084,
      2.4649475938731134,
      2.005294674240758
    ],
    "vy_ego": [
      -0.09016467517956173,
      -0.011184502276945674,
      -0.003202703469697754,
      0.005549685843155627,
      -0.04088622323055424,
      -0.0448774621641741,
      -0.011783283362616803,
      0.026510587868751267,
      0.017604839896715463,
      -0.019081408193735716
    ],
    "v_ego": [
      4.13043025791034,
      4.002105881266947,
      3.878659040693408,
      3.7816879835993813,
      3.693907235148524,
      3.557550440512694,
      3.297070875371837,
      2.908120602115517,
      2.465010460612417,
      2.0053854568827916
    ],
    "ax_ego": [
      -0.2571109978369983,
      -0.2466548379888046,
      -0.24412629149937642,
      -0.14760783923418982,
      -0.20638037409807852,
      -0.33713272815217565,
      -0.7026718384155368,
      -0.8538347560096251,
      -0.9191802175932392,
      -0.9194107329296423
    ],
    "ay_ego": [
      0.3775756488654046,
      0.3844877347635195,
      0.44367976911572243,
      0.28371191545194013,
      0.02184249167924876,
      0.1076537600468534,
      0.1393329896261808,
      0.07688504162128124,
      -0.056391125365991945,
      -0.05249878088042059
    ],
    "a_ego": [
      0.45680349804359893,
      0.4568034886982213,
      0.5064083171945533,
      0.31981326609882094,
      0.20753301726621934,
      0.35390367113602295,
      0.7163528421807509,
      0.8572893911597893,
      0.9209083729854982,
      0.9209083655935331
    ],
    "yaw": [
      -0.7908466995267636,
      -0.7634067325560439,
      -0.7128953544463843,
      -0.6675676719679009,
      -0.6347739324733256,
      -0.624788534912728,
      -0.6165381523999436,
      -0.611488974389562,
      -0.6062826430874018,
      -0.6020485864545235
    ],
    "yaw_diff": [
      0.05487993394143942,
      0.10102275621931911,
      0.0906553649569668,
      0.06558747898915063,
      0.01997079512119515,
      0.016500765025568853,
      0.010098356020763255,
      0.010412662604320388,
      0.008468113265756472,
      0.008468113265756472
    ],
    "min_front_frame": [
      9,
      45.69989434370962
    ],
    "v_avg": 3.371992823411386,
    "v_std": 0.6667769148793912,
    "vy_max": 0.09016467517956173,
    "a_max": 0.9209083729854982,
    "ax_avg": -0.48341106137576667,
    "a_std": 0.24910718276736685,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "e5c10d26102f51e3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 30.432250333268083,
    "right_rear_min": 29.11316402127947,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      64.70763214569911,
      56.964255934991726,
      55.075252682382036,
      53.23877682673792,
      51.424353408979805,
      49.70471789376319,
      48.15426084642427,
      46.82405608815536,
      45.69989434370962
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e5c10d26102f51e3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "975c802f6f175888": {
    "vx_ego": [
      8.559176427286866,
      8.436004345126952,
      8.281614876918711,
      8.096633022692082,
      7.895800464237575,
      7.7091569957392885,
      7.553818645083824,
      7.288240482274197,
      6.977856732976535,
      6.733741626695205
    ],
    "vy_ego": [
      0.01282124448856825,
      -0.05593139389075352,
      -0.06796680122547372,
      -0.052301119141031194,
      -0.04375036539062194,
      -0.035561524886770446,
      -0.030684067910706325,
      -0.035424667886557515,
      -0.023310991392262448,
      -0.012622926964930947
    ],
    "v_ego": [
      8.559186030092663,
      8.436189757931205,
      8.28189377230052,
      8.096801943434908,
      7.895921672960423,
      7.709239016077286,
      7.553880965095994,
      7.288326572990215,
      6.977895670491617,
      6.733753458018266
    ],
    "ax_ego": [
      -0.24681882761951374,
      -0.24440064193930058,
      -0.37017564052476704,
      -0.3676225863185012,
      -0.4342835823938316,
      -0.31120004341280233,
      -0.30983762274049015,
      -0.7519949989947983,
      -0.48861234072983745,
      -0.48713280010544835
    ],
    "ay_ego": [
      0.1432662713248507,
      0.14735357872249918,
      0.18154983304902825,
      0.17503583715694035,
      0.12890394902348395,
      0.12241015637547399,
      0.017508576501345144,
      0.05775729093186621,
      0.1511678618080471,
      0.15586976212362397
    ],
    "a_ego": [
      0.28538528022096193,
      0.2853852675641649,
      0.4122988560717233,
      0.40716570368921645,
      0.4530104391850908,
      0.3344094995720039,
      0.3103319234570974,
      0.7542097739813339,
      0.5114623563441474,
      0.5114623619417658
    ],
    "yaw": [
      -1.2160232016312635,
      -1.199382087676478,
      -1.1881265007345871,
      -1.1791532444470532,
      -1.1707288106588865,
      -1.1637121406557238,
      -1.15976758075433,
      -1.1566166836812912,
      -1.1509664306743543,
      -1.1413289529172181
    ],
    "yaw_diff": [
      0.03328222790957103,
      0.022511173883781765,
      0.017946512575067963,
      0.016848867576333415,
      0.014033340006325279,
      0.007889119802787725,
      0.006301794146077455,
      0.011300506013873779,
      0.019274955514272385,
      0.019274955514272385
    ],
    "min_front_frame": [
      9,
      43.002258050414596
    ],
    "v_avg": 7.75330888593931,
    "v_std": 0.5858475272757835,
    "vy_max": 0.06796680122547372,
    "a_max": 0.7542097739813339,
    "ax_avg": -0.40120790847792903,
    "a_std": 0.13598220635210675,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "975c802f6f175888",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      77.93717792985656,
      73.7027461784072,
      69.46403155060693,
      65.4062217231607,
      61.35887873334822,
      57.46520665749918,
      53.63050348345966,
      49.902748459158886,
      46.442527569467636,
      43.002258050414596
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "975c802f6f175888",
    "merging_vehicles": "No"
  },
  "ff4125f507e35f9b": {
    "vx_ego": [
      7.620967660991289,
      7.702429762519755,
      7.803672216330709,
      7.8973173686149165,
      8.01402895559345,
      8.12692111842091,
      8.252120856347734,
      8.39054155601099,
      8.519879875078924,
      8.653338250039194
    ],
    "vy_ego": [
      0.032651472411464794,
      0.03241748913764464,
      0.042209933910730246,
      0.01384479674301975,
      -0.007670703952309843,
      0.02167930675405394,
      0.06403783040618283,
      0.03139424164698257,
      0.00022034088300681987,
      -0.007666090392955738
    ],
    "v_ego": [
      7.62103760707987,
      7.702497980535414,
      7.8037863719128415,
      7.897329504270648,
      8.01403262663619,
      8.12695003413809,
      8.252369324714714,
      8.390600288510704,
      8.51987987792815,
      8.653341645776694
    ],
    "ax_ego": [
      0.08048383415621152,
      0.25842012050613195,
      0.17227253770813838,
      0.2191102895001673,
      0.24564514968645218,
      0.18770358925738057,
      0.30226204609603824,
      0.25070783663831925,
      0.26636771309975,
      0.26735285027333366
    ],
    "ay_ego": [
      -1.658215921363215,
      -1.6399319286848684,
      -1.8005640843488602,
      -1.8725687566031815,
      -1.8108953918476378,
      -1.4012370425775762,
      -0.753524912364484,
      -0.3215075052869578,
      -0.13914467470505704,
      -0.13724231277710044
    ],
    "a_ego": [
      1.660167970243656,
      1.6601679702374925,
      1.8087865681432542,
      1.885344283458921,
      1.8274801393666333,
      1.4137531209202177,
      0.8118880083263127,
      0.40770270456266217,
      0.300521212364064,
      0.3005212121725903
    ],
    "yaw": [
      0.030134849387593317,
      -0.07766137978476331,
      -0.18959185949447294,
      -0.30291325084013404,
      -0.41588527925986524,
      -0.5188410586497956,
      -0.5898857439521662,
      -0.6182364962738327,
      -0.6281721329763896,
      -0.635300783406489
    ],
    "yaw_diff": [
      -0.21559245834471324,
      -0.22386095941941925,
      -0.2266427826913222,
      -0.2259440568394624,
      -0.20591155877986067,
      -0.14208937060474125,
      -0.05670150464333301,
      -0.019871273405113854,
      -0.014257300860198718,
      -0.014257300860198718
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.098182526150332,
    "v_std": 0.33383609178179846,
    "vy_max": 0.06403783040618283,
    "a_max": 1.885344283458921,
    "ax_avg": 0.22503259669219228,
    "a_std": 0.6402465261213919,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "ff4125f507e35f9b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ff4125f507e35f9b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f6e64f5e788b5101": {
    "vx_ego": [
      10.142991451263034,
      10.021536235345316,
      9.905514910295521,
      9.727406684145599,
      9.45410116837896,
      9.15943715423869,
      8.83898932473054,
      8.530731724818457,
      8.305087342844885,
      8.117581631297828
    ],
    "vy_ego": [
      0.02016207506083134,
      0.01865672385167194,
      0.003756657231651417,
      0.0025458414402930174,
      0.004461959513795577,
      0.005282050747792866,
      0.003399564414396039,
      -0.01203223143941834,
      -0.025737502654176847,
      -0.034210572524248306
    ],
    "v_ego": [
      10.143011490167295,
      10.021553601597113,
      9.90551562264986,
      9.727407017292384,
      9.454102221312562,
      9.159438677261193,
      8.838989978483891,
      8.530740210287586,
      8.305127223066796,
      8.117653719151633
    ],
    "ax_ego": [
      -0.2435553276030365,
      -0.2427554071481177,
      -0.22149994949727614,
      -0.4907473086973937,
      -0.6029835294170471,
      -0.5757204547309027,
      -0.7067368044923538,
      -0.5262767749985651,
      -0.376511562592713,
      -0.37469358789008533
    ],
    "ay_ego": [
      0.12473175582175745,
      0.1262815067303039,
      0.17876901206425866,
      0.23862396708316647,
      0.16888174654122187,
      0.19804741670883916,
      0.016191716519347643,
      -0.09342982695971083,
      -0.17958532344747885,
      -0.18334817799468756
    ],
    "a_ego": [
      0.2736370013616597,
      0.27363699794019847,
      0.2846411553196883,
      0.5456870152937883,
      0.6261870176417366,
      0.6088323424889663,
      0.7069222605830902,
      0.5345057309969761,
      0.4171472703539387,
      0.41714726318162115
    ],
    "yaw": [
      -1.332713077492003,
      -1.3263395994116043,
      -1.3171875801787054,
      -1.3064711537316498,
      -1.296063901002905,
      -1.2862920052036368,
      -1.2801424249613962,
      -1.2805900807619437,
      -1.2870845558887942,
      -1.2971026467636388
    ],
    "yaw_diff": [
      0.012746956160797573,
      0.018304038465797756,
      0.02143285289411123,
      0.02081450545748975,
      0.019543791598536142,
      0.01229916048448132,
      -0.0008953116010950168,
      -0.01298895025370106,
      -0.02003618174968924,
      -0.02003618174968924
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.220353976127031,
    "v_std": 0.7037548879572277,
    "vy_max": 0.034210572524248306,
    "a_max": 0.7069222605830902,
    "ax_avg": -0.4361480707067491,
    "a_std": 0.15057837454453918,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f6e64f5e788b5101",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f6e64f5e788b5101",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cb02d1e1315a5e67": {
    "vx_ego": [
      5.309242801734304,
      5.76669204886453,
      6.330244074058664,
      6.8048642431451585,
      7.218671713744358,
      7.622531864981749,
      7.955345754132089,
      8.171304579666794,
      8.300829761920497,
      8.387488149821111
    ],
    "vy_ego": [
      -0.030856815503740864,
      -0.16802101411348147,
      -0.040999516311229556,
      -0.07307290282145251,
      -0.15009380999804378,
      -0.16311038969694458,
      -0.07112107035751247,
      -0.0595267380671074,
      -0.03798394640849301,
      0.10142788242987688
    ],
    "v_ego": [
      5.309332469419348,
      5.769139298684087,
      6.330376844824689,
      6.805256572441797,
      7.220231953518712,
      7.624276820255757,
      7.95566366021316,
      8.171521398505204,
      8.300916667246446,
      8.388101398929544
    ],
    "ax_ego": [
      0.6901069010517558,
      1.2060962876467602,
      1.071706191433074,
      0.8713462122431624,
      0.8270434383709511,
      0.8220610305687817,
      0.5241318365727512,
      0.34938980003861453,
      0.1707644621911664,
      0.17470299504576028
    ],
    "ay_ego": [
      2.352479547679891,
      2.134417790167095,
      1.6479815954998573,
      1.8414740646686472,
      1.5957324595142144,
      1.0765330216870026,
      0.7714847910046262,
      0.6912450231530687,
      0.4320211022493442,
      0.4304434853993242
    ],
    "a_ego": [
      2.451613256027843,
      2.451613256216625,
      1.9658070861257573,
      2.0372213803211903,
      1.797321042913516,
      1.3545138185940946,
      0.9326858875637483,
      0.7745275427025882,
      0.46454572900434316,
      0.46454572498374924
    ],
    "yaw": [
      1.719377878878118,
      1.9483702589054963,
      2.0831275984408517,
      2.2201028235253544,
      2.353335874936152,
      2.4450465486780066,
      2.4923168939532316,
      2.5361046721927445,
      2.5674972651686656,
      2.5766303949127174
    ],
    "yaw_diff": [
      0.45798476005475663,
      0.2695146790707108,
      0.2739504501690053,
      0.2664661028215951,
      0.18342134748370942,
      0.09454069055045,
      0.0875755564790257,
      0.06278518595184224,
      0.018266259488103564,
      0.018266259488103564
    ],
    "min_front_frame": [
      5,
      44.62321524529806
    ],
    "v_avg": 7.187481708403875,
    "v_std": 1.0417000420833222,
    "vy_max": 0.16802101411348147,
    "a_max": 2.451613256216625,
    "ax_avg": 0.6707349155162777,
    "a_std": 0.7354884020804416,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "cb02d1e1315a5e67",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      44.62321524529806,
      46.21578708929514,
      47.75057458862619,
      49.18348947130644,
      50.542571686215474
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "cb02d1e1315a5e67",
    "pedestrians": "No"
  },
  "fdf7643412e85c31": {
    "vx_ego": [
      9.601448426819674,
      9.13979946230451,
      8.616193455413004,
      8.02640976548632,
      7.422894777650654,
      6.776024948560304,
      6.0359200080454105,
      5.237934889006865,
      4.438762734478431,
      3.6368228307472323
    ],
    "vy_ego": [
      0.007339758790281259,
      0.019969988908809633,
      0.03263292264265427,
      0.03216722691407892,
      0.040949009719018825,
      0.04823450907987814,
      0.057267972663196165,
      0.08840689894541409,
      0.102592167125934,
      0.0889722945399487
    ],
    "v_ego": [
      9.601451232232401,
      9.139821278974704,
      8.616255252065255,
      8.02647422309332,
      7.423007726081816,
      6.776196622839234,
      6.036191677226284,
      5.238680910425495,
      4.439948171516198,
      3.6379109900381037
    ],
    "ax_ego": [
      -0.9235422328439613,
      -0.9232354280587097,
      -1.171389819969975,
      -1.1878547832428399,
      -1.2261074844014883,
      -1.3611128856459533,
      -1.5992212782692607,
      -1.5923908682614876,
      -1.6036802668547239,
      -1.6036383388975723
    ],
    "ay_ego": [
      0.08792012962997714,
      0.09108538604800198,
      0.008519403400725212,
      0.019031195212549146,
      -0.0031022608945914243,
      -0.008467483241917706,
      0.03302002385467018,
      0.06467109920797631,
      -0.03559238980559132,
      -0.037433915435428844
    ],
    "a_ego": [
      0.9277177399621943,
      0.9277177389563392,
      1.171420799953456,
      1.188007227446076,
      1.22611140901959,
      1.3611392234976945,
      1.599562133474199,
      1.5937035572512668,
      1.6040751904169928,
      1.6040751915066176
    ],
    "yaw": [
      -0.7024270935407213,
      -0.6989992268671941,
      -0.6976255324434695,
      -0.6967420732566235,
      -0.6973630172277224,
      -0.6987932380756888,
      -0.6992431208662548,
      -0.7004347558469819,
      -0.7018636669402556,
      -0.7030119951765137
    ],
    "yaw_diff": [
      0.006855733347054471,
      0.0027473888474491837,
      0.001766918373691917,
      -0.0012418879421978168,
      -0.0028604416959328027,
      -0.0008997655811320282,
      -0.002383269961454104,
      -0.0028578221865473985,
      -0.002296656472516201,
      -0.002296656472516201
    ],
    "min_front_frame": [
      9,
      14.365241358993122
    ],
    "v_avg": 6.893593808449282,
    "v_std": 1.9239748957787217,
    "vy_max": 0.102592167125934,
    "a_max": 1.6040751915066176,
    "ax_avg": -1.3192173386445973,
    "a_std": 0.2592760929037657,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fdf7643412e85c31",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 19.721544047863887,
    "speed_mode": "decelerating",
    "front_frame": [
      30.1036843543853,
      31.247753161488205,
      32.313518062361695,
      32.133292535480535,
      28.285276921488972,
      24.777564479992126,
      21.57729933414996,
      18.802773995733425,
      16.38329268774906,
      14.365241358993122
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fdf7643412e85c31",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "260f5d5245015db6": {
    "vx_ego": [
      -0.1146014784892139,
      0.6465153756597545,
      1.4633611553708867,
      2.2906115226582675,
      3.000905375128583,
      3.5561954296602125,
      3.994917411202034,
      4.312899082760135,
      4.427019302782299,
      4.453404720482799
    ],
    "vy_ego": [
      -0.008195381614023233,
      0.005267732420922211,
      0.016792199601612712,
      0.01910530871259858,
      0.011632193998150742,
      -0.01225139753098807,
      -0.015272670516272874,
      -0.028965067482779383,
      -0.03184388882303235,
      -0.07397919558014587
    ],
    "v_ego": [
      0.11489413889190878,
      0.646536835740495,
      1.4634574981925088,
      2.2906911971184223,
      3.000927919563019,
      3.556216533153971,
      3.994946604998602,
      4.312996345141912,
      4.427133829066211,
      4.454019142953604
    ],
    "ax_ego": [
      1.5221206309376218,
      1.5223485124410172,
      1.7450577669324345,
      1.562372392601709,
      1.2796600306656507,
      0.9513229995584543,
      0.8202022602410544,
      0.47737149202784823,
      -0.005617830189246997,
      0.1386315020082351
    ],
    "ay_ego": [
      0.036475771465427465,
      0.025232971079421906,
      0.1154838669960064,
      0.17378825700326017,
      0.33111041574315525,
      0.5861898693576552,
      0.8295664249693284,
      1.088976728875971,
      1.0925686670598058,
      1.0837523543251915
    ],
    "a_ego": [
      1.5225576169820116,
      1.522557616696614,
      1.7488748192673957,
      1.572008222445487,
      1.3218032763981253,
      1.1174229335513208,
      1.1665814164219002,
      1.1890138171755213,
      1.0925831099998187,
      1.0925831130190757
    ],
    "yaw": [
      -0.2275530426580554,
      -0.22016735599740883,
      -0.19713774764210767,
      -0.16029376616064867,
      -0.11043728331303841,
      -0.03419720173425127,
      0.05986981456972636,
      0.17728445164707113,
      0.3008794689199865,
      0.4332484024857064
    ],
    "yaw_diff": [
      0.014771373321293135,
      0.04605921671060231,
      0.07368796296291802,
      0.0997129656952205,
      0.1524801631575743,
      0.18813403260795525,
      0.23482927415468954,
      0.24719003454583077,
      0.26473786713143976,
      0.26473786713143976
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.8261820044820656,
    "v_std": 1.5361874252010246,
    "vy_max": 0.07397919558014587,
    "a_max": 1.7488748192673957,
    "ax_avg": 1.0013469757224778,
    "a_std": 0.2263939012898342,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "260f5d5245015db6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "260f5d5245015db6",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "0156027594b85857": {
    "vx_ego": [
      7.288555099491699,
      7.207428296080716,
      7.108886147209429,
      6.980135476361517,
      6.831520854660596,
      6.6790227784908875,
      6.51170884939734,
      6.316527534660741,
      6.085224028856157,
      5.8525943340187085
    ],
    "vy_ego": [
      0.021878654046670665,
      -0.027010255273843153,
      -0.01829725730441245,
      0.0353260865373346,
      -0.031055606255935064,
      -0.07078299822988177,
      -0.07699636825525458,
      0.010498981439237554,
      0.027496761120518798,
      -0.008468797441721021
    ],
    "v_ego": [
      7.288587936893493,
      7.20747890715158,
      7.108909694433527,
      6.980224867491782,
      6.831591442580752,
      6.679397840257649,
      6.512164047384258,
      6.3165362600667905,
      6.085286152124687,
      5.852600461258055
    ],
    "ax_ego": [
      -0.16255520880097749,
      -0.16198913961871064,
      -0.2307539325186157,
      -0.2822873612820428,
      -0.3097438213822361,
      -0.3062476837504857,
      -0.3747609863815188,
      -0.41387461688028904,
      -0.5075084865671354,
      -0.4182111092064677
    ],
    "ay_ego": [
      -0.15152192093284364,
      -0.15212694288867504,
      -0.45973596746725537,
      -0.4869047691062186,
      -0.6278166449312824,
      -0.7744306868644291,
      -1.013332229230448,
      -1.1154445887813933,
      -1.0487585789369405,
      -1.0874552344315098
    ],
    "a_ego": [
      0.22222306008042528,
      0.22222305935042908,
      0.5143972561706168,
      0.5628164963093731,
      0.7000678356682605,
      0.8327848056730196,
      1.0804110346117344,
      1.189751582953138,
      1.1651006054549518,
      1.1651006045643415
    ],
    "yaw": [
      2.355810382884777,
      2.352081965399158,
      2.32952337095771,
      2.2883597777958515,
      2.25763550983738,
      2.211627040355116,
      2.1449146592700483,
      2.0484497541563913,
      1.9586845035636133,
      1.8751297501584976
    ],
    "yaw_diff": [
      -0.00745683497123828,
      -0.045117188882896286,
      -0.08232718632371672,
      -0.061448535916943214,
      -0.09201693896452756,
      -0.13342476217013566,
      -0.19292981022731404,
      -0.1795305011855559,
      -0.1671095068102315,
      -0.1671095068102315
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.686277760964257,
    "v_std": 0.46301699229036536,
    "vy_max": 0.07699636825525458,
    "a_max": 1.189751582953138,
    "ax_avg": -0.31679323463884795,
    "a_std": 0.3607992686242515,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "0156027594b85857",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.202225182503675,
    "right_rear_min": 15.274189822589381,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0156027594b85857",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "b874be1fb9885c0e": {
    "vx_ego": [
      6.264530609114726,
      6.4523852410868985,
      6.6438265663562515,
      6.832570062365737,
      7.072320515183268,
      7.267696462122091,
      7.407909177765417,
      7.502755744999611,
      7.779803264392481,
      8.270877954562614
    ],
    "vy_ego": [
      0.03712076096536432,
      0.017384614718459312,
      0.052120983232438634,
      0.05391537095153959,
      0.0834750317380899,
      0.10452737518527444,
      0.09198155899233296,
      0.11872811427007202,
      0.03218573186923157,
      -0.011438107952458143
    ],
    "v_ego": [
      6.2646405885278025,
      6.452408660665019,
      6.644031008410046,
      6.832782780416876,
      7.072813128480478,
      7.268448103804902,
      7.408480208059934,
      7.503695098699226,
      7.779869841712511,
      8.270885863653506
    ],
    "ax_ego": [
      0.26143209341738327,
      0.501291447119219,
      0.2922706975004231,
      0.5032896763082252,
      0.501127404329941,
      0.3452499889559593,
      0.24817337218332292,
      0.1282237494117633,
      0.9798067255346823,
      0.9850173015236066
    ],
    "ay_ego": [
      -1.7881817339711747,
      -1.7362740453729133,
      -1.8506299959756483,
      -1.9924851675085329,
      -2.050041500157672,
      -2.165765035776473,
      -1.8613216014903795,
      -0.9574247017352937,
      -0.34369388081177416,
      -0.32846250638349467
    ],
    "a_ego": [
      1.8071913714869137,
      1.80719137768818,
      1.873567063817629,
      2.0550663349439464,
      2.1104025274196347,
      2.1931109741793637,
      1.877793419637941,
      0.9659727684599224,
      1.0383384338020307,
      1.0383384334601964
    ],
    "yaw": [
      -1.2126606227254808,
      -1.3485624892451518,
      -1.4900099825277218,
      -1.6331795377628435,
      -1.7825107726457707,
      -1.9317574266863233,
      -2.066821701611281,
      -2.164655399625624,
      -2.196337235056426,
      -2.211840983527037
    ],
    "yaw_diff": [
      -0.2718037330393419,
      -0.28289498656514,
      -0.2863391104702435,
      -0.2986624697658544,
      -0.2984933080811052,
      -0.2701285498499155,
      -0.19566739602868566,
      -0.06336367086160433,
      -0.03100749694122218,
      -0.03100749694122218
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.14980552824303,
    "v_std": 0.5909439156912649,
    "vy_max": 0.11872811427007202,
    "a_max": 2.1931109741793637,
    "ax_avg": 0.47458824562845264,
    "a_std": 0.4507032991109917,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b874be1fb9885c0e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b874be1fb9885c0e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b96dd2fae674571c": {
    "vx_ego": [
      7.538196073558563,
      7.200901510280502,
      6.962912045707921,
      6.83971214151455,
      6.764813890210634,
      6.673127358274656,
      6.600846360653852,
      6.728002845800823,
      6.989618543266792,
      7.252596654399655
    ],
    "vy_ego": [
      -0.0793486503885994,
      0.06763444438730382,
      0.03291149301844021,
      0.023869823125652667,
      -0.05033558348662459,
      -0.09577021984943224,
      -0.0858108782291711,
      -0.10312398398682543,
      -0.08015635604988613,
      0.02103983374801821
    ],
    "v_ego": [
      7.538613682351167,
      7.201219131426817,
      6.962989826406266,
      6.839753792881554,
      6.765001155960853,
      6.673814552020733,
      6.601404106989639,
      6.7287931198081345,
      6.990078141322469,
      7.252627172688061
    ],
    "ax_ego": [
      -0.7511622400494067,
      -0.5928215764811018,
      -0.339542811923496,
      -0.16292110088687345,
      -0.10906431473034778,
      -0.19415464560842582,
      -0.019175551733153884,
      0.5676155612462237,
      0.46726479746621635,
      0.5929413942752824
    ],
    "ay_ego": [
      1.6479978318056583,
      1.7113457124581766,
      2.3750746568995154,
      2.493767133171161,
      2.663105760500197,
      2.6959420405895034,
      2.716234207557867,
      2.3678683358248604,
      1.4645316189582562,
      1.4183122980708784
    ],
    "a_ego": [
      1.811116110168587,
      1.8111161114325394,
      2.3992225713708315,
      2.4990833918856934,
      2.6653381242080587,
      2.702924252107193,
      2.716301892664323,
      2.434951309815221,
      1.5372668128466298,
      1.53726681870917
    ],
    "yaw": [
      -0.6861504144704684,
      -0.591951319490923,
      -0.44240214831819635,
      -0.2646177505215912,
      -0.06465141940232638,
      0.14046259783477585,
      0.3428021487603956,
      0.5376504774226062,
      0.6735324297637235,
      0.7606665738311067
    ],
    "yaw_diff": [
      0.18839818995909097,
      0.2990983423454532,
      0.3555687955932103,
      0.39993266223852963,
      0.4102280344742045,
      0.4046791018512395,
      0.38969665732442116,
      0.27176390468223466,
      0.17426828813476636,
      0.17426828813476636
    ],
    "min_front_frame": [
      0,
      61.043579924803424
    ],
    "v_avg": 6.955429468185569,
    "v_std": 0.28209028821857796,
    "vy_max": 0.10312398398682543,
    "a_max": 2.716301892664323,
    "ax_avg": -0.05410204884250831,
    "a_std": 0.45825337120191356,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "b96dd2fae674571c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      61.043579924803424,
      63.73776599106282,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b96dd2fae674571c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "bdfdf52ac60755a9": {
    "vx_ego": [
      4.197347129874236,
      15.908360538591593,
      16.72780911327911,
      11.8489607661024,
      12.15166995985924,
      12.312299316107547,
      12.35142003607978,
      12.253177011136007,
      12.173963692672158,
      12.192403111798251
    ],
    "vy_ego": [
      -0.7279081969263497,
      0.28276762143031164,
      -0.3146035331075467,
      0.029638285664007863,
      0.018769443691885768,
      0.0033275895859649074,
      0.03360545646564647,
      0.06045396965945765,
      0.06447985779317691,
      0.04671939927867838
    ],
    "v_ego": [
      4.259996862888054,
      15.910873406370486,
      16.730767260151204,
      11.848997833766832,
      12.151684455472088,
      12.31229976577385,
      12.35146575246749,
      12.253326142263557,
      12.174134451473787,
      12.192492622218667
    ],
    "ax_ego": [
      23.33378405779881,
      23.522105053107285,
      -20.27965845452374,
      0.7640407177678802,
      0.4466081095781206,
      0.1959099910200118,
      -0.039393342461364264,
      -0.35342960630848325,
      0.03691026507504452,
      0.03692581494576175
    ],
    "ay_ego": [
      3.8904074165167124,
      2.5122345412486773,
      1.408218292272826,
      0.07957300697695212,
      -0.07036071265194932,
      0.003810930820568481,
      0.07413557269468864,
      0.0005198781570276501,
      -0.044116456262596096,
      -0.044103444555155885
    ],
    "a_ego": [
      23.65588189695058,
      23.65588190111834,
      20.32849295424597,
      0.7681732108363397,
      0.4521166148526647,
      0.19594705349961317,
      0.08395188246280001,
      0.3534299886663094,
      0.05752068654909819,
      0.057520688721870765
    ],
    "yaw": [
      1.4572261810399794,
      1.5160352519987526,
      1.588387569557886,
      1.59076415012008,
      1.5918581633623368,
      1.5917606700287656,
      1.590887682143388,
      1.5902245037619074,
      1.5889975983616478,
      1.5886451028452577
    ],
    "yaw_diff": [
      0.11761814191754638,
      0.1447046351182668,
      0.004753161124388061,
      0.00218802648451355,
      -0.00019498666714223845,
      -0.0017459757707554147,
      -0.0013263567629611117,
      -0.002453810800519207,
      -0.0007049910327801001,
      -0.0007049910327801001
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.218603855284602,
    "v_std": 3.1225515412187517,
    "vy_max": 0.7279081969263497,
    "a_max": 23.65588190111834,
    "ax_avg": 2.7663802605999317,
    "a_std": 10.241486534868798,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bdfdf52ac60755a9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.024832832151002,
    "right_rear_min": 15.625395742939707,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bdfdf52ac60755a9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "253dba7510ca56b8": {
    "vx_ego": [
      4.964119314203043,
      4.839984047620519,
      4.636802396101945,
      4.279503883094371,
      3.7718795860116625,
      3.160870983426434,
      2.464991483962575,
      1.769635838608652,
      1.1999999677022612,
      0.6980156855514713
    ],
    "vy_ego": [
      0.01954762397237081,
      0.0017419611615803743,
      -0.013011478145756872,
      -0.011889840954130926,
      -0.014371712022290928,
      -0.004905204619109593,
      0.013275093426317192,
      0.002746588172393649,
      -0.029562374065064703,
      -0.04143128624560316
    ],
    "v_ego": [
      4.964157801203207,
      4.83998436109558,
      4.636820652026588,
      4.279520399967468,
      3.771906965644561,
      3.1608747895004554,
      2.465027229892906,
      1.769637970047754,
      1.200364051630084,
      0.699244198228241
    ],
    "ax_ego": [
      -0.24905983574592966,
      -0.2469005328161004,
      -0.5663649638966144,
      -0.8636335223324109,
      -1.1673042266832676,
      -1.2769603902731932,
      -1.5066013494392672,
      -1.2745958485609696,
      -1.003992812087687,
      -1.0039857220985122
    ],
    "ay_ego": [
      -0.1627576477380455,
      -0.16601498803074013,
      -0.12057222756623373,
      -0.0770113061726336,
      -0.02291146287181238,
      -0.012226395684880084,
      0.04865257515535237,
      -0.1078369626172385,
      -0.02414533786033663,
      -0.02443840550706239
    ],
    "a_ego": [
      0.2975245429859714,
      0.29752453572053694,
      0.5790569353611932,
      0.8670603221083882,
      1.1675290543552002,
      1.2770189204072542,
      1.5073867118962765,
      1.2791494782375397,
      1.004283109518492,
      1.0042831104033356
    ],
    "yaw": [
      -3.0540186463063304,
      -3.0671539873533717,
      -3.0790603940236627,
      -3.090298100350095,
      -3.0958346906920466,
      -3.101079087942997,
      -3.104272230113562,
      -3.1063157906612058,
      -3.106788995862412,
      -3.107080900796909
    ],
    "yaw_diff": [
      -0.026270682094082787,
      -0.02381281334058194,
      -0.02247541265286479,
      -0.011073180683903061,
      -0.010488794501900323,
      -0.0063862843411301995,
      -0.004087121095287749,
      -0.0009464104024123898,
      -0.0005838098689938676,
      -0.0005838098689938676
    ],
    "min_front_frame": [
      9,
      11.067858927583211
    ],
    "v_avg": 3.1787538419236845,
    "v_std": 1.489770375426226,
    "vy_max": 0.04143128624560316,
    "a_max": 1.5073867118962765,
    "ax_avg": -0.9159399203933951,
    "a_std": 0.39626947540213403,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "253dba7510ca56b8",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 29.190240718443395,
    "speed_mode": "decelerating",
    "front_frame": [
      24.742584753099052,
      22.69855551572434,
      20.68446957207122,
      18.423081968470775,
      16.45960121688112,
      14.721943866071207,
      13.302831914262645,
      12.277304732942303,
      11.547886796729024,
      11.067858927583211
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "253dba7510ca56b8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4ffa52567be45f39": {
    "vx_ego": [
      7.210014243562334,
      6.937740894810327,
      6.718405587891981,
      6.583841174886473,
      6.417966335477368,
      6.0368528365450995,
      5.44401992454766,
      4.8341057140510735,
      4.389472781455115,
      4.071404975488674
    ],
    "vy_ego": [
      0.012664415890717873,
      -0.07725590841515473,
      -0.09486922927241492,
      -0.021937532938138826,
      0.035671259166715874,
      0.0018184938821894647,
      -0.03222574597384664,
      -0.02395655167167865,
      0.007958992095532524,
      0.008241997147417468
    ],
    "v_ego": [
      7.210025366099733,
      6.938171026928397,
      6.719075368983513,
      6.58387772300503,
      6.418065465703146,
      6.036853110439463,
      5.444115303479113,
      4.834165074859281,
      4.389479997071462,
      4.071413317872666
    ],
    "ax_ego": [
      -0.5449348371275309,
      -0.5444515290894612,
      -0.3338914078768634,
      -0.20523515460606412,
      -0.4582421650243298,
      -1.0673877446562103,
      -1.3022651494388577,
      -1.1345631115956736,
      -0.6425082106279324,
      -0.6305313567382316
    ],
    "ay_ego": [
      -0.21146069331918338,
      -0.21270198239197988,
      0.08709593407850164,
      0.1106538435926401,
      0.10174779585729932,
      0.02842845072978689,
      0.15174400661431187,
      0.24525588803459575,
      0.30659233593150353,
      0.33052365450250243
    ],
    "a_ego": [
      0.5845251077021743,
      0.584525107109464,
      0.3450640143321245,
      0.2331646237918598,
      0.46940227499236065,
      1.0677662545019706,
      1.311076185042797,
      1.1607686698086295,
      0.7119098687167101,
      0.7119098805437699
    ],
    "yaw": [
      -0.5875988333678824,
      -0.5898777069285772,
      -0.5919048583339923,
      -0.5954457893459395,
      -0.5961359321595856,
      -0.5856027901321222,
      -0.5718958723009107,
      -0.5541200595782234,
      -0.5308156339564504,
      -0.4932229505436548
    ],
    "yaw_diff": [
      -0.004557747121389566,
      -0.00405430281083019,
      -0.007081862023894381,
      -0.0013802856272921993,
      0.02106628405492672,
      0.02741383566242317,
      0.03555162544537449,
      0.04660885124354608,
      0.07518536682559118,
      0.07518536682559118
    ],
    "min_front_frame": [
      8,
      18.12791834285448
    ],
    "v_avg": 5.86452417544418,
    "v_std": 1.0571806315791399,
    "vy_max": 0.09486922927241492,
    "a_max": 1.311076185042797,
    "ax_avg": -0.6864010666781154,
    "a_std": 0.3379012549889816,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "4ffa52567be45f39",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.916461296102482,
    "speed_mode": "decelerating",
    "front_frame": [
      29.946961831009705,
      28.79999043737436,
      27.21620213578566,
      24.83305441955189,
      24.10858449943201,
      22.546241822109888,
      20.94551851310331,
      19.679676738560985,
      18.12791834285448,
      45.16012891016385
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "4ffa52567be45f39",
    "pedestrians": "No"
  },
  "377d556af9d25dab": {
    "vx_ego": [
      0.03625232223584113,
      0.7140170982828875,
      1.4272266394047033,
      2.1325698629213528,
      2.548719583640728,
      2.6021794639279374,
      2.538899173044637,
      2.6182778563926696,
      2.8754986073794733,
      3.168012160246577
    ],
    "vy_ego": [
      -0.007963570571407624,
      0.0182834847377098,
      -0.00095017468354619,
      -0.020018709456350203,
      -0.010026620584992374,
      -0.01867235805856815,
      -0.00975752432235999,
      0.018135214700449653,
      0.011503890572450048,
      -0.006669879654420008
    ],
    "v_ego": [
      0.037116698718192204,
      0.7142511480246068,
      1.4272269556935828,
      2.132663819960543,
      2.5487393058439936,
      2.6022464563226433,
      2.5389179230860623,
      2.6183406614282307,
      2.875521618861453,
      3.16801918156516
    ],
    "ax_ego": [
      1.3555615826556775,
      1.355515383185847,
      1.4975036149773857,
      1.3235649390131652,
      0.34098389171257815,
      -0.12713895670163816,
      -0.12584649505717277,
      0.4433690397000428,
      0.5849466868067168,
      0.5850176325123834
    ],
    "ay_ego": [
      0.05122127209450167,
      0.052429477431622296,
      -0.13528910439670705,
      0.04223306234479052,
      -0.0190046895074214,
      -0.014623182704938245,
      0.06473503727816099,
      0.04395433686455674,
      0.011590881614774173,
      0.0071648686639677606
    ],
    "a_ego": [
      1.3565289613889355,
      1.356528954411673,
      1.503602413751322,
      1.324238565870947,
      0.34151309291259785,
      0.12797715336575913,
      0.14152019421121462,
      0.44554246609469345,
      0.5850615138109522,
      0.5850615059063158
    ],
    "yaw": [
      -2.115010670782416,
      -2.115901984611982,
      -2.11730884796617,
      -2.1196375456608383,
      -2.1213363692746157,
      -2.1212457195858776,
      -2.119840039637844,
      -2.120127343735507,
      -2.11260953732564,
      -2.105043515994274
    ],
    "yaw_diff": [
      -0.0017826276591321744,
      -0.0028137267083758744,
      -0.004657395389336294,
      -0.0033976472275547565,
      0.00018129937747612956,
      0.002811359896067067,
      -0.00057460819532551,
      0.015035612819733757,
      0.015132042662731493,
      0.015132042662731493
    ],
    "min_front_frame": [
      0,
      10.894928620878293
    ],
    "v_avg": 2.0663043769504466,
    "v_std": 0.9630766919159583,
    "vy_max": 0.020018709456350203,
    "a_max": 1.503602413751322,
    "ax_avg": 0.7233477318804986,
    "a_std": 0.5193637553418602,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "377d556af9d25dab",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.94771580290009,
    "right_rear_min": 19.38401918322867,
    "speed_mode": "accelerating",
    "front_frame": [
      10.894928620878293,
      11.87230874914486,
      12.683432118707346,
      13.333661784772096,
      13.68697674672716,
      14.093177676008178,
      14.462083073986655,
      14.789492698787356,
      14.705948657323104,
      14.337977320394746
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "377d556af9d25dab",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b8de09ba44a054df": {
    "vx_ego": [
      9.27268544301245,
      9.33632490942388,
      9.394659439118385,
      9.439811958104293,
      9.465944779431359,
      9.474188056416462,
      9.50636126937155,
      9.651550113197464,
      9.621276149755182,
      9.332949411152125
    ],
    "vy_ego": [
      -0.008348053664994914,
      0.002552257668694935,
      0.00021823149806632358,
      -0.021493295887932362,
      0.011217859973234212,
      0.07760777638629435,
      0.07692903505637005,
      0.07379524622171818,
      0.007692100595333429,
      -0.026966777517499096
    ],
    "v_ego": [
      9.272689200822757,
      9.336325258277371,
      9.39465944165307,
      9.439836426873981,
      9.465951426434966,
      9.474505912990923,
      9.506672533554637,
      9.6518322263665,
      9.621279224628058,
      9.332988370196038
    ],
    "ax_ego": [
      0.12639119306506044,
      0.12804402720195315,
      0.10512442217985062,
      0.07534520616619016,
      0.02885245430203067,
      0.0038917993009005974,
      0.12134565792430883,
      0.45448652029477005,
      -0.5798457234464036,
      -0.5724936915954226
    ],
    "ay_ego": [
      -0.16545263838122393,
      -0.16417683842950898,
      -0.10396179858867968,
      -0.09248337483921446,
      0.12612275336943407,
      0.20136490754777533,
      0.3082577054306215,
      0.35675984084192613,
      0.33400208483840005,
      0.3464526151677805
    ],
    "a_ego": [
      0.2082049692771943,
      0.20820496434716348,
      0.14784857018057587,
      0.1192898768289931,
      0.12938088358307753,
      0.20140251262961592,
      0.3312817255063056,
      0.5777850648530168,
      0.6691625031899807,
      0.6691624925779606
    ],
    "yaw": [
      2.578132098978347,
      2.568103734150669,
      2.5611974668020165,
      2.558289084386524,
      2.5557198808069193,
      2.5573541770515487,
      2.5708712669397342,
      2.5886313757878705,
      2.6130824250054916,
      2.6346907404777857
    ],
    "yaw_diff": [
      -0.020056729655355987,
      -0.013812534697304812,
      -0.005816764830985477,
      -0.005138407159209102,
      0.0032685924892588147,
      0.027034179776371126,
      0.03552021769627256,
      0.04890209843524218,
      0.043216630944588275,
      0.043216630944588275
    ],
    "min_front_frame": [
      6,
      20.679172578022424
    ],
    "v_avg": 9.44967400217983,
    "v_std": 0.11634310680765984,
    "vy_max": 0.07760777638629435,
    "a_max": 0.6691625031899807,
    "ax_avg": -0.010885813460676186,
    "a_std": 0.21338844293997364,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "b8de09ba44a054df",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.341718264592533,
    "right_rear_min": 16.385908437523007,
    "speed_mode": "quasi_constant",
    "front_frame": [
      23.741076009377704,
      24.075753111470515,
      24.341020933447528,
      24.454418830161536,
      24.595190953752724,
      24.789461454937094,
      20.679172578022424,
      25.019854366999773,
      25.02846083856908,
      25.247897891968194
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "b8de09ba44a054df",
    "pedestrians": "No"
  },
  "68b83d28894e5bc1": {
    "vx_ego": [
      1.3377861998193443,
      2.0982539724565523,
      2.8272541934617506,
      3.4517128687997944,
      3.9998138802192584,
      4.511458067853133,
      4.937013879767815,
      5.326919712366878,
      5.66523365591623,
      5.934153035738361
    ],
    "vy_ego": [
      -0.04471838287739327,
      -4.0894636368249415e-05,
      -0.02109649801531721,
      -0.06086378583369234,
      -0.04128879481238085,
      -0.03738868503003262,
      0.005333224846144735,
      0.039301983721916844,
      0.03923418189665995,
      0.028974981141647982
    ],
    "v_ego": [
      1.3385333952480423,
      2.0982539728550673,
      2.827332901636375,
      3.4522494303083198,
      4.000026980030472,
      4.511612994458345,
      4.9370167603834725,
      5.327064695301465,
      5.665369511087081,
      5.934223774100111
    ],
    "ax_ego": [
      1.5155571356300193,
      1.5288956763768315,
      1.3952519829436572,
      1.10631366993028,
      1.0888205378373643,
      0.9579920358823738,
      0.7497738938338844,
      0.8215491456603627,
      0.532324094326778,
      0.5478864919291133
    ],
    "ay_ego": [
      0.30183298735735525,
      0.22471002802899412,
      0.37606799800258683,
      0.18064682040215269,
      0.12702309218142321,
      -0.24709205934094355,
      -0.5852660284154522,
      -0.7358323347718652,
      -0.4448388290192922,
      -0.42552427141081467
    ],
    "a_ego": [
      1.5453208675275611,
      1.5453208682796464,
      1.4450450633215148,
      1.1209653027618707,
      1.0962048301133223,
      0.9893448471606873,
      0.9511557264149871,
      1.1029017289092833,
      0.6937222248163017,
      0.6937222164512933
    ],
    "yaw": [
      -0.2750752463167364,
      -0.2244215119334245,
      -0.15538143146802547,
      -0.09904605462424995,
      -0.08366458203315003,
      -0.0916040139134115,
      -0.14439123276152105,
      -0.21546099327238666,
      -0.2687903113007062,
      -0.3045472086749414
    ],
    "yaw_diff": [
      0.10130746876662383,
      0.13808016093079806,
      0.11267075368755103,
      0.030762945182199852,
      -0.015878863760522943,
      -0.1055744376962191,
      -0.14213952102173122,
      -0.10665863605663906,
      -0.07151379474847042,
      -0.07151379474847042
    ],
    "min_front_frame": [
      1,
      13.205345020727751
    ],
    "v_avg": 4.009168441540875,
    "v_std": 1.4761404687659252,
    "vy_max": 0.06086378583369234,
    "a_max": 1.5453208682796464,
    "ax_avg": 1.0244364664350665,
    "a_std": 0.29619040469977725,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "68b83d28894e5bc1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      14.10295807548343,
      13.205345020727751,
      36.38488346374444,
      -1,
      -1,
      -1,
      55.79519818951334,
      55.43083535972554,
      23.592352980850993,
      20.776668348525366
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2857142857142857,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7142857142857143,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "68b83d28894e5bc1",
    "maneuvering": "Yes"
  },
  "fcb45b2aa29356d9": {
    "vx_ego": [
      5.065086309034126,
      5.1240146854405895,
      5.1887426962412695,
      5.2012145663734595,
      5.164158416364332,
      5.1324102018937605,
      5.10387599825379,
      5.045132917670369,
      4.973039029737811,
      4.9244941172367005
    ],
    "vy_ego": [
      -0.024135665803359352,
      -0.004832540063568924,
      -0.001394240109583611,
      -0.010133899531350493,
      -0.004578651643840526,
      -0.010996144485015846,
      -0.037317704447903166,
      -0.011160962434562771,
      0.013395845170497411,
      0.01839032909021432
    ],
    "v_ego": [
      5.065143813193138,
      5.12401696426293,
      5.188742883560777,
      5.201224438665877,
      5.164160446128435,
      5.132421981452488,
      5.1040124232427555,
      5.045145262927877,
      4.973057071858659,
      4.924528456096372
    ],
    "ax_ego": [
      0.07890527547719711,
      0.16145178089228865,
      0.1049147187399309,
      -0.0608956367642875,
      -0.08251856424040155,
      -0.04415597626618603,
      -0.06253784128307982,
      -0.1609436428632679,
      -0.13303317846781837,
      -0.06601661202092535
    ],
    "ay_ego": [
      0.9409796078306596,
      0.9303773361095994,
      1.0611619164375539,
      0.8918786134466723,
      0.9431086243542076,
      0.8878639129379007,
      0.8592048377971235,
      0.9410634341357199,
      0.8146785760626991,
      0.8228249062019154
    ],
    "a_ego": [
      0.9442820896592683,
      0.944282089790803,
      1.0663356465511695,
      0.8939551105623182,
      0.9467117780906622,
      0.888961235452604,
      0.8614777622703497,
      0.9547267898437823,
      0.8254689629954584,
      0.8254689693313203
    ],
    "yaw": [
      -1.8311292558277052,
      -1.7429653950793345,
      -1.647279448447752,
      -1.5520623593867002,
      -1.4647201385483872,
      -1.374538937444577,
      -1.2841612712016617,
      -1.200874170879422,
      -1.1181383292272846,
      -1.0363318561082306
    ],
    "yaw_diff": [
      0.17632772149674159,
      0.19137189326316495,
      0.1904341781221035,
      0.174684441676626,
      0.18036240220762068,
      0.18075533248583042,
      0.16657420064447948,
      0.16547168330427464,
      0.16361294623810796,
      0.16361294623810796
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.092245374138931,
    "v_std": 0.08626109879188315,
    "vy_max": 0.037317704447903166,
    "a_max": 1.0663356465511695,
    "ax_avg": -0.026482967679654985,
    "a_std": 0.06871541438577597,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "fcb45b2aa29356d9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "fcb45b2aa29356d9",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "3cf9c200e3485696": {
    "vx_ego": [
      11.680519501781893,
      11.902963323393125,
      12.146604854191274,
      12.375069474114897,
      12.478508617699474,
      12.454081527794933,
      12.34978421505301,
      12.212081499225107,
      12.061356013067911,
      11.88974285053363
    ],
    "vy_ego": [
      -0.09283786631723545,
      -0.0865075797369535,
      -0.04892942791834015,
      -0.03043128525299127,
      -0.021120050510476718,
      -0.013521269664316993,
      -0.007325771102959344,
      -0.004270340073769141,
      -0.014303121656416673,
      -0.05973507961760666
    ],
    "v_ego": [
      11.680888437996892,
      11.903277676312262,
      12.146703403507448,
      12.375106890540076,
      12.47852649067724,
      12.454088867745257,
      12.349786387840672,
      12.212082245854736,
      12.061364493839765,
      11.88989290664775
    ],
    "ax_ego": [
      0.4454669847531241,
      0.44617857053925336,
      0.528686747634371,
      0.3852904284766228,
      0.028590417992213176,
      -0.1261012064059555,
      -0.2911008281287228,
      -0.25974282720472563,
      -0.3431762859607691,
      -0.34321148835225124
    ],
    "ay_ego": [
      0.13719392181438422,
      0.134861764614557,
      0.07511068540623096,
      0.040151644323367576,
      0.0535474508126015,
      0.08975471351188613,
      -0.028898836991691327,
      -0.029928776464948174,
      -0.0804516772357934,
      -0.0803014020313953
    ],
    "a_ego": [
      0.4661147999021823,
      0.4661148059903307,
      0.5339955919166401,
      0.3873769079560239,
      0.06070207154206061,
      0.1547818557022694,
      0.292531767363308,
      0.26146140813701896,
      0.35248040458425467,
      0.35248041208721836
    ],
    "yaw": [
      -1.5466341322884563,
      -1.541403016846929,
      -1.5401616005485157,
      -1.5393213333902653,
      -1.5381896589103408,
      -1.5359289203010764,
      -1.5352029449214188,
      -1.5366497406673876,
      -1.538095539123054,
      -1.5376576731026306
    ],
    "yaw_diff": [
      0.010462230883054424,
      0.0024828325968266896,
      0.0016805343165007258,
      0.002263348959849143,
      0.004521477218528691,
      0.001451950759315146,
      -0.002893591491937464,
      -0.0028915969113327833,
      0.0008757320408467884,
      0.0008757320408467884
    ],
    "min_front_frame": [
      0,
      17.127021259937116
    ],
    "v_avg": 12.15517178009621,
    "v_std": 0.25515378162567326,
    "vy_max": 0.09283786631723545,
    "a_max": 0.5339955919166401,
    "ax_avg": 0.047088051334316025,
    "a_std": 0.13864237550663663,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3cf9c200e3485696",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.2876757622271535,
    "right_rear_min": 3.1779974456861453,
    "speed_mode": "quasi_constant",
    "front_frame": [
      17.127021259937116,
      17.314434380896788,
      17.68093635569492,
      17.86852433691499,
      17.9502755426243,
      18.092346581916292,
      18.20353847550016,
      18.309398736990474,
      18.609885971140358,
      19.105357335424337
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3cf9c200e3485696",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "c10ed86969435545": {
    "vx_ego": [
      5.00469091021226,
      4.884233151820065,
      4.888422217287879,
      5.0070882436001085,
      5.184083474606472,
      5.351354064321578,
      5.416875604884295,
      5.393140147776887,
      5.344640229870475,
      5.364768394343148
    ],
    "vy_ego": [
      -0.04951400139696727,
      -0.05129839263988262,
      -0.059901544166389875,
      -0.03858004700262874,
      -0.025342928578291346,
      -0.024994951053379566,
      -0.05880947778039847,
      -0.01534420548581883,
      0.0021274206069235024,
      -0.0015010451841297456
    ],
    "v_ego": [
      5.00493583805982,
      4.884502534181511,
      4.8887892130329424,
      5.007236872689882,
      5.1841454200009505,
      5.351412436853399,
      5.4171948343646825,
      5.393161975891777,
      5.34464065327767,
      5.3647686043369855
    ],
    "ax_ego": [
      -0.3484816641153842,
      -0.09829000883274508,
      0.15564416941862497,
      0.3821132532757759,
      0.3465975664846488,
      0.3256957938051134,
      -0.02457513024199387,
      -0.03065763328879345,
      -0.15704227649634372,
      0.2365730587936502
    ],
    "ay_ego": [
      1.5483271836683095,
      1.5840125066007809,
      1.6252879658851036,
      1.9440573397213294,
      1.910826993208261,
      1.7465069258488208,
      1.8638224712006926,
      2.028970515189987,
      2.0438974080180183,
      2.036224963966426
    ],
    "a_ego": [
      1.5870590845683301,
      1.5870590874016095,
      1.6327235159465767,
      1.9812545213710857,
      1.9420066094291246,
      1.7766159382771058,
      1.863984479865395,
      2.029202119550734,
      2.049921679262388,
      2.0499216853399687
    ],
    "yaw": [
      1.3448025591874728,
      1.5042115936081508,
      1.6708685411061248,
      1.8474636161957398,
      2.0332954571574087,
      2.2062836494058526,
      2.3783732272960414,
      2.5499401986673353,
      2.735258202214827,
      2.9276058744803652
    ],
    "yaw_diff": [
      0.318818068841356,
      0.333313894995948,
      0.35319015017923006,
      0.37166368192333765,
      0.34597638449688795,
      0.3441791557803775,
      0.3431339427425879,
      0.37063600709498346,
      0.38469534453107634,
      0.38469534453107634
    ],
    "min_front_frame": [
      9,
      36.61829055270792
    ],
    "v_avg": 5.184078838268962,
    "v_std": 0.20610566993156304,
    "vy_max": 0.059901544166389875,
    "a_max": 2.0499216853399687,
    "ax_avg": 0.07875771288025529,
    "a_std": 0.18133102940352408,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "c10ed86969435545",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      36.61829055270792
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "c10ed86969435545",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "43768792861e5c7e": {
    "vx_ego": [
      4.9429068189073755,
      4.520179115577596,
      4.079849689664741,
      3.613895549377181,
      3.2230561160519353,
      2.8909601073447933,
      2.4898965577974543,
      2.099529231962307,
      1.882754941450153,
      1.7845313969655128
    ],
    "vy_ego": [
      0.033921791335952634,
      0.022555929274657993,
      0.010347405949759025,
      -0.0021566799535988057,
      -0.00067481230570543,
      0.016088041241484108,
      0.0008360376620235588,
      -0.006438527285704154,
      0.004616654508803331,
      2.8778013704378047e-05
    ],
    "v_ego": [
      4.943023215434909,
      4.5202353928583525,
      4.079862811304734,
      3.6138961929026987,
      3.2230561866947705,
      2.891004871550722,
      2.4898966981564885,
      2.0995391043030955,
      1.8827606016309728,
      1.7845313971975552
    ],
    "ax_ego": [
      -0.8454920992063941,
      -0.8455038715719844,
      -0.9155041938313827,
      -0.9483736529684523,
      -0.614972167756678,
      -0.7133919705384069,
      -0.8909270437955117,
      -0.6706270943464189,
      -0.19645121482257752,
      -0.19642845955320132
    ],
    "ay_ego": [
      -0.01589744375125446,
      -0.015258264580363223,
      -0.08625599063820083,
      0.0025621769546290696,
      0.016243693518369823,
      0.03842331627702694,
      -0.09234506938493475,
      0.0541377315270099,
      -0.014658041060907553,
      -0.014959780211154516
    ],
    "a_ego": [
      0.8456415425806961,
      0.8456415384081005,
      0.9195586032678,
      0.9483771140192456,
      0.6151866584171558,
      0.7144259617779827,
      0.8957000665434373,
      0.6728087348172668,
      0.1969973044815836,
      0.1969972962921311
    ],
    "yaw": [
      1.0899698813506076,
      1.0907258576411731,
      1.0876692900982077,
      1.085482999704522,
      1.086436446710028,
      1.0854277186666503,
      1.0860808015848717,
      1.0850763498774036,
      1.0844628212927085,
      1.0829267631128463
    ],
    "yaw_diff": [
      0.0015119525811311263,
      -0.006113135085930921,
      -0.004372580787371572,
      0.0019068940110122945,
      -0.0020174560867554092,
      0.0013061658364428297,
      -0.002008903414936203,
      -0.0012270571693902,
      -0.003072116359724486,
      -0.003072116359724486
    ],
    "min_front_frame": [
      9,
      11.664057497912573
    ],
    "v_avg": 3.15278064720343,
    "v_std": 1.0608611988410421,
    "vy_max": 0.033921791335952634,
    "a_max": 0.9483771140192456,
    "ax_avg": -0.6837671768391008,
    "a_std": 0.26506087564621583,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "43768792861e5c7e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.66364655090996,
      19.274074026484712,
      17.891872245994794,
      16.539188602214118,
      15.315893416367086,
      14.163418873874702,
      13.184400111024296,
      12.440031495498094,
      11.939533290201195,
      11.664057497912573
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "43768792861e5c7e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fc8f087133c55220": {
    "vx_ego": [
      2.746545434259811,
      1.9893635985104858,
      1.253285799096643,
      0.6047515975459283,
      0.11656566988174653,
      -0.09015599707196953,
      -0.07379830196146045,
      -0.03660556991679828,
      -0.020308107387064255,
      -0.010188022527949465
    ],
    "vy_ego": [
      0.04432467401931762,
      0.010360588886174908,
      -0.01573348519720528,
      -0.023704894040409152,
      -0.014535217152885143,
      -0.00010585206735184071,
      0.004646164422779846,
      0.0014988247223252536,
      0.0006840223835680985,
      0.000476008692586311
    ],
    "v_ego": [
      2.7469030742238307,
      1.9893905772574318,
      1.2533845526309002,
      0.6052160083274561,
      0.11746841248889779,
      0.09015605921235212,
      0.07394441301571339,
      0.036636241953588264,
      0.02031962382195487,
      0.010199136596076333
    ],
    "ax_ego": [
      -1.514367744970954,
      -1.5143807020746527,
      -1.4299443537811694,
      -1.164222859656537,
      -0.78848541403254,
      -0.03838989351968235,
      0.10382005820264717,
      0.04495013845056303,
      0.020240069855132863,
      0.020240033374632233
    ],
    "ay_ego": [
      -0.06715928059791143,
      -0.06686662849722412,
      -0.04131010836329317,
      0.008373309742004252,
      0.028818015331217632,
      0.028774507275971584,
      -0.009775381166704924,
      -0.0028301954838957214,
      -0.0004179533747717836,
      -0.0004198628648037586
    ],
    "a_ego": [
      1.5158562055745397,
      1.5158562124498167,
      1.4305409396321493,
      1.1642529704762965,
      0.7890118669257746,
      0.04797662132150919,
      0.10427925278863201,
      0.04503914911720523,
      0.02024438472179733,
      0.020244387761339383
    ],
    "yaw": [
      -1.5534380981832148,
      -1.5532448477887386,
      -1.5538346956546352,
      -1.5541280523102738,
      -1.5537195127510781,
      -1.5533317961495083,
      -1.55330940136992,
      -1.5532246748582312,
      -1.55333371375133,
      -1.553239259679205
    ],
    "yaw_diff": [
      0.0003865007889523042,
      -0.0011796957317931067,
      -0.0005867133112773537,
      0.0008170791183914616,
      0.0007754332031395528,
      4.478955917663896e-05,
      0.00016945302337756374,
      -0.00021807778619731266,
      0.0001889081442496554,
      0.0001889081442496554
    ],
    "min_front_frame": [
      4,
      10.414200284383337
    ],
    "v_avg": 0.6943618099528202,
    "v_std": 0.9299613558232763,
    "vy_max": 0.04432467401931762,
    "a_max": 1.5158562124498167,
    "ax_avg": -0.6260540668152561,
    "a_std": 0.6488061000174075,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fc8f087133c55220",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.978357006549745,
    "right_rear_min": 5.358127046449448,
    "speed_mode": "decelerating",
    "front_frame": [
      12.706299180247061,
      11.615299219335862,
      10.919880239941905,
      10.556488688438836,
      10.414200284383337,
      10.611207167036277,
      10.702741338763273,
      10.815587101411005,
      10.905662154402782,
      10.927218063154324
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fc8f087133c55220",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f231f20bdcb55426": {
    "vx_ego": [
      11.238339111856751,
      11.126293284071473,
      11.068907591485651,
      11.018004597425564,
      11.028438397852774,
      11.116789885583323,
      11.221158943908451,
      11.361449228236262,
      11.520696428453729,
      11.710354355419897
    ],
    "vy_ego": [
      -0.01833014289943158,
      0.00016390447053549195,
      0.0038833617924005637,
      0.01433292017068144,
      0.014040121599069089,
      -0.009905296981948641,
      -0.009762623664010484,
      0.010748741756229752,
      0.0351013077216753,
      0.04845146126781508
    ],
    "v_ego": [
      11.238354060414181,
      11.126293285278733,
      11.068908272695527,
      11.018013920008066,
      11.028447334971863,
      11.116794298497926,
      11.221163190742635,
      11.361454312773507,
      11.520749901737744,
      11.710454588682744
    ],
    "ax_ego": [
      -0.22447339609891626,
      -0.22349379631659944,
      -0.006297882965678597,
      -0.19731442246025352,
      0.23847070525217132,
      0.11497140981250022,
      0.30279846014397915,
      0.25837399543205847,
      0.3782779670725393,
      0.37931955428891456
    ],
    "ay_ego": [
      0.16700446971813093,
      0.16831316018677722,
      0.09618647685710469,
      0.1689142082167857,
      0.03652040021050732,
      0.06899025648591835,
      0.12539697682955078,
      0.13506583145757517,
      0.17063965952990529,
      0.16831158092860532
    ],
    "a_ego": [
      0.2797834849701016,
      0.2797834821501537,
      0.09639243569923793,
      0.25974023763815846,
      0.24125094174946468,
      0.13408236485185765,
      0.32773664620172677,
      0.2915474238316152,
      0.41498447413971423,
      0.4149844726500345
    ],
    "yaw": [
      -1.9836498060900638,
      -1.9778070192981838,
      -1.9721699150302692,
      -1.967125746507031,
      -1.9624167904267384,
      -1.9578783018141923,
      -1.9535308902924244,
      -1.9495825109198295,
      -1.9450250692018145,
      -1.9388791368927585
    ],
    "yaw_diff": [
      0.01168557358375999,
      0.011274208535829278,
      0.010088337046476159,
      0.009417912160585296,
      0.009076977225092264,
      0.008694823043535749,
      0.007896758745189913,
      0.009114883436029952,
      0.012291864618112047,
      0.012291864618112047
    ],
    "min_front_frame": [
      1,
      18.157789541999925
    ],
    "v_avg": 11.241063316580291,
    "v_std": 0.2160229145961949,
    "vy_max": 0.04845146126781508,
    "a_max": 0.41498447413971423,
    "ax_avg": 0.10206325941607153,
    "a_std": 0.0976795296123264,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f231f20bdcb55426",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.428613549889511,
    "right_rear_min": 31.9258093943507,
    "speed_mode": "quasi_constant",
    "front_frame": [
      28.209354109872212,
      18.157789541999925,
      18.366951914666625,
      18.59132362816317,
      18.81494347912706,
      18.96564999616628,
      19.244548374875173,
      19.450072533691877,
      19.539578470033028,
      19.638012235114005
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f231f20bdcb55426",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "245bcbae35595474": {
    "vx_ego": [
      4.5024438974125625,
      3.9350873717350305,
      3.3266727061561348,
      2.6532234499815157,
      1.9313082960864003,
      1.211589477858842,
      0.5930262945960204,
      0.16655083066944398,
      -0.02020739773726815,
      -0.0849330994077935
    ],
    "vy_ego": [
      -0.01900809302148554,
      -0.020821931507919667,
      -0.02067441841257489,
      -0.009511022369599997,
      0.002646554887795638,
      -0.0007744483582144968,
      -0.02016393850466408,
      -0.02499728888765952,
      -0.005409917196081166,
      0.013960915546652804
    ],
    "v_ego": [
      4.502484020732105,
      3.9351424594314537,
      3.3267369486421496,
      2.6532404970296852,
      1.9313101094295886,
      1.2115897253726284,
      0.5933690002842295,
      0.1684162808294225,
      0.02091903743915108,
      0.08607286760597038
    ],
    "ax_ego": [
      -1.134639895246799,
      -1.1346062242281216,
      -1.2988973877811971,
      -1.3947391722833635,
      -1.492938121352414,
      -1.3859490571644397,
      -1.0882863837623544,
      -0.6175749114116182,
      -0.1294609958244317,
      -0.12944768102130608
    ],
    "ay_ego": [
      0.013877970184694388,
      0.016401699557096805,
      0.01218856164926585,
      0.05590009015552311,
      0.007170836299114414,
      -0.01602422060718145,
      -0.058623788073610794,
      0.039663825895462024,
      0.03868324998466553,
      0.038727769784114394
    ],
    "a_ego": [
      1.134724763959135,
      1.1347247683053172,
      1.2989545738862063,
      1.3958589394280059,
      1.49295534262767,
      1.3860416893806142,
      1.089864212464398,
      0.6188473077340917,
      0.13511677641665987,
      0.13511677273471703
    ],
    "yaw": [
      0.8655984339387357,
      0.8678227251074287,
      0.8697398037624047,
      0.8716914718194435,
      0.8732580125404217,
      0.8740331097062086,
      0.8748740411649223,
      0.8751649315296102,
      0.8751155053537756,
      0.8754593838566673
    ],
    "yaw_diff": [
      0.004448582337386098,
      0.0038341573099518467,
      0.0039033361140776712,
      0.0031330814419563424,
      0.0015501943315738842,
      0.0016818629174273347,
      0.0005817807293757582,
      -9.885235166917639e-05,
      0.0006877570057834959,
      0.0006877570057834959
    ],
    "min_front_frame": [
      9,
      8.670453874227714
    ],
    "v_avg": 1.8429280946796383,
    "v_std": 1.59646290693325,
    "vy_max": 0.02499728888765952,
    "a_max": 1.49295534262767,
    "ax_avg": -0.9806539830076046,
    "a_std": 0.4817313209583594,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "245bcbae35595474",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.890838865768213,
    "speed_mode": "decelerating",
    "front_frame": [
      14.825570312735362,
      13.628674863716025,
      12.363524137122349,
      11.204271258812938,
      10.186676200794718,
      9.394279482954543,
      9.053260354360093,
      9.135395428892116,
      8.80734177695525,
      8.670453874227714
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "245bcbae35595474",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dc207d97e04f5ce1": {
    "vx_ego": [
      5.451181945272971,
      5.445971100894047,
      5.581685579341334,
      5.716011207669415,
      5.885136163309962,
      6.1297969277793065,
      6.340819921397148,
      6.482274318374093,
      6.618857215786667,
      6.775208539239909
    ],
    "vy_ego": [
      -0.040703594161722645,
      -0.1011766682991122,
      -0.06585396701930213,
      -0.05369419260749497,
      -0.10020730232765462,
      -0.1258152381291433,
      -0.05158438514844388,
      0.019838084210614948,
      0.04191748323671862,
      0.026911453505812366
    ],
    "v_ego": [
      5.451333908599591,
      5.446910863047166,
      5.582074045692979,
      5.716263394256963,
      5.885989225622018,
      6.13108798256542,
      6.3410297447952475,
      6.482304674129214,
      6.618989946991318,
      6.775261985821595
    ],
    "ax_ego": [
      -0.2249854933224441,
      0.2658292360266793,
      0.2937020899340802,
      0.2817497537728677,
      0.450157244346449,
      0.5161657279243327,
      0.33015496159984065,
      0.23619889667292895,
      0.31245882415696086,
      0.3144641126822973
    ],
    "ay_ego": [
      2.2421807110031478,
      2.237705879659579,
      1.7601692220701164,
      1.776385088565542,
      1.8353366424977182,
      0.7077409581236118,
      0.1853267995957639,
      -0.08797651581321347,
      -0.18132507767905054,
      -0.17782472137764532
    ],
    "a_ego": [
      2.253440217312215,
      2.253440211452165,
      1.7845045833380662,
      1.7985902553469701,
      1.8897359963583236,
      0.8759705032073765,
      0.3786136834788208,
      0.2520511577520357,
      0.36126070999883764,
      0.3612607226064048
    ],
    "yaw": [
      0.45172545061248726,
      0.6699742597259588,
      0.844500120009567,
      0.9985181127185148,
      1.1624273089460053,
      1.2725598265646871,
      1.29637186161098,
      1.2890415565276014,
      1.2753734705727688,
      1.2642068177142112
    ],
    "yaw_diff": [
      0.4364976182269431,
      0.34905172056721634,
      0.30803598541789556,
      0.3278183924549811,
      0.22026503523736363,
      0.047624070092585846,
      -0.014660610166757237,
      -0.027336171909665197,
      -0.022333305717115337,
      -0.022333305717115337
    ],
    "min_front_frame": [
      4,
      16.375605811051177
    ],
    "v_avg": 6.043124577152151,
    "v_std": 0.4697653296008575,
    "vy_max": 0.1258152381291433,
    "a_max": 2.253440217312215,
    "ax_avg": 0.27758953537939923,
    "a_std": 0.8047388648767876,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "dc207d97e04f5ce1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      16.375605811051177,
      22.594292569728886,
      32.87738495013501,
      29.704588367914848,
      26.46946049960002,
      23.165617548797464
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "dc207d97e04f5ce1",
    "pedestrians": "No"
  },
  "750b8c926ffd5895": {
    "vx_ego": [
      1.3961758311639023,
      0.8108923700223453,
      0.3142884592852534,
      0.016928801208283294,
      -0.060682804086086714,
      -0.036724075217161846,
      -0.022514991714348363,
      -0.013608660081718986,
      -0.009150131582235623,
      -0.005982655727240016
    ],
    "vy_ego": [
      -0.011782936412659373,
      -0.007497414284283799,
      -0.012788269529216328,
      -1.0912333249682264e-05,
      0.013979204942826635,
      0.006951219246943977,
      0.005027904319044027,
      0.0029209605192923446,
      0.0018752928800343503,
      0.001157498395246482
    ],
    "v_ego": [
      1.3962255509468082,
      0.8109270293814397,
      0.3145485264270845,
      0.016928804725336956,
      0.06227215174204221,
      0.037376157501472045,
      0.023069561628662062,
      0.01391860767372356,
      0.009340322872263749,
      0.006093600912898379
    ],
    "ax_ego": [
      -1.1705697610142962,
      -1.1705712895559743,
      -0.8158620239364001,
      -0.37358281094340273,
      0.06312040809459288,
      0.03271041041036645,
      0.024126608145142045,
      0.011498690923643032,
      0.006335141069438347,
      0.006335263830172636
    ],
    "ay_ego": [
      0.008267413023173131,
      0.008048257675840165,
      -0.030949653196820637,
      0.08202577782170353,
      -0.02612487003867448,
      -0.0020117189708462723,
      -0.005678464398654765,
      -0.002749388798345934,
      -0.0014345877611897226,
      -0.0014340693961024547
    ],
    "a_ego": [
      1.1705989558850471,
      1.170598957108861,
      0.816448849061962,
      0.3824818229140173,
      0.068313210673819,
      0.032772213267221864,
      0.024785846334471295,
      0.011822818264776836,
      0.006495541117893088,
      0.006495546384310662
    ],
    "yaw": [
      2.619951512022353,
      2.6197642876533407,
      2.6189259001565235,
      2.6188504036300984,
      2.619045188220256,
      2.6191824778356816,
      2.6191556724531413,
      2.6191570893109715,
      2.6191878660180556,
      2.619104738797888
    ],
    "yaw_diff": [
      -0.00037444873802439105,
      -0.001676774993634389,
      -0.00015099305285026787,
      0.0003895691803155188,
      0.0002745792308509465,
      -5.3610765080591705e-05,
      2.8337156603441827e-06,
      6.155341416835824e-05,
      -0.00016625444033557812,
      -0.00016625444033557812
    ],
    "min_front_frame": [
      3,
      8.583956585414262
    ],
    "v_avg": 0.2690700313811732,
    "v_std": 0.4459163690737608,
    "vy_max": 0.013979204942826635,
    "a_max": 1.170598957108861,
    "ax_avg": -0.3386459362976718,
    "a_std": 0.46881270184929863,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "750b8c926ffd5895",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.138065423842878,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      9.447105136202381,
      8.905307167264585,
      8.68177228253433,
      8.583956585414262,
      8.587330899866075,
      8.603769363538866,
      8.597240747392656,
      8.599990602700585,
      8.620574292470572,
      8.586555789544114
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "750b8c926ffd5895",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a523d2a173855e96": {
    "vx_ego": [
      4.994072361633977,
      4.07997582963202,
      3.1702794462632142,
      2.2920392869934636,
      1.5807371916090773,
      1.117404599868089,
      0.8556460276918926,
      0.6752924200832126,
      0.49232970846900037,
      0.31886336644747865
    ],
    "vy_ego": [
      -0.05740377853470659,
      -0.022903825028396274,
      -0.010882244294594959,
      0.006350358549064697,
      -0.007262216016211319,
      -0.025666752500264435,
      0.0071342850455189295,
      0.03814006599390938,
      0.031614077968165,
      -0.01137764496778753
    ],
    "v_ego": [
      4.994402261234715,
      4.080040116908463,
      3.170298123306368,
      2.292048084176073,
      1.5807538735418676,
      1.1176993432897213,
      0.8556757696277404,
      0.6763686252746071,
      0.4933436852407742,
      0.31906628976943346
    ],
    "ax_ego": [
      -1.8282539416948016,
      -1.8283237081618489,
      -1.8104540874834467,
      -1.7024682950944285,
      -1.1427148725457752,
      -0.7105589451943424,
      -0.33647827150921367,
      -0.3849138049497261,
      -0.34691774839242767,
      -0.3469743722435006
    ],
    "ay_ego": [
      0.05920178292902719,
      0.057006442279111724,
      -0.005824985835077491,
      0.0825610309270197,
      -0.1387401102496774,
      0.06685836103032133,
      0.0640352461269103,
      0.059246206558844466,
      -0.08556085113316347,
      -0.08533094504061856
    ],
    "a_ego": [
      1.8292122147046128,
      1.8292122119338738,
      1.810463458163544,
      1.704469013983376,
      1.1511064668958297,
      0.7136974534320248,
      0.34251735714319953,
      0.3894467232273101,
      0.3573130047959395,
      0.3573130072853441
    ],
    "yaw": [
      -1.5382419014380342,
      -1.5394426632481912,
      -1.539229081389728,
      -1.5385110340411057,
      -1.5387425973179667,
      -1.5384073981856494,
      -1.5384900091641591,
      -1.538730334688097,
      -1.5388212959528547,
      -1.5381586446726057
    ],
    "yaw_diff": [
      -0.0024015236203140944,
      0.0004271637169264153,
      0.0014360946972447053,
      -0.0004631265537220486,
      0.000670398264634553,
      -0.00016522195701940134,
      -0.0004806510478756465,
      -0.00018192252951543253,
      0.0013253025604980095,
      0.0013253025604980095
    ],
    "min_front_frame": [
      9,
      9.863804643149079
    ],
    "v_avg": 1.957969617236976,
    "v_std": 1.5440688829491638,
    "vy_max": 0.05740377853470659,
    "a_max": 1.8292122147046128,
    "ax_avg": -1.0438058047269512,
    "a_std": 0.6512118887001614,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a523d2a173855e96",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.294513336343961,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.925417692521808,
      12.426106958116044,
      11.89285204977297,
      11.415968637734371,
      11.008437653680652,
      10.805260645631359,
      10.661863804474148,
      10.357474424434306,
      10.091528830581698,
      9.863804643149079
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.6,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a523d2a173855e96",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "725cc9599c3455ad": {
    "vx_ego": [
      6.2818094202126185,
      6.588834947510604,
      6.9022416890030165,
      7.105491750907932,
      7.130219305396075,
      7.058098881596453,
      6.940360824327414,
      6.784900008942616,
      6.584907527678952,
      6.353945190459225
    ],
    "vy_ego": [
      0.13068957792239377,
      0.06822579981577137,
      0.06765861522357097,
      0.06583139526156323,
      0.013421920431365031,
      -0.019022378877952217,
      -0.004316501742210654,
      0.017473086620231726,
      0.015065445304695668,
      -0.019931713995664957
    ],
    "v_ego": [
      6.28316873541126,
      6.589188168909548,
      6.902573289840912,
      7.105796703735813,
      7.130231938092263,
      7.058124515286711,
      6.9403621666341015,
      6.784922508039834,
      6.584924761584232,
      6.353976452315724
    ],
    "ax_ego": [
      0.605471591316489,
      0.6409738021500764,
      0.6153035312268176,
      0.20057464358479962,
      -0.10114578193540613,
      -0.18750404978522553,
      -0.284003612518514,
      -0.33771674334921575,
      -0.461932155207975,
      -0.46191894964927493
    ],
    "ay_ego": [
      -0.7560103312417431,
      -0.7261542868831683,
      -0.3197300750574642,
      -0.14270076630499473,
      -0.1566471453313652,
      -0.10841053728446183,
      -0.0709905660211976,
      -0.050706058813800275,
      -0.07231547226421003,
      -0.07239985377765637
    ],
    "a_ego": [
      0.9685801303121863,
      0.9685801275070266,
      0.6934160053218003,
      0.24615786876149645,
      0.18646393040958506,
      0.21658858067812814,
      0.2927417161724244,
      0.3415021275758449,
      0.46755838517117887,
      0.46755839728542514
    ],
    "yaw": [
      0.9903497872110474,
      0.9424530353364833,
      0.9037982431194145,
      0.8876725720702456,
      0.8845383031696287,
      0.8797782363912454,
      0.871283968713,
      0.8636830263666999,
      0.8594522986412356,
      0.8592696434032709
    ],
    "yaw_diff": [
      -0.0957935037491282,
      -0.0773095844341376,
      -0.03225134209833769,
      -0.006268537801233931,
      -0.009520133556766508,
      -0.01698853535649092,
      -0.015201884692600087,
      -0.008461455450928579,
      -0.00036531047592935906,
      -0.00036531047592935906
    ],
    "min_front_frame": [
      3,
      20.44431428028229
    ],
    "v_avg": 6.77332692398504,
    "v_std": 0.291423950342152,
    "vy_max": 0.13068957792239377,
    "a_max": 0.9685801303121863,
    "ax_avg": 0.022810227583257115,
    "a_std": 0.28062679589783945,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "725cc9599c3455ad",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.79073887868165,
    "speed_mode": "quasi_constant",
    "front_frame": [
      52.75921096561896,
      36.866203820599175,
      23.91477591343854,
      20.44431428028229,
      26.410057481834826,
      22.909265925750223,
      32.29899739634662,
      28.890765115957677,
      25.54882244488027,
      22.322966200721208
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "725cc9599c3455ad",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "11482ead31545f3a": {
    "vx_ego": [
      5.960195401286771,
      6.079891754049549,
      6.230125082503614,
      6.4091225066036035,
      6.630906097194374,
      6.842438563944244,
      7.035157655384971,
      7.2745543882701735,
      7.517452789134232,
      7.735843580033984
    ],
    "vy_ego": [
      0.06680617812310419,
      0.03075289503442158,
      0.02961073841031492,
      0.03286694836413662,
      0.0673113611491436,
      0.0005502047893424233,
      -0.006291474901197969,
      -0.0007601637751628587,
      0.0005686135085629651,
      -0.006136641614735261
    ],
    "v_ego": [
      5.960569795494,
      6.079969529653311,
      6.2301954495400755,
      6.409206779387572,
      6.631247732451961,
      6.8424385860654,
      7.035160468587636,
      7.2745544279873116,
      7.517452810638945,
      7.735846014051942
    ],
    "ax_ego": [
      0.1998343579141876,
      0.2948084945261978,
      0.32509907593434345,
      0.38906551383202725,
      0.49735790765660115,
      0.34780707756132123,
      0.42273927808552253,
      0.5348160061210726,
      0.43678102021467,
      0.4367816471474368
    ],
    "ay_ego": [
      -1.11557974986679,
      -1.0943216754336589,
      -1.251652777512488,
      -0.9603240180488904,
      -0.5369783573577837,
      -0.13756962212581655,
      -0.019654592476464172,
      0.011131834901702775,
      -0.014101029479779731,
      -0.014081527957993861
    ],
    "a_ego": [
      1.133336644124695,
      1.1333366568538819,
      1.29318370103713,
      1.0361439058812947,
      0.7319225673383871,
      0.37402561962195435,
      0.4231959359938191,
      0.5349318443984934,
      0.43700857960932254,
      0.43700857739232046
    ],
    "yaw": [
      0.03131544078808406,
      -0.054584978424667197,
      -0.14967345404152405,
      -0.23774752744396951,
      -0.3005519581634167,
      -0.31563239948504807,
      -0.3203173884613995,
      -0.321390369921394,
      -0.3216699324805028,
      -0.32171456349178906
    ],
    "yaw_diff": [
      -0.17180083842550253,
      -0.1901769512337137,
      -0.17614814680489094,
      -0.12560886143889433,
      -0.030160882643262776,
      -0.00936997795270289,
      -0.0021459629199890307,
      -0.0005591251182175405,
      -8.92620225725338e-05,
      -8.92620225725338e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.771664159385816,
    "v_std": 0.5825616984356413,
    "vy_max": 0.0673113611491436,
    "a_max": 1.29318370103713,
    "ax_avg": 0.38850903789933805,
    "a_std": 0.3407888787504383,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "11482ead31545f3a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "11482ead31545f3a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b2e27f20100b54ba": {
    "vx_ego": [
      0.617050196507169,
      0.6394583076281192,
      0.6932464451539283,
      0.7973514342774282,
      0.9070278451289716,
      1.0922573896245622,
      1.449981906790238,
      1.9261243050738215,
      2.4347106483527075,
      2.940989444837734
    ],
    "vy_ego": [
      -0.0058944896862947165,
      -0.01389961997020199,
      -0.021004118268155545,
      -0.013940689927443012,
      0.01724327430979066,
      0.04526776705546965,
      0.03141734554139978,
      0.000933897420059844,
      -0.0172379725442885,
      -0.035807180177421155
    ],
    "v_ego": [
      0.6170783499833693,
      0.6396093547079611,
      0.6935645656337852,
      0.7974732927063608,
      0.9071917340607929,
      1.093195031055141,
      1.450322233029585,
      1.9261245314777815,
      2.4347716707936904,
      2.941207416827181
    ],
    "ax_ego": [
      0.04480938578727069,
      0.044813383136354676,
      0.17030667769708988,
      0.24595199042382174,
      0.19272281969924246,
      0.5485469704341419,
      0.882898724012344,
      1.0217749067534274,
      1.0125025441794766,
      1.0125332319208162
    ],
    "ay_ego": [
      -0.016323306326568962,
      -0.016312339724569348,
      -0.013291883541271476,
      0.036537563570455935,
      0.08152810178622559,
      0.021894251748092085,
      -0.09015567154207116,
      -0.047757483817273516,
      -0.041524961859169415,
      -0.040769860671434933
    ],
    "a_ego": [
      0.04768995055631179,
      0.04768995424002293,
      0.17082458440252438,
      0.24865111128869866,
      0.20925801445510248,
      0.5489837311178576,
      0.8874898320396843,
      1.0228903838298278,
      1.013353701541233,
      1.0133537029503479
    ],
    "yaw": [
      -1.5395971340823271,
      -1.539841907689186,
      -1.5402976821570706,
      -1.5419991413803649,
      -1.5439407606409312,
      -1.5462114715016915,
      -1.5488266699338311,
      -1.5512177953032564,
      -1.5531195114093777,
      -1.5538652750194117
    ],
    "yaw_diff": [
      -0.0004895472137178558,
      -0.0009115489357691686,
      -0.0034029184465884654,
      -0.0038832385211327036,
      -0.0045414217215205,
      -0.005230396864279285,
      -0.004782250738850635,
      -0.0038034322122424413,
      -0.0014915272200681784,
      -0.0014915272200681784
    ],
    "min_front_frame": [
      1,
      12.264443529943458
    ],
    "v_avg": 1.350053818027565,
    "v_std": 0.7804296782269246,
    "vy_max": 0.04526776705546965,
    "a_max": 1.0228903838298278,
    "ax_avg": 0.5176860634043986,
    "a_std": 0.40172637243899467,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b2e27f20100b54ba",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.355093021448419,
    "right_rear_min": 5.273551269766751,
    "speed_mode": "accelerating",
    "front_frame": [
      12.27030362380387,
      12.264443529943458,
      12.352355560705096,
      12.441162837510108,
      12.67821213447126,
      12.999808247536206,
      13.307748970730449,
      13.481550405420958,
      13.438589133799567,
      13.327634269764516
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b2e27f20100b54ba",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f05325ffb9425a4b": {
    "vx_ego": [
      1.9078358319494486,
      2.823005972255779,
      3.7518295580559857,
      4.633797962051849,
      5.295200055686306,
      5.546671194610216,
      5.453259481359545,
      5.269439543692832,
      5.093410864050521,
      4.925238469111143
    ],
    "vy_ego": [
      0.016092319201399197,
      0.007884166764664746,
      3.966080259232285e-05,
      -0.011844519444327073,
      -0.021139937378093165,
      -0.020690600382641033,
      -0.0293473731103151,
      -0.032660534268723396,
      -0.03894625558726261,
      0.08172833716036965
    ],
    "v_ego": [
      1.9079036989343892,
      2.8230169817904693,
      3.751829558265614,
      4.633813100002712,
      5.2952422538249,
      5.546709785274772,
      5.453338449000415,
      5.269540759414661,
      5.0935597611937515,
      4.9259165135746334
    ],
    "ax_ego": [
      1.8303547560710292,
      1.8303801239788746,
      1.8849166482090087,
      1.6429756936397955,
      1.002813741210368,
      0.0031501675183067714,
      -0.3766792265129973,
      -0.35888601339061593,
      -0.3451000284220599,
      -0.3216520591836109
    ],
    "ay_ego": [
      -0.022957342268260184,
      -0.020836822187768944,
      0.013515286439954255,
      -0.01874639722106275,
      0.023512475272974398,
      0.0023716326696347975,
      -0.009266009722312007,
      -0.06898099109616893,
      -0.36834510828342515,
      -0.3889885573614285
    ],
    "a_ego": [
      1.8304987223802858,
      1.8304987220470286,
      1.8849651014443312,
      1.6430826386094939,
      1.0030893459975523,
      0.003943120200180832,
      0.376793177516,
      0.36545526092809105,
      0.5047495898098727,
      0.5047495863645481
    ],
    "yaw": [
      0.5484939926849124,
      0.5473354716705012,
      0.5491687097535412,
      0.5516731513339462,
      0.5537520284089608,
      0.5548378213294237,
      0.5560876185556224,
      0.5530556732871392,
      0.5331621729650317,
      0.4712595277113739
    ],
    "yaw_diff": [
      -0.002317042028822325,
      0.003666476166079846,
      0.0050088831608101625,
      0.004157754150029058,
      0.002171585840925916,
      0.0024995944523973357,
      -0.006063890536966321,
      -0.03978700064421514,
      -0.12380529050731548,
      -0.12380529050731548
    ],
    "min_front_frame": [
      0,
      11.961601887788902
    ],
    "v_avg": 4.4700870861276325,
    "v_std": 1.1774009202926845,
    "vy_max": 0.08172833716036965,
    "a_max": 1.8849651014443312,
    "ax_avg": 0.6792273803118098,
    "a_std": 0.6963922104739175,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f05325ffb9425a4b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.211842436211006,
    "right_rear_min": 8.441642822912277,
    "speed_mode": "accelerating",
    "front_frame": [
      11.961601887788902,
      13.015100870331121,
      13.903312446751258,
      14.4454581290754,
      14.900125269010914,
      15.192175745861954,
      15.716018388615007,
      16.505023097808113,
      17.58705844623735,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.8888888888888888,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1111111111111111,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f05325ffb9425a4b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1ff55a9fd29a5bf5": {
    "vx_ego": [
      5.642406544625909,
      4.928889629997826,
      4.18228008346771,
      3.3820567323224666,
      2.5878052584440887,
      1.8942081146370955,
      1.4922009506267373,
      1.3952095983961017,
      1.4115758250554336,
      1.4537241575801005
    ],
    "vy_ego": [
      0.005505072199427474,
      -0.0060680163061914705,
      -0.014900130548114579,
      -0.00917355260981248,
      0.0016823122307727534,
      -0.02044868411083754,
      -0.03597012216697773,
      -0.016919754033448586,
      0.010654943778824942,
      0.044827298377860585
    ],
    "v_ego": [
      5.6424092301655335,
      4.928893365200956,
      4.182306625590838,
      3.382069173555622,
      2.5878058052731308,
      1.8943184870129113,
      1.4926344250150623,
      1.3953121878393966,
      1.4116160376348301,
      1.4544151446584401
    ],
    "ax_ego": [
      -1.4270393279005753,
      -1.427028657158802,
      -1.5594581667850724,
      -1.6415494658236918,
      -1.5354581192492893,
      -1.23892865619216,
      -0.36912956587484275,
      -0.01891206945043594,
      0.08436039096032485,
      0.08431271762162991
    ],
    "ay_ego": [
      -0.02700256568451003,
      -0.027560827603448454,
      -0.02948324223005481,
      0.030162170274800504,
      0.0052840504647862635,
      -0.09505414782610924,
      0.03190511785080464,
      0.040416295448090646,
      0.0662538935462014,
      0.06631454370504954
    ],
    "a_ego": [
      1.4272947775174096,
      1.427294779493935,
      1.5597368481654381,
      1.6418265454248613,
      1.5354672113587706,
      1.242569718829917,
      0.37050583389202335,
      0.044622228862367073,
      0.10726720828384714,
      0.10726720402599121
    ],
    "yaw": [
      -1.541967940054443,
      -1.5423591426949945,
      -1.5435465305244667,
      -1.5450117768592952,
      -1.5456828839183756,
      -1.545824233917946,
      -1.5459919978558583,
      -1.5466849005711538,
      -1.5473372992777108,
      -1.5480564148432365
    ],
    "yaw_diff": [
      -0.0007824052811029603,
      -0.0023747756589442837,
      -0.00293049266965717,
      -0.0013422141181607117,
      -0.0002826999991407675,
      -0.00033552787582458166,
      -0.0013858054305910805,
      -0.0013047974131139561,
      -0.0014382311310514595,
      -0.0014382311310514595
    ],
    "min_front_frame": [
      9,
      13.953697629660901
    ],
    "v_avg": 2.837178048194672,
    "v_std": 1.520956207614646,
    "vy_max": 0.044827298377860585,
    "a_max": 1.6418265454248613,
    "ax_avg": -0.9048830919852915,
    "a_std": 0.6565197145207965,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1ff55a9fd29a5bf5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.135889734582327,
    "right_rear_min": 33.59844875566455,
    "speed_mode": "decelerating",
    "front_frame": [
      20.362047928744737,
      18.410714047406998,
      16.792660944298685,
      15.575382842144927,
      14.757478402595074,
      14.361933020517949,
      14.222841281685998,
      14.139357344772396,
      14.03558086143286,
      13.953697629660901
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1ff55a9fd29a5bf5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7e2675bbae325f36": {
    "vx_ego": [
      10.796670705186015,
      10.82786566839371,
      10.854449315872621,
      10.853295678329214,
      10.731020566699613,
      10.520580722434682,
      10.452556132580064,
      10.51099815381365,
      10.674308153264192,
      10.950649447212538
    ],
    "vy_ego": [
      -0.029649153628911407,
      0.023265857919638755,
      0.04440534736093049,
      0.020802717002756488,
      0.055206838277998216,
      0.015085459297544013,
      -0.027930234773719143,
      0.017453363876616557,
      0.04737642609849324,
      0.09666300131292349
    ],
    "v_ego": [
      10.796711415451133,
      10.827890664063979,
      10.854540146211717,
      10.853315614791375,
      10.73116257438693,
      10.520591537948162,
      10.452593448649555,
      10.51101264433568,
      10.674413289572044,
      10.951076068202571
    ],
    "ax_ego": [
      0.06202330198301846,
      0.06280781484342278,
      0.04284529098215201,
      -0.049243704740193905,
      -0.4418782319624699,
      -0.4054320788017689,
      0.13352585336096434,
      0.10028520439373542,
      0.5532685768344556,
      0.553212142405361
    ],
    "ay_ego": [
      0.19362738471719382,
      0.193374320624629,
      0.3290408378292278,
      0.4020326930579036,
      0.46605576957675343,
      0.07238454808916683,
      0.0716663320768303,
      -0.002359416026924001,
      0.01344422924923852,
      0.01559460927010789
    ],
    "a_ego": [
      0.20331860244772706,
      0.2033185910890652,
      0.33181861297809295,
      0.4050373177176764,
      0.642233876588629,
      0.4118430445249703,
      0.15154278824516945,
      0.10031295561532118,
      0.5534318977187076,
      0.5534318985593591
    ],
    "yaw": [
      -0.6210692000564328,
      -0.6170149388567683,
      -0.6069202433232745,
      -0.5879273739777233,
      -0.5710830163819685,
      -0.5546322590145834,
      -0.547047411021065,
      -0.5497230768694716,
      -0.5523001233992902,
      -0.556187001574671
    ],
    "yaw_diff": [
      0.008108522399329132,
      0.020189391066987472,
      0.037985738691102444,
      0.03368871519150973,
      0.03290151473477021,
      0.015169695987036658,
      -0.005351331696813233,
      -0.00515409305963721,
      -0.007773756350761607,
      -0.007773756350761607
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.717330740361316,
    "v_std": 0.16244152950323248,
    "vy_max": 0.09666300131292349,
    "a_max": 0.642233876588629,
    "ax_avg": 0.0611414169298677,
    "a_std": 0.17882864583569136,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7e2675bbae325f36",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7e2675bbae325f36",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "91081d9b9b0452b9": {
    "vx_ego": [
      5.29663335209739,
      5.626684042986083,
      5.77723226247962,
      5.677123912638008,
      5.478693752942117,
      5.299865707210345,
      5.34696625367652,
      5.595940212140354,
      5.888740272272481,
      6.203097007991331
    ],
    "vy_ego": [
      0.025148732268951868,
      -0.0035733147435119683,
      -0.0066793711872161765,
      0.00863265669916169,
      0.018871045389203367,
      0.016569414372605173,
      0.0191724470961252,
      0.022053563783928976,
      0.01663382373296418,
      -0.017407736930916684
    ],
    "v_ego": [
      5.296693055604145,
      5.626685177631006,
      5.7772361236697645,
      5.677130476059888,
      5.478726252960724,
      5.299891608321519,
      5.347000626583391,
      5.5959836684469515,
      5.888763764864044,
      6.203121433589388
    ],
    "ax_ego": [
      0.6598596451246576,
      0.6600143499554729,
      -0.05758983115417287,
      -0.3428975448679757,
      -0.45089840008383425,
      -0.2647074241308457,
      0.4532907508514464,
      0.5426525444358128,
      0.6286913456736305,
      0.6287345955041959
    ],
    "ay_ego": [
      0.023808943514931347,
      0.01904393161837392,
      0.07698820272622497,
      0.028334048562682512,
      0.05133529204302886,
      0.007307365525494408,
      -0.03732236646177281,
      0.02802476729953965,
      -0.07523200394994178,
      -0.0748697198743507
    ],
    "a_ego": [
      0.6602890405385631,
      0.6602890378301239,
      0.09614453708547592,
      0.34406619215557616,
      0.45381128171003476,
      0.2648082664512394,
      0.4548246517568885,
      0.5433757186007258,
      0.63317664402854,
      0.6331766471829868
    ],
    "yaw": [
      -0.5897559069435062,
      -0.5825355298957282,
      -0.5778539618436181,
      -0.5759419650584412,
      -0.5742109260440138,
      -0.5710498627235916,
      -0.5729809711287341,
      -0.5739343123870779,
      -0.5750478028158317,
      -0.575624038728995
    ],
    "yaw_diff": [
      0.014440754095556008,
      0.009363136104220127,
      0.0038239935703539008,
      0.003462078028854787,
      0.0063221266408444166,
      -0.0038622168102850907,
      -0.0019066825166875745,
      -0.002226980857507499,
      -0.0011524718263267175,
      -0.0011524718263267175
    ],
    "min_front_frame": [
      3,
      13.56935736697319
    ],
    "v_avg": 5.619123218773082,
    "v_std": 0.2724608482022203,
    "vy_max": 0.025148732268951868,
    "a_max": 0.6602890405385631,
    "ax_avg": 0.24571500313083874,
    "a_std": 0.18140756511599973,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "91081d9b9b0452b9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      14.427658989754994,
      14.177845793858166,
      13.865188413679423,
      13.56935736697319,
      13.68797939914752,
      14.254953883085795,
      15.077014603331467,
      16.14495921426134,
      17.19455776040866,
      18.07596526167805
    ],
    "safe_frame": [
      1,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "91081d9b9b0452b9",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d5cf4595a3435917": {
    "vx_ego": [
      2.982467623241715,
      2.460616766560842,
      1.9819470363946947,
      1.5474969853096767,
      1.1263961738605428,
      0.7197820446644736,
      0.3329759217917115,
      0.05789689616796098,
      -0.03481649529381474,
      -0.03932657147880671
    ],
    "vy_ego": [
      0.007627345472570601,
      -0.008330968147622464,
      -0.021038649980628654,
      -0.03480177511462745,
      -0.04238678435944798,
      -0.018254437078674968,
      0.0038273505418586207,
      -0.00292439922518176,
      -0.006529445246281044,
      0.00046645402380894943
    ],
    "v_ego": [
      2.9824773762903956,
      2.460630869697974,
      1.9820586973817707,
      1.5478882657006179,
      1.1271934084157893,
      0.7200134834115467,
      0.3329979175688794,
      0.05797070550469348,
      0.03542346679488621,
      0.039329337696356145
    ],
    "ax_ego": [
      -1.0437321866662383,
      -1.0436721827561066,
      -0.8710712469261594,
      -0.8668358158574349,
      -0.8177346981760846,
      -0.8087365010815921,
      -0.7384871380966325,
      -0.361828377713019,
      -0.009020151072886963,
      -0.009020063612036257
    ],
    "ay_ego": [
      -0.03928617579214261,
      -0.04084912313905459,
      -0.01807388013148359,
      -0.04464109655761783,
      0.009392814806989003,
      0.08679839875671991,
      0.0013995033564028758,
      -0.028427871799373505,
      0.013991280473810307,
      0.013991334854681103
    ],
    "a_ego": [
      1.0444712926124196,
      1.0444712901368451,
      0.8712587344552142,
      0.867984538546103,
      0.8177886411360398,
      0.8133810240031585,
      0.738488464191418,
      0.3629434099325634,
      0.016646893243921802,
      0.01664689155911682
    ],
    "yaw": [
      1.0842278771199036,
      1.0827303725971962,
      1.0818106737288584,
      1.080724841121265,
      1.079802800363376,
      1.0797111013694227,
      1.0796486756725434,
      1.079612672504993,
      1.0797386116546381,
      1.0797452729174446
    ],
    "yaw_diff": [
      -0.0029950090454149425,
      -0.0018393977366755188,
      -0.0021716652151866356,
      -0.0018440815157783064,
      -0.0001833979879064529,
      -0.0001248513937586182,
      -7.200633510073828e-05,
      0.0002518782992901869,
      1.3322525612924352e-05,
      1.3322525612924352e-05
    ],
    "min_front_frame": [
      8,
      12.581781185010541
    ],
    "v_avg": 1.128598352846291,
    "v_std": 1.0219139959094985,
    "vy_max": 0.04238678435944798,
    "a_max": 1.0444712926124196,
    "ax_avg": -0.6570138361958191,
    "a_std": 0.36798820066951243,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d5cf4595a3435917",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.682595038878885,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.349001856190846,
      15.91883239116649,
      14.91324082669001,
      13.964864772369147,
      13.327822789722303,
      12.892235298599372,
      12.661794436523868,
      12.605512454701694,
      12.581781185010541,
      12.614305702893974
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d5cf4595a3435917",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5b21d7acaa545a46": {
    "vx_ego": [
      5.400979706642093,
      5.5425138884243985,
      5.659658164880744,
      5.753546712444419,
      5.89100451085423,
      6.0019564370460445,
      6.05962543738446,
      6.148432286304287,
      6.288659513319028,
      6.446938774000531
    ],
    "vy_ego": [
      -0.03262224109751788,
      0.009887574640130126,
      0.0329340096866968,
      0.03454728419190922,
      0.029729183248868196,
      0.029166003851226474,
      -0.0002501172184330436,
      -0.024946526911299616,
      -0.02674352089260501,
      -0.026977939629679426
    ],
    "v_ego": [
      5.401078225889154,
      5.542522707893005,
      5.659753986905731,
      5.753650431432641,
      5.891079525116049,
      6.00202730150231,
      6.059625442546381,
      6.148482894867147,
      6.288716378591712,
      6.446995219863136
    ],
    "ax_ego": [
      0.24833703047781605,
      0.3131936338844909,
      0.15180852654267551,
      0.22570089177536606,
      0.3247693557633602,
      0.12002278796823777,
      0.11086449516768204,
      0.244198115697358,
      0.31639430154217046,
      0.3164670422114123
    ],
    "ay_ego": [
      -0.8117848072672499,
      -0.7890346068923817,
      -0.501478902807543,
      -0.337023388142615,
      -0.14421374172738788,
      -0.10167741856799808,
      -0.10307911705392828,
      -0.04679858756858897,
      -0.03104681050485529,
      -0.030296387122585866
    ],
    "a_ego": [
      0.8489204049947591,
      0.8489204103916855,
      0.523953164597863,
      0.4056176237582919,
      0.35534875509274233,
      0.15730151645270443,
      0.1513811106492565,
      0.24864196650717502,
      0.31791391679333936,
      0.3179139189760672
    ],
    "yaw": [
      -0.09927667292011372,
      -0.18026163851665977,
      -0.2417364662650564,
      -0.27880879995918323,
      -0.2986865142513577,
      -0.30888549719390146,
      -0.3124951155113423,
      -0.31459339838187905,
      -0.3174381167682787,
      -0.31980964244578713
    ],
    "yaw_diff": [
      -0.1619699311930921,
      -0.12294965549679326,
      -0.07414466738825365,
      -0.039755428584348995,
      -0.020397965885087466,
      -0.007219236634881665,
      -0.004196565741073521,
      -0.005689436772799317,
      -0.004743051355016847,
      -0.004743051355016847
    ],
    "min_front_frame": [
      1,
      19.43106994118315
    ],
    "v_avg": 5.919393211460726,
    "v_std": 0.3162444777677965,
    "vy_max": 0.03454728419190922,
    "a_max": 0.8489204103916855,
    "ax_avg": 0.23717561810305696,
    "a_std": 0.2396776214999035,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "5b21d7acaa545a46",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      19.43106994118315,
      19.603442165347293,
      19.661278800701126,
      19.958949329214256,
      20.160864259625,
      20.39947752403025,
      20.800122547520402,
      21.05087344779149,
      21.224400573652215
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "5b21d7acaa545a46",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "333ba3fb0fc85da9": {
    "vx_ego": [
      8.675375553433973,
      8.625689477725107,
      8.594636648297083,
      8.554739222919498,
      8.493641019135636,
      8.434742817003926,
      8.36155438364962,
      8.273594367717374,
      8.158427084399916,
      8.020840505811833
    ],
    "vy_ego": [
      -0.0958865293166089,
      -0.04293186012050754,
      -0.0011352071623416116,
      0.008023008167771462,
      0.03546256812149684,
      0.04757407529128699,
      0.06796303706742934,
      0.09507296093419804,
      0.11757743556926492,
      0.14889991944980974
    ],
    "v_ego": [
      8.675905440910718,
      8.625796317485769,
      8.594636723267984,
      8.554742985082449,
      8.493715050299322,
      8.434876980824269,
      8.361830582183403,
      8.274140597634624,
      8.159274290329083,
      8.02222248542659
    ],
    "ax_ego": [
      -0.09916086152504952,
      -0.09805400392942565,
      -0.025401746366085748,
      -0.1348301507360995,
      -0.10960295902603932,
      -0.12602670094015325,
      -0.16723310686565812,
      -0.185485638747572,
      -0.27580598545354773,
      -0.2756139818744454
    ],
    "ay_ego": [
      0.20085087900451065,
      0.20139354846802998,
      0.2253937072296331,
      0.10030539166688024,
      0.020266623738035408,
      0.036068583378852964,
      0.14062858382441482,
      0.04614163550222236,
      0.09497737885231099,
      0.09553307301852781
    ],
    "a_ego": [
      0.22399542864816377,
      0.2239954219423615,
      0.2268205722088817,
      0.16804862732246748,
      0.11146095578722962,
      0.13108650600582844,
      0.21850242703549336,
      0.1911386217079498,
      0.29170129260196637,
      0.2917012770713397
    ],
    "yaw": [
      2.5932250900170506,
      2.5987284597298688,
      2.6062740050609845,
      2.6146884258777545,
      2.6150056925010627,
      2.615238652003423,
      2.618069125060383,
      2.6204228461274877,
      2.621975636566792,
      2.6239911998619365
    ],
    "yaw_diff": [
      0.011006739425636347,
      0.015091090662231466,
      0.016828841633540037,
      0.0006345332466164422,
      0.0004659190047204831,
      0.005660946113920318,
      0.004707442134209039,
      0.0031055808786089045,
      0.004031126590288814,
      0.004031126590288814
    ],
    "min_front_frame": [
      3,
      59.81864995710461
    ],
    "v_avg": 8.41971414534442,
    "v_std": 0.20322679090180606,
    "vy_max": 0.14889991944980974,
    "a_max": 0.29170129260196637,
    "ax_avg": -0.14972151354640764,
    "a_std": 0.05666011234738235,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "333ba3fb0fc85da9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      61.54637120733893,
      61.16600396101207,
      60.70001683962364,
      59.81864995710461,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "333ba3fb0fc85da9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "38b4ff11393c5dec": {
    "vx_ego": [
      2.0039802443855974,
      1.917178144419606,
      1.8686405840037488,
      1.8928029048881019,
      1.9923685960235693,
      2.099542951966205,
      2.12179593307118,
      2.067212655715388,
      1.9675008054764662,
      1.8489594103555116
    ],
    "vy_ego": [
      0.022116308596359935,
      0.03138621180169854,
      0.01600319123103988,
      0.0011718035391018455,
      0.00879095006047892,
      -0.006477938695482743,
      -0.0380208945786803,
      -0.03130769727495786,
      -0.01152323842403713,
      0.010080722088464
    ],
    "v_ego": [
      2.0041022805719493,
      1.9174350397683528,
      1.8687091090684629,
      1.8928032676103375,
      1.9923879901324175,
      2.0995529454721327,
      2.1221365578166647,
      2.0674497178549536,
      1.9675345497790682,
      1.8489868907323346
    ],
    "ax_ego": [
      -0.17309154123177478,
      -0.17225772398880265,
      -0.02041349081959691,
      0.11696177962079508,
      0.2812939599874923,
      0.1471608499509621,
      -0.05576311085485017,
      -0.1587364621752458,
      -0.2383708724142107,
      -0.23567787809182575
    ],
    "ay_ego": [
      -0.04717539319824049,
      -0.05013458625281228,
      -0.10289906501939129,
      0.0072553853890617165,
      0.04105699765435658,
      -0.06841059791876156,
      0.0707757514234599,
      0.1416787796397708,
      0.12270253910820193,
      0.1277987616416586
    ],
    "a_ego": [
      0.17940512637435918,
      0.17940512872419,
      0.10490437640683388,
      0.11718659696913826,
      0.28427446065701145,
      0.16228470558217137,
      0.09010400391639484,
      0.21276781012203885,
      0.26809809010716906,
      0.26809808969667603
    ],
    "yaw": [
      0.5526927320928445,
      0.5355557759869588,
      0.5233487459597927,
      0.5184765866737505,
      0.5207964864057907,
      0.5248835505394884,
      0.5399271434410327,
      0.5619443650596634,
      0.5847868687288718,
      0.606286905294165
    ],
    "yaw_diff": [
      -0.03427391221177145,
      -0.02441406005433211,
      -0.009744318572084465,
      0.00463979946408033,
      0.008174128267395497,
      0.030087185803088445,
      0.04403444323726147,
      0.04568500733841674,
      0.0430000731305864,
      0.0430000731305864
    ],
    "min_front_frame": [
      9,
      11.674330334020281
    ],
    "v_avg": 1.9781098348806672,
    "v_std": 0.09168693746668566,
    "vy_max": 0.0380208945786803,
    "a_max": 0.28427446065701145,
    "ax_avg": -0.05088944900170572,
    "a_std": 0.0670876609844587,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "38b4ff11393c5dec",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.81128439004696,
    "right_rear_min": 19.344214167272508,
    "speed_mode": "quasi_constant",
    "front_frame": [
      20.18442122295487,
      19.424869197644803,
      18.59641136266177,
      17.70556526896119,
      16.739678869685896,
      15.70163974951636,
      14.638583514588385,
      13.62160947114085,
      12.601897546009136,
      11.674330334020281
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "38b4ff11393c5dec",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "82e565141eb55f88": {
    "vx_ego": [
      3.3782574639527443,
      2.894929176900786,
      2.441781375516051,
      2.0234310587991575,
      1.615596597773325,
      1.2508797197188761,
      1.0591001673245137,
      1.100233792184523,
      1.3671322551894765,
      1.760030820559466
    ],
    "vy_ego": [
      -0.08885944643433352,
      -0.14730499114269446,
      -0.09427498894543107,
      0.007751156299391271,
      0.021460548196499007,
      0.020658402448540225,
      0.008358611572221397,
      -0.015767025271993473,
      -0.011317012327263787,
      0.019883818514331963
    ],
    "v_ego": [
      3.379425911892883,
      2.8986744728732496,
      2.443600634178531,
      2.0234459049198863,
      1.6157391255600755,
      1.2510502958697145,
      1.059133150653981,
      1.1003467619576404,
      1.3671790950521001,
      1.760143134963159
    ],
    "ax_ego": [
      -0.9702041359111012,
      -0.9681900962832646,
      -0.8515380703747489,
      -0.8222029500336998,
      -0.8087344823972347,
      -0.649971746506496,
      -0.11706462746408579,
      0.2815784349064928,
      0.7858787469966246,
      0.7857525805194147
    ],
    "ay_ego": [
      -0.1798593966527116,
      -0.19040325435288918,
      0.2983948387174997,
      0.04267050892398022,
      -0.020228239117251967,
      0.004347168735130691,
      -0.05754994090039482,
      -0.04279441811596091,
      0.05436550820279645,
      0.05615947922777614
    ],
    "a_ego": [
      0.9867347505298899,
      0.9867347474418686,
      0.9023062479395749,
      0.8233094578443455,
      0.8089874193558931,
      0.649986283803525,
      0.13044586118748316,
      0.28481182774996144,
      0.7877569507552016,
      0.7877569453200995
    ],
    "yaw": [
      -0.645448348734735,
      -0.6563271951664104,
      -0.6661365826455443,
      -0.6736557318081107,
      -0.6781109373580055,
      -0.680352435739408,
      -0.6812720623559141,
      -0.6822046861081863,
      -0.6835349237000865,
      -0.6858178534850986
    ],
    "yaw_diff": [
      -0.02175769286335072,
      -0.019618774958267915,
      -0.015038298325132704,
      -0.008910411099789739,
      -0.004482996762804836,
      -0.0018392532330122613,
      -0.0018652475045444206,
      -0.002660475183800415,
      -0.0045658595700242,
      -0.0045658595700242
    ],
    "min_front_frame": [
      5,
      10.503099030986185
    ],
    "v_avg": 1.8898738487921218,
    "v_std": 0.75150963168831,
    "vy_max": 0.14730499114269446,
    "a_max": 0.9867347505298899,
    "ax_avg": -0.33346963465480983,
    "a_std": 0.2729298353105972,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "82e565141eb55f88",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.400300296568173,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.33514706317048,
      13.763629519183267,
      12.443737750652623,
      11.379067180041343,
      10.70729025704252,
      10.503099030986185,
      10.946973397918962,
      11.950933812408241,
      13.188463535745287,
      14.391758513803076
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "82e565141eb55f88",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d14ccafb937a543a": {
    "vx_ego": [
      3.702722386433335,
      3.9533471544663814,
      4.268467657214291,
      4.597232144774192,
      4.907426750019355,
      5.14580642181942,
      5.487991646603728,
      5.813333271716169,
      6.0286486320011115,
      6.290462350370974
    ],
    "vy_ego": [
      0.031129676742416068,
      -0.10411032543806642,
      -0.06048659862516681,
      -0.000392544504420389,
      0.07302054721642466,
      0.15429846138435022,
      0.14172396330254,
      0.08516955242446,
      0.04512670005566388,
      -0.11795977250364009
    ],
    "v_ego": [
      3.7028532414570066,
      3.9547177754664435,
      4.2688962003423905,
      4.597232161533318,
      4.9079699782212725,
      5.148119243570759,
      5.489821308108897,
      5.813957136125309,
      6.028817524787659,
      6.2915682535726996
    ],
    "ax_ego": [
      0.3535494890207874,
      0.6172531192970137,
      0.6175269974755115,
      0.6962364210017136,
      0.5842009490021007,
      0.4408591251224112,
      0.9731284644763909,
      0.3514752469765853,
      0.5151026429279986,
      0.5287325867772047
    ],
    "ay_ego": [
      -1.5975700225345708,
      -1.5153302626038632,
      -1.9409117479485167,
      -2.17391076415331,
      -2.206905513144697,
      -1.9428241640481476,
      -1.3456388772258743,
      -0.952121645203683,
      -0.6099503283447579,
      -0.5981738846611141
    ],
    "a_ego": [
      1.6362234621493388,
      1.6362234621362042,
      2.0367812857387726,
      2.2826811350757916,
      2.28291977361523,
      1.9922154754476438,
      1.6606393335929057,
      1.0149238771960287,
      0.7983546428745105,
      0.7983546483929821
    ],
    "yaw": [
      -2.2677968617781357,
      -2.436819637244997,
      -2.6567299178341894,
      -2.9016650528857832,
      3.137555975980111,
      2.9166913926964586,
      2.76280817117802,
      2.672462489627031,
      2.61308278806848,
      2.590519938024939
    ],
    "yaw_diff": [
      -0.3380455509337228,
      -0.43982056117838475,
      -0.4898702701031876,
      -0.4879285566273843,
      -0.44172916656730443,
      -0.3077664430368774,
      -0.1806913631019782,
      -0.11875940311710131,
      -0.045125700087082166,
      -0.045125700087082166
    ],
    "min_front_frame": [
      9,
      26.322577410492627
    ],
    "v_avg": 5.020395282318575,
    "v_std": 0.8442306370768131,
    "vy_max": 0.15429846138435022,
    "a_max": 2.28291977361523,
    "ax_avg": 0.5678065042077717,
    "a_std": 0.5393504352304274,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "d14ccafb937a543a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 28.41734107820009,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      70.2647430365453,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      72.84403531717882,
      29.43607328727985,
      26.322577410492627
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d14ccafb937a543a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "43b78800618758d9": {
    "vx_ego": [
      8.969880107351745,
      8.824012293385099,
      8.750738205376573,
      8.762303973952667,
      8.852474101764349,
      9.05616492559751,
      9.316227883088988,
      9.553422726704563,
      9.69753991056503,
      9.778056058055384
    ],
    "vy_ego": [
      0.02352978253721716,
      -0.014935500864528883,
      -0.004915161168564275,
      -0.008211345706137685,
      0.006619013869888057,
      0.044434595889400796,
      0.05410003988583689,
      0.04675762490540247,
      0.021351921125092765,
      0.02322731157686153
    ],
    "v_ego": [
      8.9699109689523,
      8.824024933271518,
      8.750739585763395,
      8.762307821467184,
      8.852476576289435,
      9.056273935396081,
      9.31638496327628,
      9.553537149694977,
      9.697563416731924,
      9.778083645708739
    ],
    "ax_ego": [
      -0.29936763249983256,
      -0.28351397165679065,
      -0.005154947764152151,
      0.04980771790739891,
      0.30839340992746195,
      0.5070354499107544,
      0.5349601944833755,
      0.4160226952072031,
      0.16094668086986788,
      0.1616649658192202
    ],
    "ay_ego": [
      -0.5668803043573989,
      -0.5749731083617406,
      -0.8639801660591061,
      -0.8502220294141263,
      -0.751826062374015,
      -0.5796770895952098,
      -0.32179939297712895,
      -0.23450246133474528,
      -0.11691213962437048,
      -0.11591686380136931
    ],
    "a_ego": [
      0.6410727406908611,
      0.6410727318048783,
      0.8639955444503008,
      0.8516796980462893,
      0.8126185595662357,
      0.7701366603842296,
      0.6242894032435115,
      0.4775628621443664,
      0.19892783232764438,
      0.19892782733161
    ],
    "yaw": [
      2.7027196337502626,
      2.6749531142260645,
      2.63271372091618,
      2.584120845961947,
      2.5367975692587663,
      2.4952903632396533,
      2.4696964106183725,
      2.4557561772034324,
      2.4492898453190595,
      2.443119764378405
    ],
    "yaw_diff": [
      -0.05553303904839613,
      -0.08447878661976915,
      -0.09718574990846562,
      -0.09464655340636163,
      -0.08301441203822613,
      -0.05118790524256145,
      -0.027880466829880213,
      -0.012932663768745911,
      -0.012340161881309264,
      -0.012340161881309264
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.156130299655183,
    "v_std": 0.37817665350290053,
    "vy_max": 0.05410003988583689,
    "a_max": 0.8639955444503008,
    "ax_avg": 0.15507945622045066,
    "a_std": 0.23392679232867664,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "43b78800618758d9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "43b78800618758d9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "16f3b92e5d56573a": {
    "vx_ego": [
      2.7147883398978956,
      2.556128944558997,
      2.446724730461089,
      2.3887160175985875,
      2.346867181906238,
      2.2796213412571698,
      2.1622189158385536,
      1.9828107041091545,
      1.6330075021554675,
      1.1631253343976593
    ],
    "vy_ego": [
      0.059348963003461375,
      0.009934147683967831,
      -0.002100748858136603,
      0.021943403128405148,
      0.0412187660239236,
      0.0172495598295217,
      0.015114933683464726,
      0.03354869375892322,
      0.0037985070476913574,
      0.043266497355163414
    ],
    "v_ego": [
      2.715436986905636,
      2.556148248537729,
      2.446725632308546,
      2.388816804544231,
      2.3472291230685305,
      2.279686602765707,
      2.1622717454636238,
      1.9830945018285868,
      1.6330119199662416,
      1.1639297802320598
    ],
    "ax_ego": [
      -0.328052333498154,
      -0.3144473459957115,
      -0.12435913050980238,
      -0.10825857833024752,
      -0.06572245047743047,
      -0.2079019057273374,
      -0.2591181754516764,
      -0.4639814812525771,
      -0.94896301804569,
      -0.9344892557666286
    ],
    "ay_ego": [
      0.2130019930226832,
      0.23261780891335476,
      0.21653455292654325,
      0.2668112641131045,
      0.12934794791486423,
      0.07360431147555307,
      0.3182945060915964,
      0.3615588352097854,
      0.2164570485300496,
      0.2722393988992028
    ],
    "a_ego": [
      0.39113703806366795,
      0.39113703279975515,
      0.24970463742640428,
      0.2879377891832178,
      0.14508732586461415,
      0.22054658708048266,
      0.4104310191219702,
      0.5882207122021396,
      0.9733367677616648,
      0.9733367656963681
    ],
    "yaw": [
      -0.750483653347118,
      -0.6894416636273685,
      -0.6392747220747446,
      -0.5992121948119477,
      -0.5654523106984872,
      -0.5334058301493205,
      -0.48846734403219516,
      -0.4162772072005012,
      -0.3230874433969103,
      -0.26387059650150657
    ],
    "yaw_diff": [
      0.122083979439499,
      0.10033388310524782,
      0.08012505452559382,
      0.06751976822692085,
      0.0640929610983334,
      0.08987697223425073,
      0.1443802736633879,
      0.1863795276071818,
      0.11843369379080748,
      0.11843369379080748
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.1676351345620892,
    "v_std": 0.44158601760389016,
    "vy_max": 0.059348963003461375,
    "a_max": 0.9733367677616648,
    "ax_avg": -0.3755293675055255,
    "a_std": 0.2802950704707263,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "16f3b92e5d56573a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 43.92472900230707,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "16f3b92e5d56573a",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "7c42db62ed515a8c": {
    "vx_ego": [
      0.9499169243336347,
      0.5669040713528057,
      0.23757066049262593,
      0.044260628244447764,
      -0.010767281734952085,
      -0.007504177897940477,
      -0.003420405928738702,
      -0.001607051494471253,
      -0.0008845942686987004,
      -0.0004982021417130646
    ],
    "vy_ego": [
      0.0010224915903846443,
      0.005770450784143233,
      0.010181167152572876,
      0.008045591622674882,
      0.0025550443912251974,
      0.0007762767673973768,
      0.00045395180842734413,
      0.0003218400590219827,
      0.00021060626748658492,
      6.578378060525557e-05
    ],
    "v_ego": [
      0.9499174746389945,
      0.5669334389667268,
      0.23778871901646462,
      0.04498593954950884,
      0.01106628247429841,
      0.007544222394888639,
      0.0034503983772494035,
      0.0016389617230044029,
      0.0009093195368621635,
      0.000502526496613069
    ],
    "ax_ego": [
      -0.7660272906153116,
      -0.7660259575946053,
      -0.5512964383798674,
      -0.22196336965971522,
      0.0018533757009281222,
      0.01119890631820813,
      0.0051362786331642036,
      0.0021170666262908416,
      0.0007727940842725625,
      0.0007728050955798332
    ],
    "ay_ego": [
      0.009651054453301666,
      0.009755868459508987,
      0.007377336448109062,
      -0.015756050227833315,
      -0.006201657801509683,
      -0.0009148989255504825,
      -0.0003736655891532774,
      -0.00015525932552090725,
      -0.00028958526603536255,
      -0.00028954233502541713
    ],
    "a_ego": [
      0.7660880842432518,
      0.7660880789296562,
      0.5513457971757793,
      0.22252188788853422,
      0.006472678037398177,
      0.011236215678242182,
      0.005149852829937609,
      0.002122752118905006,
      0.0008252698485898053,
      0.0008252650965151296
    ],
    "yaw": [
      -2.106438407743731,
      -2.106301582383178,
      -2.1066410024479625,
      -2.106231011603905,
      -2.1063306847462773,
      -2.1062944959873886,
      -2.1063332893824827,
      -2.106276939285147,
      -2.10629715731148,
      -2.106356206834164
    ],
    "yaw_diff": [
      0.00027365072110629995,
      -0.0006788401295692026,
      0.0008199816881147015,
      -0.00019934628474427285,
      7.237751777733337e-05,
      -7.75867901881e-05,
      0.00011270019467168879,
      -4.043605266623729e-05,
      -0.00011809904536796978,
      -0.00011809904536796978
    ],
    "min_front_frame": [
      2,
      9.174446421751744
    ],
    "v_avg": 0.18247372831746106,
    "v_std": 0.3081480773864729,
    "vy_max": 0.010181167152572876,
    "a_max": 0.7660880842432518,
    "ax_avg": -0.22834618297910558,
    "a_std": 0.31358299323668615,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7c42db62ed515a8c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.521149426544179,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      9.615056909149098,
      9.312098836507138,
      9.174446421751744,
      9.187246355279356,
      9.199797342786066,
      9.199920362033293,
      9.214699929966281,
      9.209836906568881,
      9.201004661826877,
      9.207540064370184
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7c42db62ed515a8c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "75cfb9c37e425214": {
    "vx_ego": [
      2.586827650996319,
      3.1207370156548504,
      3.654070957877518,
      4.137884444185823,
      4.552764388491317,
      4.925479185723081,
      5.231645209736458,
      5.404594306083443,
      5.47343279974535,
      5.5168437215875885
    ],
    "vy_ego": [
      -0.07262655126882223,
      -0.04326721875833239,
      -0.07657819768648272,
      -0.117630459106556,
      -0.16592684469331656,
      -0.18765457759281268,
      -0.1840175638017718,
      -0.1582497512488743,
      -0.10101230246087045,
      -0.02509343467288705
    ],
    "v_ego": [
      2.587846964545689,
      3.1210369387588837,
      3.654873292682639,
      4.139556087111833,
      4.555787011582587,
      4.92905259147058,
      5.234880520541607,
      5.4069106333580095,
      5.474364812339115,
      5.516900790197706
    ],
    "ax_ego": [
      1.052140762113094,
      1.099473106590131,
      1.0654660188775533,
      0.915888536367649,
      0.8015684593659081,
      0.750224045811247,
      0.5157519072576977,
      0.19005220937072043,
      0.08668959765244261,
      0.08641559280996977
    ],
    "ay_ego": [
      0.5957524521396842,
      0.5030706261280706,
      0.6767449690842109,
      0.7868449262993362,
      0.7925658591614677,
      0.775781484546963,
      0.5634520947639705,
      0.16092647579172642,
      0.12828849432179995,
      0.12847322612081621
    ],
    "a_ego": [
      1.2090993207881513,
      1.2090993205638,
      1.2622208961047874,
      1.2074670799208906,
      1.127241161490562,
      1.0792001810041016,
      0.7638575082656838,
      0.24903247358012823,
      0.15483224507994736,
      0.15483224635258921
    ],
    "yaw": [
      -1.870194221278903,
      -1.7840964632860636,
      -1.687385861216797,
      -1.5835244012317622,
      -1.481963102199244,
      -1.3948175587176226,
      -1.3300047570681603,
      -1.301021584868686,
      -1.2982581095922336,
      -1.3003924253566572
    ],
    "yaw_diff": [
      0.1721955159856785,
      0.19342120413853348,
      0.20772291997006942,
      0.2031225980650362,
      0.17429108696324302,
      0.12962560329892447,
      0.05796634439894888,
      0.00552695055290453,
      -0.0042686315288471555,
      -0.0042686315288471555
    ],
    "min_front_frame": [
      4,
      54.90171458656281
    ],
    "v_avg": 4.462120964258865,
    "v_std": 0.9960365307278977,
    "vy_max": 0.18765457759281268,
    "a_max": 1.2622208961047874,
    "ax_avg": 0.6563670236216412,
    "a_std": 0.44937922360994165,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "75cfb9c37e425214",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      54.90171458656281,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "75cfb9c37e425214",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c86c1d9c6e9c58aa": {
    "vx_ego": [
      5.07592128530306,
      5.243017701851986,
      5.407439578263661,
      5.521657902106385,
      5.557440684955649,
      5.5999196229085,
      5.66220654019665,
      5.721595967791161,
      5.782721414016683,
      5.831188388931491
    ],
    "vy_ego": [
      -0.021881117095848945,
      -0.026387924029441345,
      -0.014923226381081234,
      0.005709062092797534,
      0.013787930294968165,
      0.006345622318894406,
      0.022964420108786243,
      0.0510815205947141,
      0.0565317978154764,
      0.012591695586665952
    ],
    "v_ego": [
      5.075968447289447,
      5.243084106179098,
      5.4074601704735565,
      5.521660853518973,
      5.557457788757566,
      5.599923218219897,
      5.66225310882838,
      5.721823987190653,
      5.78299773441866,
      5.831201983982992
    ],
    "ax_ego": [
      0.3343245880100922,
      0.3345852060593278,
      0.3231958115097609,
      0.1336665928530523,
      0.009693220880797772,
      0.16022321390845182,
      0.08892441639027357,
      0.14762958988839575,
      0.09434291477651251,
      0.09687665253061414
    ],
    "ay_ego": [
      0.048463617817906784,
      0.04663037697121548,
      0.026658477669682334,
      0.04759680948187776,
      -0.06782605496720236,
      0.011561958212556173,
      0.12877811911430986,
      0.14923360329101876,
      0.13404518621751702,
      0.1322256096319776
    ],
    "a_ego": [
      0.3378189639438822,
      0.33781896360364455,
      0.32429339649323397,
      0.14188803444194237,
      0.06851519731751408,
      0.16063983675558938,
      0.1564971430824542,
      0.20991704114205945,
      0.1639167395863434,
      0.16391673998736517
    ],
    "yaw": [
      -1.517057638413303,
      -1.5115763745535027,
      -1.5102889776978847,
      -1.5106658683237097,
      -1.5130305963848907,
      -1.5142219412028965,
      -1.510947777041895,
      -1.5036674202479778,
      -1.492316358044997,
      -1.4732856448383114
    ],
    "yaw_diff": [
      0.010962527719600601,
      0.002574793711235923,
      -0.0007537812516500431,
      -0.004729456122361864,
      -0.0023826896360117367,
      0.0065483283220029165,
      0.014560713587834506,
      0.022702124405961754,
      0.03806142641337118,
      0.03806142641337118
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.540383139885923,
    "v_std": 0.2274057691598297,
    "vy_max": 0.0565317978154764,
    "a_max": 0.3378189639438822,
    "ax_avg": 0.17234622068072789,
    "a_std": 0.08934255213949734,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c86c1d9c6e9c58aa",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c86c1d9c6e9c58aa",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bf6e5d04e0d7576e": {
    "vx_ego": [
      0.5639688039557882,
      1.316823242027027,
      2.0070124091632304,
      2.54366022705715,
      2.928147556361253,
      3.166867725045609,
      3.3194426176775877,
      3.4679321352762775,
      3.629747261810086,
      3.8938162587568717
    ],
    "vy_ego": [
      0.020513657910459754,
      0.017110864119419422,
      0.012665400589342513,
      0.0015267246611081475,
      0.006238871069100149,
      0.010895844784438502,
      0.007642991695304691,
      0.03509974375086067,
      0.06266575168871702,
      0.13408699882823338
    ],
    "v_ego": [
      0.5643417599258358,
      1.3169344070277318,
      2.007052371740031,
      2.5436606852331196,
      2.9281542027933902,
      3.1668864689737646,
      3.3194514166314124,
      3.4681097570424813,
      3.6302881677702294,
      3.8961242767927877
    ],
    "ax_ego": [
      1.5055209466787665,
      1.505530040301713,
      1.2549046920063647,
      0.8912482209301522,
      0.6469149543590039,
      0.3161119208244542,
      0.31015727876453064,
      0.3314764331119309,
      0.3957272786121335,
      0.7342929416113226
    ],
    "ay_ego": [
      0.005459131051875787,
      -0.0015522514988050018,
      0.040011710931938116,
      -0.0029941964911891494,
      -0.04391092123759832,
      -0.4054809487092747,
      -0.7079404948555491,
      -1.1833009013244662,
      -1.5802255211464105,
      -1.4541412043464859
    ],
    "a_ego": [
      1.5055308442540691,
      1.5055308405129377,
      1.2555424019248773,
      0.8912532504983021,
      0.6484035218729511,
      0.5141415624645604,
      0.7729018578234487,
      1.2288521671803743,
      1.6290220307657628,
      1.6290220275608485
    ],
    "yaw": [
      -0.5695139825083331,
      -0.564856888034384,
      -0.5565531621477782,
      -0.5477661126274449,
      -0.553708168657674,
      -0.591583315121953,
      -0.6763386543668846,
      -0.8235988764918581,
      -1.0258119741862703,
      -1.2480468685490298
    ],
    "yaw_diff": [
      0.009314188947898039,
      0.016607451773211768,
      0.017574099040666535,
      -0.011884112060458252,
      -0.07575029292855784,
      -0.16951067848986323,
      -0.29452044424994717,
      -0.4044261953888244,
      -0.4444697887255189,
      -0.4444697887255189
    ],
    "min_front_frame": [
      6,
      61.07476031973744
    ],
    "v_avg": 2.684100351393078,
    "v_std": 1.025470442951674,
    "vy_max": 0.13408699882823338,
    "a_max": 1.6290220307657628,
    "ax_avg": 0.7891884707200372,
    "a_std": 0.3991879366989493,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "bf6e5d04e0d7576e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      68.49852930637614,
      67.73513195891925,
      66.83927521262699,
      65.64750603185227,
      64.295268699131,
      62.685363633184124,
      61.07476031973744,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bf6e5d04e0d7576e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0fde069313a35062": {
    "vx_ego": [
      5.486504995819145,
      5.35599359814899,
      5.21748151049767,
      5.062891682786235,
      4.881041493254302,
      4.714541681748944,
      4.608747332000311,
      4.508520506908841,
      4.349475403512944,
      4.161427107513093
    ],
    "vy_ego": [
      0.020718189048083868,
      0.037625188663029,
      0.024205091272385015,
      0.0222214777784151,
      0.06229431738023283,
      0.017098064440918215,
      -0.003756472525499266,
      -0.008982060560174254,
      0.0043468412837068815,
      0.0547677676229128
    ],
    "v_ego": [
      5.48654411378473,
      5.356125752653208,
      5.217537656675662,
      5.062940448563531,
      4.881438992842997,
      4.714572686124988,
      4.60874886290258,
      4.508529454115772,
      4.349477575616781,
      4.161787486106803
    ],
    "ax_ego": [
      -0.26169134069938577,
      -0.2579414027561926,
      -0.2961017111178707,
      -0.32248641487430374,
      -0.40746088842975137,
      -0.2627613427376009,
      -0.16323716491486936,
      -0.23723337530875616,
      -0.39839244735974194,
      -0.3603300390964254
    ],
    "ay_ego": [
      -0.18280491998852264,
      -0.18805911138390882,
      0.1372266070518158,
      0.30187208185020276,
      0.47541859657702046,
      0.6713537316698776,
      0.6500283097380744,
      0.6115197647070365,
      0.6098782776418266,
      0.6331116125492641
    ],
    "a_ego": [
      0.31921778861625516,
      0.3192177887122486,
      0.3263546613883191,
      0.4417286968027514,
      0.6261367403141473,
      0.7209433793747861,
      0.6702112916613552,
      0.6559238499915477,
      0.7284696669406665,
      0.728469663760929
    ],
    "yaw": [
      2.3014511452286173,
      2.2812290992185753,
      2.2813636484830835,
      2.3030909195357108,
      2.33404621760792,
      2.40345555067314,
      2.478959483122191,
      2.5491191273161755,
      2.614730830032216,
      2.675955010788315
    ],
    "yaw_diff": [
      -0.04044409202008392,
      0.0002690985290163539,
      0.04345454210525457,
      0.061910596144418406,
      0.13881866613044025,
      0.15100786489810147,
      0.14031928838796937,
      0.1312234054320811,
      0.12244836151219829,
      0.12244836151219829
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.834770302938706,
    "v_std": 0.41925555301478756,
    "vy_max": 0.06229431738023283,
    "a_max": 0.7284696669406665,
    "ax_avg": -0.2967636127294898,
    "a_std": 0.1710316279735766,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "0fde069313a35062",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "0fde069313a35062",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "c4e94b7583555176": {
    "vx_ego": [
      5.423683751603974,
      5.380223047350327,
      5.322545807693373,
      5.289566717318738,
      5.29904971777934,
      5.333687632332146,
      5.410278715346716,
      5.500023783393365,
      5.575683047356439,
      5.654322930172071
    ],
    "vy_ego": [
      -0.023320023417952918,
      -0.025813173239261467,
      -0.011895290457405228,
      -0.002823580544334403,
      0.011184536110867338,
      0.007545284439766875,
      -0.0027369654090608764,
      -0.01979607431868924,
      -0.035454117906377425,
      0.05183344305835069
    ],
    "v_ego": [
      5.423733885516985,
      5.38028497006918,
      5.322559099994041,
      5.289567470934956,
      5.299061521188947,
      5.333692969285931,
      5.4102794076381455,
      5.500059408992879,
      5.575795767337117,
      5.654560504980822
    ],
    "ax_ego": [
      -0.1170562313044553,
      -0.048675732438980435,
      -0.17045574692313847,
      0.04325840555498811,
      -0.002911048296954155,
      0.14576677346310052,
      0.1597477850675204,
      0.2023093202044507,
      0.10737397192996873,
      0.20382463896588005
    ],
    "ay_ego": [
      0.8530428472327412,
      0.8596597801033806,
      0.986442905580116,
      1.028305512460815,
      1.110910880292425,
      1.262228530064518,
      1.267259852645359,
      1.229427866036035,
      1.137205676561592,
      1.123931236922021
    ],
    "a_ego": [
      0.8610367358609875,
      0.8610367381568942,
      1.0010618200832888,
      1.0292150001862872,
      1.1109146943641883,
      1.2706174933293957,
      1.2772888823444426,
      1.2459622541744615,
      1.1422635075375236,
      1.1422635023402592
    ],
    "yaw": [
      -0.6010688022410346,
      -0.5212601980819123,
      -0.43790239239894013,
      -0.3442819980101441,
      -0.2460990254915018,
      -0.13354370165026067,
      -0.014016533392684435,
      0.10350872543213549,
      0.21283161286811425,
      0.29809158456600926
    ],
    "yaw_diff": [
      0.15961720831824477,
      0.16671561136594426,
      0.1872407887775921,
      0.19636594503728455,
      0.2251106476824823,
      0.23905433651515245,
      0.23505051764963986,
      0.21864577487195752,
      0.17051994339579002,
      0.17051994339579002
    ],
    "min_front_frame": [
      6,
      36.311178672384905
    ],
    "v_avg": 5.418959500593901,
    "v_std": 0.11660091871618257,
    "vy_max": 0.05183344305835069,
    "a_max": 1.2772888823444426,
    "ax_avg": 0.052318213622238006,
    "a_std": 0.14635710036193667,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "c4e94b7583555176",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      36.311178672384905,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "c4e94b7583555176",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "9b2878b173fc5b04": {
    "vx_ego": [
      8.791911407687454,
      8.88524083601672,
      8.987584410648822,
      9.044661507188742,
      9.056723979312256,
      9.04254692231629,
      8.988363483875052,
      8.908191988496116,
      8.775314436980656,
      8.60977240756376
    ],
    "vy_ego": [
      -0.12257227026728579,
      -0.0842026516839347,
      -0.08645448341464634,
      -0.12226597536955808,
      -0.0528685755474938,
      0.03270156459262896,
      0.0736723507757504,
      0.07716339048946841,
      0.1246892844511529,
      0.22954840192902815
    ],
    "v_ego": [
      8.79276578569356,
      8.88563980817193,
      8.988000217859378,
      9.045487866796064,
      9.05687828800465,
      9.04260605326908,
      8.988665403358125,
      8.908526179606715,
      8.776200253272373,
      8.612831902392758
    ],
    "ax_ego": [
      0.18735486335643803,
      0.18847763383595673,
      0.22304880970922597,
      0.010292751976412134,
      0.039105634634889586,
      -0.09579635201624927,
      -0.12157083937216447,
      -0.2009184780937138,
      -0.33330935993458777,
      -0.3320237917905179
    ],
    "ay_ego": [
      0.18495297940843597,
      0.183808681450628,
      0.07512777012523222,
      0.1722850476545477,
      0.21686446723419733,
      0.1668576602995539,
      0.08756091359927062,
      0.17873541213228664,
      0.2867205414818297,
      0.2882082506961803
    ],
    "a_ego": [
      0.26326687869036414,
      0.2632668794835754,
      0.2353613251082094,
      0.17259223154179826,
      0.2203620834194706,
      0.19240171480593013,
      0.14982116865113404,
      0.2689137080730406,
      0.4396632783479173,
      0.4396632735222553
    ],
    "yaw": [
      2.585745768142785,
      2.591835151958181,
      2.599334585837177,
      2.610134850633677,
      2.6132176041562376,
      2.6143603150942445,
      2.616869978254228,
      2.6239118844221734,
      2.631682870799927,
      2.6361549492181617
    ],
    "yaw_diff": [
      0.012178767630791398,
      0.014998867757991974,
      0.021600529592999962,
      0.006165507045121643,
      0.0022854218760137712,
      0.0050193263199673765,
      0.0140838123358904,
      0.01554197275550706,
      0.008944156836469652,
      0.008944156836469652
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.909760175842464,
    "v_std": 0.13796266377953634,
    "vy_max": 0.22954840192902815,
    "a_max": 0.4396632783479173,
    "ax_avg": -0.04353391276943107,
    "a_std": 0.09538370497242889,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9b2878b173fc5b04",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9b2878b173fc5b04",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "373707159e77583c": {
    "vx_ego": [
      8.015129639683105,
      8.186912616259388,
      8.383283323933233,
      8.628109801448304,
      8.88877579653102,
      9.14000580638439,
      9.386398809037583,
      9.593979341144403,
      9.698786651632577,
      9.72511238378239
    ],
    "vy_ego": [
      0.009271049620672489,
      0.011802411318482697,
      0.013850715972793637,
      -0.03353391906705916,
      -0.08554238122623659,
      -0.062325397710203845,
      0.00637253795886128,
      0.017898168940822856,
      0.012720161714630862,
      0.019589808857086055
    ],
    "v_ego": [
      8.01513500156346,
      8.186921123547,
      8.383294765882326,
      8.628174967487405,
      8.889187401555978,
      9.140218301328481,
      9.386400972233298,
      9.593996036207074,
      9.698794993008168,
      9.725132114157045
    ],
    "ax_ego": [
      0.312509755898657,
      0.3714656228914332,
      0.4108013777126443,
      0.5638812372221296,
      0.4876489567682468,
      0.5237822686463722,
      0.4622972118553298,
      0.36689885360771435,
      0.05104587288366304,
      0.0535436069152226
    ],
    "ay_ego": [
      0.9897288658196874,
      0.9691433664339487,
      0.9609146064078773,
      0.7138109798665428,
      0.63657083494345,
      0.4963467318904821,
      0.3396052190120933,
      0.28998232941999047,
      0.22752357669074152,
      0.22694876671019243
    ],
    "a_ego": [
      1.0378947804900858,
      1.0378947796829154,
      1.0450428951668023,
      0.9096637646236073,
      0.8018877308811755,
      0.7216009584297284,
      0.5736291631964535,
      0.4676585508193974,
      0.23317945683229221,
      0.23317945997186207
    ],
    "yaw": [
      -0.84443885049425,
      -0.7842633327778541,
      -0.7262535563969243,
      -0.6713492296266024,
      -0.6269216424570331,
      -0.5980650386736743,
      -0.5829330060426797,
      -0.5675818538699621,
      -0.5536902366591121,
      -0.5426985407980305
    ],
    "yaw_diff": [
      0.12035103543279191,
      0.11601955276185949,
      0.10980865354064395,
      0.08885517433913859,
      0.057713207566717495,
      0.030264065261989215,
      0.030702304345435305,
      0.027783234421699943,
      0.021983391722163237,
      0.021983391722163237
    ],
    "min_front_frame": [
      8,
      53.515400198132525
    ],
    "v_avg": 8.964725567697023,
    "v_std": 0.6070750613339918,
    "vy_max": 0.08554238122623659,
    "a_max": 1.0450428951668023,
    "ax_avg": 0.36038747644014124,
    "a_std": 0.3012676714275408,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "373707159e77583c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      76.6763098413723,
      72.00268985692664,
      67.40687201266,
      59.14334848126094,
      58.22245857523409,
      53.515400198132525,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "373707159e77583c",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "3251e54ebe415e5c": {
    "vx_ego": [
      2.196803965837271,
      1.691231414882188,
      1.1466490303692733,
      0.584330177963635,
      0.162259386133208,
      -0.011481406972866998,
      -0.028097024242271524,
      -0.017195467090970043,
      -0.009487163332562117,
      -0.00472441557002545
    ],
    "vy_ego": [
      -0.011388633195282605,
      -0.0052337687588678294,
      -0.010837487523732814,
      -0.015114078550423349,
      0.005229304139650698,
      0.014312134841745485,
      0.00534501686048873,
      0.002681294437286837,
      0.0015372943769711486,
      0.0011475055738182252
    ],
    "v_ego": [
      2.1968334860167302,
      1.6912395132032094,
      1.1467002441713448,
      0.5845256129969342,
      0.16234362941030506,
      0.01834829446583262,
      0.0286009086658047,
      0.017403259129716454,
      0.009610907454563188,
      0.004861776580658843
    ],
    "ax_ego": [
      -1.0111441073153467,
      -1.0111428925983545,
      -1.1671838356850757,
      -1.0820982508055255,
      -0.6061864492610858,
      -0.08876652033392182,
      0.022298646483299777,
      0.021307901149089932,
      0.009525367988527999,
      0.009525327349957213
    ],
    "ay_ego": [
      0.01263488643701799,
      0.012732093112147125,
      -0.03337182092607349,
      0.01596684214475752,
      0.06536320498453968,
      -0.02903695413292564,
      -0.006857343733491962,
      -0.003795607698194446,
      -0.0007800841439717767,
      -0.0007805964320044241
    ],
    "a_ego": [
      1.0112230446908466,
      1.0112230493057326,
      1.1676608174964371,
      1.0822160433316692,
      0.6097002212838813,
      0.09339507394670334,
      0.02332922626377564,
      0.021643319735613134,
      0.009557257273326387,
      0.009557258598233122
    ],
    "yaw": [
      -0.7401679903734006,
      -0.74007185853348,
      -0.739763338768617,
      -0.7398506638698208,
      -0.7398852971709464,
      -0.7400034859443454,
      -0.739811798959376,
      -0.7398334012960304,
      -0.739840128122846,
      -0.739786248086719
    ],
    "yaw_diff": [
      0.0001922636798412647,
      0.0006170395297260267,
      -0.0001746502024075891,
      -6.926660225126113e-05,
      -0.0002363775467979501,
      0.0003833739699388161,
      -4.320467330876099e-05,
      -1.3453653631367857e-05,
      0.00010776007225410389,
      0.00010776007225410389
    ],
    "min_front_frame": [
      5,
      8.940575994597951
    ],
    "v_avg": 0.58604676320951,
    "v_std": 0.7704791377831887,
    "vy_max": 0.015114078550423349,
    "a_max": 1.1676608174964371,
    "ax_avg": -0.4903864813028436,
    "a_std": 0.49211364946986835,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3251e54ebe415e5c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.5866180532424705,
    "speed_mode": "decelerating",
    "front_frame": [
      10.80203010175788,
      10.107450302464047,
      9.503005634497367,
      9.09302816564079,
      8.956049555594522,
      8.940575994597951,
      9.0288517391331,
      9.052156806076868,
      9.086627937328696,
      9.079888631307083
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3251e54ebe415e5c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aed9613a27115d52": {
    "vx_ego": [
      1.4779317602782118,
      1.9922180686917244,
      2.5118840770190314,
      2.9864339748332127,
      3.4250375787442406,
      3.85740930821538,
      4.1564172275635665,
      4.26039702464609,
      4.274358740357453,
      4.280606887676326
    ],
    "vy_ego": [
      0.009711894912337593,
      0.01195043798028661,
      0.01024193674430851,
      -0.00467947504761379,
      0.001449064181648474,
      0.0257721555113688,
      0.04143549216281328,
      0.024045482807322216,
      -0.006147964898517655,
      -0.008736818595183937
    ],
    "v_ego": [
      1.4779636696961946,
      1.9922539110740138,
      2.511904957129156,
      2.986437640990487,
      3.4250378852791123,
      3.8574954018256924,
      4.15662375848452,
      4.260464879899456,
      4.274363161775394,
      4.280615803692404
    ],
    "ax_ego": [
      1.0286263238941031,
      1.0286440342368226,
      1.0502123858887844,
      0.8480773138531131,
      0.906234889318198,
      0.8233453271159357,
      0.3730256425819355,
      0.04335069294324326,
      0.012485298194662436,
      0.0124907965748129
    ],
    "ay_ego": [
      -0.007455070552150667,
      -0.004374640095718529,
      -0.03216215275791601,
      -0.06429961527698258,
      0.0711923768801937,
      0.010067978058894811,
      0.011361342257506513,
      -0.12039899148445125,
      -0.009921484930004023,
      -0.009914570507827729
    ],
    "a_ego": [
      1.0286533392182393,
      1.0286533364778303,
      1.0507047442284805,
      0.8505113584174404,
      0.9090269683257026,
      0.8234068811139736,
      0.3731986202031809,
      0.1279656193246152,
      0.015947367626851085,
      0.01594737305727953
    ],
    "yaw": [
      2.6257781989079083,
      2.622783528786332,
      2.6194822743686483,
      2.616168426414109,
      2.6147910939383308,
      2.613693487048404,
      2.6111570639679993,
      2.6088346424599584,
      2.6082758638839834,
      2.607721762560047
    ],
    "yaw_diff": [
      -0.005989340243152341,
      -0.006602508835367615,
      -0.006627695909078746,
      -0.002754664951556407,
      -0.0021952137798537663,
      -0.0050728461608091635,
      -0.004644843016081701,
      -0.001117557151950166,
      -0.0011082026478730356,
      -0.0011082026478730356
    ],
    "min_front_frame": [
      0,
      12.278883403925413
    ],
    "v_avg": 3.322316106984643,
    "v_std": 0.9817420667228438,
    "vy_max": 0.04143549216281328,
    "a_max": 1.0507047442284805,
    "ax_avg": 0.612649270460161,
    "a_std": 0.4159637422324139,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aed9613a27115d52",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      12.278883403925413,
      13.079112778329861,
      13.864687891545387,
      14.670019715097895,
      15.334522929933842,
      15.84720147515594,
      16.01577424567473,
      15.996854523844059,
      15.956523239517303,
      15.964105401376917
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aed9613a27115d52",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "41d8a2d6fa6853c5": {
    "vx_ego": [
      2.9769129613815295,
      3.452002892063174,
      3.90418955986494,
      4.28870225114877,
      4.66243217908253,
      5.02069823077941,
      5.166476959883094,
      5.194792961839719,
      5.307420624442303,
      5.457692092152534
    ],
    "vy_ego": [
      0.04740199529777467,
      0.018756777960510895,
      0.01065979816269813,
      0.0204267697113254,
      0.04675148183568911,
      0.04821527388045421,
      0.03505162903837977,
      -0.03992967416440152,
      -0.08637632129987427,
      -0.11629917810486656
    ],
    "v_ego": [
      2.9772903333063705,
      3.4520538500336255,
      3.9042041123198543,
      4.288750896465003,
      4.662666568134387,
      5.020929738324055,
      5.166595861270853,
      5.19494641890158,
      5.308123449359182,
      5.458931074081461
    ],
    "ax_ego": [
      0.9497592023498524,
      0.9527978966013331,
      0.856461877790546,
      0.6830977171969025,
      0.8134564439136652,
      0.6208756303934574,
      -0.03471373688166257,
      0.14807517111631738,
      0.2990990955790178,
      0.2997535597212083
    ],
    "ay_ego": [
      -0.179748595435745,
      -0.1628750054755968,
      -0.10857083982487603,
      -0.15079058892335218,
      -0.06415148018568095,
      -0.06099885961369467,
      -0.23866725781263445,
      -0.2768263986363774,
      -0.11985627754293737,
      -0.1182099842109394
    ],
    "a_ego": [
      0.9666189011235767,
      0.9666189006928223,
      0.8633160344675563,
      0.6995429171591052,
      0.815982106761343,
      0.6238648966648503,
      0.24117857176808188,
      0.31394125450968247,
      0.32222010527376477,
      0.3222201063445398
    ],
    "yaw": [
      -0.4980600446172895,
      -0.5157973813900621,
      -0.5319927563259371,
      -0.5501091178522577,
      -0.5680622882505753,
      -0.5747934202470607,
      -0.5867249662288576,
      -0.5971735605075698,
      -0.6072502551812873,
      -0.6127484021662686
    ],
    "yaw_diff": [
      -0.03547467354554534,
      -0.032390749871749946,
      -0.036232723052641136,
      -0.03590634079663513,
      -0.013462263992970902,
      -0.02386309196359382,
      -0.020897188557424284,
      -0.020153389347435047,
      -0.0109962939699626,
      -0.0109962939699626
    ],
    "min_front_frame": [
      8,
      28.004916000274022
    ],
    "v_avg": 4.543449230219637,
    "v_std": 0.8121143710115866,
    "vy_max": 0.11629917810486656,
    "a_max": 0.9666189011235767,
    "ax_avg": 0.5588662857780637,
    "a_std": 0.27538162642560104,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "41d8a2d6fa6853c5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 21.9636354350396,
    "right_rear_min": 22.510711074561286,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      53.352094578079594,
      51.61166013785891,
      49.481186615987035,
      37.96250853428264,
      35.68714276696908,
      33.19695904087889,
      30.62681790722847,
      28.004916000274022,
      34.38356486740417
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1111111111111111,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8888888888888888,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "41d8a2d6fa6853c5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a1adc0fae78f5a3f": {
    "vx_ego": [
      9.224671666208112,
      9.24030553150041,
      9.258755774093604,
      9.27031547524454,
      9.263670823783679,
      9.253934026720454,
      9.229958666686192,
      9.189478774590988,
      9.172893464576035,
      9.176385089238774
    ],
    "vy_ego": [
      0.08153196037967847,
      0.09065059660200481,
      0.04565053574194167,
      0.0066026008032071815,
      -0.046499281439704276,
      -0.06065488707641231,
      -0.06174168108064748,
      -0.03501835856858326,
      -0.024778513268444158,
      -0.06470703984269921
    ],
    "v_ego": [
      9.2250319679612,
      9.240750177671798,
      9.258868313985527,
      9.270317826530857,
      9.263787525337323,
      9.25413280573717,
      9.230165167748527,
      9.18954549660075,
      9.172926931311594,
      9.176613226403786
    ],
    "ax_ego": [
      0.032156109879548075,
      0.033863873736046685,
      0.04120446988787421,
      0.005364226862221565,
      -0.03193957919309712,
      -0.007683221404165632,
      -0.08886113158912345,
      -0.07280753166016576,
      0.006485312488306111,
      0.006918132866794234
    ],
    "ay_ego": [
      -0.168858163249968,
      -0.16852397984803053,
      -0.1799428976244462,
      -0.13002000678447284,
      -0.08122367770770506,
      -0.09639575405299727,
      0.012543852147319661,
      0.1309198635813298,
      -0.13759174104535266,
      -0.13757066148533062
    ],
    "a_ego": [
      0.1718926836684401,
      0.17189268084543424,
      0.18460025662014304,
      0.1301306155140432,
      0.08727784678483576,
      0.09670146477996788,
      0.08974212463494126,
      0.14980302849608898,
      0.1377444971022885,
      0.13774450066653857
    ],
    "yaw": [
      1.9363873256346555,
      1.926263778144373,
      1.9217099507807842,
      1.9175625052192105,
      1.9175938868131261,
      1.9143257388808912,
      1.9121774494398411,
      1.9131703783874712,
      1.9118719967027191,
      1.9087261269421454
    ],
    "yaw_diff": [
      -0.020247094980565095,
      -0.009107654727177561,
      -0.008294891123147519,
      6.27631878313828e-05,
      -0.00653629586446991,
      -0.0042965788821001105,
      0.001985857895260068,
      -0.002596763369504096,
      -0.006291739521147477,
      -0.006291739521147477
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.228213943928854,
    "v_std": 0.03469195938444291,
    "vy_max": 0.09065059660200481,
    "a_max": 0.18460025662014304,
    "ax_avg": -0.007529933812576109,
    "a_std": 0.03350674249217004,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "a1adc0fae78f5a3f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "a1adc0fae78f5a3f",
    "road_shape": "Straight"
  },
  "94ae12c4703950be": {
    "vx_ego": [
      4.571839299760432,
      4.37588843572566,
      4.183111016643416,
      3.976517498003269,
      3.6857798391587515,
      3.255342673501586,
      2.7075443325022093,
      2.060340337611137,
      1.3300918610376684,
      0.571362673005638
    ],
    "vy_ego": [
      0.043130743008716,
      0.03150802240380335,
      0.015237000536231449,
      0.00015813912042483835,
      -0.015153989890426267,
      -0.012605776739378127,
      -0.002322481914063701,
      -0.01814054766563311,
      -0.028775097270517302,
      -0.023737759523331514
    ],
    "v_ego": [
      4.572042743000818,
      4.376001868988787,
      4.183138766972577,
      3.9765175011477267,
      3.685810991648746,
      3.255367080304102,
      2.70754532859324,
      2.0604201965271995,
      1.330403083663585,
      0.5718555633473676
    ],
    "ax_ego": [
      -0.39182324819417735,
      -0.39177426972704876,
      -0.3791763834258302,
      -0.44715135803851425,
      -0.7158430007311237,
      -1.00605684868886,
      -1.1851392344045446,
      -1.4037036162705632,
      -1.5174911799208035,
      -1.5174971925842105
    ],
    "ay_ego": [
      -0.0352966220359586,
      -0.03583612212757209,
      -0.05557381212519061,
      -0.03865891405582639,
      -0.05092994598520745,
      0.040134844300268535,
      -0.015637797933351627,
      -0.062422396776404154,
      0.009291617105320005,
      0.008251728675170433
    ],
    "a_ego": [
      0.3934098490792843,
      0.3934098449064342,
      0.38322731940979654,
      0.4488193942240724,
      0.7176524653993712,
      1.0068570844567597,
      1.1852423995323467,
      1.4050908860107119,
      1.5175196259969306,
      1.5175196277238359
    ],
    "yaw": [
      -2.2700543113537073,
      -2.2714313033870965,
      -2.2729697739844577,
      -2.2750438137375792,
      -2.2768770793605806,
      -2.278373295881952,
      -2.279757873428989,
      -2.281291088282482,
      -2.282840220194195,
      -2.283525485124291
    ],
    "yaw_diff": [
      -0.0027539840667785143,
      -0.003076941194722238,
      -0.004148079506243185,
      -0.003666531246002691,
      -0.0029924330427428814,
      -0.0027691550940742715,
      -0.003066429706986007,
      -0.0030982638234258175,
      -0.0013705298601918159,
      -0.0013705298601918159
    ],
    "min_front_frame": [
      9,
      11.951451696368913
    ],
    "v_avg": 3.0719103124194147,
    "v_std": 1.2982188044816974,
    "vy_max": 0.043130743008716,
    "a_max": 1.5175196277238359,
    "ax_avg": -0.8955656331985675,
    "a_std": 0.4612588765157661,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "94ae12c4703950be",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.080611803383988,
      22.55856995006316,
      20.833435948575517,
      19.125947903643787,
      17.432460690885616,
      15.822174393081943,
      14.38325104219193,
      13.22881379500201,
      12.399021278054695,
      11.951451696368913
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "94ae12c4703950be",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e0ae2ba5807f558a": {
    "vx_ego": [
      3.204920237024869,
      2.9456392060151324,
      2.6927605587816594,
      2.418048354352558,
      2.110864093615662,
      1.7769059958816347,
      1.412080445108282,
      1.0562584361602816,
      0.7295118918334421,
      0.4138356242169922
    ],
    "vy_ego": [
      -0.01751923525544674,
      0.0012109882922689552,
      0.004543474125518809,
      -0.003002780518433723,
      -0.0226026064430348,
      -0.01587969654304683,
      0.0018535811721934192,
      -0.01283479988833075,
      -0.010364657936405036,
      0.019135595079526474
    ],
    "v_ego": [
      3.204968119856339,
      2.945639454941168,
      2.6927643918633586,
      2.4180502188081117,
      2.110985101684493,
      1.7769769505996422,
      1.4120816616684624,
      1.0563364123459615,
      0.7295855168933567,
      0.41427779915186763
    ],
    "ax_ego": [
      -0.5187131944386746,
      -0.5181784665908931,
      -0.49366125426869856,
      -0.6051828284316118,
      -0.6232328692242269,
      -0.7113943220311858,
      -0.7480613960313552,
      -0.6752279823379871,
      -0.6314365143904984,
      -0.6313047244034599
    ],
    "ay_ego": [
      0.07730626382774963,
      0.08081283076221199,
      0.02166417332228121,
      0.029030540813448996,
      -0.012200099371809103,
      0.10787941261945025,
      0.00541000641339226,
      -0.039038294505211846,
      0.06077541798304967,
      0.062129437989459135
    ],
    "a_ego": [
      0.5244422146545602,
      0.5244422149811085,
      0.49413638843125335,
      0.6058787239443277,
      0.6233522693518845,
      0.7195275179486383,
      0.7480809584542124,
      0.6763555400601852,
      0.6343545720940589,
      0.6343545712919664
    ],
    "yaw": [
      1.2382576435697872,
      1.2450212307542214,
      1.2529351434984144,
      1.2608047877749187,
      1.2713077595124769,
      1.2801045067703787,
      1.2867264772526192,
      1.2918537918893103,
      1.2951939974771998,
      1.2973385699390185
    ],
    "yaw_diff": [
      0.013527174368868522,
      0.015827825488385905,
      0.015739288553008546,
      0.021005943475116418,
      0.01759349451580361,
      0.013243940964481116,
      0.010254629273382054,
      0.006680411175779,
      0.004289144923637522,
      0.004289144923637522
    ],
    "min_front_frame": [
      9,
      13.470598023917068
    ],
    "v_avg": 1.876166562781276,
    "v_std": 0.9096261432411096,
    "vy_max": 0.0226026064430348,
    "a_max": 0.7480809584542124,
    "ax_avg": -0.6156393552148591,
    "a_std": 0.0801190769623215,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e0ae2ba5807f558a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.562340344006508,
      20.103808763548525,
      18.636859593307584,
      17.43411840598021,
      16.46844039192372,
      15.54473009699038,
      14.694260465632798,
      14.147535550526387,
      13.781246968015013,
      13.470598023917068
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e0ae2ba5807f558a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "abf38de966305279": {
    "vx_ego": [
      5.670381592131038,
      5.062674202459587,
      4.534852376696151,
      4.083395052068292,
      3.6074124064638133,
      3.128102370628839,
      2.6302661804051217,
      2.1039392985771794,
      1.598943755887892,
      1.1075172528333035
    ],
    "vy_ego": [
      -0.021344140174068382,
      -0.02132586216508736,
      -0.00587758106312819,
      -0.014024705370178525,
      -0.019086555334845157,
      -0.0048558819649073826,
      0.014094862863999191,
      -0.0017113129309195285,
      -0.020463918723365504,
      -0.025451994930709487
    ],
    "v_ego": [
      5.670421763211119,
      5.062719118482369,
      4.534856185634323,
      4.083419136412099,
      3.607462898894955,
      3.128106139619214,
      2.6303039453534836,
      2.103939994555306,
      1.5990747032150798,
      1.1078096719966748
    ],
    "ax_ego": [
      -1.2153267419699725,
      -1.21518621176023,
      -0.8961274375175415,
      -0.9096840937021242,
      -0.9942060634722122,
      -0.922979344934437,
      -1.068349193044881,
      -1.0370999827922,
      -0.9827931343439006,
      -0.9828012456805162
    ],
    "ay_ego": [
      0.03665685542591601,
      0.04105205177879123,
      0.007383887212182139,
      -0.026566666598302757,
      0.013542819859346023,
      0.054160011265103836,
      0.016601450317971278,
      -0.058304294928948563,
      -0.007300878805922839,
      -0.00611389981461552
    ],
    "a_ego": [
      1.2158794408974374,
      1.2158794348978137,
      0.8961578577807136,
      0.9100719411721254,
      0.9942982976022111,
      0.9245670219058425,
      1.0684781731192774,
      1.0387375824118157,
      0.9828202520017824,
      0.9828202624499138
    ],
    "yaw": [
      -2.0329995524841795,
      -2.029382876836595,
      -2.0300845749412804,
      -2.0293071290725297,
      -2.0288387936837657,
      -2.028036426919045,
      -2.0284714375016675,
      -2.0261946646486346,
      -2.0249200016420903,
      -2.0237122408745383
    ],
    "yaw_diff": [
      0.007233351295169221,
      -0.0014033962093709107,
      0.0015548917375012294,
      0.0009366707775280148,
      0.001604733529441127,
      -0.0008700211652445944,
      0.004553545706065698,
      0.0025493260130886597,
      0.002415521535104048,
      0.002415521535104048
    ],
    "min_front_frame": [
      9,
      11.489049426879435
    ],
    "v_avg": 3.3528113557374626,
    "v_std": 1.4331357769177726,
    "vy_max": 0.025451994930709487,
    "a_max": 1.2158794408974374,
    "ax_avg": -1.0224553449218017,
    "a_std": 0.10922647130269397,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "abf38de966305279",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.822538994288446,
    "right_rear_min": 11.319781509772826,
    "speed_mode": "decelerating",
    "front_frame": [
      26.4848991110054,
      23.84247562109318,
      21.43834312640278,
      19.278772848814334,
      17.353189266092627,
      15.697510796205412,
      14.256412091479572,
      13.0674287804848,
      12.153252378339639,
      11.489049426879435
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "abf38de966305279",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3bd0bc4b1100504c": {
    "vx_ego": [
      2.467222855182811,
      2.4408120374290774,
      2.38441418225613,
      2.258727917261002,
      1.9690223282523693,
      1.4872270710517115,
      0.9157846581837231,
      0.35886928157850356,
      0.024225104143506315,
      -0.13014813840175368
    ],
    "vy_ego": [
      -0.0782711162023555,
      -0.034100976993283405,
      0.0009450995950913699,
      -0.002087389556251429,
      -0.015789208096048224,
      -0.008558029358135877,
      0.0035346943216830184,
      0.016381194354399588,
      0.015109696457442413,
      -0.004192093671796522
    ],
    "v_ego": [
      2.4684640942837275,
      2.441050240918974,
      2.384414369558575,
      2.2587288817849265,
      1.9690856325332025,
      1.487251693808263,
      0.9157914796658825,
      0.3592429606674957,
      0.028550982431429124,
      0.1302156349245172
    ],
    "ax_ego": [
      -0.05521022938879276,
      -0.03953621922559415,
      -0.18408419209767607,
      -0.31903531444707944,
      -0.8390562432524072,
      -1.088141920755858,
      -1.19819158649604,
      -1.0299187027151147,
      -0.30874329249816373,
      -0.3087579229035673
    ],
    "ay_ego": [
      0.3237732387433428,
      0.3260585321377463,
      0.27635355573669973,
      0.25898938358348267,
      0.21172300844477737,
      0.11352024651505227,
      0.04250668978493499,
      0.03396446031212769,
      -0.0387021323387444,
      -0.038585238810388806
    ],
    "a_ego": [
      0.32844676822206176,
      0.32844676739233714,
      0.33205161880131123,
      0.41092460704282385,
      0.865356580633527,
      1.0940473874906362,
      1.1989453267878272,
      1.0304785872431697,
      0.3111595663163393,
      0.31115956615501944
    ],
    "yaw": [
      2.636365199541388,
      2.68459605670718,
      2.732128067488589,
      2.7906410807888453,
      2.8509198776614317,
      2.893022051710023,
      2.9151678155262277,
      2.9253435449295955,
      2.9262022793872946,
      2.9265808796734154
    ],
    "yaw_diff": [
      0.09646171433158379,
      0.09506402156281801,
      0.11702602660051298,
      0.12055759374517283,
      0.0842043480971828,
      0.04429152763240918,
      0.0203514588067355,
      0.001717468915398257,
      0.0007572005722416009,
      0.0007572005722416009
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.4442795970576994,
    "v_std": 0.9515571661246875,
    "vy_max": 0.0782711162023555,
    "a_max": 1.1989453267878272,
    "ax_avg": -0.5370675623780293,
    "a_std": 0.35720822974012006,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "3bd0bc4b1100504c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.618977323384141,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "3bd0bc4b1100504c",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "1f6d3d52a6685c15": {
    "vx_ego": [
      3.5482875556105973,
      3.9321004860349635,
      4.3457571112372655,
      4.753710355061645,
      5.149609689748348,
      5.527525427734995,
      5.872645071714103,
      6.207092588894155,
      6.5169592639949805,
      6.799828633154483
    ],
    "vy_ego": [
      -0.04113121003502296,
      -0.024737652009144906,
      -0.04183585205286522,
      -0.05745816780445856,
      -0.03133205483095736,
      -0.02078444384246758,
      -0.009384897820939764,
      0.01167738181303657,
      0.02590753185685757,
      0.008938157087726717
    ],
    "v_ego": [
      3.5485259409704155,
      3.93217830009059,
      4.345958479827695,
      4.754057591244321,
      5.149705006542608,
      5.527564504134056,
      5.872652570571075,
      6.2071035731934385,
      6.517010760216444,
      6.799834507612644
    ],
    "ax_ego": [
      0.7146429881538011,
      0.830957769757855,
      0.84483047090973,
      0.799297094883287,
      0.7912361422531426,
      0.7175658206965508,
      0.6629789326457359,
      0.6742088143478432,
      0.5647115013976943,
      0.5659616151289697
    ],
    "ay_ego": [
      0.994937908008858,
      0.9000695672878981,
      0.9911873264120667,
      0.8320074116693064,
      0.6730601492150452,
      0.3383011978446453,
      0.22347708401220412,
      0.1207090797434077,
      0.11628801589632588,
      0.11004286671172722
    ],
    "a_ego": [
      1.2249963433865574,
      1.2249963432920004,
      1.3023789159140504,
      1.1537383494369602,
      1.0387803412026115,
      0.7933148224349753,
      0.6996306684320499,
      0.6849293447333271,
      0.5765604759710314,
      0.576560475850996
    ],
    "yaw": [
      -2.1632375669979504,
      -2.0406322030298387,
      -1.9223537132236292,
      -1.81896030457485,
      -1.7482923181761802,
      -1.7029928748308123,
      -1.680381766870576,
      -1.6696201522092093,
      -1.662559147976164,
      -1.6515124790380207
    ],
    "yaw_diff": [
      0.24521072793622345,
      0.23655697961241895,
      0.20678681729755866,
      0.14133597279733934,
      0.0905988866907359,
      0.045222215920472486,
      0.021523229322733428,
      0.014122008466090463,
      0.022093337876286867,
      0.022093337876286867
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.265459123440329,
    "v_std": 1.0531227841492434,
    "vy_max": 0.05745816780445856,
    "a_max": 1.3023789159140504,
    "ax_avg": 0.7166391150174609,
    "a_std": 0.2749903803512239,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "1f6d3d52a6685c15",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1f6d3d52a6685c15",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bc12361c48f15f75": {
    "vx_ego": [
      7.9470223693281685,
      7.3686839233547134,
      6.6481303722583105,
      5.7013523839080875,
      4.708546317513787,
      3.781289368805499,
      2.903622520810181,
      2.1265710327472345,
      1.4770277282443651,
      0.8765870693725798
    ],
    "vy_ego": [
      0.011258731623061902,
      -0.00698834845568852,
      -0.0032167404137908306,
      0.012652418445759261,
      0.0033050011319444295,
      -0.027492159508905933,
      -0.041651190153950246,
      -0.017155216921056482,
      0.010376768528233327,
      0.02383728396357651
    ],
    "v_ego": [
      7.947030344577782,
      7.368687237175992,
      6.64813115047848,
      5.70136642298905,
      4.708547477429226,
      3.78138930943059,
      2.9039212394617926,
      2.1266402278681857,
      1.4770641784728917,
      0.8769111165323247
    ],
    "ax_ego": [
      -1.15667184669866,
      -1.156692847820312,
      -1.7253537104073375,
      -2.0618848102679785,
      -1.9093653723448023,
      -1.7997083325622,
      -1.7110897787489643,
      -1.3972533698076444,
      -1.2009273058601857,
      -1.2008996668065022
    ],
    "ay_ego": [
      -0.015690240258595,
      -0.014057403254410128,
      0.09324535822475344,
      0.037720195322808125,
      -0.06879909293961772,
      -0.07078815542564992,
      0.004243834636244559,
      0.0851441153007998,
      0.028583203894197717,
      0.029721806483061053
    ],
    "a_ego": [
      1.1567782607676638,
      1.1567782651765723,
      1.7278715585502382,
      2.0622298087141036,
      1.9106044698730085,
      1.801099954261945,
      1.7110950415075135,
      1.3998451699417238,
      1.2012674113225004,
      1.2012674121595843
    ],
    "yaw": [
      2.8043141286517512,
      2.8057257721409647,
      2.807989405667884,
      2.810703373271216,
      2.811007600767695,
      2.810038692625433,
      2.8092951412802494,
      2.8084271673720798,
      2.808933475739633,
      2.8098815857510138
    ],
    "yaw_diff": [
      0.002823286978427042,
      0.004527267053838102,
      0.005427935206664181,
      0.0006084549929585847,
      -0.0019378162845242741,
      -0.0014871026903673368,
      -0.001735947816339234,
      0.001012616735106775,
      0.0018962200227612414,
      0.0018962200227612414
    ],
    "min_front_frame": [
      9,
      9.056633513279753
    ],
    "v_avg": 4.353968870441632,
    "v_std": 2.3866502447248807,
    "vy_max": 0.041651190153950246,
    "a_max": 2.0622298087141036,
    "ax_avg": -1.5319847041324586,
    "a_std": 0.3294159019172669,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bc12361c48f15f75",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 22.63160199830668,
    "right_rear_min": 9.974047826151239,
    "speed_mode": "decelerating",
    "front_frame": [
      21.08242305366119,
      19.409583674920796,
      17.6353950396126,
      15.974548989314453,
      14.370023689215913,
      12.92959521191078,
      11.645605800654309,
      10.477358103996465,
      9.592508011555525,
      9.056633513279753
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.2,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bc12361c48f15f75",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4be4c3659ea0575c": {
    "vx_ego": [
      1.8672958455145499,
      2.7656316664056178,
      3.6052097687905578,
      4.145170888346546,
      4.238672096806006,
      4.06455421195583,
      3.6561733233248654,
      2.996094884492642,
      2.2295465983336493,
      1.4360279539165615
    ],
    "vy_ego": [
      0.02601500494824527,
      0.03939556636418451,
      0.049595606252901714,
      0.02897506644257497,
      -0.020042294541666728,
      -0.04700571253407415,
      -0.06584624252214355,
      -0.0728700520696417,
      -0.0558165978258609,
      -0.05179452048621935
    ],
    "v_ego": [
      1.8674770561263543,
      2.7659122409929546,
      3.6055508873322615,
      4.145272156091931,
      4.238719480906034,
      4.0648260084459595,
      3.6567662077095764,
      2.9969809144156407,
      2.2302451718889564,
      1.4369617102700347
    ],
    "ax_ego": [
      1.7967156289961308,
      1.7967018913539128,
      1.560709910231562,
      0.5967720428700768,
      -0.2231759979832577,
      -0.47264117216180673,
      -1.1606229622721638,
      -1.479218835941729,
      -1.586936307002269,
      -1.5869247692924566
    ],
    "ay_ego": [
      0.023610003022086046,
      0.02463356848337095,
      0.09818332263135265,
      0.004399938082576327,
      -0.05947690888139241,
      0.015442086967781099,
      -0.06851443457397222,
      0.05904238802606898,
      0.010882925321700432,
      0.012451428910363327
    ],
    "a_ego": [
      1.7968707476392578,
      1.796870751915939,
      1.5637951875926537,
      0.5967882627921357,
      0.23096542764212247,
      0.4728933660693573,
      1.1626434914875683,
      1.480396692845747,
      1.5869736231410898,
      1.5869736171328832
    ],
    "yaw": [
      2.2592368091775388,
      2.2586671184578107,
      2.2650449170499205,
      2.2766238738177256,
      2.2848317249780608,
      2.288646085078774,
      2.2900581299982488,
      2.291441330425349,
      2.2916042496264026,
      2.292592642019823
    ],
    "yaw_diff": [
      -0.001139381439456244,
      0.012755597184219702,
      0.023157913535610142,
      0.016415702320670356,
      0.007628720201426908,
      0.0028240898389491065,
      0.002766400854200768,
      0.00032583840210698156,
      0.001976784786840824,
      0.001976784786840824
    ],
    "min_front_frame": [
      0,
      13.597313640003394
    ],
    "v_avg": 3.1008711834179703,
    "v_std": 0.951274832380863,
    "vy_max": 0.0728700520696417,
    "a_max": 1.796870751915939,
    "ax_avg": -0.07586205712020008,
    "a_std": 0.5521209871123035,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4be4c3659ea0575c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.663698428061399,
    "speed_mode": "decelerating",
    "front_frame": [
      13.597313640003394,
      14.61832273716776,
      15.337051687485591,
      15.909083119117433,
      16.46854937182291,
      16.684813010796244,
      18.381557703240553,
      -1,
      -1,
      14.698288037825465
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4be4c3659ea0575c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b1ce459acfb95179": {
    "vx_ego": [
      8.32779081244288,
      7.658336630190857,
      6.997436059691593,
      6.502055829933918,
      5.957092630525678,
      5.331725139964515,
      4.764746966556056,
      4.139702662219511,
      3.506669790879776,
      2.8561090205891455
    ],
    "vy_ego": [
      0.09512815704289085,
      0.07228566072413575,
      0.04236020221263545,
      0.013389941410242884,
      0.0177899677023641,
      0.009846941209408405,
      -0.01748231664307892,
      -0.008875664214078718,
      0.029064769148084153,
      0.08170315408580348
    ],
    "v_ego": [
      8.328334118061692,
      7.65867776826192,
      6.997564275960865,
      6.5020696171379635,
      5.957119194007637,
      5.331734232909665,
      4.764779038601931,
      4.139712177072525,
      3.506790239389069,
      2.8572774004072925
    ],
    "ax_ego": [
      -1.3392307668617671,
      -1.3392579079336582,
      -1.3050819615120137,
      -0.676749735862328,
      -1.5030712898790612,
      -0.9989421941440633,
      -1.2688027117788918,
      -1.231223082571466,
      -1.3009101440634971,
      -1.3010384082218103
    ],
    "ay_ego": [
      -0.014822127684383984,
      -0.012123541609652004,
      -0.013655083710618347,
      -0.03408798647709033,
      0.11574699335828958,
      -0.06388222441763339,
      0.01621567495908565,
      0.05544928225469437,
      0.0977116101724349,
      0.09598865605658802
    ],
    "a_ego": [
      1.3393127873571016,
      1.3393127805796523,
      1.3051533961857469,
      0.6776077005257489,
      1.5075213659945883,
      1.000982740029967,
      1.2689063281156132,
      1.2324710552217215,
      1.304574551986125,
      1.3045745520129892
    ],
    "yaw": [
      -1.613854825537679,
      -1.6118398200966355,
      -1.6086336459900004,
      -1.6060802113201855,
      -1.6035513844743803,
      -1.5998051519417216,
      -1.5967723489747248,
      -1.5946791444973623,
      -1.594587860611576,
      -1.5959122181281682
    ],
    "yaw_diff": [
      0.004030010882086987,
      0.0064123482132703025,
      0.005106869339629672,
      0.005057653691610486,
      0.007492465065317422,
      0.006065605933993634,
      0.004186408954724996,
      0.00018256777157255044,
      -0.0026487150331844234,
      -0.0026487150331844234
    ],
    "min_front_frame": [
      9,
      14.775836392127639
    ],
    "v_avg": 5.604405806181056,
    "v_std": 1.7141257883406167,
    "vy_max": 0.09512815704289085,
    "a_max": 1.5075213659945883,
    "ax_avg": -1.2264308202828558,
    "a_std": 0.21834721354234196,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b1ce459acfb95179",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.11017502549716,
      27.357963439795977,
      24.38100351673634,
      21.478885729447985,
      25.686386205710008,
      22.86348777553897,
      20.328257663484738,
      18.126369060505912,
      16.361729058560424,
      14.775836392127639
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b1ce459acfb95179",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "53414ba6577d5923": {
    "vx_ego": [
      -0.11098135137599263,
      0.3101936785813856,
      0.859238053166771,
      1.4676029198486213,
      1.9492916759633,
      2.2995228552719755,
      2.555843106550137,
      2.7891819939884614,
      3.026991057051214,
      3.3243055204535152
    ],
    "vy_ego": [
      0.007409949679209431,
      -0.015515650948649665,
      -0.043069552371888475,
      -0.03816019765032386,
      -0.0013043252424410623,
      0.049432733420020414,
      0.08980631283845764,
      0.10202527225399938,
      0.09740290995730783,
      0.1477074622875608
    ],
    "v_ego": [
      0.11122844828320656,
      0.3105814766791675,
      0.8603168127796513,
      1.4680989513765448,
      1.9492921123433884,
      2.3000541204614193,
      2.5574204111028545,
      2.791047357492874,
      3.0285577733198648,
      3.3275854140402092
    ],
    "ax_ego": [
      0.8419710650133495,
      0.8424996865026667,
      1.3510800170050226,
      1.0726416312887608,
      0.8636375921282486,
      0.5803447029953128,
      0.5248547989680163,
      0.5110606024750152,
      0.5224368631413884,
      0.7517771619061596
    ],
    "ay_ego": [
      -0.05267547906269568,
      -0.04340803552639985,
      -0.15514717822328078,
      -0.27038030563138715,
      -0.5629898301851974,
      -0.8351446236616696,
      -1.0417976265417423,
      -1.2228678682100083,
      -1.2155958016353021,
      -1.0887812124755896
    ],
    "a_ego": [
      0.8436172001649792,
      0.843617199507782,
      1.359958771162177,
      1.1061941867715344,
      1.030935225622365,
      1.0169889462160884,
      1.1665396927099243,
      1.3253636340652386,
      1.3231074895572115,
      1.323107489890181
    ],
    "yaw": [
      1.3066783559169606,
      1.2956750776994492,
      1.2533036280450096,
      1.1604902610951222,
      1.0193654152868223,
      0.8345670925618823,
      0.6260085605475325,
      0.4105652573721714,
      0.20317169767428755,
      0.004777457683251614
    ],
    "yaw_diff": [
      -0.022006556435022695,
      -0.08474289930887924,
      -0.1856267338997748,
      -0.28224969161659974,
      -0.36959664544988,
      -0.41711706402869964,
      -0.4308866063507222,
      -0.41478711939576773,
      -0.3967884799820719,
      -0.3967884799820719
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.870418287787918,
    "v_std": 1.08097023729109,
    "vy_max": 0.1477074622875608,
    "a_max": 1.359958771162177,
    "ax_avg": 0.7862304121423941,
    "a_std": 0.1881464669017334,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "53414ba6577d5923",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 38.94193377952803,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "53414ba6577d5923",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "16df188810315dc7": {
    "vx_ego": [
      4.919939572978272,
      5.179200068871891,
      5.406750754319416,
      5.55803128904331,
      5.66289032472982,
      5.756644630771539,
      5.855600043318895,
      5.98265121667652,
      6.097252309398476,
      6.186177284316044
    ],
    "vy_ego": [
      -0.03786870955900066,
      -0.03468445715560253,
      -0.014193172254613112,
      -0.014773671542790023,
      -0.011854617348893592,
      -0.019055468592051206,
      -0.022026626439350272,
      -0.01723543406777739,
      -0.02000389573335437,
      -0.04140127409094352
    ],
    "v_ego": [
      4.920085308297132,
      5.179316206312449,
      5.406769383418552,
      5.558050923782121,
      5.662902732863341,
      5.756676169099149,
      5.855641471229992,
      5.982676043426433,
      6.097285123750534,
      6.186315822723907
    ],
    "ax_ego": [
      0.5152670741639175,
      0.5188860091732925,
      0.38974561702674615,
      0.21437602302374775,
      0.20364798215394375,
      0.17087714966350143,
      0.22237535680016984,
      0.28315261094349975,
      0.17296415274201304,
      0.17996609055696955
    ],
    "ay_ego": [
      -0.19298589268701813,
      -0.1830328420082763,
      -0.24862284061837017,
      -0.28092791953700114,
      -0.2759317005944621,
      -0.36268541056230685,
      -0.35910067101131243,
      -0.3398771064489241,
      -0.3173855789642283,
      -0.31346835566229797
    ],
    "a_ego": [
      0.5502215122054475,
      0.5502215115473157,
      0.46229315684823474,
      0.3533802134003349,
      0.3429443162210519,
      0.4009235679177164,
      0.42237908474825986,
      0.44237071396309025,
      0.36145567344865515,
      0.3614556732878657
    ],
    "yaw": [
      1.5747544343451332,
      1.5555063307599406,
      1.5313217207654923,
      1.507376695830052,
      1.4820503626945878,
      1.4553706258124635,
      1.4247721512756053,
      1.3944040594940204,
      1.367720056544581,
      1.345522683291352
    ],
    "yaw_diff": [
      -0.038496207170385155,
      -0.04836921998889654,
      -0.047890049870880524,
      -0.05065266627092857,
      -0.053359473764248655,
      -0.06119694907371631,
      -0.0607361835631699,
      -0.05336800589887858,
      -0.04439474650645803,
      -0.04439474650645803
    ],
    "min_front_frame": [
      2,
      63.96023405292597
    ],
    "v_avg": 5.66057191849036,
    "v_std": 0.3837998821546339,
    "vy_max": 0.04140127409094352,
    "a_max": 0.5502215122054475,
    "ax_avg": 0.2871258066247801,
    "a_std": 0.07319675994690229,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "16df188810315dc7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.127687599574672,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      63.96023405292597,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      75.906122399957
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "16df188810315dc7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2b04c510144e5545": {
    "vx_ego": [
      2.2964997883109195,
      1.3690971959783247,
      0.5425034520266125,
      0.059183709492914335,
      -0.05454440752266893,
      -0.038692784003137776,
      -0.02330392503975665,
      -0.014190778052738615,
      -0.009716374087242474,
      -0.006594197512215941
    ],
    "vy_ego": [
      -0.07848048711984945,
      -0.029064465386361982,
      0.0027760419216256715,
      0.009736409038048632,
      0.006867100209161814,
      0.0035028756287215843,
      0.0029175432049748495,
      0.002145984010628159,
      0.0016998002890193445,
      0.0010308982879817423
    ],
    "v_ego": [
      2.297840391448167,
      1.3694056649451638,
      0.5425105546157989,
      0.05997923916071188,
      0.054974989379550164,
      0.038851018925940235,
      0.023485846389080633,
      0.014352122808698358,
      0.009863936659660141,
      0.006674293379098539
    ],
    "ax_ego": [
      -1.854749071430213,
      -1.8546478121753192,
      -1.4517208970756919,
      -0.48156279440118793,
      0.026649370760292036,
      0.03675612284847335,
      0.024799637310918696,
      0.0116528649523682,
      0.006244508762957161,
      0.006244609965102895
    ],
    "ay_ego": [
      0.1015384854478143,
      0.10337166105419093,
      0.025646843556427656,
      0.0022869061363118837,
      -0.013769733914352635,
      0.00029898726629888975,
      -0.0026375843019357595,
      -0.00044920040765382245,
      -0.0013368178795695085,
      -0.0013363515148331747
    ],
    "a_ego": [
      1.857526361050705,
      1.8575263679193899,
      1.4519474245270245,
      0.48156822454472337,
      0.0299965753710583,
      0.03675733886229352,
      0.02493950403883222,
      0.011661519738197396,
      0.006385998100045559,
      0.006385999450944175
    ],
    "yaw": [
      2.2916042496264026,
      2.292592642019823,
      2.2930500102750844,
      2.2931784727192728,
      2.2932013656744505,
      2.2932737218993453,
      2.293250628277999,
      2.293258815253641,
      2.29328748122892,
      2.2932125913799384
    ],
    "yaw_diff": [
      0.001976784786840824,
      0.0009147365105226513,
      0.00025692488837680827,
      4.578591035553359e-05,
      0.00014471244978953024,
      -4.61872426926746e-05,
      1.6373951283732424e-05,
      5.73319505585701e-05,
      -0.00014977969796348134,
      -0.00014977969796348134
    ],
    "min_front_frame": [
      1,
      14.698288037825465
    ],
    "v_avg": 0.44179380577118693,
    "v_std": 0.7420829431777588,
    "vy_max": 0.07848048711984945,
    "a_max": 1.8575263679193899,
    "ax_avg": -0.55303334604823,
    "a_std": 0.7694664963783194,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2b04c510144e5545",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.7852490701508823,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      14.698288037825465,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2b04c510144e5545",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "83158ad924fc506c": {
    "vx_ego": [
      1.0870518097040935,
      0.6444936684981442,
      0.2727635722217645,
      0.03870135266588421,
      -0.04338055608621095,
      -0.033056931063854704,
      -0.018709914881530287,
      -0.010869900285823875,
      -0.007160960811490535,
      -0.0043879074005752534
    ],
    "vy_ego": [
      -0.043003735998884185,
      -0.03148071541882924,
      0.003545613449361343,
      0.01366873474506132,
      -0.006608424289379989,
      -0.006682226668224961,
      -0.003347133600821479,
      -0.0019845707995229337,
      -0.0012499670517512828,
      -0.0006127110283652376
    ],
    "v_ego": [
      1.0879020903972962,
      0.6452620585293056,
      0.272786615701559,
      0.04104423233171732,
      0.043881020019335935,
      0.03372555180580414,
      0.019006951839152342,
      0.011049581597602375,
      0.007269234992361093,
      0.004430479224678011
    ],
    "ax_ego": [
      -0.8849565114967649,
      -0.8848846518414976,
      -0.6020018993893663,
      -0.3343036412295187,
      0.0059766189417783475,
      0.035317074345426434,
      0.022070763494061424,
      0.009289555638912015,
      0.005546081351249154,
      0.005546052840696213
    ],
    "ay_ego": [
      0.026406783155818903,
      0.028713871924452294,
      0.11197879528847107,
      -0.07126640678244901,
      -0.00984872129427797,
      0.009557315489562493,
      0.0037844112070112186,
      0.001664440611410429,
      0.0012746849664147036,
      0.0012747933091296067
    ],
    "a_ego": [
      0.8853504082775149,
      0.8853504015391546,
      0.6123279656055749,
      0.3418154842528294,
      0.011520298828918809,
      0.036587402472537035,
      0.02239286425168845,
      0.009437489418132047,
      0.0056906801103450986,
      0.005690676593586755
    ],
    "yaw": [
      -2.0946764947991046,
      -2.092069386054785,
      -2.0917224734202176,
      -2.0912728580956523,
      -2.09123666355808,
      -2.0912593244796636,
      -2.0912732476018396,
      -2.0912467053389436,
      -2.0912673870572958,
      -2.0912871680091496
    ],
    "yaw_diff": [
      0.00521421748863915,
      0.0006938252691348623,
      0.0008992306491304447,
      7.238907514484083e-05,
      -4.532184316730081e-05,
      -2.7846244352147664e-05,
      5.308452579200207e-05,
      -4.1363436704244805e-05,
      -3.956190370768553e-05,
      -3.956190370768553e-05
    ],
    "min_front_frame": [
      6,
      10.075009023944352
    ],
    "v_avg": 0.21663578164388117,
    "v_std": 0.3478935779020814,
    "vy_max": 0.043003735998884185,
    "a_max": 0.8853504082775149,
    "ax_avg": -0.26224005573450243,
    "a_std": 0.35616328963243404,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "83158ad924fc506c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.053872361439605,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.766664163920472,
      10.345855200987364,
      10.163289883591982,
      10.07992017834224,
      10.08360493870204,
      10.081670320991067,
      10.075009023944352,
      10.085652348970699,
      10.119667780771856,
      10.127542545404669
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "83158ad924fc506c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a3fe8c1981c45693": {
    "vx_ego": [
      2.687828671661851,
      3.6438248976297722,
      4.55230570140289,
      5.387285127569714,
      6.180534331082082,
      6.944873745546666,
      7.659712547157641,
      8.248025706905358,
      8.709396215719854,
      9.142205441608114
    ],
    "vy_ego": [
      8.094891099141854e-05,
      0.019126852236022063,
      0.009515585153340833,
      0.002135756296504754,
      0.0036661339039714136,
      0.012889196836078476,
      0.01002924717964504,
      0.012138066414641546,
      -0.0414940839889586,
      -0.03896919559036238
    ],
    "v_ego": [
      2.687828672880814,
      3.6438750967977867,
      4.552315646501906,
      5.387285550923469,
      6.180535418410127,
      6.944885706257407,
      7.659719113053898,
      8.248034638289774,
      8.709495060071015,
      9.142288495490282
    ],
    "ax_ego": [
      1.9119911641238403,
      1.9119924446045529,
      1.7220068656007728,
      1.618103495990884,
      1.5573522435308438,
      1.5014931629726775,
      1.360496427698736,
      0.9959844105423622,
      0.8494551073425035,
      0.8750424992883454
    ],
    "ay_ego": [
      0.03833646878136154,
      0.03827230497167361,
      -0.087172088658868,
      -0.0919137784809615,
      -0.333010261314644,
      -0.3721606068364854,
      -0.4668886587433197,
      -0.574925283436257,
      -0.6895969140783681,
      -0.6568245647389319
    ],
    "a_ego": [
      1.9123754590891042,
      1.912375454128383,
      1.7242118832142839,
      1.6207119011140037,
      1.5925582703849177,
      1.5469276763102393,
      1.43837948728566,
      1.1500104467254535,
      1.0941288239035987,
      1.094128824410216
    ],
    "yaw": [
      2.907977472545654,
      2.9080110447733003,
      2.907376934827588,
      2.899872802452241,
      2.8812665321743554,
      2.8530302594879364,
      2.8247664724176342,
      2.7919468044902005,
      2.7610562914166117,
      2.7230528678687547
    ],
    "yaw_diff": [
      6.714445529265589e-05,
      -0.0012682198914246712,
      -0.015008264750694167,
      -0.037212540555771056,
      -0.05647254537283786,
      -0.056527574140604386,
      -0.06563933585486748,
      -0.06178102614717762,
      -0.07600684709571404,
      -0.07600684709571404
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.315626339867648,
    "v_std": 2.09632732064401,
    "vy_max": 0.0414940839889586,
    "a_max": 1.9123754590891042,
    "ax_avg": 1.4303917821695518,
    "a_std": 0.29508217480330534,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "a3fe8c1981c45693",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "a3fe8c1981c45693",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0f6aef2cc48d5621": {
    "vx_ego": [
      3.3028324480147835,
      3.3388082067669633,
      3.383343401532202,
      3.4770035693122168,
      3.655810433750035,
      3.998674376433809,
      4.575466597517848,
      5.297722440875158,
      6.0766931787759315,
      6.866521526711145
    ],
    "vy_ego": [
      0.11993678497792468,
      0.020384571395354767,
      0.001807861722001869,
      -0.01617121019584622,
      0.021990242305383267,
      0.044686447537990226,
      0.0659590608344931,
      0.10377712194371042,
      0.06327498329041639,
      0.06999421871559525
    ],
    "v_ego": [
      3.305009381537391,
      3.3388704335935824,
      3.383343884540189,
      3.4770411744828524,
      3.6558765704372824,
      3.9989240612122003,
      4.575941999491222,
      5.298738788767678,
      6.077022602598442,
      6.866878262168418
    ],
    "ax_ego": [
      0.039102901999707056,
      0.13395892367016626,
      0.08802420794933213,
      0.30714839770127644,
      0.45584298789198907,
      0.9762421951843957,
      1.3341677285909612,
      1.5426139344046945,
      1.5780228524686502,
      1.588284695723194
    ],
    "ay_ego": [
      -0.9026585997253819,
      -0.8935192041871244,
      -1.3493033595106103,
      -1.6009409641629049,
      -1.9442723242281192,
      -2.1170521622415746,
      -1.7026399456168044,
      -0.8455458961503207,
      -0.38045883779016415,
      -0.3350474081827154
    ],
    "a_ego": [
      0.9035051657865526,
      0.9035051529914268,
      1.3521715191393904,
      1.630138677826311,
      1.9969946670859462,
      2.3312997836636487,
      2.1630964639663115,
      1.759149116225279,
      1.6232390613110375,
      1.6232390583024034
    ],
    "yaw": [
      3.033644001279991,
      2.928122164610726,
      2.767447553159101,
      2.5567616871374366,
      2.297648602071947,
      2.023469010119055,
      1.7943679905545147,
      1.6571518219488692,
      1.610352471045739,
      1.5816702822424582
    ],
    "yaw_diff": [
      -0.2110436733385299,
      -0.3213492229032502,
      -0.4213717320433288,
      -0.5182261701309789,
      -0.5483591839057844,
      -0.4582020391290804,
      -0.2744323372112909,
      -0.09359870180626029,
      -0.05736437760656177,
      -0.05736437760656177
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.397764715882926,
    "v_std": 1.2108490761312232,
    "vy_max": 0.11993678497792468,
    "a_max": 2.3312997836636487,
    "ax_avg": 0.8043408825584366,
    "a_std": 0.4538974283524629,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "0f6aef2cc48d5621",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "0f6aef2cc48d5621",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4dd9d92ade255f95": {
    "vx_ego": [
      7.7244061196941995,
      7.835736517242085,
      7.897006397309271,
      7.831525736676591,
      7.707620168814374,
      7.641670218630912,
      7.6302796191172835,
      7.590265598962816,
      7.467494884821215,
      7.307285318149622
    ],
    "vy_ego": [
      0.2011673276121333,
      0.13359176780795412,
      0.071919142378563,
      0.018218757938338825,
      0.02202450221426311,
      0.022067114727028603,
      0.004095387939539563,
      0.023990308868853116,
      0.05271712573015819,
      0.10624639751976783
    ],
    "v_ego": [
      7.727025184096905,
      7.836875240047348,
      7.897333879366125,
      7.831546928121457,
      7.707651636225648,
      7.641702080548742,
      7.630280718172758,
      7.590303511567767,
      7.467680961997256,
      7.308057677511238
    ],
    "ax_ego": [
      0.21988391191650658,
      0.21984016327115113,
      0.02460566910248152,
      -0.2863977137673278,
      -0.20921588431074137,
      -0.05479888425617688,
      0.009121098798808229,
      -0.1690992222617665,
      -0.32215688298961814,
      -0.3207900635997785
    ],
    "ay_ego": [
      -0.004320884340556316,
      -0.006156539920151416,
      -0.20120412379305666,
      -0.052564503154275674,
      0.057248171717433564,
      -0.0009547979252223331,
      0.040519983028347036,
      0.006527452608726239,
      0.20431247175401726,
      0.2064518773590435
    ],
    "a_ego": [
      0.21992636213330702,
      0.21992635215197565,
      0.2027030793631722,
      0.29118151974843476,
      0.21690698331984215,
      0.05480720166912264,
      0.041533883371473374,
      0.16922515949791117,
      0.3814821665187281,
      0.38148216546704183
    ],
    "yaw": [
      0.5444175677213732,
      0.5527665640045312,
      0.554012634037852,
      0.5527799889568543,
      0.5524404466461388,
      0.5542732488463306,
      0.5579259820631781,
      0.5568604065282146,
      0.5600378186949349,
      0.5666927766727516
    ],
    "yaw_diff": [
      0.01669799256631599,
      0.002492140066641557,
      -0.0024652901619952594,
      -0.0006790846214310697,
      0.0036656044003835486,
      0.007305466433695118,
      -0.0021311510699271174,
      0.00635482433344059,
      0.013309915955633578,
      0.013309915955633578
    ],
    "min_front_frame": [
      0,
      19.674799594639133
    ],
    "v_avg": 7.6638457817655254,
    "v_std": 0.17046447828050748,
    "vy_max": 0.2011673276121333,
    "a_max": 0.3814821665187281,
    "ax_avg": -0.08890078080964617,
    "a_std": 0.10917970549779754,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "4dd9d92ade255f95",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.705920062969226,
    "right_rear_min": 49.61689968857295,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.674799594639133,
      19.871379472451267,
      19.96084725845006,
      20.14364491055574,
      20.044496202806148,
      20.07068835492733,
      20.051846728003905,
      20.094463378401745,
      19.987442753562917,
      20.081986406463933
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "4dd9d92ade255f95",
    "pedestrians": "No"
  },
  "75bb2e7612425d57": {
    "vx_ego": [
      1.504808451340174,
      2.4534535770510972,
      3.363067622224852,
      4.152785701133464,
      4.87332895247013,
      5.511006753744208,
      6.05560384883905,
      6.5827636751529335,
      7.187834440724436,
      7.909792278413859
    ],
    "vy_ego": [
      -0.11730360938740492,
      0.03656195637857074,
      0.005586223928460088,
      -0.031209025209424535,
      -0.01921953080440275,
      -0.023673700565661093,
      -0.03718326565766761,
      -0.05667012704394114,
      -0.18460137361369267,
      0.02192411818866913
    ],
    "v_ego": [
      1.5093735826494799,
      2.453725989469699,
      3.3630722617206574,
      4.152902970548804,
      4.873366851505021,
      5.511057601215282,
      6.055718006093025,
      6.5830076033840434,
      7.190204559983285,
      7.909822662652675
    ],
    "ax_ego": [
      1.8593978484607614,
      1.9414266457061373,
      1.7205290585069088,
      1.5224986470613349,
      1.4548494623720876,
      1.1892641634352,
      1.059491547556712,
      1.1006859579462347,
      1.3216552177820489,
      1.5949892543712436
    ],
    "ay_ego": [
      0.8476164460700316,
      0.6377120186847135,
      1.102403093125055,
      1.827526914406073,
      2.4414228242263714,
      2.9867927503698666,
      3.261400037511206,
      3.279315357644741,
      2.3326676372265496,
      2.1550220759433687
    ],
    "a_ego": [
      2.0434808534725497,
      2.043480863485811,
      2.043407159843177,
      2.378624971108766,
      2.8420296206791766,
      3.2148530579317645,
      3.429176656870015,
      3.459106646650935,
      2.681065239872877,
      2.681065248993952
    ],
    "yaw": [
      -2.0190526883186264,
      -1.9087127218399107,
      -1.7503169645457899,
      -1.5476451488404113,
      -1.3153121183437384,
      -1.0562139400988144,
      -0.7861965066502006,
      -0.525619468775937,
      -0.3032969823475892,
      -0.18163224678756035
    ],
    "yaw_diff": [
      0.22067993295743138,
      0.3167915145882416,
      0.40534363141075724,
      0.46466606099334573,
      0.518196356489848,
      0.5400348668972277,
      0.5211540757485271,
      0.4446449728566957,
      0.24332947112005765,
      0.24332947112005765
    ],
    "min_front_frame": [
      9,
      74.25686838360362
    ],
    "v_avg": 4.960225208922197,
    "v_std": 1.9801768337521022,
    "vy_max": 0.18460137361369267,
    "a_max": 3.459106646650935,
    "ax_avg": 1.4764787803198671,
    "a_std": 0.5279167113168808,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "75bb2e7612425d57",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 27.913099833209582,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      74.25686838360362
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "75bb2e7612425d57",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "21e98ee0ac165e2c": {
    "vx_ego": [
      11.403804787951982,
      11.292536159764678,
      11.207171662047319,
      11.245426179153405,
      11.468679207147147,
      11.79336424266555,
      12.144366172061718,
      12.459486281301771,
      12.69855316193831,
      12.899258593255338
    ],
    "vy_ego": [
      0.04765701738633954,
      0.06905382065660337,
      0.05874658037410452,
      0.08650154868107496,
      0.13257307947617836,
      0.04333542928906686,
      0.058553165196788104,
      0.05120498120978478,
      0.024619726553331223,
      0.03046053973461138
    ],
    "v_ego": [
      11.40390436793569,
      11.292747289731585,
      11.20732563207218,
      11.24575886584418,
      11.469445425906656,
      11.793443861723091,
      12.144507326123671,
      12.459591499886653,
      12.698577028057475,
      12.899294558236608
    ],
    "ax_ego": [
      -0.24188508451309354,
      -0.19174314259495145,
      -0.13818881161815477,
      0.30112330788128705,
      0.6023469697275552,
      0.698599027117962,
      0.7061643454074724,
      0.5547869691932641,
      0.4014754353367936,
      0.40152268853659917
    ],
    "ay_ego": [
      -1.0401120993950577,
      -1.0505123202087505,
      -1.0441734908906717,
      -0.8953749412861589,
      -0.5872266686310539,
      -0.28303654267122713,
      -0.056275020002987786,
      -0.07460014198202593,
      -0.02974855134964119,
      -0.029103779250054362
    ],
    "a_ego": [
      1.0678677696315686,
      1.0678677669274226,
      1.0532779437239013,
      0.9446541864791375,
      0.8412235328921166,
      0.7537574445253886,
      0.7084031060075193,
      0.5597801017992567,
      0.4025760816122465,
      0.4025760789916544
    ],
    "yaw": [
      2.1092358381194107,
      2.0612766341607274,
      2.015624427000578,
      1.9697436206758487,
      1.9329329338640269,
      1.921888355347099,
      1.9135289203437869,
      1.9114697602867272,
      1.911509296151715,
      1.909903385441818
    ],
    "yaw_diff": [
      -0.09591840791736672,
      -0.09130441432029901,
      -0.09176161264945826,
      -0.07362137362364374,
      -0.022089157033855944,
      -0.016718870006624087,
      -0.004118320114119278,
      7.907172997567713e-05,
      -0.0032118214197942585,
      -0.0032118214197942585
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.86145958555178,
    "v_std": 0.6094107934260805,
    "vy_max": 0.13257307947617836,
    "a_max": 1.0678677696315686,
    "ax_avg": 0.3094201704474734,
    "a_std": 0.24707988341019088,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "21e98ee0ac165e2c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "21e98ee0ac165e2c",
    "road_shape": "Straight"
  },
  "32013abf6afd5d2e": {
    "vx_ego": [
      9.399008018896469,
      9.47351628219715,
      9.522270389249066,
      9.464285211689644,
      9.31287772666041,
      9.15833096631742,
      9.027628004280487,
      8.943155790364587,
      8.899306786230126,
      8.863269620868135
    ],
    "vy_ego": [
      -0.02772010378782319,
      0.0034306821226879336,
      0.021758241453611937,
      0.0044225364538945655,
      0.002284722845637077,
      -0.0033481888553996697,
      -0.009647234672580662,
      -0.03931606109635499,
      -0.06913772922440753,
      -0.08044618813559534
    ],
    "v_ego": [
      9.399048895682697,
      9.473516903380409,
      9.522295247840233,
      9.464286244986251,
      9.312878006915266,
      9.158331578348601,
      9.02763315896288,
      8.94324221093177,
      8.89957534386017,
      8.86363469246051
    ],
    "ax_ego": [
      0.14794145849283613,
      0.15058387974993798,
      0.04359807530959168,
      -0.2756160413498623,
      -0.33004265992087506,
      -0.2881451681689917,
      -0.23464733994852002,
      -0.10325315436297364,
      -0.07284309297082546,
      -0.07248017241531089
    ],
    "ay_ego": [
      0.2573919561967278,
      0.2558550070663336,
      -0.008767144427846676,
      0.03301197293800022,
      0.029389081807665363,
      0.024385513943281492,
      0.0004980016719724617,
      -0.13242606441838295,
      -0.09224817450384931,
      -0.09253360607056291
    ],
    "a_ego": [
      0.2968792587160069,
      0.2968792506751817,
      0.04447083304953428,
      0.2775860093856105,
      0.3313485709900437,
      0.28917519124125174,
      0.23464786841261015,
      0.16792223326065484,
      0.11754080947844861,
      0.11754081693511964
    ],
    "yaw": [
      1.014846149624101,
      1.0251429703011752,
      1.0297106407986205,
      1.0321649008955491,
      1.0340528569795175,
      1.0361195738171944,
      1.0374974652809552,
      1.037128059612615,
      1.0341735233174973,
      1.030245363199711
    ],
    "yaw_diff": [
      0.020593641354148318,
      0.009135340994890662,
      0.004908520193857235,
      0.0037759121679368235,
      0.004133433675353793,
      0.002755782927521544,
      -0.0007388113366806337,
      -0.005909072590235098,
      -0.00785632023557259,
      -0.00785632023557259
    ],
    "min_front_frame": [
      0,
      18.340903554994654
    ],
    "v_avg": 9.206444228336878,
    "v_std": 0.2452034483169712,
    "vy_max": 0.08044618813559534,
    "a_max": 0.3313485709900437,
    "ax_avg": -0.10349042155849933,
    "a_std": 0.0932662661427927,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "32013abf6afd5d2e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 44.33176644140393,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      18.340903554994654,
      19.280888563782852,
      20.876406847734774,
      21.336489184793376,
      22.16840875183074,
      23.809426340329388,
      19.32062490143432,
      20.28924307029524,
      21.626540466064117,
      22.74862453478989
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "32013abf6afd5d2e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "46c8d578ddb55784": {
    "vx_ego": [
      7.191844004882153,
      7.100028200867976,
      7.006799599012066,
      6.87914167065983,
      6.775357198588399,
      6.674017253872178,
      6.547794875911133,
      6.415520299316658,
      6.270275366680896,
      6.147950742053899
    ],
    "vy_ego": [
      -0.02915073677098734,
      -0.04394473226211382,
      -0.03009219285042919,
      0.00893019949449414,
      -0.029672059602165124,
      -0.09380882926842693,
      -0.05520777111240438,
      0.042240729315420555,
      0.06862070168257128,
      0.06051243668817996
    ],
    "v_ego": [
      7.191903083052055,
      7.100164194764381,
      7.006864217378998,
      6.879147467053714,
      6.775422171317789,
      6.674676501631539,
      6.548027614098713,
      6.415659357397117,
      6.270650841396343,
      6.148248537731297
    ],
    "ax_ego": [
      -0.18337069078965973,
      -0.18316799865448732,
      -0.18836678678203383,
      -0.32225707133630144,
      -0.09323276034407184,
      -0.3114829662555881,
      -0.19286702274332754,
      -0.3362626861471353,
      -0.24453275671698282,
      -0.24450351083419442
    ],
    "ay_ego": [
      0.040572234403213656,
      0.04147773627129843,
      0.18929667767254554,
      0.10775300763807527,
      -0.08070003281961433,
      -0.10220606714222931,
      0.2855485737274728,
      0.11840779062583427,
      -0.028694969110019994,
      -0.02894311442207148
    ],
    "a_ego": [
      0.1878055282603425,
      0.18780553329782818,
      0.2670492062157306,
      0.33979454186508234,
      0.1233079190419738,
      0.3278226935830735,
      0.3445804353408202,
      0.35650105045536434,
      0.24621062194761645,
      0.2462106226032828
    ],
    "yaw": [
      2.5337149791474527,
      2.5386557646372037,
      2.544870752420299,
      2.5499341770614183,
      2.556606902258623,
      2.5593335486138455,
      2.5604303464942557,
      2.560975087302038,
      2.5603509361102565,
      2.559336096112453
    ],
    "yaw_diff": [
      0.00988157097950193,
      0.012429975566190521,
      0.010126849282238837,
      0.013345450394409042,
      0.005453292710445368,
      0.002193595760820344,
      0.001089481615564658,
      -0.0012483023835629936,
      -0.00202967999560677,
      -0.00202967999560677
    ],
    "min_front_frame": [
      9,
      31.046830691119055
    ],
    "v_avg": 6.7010763985821935,
    "v_std": 0.33576677458102205,
    "vy_max": 0.09380882926842693,
    "a_max": 0.35650105045536434,
    "ax_avg": -0.23000442506037824,
    "a_std": 0.07543129695936053,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "46c8d578ddb55784",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.216786626719337,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      39.0383593886686,
      39.10464050546734,
      38.60111265188076,
      37.82468197812902,
      37.11318386219425,
      36.43161772966653,
      35.538927096484684,
      34.19026792989499,
      32.70732151742582,
      31.046830691119055
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "46c8d578ddb55784",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f3f9b7c1f6e95b82": {
    "vx_ego": [
      1.0913604125312966,
      0.5067449941611707,
      0.08166598352192757,
      -0.05628400174785323,
      -0.045706251373506666,
      -0.022647336107006005,
      -0.01208368189914617,
      -0.007243165022822454,
      -0.005084092747092711,
      -0.003965889628749097
    ],
    "vy_ego": [
      -0.035082865354016765,
      0.0226644023597266,
      0.033185686458949634,
      0.00041194209968943444,
      -0.008408670764155707,
      -0.0027012059980971222,
      -0.001329685825733682,
      -0.0007806517747689088,
      -0.0006684030542141346,
      -0.00013921853102808336
    ],
    "v_ego": [
      1.0919241537221942,
      0.5072515788459692,
      0.08815113527547708,
      0.05628550922791622,
      0.046473295112765,
      0.02280785712397931,
      0.012156620938192893,
      0.007285111992364184,
      0.005127841817365615,
      0.003968332439048078
    ],
    "ax_ego": [
      -1.1692770182792063,
      -1.1691590442261475,
      -0.5311602872251615,
      -0.02062591679175279,
      0.06294539074917528,
      0.029290914093020048,
      0.012962688180199048,
      0.006399686653241606,
      0.002236430821174419,
      0.0022365284784140616
    ],
    "ay_ego": [
      0.11651553876435178,
      0.11769345017877184,
      -0.07559480527185895,
      -0.055450993407725524,
      0.02012979626301771,
      0.0026942995157742547,
      0.0027994013727829633,
      -0.0006076590553221672,
      0.0010576540014822292,
      0.0010574564124250026
    ],
    "a_ego": [
      1.1750679198452565,
      1.175067920977669,
      0.536512651583545,
      0.05916283557609396,
      0.06608578450890149,
      0.029414569490056827,
      0.013261520761323389,
      0.006428470952504473,
      0.0024739148741923715,
      0.002473918692870862
    ],
    "yaw": [
      0.03473298071900871,
      0.03574042258676241,
      0.03575618805297093,
      0.03551564232830436,
      0.03567323193551647,
      0.03572116262233911,
      0.035596595940103726,
      0.035720377441949294,
      0.035675387912051125,
      0.035765927401951114
    ],
    "yaw_diff": [
      0.0020148837355074,
      3.153093241703431e-05,
      -0.0004810914493331292,
      0.00031517921442421326,
      9.586137364528402e-05,
      -0.0002491333644707716,
      0.00024756300369113693,
      -8.997905979633847e-05,
      0.00018107897979997845,
      0.00018107897979997845
    ],
    "min_front_frame": [
      2,
      10.039139039574588
    ],
    "v_avg": 0.18414314364952716,
    "v_std": 0.3353173263656992,
    "vy_max": 0.035082865354016765,
    "a_max": 1.175067920977669,
    "ax_avg": -0.2774150627547043,
    "a_std": 0.46025782394080195,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "f3f9b7c1f6e95b82",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.498663512399569,
      10.106501293377375,
      10.039139039574588,
      10.054201035603182,
      10.05131117561922,
      10.069423055591132,
      10.07015526532846,
      10.060848334458443,
      10.0591135706436,
      10.054804633230631
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "f3f9b7c1f6e95b82",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5004df3161065742": {
    "vx_ego": [
      4.385444817160106,
      4.494543294267853,
      4.591516686020498,
      4.656212944901927,
      4.687721045743845,
      4.739363186000139,
      4.8088299653701405,
      4.83799687759317,
      4.866124036643037,
      4.917950563737505
    ],
    "vy_ego": [
      0.020859003696523715,
      0.009337087286740431,
      -0.01116956606562547,
      -0.02583074337811353,
      -0.026001023033654258,
      -0.02587329619577572,
      -0.020493492404944247,
      -0.019081540361521432,
      -0.018051563230060852,
      -0.007064913116183957
    ],
    "v_ego": [
      4.385494423938042,
      4.4945529928177645,
      4.591530271838654,
      4.6562845934903665,
      4.68779315413005,
      4.739433809672778,
      4.808873633094629,
      4.83803450719234,
      4.866157518918821,
      4.91795563830779
    ],
    "ax_ego": [
      0.2180664952296735,
      0.21879486125820566,
      0.1690723133050987,
      0.08958472470320375,
      0.03644976599520618,
      0.17005506996492975,
      0.1077640193437892,
      0.008871865826196916,
      0.1036513979021934,
      0.10364904363733382
    ],
    "ay_ego": [
      -0.0936229410340704,
      -0.09190788884849779,
      -0.0895805762563735,
      0.011918158730749182,
      -0.012172849141654899,
      0.0018758672900476905,
      0.010160492693244615,
      -0.013649576732258095,
      0.020863782209214657,
      0.0208754753297215
    ],
    "a_ego": [
      0.2373146675400032,
      0.23731466736294513,
      0.19133772960072826,
      0.09037403060437293,
      0.038428683263036445,
      0.17006541594006414,
      0.10824194878557042,
      0.016279464002473862,
      0.10573036316570734,
      0.10573036326985613
    ],
    "yaw": [
      -1.2145574429031099,
      -1.2224091035123799,
      -1.2278749333223318,
      -1.228900964962722,
      -1.228878178812174,
      -1.2294534530416859,
      -1.2299492228952205,
      -1.23042158207152,
      -1.2302617596337106,
      -1.2303745624721016
    ],
    "yaw_diff": [
      -0.01570332121854001,
      -0.010931659619903833,
      -0.0020520632807805583,
      4.55723010959197e-05,
      -0.0011505484590235149,
      -0.0009915397070692222,
      -0.0009447183525992386,
      0.000319644875618863,
      -0.0002256056767819814,
      -0.0002256056767819814
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.698611054340123,
    "v_std": 0.16201964821629253,
    "vy_max": 0.026001023033654258,
    "a_max": 0.2373146675400032,
    "ax_avg": 0.12259595571658308,
    "a_std": 0.07275966648001703,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5004df3161065742",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5004df3161065742",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e22c4b8440c759b7": {
    "vx_ego": [
      7.107378253561257,
      6.456208749623542,
      5.803834216863414,
      5.172939692062323,
      4.593036393616551,
      4.045491459794806,
      3.4710384077378436,
      2.822808614056637,
      2.1490276335450664,
      1.4932767496815964
    ],
    "vy_ego": [
      0.003891426671927878,
      0.015958676730247756,
      -0.004638296173873346,
      -0.07692581563093848,
      -0.17886748531207286,
      -0.209007655740999,
      -0.09959937786315964,
      0.04232241769068179,
      0.14100581758189445,
      0.22073105931402615
    ],
    "v_ego": [
      7.107379318876755,
      6.456228473193817,
      5.803836070275069,
      5.173511635129889,
      4.596517909286114,
      4.05088698329527,
      3.47246708610204,
      2.823125866593896,
      2.1536486274070445,
      1.5095024516990772
    ],
    "ax_ego": [
      -1.302349740695627,
      -1.3023407681434924,
      -1.3072103489928963,
      -1.2162811709868881,
      -1.104120926417157,
      -1.0879143399445403,
      -1.2096633554836769,
      -1.3832083668909563,
      -1.312486235898748,
      -1.312115449496941
    ],
    "ay_ego": [
      0.02821425583006887,
      0.028625737055247402,
      -0.09569526940745432,
      -0.17790745577391487,
      -0.2626022173906125,
      0.1087124124124898,
      0.33377165780307944,
      0.24263681492714795,
      0.16605999010642697,
      0.16896470607110792
    ],
    "a_ego": [
      1.3026553233000706,
      1.302655330158572,
      1.3107083890404818,
      1.229223718334943,
      1.1349197966071203,
      1.0933325201737614,
      1.2548661096518003,
      1.4043283128225883,
      1.3229497495134916,
      1.322949743832416
    ],
    "yaw": [
      1.101027791422962,
      1.101343747640974,
      1.1019684127098421,
      1.102678075713867,
      1.1009968682359785,
      1.0990668663684198,
      1.0993882512349842,
      1.100076350790831,
      1.1014855926624494,
      1.1036990439025964
    ],
    "yaw_diff": [
      0.0006319124360238959,
      0.0012493301377363153,
      0.001419326008049726,
      -0.003362414955776938,
      -0.003860003735117523,
      0.0006427697331288229,
      0.0013761991116938432,
      0.002818483743236566,
      0.004426902480294093,
      0.004426902480294093
    ],
    "min_front_frame": [
      9,
      10.429463535462993
    ],
    "v_avg": 4.314710442185897,
    "v_std": 1.7596229788615516,
    "vy_max": 0.22073105931402615,
    "a_max": 1.4043283128225883,
    "ax_avg": -1.253769070295092,
    "a_std": 0.08873855817917925,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e22c4b8440c759b7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.865993975071463,
    "right_rear_min": 11.429331956851371,
    "speed_mode": "decelerating",
    "front_frame": [
      23.860880947988854,
      21.230572778795363,
      18.72097171206399,
      18.917006549456463,
      17.342236770990947,
      15.691030654826367,
      14.05873775652849,
      12.502683517645385,
      11.292443524445305,
      10.429463535462993
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e22c4b8440c759b7",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "f2e2e64000445230": {
    "vx_ego": [
      13.635379537178824,
      13.507528072746327,
      13.362223127600291,
      12.977630458291394,
      12.297724262841234,
      11.553394626340912,
      10.877176038773687,
      10.28312889794081,
      9.736364294137308,
      9.213799593144062
    ],
    "vy_ego": [
      0.03310948199012209,
      0.007545529958989494,
      -0.024944140015834115,
      -0.03959199572983252,
      -0.015387851660589202,
      0.012872299524924635,
      -0.014927631411191022,
      -0.07273849975844948,
      -0.05814370598247942,
      0.036213884429516785
    ],
    "v_ego": [
      13.635419735406487,
      13.507530180275463,
      13.362246410012698,
      12.977690851538203,
      12.297733890064977,
      11.553401797222241,
      10.87718628196888,
      10.283386155397087,
      9.736537904137037,
      9.213870760329078
    ],
    "ax_ego": [
      -0.2559346605637487,
      -0.25508310235753884,
      -0.32613926634078494,
      -1.2133660854669057,
      -1.507021550273438,
      -1.4699973506540838,
      -1.2342616595984988,
      -1.1434352577733873,
      -1.0449995463757533,
      -1.0453765976204545
    ],
    "ay_ego": [
      -0.1791248463938448,
      -0.18033544920096992,
      -0.24900524122720905,
      -0.12527882121222034,
      -0.005806722627447358,
      -0.1304865828393152,
      -0.3073123369574849,
      -0.2062475753684532,
      0.13773279239715475,
      0.1348411507204229
    ],
    "a_ego": [
      0.3123911987772699,
      0.3123912024159167,
      0.4103296616233416,
      1.219816396186576,
      1.5070327372078647,
      1.4757774084295732,
      1.2719444629389725,
      1.1618873659114546,
      1.054037178674001,
      1.0540371752363031
    ],
    "yaw": [
      1.2867986395350122,
      1.2820606427102348,
      1.276493351828959,
      1.2705507317783606,
      1.2660554101706079,
      1.2608265121270867,
      1.2535271413222524,
      1.2468491029054851,
      1.2436759450008026,
      1.240909324298499
    ],
    "yaw_diff": [
      -0.00947599364955476,
      -0.011134581762551665,
      -0.011885240101196626,
      -0.008990643215505578,
      -0.010457796087042226,
      -0.014598741609668675,
      -0.01335607683353457,
      -0.006346315809365066,
      -0.005533241404607203,
      -0.005533241404607203
    ],
    "min_front_frame": [
      9,
      25.680680210674694
    ],
    "v_avg": 11.744500396635214,
    "v_std": 1.5648445649786813,
    "vy_max": 0.07273849975844948,
    "a_max": 1.5070327372078647,
    "ax_avg": -0.9495615077024595,
    "a_std": 0.43888883765478504,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "f2e2e64000445230",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.382086925136712,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      44.237422000111664,
      45.6179215960251,
      46.65326684333342,
      47.46874978127867,
      48.308708005491845,
      49.0177038391642,
      49.71893664721135,
      50.08598417815451,
      27.84204713153432,
      25.680680210674694
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "f2e2e64000445230",
    "merging_vehicles": "No"
  },
  "7404939e443458cc": {
    "vx_ego": [
      5.871605409779036,
      5.96760152342119,
      6.081608225125049,
      6.1818389449403774,
      6.378334309327326,
      6.649110570956084,
      6.826273178986756,
      6.867136047362692,
      6.855030860372064,
      6.87162143845985
    ],
    "vy_ego": [
      0.03299730693198044,
      -0.027553094553764534,
      -0.014960472172452555,
      0.0764052518098561,
      0.04751086254869741,
      0.03352388915670623,
      0.07789678801758004,
      0.044316881486929915,
      -0.0012456550208970185,
      -0.05363455189752164
    ],
    "v_ego": [
      5.871698128345088,
      5.9676651309669175,
      6.081626626128595,
      6.1823110972908575,
      6.37851125605358,
      6.649195081808333,
      6.826717617108343,
      6.867279044787158,
      6.855030973548536,
      6.8718307501464455
    ],
    "ax_ego": [
      0.16208082047303304,
      0.22220310302527715,
      0.2431708342039202,
      0.18912385059590986,
      0.6236000054265378,
      0.46284049513067105,
      0.24452597551138663,
      -0.08057183200311047,
      0.03245645783276624,
      0.03334633067882634
    ],
    "ay_ego": [
      -0.912244810253697,
      -0.899492398543165,
      -1.2721991616145176,
      -1.5150752958269234,
      -1.4816974073095743,
      -1.223371177063065,
      -0.7453109202089423,
      -0.2872889024666613,
      -0.1747812550636702,
      -0.17461365395954753
    ],
    "a_ego": [
      0.926531589423704,
      0.9265315936496703,
      1.2952307753524512,
      1.526833646108594,
      1.607577112799225,
      1.307997844341295,
      0.784398699949519,
      0.29837348004277503,
      0.1777692571191146,
      0.17776924908106645
    ],
    "yaw": [
      0.2934525115928277,
      0.22710709437104654,
      0.13492450454007382,
      0.00669989623381923,
      -0.10886751143290957,
      -0.21014276393790893,
      -0.2894131143302193,
      -0.3220164259402435,
      -0.3322332873572933,
      -0.3373270742659982
    ],
    "yaw_diff": [
      -0.13269083444356233,
      -0.18436517966194543,
      -0.2564492166125092,
      -0.2311348153334576,
      -0.20255050500999872,
      -0.1585407007846208,
      -0.06520662322004833,
      -0.02043372283409961,
      -0.010187573817409756,
      -0.010187573817409756
    ],
    "min_front_frame": [
      9,
      39.51215443493122
    ],
    "v_avg": 6.455186570618385,
    "v_std": 0.38431573262054874,
    "vy_max": 0.07789678801758004,
    "a_max": 1.607577112799225,
    "ax_avg": 0.21327760408752178,
    "a_std": 0.5134327321755097,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "7404939e443458cc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      45.84370675084912,
      46.00533101111527,
      44.577530228575796,
      42.9255589046132,
      41.26419547253405,
      39.51215443493122
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "7404939e443458cc",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "f47f7733a11d51a1": {
    "vx_ego": [
      13.488752941652484,
      13.72723157567162,
      14.001761852563686,
      14.274224450004525,
      14.475829814199274,
      14.572921974035026,
      14.575062866601792,
      14.486900220053004,
      14.295255421886955,
      14.067446970848176
    ],
    "vy_ego": [
      -0.08719611947890371,
      -0.2556551043473627,
      -0.30976487719927626,
      -0.13127328647573133,
      0.1535446138443204,
      0.25452150807482354,
      0.17890498673798483,
      0.11807253278985108,
      0.18434555600891311,
      0.31384041849619315
    ],
    "v_ego": [
      13.489034772146995,
      13.729612021630285,
      14.005187940725891,
      14.274828066384867,
      14.476644112435077,
      14.575144461012577,
      14.57616083060537,
      14.487381375140615,
      14.296443993560377,
      14.070947376985934
    ],
    "ax_ego": [
      0.4774908177836539,
      0.47716023062949897,
      0.6208310794461673,
      0.47458900044766117,
      0.33083328349087926,
      0.048457542188398386,
      -0.048175346312878405,
      -0.3085697160796671,
      -0.46276750381337567,
      -0.45782027174563955
    ],
    "ay_ego": [
      -0.30741831007620246,
      -0.30793118739417963,
      0.08607735655263032,
      0.8749548463586392,
      0.6999276439674442,
      0.19984812163713542,
      -0.003421108777016471,
      0.2985514317516825,
      0.5236624890662951,
      0.5279931498053687
    ],
    "a_ego": [
      0.5678939147744151,
      0.5678939177913301,
      0.6267699263026123,
      0.9953796775664953,
      0.7741765743389384,
      0.205639016523693,
      0.04829666632004684,
      0.42935792421063557,
      0.6988391553431808,
      0.6988391570759653
    ],
    "yaw": [
      -2.0474883360819036,
      -2.04641385249301,
      -2.0465116159952785,
      -2.042148436580125,
      -2.0345821038121823,
      -2.026067743734611,
      -2.017516948315199,
      -2.008273717617521,
      -1.9986084876106682,
      -1.9892000836192216
    ],
    "yaw_diff": [
      0.002148967177786787,
      -0.00019552700453662197,
      0.008726358830307035,
      0.015132665535885437,
      0.01702872015514245,
      0.017101590838824343,
      0.018486461395355924,
      0.01933046001370542,
      0.018816807982893202,
      0.018816807982893202
    ],
    "min_front_frame": [
      0,
      35.39920792314329
    ],
    "v_avg": 14.198138495062798,
    "v_std": 0.3517895836427725,
    "vy_max": 0.31384041849619315,
    "a_max": 0.9953796775664953,
    "ax_avg": 0.11520291160346985,
    "a_std": 0.2613474274282114,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f47f7733a11d51a1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.027252180149517,
    "right_rear_min": 3.541939121797827,
    "speed_mode": "accelerating",
    "front_frame": [
      35.39920792314329,
      35.92335811155736,
      36.03991208658264,
      36.383148206027116,
      36.65837441070842,
      36.808615428170164,
      36.98789833855735,
      37.3126025116917,
      37.56839616163206,
      38.171836889509834
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f47f7733a11d51a1",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "491dce963f7f5b57": {
    "vx_ego": [
      1.4780843479959747,
      0.9927981022702648,
      0.5387438063107572,
      0.1722583279657121,
      -0.03323025091754281,
      -0.06179088925086801,
      0.011590582733398396,
      0.19956698170176237,
      0.46476270595693614,
      0.7225252304360009
    ],
    "vy_ego": [
      0.17300562290527954,
      0.08656356672491677,
      0.009683567391108122,
      0.0016575946532989966,
      0.01899847911164578,
      0.0036647258455872536,
      -0.0027498386916178083,
      -0.0016071852494185662,
      0.0036549602837828155,
      0.011633227261028445
    ],
    "v_ego": [
      1.4881748167965783,
      0.9965647610444482,
      0.5388308271764162,
      0.17226630307050037,
      0.03827782366590995,
      0.06189946857555686,
      0.01191231383609714,
      0.199573453219554,
      0.46477707729952594,
      0.7226188764439405
    ],
    "ax_ego": [
      -0.9707633003505991,
      -0.970949703491935,
      -0.8451895281971857,
      -0.620797936982917,
      -0.2011124707674355,
      0.0868679317717742,
      0.20665662262119774,
      0.5452511847759711,
      0.515531949827176,
      0.5155272830217499
    ],
    "ay_ego": [
      -0.1707095137791404,
      -0.16964620075530112,
      -0.13919337705783913,
      0.1064940092913963,
      -0.03715696104040019,
      -0.024194983017976,
      -0.001441147442697202,
      0.006056970795073224,
      0.01552422980450563,
      0.01567845659066247
    ],
    "a_ego": [
      0.9856587256258111,
      0.9856587442628328,
      0.8565746521996476,
      0.6298659004718399,
      0.2045161745484704,
      0.09017446852377764,
      0.2066616475767861,
      0.5452848259348618,
      0.5157656376724151,
      0.5157656381932133
    ],
    "yaw": [
      1.1036990439025964,
      1.1047942832534747,
      1.1043544543458426,
      1.1038998279523637,
      1.103511567184792,
      1.103562240182908,
      1.1034241707604076,
      1.1036028668960078,
      1.1039993053551242,
      1.1037001421638588
    ],
    "yaw_diff": [
      0.002190478701756593,
      -0.0008796578152643342,
      -0.0009092527869576372,
      -0.0007765215351436261,
      0.00010134599623201623,
      -0.0002761388450007729,
      0.00035739227120057393,
      0.000792876918232821,
      -0.0005983263825308782,
      -0.0005983263825308782
    ],
    "min_front_frame": [
      3,
      9.308131651710962
    ],
    "v_avg": 0.46948957211285275,
    "v_std": 0.45902933884304664,
    "vy_max": 0.17300562290527954,
    "a_max": 0.9856587442628328,
    "ax_avg": -0.17389779677722036,
    "a_std": 0.30510336094772894,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "491dce963f7f5b57",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.923230666671714,
    "right_rear_min": 7.623846753711525,
    "speed_mode": "decelerating",
    "front_frame": [
      10.429463535462993,
      9.820695108000011,
      9.52151781217691,
      9.308131651710962,
      9.447817603629627,
      9.711555205464197,
      10.08877060659932,
      10.681598366950265,
      11.193669065733491,
      11.748532521472239
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "491dce963f7f5b57",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0e7f7322726f5b86": {
    "vx_ego": [
      8.17986647777679,
      8.059919117534621,
      7.936952745342209,
      7.789857893534556,
      7.638978649959552,
      7.498487696251138,
      7.375738162909968,
      7.266947406141162,
      7.144216431266839,
      7.015179570258543
    ],
    "vy_ego": [
      0.007147843514756058,
      -0.008474409494300339,
      0.0011968475962222946,
      0.0053683415475598295,
      -0.017639351038847284,
      0.010134087722607266,
      0.026549995660848147,
      0.056332108834570516,
      0.04015069906795965,
      0.006835205126038968
    ],
    "v_ego": [
      8.179869600789695,
      8.059923572641141,
      7.936952835581134,
      7.78985974331718,
      7.6389990156592456,
      7.498494544277783,
      7.37578594795674,
      7.267165741202516,
      7.144329254410014,
      7.015182900181716
    ],
    "ax_ego": [
      -0.24556420940021656,
      -0.2342149287727804,
      -0.25765803520052005,
      -0.3280064136521865,
      -0.27784853264444437,
      -0.28719444783704384,
      -0.20483095014519226,
      -0.23033743156661302,
      -0.2637013161775319,
      -0.25492084558750294
    ],
    "ay_ego": [
      -0.4421244147418585,
      -0.44824005268824024,
      -0.47685427062948454,
      -0.6060848528958515,
      -0.5150793346296076,
      -0.35506317888686584,
      -0.08846156697352625,
      0.22656150479781725,
      0.3172783584252833,
      0.3243752456241837
    ],
    "a_ego": [
      0.5057427993053231,
      0.5057427979655222,
      0.5420125999651393,
      0.6891495166556785,
      0.5852405728033132,
      0.4566733097846544,
      0.22311693563867782,
      0.3230873687363149,
      0.4125578030758904,
      0.41255779896736533
    ],
    "yaw": [
      2.228016740671567,
      2.202524553942971,
      2.1724138671862145,
      2.137496260347115,
      2.1041212582228623,
      2.0717182464348483,
      2.054578471608192,
      2.0552260037323937,
      2.076327384034683,
      2.1036939245142867
    ],
    "yaw_diff": [
      -0.05098437345719198,
      -0.060221373513512866,
      -0.069835213678199,
      -0.06675000424850541,
      -0.06480602357602816,
      -0.03427954965331281,
      0.0012950642484037544,
      0.04220276060457895,
      0.05473308095920704,
      0.05473308095920704
    ],
    "min_front_frame": [
      4,
      20.013302480936847
    ],
    "v_avg": 7.5906563156017155,
    "v_std": 0.376697633666761,
    "vy_max": 0.056332108834570516,
    "a_max": 0.6891495166556785,
    "ax_avg": -0.2584277110984032,
    "a_std": 0.12576348745419555,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "0e7f7322726f5b86",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      35.16083228192011,
      31.410428342785725,
      27.63863778128947,
      23.778377899696263,
      20.013302480936847,
      27.026479361654538,
      65.18802122066779,
      -1,
      57.800172379132434,
      39.132077101291166
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      1,
      1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.5555555555555556,
    "unsafe_ratio": 0.1111111111111111,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "0e7f7322726f5b86",
    "merging_vehicles": "No"
  },
  "f2a54a0461005d6c": {
    "vx_ego": [
      1.8547303264539285,
      2.535230032083608,
      3.1652383258639665,
      3.7551864874693504,
      4.285058729610895,
      4.739600924801802,
      5.172198511522869,
      5.538936819903531,
      5.815523570936151,
      6.050888657837044
    ],
    "vy_ego": [
      -0.020441163810264396,
      0.003311826173196808,
      0.005302537815659258,
      -0.003404658850403308,
      -0.01750188695665056,
      -0.04304621972053768,
      -0.05854111853055288,
      -0.05391448132916299,
      -0.04261314419944817,
      -0.06227950753095257
    ],
    "v_ego": [
      1.8548429650635696,
      2.535232195237993,
      3.1652427673758945,
      3.7551880308946295,
      4.285094471801243,
      4.739796398941027,
      5.172529797416173,
      5.539199208024571,
      5.815679692363784,
      6.05120915905237
    ],
    "ax_ego": [
      1.3610029627983276,
      1.3609297271906464,
      1.1592710240243074,
      1.2004644460833274,
      0.9190052686710881,
      0.898876484602566,
      0.8316909687884039,
      0.6353657188727352,
      0.47136186207070796,
      0.4719781264312931
    ],
    "ay_ego": [
      0.03806312443566673,
      0.040597694232836434,
      -0.06097113992805869,
      -0.013432402152970369,
      -0.08033826918807202,
      -0.06156633985378479,
      0.014175653891787765,
      0.01422780874567936,
      0.07021540234215909,
      0.06594584544169038
    ],
    "a_ego": [
      1.3615351138283693,
      1.3615351244562992,
      1.1608732863868017,
      1.2005395935735519,
      0.9225101199127054,
      0.900982435330711,
      0.8318117676057809,
      0.6355250012866301,
      0.4765629105803728,
      0.47656290913227084
    ],
    "yaw": [
      -2.0699961832626,
      -2.0718585101111775,
      -2.0743221564994405,
      -2.077185688531885,
      -2.0794901852033023,
      -2.0816899980987227,
      -2.0809553069053908,
      -2.080495422555429,
      -2.078773778802695,
      -2.0697218419725134
    ],
    "yaw_diff": [
      -0.0037246536971551336,
      -0.004927292776526038,
      -0.005727064064888765,
      -0.004608993342834822,
      -0.004399625790840744,
      0.0014693823866638311,
      0.0009197686999238286,
      0.0034432875054672962,
      0.01810387366036359,
      0.01810387366036359
    ],
    "min_front_frame": [
      0,
      11.477249369274027
    ],
    "v_avg": 4.291401468617126,
    "v_std": 1.361305897361445,
    "vy_max": 0.06227950753095257,
    "a_max": 1.3615351244562992,
    "ax_avg": 0.9309946589533403,
    "a_std": 0.31738357729035116,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "f2a54a0461005d6c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      11.477249369274027,
      12.241495046534173,
      12.858291810452084,
      13.445737243997373,
      14.11256136132024,
      14.54713050759941,
      -1,
      75.73280049040783,
      73.11780491577956,
      70.08585207416941
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5555555555555556,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4444444444444444,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "f2a54a0461005d6c",
    "pedestrians": "No"
  },
  "6350e3b4ec0a59dc": {
    "vx_ego": [
      1.4542149129628772,
      1.7753591033464577,
      2.05998401437972,
      2.2504934629852684,
      2.357077779420006,
      2.3908795417133586,
      2.3500216394083626,
      2.2965441856991875,
      2.2407316634728227,
      2.1673225816618085
    ],
    "vy_ego": [
      -0.03107818920797245,
      -0.002848359965236691,
      0.012553256365936405,
      0.029343976485473044,
      0.0462777165531254,
      0.04412797640671284,
      0.015644544982485353,
      -0.01631382986005092,
      -0.03215160097619485,
      -0.03484414075249109
    ],
    "v_ego": [
      1.454546962778471,
      1.77536138827835,
      2.0600222629246936,
      2.250684761554893,
      2.3575320327166116,
      2.3912867375714755,
      2.350073713200349,
      2.296602128779264,
      2.2409623185442045,
      2.1676026589589674
    ],
    "ax_ego": [
      0.6422927460956004,
      0.6424147112566262,
      0.49600512842036104,
      0.26602206163075526,
      0.16066993542209418,
      -0.024397936541319196,
      -0.13799232563138386,
      -0.07611323203911742,
      -0.1480505797534361,
      -0.1472732612943554
    ],
    "ay_ego": [
      0.06336239809896238,
      0.062113636933874616,
      0.013654500342072023,
      0.05497591428151806,
      -0.005363015381063568,
      -0.05312194060764153,
      -0.12474785817181566,
      -0.0807158003529076,
      -0.06035277420565683,
      -0.06222554239474873
    ],
    "a_ego": [
      0.6454105400284991,
      0.6454105399914752,
      0.4961930398533322,
      0.2716433110263644,
      0.16075941677711275,
      0.05845682065761046,
      0.18602126236431502,
      0.11094261813230734,
      0.15987942806892808,
      0.15987942837837565
    ],
    "yaw": [
      -2.241484191992774,
      -2.2395401533790675,
      -2.23771139977037,
      -2.2375434116783612,
      -2.2394987860222733,
      -2.2447014923412114,
      -2.2514043455666237,
      -2.259785698825528,
      -2.268316168507828,
      -2.280998815054174
    ],
    "yaw_diff": [
      0.0038880772274128006,
      0.003657507217394773,
      0.0003359761840178166,
      -0.003910748687824039,
      -0.01040541263787631,
      -0.013405706450824617,
      -0.016762706517808645,
      -0.01706093936460018,
      -0.02536529309269131,
      -0.02536529309269131
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.134467496530728,
    "v_std": 0.28482000461990536,
    "vy_max": 0.0462777165531254,
    "a_max": 0.6454105400284991,
    "ax_avg": 0.16735772475658248,
    "a_std": 0.2103649553188523,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "6350e3b4ec0a59dc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "6350e3b4ec0a59dc",
    "pedestrians": "No"
  },
  "00b2afbb751b59c6": {
    "vx_ego": [
      3.6995146279467477,
      3.300475558393833,
      2.8641808931224326,
      2.3486746916731547,
      1.79088299686638,
      1.2453009943449167,
      0.7452490834558574,
      0.3292318261809228,
      0.056029084450455076,
      -0.1255656557339926
    ],
    "vy_ego": [
      -0.03347384125081909,
      -0.035206124062025834,
      -0.007451852230681011,
      0.011688615937908486,
      -0.005218317489229185,
      -0.01189965201901172,
      0.0010128376564004227,
      -0.0060946832991338185,
      -0.012818663419713251,
      -0.0007550978883342496
    ],
    "v_ego": [
      3.699666063368429,
      3.3006633246555994,
      2.8641905869947415,
      2.3487037767774233,
      1.790890599479076,
      1.2453578474617695,
      0.7452497717087296,
      0.3292882332166488,
      0.057476746917550246,
      0.12556792613055498
    ],
    "ax_ego": [
      -0.7979146688710395,
      -0.7978746624785729,
      -0.947444189070177,
      -1.114584917506951,
      -1.1165993593507544,
      -1.0657965429129375,
      -0.9344097480781814,
      -0.7296505988251014,
      -0.3631894701496479,
      -0.3631894873846749
    ],
    "ay_ego": [
      0.014034542090159141,
      0.016149730104134674,
      0.08003607090705173,
      -0.0025632128514578856,
      -0.06165162004348923,
      0.02979059229450909,
      0.022150936047857284,
      -0.05124955556658106,
      0.02412719872700464,
      0.024127103256031457
    ],
    "a_ego": [
      0.7980380862911626,
      0.798038088569545,
      0.9508187335391978,
      1.1145878648155554,
      1.1183000722330756,
      1.0662128072174084,
      0.9346722640965264,
      0.7314482300967042,
      0.3639899901727991,
      0.36399000104160845
    ],
    "yaw": [
      -2.032021644918598,
      -2.0293706816001826,
      -2.0305663581062126,
      -2.0304796745230718,
      -2.030067494929444,
      -2.030916795696232,
      -2.0308423293526827,
      -2.031168990497183,
      -2.0315545558316623,
      -2.031554812062166
    ],
    "yaw_diff": [
      0.005301926636830601,
      -0.002391353012059838,
      0.00017336716628157944,
      0.0008243591872556522,
      -0.0016986015335760385,
      0.00014893268709847973,
      -0.000653322289000613,
      -0.0007711306689586195,
      -5.124610069628943e-07,
      -5.124610069628943e-07
    ],
    "min_front_frame": [
      8,
      10.431009760374295
    ],
    "v_avg": 1.6507054876710523,
    "v_std": 1.284317818664216,
    "vy_max": 0.035206124062025834,
    "a_max": 1.1183000722330756,
    "ax_avg": -0.8230653644628039,
    "a_std": 0.262903880566792,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "00b2afbb751b59c6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.352698341469419,
    "right_rear_min": 47.197310149180964,
    "speed_mode": "decelerating",
    "front_frame": [
      17.49164130144446,
      15.782294402075394,
      14.241972801301431,
      12.965443300695808,
      11.933655815840842,
      11.211815064765744,
      10.697362230875042,
      10.474312157770054,
      10.431009760374295,
      10.4512870368919
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "00b2afbb751b59c6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "09bfb9a8f83b5079": {
    "vx_ego": [
      1.3167178097969177,
      1.6682104924360301,
      2.132954899511749,
      2.78694687290604,
      3.522592273699168,
      4.242210166981919,
      4.929937120336007,
      5.558524504273614,
      6.009777052660652,
      6.333264170930383
    ],
    "vy_ego": [
      -0.005779214798567731,
      -0.008984282636454122,
      0.016082185225496953,
      0.03230652822489696,
      0.012646713664317133,
      0.006016315990573506,
      0.013809344962589565,
      0.019579133134345172,
      0.012938044884687805,
      -0.007927402898079361
    ],
    "v_ego": [
      1.3167304925306773,
      1.6682346850512833,
      2.133015527377333,
      2.787134116645035,
      3.5226149755673815,
      4.242214433159038,
      4.929956461113544,
      5.558558986559783,
      6.009790979367918,
      6.333269132328676
    ],
    "ax_ego": [
      0.7029316351901337,
      0.7029650078216007,
      1.1562447974613475,
      1.458933584204795,
      1.4833736187005555,
      1.3950034105704718,
      1.3558784413950755,
      1.1584436876481385,
      0.6468415611811867,
      0.6471379721644425
    ],
    "ay_ego": [
      -0.014545137437479184,
      -0.012831179724674548,
      0.14050830894187463,
      -0.03405273025248229,
      0.004332954909066919,
      0.015608497516326605,
      0.030323610650500404,
      -0.00020530687236242073,
      -0.08597941241708928,
      -0.08371923571209917
    ],
    "a_ego": [
      0.7030821038642289,
      0.7030821014609532,
      1.1647508817503156,
      1.4593309396974692,
      1.4833799469977424,
      1.3950907284825476,
      1.3562174859523168,
      1.1584437058410433,
      0.6525308150814817,
      0.6525308157055303
    ],
    "yaw": [
      0.06733634496676483,
      0.06489808552517846,
      0.06861451589737774,
      0.07290396561532946,
      0.07678434848307442,
      0.07976776009080275,
      0.08057151337687281,
      0.08090550891796676,
      0.07835680479973034,
      0.07486344861515917
    ],
    "yaw_diff": [
      -0.004876518883172726,
      0.007432860744398556,
      0.008578899435903425,
      0.007760765735489922,
      0.0059668232154566625,
      0.0016075065721401216,
      0.000667991082187902,
      -0.005097408236472839,
      -0.006986712369142334,
      -0.006986712369142334
    ],
    "min_front_frame": [
      9,
      29.390668108955058
    ],
    "v_avg": 3.8501519789700667,
    "v_std": 1.7445082161924566,
    "vy_max": 0.03230652822489696,
    "a_max": 1.4833799469977424,
    "ax_avg": 1.070775371633775,
    "a_std": 0.33831991623297386,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "09bfb9a8f83b5079",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.162574674006155,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      32.354796597712394,
      35.018522368465725,
      37.00614599672671,
      38.17902892242476,
      38.43683658622443,
      38.102161020775796,
      36.89134577972848,
      35.00009713979426,
      32.35242462653009,
      29.390668108955058
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "09bfb9a8f83b5079",
    "pedestrians": "No"
  },
  "2d4d48a048615f9a": {
    "vx_ego": [
      1.0826294172780402,
      0.47256851518335924,
      0.04455439693563496,
      -0.0698141874487347,
      -0.049932019615082174,
      -0.031091808636525945,
      -0.008320387016597697,
      0.04481462315625846,
      0.22867574210375058,
      0.5205554262461055
    ],
    "vy_ego": [
      -0.004108230727763895,
      -0.023126791299996702,
      -0.0182895343505807,
      -0.001909117625577328,
      -0.0005454647156404452,
      -0.0008628081825070074,
      -0.0007851958428585172,
      -0.000685732080136614,
      -0.0038074630599616716,
      -0.010267318485027904
    ],
    "v_ego": [
      1.0826372119576813,
      0.473134071927227,
      0.04816223990907389,
      0.06984028564686255,
      0.04993499889453248,
      0.031103777941757338,
      0.008357354403015934,
      0.0448198692225132,
      0.22870743713673594,
      0.5206566715438664
    ],
    "ax_ego": [
      -1.220131702525809,
      -1.2201235168384432,
      -0.49187201760934673,
      0.0344014951130832,
      0.045127170078573836,
      0.030233775403967857,
      0.06085180226533808,
      0.15168834285298016,
      0.5837565840187761,
      0.5837583476635188
    ],
    "ay_ego": [
      -0.03823885232566904,
      -0.03849927793751118,
      0.05815971335343781,
      0.007281666148688578,
      -0.0018346574967761584,
      0.0005607108445612741,
      -0.0002472307247299507,
      0.0006460436739138195,
      -0.013060633487717355,
      -0.01298161680563642
    ],
    "a_ego": [
      1.2207307571023651,
      1.2207307609558795,
      0.4952985301456522,
      0.03516369616403322,
      0.04516444893310453,
      0.03023897438453858,
      0.060852304491868306,
      0.15168971860317976,
      0.5839026712838115,
      0.583902672405025
    ],
    "yaw": [
      1.1024861841541806,
      1.1022727427306143,
      1.10273745188225,
      1.1029934138192647,
      1.1030244443820063,
      1.103053990082771,
      1.1030217539509004,
      1.1030566180294716,
      1.1032751991177432,
      1.1031398366956064
    ],
    "yaw_diff": [
      -0.00042688284713277014,
      0.0009294183032713121,
      0.0005119238740296517,
      6.206112548312603e-05,
      5.90914015292654e-05,
      -6.447226374106663e-05,
      6.972815714245684e-05,
      0.0004371621765431044,
      -0.0002707248442734844,
      -0.0002707248442734844
    ],
    "min_front_frame": [
      2,
      10.119442201219039
    ],
    "v_avg": 0.2557353918583266,
    "v_std": 0.3283413802261748,
    "vy_max": 0.023126791299996702,
    "a_max": 1.2207307609558795,
    "ax_avg": -0.14423097195773607,
    "a_std": 0.4447522647877473,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2d4d48a048615f9a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.5183294128978115,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      10.52335619615016,
      10.160046082600308,
      10.119442201219039,
      10.141971619710283,
      10.296415324423895,
      10.407885223090657,
      10.83788606828798,
      11.494332567497807,
      12.067423417776956,
      12.629432749230267
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2d4d48a048615f9a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1c7ccdd40a3f505a": {
    "vx_ego": [
      3.237915129881229,
      3.5682401462671915,
      3.843347375373617,
      3.9235580662727076,
      3.9058486088866524,
      3.91701957998271,
      3.954807800317356,
      3.9978598237267597,
      3.988881013626985,
      3.951343852155918
    ],
    "vy_ego": [
      -0.019120389972050456,
      -0.018787982221733168,
      -0.037859436852167416,
      -0.037765984762589966,
      -0.021966880831879365,
      0.01335813237934258,
      0.06834374152914602,
      -0.011734846017905753,
      -0.057185686479812786,
      -0.06877478001381734
    ],
    "v_ego": [
      3.237971583820102,
      3.568289608441119,
      3.843533840718725,
      3.923739819230974,
      3.9059103803588835,
      3.9170423574003626,
      3.9553982864507096,
      3.9978770462308644,
      3.9892909073683773,
      3.9519423336299226
    ],
    "ax_ego": [
      0.600561825866217,
      0.7249281927642919,
      0.3803876880287974,
      -0.04779563577915144,
      -0.011899210802670535,
      0.057818044539917984,
      0.07858091235186715,
      0.08646378933119944,
      -0.10312772575172043,
      -0.02060161758622331
    ],
    "ay_ego": [
      0.9631396467660712,
      0.8733794071408115,
      0.7338486007463841,
      0.6911095219951165,
      0.7122709404261214,
      0.707983871925816,
      0.6132284298958808,
      0.7002221206241133,
      0.7937295289169275,
      0.8001359032478219
    ],
    "a_ego": [
      1.1350385393723144,
      1.1350385339195044,
      0.8265764102739199,
      0.6927602718053713,
      0.7123703277040936,
      0.7103408260697749,
      0.6182427250025826,
      0.7055402221538049,
      0.8004010825163904,
      0.800401080904678
    ],
    "yaw": [
      0.7455925935731291,
      0.8808231935747602,
      0.9929738405160699,
      1.0833740710270987,
      1.1690064823354205,
      1.2508878559679621,
      1.3208555313465085,
      1.4235087951096004,
      1.527704073690452,
      1.6311663562705252
    ],
    "yaw_diff": [
      0.27046120000326224,
      0.2243012938826192,
      0.1808004610220577,
      0.17126482261664355,
      0.16376274726508333,
      0.13993535075709262,
      0.20530652752618384,
      0.20839055716170307,
      0.20692456516014657,
      0.20692456516014657
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.829099616365004,
    "v_std": 0.2292251955800026,
    "vy_max": 0.06877478001381734,
    "a_max": 1.1350385393723144,
    "ax_avg": 0.17453162629625252,
    "a_std": 0.17103091806090912,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "1c7ccdd40a3f505a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "1c7ccdd40a3f505a",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "0059b8e52a3f55e8": {
    "vx_ego": [
      4.016052484606542,
      3.59284794004235,
      3.2382860721431532,
      2.972945479936928,
      2.760866910413931,
      2.5451773760240486,
      2.2546546009489266,
      1.9260850097306716,
      1.5915573536469945,
      1.2505904116513635
    ],
    "vy_ego": [
      -0.02176142995290567,
      -0.012935114564788602,
      -0.01961831777550744,
      -0.005952850992753958,
      0.03221348217817936,
      0.04191627693640086,
      0.023798698115370717,
      -0.0027195935317294237,
      -0.028782824412150857,
      -0.061814997555372786
    ],
    "v_ego": [
      4.016111442545882,
      3.5928712247247834,
      3.2383454978474226,
      2.972951439750127,
      2.76105483564753,
      2.5455225101532437,
      2.254780199401296,
      1.926086929735566,
      1.5918175966262482,
      1.2521171956478745
    ],
    "ax_ego": [
      -0.8463822816989999,
      -0.8463481462022174,
      -0.5718714198108669,
      -0.48932943275561025,
      -0.3590842541734181,
      -0.5038436641967025,
      -0.6582051129212431,
      -0.6560787886971748,
      -0.6820192869836842,
      -0.6819726236566322
    ],
    "ay_ego": [
      0.026672955121152746,
      0.02773541016029962,
      -0.04198335791894041,
      0.11223918089719276,
      0.05433675473691153,
      -0.005340917136606147,
      -0.06963396223857837,
      -0.03456397095514951,
      -0.06778026879312368,
      -0.06824815841604255
    ],
    "a_ego": [
      0.8468024641608574,
      0.8468024784781218,
      0.5734104316618652,
      0.5020367790206212,
      0.36317211416987843,
      0.5038719711861531,
      0.6618782813876809,
      0.6569886186735205,
      0.6853790722333161,
      0.6853790706932127
    ],
    "yaw": [
      1.5495227805832228,
      1.550778094726673,
      1.551701187805861,
      1.5529606748360392,
      1.554180634984561,
      1.5551338554968543,
      1.5548750348134655,
      1.5550993334486236,
      1.555370135273824,
      1.554684078409197
    ],
    "yaw_diff": [
      0.002510628286900296,
      0.001846186158376284,
      0.0025189740603561717,
      0.002439920297043763,
      0.0019064410245865915,
      -0.0005176413667777879,
      0.0004485972703163199,
      0.0005416036504009014,
      -0.0013721137292539431,
      -0.0013721137292539431
    ],
    "min_front_frame": [
      9,
      11.57501209195841
    ],
    "v_avg": 2.6151658872079975,
    "v_std": 0.8349194214417525,
    "vy_max": 0.061814997555372786,
    "a_max": 0.8468024784781218,
    "ax_avg": -0.6295135011096549,
    "a_std": 0.1443956798726965,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0059b8e52a3f55e8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.248070271857028,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.193677594550564,
      18.061694433199207,
      17.104214132430997,
      16.10995204668906,
      15.16558809256093,
      14.282199072784465,
      13.452619878186482,
      12.73699457156819,
      12.185692913470623,
      11.57501209195841
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0059b8e52a3f55e8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a1d40a879acc5165": {
    "vx_ego": [
      2.1573606068465154,
      1.6695092173269348,
      1.1382771804480063,
      0.5765466876698775,
      0.15259837083724243,
      -0.02755247569987714,
      -0.045403806642327356,
      -0.025193296910766112,
      -0.014397954262314477,
      -0.00770011594672506
    ],
    "vy_ego": [
      -0.0033394027142752414,
      -0.008942239408594177,
      -0.0005993397132659783,
      0.020070224042108564,
      0.02352375073652232,
      0.008901199233724663,
      -0.0009846526089684754,
      -0.0017088609775086604,
      -0.001454609815950368,
      -0.000993350024973312
    ],
    "v_ego": [
      2.1573631913944515,
      1.6695331654043999,
      1.1382773382338571,
      0.576895915184193,
      0.15440087315457315,
      0.02895462424191999,
      0.045414482253728246,
      0.02525118640924559,
      0.014471246548115985,
      0.007763924900791097
    ],
    "ax_ego": [
      -0.9757357120633402,
      -0.9757079289668592,
      -1.1492652160974395,
      -1.0976491674243005,
      -0.5981281565414636,
      -0.12246283211140475,
      0.05105755099296064,
      0.029785416815570374,
      0.013395701403798841,
      0.01339568947687168
    ],
    "ay_ego": [
      -0.01655558004364699,
      -0.01811892682853311,
      0.0464965831299744,
      0.03560078450481552,
      -0.02195270127282814,
      -0.03653960144614674,
      -0.003011456912038135,
      9.73860897916911e-05,
      0.0009224466818366969,
      0.0009223672245995016
    ],
    "a_ego": [
      0.9758761535288867,
      0.9758761489852159,
      1.1502054030364564,
      1.0982263476190226,
      0.5985308786861907,
      0.12779783927198987,
      0.05114628418694595,
      0.029785576021419284,
      0.013427424324142354,
      0.01342740696701288
    ],
    "yaw": [
      -2.1011247801255006,
      -2.1027270283708717,
      -2.1036027978489686,
      -2.1037734559043892,
      -2.103910836922705,
      -2.1040824711903783,
      -2.104049564572855,
      -2.1039174959592755,
      -2.103957237362987,
      -2.1039519815752628
    ],
    "yaw_diff": [
      -0.0032044964907420592,
      -0.0017515389561939543,
      -0.0003413161108412055,
      -0.00027476203663123755,
      -0.0003432685353468301,
      6.581323504661896e-05,
      0.00026413722715901145,
      -7.94828074228704e-05,
      1.0511575448290955e-05,
      1.0511575448290955e-05
    ],
    "min_front_frame": [
      4,
      8.580561869485795
    ],
    "v_avg": 0.5818325947725276,
    "v_std": 0.7558040245513636,
    "vy_max": 0.02352375073652232,
    "a_max": 1.1502054030364564,
    "ax_avg": -0.48113146545156055,
    "a_std": 0.47725886177134963,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a1d40a879acc5165",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.277427317011152,
    "speed_mode": "decelerating",
    "front_frame": [
      10.79026041580999,
      9.834753664468462,
      9.134450140889037,
      8.706458959050444,
      8.580561869485795,
      8.61139713395848,
      8.612797673033217,
      8.607472403036995,
      8.608158679532716,
      8.637205168302264
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a1d40a879acc5165",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9c8bbeb504c05892": {
    "vx_ego": [
      10.810217699821958,
      10.86323084946386,
      10.981967538731192,
      11.143410126049455,
      11.348231893240927,
      11.58471712743646,
      11.792855305429448,
      11.909880915588243,
      11.870890973672871,
      11.771528982853653
    ],
    "vy_ego": [
      -0.011156724708491605,
      0.014817375041506597,
      0.02031219463120637,
      0.0245324302302814,
      -0.0009234069410410939,
      -0.011978304800518202,
      -0.023476137417058673,
      -0.03342795211747385,
      -0.027210233007173512,
      -0.0314664868178709
    ],
    "v_ego": [
      10.810223456989691,
      10.863240954859945,
      10.981986323384143,
      11.143437130323594,
      11.348231930809792,
      11.584723320067061,
      11.79287867247957,
      11.909927827299198,
      11.870922159024056,
      11.771571039328446
    ],
    "ax_ego": [
      0.09555747549776364,
      0.11667681533555055,
      0.3567315488365507,
      0.2903634342308991,
      0.5299293301320367,
      0.4152288007483591,
      0.41722865984867785,
      0.04924607313395338,
      -0.20764580375300296,
      -0.19267218604458747
    ],
    "ay_ego": [
      -0.6527196799366514,
      -0.6492770921231601,
      -0.3814075090900531,
      -0.35729768084122226,
      -0.40043651652548606,
      -0.3502739228130262,
      -0.4807447225229693,
      -0.5523967236319796,
      -0.5967131785100436,
      -0.6017149047714904
    ],
    "a_ego": [
      0.6596773542422919,
      0.6596773617403834,
      0.5222347038694416,
      0.46040477481546344,
      0.6642096797708198,
      0.5432373127591167,
      0.6365494818416008,
      0.5545875187907318,
      0.6318096210281937,
      0.6318096215628279
    ],
    "yaw": [
      -1.242146112469202,
      -1.2745847070376182,
      -1.2987436179483893,
      -1.3158055100864257,
      -1.3304253936071484,
      -1.345809255491734,
      -1.3625994003961306,
      -1.3834716280317352,
      -1.4080873073351374,
      -1.4330747806409443
    ],
    "yaw_diff": [
      -0.06487718913683249,
      -0.04831782182154232,
      -0.034123784276072655,
      -0.029239767041445486,
      -0.03076772376917125,
      -0.03358028980879313,
      -0.04174445527120918,
      -0.0492313586068045,
      -0.049974946611613724,
      -0.049974946611613724
    ],
    "min_front_frame": [
      6,
      28.650001618491103
    ],
    "v_avg": 11.40771428145655,
    "v_std": 0.4107221539204593,
    "vy_max": 0.03342795211747385,
    "a_max": 0.6642096797708198,
    "ax_avg": 0.18706441479662003,
    "a_std": 0.0673020115723724,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "9c8bbeb504c05892",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      34.40864310554782,
      28.650001618491103,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      0,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "9c8bbeb504c05892",
    "road_shape": "Straight"
  },
  "3ba8b6918fc45634": {
    "vx_ego": [
      6.728868185543378,
      6.759101922585004,
      6.725879487102147,
      6.661438890701374,
      6.728724184416297,
      6.893331426483427,
      6.9840907835968,
      6.91857774607228,
      6.676504082749666,
      6.398374469146235
    ],
    "vy_ego": [
      -0.09557600670243194,
      0.026661661584380658,
      0.007794605351348904,
      0.013443414380475804,
      0.004697277589376547,
      0.017406585111791273,
      -0.01743716282528851,
      -0.05594906777507358,
      -0.09511490096311226,
      -0.004480179157002828
    ],
    "v_ego": [
      6.729546926166353,
      6.759154506599974,
      6.725884003675207,
      6.661452455729078,
      6.728725823985215,
      6.893353403427775,
      6.984112551224325,
      6.918803966483766,
      6.677181561958473,
      6.398376037669843
    ],
    "ax_ego": [
      0.012678043732468586,
      0.11911225466008604,
      -0.2396263840131554,
      -0.018788810893229924,
      0.28541347100884884,
      0.36732268469864127,
      -0.007391001101287431,
      -0.22077710542577433,
      -0.6930492249317115,
      -0.3842810748192491
    ],
    "ay_ego": [
      1.3280838995768687,
      1.3227924384869187,
      1.6789875675265575,
      1.75373072579251,
      1.788831764370677,
      1.7894424878561377,
      1.7420386703948745,
      1.941405315488887,
      2.056322927262987,
      2.1356753644426787
    ],
    "a_ego": [
      1.328144411240052,
      1.328144406504194,
      1.6960011957023988,
      1.7538313710284423,
      1.8114579571866494,
      1.8267540535165048,
      1.742054349338281,
      1.953918403948509,
      2.1699726287135204,
      2.169972628111149
    ],
    "yaw": [
      -3.03412282495861,
      -2.9538647824207516,
      -2.840640632150142,
      -2.7129231657986255,
      -2.578773022133377,
      -2.4492841227318687,
      -2.31809939081453,
      -2.1808301232175165,
      -2.029644019472988,
      -1.8825964449625814
    ],
    "yaw_diff": [
      0.16051608507571657,
      0.226448300541219,
      0.2554349327030332,
      0.26830028733049716,
      0.2589777988030164,
      0.26236946383467696,
      0.2745385351940275,
      0.30237220748905713,
      0.294095149020813,
      0.294095149020813
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.747659123692,
    "v_std": 0.15560134172332998,
    "vy_max": 0.09557600670243194,
    "a_max": 2.1699726287135204,
    "ax_avg": -0.0779387147084363,
    "a_std": 0.2747851662811859,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "3ba8b6918fc45634",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 34.21521152869633,
    "right_rear_min": 21.720857377808255,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3ba8b6918fc45634",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b7505d7478385be9": {
    "vx_ego": [
      11.309294997612657,
      11.3575912576481,
      11.452799404534181,
      11.568624991292916,
      11.646043889113667,
      11.73650525455357,
      11.806715966709056,
      11.872344005219428,
      11.955543045545687,
      12.014756902448791
    ],
    "vy_ego": [
      0.09643582002769246,
      0.1603726980124769,
      0.16432550856915107,
      0.132588127860104,
      0.12133504366791126,
      0.09334781822692673,
      0.11960925452791216,
      0.12107768110477668,
      0.11000294330789462,
      0.10820047940489541
    ],
    "v_ego": [
      11.309706150489104,
      11.358723457240798,
      11.453978220394212,
      11.569384763280045,
      11.646675940369581,
      11.736876475678327,
      11.807321808619909,
      11.872961382196584,
      11.956049103338119,
      12.015244099421547
    ],
    "ax_ego": [
      0.09885104648942705,
      0.10120784672630584,
      0.2884125860105898,
      0.18240606240135915,
      0.13558080988283652,
      0.2348607077165065,
      0.05143881883917721,
      0.21569859026379173,
      0.11867259955936844,
      0.1187122607143259
    ],
    "ay_ego": [
      -0.17654176555074014,
      -0.17520130566370598,
      -0.35145893780503035,
      -0.3564856038250458,
      -0.410424507145145,
      -0.5259145095854548,
      -0.25514067540913304,
      -0.2136785090023344,
      -0.032760899074533695,
      -0.03261688874944302
    ],
    "a_ego": [
      0.20233270713314583,
      0.20233271051721405,
      0.45464844081153083,
      0.4004422022405681,
      0.43223885997654243,
      0.5759736308387804,
      0.2602743097806587,
      0.3036188186711223,
      0.1231115851345843,
      0.12311158465229675
    ],
    "yaw": [
      0.7616344874900454,
      0.7482339422781945,
      0.736318750775435,
      0.7237148549902352,
      0.7081746936344788,
      0.6905281000151067,
      0.6717466342480369,
      0.6617058314063826,
      0.6574684733608654,
      0.6562551392607119
    ],
    "yaw_diff": [
      -0.026801090423701712,
      -0.023830383005519096,
      -0.02520779157039943,
      -0.031080322711512842,
      -0.035293187238744306,
      -0.037562931534139476,
      -0.020081605683308634,
      -0.00847471609103434,
      -0.002426668200307125,
      -0.002426668200307125
    ],
    "min_front_frame": [
      9,
      41.428436698133055
    ],
    "v_avg": 11.672692140102823,
    "v_std": 0.23441539140102519,
    "vy_max": 0.16432550856915107,
    "a_max": 0.5759736308387804,
    "ax_avg": 0.15458413286036882,
    "a_std": 0.14501436532534004,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b7505d7478385be9",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 20.737452465589026,
    "speed_mode": "quasi_constant",
    "front_frame": [
      46.573607388082046,
      46.10360055224766,
      45.67341727626556,
      45.20000501232949,
      44.566686504620215,
      43.8778813230653,
      43.161588688426434,
      42.51544447090216,
      41.983155906790806,
      41.428436698133055
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b7505d7478385be9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "567469e556cf5e6b": {
    "vx_ego": [
      5.523403507291834,
      5.632440610272225,
      5.772193065125547,
      5.9767894118844485,
      6.192988732791029,
      6.361934281442627,
      6.507356607688063,
      6.6164568757676,
      6.622120055224984,
      6.55266831645948
    ],
    "vy_ego": [
      0.018013766259254993,
      -0.025186393898913195,
      -0.03218158900373158,
      -0.007116625914675545,
      0.024059017250142034,
      0.004094161025090859,
      0.011166719092323252,
      0.03035069154413783,
      0.021299201536035817,
      -0.001212428444883784
    ],
    "v_ego": [
      5.523432881835225,
      5.632496922562975,
      5.772282775103301,
      5.97679364880355,
      6.193035465810581,
      6.361935598821275,
      6.507366188807633,
      6.6165264870148865,
      6.622154308214134,
      6.552668428626207
    ],
    "ax_ego": [
      0.20003872451329816,
      0.23506161022398653,
      0.3149322264506547,
      0.4946047163452455,
      0.36903475056566015,
      0.306604519822333,
      0.2752177564226248,
      0.16062056930060037,
      -0.13904030340015916,
      -0.13895623361254972
    ],
    "ay_ego": [
      -0.675204449899574,
      -0.6638242076620552,
      -0.545849131636054,
      -0.23046020422823146,
      -0.00641180617809739,
      -0.013329512537735372,
      0.12748719240627918,
      0.12702616945327155,
      0.01733484314660331,
      0.017996238482154564
    ],
    "a_ego": [
      0.7042134196883026,
      0.7042134188434986,
      0.6301853550861054,
      0.5456608206238367,
      0.36909044742925073,
      0.3068941307356285,
      0.3033113873199272,
      0.20477943013989522,
      0.14011674688104078,
      0.14011673511501785
    ],
    "yaw": [
      1.1221415752590589,
      1.0698426187813008,
      1.0179558340923143,
      0.9805129960524783,
      0.9656960586123184,
      0.9680872895681019,
      0.971421391410456,
      0.9781796998957428,
      0.9849610268608002,
      0.9897192651339037
    ],
    "yaw_diff": [
      -0.10459791295551613,
      -0.10377356937797311,
      -0.07488567607967189,
      -0.029633874880319766,
      0.004782461911566838,
      0.006668203684708329,
      0.013516616970573603,
      0.013562653930114799,
      0.00951647654620702,
      0.00951647654620702
    ],
    "min_front_frame": [
      9,
      22.570529448667116
    ],
    "v_avg": 6.175869270559977,
    "v_std": 0.400446275889735,
    "vy_max": 0.03218158900373158,
    "a_max": 0.7042134196883026,
    "ax_avg": 0.20781183366316944,
    "a_std": 0.21241950003029467,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "567469e556cf5e6b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.420075266390525,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      47.440488005980676,
      44.639823950167006,
      41.655546108003776,
      38.64614670011293,
      35.54408342506714,
      32.30880143941111,
      29.112619736320955,
      25.833945259065597,
      22.570529448667116
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4444444444444444,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5555555555555556,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "567469e556cf5e6b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fb2a6578f15d5ff5": {
    "vx_ego": [
      5.179027035445555,
      5.038142405567182,
      4.889525967837615,
      4.748554160933546,
      4.636422573261768,
      4.538779248673947,
      4.449355817946905,
      4.394592229223659,
      4.333365303840944,
      4.240442966640988
    ],
    "vy_ego": [
      0.03149095815275427,
      0.007536193680140801,
      0.03415508491507646,
      0.010365931798582029,
      -0.01910059968872302,
      -0.010932991910552303,
      0.0014233255891009655,
      0.016678843132309495,
      0.054045437977609634,
      0.045878287349354174
    ],
    "v_ego": [
      5.179122774594299,
      5.038148041988192,
      4.8896452591148085,
      4.748565475157876,
      4.636461917320118,
      4.538792416326765,
      4.449356045604094,
      4.394623879806007,
      4.333702316253241,
      4.2406911430314205
    ],
    "ax_ego": [
      -0.2822950811698153,
      -0.28192159851606313,
      -0.31257974706579084,
      -0.25218555791553393,
      -0.1935728287294755,
      -0.19478214051652343,
      -0.16470041901989407,
      -0.05389937971703765,
      -0.18592692632547533,
      -0.181219280908042
    ],
    "ay_ego": [
      0.041054583442097795,
      0.043545393335738966,
      0.07325255054576854,
      0.1426943990874237,
      0.29462455942885285,
      0.3154863785259772,
      0.10362564300805163,
      -0.10055760387946482,
      -0.20715809909388094,
      -0.2112885978333388
    ],
    "a_ego": [
      0.28526477468183264,
      0.28526476997802674,
      0.3210483366055245,
      0.2897572210525392,
      0.3525252771660161,
      0.3707718129788656,
      0.19458803127160942,
      0.11409195778783343,
      0.27835822235570645,
      0.27835822126749954
    ],
    "yaw": [
      -0.7128748192875881,
      -0.7040455870143266,
      -0.7035261083428255,
      -0.6873618462069739,
      -0.6577393636566995,
      -0.626275540491652,
      -0.6056937801798621,
      -0.6089805505704748,
      -0.6350710645973718,
      -0.6575706807103409
    ],
    "yaw_diff": [
      0.01765846454652298,
      0.0010389573430023002,
      0.032328524271703074,
      0.059244965100548885,
      0.06292764633009496,
      0.04116352062357986,
      -0.0065735407812255175,
      -0.05218102805379399,
      -0.044999232225938046,
      -0.044999232225938046
    ],
    "min_front_frame": [
      3,
      19.676406877666324
    ],
    "v_avg": 4.644910926919682,
    "v_std": 0.2971732087926687,
    "vy_max": 0.054045437977609634,
    "a_max": 0.3707718129788656,
    "ax_avg": -0.21030829598836515,
    "a_std": 0.07076106855362234,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fb2a6578f15d5ff5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      25.769422037858284,
      24.85395793867173,
      22.35666483960007,
      19.676406877666324,
      26.023904020290583,
      52.614074727266754,
      56.82981434825852,
      -1,
      46.1245815864527,
      43.9921780059674
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.4444444444444444,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5555555555555556,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fb2a6578f15d5ff5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9bdda55e20a15705": {
    "vx_ego": [
      4.252408314694584,
      4.317664228556507,
      4.387961937276669,
      4.480170008789342,
      4.58575768841895,
      4.661458767385727,
      4.716368748148608,
      4.768218966184131,
      4.789392200542224,
      4.788781194468419
    ],
    "vy_ego": [
      -0.0028673530079200704,
      -0.043743581981121715,
      -0.043393259806747964,
      -0.02711286335456048,
      -0.024046386139846665,
      -0.011961802430990522,
      0.01235836828731915,
      -0.0011546534064853509,
      -0.0053342928155916125,
      -0.07694859277441943
    ],
    "v_ego": [
      4.2524092814070595,
      4.317885812700585,
      4.388176493486272,
      4.480252048156975,
      4.585820734130359,
      4.661474114993524,
      4.716384939525144,
      4.768219105987323,
      4.789395171135341,
      4.789399379298446
    ],
    "ax_ego": [
      0.12585105153296,
      0.13287366394520958,
      0.14275908013202926,
      0.22107805620631937,
      0.19832322180054737,
      0.09949363257361107,
      0.11835362064254529,
      0.08790975139433986,
      -0.0019922089589772766,
      0.005560237339483094
    ],
    "ay_ego": [
      -0.2911271277024791,
      -0.2879897239297127,
      -0.3179476568805987,
      -0.3629966018721796,
      -0.435653518328199,
      -0.3607039681195175,
      -0.26632354392793844,
      -0.06668152395694767,
      0.2067220607868219,
      0.20665687236329752
    ],
    "a_ego": [
      0.3171647705156538,
      0.317164770520524,
      0.348526709845897,
      0.4250200464762976,
      0.4786711693188629,
      0.374174204802868,
      0.29143748827070287,
      0.11033834341440706,
      0.20673166015994432,
      0.20673165972886598
    ],
    "yaw": [
      1.7524774565701264,
      1.7282258110656494,
      1.6933374815572444,
      1.6511862141690836,
      1.6064984187458744,
      1.5609550220566297,
      1.5223222782601717,
      1.507628740289206,
      1.5158102016996118,
      1.5523461997923096
    ],
    "yaw_diff": [
      -0.04850329100895401,
      -0.06977665901681007,
      -0.08430253477632155,
      -0.08937559084641844,
      -0.09108679337848935,
      -0.07726548759291596,
      -0.029387075941931684,
      0.016362922820811754,
      0.07307199618539562,
      0.07307199618539562
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.574941708082102,
    "v_std": 0.1925884752942964,
    "vy_max": 0.07694859277441943,
    "a_max": 0.4786711693188629,
    "ax_avg": 0.11302101066080676,
    "a_std": 0.10433845605654792,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "9bdda55e20a15705",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9bdda55e20a15705",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7b00e131a2885ecf": {
    "vx_ego": [
      14.49206371282923,
      14.566556619693323,
      14.643747020858266,
      14.68501353627019,
      14.75064894263215,
      14.750840643194685,
      14.618700126617476,
      14.55526679201772,
      14.525519340541349,
      14.457775935461985
    ],
    "vy_ego": [
      -0.0039416043854938465,
      -0.03076288432907326,
      -0.0033702552063488156,
      0.008195904612966487,
      -0.017538582139271064,
      -0.00941149844896838,
      0.007837850980659589,
      0.014567577175674806,
      0.02914690363106054,
      0.017787657545506264
    ],
    "v_ego": [
      14.492064248855195,
      14.566589103485537,
      14.643747408690013,
      14.685015823392604,
      14.750659369351542,
      14.750843645609807,
      14.618702227758584,
      14.55527408196488,
      14.525548583596835,
      14.45778687769275
    ],
    "ax_ego": [
      0.1485885315023168,
      0.14991621674025857,
      0.1593414008630409,
      0.00572198763968193,
      0.2562886798772639,
      -0.254697027165555,
      -0.27348435630536655,
      0.019058514550026828,
      -0.13866482221433776,
      -0.13357715388941957
    ],
    "ay_ego": [
      0.171997937590734,
      0.1708419477812591,
      0.2319421998451722,
      0.2505216305572089,
      0.06355085048653464,
      0.2750847255478954,
      0.34931990778423,
      0.3118426235851985,
      0.3718739334176415,
      0.3737315886321171
    ],
    "a_ego": [
      0.22729241568842773,
      0.2272924177428861,
      0.2814016099776511,
      0.2505869679763721,
      0.26405037025308736,
      0.37488955957285924,
      0.4436418500526564,
      0.3124244690502864,
      0.39688556949735826,
      0.3968855708925227
    ],
    "yaw": [
      -1.9755540092310486,
      -1.9678088394914723,
      -1.9627894348254868,
      -1.9553628211456446,
      -1.94826432286147,
      -1.9430983685717296,
      -1.9336444535033128,
      -1.922747215847871,
      -1.912009087767407,
      -1.8983621761092255
    ],
    "yaw_diff": [
      0.01549033947915257,
      0.010038809331970988,
      0.014853227359684418,
      0.014196996568349274,
      0.010331908579480853,
      0.018907830136833503,
      0.021794475310883854,
      0.021476256160927854,
      0.027293823316362875,
      0.027293823316362875
    ],
    "min_front_frame": [
      0,
      18.346549729111892
    ],
    "v_avg": 14.604623137039775,
    "v_std": 0.09760329094693251,
    "vy_max": 0.03076288432907326,
    "a_max": 0.4436418500526564,
    "ax_avg": -0.0061508028402089965,
    "a_std": 0.07533083087436343,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7b00e131a2885ecf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.5399118573949755,
    "right_rear_min": 3.2944183051756832,
    "speed_mode": "quasi_constant",
    "front_frame": [
      18.346549729111892,
      20.434716565140253,
      22.727652529036817,
      25.09501618372527,
      27.33588132383904,
      29.763160058787566,
      32.37010437634264,
      34.9445002669463,
      37.422016772219564,
      40.006274553834345
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7b00e131a2885ecf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e28e57068b0b5cf3": {
    "vx_ego": [
      6.092952619498872,
      6.3620182185955425,
      6.666927714036783,
      7.009048584348091,
      7.325865100077792,
      7.52980398535866,
      7.5735202290186425,
      7.606965849612617,
      7.716512934437905,
      7.836194803479941
    ],
    "vy_ego": [
      -0.052581340836313384,
      -0.04958095201978496,
      0.009274629896331099,
      0.004506546944222478,
      0.005013885045480837,
      0.027295131903977587,
      0.033904653304620336,
      0.03778099557068648,
      -0.022048153754238076,
      -0.0628402887551669
    ],
    "v_ego": [
      6.093179500134746,
      6.362211414637585,
      6.666934165188032,
      7.009050033115567,
      7.325866815850603,
      7.529853456884059,
      7.573596119735346,
      7.607059671173805,
      7.716544433127528,
      7.836446764955203
    ],
    "ax_ego": [
      0.5378398068867021,
      0.5420353556703373,
      0.6775874778831048,
      0.6909794259333283,
      0.5762285777732032,
      0.23961928388153747,
      -0.0649743071119909,
      0.19899909278935857,
      0.2391004864791787,
      0.23930818237935947
    ],
    "ay_ego": [
      0.23649539940742254,
      0.22671437186726184,
      0.032751854266440616,
      -0.07914267707950523,
      6.139906604185619e-05,
      0.032225864438525306,
      0.054141918643959036,
      -0.07395055287014984,
      -0.11097479283408408,
      -0.11052621143576528
    ],
    "a_ego": [
      0.5875387066507204,
      0.587538707837906,
      0.6783785625606673,
      0.695497038382237,
      0.5762285810443403,
      0.24177656533814657,
      0.0845754570731509,
      0.2122953678269702,
      0.26359902746244684,
      0.26359903180409494
    ],
    "yaw": [
      2.360455967784406,
      2.3785705775876123,
      2.379495694236276,
      2.378496672832581,
      2.3756731962416793,
      2.3737709742158835,
      2.3757450107693425,
      2.3745767940183455,
      2.3763527236762196,
      2.374477402582914
    ],
    "yaw_diff": [
      0.03622921960641268,
      0.0018502332973273639,
      -0.0019980428073900214,
      -0.005646953181803305,
      -0.003804444051591638,
      0.003948073106918137,
      -0.002336433501993973,
      0.003551859315748196,
      -0.0037506421866115858,
      -0.0037506421866115858
    ],
    "min_front_frame": [
      8,
      19.810366582737085
    ],
    "v_avg": 7.172074237480248,
    "v_std": 0.5780626225249758,
    "vy_max": 0.0628402887551669,
    "a_max": 0.695497038382237,
    "ax_avg": 0.3876723382564119,
    "a_std": 0.21436716462486333,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e28e57068b0b5cf3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      21.09259144808641,
      23.99137329782012,
      20.76610354075769,
      23.31305207274085,
      34.64286718004291,
      31.011215154951373,
      27.27320731795419,
      23.550619213593,
      19.810366582737085,
      35.90167453880405
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e28e57068b0b5cf3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ef89947a381a50bf": {
    "vx_ego": [
      6.425682906404726,
      5.981525157710761,
      5.507218091206848,
      5.026050622184186,
      4.563052876426963,
      4.0845174217567175,
      3.591359881070662,
      3.048241041412457,
      2.41403179379143,
      1.732736664056265
    ],
    "vy_ego": [
      -0.04138762110191285,
      -0.026423911706161984,
      -0.035878453785541,
      -0.04998802089956289,
      -0.028681059896626726,
      -0.02537282409820918,
      -0.016552852917685268,
      -0.008439620059783381,
      -0.02033976887317901,
      -0.04814971181041938
    ],
    "v_ego": [
      6.42581619320397,
      5.981583522399116,
      5.507334960537814,
      5.026299201101293,
      4.563143012909542,
      4.084596228372746,
      3.591398027551888,
      3.048252724715924,
      2.4141174800812166,
      1.7334055329645917
    ],
    "ax_ego": [
      -0.8924946567597314,
      -0.886949137329782,
      -1.0130416551829022,
      -0.9141541857945229,
      -0.9393957099855028,
      -0.9753683877932576,
      -0.9979445962185575,
      -1.1746705020936217,
      -1.3623874771861066,
      -1.3624894772355036
    ],
    "ay_ego": [
      -0.23779679995985506,
      -0.25771158551689066,
      -0.21254138548990842,
      -0.056430276782708955,
      -0.037923158271865764,
      -0.05960785014367298,
      0.004305567352586637,
      -0.04357924575354699,
      -0.048022388514275094,
      -0.04503556301414258
    ],
    "a_ego": [
      0.9236308951176428,
      0.9236308967978898,
      1.0350976937862841,
      0.9158942360029461,
      0.940160872336474,
      0.9771881025192485,
      0.9979538842211334,
      1.1754786000388646,
      1.3632335778552918,
      1.363233574085335
    ],
    "yaw": [
      2.765088539546806,
      2.7427063037827386,
      2.7239384163558444,
      2.7138260954026023,
      2.704468500909408,
      2.698070835658475,
      2.692174743193989,
      2.6868090350196816,
      2.6828156257017373,
      2.6850078980257885
    ],
    "yaw_diff": [
      -0.044764471528134564,
      -0.03753577485378834,
      -0.02022464190648421,
      -0.018715188986388576,
      -0.012795330501866431,
      -0.011792184928971494,
      -0.010731416348614964,
      -0.007986818635888682,
      0.004384544648102562,
      0.004384544648102562
    ],
    "min_front_frame": [
      3,
      15.231949215155668
    ],
    "v_avg": 4.23759468838381,
    "v_std": 1.4704296209317647,
    "vy_max": 0.04998802089956289,
    "a_max": 1.3632335778552918,
    "ax_avg": -1.0518895785579487,
    "a_std": 0.16758910660886683,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ef89947a381a50bf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.7495064251816,
      20.69887775154316,
      17.81663967811287,
      15.231949215155668,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ef89947a381a50bf",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1e9fb68ccf2d5bcd": {
    "vx_ego": [
      0.5648945740426123,
      1.1902235089130848,
      1.771866494893936,
      2.27760060043341,
      2.71737000230833,
      3.1227988772837207,
      3.5094370900024177,
      3.860004235894097,
      4.203831644525408,
      4.558827717790884
    ],
    "vy_ego": [
      0.00287019090372137,
      -0.013670676056912023,
      -0.022596402446270814,
      -0.016239743993174294,
      3.522464003347103e-05,
      0.007262632419274384,
      0.006304662323645349,
      0.004003671479256399,
      -0.004912161335879128,
      -0.019575898179452933
    ],
    "v_ego": [
      0.5649018656179214,
      1.1903020156889716,
      1.7720105736510818,
      2.277658495995305,
      2.7173700025366343,
      3.1228073225535584,
      3.5094427531235857,
      3.860006312236508,
      4.203834514445376,
      4.558869747677375
    ],
    "ax_ego": [
      1.2506445835438318,
      1.2506607392441675,
      1.0758554076561924,
      0.9470735042122485,
      0.8120685488569807,
      0.8095992363150672,
      0.7369373283009585,
      0.665284929365071,
      0.710024693031744,
      0.7100049568239608
    ],
    "ay_ego": [
      -0.0342155102128997,
      -0.033619836994344676,
      -0.00596820566904116,
      0.03075488602967591,
      0.04979874783619981,
      -0.008082900320658948,
      0.022751656817361576,
      -0.014511495823503862,
      -0.020826495225012065,
      -0.021488491427280765
    ],
    "a_ego": [
      1.2511125351009211,
      1.2511125361558384,
      1.0758719615558254,
      0.947572733564852,
      0.8135940285724421,
      0.8096395844568951,
      0.7372884535453473,
      0.6654431762001344,
      0.7103300694875444,
      0.7103300598865395
    ],
    "yaw": [
      -2.04303213862097,
      -2.0435084277514663,
      -2.044154703684777,
      -2.0442330982366705,
      -2.042696549698533,
      -2.0416002751157762,
      -2.0402093341976606,
      -2.0390286599265597,
      -2.039008459422086,
      -2.038076097085835
    ],
    "yaw_diff": [
      -0.0009525782609927091,
      -0.0012925518666211389,
      -0.00015678910378724709,
      0.003073097076274678,
      0.002192549165513924,
      0.0027818818362312925,
      0.0023613485422018243,
      4.040100894719956e-05,
      0.0018647246725018718,
      0.0018647246725018718
    ],
    "min_front_frame": [
      1,
      22.430732287289608
    ],
    "v_avg": 2.7777203603526313,
    "v_std": 1.253545339197378,
    "vy_max": 0.022596402446270814,
    "a_max": 1.2511125361558384,
    "ax_avg": 0.8968153927350222,
    "a_std": 0.21183713024765768,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1e9fb68ccf2d5bcd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      22.447611325188102,
      22.430732287289608,
      22.738754805826538,
      22.690509880217828,
      22.800223691977326,
      22.82873969470385,
      22.93060150867783,
      23.1222676349931,
      23.274317101448815,
      23.494278133471866
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1e9fb68ccf2d5bcd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bdb0f78978cd5307": {
    "vx_ego": [
      2.1904003326062504,
      1.5268713952523822,
      0.9246133033283428,
      0.517887377518025,
      0.34112776463505595,
      0.28526265671183815,
      0.2634114460896165,
      0.31575218345754347,
      0.4636415397286763,
      0.6417450413608008
    ],
    "vy_ego": [
      0.026779396507564224,
      0.022509968406044356,
      0.012163217180292951,
      -0.004396059621354309,
      -0.011690128775427355,
      -0.024679846516990706,
      -0.012891090395531643,
      0.009347276068342403,
      0.0037230676019045783,
      0.000275600619197236
    ],
    "v_ego": [
      2.1905640262633006,
      1.527037313335073,
      0.9246933029626229,
      0.5179060350417747,
      0.341328010739957,
      0.286328269890345,
      0.26372669592327713,
      0.31589050781576833,
      0.46365648770867646,
      0.6417451005398305
    ],
    "ax_ego": [
      -1.327028152497355,
      -1.327020684164245,
      -1.0819503964806794,
      -0.5449477025798111,
      -0.16209340128332922,
      -0.06140345241074725,
      -0.0259882757496906,
      0.23536589886341475,
      0.3562071205444726,
      0.3562111758508888
    ],
    "ay_ego": [
      -0.010602526879105012,
      -0.011499302609328743,
      -0.03353391317180243,
      -0.033646136010726385,
      0.004391260745589237,
      -0.057396288093229955,
      0.10464205600084281,
      -0.0159721096077131,
      -0.0075896536827699534,
      -0.007396846456489414
    ],
    "a_ego": [
      1.3270705072062923,
      1.3270705068534383,
      1.0824699459002607,
      0.5459854036652139,
      0.16215287203911669,
      0.08405187597454297,
      0.10782091801002938,
      0.2359072161530969,
      0.3562879671973344,
      0.3562879665924373
    ],
    "yaw": [
      0.876649307588863,
      0.8759735276687499,
      0.8752107924015171,
      0.8748504134368148,
      0.8747989358415739,
      0.8739289130414662,
      0.874012969466929,
      0.8737370835751286,
      0.8730263589986035,
      0.8724850808406588
    ],
    "yaw_diff": [
      -0.0013515598402260576,
      -0.0015254705344656116,
      -0.0007207579294046251,
      -0.00010295519048186819,
      -0.0017400456002152342,
      0.00016811285092543926,
      -0.0005517717836007741,
      -0.0014214491530502027,
      -0.0010825563158893825,
      -0.0010825563158893825
    ],
    "min_front_frame": [
      7,
      8.65386949592602
    ],
    "v_avg": 0.7472875750220626,
    "v_std": 0.6053058947437717,
    "vy_max": 0.026779396507564224,
    "a_max": 1.3270705072062923,
    "ax_avg": -0.35826478699070813,
    "a_std": 0.471937663977638,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bdb0f78978cd5307",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.132157160467688,
    "right_rear_min": 9.443759909414457,
    "speed_mode": "decelerating",
    "front_frame": [
      11.043995103822125,
      10.192127383143276,
      9.592872180313629,
      9.28253472761427,
      8.986221348332547,
      8.798958161131745,
      8.67965442249911,
      8.65386949592602,
      8.755794486387883,
      8.987474346276272
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bdb0f78978cd5307",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8b80580ff95254e8": {
    "vx_ego": [
      9.647880755752293,
      9.287114208227083,
      8.835038316853787,
      8.275033320050753,
      7.737917405185914,
      7.239134163357861,
      6.78975515856837,
      6.378027891638524,
      5.992828135058935,
      5.646903784006293
    ],
    "vy_ego": [
      0.019497074765068678,
      -0.006720224939004815,
      -0.01046801913751727,
      -0.00046664744801638847,
      -0.007141609025818507,
      -0.02088594995605897,
      -0.018743037374334914,
      -0.010649374569351,
      0.007916303181791928,
      0.025741382099439658
    ],
    "v_ego": [
      9.647900456220505,
      9.287116639629147,
      8.835044518263574,
      8.275033333208395,
      7.737920700812239,
      7.239164292789638,
      6.7897810284836,
      6.3780367822471575,
      5.992833363627761,
      5.64696245468101
    ],
    "ax_ego": [
      -0.7216013096706886,
      -0.721410108094929,
      -1.0870724976479762,
      -1.1529807736427191,
      -0.9954793462912901,
      -0.9997382366338678,
      -0.7979948965611134,
      -0.8489562841723375,
      -0.691869414421478,
      -0.6918539261140128
    ],
    "ay_ego": [
      -0.09109870211232471,
      -0.09260058980424807,
      -0.006788438821064391,
      -0.011169561064661604,
      -0.048441324091621774,
      -0.05422426084184012,
      0.007728543701002066,
      0.005367049943636737,
      0.040009325925281,
      0.04027636708190052
    ],
    "a_ego": [
      0.7273289652179425,
      0.727328958101925,
      1.087093693314535,
      1.1530348752245703,
      0.9966572584255251,
      1.0012076768840916,
      0.7980323209778665,
      0.8489732490843278,
      0.6930252757099947,
      0.6930252815191447
    ],
    "yaw": [
      -2.0410499647187246,
      -2.043131567257147,
      -2.0454484613920316,
      -2.0471406726996877,
      -2.048170844102185,
      -2.049762773787104,
      -2.0517324964928507,
      -2.0524638430441726,
      -2.053635076859165,
      -2.0532490979727775
    ],
    "yaw_diff": [
      -0.004163205076844534,
      -0.004633788269769568,
      -0.0033844226153121326,
      -0.0020603428049943417,
      -0.0031838593698383377,
      -0.003939445411493381,
      -0.0014626931026437973,
      -0.0023424676299850233,
      0.000771957772775167,
      0.000771957772775167
    ],
    "min_front_frame": [
      9,
      16.44807646167052
    ],
    "v_avg": 7.582979356996304,
    "v_std": 1.3309613232398845,
    "vy_max": 0.025741382099439658,
    "a_max": 1.1530348752245703,
    "ax_avg": -0.8708956793250412,
    "a_std": 0.16413453794944016,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8b80580ff95254e8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 39.25040629010691,
    "right_rear_min": 4.063624745088208,
    "speed_mode": "decelerating",
    "front_frame": [
      20.80392276510086,
      20.083506492748363,
      19.453494638822356,
      18.84988581361691,
      18.445673604162153,
      17.92872304780268,
      17.667373050221588,
      17.29167255714303,
      16.927263160086824,
      16.44807646167052
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8b80580ff95254e8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2be07b9c94db5de7": {
    "vx_ego": [
      5.714247220530792,
      5.310377191050719,
      4.918243049001207,
      4.459815162344591,
      3.9466708175747653,
      3.4233151977513208,
      2.9477095341145025,
      2.622229293918791,
      2.354798590996083,
      2.0765951466077963
    ],
    "vy_ego": [
      -0.024305851562656855,
      0.013434069893814904,
      0.03607295150447909,
      0.0116683200478791,
      -0.024911131316046164,
      -0.03896703869007534,
      -0.02544038169468088,
      -0.007822868951286477,
      0.021359520039796465,
      0.06183896070648587
    ],
    "v_ego": [
      5.71429891340697,
      5.310394183623814,
      4.918375336112417,
      4.459830426369533,
      3.946749435517754,
      3.4235369682916286,
      2.9478193144306366,
      2.6222409628339785,
      2.354895461215522,
      2.0775156942791826
    ],
    "ax_ego": [
      -0.8077436486073244,
      -0.807733634968034,
      -0.7607564947465406,
      -1.072922027684959,
      -0.9797426710559014,
      -1.1137795784007543,
      -0.788776046512304,
      -0.5130759943615147,
      -0.5566541913572489,
      -0.5564807836064233
    ],
    "ay_ego": [
      0.0768633387699888,
      0.07696854851317342,
      0.00651723726166048,
      -0.10822283808773175,
      -0.07030813412667908,
      0.005158760802429385,
      0.037407827021106066,
      0.04392859791164702,
      0.08900174349479031,
      0.09007959849280256
    ],
    "a_ego": [
      0.8113924911609318,
      0.811392495971523,
      0.760784410119298,
      1.0783662922102895,
      0.9822621519798711,
      1.1137915254101993,
      0.7896625843194177,
      0.5149531024321926,
      0.5637243999515235,
      0.56372439772272
    ],
    "yaw": [
      0.5621451920098386,
      0.5622754553621745,
      0.5619294722356294,
      0.5617133649131498,
      0.5597920712858141,
      0.55918926635696,
      0.5582719019793254,
      0.5592595726559912,
      0.5608835743529501,
      0.5628201811811296
    ],
    "yaw_diff": [
      0.00026052670467180405,
      -0.0006919662530902038,
      -0.000432214644959128,
      -0.003842587254671459,
      -0.0012056098577082341,
      -0.0018347287552691327,
      0.001975341353331661,
      0.003248003393917731,
      0.0038732136563590647,
      0.0038732136563590647
    ],
    "min_front_frame": [
      9,
      12.911846880579908
    ],
    "v_avg": 3.777565669608144,
    "v_std": 1.2230619324058603,
    "vy_max": 0.06183896070648587,
    "a_max": 1.1137915254101993,
    "ax_avg": -0.7957665071301003,
    "a_std": 0.2009902657368775,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2be07b9c94db5de7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.547418173738521,
    "right_rear_min": 12.012317670601401,
    "speed_mode": "decelerating",
    "front_frame": [
      21.460588944823197,
      27.14899169772861,
      24.60537878552002,
      22.245787694892194,
      20.137532833401437,
      18.281730201836925,
      16.7209868108307,
      15.300779165500224,
      14.060570797256585,
      12.911846880579908
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2be07b9c94db5de7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f11cf1d1b58454d8": {
    "vx_ego": [
      4.682340228670508,
      4.03768606440009,
      3.3969713818736444,
      2.8609544999967063,
      2.4341635333598464,
      1.963400237010473,
      1.4373060324635822,
      0.8962381998181772,
      0.38683981307681375,
      -0.07903818592139733
    ],
    "vy_ego": [
      0.078267702742538,
      0.011208394837514873,
      -0.04110519252550151,
      -0.03017292903432213,
      -0.0017980114212063011,
      -0.005940807784535609,
      0.009459906011548239,
      0.029672185608537214,
      0.01461470503524039,
      -0.027135776195248096
    ],
    "v_ego": [
      4.682994325249474,
      4.037701621314472,
      3.397220070310591,
      2.8611136042977936,
      2.434164197416428,
      1.963409224764393,
      1.437337163221612,
      0.8967292508957843,
      0.3871157844683827,
      0.08356665114424512
    ],
    "ax_ego": [
      -1.2892908606703615,
      -1.2891574574150682,
      -1.2738122198045272,
      -0.869997684250755,
      -0.8371836285499606,
      -1.0458570233770008,
      -1.0585091554093593,
      -1.1058843685195505,
      -0.9317608690076224,
      -0.9317533802273316
    ],
    "ay_ego": [
      -0.14168924439834182,
      -0.1428978862658256,
      -0.08493254116987353,
      0.1410743198310431,
      -0.01399017822588474,
      0.002150586075475445,
      0.06257331915307186,
      0.024156995469367105,
      -0.0834867888705863,
      -0.0835703351497675
    ],
    "a_ego": [
      1.297053108159529,
      1.2970531045057963,
      1.2766405554708458,
      0.8813614095916996,
      0.8373005153461154,
      1.0458592344897415,
      1.0603570400366413,
      1.1061481803836193,
      0.9354936455849188,
      0.9354936464146096
    ],
    "yaw": [
      -1.5447268523484294,
      -1.5456643470266385,
      -1.5469142810224032,
      -1.545906259002261,
      -1.5446215330234971,
      -1.5440898609301872,
      -1.5436314041919132,
      -1.542377624639345,
      -1.5420145354029402,
      -1.5421042026661875
    ],
    "yaw_diff": [
      -0.0018749893564180553,
      -0.0024998679915295696,
      0.002016044040284548,
      0.0025694519575276686,
      0.0010633441866199078,
      0.0009169134765478759,
      0.0025075591051364476,
      0.0007261784728096465,
      -0.00017933452649465664,
      -0.00017933452649465664
    ],
    "min_front_frame": [
      9,
      10.658597823784188
    ],
    "v_avg": 2.2181351893083177,
    "v_std": 1.4685483623380207,
    "vy_max": 0.078267702742538,
    "a_max": 1.297053108159529,
    "ax_avg": -1.0633206647231535,
    "a_std": 0.1654183444048887,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f11cf1d1b58454d8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.197038084212051,
    "right_rear_min": 3.8996519123356563,
    "speed_mode": "decelerating",
    "front_frame": [
      18.1118464969971,
      16.891742283141312,
      15.543638267733796,
      14.372155889090049,
      13.356289685082185,
      12.435687777302304,
      11.611400757678219,
      11.027633079116448,
      10.713980843452447,
      10.658597823784188
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f11cf1d1b58454d8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1a9928bcc34451aa": {
    "vx_ego": [
      1.648742296642967,
      1.173304850849354,
      0.7123548655488603,
      0.3413671807247898,
      0.11885350669086689,
      -0.0038607928267388528,
      -0.03449063016327621,
      -0.018503070213875036,
      -0.015932045703257368,
      -0.00811625424991001
    ],
    "vy_ego": [
      -0.01572561606423284,
      -0.01376948363860786,
      -0.010423743746203029,
      -0.014114497234375578,
      -0.0034976705379187803,
      0.01712432685470101,
      0.011565570410035872,
      0.0024451743379781425,
      0.001019655705372255,
      0.00036632075964995216
    ],
    "v_ego": [
      1.6488172899809503,
      1.1733856449208413,
      0.712431125727127,
      0.34165885193884626,
      0.11890496100629176,
      0.017554153111945685,
      0.036378097640879965,
      0.01866393540716149,
      0.01596464149450841,
      0.008124516843981112
    ],
    "ax_ego": [
      -0.9509578626381248,
      -0.9509478314663744,
      -0.8929172480201757,
      -0.5910540590906008,
      -0.29904681190005666,
      -0.19178871082085897,
      0.0692972413676927,
      -0.005347572957762768,
      0.015631582129283422,
      0.015631580362552678
    ],
    "ay_ego": [
      -0.002427798997960473,
      -0.004997125808350544,
      0.014175146765506352,
      -0.03044154704343649,
      0.07249636135057677,
      0.009926331985028042,
      -0.03208764773128327,
      -0.004396707819130627,
      -0.0013066871983922063,
      -0.0013067052484165695
    ],
    "a_ego": [
      0.9509609617230589,
      0.9509609610477943,
      0.8930297568377817,
      0.5918374680213083,
      0.3077088203426435,
      0.19204541563131378,
      0.0763657305216102,
      0.006922974518615537,
      0.015686101851606567,
      0.015686101594634086
    ],
    "yaw": [
      2.6009559397885607,
      2.598254096210139,
      2.5971304731301394,
      2.596362071564444,
      2.595829435460792,
      2.595459177392595,
      2.5951035175579777,
      2.5951438947495404,
      2.5951605480594226,
      2.595161651213491
    ],
    "yaw_diff": [
      -0.005403687156843695,
      -0.002247246159998717,
      -0.001536803131390485,
      -0.0010652722073043464,
      -0.0007405161363944757,
      -0.0007113196692341006,
      8.075438312538097e-05,
      3.330661976441718e-05,
      2.2063081370760074e-06,
      2.2063081370760074e-06
    ],
    "min_front_frame": [
      3,
      9.82344409934747
    ],
    "v_avg": 0.40918832180725334,
    "v_std": 0.5533362001977898,
    "vy_max": 0.01712432685470101,
    "a_max": 0.9509609617230589,
    "ax_avg": -0.3781499693034426,
    "a_std": 0.3864455429081902,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1a9928bcc34451aa",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.609152769693923,
    "right_rear_min": 35.65500223905271,
    "speed_mode": "decelerating",
    "front_frame": [
      10.744807809534244,
      10.23719808418837,
      9.886503146285445,
      9.82344409934747,
      9.902462992327084,
      9.906357968324778,
      9.94360766518704,
      10.058607055409627,
      10.279285087581364,
      10.441839291578372
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1a9928bcc34451aa",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "79e5694685065280": {
    "vx_ego": [
      4.161712044325603,
      3.6537760788124656,
      3.1896741499445627,
      2.8016064149320377,
      2.4436966532210067,
      2.102870016397586,
      1.7768442465638972,
      1.4648698562586933,
      1.1743897249433588,
      0.8870228386716853
    ],
    "vy_ego": [
      -0.03797263579202934,
      -0.0052579111656612665,
      0.0032384235483975676,
      -0.005893462398181684,
      0.004560942586450269,
      0.01060815469608331,
      -0.017737186011197385,
      -0.043186471666207024,
      -0.037268896266535095,
      -0.022933250160242957
    ],
    "v_ego": [
      4.161885277245612,
      3.653779861969249,
      3.1896757939031435,
      2.801612613672237,
      2.443700909514261,
      2.1028967732178487,
      1.7769327742812386,
      1.4655063176630596,
      1.1749809346033933,
      0.8873192493618556
    ],
    "ax_ego": [
      -1.0158800842802789,
      -1.0159184725380157,
      -0.8404602511719458,
      -0.7117980737447003,
      -0.7198260254683115,
      -0.6435169553195279,
      -0.6606070494335368,
      -0.5871426310248439,
      -0.5747300616356438,
      -0.574727724329773
    ],
    "ay_ego": [
      0.0607897453563434,
      0.060144732371477556,
      -0.03520006262380117,
      0.004639117736887334,
      0.044178101157436554,
      -0.014461389112264819,
      -0.09233812151854862,
      -0.0037207805699344745,
      0.02881496044606685,
      0.028861502224238843
    ],
    "a_ego": [
      1.0176972726591123,
      1.0176972691699686,
      0.8411970507608367,
      0.7118131912236824,
      0.7211804292709162,
      0.6436794260800726,
      0.6670292365757723,
      0.5871544203825988,
      0.5754519490741337,
      0.5754519471023791
    ],
    "yaw": [
      1.5910234224529647,
      1.5903885029931597,
      1.5897237072389925,
      1.5902243348681284,
      1.5908913046698954,
      1.5915017820710773,
      1.5923490877113888,
      1.5932391926768892,
      1.5935092590055717,
      1.593590241860099
    ],
    "yaw_diff": [
      -0.0012698389196099669,
      -0.001329591508334449,
      0.0010012552582718826,
      0.0013339396035338957,
      0.0012209548023638384,
      0.0016946112806230929,
      0.001780209931000698,
      0.0005401326573650778,
      0.00016196570905435692,
      0.00016196570905435692
    ],
    "min_front_frame": [
      9,
      12.941329213636884
    ],
    "v_avg": 2.36582905054319,
    "v_std": 1.0290750097252146,
    "vy_max": 0.043186471666207024,
    "a_max": 1.0176972726591123,
    "ax_avg": -0.7344607328946579,
    "a_std": 0.16048797130368064,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "79e5694685065280",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.471487133717014,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.675901510281836,
      21.71078201136996,
      19.976110910299884,
      18.460703499062358,
      17.156283973158633,
      16.01607180723283,
      14.953655839258484,
      14.150207882363574,
      13.496035203414937,
      12.941329213636884
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "79e5694685065280",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aa1b434771cb52d0": {
    "vx_ego": [
      4.568909468652839,
      5.19844946219049,
      5.754621612198881,
      6.156348611083237,
      6.382442176358003,
      6.495404542737164,
      6.56843385691508,
      6.6679729297173065,
      6.870319677331207,
      7.132096349477953
    ],
    "vy_ego": [
      0.03385422799878901,
      0.01404403454681935,
      0.00019170031680681987,
      -0.00547966028090574,
      -0.01075481596461092,
      0.011286704402985404,
      0.028649076316566102,
      0.02451472409856814,
      0.0279260909382133,
      -0.08229414834396209
    ],
    "v_ego": [
      4.569034891692004,
      5.198468432707363,
      5.754621615391882,
      6.156351049758558,
      6.3824512376217895,
      6.495414348870045,
      6.568496334949279,
      6.668017993612527,
      6.87037643330258,
      7.132571111814337
    ],
    "ax_ego": [
      1.2586701286440007,
      1.2605473318844926,
      0.9658537758922103,
      0.6400650019482377,
      0.2635784176485145,
      0.18748203775725983,
      0.10521276306674601,
      0.29298663103512346,
      0.5175497424412985,
      0.5337266726101048
    ],
    "ay_ego": [
      -0.1642032895838927,
      -0.1491094760908191,
      -0.28935434817391453,
      -0.21120815458261033,
      -0.17499521764854564,
      -0.037481513803216265,
      -0.059433245844613874,
      0.025140022260348643,
      0.3894862272755023,
      0.3670055780720378
    ],
    "a_ego": [
      1.2693357369312805,
      1.2693357364311428,
      1.0082655678006618,
      0.6740119370465105,
      0.31638095462583804,
      0.1911919934479352,
      0.12083888539607417,
      0.2940632358601843,
      0.6477323962396497,
      0.6477323948911653
    ],
    "yaw": [
      2.770609176939554,
      2.7586263853658366,
      2.741257484137318,
      2.721334008603704,
      2.7068838010226193,
      2.695228282820879,
      2.688870955338966,
      2.688197848736864,
      2.703068374758706,
      2.7458301444604545
    ],
    "yaw_diff": [
      -0.0239655831474348,
      -0.0347378024570375,
      -0.039846951067227465,
      -0.02890041516216968,
      -0.023311036403480756,
      -0.012714654963826177,
      -0.0013462132042034725,
      0.029741052043683602,
      0.08552353940349722,
      0.08552353940349722
    ],
    "min_front_frame": [
      0,
      16.29775059098736
    ],
    "v_avg": 6.179580344972036,
    "v_std": 0.7519103737668981,
    "vy_max": 0.08229414834396209,
    "a_max": 1.2693357369312805,
    "ax_avg": 0.6025672502927989,
    "a_std": 0.4030173750468895,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "aa1b434771cb52d0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.451392333880857,
    "right_rear_min": 7.958139258188598,
    "speed_mode": "accelerating",
    "front_frame": [
      16.29775059098736,
      16.952152861159707,
      17.507708756547945,
      17.841085990607137,
      18.388449935785207,
      18.966542409421052,
      19.645816636445822,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "aa1b434771cb52d0",
    "pedestrians": "No"
  },
  "ba82b67601605dd3": {
    "vx_ego": [
      4.755380398650444,
      4.139702662219511,
      3.506669790879776,
      2.8132465663855744,
      2.106900235876977,
      1.4551841334960254,
      0.8597441683628543,
      0.3938098418866943,
      0.1105598922770403,
      -0.08793655914126863
    ],
    "vy_ego": [
      -0.026646388103432506,
      -0.008875664214078718,
      0.029064769148084153,
      0.04574062716210463,
      0.0103629669836117,
      -0.029015410356515975,
      -0.0089165462591217,
      0.02141953047160524,
      0.017573110733800638,
      0.011052747065805486
    ],
    "v_ego": [
      4.75545505350096,
      4.139712177072525,
      3.506790239389069,
      2.8136183906587986,
      2.106925721287574,
      1.4554733788072989,
      0.8597904045935422,
      0.3943919216369007,
      0.11194777354272471,
      0.08862844718997681
    ],
    "ax_ego": [
      -1.2313364505553033,
      -1.231223082571466,
      -1.3009101440634971,
      -1.472488204640943,
      -1.3527230021233227,
      -1.2540597613324054,
      -1.1277013981554036,
      -0.7360443983797548,
      -0.396982443331137,
      -0.3969762897879012
    ],
    "ay_ego": [
      0.052871961578542605,
      0.05544928225469437,
      0.0977116101724349,
      -0.04786145577026073,
      -0.10571411519439865,
      -0.043365659058232274,
      0.12372350571927934,
      -0.002155648837477396,
      -0.012957708580927135,
      -0.01314510099664203
    ],
    "a_ego": [
      1.2324710539348565,
      1.2324710552217215,
      1.304574551986125,
      1.4732658387932425,
      1.3568474470716558,
      1.254809334272998,
      1.1344681349730017,
      0.7360475549909297,
      0.39719386012982083,
      0.3971938674425622
    ],
    "yaw": [
      -1.5967723489747248,
      -1.5946791444973623,
      -1.594587860611576,
      -1.5959122181281682,
      -1.5971457988393638,
      -1.5959537237653012,
      -1.5959619589239753,
      -1.5958652368008448,
      -1.595540735909966,
      -1.5960127816330936
    ],
    "yaw_diff": [
      0.004186408954724996,
      0.00018256777157255044,
      -0.0026487150331844234,
      -0.0024671614223912286,
      0.002384150148125208,
      -1.647031734819393e-05,
      0.00019344424626099865,
      0.00064900178175753,
      -0.0009440914462550687,
      -0.0009440914462550687
    ],
    "min_front_frame": [
      9,
      11.681372533030828
    ],
    "v_avg": 2.023273350767937,
    "v_std": 1.6279421356945403,
    "vy_max": 0.04574062716210463,
    "a_max": 1.4732658387932425,
    "ax_avg": -1.0500445174941135,
    "a_std": 0.374784078639407,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ba82b67601605dd3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.05931894175337,
    "speed_mode": "decelerating",
    "front_frame": [
      20.328257663484738,
      18.126369060505912,
      16.361729058560424,
      14.775836392127639,
      13.56470199818236,
      12.663267619218242,
      12.105854556070092,
      11.795074747132105,
      11.695765692739334,
      11.681372533030828
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ba82b67601605dd3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4b9627827aff5013": {
    "vx_ego": [
      4.125406628655641,
      4.121906948826442,
      4.114115646629227,
      4.043732644848972,
      3.887918125914146,
      3.6418142557483817,
      3.214298980064747,
      2.6130624360696593,
      1.9209103706133073,
      1.1942787053460295
    ],
    "vy_ego": [
      0.011563676809914991,
      5.28550919760562e-05,
      -0.015016987862974673,
      0.0016941096903089203,
      0.01593095724481719,
      0.010356263280094091,
      0.003788668105677573,
      0.010196198473883422,
      0.002463363304887334,
      -0.00019913987366634855
    ],
    "v_ego": [
      4.125422835343945,
      4.121906949165322,
      4.114143053390815,
      4.043732999720048,
      3.8879507647616247,
      3.641828980822859,
      3.2143012129001365,
      2.6130823288334453,
      1.9209119501134155,
      1.1942787219488078
    ],
    "ax_ego": [
      -0.009299423945176091,
      -0.005245824648811612,
      -0.02325983776315367,
      -0.25827768935859086,
      -0.36619385331085613,
      -0.6201175898751302,
      -1.0898477918044835,
      -1.3167053227915553,
      -1.4534315211529423,
      -1.4530443954961965
    ],
    "ay_ego": [
      0.17159641564543873,
      0.1717681321497583,
      0.2823370066055926,
      0.22863688023699377,
      0.19329718271318674,
      0.13347926609235855,
      0.19753219710691916,
      0.12689121373042467,
      0.02342083992786259,
      0.04091090950798054
    ],
    "a_ego": [
      0.17184821543465117,
      0.17184821761794014,
      0.2832934968398933,
      0.34493794778904535,
      0.414079387373373,
      0.6343205339172735,
      1.1076042516147162,
      1.322805460825436,
      1.4536202125809485,
      1.4536202109903664
    ],
    "yaw": [
      -0.41751558057553984,
      -0.3939056132571819,
      -0.3626974859334644,
      -0.3356727840388065,
      -0.31274354217903116,
      -0.28975855165681685,
      -0.26414300867577334,
      -0.23875437808397043,
      -0.21891732254071128,
      -0.20688222966592662
    ],
    "yaw_diff": [
      0.04721993463671592,
      0.06241625464743494,
      0.054049403789315775,
      0.0458584837195507,
      0.04596998104442862,
      0.05123108596208703,
      0.050777261183605815,
      0.039674111086518304,
      0.024070185749569317,
      0.024070185749569317
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.2877559797000417,
    "v_std": 0.9924213666221873,
    "vy_max": 0.01593095724481719,
    "a_max": 1.4536202125809485,
    "ax_avg": -0.6595423250146896,
    "a_std": 0.5119342015784221,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "4b9627827aff5013",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4b9627827aff5013",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "0ebb578555b25ab2": {
    "vx_ego": [
      9.81588273797149,
      9.72624745466963,
      9.638567311593352,
      9.563296323016937,
      9.500961182514361,
      9.344394740008372,
      8.926750386292369,
      8.296844630735313,
      7.572189664379416,
      6.796170377952562
    ],
    "vy_ego": [
      0.027043788705915617,
      -0.047419053032139225,
      -0.03022050281860622,
      -0.014730910929293017,
      -0.0030678116596365435,
      0.02223754762724628,
      0.02775269818368331,
      0.009744836371492926,
      -0.0020815265901417135,
      -0.012494978100798804
    ],
    "v_ego": [
      9.815919992141044,
      9.726363046692116,
      9.638614687749817,
      9.563307668456876,
      9.500961677804678,
      9.344421200139717,
      8.926793526873322,
      8.29685035350146,
      7.572189950475846,
      6.796181864152666
    ],
    "ax_ego": [
      -0.1862614799465289,
      -0.1708782345169484,
      -0.18035302712636406,
      -0.12060737042368241,
      -0.12859708960815575,
      -0.4977487653672763,
      -1.1731637423151096,
      -1.3465959312221178,
      -1.552026002490398,
      -1.5520333338784646
    ],
    "ay_ego": [
      0.47593791859806067,
      0.48167506655362496,
      0.09289282238872168,
      0.04239348562298912,
      0.09093803289597849,
      0.09996621845667437,
      0.006262983966596414,
      -0.026702657266508112,
      -0.01264849510422883,
      -0.011714649953407319
    ],
    "a_ego": [
      0.5110873127669336,
      0.5110873122775288,
      0.20287013295452244,
      0.12784109442500063,
      0.15750218183465936,
      0.5076879733233548,
      1.1731804597976214,
      1.3468606586759653,
      1.5520775421462443,
      1.5520775439691898
    ],
    "yaw": [
      -1.2106420908433928,
      -1.1785165378346565,
      -1.1654592310801668,
      -1.1635483486263412,
      -1.1612752464397893,
      -1.1589074022805816,
      -1.1566251740606925,
      -1.1551312285998698,
      -1.1548814136438512,
      -1.1542797217398357
    ],
    "yaw_diff": [
      0.06425110601747264,
      0.026114613508979367,
      0.0038217649076512927,
      0.004546204373103713,
      0.00473568831841531,
      0.004564456439778208,
      0.0029878909216454197,
      0.000499629912037225,
      0.0012033838080309778,
      0.0012033838080309778
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.918160396798754,
    "v_std": 0.9806283110144768,
    "vy_max": 0.047419053032139225,
    "a_max": 1.5520775439691898,
    "ax_avg": -0.6908264976895045,
    "a_std": 0.5504831606713372,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0ebb578555b25ab2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0ebb578555b25ab2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "520f3dc854275784": {
    "vx_ego": [
      8.886486326292895,
      9.068628626362342,
      9.21697683996073,
      9.327495744789456,
      9.417298773727472,
      9.430396179472222,
      9.418035763666508,
      9.423981299317838,
      9.401414837224067,
      9.368902161817342
    ],
    "vy_ego": [
      -0.020766353504162005,
      -0.050181280470206424,
      -0.044635827134971606,
      -0.0008260785966092143,
      0.03914301521930863,
      0.012311482293878129,
      -0.016539941345378395,
      -0.0019372593274313843,
      -0.014886497473140636,
      0.013443629493141707
    ],
    "v_ego": [
      8.886510590148895,
      9.068767464423606,
      9.217084920159763,
      9.327495781369791,
      9.417380122374238,
      9.430404215854193,
      9.418050287366334,
      9.423981498436106,
      9.401426623092043,
      9.368911807081952
    ],
    "ax_ego": [
      0.36330626440494485,
      0.3676633687167779,
      0.2300829825472725,
      0.21537927938495213,
      0.14154622777613146,
      -0.09316406997511495,
      0.043718127597775186,
      -0.01976776189377294,
      -0.06892429323715635,
      -0.06105978316027566
    ],
    "ay_ego": [
      0.254981567046242,
      0.248657769899778,
      0.3883086933863449,
      0.540078168069563,
      0.4979058093620326,
      0.40318715187362975,
      0.38591646208285624,
      0.3312682863469743,
      0.41294789948393446,
      0.41418381844975194
    ],
    "a_ego": [
      0.44385475246890493,
      0.4438547501465996,
      0.4513555363759914,
      0.581440161679391,
      0.5176345521640854,
      0.4138108545824983,
      0.3883848482976698,
      0.33185756274273737,
      0.4186603944564558,
      0.4186604024566892
    ],
    "yaw": [
      -0.8330765067406922,
      -0.8157744387374484,
      -0.7989957755720738,
      -0.7786939645435709,
      -0.7552953683744724,
      -0.728628186754456,
      -0.7045914160029305,
      -0.6871250573569994,
      -0.6659976329612887,
      -0.6469818520180055
    ],
    "yaw_diff": [
      0.03460413600648771,
      0.03355732633074915,
      0.04060362205700585,
      0.0467971923381969,
      0.053334363240032934,
      0.048073541503050876,
      0.034932717291862314,
      0.042254848791421384,
      0.03803156188656631,
      0.03803156188656631
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.296001331030691,
    "v_std": 0.17522552452794096,
    "vy_max": 0.050181280470206424,
    "a_max": 0.581440161679391,
    "ax_avg": 0.11187803421615342,
    "a_std": 0.06491347882062232,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "520f3dc854275784",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "520f3dc854275784",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "38f4eed7d2cb5cc0": {
    "vx_ego": [
      12.995229237923043,
      12.939367324407119,
      12.898160191804847,
      12.862814790977936,
      12.831535438843833,
      12.84062434955916,
      12.907206225718653,
      12.994412178915262,
      13.085760068681841,
      13.190507056318062
    ],
    "vy_ego": [
      -0.04661074104719809,
      -0.031022499659112412,
      -0.013127153676312009,
      -0.029523988931926315,
      -0.04119315172177229,
      -0.030901548127425293,
      -0.05572427151840387,
      -0.07683124939270813,
      -0.03912442578317288,
      0.025750227172529616
    ],
    "v_ego": [
      12.995312828375887,
      12.93940451301449,
      12.898166871909469,
      12.86284867410494,
      12.831601559978939,
      12.840661532497782,
      12.907326514335438,
      12.99463931459525,
      13.085818556582582,
      13.190532190816866
    ],
    "ax_ego": [
      -0.1119278795207093,
      -0.11186747849510861,
      -0.05317998537392916,
      -0.08827177789867635,
      -0.03746594435826767,
      0.07321345346976124,
      0.19261959420525712,
      0.1553457280909734,
      0.20950765763896562,
      0.20947258707788222
    ],
    "ay_ego": [
      -0.026824021648217355,
      -0.02707481121811706,
      -0.037162305875546975,
      -0.1465194580911988,
      -0.08541262941795898,
      -0.10909503041690738,
      -0.16559809582595786,
      -0.058426674989911075,
      0.12217680743405507,
      0.12223693964723778
    ],
    "a_ego": [
      0.11509725605498357,
      0.11509725516861932,
      0.06487794557751526,
      0.17105513255302163,
      0.09326850621054462,
      0.1313846849166022,
      0.25401778956006416,
      0.16596979118650282,
      0.24252964949495184,
      0.24252965623078634
    ],
    "yaw": [
      -1.2486274825606305,
      -1.2508687322884133,
      -1.2534985424768272,
      -1.2557898797323985,
      -1.2593966425627618,
      -1.263991658020136,
      -1.267401763802817,
      -1.270095544637738,
      -1.271765824420466,
      -1.2720528679560494
    ],
    "yaw_diff": [
      -0.004482499455565669,
      -0.005259620376827812,
      -0.0045826745111425815,
      -0.0072135256607266385,
      -0.009190030914748348,
      -0.006820211565361944,
      -0.005387561669842,
      -0.0033405595654558695,
      -0.0005740870711670176,
      -0.0005740870711670176
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.954631255621162,
    "v_std": 0.10877603561414727,
    "vy_max": 0.07683124939270813,
    "a_max": 0.25401778956006416,
    "ax_avg": 0.043744595483614854,
    "a_std": 0.06400811835134226,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "38f4eed7d2cb5cc0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "38f4eed7d2cb5cc0",
    "road_shape": "Straight"
  },
  "fdde37fbe3d35bef": {
    "vx_ego": [
      6.4458825721099045,
      6.942909310226673,
      7.372725788776546,
      7.752669426061402,
      8.137409667255916,
      8.463012288149228,
      8.738490577596163,
      8.953605349062837,
      9.091486914886264,
      9.202237451146509
    ],
    "vy_ego": [
      0.07433147293524778,
      0.0528158260257543,
      0.030674012715548482,
      0.04067264606632026,
      0.09410038587122749,
      0.10173324407008,
      0.09178998529394189,
      0.1050971681113575,
      0.10398803169333704,
      0.062315187618761314
    ],
    "v_ego": [
      6.446311139039049,
      6.943110196555359,
      7.372789597672432,
      7.752776115297363,
      8.137953733916847,
      8.463623729958336,
      8.738972649925001,
      8.954222141621887,
      9.092081600727285,
      9.202448439947455
    ],
    "ax_ego": [
      0.9832568077402852,
      1.0158592879135266,
      0.713253752139025,
      0.8076242121846601,
      0.7370149143588047,
      0.5763588579983132,
      0.5322626662148466,
      0.33377572306225084,
      0.22188237844323144,
      0.22267031201534143
    ],
    "ay_ego": [
      -0.7062315028138826,
      -0.6584730686574132,
      -0.7530022098570527,
      -0.518440598773005,
      -0.32207131941467293,
      -0.4490422918891927,
      -0.31375471035724145,
      -0.21111545328334713,
      -0.1692781651237858,
      -0.16824032757829388
    ],
    "a_ego": [
      1.2106018691272418,
      1.2106018647711096,
      1.037180429332333,
      0.9597069982880216,
      0.8043139429208128,
      0.7306356910925025,
      0.617855617533331,
      0.3949379291999712,
      0.2790822227432286,
      0.2790822023645742
    ],
    "yaw": [
      -0.46226400717741223,
      -0.5100344683996093,
      -0.5559884975806695,
      -0.5994015717150654,
      -0.6325340905834709,
      -0.6566199695676119,
      -0.677622039400858,
      -0.6939137567630771,
      -0.7043146947462549,
      -0.7089837449950349
    ],
    "yaw_diff": [
      -0.09554092244439416,
      -0.09190805836212035,
      -0.08682614826879176,
      -0.06626503773681103,
      -0.0481717579682821,
      -0.04200413966649208,
      -0.032583434724438254,
      -0.02080187596635552,
      -0.00933810049756012,
      -0.00933810049756012
    ],
    "min_front_frame": [
      9,
      18.858831682911077
    ],
    "v_avg": 8.110428934466102,
    "v_std": 0.9051328807164964,
    "vy_max": 0.1050971681113575,
    "a_max": 1.2106018691272418,
    "ax_avg": 0.6143958912070284,
    "a_std": 0.3377992758388767,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "fdde37fbe3d35bef",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.91706370415548,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      48.38114548703149,
      28.439924626842284,
      24.491737173883426,
      20.45509169719128,
      32.20590448711694,
      27.832125198125397,
      23.350945807589103,
      18.858831682911077
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      0,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.375,
    "oversafe_ratio": 0.125,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "fdde37fbe3d35bef",
    "pedestrians": "No"
  },
  "22ec7d1614785b35": {
    "vx_ego": [
      2.6220153257362155,
      2.6778890291794126,
      2.7543101461199897,
      2.8388418953947143,
      2.9244912186128866,
      3.0157330553852795,
      3.1027802584736297,
      3.2147980079819196,
      3.3141956241590895,
      3.382445225876819
    ],
    "vy_ego": [
      -0.02091704279528217,
      -0.033153123756155645,
      -0.030097152259449644,
      -0.007962140065365608,
      -0.017640035750401295,
      -0.014657854775780785,
      -0.005430428502772734,
      -0.01744000369073888,
      -0.03266661079350297,
      -0.0052944786642245
    ],
    "v_ego": [
      2.622098756926385,
      2.6780942444608344,
      2.7544745814027123,
      2.838853061136253,
      2.924544418983094,
      3.0157686771451924,
      3.1027850105876507,
      3.214845312896602,
      3.3143566106645785,
      3.3824493695488203
    ],
    "ax_ego": [
      0.10030283297633147,
      0.1313702436710289,
      0.18922986226549832,
      0.15251562296242066,
      0.19110183810543868,
      0.172914688584056,
      0.17792771857500742,
      0.26867275150006337,
      0.13419856502140542,
      0.1408497492543782
    ],
    "ay_ego": [
      0.39800081690313255,
      0.3888536572088229,
      0.5032261552286093,
      0.4452808096860129,
      0.3703538208173214,
      0.20072663870318389,
      0.27003496318168807,
      0.08718647687611665,
      0.24206456152169212,
      0.2382558608037378
    ],
    "a_ego": [
      0.41044525646989594,
      0.41044525535917975,
      0.5376285930632668,
      0.4706761250820425,
      0.4167515628300221,
      0.26493522418357207,
      0.3233839117486253,
      0.282465093681829,
      0.2767751918046367,
      0.2767751922993665
    ],
    "yaw": [
      -1.9556027377279264,
      -1.8766776442679545,
      -1.7955207524509724,
      -1.7188075770286104,
      -1.6445982770778629,
      -1.5975780715672894,
      -1.5621204942819653,
      -1.5299337026833628,
      -1.5002101160834391,
      -1.4725171057038207
    ],
    "yaw_diff": [
      0.1578501869199438,
      0.1623137836339641,
      0.153426350844724,
      0.14841859990149509,
      0.09404041102114702,
      0.07091515457064812,
      0.06437358319720499,
      0.05944717319984738,
      0.05538602075923693,
      0.05538602075923693
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.984827004375212,
    "v_std": 0.2526132608917271,
    "vy_max": 0.033153123756155645,
    "a_max": 0.5376285930632668,
    "ax_avg": 0.16590838729156285,
    "a_std": 0.09047641141885597,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "22ec7d1614785b35",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "22ec7d1614785b35",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "46a9bf6f100c5e0a": {
    "vx_ego": [
      6.3033887832239825,
      5.80454769048931,
      5.332872548633746,
      4.880007670070336,
      4.394441699272234,
      3.871302498385817,
      3.392141133672881,
      2.963939120233747,
      2.5325764762950027,
      2.10444751343928
    ],
    "vy_ego": [
      -0.010155338846966705,
      0.006695455862874178,
      0.03042152254801897,
      0.022346486202966503,
      0.014628105893828125,
      0.01846764392529132,
      -0.0053893144278902155,
      -0.011048181769658993,
      -0.001880340107669104,
      -0.0015363593799099101
    ],
    "v_ego": [
      6.303396963810943,
      5.804551552040346,
      5.332959318146495,
      4.8800588342140845,
      4.394466046038436,
      3.8713465471177364,
      3.3921454148467074,
      2.963959711394946,
      2.5325771743348184,
      2.1044480742515157
    ],
    "ax_ego": [
      -0.997720053529207,
      -0.9976315431497083,
      -0.8890975885048628,
      -0.9226520736404457,
      -1.0196561128762225,
      -1.0732328942778544,
      -0.8435039688940086,
      -0.8692056464333826,
      -0.8562583107018075,
      -0.8562583264599563
    ],
    "ay_ego": [
      0.05284670819153875,
      0.05449202531870688,
      0.04864279852208765,
      -0.04156693368689972,
      0.08377562199830446,
      -0.022274501080106653,
      -0.0267597901985488,
      0.02537309337406634,
      0.00021221238173479984,
      0.0001154267757087421
    ],
    "a_ego": [
      0.999118651502916,
      0.9991186499663605,
      0.8904272253998204,
      0.9235879270373478,
      1.0230918548043721,
      1.0734640183808621,
      0.8439283333976974,
      0.8695759021839575,
      0.8562583369988336,
      0.8562583342399335
    ],
    "yaw": [
      -1.5474908418206221,
      -1.5458416912448438,
      -1.5454712885356505,
      -1.5435451087640475,
      -1.5396154133693734,
      -1.5368287138038346,
      -1.5336096302632845,
      -1.5319397872396237,
      -1.5329488436344967,
      -1.5330618779109622
    ],
    "yaw_diff": [
      0.003298301151556604,
      0.0007408054183866142,
      0.003852359543206063,
      0.007859390789348275,
      0.005573399131077572,
      0.006438167081100232,
      0.0033396860473215995,
      -0.0020181127897460627,
      -0.00022606855293094696,
      -0.00022606855293094696
    ],
    "min_front_frame": [
      9,
      11.562249448690906
    ],
    "v_avg": 4.157990963619603,
    "v_std": 1.3500068602690296,
    "vy_max": 0.03042152254801897,
    "a_max": 1.0734640183808621,
    "ax_avg": -0.9325216518467455,
    "a_std": 0.07888198456886632,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "46a9bf6f100c5e0a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.977218631013399,
    "right_rear_min": 2.8836374918019057,
    "speed_mode": "decelerating",
    "front_frame": [
      24.60082710076758,
      22.63067040882857,
      20.529213663191417,
      18.019954066182855,
      15.720814545990311,
      15.701556654625072,
      14.457457060616626,
      13.412494062358734,
      12.444641389543664,
      11.562249448690906
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "46a9bf6f100c5e0a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f0f77f6f5cb4562c": {
    "vx_ego": [
      3.708301647265523,
      3.7890486581416676,
      3.906535697829323,
      3.9988042642148196,
      4.0440175930718345,
      4.060482596888205,
      4.040600989374489,
      4.011476967637646,
      3.9337574580861556,
      3.809752171628986
    ],
    "vy_ego": [
      -0.05675642980564444,
      0.005180557860789081,
      0.03357640998050959,
      0.012305725022897507,
      -0.016920274054159856,
      -0.0342170173412355,
      -0.020813031249180325,
      0.010924579494932196,
      -0.011251892342596825,
      -0.025872864583848743
    ],
    "v_ego": [
      3.7087359570932623,
      3.789052199685948,
      3.9066799886504673,
      3.9988231986887044,
      4.04405299034874,
      4.060626764910524,
      4.040654592711914,
      4.011491843232946,
      3.933773550184319,
      3.809840024771847
    ],
    "ax_ego": [
      0.14630582048632018,
      0.18276046844894037,
      0.2797439894788404,
      0.08404303513283892,
      0.09775475485593113,
      -0.021587633822930746,
      -0.05147879409093711,
      -0.0664190841583506,
      -0.2508634044666558,
      -0.2424087690262114
    ],
    "ay_ego": [
      0.5931709827362202,
      0.582971534763286,
      0.503133513874089,
      0.5371825355818257,
      0.5440735547941913,
      0.6130093567881385,
      0.5772297497102837,
      0.4896177943718077,
      0.2373148229418679,
      0.2459446283406832
    ],
    "a_ego": [
      0.6109477947160694,
      0.6109477875988564,
      0.5756735467544307,
      0.5437171215700854,
      0.5527856954764034,
      0.6133893522420163,
      0.579520707301865,
      0.4941022963981728,
      0.345327052065909,
      0.345327050070567
    ],
    "yaw": [
      0.734680834547639,
      0.7966511952528206,
      0.8600166838666039,
      0.9307290494791831,
      1.0052126562060135,
      1.0805531525184233,
      1.1506123695869896,
      1.208932410403199,
      1.2599539536512574,
      1.2949404135909317
    ],
    "yaw_diff": [
      0.12394072141036316,
      0.12673097722756665,
      0.14142473122515842,
      0.14896721345366082,
      0.1506809926248196,
      0.14011843413713265,
      0.1166400816324189,
      0.1020430864961166,
      0.06997291987934862,
      0.06997291987934862
    ],
    "min_front_frame": [
      6,
      14.498472240558804
    ],
    "v_avg": 3.930373111027867,
    "v_std": 0.11726575699390943,
    "vy_max": 0.05675642980564444,
    "a_max": 0.6133893522420163,
    "ax_avg": 0.015785038283778547,
    "a_std": 0.09732500398132461,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "f0f77f6f5cb4562c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      21.169026958781377,
      19.30473725606231,
      17.37029133019441,
      15.363141980401661,
      -1,
      -1,
      14.498472240558804,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "f0f77f6f5cb4562c",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "b7dc33b2e9195867": {
    "vx_ego": [
      3.2389867638306717,
      3.2772743643069386,
      3.3210874026994395,
      3.3706430953382616,
      3.4379699089572173,
      3.5116799371026586,
      3.6260707474882197,
      3.780466634132004,
      3.8888159864273315,
      3.9597435399673544
    ],
    "vy_ego": [
      0.026804294830185316,
      0.01180904074339606,
      0.010217149860886954,
      -4.53302125196231e-05,
      -0.01684775298277355,
      -0.023142204193711907,
      -0.026609793876222573,
      -0.0440806339518234,
      -0.04809208954044213,
      -0.05444134481037871
    ],
    "v_ego": [
      3.239097671650491,
      3.2772956400646445,
      3.3211031189230167,
      3.370643095643074,
      3.438011189870659,
      3.511756190606671,
      3.6261683836964758,
      3.78072361778469,
      3.8891133469428665,
      3.9601177712711975
    ],
    "ax_ego": [
      0.07342361459431239,
      0.08236912585896497,
      0.0943306081083735,
      0.10576283991527072,
      0.16157072043793624,
      0.12970359064487386,
      0.32501792273527247,
      0.2916295964788794,
      0.14260349728117477,
      0.1438849629019387
    ],
    "ay_ego": [
      -0.2582114567751994,
      -0.2554985534383747,
      -0.24472297953491715,
      -0.30284864769697234,
      -0.26280042835840517,
      -0.19150551965710566,
      -0.09552689684043435,
      -0.062181538261137655,
      0.09511233658242708,
      0.09316239285888932
    ],
    "a_ego": [
      0.2684477297167268,
      0.2684477299286996,
      0.2622739032739304,
      0.32078510208366606,
      0.30849499647189577,
      0.23129501828900487,
      0.3387654618155672,
      0.2981851190836916,
      0.17141211744503632,
      0.17141211740272713
    ],
    "yaw": [
      1.7926405603321647,
      1.7578169943077102,
      1.720381930648833,
      1.6825234415839838,
      1.6458487999390328,
      1.615012511950268,
      1.5957462817667654,
      1.589824084292201,
      1.5930016829892684,
      1.606614191990868
    ],
    "yaw_diff": [
      -0.06964713204890893,
      -0.07487012731775433,
      -0.07571697812969846,
      -0.07334928328990209,
      -0.0616725759775294,
      -0.03853246036700542,
      -0.011844394949128922,
      0.006355197394134926,
      0.02722501800319943,
      0.02722501800319943
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.541403002645379,
    "v_std": 0.24720134805254396,
    "vy_max": 0.05444134481037871,
    "a_max": 0.3387654618155672,
    "ax_avg": 0.15502964789569967,
    "a_std": 0.05497273679643496,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "b7dc33b2e9195867",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b7dc33b2e9195867",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6914bcabdeec5e0f": {
    "vx_ego": [
      5.886311033614196,
      5.279611805005868,
      4.689114889352216,
      4.123463152795548,
      3.565997082967387,
      3.0196333775611253,
      2.475075192592393,
      1.9175896960618422,
      1.3732882497741625,
      0.8451864960626109
    ],
    "vy_ego": [
      0.000476517222218642,
      -0.006316545932556192,
      -0.004616697578761805,
      -0.009004448978847196,
      0.011528540219231609,
      0.014867170110478362,
      -0.027650696839712025,
      -0.03969429500914923,
      -0.024352701451612523,
      -0.004407912662969377
    ],
    "v_ego": [
      5.8863110529020535,
      5.279615583573282,
      4.689117162050995,
      4.12347298433784,
      3.566015718273196,
      3.01966997660809,
      2.475229639856067,
      1.9180004899631338,
      1.3735041576332319,
      0.845197990307974
    ],
    "ax_ego": [
      -1.2134116688544323,
      -1.2133940456552517,
      -1.1486152923319037,
      -1.1139898742436154,
      -1.1159355331270753,
      -1.069372754301793,
      -1.1089017980315767,
      -1.1210553775181271,
      -1.0562054244092283,
      -1.0562138029411192
    ],
    "ay_ego": [
      -0.021899127528331744,
      -0.022854409297240127,
      0.019639289800719977,
      -0.04399055312272214,
      0.1133497830165758,
      -0.11165027638081326,
      -0.06815262295515706,
      0.019228948997198327,
      0.03953026895653647,
      0.03930575916522837
    ],
    "a_ego": [
      1.2136092657435509,
      1.2136092592164682,
      1.1487831786210057,
      1.1148581114569462,
      1.1216774435663377,
      1.0751855057890778,
      1.110994139360479,
      1.1212202780639704,
      1.0569449090256569,
      1.0569449087946337
    ],
    "yaw": [
      -1.5498029104304254,
      -1.5505901846928856,
      -1.5510932983305188,
      -1.5514795042955214,
      -1.5523099861436305,
      -1.5531964347596534,
      -1.5540803721647705,
      -1.5541656005468805,
      -1.5545636796577544,
      -1.5547762419267013
    ],
    "yaw_diff": [
      -0.0015745485249203384,
      -0.001006227275266447,
      -0.0007724119300052124,
      -0.001660963696218154,
      -0.001772897232045878,
      -0.0017678748102341046,
      -0.0001704567642200061,
      -0.0007961582217479446,
      -0.000425124537893673,
      -0.000425124537893673
    ],
    "min_front_frame": [
      9,
      11.972152527891774
    ],
    "v_avg": 3.317613475550586,
    "v_std": 1.6027941800574566,
    "vy_max": 0.03969429500914923,
    "a_max": 1.2136092657435509,
    "ax_avg": -1.1217095571414124,
    "a_std": 0.05320855963130318,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6914bcabdeec5e0f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.323901557259835,
    "right_rear_min": 3.7151005307741567,
    "speed_mode": "decelerating",
    "front_frame": [
      23.47717085427466,
      21.58405096008131,
      19.950760150124545,
      18.3600634901905,
      16.955887557810627,
      15.734754911568642,
      14.39869643607335,
      13.333128988694133,
      12.51763646239257,
      11.972152527891774
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6914bcabdeec5e0f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0192c3bca9ca5c67": {
    "vx_ego": [
      1.2773629392788042,
      2.156641275905368,
      3.080893121993579,
      3.921605044625271,
      4.384409671670816,
      4.450003098275301,
      4.375451583866562,
      4.29884580993791,
      4.258681419706326,
      4.26516884256934
    ],
    "vy_ego": [
      0.00867533669370335,
      0.012811538964695002,
      0.026957550836135935,
      0.04447392081728507,
      0.04342093965994387,
      0.026041091436724173,
      -0.0060181341573337654,
      -0.017483743373570615,
      -0.03860060338660665,
      -0.005323368978134013
    ],
    "v_ego": [
      1.2773923986425373,
      2.156679329077315,
      3.0810110578663013,
      3.9218572202036164,
      4.38462467573241,
      4.450079292900633,
      4.375455722630403,
      4.298881363669283,
      4.258856353662765,
      4.265172164623786
    ],
    "ax_ego": [
      1.7584824699120003,
      1.7585223026920092,
      1.9383171142147786,
      1.4239900829879266,
      0.4266391059276058,
      -0.16458061464178253,
      -0.13354630323943495,
      -0.1733088843204662,
      0.012190512221333423,
      0.012671537280251447
    ],
    "ay_ego": [
      0.01865770656896404,
      0.014423634706067667,
      0.07912414544033408,
      0.03812776595959566,
      0.010898289905689529,
      -0.046652241537640915,
      -0.10217119092617985,
      -0.10040054822925659,
      -0.03896247279393823,
      -0.0388087027015704
    ],
    "a_ego": [
      1.758581447360975,
      1.7585814539859506,
      1.9399314074599572,
      1.4245004327781132,
      0.4267782790039522,
      0.17106493023514,
      0.16814745720406543,
      0.20029038786007683,
      0.04082502754973787,
      0.040825032301563216
    ],
    "yaw": [
      2.2148563619060724,
      2.217264129259252,
      2.2208234043813126,
      2.224131905844902,
      2.227243287189063,
      2.229122857516982,
      2.2279555152149126,
      2.218932947806823,
      2.215708029479343,
      2.2033380094566293
    ],
    "yaw_diff": [
      0.0048155347063589815,
      0.007118550244121558,
      0.006617002927178817,
      0.006222762688321559,
      0.0037591406558386,
      -0.0023346846041389924,
      -0.01804513481617942,
      -0.006449836654959462,
      -0.024740040045427847,
      -0.024740040045427847
    ],
    "min_front_frame": [
      0,
      12.159007972779122
    ],
    "v_avg": 3.647000957900905,
    "v_std": 1.0551357471149199,
    "vy_max": 0.04447392081728507,
    "a_max": 1.9399314074599572,
    "ax_avg": 0.6859377323034221,
    "a_std": 0.7728609732035969,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0192c3bca9ca5c67",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.554213247111204,
    "right_rear_min": 6.823104733944609,
    "speed_mode": "accelerating",
    "front_frame": [
      12.159007972779122,
      13.033827800167456,
      13.59482493402348,
      13.95691558585378,
      13.816521760078077,
      13.577969050567406,
      13.258273014669527,
      12.949387231791134,
      12.537381517389255,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.7777777777777778,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2222222222222222,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0192c3bca9ca5c67",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ade00f93385b5d14": {
    "vx_ego": [
      1.3945246759121175,
      0.8713313958351074,
      0.4035867695155529,
      0.07452111251603191,
      -0.04044391325429198,
      -0.027903698614184284,
      -0.01802148175976821,
      -0.010489433405141843,
      -0.005417077243676925,
      0.00024901016571796255
    ],
    "vy_ego": [
      -0.054818879541498555,
      -0.050443345752913926,
      -0.04048385644874336,
      -0.028838672755724073,
      -0.010857594423138325,
      0.0030792203894212944,
      0.002283191830692484,
      0.0013724056433215065,
      0.0008418849628522075,
      0.0006719816728289014
    ],
    "v_ego": [
      1.3956017273140577,
      0.8727903141641208,
      0.40561215854676064,
      0.07990660333751416,
      0.04187597731370647,
      0.02807308309676473,
      0.018165537970382246,
      0.01057883313086686,
      0.005482106908355496,
      0.0007166347962866553
    ],
    "ax_ego": [
      -1.0464359268785195,
      -1.0464396543962604,
      -0.82457759601898,
      -0.49165405734473216,
      0.03180530784763265,
      0.018357351677111187,
      0.021170350892850586,
      0.008957573319871095,
      0.011332170292578507,
      0.011332177850173855
    ],
    "ay_ego": [
      0.007901960887617243,
      0.007392082623830121,
      0.03195917940593124,
      0.014809685118420346,
      0.05709276896820459,
      -0.0013283243819858463,
      -0.001865634468817278,
      -0.001779346387761648,
      -0.0003397977436800908,
      -0.00033979869551338526
    ],
    "a_ego": [
      1.0464657615268527,
      1.0464657630226049,
      0.8251967044315801,
      0.4918770566684768,
      0.06535412669250097,
      0.018405347219243515,
      0.021252396309537867,
      0.009132589629919155,
      0.011337263604883187,
      0.011337271187611398
    ],
    "yaw": [
      2.6011691182709327,
      2.600681862029245,
      2.6004823035613915,
      2.600720497310269,
      2.6008334835219173,
      2.600701327865245,
      2.600806989114261,
      2.60084328854758,
      2.600754801265426,
      2.600753787677894
    ],
    "yaw_diff": [
      -0.0009745124833751007,
      -0.00039911693570715556,
      0.00047638749775469336,
      0.00022597242329691625,
      -0.00026431131334447855,
      0.0002113224980320183,
      7.259886663746329e-05,
      -0.00017697456430809666,
      -2.0271750633682473e-06,
      -2.0271750633682473e-06
    ],
    "min_front_frame": [
      3,
      8.948969146231246
    ],
    "v_avg": 0.28588029765788164,
    "v_std": 0.4545450601778974,
    "vy_max": 0.054818879541498555,
    "a_max": 1.0464657630226049,
    "ax_avg": -0.33061523027582734,
    "a_std": 0.43133277525230707,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ade00f93385b5d14",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.161497449189685,
    "right_rear_min": 8.7961503254807,
    "speed_mode": "decelerating",
    "front_frame": [
      9.788772184431402,
      9.255037706624735,
      8.970453601905177,
      8.948969146231246,
      8.981565304950978,
      8.959557690716608,
      8.977192682377241,
      9.094105432629272,
      9.358395933139574,
      10.034619396743675
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ade00f93385b5d14",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "57e7565904e05728": {
    "vx_ego": [
      8.4301308045089,
      8.807520039020554,
      9.140013174920584,
      9.45105872464282,
      9.726344291519451,
      9.971228741187685,
      10.241358305523887,
      10.4422157474276,
      10.577808583229695,
      10.69839991026009
    ],
    "vy_ego": [
      -0.012833678743736643,
      -0.06409803273080206,
      -0.06965564322238382,
      -0.04585280457323243,
      -0.06384069462079486,
      -0.026988082070272507,
      -0.03942075111718757,
      -0.042624932733256404,
      -0.012080024344930496,
      0.011051405732318331
    ],
    "v_ego": [
      8.430140573231265,
      8.807753277399895,
      9.140278592381886,
      9.451169953838223,
      9.726553804480941,
      9.971265264030498,
      10.241434173871438,
      10.442302744161148,
      10.577815481016673,
      10.698405618288257
    ],
    "ax_ego": [
      0.722006278556118,
      0.7963341664381641,
      0.5438516745174555,
      0.7075140363642053,
      0.39953651420306174,
      0.5785569116399355,
      0.5029671680333563,
      0.3010566519531813,
      0.24118631076876346,
      0.2411746954824954
    ],
    "ay_ego": [
      1.1072990284471869,
      1.0551095125908827,
      0.8934453649379381,
      0.7710673387830443,
      0.6392782091660856,
      0.07602673212469763,
      0.12940220120909426,
      0.05326319460975558,
      0.005937931582194422,
      0.006392466083563468
    ],
    "a_ego": [
      1.3218941730238993,
      1.3218941667911752,
      1.0459537580622413,
      1.0464802686101329,
      0.7538607662533784,
      0.583530773827654,
      0.5193466104609266,
      0.3057320323180017,
      0.24125939470561839,
      0.2412593984981806
    ],
    "yaw": [
      1.377173046360237,
      1.4458914613851126,
      1.500589473728172,
      1.5428820399250092,
      1.5813697186885256,
      1.595817636826935,
      1.6021236189697774,
      1.6068376458984877,
      1.6053406522186555,
      1.6034560287109554
    ],
    "yaw_diff": [
      0.13743683004975127,
      0.10939602468611875,
      0.08458513239367438,
      0.07697535752703288,
      0.028895836276818798,
      0.012611964285684785,
      0.009428053857420515,
      -0.002993987359664274,
      -0.0037692470154002677,
      -0.0037692470154002677
    ],
    "min_front_frame": [
      2,
      40.93191422300819
    ],
    "v_avg": 9.748711948270023,
    "v_std": 0.7379668799268275,
    "vy_max": 0.06965564322238382,
    "a_max": 1.3218941730238993,
    "ax_avg": 0.5034184407956738,
    "a_std": 0.40300619229799434,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "57e7565904e05728",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.39573238891217,
    "right_rear_min": 8.903136506244481,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      40.93191422300819,
      42.16038168777164,
      43.111269905537476,
      43.927437320859944,
      44.484766011001184,
      44.94068023855746,
      45.35378576343594,
      45.73073449893828
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "57e7565904e05728",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "8cee2a96b57d58ba": {
    "vx_ego": [
      12.463790912265171,
      12.23085514118806,
      12.012690887981886,
      11.88387755710535,
      11.842417785679952,
      11.855879421579607,
      11.93372294395462,
      11.983142793855155,
      11.99957305915426,
      12.031729672803824
    ],
    "vy_ego": [
      -0.04304567011917282,
      0.044239614130956895,
      0.04913819064307745,
      0.025310894815723906,
      0.024058432499842297,
      -0.007601954806450983,
      0.002101060832590207,
      -0.0123850554743834,
      -0.017194334142112133,
      0.01626058397970276
    ],
    "v_ego": [
      12.463865244553148,
      12.230935149373693,
      12.01279138801564,
      11.883904511298825,
      11.842442223577162,
      11.855881858754822,
      11.933723128911847,
      11.983149194077567,
      11.999585378133167,
      12.031740660686605
    ],
    "ax_ego": [
      -0.46891150358421163,
      -0.46282480594411446,
      -0.41227978526190323,
      -0.1055455571211702,
      -0.06509827050579892,
      0.11675292939122711,
      0.19482926096633843,
      0.0027837458204110765,
      0.06227462995395777,
      0.06636929914328421
    ],
    "ay_ego": [
      0.4817486489114823,
      0.48759914727440923,
      0.6486667160241796,
      0.7863231534446593,
      0.6724044260161626,
      0.5888061931402379,
      0.5842464244479788,
      0.5377160687305045,
      0.34929278371773065,
      0.34853794025454693
    ],
    "a_ego": [
      0.6722795243956525,
      0.6722795024541044,
      0.7685981588666438,
      0.7933750476736532,
      0.6755482935726884,
      0.6002699222864094,
      0.6158752514989845,
      0.537723274381704,
      0.3548007585859756,
      0.3548007605201162
    ],
    "yaw": [
      -1.2643092535205538,
      -1.2517511318989092,
      -1.2287098558881033,
      -1.1965903158154272,
      -1.165733300139009,
      -1.1363974366226213,
      -1.1125399947324173,
      -1.0879238163258398,
      -1.0690189241372983,
      -1.0572836344361447
    ],
    "yaw_diff": [
      0.025116243243289205,
      0.04608255202161171,
      0.06423908014535229,
      0.06171403135283615,
      0.05867172703277568,
      0.047714883780408,
      0.049232356813154965,
      0.037809784377083044,
      0.023470579402307123,
      0.023470579402307123
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.023801873738247,
    "v_std": 0.18104065974003675,
    "vy_max": 0.04913819064307745,
    "a_max": 0.7933750476736532,
    "ax_avg": -0.10716500571419799,
    "a_std": 0.1435770825447346,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "8cee2a96b57d58ba",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "8cee2a96b57d58ba",
    "road_shape": "Curve"
  },
  "4936360c43435011": {
    "vx_ego": [
      2.054628712931301,
      1.7287621139179692,
      1.3986112643409538,
      1.026878428622331,
      0.6105589704422356,
      0.23071700507581333,
      0.009424432959819049,
      -0.036133996959425735,
      -0.014028113460851414,
      0.014780535844793368
    ],
    "vy_ego": [
      0.020859305870855605,
      0.001357722260653671,
      -0.019997800516911912,
      -0.026755107457900662,
      -0.015827594050725924,
      0.002316293642255801,
      0.005803434232978752,
      -0.0033102868890206374,
      -0.002588659997595653,
      -0.001502278636236829
    ],
    "v_ego": [
      2.054734595669997,
      1.7287626470767645,
      1.398754224575181,
      1.0272269189156558,
      0.6107640863057661,
      0.23072863204940566,
      0.011067962120943192,
      0.036285310189543785,
      0.014264961544065676,
      0.014856684723050267
    ],
    "ax_ego": [
      -0.6517380461151198,
      -0.6517752662462413,
      -0.6688045943761091,
      -0.8180123447016836,
      -0.8472374594875887,
      -0.6721333984172936,
      -0.21303810455947222,
      0.03080407562415676,
      0.057617589290352225,
      0.05761780632385856
    ],
    "ay_ego": [
      -0.03532466956123803,
      -0.03463126538692601,
      -0.046114088019697796,
      0.02347727913101888,
      0.021329586120388155,
      0.051132420412091484,
      -0.03717887246233316,
      0.0007277545936977565,
      0.002175642517498775,
      0.002170027183521179
    ],
    "a_ego": [
      0.6526946552819048,
      0.6526946623289166,
      0.6703924929267036,
      0.8183491789693088,
      0.8475059079458093,
      0.6740755370766538,
      0.21625795373086987,
      0.030812671124188777,
      0.05765865083398726,
      0.05765865610253933
    ],
    "yaw": [
      0.5628201811811296,
      0.5638840936827942,
      0.5646307899847418,
      0.5655225487572022,
      0.5658559821653064,
      0.5657848049023592,
      0.5658047420811372,
      0.5657832020096039,
      0.5656346077742886,
      0.5657322016309122
    ],
    "yaw_diff": [
      0.002127825003329198,
      0.0014933926038951384,
      0.0017835175449207874,
      0.0006668668162084224,
      -0.0001423545258945058,
      3.987435755603563e-05,
      -4.308014306664276e-05,
      -0.0002971884706304273,
      0.0001951877132471136,
      0.0001951877132471136
    ],
    "min_front_frame": [
      6,
      9.95106555974344
    ],
    "v_avg": 0.7127446023170374,
    "v_std": 0.7463475192871175,
    "vy_max": 0.026755107457900662,
    "a_max": 0.8475059079458093,
    "ax_avg": -0.43766997426651405,
    "a_std": 0.3177561741969359,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4936360c43435011",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.036829627841354,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.911846880579908,
      11.98772511207211,
      11.186332649687419,
      10.58364608643825,
      10.196971920076106,
      10.004676813363835,
      9.95106555974344,
      9.978927683069115,
      9.95380231659209,
      9.961147620926642
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4936360c43435011",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "af8dc1b01446555a": {
    "vx_ego": [
      3.430347446922566,
      2.8001198707605024,
      2.183504755193598,
      1.575715647780731,
      0.970171309949037,
      0.5256488314500991,
      0.4745763979206567,
      0.9083633989242479,
      1.662249423837914,
      2.490823581231988
    ],
    "vy_ego": [
      -0.0019180676539580777,
      0.007540785434967834,
      0.004659283834521855,
      -0.011667386863988605,
      -0.016169250282182357,
      0.013304125719237614,
      0.013470853782250353,
      -0.01588711148768035,
      -0.0311851179567878,
      -0.04486289242737396
    ],
    "v_ego": [
      3.430347983163179,
      2.8001300244940035,
      2.1835097263073746,
      1.5757588427729932,
      0.970306042083073,
      0.5258171676219863,
      0.47476754455730047,
      0.9085023196539646,
      1.662541926879276,
      2.4912275672724675
    ],
    "ax_ego": [
      -1.2604538494376114,
      -1.2604554845337579,
      -1.2060596259854262,
      -1.225096465431772,
      -1.1970938045039616,
      -0.5810190947943308,
      0.3767267027154645,
      1.3584332305903863,
      1.6571820436419773,
      1.65717225426747
    ],
    "ay_ego": [
      0.018424558181920125,
      0.018313554198531645,
      -0.01691391288666333,
      -0.04954089760396296,
      0.03084999450132886,
      0.08516926674199257,
      -0.08447329983538895,
      -0.03208300072012926,
      -0.02546284581084235,
      -0.026092461423646296
    ],
    "a_ego": [
      1.2605885018142486,
      1.2605885192078392,
      1.2061782214421066,
      1.2260977327068292,
      1.197491252136107,
      0.587228228641124,
      0.38608126984346897,
      1.3588120403158934,
      1.657377652282722,
      1.657377656678487
    ],
    "yaw": [
      1.0137966235296767,
      1.0137085654032836,
      1.0150089262569855,
      1.014856411837284,
      1.0147218170144237,
      1.0140234146026141,
      1.014042514773174,
      1.0144273745304535,
      1.0151578015010425,
      1.015537735692308
    ],
    "yaw_diff": [
      -0.00017611625278624032,
      0.0026007217074037747,
      -0.0003050288394028655,
      -0.00026918964572075765,
      -0.0013968048236190356,
      3.8200341119676295e-05,
      0.0007697195145590641,
      0.0014608539411780086,
      0.0007598683825311703,
      0.0007598683825311703
    ],
    "min_front_frame": [
      4,
      9.201752862522957
    ],
    "v_avg": 1.7022909144805616,
    "v_std": 0.9549775476790161,
    "vy_max": 0.04486289242737396,
    "a_max": 1.657377656678487,
    "ax_avg": -0.1680664093471562,
    "a_std": 0.38542738670095833,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "af8dc1b01446555a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.15435173010651,
      11.630970975725173,
      10.426557842496083,
      9.536711107903223,
      9.201752862522957,
      9.794922078299638,
      11.190041423098558,
      12.844207007351443,
      14.177097421590275,
      15.159436371965132
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "af8dc1b01446555a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f9df92352a5f53f2": {
    "vx_ego": [
      3.122749278901668,
      3.9470047662073555,
      4.692448537798817,
      5.278249251599461,
      5.768164311895869,
      6.177078091110911,
      6.48192181742261,
      6.674579302573306,
      6.818298638906958,
      7.019777230507371
    ],
    "vy_ego": [
      -0.03550704835156271,
      0.03032193316804066,
      0.02731398849828448,
      0.019144637323617264,
      0.016034211394087006,
      0.0034937080454987557,
      -0.010362660409995506,
      -0.04484057502391925,
      -0.05897144131771159,
      -0.07864487448638324
    ],
    "v_ego": [
      3.1229511378443835,
      3.9471212350388516,
      4.692528032293247,
      5.278283971059962,
      5.768186597620103,
      6.1770790791180845,
      6.481930100819509,
      6.674729922888898,
      6.818553656033775,
      7.02021775888987
    ],
    "ax_ego": [
      1.6480660660762179,
      1.6489878812083942,
      1.3313341413967958,
      1.0134715868699664,
      0.9460685245546561,
      0.6943025750611235,
      0.5322538388001186,
      0.25391884875310133,
      0.34930149048468806,
      0.4819300664792108
    ],
    "ay_ego": [
      0.17446322727094532,
      0.16552383301396956,
      0.2869764274440727,
      0.5471490663514603,
      0.6835882067325803,
      0.9003236830624448,
      1.0543360486830982,
      1.1801287025169394,
      1.3542539821080966,
      1.3129199585672342
    ],
    "a_ego": [
      1.657274622934212,
      1.657274621680965,
      1.3619126498998777,
      1.151736410035735,
      1.1671925674612946,
      1.1369427426302665,
      1.1810667434443114,
      1.2071365027437515,
      1.3985761971771367,
      1.3985762069264744
    ],
    "yaw": [
      -0.3363163068483017,
      -0.3308936671525238,
      -0.30425576796357,
      -0.2611386272328239,
      -0.20496840132914768,
      -0.13695462143825748,
      -0.057855634561384706,
      0.03176983602711687,
      0.12787591055967035,
      0.22724657106667567
    ],
    "yaw_diff": [
      0.010845279391555884,
      0.053275798377907524,
      0.08623428146149226,
      0.11234045180735241,
      0.13602755978178038,
      0.15819797375374556,
      0.17925094117700313,
      0.19221214906510697,
      0.19874132101401065,
      0.19874132101401065
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.598158149160669,
    "v_std": 1.2486310715671716,
    "vy_max": 0.07864487448638324,
    "a_max": 1.657274622934212,
    "ax_avg": 0.8899635019684272,
    "a_std": 0.1890612863833646,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "f9df92352a5f53f2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.647952165654511,
    "right_rear_min": 29.366676756466205,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f9df92352a5f53f2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "52c77cea68eb5afc": {
    "vx_ego": [
      7.9681611616365755,
      7.512410737077768,
      7.06837808844761,
      6.701887906552208,
      6.435273952411736,
      6.208381317154165,
      5.995811300486348,
      5.834305784298625,
      5.788798609309659,
      5.814055606044106
    ],
    "vy_ego": [
      0.07229469011434286,
      -0.020567209812022202,
      0.014822509968943187,
      0.017073894852273508,
      0.015482255746241957,
      0.029193103657088937,
      0.03086205129129027,
      0.03739680814646551,
      0.04283548128463055,
      0.0652009808788172
    ],
    "v_ego": [
      7.968489117770838,
      7.512438891111247,
      7.068393629959219,
      6.701909655454642,
      6.435292576319429,
      6.208449952805452,
      5.9958907275941655,
      5.8344256363381595,
      5.788957092396032,
      5.814421188569027
    ],
    "ax_ego": [
      -0.9186352785258158,
      -0.9073329963184296,
      -0.8700018629901402,
      -0.5959426474795843,
      -0.47057084463388904,
      -0.4371958586096023,
      -0.4131452475271119,
      -0.2329584553100876,
      0.05039950190879543,
      0.050445649472651684
    ],
    "ay_ego": [
      0.3201990991113195,
      0.3509488427719077,
      0.014601132347301093,
      -0.011380320630873075,
      0.07661040904728159,
      0.020446810347166472,
      -0.002450503885800287,
      0.045704298836233975,
      0.05456925480101728,
      0.05452660263928742
    ],
    "a_ego": [
      0.9728402942024471,
      0.9728403036732804,
      0.8701243788517466,
      0.5960512987844565,
      0.47676626830538626,
      0.4376737264661432,
      0.41315251484594995,
      0.23739950470161866,
      0.07428265855630789,
      0.0742826624866152
    ],
    "yaw": [
      -0.569927112246808,
      -0.5362498253293335,
      -0.5285639082506366,
      -0.5287750020329915,
      -0.5260435201961902,
      -0.5243730497088417,
      -0.5239090242949795,
      -0.5231829029604385,
      -0.5197844869482258,
      -0.5189384075034942
    ],
    "yaw_diff": [
      0.06735457383494903,
      0.015371834157393849,
      -0.00042218756470990826,
      0.005462963673602772,
      0.0033409409746969487,
      0.0009280508277242916,
      0.001452242669082171,
      0.006796832024425381,
      0.001692158889463169,
      0.001692158889463169
    ],
    "min_front_frame": [
      9,
      22.02431291992759
    ],
    "v_avg": 6.532866846831821,
    "v_std": 0.7277660011644023,
    "vy_max": 0.07229469011434286,
    "a_max": 0.9728403036732804,
    "ax_avg": -0.47449380400132146,
    "a_std": 0.3217448258750415,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "52c77cea68eb5afc",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 22.59493206436855,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.156748572942842,
      25.417251653195482,
      24.25443055509236,
      23.627766172007757,
      23.06370788293231,
      22.7652895804883,
      22.657380749802307,
      22.54670683551065,
      22.303880830514167,
      22.02431291992759
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "52c77cea68eb5afc",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "8704f4971e305ed3": {
    "vx_ego": [
      4.556655865657847,
      4.55781723720471,
      4.574544006228083,
      4.618192034553003,
      4.663561188859537,
      4.688430596522886,
      4.710625955886069,
      4.749200763454707,
      4.781316216374124,
      4.800145927833499
    ],
    "vy_ego": [
      -0.03800795319545425,
      0.030620342186948424,
      0.015333413599652124,
      -0.007868266008133062,
      -0.03652073661248223,
      -0.026342707692453615,
      -0.014773971564395305,
      0.01523339874495222,
      0.04199008286372208,
      0.03598829486409527
    ],
    "v_ego": [
      4.556814378767274,
      4.557920092884037,
      4.574569704189663,
      4.6181987373454145,
      4.663704185134355,
      4.68850460132658,
      4.710649123688086,
      4.749225194496055,
      4.781500593748899,
      4.800280834062081
    ],
    "ax_ego": [
      0.00035797828186795444,
      0.003864923826433553,
      0.0633816916965627,
      0.11134877234572411,
      0.06992889254246372,
      0.028948885419211503,
      0.059639408149623804,
      0.09425083430352035,
      0.03742370386363705,
      0.04065876694896921
    ],
    "ay_ego": [
      -0.12289789173392755,
      -0.12283761670534461,
      -0.04994591181843423,
      -0.103656138723703,
      -0.04184646583437686,
      0.008003350119240658,
      -0.10626536420249176,
      -0.048074451281606326,
      -0.18250191513637332,
      -0.18180855203733376
    ],
    "a_ego": [
      0.12289841309428884,
      0.12289840403371108,
      0.0806959289536525,
      0.15212870931552483,
      0.08149341516369962,
      0.030034839439320893,
      0.12185723874077252,
      0.10580346229182289,
      0.18629944347559713,
      0.18629944960660105
    ],
    "yaw": [
      2.8687219523117524,
      2.840181441391503,
      2.834059384943356,
      2.8307483628448815,
      2.8290860526356365,
      2.8251043572252383,
      2.8174092048262978,
      2.8028943679633347,
      2.7852095020572065,
      2.767450047014753
    ],
    "yaw_diff": [
      -0.05708102184049846,
      -0.012244112896294013,
      -0.006622044196949339,
      -0.0033246204184900208,
      -0.007963390820796334,
      -0.015390304797881171,
      -0.02902967372592613,
      -0.03536973181225633,
      -0.03551891008490671,
      -0.03551891008490671
    ],
    "min_front_frame": [
      9,
      17.73120784813751
    ],
    "v_avg": 4.670136744564244,
    "v_std": 0.08653296134892989,
    "vy_max": 0.04199008286372208,
    "a_max": 0.18629944960660105,
    "ax_avg": 0.05098038573780139,
    "a_std": 0.04599715077607063,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8704f4971e305ed3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.484986045546215,
    "right_rear_min": 10.94848839454106,
    "speed_mode": "quasi_constant",
    "front_frame": [
      37.902203492599625,
      36.10936016255088,
      34.05512383420446,
      31.813632438869487,
      29.49981046112941,
      27.167135442382943,
      24.83745953177159,
      22.478792577685127,
      20.118186243550348,
      17.73120784813751
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8704f4971e305ed3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "baf11c6f018d56f9": {
    "vx_ego": [
      5.964159947720518,
      6.2947465174601795,
      6.582064943302354,
      6.791839898194307,
      6.912306067335114,
      6.943211245103079,
      6.934157036955807,
      6.973593515471446,
      7.117890641569105,
      7.29700178032375
    ],
    "vy_ego": [
      -0.01656582738379564,
      0.10613216076645626,
      0.03616180521044088,
      0.014070469567076138,
      0.0003750216686628782,
      0.0003855846497309301,
      0.004922272668420824,
      -0.024778776242836642,
      -0.03654735113749341,
      -0.06285852393441838
    ],
    "v_ego": [
      5.964182953987119,
      6.295641171050492,
      6.582164278868,
      6.791854472882785,
      6.912306077508366,
      6.943211255809618,
      6.93415878401497,
      6.973637537668379,
      7.117984468528448,
      7.297272516226813
    ],
    "ax_ego": [
      0.6364504306955777,
      0.6983172348648037,
      0.45679193304694055,
      0.38243079081498044,
      0.0984659663149855,
      0.0252679448089455,
      -0.06144181533826977,
      0.2189292809712273,
      0.3580930719005929,
      0.35815790616770954
    ],
    "ay_ego": [
      -0.7835308149046271,
      -0.7289325981443683,
      -0.4835570102608545,
      -0.29220701248270725,
      -0.046754236149953644,
      -0.0897303830765889,
      0.12051739343019295,
      -0.025949221576595807,
      -0.06682013694354724,
      -0.06647173851345634
    ],
    "a_ego": [
      1.0094501912614091,
      1.0094501934948175,
      0.6651964012749744,
      0.4812881131998175,
      0.10900231704101289,
      0.09322022678549602,
      0.1352757878974281,
      0.22046177030725725,
      0.3642740436050277,
      0.3642740421323473
    ],
    "yaw": [
      0.7150562640461358,
      0.6332925101277002,
      0.5972527278177626,
      0.5715905590707115,
      0.5612757100202916,
      0.5563554137111333,
      0.556810131064227,
      0.5645199375462653,
      0.5628945540167134,
      0.5619216981260285
    ],
    "yaw_diff": [
      -0.1635275078368712,
      -0.07207956461987508,
      -0.051324337494102146,
      -0.02062969810083981,
      -0.009840592618316713,
      0.0009094347061875396,
      0.015419612964076457,
      -0.003250767059103765,
      -0.0019457117813697078,
      -0.0019457117813697078
    ],
    "min_front_frame": [
      4,
      17.964378693831023
    ],
    "v_avg": 6.781241351654499,
    "v_std": 0.3777079050208366,
    "vy_max": 0.10613216076645626,
    "a_max": 1.0094501934948175,
    "ax_avg": 0.3171462744247493,
    "a_std": 0.32909486163261353,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "baf11c6f018d56f9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.138447861907905,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      21.217370030235617,
      20.632202774949047,
      19.663989957762976,
      18.727112144359786,
      17.964378693831023,
      -1,
      -1,
      34.09334716304745,
      36.6468179151128,
      39.096946853836755
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.875,
    "unsafe_ratio": 0.125,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "baf11c6f018d56f9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9b58f5bd4e995a93": {
    "vx_ego": [
      5.622274442001934,
      5.6141811966690724,
      5.582979917460105,
      5.491030443119072,
      5.327665782235937,
      5.222475970689377,
      5.2286714860952666,
      5.288765536943012,
      5.370159944682948,
      5.450130730177564
    ],
    "vy_ego": [
      0.04005122526252758,
      -0.008001077575922277,
      -0.022277025855663046,
      0.007773376527008713,
      0.03629357720166704,
      0.031747573062591794,
      0.021719197955416103,
      0.017073882450455713,
      0.02481907319063792,
      0.028785020025686503
    ],
    "v_ego": [
      5.622417096039139,
      5.614186898053444,
      5.583024361817151,
      5.491035945306047,
      5.327789401895851,
      5.222572466976721,
      5.228716595213926,
      5.288793096937906,
      5.370217297081302,
      5.450206744097302
    ],
    "ax_ego": [
      -0.01619309899973238,
      -0.0161564280409373,
      -0.10466206471062114,
      -0.2658626427201976,
      -0.3793841066571046,
      -0.029561038192952305,
      0.05845047210344878,
      0.1835005490042626,
      0.1475770744756877,
      0.17778137984383258
    ],
    "ay_ego": [
      -0.10021347921574371,
      -0.10021938896721659,
      -0.5322689695320335,
      -0.4835745586951116,
      -0.6038513942395204,
      -0.7125416104385109,
      -0.6302118564444366,
      -0.5327606559082141,
      -0.5718584344102162,
      -0.563200534605981
    ],
    "a_ego": [
      0.10151333839323495,
      0.10151332962721812,
      0.5424614306254252,
      0.5518399211830722,
      0.7131401031417473,
      0.7131545425679849,
      0.6329166151178678,
      0.5634770341093027,
      0.5905938214347541,
      0.5905938208275124
    ],
    "yaw": [
      2.8149504199833473,
      2.814584482464678,
      2.7889432349091203,
      2.7378470387978626,
      2.6824772909764762,
      2.620457229910029,
      2.5580256068511438,
      2.5034724693384725,
      2.450259971111336,
      2.397051846172659
    ],
    "yaw_diff": [
      -0.0007318750373386251,
      -0.05128249511111527,
      -0.10219239222251542,
      -0.11073949564277275,
      -0.12404012213289484,
      -0.12486324611777011,
      -0.10910627502534265,
      -0.1064249964542725,
      -0.10641624987735465,
      -0.10641624987735465
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.419895990341879,
    "v_std": 0.14662194736491296,
    "vy_max": 0.04005122526252758,
    "a_max": 0.7131545425679849,
    "ax_avg": -0.02445099038943137,
    "a_std": 0.21213759125697798,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "9b58f5bd4e995a93",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9b58f5bd4e995a93",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7631ace833c857ba": {
    "vx_ego": [
      13.313727671745127,
      13.157547257902454,
      13.041968830938696,
      12.931061508512744,
      12.794717586221285,
      12.689742811390339,
      12.57063200728997,
      12.448417172587725,
      12.38450362749857,
      12.347172743332692
    ],
    "vy_ego": [
      0.012567860134857334,
      0.016027385543962325,
      0.024381089074616114,
      0.03042948802382739,
      -0.0008314949513197334,
      -0.011531390808732667,
      0.009707100685012904,
      0.048765682561954016,
      0.05519242039391159,
      0.046583886591898604
    ],
    "v_ego": [
      13.313733603632766,
      13.15755701948594,
      13.041991620327048,
      12.931097311933016,
      12.794717613239618,
      12.689748050777318,
      12.57063575522363,
      12.44851269005951,
      12.384626611359511,
      12.347260619756423
    ],
    "ax_ego": [
      -0.31239637754377586,
      -0.31237251231738544,
      -0.15001532171235868,
      -0.29373770928236687,
      -0.25170718250401064,
      -0.16812209608393777,
      -0.30810805126056995,
      -0.18111718911861555,
      -0.07463705456438385,
      -0.07463044021783363
    ],
    "ay_ego": [
      0.02870184984249964,
      0.028960431669967174,
      0.0674261352187641,
      0.0019880247864680345,
      -0.0937972188210288,
      0.08250017479242472,
      0.1900959824616532,
      0.0692258046646481,
      -0.024015396332807658,
      -0.02403594258479755
    ],
    "a_ego": [
      0.31371211785147024,
      0.31371211811784694,
      0.16447151868637175,
      0.29374443670817646,
      0.268615755276319,
      0.18727337779950848,
      0.3620318408643737,
      0.19389597269076106,
      0.07840554301239577,
      0.0784055428081926
    ],
    "yaw": [
      0.5525990714164405,
      0.5534268401468059,
      0.5546304779274813,
      0.5554998044911792,
      0.5561460107046043,
      0.5567645913917015,
      0.5604736094067322,
      0.5625364056413167,
      0.5629295206152278,
      0.562654221768842
    ],
    "yaw_diff": [
      0.0016555374607307716,
      0.0024072755613508967,
      0.0017386531273957395,
      0.0012924124268502979,
      0.0012371613741943843,
      0.0074180360300613035,
      0.004125592469168993,
      0.0007862299478222923,
      -0.0005505976927717704,
      -0.0005505976927717704
    ],
    "min_front_frame": [
      0,
      29.07617943118589
    ],
    "v_avg": 12.767988089579479,
    "v_std": 0.31986102345618456,
    "vy_max": 0.05519242039391159,
    "a_max": 0.3620318408643737,
    "ax_avg": -0.2126843934605238,
    "a_std": 0.0949621189554126,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7631ace833c857ba",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.989861564598033,
    "right_rear_min": 13.826182898843165,
    "speed_mode": "decelerating",
    "front_frame": [
      29.07617943118589,
      31.331379594203394,
      33.907821251953145,
      36.28150022985957,
      38.71246492933816,
      41.36701552934325,
      43.950788390898886,
      46.36722457538756,
      49.204609317890444,
      51.884112306393895
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7631ace833c857ba",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5af27ca0b8135d9d": {
    "vx_ego": [
      7.251151858459086,
      6.905778365905022,
      6.491400383147101,
      6.068936582548254,
      5.601832332033348,
      5.075130691200364,
      4.6351245563118075,
      4.178681807341391,
      3.647411082634618,
      3.0982682270106143
    ],
    "vy_ego": [
      -0.02253217381115169,
      0.02423027899689023,
      0.008406309944945622,
      -0.0027429934427836145,
      -0.0035351473284976898,
      0.00379230998884017,
      0.007745806385319298,
      -0.008527484555936216,
      -0.01871426878128246,
      -0.008508193864409597
    ],
    "v_ego": [
      7.251186866526839,
      6.905820874119318,
      6.491405826195834,
      6.068937202427251,
      5.6018334474956335,
      5.075132108071566,
      4.635131028357374,
      4.17869050840078,
      3.647459092242414,
      3.098279909218393
    ],
    "ax_ego": [
      -0.6907012015464421,
      -0.6907885091597139,
      -0.9671128798455486,
      -0.7227491614824798,
      -1.1457059796921725,
      -0.9610992754743881,
      -0.7988853682934347,
      -1.0268623967835002,
      -1.0983032013771312,
      -1.0983159906290632
    ],
    "ay_ego": [
      0.07798547091922386,
      0.07720831611597334,
      -0.06303162776492999,
      -0.03383004228246966,
      0.0003620962560316743,
      -0.0004894357148927941,
      -0.010950798605043777,
      -0.06911769015260588,
      0.014926338962036656,
      0.013954007919361966
    ],
    "a_ego": [
      0.6950898384325526,
      0.6950898420093363,
      0.9691647478431349,
      0.7235404772260231,
      1.145706036911781,
      0.9610994000959072,
      0.7989604193346658,
      1.0291859098433023,
      1.0984046238750385,
      1.0984046292730716
    ],
    "yaw": [
      -0.6249524879544583,
      -0.6260775894512804,
      -0.6232010474993763,
      -0.6252917506387451,
      -0.6265781809855668,
      -0.6279627014899932,
      -0.6293719593627679,
      -0.6302160386585374,
      -0.6310730175619795,
      -0.6319583211887356
    ],
    "yaw_diff": [
      -0.0022502029936442014,
      0.005753083903808243,
      -0.004181406278737532,
      -0.002572860693643486,
      -0.0027690410088527795,
      -0.002818515745549366,
      -0.0016881585915389241,
      -0.0017139578068843253,
      -0.0017706072535121908,
      -0.0017706072535121908
    ],
    "min_front_frame": [
      9,
      14.664731395102597
    ],
    "v_avg": 5.29538768630554,
    "v_std": 1.3347587022257137,
    "vy_max": 0.02423027899689023,
    "a_max": 1.145706036911781,
    "ax_avg": -0.9200523964283873,
    "a_std": 0.1688259951843773,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5af27ca0b8135d9d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.2221124110118655,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      38.534066860983806,
      34.9992071295783,
      31.61197401459802,
      28.469876427931123,
      25.565224296344276,
      22.919241674038823,
      20.508718950252504,
      18.292627795841888,
      16.340685248121336,
      14.664731395102597
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5af27ca0b8135d9d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "db180d0c665454aa": {
    "vx_ego": [
      5.425984674284035,
      5.047687863575321,
      4.672363610134492,
      4.2686991022105305,
      3.8274681140960123,
      3.396101847102686,
      3.039124192136479,
      2.7582379627511893,
      2.4846916778628123,
      2.2006024085737783
    ],
    "vy_ego": [
      0.045362089766687735,
      0.016926013134303974,
      0.014425324827123193,
      0.009421463107478767,
      -0.012523819278970297,
      0.0056322612090952545,
      0.0058646862934356725,
      -0.00025623877101040027,
      0.02189937038235206,
      0.035003830559336084
    ],
    "v_ego": [
      5.4261742880922315,
      5.04771624182721,
      4.672385878253785,
      4.268709499272593,
      3.8274886035716706,
      3.3961065175080423,
      3.039129850759017,
      2.758237974653409,
      2.4847881834200396,
      2.2008807847710745
    ],
    "ax_ego": [
      -0.7565883382615949,
      -0.7565789774876485,
      -0.7447191923650243,
      -0.8700514581948734,
      -0.8948432439538233,
      -0.8305762107318903,
      -0.597435478785683,
      -0.5260593911977025,
      -0.5681731408217032,
      -0.5681751431356512
    ],
    "ay_ego": [
      -0.058485027019605715,
      -0.05860590358645454,
      0.05159374896923833,
      -0.051212968309990885,
      -0.016472948856225914,
      0.098330456609624,
      -0.08621582486838522,
      0.07035525369744226,
      0.02586852718341959,
      0.02582458573428827
    ],
    "a_ego": [
      0.7588454467010561,
      0.758845439540517,
      0.7465042467458003,
      0.8715574037492572,
      0.8949948543392982,
      0.8363765423126133,
      0.6036243200614223,
      0.5307432004181767,
      0.5687617239669336,
      0.5687617273565139
    ],
    "yaw": [
      -1.6041365197798603,
      -1.6042962833238215,
      -1.6041423996316968,
      -1.6030057896879972,
      -1.6017657065681967,
      -1.6011251804444886,
      -1.6002481977624057,
      -1.5995021899365598,
      -1.5987787286842683,
      -1.5988560693469327
    ],
    "yaw_diff": [
      -0.0003195270879223777,
      0.0003077673842493134,
      0.002273219887399147,
      0.0024801662396010116,
      0.001281052247416259,
      0.0017539653641658326,
      0.0014920156516917693,
      0.0014469225045830036,
      -0.0001546813253288093,
      -0.0001546813253288093
    ],
    "min_front_frame": [
      9,
      12.387271766457355
    ],
    "v_avg": 3.712161782212907,
    "v_std": 1.0592388910245187,
    "vy_max": 0.045362089766687735,
    "a_max": 0.8949948543392982,
    "ax_avg": -0.7113200574935594,
    "a_std": 0.1286826738201499,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "db180d0c665454aa",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.181056697679935,
      16.765265272320903,
      16.27593207092862,
      15.68038585663087,
      15.170155455474156,
      14.767605474041552,
      14.2863944822876,
      13.80938016898841,
      13.158849271165826,
      12.387271766457355
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "db180d0c665454aa",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1fc48e89034758e7": {
    "vx_ego": [
      3.5580593031640344,
      3.1976476273007313,
      2.855174251509721,
      2.579148543557315,
      2.370960621645347,
      2.154060078074707,
      1.9147230709498864,
      1.7308533908586778,
      1.5567906101324689,
      1.3426914943729351
    ],
    "vy_ego": [
      0.020607688198839957,
      0.012206243947356032,
      -0.007813543903831377,
      -0.044178338316136934,
      -0.047882270453794895,
      -0.0204929379993678,
      -0.01688931666428417,
      -0.023791120713552494,
      -0.004204491489630091,
      0.027400673529223596
    ],
    "v_ego": [
      3.5581189808162734,
      3.1976709244031505,
      2.855184942863147,
      2.5795268820677553,
      2.3714440708599267,
      2.1541575570192304,
      1.9147975578230587,
      1.7310168913305815,
      1.5567962877477937,
      1.342971051799435
    ],
    "ax_ego": [
      -0.7208226181339793,
      -0.7208221006177449,
      -0.6490478837864389,
      -0.4550013130688439,
      -0.3777029641166703,
      -0.49007103023085674,
      -0.46734952755902465,
      -0.26826666163977875,
      -0.4281097806331275,
      -0.42820797150101375
    ],
    "ay_ego": [
      -0.016996195502524347,
      -0.01701798737280713,
      -0.07099642221813482,
      -0.06896044797449094,
      0.05604073195695661,
      0.04142989142542497,
      -0.04599450322921994,
      0.009319057405828612,
      0.058689850980989805,
      0.05796911802841431
    ],
    "a_ego": [
      0.7210229659831126,
      0.7210229626254627,
      0.6529193268815301,
      0.46019749921008324,
      0.3818377832807935,
      0.49181912384031573,
      0.46960736284362736,
      0.26842847572171746,
      0.4321139697833377,
      0.4321139728150494
    ],
    "yaw": [
      2.613284140196134,
      2.613253913253561,
      2.6125964630684018,
      2.6131072776379556,
      2.613299539179068,
      2.6119722362249407,
      2.6096366934484028,
      2.608375746946199,
      2.6068224351744744,
      2.605139101546463
    ],
    "yaw_diff": [
      -6.0453885145861364e-05,
      -0.0013149003703185613,
      0.0010216291391076382,
      0.00038452308222503007,
      -0.0026546059082548368,
      -0.004671085553075827,
      -0.0025218930044079713,
      -0.0031066235434487055,
      -0.0033666672560226374,
      -0.0033666672560226374
    ],
    "min_front_frame": [
      9,
      10.942691553784561
    ],
    "v_avg": 2.3261685146730353,
    "v_std": 0.6881095322572349,
    "vy_max": 0.047882270453794895,
    "a_max": 0.7210229659831126,
    "ax_avg": -0.5005401851287478,
    "a_std": 0.14155196511886242,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1fc48e89034758e7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.751325429956575,
      14.302383350280778,
      13.853943952352084,
      13.358222456014113,
      12.803866534304722,
      12.318126864245835,
      12.022640058962475,
      11.569443082088462,
      11.217778417581178,
      10.942691553784561
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1fc48e89034758e7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "257773cfd41d59d5": {
    "vx_ego": [
      0.8117008594326318,
      0.9408667236380865,
      1.0476181896954095,
      1.1284855723576765,
      1.2139028763415527,
      1.2876437363435116,
      1.221142984898332,
      0.9691376934039018,
      0.6977218165512876,
      0.4718584292485116
    ],
    "vy_ego": [
      0.01252131192867506,
      -0.0016169664282087437,
      -0.010473185832613363,
      -0.012491106659137663,
      -0.011047413767588887,
      0.003319039763727938,
      0.01757863618431288,
      0.009150594421227676,
      -0.014622301321312037,
      -0.04038578789519004
    ],
    "v_ego": [
      0.8117974306784226,
      0.9408681130901915,
      1.0476705393405752,
      1.1285547017158728,
      1.2139531451177379,
      1.2876480139267996,
      1.2212695026145983,
      0.9691808923800019,
      0.6978750210371194,
      0.47358356085994785
    ],
    "ax_ego": [
      0.2583289282559029,
      0.25835006645107245,
      0.16860584114379268,
      0.15482482084388904,
      0.1867794877281245,
      0.10807937868640756,
      -0.3740102933029596,
      -0.6339334554260563,
      -0.45173003571261294,
      -0.45172795354412865
    ],
    "ay_ego": [
      -0.029623595473177305,
      -0.029438660006911824,
      -0.012100687846161001,
      0.0007949017853464135,
      -0.0016267987648922871,
      0.04559595785125606,
      0.005320769535723413,
      -0.04351717008431505,
      -0.05156517634092969,
      -0.051583457088695855
    ],
    "a_ego": [
      0.26002190788970436,
      0.2600219058815547,
      0.1690395111036354,
      0.15482686142330304,
      0.18678657208215493,
      0.11730363792147884,
      0.37404813872684645,
      0.6354253457335227,
      0.45466360375115766,
      0.4546636086805142
    ],
    "yaw": [
      2.2256580490277686,
      2.2249421969888825,
      2.223421877907663,
      2.2226799556474583,
      2.221264886937335,
      2.218588277376515,
      2.2174241569522963,
      2.216429983918849,
      2.2164328308922245,
      2.216392355606242
    ],
    "yaw_diff": [
      -0.0014317040777722667,
      -0.0030406381624388246,
      -0.0014838445204095052,
      -0.0028301374202470697,
      -0.005353219121639441,
      -0.002328240848437524,
      -0.0019883460668950192,
      5.693946751428314e-06,
      -8.09505719647774e-05,
      -8.09505719647774e-05
    ],
    "min_front_frame": [
      8,
      10.805447699430117
    ],
    "v_avg": 0.9792400920761268,
    "v_std": 0.24499529582152818,
    "vy_max": 0.04038578789519004,
    "a_max": 0.6354253457335227,
    "ax_avg": -0.07764332148765683,
    "a_std": 0.1590617300394692,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "257773cfd41d59d5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      12.680284724089033,
      12.702843408184416,
      12.62623153366845,
      12.45862849125577,
      12.036815756536198,
      11.604787146896744,
      11.18005382361925,
      10.881270827273584,
      10.805447699430117,
      10.878713298397864
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "257773cfd41d59d5",
    "merging_vehicles": "No"
  },
  "93358613d3865c5c": {
    "vx_ego": [
      13.12606307835829,
      13.107469895645844,
      13.080644529745967,
      13.040412404990203,
      12.974180953558417,
      12.947696902994121,
      12.967931036863934,
      12.931235213760418,
      12.656538048494795,
      12.186673058439899
    ],
    "vy_ego": [
      -0.010792997468568655,
      0.02683390616971032,
      0.029198569986045364,
      0.017241237761770556,
      -0.0015263422824764727,
      0.011902359403728413,
      -0.005657814053049548,
      -0.0014484416169666114,
      0.0010564936894855714,
      0.01154431256796637
    ],
    "v_ego": [
      13.126067515666492,
      13.107497363104157,
      13.080677118179409,
      13.040423802641612,
      12.974181043341378,
      12.947702373701787,
      12.96793227109545,
      12.931235294881173,
      12.656538092589749,
      12.186678526344146
    ],
    "ax_ego": [
      -0.03747583056906514,
      -0.03699547934673704,
      -0.07092439053986317,
      -0.09071751521416405,
      -0.17488250906311853,
      0.06898747086543279,
      0.012042223810021836,
      -0.1590027192608291,
      -0.9397839058693735,
      -0.9397094597353188
    ],
    "ay_ego": [
      0.1559622472489779,
      0.15607688385665605,
      0.18449624703370912,
      0.19632457182536855,
      0.006625288026864366,
      -0.01763333097900425,
      -0.1253909653431962,
      0.05354748670789977,
      0.05411549442973468,
      0.05539324933379925
    ],
    "a_ego": [
      0.1604015599792988,
      0.1604015559977488,
      0.19765913675561386,
      0.21627067547184103,
      0.1750079610122084,
      0.07120537548404648,
      0.12596789013073642,
      0.1677772274925019,
      0.9413406803429193,
      0.9413406826371636
    ],
    "yaw": [
      -1.6114277710105394,
      -1.6083490371408127,
      -1.6020292586586071,
      -1.5938257896887724,
      -1.5884865781298771,
      -1.5897379423981701,
      -1.591141412676394,
      -1.59285063307638,
      -1.590957072731496,
      -1.589597395264306
    ],
    "yaw_diff": [
      0.0061574677394533595,
      0.012639556964411103,
      0.016406937939669408,
      0.010678423117790548,
      -0.002502728536585952,
      -0.0028069405564479233,
      -0.003418440799972,
      0.0037871206897683862,
      0.002719354934379581,
      0.002719354934379581
    ],
    "min_front_frame": [
      9,
      63.6219149302573
    ],
    "v_avg": 12.901893340154535,
    "v_std": 0.2698071350495079,
    "vy_max": 0.029198569986045364,
    "a_max": 0.9413406826371636,
    "ax_avg": -0.23684621149230148,
    "a_std": 0.3150172773554202,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "93358613d3865c5c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.21731572204978,
    "right_rear_min": 11.290041948355684,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      63.70068845613148,
      63.6219149302573
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "93358613d3865c5c",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "7ceb065003f25449": {
    "vx_ego": [
      7.748694496479322,
      7.808940844119823,
      8.02847476136897,
      8.370802554851082,
      8.745960768806663,
      9.054748204579962,
      9.299738483786903,
      9.483548353850278,
      9.593962372555382,
      9.679888233085933
    ],
    "vy_ego": [
      -0.02162269824163099,
      -0.042910504587296394,
      -0.02026257236960971,
      -0.04798238284498879,
      -0.12402536244215634,
      -0.11361874441879971,
      -0.16149430371385476,
      -0.13731270390133155,
      -0.07871801187134553,
      -0.021670534349093273
    ],
    "v_ego": [
      7.7487246654432225,
      7.80905874087055,
      8.028500331056703,
      8.370940073932251,
      8.746840118581918,
      9.055461019044108,
      9.301140590108245,
      9.484542380023878,
      9.59428530592047,
      9.679912490156845
    ],
    "ax_ego": [
      -0.04137525174606971,
      0.30026195520359256,
      0.5933377989060581,
      0.7881845984727385,
      0.7155118145669914,
      0.5233897825821382,
      0.4704642913013766,
      0.26929241657228,
      0.17180826849006567,
      0.17172573292830437
    ],
    "ay_ego": [
      2.2876234922764223,
      2.2682098485469773,
      2.2364285545867904,
      2.1413720533925207,
      1.5064720298021532,
      0.6807391572246284,
      0.3893594694934302,
      0.08805104102715432,
      0.0977635284019267,
      0.09790842465718261
    ],
    "a_ego": [
      2.287997629778498,
      2.287997630852835,
      2.3137982676503683,
      2.281821472490811,
      1.6677575163557705,
      0.8586865928208471,
      0.6106860452588646,
      0.28332206311776004,
      0.1976759687143301,
      0.19767596456983466
    ],
    "yaw": [
      -2.6811468139957295,
      -2.531449075133947,
      -2.3916743699935856,
      -2.2546255341137,
      -2.1394326327455593,
      -2.0793460608600034,
      -2.045006550671042,
      -2.0349001112711775,
      -2.036171300080575,
      -2.0370148761857747
    ],
    "yaw_diff": [
      0.29939547772356523,
      0.27954941028072255,
      0.2740976717597716,
      0.23038580273628106,
      0.12017314377111177,
      0.06867902037792284,
      0.020212878799728884,
      -0.0025423776187949443,
      -0.0016871522103993897,
      -0.0016871522103993897
    ],
    "min_front_frame": [
      4,
      18.686486148847674
    ],
    "v_avg": 8.781940571513818,
    "v_std": 0.7110660125289605,
    "vy_max": 0.16149430371385476,
    "a_max": 2.3137982676503683,
    "ax_avg": 0.39626014072774757,
    "a_std": 0.9062588238109575,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "7ceb065003f25449",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 43.10994822743426,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      18.686486148847674,
      19.083678573238828,
      19.703328328820945,
      20.10742513517449,
      20.674945237734555,
      21.302099602226768
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7ceb065003f25449",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "c0c3f6eb7f445755": {
    "vx_ego": [
      7.060297691101811,
      6.709880946671257,
      6.3110298692634625,
      5.867696755183902,
      5.431104175899114,
      5.009514009040166,
      4.526341684042638,
      3.8929096493214495,
      3.129739748800578,
      2.3130861320486407
    ],
    "vy_ego": [
      -0.01939380556073278,
      0.025381925852966614,
      0.03405085579986089,
      0.021156351822245956,
      -0.0034985193370697942,
      -0.018826309498875204,
      -0.004271919502461863,
      0.02183581935788137,
      0.022461620455063835,
      0.018197112905149915
    ],
    "v_ego": [
      7.06032432730053,
      6.7099289534735,
      6.31112172846605,
      5.867734895342334,
      5.431105302708312,
      5.009549384595288,
      4.526343699941287,
      3.8929708887669685,
      3.129820349415565,
      2.313157709537727
    ],
    "ax_ego": [
      -0.700810583547492,
      -0.7008505406501203,
      -0.895099230500481,
      -0.8790433986124775,
      -0.8679729779289688,
      -0.8182999214063812,
      -1.114318782332767,
      -1.4191291498699743,
      -1.6332042526763038,
      -1.6330981877425441
    ],
    "ay_ego": [
      0.08308508325211467,
      0.08274738690482641,
      0.06243702824820829,
      0.08644605507219849,
      -0.022566651251937575,
      -0.00461270310786166,
      0.07830765287634811,
      -0.027850682340839317,
      -0.025645322309168495,
      -0.03168773281271775
    ],
    "a_ego": [
      0.7057185027127935,
      0.7057185064663836,
      0.8972742139051031,
      0.8832837692846623,
      0.8682662864372938,
      0.818312922055891,
      1.117066890189922,
      1.4194024110580925,
      1.633405587573492,
      1.6334055844213315
    ],
    "yaw": [
      -0.742247899243344,
      -0.7427297535811817,
      -0.7385020184913575,
      -0.7302693816771013,
      -0.723076670997315,
      -0.7214401560662029,
      -0.7206348686205888,
      -0.723811504728661,
      -0.7277683871420002,
      -0.7314682289633698
    ],
    "yaw_diff": [
      -0.000963708675675301,
      0.008455470179648206,
      0.016465273628512467,
      0.014385421359572659,
      0.0032730298622241083,
      0.0016105748912282891,
      -0.0063532722161443456,
      -0.007913764826678493,
      -0.007399683642739241,
      -0.007399683642739241
    ],
    "min_front_frame": [
      7,
      16.467884855814724
    ],
    "v_avg": 5.025205723954756,
    "v_std": 1.482799522713433,
    "vy_max": 0.03405085579986089,
    "a_max": 1.633405587573492,
    "ax_avg": -1.066182702526751,
    "a_std": 0.3454356901899002,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c0c3f6eb7f445755",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.022730859797306,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      30.41574603283644,
      28.59762480600236,
      26.67054815302835,
      24.512529551310273,
      22.42104496137049,
      20.397722132160023,
      18.398123956784055,
      16.467884855814724,
      24.48901256751,
      23.159075852268924
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c0c3f6eb7f445755",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "f7c57baf089e561b": {
    "vx_ego": [
      6.2621352178164456,
      5.949038124496019,
      5.534888683821863,
      5.018979426551784,
      4.513577310674747,
      3.9700819050712135,
      3.306381066117398,
      2.5028666850231374,
      1.7086534334588146,
      0.9885766770359665
    ],
    "vy_ego": [
      -0.026589307909490545,
      -0.004721662365071655,
      -0.001077611540823642,
      0.0009975768384745676,
      -0.0021200650292479972,
      0.00672107412943701,
      0.06240412206789525,
      0.06319379486925016,
      0.05824915806429852,
      0.0726546853596502
    ],
    "v_ego": [
      6.262191667260922,
      5.9490399982520366,
      5.5348887887243,
      5.018979525691416,
      4.5135778085808616,
      3.9700875942240024,
      3.306969916529433,
      2.503664334272605,
      1.70964602186704,
      0.9912429317196584
    ],
    "ax_ego": [
      -0.6378590907124881,
      -0.6166600303937484,
      -1.044536349390973,
      -1.0205156977969885,
      -0.999534457938774,
      -1.172503292669035,
      -1.487268682349258,
      -1.74217013262468,
      -1.4425357404226402,
      -1.4415090955834635
    ],
    "ay_ego": [
      -0.4736354241778813,
      -0.500924280678593,
      -0.24304523020174082,
      -0.03451276244953019,
      0.23711481290635797,
      0.3712301814959009,
      0.3605886675761131,
      0.14782618074949905,
      0.05822777565025712,
      0.07969558304656775
    ],
    "a_ego": [
      0.7944776489245772,
      0.7944776447821452,
      1.0724398207465247,
      1.0210991236025875,
      1.0272743387754686,
      1.22986821203461,
      1.5303569259101666,
      1.7484305392907316,
      1.4437104405849088,
      1.4437104483264598
    ],
    "yaw": [
      -1.678541545522464,
      -1.7220395720885078,
      -1.7547582700339381,
      -1.7683086153971992,
      -1.757021573015622,
      -1.7234263360800388,
      -1.6888223131176552,
      -1.6458135794021933,
      -1.618518475216959,
      -1.6036314603970303
    ],
    "yaw_diff": [
      -0.08699605313208769,
      -0.06543739589086073,
      -0.027100690726522103,
      0.022574084763154367,
      0.06719047387116639,
      0.06920804592476726,
      0.08601746743092376,
      0.054590208370468574,
      0.029774029639857424,
      0.029774029639857424
    ],
    "min_front_frame": [
      9,
      9.93895094305052
    ],
    "v_avg": 3.9760288587122274,
    "v_std": 1.7200881734748368,
    "vy_max": 0.0726546853596502,
    "a_max": 1.7484305392907316,
    "ax_avg": -1.1605092569882047,
    "a_std": 0.3058563620089693,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f7c57baf089e561b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.821832457826699,
    "right_rear_min": 15.88699700066068,
    "speed_mode": "decelerating",
    "front_frame": [
      14.714455570316236,
      14.278939595659173,
      13.878613605668491,
      32.050224875382725,
      21.852510964980706,
      20.487735897155282,
      19.237376544564057,
      10.383292319166207,
      10.01993990095693,
      9.93895094305052
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f7c57baf089e561b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dda361f4db52537a": {
    "vx_ego": [
      4.389976395538327,
      4.440979607196753,
      4.538531138312293,
      4.753743728287617,
      5.090399748726412,
      5.46018857749588,
      5.800999379525637,
      6.11149686456135,
      6.445083419781301,
      6.81131449330986
    ],
    "vy_ego": [
      0.06130014451498722,
      0.058282506957133995,
      0.03918597106953481,
      0.013543805304276652,
      -0.00997876318112445,
      -0.021244740135694773,
      -0.052583590613325626,
      -0.07579991565297783,
      -0.13842867468556275,
      0.03105227907961794
    ],
    "v_ego": [
      4.390404361912607,
      4.441362034573925,
      4.538700302262636,
      4.753763021953868,
      5.090409529453258,
      5.460229907320746,
      5.8012376985655925,
      6.111966913584874,
      6.4465698465086865,
      6.8113852754640885
    ],
    "ax_ego": [
      0.015575423217202011,
      0.15729634337893744,
      0.2080375799642114,
      0.661163112621228,
      0.705449128034961,
      0.8058495458383304,
      0.5750823586155278,
      0.7128359962463291,
      0.6654129370590431,
      0.8165508700177031
    ],
    "ay_ego": [
      1.1189593476910087,
      1.1079577984477715,
      1.1088036246422348,
      1.435551739757045,
      1.6937130829616955,
      1.9369869881304718,
      1.8465562318854614,
      1.9012013569186936,
      1.6282027202341631,
      1.5579034552598516
    ],
    "a_ego": [
      1.1190677439697219,
      1.1190677471813837,
      1.1281511923040828,
      1.580488993637877,
      1.8347540651653829,
      2.0979304284734037,
      1.934034548994881,
      2.0304437340379513,
      1.7589253750467844,
      1.758925381941273
    ],
    "yaw": [
      -0.44610379674912504,
      -0.3189952864005223,
      -0.19130066585199842,
      -0.04736589105083471,
      0.11617241709033162,
      0.29034329826763705,
      0.4625878039429401,
      0.6239058604096162,
      0.7739969490469709,
      0.8687990091616993
    ],
    "yaw_diff": [
      0.2542170206972054,
      0.2553892410970478,
      0.2878695496023274,
      0.32707661628233264,
      0.3483417623546109,
      0.34448901135060606,
      0.32263611293335215,
      0.3001821772747095,
      0.18960412022945672,
      0.18960412022945672
    ],
    "min_front_frame": [
      9,
      46.91704094942064
    ],
    "v_avg": 5.384602889160028,
    "v_std": 0.8336688856790136,
    "vy_max": 0.13842867468556275,
    "a_max": 2.0979304284734037,
    "ax_avg": 0.5323253294993474,
    "a_std": 0.36372298837827716,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "dda361f4db52537a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      46.91704094942064
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "dda361f4db52537a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "cdc9d2e591cc552c": {
    "vx_ego": [
      6.895848478161193,
      6.775046491694518,
      6.616247379515328,
      6.339169250497262,
      5.8784839033446,
      5.364060487725824,
      5.041133082342222,
      4.790979789846088,
      4.375713826331387,
      3.8635089174631974
    ],
    "vy_ego": [
      -0.009780044694098988,
      -0.043623400694397185,
      -0.009043957509023759,
      0.005575544425116763,
      0.009873401836263895,
      0.0013606206660788378,
      -0.007252276331393248,
      -0.008479607572295988,
      0.002605077347422796,
      0.007688672438266819
    ],
    "v_ego": [
      6.895855413437282,
      6.7751869321599045,
      6.616253560748022,
      6.339171702450223,
      5.878492194937865,
      5.364060660289926,
      5.041138298975459,
      4.790987293915341,
      4.375714601796562,
      3.8635165679729533
    ],
    "ax_ego": [
      -0.24253195046806647,
      -0.24140919110513212,
      -0.39387584594291297,
      -0.7136509932920797,
      -1.1308764449141602,
      -0.9275552653046333,
      -0.3641532187815174,
      -0.6368560652410352,
      -1.02440425748407,
      -1.0243351651939976
    ],
    "ay_ego": [
      -0.16143590616032594,
      -0.16311008903153235,
      -0.36665608791687304,
      -0.4285189040253366,
      -0.2379614126043684,
      -0.0742393590314957,
      -0.09814346144735316,
      -0.055850880574056044,
      -0.017478787475382923,
      -0.021143816453956583
    ],
    "a_ego": [
      0.2913473850846275,
      0.29134738491002216,
      0.5381216115561157,
      0.8324218830219732,
      1.1556414528522052,
      0.930521494982118,
      0.37714679605401363,
      0.6393003743899976,
      1.024553361598652,
      1.0245533620203746
    ],
    "yaw": [
      -2.9735233172722473,
      -2.9804422391386596,
      -3.0053148692577323,
      -3.0380556883614425,
      -3.0657959157408055,
      -3.078222344906331,
      -3.0849412712037703,
      -3.0924705630601297,
      -3.098821672213365,
      -3.1023994999616633
    ],
    "yaw_diff": [
      -0.013837843732824595,
      -0.049745260238145406,
      -0.06548163820742037,
      -0.05548045475872598,
      -0.024852858331050776,
      -0.01343785259487884,
      -0.015058583712718843,
      -0.01270221830647067,
      -0.00715565549659658,
      -0.00715565549659658
    ],
    "min_front_frame": [
      9,
      14.031968720094719
    ],
    "v_avg": 5.594037722668353,
    "v_std": 1.012590681177824,
    "vy_max": 0.043623400694397185,
    "a_max": 1.1556414528522052,
    "ax_avg": -0.6699648397727606,
    "a_std": 0.30918768219077947,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cdc9d2e591cc552c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      33.28968794624375,
      30.839426149581072,
      28.166856113289622,
      25.343114558224865,
      22.843485269723793,
      20.623549552114877,
      18.658886769709873,
      16.881076893228983,
      15.291382854139618,
      14.031968720094719
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cdc9d2e591cc552c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ed77d7ff214f53aa": {
    "vx_ego": [
      8.870746330978518,
      9.125162852060003,
      9.385860871229767,
      9.642566798621564,
      9.904907423571613,
      10.131135065239597,
      10.24343069940989,
      10.233374110296372,
      10.140362338360106,
      10.024165149123895
    ],
    "vy_ego": [
      0.0023469421040873684,
      0.005940378197275331,
      0.008741394865193541,
      0.005024843418611091,
      -0.004112970131664895,
      0.0004161028461013849,
      -0.006388005559293308,
      -0.0034362415140374303,
      0.02018573707537863,
      0.01861630283264981
    ],
    "v_ego": [
      8.870746641444907,
      9.125164785619434,
      9.385864941818959,
      9.642568107870968,
      9.904908277518139,
      10.131135073784622,
      10.24343269125287,
      10.233374687220234,
      10.140382429534563,
      10.024182435672309
    ],
    "ax_ego": [
      0.5077812276841621,
      0.5096914228845341,
      0.5325275045714499,
      0.4942425330303014,
      0.5551441919468465,
      0.34964082196546786,
      0.09972296895451398,
      -0.13943039636997315,
      -0.23303887621834526,
      -0.232239775242272
    ],
    "ay_ego": [
      0.19160209569465217,
      0.18646128162872339,
      0.07700326455440712,
      -0.07181647882564049,
      -0.0840264140072693,
      -0.0009230973080097127,
      0.09617174030260177,
      0.2044618358737385,
      0.1246371072946503,
      0.12611983233835006
    ],
    "a_ego": [
      0.5427274990849621,
      0.5427275155256891,
      0.538066023715614,
      0.4994329665602004,
      0.561467284980379,
      0.3496420405119042,
      0.13854123635197585,
      0.24747823694367027,
      0.264275474351835,
      0.26427547240263244
    ],
    "yaw": [
      -1.360320613664204,
      -1.3502156449573652,
      -1.3433997784511325,
      -1.3428731212859955,
      -1.3459268285778445,
      -1.348492258858108,
      -1.3454961068137499,
      -1.338464138733753,
      -1.332713077492003,
      -1.3263395994116043
    ],
    "yaw_diff": [
      0.020209937413677714,
      0.013631733012465563,
      0.0010533143302740022,
      -0.006107414583698123,
      -0.00513086056052714,
      0.005992304088716427,
      0.014063936159993684,
      0.01150212248349991,
      0.012746956160797573,
      0.012746956160797573
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.7701760071737,
    "v_std": 0.46664040012882346,
    "vy_max": 0.02018573707537863,
    "a_max": 0.561467284980379,
    "ax_avg": 0.24440416232066853,
    "a_std": 0.15049951860990712,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ed77d7ff214f53aa",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ed77d7ff214f53aa",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d02d0643d42c5d91": {
    "vx_ego": [
      3.04165876430145,
      2.7131400722777075,
      2.4354136277284404,
      2.220588270995912,
      2.011394075757128,
      1.812964342913519,
      1.6339760051976289,
      1.4462093022516234,
      1.3253508518663326,
      1.2960999789868557
    ],
    "vy_ego": [
      0.009087274796836242,
      -0.02209294430941755,
      -0.03669425456649189,
      -0.014607970802156034,
      0.012537968998025506,
      -0.0001836291611468921,
      -0.010551004967916167,
      -0.020591403810841902,
      -0.040614321939734244,
      -0.05756988794007881
    ],
    "v_ego": [
      3.041672338864766,
      2.7132300215771132,
      2.4356900472850795,
      2.220636319187717,
      2.011433152917955,
      1.812964352213114,
      1.6340100701242433,
      1.4463558869897921,
      1.325973002624653,
      1.2973779123783329
    ],
    "ax_ego": [
      -0.6590779846609965,
      -0.6553914935415364,
      -0.4579944888778169,
      -0.4099520452610425,
      -0.4187034063247683,
      -0.3650482261371424,
      -0.3610476239001356,
      -0.3963539018155974,
      -0.11007209804166744,
      -0.037510224562234656
    ],
    "ay_ego": [
      -0.17339688893382327,
      -0.18684822897858622,
      -0.30538897720854963,
      -0.2678664881572721,
      -0.44383088913096697,
      -0.5547403350296808,
      -0.45299655892125784,
      -0.49096268374144064,
      -0.4459895201537935,
      -0.4578378555486675
    ],
    "a_ego": [
      0.6815058847557587,
      0.6815058844052925,
      0.5504737770711124,
      0.489707193015808,
      0.610162601783122,
      0.6640760850344761,
      0.5792765048907424,
      0.6309839715167462,
      0.45937187425255527,
      0.45937187432418175
    ],
    "yaw": [
      -2.0321093132673838,
      -2.0525751669964905,
      -2.0951079350726927,
      -2.166309733841516,
      -2.263098552957886,
      -2.387275998897821,
      -2.5272507448604102,
      -2.67328302893348,
      -2.8316298167975362,
      -2.9918519564542256
    ],
    "yaw_diff": [
      -0.040931707458213396,
      -0.08506553615240442,
      -0.14240359753764675,
      -0.19357763823273988,
      -0.24835489187987037,
      -0.27994949192517815,
      -0.2920645681461398,
      -0.3166935757281122,
      -0.3204442793133788,
      -0.3204442793133788
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.9939343104162766,
    "v_std": 0.570569038448134,
    "vy_max": 0.05756988794007881,
    "a_max": 0.6815058847557587,
    "ax_avg": -0.38711514931229385,
    "a_std": 0.08325147753961182,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "d02d0643d42c5d91",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 49.87036493295642,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d02d0643d42c5d91",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c3c6442b2f525269": {
    "vx_ego": [
      4.944648979562431,
      4.466170205168991,
      4.030232248269639,
      3.666782196399854,
      3.300475558393833,
      2.8641808931224326,
      2.3486746916731547,
      1.79088299686638,
      1.2453009943449167,
      0.7124029386070967
    ],
    "vy_ego": [
      -0.008894332076076816,
      -0.008554029258919016,
      -0.011526169489431748,
      -0.02258287581975238,
      -0.035206124062025834,
      -0.007451852230681011,
      0.011688615937908486,
      -0.005218317489229185,
      -0.01189965201901172,
      0.0029425916088252624
    ],
    "v_ego": [
      4.944656979026035,
      4.466178396902187,
      4.030248730236838,
      3.6668517371329905,
      3.3006633246555994,
      2.8641905869947415,
      2.3487037767774233,
      1.790890599479076,
      1.2453578474617695,
      0.7124090157917734
    ],
    "ax_ego": [
      -0.956949590159064,
      -0.9569464602630852,
      -0.7867413358720282,
      -0.6669849356107138,
      -0.7978746624785729,
      -0.947444189070177,
      -1.114584917506951,
      -1.1165993593507544,
      -1.0657965429129375,
      -1.065794332425569
    ],
    "ay_ego": [
      0.005517432679453094,
      0.006035614735266148,
      0.008290757005666893,
      -0.029529317144029926,
      0.016149730104134674,
      0.08003607090705173,
      -0.0025632128514578856,
      -0.06165162004348923,
      0.02979059229450909,
      0.02986995388729169
    ],
    "a_ego": [
      0.956965495809004,
      0.9569654938686561,
      0.7867850190626602,
      0.6676382889728695,
      0.798038088569545,
      0.9508187335391978,
      1.1145878648155554,
      1.1183000722330756,
      1.0662128072174084,
      1.0662128179569468
    ],
    "yaw": [
      -2.035612767169212,
      -2.0350712714486203,
      -2.033520799172269,
      -2.032021644918598,
      -2.0293706816001826,
      -2.0305663581062126,
      -2.0304796745230718,
      -2.030067494929444,
      -2.030916795696232,
      -2.0308423293526827
    ],
    "yaw_diff": [
      0.0010829914411836228,
      0.0031009445527026003,
      0.0029983085073421734,
      0.005301926636830601,
      -0.002391353012059838,
      0.00017336716628157944,
      0.0008243591872556522,
      -0.0016986015335760385,
      0.00014893268709847973,
      0.00014893268709847973
    ],
    "min_front_frame": [
      9,
      10.697362230875042
    ],
    "v_avg": 2.9370150994458433,
    "v_std": 1.3305870548322525,
    "vy_max": 0.035206124062025834,
    "a_max": 1.1183000722330756,
    "ax_avg": -0.9475716325649852,
    "a_std": 0.14558563509039416,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c3c6442b2f525269",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.373767659578323,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.912592639861966,
      21.201314963182597,
      19.40357230297638,
      17.49164130144446,
      15.782294402075394,
      14.241972801301431,
      12.965443300695808,
      11.933655815840842,
      11.211815064765744,
      10.697362230875042
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c3c6442b2f525269",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5a3a4277dc785511": {
    "vx_ego": [
      4.113982676802511,
      3.9954020934200685,
      3.941286639264851,
      4.016346482121703,
      4.2307060980391995,
      4.498414249309299,
      4.740647884496351,
      4.94547757502299,
      5.1384212847115425,
      5.3204354230854145
    ],
    "vy_ego": [
      -0.004173995048648016,
      -0.04396610937404827,
      -0.044086561500886745,
      -0.018226032200680642,
      -0.006133672259915901,
      -0.03863508732336962,
      -0.05666228918008587,
      -0.06828455522947863,
      -0.042820510741021334,
      -0.04165029780471574
    ],
    "v_ego": [
      4.113984794243389,
      3.9956439915086226,
      3.9415332039388677,
      4.016387836439748,
      4.23071054433194,
      4.498580156934122,
      4.740986498588121,
      4.945948971182189,
      5.13859970179783,
      5.320598447405075
    ],
    "ax_ego": [
      -0.3011150474491984,
      -0.15769768047771038,
      -0.02919875572976438,
      0.3430417567463234,
      0.5213428004091868,
      0.5575965364232155,
      0.41561598485563456,
      0.40862603918511625,
      0.3643542904506887,
      0.36500004063815866
    ],
    "ay_ego": [
      1.0211302188077571,
      1.0528573674119108,
      1.1289975463142654,
      1.082730543439483,
      1.0924479107268623,
      1.0384405162182277,
      0.7428791083652835,
      0.4030844893028047,
      0.08477195840558019,
      0.08194696057738571
    ],
    "a_ego": [
      1.0646018953405592,
      1.0646018948609801,
      1.1293750603408055,
      1.1357742190102582,
      1.210471293831448,
      1.1786740869106886,
      0.8512379317870638,
      0.573979394592366,
      0.37408599800278847,
      0.37408599815246907
    ],
    "yaw": [
      -0.024203239076954593,
      0.1138780341414577,
      0.2517022756804048,
      0.3855390407116309,
      0.51500222185788,
      0.6444586980932702,
      0.7442957376068655,
      0.8058198978982566,
      0.8249377672300813,
      0.8326843003128572
    ],
    "yaw_diff": [
      0.2761625464368246,
      0.27564848307789425,
      0.2676735300624522,
      0.2589263622924982,
      0.2589129524707803,
      0.1996740790271907,
      0.12304832058278214,
      0.03823573866364938,
      0.015493066165551905,
      0.015493066165551905
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.494297414636991,
    "v_std": 0.48574464587199606,
    "vy_max": 0.06828455522947863,
    "a_max": 1.210471293831448,
    "ax_avg": 0.2487565965051651,
    "a_std": 0.31592626074390595,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "5a3a4277dc785511",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "5a3a4277dc785511",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b354451e4f8859f9": {
    "vx_ego": [
      2.54052862940286,
      1.987001413233026,
      1.473019599215895,
      0.9570581726176833,
      0.3949667604921665,
      -0.0018488950130908283,
      -0.09228246495625854,
      -0.05242891457157158,
      -0.02856252198031278,
      -0.014473323827934707
    ],
    "vy_ego": [
      -0.03875982859769782,
      -0.024437102483700582,
      0.005574792578889945,
      0.029866035063155393,
      0.02736126424892003,
      0.00955553123123491,
      -0.0032985174277801533,
      -0.0017812461797816744,
      -0.0005584754430441278,
      -7.582791883111614e-05
    ],
    "v_ego": [
      2.540824283796205,
      1.9871516771922173,
      1.4730301483630446,
      0.9575240601805747,
      0.3959133499580124,
      0.00973275859561604,
      0.09234139676019881,
      0.05245916431955563,
      0.02856798131993813,
      0.014473522463503375
    ],
    "ax_ego": [
      -1.1070614532020921,
      -1.1070654507352813,
      -0.9488976701998121,
      -1.114873559660938,
      -1.1333902620717795,
      -0.4538560379346459,
      0.09212657939512812,
      0.06728732716046398,
      0.028178395023961737,
      0.02817839045817866
    ],
    "ay_ego": [
      0.028077462163064934,
      0.027919232742020152,
      0.08851982719779117,
      0.005372259461379135,
      -0.01758493171790672,
      -0.05371724166947946,
      0.0021572116066230582,
      0.003919614800095949,
      0.000965320048308487,
      0.0009653427524034104
    ],
    "a_ego": [
      1.107417448412046,
      1.1074174442226448,
      0.9530176012633546,
      1.1148865032830793,
      1.1335266719326285,
      0.4570239000559074,
      0.09215183228217763,
      0.06740139298694386,
      0.028194924878816363,
      0.028194921093047803
    ],
    "yaw": [
      -1.5527465143097476,
      -1.5528894405834577,
      -1.5534169274777925,
      -1.554079032204962,
      -1.5548874863955193,
      -1.5550649644171002,
      -1.554753135215278,
      -1.554781093008501,
      -1.5547379542430142,
      -1.5547387637859247
    ],
    "yaw_diff": [
      -0.0002858525474200846,
      -0.0010549737886695887,
      -0.001324209454339087,
      -0.0016169083811146123,
      -0.0003549560431617138,
      0.0006236584036445336,
      -5.5915586446353416e-05,
      8.627753097378843e-05,
      -1.6190858209697012e-06,
      -1.6190858209697012e-06
    ],
    "min_front_frame": [
      7,
      9.584362980887711
    ],
    "v_avg": 0.7552018342948865,
    "v_std": 0.8920245784189277,
    "vy_max": 0.03875982859769782,
    "a_max": 1.1335266719326285,
    "ax_avg": -0.5649373741766817,
    "a_std": 0.49035336503089594,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b354451e4f8859f9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.068935535352692,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.62749639974191,
      11.511490158985781,
      10.664240420901606,
      10.02178316140291,
      9.681392940710944,
      9.604794751238344,
      9.595825282475156,
      9.584362980887711,
      9.624087276704339,
      9.610775588862047
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b354451e4f8859f9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f6e9ee0b3a81575b": {
    "vx_ego": [
      10.746673801247983,
      10.310181956462138,
      10.159901926799995,
      9.970855748218488,
      9.509277656381757,
      9.110864881001826,
      8.721715738375396,
      8.313639995782989,
      7.939922955178345,
      7.618627426229643
    ],
    "vy_ego": [
      0.048470756224137546,
      0.017622384390553858,
      0.0004523302911092486,
      0.013061296112871101,
      0.02186472836820741,
      0.003810413086184461,
      0.006243878310526085,
      -0.002587128871620159,
      -0.009635243786013437,
      0.010402326458068156
    ],
    "v_ego": [
      10.746783109593247,
      10.310197016730042,
      10.159901936869122,
      9.970864303019965,
      9.509302793186677,
      9.110865677811319,
      8.721717973372073,
      8.313640398328422,
      7.939928801449723,
      7.618634527793957
    ],
    "ax_ego": [
      -0.873039275494663,
      -0.8723118293453084,
      0.27201063337217957,
      -1.0288361906611638,
      -0.8166702509618745,
      -0.7768296757134782,
      -0.779763246987961,
      -0.8524406750057482,
      -0.6426401126626208,
      -0.6425296972539942
    ],
    "ay_ego": [
      -0.15639507586704343,
      -0.1604028139568335,
      -0.2705868927059789,
      -0.08848101169767225,
      -0.1654027245927277,
      -0.11639290524211954,
      -0.07744847731792698,
      -0.1078612453221065,
      -0.02463520986768053,
      -0.027364176759800907
    ],
    "a_ego": [
      0.8869368615136617,
      0.8869368581477652,
      0.38367571094846653,
      1.0326339122095585,
      0.8332516787314795,
      0.7855008933539215,
      0.7836000178612003,
      0.8592375414556158,
      0.6431121270573666,
      0.6431121286549112
    ],
    "yaw": [
      -1.9982012668427478,
      -2.002793731551083,
      -2.0117688356731263,
      -2.0217781475024257,
      -2.029218688184307,
      -2.0348494180342223,
      -2.0405571259332835,
      -2.0449546172453816,
      -2.048173652610366,
      -2.052420504013045
    ],
    "yaw_diff": [
      -0.009184929416670151,
      -0.017950208244086774,
      -0.020018623658598855,
      -0.01488108136376276,
      -0.01126145969983039,
      -0.011415415798122552,
      -0.008794982624196201,
      -0.0064380707299687145,
      -0.008493702805358438,
      -0.008493702805358438
    ],
    "min_front_frame": [
      4,
      18.177521882396356
    ],
    "v_avg": 9.240183653815455,
    "v_std": 1.0164186152197525,
    "vy_max": 0.048470756224137546,
    "a_max": 1.0326339122095585,
    "ax_avg": -0.7013050320714631,
    "a_std": 0.1702990075784867,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f6e9ee0b3a81575b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.6159568709113312,
    "right_rear_min": 20.069778640511853,
    "speed_mode": "decelerating",
    "front_frame": [
      28.273100078475245,
      25.770882727838888,
      23.423747390536274,
      20.746827435843706,
      18.177521882396356,
      24.923801626088338,
      23.979015631269775,
      22.21955960826467,
      19.82422512007389,
      22.25023333872608
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      0,
      0,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f6e9ee0b3a81575b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aa4272ed1b785b94": {
    "vx_ego": [
      7.773276923253842,
      7.198024450792037,
      6.675140331670805,
      6.272903901137711,
      5.949038124496019,
      5.534888683821863,
      5.018979426551784,
      4.513577310674747,
      3.9700819050712135,
      3.388458772025464
    ],
    "vy_ego": [
      0.04577763375122161,
      -0.02059475351202758,
      0.012590262609653735,
      -0.009256646870011376,
      -0.004721662365071655,
      -0.001077611540823642,
      0.0009975768384745676,
      -0.0021200650292479972,
      0.00672107412943701,
      0.07515024835972739
    ],
    "v_ego": [
      7.773411716700884,
      7.198053913251291,
      6.675152205171865,
      6.272910730946199,
      5.9490399982520366,
      5.5348887887243,
      5.018979525691416,
      4.5135778085808616,
      3.9700875942240024,
      3.3892920218748994
    ],
    "ax_ego": [
      -1.1507205671727077,
      -1.1501160245519138,
      -0.9318540530569084,
      -0.6809338194740278,
      -0.6166600303937484,
      -1.044536349390973,
      -1.0205156977969885,
      -0.999534457938774,
      -1.172503292669035,
      -1.1589578744866231
    ],
    "ay_ego": [
      -0.180465286087685,
      -0.18427876248885747,
      -0.7241598585195044,
      -0.5429660680428249,
      -0.500924280678593,
      -0.24304523020174082,
      -0.03451276244953019,
      0.23711481290635797,
      0.3712301814959009,
      0.41157317510926217
    ],
    "a_ego": [
      1.1647856211324845,
      1.1647856164271273,
      1.1801523108860041,
      0.8709093050079172,
      0.7944776447821452,
      1.0724398207465247,
      1.0210991236025875,
      1.0272743387754686,
      1.22986821203461,
      1.229868217860788
    ],
    "yaw": [
      -1.5917876402311006,
      -1.595102495943388,
      -1.6327711317104736,
      -1.678541545522464,
      -1.7220395720885078,
      -1.7547582700339381,
      -1.7683086153971992,
      -1.757021573015622,
      -1.7234263360800388,
      -1.6888223131176552
    ],
    "yaw_diff": [
      -0.00662971142457458,
      -0.07533727153417136,
      -0.09154082762398064,
      -0.08699605313208769,
      -0.06543739589086073,
      -0.027100690726522103,
      0.022574084763154367,
      0.06719047387116639,
      0.06920804592476726,
      0.06920804592476726
    ],
    "min_front_frame": [
      5,
      13.878613605668491
    ],
    "v_avg": 5.629539430341775,
    "v_std": 1.3440736851618489,
    "vy_max": 0.07515024835972739,
    "a_max": 1.229868217860788,
    "ax_avg": -0.99263321669317,
    "a_std": 0.14166172689188183,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aa4272ed1b785b94",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.645764714909207,
    "right_rear_min": 15.88699700066068,
    "speed_mode": "decelerating",
    "front_frame": [
      15.880183313419765,
      15.53183944035593,
      15.039410654204419,
      14.714455570316236,
      14.278939595659173,
      13.878613605668491,
      32.050224875382725,
      21.852510964980706,
      20.487735897155282,
      19.237376544564057
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aa4272ed1b785b94",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "551afc276a1a5ab3": {
    "vx_ego": [
      -0.13318759004931005,
      0.24869081574582425,
      0.9181590856870399,
      1.9406366689566028,
      3.0005305362874006,
      3.991829651377645,
      4.909622340761452,
      5.70472545166812,
      6.373089834536049,
      7.015102775039944
    ],
    "vy_ego": [
      -0.006328465615806737,
      0.00594795710161812,
      0.04193209023289424,
      0.04683692071241774,
      0.01972657369814046,
      0.02316125326384122,
      0.01834530818903435,
      0.032731390701859375,
      0.06352075377157851,
      0.0670902255827861
    ],
    "v_ego": [
      0.13333785516571625,
      0.24876193444738726,
      0.9191161008387138,
      1.9412017870486316,
      3.0005953804042,
      3.991896843515689,
      4.909656615206048,
      5.704819350588352,
      6.373406383185246,
      7.015423582560206
    ],
    "ax_ego": [
      0.7637124641854489,
      0.7637991948658441,
      1.913685194810016,
      2.1712005233496616,
      2.0677001388495637,
      1.900243039452945,
      1.7743564159341958,
      1.4138109830623877,
      1.2744277633048988,
      1.3046331362429955
    ],
    "ay_ego": [
      0.02628139912053082,
      0.02362698145787001,
      0.13804149113545544,
      -0.005866462221620794,
      -0.0608371630628608,
      -0.1859416974575604,
      -0.2888580234004342,
      -0.4842826950185559,
      -0.6629886303122992,
      -0.6013754486886675
    ],
    "a_ego": [
      0.7641645371855091,
      0.7641645400897128,
      1.9186574676345824,
      2.17120844876139,
      2.0685949397134378,
      1.9093187067230986,
      1.797715118824351,
      1.4944534869049189,
      1.4365653649610608,
      1.436565365887933
    ],
    "yaw": [
      -0.3649220270076645,
      -0.3614465621818821,
      -0.351364552299238,
      -0.33122584071944994,
      -0.3270243758106784,
      -0.34554170675662677,
      -0.3710379084661534,
      -0.40983383861433315,
      -0.46226400717741223,
      -0.5100344683996093
    ],
    "yaw_diff": [
      0.006950929651564852,
      0.020164019765288144,
      0.040277423159576164,
      0.008402929817543092,
      -0.03703466189189675,
      -0.05099240341905331,
      -0.07759186029635945,
      -0.10486033712615817,
      -0.09554092244439416,
      -0.09554092244439416
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.423821583296019,
    "v_std": 2.426770278421529,
    "vy_max": 0.0670902255827861,
    "a_max": 2.17120844876139,
    "ax_avg": 1.5347568854057958,
    "a_std": 0.4731049850982687,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "551afc276a1a5ab3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.314435488062962,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "551afc276a1a5ab3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "919ee41f5fa65358": {
    "vx_ego": [
      4.236525183347027,
      3.6561733233248654,
      2.996094884492642,
      2.2295465983336493,
      1.3690971959783247,
      0.5425034520266125,
      0.059183709492914335,
      -0.05454440752266893,
      -0.038692784003137776,
      -0.02031480797453563
    ],
    "vy_ego": [
      -0.025606885859657424,
      -0.06584624252214355,
      -0.0728700520696417,
      -0.0558165978258609,
      -0.029064465386361982,
      0.0027760419216256715,
      0.009736409038048632,
      0.006867100209161814,
      0.0035028756287215843,
      0.003651900587121299
    ],
    "v_ego": [
      4.236602570661661,
      3.6567662077095764,
      2.9969809144156407,
      2.2302451718889564,
      1.3694056649451638,
      0.5425105546157989,
      0.05997923916071188,
      0.054974989379550164,
      0.038851018925940235,
      0.02064044090954632
    ],
    "ax_ego": [
      -1.1605250573377488,
      -1.1606229622721638,
      -1.479218835941729,
      -1.586936307002269,
      -1.8546478121753192,
      -1.4517208970756919,
      -0.48156279440118793,
      0.026649370760292036,
      0.03675612284847335,
      0.03675612014982833
    ],
    "ay_ego": [
      -0.07015322024869253,
      -0.06851443457397222,
      0.05904238802606898,
      0.010882925321700432,
      0.10337166105419093,
      0.025646843556427656,
      0.0022869061363118837,
      -0.013769733914352635,
      0.00029898726629888975,
      0.00029983121385636705
    ],
    "a_ego": [
      1.1626434892175876,
      1.1626434914875683,
      1.480396692845747,
      1.5869736231410898,
      1.8575263679193899,
      1.4519474245270245,
      0.48156822454472337,
      0.0299965753710583,
      0.03675733886229352,
      0.03675734303816611
    ],
    "yaw": [
      2.288646085078774,
      2.2900581299982488,
      2.291441330425349,
      2.2916042496264026,
      2.292592642019823,
      2.2930500102750844,
      2.2931784727192728,
      2.2932013656744505,
      2.2932737218993453,
      2.293250628277999
    ],
    "yaw_diff": [
      0.0028240898389491065,
      0.002766400854200768,
      0.00032583840210698156,
      0.001976784786840824,
      0.0009147365105226513,
      0.00025692488837680827,
      4.578591035553359e-05,
      0.00014471244978953024,
      -4.61872426926746e-05,
      -4.61872426926746e-05
    ],
    "min_front_frame": [
      4,
      14.698288037825465
    ],
    "v_avg": 1.5206956772612545,
    "v_std": 1.5597954963517549,
    "vy_max": 0.0728700520696417,
    "a_max": 1.8575263679193899,
    "ax_avg": -0.9075073052447516,
    "a_std": 0.6769325583753916,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "919ee41f5fa65358",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.7852490701508823,
    "speed_mode": "decelerating",
    "front_frame": [
      16.684813010796244,
      18.381557703240553,
      -1,
      -1,
      14.698288037825465,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "919ee41f5fa65358",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "090d6a17e77d59b5": {
    "vx_ego": [
      5.572099947716751,
      5.103807701911327,
      4.607729572024484,
      4.055992884337083,
      3.506421131088745,
      2.9764881000122783,
      2.4185782848900845,
      1.871597428872418,
      1.367165040977574,
      0.8766742966124856
    ],
    "vy_ego": [
      -0.02277200591430617,
      0.007141266405043645,
      0.029616100396600897,
      -0.004146544695808219,
      -0.05176320046073157,
      -0.05514637168798875,
      -0.03632437977130043,
      -0.025117656642759778,
      -0.023160773591804906,
      -0.02899630698929645
    ],
    "v_ego": [
      5.572146479732777,
      5.103812697951919,
      4.60782474952245,
      4.055995003895587,
      3.5068031848775907,
      2.9769989136419,
      2.4188510455808627,
      1.8717659662567512,
      1.3673612071082688,
      0.8771536969995702
    ],
    "ax_ego": [
      -0.9366296577243374,
      -0.936478659321303,
      -1.0477887587373846,
      -1.159158957467776,
      -1.039153399439697,
      -1.0805889552644534,
      -1.1512088848911146,
      -1.0367413547227424,
      -0.9809751153334149,
      -0.9809763683532806
    ],
    "ay_ego": [
      0.07909839630347171,
      0.08086660004680546,
      0.0012768263793509482,
      -0.136189402429786,
      -0.05679556148398701,
      0.04275929459505512,
      0.022598356504081873,
      0.020352558007707744,
      -0.011478047710012929,
      -0.011370054288204201
    ],
    "a_ego": [
      0.9399636546306407,
      0.9399636622590021,
      1.0477895367019239,
      1.167131972834248,
      1.0407043400367657,
      1.081434624706362,
      1.1514306676343693,
      1.0369411088436047,
      0.9810422633519108,
      0.9810422587239084
    ],
    "yaw": [
      1.0341369783528518,
      1.0360249700511877,
      1.0356267971522364,
      1.035634736546807,
      1.0354675700648648,
      1.0354287930915644,
      1.0345114809041822,
      1.0342913770593745,
      1.0344537087269194,
      1.0345637944666248
    ],
    "yaw_diff": [
      0.0037759833966717338,
      -0.0007963457979025534,
      1.587878914133256e-05,
      -0.0003343329638845205,
      -7.75539466006947e-05,
      -0.0018346243747644486,
      -0.0004402076896155016,
      0.0003246633350899586,
      0.00022017147941078008,
      0.00022017147941078008
    ],
    "min_front_frame": [
      9,
      8.97597437028403
    ],
    "v_avg": 3.2358712945567674,
    "v_std": 1.52400292300403,
    "vy_max": 0.05514637168798875,
    "a_max": 1.167131972834248,
    "ax_avg": -1.0349700111255502,
    "a_std": 0.07564870826649031,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "090d6a17e77d59b5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.57895709431996,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.43150937347942,
      20.796312242723136,
      18.39774930927402,
      16.19169458670804,
      14.34475823301594,
      12.712186154940147,
      11.357804853477163,
      10.31558109129137,
      9.523149235584595,
      8.97597437028403
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "090d6a17e77d59b5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5f8d8f88750f57b7": {
    "vx_ego": [
      10.725132380444022,
      10.543141711861884,
      10.39139673645999,
      10.245799545953949,
      10.12306376014733,
      10.045771083701478,
      9.91708597326452,
      9.747220109984177,
      9.495750310965615,
      9.153944886760792
    ],
    "vy_ego": [
      -0.04532658808316184,
      -0.028905549023092725,
      -0.003503761466817301,
      0.00034523208903208813,
      -0.01686054806892262,
      -0.03830481034999239,
      -0.03804841453109109,
      -0.0339534027643853,
      -0.043192802684243414,
      -0.060797874682126496
    ],
    "v_ego": [
      10.725228159700665,
      10.543181336160648,
      10.391397327157486,
      10.245799551770244,
      10.123077801246485,
      10.04584411210072,
      9.917158962271817,
      9.747279246335319,
      9.495848544833017,
      9.154146785551339
    ],
    "ax_ego": [
      -0.36468027254466684,
      -0.36414464936378244,
      -0.24331623905836855,
      -0.3388824183715721,
      -0.15216838451352885,
      -0.15776758547042016,
      -0.35793270183615383,
      -0.3224184302973819,
      -0.6842860575447925,
      -0.6838062546757862
    ],
    "ay_ego": [
      -0.09050223685774574,
      -0.09263390429727125,
      -0.07016736049984944,
      -0.14961259426684778,
      -0.18243148374789167,
      -0.1268367161545241,
      -0.11225080331830371,
      -0.12393394652381044,
      -0.11238230865465376,
      -0.11526578354600739
    ],
    "a_ego": [
      0.37574240652275065,
      0.37574241959835736,
      0.2532316146712827,
      0.37043922827451964,
      0.23756359886968043,
      0.20243063896068117,
      0.37512139620306056,
      0.3454175260411585,
      0.6934530927530319,
      0.6934530948739079
    ],
    "yaw": [
      1.5538173123695018,
      1.5479677273196937,
      1.5416434988204986,
      1.5359522375851387,
      1.529476062838477,
      1.5239359542309159,
      1.517937013432538,
      1.511512224888774,
      1.5063564366812459,
      1.502141124249962
    ],
    "yaw_diff": [
      -0.011699170099616296,
      -0.012648456998390234,
      -0.011382522470719802,
      -0.012952349493323467,
      -0.01108021721512209,
      -0.011997881596755633,
      -0.012849577087528097,
      -0.010311576415056312,
      -0.008430624862567626,
      -0.008430624862567626
    ],
    "min_front_frame": [
      9,
      33.61300480342004
    ],
    "v_avg": 10.038896182712774,
    "v_std": 0.4557519719557033,
    "vy_max": 0.060797874682126496,
    "a_max": 0.6934530948739079,
    "ax_avg": -0.3669402993676454,
    "a_std": 0.16255441268195348,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5f8d8f88750f57b7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.748354224369002,
    "right_rear_min": 32.15492042244418,
    "speed_mode": "decelerating",
    "front_frame": [
      44.76942495162682,
      43.598178330500424,
      42.34273006656762,
      41.098709412077504,
      39.73040060362999,
      38.252470717784966,
      36.78481621721868,
      35.49623567192184,
      34.320807007208245,
      33.61300480342004
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5f8d8f88750f57b7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "300226e9649b51fd": {
    "vx_ego": [
      4.092912616807866,
      4.519941485209913,
      4.978373521224831,
      5.33081223101264,
      5.648654971105977,
      6.013673315701596,
      6.348163484395114,
      6.609849479917608,
      6.67499655228762,
      6.601775676384821
    ],
    "vy_ego": [
      -0.11766765731761786,
      0.013356044791358546,
      -0.02780002751667965,
      -0.058958207405893415,
      -0.04642110834456892,
      -0.10065055249700006,
      -0.15671378793372348,
      -0.2154946635108257,
      -0.11200764526407436,
      0.008810369973683452
    ],
    "v_ego": [
      4.094603688564209,
      4.51996121815819,
      4.978451140501677,
      5.331138256745409,
      5.648845714117194,
      6.014515548379552,
      6.350097545387476,
      6.613361331211892,
      6.675936240382259,
      6.601781555301972
    ],
    "ax_ego": [
      0.7728312206543418,
      0.9552401807309536,
      0.9096325884565991,
      0.5602279031206987,
      0.7785131735732053,
      0.7140381972893257,
      0.6709722166961476,
      0.4178687301612667,
      -0.14669162288548987,
      -0.1451662181531991
    ],
    "ay_ego": [
      1.44474513193998,
      1.3311922441782442,
      1.6500123210104007,
      1.9704096775998468,
      2.2541523183456524,
      2.00482998433586,
      1.5857553063943364,
      0.9021405668306031,
      0.30713455106436244,
      0.3078584615756937
    ],
    "a_ego": [
      1.6384616540774917,
      1.6384616546758777,
      1.8841369656870444,
      2.0485042350491116,
      2.3848030182239586,
      2.1281902671707513,
      1.7218663151754663,
      0.9942192303350561,
      0.34036754352065685,
      0.3403675414264043
    ],
    "yaw": [
      1.7405836374053092,
      1.8718164931543573,
      2.0368417171999753,
      2.2164678576471872,
      2.406940399575821,
      2.5979879711876452,
      2.7518484572944297,
      2.8563136370922644,
      2.885930414902952,
      2.890891126361856
    ],
    "yaw_diff": [
      0.26246571149809617,
      0.33005044809123607,
      0.35925228089442385,
      0.38094508385726744,
      0.38209514322364857,
      0.307720972213569,
      0.2089303595956693,
      0.059233555621375444,
      0.009921422917807732,
      0.009921422917807732
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.682869223874983,
    "v_std": 0.8802045217208891,
    "vy_max": 0.2154946635108257,
    "a_max": 2.3848030182239586,
    "ax_avg": 0.548746636964385,
    "a_std": 0.6824492184472231,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "300226e9649b51fd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "300226e9649b51fd",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "dd9b1479609c5c59": {
    "vx_ego": [
      4.438490192622874,
      4.547998319000129,
      4.658259901933752,
      4.728960300732285,
      4.741622333536328,
      4.745143592800627,
      4.7789849309075,
      4.752933632071681,
      4.698199778810752,
      4.677697307536941
    ],
    "vy_ego": [
      -0.04867551132728143,
      -0.013073319323524846,
      -0.008981915711598676,
      -0.026133903277545945,
      -0.0488048278221965,
      -0.050862369913621364,
      -0.05383232276606603,
      -0.03584279433639004,
      -0.011243319152486553,
      -0.0031633488151017186
    ],
    "v_ego": [
      4.438757089029812,
      4.548017108730588,
      4.658268561254675,
      4.729032512766486,
      4.7418734973751935,
      4.745416177425334,
      4.779288115275679,
      4.753068778882117,
      4.698213232053539,
      4.677698377163075
    ],
    "ax_ego": [
      0.18809663388050157,
      0.2596716802148315,
      0.18450492486881223,
      0.10497806030521743,
      -0.04162807437763771,
      0.06650738904135596,
      0.07712890335296338,
      -0.17245200210651015,
      -0.04627963456095631,
      -0.034719086636283314
    ],
    "ay_ego": [
      0.8471624344121366,
      0.8280308913293466,
      0.8109941109161043,
      0.8185776275019003,
      0.8012214068016067,
      0.677278944630598,
      0.5191914047652232,
      0.5148103021780833,
      0.3366615986006595,
      0.33804944022980554
    ],
    "a_ego": [
      0.8677929096024426,
      0.8677929122211508,
      0.8317172086962301,
      0.8252816036917858,
      0.8023020873047357,
      0.6805365542254398,
      0.5248891144942106,
      0.5429266435341272,
      0.33982765712556007,
      0.3398276607584242
    ],
    "yaw": [
      -0.3862618611378051,
      -0.3008609199469551,
      -0.2129690005978805,
      -0.12276969102311636,
      -0.03287337397121652,
      0.045668289138932686,
      0.10910096170929912,
      0.15922659783341475,
      0.19919509609746847,
      0.23345989005358958
    ],
    "yaw_diff": [
      0.17080188238170002,
      0.17578383869814918,
      0.18039861914952826,
      0.17979263410379967,
      0.1570833262202984,
      0.12686534514073286,
      0.10025127224823127,
      0.07993699652810743,
      0.06852958791224223,
      0.06852958791224223
    ],
    "min_front_frame": [
      8,
      19.413946017924
    ],
    "v_avg": 4.6769633449956505,
    "v_std": 0.1010166606067569,
    "vy_max": 0.05383232276606603,
    "a_max": 0.8677929122211508,
    "ax_avg": 0.05858087939822946,
    "a_std": 0.20019030771798027,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "dd9b1479609c5c59",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      19.467956263119795,
      19.44052708373677,
      19.450932904880617,
      19.413946017924,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "dd9b1479609c5c59",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "08a8fc71ab1b57c2": {
    "vx_ego": [
      8.613764917869188,
      8.100585506475031,
      7.445669885483948,
      6.589481558162055,
      5.690941147723636,
      4.816380909977324,
      3.9740221934852844,
      3.1730987871365492,
      2.431333541684551,
      1.7326005776103748
    ],
    "vy_ego": [
      -0.08496554077669494,
      -0.03687833428030096,
      -0.011488065656479751,
      0.003266993960256759,
      0.013198417317606737,
      0.025168200622719183,
      0.05712815118122916,
      0.05919896274694558,
      0.030001530894509187,
      0.014831908265109606
    ],
    "v_ego": [
      8.61418395458522,
      8.100669451301703,
      7.445678748056156,
      6.5894823680322085,
      5.690956452572247,
      4.816446668272844,
      3.974432792232242,
      3.173650962238563,
      2.4315186371435353,
      1.7326640606414705
    ],
    "ax_ego": [
      -1.0263947299305918,
      -1.0264356935205636,
      -1.5932580806285195,
      -1.8315374468580519,
      -1.7625593791014578,
      -1.735561694375863,
      -1.6336688528424463,
      -1.569443303773257,
      -1.3974410201285854,
      -1.397410892517346
    ],
    "ay_ego": [
      0.08866947381256507,
      0.08819400184170967,
      -0.006511258393322228,
      0.032365192541931376,
      -0.01961983624945607,
      0.022341074946677253,
      0.07919431163700463,
      -0.09677512626177398,
      -0.033407430470786315,
      -0.03464474645661253
    ],
    "a_ego": [
      1.0302176552629496,
      1.0302176541362005,
      1.5932713855379248,
      1.8318233880294212,
      1.7626685743023196,
      1.7357054815303745,
      1.6355872522562693,
      1.5724241504192493,
      1.3978402845635411,
      1.397840284504338
    ],
    "yaw": [
      2.6183396477976295,
      2.617876412645378,
      2.61724285859144,
      2.6160663078497652,
      2.61496625274708,
      2.6128159943405347,
      2.6113154448102005,
      2.609501966435947,
      2.6082978850044847,
      2.6074124609932587
    ],
    "yaw_diff": [
      -0.0009264703045026579,
      -0.0012671081078767799,
      -0.002353101483349107,
      -0.0022001102053703647,
      -0.004300516813090738,
      -0.0030010990606683663,
      -0.003626956748506771,
      -0.0024081628629248897,
      -0.0017708480224518652,
      -0.0017708480224518652
    ],
    "min_front_frame": [
      9,
      21.159736437313317
    ],
    "v_avg": 5.256968409507619,
    "v_std": 2.295538716907904,
    "vy_max": 0.08496554077669494,
    "a_max": 1.8318233880294212,
    "ax_avg": -1.4973711093676683,
    "a_std": 0.2700437112550676,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "08a8fc71ab1b57c2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.514580622383816,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      44.635947576416754,
      40.432654536314324,
      36.55122582489049,
      33.106708687228846,
      30.031071813622194,
      27.462427225925964,
      25.317034746433645,
      23.544687764276556,
      22.175153422013313,
      21.159736437313317
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "08a8fc71ab1b57c2",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "82ba424ca77e5a4a": {
    "vx_ego": [
      0.9039989255162961,
      1.4817488993742867,
      2.2031694496843466,
      3.0533746260380337,
      3.710199356384384,
      4.053329999017164,
      4.142576165760625,
      4.123755480210991,
      4.110049344909606,
      4.15362843594286
    ],
    "vy_ego": [
      -0.03342348777922466,
      -0.03455952257952721,
      -0.03147529540573757,
      -0.05742891007193429,
      -0.06919529470541752,
      -0.03473680098949594,
      0.016121244271641633,
      0.026769223035624234,
      0.03326634076171442,
      0.015322617263156979
    ],
    "v_ego": [
      0.9046165966142484,
      1.4821518685336652,
      2.2033942720818955,
      3.0539146495350766,
      3.7108445471246116,
      4.053478842460568,
      4.142607534348971,
      4.123842365061026,
      4.11018396997258,
      4.153656698196532
    ],
    "ax_ego": [
      1.1556151040095657,
      1.1556183148377033,
      1.7296849421360627,
      1.6703243479671532,
      0.9482373334491137,
      0.42504140370750815,
      -0.03557446928039942,
      -0.007552147343770965,
      -0.030175088996252764,
      0.21983769252995117
    ],
    "ay_ego": [
      0.00285530771993725,
      0.0008559247171914253,
      -0.009686915232057225,
      -0.26542025753262544,
      -0.32648426298073063,
      -0.7616883692931524,
      -1.3106485884182417,
      -1.510104327544215,
      -1.4581530600402832,
      -1.4418017496428166
    ],
    "a_ego": [
      1.1556186314685373,
      1.1556186318139106,
      1.7297120671889143,
      1.6912809762190848,
      1.0028688919897537,
      0.8722553334787416,
      1.3111312921242142,
      1.5101232118596375,
      1.4584652489863354,
      1.458465253727349
    ],
    "yaw": [
      -2.270221789118361,
      -2.2684916471586347,
      -2.27148027853025,
      -2.2877273347312967,
      -2.3269526815450416,
      -2.4045648027418935,
      -2.541263620425518,
      -2.7141716420099513,
      -2.8953757617260667,
      -3.067375761864527
    ],
    "yaw_diff": [
      0.0034602839194528556,
      -0.005977262743230405,
      -0.032494112402093656,
      -0.0784506936274898,
      -0.1552242423937038,
      -0.2733976353672487,
      -0.3458160431688668,
      -0.36240823943223077,
      -0.344000000276921,
      -0.344000000276921
    ],
    "min_front_frame": [
      5,
      46.00087572555747
    ],
    "v_avg": 3.1938691343929175,
    "v_std": 1.1706089494398966,
    "vy_max": 0.06919529470541752,
    "a_max": 1.7297120671889143,
    "ax_avg": 0.7231057433016634,
    "a_std": 0.27078700144065976,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "82ba424ca77e5a4a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.157791297462264,
    "speed_mode": "accelerating",
    "front_frame": [
      52.70797181359514,
      52.0085346721161,
      51.13165474558491,
      49.71567044669954,
      48.04553861360709,
      46.00087572555747,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "82ba424ca77e5a4a",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "a669b18e5ecd575d": {
    "vx_ego": [
      5.431574581086152,
      5.545306204545519,
      5.686202223361694,
      5.847631103297941,
      6.052141581142751,
      6.296027731384904,
      6.541953972106157,
      6.7938980717498945,
      7.056959476836228,
      7.315598381943628
    ],
    "vy_ego": [
      0.05135397793400576,
      0.03148513203352166,
      0.008924965893190473,
      -0.011117093558641267,
      -0.013303294116097708,
      0.022307790724102827,
      0.08099741355610535,
      0.12976936871070954,
      0.11138596224923614,
      0.0678043550545846
    ],
    "v_ego": [
      5.4318173442183095,
      5.545395586945101,
      5.686209227594397,
      5.84764167079573,
      6.052156202200288,
      6.296067251220776,
      6.542455376550787,
      6.795137312695197,
      7.057838471536087,
      7.31591259628357
    ],
    "ax_ego": [
      0.17731464716969803,
      0.29315478856296817,
      0.29299815294230447,
      0.3555237386163575,
      0.4576704589080271,
      0.512893218024299,
      0.4773423410519336,
      0.5409669552139372,
      0.51773979702422,
      0.5184227331437182
    ],
    "ay_ego": [
      -1.1580788542713094,
      -1.1343048023790399,
      -1.3893375723222556,
      -1.4450512813516008,
      -1.4633256647306634,
      -1.3439973511153471,
      -1.0580483672894352,
      -0.529746986848573,
      -0.15298170204055245,
      -0.1506511479891786
    ],
    "a_ego": [
      1.1715746313450388,
      1.1715746304685635,
      1.4198967594490455,
      1.4881432506501702,
      1.5332267444890604,
      1.4385368722769643,
      1.1607420290851795,
      0.7571506565463575,
      0.539868408579262,
      0.5398684086244169
    ],
    "yaw": [
      1.9797740814821576,
      1.8787947440354174,
      1.7705716260931128,
      1.6511542549190716,
      1.5292079709926587,
      1.409774968064296,
      1.307240506548919,
      1.2403401536173155,
      1.2183590144082568,
      1.2138605897432848
    ],
    "yaw_diff": [
      -0.20195867489348052,
      -0.2164462358846091,
      -0.23883474234808233,
      -0.24389256785282587,
      -0.23886600585672557,
      -0.20506892303075386,
      -0.13380070586320691,
      -0.043962278418117506,
      -0.008996849329943934,
      -0.008996849329943934
    ],
    "min_front_frame": [
      8,
      70.28337762800415
    ],
    "v_avg": 6.257063104004024,
    "v_std": 0.621118787254504,
    "vy_max": 0.12976936871070954,
    "a_max": 1.5332267444890604,
    "ax_avg": 0.4144026830657463,
    "a_std": 0.3618552207673221,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "a669b18e5ecd575d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 22.703464058113433,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      70.28337762800415,
      73.87219621313616
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a669b18e5ecd575d",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4b875117d12e5ef6": {
    "vx_ego": [
      1.3946416939591122,
      1.8803363659159644,
      2.2816110896100645,
      2.536247418559957,
      2.6286348479247144,
      2.551422751843394,
      2.3733174625885405,
      2.170762212034975,
      2.0168378435951286,
      1.9041647804255646
    ],
    "vy_ego": [
      0.028006469688414803,
      0.024524235828040974,
      0.01284681447425462,
      0.007405634515805115,
      -0.006441812420703297,
      -0.04336552237152991,
      -0.04641521693493189,
      -0.015388017908150475,
      0.012916414085067607,
      0.04036442346821356
    ],
    "v_ego": [
      1.3949228712991806,
      1.8804962874541937,
      2.2816472568900217,
      2.5362582304597114,
      2.628642741163479,
      2.5517912585387292,
      2.373771292814627,
      2.170816752352469,
      2.016879203400706,
      1.9045925542475115
    ],
    "ax_ego": [
      0.9712463874937267,
      0.971250887525763,
      0.6336304815958552,
      0.3848902710325184,
      -0.015443374437163147,
      -0.2930099357334885,
      -0.4196524101994642,
      -0.3909557966455068,
      -0.22452193854237557,
      -0.22431116709771742
    ],
    "ay_ego": [
      0.0029865188384374797,
      0.0004164784257787435,
      -0.026138722325859398,
      0.017045829558422765,
      -0.022194429299902306,
      -0.07052428140077262,
      0.04832161690265188,
      0.0472386057185985,
      -0.010375816285057946,
      -0.01422172226322331
    ],
    "a_ego": [
      0.9712509791574918,
      0.9712509768200296,
      0.6341693937838878,
      0.3852675447540582,
      0.02703868535921793,
      0.30137766457658804,
      0.4224252881235994,
      0.39379934078279016,
      0.2247615591029915,
      0.2247615560296564
    ],
    "yaw": [
      0.5496330885325195,
      0.5522792038215798,
      0.5547504353966812,
      0.5560487676181805,
      0.5608200338605522,
      0.5660563939968923,
      0.5650472065079801,
      0.5619009500549987,
      0.5526927320928445,
      0.5355557759869588
    ],
    "yaw_diff": [
      0.005292230578120671,
      0.004942463150202858,
      0.002596664442998442,
      0.009542532484743571,
      0.010472720272680203,
      -0.002018374977824422,
      -0.006292512905962777,
      -0.018416435924308416,
      -0.03427391221177145,
      -0.03427391221177145
    ],
    "min_front_frame": [
      0,
      13.556480156754848
    ],
    "v_avg": 2.173981844862063,
    "v_std": 0.3636669949375047,
    "vy_max": 0.04641521693493189,
    "a_max": 0.9712509791574918,
    "ax_avg": 0.13931234049921476,
    "a_std": 0.2979207157863309,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4b875117d12e5ef6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5046995380644974,
    "right_rear_min": 19.344214167272508,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      13.556480156754848,
      24.091012349637925,
      23.664263160868842,
      22.86711332928437,
      21.583044150508943,
      20.289772695154813,
      21.3386557316512,
      20.683463856126256,
      20.18442122295487,
      19.424869197644803
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4b875117d12e5ef6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2963ac11563356d9": {
    "vx_ego": [
      11.923323776099915,
      11.751528679835584,
      11.590996615430466,
      11.450882953198567,
      11.346806590804698,
      11.249203748827183,
      11.152857424437784,
      11.049986447919961,
      11.278918295102638,
      11.86728809345886
    ],
    "vy_ego": [
      -0.058011065601514034,
      -0.023859065666524515,
      -0.02929252302667784,
      -0.039778041346417936,
      -0.05405052028290136,
      -0.05342096426568954,
      0.0070748633039494635,
      0.013472074470141315,
      -0.0019520531940440122,
      -0.02356907167925293
    ],
    "v_ego": [
      11.923464897144695,
      11.75155290027717,
      11.591033629095628,
      11.45095204340787,
      11.346935324917993,
      11.24933059261975,
      11.152859668422613,
      11.04999466045144,
      11.278918464024496,
      11.867311498157038
    ],
    "ax_ego": [
      -0.3439539272062254,
      -0.34191345568005094,
      -0.29851011105176645,
      -0.26017432443439015,
      -0.15335706366772447,
      -0.23525025121614246,
      -0.14991412657398068,
      -0.2617647568012912,
      1.176768122661355,
      1.1768696699605414
    ],
    "ay_ego": [
      0.25521427126887314,
      0.2579415047343781,
      0.3135299536505019,
      0.2899388093154355,
      0.3032102496580051,
      0.19956805533828365,
      0.1696429508708674,
      0.20168674247165974,
      0.0333628623061934,
      0.029565003600680206
    ],
    "a_ego": [
      0.4282973596695261,
      0.4282973628680305,
      0.432907978947286,
      0.3895576879515327,
      0.33978646893962133,
      0.30849649821150704,
      0.2263912015220888,
      0.3304517059905558,
      1.1772409673015938,
      1.1772409734251277
    ],
    "yaw": [
      1.021867396109387,
      1.0298200097223034,
      1.0425322843046456,
      1.0565430518917576,
      1.070820605647759,
      1.081880127421569,
      1.0847224750882154,
      1.0924986012026707,
      1.099252238726006,
      1.1024794624926204
    ],
    "yaw_diff": [
      0.015905227225832874,
      0.025424549164684507,
      0.0280215351742239,
      0.028555107512002742,
      0.022119043547620176,
      0.005684695333292744,
      0.015552252228910657,
      0.013507275046670486,
      0.00645444753322888,
      0.00645444753322888
    ],
    "min_front_frame": [
      4,
      48.879026417260846
    ],
    "v_avg": 11.46623536785187,
    "v_std": 0.28895737484872713,
    "vy_max": 0.058011065601514034,
    "a_max": 1.1772409734251277,
    "ax_avg": 0.030879977599032493,
    "a_std": 0.3323471315353276,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2963ac11563356d9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.564470161188655,
    "right_rear_min": 47.84594549669877,
    "speed_mode": "quasi_constant",
    "front_frame": [
      49.58584489814621,
      49.2242216712303,
      48.9542063441505,
      48.893260173958886,
      48.879026417260846,
      49.06067072484487,
      49.54883847934451,
      50.112190387795046,
      50.73510770662734,
      51.15592019529969
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2963ac11563356d9",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "36be99da12575896": {
    "vx_ego": [
      9.599861462666873,
      9.801962097219672,
      10.011226610274186,
      10.134698696325012,
      10.108718369692152,
      10.027427003470553,
      9.96235508880778,
      9.889050180015342,
      9.79035323144399,
      9.687963865684708
    ],
    "vy_ego": [
      -0.020725835048756913,
      -0.09910911102007436,
      -0.07010150970400808,
      -0.03906059919966465,
      -0.001453116772493157,
      0.012506326645739918,
      -0.01835955377951226,
      -0.005455102156575631,
      0.0035885310093566325,
      -0.034068501835343046
    ],
    "v_ego": [
      9.599883835892756,
      9.802463137967838,
      10.01147204280793,
      10.134773968653752,
      10.108718474134093,
      10.027434802487454,
      9.962372006139363,
      9.88905168461572,
      9.790353889109452,
      9.688023767808886
    ],
    "ax_ego": [
      0.40279409384367126,
      0.4116540404026688,
      0.4295996024685097,
      0.06511122412928111,
      -0.1686335866121549,
      -0.1568616198024729,
      -0.10317124959040745,
      -0.1900082350479578,
      -0.20476019765517242,
      -0.204381131864865
    ],
    "ay_ego": [
      0.3487960417334239,
      0.3382938287863728,
      0.29909280763246926,
      0.10246387450120474,
      0.18204555677876752,
      -0.017091344235288145,
      0.07300177741408416,
      0.03467997442585619,
      0.055469279450486575,
      0.0568500860348981
    ],
    "a_ego": [
      0.5328243244862687,
      0.5328243271236645,
      0.5234618668237209,
      0.12140147068883521,
      0.24814888933172888,
      0.15778999275880798,
      0.12638657463378633,
      0.19314717189805816,
      0.21214047116602114,
      0.2121404707841921
    ],
    "yaw": [
      1.9078528127644696,
      1.9336411555453836,
      1.9468007429154133,
      1.9536543105524096,
      1.956956456673416,
      1.9596663177496485,
      1.9641559657951193,
      1.96556651300588,
      1.9669376062619157,
      1.973687362423098
    ],
    "yaw_diff": [
      0.05157668556182804,
      0.026319174740059292,
      0.013707135273992588,
      0.006604292242012644,
      0.005419722152465223,
      0.008979296090941613,
      0.002821094421521231,
      0.002742186512071587,
      0.01349951232236446,
      0.01349951232236446
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.901454760961725,
    "v_std": 0.16966914172619063,
    "vy_max": 0.09910911102007436,
    "a_max": 0.5328243271236645,
    "ax_avg": 0.028134294027110058,
    "a_std": 0.16376946249151375,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "36be99da12575896",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "36be99da12575896",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c4a50f520ab75da6": {
    "vx_ego": [
      7.744853798932127,
      7.948284904329417,
      8.252266758844183,
      8.6312297058148,
      9.059809091340709,
      9.48935985237945,
      9.839298676317124,
      10.04200201074136,
      10.074498246553857,
      10.010047806593915
    ],
    "vy_ego": [
      -0.059910354636338425,
      -0.07886699703828315,
      -0.14535193006108482,
      -0.10728951167412681,
      -0.07389050183918666,
      -0.05946017373010015,
      -0.036858357714025125,
      0.0031794052988196597,
      0.0209379888854464,
      0.014560208004593456
    ],
    "v_ego": [
      7.745085513887245,
      7.948676174282905,
      8.253546743230885,
      8.631896505047724,
      9.060110406490741,
      9.4895461387893,
      9.839367712424885,
      10.042002514058218,
      10.074520004406924,
      10.010058395931203
    ],
    "ax_ego": [
      0.30776527893105565,
      0.53673020537322,
      0.6775128739628462,
      0.8467001890753602,
      0.8707090316017361,
      0.8482793194836702,
      0.551901340430023,
      0.2589336958481726,
      -0.1289075778015749,
      -0.12890939548592223
    ],
    "ay_ego": [
      1.8990515952529927,
      1.847440699312343,
      0.9145961421024495,
      0.391980796242791,
      0.17357228250644155,
      0.032650051199900054,
      0.1266373885162271,
      0.059227786498523005,
      -0.008465419998745866,
      -0.008437799611563539
    ],
    "a_ego": [
      1.923828586009795,
      1.9238285918541853,
      1.1382046378108286,
      0.933032772630942,
      0.8878409513912551,
      0.8489074329436836,
      0.5662438677272064,
      0.2656211391043804,
      0.1291852427734076,
      0.12918524957142286
    ],
    "yaw": [
      -2.323602280591466,
      -2.2015251584733946,
      -2.1079371747682334,
      -2.0736695951212267,
      -2.0614572464213365,
      -2.057455559283203,
      -2.0556805495049906,
      -2.0550362321136406,
      -2.0555376794475544,
      -2.0553233877530532
    ],
    "yaw_diff": [
      0.2441542442361424,
      0.18717596741032239,
      0.06853515929401333,
      0.02442469739978037,
      0.008003374276267294,
      0.003550019556424644,
      0.0012886347826999156,
      -0.0010028946678275474,
      0.00042858338900231274,
      0.00042858338900231274
    ],
    "min_front_frame": [
      1,
      30.693895707765638
    ],
    "v_avg": 9.109481010855003,
    "v_std": 0.8637888148230348,
    "vy_max": 0.14535193006108482,
    "a_max": 1.9238285918541853,
    "ax_avg": 0.46407149614185855,
    "a_std": 0.6207031137952803,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "c4a50f520ab75da6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.6131023340776345,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      30.693895707765638,
      32.41529111506726,
      33.95610381369672,
      35.35673279212695,
      36.43914387196534,
      37.24063147728265,
      37.920587357388506,
      38.36867024453603,
      38.88544710948251
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c4a50f520ab75da6",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "5ff30edb240758c4": {
    "vx_ego": [
      1.9468625290420243,
      2.119607539472193,
      2.3285482836221414,
      2.5507828671260424,
      2.77381736652373,
      3.026545724783319,
      3.315361380615223,
      3.6212273863276057,
      3.9174160176506856,
      4.210995878942255
    ],
    "vy_ego": [
      -0.07916992478815854,
      0.009612061761961527,
      0.009785900797297575,
      -0.0018476747694062823,
      -0.02092522898470195,
      -0.06130671913028296,
      -0.08934349998861091,
      -0.08545096390514839,
      -0.07395010360523857,
      -0.012928825748440564
    ],
    "v_ego": [
      1.9484716020457855,
      2.119629333897481,
      2.32856884652656,
      2.550783536313069,
      2.7738962936700973,
      3.027166585772033,
      3.3165649918349396,
      3.622235449376722,
      3.918113943362212,
      4.211015726283136
    ],
    "ax_ego": [
      0.31121534162828457,
      0.39420292157024467,
      0.44877073727149186,
      0.45016121559150457,
      0.4737990287518684,
      0.5731548445126093,
      0.6268184387592214,
      0.6116058346685033,
      0.5847150275403191,
      0.5941381244913095
    ],
    "ay_ego": [
      0.6966615763882901,
      0.6532965607939023,
      0.8178697344220758,
      0.9567185734007065,
      1.172576998902616,
      1.1754282131435068,
      1.055806324872916,
      0.6085264838448124,
      0.35245106588556,
      0.33632321669424525
    ],
    "a_ego": [
      0.7630152953123727,
      0.763015294551595,
      0.932901965436259,
      1.0573341707864663,
      1.264682702499595,
      1.307722432338763,
      1.2278551831589102,
      0.8627665840429191,
      0.6827249938850514,
      0.6827249937285255
    ],
    "yaw": [
      -0.1982700204237497,
      -0.07547617078652338,
      0.08994402051141043,
      0.27603443880537115,
      0.4826411512336463,
      0.6990483190633663,
      0.88366750924713,
      1.002308378336192,
      1.0629213391861305,
      1.0902815631723286
    ],
    "yaw_diff": [
      0.24558769927445262,
      0.3308403825958676,
      0.37218083658792145,
      0.4132134248565503,
      0.43281433565943994,
      0.36923838036752743,
      0.2372817381781238,
      0.12122592169987723,
      0.05472044797239617,
      0.05472044797239617
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.9816446309082036,
    "v_std": 0.7333998957602442,
    "vy_max": 0.08934349998861091,
    "a_max": 1.307722432338763,
    "ax_avg": 0.5068581514785357,
    "a_std": 0.23156314454980503,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "5ff30edb240758c4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "5ff30edb240758c4",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "abdc7a57df4a56cd": {
    "vx_ego": [
      0.6546797445568502,
      0.34465174818324956,
      0.1250071782209179,
      0.0183721521283794,
      -0.012955091692600274,
      -0.007145998465495213,
      -0.009470663114391079,
      -0.0056859512861124,
      -0.003798990759924254,
      -0.002491431766807505
    ],
    "vy_ego": [
      -0.05259339556241821,
      -0.044383834793925575,
      -0.022811639359564997,
      -0.0022058938570474335,
      0.0023811081820249262,
      0.002683147641927382,
      0.001297433591302433,
      0.0008381755955886678,
      0.0005461073280527389,
      0.00031776528913317966
    ],
    "v_ego": [
      0.6567888802269779,
      0.3474978450534399,
      0.12707149757922578,
      0.01850410607235257,
      0.013172094629867593,
      0.007633123563603593,
      0.009559120971623262,
      0.005747397703055155,
      0.0038380416891616435,
      0.002511614426546292
    ],
    "ax_ego": [
      -0.6200265356903045,
      -0.6200209691930109,
      -0.25847855797414815,
      -0.16805267778850555,
      0.04274381857430605,
      -0.01950584882468339,
      0.010206654560926216,
      0.004932456501760871,
      0.002615162166745932,
      0.0026151940857022174
    ],
    "ay_ego": [
      0.01664817779929012,
      0.016854206770062663,
      0.06980594875100538,
      0.01271678817868345,
      0.005634192627932034,
      -0.004425067502588028,
      -0.0011218141031538852,
      -0.0007133706146786769,
      -0.00045634101437509386,
      -0.0004561625016853276
    ],
    "a_ego": [
      0.620250003453573,
      0.6202500032445696,
      0.26773874469979697,
      0.16853313980778015,
      0.043113549527750955,
      0.020001483964292827,
      0.010268118825184625,
      0.004983776156254424,
      0.002654678940998359,
      0.0026546797045661976
    ],
    "yaw": [
      2.5661923212427773,
      2.5665246108410553,
      2.567014185046115,
      2.567427120884645,
      2.567395811525729,
      2.567290218360652,
      2.567374169704379,
      2.567307849601246,
      2.5673894535890978,
      2.5673205570345248
    ],
    "yaw_diff": [
      0.0006645791965560477,
      0.000979148410118924,
      0.0008258716770601637,
      -6.26187178314197e-05,
      -0.0002111863301541561,
      0.00016790268745392467,
      -0.00013264020626646555,
      0.0001632079757039051,
      -0.0001377931091459672,
      -0.0001377931091459672
    ],
    "min_front_frame": [
      6,
      10.591896644308317
    ],
    "v_avg": 0.11923237219158536,
    "v_std": 0.20659854403123146,
    "vy_max": 0.05259339556241821,
    "a_max": 0.620250003453573,
    "ax_avg": -0.1622971303581211,
    "a_std": 0.23706391828502532,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "abdc7a57df4a56cd",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.425746737298179,
    "right_rear_min": 4.804947587134122,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.046710688137496,
      10.793453731276788,
      10.694751546978251,
      10.66055624387158,
      10.625813996867123,
      10.60059348704891,
      10.591896644308317,
      10.616789280865435,
      10.595289658106234,
      10.609156399488366
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "abdc7a57df4a56cd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e67e31370c185b83": {
    "vx_ego": [
      2.2589150705029373,
      3.243858901901352,
      4.209255435341275,
      5.15390080700612,
      6.068916504137133,
      6.8662564687631615,
      7.52190878444458,
      8.024463756879838,
      8.408696289526349,
      8.775256605240747
    ],
    "vy_ego": [
      -0.03125768632867187,
      -0.03225009812962176,
      -0.03410721927700271,
      -0.01259775901740287,
      0.020878639291100815,
      0.003888788933609638,
      -0.04995645771562435,
      -0.020744588610400405,
      0.025227794492540784,
      0.02776601282325286
    ],
    "v_ego": [
      2.2591313239163213,
      3.244019211452672,
      4.209393616942573,
      5.1539162034311925,
      6.068952417985061,
      6.866257569994832,
      7.522074674527769,
      8.024490570960545,
      8.408734133691537,
      8.775300532704819
    ],
    "ax_ego": [
      1.9700844237200335,
      1.970154853267132,
      1.8919527078613088,
      1.8871102293271036,
      1.7728517627510594,
      1.4165391158359217,
      1.205921609696968,
      0.8039051231071007,
      0.7330732111655982,
      0.7330870660080558
    ],
    "ay_ego": [
      0.022426770835381235,
      0.015013836246766173,
      0.03262531388068837,
      0.11934331320650621,
      0.09830081445808497,
      -0.17065330405198165,
      -0.07542190676793736,
      0.1431973763151878,
      0.018453188081066236,
      0.01789444179131841
    ],
    "a_ego": [
      1.9702120689495328,
      1.970212059939457,
      1.8922339865591549,
      1.8908801770704826,
      1.7755749555602156,
      1.426781558921012,
      1.208277862395334,
      0.8165592051660407,
      0.733305429598743,
      0.7333054325418041
    ],
    "yaw": [
      1.5877713471293389,
      1.5915340252462178,
      1.5952186257301206,
      1.5987389232427787,
      1.6024601743373552,
      1.6022915238624464,
      1.6012287647590961,
      1.5996606562931928,
      1.5989847353993296,
      1.5997469220913296
    ],
    "yaw_diff": [
      0.0075253562337578295,
      0.007369200967805689,
      0.007040595025316065,
      0.0074425021891531,
      -0.00033730094981754277,
      -0.002125518206700594,
      -0.003136216931806768,
      -0.0013518417877262934,
      0.0015243733840000218,
      0.0015243733840000218
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.053227025560732,
    "v_std": 2.148442449306393,
    "vy_max": 0.04995645771562435,
    "a_max": 1.9702120689495328,
    "ax_avg": 1.4384680102740282,
    "a_std": 0.502396395428975,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e67e31370c185b83",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.7857590788953663,
    "right_rear_min": 4.721540959171546,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e67e31370c185b83",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "2135b76284735f17": {
    "vx_ego": [
      9.476697046209617,
      9.024649709099547,
      8.51809995371875,
      7.93371296796514,
      7.389762290399409,
      7.07788738853766,
      6.973622680444433,
      6.826587724880335,
      6.816875624615247,
      7.028683865791034
    ],
    "vy_ego": [
      0.016049743290944996,
      0.009666332371596198,
      -0.0001888386631985206,
      -0.012467325799776496,
      -0.03845955407022794,
      -0.031469460121305914,
      -0.007747948550350436,
      -0.0043168051425279685,
      0.002003051084367158,
      0.07576767283901953
    ],
    "v_ego": [
      9.476710637130259,
      9.024654885918467,
      8.518099955811941,
      7.933722763764236,
      7.389862369889468,
      7.077957347408982,
      6.9736269845694885,
      6.826589089749984,
      6.816875918900619,
      7.029092233388223
    ],
    "ax_ego": [
      -0.9043320446731872,
      -0.904063825580202,
      -1.1220358986423276,
      -1.2145287432185436,
      -0.9563770736939704,
      -0.2858304846113855,
      -0.1296558916287379,
      -0.46047582806385967,
      0.42219004950034533,
      0.42932382675061576
    ],
    "ay_ego": [
      0.06246368639204308,
      0.06623245553132978,
      0.13338390581579967,
      0.23716800094825413,
      0.4240606423237437,
      0.48708720049029414,
      0.4365642380753135,
      0.21484502087137294,
      -0.25513310935473876,
      -0.24293701606197068
    ],
    "a_ego": [
      0.9064867120595155,
      0.9064867008888876,
      1.1299362035853058,
      1.2374686778976696,
      1.0461761493436315,
      0.5647592467721547,
      0.4554107862142947,
      0.5081302699351004,
      0.4932923488015207,
      0.49329234941248273
    ],
    "yaw": [
      1.9633272211018413,
      1.9674952992543049,
      1.9742871622320686,
      1.9870234839839993,
      2.0120959200994912,
      2.042974118759813,
      2.0725443946727022,
      2.0955099114294544,
      2.093067518471126,
      2.0644238023627666
    ],
    "yaw_diff": [
      0.008336156304927123,
      0.01358372595552737,
      0.02547264350386147,
      0.05014487223098385,
      0.06175639732064386,
      0.059140551825778154,
      0.04593103351350436,
      -0.004884785916656753,
      -0.05728743221671895,
      -0.05728743221671895
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.706719218653167,
    "v_std": 0.9294345487847723,
    "vy_max": 0.07576767283901953,
    "a_max": 1.2374686778976696,
    "ax_avg": -0.5125785913861253,
    "a_std": 0.28709579657799267,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "2135b76284735f17",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "2135b76284735f17",
    "pedestrians": "No"
  },
  "cd2a694affd65d94": {
    "vx_ego": [
      2.689260653353961,
      2.552420515435066,
      2.3195194893598132,
      1.8787987317530914,
      1.3246142849301434,
      0.8039185938918489,
      0.40460068169767005,
      0.15242345629312584,
      0.009255566148073756,
      -0.08593197031289482
    ],
    "vy_ego": [
      -0.023719252671898394,
      0.0065209274156686065,
      0.008415560800556263,
      -0.013068097134608748,
      -0.0325230139125962,
      -0.02295192150742097,
      0.021746829082542215,
      0.07363780319437946,
      0.06994398172731853,
      0.004111422805156055
    ],
    "v_ego": [
      2.68936525310808,
      2.5524288452586035,
      2.3195347557610764,
      1.8788441791696682,
      1.3250134906011162,
      0.8042461664850696,
      0.40518469394260764,
      0.16927916613581426,
      0.07055371063659825,
      0.08603026978534353
    ],
    "ax_ego": [
      -0.2736976872200303,
      -0.2736248924468967,
      -0.658036350625223,
      -1.1048290455348915,
      -1.1118870674893817,
      -0.9708838602551795,
      -0.6263874675432989,
      -0.38239516092529297,
      -0.19037760401725012,
      -0.1904181607435775
    ],
    "ay_ego": [
      0.06608989804547763,
      0.06639061484657201,
      -0.0524523411380458,
      -0.026643967449148133,
      -0.049435256827751226,
      0.08799511714955259,
      0.0909767475094064,
      0.11699868346914129,
      -0.1317180535781153,
      -0.13165940880712781
    ],
    "a_ego": [
      0.2815640222280808,
      0.2815640167107325,
      0.6601235390705466,
      1.1051502707138838,
      1.1129854875369054,
      0.9748633805545074,
      0.6329597365415098,
      0.39989342459284455,
      0.2315022197512502,
      0.23150221568790508
    ],
    "yaw": [
      -1.5464601638074917,
      -1.5453612955246756,
      -1.544721230236676,
      -1.5439279239772494,
      -1.5436564184483572,
      -1.5435906138359616,
      -1.5435118239257843,
      -1.5430969882682861,
      -1.542851023610162,
      -1.5425430179566828
    ],
    "yaw_diff": [
      0.002197736565632269,
      0.0012801305759992943,
      0.0015866125188530589,
      0.000543011057784426,
      0.00013160922479116266,
      0.00015757982035458085,
      0.0008296713149964496,
      0.0004919293162481964,
      0.0006160113069584305,
      0.0006160113069584305
    ],
    "min_front_frame": [
      8,
      12.36044873101907
    ],
    "v_avg": 1.2300480530883977,
    "v_std": 1.0067459972966784,
    "vy_max": 0.07363780319437946,
    "a_max": 1.1129854875369054,
    "ax_avg": -0.5782537296801022,
    "a_std": 0.34310479009153544,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cd2a694affd65d94",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.7342129976434655,
    "right_rear_min": 4.06056568693898,
    "speed_mode": "decelerating",
    "front_frame": [
      17.64822701956655,
      16.459829532374588,
      15.182267541428413,
      14.123726613395778,
      13.330087200650883,
      12.865601765769837,
      12.565804515270289,
      12.397491317529806,
      12.36044873101907,
      12.368443301339306
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cd2a694affd65d94",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "42032a0cedd95dc9": {
    "vx_ego": [
      0.504173763405606,
      0.24693659987044544,
      0.05088649080256821,
      -0.017185979112283152,
      -0.014608310856120015,
      -0.008959964532565796,
      -0.005366379686880355,
      -0.003555588013463182,
      -0.002484067452297365,
      -0.001598717596158704
    ],
    "vy_ego": [
      -0.035028919975787665,
      -0.02275002722609934,
      0.00010928742642824646,
      0.010973009032644015,
      0.0037981895897479445,
      0.0021161728800857737,
      0.0012414248895679086,
      0.0009196064720349744,
      0.0007179540287801646,
      0.0004004898230070387
    ],
    "v_ego": [
      0.505389165832868,
      0.24798235440120478,
      0.05088660815913588,
      0.02039031155422398,
      0.01509400510893989,
      0.009206473379272192,
      0.005508100098963416,
      0.003672585218193265,
      0.0025857395644195862,
      0.0016481171228403865
    ],
    "ax_ego": [
      -0.514510743294986,
      -0.5145298393323862,
      -0.26965189432629105,
      -0.0026373378204097263,
      0.012947075662220569,
      0.00964637716559787,
      0.004727916340412638,
      0.002515328748024126,
      0.001770677626996791,
      0.0017706620086354226
    ],
    "ay_ego": [
      0.024164198558354583,
      0.02375414658936506,
      0.06781455765060947,
      -0.02435905650110909,
      -0.0043436610926099965,
      -0.002384171258740676,
      -0.001115079087712116,
      -0.00017189101922033233,
      -0.000635003903301914,
      -0.0006350481981181146
    ],
    "a_ego": [
      0.5150778712563049,
      0.515077872795561,
      0.2780484820010803,
      0.024501411885913607,
      0.013656286460481051,
      0.009936642542225874,
      0.004857632581185377,
      0.0025211951993301157,
      0.0018810978751664289,
      0.0018810981268285536
    ],
    "yaw": [
      -0.5777008311394701,
      -0.5784977917295637,
      -0.5782199971586888,
      -0.5782294287872665,
      -0.5781813618323441,
      -0.5781868440388722,
      -0.5781776715234036,
      -0.5781965181516713,
      -0.5781731652718194,
      -0.5781482620842047
    ],
    "yaw_diff": [
      -0.0015939211801871966,
      0.0005555891417499126,
      -1.886325715538817e-05,
      9.613390984464232e-05,
      -1.0964413056147038e-05,
      1.8345030937227946e-05,
      -3.7693256535353825e-05,
      4.67057597037801e-05,
      4.98063752294442e-05,
      4.98063752294442e-05
    ],
    "min_front_frame": [
      2,
      8.489984963046007
    ],
    "v_avg": 0.08623634604400612,
    "v_std": 0.15681754126084033,
    "vy_max": 0.035028919975787665,
    "a_max": 0.515077872795561,
    "ax_avg": -0.12679517772221854,
    "a_std": 0.2053910571823613,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "42032a0cedd95dc9",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.4434519581510425,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.597033972682944,
      8.499606325832797,
      8.489984963046007,
      8.537836092430563,
      8.55051371023423,
      8.547773930281997,
      8.555937053293217,
      8.557922345592551,
      8.551581164765373,
      8.553593928717067
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "42032a0cedd95dc9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "09a81436114951ab": {
    "vx_ego": [
      9.984076520986243,
      9.889050180015342,
      9.79035323144399,
      9.651265395332098,
      9.407718256299855,
      8.956710580254779,
      8.270881935976888,
      7.3936909541183775,
      6.394187681153792,
      5.369901066516773
    ],
    "vy_ego": [
      -0.008712092636826707,
      -0.005455102156575631,
      0.0035885310093566325,
      -0.008017639810299126,
      -0.0045363132147149265,
      -0.05321650663518973,
      -0.06701478305941944,
      -0.0058367146604321185,
      0.0034968703578064364,
      0.08869245675216497
    ],
    "v_ego": [
      9.984080322066067,
      9.88905168461572,
      9.790353889109452,
      9.651268725596804,
      9.407719349983564,
      8.956868672422653,
      8.271153425007743,
      7.393693257922589,
      6.394188637342599,
      5.370633465063755
    ],
    "ax_ego": [
      -0.1900569698070231,
      -0.1900082350479578,
      -0.20476019765517242,
      -0.35117503580032716,
      -0.6230155291329251,
      -1.179551203048401,
      -1.5545626960622252,
      -1.952377716778484,
      -2.0480487235336216,
      -2.0484813352625384
    ],
    "ay_ego": [
      0.03441192856952098,
      0.03467997442585619,
      0.055469279450486575,
      0.16105354681579437,
      0.11024515799034909,
      0.1289501972459829,
      0.5347581932888716,
      0.4080613885281643,
      0.13512872250370112,
      0.12840372438447245
    ],
    "a_ego": [
      0.19314717859731087,
      0.19314717189805816,
      0.21214047116602114,
      0.3863446009863582,
      0.6326945111197787,
      1.1865787769814138,
      1.6439682178429826,
      1.994565828891265,
      2.05250172852867,
      2.0525017167726793
    ],
    "yaw": [
      1.9641559657951193,
      1.96556651300588,
      1.9669376062619157,
      1.973687362423098,
      1.980415369304379,
      1.992140439630231,
      2.012891590082679,
      2.0350331023408463,
      2.0533450442966457,
      2.0500617845104747
    ],
    "yaw_diff": [
      0.002821094421521231,
      0.002742186512071587,
      0.01349951232236446,
      0.013456013762561891,
      0.023450140651704032,
      0.04150230090489604,
      0.04428302451633481,
      0.036623883911598654,
      -0.006566519572341889,
      -0.006566519572341889
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.510901142913095,
    "v_std": 1.538101057898664,
    "vy_max": 0.08869245675216497,
    "a_max": 2.05250172852867,
    "ax_avg": -1.0342037642128674,
    "a_std": 0.7783594293546421,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "09a81436114951ab",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "09a81436114951ab",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c66027dcfef35daf": {
    "vx_ego": [
      2.908829980214425,
      2.3059810324970704,
      1.7279163342015509,
      1.1963593353833555,
      0.7235539100289707,
      0.3649617386990862,
      0.13145507675965268,
      -0.0006559340008785042,
      -0.03119235740240495,
      -0.013596756925198858
    ],
    "vy_ego": [
      -0.017990509607734184,
      -0.012018069988077085,
      -0.019746053192384205,
      -0.03272782578192501,
      -0.04080730771160618,
      -0.027330016073311952,
      -0.008335227593889417,
      -0.014011383372707993,
      -0.01083772655129921,
      0.007629005016040858
    ],
    "v_ego": [
      2.9088856134661256,
      2.306012349542494,
      1.7280291561826155,
      1.1968069058704984,
      0.7247037305553777,
      0.36598360686351455,
      0.13171906932911467,
      0.014026728536280529,
      0.033021500225157895,
      0.01559081512999624
    ],
    "ax_ego": [
      -1.20570167750337,
      -1.2057033988098294,
      -1.1065574055545724,
      -1.0196890542377481,
      -0.8714882696225006,
      -0.56291861913251,
      -0.3711182954695508,
      -0.15733302613883768,
      0.03519141648635685,
      0.03519089876067984
    ],
    "ay_ego": [
      0.011230487655237265,
      0.01104371759574041,
      -0.04239297100415479,
      -0.010420384717482911,
      -0.020719982404505455,
      0.07420861999518072,
      0.0015073760435344585,
      -0.024247352406321712,
      0.03693384416150473,
      0.03693433500369468
    ],
    "a_ego": [
      1.205753979461571,
      1.205753975568776,
      1.1073691596654773,
      1.0197422967347847,
      0.8717345477612226,
      0.5677889493884509,
      0.37112135672143876,
      0.1591904997564884,
      0.05101514127063205,
      0.05101513949554155
    ],
    "yaw": [
      2.619039035272479,
      2.6188841340761715,
      2.618829592127636,
      2.6186769214628907,
      2.61898962472959,
      2.6187817203138186,
      2.618488313130771,
      2.618259716422931,
      2.618310672218743,
      2.618296607143095
    ],
    "yaw_diff": [
      -0.00030980239261513276,
      -0.00010908389707076083,
      -0.00030534132949089354,
      0.000625406533398376,
      -0.0004158088315424635,
      -0.0005868143660956449,
      -0.0004571934156798463,
      0.00010191159162431518,
      -2.8130151296323902e-05,
      -2.8130151296323902e-05
    ],
    "min_front_frame": [
      6,
      9.658442390027131
    ],
    "v_avg": 0.9424779475701175,
    "v_std": 0.9996555826570971,
    "vy_max": 0.04080730771160618,
    "a_max": 1.205753979461571,
    "ax_avg": -0.6430127431221883,
    "a_std": 0.453272328798141,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c66027dcfef35daf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.190450056914196,
    "right_rear_min": 7.773327528633456,
    "speed_mode": "decelerating",
    "front_frame": [
      13.641985898887384,
      12.34311887804747,
      11.306212142949722,
      10.584244602780121,
      10.116821101933287,
      9.833504444118825,
      9.658442390027131,
      9.66963454513426,
      9.759909848399902,
      9.72729841348863
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c66027dcfef35daf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d0818bf765555782": {
    "vx_ego": [
      12.828180407966853,
      12.871180172278743,
      12.938659768275446,
      13.001560490488785,
      13.067516400602416,
      13.11237266209153,
      13.129810957001432,
      13.192788089323809,
      13.253498007503726,
      13.292075683816913
    ],
    "vy_ego": [
      -0.02966199231161859,
      0.01555492118312829,
      0.01641954472255991,
      0.0361106285981907,
      0.05492397269107063,
      0.015287253953887081,
      0.02124922243947669,
      0.03336053692569907,
      0.020109483088345703,
      0.029445315525233884
    ],
    "v_ego": [
      12.828214700929063,
      12.871189571396828,
      12.93867018671697,
      13.001610637353233,
      13.067631825345758,
      13.11238157352427,
      13.129828151809495,
      13.192830268567398,
      13.253513263516783,
      13.292108298194204
    ],
    "ax_ego": [
      0.08512506754897334,
      0.08707276932766972,
      0.18203930266502533,
      0.06883490919294022,
      0.19338755090595636,
      -0.01631361494269598,
      0.08554091293620139,
      0.16580175028674393,
      0.07656088394448382,
      0.07727025383176153
    ],
    "ay_ego": [
      0.27377400071548313,
      0.27316078189051013,
      0.23688465096757147,
      0.2703470001414866,
      0.2923809910628529,
      0.18573089730852838,
      0.1611563518064783,
      0.10096579370886614,
      0.14706421797627076,
      0.14669273683192266
    ],
    "a_ego": [
      0.28670277395410504,
      0.28670277278293704,
      0.2987518126786796,
      0.2789726603255259,
      0.35055012306416317,
      0.18644597138991678,
      0.18245168542255835,
      0.1941244752662814,
      0.16579943654709084,
      0.16579943053721438
    ],
    "yaw": [
      -1.7652055853665338,
      -1.7580833747572002,
      -1.748260584588241,
      -1.7400108871741489,
      -1.7306501028641343,
      -1.7185152423514425,
      -1.7123543199666358,
      -1.7082924186416002,
      -1.7026058039799385,
      -1.6977760940872388
    ],
    "yaw_diff": [
      0.014244421218667203,
      0.0196455803379183,
      0.01649939482818441,
      0.01872156862002905,
      0.024269721025383717,
      0.0123218447696134,
      0.008123802650071177,
      0.011373229323323297,
      0.009659419785399415,
      0.009659419785399415
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 13.0687978477354,
    "v_std": 0.1494568811102,
    "vy_max": 0.05492397269107063,
    "a_max": 0.35055012306416317,
    "ax_avg": 0.10053197856970594,
    "a_std": 0.06391303291733928,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d0818bf765555782",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 26.136909352576698,
    "right_rear_min": 3.3663170789278345,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d0818bf765555782",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9f5ac897aea35174": {
    "vx_ego": [
      1.7435171835848713,
      2.6169620637897895,
      3.4744240509328037,
      4.166280816040796,
      4.668612275151441,
      5.053398060535621,
      5.430954829644034,
      5.891125141360725,
      6.43219885713898,
      7.042418962436043
    ],
    "vy_ego": [
      -0.02424068144363539,
      -0.014604553832954602,
      0.01564544561024622,
      0.043736250515518625,
      0.02711350899166032,
      -0.020633763089107138,
      -0.05217145677441165,
      -0.05331944005754241,
      -0.017582345125184765,
      0.013985280551630314
    ],
    "v_ego": [
      1.743685688446336,
      2.617002815494774,
      3.474459276731943,
      4.166510374128297,
      4.668691006916666,
      5.053440185695719,
      5.431205411557901,
      5.891366428415437,
      6.4322228876680025,
      7.042432848849243
    ],
    "ax_ego": [
      1.746745053289554,
      1.7467336665537316,
      1.6830035263529732,
      1.0843739199725027,
      0.9251509251199166,
      0.6140729916617781,
      0.8969625078847148,
      0.9445793725973393,
      1.2201405286732567,
      1.2207604028648764
    ],
    "ay_ego": [
      -0.0001802623437617626,
      0.006311797313974535,
      0.06558471129981318,
      0.05296091306851221,
      -0.13445566364927058,
      -0.02055285927740868,
      0.0017922576317724072,
      0.07262431743831713,
      0.13120730515291348,
      0.1253088041127275
    ],
    "a_ego": [
      1.7467450625910008,
      1.746745070311514,
      1.6842809219583361,
      1.085666457356762,
      0.9348703438111636,
      0.6144168447503072,
      0.896964298474725,
      0.9473671319080922,
      1.2271749128125722,
      1.2271749091270476
    ],
    "yaw": [
      -1.5561276229081846,
      -1.559844291798766,
      -1.5638643391722677,
      -1.5634675407098944,
      -1.564312852789072,
      -1.5624770687799918,
      -1.557320848864004,
      -1.5538280458977813,
      -1.5513439158252802,
      -1.5465108715085782
    ],
    "yaw_diff": [
      -0.007433337781162841,
      -0.008040094747003401,
      0.0007935969247467867,
      -0.0016906241583551918,
      0.003671568018160265,
      0.010312439831975606,
      0.006985605932445349,
      0.00496826014500229,
      0.009666088633403902,
      0.009666088633403902
    ],
    "min_front_frame": [
      0,
      14.580217520353791
    ],
    "v_avg": 4.652101692390433,
    "v_std": 1.5940449701443342,
    "vy_max": 0.05331944005754241,
    "a_max": 1.746745070311514,
    "ax_avg": 1.2082522894970642,
    "a_std": 0.3761052641747776,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9f5ac897aea35174",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.1072985330401086,
    "right_rear_min": 7.760259257176892,
    "speed_mode": "accelerating",
    "front_frame": [
      14.580217520353791,
      15.272971560042018,
      15.719918538449773,
      16.24258115730706,
      16.699733402376804,
      17.39498740656029,
      17.978824939618676,
      18.613039555469992,
      19.130145325444047,
      19.574263764992214
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9f5ac897aea35174",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "f748ff8ee5be533a": {
    "vx_ego": [
      0.5816083342858089,
      0.7629396715460287,
      1.0328759030599373,
      1.384121229911457,
      1.7390345253406396,
      2.111856010294514,
      2.4853157127452024,
      2.827668565241294,
      3.1069426406497342,
      3.347899055782258
    ],
    "vy_ego": [
      0.02836655799376775,
      -0.0010075709384213538,
      -0.016082473565034394,
      -0.019033936908189775,
      -0.01475704101093478,
      0.0037018021299439763,
      -0.000845038279142063,
      0.0019453999728316074,
      0.02230800545212963,
      0.02563113665444594
    ],
    "v_ego": [
      0.5822996789653306,
      0.7629403368664932,
      1.0330011021668133,
      1.3842520976490622,
      1.7390971366160495,
      2.1118592546749113,
      2.4853158564069653,
      2.8276692344464216,
      3.1070227259218424,
      3.347997168886786
    ],
    "ax_ego": [
      0.3626628031449894,
      0.36265902342978384,
      0.7170515109302908,
      0.6879182727714627,
      0.7317346221648057,
      0.7595409670292381,
      0.7342754375670912,
      0.635170473133652,
      0.4819408350056949,
      0.481939138345129
    ],
    "ay_ego": [
      -0.05864951285491646,
      -0.05867297577065439,
      -0.003529193603188485,
      -0.009106346500217244,
      0.026191826736379153,
      0.04512035557865082,
      -0.05975855537164798,
      0.076504432054909,
      0.0028474515820200164,
      0.0031208755103850905
    ],
    "a_ego": [
      0.36737456926562073,
      0.3673745845330462,
      0.7170601958935539,
      0.6879785429498907,
      0.7322032293444625,
      0.7608799689065642,
      0.7367031309519796,
      0.6397612508310202,
      0.481949246732992,
      0.48194924310843845
    ],
    "yaw": [
      -1.9962094790559837,
      -1.9961447652026245,
      -1.9967019769052508,
      -1.9968730979037654,
      -1.9968766494107237,
      -1.997204853344805,
      -1.9968193674561505,
      -1.996296290334637,
      -1.9964719617198776,
      -1.9970393029235447
    ],
    "yaw_diff": [
      0.00012942770671831028,
      -0.0011144234052524737,
      -0.00034224199702936886,
      -7.1030139165984e-06,
      -0.0006564078681625674,
      0.0007709717773090041,
      0.0010461542430268977,
      -0.0003513427704811001,
      -0.0011346824073341644,
      -0.0011346824073341644
    ],
    "min_front_frame": [
      0,
      14.508957955694042
    ],
    "v_avg": 1.9381454592600675,
    "v_std": 0.9412709300788071,
    "vy_max": 0.02836655799376775,
    "a_max": 0.7608799689065642,
    "ax_avg": 0.5954893083522137,
    "a_std": 0.1486948449763077,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f748ff8ee5be533a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.72189533859526,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      14.508957955694042,
      15.158686299062722,
      15.786430082449462,
      16.46552767550968,
      17.008934744667233,
      17.530681156259224,
      17.824070146169547,
      18.11218328282063,
      18.021528444563504,
      17.96902204418295
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f748ff8ee5be533a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f23073987e7956e3": {
    "vx_ego": [
      4.044483111105627,
      4.09778208021301,
      4.089900539183374,
      4.134135474768166,
      4.3602277488123775,
      4.634582090716673,
      4.750603935409923,
      4.810765185416053,
      5.013412721504269,
      5.385535304283654
    ],
    "vy_ego": [
      0.03273801867751347,
      -0.012769770613175968,
      -0.012844075737041605,
      -0.013155817224560495,
      -0.03733482690529977,
      -0.048065426913273646,
      0.061712323802325164,
      0.09547710673855131,
      0.07017258661101677,
      0.11672554899774412
    ],
    "v_ego": [
      4.04461560767962,
      4.097801977152676,
      4.089920707140175,
      4.134156407208543,
      4.360387587223583,
      4.634831328199127,
      4.751004752896099,
      4.811712537872801,
      5.013903799241917,
      5.386800104651598
    ],
    "ax_ego": [
      0.10662969906090897,
      0.10638472410588656,
      -0.13778758227509919,
      0.3172832326663884,
      0.5937239489222905,
      0.5054955692836957,
      -0.004371391250771461,
      0.3270941574747824,
      0.5719245947904512,
      0.9764447196111392
    ],
    "ay_ego": [
      -0.05400313146232954,
      -0.05448413081306365,
      -0.17471477171287375,
      -0.41872966513582516,
      -0.8170849465693603,
      -1.1917492606202207,
      -1.5765430181107039,
      -1.8271599436089598,
      -2.0734667865325696,
      -1.9164858390448718
    ],
    "a_ego": [
      0.11952502219015756,
      0.11952501844191714,
      0.22250993075343586,
      0.5253600500570954,
      1.01001779065229,
      1.2945238780162729,
      1.5765490785304066,
      1.8562068977846287,
      2.1508980117569316,
      2.150898012857886
    ],
    "yaw": [
      2.2050187795228915,
      2.209534918872543,
      2.195660168554204,
      2.159155105397856,
      2.091580571607957,
      1.982675315947231,
      1.8144867443549457,
      1.6283529552063438,
      1.4343808202263213,
      1.2323019258156926
    ],
    "yaw_diff": [
      0.00903227869930312,
      -0.027749500636677915,
      -0.07301012631269632,
      -0.13514906757979794,
      -0.2178105113214519,
      -0.33637714318457057,
      -0.3722675782972038,
      -0.38794426996004505,
      -0.4041577888212573,
      -0.4041577888212573
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.532513480926614,
    "v_std": 0.43691237523612325,
    "vy_max": 0.11672554899774412,
    "a_max": 2.150898012857886,
    "ax_avg": 0.3362821672389672,
    "a_std": 0.7795160095997543,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "f23073987e7956e3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.179578013889368,
    "right_rear_min": 12.226391272953627,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f23073987e7956e3",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "303d452ddd2d58d1": {
    "vx_ego": [
      9.665892453427462,
      9.128929786985953,
      8.57194258861661,
      7.945073992822739,
      7.273991538966237,
      6.641322067692901,
      6.070247158487763,
      5.558074565573066,
      5.067929435299155,
      4.569614322562075
    ],
    "vy_ego": [
      -0.075415492589365,
      -0.016202520645285,
      0.015224274832900453,
      -0.011131878351588301,
      -0.05403664358687275,
      -0.03643138852152032,
      0.018948937247105967,
      0.03671428030637955,
      -0.007537620332005827,
      -0.06038431433208788
    ],
    "v_ego": [
      9.666186653367939,
      9.128944165531667,
      8.571956108210273,
      7.945081791280937,
      7.274192248476977,
      6.641421990273944,
      6.07027673400081,
      5.558195823722716,
      5.067935040713514,
      4.570013273764291
    ],
    "ax_ego": [
      -1.0738976891981653,
      -1.0736906280975238,
      -1.1542928556375185,
      -1.3531176115116614,
      -1.3312506196623992,
      -1.1996666855681521,
      -1.0846538683730205,
      -0.963907856122363,
      -0.9966861858438413,
      -0.9966360357977762
    ],
    "ay_ego": [
      0.14445933764648697,
      0.1459904308777256,
      -0.0033863926645593683,
      -0.1313831871433754,
      -0.04700862897067513,
      0.09082571812544435,
      0.11999459572357715,
      -0.0636253030021707,
      -0.10985659643093561,
      -0.11031061042413574
    ],
    "a_ego": [
      1.0835703701644952,
      1.0835703810885193,
      1.1542978230210328,
      1.359481082048211,
      1.3320803367474592,
      1.2030999407925669,
      1.0912711474145287,
      0.9660054525086947,
      1.0027222072096207,
      1.002722204113807
    ],
    "yaw": [
      1.566638794415749,
      1.5680646662993407,
      1.5685414122634618,
      1.56765575224841,
      1.5674331633168728,
      1.5664749753231735,
      1.5660531055791438,
      1.5654197243347212,
      1.5655854961105655,
      1.565129962960554
    ],
    "yaw_diff": [
      0.0028517437671835566,
      0.0009534919282421228,
      -0.001771320030103496,
      -0.00044517786307451956,
      -0.0019163759873985775,
      -0.0008437394880593807,
      -0.0012667624888451634,
      0.0003315435516886289,
      -0.0009110663000231334,
      -0.0009110663000231334
    ],
    "min_front_frame": [
      9,
      17.25977586662556
    ],
    "v_avg": 7.049420382934306,
    "v_std": 1.6662956248890683,
    "vy_max": 0.075415492589365,
    "a_max": 1.359481082048211,
    "ax_avg": -1.122780003581242,
    "a_std": 0.12825443047335447,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "303d452ddd2d58d1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.637193785861798,
    "right_rear_min": 3.3118080139040433,
    "speed_mode": "decelerating",
    "front_frame": [
      38.91500774264681,
      36.053102160298664,
      33.27770180263387,
      30.531939481664267,
      27.90934619597343,
      25.373567378235826,
      23.12715443712402,
      20.949895059322753,
      18.940851088035558,
      17.25977586662556
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "303d452ddd2d58d1",
    "merging_vehicles": "No"
  },
  "597fd00be3675d16": {
    "vx_ego": [
      4.901909241919549,
      4.777636158680703,
      4.676834700598537,
      4.595751180512221,
      4.589939802736499,
      4.664601310779205,
      4.758874638182622,
      4.799001769352051,
      4.827732428732034,
      4.910540779976783
    ],
    "vy_ego": [
      0.007973088204547674,
      0.009622235346561443,
      0.00012855041230624975,
      -0.016905819205080386,
      -0.016079361622449273,
      -0.015457201475793436,
      -0.0015563907769442498,
      0.03263517562771945,
      0.021441094992208587,
      -0.052812616672457846
    ],
    "v_ego": [
      4.901915726137263,
      4.777645848338527,
      4.6768347023652455,
      4.595782275075971,
      4.589967967057609,
      4.66462692115892,
      4.758874892691552,
      4.799112734342919,
      4.827780040969697,
      4.910824770269734
    ],
    "ax_ego": [
      -0.27728260530766036,
      -0.22175744897694905,
      -0.1846472132801861,
      -0.13498053367173296,
      0.11519905399317351,
      0.1897464367631575,
      0.1875525340850765,
      -0.03418320438739858,
      0.14428172420790103,
      0.191314840926542
    ],
    "ay_ego": [
      0.7248059014940321,
      0.7436752436295254,
      0.7011753401228378,
      0.7488897310561367,
      0.70414520025003,
      0.7394849664720622,
      0.6771265141031391,
      0.5495663992941493,
      0.6126838688601938,
      0.5996643879187752
    ],
    "a_ego": [
      0.7760343021070527,
      0.7760342996054995,
      0.7250803065650837,
      0.7609570117632392,
      0.7135063314898312,
      0.7634407153816869,
      0.7026209996457566,
      0.5506284761028319,
      0.6294431976770422,
      0.6294432035511602
    ],
    "yaw": [
      -1.6420573945791153,
      -1.5664708410837134,
      -1.488014816239161,
      -1.4060857933158117,
      -1.3266741979679368,
      -1.2486953040862923,
      -1.1765171525502809,
      -1.1198439111165268,
      -1.0568814308757153,
      -0.9793301918465285
    ],
    "yaw_diff": [
      0.15117310699080377,
      0.15691204968910455,
      0.16385804584669872,
      0.1588231906957498,
      0.15595778776328917,
      0.14435630307202274,
      0.11334648286750815,
      0.12592496048162305,
      0.15510247805837363,
      0.15510247805837363
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.750336587840744,
    "v_std": 0.10967305748547093,
    "vy_max": 0.052812616672457846,
    "a_max": 0.7760343021070527,
    "ax_avg": -0.0024756415648076514,
    "a_std": 0.07232957664664387,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "597fd00be3675d16",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "597fd00be3675d16",
    "with_lead": "Far",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "c9b3ce1062455ad6": {
    "vx_ego": [
      4.851217810364285,
      4.718875829822123,
      4.586089259108106,
      4.359456100768279,
      3.987935103166932,
      3.594096410110246,
      3.316385042874823,
      3.1393769692589366,
      2.9048968783465594,
      2.5994400518473078
    ],
    "vy_ego": [
      0.019616219499221543,
      0.013250491194529923,
      0.007390271733505704,
      0.004027848494167596,
      0.023256074595414455,
      0.02259635753213085,
      -0.0017166661984830967,
      -0.013194261001283847,
      -0.006578262201741625,
      -0.02299524122759644
    ],
    "v_ego": [
      4.851257469941488,
      4.718894433317652,
      4.586095213645594,
      4.359457961500404,
      3.9880029127467593,
      3.59416744191768,
      3.316385487175259,
      3.1394046957403874,
      2.9049043267139076,
      2.599541760439145
    ],
    "ax_ego": [
      -0.27199008856934437,
      -0.2543645542219372,
      -0.27298642955746233,
      -0.6314410534315043,
      -0.8487480397279198,
      -0.7221173122687251,
      -0.3885963002297993,
      -0.32642646349517973,
      -0.6135327283644632,
      -0.6095427706567675
    ],
    "ay_ego": [
      -0.4114632283883518,
      -0.4225864072755612,
      -0.49762387476810555,
      -0.5271789692525288,
      -0.5846919636107254,
      -0.5238820540950064,
      -0.44449705217126456,
      -0.20655870971576326,
      -0.15813471266252457,
      -0.17287740750094796
    ],
    "a_ego": [
      0.4932348290578482,
      0.4932348305407793,
      0.5675835722268172,
      0.8225785491859404,
      1.030649274609434,
      0.8921355386268449,
      0.5904106316295737,
      0.386290999933225,
      0.6335842454821626,
      0.6335842385067494
    ],
    "yaw": [
      2.777617597446712,
      2.735358929916861,
      2.6872046512892807,
      2.6312516075529464,
      2.560534618208969,
      2.4873302136110107,
      2.423552652702627,
      2.3765795551792355,
      2.34460433616692,
      2.320497940180264
    ],
    "yaw_diff": [
      -0.08451733505970171,
      -0.09630855725516074,
      -0.1119060874726685,
      -0.14143397868795482,
      -0.1464088091959166,
      -0.12755512181676743,
      -0.09394619504678303,
      -0.06395043802463096,
      -0.048212791973312186,
      -0.048212791973312186
    ],
    "min_front_frame": [
      9,
      16.06588186395523
    ],
    "v_avg": 3.8058111703138273,
    "v_std": 0.766184572132985,
    "vy_max": 0.023256074595414455,
    "a_max": 1.030649274609434,
    "ax_avg": -0.49397457405231027,
    "a_std": 0.19044549339514166,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "c9b3ce1062455ad6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      18.883812871387224,
      17.953540577724734,
      16.946088010393375,
      16.06588186395523
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c9b3ce1062455ad6",
    "with_lead": "Close",
    "road_shape": "Curve"
  },
  "f4814e7eb01252b6": {
    "vx_ego": [
      11.890099448210687,
      11.77144468451793,
      11.709443128185297,
      11.666410579906882,
      11.567507358816599,
      11.401423359388483,
      11.222106417563818,
      11.11467558331485,
      11.059515402131844,
      11.023625431044733
    ],
    "vy_ego": [
      0.0015308559631384,
      -0.020800463460821206,
      -0.010747781142470991,
      0.01786632163936197,
      0.025072548161090502,
      0.01671449473494846,
      0.03377571129523638,
      0.06365583857886925,
      0.047880468617222505,
      0.07080511966916214
    ],
    "v_ego": [
      11.890099546759904,
      11.771463061996398,
      11.709448060733067,
      11.666424260432679,
      11.567534531132702,
      11.401435611112472,
      11.22215724563689,
      11.114857866303126,
      11.059619047203501,
      11.023852820540899
    ],
    "ax_ego": [
      -0.2372752586416301,
      -0.23725735279907623,
      -0.01058755478494429,
      -0.15695481285629717,
      -0.2376611668784902,
      -0.42348370640039623,
      -0.29095156879527523,
      -0.13465526036489284,
      -0.07857759392920066,
      -0.05733349595840051
    ],
    "ay_ego": [
      0.007767993522515421,
      0.00829638125028656,
      -0.1869520392846363,
      -0.6231725150161843,
      -0.5298748365287306,
      -0.6247503355135289,
      -0.618018399177991,
      -0.520206363992606,
      -0.6612220737114266,
      -0.6634017918683757
    ],
    "a_ego": [
      0.23740238012037349,
      0.23740236182286692,
      0.18725159894913684,
      0.6426342635981619,
      0.5807324449592898,
      0.7547525629707288,
      0.6830809301297749,
      0.5373515611611683,
      0.6658746646561511,
      0.6658746632910607
    ],
    "yaw": [
      -1.0514542712172084,
      -1.0492272473730884,
      -1.0538990353242454,
      -1.0736438953325238,
      -1.0990546600955484,
      -1.1234109213227765,
      -1.1524259411341777,
      -1.180627537207249,
      -1.2058590120529642,
      -1.2379319347776445
    ],
    "yaw_diff": [
      0.0044540476882399815,
      -0.00934357590231416,
      -0.039489720016556706,
      -0.050821529526049236,
      -0.04871252245445623,
      -0.0580300396228024,
      -0.05640319214614253,
      -0.05046294969143039,
      -0.06414584544936064,
      -0.06414584544936064
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.442689205185163,
    "v_std": 0.30414610535705083,
    "vy_max": 0.07080511966916214,
    "a_max": 0.7547525629707288,
    "ax_avg": -0.18647377714086033,
    "a_std": 0.20340357846105225,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "f4814e7eb01252b6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "f4814e7eb01252b6",
    "road_shape": "Curve"
  },
  "3741be84f7c15b5a": {
    "vx_ego": [
      7.1557167451904675,
      6.7786810248068905,
      6.361990792763765,
      5.889537127575119,
      5.303699297054142,
      4.694659302542754,
      4.288526208915265,
      4.061282093762659,
      4.03190451775052,
      4.295977259682406
    ],
    "vy_ego": [
      0.10937856063736273,
      0.09279030769835783,
      0.07070282341026024,
      0.09421192971928649,
      0.10737109959526059,
      0.1049579078398557,
      0.06874472957614208,
      0.010996464504412194,
      -0.0059144095384168205,
      -0.07842349119864478
    ],
    "v_ego": [
      7.156552648232692,
      6.77931607739894,
      6.362383652095267,
      5.890290609535935,
      5.304786026467128,
      4.695832421346544,
      4.289077159762648,
      4.061296980934638,
      4.031908855678317,
      4.2966930143635045
    ],
    "ax_ego": [
      -0.7543681494937482,
      -0.7543864345716716,
      -0.9127864076931029,
      -0.9777682608761007,
      -1.3721044711300707,
      -1.0841760529379472,
      -0.5685143165190037,
      -0.34377624987503136,
      0.26891159681915977,
      0.8131254173851056
    ],
    "ay_ego": [
      -0.012637723489614838,
      -0.011494856589838509,
      -0.045279594959886704,
      0.23504297235770455,
      0.7120724372763868,
      1.1299412208031958,
      1.4601042230353196,
      1.7470917477737395,
      2.1123169111257054,
      1.9679998124516511
    ],
    "a_ego": [
      0.7544740002316992,
      0.7544740051146759,
      0.9139087852674418,
      1.0056221809563566,
      1.54587122219927,
      1.565951747735007,
      1.5668799795174626,
      1.7805930711752305,
      2.1293652058610033,
      2.1293652120309083
    ],
    "yaw": [
      2.6381560628763596,
      2.6396710330332738,
      2.6408688637581323,
      2.6447704200947935,
      2.68437261779329,
      2.777575097847407,
      2.9317087259974213,
      3.13825038999671,
      -2.8988887357483617,
      -2.6337030351014175
    ],
    "yaw_diff": [
      0.0030299403138283054,
      0.002395661449717146,
      0.007803112673322232,
      0.0792043953969932,
      0.18640496010823426,
      0.30826725630002816,
      0.41308332799857705,
      0.49209236286902946,
      0.5303714012938885,
      0.5303714012938885
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.286813744581562,
    "v_std": 1.124570968519612,
    "vy_max": 0.10937856063736273,
    "a_max": 2.1293652120309083,
    "ax_avg": -0.5685843328892412,
    "a_std": 0.5008538111663843,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "3741be84f7c15b5a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "3741be84f7c15b5a",
    "pedestrians": "No"
  },
  "a2978bba82bd5751": {
    "vx_ego": [
      7.873794476534274,
      7.7873654101249095,
      7.657053607396811,
      7.418324685003675,
      7.059502051023825,
      6.582904802722732,
      6.106691250124154,
      5.835224530652059,
      5.761252383423142,
      5.8417174485855625
    ],
    "vy_ego": [
      0.01835791933497566,
      -0.052381811153949354,
      -0.06581586610515489,
      -0.08294477179421023,
      -0.013579584642191111,
      -0.012407602118441385,
      -0.04356242136821242,
      -0.06351616769703483,
      -0.008292460778187793,
      0.026945275118130718
    ],
    "v_ego": [
      7.873815877444935,
      7.7875415815872,
      7.657336460857633,
      7.4187883759615945,
      7.059515111785558,
      6.582916495771486,
      6.1068466256242555,
      5.8355702057881595,
      5.7612583512983155,
      5.84177959161078
    ],
    "ax_ego": [
      -0.1813388514400496,
      -0.16148747581096196,
      -0.35424649512230866,
      -0.5978030113469113,
      -0.8378662794942856,
      -1.0629942150110994,
      -0.82744520754503,
      -0.2596837603925105,
      -0.025848386107582,
      0.351815637150139
    ],
    "ay_ego": [
      0.48775861338763915,
      0.4946857922930279,
      0.38710022624471097,
      0.10281075830499922,
      0.12003988623113038,
      -0.6039332219859115,
      -1.2491547763588442,
      -1.6563874639934766,
      -2.064868224757248,
      -2.0348402074875778
    ],
    "a_ego": [
      0.5203770209909627,
      0.5203770151922323,
      0.524725799313457,
      0.6065793372665148,
      0.8464215714406025,
      1.222575984454687,
      1.498350168281551,
      1.676620137743292,
      2.065030005756942,
      2.0650300028211324
    ],
    "yaw": [
      -2.5337765167852924,
      -2.493369796462942,
      -2.4631795557372405,
      -2.4447334371966143,
      -2.446611642213579,
      -2.464444309651573,
      -2.5328409006275754,
      -2.6524326170383663,
      -2.8228520497602823,
      -3.0065729870908013
    ],
    "yaw_diff": [
      0.08081344064470031,
      0.06038048145140351,
      0.03689223708125233,
      -0.003756410033929569,
      -0.03566533487598811,
      -0.13679318195200452,
      -0.23918343282158183,
      -0.3408388654438319,
      -0.36744187466103817,
      -0.36744187466103817
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.792536867772992,
    "v_std": 0.8226735151417941,
    "vy_max": 0.08294477179421023,
    "a_max": 2.065030005756942,
    "ax_avg": -0.39568980451206004,
    "a_std": 0.6041171411565637,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "a2978bba82bd5751",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.316949089901222,
    "right_rear_min": 24.128935789230628,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a2978bba82bd5751",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "1c7bdbbc34c853bf": {
    "vx_ego": [
      0.6791518619760848,
      0.3033925532812884,
      0.03667921404563644,
      -0.03544742325146435,
      -0.02240311753491902,
      -0.012556214757608205,
      -0.007491100361819137,
      -0.005034752886075437,
      -0.003570296765183458,
      -0.002409764066325648
    ],
    "vy_ego": [
      0.018350109309762275,
      0.011927368484445089,
      0.017383545503280536,
      0.01494993757544108,
      0.0037043648547859555,
      0.0017488676529617718,
      0.001348958926111038,
      0.0012596042940699638,
      0.0010587092719714516,
      0.0008871637767631603
    ],
    "v_ego": [
      0.6793997189705506,
      0.3036269149886142,
      0.040590052935050955,
      0.038471033891462295,
      0.022707311471435128,
      0.012677423520051466,
      0.007611588192695493,
      0.00518992674336396,
      0.003723960836802367,
      0.0025678828676859457
    ],
    "ax_ego": [
      -0.7516298228865073,
      -0.7516673919155026,
      -0.31523192822018575,
      0.026759953394406562,
      0.025415820617450992,
      0.013972319301629215,
      0.006288292596229151,
      0.0035371119109997295,
      0.002320956961131829,
      0.002320931284285261
    ],
    "ay_ego": [
      -0.010167407697525943,
      -0.0068496552726660664,
      0.029197252146013764,
      -0.03887262385653082,
      -0.006117574704795448,
      -0.0017004647452464735,
      0.00010193013759118895,
      -0.00045924042894596043,
      -0.00034341254176180054,
      -0.0003435591520676588
    ],
    "a_ego": [
      0.7516985877542208,
      0.7516986004020548,
      0.3165811872210575,
      0.04719296548387419,
      0.02614170342436009,
      0.014075414275129044,
      0.0062891186607297945,
      0.0035668000283888396,
      0.0023462253492078705,
      0.0023462214126854014
    ],
    "yaw": [
      2.4250396269419685,
      2.4294535652971545,
      2.4305855158016607,
      2.430235149279441,
      2.430303995190116,
      2.430242617215786,
      2.430212516788456,
      2.4302084350940527,
      2.430153271703656,
      2.4302181767487223
    ],
    "yaw_diff": [
      0.008827876710371996,
      0.0022639010090124145,
      -0.0007007330444395166,
      0.00013769182135003888,
      -0.00012275594866029138,
      -6.0200854659520076e-05,
      -8.163388806714522e-06,
      -0.00011032678079381242,
      0.00012981009013302014,
      0.00012981009013302014
    ],
    "min_front_frame": [
      8,
      23.798759505768274
    ],
    "v_avg": 0.11165658144177126,
    "v_std": 0.20808906873706895,
    "vy_max": 0.018350109309762275,
    "a_max": 0.7516986004020548,
    "ax_avg": -0.17379137569560626,
    "a_std": 0.2939579990018225,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1c7bdbbc34c853bf",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.855777910326375,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      23.798759505768274,
      26.60500186018654
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1c7bdbbc34c853bf",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b8d114f0304d5f87": {
    "vx_ego": [
      0.7161859403492528,
      0.33579455138179215,
      0.05703932235620651,
      -0.02949783975047074,
      -0.024648492981372172,
      -0.016892013498028238,
      -0.009669613957995845,
      -0.006178943902730088,
      -0.004249907347841506,
      -0.0027995058732404477
    ],
    "vy_ego": [
      -0.004731960681162939,
      -0.0150131939151609,
      -0.011506254435057983,
      -0.00405120573173934,
      -0.004680326754503854,
      -0.003254760710313851,
      -0.0019431963236132195,
      -0.0013987641540516402,
      -0.000998669431905888,
      -0.0005121107681174974
    ],
    "v_ego": [
      0.7162015726077621,
      0.3361299997459811,
      0.05818829939068104,
      0.029774734555077554,
      0.02508891517745791,
      0.017202720345892125,
      0.009862932933401302,
      0.006335289173490436,
      0.004365667543395907,
      0.002845960395565907
    ],
    "ax_ego": [
      -0.7607830893336742,
      -0.7607828879629616,
      -0.354267235018033,
      0.0081140694370594,
      0.011282686076747997,
      0.019742201141433637,
      0.00914735838906772,
      0.004815388907007122,
      0.0029007711837376747,
      0.002900728521019228
    ],
    "ay_ego": [
      -0.020569361379247697,
      -0.02057718260217517,
      0.03439375605005776,
      -0.004524810327712719,
      0.0020116067339458485,
      0.003695976173581167,
      0.00155041532152093,
      0.0006269212951927026,
      0.0009733475338632989,
      0.0009734520449523653
    ],
    "a_ego": [
      0.7610611063795334,
      0.7610611165084624,
      0.35593286482503,
      0.009290426864853797,
      0.01146060935371673,
      0.020085187223038356,
      0.009277820496606649,
      0.0048560272482857155,
      0.0030597187586575074,
      0.0030597115609933465
    ],
    "yaw": [
      0.5540265573050909,
      0.5540162970769185,
      0.5536537157181598,
      0.5532670261709878,
      0.5532370461379269,
      0.553175972925446,
      0.5531728848575447,
      0.553185592568999,
      0.5531904448950489,
      0.5531515636857243
    ],
    "yaw_diff": [
      -2.0520456344819138e-05,
      -0.0007251627175173248,
      -0.0007733790943440511,
      -5.996006612174476e-05,
      -0.00012214642496188866,
      -6.1761358025602675e-06,
      2.541542290868115e-05,
      9.704652099706834e-06,
      -7.776241864920763e-05,
      -7.776241864920763e-05
    ],
    "min_front_frame": [
      8,
      8.77994884660188
    ],
    "v_avg": 0.12059960918687054,
    "v_std": 0.2204195508817955,
    "vy_max": 0.0150131939151609,
    "a_max": 0.7610611165084624,
    "ax_avg": -0.1816930008658596,
    "a_std": 0.30163512994823644,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b8d114f0304d5f87",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.797203868417418,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.21120251242383,
      8.919200675451686,
      8.821534442837235,
      8.8514870820134,
      8.81887500510419,
      8.799740472892337,
      8.800060226743074,
      8.788048038892649,
      8.77994884660188,
      8.789705239673632
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b8d114f0304d5f87",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "89de641f85f25a3b": {
    "vx_ego": [
      0.46784223770375133,
      0.7275318211997127,
      1.0810355435277,
      1.5728762181286498,
      2.1159382873971344,
      2.668178586917344,
      3.212964178567659,
      3.711679864705724,
      4.153069196306206,
      4.5732247670822845
    ],
    "vy_ego": [
      -0.01731564124488083,
      0.002934536826475931,
      0.010824200083020874,
      0.008092512537625884,
      0.013804422275370154,
      0.014553892190821927,
      -0.015303959504564979,
      -0.029444767548414852,
      0.0027130165419655405,
      0.04110100578149156
    ],
    "v_ego": [
      0.46816256878500523,
      0.7275377394778616,
      1.081089732481845,
      1.5728970361450412,
      2.1159833170768323,
      2.668218279575743,
      3.2130006261959343,
      3.7117966555830995,
      4.1530700824530085,
      4.573409457169898
    ],
    "ax_ego": [
      0.5193836537072807,
      0.5193498843454672,
      0.8947191206866492,
      1.0727343043705315,
      1.0995961826187397,
      1.1096454006632857,
      1.0695337091882768,
      0.9254401855403712,
      0.8401664877717657,
      0.8403132131799491
    ],
    "ay_ego": [
      0.03925561389358148,
      0.03969990659150413,
      -0.011631218110452701,
      -0.011786027212369599,
      0.014786699664729563,
      -0.04309350317205418,
      -0.0943023280209675,
      0.047390084042805425,
      0.09154495128809703,
      0.09018818548924579
    ],
    "a_ego": [
      0.5208650333440386,
      0.5208650352567586,
      0.8947947195625506,
      1.0727990483826777,
      1.0996955993895219,
      1.1104818617288728,
      1.0736830464155647,
      0.9266527705017564,
      0.8451391632631188,
      0.8451391631244248
    ],
    "yaw": [
      2.554956397967813,
      2.5541009412631692,
      2.5530832923813254,
      2.5506899325627357,
      2.5479948702443163,
      2.54472142199515,
      2.543196730503458,
      2.543889981048056,
      2.5445432781318154,
      2.5461580132752366
    ],
    "yaw_diff": [
      -0.001710913409287862,
      -0.0020352977636877156,
      -0.00478671963717936,
      -0.0053901246368388556,
      -0.006546896498332622,
      -0.0030493829833835306,
      0.0013865010891960239,
      0.0013065941675183268,
      0.0032294702868425063,
      0.0032294702868425063
    ],
    "min_front_frame": [
      0,
      10.511535020168814
    ],
    "v_avg": 2.428516549494427,
    "v_std": 1.3883791964778407,
    "vy_max": 0.04110100578149156,
    "a_max": 1.1104818617288728,
    "ax_avg": 0.8890882142072316,
    "a_std": 0.20919891664476065,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "89de641f85f25a3b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.864401915079515,
    "right_rear_min": 3.1735275903675118,
    "speed_mode": "accelerating",
    "front_frame": [
      10.511535020168814,
      11.203524909848898,
      12.010474752441164,
      13.001174204779613,
      13.877691021993076,
      14.81381490160541,
      15.740840384888148,
      16.797989027981615,
      17.716803729320578,
      18.865251690306096
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "89de641f85f25a3b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ef703bb40b9a516c": {
    "vx_ego": [
      10.610159156683906,
      10.908947828780235,
      10.924611018436805,
      10.810523822516942,
      10.86323084946386,
      10.981967538731192,
      11.143410126049455,
      11.348231893240927,
      11.58471712743646,
      11.793810928821872
    ],
    "vy_ego": [
      0.07666338409147144,
      -0.01748384684617621,
      0.025194955004673947,
      0.030026833087583693,
      0.014817375041506597,
      0.02031219463120637,
      0.0245324302302814,
      -0.0009234069410410939,
      -0.011978304800518202,
      0.010896760136833716
    ],
    "v_ego": [
      10.610436117550668,
      10.90896183951294,
      10.924640071412353,
      10.810565523038635,
      10.863240954859945,
      10.981986323384143,
      11.143437130323594,
      11.348231930809792,
      11.584723320067061,
      11.793815962790827
    ],
    "ax_ego": [
      0.587178638327731,
      0.61118845223981,
      -0.5470333812776192,
      0.09433297735437454,
      0.11667681533555055,
      0.3567315488365507,
      0.2903634342308991,
      0.5299293301320367,
      0.4152288007483591,
      0.42105113982908465
    ],
    "ay_ego": [
      -0.8277677239090584,
      -0.8102017206308814,
      -0.8518921301554588,
      -0.8174539090150685,
      -0.6492770921231601,
      -0.3814075090900531,
      -0.35729768084122226,
      -0.40043651652548606,
      -0.3502739228130262,
      -0.3432531256275095
    ],
    "a_ego": [
      1.0148783956977268,
      1.0148783928454361,
      1.01240590755528,
      0.8228788513387356,
      0.6596773617403834,
      0.5222347038694416,
      0.46040477481546344,
      0.6642096797708198,
      0.5432373127591167,
      0.543237305976335
    ],
    "yaw": [
      -1.1322842857250208,
      -1.1615987480657748,
      -1.2030157706651396,
      -1.242146112469202,
      -1.2745847070376182,
      -1.2987436179483893,
      -1.3158055100864257,
      -1.3304253936071484,
      -1.345809255491734,
      -1.3625994003961306
    ],
    "yaw_diff": [
      -0.05862892468150793,
      -0.08283404519872972,
      -0.07826068360812455,
      -0.06487718913683249,
      -0.04831782182154232,
      -0.034123784276072655,
      -0.029239767041445486,
      -0.03076772376917125,
      -0.03358028980879313,
      -0.03358028980879313
    ],
    "min_front_frame": [
      9,
      28.650001618491103
    ],
    "v_avg": 11.097003917374995,
    "v_std": 0.35219699970142754,
    "vy_max": 0.07666338409147144,
    "a_max": 1.0148783956977268,
    "ax_avg": 0.2875647755756777,
    "a_std": 0.21104435166748767,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "ef703bb40b9a516c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      34.40864310554782,
      28.650001618491103
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "ef703bb40b9a516c",
    "road_shape": "Straight"
  },
  "ac3410e696505284": {
    "vx_ego": [
      1.2520393455542302,
      1.3761712254417473,
      1.504702385880425,
      1.561842653914886,
      1.3584018872386228,
      0.8849238531602986,
      0.352603905546031,
      0.00622176748343643,
      0.02191493210905668,
      0.24073529690851525
    ],
    "vy_ego": [
      0.005414330318568028,
      -0.01684959241649342,
      -0.030981809899535806,
      -0.011020712162399637,
      0.02171056835177121,
      0.025175282034845425,
      0.007180307097462202,
      0.0011587173567806897,
      -0.0012391091767871487,
      0.0019185681995564224
    ],
    "v_ego": [
      1.2520510523891044,
      1.3762743732622658,
      1.5050213096892995,
      1.5618815357396543,
      1.3585753700224397,
      0.8852818877157738,
      0.3526770066453556,
      0.006328745257225299,
      0.021949934872262412,
      0.24074294191433182
    ],
    "ax_ego": [
      0.2484637463552945,
      0.2482821503541644,
      0.2672302729567608,
      -0.03688372452731383,
      -0.7774034847879989,
      -1.1188523816117584,
      -1.0106917227866896,
      -0.3748530027237311,
      0.4376303562044265,
      0.4376467008556494
    ],
    "ay_ego": [
      -0.016721382765728626,
      -0.019230558506989445,
      0.029273827132989372,
      0.1331272714956761,
      0.12450454280690257,
      -0.05041591295257147,
      -0.006618330580802079,
      -0.01717386668754642,
      0.007450428721021418,
      0.006418679669341454
    ],
    "a_ego": [
      0.24902577757032732,
      0.24902578293216676,
      0.26882889677182586,
      0.13814224390420993,
      0.7873103322960269,
      1.1199876856988853,
      1.0107133920203113,
      0.37524620630727124,
      0.43769377144270655,
      0.4376937676258732
    ],
    "yaw": [
      1.1510746948732518,
      1.1611770772783971,
      1.1727501367546167,
      1.1858851553417498,
      1.2062856417580743,
      1.2192175886530545,
      1.225390973295398,
      1.2261268750830894,
      1.2265044254898498,
      1.2288619593882428
    ],
    "yaw_diff": [
      0.020204764810290765,
      0.02314611895243912,
      0.026270037174266125,
      0.04080097283264905,
      0.025863893789960457,
      0.012346769284687031,
      0.0014718035753826797,
      0.0007551008135209258,
      0.004715067796785988,
      0.004715067796785988
    ],
    "min_front_frame": [
      0,
      10.726395894280978
    ],
    "v_avg": 0.8560784157507714,
    "v_std": 0.6041468917367278,
    "vy_max": 0.030981809899535806,
    "a_max": 1.1199876856988853,
    "ax_avg": -0.16794310897111964,
    "a_std": 0.3257149528750364,
    "ini_direction_judge": "straight",
    "scenario_type": "side_ego_to_main",
    "scene_token": "ac3410e696505284",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 32.58640508446449,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.726395894280978,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "ac3410e696505284",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "22af89102e0650b7": {
    "vx_ego": [
      4.2841792717399505,
      4.2106633378672065,
      4.153629194984282,
      4.150854977307099,
      4.229604689048365,
      4.321297959786292,
      4.3542796339419,
      4.416577237597031,
      4.557936392001063,
      4.851107975934851
    ],
    "vy_ego": [
      -0.04052429708537009,
      -0.0370936203194403,
      -0.03686156649246297,
      -0.07410897970243435,
      -0.10076683568765277,
      -0.0654081417056882,
      0.03098400947273494,
      0.07872811724545727,
      0.04376160657341288,
      0.049798457040477695
    ],
    "v_ego": [
      4.284370928276463,
      4.2108267218596644,
      4.1537927565671895,
      4.15151649201923,
      4.230804862055732,
      4.321792947638117,
      4.354389869936339,
      4.4172788696328915,
      4.558146468877186,
      4.851363569193958
    ],
    "ax_ego": [
      -0.1496051589331252,
      -0.14714262604637166,
      -0.08274394937284223,
      0.06722218034091024,
      0.23245158583299308,
      0.10463724979636846,
      0.04438122613568396,
      0.25902796890817226,
      0.39702034453582524,
      0.8016936986251048
    ],
    "ay_ego": [
      -0.13994487075356066,
      -0.14253181611622895,
      -0.3092771081897407,
      -0.5459838422562844,
      -0.8485769263057555,
      -1.0015726832753928,
      -1.355875449369203,
      -1.5312234416319452,
      -1.997438923659561,
      -1.8720776226403832
    ],
    "a_ego": [
      0.20485670706529588,
      0.20485670847012277,
      0.3201544796001206,
      0.5501065147175782,
      0.8798389282219768,
      1.0070237305686585,
      1.3566016096980884,
      1.5529780155816348,
      2.0365135422396805,
      2.0365135431924015
    ],
    "yaw": [
      2.2118718048557966,
      2.1944369104276795,
      2.1673226944280484,
      2.1246128498166197,
      2.0474293507488035,
      1.931538160296253,
      1.7740500798866417,
      1.5979546165543599,
      1.4089892617410122,
      1.2005871815736264
    ],
    "yaw_diff": [
      -0.03486978885623415,
      -0.054228431999262305,
      -0.08541968922285736,
      -0.15436699813563237,
      -0.23178238090510117,
      -0.31497616081922253,
      -0.35219092666456353,
      -0.3779307096266953,
      -0.41680416033477163,
      -0.41680416033477163
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.353428348605677,
    "v_std": 0.20388502715217643,
    "vy_max": 0.10076683568765277,
    "a_max": 2.0365135431924015,
    "ax_avg": 0.1526942519822719,
    "a_std": 0.6725343488579512,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "22af89102e0650b7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.890285146091299,
    "right_rear_min": 19.38689631425419,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "22af89102e0650b7",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "589c06909f1c5c27": {
    "vx_ego": [
      6.240583040127435,
      5.954874495137332,
      5.580635480958344,
      5.05135535620783,
      4.45099873522858,
      3.818523035813681,
      3.1403309485545807,
      2.504040340539663,
      2.0054810237715106,
      1.5846075656530751
    ],
    "vy_ego": [
      -0.009304670140027227,
      0.009490912711518362,
      -0.01137059866399781,
      -0.03246160728856662,
      1.0892896127323581e-05,
      0.008137177773953619,
      -0.01445774944704814,
      -0.04363961883905887,
      -0.048683010667634585,
      -0.03149401329159718
    ],
    "v_ego": [
      6.240589976725966,
      5.954882058467757,
      5.580647064798593,
      5.05145965940908,
      4.4509987352419085,
      3.8185317058657313,
      3.140364229348052,
      2.50442058037032,
      2.0060718262901984,
      1.5849205058923859
    ],
    "ax_ego": [
      -0.5714025134690204,
      -0.571429936739836,
      -0.9254453636273823,
      -1.191339763833052,
      -1.2099800143608694,
      -1.3200475123884206,
      -1.3927280949654437,
      -1.152228326561359,
      -0.8417061992835109,
      -0.8416820494674884
    ],
    "ay_ego": [
      0.014990926884360378,
      0.013906601836151805,
      -0.12576691306885357,
      0.07914711975964772,
      0.08145873201478748,
      -0.01748454223746232,
      -0.05287606800707001,
      -0.044720465465615755,
      0.03646106809015687,
      0.037014291536387134
    ],
    "a_ego": [
      0.5715991255132974,
      0.5715991306651211,
      0.9339520530960282,
      1.1939659540606844,
      1.2127189122687032,
      1.320163302088083,
      1.3937314752397474,
      1.1530958488182372,
      0.8424955402840826,
      0.8424955371832733
    ],
    "yaw": [
      2.6207394183560915,
      2.6188417948163436,
      2.617619571800028,
      2.6193835736596194,
      2.620999003681129,
      2.6228954047188715,
      2.624330047860866,
      2.6260429845337083,
      2.6273871233394606,
      2.62804440350141
    ],
    "yaw_diff": [
      -0.003795247079495745,
      -0.0024444460326309425,
      0.003528003719182493,
      0.0032308600430193124,
      0.0037928020754849356,
      0.00286928628398897,
      0.0034258733456846713,
      0.002688277611504475,
      0.0013145603238990944,
      0.0013145603238990944
    ],
    "min_front_frame": [
      9,
      11.811236483164471
    ],
    "v_avg": 4.033288634240999,
    "v_std": 1.5954673020087744,
    "vy_max": 0.048683010667634585,
    "a_max": 1.3937314752397474,
    "ax_avg": -1.0017989774696383,
    "a_std": 0.2801327277643983,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "589c06909f1c5c27",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      29.733817054626495,
      26.866145796406187,
      24.00241107848866,
      21.350119842400716,
      18.975917234485998,
      16.920190144859195,
      15.176500225899007,
      13.81085533491317,
      12.713782838684978,
      11.811236483164471
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "589c06909f1c5c27",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "569670245b515d11": {
    "vx_ego": [
      3.0996570583127845,
      3.1322044596802296,
      3.2562586296338454,
      3.46958290725944,
      3.6654682388250173,
      3.737368984065218,
      3.6899048159935814,
      3.603976213630936,
      3.4543790924302002,
      3.259895857125543
    ],
    "vy_ego": [
      0.09445411154395167,
      0.028735909635349444,
      0.004586137289317227,
      -0.010729559671408762,
      -0.025521833092401858,
      -0.0504271250846533,
      -0.07334804709607168,
      -0.06953805638449895,
      -0.04755529786630541,
      -0.025328812679584534
    ],
    "v_ego": [
      3.1010958479762962,
      3.1323362734137103,
      3.256261859206063,
      3.4695994976074123,
      3.6655570891474833,
      3.7377091671232234,
      3.690633751417964,
      3.6046470131905166,
      3.4547064159743077,
      3.2599942558317547
    ],
    "ax_ego": [
      0.03620071444667211,
      0.07224813218583148,
      0.41928517685325867,
      0.43773326162107523,
      0.3455645976580854,
      -0.0533078562534388,
      -0.13274672953995406,
      -0.20894590420603198,
      -0.38890982743994584,
      -0.38884601026916954
    ],
    "ay_ego": [
      0.4148109489554178,
      0.4100717277571486,
      0.4153186997747962,
      0.49384214472721155,
      0.34103971112495196,
      0.24186672454448865,
      0.04553498967362127,
      0.06908526951582457,
      0.05236210108054731,
      0.052833851979378565
    ],
    "a_ego": [
      0.41638757798443476,
      0.4163875772763573,
      0.590160725490519,
      0.659917019206352,
      0.48551310560970967,
      0.24767163741578654,
      0.14033933692351017,
      0.22007081893915517,
      0.39241896425751127,
      0.39241895420230405
    ],
    "yaw": [
      0.6770501574440337,
      0.7643946956810659,
      0.8375160853605312,
      0.9096756892737163,
      0.9721057607059908,
      1.0175842634029022,
      1.0430346561102177,
      1.0498294637937282,
      1.052188656556524,
      1.0534017479063478
    ],
    "yaw_diff": [
      0.1746890764740643,
      0.1462427793589307,
      0.1443192078263702,
      0.12486014286454883,
      0.0909570053938229,
      0.050900785414631056,
      0.013589615367020969,
      0.004718385525591451,
      0.002426182699647672,
      0.002426182699647672
    ],
    "min_front_frame": [
      9,
      14.594987234648194
    ],
    "v_avg": 3.437254117088873,
    "v_std": 0.22497209613370692,
    "vy_max": 0.09445411154395167,
    "a_max": 0.659917019206352,
    "ax_avg": 0.013827555505638278,
    "a_std": 0.1531452643761457,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "569670245b515d11",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      17.227526328422844,
      17.36532967119538,
      17.221091852363944,
      16.88098202867952,
      16.203579188995008,
      15.484522954684115,
      14.594987234648194
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "569670245b515d11",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "4f21925f1a7c5983": {
    "vx_ego": [
      1.3136832415225985,
      1.3899545832089952,
      1.5210999392168412,
      1.7788925841677514,
      2.1378175908277073,
      2.4600308862928237,
      2.5892629263932996,
      2.5845624183759512,
      2.55631948245613,
      2.51167323562799
    ],
    "vy_ego": [
      0.018910642528302213,
      0.009954248501613194,
      0.02323452404999682,
      0.03056541527847756,
      -0.013214572809159275,
      -0.020292353370200855,
      0.007415686855165804,
      0.009753271447620282,
      -0.004867774049163165,
      -0.03521417802717686
    ],
    "v_ego": [
      1.3138193450616242,
      1.3899902267451105,
      1.5212773804251833,
      1.7791551564206443,
      2.1378584323071794,
      2.4601145788600896,
      2.589273545689278,
      2.584580821097548,
      2.5563241170886313,
      2.511920078526406
    ],
    "ax_ego": [
      0.15251431014432476,
      0.15249552104456826,
      0.3720617512219179,
      0.6590369935444814,
      0.776654801412007,
      0.5121081731845988,
      0.004838538196376245,
      -0.023597310337489966,
      -0.08933555127467331,
      -0.08929739852071043
    ],
    "ay_ego": [
      -0.014282620554233516,
      -0.014481771597127095,
      0.0738031375075925,
      -0.041675084960460074,
      -0.13264827688560238,
      0.09974504961026356,
      0.002654336665242461,
      -0.005046174528313802,
      -0.06369981561105266,
      -0.06375327992264326
    ],
    "a_ego": [
      0.15318161785506607,
      0.15318161001649552,
      0.3793110199141134,
      0.6603533687099736,
      0.7879011650689721,
      0.5217315937953355,
      0.005518782022352609,
      0.02413082950364562,
      0.10972013138176555,
      0.10972012615496524
    ],
    "yaw": [
      1.081357308840182,
      1.082663174464949,
      1.083748593555104,
      1.084182961031423,
      1.0842854220402163,
      1.0837931282564002,
      1.0829785428529055,
      1.0818453331060418,
      1.0808504549256368,
      1.0802518456982049
    ],
    "yaw_diff": [
      0.002611731249534177,
      0.002170838180309609,
      0.0008687349526383947,
      0.00020492201758637307,
      -0.0009845875676322002,
      -0.0016291708069893218,
      -0.002266419493727412,
      -0.001989756360810002,
      -0.0011972184548638687,
      -0.0011972184548638687
    ],
    "min_front_frame": [
      9,
      16.136792353547357
    ],
    "v_avg": 2.0844313682221696,
    "v_std": 0.5040698520882443,
    "vy_max": 0.03521417802717686,
    "a_max": 0.7879011650689721,
    "ax_avg": 0.24274798286154006,
    "a_std": 0.2647257271075431,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "4f21925f1a7c5983",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.8563195042146834,
    "right_rear_min": 39.3053484957713,
    "speed_mode": "accelerating",
    "front_frame": [
      16.606071608879184,
      16.847807259570747,
      17.41490340458466,
      17.91784014501927,
      18.31598760923368,
      18.208052720328368,
      17.94115796283216,
      17.33761937441529,
      16.72588888652126,
      16.136792353547357
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4f21925f1a7c5983",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "f9ed38d9ddfa531e": {
    "vx_ego": [
      2.8144017028262702,
      2.728009095327786,
      2.651764140952869,
      2.594489000040861,
      2.5420924498119826,
      2.4602235139684483,
      2.3735818856201316,
      2.289455237492744,
      2.217723090357485,
      2.171774686227789
    ],
    "vy_ego": [
      -0.02686102124667067,
      -0.11478824816837196,
      -0.09963001530234794,
      -0.05510364532993739,
      -0.00970033102592116,
      -0.03577918911427602,
      -0.03270307485669455,
      0.0077047385187913875,
      -0.0027717357162206913,
      -0.03773997134848939
    ],
    "v_ego": [
      2.814529882473061,
      2.730423037939119,
      2.653635091566407,
      2.5950740997246444,
      2.542110957415726,
      2.4604836697399426,
      2.3738071654726087,
      2.289468201892876,
      2.2177248224303288,
      2.172102574276177
    ],
    "ax_ego": [
      -0.17537482561936715,
      -0.14278828715197828,
      -0.15207788841795308,
      -0.07688171251429413,
      -0.1332000041980701,
      -0.19413976385604048,
      -0.16215500655892218,
      -0.17204440512877725,
      -0.11077993895170257,
      -0.07901115424535607
    ],
    "ay_ego": [
      0.338250753721308,
      0.3532441171416336,
      0.07996406464479633,
      0.10273467224707544,
      -0.09913070862536622,
      -0.29061019083453143,
      -0.14903953297270334,
      -0.31756841100983596,
      -0.4060148699500908,
      -0.4133733263205714
    ],
    "a_ego": [
      0.3810116820440764,
      0.3810116812421477,
      0.17181948603165054,
      0.12831683677851705,
      0.16603956911210396,
      0.34949181811161467,
      0.22024311235733485,
      0.36117720444046153,
      0.420856590176193,
      0.4208565900737649
    ],
    "yaw": [
      -0.8115442061965322,
      -0.7173643344949554,
      -0.6827553190308813,
      -0.6823159791480633,
      -0.6995957867663036,
      -0.7280365770765738,
      -0.7748547998824251,
      -0.8421574214069465,
      -0.9180001967587772,
      -0.9955040721009005
    ],
    "yaw_diff": [
      0.18835974340315365,
      0.06921803092814827,
      0.0008786797656359369,
      -0.034559615236480656,
      -0.05688158062054027,
      -0.0936364456117027,
      -0.13460524304904276,
      -0.1516855507036614,
      -0.15500775068424666,
      -0.15500775068424666
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.4849359502930892,
    "v_std": 0.2081289344385408,
    "vy_max": 0.11478824816837196,
    "a_max": 0.420856590176193,
    "ax_avg": -0.13984529866424614,
    "a_std": 0.10896896308358554,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "f9ed38d9ddfa531e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "f9ed38d9ddfa531e",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "b86c171d4a9d51e3": {
    "vx_ego": [
      5.254402831743352,
      4.970856966106663,
      4.688922710022568,
      4.323446011598665,
      3.7869448677348947,
      3.1260744769119087,
      2.414036010713988,
      1.6356143590977632,
      1.0146662962150519,
      0.6050356689862245
    ],
    "vy_ego": [
      -0.07857560589786505,
      -0.04024975839570377,
      -0.013578924369662904,
      0.002301047873173978,
      -0.006042442253931135,
      -0.004331003946272505,
      0.0057541434169505745,
      0.007417225157347218,
      -0.0018160364118022243,
      -0.007793393684040806
    ],
    "v_ego": [
      5.254990318171364,
      4.971019917536244,
      4.6889423719803185,
      4.323446623936708,
      3.7869496883866907,
      3.126077477094137,
      2.4140428685486035,
      1.6356311769209528,
      1.0146679213728107,
      0.6050858598006754
    ],
    "ax_ego": [
      -0.5673371303729584,
      -0.5674678390180836,
      -0.5602886653807524,
      -0.9015521665435464,
      -1.2445382707987414,
      -1.3988905555933315,
      -1.4492462882647428,
      -1.6645534800330957,
      -0.8192466478767853,
      -0.8192567519346794
    ],
    "ay_ego": [
      0.050570824264736025,
      0.04908229082235552,
      0.054188545081863465,
      0.0582028559622037,
      0.017412304115836164,
      0.021563853338857686,
      0.04291903554085308,
      -0.02023330596163264,
      -0.010776353180730336,
      -0.009978576867439082
    ],
    "a_ego": [
      0.5695865410687283,
      0.5695865338929845,
      0.5629029996120414,
      0.9034289576062523,
      1.244660072396212,
      1.3990567487772037,
      1.449881666778669,
      1.664676447409654,
      0.8193175207727619,
      0.8193175193945631
    ],
    "yaw": [
      2.229844263521455,
      2.227220854432423,
      2.227044186652864,
      2.2297301157356664,
      2.236378900654577,
      2.2386899044923174,
      2.2408638278095734,
      2.242817462204262,
      2.244031788563146,
      2.2450055781861877
    ],
    "yaw_diff": [
      -0.005246818178063606,
      -0.0003533355591178733,
      0.005371858165604593,
      0.013297569837821044,
      0.0046220076754810435,
      0.0043478466345119315,
      0.003907268789377305,
      0.002428652717767932,
      0.001947579246083464,
      0.001947579246083464
    ],
    "min_front_frame": [
      7,
      10.493930652919174
    ],
    "v_avg": 3.1820854223748505,
    "v_std": 1.6049790569088709,
    "vy_max": 0.07857560589786505,
    "a_max": 1.664676447409654,
    "ax_avg": -0.9992377795816717,
    "a_std": 0.3872306959550132,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "b86c171d4a9d51e3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 26.15283464272097,
    "right_rear_min": 6.463028580788302,
    "speed_mode": "decelerating",
    "front_frame": [
      17.321609466941002,
      16.63600545827408,
      15.799752339701602,
      14.533103208960775,
      13.143989974714499,
      11.803142659506724,
      10.869146932381303,
      10.493930652919174,
      10.818678658401788,
      11.4173826694562
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b86c171d4a9d51e3",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "33aa90792d5855a7": {
    "vx_ego": [
      1.9693176197618671,
      2.747390075235964,
      3.5186664940770447,
      4.26583301429873,
      5.001020363911635,
      5.74904482650182,
      6.488613486486487,
      7.1497154336318305,
      7.773562288871453,
      8.422814859052966
    ],
    "vy_ego": [
      -0.020627106449708325,
      0.011938793872524944,
      0.025577769624865944,
      0.019575827530209478,
      0.023447085465643586,
      0.026334285161391593,
      0.008839678427797898,
      0.0038224319488308622,
      0.02522017971997867,
      0.019244102823693127
    ],
    "v_ego": [
      1.9694256434364394,
      2.747416015150273,
      3.5187594573712233,
      4.265877930614574,
      5.001075328974329,
      5.749105140080698,
      6.488619507794322,
      7.149716455419697,
      7.773603200345995,
      8.422836843093718
    ],
    "ax_ego": [
      1.5561680584276356,
      1.5561015005311771,
      1.529001587926991,
      1.459631615984767,
      1.4810443645088964,
      1.5108124336946038,
      1.4473794801882016,
      1.1970368729075918,
      1.2984869399033865,
      1.2984847895600242
    ],
    "ay_ego": [
      0.05902500529785487,
      0.06075445943382473,
      -0.005897251370285839,
      -0.01263148922452504,
      0.0538838235494737,
      -0.0016594563324410505,
      -0.04645547357004637,
      0.03961364828335252,
      -0.004672037403449816,
      -0.005233197097612292
    ],
    "a_ego": [
      1.5572870568141408,
      1.5572870590538141,
      1.5290129605261638,
      1.4596862707110498,
      1.4820242494925215,
      1.5108133450567383,
      1.448124811849616,
      1.1976921625487507,
      1.2984953450179018,
      1.298495335020732
    ],
    "yaw": [
      -1.5535884068802919,
      -1.5546997854247762,
      -1.5546757684772334,
      -1.5543246314503776,
      -1.5529335338460246,
      -1.551040348208315,
      -1.550148216589117,
      -1.549665505621543,
      -1.5513653865558186,
      -1.5509332197248071
    ],
    "yaw_diff": [
      -0.0022227570889685744,
      4.803389508545308e-05,
      0.0007022740537117045,
      0.0027821952087059287,
      0.0037863712754191425,
      0.0017842632383961998,
      0.0009654219351480364,
      -0.0033997618685512876,
      0.0008643336620228759,
      0.0008643336620228759
    ],
    "min_front_frame": [
      0,
      15.550898577978083
    ],
    "v_avg": 5.308643552228127,
    "v_std": 2.069928288283272,
    "vy_max": 0.026334285161391593,
    "a_max": 1.5572870590538141,
    "ax_avg": 1.4334147643633275,
    "a_std": 0.11876745183649347,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "33aa90792d5855a7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.9405279141563305,
    "right_rear_min": 14.881953888927457,
    "speed_mode": "accelerating",
    "front_frame": [
      15.550898577978083,
      16.15138532567704,
      16.80042994087795,
      17.505678609363184,
      18.129035445226776,
      18.72876989370889,
      19.232487844678268,
      19.606004095268904,
      19.94502053234385,
      20.203516444198037
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "33aa90792d5855a7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "78e0e3e1292d5431": {
    "vx_ego": [
      6.7631959779642425,
      7.077613388197642,
      7.3673521979460475,
      7.491649835839189,
      7.44331168360017,
      7.350491952351321,
      7.36796633021499,
      7.5456866733618435,
      7.736918521995191,
      7.8994356995926776
    ],
    "vy_ego": [
      -0.05310376029180652,
      0.10482102319904207,
      0.07974081097328067,
      0.0711016494229213,
      0.030322240647346455,
      -0.014832414172774477,
      -0.007843881700945854,
      0.009805108917255279,
      -0.0191950631803115,
      -0.08083194086466383
    ],
    "v_ego": [
      6.7634044567590985,
      7.07838955693306,
      7.367783724127299,
      7.491987233530234,
      7.443373446059029,
      7.3505069173555455,
      7.367970505482624,
      7.545693043896724,
      7.736942333147039,
      7.899849250122638
    ],
    "ax_ego": [
      0.620744995201448,
      0.6414309659002442,
      0.520610471457638,
      -0.021090173155449067,
      -0.1707007060896474,
      -0.20072122822160496,
      0.27074058168845966,
      0.44009554464162354,
      0.3248791248575717,
      0.32500561418567303
    ],
    "ay_ego": [
      -0.41620122934194864,
      -0.38355459385809987,
      -0.10526571484155639,
      -0.1461745550319304,
      -0.21432967313391,
      -0.04554001768565567,
      0.10321186478828681,
      -0.010472152483793157,
      -0.13779120393912614,
      -0.1374925986103538
    ],
    "a_ego": [
      0.7473605638334117,
      0.7473605625702845,
      0.5311460568548428,
      0.1476881713019349,
      0.2739998902284322,
      0.205822507684654,
      0.28974670249388706,
      0.44022012038416763,
      0.35289213883453896,
      0.3528921420559466
    ],
    "yaw": [
      0.638640007794284,
      0.5869208217162261,
      0.5735015113557341,
      0.5662694023164957,
      0.5596777290527344,
      0.5570005666798604,
      0.5580182554464977,
      0.5587627678527806,
      0.5577092183759071,
      0.5567903233445841
    ],
    "yaw_diff": [
      -0.10343837215611584,
      -0.026838620720983863,
      -0.014464218078476865,
      -0.013183346527522621,
      -0.005354324745747929,
      0.0020353775332746515,
      0.0014890248125656314,
      -0.002107098953746833,
      -0.0018377900626460608,
      -0.0018377900626460608
    ],
    "min_front_frame": [
      4,
      13.481976541033607
    ],
    "v_avg": 7.404590046741329,
    "v_std": 0.3013201948696799,
    "vy_max": 0.10482102319904207,
    "a_max": 0.7473605638334117,
    "ax_avg": 0.27509951904659563,
    "a_std": 0.1982870515960425,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "78e0e3e1292d5431",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.437090366903871,
    "right_rear_min": 30.508388435536702,
    "speed_mode": "accelerating",
    "front_frame": [
      14.333606983243879,
      14.176137440161446,
      14.005376344941006,
      13.69073007572608,
      13.481976541033607,
      13.504295178312475,
      13.581180409651155,
      13.71274628484626,
      13.938164324843902,
      14.200644355113605
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "78e0e3e1292d5431",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "a61948a5dada537e": {
    "vx_ego": [
      1.7718103330159427,
      1.599213436281872,
      1.4708681171372677,
      1.3969013566897024,
      1.206574779950043,
      0.8856730117426335,
      0.5489747951874078,
      0.24693659987044544,
      0.05088649080256821,
      -0.08393977471892235
    ],
    "vy_ego": [
      -0.1508719692345477,
      -0.09022324301403628,
      -0.07496926584639962,
      -0.06018571239452519,
      -0.02982701270651933,
      -0.018133699037956363,
      -0.01872543263338114,
      -0.02275002722609934,
      0.00010928742642824646,
      0.03401577065400719
    ],
    "v_ego": [
      1.7782222041361355,
      1.601756488472715,
      1.4727774471495954,
      1.398197310932176,
      1.206943391505372,
      0.8858586313684967,
      0.5492940629374794,
      0.24798235440120478,
      0.05088660815913588,
      0.09057018512208889
    ],
    "ax_ego": [
      -0.34707119623857585,
      -0.34792436124493575,
      -0.16768377528072168,
      -0.13123796568865226,
      -0.6308669352965237,
      -0.6531196930705967,
      -0.6937148678068042,
      -0.5145298393323862,
      -0.26965189432629105,
      -0.26965253218685026
    ],
    "ay_ego": [
      0.09063521815337838,
      0.08730289417158635,
      -0.08100207761280781,
      0.09112984547925637,
      -0.0023955819792520483,
      0.03529283278432044,
      -0.041049755236148566,
      0.02375414658936506,
      0.06781455765060947,
      0.0678120124201955
    ],
    "a_ego": [
      0.3587104097014561,
      0.3587104075412808,
      0.18622348152149584,
      0.15977500547698006,
      0.6308714836346999,
      0.6540725628877674,
      0.6949283417886765,
      0.515077872795561,
      0.2780484820010803,
      0.27804847984345654
    ],
    "yaw": [
      -0.5400231561451967,
      -0.5496125569867836,
      -0.558656246258793,
      -0.5672277741495934,
      -0.5732204122896487,
      -0.576527665080393,
      -0.5777008311394701,
      -0.5784977917295637,
      -0.5782199971586888,
      -0.5782294287872665
    ],
    "yaw_diff": [
      -0.019178801683173763,
      -0.018087378544018762,
      -0.017143055781600802,
      -0.011985276280110702,
      -0.006614505581488572,
      -0.0023463321181542707,
      -0.0015939211801871966,
      0.0005555891417499126,
      -1.886325715538817e-05,
      -1.886325715538817e-05
    ],
    "min_front_frame": [
      8,
      8.489984963046007
    ],
    "v_avg": 0.92824886841844,
    "v_std": 0.6205430729321534,
    "vy_max": 0.1508719692345477,
    "a_max": 0.6949283417886765,
    "ax_avg": -0.4025453060472338,
    "a_std": 0.18797136716803498,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a61948a5dada537e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.4434519581510425,
    "speed_mode": "decelerating",
    "front_frame": [
      10.964243659344898,
      10.512143955022763,
      10.093685440828297,
      9.657021172110007,
      9.19793774099218,
      8.786646639006312,
      8.597033972682944,
      8.499606325832797,
      8.489984963046007,
      8.537836092430563
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a61948a5dada537e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4b347fca93c65596": {
    "vx_ego": [
      6.792991634838844,
      6.632326456128265,
      6.453295528947115,
      6.254896459138352,
      6.070592392619261,
      5.879128981218555,
      5.636075176582055,
      5.293016261554201,
      4.82581947298075,
      4.303877919956771
    ],
    "vy_ego": [
      -0.050201885457855866,
      -0.014867199687478294,
      0.011719714542995918,
      0.030574190471993834,
      0.03125689066487025,
      0.01998363489298094,
      0.004332195612878786,
      -0.0034890797735396273,
      0.0007265870986900014,
      -0.0071151723263874755
    ],
    "v_ego": [
      6.7931771344705885,
      6.632343119462793,
      6.453306170920283,
      6.254971182640612,
      6.070672861433144,
      5.8791629441160635,
      5.636076841563045,
      5.293017411529541,
      4.8258195276791085,
      4.303883801355313
    ],
    "ax_ego": [
      -0.3228805385028547,
      -0.3174274026032498,
      -0.3989122343553316,
      -0.39662056560447567,
      -0.34258853109274345,
      -0.4249902578439823,
      -0.5475670925591135,
      -0.8248117045512651,
      -1.0442730709688415,
      -1.0432817588599956
    ],
    "ay_ego": [
      0.30535975277822536,
      0.3110245407999022,
      0.27482732992142167,
      0.1934349218494258,
      0.16431832839054855,
      0.11338599195654746,
      0.1642030624414409,
      0.14931257255257868,
      0.08170807822856926,
      0.09351806016223291
    ],
    "a_ego": [
      0.44440569388867235,
      0.4444056940490701,
      0.48441824076937995,
      0.4412764916141666,
      0.37995712216162997,
      0.4398557745832886,
      0.5716575605804479,
      0.838217508936095,
      1.047464775922561,
      1.0474647755158706
    ],
    "yaw": [
      1.262868614993156,
      1.2805621026160474,
      1.298854910895035,
      1.3143116429350896,
      1.3287291563679375,
      1.342212187856667,
      1.3569442649756773,
      1.3726189810240499,
      1.3831439612226162,
      1.394458497225993
    ],
    "yaw_diff": [
      0.035386975245782715,
      0.03658561655797499,
      0.03091346408010942,
      0.028835026865695834,
      0.02696606297745907,
      0.029464154238020512,
      0.03134943209674512,
      0.021049960397132583,
      0.02262907200675368,
      0.02262907200675368
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.814243099517049,
    "v_std": 0.7656238599423169,
    "vy_max": 0.050201885457855866,
    "a_max": 1.047464775922561,
    "ax_avg": -0.5663353156941853,
    "a_std": 0.2484152370791134,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4b347fca93c65596",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4b347fca93c65596",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "017514eaeeef5716": {
    "vx_ego": [
      0.8007225887949097,
      1.7406722206528038,
      2.658989349007421,
      3.509039876897379,
      4.330267734565215,
      5.0965454499008915,
      5.776958409498366,
      6.442525176454644,
      7.090288413892238,
      7.721924385012393
    ],
    "vy_ego": [
      -0.03241907688260709,
      -0.032706781385676065,
      -0.02029654224910915,
      -0.0017448421312027396,
      0.008471755477707621,
      -0.0025895272970268834,
      0.0067614934451685205,
      -0.0038819412277342202,
      -0.006188369917815795,
      0.014733666313806904
    ],
    "v_ego": [
      0.8013786001337584,
      1.7409794695231113,
      2.659066811451374,
      3.509040310701779,
      4.330276021647746,
      5.096546107763286,
      5.776962366405679,
      6.442526345985683,
      7.090291114481601,
      7.721938441141063
    ],
    "ax_ego": [
      1.8798714585338272,
      1.8798721355345582,
      1.7933653151904618,
      1.6071474622747772,
      1.6775619123451242,
      1.387564644253987,
      1.334157975869156,
      1.3277818790863891,
      1.2632995951271353,
      1.263270967007666
    ],
    "ay_ego": [
      -0.0020386108675506387,
      -0.0012485069237183621,
      0.04879406886502036,
      0.08668078680963581,
      0.039459634503901886,
      0.06695142236002777,
      0.10633076142184572,
      0.026837446400626463,
      0.016170337662658074,
      0.018270410414220117
    ],
    "a_ego": [
      1.8798725639107476,
      1.879872550129077,
      1.7940289894214612,
      1.6094833097296144,
      1.6780259332043148,
      1.389178942735501,
      1.3383884844841698,
      1.3280530738488914,
      1.263403081707698,
      1.263403080565022
    ],
    "yaw": [
      1.235520836671658,
      1.2351005372801098,
      1.234863571152728,
      1.239792938686353,
      1.245244041327435,
      1.2531738469051792,
      1.2594142927403629,
      1.266604378550457,
      1.26853196507808,
      1.2668695745531895
    ],
    "yaw_diff": [
      -0.0008405987830961692,
      -0.00047393225476355383,
      0.009858735067250102,
      0.010902205282163902,
      0.015859611155488285,
      0.012480891670367367,
      0.014380171620188342,
      0.003855173055245853,
      -0.003324781049780956,
      -0.003324781049780956
    ],
    "min_front_frame": [
      7,
      21.866622632233174
    ],
    "v_avg": 4.516900558923508,
    "v_std": 2.203165557160447,
    "vy_max": 0.032706781385676065,
    "a_max": 1.8798725639107476,
    "ax_avg": 1.541389334522308,
    "a_std": 0.2409787780420346,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "017514eaeeef5716",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.174380410452516,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      35.290820907854744,
      34.65213859549966,
      33.434402898249104,
      31.864456638507704,
      29.94062217567093,
      27.605355199809843,
      24.900455875019308,
      21.866622632233174,
      26.425955522237487,
      22.77192153858706
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "017514eaeeef5716",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "af0e1a3043ba51c6": {
    "vx_ego": [
      4.55345342238479,
      4.952946550109868,
      5.377633046830109,
      5.807584750456639,
      6.1575036616948156,
      6.381777078804811,
      6.47742543659305,
      6.48592530753279,
      6.569416454761375,
      6.7990452530074705
    ],
    "vy_ego": [
      0.09357984106565453,
      -0.002346893899527913,
      -0.04845625561843825,
      -0.045995083184376284,
      -0.06013952579484716,
      -0.010284621949134376,
      0.015688818025973994,
      0.07862411676711245,
      0.06158963252954841,
      -0.10109464161884585
    ],
    "v_ego": [
      4.5544149192274554,
      4.952947106133501,
      5.377851354869139,
      5.807766884217517,
      6.157797342097894,
      6.381785365946359,
      6.477444436321605,
      6.486401841285485,
      6.569705156163756,
      6.799796796890879
    ],
    "ax_ego": [
      0.7959135038020357,
      0.8062792543917282,
      0.8913080821804966,
      0.8208904099364233,
      0.5701370108522751,
      0.3089386210099896,
      0.07033427338818615,
      -0.032748953135145475,
      0.3694564658835191,
      0.555440935221088
    ],
    "ay_ego": [
      -0.4339174206424835,
      -0.4143385068859098,
      -0.5568176738853949,
      -0.6557060162697053,
      -0.778142614347278,
      -0.4007375923875497,
      0.21658487596019058,
      0.8286343233610483,
      1.4500543797028833,
      1.3894751398472882
    ],
    "a_ego": [
      0.9065112428819949,
      0.9065112433670783,
      1.0509405403310965,
      1.0506243119678298,
      0.9646564877751996,
      0.5059977168961575,
      0.22771894630824036,
      0.8292812163454989,
      1.4963808954536455,
      1.4963808996284729
    ],
    "yaw": [
      -0.704358361684625,
      -0.7287972932405458,
      -0.7669483599619484,
      -0.8214911032641439,
      -0.8787292295854627,
      -0.9333901775429583,
      -0.9445383602025629,
      -0.9139967899737986,
      -0.8234810795504852,
      -0.6926712423134654
    ],
    "yaw_diff": [
      -0.04887786311184161,
      -0.07630213344280534,
      -0.10908548660439088,
      -0.11447625264263772,
      -0.10932189591499109,
      -0.0222963653192092,
      0.061083140457528495,
      0.18103142084662682,
      0.26161967447403955,
      0.26161967447403955
    ],
    "min_front_frame": [
      2,
      17.27783504316783
    ],
    "v_avg": 5.956591120315359,
    "v_std": 0.7204619404572336,
    "vy_max": 0.10109464161884585,
    "a_max": 1.4963808996284729,
    "ax_avg": 0.5155949603530596,
    "a_std": 0.3680155282024997,
    "ini_direction_judge": "straight",
    "scenario_type": "roundout_entrance",
    "scene_token": "af0e1a3043ba51c6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.680316475747968,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      50.128954702244286,
      17.27783504316783,
      17.356780145389585,
      17.4552738176642,
      54.287964320895746,
      54.910793392486745,
      55.94720122444096,
      -1,
      18.438626881705463
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "af0e1a3043ba51c6",
    "merge_risk": "No"
  },
  "1ecea4b911675b72": {
    "vx_ego": [
      8.416868958226129,
      8.291395193649198,
      8.313508602832737,
      8.478149986368452,
      8.591429187057969,
      8.536637367534137,
      8.370472945997191,
      8.307438711860785,
      8.481396592850222,
      8.799803284462152
    ],
    "vy_ego": [
      0.0036490822010266655,
      -0.05262539463605309,
      -0.05223084402615452,
      0.00858595689451036,
      0.05544994082248689,
      0.04847382026492442,
      0.0212234654234007,
      -0.007290898654607858,
      -0.03053940569933511,
      -0.05412815416016592
    ],
    "v_ego": [
      8.416869749244757,
      8.291562198369475,
      8.31367267520448,
      8.478154333934667,
      8.591608124918686,
      8.536774991531125,
      8.370499852168654,
      8.30744191123395,
      8.481451575085,
      8.799969755760737
    ],
    "ax_ego": [
      -0.2510293568508495,
      -0.25093761368044964,
      0.3380528864287883,
      0.319647651245955,
      0.13455564219544375,
      -0.35288680749798534,
      -0.3111799878397,
      0.05900464509012716,
      0.63692384644812,
      0.6368926537801973
    ],
    "ay_ego": [
      -0.12473594293423679,
      -0.12492040365602536,
      -0.052711375913336356,
      -0.06733043023054297,
      -0.052923183361334517,
      -0.0997206077839243,
      -0.1360240409271195,
      -0.0210406262714897,
      -0.02741633697170559,
      -0.02813145554878904
    ],
    "a_ego": [
      0.2803119573986174,
      0.28031195695015027,
      0.3421377546742135,
      0.32666191663872557,
      0.14458936400622874,
      0.36670601102642897,
      0.3396108427922444,
      0.06264388314998016,
      0.6375136404087479,
      0.6375136321918738
    ],
    "yaw": [
      -0.5626204816513987,
      -0.5633554011430109,
      -0.5687999652258162,
      -0.5796150354303297,
      -0.5886039968206457,
      -0.5922196398580917,
      -0.5959701706931173,
      -0.59726671109666,
      -0.595928807984212,
      -0.5948059929366868
    ],
    "yaw_diff": [
      -0.0014698389832243919,
      -0.010889128165610718,
      -0.021630140409026888,
      -0.01797792278063204,
      -0.007231286074891985,
      -0.007501061670051268,
      -0.002593080807085313,
      0.002675806224895938,
      0.0022456300950504104,
      0.0022456300950504104
    ],
    "min_front_frame": [
      1,
      44.13085067824793
    ],
    "v_avg": 8.458800516745153,
    "v_std": 0.14916344708225768,
    "vy_max": 0.05544994082248689,
    "a_max": 0.6375136404087479,
    "ax_avg": 0.0959043559319647,
    "a_std": 0.17324237881457127,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1ecea4b911675b72",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.505726559714494,
    "speed_mode": "quasi_constant",
    "front_frame": [
      47.755641542094494,
      44.13085067824793,
      -1,
      78.23424951808349,
      73.82011957273049,
      69.50211855236269,
      65.26849020345966,
      61.13657117804271,
      56.98183971408332,
      52.71943693499847
    ],
    "safe_frame": [
      1,
      1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1111111111111111,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8888888888888888,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1ecea4b911675b72",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0cf1a04807e1505b": {
    "vx_ego": [
      1.5586765969394196,
      1.2694815920539269,
      0.93557617753849,
      0.5489585706404355,
      0.20300088754657208,
      0.013878989702787881,
      -0.023655927588788084,
      -0.01612036725421185,
      -0.009236790498827524,
      -0.004688583776465102
    ],
    "vy_ego": [
      0.006663802889832926,
      -0.005418502715602291,
      -0.00251423030959802,
      0.004465136255008578,
      0.007056769512582425,
      0.009988606737271819,
      0.004842237503535839,
      0.0011491290326010742,
      0.00048692639685451924,
      -4.210820435505058e-05
    ],
    "v_ego": [
      1.558690841737259,
      1.269493155844273,
      0.9355795558537936,
      0.5489767296720015,
      0.20312350514071414,
      0.017099667240094586,
      0.024146431912948012,
      0.01616127278230995,
      0.009249615993931,
      0.00468877285969429
    ],
    "ax_ego": [
      -0.5784053782174914,
      -0.5783711256546,
      -0.7572973307909495,
      -0.7891602530236154,
      -0.5946711627646736,
      -0.16184263892992135,
      0.011703939028339553,
      0.01843808037852951,
      0.009096423138732778,
      0.009096384538827893
    ],
    "ay_ego": [
      -0.027308041455283733,
      -0.028024131010246173,
      0.03520687579184384,
      -0.00877156659104017,
      0.01924162115731226,
      -0.007394204195659865,
      -0.01318807332075471,
      -0.0015872590463678355,
      -0.0010584077866735773,
      -0.0010587424511992695
    ],
    "a_ego": [
      0.5790496616690513,
      0.5790496618683484,
      0.7581152757504094,
      0.7892089997793725,
      0.5949823794102229,
      0.1620114626546159,
      0.01763256835213441,
      0.01850627459337485,
      0.009157791270921409,
      0.009157791614586923
    ],
    "yaw": [
      1.0106176446533377,
      1.0093795658480755,
      1.0083940640107953,
      1.0078975310422653,
      1.0079711309861938,
      1.0085236047072406,
      1.0084934632292788,
      1.008528403231219,
      1.0084600555315077,
      1.008496705470618
    ],
    "yaw_diff": [
      -0.002476157610524332,
      -0.0019710036745603787,
      -0.0009930659370600559,
      0.0001471998878570524,
      0.0011049474420934402,
      -6.028295592352961e-05,
      6.988000388030713e-05,
      -0.00013669539942240405,
      7.329987822046746e-05,
      7.329987822046746e-05
    ],
    "min_front_frame": [
      4,
      12.243777290703704
    ],
    "v_avg": 0.458720954903702,
    "v_std": 0.5617889957168769,
    "vy_max": 0.009988606737271819,
    "a_max": 0.7892089997793725,
    "ax_avg": -0.3411413062296821,
    "a_std": 0.31818559539654434,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0cf1a04807e1505b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.91200615233088,
      13.161348297297513,
      12.73380362564627,
      12.372450037164674,
      12.243777290703704,
      12.288828682645146,
      12.39236945802516,
      12.361806739403264,
      12.431000039472528,
      12.430824108582966
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0cf1a04807e1505b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dec6932758755596": {
    "vx_ego": [
      4.981242406367754,
      5.103537593057545,
      5.205331836038076,
      5.262075441481368,
      5.270045817846337,
      5.209228235609407,
      5.060613114204387,
      4.848177957645494,
      4.650408453259127,
      4.510547428995399
    ],
    "vy_ego": [
      -0.014322699456106855,
      0.028477217652433218,
      0.02474601785285513,
      -0.0018385930625506308,
      0.0011279783144784172,
      -0.017915287353795772,
      -0.038279725412536214,
      -0.02597334453755662,
      -0.00847552071090299,
      -0.0239368121199931
    ],
    "v_ego": [
      4.981262997545514,
      5.103617042419701,
      5.205390656681888,
      5.262075762687743,
      5.270045938560189,
      5.209259042147094,
      5.060757890774374,
      4.848247531183417,
      4.65041617670884,
      4.510610943119731
    ],
    "ax_ego": [
      0.21581027122687896,
      0.2708032723155559,
      0.12778950032899136,
      0.08463958209585504,
      -0.05572620588272034,
      -0.1852814886695689,
      -0.4067121690269019,
      -0.4374837907477825,
      -0.3571207618798032,
      -0.20824888382430326
    ],
    "ay_ego": [
      0.7967188613620451,
      0.7797439357206918,
      0.7648775548359185,
      0.3622688457805933,
      -0.017957702668151276,
      -0.38039566230669136,
      -0.7065060428694281,
      -1.0831223840185984,
      -1.163194540227154,
      -1.19882825261974
    ],
    "a_ego": [
      0.8254302012993302,
      0.8254302015252456,
      0.7754790972593051,
      0.372024966205985,
      0.05854817765909596,
      0.4231194747885731,
      0.8152089161960788,
      1.1681379053558623,
      1.2167813184709366,
      1.2167813184353906
    ],
    "yaw": [
      1.5804566566066063,
      1.6501959626730383,
      1.72553986263391,
      1.7843824850254766,
      1.8001121769822144,
      1.784787579779586,
      1.736108353478575,
      1.6434576543685018,
      1.5214217898372877,
      1.3955337428824197
    ],
    "yaw_diff": [
      0.13947861213286394,
      0.15068779992174353,
      0.11768524478313314,
      0.03145938391347558,
      -0.030649194405256708,
      -0.09735845260202192,
      -0.18530139822014657,
      -0.24407172906242813,
      -0.251776093909736,
      -0.251776093909736
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.010168398182849,
    "v_std": 0.25021343249369926,
    "vy_max": 0.038279725412536214,
    "a_max": 1.2167813184709366,
    "ax_avg": -0.09515306740637988,
    "a_std": 0.36753676716727995,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "dec6932758755596",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 28.68329622974084,
    "right_rear_min": 28.489954764521116,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dec6932758755596",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0d8754f6d53d5968": {
    "vx_ego": [
      1.2513043247277946,
      1.348380693035867,
      1.6463028341458037,
      2.313902059871169,
      3.2344563600569396,
      4.261641139719561,
      5.234169715928655,
      6.143008181056909,
      7.061201665894801,
      7.975286613011043
    ],
    "vy_ego": [
      -0.019375313417787976,
      -0.004693720534145074,
      0.005995126764835157,
      0.006526249121222127,
      0.0016099446725068578,
      0.006096768809211728,
      0.015053120016530919,
      0.020736903073226287,
      0.014507282887664452,
      -0.00829676069850116
    ],
    "v_ego": [
      1.2514543203219683,
      1.348388862444487,
      1.646313749946052,
      2.3139112633382535,
      3.234456760730407,
      4.26164550078255,
      5.234191361764192,
      6.14304318165526,
      7.061216568530687,
      7.975290928606382
    ],
    "ax_ego": [
      0.1941622776883229,
      0.1942025461854774,
      0.9974846303359535,
      1.672899605320875,
      2.009303903425446,
      2.0994368949527553,
      1.7907299389197466,
      1.844605336668054,
      1.8281592779084006,
      1.8281866524931276
    ],
    "ay_ego": [
      0.03269648249028384,
      0.03245646253860607,
      0.0108757413365001,
      -0.005878275780120901,
      -0.004051223014112648,
      0.016884665198628523,
      -0.0007399534625874837,
      0.03105667142797397,
      -0.053795892975253334,
      -0.052857451289412105
    ],
    "a_ego": [
      0.1968960386710582,
      0.1968960408577136,
      0.9975439185850777,
      1.672909932904006,
      2.0093079875242235,
      2.099504791089493,
      1.7907300917990534,
      1.8448667607457319,
      1.8289506126474737,
      1.8289506134696039
    ],
    "yaw": [
      2.4319747882989855,
      2.433210821473452,
      2.4333140487763942,
      2.433692933095677,
      2.434583786387895,
      2.4342416556630173,
      2.4332137265385487,
      2.433547313538365,
      2.4336298086706654,
      2.433116485122122
    ],
    "yaw_diff": [
      0.0024720663489326,
      0.00020645460588486486,
      0.0007577686385653593,
      0.0017817065844365487,
      -0.000684261449755752,
      -0.00205585824893717,
      0.0006671739996324533,
      0.00016499026460081723,
      -0.0010266470970865527,
      -0.0010266470970865527
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.046991249812024,
    "v_std": 2.3428734378057525,
    "vy_max": 0.020736903073226287,
    "a_max": 2.099504791089493,
    "ax_avg": 1.4459171063898162,
    "a_std": 0.68474362766679,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "0d8754f6d53d5968",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "0d8754f6d53d5968",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d016df0950fc5e69": {
    "vx_ego": [
      4.721195613960301,
      4.1797283688468125,
      3.683007040411245,
      3.2161529957382347,
      2.709542762265732,
      2.1631227198765566,
      1.6328940456831516,
      1.2141958259730141,
      0.8463858035441835,
      0.44913520193612827
    ],
    "vy_ego": [
      0.0013991961835774364,
      -0.010048365307087428,
      -0.026825247859829447,
      -0.05943779183635373,
      -0.04528168650052674,
      0.005934327206508917,
      0.004025628639309067,
      -0.01948800689606387,
      -0.05129097086867632,
      -0.09127410522708239
    ],
    "v_ego": [
      4.7211958212965435,
      4.179740447323037,
      3.6831047302027047,
      3.2167021843954413,
      2.709921108017528,
      2.1631308600002788,
      1.632899007934487,
      1.2143522084729255,
      0.8479384954899645,
      0.45831582113561303
    ],
    "ax_ego": [
      -1.0829124481857426,
      -1.0829257076006635,
      -0.9038948700894325,
      -0.9637752910365502,
      -1.062791546854095,
      -1.1228956637341896,
      -0.9979902559937452,
      -0.6767987203071167,
      -0.7945012749124819,
      -0.7945012456316071
    ],
    "ay_ego": [
      -0.008751677680077553,
      -0.00691947973862304,
      -0.042158796830444115,
      -0.11400332848135525,
      0.16634152614459818,
      0.032717379700212684,
      -0.044065820490870544,
      -0.049230191885715785,
      -0.07996660379927947,
      -0.07996689522863668
    ],
    "a_ego": [
      1.0829478114377695,
      1.0829478137852493,
      0.904877505701287,
      0.9704944979325822,
      1.0757301591870676,
      1.123372199481318,
      0.9989626357346879,
      0.6785868548700713,
      0.7985154560562683,
      0.7985154561075715
    ],
    "yaw": [
      -1.550004641706059,
      -1.5483127345871182,
      -1.5471596706854818,
      -1.5490190469115124,
      -1.5493792062115097,
      -1.5499730596469754,
      -1.5504662667651092,
      -1.5503291886345525,
      -1.55080405198597,
      -1.550804422725691
    ],
    "yaw_diff": [
      0.0033838142378814773,
      0.0023061278032727728,
      -0.0037187524520612136,
      -0.0007203185999946626,
      -0.0011877068709313932,
      -0.0009864142362676631,
      0.00027415626111348956,
      -0.0009497267028351075,
      -7.414794418458825e-07,
      -7.414794418458825e-07
    ],
    "min_front_frame": [
      9,
      13.790328233282365
    ],
    "v_avg": 2.4827300684268523,
    "v_std": 1.3829583771604275,
    "vy_max": 0.09127410522708239,
    "a_max": 1.123372199481318,
    "ax_avg": -0.9482987024345626,
    "a_std": 0.14339020744052305,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d016df0950fc5e69",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.9896489759253804,
    "right_rear_min": 9.47386327751819,
    "speed_mode": "decelerating",
    "front_frame": [
      24.21353924913232,
      21.969479204933503,
      20.030912507831562,
      18.307134048177087,
      16.862552462216748,
      15.605714728517626,
      14.76261251669233,
      14.17034822922197,
      13.821685523967878,
      13.790328233282365
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d016df0950fc5e69",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7a61f0a7cbe15387": {
    "vx_ego": [
      6.8812413038233435,
      6.767955040588812,
      6.610139157252525,
      6.354526897021432,
      5.981525157710761,
      5.507218091206848,
      5.026050622184186,
      4.563052876426963,
      4.0845174217567175,
      3.597096033702553
    ],
    "vy_ego": [
      -0.04025688339326683,
      -0.06813255133023732,
      -0.05152956566597844,
      -0.031154661297658315,
      -0.026423911706161984,
      -0.035878453785541,
      -0.04998802089956289,
      -0.028681059896626726,
      -0.02537282409820918,
      -0.033968653062542264
    ],
    "v_ego": [
      6.881359058943584,
      6.7682979748221985,
      6.610340004446129,
      6.354603268331502,
      5.981583522399116,
      5.507334960537814,
      5.026299201101293,
      4.563143012909542,
      4.084596228372746,
      3.597256419143556
    ],
    "ax_ego": [
      -0.2370289441240594,
      -0.22262359387528852,
      -0.4189191393084104,
      -0.6078706193741672,
      -0.886949137329782,
      -1.0130416551829022,
      -0.9141541857945229,
      -0.9393957099855028,
      -0.9753683877932576,
      -0.9749999811793475
    ],
    "ay_ego": [
      -0.4686064998223883,
      -0.4756190716771046,
      -0.2935554630270427,
      -0.27872863716840496,
      -0.25771158551689066,
      -0.21254138548990842,
      -0.056430276782708955,
      -0.037923158271865764,
      -0.05960785014367298,
      -0.0653576484032104
    ],
    "a_ego": [
      0.5251426206549574,
      0.5251426148132906,
      0.5115349989511185,
      0.6687274056565126,
      0.9236308967978898,
      1.0350976937862841,
      0.9158942360029461,
      0.940160872336474,
      0.9771881025192485,
      0.9771881013932403
    ],
    "yaw": [
      2.8518328975755622,
      2.8213227467490993,
      2.790209742068216,
      2.765088539546806,
      2.7427063037827386,
      2.7239384163558444,
      2.7138260954026023,
      2.704468500909408,
      2.698070835658475,
      2.692174743193989
    ],
    "yaw_diff": [
      -0.061020301652925824,
      -0.062226009361766366,
      -0.050242405042820515,
      -0.044764471528134564,
      -0.03753577485378834,
      -0.02022464190648421,
      -0.018715188986388576,
      -0.012795330501866431,
      -0.011792184928971494,
      -0.011792184928971494
    ],
    "min_front_frame": [
      6,
      15.231949215155668
    ],
    "v_avg": 5.5374813651007475,
    "v_std": 1.114619068118733,
    "vy_max": 0.06813255133023732,
    "a_max": 1.0350976937862841,
    "ax_avg": -0.7190351353947241,
    "a_std": 0.20444094960746162,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7a61f0a7cbe15387",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      33.71120596745232,
      30.347507785812304,
      26.998166277029547,
      23.7495064251816,
      20.69887775154316,
      17.81663967811287,
      15.231949215155668,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7a61f0a7cbe15387",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "59c00098b95d53b8": {
    "vx_ego": [
      1.0445323288256538,
      1.1253180505566882,
      1.1924190882999295,
      1.2358438983510553,
      1.2734125254154223,
      1.3001477507394306,
      1.3039775944922822,
      1.2808692782091278,
      1.2439978709804578,
      1.2124905054576485
    ],
    "vy_ego": [
      -0.026123251731674735,
      -0.011355991880502625,
      -0.014789229959782046,
      -0.0009284228212552703,
      0.027585484859347975,
      0.019207401374956135,
      0.0037597742945730817,
      -0.007289849113726099,
      -0.010941960514854965,
      -0.0025964372555448145
    ],
    "v_ego": [
      1.044858942749202,
      1.125375347810807,
      1.1925107980495766,
      1.2358442470879851,
      1.2737112776684552,
      1.3002896208231376,
      1.3039830147822573,
      1.2808900225078157,
      1.244045991715668,
      1.2124932854706312
    ],
    "ax_ego": [
      0.16160802153590548,
      0.1616669082619406,
      0.10679604432034707,
      0.06756081558890198,
      0.08187171940683947,
      0.02373583739473359,
      -0.008723262876664133,
      -0.08373760831240551,
      -0.06310270266884399,
      -0.06262720028079219
    ],
    "ay_ego": [
      0.033506989742108556,
      0.033221698373658334,
      -0.03274961937402275,
      0.11818863129883031,
      0.04203574716237283,
      -0.02020521927726287,
      0.015848999685646323,
      -0.0033394815034403294,
      0.04318233902488034,
      0.043869100898652647
    ],
    "a_ego": [
      0.1650450574428918,
      0.1650450558780997,
      0.11170466709863515,
      0.13613602157889174,
      0.09203250772488594,
      0.031171154339733848,
      0.01809105044631195,
      0.0838041716300189,
      0.07646349120836841,
      0.07646348297499025
    ],
    "yaw": [
      2.287110863783276,
      2.2888758902441073,
      2.2919222732395115,
      2.298073789895225,
      2.307286545304697,
      2.3179782585943194,
      2.3289714475670547,
      2.339861643497383,
      2.3506666156835165,
      2.3615910345748983
    ],
    "yaw_diff": [
      0.0035300529216621968,
      0.006092765990808324,
      0.012303033311426681,
      0.01842551081894417,
      0.02138342657924497,
      0.021986377945470537,
      0.0217803918606565,
      0.021609944372267265,
      0.021848837782763475,
      0.021848837782763475
    ],
    "min_front_frame": [
      0,
      11.188004444690367
    ],
    "v_avg": 1.2214002548665537,
    "v_std": 0.07832108952500079,
    "vy_max": 0.027585484859347975,
    "a_max": 0.1650450574428918,
    "ax_avg": 0.03850485723699624,
    "a_std": 0.04752973299294526,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "59c00098b95d53b8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 24.02253220812735,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.188004444690367,
      11.326298236156028,
      11.398291635766896,
      11.550296549747857,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "59c00098b95d53b8",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d94271077f7a5432": {
    "vx_ego": [
      6.094324571385148,
      6.145577255961017,
      6.213706298128093,
      6.293455618324274,
      6.38844445219533,
      6.510659994395203,
      6.6246687128683,
      6.702800411593714,
      6.7797105653593865,
      6.86406039103847
    ],
    "vy_ego": [
      -0.00019322591199072425,
      -0.015259275528947402,
      -0.007340304773688966,
      -0.006917958060525642,
      0.0007984540729346623,
      -0.007297379414444638,
      -0.018763617799580468,
      0.008237766021132575,
      0.011819585730743043,
      0.0084802499163259
    ],
    "v_ego": [
      6.094324574448347,
      6.145596200083033,
      6.213710633709209,
      6.293459420538207,
      6.3884445020923675,
      6.510664083975187,
      6.624695285717606,
      6.702805473713964,
      6.779720868343515,
      6.8640656295275795
    ],
    "ax_ego": [
      0.0801968988871554,
      0.12285636328216393,
      0.14630432616182423,
      0.17018267940678863,
      0.2056764221497262,
      0.2830876989145083,
      0.1691998692386638,
      0.1413240569642042,
      0.16606999677175,
      0.1721389983280155
    ],
    "ay_ego": [
      -0.7404424301624103,
      -0.734569839426324,
      -0.7128696222367293,
      -0.6798840898058718,
      -0.5380904052794486,
      -0.5593432641200665,
      -0.4611317136571433,
      -0.392098392363052,
      -0.29286248676839893,
      -0.28933690569683124
    ],
    "a_ego": [
      0.7447728076238637,
      0.7447728076358149,
      0.7277280083668641,
      0.7008598432933881,
      0.5760590897487111,
      0.6268999381027262,
      0.49119349862427386,
      0.41678968121885107,
      0.33667147188905044,
      0.33667147153209986
    ],
    "yaw": [
      3.1224381594293176,
      3.064611419334841,
      3.004762663624194,
      2.949004709782656,
      2.8997430920777276,
      2.8584030615410345,
      2.821388722960031,
      2.7853492740850943,
      2.7594056669780196,
      2.7385578855962933
    ],
    "yaw_diff": [
      -0.1156534801889535,
      -0.11969751142129326,
      -0.11151590768307607,
      -0.09852323540985708,
      -0.08268006107338621,
      -0.07402867716200667,
      -0.07207889774987386,
      -0.051887214214149324,
      -0.04169556276345254,
      -0.04169556276345254
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.461748667214901,
    "v_std": 0.2608042263745903,
    "vy_max": 0.018763617799580468,
    "a_max": 0.7447728076358149,
    "ax_avg": 0.16570373101048003,
    "a_std": 0.15650415106464732,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "d94271077f7a5432",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 19.057507931441382,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d94271077f7a5432",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ff137d1eea555686": {
    "vx_ego": [
      11.195142054876142,
      11.270577384543838,
      11.307637747538969,
      11.326953513318674,
      11.32016535904961,
      11.251970224587218,
      11.144380161491256,
      11.059065068780606,
      11.01060437897116,
      10.955326278606048
    ],
    "vy_ego": [
      0.031192801022506877,
      0.021172379518858087,
      0.04604068755079371,
      0.015230530226800987,
      -0.01959886845752301,
      -0.0023934907030973562,
      0.016111173464241624,
      -0.0031471582638262774,
      0.015885568553144047,
      -0.12420328474879394
    ],
    "v_ego": [
      11.195185510731479,
      11.27059727124723,
      11.30773147781987,
      11.326963753006948,
      11.32018232502779,
      11.251970479155865,
      11.144391807261186,
      11.059065516585411,
      11.010615838430978,
      10.956030317896106
    ],
    "ax_ego": [
      0.14999829227038444,
      0.1509937816555262,
      -0.0025020887597456826,
      0.08009355804670343,
      -0.10706196801459952,
      -0.16560809706898863,
      -0.26473311746472594,
      -0.07576795896264629,
      -0.11494370959430525,
      -0.10868783001017354
    ],
    "ay_ego": [
      0.14039698133962297,
      0.13932579726049374,
      -0.08569037653473906,
      -0.13757892881697295,
      0.0719289679598371,
      0.09053606988667022,
      -0.026448466027796894,
      -0.2747632171380663,
      -0.5357085542694386,
      -0.5370127248031273
    ],
    "a_ego": [
      0.2054526710785482,
      0.20545267065898395,
      0.08572689822236078,
      0.1591946597565583,
      0.12898077929260005,
      0.18874009050897372,
      0.2660510192384459,
      0.2850186118439029,
      0.547901187708835,
      0.547901187252592
    ],
    "yaw": [
      -0.5814637675196417,
      -0.5743461083541992,
      -0.5753594750360271,
      -0.5775711333399746,
      -0.5759480627943756,
      -0.5738750904375323,
      -0.5740965564609692,
      -0.5791555879393371,
      -0.5992324545577274,
      -0.610895892612959
    ],
    "yaw_diff": [
      0.014235318330884983,
      -0.002026733363655886,
      -0.004423316607894856,
      0.0032461410911979183,
      0.004145944713686678,
      -0.00044293204687395615,
      -0.010118062956735674,
      -0.04015373323678073,
      -0.023326876110463024,
      -0.023326876110463024
    ],
    "min_front_frame": [
      3,
      19.43964994225975
    ],
    "v_avg": 11.184273429716287,
    "v_std": 0.12874271159305078,
    "vy_max": 0.12420328474879394,
    "a_max": 0.547901187708835,
    "ax_avg": -0.04582191379025709,
    "a_std": 0.15333711237191464,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "ff137d1eea555686",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.064101654935076,
    "right_rear_min": 23.43117765286255,
    "speed_mode": "quasi_constant",
    "front_frame": [
      36.189684294376924,
      30.595401021073343,
      25.017796262421474,
      19.43964994225975,
      19.4678322094649,
      44.85252733555046,
      39.294354066711996,
      33.80112548127288,
      28.347180029550366,
      22.936714741679737
    ],
    "safe_frame": [
      1,
      1,
      0,
      0,
      0,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "ff137d1eea555686",
    "pedestrians": "No"
  },
  "305eb53245715f7e": {
    "vx_ego": [
      4.203846270785701,
      4.028910250478856,
      4.059445225284941,
      4.318219126986807,
      4.72760476205686,
      5.1583787801732806,
      5.561715170085353,
      5.912507131844674,
      6.212523164597033,
      6.500655195958193
    ],
    "vy_ego": [
      -0.04291352850374652,
      -0.027227995097586888,
      -0.04515074228376359,
      -0.03802573841070711,
      -0.04312449662361573,
      0.00046494177954903293,
      0.026844181754544838,
      0.03834595048526257,
      0.027051649275517065,
      0.020444432713735416
    ],
    "v_ego": [
      4.204065299127439,
      4.0290022549175415,
      4.059696309653898,
      4.318386548869425,
      4.727801445538057,
      5.158378801126652,
      5.56177995278954,
      5.912631478118076,
      6.212582060816843,
      6.500687344548055
    ],
    "ax_ego": [
      -0.5449634227965785,
      -0.1765818625037535,
      0.254304718879519,
      0.7202315184264504,
      0.8735431885678366,
      0.8307535137755305,
      0.7806545427186165,
      0.6243065450202626,
      0.5763273058793416,
      0.5765341940155233
    ],
    "ay_ego": [
      -1.6773880422232716,
      -1.75483179445854,
      -1.614351980675983,
      -1.2569537114707414,
      -0.8116273395051362,
      -0.4717404298685502,
      -0.2635813031471909,
      -0.17370083086715882,
      -0.059339067026755704,
      -0.05729407256946581
    ],
    "a_ego": [
      1.7636937875889291,
      1.7636937889009743,
      1.6342592228764874,
      1.4486773529378245,
      1.19239953057918,
      0.9553483311457425,
      0.8239518301672638,
      0.6480205558460924,
      0.5793740487610279,
      0.579374048107718
    ],
    "yaw": [
      -1.1866278716765843,
      -1.4004700569432473,
      -1.6063333417438843,
      -1.7813928015847489,
      -1.8949639883345846,
      -1.9685779192152133,
      -2.007745023779542,
      -2.0287325372424667,
      -2.0364717382652704,
      -2.0400194169801074
    ],
    "yaw_diff": [
      -0.427684370533326,
      -0.41172656960127396,
      -0.35011891968172915,
      -0.22714237349967137,
      -0.14722786176125746,
      -0.07833420912865696,
      -0.04197502692584987,
      -0.015478402045607353,
      -0.007095357429673932,
      -0.007095357429673932
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.068501149550552,
    "v_std": 0.8859051365218895,
    "vy_max": 0.04515074228376359,
    "a_max": 1.7636937889009743,
    "ax_avg": 0.4515110241982748,
    "a_std": 0.46096901128722534,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "305eb53245715f7e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "305eb53245715f7e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1cff7a7ece6851c4": {
    "vx_ego": [
      7.270003302161267,
      7.193417763593379,
      7.11746395801214,
      7.024664350741722,
      6.83801059238855,
      6.518961080786724,
      6.093811166870515,
      5.57955481439032,
      4.973970483911851,
      4.313305985996416
    ],
    "vy_ego": [
      0.10998236596184974,
      0.04608642649503292,
      -0.024148703509673464,
      -0.053267837890132785,
      -0.03167265275631603,
      -0.03616002343605995,
      -0.0684897872553174,
      -0.09325250560255682,
      -0.038422845372863,
      0.061826657070896296
    ],
    "v_ego": [
      7.270835174466431,
      7.193565394176093,
      7.117504924724888,
      7.0248663121183395,
      6.838083943514487,
      6.519061368027372,
      6.094196041188211,
      5.58033403629096,
      4.974118885779957,
      4.313749072947692
    ],
    "ax_ego": [
      -0.1530574677012943,
      -0.15285331127669824,
      -0.14949967817426651,
      -0.22397698519343298,
      -0.5321384841388077,
      -0.7470544439163915,
      -0.9579704863917042,
      -1.1041703181701967,
      -1.320923005442715,
      -1.321548493333256
    ],
    "ay_ego": [
      -0.14766768260620755,
      -0.14787900174820207,
      -0.3881904805124956,
      -0.5386026383145446,
      -0.3145209142388062,
      -0.3290675375440898,
      -0.2882857359960151,
      -0.09639553500098302,
      0.16786986111935298,
      0.1628725690809496
    ],
    "a_ego": [
      0.21267894325819,
      0.21267894565822906,
      0.41598317626405457,
      0.5833168023430556,
      0.6181381494416621,
      0.8163184344608174,
      1.0004079759659668,
      1.108370060357189,
      1.3315471739972435,
      1.3315471805348946
    ],
    "yaw": [
      -0.44294133791162693,
      -0.44432285919689896,
      -0.45323713201730437,
      -0.4818465431176534,
      -0.5155421879614961,
      -0.538867240359133,
      -0.5581329250651392,
      -0.5703288641119364,
      -0.5772975524568025,
      -0.5810798406424317
    ],
    "yaw_diff": [
      -0.0027630425705440498,
      -0.017828545640810822,
      -0.05721882220069807,
      -0.06739128968768537,
      -0.04665010479527387,
      -0.038531369412012406,
      -0.024391878093594332,
      -0.013937376689732162,
      -0.007564576371258402,
      -0.007564576371258402
    ],
    "min_front_frame": [
      9,
      57.030780740282374
    ],
    "v_avg": 6.292631515323444,
    "v_std": 0.9764800373102908,
    "vy_max": 0.10998236596184974,
    "a_max": 1.3315471805348946,
    "ax_avg": -0.6663192673738763,
    "a_std": 0.40054659914095575,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1cff7a7ece6851c4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.209579646408061,
    "right_rear_min": 10.201894659126484,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      59.29216908829355,
      57.030780740282374
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1cff7a7ece6851c4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "75f5cc1f425c501d": {
    "vx_ego": [
      6.487963952154393,
      6.441053251231727,
      6.372267427586209,
      6.211114450146553,
      6.077912709410956,
      5.843863516388997,
      5.281146342385275,
      4.438173870060076,
      3.6943432890764134,
      3.1944736804351725
    ],
    "vy_ego": [
      -0.07075142529972922,
      -0.014642732318030482,
      -0.0013484091865039183,
      -0.036391420910649064,
      -0.09476531297447899,
      -0.0701840432624703,
      -0.06070342630839942,
      -0.05600202933497567,
      -0.021908314075322455,
      0.033520642571075676
    ],
    "v_ego": [
      6.48834971380526,
      6.441069895196957,
      6.372267570251856,
      6.211221059367894,
      6.078651443187245,
      5.844284951823537,
      5.281495204547189,
      4.4385271800647645,
      3.694408249201698,
      3.1946495470507266
    ],
    "ax_ego": [
      -0.09988029430868889,
      -0.08207141121581576,
      -0.19674001283563786,
      -0.4482268904840293,
      -0.08215142385819202,
      -0.8528817435083664,
      -1.396540595567536,
      -1.9742243252658958,
      -1.0001505266680593,
      -0.9994308428990277
    ],
    "ay_ego": [
      0.537638471279421,
      0.5406435804130996,
      0.20429708919970033,
      0.0014230076098009636,
      -0.005870576450794807,
      0.17154524846223396,
      0.03480493542030805,
      0.07205519784606418,
      0.14255863554174442,
      0.14751955455325844
    ],
    "a_ego": [
      0.5468374520740721,
      0.5468374507848298,
      0.2836263974069361,
      0.44822914932391394,
      0.0823609137260688,
      0.8699626662563403,
      1.3969742369126714,
      1.975538822197179,
      1.010259392711555,
      1.0102593868474832
    ],
    "yaw": [
      2.4432654935775555,
      2.4762944445265003,
      2.503226472421841,
      2.516901935116227,
      2.526290996381126,
      2.5290707136698964,
      2.5365490926159233,
      2.5410126316599655,
      2.545971359829767,
      2.550933315199135
    ],
    "yaw_diff": [
      0.06605790189788951,
      0.05386405579068132,
      0.02735092538877204,
      0.018778122529798047,
      0.005559434577540934,
      0.014956757892053751,
      0.00892707808808435,
      0.00991745633960317,
      0.009923910738735664,
      0.009923910738735664
    ],
    "min_front_frame": [
      9,
      17.246395261546823
    ],
    "v_avg": 5.404492481449713,
    "v_std": 1.1506762250149403,
    "vy_max": 0.09476531297447899,
    "a_max": 1.975538822197179,
    "ax_avg": -0.7132298066611249,
    "a_std": 0.5349986167898217,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "75f5cc1f425c501d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.3335660312797732,
    "speed_mode": "decelerating",
    "front_frame": [
      18.36954540766859,
      25.745017745387255,
      25.7844559611206,
      25.64720605465076,
      25.108835006831313,
      23.97263907604726,
      22.461438496489997,
      20.711508874239335,
      18.942499833163094,
      17.246395261546823
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "75f5cc1f425c501d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fe37acae391d507c": {
    "vx_ego": [
      2.60159061303348,
      2.334158394265859,
      2.0574536913940675,
      1.7961021228468637,
      1.598226880888416,
      1.4340045901405776,
      1.290433428235596,
      1.2060683161567327,
      1.1308149091479434,
      1.0299314442166567
    ],
    "vy_ego": [
      -0.0021995390172515616,
      -0.016527713077946538,
      -0.030111032723935893,
      -0.02793444638096021,
      -0.02322753203942729,
      -0.03711090724215438,
      -0.04312812049006909,
      -0.0290063186714149,
      -0.013950005256226139,
      -0.004046182681940347
    ],
    "v_ego": [
      2.6015915428436887,
      2.3342169082631035,
      2.057674018527419,
      1.7963193393685937,
      1.5983956584772612,
      1.4344847102637872,
      1.2911539286564089,
      1.2064170712320033,
      1.1309009511879986,
      1.0299393920908666
    ],
    "ax_ego": [
      -0.5367184946292447,
      -0.5337043520999651,
      -0.5755278857179154,
      -0.4721930816227387,
      -0.3206455372715957,
      -0.33761236417175977,
      -0.23898517635844926,
      -0.09995296485337453,
      -0.20182009310825338,
      -0.20186526514520853
    ],
    "ay_ego": [
      -0.13124706348517373,
      -0.1430111822025266,
      -0.08529202288562149,
      -0.028748191225188457,
      -0.0507527878920777,
      -0.08508440533860027,
      -0.0005879089027266832,
      0.008123351474450029,
      0.011032543011487442,
      0.010172680668395467
    ],
    "a_ego": [
      0.5525328353596407,
      0.5525328349387101,
      0.5818136096782673,
      0.47306739988198127,
      0.3246373454348845,
      0.34816872989036246,
      0.23898589949190935,
      0.10028252102015273,
      0.20212141644943118,
      0.2021214206958938
    ],
    "yaw": [
      -0.4620870608709967,
      -0.48406649453789585,
      -0.5038258729773174,
      -0.5198594190557104,
      -0.534506903349637,
      -0.5477298930411194,
      -0.5591387399010941,
      -0.5690811538206395,
      -0.5777735756485919,
      -0.5820336642935771
    ],
    "yaw_diff": [
      -0.04395886733379828,
      -0.0395187568788431,
      -0.03206709215678605,
      -0.029294968587853187,
      -0.02644597938296478,
      -0.02281769371994935,
      -0.019884827839090846,
      -0.017384843655904758,
      -0.008520177289970343,
      -0.008520177289970343
    ],
    "min_front_frame": [
      9,
      10.675833243617937
    ],
    "v_avg": 1.648109352091113,
    "v_std": 0.5089043227042315,
    "vy_max": 0.04312812049006909,
    "a_max": 0.5818136096782673,
    "ax_avg": -0.3519025214978505,
    "a_std": 0.16413601996936533,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fe37acae391d507c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 20.24179830940511,
    "right_rear_min": 7.384366055731422,
    "speed_mode": "decelerating",
    "front_frame": [
      14.744419647881944,
      13.831311158747228,
      13.159146759170664,
      12.674406228848317,
      12.288851825917195,
      11.936237610652102,
      11.604609473678565,
      11.2390742602821,
      11.07422866271398,
      10.675833243617937
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fe37acae391d507c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "905ab0794c235f69": {
    "vx_ego": [
      6.436722184611515,
      6.869131571579182,
      7.270847346507667,
      7.621727397488091,
      7.912592146363993,
      8.136093661949072,
      8.212852169989372,
      8.126173452944775,
      7.9587625557584465,
      7.7527688081525294
    ],
    "vy_ego": [
      -0.0513476136547979,
      -0.022310517296214805,
      -0.03396353256135276,
      -0.006852237666263417,
      -0.01939430890341498,
      -0.010548051877375286,
      -0.023409650390424197,
      -0.023661165768721126,
      -0.018672453938933575,
      0.00402400343170406
    ],
    "v_ego": [
      6.436926988812136,
      6.869167803078325,
      7.270926671185841,
      7.621730477705285,
      7.9126159147224495,
      8.136100499465716,
      8.2128855329799,
      8.126207900251503,
      7.958784459920926,
      7.752769852463468
    ],
    "ax_ego": [
      0.8636942057455631,
      0.868249410723831,
      0.7393610282349772,
      0.664765556753946,
      0.498983828933687,
      0.3958123421039302,
      -0.08843764219953133,
      -0.25739554939354203,
      -0.4120036987891426,
      -0.41194127567518257
    ],
    "ay_ego": [
      0.28404835599144934,
      0.26980382612364284,
      0.13795023277891066,
      0.16278198708256958,
      0.11325946722089836,
      0.1860095147209255,
      0.1140316143969454,
      0.14657773133622504,
      0.061163313622207116,
      0.061582317566040295
    ],
    "a_ego": [
      0.9092035798323191,
      0.909203576661045,
      0.7521203339868151,
      0.6844057427907321,
      0.5116762340117867,
      0.4373407707137683,
      0.1443067068427035,
      0.2962051656728456,
      0.41651890563236504,
      0.4165189028624048
    ],
    "yaw": [
      2.4649612237793543,
      2.4814100507964754,
      2.4974398959439394,
      2.503887601402371,
      2.51435921367874,
      2.5225673324475553,
      2.5332377635708054,
      2.541222922331065,
      2.547046243240827,
      2.5480633254137706
    ],
    "yaw_diff": [
      0.03289765403424205,
      0.03205969029492817,
      0.012895410916863526,
      0.020943224552737227,
      0.016416237537630884,
      0.021340862246500336,
      0.015970317520519473,
      0.011646641819523573,
      0.0020341643458872127,
      0.0020341643458872127
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.629811610058555,
    "v_std": 0.5635999894301827,
    "vy_max": 0.0513476136547979,
    "a_max": 0.9092035798323191,
    "ax_avg": 0.2861088206438536,
    "a_std": 0.24407281984389928,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "905ab0794c235f69",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "905ab0794c235f69",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8c477c76153f588e": {
    "vx_ego": [
      6.492477299689192,
      6.367231249482928,
      6.2475750208552565,
      6.1181110044631355,
      5.875206016191127,
      5.476073162128328,
      4.940924304543024,
      4.296158757284505,
      3.5927826616518637,
      2.863156074571712
    ],
    "vy_ego": [
      0.03481725617648035,
      0.0030137967866337156,
      0.009458887255867854,
      0.0073388465802817215,
      -0.019224309566978626,
      -0.01703838809435787,
      0.002477526679141473,
      -0.0016579600460060462,
      -0.006341010920409174,
      0.021601659787529703
    ],
    "v_ego": [
      6.492570656396981,
      6.367231962741973,
      6.247582181273223,
      6.118115406038206,
      5.875237468117075,
      5.476099668893089,
      4.940924925695836,
      4.2961590772018505,
      3.5927882573686056,
      2.86323756245661
    ],
    "ax_ego": [
      -0.25088740220545364,
      -0.25065134203644757,
      -0.2277060275705814,
      -0.2909479263935885,
      -0.6803106464775797,
      -0.9156084901498915,
      -1.224870228388457,
      -1.354308920537728,
      -1.4592277234191484,
      -1.4592596001858986
    ],
    "ay_ego": [
      0.03088423743471723,
      0.032744996453125785,
      0.16234166371420158,
      0.005790559827500014,
      0.059898674474588354,
      0.0998772200854598,
      0.08676325327688017,
      -0.07741187569806707,
      0.05236892388452463,
      0.05147283556142013
    ],
    "a_ego": [
      0.2527811794958736,
      0.25278119007827193,
      0.27965130210579975,
      0.29100554368576015,
      0.6829424770173218,
      0.9210398288491999,
      1.2279393057116377,
      1.3565195357042075,
      1.46016713186671,
      1.4601671252070572
    ],
    "yaw": [
      0.9897192651339037,
      0.9971394597639527,
      1.0038531060233145,
      1.0109851858673877,
      1.018095681593834,
      1.0247140116973648,
      1.0298871270036,
      1.0312838306789867,
      1.0308851822444038,
      1.0302711028852938
    ],
    "yaw_diff": [
      0.014840389260097897,
      0.013427292518723544,
      0.014264159688146538,
      0.014220991452892573,
      0.01323666020706149,
      0.010346230612470642,
      0.0027934073507731583,
      -0.0007972968691656313,
      -0.0012281587182201292,
      -0.0012281587182201292
    ],
    "min_front_frame": [
      0,
      22.570529448667116
    ],
    "v_avg": 5.226994716618345,
    "v_std": 1.201085333489096,
    "vy_max": 0.03481725617648035,
    "a_max": 1.46016713186671,
    "ax_avg": -0.8113778307364775,
    "a_std": 0.5018120274088329,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8c477c76153f588e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.704195731877486,
    "speed_mode": "decelerating",
    "front_frame": [
      22.570529448667116,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8c477c76153f588e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2cc421e9b3fd5c17": {
    "vx_ego": [
      6.635866107751766,
      6.125056275924107,
      5.595945589208397,
      5.1671761199884765,
      4.9834475481724745,
      4.90160945406064,
      4.765773710005327,
      4.698915327536284,
      4.8768892235881225,
      5.292318278846419
    ],
    "vy_ego": [
      0.07515188786728205,
      -0.053389974104281424,
      0.0006793504774347259,
      0.0731390219232888,
      0.07566595582579927,
      0.07517273545123482,
      0.11486424189885014,
      0.07889468957652213,
      0.10892133391727976,
      0.08339588823225397
    ],
    "v_ego": [
      6.636291645660141,
      6.125288962373298,
      5.595945630445134,
      5.167693718817618,
      4.984021950418886,
      4.902185857379529,
      4.767157732763301,
      4.69957760095509,
      4.878105406418795,
      5.292975310615568
    ],
    "ax_ego": [
      -1.0526448474864427,
      -0.9858275286779298,
      -1.1101194289465022,
      -0.5589392355777306,
      -0.12233628572457644,
      -0.11114865841135702,
      -0.31113562931215766,
      0.13118542002468725,
      0.6515249063358799,
      1.0702058311914702
    ],
    "ay_ego": [
      -1.0281212191419185,
      -1.0923545675078747,
      -1.6309545748941832,
      -1.853843787018957,
      -1.840247167341915,
      -2.1639898541471,
      -2.4001540826849888,
      -2.337649254628616,
      -2.1651517702858105,
      -1.9917395329749832
    ],
    "a_ego": [
      1.4714259805337204,
      1.471425980963552,
      1.9729110400352,
      1.9362721543566663,
      1.8443090315114838,
      2.166842429231584,
      2.420236558780338,
      2.3413273269862924,
      2.2610543761589983,
      2.2610543753593433
    ],
    "yaw": [
      -1.574618123184666,
      -1.6376183404037903,
      -1.7625224008682614,
      -1.939682104986363,
      -2.1236068436837092,
      -2.325416524882533,
      -2.5672446161166125,
      -2.81157831483012,
      -3.055077142991441,
      3.027345772694428
    ],
    "yaw_diff": [
      -0.12600043443824838,
      -0.24980812092894222,
      -0.35431940823620334,
      -0.3678494773946923,
      -0.40361936239764784,
      -0.48365618246815867,
      -0.48866739742701526,
      -0.48699765632264214,
      -0.4015247829874342,
      -0.4015247829874342
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.304924381584735,
    "v_std": 0.6043338530832917,
    "vy_max": 0.11486424189885014,
    "a_max": 2.420236558780338,
    "ax_avg": -0.2399235456584659,
    "a_std": 0.32293919415599637,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "2cc421e9b3fd5c17",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 9.752151038877653,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2cc421e9b3fd5c17",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b662afef6f935725": {
    "vx_ego": [
      3.5274633551099206,
      3.3698062040101457,
      3.252333150916488,
      3.213375776532061,
      3.2814234837985374,
      3.4281158317522014,
      3.664251751707496,
      3.991754695029965,
      4.32652590948381,
      4.640739728590047
    ],
    "vy_ego": [
      -0.015723739885867838,
      -0.020612825907442955,
      0.0005180801318702688,
      -0.006446163042020503,
      -0.007308357794340248,
      0.004004870521430393,
      0.019283509427636403,
      0.028770868106307357,
      -0.0014583835429509417,
      -0.07542690926209644
    ],
    "v_ego": [
      3.527498399381541,
      3.369869246896259,
      3.2523331921802527,
      3.213382242158718,
      3.2814316223438484,
      3.428118171081327,
      3.6643024921023235,
      3.991858377766596,
      4.326526155279461,
      4.641352652746272
    ],
    "ax_ego": [
      -0.34929079984458933,
      -0.2867893115844409,
      -0.17538778166432428,
      0.029160986747102324,
      0.23772488395712632,
      0.33307840857290993,
      0.5984708265282286,
      0.7110487663945131,
      0.6283430583600044,
      0.6284273454218603
    ],
    "ay_ego": [
      -0.6456950518709464,
      -0.6757795897711643,
      -0.8802070963539027,
      -1.0345014455314425,
      -1.022960993119892,
      -0.8086834013348594,
      -0.4358174293524865,
      -0.2220168902976082,
      -0.15305413879528107,
      -0.1527076956056391
    ],
    "a_ego": [
      0.7341159056080295,
      0.7341159058284737,
      0.8975106720417876,
      1.0349123653501822,
      1.0502201264007773,
      0.8745913730720075,
      0.7403405715836399,
      0.7449039184811549,
      0.6467152142879964,
      0.6467152145814652
    ],
    "yaw": [
      2.437536223036079,
      2.3430131139062023,
      2.2187844083067105,
      2.071973256545455,
      1.9129022192718328,
      1.7727654758587716,
      1.6799193525224094,
      1.6343192099451205,
      1.619080547288216,
      1.6185292223166532
    ],
    "yaw_diff": [
      -0.18904621825975365,
      -0.24845741119898346,
      -0.2936223035225112,
      -0.3181420745472443,
      -0.2802734868261223,
      -0.18569224667272444,
      -0.0912002851545779,
      -0.03047732531380909,
      -0.0011026499431254777,
      -0.0011026499431254777
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.66966725519366,
    "v_std": 0.46701171889473303,
    "vy_max": 0.07542690926209644,
    "a_max": 1.0502201264007773,
    "ax_avg": 0.23547863828883903,
    "a_std": 0.13930193793448706,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "b662afef6f935725",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b662afef6f935725",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8912a46529c059a1": {
    "vx_ego": [
      6.9432615613046265,
      6.2201116375252665,
      5.479276357814412,
      4.793658876347945,
      4.341696884267729,
      3.9908575016018895,
      3.4874864640385397,
      2.917293206947626,
      2.4220645664874296,
      1.975812432983663
    ],
    "vy_ego": [
      0.03573175217077115,
      0.005514501447837994,
      -0.008952261104125697,
      -0.02471651458657184,
      -0.010913926690636441,
      0.01270927052604437,
      0.027295312120936013,
      0.007560808764337269,
      -0.027168365895149867,
      -0.050072192331501675
    ],
    "v_ego": [
      6.943353502941036,
      6.220114081992667,
      5.479283671090853,
      4.793722596154553,
      4.3417106016702585,
      3.9908777384993117,
      3.487593277736929,
      2.91730300468291,
      2.4222169358542915,
      1.9764468105106459
    ],
    "ax_ego": [
      -1.4463161223033894,
      -1.4463619335467528,
      -1.5169635121534486,
      -1.225649611563862,
      -0.5823922506682959,
      -0.8209193308815648,
      -1.1924280291964395,
      -1.0883830256517375,
      -0.8925516750602712,
      -0.8925292127895719
    ],
    "ay_ego": [
      -0.04851905520463724,
      -0.04713372716324132,
      -0.07274381775493637,
      -0.02178233869466082,
      0.04350023213855406,
      0.011556849545660254,
      0.019537000716535774,
      -0.09465086120423169,
      -0.0476611637936778,
      -0.048079815752818056
    ],
    "a_ego": [
      1.4471297192555557,
      1.4471297215693553,
      1.518706673530636,
      1.2258431549776891,
      0.5840145578961121,
      0.8210006751437279,
      1.1925880676957583,
      1.0924909134878575,
      0.8938232930434649,
      0.8938232847524156
    ],
    "yaw": [
      1.6006945532658037,
      1.6016523698485163,
      1.5990062036528305,
      1.5974636148972317,
      1.5955976447890854,
      1.5932480965391367,
      1.5914484983425292,
      1.5917482545053372,
      1.5914273591171852,
      1.5909583055596261
    ],
    "yaw_diff": [
      0.0019156331654253123,
      -0.0052923323913716125,
      -0.0030851775111977453,
      -0.0037319402162925286,
      -0.004699096499897415,
      -0.003599196393214932,
      0.0005995123256159474,
      -0.0006417907763038855,
      -0.0009381071151182141,
      -0.0009381071151182141
    ],
    "min_front_frame": [
      9,
      13.762256882382394
    ],
    "v_avg": 4.257262222113345,
    "v_std": 1.5454605560190828,
    "vy_max": 0.050072192331501675,
    "a_max": 1.518706673530636,
    "ax_avg": -1.1104494703815333,
    "a_std": 0.29470657963743624,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8912a46529c059a1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      32.75702422468073,
      29.47867435736039,
      26.56675347860875,
      24.041299585026206,
      21.79691583331996,
      19.694616104523384,
      17.796267819366488,
      16.202798287042302,
      14.851470073644593,
      13.762256882382394
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8912a46529c059a1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1f174dcc44335ad6": {
    "vx_ego": [
      7.469330872765163,
      7.688247971332698,
      7.869668023273398,
      8.017791135933019,
      8.155745381431522,
      8.261226393711066,
      8.32975064549273,
      8.373582021372808,
      8.39774939196985,
      8.409020553202827
    ],
    "vy_ego": [
      -0.034894793089981224,
      -0.04260397039515684,
      -0.05756610129374762,
      -0.07958475399084852,
      -0.07944215153077838,
      -0.05754182063843016,
      -0.016519877414357786,
      -0.018317228317498824,
      -0.015535975522956491,
      -0.03457705840551428
    ],
    "v_ego": [
      7.469412382070465,
      7.688366014114753,
      7.8698785665695,
      8.018186106128608,
      8.156132280816774,
      8.261426788955449,
      8.329767026900353,
      8.373602055836614,
      8.397763762863624,
      8.409091641619538
    ],
    "ax_ego": [
      0.43555370530974485,
      0.4381348935778181,
      0.2853285201503444,
      0.303692935436648,
      0.24524618163935927,
      0.17456016478375477,
      0.09834735774863464,
      0.0769934252521606,
      0.019334597015255944,
      0.024158941673857126
    ],
    "ay_ego": [
      -0.2083958723640729,
      -0.2029129991081683,
      -0.26314045902941713,
      -0.1669097084369427,
      -0.09614502387921811,
      -0.05097565121075797,
      -0.0695101377825292,
      -0.2125731212574832,
      -0.30458752393397015,
      -0.30424288327329463
    ],
    "a_ego": [
      0.4828414541310957,
      0.4828414544936231,
      0.388143357007946,
      0.3465375157246806,
      0.2634189727893969,
      0.1818509503568581,
      0.1204319809298349,
      0.2260869731170036,
      0.3052005674601035,
      0.3052005676358555
    ],
    "yaw": [
      -2.452062628550932,
      -2.4646135566850473,
      -2.4776360025247666,
      -2.488401446520614,
      -2.4965439369825857,
      -2.503684980336015,
      -2.5122512447276675,
      -2.5204772820508428,
      -2.5362130959734372,
      -2.5520606727849033
    ],
    "yaw_diff": [
      -0.025101856268230804,
      -0.026044891679438464,
      -0.02153088799169467,
      -0.016284980923943593,
      -0.014282086706858266,
      -0.01713252878330529,
      -0.016452074646350567,
      -0.031471627845188976,
      -0.03169515362293218,
      -0.03169515362293218
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.097362662587567,
    "v_std": 0.311082694509777,
    "vy_max": 0.07958475399084852,
    "a_max": 0.4828414544936231,
    "ax_avg": 0.21013507225875777,
    "a_std": 0.11349208290900206,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1f174dcc44335ad6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 18.6877618237104,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1f174dcc44335ad6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c7c9121707745be3": {
    "vx_ego": [
      3.6181769117007736,
      4.1457908202782585,
      4.696134827206254,
      5.147541180967781,
      5.485787713513843,
      5.663041142108545,
      5.655570179986321,
      5.580818889536518,
      5.536175982373637,
      5.516563911151087
    ],
    "vy_ego": [
      0.0680239924793391,
      -0.04409474197302643,
      -0.05542581881166164,
      -0.05580935779834473,
      -0.012448318528414326,
      -0.008254799425701176,
      -0.04547884778144562,
      -0.010823799534461997,
      -0.029665397188320064,
      -0.08056175082026362
    ],
    "v_ego": [
      3.6188163020409556,
      4.146025310073871,
      4.696461895585917,
      5.147843713068321,
      5.485801837322747,
      5.66304715845874,
      5.655753034419558,
      5.5808293857135585,
      5.536255462277825,
      5.5171521260075655
    ],
    "ax_ego": [
      0.9254089505656614,
      1.1574751389413265,
      1.0437528616848493,
      0.7723423689060371,
      0.5864820369588539,
      0.12464349879787168,
      -0.15889345842373073,
      -0.1400118506311081,
      -0.03835166732324293,
      -0.03851272613186405
    ],
    "ay_ego": [
      1.3281008675362764,
      1.1315851492973543,
      0.7307499230473441,
      0.5978694678938777,
      0.5745112224343516,
      0.5756534627577593,
      0.12718238854017677,
      0.04320507125363113,
      -0.02256969959323839,
      -0.022293746549378612
    ],
    "a_ego": [
      1.6187135756944924,
      1.6187135779308082,
      1.2741332294187337,
      0.976709084347585,
      0.8209898442602195,
      0.5889931332176751,
      0.20352516081467256,
      0.146526436178524,
      0.044499907035877334,
      0.04449990122815887
    ],
    "yaw": [
      0.5569858446029655,
      0.745124703930889,
      0.8525513045781516,
      0.9196274765989894,
      0.9663865494034853,
      1.0166849619255762,
      1.0540717291598318,
      1.0554859120266529,
      1.059813592086323,
      1.0669937443245203
    ],
    "yaw_diff": [
      0.376277718655847,
      0.21485320129452523,
      0.13415234404167542,
      0.09351814560899196,
      0.10059682504418177,
      0.0747735344685112,
      0.002828365733642091,
      0.008655360119340205,
      0.014360304476394692,
      0.014360304476394692
    ],
    "min_front_frame": [
      4,
      16.69868809268919
    ],
    "v_avg": 5.104798622496906,
    "v_std": 0.681111799141451,
    "vy_max": 0.08056175082026362,
    "a_max": 1.6187135779308082,
    "ax_avg": 0.4234335153344654,
    "a_std": 0.5934670029781073,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "c7c9121707745be3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      24.69367731367321,
      16.69868809268919,
      18.06432576481193,
      19.48067549540406,
      20.66994953809423,
      21.76727377980527,
      22.342843119596196
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c7c9121707745be3",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d651033bf05e5da3": {
    "vx_ego": [
      1.7025345962404956,
      2.4864106476966565,
      3.1909181006515217,
      3.6295841375164466,
      3.679707107186795,
      3.6156438053940105,
      3.6430040938214994,
      3.718735955507024,
      3.8646530010187554,
      4.162539252969689
    ],
    "vy_ego": [
      0.011122938764027368,
      -0.005634789141208518,
      -0.010413462652626437,
      -0.008032828365297284,
      0.011596245540385741,
      0.0019339641423183895,
      -0.020152690112837712,
      -0.06311423010627615,
      -0.051002045683692154,
      0.11520317503691531
    ],
    "v_ego": [
      1.7025709298477216,
      2.486417032564725,
      3.1909350926131252,
      3.629593026448358,
      3.6797253793716242,
      3.6156443226209882,
      3.64305983460593,
      3.7192715029724095,
      3.8649895248172657,
      4.164133139568432
    ],
    "ax_ego": [
      1.5677345096729545,
      1.5677820008817789,
      1.2501677563402536,
      0.5045053917953943,
      -0.3000939712422478,
      0.051679965099441866,
      0.07233957792487855,
      0.23742512480618816,
      0.35606483039763054,
      0.8481526165557431
    ],
    "ay_ego": [
      -0.039624357862452664,
      -0.037698430895701796,
      0.0005957247542488497,
      -0.07615268470219225,
      -0.31344154728309326,
      -0.5375349131860543,
      -0.919457131792565,
      -1.3480586493084408,
      -1.8946925905352936,
      -1.7312652353300197
    ],
    "a_ego": [
      1.5682351808818442,
      1.5682351781479944,
      1.2501678982763902,
      0.5102204638565331,
      0.4339377779580416,
      0.5400135199109541,
      0.9222984504695646,
      1.3688070762034115,
      1.927859480375952,
      1.9278594803648585
    ],
    "yaw": [
      -0.7264770445875597,
      -0.7277055036418763,
      -0.7292678482834777,
      -0.7353389361130629,
      -0.7665003972719204,
      -0.8228391332745166,
      -0.9171132637378075,
      -1.0600072907324032,
      -1.277004432702678,
      -1.546781241644025
    ],
    "yaw_diff": [
      -0.0024569181086331326,
      -0.003124689283202864,
      -0.012142175659170418,
      -0.06232292231771508,
      -0.1126774720051924,
      -0.18854826092658183,
      -0.28578805398919127,
      -0.4339942839405495,
      -0.5395536178826941,
      -0.5395536178826941
    ],
    "min_front_frame": [
      0,
      12.432174864164594
    ],
    "v_avg": 3.369633978543058,
    "v_std": 0.6992120764129949,
    "vy_max": 0.11520317503691531,
    "a_max": 1.927859480375952,
    "ax_avg": 0.6155757802232016,
    "a_std": 0.5419485336857248,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "d651033bf05e5da3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.22757754885228,
    "right_rear_min": 18.644939237498882,
    "speed_mode": "accelerating",
    "front_frame": [
      12.432174864164594,
      13.711641600827555,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d651033bf05e5da3",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "f1def9ef86125c39": {
    "vx_ego": [
      11.780050568149758,
      11.841944608151625,
      11.922644558516112,
      12.011575975046238,
      12.00836212548908,
      11.91253580412161,
      11.74757095148078,
      11.545661250914069,
      11.385708291068521,
      11.248984301503997
    ],
    "vy_ego": [
      -0.0040954300198947635,
      -0.025543498652355723,
      -0.01393678981062596,
      -0.010021778115574698,
      -0.017703727374058786,
      0.008836813986129677,
      -0.01688925607248226,
      -0.014245583753371704,
      -0.017492851975720924,
      0.06453815534224905
    ],
    "v_ego": [
      11.78005128005445,
      11.841972157240312,
      11.922652704110108,
      12.011580155847298,
      12.008375175636525,
      11.912539081730676,
      11.747583092153285,
      11.545670039348739,
      11.385721728954064,
      11.249169435517377
    ],
    "ax_ego": [
      0.12320726072666187,
      0.12406071977264968,
      0.198657202768506,
      0.15808810748810811,
      -0.17189682031687306,
      -0.21317056650080402,
      -0.4476002897898612,
      -0.36106024593639496,
      -0.2783808979051688,
      -0.26582957891617676
    ],
    "ay_ego": [
      -0.16536516117311031,
      -0.16472584603738133,
      -0.3076548077211433,
      -0.5193774944921852,
      -0.5410182481881494,
      -0.4181524040896168,
      -0.3126397848435618,
      -0.2793322577160295,
      -0.45347904076433476,
      -0.460948803764023
    ],
    "a_ego": [
      0.20621752017124148,
      0.20621752239622843,
      0.36621873917884235,
      0.5429040721104894,
      0.5676700288967397,
      0.4693539426362581,
      0.5459758735392951,
      0.45649864336751794,
      0.5321082265207232,
      0.5321082265087015
    ],
    "yaw": [
      -0.8726744821780238,
      -0.877845518477704,
      -0.8887695399814903,
      -0.9063659697507627,
      -0.9277254054110536,
      -0.9499827117625773,
      -0.9632186470453529,
      -0.9761644346452778,
      -0.991873413922977,
      -1.0193234469710557
    ],
    "yaw_diff": [
      -0.010342072599360375,
      -0.021848043007572704,
      -0.035192859538544674,
      -0.04271887132058194,
      -0.04451461270304735,
      -0.026471870565551114,
      -0.02589157519984986,
      -0.03141795855539842,
      -0.054900066096157385,
      -0.054900066096157385
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.740531485059282,
    "v_std": 0.2500323449821428,
    "vy_max": 0.06453815534224905,
    "a_max": 0.5676700288967397,
    "ax_avg": -0.11339251086093531,
    "a_std": 0.1307324664388715,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "f1def9ef86125c39",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "f1def9ef86125c39",
    "road_shape": "Straight"
  },
  "5c3080b50d365629": {
    "vx_ego": [
      0.7865861903667901,
      1.4089204203266712,
      1.979703196906904,
      2.44938410280736,
      2.8241596650975316,
      3.128725163332373,
      3.376044984956734,
      3.5365378508553977,
      3.6078100708052068,
      3.6960645352093264
    ],
    "vy_ego": [
      -0.043857424116836755,
      -0.013761993357754673,
      0.007817818780844032,
      0.02891622043768688,
      0.028863499011338667,
      0.0007639107310378757,
      -0.0021556536525286774,
      -0.03346673023338398,
      -0.06714753257294603,
      -0.10053848663711484
    ],
    "v_ego": [
      0.7878079134699678,
      1.4089876306322433,
      1.9797186330723633,
      2.4495547821777364,
      2.824307156726934,
      3.1287252565907395,
      3.3760456731647137,
      3.536696197380463,
      3.608434882069248,
      3.6974316810087804
    ],
    "ax_ego": [
      1.2448002736161263,
      1.2457419069178683,
      1.03933661089879,
      0.8380235473162106,
      0.6582878803613011,
      0.5636432683579451,
      0.44013596456441223,
      0.22570517011800234,
      0.10388142015560164,
      0.30335587367370653
    ],
    "ay_ego": [
      0.09154810639162482,
      0.07769091532191756,
      0.19653116160272746,
      0.28138703608948823,
      0.42894807623306663,
      0.6228048935673307,
      0.869311063856872,
      1.0518427085527504,
      1.187338762266147,
      1.1526230519765583
    ],
    "a_ego": [
      1.248162159728725,
      1.2481621597272226,
      1.0577547391694826,
      0.8840034671513863,
      0.7857094790917464,
      0.8399878983751139,
      0.9743825701679049,
      1.0757861810571758,
      1.191874442142817,
      1.191874442229589
    ],
    "yaw": [
      -1.5171834715148664,
      -1.5060557356927697,
      -1.4787477607134762,
      -1.4348289357366308,
      -1.368054004858267,
      -1.2707375593753065,
      -1.1558186471567535,
      -1.0092011481745335,
      -0.8441434882040006,
      -0.6740609232546142
    ],
    "yaw_diff": [
      0.022255471644193392,
      0.054615949958586985,
      0.08783764995369081,
      0.13354986175672767,
      0.19463289096592096,
      0.229837824437106,
      0.29323499796443997,
      0.3301153199410658,
      0.3401651298987729,
      0.3401651298987729
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.6797709806293186,
    "v_std": 0.9527385382718061,
    "vy_max": 0.10053848663711484,
    "a_max": 1.248162159728725,
    "ax_avg": 0.6662911915979963,
    "a_std": 0.16332334115208214,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "5c3080b50d365629",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 49.76380559221186,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "5c3080b50d365629",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "caa3170f8c3b5cfe": {
    "vx_ego": [
      0.10795456212188552,
      0.7963447473188332,
      1.4345160888987984,
      1.8918225574084078,
      2.1154382186896448,
      2.2907686548994137,
      2.574543812527626,
      2.925461957567637,
      3.3578349205910225,
      3.9091760175429395
    ],
    "vy_ego": [
      0.015452487847164402,
      0.012279967550527016,
      0.018905167488301178,
      0.011452291905317158,
      -0.011398024805333362,
      -0.012925069749739837,
      -0.006544740412775418,
      0.014939985697735914,
      0.021764691507188794,
      -0.11816711358365234
    ],
    "v_ego": [
      0.10905488005401136,
      0.7964394227970752,
      1.4346406569825303,
      1.8918572207513897,
      2.1154689248632987,
      2.2908051177910584,
      2.574552131197066,
      2.925500105682466,
      3.3579054566406303,
      3.9109615956776627
    ],
    "ax_ego": [
      1.3766026235171367,
      1.3765973382866523,
      1.1760224548875708,
      0.6513845649963862,
      0.24710442574749772,
      0.46497177493623093,
      0.6875022778909766,
      0.743359043891568,
      0.9928420285013887,
      1.2288247497281592
    ],
    "ay_ego": [
      0.003291041581894971,
      -0.005038117095382932,
      0.11229257460505371,
      0.14658834614352687,
      0.27562861723332854,
      0.4383190750645117,
      0.6693182488793238,
      1.0648779421275412,
      1.2836206608285141,
      1.059908964803277
    ],
    "a_ego": [
      1.3766065574553092,
      1.3766065575907165,
      1.1813714219970026,
      0.6676750667357781,
      0.3701779732263352,
      0.6390010665505638,
      0.9595031528807845,
      1.2986715134186833,
      1.622780729015656,
      1.6227807243170063
    ],
    "yaw": [
      -2.3205870028689404,
      -2.3145364911490667,
      -2.296835618138873,
      -2.2550929356061937,
      -2.1926039228364846,
      -2.109919114623873,
      -1.9975439630572815,
      -1.8476026948321769,
      -1.66157717296291,
      -1.460862869668071
    ],
    "yaw_diff": [
      0.012101023439747394,
      0.03540174602038704,
      0.08348536506535886,
      0.12497802553941817,
      0.16536961642522297,
      0.22475030313318323,
      0.29988253645020935,
      0.3720510437385336,
      0.40142860658967816,
      0.40142860658967816
    ],
    "min_front_frame": [
      4,
      46.32006426901378
    ],
    "v_avg": 2.140718551243719,
    "v_std": 1.0926016284994844,
    "vy_max": 0.11816711358365234,
    "a_max": 1.622780729015656,
    "ax_avg": 0.8945211282383567,
    "a_std": 0.4118484341367898,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "caa3170f8c3b5cfe",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.132857314373016,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      49.14882799223881,
      48.81467963348806,
      48.15781915297226,
      47.30312610645694,
      46.32006426901378,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "caa3170f8c3b5cfe",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8b3bd35b8b945918": {
    "vx_ego": [
      3.4065685569108686,
      3.7404747671501366,
      4.1360928320965336,
      4.5745146402845585,
      4.981753815672493,
      5.3106723343719535,
      5.577734773112017,
      5.8908138418550955,
      6.3193439815364485,
      6.790007153581794
    ],
    "vy_ego": [
      0.08460886934980771,
      6.0660264475931314e-05,
      0.011163108610826367,
      0.04793186842539554,
      0.06251760831142666,
      0.10285473986011939,
      0.1598075761506137,
      0.21597994015561284,
      0.17149555874959832,
      -0.07135814701590482
    ],
    "v_ego": [
      3.4076191092471664,
      3.7404747676420085,
      4.136107896406256,
      4.574765748996173,
      4.982146076874546,
      5.311668263415492,
      5.580023625449814,
      5.894771840702676,
      6.321670592782557,
      6.790382104921451
    ],
    "ax_ego": [
      0.6416831042414557,
      0.7057519763049811,
      0.8989571296064554,
      0.9033983099809161,
      0.796163655265708,
      0.6240716775105881,
      0.6174890557893995,
      0.7966124822238589,
      0.9236576372126957,
      0.9665061950052601
    ],
    "ay_ego": [
      -0.7939268015472509,
      -0.7375575362356724,
      -1.0688722641944697,
      -1.4649344846438221,
      -1.8301985205928517,
      -2.200008817669174,
      -2.639262711814448,
      -2.511420006387201,
      -1.0500545401731394,
      -1.0107540199357619
    ],
    "a_ego": [
      1.0208217143478087,
      1.0208217137759275,
      1.396643060353822,
      1.7210931267003062,
      1.9958715366341382,
      2.286810935887136,
      2.710535075588183,
      2.634733742774922,
      1.3984841679903148,
      1.3984841485693889
    ],
    "yaw": [
      0.47335161336578296,
      0.3897313838708089,
      0.27165360103061303,
      0.11805066520386492,
      -0.05647363946524381,
      -0.25855878222563256,
      -0.49016519387826507,
      -0.7243602969706197,
      -0.8630530853199938,
      -0.904631328049682
    ],
    "yaw_diff": [
      -0.1672404589899481,
      -0.23615556568039175,
      -0.3072058716534962,
      -0.34904860933821746,
      -0.4041702855207775,
      -0.46321282330526503,
      -0.46839020618470917,
      -0.2773855766987483,
      -0.08315648545937648,
      -0.08315648545937648
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.073963002643814,
    "v_std": 1.0574162070298396,
    "vy_max": 0.21597994015561284,
    "a_max": 2.710535075588183,
    "ax_avg": 0.7874291223141319,
    "a_std": 0.5907211726363781,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "8b3bd35b8b945918",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.756549167695882,
    "right_rear_min": 25.734121646343013,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8b3bd35b8b945918",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c4d424c8f74e5b70": {
    "vx_ego": [
      2.446949659956685,
      2.0890973479062054,
      1.8002892522735017,
      1.5417236847961628,
      1.1819329513576922,
      0.7133653000049159,
      0.2668065884955623,
      0.018961163612529492,
      -0.03335612021534836,
      -0.02045689956953795
    ],
    "vy_ego": [
      -0.04746420954428114,
      -0.0008382207830357688,
      -0.0020130721498126183,
      -0.03132761947074592,
      -0.03363333946780404,
      -0.007559973159524915,
      0.025757389994599804,
      0.026896559823149025,
      0.012081833162572199,
      0.000335551542273765
    ],
    "v_ego": [
      2.447409955350717,
      2.0890975160683194,
      1.8002903777754755,
      1.542041938470923,
      1.1824113933098164,
      0.7134053577351914,
      0.26804700857120983,
      0.032908215628644266,
      0.03547677336496374,
      0.020459651385976357
    ],
    "ax_ego": [
      -0.7157047107124436,
      -0.7157094427367361,
      -0.4395395178107484,
      -0.594683076586713,
      -0.8444508753045945,
      -1.0298414602888166,
      -0.756409471350917,
      -0.23505179520926642,
      0.02579848523699749,
      0.02579991771644454
    ],
    "ay_ego": [
      0.09303919515797482,
      0.09300274488062654,
      -0.09627658436871839,
      -0.01844213353135896,
      0.010337704934461598,
      0.09327401007633272,
      0.040462990517982564,
      -0.035733806743594346,
      -0.023490063056634588,
      -0.02348848353694223
    ],
    "a_ego": [
      0.7217267660074873,
      0.721726760608099,
      0.4499601853664524,
      0.5949689688276414,
      0.8445141496422708,
      1.0340568041870437,
      0.757490951728819,
      0.23775250025075964,
      0.0348904700875217,
      0.03489046593326772
    ],
    "yaw": [
      -1.5413817877632767,
      -1.5414327143238211,
      -1.5412461383046954,
      -1.5408705651475485,
      -1.5406698445732618,
      -1.5408454036307613,
      -1.5405890181584836,
      -1.5400340737874456,
      -1.540254159831644,
      -1.5403152989962607
    ],
    "yaw_diff": [
      -0.00010185312108879074,
      0.0003731520382515008,
      0.000751146314293738,
      0.0004014411485733227,
      -0.0003511181149988829,
      0.0005127709445553741,
      0.0011098887420759596,
      -0.0004401720883966398,
      -0.00012227832923361603,
      -0.00012227832923361603
    ],
    "min_front_frame": [
      6,
      9.648535522967807
    ],
    "v_avg": 1.013154818766124,
    "v_std": 0.8769212674655449,
    "vy_max": 0.04746420954428114,
    "a_max": 1.0340568041870437,
    "ax_avg": -0.5279791947046795,
    "a_std": 0.32600979529189605,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c4d424c8f74e5b70",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.697386916980562,
    "right_rear_min": 5.044149484905812,
    "speed_mode": "decelerating",
    "front_frame": [
      12.121897135068975,
      11.692214359002685,
      11.364412203325973,
      10.913773037585889,
      10.329563817213062,
      9.8779113825041,
      9.648535522967807,
      9.66245284887436,
      9.680053489855954,
      9.715886433435127
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c4d424c8f74e5b70",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "75f8f9a90db75078": {
    "vx_ego": [
      4.834096161351556,
      5.223885304778313,
      5.6039245604106185,
      5.963140202918765,
      6.309960900443181,
      6.631247311473777,
      6.980347258018302,
      7.312835279589137,
      7.53301848344177,
      7.701579220930459
    ],
    "vy_ego": [
      -0.05206223529343934,
      -0.0022561434747221387,
      0.06738878831891038,
      0.06430136196241198,
      0.06108603641608146,
      0.03534865039580648,
      0.007433100768666989,
      -0.03373395203956164,
      -0.042530732455025255,
      -0.0077921440164727684
    ],
    "v_ego": [
      4.834376503080578,
      5.223885791981117,
      5.604329730446312,
      5.963486878061883,
      6.3102565771105334,
      6.631341525891499,
      6.9803512156273815,
      7.312913086173235,
      7.533138544795158,
      7.701583162816344
    ],
    "ax_ego": [
      0.7590536373384362,
      0.7918328768249594,
      0.727374351017424,
      0.7121196073486158,
      0.6765913020236124,
      0.609009227344137,
      0.7874586734857957,
      0.5425465936641687,
      0.3369933417718291,
      0.33692675976283154
    ],
    "ay_ego": [
      -0.5504538480241766,
      -0.50215790814426,
      -0.1996029663648757,
      -0.09872007054157292,
      -0.06432713774241455,
      -0.09521420975495631,
      -0.04661497143232998,
      -0.1927151157547541,
      0.020330315600800175,
      0.021405453200489408
    ],
    "a_ego": [
      0.937636317108789,
      0.9376363205063626,
      0.7542644037071327,
      0.7189297514347838,
      0.6796423843641145,
      0.6164073204704529,
      0.7888371936018521,
      0.5757568255235546,
      0.3376060339078272,
      0.3376060350038179
    ],
    "yaw": [
      -0.18705145650630034,
      -0.24931306125676062,
      -0.29450766349249724,
      -0.30686496518331813,
      -0.3129790193595482,
      -0.3151626630791654,
      -0.3162744418589425,
      -0.31887509980290835,
      -0.32347989248205417,
      -0.32667060378934687
    ],
    "yaw_diff": [
      -0.12452320950092055,
      -0.09038920447147325,
      -0.024714603381641775,
      -0.012228108352460132,
      -0.004367287439234424,
      -0.002223557559554168,
      -0.005201315887931712,
      -0.009209585358291639,
      -0.006381422614585408,
      -0.006381422614585408
    ],
    "min_front_frame": [
      9,
      32.02201543558866
    ],
    "v_avg": 6.409566301598405,
    "v_std": 0.941650339456791,
    "vy_max": 0.06738878831891038,
    "a_max": 0.9376363205063626,
    "ax_avg": 0.6279906370581809,
    "a_std": 0.1999172660175963,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "75f8f9a90db75078",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      60.80747503827819,
      58.36083540442433,
      55.647973295817174,
      52.75495706304984,
      49.657577556416065,
      46.44409006253685,
      43.089493126184,
      39.508603017363605,
      35.795060365743446,
      32.02201543558866
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "75f8f9a90db75078",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8875d7f59f045de3": {
    "vx_ego": [
      -0.14180781972467624,
      0.192166286205936,
      0.6800090149346552,
      1.342559988572862,
      2.019934510230927,
      2.6960388406326556,
      3.3339585957205937,
      3.9012285057794225,
      4.254374974447484,
      4.419528831545315
    ],
    "vy_ego": [
      0.0014248591303768765,
      -0.0025532494883257484,
      -0.009830324912244337,
      -0.00844314003038682,
      0.014016447797164266,
      0.040602314329246214,
      0.022171613775983978,
      -0.004538507720075691,
      -0.0017655065349422294,
      0.11014629482250626
    ],
    "v_ego": [
      0.14181497790645278,
      0.19218324754549068,
      0.6800800656395395,
      1.3425865370732482,
      2.0199831401352597,
      2.6963445584955874,
      3.3340323181452014,
      3.901231145722882,
      4.254375340777815,
      4.420901186310708
    ],
    "ax_ego": [
      0.667948292691777,
      0.6679481542335766,
      1.2834142390349825,
      1.3667245649287199,
      1.342772895588429,
      1.361302714209727,
      1.189415484794237,
      1.079664668644742,
      0.33291560083165905,
      0.33415246241852403
    ],
    "ay_ego": [
      -0.007949786903024891,
      -0.007960950112879173,
      -0.02183338854336836,
      0.022961660939877393,
      0.06648361112590695,
      0.06978746465197772,
      -0.08617173535681133,
      -0.022791629595352858,
      -0.045659011717992415,
      -0.03549181915334754
    ],
    "a_ego": [
      0.6679955994029178,
      0.6679955939006945,
      1.2835999399396327,
      1.3669174350533086,
      1.3444177623325553,
      1.3630903748238121,
      1.1925329192281084,
      1.0799052065340606,
      0.33603205595325025,
      0.336032048125141
    ],
    "yaw": [
      2.201731496800492,
      2.201748217623037,
      2.201270676610303,
      2.200166519628582,
      2.2001081720026603,
      2.203284293014936,
      2.208005082241104,
      2.207858930655158,
      2.203091504974876,
      2.1726106541133694
    ],
    "yaw_diff": [
      3.3441645090448446e-05,
      -0.0009550820254684567,
      -0.002208313963442343,
      -0.0001166952518429909,
      0.006352242024551202,
      0.009441578452336508,
      -0.0002923031718919944,
      -0.009534851360564645,
      -0.06096170172301285,
      -0.06096170172301285
    ],
    "min_front_frame": [
      0,
      11.139849244118754
    ],
    "v_avg": 2.2983532517752185,
    "v_std": 1.5756863694607923,
    "vy_max": 0.11014629482250626,
    "a_max": 1.3669174350533086,
    "ax_avg": 0.9626259077376375,
    "a_std": 0.3997578236766704,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8875d7f59f045de3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.465184864746439,
    "right_rear_min": 20.253802325251208,
    "speed_mode": "accelerating",
    "front_frame": [
      11.139849244118754,
      12.327547573510303,
      13.736931133736817,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8875d7f59f045de3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "767995ca4ab75a14": {
    "vx_ego": [
      3.461464537661726,
      3.2274478629163585,
      3.009838870332694,
      2.7969701555524598,
      2.578593351242957,
      2.3635565232856175,
      2.143110859032829,
      1.886667918878901,
      1.633615478212208,
      1.4173127867564101
    ],
    "vy_ego": [
      0.0015253260419734183,
      0.010348510463431326,
      0.009831106078443952,
      -0.0044812094946271586,
      -0.01940328649408296,
      -0.023800979204091632,
      -0.018816015978429412,
      -0.01527918800532968,
      -0.010504234581682037,
      0.0061949932176794675
    ],
    "v_ego": [
      3.4614648737361526,
      3.2274644536403776,
      3.009854926074065,
      2.7969737453701073,
      2.5786663527104774,
      2.363676358001888,
      2.143193457567872,
      1.8867297871483732,
      1.6336492492572108,
      1.4173263256724573
    ],
    "ax_ego": [
      -0.46865608784668733,
      -0.4676444353346983,
      -0.40352885187280085,
      -0.4482166953893563,
      -0.4247930245994508,
      -0.43437272462231147,
      -0.44618249889060935,
      -0.5789918587067268,
      -0.43269405585012266,
      -0.4324717845744318
    ],
    "ay_ego": [
      0.08896787862256361,
      0.09414081963029122,
      0.043962083190477896,
      0.007317536966189364,
      0.026300986151689687,
      0.0532765045544725,
      0.0793286835750843,
      0.03750092297300894,
      0.046625181827468304,
      0.04864370107727073
    ],
    "a_ego": [
      0.47702600778402127,
      0.47702600748824153,
      0.4059164927078319,
      0.4482764240655609,
      0.4256064562725769,
      0.43762775258586284,
      0.4531797241206015,
      0.5802050427844434,
      0.4351988666672669,
      0.43519886730951934
    ],
    "yaw": [
      -2.354866213102109,
      -2.343816580692902,
      -2.3325510904564695,
      -2.3232241352182834,
      -2.314535929837809,
      -2.304710204311517,
      -2.2922187000300602,
      -2.2795825437107293,
      -2.2702497003385433,
      -2.265583507596892
    ],
    "yaw_diff": [
      0.022099264818414177,
      0.02253098047286528,
      0.018653910476372104,
      0.017376410760948424,
      0.019651451052584257,
      0.02498300856291369,
      0.02527231263866181,
      0.018665686744371968,
      0.00933238548330273,
      0.00933238548330273
    ],
    "min_front_frame": [
      9,
      11.294076232001295
    ],
    "v_avg": 2.4518999529178984,
    "v_std": 0.6503505394809209,
    "vy_max": 0.023800979204091632,
    "a_max": 0.5802050427844434,
    "ax_avg": -0.45375520176871953,
    "a_std": 0.04581531774935139,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "767995ca4ab75a14",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.664988678530586,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.234828932442564,
      20.544694350890655,
      18.982724415819813,
      17.51812545022226,
      16.19086792160525,
      15.00891129836166,
      13.845075940368185,
      12.814117108861852,
      11.958802886388543,
      11.294076232001295
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "767995ca4ab75a14",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d89a663c15da5ce2": {
    "vx_ego": [
      7.278784338846062,
      7.622550258547664,
      7.996353157760892,
      8.328189973550524,
      8.59012062727494,
      8.845345456646402,
      9.076574680585232,
      9.289773961870557,
      9.495582117664407,
      9.695705398057108
    ],
    "vy_ego": [
      -0.007626737828070329,
      -0.029280737591683703,
      -0.04511021489140754,
      -0.05144519842975637,
      -0.039870393218016886,
      -0.02279488921551831,
      -0.015974325677212242,
      -0.012185744628282258,
      0.01184726252390167,
      0.0011332325163602164
    ],
    "v_ego": [
      7.2787883345073725,
      7.622606496840761,
      7.996480397970106,
      8.328348866611494,
      8.590213154479333,
      8.845374828371577,
      9.076588737588684,
      9.289781954116055,
      9.495589508342142,
      9.695705464283126
    ],
    "ax_ego": [
      0.6840330686515171,
      0.689597093588546,
      0.8028084414305128,
      0.5219662887321972,
      0.523645117317001,
      0.49649135040193143,
      0.42816531555615095,
      0.42416671479389767,
      0.399526539197214,
      0.401178085092364
    ],
    "ay_ego": [
      -0.31655280930674073,
      -0.30424130033441155,
      -0.2309895470790938,
      -0.18188737409673958,
      -0.07335438240243566,
      -0.05972499448024482,
      -0.1279224680718005,
      -0.09997493543087127,
      -0.19081450743335376,
      -0.18731731466967338
    ],
    "a_ego": [
      0.75372867803262,
      0.753728678182636,
      0.8353786952585599,
      0.5527493314592707,
      0.5287580489293554,
      0.5000707309867263,
      0.4468665296068605,
      0.435789386806809,
      0.44275459542497847,
      0.4427545960613323
    ],
    "yaw": [
      0.9021589849672709,
      0.8842339570922125,
      0.8690997122852441,
      0.8572809169312807,
      0.8483690796233643,
      0.8425962927989123,
      0.8366057399585201,
      0.8299893564173715,
      0.8196943367789824,
      0.8109591025356773
    ],
    "yaw_diff": [
      -0.03585005575011668,
      -0.03026848961393691,
      -0.023637590707926703,
      -0.017823674615832896,
      -0.01154557364890385,
      -0.011981105680784587,
      -0.013232767082297148,
      -0.02059003927677816,
      -0.01747046848661027,
      -0.01747046848661027
    ],
    "min_front_frame": [
      2,
      17.667739308338525
    ],
    "v_avg": 8.621947774311064,
    "v_std": 0.7681147775600836,
    "vy_max": 0.05144519842975637,
    "a_max": 0.8353786952585599,
    "ax_avg": 0.5371578014761332,
    "a_std": 0.14504430781140618,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "d89a663c15da5ce2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.77761123493506,
    "right_rear_min": 3.9167619688139568,
    "speed_mode": "accelerating",
    "front_frame": [
      32.54036168736049,
      35.11164639182818,
      17.667739308338525,
      20.186533079842754,
      22.910854897979043,
      25.63532821111486,
      28.086490624978886,
      30.47214010675619,
      32.64582959066039,
      34.794563236029916
    ],
    "safe_frame": [
      1,
      1,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d89a663c15da5ce2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e68ddf5be41355dc": {
    "vx_ego": [
      5.7990094555194895,
      5.330344384192706,
      4.944454709115885,
      4.663335429759252,
      4.3498319051401655,
      3.9650563785891175,
      3.554553633350206,
      3.1856439285493052,
      2.9731200868727186,
      2.866560141588817
    ],
    "vy_ego": [
      0.00876930359342687,
      -0.007120635356195226,
      -0.004148741196543071,
      0.02467148619013626,
      0.0490309380215086,
      0.021637943618233013,
      -0.01705329878144557,
      -0.02289479868963773,
      -0.010325378140814134,
      0.015726122314579483
    ],
    "v_ego": [
      5.79901608601752,
      5.330349140304282,
      4.944456449656703,
      4.663400691842675,
      4.350108232660262,
      3.965115419000344,
      3.554594540501417,
      3.185726198421655,
      2.973138016372565,
      2.8666032784933377
    ],
    "ax_ego": [
      -0.9373207532617902,
      -0.9373433968790477,
      -0.6061726769765454,
      -0.5183226914297172,
      -0.7361367318396279,
      -0.8034077957676271,
      -0.8386078692345378,
      -0.6372028710373169,
      -0.21309621013413385,
      -0.21313471771891596
    ],
    "ay_ego": [
      -0.015907911983513545,
      -0.014512388350901073,
      0.04329002623440664,
      0.09513630238557644,
      0.04978636293956534,
      -0.12728716131762474,
      -0.029249053057082086,
      -0.021591869740470282,
      0.04744175145754055,
      0.047268491294649356
    ],
    "a_ego": [
      0.9374557355731122,
      0.9374557339354211,
      0.6077164969657207,
      0.5269813359907025,
      0.7378183854433815,
      0.8134286125632023,
      0.8391177899716032,
      0.637568590582291,
      0.21831334030445776,
      0.21831334857583568
    ],
    "yaw": [
      -0.5818303761364614,
      -0.580341545566256,
      -0.5795129516427578,
      -0.5783056783114409,
      -0.5756873042875847,
      -0.5737626575872493,
      -0.5738802943780987,
      -0.575933772174896,
      -0.5779516837424512,
      -0.5787647198621976
    ],
    "yaw_diff": [
      0.00297766114041087,
      0.0016571878469961998,
      0.002414546662633965,
      0.005236748047712236,
      0.0038492934006708612,
      -0.00023527358169883605,
      -0.004106955593594641,
      -0.004035823135110306,
      -0.0016260722394927374,
      -0.0016260722394927374
    ],
    "min_front_frame": [
      9,
      12.29498618621868
    ],
    "v_avg": 4.163250805327076,
    "v_std": 0.969336481274256,
    "vy_max": 0.0490309380215086,
    "a_max": 0.9374557355731122,
    "ax_avg": -0.6440745714279259,
    "a_std": 0.2500328296227475,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e68ddf5be41355dc",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.151038911194199,
    "right_rear_min": 3.1915157171419963,
    "speed_mode": "decelerating",
    "front_frame": [
      21.120169532486987,
      19.88221913243354,
      18.680677301242387,
      17.340078257580362,
      16.02770919032496,
      14.837780311948954,
      13.915608114960857,
      13.252562333278933,
      12.762935484771509,
      12.29498618621868
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e68ddf5be41355dc",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "26710ebfab6d528c": {
    "vx_ego": [
      4.325098172280996,
      4.248493283578863,
      4.188789753364886,
      4.109459834874711,
      3.9906134213577342,
      3.851387845071928,
      3.674303244077101,
      3.4369904004452994,
      3.142174462816884,
      2.8277433616465615
    ],
    "vy_ego": [
      0.04450158184111164,
      0.055605728658304265,
      0.0664325465548199,
      0.05095945557341075,
      0.03986174544645538,
      0.025445488928682147,
      -0.0006893372220926341,
      -5.385356506604211e-05,
      0.048958913597095144,
      0.12629585011649236
    ],
    "v_ego": [
      4.325327107937014,
      4.248857161364022,
      4.189316517182298,
      4.109775784706609,
      3.990812503422144,
      3.8514719012443295,
      3.67430330874049,
      3.4369904008672103,
      3.142555859487494,
      2.8305623400824165
    ],
    "ax_ego": [
      -0.15285840702880238,
      -0.14901799606127974,
      -0.08488212021766434,
      -0.2288404906377206,
      -0.243889903651282,
      -0.3110576764826018,
      -0.39651837565959586,
      -0.5536710879565874,
      -0.6243611617796713,
      -0.624554331640127
    ],
    "ay_ego": [
      -0.1689826641657743,
      -0.1723788566203791,
      -0.14418738302366146,
      -0.1631602071963616,
      -0.13673795252397455,
      -0.14714075916393132,
      -0.16109658061299065,
      0.003837338615000574,
      0.015533255022059766,
      0.00017598127073359393
    ],
    "a_ego": [
      0.22786143462189007,
      0.22786143456028007,
      0.16731699183244383,
      0.28105021502868904,
      0.2796060671077799,
      0.34410359066143587,
      0.4279940776703834,
      0.5536843855543312,
      0.6245543550007807,
      0.6245543564333319
    ],
    "yaw": [
      -0.6350710645973718,
      -0.6575706807103409,
      -0.6789368584690181,
      -0.6936623045812124,
      -0.7094265689488306,
      -0.7238187129415721,
      -0.7373137054749092,
      -0.7484875868488758,
      -0.7618786873025918,
      -0.7864704277293506
    ],
    "yaw_diff": [
      -0.044999232225938046,
      -0.04273235551735444,
      -0.02945089222438857,
      -0.03152852873523648,
      -0.028784287985482937,
      -0.02698998506667416,
      -0.022347762747933375,
      -0.026782200907431886,
      -0.04918348085351765,
      -0.04918348085351765
    ],
    "min_front_frame": [
      9,
      18.28905244806093
    ],
    "v_avg": 3.7799972885034023,
    "v_std": 0.4774563010378437,
    "vy_max": 0.12629585011649236,
    "a_max": 0.6245543564333319,
    "ax_avg": -0.33696515511153324,
    "a_std": 0.16266430484454586,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "26710ebfab6d528c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 31.085412057958198,
    "right_rear_min": 26.834382158167017,
    "speed_mode": "decelerating",
    "front_frame": [
      46.1245815864527,
      43.9921780059674,
      68.00558155590805,
      65.83266611248158,
      60.468959334814315,
      61.00907620739679,
      61.75685754500017,
      20.110616960571793,
      19.044541764883853,
      18.28905244806093
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "26710ebfab6d528c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e1b3e5e086a05ff9": {
    "vx_ego": [
      7.7654445434402675,
      7.650034036803105,
      7.538796350011749,
      7.454731717568592,
      7.42900249113311,
      7.500797508014311,
      7.671882531974111,
      7.912487531521203,
      8.17084320890585,
      8.4091659940755
    ],
    "vy_ego": [
      0.004873411912648118,
      0.0076256177343294596,
      -0.0009043646706849984,
      -0.017960781212306376,
      -0.010873130476789505,
      -0.01749765549689819,
      0.047565692519193625,
      0.06261449653366657,
      0.0030336232471706026,
      -0.029764653093244497
    ],
    "v_ego": [
      7.7654460726599535,
      7.650037837441841,
      7.538796404256181,
      7.45475335410803,
      7.429010448116783,
      7.50081791701289,
      7.672029984268461,
      7.9127352736999015,
      8.170843772058848,
      8.409218670631033
    ],
    "ax_ego": [
      -0.24250275115487063,
      -0.21795194082393582,
      -0.2243475730278703,
      -0.10423074246893926,
      0.004052208004246383,
      0.2808755435700519,
      0.40264249408261465,
      0.5565270770875296,
      0.4755617371379721,
      0.4772662546272372
    ],
    "ay_ego": [
      -0.6077091134526734,
      -0.6169399474119391,
      -0.7142526943340788,
      -1.059278784071404,
      -1.2443960390932023,
      -1.3048081083976737,
      -1.166306683797935,
      -0.6158785763375031,
      -0.20606514475047716,
      -0.2020859548378754
    ],
    "a_ego": [
      0.654307229740827,
      0.654307226936679,
      0.7486579625483099,
      1.0643944710770619,
      1.2444026368103533,
      1.3346966961508848,
      1.2338526081800876,
      0.8300775917485658,
      0.5182873813925252,
      0.5182873825867716
    ],
    "yaw": [
      2.900655959570022,
      2.8605668859768265,
      2.817879621318991,
      2.7609128437264125,
      2.682468935788866,
      2.5976407954491703,
      2.5075114857575844,
      2.4482726572591087,
      2.4301523212059637,
      2.4217999887925012
    ],
    "yaw_diff": [
      -0.08017814718639116,
      -0.08537452931567113,
      -0.1139335551851568,
      -0.15688781587509304,
      -0.16965628067939154,
      -0.18025861938317167,
      -0.11847765699695145,
      -0.036240672106290006,
      -0.016704664826924898,
      -0.016704664826924898
    ],
    "min_front_frame": [
      8,
      22.135203103758023
    ],
    "v_avg": 7.750368973425393,
    "v_std": 0.30844351609398735,
    "vy_max": 0.06261449653366657,
    "a_max": 1.3346966961508848,
    "ax_avg": 0.1407892307034036,
    "a_std": 0.296991693984274,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "e1b3e5e086a05ff9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      40.14188214720369,
      26.142976272828083,
      22.135203103758023,
      22.604676103979887
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.25,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e1b3e5e086a05ff9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "25b719c231d85e56": {
    "vx_ego": [
      4.59679698334552,
      4.518787173672479,
      4.431167290313674,
      4.37048043202829,
      4.3767635663329685,
      4.4400957587161205,
      4.556652855997204,
      4.639163603774891,
      4.6094283627201476,
      4.540005389795575
    ],
    "vy_ego": [
      0.09449607336701105,
      -0.033791998607245244,
      -0.035763967778355,
      -0.006943318450958191,
      -0.001738150541928274,
      -0.017386401696781073,
      0.0023160630035703456,
      0.04421715507310009,
      0.04393736453881447,
      -0.014503953600254915
    ],
    "v_ego": [
      4.597768155744291,
      4.518913522088775,
      4.43131161352224,
      4.370485947399134,
      4.376763911470094,
      4.4401297991762405,
      4.556653444603321,
      4.639374321974073,
      4.6096377648413505,
      4.540028557624161
    ],
    "ax_ego": [
      -0.15668747216528361,
      -0.15452321376196687,
      -0.18956950270731504,
      -0.048275704179943535,
      0.07884876361712623,
      0.16850730498182187,
      0.27775757205450347,
      0.05517735541228222,
      -0.161345228390613,
      -0.1120743090490998
    ],
    "ay_ego": [
      -0.3179834201958709,
      -0.31904075079317923,
      -0.8027345003211006,
      -1.060447958039464,
      -1.1790838502003442,
      -1.16342663000952,
      -0.887381925829774,
      -0.7602060221849174,
      -0.7273454184709196,
      -0.73654803703498
    ],
    "a_ego": [
      0.354491776284035,
      0.35449178306133133,
      0.8248146909230375,
      1.0615462379586385,
      1.1817173322445673,
      1.1755663465953528,
      0.9298365184928861,
      0.762205836186334,
      0.7450259327668106,
      0.7450259469366926
    ],
    "yaw": [
      -2.1899843230898126,
      -2.1967792116476863,
      -2.2589270034268383,
      -2.3716521055224042,
      -2.5011456883679517,
      -2.6305872461043824,
      -2.7491634071493865,
      -2.8471878443008927,
      -2.927037716187207,
      -2.994327219833628
    ],
    "yaw_diff": [
      -0.013589777115747381,
      -0.12429558355830395,
      -0.22545020419113193,
      -0.2589871656910949,
      -0.25888311547286147,
      -0.23715232209000803,
      -0.19604887430301243,
      -0.15969974377262908,
      -0.13457900729284145,
      -0.13457900729284145
    ],
    "min_front_frame": [
      9,
      28.12866721642386
    ],
    "v_avg": 4.508106703844368,
    "v_std": 0.09261762529892356,
    "vy_max": 0.09449607336701105,
    "a_max": 1.1817173322445673,
    "ax_avg": -0.024218443418848812,
    "a_std": 0.27843325179494927,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "25b719c231d85e56",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      28.12866721642386
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "25b719c231d85e56",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2b4fee42169a54a8": {
    "vx_ego": [
      5.635643601363486,
      5.010022274018881,
      4.551237657246613,
      4.305633128158171,
      4.061523453946455,
      3.9345807789277614,
      4.0886650855914,
      4.343989946091251,
      4.638310920105243,
      4.992062051780321
    ],
    "vy_ego": [
      -0.027630930167453327,
      -0.012413185103258284,
      0.0115159097799995,
      0.026271878911127367,
      0.028917216827359704,
      0.01853655659384912,
      0.015566575665733273,
      0.008101340018775827,
      0.0066604475860320145,
      -0.004065022916253103
    ],
    "v_ego": [
      5.6357113366363185,
      5.010037651887431,
      4.551252226466657,
      4.305713279575712,
      4.061626394978517,
      3.9346244433030892,
      4.088694718417125,
      4.343997500396608,
      4.638315702184317,
      4.992063706848748
    ],
    "ax_ego": [
      -1.2521630824344239,
      -1.2488549923580199,
      -0.5856705309003606,
      -0.3990385006466908,
      -0.5808901297334166,
      0.07081713347398369,
      0.5445245675657457,
      0.4751487865909908,
      0.7023816659949441,
      0.7120705717866953
    ],
    "ay_ego": [
      0.19332324864016487,
      0.21365269583634255,
      0.269517438679022,
      0.24241071374795997,
      0.1732634163342569,
      0.18065786053898975,
      0.24515253534851336,
      0.23126368735590122,
      0.3065059882870752,
      0.28326917806047075
    ],
    "a_ego": [
      1.2669989200770713,
      1.2669989212212007,
      0.6447089424827382,
      0.4668990031453852,
      0.6061794736392214,
      0.19404208040524892,
      0.597165613770976,
      0.5284404058059328,
      0.7663458263614867,
      0.7663458269239064
    ],
    "yaw": [
      -0.3774944958865586,
      -0.3612379161604403,
      -0.3406194540467987,
      -0.31491750132961094,
      -0.290842169450219,
      -0.2656019059194718,
      -0.23791864288965014,
      -0.2079636505964858,
      -0.1775176415656918,
      -0.14466432949358365
    ],
    "yaw_diff": [
      0.03251315945223654,
      0.0412369242272832,
      0.05140390543437556,
      0.04815066375878385,
      0.05048052706149442,
      0.05536652605964332,
      0.05990998458632868,
      0.060892018061588005,
      0.0657066241442163,
      0.0657066241442163
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.556203696069452,
    "v_std": 0.5025287941738521,
    "vy_max": 0.028917216827359704,
    "a_max": 1.2669989212212007,
    "ax_avg": -0.15616745106605517,
    "a_std": 0.31825954444512544,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "2b4fee42169a54a8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.57186931523896,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "2b4fee42169a54a8",
    "pedestrians": "No"
  },
  "30dafbb048775d29": {
    "vx_ego": [
      7.9060042956441094,
      7.538962887489237,
      7.131241183479992,
      6.598862832356948,
      5.906905453625906,
      5.140841691784006,
      4.428422779651734,
      3.8470843000809283,
      3.367560698826754,
      2.9108874236778832
    ],
    "vy_ego": [
      -0.0469548838583473,
      -0.015862449066955525,
      -0.013432854040492256,
      -0.028208270594766452,
      -0.029917392334122342,
      -0.03207602864369584,
      -0.008766743787101239,
      -0.005608369479105119,
      0.00026059216009492736,
      0.03099067898260001
    ],
    "v_ego": [
      7.906143730280981,
      7.538979575262853,
      7.131253834952784,
      6.598923123267305,
      5.906981216191528,
      5.140941759210874,
      4.428431457201863,
      3.847088388084862,
      3.3675607089094637,
      2.9110523896882836
    ],
    "ax_ego": [
      -0.7340788548875589,
      -0.7340705941085129,
      -0.8967773988673434,
      -1.2330039375578774,
      -1.5350313859196472,
      -1.5294360204384099,
      -1.3204164389545723,
      -1.0049204284072648,
      -0.9133044095436866,
      -0.9133445163729387
    ],
    "ay_ego": [
      0.06412774259016168,
      0.06422233219471346,
      -0.10154243565798612,
      -0.016366424276045233,
      -0.04007079096628124,
      -0.0012827483360504134,
      0.06524472773374838,
      -0.06077732536147207,
      0.05736533112028463,
      0.056722930020452644
    ],
    "a_ego": [
      0.7368745704410892,
      0.7368745789395597,
      0.9025079331278116,
      1.2331125536125296,
      1.5355543051442553,
      1.5294365583631686,
      1.3220274001542194,
      1.0067566491999618,
      0.9151042157625994,
      0.9151041997382715
    ],
    "yaw": [
      1.5588817802948272,
      1.559010635647793,
      1.5574118708197822,
      1.5552833601945222,
      1.5533121483920287,
      1.5518311616369642,
      1.5502931177528163,
      1.5497949804373494,
      1.547925625271433,
      1.5472222610554556
    ],
    "yaw_diff": [
      0.0002577107059318351,
      -0.0031975296560218247,
      -0.004257021250519966,
      -0.003942423604986978,
      -0.0029619735101289457,
      -0.003076087768295821,
      -0.0009962746309337689,
      -0.0037387103318327064,
      -0.0014067284319549955,
      -0.0014067284319549955
    ],
    "min_front_frame": [
      9,
      13.750571438856113
    ],
    "v_avg": 5.477735618305081,
    "v_std": 1.7098394358986435,
    "vy_max": 0.0469548838583473,
    "a_max": 1.5355543051442553,
    "ax_avg": -1.0814383985057812,
    "a_std": 0.28603352971881907,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "30dafbb048775d29",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.420671761957491,
    "right_rear_min": 3.6827323039361315,
    "speed_mode": "decelerating",
    "front_frame": [
      22.88320182519994,
      22.070021908705538,
      21.41565372411879,
      20.88508971612183,
      20.088575727128777,
      18.74164641084505,
      17.45629386147359,
      16.279530567284095,
      14.945336565346407,
      13.750571438856113
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "30dafbb048775d29",
    "merging_vehicles": "Yes"
  },
  "9b5c31b36c5b5aa9": {
    "vx_ego": [
      5.909272709831855,
      6.28877805748344,
      6.516078446404736,
      6.528573538638766,
      6.472963395215748,
      6.369020779766426,
      6.247233747851586,
      6.144534980578516,
      6.049990577751897,
      5.964922953515733
    ],
    "vy_ego": [
      0.015488438403872262,
      0.05090458282185839,
      0.08868412965802808,
      0.0851723905623687,
      0.007482864314373394,
      -0.041303805391140536,
      -0.04671271447749237,
      -0.021954577378494156,
      -0.034139556171036256,
      -0.08083784496383206
    ],
    "v_ego": [
      5.9092930077030115,
      6.288984077960244,
      6.51668191601781,
      6.529129098549699,
      6.472967720378446,
      6.369154708235334,
      6.247408388923332,
      6.144574202580753,
      6.0500869002174085,
      5.965470693797535
    ],
    "ax_ego": [
      0.7559234535147761,
      0.7659233944657677,
      0.14567361562114736,
      -0.09070366478289726,
      -0.13093151694850322,
      -0.285305859134508,
      -0.20304822110783594,
      -0.208110105783257,
      -0.17024492506173733,
      -0.1701778015680406
    ],
    "ay_ego": [
      -0.3276507914677558,
      -0.3035401999563122,
      -0.011548689204257633,
      -0.27519016002560903,
      -0.1850308414188672,
      -0.1647716860622111,
      0.03254149643296361,
      -0.011629341587448029,
      -0.10129670680564064,
      -0.1014094233185325
    ],
    "a_ego": [
      0.8238782123124465,
      0.8238782065205282,
      0.14613067614458755,
      0.2897529619865317,
      0.2266704091993707,
      0.3294679677666155,
      0.20563931794565263,
      0.2084347804827111,
      0.1981018862074374,
      0.19810188107216128
    ],
    "yaw": [
      1.321445293269176,
      1.2897619798421007,
      1.271775968265376,
      1.261370950473681,
      1.2556275157326398,
      1.2496240823993396,
      1.2452339151846223,
      1.2420821315669284,
      1.2394483285889413,
      1.2387861098657567
    ],
    "yaw_diff": [
      -0.06336662685415062,
      -0.035972023153449495,
      -0.020810035583390007,
      -0.01148686948208244,
      -0.012006866666600224,
      -0.0087803344294346,
      -0.006303567235387941,
      -0.005267605955974197,
      -0.001324437446369231,
      -0.001324437446369231
    ],
    "min_front_frame": [
      5,
      22.647904122188805
    ],
    "v_avg": 6.249375071436357,
    "v_std": 0.21507797264087233,
    "vy_max": 0.08868412965802808,
    "a_max": 0.8238782123124465,
    "ax_avg": 0.0408998369214912,
    "a_std": 0.24427906785478767,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9b5c31b36c5b5aa9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 20.670535177902547,
    "right_rear_min": 21.331561069098576,
    "speed_mode": "quasi_constant",
    "front_frame": [
      38.52223388655556,
      35.48212979038534,
      32.23278955363398,
      28.99701883236535,
      25.857024013985303,
      22.647904122188805,
      32.11513028519447,
      29.029853993472056,
      26.03263906605404,
      23.062099926106004
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9b5c31b36c5b5aa9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "87ecb477e85b5a58": {
    "vx_ego": [
      7.68832005794342,
      7.021716523053197,
      6.329586423802031,
      5.602010303670517,
      4.854725960568169,
      4.151835529763656,
      3.5219059265393162,
      2.8962102209570864,
      2.390651985967136,
      2.020432769276919
    ],
    "vy_ego": [
      -0.02797300043937323,
      0.021602362325495506,
      0.0335051260167365,
      -0.001479280848496245,
      -0.03395496168665968,
      -0.02766688959425445,
      0.02594004966856911,
      0.0539921230999314,
      0.05972851053720296,
      0.032904922705644046
    ],
    "v_ego": [
      7.688370945924025,
      7.021749752887547,
      6.329675101444653,
      5.602010498981813,
      4.854844703143209,
      4.151927711676551,
      3.522001453942001,
      2.8967134468796067,
      2.391398003883838,
      2.0207006975567325
    ],
    "ax_ego": [
      -1.3331971997644052,
      -1.3332199346494096,
      -1.435230584259229,
      -1.4750019629831286,
      -1.5142102799418198,
      -1.2975957581640667,
      -1.2216157428526735,
      -1.2794039405373718,
      -0.7401349028824111,
      -0.7397000449899223
    ],
    "ay_ego": [
      0.09581293730482743,
      0.09549606813650824,
      -0.05788796214998715,
      -0.10200236877731039,
      -0.04355826677249253,
      0.042393852886161265,
      -0.03830521042215074,
      -0.006855410262867734,
      -0.07612369571370792,
      -0.08023919595245266
    ],
    "a_ego": [
      1.336635661807147,
      1.3366356620919961,
      1.436397523722095,
      1.4785246951066677,
      1.5148366560410755,
      1.298288099909998,
      1.2222161479586884,
      1.2794223070247084,
      0.7440393077747098,
      0.7440393034814687
    ],
    "yaw": [
      2.6214141331040057,
      2.621176456789962,
      2.6208025647984616,
      2.619967131707999,
      2.6192191326967844,
      2.617749321054656,
      2.6040104062810956,
      2.5917783488774226,
      2.5814985732867797,
      2.575936492616771
    ],
    "yaw_diff": [
      -0.00047535262808739986,
      -0.0007477839830007937,
      -0.0016708661809250458,
      -0.00149599802242939,
      -0.002939623284256676,
      -0.02747782954712097,
      -0.024464114807345894,
      -0.02055955118128594,
      -0.01112416134001748,
      -0.01112416134001748
    ],
    "min_front_frame": [
      9,
      12.718544915452696
    ],
    "v_avg": 4.647939231631997,
    "v_std": 1.877109865645358,
    "vy_max": 0.05972851053720296,
    "a_max": 1.5148366560410755,
    "ax_avg": -1.2369310351024438,
    "a_std": 0.26208624112223455,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "87ecb477e85b5a58",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.637275572023432,
    "speed_mode": "decelerating",
    "front_frame": [
      26.369719005522462,
      27.08017096932902,
      23.736146382400392,
      20.765158729160877,
      18.161493659928087,
      16.074357420373325,
      14.339682508707792,
      13.309327627845242,
      12.85360142083249,
      12.718544915452696
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "87ecb477e85b5a58",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5671f9e107965dc3": {
    "vx_ego": [
      7.728762844379257,
      7.855536667835755,
      7.929430487811773,
      7.90002391554553,
      7.9110553686438605,
      8.040460413511756,
      8.133931456346692,
      8.208901357558666,
      8.329795177592272,
      8.45037280924824
    ],
    "vy_ego": [
      0.010844294486807904,
      -0.06504993094451228,
      -0.12624477505894705,
      -0.1259712112842486,
      -0.029721949347460086,
      0.03297744693886262,
      -0.009262418445009413,
      -0.017294925580497722,
      -0.017360497082742565,
      -0.02436155437770582
    ],
    "v_ego": [
      7.728770452237552,
      7.855805995136843,
      7.930435398152396,
      7.901028199687921,
      7.911111201343454,
      8.040528040698337,
      8.133936730079824,
      8.208919576447277,
      8.329813268465172,
      8.45040792510123
    ],
    "ax_ego": [
      0.2524922358242289,
      0.2539519455800841,
      0.03904590747015593,
      -0.15762554264813333,
      0.20129159569682484,
      0.3163570025821262,
      0.05741382209809802,
      0.24242294986772578,
      0.2411358002453769,
      0.24114340766318704
    ],
    "ay_ego": [
      -0.2454926212178699,
      -0.24398230402536578,
      -0.20347211462644238,
      0.1604577395835124,
      0.17948994292354323,
      0.057872748153692824,
      0.13222535281515835,
      0.009976553776377795,
      -0.020341440641459776,
      -0.02025099371114955
    ],
    "a_ego": [
      0.3521632522338732,
      0.3521632509808995,
      0.20718466236843905,
      0.22492776148659102,
      0.2696941714403016,
      0.32160691544431713,
      0.14415231838234566,
      0.24262814809461586,
      0.24199224856872656,
      0.24199224327590135
    ],
    "yaw": [
      -2.1155251083339004,
      -2.12148950299631,
      -2.127887579776848,
      -2.12927651099821,
      -2.13070925574129,
      -2.131131133372806,
      -2.1200759243976077,
      -2.1147272098110506,
      -2.115032627099689,
      -2.11540771883654
    ],
    "yaw_diff": [
      -0.011928789324819,
      -0.012796153561076551,
      -0.002777862442723489,
      -0.0028654894861599445,
      -0.0008437552630322642,
      0.022110417950396588,
      0.010697429173114337,
      -0.0006108345772766199,
      -0.0007501834737020374,
      -0.0007501834737020374
    ],
    "min_front_frame": [
      0,
      28.04663615315418
    ],
    "v_avg": 8.049075678735,
    "v_std": 0.21625958383817992,
    "vy_max": 0.12624477505894705,
    "a_max": 0.3521632522338732,
    "ax_avg": 0.16876291243796746,
    "a_std": 0.06266405841111039,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5671f9e107965dc3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      28.04663615315418,
      36.669060032810734,
      37.865601065397115,
      38.90698492041072,
      39.97040988672651,
      40.86497027937262,
      41.5629753560358,
      42.30249074138587,
      42.981057526724456,
      43.582758448867644
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5671f9e107965dc3",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "5a37ffc78c1e5782": {
    "vx_ego": [
      4.145413593756484,
      4.108416385338876,
      4.115626213648999,
      4.127039843571777,
      4.046539605314055,
      3.9867697760654326,
      4.044864143462225,
      4.120359527949913,
      4.15813722859723,
      4.2619964819967295
    ],
    "vy_ego": [
      0.03480112081426972,
      0.013469842103631217,
      -0.013573721284436235,
      -0.022913483180284022,
      0.026694100599488846,
      0.03244692997072862,
      0.05616586119896039,
      0.08075415868728375,
      0.10686303096532557,
      0.11953367726275843
    ],
    "v_ego": [
      4.145559670455967,
      4.108438466372261,
      4.115648597291113,
      4.127103451349434,
      4.046627651808607,
      3.986901811007307,
      4.045254076449416,
      4.121150794828178,
      4.15951017780139,
      4.263672397423664
    ],
    "ax_ego": [
      -0.07444982590305148,
      -0.07215036465994919,
      0.10767692489439512,
      -0.06592442989740731,
      -0.24461107361873582,
      0.03244383534501355,
      0.23334646259093195,
      0.14030091043974113,
      0.09654682006969739,
      0.4015226655790689
    ],
    "ay_ego": [
      -0.16020936813807565,
      -0.16125800146077368,
      -0.5342030686413031,
      -0.5574861300773843,
      -0.7866921917891467,
      -1.018951206536167,
      -1.1381780354877924,
      -1.4607565518499714,
      -1.6065819127485876,
      -1.5585911223553612
    ],
    "a_ego": [
      0.17666300749221983,
      0.17666300732096274,
      0.5449470054055697,
      0.5613704798846805,
      0.823844149071244,
      1.0194675883780735,
      1.1618518890420377,
      1.4674788070847355,
      1.60948026730261,
      1.609480269421985
    ],
    "yaw": [
      -1.5659354164822505,
      -1.5802411795714781,
      -1.6161390635381454,
      -1.6797382847941087,
      -1.7735220968023997,
      -1.8882031389193812,
      -2.029048016170758,
      -2.193377267043609,
      -2.3841111598584224,
      -2.5762253154461314
    ],
    "yaw_diff": [
      -0.028611526178455193,
      -0.07179576793333453,
      -0.12719844251192658,
      -0.187567624016582,
      -0.22936208423396298,
      -0.2816897545027537,
      -0.32865850174570177,
      -0.3814677856296269,
      -0.3842283111754181,
      -0.3842283111754181
    ],
    "min_front_frame": [
      0,
      22.84872311802716
    ],
    "v_avg": 4.1119867094787335,
    "v_std": 0.07148702681623444,
    "vy_max": 0.11953367726275843,
    "a_max": 1.609480269421985,
    "ax_avg": 0.05547019248397043,
    "a_std": 0.519833932142835,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "5a37ffc78c1e5782",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.391123787048752,
    "right_rear_min": 15.37179014819782,
    "speed_mode": "quasi_constant",
    "front_frame": [
      22.84872311802716,
      25.1823443829535,
      50.538602557333135,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5a37ffc78c1e5782",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b15b2d36b1ea51cc": {
    "vx_ego": [
      0.6804463392397125,
      1.3077450737543326,
      1.9721054811824765,
      2.6261544363103,
      3.211291558107252,
      3.757272280755522,
      4.298510130875203,
      4.915239135911121,
      5.582632104514139,
      6.236877839837428
    ],
    "vy_ego": [
      0.011599971337884804,
      -0.08316894218455977,
      -0.06663955792274578,
      -0.022980115873463935,
      0.050073189300638754,
      0.11190799336102741,
      0.1265244974227544,
      0.07228516836298216,
      -0.022203614724177978,
      -0.1463606189589841
    ],
    "v_ego": [
      0.6805452078442443,
      1.3103870614718476,
      1.9732310710076775,
      2.626254977925378,
      3.211681926258832,
      3.7589384659384746,
      4.300371820399352,
      4.915770632236371,
      5.58267625918419,
      6.238594923525428
    ],
    "ax_ego": [
      1.2270954483011332,
      1.262908870846006,
      1.3648089634058223,
      1.2361838067314759,
      1.126747541603734,
      1.1247648102718009,
      1.1455942923180855,
      1.3557205231908553,
      1.2997355883433932,
      1.3099726724829577
    ],
    "ay_ego": [
      -0.43644860589449475,
      -0.31829515816161574,
      -0.45847897906241997,
      -0.585978263586224,
      -0.791993039635287,
      -1.0471084832159454,
      -1.4313597008557577,
      -1.1657299243993309,
      -0.506996639622854,
      -0.47992688056981386
    ],
    "a_ego": [
      1.302401867638636,
      1.3024018672324842,
      1.439759174596569,
      1.3680354269611035,
      1.3772483426531323,
      1.5367277097939498,
      1.8333512690768399,
      1.787988924361937,
      1.3951194186144829,
      1.3951194261946231
    ],
    "yaw": [
      0.10947229231677702,
      0.014641222476831148,
      -0.11467953683181957,
      -0.2461298230406916,
      -0.38828042507533594,
      -0.5376949678164807,
      -0.6949325044449746,
      -0.8246529097184861,
      -0.8862196303830914,
      -0.906964319495624
    ],
    "yaw_diff": [
      -0.18966213967989173,
      -0.25864151861730145,
      -0.262900572417744,
      -0.2843012040692887,
      -0.2988290854822896,
      -0.31447507325698765,
      -0.25944081054702317,
      -0.12313344132921045,
      -0.041489378225065154,
      -0.041489378225065154
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4598452345791793,
    "v_std": 1.7451269395194697,
    "vy_max": 0.1463606189589841,
    "a_max": 1.8333512690768399,
    "ax_avg": 1.2453532517495265,
    "a_std": 0.18020952835733609,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "b15b2d36b1ea51cc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b15b2d36b1ea51cc",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "2f4117000a605404": {
    "vx_ego": [
      10.396314759747266,
      10.306493625681814,
      10.245578962412731,
      10.224520561523493,
      10.179256045668819,
      10.082727767637229,
      9.978746497980225,
      9.894934224735971,
      9.830411351539246,
      9.774689214897379
    ],
    "vy_ego": [
      -0.07588232148242602,
      -0.03166483508299933,
      0.017692211767887933,
      0.01467693321882102,
      -0.004805829000858353,
      -0.015232882443174667,
      -0.01103789676417044,
      0.00018230624284321095,
      0.04134571905325579,
      0.09848878033560915
    ],
    "v_ego": [
      10.39659168720463,
      10.306542267802557,
      10.245594237983054,
      10.22453109562416,
      10.179257180132428,
      10.082739274472505,
      9.978752602711301,
      9.894934226415394,
      9.830498299117684,
      9.775185383801329
    ],
    "ax_ego": [
      -0.18047923918357517,
      -0.17608242513555708,
      -0.06715285044596456,
      -0.018413266137807083,
      -0.16315028227729275,
      -0.2207431088628014,
      -0.1946010329019278,
      -0.1394408611636907,
      -0.11992982874444685,
      -0.1088244753901835
    ],
    "ay_ego": [
      0.34801607998109596,
      0.3502612352354729,
      0.3619012788938768,
      0.33828358695681104,
      0.32176703715184474,
      0.4601877189738903,
      0.4097308648997522,
      0.47984138055216036,
      0.5259979974185904,
      0.528407312691735
    ],
    "a_ego": [
      0.39203054434787443,
      0.39203055155216965,
      0.3680788515903103,
      0.3387843467077959,
      0.3607659085953618,
      0.510392257782979,
      0.45359557279364643,
      0.4996914090238843,
      0.5394970408732932,
      0.5394970384997954
    ],
    "yaw": [
      1.9770126139275161,
      1.9896057883331646,
      2.0021449255144934,
      2.019552075773294,
      2.037604009220636,
      2.0579142067436633,
      2.079183443202008,
      2.1004489075062613,
      2.121775831492701,
      2.1428397248281135
    ],
    "yaw_diff": [
      0.025186348811296888,
      0.025078274362657638,
      0.03481430051760093,
      0.03610386689468381,
      0.04062039504605508,
      0.04253847291668933,
      0.04253092860850671,
      0.04265384797287908,
      0.042127786670825174,
      0.042127786670825174
    ],
    "min_front_frame": [
      9,
      51.89101015043516
    ],
    "v_avg": 10.091462625526505,
    "v_std": 0.20200776800863196,
    "vy_max": 0.09848878033560915,
    "a_max": 0.5394970408732932,
    "ax_avg": -0.13888173702432466,
    "a_std": 0.07402469631907925,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "2f4117000a605404",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      61.70137410552453,
      56.82336541301943,
      51.89101015043516
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6666666666666666,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "2f4117000a605404",
    "road_shape": "Straight"
  },
  "b3aebfbff38e596f": {
    "vx_ego": [
      1.6395152421508805,
      2.371485522789166,
      3.086500202174626,
      3.668569696994263,
      4.099443239146142,
      4.373573130986885,
      4.580546325057808,
      4.87991618373671,
      5.223688005739434,
      5.58240474547623
    ],
    "vy_ego": [
      -0.054918630446637334,
      0.01434545068192078,
      -0.003827774076124446,
      -0.03251306448191249,
      -0.03358875081123691,
      -0.05269607798793352,
      -0.06955302353806037,
      -0.10544667668620811,
      -0.09301856480965998,
      -0.051202819172796454
    ],
    "v_ego": [
      1.6404347854197663,
      2.3715289112203273,
      3.086502575712255,
      3.6687137693020673,
      4.099580841398554,
      4.373890580332998,
      4.581074356423816,
      4.881055312319214,
      5.224516134026698,
      5.58263956126551
    ],
    "ax_ego": [
      1.449493298524165,
      1.4804261220924102,
      1.3909509809753615,
      0.969120526225598,
      0.7933815295161593,
      0.35212674368614816,
      0.5193053575227886,
      0.7375545102854633,
      0.6700493058988479,
      0.7904139453410279
    ],
    "ay_ego": [
      0.4808632648554103,
      0.37496506507785043,
      0.6442639393363505,
      0.9960310815742167,
      1.2687950087724393,
      1.5122651315946962,
      1.5234535304882009,
      1.5236520645285516,
      1.218661082004773,
      1.1442668842856638
    ],
    "a_ego": [
      1.5271739592966707,
      1.5271739596399647,
      1.5329124746721559,
      1.3897023097820929,
      1.4964274207803248,
      1.5527198948477907,
      1.6095305880625055,
      1.6927794508985945,
      1.390719563797307,
      1.3907195646363757
    ],
    "yaw": [
      1.694846430530215,
      1.7671024265381743,
      1.866641624121948,
      1.9943759163964954,
      2.1393559468658703,
      2.3054289555589653,
      2.479084221360748,
      2.6482899278379763,
      2.7811215879015854,
      2.8829111456160286
    ],
    "yaw_diff": [
      0.14451199201591836,
      0.19907839516754722,
      0.25546858454909493,
      0.2899600609387498,
      0.3321460173861901,
      0.34731053160356495,
      0.3384114129544571,
      0.26566332012721805,
      0.2035791154288864,
      0.2035791154288864
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9509936827421206,
    "v_std": 1.200311715048884,
    "vy_max": 0.10544667668620811,
    "a_max": 1.6927794508985945,
    "ax_avg": 0.9152822320067969,
    "a_std": 0.0945284083510938,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "b3aebfbff38e596f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b3aebfbff38e596f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d8c1754607175755": {
    "vx_ego": [
      1.7591059875669095,
      2.4549125049201144,
      3.1071978756962393,
      3.5575125692973772,
      3.7629395802279513,
      3.864076952917008,
      3.9652115716773153,
      4.072167000708606,
      4.201132127570426,
      4.495465420420407
    ],
    "vy_ego": [
      -0.03556413310262818,
      0.008101044442062388,
      0.02450743516810394,
      0.010046479488344473,
      0.003353077185178077,
      -0.00013486610463937093,
      -0.017901233573372588,
      -0.05196500272633919,
      -0.07860721784132174,
      -0.14124159300704742
    ],
    "v_ego": [
      1.7594654537833623,
      2.454925871331801,
      3.1072945230714355,
      3.55752675498849,
      3.76294107415632,
      3.8640769552705927,
      3.96525197967634,
      4.072498550419444,
      4.201867471494212,
      4.497683685386379
    ],
    "ax_ego": [
      1.391089871045067,
      1.3926823003326645,
      1.2164933273634968,
      0.589442390382221,
      0.2523201709833492,
      0.19031597929239377,
      0.2551895451321827,
      0.22987351477157036,
      0.3731834309416572,
      0.8954667329276299
    ],
    "ay_ego": [
      0.14460999407428932,
      0.12837092511194742,
      0.2611679739151477,
      0.5467797338993803,
      0.9821856808213536,
      1.4676318515829503,
      1.781142613723758,
      1.9748559996280326,
      2.134119107088631,
      1.9727821956103146
    ],
    "a_ego": [
      1.3985861002134787,
      1.3985861017734944,
      1.2442124923496207,
      0.8039965229916008,
      1.0140779951737304,
      1.4799200734346505,
      1.799330629530735,
      1.9881896418753096,
      2.166501843149496,
      2.166501848856155
    ],
    "yaw": [
      -1.9513296184405482,
      -1.9396627993748443,
      -1.9107757405789472,
      -1.8473362812962875,
      -1.7423824129523662,
      -1.5815417233844205,
      -1.3698812299944008,
      -1.1291071876123535,
      -0.8746136232861622,
      -0.6216273962515273
    ],
    "yaw_diff": [
      0.023333638131407763,
      0.057774117591794294,
      0.1268789185653194,
      0.20990773668784257,
      0.32168137913589145,
      0.4233209867800394,
      0.4815480847640945,
      0.5089871286523826,
      0.5059724540692698,
      0.5059724540692698
    ],
    "min_front_frame": [
      3,
      28.679585546839267
    ],
    "v_avg": 3.524353231957837,
    "v_std": 0.806667916639614,
    "vy_max": 0.14124159300704742,
    "a_max": 2.166501848856155,
    "ax_avg": 0.6786057263172232,
    "a_std": 0.4474558435097567,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "d8c1754607175755",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      32.94042145567752,
      31.81162541700991,
      30.360884403960412,
      28.679585546839267,
      51.40709951685213,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "d8c1754607175755",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "fae990c38c515aa9": {
    "vx_ego": [
      5.354370374013859,
      5.070318845062117,
      4.81542721656964,
      4.527162796257963,
      4.142591622332864,
      3.722748680083994,
      3.335649295760379,
      3.0231200275270576,
      2.9239444006242064,
      3.0266910630326245
    ],
    "vy_ego": [
      0.02222117147855525,
      -0.019202122256821802,
      -0.043183355590393185,
      -0.027810027673628137,
      -0.01722940831176692,
      -0.021123226898906833,
      -0.024611616309619833,
      -0.013007461395494468,
      0.00011548967667174281,
      0.016299443752034515
    ],
    "v_ego": [
      5.354416483855099,
      5.070355205712041,
      4.815620840585321,
      4.527248212928183,
      4.1426274515014265,
      3.722808607191853,
      3.335740091188773,
      3.023148010747597,
      2.9239444029050063,
      3.026734950884894
    ],
    "ax_ego": [
      -0.5681002043420651,
      -0.5681063465809566,
      -0.45204038698664706,
      -0.7031078821522276,
      -0.8320631804026017,
      -0.8518770574477542,
      -0.7049533333872748,
      -0.5501937554719463,
      0.1617380728198567,
      0.2517438778294955
    ],
    "ay_ego": [
      -0.08208652145140714,
      -0.08204394167772579,
      -0.12418155364635257,
      -0.2087440331432347,
      -0.5280130094621397,
      -0.5454755365738974,
      -0.4984578248677104,
      -0.5307092545195197,
      -0.7274741639156415,
      -0.7014291724008082
    ],
    "a_ego": [
      0.5740000341267311,
      0.574000025602421,
      0.4687873395614045,
      0.7334403624818412,
      0.9854576978962406,
      1.0115523130349837,
      0.8633767459375307,
      0.7644380167109615,
      0.7452367834213787,
      0.7452367837939259
    ],
    "yaw": [
      -1.5509562415520235,
      -1.5508812889951538,
      -1.5564764648579539,
      -1.577443475996502,
      -1.6222004320944237,
      -1.689384411895611,
      -1.7626945292770153,
      -1.8477358181724188,
      -1.9612086962968651,
      -2.0870213394222636
    ],
    "yaw_diff": [
      0.00014990511373946802,
      -0.011190351725600234,
      -0.041934022277096084,
      -0.08951391219584348,
      -0.13436795960237458,
      -0.14662023476280872,
      -0.17008257779080704,
      -0.22694575624889257,
      -0.25162528625079705,
      -0.25162528625079705
    ],
    "min_front_frame": [
      2,
      20.78234211945503
    ],
    "v_avg": 3.99426442575002,
    "v_std": 0.8672256073850712,
    "vy_max": 0.043183355590393185,
    "a_max": 1.0115523130349837,
    "ax_avg": -0.4816960196122122,
    "a_std": 0.16677708933180366,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "fae990c38c515aa9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.43310145684831,
    "right_rear_min": 11.977467815051677,
    "speed_mode": "decelerating",
    "front_frame": [
      25.718161926344603,
      23.146409998071746,
      20.78234211945503,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fae990c38c515aa9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "db1794b15b1a54b4": {
    "vx_ego": [
      11.158210157353091,
      11.011353478311381,
      10.888283098573435,
      10.751815306602971,
      10.608682725612946,
      10.501083026401428,
      10.39843697472076,
      10.287681474124161,
      10.177351142726087,
      10.07526583070854
    ],
    "vy_ego": [
      -0.040862479249297756,
      -0.025938346365490972,
      -0.032282805867911435,
      -0.06294563179785939,
      -0.053954320342512574,
      -0.020158083844208363,
      -0.0034044203682732643,
      0.01453660566738435,
      0.027880010288624746,
      0.05773251482950936
    ],
    "v_ego": [
      11.158284978340896,
      11.011384028455838,
      10.888330956314409,
      10.751999560075529,
      10.608819926900548,
      10.501102374309111,
      10.398437532019791,
      10.287691744309887,
      10.177389330143642,
      10.075431236563107
    ],
    "ax_ego": [
      -0.29380470240068657,
      -0.29280482049889417,
      -0.1985149737506871,
      -0.34505003570710524,
      -0.22601407492435774,
      -0.20420841409692214,
      -0.20623887724339324,
      -0.23681301056400272,
      -0.20488943316084435,
      -0.20421628099383107
    ],
    "ay_ego": [
      0.1636649351812004,
      0.16544714223784465,
      0.16745361657135818,
      0.19702697982230694,
      0.14209488902762657,
      0.061914363439171866,
      0.09499989218159398,
      0.12257126237035625,
      0.149909707424269,
      0.15082541976096261
    ],
    "a_ego": [
      0.3363144572578207,
      0.33631446561523226,
      0.259709276896424,
      0.39734010358806515,
      0.26697063424969925,
      0.21338806149374404,
      0.22706706938948656,
      0.2666535511322682,
      0.25387516657011183,
      0.2538751596139763
    ],
    "yaw": [
      1.0381255773069364,
      1.0442018757032934,
      1.0523906568109087,
      1.0636268241660165,
      1.0707328918798895,
      1.0723634659385302,
      1.0745141705528125,
      1.078037138109205,
      1.0833924267074508,
      1.0878690412162197
    ],
    "yaw_diff": [
      0.012152596792713855,
      0.01637756221523068,
      0.02247233471021559,
      0.01421213542774602,
      0.0032611481172812873,
      0.004301409228564701,
      0.007045935112785173,
      0.010710577196491489,
      0.008953229017537812,
      0.008953229017537812
    ],
    "min_front_frame": [
      0,
      26.71028543242275
    ],
    "v_avg": 10.585887166743275,
    "v_std": 0.3445229156841551,
    "vy_max": 0.06294563179785939,
    "a_max": 0.39734010358806515,
    "ax_avg": -0.2412554623340724,
    "a_std": 0.05427868732474471,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "db1794b15b1a54b4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.18388119857216,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.71028543242275,
      26.96880489691604,
      27.34370891018584,
      27.761530376582627,
      28.354011541733435,
      29.052601622135093,
      29.60740199682402,
      30.310847798206986,
      31.162883812173007,
      32.13601054258722
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "db1794b15b1a54b4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6de81a38cd7655dd": {
    "vx_ego": [
      5.400763374514138,
      5.242776184612952,
      5.1009838299448225,
      4.964842240465103,
      4.853033059559326,
      4.7768308422778745,
      4.713137149484634,
      4.657963815107484,
      4.596128105783517,
      4.5395340495559555
    ],
    "vy_ego": [
      0.010552612759972657,
      0.03418717497329471,
      0.03079160498122313,
      0.012461605552527288,
      -0.010049634317800482,
      -0.009147448035549122,
      0.010214639836100492,
      -0.0034191988398644124,
      -0.026769306841377682,
      -0.017890767176826472
    ],
    "v_ego": [
      5.400773683939127,
      5.242887647554293,
      5.1010767643994415,
      4.964857879569111,
      4.853043464912062,
      4.776839600776094,
      4.713148218411885,
      4.657965070046294,
      4.596206061586224,
      4.539569304089108
    ],
    "ax_ego": [
      -0.3166940161370587,
      -0.3158635522137558,
      -0.25233269151677523,
      -0.2900018481653776,
      -0.14990320865863171,
      -0.1487923337628359,
      -0.10413573665405462,
      -0.12752410809905143,
      -0.12215233116922777,
      -0.09975510896469438
    ],
    "ay_ego": [
      0.11948658977143471,
      0.12166499152556584,
      0.2792379510665722,
      0.5517170838665735,
      0.7652686784712699,
      0.8358792686536513,
      0.8828098604019512,
      0.6510291686786877,
      0.4584749115137721,
      0.4638635002207302
    ],
    "a_ego": [
      0.3384850735146629,
      0.33848508649570963,
      0.3763583671501903,
      0.6232919160149363,
      0.7798122352305824,
      0.8490190282623553,
      0.8889305379338676,
      0.6634013691702194,
      0.47446858325671876,
      0.4744685749357753
    ],
    "yaw": [
      2.3031352152396245,
      2.3100227546407317,
      2.3300884123952814,
      2.37495697164899,
      2.446839128360257,
      2.529741139663499,
      2.616261381775944,
      2.7009065073700307,
      2.7658861806514587,
      2.8144428017133594
    ],
    "yaw_diff": [
      0.013775078802214402,
      0.04013131550909943,
      0.08973711850741672,
      0.14376431342253415,
      0.1658040226064843,
      0.17304048422488982,
      0.16929025118817354,
      0.12995934656285613,
      0.09711324212380124,
      0.09711324212380124
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.884636769528363,
    "v_std": 0.2727074039856919,
    "vy_max": 0.03418717497329471,
    "a_max": 0.8889305379338676,
    "ax_avg": -0.19271549353414633,
    "a_std": 0.19923912644437405,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "6de81a38cd7655dd",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 36.25751131375855,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6de81a38cd7655dd",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "f1f463892f3d5bb7": {
    "vx_ego": [
      9.904725879359956,
      9.79530266432364,
      9.738720318639938,
      9.6859736704557,
      9.592761269473318,
      9.510002383461206,
      9.434819381654858,
      9.362428200380476,
      9.29401655823297,
      9.230815765298848
    ],
    "vy_ego": [
      0.06655039020024978,
      0.015347305189202798,
      0.04362561586820202,
      0.05574088227972984,
      0.047473498968202854,
      0.02332418997298702,
      0.00719519634901733,
      -0.00284106767164527,
      -0.004699281854894322,
      0.007979551500211013
    ],
    "v_ego": [
      9.90494945467662,
      9.795314687414711,
      9.738818030903456,
      9.68613405806044,
      9.592878739263393,
      9.51003098582101,
      9.434822125260267,
      9.36242863144735,
      9.294017746268755,
      9.230819214248099
    ],
    "ax_ego": [
      -0.22475575583677393,
      -0.20857459608600804,
      -0.012688740877646612,
      -0.19942370043441138,
      -0.173089455516863,
      -0.16018390410500083,
      -0.14322754342731794,
      -0.1463291031102178,
      -0.1279670008627738,
      -0.12490671981454043
    ],
    "ay_ego": [
      -0.6152228306886298,
      -0.6208952567383316,
      -0.666863510486029,
      -0.17039820913851997,
      0.3593078076480953,
      0.4547641735799752,
      0.3408238645039391,
      0.3590621906628733,
      0.250339795916757,
      0.25188067965080707
    ],
    "a_ego": [
      0.654991817645297,
      0.6549918182485946,
      0.6669842170267676,
      0.2623077619373255,
      0.3988258520306886,
      0.4821507406467379,
      0.36969586934617443,
      0.38773426877265094,
      0.2811504343397973,
      0.2811504320398256
    ],
    "yaw": [
      1.782839984288374,
      1.7566608685766085,
      1.720717386729856,
      1.6979741422061498,
      1.703733190844312,
      1.7275721476090293,
      1.7502764929817511,
      1.7699596058286295,
      1.786494712137141,
      1.7986815486737964
    ],
    "yaw_diff": [
      -0.05235823142353091,
      -0.07188696369350511,
      -0.04548648904741226,
      0.011518097276324468,
      0.04767791352943451,
      0.045408690745443625,
      0.03936622569375681,
      0.03307021261702303,
      0.02437367307331062,
      0.02437367307331062
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.55502136733641,
    "v_std": 0.214333702020858,
    "vy_max": 0.06655039020024978,
    "a_max": 0.6669842170267676,
    "ax_avg": -0.15211465200715538,
    "a_std": 0.1539455120125767,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f1f463892f3d5bb7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f1f463892f3d5bb7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "31f2d9d9334d5a06": {
    "vx_ego": [
      3.159030263946309,
      3.2755797896986225,
      3.422000699595378,
      3.5994123597193473,
      3.774239180172502,
      3.9375472961060978,
      4.109924160936582,
      4.285606792377601,
      4.429269999354259,
      4.591552836646159
    ],
    "vy_ego": [
      -0.08431278665535347,
      -0.03528269879912849,
      -0.06126554000843454,
      -0.07336228807356349,
      -0.062791846761181,
      -0.0482736699495423,
      -0.022847526287572917,
      -0.01796671583192344,
      -0.03851124665444905,
      0.01770582604150972
    ],
    "v_ego": [
      3.1601551946893807,
      3.2757698068571033,
      3.422549087219025,
      3.6001599076446293,
      3.7747614765927766,
      3.937843198539378,
      4.1099876664179575,
      4.285644453492476,
      4.4294374183747705,
      4.591586974891055
    ],
    "ax_ego": [
      0.22748198913498305,
      0.2511871302125438,
      0.35888149249827533,
      0.388700977302978,
      0.34443457424210033,
      0.3471389625443224,
      0.37253417781152065,
      0.3520195240001084,
      0.23908540613509272,
      0.4126979354525955
    ],
    "ay_ego": [
      0.448883425462631,
      0.4360612466661872,
      0.6137972174082511,
      0.8021268900999825,
      0.870439507756029,
      1.0583472824468163,
      1.2196880285591183,
      1.344597941142584,
      1.327580684904317,
      1.2842557065685511
    ],
    "a_ego": [
      0.5032339267536261,
      0.5032339269449971,
      0.7110154356664147,
      0.8913450496736713,
      0.9361090281563867,
      1.1138242363941042,
      1.275311962089329,
      1.389914158717055,
      1.3489374731090384,
      1.3489374728951389
    ],
    "yaw": [
      -0.31426616447155076,
      -0.26070468428414306,
      -0.17427605120873213,
      -0.0699851789933485,
      0.04028526759722923,
      0.16143678046553306,
      0.29655588540679434,
      0.44772940132592237,
      0.6049207687044764,
      0.7376683677878847
    ],
    "yaw_diff": [
      0.10712296037481539,
      0.17285726615082186,
      0.20858174443076727,
      0.22054089318115544,
      0.24230302573660767,
      0.27023820988252256,
      0.30234703183825606,
      0.3143827347571081,
      0.26549519816681655,
      0.26549519816681655
    ],
    "min_front_frame": [
      9,
      67.28518810151304
    ],
    "v_avg": 3.8587895184718555,
    "v_std": 0.46972799267128623,
    "vy_max": 0.08431278665535347,
    "a_max": 1.389914158717055,
    "ax_avg": 0.329416216933452,
    "a_std": 0.32820812036364855,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "31f2d9d9334d5a06",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      69.33956064318667,
      67.28518810151304
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "31f2d9d9334d5a06",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "9324eafb3ef25fdb": {
    "vx_ego": [
      4.349556315435475,
      3.8470843000809283,
      3.367560698826754,
      2.8892442549466684,
      2.37967226731577,
      1.883615949128488,
      1.4091689401773755,
      0.9532593307261142,
      0.5588705414155103,
      0.2059024688399744
    ],
    "vy_ego": [
      0.022613620489601402,
      -0.005608369479105119,
      0.00026059216009492736,
      -0.0007463870860970195,
      -0.008995647877262557,
      0.00646432283797535,
      0.01573882040103246,
      0.012153721408751345,
      -0.002142263544278813,
      -0.021506214508462667
    ],
    "v_ego": [
      4.349615099865305,
      3.847088388084862,
      3.3675607089094637,
      2.889244351354868,
      2.3796892699494423,
      1.883627041449811,
      1.4092568298320374,
      0.9533368054158409,
      0.5588746472646248,
      0.20702256866554583
    ],
    "ax_ego": [
      -1.004950579828039,
      -1.0049204284072648,
      -0.9133044095436866,
      -0.9999171918211633,
      -1.038447804640368,
      -0.9457825872372005,
      -0.9520164166607034,
      -0.871631546946506,
      -0.7059054162322811,
      -0.7059327792346434
    ],
    "ay_ego": [
      -0.06027672976670896,
      -0.06077732536147207,
      0.05736533112028463,
      -0.07022533068366235,
      0.025119293138517084,
      0.03146851276964013,
      0.006902201164728405,
      -0.020601903878237286,
      -0.038432747111962415,
      -0.03792681573709576
    ],
    "a_ego": [
      1.0067566498653389,
      1.0067566491999618,
      0.9151042157625994,
      1.0023801612009042,
      1.0387515688797677,
      0.9463059598338297,
      0.952041437108913,
      0.8718749864950636,
      0.7069508700869122,
      0.7069508696860789
    ],
    "yaw": [
      1.5502931177528163,
      1.5497949804373494,
      1.547925625271433,
      1.5472222610554556,
      1.546075260671906,
      1.545455929473053,
      1.5456490971584187,
      1.5457858606211468,
      1.545156664971088,
      1.545873367268192
    ],
    "yaw_diff": [
      -0.0009962746309337689,
      -0.0037387103318327064,
      -0.0014067284319549955,
      -0.0022940007670992912,
      -0.0012386623977058697,
      0.00038633537073140545,
      0.00027352692545612456,
      -0.0012583913001176228,
      0.001433404594207932,
      0.001433404594207932
    ],
    "min_front_frame": [
      9,
      9.541436633688193
    ],
    "v_avg": 2.18453157107918,
    "v_std": 1.3470962744881305,
    "vy_max": 0.022613620489601402,
    "a_max": 1.0387515688797677,
    "ax_avg": -0.9142809160551856,
    "a_std": 0.11426617979851483,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "9324eafb3ef25fdb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.420671761957491,
    "right_rear_min": 20.046614793425707,
    "speed_mode": "decelerating",
    "front_frame": [
      17.45629386147359,
      16.279530567284095,
      14.945336565346407,
      13.750571438856113,
      12.571504316137851,
      11.482322237119263,
      10.658231508997433,
      10.077919099067252,
      9.685836084747438,
      9.541436633688193
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "9324eafb3ef25fdb",
    "merging_vehicles": "No"
  },
  "2de709220e34507e": {
    "vx_ego": [
      -0.13860853922447883,
      0.5549110647377106,
      1.2608438553011343,
      1.8849766110928856,
      2.328884133948415,
      2.639244840197562,
      2.915133630043402,
      3.128378277420449,
      3.16952413353367,
      3.1157269782102683
    ],
    "vy_ego": [
      -0.012941277342069738,
      0.014759530280967575,
      0.03218973650370094,
      0.030884536157706366,
      0.011824259131852366,
      -0.003359476335916045,
      4.084839374940419e-05,
      0.003622210974340234,
      -0.0012917898824067464,
      -0.02282824548008522
    ],
    "v_ego": [
      0.13921136377892523,
      0.5551073171040484,
      1.2612546953675952,
      1.8852296090770737,
      2.328914150942597,
      2.639246978323686,
      2.9151336303295965,
      3.1283803744187626,
      3.1695243967783973,
      3.1158106058518684
    ],
    "ax_ego": [
      1.3869342017671193,
      1.3871242792385745,
      1.4355122911752018,
      1.0588038710936911,
      0.7151847886007989,
      0.5268875098123642,
      0.5786102264971916,
      0.27577985415403955,
      -0.11279657102673654,
      -0.09990851327939079
    ],
    "ay_ego": [
      0.05911575403713831,
      0.054473695198390015,
      0.05813452601146074,
      0.04464266526456481,
      0.05461601856338297,
      0.13826530264603998,
      0.24232130272227123,
      0.3200171282633603,
      0.2612199366317626,
      0.26641548001911786
    ],
    "a_ego": [
      1.3881934852198292,
      1.3881934841806822,
      1.4366889577182858,
      1.0597445942324546,
      0.7172671687242386,
      0.5447272178917401,
      0.6273032822807083,
      0.4224517609611201,
      0.28453281309770173,
      0.2845328083359021
    ],
    "yaw": [
      -2.9298533615816713,
      -2.926506604085575,
      -2.914617742551442,
      -2.8979517611408987,
      -2.8775444056288544,
      -2.852261009949002,
      -2.819151272193996,
      -2.7743807399924427,
      -2.7274082463010805,
      -2.678565809838363
    ],
    "yaw_diff": [
      0.006693514992192284,
      0.023777723068266532,
      0.033331962821086414,
      0.040814711024088624,
      0.050566791359704766,
      0.06621947551001206,
      0.0895410644031065,
      0.0939449873827245,
      0.09768487292543515,
      0.09768487292543515
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.113781312197255,
    "v_std": 1.0592477464211465,
    "vy_max": 0.03218973650370094,
    "a_max": 1.4366889577182858,
    "ax_avg": 0.7152131938032855,
    "a_std": 0.4402512277446284,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "2de709220e34507e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.443518288953506,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "2de709220e34507e",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "9f699a1331785e57": {
    "vx_ego": [
      3.649232460487017,
      3.345136240770013,
      3.0594259664129035,
      2.8436788982341823,
      2.625539170820859,
      2.2331599347052946,
      1.5987850309950902,
      0.8619048350217634,
      0.2745917845378999,
      -0.19053974301731927
    ],
    "vy_ego": [
      -0.02977872590655184,
      0.011974997134423737,
      0.012904686856366365,
      0.010019797059902025,
      0.028771086102558796,
      0.032073633864401964,
      0.014319500814436038,
      0.029793836021482327,
      0.016078589747148934,
      -0.03727510137439104
    ],
    "v_ego": [
      3.649353959701463,
      3.3451576748890783,
      3.0594531823357567,
      2.8436965507232825,
      2.6256968052138476,
      2.2333902507090477,
      1.5988491559360896,
      0.8624196294720848,
      0.2750621187731338,
      0.19415155639751436
    ],
    "ax_ego": [
      -0.624436011373714,
      -0.5929227947282191,
      -0.5462560490558515,
      -0.31779815128711014,
      -0.5526997009063088,
      -1.0087978992668676,
      -1.529273973704867,
      -1.4175282806823575,
      -0.9302619503834768,
      -0.9302635176472526
    ],
    "ay_ego": [
      -0.4069803550283728,
      -0.4516590560185316,
      -0.45500865386627654,
      -0.33113259924008037,
      -0.2458674187106508,
      -0.2919631865447154,
      -0.0758324849172689,
      0.03352224162655591,
      -0.10671293920426929,
      -0.10669937156341469
    ],
    "a_ego": [
      0.7453545073851324,
      0.7453545085339411,
      0.7109349803064341,
      0.45896019788321146,
      0.6049196202516179,
      1.050197935563858,
      1.5311529813901035,
      1.4179245985657876,
      0.9363626155100835,
      0.9363626264206981
    ],
    "yaw": [
      1.8916443192245955,
      1.818274565090314,
      1.7471016408367293,
      1.680875175157312,
      1.6219186830555863,
      1.5665265143753775,
      1.5290782981801847,
      1.5076614953442793,
      1.498629294210279,
      1.4986438806476823
    ],
    "yaw_diff": [
      -0.14673950826856297,
      -0.14234584850716958,
      -0.1324529313588343,
      -0.11791298420345164,
      -0.1107843373604176,
      -0.07489643239038557,
      -0.042833605671810826,
      -0.018064402268000546,
      2.917287480652675e-05,
      2.917287480652675e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.0687230884151298,
    "v_std": 1.2022616951722238,
    "vy_max": 0.03727510137439104,
    "a_max": 1.5311529813901035,
    "ax_avg": -0.8450238329036026,
    "a_std": 0.32481951155046557,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "9f699a1331785e57",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9f699a1331785e57",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0f23b65ea5a6556e": {
    "vx_ego": [
      10.317916025547214,
      9.549330319695521,
      8.621541961324542,
      7.553482748986758,
      6.589402494400824,
      5.743612340389658,
      4.8119204160759335,
      3.633582350168795,
      2.440631708439464,
      1.3596260919907817
    ],
    "vy_ego": [
      -0.027384835881769654,
      0.006281518820120624,
      -0.025405371623315354,
      -0.0870856848820627,
      -0.12140320772334112,
      -0.14656620239920226,
      -0.14739284197342606,
      -0.0954043096560655,
      -0.046167958615910054,
      -0.037660840902880244
    ],
    "v_ego": [
      10.317952366602606,
      9.549332385676752,
      8.62157939265116,
      7.553984746857246,
      6.590520766378126,
      5.74548208319912,
      4.814177265173499,
      3.6348346149115414,
      2.441068335103075,
      1.3601475835215961
    ],
    "ax_ego": [
      -1.5400027543576833,
      -1.5348491079579258,
      -2.1760931331549087,
      -2.1001154513787044,
      -1.7644945029711563,
      -1.6328889098972623,
      -2.1161807667202575,
      -2.6137662096144387,
      -2.163433983130494,
      -2.1628449272835986
    ],
    "ay_ego": [
      -0.2743193098424921,
      -0.30182405948380187,
      -0.4050136246637682,
      -0.34542069263952135,
      -0.3624412008360456,
      -0.44688361012402833,
      -0.2504846996460478,
      -0.011706622613713025,
      -0.023461063859278264,
      -0.055667213293481455
    ],
    "a_ego": [
      1.5642440881082824,
      1.5642440816837129,
      2.213462753318255,
      2.128332766280486,
      1.8013340820289008,
      1.692935661229615,
      2.1309536884206346,
      2.6137924254873894,
      2.163561189539432,
      2.163561188899509
    ],
    "yaw": [
      -0.5825245512649324,
      -0.6004141948118118,
      -0.6162363596109994,
      -0.6318250542667314,
      -0.652117145439598,
      -0.6809227259138149,
      -0.7134244828845462,
      -0.7408528083961983,
      -0.7603194403255209,
      -0.7752077793714648
    ],
    "yaw_diff": [
      -0.03577928709375877,
      -0.031644329598375265,
      -0.031177389311463966,
      -0.04058418234573313,
      -0.05761116094843377,
      -0.06500351394146264,
      -0.05485665102330417,
      -0.03893326385864526,
      -0.029776678091887776,
      -0.029776678091887776
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.062907954007473,
    "v_std": 2.8652809298179123,
    "vy_max": 0.14739284197342606,
    "a_max": 2.6137924254873894,
    "ax_avg": -1.9804669746466428,
    "a_std": 0.31981566813273105,
    "ini_direction_judge": "right",
    "scenario_type": "roundout_entrance",
    "scene_token": "0f23b65ea5a6556e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "0f23b65ea5a6556e",
    "merge_risk": "No"
  },
  "e51779c52d7956bd": {
    "vx_ego": [
      4.483852760717387,
      3.7459795922750985,
      3.0908885757681728,
      2.4048952764635354,
      1.6593867306399408,
      0.9301466757735211,
      0.31476692678775164,
      -0.018181084954135358,
      -0.06326062159508404,
      -0.008166511653335273
    ],
    "vy_ego": [
      0.05617578611748031,
      -0.08051360461424968,
      -0.06807262910667128,
      -0.05658664209639752,
      -0.047628742041550765,
      -0.027143647594457254,
      -0.0033771902842295864,
      -0.004704465148727174,
      -0.013246916853844899,
      -0.007735279157409486
    ],
    "v_ego": [
      4.484204645055669,
      3.7468447454184024,
      3.091638088562065,
      2.4055609197898877,
      1.6600701246912348,
      0.9305426460175072,
      0.3147850435036927,
      0.01877987865895506,
      0.06463270883019752,
      0.011248397940467541
    ],
    "ax_ego": [
      -1.5834332314288364,
      -1.3314602648977476,
      -1.2644204727937804,
      -1.4811047603609306,
      -1.493700128916431,
      -1.4196066879255076,
      -1.0413254678041257,
      -0.2904597476890797,
      0.11018393699105392,
      0.11018086836910584
    ],
    "ay_ego": [
      1.1635422076438116,
      1.4450968403251405,
      1.1166443248565363,
      0.5973513763555071,
      0.3147206748148823,
      0.1216398880707471,
      0.04007235697757411,
      -0.04543729988948886,
      0.011027809123903332,
      0.011058338694305697
    ],
    "a_ego": [
      1.9649659710442322,
      1.9649659831455824,
      1.6869065416478641,
      1.597028483777803,
      1.5264957183958614,
      1.4248085523229757,
      1.042096216138999,
      0.29399219929932013,
      0.1107344234866547,
      0.11073441474649247
    ],
    "yaw": [
      2.9364040352085223,
      3.128990044977125,
      -2.970553475787827,
      -2.820559176069794,
      -2.7129489012794394,
      -2.644049918293338,
      -2.615083893336087,
      -2.61534042645848,
      -2.614680475054913,
      -2.614957655128454
    ],
    "yaw_diff": [
      0.3851720195372055,
      0.36728357282926805,
      0.29998859943606604,
      0.21522054958070935,
      0.13779796597220262,
      0.05793204991450196,
      -0.0005130662447854206,
      0.0013199028071335661,
      -0.0005543601470821002,
      -0.0005543601470821002
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.6728307198468078,
    "v_std": 1.5885134163033425,
    "vy_max": 0.08051360461424968,
    "a_max": 1.9649659831455824,
    "ax_avg": -0.9685145956456278,
    "a_std": 0.7023737346895834,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "e51779c52d7956bd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e51779c52d7956bd",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d6641a8596f25d47": {
    "vx_ego": [
      4.587401331422375,
      4.488314899166142,
      4.477910550167701,
      4.486281145320118,
      4.423449139767655,
      4.373318431470371,
      4.561046713573196,
      4.912230024018831,
      5.301160706178933,
      5.721048500049147
    ],
    "vy_ego": [
      0.017588579593091236,
      0.027743086901688918,
      0.05770632116058694,
      0.12582905088103208,
      0.10912753471840053,
      0.08763442079021577,
      0.07409525544114581,
      0.047775184631866585,
      0.029974340360730434,
      0.017053245855774612
    ],
    "v_ego": [
      4.58743504953126,
      4.488400640868372,
      4.478282362112186,
      4.488045394701396,
      4.4247950360378185,
      4.374196371305899,
      4.561648521124325,
      4.9124623435847985,
      5.301245447422293,
      5.721073916067578
    ],
    "ax_ego": [
      -0.3081996602676991,
      -0.07080261557184436,
      0.04463339796362556,
      0.029677285187956787,
      -0.24832357904137792,
      0.07316168693635416,
      0.6907322233766162,
      0.7220281985065709,
      0.8372244783967033,
      0.844364614978404
    ],
    "ay_ego": [
      -1.4374297810117331,
      -1.4683931461616253,
      -1.316706788970153,
      -1.1226359182502703,
      -0.8114417923555617,
      -0.6617852691508747,
      -0.44709638748299907,
      -0.3804223534622573,
      -0.30395034676116084,
      -0.28351196783742555
    ],
    "a_ego": [
      1.4700991143213997,
      1.4700991266123011,
      1.317463057673296,
      1.1230281146087817,
      0.8485884646217658,
      0.6658170731518295,
      0.8228038551873416,
      0.8161163436988667,
      0.8906911027527231,
      0.8906911018611772
    ],
    "yaw": [
      0.36737006603953076,
      0.20433811359379012,
      0.04217712814126314,
      -0.1087319962513815,
      -0.2126157339789056,
      -0.2921510816633798,
      -0.3521972866899069,
      -0.3903439490567042,
      -0.4204444689803117,
      -0.44475168056406383
    ],
    "yaw_diff": [
      -0.3260639048914813,
      -0.32432197090505394,
      -0.3018182487852893,
      -0.2077674754550482,
      -0.15907069536894836,
      -0.12009241005305427,
      -0.07629332473359463,
      -0.06020103984721492,
      -0.048614423167504306,
      -0.048614423167504306
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.733758508275592,
    "v_std": 0.4231297011124089,
    "vy_max": 0.12582905088103208,
    "a_max": 1.4700991266123011,
    "ax_avg": 0.2614496030465309,
    "a_std": 0.277789443939159,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "d6641a8596f25d47",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.049988458986615,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d6641a8596f25d47",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "063794d8842b5683": {
    "vx_ego": [
      4.203260571765961,
      4.036356601817875,
      3.816755268436804,
      3.4663518035921896,
      3.0160631514811413,
      2.5502674213279692,
      2.089467961613093,
      1.6711935926946304,
      1.3306521593723757,
      1.0242059035622249
    ],
    "vy_ego": [
      -0.052989446578242116,
      -0.05047746761932337,
      -0.013732472696755593,
      0.019389643137212254,
      0.00212115130087831,
      -0.02332382009703271,
      -0.045886699634367645,
      -0.05156491834490107,
      -0.029144437929758626,
      0.030423559091131758
    ],
    "v_ego": [
      4.203594570794261,
      4.0366722175296825,
      3.816779972692488,
      3.466406032842635,
      3.016063897367759,
      2.5503740746938925,
      2.0899717586156297,
      1.6719889249236977,
      1.330971287257771,
      1.0246576627535096
    ],
    "ax_ego": [
      -0.3339901370575855,
      -0.3339750923998608,
      -0.5443897976086345,
      -0.8571301600320255,
      -0.9440593652091747,
      -0.919125191392977,
      -0.9241385239357133,
      -0.7492748061626885,
      -0.6129406404700357,
      -0.6128461872806557
    ],
    "ay_ego": [
      -0.008622531480354412,
      -0.009187120737829846,
      0.15917561635447264,
      -0.039199688211394246,
      -0.01525133765254405,
      -0.09018470618447239,
      -0.003429600417403089,
      -0.03229315232596652,
      0.12073522020582342,
      0.12121372295923549
    ],
    "a_ego": [
      0.3341014212793392,
      0.33410143000434317,
      0.5671835052099067,
      0.8580260641684471,
      0.9441825503255934,
      0.9235390618066764,
      0.9241448877644143,
      0.7499703879736069,
      0.6247185143230239,
      0.6247185093288614
    ],
    "yaw": [
      1.0806070929615061,
      1.0789166278635967,
      1.079106902780174,
      1.0782570159950087,
      1.079381140796192,
      1.0790523557757896,
      1.0786900640486914,
      1.0769399889141797,
      1.0767311027084943,
      1.0775118268043702
    ],
    "yaw_diff": [
      -0.0033809301958189764,
      0.0003805498331548307,
      -0.0016997735703307981,
      0.002248249602366581,
      -0.0006575700408046892,
      -0.0007245834541964591,
      -0.0035001502690232833,
      -0.00041777241137097576,
      0.0015614481917518575,
      0.0015614481917518575
    ],
    "min_front_frame": [
      9,
      9.58448033063435
    ],
    "v_avg": 2.720748039947132,
    "v_std": 1.1004543265032884,
    "vy_max": 0.052989446578242116,
    "a_max": 0.9441825503255934,
    "ax_avg": -0.6831869901549352,
    "a_std": 0.21970745841380226,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "063794d8842b5683",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.92230550272483,
      19.52074882406212,
      17.9553985568417,
      16.115461049241155,
      14.475965212036057,
      13.067502557294148,
      11.860755955668106,
      10.900629531677323,
      10.167059005870067,
      9.58448033063435
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "063794d8842b5683",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aa843e4d6d3b5fc3": {
    "vx_ego": [
      1.7272043049159305,
      2.0067980303283255,
      2.2224810456325694,
      2.3302706154661483,
      2.3873631909140114,
      2.4444712248804232,
      2.5276487509030874,
      2.618270975060736,
      2.6919952660290143,
      2.7629509675489206
    ],
    "vy_ego": [
      0.03413519659033015,
      0.05358698921692839,
      0.06658006529070293,
      0.06384937475003949,
      0.06621408382196065,
      0.0589269082194932,
      0.051852338944020915,
      0.03054646054785265,
      0.005093721841159193,
      -0.0018386230329427988
    ],
    "v_ego": [
      1.7275415834550505,
      2.0075133623323613,
      2.2234781094695206,
      2.331145187233295,
      2.3882812460486122,
      2.445181373595976,
      2.5281805459650037,
      2.618449156485094,
      2.692000085127194,
      2.7629515793104615
    ],
    "ax_ego": [
      0.5530027366554334,
      0.5786648603825092,
      0.3026028177688198,
      0.13877459697856467,
      0.09955025282360311,
      0.1386533718696802,
      0.20193765258876906,
      0.1697339582604852,
      0.13045595403895627,
      0.1534933528318805
    ],
    "ay_ego": [
      -0.3154421975535394,
      -0.26544827210978417,
      -0.3005107672583455,
      -0.17927930398527195,
      -0.17563441297422888,
      -0.20750262082047907,
      -0.18886872342060976,
      -0.31330643676322195,
      -0.3658356817398448,
      -0.35678325722747617
    ],
    "a_ego": [
      0.6366441759301696,
      0.636644175193317,
      0.4264682714573607,
      0.22671448476885325,
      0.20188536315950514,
      0.2495638098326745,
      0.2764963114032322,
      0.35632925771544344,
      0.38839992530672723,
      0.3883999253365268
    ],
    "yaw": [
      1.773411615418945,
      1.6851145928603841,
      1.6132645283831182,
      1.5622419648959098,
      1.5237086913970876,
      1.4870077069630805,
      1.4498801251627573,
      1.4094360830938784,
      1.3551898159945726,
      1.291450555779278
    ],
    "yaw_diff": [
      -0.17659404511712173,
      -0.14370012895453188,
      -0.1020451269744167,
      -0.07706654699764437,
      -0.07340196886801431,
      -0.07425516360064632,
      -0.08088808413775794,
      -0.1084925341986116,
      -0.12747852043058927,
      -0.12747852043058927
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.372472222902257,
    "v_std": 0.30296800678839436,
    "vy_max": 0.06658006529070293,
    "a_max": 0.6366441759301696,
    "ax_avg": 0.24668695541987015,
    "a_std": 0.14748747839030302,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "aa843e4d6d3b5fc3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aa843e4d6d3b5fc3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "62bae469f29c5ecb": {
    "vx_ego": [
      0.5255164445436056,
      1.456617163692832,
      2.382527311299251,
      3.268670487434549,
      4.105774565646882,
      4.810955102032249,
      5.228990459066254,
      5.331271222886061,
      5.253258477282525,
      5.140693694990299
    ],
    "vy_ego": [
      0.009792296700521341,
      0.013157334890540162,
      -0.001060583567515927,
      -0.015009163947029336,
      -0.001599569027220582,
      -0.0045459861160010995,
      -0.03485937028977215,
      -0.02146955233651715,
      0.02273986158786423,
      0.01765488748114441
    ],
    "v_ego": [
      0.5256076698074559,
      1.4566765862833015,
      2.3825275473589684,
      3.2687049469825205,
      4.105774877234979,
      4.810957249837073,
      5.229106653789241,
      5.331314452707753,
      5.253307694248049,
      5.140724011339744
    ],
    "ax_ego": [
      1.8622188213109254,
      1.862215143925396,
      1.8414705280659147,
      1.7030900021965563,
      1.645471003539625,
      1.175126206924448,
      0.4973563827665751,
      -0.08694339456201892,
      -0.22509092197269323,
      -0.22505764337217615
    ],
    "ay_ego": [
      0.004729970301819764,
      0.0060084709969197014,
      -0.0685191693419468,
      0.010794893890738955,
      0.07546074071439102,
      -0.002232773752911643,
      -0.01965173792000066,
      0.19793684693831032,
      -0.02421354714324063,
      -0.024520974606338092
    ],
    "a_ego": [
      1.862224828280331,
      1.862224837120589,
      1.8427448500274446,
      1.7031242131201054,
      1.6472003966970337,
      1.175128328089861,
      0.4977444748883993,
      0.21619007663129913,
      0.2263895293951887,
      0.22638953384792837
    ],
    "yaw": [
      -0.7183124984696438,
      -0.7189990534075581,
      -0.719732472689224,
      -0.7199021886747679,
      -0.7176949942602491,
      -0.712989962129493,
      -0.708123419533115,
      -0.7022985749564203,
      -0.7024452143548489,
      -0.7038111358208552
    ],
    "yaw_diff": [
      -0.0013731098758285043,
      -0.0014668385633318515,
      -0.0003394319710876559,
      0.004414388829037552,
      0.009410064261512252,
      0.009733085192755953,
      0.011649689153389264,
      -0.00029327879685703273,
      -0.0027318429320126736,
      -0.0027318429320126736
    ],
    "min_front_frame": [
      4,
      17.194358249599528
    ],
    "v_avg": 3.750470168958908,
    "v_std": 1.670096615327692,
    "vy_max": 0.03485937028977215,
    "a_max": 1.862224837120589,
    "ax_avg": 1.0049856128822552,
    "a_std": 0.710349916760763,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "62bae469f29c5ecb",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.872729480790726,
    "speed_mode": "accelerating",
    "front_frame": [
      22.09741807300582,
      21.474148864310628,
      20.44998983772961,
      18.98098582328312,
      17.194358249599528,
      20.045681663386045,
      17.571432555993958,
      44.79033258454881,
      42.186719065211186,
      39.667933777387915
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "62bae469f29c5ecb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d7c017783af2520b": {
    "vx_ego": [
      3.4214888808514035,
      3.056307278410277,
      2.6180288702385393,
      2.1320494221834365,
      1.7349699642004537,
      1.4478486032527869,
      1.265735980599729,
      1.1332626602767897,
      0.9692956072757823,
      0.7826379386910852
    ],
    "vy_ego": [
      -0.03933798300282282,
      -0.012812091544001744,
      -0.021236819126137396,
      -0.02877884970297339,
      0.01126140741399008,
      0.0059629079920161185,
      -0.022907066602977994,
      -0.019588190157345472,
      0.010999433987501868,
      0.06262868190435687
    ],
    "v_ego": [
      3.42171501424308,
      3.056334132543981,
      2.6181150028005034,
      2.1322436448077298,
      1.7350065117960416,
      1.4478608822026953,
      1.2659432476557198,
      1.1334319363646266,
      0.969358015303001,
      0.785139793206094
    ],
    "ax_ego": [
      -0.7303378626665032,
      -0.7302686124432773,
      -1.0228482380711186,
      -0.920789119150534,
      -0.6674952523505114,
      -0.48107206457897234,
      -0.2473551977314021,
      -0.2825327382275181,
      -0.37334571940928696,
      -0.3733206124792118
    ],
    "ay_ego": [
      0.06005173863101412,
      0.060888052616572735,
      -0.08926389252059715,
      0.07369404165371811,
      0.09221144966684257,
      -0.1096108199354284,
      -0.004443564479835762,
      0.01798594730274947,
      0.10363766796990433,
      0.1037281065719051
    ],
    "a_ego": [
      0.732802568879834,
      0.7328025663650941,
      1.0267358767634063,
      0.9237334105256105,
      0.6738344480361134,
      0.4934013205953059,
      0.24739510728797262,
      0.2831046493272701,
      0.387463278806493,
      0.38746328831883714
    ],
    "yaw": [
      -1.5395962795099063,
      -1.538451116271328,
      -1.537988037366251,
      -1.5364431038379847,
      -1.535687987445478,
      -1.5350830172324446,
      -1.534814573944197,
      -1.5347591538370993,
      -1.5349301629058614,
      -1.5346879204364485
    ],
    "yaw_diff": [
      0.0022903264771567677,
      0.000926157810154038,
      0.0030898670565324693,
      0.0015102327850131658,
      0.0012099404260670354,
      0.0005368865764951991,
      0.00011084021419538459,
      -0.00034201813752421373,
      0.0004844849388256911,
      0.0004844849388256911
    ],
    "min_front_frame": [
      9,
      12.928681930826071
    ],
    "v_avg": 1.8565148180923476,
    "v_std": 0.8679721681453273,
    "vy_max": 0.06262868190435687,
    "a_max": 1.0267358767634063,
    "ax_avg": -0.5829365417108336,
    "a_std": 0.25550994241091485,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d7c017783af2520b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.18377427410678,
      15.682389123313193,
      15.166413098114893,
      14.81187824225739,
      14.47367754325599,
      14.088076983386557,
      13.917595952804215,
      13.577960917383484,
      13.256253218059959,
      12.928681930826071
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d7c017783af2520b",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "6b8daf3b57175e70": {
    "vx_ego": [
      6.036617090997645,
      5.7360825497726315,
      5.421914004720624,
      5.123794930367288,
      4.883434023285333,
      4.699687537867539,
      4.533801520250839,
      4.364057924617898,
      4.1525860817696145,
      3.8925604087293695
    ],
    "vy_ego": [
      -0.009838479121039967,
      -0.013885467755725855,
      0.004137303795995972,
      0.010016195457601462,
      0.005314034907316856,
      0.019943804657947428,
      0.04633194611941738,
      0.02632276870359429,
      0.004790529331867521,
      -0.007421671572720001
    ],
    "v_ego": [
      6.036625108369434,
      5.736099356184557,
      5.421915583248077,
      5.123804720383962,
      4.88343691458667,
      4.699729854888649,
      4.534038252403704,
      4.364137309660696,
      4.1525888450071715,
      3.8925674839129365
    ],
    "ax_ego": [
      -0.6021238924668919,
      -0.599167027018181,
      -0.6573562375874452,
      -0.5359631909970899,
      -0.42549895747331135,
      -0.3094983558288022,
      -0.35349833634138195,
      -0.32450011129119266,
      -0.52085030345735,
      -0.5192774710422426
    ],
    "ay_ego": [
      0.17770222366603836,
      0.1874303632866929,
      0.17191708153489338,
      0.03255670376617392,
      -0.04608465213579421,
      0.06628216419101061,
      -0.0185689700366804,
      -0.14473954490401575,
      -0.12209650489438681,
      -0.1286215568177388
    ],
    "a_ego": [
      0.6277987433687137,
      0.6277987474880683,
      0.6794650145655748,
      0.5369510974603753,
      0.4279873338936001,
      0.3165162832313307,
      0.35398570655373635,
      0.3553165603894899,
      0.5349697142072984,
      0.5349697157879556
    ],
    "yaw": [
      2.5782791956523026,
      2.5944749770339786,
      2.6073302585803573,
      2.615934675436974,
      2.6161992489011108,
      2.6141937496645458,
      2.6110654352586162,
      2.606382310801095,
      2.5958341501057625,
      2.5832876747944815
    ],
    "yaw_diff": [
      0.03239156276335198,
      0.025710563092757432,
      0.017208833713233673,
      0.0005291469282733274,
      -0.004010998473130023,
      -0.006256628811859066,
      -0.009366248915042341,
      -0.021096321390665196,
      -0.025092950622561894,
      -0.025092950622561894
    ],
    "min_front_frame": [
      5,
      19.071267510874033
    ],
    "v_avg": 4.884494342864586,
    "v_std": 0.6592466871179058,
    "vy_max": 0.04633194611941738,
    "a_max": 0.6794650145655748,
    "ax_avg": -0.48477338835038886,
    "a_std": 0.12238776367158193,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "6b8daf3b57175e70",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.511567576765804,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.268898979143927,
      19.383381454858473,
      20.344477081043646,
      19.704533948336582,
      19.261441861340042,
      19.071267510874033,
      19.22458698250529,
      19.46317023625319,
      19.815235177045075,
      20.219777177753738
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6b8daf3b57175e70",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "a3c4e4bf10d65ddb": {
    "vx_ego": [
      -0.07103902217690247,
      0.08990182113808633,
      0.42910314824946444,
      0.9933974897317734,
      1.6661602629893837,
      2.3768460318106692,
      3.064307335845599,
      3.6706560839312483,
      4.15847599332737,
      4.732735288976944
    ],
    "vy_ego": [
      -0.00340638270395633,
      0.004379437728080013,
      0.005230892375587715,
      -0.0026352136835470774,
      0.004041949846653847,
      0.03426001474816953,
      0.03793843538539865,
      -0.01585725492707679,
      -0.0642655517352614,
      -0.1365723237170534
    ],
    "v_ego": [
      0.07112064478740511,
      0.09000842693191896,
      0.4291350301159844,
      0.9934009849786474,
      1.6661651656793857,
      2.377092932037927,
      3.064542180064853,
      3.6706903354866793,
      4.158972547182764,
      4.734705409540614
    ],
    "ax_ego": [
      0.32188071551277586,
      0.32188243925013127,
      1.034906206643709,
      1.222256062547094,
      1.470817756144596,
      1.3851241561500278,
      1.3823525116996271,
      1.079394364268846,
      0.9635183808273332,
      1.3947103030761956
    ],
    "ay_ego": [
      0.015591604936761788,
      0.01555586320070071,
      -0.011804756929546079,
      -0.01038135524474637,
      0.16263657809330212,
      0.6335820362535988,
      1.140515030931565,
      1.5676093007275762,
      2.0107136140448505,
      1.7395746990577479
    ],
    "a_ego": [
      0.32225811574500435,
      0.3222581101811611,
      1.0349735305000978,
      1.2223001492963352,
      1.4797822570649113,
      1.523153020747943,
      1.792114115335041,
      1.9032842965103627,
      2.2296495033743375,
      2.2296495157555025
    ],
    "yaw": [
      -0.723138100695455,
      -0.7230270438912623,
      -0.722520366742959,
      -0.7191480594531885,
      -0.6949816560625091,
      -0.6119493047502782,
      -0.45064678514944567,
      -0.23685359292262845,
      0.0020084994069138953,
      0.23095453268613247
    ],
    "yaw_diff": [
      0.0002221136083855324,
      0.001013354296606428,
      0.006744614579541119,
      0.04833280678135887,
      0.1660647026244617,
      0.32260503920166506,
      0.42758638445363445,
      0.47772418465908467,
      0.45789206655843717,
      0.45789206655843717
    ],
    "min_front_frame": [
      4,
      26.918261313607882
    ],
    "v_avg": 2.125583365680618,
    "v_std": 1.6434618052189278,
    "vy_max": 0.1365723237170534,
    "a_max": 2.2296495157555025,
    "ax_avg": 1.0576842896120335,
    "a_std": 0.6551900991983306,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "a3c4e4bf10d65ddb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.791667810938815,
    "right_rear_min": 6.885046720042263,
    "speed_mode": "accelerating",
    "front_frame": [
      28.430503176880027,
      28.410967586195895,
      28.185345817581837,
      27.743112210712678,
      26.918261313607882,
      42.11239162265691,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a3c4e4bf10d65ddb",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "3fd7c487c29f53bc": {
    "vx_ego": [
      2.8022427550962536,
      3.4359770532921314,
      3.955120465888873,
      4.289768963753471,
      4.495745542522144,
      4.58645823212452,
      4.5951269365274845,
      4.61004138717014,
      4.641529704377336,
      4.65815349374375
    ],
    "vy_ego": [
      0.0036531664649128714,
      -0.008618169272116338,
      -0.0031222673177128124,
      0.0017152069967636407,
      0.006626429861992245,
      0.04316701589186267,
      0.05556667954509231,
      0.032133131696704176,
      0.01965394389310271,
      -0.028010757336801806
    ],
    "v_ego": [
      2.8022451363352676,
      3.435987861385963,
      3.9551216982851765,
      4.289769306654796,
      4.4957504259778975,
      4.586661368172256,
      4.595462894929751,
      4.610153373758212,
      4.641571315204336,
      4.658237711174011
    ],
    "ax_ego": [
      1.263802723213774,
      1.2706963857711149,
      0.8061814488869193,
      0.5317961760139391,
      0.292341803477464,
      0.07649131140516557,
      -0.03180123043201932,
      0.1000411578480712,
      0.028045495122009323,
      0.03796970972442634
    ],
    "ay_ego": [
      0.2177873424484143,
      0.17308760655569744,
      0.1558798997686644,
      -0.0011294441442553232,
      -0.06420733435366396,
      -0.2964203976137136,
      -0.39759015657408314,
      -0.45934993926158374,
      -0.35559845121472955,
      -0.3546760622651768
    ],
    "a_ego": [
      1.2824307582607701,
      1.2824307483661463,
      0.8211133123274165,
      0.5317973753857042,
      0.29930972561087854,
      0.30613064668855694,
      0.3988599389028614,
      0.4701176448115975,
      0.35670268894830753,
      0.356702688524335
    ],
    "yaw": [
      -1.7644958091151097,
      -1.7292264321323025,
      -1.7087812507313493,
      -1.7006378669302133,
      -1.7054415907408231,
      -1.733175192112462,
      -1.7735452543205552,
      -1.8151435189636875,
      -1.856403421283124,
      -1.8843463383661034
    ],
    "yaw_diff": [
      0.07053875396561438,
      0.04089036280190639,
      0.01628676760227199,
      -0.009607447621219567,
      -0.05546720274327788,
      -0.08074012441618628,
      -0.08319652928626464,
      -0.08251980463887287,
      -0.055885834165958936,
      -0.055885834165958936
    ],
    "min_front_frame": [
      9,
      20.709582503878604
    ],
    "v_avg": 4.207096109187767,
    "v_std": 0.5976213362981342,
    "vy_max": 0.05556667954509231,
    "a_max": 1.2824307582607701,
    "ax_avg": 0.4375564981030865,
    "a_std": 0.36555969021632295,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "3fd7c487c29f53bc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      24.050448978984644,
      -1,
      -1,
      -1,
      -1,
      23.4434866020719,
      23.2070400427486,
      22.734133071985283,
      21.83287390365368,
      20.709582503878604
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8333333333333334,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.16666666666666666,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "3fd7c487c29f53bc",
    "maneuvering": "Yes"
  },
  "d4bbe6333e6356b5": {
    "vx_ego": [
      7.047493400681258,
      6.495200405805177,
      5.948775169149547,
      5.404817118305207,
      4.84118855307024,
      4.277080604216404,
      3.7554383409235697,
      3.2688261004038135,
      2.737012412681927,
      2.1515936904271307
    ],
    "vy_ego": [
      0.023204268855301358,
      0.001789918527860035,
      -0.014585366713088632,
      -0.029532373871793194,
      -0.02740890115569239,
      -0.010312142421556425,
      0.002587466170241637,
      -0.0074840098052302295,
      -0.014984153047305382,
      -0.019507190884967218
    ],
    "v_ego": [
      7.047531601258627,
      6.495200652434077,
      5.948793049519573,
      5.404897801386396,
      4.841266141645271,
      4.277093035607886,
      3.755439232294933,
      3.2688346677499562,
      2.7370534287838604,
      2.151682118525425
    ],
    "ax_ego": [
      -1.1045877843507375,
      -1.1046000304401813,
      -1.0811192564649486,
      -1.0948426916611322,
      -1.1598194146267724,
      -1.0965333841482552,
      -0.9900299097237593,
      -0.9564114967302656,
      -1.1708040434617248,
      -1.1708082249987606
    ],
    "ay_ego": [
      -0.038701496369734134,
      -0.03835055431540613,
      -0.050524788568754475,
      -0.04093809629529688,
      0.029051902144757946,
      0.055552683090630606,
      -0.009386900106995277,
      -0.015325983983856817,
      -0.005170137988977808,
      -0.004115584608981593
    ],
    "a_ego": [
      1.1052655695162714,
      1.105265575445444,
      1.0822992196981576,
      1.095607798079256,
      1.1601832129295,
      1.0979396901242768,
      0.9900744093457086,
      0.9565342842067399,
      1.1708154587778339,
      1.1708154584568065
    ],
    "yaw": [
      1.1030162806859605,
      1.1033339925781507,
      1.10239437207321,
      1.1009998672398649,
      1.100006903735569,
      1.1008977384427463,
      1.1005584479033943,
      1.101668292082534,
      1.1024525608163298,
      1.103353269603498
    ],
    "yaw_diff": [
      0.0006354237843804178,
      -0.0018792410098815715,
      -0.0027890096666900455,
      -0.0019859270085915703,
      0.0017816694143544254,
      -0.0006785810787039992,
      0.002219688358279459,
      0.0015685374675915575,
      0.0018014175743363836,
      0.0018014175743363836
    ],
    "min_front_frame": [
      9,
      13.743261579244612
    ],
    "v_avg": 4.592779172920601,
    "v_std": 1.5543928356969618,
    "vy_max": 0.029532373871793194,
    "a_max": 1.1708154587778339,
    "ax_avg": -1.0929556236606537,
    "a_std": 0.06803303303035814,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d4bbe6333e6356b5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.254867396462403,
    "right_rear_min": 19.548444430142336,
    "speed_mode": "decelerating",
    "front_frame": [
      18.736952749207347,
      22.93946078526525,
      19.86688517125461,
      24.43170370029524,
      21.894928847500243,
      19.65765805674762,
      18.20985433412217,
      16.44831327889523,
      14.937058481896896,
      13.743261579244612
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d4bbe6333e6356b5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f75560fb13f25476": {
    "vx_ego": [
      0.6297473317249994,
      0.9079048669355859,
      1.3359012702679407,
      1.9221633455967833,
      2.4991444628686357,
      3.052510232884604,
      3.58678115597256,
      4.1457908202782585,
      4.696134827206254,
      5.22705179787987
    ],
    "vy_ego": [
      0.004873351183024149,
      0.010003780165524861,
      0.015995003989339285,
      0.024977098560496697,
      0.03847688721895487,
      0.043668561459409894,
      0.021348878144190397,
      -0.04409474197302643,
      -0.05542581881166164,
      -0.04048968519236151
    ],
    "v_ego": [
      0.6297661878558657,
      0.9079599787561807,
      1.3359970224727735,
      1.9223256182573023,
      2.4994406408508727,
      3.052822573476086,
      3.586844690732771,
      4.146025310073871,
      4.696461895585917,
      5.227208615726577
    ],
    "ax_ego": [
      0.5530819530227652,
      0.5573846376747041,
      1.1583227143451276,
      1.1920291316882998,
      1.1238885492415809,
      1.089953595046511,
      1.050991969279959,
      1.1574751389413265,
      1.0437528616848493,
      1.0903848647722507
    ],
    "ay_ego": [
      0.10039549474971451,
      0.07280980825190922,
      0.27349462915808564,
      0.5274917731195811,
      0.8857118021208158,
      1.218340428736028,
      1.514801318081355,
      1.1315851492973543,
      0.7307499230473441,
      0.6591481769021087
    ],
    "a_ego": [
      0.5621200068717677,
      0.5621200071990331,
      1.1901726020818084,
      1.3035263792890428,
      1.4309475418520585,
      1.6347330790216188,
      1.8436938880280471,
      1.6187135779308082,
      1.2741332294187337,
      1.2741332239753318
    ],
    "yaw": [
      -0.23828112288466152,
      -0.1886082925726108,
      -0.11166311015893021,
      0.00591559192958197,
      0.15873817586295322,
      0.34553427896497924,
      0.5569858446029655,
      0.745124703930889,
      0.8525513045781516,
      0.9196274765989894
    ],
    "yaw_diff": [
      0.09934566062410144,
      0.15389036482736118,
      0.23515740417702435,
      0.3056451678667425,
      0.37359220620405204,
      0.42290313127597257,
      0.376277718655847,
      0.21485320129452523,
      0.13415234404167542,
      0.13415234404167542
    ],
    "min_front_frame": [
      9,
      24.69367731367321
    ],
    "v_avg": 2.8004852533788216,
    "v_std": 1.5256611090154077,
    "vy_max": 0.05542581881166164,
    "a_max": 1.8436938880280471,
    "ax_avg": 1.0017265415697374,
    "a_std": 0.40241467144637516,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "f75560fb13f25476",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      24.69367731367321
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f75560fb13f25476",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "33a4b3a5822e52db": {
    "vx_ego": [
      5.442722653304546,
      4.870651750677981,
      4.425235567281864,
      4.166647095383783,
      3.9742406512803603,
      3.872340529666639,
      3.9491045399310147,
      4.164255919215952,
      4.490051763466254,
      4.97908429292692
    ],
    "vy_ego": [
      0.0420101324354723,
      0.028698256979889814,
      0.07604958792114846,
      0.06995485702413395,
      0.09036592195859416,
      0.078431268875375,
      0.040317413423476944,
      0.008870477327836745,
      0.08379426155379871,
      0.1772193394917712
    ],
    "v_ego": [
      5.442884780336777,
      4.870736296119526,
      4.425888991576654,
      4.1672342986075765,
      3.9752678845759273,
      3.873134730633096,
      3.949310339936444,
      4.164265366915648,
      4.490833588196713,
      4.982237157177634
    ],
    "ax_ego": [
      -1.1903328816127177,
      -1.0772197031763555,
      -0.6537046569320111,
      -0.3468650132029682,
      -0.36685690498160406,
      0.016302712774101114,
      0.34363482593286665,
      0.6030769193261396,
      0.769331099034966,
      1.283863155880971
    ],
    "ay_ego": [
      -1.0332743858954765,
      -1.1507154444061625,
      -1.409963989389107,
      -1.2607748681210638,
      -1.3070143127414828,
      -1.318047354801166,
      -1.4653194026275282,
      -2.0793819933008155,
      -2.2265379660268336,
      -1.975104325865909
    ],
    "a_ego": [
      1.576245008111401,
      1.5762450072581444,
      1.5541326294331008,
      1.307619442142851,
      1.357523628687093,
      1.318148173743053,
      1.5050733687467224,
      2.1650707251005863,
      2.355704067598742,
      2.3557040775706257
    ],
    "yaw": [
      -1.649315015553321,
      -1.7528065235371217,
      -1.902151942377032,
      -2.057231248012318,
      -2.2194982841005695,
      -2.3853787975876566,
      -2.5549354371330804,
      -2.766536809916884,
      -3.032332961513008,
      3.0071462526353576
    ],
    "yaw_diff": [
      -0.2069830159676016,
      -0.2986908376798203,
      -0.3101586112705723,
      -0.3245340721765029,
      -0.3317610269741742,
      -0.33911327909084754,
      -0.4232027455676075,
      -0.531592303192248,
      -0.48741218606244274,
      -0.48741218606244274
    ],
    "min_front_frame": [
      0,
      65.55804952180885
    ],
    "v_avg": 4.4341793434076004,
    "v_std": 0.4915583768809664,
    "vy_max": 0.1772193394917712,
    "a_max": 2.3557040775706257,
    "ax_avg": -0.06187704469566124,
    "a_std": 0.39782450428858357,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "33a4b3a5822e52db",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      65.55804952180885,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "33a4b3a5822e52db",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "29b6c8cc1e055352": {
    "vx_ego": [
      2.6971522632517244,
      3.053076635665998,
      3.5283512174336766,
      3.987393318658251,
      4.306353460088486,
      4.601786267589362,
      4.830741697079363,
      5.026777803547873,
      5.198774636081201,
      5.399052824454031
    ],
    "vy_ego": [
      -0.0218857491101887,
      0.006126352016023295,
      0.01872839103632873,
      0.025701513253864494,
      0.01762727562030708,
      -0.01056896482445202,
      0.008327811299492116,
      -0.03696192004628008,
      -0.08917867573068083,
      -0.06748267757676096
    ],
    "v_ego": [
      2.6972410565572393,
      3.0530827822773876,
      3.5284009219753525,
      3.987476149830115,
      4.306389536962706,
      4.601798404492692,
      4.830748875313459,
      5.026913692294218,
      5.199539455852442,
      5.399474540454652
    ],
    "ax_ego": [
      0.7118042156969602,
      0.7119640782297552,
      1.1888846187294202,
      0.6498658976025915,
      0.630989215059081,
      0.5670554994523829,
      0.3671899527269372,
      0.4275290538552051,
      0.31237291869187744,
      0.5287951063862656
    ],
    "ay_ego": [
      0.07011256139053851,
      0.06847006358432528,
      0.12173363667135917,
      0.4458631386048099,
      0.7542417827566759,
      1.0813560492219332,
      1.3669154225470734,
      1.3938896096852063,
      1.5621450504197816,
      1.5027473928021826
    ],
    "a_ego": [
      0.7152489166358148,
      0.7152489065330938,
      1.1951007133077252,
      0.7881114281834478,
      0.9833758469562102,
      1.2210171352802792,
      1.415374944592653,
      1.457981253610177,
      1.593070619553039,
      1.5930706171139493
    ],
    "yaw": [
      1.0786958474037487,
      1.081003094953072,
      1.0918193986508111,
      1.1270882306912267,
      1.2013089411167752,
      1.3103645507879593,
      1.4353104100137393,
      1.584486212771058,
      1.7385011293276205,
      1.8794937210814107
    ],
    "yaw_diff": [
      0.004614495098646643,
      0.02163260739547823,
      0.07053766408083106,
      0.14844142085109713,
      0.2181112193423682,
      0.24989171845155989,
      0.29835160551463735,
      0.30802983311312504,
      0.2819851835075804,
      0.2819851835075804
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.263106541601027,
    "v_std": 0.8787661967564242,
    "vy_max": 0.08917867573068083,
    "a_max": 1.593070619553039,
    "ax_avg": 0.6096450556430476,
    "a_std": 0.33144633687576236,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "29b6c8cc1e055352",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.686155316979551,
    "right_rear_min": 10.272330098606885,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "29b6c8cc1e055352",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b4899f9464d058f2": {
    "vx_ego": [
      8.393575894347862,
      8.410543927374531,
      8.424519215201084,
      8.425326883875979,
      8.419416004474973,
      8.397792499988823,
      8.329159137723442,
      8.230127116118828,
      8.006053884903215,
      7.659848554688432
    ],
    "vy_ego": [
      -0.06479406806999921,
      -0.05385243441336662,
      -0.05272628076515118,
      -0.05018528993644589,
      -0.0503155451943027,
      -0.035638944323867605,
      -0.02979880622857034,
      -0.024890994186054005,
      -0.0003207190414813432,
      -0.0009335326870378857
    ],
    "v_ego": [
      8.393825978982086,
      8.410716333285105,
      8.42468421176578,
      8.425476346384775,
      8.419566349313813,
      8.39786812275717,
      8.329212442384607,
      8.230164755888305,
      8.006053891327149,
      7.659848611574889
    ],
    "ax_ego": [
      0.0340721564616661,
      0.034137204521391636,
      0.021758287630203717,
      -0.01906436918734003,
      -0.005335526728408285,
      -0.08287067066807936,
      -0.19289719765891453,
      -0.20432379397568018,
      -0.693274350213268,
      -0.6915351517902889
    ],
    "ay_ego": [
      0.04579117808311241,
      0.04574270507335479,
      -0.0423648114233804,
      -0.03356815930706221,
      -0.13843422616403075,
      -0.15175817497820732,
      -0.18158662398501896,
      -0.2339753336579266,
      -0.16204127842840496,
      -0.16930987242740766
    ],
    "a_ego": [
      0.057076648782033175,
      0.05707664846470262,
      0.0476256267941668,
      0.03860403465669757,
      0.13853700884277664,
      0.1729106466637999,
      0.2649208011367529,
      0.3106326923312392,
      0.7119597605050028,
      0.7119597594408008
    ],
    "yaw": [
      -0.22008957985176442,
      -0.21866827996828922,
      -0.2187017373194559,
      -0.22125501792557162,
      -0.22634610009587985,
      -0.23670733223659413,
      -0.2473523192711114,
      -0.26049032163003527,
      -0.27559839291441707,
      -0.2860959051566303
    ],
    "yaw_diff": [
      0.0028425997669503933,
      -6.691470233338714e-05,
      -0.005106561212231409,
      -0.010182164340616473,
      -0.020722464281428543,
      -0.021289974069034545,
      -0.026276004717847745,
      -0.030216142568763593,
      -0.020995024484426472,
      -0.020995024484426472
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.269741704366368,
    "v_std": 0.23853699225994635,
    "vy_max": 0.06479406806999921,
    "a_max": 0.7119597605050028,
    "ax_avg": -0.17993334116087176,
    "a_std": 0.24680945343660948,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b4899f9464d058f2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b4899f9464d058f2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6afbce15383553d7": {
    "vx_ego": [
      0.5641081894146757,
      0.7513521941144601,
      0.9137201433470515,
      1.0336472579369587,
      1.1361549282054741,
      1.2223609207996202,
      1.2612034003632315,
      1.2304509944386917,
      1.1306558262385462,
      1.0004569236941265
    ],
    "vy_ego": [
      -0.0022694435985950445,
      -0.008024901963344617,
      -0.013307015533099447,
      -0.017800377764350908,
      -0.018975539612828204,
      -0.01712869384251173,
      0.0050457451508294955,
      0.03284120213418616,
      0.040962082297348594,
      0.04608701989653145
    ],
    "v_ego": [
      0.5641127544551273,
      0.7513950483281977,
      0.913817036950261,
      1.0338005161969823,
      1.1363133775456418,
      1.222480925352558,
      1.261213493676588,
      1.2308891884620579,
      1.1313975824586617,
      1.0015178828011304
    ],
    "ax_ego": [
      0.37448470130697376,
      0.374487095646827,
      0.27502276791438196,
      0.20470201379076308,
      0.20531815991233732,
      0.13949385452157412,
      0.01586033818644677,
      -0.13881857477921367,
      -0.2603305269685984,
      -0.26033690170894475
    ],
    "ay_ego": [
      -0.011817533425980468,
      -0.011741120803278904,
      -0.006543768224905442,
      -0.010365148187788987,
      0.005104322258210468,
      0.0014775043956822202,
      0.08603147373744523,
      0.022728766837304328,
      0.008777429167214568,
      0.008585855740145101
    ],
    "a_ego": [
      0.37467111659326974,
      0.3746711074044981,
      0.27510060664031494,
      0.20496426700024709,
      0.20538159823972493,
      0.139501679088552,
      0.08748122541908743,
      0.14066695968022017,
      0.260478456949003,
      0.2604784430815789
    ],
    "yaw": [
      1.5909772619264382,
      1.590773217876041,
      1.5916145390772236,
      1.5918854190658427,
      1.5917563239288328,
      1.591586730243639,
      1.591350342419532,
      1.590871828355398,
      1.590667493240045,
      1.5899316193769493
    ],
    "yaw_diff": [
      -0.0004080881007944015,
      0.0016826424023652642,
      0.0005417599772381543,
      -0.0002581902740197428,
      -0.000339187370387517,
      -0.00047277564821390783,
      -0.0009570281282682558,
      -0.0004086702307057877,
      -0.00147174772619163,
      -0.00147174772619163
    ],
    "min_front_frame": [
      9,
      15.177105593112824
    ],
    "v_avg": 1.0246937806227205,
    "v_std": 0.2147471296991944,
    "vy_max": 0.04608701989653145,
    "a_max": 0.37467111659326974,
    "ax_avg": 0.0929882927822547,
    "a_std": 0.0913298724456272,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6afbce15383553d7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 43.38508614070172,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.781162677625442,
      19.455987863137675,
      18.968932503534408,
      18.497436684684953,
      17.970431639068114,
      17.382080951837104,
      16.812401124652737,
      16.190663531314577,
      15.707005268074221,
      15.177105593112824
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6afbce15383553d7",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "e67c2879271350c1": {
    "vx_ego": [
      7.477209813389598,
      7.657107536694248,
      7.882245238565463,
      8.105457736343034,
      8.25534874917225,
      8.360539494718994,
      8.518098443054397,
      8.728534499077943,
      8.964628150044101,
      9.259686570095568
    ],
    "vy_ego": [
      -0.025895438017291994,
      -0.03368887374203222,
      -0.06804031458193638,
      -0.04730520574139829,
      -0.045389784151375956,
      -0.03734293349674944,
      -0.018017419862562,
      -0.04776787355127876,
      -0.10970885407349762,
      -0.013314238084781715
    ],
    "v_ego": [
      7.47725465442764,
      7.657181646579494,
      7.882538898432174,
      8.10559577687744,
      8.255473529905183,
      8.360622891713168,
      8.518117498190797,
      8.728665205593433,
      8.965299431766082,
      9.259696142171405
    ],
    "ax_ego": [
      0.29225010671415796,
      0.4373124532459884,
      0.4870296108941339,
      0.4317962356404196,
      0.1908517898553893,
      0.25260340357490585,
      0.394462587510521,
      0.4548859210562195,
      0.5240905693128106,
      0.6750800607888727
    ],
    "ay_ego": [
      1.4901180247671622,
      1.4541731905517876,
      1.5218521301530974,
      1.606423948807651,
      1.6958639351033922,
      1.799967553736171,
      1.892202066737689,
      1.7677589890711034,
      1.7820692011814765,
      1.73052260459779
    ],
    "a_ego": [
      1.5185064545830635,
      1.518506453685196,
      1.5978835213929743,
      1.6634439853556848,
      1.7065693340955614,
      1.8176060282692184,
      1.932881112306672,
      1.8253473764236918,
      1.8575364229651625,
      1.8575364258874243
    ],
    "yaw": [
      0.6223364600595315,
      0.7207948879784156,
      0.8209701427121229,
      0.9160561864589439,
      1.0162893896654257,
      1.1205187258799776,
      1.2277255047705486,
      1.3372684152808678,
      1.4445884034218306,
      1.5305059231759839
    ],
    "yaw_diff": [
      0.1969168558377683,
      0.2003505094674145,
      0.19017208749364212,
      0.20046640641296354,
      0.20845867242910376,
      0.21441355778114213,
      0.21908582102063834,
      0.21463997628192555,
      0.1718350395083066,
      0.1718350395083066
    ],
    "min_front_frame": [
      9,
      44.031439662673975
    ],
    "v_avg": 8.321044567565682,
    "v_std": 0.5383669971733287,
    "vy_max": 0.10970885407349762,
    "a_max": 1.932881112306672,
    "ax_avg": 0.4140362738593419,
    "a_std": 0.1422492588959129,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "e67c2879271350c1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.01676648748407,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      44.031439662673975
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e67c2879271350c1",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "c052667192cb5ade": {
    "vx_ego": [
      8.024569401129838,
      8.103454073307915,
      8.198074972110206,
      8.303150800941802,
      8.408082887611844,
      8.480357075888048,
      8.51760829853533,
      8.58005393437204,
      8.660446198784568,
      8.73670122073534
    ],
    "vy_ego": [
      -0.021008928690016693,
      -0.025613096800432,
      -0.034104245833229796,
      -0.048242201967263476,
      -0.06138872667942874,
      -0.04342498134889872,
      -0.03681195087126765,
      -0.033632221847245125,
      -0.04106532220690218,
      -0.03208194942904674
    ],
    "v_ego": [
      8.024596902563642,
      8.103494551669566,
      8.198145909162852,
      8.303290945958183,
      8.408306988967187,
      8.480468257329287,
      8.517687846299891,
      8.580119850158242,
      8.66054355815673,
      8.736760124432713
    ],
    "ax_ego": [
      0.1572095606418323,
      0.1577921211837078,
      0.22016309087243424,
      0.19837427991790224,
      0.21778253395078567,
      0.06817066042318373,
      0.07898100178980913,
      0.1685973387490238,
      0.1512288407965037,
      0.15247106199568822
    ],
    "ay_ego": [
      -0.10209499948627707,
      -0.10119229942301855,
      -0.22038361787286825,
      -0.29644491921521804,
      -0.21629146465500498,
      -0.19544026315296,
      -0.24863885704638042,
      -0.21312289441326052,
      -0.13897864863267637,
      -0.13761468852010453
    ],
    "a_ego": [
      0.18745195351689686,
      0.1874519537646161,
      0.3115136042121406,
      0.35669587194340135,
      0.3069384788139675,
      0.206988249434192,
      0.2608817354224941,
      0.27174699769517024,
      0.20539042593173415,
      0.2053904263654428
    ],
    "yaw": [
      -0.07093108027966562,
      -0.07666246421428873,
      -0.08549245858936297,
      -0.09943437339123211,
      -0.113205847745464,
      -0.12749105902761362,
      -0.14133384961910916,
      -0.15522743267350805,
      -0.1645741923999186,
      -0.17355642089429613
    ],
    "yaw_diff": [
      -0.011462767869246215,
      -0.017659988750148486,
      -0.02788382960373828,
      -0.02754294870846377,
      -0.028570422564299258,
      -0.02768558118299108,
      -0.02778716610879778,
      -0.018693519452821106,
      -0.01796445698875504,
      -0.01796445698875504
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.401341493469829,
    "v_std": 0.22650623583567303,
    "vy_max": 0.06138872667942874,
    "a_max": 0.35669587194340135,
    "ax_avg": 0.15707704903208708,
    "a_std": 0.057145255154081205,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c052667192cb5ade",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c052667192cb5ade",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6af09cbf5d405f49": {
    "vx_ego": [
      3.054357128410212,
      3.0185327167206615,
      3.0404381489785246,
      3.1049185467514047,
      3.1987375770808706,
      3.2866918010449195,
      3.3399733411453196,
      3.3276608207293936,
      3.2288235870581623,
      3.099424851146612
    ],
    "vy_ego": [
      -0.08155645969292996,
      -0.0017167219387468347,
      0.01147163739914947,
      0.007662870874842298,
      -0.0049111070957688074,
      -0.015522044188455375,
      -0.01891690671785584,
      -0.005636744213837641,
      -0.0069823074557213705,
      0.022460339943816132
    ],
    "v_ego": [
      3.055445781549383,
      3.0185332048939317,
      3.040459790266692,
      3.1049280026356323,
      3.198741347155488,
      3.286728453783745,
      3.3400269114067336,
      3.327665594783039,
      3.228831136643808,
      3.0995062308012202
    ],
    "ax_ego": [
      -0.1129675627267506,
      -0.010288534604870503,
      0.09996857192497094,
      0.15597084651720072,
      0.21503402579463265,
      0.13254686868610988,
      0.07835909932668705,
      -0.12906168634510612,
      -0.26880256600189234,
      -0.2500167671015264
    ],
    "ay_ego": [
      0.8682316445817538,
      0.8754895800824957,
      0.9426381133725836,
      0.9942735038057127,
      0.9514506131949463,
      0.8085576833926658,
      0.6301981891125077,
      0.4955879443710546,
      0.3688701216671074,
      0.3818528539108389
    ],
    "a_ego": [
      0.8755500321977946,
      0.8755500321382783,
      0.947924220681876,
      1.0064326630894789,
      0.9754475391319033,
      0.8193498640823754,
      0.6350511050364164,
      0.5121174957840926,
      0.45642084324437715,
      0.4564208429418527
    ],
    "yaw": [
      -1.3918295367482316,
      -1.274195369937844,
      -1.128107269644496,
      -0.9692484842835829,
      -0.8108861399881178,
      -0.672585800245967,
      -0.5633354876783354,
      -0.48356033735561954,
      -0.4176014857169488,
      -0.36756470880948156
    ],
    "yaw_diff": [
      0.23526833362077504,
      0.29217620058669613,
      0.31771757072182627,
      0.3167246885909303,
      0.27660067948430145,
      0.21850062513526325,
      0.15955030064543174,
      0.13191770327734154,
      0.10007355381493444,
      0.10007355381493444
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.1700866453919674,
    "v_std": 0.11564146149350829,
    "vy_max": 0.08155645969292996,
    "a_max": 1.0064326630894789,
    "ax_avg": -0.008925770453054472,
    "a_std": 0.20830480548411848,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6af09cbf5d405f49",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6af09cbf5d405f49",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d45773d48e4f5fb7": {
    "vx_ego": [
      3.6859358600978447,
      3.802390816903433,
      3.9065323438883546,
      4.0067618723231195,
      4.138630509427227,
      4.2845524937037185,
      4.419444190972178,
      4.547998319000129,
      4.658259901933752,
      4.766917492007366
    ],
    "vy_ego": [
      -0.03563145868374895,
      -0.022836795194604687,
      -0.003126845662124067,
      0.021197832062730848,
      0.0068418645696715075,
      -0.01571658700713674,
      -0.017507456671710164,
      -0.013073319323524846,
      -0.008981915711598676,
      -0.03300890875236462
    ],
    "v_ego": [
      3.6861080783942257,
      3.802459394087768,
      3.9065335952746696,
      4.006817945650442,
      4.138636164809931,
      4.2845813193834825,
      4.419478868391255,
      4.548017108730588,
      4.658268561254675,
      4.767031777077095
    ],
    "ax_ego": [
      0.22344338788956383,
      0.24858404096698603,
      0.174091926221928,
      0.2232448787161534,
      0.3029492818551782,
      0.2841833916109653,
      0.2642806428086586,
      0.2596716802148315,
      0.18450492486881223,
      0.2568068306353063
    ],
    "ay_ego": [
      0.45333382547964873,
      0.4400505382925674,
      0.5446736228422383,
      0.4971224177311083,
      0.5723522606383156,
      0.6269095409514074,
      0.722490212049745,
      0.8280308913293466,
      0.8109941109161043,
      0.79107761361219
    ],
    "a_ego": [
      0.5054092449842787,
      0.5054092417784369,
      0.5718193370250346,
      0.5449485976528544,
      0.6475842629607043,
      0.6883137167043932,
      0.7693090176717308,
      0.8677929122211508,
      0.8317172086962301,
      0.8317172229906679
    ],
    "yaw": [
      -0.7845031016522201,
      -0.7282361385377703,
      -0.6696389374431461,
      -0.6098860205549123,
      -0.5405701630788736,
      -0.46410561220301727,
      -0.3862618611378051,
      -0.3008609199469551,
      -0.2129690005978805,
      -0.12276969102311636
    ],
    "yaw_diff": [
      0.1125339262288998,
      0.11719440218924837,
      0.11950583377646762,
      0.13863171495207727,
      0.1529291017517127,
      0.15568750213042437,
      0.17080188238170002,
      0.17578383869814918,
      0.18039861914952826,
      0.18039861914952826
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.2217932813054135,
    "v_std": 0.35391486520239934,
    "vy_max": 0.03563145868374895,
    "a_max": 0.8677929122211508,
    "ax_avg": 0.24217609857883837,
    "a_std": 0.13460117188828916,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "d45773d48e4f5fb7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d45773d48e4f5fb7",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "496b53024fb657ae": {
    "vx_ego": [
      6.277415430621215,
      5.808002336080144,
      5.266542091590957,
      4.645505735424158,
      3.9985314284315,
      3.2640659811259343,
      2.504285371726332,
      1.8914071692380656,
      1.3833549816880621,
      0.8768508980338026
    ],
    "vy_ego": [
      -0.005021083054519426,
      -0.03567066626612592,
      -0.03510659969142216,
      -0.009841902519883483,
      0.012709581308071094,
      0.0029105701081608704,
      -0.02901369016345101,
      -0.05285100086643013,
      -0.05287612180184442,
      -0.062168911727940535
    ],
    "v_ego": [
      6.277417438714457,
      5.808111873263487,
      5.266659100021678,
      4.645516160869959,
      3.9985516274785646,
      3.2640672788044616,
      2.5044534368319553,
      1.8921454246800735,
      1.3843651576148477,
      0.8790520297275483
    ],
    "ax_ego": [
      -0.938800975991371,
      -0.9388216977167756,
      -1.2271130705897697,
      -1.2567677721097426,
      -1.3309917297911775,
      -1.6068295376599404,
      -1.432299081543142,
      -1.0191962265604153,
      -1.0131138780350153,
      -1.0130965503935374
    ],
    "ay_ego": [
      -0.057067877107832954,
      -0.056725894533755816,
      0.04820625145377622,
      0.09848319257188176,
      -0.04008627180187585,
      -0.024473201878494,
      -0.11122108864945057,
      0.01653235839706707,
      -0.020067658691058976,
      -0.020923863098212758
    ],
    "a_ego": [
      0.940533898974378,
      0.9405338947717214,
      1.2280595794551166,
      1.2606205504563364,
      1.3315952440435812,
      1.607015899332251,
      1.4366108692160509,
      1.019330303242849,
      1.0133126076352197,
      1.0133126015530638
    ],
    "yaw": [
      0.567354255379617,
      0.5677185190895615,
      0.5672351481331013,
      0.5695352045624447,
      0.567699207429013,
      0.565969465256732,
      0.5652709826789781,
      0.5653479237074321,
      0.5648232445731558,
      0.5639781068515703
    ],
    "yaw_diff": [
      0.0007285274198889358,
      -0.0009667419129204546,
      0.004600112858686778,
      -0.0036719942668632655,
      -0.0034594843445621137,
      -0.00139696515550769,
      0.00015388205690802792,
      -0.0010493582685526803,
      -0.0016902754431709077,
      -0.0016902754431709077
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5920339528007026,
    "v_std": 1.8059851475688278,
    "vy_max": 0.062168911727940535,
    "a_max": 1.607015899332251,
    "ax_avg": -1.1777030520390888,
    "a_std": 0.218184818951303,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "496b53024fb657ae",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.532032208423381,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "496b53024fb657ae",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "028d10ed5c105755": {
    "vx_ego": [
      0.5685965601721849,
      0.29130428983798146,
      0.05990146246381445,
      -0.03192761096519571,
      -0.025211123247631376,
      -0.015247403212045018,
      -0.009097092111701047,
      -0.0059086218858352135,
      -0.004060736810844066,
      -0.0027929011914836458
    ],
    "vy_ego": [
      -0.005029626919879099,
      -0.013722888640686964,
      -0.015758882698398407,
      -0.010324488557392495,
      -0.005253218822276971,
      -0.0024571322052988212,
      -0.0014302565661949227,
      -0.000992756614059149,
      -0.0006846935048689523,
      -0.0004882974157283759
    ],
    "v_ego": [
      0.568618804988539,
      0.2916273425978014,
      0.06193970930837222,
      0.03355543779950746,
      0.025752612360729236,
      0.015444118731251628,
      0.009208839163212544,
      0.005991442087221494,
      0.004118056415659427,
      0.0028352656721368774
    ],
    "ax_ego": [
      -0.5545867518759195,
      -0.5545853467347577,
      -0.3710143965452388,
      0.0037278186805618624,
      0.02314784855866834,
      0.01670486331225111,
      0.007897275830219439,
      0.004856073247708998,
      0.0025356164302000757,
      0.0025355848998623756
    ],
    "ay_ego": [
      -0.017433528378209495,
      -0.01747827391125306,
      0.009431709643540995,
      0.012232987918391794,
      0.008010657687267839,
      0.003186701346328375,
      0.0009149022858536582,
      0.0008383554020827457,
      0.0003931309786365519,
      0.00039328333625700024
    ],
    "a_ego": [
      0.5548606971736209,
      0.5548607004211311,
      0.37113426086879636,
      0.012788378533913734,
      0.024494765348490835,
      0.01700610254443046,
      0.007950095076867218,
      0.004927909005584046,
      0.0025659116601052944,
      0.0025659038499108904
    ],
    "yaw": [
      -1.8783197277872148,
      -1.8784004092959043,
      -1.8782408856079704,
      -1.8776863381443554,
      -1.877352152432798,
      -1.8775196144540254,
      -1.8773863772800463,
      -1.877500593697812,
      -1.8774595156061102,
      -1.8775200607965536
    ],
    "yaw_diff": [
      -0.00016136301737912362,
      0.0003190473758678536,
      0.0011090949272301032,
      0.0006683714231145998,
      -0.0003349240424546096,
      0.0002664743479581233,
      -0.00022843283553131144,
      8.215618340345898e-05,
      -0.00012109038088681245,
      -0.00012109038088681245
    ],
    "min_front_frame": [
      0,
      72.33610329377946
    ],
    "v_avg": 0.10190916291244312,
    "v_std": 0.17621832695298825,
    "vy_max": 0.015758882698398407,
    "a_max": 0.5548607004211311,
    "ax_avg": -0.1418781414196444,
    "a_std": 0.22658461325848706,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "028d10ed5c105755",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 47.3588777093363,
    "right_rear_min": 12.13933959879154,
    "speed_mode": "quasi_constant",
    "front_frame": [
      72.33610329377946,
      75.44207046184795,
      78.1704282030932,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "028d10ed5c105755",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "3284cc6a78b05b9e": {
    "vx_ego": [
      4.352096693161143,
      4.061523453946455,
      3.9345807789277614,
      4.0886650855914,
      4.343989946091251,
      4.638310920105243,
      4.968306367789887,
      5.1871537446236795,
      5.304476248490437,
      5.4115953463165
    ],
    "vy_ego": [
      0.047067199046219255,
      0.028917216827359704,
      0.01853655659384912,
      0.015566575665733273,
      0.008101340018775827,
      0.0066604475860320145,
      0.001954339705598329,
      -0.011477194796289614,
      -0.0035569155999050084,
      0.0341609502619139
    ],
    "v_ego": [
      4.352351197668935,
      4.061626394978517,
      3.9346244433030892,
      4.088694718417125,
      4.343997500396608,
      4.638315702184317,
      4.968306752170725,
      5.187166441937626,
      5.304477441034863,
      5.411703166545371
    ],
    "ax_ego": [
      -0.5848927605135704,
      -0.5808901297334166,
      0.07081713347398369,
      0.5445245675657457,
      0.4751487865909908,
      0.7023816659949441,
      0.6170478339776131,
      0.25715998148008745,
      0.21277400274554042,
      0.21499668330178234
    ],
    "ay_ego": [
      0.15922943355209113,
      0.1732634163342569,
      0.18065786053898975,
      0.24515253534851336,
      0.23126368735590122,
      0.3065059882870752,
      0.3073466275295923,
      0.17970288142426416,
      0.19779739282648395,
      0.19537914701844242
    ],
    "a_ego": [
      0.6061794732672038,
      0.6061794736392214,
      0.19404208040524892,
      0.597165613770976,
      0.5284404058059328,
      0.7663458263614867,
      0.6893547554563455,
      0.3137266033778807,
      0.2905109031573749,
      0.29051090327287377
    ],
    "yaw": [
      -0.31491750132961094,
      -0.290842169450219,
      -0.2656019059194718,
      -0.23791864288965014,
      -0.2079636505964858,
      -0.1775176415656918,
      -0.14466432949358365,
      -0.11827479999981942,
      -0.10181186784068871,
      -0.09050571624464204
    ],
    "yaw_diff": [
      0.04815066375878385,
      0.05048052706149442,
      0.05536652605964332,
      0.05990998458632868,
      0.060892018061588005,
      0.0657066241442163,
      0.052779058987528465,
      0.032925864318261416,
      0.02261230319209334,
      0.02261230319209334
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.629126375863718,
    "v_std": 0.5243491675563788,
    "vy_max": 0.047067199046219255,
    "a_max": 0.7663458263614867,
    "ax_avg": 0.19290677648837007,
    "a_std": 0.1882262545153628,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "3284cc6a78b05b9e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.57186931523896,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "3284cc6a78b05b9e",
    "pedestrians": "No"
  },
  "3ae409424da65443": {
    "vx_ego": [
      0.8413064604054958,
      0.3007517154406791,
      -0.0306903695780031,
      -0.07234899911416712,
      -0.04058937996848014,
      -0.022422129048702232,
      -0.01356475743505825,
      -0.009145586271644569,
      -0.0067862990490390315,
      -0.0046797796094943745
    ],
    "vy_ego": [
      0.04829789512463459,
      -0.003379335835692568,
      -0.02571686834989008,
      -0.016328650519494683,
      -0.005379411391034115,
      -0.0027368749205813683,
      -0.0017480663237989112,
      -0.0014738779428363194,
      -0.001178731803628301,
      -0.0007580346595954762
    ],
    "v_ego": [
      0.8426916678082763,
      0.30077070045335463,
      0.040040680595614206,
      0.07416874342072642,
      0.0409443015954558,
      0.022588544782866465,
      0.013676928754086859,
      0.009263588097625727,
      0.006887907044078984,
      0.004740775647358494
    ],
    "ax_ego": [
      -1.0810750339851447,
      -1.0818131431095872,
      -0.2439220761308022,
      0.07733860214809048,
      0.0496951631959381,
      0.0229753205913854,
      0.012453926221427313,
      0.005223729447251806,
      0.004213070990364867,
      0.004213088839941858
    ],
    "ay_ego": [
      -0.09865245206753992,
      -0.09019894206681262,
      0.0008875060571799376,
      0.03648168801233531,
      0.007349962071571655,
      0.0032084746317454817,
      0.0007488938596696944,
      0.00034142236343285767,
      0.0008411865522783545,
      0.0008410909835695823
    ],
    "a_ego": [
      1.0855669188976422,
      1.08556691445282,
      0.24392369071281778,
      0.08551124453807227,
      0.05023575606601798,
      0.023198268593571637,
      0.012476422577878876,
      0.0052348752199396055,
      0.004296226482110544,
      0.004296225275271849
    ],
    "yaw": [
      -2.939127038463107,
      -2.9313102137236084,
      -2.930990999431149,
      -2.9304900851556654,
      -2.9306536233076237,
      -2.9305495629950844,
      -2.9305813625303676,
      -2.930426993102742,
      -2.9304910287318906,
      -2.930468940569937
    ],
    "yaw_diff": [
      0.015633649478997036,
      0.0006384285849190263,
      0.0010018285509669766,
      -0.0003270763039164848,
      0.00020812062507857831,
      -6.359907056641134e-05,
      0.0003087388552511783,
      -0.0001280712582971688,
      4.417632390740778e-05,
      4.417632390740778e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.1355773838199444,
    "v_std": 0.2502825840252535,
    "vy_max": 0.04829789512463459,
    "a_max": 1.0855669188976422,
    "ax_avg": -0.2230697351791135,
    "a_std": 0.4184309214598606,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "3ae409424da65443",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "3ae409424da65443",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "ae06592110305073": {
    "vx_ego": [
      3.651848168849264,
      4.121265002768342,
      4.597553956818133,
      4.992242404100425,
      5.256552588436318,
      5.442716051238652,
      5.495420612373911,
      5.41199129450066,
      5.317327540351512,
      5.250046245156428
    ],
    "vy_ego": [
      -0.014682275446402882,
      -0.013594772137845768,
      -0.015733224936506307,
      -0.011472007759993907,
      0.008889403254078942,
      0.03496029962129166,
      0.049775888610740004,
      0.04073027257019479,
      0.0015709871310316537,
      -0.004791307408905876
    ],
    "v_ego": [
      3.651877683814178,
      4.121287425171001,
      4.597580876963555,
      4.992255585230031,
      5.256560104905751,
      5.442828330653143,
      5.495646035362088,
      5.412144558939143,
      5.317327772423027,
      5.250048431482113
    ],
    "ax_ego": [
      0.9388463301298606,
      0.9391481863179132,
      0.9667422442158429,
      0.6123933778309296,
      0.44494246505529683,
      0.29924884844519045,
      -0.08945769355276545,
      -0.24559546265357518,
      -0.1345584613629383,
      -0.13455937286782194
    ],
    "ay_ego": [
      0.05239947423060193,
      0.04667785401598595,
      0.09725045167757529,
      0.08044289968863574,
      0.10703210653678366,
      0.11818430825751972,
      0.053364722929811356,
      0.0904839121746455,
      -0.000883169381452581,
      -0.0007314177342534131
    ],
    "a_ego": [
      0.9403074691280245,
      0.9403074698840606,
      0.9716214371363863,
      0.6176541988212269,
      0.4576348643178155,
      0.32174120658392674,
      0.10416560175583889,
      0.261733585232107,
      0.13456135965617208,
      0.13456136071875727
    ],
    "yaw": [
      -0.5995935804300667,
      -0.5935002716117497,
      -0.5847489775364232,
      -0.5764496796984374,
      -0.5712979613836596,
      -0.5656656966939166,
      -0.5605780999439038,
      -0.5523548787176081,
      -0.540850238872196,
      -0.5397224949162203
    ],
    "yaw_diff": [
      0.01218661763663409,
      0.017502588150652976,
      0.01659859567597155,
      0.010303436629555573,
      0.011264529379485966,
      0.010175193500025603,
      0.016446442452591414,
      0.023009279690824336,
      0.0022554879119514037,
      0.0022554879119514037
    ],
    "min_front_frame": [
      4,
      16.498484445430773
    ],
    "v_avg": 4.953755680494403,
    "v_std": 0.5975662812751611,
    "vy_max": 0.049775888610740004,
    "a_max": 0.9716214371363863,
    "ax_avg": 0.3597150461557933,
    "a_std": 0.33716305674087166,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "ae06592110305073",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      25.455868747947772,
      23.54390656872741,
      21.35767479416483,
      19.004880302102134,
      16.498484445430773,
      21.300176418894896,
      18.57575519311181,
      21.93369424092589,
      24.902530666253455,
      27.53034470651353
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ae06592110305073",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "7a9225f5c4355f92": {
    "vx_ego": [
      10.45665181390347,
      10.599560450954632,
      10.763332643530712,
      10.858030427523257,
      10.858156548082981,
      10.867499994661337,
      10.882682417650416,
      10.915640953679558,
      10.995960388904505,
      11.096857901047247
    ],
    "vy_ego": [
      -0.040111076283587455,
      -0.011964053842131062,
      -0.0003329039448378701,
      0.003124048977433347,
      -0.002864854477876655,
      -0.015544524552695727,
      -0.003755256886542213,
      0.0061231674069341935,
      0.002429668188174361,
      -0.019159894626269214
    ],
    "v_ego": [
      10.456728745437138,
      10.599567203052485,
      10.763332648678979,
      10.858030876945547,
      10.85815692601965,
      10.867511111851128,
      10.88268306555841,
      10.915642671085632,
      10.99596065733433,
      11.096874441823553
    ],
    "ax_ego": [
      0.28448323594397207,
      0.28842116769010384,
      0.3668749150833016,
      0.01193181050687285,
      -0.011710241861317888,
      0.04964923291340516,
      0.012411476474239486,
      0.11858262935962566,
      0.20167214799808159,
      0.20209808445223237
    ],
    "ay_ego": [
      0.3192437516520247,
      0.3156905412066404,
      0.2977255026153941,
      0.3111673717224703,
      0.2716969540229966,
      0.27959329209774175,
      0.3888594525406741,
      0.2825618120923464,
      0.0783413857139145,
      0.07723596687254994
    ],
    "a_ego": [
      0.42760645984598183,
      0.42760646367783606,
      0.4724803469192859,
      0.31139605220143995,
      0.27194919486886676,
      0.2839673490296775,
      0.389057474646746,
      0.3064359927272787,
      0.21635394147954978,
      0.21635394685098602
    ],
    "yaw": [
      1.9552042822522147,
      1.9676083157349464,
      1.9808884468677614,
      1.9945930307161892,
      2.008560606026753,
      2.022424965638538,
      2.036701151828802,
      2.051212975242187,
      2.059793620673675,
      2.065269068884559
    ],
    "yaw_diff": [
      0.02480806696546356,
      0.02656026226563002,
      0.02740916769685553,
      0.02793515062112739,
      0.02772871922357023,
      0.028552372380527657,
      0.02902364682677039,
      0.01716129086297613,
      0.010950896421768164,
      0.010950896421768164
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.829448834778685,
    "v_std": 0.17570797003535316,
    "vy_max": 0.040111076283587455,
    "a_max": 0.4724803469192859,
    "ax_avg": 0.15244144585605168,
    "a_std": 0.08660816478055333,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7a9225f5c4355f92",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7a9225f5c4355f92",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ee9615c4b10d5ec9": {
    "vx_ego": [
      0.9370876187656173,
      1.76021844823824,
      2.492962636909123,
      3.032505924254351,
      3.3837139037775383,
      3.525901617109321,
      3.492866056322012,
      3.5153847752500917,
      3.739343233468629,
      4.105318729710625
    ],
    "vy_ego": [
      -0.00815369928261192,
      -0.025303801990092578,
      -0.028257817611875402,
      -0.015276663427122972,
      0.0030600825928461806,
      0.016863184861149128,
      0.004130944508054402,
      -0.0034705406672386196,
      -0.02745133616978257,
      0.14174476172473582
    ],
    "v_ego": [
      0.9371230911976325,
      1.760400314676577,
      2.4931227834346776,
      3.032544403151123,
      3.3837152874795633,
      3.5259419423095704,
      3.492868499114877,
      3.5153864883839816,
      3.739443995241155,
      4.1077650188380135
    ],
    "ax_ego": [
      1.6451686655698607,
      1.6462210707249731,
      1.2832600351413117,
      0.8727861438431205,
      0.5338520067283002,
      0.04163952308736005,
      -0.16744926723640016,
      0.2770784876472905,
      0.6329786589977973,
      0.8612353454901693
    ],
    "ay_ego": [
      -0.08496221184552805,
      -0.06127562012201748,
      -0.13341841152621392,
      -0.17448530149246033,
      -0.3078733088785811,
      -0.4588731069998745,
      -0.559948050874908,
      -0.9275477700960038,
      -1.2473349356118355,
      -1.1021706356072989
    ],
    "a_ego": [
      1.6473610762715625,
      1.6473610761822117,
      1.2901770383653008,
      0.8900566124249957,
      0.616266127097441,
      0.46075848143106496,
      0.5844493791395589,
      0.9680482189059483,
      1.39875173792365,
      1.3987517400584597
    ],
    "yaw": [
      1.3065385303914407,
      1.2921457154832419,
      1.2710966218916298,
      1.2391321474678967,
      1.1963983367020132,
      1.1379763447341653,
      1.0695624576771237,
      0.9640301812021079,
      0.8192215785310917,
      0.6255275412172709
    ],
    "yaw_diff": [
      -0.028785629816397762,
      -0.04209818718322422,
      -0.06392894884746614,
      -0.0854676215317669,
      -0.11684398393569584,
      -0.1368277741140833,
      -0.21106455295003146,
      -0.2896172053420325,
      -0.38738807462764147,
      -0.38738807462764147
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.998831182382717,
    "v_std": 0.9357539317385198,
    "vy_max": 0.14174476172473582,
    "a_max": 1.6473610762715625,
    "ax_avg": 0.7626770669993783,
    "a_std": 0.42223549847572694,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "ee9615c4b10d5ec9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.9568057499411875,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ee9615c4b10d5ec9",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "73bc5ba81812539f": {
    "vx_ego": [
      2.014454886389702,
      1.812964342913519,
      1.6339760051976289,
      1.4462093022516234,
      1.3253508518663326,
      1.2979239781388978,
      1.2671307209304938,
      1.2125813277939326,
      1.1585645002763407,
      1.1225984183045692
    ],
    "vy_ego": [
      0.027893852591724166,
      -0.0001836291611468921,
      -0.010551004967916167,
      -0.020591403810841902,
      -0.040614321939734244,
      -0.03685820160889497,
      -0.028783762983647793,
      -0.021817992348417914,
      -0.020222502727527902,
      -0.028505506744042675
    ],
    "v_ego": [
      2.014647998115739,
      1.812964352213114,
      1.6340100701242433,
      1.4463558869897921,
      1.325973002624653,
      1.2984472188170546,
      1.2674576004495504,
      1.2127775976264619,
      1.1587409766281385,
      1.1229602720909833
    ],
    "ax_ego": [
      -0.43094664875916655,
      -0.3650482261371424,
      -0.3610476239001356,
      -0.3963539018155974,
      -0.11007209804166744,
      -0.030214224998387388,
      -0.11238161810951072,
      -0.12505878106347657,
      -0.10245514992342529,
      -0.05444434106739292
    ],
    "ay_ego": [
      -0.5052544237076955,
      -0.5547403350296808,
      -0.45299655892125784,
      -0.49096268374144064,
      -0.4459895201537935,
      -0.3749911101918134,
      -0.38355353941243964,
      -0.3272296197283656,
      -0.3328897294033137,
      -0.3440180860493838
    ],
    "a_ego": [
      0.6640760850632643,
      0.6640760850344761,
      0.5792765048907424,
      0.6309839715167462,
      0.45937187425255527,
      0.3762063690518037,
      0.3996785529456413,
      0.3503126071791498,
      0.3482996263105129,
      0.3482996264760326
    ],
    "yaw": [
      -2.263098552957886,
      -2.387275998897821,
      -2.5272507448604102,
      -2.67328302893348,
      -2.8316298167975362,
      -2.9918519564542256,
      3.1386980875846597,
      2.9902236522234027,
      2.849576080447052,
      2.707959918520565
    ],
    "yaw_diff": [
      -0.24835489187987037,
      -0.27994949192517815,
      -0.2920645681461398,
      -0.3166935757281122,
      -0.3204442793133788,
      -0.3052705262814017,
      -0.2969488707225141,
      -0.28129514355270135,
      -0.2832323238529737,
      -0.2832323238529737
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.429433497567973,
    "v_std": 0.2828334488188348,
    "vy_max": 0.040614321939734244,
    "a_max": 0.6640760850632643,
    "ax_avg": -0.20880226138159022,
    "a_std": 0.13020622265356657,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "73bc5ba81812539f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 49.87036493295642,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "73bc5ba81812539f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "74ea43025c935b2e": {
    "vx_ego": [
      6.7104986952333,
      6.891684380513867,
      7.179380694512867,
      7.37554665766566,
      7.6065690038401375,
      7.948246936862975,
      8.188183236759283,
      8.373966069543266,
      8.5347977891528,
      8.71020479189381
    ],
    "vy_ego": [
      -0.0764679327336546,
      -0.06726166143380463,
      -0.1570719637168625,
      -0.14373735912279126,
      -0.052623809048066794,
      0.01446849363324762,
      0.01804024395405293,
      0.0019159912380379007,
      -0.004670218312693916,
      0.011819656024060751
    ],
    "v_ego": [
      6.710934367393588,
      6.892012603856557,
      7.181098715275395,
      7.376947127898551,
      7.60675103283,
      7.948260105624355,
      8.188203109910479,
      8.373966288735842,
      8.534799066918131,
      8.710212811464393
    ],
    "ax_ego": [
      0.294529464543283,
      0.4594555170623671,
      0.7270003678860617,
      0.06898974063335771,
      0.857372472683272,
      0.5093270946570331,
      0.45032052272282863,
      0.29271295175744155,
      0.3507277670211741,
      0.3508698971170449
    ],
    "ay_ego": [
      1.5254059001801341,
      1.48408606198692,
      1.2357057727109746,
      0.44280328605642,
      0.1792198057674935,
      0.04314519185596373,
      0.00970703331646587,
      -0.00661889736630268,
      0.06903468054932888,
      0.06830864314541071
    ],
    "a_ego": [
      1.553579983711337,
      1.5535799984368013,
      1.4337009073086673,
      0.4481454389537192,
      0.8759037022951588,
      0.5111512466306448,
      0.4504251321597948,
      0.2927877762627736,
      0.3574573452570346,
      0.35745734770919557
    ],
    "yaw": [
      2.840485657625928,
      2.949980050255233,
      3.059802189152824,
      3.1149931198219747,
      3.1237035324634195,
      3.1222329811926572,
      3.123426863057616,
      3.125462369054387,
      3.128089313356737,
      3.1301590135519675
    ],
    "yaw_diff": [
      0.21898878525860965,
      0.21964427779518214,
      0.11038186133830141,
      0.017420825282889574,
      -0.002941102541524465,
      0.002387763729917225,
      0.004071011993541873,
      0.005253888604700663,
      0.004139400390460679,
      0.004139400390460679
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.752318522990729,
    "v_std": 0.6676574400310384,
    "vy_max": 0.1570719637168625,
    "a_max": 1.5535799984368013,
    "ax_avg": 0.43613057960838636,
    "a_std": 0.5018709543295047,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "74ea43025c935b2e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "74ea43025c935b2e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "223a8f20abb752e9": {
    "vx_ego": [
      1.7655873948410703,
      2.442127350852212,
      3.0942531645792597,
      3.7126774887556144,
      4.235621100394284,
      4.670263150971551,
      5.0348132694628625,
      5.281032414993067,
      5.468282386363333,
      5.7889371747296305
    ],
    "vy_ego": [
      -0.007969816035428234,
      -0.01027291210651593,
      0.02653523500450028,
      0.05832175333065881,
      0.037198546263792265,
      -0.021912179272032706,
      -0.06147617928495447,
      -0.054297009636440574,
      -0.04511093936534882,
      0.036219650770532574
    ],
    "v_ego": [
      1.7656053825216198,
      2.442148957476507,
      3.094366940943738,
      3.713135543233543,
      4.235784441865452,
      4.670314555029797,
      5.035188574321601,
      5.281311535353976,
      5.468468455962957,
      5.789050481388863
    ],
    "ax_ego": [
      1.3530795146227899,
      1.3530795969683045,
      1.2559054650137798,
      1.2200595840481478,
      0.8957215393643525,
      0.8769852246938692,
      0.6622958506934177,
      0.41547395495494116,
      0.37765378630677293,
      0.8948545683279845
    ],
    "ay_ego": [
      -0.004699452864232345,
      -0.004673620043487814,
      0.21932879391278065,
      0.6428695056068728,
      1.3892319186961963,
      1.8050479951986014,
      2.22683505221093,
      2.5720954530489037,
      2.5480420974578126,
      2.4154453406962504
    ],
    "a_ego": [
      1.353087675558782,
      1.3530876684295885,
      1.2749131958257838,
      1.3790672898256142,
      1.6529617055472157,
      2.006813730594309,
      2.3232369968647135,
      2.605435400627071,
      2.575876727005594,
      2.575876723049589
    ],
    "yaw": [
      1.0302916845397296,
      1.0302725907465335,
      1.0363350199938464,
      1.0902438988197765,
      1.2218566303030372,
      1.4137740314999818,
      1.6276413934184828,
      1.8564709290693735,
      2.0916254470329303,
      2.299278225043336
    ],
    "yaw_diff": [
      -3.8187586392179895e-05,
      0.012124858494625634,
      0.10781775765186019,
      0.2632254629665214,
      0.38383480239388934,
      0.42773472383700195,
      0.4576590713017814,
      0.4703090359271136,
      0.41530555602081165,
      0.41530555602081165
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.149537486809805,
    "v_std": 1.2912652246447738,
    "vy_max": 0.06147617928495447,
    "a_max": 2.605435400627071,
    "ax_avg": 0.930510908499436,
    "a_std": 0.5405689486201445,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "223a8f20abb752e9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.679753154525624,
    "right_rear_min": 6.026047829861168,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "223a8f20abb752e9",
    "pedestrians": "No"
  },
  "b3509fd31f495cfb": {
    "vx_ego": [
      5.600582293928463,
      5.441273762540965,
      5.201080883983316,
      4.885526120724438,
      4.6229325374568395,
      4.252740919185541,
      3.8695466786374664,
      3.6350321926272726,
      3.4023916912753283,
      3.1958694234667773
    ],
    "vy_ego": [
      0.0020736900659114304,
      -0.014938825638143971,
      -0.016829321297171934,
      -0.009230801204613143,
      -0.02482287392358823,
      0.004783654870077592,
      0.011774160833014191,
      0.05275341860664762,
      0.07719655017937477,
      0.023060370587504986
    ],
    "v_ego": [
      5.600582677834111,
      5.44129426951237,
      5.201108111527004,
      4.885534841137831,
      4.622999180288372,
      4.252743609608861,
      3.869564591658546,
      3.6354149645688767,
      3.4032673312890047,
      3.1959526205094946
    ],
    "ax_ego": [
      -0.31857631900269345,
      -0.31857994722882416,
      -0.6418377847299086,
      -0.6181265164445416,
      -0.42899118909605494,
      -1.0410870650964787,
      -0.49582717991455033,
      -0.41960175190686516,
      -0.4690553704228734,
      -0.3250394441105489
    ],
    "ay_ego": [
      -0.0016940598696825728,
      -0.0007475976424778558,
      -0.20455678352350917,
      -0.44291901517244153,
      -0.6938450911001546,
      -0.9883711362967118,
      -0.8513787680088951,
      -0.9398247987304205,
      -0.9999716982371261,
      -1.0556067949531414
    ],
    "a_ego": [
      0.31858082313307556,
      0.318580824404978,
      0.6736462124828435,
      0.7604325376607644,
      0.8157539155688001,
      1.4355277009433336,
      0.985236214802501,
      1.029240633919972,
      1.1045163365916237,
      1.1045163402045886
    ],
    "yaw": [
      -1.572862712600908,
      -1.569891819287748,
      -1.5791120876852358,
      -1.6127311532273296,
      -1.669495103226934,
      -1.7691303220431074,
      -1.8859343777777373,
      -2.0163427110383116,
      -2.1606047981703,
      -2.3004982503536455
    ],
    "yaw_diff": [
      0.005941786626320056,
      -0.018440536794975593,
      -0.06723813108418764,
      -0.11352789999920887,
      -0.19927043763234664,
      -0.23360811146925986,
      -0.26081666652114865,
      -0.28852417426397636,
      -0.2797869043666914,
      -0.2797869043666914
    ],
    "min_front_frame": [
      0,
      48.11285007243076
    ],
    "v_avg": 4.410846219793447,
    "v_std": 0.8235657586490125,
    "vy_max": 0.07719655017937477,
    "a_max": 1.4355277009433336,
    "ax_avg": -0.507672256795334,
    "a_std": 0.33581429908282256,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "b3509fd31f495cfb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.977647570361178,
    "right_rear_min": 9.351150653847574,
    "speed_mode": "decelerating",
    "front_frame": [
      48.11285007243076,
      51.58450378094163,
      55.352268749200114,
      59.10222689733259,
      63.373032837573824,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b3509fd31f495cfb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e404f3b25f405019": {
    "vx_ego": [
      1.9473516868897083,
      1.5425829500660098,
      1.141482548619085,
      0.7533464280508447,
      0.42854880286407726,
      0.21159490765631941,
      0.07569302065297612,
      0.008333589909710766,
      -0.009507405076151528,
      -0.01912135235811116
    ],
    "vy_ego": [
      -0.006706361095526275,
      -0.003994856534860369,
      -0.006869082890173628,
      0.0038482743451612733,
      0.016911194292519187,
      0.0007759076973329736,
      -0.017871319800197755,
      -0.012626972711867633,
      -0.0035358103839659262,
      -0.0019912895695665157
    ],
    "v_ego": [
      1.947363234661509,
      1.5425881228354792,
      1.1415032164219572,
      0.7533562569411647,
      0.4288823439227046,
      0.21159633025844546,
      0.07777414382024922,
      0.01512908327194622,
      0.010143604209224309,
      0.019224758780096766
    ],
    "ax_ego": [
      -0.8095432894537611,
      -0.8095453223326038,
      -0.7948599142128262,
      -0.7577206624768149,
      -0.5414994650245493,
      -0.32629957171477614,
      -0.21732521057016593,
      -0.052131496009898,
      -0.01922810890801283,
      -0.019228290409142822
    ],
    "ay_ego": [
      0.0034263300359445303,
      0.0029024014279678614,
      -0.015992768379415823,
      0.055607685635204136,
      -0.0024080018992225297,
      -0.0624295842979211,
      -0.012310728220306407,
      0.03326873900193224,
      0.003091155741092473,
      0.003090093171984935
    ],
    "a_ego": [
      0.809550540261157,
      0.8095505251957091,
      0.7950207870633692,
      0.7597583938634749,
      0.541504819087531,
      0.3322180962814301,
      0.21767361158091997,
      0.06184255711893468,
      0.0194749946339939,
      0.01947500520846867
    ],
    "yaw": [
      -1.6296753911520574,
      -1.630322578571113,
      -1.6306198220662775,
      -1.631482837970067,
      -1.6310625627618944,
      -1.6313153479292337,
      -1.6316064541862896,
      -1.6318331911443213,
      -1.6315803942910834,
      -1.6316356690961098
    ],
    "yaw_diff": [
      -0.0012943748381113451,
      -0.0005944869903289351,
      -0.0017260318075789094,
      0.0008405504163451205,
      -0.0005055703346785734,
      -0.000582212514111724,
      -0.00045347391606354037,
      0.0005055937064759597,
      -0.0001105496100528569,
      -0.0001105496100528569
    ],
    "min_front_frame": [
      7,
      11.097290914180524
    ],
    "v_avg": 0.6147561095122775,
    "v_std": 0.6707152486818372,
    "vy_max": 0.017871319800197755,
    "a_max": 0.809550540261157,
    "ax_avg": -0.4347381331112551,
    "a_std": 0.32700765223184364,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e404f3b25f405019",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.006381235865885,
    "right_rear_min": 7.583091395827024,
    "speed_mode": "decelerating",
    "front_frame": [
      13.496673699590044,
      12.633309793964425,
      11.984939338287749,
      11.522724019442235,
      11.272256763559739,
      11.145673970400901,
      11.139676312453732,
      11.097290914180524,
      11.098935962319674,
      11.165638893981988
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e404f3b25f405019",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "33f9db8342475213": {
    "vx_ego": [
      4.898686608138945,
      5.149237743882314,
      5.4992211062146295,
      5.8691668273025,
      6.288441426869488,
      6.726483373978264,
      7.180969990367684,
      7.634845007660867,
      8.060685483649994,
      8.485817242416577
    ],
    "vy_ego": [
      -0.04885172895124823,
      -0.00976702059807627,
      -0.07449448730876573,
      -0.09901214289912996,
      -0.12480662843369306,
      -0.10099893717498487,
      -0.12384714852784251,
      -0.10148504076406217,
      -0.08412928214809678,
      -0.02308620875404266
    ],
    "v_ego": [
      4.898930186906257,
      5.149247006865527,
      5.4997256480369865,
      5.870001929399136,
      6.289679822826385,
      6.727241586691865,
      7.1820378806269005,
      7.635519465269075,
      8.061124499872241,
      8.485848646112485
    ],
    "ax_ego": [
      0.30072357932409866,
      0.7147759585929307,
      0.7274299568441045,
      0.8227423696456618,
      0.9225464705753242,
      0.8921328813435812,
      0.9487194637220265,
      0.8648298627333394,
      0.8481280195892127,
      0.8562829969503432
    ],
    "ay_ego": [
      2.119440383553305,
      2.0178100854224605,
      2.092718783545466,
      2.136784428118088,
      2.018606994565973,
      1.9549766307481413,
      1.4225516099000826,
      0.45653285834945956,
      0.44141299937136314,
      0.4253774777395569
    ],
    "a_ego": [
      2.1406686363372724,
      2.1406686366215206,
      2.2155419763837085,
      2.289705810591855,
      2.219429248451425,
      2.1489147737278356,
      1.7098893834614934,
      0.9779329947537788,
      0.956120585295779,
      0.9561205831035794
    ],
    "yaw": [
      -1.8448562582929384,
      -1.6453622850702367,
      -1.4408494710222595,
      -1.250691124489638,
      -1.0756392350148816,
      -0.9270041157445477,
      -0.8023244300973333,
      -0.7420319345280051,
      -0.7156468935944258,
      -0.6968309373604242
    ],
    "yaw_diff": [
      0.39898794644540336,
      0.40902562809595455,
      0.38031669306524307,
      0.3501037789495127,
      0.2972702385406678,
      0.24935937129442864,
      0.1205849911386565,
      0.05277008186715859,
      0.037631912468003126,
      0.037631912468003126
    ],
    "min_front_frame": [
      0,
      51.83288550566385
    ],
    "v_avg": 6.579935667260687,
    "v_std": 1.1812140121775232,
    "vy_max": 0.12480662843369306,
    "a_max": 2.289705810591855,
    "ax_avg": 0.7898311559320623,
    "a_std": 0.5517640554222895,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "33f9db8342475213",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      51.83288550566385,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.36245917405678,
      74.43591069776461,
      60.428415133423734
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "33f9db8342475213",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8683f3b4797f56e0": {
    "vx_ego": [
      8.211186388910585,
      8.118563335340655,
      7.995484694943546,
      7.809476538297837,
      7.579869105148276,
      7.369526364164447,
      7.162298624499238,
      6.878424474769493,
      6.458535404520733,
      5.9977291591228115
    ],
    "vy_ego": [
      0.027851597080819523,
      0.012440156905488386,
      -0.029486851536952408,
      -0.03384409110649722,
      -0.010364401470066564,
      0.003514272283688946,
      0.009513149396243925,
      0.04857714125251,
      0.030553575797966026,
      -0.1212649917469244
    ],
    "v_ego": [
      8.211233623816241,
      8.118572866424334,
      7.995539067598259,
      7.809549873374725,
      7.579876191073253,
      7.369527202081863,
      7.162304942301404,
      6.878596004546294,
      6.45860767444825,
      5.99895493102052
    ],
    "ax_ego": [
      -0.18529296150725164,
      -0.1848443871023917,
      -0.3063651911937457,
      -0.4391720099937092,
      -0.4783938411159703,
      -0.35878601429355245,
      -0.46599274321234896,
      -0.6516705372911713,
      -1.000227462875244,
      -0.8561527946458579
    ],
    "ay_ego": [
      -0.10196868214647756,
      -0.10277959657478325,
      -0.39028669077303113,
      -0.5390889513661761,
      -0.7542803074240017,
      -0.9257918789224675,
      -0.9972721887922501,
      -1.1931295224394676,
      -1.4534740935945698,
      -1.542739223024248
    ],
    "a_ego": [
      0.21149726646653666,
      0.2114972645575683,
      0.4961686521433453,
      0.6953336981960517,
      0.8931961987073941,
      0.9928836825789041,
      1.1007729353799791,
      1.3594971667826292,
      1.7643814548561783,
      1.7643814547986423
    ],
    "yaw": [
      2.3325274389461312,
      2.3281457650481436,
      2.3180693627300326,
      2.2892818158583577,
      2.2442451277038487,
      2.1860964439462283,
      2.1192517276540603,
      2.0360090667418245,
      1.9401911162389238,
      1.8440939711915232
    ],
    "yaw_diff": [
      -0.008763347795975207,
      -0.020152804636222044,
      -0.0575750937433499,
      -0.09007337630901802,
      -0.11629736751524078,
      -0.13368943258433585,
      -0.16648532182447173,
      -0.1916359010058013,
      -0.19219429009480127,
      -0.19219429009480127
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.358276237668514,
    "v_std": 0.6993016524744015,
    "vy_max": 0.1212649917469244,
    "a_max": 1.7643814548561783,
    "ax_avg": -0.4926897943231244,
    "a_std": 0.5369823085761867,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "8683f3b4797f56e0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8683f3b4797f56e0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3d4f0c1ecad55944": {
    "vx_ego": [
      6.00352804397504,
      5.922203042492788,
      5.7811136317606575,
      5.514389564967361,
      5.158671641973736,
      4.714277698114944,
      4.173719080041985,
      3.579242947819117,
      2.922343969614123,
      2.225842830814197
    ],
    "vy_ego": [
      -0.05854824515542356,
      -0.038869716162317935,
      -0.004839925818112434,
      0.00736440844303532,
      -0.0015422894809073995,
      -0.015717062762041767,
      -0.022641288163703255,
      -0.0005200453283065176,
      0.010513723561911048,
      0.01420009657134691
    ],
    "v_ego": [
      6.003813527401193,
      5.922330599632662,
      5.781115657743825,
      5.514394482509629,
      5.158671872523087,
      4.714303897820526,
      4.1737804909980865,
      3.5792429855990533,
      2.9223628821765386,
      2.225888126171123
    ],
    "ax_ego": [
      -0.1624041657281457,
      -0.16136834702311345,
      -0.4028579732546117,
      -0.6640730890209846,
      -0.7588365695172143,
      -1.0187467919295488,
      -1.1432796276818757,
      -1.2346219148817008,
      -1.3929846284007366,
      -1.3929872373813696
    ],
    "ay_ego": [
      0.13191728702642047,
      0.1331823604953319,
      0.06235344718623326,
      0.01309764205602204,
      -0.019838657588449826,
      -0.04349519701167143,
      0.04631499131702166,
      0.043210192568760575,
      0.004454795834118341,
      0.003541747981368859
    ],
    "a_ego": [
      0.20923021689580598,
      0.2092302190604419,
      0.4076548773053253,
      0.6642022401266803,
      0.7590958513729119,
      1.0196748786891985,
      1.1442173681137269,
      1.235377834287141,
      1.3929917516506198,
      1.3929917399202854
    ],
    "yaw": [
      0.8627287574080547,
      0.8705433155861446,
      0.8730687403066368,
      0.8742409173729566,
      0.8755911298876559,
      0.875257320138692,
      0.876968064172604,
      0.8770349523918031,
      0.8773047752192795,
      0.876649307588863
    ],
    "yaw_diff": [
      0.015629116356179917,
      0.0050508494409844396,
      0.002344354132639559,
      0.00270042502939849,
      -0.0006676194979278183,
      0.0034214880678240522,
      0.00013377643839818099,
      0.0005396456549529027,
      -0.001310935260833146,
      -0.001310935260833146
    ],
    "min_front_frame": [
      9,
      11.043995103822125
    ],
    "v_avg": 4.599590452257571,
    "v_std": 1.2629355291074782,
    "vy_max": 0.05854824515542356,
    "a_max": 1.3929917516506198,
    "ax_avg": -0.8332160344819302,
    "a_std": 0.4373497613357314,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "3d4f0c1ecad55944",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 22.412168287305203,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.602539292526178,
      22.888205541829866,
      21.827029453033095,
      20.516064388964015,
      18.97968349765011,
      17.314039349518584,
      15.54712785724731,
      13.904616602235176,
      12.274889946499387,
      11.043995103822125
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "3d4f0c1ecad55944",
    "merging_vehicles": "No"
  },
  "4102a6399acf528b": {
    "vx_ego": [
      8.196851791687195,
      7.542938880425078,
      6.918703888261649,
      6.328956025373141,
      5.746302070088199,
      5.174792334926735,
      4.587112644109411,
      3.9851067558062145,
      3.4333007247589187,
      2.9211224958558297
    ],
    "vy_ego": [
      -0.004835955563208955,
      0.0015796253373274866,
      0.02230679353702475,
      0.02230322413847792,
      0.004367355564854167,
      0.0015676390666969839,
      -0.016846540812065963,
      0.0066113833097537,
      0.034279487418457814,
      0.038086630154726256
    ],
    "v_ego": [
      8.1968532182388,
      7.542939045825873,
      6.918739848157666,
      6.328995323502298,
      5.746303729746153,
      5.1747925723751225,
      4.587143579144408,
      3.985112240020549,
      3.433471850749295,
      2.9213707787940124
    ],
    "ax_ego": [
      -1.3078435606923116,
      -1.3078174879968527,
      -1.1890973817240142,
      -1.1700485035376156,
      -1.16056676013615,
      -1.1254701148389215,
      -1.2252096964337102,
      -1.1828309619561406,
      -1.0243575526575859,
      -1.0243574424654307
    ],
    "ay_ego": [
      -0.013681955066465929,
      -0.015980442405538902,
      0.12848735544727508,
      -0.10882294435917882,
      0.03773349940604836,
      -0.049737018735910105,
      -0.008959588705135512,
      0.09885003393135448,
      0.007697713069546745,
      0.007712342704100714
    ],
    "a_ego": [
      1.3079151253574464,
      1.307915118212904,
      1.1960190565926367,
      1.1750982656142483,
      1.1611800126209313,
      1.1265685733359827,
      1.22524245537973,
      1.1869542593420856,
      1.0243864751514147,
      1.0243864750006726
    ],
    "yaw": [
      -1.5589089324265708,
      -1.5606664121942733,
      -1.5596409715951163,
      -1.558897981214967,
      -1.558870894412551,
      -1.5589077633080688,
      -1.5581434657956221,
      -1.5583736352109199,
      -1.5586531300172566,
      -1.5586388498803814
    ],
    "yaw_diff": [
      -0.0035149595354049268,
      0.0020508811983139807,
      0.0014859807602984887,
      5.417360483228606e-05,
      -7.373779103581057e-05,
      0.001528595024893331,
      -0.00046033883059548586,
      -0.0005589896126734217,
      2.8560273750422027e-05,
      2.8560273750422027e-05
    ],
    "min_front_frame": [
      9,
      17.40066046046527
    ],
    "v_avg": 5.483572218655418,
    "v_std": 1.6839969990956043,
    "vy_max": 0.038086630154726256,
    "a_max": 1.3079151253574464,
    "ax_avg": -1.1717599462438735,
    "a_std": 0.09291221355240123,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4102a6399acf528b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.564645894741971,
    "right_rear_min": 10.050747392120112,
    "speed_mode": "decelerating",
    "front_frame": [
      25.567516381055537,
      22.955831625299023,
      20.36059823809706,
      27.97339656567202,
      24.9618633747982,
      22.2347416587948,
      19.85604128398766,
      20.572246795852834,
      18.957235404186545,
      17.40066046046527
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4102a6399acf528b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f16753eac7825480": {
    "vx_ego": [
      1.253581641794925,
      1.7137539864966116,
      2.084690589591565,
      2.270639552345439,
      2.282860288025774,
      2.205685833966802,
      2.150699491170399,
      2.1465054729143866,
      2.1141869142886573,
      2.042266751128425
    ],
    "vy_ego": [
      0.03483439646971498,
      0.008081884077236756,
      0.00017311279329246254,
      -0.003337735657630514,
      0.0019106047193995224,
      0.02678178320846225,
      0.051080745744981115,
      0.038221690560349186,
      0.02285109683240194,
      0.008774656890494281
    ],
    "v_ego": [
      1.2540655356968666,
      1.7137730430495357,
      2.084690596779212,
      2.2706420055030283,
      2.2828610875512143,
      2.205848422279657,
      2.1513060088947076,
      2.1468457426840675,
      2.1143104032227242,
      2.0422856013222535
    ],
    "ax_ego": [
      0.9197757381279579,
      0.9226787773138971,
      0.5622484946289066,
      0.18276807639195752,
      -0.13308056180355662,
      -0.17166401375526014,
      -0.0317721018223015,
      0.037843264029644136,
      -0.15949557647469928,
      -0.121767127867146
    ],
    "ay_ego": [
      -0.13417545683650023,
      -0.11249149003288628,
      -0.1567674043300634,
      -0.2280348873234494,
      -0.2628677067400309,
      -0.26202013318856227,
      -0.35188296462170665,
      -0.4896865395393926,
      -0.40340553310713745,
      -0.4163503685685531
    ],
    "a_ego": [
      0.9295108722689118,
      0.9295108721447464,
      0.5836946023160203,
      0.2922397638663067,
      0.2946351424672779,
      0.31324604357392616,
      0.35331443113064026,
      0.4911466376129256,
      0.4337912666899259,
      0.43379126643604055
    ],
    "yaw": [
      -0.745647265038452,
      -0.7691843080709786,
      -0.7997362095231146,
      -0.841386615827866,
      -0.8966235279549969,
      -0.9659983029977371,
      -1.048228156878388,
      -1.1404722718251388,
      -1.2368713871768184,
      -1.328854484843574
    ],
    "yaw_diff": [
      -0.047074086065053145,
      -0.061103802904272086,
      -0.08330081260950273,
      -0.11047382425426178,
      -0.1387495500854805,
      -0.1644597077613017,
      -0.18448822989350155,
      -0.19279823070335933,
      -0.183966195333511,
      -0.183966195333511
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.0266628446983264,
    "v_std": 0.2988897295013099,
    "vy_max": 0.051080745744981115,
    "a_max": 0.9295108722689118,
    "ax_avg": 0.20075349687693994,
    "a_std": 0.22939945192127117,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f16753eac7825480",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f16753eac7825480",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "56fe5be4b9dc5c77": {
    "vx_ego": [
      3.11800823302529,
      2.3186564471150106,
      1.5801231901457338,
      0.9762292637064424,
      0.5036737066862513,
      0.16020121592979908,
      -0.017855024825451194,
      -0.047456009158481416,
      -0.02702428451898208,
      -0.011140067983455267
    ],
    "vy_ego": [
      -0.0766233474423292,
      -0.048388026648187574,
      -0.01132764201418679,
      0.027906979806201427,
      0.016781468017214,
      -0.005338959735505884,
      -0.0008087874650627364,
      -0.0011697608988923106,
      0.00011722176550970113,
      0.0005758203132092783
    ],
    "v_ego": [
      3.118949579359493,
      2.3191612968637845,
      1.5801637926208574,
      0.9766280637165442,
      0.5039531927430173,
      0.16029015589375245,
      0.01787333345185282,
      0.04747042390594853,
      0.027024538751016708,
      0.01115493987922434
    ],
    "ax_ego": [
      -1.5985780992263403,
      -1.5984926919347524,
      -1.3555027811299256,
      -1.0600771322881153,
      -0.830024278435743,
      -0.5438670950145932,
      -0.168358975711573,
      0.0499585463633022,
      0.03176837732541756,
      0.03176841718896741
    ],
    "ay_ego": [
      0.06268240683244389,
      0.06482364298639333,
      0.09137340737543626,
      0.06602274991478782,
      -0.11244879352651062,
      0.023929743267511544,
      -0.005766402312725387,
      0.004228886296911275,
      0.0009160329201871233,
      0.00091437646037139
    ],
    "a_ego": [
      1.599806558135204,
      1.5998065479484822,
      1.3585789963142962,
      1.0621311265124023,
      0.8376067298907905,
      0.54439328582603,
      0.16845769824582738,
      0.05013721007441897,
      0.031781581367216,
      0.03178157351365035
    ],
    "yaw": [
      -1.54443062025952,
      -1.5430911200407083,
      -1.542054714477549,
      -1.5419625341356193,
      -1.5426388579716244,
      -1.542670373491723,
      -1.542230345860021,
      -1.5418399132856202,
      -1.5418184119347922,
      -1.5417662048146694
    ],
    "yaw_diff": [
      0.002679000437623369,
      0.00207281112631863,
      0.00018436068385918603,
      -0.0013526476720100433,
      -6.303104019744765e-05,
      0.000880055263404067,
      0.0007808651488017126,
      4.3002701656025266e-05,
      0.0001044142402455428,
      0.0001044142402455428
    ],
    "min_front_frame": [
      9,
      9.828576178344083
    ],
    "v_avg": 0.8762669317185491,
    "v_std": 1.056490777986119,
    "vy_max": 0.0766233474423292,
    "a_max": 1.599806558135204,
    "ax_avg": -0.7041405712863356,
    "a_std": 0.6178280989002066,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "56fe5be4b9dc5c77",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.9837452975968866,
    "right_rear_min": 3.5443534968525574,
    "speed_mode": "decelerating",
    "front_frame": [
      13.290922473282327,
      11.988209493824355,
      11.010812291307081,
      10.358465937187407,
      10.009551229663199,
      9.853377261800256,
      9.837816146882371,
      9.854315903545737,
      9.838852374398858,
      9.828576178344083
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "56fe5be4b9dc5c77",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1e4fb3a9572f5e7d": {
    "vx_ego": [
      3.5267428986872487,
      4.074790021775842,
      4.5049733015787865,
      4.619940801733828,
      4.525893864082876,
      4.409279129625344,
      4.261182126159054,
      4.085000390764003,
      3.8701986255161795,
      3.672224952517711
    ],
    "vy_ego": [
      -0.025675555425283436,
      -0.014926226204200255,
      -0.028037757267973307,
      -0.027006327799043328,
      -0.021318742662076895,
      -0.014642256982942303,
      0.01377469198627046,
      0.019664029584761877,
      0.06592077102083893,
      0.09080217604263474
    ],
    "v_ego": [
      3.526836359627043,
      4.074817359562593,
      4.505060550510979,
      4.6200197351598185,
      4.525944073641622,
      4.409303441433713,
      4.261204390126893,
      4.085047719011563,
      3.8707599963055452,
      3.673347402175267
    ],
    "ax_ego": [
      1.0960109061401921,
      1.0959998938017514,
      0.624653642032721,
      -0.16601531912541007,
      -0.209906521550696,
      -0.2527604403276994,
      -0.3320138797752839,
      -0.3565283899085334,
      -0.46422500443883075,
      -0.27140945163294034
    ],
    "ay_ego": [
      0.003922429982869624,
      0.0062861985462881464,
      -0.1029225014673533,
      -0.08993288032239802,
      -0.306469992086685,
      -0.5963003296986344,
      -0.7776765931255933,
      -0.9522835895606228,
      -1.1473423784068897,
      -1.2075745435618779
    ],
    "a_ego": [
      1.096017924960726,
      1.0960179211607872,
      0.6330759937108973,
      0.18880945195459498,
      0.37146278930617743,
      0.6476588016798295,
      0.8455850636446143,
      1.016836529515554,
      1.2376992316530744,
      1.2376992238400941
    ],
    "yaw": [
      1.2083699666956105,
      1.2062132530134027,
      1.203672888261457,
      1.1931082571730682,
      1.1702217370596522,
      1.1182834909376478,
      1.032743185385106,
      0.9278674228978894,
      0.7850003215495738,
      0.6216090845338325
    ],
    "yaw_diff": [
      -0.004313427364415645,
      -0.00508072950389149,
      -0.021129262176777353,
      -0.04577304022683215,
      -0.10387649224400874,
      -0.17108061110508377,
      -0.20975152497443306,
      -0.2857342026966312,
      -0.32678247403148264,
      -0.32678247403148264
    ],
    "min_front_frame": [
      5,
      34.223369526989266
    ],
    "v_avg": 4.155234102755504,
    "v_std": 0.3565148040221324,
    "vy_max": 0.09080217604263474,
    "a_max": 1.2376992316530744,
    "ax_avg": 0.07638054352152705,
    "a_std": 0.34670247882097033,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "1e4fb3a9572f5e7d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 35.29108051433956,
    "right_rear_min": 7.906265476820268,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      45.125860262980495,
      43.21103980408243,
      41.02832309168722,
      38.719784513522974,
      36.408782065377984,
      34.223369526989266,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1e4fb3a9572f5e7d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ab8af92e0bda5def": {
    "vx_ego": [
      2.7174502133058485,
      2.0844056663624917,
      1.404159475357004,
      0.7700600300854116,
      0.34465174818324956,
      0.1250071782209179,
      0.0183721521283794,
      -0.012955091692600274,
      -0.007145998465495213,
      -0.016898887559314877
    ],
    "vy_ego": [
      0.006727378670215112,
      -0.02983971246219408,
      -0.05365830590847542,
      -0.05386002996076683,
      -0.044383834793925575,
      -0.022811639359564997,
      -0.0022058938570474335,
      0.0023811081820249262,
      0.002683147641927382,
      0.00047203812587725755
    ],
    "v_ego": [
      2.7174585405153424,
      2.0846192435080053,
      1.4051843459232758,
      0.7719412884167549,
      0.3474978450534399,
      0.12707149757922578,
      0.01850410607235257,
      0.013172094629867593,
      0.007633123563603593,
      0.016905479015237895
    ],
    "ax_ego": [
      -1.2660532095524903,
      -1.2660963413124326,
      -1.4547704512447386,
      -1.0815476807302382,
      -0.6200209691930109,
      -0.25847855797414815,
      -0.16805267778850555,
      0.04274381857430605,
      -0.01950584882468339,
      -0.019506223954795746
    ],
    "ay_ego": [
      -0.07057239706993534,
      -0.06979437698581392,
      -0.021119600296073404,
      0.021714719927321102,
      0.016854206770062663,
      0.06980594875100538,
      0.01271678817868345,
      0.005634192627932034,
      -0.004425067502588028,
      -0.004423426790900979
    ],
    "a_ego": [
      1.26801860895113,
      1.268018612065125,
      1.4549237448510786,
      1.0817656468729626,
      0.6202500032445696,
      0.26773874469979697,
      0.16853313980778015,
      0.043113549527750955,
      0.020001483964292827,
      0.020001486883457136
    ],
    "yaw": [
      2.5646243243489844,
      2.5652388328940106,
      2.5658554490975463,
      2.5661923212427773,
      2.5665246108410553,
      2.567014185046115,
      2.567427120884645,
      2.567395811525729,
      2.567290218360652,
      2.567374169704379
    ],
    "yaw_diff": [
      0.0012290170900524089,
      0.0012332324070714051,
      0.000673744290462075,
      0.0006645791965560477,
      0.000979148410118924,
      0.0008258716770601637,
      -6.26187178314197e-05,
      -0.0002111863301541561,
      0.00016790268745392467,
      0.00016790268745392467
    ],
    "min_front_frame": [
      9,
      10.591896644308317
    ],
    "v_avg": 0.7509987564277106,
    "v_std": 0.9379992148548253,
    "vy_max": 0.05386002996076683,
    "a_max": 1.4549237448510786,
    "ax_avg": -0.6111288142000737,
    "a_std": 0.5595418585028754,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ab8af92e0bda5def",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.425746737298179,
    "right_rear_min": 4.952889378566429,
    "speed_mode": "decelerating",
    "front_frame": [
      13.445984523918334,
      12.4219951462261,
      11.565723054243692,
      11.046710688137496,
      10.793453731276788,
      10.694751546978251,
      10.66055624387158,
      10.625813996867123,
      10.60059348704891,
      10.591896644308317
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ab8af92e0bda5def",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "94625815a7b351b5": {
    "vx_ego": [
      5.141178664301156,
      4.541595904850344,
      3.960342450237467,
      3.418095499244182,
      2.8860024658795673,
      2.3416501609608646,
      1.7948084593994698,
      1.261318269280275,
      0.8090366713913716,
      0.42379300763404504
    ],
    "vy_ego": [
      -0.03431574025391493,
      -0.015845088515772154,
      -0.016851847794459696,
      -0.012112219135874236,
      0.0006495302006666037,
      0.016313834526110682,
      0.012809551097892502,
      -0.015950435986708977,
      -0.0026381438931382117,
      0.05604080515427004
    ],
    "v_ego": [
      5.141293186377781,
      4.541623545581854,
      3.9603783036380493,
      3.4181169593514102,
      2.8860025389719297,
      2.341706987973728,
      1.7948541697116307,
      1.2614191186232886,
      0.8090409726702542,
      0.4274822629792359
    ],
    "ax_ego": [
      -1.1991125912749974,
      -1.1989360111564211,
      -1.1259614642877238,
      -1.0430775213399204,
      -1.0853399879763346,
      -1.0919894476287277,
      -1.095101342713775,
      -1.0388609027571076,
      -0.7704362476635975,
      -0.7704895642022325
    ],
    "ay_ego": [
      0.06209827994357486,
      0.06541910730611211,
      -0.004537461400100473,
      0.012133048183388562,
      0.015756341508496585,
      0.02046639488904123,
      -0.05792326094368083,
      -0.06897794743416413,
      0.11697094332033764,
      0.1166192096046561
    ],
    "a_ego": [
      1.2007194522144586,
      1.2007194586781704,
      1.1259706069062871,
      1.0431480845895527,
      1.085454352701302,
      1.092181224455103,
      1.0966321420475795,
      1.0411483719958183,
      0.7792651752100911,
      0.7792651721932405
    ],
    "yaw": [
      0.8707471825067308,
      0.873516791499054,
      0.8773422834378326,
      0.8765701065976401,
      0.874736470641502,
      0.8722089449090586,
      0.869376171670968,
      0.867426634189508,
      0.8661147242450778,
      0.8656581999246473
    ],
    "yaw_diff": [
      0.005539217984646516,
      0.007650983877557138,
      -0.001544353680384969,
      -0.0036672719122763375,
      -0.005055051464886606,
      -0.005665546476181227,
      -0.0038990749629199684,
      -0.0026238198888604014,
      -0.0009130486408610583,
      -0.0009130486408610583
    ],
    "min_front_frame": [
      9,
      8.783096282300713
    ],
    "v_avg": 2.658191804587916,
    "v_std": 1.5241421702218354,
    "vy_max": 0.05604080515427004,
    "a_max": 1.2007194586781704,
    "ax_avg": -1.0419305081000838,
    "a_std": 0.14241737161097698,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "94625815a7b351b5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.455607823633418,
      18.298791959623884,
      16.128545217979987,
      14.265333960266684,
      12.682336581651455,
      11.361463232926548,
      10.34792056123368,
      9.579800444144063,
      9.071880512580995,
      8.783096282300713
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "94625815a7b351b5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "35234d714b5d5da9": {
    "vx_ego": [
      4.891957376126297,
      5.125074155057641,
      5.328433844579164,
      5.45367022754761,
      5.551790004048307,
      5.683401085115689,
      5.811650518502139,
      5.906678825385784,
      6.056406722714479,
      6.322216821987988
    ],
    "vy_ego": [
      0.003045525237181934,
      0.004068890797044589,
      0.033797521091306355,
      0.00448291017052338,
      0.0054916888564287,
      0.013444484657741285,
      -0.037195914598546764,
      -0.06627351424042738,
      -0.03881626177662323,
      -0.03914908685813856
    ],
    "v_ego": [
      4.891958324133644,
      5.125075770241072,
      5.328541030008928,
      5.453672070020602,
      5.5517927201668105,
      5.683416987030065,
      5.811769548534165,
      5.907050611341548,
      6.056531110554906,
      6.3223380323445
    ],
    "ax_ego": [
      0.41639447519462225,
      0.5124516022437388,
      0.30860495457787407,
      0.18753858911842136,
      0.2179826336468598,
      0.32351147499970107,
      0.19177937287088465,
      0.24449885033453755,
      0.38556716382611156,
      0.6956180111700938
    ],
    "ay_ego": [
      1.003511974427025,
      0.9580261014573338,
      1.2618432828671187,
      1.3385446131719103,
      1.5755975075168724,
      1.8501553639533155,
      1.7827187349398157,
      2.036953255601166,
      1.9955258612146562,
      1.9096861157669351
    ],
    "a_ego": [
      1.086471647946246,
      1.086471654354458,
      1.2990325201883435,
      1.3516184387097074,
      1.5906048957126349,
      1.8782264360884997,
      1.7930045777309567,
      2.0515745790292637,
      2.032433393889553,
      2.032433388383797
    ],
    "yaw": [
      2.946092587576511,
      3.0439550293391253,
      -3.139310593882338,
      -3.0138025971758484,
      -2.8816916220173794,
      -2.730583629611399,
      -2.5646124136983284,
      -2.3968764230492434,
      -2.2328125860139116,
      -2.07435673436398
    ],
    "yaw_diff": [
      0.19572488352522832,
      0.1998393679162458,
      0.2510159934129792,
      0.26422195031693807,
      0.3022159848119603,
      0.3319424318261417,
      0.3354719812981699,
      0.3281276740706627,
      0.31691170329986385,
      0.31691170329986385
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.613214620437624,
    "v_std": 0.4121690497071323,
    "vy_max": 0.06627351424042738,
    "a_max": 2.0515745790292637,
    "ax_avg": 0.34839471279828454,
    "a_std": 0.3699037987378192,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "35234d714b5d5da9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "35234d714b5d5da9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9690846adfb751cc": {
    "vx_ego": [
      7.457850264722295,
      7.809344522550858,
      8.154741768392666,
      8.31473780488049,
      8.251971201323263,
      8.118993279151292,
      7.933513342328211,
      7.663073401919699,
      7.25011586624629,
      6.740883764726663
    ],
    "vy_ego": [
      -0.0013917783019103958,
      -0.13790281018081396,
      -0.09598969039303196,
      -0.01645136757186272,
      0.0028632245833981607,
      -0.020010978763589815,
      -0.03199203381005589,
      -0.03438359061250473,
      -0.03673818052166178,
      -0.05329261640321281
    ],
    "v_ego": [
      7.457850394588594,
      7.81056201927562,
      8.155306697471879,
      8.314754080031701,
      8.251971698056382,
      8.11901793976186,
      7.933577846288965,
      7.663150539726631,
      7.250208946499696,
      6.741094423943237
    ],
    "ax_ego": [
      0.6869255787172951,
      0.7359701651473797,
      0.6530379876676015,
      -0.012743390576789422,
      -0.23827406113516209,
      -0.293598310818995,
      -0.44908189121748754,
      -0.6333738129075708,
      -1.0191128579169546,
      -1.018649349469567
    ],
    "ay_ego": [
      0.7627670970534405,
      0.7155615233357648,
      0.32403499054467594,
      0.08991313663355872,
      -0.050483716010447016,
      -0.14407143306024087,
      -0.09219775009195476,
      -0.06734460338739423,
      -0.09637574499391724,
      -0.10115723325555484
    ],
    "a_ego": [
      1.0264893545689715,
      1.0264893461043136,
      0.7290111716799946,
      0.09081170707941573,
      0.24356340815497393,
      0.3270421164617772,
      0.45844843782206723,
      0.6369440183269484,
      1.023659758608687,
      1.0236597496310436
    ],
    "yaw": [
      -1.9713220391462896,
      -1.9049949546814928,
      -1.8777225167523302,
      -1.874843363173285,
      -1.8759812064395214,
      -1.8791261419982728,
      -1.8849784821427005,
      -1.889772291025301,
      -1.8949123814498958,
      -1.8996052583623046
    ],
    "yaw_diff": [
      0.13265416892959347,
      0.05454487585832535,
      0.005758307158090226,
      -0.002275686532472676,
      -0.006289871117502788,
      -0.011704680288855407,
      -0.009587617765201006,
      -0.01028018084918969,
      -0.009385753824817655,
      -0.009385753824817655
    ],
    "min_front_frame": [
      2,
      58.95734628202018
    ],
    "v_avg": 7.769749458564457,
    "v_std": 0.4759637031732399,
    "vy_max": 0.13790281018081396,
    "a_max": 1.0264893545689715,
    "ax_avg": -0.15888999425102504,
    "a_std": 0.34456919561777566,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9690846adfb751cc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      66.62157587544111,
      62.95186298968196,
      58.95734628202018,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.29820224674913
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9690846adfb751cc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ac140df715d5573b": {
    "vx_ego": [
      9.008513802363474,
      8.908191988496116,
      8.775314436980656,
      8.61131333381839,
      8.441153685879595,
      8.268509734979267,
      8.100532688327135,
      7.961206332715523,
      7.851977436775432,
      7.746074885655524
    ],
    "vy_ego": [
      0.051233549725530736,
      0.07716339048946841,
      0.1246892844511529,
      0.1661520179233551,
      0.19856707260770357,
      0.13056009151586245,
      0.027124155613889922,
      -0.013161901187690006,
      0.03225234178351233,
      0.12171622038650742
    ],
    "v_ego": [
      9.008659489845906,
      8.908526179606715,
      8.776200253272373,
      8.612916104680133,
      8.4434888778847,
      8.269540445208763,
      8.10057810001695,
      7.961217212695093,
      7.852043675450424,
      7.747031106978235
    ],
    "ax_ego": [
      -0.2021721181486112,
      -0.2009184780937138,
      -0.33330935993458777,
      -0.32586009633399843,
      -0.35112406628951204,
      -0.33823154924069143,
      -0.3337665969088193,
      -0.22340323317180846,
      -0.21324984414714124,
      -0.21192975767364344
    ],
    "ay_ego": [
      0.17731613005180974,
      0.17873541213228664,
      0.2867205414818297,
      0.03462273632070789,
      -0.06496657196448784,
      -0.26097165585908677,
      -0.14124666319152002,
      0.046191789902916267,
      0.2580190027832081,
      0.25910436784292284
    ],
    "a_ego": [
      0.2689136949529464,
      0.2689137080730406,
      0.4396632783479173,
      0.3276942725363628,
      0.3570836952319423,
      0.4272081296787222,
      0.3624234554700247,
      0.22812866116744862,
      0.3347376612005604,
      0.33473765193489946
    ],
    "yaw": [
      2.616869978254228,
      2.6239118844221734,
      2.631682870799927,
      2.6361549492181617,
      2.631465172294381,
      2.6298517137276614,
      2.630203786866849,
      2.6322646796596914,
      2.6361403486926296,
      2.6412458220634196
    ],
    "yaw_diff": [
      0.0140838123358904,
      0.01554197275550706,
      0.008944156836469652,
      -0.009379553847561617,
      -0.0032269171334391444,
      0.0007041462783750063,
      0.004121785585684989,
      0.0077513380658764675,
      0.010210946741580074,
      0.010210946741580074
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.368020144563928,
    "v_std": 0.4281842281087184,
    "vy_max": 0.19856707260770357,
    "a_max": 0.4396632783479173,
    "ax_avg": -0.2733965099942527,
    "a_std": 0.06395798933573427,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ac140df715d5573b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ac140df715d5573b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cf1c7170df175256": {
    "vx_ego": [
      8.035440425089176,
      7.500282298951477,
      6.9775581293632225,
      6.44634751824443,
      5.889472065754457,
      5.345047251888358,
      4.844157147612171,
      4.37394151686006,
      3.916046188373853,
      3.4661318566693025
    ],
    "vy_ego": [
      -0.15513688075394594,
      -0.07760043204215039,
      -0.04104669680275652,
      -0.03904098991292182,
      -0.03566256227489628,
      -0.04392196100728585,
      -0.007742708855003055,
      0.02026947713438032,
      -0.004837256537098877,
      -0.03646414593432845
    ],
    "v_ego": [
      8.036937866932117,
      7.500683728235579,
      6.977678860477974,
      6.4464657390596205,
      5.889580038648773,
      5.345227709235409,
      4.8441633354277505,
      4.373988482451158,
      3.9160491759588756,
      3.4663236550784617
    ],
    "ax_ego": [
      -1.0703495417749684,
      -1.0703817624881145,
      -1.0205787667592712,
      -1.1042270669677177,
      -1.1232697418369755,
      -1.0541521503952347,
      -0.9492367663999453,
      -0.931668167944449,
      -0.8999171410043151,
      -0.8998346123519374
    ],
    "ay_ego": [
      0.15188809504603934,
      0.1516608397871923,
      -0.01754470555348281,
      0.030904871149931123,
      -0.016410874000291065,
      0.018593775923853362,
      0.14693440975028216,
      -0.027937359728380573,
      -0.0712279263237306,
      -0.07226305495195912
    ],
    "a_ego": [
      1.0810726779428845,
      1.0810726746117112,
      1.020729560585385,
      1.1046594617731396,
      1.1233896161670531,
      1.0543161217993415,
      0.9605415969410632,
      0.9320869440291281,
      0.9027315648418189,
      0.9027315651385805
    ],
    "yaw": [
      -0.6266902153062006,
      -0.626902527681235,
      -0.6273207258211735,
      -0.6271222347572658,
      -0.6270825162826645,
      -0.6255125893030499,
      -0.6244887168803253,
      -0.6241116528607631,
      -0.6240354847048686,
      -0.625185787161106
    ],
    "yaw_diff": [
      -0.00042462475006876943,
      -0.000836396279876972,
      0.0003969821278153596,
      7.943694920253819e-05,
      0.003139853959229333,
      0.0020477448454492286,
      0.0007541280391243355,
      0.0001523363117890142,
      -0.0023006049124747463,
      -0.0023006049124747463
    ],
    "min_front_frame": [
      9,
      17.90057725935555
    ],
    "v_avg": 5.679709859150572,
    "v_std": 1.4735554085912295,
    "vy_max": 0.15513688075394594,
    "a_max": 1.1233896161670531,
    "ax_avg": -1.0123615717922927,
    "a_std": 0.08070181673560417,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cf1c7170df175256",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 36.62573565300946,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      43.50347404794112,
      39.63271087528727,
      35.94188986011615,
      32.536416183905274,
      29.534467874678647,
      26.644765424998194,
      24.14226981876359,
      21.865984884104204,
      19.765373007331515,
      17.90057725935555
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cf1c7170df175256",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ffb2d865d42e57c0": {
    "vx_ego": [
      2.267784453668784,
      2.787206681889718,
      3.3533023660147174,
      3.9456483262872184,
      4.51228184102137,
      5.037157018414813,
      5.475055413019407,
      5.995859184101631,
      6.499121635301766,
      6.851428493210747
    ],
    "vy_ego": [
      0.09782801414676112,
      -0.0006722236247096447,
      0.013869629421320973,
      0.03614821994925377,
      0.07312409374847739,
      0.07753062525888099,
      0.12906488609740996,
      0.1468067717617254,
      0.10454581512194872,
      0.019582857425358258
    ],
    "v_ego": [
      2.2698935324489833,
      2.787206762953781,
      3.3533310490525965,
      3.945813909517101,
      4.5128743108907585,
      5.037753648802077,
      5.47657644157885,
      5.997656174190963,
      6.499962450499773,
      6.851456479164487
    ],
    "ax_ego": [
      0.993613757337966,
      1.1003342627050245,
      1.1852671774308416,
      1.2180938610261396,
      1.0888844568825888,
      1.0522688500693596,
      0.7492331969165577,
      1.396089378228198,
      0.6641779337448324,
      0.7625881707548456
    ],
    "ay_ego": [
      -0.9043345824318829,
      -0.7709434838293439,
      -1.0018194962536282,
      -1.2288833726864492,
      -1.3041281979490875,
      -1.307270267633939,
      -1.2466984876094511,
      -1.241183415224525,
      -1.2617408356670254,
      -1.2048159826259943
    ],
    "a_ego": [
      1.3435361311678664,
      1.3435361345872079,
      1.551934465423314,
      1.7302910153886804,
      1.6989466492878535,
      1.6781612811246727,
      1.4545128058458263,
      1.8680475963502676,
      1.4258759637721923,
      1.4258759659122746
    ],
    "yaw": [
      -1.895010527317909,
      -2.022244915288333,
      -2.1715703420355608,
      -2.330329359731577,
      -2.4878849336791315,
      -2.6251903405880306,
      -2.7553478582353543,
      -2.8683587432294013,
      -2.960338643983298,
      -3.040091982087785
    ],
    "yaw_diff": [
      -0.2544687759408477,
      -0.29865085349445586,
      -0.31751803539203216,
      -0.3151111478951094,
      -0.27461081381779806,
      -0.2603150352946475,
      -0.22602176998809398,
      -0.18395980150779323,
      -0.15950667620897452,
      -0.15950667620897452
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.673252475909937,
    "v_std": 1.4914442968203716,
    "vy_max": 0.1468067717617254,
    "a_max": 1.8680475963502676,
    "ax_avg": 1.0210551045096354,
    "a_std": 0.1724576394261719,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "ffb2d865d42e57c0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.510186407105191,
    "right_rear_min": 9.388381294683848,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ffb2d865d42e57c0",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "cde6be1eb8f85b3c": {
    "vx_ego": [
      3.614788909054679,
      3.646559235804764,
      3.6508037759740044,
      3.610761551058306,
      3.5707711228157164,
      3.5424201425672166,
      3.626171529370326,
      3.8023909888111707,
      3.9874189804044327,
      4.204874507227732
    ],
    "vy_ego": [
      0.024973157644457566,
      0.007323281577410259,
      -0.0357339741035505,
      -0.046374335130525246,
      -0.033705841034050055,
      -0.035888205534536866,
      -0.0032581525809474154,
      0.01975749343614175,
      0.02552987331565837,
      0.0009071863760239385
    ],
    "v_ego": [
      3.6148751728970465,
      3.6465665893667825,
      3.6509786533984667,
      3.6110593400773388,
      3.5709302002775725,
      3.54260192933985,
      3.6261729931119073,
      3.802442319133753,
      3.9875007084289074,
      4.204874605088811
    ],
    "ax_ego": [
      -0.00012669671745874078,
      0.11828119154026363,
      -0.09837583468766437,
      -0.030255894489745194,
      -0.11360541401201735,
      0.01183640512312173,
      0.3353805031692727,
      0.36460245364612487,
      0.37132205165078486,
      0.48874449754865096
    ],
    "ay_ego": [
      0.9117334667631423,
      0.9040284797375786,
      0.8354132564623006,
      0.9949322026028037,
      0.9230185061533522,
      0.8315562990438108,
      0.8922581042859031,
      0.8713260869275794,
      0.9811683564853022,
      0.928278099673451
    ],
    "a_ego": [
      0.9117334755661854,
      0.9117334766524821,
      0.8411855407241855,
      0.9953921372642246,
      0.9299835228617805,
      0.8316405347057576,
      0.9532075359385007,
      0.9445337998003578,
      1.0490812217412993,
      1.0490812238418132
    ],
    "yaw": [
      1.4658119639216247,
      1.5960498271297328,
      1.7258857409758597,
      1.8549696265303481,
      1.9844178851554348,
      2.108752405971772,
      2.221032742855749,
      2.333531092774224,
      2.450844640456857,
      2.5736810401907446
    ],
    "yaw_diff": [
      0.2604757264162161,
      0.25967182769225383,
      0.25816777110897693,
      0.2588965172501734,
      0.24866904163267467,
      0.22456067376795374,
      0.22499669983695014,
      0.2346270953652656,
      0.24567279946777543,
      0.24567279946777543
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.725800251112043,
    "v_std": 0.20216117707192321,
    "vy_max": 0.046374335130525246,
    "a_max": 1.0490812238418132,
    "ax_avg": 0.1447803262771333,
    "a_std": 0.07087610600342814,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "cde6be1eb8f85b3c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.196326028361076,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "cde6be1eb8f85b3c",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "3d5103c659255a72": {
    "vx_ego": [
      12.841490441491144,
      12.914643971903658,
      13.016212596729526,
      13.078765019982043,
      13.014095028850479,
      12.87529039261046,
      12.779697399000272,
      12.764086574068548,
      12.734168241720846,
      12.666049091260208
    ],
    "vy_ego": [
      -0.022202476103970747,
      0.02296880439024096,
      -0.01320583263027214,
      -0.0002462299923934319,
      0.01571671166040263,
      0.047957630914653285,
      0.031191672130529563,
      0.05999018595100705,
      0.06216492229713977,
      0.09155542145089784
    ],
    "v_ego": [
      12.84150963511898,
      12.914664396994706,
      13.016219295835326,
      13.078765022299892,
      13.014104519135236,
      12.87537970812551,
      12.779735464023682,
      12.76422754782785,
      12.734319977368875,
      12.666379987092231
    ],
    "ax_ego": [
      0.14560461643786307,
      0.146998154651153,
      0.25922780160329245,
      -0.007804224119785343,
      -0.25105003378571816,
      -0.30651444433541436,
      -0.07875523117069436,
      0.01566810634564385,
      -0.13615191908171517,
      -0.13617456639316275
    ],
    "ay_ego": [
      0.24035750790653024,
      0.2395077859684252,
      0.2708797022459479,
      0.41683875772230833,
      0.4561849505438272,
      0.3541375761216399,
      0.1618777025912676,
      0.1117378668867137,
      0.04641321224426858,
      0.04634673608214036
    ],
    "a_ego": [
      0.281020347902167,
      0.2810203498153493,
      0.3749331489918294,
      0.4169118082443685,
      0.5207022455938559,
      0.46836367003382967,
      0.18001882410730383,
      0.11283102610918397,
      0.1438455120623005,
      0.14384551601573634
    ],
    "yaw": [
      -1.6252490057127749,
      -1.6194410033310482,
      -1.606796089807825,
      -1.5946433749444027,
      -1.5791741164893773,
      -1.5660223113959348,
      -1.5546333020850787,
      -1.5515294563904765,
      -1.5486031797094482,
      -1.5490914046863173
    ],
    "yaw_diff": [
      0.011616004763453258,
      0.025289827046446334,
      0.024305429726844796,
      0.030938516910050673,
      0.026303610186884985,
      0.02277801862171236,
      0.006207691389204406,
      0.0058525533620565895,
      -0.0009764499537383564,
      -0.0009764499537383564
    ],
    "min_front_frame": [
      0,
      38.178890659757535
    ],
    "v_avg": 12.868530555382227,
    "v_std": 0.12951782254637612,
    "vy_max": 0.09155542145089784,
    "a_max": 0.5207022455938559,
    "ax_avg": -0.034895173984853776,
    "a_std": 0.1395243428318617,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "3d5103c659255a72",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.50673314689815,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      38.178890659757535,
      40.07906659946649,
      41.79051446080675,
      43.417496723325755,
      44.95238940692416,
      46.51388331575491,
      47.678983379371,
      48.69050986956277,
      49.1055238573215,
      49.16200850776785
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "3d5103c659255a72",
    "merging_vehicles": "No"
  },
  "b9013028b5d45eee": {
    "vx_ego": [
      1.4527126370099772,
      2.0367592267752386,
      2.4877328731620425,
      2.7865333935100436,
      3.0585153528964755,
      3.285563623405426,
      3.373653232460203,
      3.3488963371113107,
      3.439993360514583,
      3.6583755849450306
    ],
    "vy_ego": [
      -0.027435700133057073,
      -0.009070076410028327,
      0.006081961912804079,
      0.007168931978267068,
      0.007625747950676942,
      0.0054142811060926554,
      0.020332569771994047,
      0.04894192932981434,
      0.04428421842258112,
      0.026351095546902625
    ],
    "v_ego": [
      1.4529716870504645,
      2.0367794220632116,
      2.4877403076832154,
      2.786542615272967,
      3.0585248594600727,
      3.2855680844999835,
      3.373714502782165,
      3.349253945159142,
      3.440278391698223,
      3.658470486522806
    ],
    "ax_ego": [
      1.1680556838334597,
      1.168002574035043,
      0.6358987358935689,
      0.5593296602348666,
      0.528595550147955,
      0.37959904624196267,
      -0.02717058516345812,
      -0.0723226142889067,
      0.4368462655233868,
      0.43693199726560183
    ],
    "ay_ego": [
      0.029681970050885298,
      0.03170326489391084,
      0.012232940655318658,
      -0.014843688780707354,
      0.01910567828080381,
      -0.028340936262881006,
      0.12535920716862653,
      0.022046378997321873,
      -0.048817177823658964,
      -0.04804388753241309
    ],
    "a_ego": [
      1.1684327536840762,
      1.1684327579956921,
      0.6360163890562219,
      0.5595265891046375,
      0.528940717452144,
      0.38065554583647454,
      0.128269916660421,
      0.07560822286283105,
      0.43956544058012126,
      0.43956545060290514
    ],
    "yaw": [
      2.6194582757306204,
      2.617727752996556,
      2.6159379636673656,
      2.6152806710135894,
      2.615488669307158,
      2.6154581581996306,
      2.6182199968062916,
      2.6206679411719467,
      2.6200569790739774,
      2.618286949176949
    ],
    "yaw_diff": [
      -0.003461045468128532,
      -0.0035795786583809885,
      -0.0013145853075524627,
      0.00041599658713753485,
      -6.1022215055217544e-05,
      0.005523677213322031,
      0.004895888731310194,
      -0.001221924195938584,
      -0.0035400597940569156,
      -0.0035400597940569156
    ],
    "min_front_frame": [
      0,
      12.574832935781496
    ],
    "v_avg": 2.892984430219225,
    "v_std": 0.66996901347876,
    "vy_max": 0.04894192932981434,
    "a_max": 1.1684327579956921,
    "ax_avg": 0.521376631372348,
    "a_std": 0.350536958636409,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b9013028b5d45eee",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.9965768987255705,
    "right_rear_min": 18.273281161955037,
    "speed_mode": "accelerating",
    "front_frame": [
      12.574832935781496,
      12.978505603829213,
      13.117022781776589,
      13.245579694104373,
      13.242902178784258,
      13.02013895630909,
      12.80729823854276,
      39.02469366847256,
      42.01499404790273,
      43.65549786760468
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b9013028b5d45eee",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6b8774b008675f8d": {
    "vx_ego": [
      6.117733954157185,
      6.0205177012460975,
      5.9506582129100885,
      5.896868777873141,
      5.884325274764434,
      6.00666882689671,
      6.259491368970985,
      6.5453412252924705,
      6.753905524975414,
      6.898931618331348
    ],
    "vy_ego": [
      -0.048062131086635596,
      0.035779503734050255,
      -0.009048181325922222,
      -0.010293270023744139,
      -0.015042911497929357,
      -0.0907174320593076,
      -0.08933281171598839,
      0.0069780179581484525,
      0.07361984844586944,
      0.09859674852267553
    ],
    "v_ego": [
      6.117922744060462,
      6.020624017816181,
      5.95066509194221,
      5.896877761566951,
      5.8843445028667265,
      6.007353830805385,
      6.260128796556133,
      6.545344944939706,
      6.754306753648269,
      6.899636134842999
    ],
    "ax_ego": [
      -0.19872380856573457,
      -0.19085118994017045,
      -0.08874192188769284,
      -0.1259714895400721,
      0.07565138803819592,
      0.4150793275661521,
      0.6014771877926218,
      0.5434126305494871,
      0.289659022635916,
      0.28980031121710864
    ],
    "ay_ego": [
      -0.2331869532798309,
      -0.23967298952701374,
      -0.07987962615406995,
      0.14469125399137087,
      0.001960233476686564,
      -0.10316178807215814,
      0.33157695040993906,
      0.3055563370292692,
      0.07577277303646385,
      0.07523061815908322
    ],
    "a_ego": [
      0.3063777199321138,
      0.3063777384380188,
      0.11939800406554271,
      0.19184466413882845,
      0.07567677997502811,
      0.42770691213845713,
      0.6868173567099742,
      0.6234275917373706,
      0.2994058491880704,
      0.2994058554706818
    ],
    "yaw": [
      -2.2689013320882285,
      -2.3021961959355677,
      -2.308066177649975,
      -2.3051230681077337,
      -2.2980626152923884,
      -2.2895291174323784,
      -2.280409512800449,
      -2.270584991217506,
      -2.2662908838874,
      -2.264419627683487
    ],
    "yaw_diff": [
      -0.0665897276946783,
      -0.011739963428814448,
      0.005886219084482391,
      0.014120905630690572,
      0.017066995720020017,
      0.018239209263859024,
      0.019649043165886226,
      0.008588214660211868,
      0.0037425124078254157,
      0.0037425124078254157
    ],
    "min_front_frame": [
      5,
      18.89426675551284
    ],
    "v_avg": 6.233720457904502,
    "v_std": 0.35184783000433234,
    "vy_max": 0.09859674852267553,
    "a_max": 0.6868173567099742,
    "ax_avg": 0.16107914578658117,
    "a_std": 0.18813310898454375,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6b8774b008675f8d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      33.55151368278787,
      30.600120987816126,
      27.63393943674043,
      24.69593777655657,
      21.816681763942263,
      18.89426675551284,
      21.674666088410948,
      34.34312041444907,
      31.06180300691165,
      27.68970022123887
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6b8774b008675f8d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "32399e644e53534a": {
    "vx_ego": [
      3.769920549721371,
      3.622753643723681,
      3.527627286228829,
      3.4816520097039323,
      3.426834003543466,
      3.381601545898564,
      3.4915987380527844,
      3.762866066610326,
      4.0640251330419455,
      4.386274610570571
    ],
    "vy_ego": [
      -0.035616376081933465,
      0.007081562096158067,
      -0.013213482777663765,
      0.009051879264699164,
      0.01939469117493746,
      0.011991855272323992,
      -0.01065191719876879,
      -0.021230605210687647,
      -0.019774668363748527,
      -0.07164050286547563
    ],
    "v_ego": [
      3.770088789068063,
      3.6227605650435866,
      3.5276520331054884,
      3.4816637765863683,
      3.426888886714524,
      3.3816228086255316,
      3.49161498606473,
      3.7629259591234425,
      4.0640732423894015,
      4.38685961947574
    ],
    "ax_ego": [
      -0.3108191173247118,
      -0.27347863656889576,
      -0.09926514384861103,
      -0.08414050929994059,
      -0.14581178189976754,
      -0.043277487495589254,
      0.4857305123348501,
      0.6142667767155371,
      0.6051752038636636,
      0.7002675702205217
    ],
    "ay_ego": [
      0.5599224528251733,
      0.5790778120686496,
      0.7149888602496737,
      0.7087447256118904,
      0.5866537468664943,
      0.5168271510252587,
      0.5782293883474254,
      0.7625147452305989,
      0.8815245020907116,
      0.8080518580689563
    ],
    "a_ego": [
      0.640407430369348,
      0.6404074305391814,
      0.7218466866755107,
      0.7137217324615577,
      0.6045028490034453,
      0.5186359464603436,
      0.7551710774133988,
      0.9791590318587582,
      1.0692625847553556,
      1.0692625847897446
    ],
    "yaw": [
      -0.3314452969472361,
      -0.2659016545368911,
      -0.16922170343586718,
      -0.07403473598027281,
      0.016461269937153414,
      0.09993961419514302,
      0.18782549736456944,
      0.28350123895856816,
      0.3880285945019286,
      0.5004735275854184
    ],
    "yaw_diff": [
      0.1310872848206901,
      0.1933599022020478,
      0.19037393491118873,
      0.18099201183485245,
      0.16695668851597922,
      0.17577176633885283,
      0.19135148318799744,
      0.2090547110867209,
      0.2248898661669796,
      0.2248898661669796
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.6916150666196876,
    "v_std": 0.30252487418011026,
    "vy_max": 0.07164050286547563,
    "a_max": 1.0692625847897446,
    "ax_avg": 0.14486473866970567,
    "a_std": 0.1878073253354901,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "32399e644e53534a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 18.941701603154605,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "32399e644e53534a",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "0ee0eabadd125c7b": {
    "vx_ego": [
      13.074073767990313,
      12.92262953682371,
      12.747017480627088,
      12.57875759561179,
      12.473882730338923,
      12.462022458028049,
      12.461119016514536,
      12.426773124951065,
      12.438286405000072,
      12.478414486129646
    ],
    "vy_ego": [
      0.03432481284853006,
      0.023150845453657976,
      0.005859634040700001,
      0.03395534819316426,
      0.02269578048665577,
      0.0004815366053395609,
      -0.009288944709200941,
      0.00025144782069030924,
      0.0011854758221027106,
      0.03682338812496355
    ],
    "v_ego": [
      13.07411882627772,
      12.922650274136252,
      12.747018827424851,
      12.578803425399103,
      12.473903377399536,
      12.462022467331414,
      12.461122478662748,
      12.426773127495009,
      12.4382864614931,
      12.47846881831113
    ],
    "ax_ego": [
      -0.30362958935475376,
      -0.3028305026328807,
      -0.39991364418310016,
      -0.2732892349113127,
      -0.14792145001409923,
      0.1001291719774837,
      -0.10367047717478374,
      -0.03370162989574439,
      0.07992516666941239,
      0.08035989536361328
    ],
    "ay_ego": [
      0.1324791835247494,
      0.13429572042810473,
      0.168587379671058,
      0.27846115436199625,
      0.10975928994728387,
      0.07454945997137127,
      0.07723699033040084,
      0.05339595219977722,
      0.14576712146464643,
      0.1455279098779118
    ],
    "a_ego": [
      0.331272790309015,
      0.3312727786133156,
      0.4339961144850962,
      0.39016358160011055,
      0.18419516037074804,
      0.1248337817376354,
      0.1292792346548578,
      0.06314212198644123,
      0.16624104778069204,
      0.16624104588303246
    ],
    "yaw": [
      -1.666946074598104,
      -1.6609554642927788,
      -1.653715495576683,
      -1.6471000357024426,
      -1.638442291323583,
      -1.6329512922558003,
      -1.6291299691346701,
      -1.6272709047798561,
      -1.6233366646726195,
      -1.620351841003501
    ],
    "yaw_diff": [
      0.011981220610650212,
      0.014479937432191559,
      0.013230919748481007,
      0.017315488757719155,
      0.01098199813556544,
      0.007642646242260298,
      0.0037181287096279547,
      0.007868480214473283,
      0.005969647338237127,
      0.005969647338237127
    ],
    "min_front_frame": [
      0,
      18.715792560855853
    ],
    "v_avg": 12.606316808393085,
    "v_std": 0.21810787244914195,
    "vy_max": 0.03682338812496355,
    "a_max": 0.4339961144850962,
    "ax_avg": -0.13045422941561652,
    "a_std": 0.12124817486989481,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0ee0eabadd125c7b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.4228510309573243,
    "speed_mode": "quasi_constant",
    "front_frame": [
      18.715792560855853,
      42.4504238760209,
      43.71592543352454,
      45.082680035468975,
      45.967936764823264,
      46.77912855028188,
      47.351945733285106,
      47.64027724340642,
      47.719098083585806,
      47.54493199163652
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0ee0eabadd125c7b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bf2c48523de254ea": {
    "vx_ego": [
      3.283117879611284,
      4.105774565646882,
      4.810955102032249,
      5.228990459066254,
      5.331271222886061,
      5.253258477282525,
      5.095368114269703,
      4.748914241004272,
      4.192097629998533,
      3.5679236315651632
    ],
    "vy_ego": [
      -0.03208354987000628,
      -0.001599569027220582,
      -0.0045459861160010995,
      -0.03485937028977215,
      -0.02146955233651715,
      0.02273986158786423,
      0.01440423870600993,
      0.036296715692513803,
      0.04915314595040776,
      0.06675610555270506
    ],
    "v_ego": [
      3.283274640598248,
      4.105774877234979,
      4.810957249837073,
      5.229106653789241,
      5.331314452707753,
      5.253307694248049,
      5.095388474101762,
      4.749052949797806,
      4.192385785110447,
      3.568548082667474
    ],
    "ax_ego": [
      1.6453004338091564,
      1.645471003539625,
      1.175126206924448,
      0.4973563827665751,
      -0.08694339456201892,
      -0.22509092197269323,
      -0.4063599602420085,
      -0.9788988382558459,
      -1.2479898147631274,
      -1.2480265664786894
    ],
    "ay_ego": [
      0.07909243554626977,
      0.07546074071439102,
      -0.002232773752911643,
      -0.01965173792000066,
      0.19793684693831032,
      -0.02421354714324063,
      -0.03752358250801133,
      -0.005290072690886882,
      0.01444802000599854,
      0.010817708333071496
    ],
    "a_ego": [
      1.6472003918325295,
      1.6472003966970337,
      1.175128328089861,
      0.4977444748883993,
      0.21619007663129913,
      0.2263895293951887,
      0.4080887606049966,
      0.9789131322072043,
      1.2480734445675057,
      1.2480734487401637
    ],
    "yaw": [
      -0.7199021886747679,
      -0.7176949942602491,
      -0.712989962129493,
      -0.708123419533115,
      -0.7022985749564203,
      -0.7024452143548489,
      -0.7038111358208552,
      -0.7103385037144976,
      -0.7126845522162214,
      -0.7155934379463245
    ],
    "yaw_diff": [
      0.004414388829037552,
      0.009410064261512252,
      0.009733085192755953,
      0.011649689153389264,
      -0.00029327879685703273,
      -0.0027318429320126736,
      -0.013054735787284777,
      -0.004692097003447637,
      -0.005817771460206123,
      -0.005817771460206123
    ],
    "min_front_frame": [
      1,
      17.194358249599528
    ],
    "v_avg": 4.5619110860092835,
    "v_std": 0.697358970232891,
    "vy_max": 0.06675610555270506,
    "a_max": 1.6472003966970337,
    "ax_avg": 0.07699445307654204,
    "a_std": 0.5251093431230753,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bf2c48523de254ea",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.872729480790726,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      18.98098582328312,
      17.194358249599528,
      20.045681663386045,
      17.571432555993958,
      44.79033258454881,
      42.186719065211186,
      39.667933777387915,
      37.217943339737445,
      35.037709310028156,
      33.14464119178988
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bf2c48523de254ea",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "63eeb15e6e3e5504": {
    "vx_ego": [
      3.408512874918681,
      2.8671116639683256,
      2.2842856225471726,
      1.7401506519503067,
      1.347081645606891,
      0.9496607047847693,
      0.649636298583411,
      0.5181765682886386,
      0.27984025220194936,
      -0.06118583612664852
    ],
    "vy_ego": [
      0.02651637947482871,
      0.020659770019041207,
      0.011416243787135169,
      0.025688623486265626,
      0.02802443571450638,
      -0.0019279701907149328,
      -0.010982544421285923,
      -0.011119292056296103,
      -0.010533346743256579,
      -0.006091292559433337
    ],
    "v_ego": [
      3.408616014875666,
      2.867186097859792,
      2.284314150023576,
      1.7403402531860535,
      1.3473731216437732,
      0.9496626618338541,
      0.6497291256509287,
      0.518295856224245,
      0.2800384226245825,
      0.06148829471990336
    ],
    "ax_ego": [
      -1.0827736035634064,
      -1.0827616054948566,
      -1.248492025294456,
      -0.9280312119353699,
      -0.6440091418403137,
      -0.9456422368715335,
      -0.2544986739687081,
      -0.2713252529431309,
      -0.682060407962748,
      -0.6820663329376104
    ],
    "ay_ego": [
      -0.015927302680300227,
      -0.016723021308207103,
      -0.02778248725799661,
      0.07862285860004885,
      -0.07695529705354501,
      -0.046983315534415065,
      0.008458291101271621,
      -0.00802816962533572,
      0.008967091284344097,
      0.008504628875821513
    ],
    "a_ego": [
      1.0828907403539632,
      1.0828907395372231,
      1.2488011065906746,
      0.9313557237815606,
      0.6485906972185899,
      0.9468086776609115,
      0.25463919128874224,
      0.27144399862989627,
      0.6821193508737398,
      0.682119352635061
    ],
    "yaw": [
      -3.120873770418716,
      -3.1216086697082743,
      -3.1223338441584008,
      -3.1231260160790995,
      -3.124398417399571,
      -3.1252687259885343,
      -3.1260772527399405,
      -3.1256604104466224,
      -3.1264402905325026,
      -3.127118307527418
    ],
    "yaw_diff": [
      -0.0014697985791167767,
      -0.0014503489002528624,
      -0.0015843438413973843,
      -0.0025448026409433666,
      -0.0017406171779263957,
      -0.0016170535028123822,
      0.0008336845866363518,
      -0.0015597601717605158,
      -0.0013560339898308627,
      -0.0013560339898308627
    ],
    "min_front_frame": [
      9,
      9.705768488893472
    ],
    "v_avg": 1.4107043998642372,
    "v_std": 1.0805406013456038,
    "vy_max": 0.02802443571450638,
    "a_max": 1.2488011065906746,
    "ax_avg": -0.7821660492812134,
    "a_std": 0.3201493977382849,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "63eeb15e6e3e5504",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.725524329173181,
      14.184062969153963,
      12.929011522988196,
      11.967720087472943,
      11.210109038934252,
      10.602325690734318,
      10.289149092964646,
      9.988185386508867,
      9.743182609581929,
      9.705768488893472
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "63eeb15e6e3e5504",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "019eaadd84cb56f8": {
    "vx_ego": [
      0.9016394239703748,
      1.8135281662453124,
      2.733682836262038,
      3.6401757994211623,
      4.474858221219028,
      5.243516250718491,
      6.00006387309708,
      6.694248218522201,
      7.189642852922366,
      7.5527840390448775
    ],
    "vy_ego": [
      -0.03148250885833309,
      -0.013785521753383212,
      -0.000674138598870222,
      0.014071579707720439,
      0.021787943837623613,
      0.02464014876509113,
      0.038491563528081585,
      0.04433062157824619,
      0.03711752072712082,
      0.016189367327137383
    ],
    "v_ego": [
      0.9021888933153879,
      1.8135805607623552,
      2.733682919384856,
      3.6402029970932896,
      4.474911263311061,
      5.243574144462922,
      6.000187337217695,
      6.69439499993817,
      7.189738664438547,
      7.552801389952307
    ],
    "ax_ego": [
      1.8238173796623334,
      1.8238818332597806,
      1.8568304563293072,
      1.769100676764304,
      1.5695870768523714,
      1.5048485499934245,
      1.520735288899706,
      1.2548135312114792,
      0.7259807405646097,
      0.7260936315082046
    ],
    "ay_ego": [
      0.04126856289725833,
      0.038314562916474615,
      0.04183198633676877,
      0.034151704468577626,
      0.004631399581254914,
      0.07075039736267386,
      0.11665040640731317,
      0.06522612496697783,
      0.02656598114365233,
      0.023277275491040028
    ],
    "a_ego": [
      1.824284223645533,
      1.8242842287940053,
      1.857301606802994,
      1.76943028781753,
      1.5695939098008929,
      1.5065107955618138,
      1.5252026541479216,
      1.2565076384525602,
      0.726466645500579,
      0.7264666497996024
    ],
    "yaw": [
      2.592230411413995,
      2.593850058158095,
      2.5969015172624133,
      2.59823057930441,
      2.5987154368310166,
      2.6020013023534703,
      2.6078731594943614,
      2.6140843638620295,
      2.618388140251918,
      2.6229177843799802
    ],
    "yaw_diff": [
      0.003239293488199735,
      0.00610291820863651,
      0.0026581240839931297,
      0.0009697150532135268,
      0.006571731044907381,
      0.011743714281782225,
      0.012422408735336177,
      0.008607552779777095,
      0.009059288256124454,
      0.009059288256124454
    ],
    "min_front_frame": [
      9,
      55.70339006455851
    ],
    "v_avg": 4.62452631698766,
    "v_std": 2.1917779738638417,
    "vy_max": 0.04433062157824619,
    "a_max": 1.857301606802994,
    "ax_avg": 1.457568916504552,
    "a_std": 0.4068118932864659,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "019eaadd84cb56f8",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 48.12989210151899,
    "speed_mode": "accelerating",
    "front_frame": [
      77.04380347236372,
      76.20649909954359,
      74.95126303600226,
      73.29686959744306,
      71.21834309243368,
      68.7156376751149,
      65.88785367574076,
      62.742871439441444,
      59.31941958784209,
      55.70339006455851
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "019eaadd84cb56f8",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "d38090818a0b5bed": {
    "vx_ego": [
      5.515478565863668,
      5.747590344033878,
      6.0951976337605265,
      6.4970373703091235,
      6.933943869160008,
      7.4140233833075255,
      7.891478888993118,
      8.314292198387204,
      8.684262820144554,
      9.033613282222653
    ],
    "vy_ego": [
      -0.13617578059903712,
      -0.08015698753547529,
      -0.10548792845673827,
      -0.09050301094763763,
      -0.08090639046856074,
      -0.045042242896325746,
      -0.08854790896638853,
      -0.14299594205371635,
      -0.10767360510146018,
      0.051135727980559764
    ],
    "v_ego": [
      5.517159382664534,
      5.748149259151352,
      6.0961103908681,
      6.497667688192732,
      6.9344158675897365,
      7.414160204087574,
      7.891975658072342,
      8.315521787573294,
      8.684930301077872,
      9.033758010674497
    ],
    "ax_ego": [
      0.32729149090098786,
      0.6673404012708223,
      0.7942222610682454,
      0.875189981893593,
      0.9324028264303542,
      1.0186743330212833,
      0.9156471569676843,
      0.8053849364855529,
      0.6869141764566269,
      0.7136479386214146
    ],
    "ay_ego": [
      2.0486025732093114,
      1.9643189807650883,
      2.040236534818188,
      2.033688389229467,
      2.1284600885020506,
      2.0603883721443648,
      1.890280847017652,
      1.5000228990591777,
      0.8758226984246884,
      0.8541797877155815
    ],
    "a_ego": [
      2.0745824213503794,
      2.0745824325300495,
      2.1893729965410835,
      2.214011284725905,
      2.3237291965892823,
      2.2984554902856096,
      2.1003741087398633,
      1.702560892778798,
      1.11306625359544,
      1.11306625590772
    ],
    "yaw": [
      1.010905852731368,
      1.1799789133125018,
      1.3533581934746368,
      1.5126604216532327,
      1.6660394651645003,
      1.806992255394506,
      1.9413089762100757,
      2.0523271041203475,
      2.117917086295672,
      2.1488206522842956
    ],
    "yaw_diff": [
      0.33814612116226783,
      0.34675856032427,
      0.3186044563571917,
      0.30675808702253526,
      0.28190558046001124,
      0.26863344163113956,
      0.22203625582054354,
      0.1311799643506495,
      0.061807131977246854,
      0.061807131977246854
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.213384854995203,
    "v_std": 1.1856297758606054,
    "vy_max": 0.14299594205371635,
    "a_max": 2.3237291965892823,
    "ax_avg": 0.7736715503116565,
    "a_std": 0.4353296452616049,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "d38090818a0b5bed",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.850286349826245,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d38090818a0b5bed",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "f5c4d4a66e13514d": {
    "vx_ego": [
      3.170393671920037,
      2.686301694080283,
      2.239744553787144,
      1.8591613058539338,
      1.599213436281872,
      1.4708681171372677,
      1.3969013566897024,
      1.206574779950043,
      0.8856730117426335,
      0.559113356662942
    ],
    "vy_ego": [
      0.03594554886502821,
      -0.03001308711295425,
      -0.1037852742397185,
      -0.13919552035089422,
      -0.09022324301403628,
      -0.07496926584639962,
      -0.06018571239452519,
      -0.02982701270651933,
      -0.018133699037956363,
      0.00016864458779691782
    ],
    "v_ego": [
      3.1705974385648243,
      2.686469351587069,
      2.242147865188241,
      1.8643648124951995,
      1.601756488472715,
      1.4727774471495954,
      1.398197310932176,
      1.206943391505372,
      0.8858586313684967,
      0.5591133820969583
    ],
    "ax_ego": [
      -0.9743406921557031,
      -0.9608779241163923,
      -0.8373334355130828,
      -0.6964750867046785,
      -0.34792436124493575,
      -0.16768377528072168,
      -0.13123796568865226,
      -0.6308669352965237,
      -0.6531196930705967,
      -0.6531606416482049
    ],
    "ay_ego": [
      -0.3359378208406405,
      -0.372703124424368,
      -0.32471460291059273,
      0.04392942061857419,
      0.08730289417158635,
      -0.08100207761280781,
      0.09112984547925637,
      -0.0023955819792520483,
      0.03529283278432044,
      0.034526584233591784
    ],
    "a_ego": [
      1.030627965786691,
      1.0306279658586377,
      0.8980906722439144,
      0.69785911213953,
      0.3587104075412808,
      0.18622348152149584,
      0.15977500547698006,
      0.6308714836346999,
      0.6540725628877674,
      0.6540725562329718
    ],
    "yaw": [
      -0.44382292920063576,
      -0.48181437206208677,
      -0.5229031564220143,
      -0.5400231561451967,
      -0.5496125569867836,
      -0.558656246258793,
      -0.5672277741495934,
      -0.5732204122896487,
      -0.576527665080393,
      -0.5777008311394701
    ],
    "yaw_diff": [
      -0.07598288572290202,
      -0.08217756871985515,
      -0.03423999944636469,
      -0.019178801683173763,
      -0.018087378544018762,
      -0.017143055781600802,
      -0.011985276280110702,
      -0.006614505581488572,
      -0.0023463321181542707,
      -0.0023463321181542707
    ],
    "min_front_frame": [
      9,
      8.597033972682944
    ],
    "v_avg": 1.7088226119360646,
    "v_std": 0.762617880976595,
    "vy_max": 0.13919552035089422,
    "a_max": 1.0306279658586377,
    "ax_avg": -0.6053020510719491,
    "a_std": 0.29837725071827115,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f5c4d4a66e13514d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.719236520992077,
    "right_rear_min": 8.733217742261969,
    "speed_mode": "decelerating",
    "front_frame": [
      12.658810078188049,
      11.927565287010495,
      11.48588369532942,
      10.964243659344898,
      10.512143955022763,
      10.093685440828297,
      9.657021172110007,
      9.19793774099218,
      8.786646639006312,
      8.597033972682944
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f5c4d4a66e13514d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "71220ef085f459fc": {
    "vx_ego": [
      0.26322814857764715,
      1.06829516019815,
      1.9658750583567408,
      2.963524277280005,
      3.9909045895622044,
      5.027696439714586,
      5.983004968105111,
      6.785451981197877,
      7.432646081138307,
      8.008693448823431
    ],
    "vy_ego": [
      -0.007244184706317894,
      0.015441496597976556,
      0.001357204845581772,
      -0.029251531455697588,
      -0.005565809806991062,
      0.015435707973428858,
      0.010080492599317648,
      0.022675196843114254,
      0.013641194761183861,
      0.027580689289877114
    ],
    "v_ego": [
      0.26332781170183134,
      1.0684067526555494,
      1.9658755268516144,
      2.96366863770572,
      3.9909084706652287,
      5.027720134514188,
      5.983013460180537,
      6.785489868365737,
      7.432658599024655,
      8.00874094047554
    ],
    "ax_ego": [
      1.610177944235171,
      1.6101128957968711,
      1.9805014660247786,
      2.0096632288119256,
      2.099243395368154,
      2.0478653451753064,
      1.7732572529172228,
      1.4364058097132784,
      1.152121833325444,
      1.1521113621302572
    ],
    "ay_ego": [
      0.042166737223815254,
      0.04458173519837705,
      -0.11613595280506706,
      -0.055795065709358105,
      0.0909503889329768,
      0.010770600561295751,
      0.05808232051703699,
      0.03363245169462192,
      0.01935446049502243,
      0.019967619684769122
    ],
    "a_ego": [
      1.610729972971728,
      1.6107299799546428,
      1.983903630840026,
      2.010437609724879,
      2.101212698953601,
      2.0478936685791154,
      1.7742082293181314,
      1.4367994960971588,
      1.1522843893615131,
      1.1522843818196584
    ],
    "yaw": [
      -2.0291055623974987,
      -2.0306054253164425,
      -2.0331919743077242,
      -2.0382198976398582,
      -2.0425178770348653,
      -2.0415371419011303,
      -2.037463183319953,
      -2.0358551149873128,
      -2.0327365696103694,
      -2.033268774081044
    ],
    "yaw_diff": [
      -0.0029997258378875458,
      -0.00517309798256349,
      -0.010055846664267953,
      -0.00859595879001418,
      0.001961470267469956,
      0.008147917162355078,
      0.0032161366652800893,
      0.006237090753886676,
      -0.0010644089413487379,
      -0.0010644089413487379
    ],
    "min_front_frame": [
      0,
      14.212575578262044
    ],
    "v_avg": 4.34898102021406,
    "v_std": 2.5913599143468193,
    "vy_max": 0.029251531455697588,
    "a_max": 2.101212698953601,
    "ax_avg": 1.6871460533498408,
    "a_std": 0.33885844224693007,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "71220ef085f459fc",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.35670979232302,
    "right_rear_min": 3.817304489402188,
    "speed_mode": "accelerating",
    "front_frame": [
      14.212575578262044,
      15.44162111261058,
      16.613386819792236,
      17.781907875648024,
      18.82876025582611,
      19.808864455576852,
      20.6772668000012,
      21.317243132852564,
      21.98961942552901,
      22.70608339834305
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "71220ef085f459fc",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4d2d174465585abf": {
    "vx_ego": [
      0.45813701630578596,
      0.15549802674014748,
      -0.022668190024609118,
      -0.04052821677032736,
      -0.024480837292025395,
      -0.014088306842440534,
      -0.008828886101994924,
      -0.0061048568697639645,
      -0.00475168387587338,
      -0.0036622193119728434
    ],
    "vy_ego": [
      0.0029662061712336374,
      -0.005195021326152308,
      -0.0025582182811037966,
      0.0031000894005385714,
      0.0016451485887265093,
      0.0012321960675556942,
      0.0009326224168107761,
      0.0006910730815270581,
      0.0005026838388431508,
      0.000309594933966254
    ],
    "v_ego": [
      0.4581466185498025,
      0.15558478256776526,
      0.022812087141810634,
      0.040646610053902105,
      0.02453605323595484,
      0.014142089549838683,
      0.008878007342548051,
      0.0061438472803541895,
      0.004778199524723634,
      0.003675282208501058
    ],
    "ax_ego": [
      -0.6052846448724188,
      -0.6052740319253236,
      -0.10743188275816498,
      0.035993716387996845,
      0.028195686732780546,
      0.013374512010810347,
      0.00766273284373923,
      0.0032336157228059596,
      0.0021789285484650946,
      0.002178930805349905
    ],
    "ay_ego": [
      -0.01652004392336523,
      -0.016904604876355672,
      0.027433599668386266,
      -0.004777947184805793,
      -0.0010436500950732012,
      -0.0006071380630216557,
      -0.0005954564566739511,
      -0.0003686397177611058,
      -0.000386175024324199,
      -0.00038618144520846946
    ],
    "a_ego": [
      0.605510043822198,
      0.6055100489580362,
      0.11087926687947296,
      0.03630945329690804,
      0.02821499523044516,
      0.013388285482274418,
      0.007685833918730914,
      0.003254560782085487,
      0.0022128851684459364,
      0.0022128885112282742
    ],
    "yaw": [
      2.6613586713316657,
      2.6607233029475346,
      2.659633917703168,
      2.659520816345445,
      2.659535468443801,
      2.6595210114941796,
      2.659621420870034,
      2.659545983247546,
      2.659605986656515,
      2.6596058494836248
    ],
    "yaw_diff": [
      -0.0012707367682622817,
      -0.0021787704887330506,
      -0.00022620271544582238,
      2.9304196711876784e-05,
      -2.8913899242866137e-05,
      0.00020081875170863128,
      -0.00015087524497570115,
      0.00012000681793811196,
      -2.743457807596883e-07,
      -2.743457807596883e-07
    ],
    "min_front_frame": [
      9,
      10.66618117090476
    ],
    "v_avg": 0.0739343577455201,
    "v_std": 0.1351182873265174,
    "vy_max": 0.005195021326152308,
    "a_max": 0.6055100489580362,
    "ax_avg": -0.12251724365039598,
    "a_std": 0.23402548141870966,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4d2d174465585abf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.847743573964491,
      10.706705784240212,
      10.683315838640077,
      10.696045835249905,
      10.680369865155843,
      10.714216965783015,
      10.670941594588768,
      10.67087136620757,
      10.672136224026707,
      10.66618117090476
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4d2d174465585abf",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6e983b745cb9535b": {
    "vx_ego": [
      8.892863722528517,
      8.986612100142189,
      9.015076015097943,
      8.956080299734145,
      8.93508437896686,
      8.985983029937788,
      9.017121818785094,
      8.979603168198235,
      8.85653869012959,
      8.684398408699327
    ],
    "vy_ego": [
      -0.0030786213707534316,
      0.005131151330895811,
      -0.013299476613592098,
      -0.04826630469599502,
      -0.011770848149499358,
      0.03673080779465909,
      0.060173929573413165,
      0.0704074171476825,
      0.07063593666011325,
      0.046928079802667444
    ],
    "v_ego": [
      8.89286425542262,
      8.986613565027485,
      9.01508582510851,
      8.956210357704595,
      8.935092132268348,
      8.986058099443335,
      9.017322595793638,
      8.97987918976114,
      8.856820366548607,
      8.68452520093605
    ],
    "ax_ego": [
      0.18717837235288548,
      0.18779020769476706,
      -0.07413465951979756,
      -0.16128446797767643,
      0.07710573337466556,
      0.12652397645619406,
      -0.00184327349683295,
      -0.14849886367887272,
      -0.34441227381721534,
      -0.3444441665412004
    ],
    "ay_ego": [
      0.11362868426534813,
      0.1126146593702054,
      0.00393004886382374,
      0.01429825565203871,
      0.08724545450431669,
      0.08268197404136575,
      -0.007850534616388809,
      0.09476610216244957,
      -0.0255810101835319,
      -0.02514802324682952
    ],
    "a_ego": [
      0.21896853875511343,
      0.21896854479835945,
      0.07423875690088266,
      0.16191701493522287,
      0.1164348034348399,
      0.15114438610039285,
      0.008064028208485246,
      0.17616051383037076,
      0.34536097410963285,
      0.34536098062387605
    ],
    "yaw": [
      -2.1396307743149774,
      -2.134222186551357,
      -2.1289566473387165,
      -2.1245633873692302,
      -2.1258094393080267,
      -2.126481715425269,
      -2.127006828880875,
      -2.1257319268665444,
      -2.1238233294720734,
      -2.1225662025464427
    ],
    "yaw_diff": [
      0.01081717552724104,
      0.010531078425280782,
      0.008786519938972503,
      -0.0024921038775929105,
      -0.0013445522344843752,
      -0.0010502269112118157,
      0.002549804028660674,
      0.0038171947889420466,
      0.002514253851261472,
      0.002514253851261472
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.931047158801434,
    "v_std": 0.09560048101314818,
    "vy_max": 0.07063593666011325,
    "a_max": 0.34536098062387605,
    "ax_avg": -0.04960194151530832,
    "a_std": 0.10181371134750297,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6e983b745cb9535b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 19.57030288896634,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6e983b745cb9535b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0eb28cf3dad95c46": {
    "vx_ego": [
      6.234239522303489,
      6.3026887014432456,
      6.420273219271107,
      6.620585921326623,
      6.827555524722907,
      7.039461912489867,
      7.370721761237304,
      7.831601525364178,
      8.32200380590335,
      8.781737617665634
    ],
    "vy_ego": [
      0.09782775573218538,
      0.0009737994312264409,
      0.0038143158207984973,
      0.00979262344361552,
      0.04147170117598842,
      0.09725671664834934,
      0.13983764504537266,
      0.04371725230923662,
      0.02979166104034947,
      0.01282112486246234
    ],
    "v_ego": [
      6.2350070321726525,
      6.3026887766718795,
      6.420274352322879,
      6.620593163542237,
      6.827681476546245,
      7.040133726452127,
      7.3720481447525135,
      7.831723542760941,
      8.322057130814315,
      8.781746976926994
    ],
    "ax_ego": [
      0.10998892422491979,
      0.1764494542487453,
      0.3127084152646846,
      0.498318136193416,
      0.34889047349541835,
      0.52632852268569,
      0.8029786537109727,
      1.042483112085316,
      0.9194577888320692,
      0.9194481551796984
    ],
    "ay_ego": [
      -1.0188728363165955,
      -1.0094875044239027,
      -1.3870358879085547,
      -1.5067592235539116,
      -1.6219963523808238,
      -1.5204008223553376,
      -0.6754871857607647,
      -0.18728720310494712,
      -0.027913786070408786,
      -0.028229310470824942
    ],
    "a_ego": [
      1.0247923789899978,
      1.024792384579764,
      1.4218491858574958,
      1.587023730958068,
      1.6590951538813423,
      1.6089252233746876,
      1.0493129449513543,
      1.0591730431945288,
      0.919881408061247,
      0.9198814075917661
    ],
    "yaw": [
      0.27624795981323746,
      0.21074010748557198,
      0.11592960397708788,
      0.003779876749960892,
      -0.11677658882141606,
      -0.238366439739935,
      -0.3208177181317028,
      -0.33661050437690976,
      -0.34153804772144636,
      -0.34119487601683796
    ],
    "yaw_diff": [
      -0.13101570465533097,
      -0.1896210070169682,
      -0.22429945445425398,
      -0.2411129311427539,
      -0.24317970183703785,
      -0.1649025567835356,
      -0.03158557249041394,
      -0.0098550866890732,
      0.0006863434092168053,
      0.0006863434092168053
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.175395432296279,
    "v_std": 0.8383196639989122,
    "vy_max": 0.13983764504537266,
    "a_max": 1.6590951538813423,
    "ax_avg": 0.565705163592093,
    "a_std": 0.28815138972875015,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "0eb28cf3dad95c46",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "0eb28cf3dad95c46",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "530176929c015182": {
    "vx_ego": [
      3.419143601891683,
      3.8770421641888513,
      4.328089467799844,
      4.696452739576151,
      5.039099956994817,
      5.386814280019494,
      5.6692592240775195,
      5.902806275904699,
      6.111509890350335,
      6.302511715766033
    ],
    "vy_ego": [
      0.11595855036533065,
      0.04555244294487326,
      0.06644082494838255,
      0.09887494219110726,
      0.11564540709295068,
      0.09265833446502403,
      0.0974785227928181,
      0.006375968166825063,
      0.022963536923164607,
      0.015454731686987855
    ],
    "v_ego": [
      3.4211093750068358,
      3.8773097590928196,
      4.328599406794276,
      4.697493436851789,
      5.040426791132559,
      5.387611126869475,
      5.670097196009422,
      5.902809719432769,
      6.111553032076052,
      6.302530664431521
    ],
    "ax_ego": [
      0.8627546090064473,
      1.0028590491067992,
      0.8516223406134664,
      0.6767547810133887,
      0.7625530298707097,
      0.666655275922898,
      0.481762539294724,
      0.4525060682956967,
      0.38077558377263726,
      0.38445627962251794
    ],
    "ay_ego": [
      -1.1419054516641005,
      -1.0210618508854699,
      -1.2710824716635485,
      -1.3373962235718397,
      -1.4235097910637389,
      -1.2188441167890178,
      -0.8539355848176295,
      -0.4425133570158247,
      -0.22457072825473728,
      -0.21820959724964645
    ],
    "a_ego": [
      1.4311860731232893,
      1.4311860730558605,
      1.5300036799963177,
      1.498874808797819,
      1.6148892372603545,
      1.3892480836578598,
      0.9804596510237061,
      0.6329137484538034,
      0.4420656706715143,
      0.44206567303178
    ],
    "yaw": [
      0.9313467086364867,
      0.8019790612154892,
      0.6581226718435749,
      0.50743048735032,
      0.3621257509435062,
      0.2402465706941891,
      0.14609871259160673,
      0.1058585198153664,
      0.07538302043816875,
      0.05875802085387966
    ],
    "yaw_diff": [
      -0.258735294841995,
      -0.2877127787438287,
      -0.30138436898650967,
      -0.2906094728136277,
      -0.2437583604986342,
      -0.18829571620516472,
      -0.08048038555248066,
      -0.0609509987543953,
      -0.03324999916857817,
      -0.03324999916857817
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.073954050769752,
    "v_std": 0.9267704446835725,
    "vy_max": 0.11595855036533065,
    "a_max": 1.6148892372603545,
    "ax_avg": 0.6522699556519285,
    "a_std": 0.44664597198425743,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "530176929c015182",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "530176929c015182",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ae878998fecb50a5": {
    "vx_ego": [
      0.11798451161463194,
      0.19636178394975218,
      0.5856852277600237,
      1.453697933403988,
      2.4534535770510972,
      3.363067622224852,
      4.152785701133464,
      4.87332895247013,
      5.511006753744208,
      6.276454558847728
    ],
    "vy_ego": [
      -0.0016375059805686584,
      -0.0034872414707566857,
      0.02594663234034164,
      0.05203408406270038,
      0.03656195637857074,
      0.005586223928460088,
      -0.031209025209424535,
      -0.01921953080440275,
      -0.023673700565661093,
      -0.21219930180224944
    ],
    "v_ego": [
      0.11799587453288195,
      0.19639274693583905,
      0.5862596811534252,
      1.4546288968280774,
      2.453725989469699,
      3.3630722617206574,
      4.152902970548804,
      4.873366851505021,
      5.511057601215282,
      6.280040634658807
    ],
    "ax_ego": [
      0.15677030090613378,
      0.15676317583891092,
      1.4008594931356166,
      2.063839913435595,
      1.9414266457061373,
      1.7205290585069088,
      1.5224986470613349,
      1.4548494623720876,
      1.1892641634352,
      1.9428943642900804
    ],
    "ay_ego": [
      -0.0027475513124154832,
      -0.0031275321144409174,
      0.133973545184556,
      0.17026566844853674,
      0.6377120186847135,
      1.102403093125055,
      1.827526914406073,
      2.4414228242263714,
      2.9867927503698666,
      2.5613359174804993
    ],
    "a_ego": [
      0.15679437580606673,
      0.15679437093285,
      1.4072513031855736,
      2.070851415756831,
      2.043480863485811,
      2.043407159843177,
      2.378624971108766,
      2.8420296206791766,
      3.2148530579317645,
      3.2148530593117046
    ],
    "yaw": [
      -2.088723310667393,
      -2.0862994737602856,
      -2.0723826321951186,
      -2.0190526883186264,
      -1.9087127218399107,
      -1.7503169645457899,
      -1.5476451488404113,
      -1.3153121183437384,
      -1.0562139400988144,
      -0.7861965066502006
    ],
    "yaw_diff": [
      0.0048476738142149145,
      0.027833683130333853,
      0.10665988775298452,
      0.22067993295743138,
      0.3167915145882416,
      0.40534363141075724,
      0.46466606099334573,
      0.518196356489848,
      0.5400348668972277,
      0.5400348668972277
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.898944350856849,
    "v_std": 2.1589663119885474,
    "vy_max": 0.21219930180224944,
    "a_max": 3.2148530593117046,
    "ax_avg": 1.3549695224688003,
    "a_std": 1.0457952283798846,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ae878998fecb50a5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 27.913099833209582,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ae878998fecb50a5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "9d1d720d0e2e511e": {
    "vx_ego": [
      6.261539603147198,
      6.207523766004305,
      6.104749383916655,
      5.911264822581468,
      5.499675540534212,
      4.854463475899157,
      4.132945291191068,
      3.404787954283486,
      2.706848724750201,
      2.0268120232026545
    ],
    "vy_ego": [
      0.06597841689779349,
      -0.0077797314285485974,
      -0.023137155738064852,
      -0.028002588858788702,
      -0.03445589996278775,
      -0.013352580686801563,
      -0.020754489661667597,
      -0.043700849426953736,
      -0.024918712898275297,
      0.019978899220419843
    ],
    "v_ego": [
      6.261887203813009,
      6.207528641072015,
      6.104793228964142,
      5.9113311485376885,
      5.49978347393718,
      4.854481839522105,
      4.132997402469488,
      3.405068395476743,
      2.706963420686415,
      2.026910489837402
    ],
    "ax_ego": [
      -0.10802440673358094,
      -0.10811123174975228,
      -0.30317410013257645,
      -0.4704104985399996,
      -1.175134869158023,
      -1.4054194972933796,
      -1.4806620153624137,
      -1.4324087342669465,
      -1.3599707697042525,
      -1.3601997696604837
    ],
    "ay_ego": [
      -0.1398037143878456,
      -0.1397365830551115,
      0.04854056221904847,
      0.025808415640112936,
      0.07443823508806136,
      0.07409568741223693,
      -0.09360819088520267,
      -0.04097660248046853,
      0.07748665175724767,
      0.07335688058829737
    ],
    "a_ego": [
      0.17667583594476194,
      0.17667583613603394,
      0.30703537446316964,
      0.4711179379460135,
      1.1774901322533744,
      1.4073713562047039,
      1.4836180428728565,
      1.4329947187464014,
      1.3621764480604286,
      1.3621764369251432
    ],
    "yaw": [
      2.213646356288623,
      2.21426758442628,
      2.2130635462023616,
      2.2169535759641814,
      2.2223932175334005,
      2.225472470825128,
      2.2260329236975913,
      2.223189367383033,
      2.220020556435302,
      2.2169841591016546
    ],
    "yaw_diff": [
      0.0012424562753139412,
      -0.0024080764478364713,
      0.007780059523639693,
      0.010879283138438112,
      0.006158506583455292,
      0.0011209057449264037,
      -0.005687112629116697,
      -0.006337621895461609,
      -0.006072794667295156,
      -0.006072794667295156
    ],
    "min_front_frame": [
      8,
      17.714935715188847
    ],
    "v_avg": 4.711174524431619,
    "v_std": 1.4809156996410584,
    "vy_max": 0.06597841689779349,
    "a_max": 1.4836180428728565,
    "ax_avg": -0.9203515892601409,
    "a_std": 0.5436458335187423,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9d1d720d0e2e511e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.725769799576839,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.720921288792482,
      19.62470512423395,
      22.890338101310416,
      19.9130087606512,
      25.783806467392658,
      23.21494036047164,
      21.055932459939992,
      19.192529753714002,
      17.714935715188847,
      18.43038860372971
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9d1d720d0e2e511e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bd646d9caaef57d8": {
    "vx_ego": [
      1.4628209000872803,
      1.1107884642776336,
      0.7518378114399938,
      0.4036660936682469,
      0.13067302621976057,
      -0.00013538636605195994,
      -0.019783386233550047,
      -0.012723142873721595,
      -0.007405966076668009,
      -0.004057024143809114
    ],
    "vy_ego": [
      0.011392613482573477,
      0.025454339014280625,
      0.02880684826102764,
      0.012476124653254761,
      0.0095836384104599,
      0.011089314319773174,
      0.0017722404499833765,
      0.00025938159657596174,
      0.00011853790454911892,
      0.00011941224418209138
    ],
    "v_ego": [
      1.4628652628913315,
      1.1110800762082442,
      0.7523894797361362,
      0.4038588476977389,
      0.13102398981336463,
      0.01109014073629542,
      0.0198626082647364,
      0.012725786553206638,
      0.007406914658855753,
      0.004058781120916805
    ],
    "ax_ego": [
      -0.7040643569440053,
      -0.704064649111541,
      -0.7317202705530508,
      -0.6610107165505265,
      -0.43096173182870123,
      -0.09226176139640277,
      0.013670078027285613,
      0.014570829213323283,
      0.0066978750651756035,
      0.006697882071928793
    ],
    "ay_ego": [
      0.02810076818473023,
      0.02809357874601026,
      -0.015192235194895598,
      -0.04912238693900792,
      0.03778683153341289,
      -0.031776388793783424,
      -0.0054894540959561245,
      -0.0005640734783135017,
      1.50786545209192e-06,
      1.3130598972882664e-06
    ],
    "a_ego": [
      0.7046249157470573,
      0.7046249210007517,
      0.7318779668417726,
      0.662833445364087,
      0.4326151395156299,
      0.09758058977450608,
      0.014731094309102986,
      0.014581743477814026,
      0.006697875234905419,
      0.006697882200635619
    ],
    "yaw": [
      1.101481678335888,
      1.1014714687113853,
      1.1013354224241678,
      1.1017784944184188,
      1.102024279798221,
      1.1018906554819057,
      1.1018641737092376,
      1.1018960629043546,
      1.1018736824285513,
      1.101903160958857
    ],
    "yaw_diff": [
      -2.0419249005421136e-05,
      -0.00027209257443505663,
      0.0008861439885019529,
      0.0004915707596042651,
      -0.00026724863263050125,
      -5.296354533612657e-05,
      6.377839023397058e-05,
      -4.476095160654836e-05,
      5.895706061131989e-05,
      5.895706061131989e-05
    ],
    "min_front_frame": [
      5,
      9.265074761697718
    ],
    "v_avg": 0.39163618876808265,
    "v_std": 0.5087037103994918,
    "vy_max": 0.02880684826102764,
    "a_max": 0.7318779668417726,
    "ax_avg": -0.32824468220065145,
    "a_std": 0.3201345282349709,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bd646d9caaef57d8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.319312413021823,
    "right_rear_min": 7.157814807879139,
    "speed_mode": "decelerating",
    "front_frame": [
      10.635569249571658,
      10.033327138009431,
      9.628394812263064,
      9.378599941397185,
      9.27967425091142,
      9.265074761697718,
      9.287174834922368,
      9.300195072488012,
      9.286550188961739,
      9.301615393973806
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bd646d9caaef57d8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4de72cf1449b51c8": {
    "vx_ego": [
      6.349005048547491,
      6.172395033120207,
      5.9561285034756395,
      5.706056144737579,
      5.413818063745174,
      4.989355465850436,
      4.483634457494527,
      3.9413854771103156,
      3.326159485414751,
      2.677934021673633
    ],
    "vy_ego": [
      -0.07439920792804866,
      -0.02457783172183925,
      0.00843059607613128,
      0.024062929735733096,
      0.02932170182692717,
      -0.018484159741235295,
      -0.06176936413380418,
      -0.10351934794017392,
      -0.11043420385961933,
      -0.08576299233717899
    ],
    "v_ego": [
      6.349440947723024,
      6.172443966104443,
      5.956134470012002,
      5.7061068822345895,
      5.413897467585765,
      4.989389705041385,
      4.48405992408417,
      3.942744695586321,
      3.327992283013383,
      2.6793069841456663
    ],
    "ax_ego": [
      -0.3533588656541468,
      -0.3535179497572994,
      -0.5115562354951146,
      -0.4887667740220312,
      -0.6796279639423213,
      -1.0182455415306313,
      -1.0049389272773739,
      -1.164720573379147,
      -1.2965489539278365,
      -1.2965749799079314
    ],
    "ay_ego": [
      0.07235161145187391,
      0.07157024692520264,
      0.0516535327840163,
      0.020602088067924712,
      -0.07908484905409521,
      -0.0960547456584872,
      -0.11472703056123335,
      -0.08478482480949484,
      0.046308519069062415,
      0.04557405739421294
    ],
    "a_ego": [
      0.3606899549697334,
      0.360689951406383,
      0.5141574365143449,
      0.48920078231812125,
      0.6842138428315333,
      1.0227661008317224,
      1.0114665289068132,
      1.1678024150388737,
      1.29737568532393,
      1.297375687004587
    ],
    "yaw": [
      -2.04370344755472,
      -2.045914200787619,
      -2.046276212415804,
      -2.045859007834376,
      -2.049419210782207,
      -2.0486524244524063,
      -2.050639873629886,
      -2.0525602542823376,
      -2.053301085741456,
      -2.053867554190695
    ],
    "yaw_diff": [
      -0.004421506465797975,
      -0.0007240232563692217,
      0.0008344091628558203,
      -0.007120405895662429,
      0.0015335726596017452,
      -0.003974898354959677,
      -0.003840761304902962,
      -0.0014816629182368146,
      -0.001132936898478043,
      -0.001132936898478043
    ],
    "min_front_frame": [
      9,
      12.507753078450543
    ],
    "v_avg": 4.902151732553075,
    "v_std": 1.1937037093301108,
    "vy_max": 0.11043420385961933,
    "a_max": 1.297375687004587,
    "ax_avg": -0.8167856764893834,
    "a_std": 0.36025670799611176,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4de72cf1449b51c8",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 25.664506904120064,
    "speed_mode": "decelerating",
    "front_frame": [
      34.31748646107204,
      31.220717093384643,
      28.202098781559485,
      25.268808672744544,
      22.595935006987766,
      19.969844498749094,
      17.63097007342335,
      15.45495602063824,
      13.840718865451143,
      12.507753078450543
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4de72cf1449b51c8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7d10959013575b2d": {
    "vx_ego": [
      8.356121883310625,
      8.379720071039497,
      8.416813394827422,
      8.470756221237796,
      8.40920311813554,
      8.241600248404282,
      8.118563335340655,
      7.995484694943546,
      7.809476538297837,
      7.595853536217516
    ],
    "vy_ego": [
      -0.010818358013144902,
      -0.012114053403147196,
      0.007524120507162557,
      0.042830649588922576,
      0.0552590920871765,
      0.03813259437360994,
      0.012440156905488386,
      -0.029486851536952408,
      -0.03384409110649722,
      0.03862705101955344
    ],
    "v_ego": [
      8.356128886369142,
      8.379728827311302,
      8.416816757880364,
      8.470864502763755,
      8.409384677211454,
      8.241688464704984,
      8.118572866424334,
      7.995539067598259,
      7.809549873374725,
      7.595951750290322
    ],
    "ax_ego": [
      0.04554827343852055,
      0.048260389728924546,
      0.09935481782837789,
      0.11731697651332405,
      -0.3626639201221948,
      -0.306948403053996,
      -0.1848443871023917,
      -0.3063651911937457,
      -0.4391720099937092,
      -0.41445611275071476
    ],
    "ay_ego": [
      -0.2146401885079442,
      -0.21404670366526218,
      -0.10412079366450278,
      -0.08615022152681238,
      -0.036075725666354336,
      -0.1430926680899377,
      -0.10277959657478325,
      -0.39028669077303113,
      -0.5390889513661761,
      -0.5583145024969988
    ],
    "a_ego": [
      0.21941981618795522,
      0.21941981808112104,
      0.1439184473896106,
      0.14555113756802684,
      0.3644538063194728,
      0.3386633044758399,
      0.2114972645575683,
      0.4961686521433453,
      0.6953336981960517,
      0.6953336990933953
    ],
    "yaw": [
      2.375199053860188,
      2.36254610152026,
      2.3507276653792273,
      2.340910306895406,
      2.3358532533534797,
      2.3325274389461312,
      2.3281457650481436,
      2.3180693627300326,
      2.2892818158583577,
      2.2442451277038487
    ],
    "yaw_diff": [
      -0.025305904679856717,
      -0.023636872282065013,
      -0.019634716967642518,
      -0.01011410708385263,
      -0.0066516288146969416,
      -0.008763347795975207,
      -0.020152804636222044,
      -0.0575750937433499,
      -0.09007337630901802,
      -0.09007337630901802
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.179422567392864,
    "v_std": 0.2800288503019147,
    "vy_max": 0.0552590920871765,
    "a_max": 0.6953336990933953,
    "ax_avg": -0.1703969566707605,
    "a_std": 0.1994189537043742,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7d10959013575b2d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7d10959013575b2d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d7bf550698b55562": {
    "vx_ego": [
      8.103925677896472,
      7.561102641508795,
      6.9513113477487,
      6.272750907673135,
      5.564096455851946,
      4.847840526600725,
      4.183886395026095,
      3.6152263067217745,
      3.1541907219936904,
      2.737136942135541
    ],
    "vy_ego": [
      0.028378612370447143,
      0.008931019309224242,
      -0.006735710423172475,
      -0.015876196577298607,
      -0.009999320853295995,
      -0.015931362109057295,
      -0.01598559431635241,
      -0.01487903116211331,
      -0.010216965510951602,
      0.009401688658548304
    ],
    "v_ego": [
      8.103975366356309,
      7.561107916075341,
      6.951314611146207,
      6.27277099879566,
      5.564105440809125,
      4.847866703989606,
      4.183916933414202,
      3.61525692508589,
      3.154207269203362,
      2.7371530888411653
    ],
    "ax_ego": [
      -1.0857227343801297,
      -1.0857320461752593,
      -1.3534250177006306,
      -1.3608176073737563,
      -1.4738164243182819,
      -1.3912469633282634,
      -1.264606066722771,
      -1.0100858426155812,
      -0.8340975433283195,
      -0.8341183723118394
    ],
    "ay_ego": [
      -0.005401523421859962,
      -0.00299677518430121,
      -0.06625075001623335,
      0.02944797517275327,
      -0.02023405506615633,
      -0.019233411556594714,
      0.010680134091013718,
      -0.02427430708953544,
      0.036053984533178554,
      0.03556894572614813
    ],
    "a_ego": [
      1.0857361707178879,
      1.0857361819306848,
      1.3550455492032973,
      1.3611361958967259,
      1.473955314646528,
      1.3913799039407675,
      1.2646511650475951,
      1.0103774796763365,
      0.834876398987932,
      0.8348764033844902
    ],
    "yaw": [
      1.5941640987561465,
      1.596378969690143,
      1.5961532869535517,
      1.5961441823290472,
      1.5955418447828973,
      1.5947845134798837,
      1.5943213861914218,
      1.5931565960698628,
      1.5926459522298517,
      1.5920644467594793
    ],
    "yaw_diff": [
      0.004429741867992831,
      -0.00045136547318236353,
      -1.8209249009082384e-05,
      -0.0012046750922998228,
      -0.0015146626060271728,
      -0.0009262545769237462,
      -0.0023295802431180235,
      -0.001021287680022187,
      -0.0011630109407447797,
      -0.0011630109407447797
    ],
    "min_front_frame": [
      9,
      18.08565181561788
    ],
    "v_avg": 5.299167525371687,
    "v_std": 1.7938447778168334,
    "vy_max": 0.028378612370447143,
    "a_max": 1.473955314646528,
    "ax_avg": -1.169366861825483,
    "a_std": 0.22032406310864164,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d7bf550698b55562",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.017807099031823,
    "speed_mode": "decelerating",
    "front_frame": [
      32.10141224648884,
      30.241248081064228,
      28.2494231333557,
      26.01806846559963,
      24.29787929378064,
      22.779111913934585,
      21.420185849090057,
      20.05736100727412,
      18.958736741344044,
      18.08565181561788
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d7bf550698b55562",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2d2a1f08e4895258": {
    "vx_ego": [
      1.4291481899773009,
      2.3421322998731577,
      3.252714755514103,
      4.114764561574737,
      4.86440573483099,
      5.405150271557707,
      5.681245930887157,
      5.830718653544908,
      6.119069742191022,
      6.551432165176187
    ],
    "vy_ego": [
      0.018607669237735824,
      0.016874735011657593,
      0.025009204305751487,
      0.030720300796188482,
      0.038777420145483354,
      0.029819580356200248,
      -0.002523716016446631,
      -0.00804446097862943,
      0.025559235169469563,
      0.020459211137381583
    ],
    "v_ego": [
      1.4292693218109231,
      2.342193089134805,
      3.2528108984444786,
      4.114879236875895,
      4.864560292705782,
      5.405232526496245,
      5.681246491428128,
      5.830724202888436,
      6.119123122172011,
      6.551464110733226
    ],
    "ax_ego": [
      1.8260318605948407,
      1.826058369631229,
      1.8164506057045124,
      1.6318016361735865,
      1.3668084574000745,
      0.7961932132192169,
      0.3081216619576424,
      0.2900421671525629,
      0.8633399010048894,
      0.864968859546507
    ],
    "ay_ego": [
      -0.01391684599524301,
      -0.009842827922982078,
      0.014391257983263794,
      0.0017783258037959992,
      0.024027443830490602,
      -0.06257224547771595,
      -0.02341096860588357,
      0.08485020545628144,
      0.14372955025336354,
      0.13357711128351824
    ],
    "a_ego": [
      1.8260848924707502,
      1.8260848968659107,
      1.816507613876317,
      1.631802605176698,
      1.3670196330987345,
      0.7986481820429223,
      0.3090097603937541,
      0.3021986368144774,
      0.8752222393673315,
      0.8752222418586233
    ],
    "yaw": [
      -0.5278682796405381,
      -0.5300993444650439,
      -0.5325996281229943,
      -0.5330497977840214,
      -0.5334048227386807,
      -0.5335351231456202,
      -0.5315995250472166,
      -0.5279733256790848,
      -0.5239854738210208,
      -0.5122372064843415
    ],
    "yaw_diff": [
      -0.004462129649011715,
      -0.005000567315900817,
      -0.0009003393220541334,
      -0.0007100499093186663,
      -0.00026060081387901946,
      0.003871196196807203,
      0.007252398736263599,
      0.007975703716128102,
      0.02349653467335866,
      0.02349653467335866
    ],
    "min_front_frame": [
      0,
      11.945134970490196
    ],
    "v_avg": 4.559150329268993,
    "v_std": 1.634102616096625,
    "vy_max": 0.038777420145483354,
    "a_max": 1.8260848968659107,
    "ax_avg": 1.1589816732385063,
    "a_std": 0.5776242210241016,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2d2a1f08e4895258",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.103163170233933,
    "right_rear_min": 24.471745588172883,
    "speed_mode": "accelerating",
    "front_frame": [
      11.945134970490196,
      12.622490706408867,
      13.239760855041805,
      13.542584962098653,
      13.514255805172189,
      38.45802429214667,
      35.70499281627902,
      32.873811962634136,
      29.948687428088995,
      26.79986790949974
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2d2a1f08e4895258",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "bb30019d8f645e62": {
    "vx_ego": [
      7.670280671362167,
      8.075960469074982,
      8.451533858599094,
      8.735546317760077,
      8.933303218184005,
      9.006575135462533,
      8.94438495844647,
      8.824012293385099,
      8.750738205376573,
      8.759056515766378
    ],
    "vy_ego": [
      0.0006566220638659637,
      0.04612342219453058,
      0.028793696324522333,
      0.008079255936374263,
      -0.04925106760679876,
      -0.049293167792314296,
      -0.046444780990406276,
      -0.014935500864528883,
      -0.004915161168564275,
      -0.011458510107185571
    ],
    "v_ego": [
      7.670280699467561,
      8.076092178036152,
      8.4515829073609,
      8.735550053895183,
      8.933438982591033,
      9.006710025704333,
      8.94450554265381,
      8.824024933271518,
      8.750739585763395,
      8.759064010717315
    ],
    "ax_ego": [
      0.8093487364345396,
      0.8122850219213357,
      0.6900458546635052,
      0.4449779034620156,
      0.34471869920327064,
      -0.05185633999199445,
      -0.19738703590506929,
      -0.28351397165679065,
      -0.005154947764152151,
      0.0368178980824434
    ],
    "ay_ego": [
      0.2697289779990951,
      0.26075301866216277,
      0.5631889163840361,
      0.6563240899669437,
      0.41945697519348885,
      -0.014887069932743201,
      -0.28698205324334947,
      -0.5749731083617406,
      -0.8639801660591061,
      -0.8632107159228481
    ],
    "a_ego": [
      0.8531114222307788,
      0.8531114192057067,
      0.8906991843917407,
      0.7929480724740982,
      0.5429319806558333,
      0.05395094854168655,
      0.34831069582652463,
      0.6410727318048783,
      0.8639955444503008,
      0.8639955426408432
    ],
    "yaw": [
      2.5875421902867934,
      2.5986123707864053,
      2.625584340601874,
      2.663333351866485,
      2.7002091507643984,
      2.711427443126915,
      2.7027196337502626,
      2.6749531142260645,
      2.63271372091618,
      2.584120845961947
    ],
    "yaw_diff": [
      0.022140360999223674,
      0.0539439396309378,
      0.07549802252922166,
      0.07375159779582674,
      0.022436584725033626,
      -0.017415618753305218,
      -0.05553303904839613,
      -0.08447878661976915,
      -0.09718574990846562,
      -0.09718574990846562
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.61519889194612,
    "v_std": 0.408709969663064,
    "vy_max": 0.049293167792314296,
    "a_max": 0.8906991843917407,
    "ax_avg": 0.2600281818449104,
    "a_std": 0.2657318746574018,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bb30019d8f645e62",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bb30019d8f645e62",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fde2ed45bca05510": {
    "vx_ego": [
      6.251015642041518,
      5.596814105609818,
      4.8466360991757105,
      3.999806838174722,
      3.2161923420759226,
      2.601148588123434,
      2.126274271835863,
      1.6913256698362178,
      1.3077372290114528,
      0.9709237709719277
    ],
    "vy_ego": [
      -0.03016503192171882,
      -0.026490680970042924,
      -0.04292551722551785,
      -0.06941884553625854,
      -0.06522561272507965,
      -0.0634864210295858,
      -0.0854446149739927,
      -0.07092346528247406,
      0.004740332603985764,
      0.10102597071522701
    ],
    "v_ego": [
      6.25108842412252,
      5.596876797726682,
      4.846826186058483,
      4.000409193923148,
      3.216853674288461,
      2.6019232316022856,
      2.127990380922617,
      1.6928120567194118,
      1.3077458204466759,
      0.9761655678199791
    ],
    "ax_ego": [
      -1.3084510100776363,
      -1.30844893148149,
      -1.692354578829236,
      -1.6950891448994296,
      -1.4394421324622872,
      -1.0209827917035945,
      -0.8794006230718227,
      -0.8612159762401368,
      -0.67335161902719,
      -0.6736114519992298
    ],
    "ay_ego": [
      -0.0019605939664765204,
      -0.003048772877700223,
      -0.08210884077425451,
      -0.03285471185524791,
      0.04623300403017361,
      -0.05301691455899726,
      -0.06322004798602415,
      0.10551521459899332,
      0.1899077647049551,
      0.18898405792825557
    ],
    "a_ego": [
      1.3084524789620324,
      1.308452483398275,
      1.6943452665314624,
      1.6954075148019636,
      1.4401844129725996,
      1.0223583785464965,
      0.8816701369142913,
      0.8676557025935595,
      0.6996194407974743,
      0.6996194411360657
    ],
    "yaw": [
      2.620163689217702,
      2.6193320265777666,
      2.618410805710977,
      2.617902716937804,
      2.6176653984669835,
      2.6164627605954887,
      2.6134359051099367,
      2.6113654589516466,
      2.610140529000252,
      2.6087689900479623
    ],
    "yaw_diff": [
      -0.0016633252798703424,
      -0.001842441733579392,
      -0.0010161775463455314,
      -0.0004746369416412932,
      -0.0024052757429897653,
      -0.006053710971103854,
      -0.004140892316580214,
      -0.002449859902789342,
      -0.002743077904579394,
      -0.002743077904579394
    ],
    "min_front_frame": [
      9,
      12.076592097145001
    ],
    "v_avg": 3.2618691333630268,
    "v_std": 1.7513833924145226,
    "vy_max": 0.10102597071522701,
    "a_max": 1.6954075148019636,
    "ax_avg": -1.1552348259792053,
    "a_std": 0.3606261955384975,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fde2ed45bca05510",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.155824677643242,
      21.87429035647118,
      20.10823057248921,
      17.908441007379825,
      16.148012344276005,
      14.858989940713414,
      13.738409959517792,
      12.931614015746245,
      12.373242779745004,
      12.076592097145001
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fde2ed45bca05510",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "000926dda92d592d": {
    "vx_ego": [
      6.931794330392824,
      6.389164658740109,
      5.789436105409278,
      5.121648052100611,
      4.456828545228097,
      3.879123495558238,
      3.4470481513417357,
      3.11411591604756,
      2.7432228856760483,
      2.3083440893685068
    ],
    "vy_ego": [
      0.06045114946424812,
      -0.007385134602624799,
      -0.04485978583857397,
      -0.04504166423871592,
      -0.024004960951442555,
      -0.018704885169608554,
      -0.007403649582016669,
      0.012475281106430147,
      0.0063242908189717895,
      -0.020720992269700922
    ],
    "v_ego": [
      6.932057918132079,
      6.389168926918955,
      5.789609902143843,
      5.121846104785205,
      4.456893191418241,
      3.8791685921755414,
      3.4470561021972954,
      3.1141409042012564,
      2.7432301757510595,
      2.308437089123973
    ],
    "ax_ego": [
      -1.0853240441158916,
      -1.0856654503649106,
      -1.3134571140704485,
      -1.358592471195178,
      -1.3004130604254107,
      -1.0102014216375879,
      -0.7180223317472079,
      -0.6136354155514773,
      -0.8697839706954761,
      -0.8697487713485541
    ],
    "ay_ego": [
      -0.07763879838180365,
      -0.07270893368319903,
      -0.1633889011092381,
      0.09969971870440797,
      0.03397747400218032,
      0.028373442742645028,
      0.036786638404602334,
      0.0061715728117767155,
      -0.056931667919352724,
      -0.057466920647518016
    ],
    "a_ego": [
      1.0880974514032482,
      1.0880974492909135,
      1.323580569330011,
      1.3622457695650805,
      1.3008568700916145,
      1.0105998043398157,
      0.7189640642290882,
      0.6136664497347115,
      0.8716452090678112,
      0.8716452100660151
    ],
    "yaw": [
      -0.5740948007358955,
      -0.569553219552674,
      -0.5730757069450285,
      -0.5759579398297441,
      -0.5733685047597292,
      -0.5708785729386825,
      -0.5695029491610583,
      -0.5722999725502617,
      -0.5745085899746283,
      -0.5751239903190966
    ],
    "yaw_diff": [
      0.00908316236644291,
      -0.007044974784709002,
      -0.005764465769431126,
      0.005178870140029712,
      0.004979863642093463,
      0.0027512475552484705,
      -0.005594046778406803,
      -0.0044172348487332425,
      -0.0012308006889365508,
      -0.0012308006889365508
    ],
    "min_front_frame": [
      9,
      12.994411356506856
    ],
    "v_avg": 4.418160890684744,
    "v_std": 1.5090543117505222,
    "vy_max": 0.06045114946424812,
    "a_max": 1.3622457695650805,
    "ax_avg": -1.0224844051152142,
    "a_std": 0.2443441530463687,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "000926dda92d592d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.63928342570368,
    "speed_mode": "decelerating",
    "front_frame": [
      19.725085533596996,
      22.111087751601985,
      23.47810343994013,
      21.468410553882627,
      19.666506347065095,
      18.10241080991655,
      16.738610719588756,
      15.356290930160768,
      14.07445117530184,
      12.994411356506856
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "000926dda92d592d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7df960d73e50560b": {
    "vx_ego": [
      5.909273522184618,
      5.694815272615786,
      5.398025528200039,
      4.993268593588979,
      4.509739100408141,
      3.9283431611336113,
      3.3298004849481857,
      2.831957005206296,
      2.526322283365658,
      2.3393903161346588
    ],
    "vy_ego": [
      -0.01875445439782375,
      -0.048333653041527924,
      -0.012771800560579472,
      -0.0028344931248827088,
      -0.023675793554593927,
      -0.01644584274685057,
      -0.03215916058903168,
      -0.011864102077371097,
      0.022219497845263225,
      0.01831432617579909
    ],
    "v_ego": [
      5.909303282921935,
      5.695020380229938,
      5.398040637304324,
      4.99326939810715,
      4.509801248054116,
      3.928377585895845,
      3.329955777659962,
      2.831981856625341,
      2.5264199938874707,
      2.339462003488813
    ],
    "ax_ego": [
      -0.4307403088768229,
      -0.423125248457436,
      -0.7617829901078352,
      -0.8580804664928084,
      -1.0754055648202119,
      -1.246662183073885,
      -1.143987994975109,
      -0.8477751453464701,
      -0.37374072753005333,
      -0.37309277912435423
    ],
    "ay_ego": [
      0.2630886413609883,
      0.2751688193168281,
      0.2765225013630393,
      0.11516973543574205,
      0.0922195228830398,
      0.27958922297028865,
      0.2555009565376225,
      0.0338880581113884,
      -0.05817918773235753,
      -0.06219910980928428
    ],
    "a_ego": [
      0.5047304695621927,
      0.5047304775881719,
      0.8104184214205069,
      0.8657748869867125,
      1.0793523841855608,
      1.2776293407352834,
      1.172172884620187,
      0.8484521775266944,
      0.37824191901465715,
      0.37824192138868157
    ],
    "yaw": [
      1.0126085494060646,
      1.0409019468235403,
      1.0592169672017193,
      1.076111935387237,
      1.0913226994934346,
      1.1115373828179536,
      1.1528688994046175,
      1.1699692462355347,
      1.154642012383663,
      1.14387687876672
    ],
    "yaw_diff": [
      0.05658679483495144,
      0.03663004075635801,
      0.033789936371035445,
      0.030421528212395188,
      0.040429366649037846,
      0.0826630331733278,
      0.034200693661834425,
      -0.03065446770374347,
      -0.021530267233885958,
      -0.021530267233885958
    ],
    "min_front_frame": [
      3,
      18.005577794602274
    ],
    "v_avg": 4.14616321641749,
    "v_std": 1.2748754910242004,
    "vy_max": 0.048333653041527924,
    "a_max": 1.2776293407352834,
    "ax_avg": -0.7534393408804987,
    "a_std": 0.31278450121436085,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7df960d73e50560b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.5928147579091885,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.039488271485517,
      23.385628120705046,
      20.593207362864593,
      18.005577794602274,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7df960d73e50560b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "73939fc4dcdf57c4": {
    "vx_ego": [
      6.633960753828402,
      6.845138197591622,
      7.15824345905288,
      7.464777653922685,
      7.815926909774412,
      8.254429299662092,
      8.736154600096242,
      9.232785533208189,
      9.707704423648176,
      10.161824883038818
    ],
    "vy_ego": [
      -0.2384778787944457,
      -0.15412591785643553,
      -0.15462836078169517,
      -0.15165670241440798,
      -0.1522861128399593,
      -0.20035725951329564,
      -0.10614215706954955,
      -0.11297607028805423,
      -0.029346438589226587,
      0.048031223936845
    ],
    "v_ego": [
      6.6382457759569125,
      6.846873136160985,
      7.159913361838352,
      7.466318046928531,
      7.817410346086464,
      8.256860547118361,
      8.736799377019603,
      9.233476717611635,
      9.707748780761492,
      10.161938395405661
    ],
    "ax_ego": [
      0.2994084691835217,
      0.6639399788691052,
      0.6808177929837518,
      0.6164145554862539,
      0.854872742370253,
      0.9567625529120171,
      0.99901304022637,
      0.9954403731520007,
      0.9066572555048946,
      0.909468615642292
    ],
    "ay_ego": [
      2.333362011053434,
      2.256857859324074,
      2.18528938103756,
      1.9659000482849582,
      1.8214972291255243,
      1.4719369574053274,
      1.1280848325984447,
      0.5800433885300605,
      0.3299798331110954,
      0.3221504671240782
    ],
    "a_ego": [
      2.3524930831027207,
      2.352493080273255,
      2.288886748207257,
      2.0602742303057906,
      2.012128117531187,
      1.7555605911589531,
      1.5068518321590203,
      1.152107577042365,
      0.9648388825185759,
      0.9648388913733571
    ],
    "yaw": [
      1.3844823092112684,
      1.5429793228443862,
      1.7013767028277251,
      1.8425200306760297,
      1.966855121849099,
      2.075372499996032,
      2.1408131697058934,
      2.189092047162066,
      2.204266417763178,
      2.2128884045923947
    ],
    "yaw_diff": [
      0.3169940272662357,
      0.31679475996667783,
      0.28228665569660905,
      0.2486701823461388,
      0.2170347562938657,
      0.13088133941972302,
      0.09655775491234486,
      0.030348741202224083,
      0.017243973658433553,
      0.017243973658433553
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.202558448488798,
    "v_std": 1.1626855485421086,
    "vy_max": 0.2384778787944457,
    "a_max": 2.3524930831027207,
    "ax_avg": 0.788279537633046,
    "a_std": 0.5319922689863635,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "73939fc4dcdf57c4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 16.030010961468548,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "73939fc4dcdf57c4",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "69124bf1a9185f06": {
    "vx_ego": [
      3.6234334389838043,
      3.7139290341919855,
      3.810042937306189,
      3.844348296610742,
      3.8894528200341068,
      4.015917837401058,
      4.258269728489678,
      4.585589853048137,
      4.899691144568629,
      5.168250111449637
    ],
    "vy_ego": [
      -0.05155237271591018,
      -0.04877537320363892,
      0.022367130324445372,
      0.06166528691932516,
      0.034839340788771045,
      0.016621206663659294,
      0.03396129395577829,
      0.023769358254201123,
      -0.00037238664314598324,
      -0.017254589253893116
    ],
    "v_ego": [
      3.623800150929772,
      3.714249306124371,
      3.810108590661915,
      3.844842835964138,
      3.8896088516633474,
      4.015952233439405,
      4.258405153347754,
      4.585651456747432,
      4.899691158719706,
      5.168278914237263
    ],
    "ax_ego": [
      0.073317392098567,
      0.25487402854680585,
      0.10855605267157888,
      0.050951773885375,
      0.1374747071256314,
      0.37608919265540747,
      0.5906895465481025,
      0.7201465773743898,
      0.5359763656768962,
      0.5378022035707977
    ],
    "ay_ego": [
      -1.1608152983171476,
      -1.1348598291996732,
      -0.9749274109968717,
      -0.964815712473504,
      -0.7340234589592952,
      -0.7051341795372275,
      -0.431103981554269,
      -0.2817608832468538,
      -0.1567008779572194,
      -0.15031506673547823
    ],
    "a_ego": [
      1.163128366428772,
      1.163128368822113,
      0.9809525336552722,
      0.966160153544857,
      0.7467862702285348,
      0.7991603668750317,
      0.7312761334223525,
      0.7733047835311089,
      0.5584136725732791,
      0.5584136723373605
    ],
    "yaw": [
      0.16792472064605893,
      0.010080498570681109,
      -0.14793529723408916,
      -0.2844417020583624,
      -0.38753366436928655,
      -0.474550749485199,
      -0.5478463654120573,
      -0.5859792611925928,
      -0.603914105213059,
      -0.6158080552123093
    ],
    "yaw_diff": [
      -0.31568844415075564,
      -0.31603159160954053,
      -0.27301280964854646,
      -0.2061839246218483,
      -0.17403417023182488,
      -0.1465912318537167,
      -0.07626579156107094,
      -0.03586968804093238,
      -0.023787899998500617,
      -0.023787899998500617
    ],
    "min_front_frame": [
      5,
      23.785731357852622
    ],
    "v_avg": 4.181058865183511,
    "v_std": 0.5051742754483026,
    "vy_max": 0.06166528691932516,
    "a_max": 1.163128368822113,
    "ax_avg": 0.33858778401535516,
    "a_std": 0.20727989864303856,
    "ini_direction_judge": "right",
    "scenario_type": "side_to_main_ego",
    "scene_token": "69124bf1a9185f06",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      23.785731357852622,
      75.29774465607008,
      63.06609925303861,
      73.84037252733988,
      72.75286571368467
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "69124bf1a9185f06",
    "merging_vehicles": "No"
  },
  "72b0f2dcaf1f59a1": {
    "vx_ego": [
      4.305930244495653,
      4.254347366439213,
      4.255375426320328,
      4.243184997909747,
      4.155277820590618,
      4.051356829479091,
      3.9380662147864425,
      3.8189149008302747,
      3.703415042501515,
      3.6007994095020943
    ],
    "vy_ego": [
      0.04126246302562708,
      0.009445195724803401,
      -0.0023038199630145417,
      -0.001425703310278914,
      -0.0034343994268082323,
      0.010905920154069326,
      0.023059905246808787,
      0.03001494342210309,
      0.025579048062840615,
      -0.0684926540252968
    ],
    "v_ego": [
      4.306127942980484,
      4.254357851198057,
      4.25537604995344,
      4.243185237426746,
      4.155279239881687,
      4.051371508373587,
      3.938133729480553,
      3.8190328509469698,
      3.703503377172255,
      3.6014507675554945
    ],
    "ax_ego": [
      -0.10530265368946852,
      -0.09848832549354676,
      0.10284004638795756,
      -0.14731976794799032,
      -0.20104465430358745,
      -0.21806155207661967,
      -0.22861957529018567,
      -0.24518628220371713,
      -0.21167373702070924,
      -0.2010598585010978
    ],
    "ay_ego": [
      -0.274140851801798,
      -0.2766620769766989,
      -0.26449520619010947,
      -0.4763957264737678,
      -0.598762829564483,
      -0.4689759755564933,
      -0.5307544893135763,
      -0.4083353769869458,
      -0.3850976929430835,
      -0.39074408306862424
    ],
    "a_ego": [
      0.2936696366679053,
      0.2936696359782259,
      0.28378475864398667,
      0.4986541910289321,
      0.6316137103421007,
      0.5171936833945566,
      0.5778989860973802,
      0.4762920250014186,
      0.4394382824179043,
      0.4394382836686187
    ],
    "yaw": [
      2.7339246012914407,
      2.709182613670654,
      2.679976839546579,
      2.6365077666513432,
      2.57309956050221,
      2.5046136556145147,
      2.4390504259845702,
      2.3767786655904386,
      2.325173507080076,
      2.2978142862293174
    ],
    "yaw_diff": [
      -0.04948397524157322,
      -0.058411548248150424,
      -0.08693814579047121,
      -0.12681641229826646,
      -0.1369718097753907,
      -0.13112645925988886,
      -0.12454352078826325,
      -0.10321031702072503,
      -0.054718441701517406,
      -0.054718441701517406
    ],
    "min_front_frame": [
      8,
      12.976295656358634
    ],
    "v_avg": 4.032781855496927,
    "v_std": 0.24126762665948515,
    "vy_max": 0.0684926540252968,
    "a_max": 0.6316137103421007,
    "ax_avg": -0.15539163601389652,
    "a_std": 0.11550342524443928,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "72b0f2dcaf1f59a1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.172873787012286,
    "right_rear_min": 17.93503448477962,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      14.52408088255853,
      14.084992211810624,
      13.620343715611675,
      13.265963583690713,
      12.976295656358634,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "72b0f2dcaf1f59a1",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "3ae2ab1099d65c2a": {
    "vx_ego": [
      10.402126286665426,
      10.574763621401118,
      10.759171741913825,
      10.88474763684139,
      10.97888743205385,
      11.102350429305721,
      11.169675773748262,
      11.224381751311505,
      11.280457775376359,
      11.303658077846116
    ],
    "vy_ego": [
      -0.060932661297270485,
      -0.03392325508907046,
      0.04387475500869886,
      0.13269595724797423,
      0.16562334105927512,
      0.1623950118909594,
      0.09430564885571968,
      0.048102867616498735,
      0.06105332663891705,
      0.07468049443045999
    ],
    "v_ego": [
      10.40230474812907,
      10.57481803322139,
      10.759261199827991,
      10.885556454990905,
      10.980136626509418,
      11.103538048522731,
      11.170073878272468,
      11.224484824928387,
      11.280622993910514,
      11.303904773002298
    ],
    "ax_ego": [
      0.3452830703003533,
      0.34529022661932285,
      0.39240672321818826,
      0.1083504232251122,
      0.26319374260020295,
      0.22472952863438678,
      0.040250866173897865,
      0.17752556895581023,
      0.04620733151507978,
      0.046271521235167624
    ],
    "ay_ego": [
      0.05668935852111287,
      0.056645759529293765,
      0.28387903768781925,
      0.25382759297281315,
      0.2408242012834187,
      0.10911717037164569,
      -0.0585241362780574,
      0.10362698203690542,
      0.054097221705811264,
      0.05404230810008173
    ],
    "a_ego": [
      0.3499058187649557,
      0.3499058197164973,
      0.48432462715145724,
      0.2759859800196978,
      0.3567453462453273,
      0.24981977085520757,
      0.07102961885609178,
      0.2055574835396689,
      0.07114511144156134,
      0.07114509640306019
    ],
    "yaw": [
      -2.481094068390701,
      -2.480967798723456,
      -2.48027995205293,
      -2.4760795812142535,
      -2.467764772090382,
      -2.4595520374470485,
      -2.452316914289555,
      -2.4471756768075297,
      -2.4448257818565082,
      -2.4436384233420982
    ],
    "yaw_diff": [
      0.00025253933448965427,
      0.001375693341051587,
      0.008400741677353274,
      0.016629618247742783,
      0.016425469286667216,
      0.014470246314987278,
      0.010282474964050436,
      0.004699789902042895,
      0.0023747170288199726,
      0.0023747170288199726
    ],
    "min_front_frame": [
      9,
      45.123180390132895
    ],
    "v_avg": 10.968470158131517,
    "v_std": 0.29337196903585383,
    "vy_max": 0.16562334105927512,
    "a_max": 0.48432462715145724,
    "ax_avg": 0.1989509002477522,
    "a_std": 0.13597907682530455,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3ae2ab1099d65c2a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.359367518847716,
    "right_rear_min": 21.771445347269175,
    "speed_mode": "quasi_constant",
    "front_frame": [
      50.35392875136742,
      49.838855362117506,
      49.40210447446441,
      49.034849514173196,
      48.55525858304088,
      47.783193697427315,
      47.00455810977595,
      46.4242272312658,
      45.62463079194678,
      45.123180390132895
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3ae2ab1099d65c2a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0ae4ce0255695d31": {
    "vx_ego": [
      4.322924254338485,
      4.195833752887743,
      4.1624639318064185,
      4.126939368041748,
      3.971477915425992,
      3.8459594595344475,
      3.8487517830258127,
      3.956658080435907,
      4.0836202634465915,
      4.217577872580785
    ],
    "vy_ego": [
      0.0825489515297968,
      -0.007305261783010053,
      -0.04175184575433111,
      -0.03184972350426829,
      -0.025554854583252462,
      -0.03301873542326095,
      -0.014796248940588175,
      0.011149578817517769,
      0.013628583218475265,
      -0.006792452506524604
    ],
    "v_ego": [
      4.323712344519072,
      4.195840112387716,
      4.162673323744399,
      4.127062266598376,
      3.9715601321532517,
      3.846101194881831,
      3.8487802244772413,
      3.9566737897616178,
      4.083643005248151,
      4.217583342234521
    ],
    "ax_ego": [
      -0.254261134469285,
      -0.2550655128772035,
      0.12093261637222683,
      -0.26322708023054847,
      -0.3592100091350413,
      -0.15453810491621564,
      0.15642164911301315,
      0.27652230287104557,
      0.2373737915056743,
      0.2986632725369408
    ],
    "ay_ego": [
      -0.1256221710712777,
      -0.12398079845830104,
      -0.210184298396026,
      -0.4957633943854011,
      -0.709772561167358,
      -0.6767475599726316,
      -0.6685097818539282,
      -0.7107527475832518,
      -0.744540344612273,
      -0.7221404921497542
    ],
    "a_ego": [
      0.2836012241974093,
      0.283601223984786,
      0.24249151942874597,
      0.5613108220756432,
      0.7954928781886532,
      0.6941680529958187,
      0.6865661371970083,
      0.7626493638509428,
      0.7814644212305136,
      0.7814644206646673
    ],
    "yaw": [
      -0.8010479384752212,
      -0.7946026965894538,
      -0.8064837084994898,
      -0.8509317723084069,
      -0.9266560230558594,
      -1.0139439490472149,
      -1.1069680935370196,
      -1.2022639145895533,
      -1.293207219165651,
      -1.3767343805755292
    ],
    "yaw_diff": [
      0.012890483771534678,
      -0.023762023820071976,
      -0.08889612761783416,
      -0.15144850149490496,
      -0.17457585198271097,
      -0.18604828897960957,
      -0.1905916421050673,
      -0.18188660915219534,
      -0.16705432281975652,
      -0.16705432281975652
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.073362973600617,
    "v_std": 0.153462084880138,
    "vy_max": 0.0825489515297968,
    "a_max": 0.7954928781886532,
    "ax_avg": -0.019638820922939337,
    "a_std": 0.21789907765132027,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "0ae4ce0255695d31",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.17663761578567,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "0ae4ce0255695d31",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "0749cf83cbbd5284": {
    "vx_ego": [
      5.343621597235864,
      4.588674653973807,
      3.835702710911368,
      3.089282682103822,
      2.3186564471150106,
      1.5801231901457338,
      0.9762292637064424,
      0.5036737066862513,
      0.16020121592979908,
      -0.11172940327477063
    ],
    "vy_ego": [
      -0.0012594448649518586,
      -0.010777908157375143,
      -0.014802277547214832,
      -0.03746584379507684,
      -0.048388026648187574,
      -0.01132764201418679,
      0.027906979806201427,
      0.016781468017214,
      -0.005338959735505884,
      0.006675075671921436
    ],
    "v_ego": [
      5.3436217456559305,
      4.5886873115658995,
      3.8357312723799355,
      3.0895098607057174,
      2.3191612968637845,
      1.5801637926208574,
      0.9766280637165442,
      0.5039531927430173,
      0.16029015589375245,
      0.1119286209660523
    ],
    "ax_ego": [
      -1.5099006976702747,
      -1.509894153931896,
      -1.5019836903264248,
      -1.4836758909856635,
      -1.5984926919347524,
      -1.3555027811299256,
      -1.0600771322881153,
      -0.830024278435743,
      -0.5438670950145932,
      -0.5438565140460828
    ],
    "ay_ego": [
      -0.021766681152866556,
      -0.022215795015288774,
      0.008626595507110549,
      -0.093947606060478,
      0.06482364298639333,
      0.09137340737543626,
      0.06602274991478782,
      -0.11244879352651062,
      0.023929743267511544,
      0.024169057170575964
    ],
    "a_ego": [
      1.5100575834164711,
      1.5100575808974561,
      1.5020084634104525,
      1.4866473361818524,
      1.5998065479484822,
      1.3585789963142962,
      1.0621311265124023,
      0.8376067298907905,
      0.54439328582603,
      0.5443932872426621
    ],
    "yaw": [
      -1.5446674091570642,
      -1.5449648539233785,
      -1.5448159484944688,
      -1.54443062025952,
      -1.5430911200407083,
      -1.542054714477549,
      -1.5419625341356193,
      -1.5426388579716244,
      -1.542670373491723,
      -1.542230345860021
    ],
    "yaw_diff": [
      -0.0005948895326284287,
      0.00029781085781932504,
      0.0007706564698977125,
      0.002679000437623369,
      0.00207281112631863,
      0.00018436068385918603,
      -0.0013526476720100433,
      -6.303104019744765e-05,
      0.000880055263404067,
      0.000880055263404067
    ],
    "min_front_frame": [
      9,
      9.837816146882371
    ],
    "v_avg": 2.2509675313111486,
    "v_std": 1.797807575495143,
    "vy_max": 0.048388026648187574,
    "a_max": 1.5998065479484822,
    "ax_avg": -1.193727492576347,
    "a_std": 0.3950215697557653,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0749cf83cbbd5284",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.7502324134783835,
    "right_rear_min": 3.5443534968525574,
    "speed_mode": "decelerating",
    "front_frame": [
      19.615378635307394,
      17.12220675182415,
      15.050388368411083,
      13.290922473282327,
      11.988209493824355,
      11.010812291307081,
      10.358465937187407,
      10.009551229663199,
      9.853377261800256,
      9.837816146882371
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0749cf83cbbd5284",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0eeeee655d415970": {
    "vx_ego": [
      3.930853165574433,
      4.7473797818947245,
      5.431292081099271,
      5.909967894799731,
      6.304714893015417,
      6.605507379404417,
      6.749659075998105,
      6.761945314745217,
      6.690543571600562,
      6.5906692152618644
    ],
    "vy_ego": [
      -0.00011364704386807034,
      0.04157352253324231,
      0.07917732795613008,
      0.09524852945925133,
      0.12001977416662513,
      0.13933652056792,
      0.12365551728398749,
      0.09742255918518117,
      0.08463238052113509,
      0.04073323445115484
    ],
    "v_ego": [
      3.9308531672172893,
      4.747561811216219,
      5.4318691736338724,
      5.910735385713669,
      6.30585716841108,
      6.606976797698791,
      6.750791681659149,
      6.762647084880519,
      6.691078831049465,
      6.590795088711929
    ],
    "ax_ego": [
      1.6231679272850665,
      1.6386512431212925,
      1.0911670928844885,
      0.8269839901155907,
      0.7685500160241532,
      0.4608656612836012,
      0.13761688841781816,
      -0.07408622059138584,
      -0.20156098658909744,
      -0.19189332900831543
    ],
    "ay_ego": [
      0.4412861318653334,
      0.37977581213348705,
      0.07671245783473368,
      -0.17766721545062059,
      -0.44226901786425543,
      -0.6109253328753388,
      -0.5909930512930672,
      -0.49903326925413016,
      -0.40252401163429363,
      -0.40722151694192
    ],
    "a_ego": [
      1.6820842934715154,
      1.6820842916050929,
      1.0938603319350382,
      0.8458535093936068,
      0.8867192403987517,
      0.7652626477878132,
      0.6068040825954388,
      0.5045026976181403,
      0.4501693139885651,
      0.45016931656696907
    ],
    "yaw": [
      2.729545272190762,
      2.7672561549927828,
      2.7820914101483045,
      2.774848733644486,
      2.7454533487111146,
      2.7019378917042216,
      2.659550811122924,
      2.6232433874958154,
      2.5917132934375555,
      2.567836173168959
    ],
    "yaw_diff": [
      0.0754217656040419,
      0.029670510311043508,
      -0.01448535300763698,
      -0.05879076986674292,
      -0.08703091401378593,
      -0.08477416116259562,
      -0.07261484725421674,
      -0.06306018811651981,
      -0.04775424053719313,
      -0.04775424053719313
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.972916619019199,
    "v_std": 0.9277549621330858,
    "vy_max": 0.13933652056792,
    "a_max": 1.6820842934715154,
    "ax_avg": 0.6079462282943212,
    "a_std": 0.43921834830579787,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "0eeeee655d415970",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.870345270516196,
    "right_rear_min": 5.46195494247264,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0eeeee655d415970",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "fa39ec6686705dac": {
    "vx_ego": [
      1.039213128728943,
      1.4770632434128101,
      1.9909288561054181,
      2.6398154519576895,
      3.3456712767097994,
      4.062802855275167,
      4.750736758227717,
      5.384736778206277,
      5.993480069451982,
      6.588581261470408
    ],
    "vy_ego": [
      0.02066402136227368,
      0.0015511808202776922,
      0.008218492622220339,
      0.017404431720883795,
      0.002520630183618769,
      0.0018761992205946487,
      0.019646646370296478,
      -0.007482768592365102,
      -0.04378183998715311,
      -0.04406163672716863
    ],
    "v_ego": [
      1.0394185531832012,
      1.4770640579213576,
      1.9909458188745897,
      2.639872825466808,
      3.3456722262315983,
      4.062803288488819,
      4.750777382354344,
      5.384741977327523,
      5.993639978546492,
      6.588728592591295
    ],
    "ax_ego": [
      0.8756999289459234,
      0.8756964336870594,
      1.1797814508526003,
      1.4156568031460397,
      1.4076736877356775,
      1.4608659958680192,
      1.290989634369438,
      1.245097426982616,
      1.1895390227794558,
      1.1899049863374487
    ],
    "ay_ego": [
      -0.037954349235856735,
      -0.03803477970146786,
      0.06784169533714698,
      -0.020751077965326756,
      -0.0027849788707551004,
      0.02870013648724315,
      0.004001852173957161,
      -0.13167480211163246,
      -0.07133189037446644,
      -0.06494193637692326
    ],
    "a_ego": [
      0.8765220466033999,
      0.8765220410458447,
      1.1817304123200372,
      1.4158088824168282,
      1.4076764426709258,
      1.4611478897489625,
      1.2909958368911023,
      1.2520406767313386,
      1.1916758474096458,
      1.1916758500578537
    ],
    "yaw": [
      1.5939683186596854,
      1.5940601667737857,
      1.594522680373037,
      1.595654281911754,
      1.5986604801360778,
      1.600586929805134,
      1.5984200513419964,
      1.5974761568892046,
      1.5949388570406957,
      1.5895679049414313
    ],
    "yaw_diff": [
      0.00018369622820069154,
      0.0009250271985026259,
      0.002263203077434106,
      0.0060123964486473724,
      0.003852899338112614,
      -0.004333756926275356,
      -0.0018877889055834984,
      -0.005074599697017845,
      -0.010741904198528829,
      -0.010741904198528829
    ],
    "min_front_frame": [
      0,
      18.460122440959992
    ],
    "v_avg": 3.7273664700986027,
    "v_std": 1.8401789230604815,
    "vy_max": 0.04406163672716863,
    "a_max": 1.4611478897489625,
    "ax_avg": 1.213090537070428,
    "a_std": 0.19403926539274757,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fa39ec6686705dac",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.505981141391125,
    "right_rear_min": 3.789004745810477,
    "speed_mode": "accelerating",
    "front_frame": [
      18.460122440959992,
      20.375795999851672,
      22.329748183801932,
      24.323490874726346,
      26.4378730056762,
      28.254666273801305,
      30.019904365835917,
      31.281770125783062,
      32.56466068075096,
      33.64504492308965
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fa39ec6686705dac",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "db5d96563dcb5427": {
    "vx_ego": [
      0.44236702838366804,
      1.3102007130842952,
      2.1916141701096357,
      3.0768745466705516,
      3.930362758170628,
      4.740399200437611,
      5.503036379212634,
      6.186610231742167,
      6.8089720529757916,
      7.421448798300563
    ],
    "vy_ego": [
      -0.009715667268714034,
      0.019681302629893427,
      0.023095702493051373,
      0.017301099112606577,
      -0.009172767363767376,
      -0.062126964516395766,
      -0.0386421704830493,
      -0.01067441602030117,
      0.00899047366473571,
      0.11093385647883336
    ],
    "v_ego": [
      0.4424737076838276,
      1.3103485270109647,
      2.1917358604765758,
      3.0769231878582244,
      3.9303734619595296,
      4.740806296320233,
      5.503172049670748,
      6.186619440587423,
      6.808977988422497,
      7.422277856986367
    ],
    "ax_ego": [
      1.7352883551782208,
      1.7358424562256576,
      1.788503872446616,
      1.7517823925385074,
      1.6612395278648813,
      1.5815416618033156,
      1.468752236396676,
      1.2653903240391202,
      1.2246936729469664,
      1.224941870058931
    ],
    "ay_ego": [
      0.07889246982951403,
      0.06557967206973014,
      0.04160741715592142,
      0.11403203816653218,
      0.04932144904493807,
      0.05443392988654139,
      0.010339924840474635,
      0.07402234642410399,
      0.22063601514708847,
      0.21925387027264936
    ],
    "a_ego": [
      1.737080797606414,
      1.7370808058994542,
      1.7889877805392993,
      1.7554899192351834,
      1.6619715323303905,
      1.5824781454233376,
      1.4687886321611916,
      1.2675535412525814,
      1.2444094357309885,
      1.2444094360993116
    ],
    "yaw": [
      -0.6972851195914812,
      -0.689614581157306,
      -0.6762099523017997,
      -0.6592693669817649,
      -0.6401196086128131,
      -0.6219643389427878,
      -0.6233840404018085,
      -0.6245555733441818,
      -0.6162516513755487,
      -0.6151232068770311
    ],
    "yaw_diff": [
      0.0153410768683504,
      0.026809257711012613,
      0.03388117064006968,
      0.03829951673790344,
      0.036310539340050685,
      -0.0028394029180414115,
      -0.0023430658847465313,
      0.01660784393726611,
      0.0022568889970351336,
      0.0022568889970351336
    ],
    "min_front_frame": [
      0,
      13.246872559541552
    ],
    "v_avg": 4.161370837697639,
    "v_std": 2.257177852444851,
    "vy_max": 0.11093385647883336,
    "a_max": 1.7889877805392993,
    "ax_avg": 1.5437976369498891,
    "a_std": 0.21355581021323994,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "db5d96563dcb5427",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 43.400709829119045,
    "speed_mode": "accelerating",
    "front_frame": [
      13.246872559541552,
      14.82311264907468,
      16.750694764643306,
      18.79202524903499,
      20.67048815454144,
      22.54490770256886,
      24.491721354488558,
      26.524753122404636,
      28.449736020824975,
      30.38906353330401
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "db5d96563dcb5427",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "66583dab627951a2": {
    "vx_ego": [
      6.29919910521768,
      6.234009155450087,
      6.334784351614894,
      6.53272728858108,
      6.708262762669864,
      6.9085416822295285,
      7.135704635092885,
      7.404840290926928,
      7.836824113337029,
      8.375405704083658
    ],
    "vy_ego": [
      0.03099891500657881,
      -0.011313067035902513,
      0.006721813210357919,
      0.05245112031845389,
      0.06499426277340414,
      0.04888679917376714,
      0.1150872050437155,
      0.16240388935052552,
      0.13990520342283297,
      -0.10345981367141954
    ],
    "v_ego": [
      6.299275378954852,
      6.234019420544122,
      6.334787917857848,
      6.532937849619769,
      6.708577609837764,
      6.90871464848826,
      7.136632658617849,
      7.406621008085331,
      7.838072827508398,
      8.376044689532286
    ],
    "ax_ego": [
      -0.26209288155427557,
      0.00831401159536449,
      0.3870219465102318,
      0.44139001329528726,
      0.3141043004728955,
      0.5474456213917691,
      0.42498352055638033,
      0.7132733207996818,
      1.041314261382321,
      1.1153796109313099
    ],
    "ay_ego": [
      -1.8696380845112874,
      -1.8879009908956315,
      -1.8033161673305838,
      -2.0350967041693537,
      -2.222811359822418,
      -2.4747153373059554,
      -2.5036410431995395,
      -2.133671123727858,
      -1.3944976180066995,
      -1.3359967471692609
    ],
    "a_ego": [
      1.8879192900165143,
      1.8879192975902108,
      1.844379349926808,
      2.082412960763974,
      2.2448946195603825,
      2.5345438858063494,
      2.539454560715307,
      2.249735827690599,
      1.7403904727343709,
      1.7403904690982785
    ],
    "yaw": [
      0.7885904438421681,
      0.6449104729024931,
      0.49434891814697596,
      0.33824243482091154,
      0.17630755343599175,
      0.005865183840914785,
      -0.17985877519795895,
      -0.34627009882910875,
      -0.45954764010474314,
      -0.513784846465103
    ],
    "yaw_diff": [
      -0.28735994187935,
      -0.3011231095110344,
      -0.31221296665212883,
      -0.3238697627698396,
      -0.34088473919015394,
      -0.37144791807774746,
      -0.3328226472622996,
      -0.22655508255126877,
      -0.10847441272071978,
      -0.10847441272071978
    ],
    "min_front_frame": [
      9,
      66.90835644131718
    ],
    "v_avg": 6.977568400904647,
    "v_std": 0.6787118569107303,
    "vy_max": 0.16240388935052552,
    "a_max": 2.539454560715307,
    "ax_avg": 0.4731133725380966,
    "a_std": 0.2886972961637813,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "66583dab627951a2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 46.200279036839525,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      71.09832121067758,
      66.90835644131718
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "66583dab627951a2",
    "pedestrians": "No"
  },
  "a208267045685266": {
    "vx_ego": [
      0.7451706593855717,
      1.0041478544779319,
      1.2509836845627784,
      1.4944087560272736,
      1.7586646471581204,
      2.0683814642291165,
      2.4252532220059146,
      2.7799018255688233,
      3.122262974109824,
      3.468230458219087
    ],
    "vy_ego": [
      -0.006903647063076817,
      -0.0048261629123864565,
      -0.012372605102612733,
      -0.021076386944052887,
      -0.004054410196516183,
      0.018950516759934987,
      0.023880790921321303,
      0.0215558597268264,
      -0.005931642869826628,
      -0.0540892900347502
    ],
    "v_ego": [
      0.7452026381809844,
      1.0041594522291222,
      1.2510448674605121,
      1.494557373999941,
      1.7586693206529298,
      2.068468274751163,
      2.425370792894377,
      2.779985398323063,
      3.1222686085415936,
      3.4686522112507965
    ],
    "ax_ego": [
      0.5179525150318902,
      0.5179517822942254,
      0.4693853038564395,
      0.5042167971988376,
      0.5527919475002773,
      0.6861081245012096,
      0.741471068218473,
      0.6770653578014312,
      0.6921804271301345,
      0.6919831362605149
    ],
    "ay_ego": [
      0.0037712903527194874,
      0.0038702431534631716,
      -0.036016687907048914,
      -0.0053340878199246225,
      0.07234260938879264,
      0.01540743058818763,
      -0.004328499130345711,
      0.0019314766406725078,
      -0.07922709994340658,
      -0.08093203455261368
    ],
    "a_ego": [
      0.5179662445167493,
      0.5179662417222107,
      0.47076508503094816,
      0.5042450109523389,
      0.5575055070170417,
      0.6862810994220205,
      0.7414837023898535,
      0.677068112775069,
      0.6966998471849251,
      0.696699831409312
    ],
    "yaw": [
      -1.5542882303546872,
      -1.5544792766283888,
      -1.5549116622182209,
      -1.5561057428582385,
      -1.5562722663661064,
      -1.556834994708563,
      -1.5577995659786004,
      -1.557138546363807,
      -1.5543704696406533,
      -1.5519069823164444
    ],
    "yaw_diff": [
      -0.0003820925474031789,
      -0.0008647711796641033,
      -0.0023881612800353835,
      -0.00033304701573566575,
      -0.0011254566849130399,
      -0.001929142540074924,
      0.0013220392295867356,
      0.0055361534463074236,
      0.004926974648417737,
      0.004926974648417737
    ],
    "min_front_frame": [
      0,
      12.814717025171941
    ],
    "v_avg": 2.011837893828448,
    "v_std": 0.8746365861922735,
    "vy_max": 0.0540892900347502,
    "a_max": 0.7414837023898535,
    "ax_avg": 0.6051106459793433,
    "a_std": 0.09632973804065607,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a208267045685266",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.38527772790408,
    "right_rear_min": 4.542295732183825,
    "speed_mode": "accelerating",
    "front_frame": [
      12.814717025171941,
      12.932451602662537,
      13.077912707143506,
      13.26824501443033,
      13.597208300116824,
      14.091657905550415,
      14.489576901778419,
      15.12253359198293,
      15.607480245896758,
      16.245076289574303
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a208267045685266",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9dff2b84ff305fff": {
    "vx_ego": [
      8.72267383427813,
      8.810569363581347,
      8.945609522076309,
      9.099686845624774,
      9.233064475458308,
      9.32770226979948,
      9.43708202115206,
      9.54760405574928,
      9.58890974388887,
      9.58024547977743
    ],
    "vy_ego": [
      0.023903379629883315,
      -0.04842551917590421,
      -0.07155923699559308,
      -0.0667527549230239,
      -0.07732660801779676,
      -0.03223721321825938,
      -0.010941363562867457,
      0.0026246941010318603,
      0.014201604603290341,
      0.008908616343872744
    ],
    "v_ego": [
      8.722706586304394,
      8.810702443130495,
      8.945895731890783,
      9.099931682091155,
      9.233388273666268,
      9.32775797670257,
      9.43708836386457,
      9.547604416521414,
      9.588920260489198,
      9.58024962181263
    ],
    "ax_ego": [
      0.09910317391650636,
      0.2564652115689033,
      0.291186338767527,
      0.3315029316178384,
      0.2020845436815281,
      0.17813161434205507,
      0.259552426955947,
      0.18253752138768195,
      -0.017389348031960496,
      -0.017348834260056616
    ],
    "ay_ego": [
      1.5972326283060627,
      1.5796199214669078,
      1.27982475113402,
      0.936099373819137,
      0.3639939882708706,
      0.2269235626310636,
      0.10447159753399603,
      0.07233614368706111,
      0.023052844027446284,
      0.023083337786551722
    ],
    "a_ego": [
      1.600304192335263,
      1.6003041901589217,
      1.312532238651719,
      0.9930640620502796,
      0.4163289400129495,
      0.2884877385700836,
      0.27978880790701305,
      0.1963478148538292,
      0.028875994229297354,
      0.028875985412639353
    ],
    "yaw": [
      1.295649146487576,
      1.3946361334932682,
      1.4777543210447344,
      1.5386357512902578,
      1.575178948699743,
      1.5862351560596857,
      1.5928027306800705,
      1.5960268884755933,
      1.5973059478993998,
      1.5990615848836316
    ],
    "yaw_diff": [
      0.1979739740113846,
      0.16623637510293232,
      0.12176286049104679,
      0.07308639481897039,
      0.022112414719885454,
      0.013135149240769639,
      0.006448315591045528,
      0.0025581188476131445,
      0.003511273968463513,
      0.003511273968463513
    ],
    "min_front_frame": [
      2,
      23.245087020845716
    ],
    "v_avg": 9.229424535647349,
    "v_std": 0.3058776796178384,
    "vy_max": 0.07732660801779676,
    "a_max": 1.600304192335263,
    "ax_avg": 0.17658255799459702,
    "a_std": 0.6046933044107177,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "9dff2b84ff305fff",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 16.182598026484566,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      23.245087020845716,
      23.76941332666742,
      24.4802307433484,
      25.280657701232634,
      26.136913361491093,
      27.004649731709552,
      27.68554435350159,
      28.44695893217727
    ],
    "safe_frame": [
      -1,
      -1,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.625,
    "unsafe_ratio": 0.375,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9dff2b84ff305fff",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "08684d8a5d675f4a": {
    "vx_ego": [
      3.536350011500917,
      2.8962102209570864,
      2.390651985967136,
      2.112685159122985,
      1.992978345072625,
      2.0481054294051613,
      2.32916141501806,
      2.7998048848726382,
      3.3841463229503774,
      4.0098102636469894
    ],
    "vy_ego": [
      0.014165132652543155,
      0.0539921230999314,
      0.05972851053720296,
      0.022773391115899932,
      0.005865204241704336,
      0.0207615725123953,
      0.023167896682636524,
      0.036939397249433625,
      0.03478362756020914,
      0.007632250753507819
    ],
    "v_ego": [
      3.536378381172694,
      2.8967134468796067,
      2.391398003883838,
      2.112807896833366,
      1.9929869755091767,
      2.048210656366207,
      2.3292766363499267,
      2.800048555369324,
      3.3843250783405554,
      4.009817527232418
    ],
    "ax_ego": [
      -1.2793920807938466,
      -1.2794039405373718,
      -0.7401349028824111,
      -0.3706904930670341,
      -0.10818583180960774,
      0.32896772257984364,
      0.7957336014290715,
      1.087441006921701,
      1.2512536692818512,
      1.2519353628660195
    ],
    "ay_ego": [
      0.008794453397118818,
      -0.006855410262867734,
      -0.07612369571370792,
      -0.12076530578999142,
      0.032815769333212126,
      -0.0033790305562765854,
      -0.027672290690961054,
      0.019795636889150925,
      -0.10729699563951456,
      -0.09902632027524949
    ],
    "a_ego": [
      1.2794223066714767,
      1.2794223070247084,
      0.7440393077747098,
      0.38986626005956326,
      0.11305330124002269,
      0.3289850761765178,
      0.7962146193805822,
      1.0876211706172008,
      1.255845687242092,
      1.2558456771839954
    ],
    "yaw": [
      2.6040104062810956,
      2.5917783488774226,
      2.5814985732867797,
      2.575936492616771,
      2.5734220620114376,
      2.569588100269774,
      2.564814501751341,
      2.558588040786262,
      2.5521678842828592,
      2.545559806736622
    ],
    "yaw_diff": [
      -0.024464114807345894,
      -0.02055955118128594,
      -0.01112416134001748,
      -0.005028861210666591,
      -0.007667923483327677,
      -0.009547197036865462,
      -0.012452921930158567,
      -0.012840313006805104,
      -0.013216155092474757,
      -0.013216155092474757
    ],
    "min_front_frame": [
      3,
      12.718544915452696
    ],
    "v_avg": 2.750196315793711,
    "v_std": 0.6640122809153928,
    "vy_max": 0.05972851053720296,
    "a_max": 1.2794223070247084,
    "ax_avg": 0.09375241139882158,
    "a_std": 0.42367333749175395,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "08684d8a5d675f4a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.060768482354979,
    "speed_mode": "accelerating",
    "front_frame": [
      14.339682508707792,
      13.309327627845242,
      12.85360142083249,
      12.718544915452696,
      12.820213626884248,
      13.333010917804296,
      13.887128681366143,
      14.45960628430133,
      14.914525570861773,
      15.326637199358872
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "08684d8a5d675f4a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "af2b5213e6895680": {
    "vx_ego": [
      1.3885548046744998,
      1.7499907589913137,
      2.1119279420070036,
      2.482889384069959,
      2.751229149888733,
      2.7959571857813623,
      2.5821362953309013,
      2.152463737859503,
      1.650931643606899,
      1.147224627551286
    ],
    "vy_ego": [
      0.04595149613497751,
      0.040261222423191856,
      0.013677805632482776,
      0.011781773359614611,
      0.028532313786617802,
      0.018613304860630286,
      -0.0038365204492161187,
      -0.022777201668227387,
      -0.011514365951630356,
      0.008612844889483773
    ],
    "v_ego": [
      1.3893149339086803,
      1.7504538333203776,
      2.111972233386807,
      2.482917337268963,
      2.7513770966785884,
      2.7960191415368154,
      2.5821391454672518,
      2.15258424776266,
      1.6509717963932167,
      1.1472569577724414
    ],
    "ax_ego": [
      0.7225291974720718,
      0.7225328429963049,
      0.7248928229806231,
      0.7589999961558787,
      0.3143112150323594,
      -0.13537481465217874,
      -0.7199138647809896,
      -0.9985978933438486,
      -1.0074349485149365,
      -1.0073859224133397
    ],
    "ay_ego": [
      0.0023452336565174536,
      -0.0004884431682339874,
      -0.08947069383478284,
      0.09263820777745324,
      -0.02192633303000166,
      -0.02068077098189202,
      -0.06805532682520449,
      0.010799720081294928,
      0.04284548866765375,
      0.0439831387654121
    ],
    "a_ego": [
      0.7225330036202774,
      0.7225330080937836,
      0.7303934623640155,
      0.7646324814607619,
      0.3150750767281675,
      0.13694537133659251,
      0.7231234335942837,
      0.9986562904946861,
      1.008345630916534,
      1.008345631801037
    ],
    "yaw": [
      -0.5869292582654193,
      -0.5830073976451184,
      -0.5808870736573382,
      -0.5797149222919222,
      -0.5793679138855861,
      -0.5796268596226181,
      -0.5795306276005721,
      -0.5776045156829874,
      -0.5764754077405954,
      -0.5753461273663483
    ],
    "yaw_diff": [
      0.007843721240601731,
      0.004240647975560563,
      0.00234430273083186,
      0.0006940168126723378,
      -0.0005178914740640028,
      0.00019246404409201112,
      0.003852223835169255,
      0.0022582158847841427,
      0.002258560748494176,
      0.002258560748494176
    ],
    "min_front_frame": [
      0,
      14.17250748206402
    ],
    "v_avg": 2.08150067234958,
    "v_std": 0.549900555958891,
    "vy_max": 0.04595149613497751,
    "a_max": 1.008345631801037,
    "ax_avg": -0.06254413690680553,
    "a_std": 0.27376877687923057,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "af2b5213e6895680",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.221264568996322,
    "right_rear_min": 10.166107978441442,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      14.17250748206402,
      14.892892554830208,
      15.37381371481058,
      15.418238773570248,
      15.225162272378025,
      14.702466509782443,
      52.32153689184078,
      51.21799882954315,
      50.24237445056549,
      49.542331314593
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "af2b5213e6895680",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a8159c45d59f5a5f": {
    "vx_ego": [
      6.168854668333605,
      6.536428887695349,
      6.79992809527712,
      7.026982591683218,
      7.1429431702546555,
      7.113203430247225,
      6.853698895911058,
      6.614020962178579,
      6.718526574157428,
      6.884774044581947
    ],
    "vy_ego": [
      0.0063423069009944655,
      -0.052387385987546775,
      -0.026777478275141764,
      0.014598014338266463,
      0.05210994559659543,
      0.03102725186877242,
      0.010059989851832096,
      0.007253469007185487,
      -0.026163711330316364,
      -0.05913922912910907
    ],
    "v_ego": [
      6.168857928650824,
      6.536638818391977,
      6.799980818670145,
      7.0269977547912745,
      7.143133246686478,
      7.113271099180701,
      6.853706279029492,
      6.614024939547045,
      6.7185775181544285,
      6.885028038677203
    ],
    "ax_ego": [
      0.7355606559762011,
      0.7353570305790824,
      0.3185401506672234,
      0.5896762453568525,
      -0.12565081026680383,
      0.006357634385396313,
      -1.0443771012227012,
      0.08542478719561367,
      0.3324669566015407,
      0.332483093642998
    ],
    "ay_ego": [
      -0.02681914634615118,
      -0.031918343373761426,
      0.12299819533316171,
      0.07124988900613252,
      0.04315931604683166,
      -0.08633828539117709,
      0.07700008018167204,
      0.061525940629201754,
      -0.06916555218532641,
      -0.06908793564429408
    ],
    "a_ego": [
      0.736049417655415,
      0.7360494161846817,
      0.34146212621945643,
      0.593965168188793,
      0.13285651162940654,
      0.08657204536839082,
      1.0472117941974852,
      0.10527504755507804,
      0.33958526299147884,
      0.33958526235690606
    ],
    "yaw": [
      2.508312308163238,
      2.515245638552568,
      2.5148230449568207,
      2.515867664308595,
      2.514625796265617,
      2.5160724449595238,
      2.5186913120322076,
      2.5243700618792424,
      2.529118418718676,
      2.528884967668603
    ],
    "yaw_diff": [
      0.0138666607786595,
      -0.0008451871914942899,
      0.0020892387035482685,
      -0.0024837360859555346,
      0.0028932973878132984,
      0.005237734145367767,
      0.011357499694069517,
      0.009496713678867508,
      -0.00046690210014599387,
      -0.00046690210014599387
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.786021644177955,
    "v_std": 0.28008626259254044,
    "vy_max": 0.05913922912910907,
    "a_max": 1.0472117941974852,
    "ax_avg": 0.19658386429154034,
    "a_std": 0.30471685219949796,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "a8159c45d59f5a5f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 32.68011967084904,
    "right_rear_min": 38.198664611418714,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a8159c45d59f5a5f",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d663992c13fa5438": {
    "vx_ego": [
      2.200856406548672,
      2.0092121444590676,
      1.6916513252652836,
      1.2387310713687132,
      0.7632902036928993,
      0.3277540728610127,
      0.045562314116209486,
      -0.05787897742787054,
      -0.0534381269395581,
      -0.01948936759522877
    ],
    "vy_ego": [
      -0.0390124441480274,
      0.010109540540377382,
      0.041158255433301205,
      0.02024930249445639,
      0.0004662959906477082,
      0.00231683982943863,
      -0.0005950843597902367,
      -0.0014713097021106653,
      -0.0008256638439483894,
      -0.003118828239995868
    ],
    "v_ego": [
      2.2012021472469847,
      2.0092375778517937,
      1.6921519459735592,
      1.2388965660723223,
      0.7632903461236089,
      0.3277622614392592,
      0.04556620011608834,
      0.05789767508575342,
      0.05344450515807522,
      0.01973733869731553
    ],
    "ax_ego": [
      -0.38337276422672545,
      -0.383019191206482,
      -0.8869506453141125,
      -0.9247780249289823,
      -0.976983804267398,
      -0.7651526879709993,
      -0.3636269866098452,
      -0.0501347567251319,
      0.06789833120834243,
      0.0678977324880077
    ],
    "ay_ego": [
      0.11097686290693967,
      0.11219107881824388,
      -0.0011418922887896366,
      -0.08077099924848574,
      0.005508616457871318,
      -9.838379446969192e-05,
      -0.010763068873247919,
      0.007210858309472681,
      -0.004591408202499623,
      -0.004600258001927024
    ],
    "a_ego": [
      0.3991121903068185,
      0.399112188486983,
      0.8869513803704913,
      0.9282986317511991,
      0.976999334010048,
      0.7651526942961232,
      0.36378624086477873,
      0.05065066938795034,
      0.06805339381808778,
      0.06805339411592452
    ],
    "yaw": [
      -0.3306857165611264,
      -0.3275170563400867,
      -0.3292346133971699,
      -0.32894158099435666,
      -0.3279814029609762,
      -0.32894082606709707,
      -0.32750044967839687,
      -0.3272397068757865,
      -0.3273706517448455,
      -0.3272402652283003
    ],
    "yaw_diff": [
      0.006337320442079353,
      -0.0034351141141664154,
      0.0005860648056265072,
      0.0019203560667608865,
      -0.0019188462122416983,
      0.0028807527774004082,
      0.0005214856052206951,
      -0.00026188973811791527,
      0.0002607730330903557,
      0.0002607730330903557
    ],
    "min_front_frame": [
      9,
      12.118018022079255
    ],
    "v_avg": 0.8409186563764761,
    "v_std": 0.831134293006688,
    "vy_max": 0.041158255433301205,
    "a_max": 0.976999334010048,
    "ax_avg": -0.45982227975533274,
    "a_std": 0.35271893210671995,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d663992c13fa5438",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.042544539019836,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.198153090003721,
      14.234594743402841,
      13.326403810607369,
      12.688887443264282,
      12.36364060287512,
      12.176771973114631,
      12.148777469206047,
      12.148876192203941,
      12.150018229500647,
      12.118018022079255
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d663992c13fa5438",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b20e8629283e540c": {
    "vx_ego": [
      5.629564086720777,
      5.4968605639433274,
      5.339670844431753,
      5.1577041338069645,
      4.973842827661349,
      4.73096882500618,
      4.404542983927449,
      4.026840019928848,
      3.5845502319575133,
      3.103264021557167
    ],
    "vy_ego": [
      0.03741342989278795,
      -0.011156562555918015,
      -0.018212152494752942,
      0.015893811484709808,
      0.026240141544839446,
      0.0017805623717781494,
      0.007640039967542478,
      0.02792988643819183,
      0.03557104832639091,
      0.032030575969634434
    ],
    "v_ego": [
      5.629688408005604,
      5.496871885747695,
      5.339701902669567,
      5.157728622672287,
      4.973912043784704,
      4.730969160075207,
      4.404549610059492,
      4.02693687865318,
      3.584726721091261,
      3.1034293201695613
    ],
    "ax_ego": [
      -0.2654247181385786,
      -0.2656351936877966,
      -0.36226147814828774,
      -0.36528562982848045,
      -0.3717499447735749,
      -0.6007420961789164,
      -0.7052164749175089,
      -0.8072341378137767,
      -0.9629605750942578,
      -0.9628348546076557
    ],
    "ay_ego": [
      -0.04505327530793282,
      -0.04379523102593495,
      0.13993039801196466,
      0.19746466352526673,
      0.1656291424264846,
      0.19239370447079926,
      0.2050712946068493,
      0.10239157643775104,
      0.023313492228718424,
      0.02802911598658986
    ],
    "a_ego": [
      0.2692212447317564,
      0.26922124430692357,
      0.38834764688094764,
      0.41524195922418106,
      0.4069779284679806,
      0.6307982273607272,
      0.7344280171445031,
      0.8137020266518693,
      0.9632427461994003,
      0.9632427464509324
    ],
    "yaw": [
      -2.359249655032497,
      -2.3545118002294405,
      -2.348786693849612,
      -2.3392150057297743,
      -2.3233412982802624,
      -2.2999937430030917,
      -2.279581759198319,
      -2.2662021256081015,
      -2.2599840790325594,
      -2.255086763414748
    ],
    "yaw_diff": [
      0.009475709606112659,
      0.011450212759656964,
      0.019143376239675547,
      0.031747414899023774,
      0.04669511055434139,
      0.04082396760954499,
      0.02675926718043531,
      0.012436093151084293,
      0.009794631235623186,
      0.009794631235623186
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.644851455292856,
    "v_std": 0.8060279121665537,
    "vy_max": 0.03741342989278795,
    "a_max": 0.9632427464509324,
    "ax_avg": -0.5669345103188834,
    "a_std": 0.2571921972788397,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b20e8629283e540c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b20e8629283e540c",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "2f8dd3404f375ed8": {
    "vx_ego": [
      9.240977430916226,
      9.117278166774502,
      8.979466549840364,
      8.8122764526034,
      8.675129279547612,
      8.631090807846512,
      8.683143978680873,
      8.769633034459726,
      8.874091930314219,
      9.012545152274944
    ],
    "vy_ego": [
      -0.035929690239913104,
      -0.04826122027007029,
      -0.045975245765094375,
      -0.03175050279922331,
      0.003678240784773301,
      0.025997358760636136,
      0.01926895392528527,
      0.03966422983713702,
      -0.009501979087067625,
      -0.022483965349214152
    ],
    "v_ego": [
      9.241047279466965,
      9.117405898375095,
      8.97958424666338,
      8.812333650715704,
      8.675130059331648,
      8.631129960552968,
      8.683165358732222,
      8.769722732801528,
      8.874097017458988,
      9.012573198065713
    ],
    "ax_ego": [
      -0.24827035460978283,
      -0.24750350775026325,
      -0.30516742027143445,
      -0.36494134910182885,
      -0.18466390436678365,
      0.009620055022382085,
      0.1986521663442175,
      0.14742049107267763,
      0.272625796359104,
      0.28266720601432715
    ],
    "ay_ego": [
      -0.13089813922423457,
      -0.13234237841420934,
      -0.13211323818271348,
      -0.18883851171939092,
      -0.15508045280628463,
      -0.20637960699272503,
      -0.043735592757955966,
      0.06250240027711342,
      0.41437962956432806,
      0.40759606876468724
    ],
    "a_ego": [
      0.28066437577725184,
      0.2806643751405126,
      0.33253730933271936,
      0.41090409074704703,
      0.24114457161335168,
      0.20660369706543322,
      0.20340964890373422,
      0.16012292536832423,
      0.49601945751986926,
      0.49601945992911783
    ],
    "yaw": [
      -0.5000592328688396,
      -0.5058853858412223,
      -0.5134386897484664,
      -0.5240483885855924,
      -0.5379692896385015,
      -0.5510281398101884,
      -0.5574913670256536,
      -0.5592895968189295,
      -0.5401688224594758,
      -0.5157376555793763
    ],
    "yaw_diff": [
      -0.011652305944765518,
      -0.015106607814488138,
      -0.021219397674252072,
      -0.027841802105818214,
      -0.026117700343373684,
      -0.012926454430930434,
      -0.003596459586551859,
      0.03824154871890739,
      0.048862333760198995,
      0.048862333760198995
    ],
    "min_front_frame": [
      5,
      56.05380984452236
    ],
    "v_avg": 8.879618940216421,
    "v_std": 0.19329626027759125,
    "vy_max": 0.04826122027007029,
    "a_max": 0.49601945992911783,
    "ax_avg": -0.04395608212873846,
    "a_std": 0.11439718654030218,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "2f8dd3404f375ed8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 39.51288877540795,
    "right_rear_min": 40.30940258763283,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      56.0655996340348,
      56.05380984452236,
      56.345442129503695,
      56.96985390370547,
      57.77540539058574,
      58.918226106359356
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "2f8dd3404f375ed8",
    "pedestrians": "No"
  },
  "8fe72ff0763b5ba9": {
    "vx_ego": [
      0.6259273232560987,
      1.5031741715895965,
      2.3985516349520455,
      3.3403577491484135,
      4.308082317837222,
      5.2569387681277755,
      6.160852739746684,
      7.004559637049991,
      7.734377921941128,
      8.382128388067903
    ],
    "vy_ego": [
      -0.0014092796916603256,
      -0.008859539790563753,
      -0.002613514681579998,
      0.015944134003024413,
      0.024281378956829025,
      0.025061969189596578,
      0.007349290120891805,
      -0.021945333464570282,
      -0.01968350898527227,
      -0.0009333709674521629
    ],
    "v_ego": [
      0.625928909755568,
      1.5032002799292483,
      2.3985530588231985,
      3.3403958010548633,
      4.308150745113938,
      5.256998508097984,
      6.160857123234519,
      7.004594014405886,
      7.734402968551376,
      8.3821284400345
    ],
    "ax_ego": [
      1.7544934019083578,
      1.7544936537325233,
      1.8270881330012627,
      1.9401030309317278,
      1.9307403454524863,
      1.8646140788960943,
      1.75091435338322,
      1.6240060244020793,
      1.2954704523068399,
      1.2956121206320688
    ],
    "ay_ego": [
      -0.014950887919209843,
      -0.014921493580225986,
      0.04998864479437981,
      0.03545441031452223,
      0.0067579288133891025,
      0.010495038940142254,
      -0.050775513083125556,
      -0.014608232933541077,
      0.07139058214096705,
      0.06877153674978409
    ],
    "a_ego": [
      1.7545571026300442,
      1.7545571042170056,
      1.8277718430817393,
      1.9404269596769745,
      1.9307521723825232,
      1.8646436144904166,
      1.7516504290560473,
      1.624071724944341,
      1.2974360516104502,
      1.2974360452044074
    ],
    "yaw": [
      -2.059740651168339,
      -2.0597574049276606,
      -2.0584592402622306,
      -2.0574775268410415,
      -2.0568982816762813,
      -2.0561608958537794,
      -2.054825509963756,
      -2.0528631632360246,
      -2.0512527858357408,
      -2.04923120354543
    ],
    "yaw_diff": [
      -3.350751864328316e-05,
      0.002596329330859959,
      0.0019634268423782686,
      0.001158490329520312,
      0.0014747716450038695,
      0.002670771780047154,
      0.003924693455462425,
      0.0032207548005676045,
      0.004043164580621372,
      0.004043164580621372
    ],
    "min_front_frame": [
      0,
      13.044825050380776
    ],
    "v_avg": 4.671520984900108,
    "v_std": 2.5422308365532724,
    "vy_max": 0.025061969189596578,
    "a_max": 1.9404269596769745,
    "ax_avg": 1.703753559464666,
    "a_std": 0.22199068254578405,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "8fe72ff0763b5ba9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.804894687017882,
    "right_rear_min": 8.345150982684286,
    "speed_mode": "accelerating",
    "front_frame": [
      13.044825050380776,
      14.02691770554188,
      15.143878317040244,
      16.121494461654006,
      17.1176250908421,
      18.026166767234074,
      18.891749495340754,
      19.81039913571356,
      20.50883240207137,
      21.263307137313063
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8fe72ff0763b5ba9",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "6f4f660648e15c84": {
    "vx_ego": [
      1.0397760665841516,
      0.8349513106751079,
      0.5959739563675583,
      0.3379919522020827,
      0.13661005813009425,
      0.024444677584751322,
      -0.009871306372652041,
      -0.009220544337184163,
      -0.005065324945788061,
      -0.0022994256237173303
    ],
    "vy_ego": [
      0.04684995298289696,
      0.03758472630512116,
      0.022023289862444895,
      -0.002763918239744395,
      -0.02244929325748645,
      -0.012758031579816427,
      -0.0001498884266869999,
      -0.001991753709836677,
      -0.0008865837523255081,
      -0.00034250072011663595
    ],
    "v_ego": [
      1.040831007770094,
      0.8357968071544132,
      0.5963807357425001,
      0.33800325293909667,
      0.1384423300514274,
      0.027573712699127714,
      0.009872444279063594,
      0.009433213700252269,
      0.0051423290011735345,
      0.0023247935268079717
    ],
    "ax_ego": [
      -0.40963929878744343,
      -0.40963673738055817,
      -0.546251544547145,
      -0.4856383270830449,
      -0.31993000417761325,
      -0.12877791263381447,
      -0.008486344281553489,
      0.011089025194699658,
      0.005531806039053943,
      0.005531816939826739
    ],
    "ay_ego": [
      -0.018757613350973812,
      -0.01881334564365386,
      -0.04390220966997635,
      -0.05680497056791817,
      -0.02245892825749779,
      0.06113029491543476,
      -0.010698736599316819,
      0.0033328462213212213,
      0.0010881129198928676,
      0.001088051356528413
    ],
    "a_ego": [
      0.4100685347227863,
      0.410068529133968,
      0.5480129140212373,
      0.4889492707973298,
      0.3207173382147636,
      0.14255056555051046,
      0.013655804776234053,
      0.011579047616434563,
      0.005637807000966905,
      0.005637805815226114
    ],
    "yaw": [
      -0.5716386383623757,
      -0.5717746664019092,
      -0.5719349961920276,
      -0.5727830089134376,
      -0.5733859833567966,
      -0.5737994820210376,
      -0.5737671541457083,
      -0.573800148636527,
      -0.5738114343989968,
      -0.5737996717407619
    ],
    "yaw_diff": [
      -0.0002720560790669957,
      -0.00032065958023674845,
      -0.0016960254428199928,
      -0.001205948886717989,
      -0.0008269973284820153,
      6.465575065850437e-05,
      -6.598898163723277e-05,
      -2.2571524939785093e-05,
      2.352531646998557e-05,
      2.352531646998557e-05
    ],
    "min_front_frame": [
      6,
      8.623232736945084
    ],
    "v_avg": 0.30038006268639567,
    "v_std": 0.37008981845275163,
    "vy_max": 0.04684995298289696,
    "a_max": 0.5480129140212373,
    "ax_avg": -0.2286207520717592,
    "a_std": 0.2106606594705555,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6f4f660648e15c84",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.406849223382025,
    "right_rear_min": 31.100051517275098,
    "speed_mode": "decelerating",
    "front_frame": [
      9.82775794316301,
      9.345392123478005,
      8.94644772044931,
      8.750608225441619,
      8.664284111263342,
      8.643304936598257,
      8.623232736945084,
      8.634700877450303,
      8.645546942342191,
      8.648610258711878
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6f4f660648e15c84",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "667ea4f79faf5baa": {
    "vx_ego": [
      3.550882627435103,
      3.458878908776863,
      3.356558003032596,
      3.258147177797323,
      3.1320793432753447,
      2.9315496830776224,
      2.7053117798029693,
      2.4785828510245906,
      2.2436549121239127,
      2.0051374689143513
    ],
    "vy_ego": [
      0.001219438214572377,
      -0.04253237399082377,
      -0.04340510381158269,
      -0.03261837137155277,
      -0.018556340454753295,
      -0.013915000666414601,
      0.010690967945367058,
      0.0352014715416471,
      0.02465959098262549,
      -0.02393676666670974
    ],
    "v_ego": [
      3.55088283682382,
      3.459140400217765,
      3.35683863638976,
      3.2583104502701388,
      3.1321343123089704,
      2.931582707616494,
      2.7053329042349517,
      2.4788328086000244,
      2.243790422505006,
      2.005280339015647
    ],
    "ax_ego": [
      -0.19314847768149607,
      -0.17806591761995333,
      -0.23967051102926623,
      -0.16277493967081774,
      -0.35035812527328264,
      -0.45978801247066564,
      -0.45052205564473713,
      -0.4495812293122154,
      -0.4835325223521444,
      -0.46996071160131037
    ],
    "ay_ego": [
      -0.3679843077107102,
      -0.3755147327144796,
      -0.4320166471013105,
      -0.4973230030616246,
      -0.4815978270537813,
      -0.39234663400411685,
      -0.23997292009384136,
      -0.28362862358961344,
      -0.2824806398447736,
      -0.30452576495056255
    ],
    "a_ego": [
      0.41559449605596327,
      0.4155944964787949,
      0.49404487370044425,
      0.5232837187980064,
      0.5955562802690717,
      0.6044343617185288,
      0.5104479650275087,
      0.5315717052940473,
      0.55999911790943,
      0.5599991178274616
    ],
    "yaw": [
      -1.7141722878309866,
      -1.7547385571766967,
      -1.8135752979078257,
      -1.887265634096134,
      -1.9676285455884392,
      -2.0408606001040273,
      -2.105682829344994,
      -2.1656267174509627,
      -2.2209890398573746,
      -2.2672215610888724
    ],
    "yaw_diff": [
      -0.08113253869142012,
      -0.11767348146225798,
      -0.14738067237661667,
      -0.16072582298461047,
      -0.14646410903117602,
      -0.12964445848193318,
      -0.11988777621193769,
      -0.11072464481282385,
      -0.09246504246299558,
      -0.09246504246299558
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.912212581798258,
    "v_std": 0.5072650264272084,
    "vy_max": 0.04340510381158269,
    "a_max": 0.6044343617185288,
    "ax_avg": -0.3437402502655889,
    "a_std": 0.062239302201168835,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "667ea4f79faf5baa",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.998481977211394,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "667ea4f79faf5baa",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "750d0f9df6ef55a2": {
    "vx_ego": [
      0.09653628872709058,
      0.43726496942969495,
      0.8582143125514515,
      1.4162067797734905,
      2.045117834859266,
      2.6950886014621376,
      3.3560494728999997,
      3.99177344468179,
      4.624868030299841,
      5.28479771884057
    ],
    "vy_ego": [
      0.0010052957765289668,
      -0.01420620668576078,
      -0.026012837940086037,
      -0.034298953144226506,
      -0.027952103930020844,
      -0.00882783206152693,
      0.012050429543701585,
      0.02393739637025577,
      0.022770342173141445,
      -0.0041473671790402955
    ],
    "v_ego": [
      0.09654152298777197,
      0.43749567974866976,
      0.8586084520931865,
      1.4166220601357264,
      2.04530884674505,
      2.695103059318891,
      3.3560711073224527,
      3.9918452165147524,
      4.624924084368544,
      5.284799346211455
    ],
    "ax_ego": [
      0.6814727914430794,
      0.6814562865699119,
      1.0023977617777449,
      1.2295799780060468,
      1.2859896771833486,
      1.3138941826995945,
      1.329955662838377,
      1.2129152967360832,
      1.3198378040226866,
      1.3199311872151813
    ],
    "ay_ego": [
      -0.029943996897226557,
      -0.03031726828318622,
      -0.015342498559832302,
      -0.017509785994065913,
      0.0395378691151901,
      0.03706352828324248,
      0.03567149393411477,
      0.016381628638118664,
      -0.06844960185854009,
      -0.06662464288430552
    ],
    "a_ego": [
      0.6821303456286077,
      0.682130344774229,
      1.0025151695007368,
      1.2297046454002312,
      1.2865973313031172,
      1.3144168396899965,
      1.3304339595016954,
      1.213025916793709,
      1.3216115832278486,
      1.321611585157583
    ],
    "yaw": [
      0.06476790120763216,
      0.06531563416212223,
      0.06596026827696318,
      0.06602614808263145,
      0.0655389006768235,
      0.06554992080373498,
      0.06465875250307357,
      0.06496410833195085,
      0.06220507429062444,
      0.060822410470989643
    ],
    "yaw_diff": [
      0.001095465908980131,
      0.0012892682296818947,
      0.000131759611336546,
      -0.0009744948116159058,
      2.2040253822963596e-05,
      -0.0017823366013228203,
      0.000610711657754559,
      -0.005518068082652816,
      -0.0027653276392695936,
      -0.0027653276392695936
    ],
    "min_front_frame": [
      0,
      11.250976906285986
    ],
    "v_avg": 2.48073193754465,
    "v_std": 1.7137204269080002,
    "vy_max": 0.034298953144226506,
    "a_max": 1.3304339595016954,
    "ax_avg": 1.1377430628492053,
    "a_std": 0.24610742230515187,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "750d0f9df6ef55a2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.806175007788328,
    "right_rear_min": 6.840560719125072,
    "speed_mode": "accelerating",
    "front_frame": [
      11.250976906285986,
      11.431445627211879,
      12.152941783778514,
      12.734375505470126,
      13.656610208701089,
      14.478101654121636,
      15.46595080004705,
      16.1671169576715,
      16.821447284506576,
      17.39575274076784
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "750d0f9df6ef55a2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "773005dea0fc53ab": {
    "vx_ego": [
      8.335526933912572,
      8.373582021372808,
      8.39774939196985,
      8.403783308031489,
      8.408733662302884,
      8.45645562290178,
      8.535758584347096,
      8.629776348698448,
      8.68281103235622,
      8.671079465750559
    ],
    "vy_ego": [
      0.01940240609835575,
      -0.018317228317498824,
      -0.015535975522956491,
      -0.035687529721543765,
      -0.02779373027006704,
      -0.014596256866434842,
      -0.023777623458393737,
      -0.041886888355647134,
      -0.04306385026547632,
      -0.024533818958984988
    ],
    "v_ego": [
      8.335549515139618,
      8.373602055836614,
      8.397763762863624,
      8.403859083071675,
      8.40877959605245,
      8.456468219819763,
      8.535791702333913,
      8.629878002612276,
      8.68291782287536,
      8.671114173486226
    ],
    "ax_ego": [
      0.07524220459644426,
      0.0769934252521606,
      0.019334597015255944,
      0.003209964308946628,
      0.01356669322945845,
      0.1767182048381186,
      0.14037019067372053,
      0.23579833590126348,
      -0.023525024553599776,
      -0.02354481007667196
    ],
    "ay_ego": [
      -0.21319927229504193,
      -0.2125731212574832,
      -0.30458752393397015,
      -0.3086847695769165,
      -0.09094137722584826,
      -0.04182691564457695,
      -0.05452664025472162,
      0.0029643262626311007,
      0.018642300507944815,
      0.018617305483669376
    ],
    "a_ego": [
      0.22608697233513614,
      0.2260869731170036,
      0.3052005674601035,
      0.308701459082426,
      0.09194775286496275,
      0.18160070152272484,
      0.15058866135019758,
      0.23581696810025443,
      0.030016031524436933,
      0.030016031466848166
    ],
    "yaw": [
      -2.5122512447276675,
      -2.5204772820508428,
      -2.5362130959734372,
      -2.5520606727849033,
      -2.564886291036374,
      -2.570400832423771,
      -2.572154465063612,
      -2.5715455764310136,
      -2.5707884307737148,
      -2.571850455050905
    ],
    "yaw_diff": [
      -0.016452074646350567,
      -0.031471627845188976,
      -0.03169515362293218,
      -0.025651236502941543,
      -0.011029082774793864,
      -0.003507265279681704,
      0.0012177772651966734,
      0.0015142913145975712,
      -0.002124048554380309,
      -0.002124048554380309
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.489572393409151,
    "v_std": 0.1235851473086063,
    "vy_max": 0.04306385026547632,
    "a_max": 0.308701459082426,
    "ax_avg": 0.06941637811850968,
    "a_std": 0.09653732033562037,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "773005dea0fc53ab",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.538437087040533,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "773005dea0fc53ab",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "abb5501b10e65b19": {
    "vx_ego": [
      2.8984210820396292,
      2.586342620427639,
      2.12465829790495,
      1.506886529970976,
      0.883755784951477,
      0.3280988527230236,
      0.007425135194455638,
      -0.05555963945586518,
      -0.01982720041039313,
      0.025699040906828848
    ],
    "vy_ego": [
      0.04452460426817195,
      -0.008320154219775944,
      -0.018176856363513738,
      -0.018845194666168408,
      -0.023802855185463434,
      -0.006707919025409292,
      9.136382618516164e-06,
      0.002070116333739609,
      0.0006956643526508793,
      0.0006727789900223772
    ],
    "v_ego": [
      2.898763048128807,
      2.5863560031841613,
      2.124736049716204,
      1.5070043648145066,
      0.8840762768846256,
      0.32816741662726934,
      0.007425140815461422,
      0.05559819168013422,
      0.019839400822742673,
      0.025707845788791366
    ],
    "ax_ego": [
      -0.624158858165125,
      -0.6241466796620996,
      -1.2224676506875842,
      -1.2486177792779303,
      -1.2437559426154392,
      -0.9788766567381288,
      -0.3038169743025226,
      0.05187699701137277,
      0.09105259880976206,
      0.09105260132772253
    ],
    "ay_ego": [
      -0.10628172355853,
      -0.10635317862750254,
      0.07523868105909037,
      -0.06988796061896985,
      0.05488684632552299,
      0.01321452032666448,
      0.013683725123249307,
      -0.005457582944486301,
      -5.041849620670419e-05,
      -4.219160569002289e-05
    ],
    "a_ego": [
      0.6331430209585859,
      0.633143014126664,
      1.2247808032889531,
      1.250572143368158,
      1.244966429543697,
      0.9789658485638201,
      0.30412497136471434,
      0.05216328239781242,
      0.09105261276886151,
      0.09105261110301434
    ],
    "yaw": [
      -2.1127563626758104,
      -2.112870850389836,
      -2.1120157770396846,
      -2.1109129887591855,
      -2.1099023857953307,
      -2.110023883300685,
      -2.10993387781813,
      -2.109869003158867,
      -2.1098091483167165,
      -2.1098994960613555
    ],
    "yaw_diff": [
      -0.0002289754280511147,
      0.0017101467003026727,
      0.002205576560998068,
      0.0020212059277096017,
      -0.00024299501070856877,
      0.00018001096511000014,
      0.00012974931852571814,
      0.00011970968430130569,
      -0.00018069548927801549,
      -0.00018069548927801549
    ],
    "min_front_frame": [
      5,
      10.209694298626783
    ],
    "v_avg": 1.0437673738462703,
    "v_std": 1.089798706980252,
    "vy_max": 0.04452460426817195,
    "a_max": 1.250572143368158,
    "ax_avg": -0.6011858344299973,
    "a_std": 0.4749434533099181,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "abb5501b10e65b19",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.585741833483994,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.8394819583868,
      12.039159786283122,
      11.26864810312531,
      10.564849294005732,
      10.275328147825805,
      10.209694298626783,
      10.328026923146359,
      10.447588019067169,
      10.691446797533413,
      11.144354405245634
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "abb5501b10e65b19",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "685e5e9083185108": {
    "vx_ego": [
      5.4360263310624575,
      5.500023783393365,
      5.575683047356439,
      5.670710773709975,
      5.82466177062356,
      5.967022633074789,
      6.050067026873755,
      6.113629272456191,
      6.1853536275965615,
      6.280783613625899
    ],
    "vy_ego": [
      0.002910787384591551,
      -0.01979607431868924,
      -0.035454117906377425,
      -0.03647118422754958,
      -0.05844423294319001,
      -0.06802695273339432,
      -0.0515585825807352,
      -0.020655771661296285,
      0.028892771760492153,
      0.04698346650436169
    ],
    "v_ego": [
      5.436027110370915,
      5.500059408992879,
      5.575795767337117,
      5.670828054733218,
      5.824954975836972,
      5.96741039060705,
      6.050286713627939,
      6.1136641665973235,
      6.185421108597372,
      6.280959341320111
    ],
    "ax_ego": [
      0.05675732274870665,
      0.2023093202044507,
      0.10737397192996873,
      0.26937599839372345,
      0.340507016639774,
      0.22868948591153426,
      0.10533297750129411,
      0.15876791880831564,
      0.12731708798387453,
      0.26969815506063494
    ],
    "ay_ego": [
      1.244668850150045,
      1.229427866036035,
      1.137205676561592,
      0.7707127037570827,
      0.11057231729179581,
      -0.3313063121770349,
      -0.8792999185160663,
      -1.3699463785501875,
      -1.3231663188623244,
      -1.301630371769518
    ],
    "a_ego": [
      1.245962254733038,
      1.2459622541744615,
      1.1422635075375236,
      0.816432177368805,
      0.35801014752685,
      0.4025701845080292,
      0.8855864626628215,
      1.3791157790937996,
      1.3292775286840472,
      1.329277517885548
    ],
    "yaw": [
      -0.014016533392684435,
      0.10350872543213549,
      0.21283161286811425,
      0.29809158456600926,
      0.34030573054016344,
      0.33258966584225175,
      0.27962698139061803,
      0.18205871073364252,
      0.06472608350679428,
      -0.043656909579904354
    ],
    "yaw_diff": [
      0.23505051764963986,
      0.21864577487195752,
      0.17051994339579002,
      0.08442829194830836,
      -0.01543212939582339,
      -0.10592536890326743,
      -0.19513654131395103,
      -0.2346652544536965,
      -0.21676598617339726,
      -0.21676598617339726
    ],
    "min_front_frame": [
      0,
      36.311178672384905
    ],
    "v_avg": 5.86054070380209,
    "v_std": 0.28675612300728276,
    "vy_max": 0.06802695273339432,
    "a_max": 1.3791157790937996,
    "ax_avg": 0.1866129255182277,
    "a_std": 0.3627482575033852,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "685e5e9083185108",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      36.311178672384905,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "685e5e9083185108",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "6743ebcc6f5259b8": {
    "vx_ego": [
      7.733000132110513,
      7.418264039087872,
      7.082225755529471,
      6.729024102278844,
      6.414125085334661,
      6.150244677516126,
      5.904944517710462,
      5.631656055670161,
      5.4277649454863806,
      5.327617789965428
    ],
    "vy_ego": [
      0.03291943228346805,
      0.0015973205452086692,
      -0.01385907832102573,
      0.024699845893109806,
      0.0014336453790477766,
      0.006586832237215123,
      0.04643001440766775,
      0.054743415299749965,
      0.03894782146091303,
      0.04358812309185439
    ],
    "v_ego": [
      7.733070200912642,
      7.418264211057545,
      7.082239315805199,
      6.729069434285601,
      6.414125245554413,
      6.150248204721038,
      5.905127052272181,
      5.631922120456308,
      5.427904681941948,
      5.327796095988545
    ],
    "ax_ego": [
      -0.6295057747699986,
      -0.6295702127586447,
      -0.714474439298203,
      -0.6981016049684348,
      -0.5568539515317257,
      -0.4967440570065634,
      -0.4921112566398421,
      -0.612739747701356,
      -0.2111177076462484,
      -0.19553951136009112
    ],
    "ay_ego": [
      -0.034107290374628174,
      -0.032896421050344155,
      0.02825338957239837,
      0.21487204838292595,
      0.5902839814930101,
      0.6985072128362264,
      0.58111271195564,
      0.43539868117188935,
      0.41009434655721344,
      0.4177467643840388
    ],
    "a_ego": [
      0.6304290822332639,
      0.6304290819044491,
      0.7150328512962263,
      0.7304216919258211,
      0.811493377757168,
      0.8571271694186186,
      0.7614889841015976,
      0.751679459596537,
      0.4612462027594316,
      0.46124620286380336
    ],
    "yaw": [
      -1.781957816671076,
      -1.7800343911031244,
      -1.7780655277923993,
      -1.7748465570727179,
      -1.7405871686184513,
      -1.6900702286767624,
      -1.643610845577611,
      -1.6011136380165008,
      -1.5596616805053123,
      -1.5220304063894967
    ],
    "yaw_diff": [
      0.0038468511359028845,
      0.003937726621450199,
      0.0064379414393629375,
      0.06851877690853314,
      0.10103387988337786,
      0.09291876619830264,
      0.08499441512222061,
      0.08290391502237693,
      0.07526254823163114,
      0.07526254823163114
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.381976656299542,
    "v_std": 0.7985258790999727,
    "vy_max": 0.054743415299749965,
    "a_max": 0.8571271694186186,
    "ax_avg": -0.5236758263681107,
    "a_std": 0.1283831630545456,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6743ebcc6f5259b8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6743ebcc6f5259b8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "38dd6b1bb76e5301": {
    "vx_ego": [
      9.557509121011032,
      9.495148177641475,
      9.454953816280485,
      9.452315175759836,
      9.495344899009012,
      9.687282447640031,
      9.64339629619015,
      9.524778732903837,
      9.536822294677895,
      9.399184120315827
    ],
    "vy_ego": [
      -0.04704577435704227,
      0.006956893118633012,
      0.012189239646676953,
      -0.0012678829059629138,
      -0.03044375643257169,
      -0.043808203633919796,
      -0.023149803819041637,
      0.019409841851524945,
      0.021634632054206016,
      0.011189867214594251
    ],
    "v_ego": [
      9.55762490910236,
      9.495150726224946,
      9.454961673405137,
      9.452315260793345,
      9.495393702919442,
      9.687381502710641,
      9.643424082699608,
      9.524798509823603,
      9.536846834125495,
      9.399190781164382
    ],
    "ax_ego": [
      -0.12605770393161636,
      -0.12438767041333873,
      -0.03630116958047616,
      0.02575841489897706,
      0.14642406071940278,
      0.6227816138865219,
      -0.7980291097578215,
      0.3235712037987441,
      -0.27527221208327934,
      -0.2751367770353837
    ],
    "ay_ego": [
      -0.13157837158174793,
      -0.13315825265654918,
      -0.08467219404982335,
      -0.051787898907031026,
      -0.03208348651208718,
      0.19172650387517592,
      0.061244252965436174,
      0.033866178636068556,
      -0.061852104975768915,
      -0.062451796228191636
    ],
    "a_ego": [
      0.18221803584885768,
      0.18221803643273837,
      0.09212575838559717,
      0.05784014532582632,
      0.14989781741016323,
      0.651625652413484,
      0.8003757358529526,
      0.3253386573759388,
      0.2821355589697184,
      0.2821355577192389
    ],
    "yaw": [
      2.6159040412856145,
      2.6032876527137585,
      2.596980646255367,
      2.594793671497073,
      2.595661442314154,
      2.601250652544234,
      2.60557702430847,
      2.6035882211745225,
      2.602628237456235,
      2.6004491889464942
    ],
    "yaw_diff": [
      -0.02523277714371197,
      -0.012614012916783324,
      -0.0043739495165873166,
      0.0017355416341615637,
      0.011178420460160154,
      0.008652743528472229,
      -0.0039776062678953394,
      -0.0019199674365752983,
      -0.0043580970194812,
      -0.0043580970194812
    ],
    "min_front_frame": [
      0,
      25.922505160062457
    ],
    "v_avg": 9.524708798296896,
    "v_std": 0.08329456800657128,
    "vy_max": 0.04704577435704227,
    "a_max": 0.8003757358529526,
    "ax_avg": -0.051664934949827004,
    "a_std": 0.22965675461798166,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "38dd6b1bb76e5301",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 20.172132656755537,
    "right_rear_min": 19.842703527956157,
    "speed_mode": "quasi_constant",
    "front_frame": [
      25.922505160062457,
      26.29888509649496,
      26.536751953622232,
      26.799921725509467,
      27.00715288066289,
      27.22439791514409,
      27.34376288994145,
      27.693163287459914,
      28.001489579296212,
      28.232834853976804
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "38dd6b1bb76e5301",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "d4278d63cd605813": {
    "vx_ego": [
      7.042164819033788,
      6.820502881429088,
      6.503597495408964,
      6.073416224451744,
      5.6041922110947695,
      5.057365502022626,
      4.42338283861622,
      3.752680474090708,
      3.0830303771542527,
      2.420748116648113
    ],
    "vy_ego": [
      0.03937514361253891,
      0.0016963602138662104,
      -0.007906830691703615,
      0.010921150235506882,
      0.011884569106024756,
      0.005261623882534483,
      0.0056955641388654055,
      0.017993352205610824,
      0.008143316390227806,
      -0.018709651670029914
    ],
    "v_ego": [
      7.042274898097325,
      6.8205030923840555,
      6.503602301821763,
      6.073426043589906,
      5.604204812627579,
      5.057368239087841,
      4.423386505429448,
      3.7527236111050404,
      3.0830411317492543,
      2.420820417817274
    ],
    "ax_ego": [
      -0.4437619117246394,
      -0.4435106187250922,
      -0.8238106016557508,
      -0.8970107371761462,
      -0.9800404465187517,
      -1.207327205506856,
      -1.3286285879892739,
      -1.3542361539296692,
      -1.3245352949368696,
      -1.324575864678637
    ],
    "ay_ego": [
      0.030620261515198227,
      0.034066957666370634,
      0.10174611642622577,
      0.05182905498204016,
      0.004376123505093588,
      0.011720022800725038,
      0.03358126432001185,
      0.035000957206976824,
      -0.0497117710065722,
      -0.048619036406861826
    ],
    "a_ego": [
      0.44481708005961934,
      0.44481707085784866,
      0.8300699847652783,
      0.8985068244313031,
      0.9800502167081062,
      1.2073840897127326,
      1.3290529056947664,
      1.3546883876433087,
      1.3254678448420052,
      1.3254678540011036
    ],
    "yaw": [
      -2.026576480278395,
      -2.018807331972163,
      -2.0123156803901834,
      -2.009208843126684,
      -2.0069712880139967,
      -2.004984611336575,
      -2.0026943597152838,
      -2.0015094439412535,
      -1.9997015729974557,
      -1.998876589901636
    ],
    "yaw_diff": [
      0.015538296612464642,
      0.012983303163959015,
      0.006213674526998503,
      0.004475110225374834,
      0.00397335335484339,
      0.004580503242582523,
      0.002369831548060475,
      0.003615741887595725,
      0.0016499661916391517,
      0.0016499661916391517
    ],
    "min_front_frame": [
      9,
      14.983922185924417
    ],
    "v_avg": 5.078135105370949,
    "v_std": 1.5303779068437104,
    "vy_max": 0.03937514361253891,
    "a_max": 1.3546883876433087,
    "ax_avg": -1.0127437422841685,
    "a_std": 0.33808411144990136,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d4278d63cd605813",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.418328980419255,
    "right_rear_min": 22.82566981180569,
    "speed_mode": "decelerating",
    "front_frame": [
      29.241179094335315,
      27.844428223137992,
      26.301411090823866,
      24.684503786511073,
      22.93910086878704,
      21.170565080730753,
      19.3286710303363,
      17.591102156639806,
      16.141131289528694,
      14.983922185924417
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d4278d63cd605813",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "67286bba873e56f1": {
    "vx_ego": [
      0.8415134432477132,
      1.5799943258992202,
      2.256957007475019,
      2.8460183487139,
      3.3989007466986116,
      3.9164654316962704,
      4.410380274930095,
      4.869725771298974,
      5.203729770886397,
      5.448823298886427
    ],
    "vy_ego": [
      0.0059478773379193425,
      -0.022758964650123836,
      -0.034534713150036284,
      -0.016770434186023475,
      0.024303631155267735,
      0.0360608101199307,
      -0.00036565064803797953,
      -0.02172507119082162,
      -0.01598599925508279,
      0.015754906230552812
    ],
    "v_ego": [
      0.8415344629968812,
      1.5801582326924342,
      2.2572212075919693,
      2.8460677589753516,
      3.3989876363993607,
      3.9166314429236713,
      4.410380290087563,
      4.8697742315606,
      5.203754325540512,
      5.448846075964882
    ],
    "ax_ego": [
      1.4770172339875824,
      1.4769479834063135,
      1.231268105961603,
      1.1249811275036063,
      1.08652918064755,
      0.9845109306510649,
      0.9911676559021477,
      0.8463531065692507,
      0.4900719143325909,
      0.4903017856779027
    ],
    "ay_ego": [
      -0.0533849187295236,
      -0.05526795281641948,
      0.026487519406905368,
      0.04492321882651928,
      0.10007149108998423,
      -0.1044837061177005,
      -0.048580797642201565,
      0.00070818965570945,
      0.09115354160224132,
      0.08990883476398141
    ],
    "a_ego": [
      1.4779816842721991,
      1.4779816955214615,
      1.2315529779277075,
      1.1258777166411194,
      1.0911278402312028,
      0.9900397049692078,
      0.9923575041315054,
      0.8463534028595914,
      0.4984771302319113,
      0.4984771204454192
    ],
    "yaw": [
      -1.6169163905333805,
      -1.6156414713680949,
      -1.6132914444281836,
      -1.6132569750089858,
      -1.6147999797306305,
      -1.6183037109024196,
      -1.6187456627124948,
      -1.6167295713267404,
      -1.6133394013465083,
      -1.6108001500568854
    ],
    "yaw_diff": [
      0.002549838330571319,
      0.00470005387982253,
      6.893883839564907e-05,
      -0.003086009443289406,
      -0.007007462343578297,
      -0.0008839036201502282,
      0.00403218277150863,
      0.006780339960464232,
      0.005078502579245914,
      0.005078502579245914
    ],
    "min_front_frame": [
      0,
      16.787085955132884
    ],
    "v_avg": 3.4773355664733225,
    "v_std": 1.493648551856616,
    "vy_max": 0.0360608101199307,
    "a_max": 1.4779816955214615,
    "ax_avg": 1.0199149024639609,
    "a_std": 0.32499447670801535,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "67286bba873e56f1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.237772094000389,
    "right_rear_min": 3.2534692667478575,
    "speed_mode": "accelerating",
    "front_frame": [
      16.787085955132884,
      17.986501975595914,
      19.18765339657141,
      20.181943888457543,
      21.23821141780438,
      22.274402381077877,
      23.26684681702863,
      24.14949129975085,
      25.109720694087258,
      25.92204327324206
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "67286bba873e56f1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ac6d9537bf315302": {
    "vx_ego": [
      6.2247427684040835,
      5.880145699004009,
      5.501144817668247,
      5.134215736800089,
      4.817472186382068,
      4.510799228387328,
      4.127924390216238,
      3.588540202915327,
      2.936644124213572,
      2.246173633500437
    ],
    "vy_ego": [
      -0.004761598302149839,
      0.001929478251328831,
      0.005881805518457295,
      0.01247861877274481,
      -0.018030428680029242,
      -0.03871175189683873,
      -0.026273130052407723,
      0.003994014492354925,
      0.005248143188378407,
      -0.032722330807713806
    ],
    "v_ego": [
      6.224744589588983,
      5.880146015568123,
      5.501147962070678,
      5.134230901306656,
      4.817505927647958,
      4.5109653377691386,
      4.128008000077623,
      3.5885424255665894,
      2.9366488137475724,
      2.2464119708472987
    ],
    "ax_ego": [
      -0.6891937108285956,
      -0.6891973878731931,
      -0.8268107194091892,
      -0.6409034989576526,
      -0.6261208585239844,
      -0.6009440681522121,
      -0.931125202332105,
      -1.2265554946110888,
      -1.3808951831461993,
      -1.3809470072946504
    ],
    "ay_ego": [
      0.007295766282425509,
      0.006939084682610619,
      0.0257582339161187,
      -0.0002616826929136562,
      -0.09377806484013415,
      -0.03818399048147739,
      0.02673617976967385,
      0.05664104565159561,
      -0.0727173009679184,
      -0.07172637009332838
    ],
    "a_ego": [
      0.6892323260347977,
      0.6892323195755297,
      0.8272118545719823,
      0.6409035523805385,
      0.6331047740492656,
      0.6021559517072136,
      0.9315089724348767,
      1.2278626101535786,
      1.3828084873533406,
      1.3828084860611813
    ],
    "yaw": [
      -2.0386421745615015,
      -2.0391597117902904,
      -2.038420028085198,
      -2.038462086603372,
      -2.037054946732157,
      -2.03969584241721,
      -2.0432046345540087,
      -2.0456237475132464,
      -2.047230504895678,
      -2.046512920804804
    ],
    "yaw_diff": [
      -0.0010350744575777782,
      0.0014793674101847287,
      -8.411703634791934e-05,
      0.0028142797424299815,
      -0.0052817913701055375,
      -0.007017584273597777,
      -0.004838225918475381,
      -0.0032135147648633122,
      0.0014351681817483808,
      0.0014351681817483808
    ],
    "min_front_frame": [
      9,
      12.19404264451116
    ],
    "v_avg": 4.496835194419061,
    "v_std": 1.2197041440124488,
    "vy_max": 0.03871175189683873,
    "a_max": 1.3828084873533406,
    "ax_avg": -0.899269313112887,
    "a_std": 0.29931745049292047,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ac6d9537bf315302",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.3877933633213875,
    "right_rear_min": 19.83815744772989,
    "speed_mode": "decelerating",
    "front_frame": [
      19.770916388819323,
      19.276682841576836,
      18.628211318968734,
      17.89969571538111,
      17.217431538377284,
      16.29908534989601,
      15.23763505527917,
      14.11393463918922,
      13.054975751992153,
      12.19404264451116
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ac6d9537bf315302",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "719eb7fea14c5b94": {
    "vx_ego": [
      2.4533576305415514,
      3.153342745470115,
      3.86161751186649,
      4.571201381680527,
      5.244271624738442,
      5.853503501507375,
      6.392542178551234,
      6.722716627323001,
      6.800702931039991,
      6.8010314833917045
    ],
    "vy_ego": [
      0.012115446890914039,
      -0.005297625948619156,
      -0.03366571608531477,
      -0.012473112158040478,
      -0.011750884450748122,
      -0.02820199021573866,
      -0.012626694948461248,
      0.004939555447751598,
      0.021792555396699553,
      0.025166517288468748
    ],
    "v_ego": [
      2.4533875452911675,
      3.1533471954812864,
      3.861764258521418,
      4.571218398895951,
      5.244284789875751,
      5.853571439250676,
      6.392554648806835,
      6.722718442006416,
      6.800737847596145,
      6.801078046286309
    ],
    "ax_ego": [
      1.3985958612229241,
      1.400677847799417,
      1.4362461257784105,
      1.4038349154309664,
      1.2879335837842198,
      1.1490180959176972,
      1.006376011950075,
      0.3137346908203814,
      -0.0006355798639299456,
      0.0036377734609032014
    ],
    "ay_ego": [
      0.10785171753863754,
      0.07618390565321048,
      0.19732214737888598,
      0.20083090308511375,
      0.004004442031628669,
      -0.16688852877952465,
      -0.2526541477578045,
      -0.22661446217050119,
      -0.23774512475112616,
      -0.23771814232539487
    ],
    "a_ego": [
      1.4027481513108213,
      1.4027481672761453,
      1.4497375499240228,
      1.4181274700875979,
      1.2879398090730982,
      1.161074659866679,
      1.0376062816925118,
      0.38701882472172566,
      0.23774597431858227,
      0.2377459749110162
    ],
    "yaw": [
      -1.833399384846646,
      -1.8107746122841077,
      -1.7831589934138443,
      -1.7645962318249657,
      -1.7543394528036713,
      -1.7586996358703297,
      -1.778315330959654,
      -1.7989917571827503,
      -1.8185386687603398,
      -1.836513742394955
    ],
    "yaw_diff": [
      0.04524954512507673,
      0.05523123774052685,
      0.03712552317775719,
      0.02051355804258881,
      -0.008720366133316837,
      -0.03923139017864852,
      -0.04135285244619258,
      -0.03909382315517895,
      -0.03595014726923029,
      -0.03595014726923029
    ],
    "min_front_frame": [
      5,
      65.00214272228446
    ],
    "v_avg": 5.185466261201196,
    "v_std": 1.5235676540440035,
    "vy_max": 0.03366571608531477,
    "a_max": 1.4497375499240228,
    "ax_avg": 0.9399419326301064,
    "a_std": 0.4847198101576886,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "719eb7fea14c5b94",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      72.33679522467446,
      70.22514195009589,
      67.75237335272158,
      65.00214272228446,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "719eb7fea14c5b94",
    "maneuvering": "Yes"
  },
  "fab7537b12d254bd": {
    "vx_ego": [
      2.046921482606165,
      1.767788830248652,
      1.513634094061205,
      1.3474275805321438,
      1.1626650070323623,
      0.875671400303602,
      0.6228213975853591,
      0.47836390941145107,
      0.4768739726585588,
      0.5646792424048901
    ],
    "vy_ego": [
      -0.03929038587540157,
      -0.02437246631003598,
      -0.0010965418467718813,
      0.008886347651475779,
      -0.00146964386192594,
      -0.003977608173458269,
      0.0004554390918394269,
      -0.0040887619933616115,
      -0.002532170354290264,
      0.01135785515823648
    ],
    "v_ego": [
      2.0472985347469135,
      1.7679568335980183,
      1.5136344912522661,
      1.3474568831518468,
      1.1626659358692177,
      0.8756804341062171,
      0.6228215641056003,
      0.47838138321013846,
      0.4768806954426432,
      0.5647934557665802
    ],
    "ax_ego": [
      -0.5582154382084952,
      -0.5581793678807778,
      -0.4583319828830771,
      -0.20607948582917338,
      -0.5329835441545533,
      -0.6149663073265103,
      -0.3964307626739401,
      -0.1814129678383426,
      0.17554561574277902,
      0.17562753569576253
    ],
    "ay_ego": [
      0.033598233530584304,
      0.03419223397517862,
      0.06915416859908843,
      -0.05844918990129951,
      -0.025692648572669757,
      0.018719105567178818,
      0.006814440960241808,
      -0.020463666349341103,
      0.03080644995734609,
      0.030335915346287046
    ],
    "a_ego": [
      0.5592256402836676,
      0.5592256392476994,
      0.46351969275119737,
      0.21420798836582786,
      0.5336024461434068,
      0.6152511390156373,
      0.3964893267161708,
      0.18256348632838024,
      0.17822822606278135,
      0.17822822182377132
    ],
    "yaw": [
      2.629611250837696,
      2.6306753941468113,
      2.6322480656368485,
      2.6270253100122094,
      2.618784447214842,
      2.619527173047402,
      2.6222287300439437,
      2.624390001624006,
      2.6267666843690263,
      2.6294465187143894
    ],
    "yaw_diff": [
      0.0021282866182303906,
      0.003145342980074517,
      -0.010445511249278283,
      -0.016481725594735153,
      0.0014854516651201521,
      0.005403113993083686,
      0.004322543160124148,
      0.004753365490040906,
      0.005359668690726238,
      0.005359668690726238
    ],
    "min_front_frame": [
      0,
      29.481134443680855
    ],
    "v_avg": 1.085757021124944,
    "v_std": 0.5400851402020023,
    "vy_max": 0.03929038587540157,
    "a_max": 0.6152511390156373,
    "ax_avg": -0.31554267053563284,
    "a_std": 0.17253146836343936,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "fab7537b12d254bd",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.369862132505344,
    "right_rear_min": 17.40297302112762,
    "speed_mode": "decelerating",
    "front_frame": [
      29.481134443680855,
      32.34770832914864,
      35.41449978018725,
      38.41015509589039,
      41.59036773939568,
      44.98207017356839,
      48.36171844014931,
      51.737112070957956,
      54.945086886527896,
      57.76262642583641
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "fab7537b12d254bd",
    "pedestrians": "No"
  },
  "76cf7bb2e9625482": {
    "vx_ego": [
      6.732860855373479,
      7.102585762312779,
      7.486982335764308,
      7.908310284926964,
      8.329956921885278,
      8.732914736575545,
      9.10930757286064,
      9.422659344691537,
      9.63192447573544,
      9.76495331884517
    ],
    "vy_ego": [
      0.04598631256631325,
      -0.02181266977376839,
      -0.016886076462072408,
      -0.02169568676058775,
      -0.006492666414497084,
      0.014176828195503699,
      0.007583712684466892,
      -0.007338661024694826,
      -0.029734218882381036,
      -0.023317395364831572
    ],
    "v_ego": [
      6.73301789978045,
      7.1026192565539406,
      7.487001378096911,
      7.908340044883351,
      8.329959452193128,
      8.73292624374877,
      9.109310729669632,
      9.422662202480167,
      9.63197037111535,
      9.764981158207725
    ],
    "ax_ego": [
      0.7269597886755825,
      0.7490064988836951,
      0.7885069490793697,
      0.8979571613858629,
      0.7890913481032834,
      0.8222997493869761,
      0.6827076695540475,
      0.5709628598102795,
      0.2660786906603621,
      0.2660900651558629
    ],
    "ay_ego": [
      0.5051816233438972,
      0.4718773785460384,
      0.31151824507554915,
      0.27426671855383367,
      0.22938206470888356,
      0.16323317197259646,
      0.12004055436407618,
      0.17599778182700482,
      0.022666600147884373,
      0.022532632462277373
    ],
    "a_ego": [
      0.8852564639219658,
      0.8852564576175042,
      0.8478129662616665,
      0.9389085666828504,
      0.8217550044031176,
      0.8383447657581689,
      0.693180710031629,
      0.5974728500030432,
      0.26704240184996225,
      0.26704239794521667
    ],
    "yaw": [
      -1.47000188875111,
      -1.4248808107128637,
      -1.3986921383164956,
      -1.3790081642253762,
      -1.3653956003841472,
      -1.3563090288595256,
      -1.3476486782768744,
      -1.338065516364834,
      -1.330531979335801,
      -1.330028497819629
    ],
    "yaw_diff": [
      0.09024215607649255,
      0.052377344792736036,
      0.03936794818223888,
      0.027225127682457995,
      0.018173143049243112,
      0.017320701165302488,
      0.019166323824080678,
      0.015067074058066066,
      0.0010069630323439327,
      0.0010069630323439327
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.422278873672942,
    "v_std": 1.0284934827283023,
    "vy_max": 0.04598631256631325,
    "a_max": 0.9389085666828504,
    "ax_avg": 0.6559660780695322,
    "a_std": 0.23807883568093074,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "76cf7bb2e9625482",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "76cf7bb2e9625482",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d2cac33c80f45434": {
    "vx_ego": [
      2.5379732239502353,
      3.4040398965805583,
      4.233536531489548,
      4.97548489485264,
      5.586123294175893,
      6.0619238990906466,
      6.460586044323601,
      6.8043211863391875,
      7.12917839566226,
      7.467430129432695
    ],
    "vy_ego": [
      0.016630089761492675,
      0.006819678882963092,
      0.007008926256809022,
      0.021424559340235655,
      0.007665960952935258,
      -0.01965306411870056,
      0.005485141438573371,
      0.033197964832753474,
      -0.008465031784214386,
      -0.06670237078071888
    ],
    "v_ego": [
      2.53802770776322,
      3.404046727871438,
      4.233542333378022,
      4.975531021976419,
      5.586128554257578,
      6.061955757121261,
      6.4605883728098235,
      6.804402171516125,
      7.129183421258048,
      7.467728030949371
    ],
    "ax_ego": [
      1.7321461920999726,
      1.7321895187254523,
      1.5858007171663315,
      1.3822670438905502,
      1.0605275071180755,
      0.842620794247232,
      0.7520749253925869,
      0.6227807376045102,
      0.6765832120663721,
      0.676516685126992
    ],
    "ay_ego": [
      -0.029928301800507772,
      -0.02730578384999422,
      0.017381877464889256,
      -0.024859732150793675,
      -0.08748165445860091,
      -0.0522484390201397,
      0.16154723560922735,
      -0.037947226247988075,
      -0.1072265579808247,
      -0.10764549008875608
    ],
    "a_ego": [
      1.732404725823356,
      1.7324047259846576,
      1.5858959752232982,
      1.382490573895001,
      1.0641295190064477,
      0.8442391262420129,
      0.7692296163937321,
      0.6239357652123605,
      0.6850272823665233,
      0.6850272817863987
    ],
    "yaw": [
      -0.0021034649274042586,
      -0.0036174694254568693,
      -0.004313367061867296,
      -0.007830698183514059,
      -0.010523176727778631,
      -0.011824348158741168,
      -0.011475767931477362,
      -0.010996392744901435,
      -0.010224907874893212,
      -0.009605678979091866
    ],
    "yaw_diff": [
      -0.0030280089961052213,
      -0.001391795272820854,
      -0.007034662243293525,
      -0.005384957088529145,
      -0.0026023428619250735,
      0.0006971604545276122,
      0.0009587503731518544,
      0.0015429697400164456,
      0.0012384577916026915,
      0.0012384577916026915
    ],
    "min_front_frame": [
      0,
      27.675503397878
    ],
    "v_avg": 5.466113409890131,
    "v_std": 1.565483930643377,
    "vy_max": 0.06670237078071888,
    "a_max": 1.7324047259846576,
    "ax_avg": 1.1063507333438076,
    "a_std": 0.4314881861890696,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "d2cac33c80f45434",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 23.189047665480928,
    "speed_mode": "accelerating",
    "front_frame": [
      27.675503397878,
      29.60917114577752,
      31.302826246324617,
      32.73538614861012,
      34.08497387668158,
      35.26626095147142,
      36.27413220990455,
      37.285974641682174,
      38.18888357100234,
      39.03878462083194
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "d2cac33c80f45434",
    "merging_vehicles": "No"
  },
  "75e0217f16f459c4": {
    "vx_ego": [
      1.1203115387747398,
      1.538604642039667,
      1.9777116508565453,
      2.456568396964454,
      2.926864522202859,
      3.340552407975283,
      3.70844941191073,
      4.08746262196766,
      4.497218944808613,
      4.910027490859282
    ],
    "vy_ego": [
      0.013009515386934012,
      0.01178249306687762,
      -0.0006496643279827463,
      -0.02179414505392485,
      -0.03482144293993117,
      -0.02860976240847979,
      -0.01867712398467658,
      -0.020896117104904244,
      -0.03204686324153161,
      -0.04246915658120898
    ],
    "v_ego": [
      1.1203870721328535,
      1.5386497560032573,
      1.9777117575616172,
      2.456665071539696,
      2.92707165341373,
      3.3406749181766444,
      3.7084964440675114,
      4.087516034671032,
      4.497333125196433,
      4.910211155363343
    ],
    "ax_ego": [
      0.8365955632193071,
      0.8365970069735089,
      0.9198337191589233,
      0.995634855744864,
      0.8855327981554251,
      0.7690996107230424,
      0.70249756816675,
      0.813506222797546,
      0.8253901111837348,
      0.8254912038910991
    ],
    "ay_ego": [
      -0.0037092898650212813,
      -0.0033680281907144116,
      -0.04678815895646249,
      -0.030842120820765373,
      -0.02282224999430671,
      0.038133768773496085,
      0.003275145222033482,
      -0.023763057931244114,
      -0.04394519774734318,
      -0.04200341634503002
    ],
    "a_ego": [
      0.8366037862868733,
      0.8366037865626277,
      0.9210229110723969,
      0.996112444652118,
      0.8858268406995689,
      0.770044411404437,
      0.7025052027255193,
      0.813853216159139,
      0.8265591424967431,
      0.826559141674829
    ],
    "yaw": [
      2.741946187061005,
      2.741538270853729,
      2.7414771125264012,
      2.742263876141821,
      2.742120169610854,
      2.741362989790494,
      2.74148175869038,
      2.7407343525700534,
      2.739388160090729,
      2.7370357427574996
    ],
    "yaw_diff": [
      -0.0008158324145517426,
      -0.00012231665465556318,
      0.0015735272308399217,
      -0.0002874130619341386,
      -0.0015143596407201088,
      0.00023753779977209177,
      -0.0014948122406535091,
      -0.0026923849586486526,
      -0.004704834666458879,
      -0.004704834666458879
    ],
    "min_front_frame": [
      0,
      13.441599396715922
    ],
    "v_avg": 3.0564716988126115,
    "v_std": 1.211356028923702,
    "vy_max": 0.04246915658120898,
    "a_max": 0.996112444652118,
    "ax_avg": 0.84101786600142,
    "a_std": 0.07607754350262246,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "75e0217f16f459c4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.857020946131775,
    "speed_mode": "accelerating",
    "front_frame": [
      13.441599396715922,
      15.136341100235589,
      17.13543099618162,
      19.18885064798071,
      21.146967091419658,
      23.23215457896009,
      25.400937976325917,
      27.5549948646578,
      29.56877332335031,
      31.79265400904743
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "75e0217f16f459c4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fb8df4568d585efa": {
    "vx_ego": [
      0.6082882202695761,
      0.7409052864209376,
      0.9178126664153798,
      1.278791034280273,
      1.8823639265430223,
      2.504196530572362,
      3.118336934066067,
      3.73842503163965,
      4.30781049023687,
      5.029620073866861
    ],
    "vy_ego": [
      0.07357084875957529,
      0.042463830074649406,
      0.021657479893766485,
      0.0035743486805924207,
      -0.0074390627001957865,
      0.013046326111006451,
      0.01173932137143155,
      0.0420107816965829,
      0.13320071072057527,
      0.2179489453917114
    ],
    "v_ego": [
      0.6127211671763368,
      0.7421211628239018,
      0.9180681549143606,
      1.2787960296013203,
      1.882378625995398,
      2.5042305146203394,
      3.1183590309691445,
      3.7386610735621217,
      4.309869330865065,
      5.03434005905857
    ],
    "ax_ego": [
      0.26651135271764337,
      0.2680467935999203,
      0.4422874687334702,
      1.0038723654601225,
      1.4134291338120317,
      1.0891206445668493,
      1.4134390170491913,
      1.1398024411267134,
      1.2882446913920342,
      1.7191083979692803
    ],
    "ay_ego": [
      -0.08861072988229117,
      -0.08385152757720545,
      -0.07107560622672246,
      -0.12251603485915977,
      -0.2500696637383527,
      -0.5396600922553321,
      -1.0742991283590326,
      -1.585384465221277,
      -2.0807233885161005,
      -1.7417377635662314
    ],
    "a_ego": [
      0.28085612433710694,
      0.2808561237292666,
      0.4479619925832508,
      1.0113208714014126,
      1.4353803513462358,
      1.2154903510907615,
      1.775367137273291,
      1.952586363611958,
      2.447240119893771,
      2.447240102850802
    ],
    "yaw": [
      0.28937484424360205,
      0.27156918005514014,
      0.24937358468175008,
      0.21988961282275943,
      0.16619914672319736,
      0.06872246283585343,
      -0.07617772801868988,
      -0.27627996873612026,
      -0.5266067239969917,
      -0.7510970182103018
    ],
    "yaw_diff": [
      -0.03561132837692382,
      -0.04439119074678011,
      -0.05896794371798131,
      -0.10738093219912415,
      -0.19495336777468786,
      -0.2898003817090866,
      -0.40020448143486076,
      -0.5006535105217429,
      -0.44898058842662025,
      -0.44898058842662025
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.413954514958656,
    "v_std": 1.5022782158723063,
    "vy_max": 0.2179489453917114,
    "a_max": 2.447240119893771,
    "ax_avg": 1.0043862306427258,
    "a_std": 0.786611975954021,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "fb8df4568d585efa",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.879641342941877,
    "right_rear_min": 8.014006209096902,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "fb8df4568d585efa",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "94f5959417f75349": {
    "vx_ego": [
      9.396420319012229,
      9.481603552352052,
      9.589132439132635,
      9.738440391750924,
      9.949560807684477,
      10.173452746225243,
      10.430932150859856,
      10.704052466254709,
      10.822067238416547,
      10.818469408454515
    ],
    "vy_ego": [
      0.012241855720674266,
      0.012737686434085127,
      0.003839390893276118,
      -0.010815282858261277,
      0.008579324421714496,
      0.04888349477316467,
      0.05137350891564996,
      0.06005743952417664,
      0.048111217477657675,
      0.05988709594908581
    ],
    "v_ego": [
      9.396428293483506,
      9.481612108319489,
      9.589133207759096,
      9.73844639734846,
      9.949564506581106,
      10.173570188274082,
      10.431058660234834,
      10.704220947662455,
      10.822174180914663,
      10.818635163731486
    ],
    "ax_ego": [
      0.14495441542653936,
      0.19304239888150743,
      0.23295430463562533,
      0.366179751196305,
      0.47809506069445135,
      0.40979117807546617,
      0.611366200780787,
      0.47826167759681193,
      -0.00758968257145113,
      -0.00737479673479878
    ],
    "ay_ego": [
      0.9572449936374,
      0.9487172346762942,
      0.8431873247267617,
      0.8969030190710201,
      0.8783773967026218,
      0.6583361138503583,
      0.2996345355391085,
      0.12382566827111507,
      0.08096951926594918,
      0.08098939137574851
    ],
    "a_ego": [
      0.9681579212068224,
      0.968157920557262,
      0.8747757270455904,
      0.968773779478418,
      1.0000608671968452,
      0.7754580894078482,
      0.6808446859195354,
      0.49403140424522113,
      0.08132445100764164,
      0.08132446828780232
    ],
    "yaw": [
      -0.8595753342020757,
      -0.8091254542208792,
      -0.7611958837129982,
      -0.7145917933151823,
      -0.6714219969043048,
      -0.6372770842814048,
      -0.6142166338758741,
      -0.605034921597698,
      -0.5992010282831072,
      -0.5965473135034973
    ],
    "yaw_diff": [
      0.10089975996239287,
      0.0958591410157621,
      0.09320818079563176,
      0.08633959282175496,
      0.06828982524579996,
      0.04612090081106146,
      0.018363424556352204,
      0.011667786629181665,
      0.005307429559219701,
      0.005307429559219701
    ],
    "min_front_frame": [
      4,
      32.71110627277837
    ],
    "v_avg": 10.110484365430917,
    "v_std": 0.5299737394562244,
    "vy_max": 0.06005743952417664,
    "a_max": 1.0000608671968452,
    "ax_avg": 0.2899680507981244,
    "a_std": 0.3390421335325215,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "94f5959417f75349",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 45.862682175495394,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      68.60936773795169,
      37.577681962424265,
      32.71110627277837,
      34.5431567298861,
      42.111470425521176,
      36.901160320689435,
      38.16597089365211,
      39.94776743567658
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.875,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.125,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "94f5959417f75349",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c9ab8a82cfa054ff": {
    "vx_ego": [
      3.4255078476542287,
      2.9607145225512523,
      2.531273127942858,
      2.1341895607959835,
      1.737146348835255,
      1.3887129569696932,
      1.0931165456490592,
      0.8251493406403703,
      0.5432389747503797,
      0.22704128702899534
    ],
    "vy_ego": [
      -0.06665219316585302,
      -0.04453963757237167,
      -0.027486951573030938,
      -0.021699348052039436,
      -0.02998495222875741,
      -0.02804367239988681,
      -0.015808201359053753,
      -0.0019019055030695675,
      0.005574757467063957,
      0.0037619575845381226
    ],
    "v_ego": [
      3.426156232455625,
      2.961049520585728,
      2.5314223631690544,
      2.1342998718822144,
      1.7374051152888375,
      1.3889960850978598,
      1.0932308455225457,
      0.8251515325101083,
      0.5432675782785683,
      0.22707245174316174
    ],
    "ax_ego": [
      -0.9294034224026307,
      -0.9292737071203112,
      -0.7881986489365802,
      -0.8002037159245947,
      -0.7880923804851966,
      -0.6058686510454081,
      -0.5766401453334999,
      -0.4952471251466394,
      -0.6323899168157117,
      -0.6323867971284087
    ],
    "ay_ego": [
      0.0573762461621658,
      0.059440214492249344,
      0.033210708837903946,
      -0.018847992330600694,
      -0.023741813757396535,
      0.021398812405837075,
      0.020560780443296872,
      0.033391288581857664,
      -0.003962664018007267,
      -0.004432073109477186
    ],
    "a_ego": [
      0.931172784824269,
      0.9311727883932233,
      0.7888980044130968,
      0.8004256578811201,
      0.7884499184471483,
      0.6062464280240855,
      0.577006588266267,
      0.4963715273050701,
      0.6324023320610878,
      0.6324023279956953
    ],
    "yaw": [
      0.5596991051113931,
      0.5619200105234174,
      0.5641594679359545,
      0.563218292541112,
      0.561997167601346,
      0.5603564025270148,
      0.5589455679848703,
      0.5585047951536023,
      0.5583344024492517,
      0.5575921140932216
    ],
    "yaw_diff": [
      0.004441810824048709,
      0.004478914825074121,
      -0.0018823507896850167,
      -0.0024422498795320102,
      -0.0032815301486623927,
      -0.002821669084289047,
      -0.0008815456625359541,
      -0.0003407854087011941,
      -0.0014845767120601483,
      -0.0014845767120601483
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.6868051596533704,
    "v_std": 1.0093164222530038,
    "vy_max": 0.06665219316585302,
    "a_max": 0.9311727883932233,
    "ax_avg": -0.7177704510338981,
    "a_std": 0.14276134539202234,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c9ab8a82cfa054ff",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.001480589911706,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c9ab8a82cfa054ff",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f3532c4c4ad95b27": {
    "vx_ego": [
      4.645399138355142,
      4.831473880123436,
      5.09979048561773,
      5.370152712396544,
      5.5823318546347895,
      5.623253701335658,
      5.532476474201252,
      5.4422459057173755,
      5.4159465083062015,
      5.431186476555105
    ],
    "vy_ego": [
      -0.10560553308985388,
      -0.012000437731055413,
      -0.011202020214538422,
      -0.04551003270086351,
      -0.1286595009615441,
      -0.11622456017385518,
      -0.07923272718883023,
      -0.08354196136736114,
      -0.06004403540579473,
      -0.027133285761339998
    ],
    "v_ego": [
      4.646599367628964,
      4.831488783472517,
      5.099802788584477,
      5.370345549174316,
      5.583814305871745,
      5.624454670274513,
      5.5330438063192755,
      5.442887079262865,
      5.416279337979343,
      5.431254252777277
    ],
    "ax_ego": [
      0.23445379003089645,
      0.5445307081135129,
      0.5516391682706215,
      0.5551616732548824,
      0.30287825405010416,
      -0.13520481577596807,
      -0.22254044309723992,
      -0.13453412453364558,
      0.030568720848283753,
      0.030750475102696077
    ],
    "ay_ego": [
      1.8368519916558723,
      1.7698813862741356,
      1.9235791696484725,
      1.9607209625457802,
      1.3760004285504543,
      0.4954954156453891,
      0.17372843572961255,
      0.100663884252231,
      0.0882112350857782,
      0.08814804485792258
    ],
    "a_ego": [
      1.8517542544598071,
      1.8517542530147622,
      2.001115337474532,
      2.037800573269527,
      1.408940174793619,
      0.5136107953836352,
      0.2823221886337912,
      0.1680257368880762,
      0.09335774574002269,
      0.09335775024772106
    ],
    "yaw": [
      1.602477889970603,
      1.7739995027178372,
      1.9592911787656264,
      2.1507714227164465,
      2.316939725332942,
      2.3973973525288184,
      2.4207133850818425,
      2.4340262845270138,
      2.4384121578150553,
      2.4404733690920586
    ],
    "yaw_diff": [
      0.34304322549446864,
      0.37058335209557836,
      0.38296048790164017,
      0.3323366052329906,
      0.16091525439175314,
      0.04663206510604834,
      0.026625798890342445,
      0.00877174657608304,
      0.004122422554006633,
      0.004122422554006633
    ],
    "min_front_frame": [
      4,
      17.75490781835517
    ],
    "v_avg": 5.29799699413453,
    "v_std": 0.31348341830065524,
    "vy_max": 0.1286595009615441,
    "a_max": 2.037800573269527,
    "ax_avg": 0.17577034062641436,
    "a_std": 0.8231743016297698,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "f3532c4c4ad95b27",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      17.75490781835517,
      18.291384244860236,
      18.851045406560875,
      19.453565464626287,
      20.013235259367733,
      20.326905355789762
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f3532c4c4ad95b27",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "dfa220d6e64f5d84": {
    "vx_ego": [
      4.743531202852618,
      4.603232858306533,
      4.567848193882037,
      4.639195041184632,
      4.841079209253517,
      5.134674432618679,
      5.4903649154092165,
      5.905793324416664,
      6.335467791107849,
      6.763377496877794
    ],
    "vy_ego": [
      0.05316826670657404,
      0.047087904407915104,
      0.020978895462046454,
      0.01518584958392448,
      0.030929294047777223,
      0.0607190290556332,
      0.1037398169673831,
      0.08216303919280499,
      0.08550138040728861,
      -0.02384196607168354
    ],
    "v_ego": [
      4.743829163979346,
      4.603473690435784,
      4.567896368833929,
      4.639219895648369,
      4.841178010721869,
      5.135033430220042,
      5.491344903935727,
      5.906364834289686,
      6.3360447140322895,
      6.763419520081473
    ],
    "ax_ego": [
      -0.3745531760723799,
      -0.15266359243370334,
      0.02830778787059815,
      0.26932227448778767,
      0.5564489272914981,
      0.6398177312317733,
      0.8159051384041983,
      0.867725762931561,
      0.8539445715499062,
      0.8592802850097147
    ],
    "ay_ego": [
      -1.42165230510016,
      -1.4622172262040176,
      -1.4160729242162768,
      -1.4300845210364577,
      -1.4766992943589745,
      -1.4009133809722634,
      -1.2391541346824644,
      -0.9664353907281307,
      -0.4012004677469584,
      -0.3896415761409744
    ],
    "a_ego": [
      1.4701650785889677,
      1.470165089050388,
      1.4163558371936638,
      1.455223771398526,
      1.5780609033380657,
      1.5401055256655993,
      1.483645565617011,
      1.2988246086777824,
      0.9434951757162996,
      0.9434951860311738
    ],
    "yaw": [
      0.4346195043547034,
      0.2810388574231365,
      0.12935232703640168,
      -0.024658164108755484,
      -0.18215503277042283,
      -0.3323890655389321,
      -0.46508061914272314,
      -0.5581016259058562,
      -0.6144779643813776,
      -0.627971493898742
    ],
    "yaw_diff": [
      -0.30716129386313384,
      -0.30337306077346965,
      -0.3080209822903143,
      -0.3149937373233347,
      -0.30046806553701855,
      -0.26538310720758207,
      -0.18604201352626615,
      -0.11275267695104274,
      -0.026987059034728755,
      -0.026987059034728755
    ],
    "min_front_frame": [
      9,
      17.784334142993423
    ],
    "v_avg": 5.302780453217851,
    "v_std": 0.7499341154643364,
    "vy_max": 0.1037398169673831,
    "a_max": 1.5780609033380657,
    "ax_avg": 0.4363535710270955,
    "a_std": 0.21965608527904737,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "dfa220d6e64f5d84",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      26.59057074461702,
      27.831376320910387,
      21.018116532606303,
      17.784334142993423
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.25,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "dfa220d6e64f5d84",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "f35e97504024530b": {
    "vx_ego": [
      14.117274401544224,
      13.968316977371998,
      13.833141295456516,
      13.712811165943588,
      13.627708745667281,
      13.536078761178848,
      13.431243994101253,
      13.337241882112869,
      13.214067399795148,
      13.078038133966878
    ],
    "vy_ego": [
      -0.04514325196480451,
      0.00025763784991283956,
      0.002619840639482174,
      0.014906641121133823,
      0.035195722405828134,
      -0.0003402003574622947,
      -0.027419158799830257,
      -0.030481438431134267,
      -0.025167701119516495,
      -0.024259778151801803
    ],
    "v_ego": [
      14.117346579357388,
      13.968316979747991,
      13.833141543540618,
      13.712819268143829,
      13.627754194863222,
      13.53607876545395,
      13.431271981437584,
      13.337276713785107,
      13.214091367154555,
      13.078060634907908
    ],
    "ax_ego": [
      -0.29836148827228737,
      -0.29695750011972444,
      -0.2439244126107841,
      -0.23768378297256926,
      -0.10334912730943566,
      -0.2639682837033701,
      -0.15534134418637582,
      -0.2206858125865177,
      -0.2720149449922475,
      -0.2719508919013396
    ],
    "ay_ego": [
      0.24825989605488621,
      0.24993759351283448,
      0.21800414448649444,
      0.20283191845775778,
      0.16922265363473507,
      0.09519943924245704,
      -0.00023939488269144292,
      -0.021550498558764744,
      0.04174842101389069,
      0.04216365917173959
    ],
    "a_ego": [
      0.3881398635456518,
      0.3881398685117815,
      0.3271466430835022,
      0.3124649865719452,
      0.1982860272908897,
      0.2806103847568389,
      0.15534152865071188,
      0.22173554488422223,
      0.27520003807464943,
      0.27520003953612493
    ],
    "yaw": [
      -1.670694587140742,
      -1.6650582975832575,
      -1.6568085669699806,
      -1.6500615048337213,
      -1.6447350640046399,
      -1.6372625460744197,
      -1.6334898217511977,
      -1.6336679221003996,
      -1.6336878178123035,
      -1.6321611157877762
    ],
    "yaw_diff": [
      0.011272579114968817,
      0.01649946122655388,
      0.013494124272518615,
      0.010652881658162805,
      0.014945035860440381,
      0.0075454486464439086,
      -0.00035620069840369695,
      -3.9791423807944426e-05,
      0.003053404049054631,
      0.003053404049054631
    ],
    "min_front_frame": [
      0,
      69.65363181165948
    ],
    "v_avg": 13.585615802839214,
    "v_std": 0.3149625467759944,
    "vy_max": 0.04514325196480451,
    "a_max": 0.3881398685117815,
    "ax_avg": -0.23642375886546513,
    "a_std": 0.07230060597114304,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f35e97504024530b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.760849852669034,
    "right_rear_min": 11.320932068149661,
    "speed_mode": "decelerating",
    "front_frame": [
      69.65363181165948,
      70.58205002322006,
      71.46057461947323,
      72.33360179624759,
      73.36142616316144,
      74.26220873464837,
      75.21165102888126,
      76.43139070108182,
      77.43404552027,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.5555555555555556,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4444444444444444,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f35e97504024530b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "144116b6c1e35d3e": {
    "vx_ego": [
      3.6349492897970657,
      3.774239180172502,
      3.9375472961060978,
      4.109924160936582,
      4.285606792377601,
      4.429269999354259,
      4.55509853871645,
      4.668428053440017,
      4.7712860121117675,
      4.880157698713155
    ],
    "vy_ego": [
      -0.09859476853947957,
      -0.062791846761181,
      -0.0482736699495423,
      -0.022847526287572917,
      -0.01796671583192344,
      -0.03851124665444905,
      -0.08597123807681317,
      -0.08455113141120396,
      -0.07186973978225808,
      0.013240407249937025
    ],
    "v_ego": [
      3.6362861916768248,
      3.7747614765927766,
      3.937843198539378,
      4.1099876664179575,
      4.285644453492476,
      4.4294374183747705,
      4.555909761089787,
      4.669193654579843,
      4.771827267291827,
      4.880175660024281
    ],
    "ax_ego": [
      0.24655325678979048,
      0.34443457424210033,
      0.3471389625443224,
      0.37253417781152065,
      0.3520195240001084,
      0.23908540613509272,
      0.26688074128424377,
      0.1973405554035694,
      0.21772524029601992,
      0.21704914875267164
    ],
    "ay_ego": [
      0.9030568117622974,
      0.870439507756029,
      1.0583472824468163,
      1.2196880285591183,
      1.344597941142584,
      1.327580684904317,
      0.8695474510013737,
      0.4860190734330784,
      0.11125569584638414,
      0.11256898932918441
    ],
    "a_ego": [
      0.936109028748221,
      0.9361090281563867,
      1.1138242363941042,
      1.275311962089329,
      1.389914158717055,
      1.3489374731090384,
      0.9095812770783125,
      0.5245548918347224,
      0.24450380389724566,
      0.24450380433206642
    ],
    "yaw": [
      -0.0699851789933485,
      0.04028526759722923,
      0.16143678046553306,
      0.29655588540679434,
      0.44772940132592237,
      0.6049207687044764,
      0.7376683677878847,
      0.8106745025637713,
      0.8396375724539487,
      0.8335963256981531
    ],
    "yaw_diff": [
      0.22054089318115544,
      0.24230302573660767,
      0.27023820988252256,
      0.30234703183825606,
      0.3143827347571081,
      0.26549519816681655,
      0.14601226955177316,
      0.05792613978035477,
      -0.012082493511591075,
      -0.012082493511591075
    ],
    "min_front_frame": [
      9,
      60.0661372137384
    ],
    "v_avg": 4.305106674807992,
    "v_std": 0.4075992681973533,
    "vy_max": 0.09859476853947957,
    "a_max": 1.389914158717055,
    "ax_avg": 0.280076158725944,
    "a_std": 0.4038021994568562,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "144116b6c1e35d3e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      69.33956064318667,
      67.28518810151304,
      64.74681695856617,
      62.50601154711803,
      60.0661372137384
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "144116b6c1e35d3e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "701f0be254de56dc": {
    "vx_ego": [
      3.902871456454319,
      3.912021397095002,
      3.928119848239098,
      3.9506042809622937,
      3.968211272088534,
      3.9896328252933286,
      3.9995593842700745,
      3.981072955192081,
      3.9348896888763614,
      3.866773459951714
    ],
    "vy_ego": [
      -0.025248126787832836,
      0.028670180691280578,
      0.008421506232645593,
      -0.011132267760033399,
      -0.011203546842363021,
      -0.008656159660424434,
      -0.015955976402532546,
      -0.026079093759020955,
      -0.030577307312014135,
      -0.03978299422670584
    ],
    "v_ego": [
      3.9029531221258797,
      3.9121264538087215,
      3.928128875673147,
      3.9506199655425074,
      3.968227087679377,
      3.989642215757961,
      3.999591211797248,
      3.9811583733497846,
      3.9350084924111615,
      3.866978106637868
    ],
    "ax_ego": [
      0.012798288786482384,
      0.02409407949683484,
      0.04007081850186545,
      0.049829231089169757,
      0.020571516075318253,
      0.06526739506508679,
      -0.02548343651441269,
      -0.04827484446317547,
      -0.13659224805347608,
      -0.13640848399646358
    ],
    "ay_ego": [
      -0.24841349888859227,
      -0.2475732971570832,
      -0.0687124633933167,
      -0.05082963862840758,
      0.04590722679216119,
      0.03505297863715834,
      -0.01391400577345989,
      0.005368924904384752,
      -0.04791200348766993,
      -0.048432713852413795
    ],
    "a_ego": [
      0.24874296497777545,
      0.24874296398497228,
      0.07954290113509395,
      0.07118008453234925,
      0.05030567309343947,
      0.0740847094204951,
      0.029034549992172726,
      0.048572481536078696,
      0.14475151918548157,
      0.1447515190846827
    ],
    "yaw": [
      1.9719872616143062,
      1.9264463789480173,
      1.9114334750852673,
      1.9088099675290175,
      1.9085174352898044,
      1.912970277628638,
      1.9161117498798603,
      1.9181118785715863,
      1.9165655135707387,
      1.9127507983401104
    ],
    "yaw_diff": [
      -0.09108176533257772,
      -0.03002580772550001,
      -0.005247015112499476,
      -0.0005850644784262116,
      0.008905684677666947,
      0.0062829445024448205,
      0.004000257383451888,
      -0.0030927300016951875,
      -0.007629430461256526,
      -0.007629430461256526
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9434433904783655,
    "v_std": 0.04018444719194718,
    "vy_max": 0.03978299422670584,
    "a_max": 0.24874296497777545,
    "ax_avg": -0.013412768401277036,
    "a_std": 0.07640259076646481,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "701f0be254de56dc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "701f0be254de56dc",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f6b9867069845fd2": {
    "vx_ego": [
      5.122917197971765,
      4.5571273387701146,
      4.006280095827313,
      3.4928966934234187,
      2.9589673008223287,
      2.337335432858528,
      1.6733358464882573,
      1.1035939268059958,
      0.7017998039409108,
      0.37619753987365695
    ],
    "vy_ego": [
      0.04717497098518342,
      0.05033111714311089,
      0.030438499902999405,
      0.02824434945296672,
      0.03757308953548466,
      0.04859679150089535,
      0.020326291782065242,
      -0.02760382334110012,
      -0.016537758005649356,
      0.015185298070910028
    ],
    "v_ego": [
      5.1231344014345686,
      4.5574052708881245,
      4.006395725399383,
      3.493010886642679,
      2.959205843531845,
      2.337840579218383,
      1.6734592953759533,
      1.1039390953970805,
      0.7019946312126285,
      0.37650389411597607
    ],
    "ax_ego": [
      -1.1311671761364008,
      -1.130915429654488,
      -1.0717718746887683,
      -0.9815673961746331,
      -1.153729722863057,
      -1.3324986728305601,
      -1.322992648913099,
      -0.95611826332524,
      -0.6511830431213322,
      -0.6512277784785289
    ],
    "ay_ego": [
      -0.043235353833761536,
      -0.04938387694082552,
      -0.09522284152300309,
      0.03225683669223761,
      -0.02863800944537176,
      0.04882217007710543,
      -0.17807855490315533,
      -0.021947194987375296,
      0.06290911185557879,
      0.0624443483208896
    ],
    "a_ego": [
      1.1319931431724883,
      1.1319931432355506,
      1.0759936528258853,
      0.9820972745845692,
      1.1540850960837592,
      1.3333927843610982,
      1.334923788384376,
      0.9563701233475912,
      0.654214729277182,
      0.6542147324077168
    ],
    "yaw": [
      -0.3481332525604752,
      -0.35356939635312146,
      -0.3573732934866204,
      -0.3609972097000502,
      -0.3635912509249155,
      -0.36582965629729247,
      -0.36784726781748095,
      -0.3693937521476732,
      -0.3703486486747445,
      -0.37106235665026666
    ],
    "yaw_diff": [
      -0.010872287585292462,
      -0.007607794266997869,
      -0.007247832426859668,
      -0.005188082449730569,
      -0.004476810744753923,
      -0.004035223040376956,
      -0.003092968660384554,
      -0.0019097930541425168,
      -0.0014274159510443418,
      -0.0014274159510443418
    ],
    "min_front_frame": [
      2,
      29.24788569214773
    ],
    "v_avg": 2.6332889623216618,
    "v_std": 1.5748895216023335,
    "vy_max": 0.05033111714311089,
    "a_max": 1.334923788384376,
    "ax_avg": -1.0383172006186108,
    "a_std": 0.22633921810781302,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f6b9867069845fd2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.737579664637914,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      29.24788569214773,
      29.851393722908412,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f6b9867069845fd2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9ce9ec5a49b1568d": {
    "vx_ego": [
      7.284691554471335,
      7.464421622804624,
      7.729693819666481,
      8.046029006801382,
      8.423166403916035,
      8.857028930264544,
      9.322451847158849,
      9.779428972802268,
      10.20429943158561,
      10.619757425027405
    ],
    "vy_ego": [
      -0.050357892391582615,
      0.04478826433077954,
      0.01114042058092135,
      0.009769284126355249,
      -0.003240874470805899,
      0.005779528803354417,
      0.010414281225115118,
      -0.1491511651116264,
      -0.1450496970475017,
      -0.08046195817086499
    ],
    "v_ego": [
      7.284865610367299,
      7.4645559915921975,
      7.7297018477274335,
      8.046034937607565,
      8.423167027391012,
      8.857030815939181,
      9.322457664148915,
      9.78056629772216,
      10.205330288828089,
      10.62006223584106
    ],
    "ax_ego": [
      0.23654370955402637,
      0.48104233406541536,
      0.565823612229179,
      0.6825112465404457,
      0.8270426634187282,
      0.9237185194825519,
      0.9360929336992723,
      0.8732048794296334,
      0.8314968253136585,
      0.8344595293179269
    ],
    "ay_ego": [
      2.0145903110989973,
      1.9705647194108329,
      1.9831379327448166,
      1.782759648168227,
      1.8269019574722671,
      2.1081133823983214,
      2.14057220396848,
      1.2306765859560262,
      0.3250710897002943,
      0.31738849059311847
    ],
    "a_ego": [
      2.028429700064445,
      2.028429698202478,
      2.0622784536641654,
      1.9089404298696944,
      2.0053853318828145,
      2.3016076851370495,
      2.3363046335878774,
      1.508990265270158,
      0.8927811511594707,
      0.8927811378106474
    ],
    "yaw": [
      -2.9290974067322537,
      -2.806546319708632,
      -2.6720261651530137,
      -2.5524163284925634,
      -2.4411187052923298,
      -2.3282655275320887,
      -2.212032774651745,
      -2.1072643466505925,
      -2.0687743049661007,
      -2.059551328819256
    ],
    "yaw_diff": [
      0.24510217404724344,
      0.26904030911123655,
      0.23921967332090066,
      0.22259524640046724,
      0.22570635552048213,
      0.23246550576068703,
      0.20953685600230543,
      0.07698008336898354,
      0.01844595229368906,
      0.01844595229368906
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.773377271716493,
    "v_std": 1.115941947997062,
    "vy_max": 0.1491511651116264,
    "a_max": 2.3363046335878774,
    "ax_avg": 0.7191936253050838,
    "a_std": 0.49970961630401567,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "9ce9ec5a49b1568d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.512669870385403,
    "right_rear_min": 47.14998385770508,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9ce9ec5a49b1568d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f1002f2d240c514e": {
    "vx_ego": [
      7.992356322251747,
      7.5093135051919,
      6.997323807447449,
      6.372049754044184,
      5.5961975777090265,
      4.7169965424722875,
      3.8736529568237015,
      3.254401417939543,
      2.890909673816798,
      2.6321114646398462
    ],
    "vy_ego": [
      -0.02327950371681306,
      -0.004602861232708949,
      0.001746798805080163,
      -0.021494980331124708,
      -0.022898126302809796,
      -0.0118850239139109,
      -0.024790533566223946,
      -0.012407316735361773,
      0.0057013972900873955,
      0.012968609359327157
    ],
    "v_ego": [
      7.992390225528955,
      7.509314915862099,
      6.9973240254812366,
      6.372086008694012,
      5.596244423981547,
      4.717011515301712,
      3.873732283013825,
      3.254425069132101,
      2.8909152959051925,
      2.632143413098388
    ],
    "ax_ego": [
      -0.9660829681362718,
      -0.9660621911458155,
      -1.081904564595662,
      -1.4191802445560475,
      -1.6841827434214143,
      -1.832633467087111,
      -1.54079753881081,
      -0.9363697363191015,
      -0.5176091264050666,
      -0.51760112475733
    ],
    "ay_ego": [
      0.044352941728084044,
      0.044803192211022386,
      -0.00826534914265803,
      -0.06119228545382948,
      0.0628729065142061,
      -0.029526803155459025,
      -0.03585115901731978,
      0.06755313613870947,
      0.01699749397341631,
      0.017239678161698236
    ],
    "a_ego": [
      0.9671005556626072,
      0.9671005548513308,
      1.0819361362341953,
      1.4204988779781649,
      1.6853559017643798,
      1.8328713148479099,
      1.5412145733830622,
      0.9388033389887781,
      0.5178881370906198,
      0.5178881451174298
    ],
    "yaw": [
      -1.5473543465429174,
      -1.5468882815051286,
      -1.546505111634496,
      -1.5456313929827834,
      -1.5453283803830216,
      -1.5458455777028124,
      -1.5466530688155222,
      -1.5479309116271711,
      -1.5469280531297875,
      -1.5464601638074917
    ],
    "yaw_diff": [
      0.0009321300755775752,
      0.0007663397412649431,
      0.0017474373034254143,
      0.0006060251995236854,
      -0.0010343946395816594,
      -0.00161498222541967,
      -0.0025556856232977765,
      0.0020057169947671483,
      0.0009357786445916005,
      0.0009357786445916005
    ],
    "min_front_frame": [
      9,
      17.64822701956655
    ],
    "v_avg": 5.183558717599907,
    "v_std": 1.8865876515322346,
    "vy_max": 0.024790533566223946,
    "a_max": 1.8328713148479099,
    "ax_avg": -1.146242370523463,
    "a_std": 0.4352382679467022,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f1002f2d240c514e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5499534327907383,
    "right_rear_min": 6.771985076549865,
    "speed_mode": "decelerating",
    "front_frame": [
      29.082463186928276,
      28.262843634064456,
      26.908064776885617,
      25.0125793324051,
      23.236223855659677,
      21.657280242218466,
      20.42551667320401,
      19.471086955133675,
      18.61109723113102,
      17.64822701956655
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f1002f2d240c514e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "77155a60b2ae5e75": {
    "vx_ego": [
      5.213777289420638,
      5.10632630608087,
      5.189941854401546,
      5.361912496395199,
      5.677517754195531,
      6.18833163089879,
      6.593469577270594,
      6.913892364870202,
      7.267734234111172,
      7.5921992446911055
    ],
    "vy_ego": [
      -0.02443893547138387,
      0.008412746439307783,
      0.03274009395363198,
      0.11174069614635423,
      0.14723481618656264,
      0.184624627355225,
      0.11909538374495421,
      0.13548773207854747,
      0.11300560250237357,
      0.057694337946432306
    ],
    "v_ego": [
      5.213834566348015,
      5.106333236136882,
      5.190045121751934,
      5.363076691804273,
      5.679426550304437,
      6.191085092857998,
      6.594545077321272,
      6.915219776590927,
      7.268612739984738,
      7.592418455783326
    ],
    "ax_ego": [
      -0.39881970766263997,
      -0.03315425920256687,
      0.3904809749306545,
      0.3514932476905933,
      0.9613652955851817,
      1.1271823713151248,
      0.526038839941186,
      0.7765801742334422,
      0.6491074566540105,
      0.6532895765325106
    ],
    "ay_ego": [
      -1.8806384714674569,
      -1.9221755993257807,
      -1.9900102280640868,
      -1.9491266298295842,
      -1.5212601136565436,
      -0.9968492125355983,
      -0.8490166863962822,
      -0.5824753497200079,
      -0.31503940717852635,
      -0.3062728298422817
    ],
    "a_ego": [
      1.9224615001563923,
      1.9224615053484675,
      2.0279586040110567,
      1.9805661115658104,
      1.7995709391290757,
      1.504741988095112,
      0.9987723438832254,
      0.9707493497519784,
      0.7215194511302072,
      0.7215194502614786
    ],
    "yaw": [
      0.5711356969989418,
      0.3794120598033849,
      0.1833130741905729,
      -0.017453683020811343,
      -0.18297789689383892,
      -0.2956621041303714,
      -0.3568762886500817,
      -0.4125365835525716,
      -0.44094380946461414,
      -0.4544058243338131
    ],
    "yaw_diff": [
      -0.3834472743911139,
      -0.39219797122562394,
      -0.4015335144227685,
      -0.33104842774605514,
      -0.225368414473065,
      -0.12242836903942056,
      -0.11132058980497983,
      -0.056814451824085066,
      -0.026924029738397914,
      -0.026924029738397914
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.11145973088838,
    "v_std": 0.8848575378720477,
    "vy_max": 0.184624627355225,
    "a_max": 2.0279586040110567,
    "ax_avg": 0.5003563970017496,
    "a_std": 0.5178159628394249,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "77155a60b2ae5e75",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "77155a60b2ae5e75",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "7dc47eb4f41e523d": {
    "vx_ego": [
      0.6186615944592029,
      0.3134301503604888,
      0.06852440547526248,
      -0.023136748426674528,
      -0.018417026166550676,
      -0.011331378698658677,
      -0.006777504061760756,
      -0.004436561608260838,
      -0.003244661539709981,
      -0.0024390606992376698
    ],
    "vy_ego": [
      0.028982123597046994,
      0.02021924387294982,
      0.014310639282749022,
      0.007033804813264176,
      0.0008294514168721272,
      0.00037384444882544547,
      0.0002668216390655973,
      0.00034513082519539587,
      0.0003391431549276149,
      2.2868254999577984e-05
    ],
    "v_ego": [
      0.619340077781987,
      0.3140816406251605,
      0.07000277524797957,
      0.024182298027903067,
      0.018435694792232907,
      0.01133754395291737,
      0.006782754241033447,
      0.004449965639237459,
      0.0032623375954685314,
      0.002439167901488636
    ],
    "ax_ego": [
      -0.6104702389529296,
      -0.6104733909711273,
      -0.3691823730235717,
      0.002545865103387576,
      0.01633367087280055,
      0.012008467661127177,
      0.006207330942856224,
      0.0031563762089286745,
      0.0016112137196819748,
      0.0016112571179789535
    ],
    "ay_ego": [
      -0.017412046640453316,
      -0.017301307743756322,
      -0.006000546024322817,
      -0.023091725452075624,
      -0.0017139237979464641,
      -0.0001241750574025374,
      -0.00029640023530460007,
      0.0006082357647775442,
      -0.0006321902429302309,
      -0.0006320629168576653
    ],
    "a_ego": [
      0.6107185047265691,
      0.6107185082617286,
      0.36923113506840893,
      0.023231642504969032,
      0.016423347373971612,
      0.01200910966779878,
      0.006214403473675407,
      0.003214445755934524,
      0.0017308015928313707,
      0.0017307954908378006
    ],
    "yaw": [
      2.4198427908664897,
      2.4200241818528663,
      2.420541167971118,
      2.4203828141226422,
      2.420252257057931,
      2.420525833722637,
      2.4203005919221274,
      2.42036831216698,
      2.4203693409684353,
      2.4202934339287427
    ],
    "yaw_diff": [
      0.00036278197275319,
      0.0010339722365033666,
      -0.00031670769695146817,
      -0.00026111412942242396,
      0.0005471533294123532,
      -0.00045048360101951346,
      0.00013544048970537403,
      2.057602910277012e-06,
      -0.00015181407938502645,
      -0.00015181407938502645
    ],
    "min_front_frame": [
      2,
      9.838330803921094
    ],
    "v_avg": 0.10743142558054083,
    "v_std": 0.19309331528142717,
    "vy_max": 0.028982123597046994,
    "a_max": 0.6107185082617286,
    "ax_avg": -0.15466518213208674,
    "a_std": 0.24684371571376762,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "7dc47eb4f41e523d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.03974137174898,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.154816980291518,
      9.92279992521022,
      9.838330803921094,
      9.922931444154889,
      9.92595797738037,
      9.938979866042715,
      9.904855872339642,
      9.878823723636147,
      9.90659758997485,
      9.899992861437054
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "7dc47eb4f41e523d",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "82531fc4fe8f5a26": {
    "vx_ego": [
      3.3712926351079577,
      2.5028666850231374,
      1.7086534334588146,
      1.1279369878365453,
      0.8251041508056068,
      0.7524540284113931,
      0.7925009560979306,
      0.8725658371410704,
      0.9627032156179934,
      1.0445505464115918
    ],
    "vy_ego": [
      0.13435527698198574,
      0.06319379486925016,
      0.05824915806429852,
      0.04899024098292661,
      0.028465047214234457,
      -0.007039315033286845,
      -0.03663138445950527,
      -0.05102714459110247,
      -0.03437005741759743,
      0.016598340296686304
    ],
    "v_ego": [
      3.3739687864569916,
      2.503664334272605,
      1.70964602186704,
      1.1290003951466732,
      0.8255950088206385,
      0.752486954590358,
      0.7933471016796836,
      0.8740565826254146,
      0.963316553479755,
      1.0446824153346126
    ],
    "ax_ego": [
      -1.7469149577922458,
      -1.74217013262468,
      -1.4425357404226402,
      -0.8840678363857529,
      -0.32855022757483604,
      0.037625334674340205,
      0.12310817956595764,
      0.19789762206633876,
      0.16359037955196698,
      0.1639006358589354
    ],
    "ay_ego": [
      0.07278404765608248,
      0.14782618074949905,
      0.05822777565025712,
      -0.014962196292345497,
      -0.03918624839014892,
      -0.08855445921753019,
      -0.016341756511820012,
      -0.02679467422270383,
      0.1079538522402161,
      0.10748221975865187
    ],
    "a_ego": [
      1.7484305497649848,
      1.7484305392907316,
      1.4437104405849088,
      0.8841944393908373,
      0.3308788510956404,
      0.09621620475089072,
      0.124188070610408,
      0.19970333844533567,
      0.19599960840639205,
      0.19599960714044934
    ],
    "yaw": [
      -1.6888223131176552,
      -1.6458135794021933,
      -1.618518475216959,
      -1.6036314603970303,
      -1.5959275731384253,
      -1.5911238788309294,
      -1.5867027110591359,
      -1.582315302834163,
      -1.5783749482183147,
      -1.5754946647040093
    ],
    "yaw_diff": [
      0.08601746743092376,
      0.054590208370468574,
      0.029774029639857424,
      0.015407774517210093,
      0.009607388614991663,
      0.008842335543587154,
      0.00877481644994571,
      0.007880709231696592,
      0.005760567028610719,
      0.005760567028610719
    ],
    "min_front_frame": [
      3,
      9.93895094305052
    ],
    "v_avg": 1.3969764154273772,
    "v_std": 0.8363407935960506,
    "vy_max": 0.13435527698198574,
    "a_max": 1.7484305497649848,
    "ax_avg": -0.5458116743082615,
    "a_std": 0.6615161555863496,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "82531fc4fe8f5a26",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.981910701502576,
    "right_rear_min": 37.67499545830147,
    "speed_mode": "decelerating",
    "front_frame": [
      19.237376544564057,
      10.383292319166207,
      10.01993990095693,
      9.93895094305052,
      9.985515060828709,
      10.078372779437869,
      10.146560782627471,
      10.40337852205808,
      10.65581168733147,
      11.04437509346868
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "82531fc4fe8f5a26",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "df8bff51c1d95e09": {
    "vx_ego": [
      0.7943850816771125,
      0.6233955949441713,
      0.4760163639613694,
      0.35365133423354506,
      0.23888011055767022,
      0.12063127363212375,
      0.02797091452979413,
      -0.0033196812110552238,
      -0.004527053512320391,
      -0.0017676260974815528
    ],
    "vy_ego": [
      -0.00463973455186778,
      -0.007454437811865167,
      -0.008205113500826727,
      -0.0017218590757738517,
      0.007867797020602307,
      -0.0028601352754415027,
      -0.010938744208105804,
      -0.00446055217212792,
      -0.003348390745691836,
      -0.0013966451090770549
    ],
    "v_ego": [
      0.7943986311215954,
      0.6234401626771315,
      0.4760870746476577,
      0.3536555259059915,
      0.23900964300630664,
      0.12066517539001109,
      0.030033784052020764,
      0.005560288573744008,
      0.0056308022598247146,
      0.002252802605912627
    ],
    "ax_ego": [
      -0.3419710652019813,
      -0.34197371437352114,
      -0.24751839759221203,
      -0.2419256815694884,
      -0.21716040342054,
      -0.2558399674115337,
      -0.11481570463100793,
      -0.01034733063091119,
      0.005518664255872352,
      0.005518399572201375
    ],
    "ay_ego": [
      -0.004952585899654222,
      -0.0047669622831190694,
      0.003275461806834856,
      0.023543928548987958,
      0.014898368318336602,
      -0.0577301880654328,
      0.025369101546295028,
      0.0005437587693125513,
      0.0039037357545274563,
      0.003904119799858938
    ],
    "a_ego": [
      0.34200692616154893,
      0.3420069374323148,
      0.24754006907299753,
      0.24306861577419112,
      0.21767085747136775,
      0.262272498633015,
      0.11758502176374798,
      0.010361608214200981,
      0.0067597934887257604,
      0.006759799201908509
    ],
    "yaw": [
      0.5494835795155382,
      0.5500264287670529,
      0.5507287983950138,
      0.5512638777289374,
      0.5513352324169416,
      0.5514434714609073,
      0.5512377425390804,
      0.5512026919596897,
      0.5512508389632322,
      0.551182145870721
    ],
    "yaw_diff": [
      0.0010856985030294197,
      0.001404739255921772,
      0.0010701586678472097,
      0.00014270937600846523,
      0.00021647808793145984,
      -0.00041145784365381743,
      -7.010115878136602e-05,
      9.629400708499603e-05,
      -0.00013738618502245892,
      -0.00013738618502245892
    ],
    "min_front_frame": [
      6,
      9.064852089134288
    ],
    "v_avg": 0.2650733890240196,
    "v_std": 0.2723039404010617,
    "vy_max": 0.010938744208105804,
    "a_max": 0.3420069374323148,
    "ax_avg": -0.17605152010031216,
    "a_std": 0.12724591783613667,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "df8bff51c1d95e09",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.152577352204528,
    "right_rear_min": 18.56775756898013,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.184694119547677,
      9.854815021515071,
      9.628326640510554,
      9.393992633064611,
      9.263041713773267,
      9.09163259980981,
      9.064852089134288,
      9.075071222917808,
      9.27852030391635,
      9.70326450060454
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "df8bff51c1d95e09",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0802a51b0a1d512c": {
    "vx_ego": [
      1.225057575570668,
      1.591181003532147,
      2.130103888146095,
      2.8166595484585852,
      3.336113264336037,
      3.6489763364532077,
      3.862509508594559,
      4.1054083159837145,
      4.481923044938662,
      5.011220473964484
    ],
    "vy_ego": [
      -0.059882049454225816,
      -0.037985916797111274,
      -0.03275378605436252,
      -0.0588046228718242,
      -0.03666632713207996,
      0.005810538691553679,
      0.037368994238464626,
      0.04523577215913129,
      0.06021265447446944,
      -0.007850423038749055
    ],
    "v_ego": [
      1.2265202498572625,
      1.5916343536995197,
      2.1303556944313327,
      2.817273326390966,
      3.3363147531406874,
      3.648980962728548,
      3.8626902730757195,
      4.105657525419171,
      4.482327491885338,
      5.011226623075704
    ],
    "ax_ego": [
      0.7322167508179478,
      0.7321999836427378,
      1.422949394790452,
      1.3235507479221118,
      0.754434527612271,
      0.5485677322450676,
      0.37969298891556835,
      0.6666750871632819,
      0.8723836918848102,
      1.245386566691526
    ],
    "ay_ego": [
      0.04254160299848109,
      0.04282936618496663,
      -0.06612708516803711,
      -0.4458930126180263,
      -0.8309196698601973,
      -1.5280829874786566,
      -1.972860261492911,
      -2.203675843657714,
      -2.043483523182038,
      -1.8400789218533293
    ],
    "a_ego": [
      0.7334515377065297,
      0.7334515462211744,
      1.4244850899631538,
      1.396641385978076,
      1.1223185618237497,
      1.6235652661603082,
      2.00906554826106,
      2.3023125104478557,
      2.221908687453885,
      2.221908670297818
    ],
    "yaw": [
      0.8380954955448947,
      0.8377024960242463,
      0.8314710073539306,
      0.7904622258417355,
      0.6821207785793504,
      0.50290401296236,
      0.26395487977400445,
      -0.0009435738909355173,
      -0.25190918587754685,
      -0.4434149057031771
    ],
    "yaw_diff": [
      -0.0007859990412968365,
      -0.012462977340631287,
      -0.08201756302439023,
      -0.2166828945247703,
      -0.3584335312339808,
      -0.47789826637671107,
      -0.5297969073298799,
      -0.5019312239732227,
      -0.3830114396512605,
      -0.3830114396512605
    ],
    "min_front_frame": [
      3,
      43.460324686086636
    ],
    "v_avg": 3.221298125370425,
    "v_std": 1.1904616821588396,
    "vy_max": 0.06021265447446944,
    "a_max": 2.3023125104478557,
    "ax_avg": 0.8678057471685774,
    "a_std": 0.5685400894506254,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "0802a51b0a1d512c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      46.14735030970545,
      45.48345675520411,
      44.55206516784054,
      43.460324686086636,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "0802a51b0a1d512c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f6f14df95f6c52af": {
    "vx_ego": [
      5.880464965027158,
      5.94964637391124,
      5.9877502260328095,
      6.0791662777700335,
      6.314923324468671,
      6.454179672245052,
      6.556069167912874,
      6.690762161699514,
      6.708990638012223,
      6.6211690711446245
    ],
    "vy_ego": [
      -0.041069777023302834,
      -0.02367207282964577,
      -0.04550763613359543,
      -0.012298585973816278,
      0.01751943994550853,
      0.0353334509579315,
      -0.0027964567111298244,
      -0.09317916262478843,
      -0.190293756294881,
      -0.03272488702376153
    ],
    "v_ego": [
      5.880608381068798,
      5.949693466190272,
      5.987923155343798,
      6.079178718214601,
      6.314947626441129,
      6.4542763881304195,
      6.5560697643197745,
      6.691410961880716,
      6.711688840718144,
      6.621249941431971
    ],
    "ax_ego": [
      -0.005165811712421753,
      0.30070085339502856,
      -0.12451427621396233,
      0.5183514043296222,
      0.45771141933395787,
      0.0878017586278157,
      0.2629767086381718,
      0.2503963536394297,
      -0.1776523517684823,
      -0.17949070266846645
    ],
    "ay_ego": [
      1.925348586176659,
      1.9017289116931027,
      1.9181044206683941,
      2.037832730077778,
      2.435330942260066,
      2.5256180555907664,
      2.030312595848967,
      1.2797762632920624,
      0.14081028399776566,
      0.13845932543437167
    ],
    "a_ego": [
      1.9253555162367049,
      1.9253555143925838,
      1.9221416112161775,
      2.1027245216972057,
      2.477970246334287,
      2.5271437852928393,
      2.047272816736728,
      1.3040420307650042,
      0.22668898113583727,
      0.22668898769936105
    ],
    "yaw": [
      -1.7145794482322732,
      -1.5550750130508608,
      -1.3932210089053259,
      -1.2330137080918622,
      -1.058032266745002,
      -0.8685124539509735,
      -0.6874460283083111,
      -0.5491151035944106,
      -0.48217200868787957,
      -0.4953372186557887
    ],
    "yaw_diff": [
      0.31900887036282466,
      0.32370800829106994,
      0.32041460162692736,
      0.34996288269372045,
      0.3790396255880568,
      0.3621328512853248,
      0.27666184942780103,
      0.1338861898130621,
      -0.026330419935818306,
      -0.026330419935818306
    ],
    "min_front_frame": [
      6,
      17.241290491508284
    ],
    "v_avg": 6.324704724373962,
    "v_std": 0.3088920339289055,
    "vy_max": 0.190293756294881,
    "a_max": 2.5271437852928393,
    "ax_avg": 0.1391115355600693,
    "a_std": 0.7881168819408523,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "f6f14df95f6c52af",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      17.241290491508284,
      17.676198011351637,
      18.423588241746536,
      18.975278896849264
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f6f14df95f6c52af",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "54220704df92547d": {
    "vx_ego": [
      10.575076176306261,
      10.425063353753066,
      10.319297561719477,
      10.263352077000643,
      10.213345198914181,
      10.165361977351287,
      10.068818270763208,
      9.912483786856512,
      9.759985948671677,
      9.622940665539643
    ],
    "vy_ego": [
      -0.02958081637366483,
      -0.019740278732839123,
      -0.029217611142405175,
      -0.030456401408938127,
      0.013518854357656984,
      0.060827161633967286,
      0.04530770637504933,
      0.012349168112384845,
      -0.001275245064443098,
      0.008307203534309693
    ],
    "v_ego": [
      10.575117548253427,
      10.425082043244052,
      10.319338924374488,
      10.263397266444489,
      10.213354145999565,
      10.165543963515761,
      10.068920208141087,
      9.912491479272317,
      9.759986031983782,
      9.62294425122203
    ],
    "ax_ego": [
      -0.3009933147116902,
      -0.29788211999793646,
      -0.12362836223296007,
      -0.09763177856028471,
      -0.09978609259928128,
      -0.0960238166909963,
      -0.297164745976277,
      -0.32988800649728434,
      -0.2799788370239126,
      -0.2684600262592427
    ],
    "ay_ego": [
      0.2638798178313606,
      0.2673869454268707,
      0.2881883063432439,
      0.3649049042265759,
      0.5764181567363464,
      0.528795991384342,
      0.3457518098157878,
      0.4243614834527433,
      0.4788814886082775,
      0.48543262634120365
    ],
    "a_ego": [
      0.40028681437169855,
      0.4002868171688612,
      0.3135864663237101,
      0.377740060509143,
      0.5849915860006532,
      0.5374437401961764,
      0.4559070083273978,
      0.537502339966037,
      0.5547212176516618,
      0.5547212096320384
    ],
    "yaw": [
      2.017550431167058,
      2.029262667610816,
      2.0435972460612746,
      2.059587465907577,
      2.0782765055771737,
      2.1007505669373048,
      2.123836805332237,
      2.1463963979988465,
      2.1707527977014047,
      2.1946418082334906
    ],
    "yaw_diff": [
      0.023424472887516146,
      0.02866915690091698,
      0.03198043969260489,
      0.03737807933919335,
      0.04494812272026216,
      0.0461724767898648,
      0.04511918533321868,
      0.048712799405116414,
      0.04777802106417184,
      0.04777802106417184
    ],
    "min_front_frame": [
      7,
      76.2988704715374
    ],
    "v_avg": 10.1326175862451,
    "v_std": 0.2814331961345649,
    "vy_max": 0.060827161633967286,
    "a_max": 0.5849915860006532,
    "ax_avg": -0.2191437100549866,
    "a_std": 0.0891906246257881,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "54220704df92547d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      76.2988704715374,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "54220704df92547d",
    "road_shape": "Straight"
  },
  "10909749099354e6": {
    "vx_ego": [
      1.8013653101217084,
      0.7484496471324747,
      0.0549881381555547,
      -0.09781950794677352,
      -0.06411934923049645,
      -0.03516117794444725,
      -0.021142658663601793,
      -0.01428674554850948,
      -0.010303210098247372,
      -0.00694730540200033
    ],
    "vy_ego": [
      0.018160617624574216,
      0.03196632181805337,
      0.022798337993001794,
      0.007112788953153336,
      0.004534934588820514,
      0.0016920061480926278,
      0.001463105939400475,
      0.0012394986155853547,
      0.0010989317696962061,
      0.0009451524878378061
    ],
    "v_ego": [
      1.801456851701529,
      0.749131977707067,
      0.05952696492395291,
      0.09807776456282528,
      0.0642795191135345,
      0.035201865280781175,
      0.021193222840226185,
      0.014340413354777938,
      0.010361649934401097,
      0.0070113027016331965
    ],
    "ax_ego": [
      -2.105823761416729,
      -2.105826992663437,
      -0.6680727899728967,
      0.05683769123550528,
      0.07796184975179214,
      0.03787185561527252,
      0.018201628485965297,
      0.009222361964120471,
      0.0067118897736523995,
      0.006711895877235094
    ],
    "ay_ego": [
      0.027434091044835185,
      0.027184641787213915,
      -0.06354841770543268,
      0.000732965473667517,
      -0.011057041273485654,
      -0.0002891059037842397,
      -0.0006359849489770142,
      -0.0002542504050163279,
      -0.0003070166722467841,
      -0.0003067433266588132
    ],
    "a_ego": [
      2.1060024557200205,
      2.106002451987897,
      0.6710884100437395,
      0.056842417114055084,
      0.07874203565088077,
      0.037872959086499326,
      0.01821273610406818,
      0.00922586600085363,
      0.006718907915033302,
      0.006718901527429552
    ],
    "yaw": [
      -0.7180408791187489,
      -0.718159333197333,
      -0.7178122936126827,
      -0.7176488513641468,
      -0.7176110467320925,
      -0.7177543321498994,
      -0.7176620802053079,
      -0.7177254499426707,
      -0.7177466219567773,
      -0.7177860892871034
    ],
    "yaw_diff": [
      -0.00023690815716825853,
      0.0006940791693006432,
      0.0003268844970718554,
      7.560926410854485e-05,
      -0.00028657083561367536,
      0.00018450388918300753,
      -0.00012673947472574554,
      -4.2344028213125995e-05,
      -7.893466065223009e-05,
      -7.893466065223009e-05
    ],
    "min_front_frame": [
      2,
      22.364731491784646
    ],
    "v_avg": 0.28605815321207284,
    "v_std": 0.5484065915021955,
    "vy_max": 0.03196632181805337,
    "a_max": 2.1060024557200205,
    "ax_avg": -0.46662043713495194,
    "a_std": 0.820600317861992,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "10909749099354e6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.200338043510568,
    "speed_mode": "decelerating",
    "front_frame": [
      23.04539507495096,
      22.437122564124476,
      22.364731491784646,
      22.41576711609283,
      22.4342611479661,
      22.437978214626078,
      22.45330261589488,
      22.419962556324766,
      22.39886017063711,
      22.41240326143668
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "10909749099354e6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "424e3df76d475635": {
    "vx_ego": [
      7.78103802295171,
      7.8557403796228575,
      7.960760324696485,
      8.090356392737002,
      8.200653852706363,
      8.262019246269661,
      8.288035935781624,
      8.278599528968396,
      8.220016443893686,
      8.148436506348062
    ],
    "vy_ego": [
      -0.04903040469925851,
      -0.014846823485584637,
      -0.003963846912013513,
      0.0030455214260079466,
      -0.0031386750729259227,
      0.011492602048998768,
      0.02405503817344451,
      0.014553188377468662,
      0.006266511478790315,
      -0.0029555352063409535
    ],
    "v_ego": [
      7.781192498274621,
      7.855754409361629,
      7.960761311542009,
      8.090356965962703,
      8.200654453346326,
      8.262027239463215,
      8.288070844151195,
      8.278612320692865,
      8.220018832523968,
      8.148437042351997
    ],
    "ax_ego": [
      0.14922064705409355,
      0.14916554636942442,
      0.2710262624227199,
      0.24732985130623475,
      0.19387112310324797,
      0.05160440146205621,
      0.05255544785839181,
      -0.08979469562228648,
      -0.14402099063478704,
      -0.14222599704659483
    ],
    "ay_ego": [
      0.01641774297129392,
      0.016911046794801675,
      0.07836856570270008,
      -0.03363624036185538,
      0.02189004187406412,
      0.014225226955681446,
      -0.002704402203758898,
      -0.14763494753401293,
      -0.18016708253234587,
      -0.18158741414969487
    ],
    "a_ego": [
      0.15012109709002872,
      0.15012109687643796,
      0.28212916724990955,
      0.24960659448989864,
      0.19510301460142285,
      0.053529163380326754,
      0.052624983523758335,
      0.1727980471396301,
      0.23065607161235221,
      0.23065607126947862
    ],
    "yaw": [
      -1.5118988316689639,
      -1.5152053103337995,
      -1.5135662763898248,
      -1.5130464155602854,
      -1.512648038164771,
      -1.513327196595835,
      -1.514497267316126,
      -1.5178803034744248,
      -1.5268026110982418,
      -1.536726351341883
    ],
    "yaw_diff": [
      -0.006612957329671154,
      0.0032780678879493763,
      0.0010397216590787295,
      0.0007967547910290307,
      -0.0013583168621282837,
      -0.002340141440582144,
      -0.006766072316597427,
      -0.01784461524763392,
      -0.019847480487282354,
      -0.019847480487282354
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.108588591767052,
    "v_std": 0.1733334096901046,
    "vy_max": 0.04903040469925851,
    "a_max": 0.28212916724990955,
    "ax_avg": 0.07387315962725002,
    "a_std": 0.07388208257416254,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "424e3df76d475635",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "424e3df76d475635",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1e09c94f9cfb5fc9": {
    "vx_ego": [
      1.971099662455798,
      2.905379638934322,
      3.8568083805809548,
      4.809032999846278,
      5.732463247984147,
      6.603957984419665,
      7.400720664961623,
      8.104097381403815,
      8.717004401434252,
      9.297916070181985
    ],
    "vy_ego": [
      0.009330214237632806,
      -0.001298902988202455,
      -0.001244861158127275,
      0.005013119738939142,
      0.013673066928682864,
      0.007071764938067382,
      0.007603399489304774,
      0.01756113782121771,
      0.056888432349367246,
      0.03013151852059659
    ],
    "v_ego": [
      1.9711217446497518,
      2.9053799292834497,
      3.856808581482725,
      4.809035612779344,
      5.732479554455314,
      6.603961770773631,
      7.4007245707750675,
      8.104116408396274,
      8.717190030529293,
      9.297964893274052
    ],
    "ax_ego": [
      1.8685568827899197,
      1.8685734400423293,
      1.9371180549253983,
      1.8717817049484287,
      1.8220040794137364,
      1.6640503748645483,
      1.5230202713807763,
      1.2904815135125862,
      1.1614623068411567,
      1.1615176652259689
    ],
    "ay_ego": [
      -0.025174312740641858,
      -0.023915011641076678,
      0.00964054811248094,
      0.011944345465147,
      -0.006612807328395753,
      -0.04948709999633416,
      -0.009179216990187311,
      0.08180462357445784,
      0.01683342936120724,
      0.012439512687577148
    ],
    "a_ego": [
      1.8687264567730466,
      1.8687264723906005,
      1.9371420440653977,
      1.8718198146104335,
      1.8220160796823555,
      1.664786059273951,
      1.5230479326210737,
      1.2930717432361956,
      1.1615842864626054,
      1.161584275077745
    ],
    "yaw": [
      -2.0329863636639427,
      -2.0336602992743575,
      -2.0347344669626137,
      -2.0349329790812622,
      -2.036321477075276,
      -2.0375211747438122,
      -2.039686171563713,
      -2.038632565380021,
      -2.0403732012656652,
      -2.0365902109753673
    ],
    "yaw_diff": [
      -0.0013478712208296884,
      -0.002148335376512378,
      -0.00039702423729703895,
      -0.0027769959880279416,
      -0.002399395337072008,
      -0.004329993639801799,
      0.0021072123673846477,
      -0.003481271771288874,
      0.007565980580595877,
      0.007565980580595877
    ],
    "min_front_frame": [
      0,
      18.64612605103199
    ],
    "v_avg": 5.93987830963989,
    "v_std": 2.384730993674212,
    "vy_max": 0.056888432349367246,
    "a_max": 1.9371420440653977,
    "ax_avg": 1.6168566293944848,
    "a_std": 0.2944544831006544,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "1e09c94f9cfb5fc9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.170113651788008,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      18.64612605103199,
      20.70696961868238,
      23.03874820967622,
      25.32717046119441,
      27.63006576642601,
      29.154203281073094,
      30.01078785030472,
      30.810002483414742,
      31.429715398940743,
      32.02953801005182
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1e09c94f9cfb5fc9",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4023fa59fcfd5671": {
    "vx_ego": [
      1.6034364119198812,
      1.1880086191727417,
      0.8778892359738675,
      0.7065999981826313,
      0.6220627886696044,
      0.6330585528616867,
      0.7224499722240596,
      0.893789555789561,
      1.116903408567876,
      1.3459202112993762
    ],
    "vy_ego": [
      -0.031483885048432025,
      -0.006273197684394827,
      0.0025209727208284627,
      -0.01150285098374132,
      0.0016037188469895103,
      0.012631334215101375,
      -0.0068721062304401,
      -0.003659553599890508,
      0.021124606134088952,
      0.04835603584861381
    ],
    "v_ego": [
      1.6037454792105406,
      1.1880251816514293,
      0.8778928556163559,
      0.7066936203281085,
      0.622064855912585,
      0.6331845559987913,
      0.722482655992922,
      0.893797047640599,
      1.1171031613306177,
      1.3467885956552907
    ],
    "ax_ego": [
      -0.8308440364971714,
      -0.8307898016204242,
      -0.40970077756667467,
      -0.27545274205540266,
      -0.062666087214308,
      0.1065791831956007,
      0.25098457112202904,
      0.43442091378641623,
      0.4580146469488266,
      0.4580253840399956
    ],
    "ay_ego": [
      0.05284084823719193,
      0.05368685711190896,
      -0.016659035497053637,
      -0.03798545771547786,
      0.09131778052677618,
      -0.04545486638435726,
      -0.03142183939746902,
      0.04673362666890796,
      0.054988984479675346,
      0.054899465044105866
    ],
    "a_ego": [
      0.8325226532805814,
      0.8325226562100627,
      0.4100393281167429,
      0.27805954057304805,
      0.11075186466641417,
      0.1158674551747003,
      0.2529438414597778,
      0.43692741067213187,
      0.4613038101227479,
      0.4613038084463583
    ],
    "yaw": [
      -2.0593102801867342,
      -2.0582919934719923,
      -2.057819915705015,
      -2.0573521967039685,
      -2.0569970166219385,
      -2.056274542144273,
      -2.0558436477618214,
      -2.055059897616154,
      -2.054414951688838,
      -2.054219497367507
    ],
    "yaw_diff": [
      0.0020365734294838234,
      0.0009441555339542163,
      0.0009354380020933917,
      0.0007103601640601198,
      0.0014449489553305384,
      0.0008617887649036149,
      0.0015675002913351221,
      0.0012898918546317972,
      0.0003909086426618913,
      0.0003909086426618913
    ],
    "min_front_frame": [
      4,
      12.273076169382712
    ],
    "v_avg": 0.971177800933724,
    "v_std": 0.31498454485209054,
    "vy_max": 0.04835603584861381,
    "a_max": 0.8325226562100627,
    "ax_avg": -0.07014287458611125,
    "a_std": 0.24089987400764115,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4023fa59fcfd5671",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.023753259491044,
    "right_rear_min": 4.640297836413034,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      13.278916635494776,
      12.851040152754699,
      12.581288381414474,
      12.377083560153237,
      12.273076169382712,
      12.299556707925854,
      12.416702330287936,
      12.486358951971468,
      12.685170255639312,
      12.97264259918124
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4023fa59fcfd5671",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a83d8c6015e85622": {
    "vx_ego": [
      6.490472189628015,
      6.137089565560913,
      5.698088042362861,
      5.279748115479764,
      4.977473359895465,
      4.601381134133961,
      4.058748861409191,
      3.521081126112045,
      3.059242164872877,
      2.5852238029616057
    ],
    "vy_ego": [
      -0.04072117038333761,
      -0.009319236485173826,
      0.0075873127218743786,
      0.022893968311944166,
      0.027429618067728714,
      -0.0015074611900509766,
      -0.015959906347321473,
      -0.023760266172055608,
      -0.050661683186109634,
      -0.07253370887672345
    ],
    "v_ego": [
      6.4905999305189095,
      6.137096641237231,
      5.6980930938194545,
      5.279797751495524,
      4.977548938224153,
      4.60138138106408,
      4.058780240244723,
      3.5211612923737294,
      3.0596616200945057,
      2.5862411431115007
    ],
    "ax_ego": [
      -0.706756552506515,
      -0.7067162627045384,
      -1.0493037910009944,
      -0.6240682868690732,
      -0.5852668670522291,
      -0.9192781187106548,
      -1.2511972784971936,
      -0.8995139233006744,
      -0.9480270699661972,
      -0.9480299679707151
    ],
    "ay_ego": [
      0.069860741725908,
      0.07026706878407973,
      0.009806905155088658,
      0.05880425140772616,
      -0.004012086405813932,
      -0.07211871739306384,
      0.02551612266787106,
      -0.07886198128889718,
      -0.04339981740985086,
      -0.043336701141820956
    ],
    "a_ego": [
      0.7102009206875111,
      0.710200913070785,
      1.0493496181910866,
      0.6268326464530408,
      0.5852806185980015,
      0.9221026889336248,
      1.2514574312515732,
      0.9029642907139694,
      0.9490199521295121,
      0.9490199628229169
    ],
    "yaw": [
      -1.5921741286028832,
      -1.5915991922042978,
      -1.5910770899041071,
      -1.5907374625044484,
      -1.5889492466626591,
      -1.5868991515845217,
      -1.5862582361487987,
      -1.5877361246801913,
      -1.588847708621292,
      -1.5887811317587142
    ],
    "yaw_diff": [
      0.0011498727971708256,
      0.0010442046003813488,
      0.0006792547993175191,
      0.0035764316835784626,
      0.004100190156274941,
      0.0012818308714459548,
      -0.0029557770627852697,
      -0.002223167882201338,
      0.0001331537251556547,
      0.0001331537251556547
    ],
    "min_front_frame": [
      9,
      14.275119716625005
    ],
    "v_avg": 4.6410362032183805,
    "v_std": 1.2496140148207486,
    "vy_max": 0.07253370887672345,
    "a_max": 1.2514574312515732,
    "ax_avg": -0.8638158118578787,
    "a_std": 0.19622508465958965,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a83d8c6015e85622",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.746440529343028,
    "right_rear_min": 3.940947845455017,
    "speed_mode": "decelerating",
    "front_frame": [
      21.096343943838473,
      20.56216943215,
      19.989156943128393,
      19.229735264586783,
      18.498763652563106,
      17.603198469291357,
      16.775250378982076,
      15.998003411455468,
      15.129134524640728,
      14.275119716625005
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a83d8c6015e85622",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e1ea05ca230f5c42": {
    "vx_ego": [
      7.889206467903561,
      7.468884803270155,
      7.050126057299329,
      6.638063404001645,
      6.318086192931012,
      6.0568745190829425,
      5.598905630243726,
      4.928889629997826,
      4.18228008346771,
      3.4025907822064876
    ],
    "vy_ego": [
      -0.019326873634021885,
      -0.009832702735104976,
      -0.0016510041530556074,
      0.002100930370595805,
      -0.009434030746513472,
      -0.01156397026951217,
      -0.0014501922847581228,
      -0.0060680163061914705,
      -0.014900130548114579,
      -0.024656146250625233
    ],
    "v_ego": [
      7.889230141227713,
      7.468891275588563,
      7.050126250616062,
      6.638063736471226,
      6.318093236273236,
      6.056885558215924,
      5.598905818053431,
      4.928893365200956,
      4.182306625590838,
      3.402680113778621
    ],
    "ax_ego": [
      -0.8406608172787198,
      -0.8406665808791577,
      -0.8343843660269844,
      -0.8138627063979893,
      -0.46603924617473347,
      -0.5788400301527278,
      -1.253035661428695,
      -1.427028657158802,
      -1.5594581667850724,
      -1.559413289997892
    ],
    "ay_ego": [
      0.008499125272683233,
      0.007908815810697342,
      0.001114879408608889,
      -0.006532058925493609,
      -0.05664298103506056,
      0.0391274452712692,
      0.00081849238874631,
      -0.027560827603448454,
      -0.02948324223005481,
      -0.03176819874213125
    ],
    "a_ego": [
      0.8407037794836691,
      0.8407037823006275,
      0.8343851108608952,
      0.8138889191156652,
      0.4694688554905981,
      0.5801609582526792,
      1.2530359287513817,
      1.427294779493935,
      1.5597368481654381,
      1.5597368455843343
    ],
    "yaw": [
      -1.5386569913188426,
      -1.5393591859223372,
      -1.5401755520874292,
      -1.5409219097707152,
      -1.5415837690554919,
      -1.5419464094158704,
      -1.541967940054443,
      -1.5423591426949945,
      -1.5435465305244667,
      -1.5450117768592952
    ],
    "yaw_diff": [
      -0.001404389206989265,
      -0.0016327323301839058,
      -0.0014927153665720283,
      -0.0013237185695533782,
      -0.0007252807207569489,
      -4.306127714537311e-05,
      -0.0007824052811029603,
      -0.0023747756589442837,
      -0.00293049266965717,
      -0.00293049266965717
    ],
    "min_front_frame": [
      9,
      15.575382842144927
    ],
    "v_avg": 5.953407612101658,
    "v_std": 1.3666623250929832,
    "vy_max": 0.024656146250625233,
    "a_max": 1.5597368481654381,
    "ax_avg": -1.0173389522280774,
    "a_std": 0.3795464070594643,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e1ea05ca230f5c42",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.5152211303547,
    "right_rear_min": 43.277567892360956,
    "speed_mode": "decelerating",
    "front_frame": [
      21.839987366706357,
      24.103519138718813,
      26.60204612299628,
      26.575310839296392,
      24.572499037219764,
      22.506626873405192,
      20.362047928744737,
      18.410714047406998,
      16.792660944298685,
      15.575382842144927
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e1ea05ca230f5c42",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "08b8808b5cf351c3": {
    "vx_ego": [
      4.704106497876927,
      4.70982581027842,
      4.771694332185006,
      4.898574326565576,
      4.983203009863914,
      5.016229422986269,
      5.103537593057545,
      5.205331836038076,
      5.262075441481368,
      5.306559182894254
    ],
    "vy_ego": [
      -0.05477237600365465,
      -0.019008377310586383,
      -0.0017140962128098791,
      -0.02890168459250997,
      -0.0336422681072511,
      -0.004629199567997788,
      0.028477217652433218,
      0.02474601785285513,
      -0.0018385930625506308,
      0.09584058693939479
    ],
    "v_ego": [
      4.704425358802179,
      4.709864168059707,
      4.771694640055285,
      4.89865958607655,
      4.983316570289326,
      5.016231559001418,
      5.103617042419701,
      5.205390656681888,
      5.262075762687743,
      5.3074245901062245
    ],
    "ax_ego": [
      -0.0002553424677159402,
      0.016340842167016235,
      0.22783064277227813,
      0.2781969021039582,
      0.06876421524535423,
      0.07586220472804925,
      0.2708032723155559,
      0.12778950032899136,
      0.08463958209585504,
      0.09032725430134618
    ],
    "ay_ego": [
      -0.3612149726410154,
      -0.36084525530656364,
      -0.2643573757789896,
      0.01050109909497244,
      0.45422402508538273,
      0.7579448612282195,
      0.7797439357206918,
      0.7648775548359185,
      0.3622688457805933,
      0.36089272972500397
    ],
    "a_ego": [
      0.3612150628916592,
      0.3612150625319858,
      0.348986566954637,
      0.27839502406192845,
      0.4593995888799595,
      0.7617318995345183,
      0.8254302015252456,
      0.7754790972593051,
      0.372024966205985,
      0.3720249658799592
    ],
    "yaw": [
      1.5916002188601173,
      1.5456393340629249,
      1.5088206228825989,
      1.5013081930684944,
      1.5256517088945696,
      1.5804566566066063,
      1.6501959626730383,
      1.72553986263391,
      1.7843824850254766,
      1.8001121769822144
    ],
    "yaw_diff": [
      -0.0919217695943848,
      -0.07363742236065196,
      -0.015024859628208986,
      0.04868703165215038,
      0.1096098954240734,
      0.13947861213286394,
      0.15068779992174353,
      0.11768524478313314,
      0.03145938391347558,
      0.03145938391347558
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.996269993418002,
    "v_std": 0.21223912328655242,
    "vy_max": 0.09584058693939479,
    "a_max": 0.8254302015252456,
    "ax_avg": 0.12402990735906887,
    "a_std": 0.1986025801107233,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "08b8808b5cf351c3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 28.68329622974084,
    "right_rear_min": 26.82665298259336,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "08b8808b5cf351c3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e9799c219eb25a48": {
    "vx_ego": [
      5.21084104561136,
      4.857302547944627,
      4.416508179031916,
      3.857805799962727,
      3.223334019001441,
      2.5365379710767786,
      1.869523645500847,
      1.2548989327199611,
      0.6872733443937857,
      0.14138282232982052
    ],
    "vy_ego": [
      0.0509567023927624,
      0.07177456593570142,
      0.07934648660276844,
      0.0840899483294355,
      0.07749677881112693,
      0.052429079740353046,
      0.0492051097205487,
      0.03547812457759569,
      0.017755842316051873,
      0.010609136582931278
    ],
    "v_ego": [
      5.211090191902922,
      4.857832812127711,
      4.417220886529449,
      3.8587221602022743,
      3.224265489809746,
      2.537079755765814,
      1.87017106273982,
      1.2554003459714518,
      0.6875026689770533,
      0.14178030973651062
    ],
    "ax_ego": [
      -0.707421232507725,
      -0.7072783420312231,
      -1.056847150567518,
      -1.1788506534242864,
      -1.3602307209679068,
      -1.3885880150758672,
      -1.27993499873237,
      -1.1787089233994694,
      -1.0917829014237501,
      -1.0917841484579036
    ],
    "ay_ego": [
      0.06329687369823245,
      0.06487411065616472,
      0.020087124909789367,
      0.045877087035822384,
      -0.024769823975105076,
      0.0008054473320650013,
      0.006656305429235676,
      -0.057096360385707534,
      -0.01426861891276654,
      -0.014172914295785155
    ],
    "a_ego": [
      0.710247347353525,
      0.7102473536310179,
      1.057038027816324,
      1.179743010233059,
      1.3604562317269266,
      1.3885882486747976,
      1.2799523066825573,
      1.1800909797430157,
      1.0918761364399077,
      1.091876136896299
    ],
    "yaw": [
      0.8473077805417406,
      0.8495375699085199,
      0.8524577885618194,
      0.8552868908608742,
      0.8586181199994962,
      0.8652339220944424,
      0.8675584373552738,
      0.8682792704929603,
      0.8681553809848213,
      0.8682430425985528
    ],
    "yaw_diff": [
      0.004459578733558622,
      0.005840437306599,
      0.005658204598109506,
      0.006662458277244099,
      0.013231604189892332,
      0.004649030521662878,
      0.0014416662753728993,
      -0.000247779016278038,
      0.0001753232274630534,
      0.0001753232274630534
    ],
    "min_front_frame": [
      9,
      37.58420954574147
    ],
    "v_avg": 2.806106568376275,
    "v_std": 1.6974165665052232,
    "vy_max": 0.0840899483294355,
    "a_max": 1.3885882486747976,
    "ax_avg": -1.104142708658802,
    "a_std": 0.2240128998841562,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e9799c219eb25a48",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.679942740623163,
    "speed_mode": "decelerating",
    "front_frame": [
      50.21203534699039,
      47.70626948310643,
      45.36764361806608,
      43.28831805292185,
      41.53759698039136,
      40.13713609479226,
      39.03452501906698,
      38.29695328144864,
      37.78451492325436,
      37.58420954574147
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e9799c219eb25a48",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "f01212b1c5b25520": {
    "vx_ego": [
      7.070862922310004,
      7.6080976324423055,
      8.111324440505172,
      8.487344129115307,
      8.699638226026494,
      8.757681383146986,
      8.731477512636266,
      8.69099371825908,
      8.618483377983738,
      8.515510195923618
    ],
    "vy_ego": [
      0.26542185358440706,
      0.2047297618514352,
      0.17842529801482687,
      0.0991757122541852,
      0.0769883943100842,
      0.10638938032241008,
      0.10144356830551793,
      0.07242073836154272,
      0.07843577166997129,
      0.08779827207689195
    ],
    "v_ego": [
      7.07584279266142,
      7.610851717131399,
      8.113286619250438,
      8.487923549840042,
      8.699978877939868,
      8.7583275748835,
      8.732066785774336,
      8.69129544856022,
      8.618840287814796,
      8.515962801319576
    ],
    "ax_ego": [
      1.0749333758803883,
      1.1219988415304334,
      0.9179644554205298,
      0.592137380512247,
      0.2587440390555573,
      -0.02458789117552585,
      -0.07736062520548792,
      -0.08409656285403769,
      -0.2062249527528975,
      -0.2061596920834336
    ],
    "ay_ego": [
      -0.9226825064687632,
      -0.8648371901975056,
      -0.5935291638824371,
      -0.24851324730921417,
      -0.0658714967293721,
      -0.01904638262806238,
      -0.19917627713673608,
      0.014008443400203623,
      0.043934703604605746,
      0.04423991515623048
    ],
    "a_ego": [
      1.4166244281125069,
      1.4166244265663186,
      1.0931311036625455,
      0.642172493562342,
      0.26699725060036,
      0.031101914469595895,
      0.21367230917045352,
      0.0852553128570872,
      0.21085300405438706,
      0.21085300266528487
    ],
    "yaw": [
      -0.5877309101980046,
      -0.6403788289283976,
      -0.6832736943073149,
      -0.6990119818947095,
      -0.7055444176735612,
      -0.7113214452642707,
      -0.716990365217845,
      -0.7189725697764835,
      -0.7179955512687216,
      -0.7165153172672349
    ],
    "yaw_diff": [
      -0.10529583746078597,
      -0.08578973075783458,
      -0.03147657517478919,
      -0.013064871557703528,
      -0.011554055181418832,
      -0.01133783990714865,
      -0.0039644091172770235,
      0.0019540370155237685,
      0.0029604680029733377,
      0.0029604680029733377
    ],
    "min_front_frame": [
      9,
      62.390323364683454
    ],
    "v_avg": 8.33043764551756,
    "v_std": 0.5378233012213377,
    "vy_max": 0.26542185358440706,
    "a_max": 1.4166244281125069,
    "ax_avg": 0.3367348368327773,
    "a_std": 0.5208927124549861,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f01212b1c5b25520",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      79.64840460223942,
      75.28423024427764,
      71.00686597186949,
      66.71016141884466,
      62.390323364683454
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f01212b1c5b25520",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cce0795c7ff05129": {
    "vx_ego": [
      9.01974039842244,
      8.866503850509226,
      8.667417872910157,
      8.323409339486671,
      7.816918595220501,
      7.177778731384225,
      6.476684703789703,
      5.781634997618537,
      5.1045153872406015,
      4.446507364874072
    ],
    "vy_ego": [
      -0.024193074731486554,
      -0.02424197404184679,
      -0.011666791884337979,
      0.005490880352523649,
      0.003939099037501715,
      0.015764697313653785,
      0.030007541599570194,
      0.015724747768194523,
      0.0016527267764309753,
      0.01623775807322805
    ],
    "v_ego": [
      9.019772844135199,
      8.866536990527946,
      8.667425724958669,
      8.323411150629349,
      7.816919587715181,
      7.177796043521516,
      6.47675421834551,
      5.781656381468884,
      5.1045156547983925,
      4.446537013302217
    ],
    "ax_ego": [
      -0.30647453897704796,
      -0.30647452355964483,
      -0.4898827837529561,
      -0.8861513263829898,
      -1.139840133646199,
      -1.4167113385369152,
      -1.387611017994895,
      -1.3925113004952732,
      -1.315978519188201,
      -1.3160007250276862
    ],
    "ay_ego": [
      -0.0006240712280689447,
      -0.0006331670374210321,
      0.045976297066354546,
      0.021017754430287746,
      0.015878714581052177,
      0.024578150714576037,
      0.017006673831062604,
      -0.08720146851439134,
      0.016375400518275126,
      0.014482050288350116
    ],
    "a_ego": [
      0.30647517437158234,
      0.3064751776108606,
      0.49203552890973146,
      0.8864005410939367,
      1.1399507286928374,
      1.4169245224187512,
      1.3877152316724153,
      1.3952389824392464,
      1.3160803990284575,
      1.3160804071385417
    ],
    "yaw": [
      -1.5682704372076284,
      -1.5683001147229896,
      -1.5684411175686068,
      -1.5684890006805414,
      -1.5671589508205153,
      -1.567386166816429,
      -1.5679498927840019,
      -1.5684826864383834,
      -1.5691515903538193,
      -1.5705903186893146
    ],
    "yaw_diff": [
      -5.9355030722407776e-05,
      -0.00028200569123448815,
      -9.576622386919809e-05,
      0.0026600997200523224,
      -0.0004544319918275974,
      -0.0011274519351456291,
      -0.0010655873087630496,
      -0.0013378078308718955,
      -0.002877456670990597,
      -0.002877456670990597
    ],
    "min_front_frame": [
      9,
      15.21669884989044
    ],
    "v_avg": 7.168132560940286,
    "v_std": 1.5614939389685458,
    "vy_max": 0.030007541599570194,
    "a_max": 1.4169245224187512,
    "ax_avg": -0.9957636207561809,
    "a_std": 0.43960378043424475,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "cce0795c7ff05129",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5252374175343975,
    "right_rear_min": 42.01214290354265,
    "speed_mode": "decelerating",
    "front_frame": [
      21.790025069879913,
      20.823402230175827,
      19.517260532735946,
      23.30191291956626,
      21.405359291758106,
      19.76621369930539,
      18.240675279113628,
      17.074733922300506,
      16.10051345349643,
      15.21669884989044
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "cce0795c7ff05129",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "b930ed8abf2b5e8d": {
    "vx_ego": [
      2.7126371767581103,
      2.7642935954067576,
      2.7140437840545473,
      2.3337328521013547,
      1.6043347760319042,
      0.7625242832683046,
      0.14303956197063533,
      -0.06522391290083018,
      -0.04567616971721142,
      0.004345073828159796
    ],
    "vy_ego": [
      -0.007051629295274031,
      0.010180803776836278,
      -0.0031241485499315935,
      -0.02705263228014121,
      -0.016576053368723365,
      -0.003019648638256378,
      -0.0044524645802322405,
      -0.004964654749072116,
      -0.004309837720099172,
      -0.0007918192419139132
    ],
    "v_ego": [
      2.712646342265414,
      2.7643123431284606,
      2.714045582164988,
      2.3338896438971592,
      1.6044204059817435,
      0.7625302622530729,
      0.1431088422480926,
      0.06541258755677355,
      0.04587904948022671,
      0.004416632686111031
    ],
    "ax_ego": [
      0.10334457890184721,
      0.10329485108004119,
      -0.30421289939263063,
      -1.2171863797307383,
      -1.7005160371428367,
      -1.6667285003273073,
      -0.8112088581954463,
      -0.02185030487753284,
      0.10004263251247038,
      0.10004336285895439
    ],
    "ay_ego": [
      0.022077360323464003,
      0.022308859489333567,
      -0.0885604084542536,
      -0.024963559449286965,
      0.05998048026829639,
      -0.008092665970639401,
      0.002466422540504054,
      -0.0044336234459323425,
      0.007036907151527626,
      0.00702676685679654
    ],
    "a_ego": [
      0.10567644878236676,
      0.10567644709850306,
      0.3168413390049585,
      1.2174423445495886,
      1.70157352194761,
      1.666748146855375,
      0.8112126076774867,
      0.022295578936225368,
      0.10028981195657122,
      0.10028982951719576
    ],
    "yaw": [
      0.8569076178758954,
      0.8546669978160792,
      0.8534993248342249,
      0.8518114977676821,
      0.8509628215305438,
      0.8504671921692231,
      0.8505431125526954,
      0.8502018818200894,
      0.8502583677360886,
      0.8503598535080878
    ],
    "yaw_diff": [
      -0.004481240119632357,
      -0.002335345963708768,
      -0.003375654133085604,
      -0.0016973524742764923,
      -0.000991258722641497,
      0.00015184076694474413,
      -0.0006824614652121141,
      0.00011297183199854288,
      0.00020297154399839812,
      0.00020297154399839812
    ],
    "min_front_frame": [
      5,
      9.426375063114413
    ],
    "v_avg": 1.3150661691662042,
    "v_std": 1.170532677409373,
    "vy_max": 0.02705263228014121,
    "a_max": 1.70157352194761,
    "ax_avg": -0.531497755431318,
    "a_std": 0.6463066751675837,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b930ed8abf2b5e8d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.807484745335115,
    "right_rear_min": 16.072760213377748,
    "speed_mode": "decelerating",
    "front_frame": [
      13.783846029319282,
      13.148648531827353,
      12.046562474427956,
      10.807627606175052,
      9.867001280216385,
      9.426375063114413,
      9.500977594867061,
      9.859655347530861,
      10.532969186337747,
      11.53663932163979
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b930ed8abf2b5e8d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5c4d8dfcb0aa5541": {
    "vx_ego": [
      1.8685437614223372,
      2.009539458778799,
      2.240126465358531,
      2.5197344018256627,
      2.793655568460551,
      3.0101247908232516,
      3.1667787835372025,
      3.2872818125792467,
      3.3419089685333083,
      3.351080908378439
    ],
    "vy_ego": [
      0.04190591517833808,
      0.01656845250366562,
      0.036188480866203354,
      0.05814046290325553,
      0.07462817211552053,
      0.09365562726227283,
      0.09797234516960374,
      0.07662589747424753,
      0.04385082764260817,
      0.012366397326596834
    ],
    "v_ego": [
      1.86901361527338,
      2.009607760237643,
      2.2404187525878076,
      2.5204050803730604,
      2.794652178583937,
      3.011581417270105,
      3.1682939327466757,
      3.28817475865837,
      3.342196650265855,
      3.3511037259806367
    ],
    "ax_ego": [
      0.1850123854906756,
      0.3981325666589227,
      0.551742036228489,
      0.5969698958326148,
      0.5333870225248992,
      0.3601477645973413,
      0.2925296514427113,
      0.2035552283852572,
      0.018294501106644746,
      0.01940609683173581
    ],
    "ay_ego": [
      -0.9620064072771971,
      -0.8950845606067306,
      -0.9279128046093582,
      -0.8576152857743703,
      -0.7644102180498428,
      -0.5548576508500452,
      -0.4316171737901689,
      -0.29858836141951595,
      -0.12338911442973724,
      -0.1232191778488807
    ],
    "a_ego": [
      0.979635600837031,
      0.9796356012676171,
      1.079556134482855,
      1.0449292009147118,
      0.9321076639836117,
      0.661493329559182,
      0.5214086513319538,
      0.3613720251737338,
      0.1247379746929371,
      0.12473797490739057
    ],
    "yaw": [
      -2.6968489960241593,
      -2.925369749191413,
      3.1330062539129067,
      2.93638880490405,
      2.7783505869847342,
      2.659169457610453,
      2.5781859134112746,
      2.528413188032374,
      2.5066271470814367,
      2.4976121353980356
    ],
    "yaw_diff": [
      -0.457041506334507,
      -0.44961860815053356,
      -0.39323489801771316,
      -0.31607643583863165,
      -0.23836225874856254,
      -0.16196708839835683,
      -0.09954545075780086,
      -0.04357208190187478,
      -0.01803002336680226,
      -0.01803002336680226
    ],
    "min_front_frame": [
      9,
      75.56194750801083
    ],
    "v_avg": 2.759544787197747,
    "v_std": 0.536920536569153,
    "vy_max": 0.09797234516960374,
    "a_max": 1.079556134482855,
    "ax_avg": 0.31591771490992915,
    "a_std": 0.35771214355675673,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "5c4d8dfcb0aa5541",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      77.88438594587267,
      77.0837200692959,
      76.3417378402598,
      75.56194750801083
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5c4d8dfcb0aa5541",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "322023693f1f5f55": {
    "vx_ego": [
      -0.09796593002688658,
      0.11354614739750697,
      0.7154137264503021,
      1.9241451557834042,
      3.3577171346414687,
      4.692141214170479,
      5.679500470705547,
      6.093606515628818,
      6.083652792162791,
      5.984590479048217
    ],
    "vy_ego": [
      0.0025910940874623936,
      -0.002456979932173378,
      0.004697061364789423,
      0.032435173658545535,
      0.04016665360496097,
      0.030486773656091426,
      0.05179447271479054,
      0.03151373958339754,
      0.04188028715945924,
      0.00428332781321572
    ],
    "v_ego": [
      0.09800018987023913,
      0.11357272709239433,
      0.7154291456035128,
      1.9244185150364255,
      3.3579573726190652,
      4.692240255686528,
      5.679736636865158,
      6.093688003425882,
      6.083796943853623,
      5.984592011892851
    ],
    "ax_ego": [
      0.42302384033297735,
      0.4230244809558171,
      1.9844456033301512,
      2.850431432900098,
      2.8846991815686747,
      2.4537817089964262,
      1.497006064607326,
      0.1592983554939944,
      -0.19812373832185276,
      -0.1981153103377237
    ],
    "ay_ego": [
      -0.010110470834604673,
      -0.010083786017463237,
      0.038690033494109044,
      0.0765243002028555,
      -0.08493587797179436,
      -0.0550733482520811,
      -0.041423439341150226,
      -0.021168952537744493,
      -0.07651377206452885,
      -0.07653561160099685
    ],
    "a_ego": [
      0.42314464561253484,
      0.4231446492966494,
      1.9848227304392054,
      2.8514584552797615,
      2.8859493189433905,
      2.454399671832833,
      1.497579065958777,
      0.16069875735249572,
      0.2123849641621757,
      0.21238497129823292
    ],
    "yaw": [
      2.213011164923069,
      2.212948079836324,
      2.2129367661641,
      2.2138162063885582,
      2.210086331952673,
      2.203878039053148,
      2.1953147888574764,
      2.1960800368785676,
      2.1904081971413447,
      2.1902979271356138
    ],
    "yaw_diff": [
      -0.00012617017348937054,
      -2.2627344447911923e-05,
      0.0017588804489161447,
      -0.0074597488717706995,
      -0.01241658579905014,
      -0.01712650039134278,
      0.00153049604218225,
      -0.0113436794744457,
      -0.0002205400114618783,
      -0.0002205400114618783
    ],
    "min_front_frame": [
      0,
      13.344501705992172
    ],
    "v_avg": 3.4743431801945683,
    "v_std": 2.42982484617336,
    "vy_max": 0.05179447271479054,
    "a_max": 2.8859493189433905,
    "ax_avg": 1.227947161952589,
    "a_std": 1.0937716760823404,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "322023693f1f5f55",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.344501705992172,
      14.595440629299883,
      15.847704345116565,
      16.766580048172173,
      17.369811768191486,
      17.536879904456715,
      17.09724145368331,
      16.3699373460548,
      15.98172692174837,
      15.947739915142122
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.4,
    "ANC_result": "A",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "322023693f1f5f55",
    "merging_vehicles": "No"
  },
  "7ed4005bb9385a16": {
    "vx_ego": [
      6.548402416399259,
      6.033855334992942,
      5.559609192492573,
      5.113767739664219,
      4.616244293526805,
      4.068141552158821,
      3.5455994144814293,
      3.081109316516398,
      2.637936132010508,
      2.1948697646890096
    ],
    "vy_ego": [
      -0.12365395750700081,
      -0.08285213829218652,
      -0.06750197905242938,
      -0.11282876546118148,
      -0.12318541998387378,
      -0.14430546137130928,
      -0.15922668366355897,
      -0.049468973106625125,
      0.050431048337531426,
      0.12515737861899512
    ],
    "v_ego": [
      6.549569795666796,
      6.034424138262273,
      5.560018964933835,
      5.115012299647576,
      4.617887615048183,
      4.0707001553274305,
      3.5491729099554377,
      3.0815064172615916,
      2.638418148664647,
      2.1984352738638377
    ],
    "ax_ego": [
      -1.029821314248587,
      -1.0299490037051513,
      -0.868708020977223,
      -0.9176089435472613,
      -1.0765899959691432,
      -1.1179168628665752,
      -0.974847012581034,
      -0.8848461090009424,
      -0.8882223173890118,
      -0.8867597195863954
    ],
    "ay_ego": [
      0.03515810985346096,
      0.031194225368534778,
      -0.1566952303925226,
      -0.21480765196861007,
      0.03951164571995058,
      -0.21318286907782308,
      0.10205894276865246,
      0.29231680156873097,
      0.18374027102500684,
      0.1906739794438833
    ],
    "a_ego": [
      1.030421288584992,
      1.03042128759531,
      0.882727036482926,
      0.9424163096117281,
      1.077314805230272,
      1.1380619701710875,
      0.9801748444727715,
      0.9318807590531529,
      0.9070277682101301,
      0.9070277651306541
    ],
    "yaw": [
      -0.5579351017977472,
      -0.5617839565559453,
      -0.5698726829506999,
      -0.5787722498730632,
      -0.5856234357376843,
      -0.5907524607223941,
      -0.5941464405921247,
      -0.5975272431196554,
      -0.5908438350595303,
      -0.5830311641649053
    ],
    "yaw_diff": [
      -0.007697709516396145,
      -0.016177452789509328,
      -0.017799133844726533,
      -0.013702371729242158,
      -0.010258049969419591,
      -0.006787959739461336,
      -0.006761605055061404,
      0.013366816120250258,
      0.015625341789250013,
      0.015625341789250013
    ],
    "min_front_frame": [
      9,
      12.822190960418828
    ],
    "v_avg": 4.3415145718631605,
    "v_std": 1.4029603355931795,
    "vy_max": 0.15922668366355897,
    "a_max": 1.1380619701710875,
    "ax_avg": -0.9675269299871326,
    "a_std": 0.07956308061341585,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7ed4005bb9385a16",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5863370400009176,
    "right_rear_min": 25.73371817992833,
    "speed_mode": "decelerating",
    "front_frame": [
      25.828611054491642,
      22.733687344017202,
      19.864139658331474,
      23.576983706259558,
      21.154334423130173,
      18.9998618734216,
      17.128712972668037,
      15.473594671512659,
      14.062834361492646,
      12.822190960418828
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7ed4005bb9385a16",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4749d401a5a95254": {
    "vx_ego": [
      1.0146943396724257,
      1.539471604753719,
      1.9986396890304157,
      2.324252056959165,
      2.662410090027546,
      3.1307717863835256,
      3.6523951508895953,
      4.119215551905887,
      4.427071468498708,
      4.694630795611958
    ],
    "vy_ego": [
      -0.009694338601254626,
      0.0031419748775616263,
      -0.00478057775826235,
      -0.02865312268618969,
      -0.021000182196587502,
      0.01591472555214568,
      0.04224880567481426,
      0.03375099546513316,
      -0.005287196335652,
      -0.12186648088505092
    ],
    "v_ego": [
      1.0147406482270116,
      1.5394748110473007,
      1.998645406391864,
      2.324428666515404,
      2.662492909874649,
      3.1308122359708017,
      3.6526394976540977,
      4.119353819806962,
      4.42707462571396,
      4.6962122765342995
    ],
    "ax_ego": [
      1.0495578768032297,
      1.0495427372013055,
      0.7871304996682531,
      0.5153234835302813,
      0.837235753023652,
      1.0362463719413884,
      1.0542578052204918,
      0.823964702161593,
      0.4286204544653929,
      0.6783315558441902
    ],
    "ay_ego": [
      0.023735434352374463,
      0.024395782799172094,
      -0.05625888940931745,
      -0.03870850143840787,
      0.0645814291443556,
      0.09813892723444229,
      0.5363200687355228,
      1.0515752142052295,
      1.441637898143614,
      1.3423492879557524
    ],
    "a_ego": [
      1.049826227336505,
      1.0498262291590894,
      0.7891384454869522,
      0.5167752323412872,
      0.8397228513809835,
      1.0408831790361575,
      1.1828350417521476,
      1.3359372221549248,
      1.504006423972337,
      1.5040064197101404
    ],
    "yaw": [
      -0.7164967905783828,
      -0.7171259634595302,
      -0.7171499501438987,
      -0.7170904171507895,
      -0.7175733612615787,
      -0.7162622340849188,
      -0.6772386495670599,
      -0.573751568052601,
      -0.4208213950028193,
      -0.2419091867626172
    ],
    "yaw_diff": [
      -0.001258345762294777,
      -4.797336873707536e-05,
      0.00011906598621846953,
      -0.0009658882215783926,
      0.002622254353319642,
      0.07804716903571784,
      0.2069741630289179,
      0.30586034609956336,
      0.3578244164804042,
      0.3578244164804042
    ],
    "min_front_frame": [
      3,
      21.21481970174045
    ],
    "v_avg": 2.956587489773635,
    "v_std": 1.1932410464316778,
    "vy_max": 0.12186648088505092,
    "a_max": 1.504006423972337,
    "ax_avg": 0.8260211239859778,
    "a_std": 0.29975519004070794,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "4749d401a5a95254",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.257958989810469,
    "right_rear_min": 7.184497369692148,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      21.21481970174045,
      26.41837893607289,
      31.788953060439034,
      37.02749566111642,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4749d401a5a95254",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "aa2918eb684351bd": {
    "vx_ego": [
      1.03065339589724,
      1.6438549739908004,
      2.2619786307799945,
      2.9308162585793425,
      3.7078814376375884,
      4.559329007374591,
      5.391044677535625,
      6.154671680353442,
      6.842738461652624,
      7.4916622396027535
    ],
    "vy_ego": [
      -0.03575301490916042,
      0.015594071523001782,
      0.04273589538253624,
      0.010523561873529326,
      -0.010507714673443275,
      0.009454519433461844,
      0.009175492855422678,
      0.007277829123641888,
      0.009789366346610526,
      0.029842233521124112
    ],
    "v_ego": [
      1.0312733393963054,
      1.6439289372053036,
      2.262382302542938,
      2.9308351517796973,
      3.7078963264424005,
      4.559338810115463,
      5.391052485818918,
      6.154675983326937,
      6.842745464086297,
      7.491721676036242
    ],
    "ax_ego": [
      1.2265010470204312,
      1.2261356049716037,
      1.2470789252303862,
      1.4291456696181943,
      1.6786086698210032,
      1.727090836510408,
      1.5997590443568903,
      1.4547482480843958,
      1.2975212250647306,
      1.297869580624862
    ],
    "ay_ego": [
      0.08964535763898633,
      0.09451250197390065,
      -0.01838697524000761,
      -0.16105565734576166,
      -0.013202932039695437,
      0.04509224345852282,
      -0.043062811111677354,
      0.02657409369368223,
      0.09592446705520324,
      0.09108999446144304
    ],
    "a_ego": [
      1.2297727873426196,
      1.2297727980437878,
      1.24721446696719,
      1.4381920142149005,
      1.6786605922022124,
      1.7276793880747505,
      1.6003385284690583,
      1.4549909442193307,
      1.3010621940834743,
      1.3010621950553865
    ],
    "yaw": [
      -1.5369036319424914,
      -1.5408725352134232,
      -1.5450310925205588,
      -1.549945650346259,
      -1.556798492270154,
      -1.5597033417604504,
      -1.5595457843099987,
      -1.5599299184299404,
      -1.5556170134891216,
      -1.551891586810839
    ],
    "yaw_diff": [
      -0.007937806541863601,
      -0.008317114614271315,
      -0.009829115651400322,
      -0.013705683847790251,
      -0.005809698980592692,
      0.0003151149009035237,
      -0.0007682682398835183,
      0.008625809881637636,
      0.007450853356565368,
      0.007450853356565368
    ],
    "min_front_frame": [
      0,
      16.35782168100982
    ],
    "v_avg": 4.20158504767505,
    "v_std": 2.1300148912052888,
    "vy_max": 0.04273589538253624,
    "a_max": 1.7276793880747505,
    "ax_avg": 1.4184458851302906,
    "a_std": 0.18059944171224337,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aa2918eb684351bd",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.488332939941325,
    "right_rear_min": 49.81790387795281,
    "speed_mode": "accelerating",
    "front_frame": [
      16.35782168100982,
      17.445976350182775,
      18.75924968000706,
      20.125186598169183,
      21.213230050198884,
      22.156943388010372,
      22.88433817602674,
      23.680585155923588,
      24.21387224139991,
      24.790538715118245
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aa2918eb684351bd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0370ac4af44a5bfc": {
    "vx_ego": [
      2.922555268767441,
      2.6604598938024178,
      2.4304103478630967,
      2.248163976642111,
      2.051318309275804,
      1.8238917869217983,
      1.5673405864196222,
      1.214980877717013,
      0.7921838020190336,
      0.3658546431447542
    ],
    "vy_ego": [
      0.02172266025748759,
      -0.003152016100449462,
      -0.022858850085381244,
      -0.023548376287187978,
      -0.01558260060990968,
      -0.004285123574245486,
      0.004244088984345806,
      0.003131205056597919,
      -0.009771065139718593,
      -0.03812321098772234
    ],
    "v_ego": [
      2.9226359973436637,
      2.6604617609987686,
      2.430517843182239,
      2.2482873019027245,
      2.0513774941272778,
      1.8238968207343411,
      1.5673463325409327,
      1.214984912524888,
      0.7922440595519136,
      0.3678355598995152
    ],
    "ax_ego": [
      -0.5241870244350539,
      -0.5242359256546888,
      -0.3959131421909625,
      -0.3330401706133237,
      -0.4543220626582498,
      -0.45534363306535036,
      -0.5708640202005257,
      -0.8385787137203602,
      -0.8526205593591988,
      -0.8526484235572447
    ],
    "ay_ego": [
      -0.04376278466389591,
      -0.043173004234090484,
      -0.02736285447569131,
      0.02710357835945293,
      0.0073467613203545,
      0.043268925233767935,
      -0.00839324698915625,
      0.0071237477185602804,
      -0.056341050106616275,
      -0.05591778451636353
    ],
    "a_ego": [
      0.5260106633021943,
      0.5260106596273741,
      0.39685758398269166,
      0.3341412264328345,
      0.45438146036116495,
      0.45739482295281597,
      0.5709257185961474,
      0.8386089713844298,
      0.8544800361442678,
      0.854480036525063
    ],
    "yaw": [
      -0.5195928881940473,
      -0.5184677881674083,
      -0.5176482750304745,
      -0.5173803232806555,
      -0.5170815511063384,
      -0.5163815332083626,
      -0.5162705953190965,
      -0.515712194281383,
      -0.5151174212572386,
      -0.5146210052457179
    ],
    "yaw_diff": [
      0.0022502000532778066,
      0.0016390262738676942,
      0.0005359034996379464,
      0.000597544348634349,
      0.001400035795951604,
      0.00022187577853216567,
      0.0011168020754268593,
      0.0011895460482889142,
      0.0009928320230414567,
      0.0009928320230414567
    ],
    "min_front_frame": [
      9,
      11.254622783858037
    ],
    "v_avg": 1.8079588082806264,
    "v_std": 0.7826484496340719,
    "vy_max": 0.03812321098772234,
    "a_max": 0.854480036525063,
    "ax_avg": -0.5801753675454959,
    "a_std": 0.18661491987154671,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0370ac4af44a5bfc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.338034366102335,
      16.57762348280265,
      15.832894082734807,
      15.134886639024227,
      14.427823392709296,
      13.562658527251878,
      12.745863802129598,
      12.029007581792472,
      11.525403860619146,
      11.254622783858037
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0370ac4af44a5bfc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a0bc34982a4555ac": {
    "vx_ego": [
      2.496885936564601,
      2.2646789278117185,
      2.0517379150784585,
      1.8900697541658968,
      1.8254590334901033,
      1.8410934504780443,
      1.837416650077477,
      1.8097775013163664,
      1.7330971677939275,
      1.5969233546489103
    ],
    "vy_ego": [
      -0.032659269970197746,
      -0.016537005629671753,
      -0.01711781901448972,
      -0.023339077892217674,
      -0.026054841747601643,
      -0.019924219354747863,
      0.008141859169567112,
      0.016992572335741973,
      -0.001961684316460932,
      -0.013003655440990247
    ],
    "v_ego": [
      2.4970995190678864,
      2.2647393047831423,
      2.051809321525349,
      1.8902138472060754,
      1.8256449648628603,
      1.8412012567641938,
      1.8374346888672464,
      1.8098572738714773,
      1.7330982780040751,
      1.5969762977821422
    ],
    "ax_ego": [
      -0.4644643527836581,
      -0.4644999662980269,
      -0.3872413206481263,
      -0.25945837427210006,
      0.0011209079185331243,
      0.061456093547751195,
      -0.07614662538475896,
      -0.034356415506753925,
      -0.27235829039619125,
      -0.2723489144388176
    ],
    "ay_ego": [
      0.025950896075461638,
      0.025305485825334706,
      -0.02308775123561195,
      -0.00413599972834712,
      0.0008723758923395491,
      0.026394385725082473,
      0.08814587081543748,
      -0.055928803468569356,
      -0.02336236800271936,
      -0.023471385811621767
    ],
    "a_ego": [
      0.46518876170202333,
      0.46518876416324195,
      0.387928968594023,
      0.2594913379549962,
      0.0014203782099727826,
      0.06688434070807893,
      0.11648177153228144,
      0.06563836030781525,
      0.2733584434149246,
      0.2733584407841111
    ],
    "yaw": [
      1.274904879765659,
      1.2735153525962706,
      1.2740437306595276,
      1.2737446518871405,
      1.274785560669223,
      1.2751613374725452,
      1.2754678280482308,
      1.2750298289018667,
      1.2745476271322316,
      1.2741473484039603
    ],
    "yaw_diff": [
      -0.0027790543387768984,
      0.0010567561265140135,
      -0.0005981575447742138,
      0.002081817564165256,
      0.0007515536066442507,
      0.0006129811513710948,
      -0.0008759982927282195,
      -0.0009644035392701866,
      -0.0008005574565426166,
      -0.0008005574565426166
    ],
    "min_front_frame": [
      9,
      12.594004256727763
    ],
    "v_avg": 1.9348074752734448,
    "v_std": 0.25323792631882114,
    "vy_max": 0.032659269970197746,
    "a_max": 0.46518876416324195,
    "ax_avg": -0.21682972582621485,
    "a_std": 0.16074626598543018,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a0bc34982a4555ac",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.531214446927051,
    "right_rear_min": 7.649633714843425,
    "speed_mode": "quasi_constant",
    "front_frame": [
      13.53292801448123,
      13.37576067771075,
      13.309778862777259,
      13.226157081289815,
      13.1985088182561,
      13.324998290409681,
      13.23283119931855,
      13.098016645005265,
      12.78255732278151,
      12.594004256727763
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a0bc34982a4555ac",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5ea6697ab5c552b6": {
    "vx_ego": [
      2.0864372193909064,
      3.1419700948581393,
      4.187526499994641,
      5.178008277955599,
      6.037107189747902,
      6.731414601004402,
      7.326701775556672,
      7.839627336462229,
      8.227039268931254,
      8.550535558479085
    ],
    "vy_ego": [
      0.014619185993689388,
      -0.00133729292964202,
      0.0070638611285966935,
      0.0034918039180058535,
      0.018744399233147302,
      0.03385586482257619,
      0.010190673493562397,
      0.012638662960873681,
      0.030664924112866032,
      -0.034054028745779785
    ],
    "v_ego": [
      2.0864884354002,
      3.141970379449056,
      4.187532457938853,
      5.1780094553091836,
      6.0371362890867735,
      6.7314997400429375,
      7.326708862632085,
      7.839637524172103,
      8.227096417941615,
      8.550603371323515
    ],
    "ax_ego": [
      2.110952918969233,
      2.1112939907271677,
      2.070897840546402,
      1.891102409171813,
      1.5451982500773758,
      1.2322601761144645,
      1.1487529540906705,
      0.902951353053894,
      0.6466124279607061,
      0.647407718273725
    ],
    "ay_ego": [
      -0.06699135869433581,
      -0.055206477383707986,
      -0.02346090148692148,
      0.06665038403240131,
      0.02802528118429426,
      -0.014127060513439593,
      -0.04336452799419521,
      0.03909052060643459,
      0.07148905913727768,
      0.06388700546192083
    ],
    "a_ego": [
      2.112015641098436,
      2.1120156416148457,
      2.0710307288590215,
      1.8922765642651451,
      1.5454523766288117,
      1.2323411522287169,
      1.1495711512647668,
      0.9037971093022703,
      0.6505523173193472,
      0.6505523062346965
    ],
    "yaw": [
      -2.0389196417465127,
      -2.044501908098817,
      -2.052150248447438,
      -2.049096331886016,
      -2.0476069277492175,
      -2.049418576947919,
      -2.0480985547029666,
      -2.0485604070089085,
      -2.0473678238690245,
      -2.035618449662614
    ],
    "yaw_diff": [
      -0.011164532704608376,
      -0.015296680697241882,
      0.006107833122843687,
      0.002978808273597089,
      -0.003623298397402941,
      0.002640044489904625,
      -0.0009237046118837355,
      0.002385166279768036,
      0.023498748412820625,
      0.023498748412820625
    ],
    "min_front_frame": [
      0,
      13.74203235867773
    ],
    "v_avg": 5.930668293329633,
    "v_std": 2.1105206438716686,
    "vy_max": 0.034054028745779785,
    "a_max": 2.1120156416148457,
    "ax_avg": 1.430743003898545,
    "a_std": 0.5637266839406581,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "5ea6697ab5c552b6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.6856443474375924,
    "right_rear_min": 26.38285732287945,
    "speed_mode": "accelerating",
    "front_frame": [
      13.74203235867773,
      14.917036787546296,
      15.82347548461505,
      16.594378673110747,
      17.21352863115631,
      17.891545129617622,
      18.66334010967523,
      19.275647336562923,
      19.94519409038206,
      20.71411036559246
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5ea6697ab5c552b6",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d4d21ecb8e4058e8": {
    "vx_ego": [
      0.30321782634529654,
      0.2907745709216839,
      0.292604790285593,
      0.38797645118567825,
      0.7844886864104509,
      1.5259390253038085,
      2.40455676330089,
      3.256338188857115,
      3.9434904751146322,
      4.540240899027788
    ],
    "vy_ego": [
      0.029965541460768103,
      0.0159405608593155,
      0.02043806887609212,
      0.02766037299074614,
      -0.0027670962085509787,
      -0.05026932776084447,
      -0.048762418694800025,
      -0.0022118416205909597,
      -0.01927423782390092,
      -0.27861227196363897
    ],
    "v_ego": [
      0.3046949029580302,
      0.29121118209162045,
      0.29331770822345477,
      0.388961210030795,
      0.7844935665302948,
      1.5267668172509725,
      2.405051143201121,
      3.2563389400448766,
      3.9435375772982715,
      4.548781399374276
    ],
    "ax_ego": [
      -0.024892812240110918,
      -0.02489833204481163,
      0.03220571119952463,
      0.3492269149246002,
      1.2367637683526953,
      1.7292055836227005,
      1.7869384895615303,
      1.6277524620634394,
      1.1568647330297228,
      1.3137310956028974
    ],
    "ay_ego": [
      -0.027935038455119715,
      -0.027930120138496817,
      0.04635184822472792,
      -0.01695437464591608,
      -0.10356546581939824,
      -0.08020279906744854,
      0.12949073275899664,
      0.41163610716525223,
      1.0257182115108403,
      0.8151959683237725
    ],
    "a_ego": [
      0.03741682074562767,
      0.03741682174590139,
      0.05644202040780786,
      0.34963822578114656,
      1.2410924318600722,
      1.731064539354376,
      1.7916241278088731,
      1.6789944498049276,
      1.546102797343349,
      1.5461027968169911
    ],
    "yaw": [
      -1.9422457198651548,
      -1.9420481099988445,
      -1.9416688345559123,
      -1.9412462245356594,
      -1.9406202744840035,
      -1.9391937194760975,
      -1.9336702908086134,
      -1.9025428499962576,
      -1.7997572181756634,
      -1.629745661579927
    ],
    "yaw_diff": [
      0.00039521973262068855,
      0.0007585508858642953,
      0.0008452200405058008,
      0.001251900103311776,
      0.0028531100158120104,
      0.01104685733496824,
      0.06225488162471171,
      0.20557126364118838,
      0.3400231131914726,
      0.3400231131914726
    ],
    "min_front_frame": [
      3,
      26.669678668045112
    ],
    "v_avg": 1.774315444700371,
    "v_std": 1.5655790708621435,
    "vy_max": 0.27861227196363897,
    "a_max": 1.7916241278088731,
    "ax_avg": 0.9182897614072187,
    "a_std": 0.7377749832441793,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "d4d21ecb8e4058e8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.185031121475658,
    "right_rear_min": 13.03377905121316,
    "speed_mode": "accelerating",
    "front_frame": [
      31.382639562216895,
      31.218273415328948,
      31.059377396772824,
      26.669678668045112,
      29.66924887782059,
      29.994630280702648,
      29.011484321320506,
      27.54951375533253,
      36.76650786953774,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "d4d21ecb8e4058e8",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "2d0c8a7a065e5995": {
    "vx_ego": [
      8.273238843186785,
      8.270818940649825,
      8.289108851524396,
      8.32629185100457,
      8.357395928529652,
      8.351912903300121,
      8.324746433413804,
      8.250770977062244,
      8.1613724049019,
      8.114635371583319
    ],
    "vy_ego": [
      -0.08153543041556732,
      -0.057887428698966126,
      -0.05021407206689288,
      -0.030218099362047113,
      -0.030492334412057787,
      -0.011397645644990018,
      -0.019104976836980647,
      -0.012127611166420138,
      -0.016810854162842226,
      -0.06281399085753359
    ],
    "v_ego": [
      8.27364061238024,
      8.271021515110046,
      8.289260944466257,
      8.326346685169561,
      8.357451554670353,
      8.351920680336788,
      8.324768355982993,
      8.250779890100405,
      8.161389718443294,
      8.114878484068544
    ],
    "ax_ego": [
      -0.004976520434449971,
      -0.00500847514022329,
      0.07850165417384715,
      0.07043987948807032,
      0.05423584323370887,
      -0.07597615715771457,
      -0.03242637149154681,
      -0.26219320170987354,
      -0.09443915990955981,
      -0.08912597077898912
    ],
    "ay_ego": [
      0.029179954980717585,
      0.029174487506037607,
      0.05018403271188097,
      0.07051722381058195,
      0.018926950701946353,
      0.10758017929762707,
      0.06986258054383261,
      0.24364303621020067,
      0.25066309977752227,
      0.25260108072154003
    ],
    "a_ego": [
      0.02960127578857376,
      0.029601276061517672,
      0.0931715989304543,
      0.09967173860350574,
      0.05744350402043169,
      0.1317037259691742,
      0.07702109924138514,
      0.35792066735046135,
      0.26786329445166523,
      0.2678632947027032
    ],
    "yaw": [
      -0.5892811848042012,
      -0.5903763678206477,
      -0.5889051501470721,
      -0.5876800089522278,
      -0.5849672070070508,
      -0.5834701104671143,
      -0.577221632753774,
      -0.5686364375658384,
      -0.5529668532348522,
      -0.5318527294450586
    ],
    "yaw_diff": [
      -0.002190366032893021,
      0.0029424353471512177,
      0.002450282389688585,
      0.005425603890353958,
      0.002994193079873142,
      0.0124969554266805,
      0.017170390375871314,
      0.031339168661972394,
      0.04222824757958721,
      0.04222824757958721
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.272145844072847,
    "v_std": 0.07556508431976991,
    "vy_max": 0.08153543041556732,
    "a_max": 0.35792066735046135,
    "ax_avg": -0.036096847972673075,
    "a_std": 0.10918752744716978,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2d0c8a7a065e5995",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.981734112400883,
    "right_rear_min": 13.519460032694292,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2d0c8a7a065e5995",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5fd68bb785b258ef": {
    "vx_ego": [
      7.9525730241292845,
      7.390670313324714,
      6.862433613501409,
      6.326914554468636,
      5.773261142530074,
      5.434229472159403,
      5.269240561919568,
      5.114410553785713,
      5.001402207556949,
      4.901535615449781
    ],
    "vy_ego": [
      0.025384779041377037,
      0.03220320489405948,
      0.04699197617805506,
      0.02526672552105902,
      -0.014491029727408566,
      -0.025500281951407633,
      -0.0004697642870143959,
      -0.003893649412026967,
      -0.0064444836930146465,
      -0.038132788031845166
    ],
    "v_ego": [
      7.95261353839829,
      7.390740472149234,
      6.862594505399479,
      6.3269650059855405,
      5.773279328924785,
      5.434289302242333,
      5.2692405828598226,
      5.114412035921668,
      5.001406359527847,
      4.901683945242262
    ],
    "ax_ego": [
      -1.1262519327045668,
      -1.1228960941556285,
      -0.9923657630242092,
      -1.1514119036219745,
      -1.063541565483638,
      -0.2916676775915324,
      -0.36827660150640845,
      -0.25105217619987386,
      -0.2006940520957626,
      -0.19949995852799765
    ],
    "ay_ego": [
      0.22575806799210824,
      0.24189773244974183,
      0.11219288309846515,
      0.10902829835851313,
      0.10853775600207216,
      0.1053119129162295,
      -0.024207534024410976,
      -0.033430297596244996,
      -0.1441283309786161,
      -0.1457766932374536
    ],
    "a_ego": [
      1.1486557888176516,
      1.1486558018981547,
      0.9986876642076675,
      1.1565623812165655,
      1.0690655293242566,
      0.3100977799883669,
      0.36907134800828545,
      0.2532681977115682,
      0.24708516413839618,
      0.24708516293763863
    ],
    "yaw": [
      2.1419842573923447,
      2.1563358060022004,
      2.1667058167366,
      2.1783512978079003,
      2.1939409214234216,
      2.205647453949859,
      2.204760651406099,
      2.2026387264528946,
      2.1943565009498336,
      2.1861187536549265
    ],
    "yaw_diff": [
      0.028703097219711537,
      0.020740021468799164,
      0.023290962142600513,
      0.031179247231042595,
      0.02341306505287477,
      -0.0017736050875196696,
      -0.004243849906409025,
      -0.016564451006122027,
      -0.016475494589814232,
      -0.016475494589814232
    ],
    "min_front_frame": [
      3,
      16.856462477389364
    ],
    "v_avg": 6.002722507665125,
    "v_std": 1.024253562632542,
    "vy_max": 0.04699197617805506,
    "a_max": 1.1565623812165655,
    "ax_avg": -0.6767657724911593,
    "a_std": 0.4132262686312849,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5fd68bb785b258ef",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.233404683985525,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.98763216387315,
      23.610997254977597,
      20.09920509134714,
      16.856462477389364,
      20.627253014735874,
      18.888716091636425,
      24.4774765693659,
      21.90051593955316,
      19.379973143420745,
      21.574569825618813
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5fd68bb785b258ef",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "39e708ddd82155ea": {
    "vx_ego": [
      3.7304661647051542,
      2.823030303343516,
      1.9478901744847432,
      1.1520358287992898,
      0.47256851518335924,
      0.04455439693563496,
      -0.0698141874487347,
      -0.049932019615082174,
      -0.031091808636525945,
      -0.015974899854877118
    ],
    "vy_ego": [
      -0.01693730206177002,
      0.0030398683800347825,
      0.017510497310895046,
      0.004922879219774523,
      -0.023126791299996702,
      -0.0182895343505807,
      -0.001909117625577328,
      -0.0005454647156404452,
      -0.0008628081825070074,
      -0.0005829668011767333
    ],
    "v_ego": [
      3.730504614420295,
      2.823031940023979,
      1.947968877926513,
      1.1520463469744084,
      0.473134071927227,
      0.04816223990907389,
      0.06984028564686255,
      0.04993499889453248,
      0.031103777941757338,
      0.01598553332437261
    ],
    "ax_ego": [
      -1.8148685211433344,
      -1.8148998578966262,
      -1.6856552358728676,
      -1.4977573513661586,
      -1.2201235168384432,
      -0.49187201760934673,
      0.0344014951130832,
      0.045127170078573836,
      0.030233775403967857,
      0.030233763403826414
    ],
    "ay_ego": [
      0.0347348358005215,
      0.033057064527516,
      0.02369987390611561,
      -0.07436329475285408,
      -0.03849927793751118,
      0.05815971335343781,
      0.007281666148688578,
      -0.0018346574967761584,
      0.0005607108445612741,
      0.0005616869475890875
    ],
    "a_ego": [
      1.815200886363568,
      1.8152008879758654,
      1.6858218346696008,
      1.4996022749975644,
      1.2207307609558795,
      0.4952985301456522,
      0.03516369616403322,
      0.04516444893310453,
      0.03023897438453858,
      0.030238980501757086
    ],
    "yaw": [
      1.1035806530950898,
      1.1026562029543354,
      1.1025374367664211,
      1.1024861841541806,
      1.1022727427306143,
      1.10273745188225,
      1.1029934138192647,
      1.1030244443820063,
      1.103053990082771,
      1.1030217539509004
    ],
    "yaw_diff": [
      -0.0018489002815087474,
      -0.00023753237582857523,
      -0.00010250522448096433,
      -0.00042688284713277014,
      0.0009294183032713121,
      0.0005119238740296517,
      6.206112548312603e-05,
      5.90914015292654e-05,
      -6.447226374106663e-05,
      -6.447226374106663e-05
    ],
    "min_front_frame": [
      5,
      10.119442201219039
    ],
    "v_avg": 1.034171268698902,
    "v_std": 1.2863761122157973,
    "vy_max": 0.023126791299996702,
    "a_max": 1.8152008879758654,
    "ax_avg": -0.8385180296727326,
    "a_std": 0.7681025148338043,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "39e708ddd82155ea",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.5183294128978115,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.982758680542995,
      12.418419184966195,
      11.279531467023808,
      10.52335619615016,
      10.160046082600308,
      10.119442201219039,
      10.141971619710283,
      10.296415324423895,
      10.407885223090657,
      10.83788606828798
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "39e708ddd82155ea",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "77218354c5c25657": {
    "vx_ego": [
      3.444981758643214,
      3.409391897342725,
      3.392392902265094,
      3.4087590311874396,
      3.490436180062273,
      3.644984817780122,
      3.846033737553303,
      4.03228074458596,
      4.13598848059781,
      4.256305724809357
    ],
    "vy_ego": [
      -0.026677288180796177,
      -0.04231001727910111,
      -0.011709287223677256,
      0.003978616557360093,
      0.028996757181023236,
      0.03369722582562784,
      0.029757620589658362,
      0.022529493635165432,
      -0.007515576620648501,
      0.0012268312897547595
    ],
    "v_ego": [
      3.4450850490356797,
      3.409654417566153,
      3.392413110272078,
      3.408761353056509,
      3.4905566230924725,
      3.645140576833208,
      3.846148856503267,
      4.032343683423099,
      4.135995308934685,
      4.256305901619375
    ],
    "ax_ego": [
      -0.07156202382353818,
      -0.06680568642618068,
      0.00014303678759158833,
      0.06531105377254982,
      0.26159675582882214,
      0.3557289498271966,
      0.446983055010169,
      0.29825592471130746,
      0.14106431287700738,
      0.3393150889942255
    ],
    "ay_ego": [
      0.1645930829683233,
      0.16658032567594344,
      0.1434107183461924,
      0.11101351885381117,
      0.26285289782164023,
      0.4794677075802866,
      0.6960833216136668,
      0.9100914567430531,
      1.313220765320555,
      1.276445532335971
    ],
    "a_ego": [
      0.17947703534084244,
      0.17947703095710205,
      0.14341078967809057,
      0.1288003692276788,
      0.37084297020895246,
      0.59701957116786,
      0.8272398939213095,
      0.9577176286683302,
      1.3207754990294778,
      1.3207755019834444
    ],
    "yaw": [
      0.5385962891899615,
      0.5673185037728754,
      0.5811419255155187,
      0.5952667157496225,
      0.615250643203887,
      0.6661065341188486,
      0.7458230468064022,
      0.849015318412484,
      0.9915377159320165,
      1.1443487856552208
    ],
    "yaw_diff": [
      0.057444429165827815,
      0.027646843485286565,
      0.02824958046820769,
      0.039967854908528944,
      0.10171178182992313,
      0.15943302537510728,
      0.2063845432121636,
      0.2850447950390649,
      0.3056221394464087,
      0.3056221394464087
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.706240488033653,
    "v_std": 0.3172662066718809,
    "vy_max": 0.04231001727910111,
    "a_max": 1.3207755019834444,
    "ax_avg": 0.17700304675591505,
    "a_std": 0.45335119530866186,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "77218354c5c25657",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "77218354c5c25657",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "043524c9126f5893": {
    "vx_ego": [
      5.030943982073377,
      5.225936744864485,
      5.417990078929863,
      5.587344393641746,
      5.729474501804619,
      5.893683022441441,
      6.0893280652159785,
      6.2556843825002195,
      6.41429679408573,
      6.582600393714543
    ],
    "vy_ego": [
      0.021493337636437015,
      -0.0580478876638193,
      -0.06136439491524426,
      -0.0481050595873711,
      -0.027762601984134605,
      -0.0005988136521088983,
      0.013933190108795568,
      0.014485232208520937,
      -0.00014597043101760576,
      -0.023602108701516578
    ],
    "v_ego": [
      5.0309898940788065,
      5.226259122793954,
      5.418337575709522,
      5.5875514735810485,
      5.729541764303514,
      5.89368305286196,
      6.089344005688427,
      6.255701152981118,
      6.414296795746657,
      6.582642706608495
    ],
    "ax_ego": [
      0.36128520540633635,
      0.42352646609849975,
      0.3520931646620004,
      0.3289015596564655,
      0.24187094939014112,
      0.41482751653062533,
      0.36771980604752375,
      0.2977273568322573,
      0.3366779758728332,
      0.33663706190762754
    ],
    "ay_ego": [
      0.7397002010569557,
      0.7059098521632359,
      0.4895705583250243,
      0.27358296692682255,
      0.21869012883575387,
      0.07043784693015123,
      0.0004713669631527806,
      -0.007186846329613444,
      -0.01880391633501502,
      -0.01952269528449535
    ],
    "a_ego": [
      0.8232152738434821,
      0.8232152737085271,
      0.603033107035077,
      0.42781289804882977,
      0.326078102007919,
      0.42076520620308144,
      0.3677201081616865,
      0.2978140859101324,
      0.33720267897417766,
      0.3372026795281602
    ],
    "yaw": [
      0.3631193263387326,
      0.4491768960640106,
      0.5058476555352532,
      0.5380902369389351,
      0.5562094435873758,
      0.5640018952614478,
      0.5645346765863515,
      0.5641737608980353,
      0.5654586509956492,
      0.5675936942914389
    ],
    "yaw_diff": [
      0.172115139450556,
      0.11334151894248523,
      0.06448516280736372,
      0.03623841329688138,
      0.015584903348144108,
      0.0010655626498072834,
      -0.000721831376632398,
      0.0025697801952278,
      0.004270086591579458,
      0.004270086591579458
    ],
    "min_front_frame": [
      8,
      43.637668614521274
    ],
    "v_avg": 5.82283475443535,
    "v_std": 0.4900159171778967,
    "vy_max": 0.06136439491524426,
    "a_max": 0.8232152738434821,
    "ax_avg": 0.346126706240431,
    "a_std": 0.19160017152247008,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "043524c9126f5893",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      63.90291894429767,
      61.229708694888835,
      58.51925898930007,
      55.6797378530675,
      52.807162751325855,
      49.834862485874666,
      46.76040080206742,
      43.637668614521274,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "043524c9126f5893",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "65729e98f81a526e": {
    "vx_ego": [
      5.217040489407296,
      5.199681446036744,
      5.193142029394827,
      5.200006301207818,
      5.242740948439839,
      5.24131297450589,
      5.215728230185826,
      5.25762216181209,
      5.339803921376441,
      5.429694356360937
    ],
    "vy_ego": [
      -0.0634092035071726,
      -0.07222570755208224,
      -0.05433388089696001,
      -0.03439996696432113,
      -0.014733867893409691,
      0.0032992628389774126,
      0.002915570332310935,
      -0.009261562034692528,
      -0.005657665655023347,
      -0.017195446737155784
    ],
    "v_ego": [
      5.21742582076684,
      5.200183044190865,
      5.193426259039436,
      5.2001200842219175,
      5.242761651964637,
      5.241314012903545,
      5.215729045081592,
      5.257630319156052,
      5.339806918599948,
      5.429721584656647
    ],
    "ax_ego": [
      -0.07489431146319989,
      0.03350807729815447,
      -0.03776474198877755,
      0.08672980672050962,
      0.08405976782625724,
      -0.0917690149533057,
      -0.014994729671792772,
      0.18567975338368609,
      0.1482983231018451,
      0.2143221808847134
    ],
    "ay_ego": [
      1.0514083150486624,
      1.0535396588559762,
      1.0060544030450473,
      1.0926609341917033,
      0.8928608260397285,
      0.7950655971362435,
      0.6961678362635945,
      0.757093611719349,
      0.8383304594278993,
      0.823927398519017
    ],
    "a_ego": [
      1.0540723897546194,
      1.0540723903160474,
      1.0067629500651112,
      1.0960976126616018,
      0.8968090650987816,
      0.8003442108587476,
      0.696329302963666,
      0.7795304405364006,
      0.8513461997562519,
      0.8513462017590111
    ],
    "yaw": [
      -1.362046607197521,
      -1.2591398270441991,
      -1.1637317551603656,
      -1.0663866336073,
      -0.9751552383052362,
      -0.8984550104992224,
      -0.8269779841149587,
      -0.7549596318173515,
      -0.680465837251722,
      -0.6010688022410346
    ],
    "yaw_diff": [
      0.20581356030664377,
      0.19081614376766698,
      0.19469024310613126,
      0.18246279060412762,
      0.15340045561202764,
      0.14295405276852735,
      0.14403670459521445,
      0.14898758913125887,
      0.1587940700213748,
      0.1587940700213748
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.253811874058148,
    "v_std": 0.07128238727780582,
    "vy_max": 0.07222570755208224,
    "a_max": 1.0960976126616018,
    "ax_avg": 0.053317511113809,
    "a_std": 0.12932433591949574,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "65729e98f81a526e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "65729e98f81a526e",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "a25c025ea58d5409": {
    "vx_ego": [
      6.800029670650592,
      6.708990638012223,
      6.766202328628773,
      6.882335934759753,
      6.9335109556267245,
      7.006342102180193,
      7.02047417463989,
      6.950794715427877,
      6.840749559891098,
      6.718741619759452
    ],
    "vy_ego": [
      0.19461210657621208,
      -0.190293756294881,
      -0.14347796880755448,
      -0.14591352475575015,
      -0.14777541077781908,
      -0.11548510899211717,
      -0.03808876553559726,
      0.020400095450324507,
      0.011554050904945434,
      -0.07616352230291978
    ],
    "v_ego": [
      6.802813932025074,
      6.711688840718144,
      6.767723389698678,
      6.88388252918308,
      6.935085561391897,
      7.007293804542642,
      7.020577496961747,
      6.95082465178877,
      6.840759317301155,
      6.719173299983968
    ],
    "ax_ego": [
      -0.18667367731207157,
      -0.1776523517684823,
      0.40064233696941365,
      0.051263513765290786,
      0.13987998836751098,
      0.13427681154557433,
      -0.0911386146420441,
      -0.18841374494062274,
      -0.2488396354024628,
      -0.2414482637030056
    ],
    "ay_ego": [
      0.12861117891905688,
      0.14081028399776566,
      -0.304553023622516,
      -0.30465260368318303,
      -0.3883527702811882,
      -0.41757116932874133,
      -0.291065113008229,
      -0.3055722951705446,
      -0.4140282098687548,
      -0.41838171230501187
    ],
    "a_ego": [
      0.22668898769936108,
      0.22668898113583727,
      0.5032562233792345,
      0.3089355220341402,
      0.4127763139168336,
      0.4386296200365612,
      0.30500024113000984,
      0.3589904829634687,
      0.4830533331986814,
      0.48305333166894715
    ],
    "yaw": [
      -0.5491151035944106,
      -0.48217200868787957,
      -0.4953372186557887,
      -0.517157425180856,
      -0.5420065554727338,
      -0.5755400351432343,
      -0.6116863987993868,
      -0.6413576039489137,
      -0.6661348410019932,
      -0.6838933467467148
    ],
    "yaw_diff": [
      0.1338861898130621,
      -0.026330419935818306,
      -0.04364041305013444,
      -0.049698260583755705,
      -0.06706695934100093,
      -0.07229272731230507,
      -0.05934241029905385,
      -0.049554474106158874,
      -0.035517011489443195,
      -0.035517011489443195
    ],
    "min_front_frame": [
      9,
      17.100492622344976
    ],
    "v_avg": 6.863982282359515,
    "v_std": 0.10759327498328668,
    "vy_max": 0.19461210657621208,
    "a_max": 0.5032562233792345,
    "ax_avg": -0.04081036371208994,
    "a_std": 0.09939251816725035,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a25c025ea58d5409",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      17.676198011351637,
      18.423588241746536,
      18.975278896849264,
      19.195645130031327,
      19.339546926934332,
      19.168468512435343,
      18.913416107265355,
      18.33291201969222,
      17.807926813137872,
      17.100492622344976
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a25c025ea58d5409",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "470d0eceeaf75102": {
    "vx_ego": [
      6.918803883746098,
      7.325272563634274,
      7.720309090441795,
      8.107650157572584,
      8.43129789060304,
      8.650204193874957,
      8.827371729714242,
      8.992118665088233,
      9.184406470410892,
      9.412668954548515
    ],
    "vy_ego": [
      0.10552205273058492,
      0.06976512015131862,
      0.03388210628044469,
      0.041188828438693204,
      0.04564274495611864,
      0.05681400235469569,
      0.08008688589756907,
      0.08187377596362844,
      0.05766436763553773,
      0.07075702185538302
    ],
    "v_ego": [
      6.919608521105263,
      7.325604773909304,
      7.720383439252497,
      8.107754781514727,
      8.431421432964573,
      8.65039076727725,
      8.827735018896465,
      8.992491390166506,
      9.184587491717865,
      9.412934898535275
    ],
    "ax_ego": [
      0.8091900986701454,
      0.8113284529618713,
      0.7665610108013308,
      0.780120852748448,
      0.5103703898502857,
      0.3616282819782516,
      0.34333583470279366,
      0.31120131623837044,
      0.4552500903983315,
      0.45616296289558833
    ],
    "ay_ego": [
      0.14847404729607827,
      0.1363058959875271,
      0.3268887126229062,
      0.3746085943688464,
      0.3189160969590918,
      0.283502953035209,
      0.2788966924496001,
      0.12323466518829679,
      0.14548572396906972,
      0.14259770995859544
    ],
    "a_ego": [
      0.8226987045731127,
      0.8226987029687514,
      0.8333498747351072,
      0.8654017239802383,
      0.6018184209008175,
      0.4595094544252879,
      0.4423379482368553,
      0.33471337280211233,
      0.47793173224477714,
      0.4779317478501691
    ],
    "yaw": [
      1.5570267909867597,
      1.57204411031724,
      1.592191392799985,
      1.6134319437580302,
      1.6337760972263968,
      1.65006594655955,
      1.6634882398383004,
      1.6745660472603765,
      1.684641697501963,
      1.6909791166155927
    ],
    "yaw_diff": [
      0.030034638660960677,
      0.040294564965489776,
      0.04248110191609067,
      0.0406883069367332,
      0.03257969866630628,
      0.026844586557500882,
      0.022155614844152183,
      0.020151300483172818,
      0.012674838227259677,
      0.012674838227259677
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.357291251533972,
    "v_std": 0.7819354433375484,
    "vy_max": 0.10552205273058492,
    "a_max": 0.8654017239802383,
    "ax_avg": 0.5605149291245417,
    "a_std": 0.19155703485669032,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "470d0eceeaf75102",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "470d0eceeaf75102",
    "road_shape": "Straight"
  },
  "317f5b44a4615e30": {
    "vx_ego": [
      10.487818642074373,
      10.675539631978383,
      10.950918188912713,
      11.391542769101367,
      11.585952104360812,
      11.7693056967698,
      12.17788808102137,
      12.44190472125933,
      12.567323097725666,
      12.573743155956485
    ],
    "vy_ego": [
      -0.006496792828190934,
      -0.17892173518322846,
      -0.1779063408662413,
      -0.08233497234494228,
      -0.028471866276637142,
      -0.015314191349599104,
      0.01323106803950247,
      -0.020142908180652508,
      0.013700755530199005,
      0.04889272530749472
    ],
    "v_ego": [
      10.487820654328516,
      10.67703888825278,
      10.952363208293436,
      11.391840312606945,
      11.58598708836291,
      11.769315660159462,
      12.177895268684315,
      12.441921026499292,
      12.567330565928913,
      12.57383821474376
    ],
    "ax_ego": [
      0.32561752815149375,
      0.4561057289693672,
      0.6543821020775705,
      1.1112898139605754,
      -0.33353834314264585,
      1.0668567545923122,
      0.5671868454156279,
      0.48898083597119013,
      0.012712152698696555,
      0.012825215728092258
    ],
    "ay_ego": [
      1.5140535151419188,
      1.4799839151035799,
      0.45398226278013754,
      0.26104560101435537,
      0.009886319305731323,
      -0.10583853508317242,
      0.07267490808254796,
      0.07987529964490753,
      0.09908069168778233,
      0.09906611838417151
    ],
    "a_ego": [
      1.5486719540797171,
      1.5486719552455253,
      0.79643947066832,
      1.141538372732812,
      0.3336848298256249,
      1.0720938066828822,
      0.5718238888655651,
      0.49546172550505624,
      0.0998928540565558,
      0.09989285244790434
    ],
    "yaw": [
      1.4506984930062696,
      1.5378087444730841,
      1.5825228611304438,
      1.590007505029164,
      1.591196077678977,
      1.58796674137723,
      1.5849062588236573,
      1.5907109040761405,
      1.5915780805040272,
      1.5927192212201389
    ],
    "yaw_diff": [
      0.174220502933629,
      0.08942823331471939,
      0.014969287797440334,
      0.002377145299626182,
      -0.006458672603494087,
      -0.006120965107145437,
      0.011609290504966285,
      0.0017343528557733912,
      0.002282281432223421,
      0.002282281432223421
    ],
    "min_front_frame": [
      0,
      35.20611364915713
    ],
    "v_avg": 11.662535088786033,
    "v_std": 0.7394731239228023,
    "vy_max": 0.17892173518322846,
    "a_max": 1.5486719552455253,
    "ax_avg": 0.4362418634422281,
    "a_std": 0.5143692218130981,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "317f5b44a4615e30",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.604797441298951,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      35.20611364915713,
      36.29122724826765,
      37.29513722904667,
      38.43254609421148,
      39.17974909597892,
      39.654358540218446,
      40.429540642276166,
      40.91323786368911,
      41.55767367373671,
      41.92636842218039
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "317f5b44a4615e30",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "669bad5f20bd5256": {
    "vx_ego": [
      8.019349498817814,
      8.346383654648772,
      8.59080858640721,
      8.782927212231089,
      8.92260026884388,
      8.921061261349841,
      8.804290086989822,
      8.579986902205402,
      8.315171575046296,
      8.060954443744476
    ],
    "vy_ego": [
      0.06490691693494055,
      0.010393672223574235,
      -0.001995154460191273,
      0.01425212504343154,
      0.026673379689321042,
      0.02478780312928297,
      0.011258305356291132,
      0.011264607183436581,
      -0.0005930468325141547,
      0.05033802976858581
    ],
    "v_ego": [
      8.019612165937673,
      8.346390126216871,
      8.590808818087455,
      8.78293877574116,
      8.922640137692259,
      8.921095698620254,
      8.804297285150401,
      8.579994296815777,
      8.31517159619466,
      8.061111614496156
    ],
    "ax_ego": [
      0.6536291528243784,
      0.6535743757966869,
      0.32462799725991803,
      0.4435400235930117,
      0.11462322003681943,
      -0.1210115615074428,
      -0.3461822082718133,
      -0.5509629943414149,
      -0.5084856625673937,
      -0.5084316725206096
    ],
    "ay_ego": [
      -0.0069586619348954715,
      -0.010955139785907508,
      0.17952115220268805,
      0.14736196814661748,
      0.04242847279055143,
      0.024304879935235356,
      -0.041475885903544604,
      0.11378453799403854,
      0.10978179876047836,
      0.11003157074218994
    ],
    "a_ego": [
      0.653666193402901,
      0.6536661837557131,
      0.37095981007808115,
      0.46737918458670585,
      0.12222380240750035,
      0.12342821884454065,
      0.3486579562198932,
      0.5625896748254227,
      0.5202016074328178,
      0.5202016072467461
    ],
    "yaw": [
      2.5960842595442086,
      2.6021988147515014,
      2.60860680184546,
      2.6161567509676322,
      2.620094999947098,
      2.622169439984482,
      2.6232083475672034,
      2.6252812310196534,
      2.633306190345264,
      2.6337974261906694
    ],
    "yaw_diff": [
      0.01222911041458552,
      0.012815974187916801,
      0.015099898244344878,
      0.007876497958931417,
      0.004148880074768435,
      0.002077815165442587,
      0.004145766904899872,
      0.016049918651221518,
      0.0009824716908104492,
      0.0009824716908104492
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.534406051495266,
    "v_std": 0.31820717234932466,
    "vy_max": 0.06490691693494055,
    "a_max": 0.653666193402901,
    "ax_avg": 0.015492067030213986,
    "a_std": 0.18273835160382992,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "669bad5f20bd5256",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 45.66135913216367,
    "right_rear_min": null,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "669bad5f20bd5256",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "868e873c94b75b38": {
    "vx_ego": [
      2.8036207308830785,
      2.4436966532210067,
      2.102870016397586,
      1.7768442465638972,
      1.4648698562586933,
      1.1743897249433588,
      0.8920516817777324,
      0.6089324000280104,
      0.3339469995773129,
      0.07287327449536433
    ],
    "vy_ego": [
      -0.015658179858932877,
      0.004560942586450269,
      0.01060815469608331,
      -0.017737186011197385,
      -0.043186471666207024,
      -0.037268896266535095,
      -0.024080731904973986,
      -0.0012206189372070547,
      0.018166394754605707,
      0.022961997440769984
    ],
    "v_ego": [
      2.803664455892299,
      2.443700909514261,
      2.1028967732178487,
      1.7769327742812386,
      1.4655063176630596,
      1.1749809346033933,
      0.8923766495216916,
      0.6089336234060841,
      0.33444075174097726,
      0.07640528425538802
    ],
    "ax_ego": [
      -0.7198553277078785,
      -0.7198260254683115,
      -0.6435169553195279,
      -0.6606070494335368,
      -0.5871426310248439,
      -0.5747300616356438,
      -0.5546123739605162,
      -0.577821013366805,
      -0.5221564604388755,
      -0.5221545641991262
    ],
    "ay_ego": [
      0.04369798715193895,
      0.044178101157436554,
      -0.014461389112264819,
      -0.09233812151854862,
      -0.0037207805699344745,
      0.02881496044606685,
      0.02427157956658589,
      0.06897620653615308,
      0.009619815908621772,
      0.00972231254267948
    ],
    "a_ego": [
      0.7211804260450696,
      0.7211804292709162,
      0.6436794260800726,
      0.6670292365757723,
      0.5871544203825988,
      0.5754519490741337,
      0.5551432201916696,
      0.5819233974986394,
      0.522245067029044,
      0.5222450691726604
    ],
    "yaw": [
      1.5902243348681284,
      1.5908913046698954,
      1.5915017820710773,
      1.5923490877113888,
      1.5932391926768892,
      1.5935092590055717,
      1.593590241860099,
      1.5941899718194041,
      1.5947540216406217,
      1.59495032089301
    ],
    "yaw_diff": [
      0.0013339396035338957,
      0.0012209548023638384,
      0.0016946112806230929,
      0.001780209931000698,
      0.0005401326573650778,
      0.00016196570905435692,
      0.0011994599186104793,
      0.0011280996424352097,
      0.00039259850477657565,
      0.00039259850477657565
    ],
    "min_front_frame": [
      9,
      12.26571572207898
    ],
    "v_avg": 1.3679838474096242,
    "v_std": 0.8666711580402461,
    "vy_max": 0.043186471666207024,
    "a_max": 0.7211804292709162,
    "ax_avg": -0.6082422462555065,
    "a_std": 0.07072690655016607,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "868e873c94b75b38",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.705404577892821,
    "right_rear_min": 44.38077505233677,
    "speed_mode": "decelerating",
    "front_frame": [
      18.460703499062358,
      17.156283973158633,
      16.01607180723283,
      14.953655839258484,
      14.150207882363574,
      13.496035203414937,
      12.941329213636884,
      12.551129075687305,
      12.354480891708736,
      12.26571572207898
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "868e873c94b75b38",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "61d847c3a95f5032": {
    "vx_ego": [
      6.52876878073601,
      6.302026308795799,
      6.086103603559151,
      5.907139210909506,
      5.767094790579653,
      5.633239743365512,
      5.446738291956777,
      5.267644977168136,
      5.140963592045193,
      5.010733991725596
    ],
    "vy_ego": [
      -0.04701615923991653,
      0.0734279861278293,
      0.050232689193530966,
      -0.004788400481710031,
      -0.044191379311662615,
      -0.04132422793117785,
      0.02401921045184441,
      0.047206050652226494,
      0.046964248131522,
      0.058087598062223744
    ],
    "v_ego": [
      6.528938069207185,
      6.302454066941004,
      6.086310902042328,
      5.907141151677667,
      5.767264100206998,
      5.633391314123922,
      5.446791252061984,
      5.267856491657956,
      5.141178103833475,
      5.0110706745048965
    ],
    "ax_ego": [
      -0.45406510166666547,
      -0.45308394088813836,
      -0.4167503440728718,
      -0.30010880729458955,
      -0.26017582475291046,
      -0.27568585431618,
      -0.47032749274888414,
      -0.24602114150158746,
      -0.26035316832199756,
      -0.2603651386931567
    ],
    "ay_ego": [
      0.2842713455965675,
      0.285832577361444,
      0.022965297784125926,
      -0.0660369077465063,
      -0.12914531859597164,
      0.10570602414820546,
      0.15278833026978925,
      -0.0621426756340311,
      0.012708373402316037,
      0.01246057190250821
    ],
    "a_ego": [
      0.5357101030210671,
      0.5357101079612107,
      0.417382623245351,
      0.30728841403557944,
      0.2904650979052599,
      0.29525658978465325,
      0.4945222182087291,
      0.2537481314230718,
      0.2606631447094796,
      0.26066313759111454
    ],
    "yaw": [
      1.0080353030604046,
      1.0114773716170409,
      1.0276971291687391,
      1.0350947690578511,
      1.0334842797957877,
      1.0319537975720041,
      1.0318244290986782,
      1.0317258346803364,
      1.029398415685677,
      1.0284466316071388
    ],
    "yaw_diff": [
      0.006884137113272626,
      0.03243951510339649,
      0.014795279778224035,
      -0.0032209785241268385,
      -0.003060964447567205,
      -0.00025873694665179414,
      -0.00019718883668362608,
      -0.004654837989318761,
      -0.001903568157076485,
      -0.001903568157076485
    ],
    "min_front_frame": [
      9,
      27.331926805870328
    ],
    "v_avg": 5.709239612625741,
    "v_std": 0.47834176860302013,
    "vy_max": 0.0734279861278293,
    "a_max": 0.5357101079612107,
    "ax_avg": -0.33969368142569817,
    "a_std": 0.11211743232770464,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "61d847c3a95f5032",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.827499692882522,
    "right_rear_min": 24.508715744743753,
    "speed_mode": "decelerating",
    "front_frame": [
      52.785848727755585,
      49.58724482605699,
      46.52737687200333,
      43.53967107564677,
      40.67398116729485,
      37.85044880806925,
      35.06200052241579,
      32.41140762075905,
      29.8441913096824,
      27.331926805870328
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "61d847c3a95f5032",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "69d75ac905035187": {
    "vx_ego": [
      6.7215862071189205,
      7.016960325861866,
      7.322214919611772,
      7.514304935498378,
      7.552282528173825,
      7.625079928856915,
      7.680383662415002,
      7.659154878579255,
      7.65884687661268,
      7.66725726452308
    ],
    "vy_ego": [
      -0.10742661286553101,
      -0.014672198907738299,
      0.03840641164415004,
      0.05558902244140995,
      0.04469914241802231,
      0.03347481974491018,
      0.01172577702081945,
      0.010131494143232445,
      0.0211892737724777,
      0.06308465267158025
    ],
    "v_ego": [
      6.722444616126121,
      7.016975665351865,
      7.322315643390458,
      7.51451054980105,
      7.5524148057884455,
      7.625153407310147,
      7.680392613384945,
      7.659161579522785,
      7.658876188105068,
      7.667516784056272
    ],
    "ax_ego": [
      0.5873058619588097,
      0.5999585427831426,
      0.6177293411007431,
      0.14795682480566408,
      0.0029584621047666123,
      0.2877580343513052,
      -0.06688369821220655,
      -0.018156905419932607,
      0.016724889189804706,
      0.01679399559933263
    ],
    "ay_ego": [
      0.5270536885210814,
      0.512604631085072,
      0.27639972831592863,
      0.06430202481321688,
      0.03027292375101512,
      0.010921566515288375,
      0.04581402223387014,
      0.07060953453663338,
      0.09495101941011279,
      0.09493882363820744
    ],
    "a_ego": [
      0.7891221490205794,
      0.7891221457216461,
      0.6767468867086699,
      0.16132567186177632,
      0.03041714007693878,
      0.2879652182970624,
      0.0810700543961028,
      0.07290664977838715,
      0.09641274814790242,
      0.09641275082683337
    ],
    "yaw": [
      0.9908573232623415,
      1.0151962021357748,
      1.035310650634175,
      1.0444042080179692,
      1.0489773300146368,
      1.05182688652069,
      1.0564952751053511,
      1.060501201645079,
      1.06446380704831,
      1.0651915962981993
    ],
    "yaw_diff": [
      0.048677757746866446,
      0.04022889699680032,
      0.018187114767588497,
      0.00914624399333519,
      0.005699113012106238,
      0.009336777169322463,
      0.008011853079455733,
      0.007925210806461802,
      0.0014555784997787313,
      0.0014555784997787313
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.441976185283716,
    "v_std": 0.31074227994031944,
    "vy_max": 0.10742661286553101,
    "a_max": 0.7891221490205794,
    "ax_avg": 0.21921453482614295,
    "a_std": 0.29903218727080483,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "69d75ac905035187",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.750783933697868,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "69d75ac905035187",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "06329b33572752d8": {
    "vx_ego": [
      1.1653341003444997,
      1.9694050487872576,
      2.7984737551136076,
      3.6338321371488824,
      4.437938470852218,
      5.209567097838284,
      5.9250193717257265,
      6.600414363728564,
      7.198156357224594,
      7.722153412464391
    ],
    "vy_ego": [
      0.0027442082929536316,
      0.0025204460481633717,
      -0.003548430916336165,
      -0.021389394923108096,
      -0.030031271644981317,
      -0.04340618507363048,
      -0.042995355076922426,
      -0.02084148409113462,
      -0.0010854483795785796,
      0.009464109853339675
    ],
    "v_ego": [
      1.1653373314645334,
      1.969406661620962,
      2.798476004796472,
      3.6338950875322737,
      4.438040079623745,
      5.209747925166999,
      5.925175369209194,
      6.600447268206411,
      7.198156439064868,
      7.722159211969847
    ],
    "ax_ego": [
      1.608140152747919,
      1.608140313586155,
      1.7081668649836212,
      1.6331875610732898,
      1.5830031234051019,
      1.5041899224139348,
      1.358924368700268,
      1.3435290572985128,
      1.0476264897432268,
      1.0482473229606375
    ],
    "ay_ego": [
      0.0007693096819419432,
      0.00027249839936760445,
      -0.041044216332093875,
      -0.053776929693450826,
      -0.011377458726976986,
      0.035016241184458397,
      0.10646615708774954,
      0.13587670168045762,
      0.1104001507759651,
      0.10434077996154378
    ],
    "a_ego": [
      1.6081403367609082,
      1.608140336673499,
      1.708659903644458,
      1.634072693551843,
      1.5830440092673963,
      1.504597441124478,
      1.3630885820270284,
      1.3503824665127249,
      1.0534274798499759,
      1.0534274766006089
    ],
    "yaw": [
      -0.3150102899858202,
      -0.3147013543507617,
      -0.3164404052482346,
      -0.3182585023713006,
      -0.32015024288031685,
      -0.3161605521398678,
      -0.30990149530997513,
      -0.30376679039610865,
      -0.29773861760493886,
      -0.29195643138019534
    ],
    "yaw_diff": [
      0.0006178712701170319,
      -0.003478101794945787,
      -0.0036361942461320407,
      -0.0037834810180324974,
      0.007979381480898051,
      0.01251811365978539,
      0.012269409827732947,
      0.01205634558233959,
      0.011564372449487048,
      0.011564372449487048
    ],
    "min_front_frame": [
      0,
      11.17623873673293
    ],
    "v_avg": 4.66608413786553,
    "v_std": 2.133220636497753,
    "vy_max": 0.04340618507363048,
    "a_max": 1.708659903644458,
    "ax_avg": 1.4443155176912665,
    "a_std": 0.22436438527501096,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "06329b33572752d8",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.113681813111564,
    "speed_mode": "accelerating",
    "front_frame": [
      11.17623873673293,
      12.764061661863467,
      14.332638766681724,
      15.9383647256279,
      17.531840692937195,
      19.11118189617084,
      20.299879245141934,
      20.876969607221298,
      20.968808372729946,
      20.743136941609357
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "06329b33572752d8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0c437f9a102c57f4": {
    "vx_ego": [
      8.715997938946439,
      8.197774813841997,
      7.65335248123705,
      7.069683081544692,
      6.495200405805177,
      5.948775169149547,
      5.404817118305207,
      4.84118855307024,
      4.277080604216404,
      3.728807773049004
    ],
    "vy_ego": [
      -0.018365294096870155,
      -0.007248253392113657,
      -0.009769453953551555,
      -0.006487308898536437,
      0.001789918527860035,
      -0.014585366713088632,
      -0.029532373871793194,
      -0.02740890115569239,
      -0.010312142421556425,
      0.01872934921642555
    ],
    "v_ego": [
      8.716017287485485,
      8.197778018197335,
      7.653358716556272,
      7.069686057998332,
      6.495200652434077,
      5.948793049519573,
      5.404897801386396,
      4.841266141645271,
      4.277093035607886,
      3.728854810377141
    ],
    "ax_ego": [
      -1.0364404025708895,
      -1.0364199885436085,
      -1.141268426263446,
      -1.1933465111383175,
      -1.1046000304401813,
      -1.0811192564649486,
      -1.0948426916611322,
      -1.1598194146267724,
      -1.0965333841482552,
      -1.0965521642247391
    ],
    "ay_ego": [
      0.03245123524741639,
      0.033097098027091765,
      -0.04778252438392111,
      0.08006481414887884,
      -0.03835055431540613,
      -0.050524788568754475,
      -0.04093809629529688,
      0.029051902144757946,
      0.055552683090630606,
      0.055180636765579716
    ],
    "a_ego": [
      1.0369483066915104,
      1.0369483162388318,
      1.1422682655236216,
      1.196029376775792,
      1.105265575445444,
      1.0822992196981576,
      1.095607798079256,
      1.1601832129295,
      1.0979396901242768,
      1.0979396848369285
    ],
    "yaw": [
      1.1018881018905362,
      1.1025112680745304,
      1.1023663879430874,
      1.1030162806859605,
      1.1033339925781507,
      1.10239437207321,
      1.1009998672398649,
      1.100006903735569,
      1.1008977384427463,
      1.1005584479033943
    ],
    "yaw_diff": [
      0.0012463323679883231,
      -0.000289760262885963,
      0.0012997854857461633,
      0.0006354237843804178,
      -0.0018792410098815715,
      -0.0027890096666900455,
      -0.0019859270085915703,
      0.0017816694143544254,
      -0.0006785810787039992,
      -0.0006785810787039992
    ],
    "min_front_frame": [
      9,
      18.20985433412217
    ],
    "v_avg": 6.233294557120777,
    "v_std": 1.600365690309473,
    "vy_max": 0.029532373871793194,
    "a_max": 1.196029376775792,
    "ax_avg": -1.104094227008229,
    "a_std": 0.04762942763989676,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0c437f9a102c57f4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.44653873656354,
    "right_rear_min": 32.932251608204936,
    "speed_mode": "decelerating",
    "front_frame": [
      19.404132457511007,
      26.256638513403683,
      22.320236458374236,
      18.736952749207347,
      22.93946078526525,
      19.86688517125461,
      24.43170370029524,
      21.894928847500243,
      19.65765805674762,
      18.20985433412217
    ],
    "safe_frame": [
      0,
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0c437f9a102c57f4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cea6c267a5a05b3c": {
    "vx_ego": [
      7.035678913554146,
      7.093117347397687,
      7.175185994293916,
      7.300014798543583,
      7.431545285122453,
      7.52521855930571,
      7.5785041375935815,
      7.561686225958738,
      7.451403029231672,
      7.294858280156007
    ],
    "vy_ego": [
      0.005703754167292185,
      -0.022988410049346264,
      0.006397597720565251,
      0.05850144206936836,
      0.11059578246372093,
      0.12026859238025667,
      0.10538536341044358,
      0.067218540273148,
      0.06922143204259479,
      0.07546663243963136
    ],
    "v_ego": [
      7.035681225541849,
      7.093154599397266,
      7.175188846432417,
      7.300249206546274,
      7.432368179249768,
      7.526179568654486,
      7.579236837462211,
      7.5619849849104135,
      7.4517245460830726,
      7.295248627714646
    ],
    "ax_ego": [
      0.09244121866533772,
      0.13531581366492632,
      0.19053148396232353,
      0.30771264393295483,
      0.224503365364464,
      0.15306976117493418,
      0.05899649454631131,
      -0.12837127835200868,
      -0.31307045846874915,
      -0.3130718065496534
    ],
    "ay_ego": [
      -0.8102599262660541,
      -0.8042115160148409,
      -0.7897089550645844,
      -0.4884803479548829,
      -0.20904995885620348,
      0.004677448130419343,
      0.008208570096634886,
      0.03028708228055753,
      0.010638987643005138,
      0.01059926009109477
    ],
    "a_ego": [
      0.8155161108285993,
      0.8155161138314128,
      0.8123684386348863,
      0.5773215062461582,
      0.3067631763392575,
      0.15314121034902445,
      0.059564813369843685,
      0.1318957636120211,
      0.31325117721071827,
      0.3132511777643338
    ],
    "yaw": [
      2.7339476742219544,
      2.680847300485323,
      2.6208328886512007,
      2.569390047654818,
      2.538688641998303,
      2.53057283042567,
      2.5329664885874292,
      2.5392600915229773,
      2.540352923611512,
      2.5402260256346896
    ],
    "yaw_diff": [
      -0.10620074747326314,
      -0.1200288236682443,
      -0.10288568199276504,
      -0.06140281131303027,
      -0.016231623145266383,
      0.004787316323518809,
      0.012587205871096074,
      0.0021856641770696683,
      -0.0002537959536450529,
      -0.0002537959536450529
    ],
    "min_front_frame": [
      0,
      18.536567885501306
    ],
    "v_avg": 7.345101662199239,
    "v_std": 0.18606894163205684,
    "vy_max": 0.12026859238025667,
    "a_max": 0.8155161138314128,
    "ax_avg": 0.04080572379408407,
    "a_std": 0.2846649676935525,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "cea6c267a5a05b3c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.48415286513806,
    "right_rear_min": 31.676331304615477,
    "speed_mode": "quasi_constant",
    "front_frame": [
      18.536567885501306,
      19.160207891933982,
      19.941325450324506,
      20.552046151276517,
      21.153318553037856,
      21.72641375101499,
      22.072230632383274,
      22.47382813103399,
      -1,
      -1
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.875,
    "unsafe_ratio": 0.125,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "cea6c267a5a05b3c",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "74deabca4e1259f5": {
    "vx_ego": [
      4.274891772592174,
      3.8274681140960123,
      3.396101847102686,
      3.039124192136479,
      2.7582379627511893,
      2.4846916778628123,
      2.154818334839549,
      1.763546768443919,
      1.3277612836308896,
      0.8631120829965157
    ],
    "vy_ego": [
      0.0010138742990569438,
      -0.012523819278970297,
      0.0056322612090952545,
      0.0058646862934356725,
      -0.00025623877101040027,
      0.02189937038235206,
      -0.003125130022370602,
      -0.02057532364833243,
      0.0047112126921251135,
      0.026727973032027612
    ],
    "v_ego": [
      4.274891892822245,
      3.8274886035716706,
      3.3961065175080423,
      3.039129850759017,
      2.758237974653409,
      2.4847881834200396,
      2.1548206010242117,
      1.7636667906473216,
      1.3277696418559124,
      0.8635258261088575
    ],
    "ax_ego": [
      -0.8948221365674884,
      -0.8948432439538233,
      -0.8305762107318903,
      -0.597435478785683,
      -0.5260593911977025,
      -0.5681731408217032,
      -0.7513114101666581,
      -0.8137682351478294,
      -0.9293643080725837,
      -0.9293078605924011
    ],
    "ay_ego": [
      -0.017582614233762457,
      -0.016472948856225914,
      0.098330456609624,
      -0.08621582486838522,
      0.07035525369744226,
      0.02586852718341959,
      -0.12669125911484863,
      0.05726341970005547,
      0.04612108941827393,
      0.04724498300692288
    ],
    "a_ego": [
      0.8949948627866521,
      0.8949948543392982,
      0.8363765423126133,
      0.6036243200614223,
      0.5307432004181767,
      0.5687617239669336,
      0.7619183093893452,
      0.8157805095559452,
      0.930508018239693,
      0.9305080269283817
    ],
    "yaw": [
      -1.6030057896879972,
      -1.6017657065681967,
      -1.6011251804444886,
      -1.6002481977624057,
      -1.5995021899365598,
      -1.5987787286842683,
      -1.5988560693469327,
      -1.5988086698265858,
      -1.5984499811890922,
      -1.597240631492896
    ],
    "yaw_diff": [
      0.0024801662396010116,
      0.001281052247416259,
      0.0017539653641658326,
      0.0014920156516917693,
      0.0014469225045830036,
      -0.0001546813253288093,
      9.479904069387146e-05,
      0.0007173772749871077,
      0.002418699392392476,
      0.002418699392392476
    ],
    "min_front_frame": [
      9,
      10.282049543087238
    ],
    "v_avg": 2.589042588237073,
    "v_std": 1.0347596186204808,
    "vy_max": 0.026727973032027612,
    "a_max": 0.9305080269283817,
    "ax_avg": -0.7735661416037763,
    "a_std": 0.1463886455437755,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "74deabca4e1259f5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.68038585663087,
      15.170155455474156,
      14.767605474041552,
      14.2863944822876,
      13.80938016898841,
      13.158849271165826,
      12.387271766457355,
      11.596560920377136,
      10.833119127657389,
      10.282049543087238
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "74deabca4e1259f5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b77b4b6eb149553f": {
    "vx_ego": [
      4.790033904436661,
      5.175909817786938,
      5.501760992011542,
      5.847426189325393,
      6.0205177012460975,
      5.9506582129100885,
      5.896868777873141,
      5.884325274764434,
      6.00666882689671,
      6.212652397372946
    ],
    "vy_ego": [
      0.009808145168366478,
      0.03523066981141021,
      0.0004987811718994983,
      0.035601369895147617,
      0.035779503734050255,
      -0.009048181325922222,
      -0.010293270023744139,
      -0.015042911497929357,
      -0.0907174320593076,
      -0.19896274699359662
    ],
    "v_ego": [
      4.790043946078613,
      5.176029718032787,
      5.501761014620908,
      5.847534565707748,
      6.020624017816181,
      5.95066509194221,
      5.896877761566951,
      5.8843445028667265,
      6.007353830805385,
      6.215837512779356
    ],
    "ax_ego": [
      0.741226132536156,
      0.8071120563243119,
      0.4998192000769939,
      0.8825072602840989,
      -0.19085118994017045,
      -0.08874192188769284,
      -0.1259714895400721,
      0.07565138803819592,
      0.4150793275661521,
      0.41412128175750146
    ],
    "ay_ego": [
      -0.817128684834034,
      -0.7521207305859738,
      -0.7227586185527024,
      -0.5678409482646187,
      -0.23967298952701374,
      -0.07987962615406995,
      0.14469125399137087,
      0.001960233476686564,
      -0.10316178807215814,
      -0.10694280686132604
    ],
    "a_ego": [
      1.1032295623002064,
      1.1032295612614984,
      0.8787486861770075,
      1.0494105045120368,
      0.3063777384380188,
      0.11939800406554271,
      0.19184466413882845,
      0.07567677997502811,
      0.42770691213845713,
      0.42770690892695995
    ],
    "yaw": [
      -2.0593288170901403,
      -2.143250791557709,
      -2.205342162791708,
      -2.2689013320882285,
      -2.3021961959355677,
      -2.308066177649975,
      -2.3051230681077337,
      -2.2980626152923884,
      -2.2895291174323784,
      -2.280409512800449
    ],
    "yaw_diff": [
      -0.1678439489351371,
      -0.12418274246799843,
      -0.127118338593041,
      -0.0665897276946783,
      -0.011739963428814448,
      0.005886219084482391,
      0.014120905630690572,
      0.017066995720020017,
      0.018239209263859024,
      0.018239209263859024
    ],
    "min_front_frame": [
      8,
      18.89426675551284
    ],
    "v_avg": 5.729107196221687,
    "v_std": 0.4188184506315034,
    "vy_max": 0.19896274699359662,
    "a_max": 1.1032295623002064,
    "ax_avg": 0.34299520452154747,
    "a_std": 0.39927313070921644,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "b77b4b6eb149553f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      36.33792129135594,
      33.55151368278787,
      30.600120987816126,
      27.63393943674043,
      24.69593777655657,
      21.816681763942263,
      18.89426675551284,
      21.674666088410948
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b77b4b6eb149553f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a1fa084b258b5672": {
    "vx_ego": [
      1.9061912107891597,
      1.8904164579536946,
      1.8938083759247593,
      1.9285411319398207,
      1.9114535306780596,
      1.7689374116451253,
      1.5062423691990658,
      1.206586690745396,
      0.9595518475075905,
      0.7422731819597121
    ],
    "vy_ego": [
      0.009715431665789476,
      0.013334906210975217,
      0.029577545763992852,
      0.03666709424451575,
      0.02555866901606263,
      -0.0027267392849310568,
      -0.02077381805920875,
      -0.016063360821968464,
      -0.012149562109457057,
      -0.015333290271487304
    ],
    "v_ego": [
      1.906215969323071,
      1.8904634892601995,
      1.8940393332600554,
      1.9288896737201071,
      1.911624399693489,
      1.7689395132182684,
      1.506385616728722,
      1.2066936122499456,
      0.9596287615086794,
      0.7424315365386532
    ],
    "ax_ego": [
      -0.03152830268757588,
      -0.03095658774815209,
      0.04606708127650716,
      0.09765669518120831,
      -0.1615707532614842,
      -0.4062985748167134,
      -0.6478011046464754,
      -0.5543580093224494,
      -0.4357291450299825,
      -0.43458501807798916
    ],
    "ay_ego": [
      -0.042902763501877786,
      -0.04331711844795175,
      -0.03444868349990097,
      -0.13628730603136308,
      -0.1612043744389593,
      -0.2015133189782162,
      -0.11195475568336433,
      -0.06492415802056112,
      -0.04217122542585386,
      -0.05267034982826903
    ],
    "a_ego": [
      0.05324172223414135,
      0.05324174185395254,
      0.05752293257660518,
      0.1676635318099969,
      0.22823662862857838,
      0.45352634942603803,
      0.6574040907245069,
      0.558146888188609,
      0.4377651197645579,
      0.4377651238836625
    ],
    "yaw": [
      0.5452139723627173,
      0.5319521238003405,
      0.5129968443800814,
      0.4868667292018259,
      0.4544661289350447,
      0.42111746488868695,
      0.38495355589369595,
      0.34857106000976895,
      0.3198457619074904,
      0.2957197481006325
    ],
    "yaw_diff": [
      -0.026523697124753554,
      -0.037910558840518194,
      -0.05226023035651106,
      -0.06480120053356242,
      -0.06669732809271545,
      -0.072327817989982,
      -0.072764991767854,
      -0.05745059620455706,
      -0.04825202761371583,
      -0.04825202761371583
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.5715311905501188,
    "v_std": 0.42417719881576044,
    "vy_max": 0.03666709424451575,
    "a_max": 0.6574040907245069,
    "ax_avg": -0.2559103719133106,
    "a_std": 0.21402133381971894,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "a1fa084b258b5672",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.8274377122316037,
    "right_rear_min": 4.422437889609071,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a1fa084b258b5672",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a2737c768a335e27": {
    "vx_ego": [
      8.387444131144424,
      8.352516035272332,
      8.348937579197154,
      8.348678055991963,
      8.272294696827728,
      8.36178521427635,
      8.450416057077891,
      8.38319614520987,
      8.379767951951873,
      8.380921384661082
    ],
    "vy_ego": [
      0.017910186131306904,
      -0.017077601911049456,
      -0.012951376300530892,
      -0.027153248031296595,
      -0.008830709270166714,
      0.027602324507851606,
      0.033037338415384365,
      0.022405207035314678,
      0.003272649112039172,
      -0.005988784860566643
    ],
    "v_ego": [
      8.387463253441787,
      8.352533493735207,
      8.34894762466974,
      8.348722212499371,
      8.27229941023597,
      8.361830771906881,
      8.450480637422313,
      8.383226085604749,
      8.37976859100488,
      8.380923524374479
    ],
    "ax_ego": [
      -0.07003140248995214,
      -0.06969098601589059,
      0.0554574163773118,
      -0.05603838948758709,
      -0.24883877027818063,
      0.6065195894610441,
      -0.2528049686231135,
      -0.016009124597811175,
      0.0023062937337699945,
      0.0023071756925794277
    ],
    "ay_ego": [
      0.04796785824715298,
      0.04846109972057536,
      0.023989314239626032,
      0.06846193028281672,
      0.1776796698069783,
      0.15274605481153183,
      0.013119927045737181,
      -0.07007040385434926,
      -0.01928611394578679,
      -0.019286013999220634
    ],
    "a_ego": [
      0.08488411370526665,
      0.08488410757023135,
      0.06042360655351562,
      0.08847223855205523,
      0.3057626508523793,
      0.6254577281163619,
      0.25314518491612453,
      0.07187595958802809,
      0.019423521357269345,
      0.019423526859315834
    ],
    "yaw": [
      -0.6359142591338003,
      -0.6288538974533444,
      -0.6271758844311337,
      -0.6227138776608964,
      -0.6175291252087032,
      -0.6119051785475631,
      -0.6076729166832768,
      -0.608102795784027,
      -0.6084854780709453,
      -0.6085310135884132
    ],
    "yaw_diff": [
      0.014120723360911747,
      0.003356026044421423,
      0.008924013540474673,
      0.010369504904386373,
      0.011247893322280156,
      0.008464523728572537,
      -0.0008597582015004157,
      -0.00076536457383658,
      -9.107103493577462e-05,
      -9.107103493577462e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.366619560489537,
    "v_std": 0.04227371490676245,
    "vy_max": 0.033037338415384365,
    "a_max": 0.6254577281163619,
    "ax_avg": -0.0046823166227829794,
    "a_std": 0.17893031300485346,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a2737c768a335e27",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.296654897545434,
    "right_rear_min": 13.043574715844136,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a2737c768a335e27",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "66a0abcb3eac57df": {
    "vx_ego": [
      7.14205215336872,
      6.901925219753144,
      6.637274890199623,
      6.247424003487509,
      5.765552938143907,
      5.301494806578997,
      4.814046258448488,
      4.249012089840702,
      3.647759347806428,
      3.057707915002597
    ],
    "vy_ego": [
      0.07886363044984046,
      0.01886594829408672,
      -0.012922099776079055,
      -0.013560382880506872,
      0.01619016409872831,
      0.012404366541951317,
      0.009281540960782708,
      0.008465298634500629,
      0.006213571804147833,
      -0.0032670960854284115
    ],
    "v_ego": [
      7.14248755222202,
      6.901951004105253,
      6.637287469195306,
      6.247438720254546,
      5.765575669779505,
      5.3015093183444835,
      4.814055205903282,
      4.249020522531448,
      3.6477646398834094,
      3.0577096604135523
    ],
    "ax_ego": [
      -0.4802849588236846,
      -0.4790028704124104,
      -0.5798229606507337,
      -0.9801617865108212,
      -0.9474203874235241,
      -0.9088144257996184,
      -1.0409595757037746,
      -1.2194322092610257,
      -1.1846832607105902,
      -1.1748228407570964
    ],
    "ay_ego": [
      -0.20549837350254255,
      -0.20846935949129647,
      -0.12591013339116663,
      -0.017443136807932025,
      0.04385729272922767,
      -0.05853358828100119,
      0.06711080378662321,
      0.07350252769598564,
      0.22430849464245078,
      0.2712563802598372
    ],
    "a_ego": [
      0.5224014004426663,
      0.5224014009457094,
      0.5933363526604144,
      0.9803169848359177,
      0.948434949077309,
      0.9106974478379413,
      1.0431206537281625,
      1.2216454209634338,
      1.2057316156494522,
      1.205731616486954
    ],
    "yaw": [
      2.7901648199823526,
      2.7839706908323185,
      2.7763320847946646,
      2.770910362021678,
      2.767054071915471,
      2.7670751842023367,
      2.7681131875688263,
      2.77601188443312,
      2.795459461995754,
      2.8352488837947494
    ],
    "yaw_diff": [
      -0.012388258300068067,
      -0.015277212075307744,
      -0.01084344554597294,
      -0.007712580212414721,
      4.2224573731708404e-05,
      0.002076006732979252,
      0.015797393728587572,
      0.03889515512526742,
      0.07957884359799117,
      0.07957884359799117
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.376479976263281,
    "v_std": 1.3380472441354057,
    "vy_max": 0.07886363044984046,
    "a_max": 1.2216454209634338,
    "ax_avg": -0.899540527605328,
    "a_std": 0.263937898441497,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "66a0abcb3eac57df",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "66a0abcb3eac57df",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5691c7c24fdd5e16": {
    "vx_ego": [
      12.112275918580282,
      12.1529581171396,
      12.091797683575594,
      11.878189108505708,
      11.6393764756037,
      11.395021479485145,
      11.00710352324968,
      10.908947828780235,
      10.924611018436805,
      10.658618508437021
    ],
    "vy_ego": [
      0.04368500202914305,
      0.02531250617601799,
      -0.004208894636865246,
      -0.012892958595082327,
      -0.009236030707648446,
      0.007088363170858258,
      0.015744034637238613,
      -0.01748384684617621,
      0.025194955004673947,
      0.016230268688687488
    ],
    "v_ego": [
      12.11235469705301,
      12.15298447789341,
      12.091798416088409,
      11.878196105714242,
      11.639380140071895,
      11.395023684171099,
      11.007114783001137,
      10.90896183951294,
      10.924640071412353,
      10.658630865642076
    ],
    "ax_ego": [
      0.0802620022910457,
      0.08140648280967619,
      -0.3266661360849847,
      -0.5268137818202365,
      -0.426589033374396,
      -0.5506663456791562,
      -1.0005988311849834,
      0.61118845223981,
      -0.5470333812776192,
      -0.5132883015632728
    ],
    "ay_ego": [
      0.14959220174986804,
      0.148972481504762,
      -0.06615337934700746,
      -0.3655505241216626,
      -0.6265369229909198,
      -0.646474526482937,
      -0.5840903252827951,
      -0.8102017206308814,
      -0.8518921301554588,
      -0.8726401550645863
    ],
    "a_ego": [
      0.16976400041275255,
      0.16976399997976238,
      0.3332972158055372,
      0.6412175499792266,
      0.7579754080880403,
      0.8492130107664234,
      1.1586024033540223,
      1.0148783928454361,
      1.01240590755528,
      1.0124059071108062
    ],
    "yaw": [
      -1.0572836344361447,
      -1.0496171673418861,
      -1.0454912730270554,
      -1.0537544908679894,
      -1.0751799720761461,
      -1.1041890974512971,
      -1.1322842857250208,
      -1.1615987480657748,
      -1.2030157706651396,
      -1.242146112469202
    ],
    "yaw_diff": [
      0.015332934188517111,
      0.008251788629661583,
      -0.01652643568186818,
      -0.042850962416313365,
      -0.05801825075030198,
      -0.05619037654744741,
      -0.05862892468150793,
      -0.08283404519872972,
      -0.07826068360812455,
      -0.07826068360812455
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.476908508056058,
    "v_std": 0.5432257684726313,
    "vy_max": 0.04368500202914305,
    "a_max": 1.1586024033540223,
    "ax_avg": -0.31187988736441163,
    "a_std": 0.3505828410810667,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "5691c7c24fdd5e16",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "5691c7c24fdd5e16",
    "road_shape": "Curve"
  },
  "991f13bf4e7f590e": {
    "vx_ego": [
      4.2520777625245625,
      3.7398489538060913,
      3.212272499705889,
      2.6160357975066804,
      1.938994508528517,
      1.2858010431862132,
      0.7803641769222806,
      0.411705085782331,
      0.29749469693399966,
      0.3973458775162878
    ],
    "vy_ego": [
      -0.012049727397891452,
      0.01693011932168642,
      0.031970857765938554,
      0.024269432833903037,
      0.009221514300026823,
      0.0032178658031051244,
      -0.0013519740590009488,
      0.004967304933153727,
      0.016991222806698167,
      0.018051176681313813
    ],
    "v_ego": [
      4.252094836017449,
      3.739887274534456,
      3.2124315943087427,
      2.6161483710230375,
      1.9390164363485243,
      1.2858050697205547,
      0.7803653480629726,
      0.41173505046004455,
      0.29797952338427414,
      0.3977556930563896
    ],
    "ax_ego": [
      -1.0244927943899067,
      -1.0244311767736167,
      -1.08605161020332,
      -1.2990640893708627,
      -1.4091441671533733,
      -1.2036371318154133,
      -0.8181194108191394,
      -0.6565146576692089,
      0.19971687816208966,
      0.19971613945368644
    ],
    "ay_ego": [
      0.06499801137223027,
      0.06596202111243726,
      0.01413329533339025,
      -0.030184067209023557,
      -0.0238163933739306,
      0.004127563476310381,
      -0.0201549580673141,
      0.0456382913566733,
      0.0017988833167960905,
      0.0018795518275930567
    ],
    "a_ego": [
      1.0265525935085762,
      1.02655259201612,
      1.0861435678869553,
      1.2994147090926083,
      1.409345416998869,
      1.2036442090024302,
      0.8183676390802308,
      0.658099042221211,
      0.19972497941919637,
      0.19972498359833937
    ],
    "yaw": [
      2.5608884292707157,
      2.5618294202909175,
      2.563259794540393,
      2.5645141307499584,
      2.5651896502866287,
      2.5658712110192914,
      2.566442835681309,
      2.566532363069104,
      2.565867396290475,
      2.565463430881873
    ],
    "yaw_diff": [
      0.0018819820404036847,
      0.0028607484989509047,
      0.002508672419130775,
      0.0013510390733406652,
      0.0013631214653253565,
      0.0011432493240350894,
      0.00017905477559043703,
      -0.0013299335572583004,
      -0.0008079308172037614,
      -0.0008079308172037614
    ],
    "min_front_frame": [
      6,
      9.957867188217495
    ],
    "v_avg": 1.8933219196916444,
    "v_std": 1.4079387091020923,
    "vy_max": 0.031970857765938554,
    "a_max": 1.409345416998869,
    "ax_avg": -0.8122022020579065,
    "a_std": 0.40289833941858566,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "991f13bf4e7f590e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.03583256913475,
      15.055536507334677,
      13.32582862004865,
      11.89318044212027,
      10.860800045841334,
      10.158401568627449,
      9.957867188217495,
      10.303281608826566,
      11.374913914043239,
      12.841934807618118
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "991f13bf4e7f590e",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "4757ef31c4975240": {
    "vx_ego": [
      0.7831439756920555,
      1.8051676286484508,
      2.815780000615444,
      3.7775225739103115,
      4.670314221802632,
      5.484297591117469,
      6.214755293534688,
      6.838986256152982,
      7.203250416822726,
      7.376814722838619
    ],
    "vy_ego": [
      0.02058117022565431,
      -0.0020207736369500795,
      -0.013373341864652,
      -0.006132685994180154,
      0.015675873276067787,
      0.027894828361084034,
      -0.01387068121807733,
      -0.055580040784290574,
      -0.04489973388872981,
      -0.04480375265395775
    ],
    "v_ego": [
      0.7834143675160778,
      1.805168759713718,
      2.815811758292542,
      3.777527552015933,
      4.6703405297017575,
      5.484368531507175,
      6.2147707724673875,
      6.839212100292179,
      7.203390351324858,
      7.376950781409652
    ],
    "ax_ego": [
      2.0440438235109726,
      2.044075021986354,
      1.998356522799018,
      1.8486285903620887,
      1.7225593290289474,
      1.53300650803267,
      1.388559534784606,
      1.1101933273653684,
      0.34707698461164405,
      0.34708130369913204
    ],
    "ay_ego": [
      -0.04760429296679536,
      -0.04624526078646585,
      -0.002317668595402167,
      0.03469595598340869,
      0.09145309300381133,
      0.017978149960785506,
      0.010519777491235227,
      0.09078074009671538,
      -0.007939957378245877,
      -0.007748648062346736
    ],
    "a_ego": [
      2.0445980830330015,
      2.0445980826689927,
      1.9983578667999136,
      1.8489541569400054,
      1.7249853072547086,
      1.5331119227070584,
      1.3885993833210883,
      1.113898723807104,
      0.3471677925301824,
      0.3471677878552145
    ],
    "yaw": [
      -0.7468220646292245,
      -0.7474869344454231,
      -0.7478272182107982,
      -0.7475696545986021,
      -0.7452749749373513,
      -0.7423071553150415,
      -0.733974982135909,
      -0.7237589938482576,
      -0.722349610208566,
      -0.7229007919134802
    ],
    "yaw_diff": [
      -0.0013297396323972421,
      -0.0006805675307501868,
      0.0005151272243921756,
      0.004589359322501707,
      0.005935639244619484,
      0.016664346358265192,
      0.020431976575302713,
      0.0028187672793831275,
      -0.0011023634098283885,
      -0.0011023634098283885
    ],
    "min_front_frame": [
      0,
      15.758003410567861
    ],
    "v_avg": 4.6970955504241285,
    "v_std": 2.214511879247276,
    "vy_max": 0.055580040784290574,
    "a_max": 2.0445980830330015,
    "ax_avg": 1.43835809461808,
    "a_std": 0.6162395932911581,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "4757ef31c4975240",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.152391293017212,
    "right_rear_min": 9.910810901070558,
    "speed_mode": "accelerating",
    "front_frame": [
      15.758003410567861,
      17.53453588875966,
      19.12411635059203,
      20.577209409738497,
      21.84457981631749,
      22.878034904321254,
      23.949946414060502,
      25.03282703369402,
      25.983740455743455,
      27.01934287078236
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4757ef31c4975240",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "7956fe13f69e53dc": {
    "vx_ego": [
      2.5962025492534626,
      2.871390502393973,
      3.157077826702464,
      3.462369110006732,
      3.872192243252106,
      4.398921871371948,
      4.989325441010256,
      5.55363185953575,
      6.0383800589859815,
      6.472984015841508
    ],
    "vy_ego": [
      0.10768306199463284,
      -0.0047428142221213054,
      0.03411208428714252,
      0.06328639556654703,
      0.09801013500925104,
      0.14005492020539811,
      0.1073157451308383,
      0.04426825729850575,
      0.006094836525249919,
      -0.025595151160098584
    ],
    "v_ego": [
      2.5984347824393663,
      2.8713944193588348,
      3.157262111094162,
      3.4629474471600945,
      3.873432425545373,
      4.401150873477097,
      4.99047943843727,
      5.553808288900037,
      6.038383134895616,
      6.473034619179984
    ],
    "ax_ego": [
      0.5160023067512628,
      0.6037096546662877,
      0.5978436335805197,
      0.7205846181711071,
      0.9832949247096281,
      1.191757042594837,
      1.1899437582876224,
      1.0698171313914058,
      0.8691347643384847,
      0.8692322013940378
    ],
    "ay_ego": [
      -0.8428280770460255,
      -0.7824015572606798,
      -1.2990082461986652,
      -1.7254700592575785,
      -1.619337477360113,
      -1.3752939676353628,
      -0.7618254536489866,
      -0.2896358637631049,
      -0.07937901266379137,
      -0.0783048420031078
    ],
    "a_ego": [
      0.988239620754868,
      0.9882396186862906,
      1.4299788228868604,
      1.8698901350986243,
      1.894498027062242,
      1.8198127227790806,
      1.412920439980665,
      1.1083310102114514,
      0.8727521218726378,
      0.8727521230117156
    ],
    "yaw": [
      1.129234478624205,
      1.0214068142786097,
      0.8364587366468113,
      0.5992042119284191,
      0.36070994621095603,
      0.16889175675686716,
      0.06215400119711694,
      0.024360704707983745,
      0.015070366596222016,
      0.013834531545540435
    ],
    "yaw_diff": [
      -0.21565532869119064,
      -0.36989615526359687,
      -0.4745090494367843,
      -0.47698853143492614,
      -0.38363637890817776,
      -0.21347551111950042,
      -0.07558659297826639,
      -0.018580676223523458,
      -0.002471670101363163,
      -0.002471670101363163
    ],
    "min_front_frame": [
      9,
      31.03604334351682
    ],
    "v_avg": 4.342032754048784,
    "v_std": 1.3003892218994797,
    "vy_max": 0.14005492020539811,
    "a_max": 1.894498027062242,
    "ax_avg": 0.8611320035885193,
    "a_std": 0.3959336808365269,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "7956fe13f69e53dc",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.77177669236159,
    "right_rear_min": 48.94297040729356,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      36.2196054528824,
      34.584718417073844,
      32.93946208213108,
      31.03604334351682
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "7956fe13f69e53dc",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "582ac6cc2a1758a3": {
    "vx_ego": [
      3.080186434906758,
      2.504040340539663,
      2.0054810237715106,
      1.6104608222614,
      1.2486835832333765,
      0.8704812515077183,
      0.5535166909120272,
      0.3500842758079158,
      0.18428768915892554,
      0.027611769592087828
    ],
    "vy_ego": [
      -0.016003247140413013,
      -0.04363961883905887,
      -0.048683010667634585,
      -0.022719860470513664,
      -0.0034770216358923633,
      -0.006076977045189447,
      -0.01694668956924597,
      -0.0074936674178162355,
      0.003135419054348665,
      -0.007941579264320122
    ],
    "v_ego": [
      3.080228007421308,
      2.50442058037032,
      2.0060718262901984,
      1.6106210765101345,
      1.2486884241939624,
      0.8705024634522589,
      0.5537760534778992,
      0.3501644688133302,
      0.18431435979918423,
      0.028731141662280413
    ],
    "ax_ego": [
      -1.1521500348069633,
      -1.152228326561359,
      -0.8417061992835109,
      -0.7382690344813073,
      -0.7088388028255976,
      -0.8039719102478269,
      -0.46389064684147796,
      -0.34984924568118103,
      -0.3133508253689706,
      -0.31335223206938395
    ],
    "ay_ego": [
      -0.046694088644945175,
      -0.044720465465615755,
      0.03646106809015687,
      0.07211092831952265,
      0.005198853855740981,
      -0.016308237261591696,
      -0.027455889659268984,
      0.0650798314768771,
      -0.022150495316199323,
      -0.02213058829239513
    ],
    "a_ego": [
      1.1530958505779425,
      1.1530958488182372,
      0.8424955402840826,
      0.7417824163843904,
      0.7088578676100307,
      0.8041372961566452,
      0.46470244038953223,
      0.3558509226751423,
      0.314132749330865,
      0.3141327494563923
    ],
    "yaw": [
      2.624330047860866,
      2.6260429845337083,
      2.6273871233394606,
      2.62804440350141,
      2.6281037372635563,
      2.627938177754695,
      2.6278316465009253,
      2.6277241399808204,
      2.6281172670551394,
      2.6281808026244358
    ],
    "yaw_diff": [
      0.0034258733456846713,
      0.002688277611504475,
      0.0013145603238990944,
      0.0001186675242923485,
      -0.00033111901772286956,
      -0.00021306250753916345,
      -0.00021501304020965506,
      0.000786254148637866,
      0.00012707113859278252,
      0.00012707113859278252
    ],
    "min_front_frame": [
      9,
      9.723982883939925
    ],
    "v_avg": 1.2437518401990877,
    "v_std": 0.9843903036590502,
    "vy_max": 0.048683010667634585,
    "a_max": 1.1530958505779425,
    "ax_avg": -0.683760725816758,
    "a_std": 0.3021546083894767,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "582ac6cc2a1758a3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.176500225899007,
      13.81085533491317,
      12.713782838684978,
      11.811236483164471,
      11.0845215534381,
      10.486212490580838,
      10.159713802630792,
      9.924017914258764,
      9.787976916596861,
      9.723982883939925
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "582ac6cc2a1758a3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "128ea9f2561d53d1": {
    "vx_ego": [
      7.187967413014242,
      6.552341634045039,
      5.908568359677139,
      5.203130667762827,
      4.376088644646876,
      3.5240376585520305,
      2.853562554824424,
      2.459155728043905,
      2.277122570888545,
      2.17008626656884
    ],
    "vy_ego": [
      0.011765850315404336,
      -0.011542173468642503,
      -0.0010712863012605212,
      0.01594917700500309,
      -0.005021071730129334,
      -0.034490704314028564,
      -0.030560463210466793,
      -0.011135890658138692,
      -0.007516145281313946,
      -0.006437789433325847
    ],
    "v_ego": [
      7.1879770426586855,
      6.5523518000034455,
      5.9085684567949395,
      5.203155112243069,
      4.376091525204728,
      3.524206439409723,
      2.853726195031284,
      2.4591809414583343,
      2.277134975202381,
      2.1700958157379766
    ],
    "ax_ego": [
      -1.2713124690469173,
      -1.2711752753234131,
      -1.3036342683474964,
      -1.518273064096257,
      -1.7898949839453242,
      -1.6184274283876277,
      -1.0635109381785837,
      -0.5140733707243974,
      -0.2140616687616776,
      -0.2140547612112686
    ],
    "ay_ego": [
      0.022611997876210044,
      0.029327603160618554,
      0.11582471317558618,
      -0.01002076862845025,
      -0.07387978631138326,
      -0.06650537669047274,
      0.0798974279731241,
      0.007257338391281676,
      0.006615382224126873,
      0.006835287315023544
    ],
    "a_ego": [
      1.2715135455047748,
      1.2715135425549748,
      1.3087695250853448,
      1.5183061328217513,
      1.7914190677722641,
      1.619793291159749,
      1.0665079064977492,
      0.5141245952572872,
      0.21416386556794653,
      0.2141638670501916
    ],
    "yaw": [
      2.559661033973919,
      2.5649437285776298,
      2.5690847345335746,
      2.570773980188169,
      2.5707729654845033,
      2.569340745764868,
      2.569154099414039,
      2.570067703718212,
      2.570002670785421,
      2.571029973332775
    ],
    "yaw_diff": [
      0.01056538920742156,
      0.008282011911889597,
      0.003378491309188547,
      -2.0294073310722638e-06,
      -0.0028644394392705053,
      -0.00037329270165820105,
      0.0018272086083461758,
      -0.00013006586558184097,
      0.0020546050947078953,
      0.0020546050947078953
    ],
    "min_front_frame": [
      9,
      12.600218049498235
    ],
    "v_avg": 4.251248830374456,
    "v_std": 1.7750875453973196,
    "vy_max": 0.034490704314028564,
    "a_max": 1.7914190677722641,
    "ax_avg": -1.0778418228022963,
    "a_std": 0.5417590329776352,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "128ea9f2561d53d1",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.455867451129727,
    "speed_mode": "decelerating",
    "front_frame": [
      31.307767301315216,
      27.883165377786973,
      24.755817095592427,
      22.066262873527137,
      19.625957144928073,
      17.709649376587368,
      16.187264823601936,
      14.915625655634686,
      13.718950759013637,
      12.600218049498235
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "128ea9f2561d53d1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9fa75f1d5863570b": {
    "vx_ego": [
      6.572242171043007,
      5.690941147723636,
      4.816380909977324,
      3.9740221934852844,
      3.1730987871365492,
      2.431333541684551,
      1.7515694909281352,
      1.1103626930656287,
      0.5106942518871682,
      -0.067048873312222
    ],
    "vy_ego": [
      0.015778519457144924,
      0.013198417317606737,
      0.025168200622719183,
      0.05712815118122916,
      0.05919896274694558,
      0.030001530894509187,
      0.027055839382448266,
      0.014935315689457718,
      -0.02824784292910007,
      -0.07951307785143026
    ],
    "v_ego": [
      6.572261111406967,
      5.690956452572247,
      4.816446668272844,
      3.974432792232242,
      3.173650962238563,
      2.4315186371435353,
      1.7517784391854283,
      1.1104631348256002,
      0.5114748865200925,
      0.1040090426926717
    ],
    "ax_ego": [
      -1.7625798976541378,
      -1.7625593791014578,
      -1.735561694375863,
      -1.6336688528424463,
      -1.569443303773257,
      -1.3974410201285854,
      -1.321535245115438,
      -1.2431095628232185,
      -1.1555664320743484,
      -1.155514610806827
    ],
    "ay_ego": [
      -0.017680910305545527,
      -0.01961983624945607,
      0.022341074946677253,
      0.07919431163700463,
      -0.09677512626177398,
      -0.033407430470786315,
      0.014250991818691827,
      -0.07092471196837291,
      -0.10246282600181733,
      -0.10304561165305182
    ],
    "a_ego": [
      1.7626685763931074,
      1.7626685743023196,
      1.7357054815303745,
      1.6355872522562693,
      1.5724241504192493,
      1.3978402845635411,
      1.3216120818342034,
      1.2451311978865238,
      1.1601001722477755,
      1.1601001740664487
    ],
    "yaw": [
      2.6160663078497652,
      2.61496625274708,
      2.6128159943405347,
      2.6113154448102005,
      2.609501966435947,
      2.6082978850044847,
      2.6074124609932587,
      2.605971451628399,
      2.605766683422828,
      2.6052623416380314
    ],
    "yaw_diff": [
      -0.0022001102053703647,
      -0.004300516813090738,
      -0.0030010990606683663,
      -0.003626956748506771,
      -0.0024081628629248897,
      -0.0017708480224518652,
      -0.0028820187297196043,
      -0.0004095364111416089,
      -0.0010086835695934937,
      -0.0010086835695934937
    ],
    "min_front_frame": [
      9,
      19.97467699609062
    ],
    "v_avg": 3.0136992127090183,
    "v_std": 2.105009985017703,
    "vy_max": 0.07951307785143026,
    "a_max": 1.7626685763931074,
    "ax_avg": -1.4736979998695579,
    "a_std": 0.23439218576493423,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "9fa75f1d5863570b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.514580622383816,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      33.106708687228846,
      30.031071813622194,
      27.462427225925964,
      25.317034746433645,
      23.544687764276556,
      22.175153422013313,
      21.159736437313317,
      20.47550273558865,
      20.063115264392234,
      19.97467699609062
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "9fa75f1d5863570b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8fc41f783d475448": {
    "vx_ego": [
      5.053427454120982,
      5.132123657086958,
      5.228317913710174,
      5.356594883291765,
      5.501933217267089,
      5.625630743988872,
      5.700786869702183,
      5.760718161701875,
      5.8550413760735545,
      5.981466197586557
    ],
    "vy_ego": [
      -0.02629853795065601,
      -0.002524973695028132,
      0.015116389292559429,
      -0.0010273514992340527,
      -0.0010008507355954155,
      -0.007865846295789236,
      -0.004722711090518583,
      -0.014347869654321888,
      -0.022425488247878378,
      0.05109973639538562
    ],
    "v_ego": [
      5.053495883758293,
      5.132124278222788,
      5.228339766316641,
      5.356594981810612,
      5.501933308298927,
      5.625636243061823,
      5.700788825923029,
      5.760736029356443,
      5.855084322027861,
      5.981684466430026
    ],
    "ax_ego": [
      0.150002411184219,
      0.16688174419638516,
      0.21566394068495753,
      0.29413030441426,
      0.28658582481804834,
      0.20822033574183457,
      0.0925007774253561,
      0.1524035154848392,
      0.22639076104229938,
      0.282918095454482
    ],
    "ay_ego": [
      0.44205353618029636,
      0.4359616098985107,
      0.35878838405293606,
      0.18493030240535266,
      0.06681423899198607,
      0.0368104365989651,
      -0.08535181410942318,
      -0.5553863078077519,
      -0.7568947871009185,
      -0.7376312297508589
    ],
    "a_ego": [
      0.46681050996157325,
      0.4668104988657913,
      0.41861681743938817,
      0.34743611315256284,
      0.29427126519373126,
      0.21144908715586536,
      0.12586232953534907,
      0.5759173399303623,
      0.7900268953813258,
      0.7900268855167879
    ],
    "yaw": [
      0.07141010412818569,
      0.10985421587771699,
      0.14484133724929127,
      0.17362669488591737,
      0.185211692267509,
      0.19109141200970367,
      0.18840043910491716,
      0.1620954025507858,
      0.10692523186455023,
      0.03131544078808406
    ],
    "yaw_diff": [
      0.0768882234990626,
      0.06997424274314856,
      0.05757071527325219,
      0.023169994763183266,
      0.011759439484389345,
      -0.005381945809573019,
      -0.05261007310826271,
      -0.11034034137247115,
      -0.15121958215293235,
      -0.15121958215293235
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.519641810520644,
    "v_std": 0.3012303405895801,
    "vy_max": 0.05109973639538562,
    "a_max": 0.7900268953813258,
    "ax_avg": 0.20756977104466814,
    "a_std": 0.21103745717822198,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "8fc41f783d475448",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.11116397185724,
    "right_rear_min": 20.015695024798642,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "8fc41f783d475448",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "f5d967a1fedb5e3b": {
    "vx_ego": [
      6.1947173092595085,
      5.768381245702724,
      5.3616233539607165,
      4.94980552678488,
      4.520179115577596,
      4.079849689664741,
      3.613895549377181,
      3.2230561160519353,
      2.8909601073447933,
      2.5342866372798354
    ],
    "vy_ego": [
      -0.12476760982200297,
      -0.04826181200631652,
      -0.004979024127974352,
      0.014860849371762797,
      0.022555929274657993,
      0.010347405949759025,
      -0.0021566799535988057,
      -0.00067481230570543,
      0.016088041241484108,
      0.03364460823925075
    ],
    "v_ego": [
      6.195973652147019,
      5.7685831361152315,
      5.3616256658235875,
      4.949827835171058,
      4.5202353928583525,
      4.079862811304734,
      3.6138961929026987,
      3.2230561866947705,
      2.891004871550722,
      2.5345099564923212
    ],
    "ax_ego": [
      -0.852725271031625,
      -0.8528035140066312,
      -0.7741946947604812,
      -0.8730869357989862,
      -0.8455038715719844,
      -0.9155041938313827,
      -0.9483736529684523,
      -0.614972167756678,
      -0.7133919705384069,
      -0.7133667135096458
    ],
    "ay_ego": [
      0.14685651303322683,
      0.14640153936543626,
      0.04057481777011068,
      0.0603463220952517,
      -0.015258264580363223,
      -0.08625599063820083,
      0.0025621769546290696,
      0.016243693518369823,
      0.03842331627702694,
      0.03888921737168116
    ],
    "a_ego": [
      0.8652786968810896,
      0.8652787089895532,
      0.7752572097261349,
      0.8751699698077436,
      0.8456415384081005,
      0.9195586032678,
      0.9483771140192456,
      0.6151866584171558,
      0.7144259617779827,
      0.7144259507963964
    ],
    "yaw": [
      1.088837303068959,
      1.088303782967153,
      1.088926860111567,
      1.0899698813506076,
      1.0907258576411731,
      1.0876692900982077,
      1.085482999704522,
      1.086436446710028,
      1.0854277186666503,
      1.0860808015848717
    ],
    "yaw_diff": [
      -0.0010670402036123683,
      0.0012461542888280164,
      0.002086042478081307,
      0.0015119525811311263,
      -0.006113135085930921,
      -0.004372580787371572,
      0.0019068940110122945,
      -0.0020174560867554092,
      0.0013061658364428297,
      0.0013061658364428297
    ],
    "min_front_frame": [
      9,
      13.184400111024296
    ],
    "v_avg": 4.31385757010605,
    "v_std": 1.1886374658190058,
    "vy_max": 0.12476760982200297,
    "a_max": 0.9483771140192456,
    "ax_avg": -0.8103922985774272,
    "a_std": 0.10002965733826695,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f5d967a1fedb5e3b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.24966314268571,
      23.844021454009617,
      22.22530702503512,
      20.66364655090996,
      19.274074026484712,
      17.891872245994794,
      16.539188602214118,
      15.315893416367086,
      14.163418873874702,
      13.184400111024296
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f5d967a1fedb5e3b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8c5a5e3a57535abf": {
    "vx_ego": [
      4.2516803471640845,
      4.420935100173931,
      4.591913659930291,
      4.725898545324803,
      4.845247635133713,
      4.954779878741643,
      5.044138564390777,
      5.1240146854405895,
      5.1887426962412695,
      5.267770387275523
    ],
    "vy_ego": [
      0.004292499938597594,
      0.01749277198572674,
      0.005463946198070335,
      0.00020108250250405746,
      -0.018932495742121302,
      -0.016472431888125083,
      -0.00254969861472909,
      -0.004832540063568924,
      -0.001394240109583611,
      0.02849158581166425
    ],
    "v_ego": [
      4.251682514019248,
      4.4209697077701895,
      4.591916910720669,
      4.725898549602738,
      4.845284623751619,
      4.954807260408356,
      5.044139208798392,
      5.12401696426293,
      5.188742883560777,
      5.2678474373807544
    ],
    "ax_ego": [
      0.2991044088272183,
      0.3725863096251354,
      0.30253056967742886,
      0.23336629167572523,
      0.25086673509289964,
      0.1969206509125872,
      0.1626962584881797,
      0.16145178089228865,
      0.1049147187399309,
      0.2053276224269382
    ],
    "ay_ego": [
      0.8259812472077476,
      0.7955425372797855,
      0.6786205506858283,
      0.700141722528444,
      0.7919935498783003,
      0.8786550632164696,
      0.8546357392398527,
      0.9303773361095994,
      1.0611619164375539,
      1.0463805610227688
    ],
    "a_ego": [
      0.8784693894033793,
      0.878469400003003,
      0.7430010749672482,
      0.7380096596356828,
      0.8307754822002168,
      0.9004512551336552,
      0.8699840914132293,
      0.944282089790803,
      1.0663356465511695,
      1.0663356465099643
    ],
    "yaw": [
      -2.3311537224126786,
      -2.240582553432973,
      -2.1563457305622507,
      -2.081405020583686,
      -1.9994655767195693,
      -1.914897580749726,
      -1.8311292558277052,
      -1.7429653950793345,
      -1.647279448447752,
      -1.5520623593867002
    ],
    "yaw_diff": [
      0.18114233795941104,
      0.16847364574144486,
      0.14988141995712922,
      0.16387888772823356,
      0.16913599193968665,
      0.16753664984404137,
      0.17632772149674159,
      0.19137189326316495,
      0.1904341781221035,
      0.1904341781221035
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.8415306060275665,
    "v_std": 0.32194205970859535,
    "vy_max": 0.02849158581166425,
    "a_max": 1.0663356465511695,
    "ax_avg": 0.22897653463583317,
    "a_std": 0.10681861569040485,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "8c5a5e3a57535abf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "8c5a5e3a57535abf",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "572e6c81e32958f2": {
    "vx_ego": [
      1.3611149640321416,
      1.657076198372111,
      2.104837684610156,
      2.7436131560406376,
      3.3940011533078236,
      3.904074726638202,
      4.206841365215491,
      4.416779622319666,
      4.593835829552886,
      4.819602368463236
    ],
    "vy_ego": [
      0.054279933410867454,
      0.013344675849814136,
      -0.0277249423878001,
      -0.0551884819645978,
      -0.0320917285314577,
      0.050340991599465035,
      0.07654202502291474,
      0.02660573770587038,
      0.0037053814247387518,
      0.06580328276248448
    ],
    "v_ego": [
      1.3621968493882615,
      1.6571299308095622,
      2.105020273295592,
      2.7441681651350787,
      3.3941528704074266,
      3.9043992734619715,
      4.2075376354446,
      4.416859755235287,
      4.593837323930328,
      4.820051562184657
    ],
    "ax_ego": [
      0.5920296237125898,
      0.5929417674213557,
      1.1998772745962827,
      1.3496520699121803,
      1.2433570577175646,
      0.8332997001775837,
      0.4600807104445428,
      0.4359800796849944,
      0.286433750868876,
      0.6352268234810329
    ],
    "ay_ego": [
      -0.10999638370711848,
      -0.10496828269620845,
      -0.2790253618609414,
      -0.4324220297913859,
      -0.5931243910757229,
      -1.0623465846695295,
      -1.5492496503227478,
      -1.7614409712125854,
      -1.7886785586604543,
      -1.6964380783731539
    ],
    "a_ego": [
      0.6021613403249285,
      0.602161340443699,
      1.231893106829579,
      1.4172330512894253,
      1.3775824172313706,
      1.3501735652408045,
      1.6161215112572171,
      1.8145944243682857,
      1.8114677142716218,
      1.8114677118359581
    ],
    "yaw": [
      -0.3723801945376687,
      -0.38086659931394384,
      -0.41129419602125217,
      -0.47379642728864824,
      -0.5644140651167646,
      -0.6983380998632307,
      -0.8635105081488357,
      -1.043272432723549,
      -1.2338143850395782,
      -1.433311584212725
    ],
    "yaw_diff": [
      -0.016972809552550316,
      -0.06085519341461665,
      -0.12500446253479214,
      -0.18123527565623276,
      -0.26784806949293216,
      -0.33034481657120995,
      -0.3595238491494266,
      -0.38108390463205843,
      -0.3989943983462938,
      -0.3989943983462938
    ],
    "min_front_frame": [
      3,
      36.792763927198145
    ],
    "v_avg": 3.3205353639292765,
    "v_std": 1.208989121903273,
    "vy_max": 0.07654202502291474,
    "a_max": 1.8145944243682857,
    "ax_avg": 0.7628878858017003,
    "a_std": 0.42994308718423674,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "572e6c81e32958f2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      39.78647617926314,
      39.030299476018364,
      38.05765651353683,
      36.792763927198145,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "572e6c81e32958f2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b9e254f3d4a75454": {
    "vx_ego": [
      7.680197591481593,
      7.784520267701588,
      7.873371037341794,
      7.927309159304071,
      7.949847475622262,
      7.982758398334834,
      8.051620746208794,
      8.12700896467333,
      8.192988952925917,
      8.257675920164752
    ],
    "vy_ego": [
      -0.07394753117898167,
      -0.07075281570156466,
      -0.050750360528608596,
      -0.016620851831758543,
      0.013126092244409193,
      0.013752439831949737,
      0.0014693290653897684,
      0.006194265735505855,
      -1.6580380576503018e-05,
      -0.017040877362854978
    ],
    "v_ego": [
      7.6805535791091994,
      7.784841794101309,
      7.87353459957765,
      7.927326583401357,
      7.949858311942123,
      7.982770244456911,
      8.051620880276701,
      8.127011325254117,
      8.192988952942695,
      8.257693503271364
    ],
    "ax_ego": [
      0.2044585694501937,
      0.20822786241443614,
      0.1429029474192725,
      0.07096978043173886,
      0.019697453905946696,
      0.11385144323658761,
      0.16207969576415843,
      0.13971591456131702,
      0.12504430825131566,
      0.13296134066719964
    ],
    "ay_ego": [
      -0.23988669706711718,
      -0.23662225457394945,
      -0.15651427893667308,
      -0.1680237239262256,
      -0.2435724230021536,
      -0.34216435024956526,
      -0.33077183587106535,
      -0.32346205217179724,
      -0.3796422576358718,
      -0.3769424422277201
    ],
    "a_ego": [
      0.31519665932777674,
      0.31519665931818547,
      0.2119386040630212,
      0.1823970436618031,
      0.24436758160099087,
      0.3606086434193738,
      0.36834743814029325,
      0.35234675530916376,
      0.3997052949473045,
      0.39970529501698776
    ],
    "yaw": [
      -0.8183784356061543,
      -0.8341985568344812,
      -0.849291406581448,
      -0.8638643152464445,
      -0.8805594833309829,
      -0.8990465949420008,
      -0.9185126885650698,
      -0.9393079245462448,
      -0.9600825635656816,
      -0.9810101440660731
    ],
    "yaw_diff": [
      -0.031640242456653755,
      -0.03018569949393357,
      -0.029145817329992996,
      -0.03339033616907683,
      -0.03697422322203581,
      -0.03893218724613812,
      -0.041590471962349884,
      -0.04154927803887354,
      -0.041855161000783125,
      -0.041855161000783125
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.982819977433344,
    "v_std": 0.17085689438316068,
    "vy_max": 0.07394753117898167,
    "a_max": 0.39970529501698776,
    "ax_avg": 0.13199093161021663,
    "a_std": 0.07339281931405663,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b9e254f3d4a75454",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b9e254f3d4a75454",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "36650ce9087150de": {
    "vx_ego": [
      1.177221916764419,
      1.33698421512624,
      1.4741010520260978,
      1.558883459371844,
      1.6029922025846575,
      1.6368755973834455,
      1.6499779086071245,
      1.6487848343837883,
      1.6431797850285381,
      1.6260420739301602
    ],
    "vy_ego": [
      -0.023316910889309983,
      0.004353930315814103,
      0.025677929080964668,
      0.0384468293032626,
      0.035879908746557665,
      0.0400697395241596,
      0.048129653850111254,
      0.03390929535103604,
      0.0016981049823926453,
      -0.045936035660481545
    ],
    "v_ego": [
      1.177452809943529,
      1.3369913044615973,
      1.4743246818887403,
      1.5593574954405425,
      1.6033937038041757,
      1.637365965609077,
      1.6506797274066438,
      1.649133490777863,
      1.643180662461363,
      1.6266907959299757
    ],
    "ax_ego": [
      0.3195326750089469,
      0.3194738498314539,
      0.22904921613937027,
      0.11013356252847349,
      0.06634506708281873,
      0.06922800346424614,
      -0.01662438371164259,
      0.011928649079664396,
      -0.034268434809577995,
      -0.034275672953907745
    ],
    "ay_ego": [
      0.05234725199378831,
      0.05270504880623926,
      0.028224028548459276,
      0.020388477723080306,
      -0.03223935272832609,
      0.04672323540162649,
      -0.02060581297127899,
      -0.03918262523505475,
      -0.09502098300450978,
      -0.09501835871883467
    ],
    "a_ego": [
      0.32379216357051394,
      0.3237921600283095,
      0.230781583324069,
      0.1120048731934362,
      0.07376343125536626,
      0.08351992091735647,
      0.02647583165831164,
      0.040958159006192256,
      0.10101144903149165,
      0.10101143623404425
    ],
    "yaw": [
      -0.5881556537428876,
      -0.5892754946813601,
      -0.5900460276642754,
      -0.5904481360881546,
      -0.5906976274968401,
      -0.5910488663303499,
      -0.5919741434838324,
      -0.5924157171525666,
      -0.5932267981485382,
      -0.5931507508161125
    ],
    "yaw_diff": [
      -0.00223968187694501,
      -0.0015410659658305903,
      -0.0008042168477584433,
      -0.0004989828173709299,
      -0.0007024776670196964,
      -0.0018505543069649022,
      -0.0008831473374684151,
      -0.001622161991943205,
      0.00015209466485144318,
      0.00015209466485144318
    ],
    "min_front_frame": [
      5,
      26.755774245524066
    ],
    "v_avg": 1.5358570637723508,
    "v_std": 0.15264005808733094,
    "vy_max": 0.048129653850111254,
    "a_max": 0.32379216357051394,
    "ax_avg": 0.10405225316598452,
    "a_std": 0.10481859685276765,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "36650ce9087150de",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.1421299728620444,
    "speed_mode": "quasi_constant",
    "front_frame": [
      49.78357456945303,
      49.22816099961947,
      48.48345567931381,
      47.78412976072917,
      46.969732234577165,
      26.755774245524066,
      29.36461812916475,
      32.093041106836885,
      34.648779340020184,
      37.20442741493539
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "36650ce9087150de",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8350f9ff4dcf5e4b": {
    "vx_ego": [
      11.322299174557216,
      11.413173043264884,
      11.47600755227482,
      11.539395542384007,
      11.605614057244313,
      11.625991120652662,
      11.567178689101764,
      11.513935269509942,
      11.528616690550374,
      11.5469117068481
    ],
    "vy_ego": [
      0.09014781049500797,
      0.04850080953011737,
      0.012590152754749617,
      -0.0010217664985034958,
      -0.004827590004286897,
      0.004827926864315657,
      0.032065818341616925,
      -0.007905047581008517,
      -0.0024800790198602485,
      0.026523702488323586
    ],
    "v_ego": [
      11.322658045967655,
      11.413276096022267,
      11.47601445850497,
      11.539395587620639,
      11.605615061311143,
      11.625992123099532,
      11.567223134456944,
      11.51393798316815,
      11.528616957312295,
      11.546942169792805
    ],
    "ax_ego": [
      0.18086288553662358,
      0.18109710080194646,
      0.06967082965064304,
      0.18361174672215136,
      0.0812541964002802,
      0.0002368917669670692,
      -0.23545635505051887,
      0.022078600128471744,
      0.036650701504254576,
      0.03663265874369649
    ],
    "ay_ego": [
      0.04287371097967439,
      0.04187336285547665,
      0.10846987477447513,
      -0.025471898989725197,
      -0.0302956886831551,
      -0.010076086111910621,
      0.07441501066099128,
      0.03063768222304397,
      0.008353746256601296,
      0.008432526314839877
    ],
    "a_ego": [
      0.1858750614197678,
      0.185875061360304,
      0.12891756372891647,
      0.18537014638960134,
      0.08671835552777717,
      0.010078870424997778,
      0.24693579923808426,
      0.037764164966713844,
      0.0375906769994057,
      0.03759067951876622
    ],
    "yaw": [
      -0.6297810042750263,
      -0.6242536263182661,
      -0.6178395147013576,
      -0.6148498672226772,
      -0.6157247750455577,
      -0.6174234308400208,
      -0.6183827558556865,
      -0.6126274762938055,
      -0.6122522075999292,
      -0.6144022951470283
    ],
    "yaw_diff": [
      0.011054755913520342,
      0.012828223233817049,
      0.005979294957360715,
      -0.0017498156457609326,
      -0.0033973115889263106,
      -0.0019186500313312926,
      0.011510559123761865,
      0.0007505373877527699,
      -0.004300175094198222,
      -0.004300175094198222
    ],
    "min_front_frame": [
      9,
      21.866460824657864
    ],
    "v_avg": 11.51396716172564,
    "v_std": 0.08597207548372855,
    "vy_max": 0.09014781049500797,
    "a_max": 0.24693579923808426,
    "ax_avg": 0.05566392562045156,
    "a_std": 0.078963301595412,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8350f9ff4dcf5e4b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.4868917238659813,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      21.866460824657864
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8350f9ff4dcf5e4b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f9c6e1eadcf45c37": {
    "vx_ego": [
      1.4095744971687396,
      1.1195895198066719,
      0.886055601763951,
      0.7609963915575156,
      0.6197088159080733,
      0.4008296688093791,
      0.18434158151857827,
      0.03808095354586217,
      -0.009212907838084646,
      -0.016747346939932566
    ],
    "vy_ego": [
      0.005748941280632414,
      0.017761670333579893,
      0.02587057029880696,
      0.01124966351814205,
      -0.001595759093891591,
      0.0013857407443678138,
      -0.006789392104589134,
      -0.00934257600012525,
      -0.004036811641615484,
      -0.006592536264096734
    ],
    "v_ego": [
      1.409586220631556,
      1.1197304004955715,
      0.886433198737989,
      0.7610795378229736,
      0.6197108704559505,
      0.4008320641805582,
      0.18446656749102394,
      0.039210237812084596,
      0.010058504812491955,
      0.01799819890766571
    ],
    "ax_ego": [
      -0.580266415720265,
      -0.5799824843116329,
      -0.35434441750560564,
      -0.14486404106356401,
      -0.4205365420824214,
      -0.4550097887365008,
      -0.41093078490150947,
      -0.1741073480594402,
      -0.01506866164357034,
      -0.015068736050219567
    ],
    "ay_ego": [
      0.03938891928097463,
      0.04336953784097439,
      -0.0042214875719285005,
      -0.083112705798191,
      -0.005160083732620585,
      0.002248779768751319,
      -0.03652643976183914,
      0.02633618198572997,
      -0.005112045542427967,
      -0.005111764653604977
    ],
    "a_ego": [
      0.5816017539304422,
      0.5816017528522702,
      0.35436956299138744,
      0.16701291045414007,
      0.420568198620352,
      0.4550153457373536,
      0.41255095537575226,
      0.17608794146640633,
      0.015912183173790628,
      0.015912163398640426
    ],
    "yaw": [
      0.6230120239650174,
      0.6298736550361748,
      0.6315954716216843,
      0.6225496666677368,
      0.6098254686572817,
      0.6026170304231595,
      0.6012435962582481,
      0.6013124850251609,
      0.6012623609139772,
      0.601279625249157
    ],
    "yaw_diff": [
      0.013723262142314674,
      0.0034436331710190338,
      -0.018091609907894934,
      -0.025448396020910202,
      -0.01441687646824441,
      -0.002746868329822849,
      0.00013777753382560043,
      -0.00010024822236731623,
      3.4528670359579294e-05,
      3.4528670359579294e-05
    ],
    "min_front_frame": [
      7,
      8.574095689584242
    ],
    "v_avg": 0.5449105801347864,
    "v_std": 0.4708671076926512,
    "vy_max": 0.02587057029880696,
    "a_max": 0.5816017539304422,
    "ax_avg": -0.315017922007473,
    "a_std": 0.20099204984699018,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f9c6e1eadcf45c37",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.783184552751031,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.832510091011686,
      10.224204310751812,
      9.742806600804196,
      9.349448045891416,
      8.98734264291999,
      8.709281690968655,
      8.585066905411907,
      8.574095689584242,
      8.579440428600325,
      8.604952227605366
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f9c6e1eadcf45c37",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bf72d4d6b25f5b27": {
    "vx_ego": [
      12.757229919337775,
      12.085959262497887,
      11.341474257949491,
      10.705791648557534,
      10.40486892079393,
      10.379923080389643,
      10.745090540132294,
      11.521496173065257,
      12.414126738689376,
      13.278913129899237
    ],
    "vy_ego": [
      0.0172490066174808,
      -0.004511277396096552,
      -0.02844066557430122,
      -0.00019373092707025696,
      0.00443605888855475,
      0.006682940216727995,
      -0.013556432559006237,
      -0.07167788086820814,
      -0.09293156023128038,
      -0.018502547457405594
    ],
    "v_ego": [
      12.757241580493652,
      12.085960104451042,
      11.341509917783842,
      10.705791650310402,
      10.404869866438595,
      10.379925231739174,
      10.745099091795488,
      11.52171913320938,
      12.414474574428413,
      13.278926020415685
    ],
    "ax_ego": [
      -1.3425513835915743,
      -1.3425646198834902,
      -1.6353711317240371,
      -0.9076635741242628,
      -0.29604109263983647,
      0.1962485028575548,
      1.2653374892869609,
      1.8466157552904916,
      1.729043230714741,
      1.731800696509106
    ],
    "ay_ego": [
      -0.010654557460033767,
      -0.00882911227392644,
      -0.0802716518529501,
      -0.10582759888561694,
      -0.08329769631001756,
      0.0861731835341776,
      0.24440768795133663,
      0.48551999414962976,
      0.35760929019606585,
      0.3440075988445286
    ],
    "a_ego": [
      1.3425936604864182,
      1.3425936510301417,
      1.6373400002954668,
      0.9138121494475362,
      0.30753672096506485,
      0.2143345339282654,
      1.2887257581521165,
      1.9093767078306285,
      1.7656372498661788,
      1.7656372448756859
    ],
    "yaw": [
      -1.590957072731496,
      -1.589597395264306,
      -1.5894566162817916,
      -1.5962958841283852,
      -1.6012497550839881,
      -1.6013976623341122,
      -1.5915323797057739,
      -1.5697801101781708,
      -1.5504161547742834,
      -1.5425558627236104
    ],
    "yaw_diff": [
      0.002719354934379581,
      0.0002815579650290445,
      -0.013678535693187222,
      -0.009907741911205914,
      -0.00029581450024807054,
      0.019730565256676602,
      0.04350453905520624,
      0.03872791080777471,
      0.015720584101345914,
      0.015720584101345914
    ],
    "min_front_frame": [
      1,
      63.6219149302573
    ],
    "v_avg": 11.563551717106566,
    "v_std": 0.977986174156272,
    "vy_max": 0.09293156023128038,
    "a_max": 1.9093767078306285,
    "ax_avg": 0.12448538726956537,
    "a_std": 0.5664862901389792,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "bf72d4d6b25f5b27",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.074651509425362,
    "right_rear_min": 11.30464828266097,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      63.70068845613148,
      63.6219149302573,
      64.29968331357175,
      65.73676288983681,
      67.5559378603644,
      69.34779933695387,
      71.1966171965707,
      72.91483023796833,
      74.12017763824963,
      75.03171781305034
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "bf72d4d6b25f5b27",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "3038555c47555d08": {
    "vx_ego": [
      10.572590101850865,
      10.614691911362119,
      10.657423766673698,
      10.660821460420088,
      10.648777070610771,
      10.650034767081,
      10.65166145574843,
      10.65037549605936,
      10.63246908645568,
      10.610285372528018
    ],
    "vy_ego": [
      0.14774313742439382,
      0.01971084879641527,
      -0.06385431771146699,
      0.010597995857844822,
      0.06824970431249966,
      0.05415960114361873,
      0.011406252651203097,
      -0.012341058926735649,
      -0.0294015675483541,
      -0.03655700708183662
    ],
    "v_ego": [
      10.573622345081693,
      10.614710212280723,
      10.657615057617337,
      10.660826728189035,
      10.648995779964627,
      10.650172477590683,
      10.651667562897197,
      10.65038264612108,
      10.63250973790337,
      10.610348349665472
    ],
    "ax_ego": [
      0.08379787221665036,
      0.08739029609703447,
      0.082640398131375,
      -0.06932516011150748,
      0.019909752542795922,
      -0.017514271875867016,
      0.021600289064116304,
      -0.02647681862933457,
      -0.04453855252574002,
      -0.04304207979501761
    ],
    "ay_ego": [
      -0.43253067134031886,
      -0.43181917360133204,
      -0.0356742043166669,
      0.289772293706048,
      0.2027729429835951,
      0.25841102803483085,
      0.1852811558034001,
      0.22651237182892273,
      0.17109055249155888,
      0.17147314584533746
    ],
    "a_ego": [
      0.4405733367308387,
      0.44057333389762104,
      0.09001157846043732,
      0.2979495930927752,
      0.2037480420827245,
      0.2590038785990664,
      0.18653599969844215,
      0.22805454723880167,
      0.17679270294035038,
      0.1767927045417232
    ],
    "yaw": [
      2.5617281610290235,
      2.553415777818459,
      2.550284326769126,
      2.549260944845808,
      2.555413385344145,
      2.5675575081483855,
      2.581992443129501,
      2.5938807666784927,
      2.6048224780710907,
      2.6135593309383847
    ],
    "yaw_diff": [
      -0.016624766421128534,
      -0.006262902098666423,
      -0.002046763846635713,
      0.01230488099667415,
      0.02428824560848053,
      0.028869869962231398,
      0.023776647097982995,
      0.02188342278519606,
      0.017473705734587952,
      0.017473705734587952
    ],
    "min_front_frame": [
      0,
      37.01384357070151
    ],
    "v_avg": 10.635085089731122,
    "v_std": 0.02629012168767685,
    "vy_max": 0.14774313742439382,
    "a_max": 0.4405733367308387,
    "ax_avg": 0.009444172511450532,
    "a_std": 0.1086186276684457,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "3038555c47555d08",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      37.01384357070151,
      38.17196719262237,
      39.372712938495596,
      40.25613363877341,
      41.23045665075231,
      41.74959145484677,
      42.32902676290648,
      43.162448147301426,
      43.55540898078275,
      44.148811130728795
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "3038555c47555d08",
    "pedestrians": "No"
  },
  "b87ed2985e545397": {
    "vx_ego": [
      4.909975938431268,
      3.807790534640099,
      2.716747738544396,
      1.6739698458961563,
      0.7397151888161986,
      0.09706995435749528,
      -0.11147715976305571,
      -0.07809191601338344,
      -0.035024054082235745,
      -0.010437268417884064
    ],
    "vy_ego": [
      0.025768447860870403,
      0.004461634955776228,
      -0.006423575335286369,
      -0.02192915359986891,
      -0.0386531679761179,
      -0.026737342196618073,
      -0.0028832711740234135,
      0.008139008307116953,
      0.00542477447624384,
      0.003057534136908914
    ],
    "v_ego": [
      4.910043556719143,
      3.807793148515451,
      2.716755332599198,
      1.6741134766637558,
      0.7407243940629836,
      0.10068496167107216,
      0.11151444032725448,
      0.07851490815676124,
      0.03544167804257413,
      0.010875894768952274
    ],
    "ax_ego": [
      -2.2043678657799735,
      -2.204251944819611,
      -2.1599608491750018,
      -2.01116565183141,
      -1.7259290303275128,
      -0.8446067756279326,
      0.01044510367393927,
      0.12309800133655904,
      0.049173435580506554,
      0.049173343799034486
    ],
    "ay_ego": [
      -0.05743262650423597,
      -0.06172193605503207,
      0.003308475993730964,
      -0.07218634822736181,
      0.0030465386314219023,
      0.0449834939986159,
      0.050235193176757585,
      -0.006122032839931596,
      -0.004734917367706235,
      -0.004735967182940469
    ],
    "a_ego": [
      2.205115914021422,
      2.2051159229463244,
      2.159963383018841,
      2.01246071961091,
      1.7259317191374928,
      0.8458038307840279,
      0.0513095977792215,
      0.12325014084839292,
      0.04940087255574778,
      0.049400881829537543
    ],
    "yaw": [
      2.443363492891478,
      2.4414176139060206,
      2.4402759306526933,
      2.439488571674554,
      2.4390096219481743,
      2.4393070650976125,
      2.4397400878161153,
      2.439684897143831,
      2.4396850406333606,
      2.4397062088379484
    ],
    "yaw_diff": [
      -0.0038917579709147887,
      -0.002283366506654616,
      -0.0015747179562790592,
      -0.0009578994527590368,
      0.0005948862988764958,
      0.0008660454370055248,
      -0.00011038134456864412,
      2.869790591830679e-07,
      4.233640917572501e-05,
      4.233640917572501e-05
    ],
    "min_front_frame": [
      5,
      10.086864566883465
    ],
    "v_avg": 1.4186461791527145,
    "v_std": 1.710100774596876,
    "vy_max": 0.0386531679761179,
    "a_max": 2.2051159229463244,
    "ax_avg": -1.0918392233171401,
    "a_std": 0.9538389357515425,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b87ed2985e545397",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.919686334038738,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.305370177879427,
      13.272559155818415,
      11.722558653104265,
      10.691854061499294,
      10.162208238050868,
      10.086864566883465,
      10.141839869193474,
      10.148856808658495,
      10.248907588580686,
      10.388207234892015
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b87ed2985e545397",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1ea920764abe5dcb": {
    "vx_ego": [
      2.147298134382549,
      2.177353449934997,
      2.327222036211686,
      2.737547290327776,
      3.306036045332109,
      3.880854110542649,
      4.384169786799436,
      4.805814699013649,
      5.214923549529756,
      5.805953873838952
    ],
    "vy_ego": [
      0.00624206287351492,
      0.011725821375212053,
      0.0021999091956741434,
      -0.02944759140496722,
      -0.02745620637737134,
      -0.022891928695577768,
      -0.014796767650197662,
      0.010956161271591602,
      0.04125057516035272,
      0.18475265357166015
    ],
    "v_ego": [
      2.1473072070087436,
      2.1773850235616936,
      2.3272230759920145,
      2.737705668515245,
      3.3061500535069195,
      3.8809216260722375,
      4.384194756602164,
      4.805827187771681,
      5.215086695098279,
      5.808892659375563
    ],
    "ax_ego": [
      0.05999595959094296,
      0.06009368953082205,
      0.5405140251944904,
      1.1046511937411712,
      1.1687954956284916,
      1.1465935506091256,
      0.8937461459299696,
      0.8524124705521474,
      0.8810010010402914,
      1.55988103967722
    ],
    "ay_ego": [
      0.026869616324427227,
      0.02665035403590406,
      -0.15021889087602447,
      -0.4277974902004272,
      -0.6440623728489828,
      -1.107452336745586,
      -1.5887827735185875,
      -2.171663137886825,
      -2.735358274647372,
      -2.4135282961606253
    ],
    "a_ego": [
      0.06573805175588936,
      0.06573806273131161,
      0.5610001128413195,
      1.1845948473868941,
      1.3345033723154518,
      1.594091417849585,
      1.822913293273734,
      2.3329654528966492,
      2.873734096000506,
      2.8737341029247117
    ],
    "yaw": [
      -2.2494131589580597,
      -2.2457614116584317,
      -2.2555076534628933,
      -2.3013414923490676,
      -2.390855869935721,
      -2.513731028061374,
      -2.6771832999143945,
      -2.886380284289459,
      -3.1361424856742706,
      2.884855419281293
    ],
    "yaw_diff": [
      0.007303494599256055,
      -0.019492483608923195,
      -0.09166767777234863,
      -0.17902875517330674,
      -0.24575031625130617,
      -0.32690454370604094,
      -0.418393968750129,
      -0.49952440276962307,
      -0.524374804448045,
      -0.524374804448045
    ],
    "min_front_frame": [
      4,
      30.548612279964036
    ],
    "v_avg": 3.6790693953504543,
    "v_std": 1.2711058110562583,
    "vy_max": 0.18475265357166015,
    "a_max": 2.8737341029247117,
    "ax_avg": 0.8267684571494673,
    "a_std": 0.9846616680979631,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "1ea920764abe5dcb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.811558583589377,
    "right_rear_min": 9.95603759929635,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      30.548612279964036,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1ea920764abe5dcb",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "41bddf65c8155bd5": {
    "vx_ego": [
      5.683301299536069,
      5.277400313890325,
      4.839161732101488,
      4.346413027798016,
      3.8431192552855746,
      3.3195103892244164,
      2.7622485140081725,
      2.263784331486735,
      1.8496164959580375,
      1.459324027586703
    ],
    "vy_ego": [
      0.04360100751044138,
      0.01308294474243299,
      -0.016271051885985433,
      -0.004500817153846093,
      0.01549209820983366,
      0.007502087026949766,
      0.010168110530262009,
      0.008862347659542191,
      0.0057443195491475585,
      0.017638276115285567
    ],
    "v_ego": [
      5.683468545629887,
      5.277416530509302,
      4.839189086671955,
      4.346415358150596,
      3.843150480459189,
      3.319518866564641,
      2.7622672288560555,
      2.2638016787454864,
      1.8496254159497192,
      1.4594306171504678
    ],
    "ax_ego": [
      -0.8121398786505487,
      -0.8121185784148797,
      -0.940859349246076,
      -1.029910084091758,
      -0.9833838799070922,
      -1.1111438546773638,
      -1.1179189116914905,
      -0.8761092375914693,
      -0.7805949572383976,
      -0.780588023821705
    ],
    "ay_ego": [
      0.0012157916721352025,
      0.0060057842051745025,
      -0.01564222091516415,
      0.1037228739947808,
      0.0031573784437512464,
      -0.009810661394914044,
      0.0346671388010637,
      -0.012205145570063802,
      0.0246079727136862,
      0.024827294826045898
    ],
    "a_ego": [
      0.8121407886837836,
      0.8121407851170412,
      0.9409893698331073,
      1.0351199041191457,
      0.9833889486361759,
      1.111187164641617,
      1.118456303853726,
      0.8761942488806304,
      0.7809827396217495,
      0.7809827510913759
    ],
    "yaw": [
      -2.0532490979727775,
      -2.0473510488385,
      -2.0420410687324635,
      -2.0398147212319193,
      -2.0381695202935823,
      -2.03641078060752,
      -2.035244306763235,
      -2.032456614171542,
      -2.0294153154504584,
      -2.029134342819292
    ],
    "yaw_diff": [
      0.011796098268555433,
      0.010619960212072677,
      0.004452695001088358,
      0.003290401876673954,
      0.0035174793721246544,
      0.002332947688570286,
      0.005575385183385961,
      0.006082597442166993,
      0.0005619452623326637,
      0.0005619452623326637
    ],
    "min_front_frame": [
      9,
      12.81058320309244
    ],
    "v_avg": 3.56442838086873,
    "v_std": 1.3966209906486213,
    "vy_max": 0.04360100751044138,
    "a_max": 1.118456303853726,
    "ax_avg": -0.9244766755330781,
    "a_std": 0.12538756649553698,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "41bddf65c8155bd5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.219870311998523,
    "right_rear_min": 19.256526134853072,
    "speed_mode": "decelerating",
    "front_frame": [
      16.44807646167052,
      16.030147502801505,
      15.562599220308801,
      14.9755966298892,
      14.530685790847851,
      14.04840229390773,
      13.679270362469635,
      13.408273538571988,
      13.167481108850495,
      12.81058320309244
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "41bddf65c8155bd5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fac5b39e58445a31": {
    "vx_ego": [
      5.899040383589353,
      6.093696423590002,
      6.255740862531233,
      6.329794224859066,
      6.3748492115196225,
      6.384309018401864,
      6.400783280117636,
      6.466814224124009,
      6.5248420972397865,
      6.5580071313666
    ],
    "vy_ego": [
      -0.029534238790943412,
      0.007798877690115669,
      0.019062137281137925,
      -0.02750024785696248,
      -0.06671097585352781,
      -0.10471394176814908,
      -0.06608627306411319,
      -0.07431582993590258,
      -0.05006410429860475,
      0.0843612766386439
    ],
    "v_ego": [
      5.899114316444375,
      6.093701414195382,
      6.255769904993369,
      6.329853962982984,
      6.375198257616126,
      6.38516770743322,
      6.40112443204481,
      6.467241224193796,
      6.525034161477755,
      6.558549714689314
    ],
    "ax_ego": [
      0.33036823962154094,
      0.45063655177011974,
      0.19506415647374287,
      0.10894367534970353,
      0.08636206879211261,
      -0.028483416690823493,
      0.0991204619197508,
      0.16958444293429392,
      0.06253654076372576,
      0.07282266756613309
    ],
    "ay_ego": [
      1.256362264089384,
      1.2184071440744073,
      1.2756288740873798,
      1.3801767883326914,
      1.2759866586691293,
      1.0106251029456956,
      0.5050648661351472,
      0.24441560757253245,
      -0.2575934390968415,
      -0.2548765511045677
    ],
    "a_ego": [
      1.2990724815723096,
      1.2990724654624997,
      1.290456915029033,
      1.3844698232359725,
      1.2789059230559778,
      1.01102641099547,
      0.5146993151105789,
      0.29748591985232675,
      0.2650758359346082,
      0.2650758329505103
    ],
    "yaw": [
      -0.3150939043124038,
      -0.21797474431292405,
      -0.11941134532166779,
      -0.006813692762948459,
      0.1037322260165597,
      0.19900918291710834,
      0.25236274610451165,
      0.2828039687339583,
      0.2785720968907624,
      0.23843416770831175
    ],
    "yaw_diff": [
      0.19423831999895952,
      0.1971267979825125,
      0.22519530511743865,
      0.22109183755901632,
      0.1905539138010973,
      0.10670712637480662,
      0.0608824452588933,
      -0.0084637436863918,
      -0.08027585836490131,
      -0.08027585836490131
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.3290755096071125,
    "v_std": 0.19137778569308322,
    "vy_max": 0.10471394176814908,
    "a_max": 1.3844698232359725,
    "ax_avg": 0.15469553885002996,
    "a_std": 0.46673579735352666,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "fac5b39e58445a31",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "fac5b39e58445a31",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "be7c407443f15fec": {
    "vx_ego": [
      10.916919258559851,
      11.065317119383927,
      11.198186359736702,
      11.311283051150035,
      11.413173043264884,
      11.47600755227482,
      11.539395542384007,
      11.605614057244313,
      11.625991120652662,
      11.62610442184551
    ],
    "vy_ego": [
      -0.015368824399786263,
      0.0013222258405978238,
      0.015803929256046345,
      0.01044196079024573,
      0.04850080953011737,
      0.012590152754749617,
      -0.0010217664985034958,
      -0.004827590004286897,
      0.004827926864315657,
      0.010943094746329152
    ],
    "v_ego": [
      10.916930076659757,
      11.065317198382168,
      11.198197511723619,
      11.311287870873908,
      11.413276096022267,
      11.47601445850497,
      11.539395587620639,
      11.605615061311143,
      11.625992123099532,
      11.626109571949609
    ],
    "ax_ego": [
      0.2889848704480782,
      0.305245749705085,
      0.2245371981137869,
      0.22492737683842481,
      0.18109710080194646,
      0.06967082965064304,
      0.18361174672215136,
      0.0812541964002802,
      0.0002368917669670692,
      0.0002465633378621367
    ],
    "ay_ego": [
      0.6186698763354499,
      0.6108106881182859,
      0.5413187041205814,
      0.36169711221040135,
      0.04187336285547665,
      0.10846987477447513,
      -0.025471898989725197,
      -0.0302956886831551,
      -0.010076086111910621,
      -0.010075861360823633
    ],
    "a_ego": [
      0.6828357571428237,
      0.6828357521633979,
      0.5860400095279976,
      0.4259308932594094,
      0.185875061360304,
      0.12891756372891647,
      0.18537014638960134,
      0.08671835552777717,
      0.010078870424997778,
      0.010078877697547303
    ],
    "yaw": [
      -0.7013158673727868,
      -0.674865791445541,
      -0.6503153670191191,
      -0.6297810042750263,
      -0.6242536263182661,
      -0.6178395147013576,
      -0.6148498672226772,
      -0.6157247750455577,
      -0.6174234308400208,
      -0.6183827558556865
    ],
    "yaw_diff": [
      0.052900151854491595,
      0.04910084885284394,
      0.04106872548818563,
      0.011054755913520342,
      0.012828223233817049,
      0.005979294957360715,
      -0.0017498156457609326,
      -0.0033973115889263106,
      -0.0019186500313312926,
      -0.0019186500313312926
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.377813555614761,
    "v_std": 0.23641107115837337,
    "vy_max": 0.04850080953011737,
    "a_max": 0.6828357571428237,
    "ax_avg": 0.1559812523785225,
    "a_std": 0.25686800580688285,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "be7c407443f15fec",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.4868917238659813,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "be7c407443f15fec",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6f1be4d182475bc8": {
    "vx_ego": [
      4.825572569270353,
      4.849247588635527,
      4.821338601283154,
      4.6911178182981175,
      4.3424987055199695,
      3.7459795922750985,
      3.0908885757681728,
      2.4048952764635354,
      1.6593867306399408,
      0.9179259980300278
    ],
    "vy_ego": [
      -0.024542053870173053,
      0.010266889247322553,
      0.06113112153092071,
      0.03499440537981613,
      -0.0408920927996157,
      -0.08051360461424968,
      -0.06807262910667128,
      -0.05658664209639752,
      -0.047628742041550765,
      0.04664812670429874
    ],
    "v_ego": [
      4.825634977254563,
      4.849258457218205,
      4.821726135134868,
      4.691248340640471,
      4.3426912359383945,
      3.7468447454184024,
      3.091638088562065,
      2.4055609197898877,
      1.6600701246912348,
      0.9191105404598747
    ],
    "ax_ego": [
      0.04323406809944813,
      0.05222208807064835,
      -0.16171096067147897,
      -0.3501656752284714,
      -1.0180170085777933,
      -1.3314602648977476,
      -1.2644204727937804,
      -1.4811047603609306,
      -1.493700128916431,
      -1.468489404873878
    ],
    "ay_ego": [
      0.3323544824196792,
      0.3310612363715524,
      0.7156861741130497,
      1.2653209487430095,
      1.5518137132505714,
      1.4450968403251405,
      1.1166443248565363,
      0.5973513763555071,
      0.3147206748148823,
      0.4168069768712801
    ],
    "a_ego": [
      0.33515472043353434,
      0.3351547235387254,
      0.733728243028621,
      1.3128796987676064,
      1.8559322267761302,
      1.9649659831455824,
      1.6869065416478641,
      1.597028483777803,
      1.5264957183958614,
      1.526495721643337
    ],
    "yaw": [
      2.58779447316184,
      2.6148890144941044,
      2.658243208063787,
      2.7672172339223247,
      2.9364040352085223,
      3.128990044977125,
      -2.970553475787827,
      -2.820559176069794,
      -2.7129489012794394,
      -2.644049918293338
    ],
    "yaw_diff": [
      0.0541890826645286,
      0.08670838713936568,
      0.21794805171707488,
      0.33837360257239535,
      0.3851720195372055,
      0.36728357282926805,
      0.29998859943606604,
      0.21522054958070935,
      0.13779796597220262,
      0.13779796597220262
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5353783565107975,
    "v_std": 1.375255333691538,
    "vy_max": 0.08051360461424968,
    "a_max": 1.9649659831455824,
    "ax_avg": -0.8473612520150414,
    "a_std": 0.5720906457284052,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "6f1be4d182475bc8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "6f1be4d182475bc8",
    "pedestrians": "Yes"
  },
  "91ae20bf459859fe": {
    "vx_ego": [
      2.7040470167641604,
      2.008624120130177,
      1.3626294722043464,
      0.855675186680885,
      0.47854065697418924,
      0.20306844500426724,
      0.046904926549328645,
      0.10676849450496216,
      0.36479655674054906,
      0.6628537261924661
    ],
    "vy_ego": [
      -0.047131570048755345,
      -0.018394134450643196,
      0.006462742848060921,
      0.0023122601392719377,
      0.002277888643684528,
      -0.0028197568481836965,
      -0.029508056018669286,
      -0.012054310222750317,
      0.025956258538329904,
      0.05398440148318742
    ],
    "v_ego": [
      2.7044577374709364,
      2.008708341235959,
      1.3626447980178165,
      0.855678310843695,
      0.47854607840202984,
      0.20308802127435777,
      0.05541477695162943,
      0.10744681388390462,
      0.3657188198152636,
      0.6650484026976794
    ],
    "ax_ego": [
      -1.3908875555985523,
      -1.39094377169942,
      -1.193045170221871,
      -0.8347819768059191,
      -0.6737585966080437,
      -0.4281588235862745,
      -0.19651835703755247,
      0.4359406696260616,
      0.5961689732211979,
      0.5961407894386909
    ],
    "ay_ego": [
      0.05316754640014665,
      0.051676187999188716,
      0.044353066901891725,
      -0.060346775202972214,
      0.06008569465121022,
      -0.0799624390642137,
      -0.02688804065009854,
      0.09670497827632793,
      0.05538339479709048,
      0.05568598153423815
    ],
    "a_ego": [
      1.391903366009698,
      1.3919033746763945,
      1.1938693281650787,
      0.8369603826211824,
      0.6764325075016421,
      0.43556167172500454,
      0.19834926615125223,
      0.4465379270089429,
      0.5987359727382912,
      0.5987359763468512
    ],
    "yaw": [
      1.1132659149234687,
      1.1121937025131226,
      1.1116821920484337,
      1.1118250531091716,
      1.1117772965535573,
      1.1121915441593648,
      1.1119382925178272,
      1.1117178576174016,
      1.1117712782657656,
      1.1112637155792142
    ],
    "yaw_diff": [
      -0.0021444248206923255,
      -0.0010230209293777826,
      0.00028572212147581766,
      -9.551311122857342e-05,
      0.000828495211615099,
      -0.0005065032830753324,
      -0.00044086980085111804,
      0.00010684129672799969,
      -0.0010151253731027765,
      -0.0010151253731027765
    ],
    "min_front_frame": [
      6,
      9.549240519032821
    ],
    "v_avg": 0.8806752100593271,
    "v_std": 0.8392261409748608,
    "vy_max": 0.05398440148318742,
    "a_max": 1.3919033746763945,
    "ax_avg": -0.4479843819271682,
    "a_std": 0.39596457208794994,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "91ae20bf459859fe",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.997564255730149,
    "right_rear_min": 43.145265828809336,
    "speed_mode": "decelerating",
    "front_frame": [
      12.499406518680745,
      11.33012770480836,
      10.500731300356673,
      10.030486352423397,
      9.739784279462254,
      9.575925532986986,
      9.549240519032821,
      9.571832979987311,
      9.69559380536013,
      9.748338370925358
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "C",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "91ae20bf459859fe",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "87a70998eed25e32": {
    "vx_ego": [
      6.764262731614457,
      5.9478547475952865,
      5.298882692938959,
      4.709045873060782,
      4.03768606440009,
      3.3969713818736444,
      2.8609544999967063,
      2.4341635333598464,
      1.963400237010473,
      1.4404693494402214
    ],
    "vy_ego": [
      -0.026733724590092767,
      -0.02990655778505802,
      -0.005045512873902841,
      0.03186838562615234,
      0.011208394837514873,
      -0.04110519252550151,
      -0.03017292903432213,
      -0.0017980114212063011,
      -0.005940807784535609,
      -0.005525908271592543
    ],
    "v_ego": [
      6.764315559932041,
      5.947929934077094,
      5.298885095067471,
      4.709153706197452,
      4.037701621314472,
      3.397220070310591,
      2.8611136042977936,
      2.434164197416428,
      1.963409224764393,
      1.440479948607047
    ],
    "ax_ego": [
      -1.6327906715997031,
      -1.6327909824642486,
      -0.9631680590303091,
      -1.396113426565083,
      -1.2891574574150682,
      -1.2738122198045272,
      -0.869997684250755,
      -0.8371836285499606,
      -1.0458570233770008,
      -1.0458559230369047
    ],
    "ay_ego": [
      -0.0010844340199851754,
      -0.00036228543160813503,
      0.08592069787528192,
      0.04390802428026112,
      -0.1428978862658256,
      -0.08493254116987353,
      0.1410743198310431,
      -0.01399017822588474,
      0.002150586075475445,
      0.002630066817855818
    ],
    "a_ego": [
      1.6327910317184355,
      1.63279102265639,
      0.9669928005210734,
      1.3968037136374936,
      1.2970531045057963,
      1.2766405554708458,
      0.8813614095916996,
      0.8373005153461154,
      1.0458592344897415,
      1.0458592300127403
    ],
    "yaw": [
      -1.5436613722095354,
      -1.5432190927286098,
      -1.5438457443809042,
      -1.5447268523484294,
      -1.5456643470266385,
      -1.5469142810224032,
      -1.545906259002261,
      -1.5446215330234971,
      -1.5440898609301872,
      -1.5436314041919132
    ],
    "yaw_diff": [
      0.000884558961851134,
      -0.0012533033045887265,
      -0.0017622159350505484,
      -0.0018749893564180553,
      -0.0024998679915295696,
      0.002016044040284548,
      0.0025694519575276686,
      0.0010633441866199078,
      0.0009169134765478759,
      0.0009169134765478759
    ],
    "min_front_frame": [
      9,
      11.611400757678219
    ],
    "v_avg": 3.8854372961984778,
    "v_std": 1.682472608967124,
    "vy_max": 0.04110519252550151,
    "a_max": 1.6327910317184355,
    "ax_avg": -1.1986727076093562,
    "a_std": 0.27631782528683335,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "87a70998eed25e32",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.197038084212051,
    "right_rear_min": 3.8996519123356563,
    "speed_mode": "decelerating",
    "front_frame": [
      25.914056511107084,
      22.911456971454932,
      20.577475540589127,
      18.1118464969971,
      16.891742283141312,
      15.543638267733796,
      14.372155889090049,
      13.356289685082185,
      12.435687777302304,
      11.611400757678219
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "87a70998eed25e32",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0f7e1062e04e5fb5": {
    "vx_ego": [
      9.259165455154651,
      9.092819371095082,
      8.92297979168548,
      8.77136294477294,
      8.588280356031323,
      8.22375466072076,
      7.599913875621453,
      7.044313899316269,
      6.504984307962212,
      5.779177717961614
    ],
    "vy_ego": [
      0.08882566787939528,
      0.0616254887628932,
      0.02810494965615043,
      -0.013491173640775499,
      -0.044744551645652275,
      -0.014664914636013548,
      0.016315041916186906,
      -0.011051386980622108,
      -0.05567839587849198,
      -0.007253646035588951
    ],
    "v_ego": [
      9.25959150962954,
      9.093028198363141,
      8.923024053033961,
      8.771373320107976,
      8.588396913784054,
      8.223767736229403,
      7.599931387680827,
      7.044322568228585,
      6.505222588859064,
      5.779182270110956
    ],
    "ax_ego": [
      -0.3494237213404716,
      -0.3267639165052812,
      -0.36035151800848886,
      -0.24964851680450686,
      -0.48280323357446153,
      -0.9747511772906831,
      -1.52061910028955,
      -0.7013718845388199,
      -1.4570919954202277,
      -1.4492203458571684
    ],
    "ay_ego": [
      0.6119428499027499,
      0.6243367056794494,
      0.5586213115021886,
      0.3939802368400989,
      0.14836226888639076,
      0.13648917454101211,
      -0.009577539121297461,
      -0.20766147011221478,
      -0.24477895929312396,
      -0.287739845348884
    ],
    "a_ego": [
      0.7046779325213208,
      0.7046779258558749,
      0.6647638574677834,
      0.46641699043159934,
      0.5050844733102313,
      0.9842607136305195,
      1.520649261802675,
      0.7314682539869396,
      1.477509330606858,
      1.477509333116976
    ],
    "yaw": [
      -1.674407551864002,
      -1.6377536156676902,
      -1.6012223412857036,
      -1.569555571987703,
      -1.550399003510954,
      -1.5455412426131216,
      -1.5454475149499634,
      -1.5491794236762213,
      -1.5591490543013928,
      -1.5887107479437752
    ],
    "yaw_diff": [
      0.07330787239262371,
      0.07306254876397311,
      0.06333353859600122,
      0.03831313695349792,
      0.009715521795664817,
      0.0001874553263165879,
      -0.007463817452515897,
      -0.019939261250343066,
      -0.05912338728476474,
      -0.05912338728476474
    ],
    "min_front_frame": [
      2,
      63.092487807143044
    ],
    "v_avg": 7.978784054602751,
    "v_std": 1.13401139879391,
    "vy_max": 0.08882566787939528,
    "a_max": 1.520649261802675,
    "ax_avg": -0.7872045409629659,
    "a_std": 0.39467893133528553,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0f7e1062e04e5fb5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.159372582373306,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      63.092487807143044,
      68.29055038492217,
      73.40422282944178,
      78.40325669001179,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0f7e1062e04e5fb5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6183ed1d16f05d11": {
    "vx_ego": [
      3.675021575661609,
      3.1917480333315886,
      2.6348558227766965,
      1.8910323137059908,
      1.0075765457536927,
      0.3071250591319717,
      0.007913063575220857,
      -0.041426507890300605,
      -0.028887870101903187,
      -0.01233554672021209
    ],
    "vy_ego": [
      0.09082640253320995,
      0.03911514537119154,
      0.01587914241536237,
      0.004870667714048094,
      -0.012101442414851615,
      -0.023809398309587254,
      -0.006278436049493585,
      0.007474643010277131,
      0.0006488873805744755,
      0.0015736308663284121
    ],
    "v_ego": [
      3.6761437699001194,
      3.1919877040605082,
      2.6349036707219695,
      1.8910385863023034,
      1.0076492149857823,
      0.30804657017191683,
      0.010101254099024917,
      0.04209543733133347,
      0.028895156927365887,
      0.012435514745678876
    ],
    "ax_ego": [
      -0.9666778229002857,
      -0.9668233288172254,
      -1.2606385918798697,
      -1.714536349088141,
      -1.819316252515058,
      -0.9823798482526311,
      -0.21436811781524506,
      0.017050082523522463,
      0.033104473414676365,
      0.03310457947088557
    ],
    "ay_ego": [
      -0.0933972090485305,
      -0.09187889553128109,
      -0.018302698517653204,
      -0.045744025818247214,
      -0.029851399651949606,
      -0.013936057629903353,
      0.08428514422680417,
      -0.029148331439452255,
      0.0018481567508870159,
      0.001846362464470645
    ],
    "a_ego": [
      0.9711792069156397,
      0.971179221662649,
      1.2607714495934181,
      1.7151464684517623,
      1.819561137397316,
      0.9824786918580609,
      0.23034251772737044,
      0.033768780548949155,
      0.03315602273251217,
      0.03315602865685793
    ],
    "yaw": [
      2.203619419693844,
      2.2051899387975924,
      2.203729140513813,
      2.2015722898355228,
      2.2002547672339374,
      2.201631722833549,
      2.2025470157288276,
      2.201865797509101,
      2.2018467025110215,
      2.2019007370955617
    ],
    "yaw_diff": [
      0.0031410382074970045,
      -0.0029215965675586375,
      -0.0043137013565806015,
      -0.002635045203170705,
      0.0027539111992229692,
      0.001830585790557393,
      -0.0013624364394528854,
      -3.8189996159232464e-05,
      0.00010806916908023823,
      0.00010806916908023823
    ],
    "min_front_frame": [
      5,
      9.2423594724952
    ],
    "v_avg": 1.2803296879246002,
    "v_std": 1.3763079224527373,
    "vy_max": 0.09082640253320995,
    "a_max": 1.819561137397316,
    "ax_avg": -0.7841481175859372,
    "a_std": 0.6533508445578621,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6183ed1d16f05d11",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 41.29614563432362,
    "right_rear_min": 30.828512356782984,
    "speed_mode": "decelerating",
    "front_frame": [
      13.089452410195015,
      12.268736568413948,
      11.245026155973362,
      10.11225116313741,
      9.468400459510594,
      9.2423594724952,
      9.243407906240039,
      9.305608046486352,
      9.285422530354218,
      9.259005072233018
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6183ed1d16f05d11",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aee5c527d8e85667": {
    "vx_ego": [
      7.48066992895826,
      6.987149356909639,
      6.44608248785491,
      5.867401203893784,
      5.279611805005868,
      4.689114889352216,
      4.123463152795548,
      3.565997082967387,
      3.0196333775611253,
      2.484982231787815
    ],
    "vy_ego": [
      -0.01602700254116579,
      0.009830162070284837,
      0.0068381428380149545,
      -0.0029727139796920377,
      -0.006316545932556192,
      -0.004616697578761805,
      -0.009004448978847196,
      0.011528540219231609,
      0.014867170110478362,
      -0.03876141496119106
    ],
    "v_ego": [
      7.480687097508547,
      6.9871562718926725,
      6.446086114878331,
      5.867401956955278,
      5.279615583573282,
      4.689117162050995,
      4.12347298433784,
      3.566015718273196,
      3.01966997660809,
      2.485284518841041
    ],
    "ax_ego": [
      -0.9870402943173784,
      -0.9870725188473639,
      -1.177015156036242,
      -1.1377723500136592,
      -1.2133940456552517,
      -1.1486152923319037,
      -1.1139898742436154,
      -1.1159355331270753,
      -1.069372754301793,
      -1.0692736530261044
    ],
    "ay_ego": [
      0.01300336231444682,
      0.010269063903833987,
      -0.08289218992898596,
      -0.008102203444838925,
      -0.022854409297240127,
      0.019639289800719977,
      -0.04399055312272214,
      0.1133497830165758,
      -0.11165027638081326,
      -0.1125954904476775
    ],
    "a_ego": [
      0.9871259443645566,
      0.9871259347910684,
      1.1799304185799442,
      1.1378011979938614,
      1.2136092592164682,
      1.1487831786210057,
      1.1148581114569462,
      1.1216774435663377,
      1.0751855057890778,
      1.0751855140044173
    ],
    "yaw": [
      -1.5426799933688176,
      -1.5454501459813281,
      -1.5476998415352679,
      -1.5498029104304254,
      -1.5505901846928856,
      -1.5510932983305188,
      -1.5514795042955214,
      -1.5523099861436305,
      -1.5531964347596534,
      -1.5540803721647705
    ],
    "yaw_diff": [
      -0.005540305225021136,
      -0.004499391107879447,
      -0.00420613779031509,
      -0.0015745485249203384,
      -0.001006227275266447,
      -0.0007724119300052124,
      -0.001660963696218154,
      -0.001772897232045878,
      -0.0017678748102341046,
      -0.0017678748102341046
    ],
    "min_front_frame": [
      9,
      14.39869643607335
    ],
    "v_avg": 4.994450738491927,
    "v_std": 1.6183567679553852,
    "vy_max": 0.03876141496119106,
    "a_max": 1.2136092592164682,
    "ax_avg": -1.1019481471900388,
    "a_std": 0.07094895350642312,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aee5c527d8e85667",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.0603113496084156,
    "right_rear_min": 3.7151005307741567,
    "speed_mode": "decelerating",
    "front_frame": [
      29.36017366500231,
      27.395461810937608,
      25.38370126784658,
      23.47717085427466,
      21.58405096008131,
      19.950760150124545,
      18.3600634901905,
      16.955887557810627,
      15.734754911568642,
      14.39869643607335
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aee5c527d8e85667",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "88904a762b5f5793": {
    "vx_ego": [
      0.9393559974776442,
      1.5218523934924446,
      2.116714668190232,
      2.7248039765230057,
      3.3280589331933643,
      3.9126337778465987,
      4.481671303273629,
      5.046463785234761,
      5.57711121843325,
      6.075464747185028
    ],
    "vy_ego": [
      0.00046265257320180636,
      0.006816639760789285,
      -0.0009016060237709567,
      0.006705107286980316,
      -0.0019848096845284935,
      0.00032387855506949004,
      0.028188290014339812,
      0.03797552643233973,
      0.03539066679625111,
      0.015530038981633021
    ],
    "v_ego": [
      0.9393561114106957,
      1.5218676598693825,
      2.116714860207937,
      2.7248122263633716,
      3.328059525050241,
      3.9126337912515483,
      4.481759950095529,
      5.046606669465509,
      5.5772235065550575,
      6.075484596013622
    ],
    "ax_ego": [
      1.1649918624945128,
      1.1649927403834992,
      1.214423864221251,
      1.2178972848422105,
      1.1951847851375308,
      1.1429658873651856,
      1.133323168178148,
      1.12596757439133,
      0.9967113228496708,
      0.9967171715790041
    ],
    "ay_ego": [
      0.012915234216071748,
      0.012835902514417172,
      -0.03732082296841806,
      0.058062298957695636,
      -0.10128355895420896,
      0.0885570240683679,
      -0.00011892590468491615,
      0.020405349559761768,
      -0.04143925962852873,
      -0.04129833230633096
    ],
    "a_ego": [
      1.165063450183418,
      1.1650634512933684,
      1.214997187575805,
      1.2192805366224302,
      1.1994686448334848,
      1.1463914541692692,
      1.1333231744179262,
      1.1261524572061063,
      0.9975723900225494,
      0.9975723895395933
    ],
    "yaw": [
      -1.5352974595387083,
      -1.5352293644682455,
      -1.5343485456807917,
      -1.535348966293797,
      -1.5360472852848073,
      -1.537561073894222,
      -1.5389318205713995,
      -1.5399214621405508,
      -1.5404232723600066,
      -1.5405646607895478
    ],
    "yaw_diff": [
      0.000136190140925585,
      0.0017616375749076596,
      -0.002000841226010408,
      -0.0013966379820207209,
      -0.0030275772188295136,
      -0.002741493354355029,
      -0.0019792831383025344,
      -0.0010036204389116676,
      -0.0002827768590822899,
      -0.0002827768590822899
    ],
    "min_front_frame": [
      0,
      15.24155761453607
    ],
    "v_avg": 3.5724518896282893,
    "v_std": 1.656365271950672,
    "vy_max": 0.03797552643233973,
    "a_max": 1.2192805366224302,
    "ax_avg": 1.1353175661442343,
    "a_std": 0.07578125265544554,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "88904a762b5f5793",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.151524136511163,
    "right_rear_min": 3.279720368176759,
    "speed_mode": "accelerating",
    "front_frame": [
      15.24155761453607,
      15.74488964148386,
      16.332121726913684,
      16.669734735086358,
      17.09508979665252,
      17.623564144531795,
      18.059750456446938,
      18.631584277756144,
      19.161261116172604,
      19.62245820405253
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "88904a762b5f5793",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "392a50db492b536e": {
    "vx_ego": [
      7.587070142939208,
      7.0649342600323815,
      6.527830762229118,
      5.968126485534292,
      5.405887875143259,
      4.799938157930297,
      4.129762036687498,
      3.4177527769360876,
      2.6750918394729166,
      1.9277454332728052
    ],
    "vy_ego": [
      -0.00980180300464606,
      -0.021991572010010563,
      -0.0258156840315944,
      -0.011299570319146302,
      0.02899974963323393,
      0.031482778452751825,
      0.01398741195441311,
      0.02152896221377576,
      0.03382075734117518,
      0.050495185092650885
    ],
    "v_ego": [
      7.587076474454552,
      7.064968487390355,
      6.527881808814158,
      5.968137182373181,
      5.405965658797666,
      4.8000414045395905,
      4.1297857241458,
      3.4178205834227664,
      2.6753056261372685,
      1.92840665297071
    ],
    "ax_ego": [
      -1.0447473727433987,
      -1.044139492065806,
      -1.1049966458022227,
      -1.1346403801909226,
      -1.114233377925576,
      -1.3086122140122396,
      -1.3720150282551922,
      -1.4759980545389169,
      -1.4946930204723372,
      -1.4946929488762972
    ],
    "ay_ego": [
      -0.10439138254630453,
      -0.11030575282568816,
      -0.1012125561234235,
      -0.016854545646962538,
      0.029281439054025388,
      -0.1194417893615517,
      0.0029760588473856653,
      0.02132285658096955,
      0.033356751988819155,
      0.033359830618453934
    ],
    "a_ego": [
      1.0499498243269356,
      1.0499498264192824,
      1.1096222639940134,
      1.1347655564339125,
      1.114618061560333,
      1.314051851225021,
      1.3720182559588479,
      1.4761520657491354,
      1.4950651819743386,
      1.4950651790873244
    ],
    "yaw": [
      0.2723383131138698,
      0.26667562958718366,
      0.2594658522575455,
      0.2524225175028598,
      0.2458796824938417,
      0.24099923859988573,
      0.23840106293811353,
      0.23801370831423868,
      0.23846573193121667,
      0.23846778219749354
    ],
    "yaw_diff": [
      -0.011325367053372282,
      -0.014419554659276357,
      -0.014086669509371319,
      -0.013085670018036233,
      -0.009760887787911954,
      -0.0051963513235444014,
      -0.0007747092477496942,
      0.0009040472339559846,
      4.100532553730218e-06,
      4.100532553730218e-06
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.950538960304605,
    "v_std": 1.8030128615530976,
    "vy_max": 0.050495185092650885,
    "a_max": 1.4950651819743386,
    "ax_avg": -1.2588768534882908,
    "a_std": 0.17898748578979287,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "392a50db492b536e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "392a50db492b536e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "966e42e47cc85a5c": {
    "vx_ego": [
      0.2107898146183563,
      1.3110609824084587,
      2.2232259576972706,
      2.6211837093830743,
      2.6312173218145167,
      2.6572713311127862,
      2.8115175601627023,
      3.079182318462193,
      3.5269590360503615,
      4.218393290969964
    ],
    "vy_ego": [
      0.0365317629188124,
      0.0002829843805983723,
      -0.022490609698094355,
      -0.013823129141094403,
      0.010899141459631112,
      0.007440274814016323,
      0.011551892162657396,
      -0.0007933638022342704,
      -0.015994962110197353,
      0.10431145826056842
    ],
    "v_ego": [
      0.21393203511582207,
      1.31106101294867,
      2.2233397145968357,
      2.621220158100892,
      2.631239895163745,
      2.6572817473582337,
      2.811541292123552,
      3.0791824206688903,
      3.5269953049005043,
      4.219682788744298
    ],
    "ax_ego": [
      2.2005343180107473,
      2.2003778423016738,
      1.44797001469778,
      0.1443345803292446,
      -0.09716109283309904,
      0.22173789750215894,
      0.4493810735643567,
      0.7029890780805199,
      1.1156413663491822,
      1.6454204837697393
    ],
    "ay_ego": [
      -0.06655560137729943,
      -0.0715420385237544,
      -0.07231129887990517,
      -0.24536464954303527,
      -0.44628333390564257,
      -0.7359899226545434,
      -1.2463198141819456,
      -1.8320774214024382,
      -2.0848921872670476,
      -1.6982410123702614
    ],
    "a_ego": [
      2.2015405816876776,
      2.201540576997913,
      1.4497744953645681,
      0.284668723825073,
      0.45673744326741744,
      0.7686669379111598,
      1.3248609091147543,
      1.9623203922685781,
      2.364620707605481,
      2.3646207104957475
    ],
    "yaw": [
      0.8848007305681254,
      0.8870668200358655,
      0.8799801433674568,
      0.8459095366269533,
      0.7715441899734684,
      0.6595007964234438,
      0.47535907015646295,
      0.21690851801283184,
      -0.07743977556217133,
      -0.35570449086121436
    ],
    "yaw_diff": [
      0.004532178935480191,
      -0.014173353336817351,
      -0.06814121348100688,
      -0.14873069330696986,
      -0.22408678710004915,
      -0.3682834525339618,
      -0.5169011042872622,
      -0.5886965871500063,
      -0.5565294305980861,
      -0.5565294305980861
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.5295476369721444,
    "v_std": 1.0587108778216507,
    "vy_max": 0.10431145826056842,
    "a_max": 2.3646207104957475,
    "ax_avg": 1.0031225561772303,
    "a_std": 0.7623829040550086,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "966e42e47cc85a5c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.46372338666758,
    "right_rear_min": 21.212510784261234,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "966e42e47cc85a5c",
    "pedestrians": "No"
  },
  "b11eb5c328075b94": {
    "vx_ego": [
      7.6927747216401245,
      7.570362142565285,
      7.4504683440502735,
      7.347345695792041,
      7.1988868888004145,
      7.078273812271579,
      7.048686474355209,
      7.0615555550167795,
      7.117683587038157,
      7.2375589249131815
    ],
    "vy_ego": [
      -0.020070034932894387,
      -0.053962552731818825,
      -0.050627243859859394,
      -0.05043941480847458,
      -0.03944091941719252,
      -0.03882087072576512,
      -0.05258396024026579,
      -0.055757740753491714,
      -0.02738557461276958,
      0.007415754778762995
    ],
    "v_ego": [
      7.69280090241568,
      7.570554466264871,
      7.4506403525815195,
      7.347518826654345,
      7.198994931507244,
      7.078380268217691,
      7.048882612629652,
      7.061775681954382,
      7.117736270394488,
      7.23756272408118
    ],
    "ax_ego": [
      -0.24678574199007594,
      -0.24440178938683726,
      -0.23749342791616965,
      -0.17613280783097696,
      -0.42063612866618383,
      -0.07203213895890015,
      -0.05108870645697172,
      0.08248466352836226,
      0.13851397800636334,
      0.33452515558857426
    ],
    "ay_ego": [
      -0.22634311870355528,
      -0.22891521456761513,
      -0.44424787554387457,
      -0.7943317690123943,
      -1.0637323815256254,
      -1.1103721220276261,
      -1.364613673300885,
      -1.384836888511282,
      -1.6542628952167777,
      -1.6259965460801766
    ],
    "a_ego": [
      0.3348647635001988,
      0.33486476392123615,
      0.5037452761352892,
      0.8136250520090834,
      1.143879946605173,
      1.1127061060401924,
      1.3655696735381835,
      1.3872912194269076,
      1.6600517608177594,
      1.6600517605141787
    ],
    "yaw": [
      0.9898182345222547,
      0.9793453603247678,
      0.9564919838671775,
      0.9145791910461459,
      0.849496010593923,
      0.772839306566251,
      0.6872104363505621,
      0.5900791995165077,
      0.47891471943284103,
      0.35954709950763586
    ],
    "yaw_diff": [
      -0.020945748394973762,
      -0.04570675291518067,
      -0.0838255856420631,
      -0.1301663609044459,
      -0.153313408055344,
      -0.17125774043137776,
      -0.1942624736681089,
      -0.22232896016733328,
      -0.23873523985041034,
      -0.23873523985041034
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.280484703670107,
    "v_std": 0.21561097672355833,
    "vy_max": 0.055757740753491714,
    "a_max": 1.6600517608177594,
    "ax_avg": -0.08930469440828157,
    "a_std": 0.48416565640034187,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "b11eb5c328075b94",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b11eb5c328075b94",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "1e4f2f231ac0540e": {
    "vx_ego": [
      10.16413238279206,
      9.696126135519568,
      9.15822661359186,
      8.514385008800124,
      7.830947140162305,
      7.203398928537993,
      6.6438498396951156,
      6.103577568566923,
      5.591121583221849,
      5.095397820875669
    ],
    "vy_ego": [
      0.0017187633729420781,
      0.017876346391785702,
      -0.029764756215158172,
      -0.06503761633011562,
      -0.030008846944343137,
      0.014948524965329835,
      0.02121436422064482,
      0.025923397281015337,
      0.027275068905361355,
      0.012292041204348347
    ],
    "v_ego": [
      10.164132528114228,
      9.696142614445497,
      9.158274982037545,
      8.514633401950913,
      7.831004638161768,
      7.203414439143492,
      6.643883709222047,
      6.103632619845325,
      5.591188110567645,
      5.0954126473978025
    ],
    "ax_ego": [
      -0.9361696895914446,
      -0.935953474222931,
      -1.215961416792981,
      -1.3589992068609607,
      -1.3746059648758187,
      -1.1355963844783696,
      -1.1027544378374128,
      -1.0584658087618448,
      -0.9914572293395323,
      -0.9914667970268922
    ],
    "ay_ego": [
      0.08243988453170248,
      0.08485940951435089,
      -0.09739394147815494,
      0.014796936460652943,
      0.14409784647346957,
      0.05658920452109051,
      0.014183539317405791,
      0.0477713428797269,
      -0.026224576375302455,
      -0.025860557943494622
    ],
    "a_ego": [
      0.9397925421449898,
      0.939792543752662,
      1.219855625459769,
      1.3590797598291797,
      1.38213810743734,
      1.1370054909756042,
      1.1028456478391147,
      1.0595432834567915,
      0.991803995765134,
      0.9918040018390294
    ],
    "yaw": [
      2.548368245273726,
      2.5509530348729417,
      2.5556567496870595,
      2.5573083531342653,
      2.5578826826813685,
      2.5585791138501772,
      2.5602305783666193,
      2.5619233203956764,
      2.5626143695413157,
      2.562981513935844
    ],
    "yaw_diff": [
      0.005169579198430974,
      0.009407429628235597,
      0.003303206894411659,
      0.0011486590942064723,
      0.0013928623376173732,
      0.0033029290328840943,
      0.00338548405811423,
      0.0013820982912786661,
      0.0007342887890562366,
      0.0007342887890562366
    ],
    "min_front_frame": [
      8,
      19.7762112020782
    ],
    "v_avg": 7.600171969088628,
    "v_std": 1.6704958643305992,
    "vy_max": 0.06503761633011562,
    "a_max": 1.38213810743734,
    "ax_avg": -1.1101430409788189,
    "a_std": 0.15405202311177368,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1e4f2f231ac0540e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.05947089842483,
    "right_rear_min": 7.627443395293211,
    "speed_mode": "decelerating",
    "front_frame": [
      26.8269198471601,
      26.503568798104517,
      26.185018039229845,
      25.516507536782633,
      24.963091641395735,
      24.30900386929007,
      23.488635127293804,
      22.022215701842264,
      19.7762112020782,
      20.55393086969685
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1e4f2f231ac0540e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f470121c6add5665": {
    "vx_ego": [
      8.221013734659838,
      8.033976251272057,
      7.827869926117184,
      7.58222434813349,
      7.24091129499198,
      6.875950676599253,
      6.566412462903791,
      6.248499098454387,
      5.87246497928979,
      5.569327723280967
    ],
    "vy_ego": [
      0.05251906445721277,
      -0.1022483683114348,
      -0.05427850978962423,
      -0.06226166552795925,
      -0.03441427030432065,
      -0.025614052788722974,
      -0.017277734981396176,
      -0.06715099884558651,
      -0.14958236516158863,
      -0.00403367398111909
    ],
    "v_ego": [
      8.221181489153318,
      8.034626882116292,
      7.828058107655743,
      7.582479975603143,
      7.240993075811011,
      6.875998384723922,
      6.566435193703226,
      6.248859915219035,
      5.87436973784868,
      5.56932918400697
    ],
    "ax_ego": [
      -0.37863236816707296,
      -0.36527187215665624,
      -0.4589457378012082,
      -0.5184985771568709,
      -0.8265258945312925,
      -0.6195768672599847,
      -0.6371569960259102,
      -0.684338349851457,
      -0.8579305269991286,
      -0.405734714232845
    ],
    "ay_ego": [
      0.3288447816896368,
      0.3436245364057424,
      -0.08494016283890074,
      -0.8879917077045536,
      -1.7183028901836803,
      -2.156133536927534,
      -2.094403650141951,
      -1.7258501915035338,
      -2.0551830752780846,
      -2.189794879231978
    ],
    "a_ego": [
      0.5014991133275419,
      0.5014991152623204,
      0.4667397792228495,
      1.0282850030345423,
      1.906753753567655,
      2.243387466200909,
      2.189176942897191,
      1.8565769201921583,
      2.227065841430488,
      2.2270658435358848
    ],
    "yaw": [
      3.0644470226253926,
      3.104177423844864,
      3.106280155720927,
      3.0757800784054923,
      2.984646620744939,
      2.845886310088316,
      2.686931316640771,
      2.5460234442894807,
      2.404399200019026,
      2.1921498423394157
    ],
    "yaw_diff": [
      0.07946080243894293,
      0.0042054637521262705,
      -0.06100015463086983,
      -0.18226691532110628,
      -0.2775206213132462,
      -0.3179099868950903,
      -0.2818157447025804,
      -0.28324848854090945,
      -0.42449871535922057,
      -0.42449871535922057
    ],
    "min_front_frame": [
      7,
      66.42734141217029
    ],
    "v_avg": 7.004233194584134,
    "v_std": 0.8789782346068887,
    "vy_max": 0.14958236516158863,
    "a_max": 2.243387466200909,
    "ax_avg": -0.5752611904182426,
    "a_std": 0.7522893634902802,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "f470121c6add5665",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.4253376403301,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      66.42734141217029,
      67.86080251571599,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f470121c6add5665",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "dfb437fd895b5e96": {
    "vx_ego": [
      0.8491295482909647,
      0.36328053893082785,
      0.024755753114174096,
      -0.05352427230476424,
      -0.026614119503536846,
      -0.013666869289042795,
      -0.008581394880848053,
      -0.005793338791013932,
      -0.003088944711215082,
      0.0002831442341513156
    ],
    "vy_ego": [
      0.017789680467983182,
      0.0014241533195534506,
      0.009412249150808238,
      0.01587727955746698,
      0.0061158697710414715,
      0.0035860862645733012,
      0.0024009476005470987,
      0.0016677258854335523,
      0.0013664436088620321,
      0.0012486546796111812
    ],
    "v_ego": [
      0.8493158791121067,
      0.36328333044409056,
      0.026484670024881012,
      0.05582952383730772,
      0.027307786801659326,
      0.014129519838293953,
      0.008910942008655316,
      0.00602860547526639,
      0.003377683757420686,
      0.0012803550938111023
    ],
    "ax_ego": [
      -0.9717180006806414,
      -0.9718400525282718,
      -0.3822403194744825,
      0.0691116295722059,
      0.03852624391539916,
      0.013263197704841394,
      0.007078764390302334,
      0.004073662310980847,
      0.006743893943248211,
      0.006743867476263388
    ],
    "ay_ego": [
      -0.02948428735312142,
      -0.025141663874936493,
      0.057553158703683854,
      -0.03171859972135867,
      -0.007339545962617874,
      -0.002777872382137843,
      -0.0019624842478349488,
      -0.0009697110693632942,
      -0.00023551323997177262,
      -0.00023627019354766944
    ],
    "a_ego": [
      0.9721652102639265,
      0.9721652076476274,
      0.3865488687200182,
      0.07604266506645845,
      0.03921913315164183,
      0.013550977393869205,
      0.007345764066209361,
      0.004187489006785751,
      0.006748005038823097,
      0.00674800504903206
    ],
    "yaw": [
      -0.4116206175390368,
      -0.4071518790587765,
      -0.40619789699701275,
      -0.4061076805638344,
      -0.4060215161681816,
      -0.4060470274263929,
      -0.4060522238028637,
      -0.4060782464657266,
      -0.4060741874932673,
      -0.40596123064349104
    ],
    "yaw_diff": [
      0.008937476960520607,
      0.0019079641235274503,
      0.00018043286635671674,
      0.000172328791305576,
      -5.102251642263855e-05,
      -1.0392752941568162e-05,
      -5.2045325725780245e-05,
      8.117944918617503e-06,
      0.00022591369955249352,
      0.00022591369955249352
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.13559482963934927,
    "v_std": 0.2596815726035565,
    "vy_max": 0.017789680467983182,
    "a_max": 0.9721652102639265,
    "ax_avg": -0.21802571133701543,
    "a_std": 0.3781419351495941,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dfb437fd895b5e96",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dfb437fd895b5e96",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7f572219da4e5fd4": {
    "vx_ego": [
      6.232778261264397,
      5.735763036933353,
      5.389699541104033,
      5.186464269429315,
      5.031601003129508,
      4.971346414899575,
      4.841767003280554,
      4.617099238038722,
      4.367300080097526,
      4.083136165132327
    ],
    "vy_ego": [
      0.0448608962367687,
      -0.03603755609413728,
      -0.09346741956204108,
      -0.09666270469196014,
      -0.09044040977295653,
      -0.06490582401583733,
      0.02189025983937576,
      0.049730169947642455,
      0.05001971201822242,
      0.018441427497156937
    ],
    "v_ego": [
      6.2329397040322165,
      5.7358762470349856,
      5.390509929672388,
      5.187364966584222,
      5.032413747141005,
      4.971770101576101,
      4.84181648738696,
      4.617367048838631,
      4.367586514450544,
      4.083177810144895
    ],
    "ax_ego": [
      -0.994047363965936,
      -0.9940094341428366,
      -0.39023274460887836,
      -0.42383864193826304,
      -0.19942085179357946,
      -0.05239799729294144,
      -0.46738858164173536,
      -0.4307266795488313,
      -0.5687931089756594,
      -0.5688169766686282
    ],
    "ay_ego": [
      -0.1644409178558464,
      -0.16467003190921642,
      -0.06421197779996526,
      -0.007097992451766871,
      -0.34401513380790216,
      0.00030233009277019773,
      -0.00719238753344989,
      0.033187390717978243,
      -0.005386267883385976,
      -0.0013622853734324147
    ],
    "a_ego": [
      1.0075569350031288,
      1.0075569336637729,
      0.39548043321757564,
      0.42389807253267436,
      0.3976368801041292,
      0.052398869489675946,
      0.46744391822710074,
      0.43200332797078006,
      0.5688186114218732,
      0.5688186079655599
    ],
    "yaw": [
      -0.5824638132689381,
      -0.5826942980543799,
      -0.582656143480386,
      -0.5854209608830043,
      -0.6039209129537371,
      -0.6262881601482934,
      -0.6441398257625,
      -0.6486566081320362,
      -0.6471795482199127,
      -0.6401051211545461
    ],
    "yaw_diff": [
      -0.0004609695708834849,
      7.630914798784083e-05,
      -0.005529634805236716,
      -0.03699990414146548,
      -0.04473449438911259,
      -0.03570333122841318,
      -0.009033564739072464,
      0.0029541198242468703,
      0.014148854130733302,
      0.014148854130733302
    ],
    "min_front_frame": [
      9,
      12.294078084916954
    ],
    "v_avg": 5.046082255686195,
    "v_std": 0.6034740573856703,
    "vy_max": 0.09666270469196014,
    "a_max": 1.0075569350031288,
    "ax_avg": -0.5089672380577289,
    "a_std": 0.27341925479062906,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7f572219da4e5fd4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.13305166392771,
      16.214705691299702,
      15.664618653504553,
      15.148836804273165,
      14.627286213813589,
      14.049770342321294,
      13.437801275498392,
      12.854505111499057,
      12.42003900940642,
      12.294078084916954
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7f572219da4e5fd4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cc3ebf79ba985643": {
    "vx_ego": [
      4.932437136273971,
      4.987646550041656,
      5.116164519318254,
      5.182053414243459,
      5.261487302960319,
      5.316453121425686,
      5.331709390575837,
      5.2980258658472,
      5.204691369551956,
      5.102770472787002
    ],
    "vy_ego": [
      -0.1855269947325089,
      -0.11929712432579209,
      -0.08661855713060973,
      -0.08039048823425787,
      -0.08280376605970119,
      -0.08774647036562122,
      -0.05156535341408608,
      0.005506385193009056,
      0.02941890072333364,
      0.03944371751986764
    ],
    "v_ego": [
      4.935925077335458,
      4.9890730513808705,
      5.1168977088828305,
      5.182676935587518,
      5.262138833486468,
      5.317177186757889,
      5.3319587405781075,
      5.298028727315837,
      5.204774512311593,
      5.102922917779444
    ],
    "ax_ego": [
      -0.060303673457749674,
      0.40620925776841543,
      0.18466286082713623,
      0.1174181119794242,
      0.20829493592229942,
      0.03046821339658079,
      0.035262406358074316,
      -0.17125257224915125,
      -0.2042627691293239,
      -0.20399705647563124
    ],
    "ay_ego": [
      2.2241041948085574,
      2.1875260036714215,
      2.1124217460237933,
      1.8482612184297065,
      1.3007587633304452,
      0.9692651410643556,
      0.5570655649535178,
      0.28545938082895106,
      0.06288177339334758,
      0.06373852229586272
    ],
    "a_ego": [
      2.224921572190247,
      2.224921566670481,
      2.1204777775876535,
      1.8519871880150995,
      1.3173306876831739,
      0.9697438969697539,
      0.5581805092970767,
      0.33288812175444,
      0.2137227088483388,
      0.21372271352194194
    ],
    "yaw": [
      -1.3141816976942255,
      -1.1034724680939734,
      -0.8989929151718368,
      -0.7087899563589759,
      -0.557523195186326,
      -0.4498459034427932,
      -0.38498601114054587,
      -0.3562352030410154,
      -0.3442149961268399,
      -0.3400179657852152
    ],
    "yaw_diff": [
      0.42141845920050436,
      0.4089591058442732,
      0.38040591762572173,
      0.30253352234529984,
      0.2153545834870656,
      0.12971978460449463,
      0.05750161619906091,
      0.02404041382835098,
      0.008394060683249438,
      0.008394060683249438
    ],
    "min_front_frame": [
      7,
      16.469335569547283
    ],
    "v_avg": 5.174157369141602,
    "v_std": 0.12992868438675634,
    "vy_max": 0.1855269947325089,
    "a_max": 2.224921572190247,
    "ax_avg": 0.034249971494007436,
    "a_std": 0.8092776203918458,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "cc3ebf79ba985643",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.946673988442816,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      21.72323618609974,
      19.088474439475505,
      16.469335569547283,
      21.230435947201396,
      18.71322874780367
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "cc3ebf79ba985643",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "3ba5c2d842785d59": {
    "vx_ego": [
      10.294739968445734,
      10.546844999595242,
      10.724573024038042,
      10.868935521343763,
      11.13579239985476,
      11.473747983550325,
      11.790027676738633,
      12.068445514008202,
      12.259371586413561,
      12.38860600041609
    ],
    "vy_ego": [
      -0.024733972617062394,
      0.002548040402054466,
      0.01978793536899176,
      -0.017941802231662057,
      -0.04938710850354433,
      -0.04079447642065476,
      -0.01902706681349481,
      -0.016521256240827342,
      -0.008485297232637912,
      -0.021420924645294215
    ],
    "v_ego": [
      10.294769681120384,
      10.546845307389175,
      10.724591279405974,
      10.868950329971867,
      11.135901914939327,
      11.473820504929106,
      11.790043029927181,
      12.06845682249775,
      12.25937452295317,
      12.388624519677647
    ],
    "ax_ego": [
      0.502687950385151,
      0.5062196820200655,
      0.20382316968125697,
      0.37294852278549373,
      0.6954689809830943,
      0.6564376706378258,
      0.608530156449233,
      0.50519444014518,
      0.2584731045940235,
      0.25847070078215606
    ],
    "ay_ego": [
      0.30291996475236577,
      0.2969803393265634,
      0.22103328562153546,
      0.10610173929937511,
      0.09909308493126125,
      -0.031570009711021245,
      0.07839622800066844,
      0.005266588685579405,
      -0.023320652989498508,
      -0.023347257403283625
    ],
    "a_ego": [
      0.5869034677934682,
      0.5869034745262776,
      0.30066525880381617,
      0.38774757217838834,
      0.702493091062722,
      0.657196379285194,
      0.6135592227917862,
      0.5052218911626701,
      0.25952302143418726,
      0.25952301938570693
    ],
    "yaw": [
      -1.5811021890515113,
      -1.569327955543862,
      -1.5588100947810188,
      -1.5477191004215114,
      -1.5401709110886963,
      -1.5394380733632842,
      -1.5403025655710947,
      -1.5387609767132386,
      -1.5397900649997678,
      -1.5396871234705107
    ],
    "yaw_diff": [
      0.02354846701529878,
      0.021035721525686224,
      0.02218198871901489,
      0.015096378665630183,
      0.001465675450824211,
      -0.001728984415620971,
      0.003083177715712093,
      -0.00205817657305829,
      0.00020588305851410027,
      0.00020588305851410027
    ],
    "min_front_frame": [
      1,
      20.809229477441036
    ],
    "v_avg": 11.355137791281157,
    "v_std": 0.7111638255214365,
    "vy_max": 0.04938710850354433,
    "a_max": 0.702493091062722,
    "ax_avg": 0.456825437846348,
    "a_std": 0.16117303113380155,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3ba5c2d842785d59",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.72107307066863,
    "right_rear_min": 10.417868970655046,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      20.809229477441036,
      23.262865883071825,
      26.03209504473705,
      28.937329726237056,
      31.855977679204155,
      34.77973534097237,
      37.359900802817315,
      40.030516427218025,
      42.45295117684661
    ],
    "safe_frame": [
      -1,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5555555555555556,
    "unsafe_ratio": 0.4444444444444444,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3ba5c2d842785d59",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0f31cc38f9f55c9a": {
    "vx_ego": [
      3.1283541287694145,
      3.624085209333726,
      4.086392204197372,
      4.453194146676465,
      4.757411382475443,
      5.028397242930789,
      5.251634936089282,
      5.428040117898567,
      5.601080613864131,
      5.826049252688141
    ],
    "vy_ego": [
      0.037119075627481735,
      0.0011267468186975105,
      0.039890625718149275,
      0.09902093917130617,
      0.151159858762149,
      0.11080300667974646,
      0.03888890924128138,
      0.01293225823599975,
      0.0012871250849779692,
      0.07202502609740424
    ],
    "v_ego": [
      3.1285743367809054,
      3.6240853844894256,
      4.086586902115902,
      4.4542949222506465,
      4.759812219511175,
      5.0296178919479795,
      5.251778922347689,
      5.4280555233729295,
      5.601080761754429,
      5.826494443413842
    ],
    "ax_ego": [
      0.9673480251262225,
      1.0185106217845572,
      0.8432397478923569,
      0.6492150655666072,
      0.6272572970503998,
      0.5186837822749215,
      0.40527770702196486,
      0.31020727190082087,
      0.3878499726303444,
      0.526006100499197
    ],
    "ay_ego": [
      -0.6649921729192578,
      -0.5836205136152498,
      -0.6911911361920057,
      -0.6762617259303167,
      -0.9039171097086548,
      -1.1452106321890487,
      -1.1754152714474606,
      -1.1575846341896863,
      -1.2124463022804122,
      -1.1592114645962834
    ],
    "a_ego": [
      1.1738725619757364,
      1.1738725614820773,
      1.090320347042997,
      0.9374487310338123,
      1.1002353647865633,
      1.257195393753039,
      1.2433225969799186,
      1.1984284446107827,
      1.272970399177767,
      1.2729703992685109
    ],
    "yaw": [
      0.5122756414547474,
      0.43037035128310913,
      0.33823718228569016,
      0.24492134916961128,
      0.14795334331832763,
      0.0518432722429965,
      -0.04668452225775002,
      -0.1507240473282947,
      -0.2561445439008363,
      -0.37251898338932604
    ],
    "yaw_diff": [
      -0.16381058034327645,
      -0.18426633799483794,
      -0.18663166623215777,
      -0.1939360117025673,
      -0.19222014215066224,
      -0.19705558900149306,
      -0.20807905014108935,
      -0.2108409931450832,
      -0.2327488789769795,
      -0.2327488789769795
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.719038130798493,
    "v_std": 0.8418835748094691,
    "vy_max": 0.151159858762149,
    "a_max": 1.2729703992685109,
    "ax_avg": 0.6253595591747392,
    "a_std": 0.10013824067326255,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "0f31cc38f9f55c9a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.499833684410266,
    "right_rear_min": 9.892431528228077,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0f31cc38f9f55c9a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "28c5e10661025e5f": {
    "vx_ego": [
      9.323938584111044,
      8.863770951354145,
      8.392094141216056,
      7.901534747369395,
      7.391961724721549,
      6.9063471584140075,
      6.367129651459127,
      5.82473878531985,
      5.507491219262038,
      5.418175637673347
    ],
    "vy_ego": [
      -0.05628397569251753,
      -0.03160358116865414,
      -0.06935255792517658,
      -0.08092154683276398,
      -0.0866972824744292,
      -0.04372819225222857,
      -0.07933130953154643,
      -0.07464050706514413,
      -0.040757397378540006,
      0.13300115685405722
    ],
    "v_ego": [
      9.324108461734795,
      8.86382729211328,
      8.392380702299176,
      7.9019491051656185,
      7.392470125643851,
      6.906485591625518,
      6.367623846864858,
      5.82521700218149,
      5.5076420268286785,
      5.419807796260075
    ],
    "ax_ego": [
      -0.9237905570526695,
      -0.9124700563323913,
      -0.9668500351001298,
      -0.9864025903762879,
      -1.046539467597487,
      -0.8959686243544998,
      -1.2614692325848484,
      -0.903558584741666,
      -0.3537655191591869,
      0.03806394497550525
    ],
    "ay_ego": [
      0.4682236977951464,
      0.4899192035485994,
      0.5241030862040927,
      0.4804419965670082,
      0.24665507755520838,
      -0.09015526002746732,
      -0.517087086598965,
      -1.2555428162665516,
      -1.8769846206373142,
      -1.909652436168758
    ],
    "a_ego": [
      1.0356748642680491,
      1.035674866794078,
      1.09976499096024,
      1.0971848442110126,
      1.0752132739707958,
      0.9004930575736355,
      1.3633354979188403,
      1.5468697034782555,
      1.9100317559284117,
      1.9100317512733578
    ],
    "yaw": [
      -2.545393993838828,
      -2.521764985427324,
      -2.4880375919832467,
      -2.455803676478547,
      -2.431302224116786,
      -2.4318413488252633,
      -2.4492309230340275,
      -2.523207054399508,
      -2.6689122666186553,
      -2.8751321259953393
    ],
    "yaw_diff": [
      0.04725801682300812,
      0.06745478688815432,
      0.06446783100939957,
      0.049002904723521645,
      -0.0010782494169543355,
      -0.03477914841752838,
      -0.14795226273096151,
      -0.29141042443829424,
      -0.41243971875336793,
      -0.41243971875336793
    ],
    "min_front_frame": [
      3,
      39.14646044156608
    ],
    "v_avg": 7.190151195071733,
    "v_std": 1.3391387497667353,
    "vy_max": 0.13300115685405722,
    "a_max": 1.9100317559284117,
    "ax_avg": -0.8212750722323662,
    "a_std": 0.35217407711809234,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "28c5e10661025e5f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.184107396426468,
    "right_rear_min": 11.258022145498193,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      39.14646044156608,
      40.7774780737711,
      43.005742762222674,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6666666666666666,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "28c5e10661025e5f",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "b1899626476e5293": {
    "vx_ego": [
      8.198150810822916,
      7.754992113481629,
      7.3124980497331284,
      6.820788895819127,
      6.277732066087364,
      5.717194209848501,
      5.13414917979883,
      4.590890668144957,
      4.091631738268987,
      3.5903684245466216
    ],
    "vy_ego": [
      -0.039093737290250674,
      -0.018812112357668748,
      0.0017022084853251795,
      -0.005638191290182115,
      -0.016626554414337635,
      -0.022465231938588126,
      -0.016395254442061802,
      0.005282107594612687,
      0.029264278268501615,
      0.03281026268890473
    ],
    "v_ego": [
      8.198244021575093,
      7.755014930722805,
      7.312498247853775,
      6.820791226135757,
      6.277754083738325,
      5.717238347294197,
      5.134175357815237,
      4.590893706841958,
      4.09173638930866,
      3.5905183382513317
    ],
    "ax_ego": [
      -0.8863948437378397,
      -0.8864193230663677,
      -0.8835604763189159,
      -1.0833477943375487,
      -1.0886785815184097,
      -1.1534310765552667,
      -1.1790588747128237,
      -0.9941493173158297,
      -1.0026696551143157,
      -1.0026259471923842
    ],
    "ay_ego": [
      0.01639836948286337,
      0.015017327464324591,
      0.06524780548638104,
      0.011030580231813827,
      0.03675449794595492,
      -0.03607741414775264,
      -0.01654075722201194,
      0.01954610178009219,
      0.02122158405551646,
      0.023194522461695948
    ],
    "a_ego": [
      0.8865465162791661,
      0.8865465224282414,
      0.8859663602156111,
      1.0834039492249796,
      1.0892988327250681,
      1.1539951595110916,
      1.1791748923245218,
      0.9943414480018059,
      1.0028942082377814,
      1.0028941997317822
    ],
    "yaw": [
      1.5944557085629052,
      1.5928976839634637,
      1.5928382102405412,
      1.5965623207220783,
      1.6000638267590959,
      1.601064224696608,
      1.5975230673518546,
      1.5931989843544136,
      1.5900232122605622,
      1.5919909420845575
    ],
    "yaw_diff": [
      -0.0031160491988830863,
      -0.00011894744584495243,
      0.007448220963074181,
      0.0070030120740351975,
      0.0020007958750243304,
      -0.00708231468950693,
      -0.008648165994881829,
      -0.0063515441877028955,
      0.00393545964799058,
      0.00393545964799058
    ],
    "min_front_frame": [
      9,
      15.914694511533794
    ],
    "v_avg": 5.948886464953713,
    "v_std": 1.5040606491834054,
    "vy_max": 0.039093737290250674,
    "a_max": 1.1791748923245218,
    "ax_avg": -1.01603358898697,
    "a_std": 0.10335372743201539,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b1899626476e5293",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.768979897321402,
    "speed_mode": "decelerating",
    "front_frame": [
      42.67279318895272,
      38.71138179253356,
      34.96941715053424,
      31.379782301538665,
      28.12483426991664,
      25.12205469569116,
      22.427761896904947,
      20.032069854452455,
      17.849860413749724,
      15.914694511533794
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b1899626476e5293",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "200bc08880505a6e": {
    "vx_ego": [
      1.159267852704776,
      1.7428250342694036,
      2.37167893290345,
      3.079115859797951,
      3.811638687343206,
      4.535457638198817,
      5.244253009307329,
      5.894384343743853,
      6.467476359552982,
      7.007817856407003
    ],
    "vy_ego": [
      0.013108559210559423,
      0.0038294613096157004,
      -0.015413749277345956,
      -0.012326934767473263,
      0.00919910376089117,
      0.00576025892771348,
      -0.008928651827262879,
      -0.0012269543411367323,
      0.0077734493932175575,
      0.01010655267984406
    ],
    "v_ego": [
      1.159341963632525,
      1.742829241449107,
      2.371729020028391,
      3.079140534529081,
      3.811649788000131,
      4.535461296106374,
      5.244260610081504,
      5.894384471443105,
      6.4674810311196245,
      7.00782514415021
    ],
    "ax_ego": [
      1.167121511206577,
      1.1671516925852679,
      1.3482628936325654,
      1.481233796433676,
      1.4489164795817833,
      1.4465049434262944,
      1.3886564257499991,
      1.2117183990629306,
      1.0806972468600817,
      1.0807264555495781
    ],
    "ay_ego": [
      -0.023240337572562164,
      -0.02167256258282879,
      -0.06651893707946466,
      0.05551886960435948,
      -0.004013227637878591,
      -0.05400851006372409,
      -0.04876325236189982,
      0.015167172871822343,
      -0.01853889063663161,
      -0.016749602532023955
    ],
    "a_ego": [
      1.1673528751888225,
      1.1673528915771625,
      1.349902811070723,
      1.4822738966127234,
      1.4489220375160774,
      1.4475128567705402,
      1.3895123329994856,
      1.2118133196827616,
      1.0808562484609123,
      1.0808562443311946
    ],
    "yaw": [
      -2.023535345490762,
      -2.0248786066058444,
      -2.026257082491511,
      -2.0284118675081215,
      -2.0309194287135455,
      -2.0335708380749544,
      -2.035817893891341,
      -2.0386974239238893,
      -2.040285747850204,
      -2.0419414042098385
    ],
    "yaw_diff": [
      -0.002686522230164634,
      -0.0027569517713335046,
      -0.004309570033220744,
      -0.005015122410847894,
      -0.0053028187228179036,
      -0.004494111632773468,
      -0.0057590600650963,
      -0.0031766478526291664,
      -0.0033113127192692104,
      -0.0033113127192692104
    ],
    "min_front_frame": [
      0,
      16.219904888672964
    ],
    "v_avg": 4.131410310054005,
    "v_std": 1.9257535171061586,
    "vy_max": 0.015413749277345956,
    "a_max": 1.4822738966127234,
    "ax_avg": 1.2820989844088753,
    "a_std": 0.1495541615236536,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "200bc08880505a6e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.37205753792387,
    "right_rear_min": 3.559916435760147,
    "speed_mode": "accelerating",
    "front_frame": [
      16.219904888672964,
      17.285653139926957,
      18.438110000232978,
      19.42535766439403,
      20.349664110153114,
      21.329232453239428,
      21.980471527345216,
      22.591296555147366,
      23.116678274189606,
      23.51154116906459
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "200bc08880505a6e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0b97850e408e5a95": {
    "vx_ego": [
      2.551658535578461,
      3.0969393191542625,
      3.7129451805557547,
      4.364841741125268,
      4.99068826793012,
      5.598239805858999,
      6.057905580479305,
      6.416688486183846,
      6.681898148485876,
      6.8333505005638
    ],
    "vy_ego": [
      0.05731120720874694,
      0.025993020205218098,
      0.00482332823709708,
      -0.010725616147303718,
      -0.0007643640024612708,
      0.05154649841480996,
      0.07345326560903809,
      -0.009480114304115883,
      -0.04246947878491536,
      -0.03814264785371968
    ],
    "v_ego": [
      2.5523020700266144,
      3.0970483986568658,
      3.7129483134441137,
      4.364854918999164,
      4.9906883264643636,
      5.598477111269013,
      6.058350881570903,
      6.416695489213397,
      6.682033113010384,
      6.833456952753916
    ],
    "ax_ego": [
      1.0896141896680163,
      1.0957176677154359,
      1.3708199806206278,
      1.2376028931991883,
      1.264364213328629,
      1.169229263126242,
      0.6791314601301738,
      0.7568382261539702,
      0.30274297183475735,
      0.30277209469503835
    ],
    "ay_ego": [
      -0.23477866902552286,
      -0.20440860991463988,
      -0.259779830232193,
      -0.33441245242897377,
      -0.3018931972071249,
      -0.28042455064978955,
      -0.3861957465157259,
      -0.2621694474174074,
      -0.01625561766008002,
      -0.015703799796635026
    ],
    "a_ego": [
      1.1146210592642163,
      1.1146210509186474,
      1.3952178967688902,
      1.2819877571937113,
      1.299906291417217,
      1.202387208164604,
      0.7812596845898172,
      0.8009599988308012,
      0.303179075961471,
      0.3031790735754598
    ],
    "yaw": [
      2.4621826320214946,
      2.434389969125017,
      2.406242921335759,
      2.373451473504176,
      2.337293136077534,
      2.3000043876426615,
      2.267989611837077,
      2.255278926920342,
      2.249736010926688,
      2.247913375495958
    ],
    "yaw_diff": [
      -0.055585325792955054,
      -0.05629409557851606,
      -0.06558289566316589,
      -0.07231667485328419,
      -0.07457749686974502,
      -0.06402955161116886,
      -0.02542136983347021,
      -0.011085831987307948,
      -0.003645270861460048,
      -0.003645270861460048
    ],
    "min_front_frame": [
      9,
      27.937984541890184
    ],
    "v_avg": 5.030685557540873,
    "v_std": 1.4607922263395938,
    "vy_max": 0.07345326560903809,
    "a_max": 1.3952178967688902,
    "ax_avg": 0.926883296047208,
    "a_std": 0.37884858184730946,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "0b97850e408e5a95",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      40.487445542393175,
      32.260683547091986,
      29.20574044290018,
      31.268067480530036,
      27.937984541890184
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0b97850e408e5a95",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8dee25a9bcb35544": {
    "vx_ego": [
      2.167644673009181,
      1.5711403530729804,
      1.0308375275001544,
      0.6292151804414817,
      0.37783724406404473,
      0.19219669703087447,
      0.03213844704812508,
      -0.02928755031359407,
      -0.01903346334811542,
      -0.008178446643931754
    ],
    "vy_ego": [
      -0.025022065346763323,
      -0.004132484316746954,
      0.0003760768135908643,
      -0.01783248094188894,
      -0.02434116142869841,
      -0.01946053215056949,
      -0.008442223278189378,
      0.002510086182144709,
      0.0006621933368473913,
      -0.00037505629170546135
    ],
    "v_ego": [
      2.1677890884906903,
      1.5711457877870272,
      1.03083759610154,
      0.6294678233830139,
      0.3786204895955982,
      0.1931794053753171,
      0.03322876634098748,
      0.02939491683970373,
      0.019044979050642667,
      0.008187042001210598
    ],
    "ax_ego": [
      -1.1929991137084612,
      -1.192917091166266,
      -0.9683453575778722,
      -0.63813692440929,
      -0.3673267109026241,
      -0.37523511732633724,
      -0.2650073687487951,
      0.019306313212760034,
      0.021710081684020097,
      0.021709946528684066
    ],
    "ay_ego": [
      0.04713202628638774,
      0.04916422447954705,
      -0.021819106428471235,
      -0.0499422606533117,
      0.024650330484708743,
      -0.005122384631623955,
      0.049150540163960005,
      -0.00531538481336942,
      -0.0020755212490608,
      -0.002076879557615964
    ],
    "a_ego": [
      1.1939297773366047,
      1.1939297748884818,
      0.9685911443679186,
      0.6400882468017292,
      0.3681528912497433,
      0.3752700788755005,
      0.269526772491285,
      0.02002466093554123,
      0.021809067728404342,
      0.021809062496475275
    ],
    "yaw": [
      -2.0490760348049535,
      -2.047372541788024,
      -2.045543894997709,
      -2.0452038442546083,
      -2.0448084708395378,
      -2.0448037296032093,
      -2.044918285492953,
      -2.045108188756281,
      -2.045114940864086,
      -2.0450524436628896
    ],
    "yaw_diff": [
      0.0034069860338590274,
      0.003657293580629606,
      0.0006801014862016785,
      0.0007907468301411313,
      9.482472656863195e-06,
      -0.00022911177948703454,
      -0.0003798065266567008,
      -1.3504215609749792e-05,
      0.00012499440239288617,
      0.00012499440239288617
    ],
    "min_front_frame": [
      8,
      9.959615698570527
    ],
    "v_avg": 0.6060895894965731,
    "v_std": 0.7166790294577496,
    "vy_max": 0.025022065346763323,
    "a_max": 1.1939297773366047,
    "ax_avg": -0.49372413424141814,
    "a_std": 0.4444674580847315,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8dee25a9bcb35544",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.790464825383326,
    "right_rear_min": 5.620181255851406,
    "speed_mode": "decelerating",
    "front_frame": [
      12.421215364744837,
      11.43987728956937,
      10.801836524066905,
      10.411317390614725,
      10.142099462392826,
      10.001889252971916,
      9.95964912760265,
      9.965360424996742,
      9.959615698570527,
      9.963728655970204
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8dee25a9bcb35544",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "68d46e380acc5f56": {
    "vx_ego": [
      7.3873269886021635,
      7.309002408594317,
      7.26870602268813,
      7.234835923151235,
      7.219563374828992,
      7.265613774180168,
      7.261213068336303,
      7.275714389466158,
      7.338310708422956,
      7.369638780955196
    ],
    "vy_ego": [
      0.07665518176944142,
      0.011423305140789264,
      0.0010288662391331194,
      0.012616439269931945,
      0.025202122839614205,
      0.02528225239165849,
      0.00923742104133174,
      0.021747536344837837,
      0.03272431439698131,
      -0.021547854010436573
    ],
    "v_ego": [
      7.3877246871700635,
      7.309011335381679,
      7.268706095504786,
      7.234846923706087,
      7.219607362604132,
      7.265657761541111,
      7.2612189440703006,
      7.275746891723348,
      7.33838367313319,
      7.36967028243267
    ],
    "ax_ego": [
      -0.15782013127818884,
      -0.15743966569149379,
      -0.00362707150936295,
      -0.1321145306438719,
      0.07090005161880857,
      0.11317323267841514,
      -0.13072838803062103,
      0.18886949419981303,
      0.06256983953514057,
      0.06277762851078832
    ],
    "ay_ego": [
      0.03311637879869621,
      0.03488037645990374,
      0.11988431976383099,
      0.0367046670539971,
      0.07986324128518583,
      -0.057660279482583975,
      -0.031400381038921205,
      -0.001813001357576352,
      -0.13179132998978185,
      -0.1316924789507636
    ],
    "a_ego": [
      0.16125721187408487,
      0.1612572137767298,
      0.11993917530552939,
      0.13711849543659435,
      0.10679398217186926,
      0.1270153078368603,
      0.13444662645999736,
      0.18887819570616343,
      0.1458901623822827,
      0.14589016297761773
    ],
    "yaw": [
      1.031216199670768,
      1.0424068499631995,
      1.0491589740956937,
      1.0529509772511196,
      1.055249879625619,
      1.0560057705059038,
      1.0551529577201544,
      1.0522736045351917,
      1.0462133921458325,
      1.0446361739882128
    ],
    "yaw_diff": [
      0.022381300584862984,
      0.013504248264988306,
      0.007584006310851876,
      0.004597804748998513,
      0.0015117817605698747,
      -0.0017056255714988922,
      -0.0057587063699253704,
      -0.01212042477871833,
      -0.003154436315239373,
      -0.003154436315239373
    ],
    "min_front_frame": [
      0,
      20.849685322328956
    ],
    "v_avg": 7.293057395726737,
    "v_std": 0.05346107260426699,
    "vy_max": 0.07665518176944142,
    "a_max": 0.18887819570616343,
    "ax_avg": -0.008343954061057292,
    "a_std": 0.02234698535639646,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "68d46e380acc5f56",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      20.849685322328956,
      21.442703021139998,
      21.98977965731388,
      22.528879005233495,
      22.807805702622726,
      22.94551514489025,
      23.128192942274996,
      23.151509617014955,
      23.357580167079938,
      23.653405215480547
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "68d46e380acc5f56",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5ebe40763ac05b5c": {
    "vx_ego": [
      3.6517436571406128,
      3.65315077583426,
      3.6821392452108586,
      3.736202048925703,
      3.8172349532331076,
      3.880453603433617,
      3.948756454382012,
      4.0336503913862,
      4.176252895393803,
      4.370106620106117
    ],
    "vy_ego": [
      -0.04283294838663476,
      -0.022779843877236416,
      -0.05180787661127817,
      -0.06281081043196979,
      -0.04741660371030254,
      -0.027698820177576744,
      -0.009961561349398407,
      -0.013562856232886666,
      -0.027931270785098272,
      0.06182393039480649
    ],
    "v_ego": [
      3.651994851986266,
      3.653221798942069,
      3.682503696834663,
      3.7367299806520333,
      3.817529439636581,
      3.8805524597716974,
      3.9487690194196112,
      4.033673193380846,
      4.176346298162162,
      4.370543910025933
    ],
    "ax_ego": [
      -0.05584828692500646,
      0.07887857721549746,
      0.04408476629261959,
      0.20213041657531822,
      0.1480219872354519,
      0.12807847852502746,
      0.15263592815502303,
      0.18343520597709229,
      0.37948371797335345,
      0.39360524567265337
    ],
    "ay_ego": [
      1.0107856597785656,
      1.0092496484239895,
      0.8169134690699382,
      0.8695190741769754,
      0.8919335212355041,
      0.9886519302133026,
      0.9628592713890729,
      0.8060740536920004,
      0.45457984425937387,
      0.4424089034856207
    ],
    "a_ego": [
      1.0123273586970016,
      1.0123273594976516,
      0.8181021223337315,
      0.8927038286366291,
      0.9041326866166811,
      0.9969136049707491,
      0.9748824047358952,
      0.826682438925197,
      0.5921576876253117,
      0.5921576878707048
    ],
    "yaw": [
      1.8289020458720597,
      1.96209538897281,
      2.0941389228702962,
      2.211262212432131,
      2.3234665220117545,
      2.44028729974938,
      2.5603362663853346,
      2.672032159310173,
      2.752747109976633,
      2.78423103041436
    ],
    "yaw_diff": [
      0.26638668620150074,
      0.26408706779497226,
      0.23424657912366964,
      0.22440861915924692,
      0.23364155547525112,
      0.2400979332719091,
      0.22339178584967634,
      0.16142990133292034,
      0.06296784087545415,
      0.06296784087545415
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8951864648811863,
    "v_std": 0.22832903049449738,
    "vy_max": 0.06281081043196979,
    "a_max": 1.0123273594976516,
    "ax_avg": 0.16545060366970304,
    "a_std": 0.150884779600226,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "5ebe40763ac05b5c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5ebe40763ac05b5c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1727319cfd2b5661": {
    "vx_ego": [
      8.978339013822227,
      9.099853453041987,
      9.2246219881101,
      9.262872213172203,
      9.240857777917917,
      9.249987458051246,
      9.247953115288661,
      9.24763831977151,
      9.222362393489494,
      9.157818636940794
    ],
    "vy_ego": [
      -0.09108339527327458,
      -0.04121380152703891,
      -0.01856619832300299,
      -0.026921587381870893,
      -0.050739984346760636,
      -0.06040714812386794,
      -0.07343468393044028,
      -0.07588188455212297,
      -0.07005666534528254,
      -0.05763117415231589
    ],
    "v_ego": [
      8.978801013053847,
      9.099946782496945,
      9.22464067198525,
      9.262911335504883,
      9.240997079196463,
      9.250184700731646,
      9.24824466995663,
      9.247949640526253,
      9.22262847854171,
      9.157999974849002
    ],
    "ax_ego": [
      0.24201861345214293,
      0.2421970843472324,
      0.2564780970978665,
      -0.10412555886463684,
      0.015352768688053575,
      0.02073882777155435,
      -0.029446345943010252,
      0.02776414765560055,
      -0.12938192023696865,
      -0.12934888127266192
    ],
    "ay_ego": [
      -0.026558599177992068,
      -0.024878433424493085,
      -0.1565015210450952,
      -0.1789201891286263,
      -0.03177072498227035,
      -0.0882975073390584,
      -0.035596125104618875,
      -0.025694453200473852,
      -0.015032009954414423,
      -0.01531371246545283
    ],
    "a_ego": [
      0.24347149411706295,
      0.24347148522148818,
      0.3004558875781452,
      0.20701344421726905,
      0.03528578286346975,
      0.0907003240326586,
      0.046197093110488176,
      0.03782925878620053,
      0.13025222688105925,
      0.1302522279117089
    ],
    "yaw": [
      1.4045987531778925,
      1.3976590377874725,
      1.3902366665460109,
      1.3821086586670972,
      1.3789848602376487,
      1.3767836230448616,
      1.3748446284795617,
      1.3734512795696199,
      1.3717216796433578,
      1.3695441250570692
    ],
    "yaw_diff": [
      -0.013879430780840085,
      -0.014844742482923223,
      -0.016256015757827313,
      -0.0062475968588970865,
      -0.004402474385574173,
      -0.0038779891305997793,
      -0.00278669781988361,
      -0.0034591998525241863,
      -0.004355109172577087,
      -0.004355109172577087
    ],
    "min_front_frame": [
      0,
      14.819892373988292
    ],
    "v_avg": 9.193430434684263,
    "v_std": 0.08612495351233439,
    "vy_max": 0.09108339527327458,
    "a_max": 0.3004558875781452,
    "ax_avg": 0.041224683269517275,
    "a_std": 0.0916795618741744,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1727319cfd2b5661",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.6645212090075887,
    "right_rear_min": 4.000575001227109,
    "speed_mode": "quasi_constant",
    "front_frame": [
      14.819892373988292,
      15.789514171468326,
      16.535869623097508,
      17.46648783382373,
      18.414112740382176,
      19.519218931086808,
      20.545527511090505,
      21.554363143720348,
      22.460018169967437,
      23.267022253006196
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1727319cfd2b5661",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c35e290a671a5084": {
    "vx_ego": [
      4.736061305902339,
      4.636422573261768,
      4.538779248673947,
      4.449355817946905,
      4.394592229223659,
      4.333365303840944,
      4.248493283578863,
      4.188789753364886,
      4.109459834874711,
      3.9950258877217797
    ],
    "vy_ego": [
      -0.026150976440519447,
      -0.01910059968872302,
      -0.010932991910552303,
      0.0014233255891009655,
      0.016678843132309495,
      0.054045437977609634,
      0.055605728658304265,
      0.0664325465548199,
      0.05095945557341075,
      0.03235940420904604
    ],
    "v_ego": [
      4.736133503907398,
      4.636461917320118,
      4.538792416326765,
      4.449356045604094,
      4.394623879806007,
      4.333702316253241,
      4.248857161364022,
      4.189316517182298,
      4.109775784706609,
      3.99515693992213
    ],
    "ax_ego": [
      -0.20221414043083202,
      -0.1935728287294755,
      -0.19478214051652343,
      -0.16470041901989407,
      -0.05389937971703765,
      -0.18592692632547533,
      -0.14901799606127974,
      -0.08488212021766434,
      -0.2288404906377206,
      -0.2262400595360968
    ],
    "ay_ego": [
      0.2887620359111913,
      0.29462455942885285,
      0.3154863785259772,
      0.10362564300805163,
      -0.10055760387946482,
      -0.20715809909388094,
      -0.1723788566203791,
      -0.14418738302366146,
      -0.1631602071963616,
      -0.16674728910358622
    ],
    "a_ego": [
      0.3525252784890133,
      0.3525252771660161,
      0.3707718129788656,
      0.19458803127160942,
      0.11409195778783343,
      0.27835822235570645,
      0.22786143456028007,
      0.16731699183244383,
      0.28105021502868904,
      0.2810502143074998
    ],
    "yaw": [
      -0.6873618462069739,
      -0.6577393636566995,
      -0.626275540491652,
      -0.6056937801798621,
      -0.6089805505704748,
      -0.6350710645973718,
      -0.6575706807103409,
      -0.6789368584690181,
      -0.6936623045812124,
      -0.7094265689488306
    ],
    "yaw_diff": [
      0.059244965100548885,
      0.06292764633009496,
      0.04116352062357986,
      -0.0065735407812255175,
      -0.05218102805379399,
      -0.044999232225938046,
      -0.04273235551735444,
      -0.02945089222438857,
      -0.03152852873523648,
      -0.03152852873523648
    ],
    "min_front_frame": [
      0,
      19.676406877666324
    ],
    "v_avg": 4.363217648239268,
    "v_std": 0.22290219434234085,
    "vy_max": 0.0664325465548199,
    "a_max": 0.3707718129788656,
    "ax_avg": -0.16840765011919995,
    "a_std": 0.08109614427778053,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c35e290a671a5084",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 31.085412057958198,
    "right_rear_min": 30.652642181639838,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.676406877666324,
      26.023904020290583,
      52.614074727266754,
      56.82981434825852,
      -1,
      46.1245815864527,
      43.9921780059674,
      68.00558155590805,
      65.83266611248158,
      60.468959334814315
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1111111111111111,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8888888888888888,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c35e290a671a5084",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ce3a4f649e23590d": {
    "vx_ego": [
      9.37702909720475,
      9.61670724771258,
      9.835559995243685,
      10.022358987303736,
      10.222970192755461,
      10.413495751385721,
      10.568189899943732,
      10.670325420427409,
      10.735524834678131,
      10.817841681530965
    ],
    "vy_ego": [
      0.020356820523428354,
      -0.04761071362874869,
      -0.07810623815471374,
      -0.009904139835300363,
      0.022948995212218826,
      0.019152331781559617,
      -0.020089318700582837,
      -0.03592496451159288,
      -0.023642454012479774,
      0.05400917084785739
    ],
    "v_ego": [
      9.377051193737099,
      9.616825103341533,
      9.835870119337518,
      10.022363880960112,
      10.22299595120471,
      10.413513363699167,
      10.56820899405375,
      10.67038589653132,
      10.735550868102793,
      10.817976503820129
    ],
    "ax_ego": [
      0.4733455004344932,
      0.4868039038331391,
      0.39516378921175754,
      0.3551176586810095,
      0.4460534880945324,
      0.31463395617267137,
      0.30616808056151157,
      0.10259909496698824,
      0.16116432804342543,
      0.16726195918712466
    ],
    "ay_ego": [
      0.4494369007486415,
      0.4348234676265847,
      0.4428852380999004,
      0.472465122165015,
      0.38219053307073086,
      0.404772974624219,
      0.5534675147764195,
      0.34925163157431677,
      0.44950412530938066,
      0.44727099720827923
    ],
    "a_ego": [
      0.6527246667134046,
      0.6527246653727677,
      0.5935501279849915,
      0.5910430129605497,
      0.5873953675423297,
      0.5126750309533371,
      0.6325070619902251,
      0.3640099949800381,
      0.4775226688900122,
      0.4775226779272414
    ],
    "yaw": [
      -0.811005933488615,
      -0.7805683709768549,
      -0.754904010561781,
      -0.7387340330994032,
      -0.7208524543751709,
      -0.7014486961724734,
      -0.6748772129473843,
      -0.6521893974521846,
      -0.6346680281020971,
      -0.6210692000564328
    ],
    "yaw_diff": [
      0.060875125023520216,
      0.051328720830147834,
      0.03233995492475561,
      0.0357631574484647,
      0.038807516405394926,
      0.05314296645017813,
      0.04537563099039943,
      0.03504273870017505,
      0.027197656091328515,
      0.027197656091328515
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.228074187478812,
    "v_std": 0.47384264005912485,
    "vy_max": 0.07810623815471374,
    "a_max": 0.6527246667134046,
    "ax_avg": 0.32083117591866533,
    "a_std": 0.08899964243954503,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "ce3a4f649e23590d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ce3a4f649e23590d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d3b390ffae355616": {
    "vx_ego": [
      6.551116886312974,
      6.318086192931012,
      6.0568745190829425,
      5.598905630243726,
      4.928889629997826,
      4.18228008346771,
      3.3820567323224666,
      2.5878052584440887,
      1.8942081146370955,
      1.2747551734133125
    ],
    "vy_ego": [
      0.014551545053678838,
      -0.009434030746513472,
      -0.01156397026951217,
      -0.0014501922847581228,
      -0.0060680163061914705,
      -0.014900130548114579,
      -0.00917355260981248,
      0.0016823122307727534,
      -0.02044868411083754,
      -0.06776190174606572
    ],
    "v_ego": [
      6.551133047465792,
      6.318093236273236,
      6.056885558215924,
      5.598905818053431,
      4.928893365200956,
      4.182306625590838,
      3.382069173555622,
      2.5878058052731308,
      1.8943184870129113,
      1.2765549057804948
    ],
    "ax_ego": [
      -0.4660766372247092,
      -0.46603924617473347,
      -0.5788400301527278,
      -1.253035661428695,
      -1.427028657158802,
      -1.5594581667850724,
      -1.6415494658236918,
      -1.5354581192492893,
      -1.23892865619216,
      -1.2389126955825263
    ],
    "ay_ego": [
      -0.05633451603921129,
      -0.05664298103506056,
      0.0391274452712692,
      0.00081849238874631,
      -0.027560827603448454,
      -0.02948324223005481,
      0.030162170274800504,
      0.0052840504647862635,
      -0.09505414782610924,
      -0.0952619940564844
    ],
    "a_ego": [
      0.46946885888636464,
      0.4694688554905981,
      0.5801609582526792,
      1.2530359287513817,
      1.427294779493935,
      1.5597368481654381,
      1.6418265454248613,
      1.5354672113587706,
      1.242569718829917,
      1.242569722304217
    ],
    "yaw": [
      -1.5409219097707152,
      -1.5415837690554919,
      -1.5419464094158704,
      -1.541967940054443,
      -1.5423591426949945,
      -1.5435465305244667,
      -1.5450117768592952,
      -1.5456828839183756,
      -1.545824233917946,
      -1.5459919978558583
    ],
    "yaw_diff": [
      -0.0013237185695533782,
      -0.0007252807207569489,
      -4.306127714537311e-05,
      -0.0007824052811029603,
      -0.0023747756589442837,
      -0.00293049266965717,
      -0.0013422141181607117,
      -0.0002826999991407675,
      -0.00033552787582458166,
      -0.00033552787582458166
    ],
    "min_front_frame": [
      9,
      14.222841281685998
    ],
    "v_avg": 4.277696602242233,
    "v_std": 1.817174108842199,
    "vy_max": 0.06776190174606572,
    "a_max": 1.6418265454248613,
    "ax_avg": -1.1405327335772406,
    "a_std": 0.43741934701481444,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d3b390ffae355616",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.786941249944901,
    "right_rear_min": 38.04206398828351,
    "speed_mode": "decelerating",
    "front_frame": [
      26.575310839296392,
      24.572499037219764,
      22.506626873405192,
      20.362047928744737,
      18.410714047406998,
      16.792660944298685,
      15.575382842144927,
      14.757478402595074,
      14.361933020517949,
      14.222841281685998
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d3b390ffae355616",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a460a03aab635f35": {
    "vx_ego": [
      6.372835066623772,
      6.462131188401628,
      6.567069405729949,
      6.692281386527137,
      6.83158264481022,
      6.945706576437023,
      7.0424554129802655,
      7.111386627447726,
      7.165591402616239,
      7.2448119085352065
    ],
    "vy_ego": [
      -0.04287993626270925,
      -0.017433878896886412,
      0.01578722667314514,
      0.049851108947898126,
      0.0486559419401309,
      0.01788958775425753,
      -0.006257176094500494,
      -0.022651663521384702,
      -0.03169659758842691,
      -0.01540511537742928
    ],
    "v_ego": [
      6.372979324878083,
      6.462154705378572,
      6.567088381939164,
      6.6924670555424415,
      6.831755911444604,
      6.945729614900837,
      7.042458192709965,
      7.111422703151784,
      7.165661506347229,
      7.244828286966733
    ],
    "ax_ego": [
      0.169922337418054,
      0.19187817652935352,
      0.23150400422955703,
      0.26289234375401765,
      0.2802859619064799,
      0.16999579536589904,
      0.21416432258303378,
      0.062467583166361376,
      0.1570127667176816,
      0.16138615268894357
    ],
    "ay_ego": [
      0.5603595696497712,
      0.5532261865446424,
      0.7133546780382624,
      0.7102718833982892,
      0.4572505013830945,
      0.357579626964288,
      0.13511542977145372,
      0.16160271084196048,
      0.2691520565970347,
      0.26655271170642875
    ],
    "a_ego": [
      0.5855565284852452,
      0.5855565285324358,
      0.7499793334841912,
      0.7573628804943067,
      0.536319160068827,
      0.3959315093068548,
      0.2532242808850968,
      0.17325598142089227,
      0.31160205147391834,
      0.31160205133758273
    ],
    "yaw": [
      -1.061368222807793,
      -1.021940644133121,
      -0.9784084298842722,
      -0.9298434509897309,
      -0.8864942843759769,
      -0.852527795299701,
      -0.8314483347579726,
      -0.8186842021298183,
      -0.8023047426857366,
      -0.7859775074922555
    ],
    "yaw_diff": [
      0.07885515734934412,
      0.08706442849769735,
      0.09712995778908273,
      0.08669833322750797,
      0.06793297815255173,
      0.04215892108345676,
      0.02552826525630869,
      0.0327589188881634,
      0.03265447038696223,
      0.03265447038696223
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.843654568325941,
    "v_std": 0.29203359714677646,
    "vy_max": 0.049851108947898126,
    "a_max": 0.7573628804943067,
    "ax_avg": 0.19015094443593816,
    "a_std": 0.19560892094690693,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "a460a03aab635f35",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.51571512854635,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a460a03aab635f35",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1e858b49f4a95ee8": {
    "vx_ego": [
      0.9115228357947109,
      1.3427756809543991,
      1.671098731462582,
      1.8438305025767017,
      1.8977599715701472,
      1.8637581852892557,
      1.8801652258249895,
      2.002730737642194,
      2.1210505494322116,
      2.2012823765186007
    ],
    "vy_ego": [
      -0.0006915442583237952,
      -0.013224005535882433,
      -0.018030285682063774,
      -0.0026443520056752545,
      -0.0012255208321163558,
      -0.008687175476447817,
      -0.00774104721458313,
      -0.000274999709112711,
      0.02643352220023476,
      0.06180212867536561
    ],
    "v_ego": [
      0.9115230981213217,
      1.342840796105392,
      1.6711959973317396,
      1.8438323987905685,
      1.8977603672738126,
      1.8637784311045287,
      1.8801811615409596,
      2.002730756522625,
      2.1212152564844984,
      2.202149768812327
    ],
    "ax_ego": [
      0.8625588537074046,
      0.8625135468167783,
      0.45119430121881,
      0.24004447314112357,
      -0.024528285689646434,
      -0.11124265912309506,
      0.17700469246917444,
      0.3135028542413931,
      0.15955010269360817,
      0.16020681443637677
    ],
    "ay_ego": [
      -0.018963281387064712,
      -0.020922964653865117,
      0.03098488682852031,
      0.06778126355019029,
      -0.01905020729124722,
      0.029654887004484824,
      0.013666755891163541,
      0.06276338113217075,
      0.0998452022269665,
      0.09878804025097418
    ],
    "a_ego": [
      0.8627672815713382,
      0.8627672854787469,
      0.4522569630907925,
      0.24943064922751565,
      0.031057160152087357,
      0.1151275011976977,
      0.1775315221944984,
      0.31972375831120575,
      0.1882160983478426,
      0.18821609997149488
    ],
    "yaw": [
      -1.9029324653031927,
      -1.9006604634966509,
      -1.8959620730976119,
      -1.8907455254238368,
      -1.8850918193801558,
      -1.8797456531183612,
      -1.8743618676237044,
      -1.8683124302862841,
      -1.861612445334306,
      -1.8550001847595612
    ],
    "yaw_diff": [
      0.004544003613083714,
      0.00939678079807793,
      0.010433095347550214,
      0.011307412087361968,
      0.010692332523589254,
      0.01076757098931358,
      0.012098874674840498,
      0.013399969903956421,
      0.013224521149489465,
      0.013224521149489465
    ],
    "min_front_frame": [
      9,
      42.94494574951921
    ],
    "v_avg": 1.7737208032087775,
    "v_std": 0.36552000832633474,
    "vy_max": 0.06180212867536561,
    "a_max": 0.8627672854787469,
    "ax_avg": 0.3090804693911927,
    "a_std": 0.2803660227976379,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "1e858b49f4a95ee8",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.811136479808917,
    "speed_mode": "accelerating",
    "front_frame": [
      50.9764297685954,
      50.358225700887786,
      49.58528678947642,
      48.72068369555064,
      47.80798644865712,
      46.8892323722105,
      45.92314713882948,
      45.012499548830355,
      43.97355411736672,
      42.94494574951921
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1e858b49f4a95ee8",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "aaa11cdbc8d35178": {
    "vx_ego": [
      5.25101580761883,
      5.4045332961959645,
      5.61407598290743,
      5.8493402437913,
      6.076840712812366,
      6.306359956077907,
      6.437042783574294,
      6.441053251231727,
      6.372267427586209,
      6.274689213834806
    ],
    "vy_ego": [
      0.05233323857245731,
      0.024399699472463343,
      0.00020259621373508452,
      0.02128957805146703,
      -0.016386430896102144,
      -0.02420055365397822,
      -0.03911635615800346,
      -0.014642732318030482,
      -0.0013484091865039183,
      0.01499492827623694
    ],
    "v_ego": [
      5.251276585719164,
      5.404588374245088,
      5.614075986562994,
      5.849378987018201,
      6.076862806087647,
      6.306406390522268,
      6.437161632807194,
      6.441069895196957,
      6.372267570251856,
      6.274707130861875
    ],
    "ax_ego": [
      0.2974359974338592,
      0.3234915926524269,
      0.5196213667456704,
      0.41581498582537957,
      0.49316842602047034,
      0.4251857921564549,
      0.10380437905056294,
      -0.08207141121581576,
      -0.19674001283563786,
      -0.19392783270056851
    ],
    "ay_ego": [
      -0.5627071114648127,
      -0.5481429086609884,
      -0.6471450916093202,
      -0.3141362593413417,
      -0.1281924745195942,
      0.12966317355186033,
      0.41109819606106257,
      0.5406435804130996,
      0.20429708919970033,
      0.20696839516119186
    ],
    "a_ego": [
      0.6364805306233238,
      0.6364805251004404,
      0.8299416451610764,
      0.5211369223821426,
      0.5095570693719841,
      0.44451714975606055,
      0.4240012687654752,
      0.5468374507848298,
      0.2836263974069361,
      0.283626375521634
    ],
    "yaw": [
      2.5732409206629363,
      2.52633842234225,
      2.4762785974944084,
      2.430782233588315,
      2.418536289092507,
      2.4198559122212613,
      2.4432654935775555,
      2.4762944445265003,
      2.503226472421841,
      2.516901935116227
    ],
    "yaw_diff": [
      -0.09380499664137254,
      -0.10011964969568332,
      -0.09099272781218648,
      -0.024491888991616584,
      0.002639246257508887,
      0.04681916271258846,
      0.06605790189788951,
      0.05386405579068132,
      0.02735092538877204,
      0.02735092538877204
    ],
    "min_front_frame": [
      4,
      16.767835790613372
    ],
    "v_avg": 6.002779535927325,
    "v_std": 0.4226276606001529,
    "vy_max": 0.05233323857245731,
    "a_max": 0.8299416451610764,
    "ax_avg": 0.2105783283132802,
    "a_std": 0.15810948078639814,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "aaa11cdbc8d35178",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      25.423579090636135,
      23.93770105338757,
      22.63356334403385,
      19.669710285636953,
      16.767835790613372,
      25.764876403078095,
      18.36954540766859,
      25.745017745387255,
      25.7844559611206,
      25.64720605465076
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 9,
    "token": "aaa11cdbc8d35178",
    "smoothness": "Yes"
  },
  "7c2c92e3afdd555f": {
    "vx_ego": [
      3.2553698394150232,
      3.4141954519130757,
      3.5925084410470634,
      3.7882587149047797,
      3.9403105759667634,
      4.022486642003594,
      4.170738940741454,
      4.386218092663096,
      4.574402379604943,
      4.7143033176054
    ],
    "vy_ego": [
      -0.1513935294026234,
      -0.0778097930944035,
      -0.06772909125283633,
      -0.026266245871227722,
      -0.045010840851736456,
      -0.09443424725820315,
      -0.08556416951293955,
      -0.055963996627733825,
      -0.09361071671663299,
      -0.06652504541079647
    ],
    "v_ego": [
      3.2588882754887405,
      3.4150819825833354,
      3.593146828171142,
      3.788349773545756,
      3.9405676508429224,
      4.023594986097951,
      4.171616537856947,
      4.386575101981458,
      4.5753601056987385,
      4.714772672362071
    ],
    "ax_ego": [
      0.26971470019771804,
      0.4278815647314448,
      0.3565555228083258,
      0.4688756242826808,
      0.1463424500852039,
      0.22326836930429833,
      0.38645025099835206,
      0.4806044237342653,
      0.28073452764649637,
      0.2837187231016524
    ],
    "ay_ego": [
      1.1253307964762018,
      1.0751896519339175,
      1.33650089938163,
      1.4387517194640174,
      1.2333603535481483,
      1.1744396618547734,
      0.7438486875236904,
      0.35636575376555524,
      0.19791024861928166,
      0.19360792231337742
    ],
    "a_ego": [
      1.1572015472684556,
      1.1572015472953743,
      1.383244915007109,
      1.5132253174286836,
      1.242012026673395,
      1.1954736651509121,
      0.8382449918892484,
      0.5983119274841824,
      0.3434826655326981,
      0.3434826653863844
    ],
    "yaw": [
      0.4983004222919749,
      0.6418076793231262,
      0.8102004193991833,
      0.9871824208869444,
      1.162619091296246,
      1.3262532434375711,
      1.4416004459422056,
      1.4991121637765807,
      1.5382202134445337,
      1.5534641428633726
    ],
    "yaw_diff": [
      0.2870145140623026,
      0.3367854801521142,
      0.3539640029755222,
      0.3508733408186031,
      0.3272683042826503,
      0.23069440500926897,
      0.11502343566875028,
      0.07821609933590601,
      0.030487858837677795,
      0.030487858837677795
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.986795391462907,
    "v_std": 0.4609639983387424,
    "vy_max": 0.1513935294026234,
    "a_max": 1.5132253174286836,
    "ax_avg": 0.3324146156890438,
    "a_std": 0.40010317605624396,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "7c2c92e3afdd555f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "7c2c92e3afdd555f",
    "pedestrians": "No"
  },
  "8b7d99b5ae2a5219": {
    "vx_ego": [
      2.4964553727604684,
      1.678567371258684,
      0.8803066628091742,
      0.23897847894096141,
      -0.04305520326023175,
      -0.05949386822113817,
      -0.03496440598945963,
      -0.019941377399235363,
      -0.012615481571808026,
      -0.007734166108162331
    ],
    "vy_ego": [
      -0.08638190811108526,
      -0.05114408459557518,
      -0.01231750047773994,
      -0.0035658729568190245,
      0.008586100182671794,
      0.01146930057942297,
      0.006799988297331989,
      0.004114447833343362,
      0.0028729107317626516,
      0.0019522484668283214
    ],
    "v_ego": [
      2.4979494114640355,
      1.6793463422544521,
      0.8803928335716076,
      0.2390050812156087,
      0.04390297990030685,
      0.0605893159863627,
      0.03561951048287459,
      0.020361414821962614,
      0.012938469436579619,
      0.00797675369212817
    ],
    "ax_ego": [
      -1.634606172401828,
      -1.6325591238754762,
      -1.5604623091308112,
      -1.0048200917717804,
      -0.12332289226414107,
      0.05756733922549857,
      0.040550466603607706,
      0.01954170605363123,
      0.009762386652857202,
      0.00976227633598645
    ],
    "ay_ego": [
      0.12170567681820699,
      0.1466298817239855,
      0.010524390557462127,
      0.02598818922645274,
      0.022585350203463937,
      -0.01105715179671719,
      -0.007620302776629007,
      -0.0031215166545234783,
      -0.0018422890450454582,
      -0.001842907484009261
    ],
    "a_ego": [
      1.6391307484834552,
      1.6391307498681893,
      1.5604977991059357,
      1.0051561086754233,
      0.12537397576932008,
      0.058619614049900334,
      0.04126026364648926,
      0.019789445209782788,
      0.009934697885964069,
      0.009934704185569814
    ],
    "yaw": [
      2.4603531839806863,
      2.4756102747455815,
      2.4759739177641507,
      2.476742022753381,
      2.477444680206284,
      2.4774602830002372,
      2.477461451325519,
      2.4774581159429667,
      2.4774194044029447,
      2.477481906668987
    ],
    "yaw_diff": [
      0.030514181529790463,
      0.0007272860371383416,
      0.001536209978461045,
      0.0014053149058055325,
      3.120558790659089e-05,
      2.336650563705689e-06,
      -6.670765104743737e-06,
      -7.742308004399234e-05,
      0.00012500453208463824,
      0.00012500453208463824
    ],
    "min_front_frame": [
      4,
      7.571554434045189
    ],
    "v_avg": 0.5478082112825918,
    "v_std": 0.8305868354620705,
    "vy_max": 0.08638190811108526,
    "a_max": 1.6391307498681893,
    "ax_avg": -0.5818586414572456,
    "a_std": 0.7147488822437866,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8b7d99b5ae2a5219",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.8910091792694828,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      9.362452814438138,
      8.415479677192376,
      7.83615506826727,
      7.598132689606511,
      7.571554434045189,
      7.647390027118439,
      7.680111101431964,
      7.6287220706483705,
      7.615795743160719,
      7.625796367901732
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8b7d99b5ae2a5219",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1ded576bc1325cae": {
    "vx_ego": [
      2.3040550368681165,
      1.7666957300828745,
      1.2398444907328616,
      0.7469027473711385,
      0.3642913449405936,
      0.09684035794294023,
      -0.03691555891438273,
      -0.044428537372381165,
      -0.02990842611009493,
      -0.01417446874219022
    ],
    "vy_ego": [
      -0.027278881434822846,
      -0.044054098560737075,
      -0.020160404992587394,
      0.006021251343498388,
      0.0029586231463518634,
      -0.0065436997215971935,
      -0.006712630466358057,
      0.0006726225150336385,
      -0.001097043978845824,
      -0.0003577477274195214
    ],
    "v_ego": [
      2.3042165154971164,
      1.767244908407734,
      1.2400083883305364,
      0.7469270175179743,
      0.36430335909726214,
      0.09706119169144391,
      0.037520899479345386,
      0.04443362863976787,
      0.029928539187112527,
      0.014178982599601476
    ],
    "ax_ego": [
      -1.074573412013485,
      -1.0746187959465878,
      -1.032819708896968,
      -0.9389782766444061,
      -0.5914739807157476,
      -0.47833791850672486,
      -0.05666474206872165,
      0.026612160624845446,
      0.03146787519065621,
      0.03146777766268406
    ],
    "ay_ego": [
      -0.027521219166550093,
      -0.02568761753206291,
      0.12026382525977157,
      -0.012332578596723369,
      0.0013081625348305252,
      -0.038781650722866025,
      0.03807651356795732,
      -0.008547932000718256,
      0.001480256873853001,
      0.0014821082932239848
    ],
    "a_ego": [
      1.074925781303396,
      1.0749257696679189,
      1.03979802786509,
      0.939059261444635,
      0.5914754273449998,
      0.47990747099220754,
      0.06826942126022155,
      0.027951283237294802,
      0.031502671782363253,
      0.03150266141171189
    ],
    "yaw": [
      -1.5473770975528662,
      -1.5456707792405524,
      -1.5458374236406547,
      -1.5450212859577939,
      -1.5444227899837344,
      -1.5438038575341562,
      -1.543480623846742,
      -1.5434198060046587,
      -1.5434925685619576,
      -1.5435513219432289
    ],
    "yaw_diff": [
      0.003412636624627652,
      -0.0003332888002045564,
      0.001632275365721636,
      0.0011969919481189528,
      0.001237864899156449,
      0.000646467374828319,
      0.00012163568416667658,
      -0.00014552511459786643,
      -0.00011750676254251857,
      -0.00011750676254251857
    ],
    "min_front_frame": [
      9,
      10.59737024883284
    ],
    "v_avg": 0.6645823430447895,
    "v_std": 0.7910757815141027,
    "vy_max": 0.044054098560737075,
    "a_max": 1.074925781303396,
    "ax_avg": -0.5157919021314455,
    "a_std": 0.4460151975104937,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1ded576bc1325cae",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.655101485888755,
    "right_rear_min": 3.606901716423025,
    "speed_mode": "decelerating",
    "front_frame": [
      12.722496571284115,
      12.06036279495662,
      11.474842151952224,
      11.00369861187675,
      10.75336950168614,
      10.65417218635102,
      10.639444591960107,
      10.648248709152405,
      10.62697699943454,
      10.59737024883284
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1ded576bc1325cae",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c79ab4c1abcb56fa": {
    "vx_ego": [
      1.5173738606837877,
      1.898072340227044,
      2.1559770478818647,
      2.240657383443257,
      2.337276890681329,
      2.5742614604669574,
      2.921158343878349,
      3.265700059630258,
      3.447115953506276,
      3.499649736539922
    ],
    "vy_ego": [
      -0.01580265839843764,
      -0.020569872858281713,
      -0.018640960161602327,
      -0.022805815850587163,
      -0.026322004300128876,
      -0.008408590781096459,
      0.015448295487464625,
      0.029253308850557325,
      0.028429315915014186,
      0.014781454752972989
    ],
    "v_ego": [
      1.517456146680648,
      1.8981837973189988,
      2.1560576329006484,
      2.240773441295526,
      2.3374251028906476,
      2.5742751933785937,
      2.9211991920859433,
      3.265831078844675,
      3.4472331837171786,
      3.4996809525824726
    ],
    "ax_ego": [
      0.7614229281896001,
      0.7614181573844527,
      0.2702090219053323,
      0.06856752424405813,
      0.3179552272798491,
      0.6300093018506596,
      0.7575995752622142,
      0.620584643351785,
      0.10506882919126523,
      0.10507001510791714
    ],
    "ay_ego": [
      -0.007063390364988764,
      -0.007559029054932331,
      0.016049081254539313,
      -0.024843384141434718,
      0.014209263488973486,
      0.06019077887179872,
      0.027560439980299223,
      0.025273925746062992,
      -0.027595552147134286,
      -0.027591049921336097
    ],
    "a_ego": [
      0.7614556894897255,
      0.761455677840141,
      0.2706852203725781,
      0.07292941187585698,
      0.3182725714281386,
      0.6328780690461231,
      0.7581007151357892,
      0.6210990829865068,
      0.10863228509945133,
      0.10863228852666042
    ],
    "yaw": [
      1.071306167024276,
      1.0719570991721088,
      1.0720498015620055,
      1.0729341110439856,
      1.0733139776314728,
      1.0735980762128394,
      1.0728955694509061,
      1.0727038282819654,
      1.0727750347913294,
      1.0727321973978103
    ],
    "yaw_diff": [
      0.001301864295665478,
      0.00018540477979334113,
      0.0017686189639603,
      0.000759733174974464,
      0.0005681971627331528,
      -0.0014050135238665717,
      -0.0003834823378814356,
      0.00014241301872797152,
      -8.567478703813691e-05,
      -8.567478703813691e-05
    ],
    "min_front_frame": [
      3,
      11.347218869451131
    ],
    "v_avg": 2.585811572169533,
    "v_std": 0.6427985516861092,
    "vy_max": 0.029253308850557325,
    "a_max": 0.7614556894897255,
    "ax_avg": 0.43979052237671334,
    "a_std": 0.2785084216797067,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c79ab4c1abcb56fa",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      11.530340784059065,
      11.565822257336402,
      11.455818986669357,
      11.347218869451131,
      11.579148157645411,
      11.792181562171727,
      12.006402667964592,
      11.843705934928556,
      36.73508131233898,
      38.554911583942456
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c79ab4c1abcb56fa",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2b65a8a29c455d00": {
    "vx_ego": [
      4.044460566945314,
      3.547920116218252,
      3.151943473971516,
      2.8627589251479146,
      2.5503681099965614,
      2.2072809769803765,
      1.86612826049394,
      1.5311325081709726,
      1.21110307652672,
      0.9032027862894749
    ],
    "vy_ego": [
      0.009295863290603723,
      0.003710883653798458,
      -0.002875417313870754,
      -0.023549133653914645,
      -0.031022979567464803,
      -0.0041824308676218225,
      0.004337364058981774,
      -0.00534501819740596,
      0.0022454488590440413,
      0.006476585766295673
    ],
    "v_ego": [
      4.044471249823632,
      3.5479220568839485,
      3.1519447855469105,
      2.8628557814199955,
      2.550556786615165,
      2.207284939482759,
      1.866133301064294,
      1.5311418375831365,
      1.211105158115126,
      0.9032260067802849
    ],
    "ax_ego": [
      -0.9930774560831206,
      -0.9930660432733706,
      -0.5907926553579678,
      -0.566017864307807,
      -0.6838308320139436,
      -0.6887637693313697,
      -0.6757227160600051,
      -0.664322652693587,
      -0.6157965632047726,
      -0.615799035421492
    ],
    "ay_ego": [
      -0.01609183352380955,
      -0.01678065018632363,
      -0.047096002246315716,
      -0.05302528101592671,
      0.00024604558556901024,
      0.08648580878185502,
      -0.06566018264509332,
      0.017181338076311004,
      0.007887199806303313,
      0.007691165116527399
    ],
    "a_ego": [
      0.9932078236133062,
      0.9932078113483117,
      0.5926668499692752,
      0.5684961768933798,
      0.683830876278128,
      0.6941724029837313,
      0.6789053310915281,
      0.6645447955254309,
      0.6158470712568129,
      0.6158470638453102
    ],
    "yaw": [
      -2.0397498242882817,
      -2.040443452328124,
      -2.0432870460579093,
      -2.044737191172891,
      -2.046839488683,
      -2.0490070497659456,
      -2.050635191288581,
      -2.0520712756431605,
      -2.0530407138355837,
      -2.0533590626592355
    ],
    "yaw_diff": [
      -0.0013872560796848177,
      -0.005687187459570531,
      -0.002900290229963076,
      -0.004204595020218527,
      -0.004335122165890937,
      -0.0032562830452711466,
      -0.002872168709158629,
      -0.0019388763848464663,
      -0.0006366976473035635,
      -0.0006366976473035635
    ],
    "min_front_frame": [
      9,
      10.347137437660036
    ],
    "v_avg": 2.387664190331525,
    "v_std": 0.9774294544414355,
    "vy_max": 0.031022979567464803,
    "a_max": 0.9932078236133062,
    "ax_avg": -0.7087189587747437,
    "a_std": 0.14693591200481196,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2b65a8a29c455d00",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.1201554403995795,
    "right_rear_min": 15.67317604512076,
    "speed_mode": "decelerating",
    "front_frame": [
      18.99135791076318,
      17.507303010545545,
      16.2171139655285,
      15.009694131802258,
      13.919303699351111,
      12.944903390108871,
      12.117330845461847,
      11.357398711999805,
      10.797171195415364,
      10.347137437660036
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2b65a8a29c455d00",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9a24a904a324581d": {
    "vx_ego": [
      7.432719112762763,
      7.287800056717128,
      7.130628631439331,
      6.968207946089737,
      6.858193509714049,
      6.7617548597250945,
      6.6560151105921035,
      6.562982585068028,
      6.4412174470122725,
      6.300359100031498
    ],
    "vy_ego": [
      0.039505055267623934,
      -0.022810801602418884,
      -0.026858997954158692,
      -0.005947319026480269,
      0.004908670286437822,
      0.014440135581256008,
      0.01042144865986483,
      -0.0015642028312301548,
      0.024925110264477635,
      0.03733206995177296
    ],
    "v_ego": [
      7.432824097112791,
      7.2878357555145215,
      7.130679216264987,
      6.9682104840878445,
      6.858195266374958,
      6.76177027859802,
      6.656023269116671,
      6.562982771471879,
      6.441265672274121,
      6.300469702553659
    ],
    "ax_ego": [
      -0.29460953809507706,
      -0.28591065697364504,
      -0.3427535767983131,
      -0.30673908501487535,
      -0.1333368809879194,
      -0.2524650931935006,
      -0.17005895609791935,
      -0.20155710722600223,
      -0.28352133058057083,
      -0.27686162373348516
    ],
    "ay_ego": [
      0.2966911551924612,
      0.3050827888815363,
      0.10928079682094828,
      0.07972832799784714,
      0.06572717722965277,
      -0.010794782993931495,
      -0.11804391048359662,
      -0.18798906308317942,
      -0.2757949743684638,
      -0.28247982638598795
    ],
    "a_ego": [
      0.41811532082193753,
      0.4181153092662805,
      0.35975311946091376,
      0.31693133729736356,
      0.1486566031435024,
      0.2526957669235656,
      0.20701307531499896,
      0.2756177703128116,
      0.39553408548578833,
      0.395534083248713
    ],
    "yaw": [
      -0.6400211043613284,
      -0.6111123461465124,
      -0.5961965573139352,
      -0.5924576096702547,
      -0.5887562724820818,
      -0.5881406360783181,
      -0.5923491285049186,
      -0.6021053392092452,
      -0.6239760524373292,
      -0.6478331177005434
    ],
    "yaw_diff": [
      0.057817516429631954,
      0.02983157766515454,
      0.0074778952873608695,
      0.007402674376345786,
      0.0012312728075274393,
      -0.00841698485320097,
      -0.01951242140865328,
      -0.043741426456167964,
      -0.04771413052642837,
      -0.04771413052642837
    ],
    "min_front_frame": [
      3,
      22.929819976391325
    ],
    "v_avg": 6.840025651336946,
    "v_std": 0.34929193346826143,
    "vy_max": 0.039505055267623934,
    "a_max": 0.41811532082193753,
    "ax_avg": -0.25478138487013086,
    "a_std": 0.08992414548341228,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9a24a904a324581d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 26.31783986974787,
    "speed_mode": "decelerating",
    "front_frame": [
      33.687577643006584,
      30.01050431268714,
      26.424314755463318,
      22.929819976391325,
      28.01423598429427,
      44.10447148964012,
      47.41241671575992,
      44.061550555896424,
      40.810910643408896,
      31.123294738337723
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9a24a904a324581d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8cd3ad22a81c52b6": {
    "vx_ego": [
      2.112446731633906,
      1.5339409273617621,
      1.0126501073559555,
      0.7151140400046295,
      0.7827588550422542,
      1.1305639634867775,
      1.610069846491125,
      2.1950953683986247,
      2.7827373746245976,
      3.330305136613644
    ],
    "vy_ego": [
      0.0002385477908979361,
      -0.007858493292400737,
      -0.01811255095877179,
      -0.025010768846162434,
      -0.01530798269673267,
      0.0040240434050911045,
      -0.002081669517373097,
      -0.006805499826364025,
      0.032042919122724056,
      0.13836033941109704
    ],
    "v_ego": [
      2.1124467451028965,
      1.5339610570520652,
      1.012812077549563,
      0.7155512761291248,
      0.7829085256154158,
      1.1305711249011525,
      1.6100711921924242,
      2.1951059179896037,
      2.782921853879211,
      3.333178046021121
    ],
    "ax_ego": [
      -1.1570278878824656,
      -1.1570092599933157,
      -0.9281945882502242,
      -0.2620018808322041,
      0.5324701140384493,
      0.85869210898579,
      1.0601394906292327,
      1.2818814387942352,
      1.0857586805739228,
      1.1350638166472298
    ],
    "ay_ego": [
      -0.019102373732983402,
      -0.020199205577339008,
      -0.02488883886617138,
      -0.004392867575402359,
      0.040404137359542264,
      0.01880299900116994,
      -0.10789413396217651,
      -0.23286220003158742,
      -0.5128589259569112,
      -0.3918243956705587
    ],
    "a_ego": [
      1.15718556594005,
      1.1571855666297588,
      0.9285282160263679,
      0.2620387048608421,
      0.5340008582950855,
      0.8588979513340929,
      1.0656157298646907,
      1.3028602485795358,
      1.200789819400257,
      1.2007898337779075
    ],
    "yaw": [
      2.55552101889195,
      2.554573035281598,
      2.5537551984181475,
      2.55321432200837,
      2.5521368250624015,
      2.547190524647959,
      2.535171755823873,
      2.4922604456606976,
      2.402690449635197,
      2.2937984324726197
    ],
    "yaw_diff": [
      -0.0018959672207037315,
      -0.00163567372690121,
      -0.0010817528195552484,
      -0.0021549938919367406,
      -0.0098926008288851,
      -0.02403753764817207,
      -0.08582262032635057,
      -0.1791399920510015,
      -0.21778403432515425,
      -0.21778403432515425
    ],
    "min_front_frame": [
      7,
      10.840337459229367
    ],
    "v_avg": 1.7209527816432577,
    "v_std": 0.8302512232167976,
    "vy_max": 0.13836033941109704,
    "a_max": 1.3028602485795358,
    "ax_avg": 0.24497720327106504,
    "a_std": 0.3165135076617545,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "8cd3ad22a81c52b6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.684222787930587,
      13.467876596942226,
      13.347996808404966,
      13.186338776430388,
      12.977923476378196,
      12.488541047585203,
      11.756042715007137,
      10.840337459229367,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.125,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.875,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8cd3ad22a81c52b6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5c9063357a725208": {
    "vx_ego": [
      4.728446517196213,
      4.780457221135812,
      4.824920172492115,
      4.805517172415986,
      4.771182941120414,
      4.760166292473619,
      4.765016064841177,
      4.814057145032516,
      4.9226726937631256,
      5.082614284705069
    ],
    "vy_ego": [
      0.021843961964958858,
      -0.0035636227085564798,
      -0.021877713477158167,
      -0.019099963413312437,
      -0.014250622142910174,
      -0.011747816102301245,
      0.006765961711184376,
      0.017024743339400628,
      0.010354471231661666,
      -0.03877925552209116
    ],
    "v_ego": [
      4.728496973104596,
      4.780458549398409,
      4.824969772471983,
      4.805555129533666,
      4.771204223031111,
      4.760180788918129,
      4.765020868415203,
      4.8140872486406385,
      4.922683583676244,
      5.082762221248094
    ],
    "ax_ego": [
      0.08073515628152667,
      0.1244713713622306,
      0.060502177201632035,
      -0.1303897915489911,
      -0.0021482303572740724,
      -0.038447318527140506,
      0.058733340461349426,
      0.13485805431868758,
      0.2935491713135247,
      0.34973810500374974
    ],
    "ay_ego": [
      0.6232336201852529,
      0.6159912243841047,
      0.710092067616821,
      0.7522366298212139,
      0.7429789720521736,
      0.7295552892420591,
      0.7338877651408021,
      0.7613940872835323,
      0.7146170665641731,
      0.688862781728726
    ],
    "a_ego": [
      0.6284411752813612,
      0.6284411752956857,
      0.71266489876973,
      0.763453629885252,
      0.7429820777147806,
      0.7305676672033823,
      0.7362342406497472,
      0.7732448842151789,
      0.7725598150328821,
      0.7725598191354843
    ],
    "yaw": [
      -0.8569735612078256,
      -0.786416435529965,
      -0.7137280589638231,
      -0.6387893076389581,
      -0.5615164159109611,
      -0.48490516407335527,
      -0.41181886101148535,
      -0.3357968996446186,
      -0.25835375652461157,
      -0.1783256137578585
    ],
    "yaw_diff": [
      0.1411142513557213,
      0.14537675313228382,
      0.14987750264972988,
      0.154545783455994,
      0.15322250367521173,
      0.14617260612373983,
      0.15204392273373346,
      0.1548862862400141,
      0.16005628553350615,
      0.16005628553350615
    ],
    "min_front_frame": [
      9,
      62.60263603157024
    ],
    "v_avg": 4.825541935843808,
    "v_std": 0.09923078519979706,
    "vy_max": 0.03877925552209116,
    "a_max": 0.7732448842151789,
    "ax_avg": 0.09316020355092951,
    "a_std": 0.05253343907798295,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "5c9063357a725208",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.155370440896125,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      62.60263603157024
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "5c9063357a725208",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "752255614d7f569a": {
    "vx_ego": [
      7.468960055761551,
      7.377330599211824,
      7.288172579762473,
      7.185209306376226,
      7.072756470835255,
      6.953943455677314,
      6.816606288124408,
      6.585484006673656,
      6.19645314361207,
      5.73320250864723
    ],
    "vy_ego": [
      -0.03735839816242681,
      0.003569967492161652,
      -0.0059634345664090205,
      -0.001177539532212002,
      0.01124063156878119,
      0.023253990385356804,
      0.0204083302602025,
      -0.0034673260256812277,
      -0.0007715461846840022,
      0.013326449603540569
    ],
    "v_ego": [
      7.469053485179689,
      7.37733146298409,
      7.288175019506146,
      7.185209402866063,
      7.0727654031177964,
      6.953982336246346,
      6.8166368384446905,
      6.585484919465254,
      6.196453191646284,
      5.733217996851151
    ],
    "ax_ego": [
      -0.1876166746946481,
      -0.17723922256235802,
      -0.17804426220842062,
      -0.23237477331448195,
      -0.2197090231124632,
      -0.2571488635721236,
      -0.2968120953337159,
      -0.6292328580459015,
      -0.928538715711994,
      -0.9247536546062387
    ],
    "ay_ego": [
      0.43336226798515504,
      0.4377089554168155,
      0.5085053661686796,
      0.5591939533433493,
      0.466719354891325,
      0.5073353159934284,
      0.4074918501217292,
      0.3802384852485632,
      0.2193287776627335,
      0.23477635682688108
    ],
    "a_ego": [
      0.47223179894699463,
      0.47223179866098475,
      0.5387740405101974,
      0.6055542194789174,
      0.5158478565112077,
      0.5687834921044971,
      0.5041299711899906,
      0.7351974532795494,
      0.9540908024329278,
      0.9540908025091205
    ],
    "yaw": [
      -0.6441999100316633,
      -0.6203741632088533,
      -0.5868177948101607,
      -0.5506321148666191,
      -0.5163929359235667,
      -0.48340941733051523,
      -0.4498066827045307,
      -0.41706136431857993,
      -0.3941645281168339,
      -0.3774944958865586
    ],
    "yaw_diff": [
      0.04765149364562005,
      0.06711273679738516,
      0.07237135988708321,
      0.06847835788610479,
      0.06596703718610297,
      0.06720546925196902,
      0.06549063677190159,
      0.04579367240349208,
      0.0333400644605506,
      0.0333400644605506
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.867831005630751,
    "v_std": 0.5261494546191502,
    "vy_max": 0.03735839816242681,
    "a_max": 0.9540908025091205,
    "ax_avg": -0.40314701431623456,
    "a_std": 0.17675270978469113,
    "ini_direction_judge": "left",
    "scenario_type": "side_to_main_ego",
    "scene_token": "752255614d7f569a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.5828580980399565,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "752255614d7f569a",
    "merging_vehicles": "No"
  },
  "dd414d3d7d5452f1": {
    "vx_ego": [
      2.982506213137013,
      3.336113264336037,
      3.6489763364532077,
      3.862509508594559,
      4.1054083159837145,
      4.481923044938662,
      4.941195653509736,
      5.484152457387815,
      6.128878902104664,
      6.822272422977759
    ],
    "vy_ego": [
      0.05662826328321313,
      -0.03666632713207996,
      0.005810538691553679,
      0.037368994238464626,
      0.04523577215913129,
      0.06021265447446944,
      0.0800337061628571,
      0.11805553705867755,
      0.017808001311066413,
      0.024480991006430308
    ],
    "v_ego": [
      2.9830437595857284,
      3.3363147531406874,
      3.648980962728548,
      3.8626902730757195,
      4.105657525419171,
      4.482327491885338,
      4.94184377336897,
      5.485422981475815,
      6.128904773413792,
      6.822316346538284
    ],
    "ax_ego": [
      0.6601640891496768,
      0.754434527612271,
      0.5485677322450676,
      0.37969298891556835,
      0.6666750871632819,
      0.8723836918848102,
      0.9652872841947789,
      1.2077450801935647,
      1.3777738984765748,
      1.3980764367616971
    ],
    "ay_ego": [
      -0.9076245578331708,
      -0.8309196698601973,
      -1.5280829874786566,
      -1.972860261492911,
      -2.203675843657714,
      -2.043483523182038,
      -1.488542411666508,
      -0.7173745557311559,
      -0.5338895981302366,
      -0.47820631574180367
    ],
    "a_ego": [
      1.1223185655528831,
      1.1223185618237497,
      1.6235652661603082,
      2.00906554826106,
      2.3023125104478557,
      2.221908687453885,
      1.7741302241825643,
      1.4047328685348803,
      1.4775990722503196,
      1.477599067218044
    ],
    "yaw": [
      0.7904622258417355,
      0.6821207785793504,
      0.50290401296236,
      0.26395487977400445,
      -0.0009435738909355173,
      -0.25190918587754685,
      -0.4434149057031771,
      -0.5570438079224748,
      -0.5937827813159611,
      -0.6338971987775739
    ],
    "yaw_diff": [
      -0.2166828945247703,
      -0.3584335312339808,
      -0.47789826637671107,
      -0.5297969073298799,
      -0.5019312239732227,
      -0.3830114396512605,
      -0.22725780443859533,
      -0.07347794678697261,
      -0.08022883492322563,
      -0.08022883492322563
    ],
    "min_front_frame": [
      0,
      43.460324686086636
    ],
    "v_avg": 4.579750264063206,
    "v_std": 1.187042639683824,
    "vy_max": 0.11805553705867755,
    "a_max": 2.3023125104478557,
    "ax_avg": 0.8830800816597291,
    "a_std": 0.39673611816682186,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "dd414d3d7d5452f1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      43.460324686086636,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "dd414d3d7d5452f1",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "abe1ac610c3d5b82": {
    "vx_ego": [
      3.240845443720196,
      2.932060970421572,
      2.571744678396387,
      2.0766798873219754,
      1.4927799813888973,
      0.9665858267503705,
      0.5526543346635289,
      0.22700491724033456,
      0.017010874694498235,
      -0.11588019328982385
    ],
    "vy_ego": [
      -0.012134564033024375,
      0.024414801408828346,
      0.00024643583783046097,
      -0.032517956597786224,
      -0.009135349235839807,
      0.0037764637927846234,
      -0.003167031038567192,
      0.000626713247089683,
      -0.0009362170309451124,
      -0.002096375480668815
    ],
    "v_ego": [
      3.2408681611145838,
      2.932162617727285,
      2.5717446902036674,
      2.07693446500098,
      1.4928079338753186,
      0.9665932040695691,
      0.552663409054722,
      0.22700578235099036,
      0.01703661821492024,
      0.11589915438450311
    ],
    "ax_ego": [
      -0.6176135809605487,
      -0.6169991871681684,
      -0.8225549626551087,
      -1.159463018908503,
      -1.1772238340320098,
      -0.9273767913614663,
      -0.7283962697899484,
      -0.5741942981506646,
      -0.2657833568831299,
      -0.2657826790110457
    ],
    "ay_ego": [
      -0.02965465713117571,
      -0.040471380871292706,
      -0.20221574061663183,
      -0.045229022324214,
      0.08669803976806711,
      -0.04972545004612333,
      0.01769203673015285,
      -0.00429881133889215,
      -0.0022524129381187863,
      -0.0023302895054450046
    ],
    "a_ego": [
      0.6183251038705123,
      0.6183251002796261,
      0.8470465585442634,
      1.1603448438618684,
      1.1804120066792994,
      0.9287089606212369,
      0.728611099289307,
      0.5742103898464932,
      0.26579290088358076,
      0.26579289439612136
    ],
    "yaw": [
      2.374344963737182,
      2.3568229621213366,
      2.3436810668852974,
      2.331385027328391,
      2.3241015004558716,
      2.3210403310783922,
      2.3195910437650338,
      2.318388951758908,
      2.3174917312992127,
      2.317198745622952
    ],
    "yaw_diff": [
      -0.035044003231690546,
      -0.026283790472078294,
      -0.02459207911381256,
      -0.014567053745039082,
      -0.006122338754958712,
      -0.002898574626716943,
      -0.002404184012251953,
      -0.0017944409193901834,
      -0.0005859713525211419,
      -0.0005859713525211419
    ],
    "min_front_frame": [
      7,
      10.336136063776395
    ],
    "v_avg": 1.4193716035996538,
    "v_std": 1.1582591836822735,
    "vy_max": 0.032517956597786224,
    "a_max": 1.1804120066792994,
    "ax_avg": -0.7155387978920593,
    "a_std": 0.3033447081644859,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "abe1ac610c3d5b82",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.474433835077911,
    "speed_mode": "decelerating",
    "front_frame": [
      15.199272373153214,
      13.99585311222219,
      12.79780649177589,
      11.856578947728408,
      11.165950308757255,
      10.811383111992514,
      10.482724310293408,
      10.336136063776395,
      10.385178892211679,
      10.41934152844755
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "abe1ac610c3d5b82",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "57ec316cb2f65e46": {
    "vx_ego": [
      4.021656343486626,
      3.6907550327451535,
      3.8500149656000926,
      4.021377823250888,
      3.87749573139066,
      3.8943157023205304,
      3.912021397095002,
      3.928119848239098,
      3.9506042809622937,
      3.9755294176337705
    ],
    "vy_ego": [
      -0.04835083552407671,
      0.01202368756642569,
      -0.01541260871078487,
      0.014284088446190779,
      0.005741283040276102,
      0.025249334281715052,
      0.028670180691280578,
      0.008421506232645593,
      -0.011132267760033399,
      -0.03538411778720674
    ],
    "v_ego": [
      4.021946984782631,
      3.690774617989613,
      3.8500458158120603,
      4.0214031919862,
      3.8774999818547697,
      3.8943975552352015,
      3.9121264538087215,
      3.928128875673147,
      3.9506199655425074,
      3.9756868823214795
    ],
    "ax_ego": [
      -0.6818260229543018,
      -0.6454071900635706,
      1.2853112841099326,
      -0.5978330350339438,
      0.021350875040462763,
      0.04702130546706895,
      0.02409407949683484,
      0.04007081850186545,
      0.049829231089169757,
      0.04984409833462354
    ],
    "ay_ego": [
      -0.4471578889164157,
      -0.49828351457910536,
      -0.5941329491667342,
      -0.6483309751609885,
      -0.5426903182323751,
      -0.4504033434989044,
      -0.2475732971570832,
      -0.0687124633933167,
      -0.05082963862840758,
      -0.05081505975292417
    ],
    "a_ego": [
      0.8153753143171957,
      0.8153753135133902,
      1.4159869555705253,
      0.8818942063145074,
      0.5431101558322676,
      0.4528511620861974,
      0.24874296398497228,
      0.07954290113509395,
      0.07118008453234925,
      0.07118008454957661
    ],
    "yaw": [
      2.343716802795625,
      2.266713964890183,
      2.1971289439280977,
      2.1155857180942657,
      2.040927847312427,
      1.9719872616143062,
      1.9264463789480173,
      1.9114334750852673,
      1.9088099675290175,
      1.9085174352898044
    ],
    "yaw_diff": [
      -0.1540056758108843,
      -0.13917004192417082,
      -0.163086451667664,
      -0.14931574156367766,
      -0.13788117139624134,
      -0.09108176533257772,
      -0.03002580772550001,
      -0.005247015112499476,
      -0.0005850644784262116,
      -0.0005850644784262116
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9122630325006327,
    "v_std": 0.09172975049335486,
    "vy_max": 0.04835083552407671,
    "a_max": 1.4159869555705253,
    "ax_avg": -0.04075445560118583,
    "a_std": 0.42189404775327194,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "57ec316cb2f65e46",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "57ec316cb2f65e46",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7606dcaf85735093": {
    "vx_ego": [
      3.642703923779396,
      3.517299666481713,
      3.4281035721665947,
      3.336855561456585,
      3.219723821101802,
      3.081887489662733,
      2.9057543846892333,
      2.640087892520355,
      2.293934663138174,
      1.9257515146201363
    ],
    "vy_ego": [
      0.03338615183997584,
      0.02437511643443746,
      0.020145666578650134,
      0.02940748370789026,
      0.04865835724795037,
      0.04647190908388075,
      0.028776147571456467,
      0.017960015708735177,
      0.02261900709525211,
      -0.012658442872163667
    ],
    "v_ego": [
      3.6428569161377298,
      3.517384126042187,
      3.4281627658825164,
      3.33698514202892,
      3.220091476946029,
      3.082237845668884,
      2.905896868577713,
      2.6401489810987613,
      2.294046176132648,
      1.925793117714802
    ],
    "ax_ego": [
      -0.30185544787754465,
      -0.18301139041521874,
      -0.16046187365021408,
      -0.19398775246118377,
      -0.2597036046585147,
      -0.26416699501501034,
      -0.42799993837813816,
      -0.6328415814567517,
      -0.753060097153266,
      -0.7151734860996749
    ],
    "ay_ego": [
      -0.9140976475813476,
      -0.9450915573114124,
      -0.9624488458188897,
      -0.913542946838824,
      -0.8170660135285279,
      -0.8533838247150648,
      -0.7472975688992589,
      -0.5918723287103046,
      -0.4043406595295582,
      -0.4681001639022767
    ],
    "a_ego": [
      0.9626480253587532,
      0.9626480253566317,
      0.9757334644837442,
      0.9339121820727599,
      0.8573463901691233,
      0.8933354093175603,
      0.8611838385237107,
      0.8664879230050707,
      0.8547460902942374,
      0.8547460901725729
    ],
    "yaw": [
      0.64079973327216,
      0.5131283974339553,
      0.3771218388041103,
      0.23613754454259425,
      0.09885090444272199,
      -0.03278290140721269,
      -0.1594997692177857,
      -0.2751375021460567,
      -0.37726793203867215,
      -0.4640653886060362
    ],
    "yaw_diff": [
      -0.25534267167640934,
      -0.27201311725969,
      -0.28196858852303214,
      -0.27457328019974453,
      -0.26326761169986934,
      -0.253433735621146,
      -0.23127546585654202,
      -0.2042608597852309,
      -0.17359491313472808,
      -0.17359491313472808
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.9993603416230195,
    "v_std": 0.5313823765358313,
    "vy_max": 0.04865835724795037,
    "a_max": 0.9757334644837442,
    "ax_avg": -0.3892262167165517,
    "a_std": 0.04824163218294756,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "7606dcaf85735093",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7606dcaf85735093",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7263ccb23351549b": {
    "vx_ego": [
      2.650685292435356,
      2.8978687001302763,
      3.0234841514349773,
      3.0382577730584455,
      3.1277018624202855,
      3.382960126526345,
      3.766610357950114,
      4.194223537026894,
      4.69108996576789,
      5.29965019584339
    ],
    "vy_ego": [
      0.04408438042198659,
      -0.010756029632729813,
      0.03382960107339361,
      0.04508116999610867,
      -0.00018044066399047765,
      0.002688093129803004,
      0.04570176200116127,
      0.08172473429010718,
      0.0895255284352574,
      0.061455395149805137
    ],
    "v_ego": [
      2.651051857684097,
      2.89788866165838,
      3.0236734043026656,
      3.0385922081513805,
      3.127701867625199,
      3.3829611945028013,
      3.766887606455374,
      4.195019667503977,
      4.691944147916703,
      5.300006506023922
    ],
    "ax_ego": [
      0.48968801026826636,
      0.5011557600837142,
      0.01175375435772763,
      0.0845535880662398,
      0.3249904846430114,
      0.7239130557852942,
      0.8442113998232772,
      0.94315271865014,
      1.1049608720539514,
      1.3615947705862197
    ],
    "ay_ego": [
      -0.32199597703753613,
      -0.3038398735916492,
      -0.47532538236912425,
      -0.827243874408429,
      -1.2979681029480776,
      -1.5388599321307934,
      -1.630972128220468,
      -1.8035206080181967,
      -1.7218256390170128,
      -1.5269845263553548
    ],
    "a_ego": [
      0.5860680477801629,
      0.5860680546227329,
      0.4754706824462009,
      0.8315538088429058,
      1.3380358782107193,
      1.7006292961883236,
      1.8365083638860946,
      2.035245349888675,
      2.04587928772608,
      2.0458792884763333
    ],
    "yaw": [
      -0.5720001291857346,
      -0.6086438041880178,
      -0.687817737559925,
      -0.7991913565379416,
      -0.9580614970491812,
      -1.179298847995276,
      -1.412929988398635,
      -1.6374445824358914,
      -1.8378231513822874,
      -1.99548215927295
    ],
    "yaw_diff": [
      -0.07328735000456632,
      -0.1583478667438145,
      -0.22274723795603313,
      -0.3177402810224792,
      -0.4424747018921895,
      -0.46726228080671817,
      -0.44902918807451275,
      -0.4007571378927919,
      -0.3153180157813251,
      -0.3153180157813251
    ],
    "min_front_frame": [
      2,
      57.30107853550468
    ],
    "v_avg": 3.60757271218245,
    "v_std": 0.8230829783032586,
    "vy_max": 0.0895255284352574,
    "a_max": 2.0458792884763333,
    "ax_avg": 0.6389974414317842,
    "a_std": 0.632342374573808,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "7263ccb23351549b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      60.24840144335564,
      58.88957219846005,
      57.30107853550468,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      58.005648785468956
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "7263ccb23351549b",
    "pedestrians": "No"
  },
  "c7e06d79e58454ae": {
    "vx_ego": [
      11.84936363127727,
      11.792921618404664,
      11.747255691502476,
      11.72149781869807,
      11.690083036927975,
      11.597564447254484,
      11.489427949774383,
      11.525439395204673,
      11.706689251273202,
      11.92565690148532
    ],
    "vy_ego": [
      0.05464471538988924,
      0.01846638805064682,
      0.01500529932081518,
      0.03174424884695126,
      0.05501480523596891,
      0.060307620657982675,
      0.06566713517686207,
      0.044455935230315546,
      0.02839037307421055,
      0.016406034667772573
    ],
    "v_ego": [
      11.849489630830373,
      11.792936076538519,
      11.747265274971236,
      11.721540803626393,
      11.690212489046823,
      11.597721246750615,
      11.489615606524836,
      11.525525132622507,
      11.706723676552668,
      11.925668186307968
    ],
    "ax_ego": [
      -0.11313007383205716,
      -0.11311446846583927,
      -0.06954894758707217,
      -0.03338095265690774,
      -0.09339785139517409,
      -0.2813038526890165,
      -0.15876059662088404,
      0.2963790786728978,
      0.42496591638825426,
      0.44785208103659047
    ],
    "ay_ego": [
      0.004599552490706163,
      0.004968652059674346,
      0.13902393692416762,
      0.3486771657362583,
      0.5683763928758271,
      0.6767987923191472,
      0.649169717001674,
      0.6704487387123297,
      0.7303548118320441,
      0.7165491582962946
    ],
    "a_ego": [
      0.11322353769584072,
      0.11322354207319012,
      0.15545002781718711,
      0.3502714003542865,
      0.5759990300545406,
      0.7329314175435107,
      0.6683010163926527,
      0.7330361993216634,
      0.8449935983532237,
      0.8449935992325226
    ],
    "yaw": [
      -1.266775800133408,
      -1.263512972434501,
      -1.2601589224657683,
      -1.2511915809195133,
      -1.2336057889530059,
      -1.207380087263544,
      -1.179091934701232,
      -1.1484306496991752,
      -1.116858553827208,
      -1.0852265135691948
    ],
    "yaw_diff": [
      0.006525655397814134,
      0.0067080999374651284,
      0.017934683092510006,
      0.035171583933014894,
      0.05245140337892362,
      0.05657630512462397,
      0.061322570004113786,
      0.06314419174393437,
      0.0632640805160265,
      0.0632640805160265
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.704669812377194,
    "v_std": 0.13026716940576252,
    "vy_max": 0.06566713517686207,
    "a_max": 0.8449935992325226,
    "ax_avg": 0.03065603328507916,
    "a_std": 0.28623014669978053,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "c7e06d79e58454ae",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "c7e06d79e58454ae",
    "road_shape": "Curve"
  },
  "74c8385c2d845cde": {
    "vx_ego": [
      4.981563426405309,
      4.7374758036677544,
      4.406360963198571,
      3.955342769349128,
      3.510251677961379,
      3.186537025999304,
      3.143409871162707,
      3.423650950126201,
      3.8633454184115066,
      4.444719751848237
    ],
    "vy_ego": [
      -0.0027514307288789563,
      -0.02544670217356737,
      -0.0071079508912037515,
      -0.010364676976500897,
      0.002283774369209901,
      -0.01956488091671571,
      -0.05358144696796763,
      -0.06599820865306238,
      -0.0011358081377568219,
      0.08813674251133208
    ],
    "v_ego": [
      4.981564186244122,
      4.737544144911892,
      4.406366696152977,
      3.9553563492523973,
      3.510252420874608,
      3.1865970882164842,
      3.1438665031426396,
      3.424287019489671,
      3.8633455853730334,
      4.44559352143787
    ],
    "ax_ego": [
      -0.48865028812445627,
      -0.486688126399477,
      -0.8377224765863833,
      -0.9580388392456348,
      -0.7884535215110264,
      -0.4909605273346347,
      0.3008951652690137,
      0.7848410690374423,
      0.958967321985168,
      1.375059812399041
    ],
    "ay_ego": [
      0.11316821719423276,
      0.12132933698532314,
      -0.07515327369870814,
      -0.5797170697550573,
      -1.1705318658173824,
      -1.4041418974034547,
      -1.5435675398354078,
      -1.7411041287475868,
      -1.8983991617794558,
      -1.6225745580306856
    ],
    "a_ego": [
      0.5015836415464874,
      0.5015836324996376,
      0.8410867745516253,
      1.1197813619044181,
      1.4113127946975685,
      1.4875001537628414,
      1.5726215852886545,
      1.9098217431974451,
      2.126860997357454,
      2.1268609931171714
    ],
    "yaw": [
      1.1504437181534644,
      1.167178266573551,
      1.1657062061155168,
      1.1274684892947076,
      1.0063185790916194,
      0.8190751274161681,
      0.5908109362893799,
      0.34118700704047933,
      0.07365823063108587,
      -0.161601458622278
    ],
    "yaw_diff": [
      0.03346909684017341,
      -0.002944120916068549,
      -0.07647543364161846,
      -0.24229982040617637,
      -0.3744869033509026,
      -0.4565283822535764,
      -0.49924785849780107,
      -0.5350575528187869,
      -0.47051937850672776,
      -0.47051937850672776
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.96547735150957,
    "v_std": 0.6201421962766398,
    "vy_max": 0.08813674251133208,
    "a_max": 2.126860997357454,
    "ax_avg": -0.06307504105109477,
    "a_std": 0.5782115433618564,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "74c8385c2d845cde",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 38.930099710701846,
    "right_rear_min": 13.054589989036767,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "74c8385c2d845cde",
    "pedestrians": "No"
  },
  "9e1761b29988514c": {
    "vx_ego": [
      -0.22947596307545792,
      0.4921413402148065,
      1.1639601835599886,
      1.672853184800224,
      2.068559520339888,
      2.292050782876141,
      2.364201373202899,
      2.566887820236233,
      2.871390502393973,
      3.1919404148966266
    ],
    "vy_ego": [
      -0.00795727731618659,
      0.008044056986439563,
      0.0036909010264040143,
      -0.013664093236589514,
      -0.009236566207898256,
      0.0112887154030058,
      0.016637119584627214,
      0.008489602300811638,
      -0.0047428142221213054,
      0.19435443561662868
    ],
    "v_ego": [
      0.22961388436175986,
      0.4922070759357559,
      1.163966035442353,
      1.6729089889591215,
      2.068580141871255,
      2.292078582068813,
      2.364259911008632,
      2.566901859250631,
      2.8713944193588348,
      3.1978519757634665
    ],
    "ax_ego": [
      1.4431939366939521,
      1.4432708422959442,
      1.2434627866673167,
      0.7922975755614465,
      0.790604115803869,
      0.10485483680255445,
      0.18809930969110764,
      0.6332612219013904,
      0.6037096546662877,
      0.7372939982069971
    ],
    "ay_ego": [
      0.03432310030971514,
      0.030920629329821092,
      -0.002099210635910065,
      -0.005841291292999401,
      0.03235703053137351,
      -0.11947531144318574,
      -0.22707303090063963,
      -0.4460542380804047,
      -0.7824015572606798,
      -0.6580388349008482
    ],
    "a_ego": [
      1.4436020276118546,
      1.4436020260237223,
      1.2434645586070168,
      0.792319108014262,
      0.7912659763637165,
      0.15896190375475677,
      0.2948618518368798,
      0.774586443512622,
      0.9882396186862906,
      0.988239620754868
    ],
    "yaw": [
      1.2265044254898498,
      1.2288619593882428,
      1.2424117502943544,
      1.252833303015614,
      1.2540099489439962,
      1.2353412913808626,
      1.1956585872090228,
      1.129234478624205,
      1.0214068142786097,
      0.8364587366468113
    ],
    "yaw_diff": [
      0.004715067796785988,
      0.02709958181222305,
      0.020843105442519327,
      0.0023532918567643613,
      -0.037337315126267256,
      -0.07936540834367944,
      -0.13284821716963569,
      -0.21565532869119064,
      -0.36989615526359687,
      -0.36989615526359687
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.8919762874020623,
    "v_std": 0.9399579947821377,
    "vy_max": 0.19435443561662868,
    "a_max": 1.4436020276118546,
    "ax_avg": 0.7980048278290865,
    "a_std": 0.4096790657151732,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "9e1761b29988514c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 47.8484194769802,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "9e1761b29988514c",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "db73bde6710e50ca": {
    "vx_ego": [
      3.828999849101303,
      3.8434612981572682,
      3.8465144501793427,
      3.8164789144756535,
      3.79590828706263,
      3.836891128527764,
      3.961183972870952,
      4.170330551946187,
      4.406736500119004,
      4.654567795526774
    ],
    "vy_ego": [
      0.012412032271859719,
      -0.005200508819983574,
      -0.02261545899483708,
      -0.01583160908130954,
      -0.012002018189987806,
      0.04481286072346147,
      0.04379560444205288,
      0.0433112309653243,
      0.04570766672170523,
      0.05893397068157624
    ],
    "v_ego": [
      3.829019966383424,
      3.8434648165066814,
      3.8465809330396312,
      3.8165117508640485,
      3.795927261188152,
      3.8371528148695457,
      3.9614260717446363,
      4.1705554516423256,
      4.406973538867488,
      4.654940877825976
    ],
    "ax_ego": [
      0.01743662006573496,
      0.039555872189763974,
      -0.020834141824097457,
      -0.09388893095697984,
      0.013978772459971978,
      0.14781928565338556,
      0.34034588528233745,
      0.4830967772014436,
      0.45389072059376234,
      0.5183907153099889
    ],
    "ay_ego": [
      0.395371767658116,
      0.3937742965453878,
      0.49239415690956406,
      0.5094304291267908,
      0.47255864516627966,
      0.5189515570216726,
      0.631578072445644,
      0.647826235001318,
      0.7973298428611233,
      0.7569826596155999
    ],
    "a_ego": [
      0.39575607434431126,
      0.39575606583412964,
      0.49283472607378936,
      0.518010128739343,
      0.4727653532153953,
      0.5395936061021253,
      0.7174442021668118,
      0.8081220990038598,
      0.917470252682924,
      0.9174702614680811
    ],
    "yaw": [
      -0.7474735816192428,
      -0.691429566195225,
      -0.62942353615111,
      -0.5659988626004193,
      -0.5023014123927948,
      -0.45202798075086137,
      -0.37757161678210793,
      -0.2984769313600434,
      -0.2149102243497933,
      -0.13196292708838503
    ],
    "yaw_diff": [
      0.11208803084803565,
      0.12401206008822996,
      0.1268493471013814,
      0.12739490041524903,
      0.10054686328386686,
      0.14891272793750687,
      0.1581893708441291,
      0.1671334140205002,
      0.16589459452281652,
      0.16589459452281652
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.016255348293191,
    "v_std": 0.2831284925623499,
    "vy_max": 0.05893397068157624,
    "a_max": 0.9174702614680811,
    "ax_avg": 0.18997915759753117,
    "a_std": 0.19418750309270705,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "db73bde6710e50ca",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "db73bde6710e50ca",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "be9423a8f0e75d33": {
    "vx_ego": [
      9.716730009598399,
      9.987624480411544,
      10.259553672356377,
      10.46010446261405,
      10.675539631978383,
      10.950918188912713,
      11.391542769101367,
      11.585952104360812,
      11.7693056967698,
      12.302885281489925
    ],
    "vy_ego": [
      -0.19741873132490362,
      -0.11593818670710965,
      -0.1241145410175224,
      -0.1596358042377486,
      -0.17892173518322846,
      -0.1779063408662413,
      -0.08233497234494228,
      -0.028471866276637142,
      -0.015314191349599104,
      -0.030580895544423725
    ],
    "v_ego": [
      9.718735320755886,
      9.988297373669493,
      10.260304380243952,
      10.461322524365311,
      10.67703888825278,
      10.952363208293436,
      11.391840312606945,
      11.58598708836291,
      11.769315660159462,
      12.302923288417015
    ],
    "ax_ego": [
      0.4178725527639552,
      0.738865976212703,
      0.40790875881541677,
      0.4364742398414656,
      0.4561057289693672,
      0.6543821020775705,
      1.1112898139605754,
      -0.33353834314264585,
      1.0668567545923122,
      1.0671756737852458
    ],
    "ay_ego": [
      2.6284293557744487,
      2.556821348012788,
      2.5339728325415165,
      2.126609560229274,
      1.4799839151035799,
      0.45398226278013754,
      0.26104560101435537,
      0.009886319305731323,
      -0.10583853508317242,
      -0.10257294967493752
    ],
    "a_ego": [
      2.6614391499056196,
      2.6614391476151926,
      2.566594606005555,
      2.1709394242363675,
      1.5486719552455253,
      0.79643947066832,
      1.141538372732812,
      0.3336848298256249,
      1.0720938066828822,
      1.0720938059349145
    ],
    "yaw": [
      1.0853968161479397,
      1.209049209654708,
      1.33489173624218,
      1.4506984930062696,
      1.5378087444730841,
      1.5825228611304438,
      1.590007505029164,
      1.591196077678977,
      1.58796674137723,
      1.5849062588236573
    ],
    "yaw_diff": [
      0.24730478701353675,
      0.2516850531749437,
      0.23161351352817938,
      0.174220502933629,
      0.08942823331471939,
      0.014969287797440334,
      0.002377145299626182,
      -0.006458672603494087,
      -0.006120965107145437,
      -0.006120965107145437
    ],
    "min_front_frame": [
      3,
      35.20611364915713
    ],
    "v_avg": 10.91081280451272,
    "v_std": 0.7947269580842962,
    "vy_max": 0.19741873132490362,
    "a_max": 2.6614391499056196,
    "ax_avg": 0.6023393257875966,
    "a_std": 0.8082682774499843,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "be9423a8f0e75d33",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.604797441298951,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      35.20611364915713,
      36.29122724826765,
      37.29513722904667,
      38.43254609421148,
      39.17974909597892,
      39.654358540218446,
      40.429540642276166
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "be9423a8f0e75d33",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "7c8900e0a2ef5024": {
    "vx_ego": [
      4.097205412313541,
      3.9594390726339443,
      3.7428062129721504,
      3.440700695501627,
      3.2562841069395745,
      3.267130924930047,
      3.518754535926218,
      4.031355482117212,
      4.738078239401447,
      5.547160150965184
    ],
    "vy_ego": [
      0.06721862941511025,
      -0.07075527678201943,
      -0.018691975018334972,
      0.01650901175355665,
      0.0155665141640845,
      0.019013489839688535,
      0.022518581121904857,
      0.020314394509210132,
      0.05071497035126882,
      -0.12652572247072058
    ],
    "v_ego": [
      4.097756768627418,
      3.9600712214672162,
      3.74285288754354,
      3.44074030166394,
      3.256321314224148,
      3.267186250189932,
      3.518826590015069,
      4.031406664902559,
      4.738349650554214,
      5.548602932171559
    ],
    "ax_ego": [
      -0.30817216706267603,
      -0.2426527618815505,
      -0.6174350989820243,
      -0.553972828941727,
      -0.1529449303862962,
      0.22504215342311096,
      0.7917821036232265,
      1.240101764663026,
      1.58084987303453,
      1.6428890089640102
    ],
    "ay_ego": [
      -0.8664866223027907,
      -0.8870675219576472,
      -1.3277810207828322,
      -1.6741821733017614,
      -1.7809631858548918,
      -1.845459818088163,
      -1.7552793259911226,
      -1.409346518607716,
      -1.0451399077985666,
      -0.9446266171594965
    ],
    "a_ego": [
      0.9196570834728589,
      0.9196570835701888,
      1.4643184560081328,
      1.7634545201413925,
      1.7875183974161706,
      1.8591304179630075,
      1.9255971572138009,
      1.877261302065336,
      1.8950999308602399,
      1.8950999291913189
    ],
    "yaw": [
      -1.1680369789079397,
      -1.2427297808050195,
      -1.397826039051837,
      -1.6161872384383873,
      -1.8763080631414564,
      -2.157551705326642,
      -2.427916337229906,
      -2.639266193288889,
      -2.787314826498367,
      -2.849652839001749
    ],
    "yaw_diff": [
      -0.14938560379415966,
      -0.3101925164936352,
      -0.4367223987731004,
      -0.5202416494061382,
      -0.5624872843703717,
      -0.5407292638065275,
      -0.4226997121179661,
      -0.29609726641895584,
      -0.12467602500676378,
      -0.12467602500676378
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.96021145813596,
    "v_std": 0.6811853578011838,
    "vy_max": 0.12652572247072058,
    "a_max": 1.9255971572138009,
    "ax_avg": 0.3605487116453629,
    "a_std": 0.3769369384046229,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "7c8900e0a2ef5024",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "7c8900e0a2ef5024",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "089e3eac4f7e5c5c": {
    "vx_ego": [
      10.325902443720516,
      10.1956349465526,
      10.126232482981163,
      10.065631115546429,
      9.912640470948228,
      9.680131959428289,
      9.428173587140128,
      9.169866031341417,
      8.933847490741634,
      8.732769745983711
    ],
    "vy_ego": [
      -0.000766685620340879,
      0.008282584965524087,
      0.02979595019793957,
      0.023701477475589705,
      0.0359374368098333,
      0.042538789623133066,
      0.056900564529567266,
      0.045240057197872385,
      0.019647973472793012,
      -0.02321269924521374
    ],
    "v_ego": [
      10.32590247218325,
      10.195638310796355,
      10.12627631945875,
      10.065659020366773,
      9.912705614797867,
      9.680225426123483,
      9.428345287667954,
      9.169977627863902,
      8.93386909634858,
      8.732800596931929
    ],
    "ax_ego": [
      -0.3257583233602962,
      -0.19324769635386668,
      -0.07671363445669518,
      -0.155497523393748,
      -0.45010287318505754,
      -0.46032975762435835,
      -0.5372011853015016,
      -0.4740039933821305,
      -0.4657957886251807,
      -0.3377276727289009
    ],
    "ay_ego": [
      -1.6281884185997864,
      -1.6491729254171141,
      -1.678712909951688,
      -1.7097173626532511,
      -1.622103196219862,
      -1.7590712988849888,
      -1.592536134336204,
      -1.689906925914841,
      -1.5296414881375033,
      -1.5629167663185013
    ],
    "a_ego": [
      1.6604565672431737,
      1.6604565667535296,
      1.6804648213366502,
      1.7167739920966818,
      1.683392816794742,
      1.818305617962894,
      1.680701178870247,
      1.7551254097634033,
      1.598989930841489,
      1.5989899309771654
    ],
    "yaw": [
      1.6343011746460834,
      1.5534809786942438,
      1.4694132419356583,
      1.3862402230746702,
      1.3019898394271254,
      1.2150957763796013,
      1.126040828643637,
      1.039028736299871,
      0.9529798276642489,
      0.8702037108117281
    ],
    "yaw_diff": [
      -0.16164039190367907,
      -0.16813547351717117,
      -0.1663460377219761,
      -0.16850076729508956,
      -0.17378812609504823,
      -0.17810989547192868,
      -0.1740241846875321,
      -0.17209781727124396,
      -0.16555223370504168,
      -0.16555223370504168
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.657139977253886,
    "v_std": 0.5345320758274074,
    "vy_max": 0.056900564529567266,
    "a_max": 1.818305617962894,
    "ax_avg": -0.34763784484117355,
    "a_std": 0.06303813538618143,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "089e3eac4f7e5c5c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "089e3eac4f7e5c5c",
    "road_shape": "Curve"
  },
  "bcf787cdb66453f0": {
    "vx_ego": [
      7.936120770195399,
      7.459302114092836,
      6.992555586766467,
      6.512006190510908,
      5.980314940592609,
      5.33774030943483,
      4.5125629658854685,
      3.5007270376569153,
      2.4724318161004604,
      1.5162881557806642
    ],
    "vy_ego": [
      -0.018098586266629635,
      0.011737431380719698,
      0.02579457308522004,
      0.01067611852782191,
      0.017991341333664757,
      -0.006099121143969821,
      -0.013592623477971078,
      -0.025250439180830808,
      -0.021735297656158892,
      0.007877728496646919
    ],
    "v_ego": [
      7.936141407381276,
      7.459311348683957,
      6.992603162915766,
      6.512014941994467,
      5.980342003350491,
      5.33774379398676,
      4.512583437510498,
      3.5008181010816584,
      2.4725273524129157,
      1.5163086196309097
    ],
    "ax_ego": [
      -0.9557995068762842,
      -0.9515464133177446,
      -0.9113855995348675,
      -1.010362252771803,
      -1.116019787428295,
      -1.454192016397005,
      -1.8473992454592556,
      -2.20136724414934,
      -1.9122775878261657,
      -1.9123149106288067
    ],
    "ay_ego": [
      -0.2188720428950779,
      -0.2366792938658913,
      -0.41662067959260224,
      -0.30741550007729995,
      -0.22677916961547673,
      -0.19149647374734902,
      -0.16167950834072353,
      -0.07714204607552566,
      0.05722637798280095,
      0.05596542175249175
    ],
    "a_ego": [
      0.9805394783006001,
      0.9805394764326019,
      1.0020960541304071,
      1.056094773926038,
      1.1388278876559803,
      1.4667465084364293,
      1.854460631973816,
      2.202718465643392,
      1.9131336678965456,
      1.913133671713818
    ],
    "yaw": [
      -0.5033728280081586,
      -0.5220445591430596,
      -0.5466083942847388,
      -0.5711303135032962,
      -0.5936338550971314,
      -0.6077494289301385,
      -0.623992653439642,
      -0.6358535025003005,
      -0.6387324088892526,
      -0.6393918049161528
    ],
    "yaw_diff": [
      -0.0373434622698019,
      -0.049127670283358515,
      -0.049043838437114795,
      -0.04500708318767033,
      -0.0282311476660142,
      -0.0324864490190071,
      -0.02372169812131686,
      -0.005757812777904325,
      -0.001318792053800255,
      -0.001318792053800255
    ],
    "min_front_frame": [
      9,
      9.926962764953046
    ],
    "v_avg": 5.22203941689487,
    "v_std": 2.0619715420037443,
    "vy_max": 0.02579457308522004,
    "a_max": 2.202718465643392,
    "ax_avg": -1.4272664564389568,
    "a_std": 0.4530812703745226,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bcf787cdb66453f0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 38.985343503532924,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.672699860559195,
      19.224629878278297,
      19.420504840933788,
      18.558756554627053,
      17.235578047089184,
      16.120772223851283,
      14.32410532173534,
      12.368781018518213,
      10.911467818562668,
      9.926962764953046
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.1,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bcf787cdb66453f0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7cdcc814be255d9f": {
    "vx_ego": [
      12.89471304247496,
      12.881275853371694,
      12.94433575221439,
      13.040540439448996,
      13.050843680255769,
      13.034508410316153,
      13.035705403888997,
      13.01734039249785,
      12.950663394540348,
      12.856463987349313
    ],
    "vy_ego": [
      -0.04363662041625023,
      -0.02630962840136636,
      -0.014914791399651156,
      -0.04634363041821121,
      -0.0397843925829825,
      -0.02209319407681498,
      -0.001072364256665348,
      -0.004588638982941928,
      -0.02818115254868797,
      -0.018149439977529824
    ],
    "v_ego": [
      12.894786876967576,
      12.881302721666131,
      12.94434434481168,
      13.040622787466285,
      13.050904319791986,
      13.034527134032405,
      13.035705447997277,
      13.017341201250115,
      12.950694056151828,
      12.856476798103799
    ],
    "ax_ego": [
      -0.027663069322245156,
      -0.024667274911201183,
      0.27816702649844127,
      0.10811904278564725,
      -0.0655248259073281,
      0.0001409801521974831,
      0.004621490271545521,
      -0.07822007584770867,
      -0.18849784225753446,
      -0.1884572342868806
    ],
    "ay_ego": [
      0.2956133903889161,
      0.2958784305448079,
      0.3479401384665154,
      0.3002860316588602,
      0.23784853300532802,
      -0.04672957439660611,
      -0.12915572254073396,
      -0.07629559319060644,
      -0.023701708537616883,
      -0.024022508098260995
    ],
    "a_ego": [
      0.29690490393652486,
      0.296904900790141,
      0.44546518897337245,
      0.31915737218856566,
      0.24670919614593265,
      0.046729787060195975,
      0.12923837989292902,
      0.10926755147768165,
      0.18998212422053945,
      0.18998213087127755
    ],
    "yaw": [
      -1.5729762478858893,
      -1.5628467710571898,
      -1.551230562322376,
      -1.5363630069022625,
      -1.5265696734602745,
      -1.5242612916217704,
      -1.5292474272509837,
      -1.5329175159956356,
      -1.5330257506579588,
      -1.5347278207811852
    ],
    "yaw_diff": [
      0.020258953657398937,
      0.023232417469627453,
      0.029735110840227286,
      0.019586666883975923,
      0.004616763677008251,
      -0.009972271258426701,
      -0.007340177489303823,
      -0.00021646932464625124,
      -0.003404140246452858,
      -0.003404140246452858
    ],
    "min_front_frame": [
      5,
      50.93544543437497
    ],
    "v_avg": 12.970670568823909,
    "v_std": 0.07049355094170068,
    "vy_max": 0.04634363041821121,
    "a_max": 0.44546518897337245,
    "ax_avg": -0.01819817828250666,
    "a_std": 0.11182044123291109,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7cdcc814be255d9f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.437616112357116,
    "right_rear_min": 3.3038758514052575,
    "speed_mode": "quasi_constant",
    "front_frame": [
      54.98321396211749,
      53.52931006499058,
      52.4338587282244,
      51.53864244588445,
      51.18582754820614,
      50.93544543437497,
      51.020420306114936,
      51.22486821242512,
      51.59848418715575,
      52.09432850632227
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7cdcc814be255d9f",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "ee69970ae6f85870": {
    "vx_ego": [
      2.9262712812370824,
      2.495492634169354,
      1.8672258912343511,
      1.0101772915562341,
      0.2692931365166551,
      -0.060522296088388244,
      -0.07119329115774288,
      -0.03725733296826949,
      -0.020665913603018934,
      -0.010491519517529097
    ],
    "vy_ego": [
      -0.019194450509838257,
      -0.008580352775211297,
      -0.004815720637870391,
      -0.01233936919756079,
      -0.005664278807451434,
      0.009976798566002566,
      0.00897889585714937,
      0.0047509590825459275,
      0.003001570733507687,
      0.0017927078935232833
    ],
    "v_ego": [
      2.9263342321620223,
      2.4955073852119227,
      1.867232101282853,
      1.010252651769884,
      0.26935270080210144,
      0.06133909710321082,
      0.0717572663685336,
      0.03755902650645416,
      0.020882753935142103,
      0.01064357944388046
    ],
    "ax_ego": [
      -0.8615738150376478,
      -0.8615880156085186,
      -1.6514870972641507,
      -1.7767252036946357,
      -1.1868548692434382,
      -0.13241001824512655,
      0.08972461894239021,
      0.046018231976884254,
      0.020348595704170462,
      0.020348455575890337
    ],
    "ay_ego": [
      0.016954638180409487,
      0.016216902700181224,
      -0.005875979159214673,
      -0.02877574707521413,
      0.05420653602896336,
      0.008346780136203512,
      -0.01234941953959584,
      -0.004570486976705125,
      -0.002418901070690486,
      -0.0024200154692314985
    ],
    "a_ego": [
      0.8617406213672161,
      0.8617406202410398,
      1.6514975505767637,
      1.7769582136514863,
      1.1880920962598471,
      0.1326728369724446,
      0.09057049965260255,
      0.046244643208511876,
      0.020491862519584993,
      0.020491854947644498
    ],
    "yaw": [
      -0.517822116170739,
      -0.5186783715428946,
      -0.5191956298845604,
      -0.5199789866892129,
      -0.5205397451610714,
      -0.5204395977466966,
      -0.5204101641703484,
      -0.5203683778939888,
      -0.5204477648426519,
      -0.5203923490195534
    ],
    "yaw_diff": [
      -0.0017125107443112242,
      -0.0010345166833314323,
      -0.0015667136093051592,
      -0.0011215169437168715,
      0.00020029482874961424,
      5.886715269642906e-05,
      8.357255271906894e-05,
      -0.00015877389732610325,
      0.00011083164619685171,
      0.00011083164619685171
    ],
    "min_front_frame": [
      4,
      11.343545278621688
    ],
    "v_avg": 0.8770860794586005,
    "v_std": 1.0811465166130876,
    "vy_max": 0.019194450509838257,
    "a_max": 1.7769582136514863,
    "ax_avg": -0.6294199116894182,
    "a_std": 0.6623932884081069,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ee69970ae6f85870",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.237380887969536,
    "speed_mode": "decelerating",
    "front_frame": [
      13.861309329512215,
      13.030443344991788,
      12.20841432270435,
      11.543861527361809,
      11.343545278621688,
      11.422071094132807,
      11.44784313157842,
      11.429027878151132,
      11.42587341386873,
      11.431465910049242
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ee69970ae6f85870",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f55fd99d0cd65b58": {
    "vx_ego": [
      6.652516985924505,
      6.718450232917584,
      6.697284727277766,
      6.5964739805335455,
      6.638485343855628,
      6.964011209318279,
      7.349084042391398,
      7.480092959734408,
      7.4229079126016035,
      7.341013092993317
    ],
    "vy_ego": [
      -0.012783277645969982,
      -0.008501922696401376,
      -0.026850585812088656,
      -0.02007984777523486,
      -0.012017725653104883,
      -0.007241594293406539,
      -0.01586581743550841,
      0.004658085790226529,
      0.03758574672755177,
      0.06253728961440475
    ],
    "v_ego": [
      6.652529267895139,
      6.7184556123323365,
      6.697338551408795,
      6.596504542266514,
      6.638496221759552,
      6.964014974438133,
      7.349101168598429,
      7.4800944101014855,
      7.423003069332557,
      7.341279462334317
    ],
    "ax_ego": [
      0.1260774955945905,
      0.13640659310599895,
      -0.2236036805780589,
      -0.18214712986399617,
      0.3497109458220906,
      0.9518818269881791,
      0.5883102641319153,
      -0.06462388753916877,
      -0.16325907611781548,
      -0.16249882219343495
    ],
    "ay_ego": [
      -0.36918408682883036,
      -0.3654937400052182,
      -0.2578993499044912,
      -0.09429445338113174,
      -0.1205143593267034,
      -0.0596521084331329,
      -0.10967077695297106,
      -0.07638459283433771,
      -0.08315311462031043,
      -0.0846291857584855
    ],
    "a_ego": [
      0.3901184754187391,
      0.39011848536795535,
      0.34133660900819557,
      0.20510733983974808,
      0.36989384481457244,
      0.9537491214102753,
      0.5984451906402393,
      0.10005424960061761,
      0.18321562817047335,
      0.1832156278716361
    ],
    "yaw": [
      -0.46864923021814736,
      -0.4967660782920461,
      -0.5171270330162726,
      -0.5314031390412532,
      -0.540831301046288,
      -0.5482380344043118,
      -0.5529181874550206,
      -0.5618610184304755,
      -0.5716162659368081,
      -0.5806785638935377
    ],
    "yaw_diff": [
      -0.056233696147797496,
      -0.040721909448453,
      -0.02855221204996128,
      -0.018856324010069425,
      -0.014813466716047774,
      -0.009360306101417581,
      -0.017885661950909792,
      -0.01951049501266522,
      -0.018124595913459052,
      -0.018124595913459052
    ],
    "min_front_frame": [
      9,
      29.265869855242986
    ],
    "v_avg": 6.986081728046726,
    "v_std": 0.3510304753408356,
    "vy_max": 0.06253728961440475,
    "a_max": 0.9537491214102753,
    "ax_avg": 0.13562545293503003,
    "a_std": 0.2375700276129323,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f55fd99d0cd65b58",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.5827780195243775,
    "speed_mode": "accelerating",
    "front_frame": [
      39.88070436351425,
      38.52750063365796,
      37.58049414152134,
      35.80661248088358,
      32.53085676955408,
      35.44644316418302,
      34.50072367943759,
      33.48642383517792,
      32.392650760924084,
      29.265869855242986
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f55fd99d0cd65b58",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dcd3886f044a5e29": {
    "vx_ego": [
      11.165190215501319,
      11.170510424862442,
      11.166501096071132,
      11.196525692226546,
      11.270577384543838,
      11.307637747538969,
      11.326953513318674,
      11.32016535904961,
      11.251970224587218,
      11.169156405034432
    ],
    "vy_ego": [
      -0.14222065118881222,
      -0.008594211972931198,
      -0.0077117541579747595,
      0.0044338847602070075,
      0.021172379518858087,
      0.04604068755079371,
      0.015230530226800987,
      -0.01959886845752301,
      -0.0023934907030973562,
      0.04534813680876937
    ],
    "v_ego": [
      11.166095972270297,
      11.170513730909601,
      11.16650375899771,
      11.19652657014769,
      11.27059727124723,
      11.30773147781987,
      11.326963753006948,
      11.32018232502779,
      11.251970479155865,
      11.169248464137311
    ],
    "ax_ego": [
      0.010454373078437246,
      0.012311063802728145,
      -0.026366862053087914,
      0.14446374125039663,
      0.1509937816555262,
      -0.0025020887597456826,
      0.08009355804670343,
      -0.10706196801459952,
      -0.16560809706898863,
      -0.16562814991454156
    ],
    "ay_ego": [
      0.3772228927132674,
      0.3771668569148221,
      0.511947733162082,
      0.2474326482410223,
      0.13932579726049374,
      -0.08569037653473906,
      -0.13757892881697295,
      0.0719289679598371,
      0.09053606988667022,
      0.09049940142745647
    ],
    "a_ego": [
      0.37736773140191576,
      0.37736772549724057,
      0.5126262702050304,
      0.2865182157413853,
      0.20545267065898395,
      0.08572689822236078,
      0.1591946597565583,
      0.12898077929260005,
      0.18874009050897372,
      0.188740100940001
    ],
    "yaw": [
      -0.6221224747912449,
      -0.617200127874106,
      -0.597386093942694,
      -0.5814637675196417,
      -0.5743461083541992,
      -0.5753594750360271,
      -0.5775711333399746,
      -0.5759480627943756,
      -0.5738750904375323,
      -0.5740965564609692
    ],
    "yaw_diff": [
      0.009844693834277773,
      0.039628067862824023,
      0.031844652846104715,
      0.014235318330884983,
      -0.002026733363655886,
      -0.004423316607894856,
      0.0032461410911979183,
      0.004145944713686678,
      -0.00044293204687395615,
      -0.00044293204687395615
    ],
    "min_front_frame": [
      6,
      19.43964994225975
    ],
    "v_avg": 11.234633380272031,
    "v_std": 0.06477537746383764,
    "vy_max": 0.14222065118881222,
    "a_max": 0.5126262702050304,
    "ax_avg": -0.006885064797717169,
    "a_std": 0.1273211148303249,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "dcd3886f044a5e29",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 24.19355503606261,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      52.92131320368841,
      47.31634911108455,
      41.747987957655276,
      36.189684294376924,
      30.595401021073343,
      25.017796262421474,
      19.43964994225975,
      19.4678322094649,
      44.85252733555046,
      39.294354066711996
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "dcd3886f044a5e29",
    "pedestrians": "No"
  },
  "c308037e34c45bed": {
    "vx_ego": [
      9.207714950602613,
      9.091680040640844,
      8.963176697942979,
      8.778594709998348,
      8.398125403340698,
      7.807460317150723,
      7.116009426626878,
      6.372507067741515,
      5.557870252638222,
      4.680409019959791
    ],
    "vy_ego": [
      -0.0013832070535451102,
      0.006879699126277838,
      0.014063708321871982,
      -0.004812284763533459,
      -0.002232095595813277,
      0.00931115989540654,
      0.012003722229916303,
      -0.0006281126210221366,
      -0.021718772519119245,
      -0.029576516508543316
    ],
    "v_ego": [
      9.207715054497106,
      9.091682643584035,
      8.963187731295143,
      8.778596029006895,
      8.398125699969434,
      7.807465869383091,
      7.11601955092803,
      6.372507098696794,
      5.557912688252721,
      4.6805024692280375
    ],
    "ax_ego": [
      -0.23364724087142968,
      -0.23061117197559183,
      -0.28413331797624947,
      -0.4548964979602237,
      -1.0670940631862518,
      -1.2955682153408323,
      -1.4702147190912327,
      -1.503652808369321,
      -1.7549981887080648,
      -1.7549657234727158
    ],
    "ay_ego": [
      0.24266718951123342,
      0.24555423733163748,
      0.20366205620008893,
      0.11352112722074786,
      0.023187794921256555,
      0.04606968041619697,
      -0.04240876235114832,
      -0.09022181142129326,
      -0.026681611675532513,
      -0.028737575332685172
    ],
    "a_ego": [
      0.3368655488946781,
      0.3368655460439345,
      0.34958543379242885,
      0.4688473847447003,
      1.0673459671168737,
      1.2963870625916782,
      1.4708262383288748,
      1.5063571101744384,
      1.755201000105171,
      1.755200996695283
    ],
    "yaw": [
      2.6299196510452774,
      2.642356750916753,
      2.6539925153800255,
      2.6650325781388577,
      2.6686791358490485,
      2.6693888714233394,
      2.6691513729789667,
      2.6661098104610916,
      2.6647531770675994,
      2.6635816800681296
    ],
    "yaw_diff": [
      0.024874199742951575,
      0.023271528926544605,
      0.022080125517664584,
      0.0072931154203814685,
      0.0014194711485817635,
      -0.0004749968887454159,
      -0.006083125035750037,
      -0.0027132667869844695,
      -0.0023429939989396686,
      -0.0023429939989396686
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.597371483484127,
    "v_std": 1.522227780054852,
    "vy_max": 0.029576516508543316,
    "a_max": 1.755201000105171,
    "ax_avg": -1.0049781946951915,
    "a_std": 0.5730594681614248,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c308037e34c45bed",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c308037e34c45bed",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c67995ef5ccc58c6": {
    "vx_ego": [
      4.340378234058607,
      4.012159607829164,
      3.7185262739321194,
      3.4666129183921113,
      3.2274478629163585,
      3.009838870332694,
      2.7969701555524598,
      2.578593351242957,
      2.3635565232856175,
      2.14623814707544
    ],
    "vy_ego": [
      -0.01103538877329635,
      -0.00540059394884862,
      -0.00017267996689906973,
      -0.001051413625642983,
      0.010348510463431326,
      0.009831106078443952,
      -0.0044812094946271586,
      -0.01940328649408296,
      -0.023800979204091632,
      -0.023973643508001574
    ],
    "v_ego": [
      4.340392262744818,
      4.012163242580101,
      3.7185262779415535,
      3.4666130778374566,
      3.2274644536403776,
      3.009854926074065,
      2.7969737453701073,
      2.5786663527104774,
      2.363676358001888,
      2.146372036610817
    ],
    "ax_ego": [
      -0.6564326158367308,
      -0.6563694848400773,
      -0.5180987668809809,
      -0.48924961085816404,
      -0.4676444353346983,
      -0.40352885187280085,
      -0.4482166953893563,
      -0.4247930245994508,
      -0.43437272462231147,
      -0.4336733494727433
    ],
    "ay_ego": [
      0.028571437381373133,
      0.02998675355949565,
      0.04484852887948429,
      0.099274837129427,
      0.09414081963029122,
      0.043962083190477896,
      0.007317536966189364,
      0.026300986151689687,
      0.0532765045544725,
      0.0586981753434441
    ],
    "a_ego": [
      0.6570541120549287,
      0.6570541119407642,
      0.5200362706448916,
      0.4992200667160117,
      0.47702600748824153,
      0.4059164927078319,
      0.4482764240655609,
      0.4256064562725769,
      0.43762775258586284,
      0.4376277525838116
    ],
    "yaw": [
      -2.3708097823414542,
      -2.368653607385202,
      -2.3651503106030587,
      -2.354866213102109,
      -2.343816580692902,
      -2.3325510904564695,
      -2.3232241352182834,
      -2.314535929837809,
      -2.304710204311517,
      -2.2922187000300602
    ],
    "yaw_diff": [
      0.0043123499125048426,
      0.007006593564286234,
      0.020568195001898992,
      0.022099264818414177,
      0.02253098047286528,
      0.018653910476372104,
      0.017376410760948424,
      0.019651451052584257,
      0.02498300856291369,
      0.02498300856291369
    ],
    "min_front_frame": [
      9,
      13.845075940368185
    ],
    "v_avg": 3.166070273351166,
    "v_std": 0.6843615743259914,
    "vy_max": 0.023973643508001574,
    "a_max": 0.6570541120549287,
    "ax_avg": -0.49323795597073133,
    "a_std": 0.086593579290034,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c67995ef5ccc58c6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.014960112575539,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.999953066558117,
      25.945899167885134,
      24.035426853937057,
      22.234828932442564,
      20.544694350890655,
      18.982724415819813,
      17.51812545022226,
      16.19086792160525,
      15.00891129836166,
      13.845075940368185
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c67995ef5ccc58c6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "40d43586b1195366": {
    "vx_ego": [
      8.561418997349625,
      8.054031905210989,
      7.5320711214505325,
      6.977995011154858,
      6.378217637391722,
      5.726978344069661,
      5.071675813657867,
      4.39969912815724,
      3.744898800883982,
      3.1431483647161507
    ],
    "vy_ego": [
      0.01925602257579445,
      0.032400295248847355,
      0.026607906658932007,
      0.012931814553443388,
      -0.0170200966427545,
      -0.02073381843508483,
      0.003809842616453757,
      0.016546235535444015,
      0.011685074644066457,
      0.019874377759452493
    ],
    "v_ego": [
      8.5614406522842,
      8.054097075978706,
      7.532118119047646,
      6.9780069939438825,
      6.378240346178918,
      5.727015876062312,
      5.071677244634456,
      4.399730241300934,
      3.744917031101186,
      3.143211197725844
    ],
    "ax_ego": [
      -1.0147583073660638,
      -1.014763904208893,
      -1.0732674770903714,
      -1.1430414255092596,
      -1.256067341850097,
      -1.3490282301210874,
      -1.272173065103199,
      -1.4157441911045556,
      -1.2034456618944016,
      -1.2034542819914245
    ],
    "ay_ego": [
      0.022212375339903664,
      0.0219555893873877,
      0.0004904166694227434,
      -0.05398025959818978,
      -0.06138213901886948,
      0.017300209506641864,
      0.08371774719712899,
      -0.03073386725840391,
      0.006390204950870022,
      0.004478029149923797
    ],
    "a_ego": [
      1.015001385214168,
      1.0150013936890052,
      1.0732675891353658,
      1.1443153275459208,
      1.2575662742984564,
      1.3491391562446802,
      1.2749246914111558,
      1.41607774689208,
      1.2034626275259936,
      1.2034626132907338
    ],
    "yaw": [
      1.5917441618805694,
      1.5914911104556855,
      1.592953078960024,
      1.592994879703768,
      1.5931609394309438,
      1.5919560420535124,
      1.5920879278131246,
      1.5921951249995618,
      1.5918923993823892,
      1.5903034898834565
    ],
    "yaw_diff": [
      -0.000506102849767931,
      0.00292393700867688,
      8.36014874883162e-05,
      0.00033211945435152046,
      -0.002409794754862915,
      0.00026377151922440945,
      0.00021439437287451568,
      -0.000605451234345189,
      -0.0031778189978655114,
      -0.0031778189978655114
    ],
    "min_front_frame": [
      9,
      20.621508137734804
    ],
    "v_avg": 5.959045477825809,
    "v_std": 1.7593827861589066,
    "vy_max": 0.032400295248847355,
    "a_max": 1.41607774689208,
    "ax_avg": -1.1945743886239353,
    "a_std": 0.12855590211637521,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "40d43586b1195366",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      35.938512665257214,
      36.78086269670789,
      37.56226085128978,
      35.36836361251508,
      32.042271526081855,
      29.29638211382267,
      26.61739548338441,
      24.355442578430935,
      22.27861613556715,
      20.621508137734804
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "40d43586b1195366",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e4d88f52d2b45609": {
    "vx_ego": [
      7.551726988482011,
      7.529188598246374,
      7.668752392994219,
      7.901818066588077,
      8.199450187076634,
      8.580793864284066,
      9.036958413001587,
      9.529373684893988,
      10.008434595042964,
      10.488083547008792
    ],
    "vy_ego": [
      0.030052476316240362,
      0.011498779385039626,
      0.01180902889379265,
      -0.0179412363696434,
      -0.06073514022693782,
      -0.10587832655819795,
      -0.08835704500522912,
      -0.0921428191491307,
      -0.14788695304901012,
      -0.18343024123764184
    ],
    "v_ego": [
      7.55178678591367,
      7.529197378863868,
      7.668761485286785,
      7.901838434530296,
      8.19967512329662,
      8.581447055209852,
      9.037390349305612,
      9.529819154919508,
      10.009527141385597,
      10.489687466385117
    ],
    "ax_ego": [
      -0.23263118706218344,
      0.13007792625364623,
      0.4251042531167128,
      0.5062919379388124,
      0.6793070522629387,
      0.8599723307246441,
      0.9805240827360802,
      1.009666549822886,
      0.9417587366668911,
      1.0160293985975493
    ],
    "ay_ego": [
      2.309258311362099,
      2.3172982018653343,
      2.3708643908755582,
      2.3351650688800976,
      1.949397928045741,
      1.536787479736496,
      1.1807179953909133,
      1.1175116642682368,
      1.2285589279980653,
      1.167883050260658
    ],
    "a_ego": [
      2.3209461901967683,
      2.3209461913768616,
      2.408674238235559,
      2.3894198930576493,
      2.0643668165137687,
      1.7610417847077984,
      1.534771143026011,
      1.506073989419781,
      1.5479879061711608,
      1.5479879062514141
    ],
    "yaw": [
      -3.1044307009941345,
      -2.947956332553349,
      -2.7933173194019316,
      -2.6384844365557,
      -2.4999675607218474,
      -2.3905238682994607,
      -2.3152955960498716,
      -2.2529910925464023,
      -2.1873262461477063,
      -2.125361968500243
    ],
    "yaw_diff": [
      0.3129487368815713,
      0.3092780263028345,
      0.30966576569246307,
      0.2770337516677053,
      0.21888738484477344,
      0.15045654449917834,
      0.12460900700693855,
      0.13132969279739193,
      0.12392855529492675,
      0.12392855529492675
    ],
    "min_front_frame": [
      9,
      34.152984542706626
    ],
    "v_avg": 8.649913037509693,
    "v_std": 1.0173128577469017,
    "vy_max": 0.18343024123764184,
    "a_max": 2.408674238235559,
    "ax_avg": 0.6316101081057977,
    "a_std": 0.3767247817340849,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "e4d88f52d2b45609",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.622659811744226,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      57.06493107006418,
      34.152984542706626
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e4d88f52d2b45609",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d1e46ac6cbe15c1e": {
    "vx_ego": [
      3.774919323740046,
      3.233564223601605,
      2.6790546414952052,
      2.126147162498315,
      1.5989826007975627,
      1.057367837175768,
      0.5301254812530305,
      0.15174041404072858,
      -0.010580836213414522,
      -0.06584720083350377
    ],
    "vy_ego": [
      -0.02054816575690155,
      0.010749385843043413,
      0.005826148766398642,
      -0.03863285448098597,
      -0.04710515466503584,
      -0.020526367608686646,
      -0.011169747340942726,
      -0.02455032449182093,
      -0.02070847069161043,
      0.010926212095816578
    ],
    "v_ego": [
      3.774975248642298,
      3.233582090724195,
      2.679060976559968,
      2.1264981199251,
      1.599676296395416,
      1.0575670545459368,
      0.5302431415203951,
      0.15371360280048557,
      0.023254996309618976,
      0.06674755402537645
    ],
    "ax_ego": [
      -1.0826769149776463,
      -1.0827883044056603,
      -1.1351039543752517,
      -1.0765683156655153,
      -1.0324672601062166,
      -1.1341279647144211,
      -0.9748646153182653,
      -0.5387131924377221,
      -0.11053580717357825,
      -0.11052689821174369
    ],
    "ay_ego": [
      0.0467273943483304,
      0.04407081316456041,
      -0.08178122379437647,
      -0.10346422645947512,
      0.058471975567540024,
      0.04209550845609933,
      -0.006503187508438479,
      -0.0478665924375051,
      0.06325080903624797,
      0.06326638869895086
    ],
    "a_ego": [
      1.0836848027023807,
      1.083684801374768,
      1.1380462010848416,
      1.0815286332093765,
      1.0341216635957342,
      1.1349089268216426,
      0.9748863060108083,
      0.5408355705554326,
      0.12735316843822292,
      0.12735317494006926
    ],
    "yaw": [
      -0.7741743725943288,
      -0.7766279587948537,
      -0.7781482397546552,
      -0.7789215751959933,
      -0.7804162884902673,
      -0.7814879063142934,
      -0.7820804553527865,
      -0.7828201718326622,
      -0.7825737689640174,
      -0.7824328684935549
    ],
    "yaw_diff": [
      -0.004907172401049875,
      -0.003040561919603002,
      -0.0015466708826761266,
      -0.002989426588548172,
      -0.0021432356480521886,
      -0.0011850980769860797,
      -0.0014794329597513922,
      0.0004928057372894923,
      0.0002818009409251143,
      0.0002818009409251143
    ],
    "min_front_frame": [
      7,
      8.638343450610341
    ],
    "v_avg": 1.524531908144879,
    "v_std": 1.3096210087546087,
    "vy_max": 0.04710515466503584,
    "a_max": 1.1380462010848416,
    "ax_avg": -0.827837322738602,
    "a_std": 0.3890333798717013,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d1e46ac6cbe15c1e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.987273683542221,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.103973419762431,
      13.412287590647058,
      11.919763195124236,
      10.76771289879858,
      9.797539323956219,
      9.133982524434137,
      8.775053830582666,
      8.638343450610341,
      8.63975301742556,
      8.653809824207931
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d1e46ac6cbe15c1e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "387bb49da88353dc": {
    "vx_ego": [
      -0.09138357059629615,
      0.14964515152654007,
      0.5096569689279071,
      1.0141500102444465,
      1.5676012538675523,
      2.0746720362017497,
      2.323554363592303,
      2.30958209641252,
      2.240269821323143,
      2.19018604413451
    ],
    "vy_ego": [
      0.009178903576244818,
      -0.009037149539083023,
      -0.030468173293345086,
      -0.04136997872797166,
      -0.041457044148494604,
      -0.03648764095812829,
      -0.025863221544969672,
      -0.003960722584202436,
      0.012172965927184531,
      0.012063508168118187
    ],
    "v_ego": [
      0.09184339522137801,
      0.14991778229147096,
      0.5105668766778894,
      1.0149934573280577,
      1.5681493480012203,
      2.0749928688408072,
      2.323698299435087,
      2.3095854925489636,
      2.240302893233567,
      2.1902192666833376
    ],
    "ax_ego": [
      0.48205598189552057,
      0.48205891691733993,
      0.9580497427401906,
      1.060138054098736,
      1.153911605362016,
      0.874404904180156,
      0.12139345831636826,
      -0.1771081300622651,
      -0.10020671565545006,
      -0.10019788708547167
    ],
    "ay_ego": [
      -0.03645619662525745,
      -0.03641739785237405,
      -0.04839808217411529,
      0.008544502061162529,
      -0.0011079159772490188,
      0.022464159209293677,
      0.03862166084380805,
      0.07068742043097348,
      0.006069593027078178,
      0.006213455020604608
    ],
    "a_ego": [
      0.48343254333322855,
      0.4834325457040071,
      0.9592714339136124,
      1.060172487033939,
      1.153912137238775,
      0.8746934176631767,
      0.12738918481700862,
      0.19069347430192107,
      0.10039036717716782,
      0.10039035610897099
    ],
    "yaw": [
      0.8554545745777496,
      0.8553740966066409,
      0.8562149380853243,
      0.8574675858822778,
      0.8589890707438153,
      0.8591882330558128,
      0.8612146399398638,
      0.8635192476051093,
      0.8648680969884841,
      0.8663037157762716
    ],
    "yaw_diff": [
      -0.0001609559422175444,
      0.0016816829573669256,
      0.0025052955939068866,
      0.0030429697230749397,
      0.0003983246239951388,
      0.004052813768101959,
      0.004609215330491079,
      0.0026976987667495234,
      0.0028712375755750585,
      0.0028712375755750585
    ],
    "min_front_frame": [
      0,
      10.7229799648215
    ],
    "v_avg": 1.447426968026178,
    "v_std": 0.8766878996613571,
    "vy_max": 0.041457044148494604,
    "a_max": 1.153912137238775,
    "ax_avg": 0.47544999307071406,
    "a_std": 0.4023259685546238,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "387bb49da88353dc",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.700856223692758,
    "speed_mode": "accelerating",
    "front_frame": [
      10.7229799648215,
      12.515444953869778,
      14.45976081711129,
      16.613104772874856,
      18.916934466377104,
      21.28039382200656,
      23.78768045302337,
      26.582661734952797,
      29.61944298573519,
      32.85283526746137
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "387bb49da88353dc",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "ba86b1fc40075e26": {
    "vx_ego": [
      5.601747862377096,
      5.912507131844674,
      6.212523164597033,
      6.451375149127695,
      6.638954047025255,
      6.815511448864596,
      6.957020891115172,
      7.071125212738857,
      7.137983070668751,
      7.159741631333291
    ],
    "vy_ego": [
      0.007639920418201385,
      0.03834595048526257,
      0.027051649275517065,
      0.02190245144523395,
      0.024711916297361025,
      0.013549900591270703,
      -0.005797757319807584,
      -0.036666648461300966,
      -0.06065558708094887,
      -0.044038904046864946
    ],
    "v_ego": [
      5.601753072211445,
      5.912631478118076,
      6.212582060816843,
      6.451412328487592,
      6.639000038960694,
      6.815524918112355,
      6.957023306946936,
      7.071220277812064,
      7.13824077888928,
      7.159877069651178
    ],
    "ax_ego": [
      0.6205237732598716,
      0.6243065450202626,
      0.5763273058793416,
      0.3794140077265494,
      0.371372987203541,
      0.33538952156417046,
      0.2309144258735319,
      0.22501996859037365,
      0.039961181008570004,
      0.04351394461145627
    ],
    "ay_ego": [
      -0.1867642570925513,
      -0.17370083086715882,
      -0.059339067026755704,
      -0.051461997646437024,
      -0.062377967527710326,
      -0.11908854938990505,
      -0.16067606741944754,
      -0.22856825695617505,
      -0.20972285098016846,
      -0.20901460789840254
    ],
    "a_ego": [
      0.648020555930135,
      0.6480205558460924,
      0.5793740487610279,
      0.38288813831311613,
      0.376575233462544,
      0.35590478188812663,
      0.28131525148466746,
      0.32074512366113506,
      0.21349606603131976,
      0.2134960648128481
    ],
    "yaw": [
      -2.007745023779542,
      -2.0287325372424667,
      -2.0364717382652704,
      -2.0400194169801074,
      -2.0447961639583117,
      -2.049877255489408,
      -2.0572103301298794,
      -2.0666819614764447,
      -2.0786890566272787,
      -2.0956575848754424
    ],
    "yaw_diff": [
      -0.04197502692584987,
      -0.015478402045607353,
      -0.007095357429673932,
      -0.009553493956408587,
      -0.010162183062192298,
      -0.01466614928094323,
      -0.018943262693130514,
      -0.02401419030166796,
      -0.0339370564963275,
      -0.0339370564963275
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.595926533000646,
    "v_std": 0.5139678095539925,
    "vy_max": 0.06065558708094887,
    "a_max": 0.648020555930135,
    "ax_avg": 0.34467436607376684,
    "a_std": 0.1574435961278004,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ba86b1fc40075e26",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ba86b1fc40075e26",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c081afa672dc56a2": {
    "vx_ego": [
      4.127568584459769,
      3.6322377198091327,
      3.1353238864868818,
      2.674903150897084,
      2.1875295698153674,
      1.6089737312220256,
      1.0383519020579286,
      0.5450969241708163,
      0.16936785109746225,
      -0.1321887277307513
    ],
    "vy_ego": [
      -0.023065204518955773,
      0.0038799079383601137,
      0.00859165005526799,
      0.01110468196144701,
      0.0238665366246108,
      0.03207866771085673,
      0.015376535001671715,
      0.0038617771520958154,
      0.0006851380694900171,
      -0.023926845995333196
    ],
    "v_ego": [
      4.12763302911956,
      3.6322397920415246,
      3.135335658207248,
      2.6749262009709005,
      2.1876597611116453,
      1.6092934812160988,
      1.0384657482728912,
      0.5451106035138714,
      0.16936923687478317,
      0.13433671761048463
    ],
    "ax_ego": [
      -0.9906579029940192,
      -0.9906947997637737,
      -0.9969688171726353,
      -0.8447155016326552,
      -1.1048338089627632,
      -1.209452021655665,
      -1.0731677383508949,
      -0.8998376369604433,
      -0.6030959948242782,
      -0.603113633122758
    ],
    "ay_ego": [
      0.0482952694349342,
      0.04753227055959816,
      -0.02687783422855225,
      0.039529947641879455,
      0.01824371789899581,
      0.01888695941997653,
      -0.08091480654985328,
      0.037037367060095534,
      -0.04931872007717803,
      -0.04910255999533424
    ],
    "a_ego": [
      0.9918344185469168,
      0.9918344131071146,
      0.997331058569531,
      0.8456399325121053,
      1.1049844246277616,
      1.2095994832683699,
      1.076213826595893,
      0.9005995444420893,
      0.6051091762013999,
      0.6051091768074817
    ],
    "yaw": [
      -1.5423700823430215,
      -1.543140262317202,
      -1.5430067539510912,
      -1.54278153606429,
      -1.542099009343808,
      -1.5415389074220722,
      -1.5406242076706294,
      -1.5399159509062188,
      -1.5395839020916238,
      -1.539225491096129
    ],
    "yaw_diff": [
      -0.00154035994836077,
      0.00026701673222140343,
      0.00045043577360237563,
      0.001365053440963937,
      0.0011202038434716677,
      0.0018293995028857424,
      0.0014165135288211061,
      0.0006640976291900635,
      0.0007168219909896578,
      0.0007168219909896578
    ],
    "min_front_frame": [
      9,
      11.39918092098772
    ],
    "v_avg": 1.9254370228939006,
    "v_std": 1.3762620615456425,
    "vy_max": 0.03207866771085673,
    "a_max": 1.2095994832683699,
    "ax_avg": -0.9316537855439886,
    "a_std": 0.1900956678855156,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c081afa672dc56a2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.0553591614146605,
    "right_rear_min": 4.319542442244557,
    "speed_mode": "decelerating",
    "front_frame": [
      18.107153564069712,
      16.892948257945715,
      15.709971053506639,
      14.537484407515032,
      13.426932357343473,
      12.515147160106391,
      11.909229062770855,
      11.553067693215048,
      11.405059520536309,
      11.39918092098772
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c081afa672dc56a2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8c384d60912b5f73": {
    "vx_ego": [
      2.5018402117659897,
      2.8241596650975316,
      3.128725163332373,
      3.376044984956734,
      3.5365378508553977,
      3.6078100708052068,
      3.64757439998077,
      3.722879305627783,
      3.8637112834521607,
      4.041269437441212
    ],
    "vy_ego": [
      -0.018716166175836768,
      0.028863499011338667,
      0.0007639107310378757,
      -0.0021556536525286774,
      -0.03346673023338398,
      -0.06714753257294603,
      -0.07822115460558066,
      -0.09009158251445393,
      -0.06035447377566805,
      0.032288117406267025
    ],
    "v_ego": [
      2.5019102182303854,
      2.824307156726934,
      3.1287252565907395,
      3.3760456731647137,
      3.536696197380463,
      3.608434882069248,
      3.6484130183441272,
      3.7239692288620705,
      3.8641826489414655,
      4.041398419918785
    ],
    "ax_ego": [
      0.6281991116946005,
      0.6582878803613011,
      0.5636432683579451,
      0.44013596456441223,
      0.22570517011800234,
      0.10388142015560164,
      0.10939533206861762,
      0.2359022367508955,
      0.33653255163437024,
      0.3764375327954317
    ],
    "ay_ego": [
      0.4719165832389912,
      0.42894807623306663,
      0.6228048935673307,
      0.869311063856872,
      1.0518427085527504,
      1.187338762266147,
      1.2418923782722098,
      1.1082987526706463,
      0.6722817863054164,
      0.6507777992759229
    ],
    "a_ego": [
      0.785709479050526,
      0.7857094790917464,
      0.8399878983751139,
      0.9743825701679049,
      1.0757861810571758,
      1.191874442142817,
      1.2467012544667662,
      1.1331266436172904,
      0.7518091237192733,
      0.7518091247966635
    ],
    "yaw": [
      -1.4348289357366308,
      -1.368054004858267,
      -1.2707375593753065,
      -1.1558186471567535,
      -1.0092011481745335,
      -0.8441434882040006,
      -0.6740609232546142,
      -0.5110674180237529,
      -0.4013022825172974,
      -0.3409982917644586
    ],
    "yaw_diff": [
      0.13354986175672767,
      0.19463289096592096,
      0.229837824437106,
      0.29323499796443997,
      0.3301153199410658,
      0.3401651298987729,
      0.3259870104617226,
      0.219530271012911,
      0.12060798150567753,
      0.12060798150567753
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4254082700228934,
    "v_std": 0.45402081497125263,
    "vy_max": 0.09009158251445393,
    "a_max": 1.2467012544667662,
    "ax_avg": 0.3678120468501178,
    "a_std": 0.18466062043675827,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "8c384d60912b5f73",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 49.76380559221186,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "8c384d60912b5f73",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "d49b986924cd5bed": {
    "vx_ego": [
      1.2195023079155418,
      1.4083392487600797,
      1.6243094857435474,
      1.7716309412166051,
      1.7672329259401685,
      1.642987210109812,
      1.4709562843517965,
      1.3017119782377322,
      0.9849159488522374,
      0.5374906996247193
    ],
    "vy_ego": [
      -0.050782578185799565,
      -0.03147008750180724,
      -0.007299258447298507,
      0.025797322840487746,
      0.03988071187759801,
      0.042097204224285534,
      0.05842507594452717,
      0.05632084843349627,
      0.019211804201940574,
      -0.07424075289432824
    ],
    "v_ego": [
      1.2205591953111206,
      1.4086908127781188,
      1.6243258862218344,
      1.7718187530731722,
      1.767682857784991,
      1.6435264364128508,
      1.4721161231279165,
      1.3029298186225762,
      0.9851033040875443,
      0.5425937168576382
    ],
    "ax_ego": [
      0.37754232700423623,
      0.3774755582506251,
      0.48615269067252304,
      0.10351969896342086,
      -0.11933927135468106,
      -0.3749401971804148,
      -0.30695098835282797,
      -0.35838220939985077,
      -0.8999848089725571,
      -0.8927045790896782
    ],
    "ay_ego": [
      0.03298969847638361,
      0.03374498562430556,
      0.044632609280764485,
      0.02810932570039411,
      -0.0471763318691347,
      -0.0556408463250789,
      -0.06616473528433749,
      -0.17196584492171513,
      -0.22024482678890728,
      -0.24811079636738959
    ],
    "a_ego": [
      0.37898090833884546,
      0.37898089810887,
      0.4881972024288374,
      0.10726817918100463,
      0.12832563257624308,
      0.37904624419912064,
      0.31400108510325947,
      0.39750479221508495,
      0.9265421955359863,
      0.9265421915928814
    ],
    "yaw": [
      -2.109760555486299,
      -2.1117612870801077,
      -2.114806677138743,
      -2.1233477553873694,
      -2.133835754778393,
      -2.1499089956064292,
      -2.1801166314451645,
      -2.221344237068183,
      -2.2716580686151335,
      -2.3027440220324147
    ],
    "yaw_diff": [
      -0.0040014631876177376,
      -0.006090780117270711,
      -0.017082156497252754,
      -0.020975998782047256,
      -0.03214648165607237,
      -0.06041527167747063,
      -0.08245521124603705,
      -0.10062766309390092,
      -0.06217190683456231,
      -0.06217190683456231
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.3739346904277763,
    "v_std": 0.36475413424235203,
    "vy_max": 0.07424075289432824,
    "a_max": 0.9265421955359863,
    "ax_avg": -0.16076117794592046,
    "a_std": 0.26690824014596604,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "d49b986924cd5bed",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.1026766243477,
    "right_rear_min": 6.375446510438293,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "d49b986924cd5bed",
    "pedestrians": "No"
  },
  "8128635441b358c4": {
    "vx_ego": [
      1.6704266383739,
      2.0450704289635038,
      2.268173742353153,
      2.263299193290582,
      2.167011291991332,
      2.0698067892973495,
      1.9900111756766765,
      1.9519203003062098,
      1.9889729117581634,
      2.063142916884682
    ],
    "vy_ego": [
      0.010380726643293758,
      0.0035342139220515545,
      0.0007233893374036793,
      -0.023784064507943015,
      -0.020211084966674675,
      0.0030688525566453517,
      -0.009686000470795708,
      0.004307132388271295,
      -0.0004606183705404554,
      -0.058091152897567055
    ],
    "v_ego": [
      1.670458893141274,
      2.045073482809118,
      2.26817385770854,
      2.263424158233343,
      2.1671055414015887,
      2.0698090643528975,
      1.9900347479185354,
      1.951925052387231,
      1.988972965094556,
      2.063960580422117
    ],
    "ax_ego": [
      0.749273353963724,
      0.7494287675256289,
      0.14302528927155955,
      -0.1625439297849026,
      -0.2233626097136952,
      -0.16532665640988053,
      -0.15387585229232792,
      0.0011756399756241848,
      0.14767426857561058,
      0.148389836132661
    ],
    "ay_ego": [
      -0.03366057874747452,
      -0.03000233033604413,
      -0.028412375582539222,
      -0.11169143923405564,
      0.09048331668697174,
      -0.03533844799545349,
      -0.05310333121779964,
      0.07360904725389675,
      -0.1368902383554706,
      -0.1361142230643695
    ],
    "a_ego": [
      0.7500290617847171,
      0.7500290777167085,
      0.14582008249022682,
      0.19721943795704847,
      0.2409939543158445,
      0.16906125879809977,
      0.16278126951562227,
      0.07361843496692042,
      0.20136193025584334,
      0.20136192586458573
    ],
    "yaw": [
      -1.870583995671649,
      -1.8754658688105734,
      -1.8807483928794544,
      -1.8853138400026002,
      -1.889306627686373,
      -1.8938035534018203,
      -1.8984156704767807,
      -1.9029589993659337,
      -1.9086207603232326,
      -1.9138629724857974
    ],
    "yaw_diff": [
      -0.009763746277848817,
      -0.010565048137761934,
      -0.009130894246291543,
      -0.007985575367545739,
      -0.008993851430894484,
      -0.009224234149920907,
      -0.009086657778305973,
      -0.011323521914597734,
      -0.010484424325129638,
      -0.010484424325129638
    ],
    "min_front_frame": [
      9,
      13.304937681004496
    ],
    "v_avg": 2.04789383434692,
    "v_std": 0.16383555688361554,
    "vy_max": 0.058091152897567055,
    "a_max": 0.7500290777167085,
    "ax_avg": 0.1233858107244002,
    "a_std": 0.2341773644683823,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8128635441b358c4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      15.1677660687991,
      15.507223558043835,
      15.399487106255767,
      15.009979923609848,
      14.521928880612801,
      14.076315722598304,
      13.781329387744346,
      13.494304177899132,
      13.379018032534487,
      13.304937681004496
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8128635441b358c4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "90b8f3760e535ef6": {
    "vx_ego": [
      6.391368316750565,
      7.012545854939374,
      7.599082897130905,
      8.08000444929464,
      8.47380202125365,
      8.750968812868072,
      8.94746644447808,
      9.069251401921111,
      9.051163714735507,
      8.963332243824738
    ],
    "vy_ego": [
      0.051170827594486656,
      0.010613926214664726,
      0.04995887136091026,
      0.03929219769326586,
      0.015570213653573362,
      0.012697049699374574,
      -0.02508427797121815,
      -0.02628481306661179,
      -0.023798316813813614,
      -0.04036202567136282
    ],
    "v_ego": [
      6.391573156427113,
      7.012553887354954,
      7.599247118385813,
      8.080099985607896,
      8.473816326010121,
      8.750978024133115,
      8.947501606373844,
      9.069289491611014,
      9.051195001259659,
      8.963423118781378
    ],
    "ax_ego": [
      1.1996076878402648,
      1.2909950016487133,
      1.0510553430158733,
      0.8724001224978146,
      0.7064265669224469,
      0.40195145659919723,
      0.38298618960204656,
      0.10331692499575654,
      -0.17578925608152818,
      -0.17571092408940087
    ],
    "ay_ego": [
      -1.1967344101998652,
      -1.097526195677221,
      -0.7343414858043174,
      -0.36358415183295706,
      -0.47063157612298545,
      -0.3322788693853226,
      -0.1687423749335683,
      0.00380921000102543,
      -0.057499825473319006,
      -0.05773876376388553
    ],
    "a_ego": [
      1.694470965606046,
      1.694470963008713,
      1.282175788203594,
      0.9451324823527614,
      0.8488419021807534,
      0.5215114768652792,
      0.4185121390403338,
      0.10338712236739493,
      0.18495429836356667,
      0.1849543016134877
    ],
    "yaw": [
      -0.4531731865276068,
      -0.5327971205277876,
      -0.6005635629064463,
      -0.6341166227761637,
      -0.6563909179441494,
      -0.6792620911254987,
      -0.6891443028381887,
      -0.6935710729327886,
      -0.6953202730981863,
      -0.6966798393286189
    ],
    "yaw_diff": [
      -0.15924786800036161,
      -0.1355328847573174,
      -0.0671061197394347,
      -0.04454859033597147,
      -0.045742346362698694,
      -0.019764423425379984,
      -0.008853540189199816,
      -0.0034984003307954037,
      -0.0027191324608650813,
      -0.0027191324608650813
    ],
    "min_front_frame": [
      9,
      21.88373886825369
    ],
    "v_avg": 8.23396777159449,
    "v_std": 0.8969114050909536,
    "vy_max": 0.051170827594486656,
    "a_max": 1.694470965606046,
    "ax_avg": 0.5657239112951183,
    "a_std": 0.5761546204634975,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "90b8f3760e535ef6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.005275312933543,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      45.73523913185377,
      41.871384736863014,
      37.72722806747725,
      33.43624708655636,
      29.042763322830424,
      24.558184373997882,
      26.258588669628708,
      21.88373886825369
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.125,
    "oversafe_ratio": 0.125,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "90b8f3760e535ef6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b58a12e346235cd0": {
    "vx_ego": [
      8.433108336869541,
      8.713402536179126,
      8.9612575235102,
      9.035226470507649,
      8.930698990744533,
      8.727242650859024,
      8.54055381717793,
      8.417555462409078,
      8.295497412794882,
      8.165571048278007
    ],
    "vy_ego": [
      -0.02340884324637571,
      -0.14209262646568988,
      -0.19277678582015367,
      -0.11796116263661993,
      -0.05669508345981766,
      -0.04417553593002177,
      -0.017850845996610687,
      -0.0014590762756316877,
      0.018543363755542774,
      0.02951252508467972
    ],
    "v_ego": [
      8.433140826247401,
      8.71456103725189,
      8.963330814592268,
      9.035996470188149,
      8.93087894866871,
      8.727354453953819,
      8.540572472429192,
      8.417555588865243,
      8.29551813824947,
      8.165624381124378
    ],
    "ax_ego": [
      0.5276481661952581,
      0.6181657982081075,
      0.39393662664069984,
      -0.08524279245713898,
      -0.32933130674470273,
      -0.48295410024468943,
      -0.2635439486163947,
      -0.22837011868788076,
      -0.2598936398880447,
      -0.25987298995141167
    ],
    "ay_ego": [
      1.1548620447960056,
      1.1090491425143356,
      0.5552385658769959,
      0.515808923957843,
      0.28006483206571753,
      0.15772916747565452,
      0.06303491195745635,
      0.06798148758861004,
      0.03233875076003635,
      0.03250425932957825
    ],
    "a_ego": [
      1.2696924548092856,
      1.2696924645700824,
      0.6807906659511405,
      0.5228051068040926,
      0.43231402910635697,
      0.508058218333018,
      0.2709775137863014,
      0.23827377901119773,
      0.26189787867597636,
      0.2618978766253193
    ],
    "yaw": [
      -2.2452088054096464,
      -2.165285677041907,
      -2.112648403353145,
      -2.091348338901353,
      -2.0760712455320043,
      -2.0651166705545085,
      -2.0617626479232687,
      -2.05983191225618,
      -2.0592245755660166,
      -2.058587728148172
    ],
    "yaw_diff": [
      0.15984625673547903,
      0.1052745473775234,
      0.042600128903584,
      0.03055418673869781,
      0.02190914995499149,
      0.0067080452624797005,
      0.0038614713341775797,
      0.0012146733803266585,
      0.0012736948356888433,
      0.0012736948356888433
    ],
    "min_front_frame": [
      3,
      44.70286163272807
    ],
    "v_avg": 8.62245331315705,
    "v_std": 0.283184730778916,
    "vy_max": 0.19277678582015367,
    "a_max": 1.2696924645700824,
    "ax_avg": -0.03694583055461976,
    "a_std": 0.37492917856331115,
    "ini_direction_judge": "left",
    "scenario_type": "lane_change",
    "scene_token": "b58a12e346235cd0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.433255681898835,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      44.70286163272807,
      47.97349031802878,
      51.61990093974952,
      55.30184851583156,
      59.09375862481398,
      62.99233364137291,
      64.40944248501766
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2857142857142857,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7142857142857143,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 7,
    "token": "b58a12e346235cd0",
    "smoothness": "No"
  },
  "7fd8acb62ee556d0": {
    "vx_ego": [
      4.630325360941367,
      4.683680507109982,
      4.7461554255419145,
      4.762774210071034,
      4.84244120531786,
      4.944037007102156,
      4.968188292405061,
      5.0074272454598345,
      5.06008927962943,
      5.12914668273797
    ],
    "vy_ego": [
      -0.0390545575169981,
      0.02181500692160393,
      0.016822774460222123,
      0.03226211191084488,
      0.025629110002255318,
      0.0027741179125504445,
      -0.004428877032191081,
      -0.006707527897773902,
      -0.021381266236658036,
      -0.03869000802436939
    ],
    "v_ego": [
      4.630490061174912,
      4.683731310313286,
      4.74618523965737,
      4.762883477472728,
      4.84250902717174,
      4.944037785386135,
      4.968190266459456,
      5.007431737877608,
      5.060134452400111,
      5.129292603250748
    ],
    "ax_ego": [
      0.10458491516891275,
      0.10788597797387606,
      0.1419814409152952,
      -0.07559629835558132,
      0.3941025808318437,
      0.012177239422865324,
      0.08443698860254006,
      0.0725186477573712,
      0.13813207651220405,
      0.13812475605818714
    ],
    "ay_ego": [
      -0.1261392666129339,
      -0.12332775383088478,
      0.05805010115716616,
      0.01828818132299895,
      -0.022269338558474766,
      -0.037411295931654806,
      0.014721392734666038,
      -0.02541501369966683,
      -0.03229299766191759,
      -0.03232429702574495
    ],
    "a_ego": [
      0.16385700797505579,
      0.16385700811485296,
      0.15339016855307475,
      0.07777697539226473,
      0.3947312600468221,
      0.03934323605459567,
      0.08571070206405824,
      0.07684319874856806,
      0.14185664686424113,
      0.14185664740977874
    ],
    "yaw": [
      -0.06754140196397437,
      -0.09400478381499108,
      -0.09640936931042843,
      -0.09564703331252315,
      -0.09445861921557958,
      -0.09285269644328245,
      -0.092543318134066,
      -0.09262243832542609,
      -0.0925733421371004,
      -0.09234674657492206
    ],
    "yaw_diff": [
      -0.05292676370203342,
      -0.004809170990874689,
      0.0015246719958105504,
      0.002376828193887154,
      0.0032118455445942495,
      0.0006187566184329141,
      -0.0001582403827201928,
      9.81923766513737e-05,
      0.0004531911243566833,
      0.0004531911243566833
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.877488596116409,
    "v_std": 0.1601418781762285,
    "vy_max": 0.0390545575169981,
    "a_max": 0.3947312600468221,
    "ax_avg": 0.11183483248875141,
    "a_std": 0.09327286557729188,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7fd8acb62ee556d0",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.62340749518455,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7fd8acb62ee556d0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ed7d26ad16065f5a": {
    "vx_ego": [
      3.599534574372445,
      3.579774243190675,
      3.5563193135321773,
      3.5310618082862266,
      3.495199664936783,
      3.445276963420444,
      3.3984835662495625,
      3.3669550736782323,
      3.385003934334096,
      3.4381728776046767
    ],
    "vy_ego": [
      0.01700918415022734,
      -0.005767165044563871,
      -0.019141826804513595,
      -0.021725727621321633,
      -0.016270484861924173,
      -0.016114391963716557,
      -0.005956565796314983,
      0.0006877296035103786,
      -0.013613889819541702,
      -0.02555279250735132
    ],
    "v_ego": [
      3.599574761613943,
      3.5797788887589164,
      3.5563708284338675,
      3.531128644099259,
      3.4952375350542115,
      3.445314648664757,
      3.3984887863202418,
      3.366955143915582,
      3.385031310557308,
      3.4382678315543345
    ],
    "ax_ego": [
      -0.04580936568006605,
      -0.03229313447898792,
      -0.06405985894830156,
      -0.04107347823891762,
      -0.10597604129975324,
      -0.0968705408876757,
      -0.0919399375887476,
      -0.034110985231060015,
      0.1061116249276812,
      0.10628382515527218
    ],
    "ay_ego": [
      -0.3342550245806232,
      -0.3358304227992609,
      -0.31409061389870313,
      -0.2776405776545069,
      -0.24243321655111297,
      -0.14802750945606974,
      -0.042482258653013985,
      -0.07534740486355676,
      -0.048425605532261204,
      -0.048046485803152794
    ],
    "a_ego": [
      0.33737948876806817,
      0.3373794887245049,
      0.3205566709144274,
      0.28066228990545045,
      0.26458417529566247,
      0.1769068829854782,
      0.10128027657981778,
      0.08270907285846174,
      0.11663925675328636,
      0.11663925706068705
    ],
    "yaw": [
      2.1337524546228765,
      2.0934161101923747,
      2.0516794871873065,
      2.0106357163457043,
      1.9721672086696922,
      1.9439856052599656,
      1.9270959714865397,
      1.9164008250079427,
      1.9114456846278394,
      1.907875739330293
    ],
    "yaw_diff": [
      -0.08067268886100365,
      -0.08347324601013639,
      -0.08208754168320453,
      -0.07693701535202413,
      -0.05636320681945328,
      -0.03377926754685179,
      -0.021390292957193857,
      -0.009910280760206724,
      -0.0071398905950927904,
      -0.0071398905950927904
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.479614837897242,
    "v_std": 0.08019863328870193,
    "vy_max": 0.02555279250735132,
    "a_max": 0.33737948876806817,
    "ax_avg": -0.029973789227055632,
    "a_std": 0.09953709948708353,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "ed7d26ad16065f5a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ed7d26ad16065f5a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "64b6d412bf15576e": {
    "vx_ego": [
      2.004172426063984,
      2.8798181755245094,
      3.754385827561257,
      4.6102640458457085,
      5.374813206665729,
      5.974653876555951,
      6.407429391735283,
      6.670076941327405,
      6.774675676595512,
      6.8161401998177364
    ],
    "vy_ego": [
      -0.012870360186493124,
      -0.042078861505663756,
      -0.030787098514576616,
      -0.0024553193582721455,
      0.06342810840410484,
      0.010720552114972914,
      -0.06403169383630614,
      -0.10614563068905714,
      -0.0583558048889925,
      0.03883361948263486
    ],
    "v_ego": [
      2.004213750967328,
      2.8801255796695613,
      3.7545120571956847,
      4.610264699668642,
      5.3751874508229065,
      5.9746634946984845,
      6.407749329358064,
      6.670921472940746,
      6.774927004995633,
      6.816250822378347
    ],
    "ax_ego": [
      1.7447111897641048,
      1.7528890325843474,
      1.74253408388658,
      1.6794214694744736,
      1.384336038881398,
      1.0162074801835455,
      0.7141860251574821,
      0.33267679244515425,
      0.08311039111062926,
      0.08261927594937343
    ],
    "ay_ego": [
      -0.262077867927781,
      -0.2002049084003945,
      -0.3685353155572729,
      -0.44519408064455357,
      -0.4026282444103352,
      -0.2331949991027748,
      -0.28632519215397434,
      -0.11176716936340435,
      0.14969338489443884,
      0.1499650132865734
    ],
    "a_ego": [
      1.764285108633423,
      1.7642851146858605,
      1.7810792549236378,
      1.7374274780757755,
      1.4416989185481093,
      1.0426205207972525,
      0.7694438213360699,
      0.3509497804232169,
      0.17121754171730294,
      0.17121755157822124
    ],
    "yaw": [
      1.087265743373075,
      1.0518892015134247,
      1.005647146374789,
      0.9503504321834513,
      0.8951217688547626,
      0.8765498671625489,
      0.8676994481056903,
      0.8589832415557496,
      0.8533109593906915,
      0.8500330686931497
    ],
    "yaw_diff": [
      -0.07075308371930067,
      -0.09248411027727155,
      -0.11059342838267527,
      -0.1104573266573774,
      -0.037143803384427354,
      -0.017700838113717143,
      -0.017432413099881527,
      -0.011344564330116214,
      -0.006555781395083615,
      -0.006555781395083615
    ],
    "min_front_frame": [
      9,
      21.56884552620476
    ],
    "v_avg": 5.126881566269539,
    "v_std": 1.6530079106379962,
    "vy_max": 0.10614563068905714,
    "a_max": 1.7810792549236378,
    "ax_avg": 1.0532691779437087,
    "a_std": 0.6533296787275504,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "64b6d412bf15576e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      29.496085004631382,
      26.658235639929142,
      23.552477978618047,
      28.273935046499876,
      24.948552957808367,
      21.56884552620476
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8333333333333334,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.16666666666666666,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "64b6d412bf15576e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e6d59439935a5309": {
    "vx_ego": [
      10.82297125324379,
      10.954301473264772,
      11.042101838414727,
      11.06019896244945,
      11.034207379055387,
      10.971034019258465,
      10.872322495309444,
      10.832772979355433,
      10.904769898953907,
      11.01277545825945
    ],
    "vy_ego": [
      0.01120465474540433,
      0.013125859992870859,
      -0.0049003798689336575,
      -0.02715970627699804,
      -0.0028641396332703684,
      0.01638881069282022,
      -0.012154705426092094,
      -0.010848146613233633,
      -0.01269773609718279,
      0.04449495687320373
    ],
    "v_ego": [
      10.82297705314159,
      10.954309337213886,
      11.042102925785683,
      11.060232309432426,
      11.034207750776499,
      10.971046260263533,
      10.87232928947959,
      10.832778411125103,
      10.904777291702624,
      11.01286534446094
    ],
    "ax_ego": [
      0.26210460608648256,
      0.2629183231518483,
      0.08821678361653089,
      -0.014200898585096213,
      -0.0881696668271953,
      -0.16561310545830935,
      -0.22992444674006518,
      0.07215086225662953,
      0.21588267334236286,
      0.216059894148297
    ],
    "ay_ego": [
      0.13584459671120636,
      0.1342629085373966,
      0.1507813720715586,
      0.29291990284685426,
      0.4070003510225414,
      0.31149119521872864,
      0.23721870004668105,
      0.22548273982660771,
      0.1419169065980811,
      0.14164694593171712
    ],
    "a_ego": [
      0.2952161563793223,
      0.29521614667545043,
      0.17469179452804193,
      0.29326393403286866,
      0.41644108332498914,
      0.3527810445564461,
      0.33036035303977124,
      0.23674503771798217,
      0.25835196346808326,
      0.2583519598361044
    ],
    "yaw": [
      -1.6679885623559174,
      -1.6619633739149502,
      -1.6538611504215184,
      -1.6418235864725026,
      -1.6281951456280064,
      -1.6136326032147668,
      -1.5984704711482653,
      -1.5878953464017187,
      -1.5792601419596872,
      -1.5780101574907808
    ],
    "yaw_diff": [
      0.012050376881934444,
      0.01620444698686363,
      0.024075127898031567,
      0.02725688168899243,
      0.02912508482647924,
      0.03032426413300282,
      0.0211502494930933,
      0.01727040888406295,
      0.002499968937812902,
      0.002499968937812902
    ],
    "min_front_frame": [
      3,
      19.116319944444232
    ],
    "v_avg": 10.950762597338187,
    "v_std": 0.08371760284603497,
    "vy_max": 0.04449495687320373,
    "a_max": 0.41644108332498914,
    "ax_avg": 0.0619425024991485,
    "a_std": 0.06304368677837732,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e6d59439935a5309",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      35.49478245986226,
      30.081341886334755,
      24.601609233253537,
      19.116319944444232,
      19.976073613029705,
      51.561777655695934,
      46.06766633615523,
      40.70799434473284,
      35.331216135820334,
      29.905270525243562
    ],
    "safe_frame": [
      1,
      1,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e6d59439935a5309",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "63d80f7499fc5784": {
    "vx_ego": [
      9.317367050830175,
      8.95166626110356,
      8.570465606134263,
      8.132087315693749,
      7.59808742764414,
      6.968349138057327,
      6.251459406123331,
      5.481691835093809,
      4.785076384836878,
      4.169134137874185
    ],
    "vy_ego": [
      0.02320706246386256,
      0.06297020963549396,
      0.07406743964573864,
      0.05529254755148752,
      0.012729482663248248,
      -0.025445740329236743,
      -0.02379304727406248,
      -0.013666283802447457,
      0.005378709690275332,
      0.028642142393975875
    ],
    "v_ego": [
      9.317395952069655,
      8.951887739325226,
      8.570785651942652,
      8.132275288987817,
      7.598098090828573,
      6.968395596948066,
      6.251504684114574,
      5.481708870621195,
      4.785079407830292,
      4.169232523128068
    ],
    "ax_ego": [
      -0.7313681994019945,
      -0.7313883595702824,
      -0.7931233258888026,
      -0.9600694052762636,
      -1.1758547870778215,
      -1.3430611278921234,
      -1.5244311659532512,
      -1.554618670197786,
      -1.231870090250568,
      -1.2318814150858999
    ],
    "ay_ego": [
      0.07468770525664568,
      0.07449004298883766,
      -0.060000399604874306,
      -0.05683323126812978,
      -0.12731072379257014,
      -0.012268164114262747,
      0.03345136675933071,
      0.014402279062425305,
      0.04438864709076104,
      0.044072752681253255
    ],
    "a_ego": [
      0.7351718822241634,
      0.7351718839967886,
      0.7953896265489389,
      0.9617501126196426,
      1.1827267227413174,
      1.3431171583691413,
      1.524798141941305,
      1.5546853814742467,
      1.232669570989927,
      1.2326695535961543
    ],
    "yaw": [
      1.5946562059246736,
      1.594385944215209,
      1.5935335089574478,
      1.592287291215027,
      1.5918472382426707,
      1.5922963684065459,
      1.5928456431945914,
      1.5931585116393077,
      1.592304942432377,
      1.5920485085075646
    ],
    "yaw_diff": [
      -0.0005405234189290731,
      -0.001704870515522483,
      -0.002492435484841682,
      -0.0008801059447125503,
      0.000898260327750311,
      0.0010985495760911235,
      0.00062573688943246,
      -0.0017071384138613865,
      -0.0005128678496246764,
      -0.0005128678496246764
    ],
    "min_front_frame": [
      9,
      16.175685097923186
    ],
    "v_avg": 7.022636380579613,
    "v_std": 1.7049273203416033,
    "vy_max": 0.07406743964573864,
    "a_max": 1.5546853814742467,
    "ax_avg": -1.1277666546594793,
    "a_std": 0.2928403358152497,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "63d80f7499fc5784",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.973059318558374,
    "right_rear_min": 16.157497592597057,
    "speed_mode": "decelerating",
    "front_frame": [
      32.753068575969486,
      28.242380391333658,
      23.909261815056468,
      19.86054546845022,
      22.958746431700735,
      19.35902052353159,
      23.91438239376702,
      21.00735336973997,
      18.460983717401298,
      16.175685097923186
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "63d80f7499fc5784",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e8e49013253b5e7c": {
    "vx_ego": [
      1.0616682464874625,
      1.4790256466723932,
      1.8575955607141372,
      2.151142739917362,
      2.3724625475489742,
      2.5728235457952486,
      2.7852627372514647,
      2.9917419889883083,
      3.1922698766824693,
      3.400027521826566
    ],
    "vy_ego": [
      0.011609277198241452,
      0.008919121024325127,
      -0.00011325061352684962,
      -0.0009737524093369476,
      0.0072260936891108685,
      0.017965846906763838,
      0.014020395864104973,
      3.0984805062805876e-05,
      -0.0027594137415196673,
      0.009583501996117016
    ],
    "v_ego": [
      1.0617317179574268,
      1.4790525393759808,
      1.8575955641663693,
      2.151142960310386,
      2.3724735522135063,
      2.572886272156916,
      2.7852980248120143,
      2.99174198914876,
      3.192271069307634,
      3.4000410280890154
    ],
    "ax_ego": [
      0.8345476172798256,
      0.8346117306528714,
      0.6795295520417678,
      0.49470768471837223,
      0.39058896625669115,
      0.41052229797381495,
      0.4386734986796098,
      0.38705328762707947,
      0.4152850891898171,
      0.4156580718214015
    ],
    "ay_ego": [
      0.01293728959289192,
      0.007769046622275455,
      0.003936593472481764,
      0.024373961781050696,
      0.05604171596544871,
      0.04655057382677716,
      0.011195100459572949,
      0.011111681322128558,
      0.06466331000783754,
      0.06222071314133085
    ],
    "a_ego": [
      0.8346478892140354,
      0.8346478892495927,
      0.6795409545172779,
      0.49530776627498635,
      0.3945889183565887,
      0.4131531351173605,
      0.43881632685909666,
      0.3872127540832498,
      0.4202892444074248,
      0.4202892454180825
    ],
    "yaw": [
      0.9523832751027553,
      0.9585758859792313,
      0.9656617191435096,
      0.9695770041822213,
      0.9748099716946451,
      0.9808453401521477,
      0.9877156935414266,
      0.9944743590585017,
      1.0015115028498294,
      1.0073905787151953
    ],
    "yaw_diff": [
      0.01238522175295187,
      0.014171666328556709,
      0.007830570077423271,
      0.010465935024847717,
      0.012070736915005265,
      0.013740706778557765,
      0.013517331034150093,
      0.014074287582655387,
      0.011758151730731914,
      0.011758151730731914
    ],
    "min_front_frame": [
      9,
      66.2129135439326
    ],
    "v_avg": 2.386423471753801,
    "v_std": 0.717665062558497,
    "vy_max": 0.017965846906763838,
    "a_max": 0.8346478892495927,
    "ax_avg": 0.5301177796241252,
    "a_std": 0.17144020181903064,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e8e49013253b5e7c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      77.12268819704941,
      76.4646056900139,
      75.67047945421879,
      74.64172761897224,
      73.49928229935614,
      72.27301466752837,
      70.9540715015843,
      69.52700433527352,
      67.90486095574212,
      66.2129135439326
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e8e49013253b5e7c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "473a047c10f45ef3": {
    "vx_ego": [
      1.699190015306361,
      2.4062546965856826,
      3.0451743756123304,
      3.427660331401841,
      3.6005974095913476,
      3.768813291008099,
      3.975283570678678,
      4.249950063660328,
      4.58022234152609,
      4.919618203887304
    ],
    "vy_ego": [
      0.005995926591784273,
      0.0030678834805460964,
      0.005427903039808557,
      0.00867688502883035,
      0.010568203365718398,
      0.011518881066360676,
      0.019634938876001096,
      0.018120903434253544,
      0.003458851645018024,
      -0.01901802831590027
    ],
    "v_ego": [
      1.6992005941773107,
      2.4062566523024316,
      3.0451792131198707,
      3.427671313851371,
      3.6006129190567404,
      3.7688308939378428,
      3.9753320613670104,
      4.249988695367048,
      4.580223647538343,
      4.919654963248985
    ],
    "ax_ego": [
      1.4141263042665448,
      1.4141801081147891,
      1.1415341656107272,
      0.38853642454079484,
      0.30335020450599454,
      0.3696479112963747,
      0.4563673494030891,
      0.6423910020256329,
      0.678767675394981,
      0.6787973740560624
    ],
    "ay_ego": [
      -0.020181975224585535,
      -0.015972321730508998,
      -0.006556639162244027,
      -0.025356683047397688,
      -0.020879266592365595,
      -0.02038243883328783,
      0.00922650918758125,
      -0.031081445411930197,
      -0.050734966041829865,
      -0.05033613517964913
    ],
    "a_ego": [
      1.4142703124023082,
      1.4142703041671416,
      1.141552995166533,
      0.38936295993598435,
      0.3040679041715251,
      0.37020943010486,
      0.45646060736167554,
      0.6431424847826425,
      0.6806611447264872,
      0.6806611503018443
    ],
    "yaw": [
      1.1080036695548725,
      1.1050268682108915,
      1.1021309094685567,
      1.098759896364501,
      1.094943970567425,
      1.0918795492931554,
      1.089055295783008,
      1.088089449499848,
      1.0867762202380074,
      1.086188652931437
    ],
    "yaw_diff": [
      -0.0059536026879620785,
      -0.005791917484669451,
      -0.0067420262081112625,
      -0.007631851594152028,
      -0.006128842548539293,
      -0.005648507020294957,
      -0.0019316925663197537,
      -0.0026264585236814852,
      -0.0011751346131405604,
      -0.0011751346131405604
    ],
    "min_front_frame": [
      0,
      13.289072937190598
    ],
    "v_avg": 3.5672950953966955,
    "v_std": 0.930541781069212,
    "vy_max": 0.019634938876001096,
    "a_max": 1.4142703124023082,
    "ax_avg": 0.7487698519214991,
    "a_std": 0.402016917915235,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "473a047c10f45ef3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.536474646775599,
    "right_rear_min": 8.704673124657317,
    "speed_mode": "accelerating",
    "front_frame": [
      13.289072937190598,
      13.587651656598755,
      13.667044349159141,
      13.557652616215336,
      13.604995277496624,
      13.876735380326279,
      14.069339345675262,
      14.466563563543366,
      14.929291060021338,
      15.499459715215522
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "473a047c10f45ef3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cd1234d5b4b2570d": {
    "vx_ego": [
      3.7261452563629485,
      3.2600780384295565,
      2.822547245327154,
      2.3615646869508073,
      1.7902052976016383,
      1.1848218685173437,
      0.6621587249864225,
      0.29130428983798146,
      0.05990146246381445,
      -0.12561184215842022
    ],
    "vy_ego": [
      -0.016376340664277622,
      -0.014246923142888557,
      -0.013668296104655586,
      -0.00619598630150453,
      -0.008872450662457565,
      -0.012591499428542041,
      -0.009688371058262563,
      -0.013722888640686964,
      -0.015758882698398407,
      -0.010973372755431372
    ],
    "v_ego": [
      3.7261812430489285,
      3.2601091686429373,
      2.8225803397640092,
      2.361572815074588,
      1.7902272838781472,
      1.18488877367236,
      0.6622295988623638,
      0.2916273425978014,
      0.06193970930837222,
      0.12609024466651464
    ],
    "ax_ego": [
      -0.9325619516335413,
      -0.9321609663734369,
      -0.8182858283181641,
      -1.0257035011905908,
      -1.2597776028684304,
      -1.1617743636396711,
      -0.9288354042715057,
      -0.5545853467347577,
      -0.3710143965452388,
      -0.37100911545405846
    ],
    "ay_ego": [
      -0.04716411448381497,
      -0.05451767324175519,
      0.013121192383945962,
      -0.0026766362715016645,
      -0.03096501724511075,
      0.014446390074209225,
      0.0012014500893766655,
      -0.01747827391125306,
      0.009431709643540995,
      0.009637451498897262
    ],
    "a_ego": [
      0.9337538472903884,
      0.933753845467827,
      0.8183910205494196,
      1.025706993608002,
      1.2601581015816703,
      1.1618641788937891,
      0.9288361813099921,
      0.5548607004211311,
      0.37113426086879636,
      0.3711342671074668
    ],
    "yaw": [
      -1.8630917796392155,
      -1.8709787640346227,
      -1.8745887586359382,
      -1.8764455962308269,
      -1.8791693744272964,
      -1.8794477035797503,
      -1.8783197277872148,
      -1.8784004092959043,
      -1.8782408856079704,
      -1.8776863381443554
    ],
    "yaw_diff": [
      -0.015773968790814497,
      -0.007219989202631005,
      -0.003713675189777277,
      -0.005447556392939035,
      -0.0005566583049079199,
      0.002255951585071081,
      -0.00016136301737912362,
      0.0003190473758678536,
      0.0011090949272301032,
      0.0011090949272301032
    ],
    "min_front_frame": [
      5,
      9.402164875753753
    ],
    "v_avg": 1.628744651951602,
    "v_std": 1.2915431827893877,
    "vy_max": 0.016376340664277622,
    "a_max": 1.2601581015816703,
    "ax_avg": -0.8355708477029395,
    "a_std": 0.29349040147838346,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cd1234d5b4b2570d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 42.17391589824873,
    "right_rear_min": 24.15806424162075,
    "speed_mode": "decelerating",
    "front_frame": [
      15.632487316738986,
      13.923731123368116,
      12.452010169559014,
      11.159990214633984,
      10.108887939867339,
      9.402164875753753,
      72.33610329377946,
      75.44207046184795,
      78.1704282030932,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.4444444444444444,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5555555555555556,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cd1234d5b4b2570d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "514964ba4d115d35": {
    "vx_ego": [
      2.836191451464185,
      2.9244912186128866,
      3.0157330553852795,
      3.1027802584736297,
      3.2147980079819196,
      3.3141956241590895,
      3.3391077528618758,
      3.317537111093516,
      3.3211310711138924,
      3.3558489105850478
    ],
    "vy_ego": [
      0.0074823028182725015,
      -0.017640035750401295,
      -0.014657854775780785,
      -0.005430428502772734,
      -0.01744000369073888,
      -0.03266661079350297,
      -0.009401078238477745,
      0.009279727587559017,
      0.016555688912803568,
      0.029363312134375374
    ],
    "v_ego": [
      2.8362013211713277,
      2.924544418983094,
      3.0157686771451924,
      3.1027850105876507,
      3.214845312896602,
      3.3143566106645785,
      3.3391209869506575,
      3.3175500895731496,
      3.321172335539589,
      3.3559773710164307
    ],
    "ax_ego": [
      0.16311739913781023,
      0.19110183810543868,
      0.172914688584056,
      0.17792771857500742,
      0.26867275150006337,
      0.13419856502140542,
      -0.032500142351266394,
      -0.05467669767210921,
      0.06799728206871593,
      0.06960694557230693
    ],
    "ay_ego": [
      0.3835030374103593,
      0.3703538208173214,
      0.20072663870318389,
      0.27003496318168807,
      0.08718647687611665,
      0.24206456152169212,
      0.2218294600410642,
      0.1376556181008605,
      0.11773594990108974,
      0.11679151277158029
    ],
    "a_ego": [
      0.41675156340973113,
      0.4167515628300221,
      0.26493522418357207,
      0.3233839117486253,
      0.282465093681829,
      0.2767751918046367,
      0.22419761059155532,
      0.1481168810873939,
      0.1359609659712832,
      0.13596096619022793
    ],
    "yaw": [
      -1.7188075770286104,
      -1.6445982770778629,
      -1.5975780715672894,
      -1.5621204942819653,
      -1.5299337026833628,
      -1.5002101160834391,
      -1.4725171057038207,
      -1.4511464257169946,
      -1.4340245880545093,
      -1.4202979377566556
    ],
    "yaw_diff": [
      0.14841859990149509,
      0.09404041102114702,
      0.07091515457064812,
      0.06437358319720499,
      0.05944717319984738,
      0.05538602075923693,
      0.04274135997365214,
      0.034243675324970635,
      0.027453300595707386,
      0.027453300595707386
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.174232213452827,
    "v_std": 0.18178546903933274,
    "vy_max": 0.03266661079350297,
    "a_max": 0.41675156340973113,
    "ax_avg": 0.11583603485414284,
    "a_std": 0.09923561494840438,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "514964ba4d115d35",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "514964ba4d115d35",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "af94f29d37e55b02": {
    "vx_ego": [
      4.704270776904854,
      4.947066989075335,
      5.2120047162895515,
      5.453700654271964,
      5.679680393638277,
      5.887189145394751,
      6.046686973362599,
      6.130218766692693,
      6.146588829155899,
      6.13640264673107
    ],
    "vy_ego": [
      -0.0009200091505023877,
      -0.03480994736853171,
      -0.03430454115745141,
      -0.056109889089654086,
      -0.05857491057378095,
      -0.05608906792163637,
      -0.05136063958001991,
      -0.030762650485176124,
      -0.025120540180640916,
      -0.02832150230863828
    ],
    "v_ego": [
      4.704270866867451,
      4.947189457341885,
      5.212117608435995,
      5.453989287307054,
      5.679982429024563,
      5.887456328262155,
      6.04690509840621,
      6.130295952739652,
      6.146640161603984,
      6.136468002874381
    ],
    "ax_ego": [
      0.4165303363643764,
      0.5597797866977579,
      0.5030455490327814,
      0.4658001488041478,
      0.44158301522142024,
      0.3930552031975617,
      0.24884836318446787,
      0.08708733762592288,
      -0.020534761078422913,
      -0.01897663764793349
    ],
    "ay_ego": [
      1.1708979549410103,
      1.10957024640118,
      0.895568812335002,
      0.5898951270636117,
      0.3022775229675507,
      0.24235927958935985,
      0.22773379908097438,
      0.17507446199665067,
      0.13506169209605756,
      0.1352894096401613
    ],
    "a_ego": [
      1.2427789594279672,
      1.2427789591452547,
      1.02717979050837,
      0.7516289241104022,
      0.535132936963741,
      0.46176878755904455,
      0.33732505258791917,
      0.19553841468670077,
      0.1366138246459639,
      0.1366138248392319
    ],
    "yaw": [
      -0.9816513853420806,
      -0.8561846212017138,
      -0.757813853580056,
      -0.6841851734102382,
      -0.6437024417570438,
      -0.6206145407124866,
      -0.6017687289858036,
      -0.5886557454296364,
      -0.576969661784295,
      -0.5654431214191276
    ],
    "yaw_diff": [
      0.2509335282807337,
      0.1967415352433155,
      0.14725736033963566,
      0.08096546330638876,
      0.04617580208911454,
      0.03769162345336596,
      0.02622596711233438,
      0.02337216729068281,
      0.02305308073033485,
      0.02305308073033485
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.634531519286332,
    "v_std": 0.5044719598434452,
    "vy_max": 0.05857491057378095,
    "a_max": 1.2427789594279672,
    "ax_avg": 0.307621834140208,
    "a_std": 0.4143315286048072,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "af94f29d37e55b02",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "af94f29d37e55b02",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "af2f022a0d685312": {
    "vx_ego": [
      7.143928852920224,
      7.1124155159718345,
      7.012879631794843,
      6.820197652511597,
      6.632326456128265,
      6.453295528947115,
      6.254896459138352,
      6.070592392619261,
      5.879128981218555,
      5.66714850234918
    ],
    "vy_ego": [
      0.0198862484802782,
      0.0022991199587849565,
      -0.024403425211333207,
      -0.04011310633348919,
      -0.014867199687478294,
      0.011719714542995918,
      0.030574190471993834,
      0.03125689066487025,
      0.01998363489298094,
      -0.006809957150533341
    ],
    "v_ego": [
      7.143956531115282,
      7.112415887572202,
      7.012922091197436,
      6.820315614443691,
      6.632343119462793,
      6.453306170920283,
      6.254971182640612,
      6.070672861433144,
      5.8791629441160635,
      5.667152593957122
    ],
    "ax_ego": [
      -0.06488269918853347,
      -0.06186529750453858,
      -0.33582539616529017,
      -0.43170460936280414,
      -0.3174274026032498,
      -0.3989122343553316,
      -0.39662056560447567,
      -0.34258853109274345,
      -0.4249902578439823,
      -0.4232737887043691
    ],
    "ay_ego": [
      0.19005566854087053,
      0.19105917137651146,
      0.15892598365092833,
      0.265004636735782,
      0.3110245407999022,
      0.27482732992142167,
      0.1934349218494258,
      0.16431832839054855,
      0.11338599195654746,
      0.11963444963730663
    ],
    "a_ego": [
      0.2008256004559851,
      0.20082560096363272,
      0.37153218567035246,
      0.5065533804413461,
      0.4444056940490701,
      0.48441824076937995,
      0.4412764916141666,
      0.37995712216162997,
      0.4398557745832886,
      0.4398557737988353
    ],
    "yaw": [
      1.2133797877251142,
      1.2292140646531808,
      1.245305102832921,
      1.262868614993156,
      1.2805621026160474,
      1.298854910895035,
      1.3143116429350896,
      1.3287291563679375,
      1.342212187856667,
      1.3569442649756773
    ],
    "yaw_diff": [
      0.03166855385613321,
      0.03218207635948023,
      0.03512702432047021,
      0.035386975245782715,
      0.03658561655797499,
      0.03091346408010942,
      0.028835026865695834,
      0.02696606297745907,
      0.029464154238020512,
      0.029464154238020512
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.504721899685864,
    "v_std": 0.4998330535634902,
    "vy_max": 0.04011310633348919,
    "a_max": 0.5065533804413461,
    "ax_avg": -0.3198090782425318,
    "a_std": 0.10250206796396111,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "af2f022a0d685312",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "af2f022a0d685312",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9464277f29025ad8": {
    "vx_ego": [
      4.768100370113209,
      5.149609689748348,
      5.527525427734995,
      5.872645071714103,
      6.207092588894155,
      6.5169592639949805,
      6.788874901248491,
      7.038574979003935,
      7.213452269389486,
      7.324970143571694
    ],
    "vy_ego": [
      -0.031268506351937786,
      -0.03133205483095736,
      -0.02078444384246758,
      -0.009384897820939764,
      0.01167738181303657,
      0.02590753185685757,
      0.020696913806640405,
      0.020535281305910924,
      0.02297140837971734,
      0.06023285979193005
    ],
    "v_ego": [
      4.7682028961615295,
      5.149705006542608,
      5.527564504134056,
      5.872652570571075,
      6.2071035731934385,
      6.517010760216444,
      6.788906450014084,
      7.038604935130155,
      7.213488845791838,
      7.325217785268602
    ],
    "ax_ego": [
      0.7417370346386123,
      0.7912361422531426,
      0.7175658206965508,
      0.6629789326457359,
      0.6742088143478432,
      0.5647115013976943,
      0.5221466883314413,
      0.47562702413260605,
      0.2232997164231495,
      0.22320424068814992
    ],
    "ay_ego": [
      0.7272487664272149,
      0.6730601492150452,
      0.3383011978446453,
      0.22347708401220412,
      0.1207090797434077,
      0.11628801589632588,
      0.15707789215235313,
      0.10872573440550069,
      0.036383828465479426,
      0.03696502865651838
    ],
    "a_ego": [
      1.0387803409885978,
      1.0387803412026115,
      0.7933148224349753,
      0.6996306684320499,
      0.6849293447333271,
      0.5765604759710314,
      0.545261981380068,
      0.48789584073576003,
      0.22624443933158755,
      0.2262444395001804
    ],
    "yaw": [
      -1.81896030457485,
      -1.7482923181761802,
      -1.7029928748308123,
      -1.680381766870576,
      -1.6696201522092093,
      -1.662559147976164,
      -1.6515124790380207,
      -1.6418858237979947,
      -1.637157784259669,
      -1.6397611197642734
    ],
    "yaw_diff": [
      0.14133597279733934,
      0.0905988866907359,
      0.045222215920472486,
      0.021523229322733428,
      0.014122008466090463,
      0.022093337876286867,
      0.019253310480051855,
      0.00945607907665158,
      -0.0052066710092089075,
      -0.0052066710092089075
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.2408457327023825,
    "v_std": 0.8449671383233414,
    "vy_max": 0.06023285979193005,
    "a_max": 1.0387803412026115,
    "ax_avg": 0.5596715915554926,
    "a_std": 0.26925378626945384,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "9464277f29025ad8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9464277f29025ad8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d90cd23a434f5c55": {
    "vx_ego": [
      4.305452613518232,
      4.929180507406775,
      5.507189883724006,
      5.854972522184978,
      5.9476821562250715,
      5.901179616388317,
      5.592684223251827,
      4.962970928148127,
      4.149872994229849,
      3.2814578291507086
    ],
    "vy_ego": [
      0.02205167930933949,
      0.0030080040568587485,
      -0.0029885913298635103,
      0.011905575854644024,
      0.009962878689243837,
      0.002223255070032959,
      -0.0013047397421521723,
      -0.002250803249899569,
      0.005117577248918481,
      0.02035286289069682
    ],
    "v_ego": [
      4.305509085324444,
      4.929181425215278,
      5.507190694634622,
      5.854984626647414,
      5.94769050055817,
      5.901180035191273,
      5.59268437544581,
      4.962971438539491,
      4.149876149698339,
      3.2815209466834623
    ],
    "ax_ego": [
      1.247446769180188,
      1.2474205263381062,
      1.0647407208823987,
      0.3263623157688202,
      0.044672304993744104,
      -0.23067073126349968,
      -1.0032948420721275,
      -1.5156085933278463,
      -1.7367892029446619,
      -1.7368138523474341
    ],
    "ay_ego": [
      -0.029474743675993897,
      -0.030564553430321606,
      0.06242506642435025,
      0.011888572066178313,
      -0.07352668221418066,
      -0.032264998701410544,
      -0.04120469860845194,
      -0.00613183993749522,
      0.023186965397019477,
      0.02125945103449023
    ],
    "a_ego": [
      1.2477949360583471,
      1.247794919630639,
      1.0665691218215791,
      0.32657877962255877,
      0.08603364359876434,
      0.2329163291889165,
      1.004140611326894,
      1.5156209973572652,
      1.736943974579916,
      1.736943960513471
    ],
    "yaw": [
      1.085723796316878,
      1.086597431375768,
      1.0892613624048295,
      1.0898995057505956,
      1.0876310417917963,
      1.084491462153399,
      1.0819519918047633,
      1.0799137406579282,
      1.0792364826091787,
      1.0781266737555186
    ],
    "yaw_diff": [
      0.0017472701177800865,
      0.005327862058122967,
      0.0012762866915321247,
      -0.004536927917598632,
      -0.006279159276794566,
      -0.005078940697271328,
      -0.004076502293670181,
      -0.0013545160974990367,
      -0.002219617707320154,
      -0.002219617707320154
    ],
    "min_front_frame": [
      9,
      12.979996345062837
    ],
    "v_avg": 5.04327892779383,
    "v_std": 0.8482695797442786,
    "vy_max": 0.02205167930933949,
    "a_max": 1.736943974579916,
    "ax_avg": -0.22925345847923118,
    "a_std": 0.5790065120213043,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "d90cd23a434f5c55",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.564752458613701,
    "right_rear_min": 9.206516034004476,
    "speed_mode": "decelerating",
    "front_frame": [
      18.372867821835204,
      18.757846385747495,
      18.86654664509878,
      18.483672154890378,
      17.852785080865793,
      16.828669222782764,
      15.489948787427767,
      14.391371417231689,
      13.442172709647181,
      12.979996345062837
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d90cd23a434f5c55",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "9d262af7c8875aa2": {
    "vx_ego": [
      4.333465639451564,
      4.328363046566734,
      4.383945210908319,
      4.466658558163515,
      4.570564488815892,
      4.673892459721404,
      4.752304969935144,
      4.820817292478241,
      4.879060684353021,
      4.915606214183318
    ],
    "vy_ego": [
      -0.05635724363545158,
      0.0029934856005993105,
      0.02569504137934442,
      0.01633655052564853,
      -0.013780125965011436,
      -0.04557867241045327,
      -0.0731039850537929,
      -0.04973711299439443,
      -0.04140563050973767,
      0.08109983399545251
    ],
    "v_ego": [
      4.333832090335012,
      4.328364081710375,
      4.38402051174461,
      4.466688433067438,
      4.57058526211868,
      4.674114690550425,
      4.7528672104216225,
      4.821073858370793,
      4.879236373433581,
      4.916275179034605
    ],
    "ax_ego": [
      -0.11342901833178975,
      0.10949906033459667,
      0.09694477503263249,
      0.2185490605874475,
      0.20063090045542276,
      0.22924049667700558,
      0.11875485760484367,
      0.1531039478383756,
      0.07369182382449883,
      0.07282716710167197
    ],
    "ay_ego": [
      1.4455841512052396,
      1.44588714932612,
      1.3564092322532093,
      1.3252415322595237,
      1.3809686351111392,
      1.357079428781429,
      1.3443031883330012,
      0.812319382203556,
      0.20321007015145864,
      0.20352154681393123
    ],
    "a_ego": [
      1.4500274757450242,
      1.450027480015663,
      1.3598692197222013,
      1.3431413963947452,
      1.395466634992853,
      1.3763051192735025,
      1.3495383575011934,
      0.8266217983741192,
      0.21615924109216733,
      0.21615923826103306
    ],
    "yaw": [
      2.4354081125256206,
      2.589300660826178,
      2.744544693139294,
      2.89838017450358,
      3.054376364666401,
      -3.0740278765957987,
      -2.9256052781762425,
      -2.8178552114875046,
      -2.7673396864973823,
      -2.771591401833632
    ],
    "yaw_diff": [
      0.30778509660111464,
      0.3104880646262318,
      0.3076709627285723,
      0.31199238032564214,
      0.309562131834773,
      0.29684519683911237,
      0.21550013337747576,
      0.1010310499802447,
      -0.00850343067249959,
      -0.00850343067249959
    ],
    "min_front_frame": [
      2,
      70.5145924515178
    ],
    "v_avg": 4.612705769078714,
    "v_std": 0.21541572968228107,
    "vy_max": 0.08109983399545251,
    "a_max": 1.450027480015663,
    "ax_avg": 0.11598130711247052,
    "a_std": 0.4727218472172931,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "9d262af7c8875aa2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      70.5145924515178,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9d262af7c8875aa2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b38a9c035ce15dd5": {
    "vx_ego": [
      4.37287177426347,
      3.4436320465081947,
      2.527053896131245,
      1.7061221494170873,
      1.019644590907333,
      0.4764223779012196,
      0.10115951662022458,
      -0.04925031888263417,
      -0.041003383453206345,
      -0.022775282226692842
    ],
    "vy_ego": [
      -0.0027515021688819807,
      -0.0012683039420825493,
      -0.009342535849872102,
      -0.011662997510736059,
      -0.0011633153639966781,
      0.005049373518594413,
      0.013094138080610534,
      0.008620241921671167,
      0.000534358245173447,
      0.0038238630768167104
    ],
    "v_ego": [
      4.372872639914674,
      3.4436322800689836,
      2.52707116578228,
      1.7061620128940034,
      1.0196452545219925,
      0.4764491351004667,
      0.10200345217153971,
      0.04999902479878272,
      0.041006865197730745,
      0.023094055714312136
    ],
    "ax_ego": [
      -1.8584895966455273,
      -1.8584786801297457,
      -1.8078422584483176,
      -1.4758916077391344,
      -1.270014535508106,
      -0.9028751582351368,
      -0.5981795157188784,
      -0.0034679088301585604,
      0.0364563796802581,
      0.036456228513729885
    ],
    "ay_ego": [
      -0.006584448001983406,
      -0.009161682699239587,
      -0.03938357839440537,
      0.029354535320168212,
      0.013867076458509903,
      0.011242357851376769,
      0.021039666974737095,
      -0.038956557788470556,
      0.006580068871742149,
      0.006580918835217447
    ],
    "a_ego": [
      1.8585012606385678,
      1.858501262019126,
      1.8082711903026774,
      1.4761835002934662,
      1.27009023939694,
      0.9029451489255489,
      0.598549413676164,
      0.039110609639594444,
      0.037045444061962675,
      0.03704544628103448
    ],
    "yaw": [
      0.07518564685510536,
      0.07379890703623088,
      0.07243534171894234,
      0.07234532376613298,
      0.07257396298126348,
      0.07266607265358044,
      0.07276876716610156,
      0.0728787857274072,
      0.07304311275059998,
      0.07301989193753362
    ],
    "yaw_diff": [
      -0.00277347963774896,
      -0.0027271306345770796,
      -0.00018003590561871397,
      0.0004572784302609989,
      0.00018421934463391798,
      0.00020538902504224632,
      0.0002200371226112885,
      0.00032865404638554585,
      -4.644162613270941e-05,
      -4.644162613270941e-05
    ],
    "min_front_frame": [
      6,
      10.906676488178078
    ],
    "v_avg": 1.3761935886164767,
    "v_std": 1.504008234401422,
    "vy_max": 0.013094138080610534,
    "a_max": 1.858501262019126,
    "ax_avg": -0.9702326653061016,
    "a_std": 0.7330900453068722,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b38a9c035ce15dd5",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 9.998082846055604,
    "speed_mode": "decelerating",
    "front_frame": [
      16.387784695797578,
      14.457866835742099,
      13.04744523216112,
      11.983771008965858,
      11.36689846324749,
      11.033191287837994,
      10.906676488178078,
      10.908910318744345,
      10.932946930944807,
      10.941280550681753
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b38a9c035ce15dd5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d903d26195085adb": {
    "vx_ego": [
      7.116596924511687,
      7.045623097753833,
      6.959116138122239,
      6.839287673930284,
      6.713077678745073,
      6.582871339147957,
      6.394896652226925,
      6.106358088630458,
      5.741934593627439,
      5.35647799430558
    ],
    "vy_ego": [
      -0.040238549998789175,
      -0.005944219769918657,
      0.022239734075482964,
      0.042091779811835206,
      0.04070567758340227,
      0.009573356087120288,
      -0.008584433479939424,
      0.004087585271938199,
      0.009579624000856768,
      0.0029922482857642763
    ],
    "v_ego": [
      7.116710681689625,
      7.045625605249756,
      6.959151674568182,
      6.8394171977371325,
      6.713201089871572,
      6.582878300327478,
      6.394902414045214,
      6.10635945674147,
      5.741942584760971,
      5.356478830073888
    ],
    "ax_ego": [
      -0.1459098738622455,
      -0.13567306217700562,
      -0.21166721921745646,
      -0.2707715518574239,
      -0.23922635611209828,
      -0.2848770488128062,
      -0.4669968323364324,
      -0.687212558581094,
      -0.7713924148470026,
      -0.7706275279453791
    ],
    "ay_ego": [
      0.4148285258563825,
      0.4182884374951598,
      0.37534675229744313,
      0.37553801880278365,
      0.29083476873734215,
      0.2152582170410295,
      0.22175569711723472,
      0.19622884638979904,
      0.0823455509205705,
      0.08922028835998547
    ],
    "a_ego": [
      0.43974128434191373,
      0.43974128387340194,
      0.43091553250200776,
      0.46297520113025226,
      0.37658214530853124,
      0.357058864816401,
      0.5169735298989812,
      0.7146795511465575,
      0.7757751268504955,
      0.7757751263621727
    ],
    "yaw": [
      -0.9488742615073585,
      -0.9243007695384828,
      -0.9000252893343514,
      -0.8757208373499463,
      -0.850918009988692,
      -0.8272246293657612,
      -0.8076585863804854,
      -0.7930328738462764,
      -0.782223351331238,
      -0.7733068761594155
    ],
    "yaw_diff": [
      0.04914698393775141,
      0.04855096040826279,
      0.048608903968810235,
      0.04960565472250855,
      0.04738676124586161,
      0.03913208597055173,
      0.029251425068417936,
      0.021619045030076833,
      0.01783295034364496,
      0.01783295034364496
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.485666783506529,
    "v_std": 0.5570119260454218,
    "vy_max": 0.042091779811835206,
    "a_max": 0.7757751268504955,
    "ax_avg": -0.39843544457489444,
    "a_std": 0.15463715049620624,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "d903d26195085adb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "d903d26195085adb",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "562f38636f975be4": {
    "vx_ego": [
      5.8598289124988465,
      6.623143629955905,
      7.304965775269844,
      7.940233142654593,
      8.5675754426666,
      9.15928814788556,
      9.696429739441857,
      10.12542961049695,
      10.500331842967412,
      10.86732073485528
    ],
    "vy_ego": [
      -0.04604671214878886,
      -0.04242164755389277,
      -0.0333284337441464,
      0.0036972043227976314,
      0.016390103182589044,
      0.030390527193419725,
      0.027120916205132684,
      0.025522951420519746,
      0.02232771261461508,
      0.02047697557995054
    ],
    "v_ego": [
      5.860009827931786,
      6.623279485210229,
      7.305041804285557,
      7.940234003417673,
      8.567591120102904,
      9.15933856564654,
      9.6964676679721,
      10.125461778021663,
      10.500355581559418,
      10.867340026922154
    ],
    "ax_ego": [
      1.5268879147603855,
      1.527235161806469,
      1.2006378386749754,
      1.3404097219865805,
      1.1689728301360551,
      1.1978735501371764,
      0.9502468211475098,
      0.7655218264431087,
      0.733899529722886,
      0.7339359322494111
    ],
    "ay_ego": [
      0.07337441083644503,
      0.06575153075088769,
      0.07538107508203878,
      0.05978048552633719,
      -0.014724361484134363,
      0.07391083498454504,
      0.041684187493957026,
      0.03723301519314898,
      0.026609258948521453,
      0.02558575057514323
    ],
    "a_ego": [
      1.5286498972645481,
      1.5286498955791403,
      1.203001881186659,
      1.3417421247191677,
      1.169065560358962,
      1.2001515961104061,
      0.9511606555088256,
      0.7664267506951765,
      0.734381762021132,
      0.7343817694355611
    ],
    "yaw": [
      1.072481227072909,
      1.0774730786508164,
      1.0812118879690442,
      1.0807864846841473,
      1.0806138189621772,
      1.0807036848464402,
      1.0841045702590335,
      1.0862514612299383,
      1.0881082134034026,
      1.089502797440412
    ],
    "yaw_diff": [
      0.009983703155814982,
      0.007477618636455574,
      -0.0008508065697938605,
      -0.00034533144394011117,
      0.00017973176852592587,
      0.006801770825186626,
      0.004293781941809627,
      0.00371350434692852,
      0.002789168074018633,
      0.002789168074018633
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.664511986107001,
    "v_std": 1.6149590445480964,
    "vy_max": 0.04604671214878886,
    "a_max": 1.5286498972645481,
    "ax_avg": 1.1145621127064558,
    "a_std": 0.2914831045419749,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "562f38636f975be4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.202339994161104,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "562f38636f975be4",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1a585b7022ed54df": {
    "vx_ego": [
      4.633632983083199,
      4.12658969930368,
      3.490889776257943,
      2.7576490644616576,
      2.1131792791657333,
      1.5418278295192112,
      1.013007977583242,
      0.5663174394359278,
      0.22023698654412516,
      -0.08045793898859263
    ],
    "vy_ego": [
      -0.06998778545897277,
      -0.05705809848928767,
      -0.008383236469203581,
      -0.005262548247620513,
      -0.06431815004272401,
      -0.06490988029977429,
      -0.020839726920251822,
      0.011228033495384815,
      0.018430136260301863,
      0.013043406892556439
    ],
    "v_ego": [
      4.634161511215375,
      4.126984149836591,
      3.490899842252128,
      2.7576540858382357,
      2.1141578678803357,
      1.5431935550800011,
      1.0132223136436547,
      0.5664287342159111,
      0.22100678759850445,
      0.08150834564421537
    ],
    "ax_ego": [
      -1.0142701603900606,
      -1.0142892305869409,
      -1.5287603932821405,
      -1.4041758790042032,
      -1.1737308785634608,
      -1.111478971974849,
      -1.003823646672261,
      -0.7829419287171757,
      -0.6013828841751907,
      -0.6013799952688955
    ],
    "ay_ego": [
      0.013275616837316373,
      0.011729121834100575,
      0.16427977799604543,
      -0.1543008538596674,
      -0.08344390142879443,
      0.08523793600281837,
      0.09036875002781242,
      0.03959149217933661,
      -0.010730508209110146,
      -0.010891023817769185
    ],
    "a_ego": [
      1.0143570378619602,
      1.0143570454152955,
      1.5375617664102457,
      1.412628278309283,
      1.1766932735335118,
      1.1147425760579381,
      1.0078831403491109,
      0.783942312926377,
      0.6014786090837284,
      0.601478605695511
    ],
    "yaw": [
      2.5598734924466227,
      2.558348758922519,
      2.557142308939227,
      2.5569409514353865,
      2.556782807745493,
      2.557354452380861,
      2.557221152714031,
      2.5577753103743395,
      2.5578107687961027,
      2.5575438700620468
    ],
    "yaw_diff": [
      -0.0030494670482070774,
      -0.0024128999665844475,
      -0.0004027150076808539,
      -0.0003162873797872834,
      0.0011432892707361475,
      -0.0002665993336599115,
      0.0011083153206170593,
      7.091684352644734e-05,
      -0.0005337974681118851,
      -0.0005337974681118851
    ],
    "min_front_frame": [
      9,
      10.950695709450878
    ],
    "v_avg": 2.0549217193204954,
    "v_std": 1.5596638914395484,
    "vy_max": 0.06998778545897277,
    "a_max": 1.5375617664102457,
    "ax_avg": -1.023623396863518,
    "a_std": 0.29349378814321475,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1a585b7022ed54df",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.1091001151607216,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.91566689590524,
      17.745316637933932,
      15.834448932013338,
      14.301202763641099,
      13.100415350453787,
      12.20275198861475,
      11.57304065619505,
      11.182087821762979,
      10.977688119203851,
      10.950695709450878
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1a585b7022ed54df",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b23f49937a48507e": {
    "vx_ego": [
      0.6758013998264452,
      1.3171641145249036,
      1.9186419429954418,
      2.5548137956330157,
      3.3202803056718126,
      4.15552175007781,
      5.013839817876241,
      5.858810483616211,
      6.657328356208079,
      7.4298394716526674
    ],
    "vy_ego": [
      0.026741265599620173,
      0.005376417745555251,
      -0.0048924454993606314,
      -0.012724475818486347,
      -0.0036740072266019386,
      0.003184463626584755,
      0.0022396885793858345,
      -0.007036259947549528,
      -0.015988946194897657,
      0.03025091434893179
    ],
    "v_ego": [
      0.6763302649543729,
      1.317175087245408,
      1.9186481807367104,
      2.5548454831244944,
      3.320282338380459,
      4.155522970238323,
      5.013840318112075,
      5.858814708785837,
      6.657347556555282,
      7.429901055353762
    ],
    "ax_ego": [
      1.282747365113544,
      1.2829599766913016,
      1.1229081776359748,
      1.4216618607670932,
      1.639525702148375,
      1.7018302283822533,
      1.73143408037582,
      1.6490520365565395,
      1.5440902145574282,
      1.546212809743319
    ],
    "ay_ego": [
      -0.05370490325568589,
      -0.04836025974780078,
      -0.032045919951614155,
      -0.07537312898336701,
      -0.0025395211676816354,
      -0.09653101215474391,
      -0.07307529574022797,
      -0.20251618255989257,
      -0.14510545176046719,
      -0.12039990418738133
    ],
    "a_ego": [
      1.283871106980542,
      1.2838711058804229,
      1.1233653530295882,
      1.423658510645196,
      1.6395276689256826,
      1.704565740164694,
      1.7329754682436744,
      1.6614407673672578,
      1.5508933499188828,
      1.5508933522143489
    ],
    "yaw": [
      2.8380644724539703,
      2.8338982680922165,
      2.827895093849399,
      2.8192460263153354,
      2.8094435079656384,
      2.8009649660667124,
      2.7919152605107675,
      2.7809687840939628,
      2.768538650913267,
      2.752549909545687
    ],
    "yaw_diff": [
      -0.008332408723507712,
      -0.012006348485634533,
      -0.017298135068127607,
      -0.019605036699394063,
      -0.01695708379785188,
      -0.01809941111188973,
      -0.02189295283360959,
      -0.024860266361391936,
      -0.03197748273515977,
      -0.03197748273515977
    ],
    "min_front_frame": [
      0,
      13.921431877651127
    ],
    "v_avg": 3.8902707963486725,
    "v_std": 2.1986224574463966,
    "vy_max": 0.03025091434893179,
    "a_max": 1.7329754682436744,
    "ax_avg": 1.4922422451971646,
    "a_std": 0.19691094636136944,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b23f49937a48507e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 32.49516526660871,
    "speed_mode": "accelerating",
    "front_frame": [
      13.921431877651127,
      14.089124137420445,
      14.27125607770565,
      14.698592349325436,
      15.141342416488467,
      15.506108218438953,
      15.632630274826818,
      15.32454782008931,
      14.831201312058484,
      14.14064047099282
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b23f49937a48507e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "616812339ccb533e": {
    "vx_ego": [
      1.5280001943743016,
      2.234760656447288,
      2.969451987349381,
      3.6936275784091968,
      4.393686544720951,
      4.986934949423066,
      5.36515088899315,
      5.633385896922253,
      5.854571517172127,
      6.044954404435703
    ],
    "vy_ego": [
      -0.036199135830787973,
      -0.015505074806377549,
      -0.029410664461068166,
      -0.023970713204834113,
      0.020600834613702018,
      0.03593228697712511,
      0.048078802163036394,
      0.032070641141830114,
      -0.0005490834256516863,
      -0.02035699127311366
    ],
    "v_ego": [
      1.5284289226008514,
      2.2348144439638533,
      2.9695976313900223,
      3.6937053595375655,
      4.3937348403890635,
      4.9870643989249475,
      5.3653663092916055,
      5.633477184622814,
      5.854571542920604,
      6.044988681445178
    ],
    "ax_ego": [
      1.4135002929228009,
      1.4134754909060456,
      1.5252761179096912,
      1.3712702873007676,
      1.4289878903536521,
      0.9439243920667706,
      0.5688463922697613,
      0.5039919565765573,
      0.3807552675327012,
      0.3807658694273308
    ],
    "ay_ego": [
      0.038545474604445906,
      0.03944446761592618,
      -0.1026085811062374,
      0.11466485487922216,
      0.049634958144923476,
      0.023965317652048387,
      0.036631338264574466,
      -0.09066336966064277,
      -0.042624754818281735,
      -0.0425299925487944
    ],
    "a_ego": [
      1.4140257535509477,
      1.414025752742004,
      1.5287235710821934,
      1.3760560416561538,
      1.4298496493853574,
      0.9442285710508797,
      0.5700246248552573,
      0.5120817697322262,
      0.3831337148793062,
      0.3831337202426219
    ],
    "yaw": [
      1.5983803190753854,
      1.5977443102892093,
      1.5970158156341685,
      1.5962918420755963,
      1.595425585402296,
      1.5960714814355685,
      1.5966463789043952,
      1.597100343310939,
      1.5969784018764994,
      1.5967295214850874
    ],
    "yaw_diff": [
      -0.0012720175723521798,
      -0.0014569893100815356,
      -0.0014479471171444658,
      -0.0017325133466004061,
      0.00129179206654495,
      0.0011497949376533256,
      0.000907928813087544,
      -0.00024388286887910837,
      -0.0004977607828240416,
      -0.0004977607828240416
    ],
    "min_front_frame": [
      0,
      14.47668604909797
    ],
    "v_avg": 4.27057493150865,
    "v_std": 1.5143048434420827,
    "vy_max": 0.048078802163036394,
    "a_max": 1.5287235710821934,
    "ax_avg": 0.9930793957266077,
    "a_std": 0.46211185517877407,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "616812339ccb533e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.9987094956513625,
    "right_rear_min": 7.0398603413082075,
    "speed_mode": "accelerating",
    "front_frame": [
      14.47668604909797,
      15.708483149057368,
      16.507261645092733,
      16.971503960715065,
      17.1670638374594,
      16.983035521054152,
      16.924605593107373,
      16.729534526371467,
      16.554849973073477,
      16.37279526329752
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "616812339ccb533e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aee53565120f533b": {
    "vx_ego": [
      8.86645060016831,
      8.3154438650487,
      7.724703027962889,
      7.095620460144442,
      6.456208749623542,
      5.803834216863414,
      5.172939692062323,
      4.593036393616551,
      4.045491459794806,
      3.5014844003812273
    ],
    "vy_ego": [
      -0.031727791275956374,
      -0.027791687145791055,
      -0.01913533014429669,
      -0.004147450124756702,
      0.015958676730247756,
      -0.004638296173873346,
      -0.07692581563093848,
      -0.17886748531207286,
      -0.209007655740999,
      -0.15577678505662784
    ],
    "v_ego": [
      8.86650736750183,
      8.315490307290995,
      7.724726728569675,
      7.095621672254162,
      6.456228473193817,
      5.803836070275069,
      5.173511635129889,
      4.596517909286114,
      4.05088698329527,
      3.5049478473831335
    ],
    "ax_ego": [
      -1.1020059200759882,
      -1.1020044972116165,
      -1.260956588538604,
      -1.2553185690678048,
      -1.3023407681434924,
      -1.3072103489928963,
      -1.2162811709868881,
      -1.104120926417157,
      -1.0879143399445403,
      -1.0878793520780299
    ],
    "ay_ego": [
      0.010181095894918446,
      0.010334088946782727,
      0.025015796393758505,
      0.06036976246956932,
      0.028625737055247402,
      -0.09569526940745432,
      -0.17790745577391487,
      -0.2626022173906125,
      0.1087124124124898,
      0.1090620407354923
    ],
    "a_ego": [
      1.1020529490891746,
      1.102052950301839,
      1.2612047051324096,
      1.256769357546194,
      1.302655330158572,
      1.3107083890404818,
      1.229223718334943,
      1.1349197966071203,
      1.0933325201737614,
      1.0933325264562033
    ],
    "yaw": [
      1.1000082715778556,
      1.1001471029544476,
      1.1001696299308046,
      1.101027791422962,
      1.101343747640974,
      1.1019684127098421,
      1.102678075713867,
      1.1009968682359785,
      1.0990668663684198,
      1.0993882512349842
    ],
    "yaw_diff": [
      0.0002776627531839715,
      4.505395271392487e-05,
      0.0017163229843148997,
      0.0006319124360238959,
      0.0012493301377363153,
      0.001419326008049726,
      -0.003362414955776938,
      -0.003860003735117523,
      0.0006427697331288229,
      0.0006427697331288229
    ],
    "min_front_frame": [
      9,
      14.05873775652849
    ],
    "v_avg": 6.158827499417996,
    "v_std": 1.7442753149032064,
    "vy_max": 0.209007655740999,
    "a_max": 1.3107083890404818,
    "ax_avg": -1.1826032481457018,
    "a_std": 0.08689188336833187,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aee53565120f533b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5157056679742054,
    "right_rear_min": 13.259360186832586,
    "speed_mode": "decelerating",
    "front_frame": [
      23.404234356083446,
      19.89662234365577,
      25.660272858930583,
      23.860880947988854,
      21.230572778795363,
      18.72097171206399,
      18.917006549456463,
      17.342236770990947,
      15.691030654826367,
      14.05873775652849
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aee53565120f533b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "045044cb9f21527e": {
    "vx_ego": [
      3.0808032939279926,
      2.8401982120177305,
      2.6885026785356474,
      2.6470750816161863,
      2.6441306961585958,
      2.667911835378792,
      2.7021734331656075,
      2.739438414329508,
      2.7713832179215263,
      2.802109953438283
    ],
    "vy_ego": [
      0.007479659825794238,
      0.015098162379922231,
      0.026534059528346976,
      0.027234219681654626,
      0.03389943388140737,
      0.0351948656199661,
      0.03178119796261192,
      0.023683748923845727,
      0.03137643869469242,
      0.04278672879408507
    ],
    "v_ego": [
      3.0808123735775728,
      2.8402383417692194,
      2.6886336137169016,
      2.647215176451474,
      2.644347993359728,
      2.668143969114156,
      2.7023603215429923,
      2.739540791057373,
      2.7715608276713386,
      2.802436599696556
    ],
    "ax_ego": [
      -0.484478154471335,
      -0.4790497992622035,
      -0.13058141789872177,
      -0.03821854055704001,
      0.02347330987008628,
      0.06484232906560082,
      0.06523291469175187,
      0.07844796372102247,
      0.04445610142804818,
      0.06882121543434305
    ],
    "ay_ego": [
      0.1800487342293209,
      0.1940307152889029,
      0.15825988147530046,
      0.17414292284119343,
      0.2679094496621371,
      0.27650872578099356,
      0.28329565204962026,
      0.32152369622857957,
      0.3817108153729735,
      0.37807821956214305
    ],
    "a_ego": [
      0.5168526181200318,
      0.516852617917991,
      0.20517723261857482,
      0.17828744885152167,
      0.2689358092454894,
      0.2840098643915038,
      0.2907090635487667,
      0.33095554119618964,
      0.38429089441057696,
      0.3842909051761963
    ],
    "yaw": [
      -1.1658605071770012,
      -1.1368400706449877,
      -1.1086748558541615,
      -1.0776558865056955,
      -1.0382932076145015,
      -0.9874491142146609,
      -0.9340669732028635,
      -0.8754984822697184,
      -0.8145982296797267,
      -0.750483653347118
    ],
    "yaw_diff": [
      0.05804087306402694,
      0.056330429581652464,
      0.06203793869693186,
      0.0787253577823881,
      0.10168818679968128,
      0.10676428202359478,
      0.11713698186629018,
      0.12180050517998331,
      0.1282291526652175,
      0.1282291526652175
    ],
    "min_front_frame": [
      3,
      12.666707610159715
    ],
    "v_avg": 2.7585290007957313,
    "v_std": 0.12435395297343836,
    "vy_max": 0.04278672879408507,
    "a_max": 0.5168526181200318,
    "ax_avg": -0.07870540779784474,
    "a_std": 0.11015647435207533,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "045044cb9f21527e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      13.980575193186397,
      12.666707610159715,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "045044cb9f21527e",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "b50cf2a689a55433": {
    "vx_ego": [
      5.421053940301193,
      4.84118855307024,
      4.277080604216404,
      3.7554383409235697,
      3.2688261004038135,
      2.737012412681927,
      2.1334328664721314,
      1.519356555992645,
      0.9624270853316654,
      0.45500044800906053
    ],
    "vy_ego": [
      -0.04731778614478399,
      -0.02740890115569239,
      -0.010312142421556425,
      0.002587466170241637,
      -0.0074840098052302295,
      -0.014984153047305382,
      -0.005045158470527555,
      0.001601674647928375,
      -0.007498468959804161,
      -0.014534998154869222
    ],
    "v_ego": [
      5.421260443526093,
      4.841266141645271,
      4.277093035607886,
      3.755439232294933,
      3.2688346677499562,
      2.7370534287838604,
      2.1334388318785913,
      1.51935740021876,
      0.9624562959515336,
      0.45523254920953077
    ],
    "ax_ego": [
      -1.159789983511635,
      -1.1598194146267724,
      -1.0965333841482552,
      -0.9900299097237593,
      -0.9564114967302656,
      -1.1708040434617248,
      -1.2434515470614507,
      -1.212878708381749,
      -1.0148334901343548,
      -1.0148424928988908
    ],
    "ay_ego": [
      0.030203549871435698,
      0.029051902144757946,
      0.055552683090630606,
      -0.009386900106995277,
      -0.015325983983856817,
      -0.005170137988977808,
      0.053732536836969824,
      -0.02118404038716215,
      -0.013446773336910633,
      -0.01274833644361073
    ],
    "a_ego": [
      1.1601832011707267,
      1.1601832129295,
      1.0979396901242768,
      0.9900744093457086,
      0.9565342842067399,
      1.1708154587778339,
      1.244611961779434,
      1.2130636936339758,
      1.014922572618941,
      1.0149225613194903
    ],
    "yaw": [
      1.1009998672398649,
      1.100006903735569,
      1.1008977384427463,
      1.1005584479033943,
      1.101668292082534,
      1.1024525608163298,
      1.103353269603498,
      1.1041709551782812,
      1.1045347638558771,
      1.105222984625438
    ],
    "yaw_diff": [
      -0.0019859270085915703,
      0.0017816694143544254,
      -0.0006785810787039992,
      0.002219688358279459,
      0.0015685374675915575,
      0.0018014175743363836,
      0.001635371149566467,
      0.0007276173551917786,
      0.0013764415391217533,
      0.0013764415391217533
    ],
    "min_front_frame": [
      9,
      11.899669818171088
    ],
    "v_avg": 2.9371432026866415,
    "v_std": 1.5851491379093843,
    "vy_max": 0.04731778614478399,
    "a_max": 1.244611961779434,
    "ax_avg": -1.1019394470678856,
    "a_std": 0.09646110843528295,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b50cf2a689a55433",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.154056427185377,
    "right_rear_min": 6.500111764055334,
    "speed_mode": "decelerating",
    "front_frame": [
      24.43170370029524,
      21.894928847500243,
      19.65765805674762,
      18.20985433412217,
      16.44831327889523,
      14.937058481896896,
      13.743261579244612,
      12.838088811307673,
      12.231269897970167,
      11.899669818171088
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b50cf2a689a55433",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "e89a30bba6345ada": {
    "vx_ego": [
      3.46036345713805,
      3.402721787041541,
      3.4123111629637357,
      3.44793327956455,
      3.4891411603037037,
      3.5416354832853933,
      3.5757092929620664,
      3.576984498594532,
      3.5921930742219566,
      3.617723356786659
    ],
    "vy_ego": [
      0.010087120533615268,
      -0.043841500756596874,
      -0.03683370463761548,
      -0.049369970312974853,
      -0.05007683112102135,
      -0.03761669085144814,
      -0.008318683731934673,
      0.004217286856950553,
      -0.02207755944842038,
      -0.06584019476983416
    ],
    "v_ego": [
      3.4603781593197382,
      3.4030042076370943,
      3.412509955250571,
      3.4482867186905235,
      3.4895004979997637,
      3.5418352462948888,
      3.575718969420599,
      3.5769869846973177,
      3.592260917739605,
      3.6183224313882065
    ],
    "ax_ego": [
      -0.2136006347642922,
      -0.002707506668792381,
      0.04512358696802571,
      0.09973096988880911,
      0.06985002977246221,
      0.14096755962695995,
      -0.004958850222490511,
      0.010150774568510126,
      0.050676533240012776,
      0.05096718627424258
    ],
    "ay_ego": [
      1.1357702314073195,
      1.155678121796128,
      0.8877763043032094,
      0.5854966188129431,
      0.3311894156787151,
      0.05128090819112098,
      0.007205978049705165,
      -0.040442886938424905,
      -0.10716197863542828,
      -0.10702404745295044
    ],
    "a_ego": [
      1.1556812924516622,
      1.1556812933463048,
      0.8889223276434931,
      0.5939297576282496,
      0.33847519217340377,
      0.1500052812806492,
      0.008747360469417436,
      0.04169730600716228,
      0.1185402914045942,
      0.11854029192609881
    ],
    "yaw": [
      2.049286679960512,
      2.2328393095252497,
      2.3806952561375354,
      2.4918344502173024,
      2.558014300036665,
      2.581728424042754,
      2.5776253708026546,
      2.571793678858108,
      2.568830612968754,
      2.5661165832329713
    ],
    "yaw_diff": [
      0.36710525912947567,
      0.2957118932245715,
      0.22227838815953405,
      0.13235969963872485,
      0.04742824801217793,
      -0.008206106480198372,
      -0.011663383889093382,
      -0.0059261317787075996,
      -0.0054280594715656605,
      -0.0054280594715656605
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5118804088438305,
    "v_std": 0.07478533577885774,
    "vy_max": 0.06584019476983416,
    "a_max": 1.1556812933463048,
    "ax_avg": 0.024619964868344738,
    "a_std": 0.43502049849236224,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "e89a30bba6345ada",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e89a30bba6345ada",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2055bd0e7a885e4a": {
    "vx_ego": [
      8.57349944523153,
      8.08801774053653,
      7.573573882912366,
      7.014185748644913,
      6.418092268775269,
      5.805023929234431,
      5.2373730841723285,
      4.761586865438097,
      4.345146746215199,
      3.9378941316276754
    ],
    "vy_ego": [
      0.018835788410507037,
      -0.0006754808382359312,
      -0.008862771617719034,
      0.01641056642327665,
      0.030098261688881772,
      0.00046799042234368926,
      -0.011796474095541631,
      -0.003838322300429353,
      0.009537423806335182,
      0.018593862326794233
    ],
    "v_ego": [
      8.573520136111561,
      8.08801776874334,
      7.573579068620928,
      7.0142049459068225,
      6.418162842735418,
      5.805023948098698,
      5.2373863691362175,
      4.761588412476521,
      4.345157213335024,
      3.937938029429096
    ],
    "ax_ego": [
      -0.9709657117445895,
      -0.9709835717949148,
      -1.0867571580310016,
      -1.1507861789902092,
      -1.2335921441258926,
      -1.2187469963625215,
      -1.0518941435647864,
      -0.8512647590010706,
      -0.8144911698183649,
      -0.8144970289994405
    ],
    "ay_ego": [
      -0.028925237617729697,
      -0.028319144876866816,
      0.020577680088615248,
      0.09316727649967482,
      -0.03766602092986317,
      -0.0583601040564031,
      -0.008087317101989025,
      0.03460873640716593,
      0.015004231455181599,
      0.014682743098977066
    ],
    "a_ego": [
      0.9713964601309392,
      0.9713964539065228,
      1.0869519591267356,
      1.1545514155572512,
      1.2341670499498054,
      1.2201434927450714,
      1.0519252321167145,
      0.8519679891597168,
      0.8146293590791147,
      0.8146293593983868
    ],
    "yaw": [
      -1.5435542964249906,
      -1.5429300827782138,
      -1.5421331787495514,
      -1.5417000162470185,
      -1.5416721236258557,
      -1.540751663023761,
      -1.5415420483674824,
      -1.541808974186924,
      -1.5420227689991874,
      -1.5424174780223172
    ],
    "yaw_diff": [
      0.0012484272935537888,
      0.001593808057324786,
      0.0008663250050657822,
      5.57852423255234e-05,
      0.0018409212041894385,
      -0.0015807706874428895,
      -0.0005338516388833092,
      -0.0004275896245267141,
      -0.0007894180462595379,
      -0.0007894180462595379
    ],
    "min_front_frame": [
      9,
      15.210406995236585
    ],
    "v_avg": 6.175457873459362,
    "v_std": 1.532920580150115,
    "vy_max": 0.030098261688881772,
    "a_max": 1.2341670499498054,
    "ax_avg": -1.016397886243279,
    "a_std": 0.15058705807537284,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2055bd0e7a885e4a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.380328282917988,
    "right_rear_min": 3.758206694373691,
    "speed_mode": "decelerating",
    "front_frame": [
      22.586152808013598,
      21.56286779492049,
      20.555764019091377,
      19.702561712666803,
      18.86583649864125,
      17.893640833908005,
      17.270435064273197,
      16.54755974157388,
      15.823075498016976,
      15.210406995236585
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2055bd0e7a885e4a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bbf8fd8a87565e05": {
    "vx_ego": [
      0.5503108619569459,
      0.17901043179973158,
      -0.032740411141696506,
      -0.04911009649985611,
      -0.031117257683981416,
      -0.018469658318154027,
      -0.012451169566946769,
      -0.009237470793799822,
      -0.006914351667851287,
      -0.005436061470037189
    ],
    "vy_ego": [
      0.029212961826453138,
      0.0029239407815912855,
      -0.007561075682716797,
      -0.004150630849487563,
      -0.002444398075223119,
      -0.0011901825855409913,
      -0.0008390172011698248,
      -0.0005281416860149336,
      -0.00032685219232115887,
      -0.00041570838371277145
    ],
    "v_ego": [
      0.5510856938140116,
      0.17903430990405333,
      0.03360214855045873,
      0.04928518352074888,
      0.03121311916040201,
      0.018507966203132133,
      0.012479405973391531,
      0.009252556420082584,
      0.006922072763438927,
      0.00545193339709061
    ],
    "ax_ego": [
      -0.7426003855533564,
      -0.7425961360125345,
      -0.1044183332124685,
      0.03893726279572856,
      0.0330348512792019,
      0.017555343512079918,
      0.006518807772023521,
      0.006335892503206432,
      0.0029565936008489535,
      0.002956587538965934
    ],
    "ay_ego": [
      -0.05260691733100226,
      -0.052666808047692415,
      0.010733941296349811,
      0.0029361208527677704,
      0.0038802367284702143,
      0.0011400313472074099,
      0.0002618139310540914,
      0.0009832279895406085,
      -0.0001778624897459606,
      -0.00017790304801203248
    ],
    "a_ego": [
      0.7444614297430489,
      0.744461425387964,
      0.10496859438243225,
      0.03904780710469776,
      0.03326195478482822,
      0.01759232097535007,
      0.0065240632510030335,
      0.006411729181087076,
      0.002961938687049348,
      0.002961935071884698
    ],
    "yaw": [
      -1.5424285908278224,
      -1.5425092401871776,
      -1.542780546594904,
      -1.5429007210913117,
      -1.5428463134839556,
      -1.5428836113521167,
      -1.5428336665074323,
      -1.5428693145865868,
      -1.5428761994496702,
      -1.542862312423546
    ],
    "yaw_diff": [
      -0.00016129871871051193,
      -0.0005426128154528698,
      -0.00024034899281533129,
      0.00010881521471217681,
      -7.459573632218053e-05,
      9.988968936891496e-05,
      -7.129615830914204e-05,
      -1.3769726166845686e-05,
      2.777405224829721e-05,
      2.777405224829721e-05
    ],
    "min_front_frame": [
      1,
      10.393016517732608
    ],
    "v_avg": 0.08968343897068103,
    "v_std": 0.16140367256003046,
    "vy_max": 0.029212961826453138,
    "a_max": 0.7444614297430489,
    "ax_avg": -0.14813195157763043,
    "a_std": 0.28854861757737965,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bbf8fd8a87565e05",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.158220179758549,
    "right_rear_min": 3.4663041550389817,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.560410070093324,
      10.393016517732608,
      10.419269068590491,
      10.453768536382313,
      10.460603134633873,
      10.435902381145162,
      10.427209887727235,
      10.399504084085825,
      10.415439473997276,
      10.417582766180649
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bbf8fd8a87565e05",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7a1b61727c255889": {
    "vx_ego": [
      2.552258985015686,
      2.119917934975713,
      1.7177767254379726,
      1.3200172416530516,
      0.8710455386451952,
      0.4564848401194701,
      0.204028202686867,
      0.12196869745472655,
      0.14833636755048465,
      0.2150593566013585
    ],
    "vy_ego": [
      -0.025708183624989056,
      -0.011519781256216222,
      0.004022236600285112,
      -0.008446557928283305,
      0.0013880085196101843,
      0.01316378707075061,
      0.006602727263133115,
      -0.001601661794493163,
      -0.005715664764811126,
      0.008186175312698718
    ],
    "v_ego": [
      2.5523884573666673,
      2.1199492343902677,
      1.7177814345380709,
      1.3200442653949778,
      0.8710466445382524,
      0.4566746046682936,
      0.20413501291778585,
      0.12197921330827871,
      0.1484464440859941,
      0.21521510246272335
    ],
    "ax_ego": [
      -0.8647519958077761,
      -0.8647935912059603,
      -0.7437218230233782,
      -0.8473106118383973,
      -0.9485956188670084,
      -0.7096069104014047,
      -0.3002160586076444,
      -0.0280048258105593,
      0.13344482735110533,
      0.1334467814875911
    ],
    "ay_ego": [
      0.017897182390327337,
      0.015759701300419038,
      -0.02480023022485789,
      -0.04575459408581456,
      0.0840027274774765,
      -0.03803219924214496,
      0.01151769580375575,
      -0.04456755520410452,
      0.027833938344799393,
      0.027824556128933114
    ],
    "a_ego": [
      0.8649371788696822,
      0.8649371789765891,
      0.744135203750248,
      0.8485450817805245,
      0.9523077792170648,
      0.710625369283015,
      0.3004369137814733,
      0.0526358931296,
      0.1363167270387182,
      0.1363167246274977
    ],
    "yaw": [
      -0.5700616499571738,
      -0.5725333724574206,
      -0.5818845796923169,
      -0.5852595311548084,
      -0.5855054536934052,
      -0.5859521262902475,
      -0.5861942134012937,
      -0.5866444879697348,
      -0.5872481020949256,
      -0.5871777466747751
    ],
    "yaw_diff": [
      -0.004943445000493707,
      -0.018702414469792483,
      -0.00674990292498312,
      -0.0004918450771935756,
      -0.0008933451936845582,
      -0.0004841742220924594,
      -0.0009005491368820895,
      -0.0012072282503816645,
      0.00014071084030109482,
      0.00014071084030109482
    ],
    "min_front_frame": [
      4,
      9.461085122952909
    ],
    "v_avg": 0.9727660413671311,
    "v_std": 0.8562477253309281,
    "vy_max": 0.025708183624989056,
    "a_max": 0.9523077792170648,
    "ax_avg": -0.5040109826723431,
    "a_std": 0.34110476906276593,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7a1b61727c255889",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.158130308591266,
    "right_rear_min": 3.989140571137258,
    "speed_mode": "decelerating",
    "front_frame": [
      10.804393189958201,
      10.271581175917824,
      9.890445985179635,
      9.596074395490822,
      9.461085122952909,
      9.549952230008964,
      9.679134010200473,
      9.746518484279735,
      9.834982233515332,
      9.831614114698993
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7a1b61727c255889",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0324b2d1ca2e5b6e": {
    "vx_ego": [
      1.6363138420932222,
      2.672344642688959,
      3.6906123638237736,
      4.6750633823475995,
      5.645568735097519,
      6.600909542840968,
      7.533283230490522,
      8.401624522954048,
      9.122392087263597,
      9.75420033080427
    ],
    "vy_ego": [
      -0.027786736636480944,
      -0.012079868292501433,
      0.013684819661999775,
      0.017276140980700655,
      0.011753689229455633,
      0.010908707273710627,
      0.044725227349036834,
      0.04977903891013846,
      0.04686193536925193,
      -0.03447207932395194
    ],
    "v_ego": [
      1.6365497525461263,
      2.6723719450193206,
      3.690637735446014,
      4.675095303201268,
      5.645580970274104,
      6.600918556736127,
      7.533415996528476,
      8.401771990325472,
      9.122512451882761,
      9.75426124407764
    ],
    "ax_ego": [
      2.0720084476099756,
      2.071965392999066,
      2.001104555732307,
      1.936773968603293,
      1.9452685274593213,
      1.8760527622681578,
      1.8535103877243437,
      1.6196326220026493,
      1.2632274474760183,
      1.2636653224108485
    ],
    "ay_ego": [
      0.021633897384924584,
      0.025425285617530928,
      0.032380686064348296,
      -0.03132212438700861,
      -0.0009128127718836393,
      0.051825938610667956,
      0.0649689341705093,
      -0.013625791421912663,
      0.047457299993387894,
      0.0338485630668387
    ],
    "a_ego": [
      2.0721213845919264,
      2.0721213851834324,
      2.001366521105665,
      1.9370272277217644,
      1.9452687416269538,
      1.8767684712630008,
      1.8546486782701728,
      1.6196899371321198,
      1.264118578053277,
      1.2641185752473554
    ],
    "yaw": [
      -1.602959018707355,
      -1.6047888508300965,
      -1.6083349294340916,
      -1.6091287198957922,
      -1.6096203183903437,
      -1.607406766604723,
      -1.6080599288873725,
      -1.6070867793333599,
      -1.6057951307206115,
      -1.5950241096603275
    ],
    "yaw_diff": [
      -0.0036596642454829187,
      -0.0070921572079902795,
      -0.0015875809234011662,
      -0.0009831969891029857,
      0.004427103571241542,
      -0.0013063245652991107,
      0.00194629910802524,
      0.0025832972254966613,
      0.021542042120568095,
      0.021542042120568095
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.9733115946037305,
    "v_std": 2.639040756076882,
    "vy_max": 0.04977903891013846,
    "a_max": 2.0721213851834324,
    "ax_avg": 1.790320943428598,
    "a_std": 0.29041301102548606,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "0324b2d1ca2e5b6e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.761849094178666,
    "right_rear_min": 5.804500571720896,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0324b2d1ca2e5b6e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "75b0adddd02558ba": {
    "vx_ego": [
      2.453742098901667,
      2.0609081641629095,
      1.6696583227358137,
      1.2789637658109299,
      0.9289892687405359,
      0.6030590465246745,
      0.2885317079459312,
      0.05858689306550995,
      -0.027639224935330508,
      -0.025459004442330395
    ],
    "vy_ego": [
      -0.011859399724672315,
      0.005883198722079319,
      0.00884847602576777,
      -0.027571179414731417,
      -0.05800249005727748,
      -0.045612677545205316,
      -0.017499751643402867,
      -0.0024618239467419922,
      -0.0009556638941578908,
      0.003167982885587676
    ],
    "v_ego": [
      2.4537707580954233,
      2.060916561421286,
      1.6696817691431352,
      1.2792609132587436,
      0.9307982328560365,
      0.6047815555620826,
      0.28906190997393083,
      0.058638593231883133,
      0.02765574169145338,
      0.025655350762715665
    ],
    "ax_ego": [
      -0.7856555126923859,
      -0.7856960456108582,
      -0.7792192374654622,
      -0.7835552347607648,
      -0.6165844960582102,
      -0.6874451306239443,
      -0.5705129933599099,
      -0.34925915402454316,
      0.004364582464188173,
      0.004359182429154921
    ],
    "ay_ego": [
      0.029768618054735296,
      0.028678962855368306,
      -0.02769491782514083,
      -0.12046118549028739,
      -0.005848537354862404,
      0.05134998704269217,
      0.06307628120499567,
      -0.0023494532183372385,
      0.008280484719270904,
      0.008283330603642636
    ],
    "a_ego": [
      0.7862192793647484,
      0.7862192817522344,
      0.7797112468789954,
      0.7927608107939763,
      0.6166122332297246,
      0.6893603040412586,
      0.5739892793799691,
      0.34926705627694793,
      0.009360342262587295,
      0.009360343868677885
    ],
    "yaw": [
      -0.6277777490174982,
      -0.6291646535084314,
      -0.6306231156079409,
      -0.6310430686300227,
      -0.6321012471308112,
      -0.6334104128343341,
      -0.6322655423299379,
      -0.6312800755052012,
      -0.6304655699753199,
      -0.6311174645749075
    ],
    "yaw_diff": [
      -0.0027738089818665213,
      -0.002916924199019011,
      -0.0008399060441635076,
      -0.002116357001576974,
      -0.0026183314070458152,
      0.002289741008792312,
      0.0019709336494735386,
      0.0016290110597625418,
      -0.001303789199175176,
      -0.001303789199175176
    ],
    "min_front_frame": [
      8,
      9.37580894414037
    ],
    "v_avg": 0.9400221385996691,
    "v_std": 0.8471636134756724,
    "vy_max": 0.05800249005727748,
    "a_max": 0.7927608107939763,
    "ax_avg": -0.5349204039702735,
    "a_std": 0.29520525614317544,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "75b0adddd02558ba",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.411938509883942,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.32198448679101,
      12.19032200474233,
      11.242743165905495,
      10.549468459286164,
      10.001374744680389,
      9.602357741192574,
      9.469262335027077,
      9.394901427642147,
      9.37580894414037,
      9.399818581247496
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "75b0adddd02558ba",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0b3a16034cc35dc0": {
    "vx_ego": [
      7.528979583019706,
      7.469722591822364,
      7.441356753445078,
      7.380023282806679,
      7.464421622804624,
      7.729693819666481,
      8.046029006801382,
      8.423166403916035,
      8.857028930264544,
      9.378920179299701
    ],
    "vy_ego": [
      -0.0694820848250326,
      0.008246834049002644,
      0.009797203041565283,
      0.015603751318371994,
      0.04478826433077954,
      0.01114042058092135,
      0.009769284126355249,
      -0.003240874470805899,
      0.005779528803354417,
      -0.02803769824985025
    ],
    "v_ego": [
      7.52930018804133,
      7.4697271442170665,
      7.441363202883602,
      7.38003977847165,
      7.4645559915921975,
      7.7297018477274335,
      8.046034937607565,
      8.423167027391012,
      8.857030815939181,
      9.378962087683172
    ],
    "ax_ego": [
      -0.2180604671243518,
      -0.004211848803554311,
      -0.11396645297226649,
      -0.14478320124916766,
      0.48104233406541536,
      0.565823612229179,
      0.6825112465404457,
      0.8270426634187282,
      0.9237185194825519,
      1.1619662505459685
    ],
    "ay_ego": [
      1.8607949006660098,
      1.873523504885704,
      1.8703212575047932,
      1.750743744306154,
      1.9705647194108329,
      1.9831379327448166,
      1.782759648168227,
      1.8269019574722671,
      2.1081133823983214,
      1.9867642841399613
    ],
    "a_ego": [
      1.8735282302829375,
      1.873528239186577,
      1.873790265391885,
      1.7567201921737818,
      2.028429698202478,
      2.0622784536641654,
      1.9089404298696944,
      2.0053853318828145,
      2.3016076851370495,
      2.3016076746791643
    ],
    "yaw": [
      2.993581437750378,
      3.1079880265788242,
      -3.0502591809702024,
      -2.9290974067322537,
      -2.806546319708632,
      -2.6720261651530137,
      -2.5524163284925634,
      -2.4411187052923298,
      -2.3282655275320887,
      -2.212032774651745
    ],
    "yaw_diff": [
      0.22881317765689246,
      0.24987619926111915,
      0.24232354847589743,
      0.24510217404724344,
      0.26904030911123655,
      0.23921967332090066,
      0.22259524640046724,
      0.22570635552048213,
      0.23246550576068703,
      0.23246550576068703
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.971988302155421,
    "v_std": 0.6609323712995808,
    "vy_max": 0.0694820848250326,
    "a_max": 2.3016076851370495,
    "ax_avg": 0.41610826561329484,
    "a_std": 0.1737889940730156,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "0b3a16034cc35dc0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.197757865065217,
    "right_rear_min": 47.14998385770508,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0b3a16034cc35dc0",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a7d3e71b8ca456a9": {
    "vx_ego": [
      5.129237927720616,
      4.420153611824217,
      3.652032800130989,
      2.8055752989790665,
      1.972700283160442,
      1.2290070207942017,
      0.6710860976908883,
      0.32350937101492805,
      0.12917398825467527,
      0.0071998716942008965
    ],
    "vy_ego": [
      0.003116012429616139,
      0.012730157984400053,
      0.012382210642534822,
      -0.00687144607711224,
      -0.03887638566406238,
      -0.04740507428108564,
      -0.020432996206706706,
      0.005317921729652691,
      0.009717055563006125,
      0.007588321129312362
    ],
    "v_ego": [
      5.129238874209422,
      4.420171943380142,
      3.6520537910021247,
      2.8055837137773434,
      1.9730833181960639,
      1.2299209316980642,
      0.671397094012156,
      0.32355307667521427,
      0.1295389532551253,
      0.010460438326118258
    ],
    "ax_ego": [
      -1.4181508507545244,
      -1.4181601677615379,
      -1.6542807112244935,
      -1.7315018900708588,
      -1.6000706326337892,
      -1.3748135086307331,
      -0.8569072464890807,
      -0.533399747014387,
      -0.2439451048933929,
      -0.24394422375014416
    ],
    "ay_ego": [
      0.012035576141728725,
      0.01088172860708195,
      -0.02256821278139115,
      -0.07170610698982581,
      -0.06350574425304402,
      0.026176959421981075,
      0.08090669740143494,
      0.021915261512729965,
      -0.0042604359283046605,
      -0.004310691542087807
    ],
    "a_ego": [
      1.4182019216560258,
      1.4182019156110708,
      1.654434645357006,
      1.7329860244960409,
      1.6013303872000393,
      1.3750626955590524,
      0.860718259809739,
      0.5338497623884302,
      0.24398230574315766,
      0.24398230747870106
    ],
    "yaw": [
      1.565835874648326,
      1.5650222481923057,
      1.5643892126263843,
      1.5630568114609582,
      1.5622990176845257,
      1.5617881063596768,
      1.5615608808335772,
      1.5614614429992026,
      1.5615380709262034,
      1.5613320603688692
    ],
    "yaw_diff": [
      -0.0016272529120406887,
      -0.0012660711318428497,
      -0.0026648023308522006,
      -0.001515587552864961,
      -0.0010218226496978566,
      -0.00045445105219910076,
      -0.00019887566874920992,
      0.00015325585400161046,
      -0.0004120211146685371,
      -0.0004120211146685371
    ],
    "min_front_frame": [
      9,
      9.617695288853865
    ],
    "v_avg": 2.034500213453177,
    "v_std": 1.778820137364892,
    "vy_max": 0.04740507428108564,
    "a_max": 1.7329860244960409,
    "ax_avg": -1.1075174083222943,
    "a_std": 0.55499507334657,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a7d3e71b8ca456a9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.027553537352619,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.402523437510542,
      15.137554187414617,
      13.771484913649461,
      12.383237586452154,
      11.21523659446603,
      10.453407445253715,
      10.02164768582185,
      9.760614951347119,
      9.672904233630051,
      9.617695288853865
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a7d3e71b8ca456a9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "476c37463b4f580e": {
    "vx_ego": [
      5.395624600192911,
      5.2314602700606265,
      5.089974500392909,
      4.966214709074736,
      4.839984047620519,
      4.636802396101945,
      4.279503883094371,
      3.7718795860116625,
      3.160870983426434,
      2.5224131127304106
    ],
    "vy_ego": [
      -0.029166608193297305,
      0.0012984536695772597,
      -0.0019205399471041718,
      0.0015768137842964713,
      0.0017419611615803743,
      -0.013011478145756872,
      -0.011889840954130926,
      -0.014371712022290928,
      -0.004905204619109593,
      -0.002964006062558533
    ],
    "v_ego": [
      5.3957034311793315,
      5.231460431199373,
      5.089974862720221,
      4.966214959400365,
      4.83998436109558,
      4.636820652026588,
      4.279520399967468,
      3.771906965644561,
      3.1608747895004554,
      2.522414854183637
    ],
    "ax_ego": [
      -0.33024899589153733,
      -0.327428211228278,
      -0.23826700101248155,
      -0.257441415138925,
      -0.2469005328161004,
      -0.5663649638966144,
      -0.8636335223324109,
      -1.1673042266832676,
      -1.2769603902731932,
      -1.276914839832547
    ],
    "ay_ego": [
      -0.14213554913794718,
      -0.1485182700592106,
      -0.18304736059756538,
      -0.09087441130393488,
      -0.16601498803074013,
      -0.12057222756623373,
      -0.0770113061726336,
      -0.02291146287181238,
      -0.012226395684880084,
      -0.016303841996530066
    ],
    "a_ego": [
      0.35953708239361687,
      0.35953707743365,
      0.3004621440268591,
      0.2730095984733303,
      0.29752453572053694,
      0.5790569353611932,
      0.8670603221083882,
      1.1675290543552002,
      1.2770189204072542,
      1.277018920552247
    ],
    "yaw": [
      -3.0048299400986065,
      -3.0242392375775395,
      -3.039710586367637,
      -3.0540186463063304,
      -3.0671539873533717,
      -3.0790603940236627,
      -3.090298100350095,
      -3.0958346906920466,
      -3.101079087942997,
      -3.104272230113562
    ],
    "yaw_diff": [
      -0.038818594957866104,
      -0.030942697580194967,
      -0.02861611987738666,
      -0.026270682094082787,
      -0.02381281334058194,
      -0.02247541265286479,
      -0.011073180683903061,
      -0.010488794501900323,
      -0.0063862843411301995,
      -0.0063862843411301995
    ],
    "min_front_frame": [
      9,
      13.302831914262645
    ],
    "v_avg": 4.389487570691758,
    "v_std": 0.9054145498829846,
    "vy_max": 0.029166608193297305,
    "a_max": 1.277018920552247,
    "ax_avg": -0.6551464099105355,
    "a_std": 0.4070529423473517,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "476c37463b4f580e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.832373800442028,
    "right_rear_min": 27.920399651519556,
    "speed_mode": "decelerating",
    "front_frame": [
      30.66990620999868,
      28.69021068121704,
      26.719120064900338,
      24.742584753099052,
      22.69855551572434,
      20.68446957207122,
      18.423081968470775,
      16.45960121688112,
      14.721943866071207,
      13.302831914262645
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "476c37463b4f580e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fad0701870e750a5": {
    "vx_ego": [
      4.787793933740462,
      4.771182941120414,
      4.760166292473619,
      4.765016064841177,
      4.814057145032516,
      4.9226726937631256,
      5.085997058457141,
      5.233070768834307,
      5.36319873705571,
      5.524612462836027
    ],
    "vy_ego": [
      -0.016189818144118462,
      -0.014250622142910174,
      -0.011747816102301245,
      0.006765961711184376,
      0.017024743339400628,
      0.010354471231661666,
      -0.010069170502076785,
      -0.018583133946766694,
      -0.011685012350866192,
      0.008587084913746934
    ],
    "v_ego": [
      4.78782130641626,
      4.771204223031111,
      4.760180788918129,
      4.765020868415203,
      4.8140872486406385,
      4.922683583676244,
      5.086007025833654,
      5.233103763971757,
      5.363211466338952,
      5.524619136424742
    ],
    "ax_ego": [
      -0.05949683699120928,
      -0.0021482303572740724,
      -0.038447318527140506,
      0.058733340461349426,
      0.13485805431868758,
      0.2935491713135247,
      0.36326919795602874,
      0.23343037671476563,
      0.29089643072711463,
      0.3543240815534071
    ],
    "ay_ego": [
      0.7405960467959019,
      0.7429789720521736,
      0.7295552892420591,
      0.7338877651408021,
      0.7613940872835323,
      0.7146170665641731,
      0.8037031049650197,
      0.890461364788266,
      0.8629540939362049,
      0.8389069975757039
    ],
    "a_ego": [
      0.7429820846707383,
      0.7429820777147806,
      0.7305676672033823,
      0.7362342406497472,
      0.7732448842151789,
      0.7725598150328821,
      0.8819882035004947,
      0.9205493919142952,
      0.9106648679130164,
      0.9106648699440137
    ],
    "yaw": [
      -0.6387893076389581,
      -0.5615164159109611,
      -0.48490516407335527,
      -0.41181886101148535,
      -0.3357968996446186,
      -0.25835375652461157,
      -0.1783256137578585,
      -0.09489745241677174,
      -0.013396630432046249,
      0.061108046889026435
    ],
    "yaw_diff": [
      0.154545783455994,
      0.15322250367521173,
      0.14617260612373983,
      0.15204392273373346,
      0.1548862862400141,
      0.16005628553350615,
      0.1668563226821735,
      0.16300164396945097,
      0.14900935464214538,
      0.14900935464214538
    ],
    "min_front_frame": [
      6,
      62.60263603157024
    ],
    "v_avg": 5.002793941166669,
    "v_std": 0.268224057643305,
    "vy_max": 0.018583133946766694,
    "a_max": 0.9205493919142952,
    "ax_avg": 0.16289682671692537,
    "a_std": 0.07817054812291295,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "fad0701870e750a5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.155370440896125,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      62.60263603157024,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "fad0701870e750a5",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "e69be869445455c7": {
    "vx_ego": [
      5.954974449820485,
      5.978507771878078,
      5.953903971663722,
      5.89405853143751,
      5.849092010145709,
      5.719534095447347,
      5.401978649733625,
      4.876282632846324,
      4.318599159669587,
      3.8354639228977994
    ],
    "vy_ego": [
      0.0550322171822919,
      0.006077179811591726,
      -0.027736134652011746,
      -0.02607137762288847,
      -0.03034713999295713,
      -0.0385682046975484,
      -0.034280538744993816,
      -0.0129462981345565,
      -0.004723941626859407,
      -0.023040530059247555
    ],
    "v_ego": [
      5.955228731370676,
      5.978510860617471,
      5.953968575409051,
      5.89411619233473,
      5.849170735416784,
      5.7196641313453265,
      5.402087419462458,
      4.876299818718499,
      4.318601743333525,
      3.835533127203569
    ],
    "ax_ego": [
      0.047069367369458395,
      0.047095184877221474,
      -0.14521366367883126,
      -0.0935376741365787,
      -0.0857910465948761,
      -0.4311970880694823,
      -0.8387530210705486,
      -1.2643892563519397,
      -0.966330282528598,
      -0.9662756116989093
    ],
    "ay_ego": [
      -0.1009673772540304,
      -0.10095533847212859,
      0.030807076995444133,
      0.08615070738278618,
      0.038504269512435255,
      0.10036864770146506,
      -0.014234261033775397,
      0.03781724431043809,
      -0.045697574707786126,
      -0.04683941706605693
    ],
    "a_ego": [
      0.1113998950363901,
      0.111399895891521,
      0.1484455594217353,
      0.12716619387807135,
      0.09403553821045772,
      0.4427242868886026,
      0.8388737953602734,
      1.264954677269287,
      0.9674101939022421,
      0.9674101967393094
    ],
    "yaw": [
      -2.291015268461798,
      -2.2912709599459604,
      -2.288553836037912,
      -2.2838940073338017,
      -2.2778572554476115,
      -2.270488884776391,
      -2.267415678461623,
      -2.270389000758619,
      -2.2726240943302125,
      -2.2738057544842922
    ],
    "yaw_diff": [
      -0.0005113829683249804,
      0.005434247816096693,
      0.009319657408220827,
      0.012073503772380256,
      0.014736741342440851,
      0.00614641262953608,
      -0.00594664459399219,
      -0.004470187143186699,
      -0.0023633203081594445,
      -0.0023633203081594445
    ],
    "min_front_frame": [
      9,
      18.241614552489935
    ],
    "v_avg": 5.378318133521209,
    "v_std": 0.7337894282378674,
    "vy_max": 0.0550322171822919,
    "a_max": 1.264954677269287,
    "ax_avg": -0.46973230918830833,
    "a_std": 0.43233020388131205,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e69be869445455c7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      29.835978547039197,
      29.124721122903754,
      28.15727799275117,
      26.836013467087096,
      25.214003607246948,
      23.381143489835136,
      21.77654999117601,
      20.377109542148585,
      19.196301666676185,
      18.241614552489935
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e69be869445455c7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "12c3a7aea386584b": {
    "vx_ego": [
      8.826326181791583,
      8.352364559342277,
      7.860415306103816,
      7.360355084343141,
      6.926513296979239,
      6.5422734734700105,
      6.190381236996334,
      5.841488095364344,
      5.385895625995259,
      4.904209168112375
    ],
    "vy_ego": [
      0.00012493009695430102,
      0.0029197708083441576,
      0.02716322858194507,
      0.012647472530716589,
      -0.03555084899223925,
      -0.04112888574742696,
      -0.014793349792213972,
      -0.04774449142162862,
      -0.008499710444919595,
      0.07105111485179982
    ],
    "v_ego": [
      8.826326182675729,
      8.352365069680472,
      7.860462239933358,
      7.360365950560973,
      6.926604530077799,
      6.542402753340104,
      6.190398913038993,
      5.841683208181051,
      5.385902332867958,
      4.904723827650153
    ],
    "ax_ego": [
      -0.9493078986832985,
      -0.9465404646137995,
      -1.0221155749942508,
      -0.9790377632188799,
      -0.7562086850052862,
      -0.7830745825688644,
      -0.6226289252074133,
      -0.7626710766942375,
      -1.0602190575235717,
      -0.8354273405475062
    ],
    "ay_ego": [
      0.21490783525700236,
      0.22678626490639414,
      0.14168056402228182,
      -0.03398112062833407,
      -0.22673519980925783,
      -0.2686692391719622,
      -0.5905461209871871,
      -1.1490833388280988,
      -1.3652555024692163,
      -1.5132905213375665
    ],
    "a_ego": [
      0.9733297818095111,
      0.9733297802397194,
      1.0318883810119677,
      0.9796273058504367,
      0.7894684452908604,
      0.8278822150177175,
      0.858144218367724,
      1.3791518012163413,
      1.7285794852880336,
      1.7285794871235753
    ],
    "yaw": [
      -1.59724287115721,
      -1.5847120429161223,
      -1.5763490291883269,
      -1.5708999150903007,
      -1.5732863331195417,
      -1.5908396716960551,
      -1.6288321155349053,
      -1.6954288921057856,
      -1.8134730187356665,
      -1.9693408955773362
    ],
    "yaw_diff": [
      0.025061656482175287,
      0.01672602745559093,
      0.01089822819605235,
      -0.0047728360584819995,
      -0.035106677153026844,
      -0.07598488767770029,
      -0.13319355314176073,
      -0.23608825325976168,
      -0.3117357536833394,
      -0.3117357536833394
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.819123500800659,
    "v_std": 1.2212649907002022,
    "vy_max": 0.07105111485179982,
    "a_max": 1.7285794871235753,
    "ax_avg": -0.8717231369057108,
    "a_std": 0.33779471898609326,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "12c3a7aea386584b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 32.85958813501055,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "12c3a7aea386584b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ec044ac1af1655be": {
    "vx_ego": [
      11.186686135307811,
      11.11467558331485,
      11.059515402131844,
      11.038387877536268,
      11.044688793561539,
      11.052543567431101,
      11.044895462607846,
      10.930682044286023,
      10.726975647239463,
      10.531986594834006
    ],
    "vy_ego": [
      0.008321738144644542,
      0.06365583857886925,
      0.047880468617222505,
      0.029121779696482886,
      -0.0006161538979090331,
      0.007810907698835745,
      0.007547496618908411,
      0.01244830831824606,
      0.02856634201297714,
      0.024350045283161315
    ],
    "v_ego": [
      11.186689230563875,
      11.114857866303126,
      11.059619047203501,
      11.038426292411085,
      11.044688810748335,
      11.05254632744155,
      11.044898041387281,
      10.930689132605357,
      10.727013683796834,
      10.532014743555408
    ],
    "ax_ego": [
      -0.14927043466607798,
      -0.13465526036489284,
      -0.07857759392920066,
      0.0017162995056611008,
      0.023706183520842528,
      0.00518988849183824,
      -0.03612107699491847,
      -0.4214178184258647,
      -0.39169537587244446,
      -0.38659725597270367
    ],
    "ay_ego": [
      -0.5162025118942499,
      -0.520206363992606,
      -0.6612220737114266,
      -0.8301351565149465,
      -0.7295251313576986,
      -0.5280003138506809,
      -0.43543611903174134,
      -0.27227247158528745,
      -0.3304709831097347,
      -0.3364207215515592
    ],
    "a_ego": [
      0.5373515571312073,
      0.5373515611611683,
      0.6658746646561511,
      0.8301369307325677,
      0.7299102002435582,
      0.5280258197938575,
      0.4369317406193989,
      0.5017223101178342,
      0.512480573443882,
      0.5124805754513003
    ],
    "yaw": [
      -1.1524259411341777,
      -1.180627537207249,
      -1.2058590120529642,
      -1.2379319347776445,
      -1.270557358551868,
      -1.2997662531568976,
      -1.3215311107577967,
      -1.3380067047059363,
      -1.3534153740965107,
      -1.36870428665617
    ],
    "yaw_diff": [
      -0.05640319214614253,
      -0.05046294969143039,
      -0.06414584544936064,
      -0.06525084754844679,
      -0.05841778921005947,
      -0.04352971520179816,
      -0.032951187896279155,
      -0.030817338781148784,
      -0.030577825119318724,
      -0.030577825119318724
    ],
    "min_front_frame": [
      8,
      33.98935258469182
    ],
    "v_avg": 10.973144317601633,
    "v_std": 0.18734292036373523,
    "vy_max": 0.06365583857886925,
    "a_max": 0.8301369307325677,
    "ax_avg": -0.15677224447077606,
    "a_std": 0.11595809258367745,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "ec044ac1af1655be",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      33.98935258469182,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "ec044ac1af1655be",
    "road_shape": "Straight"
  },
  "af052c91de0f5295": {
    "vx_ego": [
      2.1236109805751573,
      2.96452453440559,
      3.7538811856228214,
      4.414585569214063,
      4.930856259664673,
      5.326995153703666,
      5.645255080027809,
      5.918261195315864,
      6.166684452152335,
      6.410419947449451
    ],
    "vy_ego": [
      0.05068327379584425,
      0.04364371071852635,
      0.04508928839000936,
      0.056381999744428146,
      0.04816906457621917,
      0.022790879993638047,
      0.010438194438544546,
      -0.00038183491084353705,
      -0.030411256917429963,
      -0.026716144638065042
    ],
    "v_ego": [
      2.1242157119892617,
      2.9648457782114,
      3.7541519681148383,
      4.41494560304068,
      4.9310915335508065,
      5.327043907439963,
      5.645264730239222,
      5.918261207633494,
      6.166759438875871,
      6.410475618473418
    ],
    "ax_ego": [
      1.6822243226127953,
      1.682464537399198,
      1.475622088289082,
      1.1681882058185709,
      0.8981310099893578,
      0.687449945890781,
      0.5855979367197651,
      0.5066791265440749,
      0.48675613515030625,
      0.48735233402108713
    ],
    "ay_ego": [
      -0.04743381805682023,
      -0.037969870953526,
      -0.0107827007866107,
      -0.022459671659997738,
      -0.10361992495770145,
      -0.13293393362221123,
      -0.004119971448066639,
      -0.11606875227787453,
      -0.0847268214944186,
      -0.08122725882590581
    ],
    "a_ego": [
      1.6828929373806065,
      1.6828929350098671,
      1.475661483566907,
      1.1684040915131575,
      0.9040887124352032,
      0.7001848747391736,
      0.5856124295600111,
      0.5198035133882891,
      0.4940750645266469,
      0.4940750601398253
    ],
    "yaw": [
      -0.5769232506128273,
      -0.5825486861634652,
      -0.5865762976493119,
      -0.5913312987634678,
      -0.5962833913123308,
      -0.6028320720270655,
      -0.6068166748476969,
      -0.6101364922979605,
      -0.6134730633267147,
      -0.6206581788947076
    ],
    "yaw_diff": [
      -0.011250871101275761,
      -0.008055222971693254,
      -0.009510002228311887,
      -0.009904185097725948,
      -0.013097361429469379,
      -0.0079692056412628,
      -0.006639634900527325,
      -0.006673142057508352,
      -0.0143702311359859,
      -0.0143702311359859
    ],
    "min_front_frame": [
      0,
      13.27429140928294
    ],
    "v_avg": 4.765705549756896,
    "v_std": 1.3593939980605652,
    "vy_max": 0.056381999744428146,
    "a_max": 1.6828929373806065,
    "ax_avg": 0.9660465642435019,
    "a_std": 0.4681953389602954,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "af052c91de0f5295",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.460625090861154,
    "right_rear_min": 23.280472041206302,
    "speed_mode": "accelerating",
    "front_frame": [
      13.27429140928294,
      14.164910843224519,
      14.841027716917429,
      15.469958058405037,
      16.143119513321302,
      16.86855365128942,
      17.652196968572298,
      18.619095645473205,
      19.711523396800516,
      20.748496616198317
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "af052c91de0f5295",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "ee6d63d4e8b35518": {
    "vx_ego": [
      3.8126374128737206,
      3.061975971321825,
      2.3553934849529536,
      1.7075934661704495,
      1.100485036110228,
      0.6111964274889673,
      0.2754859680911329,
      0.04405930019271593,
      -0.05815623485472752,
      -0.07360938675533957
    ],
    "vy_ego": [
      0.004732832488454797,
      -0.016955279106182664,
      -0.027279121150142194,
      -0.015190358458341602,
      0.00906427427385631,
      0.026358520859142642,
      0.019884061591460084,
      -0.01701432301320814,
      -0.030191429123137117,
      -0.004775140939037338
    ],
    "v_ego": [
      3.812640350432726,
      3.0620229147479945,
      2.3555514469884846,
      1.7076610298001482,
      1.1005223649570424,
      0.611764533621522,
      0.2762026330802834,
      0.047230383452494244,
      0.06552610201267611,
      0.07376410908758291
    ],
    "ax_ego": [
      -1.5013879450948748,
      -1.50129648887792,
      -1.3251926887400534,
      -1.2660972348026527,
      -1.1623445874883949,
      -0.7948221099289106,
      -0.5479257907495787,
      -0.3777971298277905,
      -0.030907673771386177,
      -0.030915018443460424
    ],
    "ay_ego": [
      -0.05358871865516701,
      -0.05609241815518551,
      0.00011659580083245302,
      0.04134574716630135,
      0.053190451926522886,
      0.01643211651123544,
      -0.0435949620730986,
      -0.10374697975439977,
      0.050853816965858105,
      0.05084935257984971
    ],
    "a_ego": [
      1.502344006026354,
      1.5023440041786924,
      1.325192693869338,
      1.2667721495137407,
      1.1635609843234322,
      0.7949919502013112,
      0.5496573413379521,
      0.3917832399609205,
      0.05950962105370384,
      0.05950962126538335
    ],
    "yaw": [
      -2.101558414975276,
      -2.1032260553363082,
      -2.1045921002356907,
      -2.1054434280105863,
      -2.1058895472924197,
      -2.1057520059734625,
      -2.106518720858279,
      -2.1060646102575977,
      -2.1051483985675135,
      -2.105292650368487
    ],
    "yaw_diff": [
      -0.0033352807220641267,
      -0.002732089798764825,
      -0.00170265554979121,
      -0.0008922385636669361,
      0.0002750826379145366,
      -0.0015334297696334431,
      0.0009082212013629132,
      0.0018324233801685352,
      -0.0002885036019470988,
      -0.0002885036019470988
    ],
    "min_front_frame": [
      7,
      11.23511046341476
    ],
    "v_avg": 1.3112885868180952,
    "v_std": 1.2982996858563536,
    "vy_max": 0.030191429123137117,
    "a_max": 1.502344006026354,
    "ax_avg": -0.8538686667725022,
    "a_std": 0.5385665637443423,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ee6d63d4e8b35518",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.50039932408031,
      14.894375610910828,
      13.633307854930806,
      12.615348606819673,
      11.971273680443336,
      11.599482390327701,
      11.320874141796665,
      11.23511046341476,
      11.29286080367904,
      11.332974672411671
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ee6d63d4e8b35518",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "652e91c4f9b1505a": {
    "vx_ego": [
      5.320051741203598,
      5.423523744244206,
      5.604670134944589,
      5.845860081489942,
      6.073629477420708,
      6.248533145173911,
      6.320497780845958,
      6.281142488864706,
      6.213638928562577,
      6.146730410393406
    ],
    "vy_ego": [
      -0.08185732694035686,
      -0.12833646070484628,
      -0.1158879017019463,
      -0.0792172189792466,
      -0.06409224103217603,
      -0.05781601179848428,
      -0.02648849308988721,
      0.006530591765679716,
      0.0267753892864655,
      -0.044236424810628616
    ],
    "v_ego": [
      5.320681455514628,
      5.4250419400707806,
      5.605868115403776,
      5.846396792909322,
      6.0739676360970405,
      6.248800617523114,
      6.320553285745232,
      6.281145883837624,
      6.213696617635892,
      6.146889587371414
    ],
    "ax_ego": [
      0.14847656764438005,
      0.3182336932603791,
      0.4525081966591362,
      0.5233323003801115,
      0.39230336964752155,
      0.3098297848355148,
      -0.02103631336502209,
      -0.13628752737959893,
      -0.13400552157038756,
      -0.1330424086536207
    ],
    "ay_ego": [
      1.3173439951068409,
      1.286921830997071,
      1.157653561813439,
      0.6773711072425288,
      0.33344433106340843,
      0.12968088385076365,
      0.13411579372698976,
      0.10169121051494762,
      0.05808179623844107,
      0.060255232233199015
    ],
    "a_ego": [
      1.325684914519098,
      1.3256849107623556,
      1.2429502955561196,
      0.855983827854305,
      0.5148660561302559,
      0.3358744217822141,
      0.1357555619744984,
      0.17004526578308587,
      0.14605127478264404,
      0.14605127699487516
    ],
    "yaw": [
      0.4944190279232278,
      0.6246033627251543,
      0.7334028136289099,
      0.8072067782559222,
      0.8469562253180105,
      0.8646997471249227,
      0.8701727563783079,
      0.8742791222890529,
      0.877432332967408,
      0.8937094854877106
    ],
    "yaw_diff": [
      0.26036866960385296,
      0.2175989018075113,
      0.14760792925402466,
      0.07949889412417654,
      0.035487043613824376,
      0.01094601850677046,
      0.00821273182148996,
      0.006306421356710112,
      0.03255430504060519,
      0.03255430504060519
    ],
    "min_front_frame": [
      5,
      18.098027822751146
    ],
    "v_avg": 5.948304193210882,
    "v_std": 0.3550595653668784,
    "vy_max": 0.12833646070484628,
    "a_max": 1.325684914519098,
    "ax_avg": 0.1720312141458414,
    "a_std": 0.49170366421412054,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "652e91c4f9b1505a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      26.990390677749403,
      24.121835543354315,
      21.136139241722645,
      18.098027822751146,
      21.026400481814655,
      24.263701670554685,
      21.205972028803416,
      23.30347892628177
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "652e91c4f9b1505a",
    "pedestrians": "No"
  },
  "e0dd84d2357d5ed8": {
    "vx_ego": [
      10.653222145774116,
      10.511452495360164,
      10.393182662546108,
      10.339846586568278,
      10.430262392520792,
      10.736922296146119,
      10.812552526498642,
      10.817322075490509,
      10.931927344426708,
      10.87992494922743
    ],
    "vy_ego": [
      -0.062480610675492265,
      -0.013948463906256592,
      0.007071913930963625,
      0.004235193758367117,
      0.007664914534127654,
      0.017646745039265888,
      0.01625906290510759,
      0.022739612457633562,
      0.02978764614056928,
      0.03237267055085713
    ],
    "v_ego": [
      10.653405367013988,
      10.51146175000693,
      10.393185068544467,
      10.339847453934407,
      10.430265208888429,
      10.736936797853014,
      10.812564751039353,
      10.817345976480045,
      10.931967927490776,
      10.879973110748946
    ],
    "ax_ego": [
      -0.2849499568378806,
      -0.2801195664775794,
      -0.19409659516127192,
      -0.019447136167457284,
      0.3811215620422254,
      0.8454735422837498,
      -0.5434408812567935,
      0.5624858881240667,
      -0.1039188150457638,
      -0.10384186907396858
    ],
    "ay_ego": [
      0.37009080551251444,
      0.37376023997851127,
      0.10664327778487585,
      -0.024309044331055553,
      0.06196673253578083,
      0.14009499627904803,
      0.024772168145873047,
      0.018638168415543444,
      -0.038359729482192365,
      -0.03856753706316185
    ],
    "a_ego": [
      0.46707995271346403,
      0.4670799594420439,
      0.22146394051831753,
      0.03113070415851285,
      0.38612630186852964,
      0.8570018195338083,
      0.5440051945853162,
      0.5627945945552483,
      0.11077269052642282,
      0.11077268926903235
    ],
    "yaw": [
      -0.6452203764159641,
      -0.6322330257761771,
      -0.6227440493068594,
      -0.6204800581150959,
      -0.6199009857523426,
      -0.6160500173793898,
      -0.6121586167795954,
      -0.6117491233126222,
      -0.6128422517572303,
      -0.6148427105567194
    ],
    "yaw_diff": [
      0.02597470127957391,
      0.018977952938635356,
      0.0045279823835271404,
      0.0011581447255064603,
      0.007701936745905691,
      0.007782801199588851,
      0.0008189869339463307,
      -0.0021862568892161427,
      -0.004000917598978138,
      -0.004000917598978138
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.650695341200034,
    "v_std": 0.20591625051525103,
    "vy_max": 0.062480610675492265,
    "a_max": 0.8570018195338083,
    "ax_avg": 0.025926617242932715,
    "a_std": 0.24386089027051175,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e0dd84d2357d5ed8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 37.023698898871395,
    "right_rear_min": 40.16268951658623,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e0dd84d2357d5ed8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ba6136583b6254e2": {
    "vx_ego": [
      6.689780293908095,
      6.919898344121334,
      7.169516785494559,
      7.385290235508628,
      7.469722591822364,
      7.441356753445078,
      7.380023282806679,
      7.464421622804624,
      7.729693819666481,
      8.075005840142442
    ],
    "vy_ego": [
      -0.02622223831300241,
      -0.022194656179232775,
      0.006553494935668924,
      0.05247028288223543,
      0.008246834049002644,
      0.009797203041565283,
      0.015603751318371994,
      0.04478826433077954,
      0.01114042058092135,
      0.039442407220863895
    ],
    "v_ego": [
      6.689831685965143,
      6.919933937237847,
      7.169519780695504,
      7.385476626006262,
      7.4697271442170665,
      7.441363202883602,
      7.38003977847165,
      7.4645559915921975,
      7.7297018477274335,
      8.075102167887533
    ],
    "ax_ego": [
      0.4342351005749744,
      0.4915281294036796,
      0.512220773128699,
      0.3566969231857619,
      -0.004211848803554311,
      -0.11396645297226649,
      -0.14478320124916766,
      0.48104233406541536,
      0.565823612229179,
      0.7984185686287648
    ],
    "ay_ego": [
      0.9015566303164827,
      0.8716447615418452,
      0.9801870866593325,
      1.372985430853017,
      1.873523504885704,
      1.8703212575047932,
      1.750743744306154,
      1.9705647194108329,
      1.9831379327448166,
      1.9014521293385984
    ],
    "a_ego": [
      1.000682007552334,
      1.0006820135879433,
      1.105955173268009,
      1.418563247918412,
      1.873528239186577,
      1.873790265391885,
      1.7567201921737818,
      2.028429698202478,
      2.0622784536641654,
      2.0622784513487735
    ],
    "yaw": [
      2.7930474080186656,
      2.857645939380759,
      2.919285368684411,
      2.993581437750378,
      3.1079880265788242,
      -3.0502591809702024,
      -2.9290974067322537,
      -2.806546319708632,
      -2.6720261651530137,
      -2.5524163284925634
    ],
    "yaw_diff": [
      0.12919706272418718,
      0.12327885860730348,
      0.14859213813193417,
      0.22881317765689246,
      0.24987619926111915,
      0.24232354847589743,
      0.24510217404724344,
      0.26904030911123655,
      0.23921967332090066,
      0.23921967332090066
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.372525216268423,
    "v_std": 0.36826495930452147,
    "vy_max": 0.05247028288223543,
    "a_max": 2.0622784536641654,
    "ax_avg": 0.33770039381914857,
    "a_std": 0.4215818940386569,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "ba6136583b6254e2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.493425356815859,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ba6136583b6254e2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d849d3813e3052d0": {
    "vx_ego": [
      7.057530708548135,
      6.826587724880335,
      6.816875624615247,
      7.158835560581708,
      7.5978675971023115,
      7.999414530334794,
      8.417171059845147,
      8.949676998873688,
      9.468498699422925,
      9.877871164925562
    ],
    "vy_ego": [
      0.050339552751512695,
      -0.0043168051425279685,
      0.002003051084367158,
      0.014766933273573812,
      0.013318329567176601,
      0.009731631934843943,
      0.007207462341694892,
      -0.02758718572336205,
      -0.03560591915757261,
      0.003227130678714829
    ],
    "v_ego": [
      7.057710235810985,
      6.826589089749984,
      6.816875918900619,
      7.158850790857952,
      7.597879269967358,
      7.99942044980707,
      8.417174145650552,
      8.949719517224262,
      9.468565646519682,
      9.877871692082271
    ],
    "ax_ego": [
      -0.4652879994175102,
      -0.46047582806385967,
      0.42219004950034533,
      0.9499305901399954,
      0.8100669653306598,
      0.7951780830988401,
      0.8737937028792301,
      1.256099235633104,
      0.8186491790243455,
      0.8186119094222328
    ],
    "ay_ego": [
      0.2042142318966014,
      0.21484502087137294,
      -0.25513310935473876,
      -0.48693996381087845,
      -0.5886108055874171,
      -0.4383152003760742,
      -0.12856565846153345,
      -0.14052756383376674,
      0.009366807037652358,
      0.012196971119643407
    ],
    "a_ego": [
      0.5081302735628609,
      0.5081302699351004,
      0.4932923488015207,
      1.067463654856623,
      1.001334693683532,
      0.9079803955600935,
      0.8832013155147833,
      1.2639356336282008,
      0.8187027637618647,
      0.8187027692346028
    ],
    "yaw": [
      2.0725443946727022,
      2.0955099114294544,
      2.093067518471126,
      2.0644238023627666,
      2.0282669693844078,
      1.9958174441080931,
      1.9788395477013514,
      1.9750785482855941,
      1.9724045348047556,
      1.968947343055578
    ],
    "yaw_diff": [
      0.04593103351350436,
      -0.004884785916656753,
      -0.05728743221671895,
      -0.07231366595671762,
      -0.06489905055262923,
      -0.03395579281348349,
      -0.007521998831514498,
      -0.0053480269616770215,
      -0.006914383498355381,
      -0.006914383498355381
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.017065675657074,
    "v_std": 1.0625438989099911,
    "vy_max": 0.050339552751512695,
    "a_max": 1.2639356336282008,
    "ax_avg": 0.5818755887547382,
    "a_std": 0.24570281447530923,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "d849d3813e3052d0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "d849d3813e3052d0",
    "pedestrians": "No"
  },
  "e45023fbb46857d6": {
    "vx_ego": [
      5.989761177076687,
      6.044212854010575,
      6.108350690231263,
      6.083165279341221,
      5.987500912527308,
      5.851888633450266,
      5.591445035916636,
      5.2483607688738445,
      4.861441497338257,
      4.456452420737999
    ],
    "vy_ego": [
      0.008424952053916579,
      -0.00321145740164841,
      -0.02336615061196179,
      -0.024262070830133098,
      -0.026979002096670257,
      -0.01380365159130248,
      0.007297931092252297,
      -0.006260369169018398,
      -0.002730980040214659,
      0.015583875157497484
    ],
    "v_ego": [
      5.989767102169517,
      6.044213707178569,
      6.108395381099948,
      6.083213662519468,
      5.987561694385242,
      5.851904913709866,
      5.59144979852945,
      5.248364502630909,
      4.861442264420551,
      4.4564796684677574
    ],
    "ax_ego": [
      0.10808970583517408,
      0.10982587567936972,
      0.14615138951044304,
      -0.2473504704200728,
      -0.13524869605990084,
      -0.40695339801328023,
      -0.6347927652483194,
      -0.7375379874513963,
      -0.8101286272889148,
      -0.8099077506457317
    ],
    "ay_ego": [
      -0.15724945428027381,
      -0.15604182945318035,
      -0.06820990699615581,
      -0.03662230426009792,
      0.03587647004293547,
      0.07499768491062284,
      -0.011916505115478315,
      -0.048978068495387106,
      0.06590802559539571,
      0.06856890575932062
    ],
    "a_ego": [
      0.1908160773597927,
      0.19081607769744088,
      0.16128490341088178,
      0.25004689237491134,
      0.13992616227369736,
      0.41380638092773336,
      0.6349046053587698,
      0.7391624544898062,
      0.8128051799729777,
      0.812805179236119
    ],
    "yaw": [
      -0.35658907625891434,
      -0.3676723865050648,
      -0.3735863633321982,
      -0.37770553667244045,
      -0.3772852845059611,
      -0.37484255407416733,
      -0.3757697107826209,
      -0.3760762487465732,
      -0.3759374051718577,
      -0.3726524451608588
    ],
    "yaw_diff": [
      -0.022166620492300892,
      -0.01182795365426681,
      -0.00823834668048451,
      0.0008405043329586803,
      0.004885460863587543,
      -0.0018543134169071163,
      -0.000613075927904605,
      0.00027768714943099404,
      0.006569920021997744,
      0.006569920021997744
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.622279269511128,
    "v_std": 0.5501571520140113,
    "vy_max": 0.026979002096670257,
    "a_max": 0.8128051799729777,
    "ax_avg": -0.3417852724102629,
    "a_std": 0.27089587739466203,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e45023fbb46857d6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 35.06805005466711,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e45023fbb46857d6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4143d1c692f95b56": {
    "vx_ego": [
      6.705000701441208,
      6.353738210500092,
      6.013986795747158,
      5.6765762777714714,
      5.295056682336289,
      4.845538449814911,
      4.37212344634135,
      3.9045312562101295,
      3.430249920292031,
      2.952451411773852
    ],
    "vy_ego": [
      0.0004415528383647782,
      -0.08461444234243576,
      -0.0661808318849677,
      0.010864794040068126,
      0.016853865128239942,
      0.005896081603463887,
      -0.015598379417648633,
      -0.009882821118917473,
      0.008444806366201929,
      -0.00894944928097452
    ],
    "v_ego": [
      6.705000715980276,
      6.354301602176421,
      6.014350927733612,
      5.67658667520433,
      5.2950835047168,
      4.845542037008137,
      4.372151271340942,
      3.9045437634729003,
      3.430260315255687,
      2.952464975495534
    ],
    "ax_ego": [
      -0.7027538307905248,
      -0.7025126856349966,
      -0.6569679302029588,
      -0.6926884526591761,
      -0.833308235067628,
      -0.9647793607050312,
      -0.9289053122539028,
      -0.9415323744321835,
      -0.9555937832647365,
      -0.9556000504622161
    ],
    "ay_ego": [
      -0.18650275353371534,
      -0.18740905168354377,
      0.2383281767885839,
      0.04862780199233596,
      -0.042478162654154605,
      0.018594095289622747,
      -0.09189879164178011,
      0.10717635102648437,
      -0.033687248709388384,
      -0.03350902799670813
    ],
    "a_ego": [
      0.7270806171026809,
      0.7270806187287767,
      0.698861346167128,
      0.6943932283468565,
      0.8343902018444356,
      0.9649585251305096,
      0.933440125042169,
      0.9476127807935357,
      0.9561873819183249,
      0.956187382995966
    ],
    "yaw": [
      -0.5782081481100123,
      -0.5794980109472686,
      -0.580421233697772,
      -0.5813283888666418,
      -0.5821372822202946,
      -0.5811569339391556,
      -0.5804688256847523,
      -0.5809268471001148,
      -0.5809146775706282,
      -0.5807281784513514
    ],
    "yaw_diff": [
      -0.0025797256745125896,
      -0.001846445501006766,
      -0.0018143103377397107,
      -0.001617786707305502,
      0.0019606965622780415,
      0.0013762165088064826,
      -0.0009160428307248836,
      2.4339058973144034e-05,
      0.00037299823855363456,
      0.00037299823855363456
    ],
    "min_front_frame": [
      9,
      14.986157956424094
    ],
    "v_avg": 4.955028578838464,
    "v_std": 1.2070313003954047,
    "vy_max": 0.08461444234243576,
    "a_max": 0.9649585251305096,
    "ax_avg": -0.8334642015473355,
    "a_std": 0.11376210703888795,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4143d1c692f95b56",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.429156283248094,
    "speed_mode": "decelerating",
    "front_frame": [
      37.10658529470104,
      33.840155497866505,
      30.773554439085274,
      27.846677201036105,
      25.150796903078323,
      22.683438571090612,
      20.32240543165155,
      18.339390479165395,
      16.562490513719986,
      14.986157956424094
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4143d1c692f95b56",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cb61b4237ad25a7c": {
    "vx_ego": [
      5.2435780185657705,
      4.853935080672224,
      4.46275428125709,
      4.049923604904878,
      3.6107819247471777,
      3.185788043384484,
      2.7970559166662934,
      2.456987205845632,
      2.1655305528806106,
      1.8898140448094232
    ],
    "vy_ego": [
      -0.004838405587037853,
      -0.01259221607900085,
      -0.016919596077434873,
      -0.030217216792125745,
      -0.018082635946757186,
      -0.0002637347384324418,
      0.003610907330912849,
      0.008270867351835798,
      -0.009363960222400491,
      -0.04173185535449331
    ],
    "v_ego": [
      5.2435802508357545,
      4.853951414186823,
      4.462786354690297,
      4.050036331411903,
      3.6108272029832325,
      3.185788054301094,
      2.797058247446712,
      2.4570011267673193,
      2.1655507981135997,
      1.890274760903896
    ],
    "ax_ego": [
      -0.779276788982903,
      -0.7792813014006391,
      -0.7854836144474209,
      -0.8659661878501205,
      -0.8908781483860404,
      -0.8090779282793512,
      -0.7458817863971692,
      -0.6143387766371166,
      -0.551456014641217,
      -0.5514379830177437
    ],
    "ay_ego": [
      -0.011720147413370352,
      -0.011416115475230859,
      -0.020113772284763465,
      -0.06282178080541678,
      0.08650392113379013,
      -0.028036428647991607,
      0.024513697932310674,
      -0.018407084227711756,
      -0.06577082903175971,
      -0.06592184162804027
    ],
    "a_ego": [
      0.7793649181884537,
      0.7793649173559313,
      0.7857410975638909,
      0.8682419102089198,
      0.8950680441414837,
      0.8095635462149596,
      0.7462845038357349,
      0.614614475284918,
      0.5553643290989251,
      0.5553643293535423
    ],
    "yaw": [
      2.749489237999904,
      2.749879382426802,
      2.749116343062962,
      2.747373359025107,
      2.745752360341311,
      2.7448072684210887,
      2.7432134061088327,
      2.7420131716512186,
      2.7405329022418297,
      2.7402590547331824
    ],
    "yaw_diff": [
      0.0007802888537966624,
      -0.0015260787276805132,
      -0.0034859680757097777,
      -0.00324199736759212,
      -0.0018901838404445925,
      -0.0031877246245120006,
      -0.00240046891522816,
      -0.0029605388187778914,
      -0.0005476950172944584,
      -0.0005476950172944584
    ],
    "min_front_frame": [
      9,
      11.798139000665117
    ],
    "v_avg": 3.4716854541640627,
    "v_std": 1.1027099577523312,
    "vy_max": 0.04173185535449331,
    "a_max": 0.8950680441414837,
    "ax_avg": -0.7373078530039721,
    "a_std": 0.11595349905807385,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cb61b4237ad25a7c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.2806682768169,
      24.78166745711914,
      22.44967368313612,
      20.32737871359783,
      18.450862048422923,
      16.760664782895603,
      15.254433716324975,
      13.975067932376193,
      12.826170785749186,
      11.798139000665117
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cb61b4237ad25a7c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "039cc112267b5d97": {
    "vx_ego": [
      4.044244530845198,
      4.128562560615261,
      4.249238171040714,
      4.383924557146824,
      4.494543294267853,
      4.591516686020498,
      4.656212944901927,
      4.687721045743845,
      4.739363186000139,
      4.8244024901630675
    ],
    "vy_ego": [
      -0.021615430932755864,
      0.0023607199602533324,
      -0.0224138739011448,
      -0.011213725128745189,
      0.009337087286740431,
      -0.01116956606562547,
      -0.02583074337811353,
      -0.026001023033654258,
      -0.02587329619577572,
      -0.02254357196342527
    ],
    "v_ego": [
      4.0443022948495955,
      4.128563235547298,
      4.249297284960502,
      4.383938899025195,
      4.4945529928177645,
      4.591530271838654,
      4.6562845934903665,
      4.68779315413005,
      4.739433809672778,
      4.824455160920088
    ],
    "ax_ego": [
      0.16730395719196475,
      0.16922509998570298,
      0.31328922477303917,
      0.22414753531089762,
      0.21879486125820566,
      0.1690723133050987,
      0.08958472470320375,
      0.03644976599520618,
      0.17005506996492975,
      0.17005411894797712
    ],
    "ay_ego": [
      -0.10515778075205398,
      -0.10203743680028916,
      -0.13758080639509365,
      0.03466797433683025,
      -0.09190788884849779,
      -0.0895805762563735,
      0.011918158730749182,
      -0.012172849141654899,
      0.0018758672900476905,
      0.0019601762482090238
    ],
    "a_ego": [
      0.19760762370108048,
      0.19760762377485383,
      0.3421675271664687,
      0.22681266726214658,
      0.23731466736294513,
      0.19133772960072826,
      0.09037403060437293,
      0.038428683263036445,
      0.17006541594006414,
      0.170065415831958
    ],
    "yaw": [
      -1.1790581728313354,
      -1.197601920611595,
      -1.2060245208296352,
      -1.2145574429031099,
      -1.2224091035123799,
      -1.2278749333223318,
      -1.228900964962722,
      -1.228878178812174,
      -1.2294534530416859,
      -1.2299492228952205
    ],
    "yaw_diff": [
      -0.03708749556051938,
      -0.016845200436080177,
      -0.01706584414694934,
      -0.01570332121854001,
      -0.010931659619903833,
      -0.0020520632807805583,
      4.55723010959197e-05,
      -0.0011505484590235149,
      -0.0009915397070692222,
      -0.0009915397070692222
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.480015169725229,
    "v_std": 0.25468648740279615,
    "vy_max": 0.026001023033654258,
    "a_max": 0.3421675271664687,
    "ax_avg": 0.17279766714362257,
    "a_std": 0.07772660728921266,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "039cc112267b5d97",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "039cc112267b5d97",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d74329969d1155bf": {
    "vx_ego": [
      8.1502353235076,
      8.6104171458483,
      9.060935600015602,
      9.467777626320158,
      9.931685861204823,
      10.337327987919952,
      10.574763621401118,
      10.759171741913825,
      10.88474763684139,
      10.940703295242777
    ],
    "vy_ego": [
      -0.1445694267700799,
      -0.07838392943755013,
      -0.12448163523190825,
      -0.1417459053001089,
      -0.05708632758885379,
      -0.06478389331716183,
      -0.03392325508907046,
      0.04387475500869886,
      0.13269595724797423,
      0.16864677296492747
    ],
    "v_ego": [
      8.151517413813679,
      8.610773917942131,
      9.061790641211047,
      9.46883863433726,
      9.931849923073413,
      10.337530985814093,
      10.57481803322139,
      10.759261199827991,
      10.885556454990905,
      10.942003030915668
    ],
    "ax_ego": [
      0.8481244818471219,
      1.0329358639043413,
      0.7915353097560646,
      0.8372484484284445,
      1.0188658676078794,
      0.604476269222167,
      0.34529022661932285,
      0.39240672321818826,
      0.1083504232251122,
      0.11045717962378049
    ],
    "ay_ego": [
      1.8726144932093605,
      1.7773698888500473,
      1.433752230259118,
      0.4232814534819987,
      0.012311949362426189,
      0.07209429272888679,
      0.056645759529293765,
      0.28387903768781925,
      0.25382759297281315,
      0.2529179140293413
    ],
    "a_ego": [
      2.0557237598680906,
      2.055723770532081,
      1.6377342899150715,
      0.938164246418329,
      1.0189402535347496,
      0.6087603363367461,
      0.3499058197164973,
      0.48432462715145724,
      0.2759859800196978,
      0.2759859774832652
    ],
    "yaw": [
      -2.735276711707889,
      -2.6340961786955,
      -2.538422275094102,
      -2.486426078432917,
      -2.483921305903543,
      -2.481094068390701,
      -2.480967798723456,
      -2.48027995205293,
      -2.4760795812142535,
      -2.467764772090382
    ],
    "yaw_diff": [
      0.20236106602477744,
      0.19134780720279654,
      0.10399239332237009,
      0.005009545058747733,
      0.005654475025684391,
      0.00025253933448965427,
      0.001375693341051587,
      0.008400741677353274,
      0.016629618247742783,
      0.016629618247742783
    ],
    "min_front_frame": [
      9,
      48.55525858304088
    ],
    "v_avg": 9.872394023514758,
    "v_std": 0.9509688853442648,
    "vy_max": 0.16864677296492747,
    "a_max": 2.055723770532081,
    "ax_avg": 0.6089690793452422,
    "a_std": 0.672389184652116,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "d74329969d1155bf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.359367518847716,
    "right_rear_min": 21.771445347269175,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      48.81663318817144,
      49.746438687361696,
      50.25324981173365,
      50.4028650802925,
      50.35392875136742,
      49.838855362117506,
      49.40210447446441,
      49.034849514173196,
      48.55525858304088
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7777777777777778,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2222222222222222,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d74329969d1155bf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "01a58976a2e45a3d": {
    "vx_ego": [
      0.3866091823626492,
      1.2739363260079863,
      2.171395974235443,
      3.051244984330533,
      3.869212501496686,
      4.620077201400572,
      5.252027733251243,
      5.701299019929638,
      6.005983347724813,
      6.2662703268098054
    ],
    "vy_ego": [
      0.0062423284243079,
      0.02973175974082709,
      0.03862766054581723,
      0.027070090839170113,
      -0.006890461212471166,
      -0.014906829613625439,
      -0.004056359878988003,
      0.013021754724020562,
      0.02673728265473785,
      -0.07520077505587142
    ],
    "v_ego": [
      0.38665957449838617,
      1.2742832260765315,
      2.1717395269887065,
      3.0513650624303015,
      3.8692186369077106,
      4.6201012500236915,
      5.252029299698894,
      5.701313890740163,
      6.006042861604595,
      6.266721548403605
    ],
    "ax_ego": [
      1.7746405524029154,
      1.7746514396329975,
      1.814781996055138,
      1.704910200848656,
      1.5669935325114737,
      1.4363093494258938,
      1.0918049378001355,
      0.706830005579728,
      0.5113410716802811,
      0.5341563786094905
    ],
    "ay_ego": [
      0.04756456978347745,
      0.04715660347610462,
      0.006131409848391667,
      -0.07067556521603136,
      -0.07604459472258934,
      0.013988471864308516,
      0.10426133471541246,
      0.3282186032609625,
      0.45046831625551575,
      0.4231647004981781
    ],
    "a_ego": [
      1.7752778595283647,
      1.7752778592217258,
      1.8147923537949457,
      1.7063744690062643,
      1.5688376306422886,
      1.436377465916718,
      1.0967718304740495,
      0.7793177197487655,
      0.6814626882942438,
      0.6814626919772777
    ],
    "yaw": [
      -0.338644328575421,
      -0.3384144435587869,
      -0.3358376057987098,
      -0.33758174623713383,
      -0.3383637759182829,
      -0.34012338412422166,
      -0.3363652943016409,
      -0.3198868595993086,
      -0.2891043593632602,
      -0.23688535458199683
    ],
    "yaw_diff": [
      0.0004597700332681365,
      0.005153675520154222,
      -0.003488280876848049,
      -0.001564059362298198,
      -0.0035192164118774683,
      0.0075161796451614915,
      0.03295686940466458,
      0.0615650004720969,
      0.10443800956252669,
      0.10443800956252669
    ],
    "min_front_frame": [
      0,
      14.686989251826049
    ],
    "v_avg": 3.8599474877372577,
    "v_std": 1.963618310420571,
    "vy_max": 0.07520077505587142,
    "a_max": 1.8147923537949457,
    "ax_avg": 1.291641946454671,
    "a_std": 0.4517087423720318,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "01a58976a2e45a3d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.8374490720718235,
    "right_rear_min": 6.499438081366817,
    "speed_mode": "accelerating",
    "front_frame": [
      14.686989251826049,
      15.958798741555874,
      17.132138458431303,
      18.269007937314335,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "01a58976a2e45a3d",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "93b93c0235375b93": {
    "vx_ego": [
      11.878944262986952,
      11.842417785679952,
      11.855879421579607,
      11.93372294395462,
      11.983142793855155,
      11.99957305915426,
      12.073739382142683,
      12.1529581171396,
      12.091797683575594,
      11.928365473943238
    ],
    "vy_ego": [
      0.05437270500318725,
      0.024058432499842297,
      -0.007601954806450983,
      0.002101060832590207,
      -0.0123850554743834,
      -0.017194334142112133,
      0.005104576601548061,
      0.02531250617601799,
      -0.004208894636865246,
      0.06128206711147843
    ],
    "v_ego": [
      11.879068700626323,
      11.842442223577162,
      11.855881858754822,
      11.933723128911847,
      11.983149194077567,
      11.999585378133167,
      12.073740461207763,
      12.15298447789341,
      12.091798416088409,
      11.928522891444294
    ],
    "ax_ego": [
      -0.08581238388093027,
      -0.06509827050579892,
      0.11675292939122711,
      0.19482926096633843,
      0.0027837458204110765,
      0.06227462995395777,
      0.23440815673435647,
      0.08140648280967619,
      -0.3266661360849847,
      -0.32610834949820744
    ],
    "ay_ego": [
      0.6700759149623332,
      0.6724044260161626,
      0.5888061931402379,
      0.5842464244479788,
      0.5377160687305045,
      0.34929278371773065,
      0.3039138984512685,
      0.148972481504762,
      -0.06615337934700746,
      -0.06885040320285586
    ],
    "a_ego": [
      0.6755482936400151,
      0.6755482935726884,
      0.6002699222864094,
      0.6158752514989845,
      0.537723274381704,
      0.3548007585859756,
      0.38381094514805925,
      0.16976399997976238,
      0.3332972158055372,
      0.3332972151603443
    ],
    "yaw": [
      -1.1965903158154272,
      -1.165733300139009,
      -1.1363974366226213,
      -1.1125399947324173,
      -1.0879238163258398,
      -1.0690189241372983,
      -1.0572836344361447,
      -1.0496171673418861,
      -1.0454912730270554,
      -1.0537544908679894
    ],
    "yaw_diff": [
      0.06171403135283615,
      0.05867172703277568,
      0.047714883780408,
      0.049232356813154965,
      0.037809784377083044,
      0.023470579402307123,
      0.015332934188517111,
      0.008251788629661583,
      -0.01652643568186818,
      -0.01652643568186818
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.974089673071475,
    "v_std": 0.10027960802281359,
    "vy_max": 0.06128206711147843,
    "a_max": 0.6755482936400151,
    "ax_avg": -0.011122993429395428,
    "a_std": 0.16598572303379444,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "93b93c0235375b93",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "93b93c0235375b93",
    "road_shape": "Curve"
  },
  "000d6961709c5904": {
    "vx_ego": [
      6.921373298226375,
      7.107094553086368,
      7.353499205610239,
      7.601813233240874,
      7.6830572208206664,
      7.601770272911612,
      7.491976133506985,
      7.375984163184151,
      7.229840054131198,
      7.076235885199493
    ],
    "vy_ego": [
      0.03284276156450794,
      0.03976527896015769,
      0.06252150625911312,
      -0.01647004264126295,
      -0.07061559683483898,
      -0.03458759758071128,
      0.004401529249633107,
      0.0008061510311403453,
      0.009265996014748534,
      0.004254109882878776
    ],
    "v_ego": [
      6.92145121924501,
      7.1072057986188,
      7.353764988470554,
      7.601831075167395,
      7.683381730782411,
      7.601848958248847,
      7.491977426454114,
      7.375984207237899,
      7.2298459919283165,
      7.076237163947796
    ],
    "ax_ego": [
      0.3524621178714334,
      0.38328904828607824,
      0.5923608420519527,
      0.40071725301475464,
      -0.07560032155492337,
      -0.24979503577130371,
      -0.18750495518464483,
      -0.27645491400280825,
      -0.30858092899717066,
      -0.3054100818270991
    ],
    "ay_ego": [
      0.6729256415494514,
      0.6558566692806781,
      -0.049182112091254115,
      -0.2381585806394963,
      0.03554194952843724,
      0.07563815926884855,
      -0.3246132907990246,
      -0.3045596276545854,
      -0.21581677548909928,
      -0.2202810671466815
    ],
    "a_ego": [
      0.7596436424990056,
      0.7596436435434659,
      0.5943990640523041,
      0.4661478589416778,
      0.08353824750070947,
      0.2609955766551736,
      0.374875841822553,
      0.4113196886527556,
      0.37656217325067204,
      0.3765621683399916
    ],
    "yaw": [
      2.2402583062070467,
      2.286648757870828,
      2.3045424355998483,
      2.3054964135462015,
      2.305949725046836,
      2.30487551160654,
      2.2914479716365066,
      2.270804539246726,
      2.2518431097475764,
      2.237301525125366
    ],
    "yaw_diff": [
      0.09278090332756239,
      0.03578735545804079,
      0.0019079558927064255,
      0.0009066230012688692,
      -0.002148426880592247,
      -0.026855079940066418,
      -0.04128686477956123,
      -0.03792285899829917,
      -0.029083169244421114,
      -0.029083169244421114
    ],
    "min_front_frame": [
      2,
      19.04929864580728
    ],
    "v_avg": 7.344352856010114,
    "v_std": 0.24300295591093224,
    "vy_max": 0.07061559683483898,
    "a_max": 0.7596436435434659,
    "ax_avg": 0.03254830238862689,
    "a_std": 0.20017024773556966,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "000d6961709c5904",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.332635436774826,
    "right_rear_min": 31.520015996469375,
    "speed_mode": "quasi_constant",
    "front_frame": [
      25.606236921786223,
      22.393536170820678,
      19.04929864580728,
      35.083743596578586,
      35.701656869684335,
      36.22504977336639,
      36.84030976653378,
      37.550512981215554,
      38.27914532372974,
      38.954295633022014
    ],
    "safe_frame": [
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.1,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 9,
    "token": "000d6961709c5904",
    "smoothness": "Yes"
  },
  "ddc62293e7875556": {
    "vx_ego": [
      2.7036083980512733,
      2.739438414329508,
      2.7713832179215263,
      2.7088399525796656,
      2.556128944558997,
      2.446724730461089,
      2.3887160175985875,
      2.346867181906238,
      2.2796213412571698,
      2.175902094748538
    ],
    "vy_ego": [
      0.021214023143832916,
      0.023683748923845727,
      0.03137643869469242,
      0.030433318717371982,
      0.009934147683967831,
      -0.002100748858136603,
      0.021943403128405148,
      0.0412187660239236,
      0.0172495598295217,
      -0.04374127987193377
    ],
    "v_ego": [
      2.7036916253136782,
      2.739540791057373,
      2.7715608276713386,
      2.709010903555015,
      2.556148248537729,
      2.446725632308546,
      2.388816804544231,
      2.3472291230685305,
      2.279686602765707,
      2.1763417069697284
    ],
    "ax_ego": [
      0.05949305246448085,
      0.07844796372102247,
      0.04445610142804818,
      -0.3042587832770218,
      -0.3144473459957115,
      -0.12435913050980238,
      -0.10825857833024752,
      -0.06572245047743047,
      -0.2079019057273374,
      -0.2043854630110229
    ],
    "ay_ego": [
      0.3255643559750241,
      0.32152369622857957,
      0.3817108153729735,
      0.3286645699776313,
      0.23261780891335476,
      0.21653455292654325,
      0.2668112641131045,
      0.12934794791486423,
      0.07360431147555307,
      0.08286966259505077
    ],
    "a_ego": [
      0.3309555456144732,
      0.33095554119618964,
      0.38429089441057696,
      0.4478769995878278,
      0.39113703279975515,
      0.24970463742640428,
      0.2879377891832178,
      0.14508732586461415,
      0.22054658708048266,
      0.22054659024534423
    ],
    "yaw": [
      -0.9340669732028635,
      -0.8754984822697184,
      -0.8145982296797267,
      -0.750483653347118,
      -0.6894416636273685,
      -0.6392747220747446,
      -0.5992121948119477,
      -0.5654523106984872,
      -0.5334058301493205,
      -0.48846734403219516
    ],
    "yaw_diff": [
      0.11713698186629018,
      0.12180050517998331,
      0.1282291526652175,
      0.122083979439499,
      0.10033388310524782,
      0.08012505452559382,
      0.06751976822692085,
      0.0640929610983334,
      0.08987697223425073,
      0.08987697223425073
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.511875226579188,
    "v_std": 0.20245365177635222,
    "vy_max": 0.04374127987193377,
    "a_max": 0.4478769995878278,
    "ax_avg": -0.11469365397150225,
    "a_std": 0.0885920921417909,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "ddc62293e7875556",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ddc62293e7875556",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "6d66b095f93750f7": {
    "vx_ego": [
      5.618055877479122,
      5.502794200730899,
      5.548711221859967,
      5.705139216437255,
      5.814543514303157,
      5.921961561793315,
      6.0959982944951125,
      6.201209962811836,
      6.434407890669593,
      6.878880625569813
    ],
    "vy_ego": [
      0.010980187236631078,
      0.02571310380899905,
      0.028081221517800792,
      0.01006283357100557,
      -0.02706199611651927,
      -0.12334459232688566,
      -0.18641618766296597,
      -0.13313915942879406,
      -0.14943147003528523,
      -0.12186694221006045
    ],
    "v_ego": [
      5.6180666075607775,
      5.502854275674135,
      5.548782278896574,
      5.705148090939425,
      5.81460648981156,
      5.923245953682305,
      6.098847940513857,
      6.202639038236078,
      6.4361428408440435,
      6.879960044392945
    ],
    "ax_ego": [
      -0.3582351159068524,
      -0.11110884301215362,
      0.28420036313134406,
      0.3353437696259358,
      0.09014532846586087,
      0.33905270272513965,
      0.3736693500010951,
      0.046572051976428074,
      0.8805983056141256,
      0.8854976899015767
    ],
    "ay_ego": [
      1.6505887753195232,
      1.685357688222685,
      1.765905299865322,
      1.8431422192319584,
      1.619568527252412,
      1.0105989159895177,
      0.2857127586539086,
      -0.10642906866506716,
      -0.23873629627666876,
      -0.21986869724017605
    ],
    "a_ego": [
      1.6890161939660613,
      1.689016196561422,
      1.7886283500203222,
      1.8734003000272637,
      1.6220753357075512,
      1.0659582094174282,
      0.4703834218888539,
      0.11617272779016896,
      0.9123860997463575,
      0.9123861040410036
    ],
    "yaw": [
      -1.4655133550566166,
      -1.3176238694694595,
      -1.1608249584333754,
      -0.9974538673661253,
      -0.8418573330722267,
      -0.7128935760883928,
      -0.6484409766395696,
      -0.6498071793927089,
      -0.661072594994778,
      -0.6824382332655312
    ],
    "yaw_diff": [
      0.2957789711743142,
      0.31359782207216824,
      0.32674218213450024,
      0.3111930685877973,
      0.2579275139676678,
      0.1289051988976464,
      -0.0027324055062787345,
      -0.022530831204138124,
      -0.042731276541506436,
      -0.042731276541506436
    ],
    "min_front_frame": [
      5,
      18.621437028202262
    ],
    "v_avg": 5.97302935605517,
    "v_std": 0.4161650635260988,
    "vy_max": 0.18641618766296597,
    "a_max": 1.8734003000272637,
    "ax_avg": 0.27657356025225,
    "a_std": 0.5783477593828644,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "6d66b095f93750f7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 40.72077085456288,
    "right_rear_min": 12.996103875446147,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      18.621437028202262,
      19.811976427966226,
      20.64271359149353,
      21.6569151696982,
      22.508383126561426
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6d66b095f93750f7",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "552fd48bfce35a20": {
    "vx_ego": [
      8.507734502142812,
      7.766743901589634,
      7.054125242093396,
      6.377064997600528,
      5.693299833866473,
      5.03267269763939,
      4.4125485650420595,
      3.8032844581453333,
      3.172059764595429,
      2.511552059280798
    ],
    "vy_ego": [
      -0.013721211033086683,
      0.01003888046351431,
      0.007092404309877717,
      -0.02067285314888896,
      -0.014489622761754209,
      0.01669105315529687,
      0.008273015538451722,
      0.005860217150117253,
      0.007675579781588039,
      -0.017075684656836072
    ],
    "v_ego": [
      8.507745566869252,
      7.7667503894486485,
      7.054128807538044,
      6.377098505627708,
      5.693318272103869,
      5.032700375824133,
      4.412556320506384,
      3.8032889729436663,
      3.1720690510596063,
      2.511610106183704
    ],
    "ax_ego": [
      -1.4819885079922286,
      -1.4819714027675959,
      -1.368596875196982,
      -1.3395897241446373,
      -1.3952490579137315,
      -1.2472876343430999,
      -1.2332276793854946,
      -1.203883808178593,
      -1.3210166142960675,
      -1.3210148753144
    ],
    "ay_ego": [
      0.0525491084276587,
      0.05302889597152456,
      -0.027681508742854844,
      -0.028658638905155676,
      0.09410356105532355,
      0.056644156613846475,
      -0.0874054611209104,
      0.05722929284065317,
      -0.049678711569360906,
      -0.04972504476830025
    ],
    "a_ego": [
      1.4829198719477643,
      1.4829198570485576,
      1.3688767923831655,
      1.3398962447211356,
      1.3984188978315648,
      1.2485731869873309,
      1.2363212462124442,
      1.2052433013933876,
      1.321950403619378,
      1.3219504078743383
    ],
    "yaw": [
      -1.5581549449929541,
      -1.5578311974743513,
      -1.5565760605344863,
      -1.5545378782292119,
      -1.5528533758827279,
      -1.5516360001849772,
      -1.5514818516729088,
      -1.5527320786003096,
      -1.5527114397994815,
      -1.5527465143097476
    ],
    "yaw_diff": [
      0.0006474950372057364,
      0.0025102738797300184,
      0.004076364610548833,
      0.0033690046929679696,
      0.002434751395501422,
      0.0003082970241368166,
      -0.0025004538548016875,
      4.127760165628658e-05,
      -7.014902053237293e-05,
      -7.014902053237293e-05
    ],
    "min_front_frame": [
      9,
      12.62749639974191
    ],
    "v_avg": 5.433126636810501,
    "v_std": 1.897140690988037,
    "vy_max": 0.02067285314888896,
    "a_max": 1.4829198719477643,
    "ax_avg": -1.339382617953283,
    "a_std": 0.0911114228437252,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "552fd48bfce35a20",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.180269313318782,
    "right_rear_min": 3.4676324436609116,
    "speed_mode": "decelerating",
    "front_frame": [
      25.39034738406691,
      23.99412107052739,
      22.659525555812376,
      21.31618507670388,
      19.8504627328955,
      18.484437753397486,
      17.126932286961097,
      15.64714754715245,
      14.066757781566277,
      12.62749639974191
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "552fd48bfce35a20",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ac55c7f072c6528d": {
    "vx_ego": [
      5.844044699265957,
      5.387711350511978,
      4.948849157328547,
      4.5744736976802,
      4.32631220259505,
      4.140820123925059,
      3.901422073391515,
      3.706726572634256,
      3.685271484579866,
      3.838050798429602
    ],
    "vy_ego": [
      0.05350713705375396,
      -0.03266000502190952,
      -0.012338102915869786,
      0.036068029085920106,
      0.0637273697477001,
      0.09637396819787658,
      0.07993012490915485,
      0.028830599995829376,
      -0.010227107953329373,
      0.0895417851169934
    ],
    "v_ego": [
      5.844289645520165,
      5.3878103411649185,
      4.948864537525252,
      4.574615886988776,
      4.326781535041698,
      4.141941482016489,
      3.9022407690472587,
      3.7068386919002854,
      3.6852856753302827,
      3.839095161963043
    ],
    "ax_ego": [
      -0.9326906373309239,
      -0.8889512019424102,
      -0.8634353801477705,
      -0.6246799832511905,
      -0.33223988561055445,
      -0.3626970502704527,
      -0.5225412487162973,
      -0.19851182489660013,
      0.12511702453481066,
      0.5150956753496012
    ],
    "ay_ego": [
      -0.7668617691278826,
      -0.8171625054318092,
      -1.0617064796154483,
      -1.1165894633436486,
      -1.2306593428769177,
      -1.210249535037875,
      -1.41790255494618,
      -1.60052682915509,
      -1.6437837208834887,
      -1.5659998843260532
    ],
    "a_ego": [
      1.2074720692068661,
      1.2074720699537722,
      1.3684813862630187,
      1.2794518791751275,
      1.274717913814959,
      1.2634290986574117,
      1.5111244197394507,
      1.612790462356789,
      1.648538501482453,
      1.64853850196866
    ],
    "yaw": [
      -1.5887107479437752,
      -1.643922431493727,
      -1.7387265853975615,
      -1.8638806017257856,
      -2.0028712071680914,
      -2.1542963708710126,
      -2.3124853608719613,
      -2.498869544890283,
      -2.709281243145761,
      -2.9510898072978433
    ],
    "yaw_diff": [
      -0.11042336709990375,
      -0.1896083078076689,
      -0.2503080326564482,
      -0.2779812108846116,
      -0.3028503274058423,
      -0.31637798000189754,
      -0.3727683680366436,
      -0.420823396510956,
      -0.48361712830416437,
      -0.48361712830416437
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.435776372649817,
    "v_std": 0.7075526939382141,
    "vy_max": 0.09637396819787658,
    "a_max": 1.64853850196866,
    "ax_avg": -0.40855345122817877,
    "a_std": 0.1746794813641255,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "ac55c7f072c6528d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.9548260526574435,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ac55c7f072c6528d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "37837c3f78625095": {
    "vx_ego": [
      1.2234376938561122,
      1.3423670324973145,
      1.4528145173330596,
      1.5477644677827374,
      1.5695679654608652,
      1.4171011025422888,
      1.1107884642776336,
      0.7518378114399938,
      0.4036660936682469,
      0.07315776186776178
    ],
    "vy_ego": [
      -0.00014650359513873612,
      -0.01811184336165561,
      -0.019018350407729256,
      0.0004236506699553111,
      0.003727167263589126,
      0.008332174326164954,
      0.025454339014280625,
      0.02880684826102764,
      0.012476124653254761,
      -0.012103050813525053
    ],
    "v_ego": [
      1.2234377026278311,
      1.3424892136645283,
      1.4529389937041135,
      1.5477645257630988,
      1.5695723908048238,
      1.4171255978054917,
      1.1110800762082442,
      0.7523894797361362,
      0.4038588476977389,
      0.07415215411904708
    ],
    "ax_ego": [
      0.23783553933293972,
      0.23785895813803745,
      0.20392432613690373,
      0.17584288691739344,
      -0.08867887994859014,
      -0.5211851671009836,
      -0.704064649111541,
      -0.7317202705530508,
      -0.6610107165505265,
      -0.661022766361217
    ],
    "ay_ego": [
      -0.037606512204196474,
      -0.037458049084575645,
      0.03349273789174697,
      0.039394227763404996,
      -0.01752628423014283,
      0.040342525074590185,
      0.02809357874601026,
      -0.015192235194895598,
      -0.04912238693900792,
      -0.0489599175771718
    ],
    "a_ego": [
      0.2407903518207378,
      0.2407903432609687,
      0.20665646440863045,
      0.1802016261317257,
      0.09039421656196935,
      0.5227441991409126,
      0.7046249210007517,
      0.7318779668417726,
      0.662833445364087,
      0.6628334415047265
    ],
    "yaw": [
      1.1009083925568763,
      1.1002841823082417,
      1.100223676008583,
      1.0994122259479062,
      1.1007714188759516,
      1.101481678335888,
      1.1014714687113853,
      1.1013354224241678,
      1.1017784944184188,
      1.102024279798221
    ],
    "yaw_diff": [
      -0.0012484204972693647,
      -0.00012101259931718289,
      -0.0016229001213536876,
      0.0027183858560908547,
      0.0014205189198728263,
      -2.0419249005421136e-05,
      -0.00027209257443505663,
      0.0008861439885019529,
      0.0004915707596042651,
      0.0004915707596042651
    ],
    "min_front_frame": [
      9,
      9.27967425091142
    ],
    "v_avg": 1.0894808982131052,
    "v_std": 0.4875437824095624,
    "vy_max": 0.02880684826102764,
    "a_max": 0.7318779668417726,
    "ax_avg": -0.2512220739100635,
    "a_std": 0.2413444138271464,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "37837c3f78625095",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.331283000340235,
    "right_rear_min": 3.3595697455713776,
    "speed_mode": "decelerating",
    "front_frame": [
      12.953242598025074,
      12.975386770329541,
      12.751007893407358,
      12.202254880068017,
      11.372080558089312,
      10.635569249571658,
      10.033327138009431,
      9.628394812263064,
      9.378599941397185,
      9.27967425091142
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "37837c3f78625095",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f2495a0cce605703": {
    "vx_ego": [
      0.3364482337489867,
      0.803724549501115,
      1.2666208029453494,
      1.7167107319154522,
      2.1486034526167783,
      2.4055465231819975,
      2.4408120374290774,
      2.38441418225613,
      2.258727917261002,
      2.1030729477038963
    ],
    "vy_ego": [
      0.0034629853276316735,
      0.018358158176584094,
      0.012487313345093676,
      0.010101815878175269,
      -0.0057192191356035815,
      -0.042619149396983635,
      -0.034100976993283405,
      0.0009450995950913699,
      -0.002087389556251429,
      0.0007146498288089775
    ],
    "v_ego": [
      0.3364660551380959,
      0.8039341847703746,
      1.266682356176362,
      1.7167404532304014,
      2.148611064400503,
      2.405924036017829,
      2.441050240918974,
      2.384414369558575,
      2.2587288817849265,
      2.1030730691272552
    ],
    "ax_ego": [
      0.9325200349844671,
      0.9346813442172763,
      0.9152303257007347,
      0.8841002919668395,
      0.8425463175215724,
      0.191495100374457,
      -0.03953621922559415,
      -0.18408419209767607,
      -0.31903531444707944,
      -0.30285376202081554
    ],
    "ay_ego": [
      0.08183515388496126,
      0.05158860168703294,
      0.09166524141045052,
      0.12839675829864905,
      0.09614438318953034,
      0.18116536977658212,
      0.3260585321377463,
      0.27635355573669973,
      0.25898938358348267,
      0.2777384192319663
    ],
    "a_ego": [
      0.9361039515239785,
      0.9361039467130976,
      0.9198092549899186,
      0.893375091323601,
      0.8480141741669519,
      0.26361195851802527,
      0.32844676739233714,
      0.33205161880131123,
      0.41092460704282385,
      0.4109246046267274
    ],
    "yaw": [
      2.4432645854741537,
      2.4756594992804515,
      2.51582770901585,
      2.554204011364914,
      2.591331756290813,
      2.636365199541388,
      2.68459605670718,
      2.732128067488589,
      2.7906410807888453,
      2.8509198776614317
    ],
    "yaw_diff": [
      0.06478982761259555,
      0.08033641947079673,
      0.07675260469812795,
      0.0742554898517982,
      0.09006688650115002,
      0.09646171433158379,
      0.09506402156281801,
      0.11702602660051298,
      0.12055759374517283,
      0.12055759374517283
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.7865624711123296,
    "v_std": 0.704774968066913,
    "vy_max": 0.042619149396983635,
    "a_max": 0.9361039515239785,
    "ax_avg": 0.38550639269741815,
    "a_std": 0.28252053832104596,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "f2495a0cce605703",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "f2495a0cce605703",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5d1312c4f2aa5bbf": {
    "vx_ego": [
      1.7746644740235418,
      1.9171654524678823,
      2.080125180808503,
      2.2646245663845344,
      2.4361229211859925,
      2.620323291060054,
      2.8240928361618267,
      3.0145617003726124,
      3.169168274951964,
      3.295811217488725
    ],
    "vy_ego": [
      -0.07804220093640324,
      -0.02503937347663332,
      -0.010097942963024242,
      -0.008940634518156187,
      0.01733926321878365,
      0.022667859535259405,
      -0.03594429163302992,
      -0.07347284568245427,
      -0.018231704195003307,
      0.04535397583149692
    ],
    "v_ego": [
      1.7763796273567911,
      1.9173289603926817,
      2.0801496908361408,
      2.264642214924452,
      2.4361846270709338,
      2.62042133664182,
      2.824321571521478,
      3.015456931280249,
      3.169220716516895,
      3.2961232629330226
    ],
    "ax_ego": [
      0.2821991444583722,
      0.2984148788986455,
      0.3699981023606607,
      0.3847118226421917,
      0.3110754694817929,
      0.4038002073609408,
      0.39959559993838834,
      0.367582371070469,
      0.2526978038734141,
      0.2535764062861582
    ],
    "ay_ego": [
      0.3109838747300895,
      0.29545877478737814,
      0.509118575459287,
      0.678312659023269,
      0.8424973526184834,
      0.7152072165375889,
      0.48469436105629915,
      0.19624374214823348,
      0.16287711010390282,
      0.16150584611335306
    ],
    "a_ego": [
      0.4199372899316959,
      0.4199372900171547,
      0.6293650130315346,
      0.7798148817968883,
      0.8980922763739096,
      0.8213257393094316,
      0.6281761433944261,
      0.4166874198414566,
      0.3006412032277767,
      0.30064120169030867
    ],
    "yaw": [
      1.9848420905683257,
      2.038307563454822,
      2.1318228831298134,
      2.267846645627276,
      2.4175603826978183,
      2.5698887586840513,
      2.701400181297134,
      2.7724410048007355,
      2.783560195855616,
      2.7889772621429527
    ],
    "yaw_diff": [
      0.10693094577299256,
      0.18703063934998276,
      0.27204752499492546,
      0.2994274741410843,
      0.3046567519724661,
      0.2630228452261658,
      0.1420816470072026,
      0.022238382109761368,
      0.010834132574673028,
      0.010834132574673028
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.5400228939474467,
    "v_std": 0.504965729520424,
    "vy_max": 0.07804220093640324,
    "a_max": 0.8980922763739096,
    "ax_avg": 0.33236518063710335,
    "a_std": 0.2084854493942843,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "5d1312c4f2aa5bbf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5d1312c4f2aa5bbf",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bfc7b627dfdf5f58": {
    "vx_ego": [
      2.2623470059666895,
      2.3994259343352295,
      2.520018546712847,
      2.6091298369526705,
      2.6778890291794126,
      2.7543101461199897,
      2.8388418953947143,
      2.9244912186128866,
      3.0157330553852795,
      3.1032787768052232
    ],
    "vy_ego": [
      -0.008824594144611897,
      0.012749167367579695,
      0.008426611548485896,
      -0.007143985097278982,
      -0.033153123756155645,
      -0.030097152259449644,
      -0.007962140065365608,
      -0.017640035750401295,
      -0.014657854775780785,
      -0.024321514442507148
    ],
    "v_ego": [
      2.262364216669867,
      2.399459804962162,
      2.520032635415446,
      2.609139617306774,
      2.6780942444608344,
      2.7544745814027123,
      2.838853061136253,
      2.924544418983094,
      3.0157686771451924,
      3.1033740835797574
    ],
    "ax_ego": [
      0.2667526367006684,
      0.2808173316464202,
      0.20265175342603267,
      0.15184478752311467,
      0.1313702436710289,
      0.18922986226549832,
      0.15251562296242066,
      0.19110183810543868,
      0.172914688584056,
      0.17992179132863428
    ],
    "ay_ego": [
      0.28535880865043245,
      0.2715294557768271,
      0.3882874190625828,
      0.3429085866852398,
      0.3888536572088229,
      0.5032261552286093,
      0.4452808096860129,
      0.3703538208173214,
      0.20072663870318389,
      0.1944706204220275
    ],
    "a_ego": [
      0.3906233721388838,
      0.390623372454178,
      0.43798955805923884,
      0.3750241836474129,
      0.41044525535917975,
      0.5376285930632668,
      0.4706761250820425,
      0.4167515628300221,
      0.26493522418357207,
      0.2649352245403259
    ],
    "yaw": [
      -2.15174468501851,
      -2.1012436903798095,
      -2.0327233326564675,
      -1.9556027377279264,
      -1.8766776442679545,
      -1.7955207524509724,
      -1.7188075770286104,
      -1.6445982770778629,
      -1.5975780715672894,
      -1.5621204942819653
    ],
    "yaw_diff": [
      0.10100198927740056,
      0.13704071544668395,
      0.15424118985708235,
      0.1578501869199438,
      0.1623137836339641,
      0.153426350844724,
      0.14841859990149509,
      0.09404041102114702,
      0.07091515457064812,
      0.07091515457064812
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.7106105341062094,
    "v_std": 0.2563075758538516,
    "vy_max": 0.033153123756155645,
    "a_max": 0.5376285930632668,
    "ax_avg": 0.19191205562133126,
    "a_std": 0.07930405804219332,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "bfc7b627dfdf5f58",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bfc7b627dfdf5f58",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0d472b2f14735fd1": {
    "vx_ego": [
      3.304474502101196,
      3.145857549863042,
      3.006417157831577,
      2.8877523121897806,
      2.745059165563661,
      2.583082892061927,
      2.448860706907897,
      2.3422943149822757,
      2.1681781713736936,
      1.9264569748764957
    ],
    "vy_ego": [
      0.007055905861782064,
      0.011825278271094586,
      0.008975671054375356,
      0.009564390724317473,
      -0.00108251088878486,
      -0.022567298878932718,
      0.024294840248381022,
      0.037752694420282396,
      0.007046024695290587,
      0.013989959670475949
    ],
    "v_ego": [
      3.3044820351825908,
      3.145879775394554,
      3.0064305562535405,
      2.8877681510341775,
      2.7450593790071074,
      2.583181470636877,
      2.448981216975773,
      2.342598540922938,
      2.1681896202328295,
      1.9265077718560808
    ],
    "ax_ego": [
      -0.3179177107285244,
      -0.3169618798869144,
      -0.24149336467607563,
      -0.23321774825112807,
      -0.33637424060365684,
      -0.3047774268474222,
      -0.22988223869137425,
      -0.21100727978847203,
      -0.48915690781076776,
      -0.4791838865319608
    ],
    "ay_ego": [
      0.08161444154029113,
      0.08525111237852612,
      0.05938878494668004,
      0.12692089095724268,
      0.22806181525336178,
      0.3499299911282312,
      0.4320271836235562,
      0.15956318803751823,
      0.19753328412302934,
      0.22062793143249831
    ],
    "a_ego": [
      0.3282264277336597,
      0.32822642407829206,
      0.24868870694105727,
      0.265517288816956,
      0.40639859906051023,
      0.46404771156287344,
      0.4893805585180718,
      0.2645458052973566,
      0.5275356658989242,
      0.5275356682159589
    ],
    "yaw": [
      -0.4477431975257158,
      -0.43628704793309525,
      -0.4235668562920202,
      -0.4079568817656877,
      -0.37283075455040504,
      -0.3104543077908223,
      -0.2511775782119068,
      -0.1950170455469683,
      -0.14263578033291827,
      -0.09494541562626983
    ],
    "yaw_diff": [
      0.02291229918524107,
      0.025440383282150147,
      0.031219949052665008,
      0.07025225443056526,
      0.12475289351916552,
      0.118553459157831,
      0.11232106532987696,
      0.10476253042810008,
      0.09538072941329687,
      0.09538072941329687
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.655907851749647,
    "v_std": 0.41969731352336703,
    "vy_max": 0.037752694420282396,
    "a_max": 0.5275356682159589,
    "ax_avg": -0.3159972683816296,
    "a_std": 0.10585232675290565,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "0d472b2f14735fd1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.813614136670578,
    "right_rear_min": 12.691144747054707,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "0d472b2f14735fd1",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "4334739a7f4e554e": {
    "vx_ego": [
      3.954475820847223,
      3.9321900885686425,
      3.903258607345388,
      3.814995098470107,
      3.5798220770865816,
      3.3264620920170325,
      3.110230193873444,
      2.8180445934354545,
      2.5343769738964643,
      2.3135536974948776
    ],
    "vy_ego": [
      -0.024638634814860838,
      0.03689240633778934,
      0.04751771842881691,
      0.0353207655059411,
      0.007637853018437779,
      0.004392393220889135,
      0.004568801109948284,
      -0.011356524181859728,
      -0.012379104500186755,
      0.058176743435708916
    ],
    "v_ego": [
      3.9545525764605607,
      3.932363149848048,
      3.9035478336227083,
      3.815158601922975,
      3.5798302250798457,
      3.3264649919613674,
      3.110233549562737,
      2.8180674763447895,
      2.534407206437992,
      2.3142850396329755
    ],
    "ax_ego": [
      -0.06339698995439833,
      -0.02714523311776429,
      -0.09654395654555148,
      -0.27550248449894127,
      -0.6612603011014363,
      -0.3610312062891534,
      -0.5109844857122702,
      -0.6654837817335149,
      -0.46751934262190065,
      -0.42187946249937713
    ],
    "ay_ego": [
      0.5980868595859025,
      0.6008246000574022,
      0.7468094974836477,
      0.6779326819155543,
      0.9187268956719834,
      0.8295183873598,
      0.749027805415354,
      0.5904638112901599,
      0.5270540500230457,
      0.564249974829287
    ],
    "a_ego": [
      0.6014375029415817,
      0.6014374977627809,
      0.7530240109566545,
      0.7317747878782827,
      1.1319559596750404,
      0.9046791071328023,
      0.90672366127943,
      0.8896719486381719,
      0.7045284290724607,
      0.7045284344677752
    ],
    "yaw": [
      -1.0380718456391655,
      -0.9776158230722429,
      -0.8945637365438106,
      -0.7997275453840069,
      -0.6858917000345226,
      -0.5571597570195423,
      -0.43545381735993993,
      -0.318007594989246,
      -0.21235236941693553,
      -0.12875824585033155
    ],
    "yaw_diff": [
      0.12091204513384524,
      0.16610417305686465,
      0.18967238231960737,
      0.22767169069896864,
      0.2574638860299605,
      0.24341187931920483,
      0.23489244474138782,
      0.211310451144621,
      0.16718824713320796,
      0.16718824713320796
    ],
    "min_front_frame": [
      9,
      18.682642371257604
    ],
    "v_avg": 3.3288910650874,
    "v_std": 0.5791956135197669,
    "vy_max": 0.058176743435708916,
    "a_max": 1.1319559596750404,
    "ax_avg": -0.35507472440743076,
    "a_std": 0.15621629949327692,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "4334739a7f4e554e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      27.501586667549777,
      18.682642371257604
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "4334739a7f4e554e",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "94652fa0c64d5846": {
    "vx_ego": [
      7.937199968472161,
      8.208737248901175,
      8.32028094591687,
      8.224052291348933,
      8.096635550782725,
      7.926644626118794,
      7.649751833161163,
      7.198024450792037,
      6.675140331670805,
      6.218701203710573
    ],
    "vy_ego": [
      -0.05405986308804289,
      0.005105021250366382,
      -0.05558377782820367,
      -0.08478895010948367,
      -0.009254714671189379,
      -0.007508205337775881,
      -0.01733023319638302,
      -0.02059475351202758,
      0.012590262609653735,
      -0.06502460963224088
    ],
    "v_ego": [
      7.937384065818635,
      8.208738836309728,
      8.320466608030165,
      8.224489361468121,
      8.09664083999916,
      7.926648182045508,
      7.649771463640938,
      7.198053913251291,
      6.675152205171865,
      6.219041152853802
    ],
    "ax_ego": [
      0.5424173031276732,
      0.5445302354824106,
      -0.09336426032818579,
      -0.2804222082054491,
      -0.2290957085394831,
      -0.45080470019377106,
      -0.6566202151480012,
      -1.1501160245519138,
      -0.9318540530569084,
      -0.8977446208003387
    ],
    "ay_ego": [
      0.25537800803801214,
      0.250841158614005,
      0.4154445526034586,
      0.541641048337888,
      0.1881962056270064,
      0.13405307915371323,
      0.07196618073280797,
      -0.18427876248885747,
      -0.7241598585195044,
      -0.7660379154641016
    ],
    "a_ego": [
      0.5995285295311318,
      0.599528534941704,
      0.4258063660803078,
      0.6099275695518169,
      0.2964838199356084,
      0.47031383750362643,
      0.660552222091694,
      1.1647856164271273,
      1.1801523108860041,
      1.1801523173321866
    ],
    "yaw": [
      -1.6904956182399689,
      -1.682147794232919,
      -1.6549139155676498,
      -1.6225528087842727,
      -1.6094396754751072,
      -1.5996360042005078,
      -1.5917876402311006,
      -1.595102495943388,
      -1.6327711317104736,
      -1.678541545522464
    ],
    "yaw_diff": [
      0.016695648014099618,
      0.054467757330538547,
      0.06472221356675423,
      0.02622626661833083,
      0.019607342549198936,
      0.01569672793881427,
      -0.00662971142457458,
      -0.07533727153417136,
      -0.09154082762398064,
      -0.09154082762398064
    ],
    "min_front_frame": [
      9,
      14.714455570316236
    ],
    "v_avg": 7.6456386628589215,
    "v_std": 0.6820851115690748,
    "vy_max": 0.08478895010948367,
    "a_max": 1.1801523173321866,
    "ax_avg": -0.36030742522139675,
    "a_std": 0.3153147634685476,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "94652fa0c64d5846",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.645764714909207,
    "right_rear_min": 16.2367748861563,
    "speed_mode": "decelerating",
    "front_frame": [
      16.78258531575023,
      17.242756309287113,
      17.16025288147316,
      16.999396781085633,
      16.870961775800502,
      16.436701028474005,
      15.880183313419765,
      15.53183944035593,
      15.039410654204419,
      14.714455570316236
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "94652fa0c64d5846",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1e78181bb1c150e4": {
    "vx_ego": [
      2.0322471875101393,
      1.4872270710517115,
      0.9157846581837231,
      0.35886928157850356,
      0.024225104143506315,
      -0.04480521843964796,
      -0.028603991557563338,
      -0.016098940687984502,
      -0.009702188384012713,
      -0.00582323214043195
    ],
    "vy_ego": [
      0.02023653528306113,
      -0.008558029358135877,
      0.0035346943216830184,
      0.016381194354399588,
      0.015109696457442413,
      0.0033544938761117266,
      0.0010247463278600655,
      0.0006294687099707022,
      0.0004787052996013193,
      0.0005065080415352511
    ],
    "v_ego": [
      2.032347939823084,
      1.487251693808263,
      0.9157914796658825,
      0.3592429606674957,
      0.028550982431429124,
      0.04493061571567254,
      0.02862234158942307,
      0.0161112421039495,
      0.009713990848396843,
      0.005845218811772537
    ],
    "ax_ego": [
      -1.0919556827042254,
      -1.088141920755858,
      -1.19819158649604,
      -1.0299187027151147,
      -0.30874329249816373,
      0.03261375645200111,
      0.032191032483981905,
      0.017829283865036506,
      0.007757861223428974,
      0.007757862182881546
    ],
    "ay_ego": [
      0.06762003972337788,
      0.11352024651505227,
      0.04250668978493499,
      0.03396446031212769,
      -0.0387021323387444,
      -0.00839886255163925,
      -0.0009235562779103292,
      -0.0006546096743120285,
      5.4975205536088225e-05,
      5.4568315457281455e-05
    ],
    "a_ego": [
      1.094047385976605,
      1.0940473874906362,
      1.1989453267878272,
      1.0304785872431697,
      0.3111595663163393,
      0.03367785625706856,
      0.03220427810995374,
      0.017841296953017567,
      0.0077580560087696345,
      0.007758054095560012
    ],
    "yaw": [
      2.8509198776614317,
      2.893022051710023,
      2.9151678155262277,
      2.9253435449295955,
      2.9262022793872946,
      2.9265808796734154,
      2.9266043742135537,
      2.9265687574124386,
      2.926495673949545,
      2.926548655261154
    ],
    "yaw_diff": [
      0.0842043480971828,
      0.04429152763240918,
      0.0203514588067355,
      0.001717468915398257,
      0.0007572005722416009,
      4.698908027656046e-05,
      -7.123360223015851e-05,
      -0.00014616692578695023,
      0.00010596262321804772,
      0.00010596262321804772
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.49284084654653687,
    "v_std": 0.6989424543978658,
    "vy_max": 0.02023653528306113,
    "a_max": 1.1989453267878272,
    "ax_avg": -0.46188013889620716,
    "a_std": 0.5159250562267804,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "1e78181bb1c150e4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.618977323384141,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "1e78181bb1c150e4",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "2fd327a8eff250ba": {
    "vx_ego": [
      0.6829688779535822,
      1.423768562965666,
      2.1680327376791464,
      2.9025940172214213,
      3.6270428264234056,
      4.342856562180087,
      5.015204022647494,
      5.588414543011537,
      5.92941432945462,
      6.105584174450593
    ],
    "vy_ego": [
      0.02195595652576876,
      0.01632505195203071,
      0.0112608903877367,
      0.007221600404741624,
      -0.0021215100898936967,
      0.002366314249893975,
      0.022003721804290777,
      0.005908988237459223,
      -0.0035102115511320697,
      0.0007596496946136178
    ],
    "v_ego": [
      0.6833217048214819,
      1.4238621521097308,
      2.168061982347566,
      2.9026030008118564,
      3.627043446874403,
      4.3428572068528535,
      5.015252292014116,
      5.588417666986322,
      5.9294153684766355,
      6.105584221707959
    ],
    "ax_ego": [
      1.4816445512807042,
      1.4816658198727681,
      1.4954585386818136,
      1.4428860445868388,
      1.454997838598365,
      1.4081264574459826,
      1.2816312940492938,
      1.0115361557343234,
      0.3523360948319193,
      0.3523467761100504
    ],
    "ay_ego": [
      -0.015473684112379815,
      -0.013282146396419003,
      -0.015593745458064467,
      -0.024869693947205174,
      -0.056758584117513444,
      0.018721448216818204,
      -0.032867765350746425,
      -0.10647627918540098,
      0.01649421511343918,
      0.016264685312313204
    ],
    "a_ego": [
      1.481725349462514,
      1.4817253514710944,
      1.4955398375883393,
      1.4431003566420737,
      1.4561044767450373,
      1.408250905479101,
      1.2820526759402746,
      1.0171246690484608,
      0.35272196253368693,
      0.3527219735477995
    ],
    "yaw": [
      -0.7442853858870864,
      -0.7457645016452985,
      -0.7469655025828714,
      -0.7493560763953248,
      -0.7527464883550872,
      -0.7562538208275298,
      -0.7611898628729947,
      -0.7647023745915993,
      -0.7669409647099728,
      -0.7662895545830599
    ],
    "yaw_diff": [
      -0.00295823151642427,
      -0.0024020018751458316,
      -0.0047811476249066676,
      -0.0067808239195248365,
      -0.007014664944885229,
      -0.009872084090929878,
      -0.007025023437209121,
      -0.004477180236746925,
      0.001302820253825665,
      0.001302820253825665
    ],
    "min_front_frame": [
      0,
      14.018955054678925
    ],
    "v_avg": 3.7786419043002923,
    "v_std": 1.8350397344181475,
    "vy_max": 0.022003721804290777,
    "a_max": 1.4955398375883393,
    "ax_avg": 1.1762629571192058,
    "a_std": 0.4341466361422514,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2fd327a8eff250ba",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.225658960812908,
    "speed_mode": "accelerating",
    "front_frame": [
      14.018955054678925,
      15.546374416893313,
      16.93697013062319,
      18.47944180380277,
      19.948905555371816,
      21.39052047999051,
      22.57457912121534,
      23.857938069621696,
      24.937957883466183,
      26.124478733906127
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2fd327a8eff250ba",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "25e2cda283355b76": {
    "vx_ego": [
      1.5126469020416828,
      1.5425422051671913,
      1.5616106242047603,
      1.5722912261991584,
      1.57585161730738,
      1.6088046605399682,
      1.6771241821836251,
      1.718247166022979,
      1.7410546660665964,
      1.7699666060391888
    ],
    "vy_ego": [
      -0.023720946712826207,
      -0.00823820245589113,
      -0.002837302011254428,
      -0.01723639438767066,
      -0.021718921417572368,
      0.0019492316103715268,
      0.0013887276321371544,
      -0.0054820721921546856,
      -0.0074158329922798805,
      -0.01495359223116366
    ],
    "v_ego": [
      1.5128328835562945,
      1.5425642037535312,
      1.561613201760245,
      1.5723857011796885,
      1.576001278970873,
      1.6088058413863973,
      1.6771247571452548,
      1.7182559112837408,
      1.741070459462005,
      1.7700297727480463
    ],
    "ax_ego": [
      0.05933452208836109,
      0.061722505300710474,
      0.015473142687483926,
      0.0270772421608073,
      -0.00815775372842266,
      0.14075525109729445,
      0.1311131533876767,
      0.03360422249432514,
      0.05758579255511424,
      0.057796981937494676
    ],
    "ay_ego": [
      0.10298812447591099,
      0.10157495532688111,
      0.11592763191156791,
      0.024767887550161183,
      0.16015380024437026,
      0.13131483380005868,
      0.03401567315539676,
      0.04625977120287286,
      -0.03596215596224055,
      -0.0356217482160008
    ],
    "a_ego": [
      0.11885764297898535,
      0.11885764262450323,
      0.11695569240208539,
      0.03669639351124889,
      0.16036143139360923,
      0.19249837996045432,
      0.13545377444528897,
      0.05717700762710701,
      0.06789256340464075,
      0.06789256267844986
    ],
    "yaw": [
      -2.338368177266597,
      -2.3150220773535,
      -2.283587423700762,
      -2.2519241738260685,
      -2.219799140324296,
      -2.188538696059487,
      -2.1630602645264734,
      -2.1473052443475096,
      -2.144694319165527,
      -2.150594791890456
    ],
    "yaw_diff": [
      0.04669219982619399,
      0.06286930730547624,
      0.06332649974938676,
      0.0642500670035453,
      0.06252088852961801,
      0.05095686306602687,
      0.03151004035792759,
      0.00522185036396472,
      -0.011800945449857991,
      -0.011800945449857991
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.6280684011246076,
    "v_std": 0.08640132497044645,
    "vy_max": 0.023720946712826207,
    "a_max": 0.19249837996045432,
    "ax_avg": 0.05763050599808454,
    "a_std": 0.04672297949132641,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "25e2cda283355b76",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "25e2cda283355b76",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e3cd93e027285031": {
    "vx_ego": [
      9.024656775651628,
      9.06730166055784,
      9.090360190543517,
      9.122995368983233,
      9.154208528949944,
      9.156606336286412,
      9.144617149270276,
      9.128912582605064,
      9.110476389840741,
      9.078525390130974
    ],
    "vy_ego": [
      -0.11619704412362974,
      -0.05222033723265973,
      -0.01153805427191923,
      -0.025232001407164972,
      -0.053235536724269394,
      -0.07830888011938786,
      -0.06055515697042946,
      -0.02612335469707805,
      0.023377440934780225,
      0.0663197338538506
    ],
    "v_ego": [
      9.025404792660433,
      9.067452032802581,
      9.09036751295099,
      9.123030261726885,
      9.154363321054623,
      9.156941185703118,
      9.144817643548926,
      9.128949959908077,
      9.110506382994869,
      9.07876762376652
    ],
    "ax_ego": [
      0.08245127926666446,
      0.08379374279494425,
      0.0075815191222761286,
      0.12304559082342365,
      -6.666781105779673e-06,
      0.0018152331681848544,
      -0.056355878028257325,
      -0.010562516445475442,
      -0.06372982205091876,
      -0.06170608478435022
    ],
    "ay_ego": [
      -0.10502200775249734,
      -0.10395404833709963,
      -0.23435701775389095,
      -0.39242352721220597,
      -0.5454686440319111,
      -0.38516224326930804,
      -0.3157252738168286,
      -0.21310329065536576,
      -0.15324783356033406,
      -0.15407383933231683
    ],
    "a_ego": [
      0.1335209180805581,
      0.1335209178265987,
      0.23447961788330132,
      0.4112620115337111,
      0.5454686440726522,
      0.38516652075654306,
      0.3207155024551311,
      0.21336489692966423,
      0.16597104780526517,
      0.16597104827654127
    ],
    "yaw": [
      2.398753448493546,
      2.385905610157482,
      2.3721233543821834,
      2.356395858544211,
      2.333841660606116,
      2.311168650031843,
      2.2900973544289047,
      2.271848140067557,
      2.2563889569747166,
      2.243218986165248
    ],
    "yaw_diff": [
      -0.02569567667212791,
      -0.02756451155059736,
      -0.03145499167594501,
      -0.04510839587618953,
      -0.045346021148546356,
      -0.04214259120587638,
      -0.036498428722695486,
      -0.030918366185680668,
      -0.0263399416189376,
      -0.0263399416189376
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.108060071711702,
    "v_std": 0.04025286805952501,
    "vy_max": 0.11619704412362974,
    "a_max": 0.5454686440726522,
    "ax_avg": 0.010632639708538578,
    "a_std": 0.13229919266054124,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e3cd93e027285031",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e3cd93e027285031",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "8e393929643f5c97": {
    "vx_ego": [
      5.168067859439342,
      5.340118668290735,
      5.5274810656571365,
      5.692362923445833,
      5.732429381279189,
      5.77432618757752,
      5.994502604196711,
      6.31754541307729,
      6.673097901591733,
      7.021344534403185
    ],
    "vy_ego": [
      -0.01089041449034811,
      -0.14105052673882978,
      -0.08888802061972934,
      -0.019182291818579333,
      -0.019951812834844596,
      -0.013237707823877454,
      -0.0013789788714158036,
      0.010679692354395254,
      0.0010538410664757691,
      0.011103849827093448
    ],
    "v_ego": [
      5.168079333843251,
      5.341981153328839,
      5.5281957283916645,
      5.692395243879346,
      5.732464102477076,
      5.774341361354728,
      5.994502762807261,
      6.317554439980924,
      6.6730979848050325,
      7.021353314445475
    ],
    "ax_ego": [
      0.3134516410792706,
      0.4051431300230219,
      0.350937083054052,
      0.30846511051868797,
      -0.14831795010034926,
      0.3163276138945284,
      0.564202455300018,
      0.7279785719460212,
      0.6949487394328542,
      0.6976516569699391
    ],
    "ay_ego": [
      0.8781332807674684,
      0.8397791590714917,
      0.24821803498540274,
      4.938045595781482e-05,
      -0.059740207339135154,
      0.14382618260093916,
      0.000490131579195141,
      0.020215200252520937,
      0.20734259692785245,
      0.19805774629271278
    ],
    "a_ego": [
      0.9324001233841217,
      0.9324001243112706,
      0.42984768134131096,
      0.3084651144712086,
      0.15989717538121975,
      0.34748975540836385,
      0.5642026681924978,
      0.7282591952964397,
      0.7252204512698873,
      0.7252204529241093
    ],
    "yaw": [
      2.2035062677657287,
      2.3101526466728,
      2.350554049291371,
      2.3491936643462212,
      2.346740558334103,
      2.3492526974812162,
      2.353390495602069,
      2.3522687805859173,
      2.3625026792743147,
      2.3758370272661393
    ],
    "yaw_diff": [
      0.21329275781414303,
      0.08080280523714123,
      -0.002720769890299124,
      -0.004906212024236467,
      0.00502427829422647,
      0.008275596241705152,
      -0.0022434300323030953,
      0.020467797376794827,
      0.026668695983649293,
      0.026668695983649293
    ],
    "min_front_frame": [
      0,
      14.759153592847253
    ],
    "v_avg": 5.92439654253136,
    "v_std": 0.5572013761595772,
    "vy_max": 0.14105052673882978,
    "a_max": 0.9324001243112706,
    "ax_avg": 0.42307880521180435,
    "a_std": 0.25284760693702285,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8e393929643f5c97",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      14.759153592847253,
      16.910263826474257,
      18.544313543942923,
      19.434349031055937,
      20.447613274538078,
      21.7858073586031,
      20.831970189180453,
      24.339303882061227,
      25.32504822484578,
      24.769876802798144
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8e393929643f5c97",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0706e8bf25805e91": {
    "vx_ego": [
      4.7063031886542355,
      5.252027733251243,
      5.701299019929638,
      6.005983347724813,
      6.236634478956292,
      6.422291863764995,
      6.517850395129228,
      6.576444695875754,
      6.695945511004959,
      6.87251642788878
    ],
    "vy_ego": [
      -0.038500639704862394,
      -0.004056359878988003,
      0.013021754724020562,
      0.02673728265473785,
      0.004701881632850569,
      -0.010890667392158493,
      -0.02720380052293203,
      -0.03237227057751843,
      -0.0558220423062199,
      0.007643482481845432
    ],
    "v_ego": [
      4.706460666232611,
      5.252029299698894,
      5.701313890740163,
      6.006042861604595,
      6.236636251361571,
      6.422301097738902,
      6.517907165651343,
      6.576524370958773,
      6.696178192577816,
      6.87252067835562
    ],
    "ax_ego": [
      1.0914054029266804,
      1.0918049378001355,
      0.706830005579728,
      0.5113410716802811,
      0.41561298883477066,
      0.339481479927887,
      0.06133561456220735,
      0.18589241890457575,
      0.30618943017507405,
      0.4067714650427871
    ],
    "ay_ego": [
      0.10836370063340933,
      0.10426133471541246,
      0.3282186032609625,
      0.45046831625551575,
      0.7427753032941832,
      1.0574041137102448,
      1.3035970533511243,
      1.3193012428957223,
      1.2468770054058056,
      1.2177812783233106
    ],
    "a_ego": [
      1.0967718291205866,
      1.0967718304740495,
      0.7793177197487655,
      0.6814626882942438,
      0.8511458791957681,
      1.1105634312840382,
      1.3050392082690303,
      1.3323332019102399,
      1.283921428188145,
      1.2839214409798645
    ],
    "yaw": [
      -0.34012338412422166,
      -0.3363652943016409,
      -0.3198868595993086,
      -0.2891043593632602,
      -0.23688535458199683,
      -0.16346214907756068,
      -0.07028160280943543,
      0.030816485782090796,
      0.13116693714492209,
      0.21274112592139882
    ],
    "yaw_diff": [
      0.0075161796451614915,
      0.03295686940466458,
      0.0615650004720969,
      0.10443800956252669,
      0.1468464110088723,
      0.1863610925362505,
      0.20219617718305247,
      0.20070090272566257,
      0.16314837755295347,
      0.16314837755295347
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.0987914474920295,
    "v_std": 0.6561445045650521,
    "vy_max": 0.0558220423062199,
    "a_max": 1.3323332019102399,
    "ax_avg": 0.5116664815434128,
    "a_std": 0.22372978912853403,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "0706e8bf25805e91",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.038175284290773,
    "right_rear_min": 8.616410357542899,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0706e8bf25805e91",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "afa712d7affc5fbf": {
    "vx_ego": [
      7.07466116774833,
      7.178610093073644,
      7.213684063247609,
      7.175980044951685,
      7.139280445203468,
      7.093094134043579,
      7.038874252295677,
      7.013560371318841,
      7.091400541835202,
      7.249801739870055
    ],
    "vy_ego": [
      0.014439856712380905,
      -0.0003198422646453203,
      0.012032113647219678,
      0.015287110933704273,
      0.00384511180136915,
      0.0261015038164909,
      0.02935693853851884,
      -0.02025675811790606,
      -0.03663813187610021,
      -0.006650977744222963
    ],
    "v_ego": [
      7.074675904089744,
      7.178610100198914,
      7.213694097763735,
      7.175996328127926,
      7.13928148066382,
      7.093142158656128,
      7.038935471324579,
      7.013589624321024,
      7.091495187719439,
      7.24980479067732
    ],
    "ax_ego": [
      0.20710436342186378,
      0.20838160080205378,
      -0.06832722652526783,
      -0.08251246151545685,
      -0.06419655128693731,
      -0.12046720502231856,
      -0.0956224757365896,
      -0.0055932011266388165,
      0.3167636386223264,
      0.31670482597240557
    ],
    "ay_ego": [
      0.12206539367283467,
      0.11987195546907309,
      0.057809448422738524,
      -0.03816338504433883,
      -0.05975091625702005,
      0.023090421598442323,
      -0.1293185457583877,
      -0.12978313421192242,
      0.037208835445893776,
      0.037706136890694714
    ],
    "a_ego": [
      0.2404000367738731,
      0.24040003590017608,
      0.08950163245202028,
      0.09091067188940039,
      0.08770045148509667,
      0.12266016083261569,
      0.16083203705437196,
      0.12990360204672116,
      0.31894153098725697,
      0.3189415299916765
    ],
    "yaw": [
      -0.5787821753783491,
      -0.5682238934022872,
      -0.5637888888745943,
      -0.5635587077943193,
      -0.5653806433215873,
      -0.5697917744560156,
      -0.5740127755755879,
      -0.5761741144545665,
      -0.5771384637741916,
      -0.5787085410880235
    ],
    "yaw_diff": [
      0.0211165639521238,
      0.008870009055385708,
      0.0004603621605501207,
      -0.0036438710545361186,
      -0.008822262268856518,
      -0.008442002239144708,
      -0.0043226777579570275,
      -0.0019286986392503813,
      -0.003140154627663705,
      -0.003140154627663705
    ],
    "min_front_frame": [
      1,
      19.351264868269087
    ],
    "v_avg": 7.126922514354263,
    "v_std": 0.0731942150656824,
    "vy_max": 0.03663813187610021,
    "a_max": 0.31894153098725697,
    "ax_avg": 0.06122353076054406,
    "a_std": 0.08758813247768076,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "afa712d7affc5fbf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.802644657352733,
    "right_rear_min": 18.157964532520047,
    "speed_mode": "quasi_constant",
    "front_frame": [
      21.086946097100718,
      19.351264868269087,
      21.272858367674242,
      23.115570894081827,
      24.34093965628501,
      24.74726862558261,
      24.674792373322358,
      21.211205666551308,
      23.65031287151291,
      20.986701836723903
    ],
    "safe_frame": [
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "afa712d7affc5fbf",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "7c33d9bd65e956e1": {
    "vx_ego": [
      5.399088905325394,
      4.736045210612868,
      4.03027853149534,
      3.1922514375200413,
      2.2336532879086075,
      1.2980122141051678,
      0.5379364930445801,
      0.09972775471726197,
      -0.0274875114266372,
      -0.04443332750509414
    ],
    "vy_ego": [
      -0.04172221514617647,
      -0.013336558090879524,
      0.03323852131981675,
      0.06337517528626346,
      0.08524895273256983,
      0.15549096560154624,
      0.1972582245099898,
      0.13493755354384251,
      0.04134241821593308,
      -0.013290183310221726
    ],
    "v_ego": [
      5.399250110047178,
      4.736063988244965,
      4.0304155915651885,
      3.192880463342049,
      2.235279489130371,
      1.307292296447088,
      0.5729628938124485,
      0.16779084723948365,
      0.049646337512153166,
      0.04637833077628228
    ],
    "ax_ego": [
      -1.3263463796202537,
      -1.3263724271251287,
      -1.4967569085539207,
      -1.8569783312486634,
      -1.9804331241858737,
      -1.7640382634672367,
      -1.2781256994874504,
      -0.47513398089894343,
      -0.03389257874041234,
      -0.03388869674818853
    ],
    "ay_ego": [
      0.008492049579682748,
      0.0017315044240435729,
      0.1543369527146049,
      0.06655294020975644,
      0.14983814552268693,
      0.1589415801502957,
      0.01634267225196462,
      -0.2651643874701809,
      -0.10926203819017452,
      -0.10926324973852501
    ],
    "a_ego": [
      1.3263735648895518,
      1.3263735573153497,
      1.5046930378908252,
      1.8581705563746387,
      1.9860933586380822,
      1.7711841860397177,
      1.2782301774823732,
      0.544118049863551,
      0.11439798898208922,
      0.11439799609570951
    ],
    "yaw": [
      -2.121359905900894,
      -2.1264569669235183,
      -2.128172946812366,
      -2.1213119754015963,
      -2.1095014620882795,
      -2.10550274207581,
      -2.1031068976658336,
      -2.102579374517845,
      -2.1019766731318974,
      -2.102012276221702
    ],
    "yaw_diff": [
      -0.010194122045248832,
      -0.0034319597776955035,
      0.013721942821539379,
      0.02362102662663368,
      0.00799744002493874,
      0.004791688819953066,
      0.001055046295976858,
      0.001205402771895514,
      -7.120617960953979e-05,
      -7.120617960953979e-05
    ],
    "min_front_frame": [
      2,
      51.25271565014178
    ],
    "v_avg": 2.1737960348117205,
    "v_std": 1.9450858807070925,
    "vy_max": 0.1972582245099898,
    "a_max": 1.9860933586380822,
    "ax_avg": -1.1571966390076072,
    "a_std": 0.655166322298465,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7c33d9bd65e956e1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 36.38910212911699,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      51.25271565014178,
      52.34920012249661,
      54.16421914165226,
      56.42039582346601,
      59.69435197274605,
      63.210136561948744,
      67.00163124409521,
      70.90629484553232
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7c33d9bd65e956e1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1ebc11a17d925215": {
    "vx_ego": [
      8.299048540001058,
      8.408082887611844,
      8.480357075888048,
      8.51760829853533,
      8.58005393437204,
      8.660446198784568,
      8.762067597265018,
      8.84983910449183,
      8.891695492011245,
      8.927217591300407
    ],
    "vy_ego": [
      -0.06753591996864128,
      -0.06138872667942874,
      -0.04342498134889872,
      -0.03681195087126765,
      -0.033632221847245125,
      -0.04106532220690218,
      -0.03600461763362994,
      -0.05597791777739003,
      -0.0690490260736496,
      -0.0713977647435744
    ],
    "v_ego": [
      8.29932333204218,
      8.408306988967187,
      8.480468257329287,
      8.517687846299891,
      8.580119850158242,
      8.66054355815673,
      8.762141571073393,
      8.850016141379147,
      8.89196359026817,
      8.927503097912306
    ],
    "ax_ego": [
      0.21478332417119056,
      0.21778253395078567,
      0.06817066042318373,
      0.07898100178980913,
      0.1685973387490238,
      0.1512288407965037,
      0.25393656615563776,
      0.09597163969475864,
      0.06984083066386788,
      0.07053264879498901
    ],
    "ay_ego": [
      -0.2192700469899455,
      -0.21629146465500498,
      -0.19544026315296,
      -0.24863885704638042,
      -0.21312289441326052,
      -0.13897864863267637,
      -0.15330536268730977,
      -0.1515192240934197,
      -0.11361612463280671,
      -0.113187944722323
    ],
    "a_ego": [
      0.3069384789318531,
      0.3069384788139675,
      0.206988249434192,
      0.2608817354224941,
      0.27174699769517024,
      0.20539042593173415,
      0.2966248706019173,
      0.17935615655887732,
      0.1333655330450733,
      0.13336553294048994
    ],
    "yaw": [
      -0.09943437339123211,
      -0.113205847745464,
      -0.12749105902761362,
      -0.14133384961910916,
      -0.15522743267350805,
      -0.1645741923999186,
      -0.17355642089429613,
      -0.17992788862286493,
      -0.1859243239958192,
      -0.19202487989651726
    ],
    "yaw_diff": [
      -0.02754294870846377,
      -0.028570422564299258,
      -0.02768558118299108,
      -0.02778716610879778,
      -0.018693519452821106,
      -0.01796445698875504,
      -0.012742935457137616,
      -0.011992870745908546,
      -0.012201111801396103,
      -0.012201111801396103
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.637807423358655,
    "v_std": 0.20476364537490493,
    "vy_max": 0.0713977647435744,
    "a_max": 0.3069384789318531,
    "ax_avg": 0.138982538518975,
    "a_std": 0.06430441826363108,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1ebc11a17d925215",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1ebc11a17d925215",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bd09fe587b1a59e3": {
    "vx_ego": [
      1.216216834743788,
      1.9790532833381842,
      2.696652482596237,
      3.3848707664216335,
      4.092041104093061,
      4.803137877960692,
      5.506219980593965,
      6.158812356195087,
      6.734774560166517,
      7.302241139053798
    ],
    "vy_ego": [
      -0.0004661335968189073,
      -0.0037046801360822723,
      -0.018593432434636847,
      -0.019115554804142842,
      0.01594616617889577,
      0.041093235158101926,
      0.042143621323333935,
      0.01807638232780162,
      -0.024383151520168678,
      -0.11165877788661094
    ],
    "v_ego": [
      1.2162169240701795,
      1.9790567508150336,
      2.6967165827394894,
      3.384924742119276,
      4.092072174070609,
      4.803313661283895,
      5.50638125809596,
      6.158838883622411,
      6.734818699441297,
      7.303094777939613
    ],
    "ax_ego": [
      1.525678977735022,
      1.5256758264322818,
      1.3447090640408499,
      1.40783900596438,
      1.42077326299621,
      1.4240247184459989,
      1.387987608839057,
      1.2241289644839528,
      1.100820375276419,
      1.1881067999228987
    ],
    "ay_ego": [
      -0.0016706998059080047,
      -0.003523359945121207,
      -0.06381178443175572,
      0.029406134522095118,
      0.0759923026688929,
      -0.020439963065151612,
      0.08099169138291445,
      0.4518947859770357,
      1.071070620025131,
      0.973344758633128
    ],
    "a_ego": [
      1.525679892487419,
      1.5256798948092385,
      1.3462222739005558,
      1.4081460817196152,
      1.4228040957594332,
      1.4241714050054899,
      1.3903486096529274,
      1.304875710281169,
      1.5359029174087582,
      1.5359029224471228
    ],
    "yaw": [
      -0.3351482265779343,
      -0.3339339098181659,
      -0.33475790975993147,
      -0.33742181555336426,
      -0.3397532253243938,
      -0.3422849344916097,
      -0.3395543588332477,
      -0.31268276505896164,
      -0.24721755565881515,
      -0.1618792756106182
    ],
    "yaw_diff": [
      0.002428633519536816,
      -0.0016479998835311482,
      -0.005327811586865572,
      -0.004662819542059049,
      -0.005063418334431802,
      0.005461151316723978,
      0.0537431875485721,
      0.130930418800293,
      0.17067656009639387,
      0.17067656009639387
    ],
    "min_front_frame": [
      0,
      14.123007768822834
    ],
    "v_avg": 4.387543445419777,
    "v_std": 1.959128740604775,
    "vy_max": 0.11165877788661094,
    "a_max": 1.5359029224471228,
    "ax_avg": 1.354974460413707,
    "a_std": 0.08007302788854963,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "bd09fe587b1a59e3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.152200708782433,
    "right_rear_min": 9.21415174555776,
    "speed_mode": "accelerating",
    "front_frame": [
      14.123007768822834,
      15.072599499270206,
      16.078215744978284,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "bd09fe587b1a59e3",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "c9aa2159bc3a50a0": {
    "vx_ego": [
      9.839248763026099,
      9.896786120758179,
      9.970176430853337,
      10.047294938294817,
      10.105801239356012,
      10.126637526757476,
      10.094331590168789,
      9.972476856360105,
      9.71961297088366,
      9.403255659389597
    ],
    "vy_ego": [
      0.05008487387800997,
      0.03251292214370771,
      0.001018056668475209,
      -0.023920678352586044,
      -0.02266505634464444,
      -0.02714671631034271,
      -0.03138210486090043,
      0.005976123283853774,
      0.013635605924468663,
      -0.00772000784072846
    ],
    "v_ego": [
      9.839376236088444,
      9.89683952634062,
      9.97017648283032,
      10.047323413523499,
      10.105826655655074,
      10.126673913113782,
      10.094380371711036,
      9.972478646990798,
      9.719622535547293,
      9.403258828425576
    ],
    "ax_ego": [
      0.11505666873805076,
      0.11621951765126713,
      0.17790217268630323,
      0.13005165084588208,
      0.10345648015795145,
      -0.02021714649540249,
      -0.10948341403504407,
      -0.3779731815789985,
      -0.6331351999863226,
      -0.6322129656878213
    ],
    "ay_ego": [
      -0.17047456492594915,
      -0.16968393534771103,
      -0.21057635344560816,
      -0.1267684667354579,
      -0.0024084071950055963,
      -0.09936165733668753,
      -0.057458274596350875,
      -0.15059834263749527,
      -0.1539888503295716,
      -0.1577324072795323
    ],
    "a_ego": [
      0.20566870036004312,
      0.2056687000935713,
      0.2756657100129738,
      0.18161408548402327,
      0.10348450952625497,
      0.10139759346803984,
      0.12364494032655984,
      0.40687047914306956,
      0.6515924704042735,
      0.6515924694853268
    ],
    "yaw": [
      -0.11823927133007499,
      -0.12507634925525446,
      -0.13148088847590725,
      -0.13741188940007615,
      -0.14074028560859642,
      -0.1428091282392338,
      -0.14626405745402965,
      -0.15514178687835703,
      -0.163625921887399,
      -0.16954294393634203
    ],
    "yaw_diff": [
      -0.013674155850358943,
      -0.012809078441305577,
      -0.0118620018483378,
      -0.006656792417040536,
      -0.004137685261274782,
      -0.0069098584295916865,
      -0.01775545884865476,
      -0.01696827001808393,
      -0.011834044097886076,
      -0.011834044097886076
    ],
    "min_front_frame": [
      5,
      23.144811724271324
    ],
    "v_avg": 9.917595661022643,
    "v_std": 0.2105441670650342,
    "vy_max": 0.05008487387800997,
    "a_max": 0.6515924704042735,
    "ax_avg": -0.11303354177041343,
    "a_std": 0.19984022878833846,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c9aa2159bc3a50a0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      48.05458949137076,
      43.10444909514437,
      38.128567886334636,
      33.15390558845573,
      28.155168139158636,
      23.144811724271324,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.8333333333333334,
    "unsafe_ratio": 0.16666666666666666,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c9aa2159bc3a50a0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8d8f238bb7315004": {
    "vx_ego": [
      1.0395771342405804,
      1.3199175090621493,
      1.5649837588914262,
      1.7768226796178657,
      2.0066998173687627,
      2.2182595187579794,
      2.392508371691455,
      2.574184289349348,
      2.772853254329149,
      3.0303027735893324
    ],
    "vy_ego": [
      0.004932248942563167,
      0.008090945551261997,
      0.006877332989990548,
      -0.014512741796758322,
      -0.0367070882909582,
      -0.06439492677680944,
      -0.08448867661185885,
      -0.054695103412704116,
      -0.0018514562974033533,
      -0.013276509900978173
    ],
    "v_ego": [
      1.0395888346435282,
      1.319942307121316,
      1.564998870064446,
      1.77688194725448,
      2.0070355172140393,
      2.219193997638551,
      2.3939997170194736,
      2.5747652921907918,
      2.7728538724451695,
      3.030331857295229
    ],
    "ax_ego": [
      0.5607256000539829,
      0.560741144571443,
      0.4194763643073339,
      0.4298280779192538,
      0.5000875454743046,
      0.3772494352188921,
      0.379714757322659,
      0.41710454403583486,
      0.4082350114155594,
      0.6178529607002707
    ],
    "ay_ego": [
      -0.0048586992521779115,
      -0.002484780180771723,
      0.04589452331945704,
      0.11919870479857522,
      0.2538078996225133,
      0.47782409636865353,
      0.7364606028409478,
      1.025870738906081,
      1.136056675707353,
      1.0370816326622394
    ],
    "a_ego": [
      0.5607466500250557,
      0.5607466498766075,
      0.42197953443646924,
      0.44604989383859067,
      0.5608083478776921,
      0.6087963562994554,
      0.8285876637178822,
      1.1074235746086727,
      1.2071787750638692,
      1.2071787746027787
    ],
    "yaw": [
      -1.8718909099678802,
      -1.8761245004600344,
      -1.867860746024423,
      -1.8303333858397322,
      -1.7690422792266227,
      -1.6701510401917345,
      -1.5299670553421685,
      -1.364615294670018,
      -1.1827977792321938,
      -0.9904755137825667
    ],
    "yaw_diff": [
      -0.008467180984308431,
      0.016527508871222896,
      0.07505472036938166,
      0.12258221322621887,
      0.19778247806977634,
      0.28036796969913214,
      0.3307035213443008,
      0.36363503087564863,
      0.3846445308992541,
      0.3846445308992541
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.069959221288703,
    "v_std": 0.6138001355319629,
    "vy_max": 0.08448867661185885,
    "a_max": 1.2071787750638692,
    "ax_avg": 0.46710154410195337,
    "a_std": 0.2965286129822178,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "8d8f238bb7315004",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "8d8f238bb7315004",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "db7dbae63ff15234": {
    "vx_ego": [
      0.8545521536795806,
      1.3630855044607917,
      1.7675198676222954,
      1.9810370781943676,
      2.0745390364906937,
      2.240324736584273,
      2.615593598880016,
      3.086305296691987,
      3.3763835575997323,
      3.4944209384925946
    ],
    "vy_ego": [
      0.0168561889016286,
      -0.004339856996290692,
      -0.013894813560419439,
      -0.004595032843187186,
      0.006047117792406631,
      0.0037056655680069994,
      -0.013676277361717615,
      -0.015080041508979347,
      0.007231392355777189,
      0.037938458530662356
    ],
    "v_ego": [
      0.8547183831313663,
      1.3630924131656954,
      1.767574481679178,
      1.9810424072966502,
      2.0745478499078613,
      2.2403278013069188,
      2.615629353533216,
      3.0863421378779323,
      3.376391301532633,
      3.4946268787970984
    ],
    "ax_ego": [
      1.0170668150951703,
      1.0170662443772756,
      0.6006993623210516,
      0.25333528541264266,
      0.12067284053730609,
      0.5424920875872187,
      0.9585765320465742,
      0.9242274731237576,
      0.23609111690694595,
      0.23607807231091205
    ],
    "ay_ego": [
      -0.04235566515532607,
      -0.042369244874682244,
      0.007125628052052468,
      0.024319382195223935,
      0.017854308242043718,
      -0.03144070311438105,
      -0.04260345694376089,
      0.031830384881719964,
      0.059892637612433616,
      0.05994403170316463
    ],
    "a_ego": [
      1.0179483821582425,
      1.0179483770618953,
      0.6007416237185952,
      0.25449990016788315,
      0.1219865187885285,
      0.5434024134166734,
      0.9595228096996943,
      0.9247754297549458,
      0.24356958661241662,
      0.24356958587407054
    ],
    "yaw": [
      2.5630888939454297,
      2.5631022543842388,
      2.5635622966301392,
      2.5628121627246268,
      2.5627638690168166,
      2.5622625395927976,
      2.5617873188363145,
      2.561335691415503,
      2.5615223818140755,
      2.5613046787095297
    ],
    "yaw_diff": [
      2.6720877618124916e-05,
      0.000920084491800921,
      -0.001500267811024969,
      -9.658741562024176e-05,
      -0.0010026588480380738,
      -0.0009504415129661936,
      -0.0009032548416225694,
      0.0003733807971446623,
      -0.00043540620909165995,
      -0.00043540620909165995
    ],
    "min_front_frame": [
      0,
      11.925102113779374
    ],
    "v_avg": 2.2854293008228552,
    "v_std": 0.8190127903479394,
    "vy_max": 0.037938458530662356,
    "a_max": 1.0179483821582425,
    "ax_avg": 0.5906305829718855,
    "a_std": 0.34478034177282946,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "db7dbae63ff15234",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      11.925102113779374,
      11.989908808366181,
      12.14875559151588,
      12.40361329437532,
      12.742190059288674,
      13.37396577648803,
      14.102428333209243,
      14.751239637780978,
      15.053518964407406,
      15.329706205699434
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "db7dbae63ff15234",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3e730f46f6f055a3": {
    "vx_ego": [
      8.833710464079065,
      8.884141580400168,
      8.87530673503413,
      8.803936325485466,
      8.754235450536274,
      8.745184658099884,
      8.761256234895646,
      8.796859617372837,
      8.849824661891073,
      8.911090637809481
    ],
    "vy_ego": [
      -0.03793769974576211,
      0.05508774230142599,
      0.10239893119080357,
      0.09679771989667074,
      0.07851194762458658,
      0.04827032230824324,
      0.06011648471423703,
      0.09595228514905996,
      0.10280008765127846,
      0.1162943183848375
    ],
    "v_ego": [
      8.833791928285496,
      8.884312369561702,
      8.875897429671616,
      8.804468446293605,
      8.754587508806217,
      8.745317874627618,
      8.761462480957858,
      8.797382904522816,
      8.850421707706168,
      8.911849455850586
    ],
    "ax_ego": [
      0.10117956005216137,
      0.10081113438792819,
      -0.13362311274060143,
      -0.1506157500535783,
      -0.049594922497610175,
      0.0098462689149557,
      0.05230288820101589,
      0.08684029458938326,
      0.12128780742878867,
      0.12177913572866679
    ],
    "ay_ego": [
      0.04651988027490792,
      0.047312976529830186,
      -0.0921790365632439,
      -0.04715946321571955,
      0.18391493751540955,
      0.1946689945877307,
      0.2684990306398569,
      0.21212918651188734,
      0.1081556299734398,
      0.10760211027079664
    ],
    "a_ego": [
      0.11136158508723148,
      0.11136158477991043,
      0.16233333311496853,
      0.1578262308204716,
      0.19048454157448305,
      0.1949178454255627,
      0.2735458308377424,
      0.2292161175279041,
      0.1625065307174901,
      0.16250652920282843
    ],
    "yaw": [
      2.558265680639101,
      2.5504129779547706,
      2.543843519120668,
      2.5405372274429223,
      2.5465230519060347,
      2.560808282089383,
      2.572690500574165,
      2.5822999699797475,
      2.5906028023882994,
      2.5951572315537446
    ],
    "yaw_diff": [
      -0.01570540536866094,
      -0.013138917668205075,
      -0.00661258335549153,
      0.01197164892622471,
      0.02857046036669697,
      0.02376443696956354,
      0.01921893881116521,
      0.016605664817103793,
      0.009108858330890257,
      0.009108858330890257
    ],
    "min_front_frame": [
      9,
      54.467893142685305
    ],
    "v_avg": 8.82194921062837,
    "v_std": 0.055506978467322284,
    "vy_max": 0.1162943183848375,
    "a_max": 0.2735458308377424,
    "ax_avg": 0.026021330401110994,
    "a_std": 0.04706457200743144,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "3e730f46f6f055a3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 44.28832043562453,
    "right_rear_min": 12.14508106799274,
    "speed_mode": "quasi_constant",
    "front_frame": [
      55.2683220447514,
      56.36594111419829,
      57.38678777029438,
      58.09672100647017,
      59.06591396743234,
      59.85141279130746,
      60.70613768445776,
      61.3260077843443,
      59.009009334306974,
      54.467893142685305
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "3e730f46f6f055a3",
    "pedestrians": "No"
  },
  "9bbaed3bac735053": {
    "vx_ego": [
      5.087765091629275,
      4.881041493254302,
      4.714541681748944,
      4.608747332000311,
      4.508520506908841,
      4.349475403512944,
      4.120124086375327,
      3.8194915365393767,
      3.445178784177819,
      3.040651149832098
    ],
    "vy_ego": [
      -0.01795544243261693,
      0.06229431738023283,
      0.017098064440918215,
      -0.003756472525499266,
      -0.008982060560174254,
      0.0043468412837068815,
      -0.001772582902252795,
      -0.03472538606053188,
      -0.028153779483380603,
      0.009217407168578773
    ],
    "v_ego": [
      5.087796775178269,
      4.881438992842997,
      4.714572686124988,
      4.60874886290258,
      4.508529454115772,
      4.349477575616781,
      4.120124467680591,
      3.819649388377549,
      3.445293817695111,
      3.0406651205896003
    ],
    "ax_ego": [
      -0.421980051311225,
      -0.40746088842975137,
      -0.2627613427376009,
      -0.16323716491486936,
      -0.23723337530875616,
      -0.39839244735974194,
      -0.5255421313683023,
      -0.6716868097691416,
      -0.8192514725271121,
      -0.7955567190038805
    ],
    "ay_ego": [
      0.4625797661585713,
      0.47541859657702046,
      0.6713537316698776,
      0.6500283097380744,
      0.6115197647070365,
      0.6098782776418266,
      0.40695022816735765,
      0.43470338787963064,
      0.40879630879165774,
      0.453185292354898
    ],
    "a_ego": [
      0.626136729288374,
      0.6261367403141473,
      0.7209433793747861,
      0.6702112916613552,
      0.6559238499915477,
      0.7284696669406665,
      0.6646826461166279,
      0.8000813745187896,
      0.9155803609293538,
      0.9155803636814267
    ],
    "yaw": [
      2.3030909195357108,
      2.33404621760792,
      2.40345555067314,
      2.478959483122191,
      2.5491191273161755,
      2.614730830032216,
      2.675955010788315,
      2.736959547920737,
      2.7929064905365393,
      2.847870054849447
    ],
    "yaw_diff": [
      0.061910596144418406,
      0.13881866613044025,
      0.15100786489810147,
      0.14031928838796937,
      0.1312234054320811,
      0.12244836151219829,
      0.12200907426484342,
      0.1118938852316047,
      0.10992712862581566,
      0.10992712862581566
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.257629714112424,
    "v_std": 0.6191454191099154,
    "vy_max": 0.06229431738023283,
    "a_max": 0.9155803636814267,
    "ax_avg": -0.4703102402730382,
    "a_std": 0.10427031888878081,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "9bbaed3bac735053",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "9bbaed3bac735053",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "e7c778d603885f57": {
    "vx_ego": [
      1.3958015283746912,
      1.0847723006568386,
      0.8417125141600904,
      0.6953273888379383,
      0.5684161408044097,
      0.41453399560742127,
      0.2411953418358216,
      0.08375847491806795,
      0.0005253247597660898,
      -0.02612919964896774
    ],
    "vy_ego": [
      -0.04089434258528568,
      -0.02877521220597573,
      -0.015837957812604275,
      0.007748466338593218,
      0.01340664545819334,
      -0.006725681720513965,
      -0.012951897873472909,
      -0.006346732500842667,
      0.0014247936803376995,
      0.009395877883011959
    ],
    "v_ego": [
      1.396400463287164,
      1.0851538863727253,
      0.8418615072572058,
      0.695370560491876,
      0.5685742231841153,
      0.4145885530364523,
      0.24154284212500213,
      0.08399859007172604,
      0.0015185529739701366,
      0.02776720359503436
    ],
    "ax_ego": [
      -0.6220514524583487,
      -0.6220484640041296,
      -0.3501781372983484,
      -0.23535247409697124,
      -0.27231687775923,
      -0.3432139891418339,
      -0.350114155111377,
      -0.2796202013888106,
      -0.05330700017701408,
      -0.05330874060876114
    ],
    "ay_ego": [
      0.02450269038207431,
      0.024578514498999948,
      0.02768385098756687,
      0.0674881263363329,
      -0.044223508991766344,
      -0.0358047312511279,
      0.011452334071707954,
      0.015167415352748154,
      0.015947869059342392,
      0.01594205903707257
    ],
    "a_ego": [
      0.6225338475468631,
      0.6225338504409816,
      0.35127072671551035,
      0.24483756709286741,
      0.27588439727552605,
      0.34507654386036785,
      0.35030140959614103,
      0.2800312616712673,
      0.05564144853799287,
      0.05564145102020333
    ],
    "yaw": [
      -0.5285209934077234,
      -0.5283991070455136,
      -0.5282609960608416,
      -0.527987085742706,
      -0.5277388843855259,
      -0.5274885129813601,
      -0.5270683448089467,
      -0.5267444206482627,
      -0.5262175361777609,
      -0.5263265962603528
    ],
    "yaw_diff": [
      0.00024377272441955533,
      0.00027622196934395937,
      0.0005478206362712346,
      0.0004964027143603555,
      0.0005007428083314558,
      0.0008403363448268308,
      0.0006478483213681052,
      0.0010537689410035078,
      -0.0002181201651838549,
      -0.0002181201651838549
    ],
    "min_front_frame": [
      7,
      10.104947163315954
    ],
    "v_avg": 0.5356776382395273,
    "v_std": 0.4485076644353564,
    "vy_max": 0.04089434258528568,
    "a_max": 0.6225338504409816,
    "ax_avg": -0.3181511492044825,
    "a_std": 0.18290458774677243,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e7c778d603885f57",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.360636463303446,
    "right_rear_min": 18.35187871567816,
    "speed_mode": "decelerating",
    "front_frame": [
      12.455678842353812,
      11.820752366540377,
      11.387945865726007,
      10.99280912360965,
      10.633068708200467,
      10.367586665639939,
      10.210904545337955,
      10.104947163315954,
      10.120453262141272,
      10.106022134428663
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e7c778d603885f57",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "105ca02169f45519": {
    "vx_ego": [
      13.018501516681752,
      12.99480165685315,
      13.023130559791712,
      13.089878200674493,
      13.107469895645844,
      13.080644529745967,
      13.040412404990203,
      12.974180953558417,
      12.947696902994121,
      12.982173521053264
    ],
    "vy_ego": [
      -0.00041528309953031695,
      -0.0001431542821522802,
      -0.022730314678797492,
      -0.01016537634069914,
      0.02683390616971032,
      0.029198569986045364,
      0.017241237761770556,
      -0.0015263422824764727,
      0.011902359403728413,
      0.021305803546452062
    ],
    "v_ego": [
      13.018501523305405,
      12.994801657641665,
      13.023150396297595,
      13.089882147802914,
      13.107497363104157,
      13.080677118179409,
      13.040423802641612,
      12.974181043341378,
      12.947702373701787,
      12.982191004141068
    ],
    "ax_ego": [
      -0.04817165610516024,
      -0.04661774209621096,
      0.16006328920030283,
      0.1072636836552806,
      -0.03699547934673704,
      -0.07092439053986317,
      -0.09071751521416405,
      -0.17488250906311853,
      0.06898747086543279,
      0.06901214510836408
    ],
    "ay_ego": [
      0.20114104482323644,
      0.20150685681264252,
      0.141174583027869,
      0.1534517653194852,
      0.15607688385665605,
      0.18449624703370912,
      0.19632457182536855,
      0.006625288026864366,
      -0.01763333097900425,
      -0.017536490247271923
    ],
    "a_ego": [
      0.20682898337635622,
      0.20682898061117946,
      0.21342567662470338,
      0.18722430961540884,
      0.1604015559977488,
      0.19765913675561386,
      0.21627067547184103,
      0.1750079610122084,
      0.07120537548404648,
      0.07120536961950667
    ],
    "yaw": [
      -1.6321611157877762,
      -1.6244426920497084,
      -1.6161044187933773,
      -1.6114277710105394,
      -1.6083490371408127,
      -1.6020292586586071,
      -1.5938257896887724,
      -1.5884865781298771,
      -1.5897379423981701,
      -1.591141412676394
    ],
    "yaw_diff": [
      0.015436847476135718,
      0.01667654651266215,
      0.009353295565675879,
      0.0061574677394533595,
      0.012639556964411103,
      0.016406937939669408,
      0.010678423117790548,
      -0.002502728536585952,
      -0.0028069405564479233,
      -0.0028069405564479233
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 13.0259008430157,
    "v_std": 0.05068818269184318,
    "vy_max": 0.029198569986045364,
    "a_max": 0.21627067547184103,
    "ax_avg": -0.006298270353587364,
    "a_std": 0.05237892130999341,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "105ca02169f45519",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.21731572204978,
    "right_rear_min": 11.102412744768822,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "105ca02169f45519",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "1b3ae7a2d38d5c6c": {
    "vx_ego": [
      5.05419066702054,
      4.6269055987964,
      4.215693436274892,
      3.7970182161461903,
      3.3530330043233163,
      2.9402348865273042,
      2.5745390477660517,
      2.284112969152499,
      2.145590121346343,
      2.0979216744184748
    ],
    "vy_ego": [
      -0.009601412745418703,
      -0.011344135378668518,
      -0.0008013818023560049,
      -0.007323257419830975,
      -0.030491703515961532,
      -0.009726001223609337,
      0.016575894844403027,
      0.020336740148082955,
      0.014806721368313625,
      0.006956269638661805
    ],
    "v_ego": [
      5.054199786882612,
      4.626919505414046,
      4.215693512444186,
      3.7970252782731424,
      3.3531716436926917,
      2.9402509728001163,
      2.5745924082778657,
      2.284203502065982,
      2.1456412113437544,
      2.0979332071546275
    ],
    "ax_ego": [
      -0.8545573484439892,
      -0.8545555208495458,
      -0.7902104243178171,
      -0.8845685319195906,
      -0.8911628993709987,
      -0.7598822845385915,
      -0.7029698347593365,
      -0.45879973378795125,
      -0.09533792473225722,
      -0.09533905983445348
    ],
    "ay_ego": [
      0.002525696726248361,
      0.003080796645285766,
      0.06541394151200292,
      -0.06616962114722785,
      0.000930287431393173,
      0.09651357578637865,
      0.023809744159180024,
      -0.001526457565222128,
      -0.015393144487599673,
      -0.01538614260348136
    ],
    "a_ego": [
      0.8545610808617338,
      0.8545610741909604,
      0.7929132981888248,
      0.8870399688994558,
      0.891163384935686,
      0.7659869167725138,
      0.7033729398395239,
      0.4588022730944054,
      0.09657260889853635,
      0.096572613686967
    ],
    "yaw": [
      -0.7542232460170066,
      -0.7535736605374892,
      -0.7520824867171558,
      -0.7505063991683361,
      -0.748588362108149,
      -0.7474397968065407,
      -0.7460657746306669,
      -0.7453112409946305,
      -0.7447119461283281,
      -0.7446385968941611
    ],
    "yaw_diff": [
      0.0012991709590348677,
      0.002982347640666738,
      0.0031521750976395424,
      0.003836074120374011,
      0.0022971306032166794,
      0.0027480443517475805,
      0.0015090672720727838,
      0.0011985897326047823,
      0.00014669846833403888,
      0.00014669846833403888
    ],
    "min_front_frame": [
      9,
      14.643308817139708
    ],
    "v_avg": 3.3089631028349027,
    "v_std": 1.019336632473035,
    "vy_max": 0.030491703515961532,
    "a_max": 0.891163384935686,
    "ax_avg": -0.6387383562554532,
    "a_std": 0.2971388638967806,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1b3ae7a2d38d5c6c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.851213344212688,
    "speed_mode": "decelerating",
    "front_frame": [
      21.622757256541565,
      20.061567341002107,
      18.712156088447234,
      17.386268005945798,
      16.225781469253207,
      15.416697980126653,
      14.849903519570514,
      14.680764441574226,
      14.676765115025294,
      14.643308817139708
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1b3ae7a2d38d5c6c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "91defa409f0254d5": {
    "vx_ego": [
      2.2488332277132086,
      1.777935370935799,
      1.2760368184548763,
      0.7381421571516705,
      0.25857724323690373,
      -0.01368505443841542,
      -0.0625303599518437,
      -0.036908592365526786,
      -0.021698257785508185,
      -0.012013352788211357
    ],
    "vy_ego": [
      0.06161143257598789,
      0.018586438252843673,
      -0.003956798625422864,
      -0.00633345058736684,
      -0.016922082488614168,
      -0.017573613310425108,
      -0.007516499250741361,
      -0.004202435260174267,
      -0.0026867402837304506,
      -0.0016044749514443875
    ],
    "v_ego": [
      2.2496770556440038,
      1.7780325190815673,
      1.2760429531594166,
      0.7381693279735104,
      0.2591303679535618,
      0.02227358524725519,
      0.06298050235345486,
      0.03714706788591232,
      0.021863964971582498,
      0.012120024137097996
    ],
    "ax_ego": [
      -0.9417543936057823,
      -0.9416474272150843,
      -1.0659563753868184,
      -1.085635684436314,
      -0.832644928016536,
      -0.25640507715549815,
      0.0610145143353102,
      0.041471945825790925,
      0.01936978525962575,
      0.019369766165232706
    ],
    "ay_ego": [
      -0.09023938569042628,
      -0.09134885780670854,
      -0.0027534540269230634,
      -0.009938246213519908,
      -0.03354278565097346,
      0.03093506400255515,
      0.009367050155167048,
      0.003894649580861,
      0.0021647548292961704,
      0.0021649307819066868
    ],
    "a_ego": [
      0.9460679069736909,
      0.946067910354948,
      1.065959931581334,
      1.0856811723794901,
      0.833320283337019,
      0.25826448028321497,
      0.0617293494877695,
      0.041654418564361674,
      0.019490375688400056,
      0.01949037625563552
    ],
    "yaw": [
      1.1146721048462032,
      1.113493948814211,
      1.1128571096477637,
      1.1120683695878728,
      1.1114649763515612,
      1.1114570663536114,
      1.111220322280611,
      1.1111915207733825,
      1.1112232745228658,
      1.111214091370034
    ],
    "yaw_diff": [
      -0.002356312063984234,
      -0.001273678332894601,
      -0.001577480119781871,
      -0.001206786472623289,
      -1.5819995899502004e-05,
      -0.00047348814600089995,
      -5.760301445700833e-05,
      6.350749896677499e-05,
      -1.8366305663874982e-05,
      -1.8366305663874982e-05
    ],
    "min_front_frame": [
      9,
      10.133664798503602
    ],
    "v_avg": 0.6457437368407363,
    "v_std": 0.7936871152069308,
    "vy_max": 0.06161143257598789,
    "a_max": 1.0856811723794901,
    "ax_avg": -0.4982817874230073,
    "a_std": 0.4568426817945284,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "91defa409f0254d5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.57472588062075,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.614888101584926,
      11.627868044826947,
      10.848313573431296,
      10.393326692778619,
      10.172593130236683,
      10.157104550158696,
      10.165694688368106,
      10.17613776832834,
      10.155144865961876,
      10.133664798503602
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "91defa409f0254d5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8dc7d00ce175549d": {
    "vx_ego": [
      8.572381467982668,
      8.41621292874164,
      8.25437202213157,
      8.083904738520063,
      7.931527228879907,
      7.782180619595742,
      7.602921087850927,
      7.435578861909543,
      7.266953915760423,
      7.074173448661206
    ],
    "vy_ego": [
      0.1371381403909533,
      0.04855187730405319,
      0.014524394618717018,
      0.018338026289276943,
      0.018537824073182385,
      0.026026781215641392,
      -0.006173785148221089,
      -0.022203069512749085,
      0.023467463001257016,
      0.09003711188420382
    ],
    "v_ego": [
      8.573478343249173,
      8.416352971846397,
      8.254384800685479,
      8.083925538046186,
      7.931548892453778,
      7.782224141551823,
      7.602923594493856,
      7.435612011661973,
      7.266991807866956,
      7.074746402752514
    ],
    "ax_ego": [
      -0.31280219573132406,
      -0.31322206448416334,
      -0.3341261206680941,
      -0.3483135365495693,
      -0.2612826192543151,
      -0.3361396023127085,
      -0.3808515515571455,
      -0.2887402958728178,
      -0.3857396125062058,
      -0.38559917024503776
    ],
    "ay_ego": [
      -0.11588764335996588,
      -0.11474797700225263,
      0.14379604686894668,
      0.01446165754890072,
      0.02722146366419892,
      0.014525671416169728,
      -0.15495254266357045,
      0.048604649855209764,
      0.14666986086639638,
      0.1470386948581766
    ],
    "a_ego": [
      0.3335793152128354,
      0.3335793157643784,
      0.36375481798574993,
      0.34861362463726203,
      0.26269681233013986,
      0.33645330637851717,
      0.41116686977599576,
      0.2928026134587427,
      0.4126828040311419,
      0.4126828054078066
    ],
    "yaw": [
      2.623934764199716,
      2.627575692578181,
      2.6325277050116984,
      2.636903071357299,
      2.638181198818926,
      2.638555943823551,
      2.6381784298286304,
      2.636772188070298,
      2.637199720956311,
      2.6381560628763596
    ],
    "yaw_diff": [
      0.0072818567569292725,
      0.009904024867035233,
      0.00875073269120108,
      0.0025562549232542864,
      0.0007494900092499535,
      -0.0007550279898413947,
      -0.0028124835166645212,
      0.0008550657720256538,
      0.0019126838400973512,
      0.0019126838400973512
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.842218850460813,
    "v_std": 0.4739983121688135,
    "vy_max": 0.1371381403909533,
    "a_max": 0.4126828054078066,
    "ax_avg": -0.3346816769181381,
    "a_std": 0.04837409392307518,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8dc7d00ce175549d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8dc7d00ce175549d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a6229e66c0e656d8": {
    "vx_ego": [
      5.651473805538962,
      5.278706581458987,
      4.964276446375105,
      4.6787965727514065,
      4.372134203323567,
      4.0968103710288855,
      3.8547503936745997,
      3.6636982640637656,
      3.577655545667535,
      3.6143910798548267
    ],
    "vy_ego": [
      -0.01471122981430277,
      -0.06966258442506162,
      -0.025886260139851347,
      0.019018455000531564,
      0.028080545084301356,
      0.022493587511079438,
      0.04841926542202368,
      0.07361584648302633,
      0.036062506831050056,
      0.09611766026629298
    ],
    "v_ego": [
      5.6514929527493605,
      5.279166226669435,
      4.964343937973946,
      4.67883522586775,
      4.372224377691981,
      4.096872121222354,
      3.8550544772802486,
      3.66443778265606,
      3.57783729476965,
      3.615668884556384
    ],
    "ax_ego": [
      -0.7507071918689155,
      -0.7437064061257825,
      -0.5174438679996695,
      -0.6090680040294578,
      -0.6085954653993304,
      -0.4770000524108341,
      -0.46250567561728734,
      -0.24888348117231174,
      -0.04631442823714216,
      0.24694403858479375
    ],
    "ay_ego": [
      -0.329194736233189,
      -0.3447190561556875,
      -0.6023856582498787,
      -0.969897766934187,
      -0.9479812557468824,
      -1.0182236449424498,
      -1.1386727716258438,
      -1.2772273286223035,
      -1.3966673681268442,
      -1.375442994495228
    ],
    "a_ego": [
      0.8197136465177042,
      0.8197136366984482,
      0.7941137436133434,
      1.1452796653378379,
      1.1265242570633194,
      1.1244147104693296,
      1.2290187878223362,
      1.3012504125571351,
      1.3974350659165882,
      1.3974350751639832
    ],
    "yaw": [
      -1.5560818515217343,
      -1.5768575726459964,
      -1.6319272965497165,
      -1.722487435927728,
      -1.8303359245884203,
      -1.9454201258870878,
      -2.0873941148345745,
      -2.2555614351027673,
      -2.4305952204421883,
      -2.6413889792027763
    ],
    "yaw_diff": [
      -0.04155144224852414,
      -0.11013944780744023,
      -0.1811202787560231,
      -0.2156969773213846,
      -0.23016840259733495,
      -0.2839479778949734,
      -0.3363346405363856,
      -0.3500675706788421,
      -0.42158751752117585,
      -0.42158751752117585
    ],
    "min_front_frame": [
      1,
      74.64636948035043
    ],
    "v_avg": 4.375593328143717,
    "v_std": 0.7036509346989406,
    "vy_max": 0.09611766026629298,
    "a_max": 1.3974350751639832,
    "ax_avg": -0.4217280534275937,
    "a_std": 0.22039069810787354,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "a6229e66c0e656d8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.804492191430558,
    "right_rear_min": 12.806068719140884,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      74.64636948035043,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a6229e66c0e656d8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a8da6565d00e514a": {
    "vx_ego": [
      4.5927628654577894,
      4.87991618373671,
      5.223688005739434,
      5.534747688137197,
      5.836109593187591,
      6.196462215942314,
      6.4973080618528085,
      6.630230486423008,
      6.680320479051565,
      6.709706383107461
    ],
    "vy_ego": [
      -0.0952137210937627,
      -0.10544667668620811,
      -0.09301856480965998,
      -0.06883008846202521,
      -0.0856230777228073,
      -0.03811647426110554,
      -0.004548681907465102,
      -0.006905397302100935,
      -0.015780233739323857,
      -0.08484898806095789
    ],
    "v_ego": [
      4.593749709225848,
      4.881055312319214,
      5.224516134026698,
      5.535175656871039,
      5.836737658584199,
      6.196579448309432,
      6.497309654089498,
      6.630234082414057,
      6.680339117036843,
      6.710242849427133
    ],
    "ax_ego": [
      0.4704391942979951,
      0.7375545102854633,
      0.6700493058988479,
      0.5997857129980351,
      0.6358622206221576,
      0.8099723685755579,
      0.38936180908475715,
      0.14085633066835918,
      0.05980111625402636,
      0.06079366352148825
    ],
    "ay_ego": [
      1.6260963222374247,
      1.5236520645285516,
      1.218661082004773,
      1.0737578268408667,
      1.0752617889643512,
      0.7130477734183427,
      0.3088375366456943,
      0.05505701050511846,
      0.06577861188569063,
      0.06486237005659763
    ],
    "a_ego": [
      1.6927794554299818,
      1.6927794508985945,
      1.390719563797307,
      1.2299181973686633,
      1.2492032174235537,
      1.0791164742662192,
      0.49697408626118067,
      0.15123419023195406,
      0.0888988148786917,
      0.08889879961913404
    ],
    "yaw": [
      2.479084221360748,
      2.6482899278379763,
      2.7811215879015854,
      2.8829111456160286,
      2.9803618131991403,
      3.0469931364912513,
      3.0816650076796037,
      3.095816814076339,
      3.1016804655492014,
      3.116875195795921
    ],
    "yaw_diff": [
      0.3384114129544571,
      0.26566332012721805,
      0.2035791154288864,
      0.19490133516622343,
      0.13326264658422193,
      0.06934374237670493,
      0.02830361279347038,
      0.011727302945724993,
      0.03038946049343938,
      0.03038946049343938
    ],
    "min_front_frame": [
      9,
      60.54684638077204
    ],
    "v_avg": 5.878593962230396,
    "v_std": 0.7467754623924397,
    "vy_max": 0.10544667668620811,
    "a_max": 1.6927794554299818,
    "ax_avg": 0.4574476232206687,
    "a_std": 0.6161939227132001,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "a8da6565d00e514a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      76.43920111107457,
      -1,
      70.42935210838473,
      67.00482059342876,
      63.73789148062143,
      60.54684638077204
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a8da6565d00e514a",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "efb9929eed1852f0": {
    "vx_ego": [
      3.709070757382404,
      3.603976213630936,
      3.4543790924302002,
      3.203847411421669,
      2.880327564489885,
      2.531854183082735,
      2.2019206778516116,
      1.9633973813779249,
      1.8060894076365641,
      1.6651119374188328
    ],
    "vy_ego": [
      -0.07888028496338273,
      -0.06953805638449895,
      -0.04755529786630541,
      -0.014685434201105574,
      0.009231482444727934,
      0.007759729628258327,
      0.0009234504451048897,
      -0.0030189267403989417,
      0.00041169747848801563,
      0.005614200264660751
    ],
    "v_ego": [
      3.709909430515142,
      3.6046470131905166,
      3.4547064159743077,
      3.203881067962886,
      2.8803423579547554,
      2.531866074222222,
      2.201920871491804,
      1.9633997023327563,
      1.806089454559715,
      1.6651214019942542
    ],
    "ax_ego": [
      -0.2094104959376094,
      -0.20894590420603198,
      -0.38890982743994584,
      -0.6130397922471742,
      -0.6810917797336127,
      -0.7129475261748774,
      -0.6068268869926693,
      -0.34720929248857446,
      -0.2820024190874271,
      -0.28194170896600657
    ],
    "ay_ego": [
      0.0676639398664876,
      0.06908526951582457,
      0.05236210108054731,
      0.09540736908696515,
      0.02848810371743382,
      -0.00240953042718528,
      -0.004012501189401441,
      0.018506971232713082,
      0.020207622955755553,
      0.021037625072311092
    ],
    "a_ego": [
      0.22007081716368296,
      0.22007081893915517,
      0.39241896425751127,
      0.6204194975615732,
      0.6816873069627417,
      0.7129515978772731,
      0.606840152711576,
      0.34770217251927676,
      0.2827255071561158,
      0.28272550101353694
    ],
    "yaw": [
      1.0430346561102177,
      1.0498294637937282,
      1.052188656556524,
      1.0534017479063478,
      1.0557150515680522,
      1.0586638256570793,
      1.060886259891249,
      1.0645766131247176,
      1.067906062231415,
      1.0708496121159363
    ],
    "yaw_diff": [
      0.013589615367020969,
      0.004718385525591451,
      0.002426182699647672,
      0.0046266073234089156,
      0.005897548178054102,
      0.004444868468339358,
      0.007380706466937337,
      0.006658898213394604,
      0.005887099769042781,
      0.005887099769042781
    ],
    "min_front_frame": [
      9,
      11.471922477641371
    ],
    "v_avg": 2.702188379019836,
    "v_std": 0.7337055449540756,
    "vy_max": 0.07888028496338273,
    "a_max": 0.7129515978772731,
    "ax_avg": -0.4332325633273929,
    "a_std": 0.18713319665597647,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "efb9929eed1852f0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.88098202867952,
      16.203579188995008,
      15.484522954684115,
      14.594987234648194,
      13.586250009266196,
      12.800486941768698,
      12.265821260645815,
      11.796095642770599,
      11.485924943427065,
      11.471922477641371
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "efb9929eed1852f0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7178178922315ef7": {
    "vx_ego": [
      5.000520102774974,
      4.586112949229428,
      4.079915380798114,
      3.4568604887658383,
      2.9062415558774095,
      2.435997221611366,
      2.052876009569275,
      1.6695092173269348,
      1.1382771804480063,
      0.5636407045149796
    ],
    "vy_ego": [
      -0.019967380837010218,
      0.009615990081934367,
      0.019866117760764412,
      0.007176054400661602,
      0.01628920011719326,
      0.033408341522281226,
      0.010723213296940481,
      -0.008942239408594177,
      -0.0005993397132659783,
      0.022745145985800824
    ],
    "v_ego": [
      5.000559968098986,
      4.5861230304425,
      4.079963747033532,
      3.4568679370995863,
      2.906287205206878,
      2.4362262992139225,
      2.052904015770947,
      1.6695331654043999,
      1.1382773382338571,
      0.564099446420627
    ],
    "ax_ego": [
      -0.8288041271969148,
      -0.828837154172806,
      -1.1959938162437578,
      -1.2962879592087146,
      -0.9061790149695592,
      -0.9745219377856239,
      -0.557797335127623,
      -0.9757079289668592,
      -1.1492652160974395,
      -1.1492731293583063
    ],
    "ay_ego": [
      0.05347308717293181,
      0.05295860055088719,
      -0.0037934655859956923,
      -0.033295199669923004,
      0.08065687489218465,
      -0.031249743923056184,
      -0.07280605189911954,
      -0.01811892682853311,
      0.0464965831299744,
      0.046300455778146676
    ],
    "a_ego": [
      0.8305273338731506,
      0.83052732737074,
      1.1959998323053642,
      1.2967154828683716,
      0.9097614734855363,
      0.9750228477941961,
      0.5625287443932221,
      0.9758761489852159,
      1.1502054030364564,
      1.1502053982095104
    ],
    "yaw": [
      -2.099447232799402,
      -2.1000679824280004,
      -2.099601849330763,
      -2.0986978655604576,
      -2.097827308046944,
      -2.0996063971150485,
      -2.1011247801255006,
      -2.1027270283708717,
      -2.1036027978489686,
      -2.1037734559043892
    ],
    "yaw_diff": [
      -0.0012414992571967431,
      0.0009322661944750621,
      0.0018079675406106333,
      0.001741115027027007,
      -0.003558178136208845,
      -0.0030367660209043024,
      -0.0032044964907420592,
      -0.0017515389561939543,
      -0.0003413161108412055,
      -0.0003413161108412055
    ],
    "min_front_frame": [
      9,
      8.706458959050444
    ],
    "v_avg": 2.7890842152925233,
    "v_std": 1.4086021521103271,
    "vy_max": 0.033408341522281226,
    "a_max": 1.2967154828683716,
    "ax_avg": -0.9862667619127604,
    "a_std": 0.20694139405006962,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7178178922315ef7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.83941708579862,
    "speed_mode": "decelerating",
    "front_frame": [
      21.174446515446693,
      18.817607357534136,
      16.581987547414602,
      14.756121056153335,
      13.191393572927966,
      11.875496604879869,
      10.79026041580999,
      9.834753664468462,
      9.134450140889037,
      8.706458959050444
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7178178922315ef7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7eb33ecbb32d5a60": {
    "vx_ego": [
      3.970856914534703,
      3.521081126112045,
      3.059242164872877,
      2.5812081608270985,
      2.0934479168643683,
      1.5647497511599866,
      0.966646794323793,
      0.4300179833500375,
      0.1034606797236846,
      -0.10876662918278782
    ],
    "vy_ego": [
      0.00980225259823831,
      -0.023760266172055608,
      -0.050661683186109634,
      -0.053398268404010456,
      -0.008653745205707851,
      0.033297851407467716,
      0.03270483683275935,
      0.011112837287332793,
      -0.003122000963986079,
      -0.0002504873759966188
    ],
    "v_ego": [
      3.970869013183898,
      3.5211612923737294,
      3.0596616200945057,
      2.5817604351660823,
      2.0934658029043245,
      1.5651039999513112,
      0.9671998921260914,
      0.43016155239282816,
      0.10350777332599698,
      0.10876691761611894
    ],
    "ax_ego": [
      -0.8996294936562382,
      -0.8995139233006744,
      -0.9480270699661972,
      -0.9640925282693311,
      -0.98702655953101,
      -1.1277376723593466,
      -1.2647580971100272,
      -0.8817668377783223,
      -0.4244546375949208,
      -0.4244548072194924
    ],
    "ay_ego": [
      -0.07753251342824945,
      -0.07886198128889718,
      -0.04339981740985086,
      0.033205055757480686,
      0.14167228555681546,
      0.024191129648487297,
      -0.023801663008737955,
      -0.062330133182726705,
      0.005749321753050361,
      0.005737039686285599
    ],
    "a_ego": [
      0.902964294141624,
      0.9029642907139694,
      0.9490199521295121,
      0.964664179283448,
      0.9971421492016644,
      1.1279971047889028,
      1.264982040729179,
      0.8839670818012165,
      0.4244935736574296,
      0.4244935770964014
    ],
    "yaw": [
      -1.5862582361487987,
      -1.5877361246801913,
      -1.588847708621292,
      -1.5887811317587142,
      -1.5892192094402382,
      -1.5894822436025458,
      -1.5889440707158227,
      -1.588853286507204,
      -1.588425583383339,
      -1.588454523363953
    ],
    "yaw_diff": [
      -0.0029557770627852697,
      -0.002223167882201338,
      0.0001331537251556547,
      -0.0008761553630480812,
      -0.0005260683246151032,
      0.0010763457734461745,
      0.00018156841723726558,
      0.0008554062477301727,
      -5.787996122830208e-05,
      -5.787996122830208e-05
    ],
    "min_front_frame": [
      9,
      11.434011908376066
    ],
    "v_avg": 1.8401658299134886,
    "v_std": 1.353015122517749,
    "vy_max": 0.053398268404010456,
    "a_max": 1.264982040729179,
    "ax_avg": -0.882146162678556,
    "a_std": 0.2551917373577233,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7eb33ecbb32d5a60",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.071264664164527,
    "right_rear_min": 9.712576898094222,
    "speed_mode": "decelerating",
    "front_frame": [
      16.775250378982076,
      15.998003411455468,
      15.129134524640728,
      14.275119716625005,
      13.364482265855258,
      12.477479521077955,
      11.837916290683058,
      11.531600128354006,
      11.440907371152603,
      11.434011908376066
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7eb33ecbb32d5a60",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3361cb5b061556d0": {
    "vx_ego": [
      2.1772470722880586,
      2.3724625475489742,
      2.5728235457952486,
      2.7852627372514647,
      2.9917419889883083,
      3.1922698766824693,
      3.3547068222941028,
      3.4439434506796127,
      3.4972847438906265,
      3.5428348330809314
    ],
    "vy_ego": [
      -0.009401481506369658,
      0.0072260936891108685,
      0.017965846906763838,
      0.014020395864104973,
      3.0984805062805876e-05,
      -0.0027594137415196673,
      0.00578366851136769,
      -0.009480104058663175,
      -0.03795221055490927,
      -0.055383631633474595
    ],
    "v_ego": [
      2.1772673702697696,
      2.3724735522135063,
      2.572886272156916,
      2.7852980248120143,
      2.99174198914876,
      3.192271069307634,
      3.354711807945363,
      3.4439564985423323,
      3.4974906647675454,
      3.5432677010274714
    ],
    "ax_ego": [
      0.3902903553473035,
      0.39058896625669115,
      0.41052229797381495,
      0.4386734986796098,
      0.38705328762707947,
      0.4152850891898171,
      0.2343752731741767,
      0.1223943868869061,
      0.09137656139094402,
      0.09133387064848632
    ],
    "ay_ego": [
      0.058084878471811735,
      0.05604171596544871,
      0.04655057382677716,
      0.011195100459572949,
      0.011111681322128558,
      0.06466331000783754,
      0.04702138003155948,
      -0.04754534730039745,
      -0.015488136718981742,
      -0.01573792915423091
    ],
    "a_ego": [
      0.3945889184761903,
      0.3945889183565887,
      0.4131531351173605,
      0.43881632685909666,
      0.3872127540832498,
      0.4202892444074248,
      0.23904555811715533,
      0.1313047828197323,
      0.09267987025594518,
      0.09267987020760236
    ],
    "yaw": [
      0.9695770041822213,
      0.9748099716946451,
      0.9808453401521477,
      0.9877156935414266,
      0.9944743590585017,
      1.0015115028498294,
      1.0073905787151953,
      1.0118240169881139,
      1.015483177381081,
      1.018217473016427
    ],
    "yaw_diff": [
      0.010465935024847717,
      0.012070736915005265,
      0.013740706778557765,
      0.013517331034150093,
      0.014074287582655387,
      0.011758151730731914,
      0.008866876545837066,
      0.007318320785934418,
      0.0054685912706919915,
      0.0054685912706919915
    ],
    "min_front_frame": [
      9,
      61.17835480467298
    ],
    "v_avg": 2.9931364950191313,
    "v_std": 0.4691824138850533,
    "vy_max": 0.055383631633474595,
    "a_max": 0.43881632685909666,
    "ax_avg": 0.29718935871748287,
    "a_std": 0.13790510891171087,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3361cb5b061556d0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      74.64172761897224,
      73.49928229935614,
      72.27301466752837,
      70.9540715015843,
      69.52700433527352,
      67.90486095574212,
      66.2129135439326,
      64.56280791327666,
      62.833658372461805,
      61.17835480467298
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3361cb5b061556d0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8651cc01649b5d5b": {
    "vx_ego": [
      1.742009423661599,
      2.0212595718498294,
      2.2731099288000345,
      2.439699254346452,
      2.5375810725566046,
      2.589713564583961,
      2.612234108017874,
      2.6738293666281185,
      2.784736829796171,
      2.918121232577579
    ],
    "vy_ego": [
      -0.08527860044314861,
      -0.016269967215069903,
      0.011290444556078416,
      0.013715226933288083,
      -0.005648568902092421,
      -0.013961819532027131,
      -0.023996131900389295,
      -0.054424840066970015,
      -0.07229824782717349,
      -0.007831355176841828
    ],
    "v_ego": [
      1.7440955454961056,
      2.021325052688888,
      2.2731379682165294,
      2.4397378054021432,
      2.537587359309659,
      2.589751200211096,
      2.612344320612832,
      2.6743832083415495,
      2.7856751870708307,
      2.918131741053511
    ],
    "ax_ego": [
      0.5584724502067544,
      0.5583625233777847,
      0.455507819348278,
      0.2126341468852725,
      0.18694260800052964,
      0.03543451650569668,
      0.06763027558766585,
      0.18932918995730807,
      0.26387722509104233,
      0.27499593347149837
    ],
    "ay_ego": [
      0.13472438229981648,
      0.13517924943059267,
      0.3867739871560125,
      0.5245896086157374,
      0.6818401047499143,
      0.7930913570522289,
      0.8058194617927971,
      0.6345044121822748,
      0.3289572544859324,
      0.31972066252186165
    ],
    "a_ego": [
      0.5744929388826314,
      0.5744929390248635,
      0.5975629595515294,
      0.5660455263397461,
      0.7070031592089343,
      0.7938825515093139,
      0.8086524959338818,
      0.6621490702618743,
      0.4217156212433577,
      0.42171562156182796
    ],
    "yaw": [
      -2.4126091879286395,
      -2.413423752973899,
      -2.365781879314186,
      -2.27140773699316,
      -2.1427770674115814,
      -1.9970399824934157,
      -1.8395802143479174,
      -1.6912468117990036,
      -1.596192640523103,
      -1.5619148593237375
    ],
    "yaw_diff": [
      -0.0016291300905191264,
      0.09528374731942613,
      0.1887482846420525,
      0.25726133916315685,
      0.29147416983633123,
      0.31491953629099667,
      0.2966668050978276,
      0.1901083425518011,
      0.06855556239873106,
      0.06855556239873106
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.4596169388403144,
    "v_std": 0.33885904878394235,
    "vy_max": 0.08527860044314861,
    "a_max": 0.8086524959338818,
    "ax_avg": 0.280318668843183,
    "a_std": 0.12682197675108015,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "8651cc01649b5d5b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "8651cc01649b5d5b",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "055417b420d5598f": {
    "vx_ego": [
      8.072965526877107,
      7.961206332715523,
      7.851977436775432,
      7.716717112737678,
      7.474403145700052,
      7.116922860416004,
      6.709497900104292,
      6.278514652043399,
      5.8658648857649425,
      5.531763651101488
    ],
    "vy_ego": [
      -0.019620329151518234,
      -0.013161901187690006,
      0.03225234178351233,
      0.10567954174893446,
      0.10964889281311008,
      0.08276161538796867,
      0.06345512813131426,
      0.09696966429963627,
      0.08532859056867892,
      -0.040836287213822375
    ],
    "v_ego": [
      8.072989369215234,
      7.961217212695093,
      7.852043675450424,
      7.717440713316998,
      7.475207372651675,
      7.117404055278409,
      6.709797957076656,
      6.279263440222749,
      5.86648547483232,
      5.531914378766277
    ],
    "ax_ego": [
      -0.2234979546361876,
      -0.22340323317180846,
      -0.21324984414714124,
      -0.3293608547778645,
      -0.6413600786329103,
      -0.7884342467827592,
      -0.8414977668139003,
      -0.8824286096591167,
      -0.7686922467440442,
      -0.5735774856357756
    ],
    "ay_ego": [
      0.045731280502285906,
      0.046191789902916267,
      0.2580190027832081,
      0.19495766771929415,
      -0.10181423740607018,
      -0.016577113295315582,
      -0.039502326078227734,
      0.6029983328819712,
      1.3193478599598139,
      1.4151238103106214
    ],
    "a_ego": [
      0.22812866050309882,
      0.22812866116744862,
      0.3347376612005604,
      0.38273628631546325,
      0.6493911682511493,
      0.7886084974086334,
      0.8424244330017809,
      1.0687783870397822,
      1.526946805158892,
      1.5269468001657132
    ],
    "yaw": [
      2.630203786866849,
      2.6322646796596914,
      2.6361403486926296,
      2.6412458220634196,
      2.6437759604069773,
      2.6434053635885535,
      2.644169344115162,
      2.6606880387207212,
      2.7418962414875834,
      2.88436225242041
    ],
    "yaw_diff": [
      0.004121785585684989,
      0.0077513380658764675,
      0.010210946741580074,
      0.005060276687115284,
      -0.000741193636847548,
      0.001527961053216842,
      0.03303738921111865,
      0.16241640553372427,
      0.2849320218656537,
      0.2849320218656537
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.058376364950583,
    "v_std": 0.8697862416798585,
    "vy_max": 0.10964889281311008,
    "a_max": 1.526946805158892,
    "ax_avg": -0.5485502321001509,
    "a_std": 0.46695845079211723,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "055417b420d5598f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "055417b420d5598f",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "a36cdc9ebe595113": {
    "vx_ego": [
      11.856464154900038,
      11.6393764756037,
      11.395021479485145,
      11.00710352324968,
      10.908947828780235,
      10.924611018436805,
      10.810523822516942,
      10.86323084946386,
      10.981967538731192,
      11.161615984485511
    ],
    "vy_ego": [
      0.05003289423784807,
      -0.009236030707648446,
      0.007088363170858258,
      0.015744034637238613,
      -0.01748384684617621,
      0.025194955004673947,
      0.030026833087583693,
      0.014817375041506597,
      0.02031219463120637,
      0.020040405387147242
    ],
    "v_ego": [
      11.856569720915713,
      11.639380140071895,
      11.395023684171099,
      11.007114783001137,
      10.90896183951294,
      10.924640071412353,
      10.810565523038635,
      10.863240954859945,
      10.981986323384143,
      11.161633975497072
    ],
    "ax_ego": [
      -0.4399139595650563,
      -0.426589033374396,
      -0.5506663456791562,
      -1.0005988311849834,
      0.61118845223981,
      -0.5470333812776192,
      0.09433297735437454,
      0.11667681533555055,
      0.3567315488365507,
      0.3631868443310299
    ],
    "ay_ego": [
      -0.6172539408094557,
      -0.6265369229909198,
      -0.646474526482937,
      -0.5840903252827951,
      -0.8102017206308814,
      -0.8518921301554588,
      -0.8174539090150685,
      -0.6492770921231601,
      -0.3814075090900531,
      -0.37526577337070743
    ],
    "a_ego": [
      0.7579754080872341,
      0.7579754080880403,
      0.8492130107664234,
      1.1586024033540223,
      1.0148783928454361,
      1.01240590755528,
      0.8228788513387356,
      0.6596773617403834,
      0.5222347038694416,
      0.5222347025606847
    ],
    "yaw": [
      -1.0537544908679894,
      -1.0751799720761461,
      -1.1041890974512971,
      -1.1322842857250208,
      -1.1615987480657748,
      -1.2030157706651396,
      -1.242146112469202,
      -1.2745847070376182,
      -1.2987436179483893,
      -1.3158055100864257
    ],
    "yaw_diff": [
      -0.042850962416313365,
      -0.05801825075030198,
      -0.05619037654744741,
      -0.05862892468150793,
      -0.08283404519872972,
      -0.07826068360812455,
      -0.06487718913683249,
      -0.04831782182154232,
      -0.034123784276072655,
      -0.034123784276072655
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.154911701586494,
    "v_std": 0.3396530856901007,
    "vy_max": 0.05003289423784807,
    "a_max": 1.1586024033540223,
    "ax_avg": -0.1422684912983896,
    "a_std": 0.19993752683442678,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "a36cdc9ebe595113",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "a36cdc9ebe595113",
    "road_shape": "Straight"
  },
  "085f9a1ec71b50c2": {
    "vx_ego": [
      2.415739164402612,
      3.1319638586230942,
      3.8313341716772324,
      4.483555156745611,
      5.079667448815686,
      5.675333930808565,
      6.254706212381475,
      6.639474857985585,
      6.757446453490314,
      6.7610510031898645
    ],
    "vy_ego": [
      0.014226895392768224,
      -0.014883687836090509,
      -0.014609268155660438,
      -0.00762764224940593,
      -0.011239823126548476,
      -0.030283009968122165,
      -0.03752314648456423,
      0.020673891980381942,
      0.09394922129819427,
      0.15969302501928118
    ],
    "v_ego": [
      2.41578105692158,
      3.1319992234808844,
      3.8313620248911104,
      4.4835616449990345,
      5.079679884026313,
      5.675414723778318,
      6.254818765537936,
      6.639507044926778,
      6.758099513026673,
      6.762936679429616
    ],
    "ax_ego": [
      1.431915373316554,
      1.4329115235316003,
      1.3637042330916824,
      1.2448616786682083,
      1.1386877524672703,
      1.243901640090409,
      1.0736371048953064,
      0.4653982903576701,
      0.0059806023926075175,
      0.006623620092989627
    ],
    "ay_ego": [
      -0.1154935102887642,
      -0.10239611517692315,
      -0.10376532428347718,
      -0.1557863984515151,
      -0.031058827434607528,
      -0.07119144030982938,
      0.048311946523246885,
      0.17387588620750544,
      0.17983708669838722,
      0.17981454597795246
    ],
    "a_ego": [
      1.4365654831086214,
      1.436565487081246,
      1.3676463277747755,
      1.2545716404251788,
      1.1391112537327406,
      1.2459372020262487,
      1.0747235352335223,
      0.49681826906051635,
      0.17993650368155345,
      0.17993649793300256
    ],
    "yaw": [
      -0.5976105262346645,
      -0.6067540513484462,
      -0.6215991435825968,
      -0.638824121727945,
      -0.647812627222408,
      -0.6490279428606709,
      -0.6487739856002152,
      -0.6491802446427954,
      -0.6469373254658451,
      -0.6433615786890698
    ],
    "yaw_diff": [
      -0.018287050227563384,
      -0.029690184468301295,
      -0.03444995629069636,
      -0.0179770109889259,
      -0.002430631276525874,
      0.0005079145209114788,
      -0.0008125180851605851,
      0.004485838353900595,
      0.007151493553550603,
      0.007151493553550603
    ],
    "min_front_frame": [
      0,
      15.723215262715431
    ],
    "v_avg": 5.103316056101824,
    "v_std": 1.503903012659006,
    "vy_max": 0.15969302501928118,
    "a_max": 1.436565487081246,
    "ax_avg": 0.9407621818904298,
    "a_std": 0.4755237867787203,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "085f9a1ec71b50c2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.668154552077421,
    "right_rear_min": 8.250333778562183,
    "speed_mode": "accelerating",
    "front_frame": [
      15.723215262715431,
      18.18111357377569,
      19.554938345657618,
      20.433744952663062,
      21.197106974474305,
      22.083509252383628,
      23.008510340558473,
      23.946747655282216,
      24.86773848547737,
      26.02056008329639
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "085f9a1ec71b50c2",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "eeafee3118a35987": {
    "vx_ego": [
      6.93540184857296,
      6.708323712189394,
      6.505966697772401,
      6.314680528031675,
      6.1101245999296765,
      5.8459372350349685,
      5.443483639681887,
      4.940476559493528,
      4.430289560243585,
      3.9352475540755476
    ],
    "vy_ego": [
      0.04171052269664699,
      0.02101855396274077,
      0.026934475590733697,
      0.027607220655614828,
      -0.016885710185444047,
      -0.07476597607089008,
      -0.045545091046981234,
      0.02139407499497281,
      0.03289673040272567,
      0.009432196494319811
    ],
    "v_ego": [
      6.935527274035684,
      6.7083566398286525,
      6.50602245142905,
      6.314740875897816,
      6.110147932241432,
      5.846415321130216,
      5.443674171991086,
      4.940522881370948,
      4.430411694467511,
      3.9352588578374723
    ],
    "ax_ego": [
      -0.45439127253817324,
      -0.45436548874214305,
      -0.3550585306042515,
      -0.40999817803869265,
      -0.4083410907764609,
      -0.6477160341229449,
      -0.9612829407451056,
      -1.0507687730810917,
      -0.9900776560160179,
      -0.9900594449189533
    ],
    "ay_ego": [
      0.0064274317163285355,
      0.008046653776320328,
      0.014465474639305309,
      -0.029035345737125184,
      -0.09725034313112363,
      -0.05323186087187831,
      0.21930456060761006,
      0.10569187421268378,
      -0.049796974642826564,
      -0.050157745178893764
    ],
    "a_ego": [
      0.4544367287503603,
      0.45443673486733277,
      0.3553530780947178,
      0.4110250081164429,
      0.41976192735362644,
      0.6498997552483298,
      0.9859814310984031,
      1.0560709193784916,
      0.9913291600804198,
      0.9913291602059614
    ],
    "yaw": [
      0.548374975014086,
      0.5519385884046188,
      0.5518949343263421,
      0.5512224890079132,
      0.5533025116861847,
      0.5566746585354398,
      0.5588381859133859,
      0.5615884220455214,
      0.562116677245305,
      0.561752289235344
    ],
    "yaw_diff": [
      0.007127226781065588,
      -8.730815655355606e-05,
      -0.0013448906368578317,
      0.0041600453565431295,
      0.006744293698510262,
      0.0043270547558920125,
      0.0055004722642710835,
      0.0010565103995672231,
      -0.0007287760199219395,
      -0.0007287760199219395
    ],
    "min_front_frame": [
      4,
      18.699294877076
    ],
    "v_avg": 5.717107810022987,
    "v_std": 0.955316465043765,
    "vy_max": 0.07476597607089008,
    "a_max": 1.0560709193784916,
    "ax_avg": -0.6722059409583835,
    "a_std": 0.2787371555836637,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "eeafee3118a35987",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.04156459343858,
      22.34180082320109,
      21.46602769300835,
      20.203427150376374,
      18.699294877076,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "eeafee3118a35987",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9cd4b5f3bbf85357": {
    "vx_ego": [
      1.5617699620485768,
      2.483864174519059,
      3.4527813750715564,
      4.450466284600161,
      5.332572383047905,
      5.851793943258315,
      5.934021212943102,
      5.827215364673223,
      5.733143058147586,
      5.69527296965397
    ],
    "vy_ego": [
      0.05636923436556829,
      -0.06131550673588104,
      -0.12708274846025036,
      -0.10490807498841725,
      -0.041927076122324713,
      -0.014198805520924118,
      -0.005999661606676199,
      0.049437916090559586,
      0.0683856023437075,
      -0.06548641447043613
    ],
    "v_ego": [
      1.5627869032405453,
      2.4846208621891437,
      3.4551192814427174,
      4.451702579301601,
      5.332737205240606,
      5.851811169239223,
      5.934024245956374,
      5.8274250757801305,
      5.733550899381096,
      5.695649451059232
    ],
    "ax_ego": [
      1.840383414761753,
      1.8473501180875673,
      2.015596111452869,
      1.9443594466251846,
      1.5699260011034488,
      0.4960436381125398,
      -0.17959942247959254,
      -0.24663584137118183,
      -0.12832301441491611,
      -0.023340337218299145
    ],
    "ay_ego": [
      -0.3425828898333466,
      -0.30277335798860794,
      -0.4892144521835152,
      -0.5600843295493267,
      -0.8011611947661662,
      -0.7190665229360178,
      -0.10084270171146079,
      0.4470264089207743,
      0.9642661351829918,
      0.9724871227484018
    ],
    "a_ego": [
      1.8719973690517564,
      1.87199737315677,
      2.0741163093542134,
      2.023419905478671,
      1.7625342291540942,
      0.8735650836195429,
      0.20597379212771177,
      0.5105505347382119,
      0.9727671743481451,
      0.972767174226664
    ],
    "yaw": [
      -0.7003442505609369,
      -0.7219336577295856,
      -0.7667909481005132,
      -0.838593771864852,
      -0.9202142770721733,
      -0.9913954187839868,
      -1.0270556018767656,
      -1.021773161860675,
      -0.9638790411030704,
      -0.855574036253316
    ],
    "yaw_diff": [
      -0.04317881433729753,
      -0.08971458074185512,
      -0.14360564752867755,
      -0.16324101041464267,
      -0.1423622834236271,
      -0.07132036618555748,
      0.010564880032181367,
      0.11578824151520895,
      0.21661000969950894,
      0.21661000969950894
    ],
    "min_front_frame": [
      1,
      62.71107500181477
    ],
    "v_avg": 4.632942767283066,
    "v_std": 1.5131720787565186,
    "vy_max": 0.12708274846025036,
    "a_max": 2.0741163093542134,
    "ax_avg": 0.9135760114659373,
    "a_std": 0.6484654348704708,
    "ini_direction_judge": "straight",
    "scenario_type": "roundout_entrance",
    "scene_token": "9cd4b5f3bbf85357",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 22.50231858976326,
    "right_rear_min": 11.984236082501699,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      62.71107500181477,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "9cd4b5f3bbf85357",
    "merge_risk": "No"
  },
  "4c83b81ddcc757b1": {
    "vx_ego": [
      7.615268332519605,
      6.9299546939789405,
      6.157171169402254,
      5.294772599252819,
      4.443012345597027,
      3.6145783765195203,
      2.7867921639247277,
      1.9893635985104858,
      1.253285799096643,
      0.5383242736764476
    ],
    "vy_ego": [
      0.0036064561045218435,
      0.008717678914276897,
      0.02252576005802298,
      0.01536779684396472,
      0.0012979093636797528,
      -0.005450541570444785,
      0.011626281209016452,
      0.010360588886174908,
      -0.01573348519720528,
      -0.03623062004800409
    ],
    "v_ego": [
      7.615269186496401,
      6.9299601772684385,
      6.157212374052443,
      5.294794901313769,
      4.443012535172088,
      3.6145824860426004,
      2.786816415791865,
      1.9893905772574318,
      1.2533845526309002,
      0.5395421035084637
    ],
    "ax_ego": [
      -1.3707698950687224,
      -1.3705615229755939,
      -1.7206610204867478,
      -1.729087716470557,
      -1.6779597018639572,
      -1.6358179453070691,
      -1.6753546516527562,
      -1.5143807020746527,
      -1.4299443537811694,
      -1.4299321757900272
    ],
    "ay_ego": [
      0.05803566935181219,
      0.06276414615582616,
      0.020312538465774417,
      -0.010043046607672398,
      -0.0437478450110456,
      -0.009904624985113908,
      0.0636342900086517,
      -0.06686662849722412,
      -0.04131010836329317,
      -0.041729589375661055
    ],
    "a_ego": [
      1.3719979023831739,
      1.3719978958817136,
      1.7207809118657205,
      1.7291168826989485,
      1.678529902927705,
      1.6358479305194409,
      1.6765627133153813,
      1.5158562124498167,
      1.4305409396321493,
      1.4305409417381463
    ],
    "yaw": [
      -1.5569774017318632,
      -1.5535276372267566,
      -1.5524708972033219,
      -1.5507727494802839,
      -1.5506447977515494,
      -1.5523012208301181,
      -1.5534380981832148,
      -1.5532448477887386,
      -1.5538346956546352,
      -1.5541280523102738
    ],
    "yaw_diff": [
      0.006899529010213179,
      0.002113480046869398,
      0.003396295446076003,
      0.0002559034574689534,
      -0.00331284615713745,
      -0.0022737547061932872,
      0.0003865007889523042,
      -0.0011796957317931067,
      -0.0005867133112773537,
      -0.0005867133112773537
    ],
    "min_front_frame": [
      9,
      10.556488688438836
    ],
    "v_avg": 4.062396530953441,
    "v_std": 2.3091946738854072,
    "vy_max": 0.03623062004800409,
    "a_max": 1.7291168826989485,
    "ax_avg": -1.555446968547125,
    "a_std": 0.13923058138419458,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4c83b81ddcc757b1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.163159742861357,
    "right_rear_min": 35.13013561873914,
    "speed_mode": "decelerating",
    "front_frame": [
      27.625660666341012,
      24.191540987358362,
      21.115214402188126,
      18.370274205000978,
      16.08642941627538,
      14.16279983615332,
      12.706299180247061,
      11.615299219335862,
      10.919880239941905,
      10.556488688438836
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4c83b81ddcc757b1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6ba5ed2f323f53e2": {
    "vx_ego": [
      1.119708688157958,
      1.7134289208644806,
      2.273178592587766,
      2.756365199880623,
      3.1987209473963594,
      3.6362131961687743,
      4.038250653673852,
      4.27638294280275,
      4.2041039567922285,
      3.956491568257978
    ],
    "vy_ego": [
      -0.0049322702434734245,
      0.002364466170736046,
      0.006543451722285765,
      0.0012655118891107264,
      4.385767549108799e-05,
      0.003718964057964458,
      0.02052606840596294,
      0.01987723809191677,
      0.011099282017988932,
      0.014327429040294382
    ],
    "v_ego": [
      1.1197195513279967,
      1.7134305523000024,
      2.2731880103853572,
      2.7563654903936974,
      3.1987209476970255,
      3.636215097967335,
      4.0383028194256925,
      4.276429138672647,
      4.20411860840978,
      3.9565175097450767
    ],
    "ax_ego": [
      1.1874411729186167,
      1.1874223766782708,
      1.0515977698044026,
      0.881166872609316,
      0.8882353895077497,
      0.8617364469234976,
      0.746437531941382,
      0.20613732898899179,
      -0.49518163725604225,
      -0.495158240179185
    ],
    "ay_ego": [
      0.005681551171485166,
      0.008769609442384918,
      0.00014575808503514143,
      -0.0275313342852484,
      0.0035619078204943144,
      0.005286877680390822,
      0.048179506342071354,
      -0.056575162535809104,
      -0.010433166340771766,
      -0.011490054503529662
    ],
    "a_ego": [
      1.1874547651030984,
      1.1874547598481575,
      1.0515977799058978,
      0.881596864644838,
      0.8882425312724591,
      0.8617526646503284,
      0.7479908113888214,
      0.2137600229665712,
      0.4952915351946456,
      0.49529153452269054
    ],
    "yaw": [
      2.547220453563048,
      2.5446198437803167,
      2.5436497576983506,
      2.5430312997252535,
      2.541428595404259,
      2.5410009403281535,
      2.5401076823945345,
      2.5397644545939917,
      2.5379219649971594,
      2.5357875736964024
    ],
    "yaw_diff": [
      -0.005201219565462267,
      -0.0019401721639322744,
      -0.0012369159461940171,
      -0.003205408641989038,
      -0.0008553101522110751,
      -0.0017865158672378811,
      -0.0006864556010857115,
      -0.003684979193664617,
      -0.004268782601513976,
      -0.004268782601513976
    ],
    "min_front_frame": [
      0,
      11.214900399407824
    ],
    "v_avg": 3.1173007726324604,
    "v_std": 1.0562748395049935,
    "vy_max": 0.02052606840596294,
    "a_max": 1.1874547651030984,
    "ax_avg": 0.6019835011936999,
    "a_std": 0.3023024795695202,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "6ba5ed2f323f53e2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.089606598987794,
    "right_rear_min": 7.264487343955196,
    "speed_mode": "accelerating",
    "front_frame": [
      11.214900399407824,
      11.928333848528306,
      12.725440497301223,
      13.565921846760862,
      14.116135369446122,
      14.296399530744313,
      14.28046137344234,
      13.961482175310486,
      13.635726090088108,
      13.716172737414425
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6ba5ed2f323f53e2",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "ab8034dd8873524b": {
    "vx_ego": [
      8.508081534011122,
      8.594984702762563,
      8.686781900866018,
      8.705899331088041,
      8.580008475139813,
      8.387475890297992,
      8.2096866110482,
      8.148248057903466,
      8.268285131853256,
      8.467597675422606
    ],
    "vy_ego": [
      0.019573741356122998,
      0.008329973181234962,
      -0.0006125784532002854,
      0.0034841015592750324,
      0.03285340133597758,
      0.009521445794381744,
      -0.014126397500645371,
      -0.009093149541942402,
      0.0010884865701825674,
      0.010840282658425071
    ],
    "v_ego": [
      8.508104049712353,
      8.594988739328032,
      8.68678192246506,
      8.705900028256865,
      8.580071373796978,
      8.387481294659327,
      8.209698764676475,
      8.148253131714563,
      8.268285203500701,
      8.467604614325733
    ],
    "ax_ego": [
      0.17322493044406817,
      0.1739750075100371,
      0.19315263063667548,
      -0.1167163314798098,
      -0.3870922410621898,
      -0.3838872630357848,
      -0.32721320289645417,
      0.0815247577181646,
      0.3986252737836703,
      0.39862510814900887
    ],
    "ay_ego": [
      0.10321074595913429,
      0.10194131436082379,
      0.11616502138667445,
      0.11687282802752426,
      0.12167525989959035,
      -0.042067775419824704,
      0.004928557588741528,
      0.046915829857110264,
      0.01935274981406021,
      0.01935628937906564
    ],
    "a_ego": [
      0.2016415994005037,
      0.20164159990371472,
      0.22539354674798148,
      0.16517251576838107,
      0.4057650452690341,
      0.38618535504324686,
      0.3272503183033771,
      0.09406051888112651,
      0.39909477298565527,
      0.39909477920079983
    ],
    "yaw": [
      2.5344720691122733,
      2.5417844639158176,
      2.5491316827560997,
      2.5553322718242946,
      2.5588206383935495,
      2.5639169472267307,
      2.565649207577703,
      2.566624597235089,
      2.5674063080313547,
      2.567397400445981
    ],
    "yaw_diff": [
      0.014624789607088573,
      0.01469443768056422,
      0.012401178136389746,
      0.006976733138509772,
      0.01019261766636248,
      0.0034645207019448065,
      0.0019507793147717223,
      0.0015634215925315331,
      -1.7815170747503828e-05,
      -1.7815170747503828e-05
    ],
    "min_front_frame": [
      9,
      40.48410847567172
    ],
    "v_avg": 8.455716912243608,
    "v_std": 0.1867015490740069,
    "vy_max": 0.03285340133597758,
    "a_max": 0.4057650452690341,
    "ax_avg": 0.02042186697673859,
    "a_std": 0.10986804606817895,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ab8034dd8873524b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.50298547859407,
    "right_rear_min": 13.564884582074518,
    "speed_mode": "quasi_constant",
    "front_frame": [
      58.556103093645646,
      55.37612621236305,
      52.433178118292155,
      49.53667642278655,
      46.78163851701669,
      44.56673677892087,
      42.87533164257968,
      41.79586725266424,
      40.970639292870786,
      40.48410847567172
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ab8034dd8873524b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9a1d23e8ed1b5837": {
    "vx_ego": [
      9.32005504296901,
      9.204782487349025,
      9.109460285092274,
      9.053573778122772,
      8.890043209978826,
      8.57782792173316,
      8.302966228348032,
      8.118391551249037,
      7.8907416046032,
      7.592570879865969
    ],
    "vy_ego": [
      -0.012037794964857795,
      0.03554936077042026,
      0.053776125764893656,
      0.028889668633192755,
      -0.003325689177486879,
      -0.021012862823695855,
      -0.02176979353940478,
      -0.01625783276327608,
      -0.010402268677477178,
      0.05947606559237384
    ],
    "v_ego": [
      9.320062816981423,
      9.204851133856456,
      9.109619012745576,
      9.053619871016563,
      8.89004383203475,
      8.577853659002878,
      8.302994767732825,
      8.118407830142429,
      7.890748461192355,
      7.592803827846933
    ],
    "ax_ego": [
      -0.2344251994153962,
      -0.22743232190628715,
      -0.15694126119314725,
      -0.06864230054379827,
      -0.5851514315758821,
      -0.6647087916178569,
      -0.4315031669233725,
      -0.3017494979663988,
      -0.6089570493893095,
      -0.5866924282303881
    ],
    "ay_ego": [
      0.40865553461913207,
      0.4125882412284627,
      0.5015010066801536,
      0.7202664971071527,
      0.8366112554250028,
      0.6956602653126339,
      0.6821640662501374,
      0.7625690489183369,
      0.6509869324747071,
      0.6711219561808724
    ],
    "a_ego": [
      0.47112049424303004,
      0.47112049185710564,
      0.5254843662432814,
      0.7235299525789883,
      1.0209410318814225,
      0.9621751308306175,
      0.8071820094302286,
      0.8201001852768908,
      0.8914104970515899,
      0.8914105033097321
    ],
    "yaw": [
      -0.8664467512046825,
      -0.8494171965588132,
      -0.8264308428915248,
      -0.7900169103878625,
      -0.7433877511324989,
      -0.6975631384124198,
      -0.6565270591547155,
      -0.6131299941687811,
      -0.569927112246808,
      -0.5362498253293335
    ],
    "yaw_diff": [
      0.03405910929173861,
      0.04597270733457681,
      0.07282786500732463,
      0.09325831851072719,
      0.09164922544015819,
      0.0820721585154085,
      0.08679412997186886,
      0.08640576384394616,
      0.06735457383494903,
      0.06735457383494903
    ],
    "min_front_frame": [
      9,
      25.417251653195482
    ],
    "v_avg": 8.60610052125522,
    "v_std": 0.5719865909221681,
    "vy_max": 0.05947606559237384,
    "a_max": 1.0209410318814225,
    "ax_avg": -0.3866203448761837,
    "a_std": 0.19301474071739488,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "9a1d23e8ed1b5837",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 29.185642563007224,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      33.10243322903537,
      31.116611068203184,
      29.027319209623204,
      27.156748572942842,
      25.417251653195482
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9a1d23e8ed1b5837",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "e7b780eed68e5ce3": {
    "vx_ego": [
      1.9033434275991736,
      2.418204155756102,
      2.801910219839728,
      2.914244106898557,
      2.8126610033260833,
      2.7385907881959937,
      2.9006816422562527,
      3.2746884257650217,
      3.737714629714652,
      4.223232970505311
    ],
    "vy_ego": [
      -0.017011215309458205,
      -0.02031058088998061,
      -0.014313732725329431,
      -0.013393356984047422,
      0.019145463581676125,
      0.002247887431451545,
      0.0035528766034316206,
      0.012378441454784728,
      0.007084012900181236,
      0.03221917154804105
    ],
    "v_ego": [
      1.9034194453223587,
      2.4182894488898907,
      2.801946780898389,
      2.914274883500915,
      2.8127261630679667,
      2.7385917107502276,
      2.9006838181116175,
      3.2747118211610995,
      3.737721342799876,
      4.2233558692322335
    ],
    "ax_ego": [
      1.028817205127829,
      1.0295961285040658,
      0.5065665866139237,
      -0.0429689927006357,
      -0.3419305135277592,
      0.09211727718136886,
      0.5565014488815874,
      0.9283847479766946,
      0.9167859996082046,
      1.0276645683059573
    ],
    "ay_ego": [
      -0.06793786094675264,
      -0.054883434889574645,
      -0.2744603909523395,
      -0.719883492251875,
      -0.9701370316635601,
      -1.3364027660507927,
      -1.315322728403157,
      -1.1428939431806984,
      -0.9721148926351026,
      -0.8540547249811542
    ],
    "a_ego": [
      1.0310579006617706,
      1.031057893261013,
      0.5761407925805921,
      0.7211647362083525,
      1.0286312926828254,
      1.3395737926159643,
      1.4282043769927437,
      1.4724485748693827,
      1.3362275006751554,
      1.3362275024164503
    ],
    "yaw": [
      1.3106055307920133,
      1.29792172939493,
      1.264908498767522,
      1.1797103182843864,
      1.0231636064317922,
      0.8182019506839886,
      0.5788246540174664,
      0.3745596282419795,
      0.22560253979118206,
      0.10431849919403385
    ],
    "yaw_diff": [
      -0.02536760279416672,
      -0.0660264612548156,
      -0.1703963609662713,
      -0.31309342370518856,
      -0.4099233114956071,
      -0.4787545933330444,
      -0.40853005155097377,
      -0.29791417690159494,
      -0.2425680811942964,
      -0.2425680811942964
    ],
    "min_front_frame": [
      9,
      59.876059003768255
    ],
    "v_avg": 2.972572128373457,
    "v_std": 0.6172111068922286,
    "vy_max": 0.03221917154804105,
    "a_max": 1.4724485748693827,
    "ax_avg": 0.5701534455971238,
    "a_std": 0.289644359722625,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "e7b780eed68e5ce3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.8244677932166,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      59.876059003768255
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "e7b780eed68e5ce3",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "10d0706cdc655c9f": {
    "vx_ego": [
      6.178508276433069,
      6.490001597529993,
      6.7954956386852015,
      7.046537517644118,
      7.255632521644927,
      7.454297475997331,
      7.623688276345323,
      7.770676974494505,
      7.913879339038226,
      8.054802444680913
    ],
    "vy_ego": [
      -0.007437645902272916,
      0.05941665548023023,
      0.06645487511322345,
      0.06199117304526869,
      -0.006667325670073776,
      -0.02377933542950572,
      -0.002138512024532524,
      0.005894097347937333,
      -0.020733809710409723,
      -0.056391616011973955
    ],
    "v_ego": [
      6.17851275312502,
      6.4902735747339895,
      6.795820570454749,
      7.04681019278238,
      7.255635585004467,
      7.454335404142588,
      7.623688576281091,
      7.770679209845341,
      7.913906499556411,
      8.054999840918313
    ],
    "ax_ego": [
      0.6096237126806987,
      0.6411534864177239,
      0.585900398774527,
      0.422669045861446,
      0.41391290263037395,
      0.38045845834295905,
      0.2970066545790332,
      0.2909722118615583,
      0.28183786341540534,
      0.2818432011719469
    ],
    "ay_ego": [
      -0.5858280581248344,
      -0.551142259771736,
      -0.34113005530473095,
      -0.2521521358945218,
      -0.13424083924396932,
      -0.0007258107919921042,
      0.04855875334565474,
      -0.03194816956580879,
      -0.07250174627230171,
      -0.07248099447276128
    ],
    "a_ego": [
      0.8454794998986749,
      0.8454794992499216,
      0.6779741823376157,
      0.492168489407433,
      0.4351373276160374,
      0.3804591506666739,
      0.30095000480264705,
      0.2927208800448189,
      0.2910138905054085,
      0.29101389074511713
    ],
    "yaw": [
      -0.5633953275396472,
      -0.6188439097855268,
      -0.6534447020922212,
      -0.6741683705282047,
      -0.6780748313646975,
      -0.6803345560026464,
      -0.6816171155292453,
      -0.6821211418836588,
      -0.6820554271368271,
      -0.6821290561347229
    ],
    "yaw_diff": [
      -0.11089716449175935,
      -0.06920158461338866,
      -0.041447336871967,
      -0.00781292167298564,
      -0.004519449275897758,
      -0.002565119053197895,
      -0.0010080527088269786,
      0.00013142949366340417,
      -0.00014725799579151655,
      -0.00014725799579151655
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.2584662206844355,
    "v_std": 0.5927435142926472,
    "vy_max": 0.06645487511322345,
    "a_max": 0.8454794998986749,
    "ax_avg": 0.42053779357356713,
    "a_std": 0.21370604677541674,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "10d0706cdc655c9f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.049155335788317,
    "right_rear_min": 15.602436544845139,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "10d0706cdc655c9f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "39f91a002193578a": {
    "vx_ego": [
      1.7847394981450444,
      1.1436048426031333,
      0.5845148145868312,
      0.21224131796230958,
      0.007427368789836506,
      -0.05210411247810757,
      -0.034997847518750604,
      -0.02431692148696424,
      -0.01591954382030722,
      -0.009346224049863777
    ],
    "vy_ego": [
      0.024915950389687393,
      0.0017846683847541692,
      -0.015567527716641216,
      -0.014498909829392032,
      -0.010606096756968558,
      -0.007469612428026634,
      -0.0011557880776831354,
      -0.0006759946160635225,
      -0.0004274629547949958,
      -0.00029629525019329313
    ],
    "v_ego": [
      1.784913409894958,
      1.143606235146775,
      0.584722084746836,
      0.21273597588705825,
      0.01294816958332012,
      0.05263680885992439,
      0.03501692700718086,
      0.02432631577785938,
      0.01592528178791207,
      0.009350919466316623
    ],
    "ax_ego": [
      -1.2822702734985507,
      -1.2822816770570484,
      -0.9540545605840504,
      -0.5349847646959232,
      -0.28426428262242076,
      0.046143607539972833,
      0.022281128768556067,
      0.02044289146611634,
      0.0131466534959119,
      0.013146645884129062
    ],
    "ay_ego": [
      -0.0456891975164983,
      -0.04536775085562554,
      -0.02203899198393575,
      0.027205714811165373,
      -0.011565893950318882,
      0.024087141996889095,
      0.0011776435837941497,
      0.0007313043040474717,
      0.00026215905857812345,
      0.00026203747286091786
    ],
    "a_ego": [
      1.2830840023426953,
      1.2830839926263342,
      0.9543090808217709,
      0.5356760675773548,
      0.28449947676175,
      0.05205211740535957,
      0.02231222856667232,
      0.020455967771790477,
      0.013149267109370285,
      0.013149257075586854
    ],
    "yaw": [
      -1.5444611961403074,
      -1.5442105117270242,
      -1.5436023802799608,
      -1.5429576768142055,
      -1.5427392763534125,
      -1.542642301755202,
      -1.5427007949286264,
      -1.5426139566024948,
      -1.5426053712999321,
      -1.5425959952542019
    ],
    "yaw_diff": [
      0.000501368826566484,
      0.0012162628941267961,
      0.0012894069315105838,
      0.00043680092158604467,
      0.00019394919642090613,
      -0.00011698634684886855,
      0.00017367665226331042,
      1.7170605125294003e-05,
      1.8752091460516596e-05,
      1.8752091460516596e-05
    ],
    "min_front_frame": [
      9,
      11.25314255871741
    ],
    "v_avg": 0.38761821281581404,
    "v_std": 0.5816808508542489,
    "vy_max": 0.024915950389687393,
    "a_max": 1.2830840023426953,
    "ax_avg": -0.4222694631303308,
    "a_std": 0.5083733637272256,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "39f91a002193578a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.245484975165914,
    "right_rear_min": 3.0744262425587157,
    "speed_mode": "decelerating",
    "front_frame": [
      12.561996105296384,
      11.850087469968031,
      11.505001905342583,
      11.333534287990856,
      11.294479521201394,
      11.287673143993548,
      11.254485999497216,
      11.259951372484863,
      11.25674652639901,
      11.25314255871741
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "39f91a002193578a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "314f25442fd753b4": {
    "vx_ego": [
      1.3072195406775693,
      0.8660615061847461,
      0.5603376872836565,
      0.4570545623542213,
      0.4689477398188481,
      0.5248248345022368,
      0.5829257941799815,
      0.6268127412518132,
      0.6485784620370973,
      0.6688833268398358
    ],
    "vy_ego": [
      0.019214922889712938,
      -0.0022675762522970655,
      -0.01465406858483409,
      -0.006108760019672366,
      0.002299489075883232,
      5.186302514065266e-05,
      0.009395483761837187,
      0.011417104112101728,
      -0.0015533549029842497,
      -0.011876041748043187
    ],
    "v_ego": [
      1.3073607538820082,
      0.8660644747344455,
      0.5605292726669018,
      0.45709538382900644,
      0.46895337756670025,
      0.5248248370647808,
      0.5830015065464935,
      0.62691671126388,
      0.6485803221882862,
      0.6689887482551017
    ],
    "ax_ego": [
      -0.8823129135962374,
      -0.8823469454861951,
      -0.3404882726704138,
      -0.07260363886362106,
      0.12016389900755897,
      0.10334322928618597,
      0.12906261602872615,
      0.046448608192182925,
      0.040615525109806205,
      0.04061053497147529
    ],
    "ay_ego": [
      -0.04153348443983218,
      -0.040804271211170084,
      -0.005723696573191023,
      0.041093262082369436,
      -0.006092624227289137,
      -0.0019527689050444288,
      0.04103336727710381,
      -0.03179416479946142,
      -0.020316940921030785,
      -0.020326912666190744
    ],
    "a_ego": [
      0.8832899341826529,
      0.8832899415015961,
      0.3405363776875299,
      0.08342628221855154,
      0.120318255866156,
      0.1033616773552641,
      0.1354285645138281,
      0.05628802819682205,
      0.04541364297580578,
      0.04541364254503666
    ],
    "yaw": [
      2.5589248701182914,
      2.5597513183869918,
      2.560920234837944,
      2.561545388899124,
      2.5623243893371948,
      2.562797898039608,
      2.563572469631989,
      2.564040900126911,
      2.5639511160321664,
      2.56419662803891
    ],
    "yaw_diff": [
      0.0016528965374007498,
      0.0023378329019045907,
      0.0012503081223602663,
      0.001558000876141108,
      0.000947017404826056,
      0.0015491431847625137,
      0.0009368609898441349,
      -0.00017956818948938746,
      0.00049102401348744,
      0.00049102401348744
    ],
    "min_front_frame": [
      7,
      12.432457910786223
    ],
    "v_avg": 0.6712315387997605,
    "v_std": 0.23944672954078794,
    "vy_max": 0.019214922889712938,
    "a_max": 0.8832899415015961,
    "ax_avg": -0.1697507358020532,
    "a_std": 0.31731159445687107,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "314f25442fd753b4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.09921088782089,
    "right_rear_min": 2.7012443535104946,
    "speed_mode": "quasi_constant",
    "front_frame": [
      13.744992803155448,
      13.353023455743859,
      13.178208812675893,
      13.085736923264877,
      12.908114765186667,
      12.739197988369598,
      12.540976111337466,
      12.432457910786223,
      12.625177186706484,
      13.037647148211756
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "314f25442fd753b4",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4c8d222d98115a86": {
    "vx_ego": [
      0.4611040271448796,
      0.7701792963921184,
      1.0579239530802576,
      1.3356878008811042,
      1.6402051564751599,
      1.9286181791361168,
      2.200520669759355,
      2.4739400019692788,
      2.704678676783189,
      2.906113844752527
    ],
    "vy_ego": [
      0.038143469387550866,
      0.01073013528113892,
      0.005789376064202378,
      0.011751586383374812,
      0.011998965170604503,
      0.00943030057805605,
      0.0038444898305842745,
      0.002949582435669118,
      -0.004535787083554954,
      -0.013857702064001609
    ],
    "v_ego": [
      0.46267899034443405,
      0.7702540388691319,
      1.0579397938333597,
      1.3357394960115263,
      1.6402490452650382,
      1.9286412345128636,
      2.2005240280760896,
      2.473941760304858,
      2.7046824800723153,
      2.9061468845481313
    ],
    "ax_ego": [
      0.6181599449032504,
      0.6181846089881795,
      0.5327845901648741,
      0.578336259516177,
      0.6397937878563373,
      0.5140821374081647,
      0.5735321298447431,
      0.5201316334619832,
      0.4028235556961199,
      0.4028628491098621
    ],
    "ay_ego": [
      -0.05551250400836344,
      -0.05523727965164521,
      0.03220510083257955,
      -0.013728012642986898,
      0.005272930814890331,
      -0.040130053804837196,
      0.006633370186367671,
      -0.0033648409263579704,
      -0.02714888594448539,
      -0.026559398773187165
    ],
    "a_ego": [
      0.6206475292660627,
      0.6206475391501867,
      0.5337570496366202,
      0.5784991680221232,
      0.6398155162067724,
      0.5156460658441274,
      0.5735704887494445,
      0.5201425172799188,
      0.4037373886967761,
      0.40373738600247155
    ],
    "yaw": [
      -0.783228059197004,
      -0.7836732988942847,
      -0.7845571076663983,
      -0.7856845709066796,
      -0.7872796546355246,
      -0.7906936420532807,
      -0.7920490962044829,
      -0.7913186730210808,
      -0.7913736117458186,
      -0.7928369216780251
    ],
    "yaw_diff": [
      -0.0008904793945614387,
      -0.0017676175442271624,
      -0.002254926480562691,
      -0.003190167457689963,
      -0.006827974835512229,
      -0.002710908302404391,
      0.0014608463668042138,
      -0.00010987744947543732,
      -0.002926619864413116,
      -0.002926619864413116
    ],
    "min_front_frame": [
      0,
      9.696058847832061
    ],
    "v_avg": 1.7480797751837749,
    "v_std": 0.7928893707871052,
    "vy_max": 0.038143469387550866,
    "a_max": 0.6398155162067724,
    "ax_avg": 0.5400691496949691,
    "a_std": 0.07983191875659269,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4c8d222d98115a86",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.985707783884532,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      9.696058847832061,
      10.131292106623356,
      10.749152480500205,
      11.419414645897504,
      12.055365923191548,
      12.721467446256538,
      13.14007349925509,
      13.441696233347438,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4c8d222d98115a86",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3eaee893ba995c48": {
    "vx_ego": [
      1.8169995525922138,
      2.290012334015899,
      2.798895162259475,
      3.341629751774288,
      3.8674917015271255,
      4.333229769259573,
      4.755188849474464,
      5.120809732523451,
      5.364653237788677,
      5.5474673338244
    ],
    "vy_ego": [
      0.042456731672273734,
      -0.0019355305858389169,
      -0.005740283597590615,
      0.02369105575833698,
      0.026120065719547406,
      0.006140174756322919,
      0.006555039293561882,
      0.02210683579764794,
      0.04069074678328677,
      0.059202440241437615
    ],
    "v_ego": [
      1.8174955153134758,
      2.2900131519761175,
      2.7989010486573607,
      3.341713731615267,
      3.867579904696783,
      4.333234119562825,
      4.755193367541052,
      5.120857450554144,
      5.364807554664969,
      5.547783228351604
    ],
    "ax_ego": [
      0.9460199873154823,
      0.9461060628308,
      1.0893565167721977,
      1.0815301739307528,
      1.021301582365575,
      0.841734515444553,
      0.8471230644584832,
      0.6144263048081333,
      0.3574991810273126,
      0.3677958342480363
    ],
    "ay_ego": [
      -0.09304165908706422,
      -0.09216228454679846,
      0.06972951505871201,
      0.06447017344687196,
      0.017567246225560256,
      0.15745276644236356,
      0.29126692774292345,
      0.34077103342649195,
      0.3594533239039308,
      0.3489105549231534
    ],
    "a_ego": [
      0.9505843290976654,
      0.9505843301980539,
      1.0915859223645101,
      1.0834500082546283,
      1.0214526568972135,
      0.8563342619275665,
      0.8957979177997305,
      0.7025984495163197,
      0.5069638611388226,
      0.5069638557402212
    ],
    "yaw": [
      -3.11874960140078,
      -3.119679103260869,
      -3.1203929007289126,
      -3.1190518862640433,
      -3.114046389069279,
      -3.0985875943951777,
      -3.073990138406935,
      -3.045311771531267,
      -3.0156501167832555,
      -2.9865805105971024
    ],
    "yaw_diff": [
      -0.0018590037201775544,
      -0.0014275949360875728,
      0.002682028929738678,
      0.01001099438952835,
      0.030917589348202767,
      0.0491949119764854,
      0.05735673375133565,
      0.05932330949602349,
      0.058139212372306126,
      0.058139212372306126
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9237579072933597,
    "v_std": 1.253745702736707,
    "vy_max": 0.059202440241437615,
    "a_max": 1.0915859223645101,
    "ax_avg": 0.8112893223201327,
    "a_std": 0.20524758094020315,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "3eaee893ba995c48",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.698613835257948,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "3eaee893ba995c48",
    "pedestrians": "No"
  },
  "2a9a3fe02d46551c": {
    "vx_ego": [
      6.241986101225843,
      6.244108267149273,
      6.2683957728557065,
      6.32384946904169,
      6.423876069514755,
      6.5239437502719815,
      6.6002380288568405,
      6.665598959484281,
      6.707069238121959,
      6.737674289977246
    ],
    "vy_ego": [
      0.0149557357341088,
      -0.0018867495256855715,
      -0.008092585103716354,
      -0.018433340997332737,
      -0.032413962239703956,
      -0.03465764315203297,
      -0.020957385454276167,
      -0.020491116365509238,
      -0.016658914715923206,
      0.002181555118591666
    ],
    "v_ego": [
      6.242004018096107,
      6.244108552203883,
      6.268400996672832,
      6.323876334587765,
      6.42395784710893,
      6.524035806840862,
      6.600271301209755,
      6.6656304558929635,
      6.707089926667257,
      6.737674643154204
    ],
    "ax_ego": [
      -0.01715795516782076,
      0.024101754864288866,
      0.0754390359878266,
      0.14482316750556024,
      0.2536810866414205,
      0.1489621111072616,
      0.15650773901621542,
      0.1051282067847995,
      0.06111049005745653,
      0.06141168710407739
    ],
    "ay_ego": [
      0.7009161165748654,
      0.7007117115102274,
      0.7422344663352641,
      0.5788100474522078,
      0.2869758027674537,
      0.24591011470655158,
      0.08010453919948922,
      0.01914820474467827,
      0.08531484318403247,
      0.08509829028326511
    ],
    "a_ego": [
      0.7011260927250755,
      0.7011260922509804,
      0.7460583430045983,
      0.5966530154771452,
      0.38302637649853355,
      0.2875091216996802,
      0.17581640871184437,
      0.10685781958626933,
      0.10494338694066695,
      0.10494338627137947
    ],
    "yaw": [
      1.3506151724732687,
      1.4094721634094904,
      1.468167638395882,
      1.5223261046502987,
      1.5585513605825914,
      1.5794331614008672,
      1.5897671464360625,
      1.5934342106120234,
      1.5967641694512231,
      1.600299070930717
    ],
    "yaw_diff": [
      0.11771398187244353,
      0.11739094997278299,
      0.10831693250883356,
      0.07245051186458529,
      0.041763601636551684,
      0.020667970070390673,
      0.007334128351921709,
      0.006659917678399463,
      0.0070698029589877365,
      0.0070698029589877365
    ],
    "min_front_frame": [
      9,
      70.0020024383836
    ],
    "v_avg": 6.4737049882434565,
    "v_std": 0.18788536709368647,
    "vy_max": 0.03465764315203297,
    "a_max": 0.7460583430045983,
    "ax_avg": 0.10140073239010858,
    "a_std": 0.2573299572918905,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "2a9a3fe02d46551c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      70.04943884955959,
      70.0020024383836
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2a9a3fe02d46551c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2b201c0ffa245b8b": {
    "vx_ego": [
      6.463797402127723,
      6.638485343855628,
      6.964011209318279,
      7.349084042391398,
      7.480092959734408,
      7.4229079126016035,
      7.339794280911363,
      7.185541253158888,
      6.937740894810327,
      6.66587363416403
    ],
    "vy_ego": [
      -0.012701942566697433,
      -0.012017725653104883,
      -0.007241594293406539,
      -0.01586581743550841,
      0.004658085790226529,
      0.03758574672755177,
      0.07609801479372091,
      0.03940121214457282,
      -0.07725590841515473,
      -0.17009452477238796
    ],
    "v_ego": [
      6.4638098823447825,
      6.638496221759552,
      6.964014974438133,
      7.349101168598429,
      7.4800944101014855,
      7.423003069332557,
      7.340188757379112,
      7.185649278691987,
      6.938171026928397,
      6.668043450218416
    ],
    "ax_ego": [
      0.34855918493495763,
      0.3497109458220906,
      0.9518818269881791,
      0.5883102641319153,
      -0.06462388753916877,
      -0.16325907611781548,
      -0.16737405193925775,
      -0.4470428735409065,
      -0.5444515290894612,
      -0.5440192328741673
    ],
    "ay_ego": [
      -0.12380607520014042,
      -0.1205143593267034,
      -0.0596521084331329,
      -0.10967077695297106,
      -0.07638459283433771,
      -0.08315311462031043,
      -0.03038631661548366,
      -0.3184078821036147,
      -0.21270198239197988,
      -0.2138052286480404
    ],
    "a_ego": [
      0.3698938356596185,
      0.36989384481457244,
      0.9537491214102753,
      0.5984451906402393,
      0.10005424960061761,
      0.18321562817047335,
      0.17010996884375051,
      0.5488450693678685,
      0.584525107109464,
      0.5845251077021743
    ],
    "yaw": [
      -0.5314031390412532,
      -0.540831301046288,
      -0.5482380344043118,
      -0.5529181874550206,
      -0.5618610184304755,
      -0.5716162659368081,
      -0.5806785638935377,
      -0.5875988333678824,
      -0.5898777069285772,
      -0.5919048583339923
    ],
    "yaw_diff": [
      -0.018856324010069425,
      -0.014813466716047774,
      -0.009360306101417581,
      -0.017885661950909792,
      -0.01951049501266522,
      -0.018124595913459052,
      -0.01384053894868953,
      -0.004557747121389566,
      -0.00405430281083019,
      -0.00405430281083019
    ],
    "min_front_frame": [
      9,
      27.21620213578566
    ],
    "v_avg": 7.045057223979285,
    "v_std": 0.34564202508707703,
    "vy_max": 0.17009452477238796,
    "a_max": 0.9537491214102753,
    "ax_avg": 0.030769157077636566,
    "a_std": 0.2462593870921926,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2b201c0ffa245b8b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.5827780195243775,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      35.80661248088358,
      32.53085676955408,
      35.44644316418302,
      34.50072367943759,
      33.48642383517792,
      32.392650760924084,
      29.265869855242986,
      29.946961831009705,
      28.79999043737436,
      27.21620213578566
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2b201c0ffa245b8b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c15774bfb6655d18": {
    "vx_ego": [
      9.064440251977206,
      8.729436192117127,
      8.127853106221528,
      7.483154010700182,
      6.9299546939789405,
      6.157171169402254,
      5.294772599252819,
      4.443012345597027,
      3.6145783765195203,
      2.7966794233802306
    ],
    "vy_ego": [
      -0.030118952444482816,
      -0.031057898845158832,
      -0.01325934880229615,
      0.008476859472204418,
      0.008717678914276897,
      0.02252576005802298,
      0.01536779684396472,
      0.0012979093636797528,
      -0.005450541570444785,
      -0.007223378238298064
    ],
    "v_ego": [
      9.064490290852595,
      8.729491441391362,
      8.127863921513795,
      7.48315881195934,
      6.9299601772684385,
      6.157212374052443,
      5.294794901313769,
      4.443012535172088,
      3.6145824860426004,
      2.7966887517833574
    ],
    "ax_ego": [
      -0.6699295664614897,
      -0.6698845094577821,
      -1.7364975334302089,
      -0.842312601237802,
      -1.3705615229755939,
      -1.7206610204867478,
      -1.729087716470557,
      -1.6779597018639572,
      -1.6358179453070691,
      -1.6358056317895844
    ],
    "ay_ego": [
      0.026837730855513112,
      0.027939562160023752,
      0.023558281863073433,
      0.03855405646530916,
      0.06276414615582616,
      0.020312538465774417,
      -0.010043046607672398,
      -0.0437478450110456,
      -0.009904624985113908,
      -0.011764341823039273
    ],
    "a_ego": [
      0.6704669177645922,
      0.6704669083147856,
      1.7366573283908198,
      0.843194481406231,
      1.3719978958817136,
      1.7207809118657205,
      1.7291168826989485,
      1.678529902927705,
      1.6358479305194409,
      1.635847934477117
    ],
    "yaw": [
      -1.5572401377299383,
      -1.5555953835485865,
      -1.5561704950360047,
      -1.5569774017318632,
      -1.5535276372267566,
      -1.5524708972033219,
      -1.5507727494802839,
      -1.5506447977515494,
      -1.5523012208301181,
      -1.5534380981832148
    ],
    "yaw_diff": [
      0.003289508362703586,
      -0.0011502229748363568,
      -0.0016138133917169561,
      0.006899529010213179,
      0.002113480046869398,
      0.003396295446076003,
      0.0002559034574689534,
      -0.00331284615713745,
      -0.0022737547061932872,
      -0.0022737547061932872
    ],
    "min_front_frame": [
      9,
      12.706299180247061
    ],
    "v_avg": 6.264125569134978,
    "v_std": 2.0647917949801395,
    "vy_max": 0.031057898845158832,
    "a_max": 1.7366573283908198,
    "ax_avg": -1.368851774948079,
    "a_std": 0.43349819169649306,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c15774bfb6655d18",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.744655169802713,
    "right_rear_min": 49.333470106298016,
    "speed_mode": "decelerating",
    "front_frame": [
      37.72079301706969,
      34.39672397630879,
      30.925869919567464,
      27.625660666341012,
      24.191540987358362,
      21.115214402188126,
      18.370274205000978,
      16.08642941627538,
      14.16279983615332,
      12.706299180247061
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c15774bfb6655d18",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a28e9a19b6a05733": {
    "vx_ego": [
      3.8959279315852555,
      3.7613898560313648,
      3.687912163738722,
      3.6309100570240185,
      3.5987420403396704,
      3.6751510255612114,
      3.7380830840216905,
      3.6966745537596464,
      3.686415749782954,
      3.812640976363871
    ],
    "vy_ego": [
      -0.021790337308465357,
      -0.005525975125302507,
      0.005161351053404095,
      -0.009234182229688637,
      -0.00993496141990069,
      0.00109167185556025,
      -0.028866390246496065,
      -0.017099339365332256,
      -0.014019605447912031,
      0.02940496259767822
    ],
    "v_ego": [
      3.8959888689402318,
      3.7613939152203586,
      3.6879157754749117,
      3.6309217992569893,
      3.5987557539191997,
      3.6751511876970535,
      3.7381945390167934,
      3.6967141009037756,
      3.6864424082826432,
      3.8127543674454327
    ],
    "ax_ego": [
      -0.27483894826823047,
      -0.2651814607919539,
      -0.023328955237699123,
      -0.20491863583631179,
      0.07648365928023684,
      0.2324470192767023,
      0.02888389710310285,
      -0.2090603719587718,
      0.17040539222720738,
      0.33622163150627793
    ],
    "ay_ego": [
      -0.2510264606614991,
      -0.26120782285227095,
      -0.46912499463402096,
      -0.4774921334441353,
      -0.56072628352301,
      -0.6708430571421352,
      -0.9703885838905938,
      -0.9304551309967428,
      -1.089082386069525,
      -1.0498063873938681
    ],
    "a_ego": [
      0.3722240339330955,
      0.3722240371966566,
      0.4697046952531481,
      0.5196059899712925,
      0.5659184704269886,
      0.709973255895199,
      0.9708183574989993,
      0.9536524471324477,
      1.1023331807339367,
      1.102333178538008
    ],
    "yaw": [
      0.9117522223261774,
      0.8740493732654668,
      0.8217471177682889,
      0.7614036430884328,
      0.6891225376895334,
      0.6010183357358363,
      0.4991922927654752,
      0.3694142078873788,
      0.23024614380436573,
      0.07550668702843114
    ],
    "yaw_diff": [
      -0.07540569812142106,
      -0.10460451099435586,
      -0.12068694935971225,
      -0.14456221079779885,
      -0.17620840390739412,
      -0.20365208594072215,
      -0.2595561697561929,
      -0.2783361281660261,
      -0.3094789135518692,
      -0.3094789135518692
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7184232716157397,
    "v_std": 0.08302971935196111,
    "vy_max": 0.02940496259767822,
    "a_max": 1.1023331807339367,
    "ax_avg": -0.013288677269943983,
    "a_std": 0.2789317720973404,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "a28e9a19b6a05733",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.748438194971321,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a28e9a19b6a05733",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "86db74cc909e5437": {
    "vx_ego": [
      5.089205127327341,
      5.134910670251433,
      5.2633267233976095,
      5.405002722050881,
      5.529335562038192,
      5.686577145460205,
      5.879789084375032,
      6.063101146652958,
      6.145814792603696,
      6.127089435027917
    ],
    "vy_ego": [
      0.06518517357219844,
      0.036207275149816365,
      0.006560155413516622,
      0.0037187772973816813,
      -0.06997951323029694,
      -0.017346703170664224,
      -0.02227760481153984,
      -0.026636559669305004,
      0.0031020760834126193,
      0.02269378884872797
    ],
    "v_ego": [
      5.089622572929012,
      5.135038321009474,
      5.263330811650591,
      5.4050040013567076,
      5.529778376200276,
      5.686603603151993,
      5.879831287410542,
      6.0631596565532915,
      6.145815575484058,
      6.127131462020627
    ],
    "ax_ego": [
      -0.06573027048677227,
      0.21330403750447335,
      0.2710171211138024,
      0.2707753338911518,
      0.2202031309299427,
      0.40976159676050894,
      0.3638104345197327,
      0.3704307831050376,
      -0.03898621787183211,
      -0.03655995013209917
    ],
    "ay_ego": [
      1.6607683038420231,
      1.6483243698557781,
      1.4392619268060631,
      1.0563327424615185,
      0.6524479533986578,
      0.35884334507070414,
      0.25342075615701154,
      0.16626735737087028,
      0.1930200284605978,
      0.1934942487230953
    ],
    "a_ego": [
      1.6620685387506058,
      1.6620685427130129,
      1.464556306152247,
      1.0904852792404571,
      0.6886056569368616,
      0.5446770717418298,
      0.4433735579808839,
      0.4060342340233199,
      0.1969178929678051,
      0.19691788705594182
    ],
    "yaw": [
      1.926472513858798,
      2.0947215157802725,
      2.248799337303379,
      2.366159224814683,
      2.4576080584318274,
      2.493453187717241,
      2.5207444486220645,
      2.539047066118551,
      2.548807672429607,
      2.561362101356978
    ],
    "yaw_diff": [
      0.33649800384294926,
      0.3081556430462129,
      0.234719775022608,
      0.1828976672342888,
      0.07169025857082723,
      0.054582521809646956,
      0.0366052349929733,
      0.01952121262211204,
      0.025108857854741373,
      0.025108857854741373
    ],
    "min_front_frame": [
      4,
      21.517725897657222
    ],
    "v_avg": 5.632531566776657,
    "v_std": 0.38710424081737654,
    "vy_max": 0.06997951323029694,
    "a_max": 1.6620685427130129,
    "ax_avg": 0.1978025999333946,
    "a_std": 0.555616281348129,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "86db74cc909e5437",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      24.215603930064262,
      21.517725897657222,
      25.31211650626188,
      28.319917491136323,
      33.08166096921498,
      30.01376799522228,
      52.89578191791533
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7142857142857143,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2857142857142857,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "86db74cc909e5437",
    "pedestrians": "No"
  },
  "7a754395c711541c": {
    "vx_ego": [
      2.928174758047953,
      3.24112862520552,
      3.597903555141917,
      4.014646911868218,
      4.42145871770767,
      4.715647317827252,
      4.883435199535716,
      5.043408283248518,
      5.305544620043797,
      5.656748373700225
    ],
    "vy_ego": [
      -0.06372694456050576,
      0.023582261250616465,
      0.025957551745223517,
      0.022719146809304647,
      -0.014578006194338855,
      -0.03456608538880457,
      -0.07718473087546807,
      -0.0922660157815649,
      -0.08399899890496387,
      0.051590241383796975
    ],
    "v_ego": [
      2.928868132424573,
      3.24121441564305,
      3.597997191021062,
      4.0147111959149395,
      4.42148275023863,
      4.715774002259911,
      4.884045129884117,
      5.044252187312602,
      5.306209527251323,
      5.656983623484001
    ],
    "ax_ego": [
      0.5773549426154729,
      0.6795424016935696,
      0.7514113584297348,
      0.9173135859517128,
      0.7348193102056487,
      0.4889155272082987,
      0.2324811007543116,
      0.47032960705398885,
      0.6120851208833511,
      0.7954824551884097
    ],
    "ay_ego": [
      0.9207574072505791,
      0.8481480181263092,
      1.1005336477387508,
      1.317064088959947,
      1.6229348406327968,
      1.9054230162287158,
      1.9418080054878608,
      1.9003571006857651,
      1.5984567072880376,
      1.5155591987016488
    ],
    "a_ego": [
      1.0867993985871196,
      1.086799400234952,
      1.3325889611513297,
      1.6050302269426222,
      1.7815377951620637,
      1.9671490191440772,
      1.9556752778477005,
      1.957694319703249,
      1.7116401608635214,
      1.7116401553135414
    ],
    "yaw": [
      2.6529596246342613,
      2.7683688604800434,
      2.9102766984066415,
      3.070448985631276,
      -3.031128754584504,
      -2.83561985714803,
      -2.628476628441507,
      -2.4313702590568758,
      -2.263744232823637,
      -2.1460918217388807
    ],
    "yaw_diff": [
      0.23081847169156422,
      0.2838156758531962,
      0.320344574449269,
      0.3632151339276124,
      0.39101779487294763,
      0.4142864574130467,
      0.3942127387692622,
      0.33525205246647793,
      0.2353048221695122,
      0.2353048221695122
    ],
    "min_front_frame": [
      0,
      39.74927115805766
    ],
    "v_avg": 4.3811538155434215,
    "v_std": 0.8628948961755324,
    "vy_max": 0.0922660157815649,
    "a_max": 1.9671490191440772,
    "ax_avg": 0.6259735409984498,
    "a_std": 0.3227308254445006,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "7a754395c711541c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.619626715110362,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      39.74927115805766,
      49.202807054397276,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7a754395c711541c",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "54c95aa7df955414": {
    "vx_ego": [
      6.363754536714225,
      6.0789610042047295,
      5.79428419313559,
      5.455043705595662,
      4.919613725624078,
      4.172558655569755,
      3.312284019448005,
      2.4763114414355822,
      1.783810153000217,
      1.1663772830794037
    ],
    "vy_ego": [
      0.07471958122237865,
      0.013472556812102798,
      0.011995219351592645,
      -0.016364874721008782,
      -0.05162587481733105,
      -0.09382177701017591,
      -0.09391773579624929,
      -0.07430495471453136,
      -0.033401703613043954,
      0.011529769403588075
    ],
    "v_ego": [
      6.3641931789794794,
      6.078975933529334,
      5.794296609262271,
      5.455068252467927,
      4.919884596237952,
      4.173613333792606,
      3.313615241181107,
      2.477425999153133,
      1.7841228477184277,
      1.1664342682149695
    ],
    "ax_ego": [
      -0.5699461346909558,
      -0.5702384008863058,
      -0.5683344409501516,
      -0.7885685190951088,
      -1.3530015645960105,
      -1.6336311070174656,
      -1.8091709296954432,
      -1.535007731455014,
      -1.2348541115544829,
      -1.2348998357826166
    ],
    "ay_ego": [
      -0.05219258218369199,
      -0.04889605795404006,
      -0.03207021142717248,
      -0.11950436748840315,
      -0.0052217058141471595,
      -0.054331368985124695,
      -0.010606944406502894,
      0.08042189745825201,
      0.0886554611088951,
      0.08801626527398843
    ],
    "a_ego": [
      0.5723309026115596,
      0.572330899330812,
      0.5692385574002388,
      0.7975723184493406,
      1.3530116407521635,
      1.634534334748251,
      1.8092020230269248,
      1.5371130138078506,
      1.2380324986071416,
      1.2380324985107276
    ],
    "yaw": [
      2.2070221090879807,
      2.2128045368405242,
      2.209643654047702,
      2.2079569548008573,
      2.2087328337165473,
      2.214693665000028,
      2.2104064607427327,
      2.2096515572791002,
      2.210304393390108,
      2.20978677450844
    ],
    "yaw_diff": [
      0.011564855505087124,
      -0.0063217655856444566,
      -0.00337339849368945,
      0.0015517578313799518,
      0.011921662566961366,
      -0.00857440851459046,
      -0.0015098069272649894,
      0.001305672222015275,
      -0.0010352377633360277,
      -0.0010352377633360277
    ],
    "min_front_frame": [
      9,
      9.32239959748569
    ],
    "v_avg": 4.152763026053721,
    "v_std": 1.7781957157578743,
    "vy_max": 0.09391773579624929,
    "a_max": 1.8092020230269248,
    "ax_avg": -1.1297652775723557,
    "a_std": 0.44739165605155545,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "54c95aa7df955414",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      28.16587783903625,
      25.090106772635195,
      22.10782953834358,
      19.279031389911832,
      16.672303883785613,
      14.42671347374386,
      12.550666809576347,
      11.128880857908188,
      10.119844244583009,
      9.32239959748569
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "54c95aa7df955414",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c46b2546f3565375": {
    "vx_ego": [
      4.55653328316806,
      4.257335927099168,
      4.074182283756306,
      4.091818979348187,
      4.211929135150118,
      4.314576777179666,
      4.407729089267282,
      4.48312869018532,
      4.5279986587046706,
      4.579246387551664
    ],
    "vy_ego": [
      -0.145280631108208,
      -0.08659859801665926,
      -0.020538812272584916,
      0.013849061957419195,
      -0.0018072568046674231,
      -0.009627629491214693,
      -0.013066989586586586,
      0.002837734174023887,
      -0.010993905767325618,
      -0.03793480048113351
    ],
    "v_ego": [
      4.558848760640508,
      4.258216588355715,
      4.074234053669882,
      4.091842415864905,
      4.211929522879458,
      4.314587518804978,
      4.40774845818019,
      4.483129588300788,
      4.528012005195582,
      4.579403512139164
    ],
    "ax_ego": [
      -0.6218077689631076,
      -0.527126621376793,
      -0.1949383814090401,
      0.2595607672142604,
      0.2153311775516876,
      0.1990396019731734,
      0.1768566832783458,
      0.13167233147676252,
      0.05804539947266324,
      0.1568268224043529
    ],
    "ay_ego": [
      0.944899162703914,
      1.0008081013393189,
      0.7989399052546313,
      0.6236905472004819,
      0.5187122270717968,
      0.5864732255763262,
      0.5919511525477827,
      0.7448681334955349,
      0.9264055602290878,
      0.9148780675070248
    ],
    "a_ego": [
      1.1311407203444828,
      1.1311407209850264,
      0.8223782248787085,
      0.6755454762960759,
      0.5616314543716188,
      0.6193283519035276,
      0.6178061616905949,
      0.7564166439031127,
      0.928222241935255,
      0.9282222420470405
    ],
    "yaw": [
      -0.3926695622524981,
      -0.295423154094545,
      -0.20241187418433476,
      -0.12265916125190567,
      -0.05022805162915082,
      0.016358696673070047,
      0.0846297203696729,
      0.1561100751316014,
      0.2516458360682451,
      0.35883933514645416
    ],
    "yaw_diff": [
      0.1944928163159062,
      0.18602255982042049,
      0.1595054258648582,
      0.14486221924550968,
      0.13317349660444172,
      0.1365420473932057,
      0.14296070952385703,
      0.19107152187328735,
      0.21438699815641815,
      0.21438699815641815
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.350795242403118,
    "v_std": 0.17900223136226584,
    "vy_max": 0.145280631108208,
    "a_max": 1.1311407209850264,
    "ax_avg": -0.01465399883776947,
    "a_std": 0.19742928700422196,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "c46b2546f3565375",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "c46b2546f3565375",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "d551f73a1e4251aa": {
    "vx_ego": [
      4.242780807249323,
      4.5651359704446905,
      4.863812829587581,
      5.145460218406858,
      5.431129855551174,
      5.701171023051101,
      5.91612183919987,
      6.012811519573857,
      6.020048677294003,
      6.014581222032817
    ],
    "vy_ego": [
      -0.035605630201681726,
      -0.02661854167129607,
      -0.01456546240293688,
      -0.016437806737731542,
      -0.02248388846680205,
      -0.03408208267770019,
      -0.04491482751716991,
      -0.04999582406488512,
      -0.03811097632876198,
      -0.011802739584358124
    ],
    "v_ego": [
      4.242930206739827,
      4.565213573909625,
      4.863834638837526,
      5.145486474639488,
      5.431176394953482,
      5.701272894927692,
      5.9162923320259075,
      6.013019370694227,
      6.020169310202664,
      6.014592802600311
    ],
    "ax_ego": [
      0.6441088570813555,
      0.6444192392546602,
      0.5503210211069638,
      0.5746154466954859,
      0.567025255807724,
      0.5122942687616288,
      0.3461040767593106,
      0.03857726026697936,
      -0.011525947832737535,
      -0.011156399812027668
    ],
    "ay_ego": [
      -0.04633434571940749,
      -0.041796360788827924,
      -0.21066024747744622,
      -0.14432921651158306,
      -0.10471695189793388,
      -0.12184531104720117,
      -0.1459726422499841,
      -0.1207780742634944,
      -0.04533560808880018,
      -0.045427960071976164
    ],
    "a_ego": [
      0.6457732507342616,
      0.6457732509919754,
      0.5892630704018963,
      0.5924642050958862,
      0.5766136321130546,
      0.5265849386663096,
      0.3756275339147233,
      0.12678938533057266,
      0.04677782417154812,
      0.046777823945400365
    ],
    "yaw": [
      0.17107227487639803,
      0.1640286319823948,
      0.14812472110145497,
      0.13075571070052028,
      0.12012755038317227,
      0.11204533390251566,
      0.10241807973673092,
      0.09215536263820773,
      0.08328675217888232,
      0.07514371252490731
    ],
    "yaw_diff": [
      -0.014087285788006443,
      -0.031807821761879684,
      -0.034738020801869385,
      -0.021256320634696013,
      -0.01616443296131323,
      -0.01925450833156947,
      -0.02052543419704639,
      -0.01773722091865082,
      -0.016286079307950008,
      -0.016286079307950008
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.391398799953075,
    "v_std": 0.6231862994675178,
    "vy_max": 0.04999582406488512,
    "a_max": 0.6457732509919754,
    "ax_avg": 0.3854783078089343,
    "a_std": 0.2372096597584982,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d551f73a1e4251aa",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.9393091874633575,
    "right_rear_min": 8.376685632225367,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d551f73a1e4251aa",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "69792eb6a5415c5f": {
    "vx_ego": [
      3.5305489805616284,
      3.2230561160519353,
      2.8909601073447933,
      2.4898965577974543,
      2.099529231962307,
      1.882754941450153,
      1.829377131866871,
      1.8174675588306224,
      1.8471226889350432,
      1.921727179186648
    ],
    "vy_ego": [
      -0.005430471303418338,
      -0.00067481230570543,
      0.016088041241484108,
      0.0008360376620235588,
      -0.006438527285704154,
      0.004616654508803331,
      -0.007794898466738309,
      -0.006972342287723032,
      0.013812551661650962,
      0.03702097163767748
    ],
    "v_ego": [
      3.530553156966105,
      3.2230561866947705,
      2.891004871550722,
      2.4898966981564885,
      2.0995391043030955,
      1.8827606016309728,
      1.829393738657582,
      1.8174809327634551,
      1.8471743324770487,
      1.9220837399982522
    ],
    "ax_ego": [
      -0.6149873771447968,
      -0.614972167756678,
      -0.7133919705384069,
      -0.8909270437955117,
      -0.6706270943464189,
      -0.19645121482257752,
      -0.017045532926123926,
      -0.03073208632086187,
      0.14937087813469685,
      0.14928327452590412
    ],
    "ay_ego": [
      0.01565734200503416,
      0.016243693518369823,
      0.03842331627702694,
      -0.09234506938493475,
      0.0541377315270099,
      -0.014658041060907553,
      -0.046254490458981196,
      0.03505420141321684,
      0.03747245179981458,
      0.037819956249215005
    ],
    "a_ego": [
      0.615186659808305,
      0.6151866584171558,
      0.7144259617779827,
      0.8957000665434373,
      0.6728087348172668,
      0.1969973044815836,
      0.04929531499397846,
      0.04661821710824299,
      0.15399949311156802,
      0.15399949721953313
    ],
    "yaw": [
      1.085482999704522,
      1.086436446710028,
      1.0854277186666503,
      1.0860808015848717,
      1.0850763498774036,
      1.0844628212927085,
      1.0829267631128463,
      1.080941907357459,
      1.079475858680702,
      1.0771487344893165
    ],
    "yaw_diff": [
      0.0019068940110122945,
      -0.0020174560867554092,
      0.0013061658364428297,
      -0.002008903414936203,
      -0.0012270571693902,
      -0.003072116359724486,
      -0.00396971151077441,
      -0.0029320973535140737,
      -0.004654248382771176,
      -0.004654248382771176
    ],
    "min_front_frame": [
      7,
      11.64793572482573
    ],
    "v_avg": 2.3532943363198493,
    "v_std": 0.6115291016543865,
    "vy_max": 0.03702097163767748,
    "a_max": 0.8957000665434373,
    "ax_avg": -0.3450480334990774,
    "a_std": 0.3033855504761373,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "69792eb6a5415c5f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.539188602214118,
      15.315893416367086,
      14.163418873874702,
      13.184400111024296,
      12.440031495498094,
      11.939533290201195,
      11.664057497912573,
      11.64793572482573,
      11.840200795763671,
      12.302545811766596
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "69792eb6a5415c5f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "96bf2644106456f6": {
    "vx_ego": [
      6.391018961262317,
      5.693299833866473,
      5.03267269763939,
      4.4125485650420595,
      3.8032844581453333,
      3.172059764595429,
      2.5527845190805296,
      1.987001413233026,
      1.473019599215895,
      0.9985375507812579
    ],
    "vy_ego": [
      -0.05077579539729402,
      -0.014489622761754209,
      0.01669105315529687,
      0.008273015538451722,
      0.005860217150117253,
      0.007675579781588039,
      -0.018192442762071107,
      -0.024437102483700582,
      0.005574792578889945,
      0.05049585438368122
    ],
    "v_ego": [
      6.391220661549145,
      5.693318272103869,
      5.032700375824133,
      4.412556320506384,
      3.8032889729436663,
      3.1720690510596063,
      2.552849342564277,
      1.9871516771922173,
      1.4730301483630446,
      0.9998135184273971
    ],
    "ax_ego": [
      -1.3954055904095592,
      -1.3952490579137315,
      -1.2472876343430999,
      -1.2332276793854946,
      -1.203883808178593,
      -1.3210166142960675,
      -1.1560850108199714,
      -1.1070654507352813,
      -0.9488976701998121,
      -0.9489560752374224
    ],
    "ay_ego": [
      0.09175313011454214,
      0.09410356105532355,
      0.056644156613846475,
      -0.0874054611209104,
      0.05722929284065317,
      -0.049678711569360906,
      -0.05419208188563038,
      0.027919232742020152,
      0.08851982719779117,
      0.08789154078072378
    ],
    "a_ego": [
      1.39841889240387,
      1.3984188978315648,
      1.2485731869873309,
      1.2363212462124442,
      1.2052433013933876,
      1.321950403619378,
      1.1573544547724834,
      1.1074174442226448,
      0.9530176012633546,
      0.9530176051211342
    ],
    "yaw": [
      -1.5545378782292119,
      -1.5528533758827279,
      -1.5516360001849772,
      -1.5514818516729088,
      -1.5527320786003096,
      -1.5527114397994815,
      -1.5527465143097476,
      -1.5528894405834577,
      -1.5534169274777925,
      -1.554079032204962
    ],
    "yaw_diff": [
      0.0033690046929679696,
      0.002434751395501422,
      0.0003082970241368166,
      -0.0025004538548016875,
      4.127760165628658e-05,
      -7.014902053237293e-05,
      -0.0002858525474200846,
      -0.0010549737886695887,
      -0.001324209454339087,
      -0.001324209454339087
    ],
    "min_front_frame": [
      9,
      10.02178316140291
    ],
    "v_avg": 3.551799834053374,
    "v_std": 1.734063601911716,
    "vy_max": 0.05077579539729402,
    "a_max": 1.3984188978315648,
    "ax_avg": -1.1957074591519032,
    "a_std": 0.15154794696348645,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "96bf2644106456f6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.224878602709015,
    "right_rear_min": 3.4676324436609116,
    "speed_mode": "decelerating",
    "front_frame": [
      21.31618507670388,
      19.8504627328955,
      18.484437753397486,
      17.126932286961097,
      15.64714754715245,
      14.066757781566277,
      12.62749639974191,
      11.511490158985781,
      10.664240420901606,
      10.02178316140291
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "96bf2644106456f6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dbd94883f7865af6": {
    "vx_ego": [
      4.309512429062035,
      4.901885542150184,
      5.425210605315298,
      5.699296546418866,
      5.874267436742466,
      6.190707691089086,
      6.401792229387737,
      6.451315874816556,
      6.537757854724963,
      6.725856136283756
    ],
    "vy_ego": [
      -0.0009632982867842643,
      0.03964789132141516,
      0.04033294503105911,
      -0.02369494746512081,
      -0.0026519347204850274,
      -0.008926708878666978,
      -0.019776188513576765,
      -0.006820316654542413,
      -0.0043217135299418175,
      -0.0854455290004319
    ],
    "v_ego": [
      4.309512536724281,
      4.902045881428206,
      5.425360527972354,
      5.699345802331824,
      5.874268035349653,
      6.190714127032598,
      6.401822775263412,
      6.451319480027274,
      6.537759283135605,
      6.726398865991521
    ],
    "ax_ego": [
      1.1843139801163596,
      1.1848343875658551,
      0.9092148563606518,
      0.19067425950686218,
      0.5189704605607172,
      0.7582200829185929,
      0.10546763611602294,
      0.10686957249845014,
      0.2586116168849135,
      0.515852186983987
    ],
    "ay_ego": [
      0.12342883553509179,
      0.1183289836412762,
      0.4897089969057877,
      0.669526096581037,
      0.8720105944987845,
      1.100457308188648,
      1.3772477108202847,
      1.5275190629845226,
      1.7915667436506428,
      1.7350757593276045
    ],
    "a_ego": [
      1.1907284665030067,
      1.1907284637263578,
      1.0327083599339135,
      0.6961478774237054,
      1.014757515790214,
      1.336377185261288,
      1.3812800871755215,
      1.5312529488321371,
      1.8101357311933262,
      1.8101357323202107
    ],
    "yaw": [
      1.4640581889579312,
      1.4683634018645069,
      1.4974733942161103,
      1.5600559702167955,
      1.6234453398151327,
      1.706593566953166,
      1.8053359548492691,
      1.9162078883564138,
      2.0437874774576654,
      2.1894136971753975
    ],
    "yaw_diff": [
      0.008610425813151412,
      0.05821998470320677,
      0.12516515200137057,
      0.12677873919667437,
      0.16629645427606654,
      0.19748477579220625,
      0.22174386701428928,
      0.25515917820250333,
      0.2912524394354641,
      0.2912524394354641
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.851854731525672,
    "v_std": 0.741522484738322,
    "vy_max": 0.0854455290004319,
    "a_max": 1.8101357323202107,
    "ax_avg": 0.5733029039512412,
    "a_std": 0.335142853554253,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "dbd94883f7865af6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.106176278801474,
    "right_rear_min": 7.80260151222973,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "dbd94883f7865af6",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "116a7c91c85d5b5d": {
    "vx_ego": [
      13.705457617267426,
      13.79731503842325,
      13.844651475911485,
      13.869761771011792,
      13.890228689300129,
      13.871883243956955,
      13.823539341761716,
      13.85984608466198,
      13.924527949293914,
      13.914471030163437
    ],
    "vy_ego": [
      -0.01748240776665355,
      0.028536527010544432,
      -0.007849962605838812,
      -0.00746527747641057,
      -0.03337749243484467,
      -0.03290705843160424,
      0.013053474328156511,
      0.01030177467984128,
      0.013921482695113063,
      -0.004321850931423121
    ],
    "v_ego": [
      13.705468767367828,
      13.797344548965725,
      13.844653701388525,
      13.869763780071668,
      13.890268791425802,
      13.87192227517399,
      13.823545504913925,
      13.859849913223503,
      13.924534908511228,
      13.91447170134939
    ],
    "ax_ego": [
      0.18273953098184292,
      0.18454047558712444,
      0.0038944656951169776,
      0.09672405608198263,
      -0.014246044928936205,
      -0.058114096853536676,
      -0.13487512088926085,
      0.27953941727501663,
      -0.02129963387604368,
      -0.01911043113309338
    ],
    "ay_ego": [
      0.27388607448797375,
      0.2726758652929011,
      0.18941450371560778,
      0.1813499521165395,
      0.16779881545025746,
      0.2070017979848403,
      0.2724731828706161,
      0.2494048980374903,
      0.22920215380520736,
      0.22939505961741397
    ],
    "a_ego": [
      0.3292526658690797,
      0.32925266079889837,
      0.1894545356566594,
      0.20553186652590322,
      0.16840247107042947,
      0.21500463395484962,
      0.3040278500705765,
      0.374626599396715,
      0.23018970809356235,
      0.23018970862088864
    ],
    "yaw": [
      -2.006126075463827,
      -1.9995359976440683,
      -1.9885628438433187,
      -1.9818960279233737,
      -1.9737486356908573,
      -1.9670349854986842,
      -1.9617014788085618,
      -1.9520407654488647,
      -1.9437110370362127,
      -1.9341636936928652
    ],
    "yaw_diff": [
      0.013180155639517022,
      0.021946307601499182,
      0.013333631839890003,
      0.01629478446503274,
      0.013427300384346363,
      0.010667013380244672,
      0.019321426719394186,
      0.01665945682530401,
      0.019094686686695006,
      0.019094686686695006
    ],
    "min_front_frame": [
      0,
      27.810667141564757
    ],
    "v_avg": 13.85018238923916,
    "v_std": 0.06057376218887799,
    "vy_max": 0.03337749243484467,
    "a_max": 0.374626599396715,
    "ax_avg": 0.049979261794021276,
    "a_std": 0.0668932623564635,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "116a7c91c85d5b5d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 44.737024687590925,
    "right_rear_min": 4.050908554151532,
    "speed_mode": "quasi_constant",
    "front_frame": [
      27.810667141564757,
      28.011252545682634,
      27.967352652019464,
      27.909551352795734,
      27.838152203084295,
      27.880190892508356,
      27.900152959114873,
      27.926400666540324,
      27.93421163216391,
      27.897225483200437
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "116a7c91c85d5b5d",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "e46762b07ca45b74": {
    "vx_ego": [
      6.698685202270762,
      6.414125085334661,
      6.150244677516126,
      5.904944517710462,
      5.631656055670161,
      5.4277649454863806,
      5.307403916134023,
      5.19397644603955,
      5.107470361170436,
      5.02687413453991
    ],
    "vy_ego": [
      -0.06429810737044717,
      0.0014336453790477766,
      0.006586832237215123,
      0.04643001440766775,
      0.054743415299749965,
      0.03894782146091303,
      0.03234971264037728,
      0.025390434634343317,
      0.01308571496144495,
      -0.004291396946461412
    ],
    "v_ego": [
      6.698993781586359,
      6.414125245554413,
      6.150248204721038,
      5.905127052272181,
      5.631922120456308,
      5.427904681941948,
      5.307502504276628,
      5.194038505458403,
      5.107487124425329,
      5.02687596630294
    ],
    "ax_ego": [
      -0.5767460049608233,
      -0.5568539515317257,
      -0.4967440570065634,
      -0.4921112566398421,
      -0.612739747701356,
      -0.2111177076462484,
      -0.2763950060129651,
      -0.18216532475462338,
      -0.166670002911694,
      -0.15621814201308437
    ],
    "ay_ego": [
      0.5708638616738428,
      0.5902839814930101,
      0.6985072128362264,
      0.58111271195564,
      0.43539868117188935,
      0.41009434655721344,
      0.37279311948459926,
      0.3227135312641183,
      0.305767521488285,
      0.3112371442168448
    ],
    "a_ego": [
      0.8114933781636436,
      0.811493377757168,
      0.8571271694186186,
      0.7614889841015976,
      0.751679459596537,
      0.4612462027594316,
      0.4640785593883494,
      0.37057823573965387,
      0.3482422534209095,
      0.34824225452158625
    ],
    "yaw": [
      -1.7748465570727179,
      -1.7405871686184513,
      -1.6900702286767624,
      -1.643610845577611,
      -1.6011136380165008,
      -1.5596616805053123,
      -1.5220304063894967,
      -1.4875159867317498,
      -1.4546131467353143,
      -1.420737029033549
    ],
    "yaw_diff": [
      0.06851877690853314,
      0.10103387988337786,
      0.09291876619830264,
      0.08499441512222061,
      0.08290391502237693,
      0.07526254823163114,
      0.06902883931549386,
      0.06580567999287101,
      0.06775223540353048,
      0.06775223540353048
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.686422518699555,
    "v_std": 0.5517073287344155,
    "vy_max": 0.06429810737044717,
    "a_max": 0.8571271694186186,
    "ax_avg": -0.3727761201178926,
    "a_std": 0.2053688437544453,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "e46762b07ca45b74",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e46762b07ca45b74",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c9b12b21fa7c57fd": {
    "vx_ego": [
      3.8999293723011195,
      3.8256716175243612,
      3.6675781295707974,
      3.3699146230318537,
      3.0045844930318406,
      2.6306506368090794,
      2.229363194469853,
      1.777935370935799,
      1.2760368184548763,
      0.7430626060157886
    ],
    "vy_ego": [
      0.015694180194240515,
      -0.008141072647438019,
      -0.0218481207588328,
      -0.012489595524233232,
      0.0002187288944111021,
      0.016947627194325188,
      0.034271452859399254,
      0.018586438252843673,
      -0.003956798625422864,
      -0.0047474446578488205
    ],
    "v_ego": [
      3.899960950603092,
      3.8256802796620777,
      3.667643204686999,
      3.3699377674551023,
      3.0045845009933956,
      2.6307052276930483,
      2.2296266022224263,
      1.7780325190815673,
      1.2760429531594166,
      0.7430777716294267
    ],
    "ax_ego": [
      -0.14853826969049136,
      -0.14847592404808335,
      -0.48395772748185506,
      -0.7068101268947062,
      -0.7545253764407424,
      -0.7411872925908798,
      -0.8638742592140676,
      -0.9416474272150843,
      -1.0659563753868184,
      -1.0659538676590714
    ],
    "ay_ego": [
      -0.0561544646973267,
      -0.05631913508020423,
      -0.009345515057082504,
      0.02832986443617641,
      0.010115270147971422,
      0.04261662355950668,
      0.019120533063221923,
      -0.09134885780670854,
      -0.0027534540269230634,
      -0.0035942151639489772
    ],
    "a_ego": [
      0.15879843030738197,
      0.15879844142218308,
      0.4840479528322412,
      0.70737764786561,
      0.7545931767404277,
      0.742411462264566,
      0.8640858351560196,
      0.946067910354948,
      1.065959931581334,
      1.0659599271829958
    ],
    "yaw": [
      1.1207983430571136,
      1.1196895219048737,
      1.1189744445756458,
      1.1176739222570418,
      1.1167040405687882,
      1.115444812552147,
      1.1146721048462032,
      1.113493948814211,
      1.1128571096477637,
      1.1120683695878728
    ],
    "yaw_diff": [
      -0.002217642304479739,
      -0.0014301546584558622,
      -0.0026010446372080054,
      -0.001939763376507031,
      -0.00251845603328249,
      -0.001545415411887685,
      -0.002356312063984234,
      -0.001273678332894601,
      -0.001577480119781871,
      -0.001577480119781871
    ],
    "min_front_frame": [
      9,
      10.393326692778619
    ],
    "v_avg": 2.6425291777186555,
    "v_std": 1.0528642047650427,
    "vy_max": 0.034271452859399254,
    "a_max": 1.065959931581334,
    "ax_avg": -0.69209266466218,
    "a_std": 0.31501185589560105,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c9b12b21fa7c57fd",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.909033619569852,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.807058755026286,
      18.189417904204234,
      17.32477263419191,
      16.25334944049632,
      15.122348291537472,
      13.82577259925411,
      12.614888101584926,
      11.627868044826947,
      10.848313573431296,
      10.393326692778619
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c9b12b21fa7c57fd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c08100986326547c": {
    "vx_ego": [
      5.109409410118558,
      4.790979789846088,
      4.375713826331387,
      3.8523034561820144,
      3.264053663008432,
      2.729297270385465,
      2.2956539812211276,
      1.6806585996455823,
      0.9251384337607271,
      0.2045817889743858
    ],
    "vy_ego": [
      -0.01902457573416505,
      -0.008479607572295988,
      0.002605077347422796,
      0.00495635218987156,
      -0.026146041637520864,
      -0.04011149094056243,
      -0.01282430643539536,
      -0.01387274157401798,
      -0.010380561351736038,
      0.019791688633336836
    ],
    "v_ego": [
      5.109444828422158,
      4.790987293915341,
      4.375714601796562,
      3.852306644588268,
      3.264158380117618,
      2.7295920064799106,
      2.295689801417422,
      1.6807158538912605,
      0.9251966697277009,
      0.2055369050047195
    ],
    "ax_ego": [
      -0.6372585294281572,
      -0.6368560652410352,
      -1.02440425748407,
      -1.0691570042523437,
      -1.2837934659770032,
      -0.8559632897061508,
      -0.8788914362376661,
      -1.5811205068657312,
      -1.4411057879789755,
      -1.441117194625783
    ],
    "ay_ego": [
      -0.051054266729517045,
      -0.055850880574056044,
      -0.017478787475382923,
      -0.032073076490435254,
      -0.14391203788654136,
      0.05058506707746087,
      0.028723971095488514,
      -0.05340632316500104,
      0.060266893872222185,
      0.05999357953528402
    ],
    "a_ego": [
      0.6393003765681874,
      0.6393003743899976,
      1.024553361598652,
      1.0696379677149683,
      1.291834485502653,
      0.8574567058084082,
      0.8793606900512451,
      1.5820222162110593,
      1.4423654150885308,
      1.4423654177189438
    ],
    "yaw": [
      -3.0849412712037703,
      -3.0924705630601297,
      -3.098821672213365,
      -3.1023994999616633,
      -3.105996109856171,
      -3.1091784625152585,
      -3.11214423194945,
      -3.1146116280280105,
      -3.1159941122871535,
      -3.116183768975815
    ],
    "yaw_diff": [
      -0.015058583712718843,
      -0.01270221830647067,
      -0.00715565549659658,
      -0.007193219789015437,
      -0.006364705318175012,
      -0.005931538868383157,
      -0.004934792157120782,
      -0.002764968518286004,
      -0.0003793133773228874,
      -0.0003793133773228874
    ],
    "min_front_frame": [
      9,
      9.20642953109053
    ],
    "v_avg": 2.922934298536096,
    "v_std": 1.5719515108633084,
    "vy_max": 0.04011149094056243,
    "a_max": 1.5820222162110593,
    "ax_avg": -1.0849667537796914,
    "a_std": 0.32255978230671145,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c08100986326547c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.658886769709873,
      16.881076893228983,
      15.291382854139618,
      14.031968720094719,
      12.90274763790615,
      12.07977086380021,
      11.018207476329117,
      10.044919789550905,
      9.497846792591446,
      9.20642953109053
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c08100986326547c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f1ceb70bd72a5048": {
    "vx_ego": [
      -0.16516106280329823,
      -0.041015097959656174,
      0.2969629274862443,
      1.1647418366768407,
      2.3830120658658265,
      3.5773640123203743,
      4.629459813939047,
      5.484131769622362,
      6.071631581059998,
      6.556842790305913
    ],
    "vy_ego": [
      0.02491182109700786,
      0.011941164833494793,
      -0.0018195537782066673,
      0.01229885602058356,
      0.04345347123719612,
      0.05165783237656818,
      0.04350482409354539,
      0.03692347865751078,
      0.06899958637752235,
      0.17985026624391454
    ],
    "v_ego": [
      0.16702926538988414,
      0.04271802521443243,
      0.2969685018266284,
      1.1648067685091616,
      2.38340821308996,
      3.577736967454535,
      4.629664225253918,
      5.484256067130479,
      6.072023632945231,
      6.55930891901385
    ],
    "ax_ego": [
      0.2482903441807442,
      0.24828862341386454,
      1.1036272304241983,
      2.3674414157505845,
      2.5063840102038353,
      2.2761427079468026,
      1.9558659576227126,
      1.4843394846719902,
      0.9133502494988686,
      1.081856788004433
    ],
    "ay_ego": [
      -0.025946773601109585,
      -0.025963297120328382,
      -0.02909405035889495,
      0.08247530140543147,
      0.007083460524305307,
      -0.188267842233104,
      -0.7111155178184309,
      -0.9335553119352,
      -1.4119614929797897,
      -1.2874120744976454
    ],
    "a_ego": [
      0.2496424043981704,
      0.24964241088827493,
      1.1040106555192628,
      2.36887758914492,
      2.506394019706091,
      2.283915586741006,
      2.081128761962985,
      1.75350769208428,
      1.6816194384929553,
      1.6816194454494153
    ],
    "yaw": [
      -0.5365563997088223,
      -0.5364898948634301,
      -0.5366615113513422,
      -0.5380110068610138,
      -0.5430009634501192,
      -0.5607808270431343,
      -0.6130666378561438,
      -0.692112082901726,
      -0.7977460611956921,
      -0.9224328896532277
    ],
    "yaw_diff": [
      0.0001330096907843359,
      -0.00034323297582417034,
      -0.002698991019343122,
      -0.009979913178210786,
      -0.03555972718603018,
      -0.10457162162601907,
      -0.1580908900911644,
      -0.2112679565879323,
      -0.24937365691507107,
      -0.24937365691507107
    ],
    "min_front_frame": [
      8,
      73.01663841788968
    ],
    "v_avg": 3.037792058582808,
    "v_std": 2.430608550412797,
    "vy_max": 0.17985026624391454,
    "a_max": 2.506394019706091,
    "ax_avg": 1.4185586811718036,
    "a_std": 0.7772783217803014,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f1ceb70bd72a5048",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      73.01663841788968,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f1ceb70bd72a5048",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c1b38e62a97d590d": {
    "vx_ego": [
      3.1444045353562275,
      2.8175013254916976,
      2.482462665872802,
      2.047722407119323,
      1.520515223010581,
      0.9708809319633768,
      0.42377859083048625,
      0.06281267841619986,
      -0.037743641065919084,
      -0.039962764098768915
    ],
    "vy_ego": [
      -0.06959150849836408,
      -0.034221431348454165,
      0.00959660071725154,
      0.02908124077463778,
      0.0007535054274632434,
      -0.024300774867327315,
      -0.013844573996469125,
      -0.007086820352136112,
      -0.007882540597823362,
      0.004006986096130762
    ],
    "v_ego": [
      3.1451745357013006,
      2.8177091449457676,
      2.4824812148730606,
      2.0479288989570774,
      1.5205154097138727,
      0.9711850038531421,
      0.42400467718577867,
      0.06321119831580786,
      0.03855796788199901,
      0.04016314793424986
    ],
    "ax_ego": [
      -0.6538455277604702,
      -0.6538831861097215,
      -0.6863090989637703,
      -1.0526027011485881,
      -1.0561960237158803,
      -1.1423544984555913,
      -1.0460711788303072,
      -0.3977923190133402,
      -0.004438604912136322,
      -0.004437536073352029
    ],
    "ay_ego": [
      0.0675929968830336,
      0.06722781232395521,
      0.10205140288962558,
      -0.027318136418993666,
      -0.08836951803874464,
      -0.01263676272445672,
      0.05405409871152529,
      -0.02694344614954553,
      0.023775484805097096,
      0.023775683361810598
    ],
    "a_ego": [
      0.657330044498194,
      0.657330053950727,
      0.6938549330747767,
      1.052957134475431,
      1.0598864147783178,
      1.1424243904582394,
      1.0474668284804745,
      0.3987037476076999,
      0.02418625418049359,
      0.024186253238634915
    ],
    "yaw": [
      1.5903034898834565,
      1.5897449862234072,
      1.5891804763909958,
      1.588833714778698,
      1.5885007607837072,
      1.5883437406311725,
      1.5881950924637516,
      1.5883177876812788,
      1.5882160013787003,
      1.5882606304649296
    ],
    "yaw_diff": [
      -0.001117007320098562,
      -0.0011290196648228168,
      -0.0006935232245957046,
      -0.0006659079899815623,
      -0.0003140403050694296,
      -0.0002972963348417679,
      0.00024539043505455993,
      -0.0002035726051570208,
      8.92581724585284e-05,
      8.92581724585284e-05
    ],
    "min_front_frame": [
      7,
      15.018810216104887
    ],
    "v_avg": 1.3550931199362055,
    "v_std": 1.151850799627511,
    "vy_max": 0.06959150849836408,
    "a_max": 1.1424243904582394,
    "ax_avg": -0.6697930674983158,
    "a_std": 0.39656474392031815,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c1b38e62a97d590d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.621508137734804,
      19.203158091120432,
      17.942607236606744,
      16.804037227128823,
      16.010398581146916,
      15.456326849001757,
      15.049418268487456,
      15.018810216104887,
      15.122933653474504,
      15.099771021379237
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c1b38e62a97d590d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1d16c78634695b4a": {
    "vx_ego": [
      3.4536721467278446,
      3.2562841069395745,
      3.267130924930047,
      3.518754535926218,
      4.031355482117212,
      4.738078239401447,
      5.534173463310371,
      6.331972279251489,
      7.1232903857011545,
      7.906652974104496
    ],
    "vy_ego": [
      0.018391622371738914,
      0.0155665141640845,
      0.019013489839688535,
      0.022518581121904857,
      0.020314394509210132,
      0.05071497035126882,
      0.01907201592675878,
      0.002988415918561582,
      0.020173519170471277,
      0.005381522671674244
    ],
    "v_ego": [
      3.4537211162537695,
      3.256321314224148,
      3.267186250189932,
      3.518826590015069,
      4.031406664902559,
      4.738349650554214,
      5.53420632645732,
      6.3319729844527135,
      7.123318951857921,
      7.906654805523113
    ],
    "ax_ego": [
      -0.605858641606271,
      -0.1529449303862962,
      0.22504215342311096,
      0.7917821036232265,
      1.240101764663026,
      1.58084987303453,
      1.5909422680881062,
      1.5987001941327226,
      1.5667265381834192,
      1.5667310183042913
    ],
    "ay_ego": [
      -1.6817126163510936,
      -1.7809631858548918,
      -1.845459818088163,
      -1.7552793259911226,
      -1.409346518607716,
      -1.0451399077985666,
      -0.36223563423866634,
      -0.07790538545977588,
      -0.03181861949277681,
      -0.031597221045963686
    ],
    "a_ego": [
      1.7875183964377643,
      1.7875183974161706,
      1.8591304179630075,
      1.9255971572138009,
      1.877261302065336,
      1.8950999308602399,
      1.6316592643997754,
      1.6005972509671635,
      1.5670496067433943,
      1.5670496061371602
    ],
    "yaw": [
      -1.6161872384383873,
      -1.8763080631414564,
      -2.157551705326642,
      -2.427916337229906,
      -2.639266193288889,
      -2.787314826498367,
      -2.849652839001749,
      -2.865490341163834,
      -2.872118150355975,
      -2.8722594630212956
    ],
    "yaw_diff": [
      -0.5202416494061382,
      -0.5624872843703717,
      -0.5407292638065275,
      -0.4226997121179661,
      -0.29609726641895584,
      -0.12467602500676378,
      -0.03167500432417025,
      -0.013255618384282464,
      -0.00028262533064093986,
      -0.00028262533064093986
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.916196465443076,
    "v_std": 1.6303671211715531,
    "vy_max": 0.05071497035126882,
    "a_max": 1.9255971572138009,
    "ax_avg": 0.9402072341459867,
    "a_std": 0.136409556994292,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "1d16c78634695b4a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "1d16c78634695b4a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "81ac4c9af9ea5562": {
    "vx_ego": [
      1.452500574203993,
      1.5345127537336705,
      1.6004859018211195,
      1.6105306675745292,
      1.5972450107501717,
      1.6043682096145149,
      1.6021809734720176,
      1.5809810993561833,
      1.5542420055468105,
      1.527463525302839
    ],
    "vy_ego": [
      -0.030417531436960354,
      -0.024549254271421406,
      0.0005699645541246134,
      0.0019696391850052564,
      -0.015884473260813436,
      0.010860482840197139,
      0.03850847422871628,
      0.03417340786426515,
      -0.013900617706640639,
      -0.09464784782934921
    ],
    "v_ego": [
      1.452819033562559,
      1.5347091116092897,
      1.6004860033089183,
      1.6105318719840902,
      1.5973239937023076,
      1.604404968238757,
      1.6026436829012136,
      1.5813503907504318,
      1.5543041655283556,
      1.5303930985956857
    ],
    "ax_ego": [
      0.16393401089471887,
      0.16392263088583048,
      0.099780415737425,
      -0.05942736964977651,
      0.006211682621922078,
      0.022297484553616964,
      -0.03104345407878903,
      -0.05396341103189707,
      -0.05326365758615727,
      -0.0535095094429767
    ],
    "ay_ego": [
      0.006381024239131117,
      0.0066670821320571755,
      0.07966570589785314,
      -0.08687037906081224,
      0.009311242111534253,
      0.09956554445309738,
      0.010892630542575884,
      -0.020008495730417263,
      -0.15670001986101076,
      -0.15661623430462507
    ],
    "a_ego": [
      0.16405815248981132,
      0.16405815706842444,
      0.12768224645946907,
      0.10525243475407295,
      0.011193043851209446,
      0.10203173751171984,
      0.03289901884979156,
      0.05755336333865812,
      0.1655050254339625,
      0.16550502242708295
    ],
    "yaw": [
      -0.7435828674106097,
      -0.7453279172828403,
      -0.7475722709859594,
      -0.7495415226270181,
      -0.7505039128738199,
      -0.7502072880837192,
      -0.750228062943667,
      -0.7489385226378769,
      -0.7464525010723779,
      -0.7448831654442485
    ],
    "yaw_diff": [
      -0.003490099744461128,
      -0.004488707406238079,
      -0.003938503282117534,
      -0.0019247804936035617,
      0.0005932495802014603,
      -4.1549719895561665e-05,
      0.0025790806115801868,
      0.004972043130997861,
      0.0031386712562588848,
      0.0031386712562588848
    ],
    "min_front_frame": [
      9,
      13.655624252472911
    ],
    "v_avg": 1.566896632018161,
    "v_std": 0.04732077297351098,
    "vy_max": 0.09464784782934921,
    "a_max": 0.1655050254339625,
    "ax_avg": 0.020493882290391688,
    "a_std": 0.0555527562455187,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "81ac4c9af9ea5562",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.960661549438909,
    "right_rear_min": 23.388460288878047,
    "speed_mode": "quasi_constant",
    "front_frame": [
      20.625265198348515,
      19.901293627092546,
      19.115019443800072,
      18.32747929366254,
      17.531536256199697,
      16.786440020555716,
      15.985932351723134,
      15.210443928597785,
      14.451149927313285,
      13.655624252472911
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "81ac4c9af9ea5562",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e5f2eb158bc65167": {
    "vx_ego": [
      4.164101663281951,
      3.971477915425992,
      3.8459594595344475,
      3.8487517830258127,
      3.956658080435907,
      4.0836202634465915,
      4.191533598231029,
      4.265955600189629,
      4.30294653268447,
      4.3293951718342285
    ],
    "vy_ego": [
      0.01435033733898683,
      -0.025554854583252462,
      -0.03301873542326095,
      -0.014796248940588175,
      0.011149578817517769,
      0.013628583218475265,
      0.014545069875112726,
      0.028996370780826064,
      0.021799456924748606,
      -0.038661971648025865
    ],
    "v_ego": [
      4.164126390292356,
      3.9715601321532517,
      3.846101194881831,
      3.8487802244772413,
      3.9566737897616178,
      4.083643005248151,
      4.191558834629096,
      4.266054145496481,
      4.3030017522031665,
      4.3295677962070584
    ],
    "ax_ego": [
      -0.41187626091403,
      -0.3592100091350413,
      -0.15453810491621564,
      0.15642164911301315,
      0.27652230287104557,
      0.2373737915056743,
      0.19448617501571042,
      0.10788745110662197,
      0.04269443568960832,
      0.061693620900571525
    ],
    "ay_ego": [
      -0.6805636369613655,
      -0.709772561167358,
      -0.6767475599726316,
      -0.6685097818539282,
      -0.7107527475832518,
      -0.744540344612273,
      -0.6367904047562392,
      -0.5866593070326784,
      -0.4708733455738651,
      -0.4687626477938073
    ],
    "a_ego": [
      0.7954928775662315,
      0.7954928781886532,
      0.6941680529958187,
      0.6865661371970083,
      0.7626493638509428,
      0.7814644212305136,
      0.6658279746765349,
      0.5964971455374671,
      0.472804951762118,
      0.4728049522017345
    ],
    "yaw": [
      -0.8509317723084069,
      -0.9266560230558594,
      -1.0139439490472149,
      -1.1069680935370196,
      -1.2022639145895533,
      -1.293207219165651,
      -1.3767343805755292,
      -1.4522518340427828,
      -1.51214778154107,
      -1.552581729803177
    ],
    "yaw_diff": [
      -0.15144850149490496,
      -0.17457585198271097,
      -0.18604828897960957,
      -0.1905916421050673,
      -0.18188660915219534,
      -0.16705432281975652,
      -0.15103490693450716,
      -0.11979189499657439,
      -0.080867896524214,
      -0.080867896524214
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.096106726535025,
    "v_std": 0.17283270360743686,
    "vy_max": 0.038661971648025865,
    "a_max": 0.7954928781886532,
    "ax_avg": 0.01514550512369584,
    "a_std": 0.11683280030373898,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "e5f2eb158bc65167",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.17663761578567,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "e5f2eb158bc65167",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5a7acfd6f26553f9": {
    "vx_ego": [
      3.98165552014021,
      3.6688688972672376,
      3.3426530258114933,
      2.887668882816177,
      2.3607334668315056,
      1.7370589627570008,
      1.0249626087876562,
      0.47811223392212876,
      0.1419204241697142,
      -0.09720979196407034
    ],
    "vy_ego": [
      -0.010714245888331364,
      0.0029840514247410077,
      0.004327431357459943,
      -0.011305257536175395,
      -0.01842575615156461,
      -0.04792616411788719,
      -0.08049117156428576,
      -0.08083764135360352,
      -0.07608377986414928,
      -0.07939648715057887
    ],
    "v_ego": [
      3.98166993560842,
      3.668870110796759,
      3.3426558269778366,
      2.887691012839287,
      2.360805373152996,
      1.7377199881745857,
      1.028118270488658,
      0.48489796090066434,
      0.16102840853379854,
      0.12551313009223328
    ],
    "ax_ego": [
      -0.6255885041296885,
      -0.6255360407881044,
      -0.679249595178178,
      -1.1407137931009579,
      -0.9670110622774235,
      -1.527546675115687,
      -1.320643655035632,
      -0.8666020041367065,
      -0.4782264949320396,
      -0.47822790723093617
    ],
    "ay_ego": [
      0.03753699712413244,
      0.038401483253039714,
      -0.05140515589523681,
      -0.023266802193158798,
      -0.0027053093224048697,
      -0.10106060905169423,
      -0.02560921551039841,
      0.02546724645999826,
      -0.006666945031300386,
      -0.006564762680559416
    ],
    "a_ego": [
      0.6267136528370181,
      0.6267136604869009,
      0.6811919719156504,
      1.1409510514720036,
      0.9670148464555448,
      1.5308860478033268,
      1.3208919318040107,
      0.8669761324373414,
      0.4782729645412068,
      0.47827296323703367
    ],
    "yaw": [
      0.5598601387398121,
      0.5612420928396369,
      0.5599340995162911,
      0.5589774503278309,
      0.5592185551364528,
      0.5608981171642742,
      0.561560446804447,
      0.5620080415568407,
      0.561802344176797,
      0.5620160124540867
    ],
    "yaw_diff": [
      0.0027639081996495563,
      -0.0026159866466914927,
      -0.001913298376920558,
      0.00048220961724387834,
      0.0033591240556427593,
      0.0013246592803457524,
      0.000895189504787286,
      -0.0004113947600874468,
      0.0004273365545794938,
      0.0004273365545794938
    ],
    "min_front_frame": [
      9,
      9.59793781087889
    ],
    "v_avg": 1.9778970017565238,
    "v_std": 1.4011621928135665,
    "vy_max": 0.08083764135360352,
    "a_max": 1.5308860478033268,
    "ax_avg": -0.8709345731925355,
    "a_std": 0.3440643128177705,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5a7acfd6f26553f9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.858841264780128,
    "right_rear_min": 17.069193590803796,
    "speed_mode": "decelerating",
    "front_frame": [
      18.172441577509485,
      16.288621318971973,
      14.535287879154733,
      12.974684946025308,
      11.696505830425604,
      10.64669113060742,
      9.999847228078147,
      9.708518826777267,
      9.607024581973732,
      9.59793781087889
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5a7acfd6f26553f9",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "f409dfb714ed539c": {
    "vx_ego": [
      3.3933619238729125,
      3.6185298190831254,
      3.961742597165362,
      4.369277786204406,
      4.824721021631335,
      5.27595627808139,
      5.756370198883662,
      6.24985406459054,
      6.695654555288422,
      7.101509576036797
    ],
    "vy_ego": [
      0.1760430854873718,
      0.0030968095982322197,
      0.032676009276420115,
      0.042763457284267226,
      0.066417265416012,
      0.12869211520158919,
      0.16220242851659972,
      0.07258530918235406,
      0.027727493342538878,
      -0.004679401124068505
    ],
    "v_ego": [
      3.3979252955794053,
      3.6185311442384247,
      3.961877348906296,
      4.369487050707231,
      4.825178151085891,
      5.277525585796955,
      5.75865500741385,
      6.250275550388798,
      6.695711966448501,
      7.1015111177366474
    ],
    "ax_ego": [
      0.34635539126264814,
      0.608598875730127,
      0.7918677623823717,
      0.9236560988751493,
      0.9472909858897763,
      0.9257639680058773,
      1.0061989790221402,
      0.9732528470967882,
      0.8113422387657092,
      0.8123630691100958
    ],
    "ay_ego": [
      -1.5744818604421633,
      -1.492837097648051,
      -1.6082620189704082,
      -2.0688653802761783,
      -2.060046739747667,
      -1.929253651002026,
      -0.9179675974569836,
      -0.2906493426562432,
      -0.15809521158985185,
      -0.1527631221800217
    ],
    "a_ego": [
      1.6121275340115366,
      1.612127535790587,
      1.7926408660864668,
      2.265688537883033,
      2.267411030645528,
      2.139873494943716,
      1.3620208865381411,
      1.0157254278438197,
      0.826601672108757,
      0.8266016740559884
    ],
    "yaw": [
      -1.0392910279172063,
      -1.2098682076712017,
      -1.4227073058487043,
      -1.6457741243420378,
      -1.8746073700366197,
      -2.083539969993353,
      -2.218695438838015,
      -2.254071966216884,
      -2.2644412550685464,
      -2.271009033927909
    ],
    "yaw_diff": [
      -0.3411543595079909,
      -0.42567819635500515,
      -0.4461336369866671,
      -0.4576664913891637,
      -0.41786519991346616,
      -0.2703109376893247,
      -0.07075305475773774,
      -0.02073857770332488,
      -0.013135557718725543,
      -0.013135557718725543
    ],
    "min_front_frame": [
      9,
      27.09409484661371
    ],
    "v_avg": 5.1256678218302,
    "v_std": 1.238165510520259,
    "vy_max": 0.1760430854873718,
    "a_max": 2.267411030645528,
    "ax_avg": 0.8146690216140684,
    "a_std": 0.5295236838457544,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f409dfb714ed539c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 33.63843055293255,
    "right_rear_min": 7.865453669942944,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      36.71446014800119,
      33.743009870489665,
      30.529336516637184,
      27.09409484661371
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f409dfb714ed539c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "844760894a04505a": {
    "vx_ego": [
      3.514466316479424,
      2.822808614056637,
      2.1490276335450664,
      1.5283495713329402,
      0.9927981022702648,
      0.5387438063107572,
      0.1722583279657121,
      -0.03323025091754281,
      -0.06179088925086801,
      -0.018355757257857437
    ],
    "vy_ego": [
      -0.07657770742997005,
      0.04232241769068179,
      0.14100581758189445,
      0.15440906528805387,
      0.08656356672491677,
      0.009683567391108122,
      0.0016575946532989966,
      0.01899847911164578,
      0.0036647258455872536,
      -0.008435299814560145
    ],
    "v_ego": [
      3.515300504216344,
      2.823125866593896,
      2.1536486274070445,
      1.536129737892185,
      0.9965647610444482,
      0.5388308271764162,
      0.17226630307050037,
      0.03827782366590995,
      0.06189946857555686,
      0.020201190743886963
    ],
    "ax_ego": [
      -1.3833749912151294,
      -1.3832083668909563,
      -1.312486235898748,
      -1.171824189803124,
      -0.970949703491935,
      -0.8451895281971857,
      -0.620797936982917,
      -0.2011124707674355,
      0.0868679317717742,
      0.08687128097889682
    ],
    "ay_ego": [
      0.24168497433467495,
      0.24263681492714795,
      0.16605999010642697,
      -0.09632328171839,
      -0.16964620075530112,
      -0.13919337705783913,
      0.1064940092913963,
      -0.03715696104040019,
      -0.024194983017976,
      -0.024182986171682404
    ],
    "a_ego": [
      1.4043283067497472,
      1.4043283128225883,
      1.3229497495134916,
      1.1757763845258793,
      0.9856587442628328,
      0.8565746521996476,
      0.6298659004718399,
      0.2045161745484704,
      0.09017446852377764,
      0.09017447687175248
    ],
    "yaw": [
      1.0993882512349842,
      1.100076350790831,
      1.1014855926624494,
      1.1036990439025964,
      1.1047942832534747,
      1.1043544543458426,
      1.1038998279523637,
      1.103511567184792,
      1.103562240182908,
      1.1034241707604076
    ],
    "yaw_diff": [
      0.0013761991116938432,
      0.002818483743236566,
      0.004426902480294093,
      0.002190478701756593,
      -0.0008796578152643342,
      -0.0009092527869576372,
      -0.0007765215351436261,
      0.00010134599623201623,
      -0.0002761388450007729,
      -0.0002761388450007729
    ],
    "min_front_frame": [
      6,
      9.308131651710962
    ],
    "v_avg": 1.1856245110386188,
    "v_std": 1.207769843568522,
    "vy_max": 0.15440906528805387,
    "a_max": 1.4043283128225883,
    "ax_avg": -0.771520421049676,
    "a_std": 0.5070828099695326,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "844760894a04505a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.541817344472925,
    "right_rear_min": 7.735971613618623,
    "speed_mode": "decelerating",
    "front_frame": [
      14.05873775652849,
      12.502683517645385,
      11.292443524445305,
      10.429463535462993,
      9.820695108000011,
      9.52151781217691,
      9.308131651710962,
      9.447817603629627,
      9.711555205464197,
      10.08877060659932
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "844760894a04505a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "94683fc69ce4599c": {
    "vx_ego": [
      3.8829022126554147,
      3.75803017648297,
      3.638375837124733,
      3.5418952646985087,
      3.458878908776863,
      3.356558003032596,
      3.258147177797323,
      3.1320793432753447,
      2.9315496830776224,
      2.709590449668407
    ],
    "vy_ego": [
      0.0005087300885094903,
      0.008612365791816512,
      0.004223741650578983,
      -0.019325036049598787,
      -0.04253237399082377,
      -0.04340510381158269,
      -0.03261837137155277,
      -0.018556340454753295,
      -0.013915000666414601,
      -0.034642360512848525
    ],
    "v_ego": [
      3.8829022459818145,
      3.7580400450502327,
      3.6383782887663885,
      3.541947984247092,
      3.459140400217765,
      3.35683863638976,
      3.2583104502701388,
      3.1321343123089704,
      2.931582707616494,
      2.709811893485624
    ],
    "ax_ego": [
      -0.2502624805176411,
      -0.24894018324143932,
      -0.22829793757063643,
      -0.15719902676473746,
      -0.17806591761995333,
      -0.23967051102926623,
      -0.16277493967081774,
      -0.35035812527328264,
      -0.45978801247066564,
      -0.4334073780640796
    ],
    "ay_ego": [
      -0.09095743362289099,
      -0.09451639605968129,
      -0.19378282183323225,
      -0.2858064104891259,
      -0.3755147327144796,
      -0.4320166471013105,
      -0.4973230030616246,
      -0.4815978270537813,
      -0.39234663400411685,
      -0.42130623282434954
    ],
    "a_ego": [
      0.2662791089929988,
      0.266279109124978,
      0.2994523840891177,
      0.32618528215181536,
      0.4155944964787949,
      0.49404487370044425,
      0.5232837187980064,
      0.5955562802690717,
      0.6044343617185288,
      0.6044343613470573
    ],
    "yaw": [
      -1.6546972299025842,
      -1.668955575376863,
      -1.6872702933185728,
      -1.7141722878309866,
      -1.7547385571766967,
      -1.8135752979078257,
      -1.887265634096134,
      -1.9676285455884392,
      -2.0408606001040273,
      -2.105682829344994
    ],
    "yaw_diff": [
      -0.028516690948557688,
      -0.0366294358834196,
      -0.053803989024827636,
      -0.08113253869142012,
      -0.11767348146225798,
      -0.14738067237661667,
      -0.16072582298461047,
      -0.14646410903117602,
      -0.12964445848193318,
      -0.12964445848193318
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.366908696433428,
    "v_std": 0.34933839978919495,
    "vy_max": 0.04340510381158269,
    "a_max": 0.6044343617185288,
    "ax_avg": -0.27087645122225196,
    "a_std": 0.13482991591266827,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "94683fc69ce4599c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.998481977211394,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "94683fc69ce4599c",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "dcd5dc3f53d9533f": {
    "vx_ego": [
      3.5188141600799954,
      3.218872994383184,
      2.8928743497611515,
      2.508956953187183,
      1.9846756044598446,
      1.3693834560223463,
      0.828968013196989,
      0.46645001558924054,
      0.36643667909009514,
      0.4094157473612777
    ],
    "vy_ego": [
      -0.028503482562911797,
      0.025356035312998015,
      0.04198250557049499,
      0.019748643331426896,
      -0.01354321983375284,
      -0.019927558756463126,
      -0.01588130743881916,
      -0.0007111586765829736,
      0.006683650305090383,
      -0.015897605527535497
    ],
    "v_ego": [
      3.518929601696757,
      3.2189728614103226,
      2.8931789668598076,
      2.5090346753003923,
      1.984721812683459,
      1.369528443379581,
      0.8291201256933337,
      0.46645055771203237,
      0.3664976275011587,
      0.4097242829622168
    ],
    "ax_ego": [
      -0.602273707501175,
      -0.5973250145885601,
      -0.6997552734830785,
      -0.8328306856722528,
      -1.2648783980071072,
      -1.1973426890406542,
      -0.9645726220736783,
      -0.48575235116906323,
      0.08587534996875316,
      0.08599417869186458
    ],
    "ay_ego": [
      -0.12562951080576426,
      -0.14737443797773658,
      -0.24662219605982827,
      -0.19161954994108582,
      -0.09822892579176024,
      0.016086839559232957,
      -0.0201943026569667,
      0.0734395094608,
      -0.04722731740607288,
      -0.04701060537539968
    ],
    "a_ego": [
      0.6152368590490224,
      0.6152368633481557,
      0.7419433606123519,
      0.8545905469386723,
      1.2686868343319517,
      1.19745075114015,
      0.9647839929817928,
      0.4912725396519898,
      0.09800507763187472,
      0.09800508041244543
    ],
    "yaw": [
      1.0555241565474505,
      1.0192744605829258,
      0.9817624936753104,
      0.9496309572419952,
      0.932606909593793,
      0.9241260268375526,
      0.9193851585682711,
      0.9162230878804263,
      0.9137831358318778,
      0.9112613639420647
    ],
    "yaw_diff": [
      -0.0724993919290493,
      -0.07502393381523076,
      -0.06426307286663047,
      -0.0340480952964044,
      -0.016961765512480742,
      -0.009481736538563101,
      -0.006324141375689596,
      -0.004879904097097043,
      -0.005043543779626125,
      -0.005043543779626125
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.756615895519906,
    "v_std": 1.1651324796777944,
    "vy_max": 0.04198250557049499,
    "a_max": 1.2686868343319517,
    "ax_avg": -0.6472861212874952,
    "a_std": 0.38066551450573943,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dcd5dc3f53d9533f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.354720426457816,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dcd5dc3f53d9533f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9f3da1c3d8b85947": {
    "vx_ego": [
      5.238100640287848,
      5.325979716239418,
      5.40913389121362,
      5.459227266792861,
      5.490670464077888,
      5.539667549135727,
      5.637360140991115,
      5.720131676989307,
      5.787786546357333,
      5.911756022342525
    ],
    "vy_ego": [
      0.006257441267671249,
      0.018350294657141997,
      0.015994079541125916,
      0.0006535610322187801,
      -0.012970163814018498,
      -0.006237897168891671,
      0.005582968652575682,
      -0.02099274043153576,
      -0.03240752575367489,
      -0.021158187726518562
    ],
    "v_ego": [
      5.238104377859912,
      5.326011328480979,
      5.409157537330205,
      5.459227305913967,
      5.490685783237523,
      5.539671061201064,
      5.637362905541415,
      5.720170198276213,
      5.787877275298814,
      5.911793884821338
    ],
    "ax_ego": [
      0.14575307415745153,
      0.20178536740492314,
      0.12689543161663824,
      0.07092191226968943,
      0.0586722793362115,
      0.14654059867491143,
      0.2442493296544318,
      0.08820699147209993,
      0.19998942268408576,
      0.30482780074544336
    ],
    "ay_ego": [
      0.7872803992556369,
      0.7748142037028318,
      0.8057071876055285,
      0.8057834099710873,
      0.8541705847243614,
      0.9996737102179232,
      0.9975011851439057,
      0.9660385135222722,
      1.1294066860871048,
      1.105728380133825
    ],
    "a_ego": [
      0.8006587198541352,
      0.8006587192795649,
      0.815638720711801,
      0.8088985235643732,
      0.8561832888878782,
      1.0103572011723725,
      1.0269694977944261,
      0.9700571544774464,
      1.1469765611222271,
      1.1469765641636607
    ],
    "yaw": [
      -1.7835673284379503,
      -1.7118581288716945,
      -1.6379671580179878,
      -1.5611441756861568,
      -1.4829199076915012,
      -1.3999890149536074,
      -1.3126259332010421,
      -1.2218778332073124,
      -1.12869142925216,
      -1.0349506914495068
    ],
    "yaw_diff": [
      0.14341839913251153,
      0.14778194170741354,
      0.15364596466366187,
      0.1564485359893113,
      0.16586178547578756,
      0.17472616350513048,
      0.18149619998745958,
      0.18637280791030486,
      0.18748147560530626,
      0.18748147560530626
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.552006165796142,
    "v_std": 0.20079374703413624,
    "vy_max": 0.03240752575367489,
    "a_max": 1.1469765641636607,
    "ax_avg": 0.1587842208015886,
    "a_std": 0.13325868392615206,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "9f3da1c3d8b85947",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "9f3da1c3d8b85947",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "29d3a233b1915c1a": {
    "vx_ego": [
      3.495151740730171,
      3.2224556476163464,
      3.0197963268401913,
      2.903984400918646,
      2.7895465878084167,
      2.6310370507657,
      2.4406900354652783,
      2.1724611997152787,
      1.789149559006895,
      1.3655178315351377
    ],
    "vy_ego": [
      -0.044066096212531436,
      -0.03092866383509496,
      -0.009690726885668743,
      0.000929910769113862,
      -0.00938194990967256,
      -0.009111028946449773,
      -0.00911761972234193,
      -0.02301878617901343,
      -0.01566592716953452,
      0.019584569833229537
    ],
    "v_ego": [
      3.49542951746485,
      3.222604068622317,
      3.0198118758931134,
      2.903984549806157,
      2.7895623646976757,
      2.631052826028078,
      2.440707065628504,
      2.1725831465758687,
      1.789218143706532,
      1.3656582675091078
    ],
    "ax_ego": [
      -0.5454076432990418,
      -0.5454137186289538,
      -0.26517992697102666,
      -0.19808635654047596,
      -0.2596614175566075,
      -0.374396378975435,
      -0.38699669456455044,
      -0.6860280613028276,
      -0.8473035472382888,
      -0.84723070319322
    ],
    "ay_ego": [
      0.024684202142285228,
      0.024549589202934735,
      0.0656917409873621,
      -0.01318589761473471,
      -0.024536937280763907,
      0.0220676401536605,
      -0.026235730169349186,
      -0.048713550748014256,
      0.07320341708240691,
      0.07404180904745417
    ],
    "a_ego": [
      0.5459659396010121,
      0.5459659392294509,
      0.27319553162947174,
      0.19852474038110923,
      0.260818160906458,
      0.375046169600316,
      0.3878849766894908,
      0.68775541504331,
      0.8504598999571514,
      0.8504599072973973
    ],
    "yaw": [
      -2.1205845728300963,
      -2.120831382684459,
      -2.1204028821356022,
      -2.119554458884954,
      -2.119245766559229,
      -2.119571772046725,
      -2.119979834139085,
      -2.1220430792934373,
      -2.122657979518002,
      -2.1216684498897855
    ],
    "yaw_diff": [
      -0.0004936197087257455,
      0.0008570010977138054,
      0.001696846501296534,
      0.0006173846514503367,
      -0.0006520109749921232,
      -0.0008161241847206568,
      -0.004126490308704156,
      -0.00122980044912957,
      0.0019790592564330467,
      0.0019790592564330467
    ],
    "min_front_frame": [
      9,
      10.882612517853017
    ],
    "v_avg": 2.5830611825932204,
    "v_std": 0.6229874424121093,
    "vy_max": 0.044066096212531436,
    "a_max": 0.8504599072973973,
    "ax_avg": -0.4955704448270427,
    "a_std": 0.2264472733331066,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "29d3a233b1915c1a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.834096552470175,
    "right_rear_min": 17.301958048349007,
    "speed_mode": "decelerating",
    "front_frame": [
      16.87986178734895,
      15.73905513747,
      14.684883354914582,
      13.921537685679732,
      13.333475158483182,
      12.724384871094983,
      12.234821073666772,
      11.66061568726426,
      11.208067126442922,
      10.882612517853017
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "29d3a233b1915c1a",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "4501554f824e59fc": {
    "vx_ego": [
      4.600262768234586,
      4.2076159572683896,
      3.775459745061581,
      3.2499172046889377,
      2.633801687010599,
      1.9447150793936632,
      1.223681122888079,
      0.5965741115248212,
      0.22236478316653946,
      0.009425431508171196
    ],
    "vy_ego": [
      0.053468029138335815,
      -0.05246830565995908,
      -0.08390347193381964,
      -0.05712847394447018,
      -0.018331024344062863,
      -0.016052078846840123,
      0.0014429332763860048,
      0.021158240468599987,
      0.018002965229040588,
      0.021375149628004752
    ],
    "v_ego": [
      4.600573482398175,
      4.207943080289753,
      3.776391939296424,
      3.250419280626483,
      2.6338654773836456,
      1.944781326847933,
      1.223681973622669,
      0.5969491952263248,
      0.22309236551200076,
      0.023360988436596983
    ],
    "ax_ego": [
      -0.7937727424366796,
      -0.7755632324709232,
      -0.9427368711952506,
      -1.1548152029801269,
      -1.3095701643317665,
      -1.4468721481255657,
      -1.4374138721410514,
      -1.0709365405914595,
      -0.4258792985407036,
      -0.42587921102785786
    ],
    "ay_ego": [
      0.28504277757014407,
      0.3314004030751459,
      0.2527629977935075,
      0.1424559206236471,
      0.022711421989497493,
      -0.036061479091131,
      0.09605895838950018,
      -0.01979975932780126,
      0.006744636115265795,
      0.006750621907507387
    ],
    "a_ego": [
      0.843400587906097,
      0.8434005897075935,
      0.9760337808521646,
      1.1635685808557923,
      1.3097670876902943,
      1.4473214719942937,
      1.440619992680376,
      1.0711195565591367,
      0.4259327024799212,
      0.4259327098050217
    ],
    "yaw": [
      -2.1344789344585084,
      -2.0754168208516646,
      -2.031192526035322,
      -2.0108412375900167,
      -2.009998882506458,
      -2.012434022400238,
      -2.014010533997995,
      -2.01476316053126,
      -2.015093130378478,
      -2.0150790697596097
    ],
    "yaw_diff": [
      0.11812422721368776,
      0.08844858963268543,
      0.04070257689061041,
      0.0016847101671171316,
      -0.004870279787559717,
      -0.0031530231955141375,
      -0.0015052530665302655,
      -0.0006599396944357849,
      2.8121237736655758e-05,
      2.8121237736655758e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.2481059109640005,
    "v_std": 1.6056806861774533,
    "vy_max": 0.08390347193381964,
    "a_max": 1.4473214719942937,
    "ax_avg": -0.9783439283841385,
    "a_std": 0.3507789292883709,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4501554f824e59fc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4501554f824e59fc",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f879fd3edf21506a": {
    "vx_ego": [
      7.3237475163761205,
      7.170535743169924,
      6.988274479776978,
      6.738267033955631,
      6.358864906195667,
      5.8313814495898075,
      5.217962873299252,
      4.557786541582142,
      3.9350873717350305,
      3.367753876022914
    ],
    "vy_ego": [
      0.0016426695665554547,
      -0.01016936829758519,
      -0.0190158692843041,
      -0.024867015408206683,
      -0.006014773495917947,
      -0.0001160628213341397,
      -0.03226771416067331,
      -0.03783049462899557,
      -0.020821931507919667,
      -0.019077360841974755
    ],
    "v_ego": [
      7.323747700596239,
      7.170542954346556,
      6.988300351872895,
      6.738312918627965,
      6.358867750845825,
      5.831381450744815,
      5.218062643597386,
      4.557943539026255,
      3.9351424594314537,
      3.367807909481189
    ],
    "ax_ego": [
      -0.306531222283512,
      -0.30636094484028786,
      -0.42287249021524115,
      -0.5774138115107975,
      -0.9403494948966893,
      -1.1695036002900288,
      -1.2842049303676841,
      -1.3560104785156732,
      -1.1346062242281216,
      -1.1345726915453964
    ],
    "ay_ego": [
      -0.06246261534084438,
      -0.06329254441934581,
      -0.06513426729557995,
      -0.0232225796752476,
      0.0589344255181769,
      -0.07238013494603113,
      -0.0675051091008606,
      0.08916757094834504,
      0.016401699557096805,
      0.018576801165694157
    ],
    "a_ego": [
      0.3128305748321959,
      0.31283058466605973,
      0.4278593410888341,
      0.577880608716195,
      0.94219448048883,
      1.1717412491783947,
      1.2859779325227116,
      1.3589390249577549,
      1.1347247683053172,
      1.1347247639591351
    ],
    "yaw": [
      0.8752291569322757,
      0.8725209450462079,
      0.8692420783077263,
      0.8668827833381858,
      0.8653777215271025,
      0.8638655585633568,
      0.8633565042111968,
      0.8655984339387357,
      0.8678227251074287,
      0.8697398037624047
    ],
    "yaw_diff": [
      -0.00541642377213547,
      -0.006557733476963312,
      -0.004718589939080919,
      -0.0030101236221666827,
      -0.003024325927491356,
      -0.0010181087043199533,
      0.004483859455077788,
      0.004448582337386098,
      0.0038341573099518467,
      0.0038341573099518467
    ],
    "min_front_frame": [
      9,
      12.363524137122349
    ],
    "v_avg": 5.749010967857057,
    "v_std": 1.3436744546029513,
    "vy_max": 0.03783049462899557,
    "a_max": 1.3589390249577549,
    "ax_avg": -0.8632425888693434,
    "a_std": 0.39370705900821346,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f879fd3edf21506a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 9.75931138468706,
    "speed_mode": "decelerating",
    "front_frame": [
      20.618728759707878,
      20.454349668091314,
      20.1271186887842,
      19.34624188505967,
      18.367489499097193,
      17.40490908607009,
      16.031773332393346,
      14.825570312735362,
      13.628674863716025,
      12.363524137122349
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f879fd3edf21506a",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "b6b0722747565854": {
    "vx_ego": [
      8.156823437147601,
      7.998786866140081,
      7.708451500310192,
      7.183586153421439,
      6.552341634045039,
      5.908568359677139,
      5.203130667762827,
      4.376088644646876,
      3.5240376585520305,
      2.7148365434742168
    ],
    "vy_ego": [
      -0.01053811449820996,
      -0.01976606372953249,
      -0.007393319868419734,
      0.005657647296329227,
      -0.011542173468642503,
      -0.0010712863012605212,
      0.01594917700500309,
      -0.005021071730129334,
      -0.034490704314028564,
      -0.06723668273990868
    ],
    "v_ego": [
      8.156830244442848,
      7.998811288385945,
      7.7084550458449925,
      7.183588381345437,
      6.5523518000034455,
      5.9085684567949395,
      5.203155112243069,
      4.376091525204728,
      3.524206439409723,
      2.7156690205709717
    ],
    "ax_ego": [
      -0.31622224100932605,
      -0.31546401868275464,
      -0.8457033592547096,
      -1.253787431128269,
      -1.2711752753234131,
      -1.3036342683474964,
      -1.518273064096257,
      -1.7898949839453242,
      -1.6184274283876277,
      -1.6184149799249514
    ],
    "ay_ego": [
      0.10065731376082601,
      0.10300900198555811,
      0.07814573906552374,
      0.04704481055656784,
      0.029327603160618554,
      0.11582471317558618,
      -0.01002076862845025,
      -0.07387978631138326,
      -0.06650537669047274,
      -0.06680746066385002
    ],
    "a_ego": [
      0.33185599365162244,
      0.33185599523518344,
      0.8493061452672984,
      1.2546697321030453,
      1.2715135425549748,
      1.3087695250853448,
      1.5183061328217513,
      1.7914190677722641,
      1.619793291159749,
      1.6197932843563196
    ],
    "yaw": [
      2.5456253771637156,
      2.553071082076781,
      2.5572271820758763,
      2.559661033973919,
      2.5649437285776298,
      2.5690847345335746,
      2.570773980188169,
      2.5707729654845033,
      2.569340745764868,
      2.569154099414039
    ],
    "yaw_diff": [
      0.014891409826130797,
      0.00831219999819055,
      0.004867703796085365,
      0.01056538920742156,
      0.008282011911889597,
      0.003378491309188547,
      -2.0294073310722638e-06,
      -0.0028644394392705053,
      -0.00037329270165820105,
      -0.00037329270165820105
    ],
    "min_front_frame": [
      9,
      16.187264823601936
    ],
    "v_avg": 5.932772731424611,
    "v_std": 1.8282107317939094,
    "vy_max": 0.06723668273990868,
    "a_max": 1.7914190677722641,
    "ax_avg": -1.185099705010013,
    "a_std": 0.4952535731443915,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b6b0722747565854",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.297461247147133,
    "speed_mode": "decelerating",
    "front_frame": [
      43.01613008876813,
      38.9769032365445,
      35.01013073753047,
      31.307767301315216,
      27.883165377786973,
      24.755817095592427,
      22.066262873527137,
      19.625957144928073,
      17.709649376587368,
      16.187264823601936
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b6b0722747565854",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1586b456d978588f": {
    "vx_ego": [
      0.8210473698688118,
      1.6147264218088997,
      2.421682547763883,
      3.2329350118426228,
      3.986920298663552,
      4.612599056394117,
      5.150570584206964,
      5.701341745363262,
      6.225164933113288,
      6.709535620352938
    ],
    "vy_ego": [
      -0.06485872590628028,
      -0.013969987964117525,
      0.048276807248554765,
      0.08132317484739393,
      0.012513839268524729,
      -0.1030459029065991,
      -0.19183649117096957,
      -0.2748945380329375,
      -0.18007485130282097,
      -0.03286902053671659
    ],
    "v_ego": [
      0.8236051468359576,
      1.6147868521422541,
      2.422163704678584,
      3.233957675908131,
      3.986939937354049,
      4.613749940466403,
      5.154141886118664,
      5.707965023058756,
      6.2277688939567355,
      6.709616130099837
    ],
    "ax_ego": [
      1.5873859842886362,
      1.587496941456737,
      1.6401889730111217,
      1.6105532674954117,
      1.4535456475313773,
      1.2178195813180497,
      1.1372822805072165,
      1.1747679301117213,
      0.9598089471945455,
      0.994591830669649
    ],
    "ay_ego": [
      0.10521078972803893,
      0.10352313991267659,
      0.1993926462560099,
      0.8581001114167033,
      1.7230012972865802,
      2.585269939403339,
      2.7928211935488525,
      1.8716849844670258,
      0.8540841411957724,
      0.8133142431315945
    ],
    "a_ego": [
      1.5908688108675713,
      1.5908688128289756,
      1.6522642931953266,
      1.8248883879989772,
      2.2542245717560285,
      2.8577447738075237,
      3.015503474494986,
      2.2098154607790916,
      1.2847929542758327,
      1.2847929668687956
    ],
    "yaw": [
      -0.3442754477895301,
      -0.34321232473461705,
      -0.33651020516433267,
      -0.25484395213757316,
      -0.05873316505133114,
      0.21502707884671196,
      0.5059693947635064,
      0.7353807697317658,
      0.833234254621825,
      0.8749493347508079
    ],
    "yaw_diff": [
      0.0021262461098261465,
      0.013404239140568763,
      0.163332506053519,
      0.39222157417248404,
      0.5475204877960862,
      0.581884631833589,
      0.4588227499365187,
      0.19570696978011837,
      0.0834301602579659,
      0.0834301602579659
    ],
    "min_front_frame": [
      9,
      33.38278045107531
    ],
    "v_avg": 4.049469519061938,
    "v_std": 1.891075442525096,
    "vy_max": 0.2748945380329375,
    "a_max": 3.015503474494986,
    "ax_avg": 1.3363441383584465,
    "a_std": 0.5801873053590652,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "1586b456d978588f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      39.56805488351111,
      36.60519157060613,
      33.38278045107531
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6666666666666666,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1586b456d978588f",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "31602c26eedc5f7e": {
    "vx_ego": [
      13.125007009977864,
      12.994204700515027,
      12.830015586368676,
      12.667355898168095,
      12.505363195482161,
      12.3076821669233,
      12.136919236041406,
      11.966598020251212,
      11.777804689135646,
      11.598267064217515
    ],
    "vy_ego": [
      -0.02313268912976031,
      0.017590945818523426,
      0.023252444306615657,
      -0.010842953975120792,
      -0.012002204338249944,
      0.018126372365478954,
      0.025630562614913976,
      0.00956378317365661,
      -0.00238326931162805,
      -0.024958652914780916
    ],
    "v_ego": [
      13.12502739552472,
      12.994216607408912,
      12.830036657103882,
      12.667360538822006,
      12.505368955125986,
      12.307695514895425,
      12.136946299128617,
      11.966601841969542,
      11.777804930266006,
      11.598293918817031
    ],
    "ax_ego": [
      -0.26187369443835445,
      -0.26129639837659346,
      -0.39599179638807525,
      -0.2550752803278168,
      -0.39263466811239883,
      -0.3980049621505561,
      -0.28560052012916387,
      -0.3957024653223166,
      -0.3593467925391725,
      -0.35897384730087006
    ],
    "ay_ego": [
      0.16964937205788325,
      0.17053717124666767,
      0.14808195857241452,
      0.07704109974470491,
      0.1176233447224598,
      0.1875277747239014,
      -0.01380650574106592,
      -0.03997367125947836,
      -0.11807116280466519,
      -0.11920022098346841
    ],
    "a_ego": [
      0.3120236229493317,
      0.31202361221772096,
      0.42277389850994485,
      0.2664558681736769,
      0.4098746562394804,
      0.4399711538150699,
      0.28593404256720995,
      0.39771640078845133,
      0.37824716363012806,
      0.3782471622213392
    ],
    "yaw": [
      -1.5797319866637636,
      -1.576338070776441,
      -1.5706150151857041,
      -1.5635161793618182,
      -1.5595629058884892,
      -1.5558425521149855,
      -1.5528997796761237,
      -1.5526824880984567,
      -1.5550051153133593,
      -1.5581487212366896
    ],
    "yaw_diff": [
      0.006787831774645259,
      0.01144611118147365,
      0.014197671647771859,
      0.007906546946657933,
      0.007440707547007541,
      0.005885544877723525,
      0.00043458315533406733,
      -0.0046452544298052345,
      -0.00628721184666059,
      -0.00628721184666059
    ],
    "min_front_frame": [
      9,
      54.700315363690635
    ],
    "v_avg": 12.390935265906213,
    "v_std": 0.4940508965603049,
    "vy_max": 0.025630562614913976,
    "a_max": 0.4399711538150699,
    "ax_avg": -0.3364500425085318,
    "a_std": 0.05809521786709789,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "31602c26eedc5f7e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.702609580748906,
    "right_rear_min": 11.7219612204931,
    "speed_mode": "decelerating",
    "front_frame": [
      58.15591430111691,
      58.06989507575281,
      58.06274118165106,
      57.94465555254408,
      57.77171555575986,
      57.578994742067074,
      57.106983733944894,
      56.543939403709416,
      55.84735174498465,
      54.700315363690635
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "31602c26eedc5f7e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "15356a2c8fe1529f": {
    "vx_ego": [
      9.075971139968113,
      8.992704756135609,
      8.916561090571061,
      8.831982981267219,
      8.723797195824226,
      8.598129501624278,
      8.442784451714472,
      8.291785936778872,
      8.15017318913739,
      7.997312290969341
    ],
    "vy_ego": [
      0.050836822248203184,
      -0.06407388124741598,
      -0.1014827506991729,
      -0.06175629232063784,
      -0.005227242865888826,
      0.030930572909351195,
      0.03252899827267797,
      0.010448409248868362,
      -0.03647719861508003,
      -0.0926025132967534
    ],
    "v_ego": [
      9.076113513835665,
      8.992933019503822,
      8.917138578634699,
      8.832198889349979,
      8.723798761889146,
      8.59818513565754,
      8.442847116573903,
      8.29179251975227,
      8.15025481803807,
      7.997848404712243
    ],
    "ax_ego": [
      -0.16959096696384507,
      -0.16379600632010993,
      -0.14717576962688325,
      -0.19566601878157958,
      -0.2385657361506051,
      -0.2594828978915914,
      -0.3560342741596577,
      -0.24532602769062395,
      -0.3215942047975088,
      -0.29856085373339036
    ],
    "ay_ego": [
      -0.4572273598314375,
      -0.459335196778715,
      -0.1736312116830657,
      -0.12821795058273489,
      -0.21119416623908444,
      -0.48801800619481694,
      -0.5998996384509955,
      -0.5880510399531906,
      -0.6631131315874265,
      -0.6737976516436164
    ],
    "a_ego": [
      0.4876658227251104,
      0.48766582275791925,
      0.2276148168195449,
      0.23393382345755412,
      0.318616676146278,
      0.5527141654314484,
      0.6975958576353715,
      0.637172571170864,
      0.736981585823571,
      0.7369815864337881
    ],
    "yaw": [
      2.243218986165248,
      2.2305741665721754,
      2.2170773610978185,
      2.2041063238544827,
      2.1880098919793856,
      2.1636607793550047,
      2.1316005891511414,
      2.0986941392839986,
      2.0663945343608434,
      2.03194036882057
    ],
    "yaw_diff": [
      -0.025289639186144797,
      -0.026993610948713886,
      -0.02594207448667163,
      -0.032192863750194256,
      -0.04869822524876177,
      -0.06412038040772661,
      -0.0658128997342855,
      -0.0645992098463104,
      -0.0689083310805465,
      -0.0689083310805465
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.602311075794734,
    "v_std": 0.35148197772674833,
    "vy_max": 0.1014827506991729,
    "a_max": 0.7369815864337881,
    "ax_avg": -0.2395792756115795,
    "a_std": 0.18702440401579354,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "15356a2c8fe1529f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "15356a2c8fe1529f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "456ef599efa85659": {
    "vx_ego": [
      8.194599327079272,
      7.746513456923297,
      7.2184768730957485,
      6.5155140023416225,
      5.6533052106739525,
      4.711993182265733,
      3.755302437907317,
      2.823030303343516,
      1.9478901744847432,
      1.105061051234748
    ],
    "vy_ego": [
      0.055003262437914646,
      -0.002180825993804536,
      -0.027554672018156534,
      -0.007540324598436232,
      0.01733057570483476,
      0.011535625151407158,
      -0.0020616486269839918,
      0.0030398683800347825,
      0.017510497310895046,
      0.029417072011398537
    ],
    "v_ego": [
      8.19478391968006,
      7.746513763900232,
      7.218529464327773,
      6.51551836550284,
      5.65333177461641,
      4.712007302664798,
      3.7553030038264157,
      2.823031940023979,
      1.947968877926513,
      1.1054525277377452
    ],
    "ax_ego": [
      -0.8961797127773499,
      -0.8963039252832361,
      -1.2157565757545161,
      -1.596107715987585,
      -1.8526851377021896,
      -1.912541857094914,
      -1.9142136116581654,
      -1.8148998578966262,
      -1.6856552358728676,
      -1.6856564404033276
    ],
    "ay_ego": [
      -0.09369796325089397,
      -0.09250223198027296,
      0.013930324811813388,
      0.06238032147146433,
      0.013560003327231174,
      -0.04187449852834668,
      -0.024767776198954983,
      0.033057064527516,
      0.02369987390611561,
      0.023613482258781793
    ],
    "a_ego": [
      0.9010645847613028,
      0.9010645866970187,
      1.215836381031473,
      1.5973262489366373,
      1.8527347606046625,
      1.913000216614484,
      1.9143738385684337,
      1.8152008879758654,
      1.6858218346696008,
      1.685821826771027
    ],
    "yaw": [
      1.1035532593689499,
      1.1048874218596514,
      1.1056492597986018,
      1.1055137938829578,
      1.1045515058538844,
      1.1043041764248192,
      1.1035806530950898,
      1.1026562029543354,
      1.1025374367664211,
      1.1024861841541806
    ],
    "yaw_diff": [
      0.002668324981403014,
      0.0015236758779009207,
      -0.0002709318312881237,
      -0.0019245760581467763,
      -0.0004946588581304923,
      -0.0014470466594587172,
      -0.0018489002815087474,
      -0.00023753237582857523,
      -0.00010250522448096433,
      -0.00010250522448096433
    ],
    "min_front_frame": [
      9,
      10.52335619615016
    ],
    "v_avg": 4.967244094020677,
    "v_std": 2.3714670203680237,
    "vy_max": 0.055003262437914646,
    "a_max": 1.9143738385684337,
    "ax_avg": -1.5470000070430778,
    "a_std": 0.3767652260515468,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "456ef599efa85659",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.5183294128978115,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      28.728231614555593,
      25.97527226152926,
      23.31354851407646,
      19.12399539999199,
      18.17935798802858,
      15.940501038361127,
      13.982758680542995,
      12.418419184966195,
      11.279531467023808,
      10.52335619615016
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "456ef599efa85659",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e9597ce7a5a7589b": {
    "vx_ego": [
      11.380816253780253,
      11.525439395204673,
      11.706689251273202,
      11.852372592029127,
      11.93739815217163,
      11.969305276335326,
      11.893421918028737,
      11.77144468451793,
      11.709443128185297,
      11.703925688736549
    ],
    "vy_ego": [
      0.05815467792554152,
      0.044455935230315546,
      0.02839037307421055,
      0.014893903859660718,
      -0.004695908985377528,
      0.021678633573206874,
      -0.004494174972325737,
      -0.020800463460821206,
      -0.010747781142470991,
      0.1268782889254938
    ],
    "v_ego": [
      11.380964834708585,
      11.525525132622507,
      11.706723676552668,
      11.852381949998719,
      11.937399075805075,
      11.969324908333897,
      11.893422767137098,
      11.771463061996398,
      11.709448060733067,
      11.704613390781772
    ],
    "ax_ego": [
      0.2756861813157978,
      0.2963790786728978,
      0.42496591638825426,
      0.1547148560165688,
      0.18016997913467606,
      -0.05331817369563255,
      -0.25056515061564827,
      -0.23725735279907623,
      -0.01058755478494429,
      -0.006894391203930442
    ],
    "ay_ego": [
      0.6792195494949662,
      0.6704487387123297,
      0.7303548118320441,
      0.7105006265014847,
      0.2921273627689299,
      0.10289646463128554,
      0.03186812416210606,
      0.00829638125028656,
      -0.1869520392846363,
      -0.18712463424610457
    ],
    "a_ego": [
      0.7330361975950654,
      0.7330361993216634,
      0.8449935983532237,
      0.7271504843780481,
      0.34321948875277986,
      0.11589007757290974,
      0.2525835941637024,
      0.23740236182286692,
      0.18725159894913684,
      0.18725159911683328
    ],
    "yaw": [
      -1.179091934701232,
      -1.1484306496991752,
      -1.116858553827208,
      -1.0852265135691948,
      -1.0625018313801622,
      -1.0564612748745814,
      -1.0514542712172084,
      -1.0492272473730884,
      -1.0538990353242454,
      -1.0736438953325238
    ],
    "yaw_diff": [
      0.061322570004113786,
      0.06314419174393437,
      0.0632640805160265,
      0.04544936437806513,
      0.012081113011161548,
      0.01001400731474611,
      0.0044540476882399815,
      -0.00934357590231416,
      -0.039489720016556706,
      -0.039489720016556706
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.745126685866978,
    "v_std": 0.17511433908235544,
    "vy_max": 0.1268782889254938,
    "a_max": 0.8449935983532237,
    "ax_avg": 0.07732933884289629,
    "a_std": 0.2713701834085458,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "e9597ce7a5a7589b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "e9597ce7a5a7589b",
    "road_shape": "Straight"
  },
  "190c8d0cece45af1": {
    "vx_ego": [
      6.3429033928523655,
      6.557327100894216,
      6.787205972607804,
      7.006514466722075,
      7.133229356685024,
      7.168516690521548,
      7.251487258168662,
      7.425356606739635,
      7.594206070841405,
      7.73639661340703
    ],
    "vy_ego": [
      -0.05091783633890201,
      -0.0019241465457926488,
      0.03025296698398372,
      -0.008836011407045596,
      0.003757359014774142,
      -0.009395251618440792,
      -0.002300657416355101,
      0.004815621287590499,
      0.013104164429996068,
      -0.0015633352953372537
    ],
    "v_ego": [
      6.3431077617454585,
      6.55732738319978,
      6.787273396336292,
      7.006520038327395,
      7.133230346261069,
      7.168522847354187,
      7.25148762312996,
      7.425358168294667,
      7.5942173767630505,
      7.736396771362816
    ],
    "ax_ego": [
      0.4167283851942313,
      0.43606407229288663,
      0.48701560057031146,
      0.3906368942940068,
      0.11313392316618587,
      0.02724300105535085,
      0.30440512854740664,
      0.39107969456518904,
      0.2843609374740138,
      0.2843585530542427
    ],
    "ay_ego": [
      -0.4618501818654235,
      -0.4436398031363773,
      -0.5065010793781786,
      -0.44975191866645936,
      -0.22943883761207348,
      -0.07902509630984504,
      0.003306723669530179,
      -0.002418575989775129,
      -0.0010428914059400912,
      -0.001562838743478276
    ],
    "a_ego": [
      0.6220676309821275,
      0.6220676410741355,
      0.702657483138208,
      0.5957129942579972,
      0.25581529425691474,
      0.0835891557158112,
      0.3044230883283819,
      0.39108717316094616,
      0.2843628498654221,
      0.28436284771404413
    ],
    "yaw": [
      -0.17741843199698176,
      -0.2201196139018942,
      -0.26057561244390404,
      -0.2895180039969719,
      -0.31518898780462967,
      -0.3241203523541224,
      -0.327747231961133,
      -0.3286880923486616,
      -0.3299048618092545,
      -0.32807635415186687
    ],
    "yaw_diff": [
      -0.08540236380982485,
      -0.0809119970840197,
      -0.05788478310613576,
      -0.05134196761531551,
      -0.017862729098985453,
      -0.00725375921402116,
      -0.0018817207750572162,
      -0.002433538921185807,
      0.003657015314775247,
      0.003657015314775247
    ],
    "min_front_frame": [
      0,
      24.47673678633128
    ],
    "v_avg": 7.1003441712774675,
    "v_std": 0.4192579655706955,
    "vy_max": 0.05091783633890201,
    "a_max": 0.702657483138208,
    "ax_avg": 0.3135026190213825,
    "a_std": 0.1957704436213058,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "190c8d0cece45af1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      24.47673678633128,
      25.116230212523394,
      25.668018786315642,
      26.394026812035424,
      26.958862617357546,
      27.6614938625577,
      28.614039057248213,
      29.58192548675627,
      30.55285931978332,
      31.69629114420489
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "190c8d0cece45af1",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "a6fd750fe57d5bb9": {
    "vx_ego": [
      4.0278644425358445,
      3.771843104609581,
      3.5946018160226587,
      3.4105817867521613,
      3.109821182168135,
      2.7038722489485294,
      2.195508459539968,
      1.662974921728617,
      1.201593105592602,
      0.7880740801238011
    ],
    "vy_ego": [
      -0.010514080173857132,
      -0.006653713406573336,
      -0.004854955612843314,
      0.0269814003535353,
      0.022194190908929323,
      0.004097967339686259,
      0.003233979311722479,
      0.0015489365238381403,
      0.018297161702176323,
      0.01503406288146275
    ],
    "v_ego": [
      4.027878165154266,
      3.7718489733409184,
      3.594605094631036,
      3.41068851115,
      3.109900378978677,
      2.7038753543701484,
      2.195510841361015,
      1.6629756430876113,
      1.2017324067919735,
      0.7882174692365674
    ],
    "ax_ego": [
      -0.5558123235274075,
      -0.46903130305211715,
      -0.2518170253429546,
      -0.4889211290706134,
      -0.7090643884808572,
      -0.9181431744363588,
      -1.1142858475019517,
      -1.017925019787782,
      -0.8268425664220794,
      -0.8266508360270155
    ],
    "ay_ego": [
      -0.7905322525992375,
      -0.8449131326649066,
      -0.6612882760896929,
      -0.4680408585244698,
      -0.42375453709283917,
      -0.16292746647291437,
      -0.19147464697328043,
      0.001263280554551105,
      -0.019628842979601158,
      -0.026501239026561124
    ],
    "a_ego": [
      0.966368760559115,
      0.9663687520777942,
      0.7076114741482448,
      0.6768353682395788,
      0.8260388699804013,
      0.932487130257226,
      1.1306173050049628,
      1.0179258036751577,
      0.8270755232287851,
      0.8270755227753428
    ],
    "yaw": [
      -2.9318272533894723,
      -3.0378530597388025,
      -3.1412460292658686,
      3.0530544116779765,
      2.986722216252125,
      2.942891836090509,
      2.90743509753972,
      2.8835118252182816,
      2.868360425678688,
      2.8600479061944695
    ],
    "yaw_diff": [
      -0.21205161269866046,
      -0.20678593905413223,
      -0.1777697324714822,
      -0.13266439085170312,
      -0.08766076032323156,
      -0.07091347710157869,
      -0.04784654464287641,
      -0.030302799079187537,
      -0.01662503896843681,
      -0.01662503896843681
    ],
    "min_front_frame": [
      9,
      14.481157092972545
    ],
    "v_avg": 2.6467232838102213,
    "v_std": 1.0764206141814627,
    "vy_max": 0.0269814003535353,
    "a_max": 1.1306173050049628,
    "ax_avg": -0.7178493613649137,
    "a_std": 0.1335662130464569,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "a6fd750fe57d5bb9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      17.73753500166586,
      16.796735229312006,
      15.926287468454069,
      15.27513962018031,
      14.829241480589744,
      14.481157092972545
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a6fd750fe57d5bb9",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "2322850f71fa5c4d": {
    "vx_ego": [
      1.8736216779240813,
      1.6784678242614772,
      1.465809990201748,
      1.2065736978444457,
      0.9524668780301051,
      0.8018596942608646,
      0.7849360852252475,
      0.8640739027291688,
      0.9782699914947057,
      1.0943605110098913
    ],
    "vy_ego": [
      -0.008917971164547178,
      0.0028905870526078625,
      0.013867406673793492,
      0.0051142583784726525,
      -0.004978279547125014,
      -0.01169441909525687,
      -0.012395513928163557,
      0.0077315396399965375,
      0.019158848524734248,
      0.013307333817735675
    ],
    "v_ego": [
      1.8736429014614127,
      1.6784703132836654,
      1.4658755855607615,
      1.2065845366027121,
      0.9524798879827671,
      0.8019449661405094,
      0.7850339525487291,
      0.864108492078872,
      0.9784575809588504,
      1.0944414160617129
    ],
    "ax_ego": [
      -0.3924329923150056,
      -0.38754946489162173,
      -0.46510648954486655,
      -0.5735686323519782,
      -0.4426473842466918,
      -0.15957984934378866,
      0.09283872185910405,
      0.22404892635609147,
      0.2315609467070449,
      0.23183043411928062
    ],
    "ay_ego": [
      0.13740931562300504,
      0.150633285483421,
      0.08167175006184749,
      0.00915503717221458,
      0.031794873536202056,
      -0.008071901013583894,
      0.04432572385807128,
      0.07785436736558461,
      0.02018344673554958,
      0.016807495125152533
    ],
    "a_ego": [
      0.415794388462966,
      0.41579438961259707,
      0.4722227455077889,
      0.57364169193299,
      0.44378781051716765,
      0.15978386621483215,
      0.10287758780207706,
      0.23719026944462268,
      0.23243890285834182,
      0.23243889966250514
    ],
    "yaw": [
      2.8526726447780506,
      2.8865777697599078,
      2.9163507862930187,
      2.939657640189802,
      2.958779394946665,
      2.973803085507666,
      2.9866198726108935,
      2.999511560020459,
      3.013727438207601,
      3.0282977852913753
    ],
    "yaw_diff": [
      0.06781024996371432,
      0.05954603306622186,
      0.04661370779356666,
      0.038243509513725904,
      0.030047381122002115,
      0.025633574206454846,
      0.025783374819130955,
      0.02843175637428441,
      0.029140694167548276,
      0.029140694167548276
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.1701039632679993,
    "v_std": 0.3618676072712619,
    "vy_max": 0.019158848524734248,
    "a_max": 0.57364169193299,
    "ax_avg": -0.16406057836524313,
    "a_std": 0.14678079759742912,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "2322850f71fa5c4d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 46.74224997743911,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "2322850f71fa5c4d",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "749a8604cf285389": {
    "vx_ego": [
      6.755717199383544,
      6.501375405664216,
      6.27316900717921,
      6.054789561064785,
      5.805884942054391,
      5.568978754025867,
      5.368354087368625,
      5.166111855681262,
      4.983399987093516,
      4.831158786585215
    ],
    "vy_ego": [
      0.006430589746784676,
      0.04830936920831297,
      0.06185116968811366,
      0.04813591762090308,
      -0.020633036714902797,
      -0.07583926391679041,
      -0.050612727931709234,
      0.009315613510849197,
      0.047780978608414904,
      0.07179222076574199
    ],
    "v_ego": [
      6.755720259937584,
      6.501554887911726,
      6.27347391481192,
      6.054980899667999,
      5.805921604928712,
      5.569495125838871,
      5.368592669927205,
      5.166120254704257,
      4.9836290445096765,
      4.831692182265133
    ],
    "ax_ego": [
      -0.508777922119156,
      -0.5067983449772586,
      -0.4029046982427283,
      -0.4675708001261783,
      -0.5275183823002905,
      -0.4205934219917319,
      -0.3818793986457112,
      -0.4269309093183128,
      -0.3041005784603036,
      -0.30415680784628607
    ],
    "ay_ego": [
      -0.1214355137640954,
      -0.12944881622128235,
      -0.15670086936519081,
      -0.2055074285600291,
      -0.24162630491553203,
      -0.01531153848193742,
      0.11798544687523937,
      0.15484412508767056,
      0.019493519005283705,
      0.018595565857717156
    ],
    "a_ego": [
      0.5230693625505471,
      0.5230693629842793,
      0.4323047054172213,
      0.5107404001290577,
      0.5802231595617751,
      0.4208720349861688,
      0.3996904311893893,
      0.454143924770031,
      0.3047247267667995,
      0.30472472631673864
    ],
    "yaw": [
      1.1409158533651964,
      1.1251353803148012,
      1.111788322175356,
      1.099339350727041,
      1.092095242004937,
      1.0905041023181146,
      1.0905849871636295,
      1.09215511090367,
      1.0931668994757882,
      1.0902143592739721
    ],
    "yaw_diff": [
      -0.03156094610079041,
      -0.026694116278890512,
      -0.024897942896629832,
      -0.01448821744420803,
      -0.003182279373644903,
      0.00016176969102987826,
      0.0031402474800810154,
      0.002023577144236288,
      -0.005905080403632024,
      -0.005905080403632024
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.7311180844503085,
    "v_std": 0.623898312669719,
    "vy_max": 0.07583926391679041,
    "a_max": 0.5802231595617751,
    "ax_avg": -0.42512312640279565,
    "a_std": 0.08776655786320117,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "749a8604cf285389",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "749a8604cf285389",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a2701552b0f95f7b": {
    "vx_ego": [
      7.221274828489253,
      6.507683401551625,
      5.73286725018752,
      4.836878483668889,
      3.807790534640099,
      2.716747738544396,
      1.6739698458961563,
      0.7397151888161986,
      0.09706995435749528,
      -0.32523524305890117
    ],
    "vy_ego": [
      -0.017396099982716073,
      -0.028657690480404785,
      -0.017269929627217184,
      0.009622361054544282,
      0.004461634955776228,
      -0.006423575335286369,
      -0.02192915359986891,
      -0.0386531679761179,
      -0.026737342196618073,
      -0.004104760407074359
    ],
    "v_ego": [
      7.221295782120208,
      6.50774650075233,
      5.732893262458489,
      4.836888054897623,
      3.807793148515451,
      2.716755332599198,
      1.6741134766637558,
      0.7407243940629836,
      0.10068496167107216,
      0.32526114490603086
    ],
    "ax_ego": [
      -1.4270710649263976,
      -1.426727227642032,
      -1.6719828233962377,
      -1.9119780392403831,
      -2.204251944819611,
      -2.1599608491750018,
      -2.01116565183141,
      -1.7259290303275128,
      -0.8446067756279326,
      -0.8445872179997476
    ],
    "ay_ego": [
      0.054157619781182054,
      0.06256424101111324,
      0.10412426400729569,
      0.0071517117154548115,
      -0.06172193605503207,
      0.003308475993730964,
      -0.07218634822736181,
      0.0030465386314219023,
      0.0449834939986159,
      0.04534922089496407
    ],
    "a_ego": [
      1.428098341197316,
      1.428098339172907,
      1.6752219029391646,
      1.9119914146036223,
      2.2051159229463244,
      2.159963383018841,
      2.01246071961091,
      1.7259317191374928,
      0.8458038307840279,
      0.8458038310650604
    ],
    "yaw": [
      2.4323740868066164,
      2.4382656030543313,
      2.443189133205756,
      2.443363492891478,
      2.4414176139060206,
      2.4402759306526933,
      2.439488571674554,
      2.4390096219481743,
      2.4393070650976125,
      2.4397400878161153
    ],
    "yaw_diff": [
      0.01178303249542978,
      0.009847060302849542,
      0.000348719371443984,
      -0.0038917579709147887,
      -0.002283366506654616,
      -0.0015747179562790592,
      -0.0009578994527590368,
      0.0005948862988764958,
      0.0008660454370055248,
      0.0008660454370055248
    ],
    "min_front_frame": [
      8,
      10.086864566883465
    ],
    "v_avg": 3.366415605864714,
    "v_std": 2.505577722300119,
    "vy_max": 0.0386531679761179,
    "a_max": 2.2051159229463244,
    "ax_avg": -1.6228260624986266,
    "a_std": 0.464730056665783,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a2701552b0f95f7b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.915978708231192,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.95145819789016,
      20.27121386227475,
      17.690271256778896,
      15.305370177879427,
      13.272559155818415,
      11.722558653104265,
      10.691854061499294,
      10.162208238050868,
      10.086864566883465,
      10.141839869193474
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a2701552b0f95f7b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f1d33f8016b153ef": {
    "vx_ego": [
      3.8997603187521035,
      3.2289251362593747,
      2.5149268435037166,
      1.7958386407874105,
      1.2357254502924717,
      0.823662807235573,
      0.4592183676005901,
      0.23873019230960746,
      0.2315416662399754,
      0.3142609493478869
    ],
    "vy_ego": [
      0.029469662637105376,
      -0.016085059596032014,
      -0.03497781952873247,
      -0.04422383783929673,
      -0.0373812330519987,
      0.004961933236035998,
      0.008669141193225038,
      0.0008291677293855854,
      0.021332353363315792,
      0.04159451026625885
    ],
    "v_ego": [
      3.89987166516149,
      3.2289652002940246,
      2.515170069008168,
      1.7963830804086334,
      1.2362907202939848,
      0.8236777530106197,
      0.45930018849416854,
      0.23873163225535407,
      0.23252228388952645,
      0.3170016523132412
    ],
    "ax_ego": [
      -1.3417057117533084,
      -1.3416076186330108,
      -1.5140550182085613,
      -1.36178163622649,
      -0.8780464956012284,
      -0.770100823889653,
      -0.6877470806830752,
      -0.19418701517116013,
      0.1654144381751751,
      0.16542622508795285
    ],
    "ay_ego": [
      -0.0975581640459704,
      -0.0988979312549817,
      0.04528564699988524,
      -0.043570021056467234,
      0.08685893466642658,
      0.08888719958602609,
      -0.0724174309418974,
      0.041620026314750855,
      0.040706450263543525,
      0.040658513660398264
    ],
    "a_ego": [
      1.345247862783462,
      1.3452478593852708,
      1.5147321175662465,
      1.3624784664348122,
      0.8823322066937058,
      0.7752136564881764,
      0.6915492255019283,
      0.19859713857839173,
      0.1703494979442768,
      0.17034949568438068
    ],
    "yaw": [
      2.5215204491550516,
      2.520521859797173,
      2.5224191192093066,
      2.526947830263632,
      2.5296823708035348,
      2.531250333911559,
      2.531900313085858,
      2.5323897996607085,
      2.532802188876828,
      2.5330919951014126
    ],
    "yaw_diff": [
      -0.0019971787157571086,
      0.003794518824267179,
      0.00905742210865057,
      0.005469081079805704,
      0.0031359262160481904,
      0.0012999583485981958,
      0.00097897314970119,
      0.0008247784322392704,
      0.0005796124491688204,
      0.0005796124491688204
    ],
    "min_front_frame": [
      6,
      12.5497175046361
    ],
    "v_avg": 1.4747914245129212,
    "v_std": 1.2675786508236082,
    "vy_max": 0.04422383783929673,
    "a_max": 1.5147321175662465,
    "ax_avg": -0.7758390736903358,
    "a_std": 0.5074220560166524,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f1d33f8016b153ef",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.419801315253366,
      15.796540154362022,
      14.48915468708972,
      13.57069305735055,
      13.024203242472183,
      12.708749092752244,
      12.5497175046361,
      12.704484358397801,
      12.924615998573405,
      13.242284583005816
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f1d33f8016b153ef",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bc551b5cc30b5ef5": {
    "vx_ego": [
      0.8264298159384662,
      1.9112710700898137,
      2.923861828940786,
      3.755614737987299,
      4.394587469068445,
      4.963684370477424,
      5.496198818161117,
      5.922400862592961,
      6.26335582018306,
      6.573971696755747
    ],
    "vy_ego": [
      -0.003296126963955648,
      0.002491170317343916,
      0.007769388250396858,
      0.024520350279791048,
      0.023811222831126688,
      0.01630204227561549,
      0.004281235607788592,
      0.0014490478394497686,
      -0.002577390485001718,
      0.011622440719885496
    ],
    "v_ego": [
      0.8264363890373231,
      1.9112726935975963,
      2.923872151468108,
      3.755694783627292,
      4.394651976849374,
      4.963711140498026,
      5.496200485584017,
      5.922401039863941,
      6.2633563504851555,
      6.5739819706836675
    ],
    "ax_ego": [
      2.169676528154902,
      2.169689068661367,
      1.8806609331376367,
      1.4462448223787696,
      1.1092349640331316,
      1.1670079028635363,
      0.9619145644237994,
      0.7428848150893219,
      0.6210332498232554,
      0.62135282963731
    ],
    "ay_ego": [
      0.0149923492122368,
      0.013052415821981578,
      0.04762521779145157,
      0.040470164249372886,
      0.020049982541599953,
      0.15399413056006322,
      0.03487995660854448,
      0.05375923868771493,
      0.08105003505027761,
      0.07856248099908661
    ],
    "a_ego": [
      2.169728325703753,
      2.1697283286686884,
      1.8812638588990673,
      1.446810948414398,
      1.1094161560178855,
      1.1771243084708167,
      0.9625467472406947,
      0.7448274325201635,
      0.6262997729264199,
      0.6262997703328844
    ],
    "yaw": [
      -0.6278196853155056,
      -0.6269255783816468,
      -0.6228944415943802,
      -0.6213408697753362,
      -0.6174938273395296,
      -0.606573313349422,
      -0.5953017271371965,
      -0.5909452079847168,
      -0.5847683967246375,
      -0.5807639150730439
    ],
    "yaw_diff": [
      0.0017882138677176584,
      0.008062273574533041,
      0.0031071436380880613,
      0.0076940848716131605,
      0.021841027980215255,
      0.02254317242445092,
      0.008713038304959397,
      0.012353622520158591,
      0.008008963303187233,
      0.008008963303187233
    ],
    "min_front_frame": [
      0,
      16.416635378053265
    ],
    "v_avg": 4.3031578981694505,
    "v_std": 1.8302970517709443,
    "vy_max": 0.024520350279791048,
    "a_max": 2.1697283286686884,
    "ax_avg": 1.288969967820303,
    "a_std": 0.5703326178172611,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "bc551b5cc30b5ef5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.52466818827934,
    "right_rear_min": 18.137860286382562,
    "speed_mode": "accelerating",
    "front_frame": [
      16.416635378053265,
      53.91330515380111,
      52.65162241686195,
      50.95431861171363,
      48.89475505307702,
      46.59613336440196,
      43.9694956185345,
      41.14183140028746,
      38.104335290058444,
      34.953480336596954
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "bc551b5cc30b5ef5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "917f7087f2665add": {
    "vx_ego": [
      6.431566729417126,
      6.382542191642907,
      6.330871217426775,
      6.3296654080930495,
      6.365531497533794,
      6.42474358156531,
      6.567194734123621,
      6.776302196767995,
      7.013616431229864,
      7.25669091692702
    ],
    "vy_ego": [
      0.03503827469584353,
      -0.002825445394019077,
      0.0015700438562959995,
      -0.023501046904531808,
      -0.038511729485473545,
      -0.032718678377249955,
      -0.023611045518941776,
      0.007003392184410817,
      0.006254981344206989,
      -0.015156219245653357
    ],
    "v_ego": [
      6.431662170515408,
      6.3825428170317435,
      6.330871412110697,
      6.329709035778451,
      6.365647995247836,
      6.424826892670292,
      6.567237178400938,
      6.776305815813277,
      7.013619220431713,
      7.2567067444394455
    ],
    "ax_ego": [
      -0.09853215955172667,
      -0.09815162157409024,
      -0.10851984095488582,
      0.10372580647374158,
      0.040057962597981514,
      0.19677500691133076,
      0.373439568702474,
      0.4629919268436003,
      0.4861802616218977,
      0.486157592299099
    ],
    "ay_ego": [
      0.04112061655084721,
      0.04202082262707691,
      -0.033423579723053896,
      -0.04699745082052154,
      0.03601109582721905,
      -0.016205278984904287,
      0.11259534104769021,
      0.04844379959778522,
      -0.009231044613844719,
      -0.010356283057313065
    ],
    "a_ego": [
      0.10676840155892908,
      0.1067683958476462,
      0.11355039217183291,
      0.11387626316425839,
      0.05386501081572748,
      0.19744116696356118,
      0.39004464141728123,
      0.46551941532208957,
      0.48626788807754895,
      0.48626788619938716
    ],
    "yaw": [
      2.5986976474282084,
      2.607851479912354,
      2.607498195771311,
      2.6082859555015547,
      2.61021561912975,
      2.6100836146826754,
      2.612399051307486,
      2.613847180415531,
      2.615378158687043,
      2.617692665130723
    ],
    "yaw_diff": [
      0.01830766496829117,
      -0.0007065682820863728,
      0.0015755194604878398,
      0.003859327256390266,
      -0.00026400889414901485,
      0.0046308732496216365,
      0.002896258216090075,
      0.0030619565430232143,
      0.004629012887360062,
      0.004629012887360062
    ],
    "min_front_frame": [
      0,
      30.81225608992064
    ],
    "v_avg": 6.587912928243981,
    "v_std": 0.3065550376224865,
    "vy_max": 0.038511729485473545,
    "a_max": 0.48626788807754895,
    "ax_avg": 0.18441245033694223,
    "a_std": 0.17235857182019718,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "917f7087f2665add",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      30.81225608992064,
      31.07000943666137,
      31.499785466932433,
      31.924230713439407,
      32.39450120311902,
      32.67601504643093,
      33.088661083483686,
      33.437093390821246,
      33.911846274605246,
      34.21367327309275
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "917f7087f2665add",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2034e8ae11cc594e": {
    "vx_ego": [
      6.060440546312991,
      6.550433100717815,
      7.029490354572181,
      7.43211954034966,
      7.802017199335008,
      8.153128433033837,
      8.398765968462426,
      8.536091167088157,
      8.623556579402484,
      8.688768073759732
    ],
    "vy_ego": [
      -0.01799841643588662,
      -0.19830951312651202,
      -0.12913291944800198,
      -0.07775001343673393,
      -0.04638554699728159,
      -0.05946737661703416,
      -0.06581848599614837,
      -0.03107806460146545,
      0.004348664294607563,
      0.008279462993833864
    ],
    "v_ego": [
      6.060467272280968,
      6.5534342500688965,
      7.030676351241643,
      7.432526214325562,
      7.8021550867494,
      8.153345302047896,
      8.399023863884505,
      8.536147741161692,
      8.623557675868877,
      8.688772018478438
    ],
    "ax_ego": [
      0.9542582661964383,
      1.0439592938436213,
      0.8843687221405256,
      0.728191593788441,
      0.7507647551593865,
      0.6523945055156796,
      0.3265393726112645,
      0.21907690234195168,
      0.13042085067966758,
      0.13047606268438974
    ],
    "ay_ego": [
      0.947442186083093,
      0.8475874817466297,
      0.297162543469093,
      0.09723361341322379,
      -0.10152891202383543,
      -0.25303169278168547,
      -0.2437607467879836,
      -0.04004848340099766,
      -0.02736923889962363,
      -0.027104765584918696
    ],
    "a_ego": [
      1.3447139229494662,
      1.3447139273526045,
      0.932959599308291,
      0.7346545942424522,
      0.757598731233281,
      0.6997454025422485,
      0.40748897351952196,
      0.22270736441003702,
      0.13326167314705611,
      0.1332616645965155
    ],
    "yaw": [
      -1.2437607915142137,
      -1.1439000868184057,
      -1.1120358573617914,
      -1.105523603791899,
      -1.1097838071803183,
      -1.119240502323037,
      -1.1334102238606998,
      -1.1458725617047025,
      -1.1519581825547371,
      -1.153985559941673
    ],
    "yaw_diff": [
      0.19972140939161598,
      0.06372845891322854,
      0.01302450713978498,
      -0.00852040677683874,
      -0.01891339028543726,
      -0.028339443075325654,
      -0.024924675688005493,
      -0.012171241700069224,
      -0.004054754773871849,
      -0.004054754773871849
    ],
    "min_front_frame": [
      2,
      24.715193578135608
    ],
    "v_avg": 7.728010577610789,
    "v_std": 0.8802689901135872,
    "vy_max": 0.19830951312651202,
    "a_max": 1.3447139273526045,
    "ax_avg": 0.5820450324961366,
    "a_std": 0.4286619337870163,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2034e8ae11cc594e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      31.281605328897044,
      28.14025844160866,
      24.715193578135608,
      26.38977419009971,
      28.144399098047437,
      29.488448948059254,
      25.483538397614684,
      26.846209103096857,
      29.667824455703656,
      25.40733859461936
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2034e8ae11cc594e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "434aa60fb0165165": {
    "vx_ego": [
      4.348286755501706,
      4.35467819065795,
      4.394886462314365,
      4.423710170524801,
      4.328338639776802,
      4.189008716920267,
      4.1003003068461314,
      4.0234364339669915,
      3.9021843022816,
      3.738778905335756
    ],
    "vy_ego": [
      0.005068497144881043,
      0.02755171643937722,
      0.021936539559060324,
      0.0041208822082884206,
      -0.022297057216878385,
      -0.030345707348311796,
      -0.03136914231353061,
      -0.008041547826795004,
      0.002532746113523221,
      0.006313633036783062
    ],
    "v_ego": [
      4.348289709498996,
      4.354765348588917,
      4.394941208753753,
      4.423712089916651,
      4.328396070063993,
      4.189118629543505,
      4.100420299117149,
      4.023444470185275,
      3.9021851242317824,
      3.7387842362117873
    ],
    "ax_ego": [
      0.012004500837809802,
      0.014936022015139362,
      0.14651375638687994,
      -0.029757625780659824,
      -0.35280821012083624,
      -0.2056384712752595,
      -0.15109965588623223,
      -0.15739942536169213,
      -0.3273908386170967,
      -0.32594526885931874
    ],
    "ay_ego": [
      -0.13895462021734226,
      -0.13867014827827678,
      -0.061626325229533103,
      -0.2126151336421376,
      -0.10707641174044004,
      -0.1384060683873467,
      -0.05879372228775544,
      -0.038294425119506856,
      -0.09905349893886019,
      -0.10371132383913874
    ],
    "a_ego": [
      0.13947219981096876,
      0.13947220073246136,
      0.15894679855816596,
      0.2146874736582594,
      0.368699052181961,
      0.24787783409346756,
      0.16213515284905833,
      0.16199087041998514,
      0.3420473020832596,
      0.34204730226131047
    ],
    "yaw": [
      -1.552581729803177,
      -1.57369952933953,
      -1.5839003409856174,
      -1.595351559193262,
      -1.6074664542844526,
      -1.6200414018710072,
      -1.6317083580272522,
      -1.6434246067737008,
      -1.6546972299025842,
      -1.668955575376863
    ],
    "yaw_diff": [
      -0.04223559907270591,
      -0.020401623292174875,
      -0.02290243641528944,
      -0.024229790182380917,
      -0.025149895173109282,
      -0.023333912312490046,
      -0.02343249749289722,
      -0.02254524625776666,
      -0.028516690948557688,
      -0.028516690948557688
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.180405718611182,
    "v_std": 0.22119167580257232,
    "vy_max": 0.03136914231353061,
    "a_max": 0.368699052181961,
    "ax_avg": -0.13765852166612663,
    "a_std": 0.08690197426618641,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "434aa60fb0165165",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.992724981145193,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "434aa60fb0165165",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "9326163d4c9c5d16": {
    "vx_ego": [
      6.9125458133448054,
      6.759781210720543,
      6.638402006312406,
      6.531416278316765,
      6.497370490561584,
      6.4426231954686175,
      6.27654298878441,
      5.929367215243601,
      5.349658184215994,
      4.688280404333425
    ],
    "vy_ego": [
      -0.01937757529292483,
      0.0471206774780244,
      0.0689738821835224,
      0.03994363227839859,
      0.011952665077634261,
      -0.027626642547962543,
      -0.057204744618812864,
      -0.058329448526571515,
      -0.08640332111645233,
      0.04160268797764377
    ],
    "v_ego": [
      6.912572973359126,
      6.759945441721883,
      6.638760320559558,
      6.531538417128144,
      6.497381484707739,
      6.442682428163655,
      6.276803666904489,
      5.929654112827414,
      5.3503558967464135,
      4.688464986891099
    ],
    "ax_ego": [
      -0.4179637845184483,
      -0.19758112517013648,
      -0.302090911619575,
      -0.17666975168380894,
      0.010468932506182638,
      -0.22438080023554408,
      -0.4201084326527724,
      -0.9484612020912531,
      -1.3621699840000077,
      -1.271304321239913
    ],
    "ay_ego": [
      1.7812741776268348,
      1.8189538583152955,
      2.0841280371303674,
      1.8624318551595502,
      1.6385840975017647,
      1.6524229498041152,
      1.612471968561438,
      1.4720036605372722,
      1.0356583130529433,
      1.145373534166411
    ],
    "a_ego": [
      1.8296533608990366,
      1.8296533659968484,
      2.1059080212668415,
      1.8707925102140706,
      1.638617540225141,
      1.667587583473107,
      1.6663003764574884,
      1.7511063441457557,
      1.7111677903426799,
      1.7111677912969643
    ],
    "yaw": [
      -2.791300416907666,
      -2.669025936012204,
      -2.5271465388534162,
      -2.3728432230050904,
      -2.233913702959761,
      -2.101428306237506,
      -1.969134852028976,
      -1.844116594668338,
      -1.7291558090597257,
      -1.645880413141295
    ],
    "yaw_diff": [
      0.24454896179092334,
      0.2837587943175759,
      0.3086066316966516,
      0.2778590400906591,
      0.26497079344451,
      0.2645869084170598,
      0.25003651472127597,
      0.22992157121722467,
      0.1665507918368614,
      0.1665507918368614
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.202815972900952,
    "v_std": 0.6600452705957193,
    "vy_max": 0.08640332111645233,
    "a_max": 2.1059080212668415,
    "ax_avg": -0.5310261380705276,
    "a_std": 0.13237122534886717,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "9326163d4c9c5d16",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.892302204663732,
    "right_rear_min": 7.1925151934434135,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9326163d4c9c5d16",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "277c6ebd67da5320": {
    "vx_ego": [
      7.240718509911796,
      7.217419768711089,
      7.215315301134858,
      7.197583985637746,
      7.115056865313103,
      7.0408491079242275,
      6.96896889945884,
      6.844664021210479,
      6.73154861593261,
      6.649089446574672
    ],
    "vy_ego": [
      -0.04233010164419415,
      -0.03110915898682931,
      -0.020969007585295074,
      -0.008311745845788643,
      0.002073933095245728,
      0.010422475401083542,
      0.016529185725144613,
      -0.011619475113990196,
      -0.03214866992461651,
      -0.052308672815604584
    ],
    "v_ego": [
      7.240842242259149,
      7.217486813119543,
      7.215345770929479,
      7.197588784824259,
      7.115057167573399,
      7.040856822045941,
      6.96898850161236,
      6.844673883791333,
      6.731625383638201,
      6.6492952006812285
    ],
    "ax_ego": [
      -0.04677235749526658,
      -0.04482582578119384,
      0.03751911176732127,
      -0.10777716896375884,
      -0.22264723359474836,
      -0.07429236263457875,
      -0.2127627593516365,
      -0.2844286502549002,
      -0.16785372038815327,
      -0.16442627351526767
    ],
    "ay_ego": [
      0.1791040120403131,
      0.17960108251565382,
      0.17516046978984556,
      0.18330640811585888,
      0.0745908562691472,
      0.014503382514936412,
      -0.1051157802596467,
      0.008983309001298304,
      -0.2340425696141755,
      -0.23646309783035624
    ],
    "a_ego": [
      0.18511050903339238,
      0.18511051698312725,
      0.17913367613268072,
      0.2126432632513441,
      0.23480968137272157,
      0.0756948033236253,
      0.2373127030449839,
      0.28457047796009544,
      0.28801179809124233,
      0.28801179846951797
    ],
    "yaw": [
      2.8025588983496865,
      2.8134119134056434,
      2.824312363630526,
      2.8349646630206906,
      2.842507655240838,
      2.8444802012917956,
      2.8403846613030184,
      2.8409797558047094,
      2.8357039959860417,
      2.8211350453320776
    ],
    "yaw_diff": [
      0.021706030111913854,
      0.021800900449765237,
      0.021304598780329087,
      0.01508598444029463,
      0.003945092101915293,
      -0.008191079977554416,
      0.0011901890033820806,
      -0.01055151963733536,
      -0.02913790130792826,
      -0.02913790130792826
    ],
    "min_front_frame": [
      4,
      20.702909749844032
    ],
    "v_avg": 7.0221760570474885,
    "v_std": 0.20513824400147768,
    "vy_max": 0.052308672815604584,
    "a_max": 0.28801179846951797,
    "ax_avg": -0.12882672402121825,
    "a_std": 0.062317550816691776,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "277c6ebd67da5320",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 21.893478444533187,
    "right_rear_min": 21.218534603506093,
    "speed_mode": "quasi_constant",
    "front_frame": [
      35.093060388795045,
      31.46666980324728,
      27.8424464168393,
      24.252994547420045,
      20.702909749844032,
      22.53090565851236,
      38.16181880954644,
      37.85989520693512,
      38.21504646533898,
      38.99766942294857
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "277c6ebd67da5320",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2836705e16ba5691": {
    "vx_ego": [
      7.936325610568086,
      8.329956921885278,
      8.732914736575545,
      9.10930757286064,
      9.422659344691537,
      9.63192447573544,
      9.754581092603479,
      9.849348417189647,
      9.895588761900576,
      9.910782642258514
    ],
    "vy_ego": [
      -0.013154516564993557,
      -0.006492666414497084,
      0.014176828195503699,
      0.007583712684466892,
      -0.007338661024694826,
      -0.029734218882381036,
      -0.025077073148064066,
      -0.03427634554278569,
      -0.04757766352715542,
      -0.056943097085432104
    ],
    "v_ego": [
      7.9363365124133285,
      8.329959452193128,
      8.73292624374877,
      9.109310729669632,
      9.422662202480167,
      9.63197037111535,
      9.754613326614999,
      9.849408058917042,
      9.89570313715603,
      9.910946226188413
    ],
    "ax_ego": [
      0.7858958558421669,
      0.7890913481032834,
      0.8222997493869761,
      0.6827076695540475,
      0.5709628598102795,
      0.2660786906603621,
      0.2246011771073753,
      0.15444462168627288,
      0.03058909867232259,
      0.030642540603039798
    ],
    "ay_ego": [
      0.24010203817099462,
      0.22938206470888356,
      0.16323317197259646,
      0.12004055436407618,
      0.17599778182700482,
      0.022666600147884373,
      0.015493913866532504,
      -0.06397485266127168,
      0.024526432310566473,
      0.024459620489092795
    ],
    "a_ego": [
      0.8217550030050063,
      0.8217550044031176,
      0.8383447657581689,
      0.693180710031629,
      0.5974728500030432,
      0.26704240184996225,
      0.22513495980172002,
      0.16717034109209494,
      0.039207637514518605,
      0.03920763100570335
    ],
    "yaw": [
      -1.3790081642253762,
      -1.3653956003841472,
      -1.3563090288595256,
      -1.3476486782768744,
      -1.338065516364834,
      -1.330531979335801,
      -1.330028497819629,
      -1.3303262289422992,
      -1.3299784102774102,
      -1.3277960870806196
    ],
    "yaw_diff": [
      0.027225127682457995,
      0.018173143049243112,
      0.017320701165302488,
      0.019166323824080678,
      0.015067074058066066,
      0.0010069630323439327,
      -0.0005954622453403502,
      0.0006956373297781759,
      0.00436464639358114,
      0.00436464639358114
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.257383626049686,
    "v_std": 0.6709858877348969,
    "vy_max": 0.056943097085432104,
    "a_max": 0.8383447657581689,
    "ax_avg": 0.4357313611426127,
    "a_std": 0.31774532134750044,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2836705e16ba5691",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2836705e16ba5691",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "29a13686ed375688": {
    "vx_ego": [
      5.012904894073895,
      5.255746713415355,
      5.731148520608316,
      6.284956881974454,
      6.86554309710063,
      7.417226479057586,
      7.9448237881056345,
      8.44182434269034,
      8.876584022690944,
      9.284058505632077
    ],
    "vy_ego": [
      -0.16028207061785027,
      -0.11693814468828201,
      -0.15041664785980458,
      -0.09161773662187112,
      -0.06779235406145412,
      -0.08119917742009675,
      -0.032664438590596374,
      0.03359596570155207,
      0.04231390256369777,
      0.0424693171436821
    ],
    "v_ego": [
      5.0154666601615,
      5.257047464619227,
      5.733122058113212,
      6.285624616372009,
      6.865877789577623,
      7.417670924761134,
      7.944890936293437,
      8.441891193432348,
      8.876684875461239,
      9.284155641677813
    ],
    "ax_ego": [
      0.15560048181668718,
      0.9478634383685791,
      1.0497445362377649,
      1.1645562049424996,
      1.1626420740296577,
      1.0473515645324354,
      1.0640186975047494,
      0.9240641175790444,
      0.8150566460645389,
      0.8150981556792962
    ],
    "ay_ego": [
      2.9445072012594786,
      2.7921119445173446,
      2.4986344019469557,
      1.5186720216865037,
      0.9869546381668628,
      0.5112523631251736,
      0.17761441972983688,
      0.047786148359498695,
      -0.027920553147035704,
      -0.02668128209854652
    ],
    "a_ego": [
      2.948615635889241,
      2.948615642723265,
      2.7101914076230593,
      1.9137805161312123,
      1.5250626380916514,
      1.165471697867269,
      1.0787412436426402,
      0.9252988757002648,
      0.8155347286179856,
      0.8155347290006799
    ],
    "yaw": [
      -0.8287082182458649,
      -0.5542319868654664,
      -0.30803984681890495,
      -0.1506122297609757,
      -0.05903575735684133,
      -0.004833040602798705,
      0.01127325250244399,
      0.010066276748100848,
      0.009633714873774464,
      0.008113297354517995
    ],
    "yaw_diff": [
      0.5489524627607971,
      0.49238428009312285,
      0.3148552341158585,
      0.18315294480826877,
      0.10840543350808525,
      0.032212586210485394,
      -0.002413951508686285,
      -0.0008651237486527671,
      -0.003040835038512938,
      -0.003040835038512938
    ],
    "min_front_frame": [
      3,
      64.37429075017565
    ],
    "v_avg": 7.112243216046954,
    "v_std": 1.444617686846881,
    "vy_max": 0.16028207061785027,
    "a_max": 2.948615642723265,
    "ax_avg": 0.9145995916755252,
    "a_std": 0.8395791047032203,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "29a13686ed375688",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      64.37429075017565,
      67.35984910905296,
      69.85769947843808,
      72.16129702832215,
      73.94916574513174,
      75.5113429775799,
      76.7937502428222
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "29a13686ed375688",
    "pedestrians": "No"
  },
  "e56f85ee56395a99": {
    "vx_ego": [
      0.5845197636285255,
      0.23626314725216851,
      0.00018969958134563416,
      -0.04796358773697608,
      -0.025736740306551334,
      -0.013686224401452042,
      -0.008763483986213445,
      -0.006468447695670011,
      -0.0046165658599309324,
      -0.0028914773775078504
    ],
    "vy_ego": [
      -0.03986090095165573,
      -0.014364087766181907,
      -0.0056445387967058586,
      -0.006578825353001574,
      -0.002599390108891512,
      -0.0013147785437010468,
      -0.0008875080461248647,
      -0.0006370016616831639,
      -0.0003793112256209967,
      -0.00036761637544009955
    ],
    "v_ego": [
      0.5858773297346682,
      0.23669939114170624,
      0.0056477255739527865,
      0.04841267077561306,
      0.025867675398942733,
      0.013749232014402766,
      0.0088083098326839,
      0.006499737433820368,
      0.004632122337002978,
      0.0029147526866153484
    ],
    "ax_ego": [
      -0.6965128028887388,
      -0.6965120378398304,
      -0.2477846227722135,
      0.055173151049624426,
      0.03373367113750019,
      0.014468182045340647,
      0.005222776864070403,
      0.003957430483382044,
      0.0034501208353861145,
      0.003450122252004352
    ],
    "ay_ego": [
      0.05100066556161345,
      0.05101104195515993,
      -0.01624500702677381,
      0.012497298213906542,
      0.0034261933268814933,
      0.001714444305960083,
      -5.215450917892906e-06,
      0.0010068051679441798,
      2.3759701586110755e-05,
      2.398188262356599e-05
    ],
    "a_ego": [
      0.6983775142969988,
      0.6983775091289413,
      0.24831657120632944,
      0.05657083223174275,
      0.03390721706548889,
      0.014569406678906193,
      0.005222779468137377,
      0.00408349270563822,
      0.0034502026465390175,
      0.0034502056003185887
    ],
    "yaw": [
      -1.918492016429223,
      -1.9184771200964112,
      -1.9189284103859028,
      -1.9188856316091738,
      -1.9189276810937383,
      -1.9189593143759756,
      -1.9189629019320185,
      -1.9189482129286382,
      -1.9189391218112735,
      -1.9190034112257126
    ],
    "yaw_diff": [
      2.9792665623418202e-05,
      -0.0009025805789830699,
      8.555755345796001e-05,
      -8.409896912908721e-05,
      -6.326656447441792e-05,
      -7.1751120858110085e-06,
      2.9378006760616415e-05,
      1.8182234729380298e-05,
      -0.00012857882887828964,
      -0.00012857882887828964
    ],
    "min_front_frame": [
      2,
      9.990669878050449
    ],
    "v_avg": 0.09391089469294084,
    "v_std": 0.1773330010461384,
    "vy_max": 0.03986090095165573,
    "a_max": 0.6983775142969988,
    "ax_avg": -0.15213540088334748,
    "a_std": 0.2701412120823977,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e56f85ee56395a99",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      56.68331577256733,
      56.45625049502897,
      9.990669878050449,
      56.48384759504659,
      56.366823516006896,
      9.997432942159193,
      56.42243863474867,
      10.0152058684304,
      56.53283848025527,
      10.005439630592411
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e56f85ee56395a99",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ba7da1b0100054f4": {
    "vx_ego": [
      5.636157442083664,
      5.828357281058875,
      6.054836682878912,
      6.274630758728097,
      6.482263689039953,
      6.660733943548135,
      6.821862329168261,
      6.99343193438137,
      7.130380260025934,
      7.260562106927278
    ],
    "vy_ego": [
      0.025085952813892254,
      0.0368543477328207,
      0.02897295927623711,
      0.03375150990431486,
      0.009192786128545016,
      -0.00926794489397098,
      -0.008240755235602304,
      -0.0007386357593737181,
      0.013784465623135844,
      0.011064807334431492
    ],
    "v_ego": [
      5.636213269295587,
      5.828473800114299,
      6.054906001640764,
      6.274721533486371,
      6.482270207385887,
      6.660740391393201,
      6.821867306549715,
      6.9934319733881685,
      7.130393584091976,
      7.260570538085118
    ],
    "ax_ego": [
      0.3826444672851958,
      0.38910781585873677,
      0.5170355513218896,
      0.3625103956735467,
      0.46779663646907466,
      0.24616989376430984,
      0.3985878546771766,
      0.2876576242696928,
      0.26013030476272275,
      0.26037858807915554
    ],
    "ay_ego": [
      -0.2654620857050805,
      -0.25589453830361,
      -0.03400635232051141,
      -0.02308392952171931,
      0.0038328092744585596,
      0.04143444459790785,
      0.0817190693824672,
      0.02056474804289632,
      0.057682518520976715,
      0.056551210350231904
    ],
    "a_ego": [
      0.46571118441676146,
      0.46571118420752394,
      0.5181526737640916,
      0.3632446211212977,
      0.46781233792912513,
      0.24963258960934706,
      0.4068787094416351,
      0.2883917780772392,
      0.26644896021352726,
      0.26644896044490535
    ],
    "yaw": [
      -0.3696455187741645,
      -0.39443859645325446,
      -0.40533928648078943,
      -0.40841997111006023,
      -0.4053178439198559,
      -0.4008055569005079,
      -0.3963782953899727,
      -0.3937677644571759,
      -0.39305460553199717,
      -0.3887076801852961
    ],
    "yaw_diff": [
      -0.049586155358179895,
      -0.02180138005506993,
      -0.006161369258541605,
      0.006204254380408614,
      0.009024574038696054,
      0.00885452302107037,
      0.005221061865593679,
      0.0014263178503574059,
      0.008693850693402116,
      0.008693850693402116
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.514358860543109,
    "v_std": 0.5284847536106628,
    "vy_max": 0.0368543477328207,
    "a_max": 0.5181526737640916,
    "ax_avg": 0.35720191321615014,
    "a_std": 0.09669323327764497,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ba7da1b0100054f4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ba7da1b0100054f4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "171ac85821875613": {
    "vx_ego": [
      4.034548700669301,
      4.313909405156484,
      4.5436016730635815,
      4.73226803056008,
      4.9532101184621595,
      5.250547310660622,
      5.6161532477095495,
      5.989019578026149,
      6.326519436882602,
      6.636132819279519
    ],
    "vy_ego": [
      0.029539497022385286,
      -0.01094101394654412,
      -0.037978808969151734,
      -0.03698815710104042,
      -0.026760170041034148,
      -0.01674762270925234,
      0.013065628605945845,
      0.031648741114767676,
      0.0007802685515704288,
      -0.005616628619036224
    ],
    "v_ego": [
      4.034656837942563,
      4.313923279531493,
      4.543760397885973,
      4.732412581002074,
      4.953282405066013,
      5.250574020462134,
      5.616168445872096,
      5.9891032007133305,
      6.326519484999029,
      6.636135196154142
    ],
    "ax_ego": [
      0.5583151518676077,
      0.5593907317033265,
      0.3587521049296629,
      0.3956346332513608,
      0.48802225401918226,
      0.7013562223166896,
      0.7610512539476305,
      0.7304464251746804,
      0.619166323260985,
      0.6193208041366395
    ],
    "ay_ego": [
      -0.14561735267068354,
      -0.14142924553702194,
      -0.04244670078415741,
      0.017716860060423993,
      0.005446146478323581,
      0.04037617279266717,
      0.050859338277278655,
      0.016426250317218935,
      0.04003956483123788,
      0.03757451634673081
    ],
    "a_ego": [
      0.5769923935406498,
      0.5769923935449707,
      0.3612544742960614,
      0.3960311227142879,
      0.48805264155562833,
      0.7025174630653114,
      0.7627487682227113,
      0.7306310982636545,
      0.620459589830314,
      0.6204595899131099
    ],
    "yaw": [
      -1.6911531499017145,
      -1.6986472282272413,
      -1.7028977586426552,
      -1.7044459148890336,
      -1.705364370616993,
      -1.705080041047845,
      -1.706370958178427,
      -1.7066743667088677,
      -1.6993854711148302,
      -1.6954047332347226
    ],
    "yaw_diff": [
      -0.014988156651053686,
      -0.0085010608308278,
      -0.00309631249275677,
      -0.0018369114559186883,
      0.0005686591382958461,
      -0.0025818342611638734,
      -0.0006068170608815038,
      0.014577791188075118,
      0.007961475760215109,
      0.007961475760215109
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.239653584962885,
    "v_std": 0.834719040954535,
    "vy_max": 0.037978808969151734,
    "a_max": 0.7627487682227113,
    "ax_avg": 0.5791455904607765,
    "a_std": 0.1282214022606636,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "171ac85821875613",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "171ac85821875613",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c39df8b835525d97": {
    "vx_ego": [
      5.147644004345388,
      5.431129855551174,
      5.701171023051101,
      5.91612183919987,
      6.012811519573857,
      6.020048677294003,
      5.992663883424776,
      5.937926430710451,
      5.8831669342604815,
      5.834130067138557
    ],
    "vy_ego": [
      -0.024835771106065274,
      -0.02248388846680205,
      -0.03408208267770019,
      -0.04491482751716991,
      -0.04999582406488512,
      -0.03811097632876198,
      -0.01937180436201741,
      -0.012511334237478633,
      -0.019749933806727793,
      -0.020577494562716625
    ],
    "v_ego": [
      5.1477039164077265,
      5.431176394953482,
      5.701272894927692,
      5.9162923320259075,
      6.013019370694227,
      6.020169310202664,
      5.992695193859602,
      5.937939611516284,
      5.883200084670013,
      5.834166356350548
    ],
    "ax_ego": [
      0.5658803041086089,
      0.567025255807724,
      0.5122942687616288,
      0.3461040767593106,
      0.03857726026697936,
      -0.011525947832737535,
      -0.09882575613833075,
      -0.12061355520947722,
      -0.09809756863832794,
      -0.09743472798673078
    ],
    "ay_ego": [
      -0.11073735935458241,
      -0.10471695189793388,
      -0.12184531104720117,
      -0.1459726422499841,
      -0.1207780742634944,
      -0.04533560808880018,
      -0.07570421964581063,
      -0.0598893529013398,
      0.0869334186268732,
      0.08767568596210915
    ],
    "a_ego": [
      0.576613632630098,
      0.5766136321130546,
      0.5265849386663096,
      0.3756275339147233,
      0.12678938533057266,
      0.04677782417154812,
      0.12448959373575752,
      0.1346638937919546,
      0.13107460565230264,
      0.13107460519404435
    ],
    "yaw": [
      0.13075571070052028,
      0.12012755038317227,
      0.11204533390251566,
      0.10241807973673092,
      0.09215536263820773,
      0.08328675217888232,
      0.07514371252490731,
      0.06831419216435805,
      0.0706839017500212,
      0.07827613947880527
    ],
    "yaw_diff": [
      -0.021256320634696013,
      -0.01616443296131323,
      -0.01925450833156947,
      -0.02052543419704639,
      -0.01773722091865082,
      -0.016286079307950008,
      -0.013659040721098525,
      0.004739419171326309,
      0.015184475457568125,
      0.015184475457568125
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.787763546560815,
    "v_std": 0.2722856620810066,
    "vy_max": 0.04999582406488512,
    "a_max": 0.576613632630098,
    "ax_avg": 0.16033836098986476,
    "a_std": 0.20327095960083505,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c39df8b835525d97",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.900768818199321,
    "right_rear_min": 9.3070054327482,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c39df8b835525d97",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fd8949d5e40a54ea": {
    "vx_ego": [
      9.156833824227228,
      9.154208528949944,
      9.156606336286412,
      9.144617149270276,
      9.128912582605064,
      9.110476389840741,
      9.063762654750617,
      8.992704756135609,
      8.916561090571061,
      8.84467166736259
    ],
    "vy_ego": [
      0.012994557411862395,
      -0.053235536724269394,
      -0.07830888011938786,
      -0.06055515697042946,
      -0.02612335469707805,
      0.023377440934780225,
      0.02068408767013974,
      -0.06407388124741598,
      -0.1014827506991729,
      -0.07358319764960175
    ],
    "v_ego": [
      9.156843044577872,
      9.154363321054623,
      9.156941185703118,
      9.144817643548926,
      9.128949959908077,
      9.110506382994869,
      9.063786255927194,
      8.992933019503822,
      8.917138578634699,
      8.84497774957195
    ],
    "ax_ego": [
      -0.012308230201471648,
      -6.666781105779673e-06,
      0.0018152331681848544,
      -0.056355878028257325,
      -0.010562516445475442,
      -0.06372982205091876,
      -0.12075702595839907,
      -0.16379600632010993,
      -0.14717576962688325,
      -0.14491127504972093
    ],
    "ay_ego": [
      -0.5453297624295974,
      -0.5454686440319111,
      -0.38516224326930804,
      -0.3157252738168286,
      -0.21310329065536576,
      -0.15324783356033406,
      -0.3366164218361596,
      -0.459335196778715,
      -0.1736312116830657,
      -0.17552557417706255
    ],
    "a_ego": [
      0.5454686446737461,
      0.5454686440726522,
      0.38516652075654306,
      0.3207155024551311,
      0.21336489692966423,
      0.16597104780526517,
      0.35762113299985054,
      0.48766582275791925,
      0.2276148168195449,
      0.22761481679961731
    ],
    "yaw": [
      2.356395858544211,
      2.333841660606116,
      2.311168650031843,
      2.2900973544289047,
      2.271848140067557,
      2.2563889569747166,
      2.243218986165248,
      2.2305741665721754,
      2.2170773610978185,
      2.2041063238544827
    ],
    "yaw_diff": [
      -0.04510839587618953,
      -0.045346021148546356,
      -0.04214259120587638,
      -0.036498428722695486,
      -0.030918366185680668,
      -0.0263399416189376,
      -0.025289639186144797,
      -0.026993610948713886,
      -0.02594207448667163,
      -0.02594207448667163
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.067125714142517,
    "v_std": 0.10622059167642993,
    "vy_max": 0.1014827506991729,
    "a_max": 0.5454686446737461,
    "ax_avg": -0.07177879572941573,
    "a_std": 0.1341483733624989,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fd8949d5e40a54ea",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fd8949d5e40a54ea",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "50b72b9404da516c": {
    "vx_ego": [
      4.74912604204668,
      4.659411912684211,
      4.622683817659172,
      4.667958135825339,
      4.351983678975662,
      4.6395318573635675,
      5.235127081782421,
      5.199681446036744,
      5.193142029394827,
      5.1933723353072825
    ],
    "vy_ego": [
      0.002525738599599592,
      0.027625555639723687,
      0.015006533474157147,
      0.03199025373546449,
      -0.014575558094053009,
      -0.029186894029333554,
      -0.09614209280132935,
      -0.07222570755208224,
      -0.05433388089696001,
      -0.05632473846973429
    ],
    "v_ego": [
      4.74912671368131,
      4.659493807634896,
      4.622708175311836,
      4.668067751666854,
      4.352008086959891,
      4.639623662569467,
      5.236009822796358,
      5.200183044190865,
      5.193426259039436,
      5.193677761403637
    ],
    "ax_ego": [
      -0.18516912146125147,
      -0.17539738135421806,
      0.026720433986659395,
      0.15646082141803153,
      -1.420018630633963,
      2.578263705300067,
      -0.1472406789500111,
      0.03350807729815447,
      -0.03776474198877755,
      0.060193931498444764
    ],
    "ay_ego": [
      0.3266351944532137,
      0.33198480350225945,
      0.42146119277157107,
      0.6838433430595927,
      0.7613498047531642,
      0.7502538327915216,
      1.1823398714452698,
      1.0535396588559762,
      1.0060544030450473,
      1.0049618581136268
    ],
    "a_ego": [
      0.37547057647466925,
      0.37547057293794783,
      0.42230737455657913,
      0.7015138676360753,
      1.6112437545403355,
      2.6852047496766422,
      1.1914727815384107,
      1.0540723903160474,
      1.0067629500651112,
      1.0067629540524585
    ],
    "yaw": [
      -1.780137755894466,
      -1.750466581356593,
      -1.706931438770187,
      -1.6509217564975598,
      -1.5643259371749014,
      -1.4661778374856929,
      -1.362046607197521,
      -1.2591398270441991,
      -1.1637317551603656,
      -1.0663866336073
    ],
    "yaw_diff": [
      0.05934234907574609,
      0.08707028517281179,
      0.11201936454525452,
      0.17319163864531673,
      0.19629619937841714,
      0.20826246057634368,
      0.20581356030664377,
      0.19081614376766698,
      0.19469024310613126,
      0.19469024310613126
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.851432508525455,
    "v_std": 0.30514755784511577,
    "vy_max": 0.09614209280132935,
    "a_max": 2.6852047496766422,
    "ax_avg": 0.08895564151131358,
    "a_std": 0.6661526543967556,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "50b72b9404da516c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "50b72b9404da516c",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "9873c047e9155996": {
    "vx_ego": [
      0.520039149492109,
      1.2463345811688975,
      1.828007917379503,
      2.201151036063362,
      2.44488669980076,
      2.5400264022474603,
      2.5263319973788914,
      2.4719437690302257,
      2.436456959706366,
      2.4777907865956643
    ],
    "vy_ego": [
      -0.005797724518342373,
      -0.009748114822385467,
      0.030739319012302424,
      0.056734568064796376,
      0.03047721184526342,
      0.016718341939910175,
      0.013471159548001543,
      0.008214314507100612,
      -0.0056052898062424195,
      -0.03843030195422181
    ],
    "v_ego": [
      0.5200714668332294,
      1.2463727026696476,
      1.828266351420243,
      2.201882080125162,
      2.4450766522349583,
      2.5400814213468426,
      2.526367913254122,
      2.4719574171514727,
      2.4364634074361553,
      2.478088793858415
    ],
    "ax_ego": [
      1.4501612937059483,
      1.452874343728995,
      0.8811264292959777,
      0.6359717854353245,
      0.36986899419273167,
      0.03844366349437306,
      -0.08034366708161979,
      -0.12856790395721052,
      -0.008796286156169508,
      0.15727869579564852
    ],
    "ay_ego": [
      -0.10014722968689438,
      -0.046404579337423923,
      -0.19537087849061474,
      -0.4106578015884859,
      -0.6630690930721137,
      -0.8580346437078002,
      -0.8886843685590787,
      -0.8999206124111033,
      -0.9396079778148176,
      -0.9263929707409057
    ],
    "a_ego": [
      1.4536152329199323,
      1.453615232325749,
      0.9025262126753295,
      0.7570336464618218,
      0.7592520629228598,
      0.8588954331381907,
      0.8923088096401215,
      0.9090582019707681,
      0.9396491508128936,
      0.9396491496241247
    ],
    "yaw": [
      -0.8386987344021535,
      -0.8757196462408863,
      -0.9384423327369118,
      -1.0251766682285166,
      -1.1278645265086262,
      -1.2722594234170197,
      -1.4419561484323742,
      -1.6178941713581794,
      -1.8002573985459769,
      -1.9777905947087722
    ],
    "yaw_diff": [
      -0.07404182367746559,
      -0.12544537299205105,
      -0.17346867098320962,
      -0.20537571656021925,
      -0.28878979381678693,
      -0.339393450030709,
      -0.35187604585161036,
      -0.36472645437559503,
      -0.35506639232559056,
      -0.35506639232559056
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.069462820633025,
    "v_std": 0.6472092323963006,
    "vy_max": 0.056734568064796376,
    "a_max": 1.4536152329199323,
    "ax_avg": 0.47680173484539984,
    "a_std": 0.24151261170944482,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "9873c047e9155996",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "9873c047e9155996",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "4624907fdacb5038": {
    "vx_ego": [
      9.620017543184808,
      9.505493489561891,
      9.367851700615091,
      9.238931939834012,
      9.197318915091362,
      9.200084065448065,
      9.168152536576102,
      9.075876537732798,
      8.995763310126627,
      8.966640544948724
    ],
    "vy_ego": [
      -0.04302021126768185,
      0.04147066824757495,
      0.01552548637161344,
      -0.018522874177508974,
      0.0011134158333261368,
      -0.011837259898265451,
      0.019530481167119085,
      0.024951627327235215,
      0.0247390706783559,
      -0.014732491342351217
    ],
    "v_ego": [
      9.620113734762235,
      9.505583953468003,
      9.367864565921314,
      9.23895050780947,
      9.19731898248572,
      9.200091680631955,
      9.16817333898206,
      9.075910836487706,
      8.995797327276687,
      8.966652647929411
    ],
    "ax_ego": [
      -0.2288827560620076,
      -0.22922731162579804,
      -0.3212063653439661,
      -0.19414401691907196,
      0.028680397676438096,
      -0.018876470702523282,
      -0.10824708448036238,
      -0.26300426370312574,
      -0.05822437440008535,
      -0.05828784982487173
    ],
    "ay_ego": [
      0.06170776154297654,
      0.060415275564197096,
      0.3096913400445604,
      0.329207969514218,
      0.3756141339182751,
      0.18049788655528168,
      0.32723023135867585,
      0.18508853089520255,
      -0.05994507962258186,
      -0.05988335873086895
    ],
    "a_ego": [
      0.237055191584545,
      0.23705519592847696,
      0.44618634586468126,
      0.38219077238618304,
      0.3767075029914516,
      0.18148225311888364,
      0.344669487500056,
      0.3216038043850969,
      0.08356728035085857,
      0.08356727882429066
    ],
    "yaw": [
      2.4650134611122283,
      2.4593707633980086,
      2.4719097291753784,
      2.4927728212242184,
      2.5098088175358075,
      2.5263195256157305,
      2.5367121753771213,
      2.550129950428561,
      2.5536258003321564,
      2.5546851736143275
    ],
    "yaw_diff": [
      -0.011285395428439315,
      0.025077931554739585,
      0.04172618409767992,
      0.03407199262317828,
      0.033021416159845884,
      0.02078529952278174,
      0.02683555010287897,
      0.006991699807191054,
      0.0021187465643421888,
      0.0021187465643421888
    ],
    "min_front_frame": [
      9,
      66.8532915696375
    ],
    "v_avg": 9.233645757575456,
    "v_std": 0.20020498461676542,
    "vy_max": 0.04302021126768185,
    "a_max": 0.44618634586468126,
    "ax_avg": -0.14514200953853743,
    "a_std": 0.11948652894137117,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "4624907fdacb5038",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.5138043748657966,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      75.73554120561722,
      71.32119898991915,
      66.8532915696375
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_change",
    "lane_change_frame": 7,
    "token": "4624907fdacb5038",
    "smoothness": "Yes"
  },
  "9f4f46e620785407": {
    "vx_ego": [
      8.290083999409438,
      8.709396215719854,
      9.10074021443544,
      9.45435474917903,
      9.766078988415057,
      10.056407801146648,
      10.313036340451772,
      10.454915818650369,
      10.443075064463624,
      10.34392892545674
    ],
    "vy_ego": [
      0.047282711286393386,
      -0.0414940839889586,
      -0.05200111242326555,
      -0.05839282116122968,
      -0.03269386154959886,
      -0.0038901221339902037,
      0.006100015608244469,
      -0.011110874738745835,
      -0.021991232627758706,
      -0.01902472756945972
    ],
    "v_ego": [
      8.290218837404172,
      8.709495060071015,
      9.100888778923501,
      9.454535072910105,
      9.766133712813126,
      10.05640855355496,
      10.313038144488234,
      10.454921722643512,
      10.4430982192228,
      10.343946420740961
    ],
    "ax_ego": [
      0.8277512389488668,
      0.8494551073425035,
      0.7091815829062409,
      0.6942388918567787,
      0.5480797620256576,
      0.6113080446149455,
      0.4158316965870219,
      0.15106647746025365,
      -0.1987022383987275,
      -0.19826725043071886
    ],
    "ay_ego": [
      -0.7155038580076962,
      -0.6895969140783681,
      -0.7089522118796033,
      -0.3799446551457528,
      -0.2848700218513376,
      -0.15718176402842407,
      -0.2600885116992251,
      -0.1069114883339079,
      -0.09170092400753227,
      -0.09263766463041187
    ],
    "a_ego": [
      1.094128824410216,
      1.0941288239035987,
      1.0027720360392902,
      0.7914073413485327,
      0.6176911484647347,
      0.6311922309043698,
      0.49047123646994734,
      0.18507065394065222,
      0.21884158427616068,
      0.21884158540262416
    ],
    "yaw": [
      2.7919468044902005,
      2.7610562914166117,
      2.7230528678687547,
      2.694407277269474,
      2.674477221323558,
      2.6604098062605512,
      2.64921333627401,
      2.642057890388103,
      2.638362688745277,
      2.6336432671519194
    ],
    "yaw_diff": [
      -0.06178102614717762,
      -0.07600684709571404,
      -0.05729118119856125,
      -0.039860111891831806,
      -0.02813483012601381,
      -0.02239293997308245,
      -0.014310891771813772,
      -0.007390403285651992,
      -0.009438843186715395,
      -0.009438843186715395
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.69326845227724,
    "v_std": 0.736973701421479,
    "vy_max": 0.05839282116122968,
    "a_max": 1.094128824410216,
    "ax_avg": 0.4409943312912822,
    "a_std": 0.339312515900376,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "9f4f46e620785407",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "9f4f46e620785407",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4196ab00e95e532d": {
    "vx_ego": [
      0.6470127175677068,
      1.2479531508690214,
      1.8749443449418397,
      2.5376182636879494,
      3.2062812815571524,
      3.8550659052461524,
      4.633790585459455,
      5.356786331643483,
      6.074839239155777,
      6.989671336035104
    ],
    "vy_ego": [
      0.013938036125414666,
      0.04034786798365181,
      0.052897974615094046,
      0.018888805872414594,
      -0.03441035888739097,
      -0.040059251082824376,
      -0.0071793545925238345,
      0.007573592090205583,
      -0.033917441895919165,
      -0.11045037109702571
    ],
    "v_ego": [
      0.6471628276912871,
      1.2486052287311409,
      1.8756904041839537,
      2.5376885622924514,
      3.206465925167853,
      3.8552740340199754,
      4.63379614711578,
      5.356791685531517,
      6.074933923463819,
      6.990543946665826
    ],
    "ax_ego": [
      1.2019264561148006,
      1.2018969488084852,
      1.3062632542356878,
      1.344922822491187,
      1.3296249243253262,
      1.2649856142332903,
      1.8497691947047001,
      1.0421251262593345,
      1.8300046232925071,
      1.829790437567382
    ],
    "ay_ego": [
      0.051396937844866986,
      0.05208204257852267,
      -0.007478697787087651,
      -0.14871959983092864,
      -0.08328280076077876,
      0.02377793077127882,
      0.08883728722201434,
      0.030592600085666166,
      -0.13035455454336187,
      -0.13332742937435094
    ],
    "a_ego": [
      1.2030248755235748,
      1.203024860389135,
      1.3062846628078428,
      1.3531204372972618,
      1.3322306347962762,
      1.2652090713431272,
      1.8519012223332652,
      1.0425740673741293,
      1.8346414448502326,
      1.8346414496671015
    ],
    "yaw": [
      1.1047175507827782,
      1.1041475326113013,
      1.1032438471782924,
      1.1009542629302211,
      1.0993183342480306,
      1.096710828809167,
      1.095577835159395,
      1.0985416874814837,
      1.1014880232803557,
      1.10311263632585
    ],
    "yaw_diff": [
      -0.0011400363429538984,
      -0.0018073708660177878,
      -0.004579168496142483,
      -0.00327185736438107,
      -0.005215010877727355,
      -0.002265987299543859,
      0.005927704644177467,
      0.00589267159774387,
      0.003249226090988877,
      0.003249226090988877
    ],
    "min_front_frame": [
      0,
      14.03188453417538
    ],
    "v_avg": 3.64269526848636,
    "v_std": 2.0081831746716285,
    "vy_max": 0.11045037109702571,
    "a_max": 1.8519012223332652,
    "ax_avg": 1.4201309402032702,
    "a_std": 0.2856566445913894,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4196ab00e95e532d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.951434991039748,
    "right_rear_min": 7.246638643216274,
    "speed_mode": "accelerating",
    "front_frame": [
      14.03188453417538,
      15.313913906703354,
      16.677266782438874,
      18.17844795818778,
      19.733588956162624,
      21.184117942792618,
      22.567277644179793,
      23.804080397861007,
      24.995991042580464,
      26.000919859436188
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4196ab00e95e532d",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "642ba15d21c05f4e": {
    "vx_ego": [
      7.581826417409055,
      7.36239134513455,
      7.156688680767017,
      6.969362838925492,
      6.843025673920128,
      6.744306135933702,
      6.630565320243102,
      6.527962291809104,
      6.484213783321411,
      6.49707933697324
    ],
    "vy_ego": [
      0.01853501156077919,
      0.03300790465088177,
      0.006173411030884868,
      0.014655379463640816,
      0.007779118363131499,
      -0.004894007518923438,
      -0.01259846120089847,
      -0.016726520200075257,
      -0.018636884271322485,
      -0.024384487983508896
    ],
    "v_ego": [
      7.5818490733049675,
      7.362465337146354,
      7.156691343380857,
      6.969378247788164,
      6.843030095550693,
      6.744307911602389,
      6.63057728913819,
      6.527983720855894,
      6.484240566270711,
      6.497125096085102
    ],
    "ax_ego": [
      -0.4479113090906395,
      -0.42537804752388564,
      -0.39613680409067875,
      -0.35567920828729027,
      -0.1497510818218392,
      -0.24527426326309376,
      -0.2096551479703895,
      -0.20072298987294912,
      0.025662504096690263,
      0.025695472471648766
    ],
    "ay_ego": [
      -0.5571995728635335,
      -0.5745863112299345,
      -0.49595243854264204,
      -0.22459466917296478,
      -0.12071829443782206,
      -0.023386651871767215,
      0.010067059962198574,
      -0.008475484643959266,
      -0.027233783233621838,
      -0.027202684196188428
    ],
    "a_ego": [
      0.7149097179438775,
      0.7149097232294832,
      0.6347386776080137,
      0.42065480459491617,
      0.1923494037391015,
      0.2463866873534864,
      0.20989670499264257,
      0.20090184793447277,
      0.03741982182919296,
      0.03741982540069928
    ],
    "yaw": [
      -0.21090972136016994,
      -0.25072340936461357,
      -0.283907245299482,
      -0.3106298801871712,
      -0.32217724344556553,
      -0.3256086913891699,
      -0.32495410955344184,
      -0.3242660804766901,
      -0.3253493123227044,
      -0.3265605200397203
    ],
    "yaw_diff": [
      -0.07962737600888725,
      -0.06636767186973691,
      -0.053445269775378335,
      -0.023094726516788677,
      -0.006862895887208786,
      0.0013091636714561705,
      0.001376058153503501,
      -0.002166463692028664,
      -0.002422415434031766,
      -0.002422415434031766
    ],
    "min_front_frame": [
      5,
      19.06716522788209
    ],
    "v_avg": 6.879764868112332,
    "v_std": 0.36318534230537275,
    "vy_max": 0.03300790465088177,
    "a_max": 0.7149097232294832,
    "ax_avg": -0.23791508753524265,
    "a_std": 0.24988604037396553,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "642ba15d21c05f4e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.7194733715579,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.296392797285087,
      19.920009241429437,
      19.564930160817013,
      19.353529420687483,
      19.22076797059132,
      19.06716522788209,
      19.09181165065253,
      19.14694530256039,
      19.226220059432464,
      19.22395781466233
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "642ba15d21c05f4e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "c648574640a65934": {
    "vx_ego": [
      1.5625359429741164,
      1.5683981106590321,
      1.548110098022877,
      1.5060160807444094,
      1.4702927538811197,
      1.4191237020806295,
      1.2508931545241009,
      0.8456445445890367,
      0.3333081498037756,
      -0.14929671685423437
    ],
    "vy_ego": [
      -0.0098786486753202,
      -0.020248043425186206,
      -0.0048832491511113935,
      0.025472482498978932,
      0.023801167722199756,
      0.011737177215018768,
      0.004366323130531341,
      -0.0006226585415000652,
      -0.010929503112826082,
      -0.03883319048315104
    ],
    "v_ego": [
      1.5625671700076325,
      1.5685288064875855,
      1.5481177996918303,
      1.506231483811639,
      1.47048538846881,
      1.4191722387138244,
      1.250900774966958,
      0.8456447738245998,
      0.3334872962556586,
      0.15426446884021647
    ],
    "ax_ego": [
      0.011588604583733914,
      0.013591532818759102,
      -0.0920465599999821,
      -0.07803099179487097,
      -0.0687244703669279,
      -0.13727810412786814,
      -0.536916432160741,
      -1.0842762612985704,
      -0.9652242175727695,
      -0.9652138017534818
    ],
    "ay_ego": [
      0.06967160890785835,
      0.06930871812426723,
      0.16497324596407037,
      0.12165075069838174,
      0.031750265375184335,
      0.07334685664500981,
      0.03679775679878072,
      0.031763131110908005,
      -0.055751652633867554,
      -0.055931765877615225
    ],
    "a_ego": [
      0.07062881029726967,
      0.07062880554272834,
      0.1889146396967476,
      0.144525917488771,
      0.07570424148361424,
      0.1556439502603472,
      0.5381759285118964,
      1.0847414011245142,
      0.9668329933139294,
      0.9668329977455249
    ],
    "yaw": [
      -3.1186702400136794,
      -3.0898490850162608,
      -3.062356815251796,
      -3.035281854208806,
      -3.008369017403864,
      -2.981989990461275,
      -2.956787041789839,
      -2.9369708891125486,
      -2.929470491278651,
      -2.9296570855897572
    ],
    "yaw_diff": [
      0.057642309994837326,
      0.05498453952892923,
      0.054149922085980684,
      0.05382567360988322,
      0.05275805388517796,
      0.050405897342872485,
      0.039632305354580843,
      0.01500079566779533,
      -0.00037318862221269455,
      -0.00037318862221269455
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.1659400201068755,
    "v_std": 0.5063986308732912,
    "vy_max": 0.03883319048315104,
    "a_max": 1.0847414011245142,
    "ax_avg": -0.39025307016727184,
    "a_std": 0.40191263312535075,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "c648574640a65934",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "c648574640a65934",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "de235386b6c65ebd": {
    "vx_ego": [
      4.220041769209281,
      3.738686075939257,
      3.2734812405732145,
      2.836199373118805,
      2.4908665354527346,
      2.2809276708850232,
      2.159214390772581,
      2.0859743419943033,
      1.9822646413080833,
      1.8324020861491133
    ],
    "vy_ego": [
      -0.06696275354948278,
      -0.0809890770055226,
      -0.08947206548092668,
      -0.06588394267576203,
      -0.008254322871734887,
      0.0004899152814572538,
      -0.03047612852284809,
      0.00024402830747294324,
      0.001632250809040503,
      -0.06536387976619362
    ],
    "v_ego": [
      4.2205730113616005,
      3.7395631837176233,
      3.274703754980926,
      2.8369645006559394,
      2.490880212150793,
      2.2809277234989187,
      2.1594294569930153,
      2.085974356268164,
      1.9822653133279027,
      1.8335675177374058
    ],
    "ax_ego": [
      -0.9626258114435181,
      -0.9626385401396576,
      -0.8978580390038643,
      -0.8505639519881711,
      -0.5303845217925398,
      -0.30960794646221945,
      -0.17694903003745863,
      -0.11565127147126612,
      -0.2995880723162442,
      -0.2997263381393062
    ],
    "ay_ego": [
      -0.024052662785048806,
      -0.023537711066931866,
      0.002367672176206592,
      0.11541359081768349,
      0.1401187960568505,
      -0.08170191750820861,
      -0.014297442656143744,
      0.15794829840350877,
      -0.13009231160467916,
      -0.12977343597811788
    ],
    "a_ego": [
      0.9629262606473784,
      0.96292626031513,
      0.897861160801267,
      0.8583585109773,
      0.5485809128702186,
      0.32020662678506623,
      0.1775257054561484,
      0.19576230883774423,
      0.3266144862262115,
      0.32661448599222354
    ],
    "yaw": [
      2.613047588421397,
      2.613582529628565,
      2.6144946191017313,
      2.616415683779133,
      2.618799311233082,
      2.6212841418702935,
      2.6244455811802134,
      2.6269007670122835,
      2.629611250837696,
      2.6306753941468113
    ],
    "yaw_diff": [
      0.001069882414336476,
      0.0018241789463324665,
      0.0038421293548029922,
      0.004767254907898533,
      0.004969661274422776,
      0.006322878619839933,
      0.004910371664140101,
      0.005420967650825226,
      0.0021282866182303906,
      0.0021282866182303906
    ],
    "min_front_frame": [
      2,
      13.843160423820125
    ],
    "v_avg": 2.6904849030692293,
    "v_std": 0.7678162015779927,
    "vy_max": 0.08947206548092668,
    "a_max": 0.9629262606473784,
    "ax_avg": -0.5405593522794245,
    "a_std": 0.31198404795173157,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "de235386b6c65ebd",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.78330635868576,
    "right_rear_min": 48.21603153246934,
    "speed_mode": "decelerating",
    "front_frame": [
      15.450132816603663,
      14.483438385557388,
      13.843160423820125,
      15.981991349899452,
      18.577122720572124,
      21.134687024543222,
      23.833130327053016,
      26.570425488878,
      29.481134443680855,
      32.34770832914864
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "de235386b6c65ebd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "122a6e620fcb5c80": {
    "vx_ego": [
      11.853791842919978,
      11.368960547417833,
      10.841890021311256,
      10.203552076231292,
      9.45800228643811,
      8.682737891147362,
      7.9436947531379944,
      7.3648621897731115,
      6.897768243950515,
      6.41269415487702
    ],
    "vy_ego": [
      -0.13173117069391926,
      0.001851678397736034,
      0.04087666844308124,
      0.0433932470882909,
      0.012454126947070848,
      -0.02136028779207435,
      0.0010330687518056159,
      -0.0007502181224632726,
      -0.0074799851940657025,
      0.04466212898516422
    ],
    "v_ego": [
      11.854523784471843,
      11.368960698210548,
      10.841967078728453,
      10.203644346323365,
      9.458010486119505,
      8.682764165187299,
      7.943694820312721,
      7.364862227983415,
      6.897772299621862,
      6.412849680895334
    ],
    "ax_ego": [
      -0.9697959948805709,
      -0.9704560437760377,
      -1.1343977471185798,
      -1.4269407463193404,
      -1.5614498966964485,
      -1.539010459807388,
      -1.4176768146530678,
      -0.8980347957399459,
      -0.9700760236895233,
      -0.9701559501005818
    ],
    "ay_ego": [
      0.18548338638178374,
      0.18199835417464139,
      0.7474740972198791,
      0.5675436197945811,
      0.29777444913762297,
      0.319702435407774,
      0.14803467167181888,
      -0.00286394844917387,
      0.09324223541247678,
      0.09240702036211743
    ],
    "a_ego": [
      0.9873744772425761,
      0.9873744648428563,
      1.3585196997770708,
      1.5356645642443965,
      1.5895896962589322,
      1.571866038376747,
      1.425384795352417,
      0.8980393624782858,
      0.9745468722447331,
      0.9745468818521597
    ],
    "yaw": [
      -1.6677113843518252,
      -1.6713037296247144,
      -1.6539264437277428,
      -1.6230330846892627,
      -1.5979248473582524,
      -1.5771721006826827,
      -1.5657790742903055,
      -1.5607620408455252,
      -1.5566551805186402,
      -1.5575161260105235
    ],
    "yaw_diff": [
      -0.007184690545778416,
      0.034754571793943256,
      0.061786718076960234,
      0.050216474662020616,
      0.0415054933511394,
      0.022786052784754318,
      0.010034066889560656,
      0.008213720653770018,
      -0.0017218909837666274,
      -0.0017218909837666274
    ],
    "min_front_frame": [
      4,
      28.18154001720682
    ],
    "v_avg": 9.102904958785436,
    "v_std": 1.8359892531326476,
    "vy_max": 0.13173117069391926,
    "a_max": 1.5895896962589322,
    "ax_avg": -1.1857994472781486,
    "a_std": 0.27436187885910807,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "122a6e620fcb5c80",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.7175790776550395,
    "right_rear_min": 17.25614708260586,
    "speed_mode": "decelerating",
    "front_frame": [
      35.97153529629717,
      34.2413342754985,
      32.343849463110864,
      30.25930391100733,
      28.18154001720682,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "122a6e620fcb5c80",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7d51b80c3aa25109": {
    "vx_ego": [
      7.48848159959429,
      7.425699593427077,
      7.281301005438025,
      7.0924551071693855,
      6.956629991964087,
      6.822136293455996,
      6.666724816221256,
      6.483703020706546,
      6.2112102090662145,
      5.869918990945762
    ],
    "vy_ego": [
      0.005718235548238582,
      -0.023263724832262245,
      -0.03868652789022642,
      -0.0648767136588928,
      -0.0728599746303793,
      -0.06484657464441268,
      -0.04029688695155542,
      -0.00010264702582896135,
      0.0034314914895943183,
      -0.040644072488043914
    ],
    "v_ego": [
      7.48848378282814,
      7.425736034408719,
      7.281403778065943,
      7.092751823882482,
      6.957011529456983,
      6.82244448015025,
      6.666846601978954,
      6.4837030215190765,
      6.211211156959825,
      5.870059701646494
    ],
    "ax_ego": [
      -0.12669221344474896,
      -0.12386385145162429,
      -0.45236144491039526,
      -0.3026706604146999,
      -0.24223805830384143,
      -0.2968962318830825,
      -0.3252012590793866,
      -0.40700273028038475,
      -0.6827570054557284,
      -0.6825472840828861
    ],
    "ay_ego": [
      0.17743937466366477,
      0.17942518127916401,
      0.14265753311591411,
      -0.11701812417079864,
      -0.06452491664473636,
      -0.008901989879855604,
      0.05698943569408296,
      0.068174674039827,
      -0.11033547857317194,
      -0.11162547477770085
    ],
    "a_ego": [
      0.21802671540103113,
      0.2180267171093738,
      0.47432272620668164,
      0.32450388296648014,
      0.25068454631034887,
      0.29702965833430534,
      0.3301570152026886,
      0.41267300449160016,
      0.6916148106647546,
      0.6916148072650492
    ],
    "yaw": [
      2.1790887969444315,
      2.1949396470915192,
      2.207914334020396,
      2.2124622163872893,
      2.207131950762915,
      2.203308100249699,
      2.2014515674038213,
      2.2000996129996513,
      2.1978942699140527,
      2.1960045923402354
    ],
    "yaw_diff": [
      0.03170170029417552,
      0.02594937385775342,
      0.009095764733786815,
      -0.010660531248748661,
      -0.0076477010264319745,
      -0.003713065691755446,
      -0.0027039088083400387,
      -0.00441068617119722,
      -0.003779355147634611,
      -0.003779355147634611
    ],
    "min_front_frame": [
      0,
      20.623230971643725
    ],
    "v_avg": 6.829965191089687,
    "v_std": 0.5028340527838094,
    "vy_max": 0.0728599746303793,
    "a_max": 0.6916148106647546,
    "ax_avg": -0.3642230739306778,
    "a_std": 0.16871061293729334,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7d51b80c3aa25109",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.39750280138307,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.623230971643725,
      29.487575211352084,
      25.786939741244034,
      27.351363038536448,
      23.832241857799108,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7d51b80c3aa25109",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "df84a00692885ec0": {
    "vx_ego": [
      3.76662530964518,
      3.505640738796645,
      3.295127930942777,
      3.1573974159171776,
      3.1322044596802296,
      3.2562586296338454,
      3.46958290725944,
      3.6654682388250173,
      3.737368984065218,
      3.7113075867037835
    ],
    "vy_ego": [
      0.12618102173698875,
      0.033378215516377985,
      0.024244838491308096,
      0.025477189594625083,
      0.028735909635349444,
      0.004586137289317227,
      -0.010729559671408762,
      -0.025521833092401858,
      -0.0504271250846533,
      -0.023945553481025117
    ],
    "v_ego": [
      3.7687382336143007,
      3.5057996369989177,
      3.2952171238740395,
      3.1575002025700822,
      3.1323362734137103,
      3.256261859206063,
      3.4695994976074123,
      3.6655570891474833,
      3.7377091671232234,
      3.711384834890687
    ],
    "ax_ego": [
      -0.5985501640876845,
      -0.48449989025126117,
      -0.37494599591084865,
      -0.19476071211399715,
      0.07224813218583148,
      0.41928517685325867,
      0.43773326162107523,
      0.3455645976580854,
      -0.0533078562534388,
      -0.04713564456216557
    ],
    "ay_ego": [
      0.783231475569646,
      0.8584717372456993,
      0.8130458088834942,
      0.690718642180737,
      0.4100717277571486,
      0.4153186997747962,
      0.49384214472721155,
      0.34103971112495196,
      0.24186672454448865,
      0.24314496214644615
    ],
    "a_ego": [
      0.9857554682842997,
      0.9857554804834376,
      0.8953368009819509,
      0.717651710538721,
      0.4163875772763573,
      0.590160725490519,
      0.659917019206352,
      0.48551310560970967,
      0.24767163741578654,
      0.2476716406968863
    ],
    "yaw": [
      0.2955859500612846,
      0.43430447151508006,
      0.5602234049737116,
      0.6770501574440337,
      0.7643946956810659,
      0.8375160853605312,
      0.9096756892737163,
      0.9721057607059908,
      1.0175842634029022,
      1.0430346561102177
    ],
    "yaw_diff": [
      0.27743704290759097,
      0.25183786691726306,
      0.2336535049406443,
      0.1746890764740643,
      0.1462427793589307,
      0.1443192078263702,
      0.12486014286454883,
      0.0909570053938229,
      0.050900785414631056,
      0.050900785414631056
    ],
    "min_front_frame": [
      9,
      16.88098202867952
    ],
    "v_avg": 3.4700103918445917,
    "v_std": 0.23379685190569863,
    "vy_max": 0.12618102173698875,
    "a_max": 0.9857554804834376,
    "ax_avg": -0.0478369094861145,
    "a_std": 0.2630749697084257,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "df84a00692885ec0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      17.227526328422844,
      17.36532967119538,
      17.221091852363944,
      16.88098202867952
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "df84a00692885ec0",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "b8d4a8d9b16859d4": {
    "vx_ego": [
      10.193284948119215,
      10.108718369692152,
      10.027427003470553,
      9.96235508880778,
      9.889050180015342,
      9.79035323144399,
      9.651265395332098,
      9.407718256299855,
      8.956710580254779,
      8.36536720751405
    ],
    "vy_ego": [
      -0.0588165558786109,
      -0.001453116772493157,
      0.012506326645739918,
      -0.01835955377951226,
      -0.005455102156575631,
      0.0035885310093566325,
      -0.008017639810299126,
      -0.0045363132147149265,
      -0.05321650663518973,
      -0.16235489573191453
    ],
    "v_ego": [
      10.193454636226091,
      10.108718474134093,
      10.027434802487454,
      9.962372006139363,
      9.88905168461572,
      9.790353889109452,
      9.651268725596804,
      9.407719349983564,
      8.956868672422653,
      8.366942549624655
    ],
    "ax_ego": [
      -0.16923379111775708,
      -0.1686335866121549,
      -0.1568616198024729,
      -0.10317124959040745,
      -0.1900082350479578,
      -0.20476019765517242,
      -0.35117503580032716,
      -0.6230155291329251,
      -1.179551203048401,
      -1.1766215762282426
    ],
    "ay_ego": [
      0.18148770544448053,
      0.18204555677876752,
      -0.017091344235288145,
      0.07300177741408416,
      0.03467997442585619,
      0.055469279450486575,
      0.16105354681579437,
      0.11024515799034909,
      0.1289501972459829,
      0.15339772263753781
    ],
    "a_ego": [
      0.24814887322651932,
      0.24814888933172888,
      0.15778999275880798,
      0.12638657463378633,
      0.19314717189805816,
      0.21214047116602114,
      0.3863446009863582,
      0.6326945111197787,
      1.1865787769814138,
      1.1865787773916308
    ],
    "yaw": [
      1.9536543105524096,
      1.956956456673416,
      1.9596663177496485,
      1.9641559657951193,
      1.96556651300588,
      1.9669376062619157,
      1.973687362423098,
      1.980415369304379,
      1.992140439630231,
      2.012891590082679
    ],
    "yaw_diff": [
      0.006604292242012644,
      0.005419722152465223,
      0.008979296090941613,
      0.002821094421521231,
      0.002742186512071587,
      0.01349951232236446,
      0.013456013762561891,
      0.023450140651704032,
      0.04150230090489604,
      0.04150230090489604
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.635418479033984,
    "v_std": 0.5482596625992652,
    "vy_max": 0.16235489573191453,
    "a_max": 1.1865787773916308,
    "ax_avg": -0.43230320240358183,
    "a_std": 0.3893672746522063,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b8d4a8d9b16859d4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b8d4a8d9b16859d4",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "87a4e023d9315796": {
    "vx_ego": [
      0.8528954077770756,
      1.2693361019884748,
      1.7177201573247003,
      2.230865429135264,
      2.7092905924967634,
      2.9496355031471544,
      2.890533269316058,
      2.681750496660333,
      2.4799533329286048,
      2.3061890534646587
    ],
    "vy_ego": [
      -0.06977387511942729,
      -0.07883356825817955,
      -0.07824353603996692,
      -0.11077893608708933,
      -0.1268324812245889,
      -0.03688863110406859,
      0.05528946128285295,
      0.0788835063061033,
      0.07943379029382314,
      0.07663749231899208
    ],
    "v_ego": [
      0.8557446875420294,
      1.2717817703110912,
      1.7195012619395285,
      2.2336142315967304,
      2.7122577298046453,
      2.949866161799701,
      2.8910620030625296,
      2.682910422266291,
      2.4812251531338583,
      2.307462081064207
    ],
    "ax_ego": [
      0.8329430434164511,
      0.8329362687002037,
      0.9604888841064945,
      1.0919426996731274,
      0.8216581014544626,
      0.139240100869571,
      -0.37536239122656767,
      -0.459255735531772,
      -0.34740202532016123,
      -0.3473940044293092
    ],
    "ay_ego": [
      -0.017123497249327546,
      -0.017450255519549318,
      0.017831818504319807,
      -0.15196749579503144,
      0.08607034851484602,
      0.26016253638104514,
      0.08142932256215032,
      -0.005457222885741825,
      -0.009448951581748632,
      -0.009739399075054972
    ],
    "a_ego": [
      0.8331190357529396,
      0.8331190425947036,
      0.9606543968791846,
      1.1024667700877204,
      0.8261538237999139,
      0.29508024506290986,
      0.3840932950732902,
      0.4592881578055912,
      0.3475305020894485,
      0.3475305025573641
    ],
    "yaw": [
      -0.5770009365118415,
      -0.5766086533825421,
      -0.5769434155949568,
      -0.5774534200539505,
      -0.5776214564853781,
      -0.5787829995938865,
      -0.5810548459202303,
      -0.5827000466462178,
      -0.584366209740568,
      -0.5852022872029662
    ],
    "yaw_diff": [
      0.0007845662585987956,
      -0.0006695244248293708,
      -0.0010200089179874805,
      -0.0003360728628551968,
      -0.002323086217016712,
      -0.004543692652687614,
      -0.0032904014519750113,
      -0.003332326188700385,
      -0.001672154924796443,
      -0.001672154924796443
    ],
    "min_front_frame": [
      9,
      11.184839226106183
    ],
    "v_avg": 2.210542550252061,
    "v_std": 0.6727273610588839,
    "vy_max": 0.1268324812245889,
    "a_max": 1.1024667700877204,
    "ax_avg": 0.31497949417125,
    "a_std": 0.285327420688107,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "87a4e023d9315796",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.297498448205658,
    "right_rear_min": 7.7060986090790875,
    "speed_mode": "accelerating",
    "front_frame": [
      11.354622717881066,
      12.075360028226468,
      12.647738348329705,
      12.89972550467487,
      12.7365056338628,
      12.371069603312945,
      11.885844083838304,
      11.57685045512094,
      11.341736346538887,
      11.184839226106183
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "87a4e023d9315796",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b7e61e7b15265bb9": {
    "vx_ego": [
      7.577292692672642,
      7.363393164644546,
      7.015855659706536,
      6.447112867744522,
      5.764009567190929,
      5.027326386386731,
      4.299679807578734,
      3.617690168729485,
      3.1213358995489866,
      2.800729157694258
    ],
    "vy_ego": [
      -0.0003822532303434656,
      0.025498488360144123,
      0.028294829920303854,
      0.01678208166272377,
      0.00893456775218393,
      -0.035838698631035726,
      -0.06750019327766443,
      -0.033577373854964065,
      0.010351135185098892,
      0.03750947988527198
    ],
    "v_ego": [
      7.577292702314445,
      7.363437313513484,
      7.015912715765245,
      6.44713470990811,
      5.764016491750303,
      5.027454127844414,
      4.300209613936607,
      3.6178459885623884,
      3.121353062986131,
      2.8009803240722797
    ],
    "ax_ego": [
      -0.4278290329980954,
      -0.4277963895702884,
      -0.962558161384177,
      -1.3125650093953032,
      -1.4198663395403488,
      -1.526865971541485,
      -1.3839550022376115,
      -1.3443691988518969,
      -0.6410760544749707,
      -0.6411603215584996
    ],
    "ay_ego": [
      0.05978618416600731,
      0.060019299674149595,
      -0.006717911445767943,
      0.011490073588875549,
      -0.03701346479552048,
      -0.14779397758337987,
      0.005764927335875636,
      0.10705199219681028,
      0.04323703919473082,
      0.0419689260475003
    ],
    "a_ego": [
      0.43198619109089254,
      0.43198618874073896,
      0.9625816040115667,
      1.3126152999565297,
      1.4203486961784695,
      1.534002201713296,
      1.3839670092186789,
      1.348624733517444,
      0.6425324499039113,
      0.6425324495265426
    ],
    "yaw": [
      2.554463734755738,
      2.5550086401409136,
      2.556459621184473,
      2.558334948181386,
      2.5585746392037345,
      2.55831052645451,
      2.5574827026671354,
      2.556036326465898,
      2.554099390613356,
      2.5521214220491384
    ],
    "yaw_diff": [
      0.001089810770350752,
      0.0029019620871189034,
      0.0037506539938263472,
      0.00047938204469666346,
      -0.0005282254984493306,
      -0.0016556475747488975,
      -0.002892752402474663,
      -0.003873871705084575,
      -0.003955937128434783,
      -0.003955937128434783
    ],
    "min_front_frame": [
      3,
      33.62223226074555
    ],
    "v_avg": 5.303563705065341,
    "v_std": 1.6974804976145323,
    "vy_max": 0.06750019327766443,
    "a_max": 1.534002201713296,
    "ax_avg": -1.0088041481552676,
    "a_std": 0.415879688878511,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b7e61e7b15265bb9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      34.36182538823486,
      33.849102404325784,
      33.67106972460598,
      33.62223226074555,
      34.051509339215265,
      34.85233370860454,
      36.0353146222053,
      37.501935257629775,
      39.3739381355887,
      41.344117314636065
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b7e61e7b15265bb9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "df240e44ad0d5c3c": {
    "vx_ego": [
      4.268117000802597,
      3.346297370953833,
      2.4445788480254453,
      1.5860796875469225,
      0.7919484071884131,
      0.21204832050313743,
      -0.019812949689257196,
      -0.04162037570528412,
      -0.0263368433697466,
      -0.009136388919730572
    ],
    "vy_ego": [
      -0.014605688500714198,
      -0.03964358127663403,
      -0.035279810399623024,
      -0.02917845764627791,
      -0.031564797349275975,
      -0.019929170190424936,
      -0.008503756018405997,
      -0.0027753676434918266,
      -0.0023193241976519376,
      -0.0015351833652025525
    ],
    "v_ego": [
      4.268141991391189,
      3.3465321914466877,
      2.444833411346312,
      1.586348056902885,
      0.7925771988140747,
      0.21298277407499466,
      0.021560770900169897,
      0.041712807858085336,
      0.026438770459618184,
      0.009264469248552246
    ],
    "ax_ego": [
      -1.8436841428932145,
      -1.8436541149866583,
      -1.7634430088116306,
      -1.670591638652065,
      -1.5061406075503294,
      -0.8134668462605585,
      -0.11396345968936318,
      0.026733913551715498,
      0.03440066823506574,
      0.03440054242195794
    ],
    "ay_ego": [
      -0.05377840020444924,
      -0.05479840382022039,
      0.05982654091184658,
      -0.03925997815194371,
      0.023379012387199305,
      0.02304841808335001,
      0.022662288867903113,
      0.0002487786318587301,
      0.0015697221215126619,
      0.0015724303953169958
    ],
    "a_ego": [
      1.8444683068799086,
      1.844468313842361,
      1.7644575541293404,
      1.6710528923462247,
      1.5063220465532186,
      0.8137933027134373,
      0.11619487717236673,
      0.026735071060280856,
      0.034436463270170865,
      0.034436461146189874
    ],
    "yaw": [
      -2.2101248850328066,
      -2.2106781279851138,
      -2.211754833619012,
      -2.2122337989052134,
      -2.2135893492025334,
      -2.213658609593013,
      -2.2133980581471677,
      -2.2133851576057646,
      -2.2133445157379468,
      -2.2134232777167986
    ],
    "yaw_diff": [
      -0.0011064859046143738,
      -0.0021534112677965567,
      -0.0009579305724027876,
      -0.002711100594639859,
      -0.0001385207809594391,
      0.0005211028916907168,
      2.5801082806253817e-05,
      8.128373563565106e-05,
      -0.00015752395770363137,
      -0.00015752395770363137
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.2750392442442569,
    "v_std": 1.4942992850362538,
    "vy_max": 0.03964358127663403,
    "a_max": 1.844468313842361,
    "ax_avg": -0.9459408694635082,
    "a_std": 0.7958121176731443,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "df240e44ad0d5c3c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "df240e44ad0d5c3c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0dd23f4ea286544f": {
    "vx_ego": [
      0.3625208872771744,
      0.5901779225753978,
      0.8014152571610288,
      1.0588220988475052,
      1.466282325189805,
      2.011906982668489,
      2.6196730152261907,
      3.2495974899198616,
      3.881905313899397,
      4.505869483062637
    ],
    "vy_ego": [
      0.019565438309486316,
      0.011018417819165738,
      0.008468968146902178,
      0.0038861784026875124,
      -0.006526027885655039,
      -0.011074190004145779,
      -0.00424988467054499,
      0.002554251831993426,
      -0.0009842499234147262,
      -0.010841521992148273
    ],
    "v_ego": [
      0.3630484817327737,
      0.5902807686403564,
      0.8014600038878741,
      1.0588292305137847,
      1.4662968479144955,
      2.0119374604083675,
      2.6196764625090623,
      3.2495984937674818,
      3.88190543867677,
      4.505882525875953
    ],
    "ax_ego": [
      0.45531488466961917,
      0.455315521942693,
      0.3896388420133319,
      0.6399967622851879,
      0.9898392052539213,
      1.1926226410785414,
      1.2384067184551395,
      1.2813015781382144,
      1.2479351415255868,
      1.247929449218733
    ],
    "ay_ego": [
      -0.017137908159785775,
      -0.017120985831103025,
      0.006401354400804027,
      -0.025462605943527228,
      -0.019005947719525296,
      -0.0051703722388898865,
      0.025482985248051482,
      -0.007560153457962793,
      -0.016678388136065037,
      -0.017098831366580414
    ],
    "a_ego": [
      0.45563730323339624,
      0.4556373038698387,
      0.3896914222094898,
      0.6405030835499221,
      0.990021655473471,
      1.1926338485730832,
      1.2386688753867918,
      1.2813238817956165,
      1.2480465881069118,
      1.2480465857737335
    ],
    "yaw": [
      1.103725757240794,
      1.103688593969935,
      1.103503287294874,
      1.1033002194852086,
      1.1027218488011554,
      1.1018489564434863,
      1.1010930689973422,
      1.1002998937766346,
      1.0995936787808152,
      1.0999305894334634
    ],
    "yaw_diff": [
      -7.432654171779518e-05,
      -0.0003706133501220066,
      -0.000406135619330783,
      -0.0011567413681063954,
      -0.00174578471533815,
      -0.0015117748922883756,
      -0.0015863504414150853,
      -0.0014124299916389305,
      0.0006738213052965847,
      0.0006738213052965847
    ],
    "min_front_frame": [
      0,
      12.391099904996826
    ],
    "v_avg": 2.054891571392692,
    "v_std": 1.3787886155198377,
    "vy_max": 0.019565438309486316,
    "a_max": 1.2813238817956165,
    "ax_avg": 0.9138300744580968,
    "a_std": 0.36288012312016815,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0dd23f4ea286544f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.538811715908202,
    "right_rear_min": 3.947026315866258,
    "speed_mode": "accelerating",
    "front_frame": [
      12.391099904996826,
      12.743899905624279,
      13.323525875234145,
      13.968476864297573,
      14.655683977744951,
      15.230287274479334,
      15.735151240466482,
      16.13668838973193,
      16.344160111987435,
      16.4703938726607
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0dd23f4ea286544f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "95fa228136aa55d1": {
    "vx_ego": [
      6.186207115677805,
      6.38902467531362,
      6.66536619054937,
      6.956127470967552,
      7.191199110905414,
      7.3351143767016325,
      7.3448416398004195,
      7.300219996525478,
      7.2476437099174476,
      7.2016691024787125
    ],
    "vy_ego": [
      0.0035351642892140767,
      -0.003596692402968227,
      0.05289915010567947,
      0.025657110943092754,
      -0.03375978469768537,
      -0.0588716405180727,
      -0.018550936804857088,
      0.004145612604306681,
      0.018729276975900877,
      0.021178188619269456
    ],
    "v_ego": [
      6.186208125778606,
      6.3890256876899905,
      6.665576102198558,
      6.9561747878910705,
      7.191278354767645,
      7.335350624840797,
      7.344865066902349,
      7.3002211736203115,
      7.24766790986742,
      7.201700242114339
    ],
    "ax_ego": [
      0.40492981146515516,
      0.4063168601518562,
      0.6997689081389062,
      0.46266919684652086,
      0.4773854703070456,
      0.09945601960758463,
      -0.060312119878362436,
      -0.11817966647064865,
      -0.09213425076259879,
      -0.0919967921490798
    ],
    "ay_ego": [
      0.12737708318364832,
      0.12288074578177455,
      -0.010083017584554377,
      0.016659321759523588,
      -0.10170541116098403,
      0.11818573491170234,
      0.09189224929751628,
      0.019357906140406785,
      0.046948139710068365,
      0.047216925893071124
    ],
    "a_ego": [
      0.4244915470696444,
      0.42449154117314064,
      0.6998415478103078,
      0.46296902565084413,
      0.4880992500708272,
      0.1544647784215011,
      0.10991695631329519,
      0.11975459113225911,
      0.1034062279837222,
      0.10340622735847566
    ],
    "yaw": [
      0.8382579008331099,
      0.8493427896813489,
      0.8449831406075234,
      0.8492060137162423,
      0.854601408839901,
      0.8586000832341736,
      0.8602575392114955,
      0.8609555139905583,
      0.8612296080098467,
      0.8641491083964485
    ],
    "yaw_diff": [
      0.022169777696477988,
      -0.008719298147650933,
      0.008445746217437655,
      0.010790790247317439,
      0.007997348788545189,
      0.00331491195464384,
      0.0013959495581254977,
      0.0005481880385769244,
      0.005839000773203651,
      0.005839000773203651
    ],
    "min_front_frame": [
      0,
      45.11547891664351
    ],
    "v_avg": 6.981806807567109,
    "v_std": 0.4007656914295293,
    "vy_max": 0.0588716405180727,
    "a_max": 0.6998415478103078,
    "ax_avg": 0.2187903437256379,
    "a_std": 0.20471523065546246,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "95fa228136aa55d1",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.37568075732746,
    "speed_mode": "accelerating",
    "front_frame": [
      45.11547891664351,
      47.08934311516829,
      48.60018670860808,
      49.50451819251251,
      49.901602944041464,
      49.61473892171973,
      48.87734069165488,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "95fa228136aa55d1",
    "merging_vehicles": "No"
  },
  "42a04da3bc0351e1": {
    "vx_ego": [
      4.189844433331857,
      3.7909443773725653,
      3.3738231437217174,
      2.9738727831025322,
      2.6604598938024178,
      2.4304103478630967,
      2.248163976642111,
      2.051318309275804,
      1.8238917869217983,
      1.5962218855605874
    ],
    "vy_ego": [
      0.09618082259180238,
      0.01613520978689187,
      -0.03226768158566595,
      -0.014352761206441578,
      -0.003152016100449462,
      -0.022858850085381244,
      -0.023548376287187978,
      -0.01558260060990968,
      -0.004285123574245486,
      0.017172256382467554
    ],
    "v_ego": [
      4.190948237112502,
      3.7909787149662995,
      3.373977446336476,
      2.973907418167595,
      2.6604617609987686,
      2.430517843182239,
      2.2482873019027245,
      2.0513774941272778,
      1.8238968207343411,
      1.5963142530002863
    ],
    "ax_ego": [
      -0.7978576789284582,
      -0.7980818287511457,
      -0.870212175623513,
      -0.7294570839668946,
      -0.5242359256546888,
      -0.3959131421909625,
      -0.3330401706133237,
      -0.4543220626582498,
      -0.45534363306535036,
      -0.45533883094539257
    ],
    "ay_ego": [
      -0.14860855226669947,
      -0.14740003553350248,
      -0.017934725668385665,
      0.10053890564920376,
      -0.043173004234090484,
      -0.02736285447569131,
      0.02710357835945293,
      0.0073467613203545,
      0.043268925233767935,
      0.04331944095784143
    ],
    "a_ego": [
      0.8115795571796464,
      0.8115795560868022,
      0.8703969697719588,
      0.7363529784679522,
      0.5260106596273741,
      0.39685758398269166,
      0.3341412264328345,
      0.45438146036116495,
      0.45739482295281597,
      0.45739482390120756
    ],
    "yaw": [
      -0.523942640915231,
      -0.5224281477261066,
      -0.5204597785792447,
      -0.5195928881940473,
      -0.5184677881674083,
      -0.5176482750304745,
      -0.5173803232806555,
      -0.5170815511063384,
      -0.5163815332083626,
      -0.5162705953190965
    ],
    "yaw_diff": [
      0.003028986378248888,
      0.003936738293723652,
      0.0017337807703949881,
      0.0022502000532778066,
      0.0016390262738676942,
      0.0005359034996379464,
      0.000597544348634349,
      0.001400035795951604,
      0.00022187577853216567,
      0.00022187577853216567
    ],
    "min_front_frame": [
      9,
      12.745863802129598
    ],
    "v_avg": 2.7140667290528513,
    "v_std": 0.81394543897466,
    "vy_max": 0.09618082259180238,
    "a_max": 0.8703969697719588,
    "ax_avg": -0.581380253239798,
    "a_std": 0.18933220470279336,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "42a04da3bc0351e1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.632288209650813,
      19.36389579017388,
      18.261598118675742,
      17.338034366102335,
      16.57762348280265,
      15.832894082734807,
      15.134886639024227,
      14.427823392709296,
      13.562658527251878,
      12.745863802129598
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "42a04da3bc0351e1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "371672ed85805daf": {
    "vx_ego": [
      0.7192687656817148,
      0.4016440393456615,
      0.11872069651253822,
      -0.020395788228729395,
      -0.0268648994978873,
      -0.01474310002184422,
      -0.009036323365168042,
      -0.005899499050450314,
      -0.004296270183151623,
      -0.003119922381187336
    ],
    "vy_ego": [
      -0.028280015805032588,
      -0.02068616040774157,
      0.0026783992176625943,
      0.012721000802163054,
      0.0027085849388993714,
      0.0016493941697029038,
      0.0008096673774028876,
      0.00043204726955280983,
      0.0002629563455272873,
      0.00026732607634823353
    ],
    "v_ego": [
      0.7198245040141593,
      0.4021763936064797,
      0.1187509056925099,
      0.024037721166529274,
      0.027001097337012392,
      0.014835076655722172,
      0.009072524523081344,
      0.005915298292511731,
      0.004304309878051387,
      0.0031313541632541977
    ],
    "ax_ego": [
      -0.6352610301707384,
      -0.635265188911146,
      -0.49643854191414105,
      -0.060024156712998475,
      0.034147232217945384,
      0.01433989551465488,
      0.008487124613368036,
      0.004060192204905133,
      0.0023526984155903094,
      0.0023527036664477054
    ],
    "ay_ego": [
      0.014963606476512237,
      0.014786374916372746,
      0.0785238247137158,
      -0.0383526356601749,
      -0.0017022721943793454,
      -0.002534935220685486,
      -0.0008247403991931356,
      -0.0006853442566668931,
      8.763783204101682e-06,
      8.774628452114588e-06
    ],
    "a_ego": [
      0.6354372399949281,
      0.6354372487708614,
      0.5026104027430279,
      0.07123078022307996,
      0.03418963583851171,
      0.014562228536329559,
      0.008527102727708794,
      0.0041176276532633085,
      0.0023527147380456477,
      0.0023527200292897048
    ],
    "yaw": [
      1.0976579513706346,
      1.0973789673491774,
      1.0972265606717888,
      1.0971900746955128,
      1.0972270825591344,
      1.0972330856124803,
      1.0972501888804167,
      1.0972357260412333,
      1.0972466265635283,
      1.0972427372228015
    ],
    "yaw_diff": [
      -0.000557968042914414,
      -0.000304813354777167,
      -7.297195255207001e-05,
      7.401572724319294e-05,
      1.2006106691941909e-05,
      3.420653587271616e-05,
      -2.892567836676463e-05,
      2.180104459004184e-05,
      -7.778681453629588e-06,
      -7.778681453629588e-06
    ],
    "min_front_frame": [
      9,
      10.986833237639285
    ],
    "v_avg": 0.13290491853293115,
    "v_std": 0.22782237747137185,
    "vy_max": 0.028280015805032588,
    "a_max": 0.6354372487708614,
    "ax_avg": -0.17612490710761125,
    "a_std": 0.2648794672953904,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "371672ed85805daf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.4790001097933643,
    "right_rear_min": 27.90654342833612,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.362609557000853,
      11.1392235025839,
      11.011038607475149,
      11.042111701294814,
      11.073295803727898,
      11.03753462932735,
      11.031347436312652,
      11.041874560153294,
      11.012367187875356,
      10.986833237639285
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "371672ed85805daf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "28ef9307f6035143": {
    "vx_ego": [
      2.9032181645947777,
      2.792715273637133,
      2.7125218283513814,
      2.657707674461595,
      2.6261056768113478,
      2.6350449142164662,
      2.721269448114655,
      2.854374889933409,
      2.9585126419688756,
      3.0215259110694004
    ],
    "vy_ego": [
      -0.031499611775251735,
      0.013785044833367066,
      0.02431050756359865,
      0.02090055998710752,
      0.004133983149137044,
      0.009580646203364684,
      0.030601291809600917,
      0.015701166430347968,
      0.008280158555694417,
      0.003059740505641395
    ],
    "v_ego": [
      2.9033890433035427,
      2.7927492954196915,
      2.7126307655227833,
      2.657789855556649,
      2.626108930641961,
      2.6350623310881542,
      2.7214415019071523,
      2.8544180736026803,
      2.9585242290228697,
      3.021527460288212
    ],
    "ax_ego": [
      -0.2822920498976752,
      -0.1625377059956027,
      -0.1491315200316562,
      -0.061961993322962455,
      -0.07455234589871967,
      0.10557836640925358,
      0.2406299431287802,
      0.29246435676935223,
      0.12442812153574212,
      0.12709527796077835
    ],
    "ay_ego": [
      -0.7626063069632765,
      -0.7967676421056851,
      -0.769002819855145,
      -0.7075373653979182,
      -0.4024718506420399,
      -0.18581613586247048,
      -0.10041355873631452,
      -0.06148509363987843,
      0.12255660632712861,
      0.11978843544089808
    ],
    "a_ego": [
      0.8131772136844456,
      0.81317721400502,
      0.7833297819003927,
      0.7102453182181365,
      0.40931851025604843,
      0.21371576404305484,
      0.260740584313703,
      0.2988575190963339,
      0.1746495897027422,
      0.17464958902129063
    ],
    "yaw": [
      -2.636898334180449,
      -2.790190298700733,
      -2.9360512590466605,
      -3.0725983158880306,
      3.1120333397096074,
      3.0535702380911562,
      3.0187866439553446,
      3.009591676306365,
      3.0173420342859054,
      3.0393523806254437
    ],
    "yaw_diff": [
      -0.30658392904056786,
      -0.2917219206918551,
      -0.27309411368274006,
      -0.19710730316389657,
      -0.11692620323690228,
      -0.06956718827162334,
      -0.01838993529795907,
      0.015500715959080758,
      0.04402069267907649,
      0.04402069267907649
    ],
    "min_front_frame": [
      4,
      32.82753353168088
    ],
    "v_avg": 2.7883641486353694,
    "v_std": 0.13342589507771566,
    "vy_max": 0.031499611775251735,
    "a_max": 0.81317721400502,
    "ax_avg": 0.015972045065729024,
    "a_std": 0.266103300352282,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "28ef9307f6035143",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      32.82753353168088,
      34.306426453197034,
      35.90352210426549,
      37.69616308562871,
      39.58738426102444,
      41.5787461880257
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "28ef9307f6035143",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "dc95b5731cc359f3": {
    "vx_ego": [
      4.576482696284304,
      4.423449139767655,
      4.373318431470371,
      4.561046713573196,
      4.912230024018831,
      5.301160706178933,
      5.678862706617011,
      5.962011402654658,
      6.17813897223593,
      6.38111647458228
    ],
    "vy_ego": [
      0.04049927970757172,
      0.10912753471840053,
      0.08763442079021577,
      0.07409525544114581,
      0.047775184631866585,
      0.029974340360730434,
      0.04716138762101263,
      0.02311476968977111,
      -0.0018673344761728217,
      -0.01701325136793219
    ],
    "v_ego": [
      4.576661890619241,
      4.4247950360378185,
      4.374196371305899,
      4.561648521124325,
      4.9124623435847985,
      5.301245447422293,
      5.679058534395276,
      5.96205621056712,
      6.178139254435632,
      6.381139154798889
    ],
    "ax_ego": [
      -0.3311289198145975,
      -0.24832357904137792,
      0.07316168693635416,
      0.6907322233766162,
      0.7220281985065709,
      0.8372244783967033,
      0.6756214473661476,
      0.45874570596377484,
      0.40567350218559634,
      0.4060628337734994
    ],
    "ay_ego": [
      -0.7813168392669272,
      -0.8114417923555617,
      -0.6617852691508747,
      -0.44709638748299907,
      -0.3804223534622573,
      -0.30395034676116084,
      -0.16307942571510312,
      -0.19661800004238209,
      -0.08760503263404912,
      -0.08578231702077965
    ],
    "a_ego": [
      0.8485884543520749,
      0.8485884646217658,
      0.6658170731518295,
      0.8228038551873416,
      0.8161163436988667,
      0.8906911027527231,
      0.6950246321050039,
      0.49910546047991533,
      0.41502485722946747,
      0.41502485574434955
    ],
    "yaw": [
      -0.1087319962513815,
      -0.2126157339789056,
      -0.2921510816633798,
      -0.3521972866899069,
      -0.3903439490567042,
      -0.4204444689803117,
      -0.44475168056406383,
      -0.45601743759784247,
      -0.4635994081354229,
      -0.46809029396725244
    ],
    "yaw_diff": [
      -0.2077674754550482,
      -0.15907069536894836,
      -0.12009241005305427,
      -0.07629332473359463,
      -0.06020103984721492,
      -0.048614423167504306,
      -0.022531514067557268,
      -0.015163941075160836,
      -0.0089817716636591,
      -0.0089817716636591
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.23514027642913,
    "v_std": 0.7294923155330849,
    "vy_max": 0.10912753471840053,
    "a_max": 0.8906911027527231,
    "ax_avg": 0.36897975776492875,
    "a_std": 0.17673850317094042,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "dc95b5731cc359f3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.049988458986615,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dc95b5731cc359f3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b5d5d15093af5638": {
    "vx_ego": [
      7.06015725445611,
      6.755852813511353,
      6.433088529167782,
      6.037343901138578,
      5.623204497641801,
      5.18140927858383,
      4.654166877689254,
      4.12658969930368,
      3.490889776257943,
      2.7264946702448207
    ],
    "vy_ego": [
      0.006522126206176093,
      0.006863778063034953,
      -0.013789797982572516,
      -0.03875315207589347,
      -0.07178745940671849,
      -0.06709406677541896,
      -0.06638233686341222,
      -0.05705809848928767,
      -0.008383236469203581,
      0.07430565854732851
    ],
    "v_ego": [
      7.060160267003822,
      6.755856300224167,
      6.433103308873448,
      6.037468276306799,
      5.623662708735923,
      5.18184366089822,
      4.6546402589273415,
      4.126984149836591,
      3.490899842252128,
      2.7275070151634013
    ],
    "ax_ego": [
      -0.6086607141248905,
      -0.608607697287499,
      -0.6823198119763897,
      -0.9000170053616825,
      -0.7559553615977834,
      -1.0122894580001176,
      -1.096405734200731,
      -1.0142892305869409,
      -1.5287603932821405,
      -1.5287934416484668
    ],
    "ay_ego": [
      0.026818379089450894,
      0.027995628876431866,
      0.04445700780798717,
      0.02460771589879157,
      -0.07686742448950157,
      0.025314553489716396,
      -0.0011461834891852707,
      0.011729121834100575,
      0.16427977799604543,
      0.16397194744418564
    ],
    "a_ego": [
      0.6092512538977718,
      0.6092512490211069,
      0.6837665912858972,
      0.9003533470932211,
      0.7598533474796861,
      1.0126059319382616,
      1.0964063333111655,
      1.0143570454152955,
      1.5375617664102457,
      1.5375617668165409
    ],
    "yaw": [
      2.5440434579722604,
      2.545977714967547,
      2.5518481679002303,
      2.5585914580014686,
      2.562027184285431,
      2.5587919116334197,
      2.5598734924466227,
      2.558348758922519,
      2.557142308939227,
      2.5569409514353865
    ],
    "yaw_diff": [
      0.003868513990573419,
      0.011740905865366358,
      0.013486580202476617,
      0.006871452567924763,
      -0.006470545304022579,
      0.0021631616264059517,
      -0.0030494670482070774,
      -0.0024128999665844475,
      -0.0004027150076808539,
      -0.0004027150076808539
    ],
    "min_front_frame": [
      9,
      14.301202763641099
    ],
    "v_avg": 5.209212578822184,
    "v_std": 1.3698459084351098,
    "vy_max": 0.07430565854732851,
    "a_max": 1.5375617668165409,
    "ax_avg": -0.9736098848066643,
    "a_std": 0.32478662683044995,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b5d5d15093af5638",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.7067557700881477,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.857944503600336,
      25.280326505318065,
      31.04379500749687,
      27.97142151559059,
      25.094662650373493,
      22.377150942026226,
      19.91566689590524,
      17.745316637933932,
      15.834448932013338,
      14.301202763641099
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b5d5d15093af5638",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f4af3907bb665bf7": {
    "vx_ego": [
      1.19884227133794,
      2.1483804172408165,
      3.0724462053135877,
      3.9939690252966016,
      4.928698985906721,
      5.801861628302125,
      6.571617957025058,
      7.22249775515596,
      7.787896443775405,
      8.335121333140883
    ],
    "vy_ego": [
      0.03333667055523747,
      0.024765438406263926,
      0.01982381233249912,
      -0.0013701087970151432,
      -0.02723685620763794,
      -0.04479928549048075,
      -0.0283782786609634,
      -0.015306305443240992,
      0.004030500512745228,
      0.049313915830166005
    ],
    "v_ego": [
      1.199305684615236,
      2.1485231541976177,
      3.0725101575228777,
      3.9939692603006853,
      4.928774243157625,
      5.802034585379946,
      6.571679229831137,
      7.222513974110344,
      7.787897486735684,
      8.33526721230188
    ],
    "ax_ego": [
      1.8989417722654525,
      1.8989198685020008,
      1.7970954925997717,
      1.8886350927881341,
      1.8510120451107401,
      1.6426846733715155,
      1.4370111546505897,
      1.16738821619652,
      1.0942324586785033,
      1.0944625429748684
    ],
    "ay_ego": [
      -0.006596125847069902,
      -0.011257099351022502,
      0.029201745413876733,
      -0.045590938456411295,
      0.06014648968187145,
      0.03875187533746915,
      0.11680870292593278,
      0.1597101505416572,
      0.12221886192118361,
      0.12014099585471455
    ],
    "a_ego": [
      1.8989532283157602,
      1.8989532351475786,
      1.7973327325394242,
      1.8891852866725858,
      1.8519889825174707,
      1.64314169929798,
      1.4417507869494852,
      1.1782625257134047,
      1.1010368403622612,
      1.1010368371948227
    ],
    "yaw": [
      -1.6002264039027903,
      -1.5977718807895664,
      -1.594177801458723,
      -1.5893232500272036,
      -1.5827166031255198,
      -1.5748731074701836,
      -1.5712563189511337,
      -1.5631681107847664,
      -1.5563617591960996,
      -1.5544630329226494
    ],
    "yaw_diff": [
      0.004909046226447611,
      0.007188158661687094,
      0.009709102863038499,
      0.013213293803367776,
      0.015686991310672305,
      0.007233577038099792,
      0.0161764163327347,
      0.01361270317733343,
      0.0037974525469004483,
      0.0037974525469004483
    ],
    "min_front_frame": [
      0,
      13.651723029785495
    ],
    "v_avg": 5.1062474988153035,
    "v_std": 2.32690961230464,
    "vy_max": 0.049313915830166005,
    "a_max": 1.8989532351475786,
    "ax_avg": 1.5770383317138097,
    "a_std": 0.3261247092901263,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f4af3907bb665bf7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.275719350313096,
    "speed_mode": "accelerating",
    "front_frame": [
      13.651723029785495,
      15.011056684725354,
      16.266050580788082,
      17.50641565577126,
      18.503131328470786,
      19.290380032927345,
      19.99461020061202,
      20.44051710450452,
      20.848370187076295,
      21.03705945862344
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f4af3907bb665bf7",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "812a8e70ad07507d": {
    "vx_ego": [
      0.3994298972832443,
      0.9501857199244385,
      1.5294769743327141,
      2.139026429603547,
      2.786721462486427,
      3.4433920485360536,
      4.062696378602936,
      4.651427404788496,
      5.187886240235807,
      5.692921816183652
    ],
    "vy_ego": [
      0.06189139801813438,
      0.010356333151451624,
      -0.009611080172315711,
      -0.0009913416752413973,
      -0.007875305742797156,
      -0.020184016456378906,
      -0.013399804711822894,
      0.00650111005287024,
      0.009047073445988207,
      0.004889594217929449
    ],
    "v_ego": [
      0.40419647201867337,
      0.9502421564973148,
      1.5295071715673751,
      2.139026659324473,
      2.7867325903148714,
      3.443451204016347,
      4.062718476522798,
      4.651431947954238,
      5.187894128754553,
      5.692923915995312
    ],
    "ax_ego": [
      1.101454504453106,
      1.1012074547433781,
      1.2160577718543555,
      1.2221344884515257,
      1.3686453405594021,
      1.2579647693151794,
      1.2189052657219361,
      1.1359083451056307,
      1.0100564698476115,
      1.0101568974318562
    ],
    "ay_ego": [
      -0.09836233515570586,
      -0.10109070474460596,
      0.028951890441047345,
      -0.001077978234069299,
      -0.03588883273749721,
      -0.028458198895253917,
      -0.015097309404900006,
      -0.003289487694529858,
      -0.038827919335007566,
      -0.036120927874173425
    ],
    "a_ego": [
      1.1058377703611506,
      1.105837776967377,
      1.216402366179666,
      1.2221349638643622,
      1.3691158010008584,
      1.258286624709392,
      1.2189987594562723,
      1.135913108124871,
      1.010802492874303,
      1.0108024925076338
    ],
    "yaw": [
      -2.043884456659389,
      -2.0414071189155227,
      -2.0398300092025434,
      -2.0407306190565366,
      -2.0416951031531227,
      -2.0429025746442893,
      -2.0476054490578166,
      -2.053214586280628,
      -2.0558638830678655,
      -2.0585437863615943
    ],
    "yaw_diff": [
      0.004954675487732096,
      0.0031542194259586154,
      -0.0018012197079864123,
      -0.0019289681931722313,
      -0.0024149429823330237,
      -0.009405748827054694,
      -0.011218274445623067,
      -0.005298593574474708,
      -0.005359806587457605,
      -0.005359806587457605
    ],
    "min_front_frame": [
      0,
      14.231850185216949
    ],
    "v_avg": 3.0848124722965955,
    "v_std": 1.7294174106779028,
    "vy_max": 0.06189139801813438,
    "a_max": 1.3691158010008584,
    "ax_avg": 1.1642491307483982,
    "a_std": 0.10704510652691976,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "812a8e70ad07507d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.471688385645465,
    "right_rear_min": 3.8179225316299648,
    "speed_mode": "accelerating",
    "front_frame": [
      14.231850185216949,
      16.10110592706345,
      18.192217678403573,
      20.264893271178696,
      22.239190590569113,
      24.111161051837527,
      25.874759780695815,
      17.509389523795903,
      18.457971286063973,
      19.263007178720205
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "812a8e70ad07507d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1ac0023fd2655313": {
    "vx_ego": [
      3.977510088856783,
      3.643262617039955,
      3.3434472563627198,
      3.048837330976408,
      2.7927141699576365,
      2.613080408311406,
      2.4527650449201888,
      2.2980969430187432,
      2.1419510931526236,
      1.9893904508552347
    ],
    "vy_ego": [
      0.008298042269607425,
      0.005325098847883458,
      -0.0010372743330135242,
      -0.03899629341933235,
      -0.050614834635414906,
      -0.006212990188851589,
      0.009958936805283508,
      0.015156135009537039,
      0.00398475795553517,
      -0.04510774285619246
    ],
    "v_ego": [
      3.9775187447029086,
      3.6432665086977325,
      3.3434474172652155,
      3.049086712715103,
      2.7931728010574894,
      2.6130877944585005,
      2.452785262921446,
      2.2981469204427554,
      2.141954799652337,
      1.9899017750682004
    ],
    "ax_ego": [
      -0.6684873945727832,
      -0.6684547601360642,
      -0.5307765478783224,
      -0.6476995933920985,
      -0.377177602545031,
      -0.34160602591732636,
      -0.2995355139623803,
      -0.3191206584903129,
      -0.30525456361836184,
      -0.3051054801829136
    ],
    "ay_ego": [
      -0.01844695474381597,
      -0.019593804440753572,
      -0.03314630953877064,
      -0.13465800222838706,
      0.07248041534105754,
      0.0825171933667708,
      -0.035993102519157036,
      0.042637136095413766,
      -0.1038829135969167,
      -0.10431996575767051
    ],
    "a_ego": [
      0.668741868617502,
      0.6687418661344792,
      0.5318105128837424,
      0.6615493487597354,
      0.3840785785091764,
      0.35143102330920944,
      0.3016902841552275,
      0.32195639464019,
      0.32244690779602925,
      0.3224469092631031
    ],
    "yaw": [
      -3.1030443289613188,
      -3.104759970019145,
      -3.1067226778891244,
      -3.10796601735848,
      -3.109325876200808,
      -3.111420576036341,
      -3.113217059704195,
      -3.114704180300029,
      -3.1165705134326247,
      -3.118002611427917
    ],
    "yaw_diff": [
      -0.0034312821156525786,
      -0.003925415739958638,
      -0.002486678938711684,
      -0.0027197176846556204,
      -0.004189399671066241,
      -0.0035929673357077974,
      -0.0029742411916675593,
      -0.003732666265191753,
      -0.002864195990584406,
      -0.002864195990584406
    ],
    "min_front_frame": [
      9,
      10.132595010400996
    ],
    "v_avg": 2.8302368736981687,
    "v_std": 0.6278985100603993,
    "vy_max": 0.050614834635414906,
    "a_max": 0.668741868617502,
    "ax_avg": -0.44632181406955934,
    "a_std": 0.1523195112350129,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1ac0023fd2655313",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.440010538923357,
      15.025446602111309,
      13.972077653121735,
      12.823516577266632,
      12.32888073371539,
      11.446853929581843,
      10.986190621302647,
      10.472920028565303,
      10.242728518487212,
      10.132595010400996
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1ac0023fd2655313",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dfd27e2c5d7f50fb": {
    "vx_ego": [
      8.23920757841057,
      8.3249854430115,
      8.39365696709481,
      8.431714985613457,
      8.459494807116668,
      8.465428987898676,
      8.454514774823803,
      8.3927466409466,
      8.21506744550733,
      7.9822129764908745
    ],
    "vy_ego": [
      -0.03785020612532852,
      -0.040861687676764014,
      -0.03907374789937634,
      -0.049778689400736376,
      -0.054941585040023444,
      -0.03361171778548089,
      -0.029445354268391455,
      -0.01630569543503535,
      -0.021310338634261683,
      -0.05289445269489956
    ],
    "v_ego": [
      8.239294518236491,
      8.325085723514993,
      8.393747913717336,
      8.431861924660353,
      8.459673218830654,
      8.465495714766366,
      8.454566050756359,
      8.39276248054382,
      8.215095085558477,
      7.982388228167382
    ],
    "ax_ego": [
      0.16645463698622862,
      0.17342150959993988,
      0.09793091254162375,
      0.050948445554387656,
      0.05637840307259338,
      -0.036438617092211426,
      -0.009190365023449137,
      -0.23936527912207356,
      -0.4730537701738472,
      -0.4618495736031067
    ],
    "ay_ego": [
      -0.3444409394622282,
      -0.3409863445146693,
      -0.3331086563315072,
      -0.3162286165318693,
      -0.3165340074250995,
      -0.30826913172984033,
      -0.36793721384626576,
      -0.43351067383586017,
      -0.453009629964458,
      -0.46442713656417933
    ],
    "a_ego": [
      0.3825528812489059,
      0.3825528814914335,
      0.34720576111899026,
      0.32030654382648577,
      0.3215156328852592,
      0.31041525476861226,
      0.3680519747837484,
      0.4952042418828919,
      0.6549790792966034,
      0.6549790789136507
    ],
    "yaw": [
      -0.9810101440660731,
      -1.0013379975902446,
      -1.0216881883405573,
      -1.039699023851243,
      -1.0578192027784128,
      -1.0787683198041815,
      -1.0992508533299978,
      -1.1245087936378795,
      -1.1505030531294747,
      -1.1749268387530662
    ],
    "yaw_diff": [
      -0.04065570704834287,
      -0.04070038150062549,
      -0.036021671021371215,
      -0.036240357854339766,
      -0.041898234051537475,
      -0.04096506705163261,
      -0.05051588061576329,
      -0.051988518983190346,
      -0.0488475712471832,
      -0.0488475712471832
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.335997085875224,
    "v_std": 0.1452579698297561,
    "vy_max": 0.054941585040023444,
    "a_max": 0.6549790792966034,
    "ax_avg": -0.06747636972599147,
    "a_std": 0.12585402274190108,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "dfd27e2c5d7f50fb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dfd27e2c5d7f50fb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7db6a3bd77405292": {
    "vx_ego": [
      10.275816320226047,
      10.860431740501003,
      11.44394403802701,
      11.997686394931998,
      12.546262221192247,
      12.960942456748752,
      13.066106600128537,
      12.967743731196745,
      12.758949431201437,
      12.48497008988942
    ],
    "vy_ego": [
      -0.04873341837480183,
      -0.17614559295681165,
      -0.045455524683702286,
      0.002434063351797633,
      0.0008812671460871613,
      -0.06412877139048234,
      -0.0444600420332657,
      -0.0234453188551198,
      -0.03896752683686522,
      0.008531792862480181
    ],
    "v_ego": [
      10.275931879547008,
      10.86186010129019,
      11.444034312698394,
      11.997686641840616,
      12.54626225214297,
      12.961101105479907,
      13.066182242003977,
      12.967764925420598,
      12.75900893706495,
      12.484973005053831
    ],
    "ax_ego": [
      1.1692231670841984,
      1.1832179305188317,
      1.1514487676936787,
      1.0639091505313172,
      1.1299573612001887,
      0.5289830864167674,
      -0.10799770271811947,
      -0.28547138149682705,
      -0.5484646772743601,
      -0.5470955800725501
    ],
    "ay_ego": [
      0.45023100912947783,
      0.4120510933551571,
      0.19325898513654544,
      0.2010245775714466,
      -0.0360433411592771,
      -0.10294358864987385,
      0.22669756249837017,
      -0.07034615077952953,
      0.23781096224928241,
      0.2409439467483818
    ],
    "a_ego": [
      1.2529129163785293,
      1.2529129158231418,
      1.1675544098496218,
      1.082734298603331,
      1.1305320696788828,
      0.5389067527496048,
      0.2511081214040951,
      0.29401103819959423,
      0.5978022716447284,
      0.5978022743429529
    ],
    "yaw": [
      -2.5043706589292136,
      -2.471913681143242,
      -2.4700638112254607,
      -2.465743808806579,
      -2.4622539977038413,
      -2.459894972027171,
      -2.4590342346612855,
      -2.4576481641943078,
      -2.4531981540604413,
      -2.4474787419226334
    ],
    "yaw_diff": [
      0.06491395557194313,
      0.00369973983556271,
      0.008640004837763726,
      0.006979622205474989,
      0.004718051353340691,
      0.0017214747317710888,
      0.0027721409339553915,
      0.008900020267732955,
      0.011438824275615822,
      0.011438824275615822
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.136480540254244,
    "v_std": 0.9218097320317619,
    "vy_max": 0.17614559295681165,
    "a_max": 1.2529129163785293,
    "ax_avg": 0.4737710121883126,
    "a_std": 0.37934501959339323,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7db6a3bd77405292",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.982516587212858,
    "right_rear_min": 20.523525476927627,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7db6a3bd77405292",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9c42f5a9d56c5ebf": {
    "vx_ego": [
      2.437975142774806,
      2.7862085327774215,
      3.1014183521820664,
      3.357726065105317,
      3.6185298190831254,
      3.961742597165362,
      4.369277786204406,
      4.824721021631335,
      5.27595627808139,
      5.799139810742503
    ],
    "vy_ego": [
      0.027474060822294977,
      -0.019501713990286218,
      0.02476714922393941,
      0.0275197075378546,
      0.0030968095982322197,
      0.032676009276420115,
      0.042763457284267226,
      0.066417265416012,
      0.12869211520158919,
      -0.05503520626717018
    ],
    "v_ego": [
      2.438129943379947,
      2.7862767818309564,
      3.1015172427269215,
      3.3578388380907453,
      3.6185311442384247,
      3.961877348906296,
      4.369487050707231,
      4.825178151085891,
      5.277525585796955,
      5.799400953414711
    ],
    "ax_ego": [
      0.6847304189194957,
      0.7079491758537435,
      0.5694127216914042,
      0.48889882845632465,
      0.608598875730127,
      0.7918677623823717,
      0.9236560988751493,
      0.9472909858897763,
      0.9257639680058773,
      1.1772774154875192
    ],
    "ay_ego": [
      -0.41851843283485235,
      -0.37791718996802653,
      -0.6750576969505373,
      -0.980388349958719,
      -1.492837097648051,
      -1.6082620189704082,
      -2.0688653802761783,
      -2.060046739747667,
      -1.929253651002026,
      -1.786918144575422
    ],
    "a_ego": [
      0.8025044705272419,
      0.8025044785328765,
      0.8831385745375275,
      1.0955288134963619,
      1.612127535790587,
      1.7926408660864668,
      2.265688537883033,
      2.267411030645528,
      2.139873494943716,
      2.1398734935574675
    ],
    "yaw": [
      -0.7488221072707851,
      -0.8071122579975208,
      -0.9108687986666593,
      -1.0392910279172063,
      -1.2098682076712017,
      -1.4227073058487043,
      -1.6457741243420378,
      -1.8746073700366197,
      -2.083539969993353,
      -2.218695438838015
    ],
    "yaw_diff": [
      -0.11658030145347142,
      -0.20751308133827684,
      -0.25684445850109405,
      -0.3411543595079909,
      -0.42567819635500515,
      -0.4461336369866671,
      -0.4576664913891637,
      -0.41786519991346616,
      -0.2703109376893247,
      -0.2703109376893247
    ],
    "min_front_frame": [
      9,
      36.71446014800119
    ],
    "v_avg": 3.9535763040178074,
    "v_std": 1.0461825677773497,
    "vy_max": 0.12869211520158919,
    "a_max": 2.267411030645528,
    "ax_avg": 0.7825446251291789,
    "a_std": 0.595415339574728,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "9c42f5a9d56c5ebf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 33.63843055293255,
    "right_rear_min": 6.695979595384507,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      36.71446014800119
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "9c42f5a9d56c5ebf",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0da1e53d70565ba4": {
    "vx_ego": [
      6.647075344299671,
      6.417966335477368,
      6.0368528365450995,
      5.44401992454766,
      4.8341057140510735,
      4.389472781455115,
      4.03397357983174,
      3.750888886186701,
      3.6740683183168286,
      3.6974047416148665
    ],
    "vy_ego": [
      -0.019790076575585402,
      0.035671259166715874,
      0.0018184938821894647,
      -0.03222574597384664,
      -0.02395655167167865,
      0.007958992095532524,
      0.016781988129695558,
      0.009618282917837284,
      -0.012392847757247472,
      0.02323831525552733
    ],
    "v_ego": [
      6.647104804343576,
      6.418065465703146,
      6.036853110439463,
      5.444115303479113,
      4.834165074859281,
      4.389479997071462,
      4.034008487584786,
      3.7509012180921535,
      3.674089219158264,
      3.6974777676967867
    ],
    "ax_ego": [
      -0.4581718369093909,
      -0.4582421650243298,
      -1.0673877446562103,
      -1.3022651494388577,
      -1.1345631115956736,
      -0.6425082106279324,
      -0.7802569377158164,
      -0.3567428343971015,
      0.046798482167815646,
      0.04673277389572656
    ],
    "ay_ego": [
      0.10206402620780036,
      0.10174779585729932,
      0.02842845072978689,
      0.15174400661431187,
      0.24525588803459575,
      0.30659233593150353,
      0.36468361259675686,
      0.2465457998703582,
      0.007407010428937938,
      0.007810844953736511
    ],
    "a_ego": [
      0.46940227692531705,
      0.46940227499236065,
      1.0677662545019706,
      1.311076185042797,
      1.1607686698086295,
      0.7119098687167101,
      0.8612752325187837,
      0.43364764651430143,
      0.04738102718077938,
      0.04738102420674772
    ],
    "yaw": [
      -0.5954457893459395,
      -0.5961359321595856,
      -0.5856027901321222,
      -0.5718958723009107,
      -0.5541200595782234,
      -0.5308156339564504,
      -0.4932229505436548,
      -0.4515643336904803,
      -0.42821790696501466,
      -0.4368529325465668
    ],
    "yaw_diff": [
      -0.0013802856272921993,
      0.02106628405492672,
      0.02741383566242317,
      0.03555162544537449,
      0.04660885124354608,
      0.07518536682559118,
      0.08331723370634891,
      0.046692853450931326,
      -0.017270051163104316,
      -0.017270051163104316
    ],
    "min_front_frame": [
      5,
      18.12791834285448
    ],
    "v_avg": 4.892626044842803,
    "v_std": 1.1058526956269348,
    "vy_max": 0.035671259166715874,
    "a_max": 1.311076185042797,
    "ax_avg": -0.610660673430177,
    "a_std": 0.4193570747390136,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "0da1e53d70565ba4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.890935531642297,
    "speed_mode": "decelerating",
    "front_frame": [
      24.83305441955189,
      24.10858449943201,
      22.546241822109888,
      20.94551851310331,
      19.679676738560985,
      18.12791834285448,
      45.16012891016385,
      43.35118847562486,
      41.72211397577453,
      40.26455469148913
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "0da1e53d70565ba4",
    "pedestrians": "No"
  },
  "a4ab5ff4ba7259f9": {
    "vx_ego": [
      1.8458359699900164,
      1.9978981299588803,
      2.135690969221219,
      2.2630344886561566,
      2.3994259343352295,
      2.520018546712847,
      2.6091298369526705,
      2.6778890291794126,
      2.7543101461199897,
      2.857522879512066
    ],
    "vy_ego": [
      -0.012821413477928756,
      -0.015561519554877834,
      -0.019092915554420165,
      -0.0005962999554858239,
      0.012749167367579695,
      0.008426611548485896,
      -0.007143985097278982,
      -0.033153123756155645,
      -0.030097152259449644,
      0.0025286503200251387
    ],
    "v_ego": [
      1.8458804990444415,
      1.997958732953223,
      2.135776312125743,
      2.2630345672174053,
      2.399459804962162,
      2.520032635415446,
      2.609139617306774,
      2.6780942444608344,
      2.7544745814027123,
      2.8575239983257132
    ],
    "ax_ego": [
      0.3039195104173276,
      0.3054320227144987,
      0.2487725998014807,
      0.2640027058605336,
      0.2808173316464202,
      0.20265175342603267,
      0.15184478752311467,
      0.1313702436710289,
      0.18922986226549832,
      0.22723955847469687
    ],
    "ay_ego": [
      0.07668556275347466,
      0.0704203373271797,
      0.14810941515996479,
      0.25244563170334394,
      0.2715294557768271,
      0.3882874190625828,
      0.3429085866852398,
      0.3888536572088229,
      0.5032261552286093,
      0.48724397224607463
    ],
    "a_ego": [
      0.3134449622296157,
      0.31344496232790825,
      0.289524101364661,
      0.3652755475908342,
      0.390623372454178,
      0.43798955805923884,
      0.3750241836474129,
      0.41044525535917975,
      0.5376285930632668,
      0.5376285943157308
    ],
    "yaw": [
      -2.2375003520527983,
      -2.2169374953234824,
      -2.1888933910389134,
      -2.15174468501851,
      -2.1012436903798095,
      -2.0327233326564675,
      -1.9556027377279264,
      -1.8766776442679545,
      -1.7955207524509724,
      -1.7188075770286104
    ],
    "yaw_diff": [
      0.04112571345863181,
      0.056088208569137876,
      0.07429741204080731,
      0.10100198927740056,
      0.13704071544668395,
      0.15424118985708235,
      0.1578501869199438,
      0.1623137836339641,
      0.153426350844724,
      0.153426350844724
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.4061374993214453,
    "v_std": 0.32052253452593654,
    "vy_max": 0.033153123756155645,
    "a_max": 0.5376285943157308,
    "ax_avg": 0.2305280375800632,
    "a_std": 0.08273911516649665,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "a4ab5ff4ba7259f9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a4ab5ff4ba7259f9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2569d386da9c54ff": {
    "vx_ego": [
      5.634520391776106,
      5.648285645654925,
      5.726994293381113,
      5.804007209180093,
      5.905971388195538,
      6.066200253485906,
      6.30750296070545,
      6.604995618308337,
      6.8328856827731235,
      6.983231916886433
    ],
    "vy_ego": [
      -0.053289370053178464,
      -0.012874224513307553,
      -0.03346036063254143,
      -0.07296564277961748,
      -0.03913504882520913,
      -0.04150638373630766,
      -0.045067512769271456,
      -0.10213562327671788,
      -0.06710388940008638,
      -0.06797693843143637
    ],
    "v_ego": [
      5.6347723824748615,
      5.648300317845032,
      5.727092039783671,
      5.804465838407591,
      5.906101048088399,
      6.066342250094643,
      6.307663963783678,
      6.6057852525959735,
      6.8332151792416544,
      6.983562763316435
    ],
    "ax_ego": [
      -0.0929765354969117,
      0.1673120701978678,
      0.15715655964150854,
      0.18887722656872963,
      0.24432694303994273,
      0.40529698500840616,
      0.5724668520244606,
      0.6137795432294859,
      0.3010502192879607,
      0.30470645255351003
    ],
    "ay_ego": [
      1.7524140571253322,
      1.746884739762821,
      1.686267634296896,
      1.747919160502775,
      1.661691736081144,
      1.471385783093054,
      1.343926474795146,
      0.6693687053803574,
      0.2263497756230713,
      0.22140332513401156
    ],
    "a_ego": [
      1.7548788174012118,
      1.7548788057441789,
      1.6935751293389985,
      1.7580944224839066,
      1.679558001634838,
      1.52618536513271,
      1.4607726264967125,
      0.908173877310712,
      0.37665030924976545,
      0.37665030812165984
    ],
    "yaw": [
      -2.886136477718809,
      -2.7376437844409516,
      -2.583460900157737,
      -2.4279050889166722,
      -2.2881596317896262,
      -2.1566623190687007,
      -2.042062909926557,
      -1.9552496234030499,
      -1.9272998307823046,
      -1.9109687188845326
    ],
    "yaw_diff": [
      0.2969853865557148,
      0.3083657685664294,
      0.3111116224821293,
      0.279490914254092,
      0.26299462544185115,
      0.22919881828428768,
      0.1736265730470139,
      0.055899585241490524,
      0.032662223795544065,
      0.032662223795544065
    ],
    "min_front_frame": [
      9,
      42.48694692056764
    ],
    "v_avg": 6.151730103563194,
    "v_std": 0.47708179983625826,
    "vy_max": 0.10213562327671788,
    "a_max": 1.7580944224839066,
    "ax_avg": 0.28619963160549605,
    "a_std": 0.5338496079588285,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "2569d386da9c54ff",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      52.51049517454257,
      46.62259134741224,
      45.92500204893628,
      42.48694692056764
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2569d386da9c54ff",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4cdcf106cb5d5c63": {
    "vx_ego": [
      0.44577336494735154,
      0.23117583685229937,
      0.06053073354950009,
      -0.005984118911907152,
      -0.007347397102481799,
      -0.004275813745285448,
      -0.002444527143556174,
      -0.0016294785175470909,
      -0.001156042709660726,
      -0.000723637379543857
    ],
    "vy_ego": [
      -0.08962064958355254,
      -0.04388001302882982,
      -0.008812783546588897,
      0.0024956460301987413,
      0.0014012603404837919,
      0.0006979457259758918,
      0.00029839736835686513,
      0.0002664053226045077,
      0.00011430067720042292,
      1.0112649067498913e-06
    ],
    "v_ego": [
      0.45469303241666525,
      0.23530347019916897,
      0.06116890433774013,
      0.0064836662668502285,
      0.007479824511535728,
      0.0043324024998584775,
      0.0024626721148023768,
      0.0016511123629418673,
      0.0011616795562323498,
      0.0007236380861520569
    ],
    "ax_ego": [
      -0.429180476938115,
      -0.42916525338984135,
      -0.25341337226593297,
      -0.012645432408637856,
      0.0071922693030865015,
      0.005093932118838879,
      0.0022312226581487887,
      0.0010289553523784097,
      0.0008648046116320337,
      0.0008648027482091661
    ],
    "ay_ego": [
      0.09155810950642254,
      0.0916294282063975,
      0.04864996840546265,
      -0.003415757042805005,
      -0.0009620988712185979,
      -0.0018518199160248098,
      0.0002536440060671465,
      -0.0003817548118469209,
      -0.00022659000960353388,
      -0.0002266042901295407
    ],
    "a_ego": [
      0.4388379760244297,
      0.43883797332341024,
      0.2580409980391582,
      0.013098639508624573,
      0.0072563332314689415,
      0.005420090537318033,
      0.0022455934253667416,
      0.0010974907077312569,
      0.0008939966715554159,
      0.0008939984885978496
    ],
    "yaw": [
      -0.599685991100713,
      -0.5995198035081302,
      -0.5994986215246194,
      -0.5995433202794422,
      -0.5995349900439846,
      -0.5995056211098814,
      -0.5995080590915806,
      -0.5994911437930979,
      -0.599506723812753,
      -0.599492380906236
    ],
    "yaw_diff": [
      0.00033237518516560094,
      4.236396702150813e-05,
      -8.939750964565008e-05,
      1.6660470915308423e-05,
      5.873786820642657e-05,
      -4.875963398376371e-06,
      3.383059696537849e-05,
      -3.116003931036282e-05,
      2.868581303405726e-05,
      2.868581303405726e-05
    ],
    "min_front_frame": [
      2,
      8.61211731381648
    ],
    "v_avg": 0.07754604023519475,
    "v_std": 0.14347426515029943,
    "vy_max": 0.08962064958355254,
    "a_max": 0.4388379760244297,
    "ax_avg": -0.11071285482102333,
    "a_std": 0.17773665942850186,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4cdcf106cb5d5c63",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.830829210422443,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.842025170003181,
      8.651559525045638,
      8.61211731381648,
      8.640045831597742,
      8.67376337685502,
      8.665615402749015,
      8.706730590176129,
      8.679926296079902,
      8.711882430595917,
      8.700944551872022
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4cdcf106cb5d5c63",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "adccdafdfc3d5e0c": {
    "vx_ego": [
      8.341395157401058,
      8.37465734324616,
      8.365379356155398,
      8.281669767347438,
      8.227320858361127,
      8.255017604125527,
      8.307134129096816,
      8.369178280479563,
      8.44400300445128,
      8.526132525112741
    ],
    "vy_ego": [
      -0.09439653393292602,
      -0.02644111119863357,
      0.004752129447829656,
      -0.008937068258227931,
      -0.036195298789782004,
      -0.05656134293903392,
      -0.04566580342148763,
      -0.026796827921140576,
      -0.03991433345734707,
      -0.06105504739466472
    ],
    "v_ego": [
      8.34192926591519,
      8.374699084095393,
      8.36538070592876,
      8.281674589513019,
      8.227400476826112,
      8.255211374031402,
      8.307259644696755,
      8.369221180040439,
      8.444097340343584,
      8.5263511278036
    ],
    "ax_ego": [
      0.06608613906001228,
      0.06581739310614693,
      -0.10290458638319426,
      -0.23188570427616953,
      0.014225390892793809,
      0.09585847061914368,
      0.11198267639980883,
      0.1359105530350772,
      0.16309305258023782,
      0.16409848455113935
    ],
    "ay_ego": [
      0.05659382905308647,
      0.056906150415351325,
      -0.04462005490014605,
      -0.09789619699432552,
      -0.12362915221514156,
      -0.06579395280779363,
      0.026846022872841335,
      -0.03382223203626235,
      -0.15399881723322262,
      -0.15292697172722033
    ],
    "a_ego": [
      0.08700712190820505,
      0.08700712149234491,
      0.11216195075866119,
      0.2517034867331141,
      0.12444488347653118,
      0.11626560375070268,
      0.11515567184361099,
      0.14005578105246247,
      0.22431000759924136,
      0.2243099893309225
    ],
    "yaw": [
      -0.5189213917039011,
      -0.5236569823853514,
      -0.5270083497037887,
      -0.5296391383640917,
      -0.5330588847838353,
      -0.5363379296598175,
      -0.5388300611020678,
      -0.5413030789742317,
      -0.5453298467637819,
      -0.5518815158327393
    ],
    "yaw_diff": [
      -0.009471181362900705,
      -0.006702734636874652,
      -0.005261577320605948,
      -0.00683949283948726,
      -0.006558089751964369,
      -0.00498426288450049,
      -0.004946035744327837,
      -0.00805353557910049,
      -0.013103338137914644,
      -0.013103338137914644
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.349322478919428,
    "v_std": 0.0847002167383097,
    "vy_max": 0.09439653393292602,
    "a_max": 0.2517034867331141,
    "ax_avg": 0.048228186958499605,
    "a_std": 0.05816241275532401,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "adccdafdfc3d5e0c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "adccdafdfc3d5e0c",
    "pedestrians": "No"
  },
  "c2ebbcddd45457f8": {
    "vx_ego": [
      6.744668476874984,
      6.051500919427168,
      5.344798311981393,
      4.632978556467477,
      3.949725280803411,
      3.2855053450668104,
      2.6878355976604102,
      2.1613303968125916,
      1.620332381018978,
      1.0612926757221524
    ],
    "vy_ego": [
      -0.0259097894847804,
      -0.020529523110446535,
      -0.014676057683943089,
      -0.023707590313613247,
      -0.029522044007282533,
      -0.03544198346898941,
      -0.038397126862206754,
      -0.028484128980240664,
      -0.022784618925770217,
      -0.026316579788154715
    ],
    "v_ego": [
      6.744718243199063,
      6.051535742201892,
      5.344818461129273,
      4.633039213575247,
      3.9498356098577005,
      3.2856965025173577,
      2.6881098451145493,
      2.1615180845391597,
      1.620492568276147,
      1.0616189080424443
    ],
    "ax_ego": [
      -1.3863686956966523,
      -1.3863696667979084,
      -1.440537185482464,
      -1.4067990007100903,
      -1.3265282973528276,
      -1.3306740840478992,
      -1.060366847190157,
      -1.0459213516837615,
      -1.1181154066268855,
      -1.1181094208869897
    ],
    "ay_ego": [
      0.0018340722699947687,
      0.0008115679529656084,
      -0.01168415408567719,
      -0.043103515446921536,
      -0.027176499070899307,
      -0.033308518284657807,
      -0.004921344393129579,
      0.027283137018544845,
      -0.008496270916820148,
      -0.00925079943026802
    ],
    "a_ego": [
      1.3863699088730714,
      1.3863699043400668,
      1.4405845696155561,
      1.4074591793166833,
      1.326806649734445,
      1.3310908967260782,
      1.0603782675303326,
      1.0462771351193523,
      1.1181476866478317,
      1.1181476889777746
    ],
    "yaw": [
      1.2728737899207228,
      1.2721362479568903,
      1.270633753814156,
      1.2696978076646357,
      1.2669520312618507,
      1.264408921762132,
      1.2621730318771789,
      1.2603889026557673,
      1.2598610767210576,
      1.259186256055502
    ],
    "yaw_diff": [
      -0.001475083927664933,
      -0.0030049882854683574,
      -0.0018718922990408338,
      -0.005491552805569899,
      -0.0050862189994376195,
      -0.004471779769906092,
      -0.003568258442823158,
      -0.0010556518694193606,
      -0.001349641331111151,
      -0.001349641331111151
    ],
    "min_front_frame": [
      9,
      12.915302292310866
    ],
    "v_avg": 3.754138317845284,
    "v_std": 1.8236509905022715,
    "vy_max": 0.038397126862206754,
    "a_max": 1.4405845696155561,
    "ax_avg": -1.2619789956475633,
    "a_std": 0.1488403201841615,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c2ebbcddd45457f8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.238374511938849,
    "right_rear_min": 47.200934713793735,
    "speed_mode": "decelerating",
    "front_frame": [
      29.544472862006284,
      26.42720538119022,
      23.59327841703201,
      18.44249160459269,
      18.912958813891727,
      17.115355051984025,
      15.6528978886532,
      14.4285881591401,
      13.540689281466063,
      12.915302292310866
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c2ebbcddd45457f8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7328fe7f857051ea": {
    "vx_ego": [
      1.6749634158167783,
      1.2357254502924717,
      0.823662807235573,
      0.4592183676005901,
      0.23873019230960746,
      0.2315416662399754,
      0.369670688622392,
      0.6596843091926016,
      1.0753225422145498,
      1.5202999303832854
    ],
    "vy_ego": [
      -0.07623073426196836,
      -0.0373812330519987,
      0.004961933236035998,
      0.008669141193225038,
      0.0008291677293855854,
      0.021332353363315792,
      0.016459484905701205,
      -0.03731648266058263,
      -0.06042158065494252,
      -0.03065051490214732
    ],
    "v_ego": [
      1.6766972204816015,
      1.2362907202939848,
      0.8236777530106197,
      0.45930018849416854,
      0.23873163225535407,
      0.23252228388952645,
      0.37003693419699946,
      0.660738910367081,
      1.077018726486965,
      1.5206088689690025
    ],
    "ax_ego": [
      -0.8782807348322517,
      -0.8780464956012284,
      -0.770100823889653,
      -0.6877470806830752,
      -0.19418701517116013,
      0.1654144381751751,
      0.3870651671630726,
      0.7729854812533212,
      0.8901034316620456,
      0.8902751477543229
    ],
    "ay_ego": [
      0.08445756327855114,
      0.08685893466642658,
      0.08888719958602609,
      -0.0724174309418974,
      0.041620026314750855,
      0.040706450263543525,
      -0.05988156316148249,
      -0.1538689057922703,
      0.06742160445081663,
      0.06511481318099044
    ],
    "a_ego": [
      0.8823322102090745,
      0.8823322066937058,
      0.7752136564881764,
      0.6915492255019283,
      0.19859713857839173,
      0.1703494979442768,
      0.39166981660276035,
      0.7881511240860721,
      0.8926532315537049,
      0.892653223600619
    ],
    "yaw": [
      2.526947830263632,
      2.5296823708035348,
      2.531250333911559,
      2.531900313085858,
      2.5323897996607085,
      2.532802188876828,
      2.5330919951014126,
      2.5338173831339805,
      2.535568272691253,
      2.5381596337833217
    ],
    "yaw_diff": [
      0.005469081079805704,
      0.0031359262160481904,
      0.0012999583485981958,
      0.00097897314970119,
      0.0008247784322392704,
      0.0005796124491688204,
      0.0014507760651358836,
      0.0035017791145453003,
      0.005182722184136956,
      0.005182722184136956
    ],
    "min_front_frame": [
      3,
      12.5497175046361
    ],
    "v_avg": 0.8295623238445303,
    "v_std": 0.500417509832147,
    "vy_max": 0.07623073426196836,
    "a_max": 0.8926532315537049,
    "ax_avg": -0.03025184841694304,
    "a_std": 0.2761055608836104,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7328fe7f857051ea",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      13.57069305735055,
      13.024203242472183,
      12.708749092752244,
      12.5497175046361,
      12.704484358397801,
      12.924615998573405,
      13.242284583005816,
      14.01956202725387,
      14.518161138908589,
      14.815396833605917
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7328fe7f857051ea",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "23f357c023c2584f": {
    "vx_ego": [
      3.7191393411629674,
      3.8124059176810046,
      3.9567712319818753,
      4.126448401036536,
      4.293852810895536,
      4.4712242299300415,
      4.641454955254694,
      4.803702292012661,
      4.9617460262506095,
      5.115105357883004
    ],
    "vy_ego": [
      -0.01262203070981105,
      -0.043655644940868266,
      -0.04481056942520323,
      -0.04476865584564038,
      -0.05416156502552116,
      -0.015510426659531173,
      0.015705656470978546,
      0.0028402317618656525,
      -0.008698244026719149,
      0.016084686251879976
    ],
    "v_ego": [
      3.7191607594517007,
      3.81265585865081,
      3.9570249644615054,
      4.1266912458970335,
      4.294194387398119,
      4.471251132250195,
      4.641481527411646,
      4.803703131668749,
      4.961753650521443,
      5.11513064734179
    ],
    "ax_ego": [
      0.15086400983933987,
      0.23332928670967207,
      0.3642066828652803,
      0.3262386482682019,
      0.3520061584670503,
      0.3569143257322399,
      0.3233743762458175,
      0.3254582867556455,
      0.30675202586622907,
      0.30670438892309276
    ],
    "ay_ego": [
      0.7670607371928231,
      0.746123024527044,
      0.7943292074172534,
      0.691705150298172,
      0.5270883591418914,
      0.21465541018053386,
      0.0504663149375463,
      -0.0717963158421484,
      0.0361645721987037,
      0.03656637713206992
    ],
    "a_ego": [
      0.781755795634162,
      0.7817557954795272,
      0.8738451794224494,
      0.7647794914698486,
      0.63382211537751,
      0.41649103355615313,
      0.32728861293321393,
      0.33328337400240277,
      0.3088764828460576,
      0.30887648360024517
    ],
    "yaw": [
      -1.022311270466279,
      -0.913423264658902,
      -0.8136495685322944,
      -0.7219111905310205,
      -0.6472853865913699,
      -0.6137907282081961,
      -0.6061021131428842,
      -0.6045069382796886,
      -0.6039684517927033,
      -0.6052784213458238
    ],
    "yaw_diff": [
      0.2177760116147538,
      0.19954739225321516,
      0.18347675600254787,
      0.14925160787930114,
      0.06698931676634756,
      0.015377230130623865,
      0.003190349726391206,
      0.0010769729739705802,
      -0.0026199391062409205,
      -0.0026199391062409205
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.390304730505299,
    "v_std": 0.46292978854988,
    "vy_max": 0.05416156502552116,
    "a_max": 0.8738451794224494,
    "ax_avg": 0.3045848189672569,
    "a_std": 0.22271755012471892,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "23f357c023c2584f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "23f357c023c2584f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1ceec301ab6552b1": {
    "vx_ego": [
      3.2929461528232222,
      4.1728516135014875,
      5.038482964208123,
      5.8528284719036066,
      6.623143629955905,
      7.304965775269844,
      7.940233142654593,
      8.5675754426666,
      9.15928814788556,
      9.75839752547193
    ],
    "vy_ego": [
      0.014674618065699807,
      0.008380013638840556,
      -0.007525282174366765,
      -0.027890824706211514,
      -0.04242164755389277,
      -0.0333284337441464,
      0.0036972043227976314,
      0.016390103182589044,
      0.030390527193419725,
      0.03415901305508662
    ],
    "v_ego": [
      3.292978850495192,
      4.17286002795811,
      5.038488583939362,
      5.852894926412766,
      6.623279485210229,
      7.305041804285557,
      7.940234003417673,
      8.567591120102904,
      9.15933856564654,
      9.758457311650728
    ],
    "ax_ego": [
      1.7597312825425113,
      1.7597545453942525,
      1.7027354493501705,
      1.554889672875535,
      1.527235161806469,
      1.2006378386749754,
      1.3404097219865805,
      1.1689728301360551,
      1.1978735501371764,
      1.198117985545089
    ],
    "ay_ego": [
      0.010777530585276862,
      0.005850479614857296,
      -0.014479749119493346,
      0.0007508573117768202,
      0.06575153075088769,
      0.07538107508203878,
      0.05978048552633719,
      -0.014724361484134363,
      0.07391083498454504,
      0.0698365822176431
    ],
    "a_ego": [
      1.7597642858986053,
      1.7597642706190668,
      1.7027970147989722,
      1.5548898541702854,
      1.5286498955791403,
      1.203001881186659,
      1.3417421247191677,
      1.169065560358962,
      1.2001515961104061,
      1.2001515968836869
    ],
    "yaw": [
      1.063601973168224,
      1.0664018372840958,
      1.069382236482647,
      1.072481227072909,
      1.0774730786508164,
      1.0812118879690442,
      1.0807864846841473,
      1.0806138189621772,
      1.0807036848464402,
      1.0841045702590335
    ],
    "yaw_diff": [
      0.005599728231743484,
      0.005960798397102618,
      0.006197981180523726,
      0.009983703155814982,
      0.007477618636455574,
      -0.0008508065697938605,
      -0.00034533144394011117,
      0.00017973176852592587,
      0.006801770825186626,
      0.006801770825186626
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.771116467911905,
    "v_std": 2.0548091670004034,
    "vy_max": 0.04242164755389277,
    "a_max": 1.7597642858986053,
    "ax_avg": 1.4410358038448814,
    "a_std": 0.23427802517123872,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "1ceec301ab6552b1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.472870050910381,
    "right_rear_min": 9.01878371238296,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1ceec301ab6552b1",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6cbc045e25c2506d": {
    "vx_ego": [
      4.223229229623389,
      3.9742406512803603,
      3.872340529666639,
      3.9491045399310147,
      4.164255919215952,
      4.490051763466254,
      4.909206394263198,
      5.449072461701899,
      6.066512474710846,
      6.706291886329459
    ],
    "vy_ego": [
      0.06240536751074566,
      0.09036592195859416,
      0.078431268875375,
      0.040317413423476944,
      0.008870477327836745,
      0.08379426155379871,
      0.1986253024837792,
      0.19564192622731258,
      0.08696952235643685,
      -0.008527233494854736
    ],
    "v_ego": [
      4.22369027697812,
      3.9752678845759273,
      3.873134730633096,
      3.949310339936444,
      4.164265366915648,
      4.490833588196713,
      4.913222917012971,
      5.452583466227356,
      6.067135840216636,
      6.7062973076325365
    ],
    "ax_ego": [
      -0.5731935546876004,
      -0.36685690498160406,
      0.016302712774101114,
      0.34363482593286665,
      0.6030769193261396,
      0.769331099034966,
      1.004351564855211,
      1.200009541572875,
      1.2787636818992858,
      1.2818142743097252
    ],
    "ay_ego": [
      -1.2305769141598573,
      -1.3070143127414828,
      -1.318047354801166,
      -1.4653194026275282,
      -2.0793819933008155,
      -2.2265379660268336,
      -1.889480457515605,
      -0.9639748566123523,
      -0.3209765686867632,
      -0.30856876054279975
    ],
    "a_ego": [
      1.3575236251346066,
      1.357523628687093,
      1.318148173743053,
      1.5050733687467224,
      2.1650707251005863,
      2.355704067598742,
      2.1398267371823567,
      1.539243458341385,
      1.3184318381283677,
      1.3184318388931173
    ],
    "yaw": [
      -2.057231248012318,
      -2.2194982841005695,
      -2.3853787975876566,
      -2.5549354371330804,
      -2.766536809916884,
      -3.032332961513008,
      3.0071462526353576,
      2.8695510899921226,
      2.832574202059147,
      2.8228828634271617
    ],
    "yaw_diff": [
      -0.3245340721765029,
      -0.3317610269741742,
      -0.33911327909084754,
      -0.4232027455676075,
      -0.531592303192248,
      -0.48741218606244274,
      -0.27519032528647003,
      -0.07395377586595142,
      -0.01938267726397047,
      -0.01938267726397047
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.7815741718325455,
    "v_std": 0.9364669048499,
    "vy_max": 0.1986253024837792,
    "a_max": 2.355704067598742,
    "ax_avg": 0.5557234160035966,
    "a_std": 0.39192338223714607,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "6cbc045e25c2506d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6cbc045e25c2506d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "af335d636f4c516e": {
    "vx_ego": [
      7.974784032531984,
      8.447839322034534,
      8.82399187301401,
      9.064814527316132,
      9.27224142051703,
      9.450571784145566,
      9.630004132436156,
      9.812536295054924,
      9.945690190392686,
      10.05621379710594
    ],
    "vy_ego": [
      -0.00029648024266437645,
      0.045873408830678475,
      0.025444805419407857,
      -0.02590443085987637,
      -0.014070618063186213,
      0.03859320043137959,
      0.06163167518294088,
      0.032834559704225,
      0.002762488613335279,
      -0.022849693017271466
    ],
    "v_ego": [
      7.974784038043138,
      8.447963871877688,
      8.824028559175233,
      9.064851540658553,
      9.272252096586048,
      9.450650585140044,
      9.630201350653229,
      9.812591230153286,
      9.945690574043445,
      10.056239756567802
    ],
    "ax_ego": [
      0.9356931130629558,
      0.9533555524048953,
      0.5455920934164118,
      0.41585004070868076,
      0.4127537442340161,
      0.30703486533825153,
      0.42033241070256155,
      0.31234182468661914,
      0.21942778347861136,
      0.2222275607627919
    ],
    "ay_ego": [
      0.6008671734087937,
      0.5724300453006435,
      0.523563156912825,
      0.4048561900952351,
      -0.15518338442476123,
      -0.5734568077465272,
      -0.7074784113047322,
      -0.5095383955425383,
      -0.2648081828496226,
      -0.2624630072058496
    ],
    "a_ego": [
      1.1120085260076555,
      1.1120085278738376,
      0.7561673833715826,
      0.5803790063534695,
      0.4409620575295825,
      0.6504791456181479,
      0.8229246854659876,
      0.5976510620593182,
      0.34390685638186325,
      0.3439068462739848
    ],
    "yaw": [
      1.972816431050098,
      2.002921513280892,
      2.036811530970251,
      2.0684422001770804,
      2.0739591296923496,
      2.048911548530107,
      2.012880621366717,
      1.9845862971877741,
      1.9680545657259398,
      1.957434743453987
    ],
    "yaw_diff": [
      0.060210164461588445,
      0.06778003537871768,
      0.06326133841365866,
      0.011033859030538551,
      -0.05009516232448519,
      -0.0720618543267797,
      -0.05658864835788613,
      -0.033063462923668574,
      -0.02123964454390581,
      -0.02123964454390581
    ],
    "min_front_frame": [
      8,
      77.33141640985279
    ],
    "v_avg": 9.247925360289846,
    "v_std": 0.6419464130147792,
    "vy_max": 0.06163167518294088,
    "a_max": 1.1120085278738376,
    "ax_avg": 0.4744608988795795,
    "a_std": 0.2645691451881951,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "af335d636f4c516e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      77.33141640985279,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "af335d636f4c516e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8781cde1032354cb": {
    "vx_ego": [
      0.860678407261541,
      1.3678561197875312,
      1.875624506148452,
      2.4420396499987267,
      3.0848194013651566,
      3.7496138958495804,
      4.386357057203531,
      5.012118353069536,
      5.579306705625913,
      6.067246870268252
    ],
    "vy_ego": [
      0.010640794037143686,
      -0.0012374157074099834,
      -0.006725309687576286,
      -0.0032716651193555046,
      -0.0010341988419244608,
      -0.00452605435557718,
      0.00283975304171169,
      -0.014129065016402986,
      -0.015524793248694602,
      0.007305895318754807
    ],
    "v_ego": [
      0.8607441822190866,
      1.367856679494542,
      1.8756365633712249,
      2.4420418415658967,
      3.0848195747249347,
      3.749616627485575,
      4.386357976439744,
      5.012138267810927,
      5.579328304970742,
      6.067251268975623
    ],
    "ax_ego": [
      1.0143484148169575,
      1.014390046075009,
      1.0166184073534548,
      1.2489603878210729,
      1.3221762279520393,
      1.3369708100442699,
      1.2099584671121308,
      1.2930977595335984,
      0.9758467742690828,
      0.9759365284262151
    ],
    "ay_ego": [
      -0.027948038289866584,
      -0.02639383357169628,
      -0.015142512391825236,
      0.006266620071721657,
      -0.02499185251760666,
      -0.02001348792458496,
      0.005309230980321877,
      -0.03019778503193027,
      0.06311181963771903,
      0.06170840231105734
    ],
    "a_ego": [
      1.014733363739424,
      1.01473336400587,
      1.0167311748202725,
      1.2489761090082099,
      1.322412405588266,
      1.3371205953874687,
      1.2099701153623341,
      1.2934503167619724,
      0.9778854885053558,
      0.9778854914724914
    ],
    "yaw": [
      1.3690820994205497,
      1.3675499125607202,
      1.3645302984786642,
      1.3618668359072932,
      1.3593548266727922,
      1.3570828964813078,
      1.354379116380429,
      1.3566710825951944,
      1.3584749381134409,
      1.359913025564016
    ],
    "yaw_diff": [
      -0.0030643737196589527,
      -0.006039228164111954,
      -0.005326925142742134,
      -0.005024018469002023,
      -0.004543860382968834,
      -0.0054075602017573665,
      0.004583932429530702,
      0.0036077110364929332,
      0.002876174901150108,
      0.002876174901150108
    ],
    "min_front_frame": [
      0,
      13.244251958467862
    ],
    "v_avg": 3.4425791287058294,
    "v_std": 1.7163282906557602,
    "vy_max": 0.015524793248694602,
    "a_max": 1.3371205953874687,
    "ax_avg": 1.1408303823403831,
    "a_std": 0.14545480381793652,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8781cde1032354cb",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.534742671318506,
    "speed_mode": "accelerating",
    "front_frame": [
      13.244251958467862,
      13.935330296932888,
      14.671226665892874,
      15.618128737986877,
      16.476188273022423,
      17.339653149697018,
      18.066945488529193,
      18.937838471698374,
      19.70940032150286,
      20.331537713334033
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8781cde1032354cb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "49074bfb7c9e5c26": {
    "vx_ego": [
      7.942111532530423,
      8.01402895559345,
      8.12692111842091,
      8.252120856347734,
      8.39054155601099,
      8.519879875078924,
      8.643244368088306,
      8.75939642967979,
      8.905473144105613,
      9.07870402805261
    ],
    "vy_ego": [
      0.0024635520539906253,
      -0.007670703952309843,
      0.02167930675405394,
      0.06403783040618283,
      0.03139424164698257,
      0.00022034088300681987,
      0.007967532826267387,
      0.025122730136758697,
      0.019209945126036132,
      0.016539314165656904
    ],
    "v_ego": [
      7.942111914613233,
      8.01403262663619,
      8.12695003413809,
      8.252369324714714,
      8.390600288510704,
      8.51987987792815,
      8.643248040411056,
      8.759432456720958,
      8.905493862912829,
      9.078719093456508
    ],
    "ax_ego": [
      0.03993363437654851,
      0.24564514968645218,
      0.18770358925738057,
      0.30226204609603824,
      0.25070783663831925,
      0.26636771309975,
      0.22697732046414826,
      0.2379944970219565,
      0.3464916655640578,
      0.34657289482152
    ],
    "ay_ego": [
      -1.8270437773462709,
      -1.8108953918476378,
      -1.4012370425775762,
      -0.753524912364484,
      -0.3215075052869578,
      -0.13914467470505704,
      -0.07470782203831937,
      -0.0642498418862937,
      -0.04132801428342628,
      -0.0406412105750589
    ],
    "a_ego": [
      1.8274801392885915,
      1.8274801393666333,
      1.4137531209202177,
      0.8118880083263127,
      0.40770270456266217,
      0.300521212364064,
      0.23895598481476427,
      0.24651454885086965,
      0.34894767382799097,
      0.348947674332377
    ],
    "yaw": [
      -0.30291325084013404,
      -0.41588527925986524,
      -0.5188410586497956,
      -0.5898857439521662,
      -0.6182364962738327,
      -0.6281721329763896,
      -0.635300783406489,
      -0.6412657026724398,
      -0.6435881842863219,
      -0.6455701142230819
    ],
    "yaw_diff": [
      -0.2259440568394624,
      -0.20591155877986067,
      -0.14208937060474125,
      -0.05670150464333301,
      -0.019871273405113854,
      -0.014257300860198718,
      -0.011929838531901549,
      -0.004644963227764309,
      -0.0039638598735198816,
      -0.0039638598735198816
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.463283752004244,
    "v_std": 0.3652313749648217,
    "vy_max": 0.06403783040618283,
    "a_max": 1.8274801393666333,
    "ax_avg": 0.24506563470261714,
    "a_std": 0.625656820255649,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "49074bfb7c9e5c26",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "49074bfb7c9e5c26",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b031a0b55ab951f8": {
    "vx_ego": [
      5.9541878440598195,
      6.056406722714479,
      6.2944866482545505,
      6.575174333250776,
      6.874441455051099,
      7.18141320479575,
      7.441065481988383,
      7.561921916579214,
      7.485480701926923,
      7.3245084556005935
    ],
    "vy_ego": [
      -0.06496108479955431,
      -0.03881626177662323,
      -0.06293149387589425,
      -0.10941415122015519,
      -0.11539477372074902,
      -0.08246665653353391,
      -0.05364515072484144,
      -0.024491530115827942,
      -0.00616448561503713,
      0.005285549816075097
    ],
    "v_ego": [
      5.9545422011174,
      6.056531110554906,
      6.294801231014071,
      6.576084623020526,
      6.8754098985243886,
      7.181886685784912,
      7.4412588524681285,
      7.561961578022496,
      7.485483240232608,
      7.324510362693294
    ],
    "ax_ego": [
      0.054462778242372445,
      0.38556716382611156,
      0.5846973407511861,
      0.540271805901325,
      0.6584635986186974,
      0.5714912928165877,
      0.4667199198259681,
      0.016401573187696576,
      -0.3222141578782954,
      -0.3216793457462236
    ],
    "ay_ego": [
      2.0317035423514334,
      1.9955258612146562,
      1.8145564982136198,
      1.161323703468664,
      0.3214752513902181,
      0.039012960131092816,
      0.032968289318320534,
      0.022808950973736503,
      -0.07717992879146954,
      -0.0793794386185915
    ],
    "a_ego": [
      2.0324333883837964,
      2.032433393889553,
      1.9064328641446524,
      1.2808459581425289,
      0.7327486935930279,
      0.572821358560734,
      0.4678828824213754,
      0.028093768838546432,
      0.33132869623000566,
      0.3313286838701431
    ],
    "yaw": [
      -2.3968764230492434,
      -2.2328125860139116,
      -2.07435673436398,
      -1.9517766633352833,
      -1.8956545198578758,
      -1.8875290397328457,
      -1.889007152222279,
      -1.8910195552372078,
      -1.8952383793865293,
      -1.9020702730573715
    ],
    "yaw_diff": [
      0.32812767407066357,
      0.31691170329986296,
      0.24516014205739367,
      0.11224428695481503,
      0.01625096025006023,
      -0.0029562249788668282,
      -0.004024806029857331,
      -0.008437648298643019,
      -0.013663787341684497,
      -0.013663787341684497
    ],
    "min_front_frame": [
      3,
      48.642882762455834
    ],
    "v_avg": 6.875246978343273,
    "v_std": 0.5834902349686687,
    "vy_max": 0.11539477372074902,
    "a_max": 2.032433393889553,
    "ax_avg": 0.2634181969545426,
    "a_std": 0.7348594761379854,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "b031a0b55ab951f8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      48.642882762455834,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b031a0b55ab951f8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6dfed7a32cf45d59": {
    "vx_ego": [
      6.668428802229009,
      6.1011422333951195,
      5.508135591809178,
      4.891894254519807,
      4.284789536380723,
      3.664288465048879,
      3.0218916201040567,
      2.4288940708527025,
      1.9243704909840342,
      1.4571010982514867
    ],
    "vy_ego": [
      0.04555075147180432,
      0.02473557373088564,
      0.00183910802635312,
      -0.011710794885834819,
      -0.02178811794721347,
      -0.022138601433671745,
      -0.003331646499160845,
      0.02792634093613966,
      0.0058343661654644,
      -0.05445935515638145
    ],
    "v_ego": [
      6.66858437461483,
      6.1011923753251205,
      5.508135898838497,
      4.891908271842468,
      4.2848449322188324,
      3.6643553420436326,
      3.0218934566796882,
      2.429054607854977,
      1.9243793353698968,
      1.4581184560555216
    ],
    "ax_ego": [
      -1.134711577833229,
      -1.134741352473945,
      -1.237433311840629,
      -1.2275325532023411,
      -1.2007351317305743,
      -1.2812428006135566,
      -1.2883880936143386,
      -1.0836759536251865,
      -0.9344422133536958,
      -0.9345477051543782
    ],
    "ay_ego": [
      -0.014773868693341186,
      -0.01227638041187129,
      -0.01752096624096422,
      -0.055899165905274106,
      0.039739637511425396,
      -0.03298389074995112,
      0.1033251291071321,
      0.031052951340452217,
      -0.11797189053653157,
      -0.11713320257211046
    ],
    "a_ego": [
      1.1348077511477195,
      1.134807757521253,
      1.2375573463524365,
      1.2288046573480929,
      1.2013925650517316,
      1.2816672934787228,
      1.2925246466014468,
      1.0841207765984424,
      0.9418596588951654,
      0.9418596500297237
    ],
    "yaw": [
      2.5604744625256997,
      2.562675413023304,
      2.5653307085078305,
      2.564406427334868,
      2.565723210088561,
      2.566235034979588,
      2.565869707694011,
      2.5667351518906614,
      2.566903011333009,
      2.567800510255081
    ],
    "yaw_diff": [
      0.004401900995208763,
      0.005310590969052953,
      -0.001848562345925231,
      0.0026335655073861375,
      0.001023649782053937,
      -0.0007306545711536216,
      0.0017308883933004893,
      0.0003357188846955239,
      0.0017949978441436087,
      0.0017949978441436087
    ],
    "min_front_frame": [
      9,
      9.88464062589876
    ],
    "v_avg": 3.9952467050843468,
    "v_std": 1.7027571468968168,
    "vy_max": 0.05445935515638145,
    "a_max": 1.2925246466014468,
    "ax_avg": -1.1457450693441875,
    "a_std": 0.12065291956733885,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6dfed7a32cf45d59",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.758504828408165,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.87795156465364,
      24.729823615472853,
      21.793226520539513,
      19.151363531156747,
      16.86594405111952,
      14.848953195683295,
      13.192879092869342,
      11.81591088538168,
      10.726902405601452,
      9.88464062589876
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6dfed7a32cf45d59",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5d68b0c80cab59c4": {
    "vx_ego": [
      8.66025903583529,
      8.465089833575064,
      8.28969038619843,
      8.18932367963857,
      8.141812706462451,
      8.102093771969917,
      8.06343698747985,
      7.978725535187883,
      7.871167327939572,
      7.779544862260808
    ],
    "vy_ego": [
      0.0868472589625533,
      0.018572097273726662,
      -0.03244379827228627,
      -0.031910563103959344,
      -0.0026985014217331127,
      0.0029125794702276053,
      -0.027236383820854915,
      -0.028764763996560028,
      -0.01061543306207069,
      0.04561846626403199
    ],
    "v_ego": [
      8.66069448798167,
      8.465110206801388,
      8.28975387445713,
      8.189385850839281,
      8.141813153654617,
      8.102094295483909,
      8.063482986381366,
      7.978777386135482,
      7.871174486176919,
      7.779678612153128
    ],
    "ax_ego": [
      -0.3919413495723125,
      -0.3852842928198457,
      -0.31753932072004476,
      -0.08689355847801529,
      -0.1037200554718096,
      -0.054617347384474,
      -0.10011832546671998,
      -0.24018922630116882,
      -0.19024720426902827,
      -0.17357101965075153
    ],
    "ay_ego": [
      -0.4096042967622828,
      -0.4158722331492501,
      -0.31580976469918837,
      -0.06665462423567727,
      -0.03370351343530276,
      -0.1805272288241208,
      -0.2555618667265005,
      -0.3121956225422852,
      -0.4543457520593207,
      -0.4609741449298224
    ],
    "a_ego": [
      0.5669159562322179,
      0.5669159554980199,
      0.4478471030192159,
      0.10951406045331165,
      0.10905859308169574,
      0.18860841705033415,
      0.27447321694291715,
      0.39389969683374865,
      0.4925688389926134,
      0.49256883900261345
    ],
    "yaw": [
      2.281719175489231,
      2.2655905231776314,
      2.2498296074878645,
      2.238119459570602,
      2.231471126996703,
      2.224180608192941,
      2.2144293385862097,
      2.196962665893447,
      2.1704719150020777,
      2.1340380092358084
    ],
    "yaw_diff": [
      -0.03225730462319909,
      -0.03152183137953379,
      -0.02342029583452465,
      -0.013296665147798592,
      -0.014581037607523939,
      -0.019502539213462455,
      -0.03493334538552517,
      -0.05298150178273886,
      -0.07286781153253852,
      -0.07286781153253852
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.154196534006491,
    "v_std": 0.2520030832665744,
    "vy_max": 0.0868472589625533,
    "a_max": 0.5669159562322179,
    "ax_avg": -0.20441217001341702,
    "a_std": 0.17084170925121112,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5d68b0c80cab59c4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5d68b0c80cab59c4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d82f1b20a55d5bcd": {
    "vx_ego": [
      8.830910293356489,
      8.648441985953392,
      8.368218123019407,
      7.925658147690384,
      7.390670313324714,
      6.862433613501409,
      6.326914554468636,
      5.773261142530074,
      5.434229472159403,
      5.288369468722214
    ],
    "vy_ego": [
      -0.08371134545480619,
      0.021176451422579845,
      0.04257392217815603,
      0.024862523473254683,
      0.03220320489405948,
      0.04699197617805506,
      0.02526672552105902,
      -0.014491029727408566,
      -0.025500281951407633,
      0.03184542813389157
    ],
    "v_ego": [
      8.831307049280273,
      8.648467912092656,
      8.368326421291181,
      7.925697144045086,
      7.390740472149234,
      6.862594505399479,
      6.3269650059855405,
      5.773279328924785,
      5.434289302242333,
      5.288465351026355
    ],
    "ax_ego": [
      -0.3649542174686959,
      -0.36487082715675406,
      -0.7565198437463029,
      -1.018592418554662,
      -1.1228960941556285,
      -0.9923657630242092,
      -1.1514119036219745,
      -1.063541565483638,
      -0.2916676775915324,
      -0.29176095754012954
    ],
    "ay_ego": [
      0.2164379362755857,
      0.21657849450744993,
      0.40877272237198936,
      0.22784708517111568,
      0.24189773244974183,
      0.11219288309846515,
      0.10902829835851313,
      0.10853775600207216,
      0.1053119129162295,
      0.10505322128833937
    ],
    "a_ego": [
      0.42430762555888935,
      0.4243076299021353,
      0.8598938379459048,
      1.0437647289298528,
      1.1486558018981547,
      0.9986876642076675,
      1.1565623812165655,
      1.0690655293242566,
      0.3100977799883669,
      0.3100977840098024
    ],
    "yaw": [
      2.1042085907631156,
      2.104593766595699,
      2.1203624965308254,
      2.1419842573923447,
      2.1563358060022004,
      2.1667058167366,
      2.1783512978079003,
      2.1939409214234216,
      2.205647453949859,
      2.204760651406099
    ],
    "yaw_diff": [
      0.0007703516651664799,
      0.03153745987025314,
      0.04324352172303847,
      0.028703097219711537,
      0.020740021468799164,
      0.023290962142600513,
      0.031179247231042595,
      0.02341306505287477,
      -0.0017736050875196696,
      -0.0017736050875196696
    ],
    "min_front_frame": [
      6,
      16.856462477389364
    ],
    "v_avg": 7.085013249243692,
    "v_std": 1.274294737351333,
    "vy_max": 0.08371134545480619,
    "a_max": 1.1565623812165655,
    "ax_avg": -0.7418581268343527,
    "a_std": 0.34342350018909495,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "d82f1b20a55d5bcd",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.315651555697031,
    "right_rear_min": 17.126222073226373,
    "speed_mode": "decelerating",
    "front_frame": [
      28.821391074211387,
      28.05062945534646,
      27.071066430579968,
      25.98763216387315,
      23.610997254977597,
      20.09920509134714,
      16.856462477389364,
      20.627253014735874,
      18.888716091636425,
      24.4774765693659
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "d82f1b20a55d5bcd",
    "merging_vehicles": "No"
  },
  "3baab5739cb95408": {
    "vx_ego": [
      6.215962632563783,
      6.498920510807081,
      6.703540448683052,
      6.795644847352495,
      6.816958335461878,
      6.759781210720543,
      6.638402006312406,
      6.531416278316765,
      6.497370490561584,
      6.555426185775877
    ],
    "vy_ego": [
      -0.07086841741234501,
      0.028416075209791503,
      0.048732616450184785,
      0.03520465598340161,
      0.02109253674404421,
      0.0471206774780244,
      0.0689738821835224,
      0.03994363227839859,
      0.011952665077634261,
      -0.03502196144965053
    ],
    "v_ego": [
      6.216366606146696,
      6.498982634160465,
      6.7037175816882275,
      6.795736035129044,
      6.816990966880438,
      6.759945441721883,
      6.638760320559558,
      6.531538417128144,
      6.497381484707739,
      6.555519736446519
    ],
    "ax_ego": [
      0.5561829421439958,
      0.5782453476855892,
      0.24512196863003632,
      0.12125709289287731,
      -0.03561387141368699,
      -0.19758112517013648,
      -0.302090911619575,
      -0.17666975168380894,
      0.010468932506182638,
      0.22683113889002904
    ],
    "ay_ego": [
      0.6478458663171153,
      0.6282324907758413,
      1.095013965087193,
      1.3872654423609079,
      1.619393737148131,
      1.8189538583152955,
      2.0841280371303674,
      1.8624318551595502,
      1.6385840975017647,
      1.622841666377597
    ],
    "a_ego": [
      0.8538405774125079,
      0.8538405849960785,
      1.1221142380529003,
      1.3925547350627325,
      1.619785301745778,
      1.8296533659968484,
      2.1059080212668415,
      1.8707925102140706,
      1.638617540225141,
      1.638617539177878
    ],
    "yaw": [
      -3.09338247154725,
      -3.058807469911316,
      -2.997032294045246,
      -2.9033697538089713,
      -2.791300416907666,
      -2.669025936012204,
      -2.5271465388534162,
      -2.3728432230050904,
      -2.233913702959761,
      -2.101428306237506
    ],
    "yaw_diff": [
      0.0691500032718686,
      0.12355035173214013,
      0.18732508047254903,
      0.224138673802611,
      0.24454896179092334,
      0.2837587943175759,
      0.3086066316966516,
      0.2778590400906591,
      0.26497079344451,
      0.26497079344451
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.6014939224568705,
    "v_std": 0.17256672088727712,
    "vy_max": 0.07086841741234501,
    "a_max": 2.1059080212668415,
    "ax_avg": 0.10261517628615029,
    "a_std": 0.4068040753840595,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "3baab5739cb95408",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.221342470954927,
    "right_rear_min": 7.065460048328656,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3baab5739cb95408",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "9106979ff1c15ad3": {
    "vx_ego": [
      2.2117151441250256,
      3.217385490629567,
      4.233528369008669,
      5.244610752669569,
      6.162779098430263,
      6.918350974151881,
      7.514979692322184,
      7.983137607656857,
      8.358840859034704,
      8.69691334164841
    ],
    "vy_ego": [
      -0.003551643802287341,
      0.006690459713987851,
      0.006364467888335668,
      -0.0038997284275779087,
      -0.014092720824804061,
      -0.014443801459592454,
      -0.01807117520447754,
      -0.011021111541612783,
      0.002719519278726601,
      0.0179203649069537
    ],
    "v_ego": [
      2.211717995795504,
      3.2173924469304085,
      4.2335331530121145,
      5.244612202527378,
      6.162795211657545,
      6.918366051673537,
      7.5150014200523,
      7.983145215244733,
      8.358841301427676,
      8.696931804471076
    ],
    "ax_ego": [
      2.011352549190508,
      2.011335240065936,
      2.0533839198221995,
      1.9909439628107388,
      1.6816863882645516,
      1.3405075839945186,
      1.0459193983673842,
      0.8266312907994796,
      0.6761756393407916,
      0.6761638471282029
    ],
    "ay_ego": [
      0.012254875254873787,
      0.014827153914845459,
      -0.05279384685684396,
      -0.04174993549713424,
      -0.020158318939237363,
      -0.02727552086629148,
      -0.02610410657551482,
      0.024047021437456295,
      0.00930883275206873,
      0.010128796951452634
    ],
    "a_ego": [
      2.0113898824202803,
      2.011389890703518,
      2.0540624899087967,
      1.9913816611002881,
      1.681807202474983,
      1.340785044958866,
      1.0462451014276228,
      0.8269809853731991,
      0.6762397131233379,
      0.6762397065323031
    ],
    "yaw": [
      -2.0460548403486,
      -2.047333724179447,
      -2.049797483112374,
      -2.0526144401596946,
      -2.053534633108488,
      -2.055282621229779,
      -2.056622325882114,
      -2.0575950469377853,
      -2.0582546077091255,
      -2.0594672699298955
    ],
    "yaw_diff": [
      -0.0025577676616945766,
      -0.004927517865853659,
      -0.005633914094641312,
      -0.001840385897586394,
      -0.0034959762425819108,
      -0.002679409304670699,
      -0.0019454421113422882,
      -0.0013191215426804348,
      -0.0024253244415399777,
      -0.0024253244415399777
    ],
    "min_front_frame": [
      0,
      13.954687936103433
    ],
    "v_avg": 6.054233680279227,
    "v_std": 2.1375489337017153,
    "vy_max": 0.01807117520447754,
    "a_max": 2.0540624899087967,
    "ax_avg": 1.4314099819784312,
    "a_std": 0.5567027523033518,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "9106979ff1c15ad3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.419170649572202,
    "right_rear_min": 3.060256229438323,
    "speed_mode": "accelerating",
    "front_frame": [
      13.954687936103433,
      15.151734914726132,
      15.952996664259674,
      16.644696022718193,
      17.277142734255847,
      17.795081136132374,
      18.143115999647886,
      18.205554189952373,
      18.52887854569674,
      18.861949884345055
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9106979ff1c15ad3",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "f1dabe118a6955d6": {
    "vx_ego": [
      6.579654880548185,
      5.6533052106739525,
      4.711993182265733,
      3.755302437907317,
      2.823030303343516,
      1.9478901744847432,
      1.1520358287992898,
      0.47256851518335924,
      0.04455439693563496,
      -0.20137884637868056
    ],
    "vy_ego": [
      0.004219052513989574,
      0.01733057570483476,
      0.011535625151407158,
      -0.0020616486269839918,
      0.0030398683800347825,
      0.017510497310895046,
      0.004922879219774523,
      -0.023126791299996702,
      -0.0182895343505807,
      0.010841866550964835
    ],
    "v_ego": [
      6.579656233233289,
      5.65333177461641,
      4.712007302664798,
      3.7553030038264157,
      2.823031940023979,
      1.947968877926513,
      1.1520463469744084,
      0.473134071927227,
      0.04816223990907389,
      0.20167048827014117
    ],
    "ax_ego": [
      -1.8526712245948325,
      -1.8526851377021896,
      -1.912541857094914,
      -1.9142136116581654,
      -1.8148998578966262,
      -1.6856552358728676,
      -1.4977573513661586,
      -1.2201235168384432,
      -0.49187201760934673,
      -0.491857116412016
    ],
    "ay_ego": [
      0.015342815048470015,
      0.013560003327231174,
      -0.04187449852834668,
      -0.024767776198954983,
      0.033057064527516,
      0.02369987390611561,
      -0.07436329475285408,
      -0.03849927793751118,
      0.05815971335343781,
      0.05828561084202741
    ],
    "a_ego": [
      1.8527347539287236,
      1.8527347606046625,
      1.913000216614484,
      1.9143738385684337,
      1.8152008879758654,
      1.6858218346696008,
      1.4996022749975644,
      1.2207307609558795,
      0.4952985301456522,
      0.49529853159117254
    ],
    "yaw": [
      1.1055137938829578,
      1.1045515058538844,
      1.1043041764248192,
      1.1035806530950898,
      1.1026562029543354,
      1.1025374367664211,
      1.1024861841541806,
      1.1022727427306143,
      1.10273745188225,
      1.1029934138192647
    ],
    "yaw_diff": [
      -0.0019245760581467763,
      -0.0004946588581304923,
      -0.0014470466594587172,
      -0.0018489002815087474,
      -0.00023753237582857523,
      -0.00010250522448096433,
      -0.00042688284713277014,
      0.0009294183032713121,
      0.0005119238740296517,
      0.0005119238740296517
    ],
    "min_front_frame": [
      8,
      10.119442201219039
    ],
    "v_avg": 2.734631227937226,
    "v_std": 2.2390493418142046,
    "vy_max": 0.023126791299996702,
    "a_max": 1.9143738385684337,
    "ax_avg": -1.4734276927045558,
    "a_std": 0.5305966915615888,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f1dabe118a6955d6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.5183294128978115,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.12399539999199,
      18.17935798802858,
      15.940501038361127,
      13.982758680542995,
      12.418419184966195,
      11.279531467023808,
      10.52335619615016,
      10.160046082600308,
      10.119442201219039,
      10.141971619710283
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f1dabe118a6955d6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9db7131f4c8d57dd": {
    "vx_ego": [
      5.9806425445558755,
      5.88611988049718,
      5.889111969822265,
      5.926460556020955,
      5.8868876901670015,
      5.820115635301757,
      5.758005296398128,
      5.74747802212503,
      5.8784427866599795,
      6.111643838674939
    ],
    "vy_ego": [
      -0.01875137591792919,
      -0.021625472623575615,
      0.008398702270691505,
      0.01583357308195721,
      -0.01009002304566664,
      -0.01944486612048424,
      -0.011463859228544315,
      -0.010681012284089242,
      -0.0032043490481536985,
      -0.020404213006215866
    ],
    "v_ego": [
      5.980671940497205,
      5.886159606114188,
      5.88911795868479,
      5.926481707059319,
      5.8868963372225975,
      5.820148117625738,
      5.758016708330857,
      5.747487946819346,
      5.8784436600079415,
      6.111677899130627
    ],
    "ax_ego": [
      -0.23693431484281913,
      -0.13274417792226478,
      0.1459407591712315,
      -0.0019119471459851933,
      -0.16344974171699983,
      -0.0917993092031647,
      -0.15509405943555304,
      0.11889933246496842,
      0.41275862286270193,
      0.5224262092070018
    ],
    "ay_ego": [
      1.099151807579745,
      1.1165355096377216,
      1.0911755934877898,
      1.068683686743554,
      0.9323834561579933,
      1.0837978014464031,
      0.9952313625149433,
      1.0398122101489562,
      1.151042723931172,
      1.1055948110895109
    ],
    "a_ego": [
      1.1243987574058667,
      1.124398755359603,
      1.1008918570917425,
      1.0686853970433412,
      0.946601673030678,
      1.087678623302966,
      1.0072435813672627,
      1.0465880200133537,
      1.2228119369152421,
      1.2228119358161538
    ],
    "yaw": [
      -1.0349506914495068,
      -0.940972232417232,
      -0.8518593397722688,
      -0.7620604875053789,
      -0.6733381941141362,
      -0.5855519965916679,
      -0.49732589298024976,
      -0.40855347403619724,
      -0.3150939043124038,
      -0.21797474431292405
    ],
    "yaw_diff": [
      0.1879569180645495,
      0.1782257852899265,
      0.17959770453377977,
      0.17744458678248543,
      0.1755723950449366,
      0.17645220722283628,
      0.17754483788810504,
      0.18691913944758687,
      0.19423831999895952,
      0.19423831999895952
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.888510188149261,
    "v_std": 0.10071667176018889,
    "vy_max": 0.021625472623575615,
    "a_max": 1.2228119369152421,
    "ax_avg": 0.041809137343911694,
    "a_std": 0.08200466913674717,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "9db7131f4c8d57dd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "9db7131f4c8d57dd",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "62c59eb9ece45d86": {
    "vx_ego": [
      3.191487441765804,
      3.2272343412158984,
      3.3871829276934307,
      3.678944087916155,
      4.085234146456133,
      4.610810956000837,
      5.156000307448014,
      5.6228920379281755,
      5.995743640864971,
      6.3382031541425565
    ],
    "vy_ego": [
      0.09718427953010544,
      0.04818536398915518,
      0.02156014594613831,
      0.021319661734263473,
      0.08791694153443486,
      0.15317931749232208,
      0.14537162197211206,
      0.06726148147634192,
      0.042990150911672576,
      -0.00017818809904035504
    ],
    "v_ego": [
      3.192966782654749,
      3.227594045481244,
      3.387251544475411,
      3.6790058616411163,
      4.086180052320253,
      4.613354698620599,
      5.158049251304104,
      5.62329431713177,
      5.995897760973593,
      6.338203156647288
    ],
    "ax_ego": [
      0.012818953412708556,
      0.1730038124104673,
      0.5118760469476925,
      0.6770101312211474,
      1.004842019477487,
      1.1493040254811542,
      1.0621015483895602,
      0.8184545468474268,
      0.6799883694898589,
      0.6919693426684218
    ],
    "ay_ego": [
      -1.0680244172634965,
      -1.053997227876604,
      -1.2991620741270444,
      -1.3586437224155223,
      -1.4823271990981908,
      -1.140585975912934,
      -0.6345140896689826,
      -0.483291937564878,
      -0.4395080872743533,
      -0.4203926350001721
    ],
    "a_ego": [
      1.0681013441793006,
      1.0681013413904705,
      1.396366421212169,
      1.5179774313984982,
      1.7908102661348246,
      1.6192084830053373,
      1.23720161213925,
      0.9504940516228604,
      0.8096613745394042,
      0.8096613728932335
    ],
    "yaw": [
      -2.3004982503536455,
      -2.4511862804530797,
      -2.6227977052183933,
      -2.811340599798215,
      -3.012899062076171,
      3.1041574797425677,
      3.015139873792023,
      2.977995619458625,
      2.9425708148329397,
      2.9147066679766622
    ],
    "yaw_diff": [
      -0.3013760601988684,
      -0.3432228495306271,
      -0.3770857891596435,
      -0.40311692455591164,
      -0.3322575307216953,
      -0.17803521190108906,
      -0.07428850866679682,
      -0.07084960925137018,
      -0.055728293712554944,
      -0.055728293712554944
    ],
    "min_front_frame": [
      7,
      25.634731126080872
    ],
    "v_avg": 4.530179747125013,
    "v_std": 1.1281002263406692,
    "vy_max": 0.15317931749232208,
    "a_max": 1.7908102661348246,
    "ax_avg": 0.6781368796345925,
    "a_std": 0.3256473573654457,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "62c59eb9ece45d86",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      25.634731126080872,
      26.533051235267493,
      27.345405155584167
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "62c59eb9ece45d86",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "0057ce5b81c35a81": {
    "vx_ego": [
      3.6611487325260827,
      3.5707711228157164,
      3.5424201425672166,
      3.626171529370326,
      3.8023909888111707,
      3.9874189804044327,
      4.180703635486112,
      4.38737438315712,
      4.593271662620255,
      4.8477778287622835
    ],
    "vy_ego": [
      -0.02279900112685196,
      -0.033705841034050055,
      -0.035888205534536866,
      -0.0032581525809474154,
      0.01975749343614175,
      0.02552987331565837,
      0.0497674530080352,
      0.007852492594547344,
      -0.014261005346003053,
      -0.08126866455427312
    ],
    "v_ego": [
      3.661219719728621,
      3.5709302002775725,
      3.54260192933985,
      3.6261729931119073,
      3.802442319133753,
      3.9875007084289074,
      4.180999842997569,
      4.3873814103202,
      4.593293801065171,
      4.848458979188913
    ],
    "ax_ego": [
      -0.2318046259295514,
      -0.11360541401201735,
      0.01183640512312173,
      0.3353805031692727,
      0.36460245364612487,
      0.37132205165078486,
      0.39206100219707624,
      0.42838970901950174,
      0.40918316749614836,
      0.6329245574365602
    ],
    "ay_ego": [
      0.9006308676318319,
      0.9230185061533522,
      0.8315562990438108,
      0.8922581042859031,
      0.8713260869275794,
      0.9811683564853022,
      1.1237191889456146,
      1.270927091540916,
      1.42575173238913,
      1.3414937021300086
    ],
    "a_ego": [
      0.9299835183128815,
      0.9299835228617805,
      0.8316405347057576,
      0.9532075359385007,
      0.9445337998003578,
      1.0490812217412993,
      1.190149841426854,
      1.3411835872864182,
      1.4833067339470911,
      1.4833067276395473
    ],
    "yaw": [
      1.8549696265303481,
      1.9844178851554348,
      2.108752405971772,
      2.221032742855749,
      2.333531092774224,
      2.450844640456857,
      2.5736810401907446,
      2.723087466122692,
      2.8777585662489527,
      3.0391145011351997
    ],
    "yaw_diff": [
      0.2588965172501734,
      0.24866904163267467,
      0.22456067376795374,
      0.22499669983695014,
      0.2346270953652656,
      0.24567279946777543,
      0.29881285186389483,
      0.30934220025252124,
      0.322711869772494,
      0.322711869772494
    ],
    "min_front_frame": [
      8,
      56.09236571823985
    ],
    "v_avg": 4.020100190359246,
    "v_std": 0.4401912271350768,
    "vy_max": 0.08126866455427312,
    "a_max": 1.4833067339470911,
    "ax_avg": 0.2600289809797022,
    "a_std": 0.231608127062976,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "0057ce5b81c35a81",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.901593768057303,
    "right_rear_min": 8.196326028361076,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      56.09236571823985,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "0057ce5b81c35a81",
    "with_lead": "Far",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "382c08ff59d5504b": {
    "vx_ego": [
      1.8439916140529649,
      1.4455690403938215,
      0.988409213983565,
      0.5261600468896372,
      0.17597229497762096,
      -8.603454565663969e-05,
      -0.02853521814625052,
      -0.021042345555384128,
      -0.012251607446355076,
      -0.006200134271194424
    ],
    "vy_ego": [
      0.007516270398842062,
      0.004472375792452743,
      -0.00796141612567769,
      -0.03007033873263984,
      -0.020982917427221262,
      0.004376087806534456,
      0.006496118021669328,
      0.002469190293837154,
      0.0016678553666756926,
      0.0007913316873649199
    ],
    "v_ego": [
      1.84400693247568,
      1.4455759588103085,
      0.9884412771805592,
      0.527018614675422,
      0.1772188799858763,
      0.004376933450892975,
      0.02926530751599173,
      0.02118672242654285,
      0.012364611863852905,
      0.006250429650853405
    ],
    "ax_ego": [
      -0.7968548471063729,
      -0.7968576588536608,
      -1.0317832442011419,
      -0.8172141797816704,
      -0.5835296096708568,
      -0.12070408841457456,
      0.006912406090653261,
      0.023059483133379813,
      0.012103042874506809,
      0.012103158038170192
    ],
    "ay_ego": [
      -0.0033660109821099238,
      -0.0026158399101589014,
      -0.04658616762306256,
      -0.04187798043560187,
      0.07828488603039627,
      0.023142899417552522,
      -0.014647749703919188,
      -0.001456233688596176,
      -0.0017522385246548098,
      -0.0017514596536420558
    ],
    "a_ego": [
      0.7968619562928403,
      0.7968619523431727,
      1.0328344175268547,
      0.818286490711898,
      0.5887574447456394,
      0.12290268814572114,
      0.016196849364946413,
      0.023105418821878786,
      0.012229226740453972,
      0.012229229142315539
    ],
    "yaw": [
      -0.5713404530824437,
      -0.5703990289893976,
      -0.5702920820511073,
      -0.5703018164747515,
      -0.5702573590848856,
      -0.5703256828402428,
      -0.5704499098518554,
      -0.5704847530275151,
      -0.5704336324591276,
      -0.5704981842396539
    ],
    "yaw_diff": [
      0.0018828481860921897,
      0.00021389387658077297,
      -1.9468847288539592e-05,
      8.891477973183015e-05,
      -0.00013664751071429393,
      -0.0002484540232252641,
      -6.968635131943124e-05,
      0.00010224113677503865,
      -0.00012910356105266807,
      -0.00012910356105266807
    ],
    "min_front_frame": [
      7,
      10.496683425071451
    ],
    "v_avg": 0.5055705668035979,
    "v_std": 0.649747889113521,
    "vy_max": 0.03007033873263984,
    "a_max": 1.0328344175268547,
    "ax_avg": -0.40927655378915667,
    "a_std": 0.3985083604455843,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "382c08ff59d5504b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.312391439165276,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.310082672120956,
      11.558312659483418,
      10.967804380045823,
      10.63824283026579,
      10.51437713404309,
      10.529761248723215,
      10.510408628818299,
      10.496683425071451,
      10.53056266139258,
      10.535781487436717
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "382c08ff59d5504b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cdc8b2ccd20f5c80": {
    "vx_ego": [
      5.75304060924387,
      6.036429149399236,
      6.414674887606702,
      6.853382342618554,
      7.167925357669176,
      7.547824479220251,
      7.882015384574746,
      7.989204233245221,
      8.119305609720184,
      8.266396940616096
    ],
    "vy_ego": [
      -0.06606204400450832,
      -0.09645488022583759,
      -0.06137671490594698,
      -0.08688114296478888,
      -0.05164041384882312,
      -0.007433459590377112,
      0.003432207862710701,
      -0.009347935799794538,
      -0.016793603549490665,
      -0.00012057622356564934
    ],
    "v_ego": [
      5.753419891270507,
      6.037199716725973,
      6.414968512379831,
      6.853933021785275,
      7.168111373678514,
      7.547828139633144,
      7.882016131848741,
      7.989209702117418,
      8.119322977265643,
      8.266396941495477
    ],
    "ax_ego": [
      0.5230669279679072,
      0.6407915126763716,
      0.8842726247599978,
      0.8758998593786473,
      0.3855169082313833,
      1.1349321043132559,
      0.20157589451059693,
      0.2269832049868791,
      0.29396134551773545,
      0.2945755433188486
    ],
    "ay_ego": [
      1.1764977977395528,
      1.1167507872281608,
      0.8189251661150547,
      0.4350357142473338,
      0.2307369891052416,
      0.1941603146798037,
      0.11871002716518403,
      0.03390838430327982,
      0.11913099057118871,
      0.11760407907697583
    ],
    "a_ego": [
      1.2875348846613055,
      1.2875348863206735,
      1.2052288175265748,
      0.9779860102937169,
      0.44929149187764195,
      1.1514204745432814,
      0.2339335627850481,
      0.22950196921197538,
      0.3171836464464555,
      0.3171836536411333
    ],
    "yaw": [
      1.8794937210814107,
      1.982074251896718,
      2.0544933281748485,
      2.105573523165976,
      2.124125499594505,
      2.1326628484204804,
      2.1412628269567566,
      2.1476838788789574,
      2.1533644720320115,
      2.1585532690975344
    ],
    "yaw_diff": [
      0.20516106163061476,
      0.14483815255626098,
      0.10216038998225496,
      0.03710395285705825,
      0.017074697651950466,
      0.017199957072552507,
      0.012842103844401542,
      0.011361186306108273,
      0.010377594131045775,
      0.010377594131045775
    ],
    "min_front_frame": [
      5,
      21.32172399091948
    ],
    "v_avg": 7.203240640820051,
    "v_std": 0.8586609757510546,
    "vy_max": 0.09645488022583759,
    "a_max": 1.2875348863206735,
    "ax_avg": 0.5461575925661624,
    "a_std": 0.44725591463066355,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "cdc8b2ccd20f5c80",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 18.581430490996492,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      31.7107074470139,
      28.381568630006946,
      24.894942155965584,
      21.32172399091948,
      23.424754782096706,
      25.572928406858836,
      21.596804079037913,
      23.346472073497203
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      1
    ],
    "safe_ratio": 0.875,
    "unsafe_ratio": 0.125,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "cdc8b2ccd20f5c80",
    "pedestrians": "No"
  },
  "0691c520f834559d": {
    "vx_ego": [
      10.238925271342042,
      9.45800228643811,
      8.682737891147362,
      7.9436947531379944,
      7.3648621897731115,
      6.897768243950515,
      6.349180876115666,
      5.742211576241462,
      5.185461438889766,
      4.679952313323807
    ],
    "vy_ego": [
      0.12065928769362572,
      0.012454126947070848,
      -0.02136028779207435,
      0.0010330687518056159,
      -0.0007502181224632726,
      -0.0074799851940657025,
      -0.024777364197611833,
      -0.09114401478046488,
      -0.040204470032941225,
      0.1350588270064378
    ],
    "v_ego": [
      10.239636193529215,
      9.458010486119505,
      8.682764165187299,
      7.943694820312721,
      7.364862227983415,
      6.897772299621862,
      6.349229222150472,
      5.742934878418155,
      5.185617295329782,
      4.681900740269619
    ],
    "ax_ego": [
      -1.568433536723939,
      -1.5614498966964485,
      -1.539010459807388,
      -1.4176768146530678,
      -0.8980347957399459,
      -0.9700760236895233,
      -1.2242090508224446,
      -1.205202764090651,
      -1.0280282726492431,
      -0.9712581837211957
    ],
    "ay_ego": [
      0.25847945810454864,
      0.29777444913762297,
      0.319702435407774,
      0.14803467167181888,
      -0.00286394844917387,
      0.09324223541247678,
      -0.18535095631772908,
      -0.28257800465889155,
      -0.5449697646104893,
      -0.6406962766332971
    ],
    "a_ego": [
      1.589589692147752,
      1.5895896962589322,
      1.571866038376747,
      1.425384795352417,
      0.8980393624782858,
      0.9745468722447331,
      1.2381610465216097,
      1.237886921850597,
      1.1635437996507905,
      1.1635438016409894
    ],
    "yaw": [
      -1.6230330846892627,
      -1.5979248473582524,
      -1.5771721006826827,
      -1.5657790742903055,
      -1.5607620408455252,
      -1.5566551805186402,
      -1.5575161260105235,
      -1.5658915370850814,
      -1.6132625349258265,
      -1.7089501345475777
    ],
    "yaw_diff": [
      0.050216474662020616,
      0.0415054933511394,
      0.022786052784754318,
      0.010034066889560656,
      0.008213720653770018,
      -0.0017218909837666274,
      -0.01675082214911594,
      -0.09474199568149011,
      -0.19137519924350244,
      -0.19137519924350244
    ],
    "min_front_frame": [
      1,
      28.18154001720682
    ],
    "v_avg": 7.254642232892204,
    "v_std": 1.7442404005297332,
    "vy_max": 0.1350588270064378,
    "a_max": 1.5895896962589322,
    "ax_avg": -1.2383379798593848,
    "a_std": 0.2382405803365702,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0691c520f834559d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.311652772930112,
    "right_rear_min": 46.18151903208578,
    "speed_mode": "decelerating",
    "front_frame": [
      30.25930391100733,
      28.18154001720682,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0691c520f834559d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e55fc5c3ee36528b": {
    "vx_ego": [
      1.3708925361970579,
      2.018556563680044,
      2.5397339796318334,
      2.8483947975300667,
      3.1847571411025912,
      3.7064963993925337,
      4.323430738482175,
      4.9641691885578325,
      5.561558578741556,
      6.115460714277896
    ],
    "vy_ego": [
      0.0008560953300360552,
      -0.020322786393359826,
      -0.004796408820038289,
      0.019351378038679368,
      0.01777982571579062,
      0.01635069202439343,
      -0.004978335203376094,
      -0.015875982758926543,
      -0.014627126257182432,
      -0.006259602714917989
    ],
    "v_ego": [
      1.3708928035043497,
      2.0186588657875255,
      2.539738508751269,
      2.848460531309561,
      3.1848067712196344,
      3.706532463616027,
      4.323433604702855,
      4.964194575100325,
      5.561577813678088,
      6.115463917848135
    ],
    "ax_ego": [
      1.2953431137649947,
      1.2953275906412722,
      0.7895934384556631,
      0.4449251046786373,
      0.9004579667838266,
      1.1864070012369707,
      1.2812470895932973,
      1.2818607678105245,
      1.1077922775312565,
      1.1077862929170226
    ],
    "ay_ego": [
      -0.04083281178796749,
      -0.04132210952762572,
      0.1186362352847517,
      -0.007208139791740481,
      0.013170262040734404,
      -0.0023726949626643457,
      -0.05605996527638357,
      0.04371388115470187,
      0.00804259920420769,
      0.008829908339868964
    ],
    "a_ego": [
      1.2959865357699143,
      1.2959865291785777,
      0.7984562319719071,
      0.4449834896404063,
      0.9005542769576327,
      1.1864093738105272,
      1.282472933163926,
      1.2826059143234116,
      1.1078214718806672,
      1.1078214829367274
    ],
    "yaw": [
      0.8644782898467889,
      0.8648560235035592,
      0.8664792370748347,
      0.8678343843180594,
      0.8688690001424588,
      0.8700797531810776,
      0.8717586641063301,
      0.8734407469663413,
      0.8756528749932743,
      0.8749421808141511
    ],
    "yaw_diff": [
      0.000755467313540592,
      0.003246427142550967,
      0.0027102944864494383,
      0.002069231648798908,
      0.0024215060772374564,
      0.0033578218505050383,
      0.003364165720022516,
      0.0044242560538658715,
      -0.001421388358246345,
      -0.001421388358246345
    ],
    "min_front_frame": [
      9,
      40.814698755730625
    ],
    "v_avg": 3.6633759855517765,
    "v_std": 1.4785744271724937,
    "vy_max": 0.020322786393359826,
    "a_max": 1.2959865357699143,
    "ax_avg": 1.0690740643413466,
    "a_std": 0.26495102713429924,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e55fc5c3ee36528b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.193491099162348,
    "right_rear_min": 19.338135132624934,
    "speed_mode": "accelerating",
    "front_frame": [
      57.54019349199981,
      62.52216536860463,
      61.36131769774324,
      59.992711756243125,
      52.53043380179248,
      56.81062317098915,
      54.79755285915344,
      52.44675833767041,
      43.84464196623251,
      40.814698755730625
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e55fc5c3ee36528b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "72d6e0ab829553ed": {
    "vx_ego": [
      6.828978513869198,
      6.358864906195667,
      5.8313814495898075,
      5.217962873299252,
      4.557786541582142,
      3.9350873717350305,
      3.3266727061561348,
      2.6532234499815157,
      1.9313082960864003,
      1.1848437073997955
    ],
    "vy_ego": [
      -0.0457600694979341,
      -0.006014773495917947,
      -0.0001160628213341397,
      -0.03226771416067331,
      -0.03783049462899557,
      -0.020821931507919667,
      -0.02067441841257489,
      -0.009511022369599997,
      0.002646554887795638,
      0.005313603284403001
    ],
    "v_ego": [
      6.829131828193655,
      6.358867750845825,
      5.831381450744815,
      5.218062643597386,
      4.557943539026255,
      3.9351424594314537,
      3.3267369486421496,
      2.6532404970296852,
      1.9313101094295886,
      1.1848556221518114
    ],
    "ax_ego": [
      -0.940259727957516,
      -0.9403494948966893,
      -1.1695036002900288,
      -1.2842049303676841,
      -1.3560104785156732,
      -1.1346062242281216,
      -1.2988973877811971,
      -1.3947391722833635,
      -1.492938121352414,
      -1.492932114374546
    ],
    "ay_ego": [
      0.06034964150812144,
      0.0589344255181769,
      -0.07238013494603113,
      -0.0675051091008606,
      0.08916757094834504,
      0.016401699557096805,
      0.01218856164926585,
      0.05590009015552311,
      0.007170836299114414,
      0.008328004743531126
    ],
    "a_ego": [
      0.942194478464452,
      0.94219448048883,
      1.1717412491783947,
      1.2859779325227116,
      1.3589390249577549,
      1.1347247683053172,
      1.2989545738862063,
      1.3958589394280059,
      1.49295534262767,
      1.4929553421967654
    ],
    "yaw": [
      0.8668827833381858,
      0.8653777215271025,
      0.8638655585633568,
      0.8633565042111968,
      0.8655984339387357,
      0.8678227251074287,
      0.8697398037624047,
      0.8716914718194435,
      0.8732580125404217,
      0.8740331097062086
    ],
    "yaw_diff": [
      -0.0030101236221666827,
      -0.003024325927491356,
      -0.0010181087043199533,
      0.004483859455077788,
      0.004448582337386098,
      0.0038341573099518467,
      0.0039033361140776712,
      0.0031330814419563424,
      0.0015501943315738842,
      0.0015501943315738842
    ],
    "min_front_frame": [
      9,
      9.394279482954543
    ],
    "v_avg": 4.182667284909263,
    "v_std": 1.8127126837789267,
    "vy_max": 0.0457600694979341,
    "a_max": 1.49295534262767,
    "ax_avg": -1.2504441252047234,
    "a_std": 0.19072550325809218,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "72d6e0ab829553ed",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.585296757126429,
    "speed_mode": "decelerating",
    "front_frame": [
      19.34624188505967,
      18.367489499097193,
      17.40490908607009,
      16.031773332393346,
      14.825570312735362,
      13.628674863716025,
      12.363524137122349,
      11.204271258812938,
      10.186676200794718,
      9.394279482954543
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "72d6e0ab829553ed",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "11ef3e2ec35051d8": {
    "vx_ego": [
      5.762498991432025,
      5.1045153872406015,
      4.500988288836231,
      4.011007426057191,
      3.6297607720614975,
      3.3614486085657873,
      3.161208668704678,
      2.893075792556996,
      2.577789419406371,
      2.2880789888460034
    ],
    "vy_ego": [
      -0.010389535019416562,
      0.0016527267764309753,
      -0.005291079984013373,
      -0.016121371038722913,
      -0.013773172696603848,
      -0.012300090951434289,
      0.004662489287526991,
      0.0028751173540452826,
      -0.03181564660201644,
      -0.06866385611590885
    ],
    "v_ego": [
      5.7625083573642675,
      5.1045156547983925,
      4.50099139876631,
      4.011039824096751,
      3.62978690320556,
      3.3614711125140255,
      3.161212107072216,
      2.8930772211918385,
      2.5779857498000527,
      2.289109037231572
    ],
    "ax_ego": [
      -1.3159672793026904,
      -1.315978519188201,
      -1.0980770195803686,
      -0.8619875947919805,
      -0.6631033651434004,
      -0.41026964736803195,
      -0.3907989031472311,
      -0.681363068424461,
      -0.5800349071503165,
      -0.5796418151070439
    ],
    "ay_ego": [
      0.017255661639747868,
      0.016375400518275126,
      -0.07163330470951412,
      -0.002533887944155978,
      -0.018721559641212533,
      -0.004457341019238063,
      0.025171434440362885,
      -0.09326776191237512,
      -0.09282464781007743,
      -0.09524851966660991
    ],
    "a_ego": [
      1.3160804071385421,
      1.3160803990284575,
      1.1004110465067638,
      0.8619913190765769,
      0.6633675976861557,
      0.41029385986199096,
      0.3916087126365607,
      0.6877168795550537,
      0.5874154481744085,
      0.5874154529115395
    ],
    "yaw": [
      -1.5684826864383834,
      -1.5691515903538193,
      -1.5705903186893146,
      -1.5724148848082935,
      -1.5744335936406852,
      -1.5765316890378034,
      -1.5801476521168274,
      -1.5851213302318063,
      -1.5894670273798621,
      -1.5936472772776193
    ],
    "yaw_diff": [
      -0.0013378078308718955,
      -0.002877456670990597,
      -0.0036491322379577085,
      -0.004037417664783494,
      -0.004196190794236276,
      -0.007231926158048019,
      -0.009947356229957904,
      -0.008691394296111543,
      -0.008360499795514453,
      -0.008360499795514453
    ],
    "min_front_frame": [
      9,
      12.696637067619157
    ],
    "v_avg": 3.729169736604098,
    "v_std": 1.0614568735530334,
    "vy_max": 0.06866385611590885,
    "a_max": 1.3160804071385421,
    "ax_avg": -0.7897222119203725,
    "a_std": 0.32657002763186577,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "11ef3e2ec35051d8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.304368852103924,
    "right_rear_min": 25.96728330349771,
    "speed_mode": "decelerating",
    "front_frame": [
      17.074733922300506,
      16.10051345349643,
      15.21669884989044,
      14.714167612428657,
      14.267384699745195,
      13.837375594885653,
      13.503125532571323,
      13.151741796933795,
      12.886539713485694,
      12.696637067619157
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "11ef3e2ec35051d8",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d2098ab3fc1953b3": {
    "vx_ego": [
      9.279558908670944,
      9.254376090492912,
      9.17220086250475,
      9.02542242091313,
      8.867445671357721,
      8.692936796504998,
      8.537586288680703,
      8.462301559276037,
      8.487151608652018,
      8.562339354125138
    ],
    "vy_ego": [
      -0.013881891391174683,
      0.05209032604492503,
      -0.0059007877113530505,
      -0.03860726033854878,
      -0.018592580417339466,
      -0.011179679977231238,
      -0.01110848838257672,
      0.00899843688352453,
      0.0525381329386585,
      0.1455760096969887
    ],
    "v_ego": [
      9.279569292074006,
      9.254522690358176,
      9.172202760592928,
      9.025504993986335,
      8.867465163085072,
      8.692943985398443,
      8.537593515457555,
      8.462306343544412,
      8.487314220862642,
      8.563576798849846
    ],
    "ax_ego": [
      -0.05057913700505819,
      -0.05028738635906624,
      -0.28023645213916,
      -0.30601470036913414,
      -0.3256164253618016,
      -0.37216847035716,
      -0.24914930032092333,
      -0.05191662530912686,
      0.15108862387156613,
      0.1507145854560296
    ],
    "ay_ego": [
      0.16471893736384988,
      0.16480823885501245,
      -0.09050643304795222,
      0.12095063925193729,
      0.07010005527476032,
      0.08807272426932802,
      0.043187303902333676,
      0.10636167828507688,
      0.14057644655865015,
      0.14097737044724526
    ],
    "a_ego": [
      0.1723095395689175,
      0.17230953781296274,
      0.29448919085529635,
      0.3290502301738493,
      0.33307667918201983,
      0.3824476109066565,
      0.2528646220188941,
      0.11835599938789106,
      0.20637225974064585,
      0.2063722492182577
    ],
    "yaw": [
      1.049907861172664,
      1.0516786279917705,
      1.059963183557336,
      1.0643926835397886,
      1.0674934022329507,
      1.071150381781604,
      1.074957849003828,
      1.0769967546007226,
      1.0791501542557898,
      1.076493266959787
    ],
    "yaw_diff": [
      0.003541533638212968,
      0.01656911113113102,
      0.008858999964905134,
      0.006201437386324393,
      0.007313959097306366,
      0.007614934444448274,
      0.004077811193789138,
      0.004306799310134224,
      -0.005313774592005327,
      -0.005313774592005327
    ],
    "min_front_frame": [
      0,
      27.897369032984457
    ],
    "v_avg": 8.834299976420942,
    "v_std": 0.3109300772169452,
    "vy_max": 0.1455760096969887,
    "a_max": 0.3824476109066565,
    "ax_avg": -0.13841652878938343,
    "a_std": 0.08110757696333275,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d2098ab3fc1953b3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.897369032984457,
      29.31106529792976,
      31.141622825389035,
      32.35698639575682,
      38.915497963140595,
      40.202892397902275,
      41.896053969173565,
      49.71224893881848,
      45.499518637950096,
      53.85500536779613
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d2098ab3fc1953b3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e2c14ab1fbe350b1": {
    "vx_ego": [
      4.596725793651435,
      4.497573775536729,
      4.499610260547098,
      4.573102390217958,
      4.761923778475081,
      5.0453074423200714,
      5.403426102349114,
      5.8280514436493664,
      6.239450717170171,
      6.605291338951186
    ],
    "vy_ego": [
      0.11308937667764996,
      0.020773583535587392,
      -0.02509623218232654,
      -0.05689631830146902,
      -0.04161337643559859,
      0.04191383802925275,
      0.07910648607126891,
      0.06840180800592144,
      0.061835443662930256,
      -0.08298942152636535
    ],
    "v_ego": [
      4.598116704601761,
      4.4976217502329625,
      4.499680246160884,
      4.5734563146982685,
      4.7621055999531094,
      5.045481538698625,
      5.404005133203176,
      5.828452833914155,
      6.239757116594231,
      6.605812661324027
    ],
    "ax_ego": [
      -0.3372567446561198,
      -0.008014614774041806,
      0.023293830655173986,
      0.24482872983198295,
      0.45999502217434957,
      0.645119815902579,
      0.7881775549382138,
      0.9247445608865444,
      0.725853185535212,
      0.7365345696257839
    ],
    "ay_ego": [
      -1.8016845444125082,
      -1.8329607407996718,
      -1.9220674012620145,
      -2.004680660041935,
      -1.9298650901074963,
      -1.6447834238807364,
      -1.1722567110507938,
      -0.9004212055894902,
      -0.5496980635434761,
      -0.5353014430552102
    ],
    "a_ego": [
      1.8329782621163162,
      1.8329782626542133,
      1.9222085468389494,
      2.0195756127704922,
      1.9839291031790414,
      1.76677448712138,
      1.4125896979349684,
      1.2907016891460548,
      0.9105112893397107,
      0.9105112888870895
    ],
    "yaw": [
      1.8606168779520904,
      1.6799412014912982,
      1.481936357667836,
      1.2720301524291997,
      1.0575998680006522,
      0.8580405574712238,
      0.7158710404176968,
      0.6252927448288697,
      0.5665563419923272,
      0.5468677851524003
    ],
    "yaw_diff": [
      -0.3613513529215844,
      -0.39600968764692457,
      -0.41981241047727247,
      -0.428860568857095,
      -0.39911862105885687,
      -0.28433903410705397,
      -0.18115659117765426,
      -0.11747280567308493,
      -0.03937711367985375,
      -0.03937711367985375
    ],
    "min_front_frame": [
      6,
      67.48740977887847
    ],
    "v_avg": 5.2054489899381196,
    "v_std": 0.7380995297973838,
    "vy_max": 0.11308937667764996,
    "a_max": 2.0195756127704922,
    "ax_avg": 0.4203275910119678,
    "a_std": 0.4054427133476014,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "e2c14ab1fbe350b1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.250217787077233,
    "right_rear_min": 14.466355851115923,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      67.48740977887847,
      69.59433465353816,
      71.7055415567957,
      73.95803290882971
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e2c14ab1fbe350b1",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "55a584a116ec5e6d": {
    "vx_ego": [
      3.5085190004709372,
      3.557485631358768,
      3.578849712467779,
      3.555974679062518,
      3.5267334097753533,
      3.5302060019043715,
      3.5612807536797364,
      3.616861843745,
      3.673531219587781,
      3.7117886688348096
    ],
    "vy_ego": [
      -0.03232252297138216,
      -0.020690058407832224,
      -0.012775519819494319,
      -0.013844220592883927,
      0.00543931106129758,
      0.030496307909643416,
      0.026416720776109903,
      0.02745870019510721,
      0.013349815390687692,
      -0.03673384302501548
    ],
    "v_ego": [
      3.508667884276997,
      3.5575457967313664,
      3.578872514960174,
      3.5560016283148137,
      3.5267376043208136,
      3.5303377233173836,
      3.561378728760292,
      3.616966073514498,
      3.673555476491005,
      3.7119704332488794
    ],
    "ax_ego": [
      0.0918069754768776,
      0.1090058865394901,
      -0.019975268183782507,
      -0.06965431712792376,
      -0.04330288423734349,
      0.05085621792066766,
      0.06733996641236074,
      0.15081265579166653,
      0.06918787287960469,
      0.08631490418521444
    ],
    "ay_ego": [
      0.3627247147810773,
      0.3579321937387535,
      0.3710468705907559,
      0.3393906578778876,
      0.46233001087144326,
      0.35874778775351507,
      0.3466899622794395,
      0.401713751959786,
      0.311130748608773,
      0.30682087112967776
    ],
    "a_ego": [
      0.37416271789052674,
      0.3741627167622354,
      0.37158416477859657,
      0.34646463390848814,
      0.46435350621661253,
      0.3623345555135965,
      0.35316936591632214,
      0.4290901952510033,
      0.31873077115876314,
      0.31873077925621973
    ],
    "yaw": [
      -1.244168769060702,
      -1.1964466451357665,
      -1.1478189224173925,
      -1.0978301794090686,
      -1.0466419360674557,
      -0.9954083808184587,
      -0.944500875211463,
      -0.8925210162864725,
      -0.8399205653871087,
      -0.7845031016522201
    ],
    "yaw_diff": [
      0.09544424784987093,
      0.09725544543674802,
      0.0999774860166478,
      0.10237648668322574,
      0.10246711049799395,
      0.1018150112139915,
      0.10395971784998093,
      0.10520090179872765,
      0.11083492746977708,
      0.11083492746977708
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.582203386393622,
    "v_std": 0.0626948125555961,
    "vy_max": 0.03673384302501548,
    "a_max": 0.46435350621661253,
    "ax_avg": 0.0492392009656832,
    "a_std": 0.04309068267302617,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "55a584a116ec5e6d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "55a584a116ec5e6d",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "210a2cd8efe051af": {
    "vx_ego": [
      6.769196518399543,
      6.805538242935564,
      7.043089707691083,
      7.399878794691977,
      7.788331697731686,
      8.211424177789555,
      8.62966704068784,
      8.953046223838367,
      9.075081002726122,
      9.105130685473009
    ],
    "vy_ego": [
      0.022579323564397402,
      -0.08992779313323451,
      -0.16686722795911146,
      -0.07531464285585798,
      -0.022367853961075657,
      0.006590653178705441,
      0.010438966956413331,
      0.02469965163109311,
      -0.005122846479464371,
      -0.0007613331693079317
    ],
    "v_ego": [
      6.769234176076724,
      6.806132366038461,
      7.045066167350795,
      7.400262054249193,
      7.788363817566752,
      8.211426822684118,
      8.629673354488288,
      8.953080294456045,
      9.075082448639055,
      9.105130717302766
    ],
    "ax_ego": [
      -0.04433169061977438,
      0.20840997567101005,
      0.7585673085545642,
      0.6791080030703348,
      0.8787973659272327,
      0.8115256350912009,
      0.86107207985389,
      0.4333787422757902,
      0.05630136814981382,
      0.06364557293377257
    ],
    "ay_ego": [
      1.7448300336974274,
      1.7329057836798252,
      1.0074883200606262,
      0.549711279393979,
      0.4669629179253688,
      0.13295380029869402,
      0.026790414959409925,
      -0.16727221554582714,
      -0.3616587508211361,
      -0.36043881616372575
    ],
    "a_ego": [
      1.7453931205564472,
      1.7453931285158024,
      1.2611332509557815,
      0.8737105759501501,
      0.9951578654052919,
      0.8223445563898638,
      0.8614887422581918,
      0.4645396951285815,
      0.3660148850812566,
      0.36601488924847886
    ],
    "yaw": [
      2.1894136971753975,
      2.334507021451386,
      2.445549229908003,
      2.4867175475434227,
      2.5133004617000134,
      2.528412103907761,
      2.5327009286711277,
      2.5271178847834714,
      2.5158159407072214,
      2.4954753411840134
    ],
    "yaw_diff": [
      0.29018664855197684,
      0.22208441691323433,
      0.08233663527083923,
      0.05316582831318151,
      0.030223284415495044,
      0.008577649526733566,
      -0.011166087775312583,
      -0.02260388815250014,
      -0.04068119904641598,
      -0.04068119904641598
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.978345221885219,
    "v_std": 0.8932221059016624,
    "vy_max": 0.16686722795911146,
    "a_max": 1.7453931285158024,
    "ax_avg": 0.4706474360907835,
    "a_std": 0.48081624336977385,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "210a2cd8efe051af",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.692229471932436,
    "right_rear_min": 12.17346233986123,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "210a2cd8efe051af",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1b963a72d0cf5320": {
    "vx_ego": [
      8.243090456756036,
      8.334360530877268,
      8.413056994377932,
      8.380055476134084,
      8.249409873912782,
      8.097498109348397,
      7.927971967175525,
      7.790398874597148,
      7.682871134800337,
      7.580741547154021
    ],
    "vy_ego": [
      0.07022239269507358,
      0.014743055272125716,
      0.04092851763548744,
      0.08491084603392451,
      0.07869210997712628,
      -0.009380862954489366,
      0.0025549968772002885,
      0.06416146677060741,
      0.05558045096324449,
      0.022185087518738822
    ],
    "v_ego": [
      8.243389561503099,
      8.334373570720452,
      8.413156549964306,
      8.380485644332257,
      8.249785192111512,
      8.097503543160116,
      7.927972378882888,
      7.79066308597302,
      7.683072175925298,
      7.580774009483158
    ],
    "ax_ego": [
      0.18009698238660043,
      0.18233726189277652,
      0.13185941480873015,
      -0.26431123966952025,
      -0.25855104187295547,
      -0.34900504827751183,
      -0.32841999096980196,
      -0.223333974780945,
      -0.2088977994297331,
      -0.2029899833451969
    ],
    "ay_ego": [
      0.1464560376464677,
      0.14365730650515549,
      0.1242018087174851,
      0.10991022264560935,
      -0.11358227813427813,
      -0.25300778625355574,
      -0.34748759801367823,
      0.10829429840806161,
      0.2664682499308425,
      0.27099572674255806
    ],
    "a_ego": [
      0.2321299076548798,
      0.23212991790562276,
      0.1811435744441285,
      0.28625284008660246,
      0.2823996727331023,
      0.4310654980720602,
      0.4781289797135501,
      0.24820499462974163,
      0.33859063606040696,
      0.3385906337322557
    ],
    "yaw": [
      1.012421762906191,
      1.0278655672551391,
      1.0327318140092476,
      1.0344539952868297,
      1.0350915602700481,
      1.0346548290216524,
      1.0144237553000766,
      0.9989506986268222,
      1.0121727291016749,
      1.0341558388446552
    ],
    "yaw_diff": [
      0.030887608697896418,
      0.009732493508217033,
      0.0034443625551641155,
      0.001275129966436861,
      -0.0008734624967914328,
      -0.040462147443151686,
      -0.030946113346508763,
      0.026444060949705417,
      0.04396621948596069,
      0.04396621948596069
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.070117571205612,
    "v_std": 0.2888685284954492,
    "vy_max": 0.08491084603392451,
    "a_max": 0.4781289797135501,
    "ax_avg": -0.13412154192575576,
    "a_std": 0.08841439128447386,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1b963a72d0cf5320",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1b963a72d0cf5320",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "44f758bf2bee53ce": {
    "vx_ego": [
      4.12607841881632,
      4.229604689048365,
      4.321297959786292,
      4.3542796339419,
      4.416577237597031,
      4.557936392001063,
      4.744926455604401,
      4.89042039402338,
      5.171351048150818,
      5.690386625617533
    ],
    "vy_ego": [
      0.005388607226824549,
      -0.10076683568765277,
      -0.0654081417056882,
      0.03098400947273494,
      0.07872811724545727,
      0.04376160657341288,
      -0.0037201330788447784,
      -0.0013015238879439117,
      0.04308840456856933,
      -0.11592832980613643
    ],
    "v_ego": [
      4.1260819375419135,
      4.230804862055732,
      4.321792947638117,
      4.354389869936339,
      4.4172788696328915,
      4.558146468877186,
      4.744927913939754,
      4.890420567215484,
      5.171530554276831,
      5.691567387518006
    ],
    "ax_ego": [
      0.1663284155554508,
      0.23245158583299308,
      0.10463724979636846,
      0.04438122613568396,
      0.25902796890817226,
      0.39702034453582524,
      0.37696760915029764,
      0.2022635914409382,
      0.9101438220173625,
      1.1380536980023057
    ],
    "ay_ego": [
      -0.8639741914222681,
      -0.8485769263057555,
      -1.0015726832753928,
      -1.355875449369203,
      -1.5312234416319452,
      -1.997438923659561,
      -2.0861519850052677,
      -2.0807975492418724,
      -1.8035050295851822,
      -1.6690793753492006
    ],
    "a_ego": [
      0.8798389314328781,
      0.8798389282219768,
      1.0070237305686585,
      1.3566016096980884,
      1.5529780155816348,
      2.0365135422396805,
      2.1199374242863653,
      2.0906049366997985,
      2.020146571042661,
      2.020146574076446
    ],
    "yaw": [
      2.1246128498166197,
      2.0474293507488035,
      1.931538160296253,
      1.7740500798866417,
      1.5979546165543599,
      1.4089892617410122,
      1.2005871815736264,
      0.9856618679234839,
      0.7809201111839511,
      0.6498456958407453
    ],
    "yaw_diff": [
      -0.15436699813563237,
      -0.23178238090510117,
      -0.31497616081922253,
      -0.35219092666456353,
      -0.3779307096266953,
      -0.41680416033477163,
      -0.4298506273002851,
      -0.40948351347906553,
      -0.2621488306864117,
      -0.2621488306864117
    ],
    "min_front_frame": [
      9,
      18.440096075961417
    ],
    "v_avg": 4.6506941378632245,
    "v_std": 0.46169052353910994,
    "vy_max": 0.11592832980613643,
    "a_max": 2.1199374242863653,
    "ax_avg": 0.38312755113753977,
    "a_std": 0.5004822518587262,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "44f758bf2bee53ce",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.890285146091299,
    "right_rear_min": 19.38689631425419,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      18.440096075961417
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "44f758bf2bee53ce",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "a93fe1ec53155bf7": {
    "vx_ego": [
      8.33277984822515,
      8.230127116118828,
      8.006053884903215,
      7.671236446150075,
      7.321021328257223,
      6.91565986444662,
      6.4777777245104184,
      5.962385022130688,
      5.359402802853259,
      4.742060343280008
    ],
    "vy_ego": [
      -0.017377759307654284,
      -0.024890994186054005,
      -0.0003207190414813432,
      -0.008264878084359495,
      -0.014157380370991568,
      -0.013860823996641791,
      -0.025004376303420894,
      -0.03201726468678734,
      -0.03436106296127317,
      -0.05412668438023349
    ],
    "v_ego": [
      8.332797968600085,
      8.230164755888305,
      8.006053891327149,
      7.671240898378239,
      7.321035017005186,
      6.915673754823872,
      6.477825983074699,
      5.962470985872081,
      5.3595129523007214,
      4.742369238816281
    ],
    "ax_ego": [
      -0.20738003969354316,
      -0.20432379397568018,
      -0.693274350213268,
      -0.645983587780629,
      -0.7553555169931956,
      -0.866971058921897,
      -0.8857639764696351,
      -1.1770415476070122,
      -1.2341304276395737,
      -1.2324328569851635
    ],
    "ay_ego": [
      -0.2312708116474766,
      -0.2339753336579266,
      -0.16204127842840496,
      -0.19863525539767046,
      -0.2145124346111349,
      -0.20797383675213488,
      -0.1687966454216236,
      -0.025788681912887634,
      0.10337393692691738,
      0.12195628028022182
    ],
    "a_ego": [
      0.31063269174923963,
      0.3106326923312392,
      0.7119597605050028,
      0.6758333821059976,
      0.7852245167178966,
      0.8915671224207177,
      0.9017040143621928,
      1.1773240254526,
      1.2384522934944275,
      1.2384522926929404
    ],
    "yaw": [
      -0.2473523192711114,
      -0.26049032163003527,
      -0.27559839291441707,
      -0.2860959051566303,
      -0.2990646992763538,
      -0.31391492828524914,
      -0.32631187746386037,
      -0.3329662927084055,
      -0.3291307298166207,
      -0.3140636188279391
    ],
    "yaw_diff": [
      -0.026276004717847745,
      -0.030216142568763593,
      -0.020995024484426472,
      -0.02593758823944703,
      -0.029700458017790643,
      -0.024793898357222455,
      -0.013308830489090262,
      0.0076711257835695434,
      0.030134221977363262,
      0.030134221977363262
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.901914544608661,
    "v_std": 1.1791334922917491,
    "vy_max": 0.05412668438023349,
    "a_max": 1.2384522934944275,
    "ax_avg": -0.7902657156279599,
    "a_std": 0.3228132697552112,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a93fe1ec53155bf7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a93fe1ec53155bf7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5802564fbfb558f8": {
    "vx_ego": [
      5.273984876655387,
      5.518789337136155,
      5.737260581800243,
      5.914208826814647,
      6.095173527601821,
      6.235723736294669,
      6.326616428599932,
      6.413106128411507,
      6.4963231710062885,
      6.588143187024292
    ],
    "vy_ego": [
      -0.0368308706061109,
      -0.05278644882520789,
      -0.018854316069224275,
      0.03582856095734677,
      0.05503733737698102,
      0.017504794717568828,
      0.009395180778999812,
      0.004111772663198732,
      0.00227652100711051,
      -0.009720936040721107
    ],
    "v_ego": [
      5.2741134792701745,
      5.519041778865902,
      5.737291562114766,
      5.914317351389977,
      6.0954220067263245,
      6.235748305795131,
      6.326623404633188,
      6.413107446545992,
      6.496323569889442,
      6.588150358737428
    ],
    "ax_ego": [
      0.48537928968749555,
      0.5004313788474416,
      0.3769974522967973,
      0.3291348606427899,
      0.392671483851011,
      0.16762894410736873,
      0.19524400837864817,
      0.14976688162935364,
      0.1831994825146544,
      0.1839745429903602
    ],
    "ay_ego": [
      0.3969225175080759,
      0.3777684146627954,
      0.3578950902312999,
      0.19145294442818894,
      0.10351157910940953,
      0.17294521800348267,
      0.19245504826332432,
      0.08404059538051338,
      -0.11403995617613295,
      -0.11278532569035163
    ],
    "a_ego": [
      0.6270092022948998,
      0.6270092025257631,
      0.5198230224316217,
      0.38076762785269963,
      0.4060856328897618,
      0.24085163759630845,
      0.2741517251629107,
      0.17173508815874522,
      0.2157942584924156,
      0.2157942588661491
    ],
    "yaw": [
      -2.4248030148026696,
      -2.385948307134602,
      -2.359373285659469,
      -2.3452003172671825,
      -2.3361067270623845,
      -2.3188882322115685,
      -2.3030452782749244,
      -2.291374673816811,
      -2.2922528316024335,
      -2.299086790395073
    ],
    "yaw_diff": [
      0.07770941533613485,
      0.05315004295026604,
      0.02834593678457331,
      0.018187180409595882,
      0.034436989701632115,
      0.031685907873288066,
      0.02334120891622682,
      -0.001756315571245004,
      -0.013667917585278744,
      -0.013667917585278744
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.060013926396833,
    "v_std": 0.4162755988352733,
    "vy_max": 0.05503733737698102,
    "a_max": 0.6270092025257631,
    "ax_avg": 0.2964428324945921,
    "a_std": 0.16390927118335027,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "5802564fbfb558f8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 8,
    "token": "5802564fbfb558f8",
    "smoothness": "Yes"
  },
  "1ea94b85513e5822": {
    "vx_ego": [
      7.7486202614576545,
      8.054414208959365,
      8.524946934180678,
      9.13944543726361,
      9.83962542079855,
      10.536222099643073,
      11.168220140509106,
      11.671338214206138,
      12.0544691097191,
      12.411133680779741
    ],
    "vy_ego": [
      -0.06660751108161778,
      -0.11291560827200975,
      -0.13294701157191025,
      -0.12000992043304093,
      -0.12097201353665898,
      -0.10915661476234728,
      -0.1455679336953697,
      -0.11774031026060072,
      -0.039235960964076,
      0.033411422958947945
    ],
    "v_ego": [
      7.7489065368479295,
      8.055205657466354,
      8.52598352909988,
      9.140233327531687,
      9.840369030157566,
      10.536787522748737,
      11.16916877525779,
      11.671932080467604,
      12.0545329639022,
      12.411178653349948
    ],
    "ax_ego": [
      0.4810167900893745,
      0.7868683233125935,
      1.1252363418504665,
      1.3504245775300627,
      1.4532721520844234,
      1.3376317332109202,
      1.1929217402647234,
      0.8192073156936455,
      0.7132655869902516,
      0.7134020498077613
    ],
    "ay_ego": [
      2.1924979231391504,
      2.1022042056227357,
      1.6366050206251996,
      1.0899736412997074,
      0.28922222372619194,
      0.20101047285792145,
      -0.05477626478540948,
      0.14087438011015818,
      0.16576529902617357,
      0.16517702495397404
    ],
    "a_ego": [
      2.2446434673055258,
      2.2446434639761144,
      1.986109971415639,
      1.735421873299225,
      1.4817723990954939,
      1.3526506806605376,
      1.1941786790845235,
      0.8312317469017948,
      0.7322744922129849,
      0.7322744937812331
    ],
    "yaw": [
      -2.4372042980066757,
      -2.2950123460495275,
      -2.1793793654369455,
      -2.1034612888373694,
      -2.0669798703653566,
      -2.0561253736539626,
      -2.0494126307309966,
      -2.0499623276145966,
      -2.050117633056483,
      -2.0492929477406934
    ],
    "yaw_diff": [
      0.28438390391429635,
      0.23126596122516396,
      0.15183615319915233,
      0.07296283694402561,
      0.02170899342278787,
      0.013425485845932172,
      -0.0010993937672001408,
      -0.0003106108837727106,
      0.0016493706315792167,
      0.0016493706315792167
    ],
    "min_front_frame": [
      9,
      20.21639941102329
    ],
    "v_avg": 10.11542980768297,
    "v_std": 1.6167607520325629,
    "vy_max": 0.1455679336953697,
    "a_max": 2.2446434673055258,
    "ax_avg": 0.9973246610834223,
    "a_std": 0.5586355691018625,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "1ea94b85513e5822",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.749505469972135,
    "right_rear_min": 17.88002102550632,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      20.481815911194946,
      20.939603017655255,
      21.30094993270166,
      21.465849086727726,
      21.444932480742853,
      21.17026410188184,
      20.697686066083925,
      20.21639941102329
    ],
    "safe_frame": [
      -1,
      -1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1ea94b85513e5822",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "efd6ba6db6db5f6c": {
    "vx_ego": [
      8.419910982334784,
      8.291785936778872,
      8.15017318913739,
      7.976318256951433,
      7.727147127753059,
      7.367076206739899,
      6.876052737776375,
      6.331298059164721,
      5.825534656619983,
      5.333024285481971
    ],
    "vy_ego": [
      0.027469423121241565,
      0.010448409248868362,
      -0.03647719861508003,
      -0.06664195117167271,
      -0.06524368789810087,
      -0.04404503870115972,
      -0.024421350423018406,
      -0.013415784494793748,
      -0.025350450205220865,
      -0.13462144286604305
    ],
    "v_ego": [
      8.41995579083694,
      8.29179251975227,
      8.15025481803807,
      7.976596648059416,
      7.727422563361791,
      7.367207870105697,
      6.876096105715689,
      6.331312272922303,
      5.825589813985028,
      5.334723138309975
    ],
    "ax_ego": [
      -0.26454039607973656,
      -0.24532602769062395,
      -0.3215942047975088,
      -0.3825369897610421,
      -0.6240950557029585,
      -0.825389340530301,
      -1.1436912129596277,
      -1.0388788099582071,
      -0.9862321588557996,
      -0.985130836603257
    ],
    "ay_ego": [
      -0.5796613367999804,
      -0.5880510399531906,
      -0.6631131315874265,
      -0.5699554013636932,
      -0.5302802501627437,
      -0.4383289501387927,
      -0.40088597284968497,
      -0.301316340358578,
      -0.26287894641856546,
      -0.2669764912037994
    ],
    "a_ego": [
      0.6371725720232818,
      0.637172571170864,
      0.736981585823571,
      0.6864282250017756,
      0.8189577414406319,
      0.9345586295095784,
      1.2119154895572144,
      1.0816934495259123,
      1.0206660627411426,
      1.0206660629618902
    ],
    "yaw": [
      2.1316005891511414,
      2.0986941392839986,
      2.0663945343608434,
      2.03194036882057,
      1.996869145305341,
      1.9620943300762108,
      1.9300601844502425,
      1.9017555642748296,
      1.880491929737357,
      1.8763348686559858
    ],
    "yaw_diff": [
      -0.0658128997342855,
      -0.0645992098463104,
      -0.0689083310805465,
      -0.07014244703045813,
      -0.06954963045826057,
      -0.06406829125193658,
      -0.05660924035082582,
      -0.042527269074945195,
      -0.008314122162742521,
      -0.008314122162742521
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.230095154108719,
    "v_std": 1.0349521095205936,
    "vy_max": 0.13462144286604305,
    "a_max": 1.2119154895572144,
    "ax_avg": -0.6817415032939063,
    "a_std": 0.19312183529300603,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "efd6ba6db6db5f6c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "efd6ba6db6db5f6c",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "0c94bd3548525c31": {
    "vx_ego": [
      8.223576905597907,
      8.258098379378607,
      8.28373825879631,
      8.328596195265405,
      8.425294927605364,
      8.466753976552646,
      8.44406121093166,
      8.39215134587396,
      8.294446220325236,
      8.195703677917933
    ],
    "vy_ego": [
      -0.02436168920933479,
      -0.010708911615144867,
      0.018647193966620623,
      -0.02094334474060755,
      -0.03436828908007339,
      -0.013669845523576196,
      0.013918803441863137,
      0.03420604156068263,
      0.026972011080490077,
      0.01565945200649521
    ],
    "v_ego": [
      8.223612990297172,
      8.25810532291055,
      8.283759246748335,
      8.328622527613932,
      8.425365024521309,
      8.466765011747206,
      8.444072682482659,
      8.392221056748529,
      8.29449007421489,
      8.195718638086271
    ],
    "ax_ego": [
      0.06878729154003985,
      0.06978856485076795,
      0.03285361793303211,
      0.14554997714674944,
      0.24221094296819126,
      -0.07613439866899721,
      -0.014521287041884809,
      -0.19360320412869525,
      -0.19749872323002438,
      -0.19750509723772047
    ],
    "ay_ego": [
      0.14308119544544476,
      0.1425954913760295,
      0.19878864200925123,
      -0.002951647900082649,
      0.13116240425734532,
      0.07321453828579363,
      0.1459067704282706,
      0.04802590853090295,
      -0.01614880129975811,
      -0.01607077483495359
    ],
    "a_ego": [
      0.15875742492088993,
      0.15875741855012995,
      0.20148519648642152,
      0.14557990270894314,
      0.27544458096703894,
      0.10562582675222829,
      0.1466276012016867,
      0.1994710218029574,
      0.19815783976645696,
      0.19815784929867702
    ],
    "yaw": [
      0.9833799827276137,
      0.9903898329345275,
      0.9971555241344368,
      1.007834261638501,
      1.0132709942166702,
      1.0168529425733421,
      1.0200717638913752,
      1.0234123166536664,
      1.0252344277429897,
      1.0256295316389794
    ],
    "yaw_diff": [
      0.014019700413827607,
      0.013531382399818437,
      0.021357475008128457,
      0.010873465156338469,
      0.007163896713343831,
      0.006437642636066165,
      0.0066811055245823425,
      0.0036442221786465723,
      0.0007902077919794692,
      0.0007902077919794692
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.331273257537088,
    "v_std": 0.09087715080796192,
    "vy_max": 0.03436828908007339,
    "a_max": 0.27544458096703894,
    "ax_avg": -0.01200723158685415,
    "a_std": 0.04396367115017532,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "0c94bd3548525c31",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.508238405113342,
    "right_rear_min": 20.546959602689313,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "0c94bd3548525c31",
    "pedestrians": "No"
  },
  "a98bfcdd7d6c5683": {
    "vx_ego": [
      0.703384524971252,
      0.3193370809128554,
      0.05779547265276602,
      -0.014670548575372543,
      -0.014120174511977626,
      -0.008401600912740188,
      -0.00499532598117141,
      -0.003320632006559137,
      -0.0025567659530206723,
      -0.0020091977425314386
    ],
    "vy_ego": [
      -0.004296497189467077,
      0.004009752487078548,
      0.006878709441572669,
      0.004063116928241421,
      0.0018446016906919999,
      0.0008925842536702413,
      0.0004715682861293689,
      0.00032601617936628966,
      0.00030642537733923986,
      0.0003251171586260199
    ],
    "v_ego": [
      0.703397647036961,
      0.31936225412680064,
      0.0582033787914259,
      0.015222809027079311,
      0.01424015040812443,
      0.008448881851869917,
      0.0050175350827521975,
      0.003336597589190754,
      0.0025750628439716186,
      0.002035332094628905
    ],
    "ax_ego": [
      -0.7680947530310331,
      -0.7680950280570439,
      -0.27807929710171847,
      -0.011784645326643266,
      0.013987154479367455,
      0.008886936363746323,
      0.004738291479359727,
      0.0019603735864056706,
      0.0010951368276906433,
      0.0010951383285731462
    ],
    "ay_ego": [
      0.01660217604220485,
      0.01658975820412959,
      -0.0049902805560246635,
      -0.006271828407276349,
      -0.0025952051620830308,
      -0.0012148475902629173,
      -0.00046807683461818706,
      -0.0001155317936691503,
      3.743976530771253e-05,
      3.745576858749644e-05
    ],
    "a_ego": [
      0.7682741580211716,
      0.7682741647375776,
      0.278124070113706,
      0.013349670297243058,
      0.01422587713510107,
      0.008969587091992828,
      0.00476135506620533,
      0.0019637749854872484,
      0.0010957766229440298,
      0.00109577866985558
    ],
    "yaw": [
      -1.534585937091515,
      -1.534602099372433,
      -1.5343592885773507,
      -1.5343649267928718,
      -1.5344647135299574,
      -1.5344181617356714,
      -1.5344644155606177,
      -1.5343727532992464,
      -1.5343970455005382,
      -1.5344109248376339
    ],
    "yaw_diff": [
      -3.232456183610566e-05,
      0.00048562159016452,
      -1.1276431042261947e-05,
      -0.00019957347417109972,
      9.310358857206325e-05,
      -9.250764989277016e-05,
      0.0001833245227427227,
      -4.8584402583706776e-05,
      -2.7758674191247223e-05,
      -2.7758674191247223e-05
    ],
    "min_front_frame": [
      1,
      9.34972172426719
    ],
    "v_avg": 0.11318396488528046,
    "v_std": 0.21739250560204024,
    "vy_max": 0.006878709441572669,
    "a_max": 0.7682741647375776,
    "ax_avg": -0.1794290692451296,
    "a_std": 0.30204691931277533,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a98bfcdd7d6c5683",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.424686858997268,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.55757160990895,
      9.34972172426719,
      9.357614277308075,
      9.385403818143402,
      9.387856326058797,
      9.37183687419911,
      9.373454343166918,
      9.359538496596,
      9.370584222116605,
      9.38628987517757
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a98bfcdd7d6c5683",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "76b4369e21a15a7a": {
    "vx_ego": [
      4.954795304417837,
      4.056929652244786,
      3.3074625883919433,
      2.784326918509077,
      2.2801373216842977,
      1.7169813383393833,
      1.2160472138726606,
      0.8441560180864265,
      0.6048546540676475,
      0.4311845042257308
    ],
    "vy_ego": [
      0.014008825677927383,
      0.0005994203375452867,
      -0.02360935628013547,
      -0.021309456071348973,
      0.008313608268494865,
      -0.010056796186053527,
      -0.002626489825501087,
      0.04312085127790578,
      0.027683171547228422,
      -0.027557088124845783
    ],
    "v_ego": [
      4.954815108142576,
      4.056929696527627,
      3.307546851567835,
      2.784408461783635,
      2.280152477756715,
      1.7170107906927163,
      1.2160500502924474,
      0.8452566419061507,
      0.6054878285599198,
      0.4320641963763137
    ],
    "ax_ego": [
      -1.7957360228824109,
      -1.7957532825540945,
      -1.202091108706738,
      -0.8901727684169292,
      -1.126588658135826,
      -1.1260856185359218,
      -0.8776092252990854,
      -0.6099405990618104,
      -0.34732572553801283,
      -0.3473549275586707
    ],
    "ay_ego": [
      -0.019178222538293932,
      -0.017487222576078973,
      -0.06417096327832733,
      0.09326376017586009,
      0.03458580660680686,
      -0.10184831733355143,
      0.13324253819900173,
      0.049262289347617325,
      -0.11025205771112712,
      -0.11016004183447443
    ],
    "a_ego": [
      1.7958384303988115,
      1.795838426684659,
      1.203802702339492,
      0.8950450751739826,
      1.1271194181003734,
      1.1306820508069921,
      0.8876663372663025,
      0.6119267174553245,
      0.36440454971095615,
      0.36440455611348016
    ],
    "yaw": [
      -1.5467333422022795,
      -1.545791670632393,
      -1.544740051218033,
      -1.5430860918257214,
      -1.5421729281766205,
      -1.541394954450229,
      -1.5411035834516864,
      -1.5412251247835265,
      -1.5409500859455174,
      -1.5406851673695905
    ],
    "yaw_diff": [
      0.0018833431397728972,
      0.002103238828720322,
      0.0033079187846229985,
      0.0018263272982017575,
      0.0015559474527830908,
      0.0005827419970851899,
      -0.00024308266368011644,
      0.0005500776760181125,
      0.0005298371518538403,
      0.0005298371518538403
    ],
    "min_front_frame": [
      5,
      10.065866453325109
    ],
    "v_avg": 2.2199722103605937,
    "v_std": 1.4598854304733586,
    "vy_max": 0.04312085127790578,
    "a_max": 1.7958384303988115,
    "ax_avg": -1.01186579366895,
    "a_std": 0.4817224732633041,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "76b4369e21a15a7a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.9661164309352155,
    "right_rear_min": 3.7564516459143755,
    "speed_mode": "decelerating",
    "front_frame": [
      14.025944009346539,
      12.783716233059511,
      11.864903868036333,
      11.037941385790017,
      10.413927822809422,
      10.065866453325109,
      10.076892321788476,
      10.268176303913341,
      10.488129075106098,
      10.6567430127162
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "76b4369e21a15a7a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d35a0c5da0c55970": {
    "vx_ego": [
      5.16947600851368,
      5.628990363203663,
      6.3063194305648365,
      7.010923440828243,
      7.6080976324423055,
      8.111324440505172,
      8.487344129115307,
      8.699638226026494,
      8.757681383146986,
      8.744697797152627
    ],
    "vy_ego": [
      0.14162503248415237,
      0.1864887847761536,
      0.24989752968520795,
      0.2214601433122514,
      0.2047297618514352,
      0.17842529801482687,
      0.0991757122541852,
      0.0769883943100842,
      0.10638938032241008,
      0.14644126114940192
    ],
    "v_ego": [
      5.171415652645286,
      5.632078708246804,
      6.31126877384115,
      7.014420295949682,
      7.610851717131399,
      8.113286619250438,
      8.487923549840042,
      8.699978877939868,
      8.7583275748835,
      8.74592388524466
    ],
    "ax_ego": [
      0.700909328622439,
      1.2638405850550611,
      1.5451959879908972,
      1.314691312075754,
      1.1219988415304334,
      0.9179644554205298,
      0.592137380512247,
      0.2587440390555573,
      -0.02458789117552585,
      -0.024479515148504147
    ],
    "ay_ego": [
      -2.519922552206145,
      -2.2899761063923973,
      -1.668126976200437,
      -0.7468356783038352,
      -0.8648371901975056,
      -0.5935291638824371,
      -0.24851324730921417,
      -0.0658714967293721,
      -0.01904638262806238,
      -0.019185470992582766
    ],
    "a_ego": [
      2.615584744577604,
      2.6155847515002075,
      2.2738245864689692,
      1.512010838729345,
      1.4166244265663186,
      1.0931311036625455,
      0.642172493562342,
      0.26699725060036,
      0.031101914469595895,
      0.031101912467131003
    ],
    "yaw": [
      -0.09172195109853891,
      -0.3247339040140549,
      -0.5017564068872743,
      -0.5877309101980046,
      -0.6403788289283976,
      -0.6832736943073149,
      -0.6990119818947095,
      -0.7055444176735612,
      -0.7113214452642707,
      -0.716990365217845
    ],
    "yaw_diff": [
      -0.4660239058310319,
      -0.3540450057464388,
      -0.17194900662146062,
      -0.10529583746078597,
      -0.08578973075783458,
      -0.03147657517478919,
      -0.013064871557703528,
      -0.011554055181418832,
      -0.01133783990714865,
      -0.01133783990714865
    ],
    "min_front_frame": [
      9,
      75.28423024427764
    ],
    "v_avg": 7.4545475654972835,
    "v_std": 1.283733258735907,
    "vy_max": 0.24989752968520795,
    "a_max": 2.6155847515002075,
    "ax_avg": 0.7666414523938889,
    "a_std": 0.9594818834773764,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "d35a0c5da0c55970",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      79.64840460223942,
      75.28423024427764
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d35a0c5da0c55970",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3d2adf8b0bb65492": {
    "vx_ego": [
      10.406188097622914,
      10.287681474124161,
      10.177351142726087,
      9.989556016327075,
      9.694020321678146,
      9.356727381588408,
      8.940092095585007,
      8.490977085242504,
      8.05909074625809,
      7.617344594780249
    ],
    "vy_ego": [
      -0.010088499656637495,
      0.01453660566738435,
      0.027880010288624746,
      0.03027715469198533,
      0.028395233354671312,
      0.014479892765669078,
      -0.010294677507043382,
      -0.02961595396164407,
      -0.024366192985148416,
      0.012742207361265745
    ],
    "v_ego": [
      10.406192987876697,
      10.287691744309887,
      10.177389330143642,
      9.98960189944688,
      9.69406190852865,
      9.356738585675073,
      8.940098022836578,
      8.491028734307896,
      8.059127581058844,
      7.617355252282535
    ],
    "ax_ego": [
      -0.23724335916346864,
      -0.23681301056400272,
      -0.20488943316084435,
      -0.5470555493405249,
      -0.6354098823217776,
      -0.7141942495848621,
      -0.9523614415501942,
      -0.8440466459749179,
      -0.8834729372283514,
      -0.8835381920056549
    ],
    "ay_ego": [
      0.12173621554507762,
      0.12257126237035625,
      0.149909707424269,
      0.04100397857507157,
      0.08443291617264206,
      -0.02100362722135013,
      -0.023979870978008466,
      -0.02978802997841168,
      0.05644040381445281,
      0.05540949803373063
    ],
    "a_ego": [
      0.26665355359042975,
      0.2666535511322682,
      0.25387516657011183,
      0.5485901022833427,
      0.6409950357729706,
      0.7145030290324442,
      0.9526632928604345,
      0.8445721208467061,
      0.8852739406520611,
      0.8852739402043706
    ],
    "yaw": [
      1.0745141705528125,
      1.078037138109205,
      1.0833924267074508,
      1.0878690412162197,
      1.0912428035373112,
      1.094365189178355,
      1.0958391952774273,
      1.0965148221634395,
      1.0966855153993635,
      1.095518679511419
    ],
    "yaw_diff": [
      0.007045935112785173,
      0.010710577196491489,
      0.008953229017537812,
      0.006747524642182867,
      0.006244771282087669,
      0.002948012198144667,
      0.0013512537720243856,
      0.0003413864718480042,
      -0.002333671775889279,
      -0.002333671775889279
    ],
    "min_front_frame": [
      0,
      29.60740199682402
    ],
    "v_avg": 9.301928604646669,
    "v_std": 0.9358444974068407,
    "vy_max": 0.03027715469198533,
    "a_max": 0.9526632928604345,
    "ax_avg": -0.6139024700894599,
    "a_std": 0.2645212849221353,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3d2adf8b0bb65492",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.18388119857216,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      29.60740199682402,
      30.310847798206986,
      31.162883812173007,
      32.13601054258722,
      33.164661415030196,
      34.21838298721395,
      35.45297764938738,
      36.6579551254664,
      38.02107032019991,
      39.43099843074671
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3d2adf8b0bb65492",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "67dff3c1993f57a5": {
    "vx_ego": [
      5.846921061444322,
      5.723877429176913,
      5.644096342985295,
      5.575538009657118,
      5.509725356996871,
      5.440227139902359,
      5.343089522875655,
      5.240500910808439,
      5.14005558829424,
      5.102022544573625
    ],
    "vy_ego": [
      -0.06386052358832606,
      0.03649978827776046,
      -0.005291475627368314,
      -0.025419848085184604,
      -0.011302312319092955,
      -0.037707756688192706,
      -0.0646033916557216,
      0.033590125111849556,
      0.042671773003839064,
      -0.07941495460962766
    ],
    "v_ego": [
      5.847269795830714,
      5.72399380317495,
      5.644098823427376,
      5.575595956111591,
      5.50973694941946,
      5.440357819908968,
      5.34348006898847,
      5.240608561292201,
      5.14023271175208,
      5.102640569386911
    ],
    "ax_ego": [
      -0.27293996054993663,
      -0.21534140089650408,
      -0.10163846616013994,
      -0.16542340732236155,
      -0.09445679941188351,
      -0.17489240829592906,
      -0.20010686837277597,
      -0.20366632961687964,
      -0.18870164353735264,
      0.0496804778983535
    ],
    "ay_ego": [
      0.9147496969521947,
      0.9299953389292945,
      1.0991168470724753,
      1.1166308652749113,
      1.0407622534707537,
      1.0198146209596668,
      0.8991617958711842,
      0.9645377034494989,
      1.4349250976375396,
      1.4464266986044483
    ],
    "a_ego": [
      0.9546010842960179,
      0.95460109436889,
      1.1038062426539925,
      1.1288176969620636,
      1.0450397864218655,
      1.0347024768515145,
      0.9211594291566756,
      0.9858057390760335,
      1.44727963645724,
      1.4472796358409707
    ],
    "yaw": [
      -2.906994008399983,
      -2.8445682023965713,
      -2.7478022998092655,
      -2.6457040534712832,
      -2.5508613262619924,
      -2.4522091198790017,
      -2.3583656194975635,
      -2.288908547087555,
      -2.1751651772444514,
      -2.0100756768725825
    ],
    "yaw_diff": [
      0.12485161200682349,
      0.19353180517461155,
      0.2041964926759645,
      0.18968545441858176,
      0.19730441276598132,
      0.18768700076287637,
      0.13891414482001707,
      0.22748673968620725,
      0.33017900074373774,
      0.33017900074373774
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.456801505929272,
    "v_std": 0.23692806491634985,
    "vy_max": 0.07941495460962766,
    "a_max": 1.44727963645724,
    "ax_avg": -0.15674868062654096,
    "a_std": 0.1834634208025945,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "67dff3c1993f57a5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.573911355745317,
    "right_rear_min": 28.3020582682281,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "67dff3c1993f57a5",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "96c3433ef79a5478": {
    "vx_ego": [
      1.9198740577240656,
      2.3655868332298726,
      2.7993238746447844,
      3.148687618227565,
      3.4336151591930415,
      3.716524162975043,
      3.9973216491339505,
      4.309773240308944,
      4.640023343184144,
      5.002905988951595
    ],
    "vy_ego": [
      -0.07910727953183222,
      0.009165718536039424,
      0.023647316794803475,
      0.007815642677646562,
      -0.01173442576635364,
      -0.036325442442794786,
      -0.037865190682295546,
      -0.050566104360576514,
      -0.0749116097926601,
      0.014488623938039069
    ],
    "v_ego": [
      1.921503150972383,
      2.365604589940343,
      2.7994237533370834,
      3.1486973181698557,
      3.4336352104130574,
      3.716701681833775,
      3.9975009867791615,
      4.310069873423546,
      4.640628015104796,
      5.002926968736538
    ],
    "ax_ego": [
      0.8870562891951865,
      0.9006003730187783,
      0.8346981576218973,
      0.5681775011295518,
      0.5850793715344091,
      0.5654831632057897,
      0.5894970199397849,
      0.6946425729954404,
      0.6636659979900494,
      0.7966875194617334
    ],
    "ay_ego": [
      0.3623234104334978,
      0.32720953868607583,
      0.4683065937497047,
      0.7000417935315766,
      0.8971233402548191,
      0.9791961163662275,
      1.1429566155122313,
      1.2538576755439663,
      1.263237363830961,
      1.1838539567550244
    ],
    "a_ego": [
      0.9581999342250527,
      0.9581999342980133,
      0.9570956483480847,
      0.9016009014418344,
      1.0710500262009535,
      1.1307503005420465,
      1.2860235462311962,
      1.433418073954087,
      1.4269622259424823,
      1.4269622260559727
    ],
    "yaw": [
      1.7753547387260944,
      1.8146344929010572,
      1.8857813387592932,
      1.9880817585729829,
      2.1152546961074012,
      2.2530288669379255,
      2.390871639349138,
      2.5383921090745982,
      2.6840711362781944,
      2.7926823106325336
    ],
    "yaw_diff": [
      0.07855950834992553,
      0.1422936917164721,
      0.2046008396273793,
      0.25434587506883677,
      0.27554834166104847,
      0.2756855448224247,
      0.2950409394509208,
      0.2913580544071923,
      0.2172223487086784,
      0.2172223487086784
    ],
    "min_front_frame": [
      9,
      61.324089526837525
    ],
    "v_avg": 3.533669154871054,
    "v_std": 0.9432017736722754,
    "vy_max": 0.07910727953183222,
    "a_max": 1.433418073954087,
    "ax_avg": 0.708558796609262,
    "a_std": 0.2076256498440809,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "96c3433ef79a5478",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      61.324089526837525
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "96c3433ef79a5478",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "c5bec7e4a75f5ca1": {
    "vx_ego": [
      5.439945977368405,
      5.592193214464228,
      5.732339959388919,
      5.8406217391733115,
      5.924433934406458,
      5.9770696191869375,
      6.02598498122328,
      6.076840802188219,
      6.093925078957522,
      6.101923420612371
    ],
    "vy_ego": [
      0.020078127207287022,
      0.02270168530550143,
      0.016291867062728616,
      0.011240992744774969,
      0.020642282083479513,
      0.015410886006844426,
      0.010530958548195218,
      -0.005121196269654384,
      -0.00493967100488979,
      -0.032183787633380034
    ],
    "v_ego": [
      5.439983030109454,
      5.592239293379304,
      5.732363110876642,
      5.840632556497777,
      5.924469895860422,
      5.977089486364998,
      6.025994183121693,
      6.0768429601060765,
      6.093927080979643,
      6.102008294586644
    ],
    "ax_ego": [
      0.3036702479255815,
      0.3045591436536016,
      0.2552546647914561,
      0.17784529470553923,
      0.1568241370703137,
      0.05276640663735255,
      0.1431285144069616,
      0.061312713252808786,
      0.008935897026712724,
      0.02599162133062272
    ],
    "ay_ego": [
      0.10301391615534147,
      0.10035544074647187,
      0.02667460802694854,
      0.12967312797248706,
      0.13932911328938677,
      0.12336540577104564,
      0.2552360981968744,
      0.35071096208318503,
      0.42991603321174093,
      0.4292226479714322
    ],
    "a_ego": [
      0.3206672518309967,
      0.32066725194574164,
      0.25664465435927153,
      0.22010013395513667,
      0.20977705255307433,
      0.13417643984870514,
      0.2926281556158059,
      0.35603009385687384,
      0.4300088904525007,
      0.4300088905022808
    ],
    "yaw": [
      -0.09050571624464204,
      -0.08176408514365359,
      -0.07503079413142938,
      -0.06741581838683934,
      -0.05758620463003411,
      -0.04569702687679305,
      -0.02908197536388728,
      -0.0015105037075717198,
      0.030492257523195464,
      0.07019128073305207
    ],
    "yaw_diff": [
      0.017483262201976907,
      0.01346658202444842,
      0.015229951489180077,
      0.01965922751361046,
      0.02377835550648212,
      0.03323010302581154,
      0.05514294331263112,
      0.06400552246153438,
      0.07939804641971321,
      0.07939804641971321
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.880554989188266,
    "v_std": 0.2159357302220551,
    "vy_max": 0.032183787633380034,
    "a_max": 0.4300088905022808,
    "ax_avg": 0.14902886408009508,
    "a_std": 0.09037041545734532,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c5bec7e4a75f5ca1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.2626793919118517,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c5bec7e4a75f5ca1",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "114f66c4cf785eab": {
    "vx_ego": [
      12.40839974793609,
      12.25039508229748,
      12.010870407278727,
      11.635510701497216,
      11.185772702265592,
      10.741046502280435,
      10.376857026220703,
      10.08540591331312,
      9.80398819397721,
      9.515081665911532
    ],
    "vy_ego": [
      0.007924407733637617,
      0.018026552255628853,
      0.012984868730453292,
      -0.005931679860027572,
      -0.015265960842652027,
      -0.0011157957700693721,
      -0.006694536677967766,
      0.027389863986723606,
      0.010342168467567026,
      0.009204008237323258
    ],
    "v_ego": [
      12.408402278328115,
      12.250408345396675,
      12.010877426202459,
      11.635512213455934,
      11.185783119491926,
      10.741046560235691,
      10.376859185680766,
      10.085443105830327,
      9.8039936489215,
      9.515086117462806
    ],
    "ax_ego": [
      -0.31605026126913704,
      -0.31576792545523813,
      -0.642308477642673,
      -0.8589841376443712,
      -0.9399474172811532,
      -0.8389664149179301,
      -0.6176927122252017,
      -0.5480049947714867,
      -0.5778064142784265,
      -0.5778008641991788
    ],
    "ay_ego": [
      -0.07334226344871318,
      -0.07454843854767108,
      0.0052948068857783075,
      0.10717444092566016,
      0.03290231791798132,
      -0.004979940717573159,
      0.06492804571216987,
      0.008644601311530225,
      -0.011416454945898522,
      -0.01169396915246404
    ],
    "a_ego": [
      0.32444854022798475,
      0.32444853588235023,
      0.6423303008823465,
      0.8656443319934417,
      0.9405231043296524,
      0.8389811947652909,
      0.6210957557865997,
      0.5480731734233417,
      0.5779191879707961,
      0.5779191877623173
    ],
    "yaw": [
      -1.5473063276631671,
      -1.5511244296684676,
      -1.552132667986681,
      -1.5481636630980309,
      -1.5442800855126548,
      -1.5449347936729523,
      -1.5429819696199876,
      -1.5445169519581343,
      -1.5428729998615176,
      -1.5433532968591637
    ],
    "yaw_diff": [
      -0.007636204010601055,
      -0.0020164766364265674,
      0.007938009777300081,
      0.007767155170752105,
      -0.0013094163205948917,
      0.0039056481059294157,
      -0.0030699646762935018,
      0.0032879041932334374,
      -0.0009605939952921361,
      -0.0009605939952921361
    ],
    "min_front_frame": [
      7,
      14.448844727676823
    ],
    "v_avg": 11.00134120010062,
    "v_std": 0.9967216478479421,
    "vy_max": 0.027389863986723606,
    "a_max": 0.9405231043296524,
    "ax_avg": -0.6233329619684796,
    "a_std": 0.198637459964977,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "114f66c4cf785eab",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.975636870226111,
    "right_rear_min": 18.21230881846952,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      78.05026845878831,
      73.51041432841367,
      68.79266281207406,
      63.854949234605094,
      14.448844727676823,
      14.755363453623602,
      14.873517531901332
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.42857142857142855,
    "oversafe_ratio": 0.5714285714285714,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "114f66c4cf785eab",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1288b2d19d695376": {
    "vx_ego": [
      5.538073566166606,
      5.158671641973736,
      4.714277698114944,
      4.173719080041985,
      3.579242947819117,
      2.922343969614123,
      2.216366467647606,
      1.5268713952523822,
      0.9246133033283428,
      0.3836397386267869
    ],
    "vy_ego": [
      0.015854626907933156,
      -0.0015422894809073995,
      -0.015717062762041767,
      -0.022641288163703255,
      -0.0005200453283065176,
      0.010513723561911048,
      0.018721712068199725,
      0.022509968406044356,
      0.012163217180292951,
      -0.004465485317675405
    ],
    "v_ego": [
      5.538096260762149,
      5.158671872523087,
      4.714303897820526,
      4.1737804909980865,
      3.5792429855990533,
      2.9223628821765386,
      2.2164455376605785,
      1.527037313335073,
      0.9246933029626229,
      0.3836657263983216
    ],
    "ax_ego": [
      -0.75880909035573,
      -0.7588365695172143,
      -1.0187467919295488,
      -1.1432796276818757,
      -1.2346219148817008,
      -1.3929846284007366,
      -1.4308926969054014,
      -1.327020684164245,
      -1.0819503964806794,
      -1.0819382388357464
    ],
    "ay_ego": [
      -0.020863229271079586,
      -0.019838657588449826,
      -0.04349519701167143,
      0.04631499131702166,
      0.043210192568760575,
      0.004454795834118341,
      0.02162820783061503,
      -0.011499302609328743,
      -0.03353391317180243,
      -0.03392382303142916
    ],
    "a_ego": [
      0.7590958502996232,
      0.7590958513729119,
      1.0196748786891985,
      1.1442173681137269,
      1.235377834287141,
      1.3929917516506198,
      1.4310561447515528,
      1.3270705068534383,
      1.0824699459002607,
      1.0824699434275598
    ],
    "yaw": [
      0.8742409173729566,
      0.8755911298876559,
      0.875257320138692,
      0.876968064172604,
      0.8770349523918031,
      0.8773047752192795,
      0.876649307588863,
      0.8759735276687499,
      0.8752107924015171,
      0.8748504134368148
    ],
    "yaw_diff": [
      0.00270042502939849,
      -0.0006676194979278183,
      0.0034214880678240522,
      0.00013377643839818099,
      0.0005396456549529027,
      -0.001310935260833146,
      -0.0013515598402260576,
      -0.0015254705344656116,
      -0.0007207579294046251,
      -0.0007207579294046251
    ],
    "min_front_frame": [
      9,
      9.28253472761427
    ],
    "v_avg": 3.1138300270236035,
    "v_std": 1.7194781817430942,
    "vy_max": 0.022641288163703255,
    "a_max": 1.4310561447515528,
    "ax_avg": -1.122908063915288,
    "a_std": 0.22390411615774755,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "1288b2d19d695376",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.934828343569132,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.516064388964015,
      18.97968349765011,
      17.314039349518584,
      15.54712785724731,
      13.904616602235176,
      12.274889946499387,
      11.043995103822125,
      10.192127383143276,
      9.592872180313629,
      9.28253472761427
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "1288b2d19d695376",
    "merging_vehicles": "No"
  },
  "eb0095eae628560d": {
    "vx_ego": [
      5.801317213221519,
      5.143771509691311,
      4.462347569132465,
      3.7580895087491353,
      3.049301768887063,
      2.306785796487113,
      1.5944927621133216,
      0.9652962873399744,
      0.3988645553722102,
      -0.12949875933172617
    ],
    "vy_ego": [
      -0.10147063429297809,
      -0.05898706101367557,
      -0.009403679511027274,
      0.030387920630472687,
      0.016601862649253674,
      0.004780728163488623,
      0.005935185104879892,
      0.006179696097693033,
      0.012365362446488143,
      0.0027055048805800647
    ],
    "v_ego": [
      5.802204554998394,
      5.144109720571583,
      4.462357477492224,
      3.758212365139916,
      3.0493469628071512,
      2.306790750422859,
      1.5945038083535577,
      0.9653160679260437,
      0.3990561811583727,
      0.129527018127938
    ],
    "ax_ego": [
      -1.3151038445762213,
      -1.3151126398836723,
      -1.4105700991359056,
      -1.4064305651056939,
      -1.4286915120748351,
      -1.5413839354312995,
      -1.3077526454101562,
      -1.209024710676099,
      -1.0567261535591599,
      -1.0567244503856623
    ],
    "ay_ego": [
      0.08388724159712513,
      0.08374918632019279,
      0.11622255960651628,
      0.03659802654430855,
      -0.09421076436349551,
      0.04201333140067032,
      -0.04171261573615037,
      0.044956851931010955,
      -0.01929687837712113,
      -0.01939003432864056
    ],
    "a_ego": [
      1.3177766090358154,
      1.317776605419559,
      1.4153500231171683,
      1.4069066600206495,
      1.431794365401901,
      1.54195640548657,
      1.3084177176608447,
      1.2098602686099629,
      1.0569023290404078,
      1.0569023310950478
    ],
    "yaw": [
      -0.5757792443778796,
      -0.57588421596571,
      -0.5757991568856721,
      -0.5761851824848825,
      -0.5763663439960076,
      -0.5768225703441825,
      -0.5773842732369872,
      -0.5769373096776325,
      -0.5765914359362554,
      -0.5766795945806031
    ],
    "yaw_diff": [
      -0.00020994317566080944,
      0.00017011816007594938,
      -0.0007720511984208311,
      -0.0003623230222502549,
      -0.0009124526963497637,
      -0.0011234057856093216,
      0.0008939271187093922,
      0.0006917474827541348,
      -0.00017631728869549335,
      -0.00017631728869549335
    ],
    "min_front_frame": [
      9,
      8.819996916715004
    ],
    "v_avg": 2.761142490699804,
    "v_std": 1.9025051766047576,
    "vy_max": 0.10147063429297809,
    "a_max": 1.54195640548657,
    "ax_avg": -1.3047520556238703,
    "a_std": 0.15075253579038778,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "eb0095eae628560d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 43.39091562021788,
    "right_rear_min": 30.399898334011528,
    "speed_mode": "decelerating",
    "front_frame": [
      20.888326912497124,
      18.154117253261585,
      15.830500571782121,
      13.776104948207067,
      12.077599989487926,
      10.744495907355356,
      9.802699561212652,
      9.178590627010061,
      8.870097377654734,
      8.819996916715004
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "eb0095eae628560d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "20a6e330d8f1571b": {
    "vx_ego": [
      11.720898514422002,
      11.564236849435984,
      11.429772900591677,
      11.325733369298481,
      11.243997777969032,
      11.159251464962674,
      11.076916640791707,
      11.057434561193515,
      11.138048943131896,
      11.272104695547704
    ],
    "vy_ego": [
      -0.06926686581379826,
      -0.03574921421247845,
      -0.008817074712411443,
      -0.003039604866341472,
      -0.02641209648985643,
      -0.04405224484311406,
      -0.03307849607628971,
      -0.021310880233416152,
      -0.010537385803382482,
      -0.03584242735500909
    ],
    "v_ego": [
      11.721103185454838,
      11.564292106141643,
      11.429776301393932,
      11.325733777183661,
      11.244028798869802,
      11.159338414912744,
      11.076966031091315,
      11.057455097294909,
      11.138053927688675,
      11.272161680307255
    ],
    "ax_ego": [
      -0.3233626639198023,
      -0.30874633780789995,
      -0.23106233532100168,
      -0.1848094205294208,
      -0.14341639903294823,
      -0.20060268810726753,
      -0.13459303271437212,
      0.05490636332264808,
      0.26554205633273326,
      0.2695246067736861
    ],
    "ay_ego": [
      -0.5465944015667581,
      -0.5549815754113261,
      -0.5899808809200466,
      -0.6579039437727664,
      -0.6828536439634945,
      -0.5889428992240676,
      -0.38715840101906585,
      -0.4236279606476451,
      -0.32675389052980475,
      -0.32347669101992166
    ],
    "a_ego": [
      0.6350817681538602,
      0.635081766511862,
      0.6336144274361099,
      0.6833682178358749,
      0.6977516482143203,
      0.6221697332901304,
      0.40988646224886693,
      0.42717134475032537,
      0.4210471335346912,
      0.4210471271600223
    ],
    "yaw": [
      -1.4330747806409443,
      -1.4596103360689876,
      -1.4868711816115914,
      -1.5148107525300918,
      -1.5424530910541865,
      -1.5692438046501027,
      -1.5921953542554537,
      -1.6116147136855428,
      -1.629531456845867,
      -1.6417809923078448
    ],
    "yaw_diff": [
      -0.05307111085608662,
      -0.054521691085207546,
      -0.05587914183700082,
      -0.0552846770481894,
      -0.053581427191832454,
      -0.0459030992107019,
      -0.0388387188601782,
      -0.03583348632064842,
      -0.024499070923955646,
      -0.024499070923955646
    ],
    "min_front_frame": [
      9,
      32.93945263045847
    ],
    "v_avg": 11.298890932033876,
    "v_std": 0.20570905811705736,
    "vy_max": 0.06926686581379826,
    "a_max": 0.6977516482143203,
    "ax_avg": -0.0936619851003645,
    "a_std": 0.11555443434694217,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "20a6e330d8f1571b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      72.24547821058471,
      60.57974572104404,
      55.04651121512138,
      49.523941904511354,
      44.02161809270268,
      38.509954230301396,
      32.93945263045847
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8571428571428571,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.14285714285714285,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "20a6e330d8f1571b",
    "road_shape": "Straight"
  },
  "b2c0a19be09f5b76": {
    "vx_ego": [
      3.9033625256883733,
      3.6895737326954214,
      3.46170161334285,
      3.214672105992917,
      2.9542493694465763,
      2.682931020232679,
      2.36141793241506,
      1.9632563347721645,
      1.5244423887807965,
      1.0739022900678241
    ],
    "vy_ego": [
      -0.030401719727827903,
      -0.00048291476979889225,
      0.00796875308839562,
      -0.007060266720345987,
      -0.003207997816449981,
      0.004917114924427923,
      0.002958959353738355,
      -0.009940492396508849,
      -0.017159281416906147,
      -0.007445542729050514
    ],
    "v_ego": [
      3.9034809172725216,
      3.689573764298893,
      3.4617107852687914,
      3.2146798590862975,
      2.954251111216764,
      2.6829355261254313,
      2.3614197862667017,
      1.963281500297937,
      1.524538959046454,
      1.0739281003491097
    ],
    "ax_ego": [
      -0.4275863058779568,
      -0.42746487723706195,
      -0.4840670167884858,
      -0.5040501752695089,
      -0.5376692331405187,
      -0.5475940950326073,
      -0.7384528515734978,
      -0.8541956661270975,
      -0.9010820794597398,
      -0.9010844722731761
    ],
    "ay_ego": [
      0.07218855684917821,
      0.07290412039167952,
      -0.02970953963523547,
      -0.033441203243906786,
      0.042857940133038036,
      -0.013926902366163563,
      -0.00012311436004455723,
      -0.04976745245341935,
      0.01915847750819316,
      0.019045626141451444
    ],
    "a_ego": [
      0.43363721786111104,
      0.4336372124730314,
      0.4849778690701688,
      0.505158285355811,
      0.5393746446565324,
      0.5477711671164308,
      0.7384528618362692,
      0.8556442224160806,
      0.9012857267170721,
      0.9012857271958479
    ],
    "yaw": [
      -0.3341039589584087,
      -0.33243019467611834,
      -0.3317751098853522,
      -0.33200220774568323,
      -0.3324872333518844,
      -0.33280368827569184,
      -0.3334141851917437,
      -0.33321811158939363,
      -0.3334658387908831,
      -0.3335910829185824
    ],
    "yaw_diff": [
      0.0033475285645807595,
      0.0013101695815322945,
      -0.00045419572066207614,
      -0.0009700512124023453,
      -0.000632909847614882,
      -0.0012209938321037228,
      0.00039214720470015507,
      -0.0004954544029789343,
      -0.00025048825539863984,
      -0.00025048825539863984
    ],
    "min_front_frame": [
      9,
      10.719131857897233
    ],
    "v_avg": 2.68298003092289,
    "v_std": 0.8954310946069604,
    "vy_max": 0.030401719727827903,
    "a_max": 0.9012857271958479,
    "ax_avg": -0.632324677277965,
    "a_std": 0.1839585210923039,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b2c0a19be09f5b76",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.864697599895038,
    "right_rear_min": 3.0106350207431696,
    "speed_mode": "decelerating",
    "front_frame": [
      17.760267862294032,
      17.05113033489984,
      16.340733468893742,
      15.530922408490664,
      14.84986296250299,
      13.968544572638315,
      13.09295339068463,
      12.19612711718062,
      11.313883872904793,
      10.719131857897233
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b2c0a19be09f5b76",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "32f2729bfe435c65": {
    "vx_ego": [
      1.5211719999862123,
      1.0298971338051541,
      0.7373503489877542,
      0.5457690875427015,
      0.29200235175287004,
      0.09709581394916929,
      0.0028213102027836224,
      -0.00849680347678332,
      -0.008911842788192955,
      -0.004046486872799931
    ],
    "vy_ego": [
      0.04235418008303182,
      0.0190027346535786,
      -0.006941959996052738,
      -0.012695263852632144,
      0.012687296159134887,
      0.011954775526638164,
      -0.005754575175902696,
      -0.004457739656506551,
      -0.002697881030484787,
      -0.0013721412884693837
    ],
    "v_ego": [
      1.5217615220896337,
      1.0300724295623032,
      0.7373830266292747,
      0.5459167213426246,
      0.29227784882374586,
      0.09782900257257049,
      0.006408972360327863,
      0.009595160872453793,
      0.009311256839767466,
      0.0042728009229619605
    ],
    "ax_ego": [
      -0.982545942265103,
      -0.9825412522913233,
      -0.1876543493820532,
      -0.5786642095045016,
      -0.43640142824802247,
      -0.3432089025384817,
      -0.03388450823600039,
      -0.01139002730021268,
      0.009730798390749024,
      0.009730894438307281
    ],
    "ay_ego": [
      -0.04690863439737397,
      -0.04700677850952084,
      -0.055840052556335916,
      0.03304038214555882,
      0.06860612495409621,
      -0.07163302048096805,
      0.000804321310468108,
      0.004385157155678387,
      0.002651193267013534,
      0.0026508613783346024
    ],
    "a_ego": [
      0.983665059175452,
      0.9836650597027653,
      0.19578627712762722,
      0.5796067064948388,
      0.4417612556100082,
      0.3506046782415999,
      0.03389405303539326,
      0.012205012297395996,
      0.010085497660525319,
      0.010085503091895098
    ],
    "yaw": [
      -2.029134342819292,
      -2.0292342289549703,
      -2.028937152565299,
      -2.028859831036024,
      -2.028787366166682,
      -2.028919704379961,
      -2.0287271244084097,
      -2.028821485260895,
      -2.028753441355329,
      -2.0287188028749537
    ],
    "yaw_diff": [
      -0.0001997722713564798,
      0.0005941527793424939,
      0.00015464305854973048,
      0.0001449297386839632,
      -0.00026467642655791934,
      0.00038515994310284185,
      -0.0001887217049700851,
      0.0001360878111311692,
      6.92769607510968e-05,
      6.92769607510968e-05
    ],
    "min_front_frame": [
      5,
      11.670994537918705
    ],
    "v_avg": 0.4254828742015664,
    "v_std": 0.5003443139977752,
    "vy_max": 0.04235418008303182,
    "a_max": 0.9836650597027653,
    "ax_avg": -0.3536828926936642,
    "a_std": 0.3649752336162121,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "32f2729bfe435c65",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.858522269307073,
    "right_rear_min": 20.758532573150724,
    "speed_mode": "decelerating",
    "front_frame": [
      12.81058320309244,
      12.488005345506332,
      12.222609758845943,
      11.951796364464618,
      11.768583659987165,
      11.670994537918705,
      11.671947761671989,
      11.67805410428146,
      11.678709300175429,
      11.688989510630774
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "32f2729bfe435c65",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "8bd32ab85e615190": {
    "vx_ego": [
      7.383180800815777,
      7.701612086369074,
      8.008325615777418,
      8.30984063292973,
      8.529264209904639,
      8.620616723663563,
      8.705432173621507,
      8.782407037653455,
      8.800438769392823,
      8.799777129854272
    ],
    "vy_ego": [
      0.030544988396323358,
      0.08931667001731203,
      0.12335494095688748,
      0.1506459608451034,
      0.15769581049885328,
      0.13848079525075496,
      0.13206579846240052,
      0.12440903088697253,
      0.12059383232196463,
      0.12635375329674892
    ],
    "v_ego": [
      7.383243984445511,
      7.702129977898917,
      8.009275598315694,
      8.3112060226064,
      8.530721888035567,
      8.621728923305417,
      8.706433868389972,
      8.783288164576588,
      8.801264988978934,
      8.800684223745247
    ],
    "ax_ego": [
      0.63575764522015,
      0.6367426959946777,
      0.5877244519854454,
      0.6162198189734105,
      0.26035099122480193,
      0.10467031364472675,
      0.23549007791748527,
      0.07362572685148355,
      -0.0007747909850115229,
      -0.0007035763162598872
    ],
    "ay_ego": [
      0.19571255684535374,
      0.19248356748218937,
      0.10340489332801266,
      0.13551205232752575,
      -0.0538413264818771,
      0.0006301399058896429,
      -0.07975646046753462,
      -0.037565050914132175,
      -0.030108323266524677,
      -0.030110068518932494
    ],
    "a_ego": [
      0.665200111517441,
      0.665200108729126,
      0.5967517100317098,
      0.6309440400080192,
      0.26585997643320625,
      0.1046722104227596,
      0.24862958348493588,
      0.08265519163725052,
      0.030118290638613713,
      0.030118287564992994
    ],
    "yaw": [
      -0.34573634920411245,
      -0.34066131849245557,
      -0.3355813956456637,
      -0.33160394571846513,
      -0.33002457714684563,
      -0.3293366615957388,
      -0.33088252550552494,
      -0.33335550806897707,
      -0.33484437873877243,
      -0.3372096375320759
    ],
    "yaw_diff": [
      0.010150061423313761,
      0.010159845693583747,
      0.007954899854397124,
      0.003158737143238999,
      0.0013758311022136205,
      -0.003091727819572232,
      -0.0049459651269042615,
      -0.0029777413395907226,
      -0.004730517586606919,
      -0.004730517586606919
    ],
    "min_front_frame": [
      0,
      13.404728101513411
    ],
    "v_avg": 8.364997764029825,
    "v_std": 0.47934732970558114,
    "vy_max": 0.15769581049885328,
    "a_max": 0.665200111517441,
    "ax_avg": 0.314910335451091,
    "a_std": 0.26247793292894467,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8bd32ab85e615190",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 25.11974215504438,
    "speed_mode": "accelerating",
    "front_frame": [
      13.404728101513411,
      14.80995576758037,
      16.54824669511393,
      18.01808080058356,
      40.69464503412109,
      36.44214673958107,
      32.171320673045464,
      27.832359777132595,
      23.492743143335055,
      19.190260629885255
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8bd32ab85e615190",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1819bb47db9e59ff": {
    "vx_ego": [
      8.8707536312918,
      9.024201344989619,
      9.155753199957676,
      9.244946698696975,
      9.319275221305636,
      9.419077468023245,
      9.510894874204197,
      9.569658248892166,
      9.638286767163335,
      9.721555223159145
    ],
    "vy_ego": [
      -0.002341003264235808,
      -0.025794270194421376,
      -0.051608650171406534,
      -0.04985752541690462,
      -0.053781203331505836,
      -0.040152056037656314,
      0.02138607403111409,
      0.03623797804065815,
      0.031136066303215415,
      0.001061133477537557
    ],
    "v_ego": [
      8.870753940188676,
      9.024238209360794,
      9.155898651214294,
      9.245081137263686,
      9.319430404712136,
      9.419163048606135,
      9.51091891839722,
      9.569726860869245,
      9.638337058886282,
      9.72155528107191
    ],
    "ax_ego": [
      0.303852373999441,
      0.3110744147778356,
      0.22065655286566563,
      0.1419886181266982,
      0.1600348832572757,
      0.24092340282809255,
      0.12628550349893722,
      0.1078901215493914,
      0.16564805231777519,
      0.16680959355000144
    ],
    "ay_ego": [
      0.34008674794592836,
      0.3334935693495381,
      0.46826389707854504,
      0.5084913274028313,
      0.45206413010323326,
      0.2719605241757808,
      0.17383671783211294,
      0.1287695621098525,
      0.12365294892182228,
      0.12208149174017113
    ],
    "a_ego": [
      0.4560540113994543,
      0.4560540015468213,
      0.5176489076871934,
      0.5279433660170594,
      0.4795551496805794,
      0.3633271428619569,
      0.2148656158174726,
      0.16799368575605933,
      0.20671073753855937,
      0.20671074264735773
    ],
    "yaw": [
      1.4902230649576294,
      1.5116660195307898,
      1.5365242930560223,
      1.562845558577345,
      1.589144296050489,
      1.6070277651675273,
      1.6122930253632206,
      1.6186644139564392,
      1.6257717400833813,
      1.6352252505751914
    ],
    "yaw_diff": [
      0.042885909146320955,
      0.04971654705046502,
      0.05264253104264549,
      0.05259747494628764,
      0.03576693823407684,
      0.010530520391386577,
      0.012742777186437237,
      0.014214652253884186,
      0.018907020983620182,
      0.018907020983620182
    ],
    "min_front_frame": [
      2,
      19.05727822401331
    ],
    "v_avg": 9.347510351057037,
    "v_std": 0.26182117054940773,
    "vy_max": 0.053781203331505836,
    "a_max": 0.5279433660170594,
    "ax_avg": 0.1945163516771114,
    "a_std": 0.13810866194225038,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "1819bb47db9e59ff",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      23.562999890264162,
      19.05727822401331,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      0,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "1819bb47db9e59ff",
    "road_shape": "Straight"
  },
  "662cb541b8db54a1": {
    "vx_ego": [
      7.239962829646132,
      7.332356664900795,
      7.459345694080575,
      7.577571455215591,
      7.702429762519755,
      7.803672216330709,
      7.8973173686149165,
      8.01402895559345,
      8.12692111842091,
      8.248229546346236
    ],
    "vy_ego": [
      0.019149504334684764,
      0.01264366172528364,
      0.00528800827583864,
      0.01270144196238307,
      0.03241748913764464,
      0.042209933910730246,
      0.01384479674301975,
      -0.007670703952309843,
      0.02167930675405394,
      -0.0936754762407408
    ],
    "v_ego": [
      7.239988154560329,
      7.3323675660387435,
      7.459347568442561,
      7.577582100216801,
      7.702497980535414,
      7.8037863719128415,
      7.897329504270648,
      8.01403262663619,
      8.12695003413809,
      8.24876146727907
    ],
    "ax_ego": [
      0.09123733923564181,
      0.28440332086762354,
      0.22254393558320365,
      0.25406865624073144,
      0.25842012050613195,
      0.17227253770813838,
      0.2191102895001673,
      0.24564514968645218,
      0.18770358925738057,
      0.2866968076512165
    ],
    "ay_ego": [
      -1.692283697914038,
      -1.670707370123389,
      -1.5804336450724288,
      -1.5784157996610875,
      -1.6399319286848684,
      -1.8005640843488602,
      -1.8725687566031815,
      -1.8108953918476378,
      -1.4012370425775762,
      -1.3843781370151413
    ],
    "a_ego": [
      1.6947413862582135,
      1.6947413860247655,
      1.5960251594952333,
      1.5987330354701879,
      1.6601679702374925,
      1.8087865681432542,
      1.885344283458921,
      1.8274801393666333,
      1.4137531209202177,
      1.4137531205139433
    ],
    "yaw": [
      0.35954709950763586,
      0.24479569719588737,
      0.13611364667192266,
      0.030134849387593317,
      -0.07766137978476331,
      -0.18959185949447294,
      -0.30291325084013404,
      -0.41588527925986524,
      -0.5188410586497956,
      -0.5898857439521662
    ],
    "yaw_diff": [
      -0.22950280462349698,
      -0.21736410104792941,
      -0.2119575945686587,
      -0.21559245834471324,
      -0.22386095941941925,
      -0.2266427826913222,
      -0.2259440568394624,
      -0.20591155877986067,
      -0.14208937060474125,
      -0.14208937060474125
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.740264337403069,
    "v_std": 0.32174692308582387,
    "vy_max": 0.0936754762407408,
    "a_max": 1.885344283458921,
    "ax_avg": 0.22221017462366874,
    "a_std": 0.1524789570044417,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "662cb541b8db54a1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "662cb541b8db54a1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e56891a5170256f1": {
    "vx_ego": [
      2.5111657786702555,
      3.183016325347677,
      3.9272841807265846,
      4.718425377088145,
      5.452796006066753,
      6.093003773250673,
      6.656275898865487,
      7.1387163762383565,
      7.4906594303196945,
      7.77890977959731
    ],
    "vy_ego": [
      0.018571242900949914,
      0.00426893130365702,
      0.013832764111994411,
      0.021754911500130092,
      0.008303805723667956,
      0.013562320236925052,
      0.016566576435004254,
      -0.0065314538134653155,
      -0.027975246542539356,
      -0.03737718349319641
    ],
    "v_ego": [
      2.51123444923557,
      3.183019188004418,
      3.927308541679436,
      4.718475528740589,
      5.45280232880003,
      6.093018867308482,
      6.656296514825066,
      7.138719364162077,
      7.490711669491524,
      7.778999576613985
    ],
    "ax_ego": [
      1.3437044468612998,
      1.3437194186373285,
      1.6333451877963954,
      1.5313849010080924,
      1.4061264649963878,
      1.1547208193136131,
      1.0984294770539837,
      0.8313271405895384,
      0.5764343716224001,
      0.5764599575124977
    ],
    "ay_ego": [
      -0.03164712147654902,
      -0.031004930450045654,
      0.05387535567483931,
      -0.0458693612404073,
      -0.020362973473154466,
      0.023950738657446846,
      -0.030013898690484875,
      -0.05807340956949025,
      -0.03152528061740892,
      -0.031053926007657884
    ],
    "a_ego": [
      1.3440770739851875,
      1.3440770743284227,
      1.6342334767244038,
      1.5320717063297553,
      1.4062739015753318,
      1.1549691807310443,
      1.098839456051561,
      0.8333530677808799,
      0.5772957890940463,
      0.5772957898129863
    ],
    "yaw": [
      -0.3282355826789956,
      -0.32871350881459066,
      -0.32980651237980463,
      -0.33117210057091645,
      -0.3317811597098657,
      -0.33253259389250395,
      -0.3332408782813883,
      -0.33308560118485975,
      -0.3332157134103033,
      -0.3340334008735162
    ],
    "yaw_diff": [
      -0.0009558522711901052,
      -0.002186007130427936,
      -0.0027311763822236435,
      -0.0012181182778985278,
      -0.0015028683652764663,
      -0.0014165687777687452,
      0.00031055419305714427,
      -0.0002602244508871365,
      -0.0016353749264257367,
      -0.0016353749264257367
    ],
    "min_front_frame": [
      0,
      22.158450814755373
    ],
    "v_avg": 5.495058602886117,
    "v_std": 1.7583545760702717,
    "vy_max": 0.03737718349319641,
    "a_max": 1.6342334767244038,
    "ax_avg": 1.1495652185391536,
    "a_std": 0.35782062039386187,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e56891a5170256f1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 30.420872738977707,
    "right_rear_min": 17.461190926247593,
    "speed_mode": "accelerating",
    "front_frame": [
      22.158450814755373,
      23.895528986532884,
      25.292134996999945,
      26.408712680365426,
      26.975536552451192,
      27.72502490387696,
      27.865592920992526,
      26.835086659328898,
      25.34144360293992,
      23.53962685987865
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e56891a5170256f1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "277c41e4b5d858f1": {
    "vx_ego": [
      6.830293946522959,
      6.1475883560241,
      5.449751706786564,
      4.802200275729949,
      4.33439389116953,
      3.999693686686302,
      3.6375947725028173,
      3.1917480333315886,
      2.6348558227766965,
      2.0045173477392626
    ],
    "vy_ego": [
      -0.02584463371586665,
      -0.026755802813536622,
      -0.056622044091224843,
      -0.05350905270560258,
      -0.01353928722493647,
      0.0370472443609573,
      0.05521604453156592,
      0.03911514537119154,
      0.01587914241536237,
      0.011051264085856438
    ],
    "v_ego": [
      6.830342842127332,
      6.147646579635762,
      5.450045845816358,
      4.802498381774037,
      4.334415037361593,
      3.9998652584347143,
      3.6380138180762227,
      3.1919877040605082,
      2.6349036707219695,
      2.0045478113094592
    ],
    "ax_ego": [
      -1.3657151107162675,
      -1.3655088649657035,
      -1.4258826406069396,
      -1.1652177528746661,
      -0.7066118950136632,
      -0.6320338920227211,
      -0.8169705966678698,
      -0.9668233288172254,
      -1.2606385918798697,
      -1.2605961910108143
    ],
    "ay_ego": [
      -0.049981668836168835,
      -0.05533073474550387,
      -0.07068895547205556,
      0.013690426854999882,
      0.0812600139342246,
      0.07143298012475657,
      0.04904421237938106,
      -0.09187889553128109,
      -0.018302698517653204,
      -0.021021658439406843
    ],
    "a_ego": [
      1.3666294050906396,
      1.3666294122794962,
      1.4276337881998833,
      1.1652981761771355,
      0.7112689786848506,
      0.6360577892887506,
      0.8184413788340427,
      0.971179221662649,
      1.2607714495934181,
      1.260771457051006
    ],
    "yaw": [
      2.2147007567642203,
      2.2107837842049873,
      2.210501554970892,
      2.2070927056120238,
      2.203494336475058,
      2.200508740627213,
      2.203619419693844,
      2.2051899387975924,
      2.203729140513813,
      2.2015722898355228
    ],
    "yaw_diff": [
      -0.007833945118465913,
      -0.0005644584681903098,
      -0.006817698717736853,
      -0.007196738273931302,
      -0.005971191695690159,
      0.006221358133261745,
      0.0031410382074970045,
      -0.0029215965675586375,
      -0.0043137013565806015,
      -0.0043137013565806015
    ],
    "min_front_frame": [
      9,
      10.11225116313741
    ],
    "v_avg": 4.303426694931796,
    "v_std": 1.4556872664817035,
    "vy_max": 0.056622044091224843,
    "a_max": 1.4276337881998833,
    "ax_avg": -1.096599886457574,
    "a_std": 0.27707145638539277,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "277c41e4b5d858f1",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 37.17509756090033,
    "speed_mode": "decelerating",
    "front_frame": [
      14.350146677161739,
      13.994459896904118,
      13.979919604885543,
      14.0829956955673,
      14.015884401608444,
      13.772334373958614,
      13.089452410195015,
      12.268736568413948,
      11.245026155973362,
      10.11225116313741
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "277c41e4b5d858f1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "325989552f0d5845": {
    "vx_ego": [
      3.8006505837856226,
      4.1105331537712555,
      4.468192547583896,
      4.822758851132822,
      5.190418842430305,
      5.50582494546055,
      5.933354982581273,
      6.337475863574948,
      6.5820042413506155,
      6.867197294021833
    ],
    "vy_ego": [
      -0.0286437660783323,
      -0.08585166374017184,
      -0.07360827531063241,
      -0.06804771180151836,
      -0.04128063850425523,
      -0.006399206116063816,
      0.005838733275996599,
      0.020708743984407807,
      0.03022487539562224,
      0.018796316368901334
    ],
    "v_ego": [
      3.800758519738546,
      4.1114295952161966,
      4.468798811814923,
      4.823238893861821,
      5.190582997214366,
      5.50582866423344,
      5.933357855390848,
      6.337509698096914,
      6.58207363801486,
      6.867223017823858
    ],
    "ax_ego": [
      0.5349771857011061,
      0.7338872620505796,
      0.7111102586323381,
      0.7148353852012129,
      0.7598200734546956,
      0.5017901384061381,
      1.2082723487352682,
      0.40830704376732574,
      0.570428126003798,
      0.5707229485872846
    ],
    "ay_ego": [
      1.2474084549556095,
      1.1417696479719832,
      0.7688028650012584,
      0.44225445887100795,
      0.27027660870487574,
      0.07660976668556262,
      0.021187551242209834,
      0.0005773758979145949,
      -0.07654142007566017,
      -0.0743111878655352
    ],
    "a_ego": [
      1.3572871629524152,
      1.3572871628473329,
      1.047251471789987,
      0.8405823185905438,
      0.8064589197458898,
      0.5076045698703544,
      1.208458100657976,
      0.40830745199290736,
      0.5755404728804079,
      0.5755404735430438
    ],
    "yaw": [
      0.7999815498637932,
      0.9661076395573199,
      1.07443052582338,
      1.1383921604708283,
      1.1686571425875552,
      1.1782921130305841,
      1.1804606050464101,
      1.1789484709924944,
      1.1745215423026805,
      1.1706128041496926
    ],
    "yaw_diff": [
      0.3322521793870534,
      0.21664577253212003,
      0.1279232692948966,
      0.060529964233453804,
      0.019269940886057935,
      0.004336984031652058,
      -0.003024268107831407,
      -0.00885385737962796,
      -0.007817476305975735,
      -0.007817476305975735
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.362080169140578,
    "v_std": 1.0085578111275715,
    "vy_max": 0.08585166374017184,
    "a_max": 1.3572871629524152,
    "ax_avg": 0.6714150770539746,
    "a_std": 0.3381791075124988,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "325989552f0d5845",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "325989552f0d5845",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "84431cd14c765efc": {
    "vx_ego": [
      3.5548625490522396,
      2.9172014005888753,
      2.275385698379574,
      1.642792045928569,
      1.0377497335217551,
      0.5164649708977226,
      0.17373032021959356,
      0.00019906644026703455,
      -0.032200421919807494,
      0.016362977664067985
    ],
    "vy_ego": [
      0.0480368535251221,
      0.03642627955748434,
      0.012784126990033506,
      -0.006014308917077216,
      -0.01548985215271148,
      -0.009167842892344624,
      0.006244305355600582,
      -0.0014411550027516708,
      -0.003390303291607279,
      0.007403186031179409
    ],
    "v_ego": [
      3.5551870952104307,
      2.917428814116995,
      2.275421611546572,
      1.64280305517062,
      1.0378653308325636,
      0.5165463343279905,
      0.1738425020326632,
      0.0014548385441679626,
      0.03237840836456762,
      0.017959794025740876
    ],
    "ax_ego": [
      -1.275290651225145,
      -1.2752791114584725,
      -1.2918429885043141,
      -1.2385471711849205,
      -1.1816263617859029,
      -0.9035434964724476,
      -0.4674040807964337,
      -0.22672584151028352,
      0.09712867154397369,
      0.09712593550801342
    ],
    "ay_ego": [
      -0.025800957243294897,
      -0.026364857582559797,
      -0.07988572584672982,
      9.778103336610666e-05,
      -0.0389755394407062,
      0.06335290707229801,
      -0.001310130413181676,
      -0.029384421600619354,
      0.02158283106138998,
      0.021595147371020314
    ],
    "a_ego": [
      1.2755516196912318,
      1.2755516131610118,
      1.2943106412843155,
      1.2385471750447374,
      1.1822689844287058,
      0.9057618013871899,
      0.467405916936081,
      0.22862207120343642,
      0.09949772576557528,
      0.09949772730209905
    ],
    "yaw": [
      -0.7115863535687108,
      -0.7120285235833445,
      -0.7131524962827092,
      -0.7137407625162098,
      -0.713923706508988,
      -0.714230388400217,
      -0.713891243199634,
      -0.713683346020106,
      -0.7136612781056981,
      -0.7137880404315661
    ],
    "yaw_diff": [
      -0.0008843400292672943,
      -0.002247945398729412,
      -0.0011765324670012234,
      -0.0003658879855563679,
      -0.0006133637824581317,
      0.0006782904011659596,
      0.00041579435905614304,
      4.413582881568345e-05,
      -0.00025352465173589245,
      -0.00025352465173589245
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.217088778417231,
    "v_std": 1.2485839746817282,
    "vy_max": 0.0480368535251221,
    "a_max": 1.2943106412843155,
    "ax_avg": -0.7666005095885933,
    "a_std": 0.49642016244603454,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "84431cd14c765efc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "84431cd14c765efc",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "bcf76bb937d35be9": {
    "vx_ego": [
      0.8299224167022199,
      0.6197088159080733,
      0.4008296688093791,
      0.18434158151857827,
      0.03808095354586217,
      -0.009212907838084646,
      -0.010043142204664787,
      -0.005475466344564242,
      -0.003221808546117562,
      -0.0019754859766990297
    ],
    "vy_ego": [
      -0.009576312207144777,
      -0.001595759093891591,
      0.0013857407443678138,
      -0.006789392104589134,
      -0.00934257600012525,
      -0.004036811641615484,
      -0.004266774309184174,
      -0.002553557058364858,
      -0.0017259891187643333,
      -0.0014023186743898444
    ],
    "v_ego": [
      0.829977664458714,
      0.6197108704559505,
      0.4008320641805582,
      0.18446656749102394,
      0.039210237812084596,
      0.010058504812491955,
      0.01091192321951695,
      0.0060416376373282005,
      0.0036550087203629264,
      0.002422610680377062
    ],
    "ax_ego": [
      -0.420568146554232,
      -0.4205365420824214,
      -0.4550097887365008,
      -0.41093078490150947,
      -0.1741073480594402,
      -0.01506866164357034,
      0.011748078217140079,
      0.006522242546727338,
      0.0024925797391935354,
      0.0024925546047313493
    ],
    "ay_ego": [
      0.0001911904520205121,
      -0.005160083732620585,
      0.002248779768751319,
      -0.03652643976183914,
      0.02633618198572997,
      -0.005112045542427967,
      0.004191282439053269,
      0.0026623866108205527,
      0.000647468200041006,
      0.0006475274750732715
    ],
    "a_ego": [
      0.42056819001185874,
      0.420568198620352,
      0.4550153457373536,
      0.41255095537575226,
      0.17608794146640633,
      0.015912183173790628,
      0.012473339179223723,
      0.007044710803419603,
      0.002575299754650408,
      0.002575290330922364
    ],
    "yaw": [
      0.6225496666677368,
      0.6098254686572817,
      0.6026170304231595,
      0.6012435962582481,
      0.6013124850251609,
      0.6012623609139772,
      0.601279625249157,
      0.6012509136399063,
      0.6012773790565822,
      0.6012494773912751
    ],
    "yaw_diff": [
      -0.025448396020910202,
      -0.01441687646824441,
      -0.002746868329822849,
      0.00013777753382560043,
      -0.00010024822236731623,
      3.4528670359579294e-05,
      -5.742321850132903e-05,
      5.2930833351672035e-05,
      -5.580333061416809e-05,
      -5.580333061416809e-05
    ],
    "min_front_frame": [
      4,
      8.574095689584242
    ],
    "v_avg": 0.21072870894684081,
    "v_std": 0.2872884043549347,
    "vy_max": 0.009576312207144777,
    "a_max": 0.4550153457373536,
    "ax_avg": -0.1872965816869882,
    "a_std": 0.19793069017940407,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bcf76bb937d35be9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.46417065197048,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.349448045891416,
      8.98734264291999,
      8.709281690968655,
      8.585066905411907,
      8.574095689584242,
      8.579440428600325,
      8.604952227605366,
      8.604112231119675,
      8.600713004211151,
      8.601241623766384
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bcf76bb937d35be9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "45d6c16000b75270": {
    "vx_ego": [
      6.381639939343633,
      6.114351565660289,
      5.784561515306114,
      5.352041783075379,
      4.861324050297861,
      4.404601152996737,
      4.063998622654549,
      3.8234022437513064,
      3.6372271322301666,
      3.483765966479778
    ],
    "vy_ego": [
      -0.067972019399543,
      -0.02035675630532907,
      0.028062054776512024,
      0.06221948554990231,
      0.049239691265700936,
      0.019100216907695255,
      0.0013886592044674018,
      0.00770836369817296,
      0.016685609379052835,
      0.03566557947598287
    ],
    "v_ego": [
      6.382001920310512,
      6.114385452849674,
      5.78462958220134,
      5.352403433240695,
      4.86157341497589,
      4.404642566118857,
      4.063998859905408,
      3.8234100141618903,
      3.6372654042551846,
      3.483948527570713
    ],
    "ax_ego": [
      -0.5345677553050042,
      -0.5345453246883343,
      -0.7845084814497516,
      -0.9474587728152017,
      -1.0198544832486038,
      -0.8097670714361993,
      -0.548986027562846,
      -0.4144231755498969,
      -0.33515656396079624,
      -0.28610537271505226
    ],
    "ay_ego": [
      0.09802694277122598,
      0.09814918333023392,
      0.1855281843847424,
      0.18372623684409184,
      0.27003582883828675,
      0.4191467451282759,
      0.6125909467009282,
      0.6223947359231636,
      0.5972925603550875,
      0.6222797160021948
    ],
    "a_ego": [
      0.5434813396252939,
      0.5434813394538478,
      0.8061477933156515,
      0.9651080023963015,
      1.054998822681171,
      0.9118150601596722,
      0.8225894033107728,
      0.747744458847891,
      0.6849002299762668,
      0.6849002330589405
    ],
    "yaw": [
      -0.4774263332218512,
      -0.4771976563986495,
      -0.47343547123484575,
      -0.46302948037255776,
      -0.43831867219157095,
      -0.3943821272260808,
      -0.32880223333281466,
      -0.2518257617289382,
      -0.1723213609635701,
      -0.09192470306355274
    ],
    "yaw_diff": [
      0.00045735364640342446,
      0.007524370327607444,
      0.02081198172457599,
      0.04942161636197362,
      0.08787308993098031,
      0.13115978778653226,
      0.15395294320775288,
      0.15900880153073627,
      0.1607933158000347,
      0.1607933158000347
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.790825917559016,
    "v_std": 1.0121072179708328,
    "vy_max": 0.067972019399543,
    "a_max": 1.054998822681171,
    "ax_avg": -0.6215373028731687,
    "a_std": 0.1614469785536431,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "45d6c16000b75270",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.760071103197276,
    "right_rear_min": 20.207202822204863,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "45d6c16000b75270",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "65f236a74a3d53a4": {
    "vx_ego": [
      7.314366332681523,
      6.713282710364313,
      6.058483292606812,
      5.359989564177969,
      4.783946319211383,
      4.387662846323134,
      4.138952363101999,
      3.9977528690083357,
      3.9196829918985694,
      3.872081292530521
    ],
    "vy_ego": [
      -0.02742360041584524,
      2.777219228411454e-05,
      -0.01912894069262583,
      -0.05206151628658251,
      -0.028191034911386303,
      0.008870834505936731,
      0.021321832204236557,
      -0.0039975454170582125,
      -0.011174244810364886,
      -0.006352594674645218
    ],
    "v_ego": [
      7.314417741866041,
      6.713282710421758,
      6.058513491209531,
      5.360242394666009,
      4.7840293811331795,
      4.387671813696787,
      4.13900728249615,
      3.997754867676824,
      3.919698919652631,
      3.8720865036080907
    ],
    "ax_ego": [
      -1.2099304961361121,
      -1.1918463423927173,
      -1.42787554905658,
      -1.365784477656616,
      -0.9375603825419377,
      -0.6473821726130363,
      -0.34790731244452755,
      -0.2170070071493001,
      -0.09519421776233208,
      -0.09517481941193631
    ],
    "ay_ego": [
      0.5113635863019451,
      0.55220180448547,
      0.4508794931253729,
      0.18483336234884107,
      0.07107174710006514,
      0.12877113335386475,
      -0.023568299543102023,
      -0.022184505316711303,
      0.01797345973593864,
      0.01807585082397057
    ],
    "a_ego": [
      1.3135541568111173,
      1.3135541620930244,
      1.4973713303368084,
      1.3782345994949239,
      0.9402503199404083,
      0.6600649075677436,
      0.34870469282148686,
      0.21813801463303817,
      0.09687612889799894,
      0.09687612003535817
    ],
    "yaw": [
      0.9633979711549998,
      0.9974013692762929,
      1.039470108571264,
      1.0731180132405265,
      1.0811096569023542,
      1.0839448588459741,
      1.0872222167357846,
      1.090647981249668,
      1.0922009041955603,
      1.0932765732809369
    ],
    "yaw_diff": [
      0.0680067962425861,
      0.08413747858994247,
      0.06729580933852475,
      0.015983287323655393,
      0.005670403887239939,
      0.006554715779620857,
      0.006851529027767089,
      0.003105845891784309,
      0.002151338170753192,
      0.002151338170753192
    ],
    "min_front_frame": [
      6,
      14.47329706234199
    ],
    "v_avg": 5.0546705106426995,
    "v_std": 1.1882270842183478,
    "vy_max": 0.05206151628658251,
    "a_max": 1.4973713303368084,
    "ax_avg": -0.7535662777165096,
    "a_std": 0.5400506568458436,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "65f236a74a3d53a4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.479556877954192,
    "right_rear_min": 20.983101070203993,
    "speed_mode": "decelerating",
    "front_frame": [
      19.881438466551977,
      18.362550255076776,
      17.038548616401023,
      15.959879375901247,
      15.200164362691185,
      14.658282216904832,
      14.47329706234199,
      14.523497638979258,
      14.789275741562058,
      15.28386834455113
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "65f236a74a3d53a4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fe3a1294722e5e1e": {
    "vx_ego": [
      2.704445141031523,
      3.6507873079888533,
      4.551716149936061,
      5.348445400500098,
      5.998071834303168,
      6.529564362004888,
      7.005523526821527,
      7.42173406800173,
      7.732286400547967,
      7.970378428346219
    ],
    "vy_ego": [
      -0.03990637507701433,
      -0.02069451292700153,
      -0.02232491265730574,
      -0.02662814081389353,
      0.013482948642144166,
      -0.0020206208032047535,
      -0.03354683617078047,
      -0.017616787465927874,
      0.005116418404205181,
      -0.07104961476160732
    ],
    "v_ego": [
      2.7047395511621453,
      3.6508459610120205,
      4.551770898377236,
      5.348511686442674,
      5.998086988312612,
      6.5295646746527245,
      7.005603847996759,
      7.421754976239658,
      7.7322880933030635,
      7.970695097593717
    ],
    "ax_ego": [
      1.892441834862359,
      1.8923934675009366,
      1.711298657034685,
      1.477384367357679,
      1.1236717335670914,
      1.0105508328467472,
      0.8876861885517076,
      0.7674546898904416,
      0.47039692138608047,
      0.4793138747682132
    ],
    "ay_ego": [
      0.0073263683626316745,
      0.015386293502448245,
      -0.1507381765198329,
      -0.46423679826639924,
      -0.6112055974382189,
      -0.8595649695640161,
      -0.8042301476992958,
      -0.6358064825906858,
      -0.4626280333555904,
      -0.4533830181509058
    ],
    "a_ego": [
      1.892456016400539,
      1.8924560163628539,
      1.717924646609752,
      1.5486059452867558,
      1.279144419976682,
      1.3266743845679851,
      1.1978200615342394,
      0.9966125547770177,
      0.6597711428184501,
      0.6597711358440462
    ],
    "yaw": [
      -0.3446332202633546,
      -0.3488922766027005,
      -0.3567022361518547,
      -0.38671221601031397,
      -0.4407389761479139,
      -0.4968235717013675,
      -0.5534836426074803,
      -0.6054787039338185,
      -0.6445249989419746,
      -0.6639934909807398
    ],
    "yaw_diff": [
      -0.008518112678691847,
      -0.015619919098308399,
      -0.060019959716918536,
      -0.10805352027519988,
      -0.11216919110690715,
      -0.1133201418122256,
      -0.10399012265267649,
      -0.07809259001631208,
      -0.038936984077530434,
      -0.038936984077530434
    ],
    "min_front_frame": [
      8,
      18.323918286247945
    ],
    "v_avg": 5.89138617750926,
    "v_std": 1.7023111048042394,
    "vy_max": 0.07104961476160732,
    "a_max": 1.892456016400539,
    "ax_avg": 1.1712592567765943,
    "a_std": 0.43115648538762996,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "fe3a1294722e5e1e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.865892097606151,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      54.540201219882476,
      55.31517604894307,
      22.0259979202482,
      18.323918286247945,
      27.159872732971227
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      0,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "fe3a1294722e5e1e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "96f15b834684542e": {
    "vx_ego": [
      2.0457658752505523,
      1.6711935926946304,
      1.3306521593723757,
      1.1006760188278095,
      0.9060609851794739,
      0.6406725455486423,
      0.3437771729025337,
      0.10487003618663875,
      0.0030202206892099683,
      -0.02166658512212193
    ],
    "vy_ego": [
      -0.038998645163541124,
      -0.05156491834490107,
      -0.029144437929758626,
      0.017197076968019476,
      0.03196231024972257,
      0.029501286259805776,
      0.024022882072384455,
      0.007243579264763898,
      -0.0026876852379539525,
      0.001548419013704892
    ],
    "v_ego": [
      2.046137559076674,
      1.6719889249236977,
      1.330971287257771,
      1.1008103550925021,
      0.9066245629481359,
      0.6413514142112421,
      0.3446155009164884,
      0.10511990263671213,
      0.00404294261025896,
      0.021721844127425234
    ],
    "ax_ego": [
      -0.749330175355496,
      -0.7492748061626885,
      -0.6129406404700357,
      -0.30696574464775267,
      -0.471586873712435,
      -0.5899841703881797,
      -0.5976017180223688,
      -0.35802842130541607,
      -0.04937400462357117,
      -0.04937290016539739
    ],
    "ay_ego": [
      -0.03098181718734183,
      -0.03229315232596652,
      0.12073522020582342,
      0.06830778697498195,
      -0.006455841791507377,
      -0.0029388350996250867,
      -0.018899576651022015,
      -0.04820168545272356,
      0.008466529040984258,
      0.008473003957454067
    ],
    "a_ego": [
      0.7499703892118196,
      0.7499703879736069,
      0.6247185143230239,
      0.31447404050027533,
      0.471631060630134,
      0.5899914898202951,
      0.5979004995656675,
      0.36125856798549677,
      0.05009465487025794,
      0.050094661060888813
    ],
    "yaw": [
      1.0786900640486914,
      1.0769399889141797,
      1.0767311027084943,
      1.0775118268043702,
      1.0781932631659892,
      1.0783358166389196,
      1.078373941783816,
      1.0783944593445836,
      1.078230156863166,
      1.0783613957659655
    ],
    "yaw_diff": [
      -0.0035001502690232833,
      -0.00041777241137097576,
      0.0015614481917518575,
      0.0013628727232379845,
      0.00028510694586092455,
      7.625028979285631e-05,
      4.103512153497135e-05,
      -0.00032860496283504403,
      0.0002624778055988486,
      0.0002624778055988486
    ],
    "min_front_frame": [
      7,
      8.370027706272962
    ],
    "v_avg": 0.8173384293800907,
    "v_std": 0.6818116129585418,
    "vy_max": 0.05156491834490107,
    "a_max": 0.7499703892118196,
    "ax_avg": -0.45344594548533407,
    "a_std": 0.24457324985395457,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "96f15b834684542e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.860755955668106,
      10.900629531677323,
      10.167059005870067,
      9.58448033063435,
      9.030224975554018,
      8.65259798797855,
      8.426672138255967,
      8.370027706272962,
      8.375815355734838,
      8.386918548250435
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "96f15b834684542e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0769a262b53b589e": {
    "vx_ego": [
      2.970595397507032,
      2.8896543040709197,
      2.8171395032320152,
      2.761830242177503,
      2.7642935954067576,
      2.7140437840545473,
      2.3337328521013547,
      1.6043347760319042,
      0.7625242832683046,
      -0.07084050931179726
    ],
    "vy_ego": [
      -0.04583940102467521,
      -0.010026608479231536,
      0.002568147205148863,
      -0.0010548579112086287,
      0.010180803776836278,
      -0.0031241485499315935,
      -0.02705263228014121,
      -0.016576053368723365,
      -0.003019648638256378,
      -0.007060608403621639
    ],
    "v_ego": [
      2.9709490514608734,
      2.889671699330771,
      2.817140673812792,
      2.7618304436245644,
      2.7643123431284606,
      2.714045582164988,
      2.3338896438971592,
      1.6044204059817435,
      0.7625302622530729,
      0.07119150195482693
    ],
    "ax_ego": [
      -0.16196223998147274,
      -0.16211816944403534,
      -0.12784535452718201,
      -0.09342768086852456,
      0.10329485108004119,
      -0.30421289939263063,
      -1.2171863797307383,
      -1.7005160371428367,
      -1.6667285003273073,
      -1.6667291143193452
    ],
    "ay_ego": [
      0.05524602153452473,
      0.05478676899111033,
      -0.03868178348416994,
      -0.0019097236195255926,
      0.022308859489333567,
      -0.0885604084542536,
      -0.024963559449286965,
      0.05998048026829639,
      -0.008092665970639401,
      -0.007966131269579124
    ],
    "a_ego": [
      0.17112536362330785,
      0.1711253660927282,
      0.13356913957833622,
      0.09344719683743244,
      0.10567644709850306,
      0.3168413390049585,
      1.2174423445495886,
      1.70157352194761,
      1.666748146855375,
      1.666748151271557
    ],
    "yaw": [
      0.8650919432755824,
      0.862257752978775,
      0.8592503249877211,
      0.8569076178758954,
      0.8546669978160792,
      0.8534993248342249,
      0.8518114977676821,
      0.8509628215305438,
      0.8504671921692231,
      0.8505431125526954
    ],
    "yaw_diff": [
      -0.00566838059361463,
      -0.006014855982107825,
      -0.0046854142236514296,
      -0.004481240119632357,
      -0.002335345963708768,
      -0.003375654133085604,
      -0.0016973524742764923,
      -0.000991258722641497,
      0.00015184076694474413,
      0.00015184076694474413
    ],
    "min_front_frame": [
      8,
      9.426375063114413
    ],
    "v_avg": 2.1689981607609257,
    "v_std": 0.9649037283632776,
    "vy_max": 0.04583940102467521,
    "a_max": 1.70157352194761,
    "ax_avg": -0.6997431524654032,
    "a_std": 0.6987367165874887,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0769a262b53b589e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.445087941639654,
    "right_rear_min": 38.613948460536,
    "speed_mode": "decelerating",
    "front_frame": [
      14.67356563608842,
      14.363537955958499,
      14.168884674752313,
      13.783846029319282,
      13.148648531827353,
      12.046562474427956,
      10.807627606175052,
      9.867001280216385,
      9.426375063114413,
      9.500977594867061
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0769a262b53b589e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d983f3c9756357b2": {
    "vx_ego": [
      1.9049938184576147,
      2.658493894803806,
      3.40962946944018,
      4.1436051325352095,
      4.845689997304085,
      5.484724118701827,
      6.044351694917872,
      6.538872416888725,
      6.973013655048234,
      7.4885893298794555
    ],
    "vy_ego": [
      0.05184190104356312,
      0.031529883848684825,
      0.02262256427425946,
      0.04656993565426504,
      0.08839093554531496,
      0.08724040239239805,
      0.023012325749445672,
      -0.04848040452766389,
      -0.059136731405749376,
      -0.17260601128586894
    ],
    "v_ego": [
      1.9056990924764419,
      2.6586808613078445,
      3.4097045178855696,
      4.143866823786567,
      4.846496106204918,
      5.485417900769195,
      6.044395501536357,
      6.539052135743479,
      6.973264413923403,
      7.490578281195415
    ],
    "ax_ego": [
      1.506852767714478,
      1.5067866625875328,
      1.497549266495061,
      1.437901928707288,
      1.3687336466761,
      1.1830871819884436,
      1.0705665348661006,
      0.9640366723977968,
      0.8309680508698833,
      1.299874269400297
    ],
    "ay_ego": [
      -0.02922744096370733,
      -0.03245724964344365,
      0.029156392658705843,
      0.16080954223954735,
      0.5966411029918175,
      1.1997015571760599,
      1.8522822965118073,
      2.3812051837294024,
      2.583118303084935,
      2.381876336447055
    ],
    "a_ego": [
      1.5071361938703716,
      1.5071361980942837,
      1.4978330684067445,
      1.446866153262088,
      1.4931216967556755,
      1.6849270329827402,
      2.1394070233469518,
      2.5689501421295806,
      2.7134863311428137,
      2.713486318074112
    ],
    "yaw": [
      2.2546546786959025,
      2.256798137081201,
      2.259460911985003,
      2.265682787968178,
      2.2984429133876727,
      2.3851657689318837,
      2.5280749961383298,
      2.706801118935684,
      2.891102033085213,
      3.079428325154212
    ],
    "yaw_diff": [
      0.0042869167705967826,
      0.005325549807603913,
      0.012443751966349836,
      0.06552025083898982,
      0.173445711088422,
      0.2858184544128921,
      0.35745224559470845,
      0.36860182829905774,
      0.3766525841379984,
      0.3766525841379984
    ],
    "min_front_frame": [
      5,
      76.05105296651577
    ],
    "v_avg": 4.949715563482918,
    "v_std": 1.7918867696307685,
    "vy_max": 0.17260601128586894,
    "a_max": 2.7134863311428137,
    "ax_avg": 1.266635698170298,
    "a_std": 0.5204297600067539,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "d983f3c9756357b2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 38.17627179032932,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      79.55081908086447,
      79.04228503458278,
      78.3675442165187,
      77.69223724459432,
      76.93166845380665,
      76.05105296651577,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d983f3c9756357b2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6dfba05513f05909": {
    "vx_ego": [
      5.317190126648576,
      5.251366206130477,
      5.182491772090755,
      5.090293213953432,
      4.857302547944627,
      4.416508179031916,
      3.857805799962727,
      3.223334019001441,
      2.5365379710767786,
      1.8423617950649798
    ],
    "vy_ego": [
      0.08874720646180645,
      0.09038819400455633,
      0.09059835183529907,
      0.07665078005655435,
      0.07177456593570142,
      0.07934648660276844,
      0.0840899483294355,
      0.07749677881112693,
      0.052429079740353046,
      0.04854934151327839
    ],
    "v_ego": [
      5.31793069808021,
      5.252144043769611,
      5.183283614577119,
      5.090870293584746,
      4.857832812127711,
      4.417220886529449,
      3.8587221602022743,
      3.224265489809746,
      2.537079755765814,
      1.8430013625812727
    ],
    "ax_ego": [
      -0.13179693202283166,
      -0.13178742665627183,
      -0.14321612498352324,
      -0.22522990535193882,
      -0.7072783420312231,
      -1.056847150567518,
      -1.1788506534242864,
      -1.3602307209679068,
      -1.3885880150758672,
      -1.3885823869411094
    ],
    "ay_ego": [
      0.011745414662963242,
      0.011851617935874428,
      -0.03768419346574723,
      -0.03947943640115091,
      0.06487411065616472,
      0.020087124909789367,
      0.045877087035822384,
      -0.024769823975105076,
      0.0008054473320650013,
      0.004033240979094299
    ],
    "a_ego": [
      0.13231925807015343,
      0.1323192603984022,
      0.1480910425800967,
      0.22866380597592578,
      0.7102473536310179,
      1.057038027816324,
      1.179743010233059,
      1.3604562317269266,
      1.3885882486747976,
      1.3885882443531863
    ],
    "yaw": [
      0.8488180131301467,
      0.8496238512936198,
      0.8483459974830542,
      0.8473077805417406,
      0.8495375699085199,
      0.8524577885618194,
      0.8552868908608742,
      0.8586181199994962,
      0.8652339220944424,
      0.8675584373552738
    ],
    "yaw_diff": [
      0.0016116763269462542,
      -0.002555707621131331,
      -0.0020764338826271267,
      0.004459578733558622,
      0.005840437306599,
      0.005658204598109506,
      0.006662458277244099,
      0.013231604189892332,
      0.004649030521662878,
      0.004649030521662878
    ],
    "min_front_frame": [
      0,
      22.416880106302337
    ],
    "v_avg": 4.158235111702796,
    "v_std": 1.1819066485277145,
    "vy_max": 0.09059835183529907,
    "a_max": 1.3885882486747976,
    "ax_avg": -0.7712407658022477,
    "a_std": 0.5348656970293654,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6dfba05513f05909",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 19.563250159358788,
    "speed_mode": "decelerating",
    "front_frame": [
      22.416880106302337,
      55.36254316377514,
      52.72777128769201,
      50.21203534699039,
      47.70626948310643,
      45.36764361806608,
      43.28831805292185,
      41.53759698039136,
      40.13713609479226,
      39.03452501906698
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6dfba05513f05909",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "86ecfd85bd095b7f": {
    "vx_ego": [
      0.47535130350692867,
      0.16655083066944398,
      -0.02020739773726815,
      -0.04623756921577579,
      -0.031074594648174202,
      -0.01835563114367722,
      -0.011767169559936345,
      -0.008011612620418013,
      -0.005958248706651157,
      -0.003964787177683955
    ],
    "vy_ego": [
      -0.04469093041904168,
      -0.02499728888765952,
      -0.005409917196081166,
      0.0009331812385352488,
      -0.0019992935271278926,
      -0.0014275365594665287,
      -0.001106636252215981,
      -0.0008703957742965543,
      -0.0006556471287158271,
      -0.00037379178134375906
    ],
    "v_ego": [
      0.4774475269675777,
      0.1684162808294225,
      0.02091903743915108,
      0.046246985136413066,
      0.03113884402407951,
      0.018411057962847942,
      0.011819091472994493,
      0.00805875459258777,
      0.005994213944105056,
      0.003982368348122414
    ],
    "ax_ego": [
      -0.6175864230071565,
      -0.6175749114116182,
      -0.1294609958244317,
      0.02533442453488548,
      0.03531661255729113,
      0.015558529402883211,
      0.010795691389113338,
      0.004226497692927646,
      0.003986927170178593,
      0.003986940406137501
    ],
    "ay_ego": [
      0.039484177103035534,
      0.039663825895462024,
      0.03868324998466553,
      -0.013383176941166267,
      0.0016674090066816707,
      0.0006295375232604162,
      0.0006496589194770327,
      0.0002955567103670126,
      0.000563626345326752,
      0.0005635920410281749
    ],
    "a_ego": [
      0.6188473076004115,
      0.6188473077340917,
      0.13511677641665987,
      0.02865209401688421,
      0.03535595247362708,
      0.015571260535793956,
      0.010815221185007357,
      0.004236819150892056,
      0.004026569621582952,
      0.0040265779255842255
    ],
    "yaw": [
      0.8748740411649223,
      0.8751649315296102,
      0.8751155053537756,
      0.8754593838566673,
      0.8753708334859464,
      0.8752593282400271,
      0.8753353126774115,
      0.8753280972023696,
      0.8753211203712021,
      0.8753312737773875
    ],
    "yaw_diff": [
      0.0005817807293757582,
      -9.885235166917639e-05,
      0.0006877570057834959,
      -0.00017710074144194898,
      -0.00022301049183859334,
      0.00015196887476887078,
      -1.4430950083799132e-05,
      -1.3953662334920125e-05,
      2.0306812370751715e-05,
      2.0306812370751715e-05
    ],
    "min_front_frame": [
      3,
      8.670453874227714
    ],
    "v_avg": 0.07924341607173016,
    "v_std": 0.14059388446161206,
    "vy_max": 0.04469093041904168,
    "a_max": 0.6188473077340917,
    "ax_avg": -0.12654167070897895,
    "a_std": 0.23853144631014067,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "86ecfd85bd095b7f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.890838865768213,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.053260354360093,
      9.135395428892116,
      8.80734177695525,
      8.670453874227714,
      8.941559401683199,
      8.932201244252147,
      8.853226474748396,
      8.869355072993013,
      8.840540416400973,
      8.817805928103374
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "86ecfd85bd095b7f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7684ff2627555f4e": {
    "vx_ego": [
      13.141773519024126,
      13.310303428588862,
      13.478190591622578,
      13.566607023827924,
      13.507528072746327,
      13.362223127600291,
      12.977630458291394,
      12.297724262841234,
      11.553394626340912,
      10.818490018405901
    ],
    "vy_ego": [
      -0.029386882491279742,
      0.016680747335965584,
      0.04987159409028363,
      0.028264364201713743,
      0.007545529958989494,
      -0.024944140015834115,
      -0.03959199572983252,
      -0.015387851660589202,
      0.012872299524924635,
      0.026597185416784797
    ],
    "v_ego": [
      13.14180637561619,
      13.310313880913407,
      13.478282857990498,
      13.566636466466583,
      13.507530180275463,
      13.362246410012698,
      12.977690851538203,
      12.297733890064977,
      11.553401797222241,
      10.818522712857806
    ],
    "ax_ego": [
      0.3366324680788266,
      0.3372994478091551,
      0.33511665039295174,
      0.019155397441589853,
      -0.25508310235753884,
      -0.32613926634078494,
      -1.2133660854669057,
      -1.507021550273438,
      -1.4699973506540838,
      -1.4690057226917876
    ],
    "ay_ego": [
      -0.095710232109002,
      -0.09333245005399485,
      -0.1065560075250511,
      -0.1597443730495822,
      -0.18033544920096992,
      -0.24900524122720905,
      -0.12527882121222034,
      -0.005806722627447358,
      -0.1304865828393152,
      -0.14121306718798365
    ],
    "a_ego": [
      0.3499740948916094,
      0.34997409007731184,
      0.3516494733541778,
      0.16088876272800828,
      0.3123912024159167,
      0.4103296616233416,
      1.219816396186576,
      1.5070327372078647,
      1.4757774084295732,
      1.4757774031492212
    ],
    "yaw": [
      1.3033795192928204,
      1.2963230978998235,
      1.2901143875864045,
      1.2867986395350122,
      1.2820606427102348,
      1.276493351828959,
      1.2705507317783606,
      1.2660554101706079,
      1.2608265121270867,
      1.2535271413222524
    ],
    "yaw_diff": [
      -0.014112842785993784,
      -0.012417420626837927,
      -0.006631496102784684,
      -0.00947599364955476,
      -0.011134581762551665,
      -0.011885240101196626,
      -0.008990643215505578,
      -0.010457796087042226,
      -0.014598741609668675,
      -0.014598741609668675
    ],
    "min_front_frame": [
      0,
      38.275366435764646
    ],
    "v_avg": 12.801416542295806,
    "v_std": 0.894754462454125,
    "vy_max": 0.04987159409028363,
    "a_max": 1.5070327372078647,
    "ax_avg": -0.5212409114062015,
    "a_std": 0.5457742197558982,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7684ff2627555f4e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.382086925136712,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      38.275366435764646,
      40.671168898315,
      42.49655564380383,
      44.237422000111664,
      45.6179215960251,
      46.65326684333342,
      47.46874978127867,
      48.308708005491845,
      49.0177038391642,
      49.71893664721135
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7684ff2627555f4e",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "16a1dfd2dcae512b": {
    "vx_ego": [
      8.376948938299872,
      8.965735597658398,
      9.529880744289393,
      10.028029421030725,
      10.456990604633742,
      10.885765767135934,
      11.310262080277369,
      11.708175705942605,
      12.005807388180287,
      12.203479294060203
    ],
    "vy_ego": [
      -0.04218431446280668,
      -0.05393803856208734,
      -0.05912191586420246,
      -0.0290360001317147,
      -0.01855621023338916,
      -0.03298492024706423,
      -0.03570503035608308,
      0.006683263006022955,
      -0.018238313650311255,
      -0.03255256991765698
    ],
    "v_ego": [
      8.377055152693579,
      8.965897842331403,
      9.530064134165793,
      10.028071457581536,
      10.457007068867103,
      10.88581574076616,
      11.310318438211759,
      11.708177613413158,
      12.005821241304952,
      12.203522710691548
    ],
    "ax_ego": [
      1.1766009319057198,
      1.1818225089470462,
      1.0818531966677973,
      0.9178889591599031,
      0.8038046279488436,
      0.9112737025555756,
      0.793379200142641,
      0.7981259645879629,
      0.39116272740268854,
      0.4016051502113005
    ],
    "ay_ego": [
      0.3000285103537181,
      0.27875152156625843,
      0.4912430184737844,
      0.6745695841944026,
      0.815584677179099,
      0.6081352655508772,
      0.7624584196796029,
      0.6351749507641424,
      0.492893507954257,
      0.4844229520278927
    ],
    "a_ego": [
      1.214251563715888,
      1.2142515610158364,
      1.1881607813505572,
      1.1391067839618285,
      1.1451114555192057,
      1.0955584248117411,
      1.1003605758837847,
      1.0200256239074081,
      0.6292473992735792,
      0.6292474021620267
    ],
    "yaw": [
      -0.8809266945104621,
      -0.8628837823518338,
      -0.8415372908130309,
      -0.8148672502271055,
      -0.7795714240726963,
      -0.7448253776485065,
      -0.7137492969413916,
      -0.6870734924114156,
      -0.6612987813270769,
      -0.639930004497895
    ],
    "yaw_diff": [
      0.0360858243172566,
      0.04269298307760594,
      0.05334008117185074,
      0.07059165230881836,
      0.06949209284837954,
      0.06215216141422997,
      0.053351609059951954,
      0.05154942216867742,
      0.042737553658363625,
      0.042737553658363625
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.547175140002699,
    "v_std": 1.242501508285701,
    "vy_max": 0.05912191586420246,
    "a_max": 1.214251563715888,
    "ax_avg": 0.8457516969529479,
    "a_std": 0.21167262703361822,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "16a1dfd2dcae512b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "16a1dfd2dcae512b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4768080b04d5530e": {
    "vx_ego": [
      7.486603589663485,
      8.14296111439581,
      8.773663325951553,
      9.336426681964943,
      9.727511166958475,
      9.934506657106501,
      10.025242208153907,
      10.048239409445067,
      10.024356876594824,
      9.958705514341696
    ],
    "vy_ego": [
      0.01429147452286239,
      -0.01725184994820106,
      -0.01799763679015598,
      0.02535490448547284,
      0.023750459699079407,
      -0.0015869383040678642,
      -0.002377484098342819,
      0.09836151061432563,
      0.28052860327086737,
      0.4992711734595532
    ],
    "v_ego": [
      7.486617230432327,
      8.142979389442718,
      8.773681785435194,
      9.336461110018526,
      9.727540161193772,
      9.93450678385528,
      10.025242490063832,
      10.048720824875934,
      10.028281362555951,
      9.971212926521398
    ],
    "ax_ego": [
      1.3118780531540444,
      1.3135237463560707,
      1.2094235073103368,
      1.0416492658019214,
      0.5228600544514617,
      0.30544252745577327,
      0.057151295747001125,
      0.03493746107055126,
      -0.12988552735085424,
      -0.13047404772217333
    ],
    "ay_ego": [
      0.14009502502303678,
      0.12371746830778951,
      0.03924602749275313,
      0.051647233537914006,
      -0.0962765797960295,
      -0.16537045364345754,
      -0.04934423992417061,
      0.28624565635290167,
      0.4088041624450407,
      0.40861671029503344
    ],
    "a_ego": [
      1.31933719813528,
      1.3193371988259015,
      1.2100601103700586,
      1.0429288708621514,
      0.5316500882706657,
      0.34733632766644745,
      0.07550579195833457,
      0.2883699047524893,
      0.4289418299112372,
      0.4289418294609926
    ],
    "yaw": [
      2.6362460536534185,
      2.648722120547024,
      2.653619415263422,
      2.6513464777018347,
      2.6503510545778903,
      2.6462859751093832,
      2.6410029384932088,
      2.636867920610406,
      2.636032211746362,
      2.63459226808995
    ],
    "yaw_diff": [
      0.024952133787211395,
      0.00979458943279532,
      -0.00454587512317417,
      -0.001990846247888811,
      -0.008130158937014187,
      -0.010566073232348927,
      -0.008270035765605144,
      -0.0016714177280885423,
      -0.002879887312824181,
      -0.002879887312824181
    ],
    "min_front_frame": [
      0,
      35.92553658098367
    ],
    "v_avg": 9.347524406439494,
    "v_std": 0.8680828228133592,
    "vy_max": 0.4992711734595532,
    "a_max": 1.3193371988259015,
    "ax_avg": 0.5536506336274133,
    "a_std": 0.44766099545827953,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "4768080b04d5530e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.09613375420824,
    "right_rear_min": 10.476049309930374,
    "speed_mode": "accelerating",
    "front_frame": [
      35.92553658098367,
      38.10427506415118,
      51.54257275226909,
      47.076397942298435,
      48.5344112266738,
      43.696064552914066,
      44.57655956017888,
      45.87901043890274,
      43.40515070025823,
      40.741035408918
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4768080b04d5530e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "2cde4f39412a556d": {
    "vx_ego": [
      6.4509124361262655,
      5.943024349433183,
      5.441967851651933,
      4.9501456601417795,
      4.466170205168991,
      4.030232248269639,
      3.666782196399854,
      3.300475558393833,
      2.8641808931224326,
      2.3904616064675692
    ],
    "vy_ego": [
      -0.03152482329344064,
      -0.013648368320318127,
      0.005161421174068703,
      0.005932837965896054,
      -0.008554029258919016,
      -0.011526169489431748,
      -0.02258287581975238,
      -0.035206124062025834,
      -0.007451852230681011,
      0.03235896749233447
    ],
    "v_ego": [
      6.450989464652085,
      5.943040021395912,
      5.4419702993200625,
      4.950149215446624,
      4.466178396902187,
      4.030248730236838,
      3.6668517371329905,
      3.3006633246555994,
      2.8641905869947415,
      2.3906806132925165
    ],
    "ax_ego": [
      -1.01575219205686,
      -1.0156925309175686,
      -0.9884546569302122,
      -0.9789363075197304,
      -0.9569464602630852,
      -0.7867413358720282,
      -0.6669849356107138,
      -0.7978746624785729,
      -0.947444189070177,
      -0.9474372599133362
    ],
    "ay_ego": [
      0.049816130616065935,
      0.05101790392289718,
      0.08063432977720508,
      -0.05379124349823622,
      0.006035614735266148,
      0.008290757005666893,
      -0.029529317144029926,
      0.016149730104134674,
      0.08003607090705173,
      0.08011819468057507
    ],
    "a_ego": [
      1.0169730392384417,
      1.0169730300663935,
      0.9917381226642659,
      0.9804130721575731,
      0.9569654938686561,
      0.7867850190626602,
      0.6676382889728695,
      0.798038088569545,
      0.9508187335391978,
      0.9508187453931296
    ],
    "yaw": [
      -2.040418248544408,
      -2.0392350795852874,
      -2.0367560790271337,
      -2.035612767169212,
      -2.0350712714486203,
      -2.033520799172269,
      -2.032021644918598,
      -2.0293706816001826,
      -2.0305663581062126,
      -2.0304796745230718
    ],
    "yaw_diff": [
      0.002366337918241257,
      0.004958001116307287,
      0.0022866237158432057,
      0.0010829914411836228,
      0.0031009445527026003,
      0.0029983085073421734,
      0.005301926636830601,
      -0.002391353012059838,
      0.00017336716628157944,
      0.00017336716628157944
    ],
    "min_front_frame": [
      9,
      12.965443300695808
    ],
    "v_avg": 4.350496239002955,
    "v_std": 1.2741510258136903,
    "vy_max": 0.035206124062025834,
    "a_max": 1.0169730392384417,
    "ax_avg": -0.9102264530632285,
    "a_std": 0.11246814049070876,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2cde4f39412a556d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.033278337684816,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.657760438778098,
      23.188377929319778,
      22.054808948194747,
      22.912592639861966,
      21.201314963182597,
      19.40357230297638,
      17.49164130144446,
      15.782294402075394,
      14.241972801301431,
      12.965443300695808
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2cde4f39412a556d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2d578825c3a8565f": {
    "vx_ego": [
      6.603666524376138,
      6.889341035807243,
      7.212956812343346,
      7.493930321860447,
      7.800225983231389,
      8.141117665339001,
      8.57258510527907,
      9.099452910547187,
      9.707131813003866,
      10.38587237080531
    ],
    "vy_ego": [
      -0.17027950340064368,
      -0.07498456927917818,
      -0.08209989162323406,
      -0.07771606883278036,
      -0.09572829408153316,
      -0.16453386457958707,
      -0.20373559044298206,
      -0.20781007699374054,
      -0.07331989797297833,
      -0.021906198089001627
    ],
    "v_ego": [
      6.605861539151754,
      6.889749095089574,
      7.213424039174103,
      7.4943332896431984,
      7.80081337398645,
      8.142780129261029,
      8.575005747990241,
      9.10182554762317,
      9.707408708943417,
      10.385895473389466
    ],
    "ax_ego": [
      0.41070325525747153,
      0.8044613841412946,
      0.5755752682949793,
      0.621976325391707,
      0.6749348139587733,
      0.7455668148125625,
      1.048382332569323,
      1.0902008010527915,
      1.351546456928387,
      1.3679247622320299
    ],
    "ay_ego": [
      2.443808291803614,
      2.3438681670645645,
      2.675659573509197,
      2.8259025325047538,
      2.889658757813919,
      2.4899160862652434,
      1.9933027122962474,
      1.0625591049839769,
      0.6450681995967533,
      0.6095675935712687
    ],
    "a_ego": [
      2.4780791212080335,
      2.478079115596015,
      2.7368670122576755,
      2.893541026590871,
      2.967434032915348,
      2.5991444730895927,
      2.2521903156907213,
      1.522356606777958,
      1.4975950077930524,
      1.4975950074235098
    ],
    "yaw": [
      1.0297858525427372,
      1.1939046777839806,
      1.3716891692573054,
      1.5577419596420743,
      1.7465528235243697,
      1.9236478252337026,
      2.0628631632040326,
      2.1497813438072813,
      2.180984486075567,
      2.2070914634503938
    ],
    "yaw_diff": [
      0.32823765048248665,
      0.35556898294664974,
      0.3721055807695377,
      0.3776217277645908,
      0.3541900034186658,
      0.27843067594066007,
      0.17383636120649726,
      0.06240628453657138,
      0.052213954749653624,
      0.052213954749653624
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.19170969442524,
    "v_std": 1.1787963330806701,
    "vy_max": 0.20781007699374054,
    "a_max": 2.967434032915348,
    "ax_avg": 0.869127221463932,
    "a_std": 0.5509674690202385,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "2d578825c3a8565f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2d578825c3a8565f",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "dc47dc70547551f6": {
    "vx_ego": [
      4.043713448134701,
      3.6857798391587515,
      3.255342673501586,
      2.7075443325022093,
      2.060340337611137,
      1.3300918610376684,
      0.7277325018039869,
      0.43383243792668913,
      0.327446217628632,
      0.2564435846363171
    ],
    "vy_ego": [
      0.0028977911617544816,
      -0.015153989890426267,
      -0.012605776739378127,
      -0.002322481914063701,
      -0.01814054766563311,
      -0.028775097270517302,
      -0.01994760471184437,
      -0.012685058200746557,
      0.010166025630037517,
      0.053372475346332354
    ],
    "v_ego": [
      4.043714486436827,
      3.685810991648746,
      3.255367080304102,
      2.70754532859324,
      2.0604201965271995,
      1.330403083663585,
      0.7280058386549036,
      0.4340178508989819,
      0.32760398885912245,
      0.2619387967173225
    ],
    "ax_ego": [
      -0.7159351614880518,
      -0.7158430007311237,
      -1.00605684868886,
      -1.1851392344045446,
      -1.4037036162705632,
      -1.5174911799208035,
      -0.8920178598725668,
      -0.28361471447158587,
      -0.14195443291871107,
      -0.1419954996505186
    ],
    "ay_ego": [
      -0.04961752571506006,
      -0.05092994598520745,
      0.040134844300268535,
      -0.015637797933351627,
      -0.062422396776404154,
      0.009291617105320005,
      0.023412358956727553,
      0.00446792700212964,
      0.08616837152565848,
      0.08610068372591786
    ],
    "a_ego": [
      0.7176524606750871,
      0.7176524653993712,
      1.0068570844567597,
      1.1852423995323467,
      1.4050908860107119,
      1.5175196259969306,
      0.8923250533766005,
      0.2836499050528583,
      0.16606037840694196,
      0.1660603795583732
    ],
    "yaw": [
      -2.2750438137375792,
      -2.2768770793605806,
      -2.278373295881952,
      -2.279757873428989,
      -2.281291088282482,
      -2.282840220194195,
      -2.283525485124291,
      -2.284104954887513,
      -2.2846340109020904,
      -2.285110757848716
    ],
    "yaw_diff": [
      -0.003666531246002691,
      -0.0029924330427428814,
      -0.0027691550940742715,
      -0.003066429706986007,
      -0.0030982638234258175,
      -0.0013705298601918159,
      -0.0011589395264444136,
      -0.001058112029154401,
      -0.0009534938932516113,
      -0.0009534938932516113
    ],
    "min_front_frame": [
      9,
      11.276305525298001
    ],
    "v_avg": 1.8834827642304035,
    "v_std": 1.3892291700939046,
    "vy_max": 0.053372475346332354,
    "a_max": 1.5175196259969306,
    "ax_avg": -0.8003751548417328,
    "a_std": 0.4652199184356695,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dc47dc70547551f6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.125947903643787,
      17.432460690885616,
      15.822174393081943,
      14.38325104219193,
      13.22881379500201,
      12.399021278054695,
      11.951451696368913,
      11.704036181296653,
      11.441760478246117,
      11.276305525298001
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dc47dc70547551f6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8aec77f33ddb5ac8": {
    "vx_ego": [
      2.2410501167732075,
      2.5296126565050967,
      2.8384637464202447,
      3.148556832722471,
      3.4689858767677704,
      3.80163726309656,
      4.123792414049893,
      4.461025348718807,
      4.81000690908335,
      5.161232034418062
    ],
    "vy_ego": [
      0.1140347996926061,
      -0.0023062996562919214,
      -0.018274126882020347,
      -0.02332840196848074,
      -0.012398451811419076,
      0.02661525478389988,
      0.06836690336224438,
      0.10416966267916061,
      0.1144464779457448,
      0.019423194598220395
    ],
    "v_ego": [
      2.2439495452059837,
      2.5296137078551886,
      2.838522570538299,
      3.1486432543592104,
      3.4690080332598794,
      3.801730428627405,
      4.124359090531617,
      4.462241418898628,
      4.811368252560154,
      5.16126858181122
    ],
    "ax_ego": [
      0.5442449445466473,
      0.6315469802549951,
      0.6149712921894687,
      0.6259502042360015,
      0.6629064831461822,
      0.6864377376120789,
      0.6602640316855255,
      0.7214960567411451,
      0.6902378961491626,
      0.7277576642011878
    ],
    "ay_ego": [
      -0.8039482328298257,
      -0.7373491261516267,
      -0.9653962002633345,
      -1.1381160550368488,
      -1.3554137197932628,
      -1.480540103707794,
      -1.6580826090026775,
      -1.3275833985403875,
      -0.7323639760926366,
      -0.6950928923823263
    ],
    "a_ego": [
      0.9708425828808617,
      0.9708425835869432,
      1.1446307324635614,
      1.2988925332435055,
      1.5088377504559756,
      1.631930073963059,
      1.78470908828715,
      1.5109712902544068,
      1.0063723698306897,
      1.0063723698730989
    ],
    "yaw": [
      -2.2929457006694562,
      -2.4061086150467283,
      -2.5583461857773138,
      -2.731972782888509,
      -2.923360782046755,
      -3.1285644128807686,
      2.946996271376249,
      2.7649420775456863,
      2.6518453383691236,
      2.5992887504023914
    ],
    "yaw_diff": [
      -0.2263258287545442,
      -0.30447514146117083,
      -0.3472531942223904,
      -0.3827759983164922,
      -0.410407261668027,
      -0.4152492458451391,
      -0.3641083876611253,
      -0.22619347835312542,
      -0.10511317593346448,
      -0.10511317593346448
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.6590704883647582,
    "v_std": 0.9335157535441314,
    "vy_max": 0.1144464779457448,
    "a_max": 1.78470908828715,
    "ax_avg": 0.6565813290762395,
    "a_std": 0.2904762798070374,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "8aec77f33ddb5ac8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "8aec77f33ddb5ac8",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d64a3964875f5b41": {
    "vx_ego": [
      3.9386703840162394,
      4.170330551946187,
      4.406736500119004,
      4.6278151801171425,
      4.8001560109366945,
      4.932899419028426,
      5.045808785594557,
      5.132123657086958,
      5.228317913710174,
      5.339537561786549
    ],
    "vy_ego": [
      0.030697257103412978,
      0.0433112309653243,
      0.04570766672170523,
      0.04673351106050261,
      0.026010266471233195,
      0.0036646650642833956,
      -0.014110308795729387,
      -0.002524973695028132,
      0.015116389292559429,
      0.04084823200671661
    ],
    "v_ego": [
      3.938790006527424,
      4.1705554516423256,
      4.406973538867488,
      4.628051140856019,
      4.800226480416688,
      4.932900780273308,
      5.045828514882122,
      5.132124278222788,
      5.228339766316641,
      5.339693806931959
    ],
    "ax_ego": [
      0.4304002401003667,
      0.4830967772014436,
      0.45389072059376234,
      0.41138025159845204,
      0.26407177059727965,
      0.26433139344800577,
      0.18047708571327484,
      0.16688174419638516,
      0.21566394068495753,
      0.22590102464482298
    ],
    "ay_ego": [
      0.6839714665922144,
      0.647826235001318,
      0.7973298428611233,
      0.708180809785984,
      0.6280258459480895,
      0.6748470440200218,
      0.39330062260427284,
      0.4359616098985107,
      0.35878838405293606,
      0.3524326493754208
    ],
    "a_ego": [
      0.8081221032682858,
      0.8081220990038598,
      0.917470252682924,
      0.818995586529218,
      0.6812858160898374,
      0.7247686654269249,
      0.43273243258215044,
      0.4668104988657913,
      0.41861681743938817,
      0.4186168239349193
    ],
    "yaw": [
      -0.37757161678210793,
      -0.2984769313600434,
      -0.2149102243497933,
      -0.13196292708838503,
      -0.057030765974062474,
      0.01446125181540354,
      0.07141010412818569,
      0.10985421587771699,
      0.14484133724929127,
      0.17362669488591737
    ],
    "yaw_diff": [
      0.1581893708441291,
      0.1671334140205002,
      0.16589459452281652,
      0.1498643222286451,
      0.14298403557893202,
      0.1138977046255643,
      0.0768882234990626,
      0.06997424274314856,
      0.05757071527325219,
      0.05757071527325219
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.762348376493677,
    "v_std": 0.4439468524894135,
    "vy_max": 0.04673351106050261,
    "a_max": 0.917470252682924,
    "ax_avg": 0.3096094948778751,
    "a_std": 0.18561038495267204,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "d64a3964875f5b41",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d64a3964875f5b41",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "7defd0c32cd8546a": {
    "vx_ego": [
      7.760471872684039,
      7.401913049395439,
      7.078491763817894,
      6.819637523740852,
      6.5990467445134104,
      6.405212304710311,
      6.290559469157969,
      6.279973203223022,
      6.40209602707821,
      6.630408647307325
    ],
    "vy_ego": [
      0.015136621918940829,
      0.01304375832896687,
      -0.0047812455622384675,
      0.0011671903327048483,
      -0.006871717878138561,
      -0.03361892183686299,
      -0.02137066040377933,
      0.03701091312890403,
      0.05975844928433771,
      0.07090374717724357
    ],
    "v_ego": [
      7.760486634486476,
      7.401924542336394,
      7.078493378590311,
      6.819637623623965,
      6.599050322340301,
      6.405300531615815,
      6.290595769888499,
      6.2800822638632585,
      6.402374919683435,
      6.6307877489519695
    ],
    "ax_ego": [
      -0.7170948529811021,
      -0.7170307067318835,
      -0.5763664731924569,
      -0.45719709466641545,
      -0.42310076004512875,
      -0.34898671270890536,
      -0.11109126187029844,
      0.06802007125327508,
      0.4345105625199618,
      0.4957699073196001
    ],
    "ay_ego": [
      -0.03266013625774308,
      -0.03403936134023949,
      -0.14938547062388974,
      -0.35756014001842706,
      -0.5125790676670459,
      -0.8130777511123679,
      -0.9930764705974471,
      -0.9135160015220725,
      -0.8980653115081394,
      -0.8657557097618013
    ],
    "a_ego": [
      0.7178382217967798,
      0.7178382216884774,
      0.5954110599021757,
      0.5804122992334056,
      0.664643930056676,
      0.884809106531637,
      0.9992708065975997,
      0.9160448761551891,
      0.9976576229727436,
      0.9976576316496782
    ],
    "yaw": [
      2.8128418566387516,
      2.810918409238969,
      2.807037383278656,
      2.7879030350478664,
      2.756661222255966,
      2.7097464767401007,
      2.636373921247098,
      2.5509970848686114,
      2.475476843211387,
      2.406042670517844
    ],
    "yaw_diff": [
      -0.003846894799565348,
      -0.007762051920625623,
      -0.03826869646157949,
      -0.06248362558380105,
      -0.09382949103173033,
      -0.1467451109860054,
      -0.17075367275697317,
      -0.15104048331444897,
      -0.1388683453870856,
      -0.1388683453870856
    ],
    "min_front_frame": [
      7,
      24.06050972067673
    ],
    "v_avg": 6.766873373538043,
    "v_std": 0.47587101716406444,
    "vy_max": 0.07090374717724357,
    "a_max": 0.9992708065975997,
    "ax_avg": -0.23525673211033538,
    "a_std": 0.16121112795891368,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "7defd0c32cd8546a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      40.75170770380955,
      37.64191158286694,
      34.407365298628875,
      24.06050972067673,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7defd0c32cd8546a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a9343b1abc5957ab": {
    "vx_ego": [
      8.958823657200934,
      9.022643312161012,
      9.230645816920735,
      9.593099203144167,
      9.987624480411544,
      10.259553672356377,
      10.46010446261405,
      10.675539631978383,
      10.950918188912713,
      11.278160720349838
    ],
    "vy_ego": [
      -0.09697000861090821,
      -0.05943573568400051,
      -0.07203587179002469,
      -0.10015623253448425,
      -0.11593818670710965,
      -0.1241145410175224,
      -0.1596358042377486,
      -0.17892173518322846,
      -0.1779063408662413,
      -0.035328427867274
    ],
    "v_ego": [
      8.959348441900959,
      9.022839073438035,
      9.230926896268912,
      9.593622026757192,
      9.988297373669493,
      10.260304380243952,
      10.461322524365311,
      10.67703888825278,
      10.952363208293436,
      11.278216052721174
    ],
    "ax_ego": [
      0.007415602719259784,
      0.2850625731236376,
      0.5791809685632434,
      0.9123957746753558,
      0.738865976212703,
      0.40790875881541677,
      0.4364742398414656,
      0.4561057289693672,
      0.6543821020775705,
      0.6577616413574507
    ],
    "ay_ego": [
      2.276875208791062,
      2.25897211268874,
      2.247474613561648,
      2.2393793575711647,
      2.556821348012788,
      2.5339728325415165,
      2.126609560229274,
      1.4799839151035799,
      0.45398226278013754,
      0.44907177380676094
    ],
    "a_ego": [
      2.276887284775211,
      2.276887277952358,
      2.320903430336975,
      2.4181162000121676,
      2.6614391476151926,
      2.566594606005555,
      2.1709394242363675,
      1.5486719552455253,
      0.79643947066832,
      0.7964394734511834
    ],
    "yaw": [
      0.7154042531033975,
      0.8376751176742794,
      0.9628389505070003,
      1.0853968161479397,
      1.209049209654708,
      1.33489173624218,
      1.4506984930062696,
      1.5378087444730841,
      1.5825228611304438,
      1.590007505029164
    ],
    "yaw_diff": [
      0.24454172914176375,
      0.25032766566544185,
      0.2451157312818788,
      0.24730478701353675,
      0.2516850531749437,
      0.23161351352817938,
      0.174220502933629,
      0.08942823331471939,
      0.014969287797440334,
      0.014969287797440334
    ],
    "min_front_frame": [
      6,
      35.20611364915713
    ],
    "v_avg": 10.042427886591124,
    "v_std": 0.7782250182089133,
    "vy_max": 0.17892173518322846,
    "a_max": 2.6614391476151926,
    "ax_avg": 0.513555336635547,
    "a_std": 0.6570326776271763,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "a9343b1abc5957ab",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.661415879145196,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      35.20611364915713,
      36.29122724826765,
      37.29513722904667,
      38.43254609421148
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a9343b1abc5957ab",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "3e5bb75bed1d58ad": {
    "vx_ego": [
      3.957851950473184,
      3.618486940337362,
      3.252311307359628,
      2.879316922023593,
      2.546459938228394,
      2.2919840987703637,
      2.09530886999538,
      1.88036847426775,
      1.6424527860032159,
      1.3992800691245426
    ],
    "vy_ego": [
      -0.00012703841414585249,
      0.01914896992644466,
      0.01636543972165594,
      -0.005867121339347081,
      -0.005092792983397043,
      0.004423937784507115,
      0.007926354623494558,
      0.018433502799535484,
      0.02591041459832244,
      0.021176668518270714
    ],
    "v_ego": [
      3.9578519525120117,
      3.6185376079904557,
      3.25235248206534,
      2.8793228996700297,
      2.546465030889395,
      2.291988368260563,
      2.0953238622654333,
      1.8804588251396217,
      1.6426571473787166,
      1.3994403035280631
    ],
    "ax_ego": [
      -0.67883730391692,
      -0.6787084923203437,
      -0.7861457116175158,
      -0.7058401827146581,
      -0.6256049834170253,
      -0.3922980593573685,
      -0.3943918605559169,
      -0.4653588453785136,
      -0.48635131476088733,
      -0.48635255738474903
    ],
    "ay_ego": [
      0.05520404344859142,
      0.05676588614232336,
      -0.051162011963545806,
      -0.024280288598056865,
      0.02330563033291677,
      0.013832535733740492,
      -0.0027515383766397727,
      0.041917016365182524,
      -0.00908081391179888,
      -0.009013611653337944
    ],
    "a_ego": [
      0.6810782419093028,
      0.6810782505536918,
      0.7878087530376698,
      0.7062576696568094,
      0.6260389346370009,
      0.3925418530811493,
      0.39440145871458937,
      0.4672428610829515,
      0.48643608269837924,
      0.48643607521412596
    ],
    "yaw": [
      1.0918773764325085,
      1.0941783580441966,
      1.09539166835633,
      1.096495148038028,
      1.096118512722804,
      1.0960213652813977,
      1.0956876382711505,
      1.0953291596382715,
      1.0957441967547785,
      1.095882367540983
    ],
    "yaw_diff": [
      0.004601963223376249,
      0.0024266206242669064,
      0.0022069593633959883,
      -0.0007532706304482772,
      -0.00019429488281241802,
      -0.0006674540204945068,
      -0.0007169572657579337,
      0.0008300742330140665,
      0.00027634157240896684,
      0.00027634157240896684
    ],
    "min_front_frame": [
      9,
      19.31202357973851
    ],
    "v_avg": 2.556439847969963,
    "v_std": 0.812023062806724,
    "vy_max": 0.02591041459832244,
    "a_max": 0.7878087530376698,
    "ax_avg": -0.5699889311423899,
    "a_std": 0.13441218830104643,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3e5bb75bed1d58ad",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.8255113626198916,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      30.31608548888754,
      28.741173610467747,
      27.080223635527712,
      25.587890495208722,
      24.278562769745037,
      23.05871352884486,
      21.959481692755524,
      20.944106680603287,
      20.07609370286893,
      19.31202357973851
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3e5bb75bed1d58ad",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "85dd82b1048e5509": {
    "vx_ego": [
      5.437701302177038,
      5.477367614738318,
      5.555986254925524,
      5.649819661119134,
      5.716897364313662,
      5.808676713267909,
      5.875717215920913,
      5.914486713715419,
      5.987557621670948,
      6.070506435818077
    ],
    "vy_ego": [
      -0.04511480148932101,
      -0.011128211259713083,
      -0.001766765929871017,
      -0.0008630966357339176,
      -0.01621374206318027,
      -0.03498022962296998,
      -0.04445756420557512,
      -0.04323564864570617,
      -0.019718137632086297,
      0.017051597861320822
    ],
    "v_ego": [
      5.43788845021772,
      5.477378919161059,
      5.555986535835306,
      5.649819727044759,
      5.716920356234481,
      5.8087820389239395,
      5.8758854036208445,
      5.914644740644195,
      5.987590089324881,
      6.070530384101401
    ],
    "ax_ego": [
      0.07520492640353325,
      0.08056692269209499,
      0.23492317797891987,
      0.13900113875444503,
      0.1280446864729368,
      0.2391278583290209,
      0.028981553800763775,
      0.12593357694713989,
      0.1657665436808795,
      0.16597914487762733
    ],
    "ay_ego": [
      -0.21128989970788004,
      -0.20930402203488124,
      -0.33734793239597516,
      -0.23864749639121724,
      -0.03193946434870597,
      -0.03080865423253236,
      -0.014492710270616833,
      -0.0017023289855259693,
      -0.02648804136719468,
      -0.02512143977946081
    ],
    "a_ego": [
      0.22427483736239082,
      0.22427483735821116,
      0.4110870066586327,
      0.2761773779816669,
      0.1319680685500661,
      0.24110434629977956,
      0.032403226871634376,
      0.12594508218535633,
      0.16786948304970487,
      0.16786948284575573
    ],
    "yaw": [
      2.552852752307248,
      2.527356876184312,
      2.500795898883827,
      2.4749905130893293,
      2.4657911766169556,
      2.4663268367725153,
      2.4660119321462552,
      2.4651160132927012,
      2.4599756138017765,
      2.451736804742481
    ],
    "yaw_diff": [
      -0.05099175224587249,
      -0.0531219546009698,
      -0.05161077158899552,
      -0.018398672944747396,
      0.0010713203111194503,
      -0.0006298092525200971,
      -0.0017918377071080016,
      -0.010280798981849415,
      -0.016477618118591053,
      -0.016477618118591053
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.749542664510859,
    "v_std": 0.20642298493875313,
    "vy_max": 0.04511480148932101,
    "a_max": 0.4110870066586327,
    "ax_avg": 0.13835295299373612,
    "a_std": 0.09669220696871104,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "85dd82b1048e5509",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "85dd82b1048e5509",
    "merging_vehicles": "No"
  },
  "d2b7b43e05be5082": {
    "vx_ego": [
      7.348491048338027,
      7.567998713693715,
      7.9302361815721785,
      8.332723737143848,
      8.688754374907136,
      8.998031210962985,
      9.309026226103237,
      9.50751051388768,
      9.589684844864934,
      9.649638657258349
    ],
    "vy_ego": [
      -0.09771451411904497,
      -0.10950712401428886,
      -0.1852718169273122,
      -0.25637102532122036,
      -0.15389552489831537,
      -0.05173848722176455,
      0.022767712766968984,
      0.02342293679743701,
      0.019243330824415317,
      0.0009835482230995396
    ],
    "v_ego": [
      7.3491406853980985,
      7.568790943121603,
      7.932400112302961,
      8.336666658934181,
      8.690117169523758,
      8.998179957331594,
      9.309054068326304,
      9.507539366505563,
      9.589704152350759,
      9.649638707382874
    ],
    "ax_ego": [
      0.2654108095831278,
      0.6753206345576839,
      0.8160740133815207,
      0.868125802500136,
      0.5872130052833325,
      0.6592374671171997,
      0.5829797918928347,
      0.20833193225475213,
      0.11979821550103248,
      0.11988423631803238
    ],
    "ay_ego": [
      2.491770459017958,
      2.413152499807044,
      1.8135979019872486,
      1.4192012024086516,
      0.8974177648760955,
      0.6531373288717807,
      0.3553761139948357,
      0.12060211432717442,
      0.0265291495800861,
      0.02613763506344064
    ],
    "a_ego": [
      2.5058657023627857,
      2.5058657080506888,
      1.988746878164532,
      1.6636629652320412,
      1.0724634065034995,
      0.9279991424655873,
      0.6827573655065783,
      0.2407219640522723,
      0.12270048172144395,
      0.12270047304011275
    ],
    "yaw": [
      -2.7160056569338393,
      -2.549250942905494,
      -2.4030398926146526,
      -2.2949235650601647,
      -2.239159009200156,
      -2.206846998613136,
      -2.187463017832247,
      -2.174947254517522,
      -2.1706623386949584,
      -2.1673954373781736
    ],
    "yaw_diff": [
      0.3335094280566908,
      0.2924221005816827,
      0.2162326551089757,
      0.11152911172001723,
      0.06462402117404054,
      0.03876796156177775,
      0.02503152662944963,
      0.00856983164512748,
      0.006533802633569508,
      0.006533802633569508
    ],
    "min_front_frame": [
      9,
      46.36284741524709
    ],
    "v_avg": 8.69312318211777,
    "v_std": 0.814288979015107,
    "vy_max": 0.25637102532122036,
    "a_max": 2.5058657080506888,
    "ax_avg": 0.49023759083896523,
    "a_std": 0.8856667304086857,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "d2b7b43e05be5082",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      73.84300532112113,
      69.6042920772226,
      65.22676441551599,
      60.64338882318158,
      55.90761201970457,
      51.14890484259437,
      46.36284741524709
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2857142857142857,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7142857142857143,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "d2b7b43e05be5082",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "bd2591ae189c5a38": {
    "vx_ego": [
      0.45166718713306475,
      0.15259837083724243,
      -0.02755247569987714,
      -0.045403806642327356,
      -0.025193296910766112,
      -0.014397954262314477,
      -0.009287161334550622,
      -0.0064888209075973915,
      -0.004847026230888625,
      -0.003636396157809961
    ],
    "vy_ego": [
      0.034438052044361483,
      0.02352375073652232,
      0.008901199233724663,
      -0.0009846526089684754,
      -0.0017088609775086604,
      -0.001454609815950368,
      -0.0009969228795174102,
      -0.0006595447027962689,
      -0.0005915188903530045,
      -0.0006757120721430896
    ],
    "v_ego": [
      0.45297817536974677,
      0.15440087315457315,
      0.02895462424191999,
      0.045414482253728246,
      0.02525118640924559,
      0.014471246548115985,
      0.009340515022292795,
      0.006522253903817273,
      0.00488298657386715,
      0.0036986435109341038
    ],
    "ax_ego": [
      -0.5981311670651976,
      -0.5981281565414636,
      -0.12246283211140475,
      0.05105755099296064,
      0.029785416815570374,
      0.013395701403798841,
      0.0070475115004774765,
      0.0041458817298588215,
      0.002421202050678242,
      0.0024212070306163535
    ],
    "ay_ego": [
      -0.021870529296987795,
      -0.02195270127282814,
      -0.03653960144614674,
      -0.003011456912038135,
      9.73860897916911e-05,
      0.0009224466818366969,
      0.0009080757554020885,
      0.00044128598332671674,
      -0.0001681138987445843,
      -0.00016802107199514376
    ],
    "a_ego": [
      0.5985308789582253,
      0.5985308786861907,
      0.12779783927198987,
      0.05114628418694595,
      0.029785576021419284,
      0.013427424324142354,
      0.0071057737036097175,
      0.004169300737180972,
      0.0024270314487372484,
      0.002427029988636411
    ],
    "yaw": [
      -2.1037734559043892,
      -2.103910836922705,
      -2.1040824711903783,
      -2.104049564572855,
      -2.1039174959592755,
      -2.103957237362987,
      -2.1039519815752628,
      -2.1039467277690234,
      -2.1039955027565096,
      -2.104033573159982
    ],
    "yaw_diff": [
      -0.00027476203663123755,
      -0.0003432685353468301,
      6.581323504661896e-05,
      0.00026413722715901145,
      -7.94828074228704e-05,
      1.0511575448290955e-05,
      1.0507612478782846e-05,
      -9.75499749724662e-05,
      -7.614080694473557e-05,
      -7.614080694473557e-05
    ],
    "min_front_frame": [
      1,
      8.580561869485795
    ],
    "v_avg": 0.07459149869882409,
    "v_std": 0.1331559738068472,
    "vy_max": 0.034438052044361483,
    "a_max": 0.5985308789582253,
    "ax_avg": -0.1208447684194105,
    "a_std": 0.23033701290485303,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bd2591ae189c5a38",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.277427317011152,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.706458959050444,
      8.580561869485795,
      8.61139713395848,
      8.612797673033217,
      8.607472403036995,
      8.608158679532716,
      8.637205168302264,
      8.634231767691622,
      8.674710608586777,
      8.665375357869477
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bd2591ae189c5a38",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "69fab78920a55a7a": {
    "vx_ego": [
      5.669629283185812,
      5.340760185173096,
      5.0995482121694895,
      4.98791132994766,
      4.972268831991401,
      5.011017264303287,
      5.070878077410772,
      5.122783124567996,
      5.172317292710559,
      5.2703838305238175
    ],
    "vy_ego": [
      0.003691981941604361,
      0.03204712725706815,
      0.024350519249717095,
      0.008467783301132181,
      0.004423862984928029,
      0.006433519035856233,
      0.016264298256656984,
      0.03266013978341875,
      0.028270662131824942,
      0.0014104153444880474
    ],
    "v_ego": [
      5.669630485268747,
      5.340856333388457,
      5.09960634912429,
      4.987918517655864,
      4.97227079996221,
      5.0110213942182265,
      5.0709041603409295,
      5.122887235347789,
      5.172394552507577,
      5.2703840192455
    ],
    "ax_ego": [
      -0.6952053911699649,
      -0.6238407413759752,
      -0.3414681886055462,
      -0.11701823734364164,
      0.054633534008555834,
      0.09998110629605703,
      0.13210359602095156,
      0.06659000101499923,
      0.11998201687965632,
      0.2637665874171153
    ],
    "ay_ego": [
      0.8887842622886892,
      0.9402503550645511,
      1.156853971975271,
      1.07986606613721,
      1.1347275947330382,
      1.1715778288872831,
      1.1313778368730854,
      1.1635458983632123,
      1.2082077450964048,
      1.1851535032020524
    ],
    "a_ego": [
      1.128382914087161,
      1.1283829140852588,
      1.2061971796951418,
      1.0861878238434024,
      1.1360420490839633,
      1.1758362261626505,
      1.1390641640615724,
      1.1654498212420097,
      1.2141505836120368,
      1.2141505832431856
    ],
    "yaw": [
      -0.4882222684264258,
      -0.41022651259777776,
      -0.30771516319434866,
      -0.19318736706805273,
      -0.08083674269120794,
      0.03427257512227106,
      0.14650635897165543,
      0.25557204941804545,
      0.3716334368490847,
      0.49164203350023794
    ],
    "yaw_diff": [
      0.15599151165729608,
      0.2050226988068582,
      0.22905559225259187,
      0.22470124875368958,
      0.230218635626958,
      0.22446756769876874,
      0.21813138089278006,
      0.23212277486207844,
      0.24001719330230653,
      0.24001719330230653
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.171787384705959,
    "v_std": 0.20084641151900462,
    "vy_max": 0.03266013978341875,
    "a_max": 1.2141505836120368,
    "ax_avg": -0.10404757168577927,
    "a_std": 0.04090875005401286,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "69fab78920a55a7a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "69fab78920a55a7a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fbc9981c30745684": {
    "vx_ego": [
      4.169505793672156,
      4.1274727891733605,
      4.081562838382437,
      3.9726538254307595,
      3.771843104609581,
      3.5946018160226587,
      3.4105817867521613,
      3.109821182168135,
      2.7038722489485294,
      2.2461323124609556
    ],
    "vy_ego": [
      -0.0022883807349205476,
      -0.0437275835164439,
      -0.023790791150638535,
      0.004623201167758273,
      -0.006653713406573336,
      -0.004854955612843314,
      0.0269814003535353,
      0.022194190908929323,
      0.004097967339686259,
      0.0022594947768412865
    ],
    "v_ego": [
      4.169506421646579,
      4.127704413705844,
      4.081632174193072,
      3.972656515569737,
      3.7718489733409184,
      3.594605094631036,
      3.41068851115,
      3.109900378978677,
      2.7038753543701484,
      2.246133448929036
    ],
    "ax_ego": [
      -0.09156259267997324,
      -0.07958896974202234,
      -0.09957740025475553,
      -0.33496985577009086,
      -0.46903130305211715,
      -0.2518170253429546,
      -0.4889211290706134,
      -0.7090643884808572,
      -0.9181431744363588,
      -0.9117904342941853
    ],
    "ay_ego": [
      -0.3578594776589212,
      -0.3607113903274165,
      -0.7538513269972321,
      -0.8510813856275178,
      -0.8449131326649066,
      -0.6612882760896929,
      -0.4680408585244698,
      -0.42375453709283917,
      -0.16292746647291437,
      -0.1953726056264504
    ],
    "a_ego": [
      0.3693874850730525,
      0.3693874811313106,
      0.7603995540878384,
      0.9146279731324048,
      0.9663687520777942,
      0.7076114741482448,
      0.6768353682395788,
      0.8260388699804013,
      0.932487130257226,
      0.9324871318681279
    ],
    "yaw": [
      -2.7200207233068507,
      -2.7533438421932277,
      -2.8260112115724008,
      -2.9318272533894723,
      -3.0378530597388025,
      -3.1412460292658686,
      3.0530544116779765,
      2.986722216252125,
      2.942891836090509,
      2.90743509753972
    ],
    "yaw_diff": [
      -0.06664623777275391,
      -0.14533473875834613,
      -0.211632083634143,
      -0.21205161269866046,
      -0.20678593905413223,
      -0.1777697324714822,
      -0.13266439085170312,
      -0.08766076032323156,
      -0.07091347710157869,
      -0.07091347710157869
    ],
    "min_front_frame": [
      9,
      15.926287468454069
    ],
    "v_avg": 3.518855128651505,
    "v_std": 0.6204352272789107,
    "vy_max": 0.0437275835164439,
    "a_max": 0.9663687520777942,
    "ax_avg": -0.4354466273123928,
    "a_std": 0.21049839441969245,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "fbc9981c30745684",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      17.73753500166586,
      16.796735229312006,
      15.926287468454069
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fbc9981c30745684",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3c58a86242fe5671": {
    "vx_ego": [
      1.8563641683763585,
      2.6442754035971507,
      3.454254515957828,
      4.300425127121293,
      5.113803336657478,
      5.867585996678211,
      6.539268215989187,
      7.149650357188284,
      7.707987578294926,
      8.206051106688506
    ],
    "vy_ego": [
      0.04001574068492056,
      0.013311950874125483,
      -0.004873407648294928,
      -0.007350447230840315,
      0.001525612065468529,
      0.017265862809264843,
      0.016839353659810347,
      -0.00520229204041861,
      -0.003618895678444145,
      0.002157312956201196
    ],
    "v_ego": [
      1.8567954074518311,
      2.6443089112478804,
      3.454257953760425,
      4.300431408946163,
      5.113803564227055,
      5.867611399746305,
      6.539289897571302,
      7.149652249856984,
      7.707988427829585,
      8.206051390259681
    ],
    "ax_ego": [
      1.5758722280876525,
      1.5760323143856467,
      1.6638958297670134,
      1.7207044179896904,
      1.5326078937494132,
      1.4827850618804623,
      1.2040671554429385,
      1.2374250366597748,
      0.9960249945191167,
      0.9962333488415116
    ],
    "ay_ego": [
      -0.06651930590886088,
      -0.06261212122847243,
      -0.0387696297391786,
      -0.05854294250821261,
      -0.00593199276883543,
      -0.0383369484515152,
      -0.016896734317322706,
      0.0027519507207425797,
      0.06527873965573147,
      0.062017822485447995
    ],
    "a_ego": [
      1.5772755299301828,
      1.577275541467789,
      1.6643474446479531,
      1.721700023292896,
      1.5326193736610607,
      1.4832805740494348,
      1.204185705963594,
      1.2374280967333877,
      0.9981618624040128,
      0.9981618584427124
    ],
    "yaw": [
      -1.588802670195304,
      -1.5912819236215283,
      -1.5936385432569729,
      -1.5992844597337088,
      -1.6045680591095723,
      -1.609444866453868,
      -1.6115899984607962,
      -1.6088846394532006,
      -1.6068167639165245,
      -1.6035431770484196
    ],
    "yaw_diff": [
      -0.004958506852448696,
      -0.004713239270889069,
      -0.011291832953471914,
      -0.01056719875172707,
      -0.009753614688591483,
      -0.004290264013856238,
      0.005410718015191218,
      0.0041357510733521785,
      0.0065471737362097215,
      0.0065471737362097215
    ],
    "min_front_frame": [
      0,
      11.54352977200881
    ],
    "v_avg": 5.284019061089721,
    "v_std": 2.0704866058790845,
    "vy_max": 0.04001574068492056,
    "a_max": 1.721700023292896,
    "ax_avg": 1.398564828132322,
    "a_std": 0.25464972146013665,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "3c58a86242fe5671",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5979689896387352,
    "right_rear_min": 11.497486968613678,
    "speed_mode": "accelerating",
    "front_frame": [
      11.54352977200881,
      12.56129464313108,
      13.322154872578928,
      14.096000710448827,
      14.594499955523007,
      15.196324101382208,
      15.61098572377236,
      16.030117288380605,
      16.350577307505663,
      16.74219758836899
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3c58a86242fe5671",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "58a74755dc6a506a": {
    "vx_ego": [
      6.348852308381225,
      5.697606095922309,
      5.034860645358009,
      4.370023609509312,
      3.7946479365186394,
      3.3429518318200846,
      2.8867356875022177,
      2.397669794987488,
      1.9441448752882309,
      1.509698779510941
    ],
    "vy_ego": [
      -0.06094026599017921,
      -0.060171776456574566,
      -0.02740472516333181,
      -0.0038936241761202695,
      -0.002357556961606555,
      -0.0068873371301862996,
      0.02662267927068762,
      0.022113218212372443,
      -0.002705837307825032,
      -0.04176456340456458
    ],
    "v_ego": [
      6.34914477309004,
      5.697923820741463,
      5.034935226707106,
      4.370025344088752,
      3.7946486688756833,
      3.342958926651957,
      2.886858447612292,
      2.3977717656639155,
      1.9441467582631273,
      1.5102763600126958
    ],
    "ax_ego": [
      -1.3018870654862207,
      -1.3010520049882057,
      -1.3489253792745526,
      -1.3101657090398384,
      -0.9914917731140811,
      -0.8144552669071478,
      -1.010568677639653,
      -0.9444766420594357,
      -0.8693027222763445,
      -0.8688766671780159
    ],
    "ay_ego": [
      0.09569065596138893,
      0.10644383766049614,
      0.13774398038999036,
      0.08665547232736392,
      -0.016238608997374893,
      0.12871326464756316,
      0.0275511459808358,
      -0.12044303681193164,
      -0.09183067310785453,
      -0.09577808635566226
    ],
    "a_ego": [
      1.3053990320659212,
      1.3053990233869965,
      1.3559399260235216,
      1.3130283150138617,
      0.9916247418126849,
      0.8245632093957546,
      1.0109441714907972,
      0.9521253344556838,
      0.874139631569525,
      0.8741396367814066
    ],
    "yaw": [
      -0.7457521678177647,
      -0.7374898691488143,
      -0.732225778266929,
      -0.7252884794816234,
      -0.7213136806176587,
      -0.7121083660774484,
      -0.7103385495037418,
      -0.7174432755152148,
      -0.7305123614047545,
      -0.7350543694213008
    ],
    "yaw_diff": [
      0.01652459733790068,
      0.010528181763770572,
      0.013874597570611158,
      0.00794959772792958,
      0.01841062908042046,
      0.0035396331474133458,
      -0.0142094520229461,
      -0.0261381717790794,
      -0.009084016033092501,
      -0.009084016033092501
    ],
    "min_front_frame": [
      9,
      12.14891156483998
    ],
    "v_avg": 3.7328690091707037,
    "v_std": 1.5362680237835704,
    "vy_max": 0.06094026599017921,
    "a_max": 1.3559399260235216,
    "ax_avg": -1.0761201907963496,
    "a_std": 0.2027276267771518,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "58a74755dc6a506a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      28.871092721026763,
      25.840038326715153,
      23.17974790121339,
      20.856606492910654,
      18.845244405078894,
      17.046361228401604,
      15.453192268336993,
      14.096254626547069,
      13.015480832776628,
      12.14891156483998
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "58a74755dc6a506a",
    "maneuvering": "Yes"
  },
  "e5dd6a4462dd5e29": {
    "vx_ego": [
      11.655781698577078,
      11.185772702265592,
      10.741046502280435,
      10.376857026220703,
      10.08540591331312,
      9.80398819397721,
      9.400212815369523,
      8.825315785943154,
      8.146427606764659,
      7.419855909204181
    ],
    "vy_ego": [
      0.01354899873354326,
      -0.015265960842652027,
      -0.0011157957700693721,
      -0.006694536677967766,
      0.027389863986723606,
      0.010342168467567026,
      -0.00819152932523487,
      -0.018354664847618274,
      -0.016027668712804338,
      -0.014523380411140319
    ],
    "v_ego": [
      11.655789573437358,
      11.185783119491926,
      10.741046560235691,
      10.376859185680766,
      10.085443105830327,
      9.8039936489215,
      9.40021638449829,
      8.825334872702514,
      8.146443373547854,
      7.4198701229826645
    ],
    "ax_ego": [
      -0.940068119087476,
      -0.9399474172811532,
      -0.8389664149179301,
      -0.6176927122252017,
      -0.5480049947714867,
      -0.5778064142784265,
      -1.0372762402156939,
      -1.2623724956172908,
      -1.4531200381688634,
      -1.4530967268484005
    ],
    "ay_ego": [
      0.029251724229296276,
      0.03290231791798132,
      -0.004979940717573159,
      0.06492804571216987,
      0.008644601311530225,
      -0.011416454945898522,
      -0.08127612191991088,
      0.019164617872692198,
      0.01979142078027407,
      0.02143480245492023
    ],
    "a_ego": [
      0.9405231160875589,
      0.9405231043296524,
      0.8389811947652909,
      0.6210957557865997,
      0.5480731734233417,
      0.5779191879707961,
      1.0404555764233023,
      1.2625179603749141,
      1.4532548109895873,
      1.4532548119080206
    ],
    "yaw": [
      -1.5481636630980309,
      -1.5442800855126548,
      -1.5449347936729523,
      -1.5429819696199876,
      -1.5445169519581343,
      -1.5428729998615176,
      -1.5433532968591637,
      -1.5439401907799968,
      -1.5430691846591609,
      -1.5419382441668597
    ],
    "yaw_diff": [
      0.007767155170752105,
      -0.0013094163205948917,
      0.0039056481059294157,
      -0.0030699646762935018,
      0.0032879041932334374,
      -0.0009605939952921361,
      -0.0011737878416662184,
      0.0017420122416718087,
      0.002261880984602449,
      0.002261880984602449
    ],
    "min_front_frame": [
      4,
      14.448844727676823
    ],
    "v_avg": 9.76407799473289,
    "v_std": 1.2712333205593993,
    "vy_max": 0.027389863986723606,
    "a_max": 1.4532548119080206,
    "ax_avg": -0.9668351573411924,
    "a_std": 0.3209258313087115,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e5dd6a4462dd5e29",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.975636870226111,
    "right_rear_min": 18.225515482489058,
    "speed_mode": "decelerating",
    "front_frame": [
      78.05026845878831,
      73.51041432841367,
      68.79266281207406,
      63.854949234605094,
      14.448844727676823,
      14.755363453623602,
      14.873517531901332,
      14.823026758189473,
      14.709258348840198,
      14.549660302804433
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.4,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e5dd6a4462dd5e29",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d945bc5c595d518d": {
    "vx_ego": [
      1.7547463974865345,
      2.003799878893561,
      2.2973595104833286,
      2.676578593477059,
      3.1590760776621147,
      3.702082208186397,
      4.219388688240933,
      4.696578859676675,
      5.140515439717161,
      5.580610740572352
    ],
    "vy_ego": [
      -0.1254192293513156,
      -0.057628650189953,
      -0.015473077515811784,
      0.019912210835029476,
      0.02129664702184242,
      -0.011367659972854716,
      -0.0551380208037453,
      -0.04858316577677435,
      0.019054988794430905,
      0.00885405933504435
    ],
    "v_ego": [
      1.7592228120914783,
      2.004628398476028,
      2.297411616697367,
      2.676652660170903,
      3.159147861628421,
      3.702099660984767,
      4.2197489384788875,
      4.696830134160565,
      5.140550756345907,
      5.580617764383994
    ],
    "ax_ego": [
      0.49941737389025614,
      0.511694832259662,
      0.6700103187542658,
      0.8488440326349003,
      1.0748418116532414,
      1.1052010576036853,
      0.9815314622411047,
      0.9558619884773476,
      0.8291915705212837,
      0.9220564717321608
    ],
    "ay_ego": [
      0.30355779032510266,
      0.28237111116415287,
      0.2986178284227618,
      0.3879334413760458,
      0.35519371171901115,
      0.597764881562433,
      0.7078368389817327,
      0.9278690036264959,
      1.027786661651205,
      0.9453655084359049
    ],
    "a_ego": [
      0.5844356640473773,
      0.5844356643646261,
      0.7335437510395129,
      0.9332891013387767,
      1.1320103766851035,
      1.256499992581637,
      1.2101392490076555,
      1.3321460238677647,
      1.3205696053187357,
      1.320569604982425
    ],
    "yaw": [
      -3.019115702777354,
      -2.97721416313981,
      -2.928841706485269,
      -2.8735722822626233,
      -2.8097792861747366,
      -2.730765557765655,
      -2.6377359499905255,
      -2.547603284682946,
      -2.4622794809983874,
      -2.368220413851364
    ],
    "yaw_diff": [
      0.08380307927508746,
      0.09674491330908186,
      0.11053884844529183,
      0.12758599217577338,
      0.15802745681816344,
      0.18605921555025873,
      0.1802653306151587,
      0.17064760736911744,
      0.18811813429404722,
      0.18811813429404722
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5236910603418314,
    "v_std": 1.2850210452027722,
    "vy_max": 0.1254192293513156,
    "a_max": 1.3321460238677647,
    "ax_avg": 0.8398650919767908,
    "a_std": 0.29110959572314327,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "d945bc5c595d518d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "d945bc5c595d518d",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "58b6d3046d18508e": {
    "vx_ego": [
      2.8922116613200672,
      2.5503681099965614,
      2.2072809769803765,
      1.86612826049394,
      1.5311325081709726,
      1.21110307652672,
      0.9126909735829216,
      0.5550525523125254,
      0.18986270136118066,
      -0.11415030056638076
    ],
    "vy_ego": [
      -0.03722636855836048,
      -0.031022979567464803,
      -0.0041824308676218225,
      0.004337364058981774,
      -0.00534501819740596,
      0.0022454488590440413,
      -0.00814048030941733,
      -0.01797804398809061,
      -0.00930236665943203,
      0.002955134939100261
    ],
    "v_ego": [
      2.892451226277087,
      2.550556786615165,
      2.207284939482759,
      1.866133301064294,
      1.5311418375831365,
      1.211105158115126,
      0.9127272761780538,
      0.5553436286609278,
      0.1900904505587574,
      0.1141885455809967
    ],
    "ax_ego": [
      -0.6838288085508069,
      -0.6838308320139436,
      -0.6887637693313697,
      -0.6757227160600051,
      -0.664322652693587,
      -0.6157965632047726,
      -0.5778462501922387,
      -0.852752003933887,
      -0.6080253619486831,
      -0.6080280058211692
    ],
    "ay_ego": [
      0.0016836599700290056,
      0.00024604558556901024,
      0.08648580878185502,
      -0.06566018264509332,
      0.017181338076311004,
      0.007887199806303313,
      -0.05077708734859668,
      0.009766398905876827,
      0.024539541352281008,
      0.024474193093228458
    ],
    "a_ego": [
      0.6838308812235016,
      0.683830876278128,
      0.6941724029837313,
      0.6789053310915281,
      0.6645447955254309,
      0.6158470712568129,
      0.5800729277089548,
      0.8528079284111099,
      0.6085203610912353,
      0.6085203710562469
    ],
    "yaw": [
      -2.044737191172891,
      -2.046839488683,
      -2.0490070497659456,
      -2.050635191288581,
      -2.0520712756431605,
      -2.0530407138355837,
      -2.0533590626592355,
      -2.0538994041014256,
      -2.054189554911221,
      -2.054297022031765
    ],
    "yaw_diff": [
      -0.004204595020218527,
      -0.004335122165890937,
      -0.0032562830452711466,
      -0.002872168709158629,
      -0.0019388763848464663,
      -0.0006366976473035635,
      -0.0010806828843801242,
      -0.0005803016195908839,
      -0.00021493424108776082,
      -0.00021493424108776082
    ],
    "min_front_frame": [
      8,
      9.83560840053846
    ],
    "v_avg": 1.4031023150116302,
    "v_std": 0.9241772187388533,
    "vy_max": 0.03722636855836048,
    "a_max": 0.8528079284111099,
    "ax_avg": -0.6658916963750463,
    "a_std": 0.07279410000510714,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "58b6d3046d18508e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.158659620782724,
    "right_rear_min": 5.777130159611084,
    "speed_mode": "decelerating",
    "front_frame": [
      15.009694131802258,
      13.919303699351111,
      12.944903390108871,
      12.117330845461847,
      11.357398711999805,
      10.797171195415364,
      10.347137437660036,
      9.951617851980778,
      9.83560840053846,
      9.84526198139643
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "58b6d3046d18508e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fd6c8bf8f80f5f53": {
    "vx_ego": [
      2.3513956381547185,
      1.7851452151001428,
      1.305643010218457,
      0.9850390999484766,
      0.7512050028938091,
      0.6030579056877314,
      0.5800978781551032,
      0.6339860091210663,
      0.7629396715460287,
      0.9442859372019035
    ],
    "vy_ego": [
      0.027393774638804658,
      -0.004907898114227094,
      -0.011587750303804711,
      -0.007207304223302458,
      -0.013884700042942677,
      -0.013808100143297197,
      0.005354306456309188,
      0.017829140086423695,
      -0.0010075709384213538,
      -0.02981789970301124
    ],
    "v_ego": [
      2.351555201568102,
      1.785151961727302,
      1.3056944305960017,
      0.9850654666881141,
      0.7513333090366554,
      0.6032159656723619,
      0.5801225877671727,
      0.6342366577212941,
      0.7629403368664932,
      0.9447566026972111
    ],
    "ax_ego": [
      -1.1324937875714005,
      -1.1325457082356367,
      -0.7854155170689546,
      -0.496992453662166,
      -0.43832112280978375,
      -0.1542495089194616,
      0.06239501277156515,
      0.15315210173230043,
      0.36265902342978384,
      0.3626916439200836
    ],
    "ay_ego": [
      -0.06156878377061531,
      -0.06060620296581759,
      0.037373613052621546,
      -0.016641456571577784,
      -0.008373623469806746,
      0.009388469142297518,
      0.06654625484517311,
      -0.016499842176693542,
      -0.05867297577065439,
      -0.05847089509873818
    ],
    "a_ego": [
      1.1341661668480545,
      1.1341661664328089,
      0.7863042168304202,
      0.49727098957607,
      0.43840109976053165,
      0.15453496159358548,
      0.09122248435929874,
      0.15403834281397827,
      0.3673745845330462,
      0.3673745692656207
    ],
    "yaw": [
      -1.998876589901636,
      -1.9980266431030445,
      -1.9974462821448427,
      -1.9967227621129076,
      -1.9962306263480452,
      -1.9959545910612233,
      -1.9962712027909322,
      -1.9962094790559837,
      -1.9961447652026245,
      -1.9967019769052508
    ],
    "yaw_diff": [
      0.0016998935971832552,
      0.0011607219164035953,
      0.0014470400638701975,
      0.0009842715297248006,
      0.0005520705736437037,
      -0.0006332234594177422,
      0.00012344746989700894,
      0.00012942770671831028,
      -0.0011144234052524737,
      -0.0011144234052524737
    ],
    "min_front_frame": [
      4,
      13.3785106890766
    ],
    "v_avg": 1.0704072520340708,
    "v_std": 0.5546049993881695,
    "vy_max": 0.02981789970301124,
    "a_max": 1.1341661668480545,
    "ax_avg": -0.319912031641367,
    "a_std": 0.3646724849388636,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fd6c8bf8f80f5f53",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.3389507770863425,
    "right_rear_min": 4.020698244018824,
    "speed_mode": "decelerating",
    "front_frame": [
      14.983922185924417,
      14.116931231220216,
      13.636895279216835,
      13.42277322404806,
      13.3785106890766,
      13.606757389083377,
      14.048653843556242,
      14.508957955694042,
      15.158686299062722,
      15.786430082449462
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fd6c8bf8f80f5f53",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "043839beb58a5dad": {
    "vx_ego": [
      3.1858870581408096,
      3.8061736445368544,
      4.375013334392139,
      4.76387714831678,
      4.987646550041656,
      5.116164519318254,
      5.182053414243459,
      5.261487302960319,
      5.316453121425686,
      5.346200414348635
    ],
    "vy_ego": [
      -0.17379001355119605,
      0.010302856920180736,
      -0.015845166069219513,
      -0.0934399347982875,
      -0.11929712432579209,
      -0.08661855713060973,
      -0.08039048823425787,
      -0.08280376605970119,
      -0.08774647036562122,
      0.05048134003325422
    ],
    "v_ego": [
      3.190623656284023,
      3.8061875888121537,
      4.375042027843479,
      4.76479343788059,
      4.9890730513808705,
      5.1168977088828305,
      5.182676935587518,
      5.262138833486468,
      5.317177186757889,
      5.346438743319993
    ],
    "ax_ego": [
      1.176106344178603,
      1.336556003907638,
      0.9965197489834479,
      0.6139362679899621,
      0.40620925776841543,
      0.18466286082713623,
      0.1174181119794242,
      0.20829493592229942,
      0.03046821339658079,
      0.09322650492557982
    ],
    "ay_ego": [
      1.3363957528440078,
      1.1759242315903407,
      1.7777653265275712,
      1.8557559576944231,
      2.1875260036714215,
      2.1124217460237933,
      1.8482612184297065,
      1.3007587633304452,
      0.9692651410643556,
      0.9652523404750485
    ],
    "a_ego": [
      1.7802190149070594,
      1.7802190174309698,
      2.038014025054223,
      1.9546733526785973,
      2.224921566670481,
      2.1204777775876535,
      1.8519871880150995,
      1.3173306876831739,
      0.9697438969697539,
      0.9697439156876407
    ],
    "yaw": [
      -1.838935988541603,
      -1.711378952500072,
      -1.526916543323348,
      -1.3141816976942255,
      -1.1034724680939734,
      -0.8989929151718368,
      -0.7087899563589759,
      -0.557523195186326,
      -0.4498459034427932,
      -0.38498601114054587
    ],
    "yaw_diff": [
      0.255114072083062,
      0.3689248183534479,
      0.42546969125824496,
      0.42141845920050436,
      0.4089591058442732,
      0.38040591762572173,
      0.30253352234529984,
      0.2153545834870656,
      0.12971978460449463,
      0.12971978460449463
    ],
    "min_front_frame": [
      9,
      19.088474439475505
    ],
    "v_avg": 4.735104917023581,
    "v_std": 0.6913555267963495,
    "vy_max": 0.17379001355119605,
    "a_max": 2.224921566670481,
    "ax_avg": 0.5163398249879088,
    "a_std": 0.4336363511593468,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "043839beb58a5dad",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.391257697857084,
    "speed_mode": "accelerating",
    "front_frame": [
      24.058903955131854,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      21.72323618609974,
      19.088474439475505
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "043839beb58a5dad",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "eff63ffe642d5409": {
    "vx_ego": [
      3.2957955126750216,
      2.593953243989011,
      1.8229540147310506,
      0.9843487261218798,
      0.3007517154406791,
      -0.0306903695780031,
      -0.07234899911416712,
      -0.04058937996848014,
      -0.022422129048702232,
      -0.010934432435782447
    ],
    "vy_ego": [
      -0.007374582791105866,
      -0.009512197127774347,
      0.027330566699734937,
      0.023249887055026508,
      -0.003379335835692568,
      -0.02571686834989008,
      -0.016328650519494683,
      -0.005379411391034115,
      -0.0027368749205813683,
      -0.0011329849797717113
    ],
    "v_ego": [
      3.2958037632480717,
      2.5939706848565796,
      1.8231588794452842,
      0.9846232639267869,
      0.30077070045335463,
      0.040040680595614206,
      0.07416874342072642,
      0.0409443015954558,
      0.022588544782866465,
      0.010992973558463586
    ],
    "ax_ego": [
      -1.414649731977647,
      -1.387076898718385,
      -1.706229251333986,
      -1.653244097328084,
      -1.0818131431095872,
      -0.2439220761308022,
      0.07733860214809048,
      0.0496951631959381,
      0.0229753205913854,
      0.022975217551165883
    ],
    "ay_ego": [
      0.35240953624715243,
      0.44882515242819127,
      0.14529404885457783,
      0.001539576065605952,
      -0.09019894206681262,
      0.0008875060571799376,
      0.03648168801233531,
      0.007349962071571655,
      0.0032084746317454817,
      0.0032092032987277707
    ],
    "a_ego": [
      1.4578842016505842,
      1.4578841999316687,
      1.7124043385661842,
      1.653244814189542,
      1.08556691445282,
      0.24392369071281778,
      0.08551124453807227,
      0.05023575606601798,
      0.023198268593571637,
      0.023198267334780975
    ],
    "yaw": [
      -3.086785655394149,
      -3.017986949615313,
      -2.968321999745798,
      -2.939127038463107,
      -2.9313102137236084,
      -2.930990999431149,
      -2.9304900851556654,
      -2.9306536233076237,
      -2.9305495629950844,
      -2.9305813625303676
    ],
    "yaw_diff": [
      0.1375974115576719,
      0.09932989973902995,
      0.058389922565382335,
      0.015633649478997036,
      0.0006384285849190263,
      0.0010018285509669766,
      -0.0003270763039164848,
      0.00020812062507857831,
      -6.359907056641134e-05,
      -6.359907056641134e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.9187062535883204,
    "v_std": 1.163789526675214,
    "vy_max": 0.027330566699734937,
    "a_max": 1.7124043385661842,
    "ax_avg": -0.7313950895111911,
    "a_std": 0.7135895642844874,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "eff63ffe642d5409",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "eff63ffe642d5409",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "e49a1ec4a5af596b": {
    "vx_ego": [
      7.206391249375044,
      6.89293745419775,
      6.581503863908267,
      6.240399449113873,
      5.80454769048931,
      5.332872548633746,
      4.880007670070336,
      4.394441699272234,
      3.871302498385817,
      3.3346923695908703
    ],
    "vy_ego": [
      0.007964773978310538,
      0.0005965032775615553,
      0.01980643317154393,
      0.02015680239212264,
      0.006695455862874178,
      0.03042152254801897,
      0.022346486202966503,
      0.014628105893828125,
      0.01846764392529132,
      -0.0034042578962271974
    ],
    "v_ego": [
      7.206395650857211,
      6.892937480007949,
      6.5815336666642095,
      6.2404320027689915,
      5.804551552040346,
      5.332959318146495,
      4.8800588342140845,
      4.394466046038436,
      3.8713465471177364,
      3.3346941072277376
    ],
    "ax_ego": [
      -0.6269805552709669,
      -0.6268857179190782,
      -0.6188598259232692,
      -0.7457627092676796,
      -0.9976315431497083,
      -0.8890975885048628,
      -0.9226520736404457,
      -1.0196561128762225,
      -1.0732328942778544,
      -1.073299043019268
    ],
    "ay_ego": [
      0.028941123556376604,
      0.03092743570968256,
      0.10172720363886054,
      -0.06840185810529908,
      0.05449202531870688,
      0.04864279852208765,
      -0.04156693368689972,
      0.08377562199830446,
      -0.022274501080106653,
      -0.018819562608110046
    ],
    "a_ego": [
      0.6276481540804493,
      0.6276481574978888,
      0.6271649767819957,
      0.748893071624065,
      0.9991186499663605,
      0.8904272253998204,
      0.9235879270373478,
      1.0230918548043721,
      1.0734640183808621,
      1.0734640244008353
    ],
    "yaw": [
      -1.5539724100827161,
      -1.5508041131895258,
      -1.5487326649665492,
      -1.5474908418206221,
      -1.5458416912448438,
      -1.5454712885356505,
      -1.5435451087640475,
      -1.5396154133693734,
      -1.5368287138038346,
      -1.5336096302632845
    ],
    "yaw_diff": [
      0.006336593786380629,
      0.004142896445953337,
      0.002483646291854047,
      0.003298301151556604,
      0.0007408054183866142,
      0.003852359543206063,
      0.007859390789348275,
      0.005573399131077572,
      0.006438167081100232,
      0.006438167081100232
    ],
    "min_front_frame": [
      9,
      14.457457060616626
    ],
    "v_avg": 5.45393752050832,
    "v_std": 1.2496818127691736,
    "vy_max": 0.03042152254801897,
    "a_max": 1.0734640244008353,
    "ax_avg": -0.8594058063849357,
    "a_std": 0.17792317933454554,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e49a1ec4a5af596b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.977218631013399,
    "right_rear_min": 2.8836374918019057,
    "speed_mode": "decelerating",
    "front_frame": [
      25.972020447759512,
      23.12651549705079,
      20.31070771856819,
      24.60082710076758,
      22.63067040882857,
      20.529213663191417,
      18.019954066182855,
      15.720814545990311,
      15.701556654625072,
      14.457457060616626
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e49a1ec4a5af596b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ccd53fdd1b6e51b8": {
    "vx_ego": [
      1.7577304461551764,
      1.9917272439486648,
      2.220209949103254,
      2.4153413099016214,
      2.5722457818421076,
      2.6907735354914837,
      2.792550331805037,
      2.9235130622781327,
      3.0786225585657903,
      3.232260057843792
    ],
    "vy_ego": [
      0.03275172685851069,
      0.010207125977554465,
      0.0346145775707114,
      0.03637115778903477,
      0.02368060664532684,
      0.026693612134807226,
      0.03993492182820679,
      0.04473418773388038,
      0.050773355633147554,
      0.008614885765071412
    ],
    "v_ego": [
      1.758035550537329,
      1.9917533983171878,
      2.2204797650682324,
      2.41561513996667,
      2.5723547837216403,
      2.6909059381981644,
      2.7928358622815352,
      2.923855292736471,
      3.079041213064941,
      3.2322715383750014
    ],
    "ax_ego": [
      0.4345797580931845,
      0.5087094447018778,
      0.4296007987151363,
      0.39214604288712435,
      0.25964572424694576,
      0.2322982282614302,
      0.19566996879819995,
      0.3373294896386262,
      0.2939467844750781,
      0.3278605711692467
    ],
    "ay_ego": [
      -0.5807754766682798,
      -0.5170826059755799,
      -0.6612197426201787,
      -0.8739068900009915,
      -0.91328518534962,
      -0.915944014740402,
      -0.8952817387762483,
      -0.6864536646297006,
      -0.5168059481772834,
      -0.4959844212308017
    ],
    "a_ego": [
      0.7253686789789027,
      0.7253686790394177,
      0.7885229193164764,
      0.9578579076999028,
      0.9494765567926419,
      0.9449422760106383,
      0.9164148233609664,
      0.764859345411561,
      0.5945528573429438,
      0.5945528573903905
    ],
    "yaw": [
      -0.8394767034033589,
      -0.9743162358802787,
      -1.1247899718082475,
      -1.2904147518586258,
      -1.4629123963816584,
      -1.6371694827023973,
      -1.8064678630262603,
      -1.947146460192152,
      -2.049121868186509,
      -2.1160678438324956
    ],
    "yaw_diff": [
      -0.26967906495383964,
      -0.3009474718559375,
      -0.33124956010075657,
      -0.34499528904606525,
      -0.34851417264147777,
      -0.33859676064772604,
      -0.2813571943317834,
      -0.20395081598871379,
      -0.1338919512919734,
      -0.1338919512919734
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.567714848226717,
    "v_std": 0.45020239756708086,
    "vy_max": 0.050773355633147554,
    "a_max": 0.9578579076999028,
    "ax_avg": 0.34117868109868504,
    "a_std": 0.13364180343401388,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "ccd53fdd1b6e51b8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ccd53fdd1b6e51b8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1e241714a35658ff": {
    "vx_ego": [
      1.441905505041737,
      1.9359442877238553,
      2.4680029967027477,
      3.037015809978297,
      3.608645631813236,
      4.162452245575048,
      4.6736831482705545,
      5.1628346772393146,
      5.545677118163233,
      5.823291066348494
    ],
    "vy_ego": [
      0.02031972862955178,
      -0.002126932359956313,
      -0.013514972363204647,
      -0.005819557146369725,
      0.026116856094923202,
      0.03772191557703608,
      0.01820255756879119,
      0.009924161655108676,
      0.004230474319756983,
      -0.004933419286415663
    ],
    "v_ego": [
      1.4420486735340265,
      1.935945456104559,
      2.468040000934288,
      3.037021385717182,
      3.6087401383553557,
      4.162623168100563,
      4.673718594816146,
      5.162844215496855,
      5.545678731754323,
      5.823293156113647
    ],
    "ax_ego": [
      0.9880798915443583,
      0.9880370792995179,
      1.1402320348109365,
      1.1358621263601543,
      1.1506502955013602,
      1.064328680569334,
      0.980470142213145,
      0.9761011036749438,
      0.5552302485748501,
      0.555226979104526
    ],
    "ay_ego": [
      -0.040889429783205644,
      -0.04191117245707365,
      0.001984008498370826,
      0.03719677554782014,
      0.10105403920708228,
      -0.03492232983493859,
      -0.022202124836906256,
      0.005206349753715311,
      -0.0019322952137905969,
      -0.0027139208396493586
    ],
    "a_ego": [
      0.9889255874646518,
      0.9889255869110923,
      1.1402337609011628,
      1.1364710160010971,
      1.1550792273162191,
      1.0649014552546914,
      0.9807214865183379,
      0.9761149884481856,
      0.5552336109218201,
      0.5552336118174599
    ],
    "yaw": [
      1.1107132193539895,
      1.1117473118520778,
      1.1123915091259646,
      1.1131542185515946,
      1.1139450360370022,
      1.115209779071261,
      1.116392614150942,
      1.1172118075441815,
      1.1184162395487203,
      1.1198239903800582
    ],
    "yaw_diff": [
      0.0020681849961765586,
      0.0012883945477737413,
      0.0015254188512598965,
      0.0015816349708153155,
      0.002529486068517439,
      0.0023656701593619545,
      0.0016383867864790957,
      0.0024088640090775826,
      0.0028155016626758567,
      0.0028155016626758567
    ],
    "min_front_frame": [
      0,
      10.753766496412458
    ],
    "v_avg": 3.7859953520926943,
    "v_std": 1.4600972628345663,
    "vy_max": 0.03772191557703608,
    "a_max": 1.1550792273162191,
    "ax_avg": 0.9534218581653124,
    "a_std": 0.21032886258732636,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "1e241714a35658ff",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 42.69403885121556,
    "speed_mode": "accelerating",
    "front_frame": [
      10.753766496412458,
      11.413589975391126,
      12.099374514335667,
      12.810021049649656,
      13.676069449519556,
      14.413083113250378,
      15.275424896228985,
      16.03007031547637,
      16.482182831021834,
      16.78449799479467
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1e241714a35658ff",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "b318cf82212f5443": {
    "vx_ego": [
      0.6131771694349618,
      1.1442153859201107,
      1.6162300968341872,
      2.0381725381983116,
      2.4400969398191656,
      2.791297894546719,
      3.1075898595271227,
      3.4041102283766946,
      3.694682151953671,
      3.9855649620076266
    ],
    "vy_ego": [
      0.0010449312770148683,
      -0.015095417991822194,
      -0.01953590937095742,
      -0.0055234771494495905,
      0.016399618823196932,
      0.0200643844394717,
      0.007891483704291657,
      0.0039926107046320825,
      0.020476778495648162,
      0.053289666688081105
    ],
    "v_ego": [
      0.6131780597816964,
      1.1443149570903353,
      1.6163481610307837,
      2.0381800225361766,
      2.4401520491994764,
      2.791370006936358,
      3.1075998794167274,
      3.4041125698012795,
      3.6947388950266253,
      3.9859212053123403
    ],
    "ax_ego": [
      1.0621344603452982,
      1.0620747440543368,
      0.8261376457384394,
      0.8615036194200012,
      0.7464711292059464,
      0.6602174429971921,
      0.6055138529171673,
      0.5804262951137206,
      0.5818660313739272,
      0.5818092006608807
    ],
    "ay_ego": [
      -0.027504495823841527,
      -0.029721194662032234,
      0.021104336646459894,
      0.015049521453160568,
      -0.005436289379780426,
      -0.12764044114275125,
      -0.09321589296138993,
      0.005199978196230144,
      0.057830896525237166,
      0.05839986534763756
    ],
    "a_ego": [
      1.0624905219076175,
      1.0624905229554866,
      0.8264071652227722,
      0.8616350586934884,
      0.7464909242450449,
      0.6724426772988659,
      0.6126469038322011,
      0.5804495876755199,
      0.5847328373366394,
      0.5847328366410383
    ],
    "yaw": [
      3.081637456232743,
      3.083724537125414,
      3.08534633757099,
      3.0826175588857545,
      3.0739556789041007,
      3.0598937587387756,
      3.0453347872898147,
      3.0397793601122407,
      3.039574681321098,
      3.0385967986221933
    ],
    "yaw_diff": [
      0.004174161785342356,
      0.0032436008911522762,
      -0.005457557370471378,
      -0.017323759963307594,
      -0.028123840330650296,
      -0.0291179428979218,
      -0.011110854355147914,
      -0.0004093575822849971,
      -0.001955765397809728,
      -0.001955765397809728
    ],
    "min_front_frame": [
      9,
      38.65457850235876
    ],
    "v_avg": 2.48359158061318,
    "v_std": 1.0630072030645936,
    "vy_max": 0.053289666688081105,
    "a_max": 1.0624905229554866,
    "ax_avg": 0.756815442182691,
    "a_std": 0.17915770908224024,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b318cf82212f5443",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      46.575108720536264,
      45.34338359610716,
      43.990478885921775,
      42.347785769035475,
      40.59917379188701,
      38.65457850235876
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b318cf82212f5443",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b93262812f855475": {
    "vx_ego": [
      0.9345687568230477,
      1.0485452210729236,
      1.1552856410710761,
      1.2390368348947076,
      1.3012068438778703,
      1.3709707163273583,
      1.4365301939862054,
      1.4840217104514224,
      1.515501178594762,
      1.531459875804089
    ],
    "vy_ego": [
      0.008854496205983605,
      0.019168030386167913,
      0.015935416002618205,
      0.011435597917525324,
      0.006095959980642107,
      0.0018822626554859528,
      0.008209857242081191,
      0.005719207643944485,
      -0.008916627672267696,
      -0.0348484283476418
    ],
    "v_ego": [
      0.9346107014863668,
      1.048720407937097,
      1.1553955383106618,
      1.2390896057693432,
      1.301221123131151,
      1.37097200844505,
      1.4365536537108456,
      1.4840327309150696,
      1.5155274093764053,
      1.5318563131560925
    ],
    "ax_ego": [
      0.22796492982419694,
      0.227958602757801,
      0.19905378215924693,
      0.13595293646204643,
      0.11272431247506842,
      0.16632964033267578,
      0.09593462170849383,
      0.094039644071138,
      0.03189182232801643,
      0.031911108493408204
    ],
    "ay_ego": [
      0.019964851120057206,
      0.020036836437871824,
      -0.035259544234351944,
      0.01693003015852793,
      -0.03806315401163321,
      0.020602846964704227,
      -0.00016541360347296962,
      -0.01123417784872441,
      -0.05297791750142386,
      -0.05296631266122662
    ],
    "a_ego": [
      0.2288375067815525,
      0.22883749558524483,
      0.20215252571144185,
      0.13700301768144343,
      0.11897720082557908,
      0.16760079521365137,
      0.09593476431415271,
      0.09470829641041534,
      0.06183646233565953,
      0.06183647080974855
    ],
    "yaw": [
      1.5567842095042286,
      1.5564684308179082,
      1.5559500695498187,
      1.555881556737646,
      1.5559258262636888,
      1.5558119542695876,
      1.554949515989438,
      1.5547035413390402,
      1.5537634676873142,
      1.553399657510184
    ],
    "yaw_diff": [
      -0.0006315573726407564,
      -0.0010367225361789245,
      -0.00013702562434536603,
      8.853905208550117e-05,
      -0.00022774398820235575,
      -0.0017248765602992933,
      -0.0004919493007955467,
      -0.0018801473034519844,
      -0.0007276203542603277,
      -0.0007276203542603277
    ],
    "min_front_frame": [
      0,
      12.597116029444594
    ],
    "v_avg": 1.3017979492238083,
    "v_std": 0.19467969867563836,
    "vy_max": 0.0348484283476418,
    "a_max": 0.2288375067815525,
    "ax_avg": 0.1323761400612092,
    "a_std": 0.06088639020494467,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b93262812f855475",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.213698658733875,
    "right_rear_min": 3.2954546775109312,
    "speed_mode": "quasi_constant",
    "front_frame": [
      12.597116029444594,
      12.962914613048577,
      13.374879093783797,
      13.726842193890347,
      13.967676076778638,
      14.090884337034252,
      14.061581744328977,
      13.923673438288624,
      13.544747630878842,
      12.977623505174567
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b93262812f855475",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "0bf5bbbd53fe5ea6": {
    "vx_ego": [
      8.281648432737757,
      8.611697931432513,
      8.802893101940507,
      8.54067562989215,
      8.097467923114163,
      7.598408347711797,
      6.798244035700053,
      5.779262711958927,
      4.50370012764508,
      3.077758575169527
    ],
    "vy_ego": [
      0.09091823149585787,
      0.05520917000971881,
      0.04962744413232745,
      0.05147265156086678,
      0.08024280162474978,
      0.05096917673406259,
      0.013567477169826425,
      0.0041526221886849235,
      0.010834226238953804,
      0.012188991201115107
    ],
    "v_ego": [
      8.282147480471842,
      8.611874901244919,
      8.80303299138444,
      8.540830735291056,
      8.09786550104874,
      7.59857929323326,
      6.798257574214741,
      5.779264203867988,
      4.503713159184153,
      3.077782711390792
    ],
    "ax_ego": [
      0.6584417104620011,
      0.6679403814874793,
      0.10358774047781634,
      -1.1492067984223113,
      -0.6198559142435444,
      -1.3749215306280904,
      -1.8255739138141152,
      -2.2503372317431083,
      -2.8518504300138305,
      -2.8518329100475674
    ],
    "ay_ego": [
      -0.44504311638613575,
      -0.43065590033132145,
      -0.52110631219602,
      -0.37174665314819966,
      -0.20466271277074127,
      -0.12223389837223053,
      -0.07244217438784864,
      -0.0157603996956351,
      -0.007812074515032408,
      -0.012686706540249448
    ],
    "a_ego": [
      0.7947382345897354,
      0.7947382321946141,
      0.5313023702072439,
      1.2078376710746137,
      0.6527696227777294,
      1.38034428361042,
      1.8270106686685292,
      2.250392420616414,
      2.851861129802484,
      2.851861129044192
    ],
    "yaw": [
      -2.996581336381672,
      -3.018274405656163,
      -3.04474393289518,
      -3.0702351523564504,
      -3.0911812577620985,
      -3.0977851634590468,
      -3.099338278863438,
      -3.1013307244586965,
      -3.1037412122743353,
      -3.105450503222092
    ],
    "yaw_diff": [
      -0.04338613854898199,
      -0.05293905447803482,
      -0.050982438922540396,
      -0.04189221081129624,
      -0.013207811393896485,
      -0.003106230808782584,
      -0.003984891190516926,
      -0.004820975631277591,
      -0.0034185818955130287,
      -0.0034185818955130287
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.009334855133194,
    "v_std": 1.8594622060228616,
    "vy_max": 0.09091823149585787,
    "a_max": 2.851861129802484,
    "ax_avg": -1.1493608896485272,
    "a_std": 0.8410517259825563,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0bf5bbbd53fe5ea6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0bf5bbbd53fe5ea6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "eb9fd90de700597b": {
    "vx_ego": [
      6.934432546035275,
      7.611110456435319,
      8.189664176636615,
      8.450557569483655,
      8.372927559572219,
      8.164425964587997,
      7.973931619337021,
      7.7893402303735595,
      7.542327647404489,
      7.245666215573535
    ],
    "vy_ego": [
      -0.005369621833466454,
      0.1138404082760287,
      0.08012269765149771,
      0.04458135395062657,
      0.021590738679664323,
      -0.001365009839036091,
      -0.02166451002801617,
      -0.024778720256935838,
      -0.016957388460105527,
      -0.0423281845513066
    ],
    "v_ego": [
      6.934434624996612,
      7.611961772014853,
      8.19005610315119,
      8.450675164285842,
      8.372955396862015,
      8.16442607869595,
      7.973961049620037,
      7.789379642146965,
      7.5423467099985215,
      7.2457898522322
    ],
    "ax_ego": [
      1.3373708959367678,
      1.3803358096302853,
      0.9387591328586755,
      0.10613028733618783,
      -0.4156757081276995,
      -0.41821097723911493,
      -0.344006746094374,
      -0.39486423693907535,
      -0.5931996856528956,
      -0.5932432064376469
    ],
    "ay_ego": [
      -0.7229057756167516,
      -0.6370453077589167,
      -0.26568287872501106,
      -0.12446870762802717,
      -0.17630773946246336,
      -0.13198582457782623,
      -0.14492303234427442,
      0.04831638778246672,
      -0.02605708126492362,
      -0.025046588347570342
    ],
    "a_ego": [
      1.5202478987713715,
      1.520247898036813,
      0.9756311298709063,
      0.1635729105587264,
      0.4515204461835901,
      0.4385438169359867,
      0.3732871905949877,
      0.39780929971762086,
      0.5937717057445067,
      0.5937717015590026
    ],
    "yaw": [
      0.6609202767949717,
      0.5977553133872594,
      0.5736269766353489,
      0.5662676609560526,
      0.5601094065599743,
      0.5535647835844086,
      0.5474942937032,
      0.5448272737460316,
      0.5445338643676956,
      0.5462372550850101
    ],
    "yaw_diff": [
      -0.12632992681542454,
      -0.04825667350382101,
      -0.014718631358592527,
      -0.012316508792156622,
      -0.013089245951131367,
      -0.012140979762417237,
      -0.005334039914336897,
      -0.0005868187566719918,
      0.003406781434629025,
      0.003406781434629025
    ],
    "min_front_frame": [
      0,
      14.031016091290514
    ],
    "v_avg": 7.827598639400418,
    "v_std": 0.47089919046385553,
    "vy_max": 0.1138404082760287,
    "a_max": 1.5202478987713715,
    "ax_avg": 0.10033955652711105,
    "a_std": 0.4538711158893786,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "eb9fd90de700597b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.257019855562353,
    "right_rear_min": 26.001641685663454,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      14.031016091290514,
      31.37457188089467,
      77.67314780437012,
      73.5528644756417,
      69.31701227078594,
      65.24773071956807,
      61.28099371305142,
      18.273426764839154,
      19.403666013059794,
      20.56778573755
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "eb9fd90de700597b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5325126716b45ac4": {
    "vx_ego": [
      9.404666042404612,
      9.576097457656974,
      9.727232211588621,
      9.79233269437633,
      9.788298769517029,
      9.73405940493512,
      9.652441791021577,
      9.594809898717118,
      9.534767453816398,
      9.471458246674876
    ],
    "vy_ego": [
      0.06383582131156085,
      0.07662889713734833,
      0.10644545720371346,
      0.10890449363847243,
      0.08550931389921312,
      0.07035909876184543,
      0.07164783902129535,
      0.049984049856846235,
      0.09025001246505271,
      0.08300696017572107
    ],
    "v_ego": [
      9.404882688329554,
      9.576404048828604,
      9.727814612415605,
      9.79293826111889,
      9.788672261552744,
      9.734313684157936,
      9.652707700013309,
      9.594940093495117,
      9.535194568707363,
      9.47182197224711
    ],
    "ax_ego": [
      0.34143422695550124,
      0.34242986992423546,
      0.26047366929497656,
      -0.0032600806323191817,
      -0.01611568610501557,
      -0.20167738421149403,
      -0.12513327281883316,
      -0.10595516239132569,
      -0.13472677153271578,
      -0.12602654876540326
    ],
    "ay_ego": [
      0.1519844409204362,
      0.14972771632605952,
      0.13987305189208996,
      0.1706932421880259,
      0.004691510143674148,
      0.04731232346255301,
      0.0007220567905364336,
      0.0014930002952227746,
      0.3980210467400755,
      0.4008607760371331
    ],
    "a_ego": [
      0.37373332955276856,
      0.3737333338793126,
      0.29565351856792793,
      0.17072437158879597,
      0.016784683674814647,
      0.20715265688331355,
      0.12513535604441012,
      0.10596568070490432,
      0.4202047793822602,
      0.4202047747929706
    ],
    "yaw": [
      1.6909791166155927,
      1.6975790151879813,
      1.701986380334367,
      1.7096637103521726,
      1.7165307072640363,
      1.7194078614366637,
      1.7205148631087128,
      1.722824084079259,
      1.7290542216354265,
      1.7508343494454535
    ],
    "yaw_diff": [
      0.013199797144777037,
      0.008814730292771689,
      0.015354660035610923,
      0.01373399382372753,
      0.0057543083452546995,
      0.00221400334409827,
      0.004618441941092399,
      0.01246027511233505,
      0.043560255620053834,
      0.043560255620053834
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.627968989086623,
    "v_std": 0.12705789291504954,
    "vy_max": 0.10890449363847243,
    "a_max": 0.4202047793822602,
    "ax_avg": 0.023144285971760666,
    "a_std": 0.13765238249209832,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "5325126716b45ac4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "5325126716b45ac4",
    "road_shape": "Straight"
  },
  "4a71a24c376f5388": {
    "vx_ego": [
      0.8168153858561997,
      0.3830491115407201,
      0.05975771243828024,
      -0.04433818435071468,
      -0.030985446671739594,
      -0.0161360411718181,
      -0.010105032898144488,
      -0.006742782394312281,
      -0.004778764802520762,
      -0.0031068039864550656
    ],
    "vy_ego": [
      0.020749073680847212,
      -0.014011211726122965,
      -0.03286149386054633,
      -0.019743684128674988,
      -0.0036658817509835533,
      -0.001730401484262515,
      -0.001034182490548879,
      -0.0007823182910567731,
      -0.0004895188472976577,
      -0.0005410712910788068
    ],
    "v_ego": [
      0.8170788815224792,
      0.3833052776915148,
      0.0681972284964933,
      0.048535426798276465,
      0.0312015479497318,
      0.016228558592658402,
      0.010157815872338908,
      0.0067880141665710774,
      0.004803771616102385,
      0.0031535676863328576
    ],
    "ax_ego": [
      -0.8675112668747051,
      -0.8675639029304415,
      -0.4255998626136898,
      0.009201093081014036,
      0.04421060909488068,
      0.015187235053903028,
      0.008936762129627894,
      0.00451221024134171,
      0.0033439191401217483,
      0.003343915791485624
    ],
    "ay_ego": [
      -0.06893270679378377,
      -0.06826701352359324,
      -0.007124403946441634,
      0.05961609757206439,
      0.004688701050499079,
      0.003051552456391189,
      -0.00026602146275422775,
      0.0012737857496691333,
      -0.0001031154626334324,
      -0.00010311823437263087
    ],
    "a_ego": [
      0.8702456642928327,
      0.8702456611804111,
      0.42565948854499147,
      0.06032196286268697,
      0.0444585410700947,
      0.015490774059956075,
      0.008940720596249343,
      0.00468855749651523,
      0.00334550863312392,
      0.003345505371510716
    ],
    "yaw": [
      -1.597240631492896,
      -1.5964732934842236,
      -1.5964586772568277,
      -1.596568333214192,
      -1.5965302219799848,
      -1.5965093315875318,
      -1.5965226598937041,
      -1.5965325326485749,
      -1.5965091716786395,
      -1.596507723307468
    ],
    "yaw_diff": [
      0.0015346760173446938,
      2.9232454791916496e-05,
      -0.0002193119147286815,
      7.622246841432201e-05,
      4.178078490602033e-05,
      -2.6656612344577724e-05,
      -1.97455097414867e-05,
      4.672193987076412e-05,
      2.89674234288384e-06,
      2.89674234288384e-06
    ],
    "min_front_frame": [
      7,
      9.937860365809481
    ],
    "v_avg": 0.13894500903924994,
    "v_std": 0.2509799615656766,
    "vy_max": 0.03286149386054633,
    "a_max": 0.8702456642928327,
    "ax_avg": -0.20719392878864618,
    "a_std": 0.34201089947500785,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4a71a24c376f5388",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.282049543087238,
      9.989375881937622,
      9.942974724438843,
      9.98240299761704,
      9.989256798470054,
      9.959990710589256,
      9.946128014425465,
      9.937860365809481,
      9.948796356736947,
      9.940894432062583
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4a71a24c376f5388",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1f67195591a95027": {
    "vx_ego": [
      9.032716794982074,
      9.047104082474272,
      9.057713709459803,
      9.072233390231192,
      9.117377361051634,
      9.219763410571916,
      9.280727674862833,
      9.274617662183868,
      9.283569830229624,
      9.299166244499471
    ],
    "vy_ego": [
      -0.03145860001044397,
      -0.046311621135463325,
      -0.01745714729328407,
      0.0056055956765179715,
      0.002770871451879542,
      -0.0031201290446265517,
      0.00890868461026284,
      -0.008449562592905191,
      -0.023218168161008856,
      0.010016339746775071
    ],
    "v_ego": [
      9.032771575871154,
      9.04722261500041,
      9.057730532231995,
      9.072235122037382,
      9.117377782100808,
      9.219763938524997,
      9.280731950639797,
      9.274621511134617,
      9.283598864453507,
      9.299171638909582
    ],
    "ax_ego": [
      0.028568099680642247,
      0.03086414743441252,
      0.013449941670961977,
      0.044469185566771485,
      0.1359644605202905,
      0.273561237485449,
      -0.029782870321285515,
      0.004963524290901496,
      0.031091048732479223,
      0.03135794511564059
    ],
    "ay_ego": [
      0.1896097969545396,
      0.18924960173362654,
      0.29878641527574673,
      0.22454340127369946,
      0.2361530069839323,
      0.23200182467006641,
      0.24140820918640807,
      0.1866884931441691,
      0.11114477791565767,
      0.11106977749785166
    ],
    "a_ego": [
      0.1917498668070068,
      0.19174985620122226,
      0.29908898823641644,
      0.22890445063504897,
      0.27249693068386444,
      0.3586929011073546,
      0.2432384484968671,
      0.18675446459409437,
      0.11541150275950082,
      0.11541150807132625
    ],
    "yaw": [
      -0.0007026801582383172,
      0.01141801668680504,
      0.021706031660439006,
      0.03359956444402506,
      0.04659112900797707,
      0.06002385555873829,
      0.07147095555764567,
      0.08488367468801114,
      0.09450289578851173,
      0.09690503927455965
    ],
    "yaw_diff": [
      0.024241393690086713,
      0.020576029947267933,
      0.023787065567172104,
      0.02598312912790403,
      0.02686545310152244,
      0.02289419999781475,
      0.026825438260730944,
      0.019238442201001182,
      0.004804286972095839,
      0.004804286972095839
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.168522553090426,
    "v_std": 0.10681258825668617,
    "vy_max": 0.046311621135463325,
    "a_max": 0.3586929011073546,
    "ax_avg": 0.05645067201762636,
    "a_std": 0.0731052116950094,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "1f67195591a95027",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "1f67195591a95027",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e0e85d4fc9545225": {
    "vx_ego": [
      2.6507039993603394,
      2.3865382219150515,
      2.0284737348926054,
      1.520935917435916,
      0.9760008734911227,
      0.5494204036419851,
      0.3049587346155821,
      0.16506354103893917,
      0.04126555363986567,
      -0.08898756034685701
    ],
    "vy_ego": [
      0.06195922245738994,
      0.015259542318582842,
      -0.020046856533463053,
      -0.011528787923276829,
      0.02230937523097859,
      0.0210192715362561,
      0.009651835353095745,
      0.006070385028518643,
      0.005185172208897752,
      0.017899250438689097
    ],
    "v_ego": [
      2.65142803739276,
      2.3865870062273506,
      2.028572791300827,
      1.5209796112695302,
      0.9762558134416569,
      0.549822325587127,
      0.30511143496109794,
      0.1651751257142189,
      0.04159004602114016,
      0.09076986869414558
    ],
    "ax_ego": [
      -0.5283572478828182,
      -0.528428124247868,
      -0.903812481509692,
      -1.1263293761868023,
      -1.053428639992511,
      -0.6529451831998148,
      -0.32489435172403486,
      -0.2346785583872728,
      -0.26051495520034335,
      -0.2605087590306188
    ],
    "ay_ego": [
      -0.08961542195029984,
      -0.08919653134291067,
      -0.04693798525154924,
      0.08154248935727176,
      0.05640289816534766,
      -0.060542904562801036,
      0.014609501764186933,
      -0.02906727469190358,
      0.025384713241554613,
      0.02544830278771533
    ],
    "a_ego": [
      0.5359032610850919,
      0.5359032596464842,
      0.9050304835706816,
      1.1292772207177173,
      1.0549375272867687,
      0.6557460297681871,
      0.32522265807286344,
      0.23647184235071875,
      0.2617487832815902,
      0.2617487911079023
    ],
    "yaw": [
      -0.5987951263026179,
      -0.5980023564446988,
      -0.5974377906937531,
      -0.5973639711687002,
      -0.5968409670457233,
      -0.5964829992735237,
      -0.596783143775323,
      -0.5969305916553724,
      -0.5972635477860351,
      -0.5970194997932801
    ],
    "yaw_diff": [
      0.0015855397158381912,
      0.0011291315018913117,
      0.0001476390501058411,
      0.0010460082459538,
      0.0007159355443993043,
      -0.000600289003598764,
      -0.00029489576009877894,
      -0.0006659122613252855,
      0.00048809598551002864,
      0.00048809598551002864
    ],
    "min_front_frame": [
      9,
      31.46313245512363
    ],
    "v_avg": 1.0716292060609853,
    "v_std": 0.9516400519273294,
    "vy_max": 0.06195922245738994,
    "a_max": 1.1292772207177173,
    "ax_avg": -0.5873897677361776,
    "a_std": 0.3204673159721303,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e0e85d4fc9545225",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.500302012030978,
    "speed_mode": "decelerating",
    "front_frame": [
      36.1839978339771,
      34.93489199784501,
      33.79018668276295,
      32.87472980808163,
      32.28407355111347,
      31.937206668939528,
      31.702351972950638,
      31.565774219411576,
      31.478169724800924,
      31.46313245512363
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e0e85d4fc9545225",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fa7459e482c05911": {
    "vx_ego": [
      0.7464373908508009,
      1.378351418488335,
      2.0323565444834126,
      2.646638766089893,
      3.0816305684905,
      3.3289864252997,
      3.5323326992321933,
      3.8126063071032066,
      4.125756892830121,
      4.458892008797545
    ],
    "vy_ego": [
      0.04080346100639082,
      0.027453373096970934,
      -3.713528312743186e-06,
      -0.029812001418574763,
      -0.03446308046038382,
      0.003106617473706219,
      0.030890780576724897,
      0.033703967626577236,
      0.059539361177790615,
      -0.06279712789476011
    ],
    "v_ego": [
      0.7475518048204093,
      1.378624793242602,
      2.0323565444868055,
      2.64680666343396,
      3.081823269522427,
      3.3289878748505233,
      3.532467768910232,
      3.8127552780629554,
      4.126186480791278,
      4.4593341908171045
    ],
    "ax_ego": [
      1.2640108565651278,
      1.264137323279404,
      1.3556711100203696,
      1.107086326443408,
      0.6414864820544772,
      0.3789724131914354,
      0.4973299728135666,
      0.6553390616078375,
      0.5880342032435417,
      0.7390021479978074
    ],
    "ay_ego": [
      -0.03680844866277644,
      -0.03217349711942974,
      -0.23951255587206555,
      -0.5243605950352536,
      -0.9223389980289707,
      -1.376090265846869,
      -1.7682387607155698,
      -1.769816055917077,
      -1.3044213244685716,
      -1.2252244829088261
    ],
    "a_ego": [
      1.2645466805964374,
      1.264546680049776,
      1.3766664167343627,
      1.2249874153735971,
      1.1234830367850308,
      1.4273207452141397,
      1.836846595869039,
      1.887251482301953,
      1.4308386407672282,
      1.4308386380946574
    ],
    "yaw": [
      -2.0343074229332316,
      -2.037974096444925,
      -2.061861109246711,
      -2.1298185719014375,
      -2.251837705954494,
      -2.4403306856012064,
      -2.6774737716303196,
      -2.919211980052193,
      -3.1182694462700216,
      3.045698303802154
    ],
    "yaw_diff": [
      -0.007333347023386949,
      -0.047774025603572134,
      -0.1359149253094527,
      -0.24403826810611307,
      -0.3769859592934246,
      -0.47428617205822654,
      -0.48347641684374665,
      -0.3981149324356572,
      -0.23843511421482333,
      -0.23843511421482333
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.9146894668938295,
    "v_std": 1.1466322147334456,
    "vy_max": 0.06279712789476011,
    "a_max": 1.887251482301953,
    "ax_avg": 0.8491069897216976,
    "a_std": 0.2383446623061628,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "fa7459e482c05911",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "fa7459e482c05911",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b3c1a2ac292d5e3f": {
    "vx_ego": [
      1.6172717595543316,
      2.3468863608528756,
      3.0269587105251983,
      3.5942674597201534,
      4.01577730507835,
      4.298729596167259,
      4.489932580870068,
      4.522496954338613,
      4.450061048649238,
      4.395152507728727
    ],
    "vy_ego": [
      -0.005123466384281641,
      0.009629647436471198,
      0.02164809603397977,
      0.01740409714647473,
      0.01632761527325327,
      0.01475917986396065,
      0.0013079749581006925,
      -0.015881085293634814,
      -0.009356741162903965,
      0.02862705209039832
    ],
    "v_ego": [
      1.6172798750246522,
      2.346906116756059,
      3.0270361205783898,
      3.5943095963760063,
      4.015810497894895,
      4.298754933042193,
      4.489932771385006,
      4.522524838060277,
      4.450070885425349,
      4.395245735371971
    ],
    "ax_ego": [
      1.4592607720684643,
      1.45921429767052,
      1.2614689333377371,
      1.008324102242704,
      0.6782419655435397,
      0.454211658273622,
      0.310774347418593,
      -0.18063671335256687,
      -0.10964951597602861,
      -0.10981243940674074
    ],
    "ay_ego": [
      0.01888187847571661,
      0.022184849688128727,
      -0.023989133554991316,
      -0.0676422381511626,
      -0.06200826261198084,
      -0.08789391948697753,
      -0.07829550224198681,
      -0.09448135513849043,
      0.0369365198246487,
      0.036449286679990665
    ],
    "a_ego": [
      1.4593829265249822,
      1.4593829292141778,
      1.2616970112927144,
      1.010590405429249,
      0.6810706192873984,
      0.4626376244907636,
      0.3204853829502639,
      0.20385374335445244,
      0.11570359912523905,
      0.11570359695333265
    ],
    "yaw": [
      -3.093288049213106,
      -3.095551540661347,
      -3.1001500488225764,
      -3.1057342405633515,
      -3.113881320931271,
      -3.1224606963992114,
      -3.128828420472376,
      -3.1345217504322815,
      -3.139191981523518,
      3.139553135133868
    ],
    "yaw_diff": [
      -0.004526982896482679,
      -0.009197016322458396,
      -0.011168383481550137,
      -0.016294160735839114,
      -0.017158750935880818,
      -0.012735448146329098,
      -0.011386659919811137,
      -0.009340462182472642,
      -0.008880381044399144,
      -0.008880381044399144
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.67578713699148,
    "v_std": 0.9711607483622849,
    "vy_max": 0.02862705209039832,
    "a_max": 1.4593829292141778,
    "ax_avg": 0.6231397407819843,
    "a_std": 0.5190541272181575,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b3c1a2ac292d5e3f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b3c1a2ac292d5e3f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "812b2b639eb759f4": {
    "vx_ego": [
      7.3086616497253765,
      7.666623889343022,
      8.063967325074223,
      8.4213062668035,
      8.62836850593961,
      8.636340552422732,
      8.538343046931736,
      8.467808899783702,
      8.423181723982983,
      8.39367183158749
    ],
    "vy_ego": [
      -0.08395595058750516,
      -0.016632391136244706,
      0.004802551779187425,
      0.002245534357612211,
      0.0071012462838697665,
      -0.02149722491759043,
      -0.021543456091924096,
      -0.015919499097290846,
      -0.02465209007627278,
      -0.012768034752338231
    ],
    "v_ego": [
      7.30914384259918,
      7.666641930929084,
      8.06396875517064,
      8.421306566188434,
      8.628371428142701,
      8.636367307386859,
      8.538370225493146,
      8.467823864116895,
      8.42321779848925,
      8.393681542630548
    ],
    "ax_ego": [
      0.7079887913805479,
      0.7303586754636214,
      0.8582302909529402,
      0.5663692554662919,
      0.2635415948805936,
      -0.2317670087292849,
      -0.16301347388564247,
      -0.11932173019422967,
      -0.05900114041391253,
      -0.058901605461373706
    ],
    "ay_ego": [
      0.6622833122462032,
      0.6375292359306151,
      0.5452915958986169,
      -0.051386721393895246,
      -0.3116557172303206,
      -0.35493270909673924,
      -0.032289407297269215,
      -0.04061381030263036,
      0.05443360235399328,
      0.05454128630214897
    ],
    "a_ego": [
      0.9694675416950744,
      0.9694675453522151,
      1.016809793848795,
      0.5686956379936948,
      0.40814636873865784,
      0.42390231695765823,
      0.16618062008511697,
      0.12604426557302234,
      0.08027547343600587,
      0.08027546971161434
    ],
    "yaw": [
      2.0912870473939074,
      2.125703804559789,
      2.1606422010076463,
      2.1758649310539653,
      2.164698425969115,
      2.1488206388258067,
      2.1375418042949947,
      2.134735163993102,
      2.136179534623266,
      2.138006236341743
    ],
    "yaw_diff": [
      0.06883351433176355,
      0.06987679289571425,
      0.030445460092638044,
      -0.02233301016970035,
      -0.031755574286616906,
      -0.02255766906162382,
      -0.005613280603785853,
      0.0028887412603282314,
      0.0036534034369539725,
      0.0036534034369539725
    ],
    "min_front_frame": [
      9,
      19.410516228394147
    ],
    "v_avg": 8.254889326114675,
    "v_std": 0.41987254044896993,
    "vy_max": 0.08395595058750516,
    "a_max": 1.016809793848795,
    "ax_avg": 0.2494483649459552,
    "a_std": 0.36425493764340433,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "812b2b639eb759f4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.448824326222468,
    "speed_mode": "accelerating",
    "front_frame": [
      27.61324667239987,
      28.86602324103808,
      29.973697638799703,
      30.71515128032319,
      30.101091260260684,
      25.833666966920074,
      21.63640582540994,
      22.526780248137886,
      23.576613761374347,
      19.410516228394147
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      1,
      0
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 12,
    "token": "812b2b639eb759f4",
    "smoothness": "No"
  },
  "f3f9f7a6f8f15f49": {
    "vx_ego": [
      3.5673561944954986,
      3.2449191456593107,
      2.898180949563251,
      2.5279746872978452,
      2.0606986593811936,
      1.377042428973764,
      0.5976302913981434,
      0.07875112472481807,
      -0.058351159140136236,
      -0.05316328776381455
    ],
    "vy_ego": [
      0.033680184900778176,
      0.0011973486411951395,
      -0.0017601242572304887,
      0.011299028449087922,
      0.01624670692579766,
      0.003557321613230968,
      0.0007094552019197287,
      0.01039600956481048,
      0.007426229804101608,
      -0.00138543992595231
    ],
    "v_ego": [
      3.567515181924298,
      3.244919366565234,
      2.8981814840428384,
      2.5279999382243923,
      2.0607627035302682,
      1.3770470237907724,
      0.5976307125000466,
      0.07943435440850188,
      0.05882182130893969,
      0.05318133704267482
    ],
    "ax_ego": [
      -0.6517336771906201,
      -0.6405244564539163,
      -0.7458117454536715,
      -0.7368090120949542,
      -1.1364542852268524,
      -1.600843282100569,
      -1.5167483761488847,
      -0.558791963171323,
      0.01037565765070834,
      0.01037615781449398
    ],
    "ay_ego": [
      0.23095802105093688,
      0.26043580818516143,
      0.2854658341808917,
      0.24156663278376353,
      0.13002403350366115,
      0.008191874772807584,
      0.0336142489652832,
      0.0057042317621560645,
      -0.017620346797707923,
      -0.017620050323474377
    ],
    "a_ego": [
      0.6914465948084295,
      0.6914465919365307,
      0.7985774240117512,
      0.7753979355007519,
      1.1438682580170836,
      1.6008642417952919,
      1.517120810708158,
      0.55882107723748,
      0.02044824914158174,
      0.020448247465077635
    ],
    "yaw": [
      -2.5706037923866853,
      -2.524989585589049,
      -2.4797960003057535,
      -2.436034165215639,
      -2.398521918790366,
      -2.3719362540108806,
      -2.3583215368915607,
      -2.3576666224683143,
      -2.357514838638809,
      -2.3575430488836497
    ],
    "yaw_diff": [
      0.09122841359527278,
      0.09038717056659085,
      0.08752367018022866,
      0.07502449285054613,
      0.05317132955897108,
      0.027229434238639882,
      0.0013098288464927776,
      0.00030356765901018434,
      -5.642048968113045e-05,
      -5.642048968113045e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.6465493923337966,
    "v_std": 1.3209246318159702,
    "vy_max": 0.033680184900778176,
    "a_max": 1.6008642417952919,
    "ax_avg": -0.7566964982375589,
    "a_std": 0.50678781113855,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "f3f9f7a6f8f15f49",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.385338013140673,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "f3f9f7a6f8f15f49",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "c3cdc9086b1a55f6": {
    "vx_ego": [
      4.490773694559091,
      4.58575768841895,
      4.661458767385727,
      4.716368748148608,
      4.768218966184131,
      4.789392200542224,
      4.808523704371989,
      4.871989434094707,
      4.948471985567745,
      5.027615968801751
    ],
    "vy_ego": [
      -0.00684244647651161,
      -0.024046386139846665,
      -0.011961802430990522,
      0.01235836828731915,
      -0.0011546534064853509,
      -0.0053342928155916125,
      0.0002445927101062395,
      0.01940220675909271,
      0.025973713093981665,
      0.03354565411064492
    ],
    "v_ego": [
      4.490778907363142,
      4.585820734130359,
      4.661474114993524,
      4.716384939525144,
      4.768219105987323,
      4.789395171135341,
      4.808523710592775,
      4.872028067607737,
      4.948540150965806,
      5.027727880530138
    ],
    "ax_ego": [
      0.17866331307711697,
      0.19832322180054737,
      0.09949363257361107,
      0.11835362064254529,
      0.08790975139433986,
      -0.0019922089589772766,
      0.08453027658342997,
      0.17162683483203825,
      0.12938117567881627,
      0.17855070021212263
    ],
    "ay_ego": [
      -0.4440782695058658,
      -0.435653518328199,
      -0.3607039681195175,
      -0.26632354392793844,
      -0.06668152395694767,
      0.2067220607868219,
      0.5154296159641057,
      0.6736904009953376,
      0.7129019754864492,
      0.7022025084685072
    ],
    "a_ego": [
      0.47867116989329567,
      0.4786711693188629,
      0.374174204802868,
      0.29143748827070287,
      0.11033834341440706,
      0.20673166015994432,
      0.5223150932839072,
      0.6952082614783304,
      0.7245472484748766,
      0.7245472485943917
    ],
    "yaw": [
      1.6511862141690836,
      1.6064984187458744,
      1.5609550220566297,
      1.5223222782601717,
      1.507628740289206,
      1.5158102016996118,
      1.5523461997923096,
      1.609920083915104,
      1.6790768833571903,
      1.7485413669440537
    ],
    "yaw_diff": [
      -0.08937559084641844,
      -0.09108679337848935,
      -0.07726548759291596,
      -0.029387075941931684,
      0.016362922820811754,
      0.07307199618539562,
      0.11514776824558881,
      0.1383135988841726,
      0.13892896717372683,
      0.13892896717372683
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.766889278283129,
    "v_std": 0.15395307404974815,
    "vy_max": 0.03354565411064492,
    "a_max": 0.7245472485943917,
    "ax_avg": 0.12448403178355905,
    "a_std": 0.20544023893776686,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c3cdc9086b1a55f6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c3cdc9086b1a55f6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b7784f3cdf6b5991": {
    "vx_ego": [
      3.853855660454334,
      3.788453269091497,
      3.744141187778123,
      3.677971847175313,
      3.6450452854962316,
      3.683454579331253,
      3.813459502628871,
      4.033479064435048,
      4.260978143785717,
      4.469990606433925
    ],
    "vy_ego": [
      0.016986199083823206,
      0.018732226365166138,
      -0.027288003340311895,
      -0.05573538431184322,
      -0.05838659533799473,
      -0.05894821738392464,
      -0.04858426799958404,
      -0.023473457528212505,
      -0.017408164277108895,
      0.030522160874035364
    ],
    "v_ego": [
      3.8538930943365863,
      3.7884995800969343,
      3.7442406265013037,
      3.6783941253865895,
      3.645512875828786,
      3.6839262384484734,
      3.8137689769160756,
      4.0335473675716464,
      4.261013704038404,
      4.47009481151261
    ],
    "ax_ego": [
      -0.19393845021275005,
      -0.07552038743814937,
      -0.1020681639218047,
      -0.13939933341023647,
      0.038701003142472434,
      0.14202435376202055,
      0.3975283847644553,
      0.4930336876206246,
      0.41054401460730544,
      0.42434630739610657
    ],
    "ay_ego": [
      0.942825182315634,
      0.9595978938993815,
      0.9204039900307869,
      0.9381188526194053,
      0.9556727397654429,
      0.9099517001120601,
      0.8231351162800924,
      0.7566645086598756,
      0.40553029381961236,
      0.3910644684902175
    ],
    "a_ego": [
      0.9625650351427855,
      0.9625650351508396,
      0.9260461192354089,
      0.9484192932427976,
      0.9564560382866646,
      0.9209685193307902,
      0.9141007801915925,
      0.9031187052620948,
      0.5770625677821293,
      0.5770625677656169
    ],
    "yaw": [
      -0.12674439143856792,
      -0.002412974736748003,
      0.13426333433450532,
      0.26676956274940766,
      0.3974070121920082,
      0.525122733602963,
      0.638791545849615,
      0.73327217923542,
      0.8016714007517356,
      0.8363211677291679
    ],
    "yaw_diff": [
      0.24866283340363982,
      0.27335261814250666,
      0.2650124568298047,
      0.26127489888520106,
      0.25543144282190966,
      0.22733762449330386,
      0.18896126677161007,
      0.13679844303263122,
      0.06929953395486455,
      0.06929953395486455
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.897289140063741,
    "v_std": 0.2607520072814128,
    "vy_max": 0.05894821738392464,
    "a_max": 0.9625650351508396,
    "ax_avg": 0.13952514163100443,
    "a_std": 0.1452238086704097,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b7784f3cdf6b5991",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b7784f3cdf6b5991",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4bfd5690eb3d5c6e": {
    "vx_ego": [
      4.457782816955424,
      4.695888948826695,
      4.931691961838515,
      5.138676556614794,
      5.332054837212434,
      5.524589488001224,
      5.686459085844064,
      5.8496291455814315,
      6.0166580256769375,
      6.16933663230521
    ],
    "vy_ego": [
      0.058594126006552116,
      -0.027319403360152705,
      -0.024730000099364435,
      -0.027324304023421675,
      -0.0128440870498574,
      -0.01533287345218648,
      -0.013676205375320105,
      -0.018477554508788963,
      0.0028629024591606544,
      0.03611748697798278
    ],
    "v_ego": [
      4.458167887680489,
      4.695968416579548,
      4.931753965818605,
      5.138749202976619,
      5.332070306889498,
      5.52461076528853,
      5.686475531783459,
      5.849658328557008,
      6.016658706803402,
      6.169442353695235
    ],
    "ax_ego": [
      0.47309633537921736,
      0.477065540705511,
      0.46620492783814854,
      0.36125223132222595,
      0.41165374554268697,
      0.3581023104140877,
      0.28916082666842957,
      0.3623433170148552,
      0.304963875742126,
      0.30694089250767986
    ],
    "ay_ego": [
      0.13081155559963684,
      0.11550011111842931,
      -0.05107677333737523,
      -0.05394155033879053,
      -0.08670956207358163,
      -0.11067205572431152,
      -0.1958340163366939,
      -0.16656863836163585,
      -0.12789066785098818,
      -0.12307021174886384
    ],
    "a_ego": [
      0.49084804739108595,
      0.49084804756361317,
      0.468994532500253,
      0.3652572593231233,
      0.4206867651523109,
      0.3748140454173946,
      0.34923480014759417,
      0.39879542458631256,
      0.33069470578016613,
      0.33069470590458694
    ],
    "yaw": [
      2.3458136974700583,
      2.378040037633147,
      2.380847100236978,
      2.376160330758543,
      2.366666737207723,
      2.3580455431918965,
      2.344101842000906,
      2.3292035484061593,
      2.313219001155757,
      2.2974637485429525
    ],
    "yaw_diff": [
      0.06445268032617779,
      0.00561412520766158,
      -0.00937353895687032,
      -0.018987187101640046,
      -0.017242388031652567,
      -0.02788740238198084,
      -0.02979658718949363,
      -0.03196909450080465,
      -0.03151050522560883,
      -0.03151050522560883
    ],
    "min_front_frame": [
      0,
      35.594188453614564
    ],
    "v_avg": 5.380355546607239,
    "v_std": 0.5425005166219087,
    "vy_max": 0.058594126006552116,
    "a_max": 0.49084804756361317,
    "ax_avg": 0.3810784003134968,
    "a_std": 0.0597308705322292,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "4bfd5690eb3d5c6e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.797430959491518,
    "speed_mode": "accelerating",
    "front_frame": [
      35.594188453614564,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "4bfd5690eb3d5c6e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "1d359a03436458f0": {
    "vx_ego": [
      3.192799266073749,
      3.2872818125792467,
      3.3419089685333083,
      3.281983495369434,
      3.160190475943075,
      3.046545792314813,
      2.928087991152091,
      2.8022636636264084,
      2.659711469400463,
      2.5014402754234335
    ],
    "vy_ego": [
      0.06715452776230668,
      0.07662589747424753,
      0.04385082764260817,
      0.020298267474267107,
      -0.0015519989956076508,
      -0.025082089743585723,
      -0.0246911226707629,
      -0.0078519110286972,
      -0.002035550816918752,
      -0.0025787888462944775
    ],
    "v_ego": [
      3.193505422578777,
      3.28817475865837,
      3.342196650265855,
      3.282046264686076,
      3.1601908570436374,
      3.0466490404864484,
      2.9281920933346965,
      2.802274664087677,
      2.6597122483320446,
      2.50144160468766
    ],
    "ax_ego": [
      0.18844772216218048,
      0.2035552283852572,
      0.018294501106644746,
      -0.256983554190855,
      -0.2297072587415932,
      -0.22547775666551217,
      -0.24991143369843533,
      -0.25375258986024335,
      -0.3165903951267144,
      -0.3165244951520275
    ],
    "ay_ego": [
      -0.308345904045569,
      -0.29858836141951595,
      -0.12338911442973724,
      -0.09149169583758342,
      -0.11798667986542818,
      -0.11968715318447291,
      0.006758808795465213,
      -0.023789747157879793,
      -0.01844447080050754,
      -0.019542804130850494
    ],
    "a_ego": [
      0.36137202510680544,
      0.3613720251737338,
      0.1247379746929371,
      0.27278430587517494,
      0.2582368706134821,
      0.2552748193385227,
      0.2500028123632634,
      0.2548653152757682,
      0.3171272249265268,
      0.3171272256122812
    ],
    "yaw": [
      2.5781859134112746,
      2.528413188032374,
      2.5066271470814367,
      2.4976121353980356,
      2.4881273130593566,
      2.476561143314108,
      2.4669894767979397,
      2.459627514498786,
      2.453648759814917,
      2.450179146587976
    ],
    "yaw_diff": [
      -0.09954545075780086,
      -0.04357208190187478,
      -0.01803002336680226,
      -0.018969644677357955,
      -0.023132339490497422,
      -0.019143333032336507,
      -0.014723924598307292,
      -0.011957509367737984,
      -0.006939226453882341,
      -0.006939226453882341
    ],
    "min_front_frame": [
      8,
      72.89250115395991
    ],
    "v_avg": 3.0204383604161245,
    "v_std": 0.2737527300792395,
    "vy_max": 0.07662589747424753,
    "a_max": 0.3613720251737338,
    "ax_avg": -0.14386500317812984,
    "a_std": 0.06534611821339217,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1d359a03436458f0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      77.88438594587267,
      77.0837200692959,
      76.3417378402598,
      75.56194750801083,
      74.89509130135441,
      74.22615827179894,
      73.6917012210624,
      73.09864071816288,
      72.89250115395991,
      73.18464586215221
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1d359a03436458f0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "59402b7bd60b5da7": {
    "vx_ego": [
      -0.1896136457823289,
      -0.07596074849534806,
      0.21832383012384893,
      0.9380796989537943,
      1.9016003210229693,
      2.766630569622793,
      3.5083885497373233,
      4.203704335717055,
      4.8363738189185055,
      5.426109169538806
    ],
    "vy_ego": [
      0.019739570266865153,
      0.005728624536783855,
      -0.005659852421343009,
      -0.010252930361114965,
      -0.032387563783236595,
      -0.029496793965490875,
      0.0014092401864436166,
      -0.0013561100534724702,
      0.011343301500434944,
      0.024050151865344205
    ],
    "v_ego": [
      0.19063836261672779,
      0.07617645601533958,
      0.21839718113881101,
      0.9381357280107346,
      1.901876109320077,
      2.7667878071195817,
      3.508388832767238,
      4.203704554456801,
      4.8363871212723755,
      5.426162468039255
    ],
    "ax_ego": [
      0.22729853651271364,
      0.22728060703832018,
      0.9498608504827458,
      1.9293797184600048,
      1.9254581182628663,
      1.537315528857434,
      1.4296516578734149,
      1.3519029687851503,
      1.1791775462816085,
      1.180585234700259
    ],
    "ay_ego": [
      -0.028118556173648557,
      -0.02826316720549285,
      -0.017335746224686588,
      0.00787104935012084,
      -0.031158563388509974,
      0.158399212979352,
      0.00666071320785544,
      -0.10116049996290122,
      -0.11583211521178172,
      -0.10047528973091346
    ],
    "a_ego": [
      0.22903117233711234,
      0.2290311790045036,
      0.9500190331656372,
      1.9293957736614538,
      1.9257102121702563,
      1.5454544140603728,
      1.4296671738417446,
      1.3556825158431627,
      1.1848530561082884,
      1.1848530627207647
    ],
    "yaw": [
      -2.270187587415922,
      -2.2695513228874677,
      -2.268963405512841,
      -2.264077306115646,
      -2.252592248912289,
      -2.2404548228586134,
      -2.2371672814926535,
      -2.2425632502150306,
      -2.2573038515695187,
      -2.2703192292849135
    ],
    "yaw_diff": [
      0.0012725290569086667,
      0.0011758347492536458,
      0.00977219879438973,
      0.02297011440671426,
      0.02427485210735103,
      0.006575082731919757,
      -0.01079193744475404,
      -0.029481202708976362,
      -0.026030755430789476,
      -0.026030755430789476
    ],
    "min_front_frame": [
      9,
      20.688188856984308
    ],
    "v_avg": 2.406665462075694,
    "v_std": 1.9270601067795896,
    "vy_max": 0.032387563783236595,
    "a_max": 1.9293957736614538,
    "ax_avg": 1.1937910767254518,
    "a_std": 0.5659836382720737,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "59402b7bd60b5da7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      26.25869218470533,
      26.27084013535822,
      26.169771194436514,
      25.886582039081105,
      25.01740297458992,
      23.805194398512135,
      27.320813003104103,
      25.469235937884026,
      23.187319614370782,
      20.688188856984308
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "59402b7bd60b5da7",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "62a97d527fd45916": {
    "vx_ego": [
      4.986852795043594,
      4.550934421822573,
      4.147067355644172,
      3.8005673077979925,
      3.4847683296606613,
      3.1800035226871803,
      2.866806951354267,
      2.516636641122096,
      2.0406034404885816,
      1.461559803153814
    ],
    "vy_ego": [
      0.032075664851592744,
      -0.02951789939776095,
      -0.05598452258083131,
      -0.03633712869149508,
      -0.01758930723667307,
      0.010590696216833173,
      0.027062094918715918,
      0.02192962303918211,
      -0.00041747794588142817,
      -0.05076241534135717
    ],
    "v_ego": [
      4.986955950047061,
      4.551030149110684,
      4.147445227970847,
      3.8007410130163333,
      3.484812720238352,
      3.180021158286409,
      2.866934678941,
      2.5167321851569637,
      2.040603483193556,
      1.4624410692422118
    ],
    "ax_ego": [
      -0.8719078848753379,
      -0.8717593967930966,
      -0.7441192751799747,
      -0.6421519795488816,
      -0.6210864795123994,
      -0.5980325893425804,
      -0.6547309746786438,
      -0.7459769082024365,
      -1.1581347401285667,
      -1.158087218355907
    ],
    "ay_ego": [
      -0.1332901238156804,
      -0.13425785482567892,
      -0.0015785601753895984,
      0.060244221768428974,
      0.0071285417114437255,
      0.09139478026682538,
      -0.02755332534879462,
      0.01067493430719696,
      -0.10204753370235226,
      -0.10258543014216054
    ],
    "a_ego": [
      0.8820371969563329,
      0.8820371973332285,
      0.7441209495415367,
      0.6449717289114546,
      0.6211273872081619,
      0.6049760191741592,
      0.6553104874343333,
      0.7460532834816354,
      1.1626219400249573,
      1.1626219401838134
    ],
    "yaw": [
      2.6073632361920778,
      2.606253240250863,
      2.6045240914770202,
      2.6032666080352542,
      2.6027433615939737,
      2.6016773841255483,
      2.6015087518492552,
      2.6018464607601715,
      2.6016335760678957,
      2.6011691182709327
    ],
    "yaw_diff": [
      -0.002219991882429717,
      -0.0034582975476853406,
      -0.0025149668835320327,
      -0.0010464928825610897,
      -0.0021319549368508106,
      -0.0003372645525860918,
      0.0006754178218324469,
      -0.000425769384551522,
      -0.0009289155939260496,
      -0.0009289155939260496
    ],
    "min_front_frame": [
      9,
      9.788772184431402
    ],
    "v_avg": 3.3037717635203423,
    "v_std": 1.0579209158796037,
    "vy_max": 0.05598452258083131,
    "a_max": 1.1626219401838134,
    "ax_avg": -0.8065987446617825,
    "a_std": 0.1990878774724738,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "62a97d527fd45916",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.34225257344484,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.49233414235797,
      22.134469294620843,
      19.95034097311932,
      18.01737226040216,
      16.215991133911377,
      14.555996369432812,
      13.077762503778589,
      11.74736009288855,
      10.618750077312773,
      9.788772184431402
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "62a97d527fd45916",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0d93c2f3442752d9": {
    "vx_ego": [
      6.0909239307265155,
      6.189015880567182,
      6.506293320902107,
      6.989111148596484,
      7.551044661969187,
      8.099578597626795,
      8.595803211335104,
      8.846005288368183,
      8.83286667726781,
      8.789510309314538
    ],
    "vy_ego": [
      0.11434322388156792,
      0.08028181187593385,
      0.07373273680927128,
      0.09248238097317607,
      0.1133246890944477,
      0.1245175872547053,
      0.15527851764276335,
      0.06831728160244221,
      -0.005149123708133807,
      0.007941433715259016
    ],
    "v_ego": [
      6.091997102982287,
      6.189536552863297,
      6.506711096559671,
      6.989723001537767,
      7.551894992133545,
      8.10053566677351,
      8.597205607989158,
      8.846269090006443,
      8.832868178109704,
      8.7895138969067
    ],
    "ax_ego": [
      -0.006873181878631451,
      0.4708814410677678,
      0.8464811941131246,
      1.0800168940759018,
      1.182368844931599,
      1.0356338706362633,
      0.9706231866754522,
      0.03429409121570906,
      -0.08676580338274129,
      -0.08666911434316857
    ],
    "ay_ego": [
      -2.4673115869174964,
      -2.421971175359028,
      -2.321509778782727,
      -1.592331991029556,
      -1.0780142200055907,
      -0.875939734295407,
      -0.632095518303263,
      -0.2658412294795164,
      0.05632040771188862,
      0.056469083610414604
    ],
    "a_ego": [
      2.4673211601991483,
      2.467321159843616,
      2.4710196407497467,
      1.924047208658225,
      1.6000346071254665,
      1.3563951976199844,
      1.1582979386889543,
      0.26804410827976105,
      0.10344222040098464,
      0.10344221954709412
    ],
    "yaw": [
      -2.9799576495191813,
      3.108416787110622,
      2.9217874783255144,
      2.7736318144669947,
      2.6788424508459077,
      2.61515879863689,
      2.5663677781881975,
      2.5508075802234704,
      2.5531889708296207,
      2.5549034765418015
    ],
    "yaw_diff": [
      -0.3896217410995675,
      -0.3732586175702153,
      -0.2963113277170395,
      -0.18957872724217406,
      -0.12736730441803523,
      -0.09758204089738509,
      -0.031120395929454148,
      0.00476278121230056,
      0.0034290114243615832,
      0.0034290114243615832
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.649625518586208,
    "v_std": 1.074333959425343,
    "vy_max": 0.15527851764276335,
    "a_max": 2.4710196407497467,
    "ax_avg": 0.5439991423111277,
    "a_std": 0.9188683625046149,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "0d93c2f3442752d9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0d93c2f3442752d9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ab845dd1ff3c522d": {
    "vx_ego": [
      8.011897556781797,
      8.499095687593904,
      8.94288709992608,
      9.318427718162045,
      9.61670724771258,
      9.835559995243685,
      10.022358987303736,
      10.222970192755461,
      10.413495751385721,
      10.57296714303422
    ],
    "vy_ego": [
      -0.05382605472857893,
      -0.013400353599082315,
      -0.025623727980573996,
      -0.019997834025278216,
      -0.04761071362874869,
      -0.07810623815471374,
      -0.009904139835300363,
      0.022948995212218826,
      0.019152331781559617,
      -0.05938850594250589
    ],
    "v_ego": [
      8.012078363604152,
      8.499106251621631,
      8.94292380921698,
      9.318449176337037,
      9.616825103341533,
      9.835870119337518,
      10.022363880960112,
      10.22299595120471,
      10.413513363699167,
      10.573133934757436
    ],
    "ax_ego": [
      0.9719137697990072,
      0.979227181064924,
      0.7990905962862467,
      0.7077510162295438,
      0.4868039038331391,
      0.39516378921175754,
      0.3551176586810095,
      0.4460534880945324,
      0.31463395617267137,
      0.3252770404493368
    ],
    "ay_ego": [
      0.39938480740186894,
      0.3811020041557788,
      0.46999165177784274,
      0.6108555192189439,
      0.4348234676265847,
      0.4428852380999004,
      0.472465122165015,
      0.38219053307073086,
      0.404772974624219,
      0.3962707857019728
    ],
    "a_ego": [
      1.050773334410588,
      1.0507733388832763,
      0.9270587542405143,
      0.9349096032955259,
      0.6527246653727677,
      0.5935501279849915,
      0.5910430129605497,
      0.5873953675423297,
      0.5126750309533371,
      0.5126750322029915
    ],
    "yaw": [
      -0.8844171361875706,
      -0.8656770631940032,
      -0.8399454729279889,
      -0.811005933488615,
      -0.7805683709768549,
      -0.754904010561781,
      -0.7387340330994032,
      -0.7208524543751709,
      -0.7014486961724734,
      -0.6748772129473843
    ],
    "yaw_diff": [
      0.03748014598713478,
      0.051463180532028474,
      0.05787907887874777,
      0.060875125023520216,
      0.051328720830147834,
      0.03233995492475561,
      0.0357631574484647,
      0.038807516405394926,
      0.05314296645017813,
      0.05314296645017813
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.545725995408029,
    "v_std": 0.802885553983685,
    "vy_max": 0.07810623815471374,
    "a_max": 1.0507733388832763,
    "ax_avg": 0.5781032399822169,
    "a_std": 0.21071701806434423,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "ab845dd1ff3c522d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ab845dd1ff3c522d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f10d0ad9103c5495": {
    "vx_ego": [
      12.472277924757936,
      12.79944192966879,
      13.061673493680491,
      13.260586871993336,
      13.395728502313599,
      13.42533215774589,
      13.369053219445401,
      13.27906792545907,
      13.177986591024453,
      13.054062454821585
    ],
    "vy_ego": [
      -0.022671151626488584,
      0.002109865827739199,
      0.015325484894031405,
      0.020581380208798183,
      0.01083403713865927,
      0.010464654936766848,
      -0.0011591084304827248,
      0.009037301336150882,
      0.025401349553412444,
      0.04152661254008949
    ],
    "v_ego": [
      12.472298529682497,
      12.799442103564411,
      13.06168248450416,
      13.260602843871515,
      13.395732883424394,
      13.42533623619196,
      13.36905326969325,
      13.279071000705256,
      13.178011072304479,
      13.054128505340048
    ],
    "ax_ego": [
      0.65364910389708,
      0.6546823957251264,
      0.39472149683729696,
      0.40136352762188165,
      0.13946033400057897,
      -0.02088845853251361,
      -0.2039741906785214,
      -0.15620845923448828,
      -0.2477566720401002,
      -0.24727525969898334
    ],
    "ay_ego": [
      -0.14114013357940242,
      -0.13626677905890835,
      -0.19535832356009492,
      -0.1694746176221502,
      -0.1440223866537239,
      -0.12256722783936656,
      -0.18818304024338678,
      -0.07087160550451846,
      -0.09678940606651817,
      -0.0980127569921253
    ],
    "a_ego": [
      0.668713457567789,
      0.6687134471113022,
      0.4404201796576616,
      0.43567686112904247,
      0.20047850911503656,
      0.12433444028141091,
      0.27752175968417675,
      0.17153386605332743,
      0.26599164961910954,
      0.2659916438394204
    ],
    "yaw": [
      1.3200353755949852,
      1.3125856830057279,
      1.3051706508080645,
      1.2978407496005697,
      1.2927043606397328,
      1.2877695092631072,
      1.2828467608596776,
      1.2772183356390827,
      1.2728165731686556,
      1.2678740717340782
    ],
    "yaw_diff": [
      -0.014899385178514635,
      -0.014830064395326747,
      -0.014659802414989542,
      -0.010272777921673804,
      -0.009869702753251275,
      -0.009845496806859089,
      -0.011256850441189847,
      -0.008803524940854235,
      -0.009885002869154835,
      -0.009885002869154835
    ],
    "min_front_frame": [
      0,
      45.46166770369148
    ],
    "v_avg": 13.129535892928198,
    "v_std": 0.28439929891966576,
    "vy_max": 0.04152661254008949,
    "a_max": 0.668713457567789,
    "ax_avg": 0.1367773817897357,
    "a_std": 0.18523903606228037,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f10d0ad9103c5495",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.518918227045191,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      45.46166770369148,
      46.41813980102398,
      47.270205408695915,
      47.86442445995474,
      48.20262250683764,
      48.687680223276836,
      48.973952073595186,
      49.30632382840322,
      49.5776606335065,
      50.134376969265176
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f10d0ad9103c5495",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "3f87b5859c3c525a": {
    "vx_ego": [
      2.5537214549052627,
      3.4866306236478457,
      4.442807860892472,
      5.428331872422047,
      6.4090426256549975,
      7.332743547341065,
      8.18421082727205,
      8.947991912269737,
      9.640782686711086,
      10.324013574768538
    ],
    "vy_ego": [
      -0.05855806577449519,
      0.007260631043676538,
      0.023286121122060174,
      0.011610543083131197,
      0.011158679152214634,
      0.016592147897968618,
      0.01631369415077691,
      0.014197375261061629,
      0.02526216128053821,
      0.052629634720193025
    ],
    "v_ego": [
      2.554392749032674,
      3.4866381834830693,
      4.442868885331285,
      5.428344289179135,
      6.409052339744396,
      7.332762319238493,
      8.184227086405526,
      8.9480031754302,
      9.640815784423058,
      10.324147721262797
    ],
    "ax_ego": [
      1.8658235330665023,
      1.8657724816844716,
      1.959012231652286,
      1.983122424985412,
      1.9397243103193744,
      1.7550603746780864,
      1.6507457071356484,
      1.4046253052265298,
      1.3666525617157714,
      1.36663448389433
    ],
    "ay_ego": [
      0.12888231978467135,
      0.12961947862606898,
      -0.07289495068603288,
      0.002475216966136125,
      -0.006047402330799895,
      0.04538897979891556,
      -0.027317298376704487,
      -0.07886838225987533,
      0.006052775163153203,
      0.009274917967299935
    ],
    "a_ego": [
      1.8702695284097004,
      1.8702695427799507,
      1.9603679750492735,
      1.9831239696950491,
      1.9397337371708838,
      1.7556471964071743,
      1.6509717212651989,
      1.4068377553232683,
      1.3666659652349056,
      1.3666659565059862
    ],
    "yaw": [
      -1.5434675585049704,
      -1.5438626493919867,
      -1.5443292133052418,
      -1.5455312987527945,
      -1.545605770968813,
      -1.5449672531945544,
      -1.5443500796056138,
      -1.547191822483918,
      -1.5503392836417906,
      -1.5526969870609406
    ],
    "yaw_diff": [
      -0.0007901817740325612,
      -0.0009331278265101162,
      -0.002404170895105473,
      -0.00014894443203683494,
      0.0012770355485169915,
      0.0012343471778812898,
      -0.005683485756608597,
      -0.006294922315745133,
      -0.0047154068382999625,
      -0.0047154068382999625
    ],
    "min_front_frame": [
      0,
      17.89730320370455
    ],
    "v_avg": 6.675125253353064,
    "v_std": 2.5247108037644597,
    "vy_max": 0.05855806577449519,
    "a_max": 1.9831239696950491,
    "ax_avg": 1.715717341435841,
    "a_std": 0.239617437181614,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3f87b5859c3c525a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.2039267880130105,
    "right_rear_min": 3.563855971764056,
    "speed_mode": "accelerating",
    "front_frame": [
      17.89730320370455,
      19.7529605622429,
      21.650873943023157,
      23.61454264447871,
      25.432052491083866,
      26.94458601418102,
      28.496506983131408,
      29.7509332226214,
      30.733488542591118,
      31.35062784926633
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3f87b5859c3c525a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bd5e1c226cca5d3e": {
    "vx_ego": [
      5.468190533565458,
      5.851315620558816,
      6.252805564681097,
      6.65559892048749,
      7.016960325861866,
      7.322214919611772,
      7.514304935498378,
      7.552282528173825,
      7.625079928856915,
      7.7690560575503955
    ],
    "vy_ego": [
      -0.0018234476697593927,
      -0.11143041232974182,
      -0.06610170157428241,
      -0.07106702908758455,
      -0.014672198907738299,
      0.03840641164415004,
      0.05558902244140995,
      0.04469914241802231,
      0.03347481974491018,
      0.002666792652354477
    ],
    "v_ego": [
      5.468190837593024,
      5.852376545317943,
      6.2531549528744215,
      6.655978328767122,
      7.016975665351865,
      7.322315643390458,
      7.51451054980105,
      7.5524148057884455,
      7.625153407310147,
      7.769056515249683
    ],
    "ax_ego": [
      0.7152693241207906,
      0.8380692132096436,
      0.7684101551611507,
      0.8512550076852862,
      0.5999585427831426,
      0.6177293411007431,
      0.14795682480566408,
      0.0029584621047666123,
      0.2877580343513052,
      0.28780589458344674
    ],
    "ay_ego": [
      1.1173290941209821,
      1.028433021356352,
      0.3395352142000654,
      0.3816153538383426,
      0.512604631085072,
      0.27639972831592863,
      0.06430202481321688,
      0.03027292375101512,
      0.010921566515288375,
      0.00957809053433735
    ],
    "a_ego": [
      1.3266629227491915,
      1.3266629133076668,
      0.8400823342010401,
      0.9328801457821042,
      0.7891221457216461,
      0.6767468867086699,
      0.16132567186177632,
      0.03041714007693878,
      0.2879652182970624,
      0.28796522841353955
    ],
    "yaw": [
      0.7988387493745732,
      0.9131721100514685,
      0.9621104854985688,
      0.9908573232623415,
      1.0151962021357748,
      1.035310650634175,
      1.0444042080179692,
      1.0489773300146368,
      1.05182688652069,
      1.0564952751053511
    ],
    "yaw_diff": [
      0.22866672135379051,
      0.09787675089420067,
      0.057493675527545474,
      0.048677757746866446,
      0.04022889699680032,
      0.018187114767588497,
      0.00914624399333519,
      0.005699113012106238,
      0.009336777169322463,
      0.009336777169322463
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.903012725144416,
    "v_std": 0.7682359989380713,
    "vy_max": 0.11143041232974182,
    "a_max": 1.3266629227491915,
    "ax_avg": 0.5117170799905939,
    "a_std": 0.43979967522682806,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "bd5e1c226cca5d3e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.750783933697868,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "bd5e1c226cca5d3e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "cccd69e7a6ff5be3": {
    "vx_ego": [
      1.3673827455689316,
      2.1470545056333004,
      2.864219173226403,
      3.4912359080705517,
      4.061695906084537,
      4.53334614095897,
      4.826513098511306,
      4.900578472722002,
      4.78088984004792,
      4.577702813848273
    ],
    "vy_ego": [
      -0.018954284881262717,
      -0.029668239791510898,
      -0.019164849160467234,
      0.005422440512162119,
      -8.862992656810675e-05,
      -0.002500093562089134,
      -0.009577498574548482,
      0.020192968424341817,
      0.05079300243240059,
      0.07641888234612892
    ],
    "v_ego": [
      1.3675141088102125,
      2.1472594753807894,
      2.864283289711596,
      3.491240119021079,
      4.061695907051529,
      4.533346830346803,
      4.82652260106385,
      4.9006200753863896,
      4.781159649266015,
      4.578340627071497
    ],
    "ax_ego": [
      1.559352638119762,
      1.5593494009935407,
      1.309363892253569,
      1.1987006949403405,
      1.0831222498746018,
      0.8035651701591939,
      0.36929041199740176,
      -0.0729789915921452,
      -0.4062755655708151,
      -0.40630520624890887
    ],
    "ay_ego": [
      -0.020764342807821357,
      -0.021005315748409026,
      0.06693322186847706,
      0.02759859107895346,
      -0.0440898550737836,
      0.060519095710455995,
      0.05999173034635752,
      0.13011838063921907,
      0.045233574802637455,
      0.04496650936121438
    ],
    "a_ego": [
      1.5594908810067798,
      1.5594908713001832,
      1.3110735519135115,
      1.1990183644465162,
      1.0840192449831538,
      0.8058408922601196,
      0.3741315491951472,
      0.14918688345152567,
      0.4087858993034269,
      0.4087858945574083
    ],
    "yaw": [
      0.8475299574919379,
      0.8476844868018764,
      0.8480702306151182,
      0.8477712126502065,
      0.8481374191431277,
      0.8496420528673354,
      0.857500785293797,
      0.8611107993353091,
      0.8638221623598556,
      0.8631648290760061
    ],
    "yaw_diff": [
      0.00030905861987684524,
      0.0007714876264837134,
      -0.0005980359298234372,
      0.0007324129858423678,
      0.0030092674484154536,
      0.015717464852923246,
      0.007220028083024133,
      0.005422726049093107,
      -0.0013146665676990743,
      -0.0013146665676990743
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.755198268310976,
    "v_std": 1.1848733788144281,
    "vy_max": 0.07641888234612892,
    "a_max": 1.5594908810067798,
    "ax_avg": 0.699718469492654,
    "a_std": 0.49918478766547464,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "cccd69e7a6ff5be3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "cccd69e7a6ff5be3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e095e7e21ab65691": {
    "vx_ego": [
      7.53789156496576,
      7.475289757619221,
      7.437055281888035,
      7.423781576355211,
      7.427014566214588,
      7.436111198631872,
      7.429431948962303,
      7.4369369669951295,
      7.480283519565885,
      7.588134835990836
    ],
    "vy_ego": [
      -0.01840673644817592,
      -0.06704483040266229,
      -0.06104197335618622,
      -0.06233624978051022,
      -0.05197129948171231,
      -0.04922532154443049,
      -0.03217612923586333,
      -0.006766947572456772,
      0.00997614117231016,
      0.025952281399211352
    ],
    "v_ego": [
      7.537914038587109,
      7.475590409435936,
      7.437305788279108,
      7.424043285263614,
      7.427196401249497,
      7.436274126919979,
      7.429501624439852,
      7.436940045653062,
      7.480290171943979,
      7.5881792157333425
    ],
    "ax_ego": [
      -0.15019505289770774,
      -0.10852337095491033,
      -0.04879137383290644,
      -0.01701046679072693,
      0.013888549066758737,
      0.004954781471071978,
      -0.05102145941085301,
      0.07657519727497741,
      0.10439667002072853,
      0.3342690360891577
    ],
    "ay_ego": [
      -0.8376168820942063,
      -0.84402800441065,
      -1.232191487905617,
      -1.4429500941416338,
      -1.5901685593951491,
      -1.676716638695135,
      -1.664538826458432,
      -1.7448276361788084,
      -1.8553605998098068,
      -1.8279840898912927
    ],
    "a_ego": [
      0.850976260000339,
      0.8509762595236374,
      1.2331571112504525,
      1.4430503560734769,
      1.5902292096059687,
      1.676723959492599,
      1.6653205979954813,
      1.7465071545261504,
      1.8582953532843005,
      1.858295353646366
    ],
    "yaw": [
      2.391683445382446,
      2.342132966092417,
      2.271672340909509,
      2.1818524834778437,
      2.078375431285097,
      1.9682349777333132,
      1.853791559276078,
      1.7355900180263766,
      1.6127702836470832,
      1.488114763775266
    ],
    "yaw_diff": [
      -0.09910095858005796,
      -0.1409212503658157,
      -0.17963971486333108,
      -0.20695410438549366,
      -0.22028090710356718,
      -0.22888683691447032,
      -0.236403082499403,
      -0.24563946875858678,
      -0.24931103974363422,
      -0.24931103974363422
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.467323510750549,
    "v_std": 0.052466885492357285,
    "vy_max": 0.06704483040266229,
    "a_max": 1.858295353646366,
    "ax_avg": 0.015854251003558993,
    "a_std": 0.3600005129428245,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "e095e7e21ab65691",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e095e7e21ab65691",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "d68dba02509b50a3": {
    "vx_ego": [
      8.208357675522995,
      8.25534874917225,
      8.360539494718994,
      8.518098443054397,
      8.728534499077943,
      8.964628150044101,
      9.255253929461539,
      9.609476465578496,
      9.965126946953172,
      10.293555193693939
    ],
    "vy_ego": [
      -0.07231167240330993,
      -0.045389784151375956,
      -0.03734293349674944,
      -0.018017419862562,
      -0.04776787355127876,
      -0.10970885407349762,
      -0.13094441707151172,
      -0.12116938793280996,
      -0.07901258758858012,
      -0.003969062364862941
    ],
    "v_ego": [
      8.208676184823167,
      8.255473529905183,
      8.360622891713168,
      8.518117498190797,
      8.728665205593433,
      8.965299431766082,
      9.256180191589587,
      9.610240369682696,
      9.965440183849868,
      10.293555958903585
    ],
    "ax_ego": [
      0.02019648463263579,
      0.1908517898553893,
      0.25260340357490585,
      0.394462587510521,
      0.4548859210562195,
      0.5240905693128106,
      0.6573494813876154,
      0.7692156759160311,
      0.6567588349367541,
      0.657529327833018
    ],
    "ay_ego": [
      1.7064498193854856,
      1.6958639351033922,
      1.799967553736171,
      1.892202066737689,
      1.7677589890711034,
      1.7820692011814765,
      1.2600018921787934,
      0.6427136300973412,
      0.22193090334648205,
      0.21963762947868762
    ],
    "a_ego": [
      1.7065693317507709,
      1.7065693340955614,
      1.8176060282692184,
      1.932881112306672,
      1.8253473764236918,
      1.8575364229651625,
      1.4211661088608563,
      1.002383941605141,
      0.6932427375224844,
      0.6932427462610465
    ],
    "yaw": [
      0.9160561864589439,
      1.0162893896654257,
      1.1205187258799776,
      1.2277255047705486,
      1.3372684152808678,
      1.4445884034218306,
      1.5305059231759839,
      1.5799633440297551,
      1.5977159603358735,
      1.6012057143737388
    ],
    "yaw_diff": [
      0.20046640641296354,
      0.20845867242910376,
      0.21441355778114213,
      0.21908582102063834,
      0.21463997628192555,
      0.1718350395083066,
      0.0989148417075425,
      0.0355052326122367,
      0.006979508075730667,
      0.006979508075730667
    ],
    "min_front_frame": [
      6,
      44.031439662673975
    ],
    "v_avg": 9.016227144601755,
    "v_std": 0.7026452691025205,
    "vy_max": 0.13094441707151172,
    "a_max": 1.932881112306672,
    "ax_avg": 0.45779440760159007,
    "a_std": 0.46379301214976965,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "d68dba02509b50a3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.150613309121629,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      44.031439662673975,
      45.26789900377202,
      46.07355785977348,
      46.810116534340054
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d68dba02509b50a3",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "03ca1900f09b5d20": {
    "vx_ego": [
      7.547689771627238,
      7.5327144848130825,
      7.457334305778439,
      7.318206436051525,
      7.198588238316207,
      7.08402908098308,
      6.96977436921868,
      6.86705912925797,
      6.760375060577139,
      6.655361635556632
    ],
    "vy_ego": [
      -0.05657288410166528,
      -0.01660137333935774,
      0.009370762175295866,
      0.001004594681135007,
      -0.015294722458044863,
      -0.0397395499993638,
      -0.044152208621848654,
      -0.0371200945923813,
      -0.034192298251876974,
      -0.011078286367381063
    ],
    "v_ego": [
      7.547901786585594,
      7.532732778700542,
      7.457340193348011,
      7.318206505003561,
      7.198604486520946,
      7.0841405443460905,
      6.969914215780839,
      6.867159455418796,
      6.760461528100954,
      6.655370855817719
    ],
    "ax_ego": [
      -0.0328756901224826,
      -0.02960008437972622,
      -0.27195345991132963,
      -0.2836246239816824,
      -0.19579742371193168,
      -0.26353312458580164,
      -0.19706195296858703,
      -0.21552030263833796,
      -0.21373280270438544,
      -0.2082611310118873
    ],
    "ay_ego": [
      -0.1855683721943741,
      -0.18611895754935687,
      -0.21109744622072066,
      -0.28807495284460155,
      -0.22133764857489457,
      -0.2902799006347294,
      -0.14476494806686846,
      -0.2378123803396053,
      -0.24647251941840997,
      -0.2511129532885497
    ],
    "a_ego": [
      0.18845803713267115,
      0.18845803605722475,
      0.34426852333411667,
      0.40426489556375056,
      0.29551139708798585,
      0.3920613835440364,
      0.24452055843343057,
      0.3209419403756852,
      0.3262367449879462,
      0.32623674532407876
    ],
    "yaw": [
      1.9685492724515026,
      1.9509241321904978,
      1.9342772164986106,
      1.9185212398185603,
      1.9031983142833955,
      1.8887282441179858,
      1.8738610713958352,
      1.8590252590514014,
      1.8408267245477803,
      1.8188347192540268
    ],
    "yaw_diff": [
      -0.035250280522009625,
      -0.033293831383774286,
      -0.03151195336010071,
      -0.030645851070329577,
      -0.028940140330819375,
      -0.02973434544430109,
      -0.029671624688867748,
      -0.036397069007242155,
      -0.043984010587506894,
      -0.043984010587506894
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.139183234962306,
    "v_std": 0.30690704603894314,
    "vy_max": 0.05657288410166528,
    "a_max": 0.40426489556375056,
    "ax_avg": -0.1911960596016152,
    "a_std": 0.07141915793408238,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "03ca1900f09b5d20",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.064252228535196,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "03ca1900f09b5d20",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b42d7dc2a3975573": {
    "vx_ego": [
      4.018996340266561,
      4.309773240308944,
      4.640023343184144,
      4.957669921878168,
      5.235171360799608,
      5.447478949634049,
      5.586873946894806,
      5.680385480751594,
      5.794058555425556,
      5.93350853971418
    ],
    "vy_ego": [
      -0.08771146621951975,
      -0.050566104360576514,
      -0.0749116097926601,
      -0.04677808451483445,
      -0.026305244050705,
      0.008583254427841691,
      0.005936499379350035,
      -0.0016021607531677695,
      -0.01407657035440213,
      -0.03502048669640678
    ],
    "v_ego": [
      4.019953343557907,
      4.310069873423546,
      4.640628015104796,
      4.957890604227402,
      5.235237448559616,
      5.44748571168045,
      5.586877100896066,
      5.680385706697442,
      5.794075654798875,
      5.933611886983303
    ],
    "ax_ego": [
      0.5027982552674715,
      0.6946425729954404,
      0.6636659979900494,
      0.6157432534382518,
      0.4883468392447192,
      0.35843386944654365,
      0.198046195465656,
      0.17594951744701512,
      0.27874334293296005,
      0.2788672561167627
    ],
    "ay_ego": [
      1.3423417178954504,
      1.2538576755439663,
      1.263237363830961,
      0.9387871245722134,
      0.4631729270087037,
      0.1864396168795145,
      0.027778314323778322,
      0.013112283335323709,
      -0.06470739670470069,
      -0.06417126801347203
    ],
    "a_ego": [
      1.43341807338352,
      1.433418073954087,
      1.4269622259424823,
      1.122702551621438,
      0.6730615096067503,
      0.4040229814114564,
      0.19998482513703744,
      0.1764374242163586,
      0.286155374609217,
      0.28615537418079184
    ],
    "yaw": [
      2.390871639349138,
      2.5383921090745982,
      2.6840711362781944,
      2.7926823106325336,
      2.857212898937805,
      2.881012635470549,
      2.891162260250079,
      2.8943134419340066,
      2.894239308229168,
      2.892316355884546
    ],
    "yaw_diff": [
      0.2950409394509208,
      0.2913580544071923,
      0.2172223487086784,
      0.12906117661054317,
      0.04759947306548806,
      0.020299249559059263,
      0.006302363367855612,
      -0.00014826740967688323,
      -0.003845904689244506,
      -0.003845904689244506
    ],
    "min_front_frame": [
      9,
      44.85924755051124
    ],
    "v_avg": 5.16062153459294,
    "v_std": 0.6224580741872661,
    "vy_max": 0.08771146621951975,
    "a_max": 1.433418073954087,
    "ax_avg": 0.42552371003448697,
    "a_std": 0.5213815187227733,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "b42d7dc2a3975573",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      61.324089526837525,
      58.81201267134704,
      56.16475575397806,
      53.42416500424206,
      50.6087595799161,
      47.76745345339144,
      44.85924755051124
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b42d7dc2a3975573",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "27cf243155ac526c": {
    "vx_ego": [
      -0.15531344508354222,
      0.08132344454364548,
      0.5778165705032182,
      1.457193643802093,
      2.466629103792516,
      3.4581734972385405,
      4.386472710972445,
      5.218766317620379,
      5.906843285908511,
      6.509987966574109
    ],
    "vy_ego": [
      0.008506972650759809,
      0.003136853753136541,
      0.0018131236151490981,
      0.0022914593371096137,
      -0.0034417747168271617,
      -0.005177466336527159,
      0.00038849601368373676,
      -0.005167158759630919,
      -0.03821981934277252,
      0.03932562813994611
    ],
    "v_ego": [
      0.15554624652301727,
      0.08138392030316523,
      0.5778194151855269,
      1.457195445478442,
      2.4666315050062653,
      3.4581773730045575,
      4.3864727281763765,
      5.218768875650523,
      5.90696693395799,
      6.5101067448981444
    ],
    "ax_ego": [
      0.47327412949591247,
      0.4732747273940234,
      1.5126977212365993,
      2.0048091365396714,
      2.032930366164357,
      1.9332610923658493,
      1.7799338769627808,
      1.549251485500628,
      1.2030792851032464,
      1.209054594503582
    ],
    "ay_ego": [
      -0.010749354873622663,
      -0.01072280795645883,
      0.005449942130736796,
      -0.0030996099741543715,
      -0.014278359801484064,
      0.012712627496386575,
      0.003696382164161127,
      -0.04189048515593541,
      -0.22317006456938443,
      -0.188126666125084
    ],
    "a_ego": [
      0.4733961874374495,
      0.4733961831282105,
      1.5127075387210935,
      2.00481153267207,
      2.0329805078336998,
      1.9333028893976905,
      1.7799377150902946,
      1.549817724144521,
      1.223603139896446,
      1.2236031444049005
    ],
    "yaw": [
      2.6200722917874613,
      2.620016216072014,
      2.620043818625895,
      2.6201580902377684,
      2.6208672105312756,
      2.6213190826420987,
      2.6209477224236304,
      2.6201212895578765,
      2.614196935193756,
      2.5851430427053375
    ],
    "yaw_diff": [
      -0.00011215143089415847,
      5.520510776158005e-05,
      0.00022854322374676883,
      0.001418240587014452,
      0.0009037442216461855,
      -0.0007427204369365725,
      -0.0016528657315078021,
      -0.011848708728241064,
      -0.058107784976836996,
      -0.058107784976836996
    ],
    "min_front_frame": [
      9,
      40.736466447441984
    ],
    "v_avg": 3.021906918818401,
    "v_std": 2.3013604464781228,
    "vy_max": 0.03932562813994611,
    "a_max": 2.0329805078336998,
    "ax_avg": 1.4171566415266652,
    "a_std": 0.5482232466279492,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "27cf243155ac526c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      54.60635496962819,
      54.56016663341798,
      54.39334279742147,
      53.79276332158473,
      52.66758227249553,
      51.09951539780392,
      49.12475584900548,
      46.697039648651824,
      43.87410571018882,
      40.736466447441984
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "27cf243155ac526c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8635c0dd984c51f3": {
    "vx_ego": [
      1.0838215566211284,
      1.7128871149407934,
      2.3523553421896937,
      2.9972746240201937,
      3.6331691650325992,
      4.283195681677514,
      4.929180507406775,
      5.507189883724006,
      5.854972522184978,
      6.018097703849909
    ],
    "vy_ego": [
      -0.0036508568618485726,
      0.0034618208955745633,
      0.006067302536704178,
      0.001924678681200831,
      0.006498100614292346,
      0.014856534543140842,
      0.0030080040568587485,
      -0.0029885913298635103,
      0.011905575854644024,
      0.03150176893717216
    ],
    "v_ego": [
      1.0838277055660055,
      1.7128906131840727,
      2.3523631667088445,
      2.997275241979525,
      3.633174976113216,
      4.283221447013863,
      4.929181425215278,
      5.507190694634622,
      5.854984626647414,
      6.018180151385444
    ],
    "ax_ego": [
      1.2581380635413717,
      1.2581212575453178,
      1.2998340135983821,
      1.279894980177636,
      1.2636709897648166,
      1.3364744989718735,
      1.2474205263381062,
      1.0647407208823987,
      0.3263623157688202,
      0.32633450984946266
    ],
    "ay_ego": [
      0.007841992960964106,
      0.010186300251309732,
      -0.01947681708743121,
      -0.025979093487465188,
      0.022674392387803555,
      -0.0006941615213545971,
      -0.030564553430321606,
      0.06242506642435025,
      0.011888572066178313,
      0.012628882606584332
    ],
    "a_ego": [
      1.2581625029324441,
      1.2581624932417201,
      1.2999799265031504,
      1.2801586126657671,
      1.263874399789531,
      1.3364746792447428,
      1.247794919630639,
      1.0665691218215791,
      0.32657877962255877,
      0.3265787822173693
    ],
    "yaw": [
      1.0950679199677422,
      1.0932045888285815,
      1.0907738450175937,
      1.0880766021003607,
      1.0864488698608308,
      1.085723796316878,
      1.086597431375768,
      1.0892613624048295,
      1.0898995057505956,
      1.0876310417917963
    ],
    "yaw_diff": [
      -0.003726662278321413,
      -0.004861487621975691,
      -0.00539448583446589,
      -0.0032554644790598886,
      -0.0014501470879055844,
      0.0017472701177800865,
      0.005327862058122967,
      0.0012762866915321247,
      -0.004536927917598632,
      -0.004536927917598632
    ],
    "min_front_frame": [
      0,
      14.008461930400301
    ],
    "v_avg": 3.8372290048448283,
    "v_std": 1.6749312311230486,
    "vy_max": 0.03150176893717216,
    "a_max": 1.3364746792447428,
    "ax_avg": 1.0660991876438186,
    "a_std": 0.3759400903791169,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8635c0dd984c51f3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.4355024651235544,
    "right_rear_min": 6.464120252972258,
    "speed_mode": "accelerating",
    "front_frame": [
      14.008461930400301,
      15.052813278241556,
      15.975756390388607,
      16.963609922040067,
      17.806942327675003,
      18.372867821835204,
      18.757846385747495,
      18.86654664509878,
      18.483672154890378,
      17.852785080865793
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8635c0dd984c51f3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4231dc0eadd75a2d": {
    "vx_ego": [
      5.091291617594875,
      4.555774186642814,
      3.9850162226308794,
      3.3718953665997535,
      2.764334275580329,
      2.1833353687582355,
      1.621152559639295,
      1.0825134649615595,
      0.6138106463791353,
      0.19595021334480134
    ],
    "vy_ego": [
      -0.014180082457300625,
      -0.0005906724763042881,
      0.0012737529320236973,
      -0.008227186802811204,
      -0.017930955173376395,
      -0.008015726494820519,
      -0.00608504883028349,
      -0.014065408119989131,
      -0.011840632283767666,
      0.003905695485479893
    ],
    "v_ego": [
      5.091311364484628,
      4.555774224934217,
      3.985016426199247,
      3.371905403462496,
      2.764392429866218,
      2.183350082863923,
      1.621163979813364,
      1.0826048390473153,
      0.6139248408243889,
      0.19598913379853092
    ],
    "ax_ego": [
      -1.0713039834462,
      -1.070958413481655,
      -1.2120526539684489,
      -1.240256191190411,
      -1.1908079039121682,
      -1.1335566636658436,
      -1.1153042328521894,
      -1.0393986535967528,
      -0.8357100866842532,
      -0.8357535017785807
    ],
    "ay_ego": [
      -0.04167948906918301,
      -0.04977440552182194,
      -0.05348421882542831,
      -0.11941886102008897,
      -0.01583022555157365,
      -0.012433661751268255,
      -0.02130659464293111,
      -0.03367039843497538,
      0.03093173605084032,
      0.029735574483634397
    ],
    "a_ego": [
      1.072114455063807,
      1.0721144597719938,
      1.2132321285126464,
      1.2459920883189752,
      1.1909131202823762,
      1.1336248522707075,
      1.1155077331839922,
      1.0399438719611325,
      0.8362823215164367,
      0.8362823208253489
    ],
    "yaw": [
      2.8092871633673804,
      2.801729830953036,
      2.795274890824669,
      2.786115528900471,
      2.778241948103419,
      2.7713577360191177,
      2.765901985761764,
      2.761608092831881,
      2.7580716405802415,
      2.7566403739100593
    ],
    "yaw_diff": [
      -0.015114664828688618,
      -0.012909880256733786,
      -0.018318723848396168,
      -0.015747161594104497,
      -0.013768424168602245,
      -0.010911500514707129,
      -0.00858778585976605,
      -0.007072904503279354,
      -0.0028625333403642372,
      -0.0028625333403642372
    ],
    "min_front_frame": [
      9,
      9.123511800140298
    ],
    "v_avg": 2.5465432725294326,
    "v_std": 1.6031908871185123,
    "vy_max": 0.017930955173376395,
    "a_max": 1.2459920883189752,
    "ax_avg": -1.0745102284576502,
    "a_std": 0.1349348928908342,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4231dc0eadd75a2d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 48.764652858765665,
    "speed_mode": "decelerating",
    "front_frame": [
      20.46449589248043,
      18.059857113292033,
      15.943071346722277,
      14.125741418858583,
      12.628701168143559,
      11.370850340062578,
      10.43243159430778,
      9.767836149591988,
      9.33088954790438,
      9.123511800140298
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4231dc0eadd75a2d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8fe72476d10c552a": {
    "vx_ego": [
      11.334148951567503,
      10.823622905793815,
      10.007401996683248,
      9.273941196159864,
      8.67534961117993,
      7.934397107117191,
      7.23572941676307,
      6.623855371695936,
      5.980411823336108,
      5.149607419605113
    ],
    "vy_ego": [
      -0.057818126814549176,
      -0.009226169534311435,
      0.020771863392448076,
      0.029621353852947896,
      0.012479366286508253,
      -0.001405541754715689,
      0.008299280105832724,
      0.008695593108611122,
      0.003452961821888756,
      -0.000669675231239758
    ],
    "v_ego": [
      11.334296422456362,
      10.823626838034876,
      10.00742355421857,
      9.273988501957241,
      8.67535858687021,
      7.934397231609801,
      7.235734176340416,
      6.623861079346744,
      5.98041282016916,
      5.149607463148715
    ],
    "ax_ego": [
      -1.0210590939532094,
      -1.0210879002971225,
      -2.243814378014418,
      -0.6902020635431784,
      -1.7044630956671496,
      -1.2593294376472297,
      -1.5353488588746655,
      -0.9121669443105968,
      -1.661608903128458,
      -1.661608381446431
    ],
    "ay_ego": [
      0.09026088317490151,
      0.08993433216239151,
      0.047951108379792565,
      0.054626811894169604,
      -0.04068673389158767,
      0.029562336696926046,
      0.022567572118516413,
      -0.010309998940933797,
      -0.008852369040724499,
      -0.00895031251946346
    ],
    "a_ego": [
      1.0250408286385777,
      1.0250408207650472,
      2.2443266856184465,
      0.6923604387145345,
      1.7049486369993694,
      1.2596763728338602,
      1.5355147064613421,
      0.9122252081427554,
      1.6616324838523682,
      1.6616324868596015
    ],
    "yaw": [
      -1.5454315892824053,
      -1.5457514004629211,
      -1.5453281246965256,
      -1.5435502133841124,
      -1.5412838658419359,
      -1.5399378243749955,
      -1.5395010991941733,
      -1.5391117059791288,
      -1.5390410284517348,
      -1.539099974144811
    ],
    "yaw_diff": [
      -0.0006396223610316554,
      0.0008465515327911177,
      0.0035558226248264546,
      0.0045326950843529445,
      0.0026920829338807906,
      0.0008734503616443234,
      0.0007787864300889957,
      0.00014135505478796162,
      -0.00011789138615236894,
      -0.00011789138615236894
    ],
    "min_front_frame": [
      9,
      18.864485843426834
    ],
    "v_avg": 8.30387066741521,
    "v_std": 1.9738684573845946,
    "vy_max": 0.057818126814549176,
    "a_max": 2.2443266856184465,
    "ax_avg": -1.371068905688246,
    "a_std": 0.44643026406095,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8fe72476d10c552a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.198112621881027,
    "right_rear_min": 12.343425420855658,
    "speed_mode": "decelerating",
    "front_frame": [
      29.840688098383083,
      28.482837091336766,
      27.062175533482176,
      25.948887530216098,
      24.64840099093001,
      23.381498483199433,
      22.082450408181185,
      21.063956337512156,
      19.839031699257824,
      18.864485843426834
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8fe72476d10c552a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "396c599d06e65f68": {
    "vx_ego": [
      4.530726072275749,
      4.546973286352855,
      4.570144606134899,
      4.565711950928766,
      4.576641086076904,
      4.571729836579132,
      4.543081685370217,
      4.508307410065536,
      4.467374210665539,
      4.436049129720247
    ],
    "vy_ego": [
      0.02444229392141173,
      0.03495547597551285,
      0.044104540675620196,
      0.05256147984590109,
      0.016710167574910173,
      -0.010421509737618795,
      -0.005163327476108037,
      0.004553658085237888,
      -0.010588470030564956,
      -0.03136121297092309
    ],
    "v_ego": [
      4.530792002258698,
      4.547107646857192,
      4.570357418352761,
      4.566014490561473,
      4.576671591939667,
      4.571741714766164,
      4.543084619495538,
      4.5083097097974285,
      4.467386758924857,
      4.436159984375086
    ],
    "ax_ego": [
      -0.022359955397524167,
      0.10109065504525638,
      -0.0007548317951280858,
      -0.011967663239119408,
      0.05530857309380459,
      -0.07656368257141137,
      -0.03812334287410086,
      -0.1008929649766609,
      -0.06283827329745151,
      -0.06267512595339843
    ],
    "ay_ego": [
      -1.0486666632280075,
      -1.0440222296730488,
      -0.8711318853790914,
      -0.6056569119981173,
      -0.31083455842396834,
      -0.021657194229528595,
      0.003295236271303764,
      -0.038632383644215625,
      -0.06409885813179222,
      -0.0642583905777645
    ],
    "a_ego": [
      1.0489050186604802,
      1.048905017906275,
      0.8711322124081793,
      0.6057751398122081,
      0.31571690003592795,
      0.07956777960199322,
      0.03826549168611286,
      0.10803634318050377,
      0.08976253229942231,
      0.08976253212180955
    ],
    "yaw": [
      1.2718801456047104,
      1.1540339546808767,
      1.047395532428438,
      0.9647927461681819,
      0.9224406677069283,
      0.910244066078141,
      0.9080807601421215,
      0.9039887605939723,
      0.9016375493137726,
      0.8990954676327695
    ],
    "yaw_diff": [
      -0.2356923818476675,
      -0.21327684450487716,
      -0.16520557252051238,
      -0.0847041569225071,
      -0.024393203257574658,
      -0.004326611872039088,
      -0.008183999096298411,
      -0.004702422560399322,
      -0.005084163362006233,
      -0.005084163362006233
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.5317625937328865,
    "v_std": 0.045251129180423476,
    "vy_max": 0.05256147984590109,
    "a_max": 1.0489050186604802,
    "ax_avg": -0.021977661196573378,
    "a_std": 0.4020052972890088,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "396c599d06e65f68",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 29.94575107101906,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "396c599d06e65f68",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9468f5ec72415a29": {
    "vx_ego": [
      1.1986914794652206,
      2.3868241028081245,
      3.5433467811366848,
      4.621791823984787,
      5.577645387376683,
      6.324855961647772,
      6.850902758037391,
      7.286738240460152,
      7.697561473920298,
      8.0850382584139
    ],
    "vy_ego": [
      0.02473189102904494,
      0.026857786737017886,
      0.039108057351012526,
      0.04601376295217818,
      0.030153385242748687,
      0.0103319617954849,
      0.004401483394806949,
      -0.01666598902418226,
      -0.008190997972984615,
      0.008518986315519506
    ],
    "v_ego": [
      1.1989465915445907,
      2.386975206920721,
      3.5435625931456998,
      4.622020870856561,
      5.577726893095966,
      6.324864400524798,
      6.850904171942592,
      7.286757299387325,
      7.697565831951671,
      8.085042746525481
    ],
    "ax_ego": [
      2.3760477686030956,
      2.376106668871605,
      2.2495008117462927,
      2.0628792972270786,
      1.7595153878930694,
      1.2289787839902577,
      0.8752210165005803,
      0.8686640135016216,
      0.7748156283852625,
      0.7750854085482464
    ],
    "ay_ego": [
      0.020975016117299683,
      0.01265086988964148,
      0.10261732140488788,
      0.03873207988615568,
      0.032699462054787465,
      -0.040807086565740724,
      0.04348857927857769,
      0.11894068159660665,
      0.08531004834369948,
      0.08282319650907954
    ],
    "a_ego": [
      2.376140347282725,
      2.3761403465210296,
      2.251840184537869,
      2.0632428768665103,
      1.759819210899566,
      1.2296560778576082,
      0.8763007955331195,
      0.8767690996444907,
      0.7794979553138376,
      0.7794979617833415
    ],
    "yaw": [
      2.5663553141822346,
      2.569858627280455,
      2.5754162338149027,
      2.5823407932992337,
      2.5889037571883984,
      2.591860849284645,
      2.5928561371771495,
      2.601579974922368,
      2.6072553813504005,
      2.610464410602881
    ],
    "yaw_diff": [
      0.00700662619644099,
      0.01111521306889518,
      0.013849118968662033,
      0.013125927778329327,
      0.0059141841924930105,
      0.001990575785009163,
      0.017447675490436687,
      0.011350812856065318,
      0.006418058504960911,
      0.006418058504960911
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.35743666058954,
    "v_std": 2.2316107068751605,
    "vy_max": 0.04601376295217818,
    "a_max": 2.376140347282725,
    "ax_avg": 1.534681478526711,
    "a_std": 0.6603329941736513,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "9468f5ec72415a29",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "9468f5ec72415a29",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "9bc3ee11944a5bef": {
    "vx_ego": [
      10.087537003201396,
      9.87439842059107,
      9.666124079302925,
      9.44946573453837,
      9.233336413199215,
      9.069628968280153,
      8.904757407492458,
      8.645892145629015,
      8.361513917318135,
      8.101538356988689
    ],
    "vy_ego": [
      -0.08329025702852988,
      -0.0617106089921009,
      -0.033831227018437104,
      -0.03134824192961094,
      -0.05928203357137729,
      -0.02799347515263717,
      -0.053062127564752704,
      -0.05665085490770627,
      -0.0266516533194201,
      0.08899143032700385
    ],
    "v_ego": [
      10.087880850697696,
      9.874591250671271,
      9.666183283406196,
      9.44951773269339,
      9.233526719450966,
      9.069672169208634,
      8.904915500759875,
      8.646077741566476,
      8.361556392211293,
      8.102027105881012
    ],
    "ax_ego": [
      -0.42930089726295173,
      -0.4159216839006209,
      -0.4114383757655439,
      -0.44651176615453886,
      -0.40266743946795475,
      -0.24577901847544,
      -0.4110629078430665,
      -0.6138328604882181,
      -0.5236612270385419,
      -0.5178261264201676
    ],
    "ay_ego": [
      0.5335324307980543,
      0.5440268961962557,
      0.5972958824746736,
      0.811443753666622,
      1.034180942432521,
      0.9376103053387881,
      0.7216855189837253,
      0.7750844676670542,
      0.44303946540012895,
      0.44984567654548263
    ],
    "a_ego": [
      0.6848037055273987,
      0.6848037024751397,
      0.7252888447189768,
      0.9261823377062549,
      1.1098068699094885,
      0.9692886105800718,
      0.8305436186710523,
      0.9887096199763957,
      0.6859337056928632,
      0.685933692065041
    ],
    "yaw": [
      2.4613250699276232,
      2.486156226909212,
      2.512506717785239,
      2.5490740053845324,
      2.6014767628001345,
      2.652020723705542,
      2.7008453639927836,
      2.743765185212615,
      2.7760890104063236,
      2.789159029179226
    ],
    "yaw_diff": [
      0.04966231396317777,
      0.05270098175205362,
      0.07313457519858702,
      0.10480551483120415,
      0.10108792181081494,
      0.0976492805744833,
      0.08583964243966236,
      0.0646476503874176,
      0.026140037545804518,
      0.026140037545804518
    ],
    "min_front_frame": [
      8,
      26.440045109659835
    ],
    "v_avg": 9.13959487465468,
    "v_std": 0.6170129816812184,
    "vy_max": 0.08899143032700385,
    "a_max": 1.1098068699094885,
    "ax_avg": -0.4418002302817044,
    "a_std": 0.15058693747332594,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "9bc3ee11944a5bef",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      56.65051899512841,
      35.147992573925784,
      33.68804598639059,
      30.653770559755227,
      26.440045109659835,
      28.70381246974528
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8333333333333334,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.16666666666666666,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9bc3ee11944a5bef",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "7bb27993dd475c3d": {
    "vx_ego": [
      3.0569156047909214,
      2.960337128471079,
      2.863873718774405,
      2.776164451592406,
      2.6757636541495007,
      2.566180759053223,
      2.466796789841723,
      2.3954821994272777,
      2.3355785576716244,
      2.256736475579249
    ],
    "vy_ego": [
      -0.002568524728481014,
      0.005551541173960173,
      0.02023120180360949,
      0.004821157227510753,
      -0.003326239017044097,
      0.0031725878568422683,
      0.011578624035284646,
      -0.006815628852193001,
      -0.005935651680216036,
      -0.009533739335358948
    ],
    "v_ego": [
      3.0569166838717616,
      2.9603423338887347,
      2.8639451773058013,
      2.776168637860888,
      2.6757657215708344,
      2.5661827201991456,
      2.4668239635020535,
      2.395491895325384,
      2.335586100107708,
      2.256756613460026
    ],
    "ax_ego": [
      -0.19927994013982192,
      -0.18653438605328287,
      -0.19517911457162992,
      -0.15351359654458696,
      -0.24952405236844455,
      -0.1898404111816529,
      -0.20664123127089096,
      -0.07957971734209913,
      -0.15905946708625762,
      -0.155335854837432
    ],
    "ay_ego": [
      -0.2642886075829401,
      -0.27343350895114354,
      -0.3185788846492955,
      -0.3043930774374115,
      -0.23661416466110533,
      -0.18945850193544778,
      -0.18278946702203802,
      -0.03240202095873376,
      0.12490432728994438,
      0.12950589279207653
    ],
    "a_ego": [
      0.33099994356534307,
      0.33099994108399816,
      0.37361396187690116,
      0.3409128479771219,
      0.3438728189732985,
      0.2682049695163069,
      0.2758850987555337,
      0.08592335174129682,
      0.20223996896142418,
      0.2022399665396248
    ],
    "yaw": [
      2.660467033898689,
      2.613070180216969,
      2.557241096988603,
      2.5073962234253635,
      2.4609816117748364,
      2.4177450007609567,
      2.3774627966382575,
      2.3628047326804102,
      2.372169396049579,
      2.401439805037282
    ],
    "yaw_diff": [
      -0.09479370736343995,
      -0.11165816645673221,
      -0.0996897471264786,
      -0.09282922330105414,
      -0.08647322202775953,
      -0.08056440824539823,
      -0.0293161279156946,
      0.01872932673833727,
      0.058540817975406334,
      0.058540817975406334
    ],
    "min_front_frame": [
      9,
      13.55988745942462
    ],
    "v_avg": 2.6353979847092335,
    "v_std": 0.2609532397537178,
    "vy_max": 0.02023120180360949,
    "a_max": 0.37361396187690116,
    "ax_avg": -0.17744877713960988,
    "a_std": 0.08453830765078972,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "7bb27993dd475c3d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      38.16251058500117,
      13.664999415671486,
      13.757403809620365,
      13.848777570607634,
      14.002478826992572,
      14.18545426595333,
      14.378399140835542,
      14.555514827144322,
      14.67413506801637,
      13.55988745942462
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7bb27993dd475c3d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d5b21176c2e1526c": {
    "vx_ego": [
      1.5429333169323174,
      2.2506275253733596,
      2.918320574151422,
      3.5020105094646454,
      4.03999220757469,
      4.583721774902347,
      5.166948721354779,
      5.76669204886453,
      6.330244074058664,
      6.908701577538302
    ],
    "vy_ego": [
      -0.058546491281809554,
      -0.00680126957780125,
      0.00044446960680311065,
      -0.014741311885859254,
      0.01013842423121658,
      -0.023140625690465544,
      -0.07264125235581631,
      -0.16802101411348147,
      -0.040999516311229556,
      -0.16188960053680423
    ],
    "v_ego": [
      1.5440436885467892,
      2.2506378018766333,
      2.9183206079984965,
      3.502041535258676,
      4.040004928822502,
      4.583780186513231,
      5.167459321625436,
      5.769139298684087,
      6.330376844824689,
      6.910598073267045
    ],
    "ax_ego": [
      1.4147689138228636,
      1.4183268973257441,
      1.261035220200664,
      1.1154168558618989,
      1.085422340278675,
      1.162183593601439,
      1.259283215601752,
      1.2060962876467602,
      1.071706191433074,
      1.2866955580010997
    ],
    "ay_ego": [
      0.19299878497656864,
      0.16482851872247306,
      0.4466318957458635,
      1.0714582410063582,
      1.6223879173536315,
      2.202463878253626,
      2.5196172963565124,
      2.134417790167095,
      1.6479815954998573,
      1.4862072666830606
    ],
    "a_ego": [
      1.4278724069474684,
      1.427872413159494,
      1.337792912555632,
      1.546666584807884,
      1.9519949311284313,
      2.490284690602333,
      2.8167828345818906,
      2.451613256216625,
      1.9658070861257573,
      1.9658070857846899
    ],
    "yaw": [
      0.8695008794889512,
      0.8893867898365454,
      0.9452907316758334,
      1.0674012712051768,
      1.2388015155485852,
      1.4677890946724959,
      1.719377878878118,
      1.9483702589054963,
      2.0831275984408517,
      2.2201028235253544
    ],
    "yaw_diff": [
      0.039771820695188476,
      0.11180788367857608,
      0.24422107905868673,
      0.3428004886868168,
      0.4579751582478213,
      0.5031775684112443,
      0.45798476005475663,
      0.2695146790707108,
      0.2739504501690053,
      0.2739504501690053
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.301640228741759,
    "v_std": 1.6833765584984046,
    "vy_max": 0.16802101411348147,
    "a_max": 2.8167828345818906,
    "ax_avg": 1.228093507377397,
    "a_std": 0.4875108856791015,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "d5b21176c2e1526c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "d5b21176c2e1526c",
    "pedestrians": "No"
  },
  "e7295df63d0751d2": {
    "vx_ego": [
      4.455801618818939,
      3.3456095572175912,
      2.281598752867514,
      1.343682104633572,
      0.5831869242291812,
      0.07400918732064798,
      -0.07915727308103618,
      -0.04029233421228998,
      -0.009619558081788528,
      0.022997961276439244
    ],
    "vy_ego": [
      -0.016456698216846366,
      -0.024198168534441785,
      -0.016193963114046875,
      0.006567225765493152,
      0.007515408519803482,
      -0.0044177951051507566,
      -0.00836141677148531,
      -0.004526974179375048,
      -0.002555224430365051,
      -0.0008847529283351889
    ],
    "v_ego": [
      4.455832008636062,
      3.345697066487955,
      2.281656221591661,
      1.3436981531455496,
      0.5832353469716254,
      0.07414092474102178,
      0.07959765808145496,
      0.04054584678478922,
      0.009953143703294823,
      0.023014973617555955
    ],
    "ax_ego": [
      -2.2205221396807926,
      -2.2204379066743583,
      -2.0356791815608775,
      -1.7159872968087757,
      -1.3260445617017553,
      -0.7106660067928785,
      0.09800073016290588,
      0.05745715656167459,
      0.06523490493073907,
      0.06523465301362177
    ],
    "ay_ego": [
      -0.0318104452949715,
      -0.03722877453647588,
      0.0629452591900477,
      0.02850465398057394,
      -0.021182469654945968,
      -0.026593419773188583,
      0.010813617589880848,
      0.00454217656474303,
      0.003337482410344416,
      0.0033424044557722205
    ],
    "a_ego": [
      2.2207499808043294,
      2.2207499812112785,
      2.0366521145975978,
      1.7162240291138104,
      1.3262137371628613,
      0.7111634011858095,
      0.09859552443109611,
      0.057636413907338875,
      0.06532022359240607,
      0.06532022367807384
    ],
    "yaw": [
      0.002982682779922259,
      0.0005425204162828393,
      -2.192134739658659e-05,
      3.522020650954111e-05,
      0.0009998802881091076,
      0.0009571015166292586,
      0.0009699077204681841,
      0.0008874410592699163,
      0.0009581229595770381,
      0.00088260268656188
    ],
    "yaw_diff": [
      -0.00488032472727884,
      -0.0011288835273588517,
      0.0001142831078122554,
      0.001929320163199133,
      -8.555754295969803e-05,
      2.5612407677851057e-05,
      -0.0001649333223965356,
      0.00014136380061424356,
      -0.0001510405460303163,
      -0.0001510405460303163
    ],
    "min_front_frame": [
      9,
      21.225067206962937
    ],
    "v_avg": 1.223737134376097,
    "v_std": 1.5309654046809347,
    "vy_max": 0.024198168534441785,
    "a_max": 2.2207499812112785,
    "ax_avg": -0.9943409648550497,
    "a_std": 0.904370607287309,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "e7295df63d0751d2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      21.225067206962937
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "e7295df63d0751d2",
    "merging_vehicles": "Yes"
  },
  "c9150b81da695ae9": {
    "vx_ego": [
      0.7178450537360955,
      1.3239775871152983,
      1.98539802667132,
      2.6724545622105995,
      3.283371578514524,
      3.8352869287186953,
      4.352883272009973,
      4.859455218711533,
      5.3769041664001005,
      6.050951591417414
    ],
    "vy_ego": [
      -0.02097578881001877,
      -0.0061954337044359264,
      0.01087954398593105,
      0.030829942655107634,
      0.018638518866108456,
      -0.017807804183846976,
      -0.02860136120970508,
      -0.030277358445257363,
      -0.03979180437915408,
      -0.13652574439625198
    ],
    "v_ego": [
      0.7181514498276672,
      1.323992082522563,
      1.9854278352001902,
      2.6726323863270767,
      3.2834244801704333,
      3.83532827062956,
      4.3529772360543415,
      4.859549540965415,
      5.377051404101183,
      6.052491589466266
    ],
    "ax_ego": [
      1.2122699772199805,
      1.2122825878977517,
      1.4334664706845754,
      1.3152890912599615,
      1.132345099913003,
      1.116146103546371,
      1.0298696025965879,
      1.0740050161239392,
      1.0749354192963558,
      1.666354404928411
    ],
    "ay_ego": [
      0.030659040280895944,
      0.030156220300106173,
      0.07360070689638354,
      0.2770835359545776,
      0.5800584281118295,
      1.1904314337707875,
      1.8185276481396293,
      2.2788140356126223,
      2.650855451592226,
      2.325034147619033
    ],
    "a_ego": [
      1.2126576080740505,
      1.2126576064754877,
      1.435354725018363,
      1.344157981594629,
      1.2722708851972346,
      1.6318422481880162,
      2.0898981327808075,
      2.519222138590495,
      2.8605105804548345,
      2.860510582119717
    ],
    "yaw": [
      2.807453264523081,
      2.807868046207573,
      2.813316116306897,
      2.8422088891963013,
      2.9176457489567422,
      3.0519621676923396,
      -3.0458707164677694,
      -2.8237738556621528,
      -2.5822975373748616,
      -2.345693667151959
    ],
    "yaw_diff": [
      0.0008295633689838766,
      0.010896140198648041,
      0.05778554577880879,
      0.1508737195208818,
      0.2686328374711948,
      0.37070484603895437,
      0.44419372161123327,
      0.48295263657458243,
      0.4732077404458055,
      0.4732077404458055
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.44610262752647,
    "v_std": 1.679194419009883,
    "vy_max": 0.13652574439625198,
    "a_max": 2.860510582119717,
    "ax_avg": 1.2266963773466937,
    "a_std": 0.6456688623359922,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "c9150b81da695ae9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c9150b81da695ae9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ba3833aabbb85e7b": {
    "vx_ego": [
      3.7785998083156285,
      3.2307426040500045,
      2.6844617111742513,
      2.144536921351205,
      1.6191957190876312,
      1.1049522377883756,
      0.6079647804254302,
      0.19123610761733847,
      -0.019745476001362634,
      -0.0892133327469202
    ],
    "vy_ego": [
      -0.013907693143248023,
      -0.013994316582172539,
      -0.011030531080325257,
      -0.008143315351991087,
      -0.00190074146666952,
      -0.006965058360478893,
      -0.0130835306809709,
      -0.006815959091048138,
      -0.003983824045699102,
      -0.0018159343992140455
    ],
    "v_ego": [
      3.7786254028854818,
      3.2307729128678178,
      2.6844843734647634,
      2.1445523823454224,
      1.619196834708441,
      1.1049741896675704,
      0.6081055443036361,
      0.19135753487898274,
      0.02014335316047152,
      0.08923181247489571
    ],
    "ax_ego": [
      -1.0957628524428817,
      -1.0957472720528956,
      -1.0894363229064572,
      -1.0702506248741825,
      -1.0311051895630923,
      -1.025887962462173,
      -0.9618911877967937,
      -0.704992571659431,
      -0.13893498171606508,
      -0.13893411698355873
    ],
    "ay_ego": [
      -0.009726778297507732,
      -0.011346899631704321,
      0.011669217128724485,
      0.00332646293369504,
      0.023867327167596153,
      -0.0352824681345103,
      0.019398025669242924,
      0.007024910804437123,
      0.004299999828921125,
      0.0043278658429248135
    ],
    "a_ego": [
      1.0958060225285355,
      1.0958060213115342,
      1.0894988170238369,
      1.0702557943777868,
      1.0313813849639064,
      1.0264945027044479,
      0.9620867635307074,
      0.7050275707139319,
      0.13900150770035577,
      0.13900150821036272
    ],
    "yaw": [
      -0.34239529410891517,
      -0.3438738332609439,
      -0.3448489377516192,
      -0.34449169392789303,
      -0.34419553735150615,
      -0.3425718414538894,
      -0.3400409427660417,
      -0.3391207346875588,
      -0.3391810411033352,
      -0.3389805112934611
    ],
    "yaw_diff": [
      -0.0029570783040574478,
      -0.0019502089813505652,
      0.0007144876474522999,
      0.0005923131527737491,
      0.0032473917952334785,
      0.005061797375695454,
      0.0018404161569657296,
      -0.0001206128315527355,
      0.0004010596197482341,
      0.0004010596197482341
    ],
    "min_front_frame": [
      7,
      11.807174446909539
    ],
    "v_avg": 1.5471444340757483,
    "v_std": 1.297784662511441,
    "vy_max": 0.013994316582172539,
    "a_max": 1.0958060225285355,
    "ax_avg": -0.8352943082457532,
    "a_std": 0.3651383396125412,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ba3833aabbb85e7b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.904345309556847,
    "right_rear_min": 21.01420339171987,
    "speed_mode": "decelerating",
    "front_frame": [
      18.430235676886976,
      16.724308525491082,
      15.20682652770024,
      14.01180197461207,
      13.056527621139587,
      12.370004406855555,
      11.952119729726855,
      11.807174446909539,
      11.82783944005644,
      11.860177581750714
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ba3833aabbb85e7b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e952dd35343958d8": {
    "vx_ego": [
      5.827871988426668,
      5.2052007093616925,
      4.578389591078188,
      3.9699350686766315,
      3.3870659633792757,
      2.818394052488652,
      2.3008640740014714,
      1.8656395572724587,
      1.5264026656528644,
      1.2408936808326572
    ],
    "vy_ego": [
      -0.00028831257785499886,
      -0.003984723374195198,
      -0.010920839451215247,
      -0.019722087730773552,
      -0.015122454305803723,
      -0.0066600763776392125,
      -0.0024256789552249414,
      -0.0033666573372312936,
      0.002881446806664245,
      0.025869782947974596
    ],
    "v_ego": [
      5.827871995558271,
      5.205202234568781,
      4.578402615806895,
      3.969984056674912,
      3.3870997223150385,
      2.8184019216074847,
      2.300865352633448,
      1.8656425949365012,
      1.5264053853573336,
      1.2411633143145167
    ],
    "ax_ego": [
      -1.2453402905818498,
      -1.245341506274656,
      -1.2618930482202444,
      -1.1719224733874405,
      -1.1596012006145242,
      -1.115089237212456,
      -0.9550147933992246,
      -0.785886621453204,
      -0.571047459514568,
      -0.5710207313760568
    ],
    "ay_ego": [
      -0.0034662994836357486,
      -0.002996590396042609,
      -0.016363940757836648,
      -0.01812054153484577,
      0.029066017211042183,
      0.003654167298895117,
      0.0194643062533445,
      -0.019776082439185494,
      0.04737237860526136,
      0.047693518241645194
    ],
    "a_ego": [
      1.2453451146483838,
      1.2453451115270942,
      1.2619991456826372,
      1.1720625570574517,
      1.1599654209601071,
      1.1150952245820556,
      0.9552131253439139,
      0.7861354051407258,
      0.5730090254723414,
      0.5730090290244237
    ],
    "yaw": [
      -2.0562814809822343,
      -2.055904308049038,
      -2.0554760202528777,
      -2.055433765911848,
      -2.055940506671254,
      -2.0560316652450368,
      -2.055423219947056,
      -2.0550047006702474,
      -2.0546147042795155,
      -2.054052321312131
    ],
    "yaw_diff": [
      0.0007543458663930025,
      0.000856575592320219,
      8.450868205933659e-05,
      -0.001013481518811865,
      -0.0001823171475656693,
      0.0012168905959617504,
      0.0008370385536169422,
      0.0007799927814637897,
      0.0011247659347688455,
      0.0011247659347688455
    ],
    "min_front_frame": [
      9,
      20.50924509359621
    ],
    "v_avg": 3.272103919377318,
    "v_std": 1.5091376009785986,
    "vy_max": 0.025869782947974596,
    "a_max": 1.2619991456826372,
    "ax_avg": -1.0082157362034225,
    "a_std": 0.258669646779568,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e952dd35343958d8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.4770123827882884,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      34.85726529076667,
      32.11468443953285,
      29.691427548948965,
      27.59225356116525,
      25.777235203791005,
      24.23559175408148,
      22.99042830029183,
      21.961245340716697,
      21.115550962262105,
      20.50924509359621
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e952dd35343958d8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e14711ef4d2f5000": {
    "vx_ego": [
      2.6001933481301824,
      2.693355851432408,
      2.8256679575808716,
      2.942911822811041,
      3.0818714459758922,
      3.334809109680576,
      3.6933919971036078,
      4.085494280580931,
      4.503860879993679,
      4.924813042971924
    ],
    "vy_ego": [
      -0.0938313340523329,
      -0.011701928011249807,
      0.009218695179692649,
      -0.02840561235842043,
      -0.05930912881989414,
      -0.07712739558395354,
      -0.05089476356454192,
      -0.018562285964201397,
      -0.029546511579278956,
      -0.02359462373708024
    ],
    "v_ego": [
      2.601885809736947,
      2.693381272223517,
      2.825682995461464,
      2.943048908131576,
      3.0824420809291633,
      3.335700890841102,
      3.693742644152035,
      4.085536448879108,
      4.503957795393285,
      4.9248695631961334
    ],
    "ax_ego": [
      0.11751575398527853,
      0.28716710202795287,
      0.25578830015560994,
      0.2361899622505595,
      0.3900714326332426,
      0.6964780720799073,
      0.7435488938438002,
      0.8213432037681118,
      0.8409057329065461,
      0.8448434902405189
    ],
    "ay_ego": [
      1.0462220642776812,
      1.012879862487768,
      1.1487749988102418,
      1.2781355192969768,
      1.5070068286511837,
      1.5647867426167759,
      1.1147829471876471,
      0.7749455666988097,
      0.20707062602460746,
      0.19036851735991545
    ],
    "a_ego": [
      1.05280129189519,
      1.0528012919446728,
      1.1769076651921202,
      1.299775405197557,
      1.5566712254544466,
      1.7127869846415125,
      1.340002230176023,
      1.1292233126012787,
      0.8660258055031145,
      0.8660258052757979
    ],
    "yaw": [
      0.12200165143366465,
      0.28641218718582473,
      0.47384970684535854,
      0.6961407765065176,
      0.9379068162294131,
      1.1845220907365164,
      1.3674820770162983,
      1.480796637425196,
      1.5405352479060843,
      1.5603502496728066
    ],
    "yaw_diff": [
      0.32882107150432016,
      0.3748750393190676,
      0.44458213932231816,
      0.4835320794457909,
      0.4932305490142066,
      0.3659199725595639,
      0.2266291208177953,
      0.11947722096177671,
      0.03963000353344448,
      0.03963000353344448
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.469024840894433,
    "v_std": 0.7637060096994492,
    "vy_max": 0.0938313340523329,
    "a_max": 1.7127869846415125,
    "ax_avg": 0.5233851943891528,
    "a_std": 0.262943820586491,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "e14711ef4d2f5000",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e14711ef4d2f5000",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4dd9f8881881500d": {
    "vx_ego": [
      2.7017867397049278,
      2.263784331486735,
      1.8496164959580375,
      1.4650032731938152,
      1.0298971338051541,
      0.7373503489877542,
      0.5457690875427015,
      0.29200235175287004,
      0.09709581394916929,
      -0.0745132331773842
    ],
    "vy_ego": [
      0.022496750202339877,
      0.008862347659542191,
      0.0057443195491475585,
      0.021029236560818565,
      0.0190027346535786,
      -0.006941959996052738,
      -0.012695263852632144,
      0.012687296159134887,
      0.011954775526638164,
      -0.023847386517036804
    ],
    "v_ego": [
      2.7018803990212166,
      2.2638016787454864,
      1.8496254159497192,
      1.465154196410372,
      1.0300724295623032,
      0.7373830266292747,
      0.5459167213426246,
      0.29227784882374586,
      0.09782900257257049,
      0.0782363071868821
    ],
    "ax_ego": [
      -0.8760718138300301,
      -0.8761092375914693,
      -0.7805949572383976,
      -0.7578710290044703,
      -0.9825412522913233,
      -0.1876543493820532,
      -0.5786642095045016,
      -0.43640142824802247,
      -0.3432089025384817,
      -0.34322269830592256
    ],
    "ay_ego": [
      -0.014647418388483713,
      -0.012205145570063802,
      0.0246079727136862,
      0.03839114100391733,
      -0.04700677850952084,
      -0.055840052556335916,
      0.03304038214555882,
      0.06860612495409621,
      -0.07163302048096805,
      -0.07156692660259653
    ],
    "a_ego": [
      0.8761942534922756,
      0.8761942488806304,
      0.7809827396217495,
      0.7588427876127422,
      0.9836650597027653,
      0.19578627712762722,
      0.5796067064948388,
      0.4417612556100082,
      0.3506046782415999,
      0.35060468567282405
    ],
    "yaw": [
      -2.035244306763235,
      -2.032456614171542,
      -2.0294153154504584,
      -2.029134342819292,
      -2.0292342289549703,
      -2.028937152565299,
      -2.028859831036024,
      -2.028787366166682,
      -2.028919704379961,
      -2.0287271244084097
    ],
    "yaw_diff": [
      0.005575385183385961,
      0.006082597442166993,
      0.0005619452623326637,
      -0.0001997722713564798,
      0.0005941527793424939,
      0.00015464305854973048,
      0.0001449297386839632,
      -0.00026467642655791934,
      0.00038515994310284185,
      0.00038515994310284185
    ],
    "min_front_frame": [
      8,
      11.670994537918705
    ],
    "v_avg": 1.1062177026244195,
    "v_std": 0.880880040247364,
    "vy_max": 0.023847386517036804,
    "a_max": 0.9836650597027653,
    "ax_avg": -0.6162339877934672,
    "a_std": 0.25830569823402666,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4dd9f8881881500d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.858522269307073,
    "right_rear_min": 21.62398358360313,
    "speed_mode": "decelerating",
    "front_frame": [
      13.679270362469635,
      13.408273538571988,
      13.167481108850495,
      12.81058320309244,
      12.488005345506332,
      12.222609758845943,
      11.951796364464618,
      11.768583659987165,
      11.670994537918705,
      11.671947761671989
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4dd9f8881881500d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4a9901b941be5695": {
    "vx_ego": [
      5.442179606543272,
      4.942920075602758,
      4.474750470867261,
      4.030323059458289,
      3.59284794004235,
      3.2382860721431532,
      2.972945479936928,
      2.760866910413931,
      2.5451773760240486,
      2.2932453125698147
    ],
    "vy_ego": [
      -0.03197403155594347,
      -0.030024047390704106,
      -0.018866198483722244,
      -0.014659183474977841,
      -0.012935114564788602,
      -0.01961831777550744,
      -0.005952850992753958,
      0.03221348217817936,
      0.04191627693640086,
      0.039839358578922096
    ],
    "v_ego": [
      5.442273533053022,
      4.943011260074014,
      4.474790242008222,
      4.030349718729304,
      3.5928712247247834,
      3.2383454978474226,
      2.972951439750127,
      2.76105483564753,
      2.5455225101532437,
      2.2935913406959414
    ],
    "ax_ego": [
      -0.9984110799009959,
      -0.99835249129062,
      -0.874181775657738,
      -0.9034645719907646,
      -0.8463481462022174,
      -0.5718714198108669,
      -0.48932943275561025,
      -0.3590842541734181,
      -0.5038436641967025,
      -0.5038422525752618
    ],
    "ay_ego": [
      0.025599183894482423,
      0.027790600379083572,
      0.042574668545478214,
      -0.0017360299261492476,
      0.02773541016029962,
      -0.04198335791894041,
      0.11223918089719276,
      0.05433675473691153,
      -0.005340917136606147,
      -0.005471323624991321
    ],
    "a_ego": [
      0.9987392065424969,
      0.9987392123750911,
      0.8752179038924381,
      0.9034662399018349,
      0.8468024784781218,
      0.5734104316618652,
      0.5020367790206212,
      0.36317211416987843,
      0.5038719711861531,
      0.5038719587973945
    ],
    "yaw": [
      1.5445467112794375,
      1.5467416777222245,
      1.5481124504445365,
      1.5495227805832228,
      1.550778094726673,
      1.551701187805861,
      1.5529606748360392,
      1.554180634984561,
      1.5551338554968543,
      1.5548750348134655
    ],
    "yaw_diff": [
      0.004389932885573877,
      0.002741545444624016,
      0.0028206602773725997,
      0.002510628286900296,
      0.001846186158376284,
      0.0025189740603561717,
      0.002439920297043763,
      0.0019064410245865915,
      -0.0005176413667777879,
      -0.0005176413667777879
    ],
    "min_front_frame": [
      9,
      13.452619878186482
    ],
    "v_avg": 3.6294761602683607,
    "v_std": 1.0092527665911508,
    "vy_max": 0.04191627693640086,
    "a_max": 0.9987392123750911,
    "ax_avg": -0.7048729088554195,
    "a_std": 0.22743354505491187,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "4a9901b941be5695",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.5380593643058145,
    "right_rear_min": 20.63836048212091,
    "speed_mode": "decelerating",
    "front_frame": [
      23.916741958159182,
      22.134238038141756,
      20.563704769228032,
      19.193677594550564,
      18.061694433199207,
      17.104214132430997,
      16.10995204668906,
      15.16558809256093,
      14.282199072784465,
      13.452619878186482
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "4a9901b941be5695",
    "merging_vehicles": "No"
  },
  "13ae6351239c5343": {
    "vx_ego": [
      10.006592512490139,
      9.76688331193383,
      9.56369140688776,
      9.422695212346929,
      9.29744916716592,
      9.166004491108035,
      9.020680986320796,
      8.81417262711922,
      8.582430979044933,
      8.369861771428566
    ],
    "vy_ego": [
      0.08490912635173675,
      0.046168409782674225,
      0.024652857825903318,
      -0.039522931859298005,
      -0.07871827273724463,
      -0.05949660799912637,
      -0.030597393221265534,
      0.016581451619603893,
      0.012731446114986777,
      0.0013959766773914417
    ],
    "v_ego": [
      10.00695274650388,
      9.766992431193616,
      9.563723181354517,
      9.42277810027003,
      9.297782401330815,
      9.166197585551823,
      9.02073287806714,
      8.814188223835224,
      8.582440422152102,
      8.369861887843323
    ],
    "ax_ego": [
      -0.47978130942103725,
      -0.4798363411191536,
      -0.33322359551314473,
      -0.23058688339498234,
      -0.26834656082445196,
      -0.257257733757327,
      -0.32405228770989447,
      -0.5019809633165053,
      -0.4251664127467825,
      -0.4251569998073152
    ],
    "ay_ego": [
      -0.019140454321169897,
      -0.017707401967989755,
      0.02568366780526382,
      0.011227324370710848,
      0.10370465949616402,
      0.0017457645762441465,
      0.11137276943868293,
      0.05470645552819814,
      0.005284848792821484,
      0.005994888353545447
    ],
    "a_ego": [
      0.4801629534453756,
      0.48016295811221493,
      0.3342119318615645,
      0.2308600519932722,
      0.2876882568119989,
      0.25726365711446963,
      0.34265694060161433,
      0.5049531501125876,
      0.42519925700162087,
      0.4251992629009708
    ],
    "yaw": [
      2.6120170737595876,
      2.6150037722939548,
      2.6174407681724725,
      2.6251834213907963,
      2.632436976483029,
      2.6332106138912477,
      2.6331425403328925,
      2.6325095143894033,
      2.6346787480122744,
      2.6363487766396543
    ],
    "yaw_diff": [
      0.005973397068734343,
      0.004873991757035512,
      0.015485306436647583,
      0.014507110184465155,
      0.0015472748164375716,
      -0.00013614711671028346,
      -0.001266051886978481,
      0.004338467245742272,
      0.0033400572547597207,
      0.0033400572547597207
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.201164985810248,
    "v_std": 0.4916060171650647,
    "vy_max": 0.08490912635173675,
    "a_max": 0.5049531501125876,
    "ax_avg": -0.37253890876105944,
    "a_std": 0.09433122258357571,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "13ae6351239c5343",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "13ae6351239c5343",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cfb755b8d37458ac": {
    "vx_ego": [
      2.2933210388918326,
      3.15141972534248,
      3.6818117888561144,
      3.7582777471722255,
      3.703267772521607,
      3.71621097110749,
      3.86770510381018,
      4.0836406179647575,
      4.36926181461703,
      4.84378732651557
    ],
    "vy_ego": [
      0.04494843911914814,
      -0.04653232472596658,
      -0.01473051273486381,
      0.005300536721488003,
      0.011868795738521731,
      -0.009404989975164701,
      0.020437057400819025,
      0.050242630538005456,
      0.06056505091916764,
      0.08860626064896104
    ],
    "v_ego": [
      2.293761484898367,
      3.1517632434118648,
      3.68184125629627,
      3.7582814850113975,
      3.703286791933542,
      3.71622287216686,
      3.8677590984127383,
      4.083949683653676,
      4.369681559343122,
      4.8445976854573845
    ],
    "ax_ego": [
      1.7118142594550607,
      1.7199489521437368,
      0.41633669613566837,
      -0.0797682349733525,
      -0.10941304638450888,
      0.18243709147314402,
      0.43466687119236547,
      0.5080579414297491,
      0.710481486894347,
      1.231425623452636
    ],
    "ay_ego": [
      -0.34266937414905396,
      -0.29917547430973657,
      -0.8694626196672116,
      -1.3170473401289167,
      -1.5653303947958783,
      -1.7488696082119999,
      -1.7960953693110708,
      -2.1325389982566354,
      -2.265147190292951,
      -2.0295976638981204
    ],
    "a_ego": [
      1.745775002356656,
      1.7457750033749462,
      0.9640028483089322,
      1.3194607487346557,
      1.569149597581747,
      1.7583595192317112,
      1.847943144302019,
      2.1922238596765724,
      2.3739578212157966,
      2.3739578225816103
    ],
    "yaw": [
      2.806288709320479,
      2.7809422211023924,
      2.6905009866659304,
      2.5409522319813425,
      2.346847964895984,
      2.127955012196476,
      1.8855378312728455,
      1.631780532763968,
      1.3691480901449737,
      1.1277314060954753
    ],
    "yaw_diff": [
      -0.05069297643617343,
      -0.18088246887292403,
      -0.2990975093691759,
      -0.3882085341707171,
      -0.4377859053990161,
      -0.4848343618472608,
      -0.5075145970177548,
      -0.5252648852379886,
      -0.4828333680989969,
      -0.4828333680989969
    ],
    "min_front_frame": [
      0,
      69.44259373167118
    ],
    "v_avg": 3.747114516058523,
    "v_std": 0.64761182120175,
    "vy_max": 0.08860626064896104,
    "a_max": 2.3739578225816103,
    "ax_avg": 0.6725987640818846,
    "a_std": 0.4247955147436875,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "cfb755b8d37458ac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      69.44259373167118,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "cfb755b8d37458ac",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ec8eced041bb5ad5": {
    "vx_ego": [
      1.580378595711798,
      1.0309559100897234,
      0.5118157241108772,
      0.12768758294199758,
      -0.02764050365107568,
      -0.036207577722160864,
      -0.022883251823747664,
      -0.013767408796392605,
      -0.009268578496170384,
      -0.005994624759522912
    ],
    "vy_ego": [
      0.03108582673176208,
      0.01857657507359728,
      0.0034674124393487826,
      -0.012309308804370742,
      -0.008905355263983162,
      -0.0008794277185464171,
      -0.0023871186333737178,
      -0.0016286347512969607,
      -0.0010917443335586381,
      -0.00038028015514985107
    ],
    "v_ego": [
      1.5806842930856217,
      1.0311232601829885,
      0.5118274693645957,
      0.12827953040454612,
      0.029039676211398788,
      0.03621825613718125,
      0.023007423788830656,
      0.013863404925202199,
      0.00933265519718421,
      0.00600667453786918
    ],
    "ax_ego": [
      -1.0988540617244957,
      -1.0988597260312212,
      -0.9777091283594528,
      -0.5587908720386857,
      -0.06255018645883201,
      0.02828246842230817,
      0.025015269458945763,
      0.011447790905620377,
      0.006547906144888009,
      0.006547919301161277
    ],
    "ay_ego": [
      -0.024539014632262046,
      -0.02428347589461366,
      -0.03565953092136909,
      -0.02683986737609373,
      0.040473825111709744,
      -0.008349876351256584,
      0.0023149399574239737,
      0.0007220122544081969,
      0.001422842232990718,
      0.0014227993420340064
    ],
    "a_ego": [
      1.0991280235748446,
      1.0991280110591917,
      0.978359208993779,
      0.5594350875253724,
      0.0745027270991332,
      0.029489293907113693,
      0.025122154627144202,
      0.01147053696713106,
      0.006700713014466756,
      0.006700716763318144
    ],
    "yaw": [
      -2.055050637543148,
      -2.05481809241397,
      -2.054654904227309,
      -2.0540869256633436,
      -2.054464536917684,
      -2.054581418680131,
      -2.054545592465269,
      -2.054590847727892,
      -2.0545286359903656,
      -2.0545217424873257
    ],
    "yaw_diff": [
      0.0004650902583565042,
      0.00032637637332211256,
      0.0011359571279303537,
      -0.000755222508680653,
      -0.0002337635248945702,
      7.165242972462238e-05,
      -9.05105252462235e-05,
      0.00012442347505281504,
      1.3787006079901687e-05,
      1.3787006079901687e-05
    ],
    "min_front_frame": [
      3,
      9.393492798222486
    ],
    "v_avg": 0.3369382643835418,
    "v_std": 0.5203774444926166,
    "vy_max": 0.03108582673176208,
    "a_max": 1.0991280235748446,
    "ax_avg": -0.37189226203797643,
    "a_std": 0.4669425606186713,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ec8eced041bb5ad5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.518991785129675,
      9.876617469494795,
      9.479777825542588,
      9.393492798222486,
      9.423040445913173,
      9.44222321180884,
      9.436584467656747,
      9.424091358932582,
      9.432300066763865,
      9.430194631032368
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ec8eced041bb5ad5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8470cdca41255e20": {
    "vx_ego": [
      1.4501609325546387,
      2.466629103792516,
      3.4581734972385405,
      4.386472710972445,
      5.218766317620379,
      5.906843285908511,
      6.448008963620113,
      6.849322320998343,
      7.1057732022659685,
      7.322463747049293
    ],
    "vy_ego": [
      0.0047257490865940666,
      -0.0034417747168271617,
      -0.005177466336527159,
      0.00038849601368373676,
      -0.005167158759630919,
      -0.03821981934277252,
      -0.0834297219501745,
      -0.07410884417011054,
      -0.00353825148921727,
      0.04900237271138641
    ],
    "v_ego": [
      1.4501686326121417,
      2.4666315050062653,
      3.4581773730045575,
      4.3864727281763765,
      5.218768875650523,
      5.90696693395799,
      6.4485486827215635,
      6.84972323365772,
      7.1057740831850795,
      7.322627708642746
    ],
    "ax_ego": [
      2.032939982062651,
      2.032930366164357,
      1.9332610923658493,
      1.7799338769627808,
      1.549251485500628,
      1.2030792851032464,
      0.9611385692928069,
      0.6346703834762984,
      0.38488905977322063,
      0.48820670991296844
    ],
    "ay_ego": [
      -0.012836769184508157,
      -0.014278359801484064,
      0.012712627496386575,
      0.003696382164161127,
      -0.04189048515593541,
      -0.22317006456938443,
      -0.6791480407267796,
      -1.0178721730431666,
      -1.1877363618251375,
      -1.1491351094421283
    ],
    "a_ego": [
      2.032980509820984,
      2.0329805078336998,
      1.9333028893976905,
      1.7799377150902946,
      1.549817724144521,
      1.223603139896446,
      1.176872724896472,
      1.1995291811029734,
      1.2485420511679723,
      1.2485420663143942
    ],
    "yaw": [
      2.6201580902377684,
      2.6208672105312756,
      2.6213190826420987,
      2.6209477224236304,
      2.6201212895578765,
      2.614196935193756,
      2.5851430427053375,
      2.5203510674933858,
      2.431667176510558,
      2.343300827019914
    ],
    "yaw_diff": [
      0.001418240587014452,
      0.0009037442216461855,
      -0.0007427204369365725,
      -0.0016528657315078021,
      -0.011848708728241064,
      -0.058107784976836996,
      -0.12958395042390336,
      -0.17736778196565517,
      -0.1767326989812883,
      -0.1767326989812883
    ],
    "min_front_frame": [
      7,
      37.367336567734505
    ],
    "v_avg": 5.061385975661496,
    "v_std": 1.9481866220818789,
    "vy_max": 0.0834297219501745,
    "a_max": 2.032980509820984,
    "ax_avg": 1.3000300810614809,
    "a_std": 0.3487304530653875,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "8470cdca41255e20",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      53.79276332158473,
      52.66758227249553,
      51.09951539780392,
      49.12475584900548,
      46.697039648651824,
      43.87410571018882,
      40.736466447441984,
      37.367336567734505,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "8470cdca41255e20",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1ea152f7056659a9": {
    "vx_ego": [
      4.693397120057759,
      4.731757534892989,
      4.908042151045093,
      5.106892880340179,
      5.231590248613107,
      5.2038240855959526,
      4.994499558437964,
      4.499440608758196,
      3.7793047522228678,
      3.0001824543194626
    ],
    "vy_ego": [
      -0.08986729273496041,
      -0.020494312903345302,
      0.014510691395237418,
      -0.04640448751414583,
      -0.11857499987257425,
      -0.11506963242234747,
      -0.08515902136063325,
      -0.06072671174466571,
      -0.05278404026479344,
      -0.03716795498780945
    ],
    "v_ego": [
      4.6942574127192875,
      4.7318019174388475,
      4.908063601523528,
      5.107103706381011,
      5.232933838677738,
      5.20509616953754,
      4.995225510240365,
      4.499850389208695,
      3.7796733410548886,
      3.000412674297376
    ],
    "ax_ego": [
      -0.12564785077878732,
      0.323725797393028,
      0.4074756908208202,
      0.41636488065985644,
      0.07826474908126169,
      -0.17898298518104738,
      -0.6558591053376206,
      -1.3202055977424858,
      -1.5578095552221773,
      -1.5569045438181193
    ],
    "ay_ego": [
      2.126774667696927,
      2.1057443849033954,
      2.316010896994098,
      2.417281055935671,
      1.7181616519438325,
      0.9474609355683529,
      0.24134969042215304,
      0.17065038571870628,
      0.08810559726658884,
      0.10286620002062186
    ],
    "a_ego": [
      2.1304830132067942,
      2.1304829983949487,
      2.351583065427482,
      2.4528773750908077,
      1.7199432645174992,
      0.9642184054519897,
      0.6988568087391961,
      1.3311890829091626,
      1.5602990760143456,
      1.5602990782757609
    ],
    "yaw": [
      -0.23827231765568754,
      -0.02672148455879813,
      0.19493622868064758,
      0.44220035906077776,
      0.6536379010877125,
      0.77974054136983,
      0.8315420763635628,
      0.8478082792691148,
      0.861419325812494,
      0.8708972383042852
    ],
    "yaw_diff": [
      0.4231016661937788,
      0.44331542647889144,
      0.49452826076026035,
      0.4228750840538694,
      0.25220528056423497,
      0.10360306998746571,
      0.03253240581110406,
      0.02722209308675838,
      0.018955824983582392,
      0.018955824983582392
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.615441856107928,
    "v_std": 0.6738341231078154,
    "vy_max": 0.11857499987257425,
    "a_max": 2.4528773750908077,
    "ax_avg": -0.4169578520125272,
    "a_std": 0.5549896281872384,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "1ea152f7056659a9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 30.68602179720312,
    "right_rear_min": 18.366400469423166,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "1ea152f7056659a9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "af98af49fda35a8c": {
    "vx_ego": [
      5.9649649597009216,
      5.617595339204145,
      5.169102152861568,
      4.570116374840836,
      4.003095516621521,
      3.5589029917167188,
      3.1086749213912377,
      2.589878709708685,
      2.0739973332827026,
      1.582320258494271
    ],
    "vy_ego": [
      0.02087032716092052,
      0.013444417203833936,
      0.03655554877383427,
      0.06400468311293106,
      0.06005496451251169,
      0.04614769167310406,
      0.025690428143258615,
      -0.01246792262265517,
      -0.00020476089213172788,
      0.05607369095740555
    ],
    "v_ego": [
      5.965001470328035,
      5.617611427235074,
      5.16923141045787,
      4.57056454708264,
      4.003545967509043,
      3.559202173787964,
      3.1087810738270076,
      2.5899087204179314,
      2.073997343390484,
      1.5833135063085149
    ],
    "ax_ego": [
      -0.6947934227144885,
      -0.694789092375477,
      -1.0991966737203789,
      -1.2970881658266218,
      -0.9711614895344303,
      -0.8057584928421373,
      -0.9950436663670013,
      -1.0801382915185815,
      -0.9833433078045303,
      -0.9833541728580154
    ],
    "ay_ego": [
      0.0023115216913300873,
      0.0033729085916373025,
      0.09427437082602236,
      0.04516873091173845,
      -0.05144311444251076,
      0.008161111864106507,
      -0.09751550281252602,
      -0.059536429744607544,
      0.11225064221294989,
      0.11215547449273261
    ],
    "a_ego": [
      0.6947972678269853,
      0.6947972793529827,
      1.103232062855584,
      1.2978743869033116,
      0.9725230242921133,
      0.8057998216269914,
      0.999810567690632,
      1.081777849316307,
      0.989729391137383,
      0.9897293972273238
    ],
    "yaw": [
      -2.0590644452146343,
      -2.057536800663711,
      -2.0572978750361273,
      -2.055783548398455,
      -2.055222739014602,
      -2.054401860029301,
      -2.054962206313737,
      -2.0553484533071584,
      -2.05495386112144,
      -2.055050637543148
    ],
    "yaw_diff": [
      0.0030552891018462702,
      0.0004778512551677494,
      0.0030286532753445172,
      0.0011216187677058898,
      0.0016417579706020646,
      -0.0011206925688718172,
      -0.0007724939868429814,
      0.000789184371436491,
      -0.0001935528434158229,
      -0.0001935528434158229
    ],
    "min_front_frame": [
      9,
      10.518991785129675
    ],
    "v_avg": 3.824115764034456,
    "v_std": 1.4278653503586691,
    "vy_max": 0.06400468311293106,
    "a_max": 1.2978743869033116,
    "ax_avg": -0.9604666775561663,
    "a_std": 0.17814768910658008,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "af98af49fda35a8c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.67378531397206,
      21.17304689808815,
      19.637625610412606,
      18.17193439055077,
      16.726126817831837,
      15.2956785987949,
      13.852764906322351,
      12.538261211804688,
      11.433068921650195,
      10.518991785129675
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "af98af49fda35a8c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ac2046c2652451fc": {
    "vx_ego": [
      4.012470150117546,
      3.7456226505607324,
      3.447105247739893,
      3.0341264836865594,
      2.534140783899314,
      2.085245116399159,
      1.711433635239518,
      1.3533960419881186,
      0.98723457987223,
      0.6169929696853004
    ],
    "vy_ego": [
      0.021470930026970425,
      -0.021335628659587602,
      -0.05608987445665092,
      -0.05227200247273589,
      -0.02168104635859336,
      -0.004569076393107663,
      -0.008480660591442368,
      -0.00579654944070912,
      0.011860391042927632,
      0.028264512513370338
    ],
    "v_ego": [
      4.0125275957207505,
      3.7456834155389997,
      3.4475615531869,
      3.034576721925263,
      2.5342335291746565,
      2.0852501221497697,
      1.7114546472031387,
      1.3534084551437249,
      0.9873058211978645,
      0.6176400305264422
    ],
    "ax_ego": [
      -0.5337755495199035,
      -0.5336132768352514,
      -0.6608977581409295,
      -0.9917200424069524,
      -1.0083886093804,
      -0.7872489685485533,
      -0.708007924533143,
      -0.7242072427610148,
      -0.7404403862654437,
      -0.7404645208874859
    ],
    "ay_ego": [
      -0.09796673223888372,
      -0.09884684130174529,
      -0.07886351001942504,
      0.06200764233119216,
      0.04719967697494909,
      0.005380501671383653,
      -0.03462706979642158,
      0.039292601494230056,
      0.031865197047898725,
      0.03129933723531819
    ],
    "a_ego": [
      0.5426912730925753,
      0.5426912817156611,
      0.6655864331011342,
      0.9936566762313432,
      1.0094926433781855,
      0.7872673550192443,
      0.708854184698387,
      0.7252723895197554,
      0.7411257358881966,
      0.7411257350844757
    ],
    "yaw": [
      -1.905358195176782,
      -1.9070072773229299,
      -1.9096851847725083,
      -1.9121324462558464,
      -1.9133129452051092,
      -1.9150512610184323,
      -1.9168517245946213,
      -1.9178408337279569,
      -1.917727805034208,
      -1.918492016429223
    ],
    "yaw_diff": [
      -0.003298164292295791,
      -0.005355814899156819,
      -0.004894522966676362,
      -0.0023609978985255076,
      -0.0034766316266461317,
      -0.0036009271523780306,
      -0.0019782182666712167,
      0.00022605738749792437,
      -0.0015284227900300706,
      -0.0015284227900300706
    ],
    "min_front_frame": [
      7,
      11.23346781254258
    ],
    "v_avg": 2.3529641891767508,
    "v_std": 1.1290750570591777,
    "vy_max": 0.05608987445665092,
    "a_max": 1.0094926433781855,
    "ax_avg": -0.7428764279279079,
    "a_std": 0.149484739801302,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ac2046c2652451fc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      67.31451171198425,
      19.168981168887633,
      17.30560283661987,
      15.599815285706221,
      14.099879739350134,
      12.936980328648715,
      12.026749014491672,
      11.23346781254258,
      57.07043712411824,
      56.68331577256733
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ac2046c2652451fc",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0317b218061b5c4d": {
    "vx_ego": [
      2.0088066186399356,
      2.843580134536463,
      3.6779789214806833,
      4.464613105619396,
      5.085619202647493,
      5.686611914159958,
      6.106077466956281,
      6.187990914655885,
      6.188256880103374,
      6.164542391929852
    ],
    "vy_ego": [
      -0.004113922632080372,
      -0.003926628912014111,
      0.0004341195753042816,
      0.007809801191764691,
      0.0056357946630159195,
      0.026180519400327673,
      0.04437142301880709,
      0.017761949252587644,
      0.0014896423610987752,
      0.007745944322679749
    ],
    "v_ego": [
      2.0088108311762545,
      2.843582845627154,
      3.677978947100706,
      4.464619936328637,
      5.085622325391299,
      5.686672179918766,
      6.106238683154462,
      6.188016406467022,
      6.188257059397348,
      6.164547258441099
    ],
    "ax_ego": [
      1.6695421252728888,
      1.6695432668417947,
      1.66804971949054,
      1.478497106247583,
      1.0054013194400915,
      1.3984510665471386,
      0.2780119164566748,
      0.048548778276927704,
      -0.04750351994528348,
      -0.04739937855181834
    ],
    "ay_ego": [
      -0.002611928330866673,
      -0.0017351988677632075,
      0.017475926551361223,
      0.05768785282274072,
      0.07764721941008264,
      0.1752928355130601,
      0.07338120299782935,
      -0.023444386245691697,
      0.042607230934370306,
      0.04272304127820134
    ],
    "a_ego": [
      1.669544168397566,
      1.6695441685597545,
      1.6681412634130532,
      1.4796221076835039,
      1.0083952121137796,
      1.409394537987514,
      0.2875333487533607,
      0.05391310711338631,
      0.06381191530652176,
      0.0638119059671271
    ],
    "yaw": [
      -3.140753141982546,
      -3.1412782758578537,
      -3.1414087801232133,
      -3.138621165953401,
      -3.131172734065797,
      -3.1231738240516087,
      -3.115888453602861,
      -3.1095582504847017,
      -3.106161064867286,
      -3.10372011416513
    ],
    "yaw_diff": [
      -0.0010502677506156743,
      -0.00026100853071930885,
      0.005575228339624871,
      0.014896863775208047,
      0.015997820028376353,
      0.014570740897495327,
      0.0126604062363187,
      0.006794371234831509,
      0.004881901404312217,
      0.004881901404312217
    ],
    "min_front_frame": [
      0,
      20.691863247557812
    ],
    "v_avg": 4.841434647300274,
    "v_std": 1.4581636184342295,
    "vy_max": 0.04437142301880709,
    "a_max": 1.6695441685597545,
    "ax_avg": 0.9121142400076538,
    "a_std": 0.6969264656169049,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "0317b218061b5c4d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      20.691863247557812,
      22.31430716123147,
      23.547747811671986,
      24.427355403833364,
      24.923315322903942,
      25.139605132567137,
      25.001379702230953,
      24.75170482363293,
      24.458984730755375,
      24.121859289154283
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "0317b218061b5c4d",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "4c9e695fc66c583a": {
    "vx_ego": [
      8.728238832333666,
      8.584402278320029,
      8.423108769879658,
      8.27108401000887,
      8.16869677384328,
      8.108929779973383,
      8.025934979764383,
      7.930195911905576,
      7.855747906133464,
      7.770581685491107
    ],
    "vy_ego": [
      0.028315245325553295,
      -0.0332761626841207,
      0.013314510951777603,
      0.013347370407129855,
      -0.004256944425795606,
      0.023369666767766084,
      -0.016641366615443687,
      -0.02938248157964196,
      -0.03554390270007168,
      -0.10390314793151179
    ],
    "v_ego": [
      8.728284760900918,
      8.584466773133267,
      8.423119293078157,
      8.271094779587598,
      8.168697883051708,
      8.108963455205851,
      8.025952232258073,
      7.930250344814323,
      7.855828316208257,
      7.771276316991945
    ],
    "ax_ego": [
      -0.29015290192752463,
      -0.2849165970917237,
      -0.3604209658957001,
      -0.24684773082714023,
      -0.16134449544079543,
      -0.06955109626584749,
      -0.2597982299581227,
      -0.13002948905803385,
      -0.177094088509867,
      -0.16884335274446804
    ],
    "ay_ego": [
      0.2426573698419825,
      0.24878472793427986,
      0.0058772778917725865,
      -0.1892018610171896,
      -0.3449698773843694,
      -0.7204013869022987,
      -0.8170743654524464,
      -0.7033152499927668,
      -0.43220696937884484,
      -0.43549638356059905
    ],
    "a_ego": [
      0.3782476776341031,
      0.37824768096005723,
      0.36046888222509105,
      0.3110163121556106,
      0.3808362673270913,
      0.7237510022394005,
      0.8573830176583226,
      0.7152342335886066,
      0.4670815566523541,
      0.46708155375732113
    ],
    "yaw": [
      2.6747567056851125,
      2.696065863182376,
      2.698071552192294,
      2.6925675986740565,
      2.6784448264496548,
      2.6422783290639,
      2.5997252615587607,
      2.5535938471707436,
      2.518438051576769,
      2.4994212090127608
    ],
    "yaw_diff": [
      0.042618314994527395,
      0.004011378019836087,
      -0.011007907036475473,
      -0.02824554444880345,
      -0.0723329947715099,
      -0.0851061350102782,
      -0.09226282877603431,
      -0.0703115911879495,
      -0.03803368512801608,
      -0.03803368512801608
    ],
    "min_front_frame": [
      9,
      52.30086552553928
    ],
    "v_avg": 8.18679341552301,
    "v_std": 0.2990944929908857,
    "vy_max": 0.10390314793151179,
    "a_max": 0.8573830176583226,
    "ax_avg": -0.21489989477192234,
    "a_std": 0.18032092090328608,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "4c9e695fc66c583a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 26.72228206423847,
    "right_rear_min": 30.419381337479386,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      56.73581125519674,
      55.800349500368924,
      54.338971882577354,
      52.30086552553928
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4c9e695fc66c583a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b19f226d281e588a": {
    "vx_ego": [
      8.524543277082014,
      8.591429187057969,
      8.536637367534137,
      8.370472945997191,
      8.307438711860785,
      8.481396592850222,
      8.801478021200147,
      9.119093929022569,
      9.446032558233325,
      9.786552317879629
    ],
    "vy_ego": [
      0.0052859852156252884,
      0.05544994082248689,
      0.04847382026492442,
      0.0212234654234007,
      -0.007290898654607858,
      -0.03053940569933511,
      -0.030911462488846908,
      -0.003923945354724623,
      -0.006063504135140896,
      0.009959145680565662
    ],
    "v_ego": [
      8.524544915975506,
      8.591608124918686,
      8.536774991531125,
      8.370499852168654,
      8.30744191123395,
      8.481451575085,
      8.801532302740384,
      9.119094773259208,
      9.446034504345535,
      9.786557385269747
    ],
    "ax_ego": [
      0.13407448896436472,
      0.13455564219544375,
      -0.35288680749798534,
      -0.3111799878397,
      0.05900464509012716,
      0.63692384644812,
      0.6435916014558125,
      0.6268708271825839,
      0.6809799041835853,
      0.6810853370745822
    ],
    "ay_ego": [
      -0.05413054453923797,
      -0.052923183361334517,
      -0.0997206077839243,
      -0.1360240409271195,
      -0.0210406262714897,
      -0.02741633697170559,
      0.064735305226437,
      0.04247727113360039,
      0.0643830804997283,
      0.06325792169918137
    ],
    "a_ego": [
      0.1445893649034049,
      0.14458936400622874,
      0.36670601102642897,
      0.3396108427922444,
      0.06264388314998016,
      0.6375136404087479,
      0.6468390906610525,
      0.6283083260116281,
      0.6840166744725742,
      0.6840166672206877
    ],
    "yaw": [
      -0.5796150354303297,
      -0.5886039968206457,
      -0.5922196398580917,
      -0.5959701706931173,
      -0.59726671109666,
      -0.595928807984212,
      -0.5948059929366868,
      -0.5948265646696903,
      -0.5917158219212735,
      -0.5900636653714448
    ],
    "yaw_diff": [
      -0.01797792278063204,
      -0.007231286074891985,
      -0.007501061670051268,
      -0.002593080807085313,
      0.002675806224895938,
      0.0022456300950504104,
      -4.1143466007032004e-05,
      0.006221485496833656,
      0.0033043130996572856,
      0.0033043130996572856
    ],
    "min_front_frame": [
      9,
      38.88496548127381
    ],
    "v_avg": 8.796554033652779,
    "v_std": 0.47005405641029835,
    "vy_max": 0.05544994082248689,
    "a_max": 0.6840166744725742,
    "ax_avg": 0.2933019497256934,
    "a_std": 0.2384010764917414,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "b19f226d281e588a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 25.21545861800479,
    "right_rear_min": 4.505726559714494,
    "speed_mode": "accelerating",
    "front_frame": [
      78.23424951808349,
      73.82011957273049,
      69.50211855236269,
      65.26849020345966,
      61.13657117804271,
      56.98183971408332,
      52.71943693499847,
      48.28147971279228,
      43.66906691523279,
      38.88496548127381
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b19f226d281e588a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "79bb6b3243f151a6": {
    "vx_ego": [
      -0.10009931518850895,
      0.1436061802412541,
      0.6018780035567497,
      1.2739981501451378,
      1.9278239381184434,
      2.542120103350194,
      3.103925976829455,
      3.624085209333726,
      4.086392204197372,
      4.516884509939236
    ],
    "vy_ego": [
      -0.004540937669577222,
      0.002606826012085589,
      0.012639416285088356,
      0.022328805040767397,
      0.015201465186608698,
      0.002177431417260234,
      -0.008082600801007533,
      0.0011267468186975105,
      0.039890625718149275,
      0.11568375617716797
    ],
    "v_ego": [
      0.10020226053401911,
      0.14362983863160483,
      0.6020107025705494,
      1.274193808691512,
      1.9278838712241784,
      2.5421210358802306,
      3.103936500328638,
      3.6240853844894256,
      4.086586902115902,
      4.518365678823734
    ],
    "ax_ego": [
      0.4874137999068552,
      0.4874059909869449,
      1.3457626799521447,
      1.3436451339410647,
      1.2741917488682661,
      1.1876726565860563,
      1.0650606328373993,
      1.0185106217845572,
      0.8432397478923569,
      0.9039765207364984
    ],
    "ay_ego": [
      0.014138381500201191,
      0.014405062940312074,
      0.022460311754113227,
      -0.021549811691932708,
      -0.13211476501024255,
      -0.28989144124717864,
      -0.4841854670030971,
      -0.5836205136152498,
      -0.6911911361920057,
      -0.6096104575469397
    ],
    "a_ego": [
      0.48761881236380233,
      0.48761881207381674,
      1.3459500943036746,
      1.3438179342260095,
      1.2810226087066856,
      1.2225397281522374,
      1.169952870023835,
      1.1738725614820773,
      1.090320347042997,
      1.0903203474178835
    ],
    "yaw": [
      0.6511364099274881,
      0.6505892703217131,
      0.647514289307531,
      0.6374293865666656,
      0.6179910411329652,
      0.5768186335741589,
      0.5122756414547474,
      0.43037035128310913,
      0.33823718228569016,
      0.24492134916961128
    ],
    "yaw_diff": [
      -0.001094279211550031,
      -0.006149962028364264,
      -0.02016980548173075,
      -0.038876690867400754,
      -0.08234481511761271,
      -0.129085984238823,
      -0.16381058034327645,
      -0.18426633799483794,
      -0.18663166623215777,
      -0.18663166623215777
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.1923015983289793,
    "v_std": 1.549778918477459,
    "vy_max": 0.11568375617716797,
    "a_max": 1.3459500943036746,
    "ax_avg": 0.9956879533492142,
    "a_std": 0.3031270999740377,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "79bb6b3243f151a6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 9.057438240693834,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "79bb6b3243f151a6",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "29e7ffa0ba1f589b": {
    "vx_ego": [
      4.726614807205323,
      4.360910361729056,
      4.122073683489891,
      4.072244766890154,
      4.25812390305107,
      4.582619543127738,
      4.994277169665944,
      5.45130031097701,
      5.914533287027228,
      6.38256250306131
    ],
    "vy_ego": [
      0.026699739223072783,
      0.05110597041611209,
      0.07332466113137137,
      0.0719657547719379,
      0.04807030191052353,
      0.0722921005598452,
      0.12364629750293665,
      0.1349776522072199,
      0.1421740685144035,
      -0.03181070556855814
    ],
    "v_ego": [
      4.726690217453138,
      4.361209809588163,
      4.122725792245944,
      4.072880615893883,
      4.258395229151546,
      4.583189721674157,
      4.99580752775091,
      5.452971121054413,
      5.916241836597879,
      6.382641774882327
    ],
    "ax_ego": [
      -0.8693470368996303,
      -0.5508660997727479,
      -0.3546279418394753,
      0.22559559074828195,
      0.5671910450777116,
      0.7807933681220666,
      0.9137333915322838,
      0.9450882281121425,
      0.9327130351861896,
      0.9433160626358266
    ],
    "ay_ego": [
      -1.6018063876405735,
      -1.7372663845490006,
      -1.7145410871763462,
      -1.7816405780961984,
      -1.7714633701102702,
      -1.7727117558654202,
      -1.5127322453021361,
      -0.9831096722969523,
      -0.5834223116749213,
      -0.5661183597073552
    ],
    "a_ego": [
      1.8225114468919834,
      1.8225114405025817,
      1.75083183565674,
      1.7958665095390645,
      1.8600505781453316,
      1.9370454958742869,
      1.767276876094386,
      1.3637068551121867,
      1.1001523529795059,
      1.10015234909739
    ],
    "yaw": [
      -2.036243175259456,
      -2.22642794222335,
      -2.4355694271256962,
      -2.651562156338494,
      -2.860473654046709,
      -3.066913876973824,
      3.0338897018903612,
      2.9123099029355584,
      2.8421773536249324,
      2.8237304575119273
    ],
    "yaw_diff": [
      -0.38036953392778816,
      -0.41828296980469215,
      -0.4319854584255953,
      -0.4178229954164303,
      -0.41288044585422945,
      -0.36476345663080423,
      -0.24315959790960573,
      -0.14026509862125192,
      -0.03689379222601019,
      -0.03689379222601019
    ],
    "min_front_frame": [
      7,
      50.4470702433789
    ],
    "v_avg": 4.887275364629235,
    "v_std": 0.7526585770959773,
    "vy_max": 0.1421740685144035,
    "a_max": 1.9370454958742869,
    "ax_avg": 0.3533589642902649,
    "a_std": 0.302428035458411,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "29e7ffa0ba1f589b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      50.4470702433789,
      52.24109507837973,
      53.91662159857542
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "29e7ffa0ba1f589b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "eff5e373dade52e7": {
    "vx_ego": [
      2.1095341076349734,
      1.54274618251021,
      0.9736952988676867,
      0.4472188279563154,
      0.08658711070339212,
      -0.04089611256416493,
      -0.03673649018468879,
      -0.019791273183381676,
      -0.012017608531156344,
      -0.006162200767915768
    ],
    "vy_ego": [
      -0.006820724181832327,
      0.09707770946817157,
      0.14281621317814777,
      0.1350901032229037,
      0.06451551206878084,
      -0.0120819172761656,
      -0.016493606294847814,
      -0.008882971162519352,
      -0.004851566999890703,
      -0.0022075313765933116
    ],
    "v_ego": [
      2.1095451342774463,
      1.5457974852241845,
      0.984113309423046,
      0.46717664332390935,
      0.10797953064103626,
      0.04264346078742856,
      0.040269203613917906,
      0.02169335545491737,
      0.01295996208183304,
      0.006545678962700939
    ],
    "ax_ego": [
      -1.1327832829133184,
      -1.1335958396584713,
      -1.1409399774325333,
      -0.9641973406841593,
      -0.4781610341345657,
      -0.0317695077426876,
      0.0483985955424283,
      0.01938248658985225,
      0.011710767146415557,
      0.011710711551682984
    ],
    "ay_ego": [
      0.19476225975514144,
      0.18997573557577735,
      -0.021368732918295108,
      -0.013370771547064286,
      -0.2691911988951724,
      -0.0372266063219845,
      0.01960128962665096,
      0.010840772347842555,
      0.005288209236775232,
      0.005288338995679161
    ],
    "a_ego": [
      1.1494043256716953,
      1.1494043273794268,
      1.1411400680242032,
      0.964290044184927,
      0.5487275062608558,
      0.04893998202354291,
      0.05221718687853086,
      0.02220817713148808,
      0.012849405592846731,
      0.012849408328010367
    ],
    "yaw": [
      1.2073254415100303,
      1.2031015083998742,
      1.2002529342758765,
      1.1988601171919695,
      1.198540441832289,
      1.198753488774602,
      1.1986437264582492,
      1.1986485648805174,
      1.1985922262668232,
      1.1985811278651153
    ],
    "yaw_diff": [
      -0.008447866220312239,
      -0.005697148247995276,
      -0.0027856341678140772,
      -0.0006393507193611647,
      0.0004260938846263329,
      -0.0002195246327056921,
      9.676844536343765e-06,
      -0.00011267722738850239,
      -2.2196803415752697e-05,
      -2.2196803415752697e-05
    ],
    "min_front_frame": [
      4,
      8.581932367009028
    ],
    "v_avg": 0.5338723763790421,
    "v_std": 0.7205544725327993,
    "vy_max": 0.14281621317814777,
    "a_max": 1.1494043273794268,
    "ax_avg": -0.4790244421735356,
    "a_std": 0.5077688601803754,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "eff5e373dade52e7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.58476717640979,
      9.643196813257484,
      8.995373424340828,
      8.677274336428914,
      8.581932367009028,
      8.609970627593906,
      8.596191079412236,
      8.621107787926707,
      8.597733528794942,
      8.599719137909545
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "eff5e373dade52e7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e15cc5e1d2f85a26": {
    "vx_ego": [
      6.4246054336132685,
      5.701547782215638,
      4.997775511429778,
      4.370493530137401,
      3.832009868231997,
      3.23872170194385,
      2.5133163557914164,
      1.7776452442445232,
      1.1080101085413507,
      0.4644148817142737
    ],
    "vy_ego": [
      -0.007910604390108489,
      0.0017687301119864163,
      0.03238347419013765,
      0.008402568517460463,
      -0.005607748888152075,
      0.004208268646880287,
      -0.006562482475101383,
      -0.0014844948955519133,
      0.0024274960554782066,
      -0.004823600083467189
    ],
    "v_ego": [
      6.424610303767455,
      5.701548056562732,
      4.997880425945363,
      4.370501607382221,
      3.8320139714091597,
      3.23872443597276,
      2.513324923376379,
      1.7776458640883075,
      1.1080127676912912,
      0.4644399309657257
    ],
    "ax_ego": [
      -1.454517305765195,
      -1.437105704027274,
      -1.374450128575464,
      -1.1331472443713002,
      -1.0239752388683891,
      -1.3501782281706318,
      -1.5516392056089423,
      -1.391298691398256,
      -1.2872064258017302,
      -1.2871803342534562
    ],
    "ay_ego": [
      -0.4218540612357645,
      -0.4778165287461583,
      -0.4808675584742052,
      -0.391149184905932,
      -0.176019111572002,
      -0.0868517146757587,
      -0.04502521529117931,
      0.021823322807811407,
      -0.015934013943087022,
      -0.017918266025624296
    ],
    "a_ego": [
      1.5144574743952206,
      1.5144574737148464,
      1.4561410524856624,
      1.1987578413836741,
      1.0389937523653219,
      1.352968760972738,
      1.552292335352709,
      1.3914698365774492,
      1.2873050436573312,
      1.2873050443256269
    ],
    "yaw": [
      2.8607279428730426,
      2.8220261499445165,
      2.7714389649006392,
      2.7297551723415214,
      2.6984969293721566,
      2.6773761409220196,
      2.669724698359237,
      2.6646064872122937,
      2.662900206685257,
      2.6613586713316657
    ],
    "yaw_diff": [
      -0.07740358585705209,
      -0.10117437008775454,
      -0.08336758511823561,
      -0.06251648593872972,
      -0.04224157690027397,
      -0.015302885125564991,
      -0.010236422293886882,
      -0.003412561054073393,
      -0.0030830707071825003,
      -0.0030830707071825003
    ],
    "min_front_frame": [
      9,
      10.847743573964491
    ],
    "v_avg": 3.4428702287161395,
    "v_std": 1.882118421131039,
    "vy_max": 0.03238347419013765,
    "a_max": 1.552292335352709,
    "ax_avg": -1.3290698506840637,
    "a_std": 0.15316108835189843,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "e15cc5e1d2f85a26",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      23.16355521811273,
      20.534007464910655,
      18.240366564454195,
      16.190555973514755,
      14.440309035093538,
      12.99480092519997,
      11.951771740383291,
      11.25337979197619,
      10.847743573964491
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e15cc5e1d2f85a26",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "19d546524016560f": {
    "vx_ego": [
      8.518307333439697,
      7.830947140162305,
      7.203398928537993,
      6.6438498396951156,
      6.103577568566923,
      5.591121583221849,
      5.138020368369721,
      4.722722800312221,
      4.307606173570575,
      3.897513476227229
    ],
    "vy_ego": [
      -0.09716547173604928,
      -0.030008846944343137,
      0.014948524965329835,
      0.02121436422064482,
      0.025923397281015337,
      0.027275068905361355,
      0.024813739821499592,
      0.012448135433483998,
      -0.0056605721275726495,
      -0.011806189112766097
    ],
    "v_ego": [
      8.518861482371351,
      7.831004638161768,
      7.203414439143492,
      6.643883709222047,
      6.103632619845325,
      5.591188110567645,
      5.13808028620282,
      4.722739205658584,
      4.307609892812967,
      3.8975313575998625
    ],
    "ax_ego": [
      -1.374688502705926,
      -1.3746059648758187,
      -1.1355963844783696,
      -1.1027544378374128,
      -1.0584658087618448,
      -0.9914572293395323,
      -0.8209766207212086,
      -0.8402904853486459,
      -0.8201733189227765,
      -0.8201776391882138
    ],
    "ay_ego": [
      0.1433083527526372,
      0.14409784647346957,
      0.05658920452109051,
      0.014183539317405791,
      0.0477713428797269,
      -0.026224576375302455,
      0.024226262042147395,
      -0.0607325692838791,
      -0.007895587062111242,
      -0.007433089655348835
    ],
    "a_ego": [
      1.382138113012059,
      1.38213810743734,
      1.1370054909756042,
      1.1028456478391147,
      1.0595432834567915,
      0.991803995765134,
      0.8213339902520472,
      0.8424823705807049,
      0.8202113223845777,
      0.8202113207254436
    ],
    "yaw": [
      2.5573083531342653,
      2.5578826826813685,
      2.5585791138501772,
      2.5602305783666193,
      2.5619233203956764,
      2.5626143695413157,
      2.562981513935844,
      2.56363814582906,
      2.5638490342278546,
      2.5644129379035974
    ],
    "yaw_diff": [
      0.0011486590942064723,
      0.0013928623376173732,
      0.0033029290328840943,
      0.00338548405811423,
      0.0013820982912786661,
      0.0007342887890562366,
      0.0013132637864323726,
      0.0004217767975891462,
      0.0011278073514855436,
      0.0011278073514855436
    ],
    "min_front_frame": [
      9,
      16.85599412949516
    ],
    "v_avg": 5.995794574158586,
    "v_std": 1.4627570925287277,
    "vy_max": 0.09716547173604928,
    "a_max": 1.382138113012059,
    "ax_avg": -1.0339186392179749,
    "a_std": 0.20819732790205,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "19d546524016560f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.41116127784453,
    "right_rear_min": 6.805235630229131,
    "speed_mode": "decelerating",
    "front_frame": [
      25.516507536782633,
      24.963091641395735,
      24.30900386929007,
      23.488635127293804,
      22.022215701842264,
      19.7762112020782,
      20.55393086969685,
      19.44242964871825,
      18.184314447726575,
      16.85599412949516
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "19d546524016560f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "402c9312982a5488": {
    "vx_ego": [
      3.4281121135172876,
      3.4244271903025942,
      3.376709068683499,
      3.2389793623022634,
      3.085512768363335,
      3.0153413982885904,
      3.0912936772085358,
      3.2652475197356106,
      3.455844527785567,
      3.6589126072941216
    ],
    "vy_ego": [
      -0.009657497560224826,
      0.025377712637685956,
      0.018597174086885104,
      0.022235114521900856,
      0.008606492834043022,
      -0.027887689476661315,
      -0.02359206252790713,
      0.0019042525835127055,
      0.009661193119839068,
      -0.05636005310602449
    ],
    "v_ego": [
      3.4281257167879784,
      3.4245212234679525,
      3.3767602801225616,
      3.239055681790262,
      3.0855247714857317,
      3.0154703565873997,
      3.091383700572252,
      3.26524807500402,
      3.455858032222671,
      3.6593466525326597
    ],
    "ax_ego": [
      -0.03310154864302245,
      0.01588466832736407,
      -0.21331372979456587,
      -0.3451475452818563,
      -0.27536930405586163,
      -0.0020388425121214415,
      0.3241679139594035,
      0.3739896854650272,
      0.3808362281347517,
      0.43873084683276237
    ],
    "ay_ego": [
      0.6146126628019959,
      0.6152983905093958,
      0.6522680765876794,
      0.6611660949515651,
      0.6628213695105618,
      0.6402714161957727,
      0.7547860392574356,
      0.7115980272595006,
      0.5990194090534351,
      0.5580105174962514
    ],
    "a_ego": [
      0.6155034019395232,
      0.6155033972703345,
      0.6862626254243049,
      0.7458333816125375,
      0.7177467669701246,
      0.6402746623724302,
      0.821454077534903,
      0.8038905629710072,
      0.7098313074827225,
      0.7098313134816095
    ],
    "yaw": [
      0.7991164147919603,
      0.8787324892911421,
      0.9730490914539695,
      1.0706517426621551,
      1.1798258428689807,
      1.2997865709235814,
      1.4140071149563584,
      1.5214368045150068,
      1.6165813088755971,
      1.7165724337121748
    ],
    "yaw_diff": [
      0.1592321489983637,
      0.18863320432565467,
      0.19520530241637135,
      0.21834820041365122,
      0.23992145610920135,
      0.22844108806555408,
      0.2148593791172968,
      0.1902890087211806,
      0.19998224967315537,
      0.19998224967315537
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.304129449057349,
    "v_std": 0.191432625909774,
    "vy_max": 0.05636005310602449,
    "a_max": 0.821454077534903,
    "ax_avg": 0.06646383724318812,
    "a_std": 0.06763959110246658,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "402c9312982a5488",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "402c9312982a5488",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "c3ace87d2f985eaa": {
    "vx_ego": [
      5.04964840498209,
      5.153614621227112,
      5.270740331732556,
      5.419430528654667,
      5.6122581679634,
      5.841839786586915,
      6.058998486591905,
      6.223346855496503,
      6.525545412780952,
      6.995361368644344
    ],
    "vy_ego": [
      0.005182587986827247,
      0.005610442735906496,
      -0.015136530854246821,
      -0.03608126632267705,
      -0.012145889774203056,
      -0.010001214176365902,
      -0.029993432390291286,
      -0.018670902657119903,
      0.004166620192924686,
      0.010463943623441718
    ],
    "v_ego": [
      5.049651064495091,
      5.153617675108773,
      5.270762066259349,
      5.419550637524632,
      5.612271310842902,
      5.8418483476066765,
      6.059072723322402,
      6.223374863080662,
      6.525546742993291,
      6.995369194834382
    ],
    "ax_ego": [
      0.20793795178196078,
      0.20795748893853433,
      0.2606294718824887,
      0.33340592095253874,
      0.4368067690726831,
      0.48066208570812674,
      0.38754453848984816,
      0.2690780658722711,
      0.9396333448436781,
      0.9396325348984984
    ],
    "ay_ego": [
      -0.013844174458193304,
      -0.013547611185000669,
      -0.12039914654304125,
      -0.10218521886188979,
      -0.16009897323954167,
      -0.10552776982660925,
      -0.09244772396309237,
      0.009931167101184343,
      0.011608891845432734,
      0.01167508159461178
    ],
    "a_ego": [
      0.20839830363442485,
      0.208398308473079,
      0.2870952387310484,
      0.348713818309603,
      0.46522234978563937,
      0.4921098971183819,
      0.3984185625435461,
      0.2692612738838504,
      0.9397050543186396,
      0.9397050644590667
    ],
    "yaw": [
      2.5698804531824804,
      2.5684542813070568,
      2.566006969263329,
      2.5595037250017043,
      2.543238820936378,
      2.5312577424103058,
      2.5263095190655416,
      2.521119184378501,
      2.5183448183093256,
      2.518274359849261
    ],
    "yaw_diff": [
      -0.002852343750847197,
      -0.004894624087455668,
      -0.01300648852324926,
      -0.03252980813065243,
      -0.02396215705214466,
      -0.009896446689528382,
      -0.010380669374081108,
      -0.0055487321383509425,
      -0.000140916920129186,
      -0.000140916920129186
    ],
    "min_front_frame": [
      7,
      20.21371034670499
    ],
    "v_avg": 5.815106462606816,
    "v_std": 0.6034956482489076,
    "vy_max": 0.03608126632267705,
    "a_max": 0.9397050644590667,
    "ax_avg": 0.4463288172440628,
    "a_std": 0.2588761434797447,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c3ace87d2f985eaa",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.945297544818086,
    "right_rear_min": 3.348678344105605,
    "speed_mode": "accelerating",
    "front_frame": [
      22.030925825483422,
      21.460274967380734,
      21.078840620476207,
      21.018136176750968,
      20.822751486572795,
      20.7037344115341,
      20.405198810253143,
      20.21371034670499,
      31.000187161207865,
      27.68121985604156
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c3ace87d2f985eaa",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bd28f12ef0295020": {
    "vx_ego": [
      3.2659830532199328,
      3.4356218158294802,
      3.5921531204647237,
      3.7262661062460105,
      3.8592731643869085,
      3.988304042793352,
      4.095861163003045,
      4.20817427365677,
      4.3469379586081045,
      4.495891927158562
    ],
    "vy_ego": [
      -0.010035100512592805,
      -0.0799489395096945,
      -0.08714432377522546,
      -0.04014321893451833,
      0.017877499622422688,
      0.04910083780833818,
      0.05003336445701034,
      0.01899629642440631,
      -0.02508789162519065,
      -0.011605285138993782
    ],
    "v_ego": [
      3.2659984701714255,
      3.436551919341854,
      3.59321000973095,
      3.7264823322517215,
      3.8593145715722232,
      3.988606276637903,
      4.096166745160107,
      4.208217149428547,
      4.347010354058774,
      4.495906905545608
    ],
    "ax_ego": [
      0.33314680636062827,
      0.3573969154181943,
      0.2824955103367612,
      0.2586714212288853,
      0.27324645716738183,
      0.24478223893724663,
      0.18849942386135526,
      0.2631824561627537,
      0.29216359780657025,
      0.3010472697970929
    ],
    "ay_ego": [
      0.35140246043834195,
      0.3267077105876991,
      0.2743916685451163,
      0.21842702444087747,
      0.07212743451520152,
      -0.0873047087014828,
      -0.13273906266947855,
      -0.21566041273704628,
      -0.27201894431175583,
      -0.2621534196711849
    ],
    "a_ego": [
      0.4842215234687595,
      0.48422152297052606,
      0.39382039196491603,
      0.33855763049541077,
      0.28260572033182646,
      0.25988546835208404,
      0.2305465062724539,
      0.34025640163525644,
      0.3991915253957196,
      0.3991915255833721
    ],
    "yaw": [
      0.0035758455494925914,
      0.07506800444204714,
      0.11975515888470906,
      0.14056261795787975,
      0.14441861362287406,
      0.13550230752243203,
      0.12168631594723883,
      0.10815355128628576,
      0.0899423413031389,
      0.05668396613769685
    ],
    "yaw_diff": [
      0.14298431778510912,
      0.08937430888532383,
      0.041614918146341384,
      0.007711991329988621,
      -0.017832612200884057,
      -0.027631983150386397,
      -0.027065529321906145,
      -0.03642241996629372,
      -0.0665167503308841,
      -0.0665167503308841
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.901746473389912,
    "v_std": 0.3793216203849984,
    "vy_max": 0.08714432377522546,
    "a_max": 0.4842215234687595,
    "ax_avg": 0.27946320970768695,
    "a_std": 0.08287503198831545,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bd28f12ef0295020",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bd28f12ef0295020",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "eb3531cddadb57e9": {
    "vx_ego": [
      2.1353367059900243,
      2.7819687637369626,
      3.4663522099844126,
      4.162273642813602,
      4.7964148860475975,
      5.361940990504069,
      5.863692904248037,
      6.2582826646483,
      6.525696630033151,
      6.742638996554705
    ],
    "vy_ego": [
      0.022980174107635642,
      0.01741809784752224,
      0.012694684525273336,
      0.010182216006415779,
      0.015406333543217965,
      -0.00869684182075492,
      -0.035232239282740885,
      0.009932653139219205,
      0.03452217309595795,
      0.030305703410600238
    ],
    "v_ego": [
      2.1354603570074406,
      2.782023291157137,
      3.4663754555268556,
      4.162286097228735,
      4.796439628955235,
      5.361948043454488,
      5.86379875047001,
      6.258290546805559,
      6.525787943816539,
      6.742707102753274
    ],
    "ax_ego": [
      1.2933076925376124,
      1.2933331466738784,
      1.444251104096891,
      1.3393870876343006,
      1.1970751108782336,
      1.0651708109311162,
      0.9421868407462115,
      0.636409879951753,
      0.432417026821362,
      0.4339095832918605
    ],
    "ay_ego": [
      -0.018966899179463814,
      -0.017143890158972663,
      -0.012567753232194057,
      0.03868096343940164,
      0.010554974192377053,
      -0.13956512407974453,
      0.07391372960455661,
      0.16656894611747008,
      0.1389376463566299,
      0.1342036750776851
    ],
    "a_ego": [
      1.2934467638219391,
      1.293446767847498,
      1.4443057848344976,
      1.339945516599124,
      1.1971216431776417,
      1.0742752348998121,
      0.9450816273208269,
      0.6578470560174982,
      0.4541895580703573,
      0.45418955610721934
    ],
    "yaw": [
      -0.631944462645577,
      -0.6333540242666249,
      -0.634224954013404,
      -0.6318628488928315,
      -0.6302874300754303,
      -0.6318867026708337,
      -0.6300881584933786,
      -0.6276360750034641,
      -0.6195664309384749,
      -0.6086376875938253
    ],
    "yaw_diff": [
      -0.002819123242095767,
      -0.0017418594935580956,
      0.004724210241144888,
      0.0031508376348023948,
      -0.0031985451908067564,
      0.0035970883549101274,
      0.004904166979829094,
      0.016139288129978446,
      0.0218574866892991,
      0.0218574866892991
    ],
    "min_front_frame": [
      0,
      13.18835376217112
    ],
    "v_avg": 4.809511721717527,
    "v_std": 1.5389237316942863,
    "vy_max": 0.035232239282740885,
    "a_max": 1.4443057848344976,
    "ax_avg": 1.007744828356322,
    "a_std": 0.35257653395572247,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "eb3531cddadb57e9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.168852928127404,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.18835376217112,
      14.567812194386104,
      15.64216915295573,
      16.705157113950275,
      17.748272621520435,
      18.581823149461854,
      19.62292398258427,
      20.656261083459402,
      21.827984918146058,
      23.024865353218853
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "eb3531cddadb57e9",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "ffd68c5733d35ebc": {
    "vx_ego": [
      6.833186176053934,
      6.713077678745073,
      6.582871339147957,
      6.394896652226925,
      6.106358088630458,
      5.741934593627439,
      5.320379684554728,
      4.828523430474311,
      4.268312875901221,
      3.6742011171834257
    ],
    "vy_ego": [
      0.06477317560175821,
      0.04070567758340227,
      0.009573356087120288,
      -0.008584433479939424,
      0.004087585271938199,
      0.009579624000856768,
      0.0017054556726279202,
      0.008016014073676025,
      0.015169543105525651,
      0.0306453970583076
    ],
    "v_ego": [
      6.83349316827727,
      6.713201089871572,
      6.582878300327478,
      6.394902414045214,
      6.10635945674147,
      5.741942584760971,
      5.320379957897906,
      4.828530084313552,
      4.2683398320216,
      3.6743289169415405
    ],
    "ax_ego": [
      -0.2463655605630083,
      -0.23922635611209828,
      -0.2848770488128062,
      -0.4669968323364324,
      -0.687212558581094,
      -0.7713924148470026,
      -0.9150207679501622,
      -1.0525665400553215,
      -1.1885758477572534,
      -1.1882734257449012
    ],
    "ay_ego": [
      0.2848124347548498,
      0.29083476873734215,
      0.2152582170410295,
      0.22175569711723472,
      0.19622884638979904,
      0.0823455509205705,
      0.08407311594852551,
      0.07269982353292787,
      0.06418378583274542,
      0.0695583918013396
    ],
    "a_ego": [
      0.3765821456502032,
      0.37658214530853124,
      0.357058864816401,
      0.5169735298989812,
      0.7146795511465575,
      0.7757751268504955,
      0.9188750157694999,
      1.0550742085681697,
      1.1903075670748706,
      1.1903075670605108
    ],
    "yaw": [
      -0.8757208373499463,
      -0.850918009988692,
      -0.8272246293657612,
      -0.8076585863804854,
      -0.7930328738462764,
      -0.782223351331238,
      -0.7733068761594155,
      -0.7668487346421854,
      -0.7609199705131017,
      -0.7563975156447695
    ],
    "yaw_diff": [
      0.04960565472250855,
      0.04738676124586161,
      0.03913208597055173,
      0.029251425068417936,
      0.021619045030076833,
      0.01783295034364496,
      0.01291628303446024,
      0.011857528258167438,
      0.009044909736664275,
      0.009044909736664275
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.646435580519858,
    "v_std": 1.0377142068540695,
    "vy_max": 0.06477317560175821,
    "a_max": 1.1903075670748706,
    "ax_avg": -0.704050735276008,
    "a_std": 0.3160302367206743,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ffd68c5733d35ebc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ffd68c5733d35ebc",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ec8a3deaeb1a53ac": {
    "vx_ego": [
      -0.17207448089206154,
      0.4640767237057816,
      1.1910243529523907,
      2.0130453805576423,
      2.843580134536463,
      3.6779789214806833,
      4.464613105619396,
      5.085619202647493,
      5.686611914159958,
      6.386497242325946
    ],
    "vy_ego": [
      -0.006777353862957722,
      0.0011836247679946966,
      0.003952698649242196,
      -0.0003074736455892361,
      -0.003926628912014111,
      0.0004341195753042816,
      0.007809801191764691,
      0.0056357946630159195,
      0.026180519400327673,
      0.06730113549240369
    ],
    "v_ego": [
      0.1722078961594276,
      0.46407823311709395,
      1.1910309119213793,
      2.013045404039488,
      2.843582845627154,
      3.677978947100706,
      4.464619936328637,
      5.085622325391299,
      5.686672179918766,
      6.38685184336348
    ],
    "ax_ego": [
      1.2723030083218427,
      1.2722987829336911,
      1.6355138709693964,
      1.6525870773798752,
      1.6695432668417947,
      1.66804971949054,
      1.478497106247583,
      1.0054013194400915,
      1.3984510665471386,
      1.3996910141738972
    ],
    "ay_ego": [
      0.015674493613176,
      0.01601372074186585,
      -0.008042675909489838,
      -0.017837713595474022,
      -0.0017351988677632075,
      0.017475926551361223,
      0.05768785282274072,
      0.07764721941008264,
      0.1752928355130601,
      0.16510003328656517
    ],
    "a_ego": [
      1.2723995578177638,
      1.2723995568635467,
      1.6355336458688596,
      1.6526833430361885,
      1.6695441685597545,
      1.6681412634130532,
      1.4796221076835039,
      1.0083952121137796,
      1.409394537987514,
      1.4093945353059867
    ],
    "yaw": [
      -3.138112684657786,
      -3.13837930655602,
      -3.139371850585044,
      -3.140753141982546,
      -3.1412782758578537,
      -3.1414087801232133,
      -3.138621165953401,
      -3.131172734065797,
      -3.1231738240516087,
      -3.115888453602861
    ],
    "yaw_diff": [
      -0.0005332437964682413,
      -0.001985088058047424,
      -0.002762582795003965,
      -0.0010502677506156743,
      -0.00026100853071930885,
      0.005575228339624871,
      0.014896863775208047,
      0.015997820028376353,
      0.014570740897495327,
      0.014570740897495327
    ],
    "min_front_frame": [
      1,
      16.4287709201504
    ],
    "v_avg": 3.198569052296743,
    "v_std": 2.0963655662432727,
    "vy_max": 0.06730113549240369,
    "a_max": 1.6695441685597545,
    "ax_avg": 1.445233623234585,
    "a_std": 0.2082094220826458,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ec8a3deaeb1a53ac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      29.566038745685713,
      16.4287709201504,
      18.722957038929714,
      20.691863247557812,
      22.31430716123147,
      23.547747811671986,
      24.427355403833364,
      24.923315322903942,
      25.139605132567137,
      25.001379702230953
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ec8a3deaeb1a53ac",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "eff5b15eb0935b33": {
    "vx_ego": [
      0.8938447143070397,
      0.7953681361808527,
      0.6993709866871903,
      0.5827823651712059,
      0.45585242116830854,
      0.37816250310113486,
      0.3334808800568202,
      0.24526805386293254,
      0.10146089869865352,
      -0.05794318805029466
    ],
    "vy_ego": [
      -0.014829714373470871,
      -0.03657195649049425,
      -0.04191267155091749,
      -0.018337918512270172,
      -0.011091218970934253,
      -0.010182782406350878,
      0.008037240278917918,
      0.008974810926241611,
      0.010300947569884505,
      0.02310145108594544
    ],
    "v_ego": [
      0.8939677252132944,
      0.7962085028768193,
      0.7006257553475673,
      0.5830708056573467,
      0.4559873298933537,
      0.3782995741594893,
      0.3335777189723144,
      0.24543220138537683,
      0.10198246655958043,
      0.062378602771368155
    ],
    "ax_ego": [
      -0.1969268674074519,
      -0.19694232197558784,
      -0.1870389304855966,
      -0.27927576971381984,
      -0.2284439702032247,
      -0.08227353320439826,
      -0.09645189894384562,
      -0.25642035492063886,
      -0.3188142485927351,
      -0.31881088259815216
    ],
    "ay_ego": [
      -0.042910604969279204,
      -0.042839560498109386,
      0.021592301034414646,
      0.07341577928266164,
      -0.04408135650852494,
      0.0484719737316077,
      0.02421781361081342,
      -0.020005336210526505,
      0.025585765351190615,
      0.02562769652670944
    ],
    "a_ego": [
      0.20154778868978362,
      0.2015477762933823,
      0.18828114345615343,
      0.2887643194664587,
      0.23265814731885814,
      0.09549066186477549,
      0.09944582095775523,
      0.25719955655973165,
      0.3198392666549192,
      0.31983926852761196
    ],
    "yaw": [
      -1.5865088861213292,
      -1.5861481254267855,
      -1.5861093909069321,
      -1.5858377603812799,
      -1.585668339150887,
      -1.5851937935724267,
      -1.5853268354893797,
      -1.584953336928229,
      -1.5845726245026701,
      -1.584441102043713
    ],
    "yaw_diff": [
      0.0007215213890874317,
      7.746903970673458e-05,
      0.0005432610513045333,
      0.00033884246078574876,
      0.0009490911569205451,
      -0.00026608383390591683,
      0.0007469971223015293,
      0.0007614248511176314,
      0.00026304491791417917,
      0.00026304491791417917
    ],
    "min_front_frame": [
      8,
      9.651451353680372
    ],
    "v_avg": 0.45515306828365104,
    "v_std": 0.27003124227316094,
    "vy_max": 0.04191267155091749,
    "a_max": 0.31983926852761196,
    "ax_avg": -0.21613987780454505,
    "a_std": 0.07611119317216544,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "eff5b15eb0935b33",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.74452899655245,
    "right_rear_min": 13.55015555012885,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.79928465003949,
      11.368130186480759,
      10.965711679958467,
      10.617653477864474,
      10.365055375062507,
      10.113262747400727,
      9.912647255465135,
      9.748887663349945,
      9.651451353680372,
      9.668726312314863
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "eff5b15eb0935b33",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1661876892b952e5": {
    "vx_ego": [
      8.14367320107903,
      7.98586038161103,
      7.747926699646715,
      7.272809821286943,
      6.567002187902604,
      5.776112407476521,
      4.9199640064857295,
      4.071674964526977,
      3.392586761262363,
      2.82109470473004
    ],
    "vy_ego": [
      -0.028987374981380043,
      -0.03462064711087276,
      -0.02339373794270072,
      -0.01062813047414668,
      -0.012809696049937536,
      -0.015411965940925754,
      -0.011275120495490842,
      0.011121850866525174,
      0.022923877903689993,
      0.018071777495701546
    ],
    "v_ego": [
      8.143724791143246,
      7.985935425721337,
      7.747962016561089,
      7.272817586999222,
      6.567014681286351,
      5.776132968734219,
      4.9199769261102535,
      4.071690154263025,
      3.3926642092713495,
      2.821152587542497
    ],
    "ax_ego": [
      -0.31560352747338344,
      -0.31560548241838726,
      -0.6360679274595124,
      -1.2643718072593702,
      -1.5588310517600446,
      -1.604724905474447,
      -1.8199186477568594,
      -1.5732735398197502,
      -1.1430123158865715,
      -1.1430160886119418
    ],
    "ay_ego": [
      -0.005963475428307469,
      -0.005858699655896721,
      0.0636281060835513,
      0.008312636816097285,
      0.0008163048719675992,
      -0.009698369891674719,
      0.009142233305781344,
      0.04202863850391847,
      -0.005542153860380761,
      -0.004698997202054855
    ],
    "a_ego": [
      0.31565986376609034,
      0.3156598563235448,
      0.6392424768633723,
      1.2643991327595738,
      1.558831265495073,
      1.604754211905527,
      1.8199416102949493,
      1.573834819017377,
      1.1430257520011504,
      1.1430257474792278
    ],
    "yaw": [
      -0.5170144848189295,
      -0.5166824561386416,
      -0.5162757955512746,
      -0.5155880048092165,
      -0.514946350914754,
      -0.514884551185095,
      -0.5156800723179753,
      -0.5178310844298522,
      -0.5185597815901721,
      -0.517822116170739
    ],
    "yaw_diff": [
      0.0006640573605758426,
      0.000813321174734094,
      0.0013755814841160952,
      0.0012833077889249367,
      0.00012359945931805782,
      -0.0015910422657605672,
      -0.004302024223753698,
      -0.0014573943206399598,
      0.0014753308388661956,
      0.0014753308388661956
    ],
    "min_front_frame": [
      9,
      13.861309329512215
    ],
    "v_avg": 5.869907134763259,
    "v_std": 1.8763105120326355,
    "vy_max": 0.03462064711087276,
    "a_max": 1.8199416102949493,
    "ax_avg": -1.1374425293920267,
    "a_std": 0.516452076097352,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1661876892b952e5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.521109761412127,
    "right_rear_min": 19.031847383281782,
    "speed_mode": "decelerating",
    "front_frame": [
      23.451928473379663,
      22.807360399784997,
      21.781830425655716,
      20.412264683728914,
      19.02452376469672,
      17.67169988772592,
      16.451220335001455,
      15.449386488167676,
      14.61010394435605,
      13.861309329512215
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1661876892b952e5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d753a5379cc15b69": {
    "vx_ego": [
      9.936475388762648,
      9.69164646572141,
      9.420893271424172,
      9.10100720461845,
      8.745990952066151,
      8.368038585967142,
      8.009204625389996,
      7.650923417248513,
      7.232346233361751,
      6.781830802840826
    ],
    "vy_ego": [
      -0.029630655759389724,
      -0.007190567672688997,
      -0.015275312674113861,
      -0.0359336684931123,
      -0.04015584178528203,
      -0.02210845954552032,
      -0.019253511266230067,
      -0.029224302930484003,
      -0.023609417421289136,
      0.008281278940511505
    ],
    "v_ego": [
      9.936519568100621,
      9.691649133186456,
      9.420905655336037,
      9.101078143112952,
      8.746083136196024,
      8.368067791325453,
      8.009227767335911,
      7.650979231215011,
      7.232384768789122,
      6.781835858964852
    ],
    "ax_ego": [
      -0.4896554845654518,
      -0.48964636710047627,
      -0.5928532460726407,
      -0.6837655868518302,
      -0.7335102499644608,
      -0.7758343400480002,
      -0.6593892268637165,
      -0.7724766001083432,
      -0.9011890231717824,
      -0.9007510574654398
    ],
    "ay_ego": [
      0.04851570470565988,
      0.04860754182954217,
      0.13808903735847772,
      0.3284202962227432,
      0.3224501487826288,
      0.3531847928292255,
      0.20125585935771886,
      0.1904170664825204,
      0.11478290323951937,
      0.11817071463838093
    ],
    "a_ego": [
      0.4920531141737792,
      0.4920531047939898,
      0.6087228873777115,
      0.7585481321141475,
      0.8012561296195275,
      0.8524426204053496,
      0.6894186488845103,
      0.7955996209920878,
      0.9084694658387833,
      0.9084694740734296
    ],
    "yaw": [
      -1.6452009356072606,
      -1.6450133757209437,
      -1.6392909633509725,
      -1.624485254886094,
      -1.6057909423490422,
      -1.588172153206638,
      -1.5715644948272143,
      -1.5578107246839725,
      -1.5483326882622181,
      -1.544572512711639
    ],
    "yaw_diff": [
      0.0003751197726336031,
      0.011444824739942572,
      0.029611416929756995,
      0.037388625074103565,
      0.035237578284808446,
      0.03321531675884737,
      0.0275075402864835,
      0.018956072843508753,
      0.00752035110115834,
      0.00752035110115834
    ],
    "min_front_frame": [
      8,
      63.40238420084634
    ],
    "v_avg": 8.493873105356244,
    "v_std": 1.014455319650072,
    "vy_max": 0.04015584178528203,
    "a_max": 0.9084694740734296,
    "ax_avg": -0.6999071182212142,
    "a_std": 0.14781005505836275,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d753a5379cc15b69",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.043095738660087,
    "right_rear_min": 29.695010984708063,
    "speed_mode": "decelerating",
    "front_frame": [
      71.92253450081387,
      73.57765368144932,
      75.39245591535015,
      77.15494154683071,
      78.93584716273818,
      -1,
      -1,
      -1,
      63.40238420084634,
      64.43006977043417
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d753a5379cc15b69",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "082988f40658562c": {
    "vx_ego": [
      0.39702753971880556,
      0.9443052141433494,
      1.3389340722944365,
      1.543700284819408,
      1.6838157662970685,
      1.728258339555204,
      1.568154374632004,
      1.2280717703443473,
      0.895255368524426,
      0.6086460697863528
    ],
    "vy_ego": [
      -0.03740037628245535,
      -0.0575370273067454,
      -0.016597370623867028,
      0.01669769104234642,
      0.03490840303341383,
      0.04849954211298607,
      0.045764370645255015,
      0.00937613744739274,
      -0.03718005958906806,
      -0.0763817135563116
    ],
    "v_ego": [
      0.3987852247027678,
      0.9460564713428127,
      1.339036938498184,
      1.5437905888551293,
      1.68417758310486,
      1.728938718933462,
      1.5688220167686477,
      1.2281075625001794,
      0.8960270820141836,
      0.6134200880572566
    ],
    "ax_ego": [
      1.0878549014713694,
      1.0920722377599161,
      0.47696629015592634,
      0.3447324896074434,
      0.22004686522475156,
      -0.03453574363303212,
      -0.5987845330285593,
      -0.7575330038655578,
      -0.5759159592749892,
      -0.5742046450451134
    ],
    "ay_ego": [
      -0.12142920880202546,
      -0.0745089040570206,
      -0.04554512855332051,
      -0.14117159636961926,
      -0.10898112258475641,
      -0.13548569064562202,
      -0.13472773683495465,
      -0.1812570441802845,
      -0.09854546303959515,
      -0.10807135934261805
    ],
    "a_ego": [
      1.0946110448033899,
      1.0946110493091732,
      0.47913588957627234,
      0.37251833379377824,
      0.24555550894873787,
      0.13981806019970278,
      0.6137544134805863,
      0.7789161495376437,
      0.5842862315965688,
      0.5842862253224407
    ],
    "yaw": [
      1.6172268957861085,
      1.5741859520705943,
      1.5159728474866263,
      1.4611288009146368,
      1.411579789887469,
      1.3685979930896566,
      1.3308897880590065,
      1.3008432019368446,
      1.2783270237172166,
      1.2617623606259172
    ],
    "yaw_diff": [
      -0.08608188743102829,
      -0.116426209167936,
      -0.10968809314397898,
      -0.09909802205433582,
      -0.08596359359562467,
      -0.07541641006130018,
      -0.06009317224432387,
      -0.04503235643925585,
      -0.033129326182598895,
      -0.033129326182598895
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.1947162274777485,
    "v_std": 0.43945145716994627,
    "vy_max": 0.0763817135563116,
    "a_max": 1.0946110493091732,
    "ax_avg": 0.06806988993721551,
    "a_std": 0.30425530517850746,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "082988f40658562c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "082988f40658562c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "35d07990fee95985": {
    "vx_ego": [
      1.5706907821242084,
      0.8508403682799566,
      0.24589444290659007,
      -0.05732581270632199,
      -0.0884743170148197,
      -0.04775446295150441,
      -0.027265163022689193,
      -0.016820088538878158,
      -0.011565498895913311,
      -0.008311325925964001
    ],
    "vy_ego": [
      -0.008139788339364795,
      -0.01635223091847876,
      0.002529829638692166,
      0.02787338691090181,
      0.022049861026522573,
      0.010252394019212071,
      0.005277249735035572,
      0.003366485554709403,
      0.0023608647675107492,
      0.0018572632707554537
    ],
    "v_ego": [
      1.570711873388677,
      0.8509974898616232,
      0.24590745635369232,
      0.06374303491617841,
      0.09118059630495828,
      0.04884260757690751,
      0.027771180735066903,
      0.017153676091315455,
      0.011804001319969665,
      0.008516311731289467
    ],
    "ax_ego": [
      -1.4397248692480433,
      -1.4397117534100596,
      -0.980135631098068,
      -0.23277651761650542,
      0.10819774776009367,
      0.054683066725147986,
      0.027272291874195432,
      0.014509357254651006,
      0.0065085015470352624,
      0.0065085429328831
    ],
    "ay_ego": [
      -0.017652803006929063,
      -0.018691703879040955,
      0.09271950509793409,
      0.008655759408824237,
      -0.0318912575212156,
      -0.01529254979056843,
      -0.0046178329037127545,
      -0.0030185807583004588,
      -0.0010065003488143403,
      -0.001006223451189166
    ],
    "a_ego": [
      1.4398330877519439,
      1.439833085014013,
      0.9845114331350419,
      0.23293739357306012,
      0.11279984453287754,
      0.05678115766311921,
      0.02766048236741215,
      0.014820029613245567,
      0.006585866331768646,
      0.0065858649198799685
    ],
    "yaw": [
      -0.6393918049161528,
      -0.6401134003986092,
      -0.6408774919164082,
      -0.6405747544745595,
      -0.640701612797339,
      -0.640726326149255,
      -0.6406544863395656,
      -0.6407358819104491,
      -0.6406869793080443,
      -0.6407291817325758
    ],
    "yaw_diff": [
      -0.001443190964912855,
      -0.0015281830355979853,
      0.0006054748836974433,
      -0.00025371664555895457,
      -4.9426703832011754e-05,
      0.00014367961937877816,
      -0.0001627911417669825,
      9.780520480950905e-05,
      -8.440484906291346e-05,
      -8.440484906291346e-05
    ],
    "min_front_frame": [
      2,
      9.075604029723468
    ],
    "v_avg": 0.29366282282796774,
    "v_std": 0.49045534801709384,
    "vy_max": 0.02787338691090181,
    "a_max": 1.4398330877519439,
    "ax_avg": -0.387466926327867,
    "a_std": 0.5760652026611451,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "35d07990fee95985",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.967471171348617,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      9.926962764953046,
      9.335603371786279,
      9.075604029723468,
      9.078776260442373,
      9.111619258534262,
      9.121962828830814,
      9.09190228351442,
      9.104900928555647,
      9.085560770205396,
      9.094770135875896
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "35d07990fee95985",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f1940c1eca9857cb": {
    "vx_ego": [
      0.9438382435767103,
      1.4034471174619523,
      1.9033005871407929,
      2.4601509893295255,
      3.0130790734494015,
      3.5318878350691323,
      3.9870059597173704,
      4.405493426021705,
      4.890202899039492,
      5.427403922456839
    ],
    "vy_ego": [
      -0.004332571616340335,
      -0.007317186048606445,
      -0.017684518129510725,
      -0.02400177557782563,
      -0.022024298193364156,
      -0.006104693603205633,
      0.024595333481383694,
      0.039189335634008574,
      0.01571811492739751,
      -0.02583395300398582
    ],
    "v_ego": [
      0.9438481875888624,
      1.4034661922269211,
      1.903382743221121,
      2.460268069851318,
      3.0131595663969764,
      3.531893110895814,
      3.9870818217401673,
      4.405667728137007,
      4.890228159596557,
      5.427465405751352
    ],
    "ax_ego": [
      0.9192252045599413,
      0.9192226817398377,
      1.0802527190642262,
      1.147261559412338,
      1.064580850621601,
      1.0108235240609118,
      0.8096003192656509,
      0.8643598161997061,
      1.0744166777768307,
      1.0743932776024474
    ],
    "ay_ego": [
      -0.004462832712164249,
      -0.004956159961336193,
      -0.026297531711210097,
      0.010644531595779706,
      0.012624355805024228,
      0.0762675506621408,
      0.06352959719710718,
      -0.006211490335749007,
      -0.0799333319157887,
      -0.08024717716214957
    ],
    "a_ego": [
      0.919236038008782,
      0.9192360426715988,
      1.0805727635008,
      1.1473109394397507,
      1.0646557010929418,
      1.0136966686730913,
      0.8120890878931144,
      0.8643821345174719,
      1.077385973101637,
      1.077385968165459
    ],
    "yaw": [
      -1.5537135407260028,
      -1.553176863616173,
      -1.551613160991559,
      -1.5505070305245798,
      -1.5491092093760759,
      -1.5471869829170917,
      -1.54606420628115,
      -1.54612733566341,
      -1.5457086452452926,
      -1.545416535131602
    ],
    "yaw_diff": [
      0.0010733542196597057,
      0.0031274052492276105,
      0.002212260933958543,
      0.0027956422970079053,
      0.0038444529179684217,
      0.0022455532718832494,
      -0.00012625876451988205,
      0.0008373808362347468,
      0.0005842202273811381,
      0.0005842202273811381
    ],
    "min_front_frame": [
      0,
      12.227749021232068
    ],
    "v_avg": 3.1966460985406093,
    "v_std": 1.4346682574871492,
    "vy_max": 0.039189335634008574,
    "a_max": 1.1473109394397507,
    "ax_avg": 0.996413663030349,
    "a_std": 0.10546475012381139,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f1940c1eca9857cb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.439967545538832,
    "right_rear_min": 3.410955063314513,
    "speed_mode": "accelerating",
    "front_frame": [
      12.227749021232068,
      12.583838811005952,
      12.913320458986767,
      13.3749242178558,
      13.99890195747912,
      14.378233296620813,
      14.609492428031437,
      14.931512398235117,
      15.243332336207589,
      15.449256845867195
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f1940c1eca9857cb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "debd166df3a85845": {
    "vx_ego": [
      5.535824012093006,
      6.02494310531245,
      6.523190358290737,
      6.998478914115416,
      7.24999754856029,
      7.238487425537832,
      7.2007046701750905,
      7.2466651336747745,
      7.220776581375581,
      7.085240008502129
    ],
    "vy_ego": [
      -0.009472888334571827,
      -0.0050121194423127235,
      -0.002146578747272976,
      -0.017027488419163905,
      -0.04313167543863328,
      -0.07711332407212046,
      -0.060611980806129395,
      -0.006126650676244516,
      0.034461299986697114,
      0.10408641336212376
    ],
    "v_ego": [
      5.535832117078597,
      6.02494519009039,
      6.523190711476827,
      6.998499628254613,
      7.250125846877167,
      7.238898167153532,
      7.200959766537972,
      7.246667723544811,
      7.220858814527452,
      7.086004513089576
    ],
    "ax_ego": [
      0.9780512885014989,
      0.978274769240034,
      1.014646816808739,
      0.8865441820487343,
      0.11980229140282861,
      -0.1652589508265398,
      0.015167533880214926,
      0.16898955538040333,
      -0.2725840170299031,
      -0.2712263151092266
    ],
    "ay_ego": [
      -0.04891135048159323,
      -0.04421665817404724,
      -0.03594493911139279,
      -0.00504349177629787,
      -0.027409627675673398,
      -0.0364666412722506,
      0.18043120681721808,
      0.12386824314427894,
      0.2245964448907516,
      0.2262341754843122
    ],
    "a_ego": [
      0.979273528257236,
      0.9792735251152879,
      1.0152833109570099,
      0.8865585279798266,
      0.12289783039048047,
      0.16923456134598425,
      0.1810675964316233,
      0.20952520489744572,
      0.35319344472643166,
      0.3531934543062712
    ],
    "yaw": [
      2.5420651943350725,
      2.537265710840785,
      2.533612174901686,
      2.534295943768657,
      2.536787729525459,
      2.539262025987204,
      2.5419700526054734,
      2.544966741125495,
      2.55135013904404,
      2.5573732605653485
    ],
    "yaw_diff": [
      -0.009598966988574986,
      -0.0073070718781975685,
      0.001367537733941937,
      0.004983571513603735,
      0.004948592923489592,
      0.005416053236539042,
      0.00599337704004288,
      0.012766795837090505,
      0.012046243042616922,
      0.012046243042616922
    ],
    "min_front_frame": [
      9,
      27.974359169961513
    ],
    "v_avg": 6.8325982478630936,
    "v_std": 0.5760794922262079,
    "vy_max": 0.10408641336212376,
    "a_max": 1.0152833109570099,
    "ax_avg": 0.3452407154296783,
    "a_std": 0.3672785280471847,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "debd166df3a85845",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      58.674575217305815,
      55.758870398864325,
      52.66790315690849,
      49.32664229481097,
      45.817906855344056,
      42.216569431174534,
      38.71286194654753,
      35.14344821403159,
      31.487606197275436,
      27.974359169961513
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "debd166df3a85845",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "e16f6f634adf50d3": {
    "vx_ego": [
      8.409375558856922,
      8.097467923114163,
      7.598408347711797,
      6.798244035700053,
      5.779262711958927,
      4.50370012764508,
      3.1559371326032175,
      2.182524278438896,
      1.6094253934573717,
      1.1403779865526702
    ],
    "vy_ego": [
      0.006444785871868697,
      0.08024280162474978,
      0.05096917673406259,
      0.013567477169826425,
      0.0041526221886849235,
      0.010834226238953804,
      0.01624238694564825,
      0.01015442285556907,
      -0.019841823090785943,
      -0.06300335625514507
    ],
    "v_ego": [
      8.409378028437365,
      8.09786550104874,
      7.59857929323326,
      6.798257574214741,
      5.779264203867988,
      4.503713159184153,
      3.1559789289660207,
      2.182547900569138,
      1.6095476989045654,
      1.1421170584109734
    ],
    "ax_ego": [
      -0.6240065159852229,
      -0.6198559142435444,
      -1.3749215306280904,
      -1.8255739138141152,
      -2.2503372317431083,
      -2.8518504300138305,
      -2.5391186744482646,
      -1.3543959536883805,
      -0.9379994865155856,
      -0.9380636505761988
    ],
    "ay_ego": [
      -0.19163520120790578,
      -0.20466271277074127,
      -0.12223389837223053,
      -0.07244217438784864,
      -0.0157603996956351,
      -0.007812074515032408,
      0.003526904055911703,
      -0.045699107900819165,
      -0.08458558249322795,
      -0.08387100569536295
    ],
    "a_ego": [
      0.6527696242427422,
      0.6527696227777294,
      1.38034428361042,
      1.8270106686685292,
      2.250392420616414,
      2.851861129802484,
      2.5391211239293274,
      1.355166708501352,
      0.9418055836897661,
      0.9418055840398784
    ],
    "yaw": [
      -3.0702351523564504,
      -3.0911812577620985,
      -3.0977851634590468,
      -3.099338278863438,
      -3.1013307244586965,
      -3.1037412122743353,
      -3.105450503222092,
      -3.107217596257943,
      -3.108614035510409,
      -3.1078522478208797
    ],
    "yaw_diff": [
      -0.04189221081129624,
      -0.013207811393896485,
      -0.003106230808782584,
      -0.003984891190516926,
      -0.004820975631277591,
      -0.0034185818955130287,
      -0.0035341860717021945,
      -0.0027928785049322613,
      0.0015235753790587836,
      0.0015235753790587836
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.9277249346836935,
    "v_std": 2.6405523658311454,
    "vy_max": 0.08024280162474978,
    "a_max": 2.851861129802484,
    "ax_avg": -1.5316123301656341,
    "a_std": 0.7520593207283303,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e16f6f634adf50d3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e16f6f634adf50d3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8ec53979117552c7": {
    "vx_ego": [
      7.573838821139443,
      7.471338034844253,
      7.3979788804708875,
      7.350532126448234,
      7.29190717140705,
      7.219394536597413,
      7.1505425518990275,
      7.124437436843488,
      7.0947079931975985,
      7.027535401629756
    ],
    "vy_ego": [
      -0.05725810963305289,
      -0.004183964769830517,
      0.013702777628662233,
      -0.015138746600679376,
      -0.049262887464943006,
      -0.0340890023303424,
      0.004663785512319052,
      -0.017109549056358198,
      -0.059530132505638544,
      -0.08258993015541227
    ],
    "v_ego": [
      7.574055253278633,
      7.471339206358628,
      7.3979915708256945,
      7.350547715891398,
      7.292073575362425,
      7.219475017972737,
      7.1505440728250855,
      7.12445798136012,
      7.0949577409184075,
      7.028020697018654
    ],
    "ax_ego": [
      -0.20715823734369276,
      -0.20065564348977943,
      -0.09384398732397319,
      -0.09530473896692279,
      -0.13243310301638586,
      -0.14941382309712703,
      -0.12514259612566356,
      0.015975503532316943,
      -0.1335278289337778,
      -0.13314609666440444
    ],
    "ay_ego": [
      0.3685202896705079,
      0.372100861673522,
      0.3061527292284396,
      0.34926330169080233,
      0.49551677976800435,
      0.6155756006794018,
      0.546457942444689,
      0.1528991477755818,
      0.053426709092805356,
      0.05437105290173816
    ],
    "a_ego": [
      0.4227549398861955,
      0.42275493908702594,
      0.32021272237511783,
      0.3620329365921196,
      0.5129087694767965,
      0.6334491381984081,
      0.5606040957984111,
      0.1537314740175553,
      0.143819659102139,
      0.1438196594718905
    ],
    "yaw": [
      -2.5291362176871193,
      -2.5115768332626978,
      -2.4911395469463096,
      -2.465010834972983,
      -2.4315272279124347,
      -2.395349387711297,
      -2.3602989679994266,
      -2.332686011531614,
      -2.319498967669193,
      -2.3124166131879607
    ],
    "yaw_diff": [
      0.03511876884884302,
      0.040874572632776385,
      0.05225742394665289,
      0.06696721412109685,
      0.0723556804022758,
      0.07010083942374035,
      0.055225912935624955,
      0.026374087724842177,
      0.0141647089624648,
      0.0141647089624648
    ],
    "min_front_frame": [
      1,
      18.918190220886256
    ],
    "v_avg": 7.270346283181178,
    "v_std": 0.16838694738062135,
    "vy_max": 0.08258993015541227,
    "a_max": 0.6334491381984081,
    "ax_avg": -0.12546505514294098,
    "a_std": 0.16831419789867438,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "8ec53979117552c7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.7354867563523175,
    "speed_mode": "quasi_constant",
    "front_frame": [
      22.607604522709504,
      18.918190220886256,
      28.90569796994084,
      27.094056741768064,
      25.483255291276382,
      34.62149869174952,
      32.93035341899514,
      31.125606478980483,
      29.31630143334619,
      27.591930117837748
    ],
    "safe_frame": [
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8ec53979117552c7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e49e37e5fed25c9a": {
    "vx_ego": [
      9.285127355192865,
      9.02637167890807,
      8.735389235647602,
      8.477259867593782,
      8.32465689525647,
      8.26770039083614,
      8.332781966239367,
      8.489466875848393,
      8.644205414520162,
      8.771686577819443
    ],
    "vy_ego": [
      0.008412490144211304,
      0.024733520241534634,
      0.022070465637798797,
      0.00018813403692696795,
      0.009020022663171368,
      -0.004910175662349747,
      -0.004284937124924948,
      0.0007971716544874496,
      -0.015040097168533606,
      -0.07224412269937552
    ],
    "v_ego": [
      9.285131166124756,
      9.026405565496004,
      8.735417116756444,
      8.477259869681392,
      8.324661781991503,
      8.26770184890923,
      8.332783067953358,
      8.489466913276106,
      8.644218498681214,
      8.771984076180392
    ],
    "ax_ego": [
      -0.5183460548614967,
      -0.5171442174840684,
      -0.6477683402105442,
      -0.38479813233442023,
      -0.22560155088286832,
      -0.0027333284809447495,
      0.2630019914445231,
      0.3637350488422815,
      0.2552161551231501,
      0.25505702826156995
    ],
    "ay_ego": [
      0.1636846696466716,
      0.16744300107013685,
      0.05659389383184277,
      0.1335231233226175,
      0.17336838681315805,
      0.08139798556155027,
      -0.015887911502058052,
      -0.027072137550224112,
      -0.07933000904916739,
      -0.07984015509333267
    ],
    "a_ego": [
      0.5435764009482179,
      0.5435763978362042,
      0.6502358736629141,
      0.40730581521736825,
      0.28452180462479887,
      0.08144386495042515,
      0.2634814476119376,
      0.3647411224249813,
      0.267261175952634,
      0.26726117943118993
    ],
    "yaw": [
      -0.6469818520180055,
      -0.6397228406793452,
      -0.6331284051301846,
      -0.625032343262717,
      -0.616931860809709,
      -0.6075440742679438,
      -0.6056386391716903,
      -0.6075225530687507,
      -0.6087769540476835,
      -0.6067774658042295
    ],
    "yaw_diff": [
      0.014518022677320719,
      0.013188871098321009,
      0.016192123734935393,
      0.01620096490601597,
      0.018775573083530395,
      0.003810870192507032,
      -0.0037678277941208815,
      -0.002508801957865625,
      0.003998976486907946,
      0.003998976486907946
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.635502990505039,
    "v_std": 0.31199586190645184,
    "vy_max": 0.07224412269937552,
    "a_max": 0.6502358736629141,
    "ax_avg": -0.11593814005828178,
    "a_std": 0.16222398916307107,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e49e37e5fed25c9a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e49e37e5fed25c9a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2e6e8eebd05f5da2": {
    "vx_ego": [
      2.9908418517257056,
      3.4543272256497124,
      3.937803063547826,
      4.356966061400477,
      4.657185065993354,
      4.837738519111326,
      4.992071841929761,
      5.184920707893409,
      5.331301491733735,
      5.491305309593869
    ],
    "vy_ego": [
      -0.12474233803514434,
      0.04017382389361679,
      0.028605431435104592,
      0.0012137584069892293,
      -0.04559520256906735,
      -0.044733190912547904,
      -0.07195925223231381,
      -0.08277433367786191,
      -0.07209226919956002,
      0.015533058975283565
    ],
    "v_ego": [
      2.993442104489833,
      3.454560828526699,
      3.9379069615716205,
      4.356966230464158,
      4.657408255823064,
      4.837945332231717,
      4.992590450754982,
      5.185581388567506,
      5.331788901582723,
      5.491327278454176
    ],
    "ax_ego": [
      0.8881835016342202,
      0.9776235746879508,
      0.9588447061440156,
      0.7286446202154334,
      0.5274562166306931,
      0.2464885953932503,
      0.40732219846531725,
      0.39172165529786807,
      0.23350593103777306,
      0.4179551897199795
    ],
    "ay_ego": [
      0.9849347157441961,
      0.8962245681158509,
      1.2066527058983594,
      1.4565108854139428,
      1.8518069962375279,
      2.004240556260446,
      1.8939395731886044,
      1.593871852569642,
      1.5202338357116547,
      1.4801856019432527
    ],
    "a_ego": [
      1.3262602786984632,
      1.3262602799903536,
      1.5412313009902947,
      1.6286027575496123,
      1.925460779080327,
      2.0193406931516336,
      1.9372450749072643,
      1.6413023297500935,
      1.5380623963521076,
      1.5380624034199566
    ],
    "yaw": [
      -1.8390839780807235,
      -1.7440651587315732,
      -1.5990446287331892,
      -1.4334385015657114,
      -1.241215889046384,
      -1.040505434713034,
      -0.8365551127079605,
      -0.6635711553835564,
      -0.5183436847986733,
      -0.3955492288104222
    ],
    "yaw_diff": [
      0.1900376386983007,
      0.290041059996768,
      0.3312122543349556,
      0.38444522503865475,
      0.4014209086667,
      0.40790064401014714,
      0.34596791464880816,
      0.2904549411697661,
      0.24558891197650223,
      0.24558891197650223
    ],
    "min_front_frame": [
      9,
      17.49233786687718
    ],
    "v_avg": 4.523951773246648,
    "v_std": 0.7886434093646293,
    "vy_max": 0.12474233803514434,
    "a_max": 2.0193406931516336,
    "ax_avg": 0.57777461892265,
    "a_std": 0.23264325207482967,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "2e6e8eebd05f5da2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 30.436911716166545,
    "speed_mode": "accelerating",
    "front_frame": [
      30.1231171908626,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      17.49233786687718
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "2e6e8eebd05f5da2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "bcac47f590d854a7": {
    "vx_ego": [
      3.76725385297342,
      3.2830982272983786,
      2.7868108345588354,
      2.3447328223178974,
      2.043812257473196,
      1.7953392266341015,
      1.5465539908455133,
      1.3163328286399698,
      1.0823377279957276,
      0.8481743275298663
    ],
    "vy_ego": [
      0.030236527604129634,
      -0.010650884256603536,
      -0.05388808819173126,
      -0.05855428623182926,
      -0.019099816095895523,
      0.010312387079407986,
      0.020934992801530602,
      0.0109833793042543,
      -0.014158237238874468,
      -0.03326561602399912
    ],
    "v_ego": [
      3.7673751924044723,
      3.283115503820297,
      2.787331798272942,
      2.345463837387175,
      2.0439015012403554,
      1.795368843446496,
      1.5466956780581576,
      1.3163786500761265,
      1.0824303271456626,
      0.8488264198822968
    ],
    "ax_ego": [
      -0.9683061615293785,
      -0.968326066817692,
      -1.016840350878021,
      -0.7517262069176581,
      -0.4519709753223565,
      -0.5419146408840592,
      -0.45327279279885946,
      -0.46768689074237957,
      -0.46827394335811007,
      -0.4683033719841666
    ],
    "ay_ego": [
      -0.08014119173668735,
      -0.07990028033931415,
      -0.09473135279536049,
      0.06764321384154362,
      0.08940079097241432,
      0.024824184095360295,
      0.022514162735794936,
      -0.05819274463904031,
      -0.03685317382385393,
      -0.0364773049158152
    ],
    "a_ego": [
      0.9716169168292282,
      0.9716169134370409,
      1.0212435206042563,
      0.7547634692707528,
      0.4607279717581032,
      0.5424829196578443,
      0.4538315901470188,
      0.47129335164088515,
      0.4697218777628371,
      0.4697218772695839
    ],
    "yaw": [
      1.5907679831992887,
      1.5910167772185324,
      1.590878433703248,
      1.5900469519770526,
      1.589957249803009,
      1.5895139351226788,
      1.590244102432158,
      1.5909641238419885,
      1.5921148041178035,
      1.5929174477450612
    ],
    "yaw_diff": [
      0.0004975880384874287,
      -0.00027668703056882293,
      -0.0016629634523908088,
      -0.00017940434808716432,
      -0.0008866293606604181,
      0.0014603346189585587,
      0.001440042819660814,
      0.002301360551629994,
      0.001605287254515364,
      0.001605287254515364
    ],
    "min_front_frame": [
      9,
      12.170814257433845
    ],
    "v_avg": 2.081688775173398,
    "v_std": 0.9124837235261206,
    "vy_max": 0.05855428623182926,
    "a_max": 1.0212435206042563,
    "ax_avg": -0.6556621401232681,
    "a_std": 0.231887278318806,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bcac47f590d854a7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.04957431180238,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.503763876308447,
      19.750182108342067,
      18.24056903425551,
      16.918536345484465,
      15.819721566558227,
      14.82756248627015,
      13.957676289490282,
      13.259587574411695,
      12.663769991859562,
      12.170814257433845
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bcac47f590d854a7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "85cdfd35b2cb5692": {
    "vx_ego": [
      8.304610123408265,
      8.425294927605364,
      8.466753976552646,
      8.44406121093166,
      8.39215134587396,
      8.294446220325236,
      8.212154465445119,
      8.197314679876888,
      8.23443268084106,
      8.27253729545236
    ],
    "vy_ego": [
      -0.0548005791288797,
      -0.03436828908007339,
      -0.013669845523576196,
      0.013918803441863137,
      0.03420604156068263,
      0.026972011080490077,
      0.002124631101927843,
      -0.013377691504291356,
      -0.021157223977471773,
      -0.013632191292372031
    ],
    "v_ego": [
      8.304790930859602,
      8.425365024521309,
      8.466765011747206,
      8.444072682482659,
      8.392221056748529,
      8.29449007421489,
      8.21215474028513,
      8.197325595799834,
      8.234459861061303,
      8.272548527587473
    ],
    "ax_ego": [
      0.2414942702181777,
      0.24221094296819126,
      -0.07613439866899721,
      -0.014521287041884809,
      -0.19360320412869525,
      -0.19749872323002438,
      -0.1317019805454471,
      0.07229114890517321,
      0.07618970611392668,
      0.07618664557147213
    ],
    "ay_ego": [
      0.13247729356375287,
      0.13116240425734532,
      0.07321453828579363,
      0.1459067704282706,
      0.04802590853090295,
      -0.01614880129975811,
      -0.07021007787012258,
      -0.03284995592552481,
      0.005038725789826389,
      0.005084828182491917
    ],
    "a_ego": [
      0.2754445785601652,
      0.27544458096703894,
      0.10562582675222829,
      0.1466276012016867,
      0.1994710218029574,
      0.19815783976645696,
      0.14924766904083295,
      0.079404847549371,
      0.07635613973552867,
      0.07635614213066672
    ],
    "yaw": [
      1.007834261638501,
      1.0132709942166702,
      1.0168529425733421,
      1.0200717638913752,
      1.0234123166536664,
      1.0252344277429897,
      1.0256295316389794,
      1.024374807621941,
      1.024475438955131,
      1.0238703436508796
    ],
    "yaw_diff": [
      0.010873465156338469,
      0.007163896713343831,
      0.006437642636066165,
      0.0066811055245823425,
      0.0036442221786465723,
      0.0007902077919794692,
      -0.002509448034076822,
      0.00020126266637987555,
      -0.0012101906085026926,
      -0.0012101906085026926
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.324419350530794,
    "v_std": 0.09496673167009154,
    "vy_max": 0.0548005791288797,
    "a_max": 0.27544458096703894,
    "ax_avg": 0.009491312016189224,
    "a_std": 0.07305896675350068,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "85cdfd35b2cb5692",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.624217740856473,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "85cdfd35b2cb5692",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "828cf870f41a50ed": {
    "vx_ego": [
      8.415684680743055,
      8.688754374907136,
      8.998031210962985,
      9.309026226103237,
      9.50751051388768,
      9.589684844864934,
      9.718541482060086,
      9.85607683135759,
      9.913137550241531,
      9.949972887566608
    ],
    "vy_ego": [
      -0.13375859209755525,
      -0.15389552489831537,
      -0.05173848722176455,
      0.022767712766968984,
      0.02342293679743701,
      0.019243330824415317,
      0.0064259572778082585,
      0.017606882267461543,
      0.013303355307496822,
      0.027118386391124183
    ],
    "v_ego": [
      8.416747590765286,
      8.690117169523758,
      8.998179957331594,
      9.309054068326304,
      9.507539366505563,
      9.589704152350759,
      9.71854360650039,
      9.85609255780033,
      9.913146476738408,
      9.950009842718298
    ],
    "ax_ego": [
      0.5362820380677144,
      0.5872130052833325,
      0.6592374671171997,
      0.5829797918928347,
      0.20833193225475213,
      0.11979821550103248,
      0.39549555019195975,
      0.1546647251954473,
      0.07304139250057132,
      0.07383947104888644
    ],
    "ay_ego": [
      0.9287514787406563,
      0.8974177648760955,
      0.6531373288717807,
      0.3553761139948357,
      0.12060211432717442,
      0.0265291495800861,
      0.04790727803975861,
      0.15349441498286598,
      0.14068441851857494,
      0.14026718928795548
    ],
    "a_ego": [
      1.072463395000975,
      1.0724634065034995,
      0.9279991424655873,
      0.6827573655065783,
      0.2407219640522723,
      0.12270048172144395,
      0.3983865428334894,
      0.21790298908164502,
      0.15851545865413905,
      0.15851546257549284
    ],
    "yaw": [
      -2.2949235650601647,
      -2.239159009200156,
      -2.206846998613136,
      -2.187463017832247,
      -2.174947254517522,
      -2.1706623386949584,
      -2.1673954373781736,
      -2.1634056445234813,
      -2.155538102711432,
      -2.1498568890347594
    ],
    "yaw_diff": [
      0.11152911172001723,
      0.06462402117404054,
      0.03876796156177775,
      0.02503152662944963,
      0.00856983164512748,
      0.006533802633569508,
      0.007979585709384729,
      0.015735083624098145,
      0.011362427353345694,
      0.011362427353345694
    ],
    "min_front_frame": [
      9,
      31.62922723421948
    ],
    "v_avg": 9.39491347885607,
    "v_std": 0.5062670916069995,
    "vy_max": 0.15389552489831537,
    "a_max": 1.0724634065034995,
    "ax_avg": 0.33908835890537314,
    "a_std": 0.3747592275328137,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "828cf870f41a50ed",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      73.84300532112113,
      69.6042920772226,
      65.22676441551599,
      60.64338882318158,
      55.90761201970457,
      51.14890484259437,
      46.36284741524709,
      41.47246363358257,
      36.547177095055204,
      31.62922723421948
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "828cf870f41a50ed",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e76cb8b17f8f51f3": {
    "vx_ego": [
      1.5247786280849596,
      2.20283648770372,
      2.8568700811940904,
      3.4777552375294496,
      4.032282332526918,
      4.428947135223609,
      4.689850100267085,
      4.822578147904309,
      4.825615595490482,
      4.7923239873596195
    ],
    "vy_ego": [
      0.030994338183268355,
      0.01619004103438826,
      0.008973814442265748,
      0.009548356903995359,
      0.010945123691099123,
      0.01319911070172708,
      0.0037817407176956586,
      -0.009122462506488738,
      -0.031329813836207254,
      -0.04732876821512377
    ],
    "v_ego": [
      1.525093608164453,
      2.202895982334971,
      2.8568841751403875,
      3.4777683452586494,
      4.032297187080999,
      4.428966803118842,
      4.689851625002442,
      4.822586775991319,
      4.825717297218722,
      4.792557690015131
    ],
    "ax_ego": [
      1.356112565928922,
      1.3561097376324442,
      1.260040897699442,
      1.2235137747005107,
      0.9945588073001751,
      0.5920558332439154,
      0.4515702365333085,
      0.07932369691525151,
      -0.06725613790502395,
      -0.06678233097301745
    ],
    "ay_ego": [
      -0.029182570520802642,
      -0.02931370349931217,
      -0.003944837666144285,
      0.0010798925102358803,
      0.02235477942770092,
      -0.0005676811533597559,
      -0.0418678910410748,
      -0.032762181763483285,
      -0.08518846741837428,
      -0.08556040850879365
    ],
    "a_ego": [
      1.3564265235878155,
      1.3564265235221487,
      1.2600470727791988,
      1.2235142512654789,
      0.9948100106762136,
      0.592056105398837,
      0.4535069997508037,
      0.08582312885351011,
      0.10853784163595209,
      0.10853784240706692
    ],
    "yaw": [
      2.5684664969421362,
      2.56856319506088,
      2.568131066262481,
      2.567724120749804,
      2.568903381759152,
      2.569649197613253,
      2.5693888660764914,
      2.568190943190199,
      2.566687497898908,
      2.5611377596898937
    ],
    "yaw_diff": [
      0.0001933962374875975,
      -0.0008642575967980903,
      -0.0008138910253538967,
      0.0023585220186959077,
      0.0014916317082018793,
      -0.0005206630735230533,
      -0.0023958457725852256,
      -0.003006890582581967,
      -0.011099476418028331,
      -0.011099476418028331
    ],
    "min_front_frame": [
      0,
      11.418891705419139
    ],
    "v_avg": 3.765461948932592,
    "v_std": 1.1415629573914692,
    "vy_max": 0.04732876821512377,
    "a_max": 1.3564265235878155,
    "ax_avg": 0.7179247081075928,
    "a_std": 0.5154199404439967,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e76cb8b17f8f51f3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.858985585675287,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      11.418891705419139,
      11.93411042444478,
      12.551801776509267,
      12.965007330103006,
      13.073574636019456,
      13.071385847094316,
      13.23983997367032,
      13.644366885208044,
      14.405535406598688,
      15.803654699106856
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e76cb8b17f8f51f3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "94817f3d96fe5072": {
    "vx_ego": [
      4.943461252332556,
      4.853033059559326,
      4.7768308422778745,
      4.713137149484634,
      4.657963815107484,
      4.596128105783517,
      4.518806706690202,
      4.428766116550739,
      4.340333183732953,
      4.258085535594019
    ],
    "vy_ego": [
      -0.03774070987401057,
      -0.010049634317800482,
      -0.009147448035549122,
      0.010214639836100492,
      -0.0034191988398644124,
      -0.026769306841377682,
      -0.014992939128423144,
      -0.00752141964806774,
      -0.00692537753400746,
      -0.009280704199868595
    ],
    "v_ego": [
      4.943605315404453,
      4.853043464912062,
      4.776839600776094,
      4.713148218411885,
      4.657965070046294,
      4.596206061586224,
      4.518831579142119,
      4.428772503398818,
      4.340338708749286,
      4.258095649454748
    ],
    "ax_ego": [
      -0.20447789787537574,
      -0.14990320865863171,
      -0.1487923337628359,
      -0.10413573665405462,
      -0.12752410809905143,
      -0.12215233116922777,
      -0.18266447869294278,
      -0.17584413484071104,
      -0.17616760013025742,
      -0.15080955534255702
    ],
    "ay_ego": [
      0.7525263483259012,
      0.7652686784712699,
      0.8358792686536513,
      0.8828098604019512,
      0.6510291686786877,
      0.4584749115137721,
      0.475454828197265,
      0.45137362833097094,
      0.45996170310026147,
      0.4688883316198013
    ],
    "a_ego": [
      0.7798122310173444,
      0.7798122352305824,
      0.8490190282623553,
      0.8889305379338676,
      0.6634013691702194,
      0.47446858325671876,
      0.5093364363878312,
      0.4844164655650587,
      0.49254420274179184,
      0.4925442005666299
    ],
    "yaw": [
      2.37495697164899,
      2.446839128360257,
      2.529741139663499,
      2.616261381775944,
      2.7009065073700307,
      2.7658861806514587,
      2.8144428017133594,
      2.8645639644466296,
      2.916378829669587,
      2.9709662188770256
    ],
    "yaw_diff": [
      0.14376431342253415,
      0.1658040226064843,
      0.17304048422488982,
      0.16929025118817354,
      0.12995934656285613,
      0.09711324212380124,
      0.10024232546654055,
      0.10362973044591506,
      0.10917477841487688,
      0.10917477841487688
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.608684617188198,
    "v_std": 0.21190097414383444,
    "vy_max": 0.03774070987401057,
    "a_max": 0.8889305379338676,
    "ax_avg": -0.15424713852256455,
    "a_std": 0.16045054782871668,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "94817f3d96fe5072",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 36.25751131375855,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "94817f3d96fe5072",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "690e07e19bf55c7c": {
    "vx_ego": [
      5.988093209597637,
      5.472990410931255,
      4.967132416188676,
      4.4845884927431365,
      4.015372949237542,
      3.6222258783317027,
      3.3029470670138528,
      2.960948490745022,
      2.6464333052445372,
      2.379281772301077
    ],
    "vy_ego": [
      -0.056930362492196185,
      -0.052132096669399,
      -0.06274590144682524,
      -0.0543804575045268,
      -0.030590276082398615,
      -0.031565878366305755,
      -0.03570430802043845,
      -0.03486582800170557,
      -0.03479070548834118,
      -0.030252716517068845
    ],
    "v_ego": [
      5.988363829378007,
      5.4732386932828545,
      4.967528710344887,
      4.484918191383491,
      4.015489470345974,
      3.6223634161045895,
      3.3031400401900357,
      2.9611537600751956,
      2.646661979228912,
      2.379474097119113
    ],
    "ax_ego": [
      -1.030358492771316,
      -1.0303501703306048,
      -0.9933569846021301,
      -0.9370569909945075,
      -0.9398937328202936,
      -0.6328675822133039,
      -0.6443962239559293,
      -0.7237627325635196,
      -0.5343648349401197,
      -0.5343689035242601
    ],
    "ay_ego": [
      -0.005378651886106034,
      -0.006788288071150728,
      -0.06422043356062768,
      0.08307553869797107,
      0.00037922137514923016,
      -0.02804534755715346,
      -0.0024793598074948353,
      -0.009182537427034454,
      0.004398084089232118,
      0.0038727696830996305
    ],
    "a_ego": [
      1.0303725314283616,
      1.0303725318326589,
      0.995430742414836,
      0.9407323474302552,
      0.9398938093230091,
      0.6334886882463763,
      0.6444009936939229,
      0.7238209806584855,
      0.5343829338257701,
      0.5343829370392905
    ],
    "yaw": [
      1.1387471021668218,
      1.1373789942355692,
      1.1360102933898348,
      1.135236442274922,
      1.1345479105603116,
      1.1329764117155354,
      1.131968121359853,
      1.1307733062365415,
      1.1303160303354973,
      1.1293329754298997
    ],
    "yaw_diff": [
      -0.0027362158625052757,
      -0.002737401691468744,
      -0.0015477022298258092,
      -0.0013770634292207262,
      -0.003142997689552285,
      -0.0020165807113650125,
      -0.0023896302466228647,
      -0.0009145518020883259,
      -0.0019661098111951603,
      -0.0019661098111951603
    ],
    "min_front_frame": [
      9,
      15.01203336869767
    ],
    "v_avg": 3.984233218745306,
    "v_std": 1.160089959291177,
    "vy_max": 0.06274590144682524,
    "a_max": 1.0303725318326589,
    "ax_avg": -0.8000776648715984,
    "a_std": 0.19558934435762743,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "690e07e19bf55c7c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      32.82362520598431,
      29.971213406423004,
      27.361016052052662,
      25.01390232113619,
      22.9215329460385,
      21.016680270452788,
      19.271384703872553,
      17.709521949247307,
      16.300622427127625,
      15.01203336869767
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "690e07e19bf55c7c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "14f724bc59705bb4": {
    "vx_ego": [
      8.788633740015717,
      8.843923088789147,
      8.890865409366269,
      8.934788955634994,
      8.953920903992156,
      8.93551173519794,
      8.949628766678725,
      8.952721329535086,
      8.914220839678775,
      8.882269181319383
    ],
    "vy_ego": [
      -0.022505650529243637,
      0.0018379537120686296,
      -0.011282290079520196,
      -0.018155186487445407,
      -0.0001028962740361461,
      0.028194215225287422,
      -0.00554196464883594,
      -0.07297894494112711,
      -0.09208428624549247,
      -0.07099580161915497
    ],
    "v_ego": [
      8.788662555841384,
      8.843923279771914,
      8.890872567838045,
      8.934807400975886,
      8.953920904583386,
      8.935556215683064,
      8.94963048258058,
      8.9530187719404,
      8.91469644431804,
      8.882552910805748
    ],
    "ax_ego": [
      0.09898809588395938,
      0.12358527706371222,
      0.06261562991993606,
      0.1145977840243982,
      -0.036868827388685646,
      -0.0389386185528114,
      0.09228545405322594,
      -0.07357661558497908,
      -0.06797356743973329,
      -0.04974446704991947
    ],
    "ay_ego": [
      0.6852493228083171,
      0.6812429501733687,
      0.5572062348786566,
      0.5360408803175793,
      0.5481221148783522,
      0.49310160364055006,
      0.3575681449049485,
      0.46137506937067296,
      0.5900716228317611,
      0.5918871628016441
    ],
    "a_ego": [
      0.6923621000141393,
      0.6923621002537829,
      0.5607133896189024,
      0.5481536987697411,
      0.5493606859356921,
      0.4946366419177652,
      0.3692852329576371,
      0.4672049582332502,
      0.593973842809422,
      0.5939738424303384
    ],
    "yaw": [
      1.6264832032303636,
      1.662479784227401,
      1.6988399443384279,
      1.730296401614274,
      1.758519488698905,
      1.7844553701320764,
      1.812058255527204,
      1.842392039521933,
      1.8739548787195786,
      1.9047980099823696
    ],
    "yaw_diff": [
      0.07199316199407502,
      0.07272032022205366,
      0.06291291455169201,
      0.05644617416926234,
      0.05187176286634276,
      0.055205770790255126,
      0.06066756798945816,
      0.06312567839529093,
      0.06168626252558207,
      0.06168626252558207
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.904764153433844,
    "v_std": 0.05155074046553853,
    "vy_max": 0.09208428624549247,
    "a_max": 0.6923621002537829,
    "ax_avg": 0.022497014492910288,
    "a_std": 0.09311989360511275,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "14f724bc59705bb4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 21.400196960221553,
    "right_rear_min": 4.411907226736045,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "14f724bc59705bb4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cab75d9e74eb52a1": {
    "vx_ego": [
      4.593002636527037,
      4.091631738268987,
      3.604253856667948,
      4.271480236297088,
      3.377508831062526,
      1.2691635368697043,
      0.706464059897502,
      0.2659528854567627,
      0.01607492806184799,
      -0.10739073079105414
    ],
    "vy_ego": [
      0.00406720321405106,
      0.029264278268501615,
      0.01783869079652771,
      -0.024602869076581976,
      -0.05229725321564126,
      -0.050415347628719895,
      -0.02419651576734385,
      0.001747136645769874,
      0.006618601069084499,
      0.0019977677116520343
    ],
    "v_ego": [
      4.593004437324908,
      4.09173638930866,
      3.6042980013027655,
      4.271551089504072,
      3.3779136914076493,
      1.2701644738364168,
      0.7068783058646946,
      0.26595862416781474,
      0.017384164987288706,
      0.10740931121493325
    ],
    "ax_ego": [
      -1.0025971956365536,
      -1.0026696551143157,
      -0.9470842357809455,
      3.615945972685207,
      -7.191947178318509,
      -1.2413564365974636,
      -1.0094691787306471,
      -0.7525796825148693,
      -0.24693105759060968,
      -0.24693043633784548
    ],
    "ay_ego": [
      0.024405719767509895,
      0.02122158405551646,
      -0.03669176201362094,
      -0.1031463203572082,
      -0.019873039214441307,
      0.02953052273305687,
      0.0747267260554518,
      0.028703654764363023,
      -0.009227395793612272,
      -0.009243803704595864
    ],
    "a_ego": [
      1.0028941997317822,
      1.0028942082377814,
      0.9477947220070608,
      3.617416818778505,
      7.191974635203546,
      1.2417076364647357,
      1.0122312514411387,
      0.7531268673543742,
      0.24710340352967414,
      0.24710339596397266
    ],
    "yaw": [
      1.5931989843544136,
      1.5900232122605622,
      1.5919909420845575,
      1.5942127865579376,
      1.593621448946452,
      1.5939585557720894,
      1.593797400202544,
      1.5936078860306053,
      1.5935770351694019,
      1.5935105937211813
    ],
    "yaw_diff": [
      -0.0063515441877028955,
      0.00393545964799058,
      0.0044436889467602825,
      -0.00118267522297133,
      0.0006742136512749575,
      -0.00032231113909109155,
      -0.00037902834387715245,
      -6.170172240693717e-05,
      -0.00013288289644108886,
      -0.00013288289644108886
    ],
    "min_front_frame": [
      8,
      10.201395352862312
    ],
    "v_avg": 2.2306298488919203,
    "v_std": 1.8144939405034213,
    "vy_max": 0.05229725321564126,
    "a_max": 7.191974635203546,
    "ax_avg": -1.002561908393655,
    "a_std": 2.029050499393449,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cab75d9e74eb52a1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 38.28685768994879,
    "right_rear_min": 24.203852286681283,
    "speed_mode": "decelerating",
    "front_frame": [
      20.032069854452455,
      17.849860413749724,
      15.914694511533794,
      14.224530290877016,
      11.64281502264892,
      10.863440934308676,
      10.402962957154221,
      10.213022731839713,
      10.201395352862312,
      10.210703781470205
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cab75d9e74eb52a1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5bbd26efb97658ec": {
    "vx_ego": [
      6.252505009766862,
      6.05968727206769,
      5.83094160785002,
      5.599019480960099,
      5.434116138484941,
      5.300228793773325,
      5.191793483669673,
      5.117751603359333,
      5.038082441574346,
      4.975136037234524
    ],
    "vy_ego": [
      -0.021089941482739794,
      0.04750078618630538,
      0.05695591467752492,
      0.05584492281721576,
      0.00971960675344441,
      -0.03223581270816789,
      -0.03473379750392169,
      -0.025360727964359064,
      -0.01330661603664618,
      -0.022145948161619522
    ],
    "v_ego": [
      6.252540578260284,
      6.05987344421874,
      5.8312197703716615,
      5.599297974172758,
      5.434124830853441,
      5.300326821429485,
      5.191909669260813,
      5.1178144397984875,
      5.03810001430401,
      4.975185326398366
    ],
    "ax_ego": [
      -0.40406771803121905,
      -0.36928922123511626,
      -0.5518576509912493,
      -0.38677005089482946,
      -0.28505190368433386,
      -0.2503299374129917,
      -0.1676922394402499,
      -0.1181741556123963,
      -0.19037384356465742,
      -0.05215103298618967
    ],
    "ay_ego": [
      0.717057725182533,
      0.7355732242798777,
      0.9777438714619044,
      1.2006516178894464,
      1.2596612787954984,
      1.1723609868888085,
      1.1828515000822089,
      1.1290245777011259,
      1.1584311748692122,
      1.172810830993729
    ],
    "a_ego": [
      0.823068953368371,
      0.8230689504518646,
      1.1227332475431966,
      1.2614100759902525,
      1.2915111788485507,
      1.198789122883626,
      1.194679186399101,
      1.1351923308884306,
      1.173969755667685,
      1.173969750691102
    ],
    "yaw": [
      -3.03720800188422,
      -2.9893336896372493,
      -2.919177386602186,
      -2.8234169752004403,
      -2.703426484370169,
      -2.5823771752002815,
      -2.4695601864120986,
      -2.3592348555122484,
      -2.2492973177963043,
      -2.130852994578814
    ],
    "yaw_diff": [
      0.09574862449394139,
      0.1403126060701263,
      0.1915208228034917,
      0.23998098166054227,
      0.2420986183397753,
      0.22563397757636583,
      0.2206506617997004,
      0.21987507543188833,
      0.23688864643498064,
      0.23688864643498064
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.480039286906804,
    "v_std": 0.42063455964093927,
    "vy_max": 0.05695591467752492,
    "a_max": 1.2915111788485507,
    "ax_avg": -0.2775757753853233,
    "a_std": 0.15607600172828512,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "5bbd26efb97658ec",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 24.5290908509433,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5bbd26efb97658ec",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "ebd940b0039e5cd1": {
    "vx_ego": [
      0.6731884837652884,
      0.34615564389080444,
      0.06861322496314981,
      -0.045657932270563965,
      -0.03679833371781667,
      -0.021584969801278796,
      -0.013155017279258097,
      -0.009343128323785702,
      -0.006841769810249673,
      -0.004820430113931645
    ],
    "vy_ego": [
      -0.0018127258531330237,
      -0.0013352519491160175,
      -0.0007349578735306797,
      0.0005491456767755462,
      -0.0010840585243127986,
      -0.002819855120341117,
      -0.0017288121831062482,
      -0.0012677385293816258,
      -0.0008459594824871586,
      -0.00036880301128277616
    ],
    "v_ego": [
      0.6731909243663543,
      0.3461582191646257,
      0.06861716114005059,
      0.04566123454526528,
      0.03681429813661994,
      0.021768383132925413,
      0.013268129905229135,
      0.009428743704948466,
      0.006893871305910329,
      0.004834517777858542
    ],
    "ax_ego": [
      -0.6540655921601785,
      -0.6540655580175693,
      -0.4561040000028845,
      -0.0009803643920438068,
      0.03641925291021096,
      0.024434765222927087,
      0.009284699449391096,
      0.005962895737682675,
      0.004042660409430226,
      0.0040426303241709064
    ],
    "ay_ego": [
      0.0009762425964190968,
      0.0009963580813275308,
      0.0014219538916937224,
      0.0036841701233760885,
      -0.010201973460070936,
      0.0032546109131922837,
      0.0011123227841958938,
      0.0007317980324465134,
      0.0009545498134507554,
      0.0009546480165246911
    ],
    "a_ego": [
      0.6540663207179009,
      0.6540663169085078,
      0.4561062165455557,
      0.0038123777146505835,
      0.03782118777904657,
      0.02465056274602747,
      0.009351091157814934,
      0.00600763297304078,
      0.004153825770579868,
      0.0041538190588133106
    ],
    "yaw": [
      -2.0327948982836572,
      -2.032764142318312,
      -2.032740691681848,
      -2.032573927057139,
      -2.0326556812113203,
      -2.0326179598559397,
      -2.0326625505134954,
      -2.032658455895943,
      -2.0326338646885604,
      -2.0326585656201703
    ],
    "yaw_diff": [
      6.15119306903722e-05,
      4.6901272928501214e-05,
      0.00033352924941798534,
      -0.00016350830836309171,
      7.544271076120879e-05,
      -8.918131511137517e-05,
      8.18923510514935e-06,
      4.918241476481455e-05,
      -4.940186321977791e-05,
      -4.940186321977791e-05
    ],
    "min_front_frame": [
      2,
      9.866995932081592
    ],
    "v_avg": 0.1226635483179788,
    "v_std": 0.20772730518212432,
    "vy_max": 0.002819855120341117,
    "a_max": 0.6540663207179009,
    "ax_avg": -0.1681028610518863,
    "a_std": 0.2687093660933211,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ebd940b0039e5cd1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.814095777359646,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.163896603943892,
      9.923750820946779,
      9.866995932081592,
      9.87491544020304,
      9.879293971262681,
      9.878239545469226,
      9.881270079072719,
      9.917021506474182,
      9.90330571778142,
      9.89771959059339
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ebd940b0039e5cd1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bbd85b27fa465894": {
    "vx_ego": [
      5.712894019013197,
      15.788124583064656,
      15.24767222507635,
      9.337959080688236,
      8.701653022556998,
      8.232173351265779,
      7.978397299972074,
      7.806874859120548,
      7.59617009543509,
      7.337423726206878
    ],
    "vy_ego": [
      -0.10702114017709712,
      0.07764473921737763,
      -0.017097196130564866,
      -0.016099610241100612,
      -0.03233909584893184,
      -0.009655569321504104,
      0.030657305623703363,
      0.04945215504275155,
      0.03930534601561847,
      -0.011062695172169623
    ],
    "v_ego": [
      5.713896358608682,
      15.78831550723188,
      15.247681810605844,
      9.337972959377094,
      8.701713115363875,
      8.232179013803657,
      7.978456200706361,
      7.8070314833236605,
      7.596271784830224,
      7.337432065861195
    ],
    "ax_ego": [
      20.148709706442286,
      20.152153443113693,
      -22.31698137654731,
      -1.3220177466950407,
      -1.2226024540462341,
      -0.6546247258247436,
      -0.3606745368480984,
      -0.32558871513102006,
      -0.5174810630062191,
      -0.5175428269945036
    ],
    "ay_ego": [
      0.5810826012811937,
      0.44594972784615683,
      0.19507624255779915,
      0.00425794087986997,
      0.08776532709670758,
      0.18086652140268586,
      0.035213286032945094,
      0.07963506087853699,
      -0.09072681692774608,
      -0.09037383653254584
    ],
    "a_ego": [
      20.157087086779015,
      20.157087080095803,
      22.317833956313276,
      1.3220246036429009,
      1.2257485522244218,
      0.6791511100082432,
      0.362389427334502,
      0.3351861487916779,
      0.52537415798637,
      0.5253741601021827
    ],
    "yaw": [
      -1.5878831948207472,
      -1.58117701761809,
      -1.5689332536557017,
      -1.563882197788962,
      -1.559525187760975,
      -1.5542280489495104,
      -1.552529219685303,
      -1.5512720033889846,
      -1.5503175199752064,
      -1.5496354507994492
    ],
    "yaw_diff": [
      0.01341235440531463,
      0.024487527924776487,
      0.010102111733479191,
      0.008714020055974103,
      0.010594277622929305,
      0.00339765852841456,
      0.0025144325926369504,
      0.0019089668275564797,
      0.001364138351514388,
      0.001364138351514388
    ],
    "min_front_frame": [
      5,
      19.242747349871756
    ],
    "v_avg": 9.374095029971247,
    "v_std": 3.2016842781070625,
    "vy_max": 0.10702114017709712,
    "a_max": 22.317833956313276,
    "ax_avg": 1.3063349704462812,
    "a_std": 9.26355810866619,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bbd85b27fa465894",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.921899072085303,
    "right_rear_min": 42.06816640138001,
    "speed_mode": "quasi_constant",
    "front_frame": [
      20.324671360101767,
      20.210478664325663,
      19.278352487062513,
      19.26165835799085,
      19.26376266526847,
      19.242747349871756,
      19.989638988620204,
      20.15761286825869,
      19.736597968327196,
      19.33356259631543
    ],
    "safe_frame": [
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bbd85b27fa465894",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "483042d5dc175e99": {
    "vx_ego": [
      4.189860491479907,
      4.046539605314055,
      3.9867697760654326,
      4.044864143462225,
      4.120359527949913,
      4.15813722859723,
      4.1887959489733175,
      4.299975301858948,
      4.547041461333402,
      4.937193942124058
    ],
    "vy_ego": [
      0.02779701972574905,
      0.026694100599488846,
      0.03244692997072862,
      0.05616586119896039,
      0.08075415868728375,
      0.10686303096532557,
      0.10384530312146167,
      0.07611998754072813,
      0.07914597741854557,
      0.14128110768398153
    ],
    "v_ego": [
      4.1899526981064925,
      4.046627651808607,
      3.986901811007307,
      4.045254076449416,
      4.121150794828178,
      4.15951017780139,
      4.190082976399831,
      4.300649003243598,
      4.547730218122721,
      4.939214955186189
    ],
    "ax_ego": [
      -0.317207023658079,
      -0.24461107361873582,
      0.03244383534501355,
      0.23334646259093195,
      0.14030091043974113,
      0.09654682006969739,
      0.1087205462238281,
      0.4255892733298423,
      0.6345047296770616,
      0.9989638417412513
    ],
    "ay_ego": [
      -0.7603281421068453,
      -0.7866921917891467,
      -1.018951206536167,
      -1.1381780354877924,
      -1.4607565518499714,
      -1.6065819127485876,
      -1.6213446043957056,
      -1.8093024780469844,
      -1.87233972948462,
      -1.7059670524013142
    ],
    "a_ego": [
      0.8238441476017562,
      0.823844149071244,
      1.0194675883780735,
      1.1618518890420377,
      1.4674788070847355,
      1.60948026730261,
      1.6249856871290511,
      1.8586827826825054,
      1.9769300226839344,
      1.9769300293599843
    ],
    "yaw": [
      -1.6797382847941087,
      -1.7735220968023997,
      -1.8882031389193812,
      -2.029048016170758,
      -2.193377267043609,
      -2.3841111598584224,
      -2.5762253154461314,
      -2.7729676529516185,
      -2.9821973280803427,
      3.0979832434730596
    ],
    "yaw_diff": [
      -0.187567624016582,
      -0.22936208423396298,
      -0.2816897545027537,
      -0.32865850174570177,
      -0.3814677856296269,
      -0.3842283111754181,
      -0.39348467501097417,
      -0.4184593502574483,
      -0.40600947125236786,
      -0.40600947125236786
    ],
    "min_front_frame": [
      9,
      48.31831933371706
    ],
    "v_avg": 4.252707436295372,
    "v_std": 0.273978224079903,
    "vy_max": 0.14128110768398153,
    "a_max": 1.9769300293599843,
    "ax_avg": 0.21085983221405527,
    "a_std": 0.4276414384860354,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "483042d5dc175e99",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.391123787048752,
    "right_rear_min": 15.37179014819782,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      48.31831933371706
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "483042d5dc175e99",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b96ea08d168f5a3d": {
    "vx_ego": [
      2.5234343758496425,
      2.9671152946309736,
      3.385556248990139,
      3.708884958938045,
      3.9584805359231208,
      4.21097862265249,
      4.527281831328842,
      4.955239749869192,
      5.56161784799472,
      6.266159903238795
    ],
    "vy_ego": [
      0.10425904608929071,
      -0.006524898658550882,
      -0.024078225607348402,
      -0.0041241054598206706,
      0.07140847346913659,
      0.08423451711943783,
      0.05936275891652665,
      0.05686854318721135,
      0.1035141366459218,
      -0.038354849610561015
    ],
    "v_ego": [
      2.525587258027551,
      2.9671224689816147,
      3.3856418706095566,
      3.7088872518428904,
      3.959124565275181,
      4.211821033034359,
      4.527671003664733,
      4.9555660635176615,
      5.562581079284954,
      6.2662772861920395
    ],
    "ax_ego": [
      0.8777745119700278,
      0.9063079456685144,
      0.775887035572173,
      0.5435254892349514,
      0.5104067691444792,
      0.614766016235279,
      0.714506376476189,
      1.0312090820475093,
      1.3819007887589239,
      1.4415480227066824
    ],
    "ay_ego": [
      -0.5459571550291681,
      -0.49715512068418355,
      -0.7956961657361812,
      -1.2584056257507124,
      -1.539442066493952,
      -1.9704116020793028,
      -1.9763517748041863,
      -1.8457502269256296,
      -1.035572499125332,
      -0.9507888680013421
    ],
    "a_ego": [
      1.0337104570389928,
      1.0337104557874937,
      1.1113654125157193,
      1.3707679148452283,
      1.6218498531244117,
      2.0640879671967762,
      2.1015436468931097,
      2.114281455032248,
      1.7268642653425952,
      1.7268642602372717
    ],
    "yaw": [
      0.765200599341666,
      0.7105059643142047,
      0.6148401526940566,
      0.46594361661401906,
      0.26468967536875243,
      0.046900793049300914,
      -0.17297871943432191,
      -0.37498939034581086,
      -0.5218077807985186,
      -0.5818465215694772
    ],
    "yaw_diff": [
      -0.1093892700549226,
      -0.19133162324029618,
      -0.297793072160075,
      -0.40250788249053326,
      -0.435577764638903,
      -0.43975902496724567,
      -0.4040213418229779,
      -0.29363678090541556,
      -0.12007748154191722,
      -0.12007748154191722
    ],
    "min_front_frame": [
      1,
      42.85301795986244
    ],
    "v_avg": 4.207027988043055,
    "v_std": 1.0995480935836173,
    "vy_max": 0.10425904608929071,
    "a_max": 2.114281455032248,
    "ax_avg": 0.8797832037814729,
    "a_std": 0.41180732820325616,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b96ea08d168f5a3d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      44.195286716739645,
      42.85301795986244,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b96ea08d168f5a3d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8a9ecc24c4f25c3c": {
    "vx_ego": [
      1.4491571864911443,
      0.8962381998181772,
      0.38683981307681375,
      0.04280000025232759,
      -0.06884499803242428,
      -0.05346638495557804,
      -0.030121742293544203,
      -0.01908714531868837,
      -0.01330448732672046,
      -0.008966036786627033
    ],
    "vy_ego": [
      0.019410625232440394,
      0.029672185608537214,
      0.01461470503524039,
      -0.0010073033809393488,
      0.003652536786973331,
      0.0015271072285861212,
      -3.217642470000246e-05,
      -7.956131486547616e-05,
      -4.125806926737186e-05,
      0.00011437819041524075
    ],
    "v_ego": [
      1.4492871777293979,
      0.8967292508957843,
      0.3871157844683827,
      0.04281185211714734,
      0.06894182169818763,
      0.05348818913279512,
      0.030121759479170472,
      0.01908731113644744,
      0.01330455129852732,
      0.0089667663084075
    ],
    "ax_ego": [
      -1.1059137856675896,
      -1.1058843685195505,
      -0.9317608690076224,
      -0.44440061223014216,
      -0.002179862890170036,
      0.06369392392209616,
      0.02968465879449408,
      0.014453749470072573,
      0.008676905050112316,
      0.008676898387619276
    ],
    "ay_ego": [
      0.02277044297262546,
      0.024156995469367105,
      -0.0834867888705863,
      0.020943552516372768,
      -0.0023121985420162675,
      -0.0061987006606280814,
      -3.292272257216086e-05,
      -0.0001583256279730998,
      0.0003108556765623465,
      0.00031065692672518056
    ],
    "a_ego": [
      1.1061481792250027,
      1.1061481803836193,
      0.9354936455849188,
      0.44489384862293974,
      0.0031777451624764716,
      0.0639948422489957,
      0.029684677051488976,
      0.01445461658945322,
      0.008682471566340753,
      0.008682457794610483
    ],
    "yaw": [
      -1.5436314041919132,
      -1.542377624639345,
      -1.5420145354029402,
      -1.5421042026661875,
      -1.5420749071624615,
      -1.5420418429381084,
      -1.5420785700477895,
      -1.542059797434661,
      -1.5420488389283569,
      -1.5420256498872205
    ],
    "yaw_diff": [
      0.0025075591051364476,
      0.0007261784728096465,
      -0.00017933452649465664,
      5.8591007451980204e-05,
      6.612844870623746e-05,
      -7.345421936211238e-05,
      3.754522625687429e-05,
      2.1917012608341224e-05,
      4.637808227281326e-05,
      4.637808227281326e-05
    ],
    "min_front_frame": [
      6,
      10.63151289565556
    ],
    "v_avg": 0.29698544642642477,
    "v_std": 0.46726733518381075,
    "vy_max": 0.029672185608537214,
    "a_max": 1.1061481803836193,
    "ax_avg": -0.34649533626906803,
    "a_std": 0.4626770249094286,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8a9ecc24c4f25c3c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.563847161592511,
    "right_rear_min": 3.3914030868910277,
    "speed_mode": "decelerating",
    "front_frame": [
      11.611400757678219,
      11.027633079116448,
      10.713980843452447,
      10.658597823784188,
      10.640109781424503,
      10.660192950039463,
      10.63151289565556,
      10.644346066982788,
      10.634698668105013,
      10.633286889895492
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8a9ecc24c4f25c3c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "76476276b198570d": {
    "vx_ego": [
      8.099808738479567,
      7.978725535187883,
      7.871167327939572,
      7.765256696518408,
      7.6842060870598266,
      7.623447957424739,
      7.554382651797416,
      7.5209262119856595,
      7.394748804614985,
      7.1492783948367995
    ],
    "vy_ego": [
      -0.014138623581781307,
      -0.028764763996560028,
      -0.01061543306207069,
      0.021694879637339515,
      0.015445872614702871,
      -0.008015167222891417,
      -0.02626842398828444,
      -0.030986965390030985,
      -0.023403383914636144,
      -0.01872169938421342
    ],
    "v_ego": [
      8.099821078309493,
      7.978777386135482,
      7.871174486176919,
      7.7652870024633645,
      7.68422161076762,
      7.623452170930768,
      7.5544283225057205,
      7.520990046407258,
      7.394785838801108,
      7.149302907900048
    ],
    "ax_ego": [
      -0.24560532945137617,
      -0.24018922630116882,
      -0.19024720426902827,
      -0.2307236818959413,
      -0.09069619793490075,
      -0.1529570055532315,
      -0.12560389667386745,
      -0.0108611109941614,
      -0.4993314206583704,
      -0.4849766769094801
    ],
    "ay_ego": [
      -0.3079529073776249,
      -0.3121956225422852,
      -0.4543457520593207,
      -0.5566684894585168,
      -0.5646046350357316,
      -0.49551023745699513,
      -0.4776020153418401,
      -0.5489935875131305,
      -0.44439438626480854,
      -0.46001724000527466
    ],
    "a_ego": [
      0.39389969664528945,
      0.39389969683374865,
      0.4925688389926134,
      0.6025887690155255,
      0.5718428055188579,
      0.5185809878625507,
      0.4938421042380316,
      0.5491010133505172,
      0.6684446410888356,
      0.668444641124628
    ],
    "yaw": [
      2.2144293385862097,
      2.196962665893447,
      2.1704719150020777,
      2.1340380092358084,
      2.098481723489714,
      2.0669547100706653,
      2.037291745135449,
      2.0038082427006128,
      1.9697732115930675,
      1.9380320486330058
    ],
    "yaw_diff": [
      -0.03493334538552517,
      -0.05298150178273886,
      -0.07286781153253852,
      -0.07111257149218897,
      -0.06305402683809724,
      -0.0593259298704325,
      -0.06696700486967266,
      -0.06807006221509049,
      -0.06348232592012337,
      -0.06348232592012337
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.664224085039779,
    "v_std": 0.26722740093349545,
    "vy_max": 0.030986965390030985,
    "a_max": 0.668444641124628,
    "ax_avg": -0.22711917506415258,
    "a_std": 0.09236933232367364,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "76476276b198570d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "76476276b198570d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f0135d40a8f05feb": {
    "vx_ego": [
      2.7000411083328104,
      2.1131792791657333,
      1.5418278295192112,
      1.013007977583242,
      0.5663174394359278,
      0.22023698654412516,
      0.001309977302613694,
      -0.05067289569208413,
      -0.026278561000329468,
      -0.010682359147923148
    ],
    "vy_ego": [
      -0.023023189225137353,
      -0.06431815004272401,
      -0.06490988029977429,
      -0.020839726920251822,
      0.011228033495384815,
      0.018430136260301863,
      0.01220346889691857,
      0.006058820195930268,
      0.003479220478166652,
      0.003452296313638692
    ],
    "v_ego": [
      2.70013926565449,
      2.1141578678803357,
      1.5431935550800011,
      1.0132223136436547,
      0.5664287342159111,
      0.22100678759850445,
      0.012273577052001668,
      0.05103382858445416,
      0.026507880778812387,
      0.011226359463440526
    ],
    "ax_ego": [
      -1.1737440562878445,
      -1.1737308785634608,
      -1.111478971974849,
      -1.003823646672261,
      -0.7829419287171757,
      -0.6013828841751907,
      -0.2743083367675341,
      0.06638294293124314,
      0.03119294776565382,
      0.03119295217693955
    ],
    "ay_ego": [
      -0.08325828791405543,
      -0.08344390142879443,
      0.08523793600281837,
      0.09036875002781242,
      0.03959149217933661,
      -0.010730508209110146,
      -0.014250762710605852,
      -0.010280284354307917,
      -5.218049195771825e-05,
      -4.9743159444797305e-05
    ],
    "a_ego": [
      1.1766932702184638,
      1.1766932735335118,
      1.1147425760579381,
      1.0078831403491109,
      0.783942312926377,
      0.6014786090837284,
      0.2746782624417245,
      0.06717424624525467,
      0.031192991410163736,
      0.031192991839430043
    ],
    "yaw": [
      2.5569409514353865,
      2.556782807745493,
      2.557354452380861,
      2.557221152714031,
      2.5577753103743395,
      2.5578107687961027,
      2.5575438700620468,
      2.557367191159072,
      2.5574704698020643,
      2.5573922356475487
    ],
    "yaw_diff": [
      -0.0003162873797872834,
      0.0011432892707361475,
      -0.0002665993336599115,
      0.0011083153206170593,
      7.091684352644734e-05,
      -0.0005337974681118851,
      -0.0003533578059498055,
      0.00020655728598484302,
      -0.00015646830903115472,
      -0.00015646830903115472
    ],
    "min_front_frame": [
      6,
      10.950695709450878
    ],
    "v_avg": 0.8259190169951607,
    "v_std": 0.933826987485728,
    "vy_max": 0.06490988029977429,
    "a_max": 1.1766932735335118,
    "ax_avg": -0.599264186028448,
    "a_std": 0.4647663923644801,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f0135d40a8f05feb",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.1091001151607216,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.301202763641099,
      13.100415350453787,
      12.20275198861475,
      11.57304065619505,
      11.182087821762979,
      10.977688119203851,
      10.950695709450878,
      10.955082869758655,
      10.965853510539732,
      10.961688109164509
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f0135d40a8f05feb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2e9c19d0168c58ac": {
    "vx_ego": [
      1.9679137988596087,
      3.013697008521203,
      3.9834419222816795,
      4.83154989547141,
      5.5912922263424525,
      6.317102983173131,
      6.962959309716236,
      7.455830676821755,
      7.851403735690801,
      8.213610303198307
    ],
    "vy_ego": [
      0.10179672004966589,
      0.06486876699364896,
      0.018649617082673764,
      0.008574390014424615,
      0.0176634204896553,
      0.004963972552380014,
      0.009862659203388358,
      0.011797179277038605,
      -0.051002325051386244,
      -0.16061053900836342
    ],
    "v_ego": [
      1.9705449225924607,
      3.014395066360898,
      3.9834855787875636,
      4.831557503807018,
      5.5913201264800545,
      6.317104933514907,
      6.962966294677187,
      7.4558400100106255,
      7.851569388216608,
      8.215180458032918
    ],
    "ax_ego": [
      2.091881440073591,
      2.0921054511844703,
      1.7870823162275231,
      1.6053761964942588,
      1.4336683869709763,
      1.4694725670711772,
      1.1139780893025861,
      0.8572755120259843,
      0.7248521162562636,
      0.724573568252822
    ],
    "ay_ego": [
      -0.08942597958146781,
      -0.08402203348915682,
      -0.11690163905453732,
      -0.017983295004764366,
      0.012198691554423768,
      -0.024935853282836873,
      0.07662388839182543,
      0.053635069076965136,
      -0.19592259442547855,
      -0.19695022135295553
    ],
    "a_ego": [
      2.093792006181241,
      2.0937919956355335,
      1.7909017835120848,
      1.6054769170466454,
      1.433720283693999,
      1.4696841232570006,
      1.116610229094523,
      0.8589517007109914,
      0.7508636716792165,
      0.7508636663879836
    ],
    "yaw": [
      2.3872844184743425,
      2.384701268991332,
      2.383566942015894,
      2.378229507127098,
      2.3762162427938365,
      2.377815502948618,
      2.3790157957111835,
      2.383245615818156,
      2.3867954186607445,
      2.388213402259625
    ],
    "yaw_diff": [
      -0.0051662989660208325,
      -0.002268653950876498,
      -0.010674869777592022,
      -0.004026528666522644,
      0.0031985203095628023,
      0.002400585525131227,
      0.008459640213945185,
      0.0070996056851768685,
      0.0028359671977611356,
      0.0028359671977611356
    ],
    "min_front_frame": [
      0,
      65.44947347247778
    ],
    "v_avg": 5.619396428248025,
    "v_std": 2.019480754761553,
    "vy_max": 0.16061053900836342,
    "a_max": 2.093792006181241,
    "ax_avg": 1.3900265643859653,
    "a_std": 0.48778956969358306,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "2e9c19d0168c58ac",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 31.57156714185196,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      65.44947347247778,
      66.95193595172681,
      67.93613033265387,
      68.97960801003818,
      69.3314979808702,
      69.48987395720486,
      69.82587199345849,
      69.77982833123788,
      69.50634270606992,
      68.74225517438069
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "2e9c19d0168c58ac",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "471d0206688f5e3b": {
    "vx_ego": [
      6.284683747767414,
      6.368183181757001,
      6.432205248852513,
      6.389265839555307,
      6.223997966273894,
      5.975908563548785,
      5.524440314116025,
      4.819507525129074,
      4.015569429415614,
      3.206395232074254
    ],
    "vy_ego": [
      -0.015397794668314813,
      -0.03039320038060378,
      -0.015482359523704137,
      -0.005085632198390311,
      0.043506358040079185,
      0.054597893986140233,
      0.06223704051307255,
      0.07124049564404611,
      0.027761528723208084,
      -0.12922147342439355
    ],
    "v_ego": [
      6.284702610428954,
      6.368255709614846,
      6.432223881895145,
      6.389267863547688,
      6.2241500212777225,
      5.976157970629911,
      5.524790876896807,
      4.8200340240495585,
      4.015665392551313,
      3.2089980637984934
    ],
    "ax_ego": [
      0.13335974645102333,
      0.1940210844893595,
      0.05762251512814043,
      -0.2262476146492508,
      -0.41799906722407293,
      -0.5438820019541446,
      -1.2459763294236856,
      -1.5471373018280157,
      -1.663720868937456,
      -1.584382994339776
    ],
    "ay_ego": [
      -0.8962662343689922,
      -0.8851179643837539,
      -0.9480706777028762,
      -1.1073774007012762,
      -1.2833153383263034,
      -1.4313372403258422,
      -1.2407426022494006,
      -1.1617562847366532,
      -0.8596762947951802,
      -0.9983691579116887
    ],
    "a_ego": [
      0.9061335358783795,
      0.9061335398832048,
      0.9498201746486983,
      1.1302533745662477,
      1.3496745821803675,
      1.5311870975139668,
      1.7583797139755495,
      1.9347639380122796,
      1.8727013807787865,
      1.8727013772148426
    ],
    "yaw": [
      2.290190251676181,
      2.2221107179674604,
      2.148404038223304,
      2.0671207240394454,
      1.9651233286670724,
      1.852458188814934,
      1.7368511661199464,
      1.619964704680718,
      1.5158468682832487,
      1.430499434825332
    ],
    "yaw_diff": [
      -0.13615906741744155,
      -0.14741335948831313,
      -0.16256662836771696,
      -0.2039947907447459,
      -0.22533027970427666,
      -0.23121404538997536,
      -0.23377292287845686,
      -0.2082356727949386,
      -0.17069486691583347,
      -0.17069486691583347
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.524424641469045,
    "v_std": 1.0811811278867929,
    "vy_max": 0.12922147342439355,
    "a_max": 1.9347639380122796,
    "ax_avg": -0.6844342832287879,
    "a_std": 0.40494368849437057,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "471d0206688f5e3b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 48.70905831816164,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "471d0206688f5e3b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e2442187de045407": {
    "vx_ego": [
      8.994311289202017,
      8.984628592596252,
      8.952348173486474,
      8.913934331457344,
      8.930397420927015,
      8.960625340657106,
      8.96602814932833,
      8.960929125319808,
      8.971095464650677,
      9.00414002732308
    ],
    "vy_ego": [
      0.1155081234793447,
      0.05712238798011171,
      0.05792887712547312,
      0.05448714290081025,
      0.06629432709449112,
      0.1080624325637336,
      0.08094236024678203,
      -0.007291007323003917,
      -0.0630379832158372,
      0.017696831165253002
    ],
    "v_ego": [
      8.995052956689948,
      8.984810176854415,
      8.95253559468666,
      8.914100858430725,
      8.93064348373088,
      8.961276917100479,
      8.966393502419484,
      8.960932091461949,
      8.971316939179212,
      9.004157418074996
    ],
    "ax_ego": [
      -0.04104333064132315,
      -0.012572015592002495,
      -0.1252379124490084,
      -0.037843041891359536,
      0.09634990040089161,
      0.02252028031676489,
      -0.0017558912789685521,
      -0.01845443090304283,
      0.05854588726017815,
      0.07079203879348953
    ],
    "ay_ego": [
      0.6587335670649993,
      0.6598912227832429,
      0.6377683567571631,
      0.5064380537848447,
      0.22749275908880698,
      0.12164444344451744,
      -0.17226916229119088,
      -0.21963038384164307,
      -0.396300499254016,
      -0.39429709352166614
    ],
    "a_ego": [
      0.6600109600365065,
      0.6600109707288273,
      0.649948468415241,
      0.5078499760174972,
      0.24705517348377812,
      0.12371149359082231,
      0.17227811071256913,
      0.22040433645094792,
      0.40060168075541547,
      0.40060168586286865
    ],
    "yaw": [
      2.0275912502974727,
      2.0707679125129363,
      2.1067902703002623,
      2.139233769957575,
      2.1585108782083178,
      2.1635937834617396,
      2.165206911382552,
      2.1641203631690873,
      2.153152239589873,
      2.1221752467452086
    ],
    "yaw_diff": [
      0.08635332443092736,
      0.07204471557465197,
      0.06488699931462527,
      0.038554216501485605,
      0.01016581050684362,
      0.0032262558416249476,
      -0.0021730964269295328,
      -0.021936247158429012,
      -0.061953985689328306,
      -0.061953985689328306
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.964121993862877,
    "v_std": 0.02611498951471191,
    "vy_max": 0.1155081234793447,
    "a_max": 0.6600109707288273,
    "ax_avg": 0.001130148401561923,
    "a_std": 0.19823645176459645,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "e2442187de045407",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "e2442187de045407",
    "road_shape": "Curve"
  },
  "79bba6381fb85a36": {
    "vx_ego": [
      4.278671045194861,
      3.634715361031362,
      2.946760384748978,
      2.227795835184246,
      1.554739019080921,
      0.9815137234850537,
      0.602526045901947,
      0.439017498377711,
      0.4424211436173626,
      0.5243551088344309
    ],
    "vy_ego": [
      0.022052497533810334,
      -0.0018811491507693123,
      -0.005146689475275079,
      -0.013108208235327434,
      -0.03982695386488899,
      -0.04589171508117329,
      -0.02487263097565487,
      -0.02013144340978465,
      -0.01962490018913357,
      0.004161691410550172
    ],
    "v_ego": [
      4.278727874688499,
      3.6347158478262744,
      2.946764879242743,
      2.227834398779993,
      1.5552490487722088,
      0.9825859956780302,
      0.603039205824867,
      0.43947882644740105,
      0.44285619000656234,
      0.5243716237900031
    ],
    "ax_ego": [
      -1.2879420752210624,
      -1.2877786149899217,
      -1.4641933131914922,
      -1.4116402093515652,
      -1.280904533414633,
      -1.012401207853702,
      -0.5036998596710223,
      -0.15036447804562839,
      0.163875563663029,
      0.1638299698845525
    ],
    "ay_ego": [
      -0.06556712676048548,
      -0.06870284898198009,
      0.021622382369840987,
      -0.07502688214465175,
      -0.052144500452610376,
      0.018216266770671175,
      0.06318891340375968,
      -0.04584358270093011,
      0.0465476857735868,
      0.046707909180154175
    ],
    "a_ego": [
      1.2896099554657456,
      1.2896099575777173,
      1.4643529580719352,
      1.4136325950198227,
      1.2819654724873095,
      1.0125650784214784,
      0.507647897080009,
      0.15719767915841276,
      0.1703581152066201,
      0.17035811636771203
    ],
    "yaw": [
      -0.3306901890607098,
      -0.3331250227516388,
      -0.33569221531875154,
      -0.33778063431850275,
      -0.34048692552724935,
      -0.342444940635164,
      -0.3433616855910905,
      -0.34421113823359195,
      -0.3450344607422577,
      -0.346012332682575
    ],
    "yaw_diff": [
      -0.004869667381858012,
      -0.005134385134225483,
      -0.004176837999502414,
      -0.005412582417493206,
      -0.003916030215829314,
      -0.001833489911852948,
      -0.0016989052850029385,
      -0.0016466450173314717,
      -0.001955743880634575,
      -0.001955743880634575
    ],
    "min_front_frame": [
      6,
      9.372621500201776
    ],
    "v_avg": 1.7635623891056582,
    "v_std": 1.3592636922044004,
    "vy_max": 0.04589171508117329,
    "a_max": 1.4643529580719352,
    "ax_avg": -0.8071218758191445,
    "a_std": 0.5300030795922162,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "79bba6381fb85a36",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.090350705280017,
      14.110218383322682,
      12.501283930772145,
      11.223859736592406,
      10.280338259388143,
      9.641630259058516,
      9.372621500201776,
      9.414572829485483,
      10.13510378900105,
      11.541264720194478
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "79bba6381fb85a36",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "614cdeb09cc25923": {
    "vx_ego": [
      7.008712494429023,
      7.268304948499311,
      7.602006015947517,
      8.005452326055593,
      8.411225918492798,
      8.749646813715556,
      9.081062798587773,
      9.403477788107294,
      9.706211915788725,
      10.042231214259665
    ],
    "vy_ego": [
      -0.061789100862895824,
      -0.03167281054712312,
      -0.038894550747531564,
      -0.04105728118327301,
      -0.02627268443567088,
      -0.02569719102787893,
      -0.04572912488248715,
      -0.13827884822359326,
      -0.2158877100615113,
      0.018224525580443185
    ],
    "v_ego": [
      7.008984856778544,
      7.268373957860693,
      7.602105514433491,
      8.005557609878718,
      8.411266950101659,
      8.749684549193159,
      9.081177935970494,
      9.404494433582983,
      9.708612529993903,
      10.042247751075642
    ],
    "ax_ego": [
      0.4475828575142404,
      0.6073534113880773,
      0.7567908214454567,
      0.8939166414876139,
      0.7585307237229945,
      0.6333672044310167,
      0.726970401792969,
      0.591109031695073,
      0.6460281599158944,
      0.7166476571269028
    ],
    "ay_ego": [
      1.5660025667910644,
      1.5112300642241414,
      1.756943791740735,
      2.041299491689823,
      2.2304779898685507,
      2.5702655664954683,
      2.7425269902175895,
      2.3891201014957923,
      1.4542543002434556,
      1.4207829138054113
    ],
    "a_ego": [
      1.6287094441725372,
      1.628709450251836,
      1.913003877351115,
      2.228450263457012,
      2.355928887322319,
      2.6471530174814286,
      2.8372416635096456,
      2.461159228234279,
      1.591291284831567,
      1.5912912846574865
    ],
    "yaw": [
      -3.108502173357845,
      -3.0047549179361144,
      -2.89372936569079,
      -2.77165519023273,
      -2.643790029620071,
      -2.504462692899007,
      -2.3533266912605235,
      -2.205049020227842,
      -2.0963945595468814,
      -2.04727846459083
    ],
    "yaw_diff": [
      0.20749451084346138,
      0.22205110449064858,
      0.2441483509161202,
      0.25573032122531814,
      0.27865467344212824,
      0.30227200327696657,
      0.29655534206536327,
      0.21730892136192104,
      0.09823218991210236,
      0.09823218991210236
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.52825060888693,
    "v_std": 0.9923760353602821,
    "vy_max": 0.2158877100615113,
    "a_max": 2.8372416635096456,
    "ax_avg": 0.6778296910520238,
    "a_std": 0.45285015634140047,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "614cdeb09cc25923",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.989936619093555,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "614cdeb09cc25923",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1423dcf83efa5241": {
    "vx_ego": [
      2.1259246271583914,
      1.8810211765130425,
      1.7128833588322432,
      1.6185695349945421,
      1.5135456688943707,
      1.3585983092405773,
      1.0812961198365476,
      0.6587262616059578,
      0.23775617114419495,
      -0.11499891078586172
    ],
    "vy_ego": [
      -0.03520678599697902,
      0.008439848770924852,
      -0.001711606417130418,
      -0.007011966411905601,
      0.016301708331345643,
      0.017407714848715616,
      0.006491507865135054,
      0.007538832348748866,
      -0.006429457253370889,
      -0.028050310536228737
    ],
    "v_ego": [
      2.1262161315677157,
      1.8810401105605874,
      1.7128842139972433,
      1.6185847235425799,
      1.5136334554717756,
      1.3587098271550146,
      1.0813156053844486,
      0.6587693995037591,
      0.23784308869025528,
      0.11837047521706352
    ],
    "ax_ego": [
      -0.5006161713309931,
      -0.481715475802535,
      -0.19400861609054218,
      -0.17921087749523182,
      -0.23471681117015883,
      -0.39793829554555515,
      -0.7220398660906563,
      -0.9789551143303786,
      -0.7055870405312806,
      -0.70552738505658
    ],
    "ay_ego": [
      -0.21506489565260928,
      -0.25459705581678826,
      -0.07064931025654425,
      0.21634147233836992,
      0.40146494897715335,
      0.3301579864570659,
      0.2523195569844505,
      0.019727807321955882,
      -0.0429255888145524,
      -0.043895169130982584
    ],
    "a_ego": [
      0.5448572843783682,
      0.5448572844867172,
      0.20647195489240866,
      0.2809273416137074,
      0.4650441771521458,
      0.5170678708671481,
      0.7648573246436502,
      0.9791538705715956,
      0.7068915602415742,
      0.7068915595321628
    ],
    "yaw": [
      -0.32736841427763974,
      -0.4078113837493057,
      -0.44821507493528934,
      -0.4231403698640682,
      -0.3398203401816452,
      -0.2151602682892701,
      -0.09113024390430442,
      -0.01693459138456948,
      0.002792940483383362,
      0.001418729825583281
    ],
    "yaw_diff": [
      -0.16088593894333192,
      -0.08080738237196727,
      0.05014941014244223,
      0.16664005936484605,
      0.2493201437847502,
      0.24806004876993135,
      0.1483913050394699,
      0.03945506373590568,
      -0.0027484213156001615,
      -0.0027484213156001615
    ],
    "min_front_frame": [
      8,
      8.392746734985572
    ],
    "v_avg": 1.2307367031090442,
    "v_std": 0.6539684660645408,
    "vy_max": 0.03520678599697902,
    "a_max": 0.9791538705715956,
    "ax_avg": -0.5100315653443912,
    "a_std": 0.21762890089158526,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "1423dcf83efa5241",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.129562419578324,
    "right_rear_min": 17.768725627442823,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      8.993798430637337,
      8.562690184548725,
      8.392746734985572,
      8.425402977896228
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "1423dcf83efa5241",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d60ec6837413567c": {
    "vx_ego": [
      2.515257433553816,
      3.064468293620651,
      3.6043105293102737,
      4.132315810320413,
      4.708226175396891,
      5.333254084692127,
      5.914783875813443,
      6.436147323366795,
      6.901453175686347,
      7.325060979860634
    ],
    "vy_ego": [
      -0.10523864194298249,
      0.055280630518111495,
      0.04348247688179607,
      0.014491708699744366,
      0.01993400191766259,
      -0.056185024722327004,
      -0.16617418656611394,
      -0.14936568060571132,
      -0.2132138998927955,
      0.09298119999779342
    ],
    "v_ego": [
      2.5174580689270143,
      3.064966862906799,
      3.6045728065185036,
      4.13234122088739,
      4.7082683741610225,
      5.3335500268478135,
      5.917117723846941,
      6.437880278059259,
      6.904745911566816,
      7.325651087939547
    ],
    "ax_ego": [
      1.0786790790382956,
      1.1223130499296545,
      1.041061955332736,
      1.0978772497427345,
      1.2496900690332953,
      1.2870388243220172,
      1.1059283947865235,
      1.065942328219895,
      0.8336296145845634,
      0.8681056155329311
    ],
    "ay_ego": [
      0.7142995598979127,
      0.6435727121195169,
      1.0985298743790384,
      1.6234202675481975,
      2.171076980115273,
      2.331733438589324,
      2.0664504954428407,
      1.90007347287886,
      1.0840525348098031,
      1.0566460487589293
    ],
    "a_ego": [
      1.2937435668729942,
      1.2937435672602489,
      1.5134655198399618,
      1.9598030055566635,
      2.505054993852809,
      2.663353105381972,
      2.34377798959523,
      2.178649179980288,
      1.3675190062810707,
      1.367519006112042
    ],
    "yaw": [
      -2.1532628411606387,
      -2.089016797299105,
      -1.955468391498185,
      -1.772237748798503,
      -1.5587557322466488,
      -1.320297932126637,
      -1.106907643250922,
      -0.9495069887009637,
      -0.8287374268316361,
      -0.7965301630234818
    ],
    "yaw_diff": [
      0.12849208772306753,
      0.26709681160183996,
      0.36646128539936385,
      0.42696403310370856,
      0.47691560024002344,
      0.4267805777514302,
      0.31480130909991644,
      0.24153912373865527,
      0.06441452761630861,
      0.06441452761630861
    ],
    "min_front_frame": [
      7,
      21.921714860876524
    ],
    "v_avg": 4.9946552361661105,
    "v_std": 1.5731753993523565,
    "vy_max": 0.2132138998927955,
    "a_max": 2.663353105381972,
    "ax_avg": 1.0750266180522645,
    "a_std": 0.514993188351297,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "d60ec6837413567c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 26.77700160556284,
    "right_rear_min": 33.80828196577884,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      21.921714860876524,
      28.883506504723368,
      25.359228015279545
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d60ec6837413567c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4e52fd2c46fa5a3f": {
    "vx_ego": [
      4.123925939066224,
      3.565997082967387,
      3.0196333775611253,
      2.475075192592393,
      1.9175896960618422,
      1.3732882497741625,
      0.8525248135485028,
      0.38707897956755866,
      0.07651446779665987,
      -0.12704389549365333
    ],
    "vy_ego": [
      -0.04857121467151988,
      0.011528540219231609,
      0.014867170110478362,
      -0.027650696839712025,
      -0.03969429500914923,
      -0.024352701451612523,
      0.011518540735001064,
      0.04540079275244285,
      0.048342896879727024,
      0.03704424054928244
    ],
    "v_ego": [
      4.124211962763057,
      3.566015718273196,
      3.01966997660809,
      2.475229639856067,
      1.9180004899631338,
      1.3735041576332319,
      0.8526026240263241,
      0.389732431811381,
      0.09050690283580595,
      0.13233452739204313
    ],
    "ax_ego": [
      -1.1158410215588708,
      -1.1159355331270753,
      -1.069372754301793,
      -1.1089017980315767,
      -1.1210553775181271,
      -1.0562054244092283,
      -1.0268605079255444,
      -0.8350211188146471,
      -0.4071358378755261,
      -0.4071416758706858
    ],
    "ay_ego": [
      0.11427650962933193,
      0.1133497830165758,
      -0.11165027638081326,
      -0.06815262295515706,
      0.019228948997198327,
      0.03953026895653647,
      0.10301156736886942,
      0.034097336876938444,
      -0.022662883601474212,
      -0.022557819405378644
    ],
    "a_ego": [
      1.1216774518758086,
      1.1216774435663377,
      1.0751855057890778,
      1.110994139360479,
      1.1212202780639704,
      1.0569449090256569,
      1.0320144794279285,
      0.8357169959074451,
      0.40776610547682923,
      0.4077661087524517
    ],
    "yaw": [
      -1.5514795042955214,
      -1.5523099861436305,
      -1.5531964347596534,
      -1.5540803721647705,
      -1.5541656005468805,
      -1.5545636796577544,
      -1.5547762419267013,
      -1.5541133345456277,
      -1.5545815608818834,
      -1.5543235071658703
    ],
    "yaw_diff": [
      -0.001660963696218154,
      -0.001772897232045878,
      -0.0017678748102341046,
      -0.0001704567642200061,
      -0.0007961582217479446,
      -0.000425124537893673,
      0.001325814762147104,
      -0.0009364526725113009,
      0.000516107432026125,
      0.000516107432026125
    ],
    "min_front_frame": [
      8,
      11.631127765233956
    ],
    "v_avg": 1.794180843116233,
    "v_std": 1.3874320904608168,
    "vy_max": 0.04857121467151988,
    "a_max": 1.1216774518758086,
    "ax_avg": -0.9263471049433074,
    "a_std": 0.2728997898169711,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4e52fd2c46fa5a3f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.785196773276978,
    "right_rear_min": 3.657235085879349,
    "speed_mode": "decelerating",
    "front_frame": [
      18.3600634901905,
      16.955887557810627,
      15.734754911568642,
      14.39869643607335,
      13.333128988694133,
      12.51763646239257,
      11.972152527891774,
      11.692016746694602,
      11.631127765233956,
      11.676798730426878
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4e52fd2c46fa5a3f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "26e8589d8c485726": {
    "vx_ego": [
      2.579235810398049,
      2.826563763193958,
      3.0986134225858155,
      3.4239291951428976,
      3.7785140422693613,
      4.146545004123604,
      4.5830728663255655,
      5.125790779625076,
      5.76526800883509,
      6.45032806433349
    ],
    "vy_ego": [
      0.0204929409358936,
      -0.004775838813415811,
      -0.00866016833520411,
      0.005031851588646052,
      0.031037937439840402,
      0.03132763015048967,
      0.02570960648754239,
      0.05692270326304527,
      0.04602776613024684,
      0.049583025715139506
    ],
    "v_ego": [
      2.5793172209458612,
      2.8265677978844876,
      3.098625524509952,
      3.423932892578694,
      3.77864151795156,
      4.14666334438103,
      4.583144977187104,
      5.126106837614313,
      5.765451740232699,
      6.450518631394479
    ],
    "ax_ego": [
      0.49465259331598865,
      0.49453965630849284,
      0.5935791945618618,
      0.7076757880277922,
      0.7107744537036513,
      0.7615744191381146,
      0.9845299715135851,
      1.1861142982024344,
      1.3687742535020546,
      1.3697554106247443
    ],
    "ay_ego": [
      -0.029641344971115202,
      -0.031469583589090744,
      -0.008670848425415656,
      0.06093263926427389,
      0.025339740396481847,
      -0.0463559445800143,
      0.025452559350300774,
      0.1400919382679976,
      0.11902939924329459,
      0.1071498004034468
    ],
    "a_ego": [
      0.49553990495814715,
      0.4955399139857384,
      0.5936425219179681,
      0.710294169684974,
      0.7112260023938136,
      0.7629839247870575,
      0.9848589226818334,
      1.1943587733876022,
      1.3739399386197078,
      1.3739399421598675
    ],
    "yaw": [
      -0.6076651055239503,
      -0.603968709287689,
      -0.606053569982011,
      -0.6062465378709666,
      -0.6074790263155527,
      -0.6088803123593944,
      -0.608789884126323,
      -0.606683333056161,
      -0.5927282755318313,
      -0.5840524370090929
    ],
    "yaw_diff": [
      0.007392792472522558,
      -0.004169721388644021,
      -0.00038593577791123934,
      -0.0024649768891722434,
      -0.0028025720876834193,
      0.00018085646614296458,
      0.004213102140323999,
      0.027910115048659367,
      0.017351677045476688,
      0.017351677045476688
    ],
    "min_front_frame": [
      2,
      17.1549885636543
    ],
    "v_avg": 4.177897048468018,
    "v_std": 1.225711391341626,
    "vy_max": 0.05692270326304527,
    "a_max": 1.3739399421598675,
    "ax_avg": 0.8671970038898721,
    "a_std": 0.3233098376389511,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "26e8589d8c485726",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 48.49190622042134,
    "right_rear_min": 44.548977920990545,
    "speed_mode": "accelerating",
    "front_frame": [
      23.1820411388333,
      26.76373947538997,
      17.1549885636543,
      19.980444462505673,
      22.892532885565615,
      25.99957384424137,
      29.11291421852047,
      32.20397113198136,
      35.270669314526195,
      37.06082470091462
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "26e8589d8c485726",
    "pedestrians": "No"
  },
  "68b64b027ed2512a": {
    "vx_ego": [
      7.081751444005723,
      6.914248542798071,
      6.6760037825205725,
      6.322282970005704,
      5.964847915866562,
      5.6789012960419845,
      5.4492092136539965,
      5.195015733041186,
      4.868821755630067,
      4.54570988300902
    ],
    "vy_ego": [
      0.0533015160199648,
      0.04780016843549095,
      0.04598661991352104,
      0.05889902332834396,
      0.052824697675699195,
      0.03712465930284958,
      -0.004226374631385088,
      -0.09237911123048503,
      -0.15882262636896471,
      -0.1576207348986589
    ],
    "v_ego": [
      7.081952030781285,
      6.914413768909676,
      6.676162166502553,
      6.322557318662534,
      5.965081819061847,
      5.679022642190792,
      5.449210852629409,
      5.195837022726673,
      4.8714114910099084,
      4.548441781154935
    ],
    "ax_ego": [
      -0.33517134034925755,
      -0.33169031580105646,
      -0.6206188228153566,
      -0.7944890280926585,
      -0.6369496360680995,
      -0.5080438534601088,
      -0.4108742938577006,
      -0.5845367699304528,
      -0.6613677632036932,
      -0.563289387017927
    ],
    "ay_ego": [
      -0.22372547626519346,
      -0.2288546498117498,
      -0.011061260708449316,
      0.10079030201281663,
      0.038246098571409815,
      0.22731355298908162,
      0.3499468462267791,
      0.6425066677053999,
      0.9296167425552617,
      0.9921187796038244
    ],
    "a_ego": [
      0.40298004432180695,
      0.4029800445886411,
      0.620717387158745,
      0.800856729221558,
      0.6380968601577808,
      0.5565788429424141,
      0.5397040675565945,
      0.8686184740417534,
      1.1408744918894944,
      1.1408744919444969
    ],
    "yaw": [
      -0.6804426110613202,
      -0.6958253281998446,
      -0.7043398963238455,
      -0.7028799921826404,
      -0.6962121082011279,
      -0.6820729490745144,
      -0.648634210877199,
      -0.5857287979079795,
      -0.4946537873926145,
      -0.3926695622524981
    ],
    "yaw_diff": [
      -0.030765434277048698,
      -0.017029136248001953,
      0.00291980828241023,
      0.013335767963025047,
      0.02827831825322691,
      0.06687747639463093,
      0.12581082593843895,
      0.18215002103072997,
      0.2039684502802328,
      0.2039684502802328
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.870409089362961,
    "v_std": 0.8267465756508361,
    "vy_max": 0.15882262636896471,
    "a_max": 1.1408744919444969,
    "ax_avg": -0.5447031210596311,
    "a_std": 0.25669204243216764,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "68b64b027ed2512a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "68b64b027ed2512a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e99ca54f8f4d585f": {
    "vx_ego": [
      4.317171409212648,
      3.905756903924707,
      3.448614002166223,
      2.928913563597833,
      2.4005157299529363,
      1.8766598514669943,
      1.4151536429815033,
      1.0922749485168304,
      0.8860269565288377,
      0.7238612572889855
    ],
    "vy_ego": [
      0.007954691317539897,
      0.006816492567903953,
      0.002031075968499829,
      0.01061880729962894,
      0.024107346964566068,
      0.023215967194494036,
      0.013330423788290524,
      0.0034004134980619716,
      0.003532374302281649,
      -0.004517059220461195
    ],
    "v_ego": [
      4.31717873774495,
      3.905762852136115,
      3.4486146002716107,
      2.9289328128340233,
      2.4006367767592725,
      1.8768034471518047,
      1.4152164263610691,
      1.0922802414991322,
      0.8860339978601082,
      0.7238753508912926
    ],
    "ax_ego": [
      -0.8228174495263142,
      -0.8227785664716629,
      -1.005791775741237,
      -1.0730116792014868,
      -1.0402371193813158,
      -1.0551732219775896,
      -0.7908498180924386,
      -0.5006668651402921,
      -0.32433225636565965,
      -0.32433072770896
    ],
    "ay_ego": [
      -0.018215509825628695,
      -0.019894401072890422,
      -0.001447507567803985,
      0.043477777888040525,
      -0.02472639563038992,
      0.01960512524301028,
      -0.05924975372069691,
      0.017662105311279985,
      -0.016235224249106534,
      -0.016265769404830266
    ],
    "a_ego": [
      0.8230190520535938,
      0.8230190499856085,
      1.0057928173470267,
      1.0738921644526866,
      1.0405309506110851,
      1.0553553379380622,
      0.7930661814078358,
      0.5009783027371886,
      0.32473834856028133,
      0.32473835035387283
    ],
    "yaw": [
      -0.7091976962646014,
      -0.7112381572053603,
      -0.711386819133148,
      -0.7107863381078525,
      -0.7140940978407455,
      -0.7142758051049058,
      -0.7142916840815391,
      -0.714675191758125,
      -0.7144427853546601,
      -0.7145369737038529
    ],
    "yaw_diff": [
      -0.004080921881517874,
      -0.0002973238555754598,
      0.001200962050591059,
      -0.0066155194657859795,
      -0.00036341452832067134,
      -3.1757953266486894e-05,
      -0.0007670153531718071,
      0.0004648128069297819,
      -0.00018837669838567273,
      -0.00018837669838567273
    ],
    "min_front_frame": [
      9,
      11.027757203114023
    ],
    "v_avg": 2.2995335243509376,
    "v_std": 1.2359803817011423,
    "vy_max": 0.024107346964566068,
    "a_max": 1.0738921644526866,
    "ax_avg": -0.7759989479606956,
    "a_std": 0.27877980599113356,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e99ca54f8f4d585f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.242831963792923,
      19.20154576257299,
      17.35726667647094,
      15.762839455345672,
      14.441829782048144,
      13.395021912232302,
      12.614668128310402,
      11.945608492754083,
      11.437670472365161,
      11.027757203114023
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e99ca54f8f4d585f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "86fbb46276605d14": {
    "vx_ego": [
      4.838989704037153,
      4.8866470173657035,
      4.9433664928622365,
      4.984931596757503,
      5.016238665111864,
      5.071830956506946,
      5.091486327106433,
      5.028223019770944,
      4.946906802081308,
      4.893409116223252
    ],
    "vy_ego": [
      -0.024662537541028318,
      0.0032699880256235048,
      0.029524477654649495,
      0.016546128695160256,
      -0.014140400094999173,
      -0.013613977957951828,
      -0.005469617814970462,
      -0.006898413635891165,
      0.011362129986353775,
      0.005322717555286793
    ],
    "v_ego": [
      4.8390525515368745,
      4.8866481114513265,
      4.94345466020817,
      4.984959056875604,
      5.016258595435257,
      5.071849228021078,
      5.09148926502166,
      5.028227751868954,
      4.946919850419667,
      4.893412011067431
    ],
    "ax_ego": [
      0.06583744404855801,
      0.12780131328938116,
      0.09476384856536241,
      0.05912470219507365,
      0.06775766439480696,
      0.16231747048032685,
      -0.07866565286755306,
      -0.17002498033218158,
      -0.15503202714721973,
      -0.06171118780013635
    ],
    "ay_ego": [
      0.8078448486092201,
      0.8003840888144977,
      0.8195276291493303,
      0.688578350261724,
      0.740823981897849,
      0.8278362381530826,
      0.8746864750554878,
      0.9233388821822832,
      0.945809602115439,
      0.9564426145592099
    ],
    "a_ego": [
      0.8105232066161343,
      0.8105232046683823,
      0.8249883162409278,
      0.691112056658552,
      0.743916173529803,
      0.84359931153515,
      0.8782167810888567,
      0.9388627084332336,
      0.9584313918560583,
      0.9584313985072489
    ],
    "yaw": [
      -0.9793301918465285,
      -0.9023097731768666,
      -0.8253579458103582,
      -0.7469043614720099,
      -0.669328198328996,
      -0.5915411499365264,
      -0.5099151080492068,
      -0.42105413899812205,
      -0.3310518802575143,
      -0.23301431974365283
    ],
    "yaw_diff": [
      0.15404083733932383,
      0.15390365473301681,
      0.15690716867669652,
      0.1551523262860277,
      0.15557409678493928,
      0.16325208377463918,
      0.17772193810216952,
      0.1800045174812155,
      0.19607512102772295,
      0.19607512102772295
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.970227108190603,
    "v_std": 0.07879361211820156,
    "vy_max": 0.029524477654649495,
    "a_max": 0.9584313985072489,
    "ax_avg": 0.011216859482641835,
    "a_std": 0.08504039556152004,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "86fbb46276605d14",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "86fbb46276605d14",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "c5510354351d5d5e": {
    "vx_ego": [
      3.3446665959689006,
      2.6764667436492147,
      2.060375434534061,
      1.6977497712079292,
      1.8343194025010678,
      2.45838208048854,
      3.394899120961247,
      4.480774319551101,
      5.460026171689622,
      6.308590520070787
    ],
    "vy_ego": [
      0.035536511215148,
      0.005703877187227535,
      -0.010159564998504012,
      -0.0004745527861936827,
      0.009225233987362302,
      0.016189542959823333,
      -0.004031172226094393,
      -7.703489054344814e-05,
      -0.04221209742997045,
      0.0661049322303775
    ],
    "v_ego": [
      3.3448553753218597,
      2.676472821471423,
      2.06040048242869,
      1.6977498375311137,
      1.8343426003159813,
      2.4584353875927696,
      3.3949015143083257,
      4.480774320213305,
      5.460189342569089,
      6.3089368527504055
    ],
    "ax_ego": [
      -1.3364133988101852,
      -1.335935616516276,
      -1.1286259582700142,
      -0.3217030445502189,
      0.8678544926545941,
      1.6278364275762152,
      2.1173045136283593,
      2.2263237279858386,
      1.6909510179045553,
      1.7037794846245893
    ],
    "ay_ego": [
      -0.08770662381650307,
      -0.0947061869375343,
      -0.0020478962509430376,
      0.0636197278537477,
      0.08343575906075612,
      0.13752134797777205,
      0.12409656231650912,
      -0.12544546880656382,
      -0.3319059977886072,
      -0.25809387555179075
    ],
    "a_ego": [
      1.3392883275757617,
      1.3392883309134629,
      1.1286278162263956,
      0.3279334058083517,
      0.8718560353124863,
      1.633635074333836,
      2.1209380849543433,
      2.2298551314910258,
      1.7232170311137545,
      1.7232170440269485
    ],
    "yaw": [
      1.0113875229312788,
      1.0061490262899737,
      1.0025951133145778,
      1.0058050737086104,
      1.0225383867431606,
      1.0460705341939847,
      1.07595017318781,
      1.0748566121729413,
      1.0605232880051498,
      1.017043850514935
    ],
    "yaw_diff": [
      -0.010476993282610092,
      -0.007107825950791735,
      0.006419920788065081,
      0.033466626069100336,
      0.04706429490164821,
      0.059759277987650794,
      -0.002187122029737587,
      -0.028666648335582856,
      -0.08695887498042953,
      -0.08695887498042953
    ],
    "min_front_frame": [
      0,
      10.277791588333532
    ],
    "v_avg": 3.371705853450296,
    "v_std": 1.4974287723411008,
    "vy_max": 0.0661049322303775,
    "a_max": 2.2298551314910258,
    "ax_avg": 0.6111371646227457,
    "a_std": 0.544246342186896,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c5510354351d5d5e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.713314731836153,
    "right_rear_min": 17.676211532893543,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      10.277791588333532,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c5510354351d5d5e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9696c1f82bc05ffc": {
    "vx_ego": [
      8.246390121820692,
      8.483180182671763,
      8.618699404592947,
      8.604674728968664,
      8.505770993542901,
      8.382777229195018,
      8.268875088669885,
      8.192504585931111,
      8.134975132010487,
      8.05512283440658
    ],
    "vy_ego": [
      -0.022749217440932057,
      -0.043476865415297716,
      -0.03568896164434676,
      -0.03156096894252158,
      -0.04247923808961307,
      -0.025252466040713628,
      -0.003700255649956574,
      -0.013758981173682017,
      -0.029011965786338578,
      -0.060888262570636176
    ],
    "v_ego": [
      8.24642150075753,
      8.483291592860713,
      8.61877329605055,
      8.604732609797503,
      8.505877067079236,
      8.382815264656118,
      8.26887591658729,
      8.19251613975006,
      8.135026864896503,
      8.05535295675473
    ],
    "ax_ego": [
      0.4737755904940403,
      0.4742899169558578,
      0.06802851744459885,
      -0.12397372702680945,
      -0.2715989797554248,
      -0.22112565660207018,
      -0.2346776252581383,
      -0.07097074323814669,
      -0.15930440148305952,
      -0.15923481903851464
    ],
    "ay_ego": [
      0.07596011439735104,
      0.07267959749275774,
      0.02116320094729925,
      0.033096393527993595,
      -0.06233464981965679,
      -0.04319783596844945,
      -0.10325643275796223,
      -0.10991473802323648,
      0.014030004586029168,
      0.014798962753525269
    ],
    "a_ego": [
      0.4798262697344063,
      0.4798262698286785,
      0.07124437002350333,
      0.12831545603502986,
      0.27866039254319386,
      0.22530559034354591,
      0.25638931081989114,
      0.13083614191228526,
      0.15992102225961358,
      0.15992103330334234
    ],
    "yaw": [
      0.8737109513506448,
      0.8806313672222892,
      0.8824534200463536,
      0.8835461999614063,
      0.8839671053257903,
      0.8787988218821683,
      0.8718140847681926,
      0.8665482171887855,
      0.8654817426276158,
      0.8703098173142043
    ],
    "yaw_diff": [
      0.013840831743288762,
      0.0036441056481288925,
      0.002185559830105266,
      0.0008418107287679888,
      -0.010336566887243936,
      -0.013969474227951473,
      -0.010531735158814115,
      -0.0021329491223394115,
      0.009656149373177048,
      0.009656149373177048
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.349368320919023,
    "v_std": 0.1885221644544844,
    "vy_max": 0.060888262570636176,
    "a_max": 0.4798262698286785,
    "ax_avg": -0.022479192750766666,
    "a_std": 0.1351361687676512,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9696c1f82bc05ffc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9696c1f82bc05ffc",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "883b090e1bca577a": {
    "vx_ego": [
      6.794127023799152,
      7.535326578598114,
      8.26037158075085,
      8.835097853081688,
      9.161637816733904,
      9.243103798474092,
      9.141513435781542,
      8.97812651130404,
      8.82648887570488,
      8.695706224375636
    ],
    "vy_ego": [
      0.0755324524933969,
      0.04532744727898752,
      0.019332615818497434,
      -0.004375079827170225,
      -0.019272199632756948,
      -0.0012470455094191202,
      0.002094371872639833,
      -0.011083138454782926,
      -0.029454093069187337,
      -0.04377904343387495
    ],
    "v_ego": [
      6.79454686987275,
      7.5354629070551455,
      8.260394203796249,
      8.835098936336376,
      9.161658086977896,
      9.243103882597484,
      9.141513675697695,
      8.978133352147232,
      8.82653801988869,
      8.695816427759338
    ],
    "ax_ego": [
      1.4823389168512056,
      1.485400921372006,
      1.4162973725110124,
      0.8823989098458148,
      0.4236121663783561,
      -0.09779220123618085,
      -0.3085778362075412,
      -0.34496929758976885,
      -0.26156283915927664,
      -0.2615636343312182
    ],
    "ay_ego": [
      -0.25122803448749065,
      -0.2324398748603805,
      -0.23675284827281257,
      -0.12249964522375692,
      0.016831962716306853,
      -0.02425333799846666,
      -0.006501152157871837,
      -0.03770152423471017,
      -0.02815889543747495,
      -0.028151512997431877
    ],
    "a_ego": [
      1.5034773658835217,
      1.5034773668525623,
      1.4359492186518599,
      0.8908613804498592,
      0.4239464382120071,
      0.10075484616972802,
      0.30864631210806315,
      0.3470233727131343,
      0.2630742142843351,
      0.2630742147923278
    ],
    "yaw": [
      -2.833821657909538,
      -2.8464830772991645,
      -2.8580308528937577,
      -2.865704580097784,
      -2.866976683055713,
      -2.86912185641651,
      -2.8703183477261387,
      -2.87008371064286,
      -2.8698693751911555,
      -2.869841142396006
    ],
    "yaw_diff": [
      -0.02532283877925323,
      -0.02309555118918638,
      -0.01534745440805274,
      -0.002544205915858022,
      -0.004290346721593785,
      -0.0023929826192574666,
      0.0004692741665577316,
      0.00042867090340870107,
      5.646559029859333e-05,
      5.646559029859333e-05
    ],
    "min_front_frame": [
      7,
      31.160196246630523
    ],
    "v_avg": 8.547226636212885,
    "v_std": 0.7590400595822582,
    "vy_max": 0.0755324524933969,
    "a_max": 1.5034773668525623,
    "ax_avg": 0.4415582478434409,
    "a_std": 0.5444168995696057,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "883b090e1bca577a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      31.68194491601791,
      32.17099708787102,
      32.46114283242961,
      32.487283358863365,
      32.33537635581584,
      32.090069802638396,
      31.689573578841237,
      31.160196246630523,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "883b090e1bca577a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "22a3a112a0485c4c": {
    "vx_ego": [
      1.7807814734578058,
      1.261318269280275,
      0.8090366713913716,
      0.5238613319698436,
      0.3541804559279848,
      0.2118882561189045,
      0.07908087557737005,
      -0.0020511402300901127,
      -0.011552603620201926,
      -0.0036024339007155975
    ],
    "vy_ego": [
      0.015066865495250825,
      -0.015950435986708977,
      -0.0026381438931382117,
      0.020915178449131377,
      0.012529530908814396,
      -0.00815316964707799,
      -0.0015363444077023877,
      0.01446098280718422,
      0.0043378422202285175,
      0.001514788068552106
    ],
    "v_ego": [
      1.7808452113101818,
      1.2614191186232886,
      0.8090409726702542,
      0.5242786852646002,
      0.35440200973774133,
      0.2120450594953924,
      0.07909579784174732,
      0.014605724904747854,
      0.0123401590562318,
      0.0039079550792777565
    ],
    "ax_ego": [
      -1.038993396787482,
      -1.0388609027571076,
      -0.7704362476635975,
      -0.37021628215324653,
      -0.3084821538451474,
      -0.26067181325156585,
      -0.2706268548284359,
      -0.05390847492506835,
      0.015900608463233594,
      0.0159010912368805
    ],
    "ay_ego": [
      -0.06695251502488919,
      -0.06897794743416413,
      0.11697094332033764,
      -0.023883307368676276,
      -0.010378705989782189,
      -0.07276384511618668,
      0.09884537285482131,
      -0.034852495316290685,
      -0.005645480649243282,
      -0.005644115839037278
    ],
    "a_ego": [
      1.0411483649490827,
      1.0411483719958183,
      0.7792651752100911,
      0.37098585949095003,
      0.3086566972851286,
      0.2706369734163306,
      0.28811334972392366,
      0.06419361415685199,
      0.016873079187333773,
      0.01687307755354871
    ],
    "yaw": [
      0.869376171670968,
      0.867426634189508,
      0.8661147242450778,
      0.8656581999246473,
      0.8652411982410388,
      0.8648696664421673,
      0.8642123914394209,
      0.8642906582142739,
      0.8643776918904769,
      0.8642916209760532
    ],
    "yaw_diff": [
      -0.0038990749629199684,
      -0.0026238198888604014,
      -0.0009130486408610583,
      -0.0008340033672169511,
      -0.00074306359774301,
      -0.0013145500054929649,
      0.00015653354970601718,
      0.00017406735240599325,
      -0.00017214182884739415,
      -0.00017214182884739415
    ],
    "min_front_frame": [
      9,
      8.244280663143234
    ],
    "v_avg": 0.5051980693983464,
    "v_std": 0.5759299712079422,
    "vy_max": 0.020915178449131377,
    "a_max": 1.0411483719958183,
    "ax_avg": -0.40803944265115366,
    "a_std": 0.375079397927504,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "22a3a112a0485c4c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 28.314112998468417,
    "right_rear_min": 24.73711691587645,
    "speed_mode": "decelerating",
    "front_frame": [
      10.34792056123368,
      9.579800444144063,
      9.071880512580995,
      8.783096282300713,
      8.527425685930886,
      8.410049827420698,
      8.328187403770887,
      8.281687833711798,
      8.244745868248664,
      8.244280663143234
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "22a3a112a0485c4c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "184c11a8cc875403": {
    "vx_ego": [
      8.970262440333595,
      8.960929125319808,
      8.971095464650677,
      8.995403941228641,
      9.006195140639242,
      9.006807751984311,
      8.990801957065994,
      8.998590082956726,
      9.078817114587743,
      9.194100920720498
    ],
    "vy_ego": [
      0.09277762076379847,
      -0.007291007323003917,
      -0.0630379832158372,
      -0.05460760786204544,
      -0.08911579527514801,
      -0.12049212795074693,
      -0.11289435724277608,
      -0.07962816793611305,
      0.016386244647013104,
      0.05795083150137881
    ],
    "v_ego": [
      8.970742217641426,
      8.960932091461949,
      8.971316939179212,
      8.995569690503665,
      9.006636027743179,
      9.007613681442093,
      8.991510716619258,
      8.998942389315314,
      9.07883190224078,
      9.194283552254912
    ],
    "ax_ego": [
      -0.018693054989340152,
      -0.01845443090304283,
      0.05854588726017815,
      0.035847689562010676,
      -0.0012104621487922795,
      -0.014595321988813525,
      -0.06662133147597474,
      0.08118843021806704,
      0.23075788872431233,
      0.2319498567463837
    ],
    "ay_ego": [
      -0.2196102047081206,
      -0.21963038384164307,
      -0.396300499254016,
      -0.6835148449762547,
      -0.8027254248452462,
      -0.6495293208946791,
      -0.6556072817814353,
      -0.5052342296654604,
      -0.11299154677104187,
      -0.11052404295009774
    ],
    "a_ego": [
      0.22040433824400354,
      0.22040433645094792,
      0.40060168075541547,
      0.6844542352486744,
      0.8027263374971539,
      0.6496932831158563,
      0.658983542838874,
      0.5117159251253816,
      0.2569363595332795,
      0.2569363736700255
    ],
    "yaw": [
      2.165206911382552,
      2.1641203631690873,
      2.153152239589873,
      2.1221752467452086,
      2.0847519947843365,
      2.0479354469530318,
      2.010863568832995,
      1.9748304083754125,
      1.9470527431440974,
      1.9363873256346555
    ],
    "yaw_diff": [
      -0.0021730964269295328,
      -0.021936247158429012,
      -0.061953985689328306,
      -0.0748465039217443,
      -0.07363309566260945,
      -0.07414375624007352,
      -0.07206632091516507,
      -0.05555533046263017,
      -0.021330835018883665,
      -0.021330835018883665
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.017637920840178,
    "v_std": 0.06652026862573052,
    "vy_max": 0.12049212795074693,
    "a_max": 0.8027263374971539,
    "ax_avg": 0.05187151510049883,
    "a_std": 0.21130747361099633,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "184c11a8cc875403",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "184c11a8cc875403",
    "road_shape": "Straight"
  },
  "a911eef9f873522a": {
    "vx_ego": [
      8.258981082334076,
      8.04803509427643,
      7.887282923083327,
      7.770705072207666,
      7.654273410991025,
      7.5356817755966805,
      7.391618980902697,
      7.259286043854711,
      7.124218637303908,
      6.9570254002057
    ],
    "vy_ego": [
      -0.024158470584507263,
      -0.03164388888858882,
      -0.018492824994878365,
      0.02724584014106135,
      0.012583800045317783,
      0.009421399403437114,
      -0.0014669156630473523,
      0.005269029111525825,
      -0.004570067331604921,
      0.011072266672280673
    ],
    "v_ego": [
      8.259016415412498,
      8.0480973039849,
      7.887304602545673,
      7.77075283708335,
      7.6542837550111615,
      7.5356876650924605,
      7.391619126462253,
      7.2592879560719705,
      7.12422010311471,
      6.957034211084243
    ],
    "ax_ego": [
      -0.42206853469300964,
      -0.4205728166282663,
      -0.22175664583885324,
      -0.2446002904264396,
      -0.22169847466366388,
      -0.25271771824492895,
      -0.32369166912027403,
      -0.20586158553342412,
      -0.3343783752986971,
      -0.3343890603326331
    ],
    "ay_ego": [
      0.1467506554420462,
      0.1509837976112933,
      0.13520525225689806,
      0.07904577195378132,
      0.0585760964358103,
      0.13172193019928324,
      0.13284325919731577,
      -0.03520435287360235,
      0.025421417367753135,
      0.02528051619421484
    ],
    "a_ego": [
      0.4468529991513702,
      0.4468529973355458,
      0.2597238345080213,
      0.2570555117877611,
      0.22930628587514246,
      0.28498581019122365,
      0.34989088037848914,
      0.20885003916586756,
      0.3353433260531389,
      0.3353433287977969
    ],
    "yaw": [
      -0.6096866677951616,
      -0.5996394313265081,
      -0.592287378258598,
      -0.5912883685011159,
      -0.584923942883665,
      -0.5782470524139218,
      -0.5679387612043503,
      -0.5655212473183905,
      -0.5644955047240883,
      -0.5649168949009441
    ],
    "yaw_diff": [
      0.02009447293730693,
      0.014704106135820183,
      0.0019980195149642554,
      0.01272885123490175,
      0.01335378093948636,
      0.020616582419143104,
      0.0048350277719195756,
      0.0020514851886044294,
      -0.0008427803537116585,
      -0.0008427803537116585
    ],
    "min_front_frame": [
      9,
      42.085384170289664
    ],
    "v_avg": 7.588730397586322,
    "v_std": 0.393939825361891,
    "vy_max": 0.03164388888858882,
    "a_max": 0.4468529991513702,
    "ax_avg": -0.298173517078019,
    "a_std": 0.0792078469308178,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a911eef9f873522a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      68.4247471263036,
      65.92036263951582,
      63.45013336045369,
      60.770112533713146,
      57.64756166466947,
      54.732221001977116,
      51.75815261043984,
      48.770472119163124,
      45.519191884918314,
      42.085384170289664
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a911eef9f873522a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3e11d77a9aca5bb7": {
    "vx_ego": [
      6.7099677538685265,
      6.74778320554285,
      6.7948218633890125,
      6.876882590380955,
      6.959592838069694,
      6.980281232760566,
      6.917027691680593,
      6.807883802573525,
      6.666305165184778,
      6.490521926411271
    ],
    "vy_ego": [
      0.03408350375464231,
      0.015568630876112266,
      -0.019533293887147973,
      -0.0441450661781877,
      -0.0739372779599008,
      -0.08151096580123873,
      -0.02849382538510037,
      -0.010268015610464865,
      -0.017995711467717612,
      -0.042425557259066604
    ],
    "v_ego": [
      6.710054317454042,
      6.747801165659337,
      6.794849939826443,
      6.877024280075834,
      6.959985574179238,
      6.980757131284201,
      6.917086379796137,
      6.807891545955146,
      6.666329454879985,
      6.49066058310972
    ],
    "ax_ego": [
      0.07549691470251324,
      0.07649027972900677,
      0.11159729594493258,
      0.21601862839886332,
      0.11375691794067833,
      -0.03213692938712031,
      -0.2216862970205175,
      -0.2149109951976709,
      -0.35145147802781684,
      -0.3514954871059133
    ],
    "ay_ego": [
      -0.13588746932855017,
      -0.13533079279272847,
      -0.11944827117704987,
      -0.10718398630311674,
      -0.1493087306439756,
      0.04097447551386544,
      0.0761189860115781,
      -0.025587529685918584,
      -0.02892543768920222,
      -0.028385694450604626
    ],
    "a_ego": [
      0.15545156303529475,
      0.15545155634772562,
      0.16346818023519719,
      0.24114820077112936,
      0.18770650874670672,
      0.05207388860138174,
      0.23439051669830827,
      0.21642887407247927,
      0.3526397912225008,
      0.35263979512424054
    ],
    "yaw": [
      -0.5561527526386548,
      -0.5634779560410706,
      -0.5677033379241345,
      -0.5724002705978458,
      -0.577353494128395,
      -0.5801453338465437,
      -0.5835507504217552,
      -0.5843658570925918,
      -0.5852394731136554,
      -0.5837038362536338
    ],
    "yaw_diff": [
      -0.01465040680483165,
      -0.008450763766127745,
      -0.009393865347422592,
      -0.009906447061098334,
      -0.00558367943629734,
      -0.006810833150423079,
      -0.0016302133416732367,
      -0.0017472320421272336,
      0.0030712737200433438,
      0.0030712737200433438
    ],
    "min_front_frame": [
      9,
      32.96628849934865
    ],
    "v_avg": 6.795244037222008,
    "v_std": 0.1421783126564315,
    "vy_max": 0.08151096580123873,
    "a_max": 0.35263979512424054,
    "ax_avg": -0.057832115002304466,
    "a_std": 0.08708593298619942,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3e11d77a9aca5bb7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 43.25536631193033,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      58.57023460507377,
      55.19671424668273,
      51.862636416592935,
      48.55118690820458,
      45.06101510745028,
      46.392902396248594,
      42.918398198535954,
      39.562386183143225,
      36.20285202133904,
      32.96628849934865
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3e11d77a9aca5bb7",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "4abad0cd5fee5f43": {
    "vx_ego": [
      4.733637559487052,
      4.280765437658204,
      3.8271128322836003,
      3.368860289423195,
      2.8671116639683256,
      2.2842856225471726,
      1.7401506519503067,
      1.347081645606891,
      0.9496607047847693,
      0.47685998320702805
    ],
    "vy_ego": [
      0.015555954851242698,
      0.019792441994978524,
      0.0150475473604023,
      0.01558170672825393,
      0.020659770019041207,
      0.011416243787135169,
      0.025688623486265626,
      0.02802443571450638,
      -0.0019279701907149328,
      -0.025034082059944868
    ],
    "v_ego": [
      4.7336631198594885,
      4.280811193338145,
      3.8271424143492965,
      3.368896323610612,
      2.867186097859792,
      2.284314150023576,
      1.7403402531860535,
      1.3473731216437732,
      0.9496626618338541,
      0.47751664771899954
    ],
    "ax_ego": [
      -0.905716907324957,
      -0.905718182976133,
      -0.9088347612444057,
      -0.9241632609903498,
      -1.0827616054948566,
      -1.248492025294456,
      -0.9280312119353699,
      -0.6440091418403137,
      -0.9456422368715335,
      -0.9456039414818739
    ],
    "ay_ego": [
      0.002037727831575683,
      0.0013569447797325516,
      -0.031181054411937657,
      0.027811388107851803,
      -0.016723021308207103,
      -0.02778248725799661,
      0.07862285860004885,
      -0.07695529705354501,
      -0.046983315534415065,
      -0.04774788240116518
    ],
    "a_ego": [
      0.9057191996137657,
      0.9057191994612477,
      0.9093694966296242,
      0.9245816385116044,
      1.0828907395372231,
      1.2488011065906746,
      0.9313557237815606,
      0.6485906972185899,
      0.9468086776609115,
      0.9468086788891674
    ],
    "yaw": [
      -3.1190710294962463,
      -3.1198226753242135,
      -3.1204913769239413,
      -3.120873770418716,
      -3.1216086697082743,
      -3.1223338441584008,
      -3.1231260160790995,
      -3.124398417399571,
      -3.1252687259885343,
      -3.1260772527399405
    ],
    "yaw_diff": [
      -0.0015032916559345466,
      -0.0013374031994555224,
      -0.0007647869895492931,
      -0.0014697985791167767,
      -0.0014503489002528624,
      -0.0015843438413973843,
      -0.0025448026409433666,
      -0.0017406171779263957,
      -0.0016170535028123822,
      -0.0016170535028123822
    ],
    "min_front_frame": [
      9,
      10.289149092964646
    ],
    "v_avg": 2.587690598342359,
    "v_std": 1.3849510200168615,
    "vy_max": 0.02802443571450638,
    "a_max": 1.2488011065906746,
    "ax_avg": -0.943897327545425,
    "a_std": 0.14287495067446476,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4abad0cd5fee5f43",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.416229187248778,
      18.824021436734398,
      17.213341529529043,
      15.725524329173181,
      14.184062969153963,
      12.929011522988196,
      11.967720087472943,
      11.210109038934252,
      10.602325690734318,
      10.289149092964646
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4abad0cd5fee5f43",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "38a5d409f1095059": {
    "vx_ego": [
      5.006012629016225,
      4.677360238738068,
      4.435313011164533,
      4.362327871351765,
      4.498549250297745,
      4.750637848065158,
      5.058338541971662,
      5.408643551072584,
      5.742007265302525,
      6.059758796573439
    ],
    "vy_ego": [
      -0.014687820590078005,
      0.06469228299149998,
      0.09860723650031833,
      0.06431876852522755,
      0.039340378537186416,
      0.10434247508084271,
      0.13829141745839632,
      0.12120117879969367,
      0.11363518060761235,
      0.0002899491314456437
    ],
    "v_ego": [
      5.006034176266041,
      4.677807594846809,
      4.4364090088827055,
      4.362802008016983,
      4.498721265286154,
      4.751783593091667,
      5.060228583901981,
      5.410001366755972,
      5.743131583818945,
      6.059758803510225
    ],
    "ax_ego": [
      -0.7757342205800042,
      -0.5116968718396578,
      -0.3611830477246356,
      0.127087931068121,
      0.45597423701416917,
      0.6021402860013136,
      0.685339319411356,
      0.7542038704485241,
      0.6151497931521144,
      0.6679976792766411
    ],
    "ay_ego": [
      -1.4600751067421491,
      -1.572179757827747,
      -1.8825823423287138,
      -1.7974681149027347,
      -1.7694890256229654,
      -1.6880147898636435,
      -1.404789773677874,
      -1.0406904239933454,
      -0.9293598981043614,
      -0.8921312679838781
    ],
    "a_ego": [
      1.6533550430282555,
      1.6533550373630597,
      1.9169166569289138,
      1.8019553175134966,
      1.8272941516408256,
      1.792196098317409,
      1.5630496764214352,
      1.2852470722748148,
      1.1145039650982127,
      1.1145039698599106
    ],
    "yaw": [
      -1.9693408955773362,
      -2.143055203095132,
      -2.3402322887086777,
      -2.543715305095494,
      -2.740547424411874,
      -2.9416285197574576,
      -3.1061796966397743,
      3.0633876823565895,
      2.9767314234852638,
      2.91872063872088
    ],
    "yaw_diff": [
      -0.3474286150355921,
      -0.39435417122709104,
      -0.4069660327736324,
      -0.39366423863276,
      -0.40216219069116743,
      -0.32910235376463337,
      -0.22723585636644472,
      -0.17331251774265155,
      -0.11602156952876719,
      -0.11602156952876719
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.000667798437748,
    "v_std": 0.5465756685045461,
    "vy_max": 0.13829141745839632,
    "a_max": 1.9169166569289138,
    "ax_avg": 0.22592789762279414,
    "a_std": 0.2827821923981356,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "38a5d409f1095059",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "38a5d409f1095059",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "3078139bae8e592d": {
    "vx_ego": [
      11.939743414293696,
      11.63623938328003,
      11.218004562903536,
      10.613581661660165,
      9.973221419246068,
      9.273952115008358,
      8.463047166654693,
      7.608361969356781,
      6.69904043134781,
      5.761642083148813
    ],
    "vy_ego": [
      0.0230987667522273,
      0.014497235965466038,
      0.013435424973845839,
      0.008869805942800402,
      0.007093948948046241,
      0.013364764229169157,
      0.008928557766684192,
      -0.0008057189543712595,
      -0.009716401848951436,
      -0.013305283697078576
    ],
    "v_ego": [
      11.939765757844462,
      11.636248414108728,
      11.218012608477885,
      10.61358536792287,
      9.973223942207467,
      9.273961745035985,
      8.46305187649029,
      7.608362012019252,
      6.6990474777611135,
      5.7616574459859775
    ],
    "ax_ego": [
      -0.6070006379447643,
      -0.6069936679248532,
      -1.0659396320020809,
      -1.351761732249792,
      -1.2096664087155933,
      -1.5874094459979624,
      -1.6562751122408004,
      -1.7624743693213882,
      -1.8747916412667849,
      -1.874792573449937
    ],
    "ay_ego": [
      -0.023942768503132643,
      -0.02411855766178022,
      0.01257150268146166,
      -0.02402602188240937,
      -0.0060425929724395935,
      0.02890106516250565,
      -0.011003541037929412,
      0.003823566034514392,
      -0.004888970789294764,
      -0.004516590466111168
    ],
    "a_ego": [
      0.6074726583385835,
      0.6074726477172051,
      1.0660137624591914,
      1.3519752329471322,
      1.2096815007698147,
      1.5876725168658319,
      1.6563116631068107,
      1.7624785167973098,
      1.874798015840422,
      1.8747980139344282
    ],
    "yaw": [
      -1.5914030321216366,
      -1.591692631909678,
      -1.5918515377043223,
      -1.5916961264183516,
      -1.5922548552221214,
      -1.5923123681597202,
      -1.5913085966917757,
      -1.5903222253063087,
      -1.5891162202794669,
      -1.5889175968406037
    ],
    "yaw_diff": [
      -0.0005791995760828783,
      -0.00031781158928856357,
      0.00031082257194148255,
      -0.0011174576075396736,
      -0.00011502587519762741,
      0.0020075429358890062,
      0.001972742770933955,
      0.002412010053683744,
      0.0003972468777262428,
      0.0003972468777262428
    ],
    "min_front_frame": [
      9,
      19.135579122096157
    ],
    "v_avg": 9.318691664785403,
    "v_std": 2.028005344516789,
    "vy_max": 0.0230987667522273,
    "a_max": 1.874798015840422,
    "ax_avg": -1.3597105221113956,
    "a_std": 0.45533953502099955,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3078139bae8e592d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.009396347222592,
    "right_rear_min": 46.72838592194158,
    "speed_mode": "decelerating",
    "front_frame": [
      32.77513199874646,
      31.878199109497398,
      30.677912694646892,
      29.24048536358126,
      27.579482033747897,
      25.79518511615919,
      23.83265687641287,
      22.04721724092605,
      20.43000211359937,
      19.135579122096157
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3078139bae8e592d",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "9d1bd4fa169c5ebe": {
    "vx_ego": [
      4.109720759562348,
      4.203145140315795,
      4.343447284423715,
      4.525519382553013,
      4.759280406489057,
      5.0324469190377465,
      5.315197236161792,
      5.612721725498515,
      5.983859695907695,
      6.441014594561217
    ],
    "vy_ego": [
      0.09912617464868334,
      -0.006927004938039882,
      0.011753908114632061,
      0.03208981018843987,
      0.06711489681314553,
      0.07096603271971036,
      0.07519295396350589,
      0.13515293123120742,
      0.17540495978657544,
      -0.03162390788213276
    ],
    "v_ego": [
      4.11091604391019,
      4.203150848346713,
      4.343463188162611,
      4.525633153248387,
      4.759753606749501,
      5.032947264847158,
      5.31572907884024,
      5.614348714027605,
      5.9864299678711905,
      6.441092227169266
    ],
    "ax_ego": [
      0.12183826622791949,
      0.2730410301842861,
      0.32265300255405527,
      0.4186336981301024,
      0.5740166285891312,
      0.6035711502625782,
      0.6021648710417083,
      0.6696344617493531,
      0.8634232400414241,
      0.9861285009167424
    ],
    "ay_ego": [
      -1.2417846847305918,
      -1.217506613245948,
      -1.6045840994009324,
      -1.5704340866087916,
      -1.7833880213846391,
      -2.086498846285038,
      -2.217742099112248,
      -2.1502185170380437,
      -1.4964341875363767,
      -1.4185787033485857
    ],
    "a_ego": [
      1.247747476995598,
      1.2477474734343141,
      1.6367025056825228,
      1.6252745594492257,
      1.8734908392396934,
      2.172044099224987,
      2.2980388486906564,
      2.2520768156027957,
      1.7276617056215857,
      1.7276617023927041
    ],
    "yaw": [
      2.12205080560745,
      1.999240888752814,
      1.8299283312710766,
      1.6463656707296024,
      1.4579814625198733,
      1.2600834201899835,
      1.0520454285124101,
      0.841671846640369,
      0.6771832937936955,
      0.5930444846460111
    ],
    "yaw_diff": [
      -0.24561983370927187,
      -0.3386251149634747,
      -0.3671253210829484,
      -0.37676841641945824,
      -0.39579608465977945,
      -0.41607598335514684,
      -0.4207471637440823,
      -0.32897710569334704,
      -0.1682776182953687,
      -0.1682776182953687
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.033346409317286,
    "v_std": 0.7520696407928907,
    "vy_max": 0.17540495978657544,
    "a_max": 2.2980388486906564,
    "ax_avg": 0.5435104849697301,
    "a_std": 0.3563973872479264,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "9d1bd4fa169c5ebe",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.513830305761301,
    "right_rear_min": 8.13426690841859,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9d1bd4fa169c5ebe",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "badd4b6320d05d87": {
    "vx_ego": [
      1.3468854068383311,
      2.1569954169594068,
      2.932030903917716,
      3.6673257034216666,
      4.364001367115642,
      5.0120139639140024,
      5.602626499116937,
      6.015736301446153,
      6.1471124155177765,
      6.131581206450245
    ],
    "vy_ego": [
      0.0143358442371474,
      0.01176161568773304,
      -0.0001624955835153319,
      0.003724536700052239,
      0.013581733760750225,
      0.01256136459115531,
      -0.009078633243788659,
      -0.007248344085356351,
      0.017477163460043688,
      0.010816702456456717
    ],
    "v_ego": [
      1.3469616978904961,
      2.157027483456683,
      2.932030908420536,
      3.6673275947412787,
      4.364022501738407,
      5.012029704855045,
      5.602633854731976,
      6.015740668199471,
      6.147137260567344,
      6.131590747297627
    ],
    "ax_ego": [
      1.620154448658126,
      1.6201611661624142,
      1.4798741566182838,
      1.4613286390487559,
      1.3254044348841085,
      1.266651032060461,
      1.0958107279893716,
      0.5566381834488352,
      -0.031043946265050495,
      -0.030998832720738865
    ],
    "ay_ego": [
      0.004781394427064045,
      0.001052112783920811,
      -0.011962406109137125,
      0.04286634212738727,
      -0.011383378340417805,
      0.005137260554351042,
      -0.09599971501123727,
      0.1050326828648967,
      -0.031098285081917726,
      -0.031143254155013306
    ],
    "a_ego": [
      1.620161504060439,
      1.6201615077769451,
      1.4799225042503397,
      1.46195722050663,
      1.325453317666414,
      1.2666614498222617,
      1.1000077712720193,
      0.5664608828004076,
      0.043941209982698126,
      0.04394120969445543
    ],
    "yaw": [
      -0.5821184373298871,
      -0.5798166413150607,
      -0.5762271197418292,
      -0.5750645034118472,
      -0.5755570952104581,
      -0.5756723490376496,
      -0.5758742027342033,
      -0.5758013789008065,
      -0.5768155172697234,
      -0.578265172158765
    ],
    "yaw_diff": [
      0.00460359202965277,
      0.0071790431464631155,
      0.0023252326599638717,
      -0.0009851835972216616,
      -0.00023050765438314968,
      -0.00040370739310735537,
      0.0001456476667935913,
      -0.0020282767378336786,
      -0.002899309778083392,
      -0.002899309778083392
    ],
    "min_front_frame": [
      0,
      11.921138928073852
    ],
    "v_avg": 4.337650242189886,
    "v_std": 1.6579671808333116,
    "vy_max": 0.017477163460043688,
    "a_max": 1.6201615077769451,
    "ax_avg": 1.0363980009884566,
    "a_std": 0.582070816631472,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "badd4b6320d05d87",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.94686749607035,
    "right_rear_min": 10.83202053263293,
    "speed_mode": "accelerating",
    "front_frame": [
      11.921138928073852,
      12.74595114815118,
      13.717198824817757,
      14.599623524521693,
      15.497549902841094,
      16.436623467610314,
      16.811535620898994,
      17.084847017770514,
      17.090791258129816,
      17.305012278183195
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "badd4b6320d05d87",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "398010cdaac05adc": {
    "vx_ego": [
      6.526809925451836,
      6.2790674746645,
      6.115500299618129,
      6.01597598685948,
      5.905119555468309,
      5.734683828225163,
      5.456827249255647,
      5.115634488218841,
      4.83087312115171,
      4.626623386286863
    ],
    "vy_ego": [
      0.09570373453240366,
      0.07208170650729873,
      0.06010536724932125,
      0.06411654441212056,
      0.035315407615606365,
      0.04124432098770159,
      0.06826829957575464,
      0.056058805033255776,
      0.047387524807206205,
      0.03981110090101403
    ],
    "v_ego": [
      6.527511547885615,
      6.279481198618452,
      6.1157956612203455,
      6.01631764501653,
      5.905225155943615,
      5.734832142593272,
      5.457254271971017,
      5.115941634408646,
      4.83110553498611,
      4.626794666104329
    ],
    "ax_ego": [
      -0.4953494583279853,
      -0.49529075933620204,
      -0.15904414770256925,
      -0.23901743320545754,
      -0.20442104629258043,
      -0.4773395755772859,
      -0.6343133760891446,
      -0.7305576556525163,
      -0.4087367933099668,
      -0.4087125770225105
    ],
    "ay_ego": [
      -0.05956908510273812,
      -0.06005521253389273,
      0.019406948405932073,
      -0.006676574047459485,
      -0.10730758898714671,
      0.14700522374873093,
      -0.0221410676603912,
      -0.01810431405887758,
      0.008818402975677181,
      0.009877249218235018
    ],
    "a_ego": [
      0.4989183918897015,
      0.49891839496687496,
      0.16022381397553603,
      0.2391106647917164,
      0.23087417097108917,
      0.49946331819435735,
      0.6346996817099806,
      0.730781947245581,
      0.4088319097579786,
      0.40883191004189084
    ],
    "yaw": [
      -2.4927453622584137,
      -2.4937267951657818,
      -2.4934320434564228,
      -2.493568419733924,
      -2.493517197087872,
      -2.49283467537358,
      -2.4920881435571856,
      -2.4916826998975905,
      -2.4903954980566754,
      -2.48780488871005
    ],
    "yaw_diff": [
      -0.0019628658147361477,
      0.0005895034187179959,
      -0.00027275255500214257,
      0.00010244529210368114,
      0.0013650434285841229,
      0.0014930636327887825,
      0.0008108873191901012,
      0.002574403681830262,
      0.0051812186932505,
      0.0051812186932505
    ],
    "min_front_frame": [
      9,
      13.222351684574019
    ],
    "v_avg": 5.661025945874793,
    "v_std": 0.6023665431149395,
    "vy_max": 0.09570373453240366,
    "a_max": 0.730781947245581,
    "ax_avg": -0.42527828225162184,
    "a_std": 0.17217730148347762,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "398010cdaac05adc",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.532908279060406,
    "speed_mode": "decelerating",
    "front_frame": [
      17.090377038862083,
      16.68843057753341,
      16.56861870025719,
      16.13867721067926,
      15.562563743026434,
      14.966852852968902,
      14.438814201504085,
      13.83167044650757,
      13.42549482692595,
      13.222351684574019
    ],
    "safe_frame": [
      0,
      0,
      1,
      0,
      0,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "398010cdaac05adc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0a177b48593d521c": {
    "vx_ego": [
      3.2245597881347705,
      2.865879877255377,
      2.5433690295592877,
      2.267250295406401,
      1.9877010096441385,
      1.6708053125985214,
      1.283972859941632,
      0.8507073585797069,
      0.42452472132450025,
      0.005605117058507979
    ],
    "vy_ego": [
      -0.014093965292762967,
      -0.015982053971917987,
      -0.015339346318108849,
      -0.017341755523639146,
      -0.005999528393960674,
      0.0012070490523884425,
      -0.010185314556299674,
      -0.007201631393616625,
      0.0018565015541822105,
      0.005022135541018086
    ],
    "v_ego": [
      3.224590589069166,
      2.8659244401949007,
      2.543415285805057,
      2.26731661629007,
      1.9877100638879095,
      1.6708057486060004,
      1.2840132576026249,
      0.8507378406044905,
      0.42452878066588756,
      0.0075259007854165975
    ],
    "ax_ego": [
      -0.717388654193056,
      -0.7173811954794608,
      -0.5727030202927729,
      -0.5315778600560551,
      -0.5863981256256345,
      -0.6811952667853043,
      -0.8661257551182779,
      -0.8668914092106261,
      -0.8378395512819988,
      -0.8378393395926119
    ],
    "ay_ego": [
      -0.008585027281654112,
      -0.009186901225282817,
      0.005486755656550352,
      0.013381880763680937,
      0.059129680050582806,
      -0.028002288558722666,
      -0.015395650411363038,
      0.030642158429926736,
      0.006331676283022225,
      0.0063615707107502195
    ],
    "a_ego": [
      0.7174400210877219,
      0.7174400175496649,
      0.5727293024982212,
      0.5317462703532093,
      0.5893717679021805,
      0.6817705769943638,
      0.8662625755109106,
      0.8674327969568766,
      0.8378634756432424,
      0.8378634904033544
    ],
    "yaw": [
      -2.055566991010769,
      -2.056405976358217,
      -2.0569895317341924,
      -2.0541899110963593,
      -2.0510106174933718,
      -2.0506981583261936,
      -2.0503363615603756,
      -2.0495607247493375,
      -2.0492684079577,
      -2.0492327199354348
    ],
    "yaw_diff": [
      -0.0016779706948968354,
      -0.0011671107519504176,
      0.005599241275666245,
      0.0063585872059750415,
      0.0006249183343562947,
      0.0007235935316360909,
      0.001551273622076188,
      0.0005846335832746519,
      7.137604453077984e-05,
      7.137604453077984e-05
    ],
    "min_front_frame": [
      9,
      8.794653693399805
    ],
    "v_avg": 1.7126568523511523,
    "v_std": 1.0091861954627757,
    "vy_max": 0.017341755523639146,
    "a_max": 0.8674327969568766,
    "ax_avg": -0.7215340177635798,
    "a_std": 0.12105351954181272,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0a177b48593d521c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.182768741350251,
    "right_rear_min": 8.523391522386657,
    "speed_mode": "decelerating",
    "front_frame": [
      14.911418054644475,
      14.187008829409862,
      13.393794922248377,
      12.484445287701917,
      11.424995458705641,
      10.507344586822622,
      9.751262785067338,
      9.2182313084074,
      8.92038715648096,
      8.794653693399805
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0a177b48593d521c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c93a302d2fb2508f": {
    "vx_ego": [
      7.732934426481901,
      7.663431424024839,
      7.581172810027626,
      7.517219144361606,
      7.475289757619221,
      7.437055281888035,
      7.423781576355211,
      7.427014566214588,
      7.436111198631872,
      7.491285552871021
    ],
    "vy_ego": [
      0.042714168793776874,
      -0.04189939902745854,
      -0.05879898253486404,
      -0.07713573378714145,
      -0.06704483040266229,
      -0.06104197335618622,
      -0.06233624978051022,
      -0.05197129948171231,
      -0.04922532154443049,
      -0.032337068236693245
    ],
    "v_ego": [
      7.733052395043286,
      7.6635459645238795,
      7.5814008267502455,
      7.51761488676984,
      7.475590409435936,
      7.437305788279108,
      7.424043285263614,
      7.427196401249497,
      7.436274126919979,
      7.491355346039609
    ],
    "ax_ego": [
      -0.13966312173581813,
      -0.1383383312722513,
      -0.19320998900938663,
      -0.06750537066819495,
      -0.10852337095491033,
      -0.04879137383290644,
      -0.01701046679072693,
      0.013888549066758737,
      0.004954781471071978,
      0.19639295617028762
    ],
    "ay_ego": [
      -0.25024611073182773,
      -0.2509808950279566,
      -0.38277130662556835,
      -0.6027008928922855,
      -0.84402800441065,
      -1.232191487905617,
      -1.4429500941416338,
      -1.5901685593951491,
      -1.676716638695135,
      -1.6651825853297857
    ],
    "a_ego": [
      0.2865814081712213,
      0.28658140827385387,
      0.4287703033430046,
      0.6064695716705073,
      0.8509762595236374,
      1.2331571112504525,
      1.4430503560734769,
      1.5902292096059687,
      1.676723959492599,
      1.676723959308417
    ],
    "yaw": [
      2.4457881185908197,
      2.4405019406903206,
      2.4219501751174803,
      2.391683445382446,
      2.342132966092417,
      2.271672340909509,
      2.1818524834778437,
      2.078375431285097,
      1.9682349777333132,
      1.853791559276078
    ],
    "yaw_diff": [
      -0.010572355800998245,
      -0.037103531145680435,
      -0.06053345947006861,
      -0.09910095858005796,
      -0.1409212503658157,
      -0.17963971486333108,
      -0.20695410438549366,
      -0.22028090710356718,
      -0.22888683691447032,
      -0.22888683691447032
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.5187379430275,
    "v_std": 0.102087154349243,
    "vy_max": 0.07713573378714145,
    "a_max": 1.676723959492599,
    "ax_avg": -0.04978057375560764,
    "a_std": 0.5509644774086894,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "c93a302d2fb2508f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c93a302d2fb2508f",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "d715fbc6ea0551f8": {
    "vx_ego": [
      3.764433120695828,
      3.6647017744799384,
      3.5686993212021676,
      3.461622822690079,
      3.3445674573927517,
      3.2287156682248623,
      3.1429769346953735,
      3.076867853113045,
      2.984385814523247,
      2.87062958468891
    ],
    "vy_ego": [
      -0.08470301148484527,
      0.0013207366355940664,
      0.0012079852890609644,
      -0.004336976627112854,
      -0.017106962913997492,
      -0.027311277534016742,
      -0.016701792802215287,
      -0.007390908716944367,
      -0.0011875836206920454,
      -0.010153329193582916
    ],
    "v_ego": [
      3.765385945736019,
      3.664702012472729,
      3.5686995256503833,
      3.4616255395312607,
      3.3446112068864977,
      3.2288311773955076,
      3.1430213110810965,
      3.076876729908454,
      2.9843860508122004,
      2.8706475406404275
    ],
    "ax_ego": [
      -0.21265439409672462,
      -0.17597518342632626,
      -0.21023858561559736,
      -0.21815136698200208,
      -0.24701705228840604,
      -0.21014881405548824,
      -0.13088446467405496,
      -0.13614838099153995,
      -0.2323275287094198,
      -0.2214583137050177
    ],
    "ay_ego": [
      0.6089598665333102,
      0.6205535829015155,
      0.5773943886417525,
      0.5628469318627932,
      0.5486425348118162,
      0.5188307307772791,
      0.39857969011095007,
      0.18364897349594306,
      0.2383375877051577,
      0.2484695109910989
    ],
    "a_ego": [
      0.6450224882722401,
      0.6450224914170337,
      0.6144790825704566,
      0.603644504342975,
      0.6016860104123979,
      0.5597748219130739,
      0.41951938270115113,
      0.22861173879031477,
      0.3328376275443328,
      0.3328376219738776
    ],
    "yaw": [
      2.19368737549056,
      2.253334282059197,
      2.3360270088360777,
      2.418628724203013,
      2.503891872226206,
      2.5882628228447677,
      2.6571107313288134,
      2.700904649414238,
      2.7335355883659824,
      2.778183283931135
    ],
    "yaw_diff": [
      0.11929381313727383,
      0.16538545355376133,
      0.16520343073387078,
      0.17052629604638536,
      0.16874190123712385,
      0.1376958169680913,
      0.08758783617084909,
      0.06526187790348903,
      0.08929539113030494,
      0.08929539113030494
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.310878704011458,
    "v_std": 0.28498554126410436,
    "vy_max": 0.08470301148484527,
    "a_max": 0.6450224914170337,
    "ax_avg": -0.1995004084544577,
    "a_std": 0.14690526297593984,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "d715fbc6ea0551f8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 43.628691035595104,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d715fbc6ea0551f8",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "ae46065dc9ce55b1": {
    "vx_ego": [
      1.0765963771239757,
      0.9881589151982996,
      0.8657784518874764,
      0.6989063558884221,
      0.4973257845291499,
      0.2724532572884588,
      0.05628845653554826,
      -0.03941467781034088,
      -0.02430366575991902,
      -0.011017976582047246
    ],
    "vy_ego": [
      -0.03706685720020236,
      -0.015413350408218451,
      -0.0024716484231332436,
      -0.006805916346914409,
      -0.004350993599089192,
      0.018234625055583056,
      0.0029495932680246584,
      -0.017286885141338647,
      -0.00571997744519386,
      -0.00032466747828752834
    ],
    "v_ego": [
      1.0772342879518688,
      0.9882791169789468,
      0.8657819799456459,
      0.698939492945244,
      0.4973448171066365,
      0.2730627747570306,
      0.05636568494750225,
      0.043038973323986394,
      0.024967705368002614,
      0.011022759043633272
    ],
    "ax_ego": [
      -0.1768656426249104,
      -0.17685229529680202,
      -0.31266399822089963,
      -0.3548238867592609,
      -0.45149260943473957,
      -0.448002056871621,
      -0.4166830411220206,
      0.03387679684398964,
      0.02657134075704609,
      0.026570881902683634
    ],
    "ay_ego": [
      0.04390766243693424,
      0.04396141101934059,
      0.008951576151744606,
      -0.025242876896877237,
      0.035330807013227244,
      0.05540801786982302,
      -0.1164185027077331,
      0.03546108714843059,
      0.010791562663443634,
      0.010792707775502335
    ],
    "a_ego": [
      0.1822342952404906,
      0.18223429976422842,
      0.3127921138697061,
      0.35572066772817645,
      0.452872876532031,
      0.4514154310670668,
      0.4326407569004635,
      0.049042084643268744,
      0.02867915574674557,
      0.028679161532613698
    ],
    "yaw": [
      -2.1242958712995,
      -2.1239919495538655,
      -2.1236883906698836,
      -2.123356449705271,
      -2.1232465532308256,
      -2.1229888205949905,
      -2.12278684176379,
      -2.122726770045474,
      -2.1226056971730953,
      -2.1226486960130178
    ],
    "yaw_diff": [
      0.0006078434912692998,
      0.0006071177679638495,
      0.0006638819292250631,
      0.00021979294889096224,
      0.0005154652716701236,
      0.0004039576624013108,
      0.00012014343663135918,
      0.00024214574475767137,
      -8.59976798448514e-05,
      -8.59976798448514e-05
    ],
    "min_front_frame": [
      6,
      8.748263572423433
    ],
    "v_avg": 0.4536037592368497,
    "v_std": 0.40562913469183876,
    "vy_max": 0.03706685720020236,
    "a_max": 0.452872876532031,
    "ax_avg": -0.2250364510826534,
    "a_std": 0.1666376643421847,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ae46065dc9ce55b1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.46649808842718,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.465415061603194,
      10.081117644292338,
      9.644527721139076,
      9.237517362173262,
      8.997777053674325,
      8.812576274229734,
      8.748263572423433,
      8.756575946014598,
      8.807521942312878,
      8.838247064053139
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ae46065dc9ce55b1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cd0b91f235e25b76": {
    "vx_ego": [
      4.587865778127428,
      4.638342192421571,
      4.698067081948183,
      4.762193585733838,
      4.784527604825233,
      4.7858835869573975,
      4.746274685526553,
      4.7967218675875785,
      4.893184850156861,
      4.889238645370676
    ],
    "vy_ego": [
      -0.029318262696629294,
      0.01006587163399697,
      -0.002721422304904575,
      -0.03869131013107108,
      -0.06902616982535426,
      -0.012222588758909136,
      0.017803076921575123,
      0.018578535219618608,
      0.0011738983522402435,
      -0.04182301865363369
    ],
    "v_ego": [
      4.587959454772932,
      4.63835311460543,
      4.698067870159442,
      4.7623507604421755,
      4.785025497680806,
      4.785899194465359,
      4.746308074705861,
      4.796757846396227,
      4.893184990968762,
      4.889417521165009
    ],
    "ax_ego": [
      0.10095173568821293,
      0.10095600581216967,
      0.14183277183421336,
      0.11828501587126242,
      -0.02539498818712197,
      0.03227537498307291,
      -0.191449565573434,
      0.39274961681136955,
      -0.007635924265230829,
      -0.007823398767680276
    ],
    "ay_ego": [
      0.07926690627309294,
      0.07926146795872879,
      0.3883288463273079,
      0.37364867181194117,
      0.15300436472387655,
      0.21723927863905235,
      0.06739504956282724,
      0.10335558037250539,
      -0.0468495903685167,
      -0.046818655180359825
    ],
    "a_ego": [
      0.128353010749924,
      0.12835301092112886,
      0.4134196754583337,
      0.39192432295851776,
      0.1550975210942493,
      0.21962377834358873,
      0.20296558541741147,
      0.40612145658609944,
      0.04746779389314563,
      0.04746780004566859
    ],
    "yaw": [
      -0.73173441785892,
      -0.7316806658038574,
      -0.7038715568152043,
      -0.6560334942014743,
      -0.622225968852953,
      -0.6147422538044404,
      -0.6061623030879792,
      -0.5972419748047428,
      -0.5908005001716716,
      -0.5867974568395713
    ],
    "yaw_diff": [
      0.00010750411012527827,
      0.05561821797730615,
      0.09567612522746005,
      0.06761505069704254,
      0.01496743009702528,
      0.01715990143292223,
      0.017840656566472823,
      0.012882949266142418,
      0.008006086664200662,
      0.008006086664200662
    ],
    "min_front_frame": [
      9,
      38.6236095823886
    ],
    "v_avg": 4.758332432536201,
    "v_std": 0.09248351712544649,
    "vy_max": 0.06902616982535426,
    "a_max": 0.4134196754583337,
    "ax_avg": 0.06547466442068338,
    "a_std": 0.13494277035543434,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cd0b91f235e25b76",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 33.93335660763257,
    "right_rear_min": 27.220693742398026,
    "speed_mode": "quasi_constant",
    "front_frame": [
      59.992529535977496,
      57.69334579610638,
      55.3550190639023,
      53.00931547271868,
      50.6167450784322,
      48.23533723524402,
      45.849710901247235,
      43.49509951834344,
      41.06911808607476,
      38.6236095823886
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cd0b91f235e25b76",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7868ce187ae55819": {
    "vx_ego": [
      5.68111542428456,
      5.902806275904699,
      6.111509890350335,
      6.265866851954024,
      6.243080309222249,
      6.045554674116581,
      5.9164933992699105,
      5.939039088694085,
      6.004087656971826,
      6.061629074579898
    ],
    "vy_ego": [
      -0.0009155866367172028,
      0.006375968166825063,
      0.022963536923164607,
      0.02901408069801087,
      0.03322074501575295,
      0.026392666070853638,
      0.009227333728514114,
      0.00822370369536729,
      -0.004757090591519714,
      -0.027964381441620348
    ],
    "v_ego": [
      5.681115498063987,
      5.902809719432769,
      6.111553032076052,
      6.265934026407793,
      6.243168695886567,
      6.045612284173967,
      5.916500594717468,
      5.939044782314639,
      6.004089541513545,
      6.061693578895404
    ],
    "ax_ego": [
      0.4343377373843897,
      0.4525060682956967,
      0.38077558377263726,
      0.2378768173280036,
      -0.32794546893616455,
      -0.46113620945790473,
      -0.05491031047959252,
      0.14530775078375763,
      0.1149209257301283,
      0.11509297695682093
    ],
    "ay_ego": [
      -0.460359143204202,
      -0.4425133570158247,
      -0.22457072825473728,
      -0.16397223096803945,
      -0.10548717742530968,
      -0.1204087670205638,
      -0.061281173858874716,
      -0.07070011139442074,
      -0.0744722274874543,
      -0.07420605321456071
    ],
    "a_ego": [
      0.6329137467679921,
      0.6329137484538034,
      0.4420656706715143,
      0.28891568450109534,
      0.3444935053044101,
      0.47659718300533105,
      0.08228319674445614,
      0.1615947034683319,
      0.13694134451513468,
      0.1369413439340564
    ],
    "yaw": [
      0.14609871259160673,
      0.1058585198153664,
      0.07538302043816875,
      0.05875802085387966,
      0.047442847662694104,
      0.039384755553573195,
      0.034619844276367724,
      0.02920005370537078,
      0.025298657004293075,
      0.022984277434573486
    ],
    "yaw_diff": [
      -0.08048038555248066,
      -0.0609509987543953,
      -0.03324999916857817,
      -0.022630346382371117,
      -0.01611618421824182,
      -0.009529822554410941,
      -0.01083958114199389,
      -0.0078027934021554085,
      -0.004628759139439179,
      -0.004628759139439179
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.017152175348219,
    "v_std": 0.16342530305489367,
    "vy_max": 0.03322074501575295,
    "a_max": 0.6329137484538034,
    "ax_avg": 0.10368258713777723,
    "a_std": 0.19585734386380177,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7868ce187ae55819",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 16.441043048842026,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7868ce187ae55819",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ee53e7213c995a0b": {
    "vx_ego": [
      1.028615357458309,
      2.005724769588386,
      3.0207537423739694,
      4.027024515119291,
      4.795335529977697,
      5.303562316189908,
      5.727586180141861,
      6.0495793231888575,
      6.102755365266615,
      5.977767060079746
    ],
    "vy_ego": [
      0.04868127796923527,
      0.018710471808580875,
      -0.00398223986794366,
      -0.009392612902662467,
      0.0020776347342095214,
      0.004737260591479497,
      -0.005785129261250521,
      0.013886781400874071,
      -0.03209811407002894,
      -0.10107249820950326
    ],
    "v_ego": [
      1.0297666825178424,
      2.005812038326544,
      3.020756367253193,
      4.027035468747314,
      4.795335980057348,
      5.3035644319030935,
      5.727589101766345,
      6.049595261689152,
      6.102839776466142,
      5.978621469408208
    ],
    "ax_ego": [
      1.9543218898591799,
      1.9545574642532229,
      2.1058690255415535,
      1.9191387510212663,
      1.155026676787955,
      0.8801064561283698,
      0.8207968390106039,
      0.46405279731978066,
      -0.25367180825916413,
      -0.24976457101104999
    ],
    "ay_ego": [
      -0.07341582213555187,
      -0.06685107783445188,
      -0.09505947397417236,
      -0.13847146186946113,
      -0.24508470097594326,
      -0.36392682692739575,
      -0.5988475358315489,
      -0.4329580300017361,
      -0.2952545976975158,
      -0.298567117160764
    ],
    "a_ego": [
      1.9557003686972592,
      1.9557003726735893,
      2.1080134383650355,
      1.9241278261653334,
      1.1807426200253357,
      0.952381283665466,
      1.0160343606893014,
      0.6346634182330801,
      0.3892616905977212,
      0.38926169138771316
    ],
    "yaw": [
      -0.3681227686972406,
      -0.3714816587132971,
      -0.37861178225933245,
      -0.39354494592820055,
      -0.41736600116072087,
      -0.44783535388329465,
      -0.48950444578604363,
      -0.5362875972496021,
      -0.5583546292837115,
      -0.5715140482308331
    ],
    "yaw_diff": [
      -0.0067177800321129855,
      -0.014260247092070744,
      -0.029866327337736198,
      -0.04764211046504063,
      -0.06093870544514757,
      -0.08333818380549796,
      -0.09356630292711687,
      -0.04413406406821885,
      -0.026318837894243163,
      -0.026318837894243163
    ],
    "min_front_frame": [
      9,
      29.860275380800463
    ],
    "v_avg": 4.4040916578135185,
    "v_std": 1.7314716963246475,
    "vy_max": 0.10107249820950326,
    "a_max": 2.1080134383650355,
    "ax_avg": 1.0750433520651717,
    "a_std": 0.6476998791457534,
    "ini_direction_judge": "right",
    "scenario_type": "carpark_areas",
    "scene_token": "ee53e7213c995a0b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      35.8053453858781,
      32.77167916649982,
      29.860275380800463
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "ee53e7213c995a0b",
    "maneuvering": "Yes"
  },
  "42a20478abeb54d5": {
    "vx_ego": [
      6.962536026759484,
      6.695110255341949,
      6.655018405706088,
      6.846928773814346,
      7.264533770702577,
      7.742903343800982,
      8.193717729786822,
      8.530725022610053,
      8.694277728312532,
      8.796409204409018
    ],
    "vy_ego": [
      -0.02675015106358461,
      -0.044127741964372635,
      -0.065971310803143,
      -0.09863155895229925,
      -0.14054063885706336,
      -0.09784688451272139,
      -0.07143068075355519,
      -0.12314388560383582,
      -0.10004673006027343,
      0.001122622782986138
    ],
    "v_ego": [
      6.96258741377842,
      6.6952556776269425,
      6.655345385037195,
      6.847639141931195,
      7.265893102492533,
      7.743521563491205,
      8.194029080835376,
      8.531613788020817,
      8.694853337764075,
      8.796409276045177
    ],
    "ax_ego": [
      -0.8481927361019985,
      -0.17680084786385486,
      0.052751879207791674,
      0.7115723672429733,
      0.9901404340332306,
      0.9404294352563147,
      0.8861605604842719,
      0.4863375840330575,
      0.18901910982574327,
      0.22754011606480162
    ],
    "ay_ego": [
      2.9346496496795496,
      3.049646039838156,
      2.9276648266221437,
      2.2358257714114607,
      1.7067616059774064,
      1.137324462946517,
      1.1443299132856168,
      1.0514160122954546,
      0.9323073125813621,
      0.9236615408969512
    ],
    "a_ego": [
      3.054766682406448,
      3.054766686361812,
      2.928140040674356,
      2.3463273671701104,
      1.9731733980433879,
      1.4757758829555028,
      1.4473325427827795,
      1.1584471833253283,
      0.9512755378816371,
      0.9512755366090908
    ],
    "yaw": [
      1.555600591054413,
      1.7790507884339015,
      2.006189376734179,
      2.204013450172634,
      2.350109547028949,
      2.4390433971017442,
      2.5072290002020092,
      2.578600905428458,
      2.633252260680588,
      2.6747567056851125
    ],
    "yaw_diff": [
      0.4469003947589769,
      0.4542771766005549,
      0.3956481468769102,
      0.29219219371262994,
      0.1778677001455904,
      0.13637120620053,
      0.14274381045289797,
      0.10930271050425944,
      0.0830088900090491,
      0.0830088900090491
    ],
    "min_front_frame": [
      6,
      60.56566095337193
    ],
    "v_avg": 7.638714776702294,
    "v_std": 0.8155603963527874,
    "vy_max": 0.14054063885706336,
    "a_max": 3.054766686361812,
    "ax_avg": 0.34589579021823313,
    "a_std": 0.8155912001177431,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "42a20478abeb54d5",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 32.299672865020945,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      60.56566095337193,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "42a20478abeb54d5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8d62f19202505230": {
    "vx_ego": [
      11.6899337534625,
      11.567507358816599,
      11.401423359388483,
      11.222106417563818,
      11.11467558331485,
      11.059515402131844,
      11.038387877536268,
      11.044688793561539,
      11.052543567431101,
      11.058095638645005
    ],
    "vy_ego": [
      -0.007010487208880534,
      0.025072548161090502,
      0.01671449473494846,
      0.03377571129523638,
      0.06365583857886925,
      0.047880468617222505,
      0.029121779696482886,
      -0.0006161538979090331,
      0.007810907698835745,
      -0.015534053524321134
    ],
    "v_ego": [
      11.689935855567075,
      11.567534531132702,
      11.401435611112472,
      11.22215724563689,
      11.114857866303126,
      11.059619047203501,
      11.038426292411085,
      11.044688810748335,
      11.05254632744155,
      11.058106549506501
    ],
    "ax_ego": [
      -0.25104751624148725,
      -0.2376611668784902,
      -0.42348370640039623,
      -0.29095156879527523,
      -0.13465526036489284,
      -0.07857759392920066,
      0.0017162995056611008,
      0.023706183520842528,
      0.00518988849183824,
      0.01667960121596926
    ],
    "ay_ego": [
      -0.5236652729946362,
      -0.5298748365287306,
      -0.6247503355135289,
      -0.618018399177991,
      -0.520206363992606,
      -0.6612220737114266,
      -0.8301351565149465,
      -0.7295251313576986,
      -0.5280003138506809,
      -0.5277623106153696
    ],
    "a_ego": [
      0.5807324457541241,
      0.5807324449592898,
      0.7547525629707288,
      0.6830809301297749,
      0.5373515611611683,
      0.6658746646561511,
      0.8301369307325677,
      0.7299102002435582,
      0.5280258197938575,
      0.528025819068346
    ],
    "yaw": [
      -1.0736438953325238,
      -1.0990546600955484,
      -1.1234109213227765,
      -1.1524259411341777,
      -1.180627537207249,
      -1.2058590120529642,
      -1.2379319347776445,
      -1.270557358551868,
      -1.2997662531568976,
      -1.3215311107577967
    ],
    "yaw_diff": [
      -0.050821529526049236,
      -0.04871252245445623,
      -0.0580300396228024,
      -0.05640319214614253,
      -0.05046294969143039,
      -0.06414584544936064,
      -0.06525084754844679,
      -0.05841778921005947,
      -0.04352971520179816,
      -0.04352971520179816
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.224930813706326,
    "v_std": 0.23000663654692247,
    "vy_max": 0.06365583857886925,
    "a_max": 0.8301369307325677,
    "ax_avg": -0.13690848398754313,
    "a_std": 0.10125870398203327,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "8d62f19202505230",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "8d62f19202505230",
    "road_shape": "Straight"
  },
  "6e67504ab65f5314": {
    "vx_ego": [
      8.255496653037214,
      7.821315472332989,
      7.375042704804914,
      6.837781531907151,
      6.22598505198765,
      5.626690251951408,
      5.011297186509706,
      4.390701026317735,
      3.820934923492701,
      3.2830582146320504
    ],
    "vy_ego": [
      -0.03786429767130839,
      0.006992408453624144,
      0.03912244025295131,
      0.034996054253761955,
      0.012356411888858165,
      -0.0076900378041862005,
      -0.0032617628725120085,
      -0.007895067540285572,
      -0.011221778295134044,
      -0.018376201028062367
    ],
    "v_ego": [
      8.255583485941305,
      7.821318598007077,
      7.375146470615179,
      6.837871086961485,
      6.225997313562577,
      5.626695506963784,
      5.011298248020879,
      4.3907081245055535,
      3.8209514021869313,
      3.2831096426143325
    ],
    "ax_ego": [
      -0.8683582144070194,
      -0.8684528285953684,
      -0.9163171819994297,
      -1.232645496445603,
      -1.2145374638859119,
      -1.182505951804678,
      -1.2790278195575857,
      -1.2033552066952733,
      -1.0757210607101317,
      -1.0757282490201712
    ],
    "ay_ego": [
      0.06762741801096961,
      0.06640130990907045,
      -0.012145698010998796,
      -0.019779299508285664,
      -0.07142357946461136,
      0.05241442608915653,
      0.03289986241659815,
      -0.010243806472382877,
      -0.007983946073216452,
      -0.006947743990762867
    ],
    "a_ego": [
      0.8709876326303247,
      0.8709876287599824,
      0.9163976735061861,
      1.2328041777170717,
      1.2166357626200046,
      1.1836670131906792,
      1.2794508838362117,
      1.2033988071506752,
      1.0757506885195245,
      1.0757506852828702
    ],
    "yaw": [
      1.0968130445405206,
      1.0954011346137902,
      1.0929595614061531,
      1.092420114470284,
      1.092395445864354,
      1.0949778998047701,
      1.0981480549753566,
      1.1003429238873452,
      1.1000421250061283,
      1.10100538547371
    ],
    "yaw_diff": [
      -0.0028238198534609182,
      -0.004883146415274098,
      -0.0010788938717380958,
      -4.933721185995665e-05,
      0.005164907880832015,
      0.006340310341172994,
      0.0043897378239772245,
      -0.0006015977624338475,
      0.0019265209351635448,
      0.0019265209351635448
    ],
    "min_front_frame": [
      9,
      15.831142374228989
    ],
    "v_avg": 5.86486798793791,
    "v_std": 1.6341002415859736,
    "vy_max": 0.03912244025295131,
    "a_max": 1.2794508838362117,
    "ax_avg": -1.0916649473121172,
    "a_std": 0.14844664070691294,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6e67504ab65f5314",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.2226667251905887,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.993398895288706,
      25.771329105776058,
      24.364776976358904,
      22.97782871947482,
      20.040588800580654,
      20.281655910330294,
      19.091985020588236,
      17.91953399555553,
      16.85309393221348,
      15.831142374228989
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6e67504ab65f5314",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "563cd0d9beb7563a": {
    "vx_ego": [
      8.223960293022145,
      7.6497335976654,
      7.107153167861076,
      6.624315336058332,
      6.219932325287453,
      5.869409945621772,
      5.526829408403485,
      5.1804843177262265,
      4.840542820102835,
      4.515122267361076
    ],
    "vy_ego": [
      -0.013776043819978323,
      -0.0007262076236118631,
      0.015973591070519433,
      0.013087810653205967,
      -0.024861114994959355,
      -0.018251398360407123,
      -0.016599817350502644,
      -0.02789926085411487,
      -0.02567320657559402,
      -0.01309878364128192
    ],
    "v_ego": [
      8.223971831213202,
      7.649733632135719,
      7.107171118458414,
      6.62432826498848,
      6.219982010118243,
      5.869438322642626,
      5.526854337100778,
      5.1805594422768255,
      4.840610902229694,
      4.515141267707214
    ],
    "ax_ego": [
      -1.14854969633307,
      -1.1484504177554977,
      -1.021883165674034,
      -0.9089586892006798,
      -0.7087449740250933,
      -0.6941131803089711,
      -0.676443466314379,
      -0.7091356653841367,
      -0.6508435946698115,
      -0.6508458682114451
    ],
    "ay_ego": [
      -0.02675365430218951,
      -0.030721256775444294,
      0.0431313146974468,
      -0.14609102463889911,
      -0.09760476811992722,
      -0.032143818753261666,
      -0.047157250423873615,
      -0.04545475638519236,
      0.024304463979030022,
      0.024243606420152497
    ],
    "a_ego": [
      1.148861246176103,
      1.1488612438674395,
      1.0227929969429372,
      0.9206239656632134,
      0.7154342240664581,
      0.6948570587989135,
      0.6780852228053288,
      0.7105909701071634,
      0.6512972375897428,
      0.6512972413730654
    ],
    "yaw": [
      -2.0314395484177243,
      -2.0348941420648314,
      -2.0367409407178023,
      -2.0400765213946475,
      -2.043667993960269,
      -2.050129643514193,
      -2.0539002122401775,
      -2.0561126277304647,
      -2.057614383958232,
      -2.0577078897950747
    ],
    "yaw_diff": [
      -0.006909187294214192,
      -0.003693597305941765,
      -0.00667116135369028,
      -0.007182945131242846,
      -0.012923299107848507,
      -0.007541137451968716,
      -0.004424830980574335,
      -0.0030035124555345405,
      -0.00018701167368551097,
      -0.00018701167368551097
    ],
    "min_front_frame": [
      9,
      17.149667947393425
    ],
    "v_avg": 6.175779112887119,
    "v_std": 1.1612096745633194,
    "vy_max": 0.02789926085411487,
    "a_max": 1.148861246176103,
    "ax_avg": -0.8317968717877117,
    "a_std": 0.19522791545085094,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "563cd0d9beb7563a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.424566912039066,
    "right_rear_min": 20.386916259034027,
    "speed_mode": "decelerating",
    "front_frame": [
      18.80748268876447,
      18.80628124349521,
      18.903167029548854,
      18.82698071675507,
      18.644493498571116,
      18.504763362189845,
      18.273875270302547,
      18.573871828268018,
      17.896795972469224,
      17.149667947393425
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "563cd0d9beb7563a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ae07b0ef14e25e47": {
    "vx_ego": [
      0.5918169259630338,
      0.8138706605403984,
      1.0909835534305141,
      1.3776440166603052,
      1.5785401788543882,
      1.7414823793087562,
      1.9276585752576263,
      2.175471733750353,
      2.5162911486088433,
      2.909450951459456
    ],
    "vy_ego": [
      0.0019378153176028328,
      0.0012758184576431991,
      0.0018103310517004392,
      -0.0028901637784113053,
      -0.006915106360621891,
      -0.004654045933592332,
      -0.012291462894611624,
      -0.01856617454418596,
      -0.011700293581323733,
      0.0011124243898414377
    ],
    "v_ego": [
      0.5918200984966125,
      0.8138716605222234,
      1.0909850554221117,
      1.377647048298876,
      1.5785553252748612,
      1.7414885981787072,
      1.9276977623124303,
      2.1755509571563643,
      2.516318350574327,
      2.909451164126382
    ],
    "ax_ego": [
      0.44410719823218026,
      0.44410706950160445,
      0.6643445512914892,
      0.48229737966035463,
      0.32131113914436304,
      0.33046303760594264,
      0.41424957908174626,
      0.5770233468338974,
      0.7863164042873833,
      0.7863381292410268
    ],
    "ay_ego": [
      -0.001157493598167537,
      -0.0012029208883999306,
      0.003281711799771953,
      -0.02212655211512481,
      0.01003665394432314,
      0.0009320790562285714,
      -0.028494957792420058,
      0.005492205238047494,
      0.02989450885109641,
      0.029317614717987203
    ],
    "a_ego": [
      0.4441087066395646,
      0.4441086986312773,
      0.6643526566990057,
      0.4828046672679828,
      0.32146785618572554,
      0.33046435207918223,
      0.4152284628839836,
      0.5770494841083987,
      0.7868844701167306,
      0.7868844743868251
    ],
    "yaw": [
      1.576116875210567,
      1.5762191631819062,
      1.576203144567453,
      1.5761946199234065,
      1.5768637274450086,
      1.5771537578718462,
      1.5775631091739821,
      1.5778210935782873,
      1.578674988344165,
      1.5794086447030247
    ],
    "yaw_diff": [
      0.00020457594267853096,
      -3.203722890665617e-05,
      -1.7049288092874093e-05,
      0.001338215043204194,
      0.000580060853675235,
      0.0008187026042718593,
      0.0005159688086102676,
      0.0017077895317556546,
      0.0014673127177191603,
      0.0014673127177191603
    ],
    "min_front_frame": [
      5,
      15.375114106673353
    ],
    "v_avg": 1.6723386020362896,
    "v_std": 0.7002898036842796,
    "vy_max": 0.01856617454418596,
    "a_max": 0.7868844743868251,
    "ax_avg": 0.5250557834879988,
    "a_std": 0.16293576428849058,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ae07b0ef14e25e47",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 30.221754925136633,
    "right_rear_min": 45.26699091139243,
    "speed_mode": "accelerating",
    "front_frame": [
      15.712447155009016,
      15.81193427824523,
      15.787920471437097,
      15.681122379465439,
      15.448684094173437,
      15.375114106673353,
      15.477694176428304,
      15.733718513400149,
      16.020775906943566,
      16.44699181186467
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ae07b0ef14e25e47",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f4991b521fa15f17": {
    "vx_ego": [
      3.689268741952491,
      4.10599681565587,
      4.513292124136381,
      4.8613190172255525,
      5.094707797833806,
      5.200982199828982,
      5.186940217932268,
      5.108480598049122,
      5.020748568445947,
      4.929957549717439
    ],
    "vy_ego": [
      -0.00801876918275135,
      -0.009223275894522986,
      -0.007227213086957729,
      -0.02545074164532113,
      -0.00824358382328505,
      0.01479230655128383,
      0.011976930505141592,
      0.006734335063200092,
      0.008963524439986603,
      0.01933792494029607
    ],
    "v_ego": [
      3.689277456495638,
      4.106007174737323,
      4.513297910663608,
      4.861385638631141,
      5.09471446716917,
      5.201003235460541,
      5.18695404560977,
      5.108485036868863,
      5.020756569713614,
      4.929995476403296
    ],
    "ax_ego": [
      0.8334768188283388,
      0.8335140787962746,
      0.7956609618665662,
      0.5966725057262556,
      0.33687015495746436,
      0.08824144492875606,
      -0.1444731987430634,
      -0.169362625997328,
      -0.18157962238186828,
      -0.18158087968582845
    ],
    "ay_ego": [
      0.016859906156811544,
      0.014904163622385946,
      -0.04534764382043416,
      0.01664623939871243,
      0.049201251390645184,
      0.030123491806360772,
      -0.024940757449314996,
      0.0016853049522653069,
      0.02012706068361557,
      0.02011561583964251
    ],
    "a_ego": [
      0.8336473258877665,
      0.8336473197011343,
      0.7969521786396561,
      0.5969046627190709,
      0.3404442163401686,
      0.09324150021166848,
      0.14661018565296977,
      0.1693710109124136,
      0.18269170160711687,
      0.18269169074724603
    ],
    "yaw": [
      1.1049556432670011,
      1.1073020757759438,
      1.1050753510002758,
      1.1074199505813296,
      1.1072712058511853,
      1.106652408644364,
      1.1074395081201347,
      1.1073286002886307,
      1.10796496293806,
      1.1079019058208301
    ],
    "yaw_diff": [
      0.004692865017885239,
      -0.004453449551335975,
      0.004689199162107638,
      -0.00029748946028851364,
      -0.0012375944136424621,
      0.0015741989515412058,
      -0.00022181566300805144,
      0.001272725298858468,
      -0.00012611423445951786,
      -0.00012611423445951786
    ],
    "min_front_frame": [
      9,
      15.672908728963277
    ],
    "v_avg": 4.771187701175297,
    "v_std": 0.4848901277135532,
    "vy_max": 0.02545074164532113,
    "a_max": 0.8336473258877665,
    "ax_avg": 0.2807439638295567,
    "a_std": 0.2964502263953436,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f4991b521fa15f17",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.25214347522264,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      15.973057580274517,
      16.53633180784103,
      16.854954564769134,
      17.159970339594157,
      17.142033062220882,
      16.981754172406152,
      16.71575576360261,
      16.34226900267159,
      15.969674352086667,
      15.672908728963277
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f4991b521fa15f17",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "65271f4c14985330": {
    "vx_ego": [
      12.149367540867676,
      12.493184496802082,
      12.85203079278288,
      13.213063173998183,
      13.472524268155848,
      13.67926185128973,
      13.871454043979925,
      14.00385213474408,
      14.171377001291873,
      14.383632146199037
    ],
    "vy_ego": [
      -0.06597820414353084,
      -0.014829786816785706,
      -0.04896332069320408,
      -0.05043662479455868,
      -0.06294573177882956,
      -0.03329621778408143,
      -0.01755754598500392,
      -0.024666787756240538,
      -0.01929350926745599,
      -0.044905330523959286
    ],
    "v_ego": [
      12.149546689753945,
      12.493193298501104,
      12.852124062014521,
      13.213159436455294,
      13.472671313484845,
      13.679302373815315,
      13.87146515555109,
      14.003873859121788,
      14.171390134783676,
      14.383702242673122
    ],
    "ax_ego": [
      0.6860489699059865,
      0.6875449406562989,
      0.7474447908941835,
      0.6961504200429305,
      0.34199985051864107,
      0.48429909552826866,
      0.2841767311455367,
      0.2453662615586123,
      0.42444307006693877,
      0.4244906963772944
    ],
    "ay_ego": [
      -0.15102936482741353,
      -0.14406600249227453,
      -0.1598122886941455,
      0.06426879381366257,
      -0.02449149802466008,
      -0.05784804305664032,
      -0.005790194366210116,
      -0.08213132134167678,
      -0.07065428247449057,
      -0.07036757975587435
    ],
    "a_ego": [
      0.7024763755096943,
      0.7024763757566354,
      0.7643387227221388,
      0.6991107817679625,
      0.3428756789716424,
      0.4877417452043468,
      0.2842357135818107,
      0.25874728260713986,
      0.43028356622096714,
      0.43028356649026195
    ],
    "yaw": [
      0.691469799548942,
      0.6813309889931177,
      0.6780277437047686,
      0.6763088517768214,
      0.6779861000884797,
      0.6742809850709435,
      0.6719876981436451,
      0.6709210939773572,
      0.6678234096141276,
      0.6671479659054385
    ],
    "yaw_diff": [
      -0.020277621111648658,
      -0.006606490576698265,
      -0.0034377838558943274,
      0.0033544966233165496,
      -0.007410230035072463,
      -0.004586573854596709,
      -0.002133208332575798,
      -0.006195368726459316,
      -0.0013508874173782104,
      -0.0013508874173782104
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 13.429042856615471,
    "v_std": 0.7032440009077625,
    "vy_max": 0.06597820414353084,
    "a_max": 0.7643387227221388,
    "ax_avg": 0.5021964826694691,
    "a_std": 0.18159778435039933,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "65271f4c14985330",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 20.365533804045217,
    "right_rear_min": 18.067444218624875,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "65271f4c14985330",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2f6b9bbb16cb59ba": {
    "vx_ego": [
      8.572323369630181,
      8.488083207234137,
      8.414115657794008,
      8.363175190417723,
      8.324583821733745,
      8.310574012600954,
      8.350981577025156,
      8.372485889978408,
      8.38731456837038,
      8.441322156632548
    ],
    "vy_ego": [
      -0.0304326849522929,
      -0.012407111753230726,
      0.017079792936026905,
      0.03481956755464077,
      0.009461445398275092,
      -0.05065464986036927,
      -0.04383995928448803,
      0.007786826074560604,
      0.01140202737739715,
      -0.012575343037941611
    ],
    "v_ego": [
      8.572377389138975,
      8.488092275025773,
      8.414132992891249,
      8.363247674671797,
      8.324589198514257,
      8.310728386397356,
      8.35109664905416,
      8.372489511044362,
      8.387322318536848,
      8.44133152359911
    ],
    "ax_ego": [
      -0.17251162597628933,
      -0.16616012172884348,
      -0.13122774379135396,
      -0.07192231939521798,
      -0.08209260142501007,
      0.02592609637225709,
      0.13461834539944706,
      -0.04866818824762016,
      0.10803385223424847,
      0.10800005600099893
    ],
    "ay_ego": [
      -0.30990624798451305,
      -0.3133575712301139,
      -0.10257286059676335,
      -0.06613518269156882,
      -0.13172176914287853,
      -0.18370319658973092,
      0.10212322726706381,
      0.0017713389738076152,
      -0.02140826420471818,
      -0.021578105023204102
    ],
    "a_ego": [
      0.3546859789120817,
      0.3546859928164347,
      0.16655903599496572,
      0.09770712572189877,
      0.15520895487972125,
      0.1855236559320371,
      0.16897115867959597,
      0.048700412616998666,
      0.11013458587033616,
      0.1101345845436906
    ],
    "yaw": [
      -0.27638228550422905,
      -0.29676300561356067,
      -0.31256399435230364,
      -0.31971288655599517,
      -0.3226015215543803,
      -0.32485826064949047,
      -0.32812975626143237,
      -0.3311892920214396,
      -0.3322089223221023,
      -0.3306365111350571
    ],
    "yaw_diff": [
      -0.040761440218663236,
      -0.03160197747748594,
      -0.014297784407383052,
      -0.005777269996770307,
      -0.004513478190220299,
      -0.006542991223883798,
      -0.006119071520014452,
      -0.002039260601325421,
      0.003144822374090417,
      0.003144822374090417
    ],
    "min_front_frame": [
      0,
      38.25981662184558
    ],
    "v_avg": 8.40254079188739,
    "v_std": 0.07591687891311591,
    "vy_max": 0.05065464986036927,
    "a_max": 0.3546859928164347,
    "ax_avg": -0.029600425055738344,
    "a_std": 0.09773659529430716,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "2f6b9bbb16cb59ba",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.029396711540674,
    "right_rear_min": 25.092585886231667,
    "speed_mode": "quasi_constant",
    "front_frame": [
      38.25981662184558,
      38.69818931111024,
      38.93493850368812,
      39.2528558452759,
      39.54429429809188,
      39.78689582215754,
      39.82105015983326,
      39.885869942072475,
      40.01772503232653,
      40.01731064463221
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2f6b9bbb16cb59ba",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "248288deae795ad8": {
    "vx_ego": [
      3.589197459927692,
      4.095987516326504,
      4.574795874051057,
      4.999269577257563,
      5.389891850719822,
      5.767241055056754,
      6.156178040710133,
      6.56862226133,
      6.9446031136881325,
      7.279547766227933
    ],
    "vy_ego": [
      -0.012933072300926884,
      0.0027770080099676075,
      0.011280389001068425,
      0.017831455224146975,
      0.012863354254973647,
      0.013543950317945974,
      -0.010641308992968224,
      -0.03853175937158548,
      -0.033897885011705764,
      -0.01913181051891044
    ],
    "v_ego": [
      3.5892207609327316,
      4.095988457707865,
      4.574809781445627,
      4.999301377881555,
      5.38990720034572,
      5.767256958530837,
      6.1561872377615945,
      6.568735274656782,
      6.944685844100881,
      7.279572906906545
    ],
    "ax_ego": [
      1.0129545213921745,
      1.013854158238896,
      0.9025068061533377,
      0.7969923169885933,
      0.7673437764300293,
      0.7421571688381887,
      0.8141796361271334,
      0.8340338343170214,
      0.6684444360091306,
      0.6700470710910419
    ],
    "ay_ego": [
      -0.07552470905529834,
      -0.062294378697396346,
      -0.1594561070199655,
      -0.20195205079771605,
      -0.254933787748133,
      -0.16042617024616707,
      -0.24088767937802347,
      -0.12583878432179418,
      -0.14085225861480016,
      -0.13301971854806893
    ],
    "a_ego": [
      1.0157661365130937,
      1.0157661363697823,
      0.9164850163636397,
      0.8221808707092677,
      0.8085837664469333,
      0.7592982413767122,
      0.849067343595454,
      0.843473672633082,
      0.683123212011168,
      0.6831232121662176
    ],
    "yaw": [
      1.0348891692253965,
      1.0218340226314597,
      1.0071328747820276,
      0.9869463470576985,
      0.9659299348994648,
      0.9472049487873659,
      0.9344137651390785,
      0.9243836629828359,
      0.9138623848869079,
      0.9021589849672709
    ],
    "yaw_diff": [
      -0.026110293187873612,
      -0.02940229569886421,
      -0.040373055448658324,
      -0.042032824316467376,
      -0.03744997222419766,
      -0.025582367296574926,
      -0.02006020431248512,
      -0.021042556191856132,
      -0.023406799839273962,
      -0.023406799839273962
    ],
    "min_front_frame": [
      7,
      27.79184838784958
    ],
    "v_avg": 5.536566580027014,
    "v_std": 1.1673024894237296,
    "vy_max": 0.03853175937158548,
    "a_max": 1.0157661365130937,
    "ax_avg": 0.8222513725585546,
    "a_std": 0.11169989132304874,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "248288deae795ad8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.3502013602203746,
    "right_rear_min": 5.763763652243212,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      27.79184838784958,
      30.15274920318379,
      32.54036168736049
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "248288deae795ad8",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b7bb53ad2bb1505f": {
    "vx_ego": [
      4.02599386236146,
      3.506421131088745,
      2.9764881000122783,
      2.4185782848900845,
      1.871597428872418,
      1.367165040977574,
      0.8958635036199271,
      0.4935490705442537,
      0.1572629207068851,
      -0.16280902726344063
    ],
    "vy_ego": [
      -0.024038434438573564,
      -0.05176320046073157,
      -0.05514637168798875,
      -0.03632437977130043,
      -0.025117656642759778,
      -0.023160773591804906,
      -0.011512507426696517,
      -0.006557474234219179,
      -0.020358701634657833,
      -0.027993752502238546
    ],
    "v_ego": [
      4.026065626154448,
      3.5068031848775907,
      2.9769989136419,
      2.4188510455808627,
      1.8717659662567512,
      1.3673612071082688,
      0.8959374726762023,
      0.49359263112756163,
      0.15857522808279056,
      0.16519815234325214
    ],
    "ax_ego": [
      -1.0391628732753397,
      -1.039153399439697,
      -1.0805889552644534,
      -1.1512088848911146,
      -1.0367413547227424,
      -0.9809751153334149,
      -0.9042195535694131,
      -0.7050345667747402,
      -0.6401004695372794,
      -0.6401122832197579
    ],
    "ay_ego": [
      -0.05662184613133814,
      -0.05679556148398701,
      0.04275929459505512,
      0.022598356504081873,
      0.020352558007707744,
      -0.011478047710012929,
      0.05856513844798894,
      -0.039498165435856325,
      -0.01552212008512266,
      -0.015026666365406616
    ],
    "a_ego": [
      1.0407043339263946,
      1.0407043400367657,
      1.081434624706362,
      1.1514306676343693,
      1.0369411088436047,
      0.9810422633519108,
      0.9061141630604285,
      0.7061401032515034,
      0.6402886437488818,
      0.6402886347818996
    ],
    "yaw": [
      1.035634736546807,
      1.0354675700648648,
      1.0354287930915644,
      1.0345114809041822,
      1.0342913770593745,
      1.0344537087269194,
      1.0345637944666248,
      1.0342826862815415,
      1.0344281603359968,
      1.0352021710034611
    ],
    "yaw_diff": [
      -0.0003343329638845205,
      -7.75539466006947e-05,
      -0.0018346243747644486,
      -0.0004402076896155016,
      0.0003246633350899586,
      0.00022017147941078008,
      -0.0005622163701666238,
      0.00029094810891061584,
      0.0015480213349285954,
      0.0015480213349285954
    ],
    "min_front_frame": [
      8,
      8.472147836879394
    ],
    "v_avg": 1.7881149427849625,
    "v_std": 1.3311139735606277,
    "vy_max": 0.05514637168798875,
    "a_max": 1.1514306676343693,
    "ax_avg": -0.9217297456027952,
    "a_std": 0.18124694869345068,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b7bb53ad2bb1505f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.545238700881527,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.19169458670804,
      14.34475823301594,
      12.712186154940147,
      11.357804853477163,
      10.31558109129137,
      9.523149235584595,
      8.97597437028403,
      8.619590310978268,
      8.472147836879394,
      8.472160513341803
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b7bb53ad2bb1505f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "583e9cc4115258e4": {
    "vx_ego": [
      4.8192003492357545,
      4.6065411526318645,
      4.513608322650395,
      4.549447034513635,
      4.7065892316350215,
      4.935222234508028,
      5.194703937407845,
      5.487328484908414,
      5.808465683937945,
      6.155233631352251
    ],
    "vy_ego": [
      -0.0593630607729736,
      -0.08127689169636865,
      -0.02009688821592115,
      -0.0008442956112566513,
      0.07129185433718072,
      0.04284757348330967,
      0.06253744486713708,
      0.008582768726687062,
      0.009215694034653166,
      -0.09380883115181493
    ],
    "v_ego": [
      4.819565953388163,
      4.607258113456932,
      4.513653063231032,
      4.549447112856681,
      4.707129138215519,
      4.935408232206918,
      5.195080358313149,
      5.487335197088499,
      5.808472994729445,
      6.155948436539401
    ],
    "ax_ego": [
      -0.5426712732150429,
      -0.3437321862347757,
      -0.052588034395240624,
      0.1877631911435549,
      0.44116686325882654,
      0.4687372769493599,
      0.5814790797473721,
      0.5883103219280545,
      0.6945897078972191,
      0.696197643484167
    ],
    "ay_ego": [
      -1.3560672753305927,
      -1.4195981022708606,
      -1.5480859123864061,
      -1.53874670206998,
      -1.2612574136294696,
      -0.7086065916708828,
      -0.6359563991296765,
      -0.3100028074796953,
      0.07776351944518593,
      0.06173220105703598
    ],
    "a_ego": [
      1.4606199252356422,
      1.4606199327082892,
      1.5489788550818913,
      1.5501601301412868,
      1.3361880349235773,
      0.8496104616595338,
      0.8617183192771494,
      0.664989304825562,
      0.6989292004725843,
      0.6989291977305381
    ],
    "yaw": [
      -0.8278692382001911,
      -0.9709696816080498,
      -1.148038193029215,
      -1.323299311602148,
      -1.4908953856398197,
      -1.587141855453659,
      -1.657562106586975,
      -1.69174034789626,
      -1.7021567199594976,
      -1.6791041543943113
    ],
    "yaw_diff": [
      -0.2862008868157173,
      -0.3541370228423304,
      -0.3505222371458663,
      -0.33519214807534325,
      -0.19249293962767844,
      -0.14084050226663214,
      -0.06835648261857008,
      -0.020832744126475067,
      0.04610513113037262,
      0.04610513113037262
    ],
    "min_front_frame": [
      4,
      24.324491041270736
    ],
    "v_avg": 5.077929860002574,
    "v_std": 0.5404577689934928,
    "vy_max": 0.09380883115181493,
    "a_max": 1.5501601301412868,
    "ax_avg": 0.2719252590563495,
    "a_std": 0.3672625745230628,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "583e9cc4115258e4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.103260900712134,
    "right_rear_min": 10.600679524213902,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      24.324491041270736,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "583e9cc4115258e4",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "4a681a6497d35e68": {
    "vx_ego": [
      7.03454517211607,
      6.289931631860584,
      5.584163024402288,
      4.906268310662403,
      4.250131294749252,
      3.717371829388598,
      3.3548236691669984,
      3.0432795753191675,
      2.6759362587755877,
      2.2812039380282023
    ],
    "vy_ego": [
      -0.009872942066661228,
      -0.007898875602455835,
      -0.014192215125738983,
      -0.018592354158381008,
      -0.0018826301621264196,
      0.005902129915135168,
      0.008271285933556083,
      0.0024447545502359613,
      -0.02032022332960337,
      -0.05834375720259555
    ],
    "v_ego": [
      7.034552100420223,
      6.289936591549722,
      5.584181059212881,
      4.90630353849446,
      4.250131711712389,
      3.717376514838047,
      3.3548338655400087,
      3.0432805572900476,
      2.6760134103748534,
      2.2819499120006763
    ],
    "ax_ego": [
      -1.4892274395686407,
      -1.4892275273250402,
      -1.3338330177848725,
      -1.3773354462168652,
      -1.2471095382471349,
      -0.8839923744801255,
      -0.5662203585283696,
      -0.6799831945440992,
      -0.7893911602561945,
      -0.789437634916101
    ],
    "ay_ego": [
      0.003667451908778263,
      0.0036342244445307648,
      -0.018822985760523547,
      0.07713395047260652,
      0.0538708400710764,
      0.01221310540292675,
      0.00622217327116148,
      -0.019321305843282205,
      -0.07313779562383821,
      -0.07263442130987949
    ],
    "a_ego": [
      1.4892319553943478,
      1.4892319616936665,
      1.333965825696461,
      1.379493594664695,
      1.2482725134348451,
      0.8840767376662465,
      0.5662545451051247,
      0.6802576406935007,
      0.7927720612126383,
      0.7927720596621378
    ],
    "yaw": [
      1.1164130241618713,
      1.116390712289686,
      1.116812528622384,
      1.1204269092760133,
      1.1239432910777793,
      1.1261615289764075,
      1.1268020963718046,
      1.1275962243103361,
      1.127474483141271,
      1.1281121391804263
    ],
    "yaw_diff": [
      -4.4623744370753116e-05,
      0.0008436326653962212,
      0.00722876130725858,
      0.007032763603532111,
      0.004436475797256367,
      0.0012811347907941695,
      0.0015882558770630162,
      -0.00024348233813009657,
      0.0012753120783104421,
      0.0012753120783104421
    ],
    "min_front_frame": [
      8,
      13.536992916704676
    ],
    "v_avg": 4.313855926143331,
    "v_std": 1.5158135204256145,
    "vy_max": 0.05834375720259555,
    "a_max": 1.4892319616936665,
    "ax_avg": -1.0645757691867443,
    "a_std": 0.3380092003630441,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4a681a6497d35e68",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.447594527815932,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.913816219221534,
      23.145358858891075,
      20.593246095633006,
      18.518330405136915,
      16.90383385562922,
      15.626835175606269,
      14.611098625424928,
      13.903124268197935,
      13.536992916704676,
      13.605959287123532
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4a681a6497d35e68",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "116aacf9868e5e4e": {
    "vx_ego": [
      9.24342080748029,
      9.319275221305636,
      9.419077468023245,
      9.510894874204197,
      9.569658248892166,
      9.638286767163335,
      9.721815425809375,
      9.810500413921467,
      9.901965732341175,
      9.991341178084632
    ],
    "vy_ego": [
      -0.03676370279235597,
      -0.053781203331505836,
      -0.040152056037656314,
      0.02138607403111409,
      0.03623797804065815,
      0.031136066303215415,
      0.03820270316337249,
      0.05660437242212246,
      0.05191565472988258,
      0.017452448094966266
    ],
    "v_ego": [
      9.24349391702091,
      9.319430404712136,
      9.419163048606135,
      9.51091891839722,
      9.569726860869245,
      9.638337058886282,
      9.721890485910345,
      9.810663709786947,
      9.902101827373063,
      9.991356420668522
    ],
    "ax_ego": [
      0.1480921937615355,
      0.1600348832572757,
      0.24092340282809255,
      0.12628550349893722,
      0.1078901215493914,
      0.16564805231777519,
      0.16785037920525053,
      0.18476943775044377,
      0.17699798102133701,
      0.17888057326515938
    ],
    "ay_ego": [
      0.4561160390390611,
      0.45206413010323326,
      0.2719605241757808,
      0.17383671783211294,
      0.1287695621098525,
      0.12365294892182228,
      0.2706477762215668,
      0.34350626435823833,
      0.16313471507348043,
      0.16106819540551015
    ],
    "a_ego": [
      0.4795551469036554,
      0.4795551496805794,
      0.3633271428619569,
      0.2148656158174726,
      0.16799368575605933,
      0.20671073753855937,
      0.318471299449457,
      0.3900465341212085,
      0.2407098264461491,
      0.24070983167053991
    ],
    "yaw": [
      1.562845558577345,
      1.589144296050489,
      1.6070277651675273,
      1.6122930253632206,
      1.6186644139564392,
      1.6257717400833813,
      1.6352252505751914,
      1.6490652840862445,
      1.6623902605647358,
      1.6740037514632635
    ],
    "yaw_diff": [
      0.05259747494628764,
      0.03576693823407684,
      0.010530520391386577,
      0.012742777186437237,
      0.014214652253884186,
      0.018907020983620182,
      0.027680067022106236,
      0.02664995295698258,
      0.0232269817970554,
      0.0232269817970554
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.61270826522308,
    "v_std": 0.23470968692288702,
    "vy_max": 0.05660437242212246,
    "a_max": 0.4795551496805794,
    "ax_avg": 0.16573725284551982,
    "a_std": 0.10784608694607863,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "116aacf9868e5e4e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "116aacf9868e5e4e",
    "road_shape": "Straight"
  },
  "6492ae3886505280": {
    "vx_ego": [
      3.504213131312083,
      3.1856439285493052,
      2.9731200868727186,
      2.8717113930489226,
      2.7752479741709664,
      2.67566988522678,
      2.4802477439204584,
      2.119917934975713,
      1.7177767254379726,
      1.345936428868951
    ],
    "vy_ego": [
      -0.019294724310672695,
      -0.02289479868963773,
      -0.010325378140814134,
      0.005116803328266251,
      0.003433507507268896,
      -8.263292186283522e-06,
      -0.014197150282585502,
      -0.011519781256216222,
      0.004022236600285112,
      -0.003835446352814631
    ],
    "v_ego": [
      3.5042662507358453,
      3.185726198421655,
      2.973138016372565,
      2.8717159515946706,
      2.7752500981197814,
      2.67566988523954,
      2.480288376439052,
      2.1199492343902677,
      1.7177814345380709,
      1.3459418936957235
    ],
    "ax_ego": [
      -0.6372458625154112,
      -0.6372028710373169,
      -0.21309621013413385,
      -0.19252970669951955,
      -0.19334456531328933,
      -0.20496004505949092,
      -0.5767070318827827,
      -0.8647935912059603,
      -0.7437218230233782,
      -0.7436338800121403
    ],
    "ay_ego": [
      -0.02028334832223283,
      -0.021591869740470282,
      0.04744175145754055,
      0.004831204580114781,
      0.0005157346691417458,
      0.019251587653783403,
      -0.028146950046703867,
      0.015759701300419038,
      -0.02480023022485789,
      -0.027310119531250288
    ],
    "a_ego": [
      0.6375685873003557,
      0.637568590582291,
      0.21831334030445776,
      0.1925903125795738,
      0.19334525315723106,
      0.20586219589322333,
      0.5773934979024102,
      0.8649371789765891,
      0.744135203750248,
      0.7441351961375845
    ],
    "yaw": [
      -0.5738802943780987,
      -0.575933772174896,
      -0.5779516837424512,
      -0.5787647198621976,
      -0.5776951450286218,
      -0.5746207512669548,
      -0.5700616499571738,
      -0.5725333724574206,
      -0.5818845796923169,
      -0.5852595311548084
    ],
    "yaw_diff": [
      -0.004106955593594641,
      -0.004035823135110306,
      -0.0016260722394927374,
      0.002139149667151452,
      0.006148787523334143,
      0.009118202619561977,
      -0.004943445000493707,
      -0.018702414469792483,
      -0.00674990292498312,
      -0.00674990292498312
    ],
    "min_front_frame": [
      9,
      9.596074395490822
    ],
    "v_avg": 2.5649727339547175,
    "v_std": 0.6319615926398648,
    "vy_max": 0.02289479868963773,
    "a_max": 0.8649371789765891,
    "ax_avg": -0.5007235586883423,
    "a_std": 0.2550686720616214,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6492ae3886505280",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.074521185479268,
    "right_rear_min": 3.1915157171419963,
    "speed_mode": "decelerating",
    "front_frame": [
      13.915608114960857,
      13.252562333278933,
      12.762935484771509,
      12.29498618621868,
      11.855207864436196,
      11.318190871206449,
      10.804393189958201,
      10.271581175917824,
      9.890445985179635,
      9.596074395490822
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6492ae3886505280",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f665cf888bbd5595": {
    "vx_ego": [
      7.410628066450154,
      7.454259811250207,
      7.417585871690178,
      7.324653962711246,
      7.2126721173997055,
      7.070083067927572,
      6.831059205261299,
      6.377394014469235,
      5.847001998583895,
      5.345471022896981
    ],
    "vy_ego": [
      0.0029934227008663328,
      0.013732310603244535,
      -0.005895184525772201,
      -0.0011461570568700452,
      5.8583325227345995e-05,
      -0.0017302893178863243,
      -0.011923227834741645,
      -0.02063023056400448,
      -0.0049936490987421145,
      0.027356415373928744
    ],
    "v_ego": [
      7.410628671026379,
      7.454272460138178,
      7.417588214311868,
      7.324654052386199,
      7.212672117637621,
      7.070083279657834,
      6.831069610913589,
      6.377427382746209,
      5.84700413100379,
      5.345541023141943
    ],
    "ax_ego": [
      0.08709430245163277,
      0.08732295682728661,
      -0.23423013166523612,
      -0.13748698294155667,
      -0.3104395910220784,
      -0.2599374364975578,
      -0.6960103979084491,
      -1.1185011087243044,
      -1.0030477409488465,
      -1.0030641970124963
    ],
    "ay_ego": [
      0.07016280806293708,
      0.06987801601536606,
      0.03057788814800566,
      -0.03045508329269058,
      0.0359470326412088,
      -0.017904485531808637,
      0.046591199915479,
      0.006644841945792179,
      0.06184774923618502,
      0.06158013531886952
    ],
    "a_ego": [
      0.11184023048444167,
      0.1118402249251311,
      0.236217615396282,
      0.1408196810702844,
      0.31251388581895595,
      0.2605533371405568,
      0.6975680711631244,
      1.1185208465388488,
      1.00495269277124,
      1.004952683659392
    ],
    "yaw": [
      1.021384754641256,
      1.0246503550692225,
      1.030634924285025,
      1.0299937628508233,
      1.0300168412060047,
      1.030899735760019,
      1.0333785952408965,
      1.036685770924938,
      1.0369295597470967,
      1.0366627568095859
    ],
    "yaw_diff": [
      0.006531200855933061,
      0.011969138431604964,
      -0.0012823228684033516,
      4.615671036267699e-05,
      0.0017657891080284926,
      0.00495771896175512,
      0.006614351368082971,
      0.00048757764431739403,
      -0.0005336058750216033,
      -0.0005336058750216033
    ],
    "min_front_frame": [
      9,
      14.483294693615216
    ],
    "v_avg": 6.829094094296361,
    "v_std": 0.6996842483417609,
    "vy_max": 0.027356415373928744,
    "a_max": 1.1185208465388488,
    "ax_avg": -0.4588300327441607,
    "a_std": 0.39038045841220487,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f665cf888bbd5595",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 39.64809955980085,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.877745205809617,
      20.818968473270274,
      20.599172100168474,
      20.30660321173214,
      19.69170842984757,
      18.781749800840018,
      17.54961309477464,
      16.30498713349393,
      15.306904222108912,
      14.483294693615216
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f665cf888bbd5595",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2834297c33cd5d50": {
    "vx_ego": [
      10.17300862823846,
      9.912640470948228,
      9.680131959428289,
      9.428173587140128,
      9.169866031341417,
      8.933847490741634,
      8.70639551288868,
      8.478027766014826,
      8.230016863135463,
      7.981883879390871
    ],
    "vy_ego": [
      -0.009109572389240483,
      0.0359374368098333,
      0.042538789623133066,
      0.056900564529567266,
      0.045240057197872385,
      0.019647973472793012,
      0.035552711999480735,
      0.059223890137491075,
      0.05756131103522133,
      -0.048980338950528335
    ],
    "v_ego": [
      10.173012706888912,
      9.912705614797867,
      9.680225426123483,
      9.428345287667954,
      9.169977627863902,
      8.93386909634858,
      8.706468102633734,
      8.478234619924207,
      8.230218154582671,
      7.982034160393175
    ],
    "ax_ego": [
      -0.5850075685142241,
      -0.45010287318505754,
      -0.46032975762435835,
      -0.5372011853015016,
      -0.4740039933821305,
      -0.4657957886251807,
      -0.44322463343591306,
      -0.4598397492114808,
      -0.5226216905184786,
      -0.4683619664292189
    ],
    "ay_ego": [
      -1.5784731607280202,
      -1.622103196219862,
      -1.7590712988849888,
      -1.592536134336204,
      -1.689906925914841,
      -1.5296414881375033,
      -1.3278551406776113,
      -1.2195562583992832,
      -1.0372804666921618,
      -1.0628834669205516
    ],
    "a_ego": [
      1.6833928164150016,
      1.683392816794742,
      1.818305617962894,
      1.680701178870247,
      1.7551254097634033,
      1.598989930841489,
      1.3998740480158773,
      1.3033687361432822,
      1.1615008385625476,
      1.1615008376451978
    ],
    "yaw": [
      1.3862402230746702,
      1.3019898394271254,
      1.2150957763796013,
      1.126040828643637,
      1.039028736299871,
      0.9529798276642489,
      0.8702037108117281,
      0.7933853475140682,
      0.7261354895676888,
      0.6744750890536633
    ],
    "yaw_diff": [
      -0.16850076729508956,
      -0.17378812609504823,
      -0.17810989547192868,
      -0.1740241846875321,
      -0.17209781727124396,
      -0.16555223370504168,
      -0.1536367265953198,
      -0.13449971589275878,
      -0.10332080102805108,
      -0.10332080102805108
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.069509079722447,
    "v_std": 0.6947910377321811,
    "vy_max": 0.059223890137491075,
    "a_max": 1.818305617962894,
    "ax_avg": -0.4866489206227544,
    "a_std": 0.23407660012554607,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "2834297c33cd5d50",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "2834297c33cd5d50",
    "road_shape": "Curve"
  },
  "fe9a137303a9521c": {
    "vx_ego": [
      5.2269919047543185,
      5.128621157124042,
      5.061172785509013,
      4.995178245180982,
      4.889189027212408,
      4.757239283127458,
      4.720446714667265,
      4.902647966012346,
      5.154738620920961,
      5.37789638809207
    ],
    "vy_ego": [
      -0.14392623320669373,
      -0.05362191640157099,
      -0.0611027205731125,
      -0.07812730090057474,
      -0.07518995136494588,
      -0.032435512991805915,
      0.004188025910814019,
      0.022456756024153535,
      -0.01873421866724101,
      0.026142127761601852
    ],
    "v_ego": [
      5.228973047642553,
      5.128901469439525,
      5.061541613702144,
      4.995789184530845,
      4.889767159344141,
      4.75734985674105,
      4.720448572495415,
      4.9026993977334685,
      5.154772664333821,
      5.377959926579748
    ],
    "ax_ego": [
      -0.19644252613753133,
      -0.19005761388224202,
      -0.05745116431307243,
      -0.17119547245716132,
      -0.21665797190985242,
      -0.28999386853015957,
      0.14407903235010633,
      0.5678503685246247,
      0.43548900093723,
      0.4561836473218147
    ],
    "ay_ego": [
      0.36111877783039864,
      0.36451960384998133,
      0.7188444426728752,
      0.9721428132698435,
      1.0645958193259344,
      1.0538852515186017,
      0.9660098366144487,
      0.6585011238808577,
      0.5227645674258092,
      0.5048068360549728
    ],
    "a_ego": [
      0.41109176320745655,
      0.4110917637043568,
      0.7211365814064657,
      0.987101585036736,
      1.086418397910468,
      1.0930556102749365,
      0.9766953322294608,
      0.8695273263019999,
      0.6803921390589401,
      0.6803921382641528
    ],
    "yaw": [
      1.8763348686559858,
      1.893932469394874,
      1.9487246284168744,
      2.035884218308059,
      2.1381113828871694,
      2.2387769977427165,
      2.3386707591323495,
      2.420133050106407,
      2.4868063566509537,
      2.5270796647831704
    ],
    "yaw_diff": [
      0.03519520147777655,
      0.10958431804400082,
      0.1743191797823691,
      0.20445432915822082,
      0.2013312297110943,
      0.1997875227792658,
      0.16292458194811488,
      0.13334661308909368,
      0.08054661626443327,
      0.08054661626443327
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.02182028925427,
    "v_std": 0.19837922246345616,
    "vy_max": 0.14392623320669373,
    "a_max": 1.0930556102749365,
    "ax_avg": 0.04818034319037566,
    "a_std": 0.23992074056852944,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "fe9a137303a9521c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 41.2016516007468,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "fe9a137303a9521c",
    "pedestrians": "No"
  },
  "1834f4fb0ca15b93": {
    "vx_ego": [
      2.468374218884784,
      2.5375810725566046,
      2.589713564583961,
      2.612234108017874,
      2.6738293666281185,
      2.784736829796171,
      2.9271999404993667,
      3.059204285693203,
      3.149664276674367,
      3.2214230602449683
    ],
    "vy_ego": [
      -0.030184211680538198,
      -0.005648568902092421,
      -0.013961819532027131,
      -0.023996131900389295,
      -0.054424840066970015,
      -0.07229824782717349,
      -0.05252566900486841,
      -0.028740792839359725,
      -0.04155613647061637,
      -0.08504197384736481
    ],
    "v_ego": [
      2.4685587639531374,
      2.537587359309659,
      2.589751200211096,
      2.612344320612832,
      2.6743832083415495,
      2.7856751870708307,
      2.927671162812502,
      3.0593392905620482,
      3.149938407054498,
      3.222545371347611
    ],
    "ax_ego": [
      0.09793428867621234,
      0.18694260800052964,
      0.03543451650569668,
      0.06763027558766585,
      0.18932918995730807,
      0.26387722509104233,
      0.3113107654971197,
      0.21753321402487613,
      0.14499677637669123,
      0.14480999182658638
    ],
    "ay_ego": [
      0.7001873626603585,
      0.6818401047499143,
      0.7930913570522289,
      0.8058194617927971,
      0.6345044121822748,
      0.3289572544859324,
      0.14094340522194979,
      0.042052540229997167,
      -0.016214070303461108,
      -0.017805266521913436
    ],
    "a_ego": [
      0.7070031596306937,
      0.7070031592089343,
      0.7938825515093139,
      0.8086524959338818,
      0.6621490702618743,
      0.4217156212433577,
      0.3417300633394162,
      0.22156063581734933,
      0.14590051828365033,
      0.14590051832921083
    ],
    "yaw": [
      -2.27140773699316,
      -2.1427770674115814,
      -1.9970399824934157,
      -1.8395802143479174,
      -1.6912468117990036,
      -1.596192640523103,
      -1.5619148593237375,
      -1.5546055195404824,
      -1.548414772241446,
      -1.5374337909573645
    ],
    "yaw_diff": [
      0.25726133916315685,
      0.29147416983633123,
      0.31491953629099667,
      0.2966668050978276,
      0.1901083425518011,
      0.06855556239873106,
      0.014618679566510195,
      0.012381494598072695,
      0.021961962568163074,
      0.021961962568163074
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.802779427127576,
    "v_std": 0.25663177867286435,
    "vy_max": 0.08504197384736481,
    "a_max": 0.8086524959338818,
    "ax_avg": 0.16597988515437284,
    "a_std": 0.2555205259665028,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "1834f4fb0ca15b93",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1834f4fb0ca15b93",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c6bd79f439c254a0": {
    "vx_ego": [
      9.046285158944945,
      8.923105024474156,
      8.772654316378318,
      8.579370105468767,
      8.35628932570953,
      8.176315531577265,
      8.011357652486208,
      7.779400393654979,
      7.558213626857292,
      7.370102667748222
    ],
    "vy_ego": [
      -0.026784858975713366,
      -0.022891288999773884,
      -0.009243053637451037,
      -0.028026545587021,
      -0.0257332409647697,
      0.0027323249040818176,
      0.01769708503918732,
      0.0033288423250734667,
      -0.016506447098143084,
      0.09069646694025923
    ],
    "v_ego": [
      9.046324812077993,
      8.923134387024998,
      8.772659185715108,
      8.579415883023081,
      8.356328948447254,
      8.176315988115368,
      8.011377198888354,
      7.779401105868655,
      7.558231651120986,
      7.370660701881814
    ],
    "ax_ego": [
      -0.24632648602586982,
      -0.24630517331760726,
      -0.35506124970582076,
      -0.4168184548159404,
      -0.4733169314853269,
      -0.2423874018888925,
      -0.4188890768162564,
      -0.5125585042328802,
      -0.37513734473486965,
      -0.3757676297877007
    ],
    "ay_ego": [
      0.023730866945139824,
      0.023950921222705895,
      0.1514657279684648,
      0.20481871656043837,
      0.29320004722303694,
      0.5698345846815347,
      0.5642136214685,
      0.4308431270292943,
      0.06348224827206343,
      0.05963816801472448
    ],
    "a_ego": [
      0.24746695085166617,
      0.24746693724704483,
      0.3860185977277212,
      0.46442257797033654,
      0.5567721125579806,
      0.6192439797798802,
      0.7027126506094616,
      0.6695834678140046,
      0.3804707915995712,
      0.3804707908373769
    ],
    "yaw": [
      -1.339446479522877,
      -1.3385530846585247,
      -1.3351444081589858,
      -1.322724262125198,
      -1.3083041055896532,
      -1.2855682664509493,
      -1.252482247942857,
      -1.2192072721271576,
      -1.2004645404622631,
      -1.2107029806426408
    ],
    "yaw_diff": [
      0.0017867897287047185,
      0.006817352999077819,
      0.024840292067575653,
      0.028840313071089696,
      0.04547167827740761,
      0.06617203701618468,
      0.06654995163139876,
      0.03748546332978897,
      -0.020476880360755345,
      -0.020476880360755345
    ],
    "min_front_frame": [
      6,
      28.955422835623075
    ],
    "v_avg": 8.257384986216362,
    "v_std": 0.5491179806281867,
    "vy_max": 0.09069646694025923,
    "a_max": 0.7027126506094616,
    "ax_avg": -0.3662568252811164,
    "a_std": 0.15676189375309696,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c6bd79f439c254a0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      46.76143073891257,
      42.689847372239825,
      33.0093183609619,
      28.955422835623075,
      30.658622515007224,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c6bd79f439c254a0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c6cef2558e365e85": {
    "vx_ego": [
      2.229800277869635,
      3.2344563600569396,
      4.261641139719561,
      5.234169715928655,
      6.143008181056909,
      7.061201665894801,
      7.967935286626826,
      8.793210629564278,
      9.366431337099748,
      9.761748107589067
    ],
    "vy_ego": [
      0.00562199173670952,
      0.0016099446725068578,
      0.006096768809211728,
      0.015053120016530919,
      0.020736903073226287,
      0.014507282887664452,
      -0.002686603126642151,
      -0.0033993913549572596,
      0.010292422039317906,
      0.01688059005553999
    ],
    "v_ego": [
      2.2298073652175847,
      3.234456760730407,
      4.26164550078255,
      5.234191361764192,
      6.14304318165526,
      7.061216568530687,
      7.96793573955697,
      8.793211286654257,
      9.366436992077382,
      9.761762703033677
    ],
    "ax_ego": [
      2.0093067255647687,
      2.009303903425446,
      2.0994368949527553,
      1.7907299389197466,
      1.844605336668054,
      1.8281592779084006,
      1.798781334791443,
      1.5022969692235584,
      0.7906585172891158,
      0.7907360438544037
    ],
    "ay_ego": [
      -0.002261239304129359,
      -0.004051223014112648,
      0.016884665198628523,
      -0.0007399534625874837,
      0.03105667142797397,
      -0.053795892975253334,
      -0.030416802646533903,
      -0.001706767251124286,
      -0.033425121770298216,
      -0.031537770282883515
    ],
    "a_ego": [
      2.009307997944318,
      2.0093079875242235,
      2.099504791089493,
      1.7907300917990534,
      1.8448667607457319,
      1.8289506126474737,
      1.7990384854908812,
      1.5022979387567363,
      0.7913647261074899,
      0.7913647212284164
    ],
    "yaw": [
      2.433692933095677,
      2.434583786387895,
      2.4342416556630173,
      2.4332137265385487,
      2.433547313538365,
      2.4336298086706654,
      2.433116485122122,
      2.4322471070595686,
      2.4297958771062307,
      2.427408937970382
    ],
    "yaw_diff": [
      0.0017817065844365487,
      -0.000684261449755752,
      -0.00205585824893717,
      0.0006671739996324533,
      0.00016499026460081723,
      -0.0010266470970865527,
      -0.0017387561251069883,
      -0.004902459906675816,
      -0.004773878271697285,
      -0.004773878271697285
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.405370746000297,
    "v_std": 2.4926464993953275,
    "vy_max": 0.020736903073226287,
    "a_max": 2.099504791089493,
    "ax_avg": 1.6464014942597693,
    "a_std": 0.4548062380949779,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "c6cef2558e365e85",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "c6cef2558e365e85",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ed19f6a36af757b7": {
    "vx_ego": [
      9.372673039280006,
      9.252771343044225,
      9.12194705035668,
      8.969473481833486,
      8.848819014507132,
      8.700399199090256,
      8.455841548354636,
      8.08753092463715,
      7.686208252729044,
      7.366846394354482
    ],
    "vy_ego": [
      -0.023696093277622232,
      -0.07954511939374775,
      -0.09241251669236217,
      -0.08071915793983653,
      -0.06511046280307742,
      -0.026518929864622898,
      0.06645475479192609,
      0.02389166030137524,
      0.00964161852698231,
      -0.08472389269282576
    ],
    "v_ego": [
      9.372702993591707,
      9.253113257313984,
      9.122415144179328,
      8.96983668322744,
      8.84905855579391,
      8.700439614017876,
      8.456102679444886,
      8.087566214158262,
      7.6862142999742,
      7.367333570295745
    ],
    "ax_ego": [
      -0.24566562137726505,
      -0.23761917592253295,
      -0.29199923972354647,
      -0.33053640199245005,
      -0.16502305925151867,
      -0.444392290904947,
      -0.536009821425655,
      -0.9367008654628322,
      -0.6597369483710285,
      -0.6063898366181852
    ],
    "ay_ego": [
      -0.44478954266068055,
      -0.4491396973217424,
      -0.7215469647750932,
      -0.8476831646419692,
      -0.9312350997334572,
      -0.6638150576096753,
      -0.40014832410848855,
      -0.1356225457703517,
      0.7853755891858439,
      0.827259952263503
    ],
    "a_ego": [
      0.5081233460361521,
      0.5081233516345909,
      0.7783916612960847,
      0.9098467237175383,
      0.9457438453726845,
      0.7988334863568775,
      0.6688985049703688,
      0.9464681644302939,
      1.025703493771435,
      1.0257034964222569
    ],
    "yaw": [
      -0.6350877599733631,
      -0.6530896777296353,
      -0.6835201654245352,
      -0.7281511361376758,
      -0.7799301345355486,
      -0.8295655024143098,
      -0.8713501541326812,
      -0.8823308317593133,
      -0.8598301637691488,
      -0.7936928822499378
    ],
    "yaw_diff": [
      -0.03600383551254449,
      -0.06086097538979973,
      -0.08926194142628119,
      -0.10355799679574562,
      -0.09927073575752243,
      -0.08356930343674285,
      -0.021961355253264037,
      0.04500133598032896,
      0.1322745630384219,
      0.1322745630384219
    ],
    "min_front_frame": [
      8,
      58.20682276292853
    ],
    "v_avg": 8.586478301199733,
    "v_std": 0.6435354824276375,
    "vy_max": 0.09241251669236217,
    "a_max": 1.0257034964222569,
    "ax_avg": -0.44540732610499606,
    "a_std": 0.1852950814796648,
    "ini_direction_judge": "straight",
    "scenario_type": "roundout_entrance",
    "scene_token": "ed19f6a36af757b7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.99480145652731,
    "right_rear_min": 28.160455991895223,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      68.54071526861627,
      -1,
      59.73030395607201,
      66.27808163188772,
      -1,
      58.20682276292853,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      -1,
      1,
      1,
      -1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "ed19f6a36af757b7",
    "merge_risk": "No"
  },
  "127b9e23f1805690": {
    "vx_ego": [
      0.9189759078316213,
      1.3952317943270003,
      1.9329288107860143,
      2.5798052508917726,
      3.313317038546031,
      4.11302282317771,
      4.9771453461844395,
      5.885915166266476,
      6.8817956826792175,
      7.966100997285256
    ],
    "vy_ego": [
      0.04416732265446237,
      0.031669299144218704,
      0.04163475164825224,
      0.046062411274508275,
      0.05976028355088725,
      0.11361433172870039,
      0.1996203221536268,
      0.21547000117011006,
      0.08000190524859407,
      -0.006420724970496394
    ],
    "v_ego": [
      0.920036668598277,
      1.3955911666420173,
      1.9333771593022007,
      2.5802164401966716,
      3.3138559246608055,
      4.114591712473414,
      4.98114686292847,
      5.889857779767689,
      6.8822606840329525,
      7.966103584856168
    ],
    "ax_ego": [
      0.9527766853680996,
      0.9576325614680565,
      1.2131408350752635,
      1.4268051089710123,
      1.5874505843891904,
      1.7236404871227515,
      1.8517428209517859,
      1.8355808303956056,
      2.163425213680004,
      2.1767710362376516
    ],
    "ay_ego": [
      -0.13866597991330507,
      -0.09975742438384028,
      -0.3450036060252965,
      -0.7992336809202465,
      -1.2629692448405279,
      -1.635542246399424,
      -1.5895656659508877,
      -0.8401169350624791,
      -0.5666585122141982,
      -0.5130091475886257
    ],
    "a_ego": [
      0.9628144505388043,
      0.962814450713931,
      1.2612446923169056,
      1.6354043217819587,
      2.0285686262216114,
      2.3761176251621112,
      2.44042424207685,
      2.0187009311670203,
      2.236405715573804,
      2.236405716705434
    ],
    "yaw": [
      0.10414366335118058,
      0.06341608840363816,
      -0.010780971417984443,
      -0.14088029825598508,
      -0.32123795714727044,
      -0.5310843864327459,
      -0.7274631839854581,
      -0.8420454010296601,
      -0.876131652499514,
      -0.9008524846625405
    ],
    "yaw_diff": [
      -0.08145514989508484,
      -0.1483941196432452,
      -0.26019865367600126,
      -0.3607153177825707,
      -0.41969285857095096,
      -0.3927575951054243,
      -0.22916443408840403,
      -0.06817250293970778,
      -0.049441664326053125,
      -0.049441664326053125
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9977037983458663,
    "v_std": 2.2718125568501053,
    "vy_max": 0.21547000117011006,
    "a_max": 2.44042424207685,
    "ax_avg": 1.588896616365942,
    "a_std": 0.5421818607874441,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "127b9e23f1805690",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "127b9e23f1805690",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "66d5ea23c45c51c4": {
    "vx_ego": [
      7.2759587304658515,
      7.017636326929612,
      6.7485545822295485,
      6.404756541869191,
      5.874298186787669,
      5.090808036234794,
      4.229401502906607,
      3.492498922807166,
      2.8770333937859163,
      2.3107632732730514
    ],
    "vy_ego": [
      -0.04245859281119779,
      -0.0024447673829377514,
      0.015861235880997082,
      0.02621868424569973,
      0.008443658307575319,
      -0.018417554610618225,
      -0.023766330311532302,
      -0.02091919633460204,
      -0.01471220325272804,
      0.0006987156972466657
    ],
    "v_ego": [
      7.276082612199078,
      7.017636752777226,
      6.748573221662125,
      6.404810206401106,
      5.874304255200143,
      5.090841351693313,
      4.2294682776024155,
      3.4925615726261006,
      2.877071010226174,
      2.310763378909925
    ],
    "ax_ego": [
      -0.5166479633604198,
      -0.5165422183512122,
      -0.5598990031677823,
      -0.8153837769786907,
      -1.3066804068477984,
      -1.8272388504827146,
      -1.6183445162845618,
      -1.3292945234413158,
      -1.1325402130015823,
      -1.1325564080032235
    ],
    "ay_ego": [
      0.09551984139543049,
      0.09609005904951526,
      0.02946359920783495,
      0.042890943202126164,
      -0.06814655002680536,
      -0.018741988561303047,
      0.005563436396706645,
      0.0007766458370475071,
      0.028128497192846658,
      0.027468470402647716
    ],
    "a_ego": [
      0.5254038048441197,
      0.5254038092622956,
      0.5606736996030367,
      0.8165110757171657,
      1.308456204051356,
      1.8273349662414453,
      1.618354079060838,
      1.3292947503205716,
      1.1328894678740715,
      1.1328894624699382
    ],
    "yaw": [
      1.0950062138815047,
      1.0961100179479761,
      1.0980091802970402,
      1.09917904956882,
      1.1010273376287905,
      1.1019536945991435,
      1.1023969708616956,
      1.1020669913636758,
      1.102389535220131,
      1.1018067537055927
    ],
    "yaw_diff": [
      0.002207608132942962,
      0.0037983246981281304,
      0.002339738543559733,
      0.0036965761199407865,
      0.0018527139407060744,
      0.0008865525251042783,
      -0.0006599589960396557,
      0.000645087712910275,
      -0.001165563029076555,
      -0.001165563029076555
    ],
    "min_front_frame": [
      9,
      12.011032080680975
    ],
    "v_avg": 5.132211263929761,
    "v_std": 1.7171250070205446,
    "vy_max": 0.04245859281119779,
    "a_max": 1.8273349662414453,
    "ax_avg": -1.0755127879919302,
    "a_std": 0.4384629435354357,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "66d5ea23c45c51c4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.274575703816556,
    "right_rear_min": 11.640204641545264,
    "speed_mode": "decelerating",
    "front_frame": [
      20.187024289884274,
      19.536495061182794,
      18.84917866014768,
      18.00512253172787,
      16.731121028265754,
      15.462339450212777,
      14.4566512327084,
      13.638339941531777,
      12.818061463986966,
      12.011032080680975
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "66d5ea23c45c51c4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e6a4a48400545711": {
    "vx_ego": [
      9.116612509502998,
      9.83962542079855,
      10.536222099643073,
      11.168220140509106,
      11.671338214206138,
      12.0544691097191,
      12.3346579337277,
      12.52149646449435,
      12.686427868184163,
      12.846371114795234
    ],
    "vy_ego": [
      0.06697462599713422,
      -0.12097201353665898,
      -0.10915661476234728,
      -0.1455679336953697,
      -0.11774031026060072,
      -0.039235960964076,
      -0.0010627769105999718,
      0.011193609251869852,
      0.010717791493235929,
      -0.003844117820924531
    ],
    "v_ego": [
      9.116858518643031,
      9.840369030157566,
      10.536787522748737,
      11.16916877525779,
      11.671932080467604,
      12.0545329639022,
      12.33465797951311,
      12.521501467764661,
      12.686432395504035,
      12.8463716899476
    ],
    "ax_ego": [
      1.4417562866620213,
      1.4532721520844234,
      1.3376317332109202,
      1.1929217402647234,
      0.8192073156936455,
      0.7132655869902516,
      0.4074990888392862,
      0.33985373713222644,
      0.3198840635013112,
      0.3198920665991123
    ],
    "ay_ego": [
      0.34203545486531495,
      0.28922222372619194,
      0.20101047285792145,
      -0.05477626478540948,
      0.14087438011015818,
      0.16576529902617357,
      0.027280233829629214,
      0.024783904661158762,
      -0.035010894710565246,
      -0.034937602145666685
    ],
    "a_ego": [
      1.4817723990257017,
      1.4817723990954939,
      1.3526506806605376,
      1.1941786790845235,
      0.8312317469017948,
      0.7322744922129849,
      0.40841121258193647,
      0.3407562245550239,
      0.3217943082631282,
      0.3217942981420581
    ],
    "yaw": [
      -2.1034612888373694,
      -2.0669798703653566,
      -2.0561253736539626,
      -2.0494126307309966,
      -2.0499623276145966,
      -2.050117633056483,
      -2.0492929477406934,
      -2.0492318658401807,
      -2.0493969344883687,
      -2.0496260684640593
    ],
    "yaw_diff": [
      0.07296283694402561,
      0.02170899342278787,
      0.013425485845932172,
      -0.0010993937672001408,
      -0.0003106108837727106,
      0.0016493706315792167,
      0.00012216380102536561,
      -0.00033013729637598743,
      -0.00045826795138115273,
      -0.00045826795138115273
    ],
    "min_front_frame": [
      9,
      18.388610127750773
    ],
    "v_avg": 11.477861242390635,
    "v_std": 1.2150551346456937,
    "vy_max": 0.1455679336953697,
    "a_max": 1.4817723990954939,
    "ax_avg": 0.8345183770977922,
    "a_std": 0.46859599063518304,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e6a4a48400545711",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.749505469972135,
    "right_rear_min": 17.88002102550632,
    "speed_mode": "accelerating",
    "front_frame": [
      20.939603017655255,
      21.30094993270166,
      21.465849086727726,
      21.444932480742853,
      21.17026410188184,
      20.697686066083925,
      20.21639941102329,
      19.637491354960922,
      18.936575787358837,
      18.388610127750773
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e6a4a48400545711",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "008844070af456e3": {
    "vx_ego": [
      0.6831218930555861,
      1.0516161261011723,
      1.4045061780035166,
      1.719519138666044,
      1.9917272439486648,
      2.220209949103254,
      2.4153413099016214,
      2.5722457818421076,
      2.6907735354914837,
      2.839459153466137
    ],
    "vy_ego": [
      0.03468459771647753,
      -0.031990482354853356,
      -0.053265079020592854,
      -0.028806657078784048,
      0.010207125977554465,
      0.0346145775707114,
      0.03637115778903477,
      0.02368060664532684,
      0.026693612134807226,
      0.0478281422968968
    ],
    "v_ego": [
      0.6840018582508395,
      1.0521025936843482,
      1.4055158386489695,
      1.7197604169566378,
      1.9917533983171878,
      2.2204797650682324,
      2.41561513996667,
      2.5723547837216403,
      2.6909059381981644,
      2.839861935974741
    ],
    "ax_ego": [
      0.7306708311201089,
      0.7425614940189275,
      0.6580799721238367,
      0.5874249879555179,
      0.5087094447018778,
      0.4296007987151363,
      0.39214604288712435,
      0.25964572424694576,
      0.2322982282614302,
      0.3833052542064626
    ],
    "ay_ego": [
      -0.24437935498013458,
      -0.205435050476099,
      -0.2674668180660037,
      -0.33454194103146284,
      -0.5170826059755799,
      -0.6612197426201787,
      -0.8739068900009915,
      -0.91328518534962,
      -0.915944014740402,
      -0.863708854809561
    ],
    "a_ego": [
      0.7704551463844325,
      0.7704551462374296,
      0.7103574793558962,
      0.676007712074085,
      0.7253686790394177,
      0.7885229193164764,
      0.9578579076999028,
      0.9494765567926419,
      0.9449422760106383,
      0.9449422753685669
    ],
    "yaw": [
      -0.5971214952190109,
      -0.649978381632443,
      -0.7282116666793932,
      -0.8394767034033589,
      -0.9743162358802787,
      -1.1247899718082475,
      -1.2904147518586258,
      -1.4629123963816584,
      -1.6371694827023973,
      -1.8064678630262603
    ],
    "yaw_diff": [
      -0.10571377282686423,
      -0.1564665700939003,
      -0.2225300734479314,
      -0.26967906495383964,
      -0.3009474718559375,
      -0.33124956010075657,
      -0.34499528904606525,
      -0.34851417264147777,
      -0.33859676064772604,
      -0.33859676064772604
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.9592351668787433,
    "v_std": 0.6911883166687529,
    "vy_max": 0.053265079020592854,
    "a_max": 0.9578579076999028,
    "ax_avg": 0.4924442778237369,
    "a_std": 0.10698285685741002,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "008844070af456e3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "008844070af456e3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2802831d87ba5a55": {
    "vx_ego": [
      0.5569922680393671,
      0.9468455311285638,
      1.4158568301272725,
      1.8806636714306193,
      2.149552989723023,
      2.325532884118428,
      2.4092795456042486,
      2.344748713294639,
      2.2347650126360366,
      2.115726195634695
    ],
    "vy_ego": [
      0.010618882791686046,
      -0.0008995225905131243,
      0.00550190398391015,
      0.019036873401457433,
      0.020873733228775504,
      0.02412493992936038,
      0.014836360935637005,
      -0.004530296113358423,
      -0.01753125123540933,
      -0.024517901988986734
    ],
    "v_ego": [
      0.5570934816773409,
      0.9468459584108827,
      1.4158675200616393,
      1.8807600186062547,
      2.1496543369495695,
      2.325658016098405,
      2.4093252263803713,
      2.3447530897899975,
      2.2348337760272066,
      2.115868252612341
    ],
    "ax_ego": [
      0.7797071529162426,
      0.7796968213161746,
      1.0963671492462155,
      0.7627768659317024,
      0.31267582139946665,
      0.39120608690661846,
      -0.056321728984708934,
      -0.20182056273391702,
      -0.23804747632307866,
      -0.23805456947795053
    ],
    "ay_ego": [
      -0.02216108229453917,
      -0.02252164927870176,
      0.05122719855638641,
      0.011058752026532281,
      0.00686662038725025,
      0.009932024679990159,
      -0.03732343493090131,
      -0.029155924140810488,
      -0.011297893526927838,
      -0.011147388507860512
    ],
    "a_ego": [
      0.7800220239693353,
      0.7800220239562339,
      1.0975632791863112,
      0.7628570267074785,
      0.3127512106505325,
      0.3913321447913941,
      0.06756608580396105,
      0.20391568712274108,
      0.23831542833382083,
      0.23831542610556616
    ],
    "yaw": [
      2.56419662803891,
      2.5646590704061323,
      2.5653378056272866,
      2.566542873264928,
      2.5678195546223854,
      2.568245303239613,
      2.569252472850752,
      2.5703992712453996,
      2.571657831997807,
      2.572290096243261
    ],
    "yaw_diff": [
      0.0009248847344442979,
      0.001357470442308717,
      0.0024101352752827765,
      0.0025533627149147975,
      0.0008514972344553229,
      0.0020143392222777834,
      0.0022935967892951936,
      0.0025171215048152007,
      0.001264528490907857,
      0.001264528490907857
    ],
    "min_front_frame": [
      0,
      13.037647148211756
    ],
    "v_avg": 1.8380659676614008,
    "v_std": 0.6138191123723288,
    "vy_max": 0.024517901988986734,
    "a_max": 1.0975632791863112,
    "ax_avg": 0.3388185560196765,
    "a_std": 0.3224705058688074,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "2802831d87ba5a55",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.725725167039561,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.037647148211756,
      13.766694445869248,
      14.692759948507824,
      15.394397786634935,
      15.812792766634216,
      16.269131147182883,
      16.826444467744853,
      17.518710953331034,
      18.47342833843699,
      20.29849849128363
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "2802831d87ba5a55",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "b5a8b9b436b05bad": {
    "vx_ego": [
      3.271712590300951,
      2.6130624360696593,
      1.9209103706133073,
      1.1763543339313742,
      0.4736847366780659,
      0.04104513478765936,
      -0.06253986405399534,
      -0.0450345163044352,
      -0.021634993726591355,
      0.005278114303063637
    ],
    "vy_ego": [
      0.02981557354242148,
      0.010196198473883422,
      0.002463363304887334,
      0.005208545760021749,
      0.011920004320170458,
      -0.020705078192395247,
      -0.026899940547434102,
      -0.006458804114413742,
      -0.0037203156594149585,
      -0.001386649474436425
    ],
    "v_ego": [
      3.271848444222229,
      2.6130823288334453,
      1.9209119501134155,
      1.1763658648176005,
      0.47383469297294123,
      0.04597176690850946,
      0.06807966948618147,
      0.04549531634534272,
      0.021952532932564647,
      0.005457223411329223
    ],
    "ax_ego": [
      -1.319502232459871,
      -1.3167053227915553,
      -1.4534315211529423,
      -1.5247418792247345,
      -1.2860912978550272,
      -0.4444827971561324,
      0.0302537140747599,
      0.03976857868012341,
      0.0538264566343453,
      0.053826865551940634
    ],
    "ay_ego": [
      0.09342457398110199,
      0.12689121373042467,
      0.02342083992786259,
      0.0625416307926362,
      -0.029565347896047173,
      -0.1003999970767608,
      0.07545073994949869,
      0.006307620249800941,
      0.004668264270028624,
      0.004663558648040574
    ],
    "a_ego": [
      1.322805462828958,
      1.322805460825436,
      1.4536202125809485,
      1.5260240017260467,
      1.2864310849068608,
      0.45568093703901325,
      0.08129022926677107,
      0.040265691642549305,
      0.05402851214964077,
      0.05402851316120413
    ],
    "yaw": [
      -0.26414300867577334,
      -0.23875437808397043,
      -0.21891732254071128,
      -0.20688222966592662,
      -0.20495486747701652,
      -0.20407587932611515,
      -0.2034702473263434,
      -0.20344218338702147,
      -0.20359852104903958,
      -0.20351114005688536
    ],
    "yaw_diff": [
      0.050777261183605815,
      0.039674111086518304,
      0.024070185749569317,
      0.0038547243778201956,
      0.0017579763018027439,
      0.0012112639995435215,
      5.612787864384128e-05,
      -0.0003126753240362268,
      0.00017476198430843581,
      0.00017476198430843581
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.9642999790043557,
    "v_std": 1.1637025157639427,
    "vy_max": 0.02981557354242148,
    "a_max": 1.5260240017260467,
    "ax_avg": -0.7167279435699094,
    "a_std": 0.6361286444509949,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b5a8b9b436b05bad",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b5a8b9b436b05bad",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5ea36cebd2575b16": {
    "vx_ego": [
      4.703451373547203,
      4.036607942786872,
      3.3722391435604497,
      2.715092660748109,
      2.1123823580117236,
      1.5970544804477638,
      1.0822675712805938,
      0.5522688969361835,
      0.15985125488570281,
      -0.11663344877708313
    ],
    "vy_ego": [
      0.04776858948557816,
      -0.014865346801367307,
      -0.0638320059687365,
      -0.06924137913533679,
      -0.043119499983670706,
      -0.0362331102540262,
      0.0013260025382125784,
      0.05737535717812306,
      0.09371772112370874,
      0.11329573563508322
    ],
    "v_ego": [
      4.703693937902902,
      4.036635314504592,
      3.3728432169828633,
      2.715975427914032,
      2.1128224056266562,
      1.5974654461981195,
      1.0822683835945346,
      0.5552412683999867,
      0.18529823242857762,
      0.16260161464982795
    ],
    "ax_ego": [
      -1.3336698564642682,
      -1.3337447514217824,
      -1.3244812435330702,
      -1.3056639763295335,
      -1.1056138078711104,
      -0.9555856439978745,
      -1.1033840316516415,
      -1.0167889373257908,
      -0.5530474387328443,
      -0.55303394580115
    ],
    "ay_ego": [
      -0.12022162018182747,
      -0.11938795987522832,
      -0.15661612843789408,
      0.08602187853535925,
      -0.004797518601935669,
      0.03692626220540829,
      0.12191861986893443,
      0.10688201849713413,
      0.03907567218729027,
      0.03926615283297838
    ],
    "a_ego": [
      1.33907748991631,
      1.3390774984698686,
      1.3337088048587604,
      1.3084946246245723,
      1.10562421660345,
      0.9562988402457127,
      1.11009930689762,
      1.022391074367403,
      0.5544261696978667,
      0.5544261681835483
    ],
    "yaw": [
      2.5361681196557324,
      2.53679317960422,
      2.5313832741006794,
      2.527358968550761,
      2.524924291450768,
      2.525548373763746,
      2.5271329754819805,
      2.5285599825590768,
      2.5290533027972364,
      2.5293977320618337
    ],
    "yaw_diff": [
      0.0012501198969747662,
      -0.010819811007080737,
      -0.00804861109983701,
      -0.00486935419998602,
      0.0012481646259558943,
      0.0031692034364692034,
      0.002854014154192619,
      0.000986640476319245,
      0.000688858529194647,
      0.000688858529194647
    ],
    "min_front_frame": [
      8,
      8.572341483894144
    ],
    "v_avg": 2.0524845248202093,
    "v_std": 1.5362654321012181,
    "vy_max": 0.11329573563508322,
    "a_max": 1.3390774984698686,
    "ax_avg": -1.0585013633129068,
    "a_std": 0.2864172554890838,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5ea36cebd2575b16",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.7592990383062452,
    "right_rear_min": 18.50616116334743,
    "speed_mode": "decelerating",
    "front_frame": [
      15.874463834446262,
      15.135266964448926,
      13.290065530561517,
      11.79471916638652,
      10.681064038036222,
      9.733231687296081,
      9.032650024209058,
      8.638582857042634,
      8.572341483894144,
      8.610334549739664
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5ea36cebd2575b16",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2fd95381df705415": {
    "vx_ego": [
      7.890143217393279,
      7.390305501254525,
      6.9728664456704905,
      6.643097381753792,
      6.3262515341625605,
      6.062739419064777,
      5.8735700511810185,
      5.628388275042344,
      5.278706581458987,
      4.912736162749373
    ],
    "vy_ego": [
      0.05704471119032212,
      -0.004399125341611437,
      -0.01308519488019087,
      0.007562423356579646,
      0.023155616924997013,
      0.035044982665424704,
      0.008991995133069794,
      -0.0453201539046773,
      -0.06966258442506162,
      0.028427281977063623
    ],
    "v_ego": [
      7.890349427626887,
      7.390306810557777,
      6.97287872341707,
      6.643101686238976,
      6.326293911611231,
      6.0628407050071775,
      5.873576934211985,
      5.628570732520297,
      5.279166226669435,
      4.912818408525399
    ],
    "ax_ego": [
      -1.0042045360642458,
      -0.9974946734170794,
      -0.6717377386558732,
      -0.6479571085655278,
      -0.6199009233948298,
      -0.4344767926948165,
      -0.3223706091353794,
      -0.6583650639758274,
      -0.7437064061257825,
      -0.7236050033335246
    ],
    "ay_ego": [
      0.2518926240893057,
      0.27727426644016234,
      0.2596771912754261,
      0.12674512698089016,
      0.09868166510524908,
      -0.0024415285984944997,
      -0.06832356723040908,
      -0.20675903877811735,
      -0.3447190561556875,
      -0.3851314859084384
    ],
    "a_ego": [
      1.0353147561599823,
      1.0353147551954314,
      0.720183194196588,
      0.6602368830609217,
      0.6277063213427974,
      0.4344836526870393,
      0.3295313634138696,
      0.6900680093877316,
      0.8197136366984482,
      0.8197136465177042
    ],
    "yaw": [
      -1.6197869321505407,
      -1.5944281942679221,
      -1.5744139331660092,
      -1.5632519832126892,
      -1.55696247266774,
      -1.5549903386339559,
      -1.5535859861957735,
      -1.5560818515217343,
      -1.5768575726459964,
      -1.6319272965497165
    ],
    "yaw_diff": [
      0.05071747576523711,
      0.04002852220382591,
      0.022323899906639966,
      0.01257902108989839,
      0.003944268067568313,
      0.0028087048763647537,
      -0.0049917306519216,
      -0.04155144224852414,
      -0.11013944780744023,
      -0.11013944780744023
    ],
    "min_front_frame": [
      2,
      22.521755712827733
    ],
    "v_avg": 6.297990356638623,
    "v_std": 0.8913129951771641,
    "vy_max": 0.06966258442506162,
    "a_max": 1.0353147561599823,
    "ax_avg": -0.6823818855362886,
    "a_std": 0.21578381457092172,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2fd95381df705415",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.216963095091721,
    "right_rear_min": 13.978951879689959,
    "speed_mode": "decelerating",
    "front_frame": [
      23.605784269233723,
      23.083292097705407,
      22.521755712827733,
      -1,
      -1,
      -1,
      -1,
      -1,
      74.64636948035043,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2fd95381df705415",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "18236bb0b875582d": {
    "vx_ego": [
      1.1940846383506207,
      0.7576627357193413,
      0.3379526859802281,
      0.0448669310812094,
      -0.04125985822612885,
      -0.028137396420375122,
      -0.01610145251224368,
      -0.00962176844331772,
      -0.006409228685358256,
      -0.004196680705254238
    ],
    "vy_ego": [
      0.0072834825710509365,
      0.00047486503621535503,
      -0.002479247762024045,
      0.022452394193951612,
      0.02977826294771046,
      0.009961130191631487,
      0.005759991322652427,
      0.0034868815133414555,
      0.002360767271139444,
      0.001372180022297728
    ],
    "v_ego": [
      1.1941068514430757,
      0.7576628845301313,
      0.3379617798371824,
      0.050171221927381694,
      0.0508834044165997,
      0.02984857102127288,
      0.017100709723314688,
      0.010234098429510393,
      0.006830185535525539,
      0.004415315046001384
    ],
    "ax_ego": [
      -0.8728435995551598,
      -0.8728395062992839,
      -0.8060075513571069,
      -0.3663377597822909,
      0.02183714628682119,
      0.030648750059058802,
      0.017494864714607428,
      0.008424740771728681,
      0.004425062422207514,
      0.004425043546606291
    ],
    "ay_ego": [
      -0.014054503440292354,
      -0.01430637724016176,
      0.0012352451634035089,
      0.09834665583623153,
      -0.06903665775471449,
      -0.010243133740954065,
      -0.0065618416383581265,
      -0.002528075491900239,
      -0.001977273912224118,
      -0.0019773324561693445
    ],
    "a_ego": [
      0.8729567448341076,
      0.8729567435941574,
      0.8060084978927289,
      0.3793091337635803,
      0.07240801800832286,
      0.03231513065141047,
      0.01868496874681107,
      0.008795875326741177,
      0.004846729780418452,
      0.004846736431000006
    ],
    "yaw": [
      2.20978677450844,
      2.2094982073314986,
      2.2089167439399624,
      2.208651674346178,
      2.2086168286747685,
      2.2086955280914937,
      2.2087007393732883,
      2.2086472139191944,
      2.208677283730677,
      2.208689323609484
    ],
    "yaw_diff": [
      -0.0005771343538825136,
      -0.0011629267830723933,
      -0.0005301391875685013,
      -6.969134281931133e-05,
      0.00015739883345045058,
      1.042256358907423e-05,
      -0.00010705090818774465,
      6.013962296513853e-05,
      2.4079757613648667e-05,
      2.4079757613648667e-05
    ],
    "min_front_frame": [
      3,
      8.446573923981653
    ],
    "v_avg": 0.24592150219099956,
    "v_std": 0.3893390628387532,
    "vy_max": 0.02977826294771046,
    "a_max": 0.8729567448341076,
    "ax_avg": -0.28307728091928114,
    "a_std": 0.3714809297540503,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "18236bb0b875582d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      9.32239959748569,
      8.792458295525673,
      8.501501525765509,
      8.446573923981653,
      8.499438860116333,
      8.500472246164717,
      8.487283755060293,
      8.483182508277661,
      8.50651694297048,
      8.505477586668205
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "18236bb0b875582d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6e0a467af0205f04": {
    "vx_ego": [
      2.9522584318901015,
      2.8546192815802183,
      2.766657622966218,
      2.6874622759383566,
      2.563694710939797,
      2.318500889494238,
      1.9735650831807625,
      1.593276351645688,
      1.1443627355304864,
      0.6403943141691901
    ],
    "vy_ego": [
      -0.005105327449507202,
      0.008840599852177,
      0.014334339702925636,
      0.017747955551380867,
      0.01221242749268514,
      0.01452624800256852,
      0.022669913406901054,
      0.03358368104676279,
      0.045675766438109555,
      0.04152518918872378
    ],
    "v_ego": [
      2.952262846196891,
      2.854632970974606,
      2.7666947565663627,
      2.687520878898995,
      2.563723798361663,
      2.3185463951507645,
      1.9736952810715656,
      1.5936302571004495,
      1.145273917502065,
      0.641739214134049
    ],
    "ax_ego": [
      -0.19525460886161633,
      -0.1952869915029014,
      -0.1565018909976466,
      -0.16019300797894281,
      -0.3347787171570412,
      -0.6459473595794267,
      -0.7335756973107819,
      -0.7875028121785785,
      -1.0079065818253712,
      -1.007903302976618
    ],
    "ay_ego": [
      0.016696030765261896,
      0.01631312428899309,
      -0.005646032517783589,
      0.0034687091001607273,
      -0.0385086608551809,
      0.02518986952950486,
      -0.012941627434530811,
      0.049849652657843246,
      -0.008769223011923677,
      -0.009137567999141172
    ],
    "a_ego": [
      0.1959671394010163,
      0.1959671581523864,
      0.15660370228392154,
      0.16023055809727174,
      0.33698621102676224,
      0.6464383349357823,
      0.7336898455107949,
      0.7890789992512012,
      1.0079447291191796,
      1.0079447223434999
    ],
    "yaw": [
      2.4327244149317666,
      2.430763417588188,
      2.429755868927449,
      2.4283047532757216,
      2.4270867805762633,
      2.4248111625737225,
      2.4224552807220783,
      2.4215130390477375,
      2.4202082411360144,
      2.4198427908664897
    ],
    "yaw_diff": [
      -0.003921994687157593,
      -0.0020150973214771994,
      -0.0029022313034552383,
      -0.0024359453989166724,
      -0.004551236005081449,
      -0.0047117637032885185,
      -0.0018844833486815205,
      -0.00260959582344622,
      -0.0007309005390494505,
      -0.0007309005390494505
    ],
    "min_front_frame": [
      9,
      10.154816980291518
    ],
    "v_avg": 2.1497720315957416,
    "v_std": 0.7505934258250325,
    "vy_max": 0.045675766438109555,
    "a_max": 1.0079447291191796,
    "ax_avg": -0.5224850970368924,
    "a_std": 0.3339338235521824,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "6e0a467af0205f04",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.605657557790355,
    "speed_mode": "decelerating",
    "front_frame": [
      19.230653290728682,
      17.799971489744994,
      16.378098933348536,
      15.022973109492078,
      13.72860311897745,
      12.62555969927861,
      11.751962870322927,
      11.081525833879002,
      10.516103201244643,
      10.154816980291518
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "6e0a467af0205f04",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "bf1370df23cf5118": {
    "vx_ego": [
      5.979788488659373,
      5.6418380110652695,
      5.271877360667502,
      4.806699149493137,
      4.232157116856098,
      3.536644211976524,
      2.698760136465074,
      1.8681658360530717,
      1.2152409375591255,
      0.6651376897278852
    ],
    "vy_ego": [
      0.0014749355457197855,
      -0.017824122997245673,
      -0.017419332701769638,
      -0.00592518489953979,
      0.007290929640735688,
      -0.004099034397813506,
      -0.04557452276096114,
      -0.043481362578689724,
      -0.000491751065609513,
      0.040065157024929354
    ],
    "v_ego": [
      5.979788670558351,
      5.641866166656343,
      5.2719061390611195,
      4.806702801459036,
      4.232163397059564,
      3.536646587403107,
      2.699144922248132,
      1.8686717796037837,
      1.2152410370534288,
      0.666343277225771
    ],
    "ax_ego": [
      -0.6759508499008231,
      -0.675889165585027,
      -0.803827461157339,
      -1.056876484344727,
      -1.241299251054189,
      -1.5407575088837737,
      -1.8108891812801535,
      -1.5113749815936204,
      -1.1002526830447488,
      -1.1002055312060257
    ],
    "ay_ego": [
      -0.051906439124651135,
      -0.052703641263907225,
      0.07486388919477566,
      -0.003991057551079216,
      0.051320113864470274,
      -0.0958744166442621,
      -0.08319212823811156,
      0.09536331584810959,
      0.0818767344637104,
      0.08250772511883606
    ],
    "a_ego": [
      0.6779408749325019,
      0.6779408808721441,
      0.8073061310407725,
      1.0568840199857532,
      1.2423596841312714,
      1.5437375440626588,
      1.8127990945160721,
      1.5143805654447178,
      1.1032949588363075,
      1.103294944971932
    ],
    "yaw": [
      1.5923508535497317,
      1.5911714195943532,
      1.592109737029353,
      1.593337139394745,
      1.5930324928339097,
      1.5930965923455997,
      1.5920522701741735,
      1.5924750777389167,
      1.5933610661168378,
      1.5939345776233185
    ],
    "yaw_diff": [
      -0.002358867910757123,
      0.0018766348699998936,
      0.002454804730783966,
      -0.0006092931216707953,
      0.00012819902338012668,
      -0.002088644342852497,
      0.0008456151294864434,
      0.001771976755842175,
      0.0011470230129613235,
      0.0011470230129613235
    ],
    "min_front_frame": [
      9,
      10.604056626031067
    ],
    "v_avg": 3.5918474778328635,
    "v_std": 1.8052547544186082,
    "vy_max": 0.04557452276096114,
    "a_max": 1.8127990945160721,
    "ax_avg": -1.1517323098050427,
    "a_std": 0.36216403978847994,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bf1370df23cf5118",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.447734858346297,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.499539308768597,
      19.45188326281364,
      19.35568225027363,
      18.64972251089126,
      16.413142054074154,
      14.49242708654847,
      12.897994482834427,
      11.83105983679992,
      11.103616466718755,
      10.604056626031067
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bf1370df23cf5118",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "054054d63ad85fa3": {
    "vx_ego": [
      6.741851597594481,
      6.7205324491522305,
      6.682813435767354,
      6.627047965664708,
      6.56044575469697,
      6.627745924851004,
      6.8237156756003845,
      6.984350672758925,
      7.1227415938589855,
      7.260540818764269
    ],
    "vy_ego": [
      -0.01479352612248741,
      0.007803510847327555,
      -0.00252978532044823,
      -0.00025882166850044186,
      -0.010985418636959565,
      0.0026250456800367417,
      0.02646869185379641,
      0.020938267222875062,
      -0.011628993126842513,
      -0.05567661457865647
    ],
    "v_ego": [
      6.741867828161747,
      6.720536979653458,
      6.682813914593645,
      6.627047970718894,
      6.5604549521922735,
      6.6277464447007866,
      6.823767010462979,
      6.984382057927697,
      7.122751086930526,
      7.260754290454474
    ],
    "ax_ego": [
      -0.04405542600519077,
      -0.04102990393911342,
      -0.11002219221264618,
      -0.11354073391820485,
      -0.1524793372053152,
      0.4214429775863783,
      0.3640009229556581,
      0.28240705856350073,
      0.2711912214756564,
      0.2775192473499346
    ],
    "ay_ego": [
      0.22538557128290063,
      0.22595592480268295,
      0.2279674307035601,
      0.14311721060177127,
      0.15782400582002967,
      -0.01399001039832623,
      -0.184473166380687,
      -0.38542800018058765,
      -0.35140915104526227,
      -0.3464334531743617
    ],
    "a_ego": [
      0.2296509009410116,
      0.2296508936858043,
      0.25312848958751943,
      0.1826856158243345,
      0.21945014260112247,
      0.42167511634885196,
      0.4080772243425104,
      0.47781637691658874,
      0.4438840727530224,
      0.44388407284784037
    ],
    "yaw": [
      -1.1413289529172181,
      -1.1279224036132023,
      -1.1094715622595537,
      -1.095873701027143,
      -1.0828466190551949,
      -1.0794202471753214,
      -1.090330640692319,
      -1.1101362215264703,
      -1.1316298151877149,
      -1.149765286331346
    ],
    "yaw_diff": [
      0.026813098608031716,
      0.03690168270729721,
      0.02719572246482116,
      0.02605416394389648,
      0.006852743759746982,
      -0.02182078703399526,
      -0.039611161668302586,
      -0.042987187322489184,
      -0.03627094228726202,
      -0.03627094228726202
    ],
    "min_front_frame": [
      9,
      24.491642281432522
    ],
    "v_avg": 6.815212253579648,
    "v_std": 0.22115652580520823,
    "vy_max": 0.05567661457865647,
    "a_max": 0.47781637691658874,
    "ax_avg": 0.11554338346506576,
    "a_std": 0.11056732393127221,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "054054d63ad85fa3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      43.002258050414596,
      39.61192835814811,
      36.301462105659084,
      32.98282802681733,
      29.716042994074947,
      38.18045661088361,
      34.92580677234219,
      31.508653486458343,
      28.02687118678342,
      24.491642281432522
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "054054d63ad85fa3",
    "pedestrians": "No"
  },
  "24edcd5e5b7f546a": {
    "vx_ego": [
      4.057619387045752,
      3.5964806636484283,
      3.118067611504423,
      2.631497328281513,
      2.154471136459244,
      1.778025727185216,
      1.527018438417584,
      1.2694815920539269,
      0.93557617753849,
      0.5569199501187725
    ],
    "vy_ego": [
      0.020708184581935685,
      -0.024065683295845686,
      -0.03432581214693542,
      -0.00672067879847571,
      0.011090935318954998,
      0.007327527801870515,
      0.00029376902846067754,
      -0.005418502715602291,
      -0.00251423030959802,
      0.015365738025658049
    ],
    "v_ego": [
      4.057672229128201,
      3.596561179948081,
      3.118256546740894,
      2.631505910363162,
      2.1544996836115424,
      1.7780408260768938,
      1.5270184666753441,
      1.269493155844273,
      0.9355795558537936,
      0.5571318845169151
    ],
    "ax_ego": [
      -0.9224351538733033,
      -0.9221346129770572,
      -0.9920087659326576,
      -0.9545532411959724,
      -0.9534916242874285,
      -0.5522557381448914,
      -0.45177274506112364,
      -0.5783711256546,
      -0.7572973307909495,
      -0.757314719238727
    ],
    "ay_ego": [
      -0.1091312047660345,
      -0.11164223392586403,
      0.035897822140764424,
      0.03503906411106239,
      0.009529203320896684,
      -0.02925629223422288,
      -0.0018279065010466666,
      -0.028024131010246173,
      0.03520687579184384,
      0.03483084766880751
    ],
    "a_ego": [
      0.9288682538201803,
      0.9288682537616971,
      0.9926580706979037,
      0.9551961192820642,
      0.9535392405675865,
      0.5530301356610262,
      0.4517764429695727,
      0.5790496618683484,
      0.7581152757504094,
      0.7581152761453627
    ],
    "yaw": [
      1.023203619545145,
      1.0204810038788361,
      1.0179034799011961,
      1.014464262344485,
      1.0116769847128548,
      1.011067221644463,
      1.0106176446533377,
      1.0093795658480755,
      1.0083940640107953,
      1.0078975310422653
    ],
    "yaw_diff": [
      -0.0054452313326178725,
      -0.00515504795527999,
      -0.006878435113422121,
      -0.00557455526326045,
      -0.0012195261367837773,
      -0.000899153982250489,
      -0.002476157610524332,
      -0.0019710036745603787,
      -0.0009930659370600559,
      -0.0009930659370600559
    ],
    "min_front_frame": [
      9,
      12.372450037164674
    ],
    "v_avg": 2.1625759438759102,
    "v_std": 1.1051406125768335,
    "vy_max": 0.03432581214693542,
    "a_max": 0.9926580706979037,
    "ax_avg": -0.7841635057156711,
    "a_std": 0.18724070030685425,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "24edcd5e5b7f546a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.334315455296505,
      17.457566168904098,
      16.90197527797126,
      15.972356816203053,
      15.188325286534699,
      14.599947045784635,
      13.91200615233088,
      13.161348297297513,
      12.73380362564627,
      12.372450037164674
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "24edcd5e5b7f546a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "01d061d9a66451ea": {
    "vx_ego": [
      10.884661357123765,
      11.117984193358769,
      11.374465015093016,
      11.651931325095113,
      11.902963323393125,
      12.146604854191274,
      12.375069474114897,
      12.478508617699474,
      12.454081527794933,
      12.391050426003652
    ],
    "vy_ego": [
      -0.0042478903677625746,
      0.028042633511943665,
      -0.013727571825867313,
      -0.0886097789629976,
      -0.0865075797369535,
      -0.04892942791834015,
      -0.03043128525299127,
      -0.021120050510476718,
      -0.013521269664316993,
      0.022360495469745667
    ],
    "v_ego": [
      10.88466218602286,
      11.118019558944377,
      11.374473298830289,
      11.652268246897709,
      11.903277676312262,
      12.146703403507448,
      12.375106890540076,
      12.47852649067724,
      12.454088867745257,
      12.391070601506673
    ],
    "ax_ego": [
      0.46150197841360074,
      0.4707934104564737,
      0.5521437105204803,
      0.5598196960063763,
      0.44617857053925336,
      0.528686747634371,
      0.3852904284766228,
      0.028590417992213176,
      -0.1261012064059555,
      -0.12603601314255938
    ],
    "ay_ego": [
      0.4900240105065692,
      0.48110412825871274,
      0.23414265763185235,
      0.12028157292181905,
      0.134861764614557,
      0.07511068540623096,
      0.040151644323367576,
      0.0535474508126015,
      0.08975471351188613,
      0.08984623668519569
    ],
    "a_ego": [
      0.6731326815365674,
      0.6731326894133234,
      0.599737827046311,
      0.5725956241722586,
      0.4661148059903307,
      0.5339955919166401,
      0.3873769079560239,
      0.06070207154206061,
      0.1547818557022694,
      0.1547818557046129
    ],
    "yaw": [
      -1.5996008614031578,
      -1.5804661339604755,
      -1.560835151122867,
      -1.5466341322884563,
      -1.541403016846929,
      -1.5401616005485157,
      -1.5393213333902653,
      -1.5381896589103408,
      -1.5359289203010764,
      -1.5352029449214188
    ],
    "yaw_diff": [
      0.038269454885364595,
      0.03926196567521689,
      0.028402037668821656,
      0.010462230883054424,
      0.0024828325968266896,
      0.0016805343165007258,
      0.002263348959849143,
      0.004521477218528691,
      0.001451950759315146,
      0.001451950759315146
    ],
    "min_front_frame": [
      1,
      16.883368644846954
    ],
    "v_avg": 11.877819722098419,
    "v_std": 0.5607576619081063,
    "vy_max": 0.0886097789629976,
    "a_max": 0.6731326894133234,
    "ax_avg": 0.3180867740490876,
    "a_std": 0.21659238870126024,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "01d061d9a66451ea",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.256318969943933,
    "right_rear_min": 3.0007249588370146,
    "speed_mode": "accelerating",
    "front_frame": [
      16.930142215323116,
      16.883368644846954,
      16.89825047812008,
      17.127021259937116,
      17.314434380896788,
      17.68093635569492,
      17.86852433691499,
      17.9502755426243,
      18.092346581916292,
      18.20353847550016
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "01d061d9a66451ea",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b42b3012c31c5b03": {
    "vx_ego": [
      5.0407314190665655,
      4.332478982194317,
      3.627249820193387,
      2.9642982030528047,
      2.319707591757207,
      1.6736276788965532,
      1.113283143097804,
      0.6444936684981442,
      0.2727635722217645,
      -0.02821061470879591
    ],
    "vy_ego": [
      -0.06112210442599997,
      -0.026733228997434022,
      -0.012097155454158681,
      0.01774364988185506,
      0.032572589797231544,
      0.010233072038818403,
      -0.02381381638680108,
      -0.03148071541882924,
      0.003545613449361343,
      0.05954769667169092
    ],
    "v_ego": [
      5.04110197782333,
      4.332561459078006,
      3.6272699926064287,
      2.9643513074082866,
      2.3199362674138526,
      1.6736589626719105,
      1.1135378101154132,
      0.6452620585293056,
      0.272786615701559,
      0.06589208572470477
    ],
    "ax_ego": [
      -1.41639021323533,
      -1.4161286200997503,
      -1.4047889321620208,
      -1.247048359072373,
      -1.332856883170238,
      -1.2514832329990875,
      -0.9898818550490822,
      -0.8848846518414976,
      -0.6020018993893663,
      -0.6019515103125523
    ],
    "ay_ego": [
      0.09271944936987186,
      0.09663261643889476,
      -0.03961788601943539,
      0.15426331767461865,
      -0.003839983368377653,
      -0.08422473191904795,
      -0.050352900473057294,
      0.028713871924452294,
      0.11197879528847107,
      0.11224944313241866
    ],
    "a_ego": [
      1.4194217598868477,
      1.4194217594589176,
      1.4053474733380211,
      1.2565535329006396,
      1.3328624146874841,
      1.2543141902827553,
      0.9911616929348419,
      0.8853504015391546,
      0.6123279656055749,
      0.6123279825804966
    ],
    "yaw": [
      -2.1060280890977854,
      -2.103265061093314,
      -2.1033611770432814,
      -2.103721197910052,
      -2.095135038821902,
      -2.0949722710121375,
      -2.0946764947991046,
      -2.092069386054785,
      -2.0917224734202176,
      -2.0912728580956523
    ],
    "yaw_diff": [
      0.005526056008942959,
      -0.00019223189993500256,
      -0.0007200417335413434,
      0.01717231817629994,
      0.00032553561952930465,
      0.000591552426065789,
      0.00521421748863915,
      0.0006938252691348623,
      0.0008992306491304447,
      0.0008992306491304447
    ],
    "min_front_frame": [
      9,
      10.07992017834224
    ],
    "v_avg": 2.2056358537072795,
    "v_std": 1.6552429284097119,
    "vy_max": 0.06112210442599997,
    "a_max": 1.4194217598868477,
    "ax_avg": -1.11474161573313,
    "a_std": 0.30493231185055636,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b42b3012c31c5b03",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 19.514237145373283,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.21168997412703,
      17.305555291134528,
      15.426027185323925,
      13.80619934925954,
      12.507578926487321,
      11.486859169782358,
      10.766664163920472,
      10.345855200987364,
      10.163289883591982,
      10.07992017834224
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b42b3012c31c5b03",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "02ecdf935f895a86": {
    "vx_ego": [
      7.1858946207504015,
      7.293915981942547,
      7.373087714997361,
      7.433264812065282,
      7.518709543003892,
      7.5855784406509255,
      7.625754032097126,
      7.66133643751605,
      7.6647887641791055,
      7.649153890718517
    ],
    "vy_ego": [
      -0.0006714140077681563,
      -0.0404319601387626,
      -0.07735044433885907,
      -0.07304205206826486,
      -0.08482214073588557,
      -0.11887900261624473,
      -0.10877744426733749,
      -0.05379757872667046,
      -0.03340850796120476,
      -0.038538832742641915
    ],
    "v_ego": [
      7.185894652117183,
      7.294028043203397,
      7.373493442343624,
      7.4336236727223595,
      7.519187987250805,
      7.5865099022232325,
      7.626529819677289,
      7.661525317343014,
      7.664861572650249,
      7.649250975456577
    ],
    "ax_ego": [
      0.21213409475399628,
      0.2184142696124708,
      0.094008873821902,
      0.13903946950215484,
      0.19756689015987294,
      0.06040921246857461,
      0.08944777153779783,
      0.046408880038613494,
      -0.03458321552025481,
      -0.030308419953077745
    ],
    "ay_ego": [
      -0.3458754012923456,
      -0.3419442555751484,
      -0.36423926672789664,
      -0.27053651605902307,
      -0.426347143532258,
      -0.3708109537193535,
      -0.19700581928230243,
      -0.15619823039398742,
      -0.26076643191216764,
      -0.26129778044262564
    ],
    "a_ego": [
      0.40574704851204846,
      0.4057470481607864,
      0.3761753737071821,
      0.30417426025355054,
      0.46989846018640996,
      0.3756993962589372,
      0.2163612642414748,
      0.16294683588413614,
      0.2630496736510493,
      0.26304967284582337
    ],
    "yaw": [
      -0.6441570076093847,
      -0.6624176096622678,
      -0.681416411990055,
      -0.7034501663332081,
      -0.725198937625576,
      -0.7470274221358867,
      -0.7670287314817604,
      -0.7857603423085449,
      -0.8020022900783088,
      -0.8183784356061543
    ],
    "yaw_diff": [
      -0.036521204105766314,
      -0.037997604655574335,
      -0.04406750868630627,
      -0.043497542584735704,
      -0.04365696902062144,
      -0.04000261869174748,
      -0.03746322165356886,
      -0.03248389553952791,
      -0.032752291055690996,
      -0.032752291055690996
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.499490538498773,
    "v_std": 0.16152439576024474,
    "vy_max": 0.11887900261624473,
    "a_max": 0.46989846018640996,
    "ax_avg": 0.09925378264220502,
    "a_std": 0.09240831657923534,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "02ecdf935f895a86",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "02ecdf935f895a86",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f8b1bb7447c257dc": {
    "vx_ego": [
      5.378316243927123,
      4.9946205520580635,
      4.610134732411416,
      4.203946981225,
      3.7909443773725653,
      3.3738231437217174,
      2.9738727831025322,
      2.6604598938024178,
      2.4304103478630967,
      2.232443907495494
    ],
    "vy_ego": [
      0.016084718557676236,
      0.017407729199872435,
      0.027188280637525875,
      0.04719939621682645,
      0.01613520978689187,
      -0.03226768158566595,
      -0.014352761206441578,
      -0.003152016100449462,
      -0.022858850085381244,
      -0.03713846941415866
    ],
    "v_ego": [
      5.378340295840477,
      4.994650887507223,
      4.6102149031894495,
      4.204211936136667,
      3.7909787149662995,
      3.373977446336476,
      2.973907418167595,
      2.6604617609987686,
      2.430517843182239,
      2.2327528000260517
    ],
    "ax_ego": [
      -0.7673978515070087,
      -0.767397027429033,
      -0.770582735384677,
      -0.854267870144278,
      -0.7980818287511457,
      -0.870212175623513,
      -0.7294570839668946,
      -0.5242359256546888,
      -0.3959131421909625,
      -0.3959204583883178
    ],
    "ay_ego": [
      0.004455332677241242,
      0.004594317980700258,
      0.04466369554829558,
      0.04731715257933089,
      -0.14740003553350248,
      -0.017934725668385665,
      0.10053890564920376,
      -0.043173004234090484,
      -0.02736285447569131,
      -0.027256769926584407
    ],
    "a_ego": [
      0.7674107847084493,
      0.7674107801331852,
      0.7718760248724934,
      0.8555772945146783,
      0.8115795560868022,
      0.8703969697719588,
      0.7363529784679522,
      0.5260106596273741,
      0.39685758398269166,
      0.39685758261276355
    ],
    "yaw": [
      -0.5253268866555496,
      -0.5251457601863587,
      -0.5246181581910515,
      -0.523942640915231,
      -0.5224281477261066,
      -0.5204597785792447,
      -0.5195928881940473,
      -0.5184677881674083,
      -0.5176482750304745,
      -0.5173803232806555
    ],
    "yaw_diff": [
      0.00036225293838176853,
      0.0010552039906144284,
      0.0013510345516409838,
      0.003028986378248888,
      0.003936738293723652,
      0.0017337807703949881,
      0.0022502000532778066,
      0.0016390262738676942,
      0.0005359034996379464,
      0.0005359034996379464
    ],
    "min_front_frame": [
      9,
      15.134886639024227
    ],
    "v_avg": 3.6650014006351244,
    "v_std": 1.0512010373017653,
    "vy_max": 0.04719939621682645,
    "a_max": 0.8703969697719588,
    "ax_avg": -0.6873466099040518,
    "a_std": 0.17156196604828053,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f8b1bb7447c257dc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.788644960422896,
      23.407186683962678,
      21.98323072530542,
      20.632288209650813,
      19.36389579017388,
      18.261598118675742,
      17.338034366102335,
      16.57762348280265,
      15.832894082734807,
      15.134886639024227
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f8b1bb7447c257dc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4e2f593274aa5417": {
    "vx_ego": [
      8.327938893115212,
      8.59012062727494,
      8.845345456646402,
      9.076574680585232,
      9.289773961870557,
      9.495582117664407,
      9.667311111480977,
      9.79367539349794,
      9.87276885497154,
      9.92348293535065
    ],
    "vy_ego": [
      -0.07741253009989535,
      -0.039870393218016886,
      -0.02279488921551831,
      -0.015974325677212242,
      -0.012185744628282258,
      0.01184726252390167,
      -0.005043063729329056,
      0.0033989783802690354,
      0.005593505356128681,
      0.015749932287639545
    ],
    "v_ego": [
      8.32829868023941,
      8.590213154479333,
      8.845374828371577,
      9.076588737588684,
      9.289781954116055,
      9.495589508342142,
      9.667312426866909,
      9.793675983320107,
      9.872770439496616,
      9.923495433997166
    ],
    "ax_ego": [
      0.5229706104197973,
      0.523645117317001,
      0.49649135040193143,
      0.42816531555615095,
      0.42416671479389767,
      0.399526539197214,
      0.28760093701085643,
      0.2190278369408023,
      0.09788766750099534,
      0.10582409057959116
    ],
    "ay_ego": [
      -0.07801804791895273,
      -0.07335438240243566,
      -0.05972499448024482,
      -0.1279224680718005,
      -0.09997493543087127,
      -0.19081450743335376,
      -0.21202249914391638,
      -0.3674557772169945,
      -0.38737287234723095,
      -0.38528041714548444
    ],
    "a_ego": [
      0.5287580497391405,
      0.5287580489293554,
      0.5000707309867263,
      0.4468665296068605,
      0.435789386806809,
      0.44275459542497847,
      0.3573063659001258,
      0.42778141797547986,
      0.3995494183193482,
      0.39954941869910915
    ],
    "yaw": [
      0.8572809169312807,
      0.8483690796233643,
      0.8425962927989123,
      0.8366057399585201,
      0.8299893564173715,
      0.8196943367789824,
      0.8109591025356773,
      0.7952175044280126,
      0.7758340109058128,
      0.755291437426575
    ],
    "yaw_diff": [
      -0.017823674615832896,
      -0.01154557364890385,
      -0.011981105680784587,
      -0.013232767082297148,
      -0.02059003927677816,
      -0.01747046848661027,
      -0.031483196215329246,
      -0.038766987044399626,
      -0.04108514695847565,
      -0.04108514695847565
    ],
    "min_front_frame": [
      0,
      20.186533079842754
    ],
    "v_avg": 9.288310114681801,
    "v_std": 0.5326384813183439,
    "vy_max": 0.07741253009989535,
    "a_max": 0.5287580497391405,
    "ax_avg": 0.35053061797182383,
    "a_std": 0.0540792040675375,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4e2f593274aa5417",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.574908508337448,
    "right_rear_min": 3.9167619688139568,
    "speed_mode": "accelerating",
    "front_frame": [
      20.186533079842754,
      22.910854897979043,
      25.63532821111486,
      28.086490624978886,
      30.47214010675619,
      32.64582959066039,
      34.794563236029916,
      36.96880353028124,
      39.44081973769994,
      41.84976244382376
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4e2f593274aa5417",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f754138d3e3e5fd5": {
    "vx_ego": [
      8.76772924981804,
      8.676220730367826,
      8.680060017920441,
      8.829317283552722,
      9.073821520690858,
      9.364191096607474,
      9.60239165819021,
      9.663332289941549,
      9.573297964356584,
      9.4558261809209
    ],
    "vy_ego": [
      -0.07548853278387924,
      0.00934604986040144,
      -0.005470975753813612,
      -0.00331325431931484,
      0.02987595276133037,
      0.0349408880503983,
      0.0009988155913900343,
      -0.00995382364481312,
      -0.01499246645961616,
      -0.0222146234064744
    ],
    "v_ego": [
      8.76805421497248,
      8.676225764162226,
      8.680061742077456,
      8.829317905211989,
      9.073870704495738,
      9.364256284374132,
      9.602391710137299,
      9.663337416463948,
      9.573309703984535,
      9.45585227535214
    ],
    "ax_ego": [
      -0.18390993803631264,
      -0.18090952330970334,
      0.19797465264894065,
      0.3989963042564037,
      0.5766341846533055,
      0.5831689367099866,
      0.36881828116255666,
      -0.12505126689142665,
      -0.2349234539814325,
      -0.2346497302090543
    ],
    "ay_ego": [
      0.32799811876099,
      0.32966252872325197,
      0.48076305550212395,
      0.4411843526761994,
      0.23197412774730275,
      0.13908476649277518,
      0.12949178840585956,
      0.09497350297388021,
      0.06481728817292565,
      0.06580131196664635
    ],
    "a_ego": [
      0.37603940115268353,
      0.37603941079141295,
      0.5199298785674921,
      0.5948459328738709,
      0.6215456369848512,
      0.5995252963919089,
      0.3908900712275135,
      0.15702797718330466,
      0.2437012722097657,
      0.24370126906463555
    ],
    "yaw": [
      1.8518057243587078,
      1.8609301998618275,
      1.8861204985810147,
      1.912274862413869,
      1.927404475704531,
      1.9369181796055936,
      1.9475474489927285,
      1.9544656016171245,
      1.9591360778187294,
      1.9633272211018413
    ],
    "yaw_diff": [
      0.018248951006239356,
      0.05038059743837442,
      0.0523087276657086,
      0.03025922658132396,
      0.019027407802125307,
      0.021258538774269642,
      0.01383630524879198,
      0.009340952403209979,
      0.008382286566223751,
      0.008382286566223751
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.168667772123193,
    "v_std": 0.38511692142213044,
    "vy_max": 0.07548853278387924,
    "a_max": 0.6215456369848512,
    "ax_avg": 0.11661484470032638,
    "a_std": 0.15774890352825371,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f754138d3e3e5fd5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f754138d3e3e5fd5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2403645ef4fe5b10": {
    "vx_ego": [
      6.186459611633888,
      5.742558470816718,
      5.272494331919136,
      4.786473854905826,
      4.287448730727694,
      3.793342284969781,
      3.3356335305232583,
      2.8760104343607207,
      2.4274545519335637,
      1.996773929838875
    ],
    "vy_ego": [
      -0.17111251081607293,
      -0.0004220399457763868,
      0.062213824628420955,
      -0.05993768867704574,
      -0.17927444562444328,
      -0.09023989981529223,
      0.04533776068231199,
      0.06444753538521653,
      0.015334836508900551,
      -0.044477361792280456
    ],
    "v_ego": [
      6.188825576612666,
      5.742558486325286,
      5.272861371219076,
      4.786849119224564,
      4.291195165157658,
      3.794415492596776,
      3.3359416305587155,
      2.8767324351369505,
      2.4275029884458914,
      1.9972692263678888
    ],
    "ax_ego": [
      -0.8879317693148114,
      -0.8860079735573897,
      -0.9967239900605449,
      -0.9473289225431751,
      -1.0517596020862288,
      -0.925225773471174,
      -0.9055868517338644,
      -0.9326954926066338,
      -0.8614242284504731,
      -0.8613386845647718
    ],
    "ay_ego": [
      0.3967694411457254,
      0.4010469981030054,
      0.024921845451958524,
      -0.515647646296217,
      -0.037493461776651194,
      0.3815973556595456,
      0.14873233243137574,
      -0.08011427381979774,
      -0.1224086285841387,
      -0.12300915891711556
    ],
    "a_ego": [
      0.9725475908075772,
      0.9725475946680986,
      0.9970355112747712,
      1.078575255889751,
      1.052427679347412,
      1.0008292930073988,
      0.9177193758136141,
      0.936129894191188,
      0.8700779124385025,
      0.8700779176058128
    ],
    "yaw": [
      -0.5355272619428155,
      -0.5307046111732712,
      -0.5227616275809439,
      -0.5228671228623862,
      -0.5270316124112825,
      -0.5277791614410674,
      -0.5286200399031991,
      -0.5292488995051816,
      -0.529823293504071,
      -0.5305204797397765
    ],
    "yaw_diff": [
      0.009645301539088713,
      0.015885967184654515,
      -0.0002109905628846498,
      -0.00832897909779251,
      -0.0014950980595698216,
      -0.0016817569242633112,
      -0.001257719203965113,
      -0.001148787997778733,
      -0.001394372471410943,
      -0.001394372471410943
    ],
    "min_front_frame": [
      9,
      10.565807319564561
    ],
    "v_avg": 4.071415149164547,
    "v_std": 1.3538542909691482,
    "vy_max": 0.17927444562444328,
    "a_max": 1.078575255889751,
    "ax_avg": -0.9256023288389066,
    "a_std": 0.06635054051954964,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2403645ef4fe5b10",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.96626771890074,
      20.577254365207494,
      23.147810890537777,
      20.631861520218763,
      18.346744787271103,
      16.33750346772904,
      14.525798812781048,
      13.010424829417145,
      11.649142636246912,
      10.565807319564561
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2403645ef4fe5b10",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d792515ce4b257a4": {
    "vx_ego": [
      5.852360197163137,
      5.6714376400452435,
      5.561261796084732,
      5.485880327740222,
      5.460567555199141,
      5.516210933838997,
      5.64859562254739,
      5.784221004291346,
      5.885760947652315,
      5.9500359692183915
    ],
    "vy_ego": [
      0.017942447610124423,
      -0.022599205343767803,
      -0.029777995493546427,
      -0.040750126511897466,
      -0.020006630782963608,
      -0.027667636811743,
      -0.028394979344484206,
      0.017996465408166795,
      0.01687103924261457,
      0.034139497990829604
    ],
    "v_ego": [
      5.8523877015083,
      5.6714826658471,
      5.561341519238609,
      5.48603167536407,
      5.460604205595642,
      5.516280319629492,
      5.648666991593106,
      5.784249000453937,
      5.885785127310902,
      5.95013390944403
    ],
    "ax_ego": [
      -0.5260870381616114,
      -0.1904973951049267,
      -0.23148682972195989,
      -0.06718050826310118,
      -0.04255829345653994,
      0.2568503969521845,
      0.2633241724323502,
      0.2766030317750626,
      0.12772304302039858,
      0.12862126371771324
    ],
    "ay_ego": [
      1.8879183253372316,
      1.9505675868601309,
      1.9550308832261134,
      1.706877225766263,
      1.3384666273474668,
      0.9950137707076541,
      0.4896828144541769,
      0.22612978967798486,
      0.12228360120520007,
      0.12133847558928461
    ],
    "a_ego": [
      1.9598477427764112,
      1.959847741139887,
      1.9686878642137764,
      1.7081987836695187,
      1.3391430546677363,
      1.0276305417378169,
      0.5559935957895072,
      0.35727289145269053,
      0.17682323049334606,
      0.17682323133195182
    ],
    "yaw": [
      -1.288270837227588,
      -1.1138590958168373,
      -0.9393353470552924,
      -0.7713788231412391,
      -0.6361970020732742,
      -0.5278761277382269,
      -0.4612707831628904,
      -0.43807540248421073,
      -0.4230031238211759,
      -0.4156292749446273
    ],
    "yaw_diff": [
      0.34882348282150133,
      0.3490474975230897,
      0.3359130478281067,
      0.27036364213592967,
      0.21664174867009467,
      0.13321068915067302,
      0.04639076135735931,
      0.030144557326069688,
      0.014747697753097144,
      0.014747697753097144
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.681696311598519,
    "v_std": 0.16839624206286696,
    "vy_max": 0.040750126511897466,
    "a_max": 1.9686878642137764,
    "ax_avg": -0.00046881568104299997,
    "a_std": 0.7219710684549844,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "d792515ce4b257a4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d792515ce4b257a4",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "833545ff73da5eb5": {
    "vx_ego": [
      7.317922203066803,
      7.097080321508601,
      7.091097885605604,
      7.341968852585748,
      7.700169779288999,
      8.14361110110681,
      8.66493038838798,
      9.16676702306592,
      9.71877149657791,
      10.314295216990548
    ],
    "vy_ego": [
      0.8349857924954747,
      0.7658752775411117,
      0.762236897665229,
      0.7109125779506473,
      0.6873882163440379,
      0.6460650464665934,
      0.5591696503192383,
      0.5560006217722147,
      0.5644567154562568,
      0.5805001479498827
    ],
    "v_ego": [
      7.365404716905065,
      7.138285090320595,
      7.131947441716224,
      7.3763068893469805,
      7.730790204749074,
      8.169198357876734,
      8.682953952051548,
      9.183613360033181,
      9.735149243145628,
      10.33061790238144
    ],
    "ax_ego": [
      -0.9101855291657226,
      -0.5122186039404887,
      -0.030071504593278675,
      0.5270066124748203,
      0.48631187135206266,
      0.9031157230769977,
      0.9231092640620011,
      0.9854306484361319,
      1.1831623230158201,
      1.1841954504105858
    ],
    "ay_ego": [
      2.2577178594857186,
      2.3797814394056998,
      2.3700553517229697,
      2.2083766873021586,
      2.233716370402216,
      1.7869410297419415,
      0.9345939935131363,
      0.48746298500211466,
      0.16460012768457122,
      0.1569949966421978
    ],
    "a_ego": [
      2.434281748389751,
      2.434281741615503,
      2.3702461192077062,
      2.270388416683771,
      2.2860420074051118,
      2.0021928611010673,
      1.3136196733103236,
      1.099406078127835,
      1.1945569407265477,
      1.1945569445379378
    ],
    "yaw": [
      0.5916669443407835,
      0.7628774595746602,
      0.9318131666435636,
      1.0987601771457343,
      1.2491568995719513,
      1.3819367534615017,
      1.4731968591684999,
      1.5134564536696158,
      1.5298670874463367,
      1.5362920605336379
    ],
    "yaw_diff": [
      0.3424210304677535,
      0.33787141413780675,
      0.3338940210043413,
      0.3007934448524341,
      0.26555970777910076,
      0.18252021141399632,
      0.08051918900223187,
      0.032821267553441835,
      0.012849946174602334,
      0.012849946174602334
    ],
    "min_front_frame": [
      7,
      26.23378932034877
    ],
    "v_avg": 8.284426715852646,
    "v_std": 1.0904025825322845,
    "vy_max": 0.8349857924954747,
    "a_max": 2.434281748389751,
    "ax_avg": 0.473985625512893,
    "a_std": 0.5525181340128553,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "833545ff73da5eb5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 44.45751954205186,
    "right_rear_min": 40.52311081730901,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      58.35058631183294,
      26.23378932034877,
      28.367127606907346,
      31.14076863112364
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "833545ff73da5eb5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "7683c293a5a55dce": {
    "vx_ego": [
      0.5902721104556763,
      1.2735387421500715,
      2.072872411428698,
      2.8507734559137674,
      3.559085151143332,
      4.035702100815934,
      4.144126886811428,
      4.169313718042305,
      4.2126284728119225,
      4.34422713668111
    ],
    "vy_ego": [
      0.040532121598556126,
      0.030477883480837686,
      0.014824390606163695,
      -0.012096345432476507,
      -0.040003394886320987,
      -0.05378536290864555,
      -0.04488281622490908,
      -0.03880590955550023,
      -0.03791220857991706,
      0.03832434967015613
    ],
    "v_ego": [
      0.5916620802984405,
      1.273903382968527,
      2.0729254199365372,
      2.8507991192848623,
      3.5593099590638895,
      4.036060494070097,
      4.144369930542598,
      4.169494307235853,
      4.2127990677820275,
      4.344396180236581
    ],
    "ax_ego": [
      1.3665794443895398,
      1.3665960283314693,
      1.8308602904350182,
      1.2807662975617475,
      1.5520337431181983,
      0.3530361698464062,
      0.07659602592023396,
      0.0355304716065899,
      0.13282170765916618,
      0.3893517192412052
    ],
    "ay_ego": [
      -0.022069993890586836,
      -0.021017579157485367,
      -0.049106914766234855,
      -0.07200435411657513,
      -0.10379050258179434,
      -0.37467314243813044,
      -0.6417970603953832,
      -1.1815998720892282,
      -1.4256423578427755,
      -1.3778617431104634
    ],
    "a_ego": [
      1.3667576458386301,
      1.3667576388244504,
      1.8315187392351893,
      1.2827887339627566,
      1.5555003080050056,
      0.514795591360575,
      0.6463516209610125,
      1.1821339484736353,
      1.4318162376858998,
      1.4318162397470868
    ],
    "yaw": [
      2.1944121655725466,
      2.1936420654281523,
      2.192479568463,
      2.1911529643825336,
      2.186094141396315,
      2.159283801213761,
      2.095534749761825,
      1.9846579937653535,
      1.8287805627329523,
      1.6462820828489222
    ],
    "yaw_diff": [
      -0.0015402002887885402,
      -0.0023249939303049416,
      -0.0026532081609325076,
      -0.010117645972437472,
      -0.05362068036510781,
      -0.1274981029038722,
      -0.2217535119929428,
      -0.3117548620648023,
      -0.36499695976806024,
      -0.36499695976806024
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.1255719941419406,
    "v_std": 1.297897419212849,
    "vy_max": 0.05378536290864555,
    "a_max": 1.8315187392351893,
    "ax_avg": 0.8384171898109575,
    "a_std": 0.37871573014748805,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "7683c293a5a55dce",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.750570765703719,
    "right_rear_min": 9.687943745684882,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7683c293a5a55dce",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "3420dd4340635018": {
    "vx_ego": [
      1.8704839001147546,
      1.568154374632004,
      1.2280717703443473,
      0.895255368524426,
      0.6073258823682006,
      0.4028546564673782,
      0.2870685921536191,
      0.24845143497869626,
      0.30013713602030945,
      0.3685894565661224
    ],
    "vy_ego": [
      0.042642674254417534,
      0.045764370645255015,
      0.00937613744739274,
      -0.03718005958906806,
      -0.030819991317138168,
      0.0010773499313713047,
      0.006252423196685564,
      -0.008804988603946615,
      0.0021202114402541494,
      0.04311886610194181
    ],
    "v_ego": [
      1.8709699137762936,
      1.5688220167686477,
      1.2281075625001794,
      0.8960270820141836,
      0.6081073912222263,
      0.40285609703754505,
      0.28713667372331825,
      0.24860740811023505,
      0.30014462466455255,
      0.3711029831537691
    ],
    "ax_ego": [
      -0.6034379973629329,
      -0.5987845330285593,
      -0.7575330038655578,
      -0.5759159592749892,
      -0.579485407423327,
      -0.23877582535184944,
      -0.22410118810146754,
      0.0696366795806054,
      0.13703297596514882,
      0.13691166854323206
    ],
    "ay_ego": [
      -0.11205822126537368,
      -0.13472773683495465,
      -0.1812570441802845,
      -0.09854546303959515,
      0.0741755282049647,
      0.03622895820286064,
      -0.023744525790716918,
      -0.038258614621596125,
      0.08089315858286199,
      0.08109829774320033
    ],
    "a_ego": [
      0.6137543984482282,
      0.6137544134805863,
      0.7789161495376437,
      0.5842862315965688,
      0.584213442502879,
      0.24150865861273282,
      0.22535559680983155,
      0.07945431854704761,
      0.15912806040223426,
      0.15912805811715483
    ],
    "yaw": [
      1.3685979930896566,
      1.3308897880590065,
      1.3008432019368446,
      1.2783270237172166,
      1.2617623606259172,
      1.2524733360437024,
      1.2464873397186125,
      1.2445683325884187,
      1.2435657239546627,
      1.2420680471033627
    ],
    "yaw_diff": [
      -0.07541641006130018,
      -0.06009317224432387,
      -0.04503235643925585,
      -0.033129326182598895,
      -0.018578049164429622,
      -0.011971992650179786,
      -0.0038380142603875456,
      -0.002005217267512016,
      -0.0029953537025999566,
      -0.0029953537025999566
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.7781881752970949,
    "v_std": 0.558678821897621,
    "vy_max": 0.045764370645255015,
    "a_max": 0.7789161495376437,
    "ax_avg": -0.3234452590319697,
    "a_std": 0.24023064309377762,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "3420dd4340635018",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3420dd4340635018",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "9e9baaa455b55c80": {
    "vx_ego": [
      6.159370091819659,
      6.056927930421693,
      5.93804334716538,
      5.772401489180665,
      5.631736642282347,
      5.663478726762568,
      5.851174954097955,
      6.056126963587961,
      6.203767265932586,
      6.31310142020318
    ],
    "vy_ego": [
      -0.0028879872198908085,
      -0.003239440479849698,
      0.007804695345210222,
      0.014809276100661406,
      0.01979360702663102,
      0.014830841453602028,
      0.0003356469034224985,
      0.024387491354241553,
      0.026198960826017678,
      -0.03535455997034603
    ],
    "v_ego": [
      6.159370768875072,
      6.056928796700275,
      5.938048476232277,
      5.772420485979325,
      5.631771426017286,
      5.66349814534713,
      5.851174963724982,
      6.056176066531727,
      6.203822585745424,
      6.313200415532688
    ],
    "ax_ego": [
      -0.20776263478788715,
      -0.20168111601262553,
      -0.27441091414031044,
      -0.3895067936293605,
      -0.1739733731460522,
      0.299956906857301,
      0.45054582283447264,
      0.3699145516946531,
      0.2165874982891093,
      0.2211333581963591
    ],
    "ay_ego": [
      0.2699134591560375,
      0.27448736664574797,
      0.23564752850164933,
      0.14762757006153845,
      0.15353005472027592,
      0.1599403672840269,
      0.18875192110986933,
      0.3568929310450643,
      0.18747893706179833,
      0.1820948491964022
    ],
    "a_ego": [
      0.3406150141253067,
      0.3406150128872998,
      0.3617058300446047,
      0.4165446455371857,
      0.23203062786241482,
      0.33993391572237824,
      0.48848625998717543,
      0.5140129762811375,
      0.28645854195146053,
      0.28645854187134956
    ],
    "yaw": [
      -1.6935314597266156,
      -1.6711903269713608,
      -1.6517972616601604,
      -1.6366663570822446,
      -1.6242782340132371,
      -1.6093671094666957,
      -1.5916507113536418,
      -1.5728108161848775,
      -1.5509741444464389,
      -1.5263748319854744
    ],
    "yaw_diff": [
      0.04468226551050947,
      0.03878613062240088,
      0.030261809155831543,
      0.02477624613801499,
      0.029822249093082842,
      0.03543279622610784,
      0.03767979033752855,
      0.043673343476877236,
      0.049198624921928946,
      0.049198624921928946
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.964641213068619,
    "v_std": 0.2203489250568778,
    "vy_max": 0.03535455997034603,
    "a_max": 0.5140129762811375,
    "ax_avg": 0.03108033061556592,
    "a_std": 0.08471792625570039,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "9e9baaa455b55c80",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "9e9baaa455b55c80",
    "merging_vehicles": "No"
  },
  "d4f5976a6d615330": {
    "vx_ego": [
      4.741845177944446,
      4.191103738300037,
      3.6332451430609938,
      3.162834416366311,
      2.864448578499075,
      2.634444342895001,
      2.3009242764374456,
      1.8666031582167582,
      1.4886381750438775,
      1.1735502101081998
    ],
    "vy_ego": [
      -0.0320678877255583,
      0.013398016357794335,
      0.015009468046616029,
      -0.0075263642023064535,
      -0.01844632070037908,
      -0.023242688266573726,
      -0.01687147707917177,
      -0.008503492392166025,
      -0.00203207295566227,
      0.0010125428940387171
    ],
    "v_ego": [
      4.741953610171464,
      4.191125153468322,
      3.6332761460845973,
      3.162843371321022,
      2.8645079726914275,
      2.634546871545339,
      2.3009861304749353,
      1.866622527359948,
      1.4886395619888861,
      1.1735506469207506
    ],
    "ax_ego": [
      -1.1014417259495932,
      -1.1016589456881085,
      -1.1295543300234985,
      -0.7520986195680861,
      -0.44152409130665415,
      -0.4786142033199599,
      -0.8555566113454375,
      -0.881673240270054,
      -0.6301756173160147,
      -0.6301765863819456
    ],
    "ay_ego": [
      0.05883163189653108,
      0.05461319030779512,
      -0.0764702501302002,
      -0.029244450545943556,
      -0.033366026022104554,
      0.0008781740781553433,
      0.014118390668036298,
      0.02730486883448093,
      0.005685327346508862,
      0.005576889432974363
    ],
    "a_ego": [
      1.1030118025544549,
      1.1030118010113175,
      1.1321398692872757,
      0.7526669724678736,
      0.4427830336594599,
      0.478615008967867,
      0.8556730942199499,
      0.8820959462951661,
      0.6302012627777392,
      0.6302012628674664
    ],
    "yaw": [
      -3.127297222710026,
      -3.1311267705418833,
      -3.132933800931335,
      -3.1340955474224845,
      -3.1356864561097795,
      -3.1368939722632945,
      -3.137936628323177,
      -3.136984160831216,
      -3.1359052249103443,
      -3.136077306361641
    ],
    "yaw_diff": [
      -0.007659095663714588,
      -0.0036140607789034718,
      -0.002323492982299058,
      -0.0031818173745898903,
      -0.002415032307029996,
      -0.002085312119764815,
      0.0019049349839219687,
      0.0021578718417432086,
      -0.0003441629025937587,
      -0.0003441629025937587
    ],
    "min_front_frame": [
      4,
      11.817467516113387
    ],
    "v_avg": 2.8058051992026694,
    "v_std": 1.0976715593572028,
    "vy_max": 0.0320678877255583,
    "a_max": 1.1321398692872757,
    "ax_avg": -0.8002473971169353,
    "a_std": 0.24383878481629298,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d4f5976a6d615330",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 24.53411600514113,
    "speed_mode": "decelerating",
    "front_frame": [
      15.003598847500765,
      13.526575738259004,
      12.57408229562467,
      11.994452198338962,
      11.817467516113387,
      11.964214830879321,
      12.494328520562364,
      13.463431843086113,
      15.00421027057598,
      16.79423349827891
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d4f5976a6d615330",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "465d879f0b205c8f": {
    "vx_ego": [
      3.976369801717589,
      4.259099933014452,
      4.5180765845739135,
      4.668785813969532,
      4.659411912684211,
      4.622683817659172,
      4.667958135825339,
      4.351983678975662,
      4.6395318573635675,
      5.932507657429245
    ],
    "vy_ego": [
      0.009313879471312791,
      0.03338741839719517,
      0.04694348868263487,
      0.053880217700143174,
      0.027625555639723687,
      0.015006533474157147,
      0.03199025373546449,
      -0.014575558094053009,
      -0.029186894029333554,
      -0.2721777991995393
    ],
    "v_ego": [
      3.9763807096859303,
      4.25923079429971,
      4.518320452912207,
      4.669096706492869,
      4.659493807634896,
      4.622708175311836,
      4.668067751666854,
      4.352008086959891,
      4.639623662569467,
      5.938748004405788
    ],
    "ax_ego": [
      0.5598495456584608,
      0.568326873268076,
      0.4627065753846993,
      0.1361917826760745,
      -0.17539738135421806,
      0.026720433986659395,
      0.15646082141803153,
      -1.420018630633963,
      2.578263705300067,
      2.642281605225832
    ],
    "ay_ego": [
      0.2976219813790787,
      0.28109592894821145,
      0.20581437595192015,
      0.12121727648109099,
      0.33198480350225945,
      0.42146119277157107,
      0.6838433430595927,
      0.7613498047531642,
      0.7502538327915216,
      0.478197054081806
    ],
    "a_ego": [
      0.6340428672999907,
      0.6340428661769846,
      0.5064157701461465,
      0.18232342083775294,
      0.37547057293794783,
      0.42230737455657913,
      0.7015138676360753,
      1.6112437545403355,
      2.6852047496766422,
      2.685204741513637
    ],
    "yaw": [
      -1.8501507114876774,
      -1.8208558782200455,
      -1.796282683481291,
      -1.780137755894466,
      -1.750466581356593,
      -1.706931438770187,
      -1.6509217564975598,
      -1.5643259371749014,
      -1.4661778374856929,
      -1.362046607197521
    ],
    "yaw_diff": [
      0.058589666535263873,
      0.04914638947750882,
      0.03228985517365013,
      0.05934234907574609,
      0.08707028517281179,
      0.11201936454525452,
      0.17319163864531673,
      0.19629619937841714,
      0.20826246057634368,
      0.20826246057634368
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.630367815193945,
    "v_std": 0.48695514866654677,
    "vy_max": 0.2721777991995393,
    "a_max": 2.6852047496766422,
    "ax_avg": 0.5535385330929719,
    "a_std": 0.8959472145960966,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "465d879f0b205c8f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "465d879f0b205c8f",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "28c74da2ea1d5629": {
    "vx_ego": [
      5.417848519540124,
      4.898024460512569,
      4.3083948929315525,
      3.615482052877164,
      2.8543531480287867,
      2.106085203598302,
      1.429813486168899,
      0.8108923700223453,
      0.3142884592852534,
      -0.09364041601397143
    ],
    "vy_ego": [
      0.009166005236577401,
      0.002178264921935291,
      -0.0015554867936213856,
      -0.02381143942822872,
      -0.04360536606490584,
      -0.04323632592295035,
      -0.018513157929993307,
      -0.007497414284283799,
      -0.012788269529216328,
      -0.028270169954838737
    ],
    "v_ego": [
      5.417856273133785,
      4.898024944874976,
      4.308395173725113,
      3.6155604626841074,
      2.8546862037028693,
      2.1065289612761124,
      1.4299333348960717,
      0.8109270293814397,
      0.3145485264270845,
      0.09781477404024967
    ],
    "ax_ego": [
      -1.0410597730567626,
      -1.0384695048841046,
      -1.3204816999772284,
      -1.4511513211723757,
      -1.5931573438417652,
      -1.3999385254615777,
      -1.305120379364387,
      -1.1705712895559743,
      -0.8158620239364001,
      -0.8158596780504233
    ],
    "ay_ego": [
      0.1480235991740177,
      0.16521961673255653,
      0.11288969713850261,
      0.014124129186875667,
      -0.06503210188122477,
      0.06551809189618651,
      0.03518829493806497,
      0.008048257675840165,
      -0.030949653196820637,
      -0.031011260416974162
    ],
    "a_ego": [
      1.0515305211877723,
      1.051530519922028,
      1.3252984583461846,
      1.4512200549763703,
      1.5944840847471757,
      1.4014708328885241,
      1.3055946617280916,
      1.170598957108861,
      0.816448849061962,
      0.8164488425744688
    ],
    "yaw": [
      2.571713623333137,
      2.5882516229025168,
      2.6040455578107835,
      2.6176214457970426,
      2.6197941014895507,
      2.6196933116854177,
      2.619951512022353,
      2.6197642876533407,
      2.6189259001565235,
      2.6188504036300984
    ],
    "yaw_diff": [
      0.03307599913875947,
      0.0315878698165335,
      0.027151775972518166,
      0.0043453113850162595,
      -0.0002015796082659449,
      0.0005164006738702653,
      -0.00037444873802439105,
      -0.001676774993634389,
      -0.00015099305285026787,
      -0.00015099305285026787
    ],
    "min_front_frame": [
      9,
      8.583956585414262
    ],
    "v_avg": 2.585427568414181,
    "v_std": 1.8311614444151905,
    "vy_max": 0.04360536606490584,
    "a_max": 1.5944840847471757,
    "ax_avg": -1.1951671539300999,
    "a_std": 0.25006394681439786,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "28c74da2ea1d5629",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.138065423842878,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.540152248565143,
      17.28394070560895,
      15.051048780978732,
      13.107985061855574,
      11.523802143866941,
      10.284163253443062,
      9.447105136202381,
      8.905307167264585,
      8.68177228253433,
      8.583956585414262
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "28c74da2ea1d5629",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f233f263a7e75621": {
    "vx_ego": [
      5.916217941659003,
      5.652347706439103,
      5.400557688267616,
      5.183561783723876,
      5.0017061392058535,
      4.827985169622805,
      4.687898885715462,
      4.599773130408931,
      4.617051762239521,
      4.724587489034224
    ],
    "vy_ego": [
      0.007942262237816688,
      -0.002344895091678012,
      -0.01123194826512286,
      -0.03820463457511725,
      -0.04927216584206695,
      -0.037201873480774195,
      -0.00473776310669205,
      -0.010312988402419121,
      -0.01835546236551089,
      0.01044522833269923
    ],
    "v_ego": [
      5.916223272725374,
      5.652348192832814,
      5.400569368221122,
      5.1837025724655215,
      5.001948825137688,
      4.828128496372919,
      4.687901279793713,
      4.599784691587397,
      4.617088248907283,
      4.724599035297455
    ],
    "ax_ego": [
      -0.5332583153083078,
      -0.52231251454623,
      -0.484298784353691,
      -0.3832547453821767,
      -0.34377611679324116,
      -0.3527828670007679,
      -0.20795758714162155,
      -0.1453332562517853,
      0.2131980082866893,
      0.21653975818953142
    ],
    "ay_ego": [
      0.3373102931808145,
      0.35402303445976746,
      0.3332531114764964,
      0.1654530253965643,
      -0.07018951321372979,
      -0.07424366474165907,
      -0.20539697329233847,
      -0.18655625418738356,
      -0.15259801026001613,
      -0.14781773108000695
    ],
    "a_ego": [
      0.6309854710935757,
      0.6309854766789069,
      0.5878800462979068,
      0.4174432937188394,
      0.3508683317750699,
      0.36051057266542597,
      0.2922914208241814,
      0.23648465351725206,
      0.26218227146915796,
      0.26218228105351055
    ],
    "yaw": [
      2.6006989262788203,
      2.6323620576693525,
      2.6650856621781878,
      2.6938082348749406,
      2.7006646284871594,
      2.690864285656869,
      2.6692664429564634,
      2.6493333400253727,
      2.632516714644109,
      2.610270162119684
    ],
    "yaw_diff": [
      0.06332626278106446,
      0.06544720901767054,
      0.05744514539350565,
      0.013712787224437584,
      -0.019600685660580375,
      -0.043195685400811534,
      -0.03986620586218148,
      -0.03363325076252721,
      -0.044493105048849735,
      -0.044493105048849735
    ],
    "min_front_frame": [
      1,
      23.512480605925873
    ],
    "v_avg": 5.061229398334129,
    "v_std": 0.4394683069647219,
    "vy_max": 0.04927216584206695,
    "a_max": 0.6309854766789069,
    "ax_avg": -0.2543236420301601,
    "a_std": 0.1491676033484728,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "f233f263a7e75621",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.37261559718065,
      23.512480605925873,
      39.24436281235612,
      36.905114609822014,
      35.042159096523996,
      32.850175045324,
      31.443940928129816,
      29.536463584367855,
      28.27683748886055,
      26.916147012948475
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 8,
    "token": "f233f263a7e75621",
    "smoothness": "No"
  },
  "045f4ecec234564b": {
    "vx_ego": [
      5.843018326718549,
      5.98265121667652,
      6.097252309398476,
      6.200948958747171,
      6.332287503844147,
      6.434515242230417,
      6.519171880378101,
      6.614437162714885,
      6.712317520816521,
      6.824547156840134
    ],
    "vy_ego": [
      -0.024722323998897067,
      -0.01723543406777739,
      -0.02000389573335437,
      -0.02140668297634374,
      -0.015507263665119897,
      -0.0021492394499980083,
      -0.0056168288678835054,
      -0.013754021839410102,
      0.00022338827711498865,
      0.018090800849036803
    ],
    "v_ego": [
      5.84307062764714,
      5.982676043426433,
      6.097285123750534,
      6.200985908310361,
      6.332306491837482,
      6.434515601171993,
      6.519174300068919,
      6.614451462715596,
      6.712317524533741,
      6.824571134731479
    ],
    "ax_ego": [
      0.27270222342787453,
      0.28315261094349975,
      0.17296415274201304,
      0.23905278706961466,
      0.2844506636257664,
      0.12439769173752993,
      0.21409249947471667,
      0.16645055173160322,
      0.22370031693689724,
      0.22569306640397502
    ],
    "ay_ego": [
      -0.3483178808239283,
      -0.3398771064489241,
      -0.3173855789642283,
      -0.23348998829659384,
      -0.1576168071281394,
      -0.22081762357561216,
      -0.23595688254298397,
      -0.2538665029535423,
      -0.14886051867428252,
      -0.1458215542826826
    ],
    "a_ego": [
      0.4423707141800627,
      0.44237071396309025,
      0.36145567344865515,
      0.3341613527032922,
      0.32520030431475305,
      0.25344665827587126,
      0.31860829987734957,
      0.3035687524986984,
      0.2687029694991194,
      0.2687029696825966
    ],
    "yaw": [
      1.4247721512756053,
      1.3944040594940204,
      1.367720056544581,
      1.345522683291352,
      1.3289638771642895,
      1.3121034686696527,
      1.294978563251838,
      1.2775862081172,
      1.2603607691462675,
      1.2468362335043661
    ],
    "yaw_diff": [
      -0.0607361835631699,
      -0.05336800589887858,
      -0.04439474650645803,
      -0.03311761225412502,
      -0.03372081698927376,
      -0.03424981083562928,
      -0.03478471026927599,
      -0.03445087794186508,
      -0.02704907128380274,
      -0.02704907128380274
    ],
    "min_front_frame": [
      7,
      64.67846904141125
    ],
    "v_avg": 6.356135421819368,
    "v_std": 0.30661051340930073,
    "vy_max": 0.024722323998897067,
    "a_max": 0.4423707141800627,
    "ax_avg": 0.22066565640934904,
    "a_std": 0.06360272232806992,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "045f4ecec234564b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.12776224800202,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      75.906122399957,
      73.32528859961529,
      -1,
      67.6254907656756,
      64.67846904141125,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "045f4ecec234564b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "229e86f19e7d5ced": {
    "vx_ego": [
      0.72200538770205,
      0.34179115533921417,
      0.051512641038814096,
      -0.04189240495415915,
      -0.02803668593136646,
      -0.015959180302632235,
      -0.008903066848123718,
      -0.005802159097339128,
      -0.0042781079091133364,
      -0.002873029629954661
    ],
    "vy_ego": [
      0.032027653109699926,
      0.0016622674308911694,
      0.0001536999979653423,
      0.004368091290373349,
      -0.0009632769616466883,
      -0.0007365581022109764,
      -0.0003629308036494559,
      -0.00015980701104402372,
      -6.576467480819484e-05,
      7.323094473441237e-05
    ],
    "v_ego": [
      0.7227154007176704,
      0.3417951974518171,
      0.05151287033822798,
      0.04211951821144555,
      0.028053229056900403,
      0.015976168306883143,
      0.008910461159244073,
      0.005804359436803861,
      0.004278613358843109,
      0.002873962773917594
    ],
    "ax_ego": [
      -0.760529547624256,
      -0.7611395229399015,
      -0.3998279465002517,
      0.026218863862083622,
      0.02920359458570473,
      0.019106841267824685,
      0.00911757280680804,
      0.0032860235881541325,
      0.002810154792109339,
      0.0028101589812078603
    ],
    "ay_ego": [
      -0.05183902750659936,
      -0.041941682039768016,
      0.03834042187049732,
      -0.021427591553072032,
      0.00011686984969488555,
      0.0007806996343378552,
      0.0007145285750777789,
      9.90787785739632e-05,
      0.00027793230319577317,
      0.0002779239829360266
    ],
    "a_ego": [
      0.7622942198274794,
      0.7622942201496125,
      0.40166201557007586,
      0.033861046971169664,
      0.029203828435463222,
      0.01912278418936175,
      0.009145528140684284,
      0.0032875169393128713,
      0.0028238654926845915,
      0.0028238688425552315
    ],
    "yaw": [
      0.005970056615177079,
      0.018978410792161844,
      0.022993614518305235,
      0.022708343459440453,
      0.022603860789047373,
      0.022715848021645006,
      0.02269938514103071,
      0.02265675123256378,
      0.022613721546367368,
      0.02262212148466521
    ],
    "yaw_diff": [
      0.02601670835396953,
      0.00803040745228678,
      -0.0005705421177295625,
      -0.00020896534078616164,
      0.00022397446519526604,
      -3.29257612285902e-05,
      -8.526781693386082e-05,
      -8.605937239282435e-05,
      1.6799876595682828e-05,
      1.6799876595682828e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.12240397808117531,
    "v_std": 0.22246880079567102,
    "vy_max": 0.032027653109699926,
    "a_max": 0.7622942201496125,
    "ax_avg": -0.18289438071805167,
    "a_std": 0.3025417259295106,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "229e86f19e7d5ced",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "229e86f19e7d5ced",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "bddb70b4743352ce": {
    "vx_ego": [
      6.813533510193466,
      6.761037237595097,
      6.7124635003318,
      6.6203658701130195,
      6.352060474592822,
      5.830448865479905,
      5.155109897009185,
      4.432443407270984,
      3.7050630575838754,
      2.993081715962358
    ],
    "vy_ego": [
      -0.03410661160402784,
      0.0028966415084203945,
      0.006280546799971365,
      -0.02798598556409715,
      -0.06698829611578683,
      -0.08597280340839486,
      -0.05636261102970819,
      -0.026650075701117437,
      -0.011282887484378001,
      0.03999301629331953
    ],
    "v_ego": [
      6.813618873659165,
      6.761037858101342,
      6.712466438542151,
      6.620425021820375,
      6.352413691243737,
      5.831082686422978,
      5.1554180038251145,
      4.4325235233662195,
      3.705080237217915,
      2.9933488937610346
    ],
    "ax_ego": [
      -0.10529566383737629,
      -0.10513229815893275,
      -0.087936895631381,
      -0.2777018898758262,
      -0.7899324156747454,
      -1.2870642713203382,
      -1.4050268449115255,
      -1.4850937605517827,
      -1.4238517090778937,
      -1.4239878214841462
    ],
    "ay_ego": [
      -0.02251167822729911,
      -0.023262684817057337,
      0.28236992377295855,
      0.37981570099176853,
      0.33581796086863835,
      0.34152131422121396,
      0.41346505881613366,
      0.1306924019180309,
      0.09376364852901042,
      0.0916732465837411
    ],
    "a_ego": [
      0.1076752175737909,
      0.1076752182309211,
      0.2957459576474898,
      0.47050856141038927,
      0.8583512825036781,
      1.3316047636505128,
      1.4646002150019863,
      1.4908333178289717,
      1.4269356366807548,
      1.4269356327018987
    ],
    "yaw": [
      0.42635432079407154,
      0.4192164475088571,
      0.42833242658280773,
      0.45819700779971384,
      0.49146152435155627,
      0.5220632647265668,
      0.550955615058492,
      0.5730886811048075,
      0.5831220475879669,
      0.5816539825510005
    ],
    "yaw_diff": [
      -0.014275746570428849,
      0.01823195814790124,
      0.05972916243381221,
      0.06652903310368485,
      0.06120348075002113,
      0.05778470066385033,
      0.04426613209263097,
      0.02006673296631889,
      -0.0029361300739327856,
      -0.0029361300739327856
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.5377415227960025,
    "v_std": 1.3276482306408937,
    "vy_max": 0.08597280340839486,
    "a_max": 1.4908333178289717,
    "ax_avg": -0.8391023570523949,
    "a_std": 0.5671246228609516,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bddb70b4743352ce",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 45.61339956220833,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bddb70b4743352ce",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5971485918d155dd": {
    "vx_ego": [
      11.738997141103123,
      11.690083036927975,
      11.597564447254484,
      11.489427949774383,
      11.525439395204673,
      11.706689251273202,
      11.852372592029127,
      11.93739815217163,
      11.969305276335326,
      11.942862627010118
    ],
    "vy_ego": [
      -0.022747988351301984,
      0.05501480523596891,
      0.060307620657982675,
      0.06566713517686207,
      0.044455935230315546,
      0.02839037307421055,
      0.014893903859660718,
      -0.004695908985377528,
      0.021678633573206874,
      0.013329328478765667
    ],
    "v_ego": [
      11.739019181763071,
      11.690212489046823,
      11.597721246750615,
      11.489615606524836,
      11.525525132622507,
      11.706723676552668,
      11.852381949998719,
      11.937399075805075,
      11.969324908333897,
      11.942870065383476
    ],
    "ax_ego": [
      -0.1033782430309152,
      -0.09339785139517409,
      -0.2813038526890165,
      -0.15876059662088404,
      0.2963790786728978,
      0.42496591638825426,
      0.1547148560165688,
      0.18016997913467606,
      -0.05331817369563255,
      -0.052802320452844415
    ],
    "ay_ego": [
      0.5666461155183201,
      0.5683763928758271,
      0.6767987923191472,
      0.649169717001674,
      0.6704487387123297,
      0.7303548118320441,
      0.7105006265014847,
      0.2921273627689299,
      0.10289646463128554,
      0.10316214626553455
    ],
    "a_ego": [
      0.5759990289611262,
      0.5759990300545406,
      0.7329314175435107,
      0.6683010163926527,
      0.7330361993216634,
      0.8449935983532237,
      0.7271504843780481,
      0.34321948875277986,
      0.11589007757290974,
      0.11589009218788471
    ],
    "yaw": [
      -1.2511915809195133,
      -1.2336057889530059,
      -1.207380087263544,
      -1.179091934701232,
      -1.1484306496991752,
      -1.116858553827208,
      -1.0852265135691948,
      -1.0625018313801622,
      -1.0564612748745814,
      -1.0514542712172084
    ],
    "yaw_diff": [
      0.035171583933014894,
      0.05245140337892362,
      0.05657630512462397,
      0.061322570004113786,
      0.06314419174393437,
      0.0632640805160265,
      0.04544936437806513,
      0.012081113011161548,
      0.01001400731474611,
      0.01001400731474611
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.745079333278168,
    "v_std": 0.1666152476131665,
    "vy_max": 0.06566713517686207,
    "a_max": 0.8449935983532237,
    "ax_avg": 0.03132687923279304,
    "a_std": 0.24898479875830348,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "5971485918d155dd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "5971485918d155dd",
    "road_shape": "Curve"
  },
  "a4d55f73b8ad51b9": {
    "vx_ego": [
      2.0809544235987283,
      1.4927799813888973,
      0.9665858267503705,
      0.5526543346635289,
      0.22700491724033456,
      0.017010874694498235,
      -0.038572371183796056,
      -0.021393996752246416,
      -0.01221408820127834,
      -0.006486565885393591
    ],
    "vy_ego": [
      -0.06764271777679687,
      -0.009135349235839807,
      0.0037764637927846234,
      -0.003167031038567192,
      0.000626713247089683,
      -0.0009362170309451124,
      -0.00036243260540378547,
      0.0009695310351446745,
      0.001014131608372269,
      0.0007443144528978011
    ],
    "v_ego": [
      2.0820535176511066,
      1.4928079338753186,
      0.9665932040695691,
      0.552663409054722,
      0.22700578235099036,
      0.01703661821492024,
      0.03857407388562945,
      0.02141595404046336,
      0.012256117391233917,
      0.006529130186352887
    ],
    "ax_ego": [
      -1.1765611497224104,
      -1.1772238340320098,
      -0.9273767913614663,
      -0.7283962697899484,
      -0.5741942981506646,
      -0.2657833568831299,
      0.04344859616929796,
      0.025264864138684416,
      0.011454948264346839,
      0.011454913592395232
    ],
    "ay_ego": [
      0.09527000882721737,
      0.08669803976806711,
      -0.04972545004612333,
      0.01769203673015285,
      -0.00429881133889215,
      -0.0022524129381187863,
      0.0046054976226875405,
      0.000721358468689046,
      -0.0005404967080265355,
      -0.0005412599770995875
    ],
    "a_ego": [
      1.1804120101125954,
      1.1804120066792994,
      0.9287089606212369,
      0.728611099289307,
      0.5742103898464932,
      0.26579290088358076,
      0.04369200290024839,
      0.025275160098138474,
      0.011467692724792124,
      0.011467694091318049
    ],
    "yaw": [
      2.331385027328391,
      2.3241015004558716,
      2.3210403310783922,
      2.3195910437650338,
      2.318388951758908,
      2.3174917312992127,
      2.317198745622952,
      2.3172078434123753,
      2.317167231380192,
      2.317233625551972
    ],
    "yaw_diff": [
      -0.014567053745039082,
      -0.006122338754958712,
      -0.002898574626716943,
      -0.002404184012251953,
      -0.0017944409193901834,
      -0.0005859713525211419,
      1.819557884630285e-05,
      -8.122406436683605e-05,
      0.00013278834356000857,
      0.00013278834356000857
    ],
    "min_front_frame": [
      4,
      10.336136063776395
    ],
    "v_avg": 0.5416935740720307,
    "v_std": 0.7016269434361598,
    "vy_max": 0.06764271777679687,
    "a_max": 1.1804120101125954,
    "ax_avg": -0.4757912377774905,
    "a_std": 0.46184351756197045,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a4d55f73b8ad51b9",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.764332017407929,
    "speed_mode": "decelerating",
    "front_frame": [
      11.856578947728408,
      11.165950308757255,
      10.811383111992514,
      10.482724310293408,
      10.336136063776395,
      10.385178892211679,
      10.41934152844755,
      10.422476915079372,
      10.4290047615312,
      10.426229849326722
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a4d55f73b8ad51b9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8f9712da66485b70": {
    "vx_ego": [
      -0.16430546586475311,
      0.45445621524601,
      1.1677138441921042,
      1.931307783174114,
      2.6282230201546763,
      3.2775898334802434,
      3.913870390435305,
      4.5402758004304316,
      5.128355012504238,
      5.700354590944378
    ],
    "vy_ego": [
      -0.009449441373486217,
      -0.006603614543532968,
      -0.010857981561091721,
      -0.008947563123454468,
      -0.0030805303161111977,
      0.00785444048733909,
      -0.008045377373577786,
      -0.008649828800439144,
      0.03748948871313726,
      0.09324037450655198
    ],
    "v_ego": [
      0.16457696696471383,
      0.45450419063058956,
      1.1677643245456177,
      1.9313285096623927,
      2.6282248254930543,
      3.277599244686333,
      3.9138786594915396,
      4.5402840399596665,
      5.128492039190595,
      5.7011171036858
    ],
    "ax_ego": [
      1.2375230336111522,
      1.237522893217868,
      1.615491994359024,
      1.438802122974335,
      1.3488524360350456,
      1.248603963778617,
      1.2964368313862007,
      1.2092450583495784,
      1.1429506933469928,
      1.1437551120582128
    ],
    "ay_ego": [
      0.005669022414005694,
      0.0056998549036363505,
      -0.025167846644457884,
      0.024868361780582576,
      -0.013782968754210825,
      0.05200678620638907,
      -0.10015927572324268,
      0.10524586292704881,
      0.16726141966800062,
      0.16166914313172656
    ],
    "a_ego": [
      1.2375360182771569,
      1.2375360195098342,
      1.615688028161011,
      1.4390170202235633,
      1.348922853400207,
      1.2496865863788373,
      1.3003000954733859,
      1.213816420553839,
      1.1551245257251388,
      1.1551245249756588
    ],
    "yaw": [
      -3.1154229214850635,
      -3.1154478269199215,
      -3.116249874018149,
      -3.117513107030414,
      -3.118864340400346,
      -3.1193293715364616,
      -3.1182536171763315,
      -3.1178109305911894,
      -3.1132705078804737,
      -3.108379399357068
    ],
    "yaw_diff": [
      -4.98108697160049e-05,
      -0.0016040941964545752,
      -0.0025264660245305492,
      -0.0027024667398638513,
      -0.0009300622722312468,
      0.0021515087202601535,
      0.0008853731702842538,
      0.009080845421431505,
      0.009782217046811148,
      0.009782217046811148
    ],
    "min_front_frame": [
      0,
      37.39441103340992
    ],
    "v_avg": 2.8907769904310303,
    "v_std": 1.847930236130134,
    "vy_max": 0.09324037450655198,
    "a_max": 1.615688028161011,
    "ax_avg": 1.2919184139117026,
    "a_std": 0.134497329096574,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "8f9712da66485b70",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.434270394021771,
    "speed_mode": "accelerating",
    "front_frame": [
      37.39441103340992,
      42.001522135979215,
      46.25297704846002,
      50.05460008537498,
      53.170297932714256,
      55.676929342666256,
      57.42736699614567,
      58.139283929207,
      58.0295331402043,
      56.82691770633042
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "8f9712da66485b70",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "613c9ac33f6951ca": {
    "vx_ego": [
      7.433006604448082,
      7.340720691425158,
      7.28829975256272,
      7.292174048620915,
      7.3475606862650755,
      7.4647599712398245,
      7.607736768155368,
      7.734528906307137,
      7.827796110524867,
      7.9008944912487
    ],
    "vy_ego": [
      0.003238345295626832,
      0.12484231513563593,
      0.1738097583213758,
      0.10098844324674561,
      -0.02760285920480232,
      -0.059153836156842665,
      -0.024995014479317845,
      0.018372199988408333,
      0.042095926742614864,
      0.051637448054411283
    ],
    "v_ego": [
      7.433007309874588,
      7.34178220006327,
      7.290371946292832,
      7.29287330351006,
      7.347612534434868,
      7.464994347255493,
      7.607777828268377,
      7.734550726463244,
      7.827909300381332,
      7.901063231482559
    ],
    "ax_ego": [
      -0.18913778492832148,
      -0.18336597650937334,
      -0.038788766427842056,
      0.04212514130638903,
      0.1784543688602672,
      0.29269162934481735,
      0.2801716039575343,
      0.22694764877543092,
      0.14613698051777302,
      0.14615242625639177
    ],
    "ay_ego": [
      0.4366838557517193,
      0.439138713912856,
      0.30428254817488143,
      -0.1352919756533236,
      0.01481712422414861,
      0.1481419359255275,
      0.1559096504251057,
      0.06348582279452777,
      0.027857231009182176,
      0.027776081997208147
    ],
    "a_ego": [
      0.4758843258206561,
      0.4758843256488632,
      0.3067449062735887,
      0.14169843402897137,
      0.17906844762712987,
      0.328046373350304,
      0.32063054558138426,
      0.23566010477082142,
      0.1487684186726165,
      0.14876841879829758
    ],
    "yaw": [
      1.1155079291627228,
      1.1286880522661402,
      1.147448419438764,
      1.1632539996091098,
      1.1767379706543868,
      1.1865176422498727,
      1.1920701765093007,
      1.193565614338596,
      1.1934516452091657,
      1.1940069117771364
    ],
    "yaw_diff": [
      0.02636024620683486,
      0.0375207343452475,
      0.03161116034069167,
      0.026967942090553976,
      0.019559343190971745,
      0.011105068518856065,
      0.002990875658590575,
      -0.00022793825886058272,
      0.0011105331359413384,
      0.0011105331359413384
    ],
    "min_front_frame": [
      8,
      22.083087858620562
    ],
    "v_avg": 7.524194272802662,
    "v_std": 0.21678706546802495,
    "vy_max": 0.1738097583213758,
    "a_max": 0.4758843258206561,
    "ax_avg": 0.09013872711530667,
    "a_std": 0.12123902346374245,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "613c9ac33f6951ca",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      51.77914684449451,
      48.119288494909824,
      44.425775846135465,
      40.70817997004922,
      37.067278821045285,
      33.46264769720058,
      29.68463204884033,
      25.889601869399538,
      22.083087858620562,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.5555555555555556,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4444444444444444,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "613c9ac33f6951ca",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e80df2a74bfd5a22": {
    "vx_ego": [
      7.231995769998929,
      7.240559379901681,
      7.166667379683679,
      6.968125246807426,
      6.679384721221424,
      6.413243932971811,
      6.215729204226988,
      6.129395885226501,
      6.268846946793202,
      6.519086551250508
    ],
    "vy_ego": [
      0.017081813088593023,
      -0.01913637923716216,
      -0.022644816198479134,
      -0.0063133893554701,
      0.01979127381928203,
      0.06650666823339302,
      0.024545576822993187,
      -0.01263759281176391,
      -0.006690084278916153,
      0.0799418776159202
    ],
    "v_ego": [
      7.232015943402005,
      7.240584668028717,
      7.166703155476917,
      6.968128106893572,
      6.679414042309817,
      6.413588767665047,
      6.215777668612499,
      6.129408913311596,
      6.268850516605585,
      6.519576686142437
    ],
    "ax_ego": [
      0.017175648470651672,
      0.017091811441475674,
      -0.3128423920184938,
      -0.48187373214385276,
      -0.6722570044096352,
      -0.39392491882764946,
      -0.39947433698088325,
      0.04936504379553247,
      0.5014316248132743,
      0.5015745797645303
    ],
    "ay_ego": [
      -0.026270783146021194,
      -0.026325407006615318,
      -0.09087255336085363,
      0.018007827271279447,
      0.2926944063998548,
      0.4983063222571388,
      0.7427331161818593,
      0.637519501140051,
      -0.013569314634836155,
      -0.0063831889902091765
    ],
    "a_ego": [
      0.031387209934823294,
      0.03138721192484145,
      0.325773208226481,
      0.4822100948479592,
      0.7332117671693353,
      0.6352055041282354,
      0.8433458530042889,
      0.6394278863818768,
      0.5016151918179308,
      0.5016151953117548
    ],
    "yaw": [
      -0.5815582813360336,
      -0.5783703031087797,
      -0.5819302119244895,
      -0.5868039390638558,
      -0.5792726858820174,
      -0.5560787226734828,
      -0.500319476043749,
      -0.4378450808090997,
      -0.41342020201537444,
      -0.42774914408678466
    ],
    "yaw_diff": [
      0.006375956454507836,
      -0.007119817631419556,
      -0.009747454278732581,
      0.015062506363676675,
      0.046387926417069236,
      0.1115184932594675,
      0.12494879046929874,
      0.04884975758745047,
      -0.028657884142820444,
      -0.028657884142820444
    ],
    "min_front_frame": [
      4,
      20.061470226217004
    ],
    "v_avg": 6.683404846844819,
    "v_std": 0.41511038924562127,
    "vy_max": 0.0799418776159202,
    "a_max": 0.8433458530042889,
    "ax_avg": -0.11737336760950505,
    "a_std": 0.25929031626139676,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e80df2a74bfd5a22",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.745363243344983,
      25.051659166141533,
      24.376543130801373,
      23.427312839733222,
      20.061470226217004,
      23.265600418920243,
      23.27128068215285,
      43.797987233845625,
      42.690835753413374,
      40.8365557109864
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e80df2a74bfd5a22",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "635d0bb58aa95282": {
    "vx_ego": [
      2.0142541514212486,
      2.5966054220405446,
      3.2055628274248464,
      3.848124974835317,
      4.470368255950774,
      5.061476233703633,
      5.628207412909691,
      6.130337902335243,
      6.721759280772121,
      7.462924980727649
    ],
    "vy_ego": [
      -0.04250945956548691,
      0.04242664786394257,
      0.06905471315446143,
      0.06686234274363922,
      0.009199900100618663,
      -0.046476830025971694,
      -0.06990182993654503,
      -0.09555877420830572,
      -0.12535071549731258,
      -0.07891770200501869
    ],
    "v_ego": [
      2.0147026680555826,
      2.5969520092253005,
      3.2063065346246638,
      3.8487058077785674,
      4.47037772251677,
      5.061689615145912,
      5.628641483391892,
      6.131082634913369,
      6.722927980465196,
      7.463342231980156
    ],
    "ax_ego": [
      1.1618878306738045,
      1.1672778819094354,
      1.2670243225082682,
      1.2979747759311955,
      1.2046533883571577,
      1.1892464497381303,
      1.09028733121011,
      0.9600162609028617,
      1.446819065011447,
      1.5458588315136221
    ],
    "ay_ego": [
      0.2758771989826049,
      0.2520990259896138,
      0.6538737306674296,
      1.1142799319497296,
      1.574592861875405,
      1.7429718512486063,
      1.442265410059708,
      1.4405051753835172,
      1.29173668696086,
      1.1714049449252832
    ],
    "a_ego": [
      1.1941907552758761,
      1.1941907605152076,
      1.4257985444951464,
      1.7106601900142329,
      1.982557052583698,
      2.110037438639358,
      1.807997781428938,
      1.7310939840183748,
      1.9395538340869058,
      1.9395538332214621
    ],
    "yaw": [
      1.9452588053946878,
      1.9656758530005924,
      2.0348388905587322,
      2.16076756282276,
      2.3353161063068346,
      2.520418349776673,
      2.6731359455004435,
      2.799562551246394,
      2.9114378943026025,
      2.9918120329023115
    ],
    "yaw_diff": [
      0.04083409521180936,
      0.1383260751162796,
      0.2518573445280552,
      0.34909708696814956,
      0.37020448693967634,
      0.3054351914475415,
      0.2528532114919013,
      0.22375068611241655,
      0.16074827719941798,
      0.16074827719941798
    ],
    "min_front_frame": [
      9,
      20.921057009275568
    ],
    "v_avg": 4.714472868809741,
    "v_std": 1.714922042810994,
    "vy_max": 0.12535071549731258,
    "a_max": 2.110037438639358,
    "ax_avg": 1.2331046137756032,
    "a_std": 0.31019843670371533,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "635d0bb58aa95282",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      20.921057009275568
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "635d0bb58aa95282",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e8858099d9b652f2": {
    "vx_ego": [
      4.979482438991312,
      4.344799030571421,
      3.734440782249753,
      3.1805082704111465,
      2.669265364921336,
      2.1374949512325774,
      1.5359166063412428,
      0.9137434496572794,
      0.3554558250500316,
      -0.15719066101653728
    ],
    "vy_ego": [
      0.029912117380225478,
      -0.019853969914271463,
      -0.032693718512915027,
      -0.01814202909842333,
      -0.021765905978605726,
      -0.026970915595163847,
      -0.01873807632907043,
      -0.009266327659482432,
      0.0035780752955139883,
      0.04117756543417983
    ],
    "v_ego": [
      4.979572280325794,
      4.344844392630847,
      3.7345838905238624,
      3.1805600122263864,
      2.669354105964906,
      2.137665103993794,
      1.5360309037058189,
      0.913790433644322,
      0.35547383333350857,
      0.1624946023900551
    ],
    "ax_ego": [
      -1.2694738777601255,
      -1.2692129377859,
      -1.1723841389814909,
      -1.0434362638992254,
      -1.0015359419647347,
      -1.1256639432587972,
      -1.280821378331197,
      -1.2078717909670336,
      -1.0252956298141371,
      -1.0252932071668943
    ],
    "ay_ego": [
      -0.1184533920850549,
      -0.12121735205424067,
      0.05621882821923008,
      -0.01715312563983895,
      0.002580521345905862,
      -0.03824685524628979,
      0.06216395715380085,
      -0.024488103963409058,
      0.07518890615780621,
      0.07522180021926184
    ],
    "a_ego": [
      1.274988287166508,
      1.2749882853901666,
      1.173731283549056,
      1.0435772451233258,
      1.00153926639828,
      1.1263135154517037,
      1.2823290376339636,
      1.2081199984478495,
      1.028048880221741,
      1.0280488703805877
    ],
    "yaw": [
      -0.7726277990471704,
      -0.7748052673158063,
      -0.7756519130466111,
      -0.7770424289574192,
      -0.7770490296022696,
      -0.7785834360592117,
      -0.7797975734311169,
      -0.7798409906066939,
      -0.7801175612758595,
      -0.7800854711194111
    ],
    "yaw_diff": [
      -0.004354936537271925,
      -0.0016932914616094585,
      -0.0027810318216161534,
      -1.3201289700948138e-05,
      -0.003068812913884056,
      -0.0024282747438104657,
      -8.683435115397486e-05,
      -0.0005531413383312866,
      6.418031289689985e-05,
      6.418031289689985e-05
    ],
    "min_front_frame": [
      9,
      9.312760846501208
    ],
    "v_avg": 2.4014369558739292,
    "v_std": 1.584617640414954,
    "vy_max": 0.04117756543417983,
    "a_max": 1.2823290376339636,
    "ax_avg": -1.1420989109929536,
    "a_std": 0.10771617948901788,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e8858099d9b652f2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.98354445973592,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      12.323826374313562,
      -1,
      10.208167804504948,
      9.637232799852587,
      9.332536357280592,
      9.312760846501208
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e8858099d9b652f2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "22a0b00bb8ed5ed5": {
    "vx_ego": [
      5.796650005884572,
      5.281188801351202,
      4.789324477879868,
      4.3990355430237305,
      4.106253724809279,
      3.847879989675487,
      3.5809168565017973,
      3.2807053901185754,
      2.9622820319111303,
      2.6355977537653543
    ],
    "vy_ego": [
      -0.023487933614960724,
      -0.009163928776434627,
      -0.019445987824702124,
      -0.014076924978512276,
      0.0002154964863061437,
      -0.01735455436220193,
      -0.034573857347028863,
      -0.03276544355369627,
      -0.007775659651391036,
      0.027606175984929576
    ],
    "v_ego": [
      5.796697592055938,
      5.281196751978472,
      4.789363955773433,
      4.399058066064023,
      4.106253730463914,
      3.8479191253848017,
      3.5810837584159585,
      3.280869005468573,
      2.9622922370128424,
      2.6357423281886816
    ],
    "ax_ego": [
      -1.0309218576622907,
      -1.0309209771143923,
      -0.9365354707576141,
      -0.6249392524588182,
      -0.5461741970254061,
      -0.4873241170085274,
      -0.5805462383973801,
      -0.6202867714380239,
      -0.6533777717445866,
      -0.6533659044709119
    ],
    "ay_ego": [
      0.028966775214564325,
      0.028997887033953243,
      -0.06819941709209287,
      0.04211052793742508,
      -0.025026758253774515,
      -0.047593812152247866,
      -0.023578274988933424,
      0.031898088252259656,
      0.07163676365843645,
      0.07174498486276373
    ],
    "a_ego": [
      1.0313287306539072,
      1.0313287247560436,
      0.9390153611517158,
      0.6263564207597422,
      0.5467472836009705,
      0.4896426921473702,
      0.5810248445366182,
      0.6211064054211294,
      0.6572931906823436,
      0.6572931978790371
    ],
    "yaw": [
      -1.5845390772445356,
      -1.5845088978579867,
      -1.584413012268647,
      -1.587023479002302,
      -1.5893854748822833,
      -1.5895328637460469,
      -1.5896868385697305,
      -1.5896078054366618,
      -1.589321805567872,
      -1.5891561710258917
    ],
    "yaw_diff": [
      6.03587730978461e-05,
      0.0001917711786791898,
      -0.005220933467309674,
      -0.004723991759962853,
      -0.00029477772752706244,
      -0.00030794964736724495,
      0.00015806626613734664,
      0.0005719997375797092,
      0.0003312690839605281,
      0.0003312690839605281
    ],
    "min_front_frame": [
      9,
      13.200832062128365
    ],
    "v_avg": 4.0680476550806635,
    "v_std": 0.9628458009777469,
    "vy_max": 0.034573857347028863,
    "a_max": 1.0313287306539072,
    "ax_avg": -0.7164392558077951,
    "a_std": 0.192507593818513,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "22a0b00bb8ed5ed5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.74602316431923,
    "right_rear_min": 5.640002847401882,
    "speed_mode": "decelerating",
    "front_frame": [
      21.50123924384222,
      26.508297947763698,
      24.400881508213544,
      22.62330311238717,
      20.857525400916785,
      19.132143562378324,
      17.487326024999685,
      15.912620739868823,
      14.43676450305861,
      13.200832062128365
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "22a0b00bb8ed5ed5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "90551e9098aa5b12": {
    "vx_ego": [
      0.1321912166774877,
      0.01629770939245775,
      -0.03671821621896561,
      -0.025382176207047986,
      -0.014681888199855496,
      -0.008732480366084375,
      -0.006045194828246005,
      -0.004309079186970057,
      -0.0031609582243270623,
      -0.0022173730663003063
    ],
    "vy_ego": [
      -0.06555715280624183,
      -0.0256038789716477,
      -0.004395456432742502,
      -0.0018031558110481634,
      -0.0003161463542167859,
      -0.00018397765715205336,
      -0.00021916159538873468,
      -0.00019828697015083444,
      -3.636802303050692e-05,
      0.0002802560629560694
    ],
    "v_ego": [
      0.14755425460058902,
      0.03035084759666176,
      0.03698036559520263,
      0.025446143909923752,
      0.014685291608624617,
      0.00873441819026203,
      0.006049166249686446,
      0.0043136389698385895,
      0.0031611674313519115,
      0.002235013820086502
    ],
    "ax_ego": [
      -0.231829475661451,
      -0.2318956230153133,
      0.01983073410997072,
      0.025513427516994952,
      0.017287623180674085,
      0.006510037597074778,
      0.0042391149242926454,
      0.0027053346289780864,
      0.0018871899048353066,
      0.0018871625863334331
    ],
    "ay_ego": [
      0.07987953672483544,
      0.0796873201968442,
      0.005155124925502608,
      0.005214140069151068,
      0.0007379572417745527,
      -0.0002112987170794058,
      7.036251614311417e-05,
      1.3552392493161895e-05,
      0.0006334302937109672,
      0.0006335110232657717
    ],
    "a_ego": [
      0.24520531432421616,
      0.2452053200357094,
      0.02048983475623692,
      0.026040780332503132,
      0.017303366612531432,
      0.006513465795040806,
      0.004239698836596608,
      0.002705368574166982,
      0.0019906581007051553,
      0.001990657892219539
    ],
    "yaw": [
      -0.5764282793658874,
      -0.5772573152269533,
      -0.5773099419784322,
      -0.5773105787367053,
      -0.5773641387093049,
      -0.5773156921605177,
      -0.5773089431334102,
      -0.57733025139032,
      -0.5772831479046108,
      -0.5773234492900201
    ],
    "yaw_diff": [
      -0.0016580717221319485,
      -0.00010525350295775837,
      -1.273516546218545e-06,
      -0.00010711994519918555,
      9.689309757443532e-05,
      1.3498054215022037e-05,
      -4.2616513819648816e-05,
      9.420697141848677e-05,
      -8.060277081867184e-05,
      -8.060277081867184e-05
    ],
    "min_front_frame": [
      2,
      8.50311342397739
    ],
    "v_avg": 0.027951030797222727,
    "v_std": 0.041542773696846357,
    "vy_max": 0.06555715280624183,
    "a_max": 0.2452053200357094,
    "ax_avg": -0.038386447422761025,
    "a_std": 0.09436206291196629,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "90551e9098aa5b12",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.0442172875197793,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.519588352571482,
      8.503325941654964,
      8.50311342397739,
      8.532991803076138,
      8.526605338715298,
      8.564202615961216,
      8.564721936135022,
      8.518332799587116,
      8.507258028746035,
      8.520227770037698
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "90551e9098aa5b12",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "87a7a9f8aa325467": {
    "vx_ego": [
      6.48478338323114,
      6.537415470633925,
      6.594144831939831,
      6.696793696977042,
      6.952441778332349,
      7.2836199874353165,
      7.601686902702622,
      7.860964045042305,
      8.021305030356963,
      8.134974776443311
    ],
    "vy_ego": [
      0.09513085024124979,
      -0.015441301170464605,
      -0.0009280147275729234,
      0.01381078497820648,
      0.03441209656747346,
      0.09710429187638892,
      0.08503025800817632,
      0.04771251788219644,
      0.013592288448491363,
      -0.024236776741876298
    ],
    "v_ego": [
      6.48548112371768,
      6.537433706697577,
      6.594144897241045,
      6.696807937939773,
      6.952526941586868,
      7.284267249687374,
      7.602162449691372,
      7.86110884047604,
      8.021316546573585,
      8.135010881044703
    ],
    "ax_ego": [
      0.056555121466485614,
      0.1669764438450859,
      0.058895227586890406,
      0.36041608817600757,
      0.6708483080864418,
      0.6542888859270514,
      0.6245599542889985,
      0.4144277170195358,
      0.22727638881378837,
      0.22737905949549309
    ],
    "ay_ego": [
      -1.3182273028764537,
      -1.3088317654684263,
      -1.354079685638271,
      -1.4627615322761327,
      -1.428201076234178,
      -0.911466677951631,
      -0.475739180233675,
      -0.1765877230627675,
      -0.09354030660909879,
      -0.09329044762307034
    ],
    "a_ego": [
      1.3194399205015053,
      1.3194399278096554,
      1.3553598942313259,
      1.5065095608468322,
      1.5779086686557324,
      1.1219917340443486,
      0.7851133065430015,
      0.4504814719503091,
      0.24577295594259455,
      0.24577295277301733
    ],
    "yaw": [
      0.23843416770831175,
      0.15441902768241714,
      0.05111971775162744,
      -0.057576575727814994,
      -0.16701075680015948,
      -0.25790318063826034,
      -0.302847374821668,
      -0.31905874898206193,
      -0.32325381525051433,
      -0.3243529096619064
    ],
    "yaw_diff": [
      -0.16803028005178922,
      -0.2065986198615794,
      -0.21739258695888486,
      -0.21886836214468897,
      -0.18178484767620173,
      -0.08988838836681534,
      -0.03242274832078784,
      -0.008390132536904793,
      -0.0021981888227841084,
      -0.0021981888227841084
    ],
    "min_front_frame": [
      9,
      78.7283591208217
    ],
    "v_avg": 7.217026057465603,
    "v_std": 0.6150483513001758,
    "vy_max": 0.09710429187638892,
    "a_max": 1.5779086686557324,
    "ax_avg": 0.34616231947057785,
    "a_std": 0.49204868520808676,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "87a7a9f8aa325467",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.7283591208217
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "87a7a9f8aa325467",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "b6eb541d3faf53f2": {
    "vx_ego": [
      2.176420107018107,
      1.886667918878901,
      1.633615478212208,
      1.4049938602093652,
      1.218934091384788,
      1.1558810319484443,
      1.2690287225583503,
      1.5815939248225934,
      2.001962410805692,
      2.438692029913083
    ],
    "vy_ego": [
      -0.0065293181141525825,
      -0.01527918800532968,
      -0.010504234581682037,
      0.0003650335685333461,
      -0.004853899165586428,
      -0.00724214011526414,
      0.0072199496749868475,
      0.019706247733512816,
      0.03153708993840876,
      0.04923848489908278
    ],
    "v_ego": [
      2.1764299010599317,
      1.8867297871483732,
      1.6336492492572108,
      1.4049939076293247,
      1.2189437556660145,
      1.155903719438453,
      1.2690492608056583,
      1.5817166874113298,
      2.002210798672488,
      2.4391890548206288
    ],
    "ax_ego": [
      -0.5794194905873018,
      -0.5789918587067268,
      -0.43269405585012266,
      -0.4817474899855102,
      -0.2625442385453306,
      0.010395724519224804,
      0.4422042844649553,
      0.8079545224663321,
      0.8733183215112236,
      0.873375803588287
    ],
    "ay_ego": [
      0.030181892128503418,
      0.03750092297300894,
      0.046625181827468304,
      0.02532386155404842,
      -0.0326926926413863,
      0.028504927265374493,
      0.03814798848975326,
      0.020799657650967585,
      0.0421508166908936,
      0.04094249422469143
    ],
    "a_ego": [
      0.5802050436568997,
      0.5802050427844434,
      0.4351988666672669,
      0.48241262635978743,
      0.2645718982535591,
      0.030341423280457722,
      0.44384670577236174,
      0.8082222071511004,
      0.8743349369863302,
      0.8743349370389044
    ],
    "yaw": [
      -2.2922187000300602,
      -2.2795825437107293,
      -2.2702497003385433,
      -2.265583507596892,
      -2.262954814622505,
      -2.2617917944410104,
      -2.2598917694152405,
      -2.2582604086132987,
      -2.256070030644551,
      -2.2546864767898693
    ],
    "yaw_diff": [
      0.02527231263866181,
      0.018665686744371968,
      0.00933238548330273,
      0.005257385948773674,
      0.0023260403629894455,
      0.0038000500515398272,
      0.0032627216038836337,
      0.0043807559374950955,
      0.0027671077093636143,
      0.0027671077093636143
    ],
    "min_front_frame": [
      4,
      11.130843973942602
    ],
    "v_avg": 1.6768816121909413,
    "v_std": 0.41386435726299325,
    "vy_max": 0.04923848489908278,
    "a_max": 0.8743349370389044,
    "ax_avg": 0.06718515228750312,
    "a_std": 0.2564807944760151,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b6eb541d3faf53f2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.664988678530586,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      13.845075940368185,
      12.814117108861852,
      11.958802886388543,
      11.294076232001295,
      11.130843973942602,
      11.442683164330258,
      12.099749295649241,
      12.878733317674662,
      13.609150631675128,
      14.429278276681035
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b6eb541d3faf53f2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2ee0fbae6edc5e0d": {
    "vx_ego": [
      5.747604583069828,
      5.746850533289204,
      5.746526633523029,
      5.691107591061032,
      5.573770784240298,
      5.413780679953879,
      5.242776184612952,
      5.1009838299448225,
      4.964842240465103,
      4.8281017411365195
    ],
    "vy_ego": [
      -0.008550644044901912,
      0.04982626052012984,
      0.04947453944152791,
      0.0460197290627673,
      0.04743236667869377,
      0.04197471578602974,
      0.03418717497329471,
      0.03079160498122313,
      0.012461605552527288,
      -0.05858671661575121
    ],
    "v_ego": [
      5.747610943412825,
      5.747066530692317,
      5.746739604318475,
      5.691293651578304,
      5.573972603508152,
      5.413943398984441,
      5.242887647554293,
      5.1010767643994415,
      4.964857879569111,
      4.828457189012791
    ],
    "ax_ego": [
      -0.024508604515466104,
      0.02747892560991705,
      -0.024359892152083257,
      -0.19724251651292574,
      -0.2709604091741544,
      -0.36876323451481924,
      -0.3158635522137558,
      -0.25233269151677523,
      -0.2900018481653776,
      -0.2496284692166262
    ],
    "ay_ego": [
      -0.7164676535133788,
      -0.716359871218224,
      -0.48805452876337596,
      -0.11185771798731009,
      -0.04872861983225406,
      -0.006201824826215119,
      0.12166499152556584,
      0.2792379510665722,
      0.5517170838665735,
      0.5711203265938537
    ],
    "a_ego": [
      0.7168867206374118,
      0.7168867110251562,
      0.48866207893809616,
      0.22675263922098102,
      0.2753071407184738,
      0.36881538167626177,
      0.33848508649570963,
      0.3763583671501903,
      0.6232919160149363,
      0.62329190600561
    ],
    "yaw": [
      2.4623264968703706,
      2.389791959892249,
      2.337527990342458,
      2.312004577360894,
      2.3046381139488394,
      2.3031352152396245,
      2.3100227546407317,
      2.3300884123952814,
      2.37495697164899,
      2.446839128360257
    ],
    "yaw_diff": [
      -0.14506907395624324,
      -0.10452793909958213,
      -0.051046825963127596,
      -0.014732926824109427,
      -0.0030057974184298786,
      0.013775078802214402,
      0.04013131550909943,
      0.08973711850741672,
      0.14376431342253415,
      0.14376431342253415
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.405790621303015,
    "v_std": 0.3326475166588481,
    "vy_max": 0.05858671661575121,
    "a_max": 0.7168867206374118,
    "ax_avg": -0.19661822923720668,
    "a_std": 0.17387622396694766,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "2ee0fbae6edc5e0d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 37.38700955901267,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "2ee0fbae6edc5e0d",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "28345af8c4505291": {
    "vx_ego": [
      3.625735817847698,
      3.623522020970861,
      3.6876419185083598,
      3.7923780983969113,
      3.8181084395039226,
      3.8461621449223884,
      3.855263568244221,
      3.7967604554988936,
      3.7689966626092986,
      3.7709614104930163
    ],
    "vy_ego": [
      -0.023066192328558,
      -0.019952095865507502,
      -0.015453376340026415,
      -0.010553347833808457,
      -0.02795157617481503,
      -0.015313467630164723,
      -0.013155604907165497,
      -0.007671692528224083,
      0.004781701733127752,
      0.034465054001465045
    ],
    "v_ego": [
      3.625809188312625,
      3.6235769513824567,
      3.6876742977085604,
      3.792392782182652,
      3.8182107519650796,
      3.8461926300336087,
      3.8552860141073366,
      3.796768206159867,
      3.768999695865137,
      3.7711189054940712
    ],
    "ax_ego": [
      -0.046024026993615366,
      0.04688486226597714,
      0.2219857632680145,
      0.20616501585286895,
      -0.09054810052102036,
      0.22200895551700284,
      -0.18032090559107877,
      -0.05287751311163402,
      -0.05897413583051353,
      0.05737478163883608
    ],
    "ay_ego": [
      0.8225114261535322,
      0.8224628054451273,
      0.8930361342081701,
      0.9409056724345994,
      0.9826763572463763,
      1.0973775060230633,
      1.0602137661707662,
      0.9891429843141561,
      0.9649226682719342,
      0.9650190718310909
    ],
    "a_ego": [
      0.8237980682265689,
      0.8237980678845811,
      0.9202125928801212,
      0.9632276460843612,
      0.9868392886377054,
      1.1196094707777122,
      1.0754389145698546,
      0.9905553365717565,
      0.9667231788066245,
      0.9667231633543516
    ],
    "yaw": [
      1.6565997996731463,
      1.7694408124082832,
      1.8860974689515402,
      2.007164481668709,
      2.1366684047581455,
      2.2702334136213835,
      2.407734739969551,
      2.540569104256316,
      2.66622492116456,
      2.7866516270885224
    ],
    "yaw_diff": [
      0.22568202547027383,
      0.23331331308651393,
      0.24213402543433737,
      0.2590078461788732,
      0.26713001772647615,
      0.27500265269633495,
      0.2656687285735302,
      0.2513116338164876,
      0.24085341184792508,
      0.24085341184792508
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.758602942321139,
    "v_std": 0.08020773974717332,
    "vy_max": 0.034465054001465045,
    "a_max": 1.1196094707777122,
    "ax_avg": 0.032567469649483746,
    "a_std": 0.08894084623130227,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "28345af8c4505291",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.557119298324572,
    "right_rear_min": 8.350288900372298,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "28345af8c4505291",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5785ba7017515a65": {
    "vx_ego": [
      1.9284145938619668,
      2.65445121172633,
      3.357987007557157,
      4.008099455748004,
      4.605595416727844,
      5.174679267361959,
      5.707144110832823,
      6.22895929777327,
      6.719450460941008,
      7.159734044909174
    ],
    "vy_ego": [
      0.022172256339806573,
      0.010136593566418828,
      0.01605311545419319,
      0.012988920974569718,
      0.00595162997434473,
      0.02356022323216811,
      0.019684137392662393,
      -0.0030567358374042897,
      0.006144704024574121,
      0.043836494113946856
    ],
    "v_ego": [
      1.9285420541878293,
      2.654470566038454,
      3.358025378915183,
      4.008120502085178,
      4.605599262255009,
      5.1747329017239565,
      5.707178056367146,
      6.22896004778888,
      6.719453270499608,
      7.159868241249114
    ],
    "ax_ego": [
      1.4519449586216846,
      1.4519234786607105,
      1.3622207642396467,
      1.2373541745083902,
      1.1527318652295366,
      1.1228290503832452,
      1.0062800458097596,
      1.081223612551528,
      0.8806042756827293,
      0.8805738571240499
    ],
    "ay_ego": [
      -0.0022370950665233647,
      -0.008208624100721762,
      0.09694089755961288,
      0.06112333483125243,
      0.15154288516045605,
      0.11486597925628855,
      -0.026051353533360688,
      0.10758484294023418,
      0.0690969902372448,
      0.06948358868366955
    ],
    "a_ego": [
      1.4519466820311488,
      1.4519466826973524,
      1.3656657527174467,
      1.2388629525634518,
      1.1626504200138241,
      1.1286891820049691,
      1.0066172080864761,
      1.0865629290425158,
      0.8833109783142912,
      0.8833109797498773
    ],
    "yaw": [
      -0.6436221592177519,
      -0.639509356628158,
      -0.6341185109556933,
      -0.622606265521283,
      -0.6086621046495022,
      -0.5986509758238225,
      -0.593870517781475,
      -0.5866333388913956,
      -0.5812529083342677,
      -0.5816919320087446
    ],
    "yaw_diff": [
      0.0082256051791878,
      0.010781691344929456,
      0.023024490868820635,
      0.027888321743561484,
      0.020022257651359343,
      0.009560916084695004,
      0.01447435778015893,
      0.010760861114255782,
      -0.0008780473489538032,
      -0.0008780473489538032
    ],
    "min_front_frame": [
      0,
      15.33972428379593
    ],
    "v_avg": 4.754495028111036,
    "v_std": 1.6682511328111405,
    "vy_max": 0.043836494113946856,
    "a_max": 1.4519466826973524,
    "ax_avg": 1.1627686082811282,
    "a_std": 0.20041183061945758,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "5785ba7017515a65",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.168477651613158,
    "speed_mode": "accelerating",
    "front_frame": [
      15.33972428379593,
      17.255474335719132,
      19.468983890008083,
      21.686505241804156,
      23.868380627681006,
      26.0902087047735,
      19.87133243143408,
      21.104905665452204,
      22.139292653274076,
      23.100773560177124
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "5785ba7017515a65",
    "pedestrians": "No"
  },
  "cdda15bd879d5a30": {
    "vx_ego": [
      6.066300345920968,
      5.794080335520173,
      5.454781108491634,
      5.04606186663295,
      4.6269055987964,
      4.215693436274892,
      3.7970182161461903,
      3.3530330043233163,
      2.9402348865273042,
      2.5603442718234364
    ],
    "vy_ego": [
      -0.01295371041795379,
      -0.016229637319598922,
      -0.011332600557361516,
      -0.00234341695434237,
      -0.011344135378668518,
      -0.0008013818023560049,
      -0.007323257419830975,
      -0.030491703515961532,
      -0.009726001223609337,
      0.03501284785540704
    ],
    "v_ego": [
      6.066314176296381,
      5.794103065668498,
      5.454792880521919,
      5.046062410780334,
      4.626919505414046,
      4.215693512444186,
      3.7970252782731424,
      3.3531716436926917,
      2.9402509728001163,
      2.5605836619360884
    ],
    "ax_ego": [
      -0.5445799557555768,
      -0.5444645284390264,
      -0.8128292462822597,
      -0.8220421505433697,
      -0.8545555208495458,
      -0.7902104243178171,
      -0.8845685319195906,
      -0.8911628993709987,
      -0.7598822845385915,
      -0.7597489555005046
    ],
    "ay_ego": [
      -0.039642885645444936,
      -0.04119783174702099,
      0.037589220204975016,
      -0.026506282059402697,
      0.003080796645285766,
      0.06541394151200292,
      -0.06616962114722785,
      0.000930287431393173,
      0.09651357578637865,
      0.09755757891465128
    ],
    "a_ego": [
      0.5460209580163053,
      0.5460209557049869,
      0.8136979372515359,
      0.8224693795264238,
      0.8545610741909604,
      0.7929132981888248,
      0.8870399688994558,
      0.891163384935686,
      0.7659869167725138,
      0.7659869167210339
    ],
    "yaw": [
      -0.7491585728856593,
      -0.7520141775158038,
      -0.753039135109635,
      -0.7542232460170066,
      -0.7535736605374892,
      -0.7520824867171558,
      -0.7505063991683361,
      -0.748588362108149,
      -0.7474397968065407,
      -0.7460657746306669
    ],
    "yaw_diff": [
      -0.005711209260288896,
      -0.00204991518766251,
      -0.0023682218147431655,
      0.0012991709590348677,
      0.002982347640666738,
      0.0031521750976395424,
      0.003836074120374011,
      0.0022971306032166794,
      0.0027480443517475805,
      0.0027480443517475805
    ],
    "min_front_frame": [
      9,
      14.849903519570514
    ],
    "v_avg": 4.385491710782739,
    "v_std": 1.1535690356344572,
    "vy_max": 0.03501284785540704,
    "a_max": 0.891163384935686,
    "ax_avg": -0.7664044497517281,
    "a_std": 0.11876973590081177,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cdda15bd879d5a30",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.24030584489253,
    "speed_mode": "decelerating",
    "front_frame": [
      26.224497684215876,
      24.758424142907657,
      23.24020767667443,
      21.622757256541565,
      20.061567341002107,
      18.712156088447234,
      17.386268005945798,
      16.225781469253207,
      15.416697980126653,
      14.849903519570514
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cdda15bd879d5a30",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8d8806333d865527": {
    "vx_ego": [
      1.922648436192529,
      1.5604494347860363,
      1.177615941859317,
      0.8423940729330619,
      0.6233955949441713,
      0.4760163639613694,
      0.35365133423354506,
      0.23888011055767022,
      0.12063127363212375,
      -0.007282183228979309
    ],
    "vy_ego": [
      0.008584334227889734,
      0.025681541706699673,
      0.01430970859832259,
      -0.005323829112337197,
      -0.007454437811865167,
      -0.008205113500826727,
      -0.0017218590757738517,
      0.007867797020602307,
      -0.0028601352754415027,
      -0.03172672821865725
    ],
    "v_ego": [
      1.9226675999734621,
      1.5606607511270645,
      1.1777028803061387,
      0.8424108957445708,
      0.6234401626771315,
      0.4760870746476577,
      0.3536555259059915,
      0.23900964300630664,
      0.12066517539001109,
      0.032551735376796266
    ],
    "ax_ego": [
      -0.7243493819098997,
      -0.7243794295701221,
      -0.8068917706185749,
      -0.5340070248190674,
      -0.34197371437352114,
      -0.24751839759221203,
      -0.2419256815694884,
      -0.21716040342054,
      -0.2558399674115337,
      -0.25582808149744457
    ],
    "ay_ego": [
      0.031149806098599686,
      0.0304431475817718,
      -0.07850677324948502,
      -0.002216199753453496,
      -0.0047669622831190694,
      0.003275461806834856,
      0.023543928548987958,
      0.014898368318336602,
      -0.0577301880654328,
      -0.05778281524873807
    ],
    "a_ego": [
      0.7250188531984766,
      0.7250188571471925,
      0.8107019445752088,
      0.5340116235602547,
      0.3420069374323148,
      0.24754006907299753,
      0.24306861577419112,
      0.21767085747136775,
      0.262272498633015,
      0.2622724938317645
    ],
    "yaw": [
      0.5514867837962671,
      0.5505112366423208,
      0.5500442988911638,
      0.5494835795155382,
      0.5500264287670529,
      0.5507287983950138,
      0.5512638777289374,
      0.5513352324169416,
      0.5514434714609073,
      0.5512377425390804
    ],
    "yaw_diff": [
      -0.0019510943078926424,
      -0.0009338755023140521,
      -0.001121438751251258,
      0.0010856985030294197,
      0.001404739255921772,
      0.0010701586678472097,
      0.00014270937600846523,
      0.00021647808793145984,
      -0.00041145784365381743,
      -0.00041145784365381743
    ],
    "min_front_frame": [
      9,
      9.064852089134288
    ],
    "v_avg": 0.7348851444155131,
    "v_std": 0.603452168476334,
    "vy_max": 0.03172672821865725,
    "a_max": 0.8107019445752088,
    "ax_avg": -0.4349873852782403,
    "a_std": 0.2250926267126909,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8d8806333d865527",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.759029619713544,
    "right_rear_min": 18.56775756898013,
    "speed_mode": "decelerating",
    "front_frame": [
      12.061257582740405,
      11.315542727197991,
      10.650613328723475,
      10.184694119547677,
      9.854815021515071,
      9.628326640510554,
      9.393992633064611,
      9.263041713773267,
      9.09163259980981,
      9.064852089134288
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8d8806333d865527",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f6855b72b0aa57e2": {
    "vx_ego": [
      9.994434941885906,
      9.87552508302956,
      9.755577600019357,
      9.642515989777143,
      9.529452517079593,
      9.475258447083675,
      9.471814367584757,
      9.415615800941836,
      9.34428208896373,
      9.294868305599831
    ],
    "vy_ego": [
      -0.002070609896797748,
      -0.018036211401759594,
      -0.027525398897823905,
      -0.0007046083332666875,
      0.0014992502892519077,
      0.02177459763694456,
      0.03212217030553832,
      0.042892511758314544,
      0.06727952028072703,
      0.02611017165287377
    ],
    "v_ego": [
      9.994435156376536,
      9.87554155327533,
      9.755616431450344,
      9.642516015521094,
      9.529452635016662,
      9.475283466584669,
      9.471868836075075,
      9.415713498111044,
      9.344524294579022,
      9.294904978508818
    ],
    "ax_ego": [
      -0.23786684915475176,
      -0.2375820502667056,
      -0.2416334343504445,
      -0.21045732278716367,
      -0.24191940227422745,
      0.025146164095471553,
      -0.03959944634377522,
      -0.185777515830362,
      -0.0990789694732524,
      -0.09915503553724019
    ],
    "ay_ego": [
      0.06038025774903695,
      0.06149132600246181,
      0.10256024073042598,
      0.10733133225461197,
      0.044728382281564824,
      0.1400564321611831,
      0.11265520457750577,
      0.05306314628167616,
      -0.02467735962183782,
      -0.024369918391111415
    ],
    "a_ego": [
      0.245410703622824,
      0.2454107042948055,
      0.2624982277553003,
      0.23624626896162892,
      0.24601956299905356,
      0.14229593725203987,
      0.11941235810892108,
      0.19320709842397346,
      0.10210589733109049,
      0.10210589598441804
    ],
    "yaw": [
      1.0708527958390697,
      1.075526542483917,
      1.08067137453411,
      1.0833172427355542,
      1.0870514803641145,
      1.0897889306347581,
      1.0953607788288529,
      1.0986010305099616,
      1.096755545388974,
      1.0998573472942899
    ],
    "yaw_diff": [
      0.009347493289694864,
      0.010289664100386009,
      0.005291736402888159,
      0.007468475257120577,
      0.0054749005412872975,
      0.011143696388189461,
      0.0064805033622175046,
      -0.0036909702419754,
      0.006203603810631897,
      0.006203603810631897
    ],
    "min_front_frame": [
      0,
      28.850530794841596
    ],
    "v_avg": 9.579985686549858,
    "v_std": 0.21972293021234568,
    "vy_max": 0.06727952028072703,
    "a_max": 0.2624982277553003,
    "ax_avg": -0.1567923861922451,
    "a_std": 0.06276155157334995,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f6855b72b0aa57e2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.30527600893426,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      28.850530794841596,
      29.275189137261208,
      29.731164059211448,
      30.25528988856212,
      30.484908815863196,
      30.82599407770329,
      31.01276355511006,
      31.04111899435594,
      31.02665112310408,
      31.13917476917645
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f6855b72b0aa57e2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "94b9b31c975a5796": {
    "vx_ego": [
      4.193554032472627,
      4.435849087180295,
      4.752767537687765,
      5.052370475715189,
      5.328953555350516,
      5.5971207780303125,
      5.784168424662621,
      5.888593543503152,
      5.882678678717879,
      5.781784631861442
    ],
    "vy_ego": [
      0.00034923761843652645,
      0.09135630727527055,
      0.10494806735259687,
      0.04491763113777214,
      -0.007011475177418625,
      -0.008350912925280785,
      0.02317860613142031,
      0.019638597231391053,
      0.03618227958005793,
      -0.05509207019990203
    ],
    "v_ego": [
      4.193554047014816,
      4.436789728972653,
      4.753926099987217,
      5.052570139786835,
      5.328958167959951,
      5.597127007814396,
      5.784214865705307,
      5.8886262910027005,
      5.882789949879014,
      5.782047099897065
    ],
    "ax_ego": [
      0.3707652611306959,
      0.6236320038643111,
      0.6537867053818958,
      0.5480576946117716,
      0.5611186339504637,
      0.5080684619586906,
      0.239537709133462,
      0.1782160360455588,
      -0.2018414393049708,
      -0.20095774179804177
    ],
    "ay_ego": [
      -1.4290077079741552,
      -1.3381378992786508,
      -0.722155288495023,
      -0.29616143000779344,
      -0.39085552569280996,
      -0.18546910139795575,
      -0.05268910852423056,
      0.014586089276611758,
      0.04328290888940234,
      0.047216162949935234
    ],
    "a_ego": [
      1.476323104307069,
      1.4763231061423163,
      0.9741382431849411,
      0.6229597332472068,
      0.6838290453988024,
      0.5408625977181586,
      0.24526405414162342,
      0.1788119389307582,
      0.20643007732070082,
      0.20643008509488936
    ],
    "yaw": [
      -1.7042427939886036,
      -1.886500182644619,
      -2.0015372022049087,
      -2.0411083698589265,
      -2.0641993566920025,
      -2.0902948359700284,
      -2.106203954781709,
      -2.107228201762383,
      -2.1075781736006034,
      -2.088049172994615
    ],
    "yaw_diff": [
      -0.36451477731203097,
      -0.23007403912057933,
      -0.0791423353080356,
      -0.046181973666151954,
      -0.052190958556051825,
      -0.031818237623361334,
      -0.0020484939613476527,
      -0.000699943676440995,
      0.039058001211977,
      0.039058001211977
    ],
    "min_front_frame": [
      7,
      19.093455073661872
    ],
    "v_avg": 5.270060339801995,
    "v_std": 0.596815762145241,
    "vy_max": 0.10494806735259687,
    "a_max": 1.4763231061423163,
    "ax_avg": 0.3280383324973836,
    "a_std": 0.47566474019318006,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "94b9b31c975a5796",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      55.85897681283629,
      30.03971674974759,
      27.499785198506597,
      24.80295712387747,
      21.93970273451161,
      19.093455073661872,
      39.38572999132621,
      36.49440059980599
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "94b9b31c975a5796",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "28ecaf0359ee5029": {
    "vx_ego": [
      2.544038750447759,
      3.1962234145803237,
      3.8661521280645883,
      4.570295940601507,
      5.274189537455017,
      5.91337793735912,
      6.474996644423446,
      7.030707002285505,
      7.53343482326603,
      7.95957080717228
    ],
    "vy_ego": [
      0.019517254048588395,
      0.01878526255310864,
      0.005872475400143795,
      -0.010175281228328004,
      -0.010376770446087313,
      -0.015062567605351518,
      -0.006925791288923566,
      0.001568683209888011,
      -0.005582818918447252,
      -0.01061162672109095
    ],
    "v_ego": [
      2.544113615188086,
      3.196278617705392,
      3.866156588047834,
      4.570307267681976,
      5.274199745398809,
      5.9133971210285265,
      6.475000348407702,
      7.030707177286893,
      7.533436891901621,
      7.959577880830795
    ],
    "ax_ego": [
      1.3043600755642817,
      1.3043600604914896,
      1.3753847798373713,
      1.441202651086667,
      1.374404151427829,
      1.1823558268360312,
      1.0641859963073372,
      1.1586717051974649,
      0.8522647887781203,
      0.8523715741890877
    ],
    "ay_ego": [
      7.878140041217563e-05,
      -0.00023601372941839394,
      -0.056854964909231365,
      -0.0016754725335910159,
      0.013935168572050793,
      -0.027905193642996207,
      0.07764599341238432,
      -0.05178519013744992,
      0.037221830483716356,
      0.03469046622947841
    ],
    "a_ego": [
      1.3043600779434212,
      1.3043600818439067,
      1.3765593992425915,
      1.441203624998025,
      1.374474794379723,
      1.1826850811121987,
      1.0670148710442775,
      1.1598283607253155,
      0.8530772150606136,
      0.8530772115891984
    ],
    "yaw": [
      -2.0563259001800853,
      -2.0560845580844003,
      -2.0564706565866846,
      -2.056134517002992,
      -2.0554720383684297,
      -2.055259625706343,
      -2.0545673320374687,
      -2.054868364832223,
      -2.054388790701097,
      -2.0514188175333015
    ],
    "yaw_diff": [
      0.00048268419137009744,
      -0.0007721970045686533,
      0.0006722791673849926,
      0.001324957269124738,
      0.00042482532417320584,
      0.0013845873377489326,
      -0.0006020655895087046,
      0.0009591482622521852,
      0.005939946335590918,
      0.005939946335590918
    ],
    "min_front_frame": [
      0,
      22.937819822611942
    ],
    "v_avg": 5.436317525347763,
    "v_std": 1.767415538138894,
    "vy_max": 0.019517254048588395,
    "a_max": 1.441203624998025,
    "ax_avg": 1.190956160971568,
    "a_std": 0.20029740162505788,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "28ecaf0359ee5029",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 27.384630984261126,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      22.937819822611942,
      23.98930014597261,
      24.967742033164686,
      26.030744748554234,
      26.94754706863413,
      27.783671827110997,
      28.594820183161563,
      29.427575621887115,
      30.00992445285213,
      30.73063078686691
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "28ecaf0359ee5029",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "87bf38cb3c39548d": {
    "vx_ego": [
      3.994552241109817,
      3.509288544371251,
      3.000379215507692,
      2.44927533578903,
      1.9538232904722515,
      1.5676752603615853,
      1.1895820207697514,
      0.7703033758568724,
      0.33186847008967674,
      -0.11186288951902507
    ],
    "vy_ego": [
      -0.05952260925103259,
      -0.011688464996732373,
      -0.010289296045646434,
      -0.011429892573757039,
      -0.015651155433074826,
      -0.009646927792699933,
      -0.013348365533539575,
      -0.008285655069078579,
      0.014458096206630966,
      0.022633134280762475
    ],
    "v_ego": [
      3.994995688103745,
      3.509308009831749,
      3.0003968581612113,
      2.4493020052555203,
      1.9538859764730914,
      1.5677049419982072,
      1.1896569097857845,
      0.7703479362836106,
      0.33218325964079354,
      0.11412959659490887
    ],
    "ax_ego": [
      -0.9705102037741972,
      -0.9704244073880326,
      -1.064829849420617,
      -1.1392020888675816,
      -0.842220978863413,
      -0.7018101270969851,
      -0.8106029084505997,
      -0.8663230505712347,
      -0.8874747885987714,
      -0.8874704082589323
    ],
    "ay_ego": [
      0.10157315142428663,
      0.1023896205998559,
      0.0733222350380709,
      0.05135971833781017,
      0.019248921966290022,
      0.05991702477124544,
      -0.05049503254836557,
      0.07768126973250383,
      0.016290413825878758,
      0.01652705780081337
    ],
    "a_ego": [
      0.975811027156434,
      0.9758110292782085,
      1.0673512816163722,
      1.1403592503891045,
      0.8424409167618284,
      0.7043631906575786,
      0.8121741337303422,
      0.8697988316951824,
      0.8876242887511879,
      0.8876242837906292
    ],
    "yaw": [
      -2.190560537555133,
      -2.1897192201364226,
      -2.1767002576929135,
      -2.1648826848198794,
      -2.1547768976169763,
      -2.146867764035274,
      -2.1425172371218304,
      -2.1407603889671663,
      -2.139407441203806,
      -2.1391407968719474
    ],
    "yaw_diff": [
      0.0016826348374205935,
      0.02603792488701817,
      0.023635145746068176,
      0.020211574405806232,
      0.01581826716340462,
      0.00870105382688724,
      0.003513696309328296,
      0.00270589552672007,
      0.0005332886637177126,
      0.0005332886637177126
    ],
    "min_front_frame": [
      9,
      8.049669781214462
    ],
    "v_avg": 1.8881911182128621,
    "v_std": 1.2661555145097922,
    "vy_max": 0.05952260925103259,
    "a_max": 1.1403592503891045,
    "ax_avg": -0.9140868811290366,
    "a_std": 0.12046728710134898,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "87bf38cb3c39548d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.363888203612753,
      14.519077041809183,
      12.890819584928243,
      11.511337652010178,
      10.434794620208244,
      9.5651180642059,
      8.844424193480602,
      8.403008985274415,
      8.075537346734015,
      8.049669781214462
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "87bf38cb3c39548d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "12d426c6727d507a": {
    "vx_ego": [
      2.313035115803062,
      2.0733058760249725,
      1.8897872353002123,
      1.7442718816689318,
      1.5759891803882617,
      1.4513849868676125,
      1.4022021568840353,
      1.339516466431968,
      1.2201293547626793,
      1.0848874483108348
    ],
    "vy_ego": [
      0.033809794073530686,
      0.0005724997748655092,
      -0.009127539454845901,
      -0.008791042665238225,
      -0.01975225333470232,
      -0.00707249675236632,
      0.014111585898534562,
      -0.003278289158071601,
      -0.027881735619373793,
      -0.021298957971804422
    ],
    "v_ego": [
      2.313282202653489,
      2.073305955066852,
      1.8898092778585145,
      1.744294034734975,
      1.57611295541045,
      1.4514022186544335,
      1.40227316369772,
      1.3395204780152448,
      1.2204478823508773,
      1.0850965031337438
    ],
    "ax_ego": [
      -0.47946025918050567,
      -0.47950412283664,
      -0.25445380190335876,
      -0.3276076476673722,
      -0.3454837028946739,
      -0.15302736313082815,
      -0.04365264190990022,
      -0.20690587084411477,
      -0.2704333563966146,
      -0.270413819192212
    ],
    "ay_ego": [
      -0.06360798335214712,
      -0.06327651418493832,
      0.03793351359455199,
      -0.034027759594971896,
      -0.006125375099397978,
      0.049966021695105355,
      0.024044766641715495,
      -0.10546809022868256,
      0.01581834995122157,
      0.01614896686647188
    ],
    "a_ego": [
      0.48366115791901737,
      0.48366116348610444,
      0.25726579398882743,
      0.3293700946248798,
      0.3455379996265586,
      0.16097818855612112,
      0.04983677305533065,
      0.2322359951563216,
      0.27089558956748944,
      0.2708955938013255
    ],
    "yaw": [
      -2.1220408282929357,
      -2.12134951575952,
      -2.1196272570814454,
      -2.1192768304934004,
      -2.1187216424936413,
      -2.11987602079427,
      -2.121773511673907,
      -2.1239053510425014,
      -2.1222039443913108,
      -2.1209813457683513
    ],
    "yaw_diff": [
      0.001382625066831622,
      0.003444517356149035,
      0.0007008531760899217,
      0.0011103759995183538,
      -0.0023087566012574,
      -0.003794981759273952,
      -0.004263678737189025,
      0.0034028133023813467,
      0.002445197245918962,
      0.002445197245918962
    ],
    "min_front_frame": [
      9,
      10.140010037198355
    ],
    "v_avg": 1.6095544671576298,
    "v_std": 0.370873311398227,
    "vy_max": 0.033809794073530686,
    "a_max": 0.48366116348610444,
    "ax_avg": -0.283094258595622,
    "a_std": 0.1261278732443941,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "12d426c6727d507a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.485669786045504,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.766638661036119,
      12.4159818021886,
      12.053592943512676,
      11.65661873301781,
      11.40286195309673,
      11.139078020099502,
      10.828141158051489,
      10.53223829674176,
      10.312590038677913,
      10.140010037198355
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "12d426c6727d507a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "94d74f87c8435b61": {
    "vx_ego": [
      -0.013478174485687921,
      0.007041627446075728,
      0.11698641632860293,
      0.5537587334614802,
      1.2614531259135033,
      1.97157132095395,
      2.629047946753496,
      3.2273727517148743,
      3.769162616831156,
      4.297799690204494
    ],
    "vy_ego": [
      -4.494770652308574e-05,
      -0.0003331832218370812,
      0.00039244400345739283,
      0.0057840181509018485,
      0.007128208131649161,
      0.0053602498433126256,
      -0.002396375484261082,
      0.0031910663353182933,
      -0.0007207977861891646,
      -0.08368898585985218
    ],
    "v_ego": [
      0.01347824943243634,
      0.0070495055251159795,
      0.11698707457537805,
      0.5537889397151523,
      1.2614732657603636,
      1.9715786075849187,
      2.6290490389006123,
      3.227374329298663,
      3.7691626857522262,
      4.2986144306597325
    ],
    "ax_ego": [
      0.04103960358263514,
      0.0410396083086024,
      0.39874063289809286,
      1.3483347745706848,
      1.4822009166878933,
      1.3585496901283947,
      1.2732006815318462,
      1.1261800450133737,
      1.0432226327881744,
      1.0814250449632044
    ],
    "ay_ego": [
      -0.0005765576196917789,
      -0.0005762975148756837,
      0.003517257005862362,
      0.021784183300450843,
      0.045655179948773994,
      0.11698115005692322,
      0.22117310582844812,
      0.4464998231845729,
      0.5204601227691211,
      0.4355594854955486
    ],
    "a_ego": [
      0.041043653357232514,
      0.04104365442975514,
      0.3987561453079024,
      1.3485107396526907,
      1.4829038919925277,
      1.3635768588593007,
      1.292268361523627,
      1.2114634067482926,
      1.1658439865412262,
      1.165843983249395
    ],
    "yaw": [
      -2.357631894307419,
      -2.357638221284148,
      -2.3570827673924812,
      -2.352773134630179,
      -2.3353573390289664,
      -2.309361343791905,
      -2.2694289377849035,
      -2.214690878655247,
      -2.144705995251661,
      -2.064828761031924
    ],
    "yaw_diff": [
      -1.2653953458396927e-05,
      0.001110907783333559,
      0.008619265524604458,
      0.034831591202425294,
      0.051991990474122396,
      0.0798648120140033,
      0.10947611825931336,
      0.13996976680717133,
      0.15975446843947427,
      0.15975446843947427
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.78485561272046,
    "v_std": 1.5477227863259309,
    "vy_max": 0.08368898585985218,
    "a_max": 1.4829038919925277,
    "ax_avg": 0.91939336304729,
    "a_std": 0.533740721765462,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "94d74f87c8435b61",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "94d74f87c8435b61",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "cecce24905cb5641": {
    "vx_ego": [
      4.78542115516663,
      5.039765641096279,
      5.123844752685742,
      4.973801174410018,
      4.651667020394575,
      4.148424296363171,
      3.6206357861290326,
      3.308072954704369,
      3.3463350819004245,
      3.577679236962641
    ],
    "vy_ego": [
      -0.06557687763119668,
      -0.026069406871604528,
      -0.023955419976390946,
      -0.03272597837408586,
      -0.0365735566524934,
      -0.049152161615963585,
      -0.04360954667164618,
      -0.04769052591825784,
      -0.07278864650361805,
      0.019807558407411552
    ],
    "v_ego": [
      4.785870449478985,
      5.039833065801806,
      5.123900751553592,
      4.973908836340189,
      4.651810797278062,
      4.148715473209483,
      3.620898409008337,
      3.3084166998594444,
      3.34712662853041,
      3.5777340680888576
    ],
    "ax_ego": [
      0.4942751393866712,
      0.5330115545514255,
      -0.19556504809112701,
      -0.40624017652018096,
      -0.8820302345099114,
      -1.130965478661008,
      -0.9811478473455362,
      -0.2710543796682068,
      0.4218992850301923,
      0.48865601670439773
    ],
    "ay_ego": [
      0.6725224767680504,
      0.642256268494948,
      0.483993663772622,
      0.1597162253125407,
      -0.040437188453864126,
      -0.01224881457007021,
      -0.05631155066260907,
      -0.21445682644685862,
      -0.6183767785210094,
      -0.5671015298648908
    ],
    "a_ego": [
      0.834622306899322,
      0.8346223287849313,
      0.5220110675138322,
      0.4365092824296341,
      0.8829566811569312,
      1.1310318065294604,
      0.9827624784701577,
      0.345633052740872,
      0.7485912415484227,
      0.7485912421585683
    ],
    "yaw": [
      -2.227216277688057,
      -2.1683087331158033,
      -2.114299997033948,
      -2.0808661131234496,
      -2.0739560626095717,
      -2.0740898641711243,
      -2.0799573754922056,
      -2.0988012468781982,
      -2.1552915397775507,
      -2.2677968617781357
    ],
    "yaw_diff": [
      0.11781508914450711,
      0.10801747216371016,
      0.06686776782099724,
      0.013820101027755882,
      -0.00026760312310525336,
      -0.01173502264216264,
      -0.03768774277198528,
      -0.11298058579870496,
      -0.22501064400116988,
      -0.22501064400116988
    ],
    "min_front_frame": [
      9,
      70.2647430365453
    ],
    "v_avg": 4.257821517914917,
    "v_std": 0.7013778139573953,
    "vy_max": 0.07278864650361805,
    "a_max": 1.1310318065294604,
    "ax_avg": -0.1929161169123284,
    "a_std": 0.23345839432250842,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "cecce24905cb5641",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      77.10845534929214,
      75.58316088155854,
      73.65289039939744,
      72.431731387007,
      70.2647430365453
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "cecce24905cb5641",
    "pedestrians": "Yes"
  },
  "e2fe44045eac5b89": {
    "vx_ego": [
      0.5742840603653783,
      1.2507713119724024,
      1.9111801143203917,
      2.5150197252958217,
      3.1355838537300778,
      3.8447222577499733,
      4.586826766488237,
      5.320824963630016,
      5.984553243711269,
      6.587796618637578
    ],
    "vy_ego": [
      0.018501496379917576,
      -0.0036593753856283273,
      -0.009343156248060036,
      -0.011669106702572707,
      -0.0029974879312177904,
      0.006168098467180361,
      -0.022160960226519588,
      -0.018704786082754055,
      0.011497219678329618,
      0.0067974186307608875
    ],
    "v_ego": [
      0.5745820109941152,
      1.2507766650690992,
      1.9112029520546427,
      2.51504679612096,
      3.135585286466733,
      3.8447272054954373,
      4.5868803008069765,
      5.320857840857126,
      5.984564287638275,
      6.587800125492025
    ],
    "ax_ego": [
      1.3529736471150378,
      1.3529787379156974,
      1.288623065466763,
      1.1267282939096603,
      1.3553743029958107,
      1.481203225235551,
      1.4873176473477345,
      1.4490298743016612,
      1.2059366876683526,
      1.2066978931450387
    ],
    "ay_ego": [
      -0.044607623832685794,
      -0.04445300158705878,
      0.01800852307959311,
      -0.03091267833961797,
      0.038769301445891524,
      -0.012501341864334714,
      -0.028511019848179275,
      0.09190653711569363,
      0.09816298390995737,
      0.08831466228164087
    ],
    "a_ego": [
      1.353708805427432,
      1.3537088071672032,
      1.2887488939884548,
      1.1271522709814776,
      1.3559286706740816,
      1.4812559799023959,
      1.4875908921355976,
      1.4519415925522923,
      1.2099253142548199,
      1.2099253220321473
    ],
    "yaw": [
      2.5648341923656224,
      2.564719908270769,
      2.5641363153254693,
      2.563733289980517,
      2.5613349589857903,
      2.560587036958509,
      2.5648755054257073,
      2.5673747321055913,
      2.570421560503175,
      2.578585460415357
    ],
    "yaw_diff": [
      -0.00022856818970673487,
      -0.001167185890599498,
      -0.0008060506899045805,
      -0.004796661989453277,
      -0.0014958440545624896,
      0.008576936934396429,
      0.004998453359768007,
      0.00609365679516749,
      0.01632779982436361,
      0.01632779982436361
    ],
    "min_front_frame": [
      0,
      11.180693968275671
    ],
    "v_avg": 3.571202347099539,
    "v_std": 1.9369260042861982,
    "vy_max": 0.022160960226519588,
    "a_max": 1.4875908921355976,
    "ax_avg": 1.3306863375101305,
    "a_std": 0.11662962298103781,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e2fe44045eac5b89",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.0946147165688,
    "right_rear_min": 8.74132206351469,
    "speed_mode": "accelerating",
    "front_frame": [
      11.180693968275671,
      11.481289352619534,
      12.065545013274313,
      12.746155672785077,
      13.5163593761614,
      14.17393327811947,
      14.854990084913279,
      15.450874011601023,
      15.94069116919291,
      16.051486743883405
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e2fe44045eac5b89",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "940ba87d553456c3": {
    "vx_ego": [
      3.8543771813629975,
      3.8664971325714617,
      3.868553366513915,
      3.8414129965459827,
      3.8125990547377606,
      3.817693375765546,
      3.8379189400776372,
      3.86690047441732,
      3.9114215053003827,
      3.9624154031635443
    ],
    "vy_ego": [
      -0.011770973166219001,
      0.0116457885124297,
      0.008034029587062896,
      0.016653655978657644,
      0.01506038760952122,
      -0.01055722220448252,
      -0.021283772572823878,
      -0.019532957550969732,
      -0.025259839185217903,
      0.0457390157471671
    ],
    "v_ego": [
      3.8543951551470492,
      3.8665146709373044,
      3.8685617088522126,
      3.8414490956265244,
      3.8126288001144584,
      3.817707972894837,
      3.837977955848833,
      3.8669498077269613,
      3.9115030680803478,
      3.962679382032974
    ],
    "ax_ego": [
      0.02325515568636782,
      0.02522584047469341,
      -0.017155857144342465,
      -0.08767890719559515,
      -0.02273335278082772,
      0.045627293643958566,
      0.043591918077805936,
      0.07453785191747714,
      0.09717872557076068,
      0.10573425280844069
    ],
    "ay_ego": [
      0.1491270187535179,
      0.14880634010472865,
      0.2148277403644539,
      0.4863590360134993,
      0.7338544665413094,
      0.7987394624570452,
      0.8242662047846763,
      0.7055524199541774,
      0.3413241714480433,
      0.3387715492639295
    ],
    "a_ego": [
      0.15092935429633722,
      0.1509293539475302,
      0.21551167361526916,
      0.4941990516775544,
      0.7342064991480852,
      0.8000416106749958,
      0.8254180950717255,
      0.7094787584358447,
      0.354888566620919,
      0.3548885667468625
    ],
    "yaw": [
      -1.2433107871380997,
      -1.2300819505303653,
      -1.2056771200127323,
      -1.1625456717445004,
      -1.08229140554403,
      -0.9750109317856677,
      -0.8663219807546632,
      -0.7674809386796341,
      -0.698690975717359,
      -0.6735325279677937
    ],
    "yaw_diff": [
      0.02645767321546888,
      0.04880966103526596,
      0.0862628965364638,
      0.16050853240094076,
      0.21456094751672472,
      0.21737790206200902,
      0.19768208415005817,
      0.13757992592455004,
      0.050316895499130654,
      0.050316895499130654
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.86403676172615,
    "v_std": 0.04253219673390224,
    "vy_max": 0.0457390157471671,
    "a_max": 0.8254180950717255,
    "ax_avg": 0.02875829210587389,
    "a_std": 0.2563296912106469,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "940ba87d553456c3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "940ba87d553456c3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b9d14f59883a5496": {
    "vx_ego": [
      5.02957740300857,
      5.309553827915938,
      5.619222374000755,
      5.8951319077198665,
      6.06592147725938,
      6.122560367270893,
      6.101945554194394,
      6.029394164871265,
      5.9256816613403185,
      5.812020028226662
    ],
    "vy_ego": [
      -0.061858307925537925,
      -0.13975992730869224,
      -0.07697811147662836,
      -0.024612254909714082,
      0.0016048079258856873,
      0.012016398598592382,
      -0.0027635169106128288,
      -0.01058069320976518,
      0.017827951834454403,
      0.046081053367166724
    ],
    "v_ego": [
      5.0299577834325655,
      5.311392914181563,
      5.619749613471867,
      5.895183285743422,
      6.065921689544393,
      6.122572159208216,
      6.101946179980486,
      6.029403448638385,
      5.9257084797863255,
      5.812202703965793
    ],
    "ax_ego": [
      0.5394539758995178,
      0.615757254458392,
      0.6276274158986728,
      0.4776507060288902,
      0.20583412041234803,
      0.02012629703278519,
      -0.102592303951255,
      -0.1874584960202067,
      -0.2274255702532268,
      -0.22735397238565797
    ],
    "ay_ego": [
      0.8400060241325871,
      0.785788590684229,
      0.19931433422611,
      0.1974791637247325,
      0.1661677690713182,
      0.022360267894727344,
      -0.0790925887842423,
      0.0827762081443446,
      0.0686142627586714,
      0.0688511228947718
    ],
    "a_ego": [
      0.9983089264815946,
      0.9983089229630494,
      0.6585152822946807,
      0.5168638283680886,
      0.26453622172410324,
      0.030084039166572568,
      0.12954079832477466,
      0.20492093198332303,
      0.23755064104085555,
      0.23755063856662118
    ],
    "yaw": [
      0.7060184498197647,
      0.7998154500584426,
      0.8334013702000757,
      0.8415095552795084,
      0.8522658953704997,
      0.8582684428307148,
      0.8583658444299269,
      0.8598039092270601,
      0.8613816642531157,
      0.8624233080602671
    ],
    "yaw_diff": [
      0.18759400047735575,
      0.06717184028326617,
      0.016216370158865567,
      0.02151268018198249,
      0.012005094920430226,
      0.00019480319842424265,
      0.002876129594266308,
      0.0031555100521112323,
      0.0020832876143028756,
      0.0020832876143028756
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.791403825795301,
    "v_std": 0.3474232470373287,
    "vy_max": 0.13975992730869224,
    "a_max": 0.9983089264815946,
    "ax_avg": 0.17416194271202592,
    "a_std": 0.3328631486782907,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "b9d14f59883a5496",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "b9d14f59883a5496",
    "merging_vehicles": "No"
  },
  "9ca89d773ed651ab": {
    "vx_ego": [
      2.257885727549729,
      2.614218064178594,
      2.973486379682401,
      3.4322750703914395,
      3.8386933475653713,
      4.219347349608049,
      4.718836944799934,
      5.205846684988234,
      5.596134255058846,
      5.885584006602732
    ],
    "vy_ego": [
      0.09089120980174104,
      -0.002439627292021407,
      0.003112646797282282,
      0.02748749808345685,
      0.15300229549994304,
      0.16773511285990184,
      0.16402274329898914,
      0.14130107240360346,
      0.07252316355577104,
      -0.07508381311446488
    ],
    "v_ego": [
      2.259714400248844,
      2.6142192025266358,
      2.9734880088419455,
      3.432385135934114,
      3.8417413133982468,
      4.2226800878980395,
      4.721686729541478,
      5.2077639828111835,
      5.5966041676980485,
      5.886062918264609
    ],
    "ax_ego": [
      0.6637328222370166,
      0.7789998257621993,
      0.6910479676444745,
      1.1808789693914648,
      0.539469739609651,
      1.0839260112871703,
      0.9948431203645394,
      0.9951194545135992,
      0.5764051014145197,
      0.5812971813558061
    ],
    "ay_ego": [
      -0.8954375069036485,
      -0.7971880946428241,
      -1.1669860573668849,
      -1.3924331561502137,
      -1.499630473305606,
      -1.3243916664055553,
      -1.1669292028176659,
      -0.8223324528770578,
      -0.43012217240649386,
      -0.4234873071636298
    ],
    "a_ego": [
      1.1146073694734557,
      1.1146073688872657,
      1.3562461987685956,
      1.8257451176704522,
      1.5937123819627244,
      1.711405528794797,
      1.5334394668604714,
      1.2909273379265935,
      0.7191995023165438,
      0.7191994941467267
    ],
    "yaw": [
      0.3175066230389314,
      0.18151752648670422,
      0.004928640772796039,
      -0.20571589102857407,
      -0.4330971782138832,
      -0.6145579739487372,
      -0.7525276246871515,
      -0.848094556054056,
      -0.8928919355741083,
      -0.9043539276359904
    ],
    "yaw_diff": [
      -0.27197819310445437,
      -0.35317777142781637,
      -0.4212890636027402,
      -0.4547625743706183,
      -0.36292159146970804,
      -0.27593930147682855,
      -0.19113386273380906,
      -0.0895947590401045,
      -0.022923984123764285,
      -0.022923984123764285
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.075634594716314,
    "v_std": 1.201175506628192,
    "vy_max": 0.16773511285990184,
    "a_max": 1.8257451176704522,
    "ax_avg": 0.8085720193580441,
    "a_std": 0.36510613676088544,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "9ca89d773ed651ab",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.154077642327678,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9ca89d773ed651ab",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ab4401719a355a62": {
    "vx_ego": [
      8.718762634863165,
      8.659030125654287,
      8.60162820243169,
      8.534421477486783,
      8.436004345126952,
      8.281614876918711,
      8.096633022692082,
      7.895800464237575,
      7.7091569957392885,
      7.553599372124552
    ],
    "vy_ego": [
      -0.06119709849493615,
      0.01876278686905497,
      -0.019881355178998472,
      -0.04138385678477796,
      -0.05593139389075352,
      -0.06796680122547372,
      -0.052301119141031194,
      -0.04375036539062194,
      -0.035561524886770446,
      -0.004152030941174889
    ],
    "v_ego": [
      8.718977403798581,
      8.659050453667513,
      8.601651178765156,
      8.534521813141616,
      8.436189757931205,
      8.28189377230052,
      8.096801943434908,
      7.895921672960423,
      7.709239016077286,
      7.553600513259975
    ],
    "ax_ego": [
      -0.12493550615619142,
      -0.11200567365336062,
      -0.11917387499546789,
      -0.1477990305496082,
      -0.24440064193930058,
      -0.37017564052476704,
      -0.3676225863185012,
      -0.4342835823938316,
      -0.31120004341280233,
      -0.3107147558954043
    ],
    "ay_ego": [
      0.5592635580856777,
      0.561995843413317,
      0.4657191677733009,
      0.3600866792256962,
      0.14735357872249918,
      0.18154983304902825,
      0.17503583715694035,
      0.12890394902348395,
      0.12241015637547399,
      0.12363674396503167
    ],
    "a_ego": [
      0.5730485215940758,
      0.573048513604554,
      0.48072523931336436,
      0.38923896257593926,
      0.2853852675641649,
      0.4122988560717233,
      0.40716570368921645,
      0.4530104391850908,
      0.3344094995720039,
      0.3344094854955754
    ],
    "yaw": [
      -1.2999189851141364,
      -1.2768569814086015,
      -1.2426157224667378,
      -1.2160232016312635,
      -1.199382087676478,
      -1.1881265007345871,
      -1.1791532444470532,
      -1.1707288106588865,
      -1.1637121406557238,
      -1.15976758075433
    ],
    "yaw_diff": [
      0.04612400741106981,
      0.06848251788372739,
      0.05318504167094851,
      0.03328222790957103,
      0.022511173883781765,
      0.017946512575067963,
      0.016848867576333415,
      0.014033340006325279,
      0.007889119802787725,
      0.007889119802787725
    ],
    "min_front_frame": [
      9,
      53.63050348345966
    ],
    "v_avg": 8.24878475253372,
    "v_std": 0.3941799279624553,
    "vy_max": 0.06796680122547372,
    "a_max": 0.5730485215940758,
    "ax_avg": -0.2542311335839235,
    "a_std": 0.09240407493981807,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "ab4401719a355a62",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      77.93717792985656,
      73.7027461784072,
      69.46403155060693,
      65.4062217231607,
      61.35887873334822,
      57.46520665749918,
      53.63050348345966
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "ab4401719a355a62",
    "merging_vehicles": "No"
  },
  "c73914d4fedc513f": {
    "vx_ego": [
      2.3899602757665463,
      1.871597428872418,
      1.367165040977574,
      0.8958635036199271,
      0.4935490705442537,
      0.1572629207068851,
      -0.03400293066174293,
      -0.049977396159793214,
      -0.026201230930800797,
      -0.009148384551081499
    ],
    "vy_ego": [
      -0.03581997777402379,
      -0.025117656642759778,
      -0.023160773591804906,
      -0.011512507426696517,
      -0.006557474234219179,
      -0.020358701634657833,
      -0.03512948098157728,
      -0.027869811771296618,
      -0.006637065327959868,
      -0.0004670224097673074
    ],
    "v_ego": [
      2.39022869001061,
      1.8717659662567512,
      1.3673612071082688,
      0.8959374726762023,
      0.49359263112756163,
      0.15857522808279056,
      0.04889048708718597,
      0.05722295461683551,
      0.02702878351788625,
      0.009160297474738007
    ],
    "ax_ego": [
      -1.0367368463343476,
      -1.0367413547227424,
      -0.9809751153334149,
      -0.9042195535694131,
      -0.7050345667747402,
      -0.6401004695372794,
      -0.12488790556382895,
      0.0609969660190547,
      0.03410572240312754,
      0.0341060937357727
    ],
    "ay_ego": [
      0.020580749366609197,
      0.020352558007707744,
      -0.011478047710012929,
      0.05856513844798894,
      -0.039498165435856325,
      -0.01552212008512266,
      -0.043569583737984585,
      0.07259842672681471,
      0.012339543902495613,
      0.012338533854700781
    ],
    "a_ego": [
      1.0369411052667263,
      1.0369411088436047,
      0.9810422633519108,
      0.9061141630604285,
      0.7061401032515034,
      0.6402886437488818,
      0.13226979089429722,
      0.09482173499118438,
      0.036269334765898484,
      0.0362693403248103
    ],
    "yaw": [
      1.0345114809041822,
      1.0342913770593745,
      1.0344537087269194,
      1.0345637944666248,
      1.0342826862815415,
      1.0344281603359968,
      1.0352021710034611,
      1.035239840691029,
      1.0351895045796007,
      1.03521918854873
    ],
    "yaw_diff": [
      -0.0004402076896155016,
      0.0003246633350899586,
      0.00022017147941078008,
      -0.0005622163701666238,
      0.00029094810891061584,
      0.0015480213349285954,
      7.53393751358189e-05,
      -0.00010067222285670141,
      5.936793825878084e-05,
      5.936793825878084e-05
    ],
    "min_front_frame": [
      5,
      8.472147836879394
    ],
    "v_avg": 0.731976371795883,
    "v_std": 0.8250119126944886,
    "vy_max": 0.03581997777402379,
    "a_max": 1.0369411088436047,
    "ax_avg": -0.5299487029677812,
    "a_std": 0.41566175704811514,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c73914d4fedc513f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.163208457446478,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.357804853477163,
      10.31558109129137,
      9.523149235584595,
      8.97597437028403,
      8.619590310978268,
      8.472147836879394,
      8.472160513341803,
      8.474748611935913,
      8.478407775894219,
      8.473564599570473
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c73914d4fedc513f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "08b1894421c455ed": {
    "vx_ego": [
      1.660980103301124,
      2.6302669602123716,
      3.5479477155335486,
      4.385650671368776,
      5.137205093753959,
      5.7770605220368445,
      6.273516927685625,
      6.764374176197432,
      7.325972717044278,
      7.983194623453476
    ],
    "vy_ego": [
      -0.0866964240807947,
      0.024805933582564776,
      0.01145661365744255,
      -0.005311438114875333,
      -0.09247197669789786,
      -0.11992965740830869,
      -0.18633566274651092,
      -0.09780440557199288,
      -0.07473098563948533,
      -0.22127507284924652
    ],
    "v_ego": [
      1.6632411651683616,
      2.630383929453214,
      3.5479662126570797,
      4.385653887694769,
      5.138037294703692,
      5.778305235793856,
      6.2762835835523925,
      6.765081204047441,
      7.326353866084532,
      7.98626064274144
    ],
    "ax_ego": [
      1.9243336590074542,
      1.956760582348093,
      1.7366600777898697,
      1.6549816119929592,
      1.4131555272609886,
      1.231186931852479,
      0.8884275241081044,
      1.179903426696674,
      1.141334734201713,
      1.5714890086308362
    ],
    "ay_ego": [
      0.5633661100891971,
      0.43764075353230136,
      0.9700248476654189,
      1.5055154351901874,
      1.7694180852172932,
      1.9038769699520919,
      2.1740777190235794,
      2.3440170888093146,
      2.535617373014829,
      2.293997119614302
    ],
    "a_ego": [
      2.0051038390033695,
      2.005103839152369,
      1.989204974575882,
      2.2373066087666023,
      2.2644754148637416,
      2.2672822448646044,
      2.3485990279201823,
      2.624230974773495,
      2.7806474853583865,
      2.780647494567811
    ],
    "yaw": [
      -0.676579115788013,
      -0.6118131518783085,
      -0.4947477105625864,
      -0.3352547163287919,
      -0.14675828932508428,
      0.02540685650997083,
      0.20388194648740246,
      0.36412294029907705,
      0.5334809696507901,
      0.7111441004440018
    ],
    "yaw_diff": [
      0.12953192781940892,
      0.23413088263144433,
      0.31898598846758897,
      0.3769928540074152,
      0.3443302916701102,
      0.3569501799548633,
      0.3204819876233492,
      0.338716058703426,
      0.35532626158642344,
      0.35532626158642344
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.149756702189678,
    "v_std": 1.9674727983978937,
    "vy_max": 0.22127507284924652,
    "a_max": 2.780647494567811,
    "ax_avg": 1.4698233083889172,
    "a_std": 0.2893369604367907,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "08b1894421c455ed",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.760019055969894,
    "right_rear_min": 6.8660557585627915,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "08b1894421c455ed",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "38b7b1afe2bf516b": {
    "vx_ego": [
      0.7728758675250524,
      1.0453067316863422,
      1.455552569486251,
      2.0106084916061895,
      2.62281049369044,
      3.3225700661775157,
      3.948266730247943,
      4.381571497976085,
      4.688888554338693,
      4.975861638036733
    ],
    "vy_ego": [
      -0.032664268665852536,
      0.03155571226688991,
      0.06503886250653845,
      0.0641264134606947,
      0.04148423407525903,
      0.016577371127114826,
      -0.04055253903739975,
      -0.10595991317546471,
      -0.14790405687846242,
      -0.03310521627442986
    ],
    "v_ego": [
      0.7735658091268495,
      1.0457829250305501,
      1.4570049197494743,
      2.011630856648965,
      2.6231385452334575,
      3.3226114208393898,
      3.9484749817625997,
      4.382852529469426,
      4.691220681768179,
      4.975971764010541
    ],
    "ax_ego": [
      0.541408549305151,
      0.5480631979414768,
      1.0830586098105155,
      1.123878202992141,
      1.321708345193756,
      1.5074006701676939,
      1.0397393446540155,
      0.7544136626403775,
      0.5268617234623099,
      0.6555697911778151
    ],
    "ay_ego": [
      0.2010107387261938,
      0.1820858705682658,
      0.21915800325312418,
      0.4711353591618364,
      0.8517891277816041,
      1.3874113340531746,
      1.688192718211151,
      1.6681183455089479,
      1.264988054369788,
      1.2033313278651758
    ],
    "a_ego": [
      0.5775192934820085,
      0.5775192924902524,
      1.1050095848790555,
      1.218634786067342,
      1.5724050584889895,
      2.0486988529994403,
      1.9826882151873289,
      1.830780923267986,
      1.3703204199558354,
      1.3703204135262275
    ],
    "yaw": [
      -0.4125791263031845,
      -0.377841254610414,
      -0.3213926210061747,
      -0.22107868147672774,
      -0.06720487838898152,
      0.13039047865879266,
      0.35308724710983147,
      0.5675846646230402,
      0.7370456479105394,
      0.8412393044233082
    ],
    "yaw_diff": [
      0.06947574338554097,
      0.11289726720847859,
      0.20062787905889395,
      0.30774760617549246,
      0.3951907140955484,
      0.4453935369020776,
      0.42899483502641755,
      0.3389219665749983,
      0.2083873130255376,
      0.2083873130255376
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.9232254433639433,
    "v_std": 1.4797776197446684,
    "vy_max": 0.14790405687846242,
    "a_max": 2.0486988529994403,
    "ax_avg": 0.9102102097345253,
    "a_std": 0.49378904345032076,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "38b7b1afe2bf516b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.431728478516363,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "38b7b1afe2bf516b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "5d12ad55fdd858e1": {
    "vx_ego": [
      10.261220223258768,
      10.235900421317625,
      10.144983882706718,
      10.075435196449977,
      10.111979568643722,
      10.170526385625077,
      10.258746381040428,
      10.389539478689997,
      10.52994000338412,
      10.66511162601768
    ],
    "vy_ego": [
      0.051854608687593284,
      0.035014879175705005,
      0.03092984333535842,
      0.003136919506561142,
      -0.03734187158603053,
      -0.02046885772609386,
      -0.026837256934013176,
      0.014335228944307055,
      0.0068383163354051035,
      -0.04882065054836815
    ],
    "v_ego": [
      10.26135124487301,
      10.235960310439564,
      10.14503103177057,
      10.07543568477944,
      10.112048517092946,
      10.170546983069913,
      10.258781484604778,
      10.389549368382005,
      10.52994222384147,
      10.665223366218706
    ],
    "ax_ego": [
      -0.05292082357206,
      -0.05042136174884631,
      -0.3147323148703917,
      0.03568706087493078,
      0.1108375121884584,
      0.12373517634249231,
      0.22913310309996357,
      0.2957880514863105,
      0.26683958040580447,
      0.2726347035610036
    ],
    "ay_ego": [
      0.20981904664942153,
      0.21043367950142836,
      0.1581506041247432,
      0.11723599903315832,
      0.06240040395300444,
      0.11517403370536805,
      -0.11980069551817339,
      -0.38528492559167876,
      -0.4124111404821335,
      -0.4086032671138922
    ],
    "a_ego": [
      0.2163900318970752,
      0.21639003486555913,
      0.3522329394146672,
      0.12254732058757431,
      0.12719577242041025,
      0.16904275170640393,
      0.2585617635746953,
      0.48573145388193023,
      0.49120902929905497,
      0.49120903033427943
    ],
    "yaw": [
      1.0540376523334014,
      1.0659325123933807,
      1.075345196563231,
      1.084945328307933,
      1.093412675370891,
      1.0961268326504718,
      1.0966377138741796,
      1.080406298595121,
      1.0620640306840476,
      1.0479473039081404
    ],
    "yaw_diff": [
      0.023789720119958613,
      0.01882536833970061,
      0.01920026348940418,
      0.01693469412591586,
      0.0054283145591615956,
      0.0010217624474155862,
      -0.03246283055811716,
      -0.03668453582214681,
      -0.028233453551814502,
      -0.028233453551814502
    ],
    "min_front_frame": [
      2,
      34.368870535458306
    ],
    "v_avg": 10.284387021507241,
    "v_std": 0.18046193570053212,
    "vy_max": 0.051854608687593284,
    "a_max": 0.49120903033427943,
    "ax_avg": 0.09165806877676656,
    "a_std": 0.14285037301708167,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5d12ad55fdd858e1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      44.44415924588283,
      39.35132854503116,
      34.368870535458306,
      35.63916752611756,
      42.22701908134643,
      43.13920238455893,
      44.65397014226646,
      39.72169819220681,
      46.261689601901466,
      41.02936938498334
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5d12ad55fdd858e1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ce3ff067f10b526b": {
    "vx_ego": [
      5.524724157896971,
      5.460567555199141,
      5.516210933838997,
      5.64859562254739,
      5.784221004291346,
      5.885760947652315,
      5.989893290928129,
      6.129244436856572,
      6.199882174193122,
      6.206534375802467
    ],
    "vy_ego": [
      0.055839178575906256,
      -0.020006630782963608,
      -0.027667636811743,
      -0.028394979344484206,
      0.017996465408166795,
      0.01687103924261457,
      -0.00699546758224967,
      -0.039788419153561794,
      -0.06589801338075141,
      -0.07225179821022154
    ],
    "v_ego": [
      5.525006337979571,
      5.460604205595642,
      5.516280319629492,
      5.648666991593106,
      5.784249000453937,
      5.885785127310902,
      5.989897375854824,
      6.129373580149604,
      6.20023237645535,
      6.2069549120613345
    ],
    "ax_ego": [
      -0.22255582274863095,
      -0.04255829345653994,
      0.2568503969521845,
      0.2633241724323502,
      0.2766030317750626,
      0.12772304302039858,
      0.28805055485709724,
      0.2693829750836567,
      0.013251107628266123,
      0.013257355428323972
    ],
    "ay_ego": [
      1.3205199985491216,
      1.3384666273474668,
      0.9950137707076541,
      0.4896828144541769,
      0.22612978967798486,
      0.12228360120520007,
      -0.04320139954799106,
      -0.07871302987455828,
      -0.01721543368433155,
      -0.01721061000367122
    ],
    "a_ego": [
      1.3391430695812498,
      1.3391430546677363,
      1.0276305417378169,
      0.5559935957895072,
      0.35727289145269053,
      0.17682323049334606,
      0.29127218040243175,
      0.2806473380186513,
      0.02172470967160459,
      0.021724699529599458
    ],
    "yaw": [
      -0.7713788231412391,
      -0.6361970020732742,
      -0.5278761277382269,
      -0.4612707831628904,
      -0.43807540248421073,
      -0.4230031238211759,
      -0.4156292749446273,
      -0.41524748942822687,
      -0.41490415771775657,
      -0.4152673129321526
    ],
    "yaw_diff": [
      0.27036364213592967,
      0.21664174867009467,
      0.13321068915067302,
      0.04639076135735931,
      0.030144557326069688,
      0.014747697753097144,
      0.0007635710328008916,
      0.000686663420940592,
      -0.0007263104287920097,
      -0.0007263104287920097
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.834705022708375,
    "v_std": 0.2757024802549691,
    "vy_max": 0.07225179821022154,
    "a_max": 1.3391430695812498,
    "ax_avg": 0.12433285209721692,
    "a_std": 0.4844502167739207,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "ce3ff067f10b526b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ce3ff067f10b526b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "39dba8a42eaa5ea0": {
    "vx_ego": [
      6.540881801958372,
      6.039889470447386,
      5.61703764372721,
      5.319119664144863,
      4.9515774272829844,
      4.360700320392851,
      3.682568148101959,
      3.0661878783081438,
      2.5346121122764136,
      2.0458970347588523
    ],
    "vy_ego": [
      -0.028017620975803847,
      -0.043379024800092036,
      -0.049991444633484594,
      -0.03434882330631073,
      -0.020432364296715022,
      -0.025245529015230694,
      -0.03520719793823934,
      -0.020309072450161114,
      -0.0020170169020061746,
      0.006456837394805737
    ],
    "v_ego": [
      6.540941807895508,
      6.040045244450891,
      5.617260100403494,
      5.31923056871528,
      4.951619583519026,
      4.360773397117715,
      3.6827364434889653,
      3.0662551367274675,
      2.5346129148364027,
      2.0459072236013554
    ],
    "ax_ego": [
      -1.0019780706834451,
      -1.0019803602513064,
      -0.6894977677991758,
      -0.5026682036266968,
      -0.9677356163567021,
      -1.3958519935710048,
      -1.3168124945790718,
      -1.1489007754232745,
      -0.9774251855001777,
      -0.9774313832427787
    ],
    "ay_ego": [
      -0.029799920261533774,
      -0.029723381181777364,
      -0.00496134701257317,
      0.00569866016695994,
      0.005369009933380409,
      -0.047615704084454924,
      -0.0076997649219126,
      0.048783425484188125,
      0.015264714229095477,
      0.014862683972066304
    ],
    "a_ego": [
      1.0024211137930568,
      1.0024211299240529,
      0.689515617491167,
      0.5027005049380683,
      0.9677505099109743,
      1.3966638977333117,
      1.31683500570854,
      1.1499360044672802,
      0.9775443748242596,
      0.9775443766513852
    ],
    "yaw": [
      0.8769756358420222,
      0.8770520351749225,
      0.8766964267983071,
      0.8738572971500859,
      0.8717104648988606,
      0.8704898854681637,
      0.8695259191517741,
      0.8681460590449381,
      0.8673256031567328,
      0.8669142925838846
    ],
    "yaw_diff": [
      0.00015279866580053536,
      -0.0007112167532308256,
      -0.0056782592964423895,
      -0.0042936645024505005,
      -0.002441158861393733,
      -0.001927932632779239,
      -0.00275972021367199,
      -0.0016409117764106806,
      -0.0008226211456963117,
      -0.0008226211456963117
    ],
    "min_front_frame": [
      9,
      12.379874062381164
    ],
    "v_avg": 4.41593824207561,
    "v_std": 1.4566445682464455,
    "vy_max": 0.049991444633484594,
    "a_max": 1.3966638977333117,
    "ax_avg": -0.9980281851033634,
    "a_std": 0.2501893875789517,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "39dba8a42eaa5ea0",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.303492090215395,
    "speed_mode": "decelerating",
    "front_frame": [
      18.32712598024499,
      17.910029154310198,
      16.992209002984872,
      16.24374577822029,
      15.252248970716472,
      14.530098277374716,
      13.704257044449772,
      13.174031937654398,
      12.63703258528989,
      12.379874062381164
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "39dba8a42eaa5ea0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f9bce7199ad8555d": {
    "vx_ego": [
      4.027997561262154,
      4.015530934521186,
      4.110934085025711,
      4.328537642647567,
      4.51807549237053,
      4.583358431750172,
      4.531024006145422,
      4.502096095454047,
      4.624977509704009,
      4.839748552840191
    ],
    "vy_ego": [
      -0.004029902787089368,
      -0.03305695881986792,
      -0.03558715179159089,
      0.0005592619291410195,
      0.0005410724538768008,
      -0.031822860028518196,
      -0.029087452114352708,
      -0.016076891141524996,
      -0.010198022954492458,
      -0.04835355066595426
    ],
    "v_ego": [
      4.027999577166106,
      4.015666999219807,
      4.111088115912723,
      4.328537678776848,
      4.5180755247692135,
      4.583468905568772,
      4.53111737037749,
      4.502124800483806,
      4.62498875295282,
      4.83999009509118
    ],
    "ax_ego": [
      -0.025486806134641646,
      -0.02483223856409881,
      0.4053209847651633,
      0.4645387907363642,
      0.2943810398490334,
      -0.033969870773944186,
      -0.1769263054896507,
      0.06092220598021861,
      0.4300165439798348,
      0.4303663074316537
    ],
    "ay_ego": [
      -0.107100620775048,
      -0.10725427831944623,
      0.003608286662932947,
      0.026000320834834417,
      -0.1655270650031868,
      -0.14204062266639034,
      0.008145871203154409,
      -0.09910151396004065,
      0.0333181479423956,
      0.02844594608766801
    ],
    "a_ego": [
      0.11009141772792941,
      0.11009141787591596,
      0.40533704546172883,
      0.4652658431287622,
      0.3377268213677549,
      0.14604619340419095,
      0.17711372841164963,
      0.11632981238989563,
      0.43130537566632826,
      0.4313053795412007
    ],
    "yaw": [
      2.5777699629325506,
      2.5716626694252414,
      2.565831155450076,
      2.5590073481062783,
      2.55116333362914,
      2.5414660419150685,
      2.5335516311050488,
      2.525584025304123,
      2.5206420971250814,
      2.5319676174994195
    ],
    "yaw_diff": [
      -0.012214587014618417,
      -0.011663027950330473,
      -0.013647614687595677,
      -0.015688028954276234,
      -0.019394583428143264,
      -0.015828821620039513,
      -0.015935211601851407,
      -0.00988385635808342,
      0.022651040748676188,
      0.022651040748676188
    ],
    "min_front_frame": [
      2,
      18.790454291723574
    ],
    "v_avg": 4.408305782031877,
    "v_std": 0.2633283845941144,
    "vy_max": 0.04835355066595426,
    "a_max": 0.4652658431287622,
    "ax_avg": 0.1824330651779933,
    "a_std": 0.145507856522224,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f9bce7199ad8555d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.392241320673622,
    "speed_mode": "quasi_constant",
    "front_frame": [
      20.010719279798067,
      19.115627823062198,
      18.790454291723574,
      18.982307220892455,
      19.650723946356763,
      20.803823939409092,
      22.594449815731366,
      24.874064350866192,
      27.236756726986847,
      29.562908828978884
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f9bce7199ad8555d",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "03d1885be4355a79": {
    "vx_ego": [
      2.2366230540375156,
      2.6259512107615763,
      2.9308716700240365,
      3.1446755119301146,
      3.4026598773833516,
      3.740809268918115,
      4.1105331537712555,
      4.468192547583896,
      4.822758851132822,
      5.182436525676243
    ],
    "vy_ego": [
      -0.06931319549410347,
      0.006939725627856941,
      -0.014091637925719436,
      -0.007204479514524964,
      -0.022346250317980987,
      -0.0582347249709505,
      -0.08585166374017184,
      -0.07360827531063241,
      -0.06804771180151836,
      -0.003744602703737332
    ],
    "v_ego": [
      2.2376968080867674,
      2.625960380716354,
      2.930905546142508,
      3.144683764682548,
      3.4027332537326167,
      3.741262523482698,
      4.1114295952161966,
      4.468798811814923,
      4.823238893861821,
      5.1824378785194
    ],
    "ax_ego": [
      0.7595354588146485,
      0.8054241098844165,
      0.4393187422922058,
      0.4509923312968606,
      0.6100875059604172,
      0.7743424455237771,
      0.7338872620505796,
      0.7111102586323381,
      0.7148353852012129,
      0.7278908073086754
    ],
    "ay_ego": [
      0.5865870497411244,
      0.5217954411615798,
      0.8754185482187202,
      1.2054182755847447,
      1.3745042183440672,
      1.3657722899859612,
      1.1417696479719832,
      0.7688028650012584,
      0.44225445887100795,
      0.4204207505786034
    ],
    "a_ego": [
      0.9596762371345738,
      0.9596762366549003,
      0.9794685252189461,
      1.2870226501512227,
      1.5038180113213957,
      1.5700127932705645,
      1.3572871628473329,
      1.047251471789987,
      0.8405823185905438,
      0.8405823189203729
    ],
    "yaw": [
      0.013111253256904935,
      0.09586690829050801,
      0.22680978986029968,
      0.3954697395524024,
      0.5976567054752904,
      0.7999815498637932,
      0.9661076395573199,
      1.07443052582338,
      1.1383921604708283,
      1.1686571425875552
    ],
    "yaw_diff": [
      0.16551131006720615,
      0.26188576313958334,
      0.3373198993842054,
      0.40437393184577597,
      0.4046496887770057,
      0.3322521793870534,
      0.21664577253212003,
      0.1279232692948966,
      0.060529964233453804,
      0.060529964233453804
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.6669147456255837,
    "v_std": 0.9214397160945079,
    "vy_max": 0.08585166374017184,
    "a_max": 1.5700127932705645,
    "ax_avg": 0.6727424306965133,
    "a_std": 0.25778157767696647,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "03d1885be4355a79",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "03d1885be4355a79",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "bd377bbe5b695df0": {
    "vx_ego": [
      9.979685767396328,
      9.455770120115393,
      8.879369191582771,
      8.25089255361599,
      7.6497335976654,
      7.107153167861076,
      6.624315336058332,
      6.219932325287453,
      5.869409945621772,
      5.522443516004312
    ],
    "vy_ego": [
      -0.02467462032334744,
      0.006770977085638119,
      0.016338833995497293,
      0.0025285521049123183,
      -0.0007262076236118631,
      0.015973591070519433,
      0.013087810653205967,
      -0.024861114994959355,
      -0.018251398360407123,
      -0.013500701305900087
    ],
    "v_ego": [
      9.979716271160264,
      9.455772544356053,
      8.879384224028467,
      8.250892941063503,
      7.649733632135719,
      7.107171118458414,
      6.62432826498848,
      6.219982010118243,
      5.869438322642626,
      5.522460018541902
    ],
    "ax_ego": [
      -1.0479611424823558,
      -1.047851656824733,
      -1.2574775898635004,
      -1.256278736291073,
      -1.1484504177554977,
      -1.021883165674034,
      -0.9089586892006798,
      -0.7087449740250933,
      -0.6941131803089711,
      -0.6939870548792457
    ],
    "ay_ego": [
      -0.022029319770812905,
      -0.02673486405631581,
      -0.07672262675985636,
      -0.09197203980583146,
      -0.030721256775444294,
      0.0431313146974468,
      -0.14609102463889911,
      -0.09760476811992722,
      -0.032143818753261666,
      -0.034760789135522496
    ],
    "a_ego": [
      1.0481926574263383,
      1.0481926577048932,
      1.25981595896617,
      1.259640869201671,
      1.1488612438674395,
      1.0227929969429372,
      0.9206239656632134,
      0.7154342240664581,
      0.6948570587989135,
      0.6948570678933139
    ],
    "yaw": [
      -2.0197836504528137,
      -2.0242740655350806,
      -2.0281279987736625,
      -2.0314395484177243,
      -2.0348941420648314,
      -2.0367409407178023,
      -2.0400765213946475,
      -2.043667993960269,
      -2.050129643514193,
      -2.0539002122401775
    ],
    "yaw_diff": [
      -0.00898083016453377,
      -0.007707866477163705,
      -0.006623099288123768,
      -0.006909187294214192,
      -0.003693597305941765,
      -0.00667116135369028,
      -0.007182945131242846,
      -0.012923299107848507,
      -0.007541137451968716,
      -0.007541137451968716
    ],
    "min_front_frame": [
      9,
      18.273875270302547
    ],
    "v_avg": 7.555887934749367,
    "v_std": 1.4683570056107815,
    "vy_max": 0.024861114994959355,
    "a_max": 1.25981595896617,
    "ax_avg": -0.9785706607305183,
    "a_std": 0.20790809749364478,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bd377bbe5b695df0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.714213454602295,
    "right_rear_min": 20.681106198536753,
    "speed_mode": "decelerating",
    "front_frame": [
      18.737278797111923,
      18.680770434586115,
      18.692458581970417,
      18.80748268876447,
      18.80628124349521,
      18.903167029548854,
      18.82698071675507,
      18.644493498571116,
      18.504763362189845,
      18.273875270302547
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bd377bbe5b695df0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d2dd81d9f7665fde": {
    "vx_ego": [
      9.060554925766374,
      8.71261588845568,
      8.30865277885247,
      7.790045626996806,
      7.174562900662459,
      6.5031989231222695,
      5.815614411912527,
      5.143771509691311,
      4.462347569132465,
      3.7570434398422288
    ],
    "vy_ego": [
      -0.009193203979902975,
      -0.01159108502120132,
      -0.02874811834802804,
      -0.041187964088881035,
      -0.01984373206776402,
      -0.02334985566717318,
      -0.06609405159102666,
      -0.05898706101367557,
      -0.009403679511027274,
      0.05015791518614421
    ],
    "v_ego": [
      9.0605595896627,
      8.712623598722852,
      8.3087025132593,
      7.790154511887286,
      7.174590342957882,
      6.503240842030866,
      5.815989976925718,
      5.144109720571583,
      4.462357477492224,
      3.7573782382556784
    ],
    "ax_ego": [
      -0.6958699114097583,
      -0.6958688098645949,
      -0.9199667765586934,
      -1.1545130221979183,
      -1.307352272363688,
      -1.378096764253642,
      -1.3722926429552647,
      -1.3151126398836723,
      -1.4105700991359056,
      -1.4106148568588646
    ],
    "ay_ego": [
      0.002482281167754341,
      0.0027729215527910744,
      -0.05975709541532159,
      0.0002597656533958048,
      0.09667848732016959,
      -0.11939039160512899,
      -0.05761908305732455,
      0.08374918632019279,
      0.11622255960651628,
      0.11567803284200595
    ],
    "a_ego": [
      0.6958743387460272,
      0.695874334658425,
      0.9219055159962266,
      1.154513051421579,
      1.3109220777624482,
      1.3832587455909988,
      1.3735017497773756,
      1.317776605419559,
      1.4153500231171683,
      1.41535002090407
    ],
    "yaw": [
      -0.576059746122713,
      -0.5756420734344367,
      -0.5753011537407365,
      -0.5756025011193229,
      -0.5752171957300436,
      -0.5755343593168626,
      -0.5757792443778796,
      -0.57588421596571,
      -0.5757991568856721,
      -0.5761851824848825
    ],
    "yaw_diff": [
      0.0008353453765526098,
      0.000681839387400407,
      -0.0006026947571726726,
      0.0007706107785585559,
      -0.000634327173637983,
      -0.0004897701220341055,
      -0.00020994317566080944,
      0.00017011816007594938,
      -0.0007720511984208311,
      -0.0007720511984208311
    ],
    "min_front_frame": [
      9,
      13.776104948207067
    ],
    "v_avg": 6.67297068117661,
    "v_std": 1.747118640942696,
    "vy_max": 0.06609405159102666,
    "a_max": 1.4153500231171683,
    "ax_avg": -1.1660257795482,
    "a_std": 0.2757424378354625,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d2dd81d9f7665fde",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 47.92601276476699,
    "speed_mode": "decelerating",
    "front_frame": [
      39.96085426984668,
      39.35468556083499,
      35.10820085782335,
      31.087808853863834,
      27.363976362815162,
      23.979399661186587,
      20.888326912497124,
      18.154117253261585,
      15.830500571782121,
      13.776104948207067
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d2dd81d9f7665fde",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1198cf572c315f9c": {
    "vx_ego": [
      5.864922764525728,
      5.77956509622263,
      5.846081744335913,
      5.811548327551996,
      5.8570417399473085,
      6.108477816330707,
      6.433890561618829,
      6.753285188973235,
      7.05497316590262,
      7.352405439901273
    ],
    "vy_ego": [
      0.1319300857795458,
      0.07767360749915209,
      -0.0646990305032138,
      -0.1763105957522022,
      -0.12582080482812819,
      -0.09023956181715809,
      -0.016217938198885395,
      0.008989509938690077,
      0.06608913652560444,
      0.000313959581399903
    ],
    "v_ego": [
      5.866406445293908,
      5.780087014118111,
      5.8464397479154515,
      5.814222165487564,
      5.85839302355284,
      6.109144327245946,
      6.433911001902907,
      6.753291172080041,
      7.055282711952281,
      7.352405446604563
    ],
    "ax_ego": [
      -0.6081922859133665,
      0.16368999433527331,
      0.017560102278341733,
      -0.12317483028105364,
      0.37212858467080523,
      0.6391228437549599,
      0.6598878859203703,
      0.6191967156856928,
      0.5933602117406784,
      0.5982129569678014
    ],
    "ay_ego": [
      2.8899395545532265,
      2.9487037963864555,
      2.323275934422614,
      1.6995504716474785,
      1.5170451866864425,
      0.7747466035382282,
      0.1321460437518579,
      -0.253924944973801,
      -0.34251157114891406,
      -0.3339637326100288
    ],
    "a_ego": [
      2.9532437226913437,
      2.95324372395327,
      2.3233422960595576,
      1.7040081703125525,
      1.5620197764361372,
      1.0043457119455668,
      0.6729893007052368,
      0.669240203810184,
      0.6851208048569539,
      0.6851208043717425
    ],
    "yaw": [
      -0.4348402824644445,
      -0.17196003322551523,
      0.07718815241411209,
      0.2677215819086116,
      0.3980995135174926,
      0.4883612424275068,
      0.5127198343165299,
      0.5042860433748834,
      0.47443477215984253,
      0.46008787639738213
    ],
    "yaw_diff": [
      0.5257604984778586,
      0.49829637127925464,
      0.38106685898899906,
      0.260755863217762,
      0.18052345782002832,
      0.048717183778046236,
      -0.01686758188329307,
      -0.05970254243008166,
      -0.028693791524920798,
      -0.028693791524920798
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.286958305615361,
    "v_std": 0.5505602495662159,
    "vy_max": 0.1763105957522022,
    "a_max": 2.95324372395327,
    "ax_avg": 0.2931792179159503,
    "a_std": 0.8882853050479433,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "1198cf572c315f9c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "1198cf572c315f9c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "3f655357375b5f03": {
    "vx_ego": [
      7.392181007794399,
      6.649362574619671,
      5.853860499897896,
      4.9834127007350535,
      4.07997582963202,
      3.1702794462632142,
      2.2920392869934636,
      1.5807371916090773,
      1.117404599868089,
      0.762124475252692
    ],
    "vy_ego": [
      0.014360938810474733,
      -0.011853534799151272,
      -0.005994249000829344,
      -0.010912283497598013,
      -0.022903825028396274,
      -0.010882244294594959,
      0.006350358549064697,
      -0.007262216016211319,
      -0.025666752500264435,
      0.007825388701918023
    ],
    "v_ego": [
      7.392194957423657,
      6.649373140006506,
      5.853863568899254,
      4.983424648148959,
      4.080040116908463,
      3.170298123306368,
      2.292048084176073,
      1.5807538735418676,
      1.1176993432897213,
      0.7621646491982735
    ],
    "ax_ego": [
      -1.4856161168415523,
      -1.4856647007718944,
      -1.6961436820056002,
      -1.7856153014918223,
      -1.8283237081618489,
      -1.8104540874834467,
      -1.7024682950944285,
      -1.1427148725457752,
      -0.7105589451943424,
      -0.7105644796872929
    ],
    "ay_ego": [
      -0.025507766029389513,
      -0.022500322587959837,
      0.09820241297901433,
      -0.12676419775180736,
      0.057006442279111724,
      -0.005824985835077491,
      0.0825610309270197,
      -0.1387401102496774,
      0.06685836103032133,
      0.0667996626938875
    ],
    "a_ego": [
      1.4858350826209423,
      1.4858350741708195,
      1.698984138808369,
      1.7901092611216196,
      1.8292122119338738,
      1.810463458163544,
      1.704469013983376,
      1.1511064668958297,
      0.7136974534320248,
      0.7136974672291407
    ],
    "yaw": [
      -1.5419382441668597,
      -1.5399139033737177,
      -1.5378326041433477,
      -1.5382419014380342,
      -1.5394426632481912,
      -1.539229081389728,
      -1.5385110340411057,
      -1.5387425973179667,
      -1.5384073981856494,
      -1.5384900091641591
    ],
    "yaw_diff": [
      0.004048681586283909,
      0.0041625984607400746,
      -0.0008185945893730562,
      -0.0024015236203140944,
      0.0004271637169264153,
      0.0014360946972447053,
      -0.0004631265537220486,
      0.000670398264634553,
      -0.00016522195701940134,
      -0.00016522195701940134
    ],
    "min_front_frame": [
      9,
      10.661863804474148
    ],
    "v_avg": 3.7881860504899145,
    "v_std": 2.2524951802166724,
    "vy_max": 0.025666752500264435,
    "a_max": 1.8292122119338738,
    "ax_avg": -1.4358124189278003,
    "a_std": 0.41121610796485414,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3f655357375b5f03",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.996498034165397,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.549660302804433,
      14.179882352239115,
      13.456417554279296,
      12.925417692521808,
      12.426106958116044,
      11.89285204977297,
      11.415968637734371,
      11.008437653680652,
      10.805260645631359,
      10.661863804474148
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3f655357375b5f03",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6b977574e52a5f1b": {
    "vx_ego": [
      9.077742018496847,
      9.289773961870557,
      9.495582117664407,
      9.667311111480977,
      9.79367539349794,
      9.87276885497154,
      9.93246806406379,
      10.020064143768082,
      10.086621653751692,
      10.11778771317232
    ],
    "vy_ego": [
      -0.022260148250343725,
      -0.012185744628282258,
      0.01184726252390167,
      -0.005043063729329056,
      0.0033989783802690354,
      0.005593505356128681,
      0.004491587226084448,
      -0.008900088253305682,
      -0.019839066792893156,
      0.005857013138592215
    ],
    "v_ego": [
      9.077769311267131,
      9.289781954116055,
      9.495589508342142,
      9.667312426866909,
      9.793675983320107,
      9.872770439496616,
      9.932469079639912,
      10.020068096415198,
      10.086641164158847,
      10.117789408434218
    ],
    "ax_ego": [
      0.42349596385710886,
      0.42416671479389767,
      0.399526539197214,
      0.28760093701085643,
      0.2190278369408023,
      0.09788766750099534,
      0.14176460355750067,
      0.20780903247190835,
      0.05770053215869139,
      0.06633397167940067
    ],
    "ay_ego": [
      -0.10277917727861718,
      -0.09997493543087127,
      -0.19081450743335376,
      -0.21202249914391638,
      -0.3674557772169945,
      -0.38737287234723095,
      -0.43031379662766556,
      -0.3602284038649323,
      -0.3934054665771657,
      -0.3920421118264071
    ],
    "a_ego": [
      0.4357893879907255,
      0.435789386806809,
      0.44275459542497847,
      0.3573063659001258,
      0.42778141797547986,
      0.3995494183193482,
      0.4530641967645769,
      0.41587149088148306,
      0.39761440183196783,
      0.3976144027120655
    ],
    "yaw": [
      0.8366057399585201,
      0.8299893564173715,
      0.8196943367789824,
      0.8109591025356773,
      0.7952175044280126,
      0.7758340109058128,
      0.755291437426575,
      0.7368084483956554,
      0.7191890061535884,
      0.6972064030982594
    ],
    "yaw_diff": [
      -0.013232767082297148,
      -0.02059003927677816,
      -0.01747046848661027,
      -0.031483196215329246,
      -0.038766987044399626,
      -0.04108514695847565,
      -0.03696597806183921,
      -0.035238884484134037,
      -0.043965206110657906,
      -0.043965206110657906
    ],
    "min_front_frame": [
      0,
      28.086490624978886
    ],
    "v_avg": 9.735386737205713,
    "v_std": 0.3324047899135239,
    "vy_max": 0.022260148250343725,
    "a_max": 0.4530641967645769,
    "ax_avg": 0.23253137991683753,
    "a_std": 0.027207100094651455,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6b977574e52a5f1b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.2574922811948426,
    "right_rear_min": 8.857560468059393,
    "speed_mode": "accelerating",
    "front_frame": [
      28.086490624978886,
      30.47214010675619,
      32.64582959066039,
      34.794563236029916,
      36.96880353028124,
      39.44081973769994,
      41.84976244382376,
      44.53472903706737,
      47.51737399797842,
      50.422377786054746
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6b977574e52a5f1b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b657c9d393895b93": {
    "vx_ego": [
      7.935384423006795,
      8.40741459860361,
      8.83306545661884,
      9.197406924916915,
      9.545882319271364,
      9.858576752261179,
      10.183341162168812,
      10.51829693733472,
      10.67262630748094,
      10.680750636515018
    ],
    "vy_ego": [
      -0.047017587455482346,
      -0.0036500718510330543,
      -0.0014058932763942877,
      -0.030260257563697657,
      -0.007940097584114625,
      0.0004043425557815894,
      -0.033431588001315404,
      0.020106419020690325,
      0.04054736117210744,
      -0.02740011397316522
    ],
    "v_ego": [
      7.9355237126751135,
      8.407415390941358,
      8.833065568501622,
      9.197456704203475,
      9.545885621487788,
      9.85857676055309,
      10.183396039445679,
      10.518316154690863,
      10.672703330816999,
      10.680785782219477
    ],
    "ax_ego": [
      0.9365635141349643,
      0.9541938317623969,
      0.7484272152233507,
      0.7098945344457999,
      0.6846773256692913,
      0.5653779143648415,
      0.7377268655097561,
      0.6033769492197791,
      0.009907425812705595,
      0.021872315647581547
    ],
    "ay_ego": [
      0.5961439981653146,
      0.5674971522080404,
      0.5483732794847136,
      0.48191243708691256,
      0.3930900146759687,
      0.27437041546194607,
      0.4986664844012777,
      0.5697151970973376,
      0.4422399610900176,
      0.44180984651185895
    ],
    "a_ego": [
      1.110197677243724,
      1.1101976789462502,
      0.9278235554995353,
      0.8580150622541929,
      0.7894952817614593,
      0.6284356060347782,
      0.8904544855072489,
      0.8298428457566085,
      0.442350924347553,
      0.44235092253393093
    ],
    "yaw": [
      -0.8974394661352783,
      -0.8671398082021411,
      -0.8351364464080455,
      -0.8033847771520394,
      -0.7824325076193239,
      -0.7661193617871883,
      -0.7434094941670808,
      -0.7228117085598192,
      -0.7010172966931607,
      -0.6739505928160091
    ],
    "yaw_diff": [
      0.06059931586627432,
      0.06400672358819115,
      0.06350333851201229,
      0.0419045390654309,
      0.03262629166427122,
      0.04541973524021503,
      0.04119557121452311,
      0.04358882373331707,
      0.0541334077543032,
      0.0541334077543032
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.583312506553547,
    "v_std": 0.9226277858662326,
    "vy_max": 0.047017587455482346,
    "a_max": 1.1101976789462502,
    "ax_avg": 0.5972017891790466,
    "a_std": 0.22505727656715277,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "b657c9d393895b93",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.497237545011567,
    "right_rear_min": 15.033806591764987,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b657c9d393895b93",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bee76fa92b735b00": {
    "vx_ego": [
      6.964774949931915,
      6.617061646736751,
      6.21504350009722,
      5.722654609998908,
      5.145989187602961,
      4.481903277503371,
      3.7837204584362647,
      3.061975971321825,
      2.3553934849529536,
      1.692819698166271
    ],
    "vy_ego": [
      -0.026180756578861875,
      -0.028110143190519743,
      -0.044212522736344795,
      -0.04342195610775157,
      -0.007910056128344056,
      0.022775016931102954,
      0.00936598478350259,
      -0.016955279106182664,
      -0.027279121150142194,
      -0.025779689900438885
    ],
    "v_ego": [
      6.964824156804975,
      6.617121354249495,
      6.215200757438767,
      5.722819344659936,
      5.145995266993017,
      4.481961143326845,
      3.783732050404746,
      3.0620229147479945,
      2.3555514469884846,
      1.693015984245603
    ],
    "ax_ego": [
      -0.6954191392419733,
      -0.6954194039552275,
      -0.9125013059644547,
      -1.0574369826677774,
      -1.2494619666879574,
      -1.4069048859910807,
      -1.3857201281941238,
      -1.50129648887792,
      -1.3251926887400534,
      -1.325192317282823
    ],
    "ay_ego": [
      -0.0020738647151865575,
      -0.0019800680200426912,
      -0.03221370582134542,
      -0.01439019184402035,
      0.12651224646316794,
      0.0010861299409652414,
      -0.07212132877445954,
      -0.05609241815518551,
      0.00011659580083245302,
      -0.0010115824567465959
    ],
    "a_ego": [
      0.6954222315535389,
      0.6954222228738509,
      0.9130697433545696,
      1.0575348930105526,
      1.2558505303995757,
      1.4069053052369318,
      1.3875956758892458,
      1.5023440041786924,
      1.325192693869338,
      1.3251927033773183
    ],
    "yaw": [
      -2.0986150286431258,
      -2.098480157179263,
      -2.0973077665549256,
      -2.099385870686265,
      -2.1007565086334736,
      -2.100505244033471,
      -2.101558414975276,
      -2.1032260553363082,
      -2.1045921002356907,
      -2.1054434280105863
    ],
    "yaw_diff": [
      0.00026974292772585784,
      0.0023447812486745434,
      -0.004156208262679151,
      -0.0027412758944169724,
      0.000502529200005597,
      -0.002106341883610696,
      -0.0033352807220641267,
      -0.002732089798764825,
      -0.00170265554979121,
      -0.00170265554979121
    ],
    "min_front_frame": [
      9,
      12.615348606819673
    ],
    "v_avg": 4.604224441985987,
    "v_std": 1.742481173998081,
    "vy_max": 0.044212522736344795,
    "a_max": 1.5023440041786924,
    "ax_avg": -1.155454530760339,
    "a_std": 0.282265631956422,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bee76fa92b735b00",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      31.08319293374835,
      29.041697139073026,
      26.492103010502085,
      23.620683797376916,
      20.97851295778427,
      18.674130589544017,
      16.50039932408031,
      14.894375610910828,
      13.633307854930806,
      12.615348606819673
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bee76fa92b735b00",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5aa4b6dc8f0759b5": {
    "vx_ego": [
      7.172317965534485,
      7.473698205796444,
      7.708338407726293,
      7.84216460358936,
      7.893837515597681,
      7.834688455668525,
      7.698372748500375,
      7.5512788446369745,
      7.400214809204666,
      7.2415133043000885
    ],
    "vy_ego": [
      -0.0002600168319393248,
      -0.03640886260728049,
      -0.06590792675427792,
      0.0009143678141336764,
      0.0110764726783108,
      0.020771753535061777,
      0.0003321437804002514,
      0.0277162136867255,
      0.03741260065996155,
      0.01949409513611533
    ],
    "v_ego": [
      7.172317970247658,
      7.473786889964239,
      7.708620165946521,
      7.842164656895338,
      7.893845286734746,
      7.834715991223331,
      7.698372755665492,
      7.551329709260684,
      7.40030938036108,
      7.241539543225623
    ],
    "ax_ego": [
      0.5984258492472928,
      0.60899281553597,
      0.3353105874615571,
      0.2005712042715882,
      0.0058868777302956005,
      -0.24366378326584914,
      -0.30212565227097793,
      -0.2862482173212401,
      -0.31892971907408996,
      -0.317227470226951
    ],
    "ay_ego": [
      0.3677616894748015,
      0.34998558657536105,
      0.3625218218593049,
      0.21754658442354513,
      0.2291971378656409,
      0.09822341024638058,
      -0.009797899304630792,
      0.12423261758752727,
      0.13904544433962687,
      0.14288643729612444
    ],
    "a_ego": [
      0.7023974354257737,
      0.7023974374845964,
      0.49381703229840523,
      0.29589748964346724,
      0.22927272697643966,
      0.26271634436375574,
      0.3022844828815193,
      0.31204452437470637,
      0.3479221195904081,
      0.34792212035133724
    ],
    "yaw": [
      0.43274678893363877,
      0.46218946887151885,
      0.4894165991969768,
      0.49945166220005555,
      0.5123150807864337,
      0.5214544323688147,
      0.5269273893931037,
      0.5270880397659264,
      0.5345912655770642,
      0.5466667484126572
    ],
    "yaw_diff": [
      0.05888535987576016,
      0.05445426065091585,
      0.02007012600615754,
      0.025726837172756367,
      0.01827870316476199,
      0.01094591404857792,
      0.00032130074564551414,
      0.01500645162227543,
      0.02415096567118602,
      0.02415096567118602
    ],
    "min_front_frame": [
      0,
      12.450307522235473
    ],
    "v_avg": 7.581700234952471,
    "v_std": 0.24244335486505708,
    "vy_max": 0.06590792675427792,
    "a_max": 0.7023974374845964,
    "ax_avg": 0.02809924920875955,
    "a_std": 0.16529657668135297,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "5aa4b6dc8f0759b5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.594909534910836,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      12.450307522235473,
      12.787930607664542,
      13.05110019756152,
      13.170439025664642,
      13.360853942346777,
      13.478604959687162,
      13.471300052022253,
      13.598720223501338,
      13.69634178236331,
      13.776136616906108
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5aa4b6dc8f0759b5",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "397c45f99a265c17": {
    "vx_ego": [
      7.456921842935102,
      6.872647989370949,
      6.299991952972192,
      5.779215782298207,
      5.281188801351202,
      4.789324477879868,
      4.3990355430237305,
      4.106253724809279,
      3.847879989675487,
      3.604224224687674
    ],
    "vy_ego": [
      0.014877238025679043,
      -0.0021682143236323587,
      0.019408945711779854,
      0.008215181190751791,
      -0.009163928776434627,
      -0.019445987824702124,
      -0.014076924978512276,
      0.0002154964863061437,
      -0.01735455436220193,
      -0.04059650109020442
    ],
    "v_ego": [
      7.456936683642547,
      6.872648331390011,
      6.300021850334173,
      5.779221621253737,
      5.281196751978472,
      4.789363955773433,
      4.399058066064023,
      4.106253730463914,
      3.8479191253848017,
      3.6044528485924507
    ],
    "ax_ego": [
      -1.1685527723809204,
      -1.1685730273992607,
      -1.122062420700765,
      -0.9611849597426544,
      -1.0309209771143923,
      -0.9365354707576141,
      -0.6249392524588182,
      -0.5461741970254061,
      -0.4873241170085274,
      -0.4873167895591558
    ],
    "ay_ego": [
      -0.0171776827900004,
      -0.01573979682172815,
      0.07714333115907211,
      -0.09784568470425799,
      0.028997887033953243,
      -0.06819941709209287,
      0.04211052793742508,
      -0.025026758253774515,
      -0.047593812152247866,
      -0.04766884616020875
    ],
    "a_ego": [
      1.1686790212137672,
      1.1686790241845972,
      1.124711149358438,
      0.9661523196943291,
      1.0313287247560436,
      0.9390153611517158,
      0.6263564207597422,
      0.5467472836009705,
      0.4896426921473702,
      0.4896426985879481
    ],
    "yaw": [
      -1.5858231622438699,
      -1.584592688649261,
      -1.5855388583041927,
      -1.5845390772445356,
      -1.5845088978579867,
      -1.584413012268647,
      -1.587023479002302,
      -1.5893854748822833,
      -1.5895328637460469,
      -1.5896868385697305
    ],
    "yaw_diff": [
      0.0024609471892178547,
      -0.0018923393098635444,
      0.001999562119314291,
      6.03587730978461e-05,
      0.0001917711786791898,
      -0.005220933467309674,
      -0.004723991759962853,
      -0.00029477772752706244,
      -0.00030794964736724495,
      -0.00030794964736724495
    ],
    "min_front_frame": [
      9,
      17.487326024999685
    ],
    "v_avg": 5.243707296487756,
    "v_std": 1.257173626649358,
    "vy_max": 0.04059650109020442,
    "a_max": 1.1686790241845972,
    "ax_avg": -0.8533583984147516,
    "a_std": 0.27098115310026777,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "397c45f99a265c17",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.704601714907714,
    "right_rear_min": 5.640002847401882,
    "speed_mode": "decelerating",
    "front_frame": [
      31.349479398159474,
      27.780193094038502,
      24.5118345460515,
      21.50123924384222,
      26.508297947763698,
      24.400881508213544,
      22.62330311238717,
      20.857525400916785,
      19.132143562378324,
      17.487326024999685
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "397c45f99a265c17",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f9f4354a1d12565d": {
    "vx_ego": [
      10.857167841078084,
      10.915640953679558,
      10.995960388904505,
      11.11497372293757,
      11.29039059377085,
      11.467023447003104,
      11.61959091945814,
      11.6750964037699,
      11.609132961276808,
      11.53133858992465
    ],
    "vy_ego": [
      0.022396392734677306,
      0.0061231674069341935,
      0.002429668188174361,
      -0.00274895795736807,
      0.001490596539684752,
      0.005523910566049395,
      -0.01974133581702553,
      -0.02225400610446915,
      -0.020919386968826004,
      -0.03387183444184849
    ],
    "v_ego": [
      10.857190940927017,
      10.915642671085632,
      10.99596065733433,
      11.114974062874035,
      11.290390692167712,
      11.467024777495986,
      11.619607689414215,
      11.675117613031079,
      11.609151809385335,
      11.531388336911295
    ],
    "ax_ego": [
      0.11446979312272779,
      0.11858262935962566,
      0.20167214799808159,
      0.27456136176026724,
      0.42739830687208946,
      0.2788656561085282,
      0.33135216192100025,
      -0.10834194835189632,
      -0.15567483355860628,
      -0.15562029058662852
    ],
    "ay_ego": [
      0.28425285077404794,
      0.2825618120923464,
      0.0783413857139145,
      0.1428797208456834,
      0.21461542955131338,
      0.1778839172611028,
      0.10861657536784933,
      0.21660050878146914,
      -0.05068212795970727,
      -0.050849349663217074
    ],
    "a_ego": [
      0.30643599121306436,
      0.3064359927272787,
      0.21635394147954978,
      0.30951341812689276,
      0.47825630713940775,
      0.3307699233258592,
      0.3487001801754058,
      0.2421853797756509,
      0.1637172315244303,
      0.16371722940313524
    ],
    "yaw": [
      2.036701151828802,
      2.051212975242187,
      2.059793620673675,
      2.065269068884559,
      2.0728814647581757,
      2.0811370344166225,
      2.0895353986498115,
      2.096697797639458,
      2.100144297156696,
      2.0990699519094944
    ],
    "yaw_diff": [
      0.02902364682677039,
      0.01716129086297613,
      0.010950896421768164,
      0.015224791747233013,
      0.01651113931689352,
      0.01679672846637814,
      0.014324797979292647,
      0.006892999034476155,
      -0.002148690494403027,
      -0.002148690494403027
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.307644925062663,
    "v_std": 0.2983065214056329,
    "vy_max": 0.03387183444184849,
    "a_max": 0.47825630713940775,
    "ax_avg": 0.1327264984645189,
    "a_std": 0.08997723548117585,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f9f4354a1d12565d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f9f4354a1d12565d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b22ea864484d514f": {
    "vx_ego": [
      6.258211317129392,
      5.631864814545228,
      4.983468876343239,
      4.322079004023376,
      3.7398489538060913,
      3.212272499705889,
      2.6160357975066804,
      1.938994508528517,
      1.2858010431862132,
      0.6839853848744902
    ],
    "vy_ego": [
      0.03329621402540539,
      0.015238068444868524,
      -0.0023219137281875746,
      -0.012816347582226495,
      0.01693011932168642,
      0.031970857765938554,
      0.024269432833903037,
      0.009221514300026823,
      0.0032178658031051244,
      0.0048906646943912
    ],
    "v_ego": [
      6.258299891161723,
      5.631885429236153,
      4.983469417259938,
      4.32209800626791,
      3.739887274534456,
      3.2124315943087427,
      2.6161483710230375,
      1.9390164363485243,
      1.2858050697205547,
      0.6840028693821814
    ],
    "ax_ego": [
      -1.2527899218573604,
      -1.2528110402243957,
      -1.3407896848497094,
      -1.304497761387676,
      -1.0244311767736167,
      -1.08605161020332,
      -1.2990640893708627,
      -1.4091441671533733,
      -1.2036371318154133,
      -1.2036345742236076
    ],
    "ay_ego": [
      -0.010806826898001831,
      -0.007991788330919292,
      -0.054925365561549366,
      0.06806449291666372,
      0.06596202111243726,
      0.01413329533339025,
      -0.030184067209023557,
      -0.0238163933739306,
      0.004127563476310381,
      0.004815587177291358
    ],
    "a_ego": [
      1.2528365319605645,
      1.2528365301143076,
      1.341914220351455,
      1.30627224752785,
      1.02655259201612,
      1.0861435678869553,
      1.2994147090926083,
      1.409345416998869,
      1.2036442090024302,
      1.2036442074576306
    ],
    "yaw": [
      2.5553328383983462,
      2.5575798347286596,
      2.5579240360865385,
      2.5608884292707157,
      2.5618294202909175,
      2.563259794540393,
      2.5645141307499584,
      2.5651896502866287,
      2.5658712110192914,
      2.566442835681309
    ],
    "yaw_diff": [
      0.004493992660626667,
      0.0006884027157578743,
      0.005928786368354366,
      0.0018819820404036847,
      0.0028607484989509047,
      0.002508672419130775,
      0.0013510390733406652,
      0.0013631214653253565,
      0.0011432493240350894,
      0.0011432493240350894
    ],
    "min_front_frame": [
      9,
      9.957867188217495
    ],
    "v_avg": 3.467304435924322,
    "v_std": 1.7666237382962675,
    "vy_max": 0.03329621402540539,
    "a_max": 1.409345416998869,
    "ax_avg": -1.2376851157859337,
    "a_std": 0.1091608325685063,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b22ea864484d514f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.65852210272317,
      21.81382088928083,
      19.26828843471273,
      17.03583256913475,
      15.055536507334677,
      13.32582862004865,
      11.89318044212027,
      10.860800045841334,
      10.158401568627449,
      9.957867188217495
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b22ea864484d514f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fec68cb4b42a5b30": {
    "vx_ego": [
      8.664103896331842,
      8.586243396518936,
      8.579634060296861,
      8.656456937885554,
      8.7311954123179,
      8.79083014241176,
      8.822968877504113,
      8.852812789065965,
      8.88843407810403,
      8.905313707945922
    ],
    "vy_ego": [
      -0.015222951012471952,
      -0.002878449292891716,
      0.007351837795521732,
      0.004163219570656018,
      0.018305497230766576,
      0.009257240729117377,
      -0.009436958905088666,
      -0.014067043062810036,
      -0.011073618867876611,
      -0.014212533219434498
    ],
    "v_ego": [
      8.664117269789815,
      8.5862438790041,
      8.579637210169494,
      8.65645793901086,
      8.731214601606698,
      8.79083501660912,
      8.822973924340905,
      8.852823965263877,
      8.888440976112507,
      8.905325049262943
    ],
    "ax_ego": [
      -0.15618835105314727,
      -0.15496951627121308,
      0.12841304182473917,
      0.1784611857968338,
      0.12041472291836292,
      0.11788373115276793,
      0.010738495347224812,
      0.10873132192024146,
      0.033770929069317,
      0.033772054890777406
    ],
    "ay_ego": [
      0.1572684905086809,
      0.15846965074227276,
      0.1453841240043805,
      0.05913280495004994,
      0.09098851289174806,
      -0.06352717052674393,
      0.036082465418556905,
      0.025296739488586725,
      0.002337598559802541,
      0.002321263464050833
    ],
    "a_ego": [
      0.2216487742162817,
      0.2216487788816164,
      0.19397539231356975,
      0.18800288151321692,
      0.15092585919502965,
      0.13391144635777807,
      0.037646508377321315,
      0.11163523366427199,
      0.03385173580825112,
      0.03385173489815876
    ],
    "yaw": [
      2.166624340748931,
      2.1743448666644727,
      2.182035151325441,
      2.188342512622782,
      2.191030458212702,
      2.192846801899076,
      2.1941883694862323,
      2.1964516466602015,
      2.196892543093746,
      2.1973762670737753
    ],
    "yaw_diff": [
      0.015441051831083463,
      0.015380569321936655,
      0.012614722594681993,
      0.005375891179840053,
      0.0036326873727476894,
      0.002683135174312845,
      0.004526554347938472,
      0.0008817928670890041,
      0.0009674479600585428,
      0.0009674479600585428
    ],
    "min_front_frame": [
      0,
      19.22915801179685
    ],
    "v_avg": 8.747806983117032,
    "v_std": 0.11538090858131592,
    "vy_max": 0.018305497230766576,
    "a_max": 0.2216487788816164,
    "ax_avg": 0.04210276155959041,
    "a_std": 0.07210502769034914,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fec68cb4b42a5b30",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.114577337493156,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.22915801179685,
      20.129557227754457,
      21.47048305305165,
      31.34110531712145,
      27.026455444261043,
      22.712488639944272,
      -1,
      -1,
      75.33256641797428,
      70.86351140101284
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      0,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fec68cb4b42a5b30",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f53ece8c1cb9562c": {
    "vx_ego": [
      10.105925889214488,
      9.666481606313328,
      9.078414510401247,
      8.273751186218858,
      7.463444673755451,
      6.810164267727948,
      6.3300673433618,
      5.952853613404193,
      5.650137639680616,
      5.397456227336868
    ],
    "vy_ego": [
      0.015949208917532903,
      0.017379251379320032,
      0.0047112929852417,
      -0.01473722795148355,
      -0.017934765606268,
      -0.008904453478650903,
      0.0023892541808777923,
      -0.01049231716982793,
      -0.014129763833303749,
      0.013935097585702383
    ],
    "v_ego": [
      10.105938474756352,
      9.666497229274542,
      9.078415732876827,
      8.273764311203555,
      7.4634662224750485,
      6.810170089118941,
      6.3300677942681665,
      5.952862860115203,
      5.650155307384181,
      5.397474216053491
    ],
    "ax_ego": [
      -0.8789330948865188,
      -0.8789103911807514,
      -1.4734557893041758,
      -1.7452638197501693,
      -1.4960902012151711,
      -1.1171613297542229,
      -0.8032262885306723,
      -0.7056222095511809,
      -0.505326865007827,
      -0.5053980622408716
    ],
    "ay_ego": [
      0.022229181841061145,
      0.023109746970129626,
      0.05334326116410884,
      -0.03462656171222244,
      -0.04465393175758147,
      0.042998860084016176,
      0.0018481740098186747,
      -0.06308142708565566,
      0.02774286739838532,
      0.026413939995129483
    ],
    "a_ego": [
      0.8792141501432499,
      0.8792141582859804,
      1.4744210614833246,
      1.7456072866784675,
      1.4967564477206912,
      1.1179885234950977,
      0.8032284147949009,
      0.7084362844004064,
      0.5060878453293687,
      0.5060878357981885
    ],
    "yaw": [
      1.5941744537666338,
      1.5951763238225627,
      1.598540562850412,
      1.6013106565980146,
      1.5991897400286739,
      1.5978576063539074,
      1.5978450582377737,
      1.597449130701618,
      1.5965494109808054,
      1.5939197654327402
    ],
    "yaw_diff": [
      0.002003740111857777,
      0.006728478055698428,
      0.005540187495205462,
      -0.004241833138681539,
      -0.002664267349532956,
      -2.509623226742974e-05,
      -0.000791855072311165,
      -0.0017994394416254167,
      -0.005259291096130436,
      -0.005259291096130436
    ],
    "min_front_frame": [
      2,
      24.963124760149938
    ],
    "v_avg": 7.472881223752632,
    "v_std": 1.6324672588118958,
    "vy_max": 0.017934765606268,
    "a_max": 1.7456072866784675,
    "ax_avg": -1.0109388051421562,
    "a_std": 0.41001576639799764,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f53ece8c1cb9562c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 22.313413102238616,
    "right_rear_min": 4.3358180212656805,
    "speed_mode": "decelerating",
    "front_frame": [
      25.253139333052385,
      25.12817089043176,
      24.963124760149938,
      25.34561287071216,
      25.949136420607353,
      26.79576185350999,
      27.78912085674561,
      28.958856584496363,
      30.259575389669763,
      31.409132672930042
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f53ece8c1cb9562c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "90ed1fb3861c56d7": {
    "vx_ego": [
      5.836889453211991,
      5.759955630063914,
      5.69701412783363,
      5.692733382745811,
      5.734913342299463,
      5.780752501737535,
      5.771128649606938,
      5.746850533289204,
      5.746526633523029,
      5.737444095168847
    ],
    "vy_ego": [
      0.02958410171113557,
      -0.030799979112920095,
      5.632344384798316e-05,
      0.028046004259995705,
      0.015012686847506451,
      0.029642209237830563,
      0.03997703331932412,
      0.04982626052012984,
      0.04947453944152791,
      -0.04814515176859535
    ],
    "v_ego": [
      5.836964425803144,
      5.760037977220144,
      5.697014128112051,
      5.692802468502093,
      5.73493299215002,
      5.780828500043334,
      5.771267109873447,
      5.747066530692317,
      5.746739604318475,
      5.737646094072611
    ],
    "ax_ego": [
      -0.15556613997133756,
      -0.15218759582529312,
      -0.09584928327248982,
      0.08893034694034727,
      0.09136095677903394,
      0.09450746363236551,
      -0.11860486709605172,
      0.02747892560991705,
      -0.024359892152083257,
      -0.011896488772858732
    ],
    "ay_ego": [
      -0.2663509068538312,
      -0.26829566304194163,
      -0.5689468444684987,
      -0.7746332590738731,
      -0.9236919073989728,
      -0.809637932620955,
      -0.9105783687012221,
      -0.716359871218224,
      -0.48805452876337596,
      -0.4885172551015485
    ],
    "a_ego": [
      0.3084536099439267,
      0.30845360612286227,
      0.5769641210114475,
      0.7797212916615403,
      0.928199097294289,
      0.815135106973658,
      0.9182701563513054,
      0.7168867110251562,
      0.48866207893809616,
      0.48866208669905437
    ],
    "yaw": [
      2.806695281657026,
      2.7940570296413627,
      2.752086552155556,
      2.6879514465789103,
      2.615952011821492,
      2.538185463746878,
      2.4623264968703706,
      2.389791959892249,
      2.337527990342458,
      2.312004577360894
    ],
    "yaw_diff": [
      -0.025276504031326752,
      -0.08394095497161302,
      -0.12827021115329185,
      -0.14399886951483687,
      -0.1555330961492274,
      -0.151717933753015,
      -0.14506907395624324,
      -0.10452793909958213,
      -0.051046825963127596,
      -0.051046825963127596
    ],
    "min_front_frame": [
      5,
      32.364546971382325
    ],
    "v_avg": 5.750529983078764,
    "v_std": 0.0394225560652397,
    "vy_max": 0.04982626052012984,
    "a_max": 0.928199097294289,
    "ax_avg": -0.025618657412845046,
    "a_std": 0.22039202764056545,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "90ed1fb3861c56d7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 41.48876497393223,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      32.364546971382325,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "90ed1fb3861c56d7",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "786c64badbb15a9c": {
    "vx_ego": [
      2.3826019923301422,
      2.4336745192581963,
      2.5317116897789553,
      2.5943868948036135,
      2.6189351134961565,
      2.62184959051035,
      2.628464540074301,
      2.655331853221513,
      2.631383652298815,
      2.5624267480250307
    ],
    "vy_ego": [
      -0.05885979169120026,
      0.017110696366635647,
      0.017784936208171676,
      -0.05091909185651189,
      -0.1141547609963145,
      -0.11838629587216287,
      -0.0724728126021702,
      -0.018100988428445153,
      -0.001894915512084011,
      0.025204454121868253
    ],
    "v_ego": [
      2.3833289174877845,
      2.4337346695185906,
      2.5317741574080697,
      2.5948865319786583,
      2.621421835218676,
      2.6245210211216867,
      2.629463471317766,
      2.655393548330432,
      2.631384334583272,
      2.562550702620675
    ],
    "ax_ego": [
      0.008969890706359895,
      0.20919335149789164,
      0.14994550052854205,
      0.10021575550211986,
      0.053319303059222445,
      0.02230385639237803,
      0.04598009239981096,
      0.07330597246363833,
      -0.16606142461261747,
      -0.11358242422550854
    ],
    "ay_ego": [
      1.0661506959160072,
      1.0454644462280045,
      0.8348198671781388,
      0.6961416884868096,
      0.726252007603203,
      0.7162439877879834,
      0.6777203244165114,
      0.5599242667189006,
      0.5425417127064565,
      0.5559019153545053
    ],
    "a_ego": [
      1.0661884286285752,
      1.0661884292364783,
      0.8481791460322993,
      0.7033181698919252,
      0.7282066510451577,
      0.7165911749752467,
      0.6792782986555044,
      0.5647025323650835,
      0.5673869109970966,
      0.5673869108357638
    ],
    "yaw": [
      1.9163068476237037,
      2.1053816597261976,
      2.2933317020169115,
      2.468591237942406,
      2.628567038890689,
      2.7673750193617677,
      2.8826380852129883,
      2.979224295896759,
      3.0761865583623655,
      -3.111519788807246
    ],
    "yaw_diff": [
      0.37814962420498777,
      0.37590008458142776,
      0.3505190718509894,
      0.319951601896566,
      0.2776159609421569,
      0.23052613170244118,
      0.19317242136754142,
      0.19392452493121315,
      0.19095792001994916,
      0.19095792001994916
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.566845918958561,
    "v_std": 0.08698485129252312,
    "vy_max": 0.11838629587216287,
    "a_max": 1.0661884292364783,
    "ax_avg": 0.03835898737118372,
    "a_std": 0.17871372595662444,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "786c64badbb15a9c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "786c64badbb15a9c",
    "pedestrians": "No"
  },
  "c52f491ebd5b521a": {
    "vx_ego": [
      3.960664278889253,
      3.636181200876681,
      3.3062777858774464,
      3.0046003540566177,
      2.7444037886731865,
      2.4996168215490835,
      2.2466418199661997,
      2.020005778264485,
      1.8609354406245717,
      1.734013841273651
    ],
    "vy_ego": [
      -0.005189405461883734,
      0.009115161804798433,
      0.03176607229463224,
      0.036105859749133495,
      0.02683330787903415,
      0.013171192272961374,
      -0.0039821047373613805,
      -0.010804735081821393,
      -0.0046907044715763235,
      0.031675604558124404
    ],
    "v_ego": [
      3.960667678561075,
      3.6361926257809434,
      3.3064303834703215,
      3.0048172857439064,
      2.744534966382369,
      2.4996515226881195,
      2.2466453490435865,
      2.0200346745841014,
      1.8609413523485925,
      1.7343031296900566
    ],
    "ax_ego": [
      -0.6493364001453036,
      -0.6486376605412012,
      -0.6714606404287659,
      -0.5389967938645022,
      -0.5048782213414901,
      -0.4779462577781949,
      -0.5327246493445444,
      -0.3742545799927846,
      -0.2590537269545037,
      -0.2505667228464646
    ],
    "ay_ego": [
      0.08599173615463387,
      0.09111270168063768,
      0.1800309552122068,
      0.13033046921445704,
      0.17490575399563976,
      0.10403605511980732,
      0.20307662793197417,
      0.12311908927232984,
      0.2096980011721696,
      0.21976897562191727
    ],
    "a_ego": [
      0.6550056024497424,
      0.6550056023271156,
      0.6951766225065599,
      0.5545300487817348,
      0.5343164241961217,
      0.48913814622156826,
      0.5701189953259663,
      0.3939857875467382,
      0.3332897915397677,
      0.33328979168874023
    ],
    "yaw": [
      2.698006173863927,
      2.705896837323084,
      2.7188885755235033,
      2.74222403879225,
      2.7720387406218423,
      2.803883667159,
      2.843345936142532,
      2.8851524462332634,
      2.925171725285875,
      2.964690012442875
    ],
    "yaw_diff": [
      0.015781326918313354,
      0.025983476400838867,
      0.04667092653749361,
      0.059629403659184455,
      0.0636898530743153,
      0.07892453796706445,
      0.08361302018146244,
      0.08003855810522342,
      0.07903657431399935,
      0.07903657431399935
    ],
    "min_front_frame": [
      0,
      63.85064711561232
    ],
    "v_avg": 2.701421896829307,
    "v_std": 0.7261533458259457,
    "vy_max": 0.036105859749133495,
    "a_max": 0.6951766225065599,
    "ax_avg": -0.4907855653237755,
    "a_std": 0.12553219143020766,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "c52f491ebd5b521a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.314814925161773,
    "right_rear_min": 29.33497534829806,
    "speed_mode": "decelerating",
    "front_frame": [
      63.85064711561232,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c52f491ebd5b521a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8c6aed532f8555cd": {
    "vx_ego": [
      11.268846499649385,
      11.139164920177736,
      10.973544390518148,
      10.795046931628006,
      10.651272364800265,
      10.511034991495674,
      10.34817968771988,
      10.175483765878965,
      10.037563561938683,
      9.929520961960133
    ],
    "vy_ego": [
      0.0669635422791306,
      0.04691394846047947,
      0.015803117783052212,
      0.03360226853309256,
      0.031754369566203255,
      0.026004875661999716,
      0.04463947918871369,
      0.06944541996146625,
      0.05865779234657831,
      0.005532938027560386
    ],
    "v_ego": [
      11.26904545862935,
      11.139263711640838,
      10.9735557696311,
      10.79509922921053,
      10.651319698945496,
      10.511067160189047,
      10.348275969089757,
      10.175720737914341,
      10.037734953492354,
      9.929522503494763
    ],
    "ax_ego": [
      -0.2605309667302786,
      -0.2597515720797067,
      -0.40350440526970743,
      -0.3113621125701217,
      -0.2644324178719598,
      -0.2972944632896953,
      -0.35476704095466727,
      -0.3372289802309787,
      -0.21644901227167831,
      -0.21642694819751512
    ],
    "ay_ego": [
      0.11272295836246181,
      0.11450749050627479,
      0.21401549527587393,
      0.1099510560070995,
      0.13076789478996872,
      0.1289449436300355,
      0.15008699602630432,
      0.18557996706878477,
      0.0034003573295235887,
      0.004595412182949243
    ],
    "a_ego": [
      0.28387118551800716,
      0.2838711760287115,
      0.45674767354660706,
      0.33020539041815394,
      0.2949995693715689,
      0.3240536936843353,
      0.38520872228433567,
      0.38491987385023013,
      0.21647571998576096,
      0.21647573009282378
    ],
    "yaw": [
      -1.7425847659160691,
      -1.7357249360630416,
      -1.7254994276780227,
      -1.719687453037214,
      -1.7138998477982237,
      -1.7072228808118664,
      -1.7023245095186672,
      -1.6965630364161417,
      -1.6908123577508993,
      -1.6852909035452441
    ],
    "yaw_diff": [
      0.013719659706055154,
      0.0204510167700378,
      0.011623949281617474,
      0.011575210477980491,
      0.013353933972714671,
      0.009796742586398288,
      0.01152294620505101,
      0.01150135733048474,
      0.011042908411310393,
      0.011042908411310393
    ],
    "min_front_frame": [
      6,
      18.546375649821986
    ],
    "v_avg": 10.583060519223757,
    "v_std": 0.4396325779435908,
    "vy_max": 0.06944541996146625,
    "a_max": 0.45674767354660706,
    "ax_avg": -0.2921747919466309,
    "a_std": 0.07204425103871312,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8c6aed532f8555cd",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.239366982710839,
    "right_rear_min": 3.0078537274432873,
    "speed_mode": "decelerating",
    "front_frame": [
      19.1411738715996,
      33.51564428634149,
      30.759531428712886,
      27.942023486994575,
      24.940766737239574,
      21.74833584321711,
      18.546375649821986,
      31.127748047237734,
      26.879173617793484,
      22.635509619557922
    ],
    "safe_frame": [
      0,
      1,
      1,
      0,
      0,
      0,
      0,
      1,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8c6aed532f8555cd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ba8af38306035c11": {
    "vx_ego": [
      1.390909742915369,
      2.112022615518835,
      2.81295558171918,
      3.467882866653764,
      4.013592193476403,
      4.300473560396562,
      4.377431047686685,
      4.416171115907786,
      4.431220438236867,
      4.428292477546794
    ],
    "vy_ego": [
      -0.012929936358617389,
      -0.00020181791098738966,
      0.000431373626673226,
      0.0038388825143662597,
      -0.0057394686902196845,
      -0.0013147672343241101,
      0.030336827060806648,
      0.023342655440805604,
      -0.01581153116344236,
      0.03725405208311772
    ],
    "v_ego": [
      1.3909698401443273,
      2.112022625161362,
      2.812955614795281,
      3.467884991439262,
      4.013596297217194,
      4.300473761375921,
      4.377536167792045,
      4.416232806877514,
      4.431248647589736,
      4.428449179012235
    ],
    "ax_ego": [
      1.4422242217347894,
      1.4422515572058585,
      1.361451076569283,
      1.2582475074011543,
      0.9246316245515566,
      0.22270960114665272,
      0.0854484813517743,
      0.07188620112060344,
      -0.010886542638181312,
      0.001030180023413374
    ],
    "ay_ego": [
      0.02946847739766356,
      0.028098565827805344,
      0.014635729169554912,
      0.016577251224021206,
      -0.07076438945386665,
      0.04501553973133955,
      0.007259916894148545,
      -0.22300050389263987,
      -0.27600396019814827,
      -0.2762166644260337
    ],
    "a_ego": [
      1.4425252500107772,
      1.4425252454166282,
      1.3615297420401746,
      1.2583567042533537,
      0.9273355595121052,
      0.22721347948615406,
      0.08575633713396616,
      0.2343007696272531,
      0.27621857804223443,
      0.2762185855034464
    ],
    "yaw": [
      2.566011545821724,
      2.566961402600216,
      2.5710261159434395,
      2.5724201177344495,
      2.5713709440496215,
      2.5688120532423833,
      2.564546158688912,
      2.553874208866875,
      2.5345703174006635,
      2.4914177511786555
    ],
    "yaw_diff": [
      0.0018997135569840395,
      0.008129426686447339,
      0.0027880035820198046,
      -0.002098347369655862,
      -0.005117781614476513,
      -0.008531789106942966,
      -0.021343899644073794,
      -0.03860778293242273,
      -0.08630513244401605,
      -0.08630513244401605
    ],
    "min_front_frame": [
      0,
      14.22598544465106
    ],
    "v_avg": 3.5751369931404873,
    "v_std": 1.0504488895169333,
    "vy_max": 0.03725405208311772,
    "a_max": 1.4425252500107772,
    "ax_avg": 0.6798993908466904,
    "a_std": 0.5524791379801763,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "ba8af38306035c11",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      14.22598544465106,
      15.645325312220073,
      16.8666743707007,
      17.66022996491534,
      54.653973447830445,
      52.46209399734038,
      51.19681393696375,
      48.98251944843168,
      46.7703620340829,
      44.54436420067128
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "ba8af38306035c11",
    "pedestrians": "No"
  },
  "4f5e535c78385629": {
    "vx_ego": [
      0.520927581720876,
      0.22023698654412516,
      0.001309977302613694,
      -0.05067289569208413,
      -0.026278561000329468,
      -0.01510416686078869,
      -0.009800652819262182,
      -0.006784767716275262,
      -0.004962801353365829,
      -0.003496645105636322
    ],
    "vy_ego": [
      0.023813867706996977,
      0.018430136260301863,
      0.01220346889691857,
      0.006058820195930268,
      0.003479220478166652,
      0.00284238242634895,
      0.001952628162220445,
      0.0015247782436177168,
      0.0011203584052983898,
      0.000631575331414494
    ],
    "v_ego": [
      0.521471615423818,
      0.22100678759850445,
      0.012273577052001668,
      0.05103382858445416,
      0.026507880778812387,
      0.01536928737502701,
      0.009993275360141347,
      0.0069539932165642035,
      0.00508769105088865,
      0.0035532259137327268
    ],
    "ax_ego": [
      -0.6013824997844817,
      -0.6013828841751907,
      -0.2743083367675341,
      0.06638294293124314,
      0.03119294776565382,
      0.013505703447695083,
      0.007708202746871018,
      0.0043553271455953535,
      0.0029323267156198983,
      0.0029323400251044067
    ],
    "ay_ego": [
      -0.010751839953413389,
      -0.010730508209110146,
      -0.014250762710605852,
      -0.010280284354307917,
      -5.218049195771825e-05,
      -0.0024893703098106037,
      -0.0010703968614037356,
      -0.0006410117855535878,
      -0.000977490911661661,
      -0.0009774655918708556
    ],
    "a_ego": [
      0.6014786056955109,
      0.6014786090837284,
      0.2746782624417245,
      0.06717424624525467,
      0.031192991410163736,
      0.01373320756984505,
      0.007782168015904879,
      0.004402246091982861,
      0.003090959147177349,
      0.003090963766549319
    ],
    "yaw": [
      2.5577753103743395,
      2.5578107687961027,
      2.5575438700620468,
      2.557367191159072,
      2.5574704698020643,
      2.5573922356475487,
      2.557408481188885,
      2.5574091382535613,
      2.557446068652802,
      2.5574353445717586
    ],
    "yaw_diff": [
      7.091684352644734e-05,
      -0.0005337974681118851,
      -0.0003533578059498055,
      0.00020655728598484302,
      -0.00015646830903115472,
      3.24910826723368e-05,
      1.3141293528917686e-06,
      7.386079848181737e-05,
      -2.144816208726752e-05,
      -2.144816208726752e-05
    ],
    "min_front_frame": [
      2,
      10.950695709450878
    ],
    "v_avg": 0.08732511623539448,
    "v_std": 0.15760729528871023,
    "vy_max": 0.023813867706996977,
    "a_max": 0.6014786090837284,
    "ax_avg": -0.1348063929949424,
    "a_std": 0.23370385609124777,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4f5e535c78385629",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.1091001151607216,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.182087821762979,
      10.977688119203851,
      10.950695709450878,
      10.955082869758655,
      10.965853510539732,
      10.961688109164509,
      10.956442885195514,
      10.955243328378405,
      10.973536318871819,
      10.969638039749299
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4f5e535c78385629",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6f2f0885518356ef": {
    "vx_ego": [
      1.4671485697197135,
      1.4921772490055782,
      1.6119529100135794,
      1.9484923348355216,
      2.4276897949626917,
      2.8448322226617226,
      3.022585659743816,
      3.0270571347577118,
      2.991847563351422,
      2.933688396539753
    ],
    "vy_ego": [
      0.037069406938674235,
      0.004516556978557504,
      0.0023957841846141276,
      0.011910582230094974,
      0.024298310346924895,
      0.03355042192254795,
      0.033242196577572936,
      0.033453552692272015,
      0.013062777899690486,
      -0.020405767050757778
    ],
    "v_ego": [
      1.467616798269012,
      1.4921840844000436,
      1.6119546903939657,
      1.9485287375047469,
      2.427811390625662,
      2.8450300536032334,
      3.0227684519529876,
      3.0272419852524677,
      2.991876080070546,
      2.9337593635676593
    ],
    "ax_ego": [
      0.04995023013479421,
      0.049667004957232516,
      0.4294077182981896,
      0.9167038109341038,
      0.9999114745566148,
      0.6679264590125614,
      0.04241761360725158,
      -0.025132706528329194,
      -0.11619380987582209,
      -0.11637529557448706
    ],
    "ay_ego": [
      -0.04728742455200771,
      -0.04758480765227422,
      0.03272005692264189,
      0.01366345264898488,
      0.07040802513765237,
      0.022783206019611632,
      0.04072779492181226,
      0.008966896113331475,
      -0.04041844026874575,
      -0.03989287724683015
    ],
    "a_ego": [
      0.06878318116575247,
      0.06878317600057222,
      0.430652517302614,
      0.9168056320286215,
      1.0023872739384554,
      0.6683149176291002,
      0.05880482312980195,
      0.02668441798777706,
      0.12302297251821247,
      0.12302296970517289
    ],
    "yaw": [
      0.041289583678592534,
      0.04726023755737126,
      0.04619988029238648,
      0.04741029738910272,
      0.051373273512195505,
      0.05661858001337387,
      0.06199258087360931,
      0.06601870560315544,
      0.07016586183034432,
      0.07468548295350824
    ],
    "yaw_diff": [
      0.011941307757557446,
      -0.00212071452996955,
      0.002420834193432475,
      0.007925952246185572,
      0.010490613002356736,
      0.01074800172047087,
      0.008052249459092262,
      0.008294312454377756,
      0.00903924224632785,
      0.00903924224632785
    ],
    "min_front_frame": [
      9,
      16.408875988025883
    ],
    "v_avg": 2.3768771635640324,
    "v_std": 0.6425167588409841,
    "vy_max": 0.037069406938674235,
    "a_max": 1.0023872739384554,
    "ax_avg": 0.28982824995221096,
    "a_std": 0.3612784674247867,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "6f2f0885518356ef",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.210362975402136,
    "right_rear_min": 8.189451108486393,
    "speed_mode": "accelerating",
    "front_frame": [
      26.385890747506867,
      25.660044025908075,
      24.92014078665018,
      24.101269848475997,
      22.97972632041649,
      21.633083258779777,
      20.138215143659238,
      18.80952407605753,
      17.53841225796393,
      16.408875988025883
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "6f2f0885518356ef",
    "pedestrians": "No"
  },
  "a5f411a2c379503d": {
    "vx_ego": [
      6.810025277953751,
      6.906733616764688,
      7.030844788966062,
      7.155421780172885,
      7.216161187107604,
      7.2314195163159685,
      7.2565818131679585,
      7.326099840627085,
      7.4158670455767215,
      7.50441409183828
    ],
    "vy_ego": [
      -0.022248320525953158,
      0.028845905770079838,
      0.02950428194696819,
      0.025838887922227993,
      -0.012674223613772906,
      -0.011304019771214424,
      -0.01927851527170743,
      -0.02041676331649267,
      -0.037878338555140445,
      0.03432824563970582
    ],
    "v_ego": [
      6.810061620435992,
      6.906793853824444,
      7.030906694672063,
      7.155468433324373,
      7.216172317389769,
      7.23142835142674,
      7.256607421677919,
      7.326128289830893,
      7.415963781343764,
      7.504492607114065
    ],
    "ax_ego": [
      0.19100561342357736,
      0.1956085656563154,
      0.29871480078957935,
      0.19825921793969195,
      0.046489980300161104,
      0.021130935965535225,
      0.0801309905225987,
      0.19579701620624065,
      0.16961767928785165,
      0.18469837397758418
    ],
    "ay_ego": [
      0.30894483425728503,
      0.3060512108629718,
      0.3620697257599727,
      0.49661699444219265,
      0.6299129842165992,
      0.8011631845179135,
      0.7019426652363312,
      0.4336888800893476,
      0.5543820270890721,
      0.5495417185006594
    ],
    "a_ego": [
      0.36322177106222364,
      0.36322177058762917,
      0.4693879190207817,
      0.5347290497689976,
      0.6316262232942604,
      0.8014418036773873,
      0.7065015788526002,
      0.47583875028040684,
      0.5797495917086835,
      0.5797495922574
    ],
    "yaw": [
      -1.1329730816025896,
      -1.118004315032353,
      -1.0940873660268313,
      -1.0633627085764261,
      -1.0189347431917741,
      -0.9696295548659792,
      -0.9166129852158232,
      -0.8774465300454668,
      -0.8415851546715611,
      -0.8142648680844167
    ],
    "yaw_diff": [
      0.029937533140472983,
      0.04783389801104354,
      0.0614493149008104,
      0.08885593076930398,
      0.09861037665158978,
      0.106033139300312,
      0.07833291034071288,
      0.07172275074781131,
      0.05464057317428894,
      0.05464057317428894
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.1854023371040014,
    "v_std": 0.20644239055398725,
    "vy_max": 0.037878338555140445,
    "a_max": 0.8014418036773873,
    "ax_avg": 0.15814531740691357,
    "a_std": 0.13347256868215943,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "a5f411a2c379503d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "a5f411a2c379503d",
    "pedestrians": "No"
  },
  "0c38a8ace1f5548e": {
    "vx_ego": [
      7.527931155674422,
      7.716701627139031,
      7.921755009858759,
      8.072199406195772,
      8.218418700629202,
      8.424244202220319,
      8.67934083059678,
      8.948963568707063,
      9.182713010936267,
      9.447889429871761
    ],
    "vy_ego": [
      -0.02690843950963151,
      -0.04142221310676675,
      -0.06600109981207103,
      -0.03863006820079384,
      -0.046655841498113304,
      -0.073147708800966,
      -0.045392734247557076,
      -0.03774205718696866,
      -0.05550640187790856,
      -0.08346225871683488
    ],
    "v_ego": [
      7.527979247360509,
      7.716812800763591,
      7.922029953326278,
      8.07229183909728,
      8.21855113182352,
      8.424561766996874,
      8.679459531214308,
      8.949043156501535,
      9.182880768139572,
      9.44825807372516
    ],
    "ax_ego": [
      0.3232557904656316,
      0.4425234127269769,
      0.41182017347116784,
      0.22351669672035457,
      0.3829733246083765,
      0.47416081139045885,
      0.5763716068921124,
      0.5229527236949018,
      0.43273389351950836,
      0.6554754759158694
    ],
    "ay_ego": [
      1.3497819872474826,
      1.315514620742558,
      1.595596012920423,
      1.8270041894141118,
      1.8632798957953993,
      1.9569246852452191,
      2.016004839529651,
      2.0479611198795524,
      2.0365013150548976,
      1.9760941629795588
    ],
    "a_ego": [
      1.3879501861260453,
      1.3879501749698966,
      1.647884247065119,
      1.8406259864104642,
      1.9022304112375312,
      2.0135497755905014,
      2.0967784199190835,
      2.113675542688193,
      2.0819693150526692,
      2.081969317854857
    ],
    "yaw": [
      0.5417375184041551,
      0.6311745565259346,
      0.7272721035790317,
      0.8304505241056224,
      0.9448552554305661,
      1.062835053936165,
      1.1757814165167015,
      1.28997077980249,
      1.4042965415969373,
      1.5152039105315258
    ],
    "yaw_diff": [
      0.178874076243559,
      0.1921950941061943,
      0.2063568410531813,
      0.22880946264988755,
      0.23595959701119784,
      0.22589272516107295,
      0.22837872657157687,
      0.22865152358889462,
      0.22181473786917705,
      0.22181473786917705
    ],
    "min_front_frame": [
      9,
      25.666306753306046
    ],
    "v_avg": 8.414186826894863,
    "v_std": 0.6071095915567075,
    "vy_max": 0.08346225871683488,
    "a_max": 2.113675542688193,
    "ax_avg": 0.44457839094053586,
    "a_std": 0.27113488144804393,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "0c38a8ace1f5548e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      25.666306753306046
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0c38a8ace1f5548e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "5f4945f6b9b45024": {
    "vx_ego": [
      0.005682132371034972,
      -0.060522296088388244,
      -0.07119329115774288,
      -0.03725733296826949,
      -0.020665913603018934,
      -0.013141417757649442,
      -0.009166075840566845,
      -0.006689500470661241,
      -0.0050829754778224726,
      -0.003746476429039536
    ],
    "vy_ego": [
      0.00580397516648213,
      0.009976798566002566,
      0.00897889585714937,
      0.0047509590825459275,
      0.003001570733507687,
      0.002118060607514483,
      0.0016302315401260457,
      0.0013022433284793386,
      0.0010837322947389988,
      0.0008883635211959574
    ],
    "v_ego": [
      0.008122361480204189,
      0.06133909710321082,
      0.0717572663685336,
      0.03755902650645416,
      0.020882753935142103,
      0.01331101203583592,
      0.009309919504992775,
      0.006815075511947459,
      0.005197221892011621,
      0.0038503604219787676
    ],
    "ax_ego": [
      -0.1324108537553329,
      -0.13241001824512655,
      0.08972461894239021,
      0.046018231976884254,
      0.020348595704170462,
      0.0097488628656627,
      0.006152943241864403,
      0.003752862158628145,
      0.0026731095548620295,
      0.002673134907629444
    ],
    "ay_ego": [
      0.008333522094874035,
      0.008346780136203512,
      -0.01234941953959584,
      -0.004570486976705125,
      -0.002418901070690486,
      -0.0011186083248577857,
      -0.000830209698261575,
      -0.0004844410015306952,
      -0.00039025166607206,
      -0.00039007825991771547
    ],
    "a_ego": [
      0.132672837396062,
      0.1326728369724446,
      0.09057049965260255,
      0.046244643208511876,
      0.020491862519584993,
      0.009812828937566286,
      0.006208700240846903,
      0.0037840001936610894,
      0.002701446104434937,
      0.0027014461466495143
    ],
    "yaw": [
      -0.5205397451610714,
      -0.5204395977466966,
      -0.5204101641703484,
      -0.5203683778939888,
      -0.5204477648426519,
      -0.5203923490195534,
      -0.5204510592254818,
      -0.5203630409598554,
      -0.5203352450697989,
      -0.5203995886575183
    ],
    "yaw_diff": [
      0.00020029482874961424,
      5.886715269642906e-05,
      8.357255271906894e-05,
      -0.00015877389732610325,
      0.00011083164619685171,
      -0.00011742041185680563,
      0.00017603653125286556,
      5.5591780113051215e-05,
      -0.00012868717543890185,
      -0.00012868717543890185
    ],
    "min_front_frame": [
      0,
      11.343545278621688
    ],
    "v_avg": 0.02381440947603114,
    "v_std": 0.023463186166544858,
    "vy_max": 0.009976798566002566,
    "a_max": 0.132672837396062,
    "ax_avg": -0.008372851264836782,
    "a_std": 0.05106021891194837,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5f4945f6b9b45024",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.237380887969536,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.343545278621688,
      11.422071094132807,
      11.44784313157842,
      11.429027878151132,
      11.42587341386873,
      11.431465910049242,
      11.422121608172393,
      11.436047735084758,
      11.404622427003144,
      11.417447700870255
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5f4945f6b9b45024",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6b61ec04ecb25221": {
    "vx_ego": [
      0.04559192436842334,
      0.5309566103764154,
      1.1111197954440593,
      1.8203303430614735,
      2.45941854823032,
      2.952991951266794,
      3.3924888930823447,
      3.8159203621852607,
      4.305786438808167,
      4.90242369110251
    ],
    "vy_ego": [
      0.014878747141463065,
      0.004165618911667779,
      -0.011699110694826376,
      -0.03727456309025756,
      -0.01932911363367351,
      0.005780301822183365,
      0.07013493801570658,
      0.11018581572128738,
      0.12760720929882363,
      0.02042474244084025
    ],
    "v_ego": [
      0.04795832236552514,
      0.5309729508019498,
      1.1111813843917193,
      1.8207119351846606,
      2.459494502944294,
      2.95299760855569,
      3.3932137862530176,
      3.817510854539415,
      4.30767692108976,
      4.902466238250594
    ],
    "ax_ego": [
      0.970734104214996,
      0.9707469526621253,
      1.3499039474010281,
      1.486582873831793,
      1.073362207168132,
      0.9404987083240762,
      0.8974776656682344,
      0.9208228699488115,
      1.1097904518354056,
      1.305724870741042
    ],
    "ay_ego": [
      -0.02205253462538942,
      -0.021480025323368512,
      -0.050225297228780996,
      -0.22186232014868956,
      -0.5251910972056613,
      -1.0836262938070709,
      -1.4966424728191345,
      -1.8104648445855562,
      -1.532632086082545,
      -1.3695541421828061
    ],
    "a_ego": [
      0.9709845597997399,
      0.9709845712423525,
      1.35083797980757,
      1.5030474143791182,
      1.194961135920717,
      1.4348462513416915,
      1.7451088366687841,
      2.031181358545063,
      1.8922462731565275,
      1.8922462805992757
    ],
    "yaw": [
      -2.0150790697596097,
      -2.0156688331419503,
      -2.018333626713704,
      -2.0476324249918814,
      -2.140973804253341,
      -2.297591211967159,
      -2.5198919306166987,
      -2.7594392845490763,
      -2.9699897924677865,
      -3.1048105996156634
    ],
    "yaw_diff": [
      -0.001179526764681249,
      -0.00532958714350773,
      -0.058597596556354326,
      -0.18668275852291938,
      -0.3132348154276361,
      -0.4446014372990792,
      -0.47909470786475516,
      -0.42110101583742043,
      -0.26964161429575384,
      -0.26964161429575384
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.5344184504376623,
    "v_std": 1.5507427949047672,
    "vy_max": 0.12760720929882363,
    "a_max": 2.031181358545063,
    "ax_avg": 1.1025644651795643,
    "a_std": 0.36458124754394183,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "6b61ec04ecb25221",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "6b61ec04ecb25221",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f7a474593242588b": {
    "vx_ego": [
      2.911089656442598,
      3.4664030463243467,
      4.002217066781101,
      4.514103431618516,
      5.021175580715922,
      5.532363063287439,
      6.022535084238396,
      6.472036856024802,
      6.817865503539731,
      7.07483097483577
    ],
    "vy_ego": [
      -0.017423957825900893,
      -0.010560092422554845,
      -0.011506424504410084,
      -0.02323325470771853,
      -0.027135453102056672,
      -0.016547004889373884,
      -0.003137971601857359,
      0.0020734635918429056,
      -0.008162599602359766,
      -0.04202949449312632
    ],
    "v_ego": [
      2.911141800420138,
      3.466419131484057,
      4.0022336073046505,
      4.514163219853085,
      5.021248902931713,
      5.532387808839687,
      6.022535901740077,
      6.472037188165306,
      6.817870389820368,
      7.0749558161802675
    ],
    "ax_ego": [
      1.1105992523432122,
      1.110591861659,
      1.0326235307215372,
      1.014748297725945,
      1.0133459235125413,
      1.0311910767711985,
      0.9287723956865059,
      0.8692370689160351,
      0.514056253758395,
      0.5139803021169895
    ],
    "ay_ego": [
      0.0060771644247663015,
      0.007302740718431566,
      -0.04477043505393752,
      -0.04470879207965334,
      -0.0011609343629424007,
      -0.1214067219927844,
      0.02776815673299754,
      0.02700206278000153,
      -0.043001557187730355,
      -0.04390000894902851
    ],
    "a_ego": [
      1.1106158792457217,
      1.1106158711297098,
      1.0335936087528466,
      1.0157327324778525,
      1.0133465885214594,
      1.038313357786356,
      0.9291874049499379,
      0.8696563651075723,
      0.5158516898767368,
      0.5158516858070705
    ],
    "yaw": [
      -1.881011056709504,
      -1.8821145896609957,
      -1.8843636446706133,
      -1.8868617633866671,
      -1.8884484929316785,
      -1.896265319365806,
      -1.9026240331397726,
      -1.9012680800128363,
      -1.900335823556036,
      -1.8985879290912975
    ],
    "yaw_diff": [
      -0.002207065902983363,
      -0.004498110019235391,
      -0.004996237432107531,
      -0.0031734590900227566,
      -0.0156336528682548,
      -0.012717427547933369,
      0.0027119062538725203,
      0.001864512913600791,
      0.003495788929476884,
      0.003495788929476884
    ],
    "min_front_frame": [
      9,
      62.85331307246439
    ],
    "v_avg": 5.183499376673934,
    "v_std": 1.3680829521275615,
    "vy_max": 0.04202949449312632,
    "a_max": 1.1106158792457217,
    "ax_avg": 0.913914596321136,
    "a_std": 0.2113093035387855,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f7a474593242588b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.89434305001184,
    "right_rear_min": 7.314057688004283,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      78.31223680857632,
      75.63296117793054,
      72.7464728050999,
      69.61536021153462,
      66.28766242261808,
      62.85331307246439
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f7a474593242588b",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "e6ff5e16c5f25533": {
    "vx_ego": [
      5.708099051842935,
      6.130337902335243,
      6.721759280772121,
      7.2909220975000935,
      7.659840192490572,
      7.861631636421869,
      7.924167094402358,
      7.893894556857245,
      7.642402630760908,
      7.2383781365012645
    ],
    "vy_ego": [
      -0.0968496542141728,
      -0.09555877420830572,
      -0.12535071549731258,
      -0.1602856320773003,
      -0.11840977184743318,
      -0.060065521010433165,
      -0.02156516887882093,
      -0.007119758196924952,
      -0.03385018516150873,
      -0.01669876284030042
    ],
    "v_ego": [
      5.70892061962431,
      6.131082634913369,
      6.722927980465196,
      7.292683766328112,
      7.660755357571665,
      7.861861093507278,
      7.924196438536709,
      7.89389776762641,
      7.6424775960219025,
      7.238397398296112
    ],
    "ax_ego": [
      0.7707207705484653,
      0.9600162609028617,
      1.446819065011447,
      0.8578473012136664,
      0.6418781950423817,
      0.17385810412220265,
      0.07625562002217055,
      -0.1975862358067001,
      -0.8080950827914256,
      -0.8081148260557274
    ],
    "ay_ego": [
      1.550056717522609,
      1.4405051753835172,
      1.29173668696086,
      0.8459332345402105,
      0.7452061354805675,
      0.5406786121347616,
      0.21118248913018206,
      -0.04650039666274347,
      0.01820350650073524,
      0.017304825323059277
    ],
    "a_ego": [
      1.7310939702083723,
      1.7310939840183748,
      1.9395538340869058,
      1.2047842252865173,
      0.9835343418654723,
      0.5679436609285632,
      0.22452831291439646,
      0.2029842542416859,
      0.8083000868987973,
      0.8083000860265573
    ],
    "yaw": [
      2.6731359455004435,
      2.799562551246394,
      2.9114378943026025,
      2.9918120329023115,
      3.039242632680611,
      3.0728906802193037,
      3.0917975216797142,
      3.0951620191673834,
      3.097667760061789,
      3.0965556767291806
    ],
    "yaw_diff": [
      0.2528532114919013,
      0.22375068611241655,
      0.16074827719941798,
      0.09486119955659866,
      0.06729609507738576,
      0.0378136829208211,
      0.006728994975338409,
      0.005011481788811167,
      -0.0022241666652167424,
      -0.0022241666652167424
    ],
    "min_front_frame": [
      4,
      17.228408053599132
    ],
    "v_avg": 7.207720065289107,
    "v_std": 0.7385841207040293,
    "vy_max": 0.1602856320773003,
    "a_max": 1.9395538340869058,
    "ax_avg": 0.31135991722093437,
    "a_std": 0.5904779100592844,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "e6ff5e16c5f25533",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      20.921057009275568,
      17.228408053599132,
      19.106678442905956,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      0,
      0,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.6666666666666666,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "e6ff5e16c5f25533",
    "pedestrians": "No"
  },
  "7427658d61b55fb8": {
    "vx_ego": [
      5.481944278770636,
      5.342328075166153,
      5.186806226730934,
      5.013735910017428,
      4.731525179873023,
      4.249490599703807,
      3.6723708332727494,
      3.0731984761239355,
      2.4319613802076554,
      1.765909388938512
    ],
    "vy_ego": [
      0.05396688029859109,
      0.003484830275559153,
      -0.03220870246722188,
      -0.02390913119381924,
      -0.04130488429189946,
      -0.010327654941703318,
      -0.006057426377561348,
      -0.0351994868776125,
      -0.026250757062193215,
      0.009561238826168349
    ],
    "v_ego": [
      5.482209910220082,
      5.342329211753103,
      5.186906229552393,
      5.013792917737303,
      4.7317054664506335,
      4.249503149478492,
      3.6723758290086144,
      3.0734000516572726,
      2.432103052312517,
      1.7659352726612265
    ],
    "ax_ego": [
      -0.2808197769937166,
      -0.2755433590011491,
      -0.34768644956882844,
      -0.3447445788232615,
      -0.7839619196774897,
      -1.1441575906156112,
      -1.1641264422745927,
      -1.2329640701206288,
      -1.3320988515857113,
      -1.33211825712175
    ],
    "ay_ego": [
      -0.29223536373717895,
      -0.29721559633508016,
      0.0501856309162335,
      -0.0869537834990809,
      0.03154654680164301,
      0.0948909694144475,
      -0.11938605842833672,
      -0.041926189486832806,
      0.07065140115127888,
      0.07028455476613629
    ],
    "a_ego": [
      0.4052915678488784,
      0.40529156590589627,
      0.3512897162802206,
      0.35554153778824915,
      0.7845963778399204,
      1.148085749515137,
      1.1702322011250397,
      1.2336767013984307,
      1.3339711282035343,
      1.333971127721947
    ],
    "yaw": [
      -3.0802304029092404,
      -3.098132744775886,
      -3.1030750959919056,
      -3.1065048855512494,
      -3.1057856736111527,
      -3.10564629728654,
      -3.1082687751737987,
      -3.1115768816640985,
      -3.1122161036373748,
      -3.1124914845944565
    ],
    "yaw_diff": [
      -0.03580468373329104,
      -0.009884702432039205,
      -0.00685957911868762,
      0.0014384238801934401,
      0.0002787526492253889,
      -0.005244955774517557,
      -0.006616212980599556,
      -0.001278443946552521,
      -0.0005507619141633668,
      -0.0005507619141633668
    ],
    "min_front_frame": [
      8,
      64.3343144621399
    ],
    "v_avg": 4.095026109083164,
    "v_std": 1.2392712621471147,
    "vy_max": 0.05396688029859109,
    "a_max": 1.3339711282035343,
    "ax_avg": -0.8238221295782739,
    "a_std": 0.41231413460803507,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7427658d61b55fb8",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.133407253348654,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      64.3343144621399,
      66.31334474721997
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7427658d61b55fb8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cbc6f9e782c950ad": {
    "vx_ego": [
      3.8045702285360097,
      4.0502251879408195,
      4.305112261367113,
      4.566100198789473,
      4.761084108283942,
      4.85263491640024,
      4.877144707809422,
      4.860395662433563,
      4.8495563957855525,
      4.862106132184542
    ],
    "vy_ego": [
      -0.04795741457603553,
      0.03439381342539338,
      -0.004010949896826599,
      0.006810018953677055,
      -0.008778459566194607,
      -0.028330680964291588,
      -0.03725120333824905,
      -0.009171825561173574,
      0.026520543589435897,
      0.022479286853990477
    ],
    "v_ego": [
      3.8048724732210624,
      4.05037121847272,
      4.3051141298103275,
      4.566105277120033,
      4.761092201113759,
      4.852717615867491,
      4.877286966445957,
      4.860404316287599,
      4.849628911075242,
      4.862158096870565
    ],
    "ax_ego": [
      0.48172919939548886,
      0.5015888614735642,
      0.5240475894685112,
      0.5237905098386598,
      0.25836557166207325,
      0.1125626032140839,
      -0.005639710393647301,
      -0.05283835886950511,
      0.0008363970000444115,
      0.04282632855076651
    ],
    "ay_ego": [
      0.49573514716989536,
      0.4756311472846623,
      0.745112766273564,
      0.8454384870677061,
      0.8841242618506808,
      0.8370477811213943,
      0.7840408337440804,
      0.8208988958385558,
      0.6349349793584015,
      0.6334895683383415
    ],
    "a_ego": [
      0.6912426185427056,
      0.6912426305008036,
      0.9109439667134308,
      0.9945464964557339,
      0.9211017745142396,
      0.8445823391017485,
      0.7840611170766199,
      0.8225976473081981,
      0.6349355302491706,
      0.6349355302789697
    ],
    "yaw": [
      -2.330537706194292,
      -2.289653259850297,
      -2.207399750358639,
      -2.1202483764788944,
      -2.024940328342134,
      -1.9317772377860365,
      -1.8469467725011108,
      -1.7704342101085353,
      -1.7027521291193546,
      -1.636568293176285
    ],
    "yaw_diff": [
      0.08176889268798959,
      0.16450701898331666,
      0.17430274775948895,
      0.19061609627352105,
      0.1863261811121948,
      0.16966093056985132,
      0.15302512478515107,
      0.13536416197836143,
      0.13236767188613907,
      0.13236767188613907
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.578975120628476,
    "v_std": 0.37196269649070407,
    "vy_max": 0.04795741457603553,
    "a_max": 0.9945464964557339,
    "ax_avg": 0.23872689913400397,
    "a_std": 0.12051405425517207,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "cbc6f9e782c950ad",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "cbc6f9e782c950ad",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "88c0bfe353235280": {
    "vx_ego": [
      3.1544832905624647,
      3.1665788919300972,
      3.393704522798405,
      3.86234345975606,
      4.513214851606769,
      5.2455107942265595,
      6.008207619407244,
      6.772444167692638,
      7.535326578598114,
      8.278293735463166
    ],
    "vy_ego": [
      0.07294131431532636,
      -0.035168535474015605,
      -0.03047399831590214,
      0.014045801037312122,
      0.040345949324229746,
      0.1366748155253914,
      0.13519585366935982,
      0.0815144498898106,
      0.04532744727898752,
      0.024702908107268495
    ],
    "v_ego": [
      3.1553264911529904,
      3.16677417961948,
      3.393841341700538,
      3.8623689991567596,
      4.51339518460225,
      5.247291062781466,
      6.009728506076847,
      6.772934711781508,
      7.5354629070551455,
      8.278330592835589
    ],
    "ax_ego": [
      -0.1793343646893528,
      0.24520623484688092,
      0.665818602758603,
      1.2262371286486256,
      1.3784633982102497,
      1.5661850636315005,
      1.4949295868019903,
      1.5690703410209468,
      1.485400921372006,
      1.4879859840662881
    ],
    "ay_ego": [
      -1.7400732590622077,
      -1.732018956620773,
      -2.0118977246744465,
      -2.1913022388778933,
      -1.9832028392199925,
      -1.433145151317631,
      -0.5778792565076213,
      -0.27515602903470016,
      -0.2324398748603805,
      -0.2152716910007764
    ],
    "a_ego": [
      1.7492900735046508,
      1.7492900742019588,
      2.1192090190280037,
      2.5110680989944685,
      2.415213208330807,
      2.122932094601154,
      1.6027348204234444,
      1.59301367708684,
      1.5034773668525623,
      1.503477365883522
    ],
    "yaw": [
      -1.4313645296160522,
      -1.6747011875042919,
      -1.964113977967572,
      -2.2695661880526266,
      -2.5248250636463947,
      -2.719927848410904,
      -2.808814974327758,
      -2.833821657909538,
      -2.8464830772991645,
      -2.8580308528937577
    ],
    "yaw_diff": [
      -0.4866733157764793,
      -0.5788255809265603,
      -0.610904420170109,
      -0.5105177511875363,
      -0.3902055695290185,
      -0.17777425183370799,
      -0.05001336716355986,
      -0.02532283877925323,
      -0.02309555118918638,
      -0.02309555118918638
    ],
    "min_front_frame": [
      6,
      31.005148948453378
    ],
    "v_avg": 5.193545397676258,
    "v_std": 1.7860486800796664,
    "vy_max": 0.1366748155253914,
    "a_max": 2.5110680989944685,
    "ax_avg": 1.0939962896667739,
    "a_std": 0.3574069218240514,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "88c0bfe353235280",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      31.005148948453378,
      31.68194491601791,
      32.17099708787102,
      32.46114283242961
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "88c0bfe353235280",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "6884907db45c5cad": {
    "vx_ego": [
      13.326248068204634,
      13.395728502313599,
      13.42533215774589,
      13.369053219445401,
      13.27906792545907,
      13.177986591024453,
      13.066407482783328,
      12.985606903654357,
      12.912114574031182,
      12.827874142622226
    ],
    "vy_ego": [
      0.014396927712021945,
      0.01083403713865927,
      0.010464654936766848,
      -0.0011591084304827248,
      0.009037301336150882,
      0.025401349553412444,
      0.012200004022856703,
      -0.020470457924213203,
      -0.03705311946747125,
      -0.03300932806652446
    ],
    "v_ego": [
      13.326255845017208,
      13.395732883424394,
      13.42533623619196,
      13.36905326969325,
      13.279071000705256,
      13.178011072304479,
      13.066413178306979,
      12.985623038417653,
      12.912167738477175,
      12.82791661317984
    ],
    "ax_ego": [
      0.13871874699696307,
      0.13946033400057897,
      -0.02088845853251361,
      -0.2039741906785214,
      -0.15620845923448828,
      -0.2477566720401002,
      -0.19789517088511718,
      -0.12551854558478878,
      -0.16898035961251934,
      -0.16856513317395375
    ],
    "ay_ego": [
      -0.1447368059984994,
      -0.1440223866537239,
      -0.12256722783936656,
      -0.18818304024338678,
      -0.07087160550451846,
      -0.09678940606651817,
      -0.2153191964502534,
      -0.15748622112402386,
      -0.0990644222931383,
      -0.09976931243503716
    ],
    "a_ego": [
      0.20047851201326963,
      0.20047850911503656,
      0.12433444028141091,
      0.27752175968417675,
      0.17153386605332743,
      0.26599164961910954,
      0.29244632844272905,
      0.2013872268284303,
      0.19587782339777413,
      0.19587781861587295
    ],
    "yaw": [
      1.2978407496005697,
      1.2927043606397328,
      1.2877695092631072,
      1.2828467608596776,
      1.2772183356390827,
      1.2728165731686556,
      1.2678740717340782,
      1.2632239243460384,
      1.25955294486861,
      1.2553763801977114
    ],
    "yaw_diff": [
      -0.010272777921673804,
      -0.009869702753251275,
      -0.009845496806859089,
      -0.011256850441189847,
      -0.008803524940854235,
      -0.009885002869154835,
      -0.009300294776079632,
      -0.0073419589548566755,
      -0.008353129341797327,
      -0.008353129341797327
    ],
    "min_front_frame": [
      0,
      47.86442445995474
    ],
    "v_avg": 13.17655808757182,
    "v_std": 0.20492540325904593,
    "vy_max": 0.03705311946747125,
    "a_max": 0.29244632844272905,
    "ax_avg": -0.10116079087444604,
    "a_std": 0.0488845834602067,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6884907db45c5cad",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.518918227045191,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      47.86442445995474,
      48.20262250683764,
      48.687680223276836,
      48.973952073595186,
      49.30632382840322,
      49.5776606335065,
      50.134376969265176,
      50.08827616262045,
      50.33738185223352,
      50.907801541816646
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6884907db45c5cad",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "bc667a4fc0f454d7": {
    "vx_ego": [
      3.9305846236461446,
      3.750888886186701,
      3.6740683183168286,
      3.8900708364036802,
      4.448449240640095,
      5.18923554347843,
      5.9742091609852945,
      6.6862379217703545,
      7.137724721636317,
      7.416917469473576
    ],
    "vy_ego": [
      0.05008419558096966,
      0.009618282917837284,
      -0.012392847757247472,
      -0.006600940752653273,
      0.008184484865276342,
      0.051168198382650854,
      0.09425137226003555,
      0.07958153182532612,
      0.05372282668320638,
      0.02860956532014791
    ],
    "v_ego": [
      3.9309037014776256,
      3.7509012180921535,
      3.674089219158264,
      3.8900764368656366,
      4.44845676975105,
      5.18948780808141,
      5.974952587290841,
      6.686711506168605,
      7.137926893991355,
      7.416972647664957
    ],
    "ax_ego": [
      -0.3667011136455618,
      -0.3567428343971015,
      0.046798482167815646,
      0.817397153833819,
      1.4195970621935414,
      1.5510560923881487,
      1.6029168907872293,
      1.252449135893892,
      0.5576363928474013,
      0.5614825613302096
    ],
    "ay_ego": [
      0.2314747846486565,
      0.2465457998703582,
      0.007407010428937938,
      -0.11154618654258441,
      -0.33198971444473935,
      -0.4101452980240444,
      -0.4416199343013818,
      -0.2931629318361213,
      -0.2671258622410986,
      -0.2589438052900276
    ],
    "a_ego": [
      0.4336476480704549,
      0.43364764651430143,
      0.04738102718077938,
      0.8249731261246155,
      1.457900198739829,
      1.6043672170752012,
      1.6626396859041215,
      1.2863021972320918,
      0.6183159167496108,
      0.6183159071025202
    ],
    "yaw": [
      -0.4932229505436548,
      -0.4515643336904803,
      -0.42821790696501466,
      -0.4368529325465668,
      -0.4675466284887587,
      -0.5151215669860251,
      -0.5610351983287224,
      -0.5875515336258903,
      -0.6038701050882171,
      -0.61849214619461
    ],
    "yaw_diff": [
      0.08331723370634891,
      0.046692853450931326,
      -0.017270051163104316,
      -0.0613873918843838,
      -0.0951498769945327,
      -0.09182726268539465,
      -0.05303267059433581,
      -0.032637142924653695,
      -0.029244082212785738,
      -0.029244082212785738
    ],
    "min_front_frame": [
      9,
      29.23907762340336
    ],
    "v_avg": 5.21004787885419,
    "v_std": 1.407128468317068,
    "vy_max": 0.09425137226003555,
    "a_max": 1.6626396859041215,
    "ax_avg": 0.7085889823399394,
    "a_std": 0.5352072371595042,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bc667a4fc0f454d7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.1314971155437115,
    "speed_mode": "accelerating",
    "front_frame": [
      45.16012891016385,
      43.35118847562486,
      41.72211397577453,
      40.26455469148913,
      38.66123911621302,
      36.43132757042685,
      34.51104206290389,
      32.75323686851046,
      31.040545254570617,
      29.23907762340336
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bc667a4fc0f454d7",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "9666a4125db25507": {
    "vx_ego": [
      3.3985768455797127,
      2.963939120233747,
      2.5325764762950027,
      2.1048938867038087,
      1.7080403536508386,
      1.2702481253036455,
      0.7635215125312358,
      0.3193370809128554,
      0.05779547265276602,
      -0.0812442029925983
    ],
    "vy_ego": [
      -0.01805966801951163,
      -0.011048181769658993,
      -0.001880340107669104,
      -0.0084162450994016,
      -0.016025054186761194,
      -0.0185441769145574,
      -0.010035349474919481,
      0.004009752487078548,
      0.006878709441572669,
      0.00438311152623034
    ],
    "v_ego": [
      3.3986248287976015,
      2.963959711394946,
      2.5325771743348184,
      2.104910712468498,
      1.708115526555909,
      1.2703834800306812,
      0.7635874595205646,
      0.31936225412680064,
      0.0582033787914259,
      0.08136235116166378
    ],
    "ax_ego": [
      -0.8692468141617814,
      -0.8692056464333826,
      -0.8562583107018075,
      -0.8544727991364454,
      -0.7330070524883013,
      -1.0182248089469035,
      -1.0086426921313325,
      -0.7680950280570439,
      -0.27807929710171847,
      -0.27807927959008344
    ],
    "ay_ego": [
      0.023921624016895928,
      0.02537309337406634,
      0.00021221238173479984,
      -0.027404121466400255,
      -0.01180443851662277,
      -0.0035121012113894026,
      0.03955758635857512,
      0.01658975820412959,
      -0.0049902805560246635,
      -0.004991846759238501
    ],
    "a_ego": [
      0.8695759127448346,
      0.8695759021839575,
      0.8562583369988336,
      0.8549121301849784,
      0.7331020964137805,
      1.0182308659679675,
      1.0094180912924329,
      0.7682741647375776,
      0.278124070113706,
      0.27812408071112343
    ],
    "yaw": [
      -1.5336096302632845,
      -1.5319397872396237,
      -1.5329488436344967,
      -1.5330618779109622,
      -1.5342215819580174,
      -1.5350807202837387,
      -1.534585937091515,
      -1.534602099372433,
      -1.5343592885773507,
      -1.5343649267928718
    ],
    "yaw_diff": [
      0.0033396860473215995,
      -0.0020181127897460627,
      -0.00022606855293094696,
      -0.0023194080941104644,
      -0.0017182766514425296,
      0.0009895663844474711,
      -3.232456183610566e-05,
      0.00048562159016452,
      -1.1276431042261947e-05,
      -1.1276431042261947e-05
    ],
    "min_front_frame": [
      7,
      9.34972172426719
    ],
    "v_avg": 1.5201086877182908,
    "v_std": 1.1532388428220588,
    "vy_max": 0.0185441769145574,
    "a_max": 1.0182308659679675,
    "ax_avg": -0.7533311728748799,
    "a_std": 0.2521837194774982,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9666a4125db25507",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.04304209249978,
    "right_rear_min": 2.8836374918019057,
    "speed_mode": "decelerating",
    "front_frame": [
      14.457457060616626,
      13.412494062358734,
      12.444641389543664,
      11.562249448690906,
      10.770152837767473,
      10.056709659283477,
      9.55757160990895,
      9.34972172426719,
      9.357614277308075,
      9.385403818143402
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9666a4125db25507",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2e54d786ec095896": {
    "vx_ego": [
      1.6391665451810202,
      2.4335883989140115,
      3.152885791467432,
      3.7744037232632643,
      4.374169617818918,
      4.957475796060972,
      5.5104625090036965,
      6.02494310531245,
      6.523190358290737,
      7.030498365956271
    ],
    "vy_ego": [
      0.030507916659522683,
      0.030771566129547345,
      0.019950947904947114,
      0.012105133045759997,
      0.022986089263728804,
      0.0003501838358652698,
      -0.015607041917444331,
      -0.0050121194423127235,
      -0.002146578747272976,
      -0.02492628980619127
    ],
    "v_ego": [
      1.6394504249350104,
      2.4337829370366877,
      3.1529489140104254,
      3.7744231347888975,
      4.374230012899383,
      4.957475808429033,
      5.5104846105304315,
      6.02494519009039,
      6.523190711476827,
      7.030542553291125
    ],
    "ax_ego": [
      1.5889450117857808,
      1.5889568361698483,
      1.2885952146762691,
      1.1976117681115475,
      1.2017586079219043,
      1.1319380375780081,
      1.0794973045352572,
      0.978274769240034,
      1.014646816808739,
      1.0146220013604688
    ],
    "ay_ego": [
      -0.008087649140233633,
      -0.005275214077724355,
      -0.06881787117057492,
      -0.013876466742087312,
      -0.01384784704308517,
      -0.15270291390161034,
      -0.024374741906791952,
      -0.04421665817404724,
      -0.03594493911139279,
      -0.03663871622301734
    ],
    "a_ego": [
      1.5889655945134655,
      1.588965592797547,
      1.2904315273113216,
      1.197692157212575,
      1.201838389544169,
      1.1421917093159077,
      1.0797724568361189,
      0.9792735251152879,
      1.0152833109570099,
      1.0152833107912262
    ],
    "yaw": [
      2.5640874826537763,
      2.5623174913927143,
      2.559596458644884,
      2.555905036493569,
      2.5515326698899425,
      2.5474677307475155,
      2.5420651943350725,
      2.537265710840785,
      2.533612174901686,
      2.534295943768657
    ],
    "yaw_diff": [
      -0.0035399825221240633,
      -0.005442065495660842,
      -0.0073828443026293655,
      -0.008744733207253219,
      -0.008129878284854009,
      -0.010805072824886075,
      -0.009598966988574986,
      -0.0073070718781975685,
      0.001367537733941937,
      0.001367537733941937
    ],
    "min_front_frame": [
      9,
      49.32664229481097
    ],
    "v_avg": 4.542147429748821,
    "v_std": 1.6983470385881443,
    "vy_max": 0.030771566129547345,
    "a_max": 1.5889655945134655,
    "ax_avg": 1.2084846368187858,
    "a_std": 0.21084075038122393,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "2e54d786ec095896",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      69.85137375804624,
      68.7852382184443,
      67.39610465675905,
      65.61751660345725,
      63.608013076260704,
      61.23706752134195,
      58.674575217305815,
      55.758870398864325,
      52.66790315690849,
      49.32664229481097
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2e54d786ec095896",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "55790fb5a5e853d0": {
    "vx_ego": [
      10.797718723454757,
      10.771442601751943,
      10.70860987172686,
      10.61627323858533,
      10.532847424281005,
      10.464814388569934,
      10.496465791791707,
      10.640726030802705,
      10.759397340308606,
      10.846558172565462
    ],
    "vy_ego": [
      0.034521157997063456,
      0.036535925004361536,
      0.04436665832508946,
      0.03787957599320868,
      0.06163307998009038,
      0.0496211286046655,
      0.06481624250761664,
      0.053633173125414046,
      0.013503742760486936,
      0.026618597683747858
    ],
    "v_ego": [
      10.797773906745542,
      10.771504565131679,
      10.70870177870394,
      10.616340816805971,
      10.533027746081885,
      10.464932032441698,
      10.49666591178105,
      10.640861195404336,
      10.759405814342559,
      10.846590834939303
    ],
    "ax_ego": [
      -0.05295386070244981,
      -0.05266093235023601,
      -0.19921585067424838,
      -0.17170356432490247,
      -0.16475839716443594,
      -0.1119294392145734,
      0.23492550167009385,
      0.342088545169526,
      0.1307622994452478,
      0.21266714348430982
    ],
    "ay_ego": [
      0.08143354389150596,
      0.08162328721014053,
      0.24745680968183847,
      0.3670143046404196,
      0.434998150182232,
      0.48499739058774016,
      0.6663985384769483,
      1.138968955731588,
      1.3480611392092128,
      1.3375874922780777
    ],
    "a_ego": [
      0.09713667399095095,
      0.09713668107870077,
      0.31768196017051087,
      0.4051933042543604,
      0.4651545120690088,
      0.4977455858566763,
      0.7065953604568587,
      1.1892328850382952,
      1.3543882803694993,
      1.35438828015327
    ],
    "yaw": [
      1.6943917019172487,
      1.6979847511081987,
      1.7049039369739654,
      1.7199242776897428,
      1.7366398667384995,
      1.7597045698153533,
      1.785826153165082,
      1.8296387696294392,
      1.891325102040628,
      1.9523006605847315
    ],
    "yaw_diff": [
      0.007186098381899875,
      0.01383837173153335,
      0.030040681431554805,
      0.03343117809751339,
      0.04612940615370764,
      0.05224316669945761,
      0.08762523292871416,
      0.12337266482237785,
      0.12195111708820683,
      0.12195111708820683
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.663580460237798,
    "v_std": 0.12707483899363387,
    "vy_max": 0.06481624250761664,
    "a_max": 1.3543882803694993,
    "ax_avg": 0.01672214453383315,
    "a_std": 0.4610106128934461,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "55790fb5a5e853d0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "55790fb5a5e853d0",
    "road_shape": "Curve"
  },
  "e6077696f29b54ca": {
    "vx_ego": [
      3.428281494140164,
      3.04995097282256,
      2.7246463611237823,
      2.3471529147343895,
      1.812298468633209,
      1.1697828402498653,
      0.5899585265663074,
      0.16536240831952523,
      -0.020387179297705983,
      -0.054879664340927614
    ],
    "vy_ego": [
      0.02933348096526256,
      0.07712679412237444,
      0.03331475912838899,
      0.035105586134015695,
      0.05493886841745155,
      0.0342038360368489,
      0.008078862217209992,
      -0.0006361030070018148,
      0.013331485762558734,
      0.03412286581873332
    ],
    "v_ego": [
      3.42840698520019,
      3.050926003526286,
      2.7248500263979394,
      2.347415431346559,
      1.8131309987624349,
      1.1702827845194843,
      0.5900138397385379,
      0.1653636317703167,
      0.024359096706448653,
      0.06462311915913808
    ],
    "ax_ego": [
      -0.8338717353875362,
      -0.6268367257791809,
      -0.656810096320448,
      -0.8599380527568761,
      -1.27053743268419,
      -1.2932822198164518,
      -1.0247515372555975,
      -0.6739796815859839,
      -0.0690203732883552,
      -0.06899881382755045
    ],
    "ay_ego": [
      -1.0383546443899694,
      -1.1749885857087512,
      -0.9424700354683542,
      -0.57791850469895,
      -0.36663588494326493,
      -0.17331803201523133,
      -0.06711727703633386,
      0.014342735712805005,
      0.04152579288728489,
      0.04156160961544367
    ],
    "a_ego": [
      1.3317366250893758,
      1.3317366321204112,
      1.1487598836938018,
      1.0360903689605256,
      1.3223793857966266,
      1.304844067432964,
      1.0269471466363214,
      0.6741322757875279,
      0.08054938487525262,
      0.08054938673531603
    ],
    "yaw": [
      0.43906852697475074,
      0.25253231192692654,
      0.08497490004334246,
      -0.06384961489539123,
      -0.18382085345180174,
      -0.26026441807649014,
      -0.3004146141218649,
      -0.3138310720739039,
      -0.313686390018453,
      -0.3131674323659037
    ],
    "yaw_diff": [
      -0.3730724300956484,
      -0.33511482376716817,
      -0.2976490298774674,
      -0.23994247711282102,
      -0.1528871292493768,
      -0.08030039209074946,
      -0.026832915904078103,
      0.00028936411090185743,
      0.001037915305098558,
      0.001037915305098558
    ],
    "min_front_frame": [
      8,
      7.625400773411801
    ],
    "v_avg": 1.5379371917127336,
    "v_std": 1.240242699702283,
    "vy_max": 0.07712679412237444,
    "a_max": 1.3317366321204112,
    "ax_avg": -0.7378026668702169,
    "a_std": 0.4684253155639119,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "e6077696f29b54ca",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 34.26224812098367,
    "right_rear_min": 45.16101389940237,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      8.893313682917903,
      8.173024560400098,
      7.802244595184529,
      7.630721399269248,
      7.625400773411801,
      7.63597021771752
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.16666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8333333333333334,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e6077696f29b54ca",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "fe55e4c568a753a9": {
    "vx_ego": [
      4.114212950081207,
      4.0518553229650305,
      4.024008653559273,
      4.017066860153812,
      4.0910671797588005,
      4.198297744991347,
      4.2916701032788485,
      4.403698468137366,
      4.480227372063174,
      4.512771868757961
    ],
    "vy_ego": [
      -0.03433314364615114,
      -0.048988906227757534,
      -0.03817631244327546,
      -0.0054532655459780255,
      0.032692770126279636,
      0.03435872967136269,
      -0.0021450004999382655,
      -0.07020784044972617,
      -0.07952618177024551,
      0.024687054745179182
    ],
    "v_ego": [
      4.114356202781734,
      4.052151462022791,
      4.024189741395363,
      4.017070561622128,
      4.091197805840993,
      4.1984383379899795,
      4.291670639320383,
      4.404258091794349,
      4.480933130383788,
      4.512839393344861
    ],
    "ax_ego": [
      -0.18622207347642494,
      -0.03946976061921398,
      -0.045544093422870635,
      0.0375305006878463,
      0.2496611975934251,
      0.16038196106026287,
      0.19848758016581122,
      0.24751064744050447,
      0.06277464575892798,
      0.06934816715105846
    ],
    "ay_ego": [
      1.0700071336604005,
      1.085373704283745,
      1.1291520778489557,
      1.238015330199983,
      1.2240687034639701,
      1.2364900339734215,
      1.1711390378332922,
      0.8496888922025984,
      0.36931165079952494,
      0.36813391600816964
    ],
    "a_ego": [
      1.086091122666052,
      1.0860911287520751,
      1.1300702099234035,
      1.2385840691257308,
      1.2492697484465667,
      1.2468480170209715,
      1.187840042016251,
      0.8850043695535613,
      0.374608798036604,
      0.37460879381392165
    ],
    "yaw": [
      2.4837653901559156,
      2.61972853269738,
      2.7539313886992796,
      2.8931195601163884,
      3.03623115468989,
      -3.0996041606010847,
      -2.9493268207800623,
      -2.817475702641884,
      -2.7471654636177094,
      -2.729338111724343
    ],
    "yaw_diff": [
      0.2719262850829285,
      0.2684057120037995,
      0.27837634283421764,
      0.2862231891470035,
      0.29469998377722284,
      0.30055467964204485,
      0.26370223627635614,
      0.14062047804834954,
      0.035654703786732966,
      0.035654703786732966
    ],
    "min_front_frame": [
      3,
      61.284664300022364
    ],
    "v_avg": 4.2187105366496365,
    "v_std": 0.18133471124337994,
    "vy_max": 0.07952618177024551,
    "a_max": 1.2492697484465667,
    "ax_avg": 0.07544587723393267,
    "a_std": 0.3225650143288025,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "fe55e4c568a753a9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      61.284664300022364,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fe55e4c568a753a9",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "7d4c548895955e0d": {
    "vx_ego": [
      4.545009384935769,
      4.384117857993873,
      4.346045331709819,
      4.475652330616998,
      4.707867788337019,
      4.967156842907151,
      5.290311532636471,
      5.6892896664805335,
      6.1140950646107886,
      6.551002860464527
    ],
    "vy_ego": [
      0.07639670909413354,
      -0.028946069169861532,
      -0.055432409091475066,
      -0.09729472162117994,
      -0.08080328903203604,
      -0.028723797670217266,
      0.039903126529639454,
      0.09074895860938614,
      0.10404218233242002,
      0.011659829326938098
    ],
    "v_ego": [
      4.545651412758641,
      4.384213414935588,
      4.346398828599878,
      4.476709734549774,
      4.708561169187429,
      4.9672398934007544,
      5.290462018751603,
      5.690013381584517,
      6.1149802317589295,
      6.551013236853849
    ],
    "ax_ego": [
      -0.40708070461823753,
      -0.22103826926245412,
      0.06740259835875845,
      0.39222282041273593,
      0.488059246908909,
      0.5230787533496839,
      0.7713137383555561,
      0.8207863692325283,
      0.8684382550961137,
      0.8858404739947534
    ],
    "ay_ego": [
      -1.3742251857584955,
      -1.4161043870648569,
      -1.7383322993098513,
      -1.7255879917133794,
      -1.9640550346254126,
      -2.170521573254423,
      -2.1415754764644714,
      -1.5763160709561805,
      -0.5841465062793618,
      -0.5574036237589741
    ],
    "a_ego": [
      1.4332513949916295,
      1.4332513916068161,
      1.7396385524267353,
      1.7696024011053826,
      2.0237870459934073,
      2.232661031632145,
      2.276240410055592,
      1.7772064087979897,
      1.0466193881792785,
      1.0466193888643978
    ],
    "yaw": [
      2.0324927537252453,
      1.899341816404112,
      1.7237449386000216,
      1.5357261211627669,
      1.331429360398929,
      1.1077252630016363,
      0.8837317289863615,
      0.7054332866078714,
      0.6116361625273172,
      0.5811497739293863
    ],
    "yaw_diff": [
      -0.2663018746422665,
      -0.3511937556081808,
      -0.3760376348745096,
      -0.4085935215276759,
      -0.44740819479458516,
      -0.44798706803054955,
      -0.35659688475698026,
      -0.18759424816110837,
      -0.060972777195861916,
      -0.060972777195861916
    ],
    "min_front_frame": [
      8,
      33.90230904165906
    ],
    "v_avg": 5.107524332238096,
    "v_std": 0.7393481978008333,
    "vy_max": 0.10404218233242002,
    "a_max": 2.276240410055592,
    "ax_avg": 0.4189023281828348,
    "a_std": 0.4152382376463784,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "7d4c548895955e0d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.199555539624566,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      45.91279839686656,
      33.90230904165906,
      35.434244368497815
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7d4c548895955e0d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "93a208914ea85781": {
    "vx_ego": [
      3.478377726687707,
      3.762866066610326,
      4.0640251330419455,
      4.329682686098985,
      4.523735070577411,
      4.657491011215983,
      4.7663416622334704,
      4.892796151501053,
      5.011708998527845,
      5.106436908659417
    ],
    "vy_ego": [
      -0.0705216309296226,
      -0.021230605210687647,
      -0.019774668363748527,
      -0.03958522685360233,
      -0.03350367002170884,
      -0.008880196448720845,
      0.005278522794080587,
      0.014730543550497632,
      0.007023555011699045,
      0.03926411057222445
    ],
    "v_ego": [
      3.479092541158702,
      3.7629259591234425,
      4.0640732423894015,
      4.329863641327562,
      4.5238591362549005,
      4.657499476913191,
      4.766344585103495,
      4.8928183257767515,
      5.0117139200327445,
      5.106587860058629
    ],
    "ax_ego": [
      0.5386145568413416,
      0.6142667767155371,
      0.6051752038636636,
      0.47389987007558876,
      0.32931809775677295,
      0.21546255176533508,
      0.213012754988321,
      0.280745367481771,
      0.1808179868507377,
      0.19482190514928852
    ],
    "ay_ego": [
      0.8177082430533198,
      0.7625147452305989,
      0.8815245020907116,
      0.9362729625413825,
      1.1172050897289776,
      1.116041217772666,
      0.9731543868181154,
      0.7824111417368353,
      0.41318382125673125,
      0.40676828751847394
    ],
    "a_ego": [
      0.9791590328433588,
      0.9791590318587582,
      1.0692625847553556,
      1.049375122272144,
      1.1647307079434595,
      1.136649511054628,
      0.9961947070583423,
      0.8312551690524473,
      0.4510166454988862,
      0.4510166454319732
    ],
    "yaw": [
      0.18782549736456944,
      0.28350123895856816,
      0.3880285945019286,
      0.5004735275854184,
      0.6144810126878948,
      0.7302486280711267,
      0.8379788195954856,
      0.9269949254164408,
      0.9887319191587489,
      1.022886490023951
    ],
    "yaw_diff": [
      0.19135148318799744,
      0.2090547110867209,
      0.2248898661669796,
      0.22801497020495276,
      0.23153523076646376,
      0.21546038304871784,
      0.1780322116419104,
      0.12347398748461624,
      0.06830914173040403,
      0.06830914173040403
    ],
    "min_front_frame": [
      9,
      32.21532531320147
    ],
    "v_avg": 4.459477868813883,
    "v_std": 0.5165761565590302,
    "vy_max": 0.0705216309296226,
    "a_max": 1.1647307079434595,
    "ax_avg": 0.3646135071488358,
    "a_std": 0.24608317192284876,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "93a208914ea85781",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      32.21532531320147
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "93a208914ea85781",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "6bd6995e2a275d91": {
    "vx_ego": [
      8.891584852545847,
      8.898198085192693,
      8.90791202211398,
      8.940523555665546,
      9.00825191890043,
      9.125424241303405,
      9.237722263286008,
      9.276795420220433,
      9.270915422919604,
      9.257548024485828
    ],
    "vy_ego": [
      -0.14484400324994162,
      -0.09706716673255311,
      -0.01911883340266929,
      0.07344322283756854,
      0.09032755633557477,
      0.06428990276282498,
      0.027785670394444573,
      0.0015634358984231156,
      -0.020444384593657716,
      -0.04726226056496596
    ],
    "v_ego": [
      8.892764529396931,
      8.898727504434799,
      8.907932539232291,
      8.940825205560797,
      9.008704773817756,
      9.125650704216389,
      9.23776405073702,
      9.276795551964838,
      9.270937965049168,
      9.257668666944998
    ],
    "ax_ego": [
      0.01086853122637943,
      0.030334213335858895,
      0.01656909728002759,
      0.10905472931617233,
      0.15179684969841487,
      0.3092478779365369,
      0.13494854034076031,
      0.018613531847244125,
      -0.039441487521407415,
      -0.008249874375372057
    ],
    "ay_ego": [
      0.638411448801776,
      0.6377829869685326,
      0.7207393866040166,
      0.5606802616265547,
      0.45145976777556923,
      0.5847303732484678,
      0.6950631396325455,
      0.6751561586540339,
      0.7332070734746572,
      0.7342207989857097
    ],
    "a_ego": [
      0.6385039568649528,
      0.6385039568908002,
      0.7209298151602617,
      0.5711876134544983,
      0.4762963421005184,
      0.6614709815309691,
      0.7080422844830337,
      0.675412690239308,
      0.7342671472503538,
      0.7342671462692739
    ],
    "yaw": [
      1.9954444805862073,
      2.0259479397922115,
      2.0553325575659818,
      2.0808895215945546,
      2.1072175234097514,
      2.1387259422202525,
      2.1774518027353476,
      2.217220609795662,
      2.2575226747538024,
      2.300028228282532
    ],
    "yaw_diff": [
      0.06100691841200856,
      0.05876923554754043,
      0.05111392805714576,
      0.05265600363039358,
      0.06301683762100208,
      0.07745172103019016,
      0.07953761412062921,
      0.08060412991628052,
      0.08501110705745951,
      0.08501110705745951
    ],
    "min_front_frame": [
      0,
      19.996613101909055
    ],
    "v_avg": 9.0817771491355,
    "v_std": 0.15989700864406103,
    "vy_max": 0.14484400324994162,
    "a_max": 0.7342671472503538,
    "ax_avg": 0.0733742009084615,
    "a_std": 0.07725360871363823,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "6bd6995e2a275d91",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.9012551260871,
    "right_rear_min": 14.086758145031048,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.996613101909055,
      22.870554311124888,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      0,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6bd6995e2a275d91",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "2b3b9bb9f6525589": {
    "vx_ego": [
      0.2511925500582968,
      1.0103215029102242,
      1.8134959922550864,
      2.6799823983465236,
      3.555698220420989,
      4.39514547590298,
      5.162097474299299,
      5.727799934008176,
      6.0067571691136035,
      6.167235022117295
    ],
    "vy_ego": [
      -0.0054511875990528175,
      0.002837287657976195,
      0.011527194873396818,
      0.014025526620676354,
      0.017789255816929028,
      0.03355625381540306,
      0.04806301273849556,
      0.035483555021196045,
      -0.015893993756463498,
      -0.1085954385590373
    ],
    "v_ego": [
      0.2512516918371497,
      1.0103254868823355,
      1.813532627262854,
      2.6800190989700376,
      3.5557427202101546,
      4.39527357243216,
      5.162321220861862,
      5.727909842752504,
      6.00677819698174,
      6.16819104659591
    ],
    "ax_ego": [
      1.5182542603144837,
      1.518264329095127,
      1.6943851504178638,
      1.7713676686069026,
      1.7313564530423835,
      1.6255778818476527,
      1.440756454979953,
      0.8192427650401719,
      0.30076708755425713,
      0.35945163272909497
    ],
    "ay_ego": [
      0.017752540578741316,
      0.016869244943312323,
      0.03006785701716108,
      0.0076010390941165795,
      0.09526974884023853,
      0.15485593088456673,
      0.3564445881703538,
      0.5625193696325539,
      0.7698910382800324,
      0.7443034111580419
    ],
    "a_ego": [
      1.518358044619279,
      1.5183580422376117,
      1.6946519152859005,
      1.7713839767766795,
      1.733975632047805,
      1.6329371724847306,
      1.4841940260634168,
      0.9937739930600278,
      0.8265549296808872,
      0.8265549250552617
    ],
    "yaw": [
      2.6850807046393816,
      2.6856624923106605,
      2.6878528486929953,
      2.690945616977134,
      2.697975712017392,
      2.70969996739412,
      2.7332983883008675,
      2.7771690133304325,
      2.8419599667709834,
      2.9194337536785557
    ],
    "yaw_diff": [
      0.0011635753425576212,
      0.004380712764669781,
      0.00618553656827725,
      0.0140601900805164,
      0.023448510753455665,
      0.04719684181349493,
      0.08774125005913014,
      0.12958190688110172,
      0.15494757381514468,
      0.15494757381514468
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.6771345504786708,
    "v_std": 2.0467123798374143,
    "vy_max": 0.1085954385590373,
    "a_max": 1.7713839767766795,
    "ax_avg": 1.2779423683627893,
    "a_std": 0.35331984966037283,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "2b3b9bb9f6525589",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.21783655749532,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2b3b9bb9f6525589",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "9cc2069263cc5e4a": {
    "vx_ego": [
      0.43916341376100987,
      0.2505950038008088,
      0.07619610393743237,
      -0.01129822169132546,
      -0.014410908385466131,
      -0.007744317469670253,
      -0.004278276448986001,
      -0.002658114766211905,
      -0.0018349180157607124,
      -0.0011745354672504894
    ],
    "vy_ego": [
      0.03292178786962663,
      0.012813996517834825,
      -0.004368648295322235,
      -0.007027800205883417,
      -0.002000909477291199,
      -0.0015486236140063924,
      -0.0006891897032076176,
      -0.0003651441660673169,
      -0.00026497480054242485,
      -0.0002048617388214781
    ],
    "v_ego": [
      0.4403956722116563,
      0.2509224072032756,
      0.07632123782520969,
      0.013305629978326924,
      0.01454915527550008,
      0.00789763813863981,
      0.0043334318756564835,
      0.0026830774070769497,
      0.001853951393506779,
      0.0011922675437427142
    ],
    "ax_ego": [
      -0.3772583407254067,
      -0.37742670775241705,
      -0.3201952113416438,
      -0.02976172313078193,
      0.01731069413408462,
      0.009355572740154404,
      0.00450862682524443,
      0.0019720731007723167,
      0.0013207478851371584,
      0.0013207462624963656
    ],
    "ay_ego": [
      -0.037940325239712996,
      -0.036227097064756936,
      -0.03136579112708977,
      0.020722743609773976,
      -0.0006122663982351248,
      0.0024218780154328535,
      0.0010156672318295007,
      0.00028014645182564656,
      0.00012030522251422462,
      0.00012033774153530173
    ],
    "a_ego": [
      0.3791613428689458,
      0.37916134070678637,
      0.32172781387245364,
      0.03626557963730551,
      0.017321518453826137,
      0.009663965770736006,
      0.004621611815711686,
      0.001991872071509674,
      0.00132621579038197,
      0.001326217124733328
    ],
    "yaw": [
      -0.48877230409697103,
      -0.48423204032915734,
      -0.4824116221768042,
      -0.48199463726534375,
      -0.4820337366628803,
      -0.4820457502150249,
      -0.4820375592072932,
      -0.48200939811411764,
      -0.48198483677270443,
      -0.48201286663718257
    ],
    "yaw_diff": [
      0.00908052753562738,
      0.003640836304706241,
      0.0008339698229209436,
      -7.819879507309224e-05,
      -2.402710428917043e-05,
      1.63820154633898e-05,
      5.632218635109876e-05,
      4.912268282641907e-05,
      -5.605972895628142e-05,
      -5.605972895628142e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.08134544688525912,
    "v_std": 0.140373232193096,
    "vy_max": 0.03292178786962663,
    "a_max": 0.3791613428689458,
    "ax_avg": -0.10688535220023603,
    "a_std": 0.16122398001673496,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "9cc2069263cc5e4a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.503035528692461,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "9cc2069263cc5e4a",
    "maneuvering": "Yes"
  },
  "e776468d9bf65a8a": {
    "vx_ego": [
      4.5147862627260285,
      5.074400138864163,
      5.636413259047719,
      6.182807700365143,
      6.678939185018401,
      7.171513362190043,
      7.636840928876006,
      8.057620598523506,
      8.464664311025524,
      8.84755561218866
    ],
    "vy_ego": [
      -0.014694447014149237,
      -0.019564242048962566,
      -0.021123831368278112,
      -0.031893137426297236,
      -0.059463929536363425,
      -0.013722249986191648,
      0.02544669075692052,
      0.009848240013575538,
      0.01722883620022775,
      -0.14725108471671633
    ],
    "v_ego": [
      4.514810175951223,
      5.074437853484027,
      5.63645284225998,
      6.182889957933054,
      6.679203889393568,
      7.171526490518948,
      7.636883324172644,
      8.057626616912804,
      8.464681844649924,
      8.848780887372074
    ],
    "ax_ego": [
      1.1187343557985683,
      1.1205939724743605,
      1.1274353930457996,
      1.0578161322874478,
      0.9262743200548459,
      1.0427142301746501,
      0.8234842634984566,
      0.8593638008259762,
      0.7678230052763308,
      0.7662622831815145
    ],
    "ay_ego": [
      0.1368391403422207,
      0.1206674800732864,
      -0.05604829340539537,
      -0.06194464331971011,
      -0.12185641839623004,
      -0.2937855623563124,
      -0.5402356764229853,
      -0.37924705191447494,
      -0.154942743339634,
      -0.1624855523121439
    ],
    "a_ego": [
      1.1270720958189124,
      1.1270720881527965,
      1.128827700176601,
      1.0596282879215624,
      0.9342553733842928,
      1.0833110921880786,
      0.984876092871482,
      0.9393266037730904,
      0.7833003390431974,
      0.7833003519319585
    ],
    "yaw": [
      1.4929172639308144,
      1.5073603252182786,
      1.5106686077556932,
      1.5075040381782228,
      1.5046533231168744,
      1.4829989394466772,
      1.4496747606653486,
      1.422355386866756,
      1.4053202477536488,
      1.4151537922984954
    ],
    "yaw_diff": [
      0.028886122574928397,
      0.006616565074829328,
      -0.006329139154940933,
      -0.005701430122696749,
      -0.04330876734039446,
      -0.06664835756265708,
      -0.05463874759718523,
      -0.034070278226214334,
      0.019667089089693057,
      0.019667089089693057
    ],
    "min_front_frame": [
      1,
      15.412367985422305
    ],
    "v_avg": 6.826729388264825,
    "v_std": 1.3903406147943915,
    "vy_max": 0.14725108471671633,
    "a_max": 1.128827700176601,
    "ax_avg": 0.961050175661795,
    "a_std": 0.12700272298373994,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "e776468d9bf65a8a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.556008148951447,
    "right_rear_min": 6.078800891080198,
    "speed_mode": "accelerating",
    "front_frame": [
      27.866705348350685,
      15.412367985422305,
      18.553865807182472,
      21.47428634074512,
      24.069477986266506,
      26.465603052816327,
      28.40089665755339,
      30.166829349278892,
      31.875375538122164,
      33.18852646203257
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "e776468d9bf65a8a",
    "merging_vehicles": "Yes"
  },
  "9ef1d618435d5e53": {
    "vx_ego": [
      1.5794558150881357,
      1.8110734586535449,
      1.9672156870812207,
      2.0258969727973257,
      2.0870229742876756,
      2.344334855153462,
      2.834342036250785,
      3.4527508864104828,
      4.1513138917199965,
      4.862394132795716
    ],
    "vy_ego": [
      -0.018106451285540115,
      -0.0018353370874335528,
      -0.0037616057240164036,
      -0.007470861657573602,
      0.0017843620604415245,
      0.0026709505178279525,
      -0.0029183186943874118,
      -0.0006114122908462694,
      0.00027379996412202345,
      0.007797827317461925
    ],
    "v_ego": [
      1.579559595391666,
      1.8110743886161988,
      1.9672192834496265,
      2.025910747827573,
      2.0870237370841136,
      2.34433637668831,
      2.8343435386421048,
      3.4527509405448527,
      4.151313900749236,
      4.862400385484218
    ],
    "ax_ego": [
      0.4632161193262052,
      0.4631576474628467,
      0.161473957085419,
      0.07307846243402515,
      0.1714005083171379,
      0.8580038099122994,
      1.1020709535452875,
      1.3717488120443513,
      1.4221705772686595,
      1.4221643436199498
    ],
    "ay_ego": [
      0.02387257248338781,
      0.024981219343642835,
      -0.05079205503209141,
      0.009624527178669191,
      0.006007532281487857,
      -0.04265155652389807,
      -0.05599834223569716,
      -0.0981879970022766,
      0.006291905781218077,
      0.0075724193825273955
    ],
    "a_ego": [
      0.46383086671825086,
      0.4638308611155728,
      0.1692739544974558,
      0.0737095190266099,
      0.17150575703306983,
      0.8590632648984198,
      1.10349272810534,
      1.375258407027715,
      1.422184495389762,
      1.4221845034309957
    ],
    "yaw": [
      1.2213303324350457,
      1.2189368144247414,
      1.2165876819297066,
      1.2133088411047,
      1.2106930086903547,
      1.2059755126957652,
      1.1985216700284311,
      1.1853849986967078,
      1.1790992097783497,
      1.1781988157402707
    ],
    "yaw_diff": [
      -0.004787036020608593,
      -0.004698264990069756,
      -0.006557681650013247,
      -0.00523166482869053,
      -0.009434991989178965,
      -0.01490768533466813,
      -0.02627334266344672,
      -0.012571577836716141,
      -0.001800788076157911,
      -0.001800788076157911
    ],
    "min_front_frame": [
      0,
      26.6925151952146
    ],
    "v_avg": 2.71159328944779,
    "v_std": 1.0442605728483212,
    "vy_max": 0.018106451285540115,
    "a_max": 1.4221845034309957,
    "ax_avg": 0.750848519101618,
    "a_std": 0.5219633568702519,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9ef1d618435d5e53",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 2.7653768192702604,
    "right_rear_min": 7.463612538445659,
    "speed_mode": "accelerating",
    "front_frame": [
      26.6925151952146,
      28.20548621557668,
      29.70852086017114,
      31.460280474914942,
      33.3072312174826,
      35.06811694096589,
      36.51693614995956,
      37.582391976739636,
      37.520262935494515,
      36.24976338378361
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9ef1d618435d5e53",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "48321ca34be254e5": {
    "vx_ego": [
      1.3675131682405515,
      1.7285345324815047,
      2.00135777695352,
      2.0761025240456186,
      2.0817730382071353,
      2.0219378120326743,
      1.7469586552664167,
      1.3703278895604618,
      1.0289931261057297,
      0.7156921282035528
    ],
    "vy_ego": [
      -0.0017223000762804919,
      0.0066228763903853904,
      -0.0018397164394962084,
      -0.008153349187785763,
      0.001234645380375543,
      -0.013732654790557186,
      -0.02036100419072795,
      -0.01657131405421397,
      -0.009800050209296196,
      0.010909168909259137
    ],
    "v_ego": [
      1.3675142528064794,
      1.7285472202033523,
      2.0013586225184414,
      2.0761185340561763,
      2.0817734043251157,
      2.02198444641275,
      1.7470773061607496,
      1.3704280839784015,
      1.029039792504132,
      0.7157752666436731
    ],
    "ax_ego": [
      0.7220464086614594,
      0.7220418546087438,
      0.36925210060124947,
      -0.07026043274034371,
      0.09294093430884266,
      -0.33227301165143786,
      -0.7678640467677049,
      -0.7386499289321724,
      -0.6266195783647888,
      -0.6265859852898696
    ],
    "ay_ego": [
      0.015693464411356384,
      0.015901675466063747,
      -0.04992552345927531,
      0.026493878803704886,
      0.0015352505724881768,
      -0.06872574463976412,
      0.027512445848228706,
      -0.011317735408540253,
      0.042541948735118185,
      0.04303378990571188
    ],
    "a_ego": [
      0.7222169349206247,
      0.722216936307549,
      0.37261195859918117,
      0.07508963991740648,
      0.09295361350975515,
      0.33930603037406604,
      0.7683567719458375,
      0.7387366300964648,
      0.6280620298921493,
      0.6280620224431069
    ],
    "yaw": [
      -2.10520834514809,
      -2.105496707969518,
      -2.1055194263690016,
      -2.1053017605106605,
      -2.1064582677556736,
      -2.107327777875981,
      -2.1092231729352315,
      -2.1090566220699825,
      -2.1081838669346533,
      -2.1073989430892417
    ],
    "yaw_diff": [
      -0.0005767256428566014,
      -4.5436798966846936e-05,
      0.0004353317166820858,
      -0.0023130144900260774,
      -0.001739020240615119,
      -0.0037907901185008086,
      0.00033310173049816427,
      0.0017455102706582792,
      0.001569847690823245,
      0.001569847690823245
    ],
    "min_front_frame": [
      9,
      9.928671593913483
    ],
    "v_avg": 1.613961692960927,
    "v_std": 0.452632604489988,
    "vy_max": 0.02036100419072795,
    "a_max": 0.7683567719458375,
    "ax_avg": -0.1255971685566022,
    "a_std": 0.25457597633277435,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "48321ca34be254e5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.085273811161533,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.221210407653881,
      14.417879910889601,
      14.342190418398276,
      13.810110656781646,
      13.047620237258641,
      12.06060970355086,
      11.159694156767243,
      10.510923464450897,
      10.125561643159793,
      9.928671593913483
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "48321ca34be254e5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c2cfb091173a5ca2": {
    "vx_ego": [
      10.35943162400651,
      10.08540591331312,
      9.80398819397721,
      9.400212815369523,
      8.825315785943154,
      8.146427606764659,
      7.401953531046541,
      6.649362574619671,
      5.853860499897896,
      5.005770595581169
    ],
    "vy_ego": [
      0.007166031042779908,
      0.027389863986723606,
      0.010342168467567026,
      -0.00819152932523487,
      -0.018354664847618274,
      -0.016027668712804338,
      -0.005949041802620847,
      -0.011853534799151272,
      -0.005994249000829344,
      0.04515580978492734
    ],
    "v_ego": [
      10.359434102520613,
      10.085443105830327,
      9.8039936489215,
      9.40021638449829,
      8.825334872702514,
      8.146443373547854,
      7.401955921705474,
      6.649373140006506,
      5.853863568899254,
      5.005974261094676
    ],
    "ax_ego": [
      -0.5479910882846655,
      -0.5480049947714867,
      -0.5778064142784265,
      -1.0372762402156939,
      -1.2623724956172908,
      -1.4531200381688634,
      -1.5247062189524916,
      -1.4856647007718944,
      -1.6961436820056002,
      -1.696183736431009
    ],
    "ay_ego": [
      0.00948577338536917,
      0.008644601311530225,
      -0.011416454945898522,
      -0.08127612191991088,
      0.019164617872692198,
      0.01979142078027407,
      0.05573215402534654,
      -0.022500322587959837,
      0.09820241297901433,
      0.09750817939760983
    ],
    "a_ego": [
      0.548073181916549,
      0.5480731734233417,
      0.5779191879707961,
      1.0404555764233023,
      1.2625179603749141,
      1.4532548109895873,
      1.5257244597582842,
      1.4858350741708195,
      1.698984138808369,
      1.6989841414158329
    ],
    "yaw": [
      -1.5429819696199876,
      -1.5445169519581343,
      -1.5428729998615176,
      -1.5433532968591637,
      -1.5439401907799968,
      -1.5430691846591609,
      -1.5419382441668597,
      -1.5399139033737177,
      -1.5378326041433477,
      -1.5382419014380342
    ],
    "yaw_diff": [
      -0.0030699646762935018,
      0.0032879041932334374,
      -0.0009605939952921361,
      -0.0011737878416662184,
      0.0017420122416718087,
      0.002261880984602449,
      0.004048681586283909,
      0.0041625984607400746,
      -0.0008185945893730562,
      -0.0008185945893730562
    ],
    "min_front_frame": [
      9,
      12.925417692521808
    ],
    "v_avg": 8.1532032379727,
    "v_std": 1.7706172249728416,
    "vy_max": 0.04515580978492734,
    "a_max": 1.6989841414158329,
    "ax_avg": -1.182926960949742,
    "a_std": 0.4487432859288165,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c2cfb091173a5ca2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.975636870226111,
    "right_rear_min": 18.225515482489058,
    "speed_mode": "decelerating",
    "front_frame": [
      63.854949234605094,
      14.448844727676823,
      14.755363453623602,
      14.873517531901332,
      14.823026758189473,
      14.709258348840198,
      14.549660302804433,
      14.179882352239115,
      13.456417554279296,
      12.925417692521808
    ],
    "safe_frame": [
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c2cfb091173a5ca2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3e8e85cf14c65da8": {
    "vx_ego": [
      12.954085318054847,
      12.80172932599124,
      12.64025201185244,
      12.450819725962438,
      12.23085514118806,
      12.012690887981886,
      11.88387755710535,
      11.842417785679952,
      11.855879421579607,
      11.917707080967489
    ],
    "vy_ego": [
      -0.002788743678626915,
      0.015628990000550846,
      0.03744748268370035,
      0.0460781893380533,
      0.044239614130956895,
      0.04913819064307745,
      0.025310894815723906,
      0.024058432499842297,
      -0.007601954806450983,
      0.0025028187826956483
    ],
    "v_ego": [
      12.954085618233941,
      12.801738866313144,
      12.640307481904822,
      12.450904989114166,
      12.230935149373693,
      12.01279138801564,
      11.883904511298825,
      11.842442223577162,
      11.855881858754822,
      11.917707343773989
    ],
    "ax_ego": [
      -0.30471248569063764,
      -0.3047118800367776,
      -0.34126604494019064,
      -0.4170267721161447,
      -0.46282480594411446,
      -0.41227978526190323,
      -0.1055455571211702,
      -0.06509827050579892,
      0.11675292939122711,
      0.1307657837863345
    ],
    "ay_ego": [
      0.03724896380978052,
      0.03725388296283051,
      0.09537261813259766,
      0.12525321522217767,
      0.48759914727440923,
      0.6486667160241796,
      0.7863231534446593,
      0.6724044260161626,
      0.5888061931402379,
      0.5858534709164311
    ],
    "a_ego": [
      0.3069807554891176,
      0.3069807512391548,
      0.3543422776336272,
      0.43543047273371216,
      0.6722795024541044,
      0.7685981588666438,
      0.7933750476736532,
      0.6755482935726884,
      0.6002699222864094,
      0.600269922280039
    ],
    "yaw": [
      -1.2689221258712882,
      -1.2689059757413244,
      -1.268015002465975,
      -1.2643092535205538,
      -1.2517511318989092,
      -1.2287098558881033,
      -1.1965903158154272,
      -1.165733300139009,
      -1.1363974366226213,
      -1.1125399947324173
    ],
    "yaw_diff": [
      3.230025992762009e-05,
      0.001781946550698521,
      0.007411497890842611,
      0.025116243243289205,
      0.04608255202161171,
      0.06423908014535229,
      0.06171403135283615,
      0.05867172703277568,
      0.047714883780408,
      0.047714883780408
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.259069943036021,
    "v_std": 0.4018134643785331,
    "vy_max": 0.04913819064307745,
    "a_max": 0.7933750476736532,
    "ax_avg": -0.21659468884391758,
    "a_std": 0.17671739255569505,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "3e8e85cf14c65da8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "3e8e85cf14c65da8",
    "road_shape": "Curve"
  },
  "cb22383a26cf594e": {
    "vx_ego": [
      3.303177351301077,
      3.1393769692589366,
      2.9048968783465594,
      2.5912140168770934,
      2.284105736088791,
      1.987620432434607,
      1.704433329503039,
      1.45130251536483,
      1.231220723916733,
      1.030837258981824
    ],
    "vy_ego": [
      -0.06509011557507183,
      -0.013194261001283847,
      -0.006578262201741625,
      -0.0004481688499529124,
      0.006336567492388978,
      0.010633298070216401,
      0.013611121069867393,
      -0.0008346924248650023,
      -0.005923746412157871,
      0.013163273050161961
    ],
    "v_ego": [
      3.30381859933229,
      3.1394046957403874,
      2.9049043267139076,
      2.5912140556340844,
      2.284114525526534,
      1.9876488750429198,
      1.7044876759124994,
      1.4513027553945204,
      1.2312349742326196,
      1.0309212997423969
    ],
    "ax_ego": [
      -0.33576553367236395,
      -0.32642646349517973,
      -0.6135327283644632,
      -0.6424469116628468,
      -0.585957683693054,
      -0.599773185938741,
      -0.532668307900801,
      -0.47968802615863243,
      -0.40073683799463855,
      -0.40077936269290915
    ],
    "ay_ego": [
      -0.19100325396718312,
      -0.20655870971576326,
      -0.15813471266252457,
      -0.082689110278792,
      -0.06235818018749689,
      -0.027944426348716744,
      -0.014294016920359365,
      -0.06425145543582947,
      0.035701520255222524,
      0.035220900543593114
    ],
    "a_ego": [
      0.38629099993183846,
      0.386290999933225,
      0.6335842454821626,
      0.6477464961416834,
      0.5892664505257579,
      0.6004238215919372,
      0.5328600615186149,
      0.4839719536973059,
      0.4023240135444009,
      0.4023240104637506
    ],
    "yaw": [
      2.423552652702627,
      2.3765795551792355,
      2.34460433616692,
      2.320497940180264,
      2.302788132020707,
      2.290216950817211,
      2.2828502279563683,
      2.279546764051792,
      2.2780082003202593,
      2.276808933205065
    ],
    "yaw_diff": [
      -0.09394619504678303,
      -0.06395043802463096,
      -0.048212791973312186,
      -0.035419616319114056,
      -0.025142362406991303,
      -0.01473344572168589,
      -0.0066069278091527295,
      -0.00307712746306521,
      -0.0023985342303882717,
      -0.0023985342303882717
    ],
    "min_front_frame": [
      9,
      13.047354338461583
    ],
    "v_avg": 2.162905178327216,
    "v_std": 0.7681519338926963,
    "vy_max": 0.06509011557507183,
    "a_max": 0.6477464961416834,
    "ax_avg": -0.491777504157363,
    "a_std": 0.10177474789216588,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "cb22383a26cf594e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.883812871387224,
      17.953540577724734,
      16.946088010393375,
      16.06588186395523,
      15.383030322807985,
      14.702601411141957,
      14.211746954732074,
      13.775969328364361,
      13.376731577135427,
      13.047354338461583
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "cb22383a26cf594e",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "069c6a5e408653ab": {
    "vx_ego": [
      4.552195429515843,
      4.576641086076904,
      4.571729836579132,
      4.543081685370217,
      4.508307410065536,
      4.467374210665539,
      4.420931601308507,
      4.339759135054359,
      4.255323054344744,
      4.187433933015143
    ],
    "vy_ego": [
      -0.02062835778022354,
      0.016710167574910173,
      -0.010421509737618795,
      -0.005163327476108037,
      0.004553658085237888,
      -0.010588470030564956,
      -0.014370325503255454,
      0.0055162049852088835,
      -0.006735843929095875,
      -0.035656204841410855
    ],
    "v_ego": [
      4.552242168168301,
      4.576671591939667,
      4.571741714766164,
      4.543084619495538,
      4.5083097097974285,
      4.467386758924857,
      4.420954956760278,
      4.339762640837076,
      4.25532838549874,
      4.187585737427995
    ],
    "ax_ego": [
      0.042098422800350144,
      0.05530857309380459,
      -0.07656368257141137,
      -0.03812334287410086,
      -0.1008929649766609,
      -0.06283827329745151,
      -0.12314524163300583,
      -0.2016172834535616,
      -0.13612263147049344,
      -0.13576556638790074
    ],
    "ay_ego": [
      -0.31289756162072324,
      -0.31083455842396834,
      -0.021657194229528595,
      0.003295236271303764,
      -0.038632383644215625,
      -0.06409885813179222,
      0.0037051612142306664,
      0.040504028905735734,
      -0.09070976854011309,
      -0.09124332242197226
    ],
    "a_ego": [
      0.31571690051448204,
      0.31571690003592795,
      0.07956777960199322,
      0.03826549168611286,
      0.10803634318050377,
      0.08976253229942231,
      0.12320096897538928,
      0.20564558187520218,
      0.1635776051513552,
      0.1635776051396629
    ],
    "yaw": [
      0.9647927461681819,
      0.9224406677069283,
      0.910244066078141,
      0.9080807601421215,
      0.9039887605939723,
      0.9016375493137726,
      0.8990954676327695,
      0.8970831852869721,
      0.8970133877894266,
      0.8930885879845069
    ],
    "yaw_diff": [
      -0.0847041569225071,
      -0.024393203257574658,
      -0.004326611872039088,
      -0.008183999096298411,
      -0.004702422560399322,
      -0.005084163362006233,
      -0.004024564691594845,
      -0.0001395949950908637,
      -0.007849599609839553,
      -0.007849599609839553
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.4423068283616045,
    "v_std": 0.13147227463874747,
    "vy_max": 0.035656204841410855,
    "a_max": 0.31571690051448204,
    "ax_avg": -0.07776619907704316,
    "a_std": 0.0899333127472621,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "069c6a5e408653ab",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "069c6a5e408653ab",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e3194cb3328b512f": {
    "vx_ego": [
      1.0558116596901175,
      0.8416280349892171,
      0.6580256625036549,
      0.5103144885655052,
      0.3583707930399247,
      0.2170411540947403,
      0.0816148886643615,
      -0.005045087043962401,
      -0.013478149396168627,
      -0.006795380049549338
    ],
    "vy_ego": [
      0.007864419226474462,
      -0.020550246282451945,
      -0.034712134199695655,
      -0.02405695323825166,
      -0.0133509236598493,
      -0.024002731977993186,
      -0.03267406753232732,
      -0.015750821440599277,
      -0.0003443544235678534,
      0.0002629606227981321
    ],
    "v_ego": [
      1.0558409491146714,
      0.8418788879061407,
      0.6589405927502658,
      0.5108812134332017,
      0.35861939778354945,
      0.21836435998849305,
      0.08791236966891071,
      0.016539083388591978,
      0.013482547649256481,
      0.006800466036012204
    ],
    "ax_ego": [
      -0.4284111557298552,
      -0.4283496560262021,
      -0.3062313650901677,
      -0.2846487861569276,
      -0.32313630870679005,
      -0.24220406361466995,
      -0.29957045861273734,
      -0.047097580583177534,
      0.013365554950507792,
      0.013365518104700942
    ],
    "ay_ego": [
      -0.05858976748569503,
      -0.059037775581145174,
      -0.0012243461417648371,
      0.04325515549431845,
      -0.0007740141357032715,
      -0.04228212608345151,
      0.007282032387212006,
      0.060404835295445575,
      0.0012150695258267433,
      0.0012154945811395836
    ],
    "a_ego": [
      0.43239898150645323,
      0.4323989902431958,
      0.30623381261458116,
      0.287916550301385,
      0.3231372357103591,
      0.24586701002289016,
      0.2996589522592879,
      0.07659586296830143,
      0.013420672601909198,
      0.013420674397505827
    ],
    "yaw": [
      2.6191203037840594,
      2.6180744377240246,
      2.6168442551151863,
      2.6165906215332537,
      2.6163953675040537,
      2.6159910690834147,
      2.615488253489511,
      2.6152603220443593,
      2.615349188428252,
      2.615316997055838
    ],
    "yaw_diff": [
      -0.0020917321200695227,
      -0.0024603652176766744,
      -0.0005072671638650661,
      -0.0003905080584001297,
      -0.0008085968412778755,
      -0.0010056311878070545,
      -0.0004558628903037487,
      0.00017773276778498825,
      -6.438274482789552e-05,
      -6.438274482789552e-05
    ],
    "min_front_frame": [
      9,
      9.189964509833903
    ],
    "v_avg": 0.37692598677190936,
    "v_std": 0.3581272837040074,
    "vy_max": 0.034712134199695655,
    "a_max": 0.4323989902431958,
    "ax_avg": -0.23329183014653193,
    "a_std": 0.14849375662373038,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e3194cb3328b512f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.858706916399356,
    "right_rear_min": 7.7621350815095855,
    "speed_mode": "decelerating",
    "front_frame": [
      10.81014791362847,
      10.307492169955424,
      9.944480908618278,
      9.624804880465303,
      9.389525928094006,
      9.240789699368774,
      9.210301300113528,
      9.205167494651255,
      9.204758985568704,
      9.189964509833903
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e3194cb3328b512f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5a3613f60fb454d4": {
    "vx_ego": [
      4.342098642375969,
      4.409157147544282,
      4.47412835101892,
      4.554157515656982,
      4.690111873255128,
      4.829545514208696,
      4.94537746727316,
      5.056790417758356,
      5.194564526120248,
      5.3574182196781654
    ],
    "vy_ego": [
      0.155194022080962,
      0.09568214992422841,
      0.0676904028451496,
      0.06771170103211033,
      0.0534351834241335,
      0.027840843246290214,
      0.0020085828151613916,
      -0.017703110548818173,
      -0.015176327715891724,
      -0.037439548532247374
    ],
    "v_ego": [
      4.344871206907393,
      4.410195213996196,
      4.474640375720559,
      4.554660860247625,
      4.69041626110906,
      4.829625760487659,
      4.945377875169704,
      5.056821405710887,
      5.194586695488855,
      5.357549038537479
    ],
    "ax_ego": [
      0.12159400307428664,
      0.1859367723059682,
      0.09541688501894194,
      0.23737904583078534,
      0.3149077523616133,
      0.24692983268626306,
      0.21783355282986566,
      0.225982331951684,
      0.3236289534230963,
      0.32629042631461624
    ],
    "ay_ego": [
      -0.8176622619300477,
      -0.8054714053814184,
      -0.700582881450948,
      -0.529674656716971,
      -0.40230112745261604,
      -0.32689595777811514,
      -0.3123192984112608,
      -0.20920179229201707,
      -0.19357291129085832,
      -0.18905220696722752
    ],
    "a_ego": [
      0.8266539034978251,
      0.8266538986678033,
      0.7070507448046647,
      0.5804343661153905,
      0.5108944016595691,
      0.40967707951768195,
      0.38078182847738945,
      0.3079503275733172,
      0.37710233555276096,
      0.37710234587410546
    ],
    "yaw": [
      -2.7968722856477966,
      -2.8761129497604516,
      -2.9543405228382547,
      -3.0227210011246037,
      -3.0701311117101415,
      -3.10299187549597,
      -3.1303810559261507,
      3.1306717278403573,
      3.110486428177185,
      3.0965750133146965
    ],
    "yaw_diff": [
      -0.15848132822531014,
      -0.15645514615560607,
      -0.13676095657269816,
      -0.09482022117107558,
      -0.06572152757165739,
      -0.05477836086036092,
      -0.04426504682615473,
      -0.04037059932634435,
      -0.027822829724977183,
      -0.027822829724977183
    ],
    "min_front_frame": [
      9,
      20.582803117917443
    ],
    "v_avg": 4.785874469337542,
    "v_std": 0.3301034224449944,
    "vy_max": 0.155194022080962,
    "a_max": 0.8266539034978251,
    "ax_avg": 0.22958995557971207,
    "a_std": 0.18522039649199384,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "5a3613f60fb454d4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      25.743134418814968,
      23.233695792715917,
      20.582803117917443
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "5a3613f60fb454d4",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4e1b2f2152b551e2": {
    "vx_ego": [
      8.679712702145807,
      8.79158174713634,
      9.026158806863124,
      9.381686785996287,
      9.7165213641996,
      10.079997372809842,
      10.453534257968505,
      10.733061392301718,
      10.902231650108005,
      11.017442862219198
    ],
    "vy_ego": [
      0.003891378721893518,
      -0.03422734545853284,
      -0.008230502190983771,
      0.035388104780941954,
      -0.006001350083302687,
      -0.00609588446437806,
      -0.024389141568090855,
      -0.003811216256532246,
      -0.023862782624664403,
      -0.0167023048394781
    ],
    "v_ego": [
      8.679713574457375,
      8.791648373755514,
      9.026162559353729,
      9.38175352844538,
      9.716523217548039,
      10.079999216054569,
      10.453562709083807,
      10.73306206896648,
      10.902257765481943,
      11.01745552245398
    ],
    "ax_ego": [
      0.22382738296071444,
      0.22401647978204908,
      0.7142884802566019,
      0.7079757800927742,
      0.6314355939514098,
      0.8224051203818333,
      0.6717466484881289,
      0.4463373832462505,
      0.23031224948751391,
      0.23037061328838718
    ],
    "ay_ego": [
      0.031537520448466645,
      0.030165005833529157,
      0.07272447254022026,
      0.028409420149464244,
      0.16166307917111464,
      0.09371209384201967,
      -0.02577046844789945,
      0.09932300152724002,
      -0.029546493906452913,
      -0.029087923852460347
    ],
    "a_ego": [
      0.22603829887671642,
      0.2260382949654285,
      0.7179811153042531,
      0.7085455527707453,
      0.6518020101808951,
      0.8277270918379519,
      0.6722407878127138,
      0.4572549817284558,
      0.23219975789428143,
      0.23219975620339087
    ],
    "yaw": [
      -1.5680694493525458,
      -1.5619400427380308,
      -1.5619710650520702,
      -1.5639629934141968,
      -1.5546618118746145,
      -1.5481866658747974,
      -1.5447567603686911,
      -1.5449629267743739,
      -1.5415054008845264,
      -1.5434962233360672
    ],
    "yaw_diff": [
      0.012258813229029997,
      -6.204462807879452e-05,
      -0.003983856724253165,
      0.01860236307916452,
      0.012950291999634267,
      0.006859811012212447,
      -0.00041233281136543454,
      0.006915051779694981,
      -0.003981644903081616,
      -0.003981644903081616
    ],
    "min_front_frame": [
      0,
      24.238521189015838
    ],
    "v_avg": 9.878213853560082,
    "v_std": 0.8405166392284732,
    "vy_max": 0.035388104780941954,
    "a_max": 0.8277270918379519,
    "ax_avg": 0.4902715731935663,
    "a_std": 0.23372286407199017,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4e1b2f2152b551e2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.757422333113576,
    "right_rear_min": 9.039857780218789,
    "speed_mode": "accelerating",
    "front_frame": [
      24.238521189015838,
      28.7710235056093,
      33.6338153044106,
      38.962562548316065,
      44.01647069558586,
      48.761083160153106,
      53.21186964145332,
      57.54582001973609,
      61.388423423150506,
      65.37483510579584
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4e1b2f2152b551e2",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "602c93fe201356c2": {
    "vx_ego": [
      7.346424681327004,
      6.567002187902604,
      5.776112407476521,
      4.9199640064857295,
      4.071674964526977,
      3.392586761262363,
      2.9088632752730974,
      2.495492634169354,
      1.8672258912343511,
      1.0414880983281836
    ],
    "vy_ego": [
      -0.008503986946586384,
      -0.012809696049937536,
      -0.015411965940925754,
      -0.011275120495490842,
      0.011121850866525174,
      0.022923877903689993,
      0.002145371751105074,
      -0.008580352775211297,
      -0.004815720637870391,
      -0.0069378589350158615
    ],
    "v_ego": [
      7.346429603297412,
      6.567014681286351,
      5.776132968734219,
      4.9199769261102535,
      4.071690154263025,
      3.3926642092713495,
      2.9088640664101995,
      2.4955073852119227,
      1.867232101282853,
      1.0415112062987408
    ],
    "ax_ego": [
      -1.5588312485944193,
      -1.5588310517600446,
      -1.604724905474447,
      -1.8199186477568594,
      -1.5732735398197502,
      -1.1430123158865715,
      -0.7919417961981379,
      -0.8615880156085186,
      -1.6514870972641507,
      -1.6514819873311273
    ],
    "ay_ego": [
      -0.00018393516162440449,
      0.0008163048719675992,
      -0.009698369891674719,
      0.009142233305781344,
      0.04202863850391847,
      -0.005542153860380761,
      -0.06840464214956671,
      0.016216902700181224,
      -0.005875979159214673,
      -0.007169682114950837
    ],
    "a_ego": [
      1.5588312594461853,
      1.558831265495073,
      1.604754211905527,
      1.8199416102949493,
      1.573834819017377,
      1.1430257520011504,
      0.7948905607900645,
      0.8617406202410398,
      1.6514975505767637,
      1.6514975503526488
    ],
    "yaw": [
      -0.5155880048092165,
      -0.514946350914754,
      -0.514884551185095,
      -0.5156800723179753,
      -0.5178310844298522,
      -0.5185597815901721,
      -0.517822116170739,
      -0.5186783715428946,
      -0.5191956298845604,
      -0.5199789866892129
    ],
    "yaw_diff": [
      0.0012833077889249367,
      0.00012359945931805782,
      -0.0015910422657605672,
      -0.004302024223753698,
      -0.0014573943206399598,
      0.0014753308388661956,
      -0.0017125107443112242,
      -0.0010345166833314323,
      -0.0015667136093051592,
      -0.0015667136093051592
    ],
    "min_front_frame": [
      9,
      11.543861527361809
    ],
    "v_avg": 4.0387023302166325,
    "v_std": 1.9723997914727673,
    "vy_max": 0.022923877903689993,
    "a_max": 1.8199416102949493,
    "ax_avg": -1.4215090605694027,
    "a_std": 0.3380203542097639,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "602c93fe201356c2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.521109761412127,
    "right_rear_min": 12.95693702317659,
    "speed_mode": "decelerating",
    "front_frame": [
      20.412264683728914,
      19.02452376469672,
      17.67169988772592,
      16.451220335001455,
      15.449386488167676,
      14.61010394435605,
      13.861309329512215,
      13.030443344991788,
      12.20841432270435,
      11.543861527361809
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "602c93fe201356c2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4b6b3a81cc235dbf": {
    "vx_ego": [
      1.5285584404472872,
      5.680216411558119,
      5.96575513249209,
      4.249476136898416,
      4.364383212987795,
      4.354633359132894,
      4.25886239569334,
      4.240677913222537,
      4.274629877316137,
      4.293103811105099
    ],
    "vy_ego": [
      -0.049882910793559665,
      0.11834725141921831,
      -0.017021818209359107,
      0.003890609382059207,
      -0.003818373056485136,
      -0.016540128956765265,
      -0.008639389932952879,
      0.0038097504645864255,
      0.014570227917127143,
      -0.0014104273227948383
    ],
    "v_ego": [
      1.5293721622456324,
      5.681449159682121,
      5.965779416233127,
      4.249477917922441,
      4.364384883323475,
      4.354664771063203,
      4.258871158477235,
      4.240679624528603,
      4.274654708813957,
      4.293104042791224
    ],
    "ax_ego": [
      8.299799905637482,
      8.304681117553532,
      -7.17107103035561,
      0.30475663109497714,
      0.16053269533429218,
      -0.19150555909040956,
      -0.1898027724949233,
      0.11805462945689557,
      0.014677979540095698,
      0.05721801063854054
    ],
    "ay_ego": [
      0.46841100770276434,
      0.3719661105533656,
      0.36125970431568444,
      0.22990122733494778,
      0.49081165130663795,
      0.6472096185757261,
      0.5969399192256365,
      0.6065260134549675,
      0.5888723344288687,
      0.5862697078313592
    ],
    "a_ego": [
      8.313007118110574,
      8.313007112450366,
      7.180164921251302,
      0.3817475324432043,
      0.516397931182573,
      0.6749479013519987,
      0.626388345686499,
      0.617908326965886,
      0.5890552345400937,
      0.5890552360026176
    ],
    "yaw": [
      2.300334260635863,
      2.3119508619334583,
      2.353024993156321,
      2.383426109615782,
      2.4268618312606747,
      2.4943339374705764,
      2.5646948120599022,
      2.6331547906344603,
      2.7005883009016793,
      2.7729565132250604
    ],
    "yaw_diff": [
      0.023233202595190683,
      0.0821482624457257,
      0.060802232918921284,
      0.08687144328978569,
      0.13494421241980348,
      0.14072174917865166,
      0.1369199571491162,
      0.134867020534438,
      0.14473642464676217,
      0.14473642464676217
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.321243784508101,
    "v_std": 1.1122353632934538,
    "vy_max": 0.11834725141921831,
    "a_max": 8.313007118110574,
    "ax_avg": 0.9707341607314873,
    "a_std": 3.388358032647592,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "4b6b3a81cc235dbf",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.0952564795188,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "4b6b3a81cc235dbf",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "8e711b3a85205804": {
    "vx_ego": [
      9.44586901361821,
      9.50636126937155,
      9.651550113197464,
      9.621276149755182,
      9.599213621588907,
      9.726339406470327,
      9.706812396814902,
      9.65104352856152,
      9.590207458326617,
      9.533357912221105
    ],
    "vy_ego": [
      0.05048157641788986,
      0.07692903505637005,
      0.07379524622171818,
      0.007692100595333429,
      -0.06566946178911337,
      -0.02899257584471293,
      -0.04688044727516694,
      -0.05406406466824887,
      -0.05642379292386046,
      -0.05940638194641057
    ],
    "v_ego": [
      9.446003907049281,
      9.506672533554637,
      9.6518322263665,
      9.621279224628058,
      9.59943824560113,
      9.726382617361486,
      9.706925604087845,
      9.651194957790338,
      9.590373441016329,
      9.533543003559837
    ],
    "ax_ego": [
      0.11716796014732365,
      0.12134565792430883,
      0.45448652029477005,
      -0.5798457234464036,
      0.49256314390456396,
      0.016200522005492518,
      -0.09424358321890829,
      -0.12974699067593612,
      -0.11533774473279979,
      -0.11397575159737805
    ],
    "ay_ego": [
      0.3098697227889976,
      0.3082577054306215,
      0.35675984084192613,
      0.33400208483840005,
      0.19164189377656887,
      0.04312093613311556,
      -0.0857115174184429,
      -0.1548832214213118,
      -0.16392219376686495,
      -0.16487209580189335
    ],
    "a_ego": [
      0.3312817169516227,
      0.3312817255063056,
      0.5777850648530168,
      0.6691625031899807,
      0.528531045619288,
      0.04606378237017319,
      0.12739041249682542,
      0.20204725652011352,
      0.20043273427609098,
      0.20043273167398565
    ],
    "yaw": [
      2.5573541770515487,
      2.5708712669397342,
      2.5886313757878705,
      2.6130824250054916,
      2.6346907404777857,
      2.6369549946992366,
      2.637699078948275,
      2.632229396391301,
      2.624188786728628,
      2.6159040412856145
    ],
    "yaw_diff": [
      0.027034179776371126,
      0.03552021769627256,
      0.04890209843524218,
      0.043216630944588275,
      0.0045285084429016464,
      0.0014881684980769805,
      -0.01093936511394844,
      -0.01608121932534523,
      -0.016569490886027438,
      -0.016569490886027438
    ],
    "min_front_frame": [
      1,
      20.679172578022424
    ],
    "v_avg": 9.603364576101544,
    "v_std": 0.08365828534592894,
    "vy_max": 0.07692903505637005,
    "a_max": 0.6691625031899807,
    "ax_avg": 0.016861401060503323,
    "a_std": 0.19665492615440766,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "8e711b3a85205804",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.341718264592533,
    "right_rear_min": 20.095218439198998,
    "speed_mode": "quasi_constant",
    "front_frame": [
      24.789461454937094,
      20.679172578022424,
      25.019854366999773,
      25.02846083856908,
      25.247897891968194,
      25.377046059626128,
      25.480314502105955,
      25.536541222597744,
      25.736642037807616,
      25.922505160062457
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "8e711b3a85205804",
    "pedestrians": "No"
  },
  "ef97c6e9f11b59a7": {
    "vx_ego": [
      2.3992581708894463,
      2.7274741965376865,
      3.035863093941824,
      3.2730866440201334,
      3.4631478038048504,
      3.665464679158571,
      3.8923802474387363,
      4.143165222145366,
      4.425828937468315,
      4.731292337756809
    ],
    "vy_ego": [
      -0.1126291017566774,
      -0.06381746574384095,
      -0.06603172224119669,
      -0.06654083080400816,
      -0.07528676604716045,
      -0.0743175594281158,
      -0.08593809198258362,
      -0.07079840944353055,
      -0.048979375390728386,
      0.07916866543252654
    ],
    "v_ego": [
      2.4019003070781864,
      2.7282206951991377,
      3.0365811224961803,
      3.273762951318722,
      3.463966051816934,
      3.6662179986736194,
      3.8933288258641663,
      4.143770079622492,
      4.42609994949793,
      4.73195465562622
    ],
    "ax_ego": [
      0.6429350199182853,
      0.7011741465636858,
      0.5778195537496884,
      0.4167911496313217,
      0.40440949059719833,
      0.46830478214321036,
      0.49521989964427404,
      0.5313920566715061,
      0.6009118536495812,
      0.6186790953821861
    ],
    "ay_ego": [
      0.62943603820352,
      0.5638350660440148,
      0.8074691777996069,
      0.9405988700502177,
      1.1473258249429017,
      1.290531491082829,
      1.29144243816643,
      1.0019952833786607,
      0.5611055610928635,
      0.5414523839308457
    ],
    "a_ego": [
      0.8997528360759243,
      0.8997528357889025,
      0.9929158623931145,
      1.0288056652015216,
      1.216512878956074,
      1.3728732273792323,
      1.3831364069031435,
      1.1341834356957678,
      0.8221523621239026,
      0.8221523624774888
    ],
    "yaw": [
      1.2651397023320778,
      1.3626748719665684,
      1.4816334028147518,
      1.6192365859467779,
      1.776413649884754,
      1.9471005377570259,
      2.120707394510172,
      2.2595779317138183,
      2.3458136974700583,
      2.378040037633147
    ],
    "yaw_diff": [
      0.1950703392689812,
      0.23791706169636662,
      0.27520636626405226,
      0.3143541278759523,
      0.34137377574454364,
      0.34721371350629227,
      0.27774107440729257,
      0.17247153151248007,
      0.06445268032617779,
      0.06445268032617779
    ],
    "min_front_frame": [
      6,
      31.40003711051472
    ],
    "v_avg": 3.5765802637193587,
    "v_std": 0.7058476365604885,
    "vy_max": 0.1126291017566774,
    "a_max": 1.3831364069031435,
    "ax_avg": 0.5457637047950937,
    "a_std": 0.20055020729528053,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ef97c6e9f11b59a7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.170352427774551,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      31.40003711051472,
      33.62665888087367,
      35.594188453614564,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ef97c6e9f11b59a7",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "84b69613f5e6551c": {
    "vx_ego": [
      4.236488935063139,
      4.218961201889604,
      4.30832793259759,
      4.462852043858286,
      4.657461395097511,
      4.902057924733197,
      5.186264107380678,
      5.47749336657316,
      5.769033672828462,
      6.072370141340156
    ],
    "vy_ego": [
      -0.07435733901902486,
      -0.034725605921357205,
      -0.0206230725140073,
      0.013157169556651027,
      0.0600193504908777,
      0.08635103472986083,
      0.0566953953863687,
      0.022420351623942292,
      -0.012219483684442478,
      -0.06534406685858984
    ],
    "v_ego": [
      4.237141431528856,
      4.21910410996889,
      4.308377291500889,
      4.462871438488994,
      4.657848105000527,
      4.902818413794096,
      5.186573990541649,
      5.477539251618368,
      5.769046613957125,
      6.0727217111039336
    ],
    "ax_ego": [
      -0.13572216756390187,
      0.1014952321831103,
      0.2821020011047519,
      0.32149193310812174,
      0.4255018996001007,
      0.5130479236726515,
      0.5910983043203203,
      0.5579817967567127,
      0.6073125954864749,
      0.607183765290715
    ],
    "ay_ego": [
      1.450069865843859,
      1.4528667656848524,
      1.5340057072071405,
      1.3170043656939163,
      1.0956848741766239,
      0.8596851806993384,
      0.5957067170787118,
      0.1105984399865753,
      -0.014829480102948961,
      -0.01940042762742253
    ],
    "a_ego": [
      1.456407608671649,
      1.4564076081191926,
      1.559729158787315,
      1.3556760536021988,
      1.175405125930093,
      1.0011377437190514,
      0.8392042052701204,
      0.5688371475557072,
      0.6074936231078005,
      0.6074936225383251
    ],
    "yaw": [
      -2.738104531702133,
      -2.575034149658408,
      -2.4027186411354777,
      -2.248034882957291,
      -2.1258446923810936,
      -2.028934106018981,
      -1.9508109754723626,
      -1.9113013837739763,
      -1.9008722345378177,
      -1.893344955666953
    ],
    "yaw_diff": [
      0.32614076408744985,
      0.3446310170458604,
      0.3093675163563736,
      0.24438038115239458,
      0.19382117272422494,
      0.15624626109323714,
      0.07901918339677261,
      0.020858298472317127,
      0.015054557741729369,
      0.015054557741729369
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.929404235750332,
    "v_std": 0.6356330202565524,
    "vy_max": 0.08635103472986083,
    "a_max": 1.559729158787315,
    "ax_avg": 0.3871493283959057,
    "a_std": 0.36981795352803953,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "84b69613f5e6551c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 26.611353920366554,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "84b69613f5e6551c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c9a74fd5fd9e57c8": {
    "vx_ego": [
      5.887111018966588,
      5.971186504433965,
      6.061533289460899,
      6.0967253217593935,
      6.20875577455552,
      6.332186631680392,
      6.3966245102727015,
      6.349925800882701,
      6.319033172003608,
      6.480787120716757
    ],
    "vy_ego": [
      -0.04982063326369213,
      -0.01395397940986065,
      0.007280820615588546,
      0.018963218544644,
      -0.013702418147455209,
      -0.04089011198216186,
      -0.04868179717143306,
      -0.012990992385632616,
      0.04197475833786113,
      0.0759720277981506
    ],
    "v_ego": [
      5.887321822793163,
      5.971202808838073,
      6.0615376621441115,
      6.09675481322972,
      6.2087708948180405,
      6.332318654307423,
      6.39680975508865,
      6.349939089676292,
      6.31917258105992,
      6.481232402333368
    ],
    "ax_ego": [
      0.1668926282455952,
      0.17155833320954184,
      0.18889236530615464,
      -0.047703344298735795,
      0.49591991194595253,
      -0.002632731659528015,
      0.259925314410442,
      -0.44716568963899095,
      0.3239672527148725,
      0.32388754324180286
    ],
    "ay_ego": [
      0.2752332636228191,
      0.27234948883834453,
      -0.013663694224596928,
      -0.06839392152601786,
      -0.12312904619737303,
      -0.06578376176229521,
      -0.023402271046312553,
      0.10471682909260194,
      0.021779490616753938,
      0.022934449407987778
    ],
    "a_ego": [
      0.32187963397392927,
      0.32187964484282594,
      0.18938590816324496,
      0.08338667494864403,
      0.5109768302789826,
      0.06583642295560638,
      0.2609766950543519,
      0.4592632886324832,
      0.3246985171557568,
      0.32469852114978637
    ],
    "yaw": [
      -2.2652880365091206,
      -2.2482473905059677,
      -2.241025065415214,
      -2.246295697435526,
      -2.2487962119281955,
      -2.251960771676491,
      -2.25425163817706,
      -2.2566290698253457,
      -2.2603708646245053,
      -2.2639363400734487
    ],
    "yaw_diff": [
      0.03408129200630583,
      0.01444465018150698,
      -0.010541264040623943,
      -0.005001028985338607,
      -0.006329119496591318,
      -0.004581733001137955,
      -0.004754863296571266,
      -0.007483589598319185,
      -0.007130950897886734,
      -0.007130950897886734
    ],
    "min_front_frame": [
      1,
      24.901519710649485
    ],
    "v_avg": 6.2105060484288765,
    "v_std": 0.18733343204782033,
    "vy_max": 0.0759720277981506,
    "a_max": 0.5109768302789826,
    "ax_avg": 0.14335415834771068,
    "a_std": 0.1362674974197802,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c9a74fd5fd9e57c8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      27.841230232631517,
      24.901519710649485,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c9a74fd5fd9e57c8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "311302972dd15a8b": {
    "vx_ego": [
      9.217644960552155,
      8.736074017387784,
      8.264240032781503,
      7.849857213666811,
      7.504944305522076,
      7.180908898275371,
      6.846224174021366,
      6.472752016275399,
      6.033549337522618,
      5.557551097274239
    ],
    "vy_ego": [
      0.03530176368792648,
      0.017147667358213825,
      0.0010530412031952707,
      0.006675037403069739,
      0.004256682274862089,
      -0.010838017460700455,
      -0.004515604472945189,
      0.001347032592528441,
      -0.0055374475512413035,
      -0.007992589068558764
    ],
    "v_ego": [
      9.217712559703303,
      8.736090846584286,
      8.264240099871506,
      7.849860051687623,
      7.504945512682435,
      7.180917077083739,
      6.846225663213146,
      6.472752156439642,
      6.03355187859067,
      5.557556844540064
    ],
    "ax_ego": [
      -0.9632645675150919,
      -0.9632545688442258,
      -0.924124279829801,
      -0.7333972361762773,
      -0.6464230393507222,
      -0.6495097197431029,
      -0.6890942000628982,
      -0.8048373328731143,
      -0.9519868792802488,
      -0.9519826012483689
    ],
    "ay_ego": [
      0.0033112424706600446,
      0.00549551600675649,
      -0.0464969468747121,
      0.07583391518416772,
      0.004034813521265099,
      0.06939953299360758,
      0.07280116449800167,
      0.03193765121913275,
      0.004595858313255957,
      0.005410041125738646
    ],
    "a_ego": [
      0.9632702587315445,
      0.9632702451002293,
      0.9252932781770428,
      0.7373074587464593,
      0.646435631384577,
      0.6532068364771566,
      0.692929163849084,
      0.8054707604573261,
      0.9519979728105427,
      0.9519979735401715
    ],
    "yaw": [
      -1.6804409902186686,
      -1.6781734065837641,
      -1.6774854624072288,
      -1.6772723163933598,
      -1.6743524133154395,
      -1.6697968085857269,
      -1.6656324345943176,
      -1.6625874562099696,
      -1.6600334043899916,
      -1.6591781591323005
    ],
    "yaw_diff": [
      0.0045351672698088485,
      0.0013758883530705646,
      0.0004262920277380289,
      0.005839806155840677,
      0.009111209459425229,
      0.008328747982818463,
      0.006089956768696059,
      0.005108103639956063,
      0.0017104905153821903,
      0.0017104905153821903
    ],
    "min_front_frame": [
      9,
      16.231704780174642
    ],
    "v_avg": 7.366385269039641,
    "v_std": 1.1186798439144863,
    "vy_max": 0.03530176368792648,
    "a_max": 0.9632702587315445,
    "ax_avg": -0.8277874424923851,
    "a_std": 0.12934282543151499,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "311302972dd15a8b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.60580845306373,
    "right_rear_min": 3.8339082170596237,
    "speed_mode": "decelerating",
    "front_frame": [
      22.988634204090957,
      18.61437671933987,
      22.00083560260778,
      18.059890470031128,
      23.146839350095206,
      19.521158672831053,
      24.769767660130555,
      21.73381461141157,
      18.8605192791029,
      16.231704780174642
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "311302972dd15a8b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c840eac7d70e5877": {
    "vx_ego": [
      7.592279747365402,
      7.423966069853911,
      7.252690143560747,
      6.969650037869318,
      6.438086851039259,
      5.760778796738122,
      5.044183887332881,
      4.23831699501551,
      3.3221334131011147,
      2.3505370157212653
    ],
    "vy_ego": [
      0.015020188478084506,
      0.017859725818456962,
      0.027727106676400215,
      0.022515118853760452,
      -0.004551230946818308,
      -0.032181472275542244,
      -0.02761467762630465,
      -0.025270599042132025,
      -0.011518425019142464,
      0.017704193789392697
    ],
    "v_ego": [
      7.5922946049476225,
      7.423987552262492,
      7.252743143869625,
      6.969686404778107,
      6.438088459723719,
      5.760868683810224,
      5.044259475844702,
      4.23839233122811,
      3.3221533812510495,
      2.3506036885773756
    ],
    "ax_ego": [
      -0.33778567064086173,
      -0.33612942235270826,
      -0.34989895705791146,
      -0.782814191095152,
      -1.3447626007625146,
      -1.3643128289646207,
      -1.5018835285156011,
      -1.721262686664186,
      -1.9432336633892915,
      -1.9431641353135891
    ],
    "ay_ego": [
      0.15882929249045197,
      0.16230500288913396,
      0.09251085635953413,
      0.18852533554867762,
      -0.09472742575565085,
      0.014127137478667118,
      0.03472823984191353,
      0.03209887750290907,
      0.06350808041465239,
      0.06560081293562481
    ],
    "a_ego": [
      0.3732638523126962,
      0.37326385109464744,
      0.3619220063695886,
      0.8051955414206531,
      1.348094854822855,
      1.364385968592021,
      1.5022849875669362,
      1.7215619577695596,
      1.9442711608228211,
      1.9442711548101574
    ],
    "yaw": [
      -0.6227375326928638,
      -0.612422639356198,
      -0.6050880365441613,
      -0.5945552597131509,
      -0.5870981055277984,
      -0.5858722250807276,
      -0.5844612462334702,
      -0.5813848489656915,
      -0.5787195026182905,
      -0.5776425464387451
    ],
    "yaw_diff": [
      0.020629786673331596,
      0.014669205624073367,
      0.021065553662020786,
      0.014914308370705065,
      0.0024517608941416746,
      0.002821957694514765,
      0.006152794535557282,
      0.0053306926948020195,
      0.0021539123590907927,
      0.0021539123590907927
    ],
    "min_front_frame": [
      9,
      11.390838827029816
    ],
    "v_avg": 5.639307772629302,
    "v_std": 1.747185556879861,
    "vy_max": 0.032181472275542244,
    "a_max": 1.9442711608228211,
    "ax_avg": -1.1625247684756437,
    "a_std": 0.6114433917918742,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c840eac7d70e5877",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.69973554259414,
      25.634083035622535,
      24.413646574403867,
      22.6596044281388,
      20.809865731256924,
      18.790951856057436,
      16.754039088987994,
      14.628177164544319,
      12.778135821036699,
      11.390838827029816
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c840eac7d70e5877",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ae1ac5ca165a5b5c": {
    "vx_ego": [
      7.304326960795836,
      7.1146925257310265,
      6.95296692605898,
      6.864454714210887,
      6.841776688117245,
      6.82256527137995,
      6.794529051869811,
      6.763819906348746,
      6.680580620179951,
      6.556797051228929
    ],
    "vy_ego": [
      -0.0019694638211502635,
      0.01725293431521635,
      0.04045841701749486,
      0.053374392572437035,
      0.029592886202038704,
      -0.004031076812037515,
      -0.013866811833611603,
      0.018034027953288012,
      0.01894252540791941,
      -0.0011934468524827935
    ],
    "v_ego": [
      7.304327226308846,
      7.114713444646624,
      6.953084636215614,
      6.8646622166887825,
      6.841840687196564,
      6.822566462250114,
      6.794543202097791,
      6.763843947910373,
      6.680607475521427,
      6.556797159842584
    ],
    "ax_ego": [
      -0.3805102624621815,
      -0.3783408943980856,
      -0.2693663715918433,
      -0.08898870942341455,
      -0.005011043298341483,
      -0.07311663094820439,
      -0.03735079537408255,
      -0.08444037181894601,
      -0.2519731803206149,
      -0.24400334793912326
    ],
    "ay_ego": [
      0.19503477092771915,
      0.19921041321446914,
      0.32535850856872417,
      0.22484294701824434,
      0.22870453458758794,
      0.20815965634676012,
      0.30256292176343935,
      0.4153588766689853,
      0.3020331593392315,
      0.308507502698276
    ],
    "a_ego": [
      0.427582298171786,
      0.42758229746684195,
      0.42239365672630497,
      0.24181261594196019,
      0.22875942537054744,
      0.2206274784599987,
      0.30485964564222945,
      0.4238551318795647,
      0.3933376576700008,
      0.393337657778438
    ],
    "yaw": [
      -1.9466217717220546,
      -1.9356167124849792,
      -1.9202418655799682,
      -1.902143110810634,
      -1.8820975998583243,
      -1.8612174045941572,
      -1.8410072114144227,
      -1.819257399682393,
      -1.7927965741897314,
      -1.766690598058871
    ],
    "yaw_diff": [
      0.022010118474150797,
      0.030749693810022016,
      0.036197509538668626,
      0.04009102190461933,
      0.041760390528334135,
      0.040420386359468985,
      0.04349962346405922,
      0.05292165098532342,
      0.05221195226172082,
      0.05221195226172082
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.869698645867873,
    "v_std": 0.20234295654249038,
    "vy_max": 0.053374392572437035,
    "a_max": 0.427582298171786,
    "ax_avg": -0.18131016075748377,
    "a_std": 0.08464237235093723,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "ae1ac5ca165a5b5c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.150000830761527,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ae1ac5ca165a5b5c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "17eb5d70d9f15c7e": {
    "vx_ego": [
      0.5703162804718938,
      0.9236022325895219,
      1.3800148055626835,
      1.9530711973041708,
      2.5232443576862127,
      3.0537195828787764,
      3.580784538012182,
      4.139542768781134,
      4.758229895158328,
      5.4258927284451
    ],
    "vy_ego": [
      -0.04017540706226709,
      -0.04088383464988223,
      -0.010328298650538019,
      0.01621821804407067,
      0.01819874112300196,
      0.029044734325363364,
      0.0664577726014659,
      0.12096156632180177,
      0.09227135395002195,
      0.08543106195681283
    ],
    "v_ego": [
      0.5717295891450036,
      0.9245066641079599,
      1.3800534545173335,
      1.953138533831042,
      2.5233099854702297,
      3.0538577058287046,
      3.5814011983030136,
      4.141309700456512,
      4.759124471784512,
      5.426565245801481
    ],
    "ax_ego": [
      0.7040056675749856,
      0.7049422086258238,
      1.1166659472194487,
      1.1896380871500734,
      1.1176744727113683,
      1.0492722487128925,
      1.108634623134523,
      1.1925507917256981,
      1.3124401826655308,
      1.3829761780229128
    ],
    "ay_ego": [
      -0.04677153177711442,
      -0.029462470795615783,
      -0.08213334958173596,
      -0.3844718809781825,
      -0.6892390360292606,
      -1.0619382793411813,
      -1.2204554681635649,
      -1.2333117960207194,
      -0.9093648229180844,
      -0.7980103102173572
    ],
    "a_ego": [
      0.7055576207245434,
      0.7055576196793831,
      1.1196824214003827,
      1.2502229423830724,
      1.313105736693424,
      1.49287814675181,
      1.6488123839245543,
      1.7155860156370597,
      1.596697721622966,
      1.5966977059519019
    ],
    "yaw": [
      0.1103274597692797,
      0.08575848700699279,
      0.03264709933020732,
      -0.05369716897390646,
      -0.17388597288545865,
      -0.3339420962656988,
      -0.5171267201812041,
      -0.6902004450666368,
      -0.8044176464797315,
      -0.8869957725735054
    ],
    "yaw_diff": [
      -0.04913794552457382,
      -0.10622277535357094,
      -0.17268853660822756,
      -0.24037760782310438,
      -0.32011224676048033,
      -0.36636924783101055,
      -0.3461474497708654,
      -0.22843440282618932,
      -0.16515625218754781,
      -0.16515625218754781
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.8314996549245786,
    "v_std": 1.5650520393829728,
    "vy_max": 0.12096156632180177,
    "a_max": 1.7155860156370597,
    "ax_avg": 1.0878800407543259,
    "a_std": 0.3531902656296214,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "17eb5d70d9f15c7e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "17eb5d70d9f15c7e",
    "pedestrians": "Yes",
    "with_lead": "No"
  },
  "0c136e28e54f58b6": {
    "vx_ego": [
      0.880803749899827,
      0.32746864161466976,
      -0.013608880632087683,
      -0.06510287850237449,
      -0.040362508172891026,
      -0.02309937644090225,
      -0.014792571170451463,
      -0.010201730588223417,
      -0.0074270573527328715,
      -0.0053382318458204125
    ],
    "vy_ego": [
      0.023797875342830566,
      -0.005554548256394842,
      -0.012436580691219418,
      -0.002729663967088708,
      0.00024977506509500647,
      0.0012170142270881007,
      0.0010400865359037267,
      0.0006741442853833383,
      0.000498887802770495,
      0.0006205671138191076
    ],
    "v_ego": [
      0.8811251810659084,
      0.3275157465638708,
      0.018435568104824513,
      0.06516007868832079,
      0.040363281006254165,
      0.023131414042108295,
      0.014829091065707296,
      0.01022398051211994,
      0.007443794056832617,
      0.005374181126691301
    ],
    "ax_ego": [
      -1.106669838166731,
      -1.106671863213537,
      -0.2576720243147432,
      0.05169296305674456,
      0.047268486146089715,
      0.021784270433079428,
      0.011442619485106824,
      0.006920887399783842,
      0.004177702935095964,
      0.0041776972345888685
    ],
    "ay_ego": [
      -0.05868229205043335,
      -0.05864417969401492,
      0.031031098043251742,
      0.007847618170669132,
      0.004071865218791472,
      -0.00019760554208966483,
      -0.0005150158359524346,
      -0.0009467513378723876,
      0.00024384852986115394,
      0.00024402771408807856
    ],
    "a_ego": [
      1.108224590102688,
      1.1082245948545384,
      0.2595338150612122,
      0.05228525165415745,
      0.04744354401710605,
      0.02178516665650743,
      0.01145420368215216,
      0.0069853432625927485,
      0.004184813486814542,
      0.004184818240871941
    ],
    "yaw": [
      2.599773400418208,
      2.599807829044119,
      2.599389723760275,
      2.599226198840026,
      2.599217997633753,
      2.5991716607467,
      2.5992413744580594,
      2.599199754394253,
      2.5992555061738107,
      2.5992102278429052
    ],
    "yaw_diff": [
      6.885725182215197e-05,
      -0.0008362105676873455,
      -0.0003270498404983613,
      -1.6402412546412393e-05,
      -9.267377410537847e-05,
      0.0001394274227184411,
      -8.324012761296018e-05,
      0.00011150355911571097,
      -9.05566618110143e-05,
      -9.05566618110143e-05
    ],
    "min_front_frame": [
      9,
      8.127984620211572
    ],
    "v_avg": 0.1393602316232638,
    "v_std": 0.26393069048182055,
    "vy_max": 0.023797875342830566,
    "a_max": 1.1082245948545384,
    "ax_avg": -0.23235490990045227,
    "a_std": 0.42902881882176624,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0c136e28e54f58b6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.962229885864645,
    "right_rear_min": 7.213363255387775,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.480043796329252,
      8.14811767150411,
      8.148531412788918,
      8.141139850818485,
      8.152248983060327,
      8.151334682079677,
      8.148271770588769,
      8.151036459899759,
      8.140951499744899,
      8.127984620211572
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0c136e28e54f58b6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "570967c07a8251a2": {
    "vx_ego": [
      6.1902616953500225,
      6.332287503844147,
      6.434515242230417,
      6.519171880378101,
      6.614437162714885,
      6.712317520816521,
      6.828041699777005,
      6.94089100185393,
      7.059751584937111,
      7.192407472480534
    ],
    "vy_ego": [
      -0.039202893625360336,
      -0.015507263665119897,
      -0.0021492394499980083,
      -0.0056168288678835054,
      -0.013754021839410102,
      0.00022338827711498865,
      0.004656382757561417,
      0.003866563269990575,
      0.010449850221430523,
      0.012146833796409684
    ],
    "v_ego": [
      6.190385829961355,
      6.332306491837482,
      6.434515601171993,
      6.519174300068919,
      6.614451462715596,
      6.712317524533741,
      6.828043287486836,
      6.940892078827359,
      7.059759318871409,
      7.192417729509675
    ],
    "ax_ego": [
      0.2818018408571042,
      0.2844506636257664,
      0.12439769173752993,
      0.21409249947471667,
      0.16645055173160322,
      0.22370031693689724,
      0.23967123704113139,
      0.21163941429813649,
      0.2643927233178456,
      0.26680084592815384
    ],
    "ay_ego": [
      -0.1623051467374328,
      -0.1576168071281394,
      -0.22081762357561216,
      -0.23595688254298397,
      -0.2538665029535423,
      -0.14886051867428252,
      -0.19955922582464314,
      -0.15176842619756067,
      -0.18530813917792385,
      -0.18182389085133835
    ],
    "a_ego": [
      0.32520030468606925,
      0.32520030431475305,
      0.25344665827587126,
      0.31860829987734957,
      0.3035687524986984,
      0.2687029694991194,
      0.3118752739101917,
      0.26043213487383365,
      0.3228662549555336,
      0.3228662550845131
    ],
    "yaw": [
      1.345522683291352,
      1.3289638771642895,
      1.3121034686696527,
      1.294978563251838,
      1.2775862081172,
      1.2603607691462675,
      1.2468362335043661,
      1.2341995740329306,
      1.2212091971757453,
      1.2080908199846114
    ],
    "yaw_diff": [
      -0.03311761225412502,
      -0.03372081698927376,
      -0.03424981083562928,
      -0.03478471026927599,
      -0.03445087794186508,
      -0.02704907128380274,
      -0.025273318942871104,
      -0.025980753714370586,
      -0.02623675438226769,
      -0.02623675438226769
    ],
    "min_front_frame": [
      4,
      64.67846904141125
    ],
    "v_avg": 6.682426362498437,
    "v_std": 0.30802484141379466,
    "vy_max": 0.039202893625360336,
    "a_max": 0.32520030468606925,
    "ax_avg": 0.22773977849488847,
    "a_std": 0.027407849997440076,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "570967c07a8251a2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.559687876881114,
    "speed_mode": "accelerating",
    "front_frame": [
      75.906122399957,
      73.32528859961529,
      -1,
      67.6254907656756,
      64.67846904141125,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "570967c07a8251a2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4de864abe4f255bd": {
    "vx_ego": [
      2.482929935939477,
      2.5773203661500874,
      2.646338505217079,
      2.6188467036217147,
      2.5199912838603287,
      2.4809098954067115,
      2.539517028994524,
      2.6383119139996065,
      2.736497688490882,
      2.828968085451868
    ],
    "vy_ego": [
      -0.021823055638857003,
      -0.02470822471164924,
      -0.05029247251978686,
      -0.07207913123293852,
      -0.04990301160949295,
      -0.017785475725063504,
      -0.0037257236026589924,
      -0.0024238332808775853,
      -0.0019152733492918683,
      -0.015080736643980353
    ],
    "v_ego": [
      2.483025838073747,
      2.577438799688641,
      2.646816354979453,
      2.619838441245875,
      2.5204853463767103,
      2.48097364602563,
      2.5395197619962593,
      2.6383130273945965,
      2.7364983587402247,
      2.829008281557856
    ],
    "ax_ego": [
      0.17756794374457996,
      0.20653435742130116,
      0.07956051498029656,
      -0.17115652974735002,
      -0.20810184800032996,
      0.05844975106280792,
      0.17701499785354263,
      0.21837288994038434,
      0.17622383564689847,
      0.19538832864759847
    ],
    "ay_ego": [
      0.38703127015869265,
      0.3723803676887367,
      0.3331646960826723,
      0.35116727198425624,
      0.3807238411665204,
      0.33446366225080365,
      0.28513787962323894,
      0.2683936954596137,
      0.31922508764032986,
      0.307868313486589
    ],
    "a_ego": [
      0.42582106421163485,
      0.4258210645745799,
      0.3425326119653272,
      0.3906571522294454,
      0.4338859554926182,
      0.3395324944177271,
      0.3356157324398342,
      0.34600851842603975,
      0.3646361156400739,
      0.36463611645142696
    ],
    "yaw": [
      -0.8183657419725304,
      -0.7421162440047853,
      -0.6652919948598336,
      -0.592923236455567,
      -0.5304748763685834,
      -0.47103898931129634,
      -0.41461369877724874,
      -0.3615709735542374,
      -0.30721603802627095,
      -0.2461134026937577
    ],
    "yaw_diff": [
      0.15249899593549032,
      0.15364849828990335,
      0.1447375168085332,
      0.12489672017396725,
      0.11887177411457406,
      0.1128505810680952,
      0.10608545044602269,
      0.10870987105593288,
      0.12220527066502651,
      0.12220527066502651
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.6071917856079,
    "v_std": 0.10627900764469728,
    "vy_max": 0.07207913123293852,
    "a_max": 0.4338859554926182,
    "ax_avg": 0.09098542415497296,
    "a_std": 0.03709464274348006,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "4de864abe4f255bd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4de864abe4f255bd",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "906587437cf95447": {
    "vx_ego": [
      8.414595937591564,
      8.440739488045855,
      8.519443248286397,
      8.607586636684387,
      8.625505017673683,
      8.622533552873596,
      8.663055824460526,
      8.683426541083405,
      8.648461469907023,
      8.61204414992163
    ],
    "vy_ego": [
      0.027866125809562936,
      0.09353936118307304,
      0.11222964387640011,
      0.08095579951162457,
      0.04810585864368999,
      0.06370434669609315,
      0.08961021166905736,
      0.08337066651268854,
      0.057856772694812264,
      0.06030221342557063
    ],
    "v_ego": [
      8.414642078775548,
      8.44125776867092,
      8.52018243664637,
      8.607967329718567,
      8.625639163769241,
      8.622768877467315,
      8.66351927381447,
      8.683826757969467,
      8.64865499384806,
      8.61225526776485
    ],
    "ax_ego": [
      0.04082686935632773,
      0.057076140902835894,
      0.24393274501118015,
      0.09731901039034459,
      -0.03220156206733159,
      0.016598451829890587,
      0.13426170081274558,
      -0.06605180796594237,
      -0.08311028421353239,
      -0.06920369050396893
    ],
    "ay_ego": [
      0.5937278575813859,
      0.5923866273458186,
      0.4359744756416342,
      0.39959037233944955,
      0.45804014329543485,
      0.663257233549576,
      0.6188007698186206,
      0.510640213386714,
      0.491260129190499,
      0.4934112721824111
    ],
    "a_ego": [
      0.5951299035753632,
      0.5951299035660317,
      0.4995767483577347,
      0.4112705380278728,
      0.4591706801067319,
      0.6634648946696321,
      0.63319870264653,
      0.514894424968069,
      0.49824073887461257,
      0.4982407392978162
    ],
    "yaw": [
      -1.4922411491610807,
      -1.4648437004214403,
      -1.4366550168364436,
      -1.4086715846252806,
      -1.3800316873932061,
      -1.349316031508498,
      -1.3151740455919734,
      -1.2819981409184809,
      -1.2501611268360264,
      -1.2219168436203622
    ],
    "yaw_diff": [
      0.0547948974792809,
      0.05637736716999342,
      0.0559668644223259,
      0.05727979446414899,
      0.0614313117694163,
      0.06828397183304924,
      0.06635180934698504,
      0.06367402816490886,
      0.05648856643132838,
      0.05648856643132838
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.58407139484448,
    "v_std": 0.08843567386545764,
    "vy_max": 0.11222964387640011,
    "a_max": 0.6634648946696321,
    "ax_avg": 0.033944757355254915,
    "a_std": 0.0766579843612476,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "906587437cf95447",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "906587437cf95447",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7f2934ac111854f5": {
    "vx_ego": [
      2.9238212170609237,
      2.6907057484104264,
      2.509731582410334,
      2.3975317989552147,
      2.335748585866189,
      2.3408929139167425,
      2.486563687267391,
      2.8726037546299112,
      3.341636144493716,
      3.7870680341251153
    ],
    "vy_ego": [
      -0.011146996182427316,
      -0.015719951279315802,
      -0.030381757645066232,
      -0.018290122382389917,
      0.01030188250452646,
      0.0063711263475796365,
      0.00014214047235938665,
      0.031764272477345035,
      0.05025213131913753,
      -0.10657488027707851
    ],
    "v_ego": [
      2.9238424658075397,
      2.690751668474283,
      2.5099154700797164,
      2.3976015631414223,
      2.3357713041218395,
      2.34090158393653,
      2.486563691330008,
      2.8727793685070697,
      3.3420139734730228,
      3.788567341383592
    ],
    "ax_ego": [
      -0.4670817757647092,
      -0.4660332872615537,
      -0.2588652281790481,
      -0.19165955081349145,
      -0.055384448554441065,
      0.07681288790762106,
      0.5055626658953489,
      1.0392305871202985,
      0.8441822480415868,
      0.9445101035977918
    ],
    "ay_ego": [
      -0.07842916147078019,
      -0.08443634745306491,
      -0.0888242751142545,
      0.029265252592245272,
      -0.018767999708273884,
      -0.10223707208712633,
      -0.008616272232238709,
      0.24236587081856692,
      0.7657510393304197,
      0.6379020197038681
    ],
    "a_ego": [
      0.4736206484313409,
      0.4736206515841814,
      0.2736803942736188,
      0.1938809903711997,
      0.05847798692439145,
      0.12787743607711652,
      0.505636083853192,
      1.0671182823586347,
      1.1397448495800124,
      1.1397448497539198
    ],
    "yaw": [
      2.5558476603422076,
      2.5429722698435793,
      2.5318419415307893,
      2.5208077607019277,
      2.5097559365055453,
      2.498419784722577,
      2.489316827558328,
      2.4995794799233892,
      2.5741230336473677,
      2.7168328366494467
    ],
    "yaw_diff": [
      -0.025750780997256584,
      -0.022260656625579855,
      -0.0220683616577233,
      -0.022103648392764796,
      -0.022672303565936858,
      -0.018205914328497386,
      0.02052530473012215,
      0.14908710744795695,
      0.28541960600415806,
      0.28541960600415806
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.7688708430255025,
    "v_std": 0.4543697587093836,
    "vy_max": 0.10657488027707851,
    "a_max": 1.1397448497539198,
    "ax_avg": 0.19712742019894036,
    "a_std": 0.3999228108930091,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "7f2934ac111854f5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.991766285503818,
    "right_rear_min": 8.681422126161438,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7f2934ac111854f5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a6b34e50b7995664": {
    "vx_ego": [
      1.7569137819337763,
      1.398589669410681,
      0.9397791264247065,
      0.47460509529793915,
      0.16492731300933633,
      0.009279911533425797,
      -0.019284854568411478,
      -0.012642248187136032,
      -0.007040073558285551,
      -0.003215530197336568
    ],
    "vy_ego": [
      -0.05728863537025275,
      -0.019359934019532177,
      0.010357893110235439,
      0.0214267205438258,
      0.028912685752096087,
      0.01815514500464633,
      -0.000780920276863618,
      -0.0004956045351786334,
      -0.0006404891496333831,
      -0.0003902395262067979
    ],
    "v_ego": [
      1.7578475545084764,
      1.3987236576348878,
      0.939836205098137,
      0.4750885189478158,
      0.16744241390364348,
      0.020389361152521275,
      0.01930065937224938,
      0.012651958863371076,
      0.00706914860905254,
      0.0032391235446949927
    ],
    "ax_ego": [
      -0.716719207372359,
      -0.7168407201265078,
      -1.1184035274414281,
      -0.7422327532695565,
      -0.4964679373505817,
      -0.12606929234514805,
      0.011810912606628546,
      0.014759609809467385,
      0.007649018712416597,
      0.0076489744184922385
    ],
    "ay_ego": [
      0.07103025254909523,
      0.06979327342674341,
      0.04760696484460247,
      -0.005088949988844849,
      0.03488338381057152,
      -0.0779703040411722,
      0.00221484678921001,
      -0.0010795276816267024,
      0.0005010207888549887,
      0.0005016402423903749
    ],
    "a_ego": [
      0.7202303235727101,
      0.7202303236098231,
      1.1194163091965137,
      0.7422501986783805,
      0.49769193612436274,
      0.1482323675338124,
      0.01201678837714516,
      0.014799035838294472,
      0.0076654099103547054,
      0.007665406224560715
    ],
    "yaw": [
      -2.2881761910872034,
      -2.289901933919235,
      -2.290203537195586,
      -2.2908690078701603,
      -2.2909982537318108,
      -2.2913460473556384,
      -2.2912200881792795,
      -2.291128944929177,
      -2.291157393102365,
      -2.2912388816236113
    ],
    "yaw_diff": [
      -0.0034514856640628366,
      -0.0006032065527019626,
      -0.0013309413491491284,
      -0.0002584917233008355,
      -0.0006955872476552827,
      0.00025191835271787255,
      0.00018228650020457593,
      -5.689634637562335e-05,
      -0.00016297704249268463,
      -0.00016297704249268463
    ],
    "min_front_frame": [
      6,
      8.186845355370647
    ],
    "v_avg": 0.480158860163485,
    "v_std": 0.6228143799683853,
    "vy_max": 0.05728863537025275,
    "a_max": 1.1194163091965137,
    "ax_avg": -0.3874864922358576,
    "a_std": 0.38980438831409586,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a6b34e50b7995664",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      9.872846651682478,
      9.114071442807996,
      8.643999902164328,
      8.386130120371575,
      8.24389499815843,
      8.210104661330226,
      8.186845355370647,
      8.197498619120536,
      8.19502714192328,
      8.195285627943695
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a6b34e50b7995664",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "313a7a6feb1c5490": {
    "vx_ego": [
      2.7321506006428864,
      2.944588823543336,
      3.24283783345194,
      3.6303278286773484,
      4.1483742903829,
      4.769434708906905,
      5.379681698469941,
      5.922525449977236,
      6.42058899590708,
      6.903788230781249
    ],
    "vy_ego": [
      0.11395144149767023,
      -0.00458838482284496,
      -0.005059855465070262,
      -0.013816417562700689,
      0.05433875686064715,
      0.12207067120480106,
      0.14975624821579855,
      0.13189708033310843,
      0.08533080343107526,
      0.03690395966692384
    ],
    "v_ego": [
      2.7345258886345696,
      2.9445923984503546,
      3.2428417809391505,
      3.630354120063697,
      4.148730161580407,
      4.770996614051857,
      5.381765705670594,
      5.923993969057401,
      6.421156001872037,
      6.90388686449255
    ],
    "ax_ego": [
      0.31695749609406293,
      0.5664824375820687,
      0.6743134710937426,
      0.8858928043767967,
      1.1793702334946319,
      1.3053818757678035,
      1.1524095342527736,
      1.022601506879708,
      0.9643709199277379,
      0.9652674608680217
    ],
    "ay_ego": [
      -1.3501975978740282,
      -1.2659357227449408,
      -1.7016904245583306,
      -1.8565354211878229,
      -1.6378036261370605,
      -0.938538342283696,
      -0.34302699015866245,
      0.04760031791271256,
      0.0771986602462268,
      0.06503567213241004
    ],
    "a_ego": [
      1.3869014412116722,
      1.3869014406981768,
      1.8304231637334585,
      2.0570682611356466,
      2.018245491866856,
      1.607754975585427,
      1.2023789962461942,
      1.0237087633394768,
      0.9674558927135045,
      0.967455895460001
    ],
    "yaw": [
      2.6997257194306736,
      2.509542456539056,
      2.2699873260171093,
      2.013120229058541,
      1.7698880532022128,
      1.610023923381973,
      1.5417154368079053,
      1.5318347612402115,
      1.5444204641030979,
      1.5570267909867597
    ],
    "yaw_diff": [
      -0.38036652578323515,
      -0.47911026104389354,
      -0.5137341939171369,
      -0.4864643517126561,
      -0.31972825964047935,
      -0.13661697314813548,
      -0.019761351135387795,
      0.02517140572577281,
      0.025212653767323623,
      0.025212653767323623
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.610284350481261,
    "v_std": 1.4220727020135067,
    "vy_max": 0.14975624821579855,
    "a_max": 2.0570682611356466,
    "ax_avg": 0.9033047740337349,
    "a_std": 0.39717461466996007,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "313a7a6feb1c5490",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "313a7a6feb1c5490",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b669576d14655afc": {
    "vx_ego": [
      6.036456172287255,
      6.494454627209818,
      6.974522040078893,
      7.411561584224817,
      7.809344522550858,
      8.154741768392666,
      8.31473780488049,
      8.251971201323263,
      8.118993279151292,
      7.972596288522848
    ],
    "vy_ego": [
      0.013505370537452155,
      -0.14512165571535496,
      -0.1249315230534438,
      -0.1506068060413801,
      -0.13790281018081396,
      -0.09598969039303196,
      -0.01645136757186272,
      0.0028632245833981607,
      -0.020010978763589815,
      -0.04538939386827945
    ],
    "v_ego": [
      6.036471280059092,
      6.4960758308262205,
      6.97564087184817,
      7.413091630809851,
      7.81056201927562,
      8.155306697471879,
      8.314754080031701,
      8.251971698056382,
      8.11901793976186,
      7.9727254923798805
    ],
    "ax_ego": [
      0.8029459277898932,
      1.0588508376582815,
      0.9229888244225227,
      0.8720803048064243,
      0.7359701651473797,
      0.6530379876676015,
      -0.012743390576789422,
      -0.23827406113516209,
      -0.293598310818995,
      -0.29275013512369824
    ],
    "ay_ego": [
      1.7074282589056842,
      1.5616876449147146,
      1.5710853316373168,
      1.3596272103091818,
      0.7155615233357648,
      0.32403499054467594,
      0.08991313663355872,
      -0.050483716010447016,
      -0.14407143306024087,
      -0.14578719483569608
    ],
    "a_ego": [
      1.8868050832727976,
      1.8868050764954263,
      1.8221463962302282,
      1.6152740352783468,
      1.0264893461043136,
      0.7290111716799946,
      0.09081170707941573,
      0.24356340815497393,
      0.3270421164617772,
      0.32704211929506083
    ],
    "yaw": [
      -2.345693667151959,
      -2.1894531824158463,
      -2.076560367107067,
      -1.9713220391462896,
      -1.9049949546814928,
      -1.8777225167523302,
      -1.874843363173285,
      -1.8759812064395214,
      -1.8791261419982728,
      -1.8849784821427005
    ],
    "yaw_diff": [
      0.31248096947222503,
      0.2257856306175583,
      0.21047665592155518,
      0.13265416892959347,
      0.05454487585832535,
      0.005758307158090226,
      -0.002275686532472676,
      -0.006289871117502788,
      -0.011704680288855407,
      -0.011704680288855407
    ],
    "min_front_frame": [
      5,
      58.95734628202018
    ],
    "v_avg": 7.554561754052065,
    "v_std": 0.759231825167331,
    "vy_max": 0.1506068060413801,
    "a_max": 1.8868050832727976,
    "ax_avg": 0.4208508149837459,
    "a_std": 0.7075190224358868,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "b669576d14655afc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      70.23614111367095,
      66.62157587544111,
      62.95186298968196,
      58.95734628202018,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b669576d14655afc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2aa64c0ff1f059fd": {
    "vx_ego": [
      3.8937917367689083,
      3.110089331133285,
      2.3530774696829764,
      1.6918207081481753,
      1.1880086191727417,
      0.8778892359738675,
      0.7065999981826313,
      0.6220627886696044,
      0.6330585528616867,
      0.6863437283484053
    ],
    "vy_ego": [
      -0.006041951416571267,
      -0.003750522347018226,
      -0.0030853345408584643,
      -0.010793320359429037,
      -0.006273197684394827,
      0.0025209727208284627,
      -0.01150285098374132,
      0.0016037188469895103,
      0.012631334215101375,
      -0.010391842041458377
    ],
    "v_ego": [
      3.8937964243790084,
      3.11009159254948,
      2.3530794924139022,
      1.69185513690841,
      1.1880251816514293,
      0.8778928556163559,
      0.7066936203281085,
      0.622064855912585,
      0.6331845559987913,
      0.6864223946115133
    ],
    "ax_ego": [
      -1.5674015135177055,
      -1.5673965451561476,
      -1.4606375567760868,
      -1.184381214822984,
      -0.8307898016204242,
      -0.40970077756667467,
      -0.27545274205540266,
      -0.062666087214308,
      0.1065791831956007,
      0.106559577343735
    ],
    "ay_ego": [
      0.00816945628522825,
      0.009073225940911867,
      0.005686379461844804,
      -0.029921407162110836,
      0.05368685711190896,
      -0.016659035497053637,
      -0.03798545771547786,
      0.09131778052677618,
      -0.04545486638435726,
      -0.045500789458865466
    ],
    "a_ego": [
      1.567422803392113,
      1.5674228061363666,
      1.4606486255003974,
      1.1847591116476497,
      0.8325226562100627,
      0.4100393281167429,
      0.27805954057304805,
      0.11075186466641417,
      0.1158674551747003,
      0.11586744739164423
    ],
    "yaw": [
      -2.0618292595114647,
      -2.0612526531717466,
      -2.060139906083075,
      -2.0593102801867342,
      -2.0582919934719923,
      -2.057819915705015,
      -2.0573521967039685,
      -2.0569970166219385,
      -2.056274542144273,
      -2.0558436477618214
    ],
    "yaw_diff": [
      0.001153212679436244,
      0.002225494177342746,
      0.0016592517926818928,
      0.0020365734294838234,
      0.0009441555339542163,
      0.0009354380020933917,
      0.0007103601640601198,
      0.0014449489553305384,
      0.0008617887649036149,
      0.0008617887649036149
    ],
    "min_front_frame": [
      7,
      12.273076169382712
    ],
    "v_avg": 1.5763106110369587,
    "v_std": 1.1102569264684907,
    "vy_max": 0.012631334215101375,
    "a_max": 1.5674228061363666,
    "ax_avg": -0.7145287478190399,
    "a_std": 0.5988605165901651,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2aa64c0ff1f059fd",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5198727523811066,
    "right_rear_min": 7.426738961459305,
    "speed_mode": "decelerating",
    "front_frame": [
      15.567958352888331,
      14.55850713226832,
      13.847503015950076,
      13.278916635494776,
      12.851040152754699,
      12.581288381414474,
      12.377083560153237,
      12.273076169382712,
      12.299556707925854,
      12.416702330287936
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2aa64c0ff1f059fd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f191de4360a35ad8": {
    "vx_ego": [
      0.8433143445886722,
      1.474955462422062,
      2.1224010907312083,
      2.7337081928263305,
      3.2833449929142637,
      3.765297473633031,
      4.183075760427412,
      4.524123235352132,
      4.809974301905862,
      5.150426235039864
    ],
    "vy_ego": [
      -0.03977060323755477,
      0.012633888133290916,
      0.004148111216226713,
      -0.005237140620941494,
      -0.03215610293609367,
      -0.06783372320701392,
      -0.07582362122508068,
      -0.07219566443427872,
      -0.06314648376890197,
      -0.09187727967503534
    ],
    "v_ego": [
      0.8442516121814045,
      1.4750095698869357,
      2.1224051443500804,
      2.7337132093853014,
      3.283502452785928,
      3.765908453341824,
      4.1837629042539035,
      4.5246992455428625,
      4.810388785057519,
      5.151245658780738
    ],
    "ax_ego": [
      1.2579870657746453,
      1.2696911357685043,
      1.3239716639674095,
      1.1406311233446456,
      1.0900999912462936,
      0.8963003016941532,
      0.8359182894339301,
      0.578165985259752,
      0.6031645343521608,
      0.7956796925786827
    ],
    "ay_ego": [
      0.2580096418418218,
      0.1923144656282771,
      0.35511953281785713,
      0.6988141026887025,
      0.9830127874506585,
      1.2756830663472494,
      1.4157635188719575,
      1.4398609592054894,
      1.4027274970221904,
      1.303205937652374
    ],
    "a_ego": [
      1.2841730541245782,
      1.2841730545136836,
      1.3707701665769518,
      1.33767728158143,
      1.4678665236344492,
      1.5590771361873506,
      1.644124608409854,
      1.551604166131147,
      1.52690925938721,
      1.5269092602753151
    ],
    "yaw": [
      -2.013591624548598,
      -1.9616226756736852,
      -1.880554971728297,
      -1.7693389641805772,
      -1.6212193248655415,
      -1.4524387327554877,
      -1.2818598400484755,
      -1.1202635863530477,
      -0.970115481323698,
      -0.8280637066498961
    ],
    "yaw_diff": [
      0.10393789774982576,
      0.1621354078907764,
      0.22243201509543953,
      0.2962392786300714,
      0.3375611842201076,
      0.3411577854140244,
      0.3231925073908557,
      0.30029621005869944,
      0.2841035493476036,
      0.2841035493476036
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.28948870355665,
    "v_std": 1.388317271164506,
    "vy_max": 0.09187727967503534,
    "a_max": 1.644124608409854,
    "ax_avg": 0.9791609783420177,
    "a_std": 0.12069045548932354,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "f191de4360a35ad8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "f191de4360a35ad8",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "cbb9f6ff18285688": {
    "vx_ego": [
      8.325298460597658,
      7.624081039819751,
      6.9240816430602345,
      6.213448596330365,
      5.521705663059456,
      4.905102694966894,
      4.372424709913808,
      3.8679089248054392,
      3.374861827035962,
      2.9046776379573194
    ],
    "vy_ego": [
      -0.006891491071070011,
      -0.012776910291533827,
      -0.020600799435263717,
      -0.023732808743214484,
      -0.02628456250909572,
      -0.022450167051628167,
      -0.014081294802465116,
      -0.015352178677421335,
      -0.03640153516544076,
      -0.061690993319422294
    ],
    "v_ego": [
      8.325301312906273,
      7.624091745983623,
      6.924112289145886,
      6.213493920931334,
      5.521768222923628,
      4.905154070788412,
      4.372447384100598,
      3.86793939197342,
      3.3750581362914196,
      2.905332676150194
    ],
    "ax_ego": [
      -1.4024298426265016,
      -1.4024315980359168,
      -1.3975491152719723,
      -1.4450197655660497,
      -1.3219929754208803,
      -1.144597892367604,
      -0.9862184110077771,
      -1.0318735167875734,
      -0.9404167411078193,
      -0.9403961537842485
    ],
    "ay_ego": [
      -0.008594685034515326,
      -0.008302561254119767,
      -0.015243553061306647,
      -0.007730403640351935,
      -0.01230073128242326,
      -0.010065499759676189,
      0.02188195830439643,
      -0.0460561567655734,
      -0.0528355508253564,
      -0.05320085339167968
    ],
    "a_ego": [
      1.4024561783172538,
      1.4024561738938417,
      1.3976322461604145,
      1.4450404430385346,
      1.3220502014115179,
      1.144642149100658,
      0.9864611367458629,
      1.0329008298106694,
      0.9418998048555217,
      0.941899812535182
    ],
    "yaw": [
      -2.0533076331133753,
      -2.0530993358489242,
      -2.0528329761783786,
      -2.0532301778087305,
      -2.0536498544320967,
      -2.0554655998114293,
      -2.0566378876503544,
      -2.0577946526025475,
      -2.0588122755251463,
      -2.0592007255739366
    ],
    "yaw_diff": [
      0.00041659452890208115,
      0.0005327193410913367,
      -0.000794403260703902,
      -0.0008393532467323439,
      -0.003631490758665201,
      -0.0023445756778501803,
      -0.002313529904386158,
      -0.002035245845197764,
      -0.0007769000975805795,
      -0.0007769000975805795
    ],
    "min_front_frame": [
      9,
      17.08495929734496
    ],
    "v_avg": 5.403469915119479,
    "v_std": 1.7457110522367467,
    "vy_max": 0.061690993319422294,
    "a_max": 1.4450404430385346,
    "ax_avg": -1.2012926011976344,
    "a_std": 0.20143561198734583,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cbb9f6ff18285688",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.714959420948507,
    "right_rear_min": 39.872092893339584,
    "speed_mode": "decelerating",
    "front_frame": [
      37.99740532081383,
      35.067751345087885,
      32.31950716933909,
      29.641186849941892,
      27.141379526403778,
      24.786061170586365,
      22.50271752242288,
      20.432714878886124,
      18.636149441535938,
      17.08495929734496
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cbb9f6ff18285688",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "767ce55e55515539": {
    "vx_ego": [
      7.982366669705389,
      7.98713981062055,
      8.044466125220294,
      8.03719910727155,
      7.8698922341174695,
      7.643020270580054,
      7.479432810703771,
      7.475311522101503,
      7.619654659468349,
      7.830044478713186
    ],
    "vy_ego": [
      0.017392127219898246,
      0.07497821019143158,
      0.0018812537480865643,
      -0.01985150252803214,
      -0.012636574288757085,
      0.010754355635876678,
      0.0033425497961010464,
      -0.019664644534182152,
      0.0022299363774314074,
      0.018666278626602306
    ],
    "v_ego": [
      7.982385616826133,
      7.987491726844116,
      8.044466345192358,
      8.037223623371395,
      7.869902379294944,
      7.643027836705997,
      7.479433557594535,
      7.475337387082147,
      7.6196549857702855,
      7.830066728233204
    ],
    "ax_ego": [
      0.006795648671993032,
      0.010188537879812387,
      0.21366125687610585,
      -0.242460755576909,
      -0.4263304522180141,
      -0.48121701314349363,
      -0.17318775131272227,
      0.1566689075666695,
      0.42060236683406854,
      0.4208323110392027
    ],
    "ay_ego": [
      0.29741742966203777,
      0.29732054779464856,
      0.09673788844877518,
      0.08873213785156941,
      0.11657057211243607,
      0.06866299243669191,
      -0.08237716850024474,
      -0.026138769459891853,
      0.07888226548424002,
      0.07764618520451619
    ],
    "a_ego": [
      0.2974950559381556,
      0.29749506625327127,
      0.23454072514470695,
      0.2581871613435407,
      0.4419800366204757,
      0.48609095884320513,
      0.19178111245603685,
      0.1588344479859801,
      0.42793546568886587,
      0.42793546720435577
    ],
    "yaw": [
      0.959659206246567,
      0.971068733670713,
      0.9925452102801409,
      1.0009548351655235,
      1.0064848891706943,
      1.0094369064354671,
      1.0099664038996081,
      1.0094121124192847,
      1.008253191016988,
      1.0111912207968992
    ],
    "yaw_diff": [
      0.022819054848292053,
      0.04295295321885573,
      0.01681924977076532,
      0.01106010801034163,
      0.0059040345295455765,
      0.0010589949282819866,
      -0.0011085829606467534,
      -0.002317842804593351,
      0.005876059559822178,
      0.005876059559822178
    ],
    "min_front_frame": [
      0,
      16.068967979617366
    ],
    "v_avg": 7.79689901869151,
    "v_std": 0.21342069548992815,
    "vy_max": 0.07497821019143158,
    "a_max": 0.48609095884320513,
    "ax_avg": -0.009444694338328685,
    "a_std": 0.10966645955323784,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "767ce55e55515539",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.787705999030496,
    "right_rear_min": 17.441559282876057,
    "speed_mode": "quasi_constant",
    "front_frame": [
      16.068967979617366,
      17.103384402188503,
      18.18521555078591,
      59.59178866237301,
      55.60155894039202,
      51.74706361265768,
      48.0077916374424,
      44.266961478409456,
      40.50927430628551,
      36.63759915641752
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "767ce55e55515539",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d1bae9e7d9785598": {
    "vx_ego": [
      7.692813310455299,
      7.861810121876173,
      8.099701684795999,
      8.399962521169533,
      8.701276148229484,
      8.978208936416886,
      9.26668109609846,
      9.528598250732493,
      9.690312088358294,
      9.79583655511442
    ],
    "vy_ego": [
      -0.0425971197018713,
      -0.016523482000676104,
      0.01901102784037345,
      0.035760656665466684,
      0.07778625750511026,
      0.061049191761125776,
      0.024673384037256163,
      0.01400060605679787,
      0.009216634981046745,
      0.06911926607524865
    ],
    "v_ego": [
      7.692931245248791,
      7.861827485889783,
      8.099723995412848,
      8.400038641674094,
      8.701623831768641,
      8.978416492331524,
      9.26671394360851,
      9.528608536446036,
      9.690316471413267,
      9.79608040429736
    ],
    "ax_ego": [
      0.28056854934543835,
      0.38439179404847396,
      0.5725196438090263,
      0.6434388593587359,
      0.5715909387454149,
      0.5419980863973781,
      0.6086786568088942,
      0.4383074536097573,
      0.2092590230035826,
      0.2115482747751895
    ],
    "ay_ego": [
      -1.257807858121381,
      -1.2300578344525994,
      -1.3453186800675603,
      -1.46766523674434,
      -1.2457765573750947,
      -0.8906887753713968,
      -0.32998162006957976,
      0.010553095951961411,
      0.28030029862828065,
      0.278576601648089
    ],
    "a_ego": [
      1.2887200312068172,
      1.2887200345420347,
      1.4620742434931056,
      1.6025151521532301,
      1.3706478147800065,
      1.0426353246610334,
      0.6923709820886662,
      0.43843447825649035,
      0.3497965067285796,
      0.3497965059090173
    ],
    "yaw": [
      -0.5899633084783815,
      -0.6733786109659636,
      -0.7587054827318798,
      -0.8460178242539285,
      -0.9301293780860349,
      -0.9886169883694329,
      -1.0181066818759432,
      -1.0254518894271323,
      -1.017411195201252,
      -1.0092188638928499
    ],
    "yaw_diff": [
      -0.16683060497516422,
      -0.17065374353183227,
      -0.1746246830440974,
      -0.1682231076642129,
      -0.11697522056679599,
      -0.058979387013020634,
      -0.014690415102378118,
      0.01608138845176077,
      0.016384662616804047,
      0.016384662616804047
    ],
    "min_front_frame": [
      3,
      20.816052755419463
    ],
    "v_avg": 8.801628104809087,
    "v_std": 0.7301465721570846,
    "vy_max": 0.07778625750511026,
    "a_max": 1.6025151521532301,
    "ax_avg": 0.44623012799018913,
    "a_std": 0.4622410217351973,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "d1bae9e7d9785598",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.72426995724084,
    "right_rear_min": 28.63978365544983,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      20.816052755419463,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d1bae9e7d9785598",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "948e6a45c7cd5837": {
    "vx_ego": [
      2.762208945075193,
      2.060340337611137,
      1.3300918610376684,
      0.7277325018039869,
      0.43383243792668913,
      0.327446217628632,
      0.21979928620819916,
      0.0707185958621792,
      -0.01229703115348495,
      -0.02445694882628448
    ],
    "vy_ego": [
      0.008835606800714269,
      -0.01814054766563311,
      -0.028775097270517302,
      -0.01994760471184437,
      -0.012685058200746557,
      0.010166025630037517,
      0.02715788463742075,
      0.016989827827381596,
      0.002401818307489324,
      -0.015822313042748115
    ],
    "v_ego": [
      2.7622230764731777,
      2.0604201965271995,
      1.330403083663585,
      0.7280058386549036,
      0.4340178508989819,
      0.32760398885912245,
      0.22147071344900957,
      0.07273083287246407,
      0.012529393695305861,
      0.02912881624636015
    ],
    "ax_ego": [
      -1.4037976801822452,
      -1.4037036162705632,
      -1.5174911799208035,
      -0.8920178598725668,
      -0.28361471447158587,
      -0.14195443291871107,
      -0.2885726817830051,
      -0.3077517292790218,
      -0.02431741459291946,
      -0.024320206690961778
    ],
    "ay_ego": [
      -0.060270149385017735,
      -0.062422396776404154,
      0.009291617105320005,
      0.023412358956727553,
      0.00446792700212964,
      0.08616837152565848,
      -0.01875767243469406,
      -0.02190362898717302,
      -0.0364519908402373,
      -0.036450142660436724
    ],
    "a_ego": [
      1.4050908930713149,
      1.4050908860107119,
      1.5175196259969306,
      0.8923250533766005,
      0.2836499050528583,
      0.16606037840694196,
      0.28918167809631856,
      0.308530218677257,
      0.043818766398663896,
      0.043818778548212534
    ],
    "yaw": [
      -2.279757873428989,
      -2.281291088282482,
      -2.282840220194195,
      -2.283525485124291,
      -2.284104954887513,
      -2.2846340109020904,
      -2.285110757848716,
      -2.2850922724425997,
      -2.2849478766411124,
      -2.284871540776388
    ],
    "yaw_diff": [
      -0.003066429706986007,
      -0.0030982638234258175,
      -0.0013705298601918159,
      -0.0011589395264444136,
      -0.001058112029154401,
      -0.0009534938932516113,
      3.6970812232972605e-05,
      0.00028879160297456963,
      0.0001526717294488833,
      0.0001526717294488833
    ],
    "min_front_frame": [
      9,
      11.176475914636933
    ],
    "v_avg": 0.797853379134011,
    "v_std": 0.9033555680718052,
    "vy_max": 0.028775097270517302,
    "a_max": 1.5175196259969306,
    "ax_avg": -0.6287541515982383,
    "a_std": 0.5744257147888491,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "948e6a45c7cd5837",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.38325104219193,
      13.22881379500201,
      12.399021278054695,
      11.951451696368913,
      11.704036181296653,
      11.441760478246117,
      11.276305525298001,
      11.181605498647967,
      11.180687705272499,
      11.176475914636933
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "948e6a45c7cd5837",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "26ba80ad72205a03": {
    "vx_ego": [
      4.648074516764311,
      4.559324065747111,
      4.4794777104987755,
      4.404459683913454,
      4.348337791991608,
      4.362826893308473,
      4.433717876491502,
      4.50484721555025,
      4.591553515292865,
      4.737536509736467
    ],
    "vy_ego": [
      0.09164254269296146,
      0.07655560761517632,
      0.03356131104143789,
      -0.001011617735416026,
      -0.00043301612096890985,
      0.011618206374890638,
      -0.016470499373155145,
      -0.04043501876453126,
      -0.04003921864116533,
      -0.04711697282442984
    ],
    "v_ego": [
      4.648977852068669,
      4.559966743032025,
      4.47960343339164,
      4.404459800087798,
      4.348337813551911,
      4.362842362920649,
      4.433748468922196,
      4.505028682061118,
      4.591728086769474,
      4.737770803892282
    ],
    "ax_ego": [
      -0.26518805142319796,
      -0.1297479122586664,
      -0.21020864185166782,
      -0.09844651987928371,
      -0.11794804792651116,
      0.16633432138210635,
      0.11949006675304068,
      0.19354209638726966,
      0.18477280353403464,
      0.4233056605616974
    ],
    "ay_ego": [
      1.0875140330832478,
      1.1118349446191678,
      1.2591801464774117,
      1.2756365833593484,
      1.3768343252814197,
      1.2955362151685403,
      1.30547915557845,
      1.4363887919333018,
      1.5044084689125006,
      1.4554030822948425
    ],
    "a_ego": [
      1.1193799510312055,
      1.119379946582835,
      1.276605778771191,
      1.2794297206494205,
      1.3818771657722755,
      1.306170429646481,
      1.3109361928417678,
      1.4493692782260805,
      1.5157129775328444,
      1.515712972240095
    ],
    "yaw": [
      0.873969360740261,
      0.9969778755710612,
      1.1371066422155274,
      1.2877419658347518,
      1.4387591347744761,
      1.5903280828009785,
      1.7440489234505867,
      1.9027792408771222,
      2.0639497030440896,
      2.2247832123674645
    ],
    "yaw_diff": [
      0.24601702966160044,
      0.2802575332889323,
      0.30127064723844876,
      0.3020343378794488,
      0.3031378960530047,
      0.30744168129921645,
      0.3174606348530711,
      0.3223409243339348,
      0.3216670186467496,
      0.3216670186467496
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.507246404669776,
    "v_std": 0.12082484964027711,
    "vy_max": 0.09164254269296146,
    "a_max": 1.5157129775328444,
    "ax_avg": 0.02659057752788217,
    "a_std": 0.134504803653663,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "26ba80ad72205a03",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "26ba80ad72205a03",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "73864df7d2d25214": {
    "vx_ego": [
      6.279210259451833,
      6.719450460941008,
      7.150963716322233,
      7.394656530816387,
      7.496732260011167,
      7.6787821272226005,
      7.965445386902999,
      8.185201400339267,
      8.278231551592036,
      8.373209276814078
    ],
    "vy_ego": [
      0.005380977647399199,
      0.006144704024574121,
      0.024840024227225754,
      0.01166380221910357,
      0.001378199458200502,
      0.0007854071161896847,
      -0.0065738387660685405,
      -0.00906629704487072,
      -0.0431087447242442,
      -0.08708135033103304
    ],
    "v_ego": [
      6.279212565069414,
      6.719453270499608,
      7.151006859104576,
      7.394665729634278,
      7.496732386695278,
      7.678782167389409,
      7.965448099579231,
      8.185206421456822,
      8.278343794844812,
      8.37366208745617
    ],
    "ax_ego": [
      0.880219761152899,
      0.8806042756827293,
      0.8454925547536931,
      0.129460175689599,
      0.2788152662890011,
      0.44947976737055995,
      0.6971269490670379,
      0.18189643355364887,
      0.1904308475288382,
      0.19032053856760522
    ],
    "ay_ego": [
      0.07383399638798799,
      0.0690969902372448,
      -0.006502312436757252,
      -0.09230763438089751,
      -0.015735229191006395,
      -0.07359785102725977,
      0.019275817907506265,
      -0.038597748500977164,
      -0.03382418283254181,
      -0.034439423559512294
    ],
    "a_ego": [
      0.8833109797498773,
      0.8833109783142912,
      0.8455175576006402,
      0.1589988567712966,
      0.27925893030214827,
      0.45546537184655805,
      0.6973933898966349,
      0.18594649426348883,
      0.19341143460209598,
      0.19341143010632747
    ],
    "yaw": [
      -0.5866333388913956,
      -0.5812529083342677,
      -0.5816919320087446,
      -0.5832575076065047,
      -0.5855094326809631,
      -0.5883827133964081,
      -0.5891812161058647,
      -0.5894684521421225,
      -0.5875321576973394,
      -0.5843004092480093
    ],
    "yaw_diff": [
      0.010760861114255782,
      -0.0008780473489538032,
      -0.003131151195520321,
      -0.004503850148916744,
      -0.005746561430890029,
      -0.0015970054189131666,
      -0.0005744720725155972,
      0.0038725888895663196,
      0.006463496898660104,
      0.006463496898660104
    ],
    "min_front_frame": [
      0,
      21.104905665452204
    ],
    "v_avg": 7.55225133817296,
    "v_std": 0.6551635426233271,
    "vy_max": 0.08708135033103304,
    "a_max": 0.8833109797498773,
    "ax_avg": 0.47238465696556114,
    "a_std": 0.3001331574337175,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "73864df7d2d25214",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.779366108305452,
    "speed_mode": "accelerating",
    "front_frame": [
      21.104905665452204,
      22.139292653274076,
      23.100773560177124,
      23.92764985253038,
      24.854901513711752,
      25.628477125436273,
      26.391214376560548,
      26.810653577703835,
      27.283523517988037,
      27.6938579660776
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "73864df7d2d25214",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "8feb2ae5cc2451c3": {
    "vx_ego": [
      14.406314608767946,
      14.378297916442905,
      14.353909723328371,
      14.354629427374059,
      14.377322270003848,
      14.412540001743745,
      14.466313125093933,
      14.487998270525194,
      14.45055817961742,
      14.39344194645899
    ],
    "vy_ego": [
      0.015004415221445022,
      0.0027883146519416258,
      0.0028042508811609856,
      0.0013781297488422162,
      0.014801253350200216,
      0.023428044473938314,
      0.006369218359648432,
      -0.007261941313439824,
      -0.01606886795441076,
      -0.006722396039719136
    ],
    "v_ego": [
      14.406322422439285,
      14.378298186805175,
      14.353909997254538,
      14.354629493528382,
      14.37732988884408,
      14.412559043248754,
      14.466314527211397,
      14.488000090507063,
      14.450567113820318,
      14.39344351629219
    ],
    "ax_ego": [
      -0.056864698828517767,
      -0.055464281800912514,
      -0.04213218265593306,
      0.0448432272239665,
      0.045966473585803434,
      0.09413098616374198,
      0.12090390002820972,
      -0.03436252823982353,
      -0.11477919023715119,
      -0.11338019000008448
    ],
    "ay_ego": [
      0.1887198629052795,
      0.1891361761855966,
      0.19854919330632756,
      0.16282979461007815,
      0.24015326909322207,
      0.06966398852834421,
      0.16702730314964415,
      0.08907557093721509,
      0.21006420022393002,
      0.21082259270055503
    ],
    "a_ego": [
      0.19710094020030836,
      0.19710093784099575,
      0.20297020219220932,
      0.16889185013084712,
      0.24451279997185402,
      0.1171055671342565,
      0.20619377546248688,
      0.09547376961670419,
      0.23937675477626374,
      0.23937675968531152
    ],
    "yaw": [
      -1.83917546843779,
      -1.8317631109646273,
      -1.8250169338291378,
      -1.8186188294889059,
      -1.812540354378213,
      -1.8077569907277444,
      -1.8024763694001058,
      -1.7971194660335272,
      -1.791346295908001,
      -1.7846983944322994
    ],
    "yaw_diff": [
      0.014824714946325201,
      0.013492354270979057,
      0.012796208680463828,
      0.012156950221385632,
      0.009566727300937217,
      0.010561242655277248,
      0.010713806733157138,
      0.011546340251052278,
      0.013295802951403424,
      0.013295802951403424
    ],
    "min_front_frame": [
      4,
      22.80158742283249
    ],
    "v_avg": 14.408137427995118,
    "v_std": 0.04409631733223335,
    "vy_max": 0.023428044473938314,
    "a_max": 0.24451279997185402,
    "ax_avg": -0.011113848476070092,
    "a_std": 0.048027990769260474,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "8feb2ae5cc2451c3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      24.0152193858306,
      24.739201287404224,
      25.35523806499969,
      26.1307880104692,
      22.80158742283249,
      24.301556615935315,
      25.68520830939181,
      27.087701918550582,
      28.533195710292848,
      29.83524387530397
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8feb2ae5cc2451c3",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "cec165c3246d5529": {
    "vx_ego": [
      8.663204256095224,
      8.512363377715038,
      8.389953528537342,
      8.272996546230136,
      8.100863239761495,
      7.870176377625359,
      7.640102597140693,
      7.445851603956205,
      7.301044299918036,
      7.195776116168906
    ],
    "vy_ego": [
      -0.04806172760718885,
      -0.011266419773890757,
      -0.012819889363834935,
      0.0019041663127574715,
      0.003587463039953054,
      0.023827770331019682,
      0.006135503688021515,
      -0.004146237428431565,
      -0.009538519781755461,
      -0.019498883815737944
    ],
    "v_ego": [
      8.663337573504046,
      8.512370833468118,
      8.389963322957943,
      8.272996765367742,
      8.100864034114519,
      7.8702124480582585,
      7.640105060746316,
      7.445852758376438,
      7.301050530760986,
      7.195802534846056
    ],
    "ax_ego": [
      -0.30192271765079987,
      -0.3006262539515424,
      -0.18920661168488329,
      -0.2781772512747363,
      -0.4108685127441002,
      -0.5117912730718311,
      -0.40847932698410805,
      -0.3685612594520441,
      -0.21069234192256517,
      -0.21053510862247218
    ],
    "ay_ego": [
      0.18946154501452134,
      0.19151204102217584,
      0.04030743003622546,
      0.18012320841988486,
      0.05447892895887238,
      -0.006410549803691296,
      -0.07253059349351901,
      -0.026376931935957137,
      -0.0584485321232391,
      -0.05901236958233597
    ],
    "a_ego": [
      0.3564449529351399,
      0.3564449556683568,
      0.19345239936842196,
      0.33140149869643176,
      0.4144645804710635,
      0.5118314198457058,
      0.41486871123996805,
      0.3695039167684574,
      0.2186492484601226,
      0.21864924359896235
    ],
    "yaw": [
      1.0042329225556357,
      1.0110389822060513,
      1.018092017868811,
      1.0229326603650695,
      1.029876878971233,
      1.0288487379954319,
      1.0285848581339891,
      1.0266685463412228,
      1.0245180580935287,
      1.021840932752558
    ],
    "yaw_diff": [
      0.013612119300831171,
      0.014106071325519665,
      0.009681284992516748,
      0.01388843721232691,
      -0.0020562819516021236,
      -0.0005277597228854347,
      -0.003832623585532602,
      -0.004300976495388298,
      -0.005354250681941508,
      -0.005354250681941508
    ],
    "min_front_frame": [
      7,
      20.45843108997488
    ],
    "v_avg": 7.9392555862200425,
    "v_std": 0.49911183263230924,
    "vy_max": 0.04806172760718885,
    "a_max": 0.5118314198457058,
    "ax_avg": -0.31908606573590825,
    "a_std": 0.09647249108200594,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cec165c3246d5529",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 44.56219837112788,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.295375481598807,
      25.78249516938356,
      24.280321569293786,
      23.002156656464603,
      22.010536489481133,
      21.150752302678352,
      20.699401067345466,
      20.45843108997488,
      20.482952024955118,
      20.775340948587512
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cec165c3246d5529",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5fe40d882c3b545f": {
    "vx_ego": [
      0.36712624385090475,
      0.07934216155469526,
      -0.06983511307121902,
      -0.05836277004573902,
      -0.033799213168136284,
      -0.021371700923300034,
      -0.01506982321165403,
      -0.01184303332042217,
      -0.009015686305355559,
      -0.006437347926502381
    ],
    "vy_ego": [
      0.031907373326566776,
      -0.003836913120637067,
      -0.01545363211901609,
      -0.0071421669755264705,
      -0.004109422052004208,
      -0.0026689848798011574,
      -0.0019352178193064113,
      -0.0015355350377990128,
      -0.0011931811609630456,
      -0.0008106223440066374
    ],
    "v_ego": [
      0.3685101889998089,
      0.07943488215177687,
      0.07152452560723371,
      0.05879815878510238,
      0.034048115372023395,
      0.021537712985449285,
      0.015193572313273389,
      0.011942165049978927,
      0.009094299359458808,
      0.006488185949203931
    ],
    "ax_ego": [
      -0.5755682764371318,
      -0.5755673011713057,
      -0.021106802106409615,
      0.0669968423710591,
      0.03125739045978275,
      0.018452583263085805,
      0.006754676377797237,
      0.006152576769305632,
      0.005156726989950681,
      0.005156752527634631
    ],
    "ay_ego": [
      -0.07149073431290359,
      -0.07149856046694913,
      0.02492752832327793,
      0.008312775945355726,
      0.0038180454011208943,
      0.0019441778755659575,
      0.0009926805682701578,
      0.0006051821945882194,
      0.0007647434631766973,
      0.0007645914879168124
    ],
    "a_ego": [
      0.5799911774616997,
      0.5799911743522194,
      0.032663110131568314,
      0.06751058533008157,
      0.0314897114791536,
      0.01855472060401219,
      0.006827229868650474,
      0.006182268709045729,
      0.005213124381151605,
      0.005213127350704278
    ],
    "yaw": [
      1.0998196315461874,
      1.0998060291229268,
      1.1002093825916486,
      1.1002278634863445,
      1.1002287921659772,
      1.1002241776818427,
      1.100197409050309,
      1.1002135542879898,
      1.1002010660234736,
      1.1002303701626115
    ],
    "yaw_diff": [
      -2.7204846521300396e-05,
      0.0008067069374435576,
      3.69617893918317e-05,
      1.8573592655002358e-06,
      -9.22896826915931e-06,
      -5.353726306722706e-05,
      3.229047536157381e-05,
      -2.4976529032549877e-05,
      5.860827827586235e-05,
      5.860827827586235e-05
    ],
    "min_front_frame": [
      1,
      10.006902094312405
    ],
    "v_avg": 0.06765718065733096,
    "v_std": 0.10345487432620709,
    "vy_max": 0.031907373326566776,
    "a_max": 0.5799911774616997,
    "ax_avg": -0.10323148309562316,
    "a_std": 0.22405816015243893,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5fe40d882c3b545f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.171725176565274,
    "right_rear_min": 6.299672576874412,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.077395238027812,
      10.006902094312405,
      10.195451620652076,
      10.357365549478464,
      10.54524710039305,
      10.623007768034539,
      10.640830581580754,
      10.64290075100141,
      10.653170261748523,
      10.65469816990376
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5fe40d882c3b545f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c296ded44f9a509a": {
    "vx_ego": [
      8.408324924913325,
      8.125425235476667,
      7.85130464803855,
      7.613121637484406,
      7.423966069853911,
      7.252690143560747,
      6.969650037869318,
      6.438086851039259,
      5.760778796738122,
      5.07858188927615
    ],
    "vy_ego": [
      -0.03566659862710342,
      -0.006654923278076819,
      -0.017963863547394432,
      0.012850015302272588,
      0.017859725818456962,
      0.027727106676400215,
      0.022515118853760452,
      -0.004551230946818308,
      -0.032181472275542244,
      -0.0322837100505442
    ],
    "v_ego": [
      8.40840057021407,
      8.1254279607492,
      7.851325198761371,
      7.61313248210134,
      7.423987552262492,
      7.252743143869625,
      6.969686404778107,
      6.438088459723719,
      5.760868683810224,
      5.078684499357913
    ],
    "ax_ego": [
      -0.5663132163371412,
      -0.5645175753190457,
      -0.5315276646186708,
      -0.42115322734586474,
      -0.33612942235270826,
      -0.34989895705791146,
      -0.782814191095152,
      -1.3447626007625146,
      -1.3643128289646207,
      -1.3642915355301133
    ],
    "ay_ego": [
      0.2012468851217533,
      0.20623012849695213,
      0.17345949754499423,
      0.16750998012471702,
      0.16230500288913396,
      0.09251085635953413,
      0.18852533554867762,
      -0.09472742575565085,
      0.014127137478667118,
      0.01605213624582169
    ],
    "a_ego": [
      0.6010082925961386,
      0.6010082850876216,
      0.5591152435263593,
      0.4532434603446813,
      0.37326385109464744,
      0.3619220063695886,
      0.8051955414206531,
      1.348094854822855,
      1.364385968592021,
      1.3643859662856288
    ],
    "yaw": [
      -0.6519075817314851,
      -0.6430942044820449,
      -0.62978927294362,
      -0.6227375326928638,
      -0.612422639356198,
      -0.6050880365441613,
      -0.5945552597131509,
      -0.5870981055277984,
      -0.5858722250807276,
      -0.5844612462334702
    ],
    "yaw_diff": [
      0.017626754498880404,
      0.02660986307684987,
      0.014103480501512333,
      0.020629786673331596,
      0.014669205624073367,
      0.021065553662020786,
      0.014914308370705065,
      0.0024517608941416746,
      0.002821957694514765,
      0.002821957694514765
    ],
    "min_front_frame": [
      9,
      16.754039088987994
    ],
    "v_avg": 7.092234495562808,
    "v_std": 1.002646596768739,
    "vy_max": 0.03566659862710342,
    "a_max": 1.364385968592021,
    "ax_avg": -0.7625721219383743,
    "a_std": 0.39574486397641107,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c296ded44f9a509a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.8757458175279,
      27.678350305764784,
      27.3807980022743,
      26.69973554259414,
      25.634083035622535,
      24.413646574403867,
      22.6596044281388,
      20.809865731256924,
      18.790951856057436,
      16.754039088987994
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c296ded44f9a509a",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "ef65f88fc1a55fdc": {
    "vx_ego": [
      7.210781038807835,
      7.086850343401406,
      6.982059272746669,
      6.8885326445085155,
      6.688270638314265,
      6.272728602763466,
      5.709023397280337,
      5.0220831780421715,
      4.195159993556481,
      3.3183836322089295
    ],
    "vy_ego": [
      0.044742313443034476,
      0.01328332908827079,
      0.0008157191684747822,
      0.027401871862259952,
      -0.017935199245596944,
      -0.041990268936833886,
      0.019564437963238035,
      0.07456551859508709,
      0.03835157746224471,
      0.0014611924625926864
    ],
    "v_ego": [
      7.210919848690792,
      7.086862792279832,
      6.982059320397207,
      6.888587145201913,
      6.68829468569595,
      6.272869144706615,
      5.709056920186304,
      5.022636704335434,
      4.195335292325353,
      3.3183839539142452
    ],
    "ax_ego": [
      -0.24787023937207905,
      -0.2473797264075425,
      -0.17186751231763558,
      -0.20200209968469834,
      -0.5992098014119992,
      -1.0625937562725256,
      -1.1924383825775324,
      -1.5542071647324263,
      -1.7535521886640573,
      -1.7535325142544291
    ],
    "ay_ego": [
      -0.12041496382672928,
      -0.12141947894169476,
      0.0026476639544732172,
      -0.005220913034898647,
      -0.027792140462012227,
      0.002265253793713673,
      0.2097859009421893,
      -0.06401847031517471,
      -0.07550512757329786,
      -0.07596072696088707
    ],
    "a_ego": [
      0.2755710780901441,
      0.27557107777113193,
      0.17188790508546095,
      0.2020695578506193,
      0.5998539732132043,
      1.0625961708213076,
      1.2107515932173072,
      1.5555250803015366,
      1.7551770003786984,
      1.7551770026375932
    ],
    "yaw": [
      -0.7014083230307165,
      -0.7054649157155728,
      -0.70791691482491,
      -0.711840993455356,
      -0.7064178531090513,
      -0.703714855676333,
      -0.7051368238586688,
      -0.7085668692732909,
      -0.7082791746459096,
      -0.7085389936457918
    ],
    "yaw_diff": [
      -0.008113185369712506,
      -0.004903998218674488,
      -0.007848157260891941,
      0.010846280692609511,
      0.005405994865436581,
      -0.0028439363646717286,
      -0.006860090829244214,
      0.0005753892547626371,
      -0.0005196379997642886,
      -0.0005196379997642886
    ],
    "min_front_frame": [
      9,
      10.177250301773894
    ],
    "v_avg": 5.9375005807733645,
    "v_std": 1.2805677184827473,
    "vy_max": 0.07456551859508709,
    "a_max": 1.7551770026375932,
    "ax_avg": -0.8784653385694925,
    "a_std": 0.6245552522025601,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ef65f88fc1a55fdc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.435907264428497,
      18.607340874678293,
      29.021079834832115,
      25.55104628503391,
      22.19597541511859,
      18.966951031157034,
      16.04827736447875,
      13.931361672789308,
      11.76760584761981,
      10.177250301773894
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ef65f88fc1a55fdc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cd284af1ade75426": {
    "vx_ego": [
      4.8728680823114345,
      5.1738156877482595,
      5.5041980702485365,
      5.8235086995027885,
      6.086548521692379,
      6.326590212854233,
      6.527779758854974,
      6.6360165183741096,
      6.639441035835556,
      6.582403966077548
    ],
    "vy_ego": [
      0.04495625531186809,
      -0.02227278257427745,
      -0.0007539933809423971,
      0.04162166972194559,
      0.03485672175735033,
      0.024114620455980784,
      0.024117047149066373,
      0.03478573482060021,
      0.021560932710993352,
      -0.013327132102658013
    ],
    "v_ego": [
      4.873075457296058,
      5.1738636286274104,
      5.504198121891483,
      5.82365743640327,
      6.086648330400513,
      6.326636170691556,
      6.527824309222782,
      6.636107690467436,
      6.63947604424901,
      6.582417457521478
    ],
    "ax_ego": [
      0.5662141941564045,
      0.6313104972018004,
      0.6843365041495937,
      0.5898459805772895,
      0.4607885274821197,
      0.4994781186341045,
      0.30522569644775005,
      0.1271695383571216,
      -0.11449288946139564,
      -0.11381824277234168
    ],
    "ay_ego": [
      0.7698195261443784,
      0.7174034241729528,
      0.37623780881096847,
      0.14770220351879437,
      -0.02143650533558189,
      -0.04093623752011061,
      0.07983337837276135,
      0.0952253947590702,
      0.06520997449105687,
      0.0663804936523784
    ],
    "a_ego": [
      0.9556257722023521,
      0.9556257724089813,
      0.7809425969241054,
      0.6080577453889486,
      0.4612868855930576,
      0.5011528375022608,
      0.3154934136783564,
      0.15887091393009667,
      0.13176100527221113,
      0.13176100457008197
    ],
    "yaw": [
      0.7003438124623611,
      0.7878287180969767,
      0.8350580526980533,
      0.8506698875720389,
      0.8570892827419403,
      0.8563070684466153,
      0.8578139903887936,
      0.8628253711514031,
      0.8708238515214728,
      0.8810774814511648
    ],
    "yaw_diff": [
      0.17496981126923128,
      0.09445866920215318,
      0.031223669747971083,
      0.012838790339802841,
      -0.00156442859064998,
      0.0030138438843565485,
      0.010022761525219082,
      0.015996960740139343,
      0.020507259859384064,
      0.020507259859384064
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.0173904646771,
    "v_std": 0.6141597895455065,
    "vy_max": 0.04495625531186809,
    "a_max": 0.9556257724089813,
    "ax_avg": 0.36360579247724467,
    "a_std": 0.304779683951319,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "cd284af1ade75426",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cd284af1ade75426",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2f525b2a3cf35331": {
    "vx_ego": [
      3.33425355391993,
      2.8306021153998038,
      2.317115668018401,
      1.8353613443214676,
      1.4189534753122022,
      1.0494856181765178,
      0.6930157754878024,
      0.34615564389080444,
      0.06861322496314981,
      -0.15943877982276872
    ],
    "vy_ego": [
      -0.03250256142421715,
      -0.01570856142269239,
      0.00171448668524532,
      0.007348266377919743,
      -0.011388062545080735,
      -0.012257231290917991,
      0.0017586340957766455,
      -0.0013352519491160175,
      -0.0007349578735306797,
      2.6065598642682763e-06
    ],
    "v_ego": [
      3.3344119688974874,
      2.830645702769567,
      2.317116302312198,
      1.8353760544499498,
      1.4189991730332712,
      1.0495571935241388,
      0.6930180068864321,
      0.3461582191646257,
      0.06861716114005059,
      0.1594387798440752
    ],
    "ax_ego": [
      -1.0073195583790828,
      -1.0073350215277532,
      -1.046642470514092,
      -0.8804051139381204,
      -0.7852673258110292,
      -0.6925081375028231,
      -0.7333747571511862,
      -0.6540655580175693,
      -0.4561040000028845,
      -0.4561037668093735
    ],
    "ay_ego": [
      0.030712420824032916,
      0.030200753993436302,
      0.027121190038761067,
      0.003775586280984178,
      -0.06943989611461765,
      0.06997392183443751,
      -0.013309195960385989,
      0.0009963580813275308,
      0.0014219538916937224,
      0.0014980119147418314
    ],
    "a_ego": [
      1.0077876490044433,
      1.0077876418859735,
      1.046993801334545,
      0.880413209635203,
      0.7883315750106766,
      0.6960343886939215,
      0.7334955140446827,
      0.6540663169085078,
      0.4561062165455557,
      0.4561062268127854
    ],
    "yaw": [
      -2.034532792843258,
      -2.0350407388309324,
      -2.0362399772159776,
      -2.0352229716000374,
      -2.0337865200704597,
      -2.032966420289733,
      -2.0327948982836572,
      -2.032764142318312,
      -2.032740691681848,
      -2.032573927057139
    ],
    "yaw_diff": [
      -0.0010158919753484597,
      -0.0023984767700904186,
      0.002034011231880406,
      0.0028729030591554405,
      0.0016401995614536702,
      0.00034304401215123903,
      6.15119306903722e-05,
      4.6901272928501214e-05,
      0.00033352924941798534,
      0.00033352924941798534
    ],
    "min_front_frame": [
      8,
      9.866995932081592
    ],
    "v_avg": 1.4053338562021795,
    "v_std": 1.0892298418688087,
    "vy_max": 0.03250256142421715,
    "a_max": 1.046993801334545,
    "ax_avg": -0.7719125709653915,
    "a_std": 0.20483353511592123,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2f525b2a3cf35331",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.441899858934018,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.887924650679691,
      14.335980882355237,
      13.008950761683733,
      12.0211419997471,
      11.237208314758064,
      10.619421015213762,
      10.163896603943892,
      9.923750820946779,
      9.866995932081592,
      9.87491544020304
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2f525b2a3cf35331",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5f42f18776195578": {
    "vx_ego": [
      5.71173974715853,
      5.295056682336289,
      4.845538449814911,
      4.37212344634135,
      3.9045312562101295,
      3.430249920292031,
      2.9626201058859345,
      2.4834490435764645,
      1.9548832084447119,
      1.3986673398019884
    ],
    "vy_ego": [
      0.0334727643167807,
      0.016853865128239942,
      0.005896081603463887,
      -0.015598379417648633,
      -0.009882821118917473,
      0.008444806366201929,
      -0.016523324810126416,
      -0.02923218571264319,
      -0.019582630397439238,
      -0.0033620342898856848
    ],
    "v_ego": [
      5.711837827286556,
      5.2950835047168,
      4.845542037008137,
      4.372151271340942,
      3.9045437634729003,
      3.430260315255687,
      2.9626661830287877,
      2.4836210807452885,
      1.9549812884200128,
      1.398671380526297
    ],
    "ax_ego": [
      -0.8333423263194035,
      -0.833308235067628,
      -0.9647793607050312,
      -0.9289053122539028,
      -0.9415323744321835,
      -0.9555937832647365,
      -0.9149252616106653,
      -1.0017920723715734,
      -1.1124341307871453,
      -1.112444592776725
    ],
    "ay_ego": [
      -0.041804084616512416,
      -0.042478162654154605,
      0.018594095289622747,
      -0.09189879164178011,
      0.10717635102648437,
      -0.033687248709388384,
      -0.0638045540356138,
      0.010152609834910453,
      0.03150761209966535,
      0.031136366002524007
    ],
    "a_ego": [
      0.8343902050755747,
      0.8343902018444356,
      0.9649585251305096,
      0.933440125042169,
      0.9476127807935357,
      0.9561873819183249,
      0.9171473466401285,
      1.001843516599769,
      1.1128802383726537,
      1.1128802475046526
    ],
    "yaw": [
      -0.5813283888666418,
      -0.5821372822202946,
      -0.5811569339391556,
      -0.5804688256847523,
      -0.5809268471001148,
      -0.5809146775706282,
      -0.5807281784513514,
      -0.5809857311239826,
      -0.5806429164733549,
      -0.5809766520285563
    ],
    "yaw_diff": [
      -0.001617786707305502,
      0.0019606965622780415,
      0.0013762165088064826,
      -0.0009160428307248836,
      2.4339058973144034e-05,
      0.00037299823855363456,
      -0.0005151053452623344,
      0.0006856293012553749,
      -0.0006674711104028841,
      -0.0006674711104028841
    ],
    "min_front_frame": [
      9,
      11.747359887794845
    ],
    "v_avg": 3.635935865180141,
    "v_std": 1.3709060794550363,
    "vy_max": 0.0334727643167807,
    "a_max": 1.1128802475046526,
    "ax_avg": -0.9599057449588996,
    "a_std": 0.09097299446687931,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5f42f18776195578",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.259307592234054,
    "speed_mode": "decelerating",
    "front_frame": [
      27.846677201036105,
      25.150796903078323,
      22.683438571090612,
      20.32240543165155,
      18.339390479165395,
      16.562490513719986,
      14.986157956424094,
      13.51054647916026,
      12.528603980678001,
      11.747359887794845
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5f42f18776195578",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e92c94f8bdcc54c6": {
    "vx_ego": [
      2.8085901745503308,
      3.2926806272406965,
      3.7050378384496385,
      4.033534338047295,
      4.329139046576911,
      4.6251327495122565,
      4.909625171472529,
      5.167098066015969,
      5.432956591859509,
      5.701925819750798
    ],
    "vy_ego": [
      0.0011340515579676413,
      0.004351028117464351,
      -0.003201137319954528,
      -0.02119368756161677,
      -0.018330698316464167,
      -0.0025308950908669026,
      0.00546874863148572,
      0.01622013260005284,
      0.029571004230070308,
      0.03632140358605618
    ],
    "v_ego": [
      2.8085904035037923,
      3.292683502016534,
      3.705039221334062,
      4.0335900174161345,
      4.3291778548700925,
      4.6251334419712435,
      4.909628217244993,
      5.167123524411578,
      5.433037067177148,
      5.702041502681235
    ],
    "ax_ego": [
      0.968176713592591,
      0.9682141238971657,
      0.6814406917894699,
      0.6321845333040654,
      0.5494262413815161,
      0.6341825169149258,
      0.5041667083938388,
      0.5259440285447412,
      0.5381670561719257,
      0.5384488789471257
    ],
    "ay_ego": [
      -0.013710523696886912,
      -0.010748833894686172,
      -0.09301825621575527,
      -0.08113520521309109,
      -0.05260717707043827,
      -0.06283467004628307,
      -0.11900610056826924,
      -0.07026134229378925,
      -0.0512001242254935,
      -0.04814600937873595
    ],
    "a_ego": [
      0.9682737873158568,
      0.9682737872854204,
      0.6877599962311934,
      0.6373697558512245,
      0.5519390453645587,
      0.6372877376196527,
      0.5180217387573065,
      0.5306164126587083,
      0.5405971078996471,
      0.5405971082594816
    ],
    "yaw": [
      1.0494762929238604,
      1.0464173160072474,
      1.0412147429349041,
      1.0346230520949482,
      1.0259634345958424,
      1.0159646705543897,
      1.0047892097155176,
      0.9932578834581465,
      0.9850072474366975,
      0.9793337168780603
    ],
    "yaw_diff": [
      -0.0061179538332258865,
      -0.010405146144686572,
      -0.013183381679911843,
      -0.01731923499821164,
      -0.019997528082905447,
      -0.022350921677744218,
      -0.023062652514742155,
      -0.016501272042897863,
      -0.01134706111727457,
      -0.01134706111727457
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.40060447526268,
    "v_std": 0.896790686680185,
    "vy_max": 0.03632140358605618,
    "a_max": 0.9682737873158568,
    "ax_avg": 0.6540351492937365,
    "a_std": 0.16398663061339186,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e92c94f8bdcc54c6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e92c94f8bdcc54c6",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f1ca8dd77f205599": {
    "vx_ego": [
      4.1365715214376175,
      4.42145871770767,
      4.715647317827252,
      4.883435199535716,
      5.043408283248518,
      5.305544620043797,
      5.608306871308363,
      5.753635626870424,
      5.6686056041108905,
      5.5163091928428365
    ],
    "vy_ego": [
      -0.08025519876937037,
      -0.014578006194338855,
      -0.03456608538880457,
      -0.07718473087546807,
      -0.0922660157815649,
      -0.08399899890496387,
      -0.035740734206659575,
      -0.09493012751506447,
      -0.08420238549148484,
      -0.03509482511795703
    ],
    "v_ego": [
      4.137349979020175,
      4.42148275023863,
      4.715774002259911,
      4.884045129884117,
      5.044252187312602,
      5.306209527251323,
      5.608420754797756,
      5.754418707037458,
      5.669230947551868,
      5.516420828561981
    ],
    "ax_ego": [
      0.42961514686854246,
      0.7348193102056487,
      0.4889155272082987,
      0.2324811007543116,
      0.47032960705398885,
      0.6120851208833511,
      0.6017164600683476,
      -0.026359642332141858,
      -0.3051830565634651,
      -0.29953532578865666
    ],
    "ay_ego": [
      1.728961468242701,
      1.6229348406327968,
      1.9054230162287158,
      1.9418080054878608,
      1.9003571006857651,
      1.5984567072880376,
      1.166235302734938,
      0.4992312983550112,
      0.3023821155761686,
      0.3079776486440587
    ],
    "a_ego": [
      1.7815378000724083,
      1.7815377951620637,
      1.9671490191440772,
      1.9556752778477005,
      1.957694319703249,
      1.7116401608635214,
      1.3123137885667573,
      0.49992671463036326,
      0.4296180185161448,
      0.4296180204084088
    ],
    "yaw": [
      3.070448985631276,
      -3.031128754584504,
      -2.83561985714803,
      -2.628476628441507,
      -2.4313702590568758,
      -2.263744232823637,
      -2.1460918217388807,
      -2.063569428694369,
      -2.0305622475843697,
      -2.0120565202344767
    ],
    "yaw_diff": [
      0.3632151339276124,
      0.39101779487294763,
      0.4142864574130467,
      0.3942127387692622,
      0.33525205246647793,
      0.2353048221695122,
      0.16504478608902318,
      0.0660143622199989,
      0.03701145469978506,
      0.03701145469978506
    ],
    "min_front_frame": [
      9,
      46.74174508306187
    ],
    "v_avg": 5.105760481391583,
    "v_std": 0.5301726970349459,
    "vy_max": 0.09493012751506447,
    "a_max": 1.9671490191440772,
    "ax_avg": 0.29388842483582256,
    "a_std": 0.6346509282082557,
    "ini_direction_judge": "left",
    "scenario_type": "carpark_areas",
    "scene_token": "f1ca8dd77f205599",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      52.31726632648885,
      49.46840652067281,
      46.74174508306187
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "f1ca8dd77f205599",
    "maneuvering": "Yes"
  },
  "c9520de7084f5868": {
    "vx_ego": [
      2.4946662054980253,
      3.368066348572075,
      4.1706079103123646,
      4.862959895648549,
      5.484408304119042,
      6.0148638042459215,
      6.481514463211556,
      6.886695273595537,
      7.1551162981844545,
      7.3436672351088905
    ],
    "vy_ego": [
      0.022680731088221107,
      -0.0014443841463243068,
      -0.005721022454707292,
      -0.005796731399112964,
      -0.016536277209258987,
      -0.025589834091020336,
      -0.003819230133748519,
      0.014997928763015977,
      0.02232294738258256,
      0.02245790500410516
    ],
    "v_ego": [
      2.4947693064523246,
      3.36806665828175,
      4.170611834210659,
      4.862963350548825,
      5.484433233685487,
      6.014918239114853,
      6.48151558845147,
      6.886711604912049,
      7.155151120313579,
      7.343701574649464
    ],
    "ax_ego": [
      1.7466948068926773,
      1.7466172901794434,
      1.4635889490834466,
      1.3058288996765888,
      1.1799573102273437,
      0.942195615177446,
      0.9244813650412954,
      0.6962596048822257,
      0.3769561058839866,
      0.37703652069226623
    ],
    "ay_ego": [
      -0.007554622487294327,
      -0.018106934513283712,
      0.019399627394548813,
      -0.003902313413144287,
      -0.045511037016046973,
      0.06427689973481743,
      0.05661276441581603,
      0.1115755645503422,
      0.03472223476818778,
      0.03383789827879691
    ],
    "a_ego": [
      1.746711144049517,
      1.7467111436729459,
      1.4637175128494688,
      1.305834730461916,
      1.18083466600927,
      0.9443855659099866,
      0.9262131500920388,
      0.705142924516357,
      0.3785518978297645,
      0.3785519003989491
    ],
    "yaw": [
      2.5624654424435223,
      2.568506861364402,
      2.5697158368447983,
      2.5705865589306507,
      2.5702755810910567,
      2.5726538759215565,
      2.5740060777703437,
      2.5774667018524573,
      2.581609194266148,
      2.5839549211537394
    ],
    "yaw_diff": [
      0.012082837841759897,
      0.0024179509607922256,
      0.0017414441717047424,
      -0.000621955679187991,
      0.004756589660999566,
      0.00270440369757452,
      0.006921248164227123,
      0.008284984827381159,
      0.0046914537751829855,
      0.0046914537751829855
    ],
    "min_front_frame": [
      0,
      19.56170817137454
    ],
    "v_avg": 5.426284251062046,
    "v_std": 1.5806892653788318,
    "vy_max": 0.025589834091020336,
    "a_max": 1.746711144049517,
    "ax_avg": 1.075961646773672,
    "a_std": 0.4758129313673971,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "c9520de7084f5868",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.839714083620545,
    "right_rear_min": 9.034571819488582,
    "speed_mode": "accelerating",
    "front_frame": [
      19.56170817137454,
      21.225021510005124,
      22.76262453361802,
      24.405251699466145,
      25.83423985891894,
      27.695164025615313,
      29.352088315796994,
      28.565208419884357,
      25.200984414487955,
      21.651188041681774
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "c9520de7084f5868",
    "pedestrians": "No"
  },
  "490475b585895e0e": {
    "vx_ego": [
      6.464949852491818,
      5.80754239733103,
      5.154412846520899,
      4.502771573562566,
      3.867844322017185,
      3.30263103822718,
      2.8328563791821537,
      2.41116426542865,
      2.0353130435589066,
      1.7024213001947133
    ],
    "vy_ego": [
      0.00803149263559888,
      0.01897680671277832,
      0.020256840551588398,
      0.028077082059065145,
      0.03760963314219487,
      0.02595630210091776,
      0.024321011490819527,
      0.02867920765655725,
      0.018181587499668438,
      0.002292536869475656
    ],
    "v_ego": [
      6.464954841304611,
      5.807573401687701,
      5.154452651055087,
      4.502859110189887,
      3.868027169483905,
      3.3027330355752786,
      2.8329607792330904,
      2.411334819520485,
      2.035394250607245,
      1.702422843797027
    ],
    "ax_ego": [
      -1.314861787642609,
      -1.3148246994522967,
      -1.297753793735384,
      -1.308816225841743,
      -1.2308982531878394,
      -1.0300365289185474,
      -0.849086467748382,
      -0.8376692530773235,
      -0.6657846106997605,
      -0.6657915620388758
    ],
    "ay_ego": [
      0.034228574318475896,
      0.03562524972341987,
      -0.01795556134007887,
      0.05075961447980519,
      -0.012069478414682144,
      -0.02587077096989029,
      0.023230878533853718,
      -0.006902158087744133,
      -0.03101181259764404,
      -0.0308619728455357
    ],
    "a_ego": [
      1.3153072325136028,
      1.315307244984106,
      1.2978780032567079,
      1.3098001570807523,
      1.2309574249380344,
      1.030361367529444,
      0.8494042049759813,
      0.8376976885114279,
      0.6665064743610695,
      0.6665064631720271
    ],
    "yaw": [
      1.593207547569452,
      1.5942697842185976,
      1.594842420966462,
      1.5949212559243322,
      1.5949547800202266,
      1.5955638218193924,
      1.595884109725282,
      1.5957787831808259,
      1.5962416536881514,
      1.5964667121454341
    ],
    "yaw_diff": [
      0.0021244732982910186,
      0.0011452734957289046,
      0.00015766991574039935,
      6.704819178882104e-05,
      0.001218083598331532,
      0.0006405758117793425,
      -0.00021065308891232704,
      0.0009257410146510381,
      0.0004501169145654238,
      0.0004501169145654238
    ],
    "min_front_frame": [
      9,
      11.622576812509902
    ],
    "v_avg": 3.808271290245431,
    "v_std": 1.5520736253267438,
    "vy_max": 0.03760963314219487,
    "a_max": 1.315307244984106,
    "ax_avg": -1.051552318234276,
    "a_std": 0.26119980138014115,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "490475b585895e0e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.988854473178125,
    "right_rear_min": 6.545954289384743,
    "speed_mode": "decelerating",
    "front_frame": [
      28.580512330174713,
      25.52916612100185,
      22.8022706022595,
      20.412116493775894,
      18.320848817830697,
      16.532174726054624,
      14.99493862143872,
      13.710600432413932,
      12.591133771817312,
      11.622576812509902
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "490475b585895e0e",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "6b580c6ff00b511f": {
    "vx_ego": [
      5.295907244157288,
      5.411957526499529,
      5.575296304426639,
      5.787387674190088,
      6.092860354798749,
      6.396625196295577,
      6.617478588968655,
      6.81369944403282,
      7.022970815640358,
      7.250512538715095
    ],
    "vy_ego": [
      -0.0398892627100107,
      -0.05695966518310325,
      -0.06605842989907362,
      -0.03275811038601062,
      -0.06474514867224901,
      -0.12242377701810014,
      -0.08344208636624406,
      -0.05696453228145604,
      -0.008621276458698812,
      0.03622702693040469
    ],
    "v_ego": [
      5.296057466832964,
      5.4122572621867,
      5.5756876345715485,
      5.787480383134219,
      6.093204348891881,
      6.397796611573614,
      6.618004643186324,
      6.813937559997979,
      7.022976107302656,
      7.250603041923136
    ],
    "ax_ego": [
      0.16452158315286336,
      0.32166135105281607,
      0.3753179373480946,
      0.4931053536831553,
      0.7404107238296985,
      0.4835495338882686,
      0.40482075032317233,
      0.38145659053635167,
      0.4552625570876776,
      0.4551473854917431
    ],
    "ay_ego": [
      1.292770279978328,
      1.2628762115206702,
      1.4638292647530982,
      1.4013869813707474,
      1.2118606942643653,
      0.6743225250101157,
      0.20707015965265774,
      0.07375919065413594,
      0.024657975554093537,
      0.026699604040470042
    ],
    "a_ego": [
      1.303196972110651,
      1.3031969729806478,
      1.5111782391375361,
      1.4856104339248581,
      1.420145901752678,
      0.8297776927946303,
      0.45470637878832687,
      0.38852226277212354,
      0.4559298319307887,
      0.4559298316362807
    ],
    "yaw": [
      0.8531009815789613,
      0.9759209291840671,
      1.1016499255880206,
      1.2220354175730426,
      1.337877016753895,
      1.4221408144222227,
      1.4499692252578957,
      1.4564780541147029,
      1.4530421639061148,
      1.4485570932901168
    ],
    "yaw_diff": [
      0.24563989521021168,
      0.2514579928079068,
      0.24077098397004404,
      0.2316831983617047,
      0.16852759533665562,
      0.055656821671346,
      0.013017657713614295,
      -0.0068717804171760655,
      -0.00897014123199602,
      -0.00897014123199602
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.226800505960101,
    "v_std": 0.6613349273863588,
    "vy_max": 0.12242377701810014,
    "a_max": 1.5111782391375361,
    "ax_avg": 0.4275253766393841,
    "a_std": 0.4619956066258329,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6b580c6ff00b511f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6b580c6ff00b511f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bedf9db2d7b15abd": {
    "vx_ego": [
      6.3156602045743995,
      6.173048465623726,
      6.000907047234747,
      5.834714959242476,
      5.690560548376741,
      5.626034800431699,
      5.6869817808359375,
      5.743883112605319,
      5.743520660410576,
      5.732431447173511
    ],
    "vy_ego": [
      -0.021834788450812326,
      0.02732176394567709,
      0.06066472987303939,
      0.058665116973854126,
      0.018556009106975857,
      0.011621951549007026,
      -0.004401163316553269,
      -0.015902703707069588,
      -0.012490975972833773,
      -0.06386924483593726
    ],
    "v_ego": [
      6.31569794857476,
      6.173108928062467,
      6.00121367716583,
      5.8350098758748885,
      5.690590802387374,
      5.626046804411279,
      5.686983483868969,
      5.743905126937401,
      5.743534243046166,
      5.732787243303182
    ],
    "ax_ego": [
      -0.28517789077540107,
      -0.2851732216017373,
      -0.40351731218525644,
      -0.26426985592737384,
      -0.31457980786215717,
      0.05857676470895162,
      0.1846212646777134,
      0.05132061875789634,
      -0.05182115695599249,
      0.02034410108898982
    ],
    "ay_ego": [
      0.0005391216636066454,
      -0.0017192956439485152,
      0.16865682506575885,
      0.3980104828793581,
      0.6194415698746625,
      0.805069312407418,
      0.8181766956738799,
      0.94792432750919,
      0.8587313833294006,
      0.8600529830637342
    ],
    "a_ego": [
      0.2851784003729503,
      0.28517840433003494,
      0.43734579668092805,
      0.47775611061893775,
      0.6947433439791835,
      0.8071975192875165,
      0.8387479458782757,
      0.9493125600103706,
      0.8602935667683931,
      0.8602935639221921
    ],
    "yaw": [
      2.3232028702238585,
      2.315283501377249,
      2.3166587434342727,
      2.3410061123757675,
      2.392039559204924,
      2.456714834829842,
      2.5314634017736397,
      2.6104556725358234,
      2.688283961554454,
      2.7722071100203767
    ],
    "yaw_diff": [
      -0.015838737693218974,
      0.0027504841140473246,
      0.048694737882989614,
      0.10206689365831334,
      0.12935055124983563,
      0.14949713388759545,
      0.15798454152436747,
      0.15565657803726118,
      0.16784629693184527,
      0.16784629693184527
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.854887813363232,
    "v_std": 0.2196806664103071,
    "vy_max": 0.06386924483593726,
    "a_max": 0.9493125600103706,
    "ax_avg": -0.1289676496074367,
    "a_std": 0.24113303199513653,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "bedf9db2d7b15abd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "bedf9db2d7b15abd",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "a06715f1cb8358c0": {
    "vx_ego": [
      10.523336882662413,
      9.903269906534506,
      9.333680904807744,
      8.752793257998226,
      8.145934136991949,
      7.594277642903536,
      7.069001105180351,
      6.615797023801702,
      6.252623001265636,
      5.914456454982725
    ],
    "vy_ego": [
      0.02904952072501721,
      0.014481154130375318,
      -0.003162509675371017,
      -0.004596913140546444,
      0.0018875487291857285,
      0.009846181149067879,
      0.006610371249123004,
      0.015580518705469615,
      0.021342496846630143,
      0.024943779184029624
    ],
    "v_ego": [
      10.523376977978952,
      9.903280494134098,
      9.333681440580676,
      8.752794465133386,
      8.145934355680199,
      7.594284025817556,
      7.069004195928099,
      6.615815370209978,
      6.252659426046468,
      5.914509054013426
    ],
    "ax_ego": [
      -1.240296528426016,
      -1.2402140621420343,
      -1.0381115177970712,
      -1.2853533535796462,
      -1.142013193858875,
      -1.0648222800283706,
      -1.036366755129538,
      -0.7765403823655651,
      -0.676351696118352,
      -0.6763475668103092
    ],
    "ay_ego": [
      0.027218574808290014,
      0.030747471243399827,
      0.08832987206484329,
      0.09092352213072642,
      0.10743934371187357,
      0.03248302663766078,
      0.04390224594918621,
      0.06232071187009834,
      0.011434186649684763,
      0.011676141325861429
    ],
    "a_ego": [
      1.240595151223888,
      1.2405951502898556,
      1.041862605952402,
      1.288565221645804,
      1.1470559478617364,
      1.0653176216811402,
      1.037296224970047,
      0.7790371214341804,
      0.6764483405748819,
      0.6764483449654431
    ],
    "yaw": [
      -1.6810021262323376,
      -1.6781568285476571,
      -1.673214490066654,
      -1.6681178483061245,
      -1.6630053017431137,
      -1.6595675965706675,
      -1.6565201266119627,
      -1.6539377789899394,
      -1.651963726996105,
      -1.6516059912328385
    ],
    "yaw_diff": [
      0.005690595369360896,
      0.009884676962006456,
      0.010193283521058749,
      0.010225093126021711,
      0.006875410344892252,
      0.006094939917409725,
      0.005164695244046502,
      0.003948103987668983,
      0.0007154715265329514,
      0.0007154715265329514
    ],
    "min_front_frame": [
      9,
      21.406186960715278
    ],
    "v_avg": 8.010533980552283,
    "v_std": 1.5068277336233509,
    "vy_max": 0.02904952072501721,
    "a_max": 1.288565221645804,
    "ax_avg": -1.0176417336255779,
    "a_std": 0.21966787424098502,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a06715f1cb8358c0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.11922210010657,
    "right_rear_min": 21.845071401962954,
    "speed_mode": "decelerating",
    "front_frame": [
      30.775541081480654,
      29.353075619410692,
      27.977557004883952,
      26.864790800797312,
      25.714414200174293,
      24.582404195164806,
      23.819190210431554,
      23.014361552348642,
      22.2271340406013,
      21.406186960715278
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a06715f1cb8358c0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7fa02fbd7287526f": {
    "vx_ego": [
      9.765940706510051,
      10.02678376779162,
      10.300499786024158,
      10.58424017666373,
      10.840690147788838,
      11.088239692391284,
      11.360490993544023,
      11.633630766544975,
      11.864321698997275,
      12.06243232942001
    ],
    "vy_ego": [
      0.11982527431766865,
      0.11729443858618449,
      0.09325165806955837,
      0.06526516858179576,
      0.08021014298604001,
      0.08739792492060516,
      0.09876819330541586,
      0.09949757047952534,
      0.11190937368638831,
      0.11571667537816843
    ],
    "v_ego": [
      9.766675789614158,
      10.0274698060564,
      10.300921886589396,
      10.584441395724797,
      10.840986880695125,
      11.088584123917805,
      11.360920331135311,
      11.634056239284439,
      11.864849475876905,
      12.062987360135864
    ],
    "ax_ego": [
      0.5200664422412551,
      0.5206535343835276,
      0.5705619310939936,
      0.5612216998440338,
      0.4680516722410592,
      0.5253742108366886,
      0.5640837435098547,
      0.5270943116427365,
      0.39526586265402053,
      0.39558430104286735
    ],
    "ay_ego": [
      0.10674511007929033,
      0.1038437710262484,
      0.19448211193268305,
      0.023293930084356873,
      -0.2946741735593377,
      -0.18296882367030648,
      0.133536621769032,
      0.007663775932602812,
      0.09186746222593387,
      0.09048645935871161
    ],
    "a_ego": [
      0.5309082998704358,
      0.5309083081352287,
      0.6027969882767362,
      0.5617049078961316,
      0.5530870062210199,
      0.5563233339053549,
      0.5796744767932922,
      0.5271500230747177,
      0.4058013464682694,
      0.4058013535695139
    ],
    "yaw": [
      2.219045951590751,
      2.224621568217602,
      2.234331084815052,
      2.242224011005212,
      2.234504058992421,
      2.2229503797620995,
      2.2208354676738464,
      2.223841174665914,
      2.2249011423752125,
      2.228393573820128
    ],
    "yaw_diff": [
      0.011151233253701598,
      0.019419033194900237,
      0.015785852380320264,
      -0.015439904025582152,
      -0.023107358460642935,
      -0.004229824176506192,
      0.006011413984134961,
      0.0021199354185972297,
      0.006984862889830801,
      0.006984862889830801
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.95318932890302,
    "v_std": 0.7449644435719126,
    "vy_max": 0.11982527431766865,
    "a_max": 0.6027969882767362,
    "ax_avg": 0.5047957709490036,
    "a_std": 0.06375601852571366,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7fa02fbd7287526f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 36.26816205319322,
    "right_rear_min": 7.884730897627051,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7fa02fbd7287526f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b2f336de7d295a8b": {
    "vx_ego": [
      6.840245975286007,
      6.966473523665986,
      7.04372669528371,
      7.042198428062127,
      7.009399476178272,
      6.9688421186065685,
      6.914203119065493,
      6.874223792536794,
      6.828429356146916,
      6.753188477700884
    ],
    "vy_ego": [
      0.025995099004445743,
      -0.00530066364852666,
      -0.01680557563959284,
      0.016157396411910163,
      0.02440676712439327,
      0.0033439258148846296,
      -0.0018113203701748404,
      -0.0007664224085983662,
      -0.017196314281199054,
      -0.05256365961587006
    ],
    "v_ego": [
      6.840295369908281,
      6.966475540255222,
      7.043746743404745,
      7.042216963546316,
      7.009441968297455,
      6.968842920880391,
      6.91420335632215,
      6.8742238352618585,
      6.828451009205078,
      6.753393040069873
    ],
    "ax_ego": [
      0.2524121368590082,
      0.2525736321583389,
      0.05798735847302877,
      -0.060686792364630204,
      -0.07066825490276711,
      -0.09157364693947456,
      -0.12726954730825155,
      -0.0325751103390368,
      -0.15166519964091033,
      -0.1503505924651353
    ],
    "ay_ego": [
      -0.08817709987279104,
      -0.08771344123700946,
      -0.3817572729633178,
      -0.5633230812054197,
      -0.39200872245171364,
      -0.2798185804751119,
      -0.2418361599316219,
      -0.2600510563800244,
      -0.17301591508778075,
      -0.17415952670564547
    ],
    "a_ego": [
      0.2673706935617792,
      0.26737069292518617,
      0.386136179609045,
      0.5665825452538011,
      0.39832755456938596,
      0.29442175665684456,
      0.273280562650402,
      0.26208336409998834,
      0.23008007227002372,
      0.23008007605386355
    ],
    "yaw": [
      -0.17373725900524123,
      -0.17557359722287613,
      -0.19063326227226057,
      -0.2287755353654925,
      -0.26393352959304817,
      -0.2849424206801265,
      -0.3029751472391775,
      -0.321357334429613,
      -0.3347323172710511,
      -0.3423054237266995
    ],
    "yaw_diff": [
      -0.003672676435269806,
      -0.03011933009876888,
      -0.07628454618646385,
      -0.07031598845511133,
      -0.04201778217415664,
      -0.03606545311810205,
      -0.03676437438087099,
      -0.026749965682876242,
      -0.015146212911296697,
      -0.015146212911296697
    ],
    "min_front_frame": [
      7,
      29.402028736614014
    ],
    "v_avg": 6.924129074715137,
    "v_std": 0.09340567743110827,
    "vy_max": 0.05256365961587006,
    "a_max": 0.5665825452538011,
    "ax_avg": -0.012181601646982992,
    "a_std": 0.09957681880129515,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b2f336de7d295a8b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 33.277932987002124,
    "right_rear_min": 37.63786139957807,
    "speed_mode": "quasi_constant",
    "front_frame": [
      30.42535936686793,
      30.326488133496426,
      30.154921617159346,
      29.871314294849117,
      29.621531496072716,
      29.55495450627084,
      29.41502095896753,
      29.402028736614014,
      29.453942357889886,
      29.50057276779153
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b2f336de7d295a8b",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "66908680155c550a": {
    "vx_ego": [
      6.735568788087299,
      6.7932343974288685,
      6.842431559194975,
      6.810932719832083,
      6.654642797217715,
      6.461235859980994,
      6.3142739695275125,
      6.235585821264071,
      6.139201412901783,
      5.987411281199054
    ],
    "vy_ego": [
      0.0907955848091917,
      -0.04322800634589807,
      -0.007244299319896452,
      0.009089286506898553,
      0.01617018269197512,
      0.04394901425108211,
      0.03472455485634329,
      0.01037046150458698,
      0.002729714833520802,
      0.002640660187181787
    ],
    "v_ego": [
      6.736180723323614,
      6.793371934388945,
      6.842435394078633,
      6.810938784720389,
      6.6546624432325565,
      6.461385327788305,
      6.314369450464765,
      6.235594444864206,
      6.139202019767579,
      5.987411863511305
    ],
    "ax_ego": [
      0.11152546956215088,
      0.1161453573763726,
      0.08074042735043542,
      -0.2065769794046398,
      -0.41850606915173033,
      -0.35475805075050215,
      -0.23233285683700358,
      -0.0814883999917311,
      -0.3040838048603207,
      -0.30295931227748624
    ],
    "ay_ego": [
      0.1513858112336154,
      0.14787106707312464,
      0.04801315833441436,
      -0.05893165216500415,
      -0.0035337353525395354,
      0.0248247860415899,
      -0.1418546144681576,
      -0.17443550572631833,
      -0.11540232525214537,
      -0.11832293535205421
    ],
    "a_ego": [
      0.18803083312031058,
      0.1880308392722583,
      0.09393763879285279,
      0.21481850024344273,
      0.4185209877680863,
      0.3556255679423326,
      0.272215517581113,
      0.192530789722602,
      0.3252455334849836,
      0.32524554097784925
    ],
    "yaw": [
      -1.9382629653600802,
      -1.9073897170667156,
      -1.9054860448821658,
      -1.9082638851802094,
      -1.9116218206568758,
      -1.9150502401686196,
      -1.9181939252897036,
      -1.9269403188589664,
      -1.9373692569711207,
      -1.9469915917498506
    ],
    "yaw_diff": [
      0.06174649658672937,
      0.0038073443690995745,
      -0.005555680596087242,
      -0.006715870953332814,
      -0.006856839023487549,
      -0.006287370242167967,
      -0.017492787138525756,
      -0.02085787622430857,
      -0.019244669557459737,
      -0.019244669557459737
    ],
    "min_front_frame": [
      7,
      32.67583281309571
    ],
    "v_avg": 6.497555238614029,
    "v_std": 0.29638419784267583,
    "vy_max": 0.0907955848091917,
    "a_max": 0.4185209877680863,
    "ax_avg": -0.15922942189844552,
    "a_std": 0.09348746873294363,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "66908680155c550a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      45.54535220979278,
      -1,
      -1,
      -1,
      -1,
      33.15428425230149,
      32.78921345904683,
      32.67583281309571,
      32.75350970464049,
      33.036621729525756
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "66908680155c550a",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "5dea796da1ce5b02": {
    "vx_ego": [
      0.9900264117973077,
      1.3401656663057486,
      1.848409670038058,
      2.540742822535167,
      3.166846268123737,
      3.566798955114938,
      3.761149725986486,
      3.929951932657231,
      4.1480340448577815,
      4.445981791871567
    ],
    "vy_ego": [
      0.00463853804858122,
      -0.0019680071105367958,
      0.00262040824712384,
      0.022656136431915996,
      -0.01132189932963823,
      -0.012564248889209928,
      -0.003316241879546933,
      -0.00874090635837832,
      0.009169876946352518,
      0.10417634320110364
    ],
    "v_ego": [
      0.990037278132233,
      1.3401671112949751,
      1.848411527455286,
      2.540843834394784,
      3.166866506711906,
      3.5668210841811456,
      3.7611511879673785,
      3.929961653304046,
      4.148044180567804,
      4.44720213214289
    ],
    "ax_ego": [
      0.7002434517666847,
      0.7003289455368916,
      1.3327114019960586,
      1.438565606004519,
      1.07605302968208,
      0.5216783549780695,
      0.2689826871073507,
      0.4195331804407342,
      0.47953808672560294,
      0.7440148401337513
    ],
    "ay_ego": [
      -0.02354031924230021,
      -0.0208421159649278,
      -0.02957174921431127,
      -0.09456603005961106,
      -0.5318009916829092,
      -0.5754918141390188,
      -0.8984350962572167,
      -1.1478771929036646,
      -1.4671887969601147,
      -1.3524206602291615
    ],
    "a_ego": [
      0.7006390214455306,
      0.7006390124412928,
      1.3330394477891097,
      1.441670467485682,
      1.2002926382524008,
      0.7767490805875754,
      0.9378365039548233,
      1.222141620058459,
      1.543567213484959,
      1.543567207656969
    ],
    "yaw": [
      -0.7812754669688085,
      -0.7851284531898817,
      -0.7964743104659262,
      -0.8198854860915454,
      -0.8621727759131457,
      -0.9423310127886557,
      -1.0444539013294367,
      -1.1765293679883073,
      -1.3427531749005472,
      -1.5298040347213941
    ],
    "yaw_diff": [
      -0.007705972442146436,
      -0.02269171455208907,
      -0.04682235125123846,
      -0.08457457964320048,
      -0.1603164737510201,
      -0.204245777081562,
      -0.2641509333177412,
      -0.33244761382447985,
      -0.3741017196416938,
      -0.3741017196416938
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.973950649615245,
    "v_std": 1.1632239638861737,
    "vy_max": 0.10417634320110364,
    "a_max": 1.543567213484959,
    "ax_avg": 0.7681649584371743,
    "a_std": 0.31988782231505786,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "5dea796da1ce5b02",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.118892214051639,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5dea796da1ce5b02",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "71f883f1ec8f5e37": {
    "vx_ego": [
      8.677629303870077,
      6.7822567189437,
      4.81129378482426,
      2.9204195346553874,
      1.427861221357884,
      0.3925839879915376,
      -0.10783776176398115,
      -0.13823710136216136,
      -0.06537456064143643,
      -0.039161317734014836
    ],
    "vy_ego": [
      -0.025184630025649746,
      0.024040113064190294,
      0.027924687559312655,
      -0.015537748080633351,
      -0.04347179124417755,
      -0.047534248692563674,
      -0.029106694793451016,
      0.006281937024080121,
      0.014726079152328791,
      -0.0002780647217859068
    ],
    "v_ego": [
      8.677665849810893,
      6.782299324616476,
      4.811374821406439,
      2.9204608677419746,
      1.428522825890999,
      0.39545125164311495,
      0.1116968331872675,
      0.13837976342582387,
      0.06701261512776159,
      0.03916230492008823
    ],
    "ax_ego": [
      -3.790770271794799,
      -3.790718501081995,
      -4.0933472733656355,
      -3.470166451051175,
      -2.5001302938986187,
      -1.6409603555315706,
      -0.36062565317561246,
      0.23903247133970032,
      0.05242651150257159,
      0.05242537744704924
    ],
    "ay_ego": [
      0.10507421567296116,
      0.10692556284261201,
      -0.06508799252122399,
      -0.10296684212915408,
      -0.0119574609087576,
      -0.003976628317894693,
      0.07765007584992126,
      0.06381899642264277,
      -0.030011253909946058,
      -0.030013232484945675
    ],
    "a_ego": [
      3.792226238546759,
      3.7922262367156496,
      4.093864720180715,
      3.471693731967029,
      2.5001588884190897,
      1.6409651739141442,
      0.3688907643298157,
      0.24740530847004466,
      0.06040872842211235,
      0.06040872722265366
    ],
    "yaw": [
      2.61650434564726,
      2.616992732531297,
      2.6181195981274152,
      2.6185020531435073,
      2.6181138022363335,
      2.6182121210442024,
      2.6187324427057144,
      2.6188403546350445,
      2.6187410983004,
      2.6187788579851916
    ],
    "yaw_diff": [
      0.0009767737680741462,
      0.0022537311922361525,
      0.0007649100321840407,
      -0.0007765018143475189,
      0.0001966376157378491,
      0.0010406433230238932,
      0.00021582385866025788,
      -0.0001985126692893857,
      7.551936958360983e-05,
      7.551936958360983e-05
    ],
    "min_front_frame": [
      5,
      42.403339864407506
    ],
    "v_avg": 2.5372026457770835,
    "v_std": 3.0139778383236577,
    "vy_max": 0.047534248692563674,
    "a_max": 4.093864720180715,
    "ax_avg": -1.9302834439610084,
    "a_std": 1.6312394337021088,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "71f883f1ec8f5e37",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 25.08591010308675,
    "right_rear_min": 9.644519757991414,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      61.95584346962994,
      58.07485016310409,
      55.310144901555006,
      53.433541011987366,
      52.391415398095894,
      42.403339864407506,
      47.0421559269744,
      51.81789877200265,
      52.15013188382028,
      52.13707325491433
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "71f883f1ec8f5e37",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "518221a430885093": {
    "vx_ego": [
      8.816664048017026,
      8.60910531896489,
      8.402804432366402,
      8.226813309459994,
      8.04803509427643,
      7.887282923083327,
      7.770705072207666,
      7.654273410991025,
      7.5356817755966805,
      7.409705278480708
    ],
    "vy_ego": [
      0.020548754880194586,
      0.0014284533345430006,
      -0.022546211211410316,
      -0.024631070725217974,
      -0.03164388888858882,
      -0.018492824994878365,
      0.02724584014106135,
      0.012583800045317783,
      0.009421399403437114,
      -0.0010977404164735916
    ],
    "v_ego": [
      8.816687994191646,
      8.609105437471914,
      8.402834680049134,
      8.226850182077778,
      8.0480973039849,
      7.887304602545673,
      7.77075283708335,
      7.6542837550111615,
      7.5356876650924605,
      7.409705359795279
    ],
    "ax_ego": [
      -0.41613502632865396,
      -0.4145467135663376,
      -0.4098146674826423,
      -0.29339744579675436,
      -0.4205728166282663,
      -0.22175664583885324,
      -0.2446002904264396,
      -0.22169847466366388,
      -0.25271771824492895,
      -0.25134649204560233
    ],
    "ay_ego": [
      0.14611520054352536,
      0.15056239632845342,
      0.19569138865209892,
      0.14864105888873447,
      0.1509837976112933,
      0.13520525225689806,
      0.07904577195378132,
      0.0585760964358103,
      0.13172193019928324,
      0.13431998278272878
    ],
    "a_ego": [
      0.4410419616855341,
      0.4410419627618413,
      0.45414004588507223,
      0.3289015439118881,
      0.4468529973355458,
      0.2597238345080213,
      0.2570555117877611,
      0.22930628587514246,
      0.28498581019122365,
      0.2849858186618811
    ],
    "yaw": [
      -0.6440122263063675,
      -0.6333049874795448,
      -0.6203088868858768,
      -0.6096866677951616,
      -0.5996394313265081,
      -0.592287378258598,
      -0.5912883685011159,
      -0.584923942883665,
      -0.5782470524139218,
      -0.5679387612043503
    ],
    "yaw_diff": [
      0.021414477653645347,
      0.025992201187335917,
      0.021244438181430514,
      0.02009447293730693,
      0.014704106135820183,
      0.0019980195149642554,
      0.01272885123490175,
      0.01335378093948636,
      0.020616582419143104,
      0.020616582419143104
    ],
    "min_front_frame": [
      9,
      51.75815261043984
    ],
    "v_avg": 8.036130981730329,
    "v_std": 0.4460708815401308,
    "vy_max": 0.03164388888858882,
    "a_max": 0.45414004588507223,
    "ax_avg": -0.31465862910221426,
    "a_std": 0.08748675047886606,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "518221a430885093",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      75.0520601815501,
      72.8751568640654,
      70.5776579531716,
      68.4247471263036,
      65.92036263951582,
      63.45013336045369,
      60.770112533713146,
      57.64756166466947,
      54.732221001977116,
      51.75815261043984
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 7,
    "token": "518221a430885093",
    "smoothness": "No"
  },
  "85ab290d4e535060": {
    "vx_ego": [
      0.4667136931738252,
      1.0279903875716356,
      1.6606628342549308,
      2.3617387404631063,
      3.065773338910554,
      3.785361451936418,
      4.509785694669627,
      5.205141951686784,
      5.8727142607676655,
      6.537086765069899
    ],
    "vy_ego": [
      0.02834883788182177,
      0.0046049298261269245,
      -0.023800000429852308,
      -0.046852514898643616,
      -0.06437933948658991,
      -0.059568870437770816,
      -0.029329715691358338,
      0.025415418438135884,
      0.02492337117982313,
      -0.02564191454273379
    ],
    "v_ego": [
      0.467573874382649,
      1.028000701516485,
      1.66083337186368,
      2.3622034282331796,
      3.066449227515025,
      3.785830129856782,
      4.509881067619117,
      5.205203999912404,
      5.872767147014674,
      6.53713705545734
    ],
    "ax_ego": [
      1.1225532149546222,
      1.1225523439668614,
      1.4081074970633782,
      1.395879191399571,
      1.4196852347750673,
      1.4578296963594375,
      1.4398814782752931,
      1.341523577315646,
      1.3286493072336825,
      1.3288368618120607
    ],
    "ay_ego": [
      -0.04745022375000352,
      -0.04747075158277969,
      -0.07216701253805802,
      -0.03605433320033735,
      -0.0638957773517036,
      0.04525015730346649,
      0.07692487171532336,
      0.1308841196141215,
      -0.1214871368797168,
      -0.11941826209563844
    ],
    "a_ego": [
      1.1235556257430621,
      1.1235556226557406,
      1.4099556024870996,
      1.3963447396416262,
      1.421122386074372,
      1.4585317961304232,
      1.4419348485173185,
      1.3478932306606972,
      1.334191929986003,
      1.3341919377032931
    ],
    "yaw": [
      0.8721290815964797,
      0.8721473678519722,
      0.870997686699991,
      0.8690089344776275,
      0.8662567022284471,
      0.8634877979078934,
      0.8635611996183455,
      0.8629876834942858,
      0.8635005028363849,
      0.8619434917968204
    ],
    "yaw_diff": [
      3.657251098498904e-05,
      -0.002299362303962438,
      -0.003977504444726998,
      -0.005504464498360839,
      -0.005537808641107311,
      0.00014680342090422904,
      -0.0011470322481195172,
      0.001025638684198249,
      -0.0031140220791290307,
      -0.0031140220791290307
    ],
    "min_front_frame": [
      0,
      10.922401530681254
    ],
    "v_avg": 3.4495880003371333,
    "v_std": 1.9750838205452823,
    "vy_max": 0.06437933948658991,
    "a_max": 1.4585317961304232,
    "ax_avg": 1.336549840315562,
    "a_std": 0.11528588627071584,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "85ab290d4e535060",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.577325946327742,
    "speed_mode": "accelerating",
    "front_frame": [
      10.922401530681254,
      12.684424759879139,
      14.563206690650231,
      16.11606084619937,
      17.604324732172905,
      19.310826073041746,
      21.015999828201608,
      22.813846327059295,
      24.831664472326974,
      26.89458842704797
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "85ab290d4e535060",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "19f3e77fcd3353c5": {
    "vx_ego": [
      3.8560377928589604,
      3.7967604554988936,
      3.7689966626092986,
      3.743215113081113,
      3.7155649969135043,
      3.662240897304599,
      3.6199401351925005,
      3.61841620706983,
      3.6321927687476165,
      3.6802470377122685
    ],
    "vy_ego": [
      0.008541388451759557,
      -0.007671692528224083,
      0.004781701733127752,
      0.007297040891526274,
      0.0035338115380413315,
      0.004140880125609481,
      0.004082563504144682,
      -0.020622338031874077,
      -0.05283127628125117,
      0.02929896219699102
    ],
    "v_ego": [
      3.8560472527282763,
      3.796768206159867,
      3.768999695865137,
      3.7432222255170244,
      3.71556667738756,
      3.6622432383415777,
      3.61994243734652,
      3.6184749727490884,
      3.632576971393171,
      3.680363662435514
    ],
    "ax_ego": [
      -0.18341780415741782,
      -0.05287751311163402,
      -0.05897413583051353,
      -0.05361040847620169,
      -0.06016196733697596,
      -0.15143735254598828,
      -0.008874702338535207,
      -0.002094904104667644,
      0.06579062075100292,
      0.13000452750354022
    ],
    "ay_ego": [
      0.9734257934979833,
      0.9891429843141561,
      0.9649226682719342,
      0.8563470364669649,
      0.8445071538201201,
      0.9039780421499578,
      1.0675735495898637,
      0.934252717780906,
      0.7756060320735088,
      0.7674580978526433
    ],
    "a_ego": [
      0.9905553322904821,
      0.9905553365717565,
      0.9667231788066245,
      0.8580234977917204,
      0.8466473853778889,
      0.916574913706135,
      1.067610436500833,
      0.9342550665124685,
      0.7783913686363788,
      0.7783913598769041
    ],
    "yaw": [
      2.407734739969551,
      2.540569104256316,
      2.66622492116456,
      2.7866516270885224,
      2.901525869785158,
      3.0193562090625026,
      -3.127988287189565,
      -2.983103113170942,
      -2.8561804240657986,
      -2.772999329529366
    ],
    "yaw_diff": [
      0.2656687285735302,
      0.2513116338164876,
      0.24085341184792508,
      0.2297484853932712,
      0.23566067855468908,
      0.27168162185503775,
      0.289770348037246,
      0.2538453782102863,
      0.16636218907286526,
      0.16636218907286526
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.709420533992373,
    "v_std": 0.07688392123852239,
    "vy_max": 0.05283127628125117,
    "a_max": 1.067610436500833,
    "ax_avg": -0.0375653639647391,
    "a_std": 0.09107597011005533,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "19f3e77fcd3353c5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.412322805422928,
    "right_rear_min": 8.350288900372298,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "19f3e77fcd3353c5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4909b88b347c5764": {
    "vx_ego": [
      8.289756427582002,
      8.627658409049232,
      8.922052734197317,
      9.152989129144672,
      9.340528104000095,
      9.509054891420686,
      9.696642623773263,
      9.91744832644811,
      10.137746521087198,
      10.33583366657361
    ],
    "vy_ego": [
      -0.24142344067122323,
      -0.1701813716280638,
      -0.030144680708426463,
      0.07997409711382097,
      0.11691692377979557,
      0.0565676094575176,
      0.04425264289861097,
      0.12234884240761001,
      0.1867597785164392,
      0.18263087671788014
    ],
    "v_ego": [
      8.293271182491422,
      8.629336667582692,
      8.922103658531032,
      9.153338508678114,
      9.341259809505447,
      9.509223145057193,
      9.696743601311729,
      9.918202989806515,
      10.139466639852765,
      10.337447055255335
    ],
    "ax_ego": [
      0.6790471299454444,
      0.6857249377270962,
      0.4944346705125334,
      0.42834709230313295,
      0.318176635234631,
      0.3526516142876956,
      0.39718545795593097,
      0.48328626938573777,
      0.3881090671113348,
      0.3928275105484241
    ],
    "ay_ego": [
      0.4202980171157818,
      0.4093125119451736,
      0.38482656871767407,
      0.3288318719190959,
      0.07810076570279187,
      0.0009857612193321652,
      0.28743179542049396,
      0.4996202615490624,
      0.3097040073822709,
      0.3036968352622406
    ],
    "a_ego": [
      0.7985959102566224,
      0.7985959069865671,
      0.6265437984657227,
      0.5400107697762753,
      0.32762188695597527,
      0.35265299202601297,
      0.4902788237628781,
      0.6951158348988588,
      0.496533201470625,
      0.4965332021043233
    ],
    "yaw": [
      2.1699393201053163,
      2.186037649291455,
      2.192686065248635,
      2.200236048927836,
      2.207232415929248,
      2.215737337459162,
      2.224533453819717,
      2.236646758634598,
      2.250384298707952,
      2.2657685237060585
    ],
    "yaw_diff": [
      0.032196658372277476,
      0.013296831914360041,
      0.015099967358401578,
      0.013992734002823859,
      0.017009843059828,
      0.017592232721110435,
      0.024226609629762308,
      0.027475080146707853,
      0.030768449996212865,
      0.030768449996212865
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.394039325807226,
    "v_std": 0.6249184952759959,
    "vy_max": 0.24142344067122323,
    "a_max": 0.7985959102566224,
    "ax_avg": 0.4619790385011962,
    "a_std": 0.1570983403809153,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4909b88b347c5764",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 40.99770235857095,
    "right_rear_min": 23.374994583010537,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4909b88b347c5764",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "190808cc16cc53af": {
    "vx_ego": [
      8.493632634298585,
      8.250140302194747,
      7.971848396172279,
      7.636638393012189,
      7.1885775768413644,
      6.5526757914846385,
      5.799553231675014,
      5.064201937605827,
      4.356329643200699,
      3.6379196053329235
    ],
    "vy_ego": [
      -0.05327184758651393,
      -0.036836705218237675,
      -0.027005432168789145,
      -0.03793239118722136,
      -0.03474380757301221,
      -0.04215872001585064,
      -0.03967042680350108,
      -0.02716388932870606,
      -0.020616990997118112,
      -0.011727990436194657
    ],
    "v_ego": [
      8.493799692491413,
      8.250222539347007,
      7.971894137839586,
      7.6367326005255,
      7.188661538174623,
      6.552811410835979,
      5.799688908018677,
      5.064274789319205,
      4.356378429446517,
      3.637938509736706
    ],
    "ax_ego": [
      -0.4869722455591451,
      -0.48696610286585934,
      -0.6262520625745159,
      -0.7145564306864991,
      -1.0778626626825805,
      -1.4655313494653093,
      -1.546857701307797,
      -1.3946600496875923,
      -1.436887957656443,
      -1.4368889545447772
    ],
    "ay_ego": [
      0.03570679817508479,
      0.0357905168635822,
      -0.012320978614618172,
      -0.023458739531951378,
      0.0031532159934552495,
      0.005276646631537374,
      0.019347038728682597,
      0.011925361141841506,
      0.002016528233565462,
      -0.0010961822015829181
    ],
    "a_ego": [
      0.48827957501909963,
      0.4882795781493683,
      0.6263732532546846,
      0.7149413997635453,
      1.077867274935223,
      1.4655408487194361,
      1.5469786863440658,
      1.3947110340256725,
      1.436889372653379,
      1.4368893726756427
    ],
    "yaw": [
      2.5696858076718487,
      2.569857714289948,
      2.569370055110594,
      2.5696236642144235,
      2.5685154659997194,
      2.5698917134724066,
      2.570484577561899,
      2.5696184092158747,
      2.5689691885298362,
      2.5668029042991103
    ],
    "yaw_diff": [
      0.0003438132361983648,
      -0.0009753183587077885,
      0.000507218207658866,
      -0.002216396429408185,
      0.0027524949453745506,
      0.0011857281789851015,
      -0.0017323366920489747,
      -0.0012984413720769084,
      -0.004332568461451913,
      -0.004332568461451913
    ],
    "min_front_frame": [
      9,
      15.395067939425893
    ],
    "v_avg": 6.4952402555735205,
    "v_std": 1.6221041469231694,
    "vy_max": 0.05327184758651393,
    "a_max": 1.5469786863440658,
    "ax_avg": -1.0673435517030518,
    "a_std": 0.4193197528224054,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "190808cc16cc53af",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      36.604246130413934,
      38.60150705009319,
      35.20383296515077,
      31.810605169267166,
      28.4350321109897,
      25.383522661157354,
      22.400641654745197,
      19.743449148865285,
      17.41719697780921,
      15.395067939425893
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "190808cc16cc53af",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a3882e6ae8635832": {
    "vx_ego": [
      1.00274043236243,
      1.5565898353560077,
      2.1656678277003265,
      2.7842283453182715,
      3.3106041637501957,
      3.777018239962812,
      4.223882768690249,
      4.615456894337402,
      4.887099397719425,
      5.1600021366298865
    ],
    "vy_ego": [
      -0.006104738375393104,
      -0.011303100563000434,
      -0.008964004723540864,
      0.012597576517566544,
      0.030928041896991387,
      0.010094415609857854,
      0.030599739761818304,
      0.0027573005879205637,
      -0.03591652778685761,
      -0.1327820891806768
    ],
    "v_ego": [
      1.0027590151801304,
      1.5566308732695688,
      2.1656863792610728,
      2.7842568447985965,
      3.310748627246671,
      3.7770317290483915,
      4.223993606495149,
      4.615457717950972,
      4.887231375754357,
      5.16171029148597
    ],
    "ax_ego": [
      1.1076792764101087,
      1.1076894987171542,
      1.329253139943345,
      1.1485059075095896,
      0.9623481164827545,
      0.9126352464316441,
      0.8831969825902051,
      0.7043895566043852,
      0.40754743093470447,
      0.7383237845857676
    ],
    "ay_ego": [
      -0.012943267835654582,
      -0.012037192821304776,
      0.07607112787300191,
      0.3185085997032786,
      0.6409450485499586,
      0.9621100533954698,
      1.250773632737134,
      1.6365040946362257,
      1.7762556880253597,
      1.6661504054178586
    ],
    "a_ego": [
      1.1077548950786393,
      1.1077549004988774,
      1.3314280778716934,
      1.1918529891179404,
      1.1562544929895902,
      1.3261066502638397,
      1.5311667415428307,
      1.7816594229017102,
      1.822410266022424,
      1.822410267848364
    ],
    "yaw": [
      -1.909213395738212,
      -1.9100313865396696,
      -1.902575798330203,
      -1.8717145563881608,
      -1.7996013751465054,
      -1.6809816743119153,
      -1.5481358672457244,
      -1.379768775639819,
      -1.194048728721178,
      -1.0024595088180142
    ],
    "yaw_diff": [
      -0.0016359816029152263,
      0.014911176418933358,
      0.06172248388408441,
      0.14422636248331067,
      0.23723940166918034,
      0.26569161413238174,
      0.3367341832118109,
      0.3714400938372817,
      0.3831784398063278,
      0.3831784398063278
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.3485506460490884,
    "v_std": 1.3653891547854489,
    "vy_max": 0.1327820891806768,
    "a_max": 1.822410267848364,
    "ax_avg": 0.9301568940209659,
    "a_std": 0.2828862641134845,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "a3882e6ae8635832",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "a3882e6ae8635832",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "140a3ea8607f528f": {
    "vx_ego": [
      1.6546536654267536,
      1.019644590907333,
      0.4764223779012196,
      0.10115951662022458,
      -0.04925031888263417,
      -0.041003383453206345,
      -0.0248519561069408,
      -0.014701992195851289,
      -0.009918143672238285,
      -0.006575400998645973
    ],
    "vy_ego": [
      -0.007718540037646632,
      -0.0011633153639966781,
      0.005049373518594413,
      0.013094138080610534,
      0.008620241921671167,
      0.000534358245173447,
      0.0015818515139001208,
      0.0009036559963059587,
      0.0006854683053541366,
      0.000415369059765219
    ],
    "v_ego": [
      1.6546716678454683,
      1.0196452545219925,
      0.4764491351004667,
      0.10200345217153971,
      0.04999902479878272,
      0.041006865197730745,
      0.02490224842365324,
      0.014729737563396433,
      0.009941802688688073,
      0.006588507399161414
    ],
    "ax_ego": [
      -1.2700176715716616,
      -1.270014535508106,
      -0.9028751582351368,
      -0.5981795157188784,
      -0.0034679088301585604,
      0.0364563796802581,
      0.028149528340941102,
      0.012450070471231634,
      0.0066854788427581635,
      0.006685478631231538
    ],
    "ay_ego": [
      0.013576705945340578,
      0.013867076458509903,
      0.011242357851376769,
      0.021039666974737095,
      -0.038956557788470556,
      0.006580068871742149,
      -0.0023871473175696746,
      -0.000330221162606352,
      -0.0005402851368425319,
      -0.0005403107705951587
    ],
    "a_ego": [
      1.270090238151853,
      1.27009023939694,
      0.9029451489255489,
      0.598549413676164,
      0.039110609639594444,
      0.037045444061962675,
      0.02825056491706363,
      0.01245444903457664,
      0.006707274810685782,
      0.006707276664748119
    ],
    "yaw": [
      0.07234532376613298,
      0.07257396298126348,
      0.07266607265358044,
      0.07276876716610156,
      0.0728787857274072,
      0.07304311275059998,
      0.07301989193753362,
      0.07308401357856738,
      0.07303522768034329,
      0.07304112121816037
    ],
    "yaw_diff": [
      0.0004572784302609989,
      0.00018421934463391798,
      0.00020538902504224632,
      0.0002200371226112885,
      0.00032865404638554585,
      -4.644162613270941e-05,
      0.00012824328206750835,
      -9.757179644817593e-05,
      1.1787075634150934e-05,
      1.1787075634150934e-05
    ],
    "min_front_frame": [
      3,
      10.906676488178078
    ],
    "v_avg": 0.339993769571088,
    "v_std": 0.5351846805590478,
    "vy_max": 0.013094138080610534,
    "a_max": 1.27009023939694,
    "ax_avg": -0.39541278538975205,
    "a_std": 0.5160676049725429,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "140a3ea8607f528f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.236701278440606,
    "speed_mode": "decelerating",
    "front_frame": [
      11.983771008965858,
      11.36689846324749,
      11.033191287837994,
      10.906676488178078,
      10.908910318744345,
      10.932946930944807,
      10.941280550681753,
      10.954948588073735,
      10.95050578972227,
      10.970293562005725
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "140a3ea8607f528f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8ba3e54303a352c8": {
    "vx_ego": [
      4.281218221465497,
      4.0846925673577825,
      3.75594893526558,
      3.212952821003222,
      2.5979793302403076,
      1.8239628339464036,
      0.821583748144838,
      0.11304799579295584,
      -0.07502437910375095,
      -0.1044920511640304
    ],
    "vy_ego": [
      0.008224605540160912,
      0.05748379696734984,
      0.020982245682459988,
      0.0020116720453144943,
      2.7950490565809005e-05,
      -0.005315718765271815,
      0.0065900046256232025,
      0.02028678867479347,
      0.004726446266244036,
      -0.015982237761825814
    ],
    "v_ego": [
      4.2812261215619625,
      4.085097031496522,
      3.7560075424520285,
      3.2129534507703315,
      2.597979330390661,
      1.8239705799392125,
      0.8216101772596822,
      0.11485383383910129,
      0.07517311190985136,
      0.10570724043480596
    ],
    "ax_ego": [
      -0.4021234806600175,
      -0.374885301453888,
      -0.9387114725371967,
      -1.2332523410957392,
      -1.2270642935590832,
      -1.869130053811127,
      -2.14077739923094,
      -0.6933109972978857,
      -0.05893400809763213,
      -0.05893573935911847
    ],
    "ay_ego": [
      -0.41814976759539235,
      -0.4427341606778943,
      -0.21485261016913584,
      -0.12508098625057895,
      -0.062141554431146995,
      -0.05992900244214028,
      0.0748081250642203,
      -0.020637567130413037,
      -0.04142618046023698,
      -0.0414236881939045
    ],
    "a_ego": [
      0.580131469443098,
      0.5801314732690617,
      0.9629853959273956,
      1.239579198736224,
      1.2286367865706982,
      1.8700905441699065,
      2.1420840619904746,
      0.6936180852250402,
      0.07203711361496856,
      0.07203709681401499
    ],
    "yaw": [
      1.1532096686197266,
      1.0899512003001195,
      1.0579064404942642,
      1.039160102165285,
      1.0237295456247417,
      1.0127425547876736,
      1.0067089878515105,
      1.0061707426485558,
      1.0054341283752943,
      1.0054762588682282
    ],
    "yaw_diff": [
      -0.12651693663921426,
      -0.06408951961171061,
      -0.03749267665795841,
      -0.030861113081086522,
      -0.021973981674136223,
      -0.012067133872326163,
      -0.0010764904059095137,
      -0.0014732285465228756,
      8.426098586777897e-05,
      8.426098586777897e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.087457842005416,
    "v_std": 1.6326114037498416,
    "vy_max": 0.05748379696734984,
    "a_max": 2.1420840619904746,
    "ax_avg": -0.8997125087102626,
    "a_std": 0.6565001783640635,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8ba3e54303a352c8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8ba3e54303a352c8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "83d03e995ce55e9b": {
    "vx_ego": [
      -0.19976184960192817,
      0.4563841464560829,
      1.169364097364033,
      1.7996884709741572,
      2.248117974036291,
      2.623101096194728,
      2.9533725951039806,
      3.2154556781740133,
      3.4905416094081714,
      3.909599151650864
    ],
    "vy_ego": [
      0.008336495264357022,
      -0.0058477218140759735,
      -0.025546026227332874,
      -0.0362512168516298,
      -0.013378283504397626,
      0.004332585604187145,
      -0.005416811494095564,
      0.014220696375821573,
      0.004958148846255783,
      0.08686175483203806
    ],
    "v_ego": [
      0.19993572394566214,
      0.45642160880797716,
      1.1696431043955275,
      1.8000535390039163,
      2.248157779973319,
      2.623104674265974,
      2.953377562615045,
      3.2154871242949983,
      3.490545130814064,
      3.9105639607404012
    ],
    "ax_ego": [
      1.3122599445566985,
      1.3123323982466713,
      1.5392214520025975,
      0.9796111905451551,
      0.8126307065813689,
      0.6987394750840521,
      0.6417241588828255,
      0.46876456874246897,
      0.6635486757079352,
      1.032403569385746
    ],
    "ay_ego": [
      -0.03064821922853178,
      -0.02737048783644558,
      -0.08545468295491943,
      -0.07750921837962321,
      -0.2127791351079074,
      -0.5258786431844379,
      -0.8535094728465795,
      -1.4631215441037226,
      -1.6620800690854762,
      -1.4618309933439866
    ],
    "a_ego": [
      1.312617794877789,
      1.3126177917018589,
      1.5415917686417213,
      0.9826727652556146,
      0.8400259672273256,
      0.8745199834184706,
      1.0678428331607213,
      1.536380445634731,
      1.789638790673955,
      1.7896387856719846
    ],
    "yaw": [
      -2.0308063091854995,
      -2.033304016704271,
      -2.044148841719812,
      -2.063470350643023,
      -2.110139379318228,
      -2.1926998153779858,
      -2.3124327865682064,
      -2.5046235211743895,
      -2.735529264058724,
      -2.9705903373993277
    ],
    "yaw_diff": [
      -0.004995415037543083,
      -0.021689650031081698,
      -0.038643017846422545,
      -0.0933380573504099,
      -0.1651208721195152,
      -0.23946594238044128,
      -0.38438146921236616,
      -0.4618114857686688,
      -0.47012214668120755,
      -0.47012214668120755
    ],
    "min_front_frame": [
      1,
      28.426654579821626
    ],
    "v_avg": 2.206729020885688,
    "v_std": 1.2096746177552402,
    "vy_max": 0.08686175483203806,
    "a_max": 1.789638790673955,
    "ax_avg": 0.9461236139735518,
    "a_std": 0.33779132749034946,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "83d03e995ce55e9b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.3410503451073,
    "speed_mode": "accelerating",
    "front_frame": [
      28.5537186502814,
      28.426654579821626,
      52.84729721156322,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "83d03e995ce55e9b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "bf1db71f1cc35b98": {
    "vx_ego": [
      1.3152271140403113,
      1.6091822670040468,
      1.8924752767945898,
      2.1715907785325346,
      2.4459216667703267,
      2.6781852398072132,
      2.848969127910553,
      2.967034276761262,
      3.0638136789970005,
      3.162329635802813
    ],
    "vy_ego": [
      -0.015374689562236366,
      -0.01865527293584235,
      -0.017129773227580802,
      -0.008063857069683489,
      -0.01825959136327604,
      -0.03144942854158095,
      -0.021267814330125312,
      -0.017163493085035453,
      -0.022356827793185874,
      -0.03226470151370492
    ],
    "v_ego": [
      1.3153169741875688,
      1.6092903987933918,
      1.892552800428455,
      2.1716057504064543,
      2.445989822679826,
      2.6783698858217497,
      2.8490485098912934,
      2.967083919435226,
      3.0638952474518626,
      3.1624942270999514
    ],
    "ax_ego": [
      0.5880888901003762,
      0.588177968571338,
      0.545922146405059,
      0.5711545434784064,
      0.5265165132838119,
      0.4048980511456807,
      0.2805711721060107,
      0.19276005684854278,
      0.19657907946756725,
      0.2002506309577923
    ],
    "ay_ego": [
      0.015175531701786926,
      0.011203413370246496,
      0.06209578613180457,
      0.0678355777073451,
      0.014710618476010157,
      0.10238279033044775,
      0.1439105034693358,
      0.10005678501330903,
      0.1441715873440405,
      0.13902685298455725
    ],
    "a_ego": [
      0.5882846584961436,
      0.5882846582937978,
      0.5494423323614894,
      0.5751688257711088,
      0.5267219770016144,
      0.41764179337970797,
      0.31532588797264705,
      0.21718149033343745,
      0.2437801900926661,
      0.24378019002737614
    ],
    "yaw": [
      1.315527471034366,
      1.3222812157269008,
      1.3318473389305592,
      1.343389015278737,
      1.3567111202979563,
      1.373186872939852,
      1.3916784388298415,
      1.4111666632287205,
      1.4331397760890083,
      1.459067499796634
    ],
    "yaw_diff": [
      0.013507489385069515,
      0.0191322464073167,
      0.023083352696355863,
      0.02664421003843831,
      0.03295150528379143,
      0.03698313177997914,
      0.03897644879775797,
      0.043946225720575605,
      0.05185544741525128,
      0.05185544741525128
    ],
    "min_front_frame": [
      0,
      16.067201710160145
    ],
    "v_avg": 2.415564753619578,
    "v_std": 0.6110638965741645,
    "vy_max": 0.03226470151370492,
    "a_max": 0.5882846584961436,
    "ax_avg": 0.40949190523645856,
    "a_std": 0.14920979955535313,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bf1db71f1cc35b98",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      16.067201710160145,
      16.818934651032375,
      17.792448465487976,
      18.468291076731287,
      18.445235454784743,
      18.782339009726766,
      19.067879991487086,
      19.24732320626101,
      19.588035006430097,
      19.98336023564315
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bf1db71f1cc35b98",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4ba033878f8b5284": {
    "vx_ego": [
      2.8787952997671407,
      2.622229293918791,
      2.354798590996083,
      2.053704773397722,
      1.7287621139179692,
      1.3986112643409538,
      1.026878428622331,
      0.6105589704422356,
      0.23071700507581333,
      -0.10534913758763925
    ],
    "vy_ego": [
      -0.026943890208568577,
      -0.007822868951286477,
      0.021359520039796465,
      0.025673601733931184,
      0.001357722260653671,
      -0.019997800516911912,
      -0.026755107457900662,
      -0.015827594050725924,
      0.002316293642255801,
      0.027884605423263667
    ],
    "v_ego": [
      2.8789213867663968,
      2.6222409628339785,
      2.354895461215522,
      2.053865241466095,
      1.7287626470767645,
      1.398754224575181,
      1.0272269189156558,
      0.6107640863057661,
      0.23072863204940566,
      0.10897702514782852
    ],
    "ax_ego": [
      -0.513119118305509,
      -0.5130759943615147,
      -0.5566541913572489,
      -0.6480422891250315,
      -0.6517752662462413,
      -0.6688045943761091,
      -0.8180123447016836,
      -0.8472374594875887,
      -0.6721333984172936,
      -0.6721323748587736
    ],
    "ay_ego": [
      0.04342184575989308,
      0.04392859791164702,
      0.08900174349479031,
      -0.05458185489043438,
      -0.03463126538692601,
      -0.046114088019697796,
      0.02347727913101888,
      0.021329586120388155,
      0.051132420412091484,
      0.05114582657992944
    ],
    "a_ego": [
      0.5149530913198006,
      0.5149531024321926,
      0.5637243999515235,
      0.6503368260968245,
      0.6526946623289166,
      0.6703924929267036,
      0.8183491789693088,
      0.8475059079458093,
      0.6740755370766538,
      0.6740755335345137
    ],
    "yaw": [
      0.5582719019793254,
      0.5592595726559912,
      0.5608835743529501,
      0.5628201811811296,
      0.5638840936827942,
      0.5646307899847418,
      0.5655225487572022,
      0.5658559821653064,
      0.5657848049023592,
      0.5658047420811372
    ],
    "yaw_diff": [
      0.001975341353331661,
      0.003248003393917731,
      0.0038732136563590647,
      0.002127825003329198,
      0.0014933926038951384,
      0.0017835175449207874,
      0.0006668668162084224,
      -0.0001423545258945058,
      3.987435755603563e-05,
      3.987435755603563e-05
    ],
    "min_front_frame": [
      9,
      9.95106555974344
    ],
    "v_avg": 1.5015136586352595,
    "v_std": 0.9392162523847825,
    "vy_max": 0.027884605423263667,
    "a_max": 0.8475059079458093,
    "ax_avg": -0.6560987031236994,
    "a_std": 0.1059217862255482,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4ba033878f8b5284",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.300823304287145,
    "right_rear_min": 12.012317670601401,
    "speed_mode": "decelerating",
    "front_frame": [
      16.7209868108307,
      15.300779165500224,
      14.060570797256585,
      12.911846880579908,
      11.98772511207211,
      11.186332649687419,
      10.58364608643825,
      10.196971920076106,
      10.004676813363835,
      9.95106555974344
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4ba033878f8b5284",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "927222aceeaa52bb": {
    "vx_ego": [
      4.008317524224219,
      4.0910671797588005,
      4.198297744991347,
      4.2916701032788485,
      4.403698468137366,
      4.480227372063174,
      4.521496777295244,
      4.554551045472344,
      4.580864542669438,
      4.641339975685498
    ],
    "vy_ego": [
      -0.007740087209274771,
      0.032692770126279636,
      0.03435872967136269,
      -0.0021450004999382655,
      -0.07020784044972617,
      -0.07952618177024551,
      -0.06816418808991642,
      -0.031351531886411266,
      -0.033266867540442835,
      0.07387839882521485
    ],
    "v_ego": [
      4.008324997296623,
      4.091197805840993,
      4.1984383379899795,
      4.291670639320383,
      4.404258091794349,
      4.480933130383788,
      4.5220105554530985,
      4.554658949291906,
      4.5809853353576715,
      4.6419279171169
    ],
    "ax_ego": [
      0.07252784464867174,
      0.2496611975934251,
      0.16038196106026287,
      0.19848758016581122,
      0.24751064744050447,
      0.06277464575892798,
      0.10424781161644611,
      0.02826916540004673,
      0.08117460318107453,
      0.16890437546219086
    ],
    "ay_ego": [
      1.247162616706174,
      1.2240687034639701,
      1.2364900339734215,
      1.1711390378332922,
      0.8496888922025984,
      0.36931165079952494,
      -0.0032710428205016476,
      -0.42044228253478444,
      -0.8045062220397246,
      -0.7907533759887202
    ],
    "a_ego": [
      1.2492697389910528,
      1.2492697484465667,
      1.2468480170209715,
      1.187840042016251,
      0.8850043695535613,
      0.374608798036604,
      0.10429911767580582,
      0.42139157402050026,
      0.8085911064946457,
      0.8085911140297246
    ],
    "yaw": [
      2.8931195601163884,
      3.03623115468989,
      -3.0996041606010847,
      -2.9493268207800623,
      -2.817475702641884,
      -2.7471654636177094,
      -2.729338111724343,
      -2.7607242813818726,
      -2.827420765234219,
      -2.937298173354799
    ],
    "yaw_diff": [
      0.2862231891470035,
      0.29469998377722284,
      0.30055467964204485,
      0.26370223627635614,
      0.14062047804834954,
      0.035654703786732966,
      -0.06277233931505943,
      -0.133392967704693,
      -0.21975481624116,
      -0.21975481624116
    ],
    "min_front_frame": [
      0,
      61.284664300022364
    ],
    "v_avg": 4.37744057598457,
    "v_std": 0.20801448473389353,
    "vy_max": 0.07952618177024551,
    "a_max": 1.2492697484465667,
    "ax_avg": 0.13739398323273616,
    "a_std": 0.3947384424721204,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "927222aceeaa52bb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      61.284664300022364,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "927222aceeaa52bb",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "1e0c13bae35a50b3": {
    "vx_ego": [
      8.654356168936804,
      8.88877579653102,
      9.14000580638439,
      9.386398809037583,
      9.593979341144403,
      9.698786651632577,
      9.661767895017576,
      9.532083244483246,
      9.35797055533019,
      9.16982360758068
    ],
    "vy_ego": [
      -0.01948133571287869,
      -0.08554238122623659,
      -0.062325397710203845,
      0.00637253795886128,
      0.017898168940822856,
      0.012720161714630862,
      0.015840557538617794,
      0.01949771475606088,
      0.0006239856713232683,
      -0.06468857839018494
    ],
    "v_ego": [
      8.654378095580045,
      8.889187401555978,
      9.140218301328481,
      9.386400972233298,
      9.593996036207074,
      9.698794993008168,
      9.661780880378911,
      9.53210318558496,
      9.357970576133747,
      9.170051777733761
    ],
    "ax_ego": [
      0.4588957660695516,
      0.4876489567682468,
      0.5237822686463722,
      0.4622972118553298,
      0.36689885360771435,
      0.05104587288366304,
      -0.19983434254035934,
      -0.31985973530359935,
      -0.376438287448537,
      -0.37628249066123015
    ],
    "ay_ego": [
      0.6576006481068761,
      0.63657083494345,
      0.4963467318904821,
      0.3396052190120933,
      0.28998232941999047,
      0.22752357669074152,
      0.21195174789471172,
      0.029765897734256613,
      -0.1496888273138215,
      -0.1500800384780752
    ],
    "a_ego": [
      0.8018877331067886,
      0.8018877308811755,
      0.7216009584297284,
      0.5736291631964535,
      0.4676585508193974,
      0.23317945683229221,
      0.2913027770107266,
      0.32124174532027255,
      0.40510804642684456,
      0.4051080482140528
    ],
    "yaw": [
      -0.6713492296266024,
      -0.6269216424570331,
      -0.5980650386736743,
      -0.5829330060426797,
      -0.5675818538699621,
      -0.5536902366591121,
      -0.5426985407980305,
      -0.5367921203852086,
      -0.5379672030812843,
      -0.5390066871026755
    ],
    "yaw_diff": [
      0.08885517433913859,
      0.057713207566717495,
      0.030264065261989215,
      0.030702304345435305,
      0.027783234421699943,
      0.021983391722163237,
      0.011812840825643711,
      -0.002350165392151382,
      -0.002078968042782403,
      -0.002078968042782403
    ],
    "min_front_frame": [
      5,
      53.515400198132525
    ],
    "v_avg": 9.308488221974441,
    "v_std": 0.32685547153218,
    "vy_max": 0.08554238122623659,
    "a_max": 0.8018877331067886,
    "ax_avg": 0.1078154073877152,
    "a_std": 0.20062570381995998,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "1e0c13bae35a50b3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      76.6763098413723,
      72.00268985692664,
      67.40687201266,
      59.14334848126094,
      58.22245857523409,
      53.515400198132525,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "1e0c13bae35a50b3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "80ae73dfb4c45e8d": {
    "vx_ego": [
      12.15384390775094,
      12.15692413278698,
      12.22823401121933,
      12.466931942847669,
      12.79944192966879,
      13.061673493680491,
      13.260586871993336,
      13.395728502313599,
      13.42533215774589,
      13.414975556716541
    ],
    "vy_ego": [
      -0.10044592507086891,
      -0.03141015194173269,
      0.005188012933845965,
      -0.009478955585124904,
      0.002109865827739199,
      0.015325484894031405,
      0.020581380208798183,
      0.01083403713865927,
      0.010464654936766848,
      0.015219509679084808
    ],
    "v_ego": [
      12.154258970329618,
      12.156964710320725,
      12.228235111765695,
      12.466935546404118,
      12.799442103564411,
      13.06168248450416,
      13.260602843871515,
      13.395732883424394,
      13.42533623619196,
      13.414984190105374
    ],
    "ax_ego": [
      0.004979047438517871,
      0.00533556818350394,
      0.2798624295358247,
      0.6750330310270234,
      0.6546823957251264,
      0.39472149683729696,
      0.40136352762188165,
      0.13946033400057897,
      -0.02088845853251361,
      -0.020284829250009857
    ],
    "ay_ego": [
      -0.04688560384641048,
      -0.04684637093593275,
      -0.13960704564925863,
      -0.19390891641347385,
      -0.13626677905890835,
      -0.19535832356009492,
      -0.1694746176221502,
      -0.1440223866537239,
      -0.12256722783936656,
      -0.12266856898344981
    ],
    "a_ego": [
      0.047149239245586484,
      0.047149239206034116,
      0.312750869959795,
      0.7023320161021979,
      0.6687134471113022,
      0.4404201796576616,
      0.43567686112904247,
      0.20047850911503656,
      0.12433444028141091,
      0.12433443655781547
    ],
    "yaw": [
      1.3400737496971469,
      1.3324665313834707,
      1.325622528023434,
      1.3200353755949852,
      1.3125856830057279,
      1.3051706508080645,
      1.2978407496005697,
      1.2927043606397328,
      1.2877695092631072,
      1.2828467608596776
    ],
    "yaw_diff": [
      -0.015214436627352335,
      -0.013688006720073531,
      -0.011174304856897521,
      -0.014899385178514635,
      -0.014830064395326747,
      -0.014659802414989542,
      -0.010272777921673804,
      -0.009869702753251275,
      -0.009845496806859089,
      -0.009845496806859089
    ],
    "min_front_frame": [
      0,
      42.144082672781416
    ],
    "v_avg": 12.836417508048196,
    "v_std": 0.5157365775674285,
    "vy_max": 0.10044592507086891,
    "a_max": 0.7023320161021979,
    "ax_avg": 0.25142645425872306,
    "a_std": 0.2311989836213493,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "80ae73dfb4c45e8d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.518918227045191,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      42.144082672781416,
      43.3129556054796,
      44.37994109014555,
      45.46166770369148,
      46.41813980102398,
      47.270205408695915,
      47.86442445995474,
      48.20262250683764,
      48.687680223276836,
      48.973952073595186
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "80ae73dfb4c45e8d",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "ba69be06341d5b2b": {
    "vx_ego": [
      10.536026300068553,
      10.622439473089443,
      10.652065887169899,
      10.653405680665273,
      10.697416286224568,
      10.755450519210594,
      10.824319074948868,
      10.895712792603202,
      10.95668703975376,
      11.015136677966645
    ],
    "vy_ego": [
      -0.044778920660998534,
      0.03217799406922195,
      0.014154003407223836,
      0.008094921752846762,
      -0.0031160203404927422,
      0.003437538770335369,
      0.01693032524871052,
      0.008669291785376565,
      0.003579838455105566,
      0.007627288049107062
    ],
    "v_ego": [
      10.536121456564166,
      10.622488210525397,
      10.65207529077884,
      10.65340875610193,
      10.697416740052963,
      10.755451068544742,
      10.824332315307718,
      10.895716241510566,
      10.956687624567534,
      11.015139318674505
    ],
    "ax_ego": [
      0.1710021800677579,
      0.17421173946830243,
      -0.05542955355901872,
      0.060948261945369966,
      0.1151050816617934,
      0.11693220086627215,
      0.15865851545045986,
      0.12699516591779947,
      0.11689710879425967,
      0.11689853269886669
    ],
    "ay_ego": [
      -0.196180863812004,
      -0.19333634635079816,
      -0.11003456474735024,
      -0.09580725065378687,
      -0.08286921087322166,
      -0.009471635568502636,
      -0.03263175773901006,
      -0.05522421878040015,
      0.010971286660174787,
      0.010956027685863241
    ],
    "a_ego": [
      0.2602473379574707,
      0.2602473304163704,
      0.12320730841508931,
      0.11355051700454286,
      0.14183259828092626,
      0.11731518009095303,
      0.1619794929553777,
      0.13848280220444312,
      0.11741083074161732,
      0.11741082356325334
    ],
    "yaw": [
      1.9404606027232933,
      1.9239812523914654,
      1.9185603987549216,
      1.9142926322658886,
      1.91115651149601,
      1.9083933017794497,
      1.906166193371369,
      1.9049048721578428,
      1.9043581961894467,
      1.9044887616844106
    ],
    "yaw_diff": [
      -0.032958700663655804,
      -0.010841707273087753,
      -0.008535532978065863,
      -0.00627224153975714,
      -0.005526419433120822,
      -0.004454216816161427,
      -0.0025226424270523573,
      -0.001093351936792164,
      0.0002611309899278602,
      0.0002611309899278602
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.760883702262836,
    "v_std": 0.1491005422834115,
    "vy_max": 0.044778920660998534,
    "a_max": 0.2602473379574707,
    "ax_avg": 0.11022192333118627,
    "a_std": 0.054427477454617915,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "ba69be06341d5b2b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "ba69be06341d5b2b",
    "road_shape": "Straight"
  },
  "fc2a5f9f60965ab9": {
    "vx_ego": [
      2.003020110816635,
      2.995997132747276,
      3.955120906958302,
      4.8339560442560545,
      5.628952230626514,
      6.337372937501992,
      7.005933676687949,
      7.621430980511371,
      8.166306620039434,
      8.702851694484691
    ],
    "vy_ego": [
      0.02518037184251158,
      0.026286946208555796,
      0.004357202856325612,
      -0.005248713984639997,
      0.0036491367281181186,
      0.013735091433214747,
      0.025847644659838437,
      0.0453794473932746,
      0.029122439316691673,
      0.0019201618694047462
    ],
    "v_ego": [
      2.0031783783432795,
      2.9961124516564577,
      3.955123307038024,
      4.833958893784486,
      5.628953413457432,
      6.337387821628033,
      7.005981357589012,
      7.621566078237742,
      8.166358547661964,
      8.702851906313049
    ],
    "ax_ego": [
      1.9859928572626373,
      1.9859941287306513,
      1.8506487205241517,
      1.6644748769086593,
      1.5154810170041133,
      1.318209923953987,
      1.3559951776832915,
      1.1065865643018638,
      1.0730903667019274,
      1.0730942286397738
    ],
    "ay_ego": [
      -0.002413755769525558,
      -0.0008802151582522552,
      -0.10504348647638595,
      -0.02386335039214428,
      -0.013685826950314554,
      0.035191235825568906,
      0.025264077371703334,
      -0.04512551188556802,
      -0.05561379708850301,
      -0.0555392446602117
    ],
    "a_ego": [
      1.9859943240893538,
      1.9859943237913202,
      1.8536274762823286,
      1.664645930927065,
      1.5155428119189294,
      1.3186795769593564,
      1.3562305097238392,
      1.1075062691092712,
      1.0745305158696417,
      1.0745305166617736
    ],
    "yaw": [
      -1.5972149894865182,
      -1.5979871678298196,
      -1.5992903060731791,
      -1.604410657804505,
      -1.607893486912046,
      -1.608677398619132,
      -1.608227225061547,
      -1.6115625021581992,
      -1.6126928838305816,
      -1.6127623577322288
    ],
    "yaw_diff": [
      -0.0015443566866029101,
      -0.0026062764867189614,
      -0.010240703462651712,
      -0.0069656582150821045,
      -0.0015678234141720537,
      0.0009003471151700637,
      -0.006670554193304312,
      -0.0022607633447648823,
      -0.00013894780329426482,
      -0.00013894780329426482
    ],
    "min_front_frame": [
      0,
      14.00695931355402
    ],
    "v_avg": 5.7251472155709475,
    "v_std": 2.137174640316493,
    "vy_max": 0.0453794473932746,
    "a_max": 1.9859943240893538,
    "ax_avg": 1.4929567861711057,
    "a_std": 0.34554833553679765,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "fc2a5f9f60965ab9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.420221543491461,
    "right_rear_min": 4.141234880482169,
    "speed_mode": "accelerating",
    "front_frame": [
      14.00695931355402,
      14.915376661015504,
      15.97675924186786,
      16.79891720040609,
      17.6920379740609,
      18.603609834512298,
      19.5359540525908,
      20.559778831708005,
      21.452066581399368,
      22.4792441746427
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "fc2a5f9f60965ab9",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "92bbb17b853a5aa2": {
    "vx_ego": [
      3.960234821083955,
      3.412468452405799,
      2.813688271015943,
      2.2163995372050893,
      1.691231414882188,
      1.1466490303692733,
      0.584330177963635,
      0.162259386133208,
      -0.011481406972866998,
      -0.055864711006562165
    ],
    "vy_ego": [
      0.012200687032709157,
      -0.013174220090430122,
      -0.03244194096527009,
      -0.024799015405711167,
      -0.0052337687588678294,
      -0.010837487523732814,
      -0.015114078550423349,
      0.005229304139650698,
      0.014312134841745485,
      -0.000195628297814842
    ],
    "v_ego": [
      3.9602536149708816,
      3.412493882593758,
      2.813875293254177,
      2.2165382693939724,
      1.6912395132032094,
      1.1467002441713448,
      0.5845256129969342,
      0.16234362941030506,
      0.01834829446583262,
      0.0558650535332923
    ],
    "ax_ego": [
      -1.095519049013176,
      -1.0955451496792137,
      -1.2996010435774665,
      -1.0895263909828898,
      -1.0111428925983545,
      -1.1671838356850757,
      -1.0820982508055255,
      -0.6061864492610858,
      -0.08876652033392182,
      -0.08877209811272865
    ],
    "ay_ego": [
      -0.04692733804978433,
      -0.04631377020827954,
      -0.03404247445701569,
      0.06627641336675716,
      0.012732093112147125,
      -0.03337182092607349,
      0.01596684214475752,
      0.06536320498453968,
      -0.02903695413292564,
      -0.029019923643299656
    ],
    "a_ego": [
      1.0965236713391884,
      1.0965236615306375,
      1.3000468309006397,
      1.091540342642892,
      1.0112230493057326,
      1.1676608174964371,
      1.0822160433316692,
      0.6097002212838813,
      0.09339507394670334,
      0.09339508215960231
    ],
    "yaw": [
      -0.7406333492935291,
      -0.7400732745718416,
      -0.7403349645001025,
      -0.7401679903734006,
      -0.74007185853348,
      -0.739763338768617,
      -0.7398506638698208,
      -0.7398852971709464,
      -0.7400034859443454,
      -0.739811798959376
    ],
    "yaw_diff": [
      0.001120149443375018,
      -0.0005233798565218439,
      0.00033394825340371526,
      0.0001922636798412647,
      0.0006170395297260267,
      -0.0001746502024075891,
      -6.926660225126113e-05,
      -0.0002363775467979501,
      0.0003833739699388161,
      0.0003833739699388161
    ],
    "min_front_frame": [
      8,
      8.940575994597951
    ],
    "v_avg": 1.6062183407993704,
    "v_std": 1.3750265971056455,
    "vy_max": 0.03244194096527009,
    "a_max": 1.3000468309006397,
    "ax_avg": -0.8624341680049437,
    "a_std": 0.4199857724985086,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "92bbb17b853a5aa2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.5866180532424705,
    "speed_mode": "decelerating",
    "front_frame": [
      13.986639887528101,
      12.713122816013765,
      11.658836649513253,
      10.80203010175788,
      10.107450302464047,
      9.503005634497367,
      9.09302816564079,
      8.956049555594522,
      8.940575994597951,
      9.0288517391331
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "92bbb17b853a5aa2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ca4686a3d8a55f9f": {
    "vx_ego": [
      9.541743182935372,
      9.39745921314381,
      9.111908824322471,
      8.85142495852902,
      8.760476166240617,
      8.600856549078584,
      8.879914360002397,
      9.322743763349965,
      9.786699428488237,
      10.618742895947214
    ],
    "vy_ego": [
      0.04665164492773366,
      0.043466229141663426,
      0.089275348607051,
      0.09284931351967529,
      0.0014022579353079045,
      -0.046120497852585096,
      -0.05620694867750764,
      -0.06766210512203585,
      -0.08700882704456347,
      -0.04840388590693667
    ],
    "v_ego": [
      9.54185722724188,
      9.397559735153443,
      9.112346158406991,
      8.851911928588734,
      8.76047627846781,
      8.60098020449705,
      8.880092244006052,
      9.322989297298921,
      9.787086197615492,
      10.618853216162295
    ],
    "ax_ego": [
      -0.2893494412190066,
      -0.2887912192861547,
      -0.8530273951912829,
      -0.18822755665355562,
      -0.17608562000910935,
      -0.46277649254616743,
      1.5782150258444023,
      0.19089340329503682,
      1.6636071866605295,
      1.663591145145502
    ],
    "ay_ego": [
      0.09887602901565415,
      0.10049478347853132,
      0.034855497227169074,
      -0.07813126930313818,
      -0.21692222425787133,
      -0.05068299300756354,
      -0.18619158241776623,
      -0.19978786522865677,
      0.0015391602742436117,
      0.007466753516982894
    ],
    "a_ego": [
      0.30577699103702327,
      0.3057769936459916,
      0.853739212308875,
      0.20379918627582153,
      0.27939469742816286,
      0.46554360465324585,
      1.5891601471105041,
      0.2763249581818217,
      1.6636078986717129,
      1.6636079017047878
    ],
    "yaw": [
      1.1007189775106407,
      1.1063188302482296,
      1.1050350476881001,
      1.1034176070597854,
      1.1054261041500055,
      1.1032029029613877,
      1.0974126212451232,
      1.0882437314210054,
      1.0850192503372664,
      1.0814561403687577
    ],
    "yaw_diff": [
      0.01119970547517779,
      -0.002567565120259019,
      -0.003234881256629407,
      0.004016994180440214,
      -0.004446402377235703,
      -0.011580563432529,
      -0.018337779648235575,
      -0.006448962167477923,
      -0.007126219937017453,
      -0.007126219937017453
    ],
    "min_front_frame": [
      0,
      18.38491800821655
    ],
    "v_avg": 9.287415248743867,
    "v_std": 0.5688249525364093,
    "vy_max": 0.09284931351967529,
    "a_max": 1.6636079017047878,
    "ax_avg": 0.28380490360401944,
    "a_std": 0.6002439113287827,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "ca4686a3d8a55f9f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.99050087586478,
    "right_rear_min": 15.337744024726517,
    "speed_mode": "accelerating",
    "front_frame": [
      18.38491800821655,
      18.640688091233006,
      18.807747380586417,
      19.115473584788592,
      19.54813616577913,
      20.028733903129087,
      20.6583735081124,
      21.21633650255658,
      21.90540495411311,
      22.381066778686773
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ca4686a3d8a55f9f",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "1d0c8aa56b6350bf": {
    "vx_ego": [
      1.6816493454191068,
      1.100485036110228,
      0.6111964274889673,
      0.2754859680911329,
      0.04405930019271593,
      -0.05815623485472752,
      -0.054210967511091626,
      -0.0345765782616461,
      -0.021712578356020112,
      -0.011914152407230958
    ],
    "vy_ego": [
      -0.018281167901065598,
      0.00906427427385631,
      0.026358520859142642,
      0.019884061591460084,
      -0.01701432301320814,
      -0.030191429123137117,
      -0.01303801640755158,
      -0.0068637442152504145,
      -0.004279442993773327,
      -0.0025598645237897804
    ],
    "v_ego": [
      1.6817487095426409,
      1.1005223649570424,
      0.611764533621522,
      0.2762026330802834,
      0.047230383452494244,
      0.06552610201267611,
      0.05575678317776426,
      0.03525125173573445,
      0.02213028899954243,
      0.01218605489741798
    ],
    "ax_ego": [
      -1.1623207444782695,
      -1.1623445874883949,
      -0.7948221099289106,
      -0.5479257907495787,
      -0.3777971298277905,
      -0.030907673771386177,
      0.046678667615414254,
      0.031860028785714575,
      0.01959667445378622,
      0.019596559882535884
    ],
    "ay_ego": [
      0.053708990362817566,
      0.053190451926522886,
      0.01643211651123544,
      -0.0435949620730986,
      -0.10374697975439977,
      0.050853816965858105,
      0.01779785352339354,
      0.006893638228262026,
      0.0034399547988535418,
      0.003440617273999657
    ],
    "a_ego": [
      1.1635609862359222,
      1.1635609843234322,
      0.7949919502013112,
      0.5496573413379521,
      0.3917832399609205,
      0.05950962105370384,
      0.04995659716584482,
      0.03259729562783878,
      0.01989630464849774,
      0.019896306352083535
    ],
    "yaw": [
      -2.1054434280105863,
      -2.1058895472924197,
      -2.1057520059734625,
      -2.106518720858279,
      -2.1060646102575977,
      -2.1051483985675135,
      -2.105292650368487,
      -2.10525973763665,
      -2.105225792332085,
      -2.1052594661614497
    ],
    "yaw_diff": [
      -0.0008922385636669361,
      0.0002750826379145366,
      -0.0015334297696334431,
      0.0009082212013629132,
      0.0018324233801685352,
      -0.0002885036019470988,
      6.582546367361886e-05,
      6.789060913003908e-05,
      -6.734765872895565e-05,
      -6.734765872895565e-05
    ],
    "min_front_frame": [
      4,
      11.23511046341476
    ],
    "v_avg": 0.3908319105477118,
    "v_std": 0.5453430307910199,
    "vy_max": 0.030191429123137117,
    "a_max": 1.1635609862359222,
    "ax_avg": -0.395838610550688,
    "a_std": 0.4473162260566556,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1d0c8aa56b6350bf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.615348606819673,
      11.971273680443336,
      11.599482390327701,
      11.320874141796665,
      11.23511046341476,
      11.29286080367904,
      11.332974672411671,
      11.38026327160997,
      11.416114549804,
      11.533242337071709
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1d0c8aa56b6350bf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b7f26baef02d54ea": {
    "vx_ego": [
      0.30192378364548955,
      1.1819857120664554,
      2.086414558821088,
      3.05293786956264,
      4.077209712764977,
      5.047568086832285,
      5.825110488041074,
      6.408000547369121,
      6.911338686609123,
      7.411204647982966
    ],
    "vy_ego": [
      -0.008088900871134355,
      -0.003979922861255203,
      0.0015120662232949167,
      0.004485114618981267,
      0.015146038638242265,
      0.028244115338536657,
      0.04023298472257708,
      0.05049031134592985,
      0.06849815091742695,
      0.06632494551042667
    ],
    "v_ego": [
      0.3020321198947414,
      1.1819924125455405,
      2.0864151067332837,
      3.052941164133829,
      4.077237844957232,
      5.047647107441149,
      5.825249427358952,
      6.408199457462507,
      6.911678120232382,
      7.411501422295031
    ],
    "ax_ego": [
      1.7601251582803499,
      1.7601265820315986,
      1.857587633476841,
      2.0085333131161116,
      2.0885930363297858,
      1.7929967835107536,
      1.3172501505372753,
      1.0138399273995249,
      0.9987895086120883,
      0.999190766868685
    ],
    "ay_ego": [
      0.008613747276466688,
      0.008319034568299744,
      0.012568173973423025,
      -0.012255350024032108,
      0.026809611941341238,
      -0.0027361165897574757,
      0.03622162092653691,
      0.07657890210675888,
      0.07638791376667153,
      0.0709464759801704
    ],
    "a_ego": [
      1.7601462352468245,
      1.760146241398818,
      1.8576301502298882,
      2.0085707016436825,
      2.088765096102891,
      1.7929988711691653,
      1.3177480657974878,
      1.0167279511439382,
      1.0017063421398515,
      1.0017063397271857
    ],
    "yaw": [
      -0.3518292607797298,
      -0.3516618312359633,
      -0.35182840321794107,
      -0.35296327379284603,
      -0.3549385820704475,
      -0.3564778680473417,
      -0.3571360952020566,
      -0.35422069232176046,
      -0.3511832836869203,
      -0.34573634920411245
    ],
    "yaw_diff": [
      0.00033485908753305704,
      -0.00033314396395556223,
      -0.002269741149809934,
      -0.0039506165552029016,
      -0.003078571953788467,
      -0.0013164543094297265,
      0.00583080576059225,
      0.006074817269680288,
      0.010893868965615727,
      0.010893868965615727
    ],
    "min_front_frame": [
      9,
      13.404728101513411
    ],
    "v_avg": 4.230489418305465,
    "v_std": 2.366311660446385,
    "vy_max": 0.06849815091742695,
    "a_max": 2.088765096102891,
    "ax_avg": 1.5597032860163014,
    "a_std": 0.41000094827050926,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b7f26baef02d54ea",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 23.62922436399244,
    "speed_mode": "accelerating",
    "front_frame": [
      32.647877044476076,
      32.20891857389876,
      31.334876232897873,
      30.05517069396489,
      28.258410294142042,
      25.95637119549139,
      23.194503028767482,
      20.1739433798185,
      16.933670513826726,
      13.404728101513411
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b7f26baef02d54ea",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "76ec850d346b5ca7": {
    "vx_ego": [
      2.390351193846685,
      1.9632563347721645,
      1.5244423887807965,
      1.041299821085025,
      0.538958922671971,
      0.15192320207565319,
      -0.021653199328654414,
      -0.0386575750616649,
      -0.011698775450666474,
      0.014226393633567067
    ],
    "vy_ego": [
      0.015411909692122583,
      -0.009940492396508849,
      -0.017159281416906147,
      0.008586684164556602,
      0.02309439031422883,
      -0.001417576520049181,
      -0.012887321252625525,
      -0.004241239101296359,
      -0.0019220143067672697,
      -0.0007611113000308908
    ],
    "v_ego": [
      2.3904008778622527,
      1.963281500297937,
      1.524538959046454,
      1.0413352239008566,
      0.5394534930758327,
      0.15192981554688317,
      0.025198096956611894,
      0.03888953868024949,
      0.011855609897450853,
      0.0142467387927284
    ],
    "ax_ego": [
      -0.8541858946819968,
      -0.8541956661270975,
      -0.9010820794597398,
      -1.0314943458568104,
      -0.9779022624646682,
      -0.570255585222356,
      -0.1240071857879028,
      0.05598608561030077,
      0.051850227059184635,
      0.05185005471877502
    ],
    "ay_ego": [
      -0.049934922577574786,
      -0.04976745245341935,
      0.01915847750819316,
      0.08317451389121178,
      -0.024259998645016545,
      -0.07352857280049462,
      0.027669810809721453,
      0.0069462300129615705,
      0.002319705248840412,
      0.0023235320150768526
    ],
    "a_ego": [
      0.8556442246439298,
      0.8556442224160806,
      0.9012857267170721,
      1.034842299722817,
      0.9782031396738475,
      0.5749764199472612,
      0.12705668245818957,
      0.056415351575230796,
      0.051902091273189566,
      0.051902090279342804
    ],
    "yaw": [
      -0.3334141851917437,
      -0.33321811158939363,
      -0.3334658387908831,
      -0.3335910829185824,
      -0.3333090838298227,
      -0.3330889455134113,
      -0.33254819173305095,
      -0.33269885151732204,
      -0.33258790194247456,
      -0.33266148421069786
    ],
    "yaw_diff": [
      0.00039214720470015507,
      -0.0004954544029789343,
      -0.00025048825539863984,
      0.0005639981775193981,
      0.0004402766328228669,
      0.0010815075607206737,
      -0.0003013195685421799,
      0.0002218991496949485,
      -0.00014716453644658678,
      -0.00014716453644658678
    ],
    "min_front_frame": [
      5,
      10.26137848800913
    ],
    "v_avg": 0.7701129854057256,
    "v_std": 0.8580752994337815,
    "vy_max": 0.02309439031422883,
    "a_max": 1.034842299722817,
    "ax_avg": -0.5153436652212311,
    "a_std": 0.40595411706927376,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "76ec850d346b5ca7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.864697599895038,
    "right_rear_min": 3.5911081390923227,
    "speed_mode": "decelerating",
    "front_frame": [
      13.09295339068463,
      12.19612711718062,
      11.313883872904793,
      10.719131857897233,
      10.344731765261537,
      10.26137848800913,
      10.263477213931296,
      10.300341303946938,
      10.397339728640786,
      10.607967198966426
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "76ec850d346b5ca7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "da9ae73013715f70": {
    "vx_ego": [
      6.979463930521279,
      6.411355768824375,
      5.8834102237996495,
      5.398222093232777,
      4.873586609801627,
      4.31381815487622,
      3.7706796885042815,
      3.233564223601605,
      2.6790546414952052,
      2.111529152618017
    ],
    "vy_ego": [
      0.00507854764111082,
      -0.04128685997948667,
      -0.07276347448825282,
      -0.041218708006521165,
      -0.027999106107776228,
      -0.014531947870818573,
      -0.001655139116318205,
      0.010749385843043413,
      0.005826148766398642,
      -0.03343155611409743
    ],
    "v_ego": [
      6.9794657782020595,
      6.411488703822581,
      5.883860160194993,
      5.398379455888238,
      4.87366703757864,
      4.313842631674062,
      3.7706800517657606,
      3.233582090724195,
      2.679060976559968,
      2.111793794692079
    ],
    "ax_ego": [
      -1.1363202181386314,
      -1.1361952832174036,
      -0.9757634504516534,
      -0.9659178700806766,
      -1.132665531774298,
      -1.1068322929029244,
      -1.0657183701445079,
      -1.0827883044056603,
      -1.1351039543752517,
      -1.135040370434155
    ],
    "ay_ego": [
      -0.10753728833022103,
      -0.1088493418633516,
      -0.033334228657522946,
      0.08676575935020725,
      -0.04573966698472376,
      0.038356449436733775,
      -0.028844717774879847,
      0.04407081316456041,
      -0.08178122379437647,
      -0.08265901471364623
    ],
    "a_ego": [
      1.1413973482236779,
      1.1413973457256508,
      0.976332669758371,
      0.9698070059227295,
      1.1335886926065497,
      1.107496700593793,
      1.0661086540343712,
      1.083684801374768,
      1.1380462010848416,
      1.1380462008322572
    ],
    "yaw": [
      -0.7626196828049175,
      -0.7637743939415675,
      -0.7644385128927897,
      -0.7676633714512643,
      -0.7682379731717259,
      -0.7715737828796964,
      -0.7741743725943288,
      -0.7766279587948537,
      -0.7781482397546552,
      -0.7789215751959933
    ],
    "yaw_diff": [
      -0.002309422273299999,
      -0.0013282379024444069,
      -0.006449717116949083,
      -0.0011492034409232854,
      -0.006671619415940855,
      -0.005201179429264791,
      -0.004907172401049875,
      -0.003040561919603002,
      -0.0015466708826761266,
      -0.0015466708826761266
    ],
    "min_front_frame": [
      9,
      10.76771289879858
    ],
    "v_avg": 4.565582068110257,
    "v_std": 1.5430500788379158,
    "vy_max": 0.07276347448825282,
    "a_max": 1.1413973482236779,
    "ax_avg": -1.087234564592516,
    "a_std": 0.06331032901557042,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "da9ae73013715f70",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.9747486968569,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.63364307311397,
      25.377526249741702,
      24.78298930863099,
      21.953166859628112,
      19.449600345199894,
      17.149933959455158,
      15.103973419762431,
      13.412287590647058,
      11.919763195124236,
      10.76771289879858
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "da9ae73013715f70",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "226f50441ff35772": {
    "vx_ego": [
      4.090150789976259,
      3.591359881070662,
      3.048241041412457,
      2.41403179379143,
      1.7472930914600928,
      1.1393510762998964,
      0.6457957763677246,
      0.2826373260087647,
      0.049079323215061026,
      -0.1152074750875751
    ],
    "vy_ego": [
      -0.0428221425766222,
      -0.016552852917685268,
      -0.008439620059783381,
      -0.02033976887317901,
      -0.0296933503426976,
      -0.020202038507151854,
      -0.010173846126035002,
      -0.010306451905491301,
      -0.012532629178984296,
      -0.007479696282112619
    ],
    "v_ego": [
      4.0903749486615855,
      3.591398027551888,
      3.048252724715924,
      2.4141174800812166,
      1.7475453763833264,
      1.139530165210898,
      0.6458759106201348,
      0.2828251774582046,
      0.05065418799454154,
      0.11545002456702592
    ],
    "ax_ego": [
      -0.9979018607658723,
      -0.9979445962185575,
      -1.1746705020936217,
      -1.3623874771861066,
      -1.3042637684965732,
      -1.1272610745693026,
      -0.8469318048009319,
      -0.605705088573779,
      -0.3285619933522453,
      -0.32855424309885994
    ],
    "ay_ego": [
      0.01018942349341212,
      0.004305567352586637,
      -0.04357924575354699,
      -0.048022388514275094,
      0.028789891928913347,
      0.023414539461235673,
      0.018366768523236654,
      -0.019138601750968515,
      0.009928226829767323,
      0.01018153222348886
    ],
    "a_ego": [
      0.997953880733533,
      0.9979538842211334,
      1.1754786000388646,
      1.3632335778552918,
      1.304581479130438,
      1.1275042221195097,
      0.8471309344896749,
      0.6060073765237117,
      0.328711960785707,
      0.3287119624484066
    ],
    "yaw": [
      2.698070835658475,
      2.692174743193989,
      2.6868090350196816,
      2.6828156257017373,
      2.6850078980257885,
      2.6875126813248866,
      2.687999112814839,
      2.687860063056532,
      2.687277663276635,
      2.688048626315564
    ],
    "yaw_diff": [
      -0.011792184928971494,
      -0.010731416348614964,
      -0.007986818635888682,
      0.004384544648102562,
      0.00500956659819618,
      0.0009728629799043986,
      -0.0002780995166133948,
      -0.0011647995597945382,
      0.0015419260778584132,
      0.0015419260778584132
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.7126024023244746,
    "v_std": 1.4242376619665646,
    "vy_max": 0.0428221425766222,
    "a_max": 1.3632335778552918,
    "ax_avg": -0.9074182409155849,
    "a_std": 0.3558760867348612,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "226f50441ff35772",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "226f50441ff35772",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3e5647cd8d1a50c2": {
    "vx_ego": [
      1.2466061634947208,
      1.5308201842152216,
      1.8414054998796108,
      2.154253592321728,
      2.4548826120438867,
      2.778997505879518,
      3.1138213187708486,
      3.3727695992687687,
      3.567800822897365,
      3.764998362685396
    ],
    "vy_ego": [
      0.03330299913705037,
      -0.0003485458076646908,
      0.01624962678015407,
      0.03226427191698111,
      0.03872284329932918,
      0.0331024685870982,
      0.028238268163822022,
      0.018601666015564566,
      -0.0030625311638909913,
      -0.04935635453205611
    ],
    "v_ego": [
      1.2470509278351662,
      1.5308202238946627,
      1.8414771965347205,
      2.154495189893308,
      2.455187996367814,
      2.7791946515332713,
      3.1139493581336093,
      3.3728208952937546,
      3.5678021373058573,
      3.7653218615088413
    ],
    "ax_ego": [
      0.5594317446667371,
      0.5807978947163429,
      0.6641520963936915,
      0.5993735016183812,
      0.6124101108201927,
      0.6906790346742233,
      0.6501224569174442,
      0.3865947760056757,
      0.3939590473178226,
      0.3944244116155901
    ],
    "ay_ego": [
      -0.30114044088803255,
      -0.2575330034122302,
      -0.25439891306721774,
      -0.3511298002298825,
      -0.3142106957402674,
      -0.27213584391879275,
      -0.12175612699766558,
      -0.08147249845002458,
      -0.12158805441102674,
      -0.12006985319834967
    ],
    "a_ego": [
      0.6353341184598131,
      0.6353341186757248,
      0.7112079963793413,
      0.6946515177063654,
      0.6883127960109297,
      0.7423580311978247,
      0.6614255539740249,
      0.3950864321114657,
      0.41229526548218476,
      0.4122952657081787
    ],
    "yaw": [
      -1.7499171401330993,
      -1.8263687499007533,
      -1.9125966617839363,
      -1.995999391860304,
      -2.0709960518713855,
      -2.12505185394249,
      -2.156765088910556,
      -2.169331340844061,
      -2.1777192656962185,
      -2.181570689990378
    ],
    "yaw_diff": [
      -0.15290321953530794,
      -0.17245582376636603,
      -0.16680546015273556,
      -0.1499933200221628,
      -0.10811160414220922,
      -0.06342646993613155,
      -0.02513250386701049,
      -0.016775849704314894,
      -0.0077028485883188225,
      -0.0077028485883188225
    ],
    "min_front_frame": [
      6,
      17.035258425620526
    ],
    "v_avg": 2.5828120438301005,
    "v_std": 0.8338817087982737,
    "vy_max": 0.04935635453205611,
    "a_max": 0.7423580311978247,
    "ax_avg": 0.5531945074746101,
    "a_std": 0.1296546197804615,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "3e5647cd8d1a50c2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      21.018065435383114,
      19.84777291988861,
      18.511680607073686,
      17.035258425620526,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "3e5647cd8d1a50c2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6801df96fcdd5bd9": {
    "vx_ego": [
      1.9732483157932843,
      2.346800819725156,
      2.6890139547176255,
      2.980627492949506,
      3.274885693728253,
      3.5683518769778777,
      3.8516320509125554,
      4.115760211236279,
      4.36738564661471,
      4.645191757308934
    ],
    "vy_ego": [
      -0.11958057183697579,
      -0.03409970556821962,
      -0.02112361437016433,
      -0.0022624516872670475,
      0.007109780111927644,
      -0.014154128985657488,
      -0.05658525650612667,
      -0.10951669571489253,
      -0.15449865186623413,
      -0.17376881007159906
    ],
    "v_ego": [
      1.9768683387979815,
      2.347048546021685,
      2.689096921970308,
      2.9806283516087837,
      3.274893411389021,
      3.568379948561936,
      3.8520476823204985,
      4.117217024038933,
      4.37011752927592,
      4.648440820482128
    ],
    "ax_ego": [
      0.7301063910210966,
      0.7912617034611386,
      0.5997858173031787,
      0.5849923087577276,
      0.5983810148349993,
      0.5789489828463034,
      0.5696461638595073,
      0.5329923821033934,
      0.5389392604070843,
      0.6398207360239831
    ],
    "ay_ego": [
      0.6440459185353017,
      0.5672348754150619,
      0.7135962293350616,
      0.8918394925755093,
      0.9968840423945693,
      1.013995200694294,
      0.9466886515846007,
      0.9728209175744162,
      0.9649704817136922,
      0.9012507884863641
    ],
    "a_ego": [
      0.9735761333310462,
      0.9735761332589062,
      0.9321816374287041,
      1.0665803681969017,
      1.1626855262262024,
      1.1676335862631868,
      1.1048602423107288,
      1.1092616540071052,
      1.1052708070816355,
      1.1052708075370328
    ],
    "yaw": [
      -1.8812158537766681,
      -1.78032524465242,
      -1.6596023685868988,
      -1.5249656962065914,
      -1.3771877587814298,
      -1.2244548646043139,
      -1.0811865833161343,
      -0.947791034241197,
      -0.8231117018906804,
      -0.7151037325247641
    ],
    "yaw_diff": [
      0.20178121824849615,
      0.24144575213104247,
      0.2692733447606148,
      0.2955558748503231,
      0.305465788354232,
      0.2865365625763592,
      0.26679109814987445,
      0.2493586647010333,
      0.21601593873183256,
      0.21601593873183256
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.382473857446719,
    "v_std": 0.8411110469942623,
    "vy_max": 0.17376881007159906,
    "a_max": 1.1676335862631868,
    "ax_avg": 0.6164874760618413,
    "a_std": 0.07808222348671884,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6801df96fcdd5bd9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6801df96fcdd5bd9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c69d4cbd79ea52a0": {
    "vx_ego": [
      3.032910717535947,
      4.077209712764977,
      5.047568086832285,
      5.825110488041074,
      6.408000547369121,
      6.911338686609123,
      7.351763584132186,
      7.701612086369074,
      8.008325615777418,
      8.302818453061166
    ],
    "vy_ego": [
      -0.004249709576043981,
      0.015146038638242265,
      0.028244115338536657,
      0.04023298472257708,
      0.05049031134592985,
      0.06849815091742695,
      0.0640307287481412,
      0.08931667001731203,
      0.12335494095688748,
      0.14203454859073883
    ],
    "v_ego": [
      3.0329136948775663,
      4.077237844957232,
      5.047647107441149,
      5.825249427358952,
      6.408199457462507,
      6.911678120232382,
      7.352042419028616,
      7.702129977898917,
      8.009275598315694,
      8.304033241593292
    ],
    "ax_ego": [
      2.088641917832886,
      2.0885930363297858,
      1.7929967835107536,
      1.3172501505372753,
      1.0138399273995249,
      0.9987895086120883,
      0.7614265162364791,
      0.6367426959946777,
      0.5877244519854454,
      0.5881310920928366
    ],
    "ay_ego": [
      0.02268395398187395,
      0.026809611941341238,
      -0.0027361165897574757,
      0.03622162092653691,
      0.07657890210675888,
      0.07638791376667153,
      0.06176958721090972,
      0.19248356748218937,
      0.10340489332801266,
      0.10106643254168249
    ],
    "a_ego": [
      2.088765095145188,
      2.088765096102891,
      1.7929988711691653,
      1.3177480657974878,
      1.0167279511439382,
      1.0017063421398515,
      0.7639278902699046,
      0.665200108729126,
      0.5967517100317098,
      0.59675171157946
    ],
    "yaw": [
      -0.35296327379284603,
      -0.3549385820704475,
      -0.3564778680473417,
      -0.3571360952020566,
      -0.35422069232176046,
      -0.3511832836869203,
      -0.34573634920411245,
      -0.34066131849245557,
      -0.3355813956456637,
      -0.33160394571846513
    ],
    "yaw_diff": [
      -0.0039506165552029016,
      -0.003078571953788467,
      -0.0013164543094297265,
      0.00583080576059225,
      0.006074817269680288,
      0.010893868965615727,
      0.010150061423313761,
      0.010159845693583747,
      0.007954899854397124,
      0.007954899854397124
    ],
    "min_front_frame": [
      6,
      13.404728101513411
    ],
    "v_avg": 6.267040688916632,
    "v_std": 1.6671481191242286,
    "vy_max": 0.14203454859073883,
    "a_max": 2.088765096102891,
    "ax_avg": 1.1874136080531754,
    "a_std": 0.5676015890806924,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "c69d4cbd79ea52a0",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 23.62922436399244,
    "speed_mode": "accelerating",
    "front_frame": [
      30.05517069396489,
      28.258410294142042,
      25.95637119549139,
      23.194503028767482,
      20.1739433798185,
      16.933670513826726,
      13.404728101513411,
      14.80995576758037,
      16.54824669511393,
      18.01808080058356
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "c69d4cbd79ea52a0",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "5a8855c7c104596c": {
    "vx_ego": [
      6.0892121826443795,
      6.075045896461217,
      6.056021380808497,
      6.023198807336307,
      5.941692490552106,
      5.785544725542272,
      5.531866190068852,
      5.3162991091587966,
      5.32401286522759,
      5.449352267400604
    ],
    "vy_ego": [
      -0.05045591065896993,
      0.04334981465680787,
      0.002779180344678611,
      -0.03394550529632001,
      -0.03304531963680879,
      -0.015695702951503465,
      -0.008623342710203818,
      -0.021507866203883452,
      -0.01912860683550388,
      0.005762682555037202
    ],
    "v_ego": [
      6.089421220788159,
      6.075200560519878,
      6.056022018507945,
      6.023294461507534,
      5.941784382273829,
      5.7855660160732025,
      5.531872911308283,
      5.316342615591217,
      5.324047228632402,
      5.449355314414205
    ],
    "ax_ego": [
      -0.038061239572898184,
      -0.01925046337988169,
      -0.05722408403810592,
      -0.07444416435825534,
      -0.25197722883458173,
      -0.3727760705053395,
      -0.6419102035033964,
      -0.22041021836889418,
      0.24933775896182314,
      0.25153600219865035
    ],
    "ay_ego": [
      -0.39288017171862116,
      -0.3942497986985694,
      -0.16350332768482836,
      -0.06539932962282609,
      0.014261145769545569,
      0.01643360977842312,
      -0.09295206156804095,
      -0.20436856461392655,
      -0.1330971926965817,
      -0.1288946260997631
    ],
    "a_ego": [
      0.3947195045693572,
      0.3947195005496975,
      0.17322798260677336,
      0.0990908972717171,
      0.25238047493777205,
      0.37313812760390935,
      0.6486052691055791,
      0.30057806733655784,
      0.282637896871271,
      0.2826379044634268
    ],
    "yaw": [
      2.844297389941634,
      2.796510622532681,
      2.7802238185267805,
      2.776830609497249,
      2.774551582496067,
      2.7729056574468767,
      2.7683026475003847,
      2.756863353827222,
      2.74037665452982,
      2.7235960604549936
    ],
    "yaw_diff": [
      -0.09557353481790631,
      -0.03257360801180109,
      -0.006786418059062882,
      -0.004558054002363754,
      -0.003291850098380955,
      -0.009206019892983974,
      -0.02287858734632575,
      -0.03297339859480353,
      -0.03356118814965292,
      -0.03356118814965292
    ],
    "min_front_frame": [
      5,
      16.240721842986666
    ],
    "v_avg": 5.759290672961665,
    "v_std": 0.3056052481893783,
    "vy_max": 0.05045591065896993,
    "a_max": 0.6486052691055791,
    "ax_avg": -0.11751799114008794,
    "a_std": 0.14144083982505376,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5a8855c7c104596c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.597963387646677,
    "right_rear_min": 11.916650478845668,
    "speed_mode": "decelerating",
    "front_frame": [
      31.162466337680456,
      28.12872133939812,
      25.09808029826698,
      22.080305337814448,
      19.139479918768327,
      16.240721842986666,
      20.939620018944307,
      19.27789501615356,
      18.320635791439738,
      17.90014149272472
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5a8855c7c104596c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cc9e361d27725cb7": {
    "vx_ego": [
      7.361701661742942,
      7.790966125162749,
      8.218560732233541,
      8.609638388070397,
      8.974643487838701,
      9.304323105117122,
      9.602277052321934,
      9.84321368670915,
      10.01330027825032,
      10.141017926135866
    ],
    "vy_ego": [
      0.08977651175851076,
      -0.10590430006915641,
      -0.0403338324263407,
      0.03877188609617388,
      0.09095961389477747,
      0.10951992158938584,
      0.09744077661884543,
      0.07562780723090157,
      0.0942176007133062,
      0.1359542812228982
    ],
    "v_ego": [
      7.362249057086586,
      7.791685882028779,
      8.218659703835494,
      8.609725688573759,
      8.975104421964431,
      9.304967654841217,
      9.602771438209727,
      9.8435042158494,
      10.013743526708286,
      10.141929212176144
    ],
    "ax_ego": [
      0.7775919393949126,
      0.9373984168607394,
      0.767745020634981,
      0.7946669864170794,
      0.6654328296815419,
      0.6533532275641032,
      0.5393873867718468,
      0.4251820675332383,
      0.2560826926554629,
      0.256002813426367
    ],
    "ay_ego": [
      1.4206411222051827,
      1.3206644607316036,
      0.523184710064698,
      0.09864228062066888,
      0.09930860689831905,
      -0.0303737510649858,
      -0.09631493509983077,
      -0.08506463629990851,
      0.029906581364234477,
      0.03058280305478854
    ],
    "a_ego": [
      1.6195278393137742,
      1.6195278354423297,
      0.9290611699749858,
      0.8007658327046987,
      0.6728023857137166,
      0.6540588694622133,
      0.5479190813722831,
      0.4336078676646388,
      0.25782309649557744,
      0.25782309501847045
    ],
    "yaw": [
      0.6965164002255242,
      0.8129761055561747,
      0.862230200123846,
      0.8713079459203646,
      0.8710014163217001,
      0.8708562907665822,
      0.8687867980549524,
      0.8663700517547832,
      0.8631156550774794,
      0.8604746037019672
    ],
    "yaw_diff": [
      0.23291941066130106,
      0.09850818913534254,
      0.01815549159303731,
      -0.0006130591973290134,
      -0.0002902511102358396,
      -0.0041389854232596335,
      -0.004833492600338385,
      -0.006508793354607523,
      -0.005282102751024587,
      -0.005282102751024587
    ],
    "min_front_frame": [
      0,
      31.744194449267972
    ],
    "v_avg": 8.986434080127381,
    "v_std": 0.916698074951535,
    "vy_max": 0.1359542812228982,
    "a_max": 1.6195278393137742,
    "ax_avg": 0.6072843380940272,
    "a_std": 0.4667760075814305,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cc9e361d27725cb7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.16794032015562,
    "right_rear_min": 17.73857928334628,
    "speed_mode": "accelerating",
    "front_frame": [
      31.744194449267972,
      33.11538860420616,
      34.6486468681507,
      36.01620219168662,
      37.462555201638615,
      38.78148106590574,
      40.0589972975651,
      41.15569693622576,
      42.0445872344775,
      42.769327586744424
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cc9e361d27725cb7",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "b53b172e95895a12": {
    "vx_ego": [
      5.556407663235472,
      5.445760468411221,
      5.456283999752997,
      5.5667523749587,
      5.655140231955111,
      5.70259134412038,
      5.752345350243308,
      5.861249765627326,
      6.052543129162562,
      6.271880998319021
    ],
    "vy_ego": [
      -0.017694416453938322,
      0.031704462594463904,
      0.05189745259969747,
      0.03510022163947424,
      -0.030009550307311894,
      -0.04851578574128812,
      -0.11432672025571078,
      -0.13278463342780888,
      -0.07846290448977467,
      0.0879891711233931
    ],
    "v_ego": [
      5.5564358371563625,
      5.445852757122506,
      5.456530805516166,
      5.566863033133424,
      5.655219855689693,
      5.702797718620464,
      5.753481348490689,
      5.862753668195598,
      6.053051689664803,
      6.272498174675715
    ],
    "ax_ego": [
      -0.3206920599220491,
      -0.12366218350620015,
      0.14265480134732939,
      0.2847872350809254,
      0.0893258953004682,
      0.11817648936127179,
      0.11681828282911932,
      0.3388329760609683,
      0.4355254099931556,
      0.44155581636618796
    ],
    "ay_ego": [
      1.5048528639640468,
      1.533666588163339,
      1.532710816520884,
      1.6877801259773382,
      1.9461730683977219,
      1.8402159090756034,
      1.6303723628586617,
      0.9861890066638705,
      0.4885771350010352,
      0.48313400430477943
    ],
    "a_ego": [
      1.5386440587341315,
      1.5386440586692225,
      1.5393351939806876,
      1.7116382570242807,
      1.948221940059149,
      1.8440065820524352,
      1.6345520954611634,
      1.0427734857249702,
      0.6545150873704334,
      0.6545150915619756
    ],
    "yaw": [
      -1.6904319167751767,
      -1.560925146917012,
      -1.4233723789479418,
      -1.27404054642576,
      -1.1017030318026246,
      -0.9320565614057381,
      -0.7694415228702958,
      -0.6531869370884458,
      -0.6003178652878671,
      -0.5879060745956219
    ],
    "yaw_diff": [
      0.25901353971632934,
      0.27510553593814047,
      0.2986636650443635,
      0.3446750292462708,
      0.33929294079377303,
      0.3252300770708847,
      0.2325091715637,
      0.1057381436011573,
      0.024823581384490367,
      0.024823581384490367
    ],
    "min_front_frame": [
      6,
      26.461420540461773
    ],
    "v_avg": 5.732548488826543,
    "v_std": 0.2520658454767294,
    "vy_max": 0.13278463342780888,
    "a_max": 1.948221940059149,
    "ax_avg": 0.15233226629111768,
    "a_std": 0.44109472430431834,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "b53b172e95895a12",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      26.461420540461773,
      30.115621933727986,
      37.70521001923519,
      36.292074126791306
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b53b172e95895a12",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "47da19c4edbe5b95": {
    "vx_ego": [
      1.3567929781509112,
      1.2984799648464793,
      1.439420132129398,
      1.8831332293324954,
      2.4234490824323833,
      2.9153639877573463,
      3.235996065166055,
      3.45884084088879,
      3.5986389690756564,
      3.6894084821087274
    ],
    "vy_ego": [
      -0.02026245146459066,
      -0.013976293685291796,
      -0.003431312010142573,
      0.008206293384758534,
      0.009266756273060617,
      0.006992274287892064,
      0.04086551271105332,
      0.05637452534891407,
      0.0630651395624835,
      0.08316797217582961
    ],
    "v_ego": [
      1.3569442702259271,
      1.2985551801494197,
      1.4394242219309512,
      1.8831511098866573,
      2.4234667994247796,
      2.9153723729589216,
      3.2362540882785034,
      3.4593002254370155,
      3.5991915261038745,
      3.6903457642139257
    ],
    "ax_ego": [
      -0.1169737547660365,
      -0.11687795952445287,
      0.6802385561258644,
      1.0949452965848452,
      1.06762064821818,
      0.904725867598009,
      0.3971125573381816,
      0.5624259228310082,
      0.06483360117131853,
      0.3532391710468188
    ],
    "ay_ego": [
      -0.010340660663117819,
      -0.011372369496902152,
      0.007809166552011526,
      -0.032770043625889866,
      -0.11284419463437634,
      -0.2985204158111828,
      -0.5836215450409012,
      -1.1853633014920333,
      -1.4438340401152825,
      -1.4014571841431032
    ],
    "a_ego": [
      0.1174299304564837,
      0.11742992893880892,
      0.6802833794253963,
      1.0954355655503054,
      1.0735677252807518,
      0.9527031721145109,
      0.7059125236398625,
      1.312024799764244,
      1.4452889438574077,
      1.4452889506767008
    ],
    "yaw": [
      -0.3932684056298298,
      -0.4020919363281935,
      -0.4111013185978972,
      -0.42220931691118513,
      -0.43957981817749625,
      -0.4769640613812597,
      -0.5579640442200022,
      -0.69534570649498,
      -0.8797286071876464,
      -1.0817633769849078
    ],
    "yaw_diff": [
      -0.017647061396727448,
      -0.018018764539407428,
      -0.022215996626575807,
      -0.034741002532622245,
      -0.07476848640752687,
      -0.1619999656774851,
      -0.27476332454995545,
      -0.368765801385333,
      -0.40406953959452263,
      -0.40406953959452263
    ],
    "min_front_frame": [
      0,
      25.455870618205058
    ],
    "v_avg": 2.5302005558609975,
    "v_std": 0.9226111016301268,
    "vy_max": 0.08316797217582961,
    "a_max": 1.4452889506767008,
    "ax_avg": 0.4891289906623736,
    "a_std": 0.4632517263906058,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "47da19c4edbe5b95",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 30.341705910001647,
    "speed_mode": "accelerating",
    "front_frame": [
      25.455870618205058,
      29.30565463318658,
      33.44567696823139,
      35.87519683323336,
      34.78250888099383,
      33.41165352464348,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "47da19c4edbe5b95",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "01c4dab17c975e13": {
    "vx_ego": [
      0.6476819162291253,
      0.4937766040821012,
      0.34190258524630757,
      0.19670716392501666,
      0.060712231245675034,
      -0.005109714120588535,
      -0.00482214315292971,
      -0.0031799158279669417,
      -0.0016458361927062781,
      -0.0010781822733508073
    ],
    "vy_ego": [
      -0.011232912567781417,
      0.0069746874059983255,
      0.011617082259208683,
      0.014650014301687414,
      0.008717641751637497,
      -0.0028569126657263647,
      -0.0008662278881292071,
      -0.0007135363331438499,
      -0.0003641726129597357,
      6.039383693138303e-05
    ],
    "v_ego": [
      0.6477793165384236,
      0.49382586101100817,
      0.34209988950352765,
      0.1972519486810283,
      0.061334919096206635,
      0.005854154795846245,
      0.004899328050000293,
      0.00325898738439888,
      0.001685644821797231,
      0.00107987241380971
    ],
    "ax_ego": [
      -0.3078150943704814,
      -0.3078034537450288,
      -0.2997082447425437,
      -0.2810823243295433,
      -0.2628709150639024,
      -0.00041748919077394097,
      0.0015677346695022174,
      0.005001069521495741,
      0.0011353120259343598,
      0.0011353361803408122
    ],
    "ay_ego": [
      0.03672793751806917,
      0.03682541122472148,
      -0.017852475122098713,
      0.030317220546519807,
      -0.054197339418834964,
      0.00789974465194636,
      6.31157496717872e-05,
      0.0005481151255065679,
      0.0008490732402074674,
      0.0008490358869450734
    ],
    "a_ego": [
      0.30999850599097983,
      0.30999851136616435,
      0.30023947580996346,
      0.28271258711306946,
      0.26839983156964503,
      0.007910768786304414,
      0.0015690046500300304,
      0.005031016452929042,
      0.0014176948767162798,
      0.0014176918493493122
    ],
    "yaw": [
      1.1003934860170315,
      1.100710166418903,
      1.1009520889421196,
      1.1012639324740467,
      1.1009660960209282,
      1.1009347750305118,
      1.1009287184418823,
      1.100902214566157,
      1.100936201345025,
      1.1009662868356598
    ],
    "yaw_diff": [
      0.0006333608037429883,
      0.0004838450464332844,
      0.0006236870638542946,
      -0.0005956729062370769,
      -6.264198083272277e-05,
      -1.2113177259021057e-05,
      -5.300775145089531e-05,
      6.797355773624503e-05,
      6.017098126953613e-05,
      6.017098126953613e-05
    ],
    "min_front_frame": [
      4,
      9.701437709441253
    ],
    "v_avg": 0.17590699222960465,
    "v_std": 0.22667705349423836,
    "vy_max": 0.014650014301687414,
    "a_max": 0.30999851136616435,
    "ax_avg": -0.14508580690450004,
    "a_std": 0.14586974886217718,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "01c4dab17c975e13",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.598538135975932,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.40455758945325,
      10.146945894922288,
      9.898716550313777,
      9.766958720439293,
      9.701437709441253,
      9.717207009587694,
      9.7204162065046,
      9.73170633625725,
      9.730599859330543,
      9.735465275243683
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "01c4dab17c975e13",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8dac96b2393f5de9": {
    "vx_ego": [
      9.68590719598562,
      9.79367539349794,
      9.87276885497154,
      9.93246806406379,
      10.020064143768082,
      10.086621653751692,
      10.142434070626198,
      10.185295308954032,
      10.197785956395917,
      10.222848359275146
    ],
    "vy_ego": [
      0.034665800871187535,
      0.0033989783802690354,
      0.005593505356128681,
      0.004491587226084448,
      -0.008900088253305682,
      -0.019839066792893156,
      -0.018621361026055716,
      -0.03885493685963404,
      -0.044346358845248623,
      -0.032225870059938266
    ],
    "v_ego": [
      9.6859692301285,
      9.793675983320107,
      9.872770439496616,
      9.932469079639912,
      10.020068096415198,
      10.086641164158847,
      10.142451164885419,
      10.1853694207289,
      10.19788237880829,
      10.222899152561158
    ],
    "ax_ego": [
      0.21321659871047297,
      0.2190278369408023,
      0.09788766750099534,
      0.14176460355750067,
      0.20780903247190835,
      0.05770053215869139,
      0.16491939954911705,
      0.0033002624875485276,
      0.04374761495927598,
      0.05311745161020903
    ],
    "ay_ego": [
      -0.3708579571542792,
      -0.3674557772169945,
      -0.38737287234723095,
      -0.43031379662766556,
      -0.3602284038649323,
      -0.3934054665771657,
      -0.489955607910131,
      -0.39168474640423423,
      -0.42597763000907873,
      -0.42491096934382977
    ],
    "a_ego": [
      0.42778141889323346,
      0.42778141797547986,
      0.3995494183193482,
      0.4530641967645769,
      0.41587149088148306,
      0.39761440183196783,
      0.5169670260956952,
      0.3916986498550078,
      0.4282181629529236,
      0.4282181634801074
    ],
    "yaw": [
      0.8109591025356773,
      0.7952175044280126,
      0.7758340109058128,
      0.755291437426575,
      0.7368084483956554,
      0.7191890061535884,
      0.6972064030982594,
      0.6775511841375319,
      0.6580235593902742,
      0.6360008013024272
    ],
    "yaw_diff": [
      -0.031483196215329246,
      -0.038766987044399626,
      -0.04108514695847565,
      -0.03696597806183921,
      -0.035238884484134037,
      -0.043965206110657906,
      -0.039310437921455055,
      -0.03905524949451533,
      -0.04404551617569408,
      -0.04404551617569408
    ],
    "min_front_frame": [
      9,
      28.967136966106466
    ],
    "v_avg": 10.014019611014294,
    "v_std": 0.17645743396640345,
    "vy_max": 0.044346358845248623,
    "a_max": 0.5169670260956952,
    "ax_avg": 0.12024909999465214,
    "a_std": 0.03425867733673921,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "8dac96b2393f5de9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.2574922811948426,
    "right_rear_min": 4.016295521450509,
    "speed_mode": "quasi_constant",
    "front_frame": [
      34.794563236029916,
      36.96880353028124,
      39.44081973769994,
      41.84976244382376,
      44.53472903706737,
      47.51737399797842,
      50.422377786054746,
      53.431969383548456,
      56.31880456744501,
      28.967136966106466
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8dac96b2393f5de9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "32af8f1654f057d7": {
    "vx_ego": [
      3.013194440509865,
      2.6454984119325795,
      2.3544198718604314,
      2.1897118430663505,
      2.0894354145976206,
      2.0024678789657644,
      1.9191817540134515,
      1.819751883206546,
      1.5916330228566866,
      1.2560297279994086
    ],
    "vy_ego": [
      -0.010012934828817821,
      -0.006585906612897485,
      -0.0051882389738558965,
      -0.007544123884915321,
      -0.01112924151742678,
      -0.007187755441695809,
      -0.0035946509248341307,
      -0.00513719685941183,
      -0.005816099115722895,
      -0.005638339199035003
    ],
    "v_ego": [
      3.0132110771041987,
      2.645506609650355,
      2.354425588298543,
      2.1897248387571953,
      2.08946505397709,
      2.0024807789634176,
      1.9191851204230976,
      1.8197591343981057,
      1.5916436493313564,
      1.2560423832368046
    ],
    "ax_ego": [
      -0.7353865989283286,
      -0.7353822942298766,
      -0.42890913481934617,
      -0.22991041133222087,
      -0.171198428179307,
      -0.1766928105915519,
      -0.1564511004658066,
      -0.24126477049620101,
      -0.6712015190663568,
      -0.6712007090910859
    ],
    "ay_ego": [
      0.009265320548214384,
      0.009600460825641643,
      0.006223165182503404,
      -0.009276223656261157,
      -0.005749301625423225,
      0.01795083093390254,
      -0.003170227596237689,
      -0.0015221774609741612,
      0.0015490716290336715,
      0.0018679800048101436
    ],
    "a_ego": [
      0.7354449646630505,
      0.7354449588615463,
      0.42895427928436475,
      0.2300974697041929,
      0.17129493944727447,
      0.17760231317738961,
      0.1564832169274835,
      0.24126957227716728,
      0.6712033066216948,
      0.6712033084197924
    ],
    "yaw": [
      -2.051318417021922,
      -2.0508626878784546,
      -2.049823450833787,
      -2.049114735128107,
      -2.0491950567574,
      -2.0496304558880527,
      -2.0495783466511703,
      -2.0493818414945686,
      -2.048992156982197,
      -2.048517027557268
    ],
    "yaw_diff": [
      0.0009114582869349519,
      0.002078474089334925,
      0.0014174314113599706,
      -0.00016064325858611284,
      -0.0008707982613049836,
      0.00010421847376473892,
      0.0003930103132034901,
      0.0007793690247428486,
      0.000950258849858443,
      0.000950258849858443
    ],
    "min_front_frame": [
      9,
      12.007313493507674
    ],
    "v_avg": 2.088144423414016,
    "v_std": 0.47900416463471257,
    "vy_max": 0.01112924151742678,
    "a_max": 0.7354449646630505,
    "ax_avg": -0.42175977772000817,
    "a_std": 0.24152035404409172,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "32af8f1654f057d7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.661670060472341,
    "right_rear_min": 3.4622108500698703,
    "speed_mode": "decelerating",
    "front_frame": [
      17.130612911880817,
      16.10857879963296,
      17.641582306207383,
      17.056695978310614,
      16.334950942146925,
      15.368565505112521,
      14.529079753075612,
      13.547416913319646,
      12.69169538983333,
      12.007313493507674
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "32af8f1654f057d7",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "c020f63dbf0d59a6": {
    "vx_ego": [
      9.224540456764412,
      9.335640722867836,
      9.39682562596775,
      9.365626411780607,
      9.330445364291345,
      9.385559452194455,
      9.379837551110006,
      9.290595107842329,
      9.198043268534876,
      9.073123590384057
    ],
    "vy_ego": [
      0.1358262533280028,
      0.15620559685506885,
      0.12390175113698199,
      0.044768892489942314,
      0.008517190213396031,
      0.0061510432792020175,
      0.009433961015587133,
      -0.008055601916559851,
      -0.03282564603546412,
      -0.04889451617284024
    ],
    "v_ego": [
      9.225540385775595,
      9.336947461293608,
      9.397642443122585,
      9.365733411686309,
      9.330449251700315,
      9.385561467808417,
      9.379842295307197,
      9.290598600229483,
      9.198101841840923,
      9.073255334227923
    ],
    "ax_ego": [
      0.22156594220691647,
      0.22171273256385426,
      0.02204145743922166,
      -0.14788086571051817,
      0.006852568276878266,
      0.21363154481383562,
      -0.23665391182749615,
      -0.12032002868688028,
      -0.2501608027544672,
      -0.2499485684307349
    ],
    "ay_ego": [
      0.07662532249711422,
      0.0761995601280906,
      -0.150456758776899,
      -0.022689632244018577,
      -0.007905663997984454,
      0.07711885654926075,
      0.0508641930162389,
      -0.11905797093343244,
      -0.08005066066990635,
      -0.08071090711598311
    ],
    "a_ego": [
      0.23444169167156556,
      0.23444169583213148,
      0.15206269137331155,
      0.1496113961390011,
      0.01046218023350324,
      0.22712497655478428,
      0.24205834031168916,
      0.1692681592798768,
      0.26265668753802546,
      0.26265669111610046
    ],
    "yaw": [
      1.1282664296181961,
      1.1301874137402075,
      1.1316504383027932,
      1.1354628655234387,
      1.138528981288099,
      1.1406366872070737,
      1.1436786271975992,
      1.1437259542259763,
      1.1410255639597249,
      1.1383851655751007
    ],
    "yaw_diff": [
      0.00384196824402272,
      0.0029260491251714704,
      0.007624854441290907,
      0.006132231529320631,
      0.004215411837949379,
      0.006083879981050977,
      9.465405675435079e-05,
      -0.0054007805325029246,
      -0.005280796769248308,
      -0.005280796769248308
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.298367249299236,
    "v_std": 0.09861292848372374,
    "vy_max": 0.15620559685506885,
    "a_max": 0.26265669111610046,
    "ax_avg": -0.03191599321093904,
    "a_std": 0.07357309521489021,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c020f63dbf0d59a6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 20.131392287688193,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c020f63dbf0d59a6",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "728988dc8a8b502a": {
    "vx_ego": [
      3.280821980873438,
      3.5762697976063302,
      3.7057859061526566,
      3.651253929190507,
      3.6922369538850273,
      3.97254725476334,
      4.368741944806566,
      4.7632215497963255,
      5.157350491818477,
      5.599074999538329
    ],
    "vy_ego": [
      0.03626237855401504,
      0.014531269126662139,
      0.016466880320369803,
      0.01672779567005156,
      -0.009591237232523975,
      -0.005831549076046105,
      0.006462083729382062,
      0.024287162633414017,
      0.08270615468117218,
      0.13879127613730435
    ],
    "v_ego": [
      3.281022375766539,
      3.576299319555573,
      3.7058224917536395,
      3.6512922472156473,
      3.6922494113298785,
      3.9725515350077427,
      4.3687467240432225,
      4.763283468229966,
      5.158013610245947,
      5.600794931863419
    ],
    "ax_ego": [
      0.5898710620660469,
      0.5939649684692715,
      -0.07075674658344477,
      -0.13124503013668232,
      0.3049193916476971,
      0.8371289039187295,
      0.7857706466089247,
      0.8257483735910516,
      0.7781376741537818,
      1.0493029183538798
    ],
    "ay_ego": [
      -0.1970244086312924,
      -0.18431526564766113,
      -0.34543807488679107,
      -0.6771972083597683,
      -0.8472953807580532,
      -1.2112856992421055,
      -1.64691289895929,
      -1.865977504274512,
      -1.7225076601645533,
      -1.5720986790461897
    ],
    "a_ego": [
      0.6219055293687592,
      0.6219055401903657,
      0.3526102391714768,
      0.6897980261974095,
      0.9004916977167174,
      1.4724122544194644,
      1.8247623422875374,
      2.0405225857477793,
      1.8901139857857836,
      1.89011398363293
    ],
    "yaw": [
      -0.6012452455838329,
      -0.6227155619878231,
      -0.6587937325735642,
      -0.7281945431124079,
      -0.8262033936309501,
      -0.9636455226185631,
      -1.1372166006357958,
      -1.3330476184084477,
      -1.524864599585117,
      -1.6891060188410456
    ],
    "yaw_diff": [
      -0.04294063280798044,
      -0.07215634117148229,
      -0.13880162107768745,
      -0.19601770103708427,
      -0.274884257975226,
      -0.3471421560344654,
      -0.39166203554530377,
      -0.3836339623533389,
      -0.328482838511857,
      -0.328482838511857
    ],
    "min_front_frame": [
      3,
      40.18893344118659
    ],
    "v_avg": 4.177007611501157,
    "v_std": 0.7286186400642958,
    "vy_max": 0.13879127613730435,
    "a_max": 2.0405225857477793,
    "ax_avg": 0.5562842162089255,
    "a_std": 0.620541380291791,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "728988dc8a8b502a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.83313567496251,
    "right_rear_min": 9.760909180232197,
    "speed_mode": "accelerating",
    "front_frame": [
      45.42754968116354,
      43.80522828141025,
      42.02928884271562,
      40.18893344118659,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "728988dc8a8b502a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d93e31dfb0c25be5": {
    "vx_ego": [
      2.126678875005097,
      2.9788417406341274,
      3.7919040147432312,
      4.5334151108300835,
      5.218700270151821,
      5.826986534338805,
      6.354643052386708,
      6.756054726909952,
      6.937281633090967,
      6.997337427491876
    ],
    "vy_ego": [
      0.040921077137870965,
      0.02487502748227044,
      0.00789081870101671,
      0.008403645367081047,
      0.01516067117445985,
      0.007291411069579201,
      0.02292777553510783,
      0.0449564102050406,
      0.02154956173497391,
      -0.029175886356723968
    ],
    "v_ego": [
      2.1270725356571805,
      2.9789455991569236,
      3.7919122249922412,
      4.533422899791944,
      5.218722291484109,
      5.8269910962726845,
      6.354684414362183,
      6.756204300627744,
      6.937315103152821,
      6.99739825267387
    ],
    "ax_ego": [
      1.7042611713639633,
      1.704229811987802,
      1.547896922886554,
      1.4183325555496546,
      1.3223662883588472,
      1.1100029520542458,
      1.0014854905417345,
      0.6013576691545022,
      0.11902292023806069,
      0.12144641491312677
    ],
    "ay_ego": [
      -0.024883429926798373,
      -0.026945535762775807,
      -0.012384364041437612,
      0.11458382772915254,
      0.12910345555849545,
      0.0686796940025507,
      0.3190609484405275,
      0.3233065346480161,
      0.14095168017606324,
      0.13886899941190461
    ],
    "a_ego": [
      1.7044428196052193,
      1.704442816279127,
      1.5479464643050074,
      1.4229535100308366,
      1.328653567648504,
      1.1121256466503344,
      1.0510818600781708,
      0.6827577620188909,
      0.18448260537636327,
      0.18448260268359967
    ],
    "yaw": [
      2.391098685632712,
      2.3923086701948972,
      2.394409083529821,
      2.400400428119538,
      2.411481370457783,
      2.421809451227258,
      2.435127363724635,
      2.4561039722670364,
      2.476296163909624,
      2.4936174620694382
    ],
    "yaw_diff": [
      0.0024199691243707022,
      0.004200826669847224,
      0.011982689179434125,
      0.02216188467648994,
      0.020656161538950002,
      0.02663582499475403,
      0.04195321708480293,
      0.040384383285175574,
      0.03464259631962818,
      0.03464259631962818
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.1522668718171705,
    "v_std": 1.6485647720799,
    "vy_max": 0.0449564102050406,
    "a_max": 1.7044428196052193,
    "ax_avg": 1.0650402197048492,
    "a_std": 0.5422478938075573,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "d93e31dfb0c25be5",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 31.063855847745682,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d93e31dfb0c25be5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4fbe9cf1d64d58ef": {
    "vx_ego": [
      5.6632172705333295,
      4.708546317513787,
      3.781289368805499,
      2.903622520810181,
      2.1265710327472345,
      1.4770277282443651,
      0.9116117018514936,
      0.461239790817496,
      0.1960588491564041,
      0.036027569487412106
    ],
    "vy_ego": [
      0.039427459167094225,
      0.0033050011319444295,
      -0.027492159508905933,
      -0.041651190153950246,
      -0.017155216921056482,
      0.010376768528233327,
      0.00964355313593035,
      0.013525634901969952,
      0.02814143718508176,
      0.03624367673375283
    ],
    "v_ego": [
      5.663354516344827,
      4.708547477429226,
      3.78138930943059,
      2.9039212394617926,
      2.1266402278681857,
      1.4770641784728917,
      0.9116627079516098,
      0.4614380645686579,
      0.19806820244394485,
      0.051103716756720194
    ],
    "ax_ego": [
      -1.909344353840929,
      -1.9093653723448023,
      -1.7997083325622,
      -1.7110897787489643,
      -1.3972533698076444,
      -1.2009273058601857,
      -1.060801140301152,
      -0.7406860912050607,
      -0.3200572986037245,
      -0.3200584707540958
    ],
    "ay_ego": [
      -0.06937997343204694,
      -0.06879909293961772,
      -0.07078815542564992,
      0.004243834636244559,
      0.0851441153007998,
      0.028583203894197717,
      -0.02705309304919251,
      0.04248853463477836,
      0.016199252937411104,
      0.016175997640999973
    ],
    "a_ego": [
      1.9106044703856593,
      1.9106044698730085,
      1.801099954261945,
      1.7110950415075135,
      1.3998451699417238,
      1.2012674113225004,
      1.06114604513599,
      0.7419037412495251,
      0.32046698766837733,
      0.32046698363658627
    ],
    "yaw": [
      2.810703373271216,
      2.811007600767695,
      2.810038692625433,
      2.8092951412802494,
      2.8084271673720798,
      2.808933475739633,
      2.8098815857510138,
      2.8098456569444794,
      2.810049015084589,
      2.8099763823276676
    ],
    "yaw_diff": [
      0.0006084549929585847,
      -0.0019378162845242741,
      -0.0014871026903673368,
      -0.001735947816339234,
      0.001012616735106775,
      0.0018962200227612414,
      -7.185761306871541e-05,
      0.0004067162802190438,
      -0.00014526551384275166,
      -0.00014526551384275166
    ],
    "min_front_frame": [
      9,
      8.538662581992098
    ],
    "v_avg": 2.228318964072845,
    "v_std": 1.873815016812447,
    "vy_max": 0.041651190153950246,
    "a_max": 1.9106044703856593,
    "ax_avg": -1.2369291514028762,
    "a_std": 0.5860340796049469,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4fbe9cf1d64d58ef",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 41.13350558788337,
    "right_rear_min": 7.139228470231337,
    "speed_mode": "decelerating",
    "front_frame": [
      15.974548989314453,
      14.370023689215913,
      12.92959521191078,
      11.645605800654309,
      10.477358103996465,
      9.592508011555525,
      9.056633513279753,
      8.720404457957315,
      8.590593920893342,
      8.538662581992098
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4fbe9cf1d64d58ef",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2087ff145dae502d": {
    "vx_ego": [
      0.6748994898698963,
      0.25857724323690373,
      -0.01368505443841542,
      -0.0625303599518437,
      -0.036908592365526786,
      -0.021698257785508185,
      -0.01426386457623153,
      -0.010169448309083347,
      -0.007389656396306879,
      -0.004835019451666258
    ],
    "vy_ego": [
      -0.0005579208470155583,
      -0.016922082488614168,
      -0.017573613310425108,
      -0.007516499250741361,
      -0.004202435260174267,
      -0.0026867402837304506,
      -0.0018492176749098366,
      -0.0013032283215911279,
      -0.0009544020105276899,
      -0.0007560998769116755
    ],
    "v_ego": [
      0.674899720478767,
      0.2591303679535618,
      0.02227358524725519,
      0.06298050235345486,
      0.03714706788591232,
      0.021863964971582498,
      0.014383234638226258,
      0.010252613470199458,
      0.007451033811034444,
      0.0048937817811848675
    ],
    "ax_ego": [
      -0.8326650129989621,
      -0.832644928016536,
      -0.25640507715549815,
      0.0610145143353102,
      0.041471945825790925,
      0.01936978525962575,
      0.01036769001643384,
      0.00601015680694581,
      0.005109191661288276,
      0.005109171098029618
    ],
    "ay_ego": [
      -0.03304036596888699,
      -0.03354278565097346,
      0.03093506400255515,
      0.009367050155167048,
      0.003894649580861,
      0.0021647548292961704,
      0.0011859490857704883,
      0.000996497557141676,
      0.00039716213960849507,
      0.00039745522752193
    ],
    "a_ego": [
      0.8333202803579903,
      0.833320283337019,
      0.25826448028321497,
      0.0617293494877695,
      0.041654418564361674,
      0.019490375688400056,
      0.010435299301452821,
      0.006092207500197804,
      0.0051246050771660496,
      0.00512460729879136
    ],
    "yaw": [
      1.1120683695878728,
      1.1114649763515612,
      1.1114570663536114,
      1.111220322280611,
      1.1111915207733825,
      1.1112232745228658,
      1.111214091370034,
      1.111246310841496,
      1.1112936013194123,
      1.1112362127130913
    ],
    "yaw_diff": [
      -0.001206786472623289,
      -1.5819995899502004e-05,
      -0.00047348814600089995,
      -5.760301445700833e-05,
      6.350749896677499e-05,
      -1.8366305663874982e-05,
      6.44389429242942e-05,
      9.458095583259052e-05,
      -0.00011477721264219198,
      -0.00011477721264219198
    ],
    "min_front_frame": [
      8,
      10.126922139141838
    ],
    "v_avg": 0.11152758725911789,
    "v_std": 0.20123772199056683,
    "vy_max": 0.017573613310425108,
    "a_max": 0.833320283337019,
    "ax_avg": -0.1773262563167572,
    "a_std": 0.32113730965560544,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2087ff145dae502d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.108152592140922,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.393326692778619,
      10.172593130236683,
      10.157104550158696,
      10.165694688368106,
      10.17613776832834,
      10.155144865961876,
      10.133664798503602,
      10.135162811036038,
      10.126922139141838,
      10.132601476950427
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2087ff145dae502d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b4797f8fbe08559f": {
    "vx_ego": [
      0.35808312059009145,
      0.962938208415016,
      1.496616003141353,
      1.874492200050658,
      2.119607539472193,
      2.3285482836221414,
      2.5507828671260424,
      2.77381736652373,
      3.026545724783319,
      3.3534544540852145
    ],
    "vy_ego": [
      -0.019994012270747125,
      0.0018143406870791967,
      -0.010870686491485648,
      -0.012626547201344818,
      0.009612061761961527,
      0.009785900797297575,
      -0.0018476747694062823,
      -0.02092522898470195,
      -0.06130671913028296,
      -0.09073559248678498
    ],
    "v_ego": [
      0.35864088135378647,
      0.9629399176779668,
      1.4966554822949716,
      1.8745347256706086,
      2.119629333897481,
      2.32856884652656,
      2.550783536313069,
      2.7738962936700973,
      3.027166585772033,
      3.3546817618617553
    ],
    "ax_ego": [
      1.2091050404689867,
      1.21083368735269,
      0.9268485905909493,
      0.6006966579988966,
      0.39420292157024467,
      0.44877073727149186,
      0.45016121559150457,
      0.4737990287518684,
      0.5731548445126093,
      0.7791907347610765
    ],
    "ay_ego": [
      0.08839907745474707,
      0.06025925919369529,
      0.14261553320340115,
      0.4304880661085636,
      0.6532965607939023,
      0.8178697344220758,
      0.9567185734007065,
      1.172576998902616,
      1.1754282131435068,
      1.0502379534090855
    ],
    "a_ego": [
      1.2123322134556849,
      1.2123322138533994,
      0.9377566316434769,
      0.73902398472102,
      0.763015294551595,
      0.932901965436259,
      1.0573341707864663,
      1.264682702499595,
      1.307722432338763,
      1.3077224322915053
    ],
    "yaw": [
      -0.3555883302663442,
      -0.33233274145351455,
      -0.2822326045823298,
      -0.1982700204237497,
      -0.07547617078652338,
      0.08994402051141043,
      0.27603443880537115,
      0.4826411512336463,
      0.6990483190633663,
      0.88366750924713
    ],
    "yaw_diff": [
      0.04651117762565926,
      0.1002002737423695,
      0.1679251683171602,
      0.24558769927445262,
      0.3308403825958676,
      0.37218083658792145,
      0.4132134248565503,
      0.43281433565943994,
      0.36923838036752743,
      0.36923838036752743
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.084749736503833,
    "v_std": 0.8877840921876365,
    "vy_max": 0.09073559248678498,
    "a_max": 1.307722432338763,
    "ax_avg": 0.7066763458870318,
    "a_std": 0.20773787470247165,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "b4797f8fbe08559f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "b4797f8fbe08559f",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "4bfd04f7517b5381": {
    "vx_ego": [
      4.440553055375404,
      3.369301612111226,
      2.2239730678798146,
      1.082607337474736,
      0.28924159056109844,
      -0.03710596404908531,
      -0.06080116015204997,
      0.10038260546146817,
      0.49573344105754835,
      1.0459318477884554
    ],
    "vy_ego": [
      -0.0024999284085769347,
      -0.011151792228497825,
      -0.008723414667152651,
      0.010008714491987869,
      0.025390052808535707,
      0.026024700175506798,
      0.010802581685111778,
      -0.008723247176905695,
      -0.023472068574021954,
      -0.03898908617153363
    ],
    "v_ego": [
      4.440553759076213,
      3.369320067290315,
      2.2239901763762826,
      1.0826536018135806,
      0.2903538401535863,
      0.04532259466576285,
      0.06175335494447846,
      0.10076091762455408,
      0.49628880965210304,
      1.046658291448868
    ],
    "ax_ego": [
      -2.1425219037961574,
      -2.1425041252341757,
      -2.4388486559539193,
      -2.1266093131364583,
      -1.0469209710404053,
      -0.2584630788136694,
      0.16367820103449882,
      0.4810551029518659,
      1.1003436639723783,
      1.1003653326708602
    ],
    "ay_ego": [
      -0.02245396935279864,
      -0.024091484961275333,
      0.027111449877229354,
      0.051199520115976505,
      0.011965977094984315,
      -0.009433390246698758,
      -0.051472645313578376,
      -0.026613852022394024,
      -0.03244698703483395,
      -0.0317037386963801
    ],
    "a_ego": [
      2.1426395611455527,
      2.142639569851425,
      2.4389993434526964,
      2.1272255549374224,
      1.0469893524826424,
      0.25863517154746685,
      0.17158084598657056,
      0.48179073174512205,
      1.1008219591795019,
      1.100821962167898
    ],
    "yaw": [
      0.5551920087443567,
      0.5544277189654416,
      0.553837185871058,
      0.5543610274907461,
      0.5551052484860246,
      0.5550508215523324,
      0.5550939495282787,
      0.5548823392774905,
      0.5548080802506694,
      0.5541326215570297
    ],
    "yaw_diff": [
      -0.0015285795578301453,
      -0.0011810661887672325,
      0.001047683239376207,
      0.0014884419905569768,
      -0.00010885386738435088,
      8.625595189259982e-05,
      -0.00042322050157639346,
      -0.00014851805364224369,
      -0.0013509173872794378,
      -0.0013509173872794378
    ],
    "min_front_frame": [
      3,
      8.834566540984186
    ],
    "v_avg": 1.3157655413045746,
    "v_std": 1.460097216745351,
    "vy_max": 0.03898908617153363,
    "a_max": 2.4389993434526964,
    "ax_avg": -0.7310425747345184,
    "a_std": 0.8106962945647705,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "4bfd04f7517b5381",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.977280310738207,
    "right_rear_min": 22.681559720387153,
    "speed_mode": "decelerating",
    "front_frame": [
      12.333634860294314,
      10.664187413724003,
      9.383023807170753,
      8.834566540984186,
      8.96716144916887,
      9.728017359420852,
      10.71907939578552,
      11.800453296802948,
      12.806500774056746,
      13.272105286982859
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "A",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "4bfd04f7517b5381",
    "merging_vehicles": "No"
  },
  "a567ea679ba056ce": {
    "vx_ego": [
      3.4326781514142244,
      3.3188709039824253,
      3.1584748142564654,
      2.9308899650793476,
      2.6907057484104264,
      2.509731582410334,
      2.3975317989552147,
      2.335748585866189,
      2.3408929139167425,
      2.379608108869718
    ],
    "vy_ego": [
      -0.004793606095171876,
      -0.03884679406802283,
      -0.04096484346863094,
      -0.01848852826944225,
      -0.015719951279315802,
      -0.030381757645066232,
      -0.018290122382389917,
      0.01030188250452646,
      0.0063711263475796365,
      -0.023087196554244738
    ],
    "v_ego": [
      3.4326814984580163,
      3.319098243606309,
      3.1587404563675094,
      2.9309482788135974,
      2.690751668474283,
      2.5099154700797164,
      2.3976015631414223,
      2.3357713041218395,
      2.34090158393653,
      2.3797201033825908
    ],
    "ax_ego": [
      -0.22844919418558796,
      -0.22747124952943726,
      -0.41604369613312264,
      -0.49535676707799314,
      -0.4660332872615537,
      -0.2588652281790481,
      -0.19165955081349145,
      -0.055384448554441065,
      0.07681288790762106,
      0.07774035701802902
    ],
    "ay_ego": [
      -0.12124313626981906,
      -0.12306812314792026,
      0.0009224179503675989,
      -0.04906303459872782,
      -0.08443634745306491,
      -0.0888242751142545,
      0.029265252592245272,
      -0.018767999708273884,
      -0.10223707208712633,
      -0.10153362921607198
    ],
    "a_ego": [
      0.25862894736781955,
      0.25862894713785456,
      0.4160447186865677,
      0.4977805822387984,
      0.4736206515841814,
      0.2736803942736188,
      0.1938809903711997,
      0.05847798692439145,
      0.12787743607711652,
      0.12787744512257587
    ],
    "yaw": [
      2.583862699671502,
      2.575856991313251,
      2.5671457499238635,
      2.5558476603422076,
      2.5429722698435793,
      2.5318419415307893,
      2.5208077607019277,
      2.5097559365055453,
      2.498419784722577,
      2.489316827558328
    ],
    "yaw_diff": [
      -0.01601141671650197,
      -0.017422482778775006,
      -0.022596179163311803,
      -0.025750780997256584,
      -0.022260656625579855,
      -0.0220683616577233,
      -0.022103648392764796,
      -0.022672303565936858,
      -0.018205914328497386,
      -0.018205914328497386
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.7496130170381816,
    "v_std": 0.40634051174860947,
    "vy_max": 0.04096484346863094,
    "a_max": 0.4977805822387984,
    "ax_avg": -0.21847101768090255,
    "a_std": 0.14347879617853015,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "a567ea679ba056ce",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.526445665961976,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a567ea679ba056ce",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "50a5cd7410e85782": {
    "vx_ego": [
      2.977236739049601,
      3.15324037243337,
      3.3149970609800326,
      3.4326667760827627,
      3.5227532834201334,
      3.6224455585064264,
      3.746547610920597,
      3.8751850190404893,
      3.9391095409298806,
      3.9556723571263546
    ],
    "vy_ego": [
      -0.04805733751070268,
      0.010679895465628086,
      0.019679044614687724,
      0.007257057034105063,
      -0.005735791161684434,
      -0.02146519889755827,
      -0.04908489393124915,
      -0.04582967799138982,
      -0.013062864041250677,
      0.06003181521415657
    ],
    "v_ego": [
      2.9776245747298837,
      3.1532584585648693,
      3.315055471497151,
      3.4326744472057387,
      3.5227579529606605,
      3.6225091551446282,
      3.746869136720293,
      3.875456010739979,
      3.93913120038693,
      3.9561278563478552
    ],
    "ax_ego": [
      0.3407182181532839,
      0.36695886487929025,
      0.2796430885207165,
      0.19442366602931663,
      0.17184864635841832,
      0.2377975939189661,
      0.27985783235942424,
      0.2690333288498333,
      -0.011754008303470953,
      0.06919042607694947
    ],
    "ay_ego": [
      0.47389389060446657,
      0.4538783043025923,
      0.5640835816191319,
      0.7396066732119981,
      0.8464316402692807,
      0.9082685990707553,
      0.9446000908052946,
      1.0844483605943114,
      0.8761361488684611,
      0.8734789021053061
    ],
    "a_ego": [
      0.583664564397897,
      0.5836645643090677,
      0.629595540017298,
      0.764734328359855,
      0.8637004567002183,
      0.9388820712590064,
      0.9851851287358566,
      1.1173214303984829,
      0.8762149896373929,
      0.8762149893055932
    ],
    "yaw": [
      -1.498301118331911,
      -1.441749191211425,
      -1.3661338346829581,
      -1.2662476605806647,
      -1.1487279737901832,
      -1.0214144980847069,
      -0.8882046613701138,
      -0.7561884689635323,
      -0.6402983568894514,
      -0.54783600861779
    ],
    "yaw_diff": [
      0.11310385424097191,
      0.15123071305693392,
      0.19977234820458678,
      0.23503937358096305,
      0.2546269514109527,
      0.26641967342918615,
      0.26403238481316293,
      0.2317802241481619,
      0.18492469654332266,
      0.18492469654332266
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5541464264297984,
    "v_std": 0.31950766374012546,
    "vy_max": 0.06003181521415657,
    "a_max": 1.1173214303984829,
    "ax_avg": 0.21977176568427276,
    "a_std": 0.17000862799045638,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "50a5cd7410e85782",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.841066926512896,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "50a5cd7410e85782",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "5328fe5eba6e5d30": {
    "vx_ego": [
      2.4181934266692324,
      3.107261118872311,
      3.7661445446805604,
      4.3924600897368125,
      4.9779007137767755,
      5.5126698482231,
      5.851158016309971,
      6.048458896321408,
      6.363580611779592,
      6.753173693748907
    ],
    "vy_ego": [
      0.02105354533474557,
      0.028894580464176922,
      0.05027954069609497,
      0.07075943174484034,
      0.03866479949711232,
      -0.022412690251538248,
      -0.04920402774989974,
      -0.022358465605477384,
      0.011998218572260466,
      0.032268750280134206
    ],
    "v_ego": [
      2.418285074294891,
      3.1073954620607607,
      3.766480155747506,
      4.393029995016148,
      4.978050871871388,
      5.512715409323468,
      5.851364897882822,
      6.04850022083771,
      6.363591922795336,
      6.753250788337931
    ],
    "ax_ego": [
      1.3780090912483407,
      1.378061637038973,
      1.2570846818518957,
      1.2471678899063483,
      1.093881195171962,
      1.0454605914135517,
      0.3076363468032991,
      0.48111701847612715,
      0.779294579013263,
      0.7792684504281028
    ],
    "ay_ego": [
      0.02795938974994694,
      0.025236933871531364,
      0.10555992676620457,
      0.03586703821439374,
      -0.11893022124062402,
      -0.20109447847376594,
      0.015324103690155633,
      0.018225217046112824,
      0.011166264935263293,
      0.012861110143163323
    ],
    "a_ego": [
      1.3782927058641308,
      1.3782927041487851,
      1.2615089359515328,
      1.2476835296034512,
      1.1003274361185327,
      1.0646252098609206,
      0.3080177755071716,
      0.48146208989258543,
      0.7793745738424261,
      0.7793745736080508
    ],
    "yaw": [
      -0.5781431608188872,
      -0.5761675551611782,
      -0.5728897971102398,
      -0.5692439980265854,
      -0.5668358324790552,
      -0.5704403734495918,
      -0.5738436902381063,
      -0.576957359260281,
      -0.5813356820974476,
      -0.5835105612109045
    ],
    "yaw_diff": [
      0.0039512113154178685,
      0.006555516101876879,
      0.007291598167308733,
      0.004816331095060411,
      -0.007209081941073059,
      -0.006806633577029153,
      -0.006227338044349384,
      -0.008756645674333097,
      -0.004349758226913858,
      -0.004349758226913858
    ],
    "min_front_frame": [
      0,
      18.056518338195115
    ],
    "v_avg": 4.919266479816796,
    "v_std": 1.3817674801241764,
    "vy_max": 0.07075943174484034,
    "a_max": 1.3782927058641308,
    "ax_avg": 0.9746981481351862,
    "a_std": 0.3564229285352297,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "5328fe5eba6e5d30",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.20041101162902,
    "right_rear_min": 2.8554877384044586,
    "speed_mode": "accelerating",
    "front_frame": [
      18.056518338195115,
      19.99260970111868,
      22.15078094396146,
      24.422350304220057,
      26.861334973380096,
      29.226154396907383,
      31.567062375995004,
      34.13313055081648,
      36.687277848597205,
      39.28820736329198
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5328fe5eba6e5d30",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "10f15e844ab15831": {
    "vx_ego": [
      8.141507379489465,
      8.024034017235394,
      7.926821410266523,
      7.773087313040753,
      7.3686839233547134,
      6.6481303722583105,
      5.7013523839080875,
      4.708546317513787,
      3.781289368805499,
      2.88148116214777
    ],
    "vy_ego": [
      0.017787846380826533,
      -0.014029022898505605,
      -0.013149300227266902,
      -0.0029935536565712795,
      -0.00698834845568852,
      -0.0032167404137908306,
      0.012652418445759261,
      0.0033050011319444295,
      -0.027492159508905933,
      -0.060743717176348966
    ],
    "v_ego": [
      8.141526811216695,
      8.024046281224596,
      7.926832316528224,
      7.77308788947601,
      7.368687237175992,
      6.64813115047848,
      5.70136642298905,
      4.708547477429226,
      3.78138930943059,
      2.8821213518845563
    ],
    "ax_ego": [
      -0.23516351248976708,
      -0.23477816433323637,
      -0.15396890926837511,
      -0.4609316150862731,
      -1.156692847820312,
      -1.7253537104073375,
      -2.0618848102679785,
      -1.9093653723448023,
      -1.7997083325622,
      -1.7996552055247694
    ],
    "ay_ego": [
      0.05243146524500375,
      0.05413087758451314,
      0.02858217908735,
      0.041318886991320414,
      -0.014057403254410128,
      0.09324535822475344,
      0.037720195322808125,
      -0.06879909293961772,
      -0.07078815542564992,
      -0.07212629828016237
    ],
    "a_ego": [
      0.24093761880259146,
      0.2409376233711823,
      0.15659938053094105,
      0.46277986581985364,
      1.1567782651765723,
      1.7278715585502382,
      2.0622298087141036,
      1.9106044698730085,
      1.801099954261945,
      1.8010999588240513
    ],
    "yaw": [
      2.7936682825212724,
      2.800900647110094,
      2.803386236202484,
      2.8043141286517512,
      2.8057257721409647,
      2.807989405667884,
      2.810703373271216,
      2.811007600767695,
      2.810038692625433,
      2.8092951412802494
    ],
    "yaw_diff": [
      0.014464729177642965,
      0.004971178184780101,
      0.0018557848985345515,
      0.002823286978427042,
      0.004527267053838102,
      0.005427935206664181,
      0.0006084549929585847,
      -0.0019378162845242741,
      -0.0014871026903673368,
      -0.0014871026903673368
    ],
    "min_front_frame": [
      9,
      11.645605800654309
    ],
    "v_avg": 6.295573624783342,
    "v_std": 1.8264609831127594,
    "vy_max": 0.060743717176348966,
    "a_max": 2.0622298087141036,
    "ax_avg": -1.1537502480105053,
    "a_std": 0.7552522720486455,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "10f15e844ab15831",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 22.63160199830668,
    "right_rear_min": 14.202538263062639,
    "speed_mode": "decelerating",
    "front_frame": [
      24.039987254642377,
      23.506056911733356,
      22.389699761639815,
      21.08242305366119,
      19.409583674920796,
      17.6353950396126,
      15.974548989314453,
      14.370023689215913,
      12.92959521191078,
      11.645605800654309
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "10f15e844ab15831",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fe746b45992f5a69": {
    "vx_ego": [
      4.668889525956663,
      5.601614523819988,
      6.531215599092124,
      7.453096697722199,
      8.317704334044418,
      9.121034860035696,
      9.876627054590545,
      10.560523312970926,
      11.132470544253572,
      11.627447378688633
    ],
    "vy_ego": [
      -0.026346645980397376,
      -0.01173365240434654,
      -0.015625999893983167,
      -0.04061665764624767,
      -0.05860177849966064,
      -0.051495603647470745,
      -0.03728669242995508,
      -0.04806646095132727,
      -0.037695925068431,
      -0.04133579132596665
    ],
    "v_ego": [
      4.668963862715394,
      5.60162681299547,
      6.531234291747386,
      7.453207369882841,
      8.317910768758258,
      9.121180226000437,
      9.876697437549774,
      10.56063270019703,
      11.132534365607867,
      11.627520853209324
    ],
    "ax_ego": [
      1.865065035197183,
      1.8653044024841918,
      1.8529851784972398,
      1.834418202783596,
      1.6217185987963927,
      1.589218089969163,
      1.4313492507254046,
      1.301384359639023,
      0.9836704693135168,
      0.9928846311861284
    ],
    "ay_ego": [
      -0.043098867975862265,
      -0.031057562743607936,
      -0.03982633013805792,
      -0.223299153166433,
      -0.1741463405177326,
      -0.22706925341905637,
      -0.3735521665541347,
      -0.3916273442533115,
      -0.4714402435739524,
      -0.45171186194100704
    ],
    "a_ego": [
      1.8655629439758579,
      1.8655629408118293,
      1.853413124023544,
      1.8479590510908634,
      1.6310420477712564,
      1.605358085703474,
      1.4792910121708525,
      1.359033931982558,
      1.0908086429161359,
      1.0908086436510418
    ],
    "yaw": [
      0.82397294880544,
      0.8175171452606168,
      0.8152381866217889,
      0.8094063573115883,
      0.7991212641790971,
      0.7868085972920842,
      0.7695412689028722,
      0.7519043771729325,
      0.7311322925597471,
      0.7111705678429727
    ],
    "yaw_diff": [
      -0.012911607089646449,
      -0.004557917277655754,
      -0.011663658620401307,
      -0.020570186264982304,
      -0.02462533377402587,
      -0.03453465677842393,
      -0.035273783459879526,
      -0.04154416922637072,
      -0.03992344943354875,
      -0.03992344943354875
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.489150868866378,
    "v_std": 2.2653959786022835,
    "vy_max": 0.05860177849966064,
    "a_max": 1.8655629439758579,
    "ax_avg": 1.533799821859184,
    "a_std": 0.2914183463722864,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "fe746b45992f5a69",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.401382941649496,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "fe746b45992f5a69",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "7155820d49975164": {
    "vx_ego": [
      8.51247170443625,
      8.835966236294988,
      9.031072436331716,
      9.006087041983566,
      8.87908785293045,
      8.734904930056071,
      8.618093738132817,
      8.51125808960812,
      8.374219424654585,
      8.226024767078504
    ],
    "vy_ego": [
      -0.05792025737808437,
      -0.15073725014684491,
      -0.0657565714962507,
      -0.026598324183480848,
      0.0001420200531088156,
      0.006923880495787849,
      0.003080678969324069,
      0.06008357741678694,
      0.05390988476756142,
      0.038543012356265116
    ],
    "v_ego": [
      8.512668751633798,
      8.837251894538644,
      9.031311824810691,
      9.006126319269216,
      8.879087854066247,
      8.734907674225239,
      8.618094288752415,
      8.511470161152824,
      8.374392948025417,
      8.22611506316259
    ],
    "ax_ego": [
      0.6491596320787314,
      0.6545631418114449,
      0.12562562351430853,
      -0.22407676648800515,
      -0.28424422200935384,
      -0.2924887933675815,
      -0.17483043879331767,
      -0.2515623343954453,
      -0.29632340340973407,
      -0.29627911037593607
    ],
    "ay_ego": [
      0.23486000909912574,
      0.2193502735001837,
      0.09774396804774019,
      0.26153807731260714,
      0.029822812890655415,
      0.05652864849515683,
      -0.03165865516708255,
      -0.015646975305612404,
      -0.04639198838565965,
      -0.046673988803106733
    ],
    "a_ego": [
      0.6903386500802597,
      0.6903386481305209,
      0.15917185860910352,
      0.3444017467494833,
      0.2858044399837306,
      0.29790129631526074,
      0.1776737256198908,
      0.25204847931043006,
      0.29993295249889296,
      0.299932946632991
    ],
    "yaw": [
      0.842549601948664,
      0.8663414732692923,
      0.8657073237207175,
      0.8712977562845258,
      0.8764485072645737,
      0.878129474407622,
      0.8792909777073712,
      0.8712635938584721,
      0.8701585184638498,
      0.8692067703242667
    ],
    "yaw_diff": [
      0.04758374264125664,
      -0.001268299097149761,
      0.011180865127616624,
      0.010301501960095827,
      0.0033619342860966572,
      0.002323006599498356,
      -0.016054767697798233,
      -0.0022101507892444694,
      -0.0019034962791661947,
      -0.0019034962791661947
    ],
    "min_front_frame": [
      9,
      40.46994668555515
    ],
    "v_avg": 8.673142677963709,
    "v_std": 0.2561891306885487,
    "vy_max": 0.15073725014684491,
    "a_max": 0.6903386500802597,
    "ax_avg": -0.03904566714348888,
    "a_std": 0.17867470959388235,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7155820d49975164",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 18.861170046784515,
    "speed_mode": "quasi_constant",
    "front_frame": [
      79.43234655509136,
      75.06623150456349,
      70.62565344092609,
      66.1455380916461,
      61.73129178975069,
      57.36103714626209,
      52.989494710679516,
      48.73297885793233,
      44.56416073668706,
      40.46994668555515
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7155820d49975164",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f039cb3455f356ac": {
    "vx_ego": [
      5.959373129405067,
      6.282861296632012,
      6.418323282467195,
      6.383835153508599,
      6.3767978977770445,
      6.376001756351984,
      6.317147786176118,
      6.191095006079531,
      6.033010038706459,
      5.853149473473634
    ],
    "vy_ego": [
      -0.057134515512023754,
      -0.006089513381374534,
      -0.011568989458973888,
      -0.05013465916814486,
      -0.043904951053220564,
      -0.018703239749932266,
      0.007437550353707856,
      0.013398379696118123,
      -0.028435646444232354,
      -0.08987668751077704
    ],
    "v_ego": [
      5.959647007024656,
      6.2828642476890835,
      6.418333708975997,
      6.384032013643264,
      6.376949041181113,
      6.376029188153136,
      6.317152164507761,
      6.191109504029257,
      6.033077051813744,
      5.853839473181903
    ],
    "ax_ego": [
      0.6450617027326804,
      0.6511140515220469,
      -0.11009435820386072,
      -0.025919458331436634,
      0.0008600251844498724,
      -0.003577089289065978,
      -0.2317980088172021,
      -0.27241024847812956,
      -0.35992004283388096,
      -0.3597750488316154
    ],
    "ay_ego": [
      0.33395573742002277,
      0.32199615704929874,
      0.16791723609417905,
      0.13696857760515377,
      0.22644794646844674,
      0.08776959254367499,
      0.07715931628893095,
      -0.053983570661587446,
      -0.13539994390871773,
      -0.13578474135061047
    ],
    "a_ego": [
      0.7263821548524827,
      0.7263821537207336,
      0.20079085110091113,
      0.13939946044147414,
      0.22644957960458748,
      0.08784245524269389,
      0.24430283866913008,
      0.2777077049296452,
      0.38454594269609266,
      0.38454594230786443
    ],
    "yaw": [
      -0.6626971388259022,
      -0.64424401567641,
      -0.6243931438971395,
      -0.6064316368803947,
      -0.5931615106537149,
      -0.5847950771979871,
      -0.5824278317282228,
      -0.5824544950033523,
      -0.58335468397043,
      -0.5844240203128523
    ],
    "yaw_diff": [
      0.036906246298984424,
      0.03970174355854095,
      0.03592301403348963,
      0.02654025245335956,
      0.0167328669114557,
      0.004734490939528602,
      -5.332655025913624e-05,
      -0.0018003779341553283,
      -0.002138672684844689,
      -0.002138672684844689
    ],
    "min_front_frame": [
      3,
      24.122304565300734
    ],
    "v_avg": 6.219303340019991,
    "v_std": 0.191373596852131,
    "vy_max": 0.08987668751077704,
    "a_max": 0.7263821548524827,
    "ax_avg": -0.006645847534601406,
    "a_std": 0.2125290364648791,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f039cb3455f356ac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      27.23871827135171,
      24.228507336573816,
      27.277104435578455,
      24.122304565300734,
      28.310244410733038,
      31.039211400188876,
      27.89424982866249,
      62.274505556964954,
      59.21063249219082,
      56.247148058454435
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f039cb3455f356ac",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e83be8437b0c5862": {
    "vx_ego": [
      8.908629600768377,
      8.719919005031212,
      8.545093849162182,
      8.349535851485566,
      8.04339146771409,
      7.679757666090262,
      7.295089625152771,
      6.7432648800762385,
      6.055910543595732,
      5.360684845073732
    ],
    "vy_ego": [
      -0.04754067925306282,
      0.04253129804537481,
      0.04076246479816781,
      0.018650528930279242,
      -0.02536561082855765,
      -0.0017859682417420662,
      0.01876912386014082,
      0.0044305863410033786,
      0.0011225876487302167,
      0.014807760528162933
    ],
    "v_ego": [
      8.90875644968872,
      8.720022727356731,
      8.545191072733587,
      8.349556681493466,
      8.043431464064856,
      7.679757873758437,
      7.295113770121894,
      6.743266335609541,
      6.055910647643093,
      5.360705296691382
    ],
    "ax_ego": [
      -0.37984857184244614,
      -0.37483899630090156,
      -0.3262994901472078,
      -0.4635802377354343,
      -0.761794460587168,
      -0.6916829824337812,
      -0.8484271170653671,
      -1.3591498335370102,
      -1.390437216695214,
      -1.3904485135483475
    ],
    "ay_ego": [
      0.39822526273220754,
      0.4029441913750321,
      0.6120196239323998,
      0.3624545059139946,
      0.27070469124633467,
      0.3012283098351946,
      0.06376403541801387,
      0.07709379618036605,
      0.0216916770098691,
      0.020955216878309136
    ],
    "a_ego": [
      0.5503347139776681,
      0.5503347113446014,
      0.6935700233925078,
      0.588455525656952,
      0.8084626336721245,
      0.7544294816844438,
      0.8508198547193406,
      1.3613345376553048,
      1.3906064081625087,
      1.390606410866578
    ],
    "yaw": [
      -1.6845004948276856,
      -1.6719950091767282,
      -1.642377792799687,
      -1.610986755599919,
      -1.5864176348595622,
      -1.5712127211337958,
      -1.56179586810061,
      -1.5547998676653154,
      -1.5504265828516632,
      -1.5509562415520235
    ],
    "yaw_diff": [
      0.025010971301914875,
      0.059234432754082356,
      0.06278207439953576,
      0.049138241480713774,
      0.030409827451532756,
      0.01883370606637147,
      0.013992000870589383,
      0.008746569627304357,
      -0.0010593174007205164,
      -0.0010593174007205164
    ],
    "min_front_frame": [
      8,
      21.115118576254314
    ],
    "v_avg": 7.57017123191617,
    "v_std": 1.133234832064236,
    "vy_max": 0.04754067925306282,
    "a_max": 1.390606410866578,
    "ax_avg": -0.7986507419892878,
    "a_std": 0.33317257825550983,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e83be8437b0c5862",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.54785061501778,
    "right_rear_min": 32.30304579113842,
    "speed_mode": "decelerating",
    "front_frame": [
      32.8406602980276,
      31.71615584545493,
      30.347410359338117,
      28.686485824141776,
      26.595007091764852,
      24.690459510123105,
      22.767481773092264,
      24.242685541881155,
      21.115118576254314,
      25.718161926344603
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e83be8437b0c5862",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a85f6afede71548f": {
    "vx_ego": [
      8.31568860092163,
      8.492003889528856,
      8.609998798769482,
      8.558943391476348,
      8.38394340745542,
      8.24392285771032,
      8.174387092089686,
      8.214941260479966,
      8.347237828686456,
      8.484996372637845
    ],
    "vy_ego": [
      0.12437794846771322,
      0.07243328038402996,
      0.058554908829351326,
      0.08432562264785703,
      0.0882311543350891,
      0.06514795624303726,
      -0.008381371292663253,
      -0.10386788649135248,
      -0.07929317436131411,
      1.4136742776837963e-05
    ],
    "v_ego": [
      8.316618710844148,
      8.49231279686991,
      8.610197906677868,
      8.559358783760125,
      8.384407659221402,
      8.244180270959712,
      8.174391388886834,
      8.215597875442807,
      8.347614436241917,
      8.484996372649622
    ],
    "ax_ego": [
      0.3528053262076415,
      0.3529697151897102,
      0.11996473953079649,
      -0.320468556898937,
      -0.3754878592028728,
      -0.1821217698513381,
      -0.09454302393381109,
      0.2563060593303969,
      0.27499075643193716,
      0.2772833777233297
    ],
    "ay_ego": [
      -0.1260752708235573,
      -0.12561430267061544,
      -0.06987636343590269,
      -0.19558523385187784,
      -0.18960767387121447,
      -0.1760409238643203,
      -0.3561736369812315,
      -0.06577884217027621,
      0.29223928529838494,
      0.29006489442405026
    ],
    "a_ego": [
      0.37465527103420504,
      0.37465527205222954,
      0.13883171430807228,
      0.3754379837759906,
      0.4206449838041686,
      0.25329576768826434,
      0.36850786023501214,
      0.264612267528811,
      0.4012776046513434,
      0.4012776028373552
    ],
    "yaw": [
      -0.5774538427629574,
      -0.5787601193083862,
      -0.5828386422072153,
      -0.5935030287630144,
      -0.6053217120623194,
      -0.6135642356117978,
      -0.6208248530138388,
      -0.6220519216843071,
      -0.6181817304768225,
      -0.6103074765924501
    ],
    "yaw_diff": [
      -0.0026125530908576167,
      -0.00815704579765808,
      -0.02132877311159831,
      -0.023637366598610043,
      -0.016485047098956818,
      -0.014521234804081962,
      -0.0024541373409365796,
      0.007740382414969327,
      0.0157485077687447,
      0.0157485077687447
    ],
    "min_front_frame": [
      9,
      34.98999848583334
    ],
    "v_avg": 8.382967620155434,
    "v_std": 0.14196703237069316,
    "vy_max": 0.12437794846771322,
    "a_max": 0.4206449838041686,
    "ax_avg": 0.0661698764526853,
    "a_std": 0.08490099936234594,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a85f6afede71548f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.942326394863576,
    "right_rear_min": 15.761193153734537,
    "speed_mode": "quasi_constant",
    "front_frame": [
      39.882807817560774,
      40.78636757839829,
      41.740709983559874,
      42.53426822390261,
      42.64812447554751,
      41.30475906268272,
      39.87260036429647,
      38.32643225819253,
      36.72701583560704,
      34.98999848583334
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a85f6afede71548f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "85159c024a355d8d": {
    "vx_ego": [
      12.924812373029665,
      13.045050927588253,
      13.156365090066616,
      13.196317534783198,
      13.201074279327766,
      13.162131188054168,
      13.02171032355363,
      12.881394459198097,
      12.83695019045512,
      12.857256198974149
    ],
    "vy_ego": [
      -0.023476544588410836,
      -0.0016588384774562093,
      0.01750554481572425,
      0.041028113795465004,
      0.02209295058105698,
      -0.022867016027334874,
      0.006313692545439509,
      0.017741912071575883,
      0.015440965262224937,
      -0.026531164903048743
    ],
    "v_ego": [
      12.924833694333035,
      13.045051033059098,
      13.156376736291145,
      13.196381314017419,
      13.20109276638849,
      13.162151051859656,
      13.02171185417865,
      12.881406677413123,
      12.836959477058187,
      12.857283572698018
    ],
    "ax_ego": [
      0.24035513535781108,
      0.24075812230999416,
      0.2044022359593167,
      -0.0449081055987133,
      0.06367122903492425,
      -0.21939927058619432,
      -0.34238668625753116,
      -0.2188935828266582,
      0.04066378476932574,
      0.04061654720414018
    ],
    "ay_ego": [
      0.1268019421513543,
      0.1260351240653187,
      0.1345145451877651,
      0.07201361533349639,
      -0.07872705539767105,
      -0.022343793266117466,
      0.07219989910498757,
      0.15903571648488513,
      -0.01851380167154715,
      -0.018617210272829247
    ],
    "a_ego": [
      0.2717523203695363,
      0.27175232465683596,
      0.2446925355057638,
      0.0848687147414521,
      0.10125203532969472,
      0.2205340904061617,
      0.34991637337681625,
      0.2705674772040273,
      0.044680020636739086,
      0.04468002266258251
    ],
    "yaw": [
      -1.5576703534199396,
      -1.5544826826600222,
      -1.5509747008206014,
      -1.5488464062571614,
      -1.5475375977703305,
      -1.5460476778476973,
      -1.5473230500825017,
      -1.5437376898121173,
      -1.5408194552582168,
      -1.5382749638198483
    ],
    "yaw_diff": [
      0.006375341519834876,
      0.007015963678841608,
      0.004256589126879984,
      0.002617616973661807,
      0.0029798398452665076,
      -0.002550744469608901,
      0.007170720540768727,
      0.005836469107801001,
      0.0050889828767370915,
      0.0050889828767370915
    ],
    "min_front_frame": [
      0,
      22.708158945138617
    ],
    "v_avg": 13.028324817729683,
    "v_std": 0.1381640894268164,
    "vy_max": 0.041028113795465004,
    "a_max": 0.34991637337681625,
    "ax_avg": 0.00048794093664151426,
    "a_std": 0.10512717482823014,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "85159c024a355d8d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.632600977253224,
    "right_rear_min": 20.82468026345806,
    "speed_mode": "quasi_constant",
    "front_frame": [
      22.708158945138617,
      23.702376586304357,
      24.73940643123999,
      25.73725523212466,
      26.80400930676235,
      27.8119305510838,
      28.980543754007414,
      30.2241383556108,
      31.658834406233137,
      32.77366323970357
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "85159c024a355d8d",
    "merging_vehicles": "No"
  },
  "e917a198bd9757a4": {
    "vx_ego": [
      0.8154186228628529,
      0.47854065697418924,
      0.20306844500426724,
      0.046904926549328645,
      0.10676849450496216,
      0.36479655674054906,
      0.6593382554280273,
      0.900793143532552,
      1.12288217123422,
      1.3751700796573776
    ],
    "vy_ego": [
      -0.027803901949649157,
      0.002277888643684528,
      -0.0028197568481836965,
      -0.029508056018669286,
      -0.012054310222750317,
      0.025956258538329904,
      0.0233260658757663,
      -0.01055633667788014,
      -0.009312898614825038,
      0.026884814283482772
    ],
    "v_ego": [
      0.8158925097555298,
      0.47854607840202984,
      0.20308802127435777,
      0.05541477695162943,
      0.10744681388390462,
      0.3657188198152636,
      0.6597507411288865,
      0.9008549959229363,
      1.1229207899742022,
      1.3754328559489684
    ],
    "ax_ego": [
      -0.6737557188322114,
      -0.6737585966080437,
      -0.4281588235862745,
      -0.19651835703755247,
      0.4359406696260616,
      0.5961689732211979,
      0.5820788776621937,
      0.3837561058961614,
      0.5045512137033915,
      0.504584477709443
    ],
    "ay_ego": [
      0.06011787392376711,
      0.06008569465121022,
      -0.0799624390642137,
      -0.02688804065009854,
      0.09670497827632793,
      0.05538339479709048,
      -0.06694737177026092,
      -0.07040588308126705,
      0.07363961843579256,
      0.07341136312685942
    ],
    "a_ego": [
      0.676432500271996,
      0.6764325075016421,
      0.43556167172500454,
      0.19834926615125223,
      0.4465379270089429,
      0.5987359727382912,
      0.5859161803598059,
      0.3901611682177493,
      0.5098967745072864,
      0.5098967771828481
    ],
    "yaw": [
      1.1118250531091716,
      1.1117772965535573,
      1.1121915441593648,
      1.1119382925178272,
      1.1117178576174016,
      1.1117712782657656,
      1.1112637155792142,
      1.1106972664138408,
      1.1102608395942748,
      1.1107132193539895
    ],
    "yaw_diff": [
      -9.551311122857342e-05,
      0.000828495211615099,
      -0.0005065032830753324,
      -0.00044086980085111804,
      0.00010684129672799969,
      -0.0010151253731027765,
      -0.0011328983307468121,
      -0.0008728536391320318,
      0.0009047595194293656,
      0.0009047595194293656
    ],
    "min_front_frame": [
      3,
      9.549240519032821
    ],
    "v_avg": 0.608506640305771,
    "v_std": 0.42202744512853974,
    "vy_max": 0.029508056018669286,
    "a_max": 0.6764325075016421,
    "ax_avg": 0.10348888217543672,
    "a_std": 0.13768565660747017,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e917a198bd9757a4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.078075594937307,
    "right_rear_min": 42.50965561138725,
    "speed_mode": "accelerating",
    "front_frame": [
      10.030486352423397,
      9.739784279462254,
      9.575925532986986,
      9.549240519032821,
      9.571832979987311,
      9.69559380536013,
      9.748338370925358,
      9.96304875976132,
      10.184016684652445,
      10.753766496412458
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e917a198bd9757a4",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "11482e143a4e5dec": {
    "vx_ego": [
      2.407034076791457,
      2.4768057567932393,
      2.363680938891658,
      1.8538408106837427,
      1.0915159509634724,
      0.3783800386645587,
      0.001020919242712681,
      -0.053457066036615465,
      -0.032144806988505574,
      -0.010518723087114382
    ],
    "vy_ego": [
      0.01813228577917858,
      -0.00728817295087103,
      -0.005881307330465324,
      -0.0048116574783078625,
      0.003971607215654482,
      0.020471132895304903,
      0.013863467284286089,
      0.0017087248402943463,
      0.0002102475253028856,
      -0.00034266263604486747
    ],
    "v_ego": [
      2.4071023714463995,
      2.4768164797475594,
      2.3636882558103274,
      1.8538470550194386,
      1.0915231765159956,
      0.37893339908460194,
      0.013901007202451616,
      0.05348436827544012,
      0.03214549455756083,
      0.010524302972906774
    ],
    "ax_ego": [
      0.13767321442087563,
      0.14068514428958423,
      -0.5931962691680979,
      -1.4461434428482551,
      -1.603056876826486,
      -1.2495780499756568,
      -0.2599102725126606,
      0.0419973184395114,
      0.043252226307615826,
      0.04325213142073959
    ],
    "ay_ego": [
      0.10061805873778727,
      0.09636178358922443,
      0.04188993841105071,
      0.007327797538487668,
      0.05229534127260793,
      0.0175071982516129,
      -0.043800117335521915,
      -0.004840722917201104,
      -0.0011076191408288978,
      -0.0011113241244257895
    ],
    "a_ego": [
      0.17052245515807357,
      0.17052244180833695,
      0.5946735076451884,
      1.446162008182268,
      1.6039096461644917,
      1.2497006861531228,
      0.26357503682293393,
      0.042275375272974695,
      0.04326640614525715,
      0.04326640629572162
    ],
    "yaw": [
      1.264358233349074,
      1.2949370883690017,
      1.308136080055447,
      1.3132073381976044,
      1.3173100940095592,
      1.318686990850657,
      1.3192088154932544,
      1.3192943003952946,
      1.3190291154585365,
      1.3191147067189042
    ],
    "yaw_diff": [
      0.061157710039855484,
      0.026397983372890454,
      0.01014251628431495,
      0.0082055116239097,
      0.0027537936821957487,
      0.0010436492851946255,
      0.00017096980408037865,
      -0.0005303698735161788,
      0.00017118252073533569,
      0.00017118252073533569
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.0681965910632683,
    "v_std": 1.0431349135503938,
    "vy_max": 0.020471132895304903,
    "a_max": 1.6039096461644917,
    "ax_avg": -0.47450248764528286,
    "a_std": 0.5954125740098116,
    "ini_direction_judge": "straight",
    "scenario_type": "side_ego_to_main",
    "scene_token": "11482e143a4e5dec",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 31.28214058769608,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "11482e143a4e5dec",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "f638ae3f35d25d55": {
    "vx_ego": [
      0.4303765954400087,
      1.1112681007648595,
      1.6742699452095748,
      1.9308244812224733,
      1.9248776335213988,
      1.8132467857915606,
      1.5604494347860363,
      1.177615941859317,
      0.8423940729330619,
      0.5753869810631793
    ],
    "vy_ego": [
      -0.053942054769801795,
      -0.008474955255270422,
      0.022809604422018737,
      0.010501443133748234,
      0.001503840336748885,
      0.015828828090354907,
      0.025681541706699673,
      0.01430970859832259,
      -0.005323829112337197,
      -0.00674428348111078
    ],
    "v_ego": [
      0.433743886614349,
      1.111300416918898,
      1.674425312603092,
      1.93085303883955,
      1.9248782209705368,
      1.8133158737468054,
      1.5606607511270645,
      1.1777028803061387,
      0.8424108957445708,
      0.5754265055910034
    ],
    "ax_ego": [
      1.3617710507545042,
      1.3617103337284542,
      0.8903666231244873,
      0.13595222624996994,
      -0.15973240546134326,
      -0.28674278401026737,
      -0.7243794295701221,
      -0.8068917706185749,
      -0.5340070248190674,
      -0.5340081522812368
    ],
    "ay_ego": [
      0.08943296635010844,
      0.0903527716178879,
      0.028031716647198612,
      -0.0835078616163086,
      0.04886246500532516,
      0.002171825741391936,
      0.0304431475817718,
      -0.07850677324948502,
      -0.002216199753453496,
      -0.0019263201259728802
    ],
    "a_ego": [
      1.3647046017886824,
      1.3647046040524273,
      0.8908077798898546,
      0.15955115409814988,
      0.16703886326500067,
      0.2867510087323318,
      0.7250188571471925,
      0.8107019445752088,
      0.5340116235602547,
      0.534011626663735
    ],
    "yaw": [
      0.5548080802506694,
      0.5541326215570297,
      0.5529695369358233,
      0.5521466605540659,
      0.5523177993332256,
      0.5514867837962671,
      0.5505112366423208,
      0.5500442988911638,
      0.5494835795155382,
      0.5500264287670529
    ],
    "yaw_diff": [
      -0.0013509173872794378,
      -0.002326169242412801,
      -0.0016457527635147517,
      0.00034227755831928164,
      -0.0016620310739168254,
      -0.0019510943078926424,
      -0.0009338755023140521,
      -0.001121438751251258,
      0.0010856985030294197,
      0.0010856985030294197
    ],
    "min_front_frame": [
      9,
      9.854815021515071
    ],
    "v_avg": 1.3044717782462008,
    "v_std": 0.5287001245543471,
    "vy_max": 0.053942054769801795,
    "a_max": 1.3647046040524273,
    "ax_avg": 0.0704038667096804,
    "a_std": 0.4162111684398484,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "f638ae3f35d25d55",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.977280310738207,
    "right_rear_min": 18.56775756898013,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      12.806500774056746,
      13.272105286982859,
      13.346848531122886,
      13.072259012895618,
      12.630861469591633,
      12.061257582740405,
      11.315542727197991,
      10.650613328723475,
      10.184694119547677,
      9.854815021515071
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "f638ae3f35d25d55",
    "merging_vehicles": "No"
  },
  "c1553b5b161e5db1": {
    "vx_ego": [
      -0.02971724244859351,
      0.900555324525935,
      1.7719811093241384,
      2.4803691879592464,
      2.920765422500342,
      3.1297760681981437,
      3.3325164433623957,
      3.6984494282417324,
      4.2267864767596075,
      5.0162450514427075
    ],
    "vy_ego": [
      0.0004662111707285383,
      -0.008794681386881276,
      -0.008844672201636317,
      -0.015060347545372332,
      -0.03360656298988962,
      -0.016573034775633877,
      -0.025039265964894808,
      -0.03145875612590565,
      0.06308629804696653,
      0.18108797844396884
    ],
    "v_ego": [
      0.02972089923949476,
      0.9005982672383447,
      1.7720031828492744,
      2.4804149093741956,
      2.9209587560165233,
      3.1298199473048776,
      3.3326105098137124,
      3.6985832188283374,
      4.227257243310273,
      5.019512652843936
    ],
    "ax_ego": [
      1.860473712992011,
      1.8605479852252542,
      1.6257005446985204,
      1.2081956997891925,
      0.5551687285295658,
      0.3077898930580669,
      0.5639060764870731,
      0.9354510700973706,
      1.267617176095118,
      1.9639033294936423
    ],
    "ay_ego": [
      -0.02473688164156529,
      -0.01831669127722002,
      0.058537525183357864,
      0.020568576226814406,
      -0.3373581086847014,
      -1.00472999346455,
      -1.7437717474620953,
      -2.2207707610342506,
      -2.6322634780448095,
      -2.1630413941043267
    ],
    "a_ego": [
      1.8606381566676602,
      1.8606381449666933,
      1.6267541003137684,
      1.208370768976598,
      0.6496328275514204,
      1.0508172905105677,
      1.8326838162503793,
      2.4097492561698117,
      2.921585925996345,
      2.9215859323670426
    ],
    "yaw": [
      1.0046814060129532,
      1.001230639013519,
      1.0086302988132971,
      1.0205621444557962,
      0.9987632591317641,
      0.8835331827342738,
      0.6721848627837556,
      0.3902097448099042,
      0.05972102507200401,
      -0.2286667907507651
    ],
    "yaw_diff": [
      -0.006901533998868281,
      0.01479931959955616,
      0.0238636912849981,
      -0.04359777064806414,
      -0.23046015279498056,
      -0.42269663990103656,
      -0.5639502359477027,
      -0.6609774394758005,
      -0.5767756316455382,
      -0.5767756316455382
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.751147958681897,
    "v_std": 1.4350978271420531,
    "vy_max": 0.18108797844396884,
    "a_max": 2.9215859323670426,
    "ax_avg": 1.2148754216465814,
    "a_std": 0.7175693260688387,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "c1553b5b161e5db1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "c1553b5b161e5db1",
    "pedestrians": "No"
  },
  "e46bb2932c0452b2": {
    "vx_ego": [
      2.622420024582067,
      2.1039392985771794,
      1.598943755887892,
      1.1462325300144907,
      0.7690853283298281,
      0.4682253946358075,
      0.1922718887063657,
      0.000299464157659449,
      -0.03764016399763749,
      -0.02007525183671808
    ],
    "vy_ego": [
      0.033411573431575636,
      -0.0017113129309195285,
      -0.020463918723365504,
      -0.009292531098315848,
      0.00451377166444511,
      -0.0018065122311935189,
      0.012328581017452642,
      0.013332661712234238,
      -0.004057999965698771,
      -0.001531550193259311
    ],
    "v_ego": [
      2.6226328600412567,
      2.103939994555306,
      1.5990747032150798,
      1.1462701967676003,
      0.7690985739076872,
      0.4682288795752555,
      0.19266674102350143,
      0.013336024411892754,
      0.03785827927271202,
      0.02013358841096453
    ],
    "ax_ego": [
      -1.0369645601185682,
      -1.0370999827922,
      -0.9827931343439006,
      -0.8279401241564336,
      -0.6806522690713035,
      -0.5227924193985857,
      -0.5810156363731058,
      -0.18688911238483188,
      0.03512969293497861,
      0.03512946715343871
    ],
    "ay_ego": [
      -0.060665386987729,
      -0.058304294928948563,
      -0.007300878805922839,
      0.058523954171175674,
      -0.002655287131097306,
      -0.021832097717871313,
      0.07864772796155159,
      -0.07460925876962653,
      0.005054648645344757,
      0.005056179874928587
    ],
    "a_ego": [
      1.0387375934856053,
      1.0387375824118157,
      0.9828202520017824,
      0.8300059652797687,
      0.6806574483113094,
      0.5232480810011532,
      0.5863144504645603,
      0.20123141360668173,
      0.035491475013498266,
      0.03549146964288972
    ],
    "yaw": [
      -2.0284714375016675,
      -2.0261946646486346,
      -2.0249200016420903,
      -2.0237122408745383,
      -2.02354097287048,
      -2.023209650583155,
      -2.0230057749481514,
      -2.022888036650175,
      -2.022931301635933,
      -2.022974885448975
    ],
    "yaw_diff": [
      0.004553545706065698,
      0.0025493260130886597,
      0.002415521535104048,
      0.0003425360081168449,
      0.0006626445746498177,
      0.0004077512700071395,
      0.00023547659595291037,
      -8.652997151603614e-05,
      -8.716762608429462e-05,
      -8.716762608429462e-05
    ],
    "min_front_frame": [
      7,
      10.513108299944232
    ],
    "v_avg": 0.8973239841181255,
    "v_std": 0.8929572441260551,
    "vy_max": 0.033411573431575636,
    "a_max": 1.0387375934856053,
    "ax_avg": -0.5785888078550512,
    "a_std": 0.37324950862411616,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e46bb2932c0452b2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.269217985281878,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.256412091479572,
      13.0674287804848,
      12.153252378339639,
      11.489049426879435,
      11.011929601424022,
      10.694036049719697,
      10.554933873610572,
      10.513108299944232,
      10.55009621750441,
      10.573779382172066
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e46bb2932c0452b2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "612903ce91a2507c": {
    "vx_ego": [
      7.126683137185324,
      6.462831631488828,
      5.74101602352267,
      5.01888686208952,
      4.332478982194317,
      3.627249820193387,
      2.9642982030528047,
      2.319707591757207,
      1.6736276788965532,
      1.047876589942225
    ],
    "vy_ego": [
      -0.00026194872032636596,
      0.0014288166332749874,
      0.004628765469611995,
      -0.019896278253643818,
      -0.026733228997434022,
      -0.012097155454158681,
      0.01774364988185506,
      0.032572589797231544,
      0.010233072038818403,
      -0.03218923115366534
    ],
    "v_ego": [
      7.1266831419994245,
      6.462831789431744,
      5.74101788952219,
      5.018926299154345,
      4.332561459078006,
      3.6272699926064287,
      2.9643513074082866,
      2.3199362674138526,
      1.6736589626719105,
      1.0483708763368098
    ],
    "ax_ego": [
      -1.3277129813758957,
      -1.327694736154465,
      -1.5595730578826847,
      -1.3290119873274966,
      -1.4161286200997503,
      -1.4047889321620208,
      -1.247048359072373,
      -1.332856883170238,
      -1.2514832329990875,
      -1.2515080898041904
    ],
    "ay_ego": [
      0.016833370487679966,
      0.018215126628563616,
      0.036104368611377224,
      -0.07218385710568753,
      0.09663261643889476,
      -0.03961788601943539,
      0.15426331767461865,
      -0.003839983368377653,
      -0.08422473191904795,
      -0.08385456921434092
    ],
    "a_ego": [
      1.3278196877874815,
      1.3278196802466702,
      1.5599909128922431,
      1.3309708380302088,
      1.4194217594589176,
      1.4053474733380211,
      1.2565535329006396,
      1.3328624146874841,
      1.2543141902827553,
      1.2543141901547061
    ],
    "yaw": [
      -2.1116593931258096,
      -2.1106186850456097,
      -2.1089256371209393,
      -2.1060280890977854,
      -2.103265061093314,
      -2.1033611770432814,
      -2.103721197910052,
      -2.095135038821902,
      -2.0949722710121375,
      -2.0946764947991046
    ],
    "yaw_diff": [
      0.002081416160399918,
      0.0033860958493407978,
      0.0057950960463077905,
      0.005526056008942959,
      -0.00019223189993500256,
      -0.0007200417335413434,
      0.01717231817629994,
      0.00032553561952930465,
      0.000591552426065789,
      0.000591552426065789
    ],
    "min_front_frame": [
      9,
      10.766664163920472
    ],
    "v_avg": 4.0315607985623,
    "v_std": 1.9537084070119604,
    "vy_max": 0.032572589797231544,
    "a_max": 1.5599909128922431,
    "ax_avg": -1.34478068800482,
    "a_std": 0.08976017495385048,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "612903ce91a2507c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 27.812499868520703,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.285029946921906,
      23.290737780019324,
      21.20851272534119,
      19.21168997412703,
      17.305555291134528,
      15.426027185323925,
      13.80619934925954,
      12.507578926487321,
      11.486859169782358,
      10.766664163920472
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "612903ce91a2507c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "eb4bbe69b80d5f12": {
    "vx_ego": [
      4.7248651381359545,
      4.479779994087151,
      4.156758454149515,
      3.725756279173769,
      3.345136240770013,
      3.0594259664129035,
      2.8436788982341823,
      2.625539170820859,
      2.2331599347052946,
      1.7318136088692995
    ],
    "vy_ego": [
      -0.12309774545525043,
      0.008778287263314422,
      0.04991774623254375,
      0.014059359580014252,
      0.011974997134423737,
      0.012904686856366365,
      0.010019797059902025,
      0.028771086102558796,
      0.032073633864401964,
      -0.04910421314094224
    ],
    "v_ego": [
      4.726468409765229,
      4.479788594761002,
      4.157058169851897,
      3.7257828059878326,
      3.3451576748890783,
      3.0594531823357567,
      2.8436965507232825,
      2.6256968052138476,
      2.2333902507090477,
      1.7325096246812304
    ],
    "ax_ego": [
      -0.520564113374824,
      -0.4773012778002256,
      -0.792485103102992,
      -0.9305312856615732,
      -0.5929227947282191,
      -0.5462560490558515,
      -0.31779815128711014,
      -0.5526997009063088,
      -1.0087978992668676,
      -0.9971596615485524
    ],
    "ay_ego": [
      -0.4913782110827637,
      -0.5335007344271079,
      -0.8131422113379,
      -0.5823326967505956,
      -0.4516590560185316,
      -0.45500865386627654,
      -0.33113259924008037,
      -0.2458674187106508,
      -0.2919631865447154,
      -0.32952734281745455
    ],
    "a_ego": [
      0.7158488265413402,
      0.7158488272142322,
      1.1354439195749169,
      1.0977248486300206,
      0.7453545085339411,
      0.7109349803064341,
      0.45896019788321146,
      0.6049196202516179,
      1.050197935563858,
      1.0501979148160387
    ],
    "yaw": [
      2.141694605866139,
      2.0573194269615733,
      1.9706758626752026,
      1.8916443192245955,
      1.818274565090314,
      1.7471016408367293,
      1.680875175157312,
      1.6219186830555863,
      1.5665265143753775,
      1.5290782981801847
    ],
    "yaw_diff": [
      -0.16875035780913095,
      -0.17328712857274153,
      -0.15806308690121407,
      -0.14673950826856297,
      -0.14234584850716958,
      -0.1324529313588343,
      -0.11791298420345164,
      -0.1107843373604176,
      -0.07489643239038557,
      -0.07489643239038557
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.292900206891821,
    "v_std": 0.9305660075222584,
    "vy_max": 0.12309774545525043,
    "a_max": 1.1354439195749169,
    "ax_avg": -0.6736516036732525,
    "a_std": 0.22308286399903177,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "eb4bbe69b80d5f12",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "eb4bbe69b80d5f12",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f3047391e1f25aad": {
    "vx_ego": [
      5.557973072890177,
      5.564366164441507,
      5.522144143112715,
      5.394798121471798,
      5.2314602700606265,
      5.089974500392909,
      4.966214709074736,
      4.839984047620519,
      4.636802396101945,
      4.354168695515178
    ],
    "vy_ego": [
      0.019031582564248084,
      -0.028158815239495705,
      -0.006140115374924315,
      -0.006040022576822679,
      0.0012984536695772597,
      -0.0019205399471041718,
      0.0015768137842964713,
      0.0017419611615803743,
      -0.013011478145756872,
      -0.024369287154351854
    ],
    "v_ego": [
      5.55800565671781,
      5.564437413688574,
      5.522147556732877,
      5.394801502679072,
      5.231460431199373,
      5.089974862720221,
      4.966214959400365,
      4.83998436109558,
      4.636820652026588,
      4.354236889646768
    ],
    "ax_ego": [
      0.012791533114922909,
      0.012782588668295486,
      -0.18220950003779748,
      -0.3269430817641703,
      -0.327428211228278,
      -0.23826700101248155,
      -0.257441415138925,
      -0.2469005328161004,
      -0.5663649638966144,
      -0.5649742769221224
    ],
    "ay_ego": [
      -0.09331387962094198,
      -0.09331510366607541,
      -0.16026387664712602,
      -0.23464188861597562,
      -0.1485182700592106,
      -0.18304736059756538,
      -0.09087441130393488,
      -0.16601498803074013,
      -0.12057222756623373,
      -0.12692912026845835
    ],
    "a_ego": [
      0.09418653539302643,
      0.09418653377884355,
      0.24266192956866833,
      0.40242837202007126,
      0.35953707743365,
      0.3004621440268591,
      0.2730095984733303,
      0.29752453572053694,
      0.5790569353611932,
      0.5790569360225295
    ],
    "yaw": [
      -2.9715401612754593,
      -2.9714442915167676,
      -2.9867850714949746,
      -3.0048299400986065,
      -3.0242392375775395,
      -3.039710586367637,
      -3.0540186463063304,
      -3.0671539873533717,
      -3.0790603940236627,
      -3.090298100350095
    ],
    "yaw_diff": [
      0.00019173951738338246,
      -0.030681559956414084,
      -0.03608973720726372,
      -0.038818594957866104,
      -0.030942697580194967,
      -0.02861611987738666,
      -0.026270682094082787,
      -0.02381281334058194,
      -0.02247541265286479,
      -0.02247541265286479
    ],
    "min_front_frame": [
      9,
      18.423081968470775
    ],
    "v_avg": 5.115808428590723,
    "v_std": 0.3951803837965728,
    "vy_max": 0.028158815239495705,
    "a_max": 0.5790569360225295,
    "ax_avg": -0.26849548610332713,
    "a_std": 0.1592448782917016,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f3047391e1f25aad",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.7241861263763,
    "right_rear_min": 27.920399651519556,
    "speed_mode": "decelerating",
    "front_frame": [
      36.6157925365816,
      34.6447207844902,
      32.70267680738975,
      30.66990620999868,
      28.69021068121704,
      26.719120064900338,
      24.742584753099052,
      22.69855551572434,
      20.68446957207122,
      18.423081968470775
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f3047391e1f25aad",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "55a241ed2c5a553b": {
    "vx_ego": [
      7.0039592587672255,
      6.80311879170169,
      6.436849430355142,
      5.858189573729481,
      5.244817464145868,
      4.71573073225931,
      4.186892868241994,
      3.66592460170001,
      3.340059988952348,
      3.1297442550718593
    ],
    "vy_ego": [
      0.00602120221344471,
      -0.006059302863498761,
      -0.00797032296869915,
      -0.018112719519177922,
      -0.009562368642713537,
      0.008811604641884685,
      -0.005127773618042397,
      -0.003165321527333731,
      0.008881286712577152,
      0.05365913415073664
    ],
    "v_ego": [
      7.003961846936863,
      6.803121490107013,
      6.436854364913932,
      5.858217574686108,
      5.2448261812097785,
      4.715738964738325,
      4.186896008285607,
      3.6659259682390952,
      3.340071796691507,
      3.130204211362753
    ],
    "ax_ego": [
      -0.40168618812165824,
      -0.40167568373406926,
      -1.0634479000448425,
      -1.251080840841543,
      -1.2021993900754564,
      -0.9141227946081845,
      -1.2011816535710322,
      -0.8826696098562606,
      -0.42067332337040864,
      -0.4206378175982188
    ],
    "ay_ego": [
      -0.029064400811512875,
      -0.02920914912109615,
      -0.012315100152177683,
      0.013676567435960796,
      0.07440676066429586,
      -0.012570230958936057,
      0.02641413232133305,
      0.01403986749446684,
      0.09197003574579124,
      0.0921322878505316
    ],
    "a_ego": [
      0.4027363071815608,
      0.40273630243077224,
      1.0635192042467043,
      1.2511555933686316,
      1.204499788098924,
      0.914209218028695,
      1.201472043479135,
      0.8827812628522795,
      0.4306094895268641,
      0.43060948904821594
    ],
    "yaw": [
      0.5554418228249851,
      0.5550814449439436,
      0.5538177702793974,
      0.5555164913052273,
      0.5579456204073847,
      0.5573560812825279,
      0.5612338574058628,
      0.5633310780367076,
      0.5675269649238752,
      0.5679126744652514
    ],
    "yaw_diff": [
      -0.0007207557620829697,
      -0.0025273493290924876,
      0.003397442051659816,
      0.004858258204314847,
      -0.0011790782497136387,
      0.007755552246669906,
      0.004194441261689441,
      0.00839177377433531,
      0.0007714190827523559,
      0.0007714190827523559
    ],
    "min_front_frame": [
      7,
      11.510416115873875
    ],
    "v_avg": 5.0385818407170975,
    "v_std": 1.3742796742033438,
    "vy_max": 0.05365913415073664,
    "a_max": 1.2511555933686316,
    "ax_avg": -0.8159375201821675,
    "a_std": 0.3468166637592265,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "55a241ed2c5a553b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.440944823264789,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.691564868544246,
      13.465299338018129,
      13.099474223095443,
      12.828796440723877,
      12.371800921935082,
      12.10878888828006,
      11.69365211703696,
      11.510416115873875,
      11.65313663212025,
      12.363052007247173
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "55a241ed2c5a553b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cc86bfa114035604": {
    "vx_ego": [
      9.750297846061429,
      9.6849256099189,
      9.570735041593702,
      9.352102617416135,
      8.952399968461805,
      8.324269236701678,
      7.519559103523488,
      6.633091034591576,
      5.715642622108751,
      4.775564716142247
    ],
    "vy_ego": [
      -0.015307863760397389,
      -0.003709348111228472,
      0.01165282000911283,
      0.00453691375176124,
      -0.012235835290229424,
      -0.03684304391873594,
      -0.06783604276474531,
      -0.0906327252940633,
      -0.07861971108867571,
      -0.05236252884427817
    ],
    "v_ego": [
      9.750309862645548,
      9.684926320263173,
      9.570742135519259,
      9.35210371789514,
      8.952408330219315,
      8.324350769578558,
      7.519865081241879,
      6.633710195966763,
      5.716183310797326,
      4.775851776645685
    ],
    "ax_ego": [
      -0.13104827657665652,
      -0.1306378269987307,
      -0.3250217833043988,
      -0.5495724069392889,
      -1.0488122782637188,
      -1.4651102299456051,
      -1.756635443150093,
      -1.7945584895942226,
      -1.88255252384101,
      -1.8812369053562579
    ],
    "ay_ego": [
      -0.07812398464514977,
      -0.07880841543184525,
      -0.25984198468837755,
      -0.18327504697354693,
      -0.29114934870361886,
      -0.2828696783543697,
      -0.28345470521527416,
      -0.2829230882333249,
      -0.08097117546337096,
      -0.10727562155930448
    ],
    "a_ego": [
      0.1525680430842169,
      0.15256804444518712,
      0.41612139650487406,
      0.5793268277166174,
      1.0884737655484737,
      1.4921672965266224,
      1.7793579319630444,
      1.8167238773215315,
      1.8842930600827663,
      1.8842930645351654
    ],
    "yaw": [
      -0.5465223566457964,
      -0.551753247388722,
      -0.5621161298035324,
      -0.573040040888288,
      -0.584091165119782,
      -0.5977724773455998,
      -0.6116681025066206,
      -0.6284445293733578,
      -0.6450941821229756,
      -0.6590715982284889
    ],
    "yaw_diff": [
      -0.010461781485851196,
      -0.020725764829620852,
      -0.02184782216951109,
      -0.022102248462988028,
      -0.02736262445163562,
      -0.02779125032204166,
      -0.033552853733474386,
      -0.033299305499235654,
      -0.02795483221102657,
      -0.02795483221102657
    ],
    "min_front_frame": [
      5,
      54.46397101869037
    ],
    "v_avg": 8.028045150077265,
    "v_std": 1.7003124474594549,
    "vy_max": 0.0906327252940633,
    "a_max": 1.8842930645351654,
    "ax_avg": -1.0965186163969982,
    "a_std": 0.6990978716838367,
    "ini_direction_judge": "straight",
    "scenario_type": "roundout_entrance",
    "scene_token": "cc86bfa114035604",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 23.905651385834666,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      55.06380696637469,
      54.6241883958684,
      54.46397101869037,
      54.76615919337237,
      55.43682462740772,
      56.778942943968275,
      58.66109097006428
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "cc86bfa114035604",
    "merge_risk": "No"
  },
  "62735179d4f258ea": {
    "vx_ego": [
      6.48448895954529,
      6.704655463647167,
      6.920844125650427,
      7.0774021338842665,
      7.1124155159718345,
      7.012879631794843,
      6.820197652511597,
      6.632326456128265,
      6.453295528947115,
      6.255397395487789
    ],
    "vy_ego": [
      0.015035926732307914,
      0.02257535448947756,
      0.0414691222743504,
      0.02804891878332816,
      0.0022991199587849565,
      -0.024403425211333207,
      -0.04011310633348919,
      -0.014867199687478294,
      0.011719714542995918,
      0.052455493822128885
    ],
    "v_ego": [
      6.484506391820233,
      6.704693470461131,
      6.920968364300781,
      7.077457714925218,
      7.112415887572202,
      7.012922091197436,
      6.820315614443691,
      6.632343119462793,
      6.453306170920283,
      6.255617327994699
    ],
    "ax_ego": [
      0.4397215830724704,
      0.4404259727375436,
      0.4237057386332769,
      0.20122417684852453,
      -0.06186529750453858,
      -0.33582539616529017,
      -0.43170460936280414,
      -0.3174274026032498,
      -0.3989122343553316,
      -0.3946168194450217
    ],
    "ay_ego": [
      0.10570658556197997,
      0.10273225051151424,
      0.10842804346142826,
      0.15740498739488068,
      0.19105917137651146,
      0.15892598365092833,
      0.265004636735782,
      0.3110245407999022,
      0.27482732992142167,
      0.280960134479752
    ],
    "a_ego": [
      0.4522487731889736,
      0.4522487730850931,
      0.4373593414569353,
      0.2554750465410444,
      0.20082560096363272,
      0.37153218567035246,
      0.5065533804413461,
      0.4444056940490701,
      0.48441824076937995,
      0.4844182401146608
    ],
    "yaw": [
      1.1902798576243145,
      1.1970385532415344,
      1.2020124391178415,
      1.2133797877251142,
      1.2292140646531808,
      1.245305102832921,
      1.262868614993156,
      1.2805621026160474,
      1.298854910895035,
      1.3143116429350896
    ],
    "yaw_diff": [
      0.013517391234439735,
      0.009947771752614187,
      0.022734697214545463,
      0.03166855385613321,
      0.03218207635948023,
      0.03512702432047021,
      0.035386975245782715,
      0.03658561655797499,
      0.03091346408010942,
      0.03091346408010942
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.747454615309847,
    "v_std": 0.27579624141682835,
    "vy_max": 0.052455493822128885,
    "a_max": 0.5065533804413461,
    "ax_avg": -0.043527428814442055,
    "a_std": 0.09746872039699542,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "62735179d4f258ea",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "62735179d4f258ea",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2072f71b7e8f5ece": {
    "vx_ego": [
      2.446886263292996,
      2.8114192793565564,
      3.2023927875547735,
      3.623646826691112,
      3.933993797922449,
      4.102582452719868,
      4.230309779083186,
      4.3480365981550015,
      4.488749966382561,
      4.648666740482498
    ],
    "vy_ego": [
      0.005111247238380745,
      0.006170298510388417,
      0.00642302411739748,
      0.003592443183226157,
      0.012737303147886125,
      0.018094654383973285,
      0.005235329081196838,
      -0.0077649870172291635,
      -0.006574270592443199,
      -0.006400725262090123
    ],
    "v_ego": [
      2.446891601673497,
      2.8114260504095507,
      3.202399228862892,
      3.6236486074447933,
      3.934014417993886,
      4.102622356235368,
      4.2303130186402775,
      4.348043531741454,
      4.488754780753039,
      4.6486711470432125
    ],
    "ax_ego": [
      0.7290634345252383,
      0.7290640727086652,
      0.8348010115678501,
      0.8501506313893732,
      0.3912362384595585,
      0.2830773421993538,
      0.22784750830947928,
      0.2430331336904134,
      0.3198349136409424,
      0.3198996425854944
    ],
    "ay_ego": [
      0.0032496443081102,
      0.0031029278775094316,
      0.016821429266903665,
      0.007518516527557084,
      0.029783511393829065,
      0.00030822960279400236,
      -0.05523226780985281,
      -0.014861184007605444,
      0.02491655975445417,
      0.02407126686124214
    ],
    "a_ego": [
      0.7290706767864592,
      0.7290706757756472,
      0.834970472170895,
      0.8501838766658216,
      0.39236826048360596,
      0.28307751000766224,
      0.23444634876717005,
      0.24348708150842474,
      0.3208040008068889,
      0.3208040012447354
    ],
    "yaw": [
      0.8796358152775072,
      0.8798370555774948,
      0.8814164990541419,
      0.8840301894041414,
      0.8840772796330297,
      0.8846144043580797,
      0.8844055351149114,
      0.8833505417614621,
      0.8836506527539882,
      0.8862932871414095
    ],
    "yaw_diff": [
      0.0004024805999751635,
      0.0031588869532941377,
      0.005227380699998951,
      9.418045777676021e-05,
      0.001074249450099929,
      -0.00041773848633663846,
      -0.002109986706898548,
      0.0006002219850522739,
      0.005285268774842589,
      0.005285268774842589
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.783678474079797,
    "v_std": 0.7059341605220143,
    "vy_max": 0.018094654383973285,
    "a_max": 0.8501838766658216,
    "ax_avg": 0.4928007929076369,
    "a_std": 0.24465890609669144,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "2072f71b7e8f5ece",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.59134635514766,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "2072f71b7e8f5ece",
    "pedestrians": "No"
  },
  "0e0e30877d725664": {
    "vx_ego": [
      6.800445026901346,
      6.7337132740270125,
      6.66700364645947,
      6.632630796595924,
      6.576496885317815,
      6.441539411478752,
      6.299470231280396,
      6.224333274806263,
      6.267147058022002,
      6.378767919014784
    ],
    "vy_ego": [
      0.016392946533786645,
      0.00985223355828957,
      0.00574129763640574,
      0.013849455410297917,
      -0.020897791014164557,
      -0.07169008334639448,
      -0.04563328196662253,
      -0.004486448539633869,
      0.013830460759141072,
      0.017677797326665967
    ],
    "v_ego": [
      6.800464785042513,
      6.733720481525326,
      6.667006118521448,
      6.632645255956921,
      6.576530088144066,
      6.441938330788664,
      6.2996355125682415,
      6.2243348917037675,
      6.267162318666929,
      6.378792414647973
    ],
    "ax_ego": [
      -0.1335398865172791,
      -0.13350275411755202,
      -0.13338469846789613,
      -0.004194792855816625,
      -0.22021218749824384,
      -0.31686423922157203,
      -0.24852960026893361,
      -0.05193904672520781,
      0.22314515985043407,
      0.2232114587938589
    ],
    "ay_ego": [
      0.016666257414302124,
      0.0169611983404395,
      0.04651270198426033,
      0.06774270813666783,
      0.06469874788108455,
      0.0927162791271641,
      0.24686166483040295,
      0.07199563065874567,
      0.033280333805891904,
      0.032832734387018725
    ],
    "a_ego": [
      0.1345758723815215,
      0.13457588047683464,
      0.14126184633951303,
      0.06787245975204503,
      0.22951979326441943,
      0.3301503513744182,
      0.3502965083649481,
      0.08877519590895781,
      0.2256132597674777,
      0.2256132615433124
    ],
    "yaw": [
      2.5213532825330063,
      2.5235621493683387,
      2.526543995400565,
      2.5296276099006674,
      2.5398600369379487,
      2.5536835658874315,
      2.5629318530591076,
      2.5691151681238065,
      2.5704034664358195,
      2.5724090065652856
    ],
    "yaw_diff": [
      0.004417733670664781,
      0.005963692064452353,
      0.0061672290002050545,
      0.020464854074562666,
      0.0276470578989656,
      0.01849657434335228,
      0.012366630129397649,
      0.002576596624026095,
      0.004011080258932154,
      0.004011080258932154
    ],
    "min_front_frame": [
      9,
      22.881139828182913
    ],
    "v_avg": 6.502223019756585,
    "v_std": 0.1961149142957538,
    "vy_max": 0.07169008334639448,
    "a_max": 0.3502965083649481,
    "ax_avg": -0.0795810587028208,
    "a_std": 0.09112428581665931,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "0e0e30877d725664",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      26.61858932523411,
      26.12712576026538,
      25.689015217533896,
      25.400196130780934,
      25.21626786428932,
      24.679959118829736,
      24.428100596601002,
      23.8977066014621,
      23.330248422522484,
      22.881139828182913
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0e0e30877d725664",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "7a3e0625f3c751ce": {
    "vx_ego": [
      8.976518848919762,
      8.953920903992156,
      8.93551173519794,
      8.949628766678725,
      8.952721329535086,
      8.914220839678775,
      8.892231727317217,
      8.874203663404165,
      8.882237863617362,
      8.928495439430773
    ],
    "vy_ego": [
      -0.020860819728865332,
      -0.0001028962740361461,
      0.028194215225287422,
      -0.00554196464883594,
      -0.07297894494112711,
      -0.09208428624549247,
      -0.08010664707646953,
      -0.08939720770841397,
      -0.11305192023100652,
      -0.1692508609013439
    ],
    "v_ego": [
      8.976543088450672,
      8.953920904583386,
      8.935556215683064,
      8.94963048258058,
      8.9530187719404,
      8.91469644431804,
      8.892592544765153,
      8.874653938059893,
      8.882957289244716,
      8.930099476817263
    ],
    "ax_ego": [
      -0.05232178901177009,
      -0.036868827388685646,
      -0.0389386185528114,
      0.09228545405322594,
      -0.07357661558497908,
      -0.06797356743973329,
      -0.009894282643599844,
      -0.05209869508152906,
      0.0946441293446778,
      0.10725023265593726
    ],
    "ay_ego": [
      0.5468634139148247,
      0.5481221148783522,
      0.49310160364055006,
      0.3575681449049485,
      0.46137506937067296,
      0.5900716228317611,
      0.5554437835171973,
      0.5226350855484012,
      0.4224316923630337,
      0.4194084316423901
    ],
    "a_ego": [
      0.5493606857830009,
      0.5493606859356921,
      0.4946366419177652,
      0.3692852329576371,
      0.4672049582332502,
      0.593973842809422,
      0.5555319014034482,
      0.5252253865488442,
      0.432904199485416,
      0.4329041983366321
    ],
    "yaw": [
      1.730296401614274,
      1.758519488698905,
      1.7844553701320764,
      1.812058255527204,
      1.842392039521933,
      1.8739548787195786,
      1.9047980099823696,
      1.9361629908039952,
      1.9654977931306685,
      1.9954444805862073
    ],
    "yaw_diff": [
      0.05644617416926234,
      0.05187176286634276,
      0.055205770790255126,
      0.06066756798945816,
      0.06312567839529093,
      0.06168626252558207,
      0.06272996164325129,
      0.058669604653346585,
      0.05989337491107749,
      0.05989337491107749
    ],
    "min_front_frame": [
      8,
      17.088850714753224
    ],
    "v_avg": 8.926366915644318,
    "v_std": 0.03234547357319933,
    "vy_max": 0.1692508609013439,
    "a_max": 0.593973842809422,
    "ax_avg": -0.003749257964926743,
    "a_std": 0.06673139071009315,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "7a3e0625f3c751ce",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 21.400196960221553,
    "right_rear_min": 4.411907226736045,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      17.088850714753224,
      19.996613101909055
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7a3e0625f3c751ce",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6df89719fce05527": {
    "vx_ego": [
      5.9408793210595805,
      5.853867828520493,
      5.83558263140048,
      5.876769311758404,
      6.007988587683435,
      6.262391250125231,
      6.583687856187694,
      6.9169540319723595,
      7.2828526348323015,
      7.6933702851659
    ],
    "vy_ego": [
      -0.03809792022962544,
      0.034183415786498084,
      0.034114344649191164,
      -0.012305882788393396,
      -0.05797648020293211,
      -0.028921117441757183,
      -0.011549402695655964,
      -0.029040483033370368,
      -0.1954387032670306,
      0.011272415799914448
    ],
    "v_ego": [
      5.941001477774531,
      5.853967633981424,
      5.835682345400047,
      5.876782195928019,
      6.008268314746863,
      6.262458031849725,
      6.583697986421913,
      6.917014994206206,
      7.285474506675491,
      7.693378543398966
    ],
    "ax_ego": [
      -0.2500265057819431,
      -0.09615322828355252,
      0.012077367091957142,
      0.16202388518588048,
      0.42706746020127273,
      0.6344075321279016,
      0.660625636364066,
      0.6519010517411873,
      0.8109283478023712,
      0.8434644963927522
    ],
    "ay_ego": [
      1.4098209217501614,
      1.42858771015044,
      1.5293369797675476,
      1.7429041448958662,
      2.1979534454029834,
      2.335677573177734,
      2.2849134760298093,
      1.859328731069863,
      0.9489385412270082,
      0.9201395479006773
    ],
    "a_ego": [
      1.4318199205898774,
      1.4318199219532555,
      1.5293846672699443,
      1.7504189777495895,
      2.2390591693212603,
      2.4203021800316677,
      2.3784986492247695,
      1.9702990411212034,
      1.2482344091938524,
      1.2482344107922767
    ],
    "yaw": [
      -1.8562856809638688,
      -1.747969503750073,
      -1.6213125925653413,
      -1.4734897743714548,
      -1.2994773954631684,
      -1.1192006340398306,
      -0.9424321229756725,
      -0.7866985463293205,
      -0.6641878833286614,
      -0.6293762129376035
    ],
    "yaw_diff": [
      0.21663235442759143,
      0.25331382236946354,
      0.2956456363877731,
      0.3480247578165727,
      0.36055352284667563,
      0.3535370221283163,
      0.311467153292704,
      0.2450213260013181,
      0.06962334078211585,
      0.06962334078211585
    ],
    "min_front_frame": [
      7,
      20.237213011613072
    ],
    "v_avg": 6.42577260303832,
    "v_std": 0.6344063463146358,
    "vy_max": 0.1954387032670306,
    "a_max": 2.4203021800316677,
    "ax_avg": 0.3856316042841893,
    "a_std": 0.43411051946115553,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "6df89719fce05527",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 47.72695631725225,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      20.237213011613072,
      21.319391759287353,
      22.415472649566375
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6df89719fce05527",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "1164ea5308cf5aae": {
    "vx_ego": [
      9.451908747451872,
      9.233336413199215,
      9.069628968280153,
      8.904757407492458,
      8.645892145629015,
      8.361513917318135,
      8.076592737925079,
      7.829348242463449,
      7.666340350498795,
      7.5260225835326535
    ],
    "vy_ego": [
      -0.08140482085825074,
      -0.05928203357137729,
      -0.02799347515263717,
      -0.053062127564752704,
      -0.05665085490770627,
      -0.0266516533194201,
      -0.006181533749040735,
      0.005542349540486935,
      0.02919749489947554,
      0.03994960657375035
    ],
    "v_ego": [
      9.45225929156708,
      9.233526719450966,
      9.069672169208634,
      8.904915500759875,
      8.646077741566476,
      8.361556392211293,
      8.076595103486593,
      7.829350204161513,
      7.666395950079437,
      7.526128612966225
    ],
    "ax_ego": [
      -0.45628382176938476,
      -0.40266743946795475,
      -0.24577901847544,
      -0.4110629078430665,
      -0.6138328604882181,
      -0.5236612270385419,
      -0.6176086036031915,
      -0.37122336608816087,
      -0.28116222251855416,
      -0.2807419389960226
    ],
    "ay_ego": [
      1.011670075991412,
      1.034180942432521,
      0.9376103053387881,
      0.7216855189837253,
      0.7750844676670542,
      0.44303946540012895,
      0.0691538276478536,
      0.12813089848387654,
      0.09073239197509075,
      0.09202457724625411
    ],
    "a_ego": [
      1.1098068609739915,
      1.1098068699094885,
      0.9692886105800718,
      0.8305436186710523,
      0.9887096199763957,
      0.6859337056928632,
      0.621468132025314,
      0.39271403676989974,
      0.2954396085921698,
      0.2954396031824411
    ],
    "yaw": [
      2.5490740053845324,
      2.6014767628001345,
      2.652020723705542,
      2.7008453639927836,
      2.743765185212615,
      2.7760890104063236,
      2.789159029179226,
      2.7939048518645206,
      2.7979196240623567,
      2.8025189493437086
    ],
    "yaw_diff": [
      0.10480551483120415,
      0.10108792181081494,
      0.0976492805744833,
      0.08583964243966236,
      0.0646476503874176,
      0.026140037545804518,
      0.009491645370589552,
      0.008029544395672161,
      0.009198650562703747,
      0.009198650562703747
    ],
    "min_front_frame": [
      7,
      24.79466615970838
    ],
    "v_avg": 8.476647768545808,
    "v_std": 0.6512110462213785,
    "vy_max": 0.08140482085825074,
    "a_max": 1.1098068699094885,
    "ax_avg": -0.42040234062885345,
    "a_std": 0.30462656839622454,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "1164ea5308cf5aae",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      56.65051899512841,
      35.147992573925784,
      33.68804598639059,
      30.653770559755227,
      26.440045109659835,
      28.70381246974528,
      24.79466615970838,
      31.236469380335695,
      31.805192594632853
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8888888888888888,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1111111111111111,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1164ea5308cf5aae",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "b541b6d67bad546d": {
    "vx_ego": [
      1.0576954619653016,
      1.3797303490502006,
      1.676262424055683,
      1.9642591003541272,
      2.2606295770974003,
      2.547226171618485,
      2.8345109177276253,
      3.079715599714156,
      3.172227704374479,
      3.188400354984167
    ],
    "vy_ego": [
      -0.02028100530108891,
      0.010526056553704338,
      0.019337340849361062,
      0.010625966095869688,
      0.002714881581624029,
      0.0007442724344750573,
      -0.009156691647270288,
      -0.021967612989551633,
      -0.053872416902464026,
      -0.07158731667375262
    ],
    "v_ego": [
      1.0578898853084926,
      1.3797705004662044,
      1.6763739579974866,
      1.9642878415546627,
      2.260631207302415,
      2.5472262803527332,
      2.8345257077188464,
      3.0797939462151005,
      3.1726851160655527,
      3.1892039081206
    ],
    "ax_ego": [
      0.6424426950668801,
      0.6459898781913767,
      0.5388409688937945,
      0.6135220547058936,
      0.5838128244420637,
      0.5665161399221001,
      0.5978510309152139,
      0.40641949931374716,
      -0.018487355592916033,
      0.12049813736049919
    ],
    "ay_ego": [
      0.1376201091107315,
      0.11987072074832311,
      0.17852622175458005,
      0.30881964577183685,
      0.580148722870043,
      0.6550356123845655,
      0.8353363621722678,
      1.006306530994603,
      0.923964420348257,
      0.9162599155515011
    ],
    "a_ego": [
      0.6570174357476717,
      0.657017436921146,
      0.5676453132127215,
      0.6868616201427943,
      0.8230491811737388,
      0.8660324418197388,
      1.027235461388275,
      1.0852786019012948,
      0.9241493561033896,
      0.9241493569514582
    ],
    "yaw": [
      -3.064848245113536,
      -3.037298084645994,
      -2.9946236395670285,
      -2.922565823963854,
      -2.8139129223384485,
      -2.6849336414110834,
      -2.5428209260060743,
      -2.384409336365156,
      -2.222930756047987,
      -2.07216421770109
    ],
    "yaw_diff": [
      0.05510032093508421,
      0.08534889015793112,
      0.14411563120634874,
      0.21730580325081128,
      0.2579585618547302,
      0.28422543081001805,
      0.3168231792818368,
      0.32295716063433755,
      0.3015330766937945,
      0.3015330766937945
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.3162388351102097,
    "v_std": 0.7346676073631131,
    "vy_max": 0.07158731667375262,
    "a_max": 1.0852786019012948,
    "ax_avg": 0.4697405873218653,
    "a_std": 0.16481598590703994,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "b541b6d67bad546d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.894276686809349,
    "right_rear_min": 6.828089585996358,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "b541b6d67bad546d",
    "pedestrians": "No"
  },
  "f24ade1ee3ac51ce": {
    "vx_ego": [
      6.752908696939675,
      7.400938369074691,
      8.065113918487036,
      8.72623201292137,
      9.37501835726955,
      10.021061389292532,
      10.637482551354083,
      11.186448183931896,
      11.476096646491055,
      11.55361530894628
    ],
    "vy_ego": [
      0.016544918456966345,
      -0.01892302658810166,
      -0.031675806119084826,
      -0.017497349152885616,
      0.008066476726745972,
      0.017363086577898618,
      0.001522647721705019,
      -0.009839738971245453,
      -0.013659382670251019,
      0.006752958259718528
    ],
    "v_ego": [
      6.752928964792259,
      7.400962560625287,
      8.065176121751254,
      8.726249555253457,
      9.37502182755794,
      10.021076431439143,
      10.63748266032987,
      11.186452511509458,
      11.476104775503671,
      11.553617282460205
    ],
    "ax_ego": [
      1.29590724535196,
      1.296194328432222,
      1.359975149707003,
      1.2836864683284372,
      1.3113241346982705,
      1.2735088690071752,
      1.192318115342201,
      1.0033976696570939,
      0.15501853882624314,
      0.15502836400460104
    ],
    "ay_ego": [
      -0.11013009414763744,
      -0.10669823649580154,
      -0.10818343048627187,
      -0.0444187840461245,
      -0.025470501939720995,
      -0.15713847759837898,
      -0.13341192440836588,
      -0.09742267494613424,
      -0.005104911334547585,
      -0.004796774402170788
    ],
    "a_ego": [
      1.3005784198550554,
      1.3005784292887426,
      1.3642712569179059,
      1.2844547393137962,
      1.3115714744958542,
      1.2831669184411945,
      1.1997588214918535,
      1.0081160950341714,
      0.15510257089925056,
      0.15510255539677095
    ],
    "yaw": [
      -1.5395566196449133,
      -1.5422045528882313,
      -1.5475077576242282,
      -1.553733520791642,
      -1.5584903743815914,
      -1.564153574183181,
      -1.5696468236505217,
      -1.573884933649675,
      -1.5757920452668794,
      -1.577779717357777
    ],
    "yaw_diff": [
      -0.005295866486636047,
      -0.01060640947199376,
      -0.012451526334827712,
      -0.009513707179898745,
      -0.011326399603178938,
      -0.01098649893468151,
      -0.008476219998306611,
      -0.003814223234408942,
      -0.003975344181795126,
      -0.003975344181795126
    ],
    "min_front_frame": [
      0,
      20.88126628687708
    ],
    "v_avg": 9.519507269122254,
    "v_std": 1.6478296184657528,
    "vy_max": 0.031675806119084826,
    "a_max": 1.3642712569179059,
    "ax_avg": 1.0326358883355204,
    "a_std": 0.45012006251851916,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f24ade1ee3ac51ce",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.1529984160666364,
    "right_rear_min": 7.253393516038121,
    "speed_mode": "accelerating",
    "front_frame": [
      20.88126628687708,
      21.758760466588413,
      22.578894041950853,
      23.27225391819261,
      23.78290789655129,
      24.285613495615,
      24.575418740996483,
      24.898259715507965,
      25.06784602553863,
      25.248264624248055
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f24ade1ee3ac51ce",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "95ba88fe9c385123": {
    "vx_ego": [
      6.659184446799232,
      6.952441778332349,
      7.2836199874353165,
      7.601686902702622,
      7.860964045042305,
      8.021305030356963,
      8.157995522110026,
      8.313753812470184,
      8.489283204642037,
      8.688462448840514
    ],
    "vy_ego": [
      0.021351638734230793,
      0.03441209656747346,
      0.09710429187638892,
      0.08503025800817632,
      0.04771251788219644,
      0.013592288448491363,
      0.006475600199216558,
      0.001137718465209936,
      -0.008625178512455367,
      -0.016020602700927533
    ],
    "v_ego": [
      6.659218677064858,
      6.952526941586868,
      7.284267249687374,
      7.602162449691372,
      7.86110884047604,
      8.021316546573585,
      8.157998092189356,
      8.313753890317287,
      8.489287586265513,
      8.688477218973565
    ],
    "ax_ego": [
      0.5108530878505446,
      0.6708483080864418,
      0.6542888859270514,
      0.6245599542889985,
      0.4144277170195358,
      0.22727638881378837,
      0.31946204524284516,
      0.30367504707189324,
      0.39832059862047625,
      0.39834977094478163
    ],
    "ay_ego": [
      -1.4929249471441137,
      -1.428201076234178,
      -0.911466677951631,
      -0.475739180233675,
      -0.1765877230627675,
      -0.09354030660909879,
      0.02955903533696401,
      -0.09507408219304064,
      -0.03115847851090313,
      -0.03078327275500574
    ],
    "a_ego": [
      1.5779086713658972,
      1.5779086686557324,
      1.1219917340443486,
      0.7851133065430015,
      0.4504814719503091,
      0.24577295594259455,
      0.32082664309684994,
      0.3182100176282413,
      0.3995374201104184,
      0.39953741989113994
    ],
    "yaw": [
      -0.057576575727814994,
      -0.16701075680015948,
      -0.25790318063826034,
      -0.302847374821668,
      -0.31905874898206193,
      -0.32325381525051433,
      -0.3243529096619064,
      -0.3256931715115372,
      -0.32829103056822934,
      -0.32923294892046184
    ],
    "yaw_diff": [
      -0.21886836214468897,
      -0.18178484767620173,
      -0.08988838836681534,
      -0.03242274832078784,
      -0.008390132536904793,
      -0.0021981888227841084,
      -0.002680523699261639,
      -0.005195718113384262,
      -0.001883836704465014,
      -0.001883836704465014
    ],
    "min_front_frame": [
      9,
      75.66537627335958
    ],
    "v_avg": 7.803011749282581,
    "v_std": 0.6351340027448683,
    "vy_max": 0.09710429187638892,
    "a_max": 1.5779086713658972,
    "ax_avg": 0.4522061803866356,
    "a_std": 0.4961400557498205,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "95ba88fe9c385123",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.7283591208217,
      77.52797932019881,
      76.27964146909737,
      75.66537627335958
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "95ba88fe9c385123",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "692bea45f3de5fd0": {
    "vx_ego": [
      3.9433332787799844,
      4.327727593327418,
      4.828939674457011,
      5.412280294863344,
      5.943709813289624,
      6.386347159719204,
      6.7277058201412725,
      6.923895008728663,
      7.013728570749831,
      7.0666629459405925
    ],
    "vy_ego": [
      0.03800994579871192,
      0.08818649592681888,
      0.02694506408138242,
      0.01966557737113983,
      0.02688275599350698,
      0.018992280066203016,
      -0.0011227991000035686,
      -0.0367782450973011,
      -0.0595099075024228,
      -0.06524180492418585
    ],
    "v_ego": [
      3.94351646421228,
      4.328625992172501,
      4.829014849430817,
      5.412316022286522,
      5.943770606876176,
      6.386375400111995,
      6.727705913834267,
      6.923992687114143,
      7.0139810302882495,
      7.066964106647177
    ],
    "ax_ego": [
      0.7028412241557539,
      0.8632142744999989,
      1.1430077053184509,
      1.1909437465876513,
      0.9381468224868043,
      0.8347385993254446,
      0.5304892610172365,
      0.2527393220329032,
      0.10369289798304523,
      0.10539508859067909
    ],
    "ay_ego": [
      -1.15693062040876,
      -1.0427537322745564,
      -0.6175050647404181,
      -0.4541775309271995,
      -0.4356599545673664,
      -0.39639107651237904,
      -0.3074111623350838,
      -0.2629182145497552,
      -0.16120404454189838,
      -0.16009632741294252
    ],
    "a_ego": [
      1.3536891248777012,
      1.3536891186210653,
      1.2991455343407137,
      1.2746074835553725,
      1.0343689170483263,
      0.9240748967169532,
      0.6131235428384894,
      0.36469597261785425,
      0.1916741011946804,
      0.1916740951462904
    ],
    "yaw": [
      -3.067375761864527,
      3.070252478337853,
      2.9924147867320796,
      2.941465765085302,
      2.901244768145842,
      2.868854631674699,
      2.845226599454538,
      2.8296410824236844,
      2.817719994242215,
      2.8071244440029988
    ],
    "yaw_diff": [
      -0.2911141339544123,
      -0.1556753832115465,
      -0.10189804329355479,
      -0.08044199387892004,
      -0.06478027294228639,
      -0.047256064440322376,
      -0.031171034061706848,
      -0.023842176362938616,
      -0.021191100478432645,
      -0.021191100478432645
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.857626307297413,
    "v_std": 1.1062923490549261,
    "vy_max": 0.08818649592681888,
    "a_max": 1.3536891248777012,
    "ax_avg": 0.6665208941997968,
    "a_std": 0.45676133886544873,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "692bea45f3de5fd0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "692bea45f3de5fd0",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "75c91bd683535274": {
    "vx_ego": [
      1.929790913925407,
      1.5084996092310792,
      1.2049502261380682,
      1.089689823855742,
      1.0838612883815713,
      1.1163308531503267,
      1.1162570580219882,
      1.1156373112964864,
      1.1226768918782997,
      1.106056348727628
    ],
    "vy_ego": [
      -0.0397911561540889,
      0.002310076529160432,
      0.020368223078922557,
      0.002159270043802071,
      -0.02099388289067586,
      -0.03191858566109912,
      -0.030156486272647217,
      -0.008627982335573863,
      0.037281207653761556,
      0.09583183064930637
    ],
    "v_ego": [
      1.9302011054750583,
      1.5085013780251875,
      1.205122363904004,
      1.0896919631996376,
      1.0840645901287371,
      1.1167870745159711,
      1.1166643332927835,
      1.1156706738263027,
      1.1232957277590092,
      1.1102001559747188
    ],
    "ax_ego": [
      -0.8425800807278945,
      -0.8427589427120833,
      -0.3712759102019151,
      -0.08972548999809712,
      0.06637900846107084,
      0.06348602529073878,
      -0.06382669712182203,
      0.06127176875960654,
      -0.03309208073492553,
      -0.03318217281636805
    ],
    "ay_ego": [
      0.0771136019690931,
      0.07513363433436825,
      -0.012377552763268579,
      -0.06299999675468008,
      -0.03221467204758031,
      -0.011986383017181985,
      0.017551640336003396,
      0.06526690003109253,
      0.11537363019151468,
      0.11534775306670259
    ],
    "a_ego": [
      0.8461014714844035,
      0.846101470586997,
      0.3714821736081935,
      0.10963422433933816,
      0.07378318141289426,
      0.06460765268179082,
      0.06619597679591431,
      0.08952093546539448,
      0.12002566538426362,
      0.12002566696483011
    ],
    "yaw": [
      -3.111918975673306,
      -3.11426861673909,
      -3.116094127967206,
      -3.116665500347267,
      -3.1172750201889627,
      -3.1173891225999837,
      -3.1177166152975264,
      -3.1184653803857865,
      -3.1191277081433495,
      -3.1199086591210516
    ],
    "yaw_diff": [
      -0.004699282131568339,
      -0.003651022456232056,
      -0.0011427447601217722,
      -0.001219039683391543,
      -0.00022820482204188863,
      -0.0006549853950854612,
      -0.001497530176520101,
      -0.0013246555151260608,
      -0.0015619019554042879,
      -0.0015619019554042879
    ],
    "min_front_frame": [
      9,
      11.079747803867077
    ],
    "v_avg": 1.240019936610141,
    "v_std": 0.25940588644196455,
    "vy_max": 0.09583183064930637,
    "a_max": 0.8461014714844035,
    "ax_avg": -0.208530457180169,
    "a_std": 0.29992940189374356,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "75c91bd683535274",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.3215943495858933,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.492351257476718,
      11.134114615394006,
      11.184092526041052,
      11.321327231938325,
      11.333008389571564,
      11.462781756162649,
      11.56639841419351,
      11.247722019615486,
      11.110978147903332,
      11.079747803867077
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "75c91bd683535274",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c8ab144242b05eba": {
    "vx_ego": [
      5.072626624442781,
      4.494996249512113,
      3.910250998213111,
      3.3351433271884785,
      2.829626710511385,
      2.4012412876017555,
      2.006430227471171,
      1.5596005674478817,
      1.0414311742756135,
      0.5118123756212227
    ],
    "vy_ego": [
      -0.0752760533763781,
      -0.07265153502636634,
      -0.08731671468049962,
      -0.04376074779290762,
      0.020763085343033616,
      0.050290915363594424,
      0.02055850122797509,
      -0.006649568833100417,
      -0.006117759101341602,
      -0.00946518801046814
    ],
    "v_ego": [
      5.073185129208048,
      4.495583335749616,
      3.911225776874716,
      3.3354304093980476,
      2.8297028866212166,
      2.4017678691854143,
      2.0065355490702768,
      1.5596147430533673,
      1.0414491431315815,
      0.5118998902354963
    ],
    "ax_ego": [
      -1.1608200204292982,
      -1.1560766706053014,
      -1.1871024071277376,
      -1.1151651645284326,
      -0.9072290682633748,
      -0.8047717597719157,
      -0.7737703595675184,
      -1.013415618748508,
      -1.0592305982636943,
      -1.0592328818707935
    ],
    "ay_ego": [
      -0.1973526632699944,
      -0.22346794841618361,
      0.0014444709305343473,
      0.08548815405996901,
      0.08543364724953895,
      -0.04474231808111584,
      -0.10966346134117233,
      0.02513539546228899,
      -0.006312370502569831,
      -0.005916584315168727
    ],
    "a_ego": [
      1.1774766212240633,
      1.177476620696639,
      1.187103285946399,
      1.1184371098377894,
      0.9112428273431785,
      0.8060145534378755,
      0.7815028113184069,
      1.013727283064073,
      1.0592494070422818,
      1.0592494059503952
    ],
    "yaw": [
      -0.5651895326310341,
      -0.5877319068971965,
      -0.5974407738466212,
      -0.6034796567395848,
      -0.6106100511062813,
      -0.6180467321214335,
      -0.6220781751866412,
      -0.6187267423398339,
      -0.615531359355565,
      -0.6151577050341153
    ],
    "yaw_diff": [
      -0.04508474853232469,
      -0.019417733898849487,
      -0.01207776578592723,
      -0.014260788733392982,
      -0.014873362030304316,
      -0.008062886130415503,
      0.006702865693614557,
      0.006390765968537826,
      0.0007473086428995135,
      0.0007473086428995135
    ],
    "min_front_frame": [
      9,
      9.82885200490261
    ],
    "v_avg": 2.7166394732527785,
    "v_std": 1.4195037124626042,
    "vy_max": 0.08731671468049962,
    "a_max": 1.187103285946399,
    "ax_avg": -1.0236814549176576,
    "a_std": 0.14282628229217295,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c8ab144242b05eba",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.04844708021489,
      19.705658469308723,
      17.66584343721077,
      15.84563378476847,
      14.313878512351017,
      12.980282236605708,
      11.86679606516371,
      10.942310921847886,
      10.228119160986195,
      9.82885200490261
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c8ab144242b05eba",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2b760b8260af515c": {
    "vx_ego": [
      7.378429019776347,
      6.922911900215507,
      6.443763358521418,
      5.945574618437521,
      5.451710282611896,
      4.940448692542547,
      4.39129314403723,
      3.8485112300065816,
      3.3532676787954863,
      2.879691963870359
    ],
    "vy_ego": [
      0.05288615420591089,
      0.01510688433562457,
      -0.0038556899387149346,
      -0.001918822179132744,
      0.003150479609779898,
      0.026670534589413264,
      0.02455607326919601,
      -0.01892069867773863,
      -0.03977488513225867,
      0.005054540086623885
    ],
    "v_ego": [
      7.378618552627886,
      6.922928382996592,
      6.443764512066539,
      5.945574928069364,
      5.4517111929244795,
      4.940520681169207,
      4.391361802175128,
      3.848557740287292,
      3.353503565995085,
      2.8796963998232545
    ],
    "ax_ego": [
      -0.9114161627357701,
      -0.9113942251733771,
      -1.004626773784811,
      -0.9885783432992644,
      -0.9866714622040623,
      -1.0587233422341649,
      -1.1384686753715165,
      -1.0329906678462166,
      -0.9471439467086104,
      -0.9473262738565135
    ],
    "ay_ego": [
      0.0014128628815852189,
      0.006479598081475378,
      0.17213052189098313,
      0.03982991217624038,
      0.11505088091045938,
      0.06441502762525785,
      0.009007341303906298,
      -0.1002191739137678,
      0.07554082721638149,
      0.07321886383635395
    ],
    "a_ego": [
      0.9114172578339286,
      0.9114172583787724,
      1.0192663396638486,
      0.9893803933494364,
      0.993356572196598,
      1.060681107202086,
      1.1385043069745238,
      1.0378408368711123,
      0.9501516049364428,
      0.9501516043034146
    ],
    "yaw": [
      1.54480235632894,
      1.5503615968668945,
      1.5598634196874475,
      1.5681075226462968,
      1.574012824809184,
      1.5781138889674011,
      1.5824917171509152,
      1.5875258520051663,
      1.5916160831053867,
      1.5891647781892126
    ],
    "yaw_diff": [
      0.01111848107590907,
      0.019003645641106015,
      0.01648820591769873,
      0.01181060432577441,
      0.008202128316434187,
      0.00875565636702813,
      0.010068269708502164,
      0.008180462200440886,
      -0.004902609832348137,
      -0.004902609832348137
    ],
    "min_front_frame": [
      9,
      13.937091763220854
    ],
    "v_avg": 5.155623775813482,
    "v_std": 1.4561022796682295,
    "vy_max": 0.05288615420591089,
    "a_max": 1.1385043069745238,
    "ax_avg": -0.9927339873214306,
    "a_std": 0.06733949041143293,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2b760b8260af515c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.529024879226188,
    "right_rear_min": 3.5410305886026783,
    "speed_mode": "decelerating",
    "front_frame": [
      26.49886979759473,
      27.132368742190835,
      27.825202907317735,
      27.06236311945651,
      24.244615176631143,
      21.674601992590397,
      19.30014538326769,
      17.27277241278073,
      15.475254690612983,
      13.937091763220854
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2b760b8260af515c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bb73caa6692856bf": {
    "vx_ego": [
      3.7091938958601056,
      2.974101792015487,
      2.2376724966350436,
      1.5247665321073627,
      0.8993078425350917,
      0.39362159201854136,
      0.06455512028932715,
      -0.05159252810288525,
      -0.047715761748404605,
      -0.017417423431094415
    ],
    "vy_ego": [
      -0.06885146898392411,
      -0.015320253004757325,
      0.010316761102347666,
      0.017430346271544897,
      0.02208577912077379,
      -0.0016493205538503156,
      -0.020479071781161977,
      -0.007831514067934992,
      0.0022691866535891423,
      -0.0004715365271463903
    ],
    "v_ego": [
      3.7098328644114296,
      2.974141250751528,
      2.2376962791577752,
      1.524866156226788,
      0.899579000024174,
      0.39362504742648224,
      0.06772559292163843,
      0.05218353733356208,
      0.04776968837347947,
      0.017423805143379847
    ],
    "ax_ego": [
      -1.4701546235758463,
      -1.4700314377731398,
      -1.4757133903778321,
      -1.375919425805577,
      -1.125986867757301,
      -0.896745540400034,
      -0.4194974417186441,
      -0.04509164862630803,
      0.06059663777856401,
      0.06059685264413324
    ],
    "ay_ego": [
      0.1134748788065692,
      0.11505970418949604,
      -0.006850692584317454,
      0.03731257014861218,
      -0.015485546639590418,
      -0.0798802571874283,
      0.004740447706029952,
      0.04584666989706792,
      -0.005480049836010356,
      -0.005477617793539861
    ],
    "a_ego": [
      1.474527437975165,
      1.4745274373742725,
      1.4757292917501235,
      1.376425259213243,
      1.1260933480474098,
      0.9002962955136928,
      0.41952422510856374,
      0.06430531794874465,
      0.060843927028682555,
      0.06084392202239187
    ],
    "yaw": [
      -1.542457839934364,
      -1.5413797949672836,
      -1.5408368496237905,
      -1.5405682815811494,
      -1.5398896510910212,
      -1.5400617922814015,
      -1.5397973812339059,
      -1.5397781034620264,
      -1.5396342295065604,
      -1.5396743351755848
    ],
    "yaw_diff": [
      0.002156089934160832,
      0.0010858906869861684,
      0.0005371360852821638,
      0.0013572609802565694,
      -0.0003442823807606743,
      0.000528822094991277,
      3.855554375897796e-05,
      0.00028774791093200136,
      -8.021133804891889e-05,
      -8.021133804891889e-05
    ],
    "min_front_frame": [
      7,
      9.276856464876483
    ],
    "v_avg": 1.1924843221770236,
    "v_std": 1.2920823260123802,
    "vy_max": 0.06885146898392411,
    "a_max": 1.4757292917501235,
    "ax_avg": -0.8157946885611984,
    "a_std": 0.5979297453221499,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bb73caa6692856bf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.8076167850429545,
    "right_rear_min": 16.901037396644476,
    "speed_mode": "decelerating",
    "front_frame": [
      14.17618137418705,
      12.504036504549338,
      11.213563255313504,
      10.278885322907948,
      9.68031617193139,
      9.358283059947576,
      9.297672435806243,
      9.276856464876483,
      9.310677764721728,
      9.296836817767556
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bb73caa6692856bf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d577027e9c295bde": {
    "vx_ego": [
      5.2903110027410065,
      5.010152130347604,
      4.829116631372116,
      4.807338951346184,
      4.91881516298448,
      5.1195289954436225,
      5.392785481352833,
      5.671771183411368,
      5.960574005843344,
      6.250127829735106
    ],
    "vy_ego": [
      -0.02351179867540143,
      -0.026601338974754807,
      -0.004338766276829498,
      -0.024845044847113806,
      -0.0005990774481604566,
      0.05899713900773694,
      0.05314627107084935,
      0.010136181935984978,
      0.01500202480841517,
      -0.10240476623569716
    ],
    "v_ego": [
      5.29036324938085,
      5.010222749585281,
      4.829118580474866,
      4.807403152366533,
      4.918815199466211,
      5.1198689238689585,
      5.393047355069177,
      5.671780240732167,
      5.960592884930468,
      6.2509666951742
    ],
    "ax_ego": [
      -0.669948452107018,
      -0.45924836339773994,
      -0.2676193261528539,
      0.17956167091172726,
      0.25108781312325046,
      0.5431643831241844,
      0.5352665851554301,
      0.5805832035058656,
      0.5753979707142334,
      0.5902046467486447
    ],
    "ay_ego": [
      -1.4321240559479733,
      -1.5129114967433024,
      -1.6033669378778554,
      -1.708933667256486,
      -1.6387292862012013,
      -1.2971000293802457,
      -0.5030501936102587,
      -0.2427514596783366,
      0.33697955519759276,
      0.3103168017853954
    ],
    "a_ego": [
      1.5810788215979186,
      1.5810788267071196,
      1.625547797270298,
      1.7183412561954372,
      1.657853661621711,
      1.4062347006502542,
      0.7345541603416824,
      0.6292893828510826,
      0.6668118515167717,
      0.6668118494103181
    ],
    "yaw": [
      -0.7928481954229682,
      -0.9356931174921742,
      -1.0990105994075081,
      -1.2681803083831813,
      -1.4451250019380248,
      -1.6040525920268984,
      -1.6884943879562604,
      -1.7144473999173573,
      -1.7112341042585106,
      -1.665492777244496
    ],
    "yaw_diff": [
      -0.2856898441384119,
      -0.3266349638306678,
      -0.33833941795134637,
      -0.3538893871096871,
      -0.31785518017774717,
      -0.16888359185872392,
      -0.05190602392219379,
      0.006426591317693298,
      0.09148265402802913,
      0.09148265402802913
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.325217903104871,
    "v_std": 0.4698332992013684,
    "vy_max": 0.10240476623569716,
    "a_max": 1.7183412561954372,
    "ax_avg": 0.1858450131625724,
    "a_std": 0.45783643340652413,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "d577027e9c295bde",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d577027e9c295bde",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "649ee93e67cc58bb": {
    "vx_ego": [
      5.966684458035185,
      5.8948561088119495,
      5.766596263027358,
      5.503214036574592,
      5.079652460874775,
      4.552246548365877,
      4.0295692886943,
      3.512809172951001,
      2.900124660036104,
      2.212534607790036
    ],
    "vy_ego": [
      0.015046355858660487,
      0.0334642681898793,
      0.023194499866593832,
      -0.006744094796001354,
      -0.010318259414660969,
      -0.007005114486443087,
      0.0017336656385880667,
      0.012552784642359704,
      0.016629504594579347,
      0.019252153045858367
    ],
    "v_ego": [
      5.966703429414206,
      5.894951094016221,
      5.7666429094912015,
      5.503218168959526,
      5.079662940564906,
      4.552251938188177,
      4.0295696616369385,
      3.5128316011404492,
      2.9001723369780263,
      2.2126183665660712
    ],
    "ax_ego": [
      -0.14359491976756172,
      -0.143620071436661,
      -0.3694620669991601,
      -0.6840334814880512,
      -1.0104454394756541,
      -1.0992190559024724,
      -0.9914890331275618,
      -1.0755586867733935,
      -1.375171437657519,
      -1.3751723653549868
    ],
    "ay_ego": [
      0.02488631103578478,
      0.02474075027670341,
      -0.05937145479394751,
      -0.07826396182252107,
      -0.007321128754735826,
      -1.5314430406185298e-05,
      0.03554677770080329,
      0.01039611397897855,
      0.004235882758139187,
      0.003922200228467426
    ],
    "a_ego": [
      0.14573547769854228,
      0.14573547832880573,
      0.3742020692027793,
      0.6884962247658452,
      1.010471961552319,
      1.0992190560091535,
      0.9921260384735084,
      1.0756089288768342,
      1.3751779614478223,
      1.3751779586986774
    ],
    "yaw": [
      0.07079185842655328,
      0.06977830704715521,
      0.07005345791643322,
      0.06926564042273949,
      0.06592331052505083,
      0.0648569747875914,
      0.0648906604828173,
      0.06506693244025069,
      0.06493785507493896,
      0.06470974366329782
    ],
    "yaw_diff": [
      -0.00202710275879614,
      0.0005503017385560249,
      -0.0015756349873874698,
      -0.006684659795377301,
      -0.002132671474918857,
      6.737139045179252e-05,
      0.0003525439148667764,
      -0.00025815473062346106,
      -0.0004562228232822818,
      -0.0004562228232822818
    ],
    "min_front_frame": [
      9,
      12.504453070432794
    ],
    "v_avg": 4.541862244695571,
    "v_std": 1.2655640170669784,
    "vy_max": 0.0334642681898793,
    "a_max": 1.3751779614478223,
    "ax_avg": -0.8267766557983022,
    "a_std": 0.4416190679490538,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "649ee93e67cc58bb",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.281013514553344,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.542673202275296,
      22.641583937524786,
      26.519736910346,
      23.71342320838474,
      21.130484638289587,
      18.77111170120513,
      17.2366768074638,
      15.378051070691411,
      13.78865977228242,
      12.504453070432794
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "649ee93e67cc58bb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ec68073cb7a15741": {
    "vx_ego": [
      2.6650822164690235,
      2.1123823580117236,
      1.5970544804477638,
      1.0822675712805938,
      0.5522688969361835,
      0.15985125488570281,
      -0.018107650681553657,
      -0.0467918661757332,
      -0.027513943150763286,
      -0.01105428913662693
    ],
    "vy_ego": [
      -0.04720948145214687,
      -0.043119499983670706,
      -0.0362331102540262,
      0.0013260025382125784,
      0.05737535717812306,
      0.09371772112370874,
      0.05406414903655017,
      0.004982445971471426,
      0.004044219373570478,
      0.0015129873799196543
    ],
    "v_ego": [
      2.6655003199546656,
      2.1128224056266562,
      1.5974654461981195,
      1.0822683835945346,
      0.5552412683999867,
      0.18529823242857762,
      0.057015955874224186,
      0.04705638647480655,
      0.027809580688047,
      0.011157349108455122
    ],
    "ax_ego": [
      -1.1056222069628219,
      -1.1056138078711104,
      -0.9555856439978745,
      -1.1033840316516415,
      -1.0167889373257908,
      -0.5530474387328443,
      -0.1589307578044212,
      0.04419148459771623,
      0.03291959670379956,
      0.032920065901655374
    ],
    "ay_ego": [
      -0.002105702486345895,
      -0.004797518601935669,
      0.03692626220540829,
      0.12191861986893443,
      0.10688201849713413,
      0.03907567218729027,
      -0.19766018327371535,
      0.0013034309680871776,
      -0.005060411400120394,
      -0.005057336338927168
    ],
    "a_ego": [
      1.1056242121590418,
      1.10562421660345,
      0.9562988402457127,
      1.11009930689762,
      1.022391074367403,
      0.5544261696978667,
      0.25363070363835355,
      0.04421070281321887,
      0.03330626984036609,
      0.033306266524700215
    ],
    "yaw": [
      2.527358968550761,
      2.524924291450768,
      2.525548373763746,
      2.5271329754819805,
      2.5285599825590768,
      2.5290533027972364,
      2.5293977320618337,
      2.529527163857429,
      2.5295557169988823,
      2.5294624392018528
    ],
    "yaw_diff": [
      -0.00486935419998602,
      0.0012481646259558943,
      0.0031692034364692034,
      0.002854014154192619,
      0.000986640476319245,
      0.000688858529194647,
      0.00025886359119020597,
      5.710628290689357e-05,
      -0.00018655559405900135,
      -0.00018655559405900135
    ],
    "min_front_frame": [
      5,
      8.572341483894144
    ],
    "v_avg": 0.8341635328348073,
    "v_std": 0.9318162086609315,
    "vy_max": 0.09371772112370874,
    "a_max": 1.11009930689762,
    "ax_avg": -0.5888941677143333,
    "a_std": 0.4631757288021779,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ec68073cb7a15741",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.3182024730206665,
    "right_rear_min": 11.46546282670449,
    "speed_mode": "decelerating",
    "front_frame": [
      11.79471916638652,
      10.681064038036222,
      9.733231687296081,
      9.032650024209058,
      8.638582857042634,
      8.572341483894144,
      8.610334549739664,
      8.601008457882308,
      8.622395109734738,
      8.63037332953085
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ec68073cb7a15741",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "65858c2fe6b5501f": {
    "vx_ego": [
      3.756894287288874,
      3.740169852579827,
      3.7409586878863923,
      3.7606165283898187,
      3.785752625636283,
      3.8161457680282025,
      3.834001181228496,
      3.8434612981572682,
      3.8465144501793427,
      3.8425553329545297
    ],
    "vy_ego": [
      -0.010849259803115796,
      -0.01323049546545274,
      0.001530060933446542,
      0.029503586534681325,
      0.03357141440526523,
      0.02311040801253994,
      0.011175145870123027,
      -0.005200508819983574,
      -0.02261545899483708,
      -0.02000805631416691
    ],
    "v_ego": [
      3.7569099526475283,
      3.7401932533169013,
      3.740959000785646,
      3.7607322605068685,
      3.785901475524314,
      3.816215745185021,
      3.834017467558895,
      3.8434648165066814,
      3.8465809330396312,
      3.8426074232394294
    ],
    "ax_ego": [
      -0.040929425573238115,
      -0.02359898640646796,
      0.03027112057828879,
      0.04484294069334474,
      0.04670675528065346,
      0.07050888342302591,
      -0.0025687097813288096,
      0.039555872189763974,
      -0.020834141824097457,
      0.010416745588399667
    ],
    "ay_ego": [
      0.3571958601266088,
      0.35875783526478505,
      0.4517480167873485,
      0.44074207508506963,
      0.33606820667506104,
      0.39052285885582416,
      0.4003193128905165,
      0.3937742965453878,
      0.49239415690956406,
      0.4927246432912338
    ],
    "a_ego": [
      0.359533170054368,
      0.3595331647056879,
      0.4527610975032725,
      0.44301745572868795,
      0.3392983355789391,
      0.39683700171542446,
      0.4003275540642637,
      0.39575606583412964,
      0.49283472607378936,
      0.49283474176961894
    ],
    "yaw": [
      -1.0538412905576942,
      -1.005438581819095,
      -0.9551346669609031,
      -0.9030923316076993,
      -0.8527088276169691,
      -0.8021376979235268,
      -0.7474735816192428,
      -0.691429566195225,
      -0.62942353615111,
      -0.5659988626004193
    ],
    "yaw_diff": [
      0.0968054174771984,
      0.10060782971638371,
      0.10408467070640759,
      0.10076700798146043,
      0.10114225938688448,
      0.10932823260856805,
      0.11208803084803565,
      0.12401206008822996,
      0.1268493471013814,
      0.1268493471013814
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.796758232831091,
    "v_std": 0.04224875919400916,
    "vy_max": 0.03357141440526523,
    "a_max": 0.49283474176961894,
    "ax_avg": 0.01543710541683442,
    "a_std": 0.052054722444840024,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "65858c2fe6b5501f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "65858c2fe6b5501f",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "7569116c33145d2a": {
    "vx_ego": [
      6.280952203529383,
      6.029601265389516,
      5.722415795309777,
      5.349206849020615,
      4.898024460512569,
      4.3083948929315525,
      3.615482052877164,
      2.8543531480287867,
      2.106085203598302,
      1.4061131904384858
    ],
    "vy_ego": [
      -0.0531173425076612,
      -0.010035168617697376,
      0.002522959290720106,
      -0.004400175266413342,
      0.002178264921935291,
      -0.0015554867936213856,
      -0.02381143942822872,
      -0.04360536606490584,
      -0.04323632592295035,
      -0.01084034160256686
    ],
    "v_ego": [
      6.281176803362224,
      6.029609616235204,
      5.7224163514842585,
      5.349208658778552,
      4.898024944874976,
      4.308395173725113,
      3.6155604626841074,
      2.8546862037028693,
      2.1065289612761124,
      1.4061549762850316
    ],
    "ax_ego": [
      -0.5042484978054057,
      -0.5029263704972361,
      -0.7258074779253223,
      -0.7664930916785252,
      -1.0384695048841046,
      -1.3204816999772284,
      -1.4511513211723757,
      -1.5931573438417652,
      -1.3999385254615777,
      -1.3999215570534265
    ],
    "ay_ego": [
      -0.08793633704074907,
      -0.09520718589099025,
      0.14683531554612234,
      0.20228832235159505,
      0.16521961673255653,
      0.11288969713850261,
      0.014124129186875667,
      -0.06503210188122477,
      0.06551809189618651,
      0.0658795457198098
    ],
    "a_ego": [
      0.5118587177250695,
      0.5118587133055418,
      0.7405113806713888,
      0.7927371726812908,
      1.051530519922028,
      1.3252984583461846,
      1.4512200549763703,
      1.5944840847471757,
      1.4014708328885241,
      1.4014708275405303
    ],
    "yaw": [
      2.5690911890956536,
      2.554653349458743,
      2.5547124464323963,
      2.571713623333137,
      2.5882516229025168,
      2.6040455578107835,
      2.6176214457970426,
      2.6197941014895507,
      2.6196933116854177,
      2.619951512022353
    ],
    "yaw_diff": [
      -0.028875679273821397,
      0.00011819394730672172,
      0.03400235380148153,
      0.03307599913875947,
      0.0315878698165335,
      0.027151775972518166,
      0.0043453113850162595,
      -0.0002015796082659449,
      0.0005164006738702653,
      0.0005164006738702653
    ],
    "min_front_frame": [
      9,
      9.447105136202381
    ],
    "v_avg": 4.257176215240845,
    "v_std": 1.616265054210215,
    "vy_max": 0.0531173425076612,
    "a_max": 1.5944840847471757,
    "ax_avg": -1.0702595390296967,
    "a_std": 0.3890344068586852,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7569116c33145d2a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.459308357072612,
    "right_rear_min": 13.177197357755796,
    "speed_mode": "decelerating",
    "front_frame": [
      25.381381462084217,
      23.69174005288164,
      21.726420083297477,
      19.540152248565143,
      17.28394070560895,
      15.051048780978732,
      13.107985061855574,
      11.523802143866941,
      10.284163253443062,
      9.447105136202381
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7569116c33145d2a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d1abb12015175373": {
    "vx_ego": [
      2.7399357762061793,
      2.1875295698153674,
      1.6089737312220256,
      1.0383519020579286,
      0.5450969241708163,
      0.16936785109746225,
      -0.016659369079494526,
      -0.043306292992234936,
      -0.027811052312113296,
      -0.014025918567244423
    ],
    "vy_ego": [
      0.01661475990072149,
      0.0238665366246108,
      0.03207866771085673,
      0.015376535001671715,
      0.0038617771520958154,
      0.0006851380694900171,
      -0.011806033904797576,
      -0.009144188516466726,
      -0.004586099008341693,
      -0.001097732789114294
    ],
    "v_ego": [
      2.739986151056446,
      2.1876597611116453,
      1.6092934812160988,
      1.0384657482728912,
      0.5451106035138714,
      0.16936923687478317,
      0.02041854585145691,
      0.044261170300320556,
      0.028186644617999763,
      0.014068809790855391
    ],
    "ax_ego": [
      -1.104846004218396,
      -1.1048338089627632,
      -1.209452021655665,
      -1.0731677383508949,
      -0.8998376369604433,
      -0.6030959948242782,
      -0.14099617338258605,
      0.03440998455395787,
      0.02757034181609857,
      0.027570599042761622
    ],
    "ay_ego": [
      0.017489635177796458,
      0.01824371789899581,
      0.01888695941997653,
      -0.08091480654985328,
      0.037037367060095534,
      -0.04931872007717803,
      -0.0006193184378381128,
      0.011260207062711896,
      0.006975711535813904,
      0.006974705965124309
    ],
    "a_ego": [
      1.1049844253997467,
      1.1049844246277616,
      1.2095994832683699,
      1.076213826595893,
      0.9005995444420893,
      0.6051091762013999,
      0.14099753353821376,
      0.03620551477466887,
      0.02843913323727361,
      0.028439135972751856
    ],
    "yaw": [
      -1.54278153606429,
      -1.542099009343808,
      -1.5415389074220722,
      -1.5406242076706294,
      -1.5399159509062188,
      -1.5395839020916238,
      -1.539225491096129,
      -1.5391942397129545,
      -1.5392199124683796,
      -1.539183466233305
    ],
    "yaw_diff": [
      0.001365053440963937,
      0.0011202038434716677,
      0.0018293995028857424,
      0.0014165135288211061,
      0.0006640976291900635,
      0.0007168219909896578,
      6.250276634878205e-05,
      -5.134551085017591e-05,
      7.289247014918843e-05,
      7.289247014918843e-05
    ],
    "min_front_frame": [
      6,
      11.39918092098772
    ],
    "v_avg": 0.8396820152606368,
    "v_std": 0.9612573528917602,
    "vy_max": 0.03207866771085673,
    "a_max": 1.2095994832683699,
    "ax_avg": -0.6046678452942207,
    "a_std": 0.48735588361034443,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d1abb12015175373",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.0553591614146605,
    "right_rear_min": 3.600313260067201,
    "speed_mode": "decelerating",
    "front_frame": [
      14.537484407515032,
      13.426932357343473,
      12.515147160106391,
      11.909229062770855,
      11.553067693215048,
      11.405059520536309,
      11.39918092098772,
      11.420106501087687,
      11.422176386554563,
      11.434637819529563
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d1abb12015175373",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "5966bd50b16558ca": {
    "vx_ego": [
      3.3806286894062163,
      3.219723821101802,
      3.081887489662733,
      2.9057543846892333,
      2.640087892520355,
      2.293934663138174,
      1.8412740234272333,
      1.2937859114301618,
      0.7337580005897117,
      0.17969899680269258
    ],
    "vy_ego": [
      -0.005519182637785058,
      0.04865835724795037,
      0.04647190908388075,
      0.028776147571456467,
      0.017960015708735177,
      0.02261900709525211,
      0.037084903588628926,
      0.02488320537655797,
      0.013028623607397316,
      0.0010390609701308035
    ],
    "v_ego": [
      3.3806331946860753,
      3.220091476946029,
      3.082237845668884,
      2.905896868577713,
      2.6401489810987613,
      2.294046176132648,
      1.8416474471032966,
      1.2940251769285582,
      0.7338736597415897,
      0.1797020008224554
    ],
    "ax_ego": [
      -0.3690802643519402,
      -0.2597036046585147,
      -0.26416699501501034,
      -0.42799993837813816,
      -0.6328415814567517,
      -0.753060097153266,
      -1.0530834533762803,
      -1.1319059145806092,
      -1.1081359371680004,
      -1.1074464069134164
    ],
    "ay_ego": [
      -0.7738362814665595,
      -0.8170660135285279,
      -0.8533838247150648,
      -0.7472975688992589,
      -0.5918723287103046,
      -0.4043406595295582,
      -0.26912677992323975,
      -0.17835019211287712,
      -0.030205310408832786,
      -0.04939708462206416
    ],
    "a_ego": [
      0.8573463897679224,
      0.8573463901691233,
      0.8933354093175603,
      0.8611838385237107,
      0.8664879230050707,
      0.8547460902942374,
      1.0869286928988324,
      1.1458707564508597,
      1.1085475253772823,
      1.1085475254379469
    ],
    "yaw": [
      0.23613754454259425,
      0.09885090444272199,
      -0.03278290140721269,
      -0.1594997692177857,
      -0.2751375021460567,
      -0.37726793203867215,
      -0.4640653886060362,
      -0.5272297686199392,
      -0.5670783386303507,
      -0.5844022665288924
    ],
    "yaw_diff": [
      -0.27457328019974453,
      -0.26326761169986934,
      -0.253433735621146,
      -0.23127546585654202,
      -0.2042608597852309,
      -0.17359491313472808,
      -0.12632876002780602,
      -0.07969714002082307,
      -0.03464785579708329,
      -0.03464785579708329
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.157230282770601,
    "v_std": 1.052413230252581,
    "vy_max": 0.04865835724795037,
    "a_max": 1.1458707564508597,
    "ax_avg": -0.7107424193051928,
    "a_std": 0.12236668363746214,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "5966bd50b16558ca",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5966bd50b16558ca",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c1c3bb73344c593a": {
    "vx_ego": [
      6.141352789040177,
      5.887100370537578,
      5.53522576947074,
      5.060204312782478,
      4.505027442168188,
      3.9136504373445513,
      3.3805665359470405,
      2.932461415858297,
      2.549596627089625,
      2.1868726565761833
    ],
    "vy_ego": [
      -0.021424632345738992,
      -0.026732274813143775,
      -0.026202315447474867,
      -0.025832734191312934,
      -0.012361509171320506,
      0.003419172763130529,
      -0.0021993663872050817,
      -0.0146867972127116,
      -0.015627583248468024,
      -0.018520239793895055
    ],
    "v_ego": [
      6.141390159753954,
      5.8871610634753635,
      5.535287786587772,
      5.060270251405372,
      4.505044401734287,
      3.9136519309296762,
      3.3805672513910263,
      2.9324981939482955,
      2.5496445207567624,
      2.1869510774963845
    ],
    "ax_ego": [
      -0.5084849521548817,
      -0.5084872526100636,
      -0.8989532416062035,
      -1.0010516017218625,
      -1.2197013835220676,
      -1.1457964683949147,
      -0.9864988672940203,
      -0.8060478990399946,
      -0.7255008677841559,
      -0.7254848718158968
    ],
    "ay_ego": [
      -0.006039123113041472,
      -0.00584148930912734,
      0.01923144587302933,
      0.00042205174884274443,
      0.04457456814930205,
      0.03280154169156624,
      -0.06649520158022937,
      -0.008717824069126523,
      -0.011579864331434264,
      -0.012541024924238642
    ],
    "a_ego": [
      0.5085208133163547,
      0.5085208049473289,
      0.8991589287243209,
      1.0010516906921365,
      1.2205156111624884,
      1.1462658889296158,
      0.9887373903143242,
      0.8060950415449096,
      0.7255932761633735,
      0.725593258334088
    ],
    "yaw": [
      0.8850786264713637,
      0.8854672864719486,
      0.8859564435972342,
      0.8868120720018402,
      0.8863500986180481,
      0.8871984942492868,
      0.8864252042863607,
      0.8844099176929959,
      0.8828962986706816,
      0.8815714443738604
    ],
    "yaw_diff": [
      0.0007773200011698123,
      0.000978314250571266,
      0.001711256809211914,
      -0.0009239467675841162,
      0.0016967912624772374,
      -0.001546579925852054,
      -0.0040305731867296135,
      -0.0030272380446285663,
      -0.0026497085936425524,
      -0.0026497085936425524
    ],
    "min_front_frame": [
      9,
      13.726677942675476
    ],
    "v_avg": 4.209246663747889,
    "v_std": 1.355242742494633,
    "vy_max": 0.026732274813143775,
    "a_max": 1.2205156111624884,
    "ax_avg": -0.8526007405944063,
    "a_std": 0.23141824622054014,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "c1c3bb73344c593a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.087316332028795,
    "speed_mode": "decelerating",
    "front_frame": [
      23.18282239485987,
      22.544495051384825,
      21.357131734671746,
      20.240391733405335,
      19.086330047532673,
      18.06029677081125,
      17.398163576255918,
      16.283021880734452,
      14.944719738181156,
      13.726677942675476
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "c1c3bb73344c593a",
    "merging_vehicles": "No"
  },
  "2389414c94075d6a": {
    "vx_ego": [
      3.9356137742591843,
      3.9735865939663926,
      4.065461145672441,
      4.171762144550235,
      4.260334827997947,
      4.342878220164839,
      4.43867135593564,
      4.5507733334603575,
      4.646359715199929,
      4.718793815508754
    ],
    "vy_ego": [
      0.0035683188230153373,
      -0.04385471064944535,
      -0.05654204980747113,
      -0.06582343163847472,
      -0.07146260827399217,
      -0.0476093089427351,
      -0.01849358850474972,
      -0.004623013351461189,
      0.010052663959176589,
      0.02445725275811518
    ],
    "v_ego": [
      3.9356153919098658,
      3.97382858908076,
      4.065854317405963,
      4.172281404082788,
      4.260934140659019,
      4.343139173625469,
      4.438709882254,
      4.550775681659814,
      4.646370589942804,
      4.718857195391289
    ],
    "ax_ego": [
      0.017949982965522582,
      0.14391477373844228,
      0.22648144031732984,
      0.1997917568259261,
      0.16049111083952386,
      0.17247551125489063,
      0.21091361718697826,
      0.2374542924646091,
      0.1448963277701269,
      0.14488222059786376
    ],
    "ay_ego": [
      0.9552211446642598,
      0.9444883136206325,
      0.601127046587655,
      0.15605298957624011,
      0.17657909743555997,
      0.13823231859003185,
      0.027636879807247307,
      0.00815163788695204,
      0.023042340518935278,
      0.02313087470881564
    ],
    "a_ego": [
      0.9553897828123145,
      0.9553897825841206,
      0.6423765009302637,
      0.2535138687552854,
      0.23861595568960034,
      0.22103387949681375,
      0.21271659794283906,
      0.23759417124607268,
      0.14671705851010855,
      0.14671705834756565
    ],
    "yaw": [
      -1.8671289288043231,
      -1.7347079769818345,
      -1.6352462843162292,
      -1.587080221624019,
      -1.5660437982359066,
      -1.5532885824707936,
      -1.5504724274671808,
      -1.551568620085721,
      -1.5530603723149339,
      -1.5536714213677465
    ],
    "yaw_diff": [
      0.2648419036449772,
      0.19892338533121068,
      0.09633212538442049,
      0.042072846776224804,
      0.02551043153022592,
      0.005632310007225527,
      -0.0021923852370804298,
      -0.0029835044584256565,
      -0.0012220981056252356,
      -0.0012220981056252356
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.310636636601177,
    "v_std": 0.2626973032360759,
    "vy_max": 0.07146260827399217,
    "a_max": 0.9553897828123145,
    "ax_avg": 0.16592510339612132,
    "a_std": 0.3073985932788068,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "2389414c94075d6a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2389414c94075d6a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bc42935ebf1854f6": {
    "vx_ego": [
      10.892785631395796,
      11.136307545285657,
      11.435121055554859,
      11.745607026492268,
      12.054613256708974,
      12.345398400511044,
      12.651462249512782,
      12.943987451277609,
      13.148821674834664,
      13.304511628870907
    ],
    "vy_ego": [
      0.08650280509293662,
      -0.26669650255444566,
      -0.2924897297668183,
      -0.247538637801882,
      -0.15613952572249712,
      -0.03635665684496203,
      0.006514877072651082,
      0.019277557686264934,
      0.038494797689429205,
      0.024299742043708328
    ],
    "v_ego": [
      10.893129098052206,
      11.139500561859181,
      11.438861123259304,
      11.748215174995279,
      12.055624426810773,
      12.345451934774912,
      12.651463926932342,
      12.944001806360449,
      13.14887802384869,
      13.304533819725687
    ],
    "ax_ego": [
      0.4049505389636191,
      0.606697163913106,
      0.6144802569866319,
      0.6388841538505161,
      0.600488858685465,
      0.5624948143767511,
      0.6617763467683897,
      0.5082790399623501,
      0.3114190731299542,
      0.31149129589645097
    ],
    "ay_ego": [
      1.8105854461513684,
      1.7533177576271597,
      0.5068337288299924,
      0.23393671926516674,
      0.3192289080984632,
      0.13368798696964798,
      0.0674239610503603,
      0.013233357087541753,
      -0.060339103942109756,
      -0.059965142501661864
    ],
    "a_ego": [
      1.8553179233818864,
      1.855317926370286,
      0.7965340010985542,
      0.6803670705301951,
      0.6800690885278564,
      0.5781633800758506,
      0.6652021675143854,
      0.5084512800700326,
      0.31721072896996483,
      0.3172107276472455
    ],
    "yaw": [
      -2.2359470351119826,
      -2.1228510715538955,
      -2.0705063908025965,
      -2.05840351584469,
      -2.054464617095628,
      -2.0550015918887325,
      -2.05440841234142,
      -2.053830921656436,
      -2.056202097136672,
      -2.0574027785478606
    ],
    "yaw_diff": [
      0.22619192711617409,
      0.10468936150259811,
      0.024205749915813257,
      0.007877797498123229,
      -0.0010739495862086557,
      0.0011863590946248337,
      0.0011549813699680556,
      -0.004742350960471597,
      -0.002401362822377351,
      -0.002401362822377351
    ],
    "min_front_frame": [
      1,
      33.73216605640883
    ],
    "v_avg": 12.166965989661882,
    "v_std": 0.8077637941730463,
    "vy_max": 0.2924897297668183,
    "a_max": 1.855317926370286,
    "ax_avg": 0.5220961542533235,
    "a_std": 0.5355566437310348,
    "ini_direction_judge": "left",
    "scenario_type": "lane_change",
    "scene_token": "bc42935ebf1854f6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      33.73216605640883,
      34.71803857216159,
      35.86935546098673,
      36.55207233000382,
      37.39399186494626,
      37.96733227207288,
      38.65180490324465,
      39.30085087496595,
      39.841931958898776
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_change",
    "lane_change_frame": 6,
    "token": "bc42935ebf1854f6",
    "smoothness": "No"
  },
  "d08754ee7c5c5949": {
    "vx_ego": [
      11.784131532279357,
      11.72587177423953,
      11.654255705923136,
      11.589669443350527,
      11.51362469202042,
      11.442853300912105,
      11.406310850063015,
      11.36740323025518,
      11.349144291064128,
      11.35158926541808
    ],
    "vy_ego": [
      -0.025068942957563234,
      -0.012176800315422565,
      0.03124377583771487,
      0.011503992199065394,
      0.029203777495709904,
      0.00797469032895659,
      -0.005850230583203775,
      -0.010108797175475193,
      0.00041586336954813063,
      -0.02776921071721361
    ],
    "v_ego": [
      11.784158197425969,
      11.725878096772677,
      11.654297586408653,
      11.589675152823284,
      11.513661728977551,
      11.44285607975041,
      11.40631235033756,
      11.367407725026679,
      11.349144298683308,
      11.351623231054615
    ],
    "ax_ego": [
      -0.11651285854445637,
      -0.11639544641332782,
      -0.16988246417022163,
      -0.08896585755194103,
      -0.21645930976801236,
      -0.06882458382414092,
      -0.07758054327462414,
      -0.07799269019908393,
      0.004957436210723258,
      0.0049454991523748566
    ],
    "ay_ego": [
      0.06688908945258397,
      0.06709320449975063,
      0.25830900003777996,
      0.36249172808448143,
      0.34388262598574415,
      0.13536281560839758,
      0.05702306992046997,
      0.03923308737216927,
      -0.005304379866389356,
      -0.0053155191867384315
    ],
    "a_ego": [
      0.13434804238989223,
      0.13434804812799933,
      0.3091659605019033,
      0.3732494832409362,
      0.4063371669440239,
      0.15185491492868858,
      0.09628276687933639,
      0.087304609667775,
      0.007260345690829531,
      0.007260351650624426
    ],
    "yaw": [
      1.8976955665737267,
      1.8994483055680318,
      1.902691081678555,
      1.9177564403579839,
      1.931492351507492,
      1.9437996216227027,
      1.949219102767568,
      1.9517063967436687,
      1.9515264088547184,
      1.9537756829070034
    ],
    "yaw_diff": [
      0.0035054779886101173,
      0.006485552221046298,
      0.03013071735885786,
      0.027471822299016235,
      0.024614540230421422,
      0.010838962289730691,
      0.004974587952201404,
      -0.0003599757779007007,
      0.004498548104570066,
      0.004498548104570066
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.51850144472607,
    "v_std": 0.15322415120546848,
    "vy_max": 0.03124377583771487,
    "a_max": 0.4063371669440239,
    "ax_avg": -0.092271081838271,
    "a_std": 0.13588222632155675,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "d08754ee7c5c5949",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "d08754ee7c5c5949",
    "road_shape": "Straight"
  },
  "dbb26055ea9351dc": {
    "vx_ego": [
      3.880153080521036,
      3.6350321926272726,
      3.4023916912753283,
      3.235910729753365,
      3.2272343412158984,
      3.3871829276934307,
      3.678944087916155,
      4.085234146456133,
      4.610810956000837,
      5.202012822038383
    ],
    "vy_ego": [
      0.0182494793350807,
      0.05275341860664762,
      0.07719655017937477,
      0.058570120570644146,
      0.04818536398915518,
      0.02156014594613831,
      0.021319661734263473,
      0.08791694153443486,
      0.15317931749232208,
      0.04552598320757151
    ],
    "v_ego": [
      3.8801959965667825,
      3.6354149645688767,
      3.4032673312890047,
      3.2364407471722103,
      3.227594045481244,
      3.387251544475411,
      3.6790058616411163,
      4.086180052320253,
      4.613354698620599,
      5.202212031030527
    ],
    "ax_ego": [
      -0.5382527723073275,
      -0.41960175190686516,
      -0.4690553704228734,
      -0.16487420150727106,
      0.1730038124104673,
      0.5118760469476925,
      0.6770101312211474,
      1.004842019477487,
      1.1493040254811542,
      1.2461516057076345
    ],
    "ay_ego": [
      -0.8772800353647191,
      -0.9398247987304205,
      -0.9999716982371261,
      -0.9135677837038712,
      -1.053997227876604,
      -1.2991620741270444,
      -1.3586437224155223,
      -1.4823271990981908,
      -1.140585975912934,
      -1.033896660271398
    ],
    "a_ego": [
      1.0292406459842356,
      1.029240633919972,
      1.1045163365916237,
      0.9283262345448734,
      1.0681013413904705,
      1.396366421212169,
      1.5179774313984982,
      1.7908102661348246,
      1.6192084830053373,
      1.6192084882831075
    ],
    "yaw": [
      -1.8859343777777373,
      -2.0163427110383116,
      -2.1606047981703,
      -2.3004982503536455,
      -2.4511862804530797,
      -2.6227977052183933,
      -2.811340599798215,
      -3.012899062076171,
      3.1041574797425677,
      3.015139873792023
    ],
    "yaw_diff": [
      -0.26081666652114865,
      -0.28852417426397636,
      -0.2797869043666914,
      -0.3013760601988684,
      -0.3432228495306271,
      -0.3770857891596435,
      -0.40311692455591164,
      -0.3322575307216953,
      -0.17803521190108906,
      -0.17803521190108906
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8350917273166027,
    "v_std": 0.609794563297148,
    "vy_max": 0.15317931749232208,
    "a_max": 1.7908102661348246,
    "ax_avg": 0.31704035451012463,
    "a_std": 0.2961715983738483,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "dbb26055ea9351dc",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.077116637146364,
    "right_rear_min": 9.351150653847574,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "dbb26055ea9351dc",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "6fe1f4f8dbcd57b5": {
    "vx_ego": [
      7.941144500697636,
      7.949847475622262,
      7.982758398334834,
      8.051620746208794,
      8.12700896467333,
      8.192988952925917,
      8.25262841141398,
      8.3249854430115,
      8.39365696709481,
      8.444956441459933
    ],
    "vy_ego": [
      0.0023400462346856443,
      0.013126092244409193,
      0.013752439831949737,
      0.0014693290653897684,
      0.006194265735505855,
      -1.6580380576503018e-05,
      -0.023382853624477118,
      -0.040861687676764014,
      -0.03907374789937634,
      -0.05354426297902393
    ],
    "v_ego": [
      7.941144845472641,
      7.949858311942123,
      7.982770244456911,
      8.051620880276701,
      8.127011325254117,
      8.192988952942695,
      8.252661537632623,
      8.325085723514993,
      8.393747913717336,
      8.445126185336344
    ],
    "ax_ego": [
      0.01562841509758979,
      0.019697453905946696,
      0.11385144323658761,
      0.16207969576415843,
      0.13971591456131702,
      0.12504430825131566,
      0.11277130528962218,
      0.17342150959993988,
      0.09793091254162375,
      0.10391426970329946
    ],
    "ay_ego": [
      -0.24386731544280063,
      -0.2435724230021536,
      -0.34216435024956526,
      -0.33077183587106535,
      -0.32346205217179724,
      -0.3796422576358718,
      -0.4023103494384518,
      -0.3409863445146693,
      -0.3331086563315072,
      -0.3312909077001338
    ],
    "a_ego": [
      0.2443675815236976,
      0.24436758160099087,
      0.3606086434193738,
      0.36834743814029325,
      0.35234675530916376,
      0.3997052949473045,
      0.41781692708890383,
      0.3825528814914335,
      0.34720576111899026,
      0.3472057617217039
    ],
    "yaw": [
      -0.8638643152464445,
      -0.8805594833309829,
      -0.8990465949420008,
      -0.9185126885650698,
      -0.9393079245462448,
      -0.9600825635656816,
      -0.9810101440660731,
      -1.0013379975902446,
      -1.0216881883405573,
      -1.039699023851243
    ],
    "yaw_diff": [
      -0.03339033616907683,
      -0.03697422322203581,
      -0.03893218724613812,
      -0.041590471962349884,
      -0.04154927803887354,
      -0.041855161000783125,
      -0.04065570704834287,
      -0.04070038150062549,
      -0.036021671021371215,
      -0.036021671021371215
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.166201592054648,
    "v_std": 0.1757213530562134,
    "vy_max": 0.05354426297902393,
    "a_max": 0.41781692708890383,
    "ax_avg": 0.10640552279514007,
    "a_std": 0.055489009791081505,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "6fe1f4f8dbcd57b5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6fe1f4f8dbcd57b5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4b7b765455d1517c": {
    "vx_ego": [
      3.062767780627771,
      2.70157539769886,
      2.3145924052931504,
      1.8060207043265166,
      1.1972751208635963,
      0.6478412627299486,
      0.24185510169046925,
      0.0024832516402007107,
      -0.06192203549158788,
      -0.03815147438002413
    ],
    "vy_ego": [
      0.03063599348286017,
      0.003180058739029601,
      -0.0145014300283417,
      -0.011926935295862084,
      -0.005969208545351212,
      0.002722736299868689,
      -0.004461048119314123,
      -0.025607909218604206,
      -0.020388168146188337,
      0.004758317018386081
    ],
    "v_ego": [
      3.0629209983524297,
      2.7015772693419926,
      2.3146378321702077,
      1.8060600865534897,
      1.197290000997919,
      0.6478469842397144,
      0.24189624049172417,
      0.025728030497044148,
      0.0651921458442558,
      0.03844706202321707
    ],
    "ax_ego": [
      -0.7223910597180323,
      -0.7224290181388644,
      -0.8254589425964758,
      -1.208875692050229,
      -1.2261250922963096,
      -0.971619911013752,
      -0.652326730296907,
      -0.30515533603314465,
      0.04754024928347562,
      0.04754482386799376
    ],
    "ay_ego": [
      -0.05085842880009639,
      -0.05031646977034393,
      -0.010035223572193663,
      0.014122465259566064,
      0.006224408121203839,
      0.026494658257478154,
      -0.055143709849155675,
      -0.029420675891024622,
      0.050286054417856746,
      0.05028173104018363
    ],
    "a_ego": [
      0.7241791373276063,
      0.7241791445348544,
      0.8255199401738493,
      1.2089581807717453,
      1.2261408912580531,
      0.9719810792369118,
      0.6546533371149814,
      0.30657031049889055,
      0.06920088562186653,
      0.06920088693821716
    ],
    "yaw": [
      2.2078126680153396,
      2.208562867480251,
      2.2095916663338935,
      2.2088551796695413,
      2.208275975192519,
      2.207700972817986,
      2.2077541138262884,
      2.2078272734687365,
      2.2078733226213676,
      2.2079640546980444
    ],
    "yaw_diff": [
      0.0015003989298225662,
      0.002057597707285197,
      -0.001472973328704441,
      -0.0011584089540441767,
      -0.0011500047490660137,
      0.00010628201660445313,
      0.0001463192848962791,
      9.20983052621338e-05,
      0.00018146415335351662,
      0.00018146415335351662
    ],
    "min_front_frame": [
      7,
      10.389802414133314
    ],
    "v_avg": 1.2101596650511994,
    "v_std": 1.121278508766392,
    "vy_max": 0.03063599348286017,
    "a_max": 1.2261408912580531,
    "ax_avg": -0.6539296708992246,
    "a_std": 0.39681290664137814,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4b7b765455d1517c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.05970944785939,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.512220156200616,
      13.237856711491217,
      12.289604377694365,
      11.535201248878803,
      11.00389854371008,
      10.62586482858773,
      10.43204935849362,
      10.389802414133314,
      10.421880285617224,
      10.440319983426171
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4b7b765455d1517c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bb89143f371a53b5": {
    "vx_ego": [
      1.603103338376203,
      1.2486835832333765,
      0.8704812515077183,
      0.5535166909120272,
      0.3500842758079158,
      0.18428768915892554,
      0.04873240921257696,
      -0.010786769421741362,
      -0.01058924668049483,
      -0.005593829792605188
    ],
    "vy_ego": [
      -0.005981321578210186,
      -0.0034770216358923633,
      -0.006076977045189447,
      -0.01694668956924597,
      -0.0074936674178162355,
      0.003135419054348665,
      0.005976017667383208,
      0.006822164570580477,
      0.0010385899077608382,
      0.004546996336377498
    ],
    "v_ego": [
      1.6031144967595885,
      1.2486884241939624,
      0.8705024634522589,
      0.5537760534778992,
      0.3501644688133302,
      0.18431435979918423,
      0.049097459148340176,
      0.012763084422893159,
      0.010640057060790298,
      0.00720875214108987
    ],
    "ax_ego": [
      -0.7088391038019668,
      -0.7088388028255976,
      -0.8039719102478269,
      -0.46389064684147796,
      -0.34984924568118103,
      -0.3133508253689706,
      -0.22886968606963268,
      -0.009200267903961204,
      0.00999038872016746,
      0.009990734429278543
    ],
    "ay_ego": [
      0.005156781520541109,
      0.005198853855740981,
      -0.016308237261591696,
      -0.027455889659268984,
      0.0650798314768771,
      -0.022150495316199323,
      0.033539825226007736,
      -0.030151231779524477,
      0.00701627311669338,
      0.0070157779983695155
    ],
    "a_ego": [
      0.7088578612630504,
      0.7088578676100307,
      0.8041372961566452,
      0.46470244038953223,
      0.3558509226751423,
      0.314132749330865,
      0.2313141869358716,
      0.03152366900167659,
      0.012208028310422754,
      0.012208026677509245
    ],
    "yaw": [
      2.62804440350141,
      2.6281037372635563,
      2.627938177754695,
      2.6278316465009253,
      2.6277241399808204,
      2.6281172670551394,
      2.6281808026244358,
      2.6280630491894375,
      2.628075951067115,
      2.6281246192212073
    ],
    "yaw_diff": [
      0.0001186675242923485,
      -0.00033111901772286956,
      -0.00021306250753916345,
      -0.00021501304020965506,
      0.000786254148637866,
      0.00012707113859278252,
      -0.00023550686999662673,
      2.580375535465862e-05,
      9.733630818509198e-05,
      9.733630818509198e-05
    ],
    "min_front_frame": [
      7,
      9.704895304873636
    ],
    "v_avg": 0.48902696192693373,
    "v_std": 0.5441960312232985,
    "vy_max": 0.01694668956924597,
    "a_max": 0.8041372961566452,
    "ax_avg": -0.3566829365591169,
    "a_std": 0.2863439619106515,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bb89143f371a53b5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.811236483164471,
      11.0845215534381,
      10.486212490580838,
      10.159713802630792,
      9.924017914258764,
      9.787976916596861,
      9.723982883939925,
      9.704895304873636,
      9.716188574988076,
      9.706776144382827
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bb89143f371a53b5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "53b9b277e6305400": {
    "vx_ego": [
      10.887300286038883,
      10.886644000762502,
      10.915980835998742,
      10.94786955308929,
      10.971427519788229,
      10.973361489835945,
      10.96199601972927,
      10.983270603956672,
      11.033623175065397,
      11.106101318385589
    ],
    "vy_ego": [
      0.009831943894687889,
      -0.021276196446820883,
      0.021214528829087698,
      0.011228933065945412,
      -0.020704479198993653,
      0.010367024701760208,
      0.007077085852054132,
      0.011846640096878858,
      0.006181608847739994,
      0.01891792253165292
    ],
    "v_ego": [
      10.887304725482018,
      10.886664791196312,
      10.916001450536971,
      10.947875311693924,
      10.971447055763674,
      10.973366386930481,
      10.961998304219195,
      10.983276992893348,
      11.033624906694453,
      11.106117430589281
    ],
    "ax_ego": [
      -0.0044420053704992135,
      0.0022524504523554756,
      0.11482702342979309,
      0.012548580362550743,
      0.0813549451361899,
      -0.07435304878663777,
      0.028683898695300067,
      0.056414679734635126,
      0.14498827611252957,
      0.14501682241396882
    ],
    "ay_ego": [
      0.35192345903797656,
      0.3519442803801942,
      0.30365453451924096,
      0.4126731336661996,
      0.342178031609629,
      0.09365993748305564,
      0.018600362266781623,
      0.00025644954242750803,
      -0.015579260151521182,
      -0.015311270761834334
    ],
    "a_ego": [
      0.3519514915907673,
      0.3519514881704197,
      0.32464029577956455,
      0.412863878438156,
      0.3517164090774736,
      0.1195849478538082,
      0.03418683256485968,
      0.05641526261508726,
      0.14582288420186965,
      0.14582288501941926
    ],
    "yaw": [
      -0.6886741901055445,
      -0.6696528544790747,
      -0.6585014775218909,
      -0.6412271217724133,
      -0.621079392740699,
      -0.6139934508637774,
      -0.6111312354203796,
      -0.6111362813064716,
      -0.6109694840950732,
      -0.6128176505980616
    ],
    "yaw_diff": [
      0.038042671252939586,
      0.022302753914367646,
      0.03454871149895533,
      0.04029545806342849,
      0.01417188375384315,
      0.0057244308867956395,
      -1.0091772183917769e-05,
      0.00033359442279667917,
      -0.003696333005976715,
      -0.003696333005976715
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.966767735599966,
    "v_std": 0.06317748900384268,
    "vy_max": 0.021276196446820883,
    "a_max": 0.412863878438156,
    "ax_avg": 0.050729162218018584,
    "a_std": 0.13482958527695602,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "53b9b277e6305400",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 28.677641940331384,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "53b9b277e6305400",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e8f5c2714bfe5213": {
    "vx_ego": [
      13.357210890142081,
      13.27906792545907,
      13.177986591024453,
      13.066407482783328,
      12.985606903654357,
      12.912114574031182,
      12.811265580173423,
      12.725262863421282,
      12.658805845612067,
      12.580690999562268
    ],
    "vy_ego": [
      -0.030707048563748618,
      0.009037301336150882,
      0.025401349553412444,
      0.012200004022856703,
      -0.020470457924213203,
      -0.03705311946747125,
      -0.0434580393045243,
      -0.036135941518187664,
      -0.008321940003611417,
      0.02054614606259708
    ],
    "v_ego": [
      13.357246186492247,
      13.279071000705256,
      13.178011072304479,
      13.066413178306979,
      12.985623038417653,
      12.912167738477175,
      12.81133928857231,
      12.725314170952252,
      12.65880858104694,
      12.580707777012591
    ],
    "ax_ego": [
      -0.15660487327995196,
      -0.15620845923448828,
      -0.2477566720401002,
      -0.19789517088511718,
      -0.12551854558478878,
      -0.16898035961251934,
      -0.2349994027968852,
      -0.10988694700606429,
      -0.15628708035665617,
      -0.15606518279058015
    ],
    "ay_ego": [
      -0.06999127989064784,
      -0.07087160550451846,
      -0.09678940606651817,
      -0.2153191964502534,
      -0.15748622112402386,
      -0.0990644222931383,
      -0.14156416029297952,
      -0.04375197764444663,
      -0.051005239504063056,
      -0.05168019424497416
    ],
    "a_ego": [
      0.17153386136783844,
      0.17153386605332743,
      0.26599164961910954,
      0.29244632844272905,
      0.2013872268284303,
      0.19587782339777413,
      0.27434491209852807,
      0.11827669538042454,
      0.16439947062954532,
      0.16439946397922184
    ],
    "yaw": [
      1.2828467608596776,
      1.2772183356390827,
      1.2728165731686556,
      1.2678740717340782,
      1.2632239243460384,
      1.25955294486861,
      1.2553763801977114,
      1.2511693207305092,
      1.2471132562897753,
      1.2427914998229999
    ],
    "yaw_diff": [
      -0.011256850441189847,
      -0.008803524940854235,
      -0.009885002869154835,
      -0.009300294776079632,
      -0.0073419589548566755,
      -0.008353129341797327,
      -0.008414118934404247,
      -0.00811212888146784,
      -0.008643512933550923,
      -0.008643512933550923
    ],
    "min_front_frame": [
      0,
      48.973952073595186
    ],
    "v_avg": 12.955470203228789,
    "v_std": 0.2515867663130132,
    "vy_max": 0.0434580393045243,
    "a_max": 0.29244632844272905,
    "ax_avg": -0.17102026935871517,
    "a_std": 0.054074644251565586,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "e8f5c2714bfe5213",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.518918227045191,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      48.973952073595186,
      49.30632382840322,
      49.5776606335065,
      50.134376969265176,
      50.08827616262045,
      50.33738185223352,
      50.907801541816646,
      51.44893191619064,
      51.01618727553311,
      49.2704378109785
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "e8f5c2714bfe5213",
    "merging_vehicles": "No"
  },
  "ee42b86599ca5632": {
    "vx_ego": [
      6.361555014692686,
      6.006963043634507,
      5.577696358421243,
      5.052567549746822,
      4.494996249512113,
      3.910250998213111,
      3.3351433271884785,
      2.829626710511385,
      2.4012412876017555,
      1.9987266093064808
    ],
    "vy_ego": [
      0.05095405883783055,
      -0.02848214233204871,
      -0.04225780752543695,
      -0.05394239582525007,
      -0.07265153502636634,
      -0.08731671468049962,
      -0.04376074779290762,
      0.020763085343033616,
      0.050290915363594424,
      0.035977777550293744
    ],
    "v_ego": [
      6.361759074428527,
      6.007030567595155,
      5.57785643316879,
      5.052855492374779,
      4.495583335749616,
      3.911225776874716,
      3.3354304093980476,
      2.8297028866212166,
      2.4017678691854143,
      1.9990503893667213
    ],
    "ax_ego": [
      -0.7156754320815268,
      -0.7011254553677813,
      -1.0243619203603866,
      -1.0805837245479155,
      -1.1560766706053014,
      -1.1871024071277376,
      -1.1151651645284326,
      -0.9072290682633748,
      -0.8047717597719157,
      -0.8045848452825093
    ],
    "ay_ego": [
      -0.5008810797028441,
      -0.5210530442410473,
      -0.2704151454621117,
      -0.2826872904093954,
      -0.22346794841618361,
      0.0014444709305343473,
      0.08548815405996901,
      0.08543364724953895,
      -0.04474231808111584,
      -0.047986334669945285
    ],
    "a_ego": [
      0.8735406001379484,
      0.8735405995587964,
      1.0594534887288418,
      1.116948203775292,
      1.177476620696639,
      1.187103285946399,
      1.1184371098377894,
      0.9112428273431785,
      0.8060145534378755,
      0.8060145541944856
    ],
    "yaw": [
      -0.4813724073512388,
      -0.5098458621729108,
      -0.5414050059138905,
      -0.5651895326310341,
      -0.5877319068971965,
      -0.5974407738466212,
      -0.6034796567395848,
      -0.6106100511062813,
      -0.6180467321214335,
      -0.6220781751866412
    ],
    "yaw_diff": [
      -0.056946909643344035,
      -0.06311828748195936,
      -0.04756905343428719,
      -0.04508474853232469,
      -0.019417733898849487,
      -0.01207776578592723,
      -0.014260788733392982,
      -0.014873362030304316,
      -0.008062886130415503,
      -0.008062886130415503
    ],
    "min_front_frame": [
      9,
      11.86679606516371
    ],
    "v_avg": 4.197226223476298,
    "v_std": 1.4641758252381045,
    "vy_max": 0.08731671468049962,
    "a_max": 1.187103285946399,
    "ax_avg": -0.9496676447936881,
    "a_std": 0.14573051908239998,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ee42b86599ca5632",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      30.544579237930773,
      27.518079299522377,
      24.65353038342294,
      22.04844708021489,
      19.705658469308723,
      17.66584343721077,
      15.84563378476847,
      14.313878512351017,
      12.980282236605708,
      11.86679606516371
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ee42b86599ca5632",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "afbde7335ad05055": {
    "vx_ego": [
      0.8775422153949675,
      0.5517249903069589,
      0.258952538500878,
      0.04915045232643315,
      -0.02775323571569838,
      -0.02010761632219472,
      -0.012183145841884561,
      -0.007243814620388977,
      -0.0048564799517020725,
      -0.0033512883000146538
    ],
    "vy_ego": [
      0.015465058367050822,
      0.013084890246137515,
      0.012222132285335661,
      0.010258065854255646,
      0.00370744833482834,
      -0.0001329454298275479,
      0.00018379897431412834,
      0.0002425080065417129,
      0.00013687720942217032,
      -0.00015528090281535483
    ],
    "v_ego": [
      0.8776784763400569,
      0.5518801312621857,
      0.259240810278106,
      0.05020950984587704,
      0.02799977260347908,
      0.020108055814720218,
      0.012184532189115345,
      0.007247872818130705,
      0.004858408473126088,
      0.00335488381745095
    ],
    "ax_ego": [
      -0.6516420460963986,
      -0.6516432929472388,
      -0.51947123087628,
      -0.31971934774025973,
      0.012103026966603134,
      0.018479505612812815,
      0.013218384115515855,
      0.00653891991848469,
      0.00301039232782759,
      0.0030103829506184553
    ],
    "ay_ego": [
      -0.0044421630195318924,
      -0.004254265303201814,
      0.0016087906050712836,
      -0.009646562611235268,
      -0.016561996182131233,
      0.001196278432149999,
      7.28912995961815e-05,
      0.00016163732573692974,
      -0.0005844081409798681,
      -0.0005844500526941621
    ],
    "a_ego": [
      0.6516571867577254,
      0.6516571798241702,
      0.5194737220642911,
      0.3198648425345768,
      0.02051299537588921,
      0.018518185920365082,
      0.013218585089444282,
      0.00654091739172933,
      0.0030665933611561153,
      0.003066592143319435
    ],
    "yaw": [
      1.5543139712138052,
      1.5546023154671333,
      1.5551202665502628,
      1.5547687293240542,
      1.5548182045346757,
      1.5548601178094759,
      1.5548247736824274,
      1.5548335169811778,
      1.554844687905279,
      1.554858333423876
    ],
    "yaw_diff": [
      0.0005766885066562644,
      0.0010359021662589285,
      -0.0007030744524172405,
      9.895042124297149e-05,
      8.382654960037428e-05,
      -7.06882540968401e-05,
      1.7486597500671053e-05,
      2.2341848202600545e-05,
      2.7291037193677425e-05,
      2.7291037193677425e-05
    ],
    "min_front_frame": [
      8,
      10.51064116396569
    ],
    "v_avg": 0.1814762453442248,
    "v_std": 0.28578066388415446,
    "vy_max": 0.015465058367050822,
    "a_max": 0.6516571867577254,
    "ax_avg": -0.20861153057683146,
    "a_std": 0.271134861322491,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "afbde7335ad05055",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.1648101584637316,
    "right_rear_min": 12.829049187464955,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.158728797304382,
      10.83134912445682,
      10.63464927832125,
      10.589611517999751,
      10.59849020054831,
      10.556758381135051,
      10.583318623038533,
      10.527765619529491,
      10.51064116396569,
      10.515108877592116
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "afbde7335ad05055",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9056de7dce5a50d3": {
    "vx_ego": [
      4.992372690880239,
      4.390701026317735,
      3.820934923492701,
      3.318787974720096,
      2.8700660616662637,
      2.4507960601972147,
      2.065635587389581,
      1.7403264771829452,
      1.4562108073644704,
      1.1758069012631782
    ],
    "vy_ego": [
      0.008184450965972978,
      -0.007895067540285572,
      -0.011221778295134044,
      -0.006932619664425044,
      0.007045188085348597,
      0.0034267922851473065,
      -0.0050742909883015885,
      0.0017199716020201983,
      0.006964867581426226,
      -0.001719354277553986
    ],
    "v_ego": [
      4.992379399633446,
      4.3907081245055535,
      3.8209514021869313,
      3.318795215490424,
      2.870074708610153,
      2.4507984559289153,
      2.065641819948302,
      1.7403273271101365,
      1.456227463298749,
      1.1758081583478017
    ],
    "ax_ego": [
      -1.2033298261236822,
      -1.2033552066952733,
      -1.0757210607101317,
      -0.9328092316315929,
      -0.8620627788665164,
      -0.8150437683577642,
      -0.7255956006215387,
      -0.5756433677265245,
      -0.5608116875608227,
      -0.5607945881218431
    ],
    "ay_ego": [
      -0.012884988739251035,
      -0.010243806472382877,
      -0.007983946073216452,
      0.03882657242762777,
      0.005604998229192137,
      -0.010337880426799173,
      -0.012751109553442996,
      0.0393498968919897,
      -0.019413755501922647,
      -0.019901514905568407
    ],
    "a_ego": [
      1.2033988089464198,
      1.2033988071506752,
      1.0757506885195245,
      0.9336169264444601,
      0.8620810000877004,
      0.8151093277042923,
      0.7257076315129775,
      0.5769867426492093,
      0.5611476123156065,
      0.5611476101368376
    ],
    "yaw": [
      1.0981480549753566,
      1.1003429238873452,
      1.1000421250061283,
      1.10100538547371,
      1.1000752814492956,
      1.100992639435984,
      1.1022070559499277,
      1.1021303325163743,
      1.1019669291146175,
      1.1010971788894617
    ],
    "yaw_diff": [
      0.0043897378239772245,
      -0.0006015977624338475,
      0.0019265209351635448,
      -0.0018602080488290262,
      0.0018347159733766993,
      0.0024288330278876558,
      -0.00015344686710694333,
      -0.0003268068035136018,
      -0.0017395004503115707,
      -0.0017395004503115707
    ],
    "min_front_frame": [
      9,
      11.742236485216385
    ],
    "v_avg": 2.828171207506041,
    "v_std": 1.2195572107758499,
    "vy_max": 0.011221778295134044,
    "a_max": 1.2033988089464198,
    "ax_avg": -0.851516711641569,
    "a_std": 0.23789125466750902,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9056de7dce5a50d3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.2226667251905887,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.091985020588236,
      17.91953399555553,
      16.85309393221348,
      15.831142374228989,
      14.94726784992334,
      14.216607889925074,
      13.543705602190206,
      12.98618613307151,
      12.40931926005306,
      11.742236485216385
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9056de7dce5a50d3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "61d71be9811b5554": {
    "vx_ego": [
      5.384901725681651,
      5.839969196570094,
      6.398143722918244,
      6.895225038899721,
      7.363519620949386,
      7.713569230293163,
      7.934508965680058,
      8.073943536981863,
      8.183693035151947,
      8.310792916403145
    ],
    "vy_ego": [
      0.013760210342109502,
      -0.20047189320978465,
      -0.18933116293228158,
      -0.18594280366880023,
      -0.17311685199997973,
      -0.1318929396522246,
      -0.046506126592339214,
      -0.02262730594924367,
      -0.053078656265237445,
      -0.07097193716588546
    ],
    "v_ego": [
      5.384919306604128,
      5.843409038981839,
      6.4009444137857825,
      6.897731733208089,
      7.365554334369747,
      7.7146967547697916,
      7.9346452564855,
      8.073975243543028,
      8.183865164904992,
      8.311095951509751
    ],
    "ax_ego": [
      0.628437381468781,
      1.2568578399442225,
      1.052392212660772,
      1.0300676261396267,
      0.8888789071861289,
      0.5326954551892804,
      0.3570424381359488,
      0.20669791480815028,
      0.2425866143537086,
      0.2771616473961698
    ],
    "ay_ego": [
      2.5535302718788193,
      2.309926137827094,
      1.6997546292843673,
      1.6843429590581054,
      1.1787691410199208,
      0.7106732184054484,
      0.4533604343530392,
      0.5852914568661276,
      0.7433944960423607,
      0.7312079523988795
    ],
    "a_ego": [
      2.6297243946521953,
      2.629724394693492,
      1.9991736215353264,
      1.9743481248628723,
      1.476347655351289,
      0.8881558823416489,
      0.5770745065126679,
      0.6207174215909455,
      0.7819741953604802,
      0.7819741993433803
    ],
    "yaw": [
      1.8058098684942603,
      2.0628113431258583,
      2.22378773790514,
      2.3503407555577636,
      2.4486175353370823,
      2.505457409226754,
      2.5316631118042103,
      2.561049452749813,
      2.6056762161631806,
      2.6525616685371385
    ],
    "yaw_diff": [
      0.5140029492631961,
      0.321952789558563,
      0.25310603530524745,
      0.1965535595586374,
      0.11367974777934364,
      0.052411405154912494,
      0.0587726818912051,
      0.08925352682673537,
      0.09377090474791583,
      0.09377090474791583
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.211083719816266,
    "v_std": 0.982947946126919,
    "vy_max": 0.20047189320978465,
    "a_max": 2.629724394693492,
    "ax_avg": 0.6472818037282789,
    "a_std": 0.7756699251819188,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "61d71be9811b5554",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "61d71be9811b5554",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "508209397e8f5714": {
    "vx_ego": [
      -0.0015187207681459796,
      0.012611715129019655,
      0.14235958934761694,
      0.5712989860998996,
      1.1902235089130848,
      1.771866494893936,
      2.27760060043341,
      2.71737000230833,
      3.1227988772837207,
      3.527599565495754
    ],
    "vy_ego": [
      0.00019311493309447612,
      -7.098967480453564e-05,
      -0.00036838478866839386,
      -0.0031065222925308333,
      -0.013670676056912023,
      -0.022596402446270814,
      -0.016239743993174294,
      3.522464003347103e-05,
      0.007262632419274384,
      -0.0016854998731108406
    ],
    "v_ego": [
      0.0015309494273103858,
      0.012611914923177689,
      0.14236006598261555,
      0.5713074321234822,
      1.1903020156889716,
      1.7720105736510818,
      2.277658495995305,
      2.7173700025366343,
      3.1228073225535584,
      3.5275999681647088
    ],
    "ax_ego": [
      0.028260865034675814,
      0.028260909624982077,
      0.49073063778929127,
      1.2250269340921434,
      1.2506607392441675,
      1.0758554076561924,
      0.9470735042122485,
      0.8120685488569807,
      0.8095992363150672,
      0.8095872089460565
    ],
    "ay_ego": [
      -0.0005300163094209675,
      -0.0005279877611185958,
      -0.0006581639547025286,
      -0.010308659464802361,
      -0.033619836994344676,
      -0.00596820566904116,
      0.03075488602967591,
      0.04979874783619981,
      -0.008082900320658948,
      -0.00920899762270977
    ],
    "a_ego": [
      0.02826583467361992,
      0.028265841291341316,
      0.49073107915117403,
      1.2250703072522646,
      1.2511125361558384,
      1.0758719615558254,
      0.947572733564852,
      0.8135940285724421,
      0.8096395844568951,
      0.8096395831024326
    ],
    "yaw": [
      -2.042990502721458,
      -2.0430621757596494,
      -2.043018671719675,
      -2.04303213862097,
      -2.0435084277514663,
      -2.044154703684777,
      -2.0442330982366705,
      -2.042696549698533,
      -2.0416002751157762,
      -2.0402093341976606
    ],
    "yaw_diff": [
      -0.0001433460763831107,
      8.700807994888038e-05,
      -2.693380259000122e-05,
      -0.0009525782609927091,
      -0.0012925518666211389,
      -0.00015678910378724709,
      0.003073097076274678,
      0.002192549165513924,
      0.0027818818362312925,
      0.0027818818362312925
    ],
    "min_front_frame": [
      0,
      21.919976821250557
    ],
    "v_avg": 1.5335558741046846,
    "v_std": 1.2709618094388293,
    "vy_max": 0.022596402446270814,
    "a_max": 1.2511125361558384,
    "ax_avg": 0.7477123991771806,
    "a_std": 0.41739320483310427,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "508209397e8f5714",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      21.919976821250557,
      22.052691903842423,
      22.171397992580953,
      22.447611325188102,
      22.430732287289608,
      22.738754805826538,
      22.690509880217828,
      22.800223691977326,
      22.82873969470385,
      22.93060150867783
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "508209397e8f5714",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "197f39226d0856ce": {
    "vx_ego": [
      7.765071696365482,
      7.654273410991025,
      7.5356817755966805,
      7.391618980902697,
      7.259286043854711,
      7.124218637303908,
      6.964540032717717,
      6.809363089585105,
      6.657493289673305,
      6.511870354703531
    ],
    "vy_ego": [
      0.03271629882449156,
      0.012583800045317783,
      0.009421399403437114,
      -0.0014669156630473523,
      0.005269029111525825,
      -0.004570067331604921,
      0.008232828978532059,
      -0.0034574399004321243,
      -0.018049714776561032,
      -0.025068850258460174
    ],
    "v_ego": [
      7.765140617265413,
      7.6542837550111615,
      7.5356876650924605,
      7.391619126462253,
      7.2592879560719705,
      7.12422010311471,
      6.964544898756895,
      6.809363967338996,
      6.657517757711847,
      6.511918608499339
    ],
    "ax_ego": [
      -0.22206678884505449,
      -0.22169847466366388,
      -0.25271771824492895,
      -0.32369166912027403,
      -0.20586158553342412,
      -0.3343783752986971,
      -0.3043305297617049,
      -0.3163384795943939,
      -0.29123147379041747,
      -0.29123449920881017
    ],
    "ay_ego": [
      0.057163940020596826,
      0.0585760964358103,
      0.13172193019928324,
      0.13284325919731577,
      -0.03520435287360235,
      0.025421417367753135,
      0.013922760798678602,
      -0.07964206936551922,
      -0.010149163319919191,
      -0.010062184305670532
    ],
    "a_ego": [
      0.22930629024654428,
      0.22930628587514246,
      0.28498581019122365,
      0.34989088037848914,
      0.20885003916586756,
      0.3353433260531389,
      0.30464883819456323,
      0.32620989084470586,
      0.2914082648831927,
      0.2914082721585091
    ],
    "yaw": [
      -0.5912883685011159,
      -0.584923942883665,
      -0.5782470524139218,
      -0.5679387612043503,
      -0.5655212473183905,
      -0.5644955047240883,
      -0.5649168949009441,
      -0.5656049385222313,
      -0.5667721287736243,
      -0.566473511667412
    ],
    "yaw_diff": [
      0.01272885123490175,
      0.01335378093948636,
      0.020616582419143104,
      0.0048350277719195756,
      0.0020514851886044294,
      -0.0008427803537116585,
      -0.0013760872425743198,
      -0.0023343805027860043,
      0.0005972342124245245,
      0.0005972342124245245
    ],
    "min_front_frame": [
      9,
      32.073929343717275
    ],
    "v_avg": 7.167358445532504,
    "v_std": 0.40614569903424413,
    "vy_max": 0.03271629882449156,
    "a_max": 0.34989088037848914,
    "ax_avg": -0.27635495940613686,
    "a_std": 0.045731774553264416,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "197f39226d0856ce",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      60.770112533713146,
      57.64756166466947,
      54.732221001977116,
      51.75815261043984,
      48.770472119163124,
      45.519191884918314,
      42.085384170289664,
      38.66484461861411,
      35.289236877352735,
      32.073929343717275
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "197f39226d0856ce",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e3ef42c62ba2595b": {
    "vx_ego": [
      0.776345471610376,
      1.8628919965874884,
      2.9397749920554688,
      3.962746470385114,
      4.915670503018737,
      5.72780955512995,
      6.30995821222722,
      6.678268403896698,
      7.028949257521391,
      7.461080387710209
    ],
    "vy_ego": [
      -0.021011966104750812,
      0.0028447501301145373,
      0.009556349076898618,
      -0.014996557896905127,
      -0.020560815562737034,
      0.02949658623631679,
      0.04917187391415245,
      0.014884539987010115,
      -0.021521904763915245,
      -0.015370801164996895
    ],
    "v_ego": [
      0.7766297663684572,
      1.862894168640028,
      2.9397905244629947,
      3.9627748466571293,
      4.915713502777098,
      5.727885504131306,
      6.310149801172549,
      6.6782849912245865,
      7.02898220635073,
      7.4610962206235065
    ],
    "ax_ego": [
      2.173085200795798,
      2.173137186970575,
      2.1343135871486534,
      1.9575670903414462,
      1.8541687190486802,
      1.394404042371888,
      0.9341325586621073,
      0.5387696626965595,
      0.8642916423202864,
      0.8644227884208497
    ],
    "ay_ego": [
      0.05155413838628986,
      0.0493140045446141,
      -0.007823909432557175,
      -0.08789530613668273,
      0.07034263926208395,
      0.0887565445218571,
      -0.0031185133438126345,
      -0.08098623125278248,
      0.051304595419052246,
      0.049045405914475926
    ],
    "a_ego": [
      2.1736966483625233,
      2.1736966449895005,
      2.1343279274390246,
      1.959539358632211,
      1.855502553379267,
      1.3972259507962634,
      0.9341377640787738,
      0.544822465666288,
      0.8658130309112994,
      0.8658130335023797
    ],
    "yaw": [
      2.4132613340472764,
      2.4142921785029325,
      2.4158136407987274,
      2.4159930353831855,
      2.416257198165254,
      2.414345652553556,
      2.414631053561053,
      2.416657655858405,
      2.420912218545092,
      2.4235259374202185
    ],
    "yaw_diff": [
      0.0020616889113123094,
      0.003042924591589724,
      0.00035878916891629586,
      0.0005283255641366225,
      -0.003823091223395636,
      0.0005708020149937099,
      0.004053204594704596,
      0.008509125373374005,
      0.005227437750252584,
      0.005227437750252584
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.766420153240839,
    "v_std": 2.1839599519234074,
    "vy_max": 0.04917187391415245,
    "a_max": 2.1736966483625233,
    "ax_avg": 1.4888292478776843,
    "a_std": 0.6078048274172444,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "e3ef42c62ba2595b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "e3ef42c62ba2595b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "07064359a6215354": {
    "vx_ego": [
      4.417350161972224,
      3.7050630575838754,
      3.0163369237478577,
      2.349079627341654,
      1.7049774198728014,
      1.122968020460474,
      0.6798817145192253,
      0.3967574928058388,
      0.224565756638348,
      0.105123253249434
    ],
    "vy_ego": [
      -0.01384526506469319,
      -0.011282887484378001,
      0.004472136127534387,
      -0.009810292749283578,
      -0.012731947792181342,
      0.005408450498702866,
      0.006021741068211517,
      -0.001416350677042627,
      0.00679873758804897,
      0.01539758432866653
    ],
    "v_ego": [
      4.417371859470373,
      3.705080237217915,
      3.016340239025802,
      2.349100112263296,
      1.705024957228104,
      1.1229810445032955,
      0.6799083814037696,
      0.39676002085242357,
      0.22466864909760972,
      0.10624492447596277
    ],
    "ax_ego": [
      -1.424720786195871,
      -1.4238517090778937,
      -1.3309670035236967,
      -1.3381107127810439,
      -1.2382482220027105,
      -1.0897626320872305,
      -0.6826138977499878,
      -0.4498918015872362,
      -0.23887000146204607,
      -0.23887831230679693
    ],
    "ay_ego": [
      0.0794731480173464,
      0.09376364852901042,
      -0.050410292051926375,
      -0.0352527266180277,
      0.028781749066434936,
      0.04972500056680573,
      -0.045763781227549094,
      0.015167740056707624,
      0.017095029854114915,
      0.016978409687911894
    ],
    "a_ego": [
      1.4269356327018987,
      1.4269356366807548,
      1.3319213047374865,
      1.3385750014076159,
      1.238582677245325,
      1.0908964982871001,
      0.6841462249210134,
      0.4501474130480336,
      0.23948093378010488,
      0.23948092718643418
    ],
    "yaw": [
      0.5730886811048075,
      0.5831220475879669,
      0.5816539825510005,
      0.5789958678726077,
      0.5796431170586245,
      0.5807082449162579,
      0.5811515169384388,
      0.5807373301116963,
      0.5802118226042043,
      0.5797235748439895
    ],
    "yaw_diff": [
      0.02006673296631889,
      -0.0029361300739327856,
      -0.005316229356785662,
      0.001294498372033548,
      0.0021302557152669266,
      0.0008865440443617256,
      -0.0008283736534850927,
      -0.001051015014983836,
      -0.0009764955204296655,
      -0.0009764955204296655
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.7723480425538551,
    "v_std": 1.459275576538541,
    "vy_max": 0.01539758432866653,
    "a_max": 1.4269356366807548,
    "ax_avg": -0.9455915078774515,
    "a_std": 0.4674418367399761,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "07064359a6215354",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "07064359a6215354",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5422a7cee0d35e47": {
    "vx_ego": [
      8.06181908000935,
      7.769776158014837,
      7.5268312687391195,
      7.336994858980757,
      7.132734996803425,
      6.933696473841126,
      6.837417392998884,
      6.836155780307956,
      6.8611458086846815,
      6.896503380810073
    ],
    "vy_ego": [
      -0.05889151240084223,
      -0.025134186572064898,
      -0.019128305426407977,
      -0.037149551936551894,
      -0.03597281805603503,
      -0.019258895175364277,
      -0.03703232405543355,
      -0.04327806956194569,
      -0.04252693715370981,
      -0.009859393262719562
    ],
    "v_ego": [
      8.062034178111357,
      7.7698168107742696,
      7.526855574550201,
      7.337088908410416,
      7.132825707828787,
      6.933723220348519,
      6.837517678156935,
      6.836292770496512,
      6.86127760321757,
      6.8965104284094485
    ],
    "ax_ego": [
      -0.5880335762283134,
      -0.583309706971448,
      -0.3900860105245495,
      -0.3706872955454757,
      -0.4488404366599606,
      -0.3483653295228006,
      -0.037612870927497676,
      0.030320987859671716,
      0.06780933712148969,
      0.07160201420296725
    ],
    "ay_ego": [
      -0.23605776533077338,
      -0.24750058863341975,
      -0.22669700223694705,
      -0.23275135501611782,
      -0.10905058241737597,
      -0.14712157150800387,
      -0.20324955717222856,
      -0.14469894278771966,
      -0.19874185181087725,
      -0.19740714600921044
    ],
    "a_ego": [
      0.6336456070587234,
      0.6336456072766589,
      0.45117471829677835,
      0.43770111302195447,
      0.46189800509059686,
      0.37815758569214786,
      0.206700533502252,
      0.14784162589971112,
      0.2099914994995572,
      0.20999149919323795
    ],
    "yaw": [
      -1.1749268387530662,
      -1.1944641663466702,
      -1.210800741063891,
      -1.2238352151010772,
      -1.2357925044376015,
      -1.24729514273564,
      -1.2574925541199933,
      -1.2693169465866867,
      -1.2819719174808704,
      -1.3011190617734587
    ],
    "yaw_diff": [
      -0.039074655187207874,
      -0.03267314943444166,
      -0.026068948074372322,
      -0.02391457867304858,
      -0.023005276596077096,
      -0.020394822768706522,
      -0.023648784933386846,
      -0.02530994178836732,
      -0.038294288585176695,
      -0.038294288585176695
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.219394288030401,
    "v_std": 0.4166043142975216,
    "vy_max": 0.05889151240084223,
    "a_max": 0.6336456072766589,
    "ax_avg": -0.25972028871959163,
    "a_std": 0.16894630861833645,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5422a7cee0d35e47",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5422a7cee0d35e47",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2919cd502115582a": {
    "vx_ego": [
      2.7562376374912145,
      2.4908665354527346,
      2.2809276708850232,
      2.159214390772581,
      2.0859743419943033,
      1.9822646413080833,
      1.767788830248652,
      1.513634094061205,
      1.3474275805321438,
      1.2445131837913945
    ],
    "vy_ego": [
      -0.07174408681510336,
      -0.008254322871734887,
      0.0004899152814572538,
      -0.03047612852284809,
      0.00024402830747294324,
      0.001632250809040503,
      -0.02437246631003598,
      -0.0010965418467718813,
      0.008886347651475779,
      -0.0100828385508559
    ],
    "v_ego": [
      2.757171218534693,
      2.490880212150793,
      2.2809277234989187,
      2.1594294569930153,
      2.085974356268164,
      1.9822653133279027,
      1.7679568335980183,
      1.5136344912522661,
      1.3474568831518468,
      1.2445540278605167
    ],
    "ax_ego": [
      -0.5307170094202587,
      -0.5303845217925398,
      -0.30960794646221945,
      -0.17694903003745863,
      -0.11565127147126612,
      -0.2995880723162442,
      -0.5581793678807778,
      -0.4583319828830771,
      -0.20607948582917338,
      -0.20559082384772664
    ],
    "ay_ego": [
      0.13885416605920498,
      0.1401187960568505,
      -0.08170191750820861,
      -0.014297442656143744,
      0.15794829840350877,
      -0.13009231160467916,
      0.03419223397517862,
      0.06915416859908843,
      -0.05844918990129951,
      -0.06014545641543855
    ],
    "a_ego": [
      0.548580917932788,
      0.5485809128702186,
      0.32020662678506623,
      0.1775257054561484,
      0.19576230883774423,
      0.3266144862262115,
      0.5592256392476994,
      0.46351969275119737,
      0.21420798836582786,
      0.21420798952842163
    ],
    "yaw": [
      2.616415683779133,
      2.618799311233082,
      2.6212841418702935,
      2.6244455811802134,
      2.6269007670122835,
      2.629611250837696,
      2.6306753941468113,
      2.6322480656368485,
      2.6270253100122094,
      2.618784447214842
    ],
    "yaw_diff": [
      0.004767254907898533,
      0.004969661274422776,
      0.006322878619839933,
      0.004910371664140101,
      0.005420967650825226,
      0.0021282866182303906,
      0.003145342980074517,
      -0.010445511249278283,
      -0.016481725594735153,
      -0.016481725594735153
    ],
    "min_front_frame": [
      0,
      15.981991349899452
    ],
    "v_avg": 1.9630250516636132,
    "v_std": 0.4689937089971636,
    "vy_max": 0.07174408681510336,
    "a_max": 0.5592256392476994,
    "ax_avg": -0.33910795119407416,
    "a_std": 0.1506362063651935,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "2919cd502115582a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.517515764851822,
    "right_rear_min": 37.0790368483515,
    "speed_mode": "decelerating",
    "front_frame": [
      15.981991349899452,
      18.577122720572124,
      21.134687024543222,
      23.833130327053016,
      26.570425488878,
      29.481134443680855,
      32.34770832914864,
      35.41449978018725,
      38.41015509589039,
      41.59036773939568
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "2919cd502115582a",
    "pedestrians": "No"
  },
  "bcbe67b78b825aec": {
    "vx_ego": [
      0.38269151733934526,
      0.10685207947501318,
      -0.04356244247329377,
      -0.04267011228485871,
      -0.02214283839289966,
      -0.011910921145400207,
      -0.007410719406032419,
      -0.005188477073011547,
      -0.003747933916305491,
      -0.0025181975142583015
    ],
    "vy_ego": [
      0.03835616751560131,
      -0.0063400895654806624,
      -0.02463359381023301,
      -0.01443851199965555,
      -0.006241752855506994,
      -0.0033709291480618474,
      -0.002169182176650385,
      -0.0014387469324144628,
      -0.0010871078933003659,
      -0.0009713803109716604
    ],
    "v_ego": [
      0.38460888319171105,
      0.10704000945362838,
      0.05004498314763009,
      0.045046743624446904,
      0.023005755166985952,
      0.012378740075354791,
      0.007721665198028414,
      0.0053842629089503515,
      0.00390241107684326,
      0.0026990550993560855
    ],
    "ax_ego": [
      -0.551681474327185,
      -0.5516631815972094,
      -0.05002224349904179,
      0.05359628906414797,
      0.02851266627057596,
      0.012414396732195389,
      0.005586433416663043,
      0.003302599725037923,
      0.0024594431645182393,
      0.0024594359447795994
    ],
    "ay_ego": [
      -0.08943620506246042,
      -0.08954899036879452,
      0.016404512212105104,
      0.02436288144551825,
      0.008424596674003191,
      0.003060859178776014,
      0.001746013779163436,
      0.001175457320380816,
      0.00023155567799382172,
      0.00023159955480090192
    ],
    "a_ego": [
      0.5588839628149934,
      0.558883966137897,
      0.052643450357993574,
      0.058873696960324184,
      0.02973122881713545,
      0.012786168508847399,
      0.005852931097820826,
      0.003505547725514148,
      0.002470319556556736,
      0.002470316481801046
    ],
    "yaw": [
      0.8791694117504686,
      0.878964971575227,
      0.8787271813846953,
      0.8787848298276904,
      0.8787809997953381,
      0.8787449425641647,
      0.8787480766458431,
      0.8787589787847886,
      0.8787324596288177,
      0.8787135818604652
    ],
    "yaw_diff": [
      -0.00040888035048314286,
      -0.00047558038106343403,
      0.00011529688599010157,
      -7.660064704539948e-06,
      -7.211446234678398e-05,
      6.268163356804024e-06,
      2.1804277891002144e-05,
      -5.3038311941699945e-05,
      -3.775553670504195e-05,
      -3.775553670504195e-05
    ],
    "min_front_frame": [
      2,
      11.831503851388492
    ],
    "v_avg": 0.06418325089429353,
    "v_std": 0.11113685043108998,
    "vy_max": 0.03835616751560131,
    "a_max": 0.558883966137897,
    "ax_avg": -0.10450356351055182,
    "a_std": 0.2160186264318839,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bcbe67b78b825aec",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.92716509938893,
      12.01581071100162,
      11.831503851388492,
      11.914716223000386,
      12.016884395369074,
      11.98702926644656,
      11.918385085613345,
      12.019545452102982,
      11.90125270999713,
      11.931748801431889
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bcbe67b78b825aec",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f57582f9a7dc511c": {
    "vx_ego": [
      3.5429526899144865,
      3.664049738126454,
      3.7783770039545903,
      3.809045543629856,
      3.768949339971924,
      3.712385080588812,
      3.647100086372783,
      3.5800498259464777,
      3.547405867860986,
      3.548681295377949
    ],
    "vy_ego": [
      0.007479708572708632,
      -0.0024916819344346086,
      -0.02074886523306546,
      -0.026946587478093274,
      -0.019917870421769096,
      0.003285185492694853,
      0.0066138708990921,
      0.009976870569682994,
      0.004072020481378447,
      0.005497777251041391
    ],
    "v_ego": [
      3.5429605853032897,
      3.664050585341774,
      3.7784339744689635,
      3.8091408574668355,
      3.769001969863765,
      3.712386534161296,
      3.647106083363717,
      3.5800637276738203,
      3.54740820496956,
      3.548685554077738
    ],
    "ax_ego": [
      0.20679555134310482,
      0.27542029541192037,
      0.18278878253841505,
      -0.056877948717589076,
      -0.10041527016940847,
      -0.12751669754354986,
      -0.13545170063607537,
      -0.1336829928980967,
      0.0016670617814580242,
      0.0031605465207315657
    ],
    "ay_ego": [
      0.7044708419082364,
      0.6805785966789294,
      0.6073644476527488,
      0.503745028124084,
      0.4209583714734962,
      0.27064508623855354,
      0.18984129184132403,
      0.1806035215290944,
      0.10439628692234425,
      0.10436175012317073
    ],
    "a_ego": [
      0.7341958642993013,
      0.7341958630925745,
      0.6342738456647922,
      0.5069459087615313,
      0.4327691959888242,
      0.2991810001612523,
      0.23320994681442672,
      0.22469707292019325,
      0.10440959638919989,
      0.10440959698744572
    ],
    "yaw": [
      -1.8373176203304946,
      -1.7383050230925594,
      -1.6472183404204428,
      -1.5729847633902887,
      -1.5139294062822075,
      -1.473951928516,
      -1.4435818167921424,
      -1.4188835252411396,
      -1.397131082864961,
      -1.38282304065326
    ],
    "yaw_diff": [
      0.19802519447587041,
      0.18217336534423323,
      0.1484671540603082,
      0.11811071421616237,
      0.07995495553241483,
      0.06074022344771546,
      0.049396583102005565,
      0.04350488475235714,
      0.028616084423402022,
      0.028616084423402022
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.659923807669075,
    "v_std": 0.0980988444123089,
    "vy_max": 0.026946587478093274,
    "a_max": 0.7341958642993013,
    "ax_avg": 0.011588762763091037,
    "a_std": 0.23113291542985553,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "f57582f9a7dc511c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f57582f9a7dc511c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "09babda49aa659a1": {
    "vx_ego": [
      2.6880949321270347,
      2.1067154963016783,
      1.5500205886413654,
      1.0365851041906402,
      0.5977310315943251,
      0.2809763336084954,
      0.0567475877303121,
      -0.044155375758641625,
      -0.03388477527494021,
      -0.009798428112952097
    ],
    "vy_ego": [
      -0.03176845968032005,
      -0.012593318771839335,
      0.016186078899833145,
      0.014962301812328438,
      0.004114543703869322,
      0.008475768023244262,
      0.0007581987931819731,
      -0.006252892374767416,
      -0.0038676951726634608,
      -0.0010496907140508053
    ],
    "v_ego": [
      2.6882826486732205,
      2.1067531355228395,
      1.550105097844103,
      1.0366930831762329,
      0.597745192871266,
      0.2811041420748836,
      0.05675265261306691,
      0.04459591765439143,
      0.03410479528426821,
      0.009854493598346618
    ],
    "ax_ego": [
      -1.1627725325379616,
      -1.1615479568854905,
      -1.065436077057148,
      -0.9887846826302226,
      -0.7666319769233447,
      -0.5004117136284911,
      -0.3965064873526059,
      -0.007090552299771379,
      0.04817272912426081,
      0.04817283924220027
    ],
    "ay_ego": [
      0.09091319096638628,
      0.10541126037364701,
      0.0724420234197391,
      -0.05806110980785606,
      0.01743449191292329,
      0.0012246658573739078,
      -0.0320381323043044,
      0.003906960337214566,
      0.005635648035942183,
      0.005634764035152593
    ],
    "a_ego": [
      1.1663212124952695,
      1.166321220744276,
      1.0678960066654763,
      0.9904878803278059,
      0.7668301960340748,
      0.500413212198744,
      0.3977987386031413,
      0.008095694596040598,
      0.04850126142755902,
      0.04850126809050171
    ],
    "yaw": [
      1.1109853857708285,
      1.1234603291194702,
      1.1320951141193765,
      1.1358490442710243,
      1.1367245369898318,
      1.1374720960621194,
      1.1375632198282242,
      1.1380752648072314,
      1.1380653430124894,
      1.1380837171484026
    ],
    "yaw_diff": [
      0.024949886697283485,
      0.01726956999981244,
      0.007507860303295644,
      0.0017509854376149825,
      0.0014951181445752582,
      0.00018224753220952294,
      0.0010240899580145069,
      -1.9843589484036528e-05,
      3.6748271826425594e-05,
      3.6748271826425594e-05
    ],
    "min_front_frame": [
      9,
      9.88210299643645
    ],
    "v_avg": 0.8405991159312618,
    "v_std": 0.9230141256267009,
    "vy_max": 0.03176845968032005,
    "a_max": 1.166321220744276,
    "ax_avg": -0.5952836410948575,
    "a_std": 0.4524971864789283,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "09babda49aa659a1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.08611286431187,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.328084522975791,
      12.189092907681752,
      11.29229323562662,
      10.60200705015602,
      10.234381856125859,
      10.003676844174983,
      9.976839814052575,
      9.936517601417167,
      9.894736126408059,
      9.88210299643645
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "09babda49aa659a1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f54559dd98e75d83": {
    "vx_ego": [
      2.194372362924109,
      2.6635783426611557,
      3.1685750048633006,
      3.707227988482966,
      4.226115890094213,
      4.689484679407231,
      5.039765641096279,
      5.123844752685742,
      4.973801174410018,
      4.770892869572176
    ],
    "vy_ego": [
      0.012767223420820262,
      -0.030508137804541535,
      0.0044472287584462755,
      0.024198212798041574,
      0.012638550511102853,
      -0.027075612613181033,
      -0.026069406871604528,
      -0.023955419976390946,
      -0.03272597837408586,
      0.014165622462965377
    ],
    "v_ego": [
      2.1944095035245845,
      2.663753054238671,
      3.168578125798399,
      3.707306962215845,
      4.22613478836937,
      4.689562841800238,
      5.039833065801806,
      5.123900751553592,
      4.973908836340189,
      4.770913899641703
    ],
    "ax_ego": [
      0.9242672899479053,
      0.9485243718888259,
      1.0628090699475221,
      1.091467365093433,
      0.9845937755388734,
      0.8780210334322514,
      0.5330115545514255,
      -0.19556504809112701,
      -0.40624017652018096,
      -0.40512685006827365
    ],
    "ay_ego": [
      -0.4182489985825291,
      -0.35986630321415475,
      -0.15926470883266747,
      -0.007118044212240937,
      0.20632622096301861,
      0.5185174099642148,
      0.642256268494948,
      0.483993663772622,
      0.1597162253125407,
      0.16251952430582087
    ],
    "a_ego": [
      1.0144960562185217,
      1.01449605236103,
      1.074675935639331,
      1.0914905751390658,
      1.0059798269780433,
      1.0196966409601613,
      0.8346223287849313,
      0.5220110675138322,
      0.4365092824296341,
      0.4365092901953311
    ],
    "yaw": [
      -2.155088436652936,
      -2.21741656325218,
      -2.274172508495471,
      -2.2920348674107536,
      -2.276617779692167,
      -2.227216277688057,
      -2.1683087331158033,
      -2.114299997033948,
      -2.0808661131234496,
      -2.0739560626095717
    ],
    "yaw_diff": [
      -0.12465625319848783,
      -0.11351189048658217,
      -0.035724717830564856,
      0.030834175437172817,
      0.09880300400822062,
      0.11781508914450711,
      0.10801747216371016,
      0.06686776782099724,
      0.013820101027755882,
      0.013820101027755882
    ],
    "min_front_frame": [
      0,
      22.563619863344073
    ],
    "v_avg": 4.05583018292844,
    "v_std": 1.0102138692658638,
    "vy_max": 0.03272597837408586,
    "a_max": 1.0914905751390658,
    "ax_avg": 0.5415762385720655,
    "a_std": 0.25798425031856886,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "f54559dd98e75d83",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      22.563619863344073,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 9,
    "token": "f54559dd98e75d83",
    "smoothness": "Yes"
  },
  "af58d13139de5d3f": {
    "vx_ego": [
      6.802494467390752,
      6.378027891638524,
      5.992828135058935,
      5.650066795446785,
      5.277400313890325,
      4.839161732101488,
      4.346413027798016,
      3.8431192552855746,
      3.3195103892244164,
      2.7639396116913506
    ],
    "vy_ego": [
      -0.018307883866421015,
      -0.010649374569351,
      0.007916303181791928,
      0.029788622347468152,
      0.01308294474243299,
      -0.016271051885985433,
      -0.004500817153846093,
      0.01549209820983366,
      0.007502087026949766,
      -0.0006273061091912613
    ],
    "v_ego": [
      6.802519103794818,
      6.3780367822471575,
      5.992833363627761,
      5.6501453215852475,
      5.277416530509302,
      4.839189086671955,
      4.346415358150596,
      3.843150480459189,
      3.319518866564641,
      2.7639396828783167
    ],
    "ax_ego": [
      -0.8489521350008182,
      -0.8489562841723375,
      -0.691869414421478,
      -0.6792018580585398,
      -0.8121185784148797,
      -0.940859349246076,
      -1.029910084091758,
      -0.9833838799070922,
      -1.1111438546773638,
      -1.111154547129794
    ],
    "ay_ego": [
      0.005987929343865939,
      0.005367049943636737,
      0.040009325925281,
      0.056465335040044085,
      0.0060057842051745025,
      -0.01564222091516415,
      0.1037228739947808,
      0.0031573784437512464,
      -0.009810661394914044,
      -0.008514536095288294
    ],
    "a_ego": [
      0.8489732521229834,
      0.8489732490843278,
      0.6930252757099947,
      0.681544934726506,
      0.8121407851170412,
      0.9409893698331073,
      1.0351199041191457,
      0.9833889486361759,
      1.111187164641617,
      1.1111871691718436
    ],
    "yaw": [
      -2.0517324964928507,
      -2.0524638430441726,
      -2.053635076859165,
      -2.0532490979727775,
      -2.0473510488385,
      -2.0420410687324635,
      -2.0398147212319193,
      -2.0381695202935823,
      -2.03641078060752,
      -2.035244306763235
    ],
    "yaw_diff": [
      -0.0014626931026437973,
      -0.0023424676299850233,
      0.000771957772775167,
      0.011796098268555433,
      0.010619960212072677,
      0.004452695001088358,
      0.003290401876673954,
      0.0035174793721246544,
      0.002332947688570286,
      0.002332947688570286
    ],
    "min_front_frame": [
      9,
      13.679270362469635
    ],
    "v_avg": 4.921316457648898,
    "v_std": 1.272274847637913,
    "vy_max": 0.029788622347468152,
    "a_max": 1.1111871691718436,
    "ax_avg": -0.9057549985120137,
    "a_std": 0.14803259769532603,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "af58d13139de5d3f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 25.062895419533703,
    "right_rear_min": 15.395854413952547,
    "speed_mode": "decelerating",
    "front_frame": [
      17.667373050221588,
      17.29167255714303,
      16.927263160086824,
      16.44807646167052,
      16.030147502801505,
      15.562599220308801,
      14.9755966298892,
      14.530685790847851,
      14.04840229390773,
      13.679270362469635
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "af58d13139de5d3f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6c8af7c93b5751c4": {
    "vx_ego": [
      9.763050545863454,
      9.549295872777398,
      9.346631641071722,
      9.160109640593532,
      8.983560688024323,
      8.811314369534426,
      8.63435729584441,
      8.464889053160674,
      8.302139403773735,
      8.134183150886075
    ],
    "vy_ego": [
      -0.05504709255043405,
      -0.01427427147220417,
      -0.012922654247131682,
      -0.036511435043517615,
      -0.055857161034517766,
      0.004701704092680892,
      -0.00955755741659381,
      0.01426854007743028,
      0.024717391602478767,
      -0.03148593754523121
    ],
    "v_ego": [
      9.763205730879736,
      9.54930654134998,
      9.346640574499261,
      9.160182406075958,
      8.983734338116577,
      8.811315623945452,
      8.63436258557662,
      8.46490107878145,
      8.302176198391608,
      8.134244088815015
    ],
    "ax_ego": [
      -0.4274986438739613,
      -0.4274590478471041,
      -0.3797816125423079,
      -0.3623014816109349,
      -0.34376983335979794,
      -0.34513236922312235,
      -0.3627791353503863,
      -0.31510319297493805,
      -0.3359898792037777,
      -0.33570266943755867
    ],
    "ay_ego": [
      0.08994353053598395,
      0.09013149361261474,
      0.45737029555534175,
      0.532907862553669,
      0.17493797999431332,
      0.10971814239865663,
      0.0652638500240807,
      0.047486208145851166,
      0.031081558426559297,
      0.03404374983758596
    ],
    "a_ego": [
      0.4368580194975863,
      0.4368580132344989,
      0.5944927758027143,
      0.6444013916411097,
      0.3857213957932772,
      0.36215248591853894,
      0.36860286375113743,
      0.31866120282687715,
      0.3374244540657846,
      0.33742444957428164
    ],
    "yaw": [
      2.4616134750229066,
      2.4620531870174576,
      2.476406231087447,
      2.5057147885508835,
      2.527358662385504,
      2.5285505739023733,
      2.5351986273093132,
      2.5357091123450743,
      2.5368053380071363,
      2.5456253771637156
    ],
    "yaw_diff": [
      0.0008794239891019018,
      0.028706088139978547,
      0.05861711492687327,
      0.04328774766924148,
      0.002383823033738075,
      0.013296106813879938,
      0.0010209700715222425,
      0.002192451324123823,
      0.017640078313158725,
      0.017640078313158725
    ],
    "min_front_frame": [
      9,
      43.01613008876813
    ],
    "v_avg": 8.915006916643165,
    "v_std": 0.5147989713101606,
    "vy_max": 0.055857161034517766,
    "a_max": 0.6444013916411097,
    "ax_avg": -0.36355178654238895,
    "a_std": 0.10601464684952774,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "6c8af7c93b5751c4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 20.169447561045416,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      78.1658299596437,
      73.43876427018816,
      68.849204190208,
      64.35087831003358,
      59.912580245738525,
      55.54818078103861,
      51.302759530185575,
      47.11138081871609,
      43.01613008876813
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1111111111111111,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8888888888888888,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 8,
    "token": "6c8af7c93b5751c4",
    "smoothness": "Yes"
  },
  "c2331abea9b5551f": {
    "vx_ego": [
      7.904481786169132,
      7.918959923012606,
      7.935776372578096,
      7.9637441678524405,
      7.995694802061263,
      7.956506751046781,
      7.926353100271561,
      7.977894020316874,
      8.062043700354977,
      8.170060799806663
    ],
    "vy_ego": [
      0.0023803968115543306,
      -0.017012912701479532,
      -0.029160861760341383,
      -0.03729746024642111,
      -0.00918119661398542,
      0.016915335303767876,
      0.039381034941847304,
      0.05075760335966706,
      0.05668637724080705,
      0.06458345277248245
    ],
    "v_ego": [
      7.90448214459167,
      7.918978198068133,
      7.9358299497549325,
      7.963831506978572,
      7.995700073294443,
      7.956524731817368,
      7.92645092939442,
      7.978055485750055,
      8.062242986402609,
      8.170316058446547
    ],
    "ax_ego": [
      0.025175381652382284,
      0.03343409912735523,
      0.03628280485682481,
      0.07816578907291945,
      0.04922820979197032,
      -0.20596300808350115,
      0.08530090531890155,
      0.12086521903183256,
      0.21574604723523924,
      0.21584114086811193
    ],
    "ay_ego": [
      0.3429549634262274,
      0.3422485455105687,
      0.3635896931100527,
      0.32493419576279003,
      0.032520542780962766,
      0.033996063704864826,
      0.07190327822514105,
      -0.02673766887128865,
      0.04818541274699572,
      0.047757636106769905
    ],
    "a_ego": [
      0.3438777497600391,
      0.34387774846383656,
      0.3653955485007182,
      0.3342037135601627,
      0.059000019848222694,
      0.2087498336435974,
      0.11156310262692701,
      0.12378733419976189,
      0.2210615093118393,
      0.2210615070466923
    ],
    "yaw": [
      1.0677752002291752,
      1.0918799231136722,
      1.115671814762351,
      1.1383616344388114,
      1.1460335044890126,
      1.1448512643578093,
      1.1453584275688833,
      1.1453477118906035,
      1.1452769290201639,
      1.1472592602568632
    ],
    "yaw_diff": [
      0.04820944576899411,
      0.047583783297357574,
      0.045379639352920886,
      0.015343740100402403,
      -0.002364480262406765,
      0.0010143264221480486,
      -2.1431356559631354e-05,
      -0.00014156574087920148,
      0.003964662473398661,
      0.003964662473398661
    ],
    "min_front_frame": [
      9,
      66.22502109481579
    ],
    "v_avg": 7.981241206449875,
    "v_std": 0.076339105246489,
    "vy_max": 0.06458345277248245,
    "a_max": 0.3653955485007182,
    "ax_avg": 0.06540765888720362,
    "a_std": 0.10496728252381289,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c2331abea9b5551f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.37405633126188,
      74.40477645224247,
      70.3266543223599,
      66.22502109481579
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c2331abea9b5551f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fefc295622155532": {
    "vx_ego": [
      0.8782944061030924,
      1.0145934457388042,
      1.1244220011267392,
      1.1763504697776428,
      1.137152547319644,
      0.9948922458545658,
      0.7479403881494218,
      0.4258637041232505,
      0.14309080877639171,
      -0.08658645063864018
    ],
    "vy_ego": [
      -0.0017325346766617344,
      0.002427470022549172,
      0.0025133502489389503,
      -0.010372435368539601,
      -0.014226018035473853,
      -0.007047928269456938,
      -0.004076854337532965,
      0.003014849670102626,
      -0.001142482838207004,
      -0.02063333943158984
    ],
    "v_ego": [
      0.8782961149113605,
      1.0145963496617016,
      1.1244248100906233,
      1.1763961982094109,
      1.137241529080213,
      0.9949172096985925,
      0.7479514990735677,
      0.4258743756181026,
      0.14309536967811887,
      0.0890109438793729
    ],
    "ax_ego": [
      0.2725997438207465,
      0.2725969204210449,
      0.16673360791017894,
      0.04098025478821417,
      -0.1978252265860516,
      -0.3712318153985761,
      -0.6165862496038255,
      -0.6717237689519172,
      -0.4593565322592129,
      -0.45935463338452964
    ],
    "ay_ego": [
      0.007567353322057102,
      0.007668459824656332,
      -0.010999094607405613,
      -0.04063608107075927,
      0.022081817691097017,
      0.00459120792709633,
      0.005606109745099286,
      0.022004270497024414,
      -0.03897327142905299,
      -0.03899565265200505
    ],
    "a_ego": [
      0.27270475824128454,
      0.2727047603162069,
      0.16709600859663867,
      0.05771197767618322,
      0.19905382926827983,
      0.3712602051854633,
      0.6166117349410284,
      0.6720840793346282,
      0.4610068758870001,
      0.461006876453694
    ],
    "yaw": [
      -0.7205191429934139,
      -0.7208900554954372,
      -0.721738399645915,
      -0.7217581287362691,
      -0.7224196650362092,
      -0.7228883892331304,
      -0.7233559083255667,
      -0.7236743800777278,
      -0.7240035919916209,
      -0.7240523165017243
    ],
    "yaw_diff": [
      -0.0007418250040465146,
      -0.0016966883009557066,
      -3.945818070816287e-05,
      -0.0013230725998802928,
      -0.000937448393842244,
      -0.0009350381848727274,
      -0.000636943504322085,
      -0.0006584238277862475,
      -9.74490202068079e-05,
      -9.74490202068079e-05
    ],
    "min_front_frame": [
      8,
      8.818654289151207
    ],
    "v_avg": 0.7731804399901063,
    "v_std": 0.39030081609425815,
    "vy_max": 0.02063333943158984,
    "a_max": 0.6720840793346282,
    "ax_avg": -0.20231676992439285,
    "a_std": 0.1879559705661323,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fefc295622155532",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.71903165872342,
      11.478895557193146,
      11.153434857336212,
      10.649014208174671,
      10.134169279784416,
      9.598814951373408,
      9.174041191636576,
      8.920967075611983,
      8.818654289151207,
      8.835642284208868
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fefc295622155532",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2f1653c3481b50f1": {
    "vx_ego": [
      0.3494397512422913,
      0.16854377768084144,
      0.10209686964925473,
      0.23956072921762572,
      0.46569598908033183,
      0.6674668170038589,
      0.725483086172078,
      0.6175785169643666,
      0.5172511863842919,
      0.47018158894820483
    ],
    "vy_ego": [
      0.016349218278250643,
      0.016376445587049815,
      0.009342743916925668,
      -0.012452623919685532,
      -0.026197588601274385,
      -0.0046076749692073316,
      0.031095556818652836,
      0.02476734331528374,
      -0.007090432388772938,
      -0.027481618805905966
    ],
    "v_ego": [
      0.34982200715018535,
      0.1693375119841865,
      0.10252344929855883,
      0.23988416126490245,
      0.46643227578505986,
      0.6674827207275741,
      0.7261491871341761,
      0.6180749516934039,
      0.5172997816038755,
      0.4709840400247675
    ],
    "ax_ego": [
      -0.3617994489570963,
      -0.36179940957257456,
      0.09601656450172329,
      0.45383404337599115,
      0.4507106306602644,
      0.3563927119352682,
      -0.12434367472663183,
      -0.30713222261331385,
      -0.09416796097027395,
      -0.0941464434932694
    ],
    "ay_ego": [
      0.0001315821830335795,
      0.00021437102960089605,
      -0.028371891178470332,
      -0.05853417439147085,
      0.0036015627980714726,
      0.08321489716855476,
      0.0603519095235035,
      -0.08779313753191613,
      -0.04127218631699216,
      -0.04132123974520722
    ],
    "a_ego": [
      0.36179947288453784,
      0.36179947308143207,
      0.10012065155479438,
      0.45759325661409406,
      0.4507250202116161,
      0.36597880298092156,
      0.1382161438749308,
      0.31943361934068887,
      0.10281535992585715,
      0.1028153572016956
    ],
    "yaw": [
      -0.7053231587253623,
      -0.7050943393775864,
      -0.7051670065503908,
      -0.7046209843625664,
      -0.7045875167490242,
      -0.7043900595205823,
      -0.7041409446528133,
      -0.7049072278864832,
      -0.7056626974901286,
      -0.7061835947214269
    ],
    "yaw_diff": [
      0.0004576386955519318,
      -0.0001453343456088163,
      0.001092044375648804,
      6.693522708434152e-05,
      0.000394914456883777,
      0.0004982297355380361,
      -0.001532566467339791,
      -0.001510939207290729,
      -0.001041794462596668,
      -0.001041794462596668
    ],
    "min_front_frame": [
      0,
      8.653022970123988
    ],
    "v_avg": 0.432799008666669,
    "v_std": 0.20193633832490787,
    "vy_max": 0.031095556818652836,
    "a_max": 0.45759325661409406,
    "ax_avg": 0.0013564790140087172,
    "a_std": 0.14075308698358177,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2f1653c3481b50f1",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.666861473889695,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.653022970123988,
      8.761784378869583,
      8.884065134341775,
      9.016410430634034,
      9.021526383680401,
      8.909856034620303,
      8.750406740025488,
      8.688145281161606,
      8.714492367229193,
      8.7385896938813
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2f1653c3481b50f1",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "282d1f01eef856f5": {
    "vx_ego": [
      0.6940634692140987,
      0.3292318261809228,
      0.056029084450455076,
      -0.034694197158956164,
      -0.02716790957740622,
      -0.01636751942347966,
      -0.010966783919010365,
      -0.007739425812031053,
      -0.005655831105068215,
      -0.0038379650533815063
    ],
    "vy_ego": [
      0.019303370800839714,
      -0.0060946832991338185,
      -0.012818663419713251,
      -0.0052311124845448535,
      -0.0027380804185555795,
      -0.0015485782965019958,
      -0.001141168752706279,
      -0.0008954423235663089,
      -0.0006565877461710136,
      -0.0003632068154004219
    ],
    "v_ego": [
      0.6943318510782757,
      0.3292882332166488,
      0.057476746917550246,
      0.035086348546557004,
      0.02730553781167106,
      0.016440613942866642,
      0.011025997263214677,
      0.007791054412258096,
      0.00569381532519971,
      0.0038551128312581235
    ],
    "ax_ego": [
      -0.7296672957146052,
      -0.7296505988251014,
      -0.3631894701496479,
      0.000296350489336932,
      0.029809386185066497,
      0.013391935602574965,
      0.008211263266515051,
      0.00469841268901798,
      0.0036357378794316772,
      0.003635742150535944
    ],
    "ay_ego": [
      -0.05101119951850713,
      -0.05124955556658106,
      0.02412719872700464,
      0.0062230438636974444,
      0.0037436928483438187,
      0.0010171213319371698,
      0.0006101267744479518,
      0.0003707558761450319,
      0.0005866572075899368,
      0.0005866099614933863
    ],
    "a_ego": [
      0.7314482243547947,
      0.7314482300967042,
      0.3639899901727991,
      0.006230096190431787,
      0.030043547408273447,
      0.013430505388383437,
      0.00823389938685904,
      0.00471301832332755,
      0.0036827648047562814,
      0.0036827614954144127
    ],
    "yaw": [
      -2.0308423293526827,
      -2.031168990497183,
      -2.0315545558316623,
      -2.031554812062166,
      -2.0315158552567905,
      -2.0315513759537174,
      -2.0315053727343475,
      -2.0314484627681275,
      -2.0315242577826496,
      -2.0315110360619277
    ],
    "yaw_diff": [
      -0.000653322289000613,
      -0.0007711306689586195,
      -5.124610069628943e-07,
      7.791361075071279e-05,
      -7.104139385383235e-05,
      9.200643873974457e-05,
      0.00011381993243997357,
      -0.0001515900290440797,
      2.644344144364652e-05,
      2.644344144364652e-05
    ],
    "min_front_frame": [
      2,
      10.431009760374295
    ],
    "v_avg": 0.11882953113455001,
    "v_std": 0.21333142157336246,
    "vy_max": 0.019303370800839714,
    "a_max": 0.7314482300967042,
    "ax_avg": -0.17588285364268758,
    "a_std": 0.2905058622815706,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "282d1f01eef856f5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.352698341469419,
    "right_rear_min": 5.310703832755529,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.697362230875042,
      10.474312157770054,
      10.431009760374295,
      10.4512870368919,
      10.448781635363856,
      10.446021681741673,
      10.448393156105771,
      10.455400999389294,
      10.44246569153832,
      10.434996868012593
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "282d1f01eef856f5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9fe281ced54b55b2": {
    "vx_ego": [
      4.506524067161577,
      4.52883457952304,
      4.536619221791833,
      4.479872036717554,
      4.4244163370676555,
      4.4574473438905455,
      4.586674352130259,
      4.673708545581897,
      4.7321275584102915,
      4.897014249315495
    ],
    "vy_ego": [
      0.020989494130396746,
      0.032726599306252435,
      0.03563445666485654,
      0.028817712701969644,
      0.033462772386926604,
      0.035952414468659155,
      0.009204841326758695,
      0.004646487125406384,
      0.014018601081668969,
      -0.003048484925779249
    ],
    "v_ego": [
      4.506572947015323,
      4.528952823665287,
      4.536759171262338,
      4.479964723737147,
      4.42454287817928,
      4.457592332152303,
      4.586683588563024,
      4.673710855293453,
      4.732148322933511,
      4.897015198185456
    ],
    "ax_ego": [
      -0.03826918915355093,
      0.11339237249654066,
      -0.0950382893008192,
      -0.142566760174101,
      -0.08997457523573119,
      0.19646297220634468,
      0.3155942953515132,
      0.03140546941489808,
      0.19374595075322754,
      0.45752895923902737
    ],
    "ay_ego": [
      1.1823565602680486,
      1.1775286542200873,
      1.2586692947987337,
      1.3722473383617602,
      1.4871843329831427,
      1.4569473633065613,
      1.5819787966917445,
      1.6242223480055895,
      1.5986301711216953,
      1.5439634584871935
    ],
    "a_ego": [
      1.1829757252147493,
      1.1829757231869826,
      1.2622522212705225,
      1.3796332986513027,
      1.4899035755576149,
      1.4701337758496986,
      1.613151162303359,
      1.6245259429353414,
      1.6103278912860737,
      1.610327888874214
    ],
    "yaw": [
      0.9554866058420504,
      1.0838430908519818,
      1.2166090742174087,
      1.3635568384690122,
      1.522975778741059,
      1.6891129265801352,
      1.8631673066184686,
      2.0355122388901714,
      2.205167066756972,
      2.372650451525819
    ],
    "yaw_diff": [
      0.25671297001986293,
      0.2655319667308538,
      0.293895528503207,
      0.31883788054409345,
      0.3322742956781526,
      0.3481087600766668,
      0.34468986454340556,
      0.33930965573360083,
      0.33496676953769455,
      0.33496676953769455
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.582394284098712,
    "v_std": 0.13836240197606492,
    "vy_max": 0.035952414468659155,
    "a_max": 1.6245259429353414,
    "ax_avg": 0.09422812055973492,
    "a_std": 0.17109804984772198,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "9fe281ced54b55b2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "9fe281ced54b55b2",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "9c63a8a78f3251d3": {
    "vx_ego": [
      0.9615188401682275,
      2.2241012206883206,
      3.4557996580208523,
      4.605151396863754,
      5.65530725876902,
      6.537456087866441,
      7.232677161663727,
      7.792991276197888,
      8.155315291625445,
      8.388005081528483
    ],
    "vy_ego": [
      0.008798836410821909,
      0.022852954206046494,
      0.025883903490288684,
      0.013886907275171279,
      0.004707306852134607,
      -0.000542131818566105,
      0.008368368214215494,
      0.022997270176052353,
      0.016260088737736655,
      0.013693516194809074
    ],
    "v_ego": [
      0.961559098298507,
      2.2242186262557966,
      3.455896591745322,
      4.605172334911024,
      5.655309217878663,
      6.537456110345132,
      7.232682002856107,
      7.793025208821793,
      8.155331501312842,
      8.388016258933542
    ],
    "ax_ego": [
      2.5251710190758248,
      2.5251672042339033,
      2.4017781868476153,
      2.195739654639964,
      2.0048828861238643,
      1.5237041202134944,
      1.2572569769739868,
      0.983767473424896,
      0.4653456609915426,
      0.46535591399500503
    ],
    "ay_ego": [
      0.027495189713832913,
      0.027843204012726996,
      -0.029451154714321026,
      -0.039775395713090855,
      0.004299367640108964,
      -0.013364894493004043,
      0.10049466594671408,
      0.029223701043939565,
      0.010931281470528603,
      0.010485672066342072
    ],
    "a_ego": [
      2.5253207045913673,
      2.5253207030688523,
      2.4019587484657237,
      2.1960998868591024,
      2.0048874960043173,
      1.523762732960873,
      1.2612669360740054,
      0.9842014359222958,
      0.46547403484860855,
      0.46547403365688333
    ],
    "yaw": [
      -0.5889750524615565,
      -0.5891128705444493,
      -0.5903151410688093,
      -0.5916241488149168,
      -0.5915638866659868,
      -0.5910793506759549,
      -0.5892188059746097,
      -0.5868601686905358,
      -0.5847733400171504,
      -0.5838157559733878
    ],
    "yaw_diff": [
      -0.000275636165785631,
      -0.0024045410487201213,
      -0.0026180154922148535,
      0.00012052429785991414,
      0.0009690719800639069,
      0.0037210894026902253,
      0.004717274568147856,
      0.004173657346770776,
      0.001915168087525343,
      0.001915168087525343
    ],
    "min_front_frame": [
      3,
      38.01382410549953
    ],
    "v_avg": 5.500866695135873,
    "v_std": 2.4710173647334397,
    "vy_max": 0.025883903490288684,
    "a_max": 2.5253207045913673,
    "ax_avg": 1.63481690965201,
    "a_std": 0.7704795214589486,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "9c63a8a78f3251d3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.825151670538636,
    "speed_mode": "accelerating",
    "front_frame": [
      42.49387383653134,
      41.521511924091,
      40.10540071636681,
      38.01382410549953,
      44.787249262842984,
      41.77769870652164,
      38.407306118930606,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.14285714285714285,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8571428571428571,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9c63a8a78f3251d3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "30e29966db9156ee": {
    "vx_ego": [
      1.3550807882745937,
      1.577658241762352,
      1.9211347370082434,
      2.408513810729767,
      2.888276066333393,
      3.2452602601016287,
      3.4585959330353075,
      3.6956852158816464,
      4.0196661083559055,
      4.420088653386621
    ],
    "vy_ego": [
      -0.01594595810234145,
      0.0005957750663342365,
      -0.00031106179864848205,
      0.016101158703648477,
      0.023622006391974426,
      -0.016084139639776007,
      -0.04614647046283102,
      -0.04973367118416683,
      -0.026149262724096678,
      -0.06468166933748032
    ],
    "v_ego": [
      1.3551746073221325,
      1.5776583542543694,
      1.9211347621911314,
      2.408567629066625,
      2.888372661991572,
      3.245300117915575,
      3.458903775005102,
      3.69601983935904,
      4.019751162274368,
      4.4205618898671055
    ],
    "ax_ego": [
      0.4435291823231513,
      0.4475304686213551,
      0.9311918398875999,
      1.0254825362666689,
      0.8920748269747888,
      0.5448568334217597,
      0.33384602331620417,
      0.657373462941607,
      0.6894500402570795,
      0.931606157793448
    ],
    "ay_ego": [
      0.13317434736762895,
      0.11903790056137933,
      0.2812781050998615,
      0.5135280463943224,
      0.6442180621216521,
      0.8128701978892344,
      0.931522312155924,
      1.1317209068820246,
      1.4572291397264017,
      1.315662605349959
    ],
    "a_ego": [
      0.4630912894549379,
      0.4630912891801254,
      0.9727464289740787,
      1.1468764042482908,
      1.100370123406609,
      0.9785841443344923,
      0.9895387740398868,
      1.3087903120262285,
      1.6120974299583253,
      1.6120974301681994
    ],
    "yaw": [
      -0.535033803315504,
      -0.5033069457765496,
      -0.44353227006860274,
      -0.3589166938723707,
      -0.2532334859743459,
      -0.1235262273598276,
      0.01424197028605374,
      0.1608383879003179,
      0.32232028158893883,
      0.49653791416689896
    ],
    "yaw_diff": [
      0.06345371507790887,
      0.11954935141589362,
      0.1692311523924641,
      0.21136641579604953,
      0.25941451722903663,
      0.27553639529176266,
      0.29319283522852835,
      0.32296378737724185,
      0.34843526515592027,
      0.34843526515592027
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.899144479924702,
    "v_std": 0.998302961976085,
    "vy_max": 0.06468166933748032,
    "a_max": 1.6120974301681994,
    "ax_avg": 0.6896941371803662,
    "a_std": 0.37580313671212817,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "30e29966db9156ee",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.061882662512148,
    "right_rear_min": 6.333142776390316,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "30e29966db9156ee",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d33a0db0dd335837": {
    "vx_ego": [
      5.576829975687552,
      5.236647655812435,
      4.859962438480605,
      4.424444112218273,
      3.973556759761204,
      3.556849365484948,
      3.2419627741765704,
      3.061835426697753,
      2.960289230619235,
      2.8770878035067287
    ],
    "vy_ego": [
      0.006236864618413301,
      -0.0033680282288387417,
      -0.02228326972368381,
      -0.024055592590294557,
      0.0036509123535485785,
      0.015096877308454743,
      0.00011025474000474211,
      -0.002084017284133023,
      0.016344888594367578,
      0.03721648034016549
    ],
    "v_ego": [
      5.576833463194638,
      5.236648738911177,
      4.860013523391877,
      4.424509506564294,
      3.9735584369938457,
      3.5568814043281147,
      3.241962776051377,
      3.0618361359337065,
      2.9603343534647206,
      2.8773284997539093
    ],
    "ax_ego": [
      -0.6803782429944871,
      -0.6803443446789268,
      -0.8264233679504279,
      -0.9154601138026786,
      -0.8880228374691449,
      -0.7788821270595458,
      -0.4807038254976233,
      -0.23982919677999628,
      -0.1663349975050332,
      -0.16636927515962116
    ],
    "ay_ego": [
      -0.03064955304636208,
      -0.03139269939663636,
      -0.05873376778308135,
      0.07386714310386155,
      0.06685076693107658,
      -0.0057311712044879615,
      -0.043400335781145764,
      0.02708866953162374,
      0.03629843122683163,
      0.036141027001285554
    ],
    "a_ego": [
      0.6810682408115997,
      0.6810682263268533,
      0.8285078385703573,
      0.9184353950027947,
      0.890535560719517,
      0.7789032123288347,
      0.4826590483912694,
      0.2413541788433167,
      0.17024954479976862,
      0.17024955080658918
    ],
    "yaw": [
      -1.5571724791767751,
      -1.5582647593068542,
      -1.558978531745677,
      -1.5577846204019659,
      -1.5560034631423394,
      -1.5549815058970524,
      -1.5541773301178967,
      -1.5547807159525546,
      -1.5556408880711685,
      -1.5565871087056875
    ],
    "yaw_diff": [
      -0.0021845602601580083,
      -0.0014275448776457367,
      0.002387822687422325,
      0.0035623145192529293,
      0.0020439144905739504,
      0.001608351558311405,
      -0.0012067716693158204,
      -0.0017203442372277777,
      -0.001892441269037981,
      -0.001892441269037981
    ],
    "min_front_frame": [
      9,
      14.055075023113186
    ],
    "v_avg": 3.976990683858766,
    "v_std": 0.9446354978643823,
    "vy_max": 0.03721648034016549,
    "a_max": 0.9184353950027947,
    "ax_avg": -0.5822748328897485,
    "a_std": 0.2815103931817964,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d33a0db0dd335837",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.990207194822252,
    "right_rear_min": 21.380320601838257,
    "speed_mode": "decelerating",
    "front_frame": [
      18.886979224767853,
      18.165181379712617,
      17.50508713077942,
      16.746895621619263,
      16.08867853746805,
      15.585171765058595,
      15.052658888809518,
      14.548647801497646,
      14.235125260334426,
      14.055075023113186
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d33a0db0dd335837",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "44cedd469129548d": {
    "vx_ego": [
      7.280322486391326,
      6.964279216792087,
      6.587540704280796,
      6.145133380989096,
      5.6945419314472705,
      5.2821547405918805,
      4.931490922356696,
      4.602319290722107,
      4.190628059978343,
      3.6953798531188906
    ],
    "vy_ego": [
      -0.059547103539889235,
      -0.03297425808542622,
      -0.015503202638779303,
      -0.0005921003362174288,
      0.01671414881753707,
      -0.008119253732104939,
      -0.017708293175694185,
      -0.026119285746084707,
      -0.056567219636737574,
      -0.07962134427407078
    ],
    "v_ego": [
      7.280566005702797,
      6.964357279113306,
      6.587558946973331,
      6.145133409514336,
      5.694566460388526,
      5.2821609806819065,
      4.931522716254452,
      4.602393406787465,
      4.191009829076434,
      3.6962375217646666
    ],
    "ax_ego": [
      -0.6320054166436737,
      -0.6318981131551494,
      -0.8750529769533982,
      -0.8945873335149813,
      -0.9077580886738302,
      -0.7418134135767764,
      -0.6605336303755217,
      -0.6560091367540616,
      -0.9901056467406527,
      -0.9901722697531241
    ],
    "ay_ego": [
      0.07338657996707021,
      0.0743049266900832,
      -0.003029999982566701,
      0.05821235905877442,
      0.0029469214261981323,
      0.0298000641040541,
      0.04130654119909543,
      -0.024763864572370613,
      -0.026800662060386074,
      -0.024214097907187704
    ],
    "a_ego": [
      0.6362518658410417,
      0.6362518742915079,
      0.8750582228485707,
      0.8964793227022205,
      0.9077628720644272,
      0.7424117350790161,
      0.6618239246226286,
      0.6564763792349027,
      0.9904683070116889,
      0.9904682964767284
    ],
    "yaw": [
      1.5677976464530705,
      1.5692508353037988,
      1.5693019166685573,
      1.569126763258488,
      1.5687862354567175,
      1.5748254512089654,
      1.5801947732438957,
      1.582827118940794,
      1.5867829201365282,
      1.5893952449406368
    ],
    "yaw_diff": [
      0.0029063777014566305,
      0.0001021627295170191,
      -0.0003503068201387016,
      -0.0006810556035410364,
      0.012078431504495946,
      0.01073864406986047,
      0.0052646913937968165,
      0.007911602391468264,
      0.0052246496082171134,
      0.0052246496082171134
    ],
    "min_front_frame": [
      9,
      13.508445731908518
    ],
    "v_avg": 5.537550655625722,
    "v_std": 1.143714427338125,
    "vy_max": 0.07962134427407078,
    "a_max": 0.9904683070116889,
    "ax_avg": -0.797993602614117,
    "a_std": 0.13990777690047732,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "44cedd469129548d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.420726889694624,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.93743380550777,
      22.71509372300357,
      21.61257958479155,
      20.382116734830678,
      19.505478408350392,
      18.609186085337672,
      17.566255896594896,
      16.401478043171902,
      14.937503190917838,
      13.508445731908518
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "44cedd469129548d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "32c0c70837d05c47": {
    "vx_ego": [
      0.9292770419570114,
      1.8527066426160246,
      2.799651867553505,
      3.7584078709580537,
      4.637523238160543,
      5.353943432920925,
      5.857413493829944,
      6.093154592629255,
      6.0908342017651425,
      6.00023000700916
    ],
    "vy_ego": [
      0.019116887749082122,
      -0.018100886811305422,
      -0.0312828674760597,
      -0.008577531177780928,
      0.004328119481656165,
      -0.012447771926376097,
      -0.03683305113362097,
      -0.03230752396080659,
      -0.02121983646170443,
      -0.034671233502076224
    ],
    "v_ego": [
      0.9294736554123437,
      1.852795063059295,
      2.7998266370068974,
      3.7584176588719562,
      4.637525257839282,
      5.353957903265866,
      5.857529300938829,
      6.093240243563638,
      6.0908711655108485,
      6.0003301768690775
    ],
    "ax_ego": [
      1.8468195516905765,
      1.8468999930237033,
      1.94051232508322,
      1.8940914166677496,
      1.6225844034467793,
      1.243075070028732,
      0.7709023463512682,
      0.17216118558179677,
      -0.18146649399878848,
      -0.1812806676667171
    ],
    "ay_ego": [
      -0.0782893568009418,
      -0.0763685267449759,
      -0.0014049548315113805,
      0.03616560543393512,
      -0.06789179706541673,
      -0.008583564266119479,
      -0.05895451385813166,
      0.08837474410490205,
      -0.06245484886727055,
      -0.06299218449576195
    ],
    "a_ego": [
      1.8484782064971412,
      1.8484782217024234,
      1.9405128336854571,
      1.8944366565580506,
      1.624004138670069,
      1.2431047048830792,
      0.7731533239365522,
      0.1935189117800552,
      0.19191325277647175,
      0.1919132506557034
    ],
    "yaw": [
      -1.534666018029635,
      -1.5357060712194937,
      -1.5384113834459145,
      -1.5426780093762709,
      -1.547601834626765,
      -1.5480664128694888,
      -1.5467422898981193,
      -1.5462746085795174,
      -1.5470255153989683,
      -1.5499881028311298
    ],
    "yaw_diff": [
      -0.002080106379717339,
      -0.005410624452841795,
      -0.008533251860712632,
      -0.009847650500988347,
      -0.0009291564854474466,
      0.002648245942738825,
      0.0009353626372039514,
      -0.0015018136389017833,
      -0.00592517486432298,
      -0.00592517486432298
    ],
    "min_front_frame": [
      0,
      12.201008454088083
    ],
    "v_avg": 4.337396706233803,
    "v_std": 1.8122860468374142,
    "vy_max": 0.03683305113362097,
    "a_max": 1.9405128336854571,
    "ax_avg": 1.0974299130208318,
    "a_std": 0.726270799473041,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "32c0c70837d05c47",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.2760008783818577,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      12.201008454088083,
      13.129289819750243,
      13.966090878137235,
      14.962276668820476,
      15.447016162875045,
      15.786345167492179,
      15.847973559084544,
      15.837845291533279,
      15.692978836549969,
      15.601537289182485
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.2,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "32c0c70837d05c47",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ab8d6b4c8b20564b": {
    "vx_ego": [
      4.678765441717432,
      5.613668099430942,
      6.4738543667225645,
      7.124992064454167,
      7.621397131381968,
      8.057544946036455,
      8.438443619784376,
      8.82287575683446,
      9.22097560806473,
      9.695178917667086
    ],
    "vy_ego": [
      -0.12183276413557964,
      0.012562884824588672,
      -0.04703132861420389,
      -0.048810393973125255,
      -0.04951215152873045,
      -0.04617459326534634,
      -0.04596589210918545,
      -0.04229921452390484,
      -0.11110234555831133,
      -0.14318331572716136
    ],
    "v_ego": [
      4.6803514057201125,
      5.61368215671708,
      6.474025201325991,
      7.125159252472514,
      7.621557956703229,
      8.057677249087408,
      8.43856881156497,
      8.822977153097845,
      9.221644912688479,
      9.696236161907308
    ],
    "ax_ego": [
      1.84459415643723,
      1.9052462460964787,
      1.5602761871034412,
      1.0893563782131155,
      0.9514347914996809,
      0.8426340562754212,
      0.7167296516461903,
      0.8804543810315638,
      0.7618846640593226,
      1.2018440116242255
    ],
    "ay_ego": [
      0.9960643077725513,
      0.8744761063553237,
      1.247721715643987,
      1.701127368126039,
      2.1534590093976558,
      2.4481780680551717,
      2.5525619798505716,
      2.9462675098830644,
      2.9204763886208607,
      2.7686136561467634
    ],
    "a_ego": [
      2.0963472296308137,
      2.096347232414299,
      1.9978166231492887,
      2.020032584227547,
      2.3542756566791354,
      2.5891326744107808,
      2.6512778154179806,
      3.075010919796908,
      3.018219769635858,
      3.01821977418467
    ],
    "yaw": [
      2.3216935983744773,
      2.386520682575357,
      2.483398196051798,
      2.5910456959936594,
      2.721347032886017,
      2.867154800025125,
      3.018127888558636,
      -3.106158016925317,
      -2.9366489320791795,
      -2.782288423009332
    ],
    "yaw_diff": [
      0.12965416840175958,
      0.19375502695288205,
      0.21529499988372258,
      0.2606026737847156,
      0.2916155342782156,
      0.30194617706702154,
      0.3177988033912671,
      0.3390181696922747,
      0.3087210181396953,
      0.3087210181396953
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.575188026128492,
    "v_std": 1.5293686729760945,
    "vy_max": 0.14318331572716136,
    "a_max": 3.075010919796908,
    "ax_avg": 1.175445452398667,
    "a_std": 0.4156368582811014,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "ab8d6b4c8b20564b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.509193754782352,
    "right_rear_min": 9.681279346817709,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ab8d6b4c8b20564b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4a6ab6e35934543a": {
    "vx_ego": [
      5.771966813900624,
      6.603957984419665,
      7.400720664961623,
      8.104097381403815,
      8.717004401434252,
      9.213439168813736,
      9.578311704746152,
      9.944582156668615,
      10.362922302001298,
      10.78433062056152
    ],
    "vy_ego": [
      0.024890719854850474,
      0.007071764938067382,
      0.007603399489304774,
      0.01756113782121771,
      0.056888432349367246,
      0.04928542092875343,
      0.03072101564024088,
      0.06528728753142099,
      0.08866708247156296,
      0.09644228255932852
    ],
    "v_ego": [
      5.772020482353213,
      6.603961770773631,
      7.4007245707750675,
      8.104116408396274,
      8.717190030529293,
      9.213570989043676,
      9.578360971172422,
      9.944796463510201,
      10.363301621048665,
      10.784761844725457
    ],
    "ax_ego": [
      1.6639898070848238,
      1.6640503748645483,
      1.5230202713807763,
      1.2904815135125862,
      1.1614623068411567,
      0.8236100749304359,
      0.63511532443726,
      0.8300119582973303,
      0.8421878786871819,
      0.8423993976799081
    ],
    "ay_ego": [
      -0.05148342210977708,
      -0.04948709999633416,
      -0.009179216990187311,
      0.08180462357445784,
      0.01683342936120724,
      0.08905512536680565,
      -0.0329355757793072,
      0.15329793204261494,
      0.07629427296949992,
      0.07392208006261897
    ],
    "a_ego": [
      1.6647860585775947,
      1.664786059273951,
      1.5230479326210737,
      1.2930717432361956,
      1.1615842864626054,
      0.8284107500998619,
      0.6359687315324242,
      0.8440498248830524,
      0.845636588077621,
      0.8456365762739075
    ],
    "yaw": [
      -2.036321477075276,
      -2.0375211747438122,
      -2.039686171563713,
      -2.038632565380021,
      -2.0403732012656652,
      -2.0365902109753673,
      -2.033129891832332,
      -2.033589545191898,
      -2.0302387323284745,
      -2.027422390939847
    ],
    "yaw_diff": [
      -0.002399395337072008,
      -0.004329993639801799,
      0.0021072123673846477,
      -0.003481271771288874,
      0.007565980580595877,
      0.0069206382860702575,
      -0.0009193067191315407,
      0.006701625726846849,
      0.005632682777254594,
      0.005632682777254594
    ],
    "min_front_frame": [
      0,
      27.63006576642601
    ],
    "v_avg": 8.648280515232788,
    "v_std": 1.5710116574937127,
    "vy_max": 0.09644228255932852,
    "a_max": 1.664786059273951,
    "ax_avg": 1.127632890771601,
    "a_std": 0.3650451485608581,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "4a6ab6e35934543a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.418356488612527,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      27.63006576642601,
      29.154203281073094,
      30.01078785030472,
      30.810002483414742,
      31.429715398940743,
      32.02953801005182,
      32.8325896155673,
      33.67201741044615,
      34.55573252668497,
      35.484733940849694
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4a6ab6e35934543a",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "8551111013245067": {
    "vx_ego": [
      1.571832797011598,
      1.2864437115620593,
      1.001541166623692,
      0.7072982189642709,
      0.41481399050665896,
      0.1471695067748724,
      -0.014410738469389561,
      -0.03566426909980614,
      -0.016978942929162744,
      -0.005502757087327573
    ],
    "vy_ego": [
      -0.04008318721037207,
      -0.011746100995372655,
      -0.006171102032354714,
      -0.005218920185745324,
      -0.007919464760645284,
      -0.002002740930722724,
      0.007155447513410384,
      0.004500422027717135,
      0.0017132066338627376,
      0.0006783950661977557
    ],
    "v_ego": [
      1.5723437930866917,
      1.2864973353669102,
      1.001560178392811,
      0.7073174730472414,
      0.4148895812648875,
      0.14718313318989645,
      0.016089431697555855,
      0.0359470984761072,
      0.017065156898255485,
      0.005544416599424622
    ],
    "ax_ego": [
      -0.5712324908589618,
      -0.5715036447445389,
      -0.568129469297574,
      -0.6088540890178766,
      -0.5610860565698514,
      -0.5095136463774483,
      -0.13680180072235676,
      0.05178853659170316,
      0.02295243925016877,
      0.022952538416463504
    ],
    "ay_ego": [
      0.026412317986347744,
      0.01969138700314857,
      -0.0015518760889841332,
      0.0037706819612260134,
      -0.01499708930429866,
      0.03814908161853062,
      -0.0015308505622145321,
      -0.009083062532667666,
      -0.0020690952040797,
      -0.002067988921522371
    ],
    "a_ego": [
      0.5718427835990814,
      0.571842781434198,
      0.5681315888099681,
      0.6088657649730695,
      0.5612864469811361,
      0.510939828427165,
      0.13681036577804784,
      0.05257903144108427,
      0.02304551198164696,
      0.0230455114488434
    ],
    "yaw": [
      2.79550443854193,
      2.7837417071634176,
      2.782832165978826,
      2.7823697121358206,
      2.782178639546661,
      2.781709754722856,
      2.7815261214468556,
      2.7814943651355466,
      2.781530829634088,
      2.7814825617759125
    ],
    "yaw_diff": [
      -0.02352546275702494,
      -0.0018190823691828228,
      -0.0009249076860111671,
      -0.00038214517831924866,
      -0.0009377696476100539,
      -0.00036726655200070013,
      -6.351262261805601e-05,
      7.29289970831104e-05,
      -9.653571635137581e-05,
      -9.653571635137581e-05
    ],
    "min_front_frame": [
      8,
      7.720096557291902
    ],
    "v_avg": 0.5204437598019782,
    "v_std": 0.5583738342894238,
    "vy_max": 0.04008318721037207,
    "a_max": 0.6088657649730695,
    "ax_avg": -0.3429427683330272,
    "a_std": 0.25092310452605415,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8551111013245067",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.083637704466468,
    "speed_mode": "decelerating",
    "front_frame": [
      9.529076661212546,
      9.089108381008437,
      8.528679955812487,
      8.12836845691196,
      7.86478196425933,
      7.754954392265094,
      7.752712614502867,
      7.757642559631667,
      7.720096557291902,
      7.746601213511633
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8551111013245067",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5c1b8e332d105b79": {
    "vx_ego": [
      5.966666943946491,
      6.230761434834264,
      6.4981196527772305,
      6.701461731049278,
      6.714895439322199,
      6.5477999920422825,
      6.356726770472182,
      6.172395033120207,
      5.9561285034756395,
      5.7003641786798855
    ],
    "vy_ego": [
      0.046805597800278154,
      -0.03273324904709485,
      0.052114412894939566,
      0.0257721826233821,
      -0.0621784815541786,
      -0.09004527808997276,
      -0.05947083980576506,
      -0.02457783172183925,
      0.00843059607613128,
      0.03187914616224097
    ],
    "v_ego": [
      5.966850524687978,
      6.230847416155455,
      6.498328626180816,
      6.70151128762126,
      6.715183312806767,
      6.548419113640728,
      6.357004956363091,
      6.172443966104443,
      5.956134470012002,
      5.700453319652468
    ],
    "ax_ego": [
      0.46588820976992457,
      0.5845953906171584,
      0.4669031305190052,
      0.34078018306808133,
      -0.28485693581901694,
      -0.38173375368770823,
      -0.38424574800237066,
      -0.3535179497572994,
      -0.5115562354951146,
      -0.5115346523566349
    ],
    "ay_ego": [
      1.1526350090104451,
      1.0972089678414894,
      0.34425603206386274,
      0.03514409658652892,
      0.12266077012294363,
      -0.026892477390422886,
      0.012638141843099415,
      0.07157024692520264,
      0.0516535327840163,
      0.05186694732746869
    ],
    "a_ego": [
      1.2432293786743998,
      1.2432293794158078,
      0.5800954653337694,
      0.34258756646556554,
      0.3101437383075034,
      0.3826798453599331,
      0.3844535309854074,
      0.360689951406383,
      0.5141574365143449,
      0.5141574474678877
    ],
    "yaw": [
      -2.2319134934927796,
      -2.126486442355168,
      -2.0833026828103387,
      -2.064983909390052,
      -2.0462112974798154,
      -2.0384128571318127,
      -2.04370344755472,
      -2.045914200787619,
      -2.046276212415804,
      -2.045859007834376
    ],
    "yaw_diff": [
      0.21085410227522328,
      0.08636751908965845,
      0.03663754684057352,
      0.037545223820472984,
      0.0155968806960054,
      -0.010581180845814941,
      -0.004421506465797975,
      -0.0007240232563692217,
      0.0008344091628558203,
      0.0008344091628558203
    ],
    "min_front_frame": [
      9,
      25.268808672744544
    ],
    "v_avg": 6.284717699322501,
    "v_std": 0.3233094174906093,
    "vy_max": 0.09004527808997276,
    "a_max": 1.2432293794158078,
    "ax_avg": -0.056927836114397515,
    "a_std": 0.3379801275760614,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "5c1b8e332d105b79",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      53.8486164488201,
      50.79300401087194,
      47.57127957820415,
      44.20778078281752,
      40.84141551477196,
      37.54587831444304,
      34.31748646107204,
      31.220717093384643,
      28.202098781559485,
      25.268808672744544
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5c1b8e332d105b79",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9369b11c1f5857e8": {
    "vx_ego": [
      0.40769423313698944,
      0.5672879281891727,
      0.6990652333393735,
      0.8075367409752646,
      0.9922659944339218,
      1.3830372796566288,
      1.9524777746526651,
      2.533460043088518,
      3.022060753752483,
      3.451130862597279
    ],
    "vy_ego": [
      0.007107468532919896,
      0.03233612919167241,
      0.03567029246054,
      0.016413003771133597,
      -0.0066492028930398225,
      -0.02327766956677798,
      -0.030481798745408142,
      -0.035812787882161634,
      -0.028407900210187284,
      -0.009645295830914079
    ],
    "v_ego": [
      0.4077561818563936,
      0.568208780924991,
      0.6999746925625621,
      0.8077035190698025,
      0.9922882724334964,
      1.3832331570709504,
      1.9527156988582284,
      2.533713153792664,
      3.022194270420976,
      3.4511443410125726
    ],
    "ax_ego": [
      0.31919745584432996,
      0.3191896271905939,
      0.20798470116926512,
      0.22589771791912483,
      0.5130330588138778,
      1.0499695174560892,
      1.2276987855618178,
      1.096187243002534,
      0.8580999096364783,
      0.8580561067265986
    ],
    "ay_ego": [
      0.050280554508755626,
      0.05033028130578915,
      -0.03792885869268342,
      -0.03899622740324379,
      -0.05497909778410947,
      -0.01620582009151013,
      -0.018405594996175376,
      -0.005719491756580063,
      0.02634483164860001,
      0.027734762669597235
    ],
    "a_ego": [
      0.32313333158187335,
      0.3231333398496512,
      0.2114148392194788,
      0.22923892495113912,
      0.5159705617853392,
      1.050094574879716,
      1.2278367456617045,
      1.096202163976814,
      0.8585042254250851,
      0.8585042220927902
    ],
    "yaw": [
      -1.5452393039525,
      -1.5453951022635417,
      -1.5457564296254342,
      -1.5457217880669432,
      -1.5462213470940247,
      -1.5472634941283032,
      -1.5481438874392133,
      -1.548453827785275,
      -1.5492547305795048,
      -1.5508745485657096
    ],
    "yaw_diff": [
      -0.00031159662208324335,
      -0.0007226547237850767,
      6.928311698217726e-05,
      -0.000999118054163084,
      -0.0020842940685570355,
      -0.0017607866218201096,
      -0.0006198806921235978,
      -0.0016018055884594595,
      -0.0032396359724096158,
      -0.0032396359724096158
    ],
    "min_front_frame": [
      1,
      14.534406223494498
    ],
    "v_avg": 1.5818932068002636,
    "v_std": 1.0383853374189802,
    "vy_max": 0.035812787882161634,
    "a_max": 1.2278367456617045,
    "ax_avg": 0.6675314123320709,
    "a_std": 0.37111923121621454,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9369b11c1f5857e8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.7516095996403647,
    "right_rear_min": 4.044770704888066,
    "speed_mode": "accelerating",
    "front_frame": [
      14.556330572248482,
      14.534406223494498,
      14.590276552180091,
      14.6459453110111,
      14.801865834127346,
      15.103682610189091,
      15.495470047294022,
      15.619673712110385,
      15.834990927195902,
      16.047048101267528
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9369b11c1f5857e8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "87b32a1aeeb85613": {
    "vx_ego": [
      9.585858312017399,
      9.757541204186921,
      9.94391017501584,
      10.129448716163754,
      10.287722086017649,
      10.43540086530683,
      10.516609831677535,
      10.49653057444947,
      10.418055426971826,
      10.313260632517867
    ],
    "vy_ego": [
      0.04957003470375376,
      0.024196997758983763,
      0.049120361383852895,
      0.08669908200518162,
      0.10712917054468374,
      0.10795580079891565,
      0.09489298123464884,
      0.07399569968058195,
      0.07708067194014934,
      0.09791070137385649
    ],
    "v_ego": [
      9.585986478522363,
      9.757571206304677,
      9.94403149525815,
      10.12981974292791,
      10.288279855170975,
      10.435959259913421,
      10.517037939915602,
      10.496791388987576,
      10.418340573692332,
      10.313725388029601
    ],
    "ax_ego": [
      0.3421299138099737,
      0.3466339983782106,
      0.4007610755348328,
      0.34511438531791155,
      0.29073326171811603,
      0.30047284874024105,
      0.02371384346623466,
      -0.10418084642567135,
      -0.20932025406635468,
      -0.20933624652029184
    ],
    "ay_ego": [
      -0.324032677868407,
      -0.3192098453470759,
      -0.25141462093070954,
      -0.20276743115706317,
      -0.06728898155989751,
      0.01808385431736559,
      -0.00491563306858659,
      -0.06142785160281955,
      0.010869178712021435,
      0.010556699170428951
    ],
    "a_ego": [
      0.47122187369665985,
      0.4712218736414614,
      0.47309486499175657,
      0.400273119371504,
      0.2984185592563284,
      0.30101654209868184,
      0.024217964827913645,
      0.12094225777000915,
      0.20960226098083276,
      0.20960226144910588
    ],
    "yaw": [
      2.4744735010547427,
      2.460469420219413,
      2.4434462469325298,
      2.428399764412595,
      2.4197908215499586,
      2.418523690780886,
      2.420079726678101,
      2.4204894569293356,
      2.41898764375194,
      2.417494872730849
    ],
    "yaw_diff": [
      -0.02800816167065978,
      -0.03404634657376615,
      -0.030092965039869135,
      -0.017217885725273163,
      -0.0025342615381456213,
      0.0031120717944306264,
      0.0008194605024689494,
      -0.0030036263547907893,
      -0.0029855420421824874,
      -0.0029855420421824874
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.18875433287226,
    "v_std": 0.30896774827687956,
    "vy_max": 0.10795580079891565,
    "a_max": 0.47309486499175657,
    "ax_avg": 0.15267219799532025,
    "a_std": 0.14935637404188332,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "87b32a1aeeb85613",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "87b32a1aeeb85613",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "98017c16248a5f54": {
    "vx_ego": [
      11.856096899413027,
      11.786966820757918,
      11.692007614910413,
      11.503884091695044,
      11.256840461844227,
      11.032608600134841,
      10.823634390665223,
      10.601319885516313,
      10.429804418776705,
      10.32349042660287
    ],
    "vy_ego": [
      -0.016885832165766446,
      -0.01031839763661746,
      0.017509293951109672,
      0.008763071048025373,
      -0.016204733779652675,
      -0.010651350255635982,
      -0.017106784204454314,
      0.002485514128186192,
      -0.009457514020328683,
      -0.0360572210189129
    ],
    "v_ego": [
      11.856108924077878,
      11.786971337157727,
      11.692020725370691,
      11.503887429324424,
      11.2568521255638,
      11.032613741767248,
      10.823647909316746,
      10.601320176884768,
      10.42980870670721,
      10.323553395577935
    ],
    "ax_ego": [
      -0.13900411673169583,
      -0.13702825436336025,
      -0.24292347137884113,
      -0.5099448166678179,
      -0.47688011493564836,
      -0.4202364727343397,
      -0.41551351706326944,
      -0.47373398016977736,
      -0.21251121486569968,
      -0.21251189513401667
    ],
    "ay_ego": [
      0.22219055293898693,
      0.2234145098404438,
      0.2196043257486672,
      0.2565727314663911,
      0.3911077548196231,
      0.25674417559243157,
      0.1738362464386068,
      0.11954300343832808,
      -0.0005374255806874619,
      4.603364379012799e-06
    ],
    "a_ego": [
      0.2620892715921269,
      0.26208927048071906,
      0.327471942056527,
      0.5708531182173741,
      0.616749479044031,
      0.4924594041307738,
      0.45041150455794526,
      0.4885840906523207,
      0.21251189441993676,
      0.21251189518387498
    ],
    "yaw": [
      -1.6326303569725877,
      -1.6237621886043407,
      -1.6167062351831984,
      -1.6057195919045812,
      -1.589292028707133,
      -1.5752489305254769,
      -1.5648074591456564,
      -1.5597931277668393,
      -1.5558157616181378,
      -1.5532651799662553
    ],
    "yaw_diff": [
      0.017736336736493996,
      0.014111906842284583,
      0.021973286557234406,
      0.032855126394896406,
      0.028086196363312332,
      0.020882942759640866,
      0.010028662757634255,
      0.007954732297402956,
      0.005101163303764977,
      0.005101163303764977
    ],
    "min_front_frame": [
      4,
      12.520253835452758
    ],
    "v_avg": 11.13067844717484,
    "v_std": 0.5435120501878842,
    "vy_max": 0.0360572210189129,
    "a_max": 0.616749479044031,
    "ax_avg": -0.3240287854044467,
    "a_std": 0.14409156096105202,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "98017c16248a5f54",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.404554301450528,
    "right_rear_min": 13.468228162880179,
    "speed_mode": "decelerating",
    "front_frame": [
      12.716618898869335,
      12.648280134989692,
      12.634174809617447,
      12.542170588201108,
      12.520253835452758,
      12.588185999932705,
      12.683697493811572,
      12.991439798217039,
      13.484420161381507,
      13.963954948191512
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "98017c16248a5f54",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "24f29711e1a05cb5": {
    "vx_ego": [
      11.967280815262065,
      12.005388221462251,
      12.02449141194846,
      12.017663472056714,
      12.010683669462383,
      12.012975759057499,
      11.983171228852221,
      11.938294534622425,
      11.86995368097504,
      11.75854641022614
    ],
    "vy_ego": [
      0.03386574718619606,
      0.037299313720407845,
      0.03729880890474746,
      0.017477671724232202,
      0.008087621635005426,
      0.02775871072204339,
      -0.010277321794373684,
      -0.01802560267670561,
      -0.014216093747514869,
      -0.03133255200546525
    ],
    "v_ego": [
      11.967328732853122,
      12.00544616358878,
      12.024549260457457,
      12.017676181218029,
      12.01068639243878,
      12.01300783041966,
      11.983175636004628,
      11.93830814302209,
      11.869962193950508,
      11.758588155482665
    ],
    "ax_ego": [
      0.07588341497983773,
      0.07611930952381255,
      -0.0001648912779957691,
      -0.027496649458240915,
      -0.0004363966100588909,
      0.00987665397774359,
      -0.1290924317912107,
      -0.050527800351095456,
      -0.22287038125228958,
      -0.22282947000248637
    ],
    "ay_ego": [
      0.07882538070447212,
      0.07859761194159755,
      0.06087254885402643,
      -0.032469177349992086,
      0.02378131442174835,
      -0.060070476982784934,
      -0.09424446919852318,
      0.014352385198073282,
      -0.052521365462190925,
      -0.05269466919189866
    ],
    "a_ego": [
      0.10941541624564258,
      0.10941541886454549,
      0.06087277218198128,
      0.04254777560830436,
      0.023785318110702808,
      0.06087701125002256,
      0.1598339010356682,
      0.052526655796786025,
      0.22897532764373094,
      0.22897532806578227
    ],
    "yaw": [
      0.6579081932033972,
      0.6609051264106885,
      0.6638048806939958,
      0.6660438082388352,
      0.6666447750297423,
      0.6642515968482305,
      0.664206429784812,
      0.6631835173697207,
      0.6620639363017549,
      0.6612862689990954
    ],
    "yaw_diff": [
      0.00599386641458266,
      0.005799508566614486,
      0.004477855089678906,
      0.0012019335818140853,
      -0.004786356363023492,
      -9.033412683701059e-05,
      -0.0020458248301826742,
      -0.0022391621359316716,
      -0.001555334605318981,
      -0.001555334605318981
    ],
    "min_front_frame": [
      9,
      37.46703871263243
    ],
    "v_avg": 11.958872868943573,
    "v_std": 0.0804112141614553,
    "vy_max": 0.037299313720407845,
    "a_max": 0.22897532806578227,
    "ax_avg": -0.049153864226198385,
    "a_std": 0.07131269158876943,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "24f29711e1a05cb5",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 22.656823814218473,
    "speed_mode": "quasi_constant",
    "front_frame": [
      40.43286002423223,
      40.052547438888276,
      39.5612270032017,
      39.27976853794014,
      38.87057198169379,
      38.55014577172459,
      38.16632678831437,
      37.92342346883863,
      37.626528896289116,
      37.46703871263243
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "24f29711e1a05cb5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ca59ecba5722534c": {
    "vx_ego": [
      5.1672888760266,
      5.038082441574346,
      4.950077820302464,
      4.7786136757310524,
      4.391248945792693,
      3.867275439159193,
      3.300495394013646,
      2.654693969193074,
      1.9773944311901082,
      1.3160559713984932
    ],
    "vy_ego": [
      -0.025742225029063093,
      -0.01330661603664618,
      0.0034249086350905955,
      -0.031714538717040996,
      -0.042151837095079525,
      -0.00874296735080582,
      -0.01899404587337905,
      -0.04241507503168518,
      -0.012721136176336106,
      0.028028452245186835
    ],
    "v_ego": [
      5.1673529965019505,
      5.03810001430401,
      4.950079005132094,
      4.778718915551518,
      4.3914512500192835,
      3.867285322005867,
      3.300550048050163,
      2.655032788622397,
      1.9774353500954887,
      1.3163544028827845
    ],
    "ax_ego": [
      -0.31632324399665457,
      -0.19037384356465742,
      -0.1523838932479597,
      -0.5304268067836534,
      -1.0163676132407309,
      -1.0802503390151676,
      -1.1969973349279361,
      -1.3837315088684052,
      -1.3239252958958767,
      -1.3217504553618944
    ],
    "ay_ego": [
      1.1305505653641332,
      1.1584311748692122,
      1.2750942580553588,
      1.2075593992497404,
      0.9569777619181566,
      0.7380526879808726,
      0.3743277954517661,
      0.21566610088006338,
      0.12399442034167366,
      0.1453566034038605
    ],
    "a_ego": [
      1.173969750691102,
      1.173969755667685,
      1.2841675193864512,
      1.3189208846898652,
      1.3959976941422731,
      1.3083052263054582,
      1.2541626362925826,
      1.4004373444406726,
      1.3297190701004677,
      1.3297190712336506
    ],
    "yaw": [
      -2.3592348555122484,
      -2.2492973177963043,
      -2.130852994578814,
      -1.997529635609773,
      -1.8789408072053952,
      -1.7846608408575215,
      -1.704573648552683,
      -1.6476336484024683,
      -1.6237146869213537,
      -1.6075662853474548
    ],
    "yaw_diff": [
      0.21987507543188833,
      0.23688864643498064,
      0.26664671793808203,
      0.23717765680875535,
      0.18855993269574745,
      0.16017438460967703,
      0.11388000030042944,
      0.04783792296222922,
      0.032296803147797704,
      0.032296803147797704
    ],
    "min_front_frame": [
      9,
      10.802305008151686
    ],
    "v_avg": 3.7442360093165563,
    "v_std": 1.3060245591143216,
    "vy_max": 0.04241507503168518,
    "a_max": 1.4004373444406726,
    "ax_avg": -0.8512530334902936,
    "a_std": 0.07451294645898854,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "ca59ecba5722534c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      12.65605033670483,
      11.974382618398286,
      11.4317421982757,
      10.802305008151686
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ca59ecba5722534c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0b3d3edbc52d5ddd": {
    "vx_ego": [
      7.3224478471757415,
      7.431545285122453,
      7.52521855930571,
      7.5785041375935815,
      7.561686225958738,
      7.451403029231672,
      7.2988058395069295,
      7.150456657193882,
      6.989246352697332,
      6.818991090764634
    ],
    "vy_ego": [
      -0.009657911191204072,
      0.11059578246372093,
      0.12026859238025667,
      0.10538536341044358,
      0.067218540273148,
      0.06922143204259479,
      0.039518666890409726,
      -0.014754762893315565,
      -0.04722922857635492,
      0.013317259765389
    ],
    "v_ego": [
      7.322454216303249,
      7.432368179249768,
      7.526179568654486,
      7.579236837462211,
      7.5619849849104135,
      7.4517245460830726,
      7.298912823691844,
      7.150471880193385,
      6.989405924592224,
      6.819004094831965
    ],
    "ax_ego": [
      0.21798045019742165,
      0.224503365364464,
      0.15306976117493418,
      0.05899649454631131,
      -0.12837127835200868,
      -0.31307045846874915,
      -0.2972815825737303,
      -0.295377702101495,
      -0.35036050680748543,
      -0.33310103673562697
    ],
    "ay_ego": [
      -0.21584293517258962,
      -0.20904995885620348,
      0.004677448130419343,
      0.008208570096634886,
      0.03028708228055753,
      0.010638987643005138,
      -0.13319257791608058,
      -0.26696236040591775,
      -0.42446374880489157,
      -0.4381388592779265
    ],
    "a_ego": [
      0.30676318118736046,
      0.3067631763392575,
      0.15314121034902445,
      0.059564813369843685,
      0.1318957636120211,
      0.31325117721071827,
      0.32575543303139676,
      0.3981417948071499,
      0.5503834652130277,
      0.5503834669425601
    ],
    "yaw": [
      2.569390047654818,
      2.538688641998303,
      2.53057283042567,
      2.5329664885874292,
      2.5392600915229773,
      2.540352923611512,
      2.5402260256346896,
      2.533891215972464,
      2.514054713239531,
      2.4740428561349903
    ],
    "yaw_diff": [
      -0.06140281131303027,
      -0.016231623145266383,
      0.004787316323518809,
      0.012587205871096074,
      0.0021856641770696683,
      -0.0002537959536450529,
      -0.012669619324451098,
      -0.039673005465866495,
      -0.08002371420908094,
      -0.08002371420908094
    ],
    "min_front_frame": [
      0,
      20.552046151276517
    ],
    "v_avg": 7.313174305597262,
    "v_std": 0.2423349672117702,
    "vy_max": 0.12026859238025667,
    "a_max": 0.5503834669425601,
    "ax_avg": -0.10630124937559642,
    "a_std": 0.15577521355300677,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0b3d3edbc52d5ddd",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.817172142543535,
    "right_rear_min": 31.676331304615477,
    "speed_mode": "quasi_constant",
    "front_frame": [
      20.552046151276517,
      21.153318553037856,
      21.72641375101499,
      22.072230632383274,
      22.47382813103399,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0b3d3edbc52d5ddd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "56f5294b63df53b9": {
    "vx_ego": [
      4.416573168936977,
      4.316921736439046,
      4.244966574301445,
      4.242112218939712,
      4.357710280335999,
      4.590977761080203,
      4.861753864495963,
      5.055767499504594,
      5.143685071636915,
      5.198257996403586
    ],
    "vy_ego": [
      0.02032254448307569,
      0.016718567968493137,
      0.0187241716435258,
      -0.017586933998483545,
      -0.019011559149631818,
      -0.04791732593609532,
      -0.08677561446244018,
      -0.05690305546242219,
      -0.0109375182932554,
      0.061695679109993296
    ],
    "v_ego": [
      4.4166199250544835,
      4.3169541101400215,
      4.24500786943208,
      4.242148674707792,
      4.357751751388249,
      4.591227817573188,
      4.862528215466392,
      5.056087713516043,
      5.1436967003787135,
      5.198624102009557
    ],
    "ax_ego": [
      -0.22469217130605915,
      -0.17878200080512718,
      -0.11144565235031559,
      0.10066262387995481,
      0.3698105599529203,
      0.5693657672899427,
      0.5480956950046258,
      0.24965294142086172,
      0.09954015493544612,
      0.11537113069371793
    ],
    "ay_ego": [
      0.6218411591372393,
      0.6365610627487983,
      0.7171966550069512,
      0.7351420776653559,
      0.7711580230059825,
      0.6453128231226933,
      0.8799244917760192,
      0.8452254158424202,
      0.48541002808414296,
      0.4818927650708713
    ],
    "a_ego": [
      0.6611905920711341,
      0.661190585549858,
      0.7258038132863088,
      0.7420019125315873,
      0.8552453137545905,
      0.8605846946397813,
      1.0366658102348556,
      0.8813243414010986,
      0.49551098656762504,
      0.49551098355656753
    ],
    "yaw": [
      -0.49495955640752276,
      -0.42202609200922525,
      -0.34332322059597853,
      -0.24868361979802012,
      -0.16013956137398125,
      -0.07410835608469019,
      0.014681951143203536,
      0.09498497028097491,
      0.15098163893732514,
      0.1837109160840823
    ],
    "yaw_diff": [
      0.14586692879659502,
      0.15740574282649344,
      0.18927920159591682,
      0.17708811684807774,
      0.17206241057858213,
      0.17758061445578743,
      0.16060603827554276,
      0.11199333731270045,
      0.06545855429351433,
      0.06545855429351433
    ],
    "min_front_frame": [
      7,
      17.606237688571404
    ],
    "v_avg": 4.643064687966652,
    "v_std": 0.36591388152422416,
    "vy_max": 0.08677561446244018,
    "a_max": 1.0366658102348556,
    "ax_avg": 0.15375790487159677,
    "a_std": 0.16369480107172785,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "56f5294b63df53b9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      52.05275623586188,
      54.61545335963247,
      32.253981206979766,
      17.642296055487225,
      17.606237688571404,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "56f5294b63df53b9",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "ad8e3279524854c3": {
    "vx_ego": [
      6.621139564722398,
      6.747942114621558,
      6.858035068179318,
      6.945039281395893,
      7.055468524369048,
      7.138772645604125,
      7.20608945079019,
      7.306015230916258,
      7.401745933538675,
      7.500981376874909
    ],
    "vy_ego": [
      0.10827896690725991,
      0.07810015314851748,
      0.06749726585811455,
      0.06052238975993163,
      0.042057858615265786,
      0.029014624117956966,
      0.044111789986703176,
      0.07245689611595552,
      0.08129969368643275,
      0.09836467413776795
    ],
    "v_ego": [
      6.6220248768942875,
      6.748394062012464,
      6.85836721656661,
      6.945302986896556,
      7.0555938773312095,
      7.1388316084663614,
      7.206224463809429,
      7.306374515187071,
      7.40219241203914,
      7.501626305364887
    ],
    "ax_ego": [
      0.2516424195500705,
      0.25218880693041934,
      0.18642098271061436,
      0.1600915605337139,
      0.2802059675110914,
      0.05232966994993286,
      0.21606519537031288,
      0.18199677638742429,
      0.19838382966809961,
      0.19840151021110813
    ],
    "ay_ego": [
      0.061598293242466184,
      0.05932168655961058,
      0.0646469815751219,
      0.07213270234019696,
      0.028895724419065655,
      0.1091619136666194,
      0.14795428915650305,
      0.19025676960901025,
      0.04066027812869904,
      0.04057391747830394
    ],
    "a_ego": [
      0.2590719148178717,
      0.259071914412321,
      0.19731197384235286,
      0.17559166979392626,
      0.28169193655220126,
      0.12105667165599496,
      0.26186760076461846,
      0.2632877988009891,
      0.20250778279188364,
      0.20250778264941982
    ],
    "yaw": [
      1.1482901400606251,
      1.1573272625581073,
      1.1634340963488592,
      1.1693965436042606,
      1.175655669601717,
      1.1823298350024882,
      1.1892065041198943,
      1.196948235615659,
      1.2035977731082164,
      1.2040330718716121
    ],
    "yaw_diff": [
      0.01807424499496424,
      0.012213667581503884,
      0.011924894510802808,
      0.012518251994912966,
      0.013348330801542296,
      0.013753338234812063,
      0.015483462991529695,
      0.013299074985114512,
      0.0008705975267915278,
      0.0008705975267915278
    ],
    "min_front_frame": [
      9,
      42.53092173846541
    ],
    "v_avg": 7.078493232456802,
    "v_std": 0.2719847291961961,
    "vy_max": 0.10827896690725991,
    "a_max": 0.28169193655220126,
    "ax_avg": 0.1977726718822787,
    "a_std": 0.048287674954463844,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ad8e3279524854c3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      74.4270477634057,
      71.07957581810763,
      67.63985544573355,
      64.05845319650064,
      60.61418198403812,
      57.08217070432313,
      53.54867306867815,
      49.91867843888504,
      46.21004575553479,
      42.53092173846541
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ad8e3279524854c3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d65373ac727f541f": {
    "vx_ego": [
      4.738629511957903,
      4.634568891287445,
      4.519592029183465,
      4.407267575321502,
      4.316921736439046,
      4.244966574301445,
      4.242112218939712,
      4.357710280335999,
      4.590977761080203,
      4.880816226491676
    ],
    "vy_ego": [
      0.0013745020534092767,
      -0.02255422924972228,
      8.552976979103732e-05,
      0.01807186559683993,
      0.016718567968493137,
      0.0187241716435258,
      -0.017586933998483545,
      -0.019011559149631818,
      -0.04791732593609532,
      -0.15868598822221336
    ],
    "v_ego": [
      4.738629711304133,
      4.6346237712835325,
      4.519592029992757,
      4.40730462673122,
      4.3169541101400215,
      4.24500786943208,
      4.242148674707792,
      4.357751751388249,
      4.591227817573188,
      4.883395159071453
    ],
    "ax_ego": [
      -0.23173517708904223,
      -0.18066548214384928,
      -0.27110755974787415,
      -0.1874697941848798,
      -0.17878200080512718,
      -0.11144565235031559,
      0.10066262387995481,
      0.3698105599529203,
      0.5693657672899427,
      0.6243451489476877
    ],
    "ay_ego": [
      0.6600019660175471,
      0.6757690151035358,
      0.8012549543963956,
      0.6308438730081024,
      0.6365610627487983,
      0.7171966550069512,
      0.7351420776653559,
      0.7711580230059825,
      0.6453128231226933,
      0.5922830081208308
    ],
    "a_ego": [
      0.6995025285497667,
      0.6995025219484718,
      0.8458775389482908,
      0.6581101092093815,
      0.661190585549858,
      0.7258038132863088,
      0.7420019125315873,
      0.8552453137545905,
      0.8605846946397813,
      0.860584700493316
    ],
    "yaw": [
      -0.7232182623363481,
      -0.6467907419944616,
      -0.5712845475512462,
      -0.49495955640752276,
      -0.42202609200922525,
      -0.34332322059597853,
      -0.24868361979802012,
      -0.16013956137398125,
      -0.07410835608469019,
      0.014681951143203536
    ],
    "yaw_diff": [
      0.15285504068377298,
      0.15101238888643076,
      0.15264998228744697,
      0.14586692879659502,
      0.15740574282649344,
      0.18927920159591682,
      0.17708811684807774,
      0.17206241057858213,
      0.17758061445578743,
      0.17758061445578743
    ],
    "min_front_frame": [
      9,
      17.642296055487225
    ],
    "v_avg": 4.493663552162443,
    "v_std": 0.20596249425495852,
    "vy_max": 0.15868598822221336,
    "a_max": 0.860584700493316,
    "ax_avg": 0.05029784337494172,
    "a_std": 0.08101368494151398,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "d65373ac727f541f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      52.05275623586188,
      54.61545335963247,
      32.253981206979766,
      17.642296055487225
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d65373ac727f541f",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "690d5fcd5dd056dc": {
    "vx_ego": [
      4.29918746940503,
      3.5252851107919496,
      2.7826557216832186,
      2.210194816846335,
      1.8673123130898388,
      1.672254050116014,
      1.6097317733764664,
      1.6517478294217085,
      1.8293231338471414,
      2.113146313485446
    ],
    "vy_ego": [
      0.043751949704785464,
      0.043099836459643937,
      0.016803073562831464,
      -0.005935061068000978,
      -0.005534645511924771,
      -0.01485421888152142,
      -0.03419843275112217,
      -0.030754965484871728,
      -0.009685403496843818,
      -0.0010045952668730693
    ],
    "v_ego": [
      4.299410090953432,
      3.5255485684180066,
      2.7827064539217052,
      2.21020278557518,
      1.8673205153154255,
      1.6723200219898082,
      1.6100950018618083,
      1.6520341279469082,
      1.8293487734899605,
      2.113146552279037
    ],
    "ax_ego": [
      -1.5477591801740078,
      -1.5477561935170272,
      -1.4227961877936275,
      -0.8670347417221345,
      -0.5045007961661494,
      -0.27574615690810933,
      0.025636558058440707,
      0.14271266376000405,
      0.5676466575408233,
      0.5676500724858711
    ],
    "ay_ego": [
      -0.005113199513803443,
      -0.005949350990202162,
      -0.09659153637520505,
      0.009574301271768474,
      -0.011517094481128278,
      -0.028769127085522407,
      -0.050109509111340884,
      0.07349409926321343,
      0.018156292306134622,
      0.0180495553499104
    ],
    "a_ego": [
      1.5477676261707325,
      1.5477676276972334,
      1.4260711472080914,
      0.8670876026088776,
      0.5046322391579494,
      0.27724286415136923,
      0.056286730340848155,
      0.1605250355053287,
      0.5679369496410447,
      0.5679369606228707
    ],
    "yaw": [
      1.5920485085075646,
      1.591508273928892,
      1.5917190662458425,
      1.5921244404315043,
      1.5916799242925146,
      1.591248045293926,
      1.5910138774796518,
      1.5925005868123865,
      1.5935928080610458,
      1.5937808395440922
    ],
    "yaw_diff": [
      -0.0010804691573453873,
      0.00042158463390107315,
      0.0008107483713235553,
      -0.000889032277979318,
      -0.0008637579971773057,
      -0.0004683356285481999,
      0.0029734186654692962,
      0.0021844424973185284,
      0.0003760629660929382,
      0.0003760629660929382
    ],
    "min_front_frame": [
      4,
      11.583449083486084
    ],
    "v_avg": 2.3562132891751273,
    "v_std": 0.8627009263898514,
    "vy_max": 0.043751949704785464,
    "a_max": 1.5477676276972334,
    "ax_avg": -0.4861947304435916,
    "a_std": 0.5405840715266097,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "690d5fcd5dd056dc",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.766627361770806,
    "right_rear_min": 6.23237271875017,
    "speed_mode": "decelerating",
    "front_frame": [
      16.175685097923186,
      14.236383915712802,
      12.844154944042968,
      11.92068855848347,
      11.583449083486084,
      11.687065506818348,
      12.17564555219645,
      13.302296721464197,
      14.65615366997069,
      16.264517098587984
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "690d5fcd5dd056dc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e00c640657fb5895": {
    "vx_ego": [
      9.477700938782046,
      8.952399968461805,
      8.324269236701678,
      7.519559103523488,
      6.633091034591576,
      5.715642622108751,
      4.69176704054709,
      3.5615581832255456,
      2.536077332317026,
      1.63904965002068
    ],
    "vy_ego": [
      0.028603466688205792,
      -0.012235835290229424,
      -0.03684304391873594,
      -0.06783604276474531,
      -0.0906327252940633,
      -0.07861971108867571,
      -0.06640384175125957,
      -0.0372384744647698,
      0.013982739011005885,
      0.0275948344907766
    ],
    "v_ego": [
      9.47774410096077,
      8.952408330219315,
      8.324350769578558,
      7.519865081241879,
      6.633710195966763,
      5.716183310797326,
      4.692236932739365,
      3.561752854491916,
      2.5361158791511267,
      1.639281925149999
    ],
    "ax_ego": [
      -1.0519656946889904,
      -1.0488122782637188,
      -1.4651102299456051,
      -1.756635443150093,
      -1.7945584895942226,
      -1.88255252384101,
      -2.216427604920469,
      -2.3081835125273233,
      -1.7937574699847643,
      -1.7937509733642591
    ],
    "ay_ego": [
      -0.27954125421793624,
      -0.29114934870361886,
      -0.2828696783543697,
      -0.28345470521527416,
      -0.2829230882333249,
      -0.08097117546337096,
      -0.1634408798297965,
      0.09414005509559065,
      0.005091750060843392,
      -0.007018412646404348
    ],
    "a_ego": [
      1.0884737643196674,
      1.0884737655484737,
      1.4921672965266224,
      1.7793579319630444,
      1.8167238773215315,
      1.8842930600827663,
      2.2224455559255047,
      2.3101024820289626,
      1.7937646966770264,
      1.7937647037895752
    ],
    "yaw": [
      -0.573040040888288,
      -0.584091165119782,
      -0.5977724773455998,
      -0.6116681025066206,
      -0.6284445293733578,
      -0.6450941821229756,
      -0.6590715982284889,
      -0.6703061553790832,
      -0.6791561998960094,
      -0.6859074738830896
    ],
    "yaw_diff": [
      -0.022102248462988028,
      -0.02736262445163562,
      -0.02779125032204166,
      -0.033552853733474386,
      -0.033299305499235654,
      -0.02795483221102657,
      -0.022469114301188586,
      -0.01770008903385234,
      -0.013502547974160395,
      -0.013502547974160395
    ],
    "min_front_frame": [
      2,
      54.46397101869037
    ],
    "v_avg": 5.9053649380297015,
    "v_std": 2.5997354987574672,
    "vy_max": 0.0906327252940633,
    "a_max": 2.3101024820289626,
    "ax_avg": -1.7111754220280453,
    "a_std": 0.38736295297804174,
    "ini_direction_judge": "straight",
    "scenario_type": "roundout_entrance",
    "scene_token": "e00c640657fb5895",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 16.549108011275393,
    "speed_mode": "decelerating",
    "front_frame": [
      55.06380696637469,
      54.6241883958684,
      54.46397101869037,
      54.76615919337237,
      55.43682462740772,
      56.778942943968275,
      58.66109097006428,
      61.22035316345764,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "e00c640657fb5895",
    "merge_risk": "Yes"
  },
  "1c2e4c20931858f2": {
    "vx_ego": [
      1.3322451656448844,
      1.929942728990874,
      2.3686506279667903,
      2.64077866235369,
      2.8978687001302763,
      3.0234841514349773,
      3.0382577730584455,
      3.1277018624202855,
      3.382960126526345,
      3.8206849424876084
    ],
    "vy_ego": [
      0.03563458425141952,
      0.03993529160124043,
      0.01864364737065838,
      -0.010184186495521219,
      -0.010756029632729813,
      0.03382960107339361,
      0.04508116999610867,
      -0.00018044066399047765,
      0.002688093129803004,
      0.12108024088887948
    ],
    "v_ego": [
      1.3327216532265607,
      1.9303558647824546,
      2.3687239988978774,
      2.6407982999837607,
      2.89788866165838,
      3.0236734043026656,
      3.0385922081513805,
      3.127701867625199,
      3.3829611945028013,
      3.82260302078116
    ],
    "ax_ego": [
      1.1950123358326976,
      1.1951110408526386,
      0.5593934978031281,
      0.5293145263685477,
      0.5011557600837142,
      0.01175375435772763,
      0.0845535880662398,
      0.3249904846430114,
      0.7239130557852942,
      1.0605097237346253
    ],
    "ay_ego": [
      0.025344646583072783,
      0.020160496377635728,
      -0.08831511035637357,
      -0.10492170313626767,
      -0.3038398735916492,
      -0.47532538236912425,
      -0.827243874408429,
      -1.2979681029480776,
      -1.5388599321307934,
      -1.3294582093786396
    ],
    "a_ego": [
      1.1952810689970543,
      1.1952810738826538,
      0.5663220321527997,
      0.5396132240908993,
      0.5860680546227329,
      0.4754706824462009,
      0.8315538088429058,
      1.3380358782107193,
      1.7006292961883236,
      1.7006292966487286
    ],
    "yaw": [
      -0.5704801414555319,
      -0.5661421790378459,
      -0.5642339476224403,
      -0.5720001291857346,
      -0.6086438041880178,
      -0.687817737559925,
      -0.7991913565379416,
      -0.9580614970491812,
      -1.179298847995276,
      -1.412929988398635
    ],
    "yaw_diff": [
      0.00867592483537205,
      0.0038164628308112736,
      -0.015532363126588677,
      -0.07328735000456632,
      -0.1583478667438145,
      -0.22274723795603313,
      -0.3177402810224792,
      -0.4424747018921895,
      -0.46726228080671817,
      -0.46726228080671817
    ],
    "min_front_frame": [
      5,
      57.30107853550468
    ],
    "v_avg": 2.756602017391224,
    "v_std": 0.686380683033413,
    "vy_max": 0.12108024088887948,
    "a_max": 1.7006292966487286,
    "ax_avg": 0.6185707767527624,
    "a_std": 0.4522738876314515,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "1c2e4c20931858f2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      63.50534056435881,
      62.58450127468564,
      61.43258791688769,
      60.24840144335564,
      58.88957219846005,
      57.30107853550468,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1c2e4c20931858f2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0451b850addd591c": {
    "vx_ego": [
      4.964770246173353,
      5.090337442395361,
      5.248000233152909,
      5.448474425776273,
      5.674232780405506,
      5.8895556589928795,
      6.078461294498922,
      6.266922152595068,
      6.452686742977512,
      6.635032099693779
    ],
    "vy_ego": [
      0.01414751946066306,
      0.01720695907061698,
      0.025867764114559044,
      0.010862000307218844,
      -0.001405635084720247,
      -0.006548086011000098,
      0.018551244365861308,
      0.01686736348125817,
      0.010817101684894137,
      -0.0055435357586191
    ],
    "v_ego": [
      4.964790403390168,
      5.090366524808661,
      5.248063984784605,
      5.448485252929364,
      5.674232954509217,
      5.889559299116145,
      6.078489603296944,
      6.266944851730994,
      6.452695809712914,
      6.635034415491419
    ],
    "ax_ego": [
      0.24561511930499355,
      0.25467916358546033,
      0.37401111515155394,
      0.42512060370178784,
      0.47771055219205943,
      0.3820000389124255,
      0.3734626054104333,
      0.37919512697099383,
      0.36281906380749906,
      0.36631938031640976
    ],
    "ay_ego": [
      0.3086525901761528,
      0.30121708463099645,
      0.34027920438506554,
      0.3240729915084933,
      0.349459815432957,
      0.1858145289823913,
      0.20770873890468433,
      0.21214311661186427,
      0.20150975754666675,
      0.19507426241940307
    ],
    "a_ego": [
      0.3944530494921472,
      0.39445304972605616,
      0.5056424143540987,
      0.5345566681999547,
      0.5918864200825009,
      0.42479532590418473,
      0.4273373817691629,
      0.43450390820376195,
      0.41502271678628205,
      0.41502271775635674
    ],
    "yaw": [
      -1.420737029033549,
      -1.3910146908056102,
      -1.361582232852311,
      -1.327684516104949,
      -1.2951656904544515,
      -1.2711826422278052,
      -1.2589387583146898,
      -1.241659979786073,
      -1.2244541740444188,
      -1.2068023023851746
    ],
    "yaw_diff": [
      0.05944467645587759,
      0.05886491590659837,
      0.06779543349472394,
      0.06503765130099515,
      0.04796609645329264,
      0.024487767826230744,
      0.03455755705723362,
      0.0344116114833084,
      0.0353037433184884,
      0.0353037433184884
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.774866309977043,
    "v_std": 0.5536930706179818,
    "vy_max": 0.025867764114559044,
    "a_max": 0.5918864200825009,
    "ax_avg": 0.36409327693536164,
    "a_std": 0.06343696157637174,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "0451b850addd591c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0451b850addd591c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d9983fb6d20e5413": {
    "vx_ego": [
      4.401177640691722,
      4.288059469783471,
      4.259890181908285,
      4.402793308969137,
      4.696959596420929,
      4.889056833587495,
      4.922184760210772,
      4.884233151820065,
      4.888422217287879,
      5.021247899751899
    ],
    "vy_ego": [
      -0.044811357047619405,
      -0.021518491688965025,
      -0.006999812425295016,
      0.054617024335269715,
      0.03081242177567134,
      -0.031152487287760877,
      -0.048751028299594434,
      -0.05129839263988262,
      -0.059901544166389875,
      -0.13142752125439472
    ],
    "v_ego": [
      4.4014057620997855,
      4.288113461871581,
      4.25989593291815,
      4.403132060346436,
      4.697060661280237,
      4.889156082547662,
      4.922426177852893,
      4.884502534181511,
      4.8887892130329424,
      5.022967615275449
    ],
    "ax_ego": [
      -0.30411842277016066,
      -0.1276320177251664,
      0.02972479946063933,
      0.5335285820482903,
      0.6064720882253896,
      0.1786873282360849,
      -0.018457071120711266,
      -0.09829000883274508,
      0.15564416941862497,
      0.43875189383220964
    ],
    "ay_ego": [
      1.2435891324083204,
      1.2738571351456434,
      1.355299595543328,
      1.433494080785796,
      1.3052408762847283,
      1.5157582866527428,
      1.5452752888549004,
      1.5840125066007809,
      1.6252879658851036,
      1.572667432587938
    ],
    "a_ego": [
      1.2802351132945422,
      1.2802351083727017,
      1.3556255225477587,
      1.5295613840282363,
      1.439257495697344,
      1.5262543512890008,
      1.5453855123625142,
      1.5870590874016095,
      1.6327235159465767,
      1.632723515437959
    ],
    "yaw": [
      0.4332484024857064,
      0.5732300437611489,
      0.7240306835017695,
      0.8726615770868031,
      1.0283748187458395,
      1.186348913545512,
      1.3448025591874728,
      1.5042115936081508,
      1.6708685411061248,
      1.8474636161957398
    ],
    "yaw_diff": [
      0.2799632825508851,
      0.30160127948124105,
      0.29726178717006735,
      0.31142648331807266,
      0.31594818959934523,
      0.3169072912839215,
      0.318818068841356,
      0.333313894995948,
      0.35319015017923006,
      0.35319015017923006
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.665744950140665,
    "v_std": 0.2807400610370646,
    "vy_max": 0.13142752125439472,
    "a_max": 1.6327235159465767,
    "ax_avg": 0.13943113407724556,
    "a_std": 0.12802907030820532,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "d9983fb6d20e5413",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d9983fb6d20e5413",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "865dfd5f72fa599b": {
    "vx_ego": [
      9.339841825189662,
      9.426629244494812,
      9.473112233650852,
      9.476252294534111,
      9.512155722492286,
      9.591238691929108,
      9.662588411980524,
      9.696814849871014,
      9.752319723242636,
      9.84655580180819
    ],
    "vy_ego": [
      -0.07147807105701887,
      -0.017146084843846054,
      0.010669666994088889,
      0.016087508085468105,
      0.009652334014102593,
      -0.010351097636896789,
      -0.01620439815982877,
      -0.03570625681536477,
      0.0046121361900191005,
      0.031727663195002975
    ],
    "v_ego": [
      9.340115333024759,
      9.426644837978692,
      9.473118242328615,
      9.476265950129271,
      9.512160619780065,
      9.59124427750541,
      9.662601999557884,
      9.696880589625449,
      9.75232081384465,
      9.84660691826044
    ],
    "ax_ego": [
      0.16930593290499818,
      0.1819048935380152,
      0.0037945345239488726,
      0.008411283718176815,
      0.13289325369540633,
      0.1843338887992405,
      0.10096803445542166,
      0.038155775178809304,
      0.18453584558830904,
      0.19114344904504005
    ],
    "ay_ego": [
      0.5456015180434035,
      0.541531278238475,
      0.49661528588274406,
      0.5781350515378759,
      0.5261381280975239,
      0.5809331367595479,
      0.46773848201508017,
      0.4353147920004688,
      0.389583342685778,
      0.3863843177356784
    ],
    "a_ego": [
      0.5712665887377785,
      0.5712665889089553,
      0.4966297822972894,
      0.578196236160778,
      0.5426619082962412,
      0.6094770643306755,
      0.4785121017691848,
      0.43698378838797586,
      0.4310784838114941,
      0.4310784836951381
    ],
    "yaw": [
      1.977117291699439,
      2.0002945825628924,
      2.0247567914405975,
      2.0525433526834074,
      2.082345354569905,
      2.1134337820511617,
      2.1412427097207116,
      2.1665589142463926,
      2.1836511757467276,
      2.2006813794407325
    ],
    "yaw_diff": [
      0.04635458172690665,
      0.04892441775541023,
      0.05557312248561974,
      0.05960400377299546,
      0.06217685496251324,
      0.0556178553390998,
      0.050632409051361904,
      0.0341845230006701,
      0.03406040738800975,
      0.03406040738800975
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.577795958203522,
    "v_std": 0.15138851805447903,
    "vy_max": 0.07147807105701887,
    "a_max": 0.6094770643306755,
    "ax_avg": 0.1195446891447366,
    "a_std": 0.06469691658720772,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "865dfd5f72fa599b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "865dfd5f72fa599b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bd4adf326a205d51": {
    "vx_ego": [
      7.051690842377444,
      6.543626468818122,
      6.047016943627629,
      5.579376628850933,
      5.123576062627039,
      4.640359108222659,
      4.145795089656198,
      3.655023030424827,
      3.1911857738532063,
      2.7606043126359263
    ],
    "vy_ego": [
      -0.027507230428211127,
      -0.044240035862924465,
      -0.02511166920043939,
      -0.02127799478477055,
      -0.03966981642612932,
      -0.03554590442858263,
      -0.008149292795297303,
      0.0028383403003060526,
      -0.005537501620707541,
      -0.009175402645784647
    ],
    "v_ego": [
      7.051744492265423,
      6.543776015741238,
      6.0470690844780055,
      5.579417202506913,
      5.123729634149334,
      4.6404952499260945,
      4.1458030990859305,
      3.6550241324937303,
      3.1911905783214025,
      2.7606195607069415
    ],
    "ax_ego": [
      -1.0159114108021257,
      -1.0158778842573963,
      -0.9708388466106198,
      -0.8998363423293633,
      -0.9232361866571506,
      -1.0095686358090097,
      -0.9687783747331746,
      -0.9942179346181884,
      -0.861172188710789,
      -0.861167438024339
    ],
    "ay_ego": [
      0.00875370968857625,
      0.012030943391336923,
      0.01436352419855702,
      -0.03907102601877782,
      -0.01384021736913238,
      0.037339335416300024,
      0.05572029096128678,
      -0.04700089002830776,
      -0.009881475271751816,
      -0.010287878257525418
    ],
    "a_ego": [
      1.0159491237415765,
      1.0159491224082875,
      0.9709450946967295,
      0.9006841777509179,
      0.923339920056564,
      1.0102589056170679,
      0.9703794567979382,
      0.9953282801065734,
      0.8612288790806293,
      0.8612288875510653
    ],
    "yaw": [
      -0.5674198352843389,
      -0.5641938765792304,
      -0.5661859841332294,
      -0.567910655038646,
      -0.5669462121715841,
      -0.5665883628742084,
      -0.5675299588131691,
      -0.5697862863477181,
      -0.5715020616423772,
      -0.5719739982855659
    ],
    "yaw_diff": [
      0.006451917410217112,
      -0.003984215107998068,
      -0.0034493418108332285,
      0.001928885734123753,
      0.0007156985947514016,
      -0.0018831918779214085,
      -0.004512655069097926,
      -0.0034315505893180998,
      -0.0009438732863775723,
      -0.0009438732863775723
    ],
    "min_front_frame": [
      9,
      14.615308243831045
    ],
    "v_avg": 4.873886904967501,
    "v_std": 1.3724326605120807,
    "vy_max": 0.044240035862924465,
    "a_max": 1.0159491237415765,
    "ax_avg": -0.9520605242552156,
    "a_std": 0.05837623347593703,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bd4adf326a205d51",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.885765474346067,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      33.974945817939656,
      31.30741398147853,
      28.822969067345014,
      26.382471891202805,
      24.052472396734483,
      21.82003904441036,
      19.749924125483318,
      17.80174283059007,
      16.134970925974894,
      14.615308243831045
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bd4adf326a205d51",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6f8a5e89c0325aa8": {
    "vx_ego": [
      7.062012001931434,
      7.129258441419071,
      7.187585026161152,
      7.309852413731032,
      7.5532806334489635,
      7.770865885173186,
      7.857913978172043,
      7.835810020034609,
      7.695364837981982,
      7.487272475667032
    ],
    "vy_ego": [
      0.02234879669590173,
      0.008038367634616073,
      -0.008475639248538336,
      -0.004133789673891997,
      0.017158669997795695,
      0.02741337615653272,
      0.03959086919399857,
      0.018354749263023162,
      -0.02851188079737721,
      -0.08280744480870661
    ],
    "v_ego": [
      7.062047364903281,
      7.129262973119964,
      7.187590023419301,
      7.309853582579234,
      7.553300122965542,
      7.770914238269571,
      7.858013713736768,
      7.8358315172606465,
      7.69541765708633,
      7.487730376943128
    ],
    "ax_ego": [
      0.12971268082069012,
      0.1408674533659146,
      0.09201470980700291,
      0.39574095587073116,
      0.5774061059221995,
      0.293655578441082,
      0.057908230976352476,
      -0.14472999435633938,
      -0.41756814151431404,
      -0.41623178728083066
    ],
    "ay_ego": [
      -0.41422806773677673,
      -0.41056867811964076,
      -0.37870025218130865,
      -0.3238589888648144,
      -0.21829943466888338,
      -0.14876196945613945,
      -0.30325273939754993,
      -0.2749816507557392,
      -0.2053842547740042,
      -0.20807916876651414
    ],
    "a_ego": [
      0.4340625204583251,
      0.43406252875675333,
      0.3897186008173766,
      0.5113663548005676,
      0.6172944632288487,
      0.3291864552286983,
      0.30873222566963904,
      0.3107437521797298,
      0.46534486664923175,
      0.46534486267450953
    ],
    "yaw": [
      -0.5520859290766567,
      -0.5791328052960869,
      -0.6043673523956213,
      -0.6293262318789515,
      -0.6504936234014177,
      -0.6637470176964448,
      -0.6797058104577332,
      -0.6953710732339782,
      -0.704759175388242,
      -0.7112232970815288
    ],
    "yaw_diff": [
      -0.0540937524388605,
      -0.050469094199068865,
      -0.0499177589666604,
      -0.04233478304493232,
      -0.026506788590054287,
      -0.03191758552257662,
      -0.03133052555249005,
      -0.018776204308527555,
      -0.012928243386573612,
      -0.012928243386573612
    ],
    "min_front_frame": [
      9,
      20.09975114898942
    ],
    "v_avg": 7.488996157028376,
    "v_std": 0.28588877571133225,
    "vy_max": 0.08280744480870661,
    "a_max": 0.6172944632288487,
    "ax_avg": 0.07087757920524887,
    "a_std": 0.09210240902080948,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "6f8a5e89c0325aa8",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 24.123212183282778,
    "speed_mode": "quasi_constant",
    "front_frame": [
      22.12766643404988,
      22.615569342386316,
      22.653688254604567,
      22.724111538087232,
      22.60339743546789,
      22.271714469702914,
      21.816581382444582,
      21.385195094061068,
      20.668145028113337,
      20.09975114898942
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6f8a5e89c0325aa8",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "1f7588f60e8d5ff2": {
    "vx_ego": [
      4.904429213716119,
      4.978540395567111,
      5.120418781240811,
      5.150390903656239,
      5.109580921507074,
      5.053331819276867,
      4.971494323869575,
      4.872194515206857,
      4.749282532323928,
      4.621314639065003
    ],
    "vy_ego": [
      -0.040331220210990754,
      -0.007982976492369676,
      -0.061089600346479145,
      -0.12599599094611458,
      -0.1786044734576313,
      -0.09744897209511816,
      -0.05354081268181643,
      -0.05729409317414591,
      -0.037634952542066724,
      -0.04500232032752294
    ],
    "v_ego": [
      4.90459504135416,
      4.978546795823778,
      5.120783185661557,
      5.151931817308865,
      5.112701512054871,
      5.054271339953806,
      4.971782621041474,
      4.8725313756942015,
      4.749431646154098,
      4.621533749965628
    ],
    "ax_ego": [
      -0.0565387959118002,
      0.36953486109818745,
      0.22370039580855983,
      -0.0486515129846522,
      -0.06647946509803204,
      -0.14209218289716746,
      -0.18370343538037254,
      -0.21364694349768032,
      -0.2805115159835019,
      -0.2413839097036064
    ],
    "ay_ego": [
      2.089635953531284,
      2.0574788004975737,
      2.0240422928738915,
      1.830210920536238,
      1.217969744213979,
      0.5706730384256814,
      0.09423709861591667,
      -0.32097462639007623,
      -0.6042781880296383,
      -0.6209449587632343
    ],
    "a_ego": [
      2.0904006921482194,
      2.0904006860082567,
      2.0363666345791236,
      1.8308574448508543,
      1.2197826925728967,
      0.5880968502096243,
      0.20646448344956744,
      0.38557713528183957,
      0.66621230784769,
      0.6662123037570483
    ],
    "yaw": [
      -0.048055000382716644,
      0.15670612759002686,
      0.36774816817711586,
      0.5660473194524488,
      0.7244486455514438,
      0.796311596857169,
      0.8206883841890618,
      0.8099423378660131,
      0.7578753917831429,
      0.6940269236318592
    ],
    "yaw_diff": [
      0.409522255945487,
      0.422084081174178,
      0.39659830255066586,
      0.3168026521979901,
      0.14372590261145035,
      0.04875357466378549,
      -0.021492092646097305,
      -0.10413389216574043,
      -0.1276969363025673,
      -0.1276969363025673
    ],
    "min_front_frame": [
      4,
      36.00779345052857
    ],
    "v_avg": 4.953810908501244,
    "v_std": 0.16266916167480175,
    "vy_max": 0.1786044734576313,
    "a_max": 2.0904006921482194,
    "ax_avg": -0.06397725045500657,
    "a_std": 0.726179468697518,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "1f7588f60e8d5ff2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.184473668701767,
    "right_rear_min": 8.259174984861344,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      36.00779345052857,
      37.261225567435304,
      38.47725828726341,
      39.19598534621676,
      36.828255398582286,
      41.56720576307948
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1f7588f60e8d5ff2",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "662ddec48b93598e": {
    "vx_ego": [
      6.0978430301791855,
      6.300632980355342,
      6.541392236133885,
      6.760256057068432,
      6.962300112255067,
      7.107349744974663,
      7.250511392989294,
      7.505562249816153,
      7.89601846204099,
      8.347785145920268
    ],
    "vy_ego": [
      -0.09107203119281498,
      0.014248437597518038,
      0.048584184096333916,
      0.03765718698153231,
      -0.043939751277636496,
      -0.14185016660218652,
      -0.12958424768016918,
      -0.0402334743090802,
      -0.03932487797207296,
      0.05635615828169005
    ],
    "v_ego": [
      6.098523078219058,
      6.300649091253647,
      6.541572655707263,
      6.760360938652743,
      6.96243876489045,
      7.10876514362069,
      7.251669293143089,
      7.5056700845640885,
      7.896116387118396,
      8.347975374845289
    ],
    "ax_ego": [
      0.3101001041115098,
      0.5166338834346038,
      0.43922846478186484,
      0.4275976312641112,
      0.3864373101893801,
      0.23181224209538187,
      0.35475953674302085,
      0.6623688549880616,
      0.9026397884136071,
      0.9042219262502454
    ],
    "ay_ego": [
      1.7307008487401405,
      1.6806477725119822,
      1.8223089561293142,
      2.050005072551167,
      2.09682050028569,
      1.8487573975525855,
      1.0436832886786038,
      0.14798906575115958,
      0.28490491525021866,
      0.27984299318392375
    ],
    "a_ego": [
      1.7582626374918544,
      1.7582626381636524,
      1.874495018895421,
      2.094125242612818,
      2.1321327362818514,
      1.8632339709737735,
      1.102328959964814,
      0.6786996858995125,
      0.9465354712640703,
      0.9465354682978562
    ],
    "yaw": [
      1.616109220680996,
      1.737047890049435,
      1.867703598506879,
      2.01460729584507,
      2.1771142031225916,
      2.3305241849901477,
      2.429673435558821,
      2.4580882927644474,
      2.4720781967181327,
      2.477681186658257
    ],
    "yaw_diff": [
      0.24187733873687822,
      0.261311416914888,
      0.29380739467638195,
      0.3250138145550432,
      0.3068199637351121,
      0.19829850113734704,
      0.0568297144112524,
      0.027979807907370535,
      0.011205979880248407,
      0.011205979880248407
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.077374081201472,
    "v_std": 0.6679678076228197,
    "vy_max": 0.14185016660218652,
    "a_max": 2.1321327362818514,
    "ax_avg": 0.5135799742271787,
    "a_std": 0.5100091342205393,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "662ddec48b93598e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.699563095641905,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "662ddec48b93598e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f6b3ef5ef2085e46": {
    "vx_ego": [
      3.6363838083913063,
      3.846033737553303,
      4.03228074458596,
      4.13598848059781,
      4.167764038487964,
      4.195298167655206,
      4.238599605414417,
      4.285679968984923,
      4.319388002751197,
      4.3651913423021895
    ],
    "vy_ego": [
      -0.02880259139011776,
      0.029757620589658362,
      0.022529493635165432,
      -0.007515576620648501,
      0.011190656120959819,
      -0.009541613805074123,
      -0.04748784326318456,
      -0.024039282488251414,
      -0.027290978024874235,
      -0.039035852999246945
    ],
    "v_ego": [
      3.636497874494257,
      3.846148856503267,
      4.032343683423099,
      4.135995308934685,
      4.167779062198226,
      4.195309018168404,
      4.238865615972868,
      4.285747389156431,
      4.3194742175168175,
      4.3653658784492935
    ],
    "ax_ego": [
      0.3901329960796577,
      0.446983055010169,
      0.29825592471130746,
      0.14106431287700738,
      -0.014851680474241291,
      0.10989954538673197,
      0.08481448188101759,
      0.12249320186765654,
      0.023488937430520412,
      0.1766566900069749
    ],
    "ay_ego": [
      0.7294669858507549,
      0.6960833216136668,
      0.9100914567430531,
      1.313220765320555,
      1.3163008266673186,
      1.1235681293823407,
      1.18998749460629,
      1.1870938403625952,
      1.1458394535470429,
      1.132383411109268
    ],
    "a_ego": [
      0.8272398914923503,
      0.8272398939213095,
      0.9577176286683302,
      1.3207754990294778,
      1.3163846089566587,
      1.1289301357656916,
      1.1930061750284868,
      1.1933969877331705,
      1.1460801819622397,
      1.1460801786435721
    ],
    "yaw": [
      0.6661065341188486,
      0.7458230468064022,
      0.849015318412484,
      0.9915377159320165,
      1.1443487856552208,
      1.2954549963877016,
      1.4412442778912582,
      1.5751205745153514,
      1.7108324812911864,
      1.8450929095126665
    ],
    "yaw_diff": [
      0.15943302537510728,
      0.2063845432121636,
      0.2850447950390649,
      0.3056221394464087,
      0.3022124214649615,
      0.29157856300711327,
      0.26775259324818634,
      0.27142381355167,
      0.2685208564429602,
      0.2685208564429602
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.122352690481735,
    "v_std": 0.21591729407754973,
    "vy_max": 0.04748784326318456,
    "a_max": 1.3207754990294778,
    "ax_avg": 0.17789374647768016,
    "a_std": 0.16933345931550176,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "f6b3ef5ef2085e46",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "f6b3ef5ef2085e46",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "bd4dac2ccde55c08": {
    "vx_ego": [
      9.313652989216,
      9.210846725163362,
      9.009513079853745,
      8.577380714310426,
      7.954370703818455,
      7.36956594441624,
      7.036313059614605,
      6.830338364557599,
      6.749135168478009,
      6.819975034551716
    ],
    "vy_ego": [
      0.022714361501933844,
      -0.019192758710394386,
      -0.02053019482679197,
      -0.02664073633031494,
      -0.017773361264430854,
      0.04684359452897757,
      0.09609985138103228,
      0.11304939811317527,
      0.12140948788491479,
      0.07334225727946553
    ],
    "v_ego": [
      9.3136806873411,
      9.210866721239622,
      9.00953647114852,
      8.577422086329706,
      7.9543905603217615,
      7.369714820225273,
      7.036969280474265,
      6.831273844661852,
      6.750227091449233,
      6.820369385789271
    ],
    "ax_ego": [
      -0.20651271374488214,
      -0.20478291203485033,
      -0.5997792365271662,
      -1.1283661107824685,
      -1.3625503391583746,
      -0.976488434969345,
      -0.36158607098130935,
      -0.4703533451327308,
      0.13747933992116662,
      0.13951524927008513
    ],
    "ay_ego": [
      0.14068522154288432,
      0.14319144964848488,
      0.1648888039487414,
      0.07803408482314075,
      0.20345693164889733,
      0.3561964473963788,
      0.30171289302851545,
      0.2976367192557031,
      0.12607804842204842,
      0.1238213993479657
    ],
    "a_ego": [
      0.2498796360227181,
      0.24987963565266344,
      0.6220317116005879,
      1.1310611824108097,
      1.3776567605091574,
      1.0394255975136855,
      0.4709300973046179,
      0.5566146655693218,
      0.18653751150659234,
      0.18653751289052395
    ],
    "yaw": [
      1.786494712137141,
      1.7986815486737964,
      1.8072362246367217,
      1.814780757917121,
      1.8221953441703702,
      1.8320848419141376,
      1.8482534255256913,
      1.867381869859116,
      1.8819142507719393,
      1.8982076985409508
    ],
    "yaw_diff": [
      0.02437367307331062,
      0.017109351925850724,
      0.015089066560798337,
      0.014829172506498622,
      0.0197789954875347,
      0.03233716722310742,
      0.03825688866684951,
      0.029064761825646546,
      0.032586895538023075,
      0.032586895538023075
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.887445094898061,
    "v_std": 1.003194825610542,
    "vy_max": 0.12140948788491479,
    "a_max": 1.3776567605091574,
    "ax_avg": -0.5033424574139876,
    "a_std": 0.4105448576077098,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "bd4dac2ccde55c08",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "bd4dac2ccde55c08",
    "pedestrians": "No"
  },
  "ec3c0587b1775b7c": {
    "vx_ego": [
      7.039860054554737,
      6.983565634688505,
      6.964896821422274,
      7.012029270084655,
      7.110860402254566,
      7.215693286988014,
      7.333899003940687,
      7.501322603773123,
      7.695030958962178,
      7.893772087464539
    ],
    "vy_ego": [
      0.06453114825213424,
      0.025587534212422547,
      -0.004694055082835824,
      0.018005001921940433,
      0.04228166417780521,
      0.0744567640317606,
      0.009396212867810672,
      0.02089891486256512,
      0.021416232368511423,
      -0.004865491674612699
    ],
    "v_ego": [
      7.040155811969658,
      6.983612510435364,
      6.964898403222492,
      7.012052386043487,
      7.110986105982603,
      7.216077426247169,
      7.333905023165929,
      7.5013517162255505,
      7.695060760929392,
      7.893773586938221
    ],
    "ax_ego": [
      -0.11539871053669415,
      -0.11277791442868723,
      0.038411530643201075,
      0.15107654798613077,
      0.2400519825149284,
      0.17780045151241178,
      0.29188499483049973,
      0.3768274085136989,
      0.39600453520107026,
      0.39844552181222065
    ],
    "ay_ego": [
      0.15572289856617613,
      0.15763130219541321,
      0.27238853227713283,
      0.41522121853311234,
      0.14194004183213632,
      0.18869923979575415,
      0.27098031572729375,
      0.27601144110293563,
      0.17338894700049962,
      0.16770356299835365
    ],
    "a_ego": [
      0.19382075103399868,
      0.19382075589241204,
      0.27508354767678167,
      0.44185154030684143,
      0.2788761907812427,
      0.25926897935833554,
      0.3982802803540048,
      0.4670987170040926,
      0.43230003335849715,
      0.4323000334195633
    ],
    "yaw": [
      2.442472079640228,
      2.4591990776608634,
      2.479008632275244,
      2.5004008835670115,
      2.516713767626643,
      2.5237538037212777,
      2.5485413994836903,
      2.565450049111196,
      2.580172797922865,
      2.5944852906423046
    ],
    "yaw_diff": [
      0.03345399604127053,
      0.03961910922876122,
      0.042784502583534945,
      0.032625768119262766,
      0.014080072189269544,
      0.04957519152482526,
      0.03381729925501098,
      0.029445497623338035,
      0.02862498543887959,
      0.02862498543887959
    ],
    "min_front_frame": [
      0,
      31.732260017118147
    ],
    "v_avg": 7.275187373115986,
    "v_std": 0.30818365980933515,
    "vy_max": 0.0744567640317606,
    "a_max": 0.4670987170040926,
    "ax_avg": 0.18423263480487803,
    "a_std": 0.10202597062769864,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "ec3c0587b1775b7c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.012074741156251,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      31.732260017118147,
      33.192500960696115,
      34.63008417427535,
      36.18588363535881,
      37.879839298282405,
      39.604575021670314,
      41.603632554155006,
      43.39798983414442,
      45.052833682078806,
      46.51443062221485
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "ec3c0587b1775b7c",
    "pedestrians": "No"
  },
  "254290b4b4a35869": {
    "vx_ego": [
      4.196555373913107,
      3.579242947819117,
      2.922343969614123,
      2.216366467647606,
      1.5268713952523822,
      0.9246133033283428,
      0.517887377518025,
      0.34112776463505595,
      0.28526265671183815,
      0.2545564390380089
    ],
    "vy_ego": [
      -0.021844442844864975,
      -0.0005200453283065176,
      0.010513723561911048,
      0.018721712068199725,
      0.022509968406044356,
      0.012163217180292951,
      -0.004396059621354309,
      -0.011690128775427355,
      -0.024679846516990706,
      -0.053399390648021836
    ],
    "v_ego": [
      4.196612227261673,
      3.5792429855990533,
      2.9223628821765386,
      2.2164455376605785,
      1.527037313335073,
      0.9246933029626229,
      0.5179060350417747,
      0.341328010739957,
      0.286328269890345,
      0.26009705030486524
    ],
    "ax_ego": [
      -1.234624801630174,
      -1.2346219148817008,
      -1.3929846284007366,
      -1.4308926969054014,
      -1.327020684164245,
      -1.0819503964806794,
      -0.5449477025798111,
      -0.16209340128332922,
      -0.06140345241074725,
      -0.06140828095454523
    ],
    "ay_ego": [
      0.043127611473353866,
      0.043210192568760575,
      0.004454795834118341,
      0.02162820783061503,
      -0.011499302609328743,
      -0.03353391317180243,
      -0.033646136010726385,
      0.004391260745589237,
      -0.057396288093229955,
      -0.05739113054253378
    ],
    "a_ego": [
      1.235377833568234,
      1.235377834287141,
      1.3929917516506198,
      1.4310561447515528,
      1.3270705068534383,
      1.0824699459002607,
      0.5459854036652139,
      0.16215287203911669,
      0.08405187597454297,
      0.0840518818036962
    ],
    "yaw": [
      0.876968064172604,
      0.8770349523918031,
      0.8773047752192795,
      0.876649307588863,
      0.8759735276687499,
      0.8752107924015171,
      0.8748504134368148,
      0.8747989358415739,
      0.8739289130414662,
      0.874012969466929
    ],
    "yaw_diff": [
      0.00013377643839818099,
      0.0005396456549529027,
      -0.001310935260833146,
      -0.0013515598402260576,
      -0.0015254705344656116,
      -0.0007207579294046251,
      -0.00010295519048186819,
      -0.0017400456002152342,
      0.00016811285092543926,
      0.00016811285092543926
    ],
    "min_front_frame": [
      9,
      8.67965442249911
    ],
    "v_avg": 1.6772053614972477,
    "v_std": 1.3952225060102532,
    "vy_max": 0.053399390648021836,
    "a_max": 1.4310561447515528,
    "ax_avg": -0.8531947959691368,
    "a_std": 0.5430837102397568,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "254290b4b4a35869",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.132157160467688,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.54712785724731,
      13.904616602235176,
      12.274889946499387,
      11.043995103822125,
      10.192127383143276,
      9.592872180313629,
      9.28253472761427,
      8.986221348332547,
      8.798958161131745,
      8.67965442249911
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "254290b4b4a35869",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1825640c9ed75a4b": {
    "vx_ego": [
      5.398436717510962,
      5.794711384914209,
      6.230724312781239,
      6.647237068451746,
      7.029272571797884,
      7.386488057434381,
      7.686282258778398,
      7.95977839817728,
      8.245906672259062,
      8.549476055380593
    ],
    "vy_ego": [
      0.0837603258094975,
      0.05591001898545411,
      0.052455975612685446,
      0.04684077511676099,
      0.06208260257320486,
      0.012068132605067117,
      0.014139149072216473,
      0.008509242807087869,
      -0.02818465937594672,
      -0.03449297129283169
    ],
    "v_ego": [
      5.399086476909797,
      5.7949811013218415,
      6.2309451202254,
      6.647402101754677,
      7.029546723521532,
      7.3864979159575554,
      7.686295263463929,
      7.959782946494384,
      8.245954839958236,
      8.549545636265982
    ],
    "ax_ego": [
      0.7599581421641207,
      0.8460531494902604,
      0.9180166815071922,
      0.7454830037333207,
      0.7856509916840516,
      0.643519652402737,
      0.555626393433419,
      0.5382148055082185,
      0.6062971179234176,
      0.6071299728046792
    ],
    "ay_ego": [
      -1.0432305109567814,
      -0.9747103881443892,
      -1.0253167460594141,
      -0.5428177843802932,
      -0.2900999147865693,
      -0.09168891877960558,
      0.05129620463850004,
      -0.017515480827751895,
      -0.12677233857827122,
      -0.12272170858072559
    ],
    "a_ego": [
      1.290684421860235,
      1.2906844201891394,
      1.3762372823301012,
      0.9221692121811401,
      0.8374995171898958,
      0.650018769617857,
      0.5579892379698227,
      0.5384997390313916,
      0.6194089287626118,
      0.6194089292501223
    ],
    "yaw": [
      -0.06608574987415378,
      -0.15136359537924313,
      -0.23402397427460922,
      -0.2938181781298377,
      -0.3265188496527871,
      -0.33280653416990263,
      -0.334418908661003,
      -0.33262022315655837,
      -0.33254338557042507,
      -0.33921970750911234
    ],
    "yaw_diff": [
      -0.1705556910101787,
      -0.1653207577907322,
      -0.11958840771045692,
      -0.06540134304589884,
      -0.012575369034231065,
      -0.003224748982200709,
      0.0035973710088892386,
      0.00015367517226660965,
      -0.01335264387737456,
      -0.01335264387737456
    ],
    "min_front_frame": [
      7,
      20.98314391821178
    ],
    "v_avg": 7.093003812587334,
    "v_std": 1.0069856767606038,
    "vy_max": 0.0837603258094975,
    "a_max": 1.3762372823301012,
    "ax_avg": 0.7005949910651417,
    "a_std": 0.31547279314382265,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "1825640c9ed75a4b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      68.58695623241168,
      38.78685918931266,
      28.92733266505146,
      25.55283206312052,
      21.970363430366355,
      24.860151156440295,
      20.98314391821178,
      73.87882627664733,
      69.70802008854868
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      1,
      1
    ],
    "safe_ratio": 0.4444444444444444,
    "unsafe_ratio": 0.1111111111111111,
    "oversafe_ratio": 0.4444444444444444,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1825640c9ed75a4b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "37102588c8ac59ef": {
    "vx_ego": [
      8.433444082163303,
      8.745960768806663,
      9.054748204579962,
      9.299738483786903,
      9.483548353850278,
      9.593962372555382,
      9.749001683786764,
      9.999633698934955,
      10.262892446980821,
      10.512448363288268
    ],
    "vy_ego": [
      0.09267868099875454,
      -0.12402536244215634,
      -0.11361874441879971,
      -0.16149430371385476,
      -0.13731270390133155,
      -0.07871801187134553,
      -0.024777939703582774,
      0.00922944359226463,
      0.010321118925141981,
      0.008033708705844411
    ],
    "v_ego": [
      8.433953309385043,
      8.746840118581918,
      9.055461019044108,
      9.301140590108245,
      9.484542380023878,
      9.59428530592047,
      9.749033171385413,
      9.999637958221518,
      10.262897636817385,
      10.512451433004472
    ],
    "ax_ego": [
      0.5376184901091139,
      0.7155118145669914,
      0.5233897825821382,
      0.4704642913013766,
      0.26929241657228,
      0.17180826849006567,
      0.4481795597213938,
      0.5545087752093774,
      0.4988529522279723,
      0.4995747258058789
    ],
    "ay_ego": [
      1.5787277980664642,
      1.5064720298021532,
      0.6807391572246284,
      0.3893594694934302,
      0.08805104102715432,
      0.0977635284019267,
      0.08547880842318273,
      -0.07634482658302985,
      -0.12620699274676767,
      -0.12331894837553942
    ],
    "a_ego": [
      1.667757506742209,
      1.6677575163557705,
      0.8586865928208471,
      0.6106860452588646,
      0.28332206311776004,
      0.1976759687143301,
      0.45625819931428035,
      0.5597396844339311,
      0.5145701827396787,
      0.5145701795600558
    ],
    "yaw": [
      -2.2546255341137,
      -2.1394326327455593,
      -2.0793460608600034,
      -2.045006550671042,
      -2.0349001112711775,
      -2.036171300080575,
      -2.0370148761857747,
      -2.0402319714334007,
      -2.0453343975926916,
      -2.0511195665995245
    ],
    "yaw_diff": [
      0.23038580273628106,
      0.12017314377111177,
      0.06867902037792284,
      0.020212878799728884,
      -0.0025423776187949443,
      -0.0016871522103993897,
      -0.006434190495252068,
      -0.010204852318581814,
      -0.011570338013665804,
      -0.011570338013665804
    ],
    "min_front_frame": [
      1,
      18.686486148847674
    ],
    "v_avg": 9.514024292249244,
    "v_std": 0.6218322516111501,
    "vy_max": 0.16149430371385476,
    "a_max": 1.6677575163557705,
    "ax_avg": 0.4689201076586588,
    "a_std": 0.49690153221759853,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "37102588c8ac59ef",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 43.10994822743426,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      18.686486148847674,
      19.083678573238828,
      19.703328328820945,
      20.10742513517449,
      20.674945237734555,
      21.302099602226768,
      21.858464651863763,
      22.43035891898395,
      22.87313284155655
    ],
    "safe_frame": [
      -1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "37102588c8ac59ef",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e97ba617b7c059a7": {
    "vx_ego": [
      7.6045719762697335,
      7.4234540355885095,
      7.387408952445387,
      7.386834994410428,
      7.2496424722425346,
      7.097080321508601,
      7.091097885605604,
      7.341968852585748,
      7.700169779288999,
      8.112270415477914
    ],
    "vy_ego": [
      0.7848934842837894,
      0.7361396907128668,
      0.7650539580375955,
      0.8133367661173212,
      0.8139719633195988,
      0.7658752775411117,
      0.762236897665229,
      0.7109125779506473,
      0.6873882163440379,
      0.7367477098506253
    ],
    "v_ego": [
      7.644970420082612,
      7.459864037818528,
      7.4269185123696655,
      7.431476833696293,
      7.295194742596884,
      7.138285090320595,
      7.131947441716224,
      7.3763068893469805,
      7.730790204749074,
      8.14565703192863
    ],
    "ax_ego": [
      -0.549928006065406,
      -0.4414158442014351,
      0.040721359079799235,
      -0.360450709045822,
      -0.6370666015394361,
      -0.5122186039404887,
      -0.030071504593278675,
      0.5270066124748203,
      0.48631187135206266,
      0.7777529994848796
    ],
    "ay_ego": [
      1.2061225349180449,
      1.249921771408686,
      1.4725891183824,
      1.9650865986568022,
      2.341773180207891,
      2.3797814394056998,
      2.3700553517229697,
      2.2083766873021586,
      2.233716370402216,
      2.149671681662274
    ],
    "a_ego": [
      1.3255762449184896,
      1.3255762453188022,
      1.4731520426159548,
      1.997871380713032,
      2.426881843505775,
      2.434281741615503,
      2.3702461192077062,
      2.270388416683771,
      2.2860420074051118,
      2.2860420090515476
    ],
    "yaw": [
      0.159647513384792,
      0.2479534449743595,
      0.3366221776251483,
      0.4455779759635661,
      0.5916669443407835,
      0.7628774595746602,
      0.9318131666435636,
      1.0987601771457343,
      1.2491568995719513,
      1.3819367534615017
    ],
    "yaw_diff": [
      0.17661186317913502,
      0.17733746530157757,
      0.21791159667683557,
      0.2921779367544348,
      0.3424210304677535,
      0.33787141413780675,
      0.3338940210043413,
      0.3007934448524341,
      0.26555970777910076,
      0.26555970777910076
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.478141120462548,
    "v_std": 0.2866301104700933,
    "vy_max": 0.8139719633195988,
    "a_max": 2.434281741615503,
    "ax_avg": -0.06993584269943048,
    "a_std": 0.4390996598270086,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "e97ba617b7c059a7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.521602924869708,
    "right_rear_min": 6.580656077857876,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e97ba617b7c059a7",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "eb5ef679c80959fe": {
    "vx_ego": [
      4.938145409409888,
      5.064040565328852,
      5.17115856696047,
      5.240838875038037,
      5.325979716239418,
      5.40913389121362,
      5.459227266792861,
      5.490670464077888,
      5.539667549135727,
      5.634599125158982
    ],
    "vy_ego": [
      0.03289620063031551,
      0.0018620044317394502,
      -0.021683538755993048,
      -0.001190678701866732,
      0.018350294657141997,
      0.015994079541125916,
      0.0006535610322187801,
      -0.012970163814018498,
      -0.006237897168891671,
      0.0019764876171568524
    ],
    "v_ego": [
      4.938254979695951,
      5.064040907650398,
      5.171204028125524,
      5.2408390102946045,
      5.326011328480979,
      5.409157537330205,
      5.459227305913967,
      5.490685783237523,
      5.539671061201064,
      5.634599471812142
    ],
    "ax_ego": [
      0.21986607648856307,
      0.2774384931665654,
      0.15205015806029185,
      0.13480013595062582,
      0.20178536740492314,
      0.12689543161663824,
      0.07092191226968943,
      0.0586722793362115,
      0.14654059867491143,
      0.2332052524990759
    ],
    "ay_ego": [
      0.7377356135587181,
      0.7180688072927026,
      0.6670057276815987,
      0.8170728797668574,
      0.7748142037028318,
      0.8057071876055285,
      0.8057834099710873,
      0.8541705847243614,
      0.9996737102179232,
      0.9830752692523258
    ],
    "a_ego": [
      0.7698018752272126,
      0.769801876782136,
      0.684116869640136,
      0.8281178463858949,
      0.8006587192795649,
      0.815638720711801,
      0.8088985235643732,
      0.8561832888878782,
      1.0103572011723725,
      1.0103572015919373
    ],
    "yaw": [
      -2.001909238433341,
      -1.9228568217465385,
      -1.8508453887949758,
      -1.7835673284379503,
      -1.7118581288716945,
      -1.6379671580179878,
      -1.5611441756861568,
      -1.4829199076915012,
      -1.3999890149536074,
      -1.3126259332010421
    ],
    "yaw_diff": [
      0.15810483337360504,
      0.1440228659031253,
      0.1345561207140511,
      0.14341839913251153,
      0.14778194170741354,
      0.15364596466366187,
      0.1564485359893113,
      0.16586178547578756,
      0.17472616350513048,
      0.17472616350513048
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.327369141374236,
    "v_std": 0.2104374641580452,
    "vy_max": 0.03289620063031551,
    "a_max": 1.0103572015919373,
    "ax_avg": 0.16221757054674957,
    "a_std": 0.09772288641963307,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "eb5ef679c80959fe",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "eb5ef679c80959fe",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "fb1d534ccf82583f": {
    "vx_ego": [
      4.704314425586559,
      4.8601138220128295,
      5.034784163625348,
      5.204922650287695,
      5.378932586496692,
      5.545306204545519,
      5.686202223361694,
      5.847631103297941,
      6.052141581142751,
      6.324995515988815
    ],
    "vy_ego": [
      0.031092150032370203,
      -0.007448059904721305,
      0.011116915005204397,
      0.02374293761807289,
      0.032830096349846905,
      0.03148513203352166,
      0.008924965893190473,
      -0.011117093558641267,
      -0.013303294116097708,
      0.008714542385382495
    ],
    "v_ego": [
      4.704417172889266,
      4.860119529035937,
      5.034796436807731,
      5.2049768032686385,
      5.379032774142795,
      5.545395586945101,
      5.686209227594397,
      5.84764167079573,
      6.052156202200288,
      6.325001519409114
    ],
    "ax_ego": [
      0.28771121259552146,
      0.3379950518466021,
      0.3660345108373461,
      0.32581942024125565,
      0.3878826261151216,
      0.29315478856296817,
      0.29299815294230447,
      0.3555237386163575,
      0.4576704589080271,
      0.628764358126304
    ],
    "ay_ego": [
      -0.7433867055455596,
      -0.7219147318841632,
      -0.836777377778348,
      -0.9495583923248054,
      -1.0839833278381383,
      -1.1343048023790399,
      -1.3893375723222556,
      -1.4450512813516008,
      -1.4633256647306634,
      -1.3983703481691168
    ],
    "a_ego": [
      0.7971207786998566,
      0.7971207782915777,
      0.9133332595967057,
      1.00390210431138,
      1.1512917904132767,
      1.1715746304685635,
      1.4198967594490455,
      1.4881432506501702,
      1.5332267444890604,
      1.5332267440560121
    ],
    "yaw": [
      2.3183012365093996,
      2.2496954015234047,
      2.1671689256406195,
      2.0776247678260553,
      1.9797740814821576,
      1.8787947440354174,
      1.7705716260931128,
      1.6511542549190716,
      1.5292079709926587,
      1.409774968064296
    ],
    "yaw_diff": [
      -0.13721166997198964,
      -0.16505295176557055,
      -0.1790883156291283,
      -0.19570137268779542,
      -0.20195867489348052,
      -0.2164462358846091,
      -0.23883474234808233,
      -0.24389256785282587,
      -0.23886600585672557,
      -0.23886600585672557
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.4639746923089,
    "v_std": 0.4990591429084242,
    "vy_max": 0.032830096349846905,
    "a_max": 1.5332267444890604,
    "ax_avg": 0.37335543187918085,
    "a_std": 0.28253193427494766,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "fb1d534ccf82583f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 22.703464058113433,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "fb1d534ccf82583f",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4952a782e55057b7": {
    "vx_ego": [
      5.5848217318390745,
      5.079652460874775,
      4.552246548365877,
      4.0295692886943,
      3.512809172951001,
      2.900124660036104,
      2.1696379212999695,
      1.4156624147406138,
      0.7018705976673459,
      0.008852322506523028
    ],
    "vy_ego": [
      -0.025324123481486382,
      -0.010318259414660969,
      -0.007005114486443087,
      0.0017336656385880667,
      0.012552784642359704,
      0.016629504594579347,
      0.012728835886523765,
      0.00639039308507694,
      0.002054825073453892,
      -0.003328701038369906
    ],
    "v_ego": [
      5.5848791470945995,
      5.079662940564906,
      4.552251938188177,
      4.0295696616369385,
      3.5128316011404492,
      2.9001723369780263,
      2.1696752597579847,
      1.415676837994112,
      0.7018736055558721,
      0.009457476638212703
    ],
    "ax_ego": [
      -1.0104642629907703,
      -1.0104454394756541,
      -1.0992190559024724,
      -0.9914890331275618,
      -1.0755586867733935,
      -1.375171437657519,
      -1.5467591158285765,
      -1.4691367952928727,
      -1.3860395361281137,
      -1.386034568680652
    ],
    "ay_ego": [
      -0.003943847332073799,
      -0.007321128754735826,
      -1.5314430406185298e-05,
      0.03554677770080329,
      0.01039611397897855,
      0.004235882758139187,
      -0.022171086774003063,
      -0.004662900801027686,
      -0.010774982375834685,
      -0.011395715419836777
    ],
    "a_ego": [
      1.0104719593898979,
      1.010471961552319,
      1.0992190560091535,
      0.9921260384735084,
      1.0756089288768342,
      1.3751779614478223,
      1.5469180067112607,
      1.4691441950766073,
      1.3860814175059977,
      1.3860814146029412
    ],
    "yaw": [
      0.06926564042273949,
      0.06592331052505083,
      0.0648569747875914,
      0.0648906604828173,
      0.06506693244025069,
      0.06493785507493896,
      0.06470974366329782,
      0.06450219419216227,
      0.0649563251398271,
      0.0645084745944223
    ],
    "yaw_diff": [
      -0.006684659795377301,
      -0.002132671474918857,
      6.737139045179252e-05,
      0.0003525439148667764,
      -0.00025815473062346106,
      -0.0004562228232822818,
      -0.0004150989422710971,
      0.0009082618953296651,
      -0.0008957010908096086,
      -0.0008957010908096086
    ],
    "min_front_frame": [
      9,
      10.996800204779163
    ],
    "v_avg": 2.9956050805549275,
    "v_std": 1.7936865708445637,
    "vy_max": 0.025324123481486382,
    "a_max": 1.5469180067112607,
    "ax_avg": -1.2350317931857584,
    "a_std": 0.20520054769563817,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4952a782e55057b7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.191591998071724,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.71342320838474,
      21.130484638289587,
      18.77111170120513,
      17.2366768074638,
      15.378051070691411,
      13.78865977228242,
      12.504453070432794,
      11.650331533686503,
      11.131244222521657,
      10.996800204779163
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4952a782e55057b7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d7f2f0a77e3e5b4d": {
    "vx_ego": [
      9.348876002328588,
      9.417298773727472,
      9.430396179472222,
      9.418035763666508,
      9.423981299317838,
      9.401414837224067,
      9.269853973192872,
      9.02637167890807,
      8.735389235647602,
      8.411637170592694
    ],
    "vy_ego": [
      0.008923165040346959,
      0.03914301521930863,
      0.012311482293878129,
      -0.016539941345378395,
      -0.0019372593274313843,
      -0.014886497473140636,
      -0.02038433179156396,
      0.024733520241534634,
      0.022070465637798797,
      -0.017733561688365373
    ],
    "v_ego": [
      9.348880260747256,
      9.417380122374238,
      9.430404215854193,
      9.418050287366334,
      9.423981498436106,
      9.401426623092043,
      9.269876385653816,
      9.026405565496004,
      8.735417116756444,
      8.411655863675524
    ],
    "ax_ego": [
      0.12985824939861285,
      0.14154622777613146,
      -0.09316406997511495,
      0.043718127597775186,
      -0.01976776189377294,
      -0.06892429323715635,
      -0.45725252858808285,
      -0.5171442174840684,
      -0.6477683402105442,
      -0.64728892889021
    ],
    "ay_ego": [
      0.5010811944560579,
      0.4979058093620326,
      0.40318715187362975,
      0.38591646208285624,
      0.3312682863469743,
      0.41294789948393446,
      0.27887195922013663,
      0.16744300107013685,
      0.05659389383184277,
      0.06183635622998351
    ],
    "a_ego": [
      0.5176345509859075,
      0.5176345521640854,
      0.4138108545824983,
      0.3883848482976698,
      0.33185756274273737,
      0.4186603944564558,
      0.5355832750744491,
      0.5435763978362042,
      0.6502358736629141,
      0.6502358744452944
    ],
    "yaw": [
      -0.7786939645435709,
      -0.7552953683744724,
      -0.728628186754456,
      -0.7045914160029305,
      -0.6871250573569994,
      -0.6659976329612887,
      -0.6469818520180055,
      -0.6397228406793452,
      -0.6331284051301846,
      -0.625032343262717
    ],
    "yaw_diff": [
      0.0467971923381969,
      0.053334363240032934,
      0.048073541503050876,
      0.034932717291862314,
      0.042254848791421384,
      0.03803156188656631,
      0.014518022677320719,
      0.013188871098321009,
      0.016192123734935393,
      0.016192123734935393
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.188347793945194,
    "v_std": 0.33641872820384566,
    "vy_max": 0.03914301521930863,
    "a_max": 0.6502358744452944,
    "ax_avg": -0.213618753550643,
    "a_std": 0.10178325001955936,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d7f2f0a77e3e5b4d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d7f2f0a77e3e5b4d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a514e82818cb55da": {
    "vx_ego": [
      6.082523984677534,
      5.99185077480945,
      6.118235707628273,
      6.205108226427786,
      6.282861296632012,
      6.418323282467195,
      6.383835153508599,
      6.3767978977770445,
      6.376001756351984,
      6.374254963114023
    ],
    "vy_ego": [
      0.04760152369795101,
      0.013894983558905949,
      -0.004156613655410535,
      -0.029309865812946256,
      -0.006089513381374534,
      -0.011568989458973888,
      -0.05013465916814486,
      -0.043904951053220564,
      -0.018703239749932266,
      0.01009217166303511
    ],
    "v_ego": [
      6.0827102453787685,
      5.991866885883957,
      6.1182371195904715,
      6.205177448704892,
      6.2828642476890835,
      6.418333708975997,
      6.384032013643264,
      6.376949041181113,
      6.376029188153136,
      6.374262952429294
    ],
    "ax_ego": [
      -0.1821548522023433,
      -0.18170135769261656,
      0.6874329245265766,
      -0.3378786895313357,
      0.6511140515220469,
      -0.11009435820386072,
      -0.025919458331436634,
      0.0008600251844498724,
      -0.003577089289065978,
      -0.0033693078012154987
    ],
    "ay_ego": [
      0.04673953686610459,
      0.04847257873908668,
      0.12462707516661176,
      0.22265714365987455,
      0.32199615704929874,
      0.16791723609417905,
      0.13696857760515377,
      0.22644794646844674,
      0.08776959254367499,
      0.08777781583198732
    ],
    "a_ego": [
      0.1880557749374251,
      0.18805577437812734,
      0.6986386287543412,
      0.4046457864134838,
      0.7263821537207336,
      0.20079085110091113,
      0.13939946044147414,
      0.22644957960458748,
      0.08784245524269389,
      0.08784245663284705
    ],
    "yaw": [
      -0.7003381182806322,
      -0.690812212911359,
      -0.6804990899750658,
      -0.6626971388259022,
      -0.64424401567641,
      -0.6243931438971395,
      -0.6064316368803947,
      -0.5931615106537149,
      -0.5847950771979871,
      -0.5824278317282228
    ],
    "yaw_diff": [
      0.01905181073854645,
      0.020626245872586324,
      0.03560390229832722,
      0.036906246298984424,
      0.03970174355854095,
      0.03592301403348963,
      0.02654025245335956,
      0.0167328669114557,
      0.004734490939528602,
      0.004734490939528602
    ],
    "min_front_frame": [
      2,
      23.706423215561724
    ],
    "v_avg": 6.2610462851629975,
    "v_std": 0.1440799964980268,
    "vy_max": 0.05013465916814486,
    "a_max": 0.7263821537207336,
    "ax_avg": 0.049471188818119904,
    "a_std": 0.22528320539586086,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "a514e82818cb55da",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      29.607966628992077,
      26.654060650940593,
      23.706423215561724,
      27.23871827135171,
      24.228507336573816,
      27.277104435578455,
      24.122304565300734,
      28.310244410733038,
      31.039211400188876,
      27.89424982866249
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "a514e82818cb55da",
    "pedestrians": "No"
  },
  "60991b5c52d85113": {
    "vx_ego": [
      9.534276638535989,
      9.726344291519451,
      9.971228741187685,
      10.241358305523887,
      10.4422157474276,
      10.577808583229695,
      10.679153958949959,
      10.696384843200304,
      10.595473073902648,
      10.441296507371769
    ],
    "vy_ego": [
      -0.01663052616715671,
      -0.06384069462079486,
      -0.026988082070272507,
      -0.03942075111718757,
      -0.042624932733256404,
      -0.012080024344930496,
      0.01642303640532039,
      0.04416419462286014,
      0.04000137269363091,
      0.02054277019890227
    ],
    "v_ego": [
      9.534291142740173,
      9.726553804480941,
      9.971265264030498,
      10.241434173871438,
      10.442302744161148,
      10.577815481016673,
      10.67916658710226,
      10.696476017358796,
      10.595548582759337,
      10.441316715829538
    ],
    "ax_ego": [
      0.3746423779892449,
      0.39953651420306174,
      0.5785569116399355,
      0.5029671680333563,
      0.3010566519531813,
      0.24118631076876346,
      0.1641908711906575,
      -0.09487534055642434,
      -0.3083137786448712,
      -0.3081147989487015
    ],
    "ay_ego": [
      0.6541782233045068,
      0.6392782091660856,
      0.07602673212469763,
      0.12940220120909426,
      0.05326319460975558,
      0.005937931582194422,
      0.02787899510556508,
      -0.029194475128644006,
      -0.08666664847428086,
      -0.08737140089177525
    ],
    "a_ego": [
      0.753860769128675,
      0.7538607662533784,
      0.583530773827654,
      0.5193466104609266,
      0.3057320323180017,
      0.24125939470561839,
      0.16654092755368935,
      0.09926554096832652,
      0.3202631637576248,
      0.32026315901925095
    ],
    "yaw": [
      1.5428820399250092,
      1.5813697186885256,
      1.595817636826935,
      1.6021236189697774,
      1.6068376458984877,
      1.6053406522186555,
      1.6034560287109554,
      1.6008375946309092,
      1.5985136596510867,
      1.5962270960618565
    ],
    "yaw_diff": [
      0.07697535752703288,
      0.028895836276818798,
      0.012611964285684785,
      0.009428053857420515,
      -0.002993987359664274,
      -0.0037692470154002677,
      -0.005236868160092278,
      -0.004647869959645057,
      -0.004573127178460368,
      -0.004573127178460368
    ],
    "min_front_frame": [
      0,
      42.16038168777164
    ],
    "v_avg": 10.29061705133508,
    "v_std": 0.3913410409292249,
    "vy_max": 0.06384069462079486,
    "a_max": 0.753860769128675,
    "ax_avg": 0.18508328876282037,
    "a_std": 0.22129137740887794,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "60991b5c52d85113",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.10243470767623,
    "right_rear_min": 7.292374295346713,
    "speed_mode": "accelerating",
    "front_frame": [
      42.16038168777164,
      43.111269905537476,
      43.927437320859944,
      44.484766011001184,
      44.94068023855746,
      45.35378576343594,
      45.73073449893828,
      45.98594289922673,
      46.32301396985811,
      46.580733427667504
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "60991b5c52d85113",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "538ed1acbf145c8b": {
    "vx_ego": [
      4.508206300693402,
      4.2708306637264855,
      3.889441090081502,
      3.3101465174376603,
      2.6795261574462006,
      2.0396958777204888,
      1.3981412366588093,
      0.9832853440971254,
      0.9740595887888299,
      1.1506644810525615
    ],
    "vy_ego": [
      0.08390092713811392,
      -0.05535886974007176,
      -0.017856353409434478,
      0.002039839919261155,
      0.020707455576873146,
      0.025253363713261368,
      0.02599463039058736,
      0.023809408418237088,
      0.022729553947818948,
      0.04469254398012762
    ],
    "v_ego": [
      4.508986961079653,
      4.271189431842764,
      3.8894820789626303,
      3.3101471459516065,
      2.679606170159128,
      2.0398522019913083,
      1.3983828654753203,
      0.9835735640232655,
      0.9743247482919292,
      1.1515320974438257
    ],
    "ax_ego": [
      -0.4837418927243655,
      -0.4683475308219012,
      -1.056066114829358,
      -1.2608703553723934,
      -1.2621365780332037,
      -1.2971923850891978,
      -1.2690623984243854,
      -0.39039997544313587,
      0.35352206618300686,
      0.3533895593129144
    ],
    "ay_ego": [
      0.239343405962911,
      0.26822019581750783,
      0.1291335850078696,
      0.1098628747769998,
      0.046249269567716855,
      -0.027488486350804198,
      0.03391611588506638,
      -0.04143463937746185,
      0.03548718086783319,
      0.03678318368697832
    ],
    "a_ego": [
      0.5397142621373632,
      0.5397142605780896,
      1.063931915898644,
      1.2656476224886501,
      1.2629836644014492,
      1.2974836032934134,
      1.2695155272825074,
      0.3925926262251259,
      0.35529873526970035,
      0.35529872394018785
    ],
    "yaw": [
      -2.1280152560205767,
      -2.0673740208873723,
      -2.052486988907882,
      -2.041494386129176,
      -2.0346962634852788,
      -2.0346352285909965,
      -2.0341306006607955,
      -2.033847877245693,
      -2.0343074229332316,
      -2.037974096444925
    ],
    "yaw_diff": [
      0.12128247026640882,
      0.029774063958980967,
      0.021985205557411902,
      0.01359624528779424,
      0.0001220697885644384,
      0.001009255860402014,
      0.0005654468302047633,
      -0.0009190913750769525,
      -0.007333347023386949,
      -0.007333347023386949
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.520707726522143,
    "v_std": 1.3288719214736957,
    "vy_max": 0.08390092713811392,
    "a_max": 1.2974836032934134,
    "ax_avg": -0.678090560524202,
    "a_std": 0.40670187653398004,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "538ed1acbf145c8b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "538ed1acbf145c8b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6a9642ab1a745aac": {
    "vx_ego": [
      2.1783118085351596,
      2.337276890681329,
      2.5742614604669574,
      2.921158343878349,
      3.265700059630258,
      3.447115953506276,
      3.459282115124087,
      3.4957907106511446,
      3.524798210361098,
      3.481883964719508
    ],
    "vy_ego": [
      -0.032599174510318574,
      -0.026322004300128876,
      -0.008408590781096459,
      0.015448295487464625,
      0.029253308850557325,
      0.028429315915014186,
      0.010891354483407278,
      -0.0028504736388992313,
      0.024656904955755454,
      0.07476178658422605
    ],
    "v_ego": [
      2.178555723726724,
      2.3374251028906476,
      2.5742751933785937,
      2.9211991920859433,
      3.265831078844675,
      3.4472331837171786,
      3.4592992604890176,
      3.4957918727914565,
      3.5248844501241163,
      3.482686501611092
    ],
    "ax_ego": [
      0.3179498217907697,
      0.3179552272798491,
      0.6300093018506596,
      0.7575995752622142,
      0.620584643351785,
      0.10506882919126523,
      -0.05640048639910396,
      0.2024354283622198,
      -0.0864061447856582,
      -0.0859595414123326
    ],
    "ay_ego": [
      0.014330049976072623,
      0.014209263488973486,
      0.06019077887179872,
      0.027560439980299223,
      0.025273925746062992,
      -0.027595552147134286,
      -0.04315145772716119,
      -0.015394147085037127,
      0.12504883935873756,
      0.12535625732247346
    ],
    "a_ego": [
      0.31827258680115533,
      0.3182725714281386,
      0.6328780690461231,
      0.7581007151357892,
      0.6210990829865068,
      0.10863228509945133,
      0.07101452788010697,
      0.20301990646404897,
      0.15199748051098572,
      0.15199748027423582
    ],
    "yaw": [
      1.0729341110439856,
      1.0733139776314728,
      1.0735980762128394,
      1.0728955694509061,
      1.0727038282819654,
      1.0727750347913294,
      1.0727321973978103,
      1.0724725385960765,
      1.072446116232792,
      1.0760131617541444
    ],
    "yaw_diff": [
      0.000759733174974464,
      0.0005681971627331528,
      -0.0014050135238665717,
      -0.0003834823378814356,
      0.00014241301872797152,
      -8.567478703813691e-05,
      -0.0005193176034676839,
      -5.284472656885697e-05,
      0.007134091042704682,
      0.007134091042704682
    ],
    "min_front_frame": [
      0,
      11.347218869451131
    ],
    "v_avg": 3.0687181559659447,
    "v_std": 0.49899344101277865,
    "vy_max": 0.07476178658422605,
    "a_max": 0.7581007151357892,
    "ax_avg": 0.2722836654491668,
    "a_std": 0.23568314852309832,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6a9642ab1a745aac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      11.347218869451131,
      11.579148157645411,
      11.792181562171727,
      12.006402667964592,
      11.843705934928556,
      36.73508131233898,
      38.554911583942456,
      40.44473475496999,
      42.04447096081973,
      43.837447425577544
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6a9642ab1a745aac",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "95f42de7bd075f88": {
    "vx_ego": [
      3.4286098392542055,
      3.4291871450166393,
      3.4439476192717464,
      3.456808523420259,
      3.48390551293023,
      3.526775348755531,
      3.5430462178105335,
      3.521351980751581,
      3.451371129870534,
      3.355205465758952
    ],
    "vy_ego": [
      -0.019723135379790202,
      -0.006221945045784105,
      -0.011478760867108972,
      -0.016161096460037605,
      0.004571652626058409,
      -0.0026212228518827096,
      0.007377055199522697,
      -0.0268538810641763,
      -0.016826183810286333,
      0.07498235845942025
    ],
    "v_ego": [
      3.42866656761779,
      3.429192789585841,
      3.4439667487126777,
      3.456846300984431,
      3.4839085124373432,
      3.5267763228476703,
      3.5430538977674253,
      3.521454373305338,
      3.4514121452769766,
      3.3560432165779517
    ],
    "ax_ego": [
      -0.020006228387585423,
      0.026479702597795002,
      0.036907821754246894,
      0.015972348180886997,
      0.0917080605906059,
      0.07846531249113284,
      -0.012327979435943215,
      -0.06802012421346124,
      -0.2074069519005695,
      -0.18264920277309715
    ],
    "ay_ego": [
      0.5779301974546436,
      0.5776697865540269,
      0.6060015667216591,
      0.529813814003373,
      0.46190015563919307,
      0.42990071369074556,
      0.4831688672064686,
      0.5595626349042039,
      0.5075611056907389,
      0.5169866420211928
    ],
    "a_ego": [
      0.5782763719055617,
      0.5782763672735058,
      0.6071244404368421,
      0.5300545192857167,
      0.47091625811475335,
      0.43700277904853596,
      0.4833261148692,
      0.563681718418249,
      0.5483027628114694,
      0.5483027624424274
    ],
    "yaw": [
      0.45336684840452546,
      0.5337768244826846,
      0.621392210408741,
      0.7049336846987617,
      0.7705567481203396,
      0.8361572137822768,
      0.8976868973924317,
      0.9809674753951125,
      1.05421353529756,
      1.1025332604658944
    ],
    "yaw_diff": [
      0.16081995215631828,
      0.1752307718521129,
      0.16708294858004136,
      0.13124612684315573,
      0.13120093132387445,
      0.12305936722030975,
      0.1665611560053617,
      0.14649211980489474,
      0.09663945033666899,
      0.09663945033666899
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.464132087511344,
    "v_std": 0.05349129457360422,
    "vy_max": 0.07498235845942025,
    "a_max": 0.6071244404368421,
    "ax_avg": -0.024087724109598887,
    "a_std": 0.05150415302547031,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "95f42de7bd075f88",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "95f42de7bd075f88",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5c786c10eb7f57da": {
    "vx_ego": [
      12.257018391251185,
      12.36725257644165,
      12.477632227193283,
      12.583911771226067,
      12.628676558551327,
      12.660437056415406,
      12.742746933892647,
      12.808479317383284,
      12.884279866867242,
      12.991813277761358
    ],
    "vy_ego": [
      -0.053869441431007026,
      -0.021222323868882675,
      -0.01768622901568051,
      -0.010321961845726868,
      0.016221140573113857,
      0.010227298255930606,
      -0.010918638218900156,
      -0.018486922937119843,
      -0.005393149677657583,
      0.009738822744358444
    ],
    "v_ego": [
      12.257136768437801,
      12.367270785283754,
      12.477644761724433,
      12.583916004523326,
      12.628686976321221,
      12.660441187300147,
      12.742751611716011,
      12.808492658785227,
      12.884280995609496,
      12.991816927931394
    ],
    "ax_ego": [
      0.2197610961849948,
      0.22258807482523207,
      0.21937849828911452,
      0.2061204685125951,
      -0.02732812752962891,
      0.15436126539101697,
      0.17488941522979048,
      0.08801704028200477,
      0.21503298843964358,
      0.215121945696374
    ],
    "ay_ego": [
      0.2995442137453579,
      0.2974495307391207,
      0.2287575371295713,
      0.2099997008397431,
      0.026241573696842792,
      -0.04516719793216985,
      -0.009728428063987118,
      -0.05180070053368262,
      -0.0354484797210675,
      -0.034904542779722866
    ],
    "a_ego": [
      0.3715126853618261,
      0.3715126840248206,
      0.31694942231399353,
      0.2942541790572112,
      0.037887290010800365,
      0.1608336905693573,
      0.17515978383183237,
      0.10212889872991052,
      0.21793526752643508,
      0.21793526246767683
    ],
    "yaw": [
      -0.639930004497895,
      -0.6304593650516956,
      -0.6201545953603858,
      -0.6119898194845801,
      -0.6094163349252542,
      -0.609316314691918,
      -0.6087318578469667,
      -0.6093429720144238,
      -0.6120635235158249,
      -0.6145925173005473
    ],
    "yaw_diff": [
      0.018941278892398827,
      0.02060953938261978,
      0.016329551751611326,
      0.005146969118651867,
      0.0002000404666722133,
      0.0011689136899026842,
      -0.0012222283349141438,
      -0.005441103002802317,
      -0.005057987569444755,
      -0.005057987569444755
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.640243867763282,
    "v_std": 0.2175801861117122,
    "vy_max": 0.053869441431007026,
    "a_max": 0.3715126853618261,
    "ax_avg": 0.16879426653211374,
    "a_std": 0.10628568942172276,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5c786c10eb7f57da",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5c786c10eb7f57da",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b7f1861bff9c514e": {
    "vx_ego": [
      9.935830501915744,
      9.524136385808253,
      9.053892855801395,
      8.444323030831953,
      7.779151759228659,
      7.146566639149124,
      6.5621744792466306,
      6.039889470447386,
      5.61703764372721,
      5.272416488680296
    ],
    "vy_ego": [
      -0.06960813049221937,
      -0.03572411358717087,
      -0.044115841295045755,
      -0.027248380696846652,
      -0.016149740483285324,
      -0.025323537094466442,
      -0.02978418916838388,
      -0.043379024800092036,
      -0.049991444633484594,
      -0.037503214377154315
    ],
    "v_ego": [
      9.936074328155454,
      9.524203384418472,
      9.054000334205025,
      8.444366993640763,
      7.779168522871068,
      7.146611505415009,
      6.562242070664584,
      6.040045244450891,
      5.617260100403494,
      5.272549869009916
    ],
    "ax_ego": [
      -0.8233100880412957,
      -0.8231856224515656,
      -1.0569127960469133,
      -1.3807531182536292,
      -1.2799267382349906,
      -1.2503952517663697,
      -1.0871487744444248,
      -1.0019803602513064,
      -0.6894977677991758,
      -0.6894808942986841
    ],
    "ay_ego": [
      0.09308920352069239,
      0.09418355236743375,
      0.08363993022330524,
      0.11848984858864953,
      -0.043867274596223194,
      0.012146723937365267,
      -0.02273364382256815,
      -0.029723381181777364,
      -0.00496134701257317,
      -0.0069188930866251885
    ],
    "a_ego": [
      0.8285560336408654,
      0.8285560394732033,
      1.0602170986998198,
      1.3858279178114727,
      1.2806782550778952,
      1.2504542488800994,
      1.087386442961961,
      1.0024211299240529,
      0.689515617491167,
      0.6895156087315626
    ],
    "yaw": [
      0.8647796040562128,
      0.8661089170106334,
      0.8717803219554661,
      0.8756104157024488,
      0.8765434789849982,
      0.8767102080754519,
      0.8769756358420222,
      0.8770520351749225,
      0.8766964267983071,
      0.8738572971500859
    ],
    "yaw_diff": [
      0.00265862590884125,
      0.011342809889665295,
      0.007660187493965465,
      0.001866126565098769,
      0.00033345818090735335,
      0.000530855533140695,
      0.00015279866580053536,
      -0.0007112167532308256,
      -0.0056782592964423895,
      -0.0056782592964423895
    ],
    "min_front_frame": [
      9,
      16.24374577822029
    ],
    "v_avg": 7.537652235323469,
    "v_std": 1.5825405698767252,
    "vy_max": 0.06960813049221937,
    "a_max": 1.3858279178114727,
    "ax_avg": -1.0082591411588357,
    "a_std": 0.23498144070229127,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b7f1861bff9c514e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.287771339624097,
    "right_rear_min": 10.113135198454064,
    "speed_mode": "decelerating",
    "front_frame": [
      23.661687130277105,
      22.756520316404163,
      21.758302227282904,
      20.83018408947275,
      19.92217193029366,
      19.09359155924726,
      18.32712598024499,
      17.910029154310198,
      16.992209002984872,
      16.24374577822029
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b7f1861bff9c514e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "04352eb4cb195fde": {
    "vx_ego": [
      10.578058625917157,
      9.973221419246068,
      9.273952115008358,
      8.463047166654693,
      7.608361969356781,
      6.69904043134781,
      5.823036444257931,
      5.146868210866409,
      4.7031117785093945,
      4.353348902438906
    ],
    "vy_ego": [
      0.004204979309518908,
      0.007093948948046241,
      0.013364764229169157,
      0.008928557766684192,
      -0.0008057189543712595,
      -0.009716401848951436,
      -0.023726285155095686,
      -0.04008727895238759,
      -0.03103426110831449,
      -0.0009582001524745948
    ],
    "v_ego": [
      10.578059461696713,
      9.973223942207467,
      9.273961745035985,
      8.46305187649029,
      7.608362012019252,
      6.6990474777611135,
      5.823084781090114,
      5.147024321873853,
      4.703214169747784,
      4.35334900789192
    ],
    "ax_ego": [
      -1.209669592129411,
      -1.2096664087155933,
      -1.5874094459979624,
      -1.6562751122408004,
      -1.7624743693213882,
      -1.8747916412667849,
      -1.6292151110259274,
      -1.0755884459550134,
      -0.6995277079038009,
      -0.6994642031862875
    ],
    "ay_ego": [
      -0.005366715286426679,
      -0.0060425929724395935,
      0.02890106516250565,
      -0.011003541037929412,
      0.003823566034514392,
      -0.004888970789294764,
      -0.046200598081602796,
      -0.04097289660681175,
      0.06821999538490199,
      0.06886816827979057
    ],
    "a_ego": [
      1.2096814968228211,
      1.2096815007698147,
      1.5876725168658319,
      1.6563116631068107,
      1.7624785167973098,
      1.874798015840422,
      1.6298700479665007,
      1.0763685629598596,
      0.7028463430191989,
      0.7028463531535478
    ],
    "yaw": [
      -1.5916961264183516,
      -1.5922548552221214,
      -1.5923123681597202,
      -1.5913085966917757,
      -1.5903222253063087,
      -1.5891162202794669,
      -1.5889175968406037,
      -1.5899206675021662,
      -1.5903801284658154,
      -1.5894535001222398
    ],
    "yaw_diff": [
      -0.0011174576075396736,
      -0.00011502587519762741,
      0.0020075429358890062,
      0.001972742770933955,
      0.002412010053683744,
      0.0003972468777262428,
      -0.0020061413231249325,
      -0.0009189219272984772,
      0.0018532566871511946,
      0.0018532566871511946
    ],
    "min_front_frame": [
      9,
      16.875961322229855
    ],
    "v_avg": 7.262237879581448,
    "v_std": 2.1406918871449263,
    "vy_max": 0.04008727895238759,
    "a_max": 1.874798015840422,
    "ax_avg": -1.340408203774297,
    "a_std": 0.40314979238415277,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "04352eb4cb195fde",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.797096753977359,
    "right_rear_min": 33.63628261857416,
    "speed_mode": "decelerating",
    "front_frame": [
      29.24048536358126,
      27.579482033747897,
      25.79518511615919,
      23.83265687641287,
      22.04721724092605,
      20.43000211359937,
      19.135579122096157,
      18.176883361433234,
      17.44413917125566,
      16.875961322229855
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "04352eb4cb195fde",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ab4175e25b6c5d76": {
    "vx_ego": [
      0.027260651969247006,
      0.8754721195499944,
      1.683756492165648,
      2.3381259632339395,
      2.7862085327774215,
      3.1014183521820664,
      3.357726065105317,
      3.6185298190831254,
      3.961742597165362,
      4.420371320269814
    ],
    "vy_ego": [
      0.006940846574985749,
      0.015993773755388907,
      0.02181939699561508,
      -0.004009185237811019,
      -0.019501713990286218,
      0.02476714922393941,
      0.0275197075378546,
      0.0030968095982322197,
      0.032676009276420115,
      0.21167057818117208
    ],
    "v_ego": [
      0.028130383875196265,
      0.8756182004208788,
      1.6838978623999794,
      2.338129400506933,
      2.7862767818309564,
      3.1015172427269215,
      3.3578388380907453,
      3.6185311442384247,
      3.961877348906296,
      4.425436367493204
    ],
    "ax_ego": [
      1.696512799038234,
      1.696465759782619,
      1.5379003225894938,
      1.0841271339798206,
      0.7079491758537435,
      0.5694127216914042,
      0.48889882845632465,
      0.608598875730127,
      0.7918677623823717,
      1.1280302289722717
    ],
    "ay_ego": [
      0.012736142509070625,
      0.017938720459947155,
      -0.05229888819310169,
      -0.292585446765849,
      -0.37791718996802653,
      -0.6750576969505373,
      -0.980388349958719,
      -1.492837097648051,
      -1.6082620189704082,
      -1.3932368934594617
    ],
    "a_ego": [
      1.6965606050555797,
      1.6965606006879208,
      1.5387893214885213,
      1.1229149060772465,
      0.8025044785328765,
      0.8831385745375275,
      1.0955288134963619,
      1.612127535790587,
      1.7926408660864668,
      1.792640856047805
    ],
    "yaw": [
      -0.70545573824165,
      -0.7085224074763256,
      -0.7196160863994963,
      -0.7488221072707851,
      -0.8071122579975208,
      -0.9108687986666593,
      -1.0392910279172063,
      -1.2098682076712017,
      -1.4227073058487043,
      -1.6457741243420378
    ],
    "yaw_diff": [
      -0.006133338469351157,
      -0.022187357846341405,
      -0.05841204174257775,
      -0.11658030145347142,
      -0.20751308133827684,
      -0.25684445850109405,
      -0.3411543595079909,
      -0.42567819635500515,
      -0.4461336369866671,
      -0.4461336369866671
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.6177253570489536,
    "v_std": 1.3258037257969082,
    "vy_max": 0.21167057818117208,
    "a_max": 1.7926408660864668,
    "ax_avg": 1.030976360847641,
    "a_std": 0.36633379932642024,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ab4175e25b6c5d76",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.024212895037485,
    "right_rear_min": 6.246429303844265,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ab4175e25b6c5d76",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "324cb0d226a45b91": {
    "vx_ego": [
      5.8781607890895975,
      5.751510415320084,
      5.721534838790774,
      5.728738458313833,
      5.748704187837437,
      5.770726294281428,
      5.8259508491859835,
      5.903174201114763,
      5.919296692253778,
      5.886139621892148
    ],
    "vy_ego": [
      0.08241308205001108,
      0.04702599322610279,
      0.09367639006548956,
      0.11241376255107438,
      0.10971905109291713,
      0.0729018277986655,
      0.05149463659619369,
      0.12833795597699327,
      0.09431139598614036,
      -0.02672248443996722
    ],
    "v_ego": [
      5.878738485294563,
      5.751702661088654,
      5.722301650345975,
      5.729841287311093,
      5.74975113456508,
      5.771186761837416,
      5.826178421120406,
      5.904569101945651,
      5.920047970273498,
      5.886200280281268
    ],
    "ax_ego": [
      -0.3901388315556026,
      -0.07115699117310248,
      0.0072195219192274784,
      0.0864005410320754,
      0.059764031226059666,
      0.07201946459640063,
      0.1652248136516054,
      0.14292501570546529,
      -0.06760233561047226,
      -0.06354387015210376
    ],
    "ay_ego": [
      -1.936329461926297,
      -1.9739596672930833,
      -2.023886137134934,
      -1.9342139662240312,
      -1.852318802744297,
      -1.7110542660765642,
      -1.4588174634072688,
      -0.725479284468554,
      -0.37078942270615517,
      -0.37150646361663137
    ],
    "a_ego": [
      1.9752417808995824,
      1.9752417789963408,
      2.0238990136821817,
      1.9361427428334754,
      1.8532826785000867,
      1.712569270055831,
      1.468144281257202,
      0.7394239327391376,
      0.37690167387629725,
      0.37690167941101416
    ],
    "yaw": [
      -1.9823900234535188,
      -2.1451795692027424,
      -2.327346033243784,
      -2.503307098508656,
      -2.667328858361609,
      -2.8153730622145194,
      -2.948423772176059,
      -3.0544909748843443,
      -3.0949130143687205,
      -3.1058478063719734
    ],
    "yaw_diff": [
      -0.3255790914984473,
      -0.3643329280820833,
      -0.3519221305297435,
      -0.32804351970590595,
      -0.29608840770582123,
      -0.26610141992307934,
      -0.21213440541657036,
      -0.08084407896875234,
      -0.02186958400650596,
      -0.02186958400650596
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.8140517754063605,
    "v_std": 0.07371180235834629,
    "vy_max": 0.12833795597699327,
    "a_max": 2.0238990136821817,
    "ax_avg": -0.005888864036044722,
    "a_std": 0.6447458649867199,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "324cb0d226a45b91",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "324cb0d226a45b91",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a8d4a3fc503c5f83": {
    "vx_ego": [
      8.312727484360737,
      8.530725022610053,
      8.694277728312532,
      8.697612392184395,
      8.584402278320029,
      8.423108769879658,
      8.27108401000887,
      8.16869677384328,
      8.108929779973383,
      8.081174010856975
    ],
    "vy_ego": [
      -0.05620335365848428,
      -0.12314388560383582,
      -0.10004673006027343,
      -0.0704065894094188,
      -0.0332761626841207,
      0.013314510951777603,
      0.013347370407129855,
      -0.004256944425795606,
      0.023369666767766084,
      0.006950239132516689
    ],
    "v_ego": [
      8.312917481017651,
      8.531613788020817,
      8.694853337764075,
      8.697897355827546,
      8.584466773133267,
      8.423119293078157,
      8.271094779587598,
      8.168697883051708,
      8.108963455205851,
      8.081176999643938
    ],
    "ax_ego": [
      0.4101215472682302,
      0.4863375840330575,
      0.18901910982574327,
      -0.1676471409720627,
      -0.2849165970917237,
      -0.3604209658957001,
      -0.24684773082714023,
      -0.16134449544079543,
      -0.06955109626584749,
      -0.038842094876366084
    ],
    "ay_ego": [
      1.0834205993839225,
      1.0514160122954546,
      0.9323073125813621,
      0.6375447091086597,
      0.24878472793427986,
      0.0058772778917725865,
      -0.1892018610171896,
      -0.3449698773843694,
      -0.7204013869022987,
      -0.7227079684886205
    ],
    "a_ego": [
      1.1584471842527415,
      1.1584471833253283,
      0.9512755378816371,
      0.65921834014881,
      0.37824768096005723,
      0.36046888222509105,
      0.3110163121556106,
      0.3808362673270913,
      0.7237510022394005,
      0.7237510041798447
    ],
    "yaw": [
      2.5072290002020092,
      2.578600905428458,
      2.633252260680588,
      2.6747567056851125,
      2.696065863182376,
      2.698071552192294,
      2.6925675986740565,
      2.6784448264496548,
      2.6422783290639,
      2.5997252615587607
    ],
    "yaw_diff": [
      0.14274381045289797,
      0.10930271050425944,
      0.0830088900090491,
      0.042618314994527395,
      0.004011378019836087,
      -0.011007907036475473,
      -0.02824554444880345,
      -0.0723329947715099,
      -0.0851061350102782,
      -0.0851061350102782
    ],
    "min_front_frame": [
      9,
      56.73581125519674
    ],
    "v_avg": 8.38748011463306,
    "v_std": 0.22137061630484497,
    "vy_max": 0.12314388560383582,
    "a_max": 1.1584471842527415,
    "ax_avg": -0.024409188024260474,
    "a_std": 0.3089455499549413,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a8d4a3fc503c5f83",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 26.72228206423847,
    "right_rear_min": 30.419381337479386,
    "speed_mode": "quasi_constant",
    "front_frame": [
      60.56566095337193,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      56.73581125519674
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a8d4a3fc503c5f83",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "df11795878cb5419": {
    "vx_ego": [
      6.902739350239493,
      6.585484006673656,
      6.19645314361207,
      5.643496877001217,
      5.010022274018881,
      4.551237657246613,
      4.305633128158171,
      4.061523453946455,
      3.9345807789277614,
      3.9714815829680896
    ],
    "vy_ego": [
      0.032422817746018406,
      -0.0034673260256812277,
      -0.0007715461846840022,
      -0.012333878502437834,
      -0.012413185103258284,
      0.0115159097799995,
      0.026271878911127367,
      0.028917216827359704,
      0.01853655659384912,
      -0.001064448233344506
    ],
    "v_ego": [
      6.902815496335921,
      6.585484919465254,
      6.196453191646284,
      5.643510354848426,
      5.010037651887431,
      4.551252226466657,
      4.305713279575712,
      4.061626394978517,
      3.9346244433030892,
      3.971481725616368
    ],
    "ax_ego": [
      -0.6413443436663797,
      -0.6292328580459015,
      -0.928538715711994,
      -1.283576184374804,
      -1.2488549923580199,
      -0.5856705309003606,
      -0.3990385006466908,
      -0.5808901297334166,
      0.07081713347398369,
      0.07579055965681994
    ],
    "ay_ego": [
      0.3594338998532564,
      0.3802384852485632,
      0.2193287776627335,
      0.1321350420315896,
      0.21365269583634255,
      0.269517438679022,
      0.24241071374795997,
      0.1732634163342569,
      0.18065786053898975,
      0.17862844113727344
    ],
    "a_ego": [
      0.7351974534209026,
      0.7351974532795494,
      0.9540908024329278,
      1.2903594423364642,
      1.2669989212212007,
      0.6447089424827382,
      0.4668990031453852,
      0.6061794736392214,
      0.19404208040524892,
      0.19404208027184813
    ],
    "yaw": [
      -0.4498066827045307,
      -0.41706136431857993,
      -0.3941645281168339,
      -0.3774944958865586,
      -0.3612379161604403,
      -0.3406194540467987,
      -0.31491750132961094,
      -0.290842169450219,
      -0.2656019059194718,
      -0.23791864288965014
    ],
    "yaw_diff": [
      0.06549063677190159,
      0.04579367240349208,
      0.0333400644605506,
      0.03251315945223654,
      0.0412369242272832,
      0.05140390543437556,
      0.04815066375878385,
      0.05048052706149442,
      0.05536652605964332,
      0.05536652605964332
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.116299968412366,
    "v_std": 1.0771140859738038,
    "vy_max": 0.032422817746018406,
    "a_max": 1.2903594423364642,
    "ax_avg": -0.6150538562306762,
    "a_std": 0.3625554856094009,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "df11795878cb5419",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.57186931523896,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "df11795878cb5419",
    "pedestrians": "No"
  },
  "63ec67c4a58a5e5b": {
    "vx_ego": [
      6.432198282203686,
      6.003494313810259,
      5.5752840520778335,
      5.195789102759444,
      4.935823143525029,
      4.787342991766975,
      4.708339831674899,
      4.699400422928612,
      4.668912684430999,
      4.619875505387881
    ],
    "vy_ego": [
      -0.13384160074335627,
      0.055023724871143376,
      0.017473979726728928,
      0.030132379183321456,
      0.0825504655555862,
      0.12808229836001472,
      0.1632130400719234,
      0.10293747694938427,
      0.07767786726776382,
      -0.0005318095960498148
    ],
    "v_ego": [
      6.433590623879763,
      6.003746462522448,
      5.5753114353658235,
      5.19587647665233,
      4.936513413687918,
      4.789056065235983,
      4.711167845342165,
      4.700527678801852,
      4.669558812768498,
      4.619875535997088
    ],
    "ax_ego": [
      -0.8750480787563106,
      -0.8316482889257686,
      -0.8424008094952729,
      -0.6438593817737166,
      -0.4145303849260436,
      -0.30378289873434494,
      -0.19328247931339426,
      -0.05202730739180661,
      -0.1354441545940218,
      -0.07418735047432545
    ],
    "ay_ego": [
      0.9275386241023986,
      0.9666427293608622,
      1.8602637683722996,
      2.375709252074386,
      2.6721383072920024,
      2.5592438972150795,
      2.258370720318468,
      1.1986233466550344,
      0.6748127323576069,
      0.6842613440630362
    ],
    "a_ego": [
      1.2751615738159934,
      1.2751615751344516,
      2.042111753003983,
      2.4614120650329703,
      2.7041003260464103,
      2.5772103862502322,
      2.266626662510015,
      1.199751960973999,
      0.6882712712046235,
      0.688271276423296
    ],
    "yaw": [
      2.6445191112918134,
      2.690335419380884,
      2.818687782540263,
      3.013257175315693,
      -3.030946946019175,
      -2.772011239804873,
      -2.5262623436198903,
      -2.3296125659483806,
      -2.224562866231312,
      -2.1344789344585084
    ],
    "yaw_diff": [
      0.09163261617814111,
      0.25670472631875807,
      0.3891387855508599,
      0.47796237168943634,
      0.5178714124286046,
      0.49149779236996505,
      0.3932995553430194,
      0.2100993994341369,
      0.18016786354560743,
      0.18016786354560743
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.163522435025387,
    "v_std": 0.6033212720798298,
    "vy_max": 0.1632130400719234,
    "a_max": 2.7041003260464103,
    "ax_avg": -0.4366211134385005,
    "a_std": 0.7382961725986789,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "63ec67c4a58a5e5b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "63ec67c4a58a5e5b",
    "pedestrians": "No"
  },
  "a73ba1e90a735dad": {
    "vx_ego": [
      5.141125721225162,
      5.426525751424199,
      5.759213733847805,
      5.943919951035065,
      5.927248956829505,
      5.854171642613707,
      5.86605112889935,
      5.862666763226136,
      5.784177472441627,
      5.673112444252318
    ],
    "vy_ego": [
      -0.11939636840788927,
      -0.05201323633164634,
      -0.06110766731100048,
      -0.08497190100910457,
      -0.07286056252964412,
      -0.05605956131487311,
      -0.06330322132480282,
      -0.061528968639728454,
      -0.009352388468081951,
      -0.008445763794735939
    ],
    "v_ego": [
      5.142511951783091,
      5.426775019071977,
      5.759537913682431,
      5.944527282154048,
      5.927696758253461,
      5.854440049705633,
      5.866392685858273,
      5.862989629073063,
      5.784185033336266,
      5.673118731002956
    ],
    "ax_ego": [
      0.412356992837047,
      0.7816149207149279,
      0.5851021788157217,
      0.20601182231279958,
      -0.250145968011669,
      -0.013045990026278265,
      0.06669697407099784,
      -0.08815787454655025,
      -0.22481333237781034,
      -0.21855766232899423
    ],
    "ay_ego": [
      2.0894409798736633,
      1.9811309948654001,
      1.937325704298819,
      1.9695500584889127,
      1.6416529435233187,
      1.5613533149177834,
      1.1872417292047297,
      0.4606057046296529,
      0.26602649798089445,
      0.2711893628351544
    ],
    "a_ego": [
      2.129742213958541,
      2.129742215175483,
      2.023752812028144,
      1.9802950042421257,
      1.6606015152020281,
      1.5614078172791748,
      1.1891137077316298,
      0.4689663377918977,
      0.3482974763658139,
      0.3482974623474189
    ],
    "yaw": [
      -1.5669179142217138,
      -1.385985103262556,
      -1.210430208130262,
      -1.0412146773661421,
      -0.8928559518961791,
      -0.7592993581560463,
      -0.6407417752464075,
      -0.5710542497792179,
      -0.5488855859745274,
      -0.5255974405959372
    ],
    "yaw_diff": [
      0.3618656219183154,
      0.3511097902645881,
      0.33843106152823976,
      0.2967174509399262,
      0.26711318748026547,
      0.2371151658192776,
      0.13937505093437919,
      0.04433732760938103,
      0.046576290757180505,
      0.046576290757180505
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.72421750539212,
    "v_std": 0.2409725510389892,
    "vy_max": 0.11939636840788927,
    "a_max": 2.129742215175483,
    "ax_avg": 0.12570620614601918,
    "a_std": 0.7075113394681998,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "a73ba1e90a735dad",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "a73ba1e90a735dad",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a754894e5e355c0f": {
    "vx_ego": [
      4.730577707934999,
      4.654734877124935,
      4.6655710242119355,
      4.685630627930144,
      4.684457294353472,
      4.672006195496226,
      4.612269567757401,
      4.45883761925631,
      4.279418194389043,
      4.139396898815329
    ],
    "vy_ego": [
      0.0016639433385195468,
      -0.02678128392905421,
      -0.04117636052192064,
      -0.06289729040496006,
      -0.040331362529083536,
      -0.03492573308400315,
      -0.012681680555143515,
      0.0051454252565114045,
      -0.018427452859683058,
      -0.04792855344784942
    ],
    "v_ego": [
      4.730578000574452,
      4.654811920313448,
      4.6657527232625435,
      4.686052757976304,
      4.684630909839633,
      4.672136737894833,
      4.612287002202133,
      4.458840588123369,
      4.279457869109926,
      4.139674363057748
    ],
    "ax_ego": [
      -0.24771539937883552,
      -0.04647279633946538,
      0.07277011510755291,
      -0.0008760300556026491,
      -0.005016645330540699,
      -0.042662088847256086,
      -0.2016272665926005,
      -0.41158107609897376,
      -0.3084917331615831,
      -0.2604317770660902
    ],
    "ay_ego": [
      1.331445189730882,
      1.3534952933496363,
      0.7944233123225908,
      0.03791332774554389,
      -0.18778973129602833,
      -0.5886080452588659,
      -0.626200022876266,
      -0.670205299585899,
      -0.6555527739835413,
      -0.6760857054135668
    ],
    "a_ego": [
      1.3542928827793936,
      1.3542928892670252,
      0.7977492643771996,
      0.03792344722463066,
      0.1878567270837192,
      0.5901520861339679,
      0.6578601852094711,
      0.7864948351997068,
      0.7245112759002121,
      0.7245112777385608
    ],
    "yaw": [
      -3.1006980666227624,
      -2.951073136310816,
      -2.8325156807049603,
      -2.7834722425509124,
      -2.796284839368411,
      -2.838880947817933,
      -2.9087678635810166,
      -2.9836875559457807,
      -3.0543306973209408,
      -3.1264810713093802
    ],
    "yaw_diff": [
      0.2992498606238927,
      0.23711491121171147,
      0.09808687630809576,
      -0.0256251936349976,
      -0.08519221689904377,
      -0.13977383152616696,
      -0.1498393847295283,
      -0.14128628275032007,
      -0.14430074797687897,
      -0.14430074797687897
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.558422287235439,
    "v_std": 0.19015425216587142,
    "vy_max": 0.06289729040496006,
    "a_max": 1.3542928892670252,
    "ax_avg": -0.1452104697763395,
    "a_std": 0.39802818905835946,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a754894e5e355c0f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a754894e5e355c0f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "76a0c83f0b6453a0": {
    "vx_ego": [
      6.065871845398041,
      5.616637045653803,
      5.098392097743054,
      4.3548406675798566,
      3.369301612111226,
      2.2239730678798146,
      1.082607337474736,
      0.28924159056109844,
      -0.03710596404908531,
      -0.16633658532142284
    ],
    "vy_ego": [
      0.12653715280184485,
      0.10432447074866813,
      0.05542167860296754,
      0.005316916716177289,
      -0.011151792228497825,
      -0.008723414667152651,
      0.010008714491987869,
      0.025390052808535707,
      0.026024700175506798,
      0.021315177498528008
    ],
    "v_ego": [
      6.067191516330421,
      5.617605833253849,
      5.098693317389073,
      4.354843913346463,
      3.369320067290315,
      2.2239901763762826,
      1.0826536018135806,
      0.2903538401535863,
      0.04532259466576285,
      0.1676967394083282
    ],
    "ax_ego": [
      -0.8983684963292748,
      -0.8983438620464395,
      -1.1745117786554666,
      -1.7996723508324808,
      -2.1425041252341757,
      -2.4388486559539193,
      -2.1266093131364583,
      -1.0469209710404053,
      -0.2584630788136694,
      -0.2584634832257695
    ],
    "ay_ego": [
      -0.049941681895640855,
      -0.05038283243122943,
      -0.15245553399124495,
      -0.05372134544579521,
      -0.024091484961275333,
      0.027111449877229354,
      0.051199520115976505,
      0.011965977094984315,
      -0.009433390246698758,
      -0.009422240262314696
    ],
    "a_ego": [
      0.8997555928070065,
      0.8997555914137493,
      1.1843650653599098,
      1.8004739801806118,
      2.142639569851425,
      2.4389993434526964,
      2.1272255549374224,
      1.0469893524826424,
      0.25863517154746685,
      0.2586351692495791
    ],
    "yaw": [
      0.5563177508774843,
      0.555826683993823,
      0.5554915977698479,
      0.5551920087443567,
      0.5544277189654416,
      0.553837185871058,
      0.5543610274907461,
      0.5551052484860246,
      0.5550508215523324,
      0.5550939495282787
    ],
    "yaw_diff": [
      -0.0009821337673225905,
      -0.0006701724479500903,
      -0.0005991780509824185,
      -0.0015285795578301453,
      -0.0011810661887672325,
      0.001047683239376207,
      0.0014884419905569768,
      -0.00010885386738435088,
      8.625595189259982e-05,
      8.625595189259982e-05
    ],
    "min_front_frame": [
      6,
      8.834566540984186
    ],
    "v_avg": 2.8317671600027663,
    "v_std": 2.2522358955448607,
    "vy_max": 0.12653715280184485,
    "a_max": 2.4389993434526964,
    "ax_avg": -1.304270611526806,
    "a_std": 0.7421903634985512,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "76a0c83f0b6453a0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.8468935473158385,
    "right_rear_min": 27.25720969993235,
    "speed_mode": "decelerating",
    "front_frame": [
      17.32087654476983,
      15.988166555373455,
      14.284403184376213,
      12.333634860294314,
      10.664187413724003,
      9.383023807170753,
      8.834566540984186,
      8.96716144916887,
      9.728017359420852,
      10.71907939578552
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "A",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "76a0c83f0b6453a0",
    "merging_vehicles": "No"
  },
  "580b253c853c5ef9": {
    "vx_ego": [
      4.266000471491005,
      4.155277820590618,
      4.051356829479091,
      3.9380662147864425,
      3.8189149008302747,
      3.703415042501515,
      3.6109490221289993,
      3.532710891315734,
      3.436766311824603,
      3.3207449023414135
    ],
    "vy_ego": [
      0.02568041940634691,
      -0.0034343994268082323,
      0.010905920154069326,
      0.023059905246808787,
      0.03001494342210309,
      0.025579048062840615,
      0.01782437176355689,
      0.02627270548600924,
      0.016549610248752122,
      -0.013906087252189003
    ],
    "v_ego": [
      4.266077766133942,
      4.155279239881687,
      4.051371508373587,
      3.938133729480553,
      3.8190328509469698,
      3.703503377172255,
      3.6109930142058073,
      3.532808584777041,
      3.4368061585855947,
      3.320774019063801
    ],
    "ax_ego": [
      -0.23858166669687264,
      -0.20104465430358745,
      -0.21806155207661967,
      -0.22861957529018567,
      -0.24518628220371713,
      -0.21167373702070924,
      -0.16046141986272155,
      -0.15161928841761152,
      -0.23200571542282156,
      -0.2321101779523698
    ],
    "ay_ego": [
      -0.5848202087163478,
      -0.598762829564483,
      -0.4689759755564933,
      -0.5307544893135763,
      -0.4083353769869458,
      -0.3850976929430835,
      -0.04547596349987683,
      -0.054818753762105536,
      -0.016347977737121988,
      -0.014790913809090908
    ],
    "a_ego": [
      0.6316137175575671,
      0.6316137103421007,
      0.5171936833945566,
      0.5778989860973802,
      0.4762920250014186,
      0.4394382824179043,
      0.16678108562005087,
      0.1612250116585303,
      0.2325809716312766,
      0.23258096620400545
    ],
    "yaw": [
      2.6365077666513432,
      2.57309956050221,
      2.5046136556145147,
      2.4390504259845702,
      2.3767786655904386,
      2.325173507080076,
      2.2978142862293174,
      2.2884263404703558,
      2.2861175911425313,
      2.292827399234003
    ],
    "yaw_diff": [
      -0.12681641229826646,
      -0.1369718097753907,
      -0.13112645925988886,
      -0.12454352078826325,
      -0.10321031702072503,
      -0.054718441701517406,
      -0.01877589151792325,
      -0.004617498655648866,
      0.013419616182943628,
      0.013419616182943628
    ],
    "min_front_frame": [
      5,
      12.976295656358634
    ],
    "v_avg": 3.7834780248621236,
    "v_std": 0.3002243621225243,
    "vy_max": 0.03001494342210309,
    "a_max": 0.6316137175575671,
    "ax_avg": -0.2119364069247216,
    "a_std": 0.18084774646447008,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "580b253c853c5ef9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.172873787012286,
    "right_rear_min": 17.93503448477962,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      14.52408088255853,
      14.084992211810624,
      13.620343715611675,
      13.265963583690713,
      12.976295656358634,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "580b253c853c5ef9",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "f68c27c86c235646": {
    "vx_ego": [
      3.283001244883385,
      2.829626710511385,
      2.4012412876017555,
      2.006430227471171,
      1.5596005674478817,
      1.0414311742756135,
      0.5517125541680714,
      0.17154663743791726,
      -0.012399319745844349,
      -0.06980935886027782
    ],
    "vy_ego": [
      -0.04536378952803077,
      0.020763085343033616,
      0.050290915363594424,
      0.02055850122797509,
      -0.006649568833100417,
      -0.006117759101341602,
      -0.0037068514338575165,
      -0.02183445548624316,
      -0.013224123774001987,
      0.04869001673365175
    ],
    "v_ego": [
      3.2833146433606086,
      2.8297028866212166,
      2.4017678691854143,
      2.0065355490702768,
      1.5596147430533673,
      1.0414491431315815,
      0.5517250068414606,
      0.1729305995555355,
      0.01812789507223081,
      0.08511206914419563
    ],
    "ax_ego": [
      -0.9065968388783044,
      -0.9072290682633748,
      -0.8047717597719157,
      -0.7737703595675184,
      -1.013415618748508,
      -1.0592305982636943,
      -0.8996321565024401,
      -0.621031848321139,
      -0.11481018406904239,
      -0.11482277079151705
    ],
    "ay_ego": [
      0.0919003273664874,
      0.08543364724953895,
      -0.04474231808111584,
      -0.10966346134117233,
      0.02513539546228899,
      -0.006312370502569831,
      0.017116742414014563,
      -0.08942263152337726,
      0.12384247938508085,
      0.1238308079462519
    ],
    "a_ego": [
      0.9112428317601198,
      0.9112428273431785,
      0.8060145534378755,
      0.7815028113184069,
      1.013727283064073,
      1.0592494070422818,
      0.899794976583054,
      0.6274368204510602,
      0.1688737340921067,
      0.16887373297485547
    ],
    "yaw": [
      -0.6034796567395848,
      -0.6106100511062813,
      -0.6180467321214335,
      -0.6220781751866412,
      -0.6187267423398339,
      -0.615531359355565,
      -0.6151577050341153,
      -0.6150012387454102,
      -0.6153305740183348,
      -0.6154322257163296
    ],
    "yaw_diff": [
      -0.014260788733392982,
      -0.014873362030304316,
      -0.008062886130415503,
      0.006702865693614557,
      0.006390765968537826,
      0.0007473086428995135,
      0.0003129325774100522,
      -0.000658670545849116,
      -0.000203303395989618,
      -0.000203303395989618
    ],
    "min_front_frame": [
      8,
      9.672540690315776
    ],
    "v_avg": 1.3950280405035886,
    "v_std": 1.1392939729450673,
    "vy_max": 0.050290915363594424,
    "a_max": 1.0592494070422818,
    "ax_avg": -0.7215311203177454,
    "a_std": 0.30526708453091767,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f68c27c86c235646",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.84563378476847,
      14.313878512351017,
      12.980282236605708,
      11.86679606516371,
      10.942310921847886,
      10.228119160986195,
      9.82885200490261,
      9.673263404576897,
      9.672540690315776,
      9.689027136253097
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f68c27c86c235646",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6a8a6b3a7d5f55cd": {
    "vx_ego": [
      2.4070445369781344,
      1.769635838608652,
      1.1999999677022612,
      0.7603417559882321,
      0.4300993054651428,
      0.17295439925644226,
      -0.014879115095789954,
      -0.061666847182663215,
      -0.028175058272509844,
      -0.012127746607642499
    ],
    "vy_ego": [
      0.051746241724802924,
      0.002746588172393649,
      -0.029562374065064703,
      -0.023176266850005695,
      0.007114987037937632,
      0.033235491487369706,
      0.03764834209483653,
      0.01816273948027462,
      0.0020815829825694392,
      0.0019450966322044367
    ],
    "v_ego": [
      2.4076006887623462,
      1.769637970047754,
      1.200364051630084,
      0.7606948962917859,
      0.430158151849001,
      0.1761187727545359,
      0.04048191853807827,
      0.06428596384031482,
      0.028251847662987425,
      0.012282737426477746
    ],
    "ax_ego": [
      -1.274813560587827,
      -1.2745958485609696,
      -1.003992812087687,
      -0.7546814349678077,
      -0.5662930538143167,
      -0.46221553779846436,
      -0.289007882410537,
      0.10187137506094077,
      0.032094731654281956,
      0.032094737606448084
    ],
    "ay_ego": [
      -0.10523202858582328,
      -0.1078369626172385,
      -0.02414533786033663,
      0.04858170482338674,
      0.07233957077178238,
      0.03133248713236067,
      -0.013835587433066397,
      -0.06407006146311764,
      -0.0002722935739589065,
      -0.000271414757539252
    ],
    "a_ego": [
      1.2791494807483998,
      1.2791494782375397,
      1.004283109518492,
      0.7562435125861353,
      0.5708947681471519,
      0.4632762978312437,
      0.289338866340215,
      0.1203442970509801,
      0.032095886710773194,
      0.032095885219095656
    ],
    "yaw": [
      -3.104272230113562,
      -3.1063157906612058,
      -3.106788995862412,
      -3.107080900796909,
      -3.107187498394736,
      -3.1078893433174475,
      -3.1085624963744345,
      -3.108667932836542,
      -3.1085453838811232,
      -3.108573136107915
    ],
    "yaw_diff": [
      -0.004087121095287749,
      -0.0009464104024123898,
      -0.0005838098689938676,
      -0.00021319519565388134,
      -0.0014036898454232727,
      -0.0013463061139740162,
      -0.00021087292421473336,
      0.0002450979108372664,
      -5.55044535834881e-05,
      -5.55044535834881e-05
    ],
    "min_front_frame": [
      6,
      10.570484831907633
    ],
    "v_avg": 0.6889876998803366,
    "v_std": 0.801462666536566,
    "vy_max": 0.051746241724802924,
    "a_max": 1.2791494807483998,
    "ax_avg": -0.5459539285905939,
    "a_std": 0.4580936736116393,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6a8a6b3a7d5f55cd",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 23.94681030228655,
    "speed_mode": "decelerating",
    "front_frame": [
      13.302831914262645,
      12.277304732942303,
      11.547886796729024,
      11.067858927583211,
      10.783796028270489,
      10.59552856152807,
      10.570484831907633,
      10.65760387912128,
      10.636823961248137,
      10.592754983627803
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6a8a6b3a7d5f55cd",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7edc6539f71a5a79": {
    "vx_ego": [
      -0.17419170707701,
      0.600539019789599,
      1.4939888861659993,
      2.48553584475034,
      3.4040398965805583,
      4.233536531489548,
      4.97548489485264,
      5.586123294175893,
      6.0619238990906466,
      6.48321794568245
    ],
    "vy_ego": [
      -0.002600074600515441,
      0.00040914449875838123,
      0.005048247104135643,
      0.00979907989803179,
      0.006819678882963092,
      0.007008926256809022,
      0.021424559340235655,
      0.007665960952935258,
      -0.01965306411870056,
      -0.04803720733660856
    ],
    "v_ego": [
      0.1742111110185889,
      0.6005391591637246,
      1.4939974152542392,
      2.4855551608253705,
      3.404046727871438,
      4.233542333378022,
      4.975531021976419,
      5.586128554257578,
      6.061955757121261,
      6.483395908357569
    ],
    "ax_ego": [
      1.5494616883294234,
      1.5494592817383712,
      2.02434940110933,
      1.9418957078840526,
      1.7321895187254523,
      1.5858007171663315,
      1.3822670438905502,
      1.0605275071180755,
      0.842620794247232,
      0.8426025315318828
    ],
    "ay_ego": [
      0.005523900176017277,
      0.006161869251807419,
      0.008631250812919357,
      -0.0026042731764576764,
      -0.02730578384999422,
      0.017381877464889256,
      -0.024859732150793675,
      -0.08748165445860091,
      -0.0522484390201397,
      -0.05254215148973317
    ],
    "a_ego": [
      1.5494715347736536,
      1.5494715339101477,
      2.0243678016265467,
      1.9418974541765288,
      1.7324047259846576,
      1.5858959752232982,
      1.382490573895001,
      1.0641295190064477,
      0.8442391262420129,
      0.8442391271595434
    ],
    "yaw": [
      0.00088260268656188,
      0.00047085888147175084,
      -0.00048147922007950837,
      -0.0021034649274042586,
      -0.0036174694254568693,
      -0.004313367061867296,
      -0.007830698183514059,
      -0.010523176727778631,
      -0.011824348158741168,
      -0.011475767931477362
    ],
    "yaw_diff": [
      -0.0008234876101802582,
      -0.0019046762031025184,
      -0.0032439714146495005,
      -0.0030280089961052213,
      -0.001391795272820854,
      -0.007034662243293525,
      -0.005384957088529145,
      -0.0026023428619250735,
      0.0006971604545276122,
      0.0006971604545276122
    ],
    "min_front_frame": [
      0,
      21.225067206962937
    ],
    "v_avg": 3.549890314922421,
    "v_std": 2.1687942074471755,
    "vy_max": 0.04803720733660856,
    "a_max": 2.0243678016265467,
    "ax_avg": 1.4511174191740701,
    "a_std": 0.3971375319868564,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "7edc6539f71a5a79",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 23.189047665480928,
    "speed_mode": "accelerating",
    "front_frame": [
      21.225067206962937,
      23.632055553840747,
      25.745546099431262,
      27.675503397878,
      29.60917114577752,
      31.302826246324617,
      32.73538614861012,
      34.08497387668158,
      35.26626095147142,
      36.27413220990455
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "7edc6539f71a5a79",
    "merging_vehicles": "No"
  },
  "cd7e9823f2b15e0f": {
    "vx_ego": [
      5.439915532983086,
      4.873586609801627,
      4.31381815487622,
      3.7706796885042815,
      3.233564223601605,
      2.6790546414952052,
      2.126147162498315,
      1.5989826007975627,
      1.057367837175768,
      0.4903034631198512
    ],
    "vy_ego": [
      -0.008255062336596009,
      -0.027999106107776228,
      -0.014531947870818573,
      -0.001655139116318205,
      0.010749385843043413,
      0.005826148766398642,
      -0.03863285448098597,
      -0.04710515466503584,
      -0.020526367608686646,
      0.0008119118642330447
    ],
    "v_ego": [
      5.4399217965008315,
      4.87366703757864,
      4.313842631674062,
      3.7706800517657606,
      3.233582090724195,
      2.679060976559968,
      2.1264981199251,
      1.599676296395416,
      1.0575670545459368,
      0.49030413535701955
    ],
    "ax_ego": [
      -1.1326916267814702,
      -1.132665531774298,
      -1.1068322929029244,
      -1.0657183701445079,
      -1.0827883044056603,
      -1.1351039543752517,
      -1.0765683156655153,
      -1.0324672601062166,
      -1.1341279647144211,
      -1.134152708854334
    ],
    "ay_ego": [
      -0.04508882710443174,
      -0.04573966698472376,
      0.038356449436733775,
      -0.028844717774879847,
      0.04407081316456041,
      -0.08178122379437647,
      -0.10346422645947512,
      0.058471975567540024,
      0.04209550845609933,
      0.04142347416622638
    ],
    "a_ego": [
      1.1335886924764673,
      1.1335886926065497,
      1.107496700593793,
      1.0661086540343712,
      1.083684801374768,
      1.1380462010848416,
      1.0815286332093765,
      1.0341216635957342,
      1.1349089268216426,
      1.1349089263961332
    ],
    "yaw": [
      -0.7676633714512643,
      -0.7682379731717259,
      -0.7715737828796964,
      -0.7741743725943288,
      -0.7766279587948537,
      -0.7781482397546552,
      -0.7789215751959933,
      -0.7804162884902673,
      -0.7814879063142934,
      -0.7820804553527865
    ],
    "yaw_diff": [
      -0.0011492034409232854,
      -0.006671619415940855,
      -0.005201179429264791,
      -0.004907172401049875,
      -0.003040561919603002,
      -0.0015466708826761266,
      -0.002989426588548172,
      -0.0021432356480521886,
      -0.0011850980769860797,
      -0.0011850980769860797
    ],
    "min_front_frame": [
      9,
      8.775053830582666
    ],
    "v_avg": 2.958480019102693,
    "v_std": 1.5722541523380285,
    "vy_max": 0.04710515466503584,
    "a_max": 1.1380462010848416,
    "ax_avg": -1.1033116329724602,
    "a_std": 0.034731988457685666,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cd7e9823f2b15e0f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.07203845052925,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.953166859628112,
      19.449600345199894,
      17.149933959455158,
      15.103973419762431,
      13.412287590647058,
      11.919763195124236,
      10.76771289879858,
      9.797539323956219,
      9.133982524434137,
      8.775053830582666
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cd7e9823f2b15e0f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d9fdaff6c17659bc": {
    "vx_ego": [
      5.408523628643238,
      5.523411252476148,
      5.60001876170397,
      5.6132332744339335,
      5.564081408615079,
      5.487849410182459,
      5.40817758637286,
      5.313193527230677,
      5.204445775472958,
      5.082232791302312
    ],
    "vy_ego": [
      0.008812538770023082,
      -0.013550268323111236,
      -0.033215840637098815,
      -0.010628708553052757,
      -0.0018954647583457884,
      -0.0034279973567561406,
      -0.011437395402973394,
      -0.021115168083751357,
      -0.0022645652527932825,
      0.00783749583622173
    ],
    "v_ego": [
      5.408530808124493,
      5.52342787349955,
      5.600117268728012,
      5.61324333720335,
      5.564081731470398,
      5.487850480835447,
      5.408189680453098,
      5.3132354839710585,
      5.204446268153231,
      5.08223883454226
    ],
    "ax_ego": [
      0.2288654814104279,
      0.2308043695231695,
      0.07762337160032343,
      -0.022781553214287473,
      -0.17464842587264207,
      -0.12991951209548921,
      -0.18904899691039975,
      -0.19055589076635798,
      -0.24444606699930968,
      -0.24441661136853343
    ],
    "ay_ego": [
      0.12671330359073665,
      0.1231462737711949,
      0.17364167749660964,
      0.2588827791153798,
      0.09200118104492888,
      0.13803946837127826,
      0.010685494125579828,
      0.039800266827569805,
      0.030107672233013277,
      0.030345831299408044
    ],
    "a_ego": [
      0.2616021213371656,
      0.26160210575360027,
      0.19020205041596813,
      0.2598832285649806,
      0.19739880945297905,
      0.1895625871614837,
      0.18935074073669775,
      0.1946679448324914,
      0.2462932228030677,
      0.24629321831940243
    ],
    "yaw": [
      0.9955081652563744,
      1.0110277898268025,
      1.02784604087095,
      1.0430693264877333,
      1.0571548297783082,
      1.067850143246302,
      1.076133741610772,
      1.0802933585605332,
      1.0800324902432745,
      1.0810068219240314
    ],
    "yaw_diff": [
      0.031039249140856207,
      0.03363650208829494,
      0.030446571233566644,
      0.028171006581149793,
      0.021390626935987367,
      0.016567196728940026,
      0.008319233899522605,
      -0.000521736634517378,
      0.0019486633615137805,
      0.0019486633615137805
    ],
    "min_front_frame": [
      9,
      36.36939234159313
    ],
    "v_avg": 5.42053617669809,
    "v_std": 0.1667508936168468,
    "vy_max": 0.033215840637098815,
    "a_max": 0.2616021213371656,
    "ax_avg": -0.06585238346930988,
    "a_std": 0.03194562826854771,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d9fdaff6c17659bc",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.425839075054371,
    "right_rear_min": 10.846774296234946,
    "speed_mode": "quasi_constant",
    "front_frame": [
      43.312574464200246,
      41.793317361671726,
      40.56691712080478,
      39.53605587502516,
      38.758464805385074,
      38.185365500742485,
      37.59669384984661,
      37.17135731353889,
      36.86615018970246,
      36.36939234159313
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d9fdaff6c17659bc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "63c1254fe8ef5145": {
    "vx_ego": [
      0.4280693408240137,
      1.09088000456845,
      1.766426535063473,
      2.419681173771611,
      3.0153029953700745,
      3.574975562259194,
      4.073520627911416,
      4.444553471850774,
      4.762171114176153,
      5.115362967634341
    ],
    "vy_ego": [
      -0.02401881974300299,
      0.03575526409440177,
      0.03330948663621658,
      -0.014852745391255251,
      -0.05093582378790584,
      -0.08033662061549407,
      -0.0885547617714304,
      -0.027246329859150098,
      0.016822997912746107,
      -0.006838126662814137
    ],
    "v_ego": [
      0.42874265504536924,
      1.0914658140673585,
      1.766740565469734,
      2.4197267586962004,
      3.015733179847431,
      3.5758781080124025,
      4.0744830655989,
      4.444636984797698,
      4.7622008288135556,
      5.1153675381756365
    ],
    "ax_ego": [
      1.320282727356721,
      1.3286045924777679,
      1.3662010001850926,
      1.2498620313754623,
      1.1423443321687523,
      1.1051789635840694,
      0.888365034811225,
      0.5987554960056232,
      0.6701331999931689,
      0.7418626632643712
    ],
    "ay_ego": [
      0.21650228140561267,
      0.15757392207420073,
      0.21249172686005874,
      0.35394274099119605,
      0.3431444048530281,
      0.18125626558732905,
      -0.34957318897768364,
      -0.8823136429740659,
      -0.8942334646930877,
      -0.8356864312706518
    ],
    "a_ego": [
      1.3379161849721144,
      1.3379161797627166,
      1.3826271756662087,
      1.2990113784622357,
      1.1927693221323272,
      1.1199439161687617,
      0.9546694975368053,
      1.0662952258052678,
      1.1174667758417196,
      1.1174667881219484
    ],
    "yaw": [
      2.447875907548199,
      2.4923614904237312,
      2.559025886911699,
      2.649006494652988,
      2.72599521664608,
      2.774625455140413,
      2.7658335052114347,
      2.679912094186249,
      2.573751712415489,
      2.4908711226396116
    ],
    "yaw_diff": [
      0.08897116575106434,
      0.13332879297593525,
      0.17996121548257804,
      0.15397744398618407,
      0.0972604769886658,
      -0.017583899857956276,
      -0.1718428220503716,
      -0.21232076354151985,
      -0.16576117955175462,
      -0.16576117955175462
    ],
    "min_front_frame": [
      0,
      31.450799242319793
    ],
    "v_avg": 3.0694975498524286,
    "v_std": 1.523703331784492,
    "vy_max": 0.0885547617714304,
    "a_max": 1.3826271756662087,
    "ax_avg": 1.0411590041222252,
    "a_std": 0.13371613592527187,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "63c1254fe8ef5145",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      31.450799242319793,
      -1,
      32.192095127258504,
      32.022070676071074,
      31.457759131164682,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 10,
    "token": "63c1254fe8ef5145",
    "smoothness": "Yes"
  },
  "7291b74b016d5672": {
    "vx_ego": [
      2.528002871201221,
      3.054808954423493,
      3.5163126726586484,
      3.880607299680925,
      4.22395223662249,
      4.546094019301713,
      4.904380983049772,
      5.351650933988661,
      5.794711384914209,
      6.232130787286823
    ],
    "vy_ego": [
      0.0922053324675639,
      -0.007998988941399832,
      -0.009070923713297319,
      0.0010766290483998908,
      0.027553512668200275,
      0.07527068794464409,
      0.09577118971600751,
      0.12057231590901887,
      0.05591001898545411,
      0.08340344124056576
    ],
    "v_ego": [
      2.529683841933033,
      3.054819427044754,
      3.516324372630719,
      3.8806074490299824,
      4.224042103640599,
      4.546717113346119,
      4.905315988565861,
      5.353009004534307,
      5.7949811013218415,
      6.232688848631788
    ],
    "ax_ego": [
      1.028487974572368,
      1.0894710431033034,
      0.7850508488628303,
      0.6900000575230976,
      0.7098430932613966,
      0.6529861142519686,
      0.854117320646868,
      0.9471012769292702,
      0.8460531494902604,
      0.923642575277182
    ],
    "ay_ego": [
      -0.7381462512289084,
      -0.6447482053188502,
      -1.1389864466014374,
      -1.378358256550321,
      -1.546707896683868,
      -1.8605982023857786,
      -1.9000874363117612,
      -1.1904784769126713,
      -0.9747103881443892,
      -0.9015268548235401
    ],
    "a_ego": [
      1.265957109085163,
      1.265957109076954,
      1.383327495874357,
      1.54141868510224,
      1.701817421086981,
      1.9718561144584246,
      2.0832303432551056,
      1.521262578502925,
      1.2906844201891394,
      1.290684421860235
    ],
    "yaw": [
      1.0775228160928365,
      0.9893836451977778,
      0.8557341196640729,
      0.6838071487333407,
      0.4972437559546213,
      0.29314713256442215,
      0.08946018745408843,
      -0.06608574987415378,
      -0.15136359537924313,
      -0.23402397427460922
    ],
    "yaw_diff": [
      -0.17627834179011748,
      -0.2672990510674098,
      -0.34385394186146434,
      -0.37312678555743883,
      -0.40819324678039826,
      -0.40737389022066745,
      -0.3110918746564844,
      -0.1705556910101787,
      -0.1653207577907322,
      -0.1653207577907322
    ],
    "min_front_frame": [
      9,
      38.78685918931266
    ],
    "v_avg": 4.403818925067901,
    "v_std": 1.1348513952105577,
    "vy_max": 0.12057231590901887,
    "a_max": 2.0832303432551056,
    "ax_avg": 0.8526753453918545,
    "a_std": 0.283988798414143,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "7291b74b016d5672",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      68.58695623241168,
      38.78685918931266
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7291b74b016d5672",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d32754e8c47e5771": {
    "vx_ego": [
      4.8454955941886695,
      4.976839468692626,
      5.165989542320556,
      5.397510622155085,
      5.6114758526197415,
      5.718412268050965,
      5.776195806818519,
      5.86673255992011,
      5.95542591112043,
      6.032052889532061
    ],
    "vy_ego": [
      0.07737403121307684,
      -0.013200626812400529,
      -0.020239168179374545,
      -0.008435556714831538,
      0.04860073563984901,
      0.13648715489672636,
      0.10946557576068705,
      0.07940045691890957,
      0.04685104445421187,
      0.014921673488737408
    ],
    "v_ego": [
      4.846113318320979,
      4.976856975409776,
      5.166029188389661,
      5.397517213950694,
      5.611686313047014,
      5.720040874928045,
      5.777232963191329,
      5.867269838876145,
      5.955610195707158,
      6.03207134560358
    ],
    "ax_ego": [
      0.21456086456278106,
      0.3218828560825907,
      0.45476528375137704,
      0.46513242353628004,
      0.40083752707868214,
      0.08638550296684949,
      0.16100627807363904,
      0.20271283877484253,
      0.15325745531805332,
      0.15326529726933644
    ],
    "ay_ego": [
      -1.132735800838912,
      -1.1070312415272452,
      -1.5492609117342502,
      -1.581729284959554,
      -1.5536126269656054,
      -1.5898512694058937,
      -0.917135673054125,
      -0.23271883079925573,
      -0.06530786817453288,
      -0.06528946407910935
    ],
    "a_ego": [
      1.1528775993591425,
      1.1528775922695522,
      1.6146271507481567,
      1.6487012168138275,
      1.6044883663590468,
      1.5921964432677167,
      0.9311610303097788,
      0.30862687700964725,
      0.16659221247125353,
      0.16659221310372035
    ],
    "yaw": [
      -2.2757324132033765,
      -2.3714923355492346,
      -2.501291975703226,
      -2.651479263999578,
      -2.8037227856019014,
      -2.956600010315084,
      -3.061023599857769,
      -3.1052714356372135,
      -3.112362062246598,
      -3.112482180907395
    ],
    "yaw_diff": [
      -0.19151984469171612,
      -0.25959928030798274,
      -0.30037457659270395,
      -0.3044870432046469,
      -0.30575444942636487,
      -0.2088471790853701,
      -0.08849567155888938,
      -0.014181253218769285,
      -0.00024023732159328404,
      -0.00024023732159328404
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.535042822742438,
    "v_std": 0.3967774292566216,
    "vy_max": 0.13648715489672636,
    "a_max": 1.6487012168138275,
    "ax_avg": 0.2613806327414432,
    "a_std": 0.5849635789033013,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "d32754e8c47e5771",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 27.69200296256594,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d32754e8c47e5771",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "50fef67a5a9a5a4b": {
    "vx_ego": [
      7.910138483889523,
      7.791801219366568,
      7.674795979153379,
      7.51729254857539,
      7.315946011411117,
      7.090848467367772,
      6.836918931050624,
      6.5821053085462,
      6.320897799298797,
      6.047208520741643
    ],
    "vy_ego": [
      -0.04904141618093982,
      -0.03962295914461489,
      -0.02487862754895076,
      -0.036597665959637427,
      -0.03942730460559085,
      -0.02243911456909764,
      -0.01207965387458465,
      -0.011631471557542294,
      0.004112384386383283,
      -0.002115447611195753
    ],
    "v_ego": [
      7.91029050634748,
      7.791901964284055,
      7.674836302341412,
      7.517381635251783,
      7.316052252016158,
      7.090883971765053,
      6.836929602372408,
      6.582115585730978,
      6.32089913705999,
      6.0472088907568695
    ],
    "ax_ego": [
      -0.23980644240443486,
      -0.2362797926773024,
      -0.23389455080043786,
      -0.3973875474586197,
      -0.4113933329622482,
      -0.49167564549503706,
      -0.5247412218930182,
      -0.496626474605629,
      -0.5488680509860521,
      -0.5457632919663483
    ],
    "ay_ego": [
      -0.22422618498439986,
      -0.22793940327768336,
      -0.2264482967864925,
      -0.3165882331314507,
      -0.2712099031470475,
      -0.2611760892344108,
      -0.3384977824260581,
      -0.23694023319147028,
      -0.19807946264250034,
      -0.20648012040497274
    ],
    "a_ego": [
      0.32830551602330693,
      0.3283055162409175,
      0.32555413069356376,
      0.508079690828585,
      0.49274667525090227,
      0.5567386190671006,
      0.6244470343120677,
      0.5502531502718033,
      0.5835165900931774,
      0.5835165901500982
    ],
    "yaw": [
      -1.7218125827770345,
      -1.7374111966315078,
      -1.7540073822195863,
      -1.7702927709840388,
      -1.789719594181193,
      -1.8105251223640342,
      -1.8335260513688225,
      -1.8550444177889975,
      -1.8743219513678904,
      -1.8896704864878622
    ],
    "yaw_diff": [
      -0.031197227708946507,
      -0.03319237117615703,
      -0.032570777528905026,
      -0.03885364639430833,
      -0.04161105636568241,
      -0.04600185800957668,
      -0.043036732840350034,
      -0.03855506715778567,
      -0.030697070239943614,
      -0.030697070239943614
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.108849984792618,
    "v_std": 0.611449038517658,
    "vy_max": 0.04904141618093982,
    "a_max": 0.6244470343120677,
    "ax_avg": -0.41264363512491276,
    "a_std": 0.11103328832048032,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "50fef67a5a9a5a4b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "50fef67a5a9a5a4b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "342982275eb15441": {
    "vx_ego": [
      6.827435695738979,
      7.0120900076079105,
      7.22983750908832,
      7.495865672449465,
      7.753931621305156,
      7.9974458862419375,
      8.199625784506466,
      8.319772018946054,
      8.360857553983795,
      8.353990153931921
    ],
    "vy_ego": [
      0.04553688751344165,
      0.025286375840331665,
      0.01296510740409662,
      0.02545836945567892,
      0.00402360341757424,
      -0.003494708090497234,
      0.016185394611218484,
      0.018050758989967886,
      0.02592853764652947,
      0.04615764102156428
    ],
    "v_ego": [
      6.827587552538247,
      7.012135600200401,
      7.2298491340988855,
      7.495908904728073,
      7.753932665251902,
      7.997446649797217,
      8.199641758817393,
      8.319791600583384,
      8.360897758439124,
      8.354117668540237
    ],
    "ax_ego": [
      0.36599093442268427,
      0.3699512848478183,
      0.49932200071189736,
      0.5647311172732628,
      0.4676668100012905,
      0.5062377352333687,
      0.3025009876709712,
      0.17805131692820153,
      -0.013711255987427097,
      -0.013720681861984968
    ],
    "ay_ego": [
      0.2181225350884778,
      0.21133587429964795,
      0.060158442783556504,
      0.006728492027305577,
      -0.12525677510447952,
      0.03411142535400452,
      0.0241417771307728,
      -0.0035561266564522326,
      0.03609215750278072,
      0.03608856824659896
    ],
    "a_ego": [
      0.42605962539650927,
      0.42605962602263575,
      0.5029328967497299,
      0.5647711991786313,
      0.48415029163097417,
      0.5073856855626616,
      0.3034628032312115,
      0.17808682572459872,
      0.03860883802911305,
      0.038608831487720964
    ],
    "yaw": [
      -0.6165857021340595,
      -0.5981427826061056,
      -0.5868554720514487,
      -0.5862805351301223,
      -0.5873538972137471,
      -0.5892937111418441,
      -0.5899235484041314,
      -0.58952705898569,
      -0.5894964248334258,
      -0.5897577405164932
    ],
    "yaw_diff": [
      0.0368858390559077,
      0.022574621109313853,
      0.0011498738426527488,
      -0.002146724167249481,
      -0.003879627856194112,
      -0.0012596745245745389,
      0.000792978836882785,
      6.126830452846121e-05,
      -0.0005226313661348403,
      -0.0005226313661348403
    ],
    "min_front_frame": [
      9,
      25.28807364263811
    ],
    "v_avg": 7.755130929299487,
    "v_std": 0.5528457522484431,
    "vy_max": 0.04615764102156428,
    "a_max": 0.5647711991786313,
    "ax_avg": 0.3227020249240083,
    "a_std": 0.1869254800405934,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "342982275eb15441",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      39.69101895102381,
      36.21031857412098,
      32.661303097863055,
      28.990282226108736,
      31.241693271911796,
      27.33038054205183,
      30.99069734485375,
      26.96503007794387,
      29.382535839932178,
      25.28807364263811
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "342982275eb15441",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ba0dffc45509514e": {
    "vx_ego": [
      6.833254960064331,
      6.22598505198765,
      5.626690251951408,
      5.011297186509706,
      4.390701026317735,
      3.820934923492701,
      3.318787974720096,
      2.8700660616662637,
      2.4507960601972147,
      2.043270551604257
    ],
    "vy_ego": [
      0.0478996329749557,
      0.012356411888858165,
      -0.0076900378041862005,
      -0.0032617628725120085,
      -0.007895067540285572,
      -0.011221778295134044,
      -0.006932619664425044,
      0.007045188085348597,
      0.0034267922851473065,
      -0.004223532381213091
    ],
    "v_ego": [
      6.8334228410133475,
      6.225997313562577,
      5.626695506963784,
      5.011298248020879,
      4.3907081245055535,
      3.8209514021869313,
      3.318795215490424,
      2.870074708610153,
      2.4507984559289153,
      2.0432749167155504
    ],
    "ax_ego": [
      -1.214539212235462,
      -1.2145374638859119,
      -1.182505951804678,
      -1.2790278195575857,
      -1.2033552066952733,
      -1.0757210607101317,
      -0.9328092316315929,
      -0.8620627788665164,
      -0.8150437683577642,
      -0.8150557210973368
    ],
    "ay_ego": [
      -0.07139361465435395,
      -0.07142357946461136,
      0.05241442608915653,
      0.03289986241659815,
      -0.010243806472382877,
      -0.007983946073216452,
      0.03882657242762777,
      0.005604998229192137,
      -0.010337880426799173,
      -0.009348070855260016
    ],
    "a_ego": [
      1.2166357492162354,
      1.2166357626200046,
      1.1836670131906792,
      1.2794508838362117,
      1.2033988071506752,
      1.0757506885195245,
      0.9336169264444601,
      0.8620810000877004,
      0.8151093277042923,
      0.8151093269753541
    ],
    "yaw": [
      1.092420114470284,
      1.092395445864354,
      1.0949778998047701,
      1.0981480549753566,
      1.1003429238873452,
      1.1000421250061283,
      1.10100538547371,
      1.1000752814492956,
      1.100992639435984,
      1.1022070559499277
    ],
    "yaw_diff": [
      -4.933721185995665e-05,
      0.005164907880832015,
      0.006340310341172994,
      0.0043897378239772245,
      -0.0006015977624338475,
      0.0019265209351635448,
      -0.0018602080488290262,
      0.0018347159733766993,
      0.0024288330278876558,
      0.0024288330278876558
    ],
    "min_front_frame": [
      9,
      13.543705602190206
    ],
    "v_avg": 4.259201673299812,
    "v_std": 1.5535326587354836,
    "vy_max": 0.0478996329749557,
    "a_max": 1.2794508838362117,
    "ax_avg": -1.0594658214842254,
    "a_std": 0.17561899834266725,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ba0dffc45509514e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.2226667251905887,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.97782871947482,
      20.040588800580654,
      20.281655910330294,
      19.091985020588236,
      17.91953399555553,
      16.85309393221348,
      15.831142374228989,
      14.94726784992334,
      14.216607889925074,
      13.543705602190206
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ba0dffc45509514e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1081728e06ca5239": {
    "vx_ego": [
      13.355849073975548,
      13.219429894575809,
      13.082401569917693,
      12.95345360747778,
      12.919070645680199,
      13.004965006359516,
      13.17890625315951,
      13.320517404516641,
      13.313304987030563,
      13.242145419893019
    ],
    "vy_ego": [
      -0.0019693340906630774,
      0.009937541597543897,
      0.004656418799023898,
      -0.03635475632049756,
      -0.02450851523233137,
      -0.08573305529995634,
      -0.05970742965263626,
      -0.03884015729379431,
      -0.042027506859646624,
      -0.024518690798667087
    ],
    "v_ego": [
      13.355849219165746,
      13.219433629786776,
      13.082402398597168,
      12.953504623436324,
      12.919093892970771,
      13.00524759369873,
      13.179041505614988,
      13.320574029742463,
      13.313371323185788,
      13.242168118846406
    ],
    "ax_ego": [
      -0.2729066257344438,
      -0.2727958713175937,
      -0.2750808854824996,
      -0.24025160538018686,
      0.10300074873008196,
      0.24591401362764456,
      0.4534986973017827,
      0.11409691711300508,
      -0.14228314253230362,
      -0.14199599114026984
    ],
    "ay_ego": [
      0.06722558304728843,
      0.06767359677372303,
      0.2094782112602202,
      0.1705761675629792,
      0.0740547478907005,
      0.4008891741762136,
      0.38136917979646223,
      0.22241072870575412,
      0.10638005748752795,
      0.10676305717812108
    ],
    "a_ego": [
      0.2810645929066976,
      0.2810645888549776,
      0.34576092108654716,
      0.2946473533365446,
      0.12685921300446684,
      0.4703039783694625,
      0.5925398887442433,
      0.24996927558825408,
      0.17765474741733633,
      0.17765475472929607
    ],
    "yaw": [
      -1.5981368873756878,
      -1.596494914953864,
      -1.5908247960267634,
      -1.5803723612930836,
      -1.5765478000286977,
      -1.5626451821148,
      -1.5496697690753836,
      -1.5398837830309533,
      -1.5334874222595092,
      -1.5307929066621708
    ],
    "yaw_diff": [
      0.0032839448436474683,
      0.011340237854201352,
      0.0209048694673597,
      0.007649122528771812,
      0.02780523582779537,
      0.02595082607883281,
      0.019571972088860523,
      0.012792721542888241,
      0.005389031194676708,
      0.005389031194676708
    ],
    "min_front_frame": [
      4,
      22.254115522295628
    ],
    "v_avg": 13.159068633504514,
    "v_std": 0.15131006146385947,
    "vy_max": 0.08573305529995634,
    "a_max": 0.5925398887442433,
    "ax_avg": -0.04288037448147831,
    "a_std": 0.13410434508737984,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "1081728e06ca5239",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.877752000296812,
    "right_rear_min": 15.250865405883115,
    "speed_mode": "quasi_constant",
    "front_frame": [
      41.71094000714703,
      49.01309203177709,
      49.3125107214707,
      49.68103196466046,
      22.254115522295628,
      50.242485362534566,
      38.74777098368553,
      38.145324538345804,
      37.68341035914535,
      37.167748413412234
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "1081728e06ca5239",
    "pedestrians": "No"
  },
  "a07bb9058982503d": {
    "vx_ego": [
      0.5460296236609893,
      1.7683866150763698,
      2.938260074225984,
      3.975202651554158,
      4.807940324091607,
      5.424536750977979,
      5.927976285126349,
      6.371138207740759,
      6.670054585121887,
      6.864436167321129
    ],
    "vy_ego": [
      0.00786464877538845,
      0.020029349909526206,
      0.021122568730059132,
      0.008281651621101727,
      0.00996503177232455,
      0.014202202027609356,
      0.02068942960691622,
      0.0279535286488084,
      0.0539532008274497,
      0.10165663732832941
    ],
    "v_ego": [
      0.5460862593178131,
      1.7685000410627814,
      2.9383359962230733,
      3.9752112782438096,
      4.807950650941036,
      5.424555342629768,
      5.928012389453809,
      6.371199530849592,
      6.670272791751851,
      6.865188851527632
    ],
    "ax_ego": [
      2.4447522398248855,
      2.444730248810915,
      2.234919376268591,
      1.9127754757089646,
      1.4182330633064877,
      1.0481453327043984,
      0.9653030680848789,
      0.8069235597941982,
      0.3884758603822548,
      0.3886295131545988
    ],
    "ay_ego": [
      0.020796144754139156,
      0.0232384316085692,
      -0.03233385418661072,
      0.00844626639444157,
      -0.0216951930945255,
      0.06206570157041846,
      0.07643522170149486,
      0.044281919426931216,
      0.11396040191723823,
      0.11343530366684107
    ],
    "a_ego": [
      2.4448406888313663,
      2.4448406930012236,
      2.2351532601920945,
      1.912794123759706,
      1.418398992970283,
      1.049981328301338,
      0.9683245098471054,
      0.8081376861272306,
      0.40484622673908127,
      0.404846225884309
    ],
    "yaw": [
      -0.6284156820968666,
      -0.6294146811034675,
      -0.6308296839090031,
      -0.6288654225077226,
      -0.6299871767760585,
      -0.6288529471566828,
      -0.623904842656074,
      -0.6201904893832733,
      -0.6181273360419317,
      -0.6167758980189122
    ],
    "yaw_diff": [
      -0.001997998013201885,
      -0.0028300056110710514,
      0.003928522802560952,
      -0.0022435085366718788,
      0.002268459238751408,
      0.00989620900121757,
      0.007428706545601571,
      0.004126306682683101,
      0.0027028760460390266,
      0.0027028760460390266
    ],
    "min_front_frame": [
      0,
      12.722082205470837
    ],
    "v_avg": 4.529531313200116,
    "v_std": 2.063842244957347,
    "vy_max": 0.10165663732832941,
    "a_max": 2.4448406930012236,
    "ax_avg": 1.4052887738040174,
    "a_std": 0.7604690586853367,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "a07bb9058982503d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.425614034606325,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      12.722082205470837,
      14.411060881269263,
      16.32791969796463,
      18.32917353764489,
      20.038383216298012,
      21.727650998453644,
      23.313085609372077,
      24.67864187006789,
      26.071316595588904,
      27.059259926378584
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a07bb9058982503d",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "fb62cea889d654ec": {
    "vx_ego": [
      9.726022550642954,
      9.663332289941549,
      9.573297964356584,
      9.382551326227862,
      9.024649709099547,
      8.51809995371875,
      7.93371296796514,
      7.389762290399409,
      7.07788738853766,
      6.938210572355238
    ],
    "vy_ego": [
      0.009845236667945567,
      -0.00995382364481312,
      -0.01499246645961616,
      -0.003499644482455544,
      0.009666332371596198,
      -0.0001888386631985206,
      -0.012467325799776496,
      -0.03845955407022794,
      -0.031469460121305914,
      0.006942271389574373
    ],
    "v_ego": [
      9.726027533597689,
      9.663337416463948,
      9.573309703984535,
      9.38255197890274,
      9.024654885918467,
      8.518099955811941,
      7.933722763764236,
      7.389862369889468,
      7.077957347408982,
      6.93821404552166
    ],
    "ax_ego": [
      -0.12570529416274612,
      -0.12505126689142665,
      -0.2349234539814325,
      -0.527749170793915,
      -0.904063825580202,
      -1.1220358986423276,
      -1.2145287432185436,
      -0.9563770736939704,
      -0.2858304846113855,
      -0.27130431852292847
    ],
    "ay_ego": [
      0.09410610601462217,
      0.09497350297388021,
      0.06481728817292565,
      0.14066124043228231,
      0.06623245553132978,
      0.13338390581579967,
      0.23716800094825413,
      0.4240606423237437,
      0.48708720049029414,
      0.49532511226520703
    ],
    "a_ego": [
      0.1570279598344761,
      0.15702797718330466,
      0.2437012722097657,
      0.5461728406224656,
      0.9064867008888876,
      1.1299362035853058,
      1.2374686778976696,
      1.0461761493436315,
      0.5647592467721547,
      0.5647592408183602
    ],
    "yaw": [
      1.9475474489927285,
      1.9544656016171245,
      1.9591360778187294,
      1.9633272211018413,
      1.9674952992543049,
      1.9742871622320686,
      1.9870234839839993,
      2.0120959200994912,
      2.042974118759813,
      2.0725443946727022
    ],
    "yaw_diff": [
      0.01383630524879198,
      0.009340952403209979,
      0.008382286566223751,
      0.008336156304927123,
      0.01358372595552737,
      0.02547264350386147,
      0.05014487223098385,
      0.06175639732064386,
      0.059140551825778154,
      0.059140551825778154
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.522773800126366,
    "v_std": 1.052247556959572,
    "vy_max": 0.03845955407022794,
    "a_max": 1.2374686778976696,
    "ax_avg": -0.5767569530098877,
    "a_std": 0.38397217775353387,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fb62cea889d654ec",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fb62cea889d654ec",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "189b5f98f6e6549c": {
    "vx_ego": [
      5.128867105166577,
      5.070124375538724,
      4.985565075351089,
      4.87912423398182,
      4.777636158680703,
      4.676834700598537,
      4.595751180512221,
      4.589939802736499,
      4.664601310779205,
      4.7726316866633764
    ],
    "vy_ego": [
      -0.004467921298155986,
      0.018121337403486315,
      0.027487120724634995,
      0.0068614333067539834,
      0.009622235346561443,
      0.00012855041230624975,
      -0.016905819205080386,
      -0.016079361622449273,
      -0.015457201475793436,
      0.01013095447105794
    ],
    "v_ego": [
      5.128869051241269,
      5.070156759539219,
      4.985640847711179,
      4.879129058540643,
      4.777645848338527,
      4.6768347023652455,
      4.595782275075971,
      4.589967967057609,
      4.66462692115892,
      4.7726424392344535
    ],
    "ax_ego": [
      -0.1372869920244006,
      -0.099090317223475,
      -0.24359191640023142,
      -0.18614256943016358,
      -0.22175744897694905,
      -0.1846472132801861,
      -0.13498053367173296,
      0.11519905399317351,
      0.1897464367631575,
      0.24258071572074957
    ],
    "ay_ego": [
      0.6433698350884507,
      0.6503488077350444,
      0.6956573310827897,
      0.7292525218513264,
      0.7436752436295254,
      0.7011753401228378,
      0.7488897310561367,
      0.70414520025003,
      0.7394849664720622,
      0.7238759045089744
    ],
    "a_ego": [
      0.6578544389763195,
      0.6578544388311466,
      0.737072685713402,
      0.7526342383791628,
      0.7760342996054995,
      0.7250803065650837,
      0.7609570117632392,
      0.7135063314898312,
      0.7634407153816869,
      0.7634407172585681
    ],
    "yaw": [
      -1.8423774507903188,
      -1.783345165540947,
      -1.7185359623353713,
      -1.6420573945791153,
      -1.5664708410837134,
      -1.488014816239161,
      -1.4060857933158117,
      -1.3266741979679368,
      -1.2486953040862923,
      -1.1765171525502809
    ],
    "yaw_diff": [
      0.11806457049874375,
      0.1296184064111512,
      0.1529571355125121,
      0.15117310699080377,
      0.15691204968910455,
      0.16385804584669872,
      0.1588231906957498,
      0.15595778776328917,
      0.14435630307202274,
      0.14435630307202274
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.8141295870263034,
    "v_std": 0.18450719411913302,
    "vy_max": 0.027487120724634995,
    "a_max": 0.7760342996054995,
    "ax_avg": -0.06599707845300581,
    "a_std": 0.040714118641634274,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "189b5f98f6e6549c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "189b5f98f6e6549c",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "52f7393aa83854f6": {
    "vx_ego": [
      1.2645804990285703,
      1.7521759229896776,
      2.3197985031840482,
      2.927560190196244,
      3.4543272256497124,
      3.937803063547826,
      4.356966061400477,
      4.657185065993354,
      4.837738519111326,
      5.052070663781062
    ],
    "vy_ego": [
      -0.03851472712093018,
      -0.021379430438480895,
      -0.008291104522139214,
      0.007257154097757623,
      0.04017382389361679,
      0.028605431435104592,
      0.0012137584069892293,
      -0.04559520256906735,
      -0.044733190912547904,
      -0.06724982897002896
    ],
    "v_ego": [
      1.265166875447088,
      1.7523063502568843,
      2.3198133195990467,
      2.9275691850932346,
      3.454560828526699,
      3.9379069615716205,
      4.356966230464158,
      4.657408255823064,
      4.837945332231717,
      5.05251823661565
    ],
    "ax_ego": [
      0.9754003648260102,
      0.9757720192035735,
      1.2974156297852173,
      1.1413101402051444,
      0.9776235746879508,
      0.9588447061440156,
      0.7286446202154334,
      0.5274562166306931,
      0.2464885953932503,
      0.6473174739779667
    ],
    "ay_ego": [
      0.05805950201800547,
      0.05143704632373186,
      0.17713868027654844,
      0.45693674683037067,
      0.8962245681158509,
      1.2066527058983594,
      1.4565108854139428,
      1.8518069962375279,
      2.004240556260446,
      1.9127772827011063
    ],
    "a_ego": [
      0.9771267970316302,
      0.9771268101915579,
      1.309452339133078,
      1.2293819694216312,
      1.3262602799903536,
      1.5412313009902947,
      1.6286027575496123,
      1.925460779080327,
      2.0193406931516336,
      2.0193406957060622
    ],
    "yaw": [
      -1.9220225392031596,
      -1.9152343778882546,
      -1.8931609145983128,
      -1.8390839780807235,
      -1.7440651587315732,
      -1.5990446287331892,
      -1.4334385015657114,
      -1.241215889046384,
      -1.040505434713034,
      -0.8365551127079605
    ],
    "yaw_diff": [
      0.013576322629810011,
      0.044146926579883505,
      0.10815387303517854,
      0.1900376386983007,
      0.290041059996768,
      0.3312122543349556,
      0.38444522503865475,
      0.4014209086667,
      0.40790064401014714,
      0.40790064401014714
    ],
    "min_front_frame": [
      3,
      30.1231171908626
    ],
    "v_avg": 3.4562161575629156,
    "v_std": 1.2735180556624097,
    "vy_max": 0.06724982897002896,
    "a_max": 2.0193406957060622,
    "ax_avg": 0.8476273341069256,
    "a_std": 0.3774901317436025,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "52f7393aa83854f6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      33.37429314290565,
      32.544493703547545,
      31.464425303192087,
      30.1231171908626,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "52f7393aa83854f6",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a259460cd13f55c2": {
    "vx_ego": [
      6.279894084505595,
      6.062739419064777,
      5.8735700511810185,
      5.628388275042344,
      5.278706581458987,
      4.964276446375105,
      4.6787965727514065,
      4.372134203323567,
      4.0968103710288855,
      3.888345653650509
    ],
    "vy_ego": [
      0.048650624172830906,
      0.035044982665424704,
      0.008991995133069794,
      -0.0453201539046773,
      -0.06966258442506162,
      -0.025886260139851347,
      0.019018455000531564,
      0.028080545084301356,
      0.022493587511079438,
      0.06421915381820975
    ],
    "v_ego": [
      6.2800825309736785,
      6.0628407050071775,
      5.873576934211985,
      5.628570732520297,
      5.279166226669435,
      4.964343937973946,
      4.67883522586775,
      4.372224377691981,
      4.096872121222354,
      3.8888759329631397
    ],
    "ax_ego": [
      -0.4344711314704508,
      -0.4344767926948165,
      -0.3223706091353794,
      -0.6583650639758274,
      -0.7437064061257825,
      -0.5174438679996695,
      -0.6090680040294578,
      -0.6085954653993304,
      -0.4770000524108341,
      -0.32812465939763363
    ],
    "ay_ego": [
      -0.0032983665846076362,
      -0.0024415285984944997,
      -0.06832356723040908,
      -0.20675903877811735,
      -0.3447190561556875,
      -0.6023856582498787,
      -0.969897766934187,
      -0.9479812557468824,
      -1.0182236449424498,
      -1.0754732268273073
    ],
    "a_ego": [
      0.43448365136485884,
      0.4344836526870393,
      0.3295313634138696,
      0.6900680093877316,
      0.8197136366984482,
      0.7941137436133434,
      1.1452796653378379,
      1.1265242570633194,
      1.1244147104693296,
      1.124414716075503
    ],
    "yaw": [
      -1.55696247266774,
      -1.5549903386339559,
      -1.5535859861957735,
      -1.5560818515217343,
      -1.5768575726459964,
      -1.6319272965497165,
      -1.722487435927728,
      -1.8303359245884203,
      -1.9454201258870878,
      -2.0873941148345745
    ],
    "yaw_diff": [
      0.003944268067568313,
      0.0028087048763647537,
      -0.0049917306519216,
      -0.04155144224852414,
      -0.11013944780744023,
      -0.1811202787560231,
      -0.2156969773213846,
      -0.23016840259733495,
      -0.2839479778949734,
      -0.2839479778949734
    ],
    "min_front_frame": [
      4,
      74.64636948035043
    ],
    "v_avg": 5.112538872510174,
    "v_std": 0.8016558074752201,
    "vy_max": 0.06966258442506162,
    "a_max": 1.1452796653378379,
    "ax_avg": -0.5133622052639182,
    "a_std": 0.30615786472153217,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "a259460cd13f55c2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.216963095091721,
    "right_rear_min": 12.806068719140884,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      74.64636948035043,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a259460cd13f55c2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "00137a5ce92d591c": {
    "vx_ego": [
      7.096860531531863,
      6.616748645032056,
      6.133285044475228,
      5.768623958576988,
      5.61282562175532,
      5.5816359676716125,
      5.537091612150674,
      5.4491262786117005,
      5.467420677469034,
      5.61476412696976
    ],
    "vy_ego": [
      -0.04347361056370147,
      -0.05882994701745936,
      -0.07160022675505573,
      -0.05595418904780369,
      -0.029170055803275252,
      0.01361411403031565,
      0.023012172364208716,
      0.029754358897558397,
      0.036969510064791766,
      0.07491400201884879
    ],
    "v_ego": [
      7.09699368457026,
      6.617010170326144,
      6.133702962261449,
      5.768895322914123,
      5.612901420155939,
      5.581652570673514,
      5.537139431279139,
      5.449207513219698,
      5.467545665935529,
      5.615263868172623
    ],
    "ax_ego": [
      -0.9697803782638005,
      -0.9563971673212226,
      -0.9868903224877018,
      -0.4781565786754265,
      -0.1442355764414421,
      0.0289705429502152,
      -0.1916139547022616,
      -0.15801306960372385,
      0.20564892994317152,
      0.35651889517119556
    ],
    "ay_ego": [
      -0.42947038416331623,
      -0.458501091900042,
      -0.2830791640894149,
      -0.07297207653946378,
      0.23586904474389642,
      0.7160181007873906,
      1.2269192994913956,
      1.4746678009649072,
      1.3452964975867654,
      1.3133957610070954
    ],
    "a_ego": [
      1.0606218897132316,
      1.0606218897107438,
      1.026687061261338,
      0.4836927099771824,
      0.27647442518213744,
      0.7166039443193235,
      1.2417918002230073,
      1.4831093194260045,
      1.3609240055219796,
      1.3609240050956177
    ],
    "yaw": [
      1.9380320486330058,
      1.9078909954366878,
      1.8808305013629987,
      1.863054105365765,
      1.8655218233921436,
      1.9005258381557053,
      1.985733184148287,
      2.107402088766766,
      2.2361358276191616,
      2.349506104733106
    ],
    "yaw_diff": [
      -0.06028210639263598,
      -0.05412098814737831,
      -0.03555279199446737,
      0.004935436052757147,
      0.07000802952712348,
      0.17041469198516346,
      0.2433378092369578,
      0.2574674777047914,
      0.22674055422788886,
      0.22674055422788886
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.888031260950842,
    "v_std": 0.5295294348407773,
    "vy_max": 0.07491400201884879,
    "a_max": 1.4831093194260045,
    "ax_avg": -0.32939486794309963,
    "a_std": 0.3781954078134383,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "00137a5ce92d591c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "00137a5ce92d591c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9be9c9c84b625515": {
    "vx_ego": [
      4.602672467989219,
      4.427581124415019,
      4.161340866573974,
      3.7373039219918365,
      3.1790276219540536,
      2.789506266703772,
      2.6010376638141253,
      2.536601522765027,
      2.756826574655765,
      3.1362482983087845
    ],
    "vy_ego": [
      -0.1253445344117905,
      -0.08927882990948266,
      -0.06312600526978862,
      -0.009637362719821407,
      0.0033305472616333986,
      0.0007170138637564438,
      0.0022314421671838502,
      -0.04806595378709688,
      -0.07378597508493612,
      0.1043531778811988
    ],
    "v_ego": [
      4.604378904900516,
      4.4284811530304795,
      4.161819638134257,
      3.7373163478752716,
      3.1790293665979097,
      2.789506358854286,
      2.6010386209961953,
      2.5370568817445376,
      2.7578138321589933,
      3.13798390282338
    ],
    "ax_ego": [
      -0.350646562192251,
      -0.3310443348306174,
      -0.725492797017062,
      -0.9703927500384701,
      -1.2624748771518877,
      -0.29121350607820695,
      -0.45360880845814344,
      0.19233580789329233,
      0.6726713133098514,
      0.8418070504320982
    ],
    "ay_ego": [
      0.4509337456298051,
      0.4655146667790242,
      0.2992953311738604,
      0.06411094967437186,
      -0.07209203111733276,
      -0.3198686747330121,
      -0.5361820470965867,
      -0.6480787107286858,
      -0.9093866695664525,
      -0.7555340495982735
    ],
    "a_ego": [
      0.5712217209849166,
      0.5712217228098314,
      0.7848041117285961,
      0.9725082535358631,
      1.2645315640150294,
      0.43257516710719235,
      0.7023191146049658,
      0.6760170695313256,
      1.1311369548092594,
      1.131136954687431
    ],
    "yaw": [
      1.010565566298784,
      1.0533377365557322,
      1.0913300645720123,
      1.100717819756659,
      1.096436119098962,
      1.0631240305139786,
      0.9837985227794155,
      0.8851004922611929,
      0.7447467291651825,
      0.5422656430353752
    ],
    "yaw_diff": [
      0.08554434051389626,
      0.07598465603256033,
      0.018775510369293258,
      -0.008563401315393904,
      -0.06662417716996671,
      -0.1586510154691263,
      -0.19739606103644514,
      -0.2807075261920209,
      -0.4049621722596146,
      -0.4049621722596146
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.3934425007115827,
    "v_std": 0.7407846938797803,
    "vy_max": 0.1253445344117905,
    "a_max": 1.2645315640150294,
    "ax_avg": -0.2678059464131396,
    "a_std": 0.26907934856696275,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "9be9c9c84b625515",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "9be9c9c84b625515",
    "pedestrians": "No"
  },
  "7c2df54ec2df5a6e": {
    "vx_ego": [
      12.975105423280151,
      13.018582782045334,
      13.10845265998195,
      13.16524166172412,
      13.09889647049643,
      12.94914910010556,
      12.80768992150905,
      12.72829586571589,
      12.679784184122662,
      12.650538943571952
    ],
    "vy_ego": [
      -0.06079387075618048,
      -0.01111900439516808,
      0.00438285616621817,
      -0.021287737698050785,
      -0.014591075661359004,
      0.009220024271898733,
      -0.002585792839974954,
      -0.009547166015469646,
      -0.03201598288025399,
      -0.018120256126039458
    ],
    "v_ego": [
      12.975247845029994,
      13.018587530343911,
      13.108453392693434,
      13.165258872478459,
      13.09890459711318,
      12.949152382515706,
      12.807690182536785,
      12.72829944625672,
      12.679824603640501,
      12.65055192102355
    ],
    "ax_ego": [
      0.08672849838214715,
      0.08791465966094959,
      0.27189469678850914,
      -0.04556896561029842,
      -0.21987783581105308,
      -0.3791149590280262,
      -0.18671585928829654,
      -0.13087528327249456,
      -0.06270823753608874,
      -0.05595724637693304
    ],
    "ay_ego": [
      0.2323801493999631,
      0.2319339985649405,
      0.2812540778980254,
      -0.04331442045602071,
      0.03937527332618197,
      0.0332185681266472,
      -0.0846300670163302,
      -0.12476257713935245,
      -0.39935052162369616,
      -0.4003522801901215
    ],
    "a_ego": [
      0.24803702599969074,
      0.24803702762616398,
      0.39119123517275267,
      0.0628702604275941,
      0.22337563616129658,
      0.3805675044288552,
      0.20500014720227763,
      0.18081493418992958,
      0.4042439389477605,
      0.40424393832872535
    ],
    "yaw": [
      -1.584203379676641,
      -1.5790941174767128,
      -1.5704445809361944,
      -1.5639819377446094,
      -1.5645659069469922,
      -1.5650000276277367,
      -1.5650814829559851,
      -1.5686381551375232,
      -1.5771891087613885,
      -1.594072477730244
    ],
    "yaw_diff": [
      0.010218524399856488,
      0.01729907308103673,
      0.012925286383170143,
      -0.0011679384047655894,
      -0.0008682413614891082,
      -0.00016291065649687297,
      -0.007113344363076202,
      -0.01710190724773053,
      -0.0337667379377109,
      -0.0337667379377109
    ],
    "min_front_frame": [
      2,
      19.171280484135185
    ],
    "v_avg": 12.918197077363223,
    "v_std": 0.17914008985308444,
    "vy_max": 0.06079387075618048,
    "a_max": 0.4042439389477605,
    "ax_avg": -0.06342805320915848,
    "a_std": 0.10997342487070536,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "7c2df54ec2df5a6e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.91887777371184,
    "right_rear_min": 4.315922582948104,
    "speed_mode": "quasi_constant",
    "front_frame": [
      24.506716763520377,
      21.882476183047814,
      19.171280484135185,
      31.341781517151073,
      28.66105908539462,
      26.038253913400315,
      53.939691356789766,
      55.26955983966531,
      52.48049692215341,
      46.18835659678984
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7c2df54ec2df5a6e",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "ae68b10cd5085e7c": {
    "vx_ego": [
      7.1788493710135635,
      7.6065690038401375,
      7.948246936862975,
      8.188183236759283,
      8.373966069543266,
      8.5347977891528,
      8.683709758197061,
      8.815167873934987,
      8.96394295006587,
      9.12103060354019
    ],
    "vy_ego": [
      -0.07970678579251236,
      -0.052623809048066794,
      0.01446849363324762,
      0.01804024395405293,
      0.0019159912380379007,
      -0.004670218312693916,
      -0.015283445168807905,
      -0.010469326820471012,
      -0.02332443293870598,
      -0.04985019619967751
    ],
    "v_ego": [
      7.179291849716321,
      7.60675103283,
      7.948260105624355,
      8.188203109910479,
      8.373966288735842,
      8.534799066918131,
      8.683723207720469,
      8.815174090876457,
      8.963973295431414,
      9.121166828469802
    ],
    "ax_ego": [
      0.8557788883704204,
      0.857372472683272,
      0.5093270946570331,
      0.45032052272282863,
      0.29271295175744155,
      0.3507277670211741,
      0.2448897644375224,
      0.2808890864359176,
      0.31444432797474453,
      0.3146127135870747
    ],
    "ay_ego": [
      0.18668098385591303,
      0.1792198057674935,
      0.04314519185596373,
      0.00970703331646587,
      -0.00661889736630268,
      0.06903468054932888,
      -0.04010372600737314,
      0.03873459327917195,
      0.03546521910069371,
      0.033939032397595895
    ],
    "a_ego": [
      0.8759037021921554,
      0.8759037022951588,
      0.5111512466306448,
      0.4504251321597948,
      0.2927877762627736,
      0.3574573452570346,
      0.24815177929231066,
      0.2835472581339965,
      0.3164380147222342,
      0.31643801521104853
    ],
    "yaw": [
      3.1149931198219747,
      3.1237035324634195,
      3.1222329811926572,
      3.123426863057616,
      3.125462369054387,
      3.128089313356737,
      3.1301590135519675,
      3.1295693689976325,
      3.133103836894491,
      3.1379561354302434
    ],
    "yaw_diff": [
      0.017420825282889574,
      -0.002941102541524465,
      0.002387763729917225,
      0.004071011993541873,
      0.005253888604700663,
      0.004139400390460679,
      -0.0011792891086699342,
      0.007068935793716591,
      0.009704597071505283,
      0.009704597071505283
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.341530887623327,
    "v_std": 0.5868540870803963,
    "vy_max": 0.07970678579251236,
    "a_max": 0.8759037022951588,
    "ax_avg": 0.44710755896474297,
    "a_std": 0.22446707773656935,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ae68b10cd5085e7c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ae68b10cd5085e7c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "564bb94f846e5fe1": {
    "vx_ego": [
      -0.01812128808520738,
      0.020504350162437318,
      0.26114845409217363,
      1.0376449546584838,
      2.2241012206883206,
      3.4557996580208523,
      4.605151396863754,
      5.65530725876902,
      6.537456087866441,
      7.2992820752380885
    ],
    "vy_ego": [
      0.00027023375962478835,
      -4.222607420747114e-05,
      -0.0017681427136642253,
      0.006067682035060251,
      0.022852954206046494,
      0.025883903490288684,
      0.013886907275171279,
      0.004707306852134607,
      -0.000542131818566105,
      -0.020805251123269475
    ],
    "v_ego": [
      0.018123302904049246,
      0.02050439364197796,
      0.2611544397543109,
      1.0376626950476178,
      2.2242186262557966,
      3.455896591745322,
      4.605172334911024,
      5.655309217878663,
      6.537456110345132,
      7.299311725934601
    ],
    "ax_ego": [
      0.07725127409193419,
      0.07725129653080641,
      0.8853251606768634,
      2.2206665684988853,
      2.5251672042339033,
      2.4017781868476153,
      2.195739654639964,
      2.0048828861238643,
      1.5237041202134944,
      1.5236766200848475
    ],
    "ay_ego": [
      -0.0006268723503637524,
      -0.0006231906920062258,
      -0.006273413816332507,
      0.03841979751812097,
      0.027843204012726996,
      -0.029451154714321026,
      -0.039775395713090855,
      0.004299367640108964,
      -0.013364894493004043,
      -0.01619979135800198
    ],
    "a_ego": [
      0.07725381749642404,
      0.07725381014765023,
      0.8853473871020487,
      2.2209988944819283,
      2.5253207030688523,
      2.4019587484657237,
      2.1960998868591024,
      2.0048874960043173,
      1.523762732960873,
      1.5237627360692436
    ],
    "yaw": [
      -0.5893880555039035,
      -0.5894355965389999,
      -0.5893911826655653,
      -0.5889750524615565,
      -0.5891128705444493,
      -0.5903151410688093,
      -0.5916241488149168,
      -0.5915638866659868,
      -0.5910793506759549,
      -0.5892188059746097
    ],
    "yaw_diff": [
      -9.508207019282011e-05,
      8.882774686913564e-05,
      0.0008322604080177598,
      -0.000275636165785631,
      -0.0024045410487201213,
      -0.0026180154922148535,
      0.00012052429785991414,
      0.0009690719800639069,
      0.0037210894026902253,
      0.0037210894026902253
    ],
    "min_front_frame": [
      6,
      38.01382410549953
    ],
    "v_avg": 3.1114809438418494,
    "v_std": 2.6538904679127704,
    "vy_max": 0.025883903490288684,
    "a_max": 2.5253207030688523,
    "ax_avg": 1.543544297194218,
    "a_std": 0.8678935746240498,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "564bb94f846e5fe1",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.825151670538636,
    "speed_mode": "accelerating",
    "front_frame": [
      42.89680923373754,
      42.889509007971775,
      42.88342822216053,
      42.49387383653134,
      41.521511924091,
      40.10540071636681,
      38.01382410549953,
      44.787249262842984,
      41.77769870652164,
      38.407306118930606
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "564bb94f846e5fe1",
    "pedestrians": "No"
  },
  "ce9f5160229b5755": {
    "vx_ego": [
      11.948680286462665,
      11.828582599421228,
      11.716662839173805,
      11.596309006709792,
      11.438320945116466,
      11.318425728247629,
      11.318393149331916,
      11.41111202464537,
      11.509583110970727,
      11.5787390099754
    ],
    "vy_ego": [
      0.0015588988257597691,
      -0.006274613605786072,
      0.009724042478152839,
      0.010552836010200295,
      -0.02095334680477645,
      -0.02297403408492471,
      -0.006656975243659602,
      0.01352322925440319,
      0.023391874704103977,
      -0.020437919402509053
    ],
    "v_ego": [
      11.948680388154461,
      11.82858426364316,
      11.716666874323879,
      11.596313808337824,
      11.438340136848195,
      11.318449044462762,
      11.318395107000066,
      11.41112003778488,
      11.509606881563974,
      11.578757047700568
    ],
    "ax_ego": [
      -0.24923551307598735,
      -0.2307941156837624,
      -0.2162408962875702,
      -0.26843600310078386,
      -0.3640242399232103,
      -0.11401225268578391,
      0.11397976759109721,
      0.25578388589150325,
      0.13790018990975886,
      0.1386718490958434
    ],
    "ay_ego": [
      0.6509491208161206,
      0.6577135972839829,
      0.7177549027091819,
      0.5600955628999281,
      0.4782541401983993,
      0.4519587076744458,
      0.3455036600777177,
      0.08154277280060959,
      0.09721187381793633,
      0.0961078974890063
    ],
    "a_ego": [
      0.6970316340522364,
      0.6970316347817272,
      0.7496213881622634,
      0.6210997724527931,
      0.6010330023123366,
      0.46611743928461014,
      0.3638188650238187,
      0.268467167597398,
      0.16872051087032047,
      0.16872050761960655
    ],
    "yaw": [
      2.114130370184373,
      2.142312081647648,
      2.170164663539777,
      2.1974829969414786,
      2.2227298952994143,
      2.2434017050167547,
      2.2596148115569488,
      2.2672450903771315,
      2.270279489881072,
      2.2782627482415974
    ],
    "yaw_diff": [
      0.056363422926549944,
      0.05570516378425783,
      0.05463666680340307,
      0.0504937967158714,
      0.04134361943468079,
      0.03242621308038807,
      0.01526055764036549,
      0.006068799007881154,
      0.01596651672105054,
      0.01596651672105054
    ],
    "min_front_frame": [
      9,
      78.79161347724417
    ],
    "v_avg": 11.566491358981976,
    "v_std": 0.2013030607573131,
    "vy_max": 0.023391874704103977,
    "a_max": 0.7496213881622634,
    "ax_avg": -0.07964073282688953,
    "a_std": 0.2129990080719787,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "ce9f5160229b5755",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.79161347724417
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "ce9f5160229b5755",
    "road_shape": "Straight"
  },
  "ddf632a3ce305812": {
    "vx_ego": [
      3.883057602233023,
      4.551090736016304,
      5.257912366787771,
      5.986088459708225,
      6.675513600651554,
      7.308972834815326,
      7.931770996966781,
      8.535927276054478,
      9.074450144821853,
      9.590369477917559
    ],
    "vy_ego": [
      0.03182440041515017,
      0.02909475638110516,
      0.023642651782013604,
      0.003552869451696375,
      -0.010699748454132638,
      0.012132932370638547,
      0.04109700667210439,
      0.03519833346944624,
      0.0029537852861296066,
      -0.05513181695379881
    ],
    "v_ego": [
      3.883188011765778,
      4.551183735282756,
      5.25796552212004,
      5.986089514059519,
      6.675522175612995,
      7.308982905173353,
      7.931877464527601,
      8.535999846811729,
      9.07445062555882,
      9.590527943768963
    ],
    "ax_ego": [
      1.3361394474386883,
      1.3361640274282587,
      1.4912627843246655,
      1.4214513858051336,
      1.336418735763066,
      1.1974336143597584,
      1.2937638050146192,
      1.1219609619201176,
      1.0318652470236236,
      1.0318377561092242
    ],
    "ay_ego": [
      -0.01832954369853371,
      -0.016440267512896276,
      -0.02980657242856388,
      -0.05386977275668972,
      0.058067224431364896,
      0.01541701702204089,
      0.09821496823633236,
      0.04333620694333693,
      -0.11144505285006759,
      -0.11169929930180954
    ],
    "a_ego": [
      1.3362651664897802,
      1.3362651647742674,
      1.4915606335887566,
      1.4224717904493545,
      1.3376796476928674,
      1.1975328576755346,
      1.2974864019139352,
      1.1227975894634579,
      1.0378660259493409,
      1.0378660262273904
    ],
    "yaw": [
      -1.5704332710755184,
      -1.5718472398611967,
      -1.5730978971468494,
      -1.5732451788520976,
      -1.5708321625372026,
      -1.5714686623342096,
      -1.5715417502701445,
      -1.5665405680879534,
      -1.5648145522211967,
      -1.5645681514131198
    ],
    "yaw_diff": [
      -0.0028279375713564647,
      -0.002501314571305535,
      -0.00029456341049627355,
      0.004826032629789978,
      -0.001272999594013946,
      -0.00014617587186993575,
      0.010002364364382288,
      0.003452031733513383,
      0.0004928016161538373,
      0.0004928016161538373
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.879578774468156,
    "v_std": 1.845847550753271,
    "vy_max": 0.05513181695379881,
    "a_max": 1.4915606335887566,
    "ax_avg": 1.2598297765187156,
    "a_std": 0.148482832576671,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "ddf632a3ce305812",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.302939997235693,
    "right_rear_min": 6.327828943786434,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ddf632a3ce305812",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4bbfb5ec60205e63": {
    "vx_ego": [
      7.9322516796825475,
      7.786258177660219,
      7.646252163969825,
      7.369704607771419,
      6.862662269482102,
      6.123294388280252,
      5.248399808747667,
      4.525766942219157,
      4.099239228412028,
      3.8250930848192946
    ],
    "vy_ego": [
      0.06539315277099744,
      0.052568691327986805,
      0.059246719634092226,
      0.04524258705177475,
      0.005462829273652048,
      -0.01775541195246122,
      -0.0020440603391089773,
      0.035571748977881956,
      0.039837803580091036,
      -0.05632047997115541
    ],
    "v_ego": [
      7.932521224318024,
      7.786435633618798,
      7.646481696100542,
      7.369843478493313,
      6.862664443747552,
      6.123320130468276,
      5.248400206791134,
      4.525906733971556,
      4.099432802516236,
      3.8255076923196176
    ],
    "ax_ego": [
      -0.29170737705353206,
      -0.28992612040411614,
      -0.26583960295596915,
      -0.8384207158621066,
      -1.1893668139910814,
      -1.7682520231808136,
      -1.7312313116850642,
      -1.1594995270480792,
      -0.5479385073070738,
      -0.5476098415440622
    ],
    "ay_ego": [
      -0.1792070840136739,
      -0.18207475550032026,
      -0.2763942741113485,
      -0.1633783941960288,
      -0.12708207023372553,
      -0.013255990236545667,
      0.09868968770163555,
      0.11964772790931977,
      0.005616887637443113,
      0.019789138875655476
    ],
    "a_ego": [
      0.34235708374172064,
      0.3423570824199252,
      0.3834898815631601,
      0.8541907260540823,
      1.196136811070617,
      1.7683017103311844,
      1.7340419571098717,
      1.1656563524549515,
      0.5479672957546242,
      0.5479672878679465
    ],
    "yaw": [
      0.9332804067736121,
      0.9234197310650999,
      0.9076944695094904,
      0.8950370242276162,
      0.8904511217377571,
      0.8886437103099522,
      0.8896377002302562,
      0.8931613464211678,
      0.89954700262988,
      0.925417986322443
    ],
    "yaw_diff": [
      -0.01972135141702447,
      -0.031450523111218986,
      -0.02531489056374836,
      -0.009171804979718257,
      -0.0036148228556098783,
      0.0019879798406081672,
      0.0070472923818232225,
      0.012771312417424241,
      0.05174196738512604,
      0.05174196738512604
    ],
    "min_front_frame": [
      7,
      36.811023213902835
    ],
    "v_avg": 6.142051404234505,
    "v_std": 1.5214927257044941,
    "vy_max": 0.06539315277099744,
    "a_max": 1.7683017103311844,
    "ax_avg": -0.8629791841031897,
    "a_std": 0.5239398083791215,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "4bbfb5ec60205e63",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 44.45851649219255,
    "right_rear_min": 16.283568228430774,
    "speed_mode": "decelerating",
    "front_frame": [
      60.19437082802062,
      56.27771657741152,
      52.459646331758044,
      48.73192939167863,
      45.16406821354072,
      41.968184318870094,
      39.156119186150164,
      36.811023213902835,
      55.013765921251476,
      53.016791668241545
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4bbfb5ec60205e63",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d3d7a91aff375fc5": {
    "vx_ego": [
      4.694898639405594,
      4.83576776290252,
      5.04599763461867,
      5.2839165079922825,
      5.518789337136155,
      5.737260581800243,
      5.914208826814647,
      6.095173527601821,
      6.235723736294669,
      6.320392365741274
    ],
    "vy_ego": [
      0.06615153775530369,
      -0.009781628688521504,
      -0.0409465855521276,
      -0.04779495055720817,
      -0.05278644882520789,
      -0.018854316069224275,
      0.03582856095734677,
      0.05503733737698102,
      0.017504794717568828,
      0.003848390326943729
    ],
    "v_ego": [
      4.695364656790768,
      4.835777655867466,
      5.046163765817117,
      5.284132664944373,
      5.519041778865902,
      5.737291562114766,
      5.914317351389977,
      6.0954220067263245,
      6.235748305795131,
      6.320393537354196
    ],
    "ax_ego": [
      0.21609864425414266,
      0.3320572423125028,
      0.5078048958023064,
      0.4456527642821257,
      0.5004313788474416,
      0.3769974522967973,
      0.3291348606427899,
      0.392671483851011,
      0.16762894410736873,
      0.17034775525306367
    ],
    "ay_ego": [
      0.9927505553968785,
      0.9602032471833484,
      0.7344197695427493,
      0.4407788371821951,
      0.3777684146627954,
      0.3578950902312999,
      0.19145294442818894,
      0.10351157910940953,
      0.17294521800348267,
      0.17026788740255383
    ],
    "a_ego": [
      1.015998173861198,
      1.0159981732629397,
      0.8928819687371989,
      0.6268112711334951,
      0.6270092025257631,
      0.5198230224316217,
      0.38076762785269963,
      0.4060856328897618,
      0.24085163759630845,
      0.2408516373211659
    ],
    "yaw": [
      -2.693919034900591,
      -2.575306281946092,
      -2.4829084351794446,
      -2.4248030148026696,
      -2.385948307134602,
      -2.359373285659469,
      -2.3452003172671825,
      -2.3361067270623845,
      -2.3188882322115685,
      -2.3030452782749244
    ],
    "yaw_diff": [
      0.23722550590899782,
      0.18479569353329506,
      0.11621084075355004,
      0.07770941533613485,
      0.05315004295026604,
      0.02834593678457331,
      0.018187180409595882,
      0.034436989701632115,
      0.031685907873288066,
      0.031685907873288066
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.5683653285666015,
    "v_std": 0.5560291758937178,
    "vy_max": 0.06615153775530369,
    "a_max": 1.015998173861198,
    "ax_avg": 0.343882542164955,
    "a_std": 0.2798745828616537,
    "ini_direction_judge": "left",
    "scenario_type": "lane_change",
    "scene_token": "d3d7a91aff375fc5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 11,
    "token": "d3d7a91aff375fc5",
    "smoothness": "No"
  },
  "dac5a6aa183b5e73": {
    "vx_ego": [
      2.8214708208460535,
      2.8195791336003118,
      2.8495065483025317,
      2.9183484323807853,
      2.9863094723205594,
      3.04193860788685,
      3.0885789686229232,
      3.1359222637689097,
      3.194608697723214,
      3.254556007196363
    ],
    "vy_ego": [
      0.037627400939273414,
      -0.04832204876612689,
      -0.06399091313394956,
      -0.05401555526072449,
      -0.039236489510031614,
      -0.03848988317794416,
      -0.0037198691316908603,
      0.016062437720305134,
      0.003470334337696168,
      -0.02559439585069767
    ],
    "v_ego": [
      2.8217217109749053,
      2.8199931757065015,
      2.8502249745910806,
      2.918848275088911,
      2.9865672211722556,
      3.0421821058673726,
      3.0885812087180415,
      3.135963400026703,
      3.194610582651542,
      3.2546566450359853
    ],
    "ax_ego": [
      -0.015392296832350827,
      0.009623927570524191,
      0.11307707559253523,
      0.16090951746629117,
      0.10811039927754179,
      0.11040067166591619,
      0.06633223635405396,
      0.1296389722809982,
      0.10574786308618966,
      0.13124696440535316
    ],
    "ay_ego": [
      0.29909050626749867,
      0.2993316449437255,
      0.02469366340473404,
      -0.06878160307943626,
      -0.2764540270324955,
      -0.45605366395841224,
      -0.37635836166589537,
      -0.49871305262353194,
      -0.43889643997252276,
      -0.4319570928173827
    ],
    "a_ego": [
      0.2994863164505582,
      0.2994863162927469,
      0.11574196316334982,
      0.1749936619806894,
      0.2968411822750227,
      0.4692262276494973,
      0.38215910557720195,
      0.5152872713265438,
      0.45145619451708685,
      0.45145619466440484
    ],
    "yaw": [
      0.05067786625735954,
      0.13423649775841973,
      0.1684955536980431,
      0.1611996447823444,
      0.12703926167872714,
      0.06604841169972671,
      -0.01300236079445532,
      -0.08980873075715085,
      -0.159790457627267,
      -0.2183348987789516
    ],
    "yaw_diff": [
      0.16711726300212038,
      0.06851811187924672,
      -0.014591817831397402,
      -0.06832076620723448,
      -0.12198169995800087,
      -0.15810154498836407,
      -0.15361273992539104,
      -0.13996345374023234,
      -0.11708888230336917,
      -0.11708888230336917
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.01133492998333,
    "v_std": 0.14930997671727486,
    "vy_max": 0.06399091313394956,
    "a_max": 0.5152872713265438,
    "ax_avg": 0.09196953308670527,
    "a_std": 0.1250585679132642,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "dac5a6aa183b5e73",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "dac5a6aa183b5e73",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "10c9b6cd8a2e55f8": {
    "vx_ego": [
      0.9023999270604856,
      0.5076630250091538,
      0.17380100171476945,
      0.0001087584337203032,
      -0.029997675664302743,
      -0.017576479148432772,
      -0.010223700526029854,
      -0.007018921068132103,
      -0.005047149441661059,
      -0.003464920365517284
    ],
    "vy_ego": [
      -0.0036687907303263323,
      0.00868469050121981,
      0.015419502809090511,
      0.010218284995481516,
      0.0031848219031406447,
      0.00137758992760606,
      0.0005093548217498514,
      0.0002708544848607688,
      0.0001823453977986434,
      5.385236396836181e-05
    ],
    "v_ego": [
      0.9024073849344278,
      0.5077373049230741,
      0.17448366474812718,
      0.010218863764909873,
      0.030166266520990387,
      0.017630382107712065,
      0.010236380941542911,
      0.007024145151734686,
      0.005050442290587815,
      0.0034653388314104887
    ],
    "ax_ego": [
      -0.7894675338347348,
      -0.7894763661302943,
      -0.5459621485414227,
      -0.14879559914027346,
      0.028370192912492355,
      0.021314475090341727,
      0.008096599485154576,
      0.004722595998047785,
      0.0031644585923069164,
      0.003164450734636097
    ],
    "ay_ego": [
      0.024336243943334335,
      0.02404799172589539,
      0.002689048680021844,
      -0.023519976174311306,
      -0.004610923804180834,
      -0.0026191422894897547,
      -0.0008542415699329189,
      -9.718267529201319e-05,
      -0.0002572112033351554,
      -0.0002573164992446496
    ],
    "a_ego": [
      0.7898425411108011,
      0.7898425403739299,
      0.5459687707394719,
      0.15064302042495403,
      0.0287424505604514,
      0.02147479347303232,
      0.008141538668016434,
      0.00472359581602341,
      0.0031748946101479007,
      0.00317489531051379
    ],
    "yaw": [
      1.1017628250651126,
      1.1013977046835528,
      1.1012347905958393,
      1.1010602156969709,
      1.1010402902259822,
      1.101052667342393,
      1.101061658971231,
      1.1009829570522238,
      1.1009980516157811,
      1.1010308783921563
    ],
    "yaw_diff": [
      -0.0007302407631195607,
      -0.00032582817542703424,
      -0.0003491497977368141,
      -3.985094197744843e-05,
      2.4754232821777578e-05,
      1.7983257675879827e-05,
      -0.000157403838014325,
      3.0189127114610415e-05,
      6.565355275034435e-05,
      6.565355275034435e-05
    ],
    "min_front_frame": [
      2,
      9.87391843421419
    ],
    "v_avg": 0.16684201742145174,
    "v_std": 0.28735607136830105,
    "vy_max": 0.015419502809090511,
    "a_max": 0.7898425411108011,
    "ax_avg": -0.22048688748337458,
    "a_std": 0.319316343972939,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "10c9b6cd8a2e55f8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.4722140159007187,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.36835880187332,
      10.016034598566023,
      9.87391843421419,
      9.882016528448736,
      9.897674465220042,
      9.895397693509777,
      9.896330376205759,
      9.894122739728402,
      9.891859353660182,
      9.90380056079209
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "10c9b6cd8a2e55f8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dd1ab5d48c6358ef": {
    "vx_ego": [
      4.862575653625522,
      4.569103776194137,
      4.229171623427138,
      3.764449505139737,
      3.2600780384295565,
      2.822547245327154,
      2.3615646869508073,
      1.7902052976016383,
      1.1848218685173437,
      0.6039282452065172
    ],
    "vy_ego": [
      0.016084617300906157,
      -0.0012057758128538598,
      -0.011819597425029249,
      -0.014910379836510002,
      -0.014246923142888557,
      -0.013668296104655586,
      -0.00619598630150453,
      -0.008872450662457565,
      -0.012591499428542041,
      -0.006049524479742219
    ],
    "v_ego": [
      4.862602256214814,
      4.569103935294844,
      4.2291881399725675,
      3.764479033833723,
      3.2601091686429373,
      2.8225803397640092,
      2.361572815074588,
      1.7902272838781472,
      1.18488877367236,
      0.6039585433658954
    ],
    "ax_ego": [
      -0.5876025241149098,
      -0.5866059989119929,
      -0.7732953400702094,
      -1.085778940744632,
      -0.9321609663734369,
      -0.8182858283181641,
      -1.0257035011905908,
      -1.2597776028684304,
      -1.1617743636396711,
      -1.161757337669217
    ],
    "ay_ego": [
      0.07758244089359173,
      0.08478887830808315,
      -0.03046059916264124,
      -0.053027955694040896,
      -0.05451767324175519,
      0.013121192383945962,
      -0.0026766362715016645,
      -0.03096501724511075,
      0.014446390074209225,
      0.015756833028140738
    ],
    "a_ego": [
      0.5927020849307186,
      0.5927020768010519,
      0.7738950387976704,
      1.087073075855356,
      0.933753845467827,
      0.8183910205494196,
      1.025706993608002,
      1.2601581015816703,
      1.1618641788937891,
      1.1618641871644653
    ],
    "yaw": [
      -1.8764314486130553,
      -1.86415706545389,
      -1.8586859579274086,
      -1.8630917796392155,
      -1.8709787640346227,
      -1.8745887586359382,
      -1.8764455962308269,
      -1.8791693744272964,
      -1.8794477035797503,
      -1.8783197277872148
    ],
    "yaw_diff": [
      0.024548766318330806,
      0.010942215052962556,
      -0.008811643423613624,
      -0.015773968790814497,
      -0.007219989202631005,
      -0.003713675189777277,
      -0.005447556392939035,
      -0.0005566583049079199,
      0.002255951585071081,
      0.002255951585071081
    ],
    "min_front_frame": [
      8,
      9.402164875753753
    ],
    "v_avg": 2.944871028971389,
    "v_std": 1.3784858070793848,
    "vy_max": 0.016084617300906157,
    "a_max": 1.2601581015816703,
    "ax_avg": -0.9392742403901254,
    "a_std": 0.2266205082007617,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dd1ab5d48c6358ef",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 42.17391589824873,
    "right_rear_min": 31.822619951141018,
    "speed_mode": "decelerating",
    "front_frame": [
      22.102104660476733,
      19.785099578413973,
      17.603800336774018,
      15.632487316738986,
      13.923731123368116,
      12.452010169559014,
      11.159990214633984,
      10.108887939867339,
      9.402164875753753,
      72.33610329377946
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dd1ab5d48c6358ef",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5862cc032cf45893": {
    "vx_ego": [
      6.077958663014832,
      6.266922152595068,
      6.452686742977512,
      6.633068872134771,
      6.795162831455478,
      6.941430097414092,
      7.0710866295635935,
      7.182958311338016,
      7.2043712829914,
      7.136144783155907
    ],
    "vy_ego": [
      0.015812641108826186,
      0.01686736348125817,
      0.010817101684894137,
      -0.007958956509918735,
      -0.04434904004723439,
      -0.047835490343894005,
      -0.013497179209029042,
      0.028361189428615763,
      0.0710528126246377,
      0.06701638142682764
    ],
    "v_ego": [
      6.07797923235477,
      6.266944851730994,
      6.452695809712914,
      6.633073647071316,
      6.795307553256669,
      6.941594919859748,
      7.071099511153808,
      7.183014301773712,
      7.204721652178731,
      7.136459455608419
    ],
    "ax_ego": [
      0.37547313141825184,
      0.37919512697099383,
      0.36281906380749906,
      0.35846647040634044,
      0.2913362890540451,
      0.2957656045258972,
      0.2244398845018617,
      0.22241830469938823,
      -0.1362174392398399,
      -0.1361463616271344
    ],
    "ay_ego": [
      0.21866315232773348,
      0.21214311661186427,
      0.20150975754666675,
      0.18541257789275195,
      0.13934629476736526,
      0.14501413098865557,
      0.24731212085505155,
      0.15263473798749533,
      -0.03608322683176367,
      -0.03635049067113597
    ],
    "a_ego": [
      0.4345039086164006,
      0.43450390820376195,
      0.41502271678628205,
      0.4035790312273614,
      0.3229461614343412,
      0.3294030828741048,
      0.33397087728877295,
      0.26975408339052304,
      0.14091554212240742,
      0.14091554192614383
    ],
    "yaw": [
      -1.2589387583146898,
      -1.241659979786073,
      -1.2244541740444188,
      -1.2068023023851746,
      -1.1893122793055424,
      -1.1784534241416456,
      -1.1693670047547882,
      -1.1612112898422908,
      -1.1630837429382521,
      -1.1650462958994967
    ],
    "yaw_diff": [
      0.03455755705723362,
      0.0344116114833084,
      0.0353037433184884,
      0.03498004615926442,
      0.021717710327793682,
      0.018172838773714783,
      0.016311429824994672,
      -0.0037449061919225812,
      -0.0039251059224891804,
      -0.0039251059224891804
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.776289093470109,
    "v_std": 0.3828308946158352,
    "vy_max": 0.0710528126246377,
    "a_max": 0.4345039086164006,
    "ax_avg": 0.22375500745173027,
    "a_std": 0.10446596672204515,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5862cc032cf45893",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5862cc032cf45893",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d2b6dcd76085519e": {
    "vx_ego": [
      1.3371779212249275,
      1.7896887096174012,
      2.3275566744016,
      2.9342016242366844,
      3.3877149080832973,
      3.588988026925077,
      3.62932470556403,
      3.618649989986732,
      3.562594762968647,
      3.466905135322673
    ],
    "vy_ego": [
      -0.035538320691070435,
      -0.014614040176831988,
      0.00779766830442119,
      0.01347986439058979,
      0.0013991934870534184,
      0.009305203264721174,
      0.009081135029465504,
      0.009397446824713551,
      0.01631137888211498,
      0.02993566388493707
    ],
    "v_ego": [
      1.3376500907370956,
      1.7897483754713368,
      2.327569736051408,
      2.934232587648291,
      3.387715197030624,
      3.5890000897491428,
      3.629336066752548,
      3.618662192307787,
      3.562632103685794,
      3.4670343755577266
    ],
    "ax_ego": [
      0.9050938345168222,
      0.9052497515149437,
      1.2462981344668393,
      1.1798230567423449,
      0.6337855492995365,
      0.17128419264812217,
      -0.00998137962165274,
      -0.03273780183299635,
      -0.19160459053319437,
      -0.1914469584064366
    ],
    "ay_ego": [
      0.05271808115408616,
      0.04996936947110031,
      0.06721830782369131,
      0.055004348973474226,
      0.025094422129549987,
      0.019996476331539968,
      -0.00837260763744055,
      0.023761556455844032,
      0.04928889065142282,
      0.0498976925498749
    ],
    "a_ego": [
      0.9066278428114447,
      0.9066278456473784,
      1.2481095067670163,
      1.1811045354357277,
      0.6342821552928406,
      0.1724474810392917,
      0.01302798901604052,
      0.040452135098914155,
      0.19784264923175943,
      0.19784265870857504
    ],
    "yaw": [
      -2.13622759672625,
      -2.1331909235976463,
      -2.129775630326682,
      -2.1203510356623294,
      -2.110408954453219,
      -2.1094595586933296,
      -2.108597721353588,
      -2.107624165660825,
      -2.104480908740956,
      -2.1013021867607637
    ],
    "yaw_diff": [
      0.006073346257207568,
      0.006830586541928696,
      0.01884918932870505,
      0.01988416241822044,
      0.0018987915197792304,
      0.0017236746794830893,
      0.001947111385526057,
      0.006286513839738106,
      0.006357443960384401,
      0.006357443960384401
    ],
    "min_front_frame": [
      0,
      18.336998044238367
    ],
    "v_avg": 2.9643580814991752,
    "v_std": 0.805147659081737,
    "vy_max": 0.035538320691070435,
    "a_max": 1.2481095067670163,
    "ax_avg": 0.46157637887943287,
    "a_std": 0.45669172703943284,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d2b6dcd76085519e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.665504559224804,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      18.336998044238367,
      19.430195195023853,
      20.250909156276197,
      20.49454334052341,
      20.51644659596422,
      20.40838937347536,
      20.202974463687845,
      19.970896159145514,
      19.693853767981476,
      19.391514301574766
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d2b6dcd76085519e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cb5ec9cf4fb556c7": {
    "vx_ego": [
      11.406035420955085,
      10.578800631649605,
      9.75510117895099,
      8.970313990914216,
      8.136665649218715,
      7.307056588146239,
      6.655559578077212,
      6.031777902345535,
      5.368243861776905,
      4.728278454636555
    ],
    "vy_ego": [
      0.3039889497983651,
      0.3082034650643615,
      0.28622076164570004,
      0.25811512191180674,
      0.25473823732374234,
      0.22846421200094225,
      0.19303915586096398,
      0.1569644758277059,
      0.14512319256143724,
      0.13363350743188498
    ],
    "v_ego": [
      11.410085595896359,
      10.583289289255385,
      9.759299223610682,
      8.974026772399938,
      8.140652274647936,
      7.310627324555435,
      6.658358462341212,
      6.033819893723691,
      5.370205107863631,
      4.730166493781037
    ],
    "ax_ego": [
      -1.655153312287873,
      -1.6551180785886876,
      -1.6402547586800484,
      -1.4995224960855997,
      -1.8349123695326188,
      -1.4836698275213918,
      -1.121167728123736,
      -1.3733301389697679,
      -1.2799507739467966,
      -1.2799524333261698
    ],
    "ay_ego": [
      0.03146659600295091,
      0.03326882966411699,
      -0.10259643679350977,
      0.012963081834766044,
      -0.031671007965590255,
      -0.06887493041480897,
      -0.109791986480518,
      -0.05829024648660886,
      -0.022273786054207663,
      -0.022178285969103664
    ],
    "a_ego": [
      1.6554523955226046,
      1.6554524061712947,
      1.6434602831268144,
      1.4995785267059016,
      1.8351856736061793,
      1.4852676234056275,
      1.1265306719665815,
      1.374566631138044,
      1.2801445642083522,
      1.2801445652527337
    ],
    "yaw": [
      1.5637805163791065,
      1.5648693890657541,
      1.5653269157217207,
      1.5659365710875113,
      1.5657853162678097,
      1.5659334728826528,
      1.5646010509194705,
      1.5636683917434753,
      1.562209314700831,
      1.5622839279320768
    ],
    "yaw_diff": [
      0.0021777453732951813,
      0.0009150533119330895,
      0.0012193107315812135,
      -0.0003025096394031479,
      0.0002963132296862625,
      -0.0026648439263645685,
      -0.0018653183519905525,
      -0.0029181540852887267,
      0.00014922646249182492,
      0.00014922646249182492
    ],
    "min_front_frame": [
      9,
      18.99473096417799
    ],
    "v_avg": 7.8970530438075315,
    "v_std": 2.144958386169242,
    "vy_max": 0.3082034650643615,
    "a_max": 1.8351856736061793,
    "ax_avg": -1.4823031917062688,
    "a_std": 0.20752527310634164,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cb5ec9cf4fb556c7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 42.9757191351163,
    "right_rear_min": 4.069313511726788,
    "speed_mode": "decelerating",
    "front_frame": [
      46.73426538185584,
      42.868207930313226,
      39.255164893271484,
      35.86396619228743,
      32.61595736402495,
      29.701032740064086,
      26.95006730881798,
      24.174340042402335,
      21.563705039434673,
      18.99473096417799
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cb5ec9cf4fb556c7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5445d4283a475bf6": {
    "vx_ego": [
      11.406435921204652,
      10.898243735342573,
      10.401456765823625,
      9.883879776611007,
      9.245433716795281,
      8.497849236954234,
      7.795630734514882,
      7.174510428877182,
      6.556916374983795,
      5.928472476448924
    ],
    "vy_ego": [
      -0.05345532449551982,
      0.0005562236094442952,
      0.0121805371068886,
      0.004523285808654798,
      -0.00743749366062918,
      -0.029960041049192476,
      -0.02466278790254739,
      0.01865351480997335,
      0.016690154320000872,
      -0.004779442898442454
    ],
    "v_ego": [
      11.406561177509404,
      10.89824374953682,
      10.401463897778152,
      9.883880811635406,
      9.245436708342497,
      8.4979020503924,
      7.79566974685435,
      7.174534678129461,
      6.556937616737089,
      5.928474403005115
    ],
    "ax_ego": [
      -1.016900756697109,
      -1.0165772171575718,
      -0.9701300033627367,
      -1.0999275167459284,
      -1.4534995414072016,
      -1.5379063538595377,
      -1.2715577454931826,
      -1.2130463654141264,
      -1.2570892878543338,
      -1.2565491110937073
    ],
    "ay_ego": [
      -0.04312865954824152,
      -0.05017951567447565,
      -0.15083235827929875,
      -0.15734759073755578,
      -0.24619468071941863,
      -0.10380074629042957,
      0.00957858288438107,
      0.050487443987548564,
      -0.10316129523906536,
      -0.10954480390435939
    ],
    "a_ego": [
      1.0178149292703371,
      1.0178149253362114,
      0.981785426520825,
      1.1111250183511205,
      1.4742024072987678,
      1.5414053808690262,
      1.2715938224817618,
      1.2140965639704355,
      1.2613150797772608,
      1.2613150806411657
    ],
    "yaw": [
      -0.5859463669608646,
      -0.5928811053070713,
      -0.5986944129136114,
      -0.6055246319446165,
      -0.6147790298663924,
      -0.6220943428308097,
      -0.625650508738206,
      -0.6294350340504704,
      -0.6310657630068377,
      -0.636144852719225
    ],
    "yaw_diff": [
      -0.013869476692413452,
      -0.011626615213080171,
      -0.013660438062010227,
      -0.018508795843551917,
      -0.014630625928834462,
      -0.0071123318147927606,
      -0.007569050624528728,
      -0.0032614579127345777,
      -0.010158179424774705,
      -0.010158179424774705
    ],
    "min_front_frame": [
      9,
      71.96541069177854
    ],
    "v_avg": 8.77891048399207,
    "v_std": 1.7930227680964512,
    "vy_max": 0.05345532449551982,
    "a_max": 1.5414053808690262,
    "ax_avg": -1.2093183899085436,
    "a_std": 0.18004514887324113,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5445d4283a475bf6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.52521441090008,
      75.10457556232679,
      71.96541069177854
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5445d4283a475bf6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0dfcc232f8445d3f": {
    "vx_ego": [
      6.14695033288822,
      6.006582771353391,
      5.908634622367628,
      5.892973521132132,
      5.866923148924947,
      5.756798540198011,
      5.6027716226818605,
      5.441273762540965,
      5.201080883983316,
      4.881407911066457
    ],
    "vy_ego": [
      0.012019863200207925,
      0.01325179157172332,
      0.03910536503306286,
      0.04950700015047288,
      0.03493677770410558,
      0.0046295562721326705,
      -0.004603396653699769,
      -0.014938825638143971,
      -0.016829321297171934,
      0.044995172787150955
    ],
    "v_ego": [
      6.146962084811158,
      6.006597389462627,
      5.908764027291647,
      5.893181472161563,
      5.867027170026381,
      5.7568004017177135,
      5.602773513822407,
      5.44129426951237,
      5.201108111527004,
      4.881615281830015
    ],
    "ax_ego": [
      -0.2811195299627178,
      -0.2806534187434695,
      -0.111486375656854,
      0.046949482473515096,
      -0.15211980476358067,
      -0.28890169031625584,
      -0.3273336279991681,
      -0.31857994722882416,
      -0.6418377847299086,
      -0.6345993899037453
    ],
    "ay_ego": [
      0.07565090147859374,
      0.07736215484690187,
      0.17892409800850606,
      0.04499817740064404,
      0.024444543229633128,
      0.06918466877969548,
      0.025014284788097675,
      -0.0007475976424778558,
      -0.20455678352350917,
      -0.22601511611706054
    ],
    "a_ego": [
      0.29112067776264755,
      0.2911206699204872,
      0.21081519111595978,
      0.06503145295863175,
      0.15407131691205636,
      0.29707020224476566,
      0.3282880114511613,
      0.318580824404978,
      0.6736462124828435,
      0.6736462115826186
    ],
    "yaw": [
      -1.6135325584368285,
      -1.6074402433345223,
      -1.6010024268075644,
      -1.5932522636784923,
      -1.587844688079659,
      -1.5786296380237597,
      -1.572862712600908,
      -1.569891819287748,
      -1.5791120876852358,
      -1.6127311532273296
    ],
    "yaw_diff": [
      0.012184630204612468,
      0.012875633053915703,
      0.015500326258144348,
      0.010815151197666406,
      0.018430100111798797,
      0.011533850845703242,
      0.005941786626320056,
      -0.018440536794975593,
      -0.06723813108418764,
      -0.06723813108418764
    ],
    "min_front_frame": [
      3,
      21.57088644149715
    ],
    "v_avg": 5.670612372216288,
    "v_std": 0.3731212815126261,
    "vy_max": 0.04950700015047288,
    "a_max": 0.6736462124828435,
    "ax_avg": -0.2989682086831009,
    "a_std": 0.18862381703818046,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0dfcc232f8445d3f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.606559918602002,
    "right_rear_min": 10.220722261901962,
    "speed_mode": "decelerating",
    "front_frame": [
      24.479756240304845,
      23.5369847579528,
      22.645242942493258,
      21.57088644149715,
      41.583586441949656,
      44.78797310207414,
      48.11285007243076,
      51.58450378094163,
      55.352268749200114,
      59.10222689733259
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0dfcc232f8445d3f",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "037b976caae85af5": {
    "vx_ego": [
      5.878848047838931,
      5.818140958063627,
      5.746123444862827,
      5.6499745545905515,
      5.547398797578689,
      5.437331690735929,
      5.329777848298479,
      5.251366206130477,
      5.182491772090755,
      5.110806455533214
    ],
    "vy_ego": [
      0.03411569300880535,
      0.03430322728528479,
      0.058317364338128286,
      0.09686649704004813,
      0.12335809090649175,
      0.12537158707292262,
      0.10448596184062087,
      0.09038819400455633,
      0.09059835183529907,
      0.0770624206685171
    ],
    "v_ego": [
      5.878947035829553,
      5.818242081531133,
      5.746419368492487,
      5.6508048617669955,
      5.548770191490145,
      5.438776879954391,
      5.330801931082688,
      5.252144043769611,
      5.183283614577119,
      5.111387408776531
    ],
    "ax_ego": [
      -0.12132744857599266,
      -0.12130374210736791,
      -0.166577580560142,
      -0.2174818295202342,
      -0.1923660378058655,
      -0.24858110605756562,
      -0.1821478218382953,
      -0.13178742665627183,
      -0.14321612498352324,
      -0.1431769220323273
    ],
    "ay_ego": [
      -0.016382824463043268,
      -0.01655754698488795,
      0.08063543826032253,
      0.03674642724535884,
      0.04584821737455658,
      -0.009359859059251505,
      -0.051209610552806345,
      0.011851617935874428,
      -0.03768419346574723,
      -0.03783286200408513
    ],
    "a_ego": [
      0.12242853717719179,
      0.12242855145515524,
      0.18506799898606155,
      0.22056438082058186,
      0.19775427059245082,
      0.248757257683895,
      0.18920954842027785,
      0.1323192603984022,
      0.1480910425800967,
      0.14809104108645896
    ],
    "yaw": [
      0.8519360073431879,
      0.8504958717162212,
      0.8491145745921035,
      0.847501145863474,
      0.8464569350510998,
      0.8477495496101097,
      0.8488180131301467,
      0.8496238512936198,
      0.8483459974830542,
      0.8473077805417406
    ],
    "yaw_diff": [
      -0.0028802712539333086,
      -0.0027625942482354393,
      -0.003226857457258925,
      -0.0020884216247485377,
      0.0025852291180199494,
      0.002136927040073955,
      0.0016116763269462542,
      -0.002555707621131331,
      -0.0020764338826271267,
      -0.0020764338826271267
    ],
    "min_front_frame": [
      6,
      22.416880106302337
    ],
    "v_avg": 5.495957741727066,
    "v_std": 0.2599416222588652,
    "vy_max": 0.12537158707292262,
    "a_max": 0.248757257683895,
    "ax_avg": -0.16679660401375856,
    "a_std": 0.04124330125235809,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "037b976caae85af5",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 25.611069180518037,
    "speed_mode": "quasi_constant",
    "front_frame": [
      39.22705300963319,
      36.31370650954207,
      33.47453499935778,
      30.631521559245172,
      27.83064101142104,
      25.06373397363933,
      22.416880106302337,
      55.36254316377514,
      52.72777128769201,
      50.21203534699039
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "037b976caae85af5",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "f641cb06f2175d36": {
    "vx_ego": [
      3.0321155800530617,
      3.4124328534857553,
      3.80297240945296,
      4.137091655481676,
      4.366331190780295,
      4.506123668225273,
      4.607750080993884,
      4.735687686726769,
      4.919825529550123,
      5.135236151871377
    ],
    "vy_ego": [
      0.11868599035705252,
      0.052706964495453645,
      0.03677324371696278,
      0.028872843326587017,
      0.04135231506496018,
      0.04206200554604034,
      0.03429574845349381,
      -0.010948459522258203,
      -0.04728267434507227,
      -0.07261036725817693
    ],
    "v_ego": [
      3.034437551690189,
      3.41283987372031,
      3.8031501966808934,
      4.137192406323143,
      4.366527004558899,
      4.506319975950503,
      4.607877711838839,
      4.735700342608414,
      4.920052732695694,
      5.135749468278228
    ],
    "ax_ego": [
      0.7269590209723096,
      0.8288759572159726,
      0.7623396097357367,
      0.5969397518011059,
      0.3448854557511704,
      0.23428846158798988,
      0.1822366845913841,
      0.3369507317151597,
      0.38193804682097987,
      0.4579344637753498
    ],
    "ay_ego": [
      -0.9226747848137925,
      -0.8323237488321154,
      -0.9605317707253214,
      -1.0633485548031347,
      -1.157663621330066,
      -1.1343339402631243,
      -1.0026017490348802,
      -1.0565857282968785,
      -0.9167736405145359,
      -0.881275556459564
    ],
    "a_ego": [
      1.1746481076067834,
      1.1746481070178596,
      1.2262882871269531,
      1.2194454544104385,
      1.2079449646981997,
      1.158276552152435,
      1.0190291832811564,
      1.1090127126611429,
      0.9931518411359365,
      0.9931518411231646
    ],
    "yaw": [
      1.1518105312025537,
      1.03579607548569,
      0.916392288517037,
      0.7917465415907032,
      0.6593919745636923,
      0.5306482157164107,
      0.4154095954862217,
      0.3145677207040718,
      0.21986605922224467,
      0.13538426508404577
    ],
    "yaw_diff": [
      -0.23202891143372728,
      -0.23880757393730612,
      -0.24929149385266758,
      -0.26470913405402197,
      -0.257487517694563,
      -0.2304772404603781,
      -0.2016837495642998,
      -0.18940332296365425,
      -0.1689635882763978,
      -0.1689635882763978
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.265984726434511,
    "v_std": 0.6375779846694046,
    "vy_max": 0.11868599035705252,
    "a_max": 1.2262882871269531,
    "ax_avg": 0.48533481839671583,
    "a_std": 0.088478294865871,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "f641cb06f2175d36",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f641cb06f2175d36",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b403192d3ea45397": {
    "vx_ego": [
      6.228310995605347,
      6.189918558330652,
      6.0953502511781,
      6.126166338592294,
      6.160471227991695,
      6.075933456001243,
      5.974546710554121,
      5.7360825497726315,
      5.421914004720624,
      5.093822557912219
    ],
    "vy_ego": [
      0.07203386654910249,
      0.057141855340821834,
      0.04026357807534975,
      -0.002183947378015194,
      -0.012953769239030688,
      -0.005134176710607008,
      -0.0033615799697894744,
      -0.013885467755725855,
      0.004137303795995972,
      0.04626872604431309
    ],
    "v_ego": [
      6.228727537459677,
      6.190182303486547,
      6.095483232710624,
      6.126166727875391,
      6.160484847075837,
      6.075935625195983,
      5.974547656250886,
      5.736099356184557,
      5.421915583248077,
      5.094032689972175
    ],
    "ax_ego": [
      -0.07667527104031838,
      -0.0766322558250682,
      -0.30146241450970257,
      0.42456409444295307,
      -0.2869180132972843,
      -0.05117998251947875,
      -0.3538423678324085,
      -0.599167027018181,
      -0.6573562375874452,
      -0.6558526745499196
    ],
    "ay_ego": [
      -0.04234762992393186,
      -0.042425420075577744,
      -0.04742501718863101,
      -0.07999333456448807,
      0.11888546264272831,
      0.06363403054272314,
      0.15179462467415522,
      0.1874303632866929,
      0.17191708153489338,
      0.17756681154867035
    ],
    "a_ego": [
      0.08759234526647049,
      0.08759234499331511,
      0.30516998479103685,
      0.4320342623738433,
      0.31057317910958787,
      0.08166198903900376,
      0.385027309879719,
      0.6277987474880683,
      0.6794650145655748,
      0.6794650125487285
    ],
    "yaw": [
      2.5603509361102565,
      2.559336096112453,
      2.5584311260928585,
      2.5601907480020554,
      2.563478937647831,
      2.5696887918225695,
      2.5782791956523026,
      2.5944749770339786,
      2.6073302585803573,
      2.615934675436974
    ],
    "yaw_diff": [
      -0.00202967999560677,
      -0.0018099400391893283,
      0.003519243818393747,
      0.006576379291550971,
      0.012419708349477254,
      0.01718080765946617,
      0.03239156276335198,
      0.025710563092757432,
      0.017208833713233673,
      0.017208833713233673
    ],
    "min_front_frame": [
      7,
      19.383381454858473
    ],
    "v_avg": 5.910357555945975,
    "v_std": 0.3591565598450813,
    "vy_max": 0.07203386654910249,
    "a_max": 0.6794650145655748,
    "ax_avg": -0.2634522149736854,
    "a_std": 0.2263619042999782,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "b403192d3ea45397",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.810560062888793,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      32.70732151742582,
      31.046830691119055,
      29.21741424761414,
      27.381346779526186,
      25.471255285739982,
      23.941250317391106,
      22.268898979143927,
      19.383381454858473,
      20.344477081043646,
      19.704533948336582
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b403192d3ea45397",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "418c618fc266506b": {
    "vx_ego": [
      3.3354577705954824,
      2.932461415858297,
      2.549596627089625,
      2.1449847985964623,
      1.6363284017290889,
      1.0413531081827494,
      0.48826288954465247,
      0.10685207947501318,
      -0.04356244247329377,
      -0.0685745113751835
    ],
    "vy_ego": [
      -0.017049825361819204,
      -0.0146867972127116,
      -0.015627583248468024,
      -0.005918273873236846,
      -0.0019040718110752142,
      0.006858071678707556,
      0.019166200547578616,
      -0.0063400895654806624,
      -0.02463359381023301,
      -0.016427385020341547
    ],
    "v_ego": [
      3.335501347019763,
      2.9324981939482955,
      2.5496445207567624,
      2.1449929631995404,
      1.6363295095410142,
      1.0413756906462832,
      0.48863891837421575,
      0.10704000945362838,
      0.05004498314763009,
      0.07051469768035394
    ],
    "ax_ego": [
      -0.8060638201630508,
      -0.8060478990399946,
      -0.7255008677841559,
      -0.8930363062295708,
      -1.141567067108772,
      -1.2383671235228912,
      -0.9739669681584664,
      -0.5516631815972094,
      -0.05002224349904179,
      -0.05002129408443515
    ],
    "ay_ego": [
      -0.007093379260458277,
      -0.008717824069126523,
      -0.011579864331434264,
      0.03786683764968252,
      -0.03092310026554046,
      0.061026654888969634,
      -0.012676340577854273,
      -0.08954899036879452,
      0.016404512212105104,
      0.016407397175349534
    ],
    "a_ego": [
      0.8060950305052028,
      0.8060950415449096,
      0.7255932761633735,
      0.8938387671374202,
      1.14198581726629,
      1.239869906574596,
      0.9740494569960197,
      0.558883966137897,
      0.052643450357993574,
      0.05264344730307101
    ],
    "yaw": [
      0.8864252042863607,
      0.8844099176929959,
      0.8828962986706816,
      0.8815714443738604,
      0.8803859118516255,
      0.8794708067681433,
      0.8791694117504686,
      0.878964971575227,
      0.8787271813846953,
      0.8787848298276904
    ],
    "yaw_diff": [
      -0.0040305731867296135,
      -0.0030272380446285663,
      -0.0026497085936425524,
      -0.0023710650444697112,
      -0.0018302101669644966,
      -0.0006027900353493543,
      -0.00040888035048314286,
      -0.00047558038106343403,
      0.00011529688599010157,
      0.00011529688599010157
    ],
    "min_front_frame": [
      8,
      11.831503851388492
    ],
    "v_avg": 1.4356580833767487,
    "v_std": 1.1931217681442206,
    "vy_max": 0.02463359381023301,
    "a_max": 1.239869906574596,
    "ax_avg": -0.7236256771187588,
    "a_std": 0.3839758361747032,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "418c618fc266506b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.398163576255918,
      16.283021880734452,
      14.944719738181156,
      13.726677942675476,
      12.823227816892542,
      12.195195344034932,
      11.92716509938893,
      12.01581071100162,
      11.831503851388492,
      11.914716223000386
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "418c618fc266506b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f6df3f934bdb598d": {
    "vx_ego": [
      1.2920636585570495,
      1.9278239381184434,
      2.542120103350194,
      3.103925976829455,
      3.624085209333726,
      4.086392204197372,
      4.453194146676465,
      4.757411382475443,
      5.028397242930789,
      5.307520709495436
    ],
    "vy_ego": [
      0.05615545858675297,
      0.015201465186608698,
      0.002177431417260234,
      -0.008082600801007533,
      0.0011267468186975105,
      0.039890625718149275,
      0.09902093917130617,
      0.151159858762149,
      0.11080300667974646,
      0.06058414991774935
    ],
    "v_ego": [
      1.2932833924909561,
      1.9278838712241784,
      2.5421210358802306,
      3.103936500328638,
      3.6240853844894256,
      4.086586902115902,
      4.4542949222506465,
      4.759812219511175,
      5.0296178919479795,
      5.307866475425337
    ],
    "ax_ego": [
      1.2713831002482374,
      1.2741917488682661,
      1.1876726565860563,
      1.0650606328373993,
      1.0185106217845572,
      0.8432397478923569,
      0.6492150655666072,
      0.6272572970503998,
      0.5186837822749215,
      0.6288208028499223
    ],
    "ay_ego": [
      -0.15685642587405735,
      -0.13211476501024255,
      -0.28989144124717864,
      -0.4841854670030971,
      -0.5836205136152498,
      -0.6911911361920057,
      -0.6762617259303167,
      -0.9039171097086548,
      -1.1452106321890487,
      -1.0886343078149012
    ],
    "a_ego": [
      1.2810226094549633,
      1.2810226087066856,
      1.2225397281522374,
      1.169952870023835,
      1.1738725614820773,
      1.090320347042997,
      0.9374487310338123,
      1.1002353647865633,
      1.257195393753039,
      1.2571953938224758
    ],
    "yaw": [
      0.6374293865666656,
      0.6179910411329652,
      0.5768186335741589,
      0.5122756414547474,
      0.43037035128310913,
      0.33823718228569016,
      0.24492134916961128,
      0.14795334331832763,
      0.0518432722429965,
      -0.04668452225775002
    ],
    "yaw_diff": [
      -0.038876690867400754,
      -0.08234481511761271,
      -0.129085984238823,
      -0.16381058034327645,
      -0.18426633799483794,
      -0.18663166623215777,
      -0.1939360117025673,
      -0.19222014215066224,
      -0.19705558900149306,
      -0.19705558900149306
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.6129488595664467,
    "v_std": 1.2943481122514857,
    "vy_max": 0.151159858762149,
    "a_max": 1.2810226094549633,
    "ax_avg": 0.9084035455958723,
    "a_std": 0.10364759309377024,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "f6df3f934bdb598d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.499833684410266,
    "right_rear_min": 9.057438240693834,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f6df3f934bdb598d",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "06c9339fdc3e5404": {
    "vx_ego": [
      6.370496506649268,
      6.310056697943802,
      6.348772534201029,
      6.434222112398155,
      6.5634898345647255,
      6.698386377330064,
      6.7932343974288685,
      6.842431559194975,
      6.810932719832083,
      6.707674838708496
    ],
    "vy_ego": [
      0.027549012382150906,
      -0.03167024342764524,
      -0.07137422413895589,
      -0.057781453794397475,
      -0.07611963152349732,
      -0.10200921331871493,
      -0.04322800634589807,
      -0.007244299319896452,
      0.009089286506898553,
      0.002147370425304107
    ],
    "v_ego": [
      6.370556073790871,
      6.310136174091983,
      6.349173723477472,
      6.434481555500487,
      6.5639312158749625,
      6.69916307754953,
      6.793371934388945,
      6.842435394078633,
      6.810938784720389,
      6.707675182434134
    ],
    "ax_ego": [
      -0.26617281993588027,
      0.0271887850213266,
      0.15210938004824737,
      0.23304444709349248,
      0.2890917499512874,
      0.26025511160540143,
      0.1161453573763726,
      0.08074042735043542,
      -0.2065769794046398,
      -0.2063779286662801
    ],
    "ay_ego": [
      1.8554347173629755,
      1.8742323094386775,
      1.7852873610439044,
      1.8813880733870314,
      1.4236506994925455,
      0.9226050020045341,
      0.14787106707312464,
      0.04801315833441436,
      -0.05893165216500415,
      -0.059624990598164986
    ],
    "a_ego": [
      1.8744295026669964,
      1.8744295078169182,
      1.7917556264741492,
      1.895766546018807,
      1.452706217394113,
      0.9586097813190341,
      0.1880308392722583,
      0.09393763879285279,
      0.21481850024344273,
      0.21481850233258645
    ],
    "yaw": [
      -2.609602770165167,
      -2.452613503232379,
      -2.301710431297196,
      -2.1604285511507975,
      -2.0305103385716903,
      -1.9382629653600802,
      -1.9073897170667156,
      -1.9054860448821658,
      -1.9082638851802094,
      -1.9116218206568758
    ],
    "yaw_diff": [
      0.3139785338655763,
      0.3018061438703654,
      0.2825637602927973,
      0.25983642515821437,
      0.18449474642322006,
      0.06174649658672937,
      0.0038073443690995745,
      -0.005555680596087242,
      -0.006715870953332814,
      -0.006715870953332814
    ],
    "min_front_frame": [
      5,
      45.54535220979278
    ],
    "v_avg": 6.588186311590741,
    "v_std": 0.1972235055032622,
    "vy_max": 0.10200921331871493,
    "a_max": 1.895766546018807,
    "ax_avg": 0.047944753043976295,
    "a_std": 0.7646676147951068,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "06c9339fdc3e5404",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      74.7564512063386,
      45.54535220979278,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "06c9339fdc3e5404",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7597912d2a175b46": {
    "vx_ego": [
      1.3139950533949443,
      1.9511409106770707,
      2.578297779173422,
      3.2134813944383214,
      3.850180905285102,
      4.378834668695742,
      4.828772438954745,
      5.2598730384241845,
      5.649263853996298,
      6.037999556089408
    ],
    "vy_ego": [
      0.03012812156589323,
      0.0020060930779501884,
      -0.012745564635731288,
      -0.026954461179665934,
      -0.03510302295336398,
      -0.030689046411647602,
      0.0007033471139883396,
      0.03447461280582709,
      0.036576642493218126,
      -0.028658737866080863
    ],
    "v_ego": [
      1.3143404064607735,
      1.9511419419732605,
      2.5783292822113477,
      3.213594438534325,
      3.8503409233004904,
      4.378942209408729,
      4.82877249017865,
      5.259986015121122,
      5.649382262057081,
      6.038067568567941
    ],
    "ax_ego": [
      1.2742735692392355,
      1.274571287768619,
      1.233913426448888,
      1.3067570736280252,
      1.240545541055186,
      0.8760772695377891,
      0.9290218229038997,
      0.7939145789231846,
      0.7586388024874963,
      0.7939050285565596
    ],
    "ay_ego": [
      -0.072814875303026,
      -0.06740311507717961,
      -0.02042862798298939,
      -0.04763183321934583,
      0.05568595290511913,
      0.1492689185254522,
      0.44709843164062063,
      0.5161349367167393,
      0.6034378448622594,
      0.5562237681378921
    ],
    "a_ego": [
      1.2763522771269287,
      1.2763522819058473,
      1.234082522691292,
      1.3076248854364603,
      1.2417947353660568,
      0.8887027580909975,
      1.0310085135473845,
      0.9469401414695493,
      0.9693658056954921,
      0.9693658105219657
    ],
    "yaw": [
      -0.32924901009826024,
      -0.333495455796325,
      -0.336670300911533,
      -0.33764239125904744,
      -0.33477183197769544,
      -0.32351618175922914,
      -0.29791507851095717,
      -0.25701415358259355,
      -0.20613810098948382,
      -0.14533526216391457
    ],
    "yaw_diff": [
      -0.00849289139612952,
      -0.006349690230415983,
      -0.0019441806950288854,
      0.005741118562703984,
      0.022511300436932613,
      0.051202206496543945,
      0.08180184985672723,
      0.10175210518621947,
      0.1216056776511385,
      0.1216056776511385
    ],
    "min_front_frame": [
      0,
      14.408718643897172
    ],
    "v_avg": 3.9062897537813717,
    "v_std": 1.5256787645272345,
    "vy_max": 0.036576642493218126,
    "a_max": 1.3076248854364603,
    "ax_avg": 1.0481618400548884,
    "a_std": 0.15759178430450638,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "7597912d2a175b46",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.6720841341394865,
    "right_rear_min": 6.7606726719575985,
    "speed_mode": "accelerating",
    "front_frame": [
      14.408718643897172,
      15.349010096457462,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7597912d2a175b46",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "01fa845276f857c5": {
    "vx_ego": [
      9.449065966987279,
      9.512155722492286,
      9.591238691929108,
      9.662588411980524,
      9.696814849871014,
      9.752319723242636,
      9.819393546282887,
      9.852911704690863,
      9.841643420880905,
      9.794819865800598
    ],
    "vy_ego": [
      0.028155171584302252,
      0.009652334014102593,
      -0.010351097636896789,
      -0.01620439815982877,
      -0.03570625681536477,
      0.0046121361900191005,
      0.020476723959220955,
      0.004517622617034256,
      -0.02381340523508335,
      -0.030731135396156795
    ],
    "v_ego": [
      9.44910791356328,
      9.512160619780065,
      9.59124427750541,
      9.662601999557884,
      9.696880589625449,
      9.75232081384465,
      9.819414896673127,
      9.852912740370146,
      9.841672230979718,
      9.794868074975016
    ],
    "ax_ego": [
      0.11715659385703628,
      0.13289325369540633,
      0.1843338887992405,
      0.10096803445542166,
      0.038155775178809304,
      0.18453584558830904,
      0.08249442796543323,
      0.05093994204036606,
      -0.09565168180897951,
      -0.0896878587203431
    ],
    "ay_ego": [
      0.5298643968876355,
      0.5261381280975239,
      0.5809331367595479,
      0.46773848201508017,
      0.4353147920004688,
      0.389583342685778,
      0.34138056330326993,
      0.37713541710082255,
      0.3345262315081869,
      0.33617425674242574
    ],
    "a_ego": [
      0.5426619081650013,
      0.5426619082962412,
      0.6094770643306755,
      0.4785121017691848,
      0.43698378838797586,
      0.4310784838114941,
      0.35120651993748914,
      0.3805601142091578,
      0.3479325276543648,
      0.34793252635843436
    ],
    "yaw": [
      2.0525433526834074,
      2.082345354569905,
      2.1134337820511617,
      2.1412427097207116,
      2.1665589142463926,
      2.1836511757467276,
      2.2006813794407325,
      2.220557368295527,
      2.2414622191742666,
      2.2592456158471785
    ],
    "yaw_diff": [
      0.05960400377299546,
      0.06217685496251324,
      0.0556178553390998,
      0.050632409051361904,
      0.0341845230006701,
      0.03406040738800975,
      0.039751977709588715,
      0.041809701757479445,
      0.03556679334582391,
      0.03556679334582391
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.697318415687475,
    "v_std": 0.13447876231723913,
    "vy_max": 0.03570625681536477,
    "a_max": 0.6094770643306755,
    "ax_avg": 0.07061382210506997,
    "a_std": 0.08903219000883733,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "01fa845276f857c5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "01fa845276f857c5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f3512ae175b45844": {
    "vx_ego": [
      0.093978840616852,
      1.083097547431854,
      2.1611527237614645,
      3.3598338701041324,
      4.557222779953069,
      5.613668099430942,
      6.4738543667225645,
      7.124992064454167,
      7.621397131381968,
      8.160441094194628
    ],
    "vy_ego": [
      -0.014597295511539661,
      0.019293216107251432,
      0.04407353341166487,
      0.038302250090659795,
      0.025961014583204545,
      0.012562884824588672,
      -0.04703132861420389,
      -0.048810393973125255,
      -0.04951215152873045,
      -0.16012590234756852
    ],
    "v_ego": [
      0.0951057491424093,
      1.083269368827836,
      2.1616020845125465,
      3.3600521866573616,
      4.557296725077419,
      5.61368215671708,
      6.474025201325991,
      7.125159252472514,
      7.621557956703229,
      8.16201195517521
    ],
    "ax_ego": [
      1.9782647336110502,
      1.978216357929196,
      2.3330187176935144,
      2.4586225762253333,
      2.3307647937632767,
      1.9052462460964787,
      1.5602761871034412,
      1.0893563782131155,
      0.9514347914996809,
      1.2542186529025234
    ],
    "ay_ego": [
      0.06621554148475672,
      0.06764518925234198,
      0.0839276066647161,
      0.15659447338134824,
      0.40488920139638096,
      0.8744761063553237,
      1.247721715643987,
      1.701127368126039,
      2.1534590093976558,
      1.9923728111964458
    ],
    "a_ego": [
      1.9793725910457887,
      1.9793725850399257,
      2.3345278281204442,
      2.4636044328216484,
      2.3656711075831676,
      2.096347232414299,
      1.9978166231492887,
      2.020032584227547,
      2.3542756566791354,
      2.3542756525274284
    ],
    "yaw": [
      2.2516785762406224,
      2.250955893237817,
      2.2592668406214953,
      2.2832754419104524,
      2.3216935983744773,
      2.386520682575357,
      2.483398196051798,
      2.5910456959936594,
      2.721347032886017,
      2.867154800025125
    ],
    "yaw_diff": [
      -0.0014453660056110706,
      0.01662189476735687,
      0.0480172025779142,
      0.07683631292804982,
      0.12965416840175958,
      0.19375502695288205,
      0.21529499988372258,
      0.2606026737847156,
      0.2916155342782156,
      0.2916155342782156
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.62537626366116,
    "v_std": 2.6995147418516345,
    "vy_max": 0.16012590234756852,
    "a_max": 2.4636044328216484,
    "ax_avg": 1.7839419435037613,
    "a_std": 0.18539089776568546,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "f3512ae175b45844",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.532789470041378,
    "right_rear_min": 8.317708716227424,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f3512ae175b45844",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "65ae67808d1f5de5": {
    "vx_ego": [
      6.05718945653935,
      5.854387329789966,
      5.57746625569769,
      5.19659544247488,
      4.744896867583759,
      4.199558626698594,
      3.655645424493575,
      3.2058421285553758,
      2.744182291882001,
      2.230138984654319
    ],
    "vy_ego": [
      -0.049396217939686515,
      -0.025353586619442314,
      -0.02323492225621937,
      -0.04414929187585459,
      -0.051051356311120344,
      -0.04683751904744238,
      -0.054481655707972365,
      -0.05372088353109539,
      -0.01059822629803997,
      0.044554464908513225
    ],
    "v_ego": [
      6.057390865608575,
      5.854442228902746,
      5.577514652159926,
      5.196782981107046,
      4.74517149584579,
      4.199819807119003,
      3.6560513837239066,
      3.206292202302813,
      2.744202757355844,
      2.2305840022779417
    ],
    "ax_ego": [
      -0.40553502716186096,
      -0.4054190174434068,
      -0.702233237327588,
      -0.8208856718388954,
      -0.9857900942116433,
      -1.1955800462392776,
      -0.9797277794908404,
      -0.8193449898698737,
      -1.0277399303011967,
      -1.0281268379182864
    ],
    "ay_ego": [
      0.06797114144254446,
      0.06865978403408801,
      -0.0424578423780011,
      0.008005766642295187,
      -0.02211560143961039,
      0.037601875296951304,
      -0.03574512911780009,
      0.046231343956388116,
      0.09082176944738385,
      0.08633167331474528
    ],
    "a_ego": [
      0.41119184613045734,
      0.4111918599004423,
      0.7035155918577638,
      0.8209247094161105,
      0.9860381380417476,
      1.196171203461846,
      0.9803796387939221,
      0.8206482496105608,
      1.0317451032794207,
      1.0317451006257206
    ],
    "yaw": [
      1.0796193793326858,
      1.0813177482069416,
      1.0820880942760658,
      1.084365336099183,
      1.0850414258359953,
      1.0849653400740682,
      1.0870440661186507,
      1.0875896388390378,
      1.0846375594291175,
      1.0802694849732688
    ],
    "yaw_diff": [
      0.003396737748511569,
      0.0015406921382483674,
      0.004554483646234342,
      0.0013521794736246484,
      -0.000152171523854161,
      0.004157452089164959,
      0.001091145440774266,
      -0.0059041588198405215,
      -0.008736148911697494,
      -0.008736148911697494
    ],
    "min_front_frame": [
      9,
      12.097338403151769
    ],
    "v_avg": 4.346825237640359,
    "v_std": 1.2822292541180103,
    "vy_max": 0.054481655707972365,
    "a_max": 1.196171203461846,
    "ax_avg": -0.8370382631802868,
    "a_std": 0.2507067851576995,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "65ae67808d1f5de5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.963409842491213,
    "right_rear_min": 6.78571355371918,
    "speed_mode": "decelerating",
    "front_frame": [
      30.327200311445377,
      27.665821893848147,
      25.077529058251812,
      22.663821271159566,
      20.360899817297287,
      18.24420789439328,
      16.418586899125767,
      14.775231292261875,
      13.29049216945473,
      12.097338403151769
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "65ae67808d1f5de5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4d1e72e6a45853c3": {
    "vx_ego": [
      4.945869975570957,
      4.822974069330195,
      4.700419649547629,
      4.5707746046731685,
      4.457359337036967,
      4.368661209439059,
      4.282086817402784,
      4.186540518251647,
      4.075963604753427,
      3.947962662277013
    ],
    "vy_ego": [
      0.04281686966188403,
      0.008785709283370302,
      0.02726032512184373,
      0.024803157113901353,
      0.027601878894424114,
      0.011093128305926125,
      0.003827443895908278,
      0.0043909201076384186,
      0.032235207868410054,
      0.004234987881866159
    ],
    "v_ego": [
      4.946055306967554,
      4.822982071511263,
      4.700498697710617,
      4.570841900933347,
      4.457444797548157,
      4.368675293536149,
      4.28208852793838,
      4.186542820889589,
      4.0760910706093,
      3.9479649337165803
    ],
    "ax_ego": [
      -0.2638360328467312,
      -0.22075945707534975,
      -0.26547068758422643,
      -0.2459210674374064,
      -0.2034784349917199,
      -0.149960720235585,
      -0.1982820211017142,
      -0.18579686650382518,
      -0.25602242566839795,
      -0.25608668887747676
    ],
    "ay_ego": [
      -0.675625610875904,
      -0.6909013472236163,
      -0.6539115803382783,
      -0.6513367507413576,
      -0.5667604272603266,
      -0.4615571048971514,
      -0.311248715025577,
      -0.135589703942031,
      -0.044567462212769235,
      -0.04419670403925191
    ],
    "a_ego": [
      0.7253133242259788,
      0.7253133181485165,
      0.705744316921466,
      0.6962160112176843,
      0.6021800855350395,
      0.48530730336006217,
      0.3690413560798484,
      0.2300109636902725,
      0.2598725478637884,
      0.2598725473538188
    ],
    "yaw": [
      2.707312580581113,
      2.644288109058086,
      2.569924119519175,
      2.5000530999541177,
      2.4319181789991298,
      2.3773350180384627,
      2.3344143410826823,
      2.307891059039352,
      2.2902869122982175,
      2.2917348735379326
    ],
    "yaw_diff": [
      -0.12604894304605363,
      -0.14872797907782243,
      -0.1397420391301143,
      -0.13626984190997593,
      -0.10916632192133413,
      -0.08584135391156078,
      -0.0530465640866602,
      -0.035208293482269504,
      0.0028959224794302685,
      0.0028959224794302685
    ],
    "min_front_frame": [
      2,
      24.949200376950778
    ],
    "v_avg": 4.435918542136093,
    "v_std": 0.30930181976229215,
    "vy_max": 0.04281686966188403,
    "a_max": 0.7253133242259788,
    "ax_avg": -0.22456144023224325,
    "a_std": 0.19950947896618595,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "4d1e72e6a45853c3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      37.093431479852086,
      34.68195153657369,
      24.949200376950778,
      30.005935267736543,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "4d1e72e6a45853c3",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "3f19f97d980754f7": {
    "vx_ego": [
      1.3731671238013547,
      1.7390345253406396,
      2.111856010294514,
      2.4853157127452024,
      2.827668565241294,
      3.1069426406497342,
      3.2738414537929064,
      3.3164073258741156,
      3.301274693227494,
      3.2787102957155296
    ],
    "vy_ego": [
      -0.027857828758805825,
      -0.01475704101093478,
      0.0037018021299439763,
      -0.000845038279142063,
      0.0019453999728316074,
      0.02230800545212963,
      0.01842297492385425,
      -0.0006782036870347508,
      -0.009476775409527738,
      -0.003900883170593783
    ],
    "v_ego": [
      1.3734496745465559,
      1.7390971366160495,
      2.1118592546749113,
      2.4853158564069653,
      2.8276692344464216,
      3.1070227259218424,
      3.273893289430475,
      3.3164073952202773,
      3.3012882954108154,
      3.27871261627495
    ],
    "ax_ego": [
      0.7317347022903584,
      0.7317346221648057,
      0.7595409670292381,
      0.7342754375670912,
      0.635170473133652,
      0.4819408350056949,
      0.18570875104697446,
      -0.015437067035919527,
      -0.04513625138785407,
      -0.04514089597292853
    ],
    "ay_ego": [
      0.02618922378896238,
      0.026191826736379153,
      0.04512035557865082,
      -0.05975855537164798,
      0.076504432054909,
      0.0028474515820200164,
      -0.025711765752924373,
      -0.05290614332110758,
      0.006354747667860816,
      0.006321724854672698
    ],
    "a_ego": [
      0.7322032163126763,
      0.7322032293444625,
      0.7608799689065642,
      0.7367031309519796,
      0.6397612508310202,
      0.481949246732992,
      0.18748022592679045,
      0.0551122766703123,
      0.04558139979497933,
      0.04558140733212328
    ],
    "yaw": [
      -1.9968730979037654,
      -1.9968766494107237,
      -1.997204853344805,
      -1.9968193674561505,
      -1.996296290334637,
      -1.9964719617198776,
      -1.9970393029235447,
      -1.997205945945088,
      -1.9980630726489117,
      -1.998794616654843
    ],
    "yaw_diff": [
      -7.1030139165984e-06,
      -0.0006564078681625674,
      0.0007709717773090041,
      0.0010461542430268977,
      -0.0003513427704811001,
      -0.0011346824073341644,
      -0.00033328604308646703,
      -0.0017142534076475258,
      -0.0014630880118624567,
      -0.0014630880118624567
    ],
    "min_front_frame": [
      8,
      16.418998911859493
    ],
    "v_avg": 2.681471547894926,
    "v_std": 0.682595801706855,
    "vy_max": 0.027857828758805825,
    "a_max": 0.7608799689065642,
    "ax_avg": 0.4154391573841113,
    "a_std": 0.3043735913681688,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3f19f97d980754f7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.106720613766874,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      16.46552767550968,
      17.008934744667233,
      17.530681156259224,
      17.824070146169547,
      18.11218328282063,
      18.021528444563504,
      17.96902204418295,
      17.699519855451978,
      16.418998911859493,
      17.17477228001529
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3f19f97d980754f7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fdba4d15c05554e1": {
    "vx_ego": [
      8.17673608768803,
      8.43129789060304,
      8.650204193874957,
      8.827371729714242,
      8.992118665088233,
      9.184406470410892,
      9.394326406739392,
      9.576097457656974,
      9.727232211588621,
      9.858532665502358
    ],
    "vy_ego": [
      0.05253286704231819,
      0.04564274495611864,
      0.05681400235469569,
      0.08008688589756907,
      0.08187377596362844,
      0.05766436763553773,
      0.06846976240552127,
      0.07662889713734833,
      0.10644545720371346,
      0.10069848649890267
    ],
    "v_ego": [
      8.176904839229781,
      8.431421432964573,
      8.65039076727725,
      8.827735018896465,
      8.992491390166506,
      9.184587491717865,
      9.394575921494537,
      9.576404048828604,
      9.727814612415605,
      9.85904693679669
    ],
    "ax_ego": [
      0.5037771417112451,
      0.5103703898502857,
      0.3616282819782516,
      0.34333583470279366,
      0.31120131623837044,
      0.4552500903983315,
      0.38279276416357466,
      0.34242986992423546,
      0.26047366929497656,
      0.2615398305189571
    ],
    "ay_ego": [
      0.32923243885954084,
      0.3189160969590918,
      0.283502953035209,
      0.2788966924496001,
      0.12323466518829679,
      0.14548572396906972,
      0.13344867671005575,
      0.14972771632605952,
      0.13987305189208996,
      0.13786920763361454
    ],
    "a_ego": [
      0.6018184172224652,
      0.6018184209008175,
      0.4595094544252879,
      0.4423379482368553,
      0.33471337280211233,
      0.47793173224477714,
      0.40538728348537906,
      0.3737333338793126,
      0.29565351856792793,
      0.29565351572644205
    ],
    "yaw": [
      1.6134319437580302,
      1.6337760972263968,
      1.65006594655955,
      1.6634882398383004,
      1.6745660472603765,
      1.684641697501963,
      1.6909791166155927,
      1.6975790151879813,
      1.701986380334367,
      1.7096637103521726
    ],
    "yaw_diff": [
      0.0406883069367332,
      0.03257969866630628,
      0.026844586557500882,
      0.022155614844152183,
      0.020151300483172818,
      0.012674838227259677,
      0.013199797144777037,
      0.008814730292771689,
      0.015354660035610923,
      0.015354660035610923
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.082137245978787,
    "v_std": 0.5361846934070621,
    "vy_max": 0.10644545720371346,
    "a_max": 0.6018184209008175,
    "ax_avg": 0.37327991887810213,
    "a_std": 0.10549869554329072,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "fdba4d15c05554e1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "fdba4d15c05554e1",
    "road_shape": "Curve"
  },
  "1148c72f141c532d": {
    "vx_ego": [
      2.617851954777797,
      2.655237958909728,
      2.6484627464424295,
      2.4790546115506786,
      2.0568284181899985,
      1.621968267912655,
      1.4169278829127203,
      1.439707698149924,
      1.7198135134674493,
      2.121386827617279
    ],
    "vy_ego": [
      0.06680823462541818,
      -0.02261026003355604,
      -0.03983297357192961,
      -0.03815881441194868,
      0.0042720848645502185,
      0.02509652223610137,
      0.034924358795487165,
      0.048261534513061255,
      0.037760538498559315,
      0.019514472413180717
    ],
    "v_ego": [
      2.6187042974241477,
      2.655334224216207,
      2.648762274172025,
      2.47934827367355,
      2.0568328547995973,
      1.6221624140461168,
      1.4173582243782972,
      1.4405163767988576,
      1.720228002147667,
      2.121476581775455
    ],
    "ax_ego": [
      0.03467930597032945,
      0.1026026655573094,
      -0.12344849471206244,
      -0.5438304107497305,
      -1.146543999323689,
      -0.5946005805136789,
      -0.2263823280151786,
      0.3160536822052256,
      0.8030062883797662,
      0.8029303434180688
    ],
    "ay_ego": [
      0.5192694850346833,
      0.5102118545949397,
      0.3977325715105434,
      0.37037667700640897,
      0.15801875262051862,
      0.019585111106115327,
      0.07105737784277474,
      0.023757766740683375,
      -0.02342445337432275,
      -0.025897618625304875
    ],
    "a_ego": [
      0.5204262218132066,
      0.5204262133565842,
      0.4164501522236049,
      0.6579744664700374,
      1.15738198904463,
      0.5949230428586901,
      0.23727222632129277,
      0.31694536045821287,
      0.8033478724645594,
      0.8033478841896079
    ],
    "yaw": [
      0.6718377716725993,
      0.8036032789060454,
      0.8946593784836239,
      0.9673837548779227,
      1.0056450779092334,
      1.0189619043147775,
      1.0276713687637964,
      1.0352909647972652,
      1.0422593908543307,
      1.0453394249151984
    ],
    "yaw_diff": [
      0.2635310144668923,
      0.18211219915515686,
      0.1454487527885977,
      0.07652264606262138,
      0.026633652811088204,
      0.017418928898037755,
      0.01523919206693769,
      0.013936852114130982,
      0.006160068121735307,
      0.006160068121735307
    ],
    "min_front_frame": [
      3,
      9.545503834482673
    ],
    "v_avg": 2.078072352343192,
    "v_std": 0.4789035180195479,
    "vy_max": 0.06680823462541818,
    "a_max": 1.15738198904463,
    "ax_avg": -0.05755335277836402,
    "a_std": 0.25587631843096437,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "1148c72f141c532d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      12.062192262670315,
      9.545503834482673,
      9.628785068904959,
      10.278189536084184,
      10.950138513645081,
      11.650924027315927,
      12.07042889192026,
      12.114322313259782
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.375,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.625,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "1148c72f141c532d",
    "pedestrians": "No"
  },
  "8164612a623156ae": {
    "vx_ego": [
      11.623195350383087,
      11.438320945116466,
      11.318425728247629,
      11.318393149331916,
      11.41111202464537,
      11.509583110970727,
      11.580557195854658,
      11.602626463565926,
      11.587874825172062,
      11.587697814214746
    ],
    "vy_ego": [
      0.03334867146521425,
      -0.02095334680477645,
      -0.02297403408492471,
      -0.006656975243659602,
      0.01352322925440319,
      0.023391874704103977,
      0.011790961211389117,
      0.011209859906370134,
      -0.005849848363412846,
      -0.09139719616873077
    ],
    "v_ego": [
      11.62324319142706,
      11.438340136848195,
      11.318449044462762,
      11.318395107000066,
      11.41112003778488,
      11.509606881563974,
      11.580563198447102,
      11.60263187875921,
      11.58787630174668,
      11.588058253263345
    ],
    "ax_ego": [
      -0.3759813778369918,
      -0.3640242399232103,
      -0.11401225268578391,
      0.11397976759109721,
      0.25578388589150325,
      0.13790018990975886,
      0.1459445660203961,
      -0.058463703489721394,
      -0.0003703396019352906,
      -0.0003549631480140175
    ],
    "ay_ego": [
      0.46891221934342553,
      0.4782541401983993,
      0.4519587076744458,
      0.3455036600777177,
      0.08154277280060959,
      0.09721187381793633,
      0.22502344385025536,
      0.0353681452348809,
      -0.1731532246826164,
      -0.17315325635782425
    ],
    "a_ego": [
      0.6010329990356433,
      0.6010330023123366,
      0.46611743928461014,
      0.3638188650238187,
      0.268467167597398,
      0.16872051087032047,
      0.268207693090841,
      0.06832942501653069,
      0.17315362072278304,
      0.1731536201936155
    ],
    "yaw": [
      2.1974829969414786,
      2.2227298952994143,
      2.2434017050167547,
      2.2596148115569488,
      2.2672450903771315,
      2.270279489881072,
      2.2782627482415974,
      2.2839163604191968,
      2.282415965439708,
      2.282327141800445
    ],
    "yaw_diff": [
      0.0504937967158714,
      0.04134361943468079,
      0.03242621308038807,
      0.01526055764036549,
      0.006068799007881154,
      0.01596651672105054,
      0.01130722435519882,
      -0.0030007899589774567,
      -0.000177647278525761,
      -0.000177647278525761
    ],
    "min_front_frame": [
      9,
      61.44282981585471
    ],
    "v_avg": 11.497828403130326,
    "v_std": 0.11197183706641006,
    "vy_max": 0.09139719616873077,
    "a_max": 0.6010330023123366,
    "ax_avg": -0.025959846727290133,
    "a_std": 0.17767632928736427,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "8164612a623156ae",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.79161347724417,
      72.9921126182386,
      67.24022653571615,
      61.44282981585471
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "8164612a623156ae",
    "road_shape": "Straight"
  },
  "b4175792b94a5cf2": {
    "vx_ego": [
      1.3998366765092884,
      2.288852875609765,
      3.1728985163759953,
      4.013322633491046,
      4.797031317229755,
      5.6529475457918545,
      6.542779117729991,
      7.292609381023875,
      7.99628969948715,
      8.761715131527081
    ],
    "vy_ego": [
      -0.14965300989097596,
      0.03593863566576938,
      0.045728687641156895,
      0.009250033809662828,
      -0.10027885559317506,
      -0.31219578531273523,
      -0.3200147388540482,
      -0.1806792570271134,
      -0.12615204280372572,
      -0.11225685392596985
    ],
    "v_ego": [
      1.4078134621710359,
      2.2891350051319836,
      3.173228026488858,
      4.013333293363135,
      4.798079335250941,
      5.661561813125526,
      6.550600584411133,
      7.294847262151367,
      7.9972847452137055,
      8.762434230696625
    ],
    "ax_ego": [
      1.7710534987086524,
      1.7929483866154632,
      1.7647798114268773,
      1.6502168496177114,
      1.6138704199127085,
      2.0205012756439915,
      1.6737444408432198,
      1.4241648052062164,
      1.4639069750186993,
      1.638127790443393
    ],
    "ay_ego": [
      0.5620079249079885,
      0.4876673922196675,
      1.1156571796258719,
      1.8326903714774603,
      2.4371028342452488,
      2.3382895469775438,
      1.5155751756757494,
      1.63017419526191,
      1.798944951344124,
      1.6418781659766073
    ],
    "a_ego": [
      1.858085951442382,
      1.8580859513223071,
      2.087855053702397,
      2.466164967813061,
      2.9230203483649317,
      3.0903112157812593,
      2.257961152539645,
      2.164650849279365,
      2.319315970167694,
      2.3193159702234754
    ],
    "yaw": [
      2.258568536133261,
      2.3002799350522896,
      2.443045127911952,
      2.656665730538374,
      2.9220031391844423,
      -3.0911456530911794,
      -2.9333154595373396,
      -2.8402596371221245,
      -2.735276711707889,
      -2.6340961786955
    ],
    "yaw_diff": [
      0.0834227978380575,
      0.28553038571932454,
      0.4272412052528445,
      0.5306748172921365,
      0.540073029807929,
      0.3156603871076795,
      0.1861116448304303,
      0.2099658508284712,
      0.20236106602477744,
      0.20236106602477744
    ],
    "min_front_frame": [
      0,
      46.82996197589271
    ],
    "v_avg": 5.194831775800431,
    "v_std": 2.3552569980399856,
    "vy_max": 0.3200147388540482,
    "a_max": 3.0903112157812593,
    "ax_avg": 1.6813314253436933,
    "a_std": 0.385342044468113,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "b4175792b94a5cf2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.78614467572048,
    "right_rear_min": 9.160376206960033,
    "speed_mode": "accelerating",
    "front_frame": [
      46.82996197589271,
      53.94038849646387,
      60.9735900358606,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      48.81663318817144
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b4175792b94a5cf2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c2f9c48979255481": {
    "vx_ego": [
      0.09205956747134206,
      -0.008007063785420793,
      -0.04910036053719027,
      -0.030798325412422414,
      -0.016887641498985258,
      -0.010200154755435958,
      -0.006890410819388807,
      -0.004927200479981053,
      -0.003751204816723307,
      -0.0029870767462343325
    ],
    "vy_ego": [
      -0.015161420431674875,
      -0.006037753410522645,
      -0.002270258057199708,
      -0.002303242788654123,
      -0.0011768514645354926,
      -0.0005579327035034208,
      -0.00041279474994424393,
      -0.00036866735891408203,
      -0.0002281553931441902,
      -0.0001865363218132326
    ],
    "v_ego": [
      0.09329969256389106,
      0.010028336687111925,
      0.04915281758483792,
      0.03088432896394143,
      0.016928597542851222,
      0.010215402387399207,
      0.006902764718975424,
      0.004940973607645988,
      0.0037581368336489455,
      0.0029928954688143547
    ],
    "ax_ego": [
      -0.2001330907219492,
      -0.20013283025329923,
      0.035757621632689106,
      0.037453314709366976,
      0.018188516308299298,
      0.008561729814269909,
      0.004677134249043347,
      0.003175767162831483,
      0.0015282266805776994,
      0.0015282322820591577
    ],
    "ay_ego": [
      0.01824710072616182,
      0.018250020060695052,
      -0.0031012561113011416,
      0.0029323176889860855,
      0.0015854564480768639,
      0.000885276417011817,
      -0.0003023685050029788,
      0.00047806403053871397,
      8.36413437229462e-05,
      8.374388805796254e-05
    ],
    "a_ego": [
      0.20096320729633732,
      0.20096321299534312,
      0.035891855542649766,
      0.03756792873912568,
      0.01825748607136311,
      0.008607376589128394,
      0.004686897854273337,
      0.003211548269886917,
      0.001530513855412395,
      0.0015305250558925213
    ],
    "yaw": [
      1.498629294210279,
      1.4986438806476823,
      1.4983045410749893,
      1.498534868072682,
      1.4983924844302847,
      1.4984926138960346,
      1.4984195518922383,
      1.4984551743657764,
      1.4984759602818105,
      1.4984085575132418
    ],
    "yaw_diff": [
      2.917287480652675e-05,
      -0.0006786791453858854,
      0.00046065399538530727,
      -0.0002847672847945404,
      0.00020025893149977492,
      -0.00014612400759261845,
      7.124494707611007e-05,
      4.157183206832116e-05,
      -0.00013480553713751675,
      -0.00013480553713751675
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.022910394635911747,
    "v_std": 0.027225822035312,
    "vy_max": 0.015161420431674875,
    "a_max": 0.20096321299534312,
    "ax_avg": -0.028939537813611145,
    "a_std": 0.07588008954594402,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c2f9c48979255481",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c2f9c48979255481",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0eb72de48c875897": {
    "vx_ego": [
      1.3634483563763886,
      0.9778050768173641,
      0.596458216003493,
      0.2383140314725067,
      0.000833434090822505,
      -0.05351735437637412,
      -0.033477903818237925,
      -0.022199069871098077,
      -0.014903808932255128,
      -0.009874076973715874
    ],
    "vy_ego": [
      -0.0704453992330325,
      -0.03715102994229086,
      -0.013840076694122905,
      0.015024777707666373,
      0.02894791251900426,
      0.013531762592815088,
      0.004957924435124522,
      0.002783106918110156,
      0.0018385266345676216,
      0.001101709787837228
    ],
    "v_ego": [
      1.365266997615696,
      0.9785105861847302,
      0.5966187653443099,
      0.2387871888143158,
      0.028959907658548716,
      0.05520159253422604,
      0.03384303560213821,
      0.022372849332606855,
      0.015016780642840273,
      0.009935349039640348
    ],
    "ax_ego": [
      -0.7711951365923788,
      -0.7711081693522613,
      -0.7542176665279957,
      -0.6783664716175577,
      -0.27155044358543834,
      0.05416163855895681,
      0.025994995242924902,
      0.019121044652063997,
      0.010059451432238395,
      0.010059442468218842
    ],
    "ay_ego": [
      0.06903528427592937,
      0.0700000030425656,
      0.0256675171631075,
      0.08938241684214532,
      -0.03369994173913489,
      -0.027917762534167022,
      -0.006384720682313449,
      -0.0023089028559792283,
      -0.0014737471682765846,
      -0.0014738056174839025
    ],
    "a_ego": [
      0.7742788962504378,
      0.7742788963078839,
      0.7546542982984019,
      0.6842297028450298,
      0.2736335679054553,
      0.06093344366031857,
      0.026767600487732354,
      0.019259942393075172,
      0.010166833028704974,
      0.010166832632119597
    ],
    "yaw": [
      2.4648419527791576,
      2.466092962755404,
      2.466864823692763,
      2.466613855423831,
      2.4665772394272416,
      2.466402407029719,
      2.4664470066039046,
      2.4663946931973824,
      2.466456837694497,
      2.46646259050213
    ],
    "yaw_diff": [
      0.0025020199524927733,
      0.0015437218747180737,
      -0.0005019365378640117,
      -7.32319931788794e-05,
      -0.0003496647950456122,
      8.919914837157705e-05,
      -0.00010462681304446164,
      0.00012428899422900486,
      1.1505615265861024e-05,
      1.1505615265861024e-05
    ],
    "min_front_frame": [
      4,
      8.891182633727826
    ],
    "v_avg": 0.3344513052769052,
    "v_std": 0.46061800454607343,
    "vy_max": 0.0704453992330325,
    "a_max": 0.7742788963078839,
    "ax_avg": -0.31270413153212295,
    "a_std": 0.34182835933133565,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0eb72de48c875897",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.541316334331623,
    "speed_mode": "decelerating",
    "front_frame": [
      10.070305904888476,
      9.495239295262198,
      9.12307533491558,
      8.92792558928966,
      8.891182633727826,
      8.900092908531303,
      8.904311097642665,
      8.927057005211193,
      8.918700160939718,
      8.928013562589351
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0eb72de48c875897",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0578756b879c55d0": {
    "vx_ego": [
      0.29860828349889795,
      0.41563386613521947,
      0.6402664579645396,
      1.0537861210980106,
      1.6111190104054272,
      2.2557629221017694,
      2.9074997025679403,
      3.5168931409917517,
      4.101685762420017,
      4.686549632558731
    ],
    "vy_ego": [
      -0.007404792391585246,
      -0.01114213758906492,
      -0.007015525838185533,
      7.93571935557881e-05,
      0.008050543438893595,
      0.01649779104672651,
      0.011991060693757369,
      -0.009627442476441317,
      -7.4157274598252165e-06,
      0.05258332658857964
    ],
    "v_ego": [
      0.2987000802218183,
      0.41578318617828114,
      0.6403048920609961,
      1.0537861240860762,
      1.6111391240173596,
      2.255823250575837,
      2.9075244291268167,
      3.516906318457099,
      4.101685762426721,
      4.686844617082104
    ],
    "ax_ego": [
      0.23404873072533,
      0.23404955514582468,
      0.6644883827334188,
      0.9895915694514514,
      1.2397393805110843,
      1.3387904910229924,
      1.2680711389352017,
      1.169470438078134,
      1.1697920307788863,
      1.1697293493131045
    ],
    "ay_ego": [
      -0.00756556802580689,
      -0.007539982801695585,
      0.024320615542350557,
      0.005039163381795789,
      0.02748941060073063,
      0.012518263234786456,
      -0.018306197784862723,
      -0.04552146853247915,
      0.09928678026434797,
      0.10002243792741199
    ],
    "a_ego": [
      0.23417097636917164,
      0.23417097515407048,
      0.6649333072782814,
      0.9896043994935427,
      1.2400441118303747,
      1.3388490152993355,
      1.2682032685172193,
      1.1703560610498056,
      1.1739979812627668,
      1.1739979722015714
    ],
    "yaw": [
      -1.5500336733506441,
      -1.5501429968238076,
      -1.5499984262745121,
      -1.5496945247115725,
      -1.5495708234300944,
      -1.548761545219533,
      -1.547580390578585,
      -1.5458245995552922,
      -1.5448214355353613,
      -1.5454503291872617
    ],
    "yaw_diff": [
      -0.00021864694632700576,
      0.000289141098591017,
      0.0006078031258791583,
      0.00024740256295618934,
      0.001618556421123074,
      0.002362309281895847,
      0.0035115820465856373,
      0.002006328039861671,
      -0.0012577873038006615,
      -0.0012577873038006615
    ],
    "min_front_frame": [
      0,
      11.855727022392673
    ],
    "v_avg": 2.148849778423311,
    "v_std": 1.5134125007929522,
    "vy_max": 0.05258332658857964,
    "a_max": 1.3388490152993355,
    "ax_avg": 0.9477771066695428,
    "a_std": 0.3991402927101519,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0578756b879c55d0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.623231685587258,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      11.855727022392673,
      12.58138604823631,
      13.645069221009752,
      14.952320216201866,
      16.463579321042303,
      17.91318803607521,
      19.47876507203316,
      21.080495548256984,
      22.709260197951405,
      24.46808974002405
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0578756b879c55d0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0146e76ccdba5d9d": {
    "vx_ego": [
      9.71940742556911,
      9.407718256299855,
      8.956710580254779,
      8.270881935976888,
      7.3936909541183775,
      6.394187681153792,
      5.389582597724724,
      4.354686658315227,
      3.2923746564495597,
      2.2525968584458163
    ],
    "vy_ego": [
      0.005732986898549619,
      -0.0045363132147149265,
      -0.05321650663518973,
      -0.06701478305941944,
      -0.0058367146604321185,
      0.0034968703578064364,
      0.024767197334553348,
      0.0097760091248702,
      0.003312319788269402,
      -0.03541140989756775
    ],
    "v_ego": [
      9.71940911636848,
      9.407719349983564,
      8.956868672422653,
      8.271153425007743,
      7.393693257922589,
      6.394188637342599,
      5.389639504805585,
      4.354697631577082,
      3.292376322642012,
      2.252875179549656
    ],
    "ax_ego": [
      -0.6237431470678241,
      -0.6230155291329251,
      -1.179551203048401,
      -1.5545626960622252,
      -1.952377716778484,
      -2.0480487235336216,
      -1.969755215145337,
      -2.1667004320978194,
      -2.083414094752337,
      -2.0766822657148474
    ],
    "ay_ego": [
      0.10605103720391987,
      0.11024515799034909,
      0.1289501972459829,
      0.5347581932888716,
      0.4080613885281643,
      0.13512872250370112,
      -0.12729730745650691,
      -0.312090677779818,
      -0.20604238394460195,
      -0.2654401108583817
    ],
    "a_ego": [
      0.6326945044854589,
      0.6326945111197787,
      1.1865787769814138,
      1.6439682178429826,
      1.994565828891265,
      2.05250172852867,
      1.973864284108188,
      2.189061751895077,
      2.0935777401840787,
      2.0935777237033886
    ],
    "yaw": [
      1.973687362423098,
      1.980415369304379,
      1.992140439630231,
      2.012891590082679,
      2.0350331023408463,
      2.0533450442966457,
      2.0500617845104747,
      2.030691224620215,
      1.9984187285912671,
      1.9698647337711295
    ],
    "yaw_diff": [
      0.013456013762561891,
      0.023450140651704032,
      0.04150230090489604,
      0.04428302451633481,
      0.036623883911598654,
      -0.006566519572341889,
      -0.03874111978051964,
      -0.06454499205789554,
      -0.0571079896402753,
      -0.0571079896402753
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.543262109762198,
    "v_std": 2.5089026319263383,
    "vy_max": 0.06701478305941944,
    "a_max": 2.189061751895077,
    "ax_avg": -1.6277851023333825,
    "a_std": 0.579166907459241,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0146e76ccdba5d9d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0146e76ccdba5d9d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f01fa850d0455e68": {
    "vx_ego": [
      2.717479129423412,
      2.9824159102145194,
      3.2563994961682097,
      3.5542734705611196,
      3.7832486751372802,
      3.8728410357024443,
      3.9279495351888682,
      4.001601913337997,
      4.0824858755047995,
      4.173232606942003
    ],
    "vy_ego": [
      0.01863634705620254,
      0.002182357073298835,
      6.203005539040518e-05,
      0.0034360680763223517,
      0.0011638498641242112,
      0.00043592580403961634,
      0.0051960456795183685,
      0.01300820672819425,
      0.015747321134665482,
      0.012593775861689416
    ],
    "v_ego": [
      2.7175430322781318,
      2.9824167086748785,
      3.256399496759004,
      3.554275131457666,
      3.7832488541562386,
      3.872841060236282,
      3.9279529719538586,
      4.001623056495027,
      4.082516246363156,
      4.173251609337065
    ],
    "ax_ego": [
      0.5298751565252633,
      0.5299012708483875,
      0.5660710168832381,
      0.6253657439557103,
      0.2905402902593792,
      0.06782896918106562,
      0.1525996223623668,
      0.14197317342738341,
      0.18149406086540093,
      0.18149421664112314
    ],
    "ay_ego": [
      -0.037125095389728,
      -0.03675046520777492,
      0.04185026136639236,
      0.0009079042847455199,
      -0.014568639177057474,
      0.011370564508318873,
      0.018839873169016128,
      0.03190523648452372,
      -0.00650609458389699,
      -0.006501767116568677
    ],
    "a_ego": [
      0.5311741279565193,
      0.5311741273252341,
      0.5676159269538327,
      0.6253664030018476,
      0.2909053205279608,
      0.0687754229169388,
      0.15375820487428166,
      0.1455140065016948,
      0.18161063679242048,
      0.18161063749079523
    ],
    "yaw": [
      0.8911086067173373,
      0.890401610314558,
      0.8914916261186407,
      0.89364455799527,
      0.8933365319494235,
      0.8933179642533119,
      0.8940358649151978,
      0.895264807861037,
      0.8961591793809893,
      0.8961353365502901
    ],
    "yaw_diff": [
      -0.0014139928055585393,
      0.002180031608165489,
      0.0043058637532584765,
      -0.0006160520916929091,
      -3.713539222327533e-05,
      0.001435801323771857,
      0.0024578858916783908,
      0.0017887430399046167,
      -4.768566139845554e-05,
      -4.768566139845554e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.635206816771131,
    "v_std": 0.4697033367135151,
    "vy_max": 0.01863634705620254,
    "a_max": 0.6253664030018476,
    "ax_avg": 0.3267143520949318,
    "a_std": 0.20087205591898807,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "f01fa850d0455e68",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "f01fa850d0455e68",
    "pedestrians": "No"
  },
  "12177b43d67d51a7": {
    "vx_ego": [
      2.0043468701386096,
      2.660909128667392,
      3.0969713131656214,
      3.173998866974009,
      3.1063417880389643,
      2.9996066457130697,
      2.8571942130327868,
      2.594857054843584,
      2.2602458328805177,
      1.9702984628330378
    ],
    "vy_ego": [
      -0.02462537150977895,
      -0.009429898453563235,
      -0.004116750579446826,
      0.007397574096761339,
      -0.006823391373597332,
      -0.016881856725157185,
      0.004087742934250516,
      -0.004458743283458189,
      0.000428489340373428,
      0.03199899460488154
    ],
    "v_ego": [
      2.0044981378780165,
      2.6609258377508955,
      3.096974049327202,
      3.174007487649456,
      3.1063492821617706,
      2.999654151080171,
      2.8571971371661324,
      2.5948608855703976,
      2.2602458734962574,
      1.9705582884801847
    ],
    "ax_ego": [
      1.3131480834335356,
      1.313209552938395,
      0.4310899806001899,
      -0.1229753181678516,
      -0.1475816151876961,
      -0.2789366502842594,
      -0.29073036725931867,
      -0.7585753467463465,
      -0.579949080814847,
      -0.5798938928614195
    ],
    "ay_ego": [
      0.0390122071901533,
      0.036884880389471575,
      0.018399796785995542,
      0.018728341102661493,
      -0.09155845632859878,
      0.08898402203133321,
      0.00890739475326803,
      -0.057763837164321374,
      0.06640449597336731,
      0.0668847675332202
    ],
    "a_ego": [
      1.3137274608285447,
      1.313727454356498,
      0.4314824722924884,
      0.12439324595387793,
      0.17367580161520815,
      0.2927862890380559,
      0.2908667875987715,
      0.7607714621193976,
      0.5837383775489349,
      0.5837383824162535
    ],
    "yaw": [
      1.0379895035701148,
      1.0396094839869119,
      1.0424557312366876,
      1.0417591733223288,
      1.0404908789076466,
      1.0435582113979742,
      1.0447539127260517,
      1.0434367591033755,
      1.0423029488033781,
      1.0431311227857174
    ],
    "yaw_diff": [
      0.0032399608335942354,
      0.005692494499551337,
      -0.0013931158287174839,
      -0.0025365888293644723,
      0.006134664980655291,
      0.002391402656154895,
      -0.0026343072453522964,
      -0.0022676205999947463,
      0.0016563479646785062,
      0.0016563479646785062
    ],
    "min_front_frame": [
      4,
      43.11991037235429
    ],
    "v_avg": 2.672527113056048,
    "v_std": 0.4331420037768803,
    "vy_max": 0.03199899460488154,
    "a_max": 1.3137274608285447,
    "ax_avg": 0.029880534565038176,
    "a_std": 0.4086278825287701,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "12177b43d67d51a7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.391162808239243,
    "right_rear_min": 8.984241112831942,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      48.616294574146764,
      47.52274974547739,
      46.10836379231181,
      44.61882070619556,
      43.11991037235429,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "12177b43d67d51a7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9a1b945bf0125d1d": {
    "vx_ego": [
      0.5059213082600252,
      0.8757077552442294,
      1.343437412315362,
      1.9565073282106584,
      2.5992559156492767,
      3.202844349402776,
      3.7730196512772185,
      4.330275270771111,
      4.869610132379671,
      5.391696046605797
    ],
    "vy_ego": [
      0.005801552774318354,
      0.0056925997848814225,
      0.010202640718271098,
      0.018473103279023757,
      0.02856509506266353,
      0.03675123738108381,
      0.02508567793422633,
      -0.022383036608821863,
      -0.03767280284174465,
      0.002022144824751909
    ],
    "v_ego": [
      0.5059545712473885,
      0.8757262576211804,
      1.343476153374604,
      1.9565945366597461,
      2.5994128721104888,
      3.2030551946462507,
      3.773103043936315,
      4.330333118938963,
      4.869755854398526,
      5.391696425806471
    ],
    "ax_ego": [
      0.7395793957210599,
      0.739580011401831,
      1.1313498860182536,
      1.3209871874274395,
      1.25014000284702,
      1.1644110025728847,
      1.1165517961039175,
      1.112589848740751,
      1.044135870156871,
      1.0439903357703706
    ],
    "ay_ego": [
      -0.0012672587512882246,
      -0.000824142760336084,
      0.01678168158899466,
      0.010143059041844153,
      0.016831517781800635,
      -0.000577880650532249,
      -0.06922479826297445,
      -0.15904344320083239,
      0.047206309065886784,
      0.05032237361641396
    ],
    "a_ego": [
      0.7395804814351653,
      0.7395804705888481,
      1.1314743432488736,
      1.32102612805129,
      1.2502533050183016,
      1.1644111459698574,
      1.118695662849121,
      1.1238999013907527,
      1.045202444966462,
      1.0452024504699178
    ],
    "yaw": [
      1.560454945173496,
      1.5598558001984633,
      1.559364892976078,
      1.5584183833446732,
      1.5569541367507673,
      1.5555382494109953,
      1.5538824819709212,
      1.5515137741875842,
      1.5487646125646577,
      1.5457800586109267
    ],
    "yaw_diff": [
      -0.0011982899500653232,
      -0.0009818144447706345,
      -0.0018930192628094922,
      -0.0029284931878117426,
      -0.002831774679544097,
      -0.003311534880148237,
      -0.004737415566673953,
      -0.005498323245852976,
      -0.005969107907461968,
      -0.005969107907461968
    ],
    "min_front_frame": [
      0,
      11.421369351487915
    ],
    "v_avg": 2.8849108028739936,
    "v_std": 1.6192123778838827,
    "vy_max": 0.03767280284174465,
    "a_max": 1.32102612805129,
    "ax_avg": 1.06633153367604,
    "a_std": 0.18248715518154177,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "9a1b945bf0125d1d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.089879409868576,
    "right_rear_min": 45.454974661320634,
    "speed_mode": "accelerating",
    "front_frame": [
      11.421369351487915,
      12.09444589798636,
      12.852069623365399,
      13.520246413966559,
      14.232012486392978,
      14.970361573619194,
      15.513854378776745,
      15.83867927302494,
      15.984708745053302,
      16.027293688096094
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "9a1b945bf0125d1d",
    "merging_vehicles": "No"
  },
  "563ef3c44a5a528e": {
    "vx_ego": [
      -0.08434999478533388,
      0.4725346371596386,
      1.0621906622456516,
      1.6870106942436638,
      2.2176167316576896,
      2.438207256768509,
      2.367696233697561,
      2.142404303431154,
      1.7767774437909367,
      1.347841586608387
    ],
    "vy_ego": [
      2.7050489157610935e-05,
      0.001588564281090804,
      0.007654577089088677,
      0.00793416167466554,
      0.005427595131603402,
      0.007343998376297067,
      0.014682045444130987,
      0.01820864999488281,
      0.015317012286110154,
      0.01776508417608058
    ],
    "v_ego": [
      0.08434999912279084,
      0.4725373073653195,
      1.062218242882445,
      1.6870293516752954,
      2.217623373640584,
      2.438218316982868,
      2.3677417548212554,
      2.1424816812040572,
      1.7768434640197286,
      1.3479586569352924
    ],
    "ax_ego": [
      1.113771838533288,
      1.1137692471784166,
      1.2448937040465706,
      1.2547136750504833,
      0.8679133132146256,
      0.014533421791660924,
      -0.2965548229994685,
      -0.604638823586902,
      -0.8578758938047716,
      -0.857875287320222
    ],
    "ay_ego": [
      0.0022349123784177194,
      0.003281564583021701,
      0.012558313984457614,
      -0.042152628056725594,
      -0.03621061996436381,
      -0.013732657367895664,
      0.03250456496698742,
      -0.015751165964389024,
      0.005212101519959489,
      0.005312646637221752
    ],
    "a_ego": [
      1.1137740808364862,
      1.1137740815023887,
      1.244957045694719,
      1.2554215429132871,
      0.8686683649433726,
      0.019995155097131498,
      0.2983308730050231,
      0.6048439519560318,
      0.8578917269525276,
      0.8578917372308964
    ],
    "yaw": [
      -2.0847953160361694,
      -2.0857350534045036,
      -2.0885394765464866,
      -2.0941301958246155,
      -2.1026694330472537,
      -2.1085850964561046,
      -2.1096683263699827,
      -2.1093798040911587,
      -2.1092508047519196,
      -2.1091335964287232
    ],
    "yaw_diff": [
      -0.001879474736668385,
      -0.0056088462839660735,
      -0.011181438556257639,
      -0.017078474445276548,
      -0.011831326817701715,
      -0.0021664598277562064,
      0.0005770445576480654,
      0.00025799867847808855,
      0.0002344166463927877,
      0.0002344166463927877
    ],
    "min_front_frame": [
      7,
      69.05924205885542
    ],
    "v_avg": 1.5597002148649637,
    "v_std": 0.7688621757165208,
    "vy_max": 0.01820864999488281,
    "a_max": 1.2554215429132871,
    "ax_avg": 0.29926503721036807,
    "a_std": 0.38811585817194644,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "563ef3c44a5a528e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      74.78544315857829,
      74.6203553872578,
      74.2200506529501,
      -1,
      -1,
      -1,
      70.12434088169724,
      69.05924205885542,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "563ef3c44a5a528e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bd76dffbe3065854": {
    "vx_ego": [
      3.549598784151946,
      3.495199664936783,
      3.445276963420444,
      3.3984835662495625,
      3.3669550736782323,
      3.385003934334096,
      3.4588176769615635,
      3.5456483047429694,
      3.6484427878444965,
      3.774929370721395
    ],
    "vy_ego": [
      -0.031591340683571945,
      -0.016270484861924173,
      -0.016114391963716557,
      -0.005956565796314983,
      0.0006877296035103786,
      -0.013613889819541702,
      -0.014052652177290792,
      -0.0037697646797074658,
      -0.010949028022805951,
      -0.03731869091794682
    ],
    "v_ego": [
      3.549739362440454,
      3.4952375350542115,
      3.445314648664757,
      3.3984887863202418,
      3.366955143915582,
      3.385031310557308,
      3.4588462237421025,
      3.5456503087660005,
      3.648459216900905,
      3.7751138312144783
    ],
    "ax_ego": [
      -0.11522138194043846,
      -0.10597604129975324,
      -0.0968705408876757,
      -0.0919399375887476,
      -0.034110985231060015,
      0.1061116249276812,
      0.18886302298925103,
      0.15836125202292878,
      0.2528327299401889,
      0.2529461998802547
    ],
    "ay_ego": [
      -0.23817812490503348,
      -0.24243321655111297,
      -0.14802750945606974,
      -0.042482258653013985,
      -0.07534740486355676,
      -0.048425605532261204,
      -0.0020459222207202254,
      0.01018865301407093,
      -0.06580177533321503,
      -0.06536423316132885
    ],
    "a_ego": [
      0.2645841757164289,
      0.26458417529566247,
      0.1769068829854782,
      0.10128027657981778,
      0.08270907285846174,
      0.11663925675328636,
      0.18887410423446513,
      0.15868867254001054,
      0.26125516830488044,
      0.2612551683902738
    ],
    "yaw": [
      2.0106357163457043,
      1.9721672086696922,
      1.9439856052599656,
      1.9270959714865397,
      1.9164008250079427,
      1.9114456846278394,
      1.907875739330293,
      1.9055234592458041,
      1.9036479858931015,
      1.9019178121116957
    ],
    "yaw_diff": [
      -0.07693701535202413,
      -0.05636320681945328,
      -0.03377926754685179,
      -0.021390292957193857,
      -0.009910280760206724,
      -0.0071398905950927904,
      -0.0047045601689776895,
      -0.0037509467054053225,
      -0.003460347562811439,
      -0.003460347562811439
    ],
    "min_front_frame": [
      9,
      76.42629574344967
    ],
    "v_avg": 3.506883636757604,
    "v_std": 0.12154913876016613,
    "vy_max": 0.03731869091794682,
    "a_max": 0.2645841757164289,
    "ax_avg": 0.05149959428126296,
    "a_std": 0.0686612650031092,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bd76dffbe3065854",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.34773929831913,
      76.42629574344967
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bd76dffbe3065854",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c617243cb58658eb": {
    "vx_ego": [
      8.540674305183417,
      8.53460190180283,
      8.526782977744471,
      8.540965056173517,
      8.569560579406032,
      8.566279530533809,
      8.614126365097183,
      8.68435733032017,
      8.72636422067962,
      8.794207138598107
    ],
    "vy_ego": [
      0.10996313440149175,
      0.1286088563351715,
      0.12274946659867325,
      0.07046455095370607,
      0.03581493278782766,
      0.03714739186442184,
      0.058983315634101086,
      0.045658903699832276,
      0.028745910208530123,
      0.03252647452162272
    ],
    "v_ego": [
      8.541382176097006,
      8.53557085731144,
      8.527666467510507,
      8.54125572405593,
      8.569635420105131,
      8.566360074381933,
      8.614328300302097,
      8.684477357686687,
      8.726411567151251,
      8.794267290008571
    ],
    "ax_ego": [
      -0.025440718726814165,
      -0.011812263910536858,
      -0.03445494611854988,
      0.07964382988336965,
      0.031070027477677287,
      -0.04741538764617975,
      0.23289705980112682,
      0.04006272663827683,
      0.12636554491612445,
      0.1413872942225073
    ],
    "ay_ego": [
      0.5011045439684655,
      0.5016108694407989,
      0.39662259064381566,
      0.31898477252767365,
      0.474578849859474,
      0.5494414939986179,
      0.524127378595424,
      0.34103641095248766,
      0.5187054565398148,
      0.514813786237715
    ],
    "a_ego": [
      0.5017499318935486,
      0.5017499316590351,
      0.3981163431976185,
      0.3287771657871374,
      0.4755948184551686,
      0.5514836120077102,
      0.5735421078328256,
      0.343381501629088,
      0.5338760170546405,
      0.5338760169439845
    ],
    "yaw": [
      -1.2219168436203622,
      -1.1947354208789667,
      -1.1677355799845768,
      -1.1406014122578116,
      -1.113382976214445,
      -1.083695179998557,
      -1.054877586929909,
      -1.0284054564645677,
      -1.0017411538043084,
      -0.9726740766277657
    ],
    "yaw_diff": [
      0.05436284548279113,
      0.053999681788779785,
      0.05426833545353027,
      0.05443687208673342,
      0.059375592431775814,
      0.057635186137296124,
      0.052944260930682496,
      0.05332860532051864,
      0.05813415435308533,
      0.05813415435308533
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.610135523461054,
    "v_std": 0.08852002370253471,
    "vy_max": 0.1286088563351715,
    "a_max": 0.5735421078328256,
    "ax_avg": 0.05323031665370017,
    "a_std": 0.08278526980605293,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "c617243cb58658eb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c617243cb58658eb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d6353a288d0b545d": {
    "vx_ego": [
      0.9713642757554446,
      1.466282325189805,
      2.011906982668489,
      2.6196730152261907,
      3.2495974899198616,
      3.881905313899397,
      4.45924614080809,
      4.92183612384248,
      5.2999760970988845,
      5.661815490676039
    ],
    "vy_ego": [
      0.0024151359842758957,
      -0.006526027885655039,
      -0.011074190004145779,
      -0.00424988467054499,
      0.002554251831993426,
      -0.0009842499234147262,
      -0.004502687359163593,
      0.012246332963941065,
      0.02028695405247216,
      0.01267433392195505
    ],
    "v_ego": [
      0.9713672781681097,
      1.4662968479144955,
      2.0119374604083675,
      2.6196764625090623,
      3.2495984937674818,
      3.88190543867677,
      4.4592484140833974,
      4.921851359258204,
      5.3000149235944845,
      5.66182967680939
    ],
    "ax_ego": [
      0.9898280547692314,
      0.9898392052539213,
      1.1926226410785414,
      1.2384067184551395,
      1.2813015781382144,
      1.2479351415255868,
      1.0614360481675904,
      0.7889220035753286,
      0.7236943604443442,
      0.7237114901873019
    ],
    "ay_ego": [
      -0.019578436642861685,
      -0.019005947719525296,
      -0.0051703722388898865,
      0.025482985248051482,
      -0.007560153457962793,
      -0.016678388136065037,
      0.008256496986427442,
      0.04401304133318046,
      -0.023551494136525797,
      -0.02301935479749634
    ],
    "a_ego": [
      0.9900216629900677,
      0.990021655473471,
      1.1926338485730832,
      1.2386688753867918,
      1.2813238817956165,
      1.2480465881069118,
      1.0614681597165871,
      0.7901487679751877,
      0.7240774821902772,
      0.724077490137912
    ],
    "yaw": [
      1.1033002194852086,
      1.1027218488011554,
      1.1018489564434863,
      1.1010930689973422,
      1.1002998937766346,
      1.0995936787808152,
      1.0999305894334634,
      1.0991513424708694,
      1.0985799029291714,
      1.0978446045796928
    ],
    "yaw_diff": [
      -0.0011567413681063954,
      -0.00174578471533815,
      -0.0015117748922883756,
      -0.0015863504414150853,
      -0.0014124299916389305,
      0.0006738213052965847,
      -0.0015584939251880314,
      -0.0011428790833960534,
      -0.0014705966989572161,
      -0.0014705966989572161
    ],
    "min_front_frame": [
      0,
      13.968476864297573
    ],
    "v_avg": 3.4543726355189763,
    "v_std": 1.5672378825207123,
    "vy_max": 0.02028695405247216,
    "a_max": 1.2813238817956165,
    "ax_avg": 1.02376972415952,
    "a_std": 0.20718080907278605,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d6353a288d0b545d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.538811715908202,
    "right_rear_min": 3.947026315866258,
    "speed_mode": "accelerating",
    "front_frame": [
      13.968476864297573,
      14.655683977744951,
      15.230287274479334,
      15.735151240466482,
      16.13668838973193,
      16.344160111987435,
      16.4703938726607,
      16.54621726758262,
      16.50176360327966,
      16.235149372124003
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d6353a288d0b545d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c538fa98187053d8": {
    "vx_ego": [
      0.4993616181510441,
      0.2659146792717794,
      0.0620983563721835,
      -0.02160989103156391,
      -0.016298508012788662,
      -0.011170183268660212,
      -0.0064488223275900765,
      -0.004147685341320176,
      -0.002595651531700962,
      -0.0010510539206076963
    ],
    "vy_ego": [
      -0.0035398108557206376,
      0.005332633228366759,
      0.012756561310708184,
      0.007203669080609999,
      0.0005414743250899291,
      0.0019157858381183357,
      0.0011468357402962446,
      0.0007979968304690983,
      0.0005889157936809358,
      0.00045295680886708086
    ],
    "v_ego": [
      0.4993741642729662,
      0.26596814401232644,
      0.06339507646971143,
      0.022778942877556958,
      0.016307500050212104,
      0.011333279738583677,
      0.006550003177712598,
      0.00422375338201001,
      0.002661621439286285,
      0.0011445017320755172
    ],
    "ax_ego": [
      -0.46689218040526537,
      -0.4668949931804671,
      -0.34837360161710473,
      0.013532025776315754,
      0.007713257654910956,
      0.012799532696684532,
      0.006085916691733332,
      0.003118779367485439,
      0.003089220399355443,
      0.0030892300168216423
    ],
    "ay_ego": [
      0.017660031990740233,
      0.01758553943851271,
      0.012160977085934527,
      -0.03438615790071837,
      0.0077406747424071266,
      -0.0022464280857007425,
      -0.0008294054776833122,
      -0.0005652330656627453,
      -0.00027184375070932903,
      -0.00027174512240873646
    ],
    "a_ego": [
      0.4672260532691824,
      0.46722605434022185,
      0.3485857938404229,
      0.036952991445673385,
      0.0109275975913639,
      0.012995171272350416,
      0.006142173509852149,
      0.0031695856450917018,
      0.0031011581224751374,
      0.0031011590588656984
    ],
    "yaw": [
      -0.642007103918864,
      -0.642166652170242,
      -0.6420814950744678,
      -0.6419454908462463,
      -0.6419908174902398,
      -0.6419388387240968,
      -0.641938252211775,
      -0.6419753769774497,
      -0.6419206024154638,
      -0.6419529136397134
    ],
    "yaw_diff": [
      -0.0003190965027561887,
      0.00017031419154855953,
      0.00027200845644292926,
      -9.06532879869637e-05,
      0.0001039575322858699,
      1.1730246436414404e-06,
      -7.42495313492686e-05,
      0.00010954912397176386,
      -6.462244849925192e-05,
      -6.462244849925192e-05
    ],
    "min_front_frame": [
      2,
      9.384775646651896
    ],
    "v_avg": 0.08937369871524412,
    "v_std": 0.15660088117445375,
    "vy_max": 0.012756561310708184,
    "a_max": 0.46722605434022185,
    "ax_avg": -0.12327328125995299,
    "a_std": 0.19365662039933934,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c538fa98187053d8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.700573897507766,
      9.460500689828955,
      9.384775646651896,
      9.39866907191942,
      9.427316485969998,
      9.486884862502796,
      9.464841882011907,
      9.473612114958712,
      9.527604233603286,
      9.714316370198233
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c538fa98187053d8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4874da28248a5026": {
    "vx_ego": [
      0.5904423387296688,
      1.5317486938023972,
      2.4220475415324776,
      3.2531856044852248,
      3.8974250994059663,
      4.402644493811147,
      4.940697024989955,
      5.473539594796537,
      5.987793081758761,
      6.481561609829946
    ],
    "vy_ego": [
      -0.014951184078336677,
      -0.00044588645323562215,
      0.005809474302786555,
      0.019130387808209637,
      0.024154490886747704,
      0.011003293701821626,
      0.019759994396472802,
      0.013984289202490618,
      8.847550203050503e-05,
      0.006599380012970446
    ],
    "v_ego": [
      0.5906316053767401,
      1.5317487587003553,
      2.4220545087663066,
      3.253241852209514,
      3.8974999480320207,
      4.402658243761137,
      4.940736539234119,
      5.473557458924674,
      5.987793082412416,
      6.481564969499103
    ],
    "ax_ego": [
      1.8826115217236041,
      1.882650052877265,
      1.6785155419681832,
      1.646047548986059,
      0.9299169844220492,
      1.0905278868057386,
      1.0615727389242158,
      1.069319911674224,
      0.9875405356907381,
      0.9875376883276432
    ],
    "ay_ego": [
      0.032746096574459815,
      0.03045048942572015,
      0.004680426720643949,
      0.10854731712052246,
      0.025036323475339406,
      0.021582226891098788,
      0.06465251456160681,
      0.028470513311119494,
      0.008987441479343439,
      0.009294785983501308
    ],
    "a_ego": [
      1.882896292568268,
      1.8828962939856868,
      1.6785220674816972,
      1.6496227003703228,
      0.9302539521064984,
      1.0907414287623665,
      1.0635396690609147,
      1.0696988565157808,
      0.9875814314458806,
      0.9875814290042034
    ],
    "yaw": [
      -0.6405150660243872,
      -0.6392957066970439,
      -0.6380335452849749,
      -0.6327598982247471,
      -0.6250182752995971,
      -0.619011977000476,
      -0.616273755600584,
      -0.6106925890751924,
      -0.6066409039660677,
      -0.6069521227996382
    ],
    "yaw_diff": [
      0.002438718654686589,
      0.002524322824138059,
      0.01054729412045563,
      0.015483245850300031,
      0.012012596598242054,
      0.005476442799784209,
      0.011162333050783069,
      0.008103370218249362,
      -0.0006224376671408738,
      -0.0006224376671408738
    ],
    "min_front_frame": [
      0,
      11.815550757969389
    ],
    "v_avg": 3.8981486966916394,
    "v_std": 1.8438644918873521,
    "vy_max": 0.024154490886747704,
    "a_max": 1.8828962939856868,
    "ax_avg": 1.3216240411399722,
    "a_std": 0.377455622887099,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "4874da28248a5026",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.481472811885409,
    "right_rear_min": 4.099660541060134,
    "speed_mode": "accelerating",
    "front_frame": [
      11.815550757969389,
      13.095327895980569,
      14.300056564052902,
      15.570616366369874,
      16.703484921644947,
      17.704932844094568,
      19.47858264228749,
      20.779494263302283,
      22.05583432370645,
      23.123336300606443
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4874da28248a5026",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "e133b313fabc56b4": {
    "vx_ego": [
      8.70302747238094,
      8.734941359267953,
      8.755872185281419,
      8.80997432985319,
      8.884141580400168,
      8.87530673503413,
      8.803936325485466,
      8.754235450536274,
      8.745184658099884,
      8.751220165720095
    ],
    "vy_ego": [
      0.023178044897885997,
      0.044298620285449175,
      0.04954508727589557,
      0.01867553247117648,
      0.05508774230142599,
      0.10239893119080357,
      0.09679771989667074,
      0.07851194762458658,
      0.04827032230824324,
      0.04162629476444879
    ],
    "v_ego": [
      8.703058336400064,
      8.73505368716238,
      8.756012359553749,
      8.809994124185625,
      8.884312369561702,
      8.875897429671616,
      8.804468446293605,
      8.754587508806217,
      8.745317874627618,
      8.75131916554995
    ],
    "ax_ego": [
      0.06367100799514869,
      0.06555631377669517,
      0.021155864068953686,
      0.19612410191926538,
      0.10081113438792819,
      -0.13362311274060143,
      -0.1506157500535783,
      -0.049594922497610175,
      0.0098462689149557,
      0.0121586209134905
    ],
    "ay_ego": [
      -0.16179748661300422,
      -0.1610428263568437,
      -0.2595371403315231,
      -0.1799330566136589,
      0.047312976529830186,
      -0.0921790365632439,
      -0.04715946321571955,
      0.18391493751540955,
      0.1946689945877307,
      0.19453825415827278
    ],
    "a_ego": [
      0.1738747363287823,
      0.17387473133549056,
      0.2603979604297406,
      0.2661589153418923,
      0.11136158477991043,
      0.16233333311496853,
      0.1578262308204716,
      0.19048454157448305,
      0.1949178454255627,
      0.19491784011081875
    ],
    "yaw": [
      2.591576563747937,
      2.5798971929223455,
      2.5672825726049133,
      2.558265680639101,
      2.5504129779547706,
      2.543843519120668,
      2.5405372274429223,
      2.5465230519060347,
      2.560808282089383,
      2.572690500574165
    ],
    "yaw_diff": [
      -0.023358741651183124,
      -0.025229240634864425,
      -0.01803378393162447,
      -0.01570540536866094,
      -0.013138917668205075,
      -0.00661258335549153,
      0.01197164892622471,
      0.02857046036669697,
      0.02376443696956354,
      0.02376443696956354
    ],
    "min_front_frame": [
      0,
      51.70992961370502
    ],
    "v_avg": 8.782002130181251,
    "v_std": 0.0572035723372509,
    "vy_max": 0.10239893119080357,
    "a_max": 0.2661589153418923,
    "ax_avg": 0.013548952668464745,
    "a_std": 0.04392051278402888,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "e133b313fabc56b4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.97829405572452,
    "speed_mode": "quasi_constant",
    "front_frame": [
      51.70992961370502,
      52.801748406119295,
      54.1923809476859,
      55.2683220447514,
      56.36594111419829,
      57.38678777029438,
      58.09672100647017,
      59.06591396743234,
      59.85141279130746,
      60.70613768445776
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "e133b313fabc56b4",
    "pedestrians": "No"
  },
  "3748f0fadf395c8a": {
    "vx_ego": [
      6.997417707157748,
      7.006183783058308,
      6.987878873770061,
      6.935558369406969,
      6.849737998639775,
      6.71430551396254,
      6.568043094139329,
      6.477300217259037,
      6.456006851357459,
      6.463109741401014
    ],
    "vy_ego": [
      -0.05514202426177928,
      -0.12883273363301662,
      -0.14070006051142947,
      -0.0598778757010221,
      0.01373849549505346,
      0.02530675415117356,
      0.025620607430353548,
      0.008452318690321814,
      -0.03667818950502255,
      -0.07981731116753377
    ],
    "v_ego": [
      6.997634972709314,
      7.00736819892066,
      6.989295219227032,
      6.93581684125594,
      6.849751776252048,
      6.7143532053827375,
      6.568093064352577,
      6.477305732030503,
      6.456111039500468,
      6.463602581575904
    ],
    "ax_ego": [
      0.01918659545897655,
      0.018927144921982754,
      -0.08695742471275678,
      -0.12034789648637326,
      -0.22218160521556762,
      -0.3213584957952479,
      -0.2645541831555345,
      -0.09869762282366312,
      0.013412009464258287,
      0.014010741534518763
    ],
    "ay_ego": [
      -0.031220305049100422,
      -0.03137827502854744,
      0.20526260903871885,
      0.24832877389114447,
      0.25896087869177514,
      0.11346952148719247,
      0.08537947288119244,
      -0.11010654059913291,
      -0.14112794087547867,
      -0.14106976371271077
    ],
    "a_ego": [
      0.03664468437120594,
      0.036644685271740314,
      0.22292225636319202,
      0.27595433703961597,
      0.3412116680141267,
      0.34080289776690104,
      0.27799023402731676,
      0.14786707217548664,
      0.14176380953410486,
      0.14176381453779782
    ],
    "yaw": [
      -2.164447401597764,
      -2.15615803937349,
      -2.1482641713727446,
      -2.1435877282056985,
      -2.135882750738739,
      -2.123881965539078,
      -2.1164358369778182,
      -2.1147461076011966,
      -2.1174857774761398,
      -2.121729191507229
    ],
    "yaw_diff": [
      0.016578724448548243,
      0.015787736001490416,
      0.009352886334092148,
      0.0154099549339195,
      0.024001570399321714,
      0.014892257122519403,
      0.003379458753243192,
      -0.005479339749886236,
      -0.008486828062178375,
      -0.008486828062178375
    ],
    "min_front_frame": [
      1,
      24.837828714723567
    ],
    "v_avg": 6.745933263120717,
    "v_std": 0.22500084371189907,
    "vy_max": 0.14070006051142947,
    "a_max": 0.3412116680141267,
    "ax_avg": -0.10485607368094067,
    "a_std": 0.10718259127127808,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3748f0fadf395c8a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      28.29411665050258,
      24.837828714723567,
      29.10354848769712,
      25.77311097647794,
      55.91670185028477,
      56.11071458943336,
      55.981842339840505,
      56.22448973516592,
      56.27533858186852,
      55.93810372052874
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3748f0fadf395c8a",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "b8de9baf9a155a1b": {
    "vx_ego": [
      7.370145496011193,
      7.336789966328498,
      7.26090090205053,
      7.1581386653518955,
      7.030048181634285,
      6.888034639565943,
      6.790384261065663,
      6.731922144705906,
      6.675098159822355,
      6.593579394869014
    ],
    "vy_ego": [
      -0.005376818208009393,
      0.005390553599240899,
      -0.008897246457745478,
      0.03155639992492931,
      0.01595737283088905,
      0.021283945456406883,
      0.026013903800048865,
      0.020296751926799583,
      0.0021338688700995867,
      0.0006164265279395842
    ],
    "v_ego": [
      7.3701474573137356,
      7.3367919466267155,
      7.260906353231167,
      7.158208222647763,
      7.030066292279695,
      6.888067523057139,
      6.790434090403881,
      6.731952741999942,
      6.675098500895708,
      6.5935794236835354
    ],
    "ax_ego": [
      -0.07246757272832915,
      -0.060930481977593876,
      -0.24529797866356512,
      -0.16599145585185382,
      -0.34698838426860135,
      -0.22123024380699025,
      -0.16988183096149873,
      -0.06449882619968292,
      -0.16304850107178795,
      -0.16301877812041718
    ],
    "ay_ego": [
      0.42187438366145924,
      0.4236944821742331,
      0.16868864040158588,
      0.0640591100212124,
      0.03174436282656101,
      0.08522562376707776,
      0.07066084202967331,
      0.038799244011599135,
      -0.02131873580401028,
      -0.021544774533952732
    ],
    "a_ego": [
      0.4280532031031561,
      0.42805319512756057,
      0.2977027976639897,
      0.1779233907965103,
      0.3484374310957405,
      0.2370785264872967,
      0.18399127992155953,
      0.07526938233444269,
      0.1644363165424172,
      0.16443630782036145
    ],
    "yaw": [
      0.8113592501929864,
      0.8386459343326029,
      0.8608228444565207,
      0.8632859351503019,
      0.8688432434141986,
      0.8722876903294745,
      0.8772990522847617,
      0.8822015723601782,
      0.8855567786812821,
      0.8841702895994286
    ],
    "yaw_diff": [
      0.05457336827923309,
      0.04435382024783552,
      0.0049261813875625116,
      0.01111461652779333,
      0.006888893830551801,
      0.01002272391057435,
      0.009805040150832944,
      0.006710412642207952,
      -0.0027729781637071405,
      -0.0027729781637071405
    ],
    "min_front_frame": [
      6,
      17.315911177091262
    ],
    "v_avg": 6.983525255213928,
    "v_std": 0.2721698887581722,
    "vy_max": 0.03155639992492931,
    "a_max": 0.4280532031031561,
    "ax_avg": -0.16733540536503205,
    "a_std": 0.11413181110461075,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b8de9baf9a155a1b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      23.716879254768994,
      20.098210399890373,
      21.841999895639283,
      18.29485256975403,
      24.086546799722846,
      20.643996919275565,
      17.315911177091262,
      24.43277970143658,
      21.152536485137375,
      23.1543552402248
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      1,
      1,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b8de9baf9a155a1b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2c3e04a929b85f30": {
    "vx_ego": [
      5.9649556016433465,
      6.469783187234512,
      6.972121692806512,
      7.373297312535257,
      7.672946230058282,
      7.9126084913194115,
      8.093222739707251,
      8.324339791432184,
      8.592401823793239,
      8.845102891364776
    ],
    "vy_ego": [
      0.03865363977971836,
      0.011633470053634909,
      0.003027260989327818,
      -0.003692869255683018,
      -0.016736733709464158,
      -0.03594942702748627,
      -0.03082578893242438,
      -0.02462430363081447,
      -0.019036350010718017,
      0.03425851970946914
    ],
    "v_ego": [
      5.9650808404785725,
      6.4697936464347805,
      6.972122350017407,
      7.373298237310287,
      7.67296448366737,
      7.9126901555794324,
      8.093281444740313,
      8.324376212038384,
      8.592422911155333,
      8.845169235520721
    ],
    "ax_ego": [
      1.0095324712993634,
      1.0094805699829348,
      0.9998648150039652,
      0.6048458318461023,
      0.5937454010167493,
      0.3648620356326137,
      0.35768493915289035,
      0.5668824630239719,
      0.5055206745325888,
      0.5053612922061984
    ],
    "ay_ego": [
      -0.016343394546967982,
      -0.01928441255355484,
      0.02880547466230704,
      0.03156106885785878,
      -0.0708721608750105,
      -0.015768434853930702,
      0.05340000905009704,
      0.008184619310724978,
      0.060440662618859387,
      0.06175922297661143
    ],
    "a_ego": [
      1.0096647548335624,
      1.0096647511627839,
      1.0002796627210984,
      0.6056687059515738,
      0.5979602532072127,
      0.3652026130570773,
      0.36164910709603215,
      0.5669415444976549,
      0.5091210328376645,
      0.5091210438422218
    ],
    "yaw": [
      1.2358512023681132,
      1.23876452241087,
      1.2403988902533558,
      1.243419035352209,
      1.2438464508262386,
      1.2435335325623327,
      1.244068809486155,
      1.2451924909876992,
      1.2465589343489367,
      1.2439502086950938
    ],
    "yaw_diff": [
      0.005826640085513812,
      0.0032687356849714355,
      0.006040290197706355,
      0.0008548309480591598,
      -0.000625836527811785,
      0.0010705538476445398,
      0.002247363003088587,
      0.0027328867224749587,
      -0.005217451307685916,
      -0.005217451307685916
    ],
    "min_front_frame": [
      2,
      17.513410761060946
    ],
    "v_avg": 7.622119951694259,
    "v_std": 0.8830376129572711,
    "vy_max": 0.03865363977971836,
    "a_max": 1.0096647548335624,
    "ax_avg": 0.6517780493697378,
    "a_std": 0.24429706262766562,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "2c3e04a929b85f30",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.432600622876828,
    "right_rear_min": 8.640307548366657,
    "speed_mode": "accelerating",
    "front_frame": [
      23.903921119513257,
      20.806990519680078,
      17.513410761060946,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.3333333333333333,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2c3e04a929b85f30",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "99c561c0507851d8": {
    "vx_ego": [
      5.816775907030772,
      5.337374325466598,
      4.840083221679767,
      4.269562794645114,
      3.634715361031362,
      2.946760384748978,
      2.227795835184246,
      1.554739019080921,
      0.9815137234850537,
      0.4753466395231496
    ],
    "vy_ego": [
      -0.04992044523483563,
      -0.05409964356115693,
      -0.024104712280884177,
      0.008089731542208822,
      -0.0018811491507693123,
      -0.005146689475275079,
      -0.013108208235327434,
      -0.03982695386488899,
      -0.04589171508117329,
      -0.036347823374684646
    ],
    "v_ego": [
      5.816990115469177,
      5.337648495506563,
      4.840143244774904,
      4.26957045862628,
      3.6347158478262744,
      2.946764879242743,
      2.227834398779993,
      1.5552490487722088,
      0.9825859956780302,
      0.4767342991332052
    ],
    "ax_ego": [
      -0.9590199712703631,
      -0.9589669573264507,
      -1.0305389688586652,
      -1.2515090699905516,
      -1.2877786149899217,
      -1.4641933131914922,
      -1.4116402093515652,
      -1.280904533414633,
      -1.012401207853702,
      -1.0124174862464133
    ],
    "ay_ego": [
      -0.027970662880208108,
      -0.02973261557859469,
      0.11957448982656388,
      -0.00971607069270991,
      -0.06870284898198009,
      0.021622382369840987,
      -0.07502688214465175,
      -0.052144500452610376,
      0.018216266770671175,
      0.01728815527566524
    ],
    "a_ego": [
      0.9594277790836402,
      0.9594277740784322,
      1.0374529507180381,
      1.2515467847021624,
      1.2896099575777173,
      1.4643529580719352,
      1.4136325950198227,
      1.2819654724873095,
      1.0125650784214784,
      1.0125650827331258
    ],
    "yaw": [
      -0.32634273126223223,
      -0.32818000696712607,
      -0.32965802519354376,
      -0.3306901890607098,
      -0.3331250227516388,
      -0.33569221531875154,
      -0.33778063431850275,
      -0.34048692552724935,
      -0.342444940635164,
      -0.3433616855910905
    ],
    "yaw_diff": [
      -0.003674551409787674,
      -0.0029560364528353755,
      -0.002064327734332072,
      -0.004869667381858012,
      -0.005134385134225483,
      -0.004176837999502414,
      -0.005412582417493206,
      -0.003916030215829314,
      -0.001833489911852948,
      -0.001833489911852948
    ],
    "min_front_frame": [
      9,
      9.372621500201776
    ],
    "v_avg": 3.208823678380937,
    "v_std": 1.7744849702865075,
    "vy_max": 0.05409964356115693,
    "a_max": 1.4643529580719352,
    "ax_avg": -1.166937033249376,
    "a_std": 0.18310769513853264,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "99c561c0507851d8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.66483161564343,
      20.943713911585622,
      18.387300420250003,
      16.090350705280017,
      14.110218383322682,
      12.501283930772145,
      11.223859736592406,
      10.280338259388143,
      9.641630259058516,
      9.372621500201776
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "99c561c0507851d8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4a7fd1bd37ed5463": {
    "vx_ego": [
      5.57314407963518,
      5.4491262786117005,
      5.467420677469034,
      5.645439302253342,
      5.909859221276307,
      6.191735201820332,
      6.476816970589261,
      6.78512841235308,
      7.170823790658197,
      7.617097024305064
    ],
    "vy_ego": [
      -0.03140509954134796,
      0.029754358897558397,
      0.036969510064791766,
      0.013298345393647715,
      0.0024352350054122063,
      -0.025181881738463918,
      -0.007810758749152047,
      0.00751124428623573,
      0.01207446148654645,
      0.022888602044145667
    ],
    "v_ego": [
      5.573232564019724,
      5.449207513219698,
      5.467545665935529,
      5.645454964962249,
      5.9098597230115475,
      6.191786409157616,
      6.476821680304723,
      6.7851325698848175,
      7.1708339563324,
      7.61713141318834
    ],
    "ax_ego": [
      -0.33582382479760486,
      -0.15801306960372385,
      0.20564892994317152,
      0.4792195969924496,
      0.5663826634349352,
      0.5546601050273042,
      0.5835038412138536,
      0.6492691460510209,
      0.8925462476604269,
      0.8925463513702772
    ],
    "ay_ego": [
      1.444588387394479,
      1.4746678009649072,
      1.3452964975867654,
      1.0669331367142847,
      0.8449076960477646,
      0.5454825491559475,
      0.26583362985903525,
      0.203203532047952,
      0.021701387714998355,
      0.02169710428953403
    ],
    "a_ego": [
      1.48310931839048,
      1.4831093194260045,
      1.3609240055219796,
      1.1696143554012102,
      1.017181565051389,
      0.7779453988183046,
      0.6412053114840461,
      0.6803249954621577,
      0.8928100326729448,
      0.8928100322459113
    ],
    "yaw": [
      1.985733184148287,
      2.107402088766766,
      2.2361358276191616,
      2.349506104733106,
      2.434221171658113,
      2.496197096798568,
      2.525490148184923,
      2.5408818274056886,
      2.548317923868345,
      2.5483227227169816
    ],
    "yaw_diff": [
      0.2433378092369578,
      0.2574674777047914,
      0.22674055422788886,
      0.16943013385001393,
      0.1239518502809096,
      0.05858610277271037,
      0.030783358441531128,
      0.01487219292531261,
      9.597697273378003e-06,
      9.597697273378003e-06
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.2287006460016645,
    "v_std": 0.7243161103428642,
    "vy_max": 0.036969510064791766,
    "a_max": 1.4831093194260045,
    "ax_avg": 0.43299399872921096,
    "a_std": 0.3022267563838498,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "4a7fd1bd37ed5463",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "4a7fd1bd37ed5463",
    "pedestrians": "No"
  },
  "419ff14e34c45d7f": {
    "vx_ego": [
      3.2182589911800634,
      2.800141595714512,
      2.425119044924009,
      2.1820913482266144,
      2.0092121444590676,
      1.6916513252652836,
      1.2387310713687132,
      0.7632902036928993,
      0.3277540728610127,
      -0.05481894807234966
    ],
    "vy_ego": [
      -0.007540955342395961,
      0.012440591271914103,
      0.0012568061319042645,
      -0.01752617810295387,
      0.010109540540377382,
      0.041158255433301205,
      0.02024930249445639,
      0.0004662959906477082,
      0.00231683982943863,
      0.00234661169633707
    ],
    "v_ego": [
      3.2182678260702287,
      2.8001692313790265,
      2.425119370590815,
      2.1821617306983323,
      2.0092375778517937,
      1.6921519459735592,
      1.2388965660723223,
      0.7632903461236089,
      0.3277622614392592,
      0.054869150296066684
    ],
    "ax_ego": [
      -0.8361910028050124,
      -0.8362524397891784,
      -0.6636820405985895,
      -0.3083125311996673,
      -0.383019191206482,
      -0.8869506453141125,
      -0.9247780249289823,
      -0.976983804267398,
      -0.7651526879709993,
      -0.7651520367255463
    ],
    "ay_ego": [
      0.026423605588591026,
      0.02440191841181022,
      -0.08839749721656476,
      0.02503179749861853,
      0.11219107881824388,
      -0.0011418922887896366,
      -0.08077099924848574,
      0.005508616457871318,
      -9.838379446969192e-05,
      0.0010037338195791057
    ],
    "a_ego": [
      0.8366083911271471,
      0.8366083890779067,
      0.6695431043086474,
      0.30932702400656437,
      0.399112188486983,
      0.8869513803704913,
      0.9282986317511991,
      0.976999334010048,
      0.7651526942961232,
      0.7651526950791144
    ],
    "yaw": [
      -0.3277117776833506,
      -0.33012940935000323,
      -0.33198776312057776,
      -0.3306857165611264,
      -0.3275170563400867,
      -0.3292346133971699,
      -0.32894158099435666,
      -0.3279814029609762,
      -0.32894082606709707,
      -0.32750044967839687
    ],
    "yaw_diff": [
      -0.004835263333305306,
      -0.0037167075411490558,
      0.0026040931189027505,
      0.006337320442079353,
      -0.0034351141141664154,
      0.0005860648056265072,
      0.0019203560667608865,
      -0.0019188462122416983,
      0.0028807527774004082,
      0.0028807527774004082
    ],
    "min_front_frame": [
      9,
      12.148777469206047
    ],
    "v_avg": 1.6711926006495008,
    "v_std": 1.002033514941812,
    "vy_max": 0.041158255433301205,
    "a_max": 0.976999334010048,
    "ax_avg": -0.7346474404805968,
    "a_std": 0.20969750730963485,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "419ff14e34c45d7f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 20.55696965013996,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.95955767899727,
      17.551403877067067,
      16.290726326240634,
      15.198153090003721,
      14.234594743402841,
      13.326403810607369,
      12.688887443264282,
      12.36364060287512,
      12.176771973114631,
      12.148777469206047
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "419ff14e34c45d7f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "566bd5e6d09153e0": {
    "vx_ego": [
      12.85019028973077,
      12.831535438843833,
      12.84062434955916,
      12.907206225718653,
      12.994412178915262,
      13.085760068681841,
      13.204773009455945,
      13.283069100563527,
      13.313037184089863,
      13.34958331608809
    ],
    "vy_ego": [
      -0.04483461898464869,
      -0.04119315172177229,
      -0.030901548127425293,
      -0.05572427151840387,
      -0.07683124939270813,
      -0.03912442578317288,
      0.003447178470874057,
      0.013675545530285937,
      0.0011558171029792952,
      -0.020291951144824072
    ],
    "v_ego": [
      12.850268504017746,
      12.831601559978939,
      12.840661532497782,
      12.907326514335438,
      12.99463931459525,
      13.085818556582582,
      13.204773459408367,
      13.283076140370914,
      13.31303723426298,
      13.34959873840629
    ],
    "ax_ego": [
      -0.03777376581050791,
      -0.03746594435826767,
      0.07321345346976124,
      0.19261959420525712,
      0.1553457280909734,
      0.20950765763896562,
      0.26653643154403595,
      0.04662760199690111,
      0.07312061763286891,
      0.07313847024452136
    ],
    "ay_ego": [
      -0.08527694126203866,
      -0.08541262941795898,
      -0.10909503041690738,
      -0.16559809582595786,
      -0.058426674989911075,
      0.12217680743405507,
      0.0330247331149969,
      0.060290950489325146,
      0.009220844236461242,
      0.009078100681325422
    ],
    "a_ego": [
      0.09326850537301586,
      0.09326850621054462,
      0.1313846849166022,
      0.25401778956006416,
      0.16596979118650282,
      0.24252964949495184,
      0.2685745750020752,
      0.0762176618566043,
      0.07369971975147056,
      0.07369971330805174
    ],
    "yaw": [
      -1.2557898797323985,
      -1.2593966425627618,
      -1.263991658020136,
      -1.267401763802817,
      -1.270095544637738,
      -1.271765824420466,
      -1.2720528679560494,
      -1.2710657418687217,
      -1.2688169079006957,
      -1.2668649242145564
    ],
    "yaw_diff": [
      -0.0072135256607266385,
      -0.009190030914748348,
      -0.006820211565361944,
      -0.005387561669842,
      -0.0033405595654558695,
      -0.0005740870711670176,
      0.001974252174655522,
      0.004497667936051997,
      0.003903967372278494,
      0.003903967372278494
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 13.06608015544563,
    "v_std": 0.1976760553739821,
    "vy_max": 0.07683124939270813,
    "a_max": 0.2685745750020752,
    "ax_avg": 0.1014869844654509,
    "a_std": 0.07582364208292625,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "566bd5e6d09153e0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "566bd5e6d09153e0",
    "road_shape": "Straight"
  },
  "30271c81460b556d": {
    "vx_ego": [
      10.582797936443013,
      10.564805719754983,
      10.507904722057756,
      10.395344626566501,
      10.30239226322827,
      10.262885432061113,
      10.27272980272383,
      10.420380098428824,
      10.622263852637827,
      10.77188652825785
    ],
    "vy_ego": [
      -0.029653123107453272,
      -0.001541829846107401,
      0.006732828635917176,
      -0.011262864509528181,
      -0.04444416888948455,
      -0.05514448553924395,
      -0.018911620016374243,
      0.02384585570619735,
      0.010376699533960754,
      -0.014197764480106012
    ],
    "v_ego": [
      10.582839480559672,
      10.56480583226246,
      10.507906879051847,
      10.395350727955359,
      10.302488128096726,
      10.263033582031076,
      10.272747210417572,
      10.4204073826586,
      10.62226892104269,
      10.771895884856074
    ],
    "ax_ego": [
      -0.04014054176358682,
      -0.033049650394333954,
      -0.1921038554815838,
      -0.25774823160711513,
      -0.11634142620577037,
      -0.04835823123785174,
      0.08067113806924431,
      0.5123280776341335,
      0.2952248170519841,
      0.30307925086659815
    ],
    "ay_ego": [
      -0.3597716796168695,
      -0.36049222612302356,
      -0.5573471050034745,
      -0.6052586244178667,
      -0.6619713941757543,
      -0.6165022963257841,
      -0.4239448810077893,
      -0.5732317778954164,
      -0.43791666514290484,
      -0.43251781922627375
    ],
    "a_ego": [
      0.36200403940759784,
      0.36200403932321096,
      0.589524967025692,
      0.6578542037023122,
      0.672117143181592,
      0.6183959895596174,
      0.4315519605448407,
      0.768813846338258,
      0.5281370070476604,
      0.5281370051928854
    ],
    "yaw": [
      -1.4130277407088592,
      -1.4327167795626643,
      -1.455236588782596,
      -1.4813020502132823,
      -1.5087537103355095,
      -1.5388189816448326,
      -1.5677239081113703,
      -1.5960969245438084,
      -1.618783429734043,
      -1.6368301044828109
    ],
    "yaw_diff": [
      -0.03937807770761026,
      -0.04503961843986337,
      -0.052130922861372664,
      -0.054903320244454434,
      -0.06013054261864603,
      -0.0578098529330755,
      -0.05674603286487612,
      -0.04537301038046948,
      -0.03609334949753551,
      -0.03609334949753551
    ],
    "min_front_frame": [
      9,
      38.90254024433551
    ],
    "v_avg": 10.47037440289321,
    "v_std": 0.15978714072844488,
    "vy_max": 0.05514448553924395,
    "a_max": 0.768813846338258,
    "ax_avg": 0.050356134693171815,
    "a_std": 0.128957887408074,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "30271c81460b556d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      64.70794693281675,
      59.61871541733244,
      54.57503172880856,
      49.44050968597298,
      44.24732125440818,
      38.90254024433551
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "30271c81460b556d",
    "road_shape": "Straight"
  },
  "c0ee4f794af35185": {
    "vx_ego": [
      8.494398550593246,
      8.60177879545011,
      8.867785708700467,
      9.236899027717778,
      9.594475590091736,
      9.889379983268281,
      10.178262541225262,
      10.487708155826818,
      10.823910063626654,
      11.160924625706471
    ],
    "vy_ego": [
      -0.08886942784670371,
      -0.08296788795955656,
      -0.12831033042070406,
      -0.13988661446042272,
      -0.10886677029835123,
      -0.09191432900893926,
      -0.09298973131926402,
      -0.005274162401520677,
      0.01791420446403169,
      0.019499604689668715
    ],
    "v_ego": [
      8.49486341923909,
      8.60217891677961,
      8.868713938126819,
      9.237958211269351,
      9.595093215938101,
      9.889807111230457,
      10.1786873145922,
      10.487709481988208,
      10.823924888144777,
      11.16094165988176
    ],
    "ax_ego": [
      0.046888770022402326,
      0.4315137105470548,
      0.6409873622537662,
      0.8439062828962312,
      0.5917951334558271,
      0.5943001600845847,
      0.5677391065926258,
      0.6705516256157641,
      0.6739600526042593,
      0.6740008931092163
    ],
    "ay_ego": [
      2.580931611842322,
      2.5450348696387883,
      1.82949718855784,
      0.9708314685767211,
      0.3240775322723046,
      0.35153251198978014,
      0.3511700394854943,
      0.18480241857748736,
      0.032029390468887975,
      0.03115803972189507
    ],
    "a_ego": [
      2.581357499797581,
      2.5813575052803928,
      1.9385367578434207,
      1.2863481467668723,
      0.6747204805737758,
      0.6904837342489741,
      0.6675687903031692,
      0.695551160252093,
      0.6747207084121136,
      0.674720703218252
    ],
    "yaw": [
      -2.479944337569555,
      -2.3301557949241527,
      -2.1995542843882347,
      -2.1207582316204183,
      -2.089777204974739,
      -2.074179483958873,
      -2.056570240009107,
      -2.0520860474972045,
      -2.049174883981016,
      -2.047882041710923
    ],
    "yaw_diff": [
      0.29957708529080485,
      0.2612030210718359,
      0.15759210553563285,
      0.06196205329135829,
      0.031195442031732412,
      0.03521848789953186,
      0.008968385023805148,
      0.005822327032376506,
      0.0025856845401861506,
      0.0025856845401861506
    ],
    "min_front_frame": [
      6,
      35.579897119603324
    ],
    "v_avg": 9.733987815719036,
    "v_std": 0.8857059533404197,
    "vy_max": 0.13988661446042272,
    "a_max": 2.5813575052803928,
    "ax_avg": 0.5735643097181733,
    "a_std": 0.7728419526999653,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "c0ee4f794af35185",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.480760043503016,
    "right_rear_min": 11.171224550188434,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      35.579897119603324,
      37.44228662508934,
      39.139608252884095,
      40.54020161128452
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c0ee4f794af35185",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "eac61acb69665f21": {
    "vx_ego": [
      9.617990203232472,
      9.585178287919534,
      9.570746125603417,
      9.555826299399383,
      9.549022379678465,
      9.54894334054661,
      9.556486834106714,
      9.571098516901097,
      9.574997630566399,
      9.586884449517783
    ],
    "vy_ego": [
      -0.04834484493266533,
      -0.016270673337661634,
      0.0024405549427530815,
      0.020619721803434743,
      0.0277444316292339,
      0.019774941877190422,
      0.015298652698966464,
      0.02865557370760996,
      0.04553986895940776,
      0.03609817122491776
    ],
    "v_ego": [
      9.618111705189714,
      9.585192097502006,
      9.570746436776039,
      9.555848546163766,
      9.549062684949064,
      9.548963816524582,
      9.55649907964362,
      9.57114141375682,
      9.57510592656901,
      9.586952410770154
    ],
    "ax_ego": [
      -0.0676453893009401,
      -0.06148470392412364,
      0.0046863981880127525,
      -0.0656667164213508,
      0.0360213928060186,
      -0.03797280076888232,
      0.06750567570830647,
      -0.009371631044065576,
      0.021663820300379902,
      0.023997706518918582
    ],
    "ay_ego": [
      0.3769803198915593,
      0.3780339819576152,
      0.4210570013175068,
      0.37569905292083144,
      0.26750954964476015,
      0.21405092696569242,
      0.2535773810462639,
      0.38872754905738544,
      0.20237240897136521,
      0.20210893847887287
    ],
    "a_ego": [
      0.38300138417402374,
      0.38300138424210384,
      0.42108308050367865,
      0.38139467223752854,
      0.26992387795604134,
      0.21739303791314343,
      0.262409040299905,
      0.38884050054564545,
      0.2035286540585395,
      0.20352865383337296
    ],
    "yaw": [
      0.9767200556385933,
      0.9930390806634225,
      1.011958826311982,
      1.030868451598737,
      1.0469773337094748,
      1.0604063525735385,
      1.0731304306736877,
      1.088508078552807,
      1.1021862420525066,
      1.1137262540333224
    ],
    "yaw_diff": [
      0.03263805004965836,
      0.037839491297119165,
      0.037819250573509766,
      0.0322177642214756,
      0.02685803772812756,
      0.02544815620029839,
      0.030755295758238432,
      0.027356326999399272,
      0.023080023961631557,
      0.023080023961631557
    ],
    "min_front_frame": [
      3,
      34.72005555233085
    ],
    "v_avg": 9.571762411784478,
    "v_std": 0.02023170885755018,
    "vy_max": 0.04834484493266533,
    "a_max": 0.42108308050367865,
    "ax_avg": -0.008826624793772612,
    "a_std": 0.08331285922389711,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "eac61acb69665f21",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      49.01492430499036,
      44.242475585354065,
      39.48097253027511,
      34.72005555233085,
      37.549401600926764,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "eac61acb69665f21",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "196cb93444b35dd7": {
    "vx_ego": [
      5.685289112771603,
      5.61282562175532,
      5.5816359676716125,
      5.537091612150674,
      5.4491262786117005,
      5.467420677469034,
      5.645439302253342,
      5.909859221276307,
      6.191735201820332,
      6.4735406886800035
    ],
    "vy_ego": [
      -0.13307530655546307,
      -0.029170055803275252,
      0.01361411403031565,
      0.023012172364208716,
      0.029754358897558397,
      0.036969510064791766,
      0.013298345393647715,
      0.0024352350054122063,
      -0.025181881738463918,
      0.05798162597185463
    ],
    "v_ego": [
      5.686846343362387,
      5.612901420155939,
      5.581652570673514,
      5.537139431279139,
      5.449207513219698,
      5.467545665935529,
      5.645454964962249,
      5.9098597230115475,
      6.191786409157616,
      6.473800345774182
    ],
    "ax_ego": [
      -0.144817195392192,
      -0.1442355764414421,
      0.0289705429502152,
      -0.1916139547022616,
      -0.15801306960372385,
      0.20564892994317152,
      0.4792195969924496,
      0.5663826634349352,
      0.5546601050273042,
      0.5703987127672677
    ],
    "ay_ego": [
      0.2355123932681747,
      0.23586904474389642,
      0.7160181007873906,
      1.2269192994913956,
      1.4746678009649072,
      1.3452964975867654,
      1.0669331367142847,
      0.8449076960477646,
      0.5454825491559475,
      0.5290031674496422
    ],
    "a_ego": [
      0.2764744246113258,
      0.27647442518213744,
      0.7166039443193235,
      1.2417918002230073,
      1.4831093194260045,
      1.3609240055219796,
      1.1696143554012102,
      1.017181565051389,
      0.7779453988183046,
      0.7779453982756824
    ],
    "yaw": [
      1.863054105365765,
      1.8655218233921436,
      1.9005258381557053,
      1.985733184148287,
      2.107402088766766,
      2.2361358276191616,
      2.349506104733106,
      2.434221171658113,
      2.496197096798568,
      2.525490148184923
    ],
    "yaw_diff": [
      0.004935436052757147,
      0.07000802952712348,
      0.17041469198516346,
      0.2433378092369578,
      0.2574674777047914,
      0.22674055422788886,
      0.16943013385001393,
      0.1239518502809096,
      0.05858610277271037,
      0.05858610277271037
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.75561943875318,
    "v_std": 0.31967524785113066,
    "vy_max": 0.13307530655546307,
    "a_max": 1.4831093194260045,
    "ax_avg": 0.1766600754975724,
    "a_std": 0.39946812824315053,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "196cb93444b35dd7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "196cb93444b35dd7",
    "pedestrians": "No"
  },
  "9838aa01c0de5dc8": {
    "vx_ego": [
      10.788497350821437,
      11.13579239985476,
      11.473747983550325,
      11.790027676738633,
      12.068445514008202,
      12.259371586413561,
      12.348756258823656,
      12.381079839833154,
      12.40002672866369,
      12.422818486812112
    ],
    "vy_ego": [
      -0.017501302764720394,
      -0.04938710850354433,
      -0.04079447642065476,
      -0.01902706681349481,
      -0.016521256240827342,
      -0.008485297232637912,
      -0.02217741292338904,
      -0.015261573286173002,
      -0.004897919686163155,
      -0.019062615283048034
    ],
    "v_ego": [
      10.788511546282908,
      11.135901914939327,
      11.473820504929106,
      11.790043029927181,
      12.06845682249775,
      12.25937452295317,
      12.34877617326836,
      12.381089245940444,
      12.400027695984845,
      12.422833112441872
    ],
    "ax_ego": [
      0.694701200684419,
      0.6954689809830943,
      0.6564376706378258,
      0.608530156449233,
      0.50519444014518,
      0.2584731045940235,
      0.09907175822680735,
      0.030218593894700503,
      0.045570871813180466,
      0.04558168700234425
    ],
    "ay_ego": [
      0.1043397434509952,
      0.09909308493126125,
      -0.031570009711021245,
      0.07839622800066844,
      0.005266588685579405,
      -0.023320652989498508,
      -0.026373211937349872,
      0.052307899230407615,
      -0.03583907276374417,
      -0.03582529322518998
    ],
    "a_ego": [
      0.7024930891445075,
      0.702493091062722,
      0.657196379285194,
      0.6135592227917862,
      0.5052218911626701,
      0.25952302143418726,
      0.10252199562066348,
      0.06040926865035951,
      0.05797536972179026,
      0.05797535532146846
    ],
    "yaw": [
      -1.5477191004215114,
      -1.5401709110886963,
      -1.5394380733632842,
      -1.5403025655710947,
      -1.5387609767132386,
      -1.5397900649997678,
      -1.5396871234705107,
      -1.5397220502192561,
      -1.5402262580009907,
      -1.5405285114878602
    ],
    "yaw_diff": [
      0.015096378665630183,
      0.001465675450824211,
      -0.001728984415620971,
      0.003083177715712093,
      -0.00205817657305829,
      0.00020588305851410027,
      -6.98534974907794e-05,
      -0.0010084155634690894,
      -0.0006045069737390385,
      -0.0006045069737390385
    ],
    "min_front_frame": [
      0,
      26.03209504473705
    ],
    "v_avg": 11.906883456916498,
    "v_std": 0.5591292309564423,
    "vy_max": 0.04938710850354433,
    "a_max": 0.702493091062722,
    "ax_avg": 0.3639248464430808,
    "a_std": 0.27485785886818553,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9838aa01c0de5dc8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.555653872722116,
    "right_rear_min": 7.3881827503566075,
    "speed_mode": "accelerating",
    "front_frame": [
      26.03209504473705,
      28.937329726237056,
      31.855977679204155,
      34.77973534097237,
      37.359900802817315,
      40.030516427218025,
      42.45295117684661,
      44.94249741357226,
      47.31881064252007,
      49.464232227019366
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9838aa01c0de5dc8",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "08e5f4c2c0965b15": {
    "vx_ego": [
      3.445496329918993,
      3.48390551293023,
      3.526775348755531,
      3.5430462178105335,
      3.521351980751581,
      3.451371129870534,
      3.2692500920460636,
      3.068646328825614,
      2.9153078401815384,
      2.747502185830427
    ],
    "vy_ego": [
      -0.00043759370020390875,
      0.004571652626058409,
      -0.0026212228518827096,
      0.007377055199522697,
      -0.0268538810641763,
      -0.016826183810286333,
      -0.0036352649458739617,
      -0.01965416737089698,
      0.001037712231976018,
      0.052507549452320945
    ],
    "v_ego": [
      3.4454963577071873,
      3.4839085124373432,
      3.5267763228476703,
      3.5430538977674253,
      3.521454373305338,
      3.4514121452769766,
      3.269252113174269,
      3.0687092690103377,
      2.915308024869863,
      2.748003876251353
    ],
    "ax_ego": [
      0.0612211195269049,
      0.0917080605906059,
      0.07846531249113284,
      -0.012327979435943215,
      -0.06802012421346124,
      -0.2074069519005695,
      -0.526470725220609,
      -0.2754499045527034,
      -0.337033035733899,
      -0.33530578041608755
    ],
    "ay_ego": [
      0.46691980167683766,
      0.46190015563919307,
      0.42990071369074556,
      0.4831688672064686,
      0.5595626349042039,
      0.5075611056907389,
      0.20251613860837978,
      0.13989033752278873,
      0.16117604808743768,
      0.16473924871183782
    ],
    "a_ego": [
      0.4709162629110031,
      0.47091625811475335,
      0.43700277904853596,
      0.4833261148692,
      0.563681718418249,
      0.5483027628114694,
      0.5640781957416564,
      0.30893681627532377,
      0.3735893275417429,
      0.37358932860372535
    ],
    "yaw": [
      0.7049336846987617,
      0.7705567481203396,
      0.8361572137822768,
      0.8976868973924317,
      0.9809674753951125,
      1.05421353529756,
      1.1025332604658944,
      1.134918711919878,
      1.153111753771952,
      1.1637110825333932
    ],
    "yaw_diff": [
      0.13124612684315573,
      0.13120093132387445,
      0.12305936722030975,
      0.1665611560053617,
      0.14649211980489474,
      0.09663945033666899,
      0.06477090290796728,
      0.036386083704147865,
      0.021198657522882414,
      0.021198657522882414
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.297337489264776,
    "v_std": 0.27285884401747823,
    "vy_max": 0.052507549452320945,
    "a_max": 0.5640781957416564,
    "ax_avg": -0.1530620008864629,
    "a_std": 0.08272928541113919,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "08e5f4c2c0965b15",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "08e5f4c2c0965b15",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "064018bfafb05f56": {
    "vx_ego": [
      3.902607719548911,
      3.922187361221987,
      3.991758312249962,
      4.090389342936373,
      4.185484251157323,
      4.19962007319698,
      4.161470485247829,
      4.151297863949726,
      4.154651702996331,
      4.1480255424284955
    ],
    "vy_ego": [
      -0.013993342669586628,
      -0.042080849764777994,
      -0.02209221767054026,
      -0.002905745334171317,
      -0.025632742469076708,
      -0.060736545670174225,
      -0.05157591356839186,
      -0.044968085444357486,
      -0.02628961119194595,
      0.05154932685989033
    ],
    "v_ego": [
      3.9026328070062934,
      3.9224130958437335,
      3.9918194460043237,
      4.090390375033097,
      4.1855627404415365,
      4.200059248055788,
      4.161790080536165,
      4.151541410601861,
      4.154734879251254,
      4.148345843072745
    ],
    "ax_ego": [
      -0.02321857071815353,
      0.11652623367694415,
      0.1804739148565101,
      0.2184345638682614,
      0.16542601557438577,
      -0.08012989172594587,
      -0.042777050608827916,
      0.018369246568853637,
      -0.017606654706116998,
      -0.010019920447373237
    ],
    "ay_ego": [
      1.018856361398793,
      1.0124371769809029,
      1.0534769278829896,
      1.024237626003832,
      0.9655534780826308,
      1.067111185734697,
      1.0864256251249647,
      0.9668775953033608,
      0.34042974695260836,
      0.3407374384121051
    ],
    "a_ego": [
      1.0191208893889783,
      1.0191208959039126,
      1.06882387301436,
      1.0472709168187013,
      0.9796220116280985,
      1.0701154527751309,
      1.087267453291489,
      0.9670520738404509,
      0.34088474137185637,
      0.3408847323383885
    ],
    "yaw": [
      2.577736448732728,
      2.7151119316877343,
      2.840672838689766,
      2.9644495080894915,
      3.089792896830736,
      -3.064931369004624,
      -2.938367048697826,
      -2.8163807706873083,
      -2.7422955047915236,
      -2.7200207233068507
    ],
    "yaw_diff": [
      0.27475096591001247,
      0.25112181400406364,
      0.24755333879945063,
      0.250686777482489,
      0.25692208268845285,
      0.2531286406135953,
      0.24397255602103574,
      0.14817053179156936,
      0.04454956296934576,
      0.04454956296934576
    ],
    "min_front_frame": [
      4,
      28.324299724731368
    ],
    "v_avg": 4.090928992584679,
    "v_std": 0.10516846346669932,
    "vy_max": 0.060736545670174225,
    "a_max": 1.087267453291489,
    "ax_avg": 0.05254778863385375,
    "a_std": 0.27897589817697716,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "064018bfafb05f56",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      71.13000909441719,
      53.466308789280255,
      28.324299724731368,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "064018bfafb05f56",
    "with_lead": "Far",
    "road_shape": "Curve"
  },
  "33cdc99603ed57b9": {
    "vx_ego": [
      5.1665167590838195,
      4.494686139896242,
      3.9816843206877524,
      3.6536850647647703,
      3.181771865830326,
      2.538667122851333,
      2.0288478892102386,
      1.7617027966923962,
      1.672004257995818,
      1.6513360749329267
    ],
    "vy_ego": [
      -0.060942374647162456,
      -0.02385570795774039,
      0.0016223591370363444,
      -0.015679722409259522,
      -0.034905282660234516,
      -0.031406907844211296,
      -0.023978615212076226,
      -0.019972315819577258,
      0.002303936296842779,
      0.04140110103811623
    ],
    "v_ego": [
      5.166876173755435,
      4.494749446963373,
      3.981684651207307,
      3.653718709230361,
      3.181963322376137,
      2.5388613893843437,
      2.0289895838915313,
      1.7618160055105094,
      1.6720058453482172,
      1.6518549826004862
    ],
    "ax_ego": [
      -1.3436594287893646,
      -1.3436565976531307,
      -0.7083636917793623,
      -0.6036259971015353,
      -1.2840936166019448,
      -1.2882448511675175,
      -0.7510146819064112,
      -0.317548366607836,
      -0.04128864233140297,
      -0.04133310417087978
    ],
    "ay_ego": [
      0.07451600553915094,
      0.07456722256259946,
      0.0048904765007937445,
      -0.081513370141354,
      -0.002030981188340941,
      0.02238633376653304,
      0.00881195077015684,
      0.008666973962028965,
      0.07626852932733286,
      0.07624443915967098
    ],
    "a_ego": [
      1.3457240785748288,
      1.3457240887706097,
      0.7083805732737821,
      0.6091048956367237,
      1.2840952227473046,
      1.288439344516895,
      0.7510663771700632,
      0.3176666201743002,
      0.0867273921625962,
      0.08672738900239975
    ],
    "yaw": [
      1.2680284543310039,
      1.268066573966177,
      1.2667167430521515,
      1.2662295314945622,
      1.265755472649369,
      1.2663114353435958,
      1.2664789343896676,
      1.266676334664007,
      1.266056728747201,
      1.2654736282599939
    ],
    "yaw_diff": [
      7.623927034616784e-05,
      -0.0026996618280508144,
      -0.000974423115178702,
      -0.0009481176903864963,
      0.0011119253884537272,
      0.00033499809214365683,
      0.00039480054867890857,
      -0.001239211833611975,
      -0.0011662009744144441,
      -0.0011662009744144441
    ],
    "min_front_frame": [
      6,
      12.39286277197185
    ],
    "v_avg": 3.01325201102677,
    "v_std": 1.209202579093256,
    "vy_max": 0.060942374647162456,
    "a_max": 1.3457240887706097,
    "ax_avg": -0.7722828978109385,
    "a_std": 0.48608967149525756,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "33cdc99603ed57b9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 2.8109249595437285,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.910956322769653,
      17.248599321643756,
      16.018467105294658,
      14.695295140550211,
      13.440719202675254,
      12.684720888313679,
      12.39286277197185,
      12.560024803239532,
      12.967512613347731,
      13.44590019870148
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "33cdc99603ed57b9",
    "merging_vehicles": "No"
  },
  "4a6dd3df952b5703": {
    "vx_ego": [
      11.86065329073531,
      11.743134452340387,
      11.40517452532666,
      10.768156235372201,
      10.054508448048136,
      9.433526231641284,
      8.950088949707432,
      8.439277827311187,
      7.62440536663303,
      6.580485089307333
    ],
    "vy_ego": [
      -0.01240882403343857,
      -0.011260246336298962,
      -0.006451724878069776,
      -0.0005109175378494868,
      -0.01864632378108766,
      -0.014613412508746926,
      -0.0015782843209271036,
      0.004777857834396659,
      0.0006477541618323812,
      -0.06903789885586376
    ],
    "v_ego": [
      11.860659781898486,
      11.74313985094665,
      11.405176350145318,
      10.768156247492973,
      10.054525738057558,
      9.433537550404374,
      8.95008908886702,
      8.439279179792058,
      7.624405394148976,
      6.580847228288662
    ],
    "ax_ego": [
      -0.2353305103702068,
      -0.23493816575943813,
      -1.117034348229382,
      -1.4312197587892426,
      -1.423403432313623,
      -1.0608824884467576,
      -0.873228491916127,
      -1.1693750532103224,
      -2.0899584672686267,
      -2.0804248960426857
    ],
    "ay_ego": [
      -0.09460591352763104,
      -0.09557607339718005,
      -0.11159498946355678,
      -0.05471356716754816,
      -0.09810839963447704,
      -0.10449490933155137,
      -0.0028386026799742115,
      0.23090520228991168,
      0.27221491309841583,
      0.3374308587307635
    ],
    "a_ego": [
      0.25363502909791386,
      0.2536350282126512,
      1.1225948408921234,
      1.4322651892652196,
      1.42678049790465,
      1.0660163415113268,
      0.8732331056248888,
      1.191954373084469,
      2.1076117654399744,
      2.1076117603814035
    ],
    "yaw": [
      2.5779581962441203,
      2.5738322303792427,
      2.5689880706860384,
      2.564717161132306,
      2.562789265144845,
      2.557151026609014,
      2.55280254040638,
      2.558604429155059,
      2.5745500213855728,
      2.6058232316149352
    ],
    "yaw_diff": [
      -0.008251931729755135,
      -0.009688319386408573,
      -0.008541819107464654,
      -0.0038557919749218073,
      -0.011276477071662683,
      -0.0086969724052679,
      0.011603777497358081,
      0.03189118446102768,
      0.06254642045872494,
      0.06254642045872494
    ],
    "min_front_frame": [
      0,
      24.816947446264127
    ],
    "v_avg": 9.685981641004208,
    "v_std": 1.710998867099215,
    "vy_max": 0.06903789885586376,
    "a_max": 2.1076117654399744,
    "ax_avg": -1.1715795612346411,
    "a_std": 0.6059852481526283,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "4a6dd3df952b5703",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.384614712195525,
    "right_rear_min": 12.045083043286166,
    "speed_mode": "decelerating",
    "front_frame": [
      24.816947446264127,
      25.367346311728827,
      26.118143769033964,
      26.915799090899856,
      28.21079638964811,
      29.879127626019148,
      31.816760771717135,
      33.904974141952486,
      36.38307364772697,
      39.258475141308146
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4a6dd3df952b5703",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "262af71b5e0c5108": {
    "vx_ego": [
      5.761501105880237,
      5.064201937605827,
      4.356329643200699,
      3.542189825378532,
      2.708086797448381,
      2.0214986004264968,
      1.4712418782398573,
      0.992795092693264,
      0.5849690820183177,
      0.240360215982939
    ],
    "vy_ego": [
      -0.03811700868857093,
      -0.02716388932870606,
      -0.020616990997118112,
      -0.03639146054052178,
      -0.0281538893258928,
      0.02287573620248906,
      0.018046409954155074,
      0.000581627725961209,
      -0.004435101333044478,
      -0.0339389894771933
    ],
    "v_ego": [
      5.761627191984098,
      5.064274789319205,
      4.356378429446517,
      3.542376758253626,
      2.7082331406284803,
      2.021628029790122,
      1.4713525536726324,
      0.9927952630661764,
      0.584985894736948,
      0.24274449207777737
    ],
    "ax_ego": [
      -1.394649195759738,
      -1.3946600496875923,
      -1.436887957656443,
      -1.8198080829894034,
      -1.5170847803842165,
      -1.2292665666099967,
      -0.9716957699727654,
      -0.9420769365236822,
      -0.6892146150633378,
      -0.6892173230264953
    ],
    "ay_ego": [
      0.013133362636474799,
      0.011925361141841506,
      0.002016528233565462,
      -0.0997500445513726,
      0.1071713758715992,
      0.08398016877287573,
      -0.10580200333921236,
      0.03799089897791347,
      -0.05898570703477024,
      -0.05895406363834227
    ],
    "a_ego": [
      1.3947110325968692,
      1.3947110340256725,
      1.436889372653379,
      1.8225398569857307,
      1.5208655215631781,
      1.232131876274715,
      0.9774388642230041,
      0.9428426500402896,
      0.6917341246832461,
      0.6917341252094493
    ],
    "yaw": [
      2.570484577561899,
      2.5696184092158747,
      2.5689691885298362,
      2.5668029042991103,
      2.564735646756292,
      2.5633436335391346,
      2.5629783645419826,
      2.5633951985264947,
      2.5630888703842567,
      2.5631347825607653
    ],
    "yaw_diff": [
      -0.0017323366920489747,
      -0.0012984413720769084,
      -0.004332568461451913,
      -0.004134515085636892,
      -0.0027840264343144128,
      -0.0007305379943041146,
      0.0008336679690241766,
      -0.000612656284475932,
      9.182435301724468e-05,
      9.182435301724468e-05
    ],
    "min_front_frame": [
      9,
      10.563547688696035
    ],
    "v_avg": 2.6746396542975583,
    "v_std": 1.8386375702560245,
    "vy_max": 0.03811700868857093,
    "a_max": 1.8225398569857307,
    "ax_avg": -1.2084561277673669,
    "a_std": 0.3542175912691686,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "262af71b5e0c5108",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.400641654745197,
      19.743449148865285,
      17.41719697780921,
      15.395067939425893,
      13.902976273081869,
      12.715721580927896,
      11.84406565431421,
      11.203390800866226,
      10.792524790827121,
      10.563547688696035
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "262af71b5e0c5108",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "218adf8c450058eb": {
    "vx_ego": [
      0.5475759484502221,
      0.7992961683617055,
      1.1204412020348788,
      1.5985544952261832,
      2.234760656447288,
      2.969451987349381,
      3.6936275784091968,
      4.393686544720951,
      4.986934949423066,
      5.458923794360991
    ],
    "vy_ego": [
      0.01834569581460925,
      0.009530663419609776,
      -0.00400015335994372,
      -0.019602395295973823,
      -0.015505074806377549,
      -0.029410664461068166,
      -0.023970713204834113,
      0.020600834613702018,
      0.03593228697712511,
      0.044776632214182155
    ],
    "v_ego": [
      0.5478831845166289,
      0.7993529872984286,
      1.1204483426040968,
      1.5986746786351427,
      2.2348144439638533,
      2.9695976313900223,
      3.6937053595375655,
      4.3937348403890635,
      4.9870643989249475,
      5.4591074306550365
    ],
    "ax_ego": [
      0.5034330087910225,
      0.5034264371744246,
      0.7811512927237441,
      1.131283085796868,
      1.4134754909060456,
      1.5252761179096912,
      1.3712702873007676,
      1.4289878903536521,
      0.9439243920667706,
      0.9439380247899807
    ],
    "ay_ego": [
      -0.01701720712271233,
      -0.017210206929289925,
      -0.03648589101380231,
      -0.02784148756157023,
      0.03944446761592618,
      -0.1026085811062374,
      0.11466485487922216,
      0.049634958144923476,
      0.023965317652048387,
      0.023422653363128012
    ],
    "a_ego": [
      0.5037205372809799,
      0.5037205265508681,
      0.7820029171090397,
      1.1316256309573962,
      1.414025752742004,
      1.5287235710821934,
      1.3760560416561538,
      1.4298496493853574,
      0.9442285710508797,
      0.944228582142576
    ],
    "yaw": [
      1.5982460292385383,
      1.5986294028640398,
      1.5987448339001635,
      1.5983803190753854,
      1.5977443102892093,
      1.5970158156341685,
      1.5962918420755963,
      1.595425585402296,
      1.5960714814355685,
      1.5966463789043952
    ],
    "yaw_diff": [
      0.0007667472510028972,
      0.00023086207224753963,
      -0.0007290296495563453,
      -0.0012720175723521798,
      -0.0014569893100815356,
      -0.0014479471171444658,
      -0.0017325133466004061,
      0.00129179206654495,
      0.0011497949376533256,
      0.0011497949376533256
    ],
    "min_front_frame": [
      0,
      11.658675841303333
    ],
    "v_avg": 2.7804383297914783,
    "v_std": 1.6992901288916442,
    "vy_max": 0.044776632214182155,
    "a_max": 1.5287235710821934,
    "ax_avg": 1.0546166027812967,
    "a_std": 0.3618913753104701,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "218adf8c450058eb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.9987094956513625,
    "right_rear_min": 7.0398603413082075,
    "speed_mode": "accelerating",
    "front_frame": [
      11.658675841303333,
      12.368295797205576,
      13.31342044555368,
      14.47668604909797,
      15.708483149057368,
      16.507261645092733,
      16.971503960715065,
      17.1670638374594,
      16.983035521054152,
      16.924605593107373
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "218adf8c450058eb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8867ae193b7a5ba8": {
    "vx_ego": [
      4.436997566833691,
      4.696959596420929,
      4.889056833587495,
      4.922184760210772,
      4.884233151820065,
      4.888422217287879,
      5.0070882436001085,
      5.184083474606472,
      5.351354064321578,
      5.578009216198757
    ],
    "vy_ego": [
      0.06711465038146525,
      0.03081242177567134,
      -0.031152487287760877,
      -0.048751028299594434,
      -0.05129839263988262,
      -0.059901544166389875,
      -0.03858004700262874,
      -0.025342928578291346,
      -0.024994951053379566,
      -0.10853088546842393
    ],
    "v_ego": [
      4.437505130631842,
      4.697060661280237,
      4.889156082547662,
      4.922426177852893,
      4.884502534181511,
      4.8887892130329424,
      5.007236872689882,
      5.1841454200009505,
      5.351412436853399,
      5.579064954730213
    ],
    "ax_ego": [
      0.3967115435391192,
      0.6064720882253896,
      0.1786873282360849,
      -0.018457071120711266,
      -0.09829000883274508,
      0.15564416941862497,
      0.3821132532757759,
      0.3465975664846488,
      0.3256957938051134,
      0.619959324552344
    ],
    "ay_ego": [
      1.3835035716966195,
      1.3052408762847283,
      1.5157582866527428,
      1.5452752888549004,
      1.5840125066007809,
      1.6252879658851036,
      1.9440573397213294,
      1.910826993208261,
      1.7465069258488208,
      1.664936822328773
    ],
    "a_ego": [
      1.4392575105499688,
      1.439257495697344,
      1.5262543512890008,
      1.5453855123625142,
      1.5870590874016095,
      1.6327235159465767,
      1.9812545213710857,
      1.9420066094291246,
      1.7766159382771058,
      1.7766159366744494
    ],
    "yaw": [
      0.8726615770868031,
      1.0283748187458395,
      1.186348913545512,
      1.3448025591874728,
      1.5042115936081508,
      1.6708685411061248,
      1.8474636161957398,
      2.0332954571574087,
      2.2062836494058526,
      2.3783732272960414
    ],
    "yaw_diff": [
      0.31142648331807266,
      0.31594818959934523,
      0.3169072912839215,
      0.318818068841356,
      0.333313894995948,
      0.35319015017923006,
      0.37166368192333765,
      0.34597638449688795,
      0.3441791557803775,
      0.3441791557803775
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.984129948380154,
    "v_std": 0.30699096760294475,
    "vy_max": 0.10853088546842393,
    "a_max": 1.9812545213710857,
    "ax_avg": 0.28951339875836446,
    "a_std": 0.1855420255803835,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "8867ae193b7a5ba8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "8867ae193b7a5ba8",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "4cf1c34e608158a6": {
    "vx_ego": [
      3.621046577870296,
      3.436138144426706,
      3.265736646861052,
      3.07235375908921,
      2.8401982120177305,
      2.6885026785356474,
      2.6470750816161863,
      2.6441306961585958,
      2.667911835378792,
      2.705741104347402
    ],
    "vy_ego": [
      0.09655226425999597,
      -0.00603595570269877,
      -0.003535877879280891,
      -0.002086063701489449,
      0.015098162379922231,
      0.026534059528346976,
      0.027234219681654626,
      0.03389943388140737,
      0.0351948656199661,
      0.029121045892205988
    ],
    "v_ego": [
      3.6223335929811755,
      3.4361434458336357,
      3.265738561043067,
      3.0723544672858574,
      2.8402383417692194,
      2.6886336137169016,
      2.647215176451474,
      2.644347993359728,
      2.668143969114156,
      2.7058978101674414
    ],
    "ax_ego": [
      -0.38928647147765555,
      -0.3631876413387354,
      -0.32150961189413757,
      -0.4506800086942584,
      -0.4790497992622035,
      -0.13058141789872177,
      -0.03821854055704001,
      0.02347330987008628,
      0.06484232906560082,
      0.07950358056737071
    ],
    "ay_ego": [
      0.32397154778901427,
      0.35298194562254603,
      0.14521134022770874,
      0.2183116253305964,
      0.1940307152889029,
      0.15825988147530046,
      0.17414292284119343,
      0.2679094496621371,
      0.27650872578099356,
      0.27265506398204153
    ],
    "a_ego": [
      0.5064597917429705,
      0.5064597878969977,
      0.35278146758446133,
      0.5007718402537662,
      0.516852617917991,
      0.20517723261857482,
      0.17828744885152167,
      0.2689358092454894,
      0.2840098643915038,
      0.284009864684457
    ],
    "yaw": [
      -1.3074790900096318,
      -1.230410549928983,
      -1.1939357595232805,
      -1.1658605071770012,
      -1.1368400706449877,
      -1.1086748558541615,
      -1.0776558865056955,
      -1.0382932076145015,
      -0.9874491142146609,
      -0.9340669732028635
    ],
    "yaw_diff": [
      0.15413708016129757,
      0.07294958081140512,
      0.056150504692558556,
      0.05804087306402694,
      0.056330429581652464,
      0.06203793869693186,
      0.0787253577823881,
      0.10168818679968128,
      0.10676428202359478,
      0.10676428202359478
    ],
    "min_front_frame": [
      6,
      12.666707610159715
    ],
    "v_avg": 2.9591046971722657,
    "v_std": 0.34737457001411454,
    "vy_max": 0.09655226425999597,
    "a_max": 0.516852617917991,
    "ax_avg": -0.2004694271619695,
    "a_std": 0.12814145611248542,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "4cf1c34e608158a6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      13.980575193186397,
      12.666707610159715,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "4cf1c34e608158a6",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "3fe4d3672285579c": {
    "vx_ego": [
      6.151540517743582,
      6.56862226133,
      6.9446031136881325,
      7.280914302490521,
      7.622550258547664,
      7.996353157760892,
      8.328189973550524,
      8.59012062727494,
      8.845345456646402,
      9.093743407647137
    ],
    "vy_ego": [
      -0.037313789036215184,
      -0.03853175937158548,
      -0.033897885011705764,
      -0.03632091070492205,
      -0.029280737591683703,
      -0.04511021489140754,
      -0.05144519842975637,
      -0.039870393218016886,
      -0.02279488921551831,
      0.0018188707294228834
    ],
    "v_ego": [
      6.151653685009683,
      6.568735274656782,
      6.944685844100881,
      7.28100489553231,
      7.622606496840761,
      7.996480397970106,
      8.328348866611494,
      8.590213154479333,
      8.845374828371577,
      9.093743589546413
    ],
    "ax_ego": [
      0.8327297275592607,
      0.8340338343170214,
      0.6684444360091306,
      0.6755132141058076,
      0.689597093588546,
      0.8028084414305128,
      0.5219662887321972,
      0.523645117317001,
      0.49649135040193143,
      0.4968402255969368
    ],
    "ay_ego": [
      -0.13419775919001692,
      -0.12583878432179418,
      -0.14085225861480016,
      -0.20177611782505184,
      -0.30424130033441155,
      -0.2309895470790938,
      -0.18188737409673958,
      -0.07335438240243566,
      -0.05972499448024482,
      -0.05674968323989177
    ],
    "a_ego": [
      0.843473673408093,
      0.843473672633082,
      0.683123212011168,
      0.7050047547046103,
      0.753728678182636,
      0.8353786952585599,
      0.5527493314592707,
      0.5287580489293554,
      0.5000707309867263,
      0.500070731316124
    ],
    "yaw": [
      0.9344137651390785,
      0.9243836629828359,
      0.9138623848869079,
      0.9021589849672709,
      0.8842339570922125,
      0.8690997122852441,
      0.8572809169312807,
      0.8483690796233643,
      0.8425962927989123,
      0.8366057399585201
    ],
    "yaw_diff": [
      -0.02006020431248512,
      -0.021042556191856132,
      -0.023406799839273962,
      -0.03585005575011668,
      -0.03026848961393691,
      -0.023637590707926703,
      -0.017823674615832896,
      -0.01154557364890385,
      -0.011981105680784587,
      -0.011981105680784587
    ],
    "min_front_frame": [
      5,
      17.667739308338525
    ],
    "v_avg": 7.7422847033119355,
    "v_std": 0.9455638228294467,
    "vy_max": 0.05144519842975637,
    "a_max": 0.843473673408093,
    "ax_avg": 0.6542069729058345,
    "a_std": 0.13681493132616745,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "3fe4d3672285579c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.014413601425892,
    "right_rear_min": 3.9167619688139568,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      27.79184838784958,
      30.15274920318379,
      32.54036168736049,
      35.11164639182818,
      17.667739308338525,
      20.186533079842754,
      22.910854897979043,
      25.63532821111486,
      28.086490624978886
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.3333333333333333,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3fe4d3672285579c",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "a0707360c69459d4": {
    "vx_ego": [
      6.790401104195257,
      6.8908462922541505,
      6.998449076613822,
      7.108455516403828,
      7.181096314875357,
      7.251876524915908,
      7.340117289412304,
      7.405920343520361,
      7.472464312413467,
      7.548159532590186
    ],
    "vy_ego": [
      -0.017709403112645683,
      -0.010727460228967978,
      -0.0044982622143929785,
      0.01150219179324563,
      0.025219086173211114,
      0.009620808716516493,
      0.0010085355078811586,
      0.013700800650390144,
      0.026476465239798408,
      0.0431184522145277
    ],
    "v_ego": [
      6.7904241972659385,
      6.890854642341234,
      6.998450522245607,
      7.108464822245944,
      7.181140597831506,
      7.251882906706836,
      7.340117358698926,
      7.405933016609534,
      7.472511218024665,
      7.548282687496108
    ],
    "ax_ego": [
      0.19942516520621506,
      0.2032517025746935,
      0.2281808885982503,
      0.21212433979059564,
      0.07656442694383431,
      0.20491199212480696,
      0.14736945705922108,
      0.11462072013150136,
      0.15062513172031144,
      0.1513368893626575
    ],
    "ay_ego": [
      0.23751866872905425,
      0.23425255569065603,
      0.28751570072902227,
      0.34335814407601734,
      0.3111464526180886,
      0.3124142889914729,
      0.29266133391176674,
      0.18092676714944678,
      0.12181227947565709,
      0.12092686974069648
    ],
    "a_ego": [
      0.31013789596298674,
      0.3101378958578193,
      0.3670583006651502,
      0.40359825400380905,
      0.3204281923458955,
      0.3736196093389699,
      0.32767119684364115,
      0.21417844091928137,
      0.19371670484709563,
      0.19371670528699533
    ],
    "yaw": [
      2.903287629703393,
      2.9195092775987965,
      2.937402958703374,
      2.9574885739962538,
      2.978419825496598,
      3.0022350765862917,
      3.0241261679994347,
      3.0384546675033652,
      3.0469161778796128,
      3.0527805409660713
    ],
    "yaw_diff": [
      0.03244329579080674,
      0.03578736220915513,
      0.04017123058575933,
      0.04186250300068828,
      0.04763050217938769,
      0.043782182826285876,
      0.028656999007861117,
      0.016923020752495077,
      0.011728726172917092,
      0.011728726172917092
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.19880619694663,
    "v_std": 0.23936620655293392,
    "vy_max": 0.0431184522145277,
    "a_max": 0.40359825400380905,
    "ax_avg": 0.16884107135120868,
    "a_std": 0.07209375460791108,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a0707360c69459d4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a0707360c69459d4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ed98a4566ea95092": {
    "vx_ego": [
      1.34284634984393,
      1.145769305042462,
      0.8762152115032206,
      0.49272012504042373,
      0.14649639366646283,
      -0.015048551854506854,
      -0.032363429868455626,
      -0.01706939716295986,
      -0.009993105898676295,
      -0.005513446690668542
    ],
    "vy_ego": [
      0.02777046421200413,
      0.0018501307904963404,
      -0.00019212480688585165,
      0.016249941188455352,
      0.00991045966463528,
      -0.001963739450204648,
      -0.0024126880000511844,
      -0.001931166964256729,
      -0.0011229420530669996,
      -0.000535371045144818
    ],
    "v_ego": [
      1.3431334699022717,
      1.145770798790678,
      0.8762152325665052,
      0.49298801426452454,
      0.1468312315825336,
      0.01517613869026215,
      0.032453237993088406,
      0.01717829227108151,
      0.010056001409939504,
      0.0055393787166814435
    ],
    "ax_ego": [
      -0.3941526570887076,
      -0.39412873892704714,
      -0.6841153802325409,
      -0.8498211909330061,
      -0.535086049848431,
      -0.11109081515288004,
      0.0418307087394003,
      0.01934575585548062,
      0.008959301078413022,
      0.008959287728972275
    ],
    "ay_ego": [
      -0.052875897720542325,
      -0.05305395904371342,
      0.04226544808258231,
      0.020626033977881097,
      -0.04582273140524701,
      -0.001649970777049696,
      -0.00013545353463741833,
      0.002058391381193409,
      0.0011753023361324184,
      0.001175433080849986
    ],
    "a_ego": [
      0.3976835144305602,
      0.3976835241978683,
      0.6854197411603604,
      0.850071461605699,
      0.5370445078909521,
      0.11110306753144343,
      0.04183092804732626,
      0.019454954245590864,
      0.00903606171929846,
      0.00903606548991704
    ],
    "yaw": [
      1.095882367540983,
      1.0954306060095251,
      1.0948052758188647,
      1.093785403231496,
      1.0939292225183894,
      1.0944026978310848,
      1.094342116199988,
      1.094377964681798,
      1.0943616658812516,
      1.0943470898454613
    ],
    "yaw_diff": [
      -0.0009035230629157454,
      -0.0012506603813209338,
      -0.002039745174737373,
      0.00028763857378688584,
      0.0009469506253907412,
      -0.00012116326219357987,
      7.169696361986055e-05,
      -3.25976010926432e-05,
      -2.9152071580718086e-05,
      -2.9152071580718086e-05
    ],
    "min_front_frame": [
      5,
      11.027128206123415
    ],
    "v_avg": 0.4085341796187566,
    "v_std": 0.49818236000199706,
    "vy_max": 0.02777046421200413,
    "a_max": 0.850071461605699,
    "ax_avg": -0.2889299778780347,
    "a_std": 0.29604382493324477,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ed98a4566ea95092",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.3000969514822027,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.31202357973851,
      11.930445712365609,
      11.427340772675626,
      11.103116448387986,
      17.722248138086805,
      11.027128206123415,
      11.076942091257012,
      11.08197898090149,
      11.08716668644105,
      11.148635225388361
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ed98a4566ea95092",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fd16b1d0d41352ee": {
    "vx_ego": [
      7.940933619095719,
      8.43211534037474,
      8.916476214007956,
      9.234308443640986,
      9.317761657244128,
      9.346295733224109,
      9.415577836114181,
      9.515052479877172,
      9.628769121077568,
      9.738951603277895
    ],
    "vy_ego": [
      -0.25227926379489074,
      -0.22961789975290747,
      -0.14422961990268257,
      -0.049201401021227,
      0.04133342470540696,
      0.030500044409326882,
      0.034093410007735116,
      0.02588832425174331,
      0.004506689576100897,
      0.0337394308862949
    ],
    "v_ego": [
      7.944939997874466,
      8.43524116390693,
      8.917642640195162,
      9.234439517922118,
      9.317853333960924,
      9.346345498941934,
      9.415639561311306,
      9.515087697974689,
      9.628770175742476,
      9.739010046210325
    ],
    "ax_ego": [
      0.9829705780810077,
      1.0315191501662204,
      0.9417039618492318,
      0.3343048857259123,
      -0.0016346343064793638,
      0.11299171631344981,
      0.16207719268388943,
      0.23418113117503775,
      0.22043146713843212,
      0.22038932144877293
    ],
    "ay_ego": [
      0.9409292454587481,
      0.8874385859113253,
      1.0001295402295902,
      0.5255016789079521,
      0.3165513147848961,
      0.28025820430882153,
      0.22212027663056244,
      0.036977605039289416,
      0.03528977000557284,
      0.035552027964379077
    ],
    "a_ego": [
      1.360727379871692,
      1.3607273793541212,
      1.3737050079993123,
      0.622825634632432,
      0.31655553528782643,
      0.30217840597545065,
      0.27496624098010325,
      0.23708257100188096,
      0.22323843659156886,
      0.22323843688090667
    ],
    "yaw": [
      -0.18163224678756035,
      -0.12853880760489095,
      -0.08404637947542018,
      -0.052755122371760776,
      -0.03987935358578171,
      -0.022704318707861423,
      -0.009690758855549653,
      -0.0019732392628818915,
      0.0021472906576274833,
      0.0009574463329816187
    ],
    "yaw_diff": [
      0.1061868783653388,
      0.08898485625894154,
      0.0625825142073188,
      0.02575153757195814,
      0.03435006975584057,
      0.02602711970462354,
      0.015435039185335522,
      0.00824105984101875,
      -0.0023796886492917294,
      -0.0023796886492917294
    ],
    "min_front_frame": [
      0,
      74.25686838360362
    ],
    "v_avg": 9.149496963404033,
    "v_std": 0.535807863232706,
    "vy_max": 0.25227926379489074,
    "a_max": 1.3737050079993123,
    "ax_avg": 0.4238934770275476,
    "a_std": 0.49377411848107194,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "fd16b1d0d41352ee",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      74.25686838360362,
      75.21206265188621,
      75.93514138354587,
      76.49810924916775,
      77.23267256196947,
      77.73200735896371,
      78.38718860863774,
      78.99478279295973,
      79.47299068032052,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fd16b1d0d41352ee",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "d063f70ffb44513e": {
    "vx_ego": [
      9.946914592466461,
      9.846428796703478,
      9.769364233225904,
      9.749928803174138,
      9.778766774222477,
      9.86577924253572,
      9.98649615755757,
      10.107147054351218,
      10.24957382175306,
      10.403730987987709
    ],
    "vy_ego": [
      0.017801627080424876,
      0.0188054525762944,
      0.033144351500875135,
      0.026875876977432434,
      0.013048711979716687,
      0.023350020201120314,
      0.031223713981550327,
      0.02344941386032917,
      0.026004314936111106,
      0.022098917162963305
    ],
    "v_ego": [
      9.946930521912222,
      9.846446754723152,
      9.769420457195501,
      9.749965845054431,
      9.778775480269593,
      9.865806874548683,
      9.98654496936888,
      10.10717425660065,
      10.249606809627426,
      10.403754458490237
    ],
    "ax_ego": [
      -0.2021040901381859,
      -0.20048871670567325,
      -0.10860150301573576,
      0.029834848113396782,
      0.08499463045599677,
      0.2629416402649861,
      0.21855683948593096,
      0.2629301048875675,
      0.3059020610352279,
      0.30942478540217594
    ],
    "ay_ego": [
      0.17891307215702001,
      0.1807214177276053,
      0.15005548919974585,
      0.10757751571026619,
      0.1262381352770328,
      0.24483630886792773,
      0.1998514047827398,
      0.2193408048795737,
      0.2678882960834317,
      0.26381151383026225
    ],
    "a_ego": [
      0.2699184147835175,
      0.26991842536544874,
      0.18523211464606212,
      0.11163798658316096,
      0.15218460501829312,
      0.35928139991559915,
      0.2961548177553651,
      0.3424071096537081,
      0.4066204743050756,
      0.40662047741179647
    ],
    "yaw": [
      1.6740037514632635,
      1.6829871768469382,
      1.6899647375551847,
      1.69721929863878,
      1.7046270460906665,
      1.7130420018108423,
      1.7234427841885864,
      1.7346536287524077,
      1.7463759464013884,
      1.759626531161798
    ],
    "yaw_diff": [
      0.017966850767349385,
      0.013955121416493022,
      0.014509122167190469,
      0.014815494903773097,
      0.01682991144035162,
      0.020801564755488222,
      0.02242168912764253,
      0.02344463529796137,
      0.026501169520819268,
      0.026501169520819268
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.970442642779078,
    "v_std": 0.20911223386465003,
    "vy_max": 0.033144351500875135,
    "a_max": 0.40662047741179647,
    "ax_avg": 0.0963390599785687,
    "a_std": 0.09816996840050259,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "d063f70ffb44513e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "d063f70ffb44513e",
    "road_shape": "Straight"
  },
  "fb26a29303d1507e": {
    "vx_ego": [
      -0.021199164015192916,
      0.051052068619113926,
      0.3527072658769255,
      1.0314699285135185,
      1.854545891008233,
      2.630333907396782,
      3.3580236629438627,
      4.032867906804965,
      4.602180688304579,
      5.114311518196459
    ],
    "vy_ego": [
      0.00015776947616097207,
      -0.001511521108022676,
      -0.006496104102518191,
      -0.014607780102468937,
      -0.02808742524242136,
      -0.026354224891472877,
      -0.022513491213563164,
      -0.04714364829728801,
      -0.055271958303323765,
      -0.030913447455324095
    ],
    "v_ego": [
      0.021199751086997655,
      0.05107443985351885,
      0.3527670828902365,
      1.0315733617475806,
      1.854758573322218,
      2.6304659301292714,
      3.358099131678149,
      4.033143448640557,
      4.602512583054858,
      5.114404945483936
    ],
    "ax_ego": [
      0.14450265165381126,
      0.144502445017015,
      1.062132177087355,
      1.6532905814166723,
      1.6411836209831534,
      1.468261922492934,
      1.4462207778126452,
      1.2574138774692691,
      1.0242670891107715,
      1.026250946545889
    ],
    "ay_ego": [
      -0.003332584266999228,
      -0.00334107198258643,
      -0.01609710318605423,
      0.0016610162684337348,
      0.05588717216818395,
      0.23689603292249178,
      0.23638649242462817,
      0.1962482995079253,
      0.17146615730088266,
      0.15916248545385017
    ],
    "a_ego": [
      0.1445410753138338,
      0.14454106467674946,
      1.0622541495966524,
      1.6532914158054903,
      1.6421349073070493,
      1.4872500810075826,
      1.46541226689892,
      1.2726362615893256,
      1.0385199627041284,
      1.0385199574693693
    ],
    "yaw": [
      -1.9133419711289203,
      -1.9132832613027264,
      -1.9118489355164807,
      -1.904565404469651,
      -1.8852747038318545,
      -1.8537133393280714,
      -1.815518977220288,
      -1.7798176907443688,
      -1.7567994814152197,
      -1.7447990753052434
    ],
    "yaw_diff": [
      0.00011741965238787344,
      0.0028686515724913875,
      0.014567062093659544,
      0.03858140127559295,
      0.06312272900756621,
      0.07638872421556675,
      0.07140257295183838,
      0.04603641865829822,
      0.02400081221995265,
      0.02400081221995265
    ],
    "min_front_frame": [
      7,
      18.823465130726863
    ],
    "v_avg": 2.3049999247887323,
    "v_std": 1.8249442721483777,
    "vy_max": 0.055271958303323765,
    "a_max": 1.6532914158054903,
    "ax_avg": 1.0868026089589518,
    "a_std": 0.5242005800931362,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "fb26a29303d1507e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      24.483348033933378,
      24.460570165372552,
      24.35847405776774,
      24.007230103532912,
      23.2222529554051,
      22.108858031749307,
      20.648308756759125,
      18.823465130726863,
      -1,
      78.7933109511779
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      1
    ],
    "safe_ratio": 0.1111111111111111,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8888888888888888,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "fb26a29303d1507e",
    "maneuvering": "Yes"
  },
  "077031ef7dcb5ab4": {
    "vx_ego": [
      5.134643662464309,
      5.028223019770944,
      4.946906802081308,
      4.914014647913666,
      4.9921385182578994,
      5.173280861176423,
      5.383873132029135,
      5.627709144541883,
      5.885414909311073,
      6.112740705388956
    ],
    "vy_ego": [
      -0.012949777302694976,
      -0.006898413635891165,
      0.011362129986353775,
      0.02113845385678581,
      0.016038616313858056,
      0.003918988420580777,
      -0.008182702211165904,
      -0.04562882407356539,
      -0.07171258015605408,
      0.10117708683910753
    ],
    "v_ego": [
      5.134659992367272,
      5.028227751868954,
      4.946919850419667,
      4.914060112996332,
      4.992164282421747,
      5.173282345579498,
      5.38387935028272,
      5.627894118153492,
      5.885851794676255,
      6.113577981364131
    ],
    "ax_ego": [
      -0.25129499351782225,
      -0.17002498033218158,
      -0.15503202714721973,
      0.02071094038065019,
      0.28434166251581994,
      0.4452605035220748,
      0.3987242463742905,
      0.5884141185091265,
      0.442442613630258,
      0.4648077001381341
    ],
    "ay_ego": [
      0.904607111163012,
      0.9233388821822832,
      0.945809602115439,
      1.0197055359509208,
      1.0266666769382133,
      1.1962363498893795,
      1.2070409989844466,
      1.1945336083629714,
      0.7259364480403333,
      0.7118237243412585
    ],
    "a_ego": [
      0.938862715914213,
      0.9388627084332336,
      0.9584313918560583,
      1.0199158411851468,
      1.0653143416746131,
      1.2764162020255767,
      1.271191959491609,
      1.3315936754015967,
      0.8501406900915808,
      0.8501407016740002
    ],
    "yaw": [
      -0.5099151080492068,
      -0.42105413899812205,
      -0.3310518802575143,
      -0.23301431974365283,
      -0.12809441293386767,
      -0.016046897708793913,
      0.09981033699912174,
      0.21602930728213504,
      0.3036300519281442,
      0.33473855016136755
    ],
    "yaw_diff": [
      0.17772193810216952,
      0.1800045174812155,
      0.19607512102772295,
      0.20983981361957033,
      0.2240950304501475,
      0.23171446941583132,
      0.2324379405660266,
      0.1752014892920183,
      0.06221699646644674,
      0.06221699646644674
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.3200517580130064,
    "v_std": 0.4001617022605145,
    "vy_max": 0.10117708683910753,
    "a_max": 1.3315936754015967,
    "ax_avg": 0.20683497840731305,
    "a_std": 0.17134759228687912,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "077031ef7dcb5ab4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "077031ef7dcb5ab4",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "6b363ffce294521f": {
    "vx_ego": [
      1.7584772595098501,
      1.4648698562586933,
      1.1743897249433588,
      0.8920516817777324,
      0.6089324000280104,
      0.3339469995773129,
      0.10793062496801355,
      -0.00677520811082815,
      -0.020813083092724772,
      -0.010446857881315986
    ],
    "vy_ego": [
      -0.039760866944618715,
      -0.043186471666207024,
      -0.037268896266535095,
      -0.024080731904973986,
      -0.0012206189372070547,
      0.018166394754605707,
      0.03166193296078322,
      0.01980262623254952,
      -0.0007407386788418506,
      0.004153937854697067
    ],
    "v_ego": [
      1.7589267178462724,
      1.4655063176630596,
      1.1749809346033933,
      0.8923766495216916,
      0.6089336234060841,
      0.33444075174097726,
      0.11247887714944135,
      0.020929583145659875,
      0.020826260384788194,
      0.011242421415918333
    ],
    "ax_ego": [
      -0.5871390913722215,
      -0.5871426310248439,
      -0.5747300616356438,
      -0.5546123739605162,
      -0.577821013366805,
      -0.5221564604388755,
      -0.3819251903903489,
      -0.07688380693046208,
      0.02073238744629371,
      0.020732463736789497
    ],
    "ay_ego": [
      -0.004243398310844493,
      -0.0037207805699344745,
      0.02881496044606685,
      0.02427157956658589,
      0.06897620653615308,
      0.009619815908621772,
      0.044522057831669404,
      -0.09196345635683928,
      0.009789202701040351,
      0.00978905430206692
    ],
    "a_ego": [
      0.5871544252125009,
      0.5871544203825988,
      0.5754519490741337,
      0.5551432201916696,
      0.5819233974986394,
      0.522245067029044,
      0.3845114623626593,
      0.11986824881183862,
      0.02292728459162342,
      0.022927290217688315
    ],
    "yaw": [
      1.5923490877113888,
      1.5932391926768892,
      1.5935092590055717,
      1.593590241860099,
      1.5941899718194041,
      1.5947540216406217,
      1.59495032089301,
      1.594866473088852,
      1.594874143997124,
      1.5948812936282237
    ],
    "yaw_diff": [
      0.001780209931000698,
      0.0005401326573650778,
      0.00016196570905435692,
      0.0011994599186104793,
      0.0011280996424352097,
      0.00039259850477657565,
      -0.00016769560831608743,
      1.5341816543834597e-05,
      1.4299262199646279e-05,
      1.4299262199646279e-05
    ],
    "min_front_frame": [
      9,
      12.240712158798766
    ],
    "v_avg": 0.6400642136877285,
    "v_std": 0.6178937380550003,
    "vy_max": 0.043186471666207024,
    "a_max": 0.5871544252125009,
    "ax_avg": -0.38209457779366335,
    "a_std": 0.23148695431418387,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6b363ffce294521f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.317163729029629,
    "right_rear_min": 35.7675289012081,
    "speed_mode": "decelerating",
    "front_frame": [
      14.953655839258484,
      14.150207882363574,
      13.496035203414937,
      12.941329213636884,
      12.551129075687305,
      12.354480891708736,
      12.26571572207898,
      12.258360137073565,
      12.24295883260962,
      12.240712158798766
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6b363ffce294521f",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "b219a12536715748": {
    "vx_ego": [
      4.1521808614764435,
      3.655023030424827,
      3.1911857738532063,
      2.7765513097289634,
      2.3706611633270347,
      1.9685140055308308,
      1.6172935088022806,
      1.4017277426623647,
      1.4696963304321766,
      1.7255336741939806
    ],
    "vy_ego": [
      0.016970149186897654,
      0.0028383403003060526,
      -0.005537501620707541,
      -0.003471860459993037,
      -0.024284281545212894,
      -0.041431736560906485,
      -0.02500205920710885,
      -0.008075496772713353,
      0.004989575415938918,
      0.013792719526452779
    ],
    "v_ego": [
      4.152215540211597,
      3.6550241324937303,
      3.1911905783214025,
      2.7765534803732264,
      2.370785540203343,
      1.9689499685785539,
      1.6174867531385189,
      1.4017510043504355,
      1.4697048001379858,
      1.7255887980307807
    ],
    "ax_ego": [
      -0.9943214561888604,
      -0.9942179346181884,
      -0.861172188710789,
      -0.7973794514375039,
      -0.8261801214256319,
      -0.7824745352409577,
      -0.622487155809287,
      -0.2398147914796643,
      0.5116909171857138,
      0.5116813427131627
    ],
    "ay_ego": [
      -0.04475748515927752,
      -0.04700089002830776,
      -0.009881475271751816,
      0.01252629007985634,
      -0.10189260171295539,
      0.030409714751215344,
      0.031064921594990247,
      0.03326051808579136,
      0.0154940216443194,
      0.015807199484228346
    ],
    "a_ego": [
      0.9953282828872687,
      0.9953282801065734,
      0.8612288790806293,
      0.7974778351264312,
      0.8324396046096719,
      0.7830652265627704,
      0.6232618137678888,
      0.24211029774829929,
      0.5119254432405872,
      0.5119254477326549
    ],
    "yaw": [
      -0.5675299588131691,
      -0.5697862863477181,
      -0.5715020616423772,
      -0.5719739982855659,
      -0.5725673360350715,
      -0.5729015418653991,
      -0.5735000027561856,
      -0.5740782424930648,
      -0.5747314338008428,
      -0.5753434979858421
    ],
    "yaw_diff": [
      -0.004512655069097926,
      -0.0034315505893180998,
      -0.0009438732863775723,
      -0.0011866754990110806,
      -0.0006684116606552326,
      -0.001196921781573046,
      -0.0011564794737584094,
      -0.0013063826155559344,
      -0.0012241283699985228,
      -0.0012241283699985228
    ],
    "min_front_frame": [
      7,
      11.339587547897228
    ],
    "v_avg": 2.4329250595839573,
    "v_std": 0.9229325334566393,
    "vy_max": 0.041431736560906485,
    "a_max": 0.9953282828872687,
    "ax_avg": -0.5094675375012006,
    "a_std": 0.22766109591845873,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b219a12536715748",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.4108669792775785,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.749924125483318,
      17.80174283059007,
      16.134970925974894,
      14.615308243831045,
      13.332848913299788,
      12.28369291209363,
      11.528488689630775,
      11.339587547897228,
      11.742997871862293,
      12.12512842018381
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b219a12536715748",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8f0f7125a2e856b8": {
    "vx_ego": [
      6.539625660912003,
      5.980314940592609,
      5.33774030943483,
      4.5125629658854685,
      3.5007270376569153,
      2.4724318161004604,
      1.602563223548483,
      0.8508403682799566,
      0.24589444290659007,
      -0.2441585593265821
    ],
    "vy_ego": [
      -0.015775393553445927,
      0.017991341333664757,
      -0.006099121143969821,
      -0.013592623477971078,
      -0.025250439180830808,
      -0.021735297656158892,
      -0.009333306522653184,
      -0.01635223091847876,
      0.002529829638692166,
      0.04896349870913379
    ],
    "v_ego": [
      6.539644688199851,
      5.980342003350491,
      5.33774379398676,
      4.512583437510498,
      3.5008181010816584,
      2.4725273524129157,
      1.60259040184345,
      0.8509974898616232,
      0.24590745635369232,
      0.24901973074090225
    ],
    "ax_ego": [
      -1.1208401279452753,
      -1.116019787428295,
      -1.454192016397005,
      -1.8473992454592556,
      -2.20136724414934,
      -1.9122775878261657,
      -1.567214633135895,
      -1.4397117534100596,
      -0.980135631098068,
      -0.9801075161767495
    ],
    "ay_ego": [
      -0.20160946158152537,
      -0.22677916961547673,
      -0.19149647374734902,
      -0.16167950834072353,
      -0.07714204607552566,
      0.05722637798280095,
      -0.012878732644915902,
      -0.018691703879040955,
      0.09271950509793409,
      0.0930162250000236
    ],
    "a_ego": [
      1.138827891918517,
      1.1388278876559803,
      1.4667465084364293,
      1.854460631973816,
      2.202718465643392,
      1.9131336678965456,
      1.5672675483368552,
      1.439833085014013,
      0.9845114331350419,
      0.984511432833267
    ],
    "yaw": [
      -0.5711303135032962,
      -0.5936338550971314,
      -0.6077494289301385,
      -0.623992653439642,
      -0.6358535025003005,
      -0.6387324088892526,
      -0.6393918049161528,
      -0.6401134003986092,
      -0.6408774919164082,
      -0.6405747544745595
    ],
    "yaw_diff": [
      -0.04500708318767033,
      -0.0282311476660142,
      -0.0324864490190071,
      -0.02372169812131686,
      -0.005757812777904325,
      -0.001318792053800255,
      -0.001443190964912855,
      -0.0015281830355979853,
      0.0006054748836974433,
      0.0006054748836974433
    ],
    "min_front_frame": [
      8,
      9.075604029723468
    ],
    "v_avg": 3.1292174455341835,
    "v_std": 2.26385591223985,
    "vy_max": 0.04896349870913379,
    "a_max": 2.202718465643392,
    "ax_avg": -1.461926554302611,
    "a_std": 0.397765661708358,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8f0f7125a2e856b8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 24.185800252957197,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.558756554627053,
      17.235578047089184,
      16.120772223851283,
      14.32410532173534,
      12.368781018518213,
      10.911467818562668,
      9.926962764953046,
      9.335603371786279,
      9.075604029723468,
      9.078776260442373
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8f0f7125a2e856b8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6d088615a8c05649": {
    "vx_ego": [
      3.5221893230926593,
      3.856878792244578,
      4.044469007496361,
      4.022983156650432,
      3.905728808944612,
      3.747023379842562,
      3.4517273688542467,
      2.9922532097547667,
      2.504080968507993,
      2.024380745475822
    ],
    "vy_ego": [
      0.022185779812425976,
      -0.015374978683453944,
      -0.03887485410078306,
      -0.04112535730389277,
      0.00038174001656732237,
      0.05372947488129365,
      0.053555559968904265,
      0.02624875703679641,
      0.004279814261748505,
      -0.044493120651430296
    ],
    "v_ego": [
      3.5222591949676008,
      3.85690943736504,
      4.044655832933126,
      4.023193355247352,
      3.9057288275999573,
      3.7474085800133663,
      3.4521428167011057,
      2.992368337710731,
      2.504084625897065,
      2.0248696354181783
    ],
    "ax_ego": [
      0.6671255841572898,
      0.6709728173202083,
      0.08195452969809872,
      -0.16583797809545292,
      -0.3033199417335337,
      -0.3243461882402313,
      -0.8463932950093541,
      -0.9881197331672325,
      -0.962980500001392,
      -0.9575576511047116
    ],
    "ay_ego": [
      0.14458417134213347,
      0.12552531783223964,
      0.13899259158837204,
      0.09483775550566644,
      0.020925048596938896,
      -0.2537973117427798,
      -0.3404984228244461,
      -0.216937391127815,
      -0.20064109968166935,
      -0.22510362825103358
    ],
    "a_ego": [
      0.6826134540425471,
      0.6826134535734719,
      0.1613551531699206,
      0.19104040108872386,
      0.3040408602671992,
      0.4118416264461732,
      0.9123161654726539,
      1.0116533194448705,
      0.9836606601183157,
      0.9836606623429404
    ],
    "yaw": [
      -1.766387109092597,
      -1.7379025575710196,
      -1.7156314491361646,
      -1.7006962855605048,
      -1.7038524467551843,
      -1.7329874117778181,
      -1.7734770909277517,
      -1.8080607782378983,
      -1.8380858227253571,
      -1.8635591068192698
    ],
    "yaw_diff": [
      0.056969103043154945,
      0.04454221686971005,
      0.029870327151319653,
      -0.006312322389359082,
      -0.05826993004526759,
      -0.08097935829986724,
      -0.06916737462029321,
      -0.06005008897491759,
      -0.05094656818782539,
      -0.05094656818782539
    ],
    "min_front_frame": [
      0,
      15.558685303513023
    ],
    "v_avg": 3.407362064385352,
    "v_std": 0.6531544485695617,
    "vy_max": 0.05372947488129365,
    "a_max": 1.0116533194448705,
    "ax_avg": -0.31285023561763114,
    "a_std": 0.3235960795328329,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "6d088615a8c05649",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.558685303513023,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "6d088615a8c05649",
    "maneuvering": "Yes"
  },
  "0e272e003af65a71": {
    "vx_ego": [
      2.5830711240539994,
      2.3733174625885405,
      2.170762212034975,
      2.0168378435951286,
      1.917178144419606,
      1.8686405840037488,
      1.8928029048881019,
      1.9923685960235693,
      2.099542951966205,
      2.1722654805282042
    ],
    "vy_ego": [
      -0.07318287008330593,
      -0.04641521693493189,
      -0.015388017908150475,
      0.012916414085067607,
      0.03138621180169854,
      0.01600319123103988,
      0.0011718035391018455,
      0.00879095006047892,
      -0.006477938695482743,
      -0.07336898855023499
    ],
    "v_ego": [
      2.584107614708649,
      2.373771292814627,
      2.170816752352469,
      2.016879203400706,
      1.9174350397683528,
      1.8687091090684629,
      1.8928032676103375,
      1.9923879901324175,
      2.0995529454721327,
      2.173504158352432
    ],
    "ax_ego": [
      -0.4196034281770191,
      -0.4196524101994642,
      -0.3909557966455068,
      -0.22452193854237557,
      -0.17225772398880265,
      -0.02041349081959691,
      0.11696177962079508,
      0.2812939599874923,
      0.1471608499509621,
      0.14611509338301223
    ],
    "ay_ego": [
      0.048745103301978815,
      0.04832161690265188,
      0.0472386057185985,
      -0.010375816285057946,
      -0.05013458625281228,
      -0.10289906501939129,
      0.0072553853890617165,
      0.04105699765435658,
      -0.06841059791876156,
      -0.07061660587618511
    ],
    "a_ego": [
      0.42242528574154675,
      0.4224252881235994,
      0.39379934078279016,
      0.2247615591029915,
      0.17940512872419,
      0.10490437640683388,
      0.11718659696913826,
      0.28427446065701145,
      0.16228470558217137,
      0.1622847051936776
    ],
    "yaw": [
      0.5660563939968923,
      0.5650472065079801,
      0.5619009500549987,
      0.5526927320928445,
      0.5355557759869588,
      0.5233487459597927,
      0.5184765866737505,
      0.5207964864057907,
      0.5248835505394884,
      0.5399271434410327
    ],
    "yaw_diff": [
      -0.002018374977824422,
      -0.006292512905962777,
      -0.018416435924308416,
      -0.03427391221177145,
      -0.02441406005433211,
      -0.009744318572084465,
      0.00463979946408033,
      0.008174128267395497,
      0.030087185803088445,
      0.030087185803088445
    ],
    "min_front_frame": [
      9,
      14.638583514588385
    ],
    "v_avg": 2.108996737368059,
    "v_std": 0.2161399783618188,
    "vy_max": 0.07336898855023499,
    "a_max": 0.4224252881235994,
    "ax_avg": -0.09558731054305039,
    "a_std": 0.11872057535917685,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0e272e003af65a71",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5046995380644974,
    "right_rear_min": 19.344214167272508,
    "speed_mode": "quasi_constant",
    "front_frame": [
      20.289772695154813,
      21.3386557316512,
      20.683463856126256,
      20.18442122295487,
      19.424869197644803,
      18.59641136266177,
      17.70556526896119,
      16.739678869685896,
      15.70163974951636,
      14.638583514588385
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0e272e003af65a71",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "001b34b45b2f50e4": {
    "vx_ego": [
      1.3934036097460027,
      0.9548233597851852,
      0.541086010598486,
      0.22256492624611335,
      0.02072203585263458,
      -0.051493941192678805,
      -0.037639391569920896,
      -0.02750261612817967,
      -0.017916171344241952,
      -0.0024166613817990703
    ],
    "vy_ego": [
      -0.02930937904478137,
      0.006850468285032774,
      0.009847972927823134,
      0.007849666071193542,
      -0.00616066274746539,
      -0.018830542453127628,
      -0.004538686657116989,
      -0.003653723152402007,
      -0.002269716756013962,
      -0.0014372952635234807
    ],
    "v_ego": [
      1.3937118279447804,
      0.9548479341273108,
      0.5411756216203498,
      0.2227033085797495,
      0.021618430455652437,
      0.05482896413971456,
      0.03791204919712629,
      0.027744253220593394,
      0.01805936903074875,
      0.0028117734455012596
    ],
    "ax_ego": [
      -0.877159225583088,
      -0.8771659495421806,
      -0.777748340766667,
      -0.49634722065765347,
      -0.31107596565034024,
      0.02221968718605221,
      0.033199334088377455,
      0.007346741828045069,
      0.03099889313562915,
      0.03099884439523913
    ],
    "ay_ego": [
      0.07214171907997352,
      0.07205996464107267,
      -0.06110268039298322,
      0.052379591500044176,
      -0.1081777276327334,
      0.05748511871435778,
      -0.00032607974638330407,
      0.0038725512636350557,
      0.0016650062384052505,
      0.001666145767640563
    ],
    "a_ego": [
      0.8801208636643814,
      0.8801208675746235,
      0.7801448705955264,
      0.4991033811348996,
      0.32934886846788086,
      0.061629971379595985,
      0.033200935407194515,
      0.008304894266480968,
      0.031043576169766336,
      0.031043588638546206
    ],
    "yaw": [
      -2.1144632542902424,
      -2.11455645391744,
      -2.114907474018457,
      -2.115433845413496,
      -2.1148165619744073,
      -2.114759182207455,
      -2.1147135353727933,
      -2.1147698602214144,
      -2.114784712338408,
      -2.1148212258925243
    ],
    "yaw_diff": [
      -0.00018639925439511984,
      -0.0007020402020341265,
      -0.001052742790077943,
      0.0012345668781774677,
      0.00011475953390416294,
      9.129366932381089e-05,
      -0.00011264969724233964,
      -2.970423398718225e-05,
      -7.302710823253733e-05,
      -7.302710823253733e-05
    ],
    "min_front_frame": [
      8,
      9.220932176997522
    ],
    "v_avg": 0.32754135317615274,
    "v_std": 0.4614993346830581,
    "vy_max": 0.02930937904478137,
    "a_max": 0.8801208675746235,
    "ax_avg": -0.32147332015665864,
    "a_std": 0.3568422619949083,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "001b34b45b2f50e4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 35.63870033255167,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.552740723281177,
      9.973337321355961,
      9.535884530089746,
      9.40382489126479,
      9.310852859289799,
      9.298876730421703,
      9.271782317944975,
      9.264045215107531,
      9.220932176997522,
      9.23912173087478
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "001b34b45b2f50e4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ca4f746c0a4f5396": {
    "vx_ego": [
      5.767196034688722,
      5.559855617663529,
      5.419210749735127,
      5.3100576704349285,
      5.226728984067405,
      5.117666008136245,
      4.989032838986436,
      4.830807585301688,
      4.657224753147594,
      4.486152061600206
    ],
    "vy_ego": [
      -0.011108221943251007,
      -0.0012135439981146856,
      -0.04077485958494753,
      -0.055014757882033916,
      -0.0851324207280113,
      -0.06372724674456443,
      -0.015252498663372194,
      -0.01706209749732457,
      -0.012165251155796142,
      -0.029726750215076425
    ],
    "v_ego": [
      5.767206732476655,
      5.559855750103031,
      5.419364145286689,
      5.310342652497072,
      5.22742225211904,
      5.118062771480124,
      4.989056153943403,
      4.830837716315808,
      4.6572406416961485,
      4.486250550234364
    ],
    "ax_ego": [
      -0.573675806739452,
      -0.24558352126418515,
      -0.2999379553905186,
      -0.12215926336372496,
      -0.1854287172129474,
      -0.23760794363357157,
      -0.2748301841286504,
      -0.3589964631788998,
      -0.34432236163579744,
      -0.33733603877735585
    ],
    "ay_ego": [
      1.8958980920171895,
      1.9655081339876466,
      1.980312393297968,
      1.7605034428494912,
      1.519283780599409,
      1.1368399493957555,
      0.8677287901526263,
      0.7155619768968011,
      0.2307162517647433,
      0.24081585943068629
    ],
    "a_ego": [
      1.9807911314806972,
      1.9807911274761194,
      2.0028978885937674,
      1.7647365973171407,
      1.5305577464309121,
      1.1614054440288795,
      0.9102114498114866,
      0.8005669262187999,
      0.41447301184857055,
      0.414473016264434
    ],
    "yaw": [
      -3.047178678430802,
      -2.8776517621424462,
      -2.6915179353089806,
      -2.5142652762340543,
      -2.3535025159143723,
      -2.2295716876782237,
      -2.14013604757435,
      -2.059367656641035,
      -2.0105237587709013,
      -1.9808934600897357
    ],
    "yaw_diff": [
      0.3390538325767114,
      0.37226765366693115,
      0.35450531814985276,
      0.3215255206393639,
      0.2478616564722973,
      0.17887128020774767,
      0.16153678186663,
      0.09768779574026709,
      0.059260597362331247,
      0.059260597362331247
    ],
    "min_front_frame": [
      9,
      38.01152390069868
    ],
    "v_avg": 5.136563936615234,
    "v_std": 0.3825629636215429,
    "vy_max": 0.0851324207280113,
    "a_max": 2.0028978885937674,
    "ax_avg": -0.29798782553251024,
    "a_std": 0.6065390130616767,
    "ini_direction_judge": "left",
    "scenario_type": "carpark_areas",
    "scene_token": "ca4f746c0a4f5396",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      53.32587229803226,
      40.31467628672204,
      38.01152390069868
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "ca4f746c0a4f5396",
    "maneuvering": "Yes"
  },
  "c7f3aa98380354ba": {
    "vx_ego": [
      6.334949294569103,
      6.306805419096549,
      6.358712914681891,
      6.458752258057629,
      6.588319391481065,
      6.811461727950192,
      7.147286248334799,
      7.237418840194506,
      7.282056944122306,
      7.542958092754029
    ],
    "vy_ego": [
      -0.06685814111588212,
      -0.04217549999008341,
      -0.02106843985828588,
      -0.024758237140698913,
      -0.06628579432875492,
      -0.14986516242392334,
      -0.2367304380673545,
      -0.10412913106132438,
      0.014600344882768734,
      0.049808328056929696
    ],
    "v_ego": [
      6.335302090334371,
      6.306946437630893,
      6.358747817809756,
      6.458799710570907,
      6.588652837317748,
      6.81311018832358,
      7.151205633733608,
      7.238167885890598,
      7.282071580773605,
      7.543122540340129
    ],
    "ax_ego": [
      -0.16375026347426141,
      0.08159233878804034,
      0.15377441219285454,
      0.27455878148681845,
      0.27281640982002164,
      0.6699813995549517,
      0.718870479144124,
      -0.3418200778526466,
      0.5203074019864656,
      0.5221238745824852
    ],
    "ay_ego": [
      1.7788751027970096,
      1.7845317204572633,
      1.9192495318507488,
      2.093751349870457,
      2.079633645068091,
      1.8427980730513025,
      1.0747499115650276,
      0.5756555608061892,
      0.20537232802256575,
      0.2007093864820474
    ],
    "a_ego": [
      1.7863960311585338,
      1.7863960286193714,
      1.9254000455371805,
      2.1116764050336614,
      2.097451999728785,
      1.9608110091977773,
      1.293005080498115,
      0.6694925618035481,
      0.5593724927803599,
      0.5593725039998182
    ],
    "yaw": [
      -3.0756698063660184,
      -2.9381856292824313,
      -2.795342989901964,
      -2.638176291935269,
      -2.4722619941938015,
      -2.312579893799578,
      -2.1956587063993975,
      -2.1574377767587194,
      -2.146737683740372,
      -2.137791448207218
    ],
    "yaw_diff": [
      0.27496835416717413,
      0.2856852787609343,
      0.3143333959333905,
      0.33182859548293475,
      0.3193642007884474,
      0.23384237480036063,
      0.07644185928135627,
      0.021400186036694357,
      0.017892471066308424,
      0.017892471066308424
    ],
    "min_front_frame": [
      6,
      19.57234217494935
    ],
    "v_avg": 6.807612672272521,
    "v_std": 0.4375371610698047,
    "vy_max": 0.2367304380673545,
    "a_max": 2.1116764050336614,
    "ax_avg": 0.27084547562288536,
    "a_std": 0.6151684840096376,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "c7f3aa98380354ba",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      40.40156449109503,
      19.57234217494935,
      33.32028012794313,
      29.783473705454504,
      26.13353746842945
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c7f3aa98380354ba",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4b82ec1d991358e2": {
    "vx_ego": [
      6.5596327400029155,
      6.630230486423008,
      6.680320479051565,
      6.7456962795441004,
      6.783897829985457,
      6.755957238387191,
      6.7670783281514515,
      6.817978832588868,
      6.871705598283527,
      6.930806680769424
    ],
    "vy_ego": [
      0.0583995048350186,
      -0.006905397302100935,
      -0.015780233739323857,
      -0.06497840956673914,
      -0.034389876599048824,
      0.00926466244744215,
      0.041111781799646877,
      0.013653952559055105,
      -0.014133323043383036,
      -0.027391003161180018
    ],
    "v_ego": [
      6.559892696217152,
      6.630234082414057,
      6.680339117036843,
      6.746009226910747,
      6.78398499639363,
      6.755963590849683,
      6.7672032094462615,
      6.81799250454636,
      6.871720132565166,
      6.930860806079737
    ],
    "ax_ego": [
      0.14006309631391997,
      0.14085633066835918,
      0.05980111625402636,
      0.20475325165172437,
      -0.04923957691651403,
      -0.06243860107976482,
      0.10657050164612404,
      0.09656466114526618,
      0.11829268703430526,
      0.11830670570122248
    ],
    "ay_ego": [
      0.057044795531322565,
      0.05505701050511846,
      0.06577861188569063,
      0.14434468608055695,
      0.26314969882577105,
      0.17965430890972497,
      -0.0027615751253020787,
      0.026894652959102844,
      0.0060975407451149075,
      0.005819201613955735
    ],
    "a_ego": [
      0.1512341880867313,
      0.15123419023195406,
      0.0888988148786917,
      0.25051802821683095,
      0.2677168278741762,
      0.19019529335561616,
      0.10660627616739651,
      0.10023999271693239,
      0.11844973536878176,
      0.11844973499885736
    ],
    "yaw": [
      3.0816650076796037,
      3.095816814076339,
      3.1016804655492014,
      3.116875195795921,
      3.1273635238231043,
      3.1372646011933556,
      3.139100704650029,
      -3.1391549419978535,
      -3.133888269708865,
      -3.1315355295579885
    ],
    "yaw_diff": [
      0.02830361279347038,
      0.011727302945724993,
      0.03038946049343938,
      0.020976656054366494,
      0.01980215474050251,
      0.0036722069133467983,
      0.009859321063407478,
      0.010533344577977388,
      0.0047054803017525515,
      0.0047054803017525515
    ],
    "min_front_frame": [
      6,
      50.56281474962249
    ],
    "v_avg": 6.754420036245963,
    "v_std": 0.10430424582950457,
    "vy_max": 0.06497840956673914,
    "a_max": 0.2677168278741762,
    "ax_avg": 0.08735301724186689,
    "a_std": 0.05955963436171019,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4b82ec1d991358e2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      70.42935210838473,
      67.00482059342876,
      63.73789148062143,
      60.54684638077204,
      57.21112110201306,
      53.89879469188112,
      50.56281474962249,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4b82ec1d991358e2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a5de46cebb7d5260": {
    "vx_ego": [
      3.77492908850229,
      3.8172349532331076,
      3.880453603433617,
      3.948756454382012,
      4.0336503913862,
      4.176252895393803,
      4.351752427270608,
      4.491182876066986,
      4.595365418774008,
      4.68545059012887
    ],
    "vy_ego": [
      -0.07115570460238807,
      -0.04741660371030254,
      -0.027698820177576744,
      -0.009961561349398407,
      -0.013562856232886666,
      -0.027931270785098272,
      -0.00488431518174659,
      -0.004463890580306051,
      -0.02738029035829448,
      -0.025133214405547166
    ],
    "v_ego": [
      3.775599655355185,
      3.817529439636581,
      3.8805524597716974,
      3.9487690194196112,
      4.033673193380846,
      4.176346298162162,
      4.35175516829594,
      4.4911850944485066,
      4.595446987221604,
      4.6855179981518935
    ],
    "ax_ego": [
      0.047222258504581116,
      0.1480219872354519,
      0.12807847852502746,
      0.15263592815502303,
      0.18343520597709229,
      0.37948371797335345,
      0.32018847656757465,
      0.23685114687960107,
      0.18011576961872347,
      0.18012046687008085
    ],
    "ay_ego": [
      0.9028986504832494,
      0.8919335212355041,
      0.9886519302133026,
      0.9628592713890729,
      0.8060740536920004,
      0.45457984425937387,
      0.17557592322847965,
      -0.030566764574940494,
      -0.004817175645224825,
      -0.004638202476147817
    ],
    "a_ego": [
      0.9041326864696058,
      0.9041326866166811,
      0.9969136049707491,
      0.9748824047358952,
      0.826682438925197,
      0.5921576876253117,
      0.36516785913357336,
      0.23881539497017817,
      0.18018017550924412,
      0.18018017512397316
    ],
    "yaw": [
      2.211262212432131,
      2.3234665220117545,
      2.44028729974938,
      2.5603362663853346,
      2.672032159310173,
      2.752747109976633,
      2.78423103041436,
      2.792316003544758,
      2.795408151113792,
      2.7944145055864213
    ],
    "yaw_diff": [
      0.22440861915924692,
      0.23364155547525112,
      0.2400979332719091,
      0.22339178584967634,
      0.16142990133292034,
      0.06296784087545415,
      0.016169946260795598,
      0.006184295138067952,
      -0.001987291054740936,
      -0.001987291054740936
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.175637531384403,
    "v_std": 0.3183985490931957,
    "vy_max": 0.07115570460238807,
    "a_max": 0.9969136049707491,
    "ax_avg": 0.19561534363065095,
    "a_std": 0.3271008966942055,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "a5de46cebb7d5260",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a5de46cebb7d5260",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "34d782c068c855be": {
    "vx_ego": [
      7.07920020855158,
      6.838644356589654,
      6.588177696066882,
      6.352996160839563,
      6.114351565660289,
      5.784561515306114,
      5.352041783075379,
      4.861324050297861,
      4.404601152996737,
      4.006105503218496
    ],
    "vy_ego": [
      0.022886396594075542,
      0.014332753854141789,
      -0.015242602630890278,
      -0.04125794572646457,
      -0.02035675630532907,
      0.028062054776512024,
      0.06221948554990231,
      0.049239691265700936,
      0.019100216907695255,
      -0.03393104559444815
    ],
    "v_ego": [
      7.079237203251901,
      6.838659376204416,
      6.588195328911256,
      6.353130129135385,
      6.114385452849674,
      5.78462958220134,
      5.352403433240695,
      4.86157341497589,
      4.404642566118857,
      4.006249195790578
    ],
    "ax_ego": [
      -0.4810916752679515,
      -0.4810655956648843,
      -0.5207822738573907,
      -0.41999264112136986,
      -0.5345453246883343,
      -0.7845084814497516,
      -0.9474587728152017,
      -1.0198544832486038,
      -0.8097670714361993,
      -0.7805585062369025
    ],
    "ay_ego": [
      -0.02922441999370426,
      -0.029650625620032622,
      -0.10310049198672941,
      -0.008829354582619381,
      0.09814918333023392,
      0.1855281843847424,
      0.18372623684409184,
      0.27003582883828675,
      0.4191467451282759,
      0.4713121437348339
    ],
    "a_ego": [
      0.48197849198495624,
      0.4819784921882607,
      0.530889713793722,
      0.4200854390459748,
      0.5434813394538478,
      0.8061477933156515,
      0.9651080023963015,
      1.054998822681171,
      0.9118150601596722,
      0.9118150681419501
    ],
    "yaw": [
      -0.47569810897835985,
      -0.4765840390469934,
      -0.47712173137104186,
      -0.4774263332218512,
      -0.4771976563986495,
      -0.47343547123484575,
      -0.46302948037255776,
      -0.43831867219157095,
      -0.3943821272260808,
      -0.32880223333281466
    ],
    "yaw_diff": [
      -0.001771860137267156,
      -0.0010753846480968665,
      -0.0006092037016186547,
      0.00045735364640342446,
      0.007524370327607444,
      0.02081198172457599,
      0.04942161636197362,
      0.08787308993098031,
      0.13115978778653226,
      0.13115978778653226
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.738310568268,
    "v_std": 0.9974485449892951,
    "vy_max": 0.06221948554990231,
    "a_max": 1.054998822681171,
    "ax_avg": -0.677962482578659,
    "a_std": 0.22861484217203865,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "34d782c068c855be",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.120600297682493,
    "right_rear_min": 20.207202822204863,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "34d782c068c855be",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "babd01c3694d5e18": {
    "vx_ego": [
      4.9300354648445035,
      5.398933591080758,
      5.825797522695669,
      6.186479978375385,
      6.498920510807081,
      6.703540448683052,
      6.795644847352495,
      6.816958335461878,
      6.759781210720543,
      6.729327559217295
    ],
    "vy_ego": [
      -0.026309247394914387,
      0.024397036733264404,
      0.030766588063755457,
      0.022952746266201862,
      0.028416075209791503,
      0.048732616450184785,
      0.03520465598340161,
      0.02109253674404421,
      0.0471206774780244,
      0.005095805006493315
    ],
    "v_ego": [
      4.9301056642959535,
      5.3989887142224635,
      5.8258787627608655,
      6.1865225572530385,
      6.498982634160465,
      6.7037175816882275,
      6.795736035129044,
      6.816990966880438,
      6.759945441721883,
      6.72932948862441
    ],
    "ax_ego": [
      0.9377017076605778,
      0.937895810631718,
      0.7686348240160449,
      0.6741135578309212,
      0.5782453476855892,
      0.24512196863003632,
      0.12125709289287731,
      -0.03561387141368699,
      -0.19758112517013648,
      0.06161129250096187
    ],
    "ay_ego": [
      0.11912144455095323,
      0.11758342352594522,
      0.055195529731149814,
      0.27256120672559825,
      0.6282324907758413,
      1.095013965087193,
      1.3872654423609079,
      1.619393737148131,
      1.8189538583152955,
      1.8286157249913118
    ],
    "a_ego": [
      0.945237753743189,
      0.9452377547943213,
      0.7706140663084723,
      0.7271304561515609,
      0.8538405849960785,
      1.1221142380529003,
      1.3925547350627325,
      1.619785301745778,
      1.8296533659968484,
      1.8296533608990364
    ],
    "yaw": [
      -3.1164732167308227,
      -3.1148331753963374,
      -3.1082964041312877,
      -3.09338247154725,
      -3.058807469911316,
      -2.997032294045246,
      -2.9033697538089713,
      -2.791300416907666,
      -2.669025936012204,
      -2.5271465388534162
    ],
    "yaw_diff": [
      0.0032800826689705076,
      0.013073542530099402,
      0.029827865168075007,
      0.0691500032718686,
      0.12355035173214013,
      0.18732508047254903,
      0.224138673802611,
      0.24454896179092334,
      0.2837587943175759,
      0.2837587943175759
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.264619784673679,
    "v_std": 0.6344345340007121,
    "vy_max": 0.048732616450184785,
    "a_max": 1.8296533659968484,
    "ax_avg": 0.4091386605264904,
    "a_std": 0.40862861435430886,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "babd01c3694d5e18",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.884760039720504,
    "right_rear_min": 7.065460048328656,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "babd01c3694d5e18",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "173ccb0e08885b66": {
    "vx_ego": [
      3.276690268636502,
      3.372032874632244,
      3.4674316645188354,
      3.563494011978527,
      3.650413186928486,
      3.7478401163477586,
      3.835665331895693,
      3.8742271825163166,
      3.8515694566282486,
      3.787406404478947
    ],
    "vy_ego": [
      0.02063343333705614,
      -0.001585135324586373,
      -6.640082118636315e-05,
      0.007100856143382739,
      -0.0009859196657118208,
      -0.007055152106907325,
      -0.00739586072245868,
      0.008879704224092677,
      0.018201329384573972,
      0.013874080092403318
    ],
    "v_ego": [
      3.2767552327185543,
      3.3720332472048065,
      3.4674316651546184,
      3.563501086791582,
      3.6504133200692452,
      3.7478467568561062,
      3.835672462171701,
      3.874237358615941,
      3.8516124633227298,
      3.7874318162557796
    ],
    "ax_ego": [
      0.19068346761143964,
      0.19063614244505572,
      0.19108000683207807,
      0.19302763844455711,
      0.15463071851792803,
      0.23508014254184129,
      0.11622280988535333,
      0.03802602516517902,
      -0.12828085465328054,
      -0.12805701036676745
    ],
    "ay_ego": [
      -0.03547131699185317,
      -0.03572478835991992,
      0.07100447851435324,
      -0.0035003837709259716,
      -0.013437152484137724,
      -0.008350482752548474,
      0.00784733710984245,
      0.012787572885588296,
      -0.045591866381887905,
      -0.04621685903692717
    ],
    "a_ego": [
      0.19395463167828575,
      0.1939546320913544,
      0.2038460325344652,
      0.1930593740019542,
      0.15521345359295585,
      0.23522840810517132,
      0.11648743381739719,
      0.04011858185637998,
      0.13614182293020763,
      0.1361418229763124
    ],
    "yaw": [
      -2.1674323609637822,
      -2.166102922434809,
      -2.1639678710738646,
      -2.1612059493581954,
      -2.160139322878671,
      -2.15997062893396,
      -2.1599141686191996,
      -2.1627906582541345,
      -2.1673025228578986,
      -2.172178839245708
    ],
    "yaw_diff": [
      0.0026588770579465404,
      0.004270102721888769,
      0.005523843431338271,
      0.0021332529590489813,
      0.0003373878894219473,
      0.00011292062952072968,
      -0.00575297926986984,
      -0.009023729207528142,
      -0.009752632775619219,
      -0.009752632775619219
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.642693540916107,
    "v_std": 0.2026628954072764,
    "vy_max": 0.02063343333705614,
    "a_max": 0.23522840810517132,
    "ax_avg": 0.10530490864233844,
    "a_std": 0.053296396883476815,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "173ccb0e08885b66",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "173ccb0e08885b66",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e54d150b34215b84": {
    "vx_ego": [
      0.41938007022501655,
      1.1601093191297367,
      1.905886845060439,
      2.659210201824729,
      3.414794161421121,
      4.137507110723527,
      4.779902242728818,
      5.326401657254595,
      5.841806964983678,
      6.374130571974614
    ],
    "vy_ego": [
      -0.0022764784975510266,
      -0.008492518586810605,
      -0.015922042280064663,
      -0.021771287080328383,
      -0.009661930418907172,
      0.017902136429566173,
      0.026135591788442047,
      0.033564809085616654,
      0.03838767333554194,
      0.03018210459129622
    ],
    "v_ego": [
      0.41938624876870917,
      1.160140403228682,
      1.905953351371644,
      2.659299322458803,
      3.414807830284919,
      4.137545839960747,
      4.779973694404826,
      5.326507412067823,
      5.84193309013343,
      6.374202029118546
    ],
    "ax_ego": [
      1.481464686085069,
      1.481460249036114,
      1.5016996130722917,
      1.5117240086672576,
      1.5110758249202974,
      1.3796799762486447,
      1.1892986139690638,
      0.996284697527497,
      1.064612335126482,
      1.064607013794436
    ],
    "ay_ego": [
      -0.011563625222759444,
      -0.012118136280598935,
      -0.011405904580124693,
      0.002443288943172972,
      0.09713928759174995,
      0.09417180683798809,
      0.027743965674952298,
      0.10837068183693166,
      -0.009444873422660094,
      -0.010026629118286556
    ],
    "a_ego": [
      1.4815098155413702,
      1.4815098105314928,
      1.5017429282539543,
      1.511725983120573,
      1.5141948982387934,
      1.3828901496737158,
      1.1896221756591918,
      1.0021613658534527,
      1.0646542301317508,
      1.0646542288986514
    ],
    "yaw": [
      1.2288239370916947,
      1.2291982361232554,
      1.2302100267822715,
      1.231791843049011,
      1.2360018921281446,
      1.2413448737890347,
      1.2463076023521964,
      1.2515465080454993,
      1.2551171907180505,
      1.255663639306959
    ],
    "yaw_diff": [
      0.0007485980631214417,
      0.0020235813180322637,
      0.003163632533478733,
      0.008420098158267386,
      0.010685963321780179,
      0.009925457126323423,
      0.010477811386605751,
      0.007141365345102457,
      0.0010928971778167984,
      0.0010928971778167984
    ],
    "min_front_frame": [
      7,
      21.834447404391238
    ],
    "v_avg": 3.6019749221798127,
    "v_std": 1.929838589311397,
    "vy_max": 0.03838767333554194,
    "a_max": 1.5141948982387934,
    "ax_avg": 1.3181907018447154,
    "a_std": 0.20298937589527113,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "e54d150b34215b84",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      32.32305378935471,
      31.8511032396041,
      31.06832180240107,
      29.924697333040218,
      28.426559588624215,
      26.531096903790793,
      24.35658029508173,
      21.834447404391238,
      60.775047235912766,
      57.751325815064114
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "e54d150b34215b84",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "db740574ddc053f0": {
    "vx_ego": [
      0.7072087421783064,
      0.4762768707996775,
      0.24261912537844543,
      0.05373943833424693,
      -0.01864582477048638,
      -0.017726860905392577,
      -0.011632746158152775,
      -0.006608815455895161,
      -0.004271667061352186,
      -0.00270046173629124
    ],
    "vy_ego": [
      -0.007808816475073199,
      0.005685758417552589,
      0.004403202320189051,
      -0.007362098115407327,
      -0.0007763412068880551,
      0.004812713812441632,
      7.337243380064595e-05,
      0.00018271080432201827,
      0.00022289253729881647,
      6.0106454030657347e-05
    ],
    "v_ego": [
      0.7072518523327908,
      0.47631080767448,
      0.24265907811181173,
      0.05424138384242434,
      0.01866197971923654,
      0.018368554973094704,
      0.011632977550655722,
      0.006611340633191937,
      0.004277478295237128,
      0.0027011305734801565
    ],
    "ax_ego": [
      -0.46186646291209665,
      -0.4618600035293444,
      -0.4727819416722456,
      -0.28273651574459435,
      -0.006810835842899814,
      0.010486818383844198,
      0.013889638582782212,
      0.006206088843945821,
      0.003142403178862579,
      0.0031424123088324178
    ],
    "ay_ego": [
      0.027214633299002422,
      0.027323960419457033,
      -0.03213741269938017,
      -0.014913485453356468,
      0.04126613013561005,
      -0.018909600931327354,
      -4.587172616412477e-05,
      0.000484706694891058,
      -0.0003255552561617031,
      -0.00032555661537297075
    ],
    "a_ego": [
      0.4626675543287322,
      0.4626675498380345,
      0.47387295519620964,
      0.2831295628926106,
      0.04182440652595124,
      0.021622820519020848,
      0.013889714330236369,
      0.006224988298705547,
      0.0031592220503377337,
      0.003159231271767642
    ],
    "yaw": [
      2.2173520829198017,
      2.2175887960152343,
      2.217808274577625,
      2.217828959461447,
      2.217687197195253,
      2.2176835400190806,
      2.217652398516235,
      2.2176072250306427,
      2.217685460864422,
      2.2176835085558273
    ],
    "yaw_diff": [
      0.00047342619086521154,
      0.00043895712478114746,
      4.136976764446132e-05,
      -0.00028352453238777997,
      -7.314352345133557e-06,
      -6.228300569155465e-05,
      -9.034697118437407e-05,
      0.0001564716675588329,
      -3.904617189576243e-06,
      -3.904617189576243e-06
    ],
    "min_front_frame": [
      3,
      9.068397946139417
    ],
    "v_avg": 0.1542716583706403,
    "v_std": 0.23490329510248753,
    "vy_max": 0.007808816475073199,
    "a_max": 0.47387295519620964,
    "ax_avg": -0.16491883984029138,
    "a_std": 0.20523967748857533,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "db740574ddc053f0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.963119787494353,
    "right_rear_min": 5.674951260251337,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.675064607207059,
      9.348111496938472,
      9.14947438143256,
      9.068397946139417,
      9.070824335817852,
      9.0778718920787,
      9.079915146491722,
      9.082634839704989,
      9.083531013272951,
      9.095192495307103
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "db740574ddc053f0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "06bdef9a9bbc5aaf": {
    "vx_ego": [
      3.6023257354991456,
      3.2581706443442884,
      2.9559870429487214,
      2.7467817820910185,
      2.6021349157480014,
      2.4964169042644615,
      2.3991980473399863,
      2.2624448119496114,
      2.0588478113129263,
      1.811232879709431
    ],
    "vy_ego": [
      0.030123234816614025,
      0.0041014644042664805,
      0.0008406755551938483,
      0.009537513007033926,
      0.002870546639724636,
      -0.007609985810355879,
      -0.014792795087846172,
      -0.021939383258712766,
      -0.005876012335618755,
      0.028641446084581648
    ],
    "v_ego": [
      3.6024516809966065,
      3.2581732258548093,
      2.955987162491765,
      2.746798340355817,
      2.602136499070114,
      2.4964285032384548,
      2.399243651058915,
      2.26255118475925,
      2.0588561964520484,
      1.8114593224729982
    ],
    "ax_ego": [
      -0.6883765423431342,
      -0.6884743226807687,
      -0.5202404562204705,
      -0.3165722677816769,
      -0.261904933770538,
      -0.16098892097577341,
      -0.22780574527233996,
      -0.31925160076816095,
      -0.4952993873424575,
      -0.4952132907882626
    ],
    "ay_ego": [
      -0.02971478312753662,
      -0.02735582836742447,
      0.027939474544967736,
      0.003980604370306277,
      -0.0527654380497517,
      0.00507593013264449,
      -0.01194945256698663,
      -0.022751673764074023,
      0.07327447209409933,
      0.07385410208331608
    ],
    "a_ego": [
      0.6890175849603588,
      0.6890175863767275,
      0.5209901597212103,
      0.3165972930073576,
      0.26716733667484893,
      0.1610689223396472,
      0.2281189316907672,
      0.3200612804637576,
      0.5006901550484917,
      0.5006901554533234
    ],
    "yaw": [
      -1.6285596016273125,
      -1.6251330084815854,
      -1.6240291050565139,
      -1.6242827624946763,
      -1.6263554825216868,
      -1.6269238847687726,
      -1.6246990998193578,
      -1.6253517591262339,
      -1.6269244649349148,
      -1.6257541030908886
    ],
    "yaw_diff": [
      0.006853186291454261,
      0.0022078068501429904,
      -0.000507314876324827,
      -0.004145440054021066,
      -0.0011368044941715283,
      0.004449569898829608,
      -0.00130531861375216,
      -0.003145411617361926,
      0.002340723688052382,
      0.002340723688052382
    ],
    "min_front_frame": [
      9,
      14.595148815982963
    ],
    "v_avg": 2.619408576675078,
    "v_std": 0.5159603184761418,
    "vy_max": 0.030123234816614025,
    "a_max": 0.6890175863767275,
    "ax_avg": -0.4174127467943583,
    "a_std": 0.1777241527913349,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "06bdef9a9bbc5aaf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.527584653860492,
    "right_rear_min": 3.754477264551558,
    "speed_mode": "decelerating",
    "front_frame": [
      16.371746271703454,
      16.008885300121594,
      15.98795586531355,
      15.67731638096543,
      15.560289332023537,
      15.835861715307683,
      15.468338491416171,
      15.098829776377581,
      14.845266063690822,
      14.595148815982963
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "06bdef9a9bbc5aaf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "804236dcfffa523e": {
    "vx_ego": [
      6.261751350512084,
      6.37829582702538,
      6.5083450120707855,
      6.632110569131563,
      6.747942114621558,
      6.858035068179318,
      6.945039281395893,
      7.055468524369048,
      7.138772645604125,
      7.165342925973164
    ],
    "vy_ego": [
      0.022309770691817388,
      0.031021459407176266,
      0.04521515980960311,
      0.07250887150902274,
      0.07810015314851748,
      0.06749726585811455,
      0.06052238975993163,
      0.042057858615265786,
      0.029014624117956966,
      0.034323088652778555
    ],
    "v_ego": [
      6.261791093729351,
      6.3783712645151915,
      6.508502070893369,
      6.632506927070193,
      6.748394062012464,
      6.85836721656661,
      6.945302986896556,
      7.0555938773312095,
      7.1388316084663614,
      7.165425131924017
    ],
    "ax_ego": [
      0.23139315162137403,
      0.23347141498458615,
      0.2850512213494919,
      0.20775840207143603,
      0.25218880693041934,
      0.18642098271061436,
      0.1600915605337139,
      0.2802059675110914,
      0.05232966994993286,
      0.05307909733751741
    ],
    "ay_ego": [
      0.17243282905738552,
      0.16960828203452455,
      0.1739080980643385,
      0.20467867441681997,
      0.05932168655961058,
      0.0646469815751219,
      0.07213270234019696,
      0.028895724419065655,
      0.1091619136666194,
      0.10879948143992446
    ],
    "a_ego": [
      0.2885755900175996,
      0.28857558966344965,
      0.33391349982471896,
      0.2916451840718497,
      0.259071914412321,
      0.19731197384235286,
      0.17559166979392626,
      0.28169193655220126,
      0.12105667165599496,
      0.12105667158716249
    ],
    "yaw": [
      1.1147654970204999,
      1.12691747707049,
      1.1380540419935736,
      1.1482901400606251,
      1.1573272625581073,
      1.1634340963488592,
      1.1693965436042606,
      1.175655669601717,
      1.1823298350024882,
      1.1892065041198943
    ],
    "yaw_diff": [
      0.02430396009998015,
      0.02227312984616736,
      0.020472196134103005,
      0.01807424499496424,
      0.012213667581503884,
      0.011924894510802808,
      0.012518251994912966,
      0.013348330801542296,
      0.013753338234812063,
      0.013753338234812063
    ],
    "min_front_frame": [
      9,
      53.54867306867815
    ],
    "v_avg": 6.769308623940532,
    "v_std": 0.30197656577248017,
    "vy_max": 0.07810015314851748,
    "a_max": 0.33391349982471896,
    "ax_avg": 0.19419902750001777,
    "a_std": 0.07238890174500053,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "804236dcfffa523e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      77.55995325078626,
      74.4270477634057,
      71.07957581810763,
      67.63985544573355,
      64.05845319650064,
      60.61418198403812,
      57.08217070432313,
      53.54867306867815
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "804236dcfffa523e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2cce988d410654e2": {
    "vx_ego": [
      0.9613479278249787,
      1.6177347588160356,
      2.2649006408049344,
      2.876219479339864,
      3.3952134664050995,
      3.782862441173113,
      3.932495737016779,
      3.835294630779151,
      3.648191294892274,
      3.488882296581337
    ],
    "vy_ego": [
      0.004288073925632397,
      0.00028251141873152086,
      -0.0012456689134672863,
      0.008760472829255572,
      -0.005917648781108176,
      -0.0259779590613243,
      -0.03480562810394019,
      -0.04723296501500954,
      -0.04751619410090552,
      -0.03130493198802631
    ],
    "v_ego": [
      0.9613574912130097,
      1.6177347834840785,
      2.264900983356589,
      2.876232820760216,
      3.395218623450577,
      3.7829516390241094,
      3.9326497623616126,
      3.8355854648107495,
      3.6485007212318874,
      3.4890227397031164
    ],
    "ax_ego": [
      1.3127432655035411,
      1.3127546249386008,
      1.2760694863817985,
      1.1692688922176042,
      0.9061022041445584,
      0.6444451495734509,
      -0.04570227688960445,
      -0.34690246244825107,
      -0.39892652341942625,
      -0.2575404647958307
    ],
    "ay_ego": [
      0.005460811125976923,
      -5.276169867687863e-06,
      0.04502622083781303,
      0.08894850442361665,
      -0.017279218665609126,
      -0.08748357441204302,
      -0.3471834291808344,
      -0.5315181315892947,
      -0.9624261723449465,
      -1.00949463585439
    ],
    "a_ego": [
      1.3127546235237773,
      1.3127546249492037,
      1.2768636163027132,
      1.172647252479185,
      0.9062669450847918,
      0.6503559998959454,
      0.3501785710329196,
      0.6347068950790081,
      1.0418284447556876,
      1.0418284459670122
    ],
    "yaw": [
      -1.555215424398345,
      -1.5510515832476028,
      -1.544482206949433,
      -1.5353923479489682,
      -1.5251054610403791,
      -1.526798121764974,
      -1.5521112755295614,
      -1.6049475493433973,
      -1.7044327459124147,
      -1.8475871033613207
    ],
    "yaw_diff": [
      0.008327682301484174,
      0.013138752596339565,
      0.018179718000929768,
      0.020573773817178065,
      -0.003385321449189682,
      -0.05062630752917485,
      -0.10567254762767186,
      -0.19897039313803466,
      -0.28630871489781207,
      -0.28630871489781207
    ],
    "min_front_frame": [
      0,
      13.226239813396628
    ],
    "v_avg": 2.9804155029395947,
    "v_std": 0.9805875720247024,
    "vy_max": 0.04751619410090552,
    "a_max": 1.3127546249492037,
    "ax_avg": 0.5572311895206441,
    "a_std": 0.313583411489267,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "2cce988d410654e2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.805811729724421,
    "right_rear_min": 16.56550452756875,
    "speed_mode": "accelerating",
    "front_frame": [
      13.226239813396628,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2cce988d410654e2",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "354e4afad1eb56c2": {
    "vx_ego": [
      7.871358507855214,
      7.840583727685301,
      7.809903580924002,
      7.750318300509035,
      7.808940844119823,
      8.02847476136897,
      8.370802554851082,
      8.745960768806663,
      9.054748204579962,
      9.318735635073807
    ],
    "vy_ego": [
      -0.0336116155954479,
      -0.03843781455495554,
      -0.05247305482759357,
      -0.0377106646899148,
      -0.042910504587296394,
      -0.02026257236960971,
      -0.04798238284498879,
      -0.12402536244215634,
      -0.11361874441879971,
      -0.09324206494486864
    ],
    "v_ego": [
      7.871430270280465,
      7.840677946225778,
      7.810079856493945,
      7.750410044212926,
      7.80905874087055,
      8.028500331056703,
      8.370940073932251,
      8.746840118581918,
      9.055461019044108,
      9.31920210742688
    ],
    "ax_ego": [
      -0.1773480871166461,
      0.07293636294080436,
      -0.1546570832454236,
      -0.0478704668238491,
      0.30026195520359256,
      0.5933377989060581,
      0.7881845984727385,
      0.7155118145669914,
      0.5233897825821382,
      0.5464528746014684
    ],
    "ay_ego": [
      1.970959769852689,
      1.9775780859850347,
      2.2195823745059684,
      2.3519753618044725,
      2.2682098485469773,
      2.2364285545867904,
      2.1413720533925207,
      1.5064720298021532,
      0.6807391572246284,
      0.6623684165563645
    ],
    "a_ego": [
      1.9789226256682444,
      1.9789226359833438,
      2.2249639841164925,
      2.352462472416768,
      2.287997630852835,
      2.3137982676503683,
      2.281821472490811,
      1.6677575163557705,
      0.8586865928208471,
      0.8586865920762905
    ],
    "yaw": [
      -3.0879322261901745,
      -2.9613283743947263,
      -2.8261428617588202,
      -2.6811468139957295,
      -2.531449075133947,
      -2.3916743699935856,
      -2.2546255341137,
      -2.1394326327455593,
      -2.0793460608600034,
      -2.045006550671042
    ],
    "yaw_diff": [
      0.2532077035908964,
      0.2703710252718121,
      0.28999209552618144,
      0.29939547772356523,
      0.27954941028072255,
      0.2740976717597716,
      0.23038580273628106,
      0.12017314377111177,
      0.06867902037792284,
      0.06867902037792284
    ],
    "min_front_frame": [
      7,
      18.686486148847674
    ],
    "v_avg": 8.260260050812551,
    "v_std": 0.5522549462078514,
    "vy_max": 0.12402536244215634,
    "a_max": 2.352462472416768,
    "ax_avg": 0.31601995500878727,
    "a_std": 0.548552934582611,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "354e4afad1eb56c2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 43.10994822743426,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      18.686486148847674,
      19.083678573238828,
      19.703328328820945
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "354e4afad1eb56c2",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "f18158051cc457d8": {
    "vx_ego": [
      11.325032241716489,
      11.162277424918615,
      11.042318770194118,
      11.042339475062287,
      11.176815570024564,
      11.374961111308139,
      11.582081830304253,
      11.682651984598586,
      11.59303371078329,
      11.422524718821542
    ],
    "vy_ego": [
      0.003160902681426783,
      -0.010966334224117727,
      -0.0283267906992032,
      -0.05970601454217103,
      -0.036509922907865505,
      0.026766128639261977,
      0.06463932830368616,
      0.05007140043868885,
      -0.009552373916066864,
      -0.047937427044905084
    ],
    "v_ego": [
      11.325032682832477,
      11.162282811832625,
      11.042355103403107,
      11.042500889322643,
      11.176875201093294,
      11.374992602609234,
      11.582262204190831,
      11.68275928616126,
      11.593037646242903,
      11.422625308964697
    ],
    "ax_ego": [
      -0.3258010945290332,
      -0.3251153637629805,
      -0.1546707620766743,
      0.15541675542468547,
      0.38316468763012007,
      0.4094139891577353,
      0.41865383203059336,
      -0.01726427934383813,
      -0.3413162131233759,
      -0.3409964949202458
    ],
    "ay_ego": [
      0.10984421424655048,
      0.11185749671449251,
      -0.018858621828153375,
      0.036574725207784875,
      0.17164564066192625,
      0.1254903488122923,
      0.13218239613171218,
      -0.06308955380722045,
      -0.13195224322048663,
      -0.13277631072678586
    ],
    "a_ego": [
      0.34381987231653455,
      0.3438198646471257,
      0.15581621308014287,
      0.15966238877945388,
      0.41985402678184547,
      0.4282144814962252,
      0.4390253032810537,
      0.06540907537074837,
      0.36593462781185415,
      0.36593463656520575
    ],
    "yaw": [
      -1.5749024143500587,
      -1.5687164388101007,
      -1.5650515928499393,
      -1.561797355820004,
      -1.5591930150182527,
      -1.5582164932932911,
      -1.5559036826412496,
      -1.5531791588121657,
      -1.5522489481305024,
      -1.554664459262979
    ],
    "yaw_diff": [
      0.012371951079916066,
      0.007329691920322734,
      0.00650847405987065,
      0.0052086816035026295,
      0.0019530434499230864,
      0.004625621304083172,
      0.005449047658167672,
      0.0018604213633266475,
      -0.004831022264953244,
      -0.004831022264953244
    ],
    "min_front_frame": [
      0,
      21.60015965315099
    ],
    "v_avg": 11.340472373665307,
    "v_std": 0.21994714630816806,
    "vy_max": 0.06463932830368616,
    "a_max": 0.4390253032810537,
    "ax_avg": -0.013851494351301369,
    "a_std": 0.1254663867378377,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f18158051cc457d8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 22.165801678561166,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      21.60015965315099,
      22.35215814620012,
      23.306715961383862,
      24.2490543680369,
      25.384358385325232,
      26.233089974256107,
      26.979720531090273,
      27.846605900570715,
      28.81859884176079,
      29.763935405604407
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f18158051cc457d8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "314c032aadbd5011": {
    "vx_ego": [
      1.7998014803173155,
      2.564940061922973,
      3.3316786341345477,
      4.08116496610139,
      4.793222395694597,
      5.4239540097204735,
      5.805766877329572,
      5.828338718713559,
      5.634874662461597,
      5.3985387311583715
    ],
    "vy_ego": [
      -0.03418263261400234,
      -0.028362973290747107,
      -0.02635845925766822,
      -0.03672075726034674,
      -0.028724363716898793,
      0.0050220800196414395,
      0.019020547424670742,
      0.029302125597893358,
      0.04091137896934782,
      0.04219814598667915
    ],
    "v_ego": [
      1.800126056954019,
      2.565096875268323,
      3.331782899518377,
      4.0813301624038125,
      4.7933084632286285,
      5.423956334710902,
      5.805798034303424,
      5.828412376850163,
      5.635023176756318,
      5.398703651372406
    ],
    "ax_ego": [
      1.5301864517864217,
      1.53017881224759,
      1.5366319068750622,
      1.4611848399503535,
      1.3869355240578842,
      1.1359936044694856,
      0.39123270382009734,
      -0.30083479174562744,
      -0.4731384611345424,
      -0.47292049082298937
    ],
    "ay_ego": [
      0.003956740556033234,
      0.006248384959595121,
      -0.015392248577209666,
      -0.04307119253714187,
      0.06452658307443948,
      0.0715419353507335,
      -0.009050203136592244,
      0.018644153524805945,
      0.049319733153436934,
      0.05136776865365575
    ],
    "a_ego": [
      1.5301915674276036,
      1.5301915696297796,
      1.5367089960505707,
      1.4618195046336302,
      1.3884357485375334,
      1.1382441380957349,
      0.3913373668782443,
      0.3014119712043494,
      0.4757020490633702,
      0.47570204781639597
    ],
    "yaw": [
      0.8655793632841993,
      0.86408173729757,
      0.8626261059876685,
      0.8614813995558763,
      0.8608893475198709,
      0.8609420108540067,
      0.8612266078310605,
      0.8598912973944385,
      0.8608267371925487,
      0.8651563470906659
    ],
    "yaw_diff": [
      -0.0029952519732585614,
      -0.0029112626198029012,
      -0.002289412863584417,
      -0.0011841040720108609,
      0.00010532666827156589,
      0.0005691939541077051,
      -0.0026706208732441006,
      0.0018708795962203428,
      0.008659219796234519,
      0.008659219796234519
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.466353803136638,
    "v_std": 1.3808447902914114,
    "vy_max": 0.04219814598667915,
    "a_max": 1.5367089960505707,
    "ax_avg": 0.7725450099503736,
    "a_std": 0.513471286126179,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "314c032aadbd5011",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "314c032aadbd5011",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "985e562ded345da4": {
    "vx_ego": [
      5.108972412432326,
      5.261380304329089,
      5.41312029893375,
      5.550085610687602,
      5.6832880794768785,
      5.807579113230389,
      5.921588412915553,
      6.060099770665719,
      6.163837567325242,
      6.215639351217808
    ],
    "vy_ego": [
      0.01376238477243552,
      -0.01779762159828202,
      -0.0222796354398751,
      -0.026812595973589204,
      0.011297414712312825,
      0.04390608050327538,
      0.03733246543525626,
      0.028675420409874253,
      0.028155252191460534,
      0.048981158098734934
    ],
    "v_ego": [
      5.108990948732362,
      5.26141040616645,
      5.413166148649415,
      5.5501503764550755,
      5.683299308139874,
      5.807745078800811,
      5.921706092415531,
      6.060167614031677,
      6.1639018709414835,
      6.215832341549764
    ],
    "ax_ego": [
      0.30198479707558423,
      0.3077535705070732,
      0.2989260706538597,
      0.24890871668436942,
      0.2836316983889096,
      0.21298098985284045,
      0.2404585923988647,
      0.3120738291202743,
      0.1016775515995372,
      0.10376321134437849
    ],
    "ay_ego": [
      0.21913002381113256,
      0.21095147427938604,
      -0.002165277513579783,
      -0.022567834726522185,
      0.11414172589458815,
      0.17454083445705318,
      0.12077180028314452,
      0.1381473023895028,
      0.1834364485478086,
      0.18226478270750152
    ],
    "a_ego": [
      0.3731122954289356,
      0.3731122949736427,
      0.2989339126684477,
      0.24992970292804995,
      0.30573726289278624,
      0.27536413152707484,
      0.2690839318912876,
      0.3412839755676889,
      0.20973138810180364,
      0.20973138783670628
    ],
    "yaw": [
      1.022886490023951,
      1.0497113025974374,
      1.0603284390893555,
      1.0600277172586412,
      1.0573164575615999,
      1.0641916742282893,
      1.0779092084097828,
      1.0901772162025374,
      1.1033592622289028,
      1.1147654970204999
    ],
    "yaw_diff": [
      0.05364962514697291,
      0.021234272983836178,
      -0.0006014436614285579,
      -0.00542251939408267,
      0.013750433333378886,
      0.027435068362986925,
      0.02453601558550922,
      0.026364092052730825,
      0.02281246958319416,
      0.02281246958319416
    ],
    "min_front_frame": [
      3,
      24.264481104898387
    ],
    "v_avg": 5.718637018588245,
    "v_std": 0.36262347979901777,
    "vy_max": 0.048981158098734934,
    "a_max": 0.3731122954289356,
    "ax_avg": 0.2412159027625691,
    "a_std": 0.05649126007417854,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "985e562ded345da4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      32.21532531320147,
      29.65636398646063,
      27.012917890463356,
      24.264481104898387,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 10,
    "token": "985e562ded345da4",
    "smoothness": "No"
  },
  "05f1c7e44f74538c": {
    "vx_ego": [
      4.387241566823317,
      4.120124086375327,
      3.8194915365393767,
      3.445178784177819,
      3.0077990121962914,
      2.4592762525892624,
      1.762151817321101,
      1.0397304234556646,
      0.4223505330535453,
      -0.1285630709801784
    ],
    "vy_ego": [
      0.06330841749726046,
      -0.001772582902252795,
      -0.03472538606053188,
      -0.028153779483380603,
      -0.01881161907223594,
      -0.018670418474186712,
      -0.02330939783783248,
      -0.004718487797208848,
      0.009663813012813813,
      0.004024807924225403
    ],
    "v_ego": [
      4.387698317043723,
      4.120124467680591,
      3.819649388377549,
      3.445293817695111,
      3.0078578381933387,
      2.4593471229323214,
      1.7623059766441302,
      1.0397411300830548,
      0.4224610775592948,
      0.12862605606439662
    ],
    "ax_ego": [
      -0.5494570997848032,
      -0.5255421313683023,
      -0.6716868097691416,
      -0.8192514725271121,
      -0.9269652762945195,
      -1.2670624427256738,
      -1.5200250915226101,
      -1.3683903037657204,
      -1.1018486747118186,
      -1.1018778617487073
    ],
    "ay_ego": [
      0.3740319690355045,
      0.40695022816735765,
      0.43470338787963064,
      0.40879630879165774,
      0.3410692196224289,
      0.1937731803653554,
      0.10259878401268646,
      0.09999825239581456,
      -0.011995666659706694,
      -0.008920432802087624
    ],
    "a_ego": [
      0.6646826448497838,
      0.6646826461166279,
      0.8000813745187896,
      0.9155803609293538,
      0.9877210314808669,
      1.2817937740505903,
      1.523483767336955,
      1.3720392392064658,
      1.1019139703183738,
      1.1019139695698934
    ],
    "yaw": [
      2.614730830032216,
      2.675955010788315,
      2.736959547920737,
      2.7929064905365393,
      2.847870054849447,
      2.8959756890812276,
      2.932722103547829,
      2.955918351654005,
      2.966837110033002,
      2.9696280493504057
    ],
    "yaw_diff": [
      0.12244836151219829,
      0.12200907426484342,
      0.1118938852316047,
      0.10992712862581566,
      0.09621126846356098,
      0.07349282893320286,
      0.046392496212352086,
      0.02183751675799428,
      0.005581878634806969,
      0.005581878634806969
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.459310519227351,
    "v_std": 1.4724948160939835,
    "vy_max": 0.06330841749726046,
    "a_max": 1.523483767336955,
    "ax_avg": -0.985210716421841,
    "a_std": 0.27705933199078675,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "05f1c7e44f74538c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "05f1c7e44f74538c",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "85adece1f9d55cc6": {
    "vx_ego": [
      8.284783510788754,
      8.276508245810046,
      8.265240983451045,
      8.223613926961177,
      8.136441343726654,
      8.034273293464711,
      7.957584917474495,
      7.966558270961611,
      8.01887086558811,
      8.053555812385895
    ],
    "vy_ego": [
      -0.001994641836367883,
      -0.08167680613818007,
      -0.08496517437873319,
      -0.02604808109983603,
      -0.024557619629557603,
      -0.041865652091232164,
      -0.02815391977044257,
      0.0009552184661414387,
      0.020384873439987405,
      0.02422424340141527
    ],
    "v_ego": [
      8.284783750903417,
      8.276911250196092,
      8.26567768518565,
      8.223655180164037,
      8.13647840386652,
      8.03438237121593,
      7.9576347215749985,
      7.966558328228644,
      8.018896775869043,
      8.053592244283479
    ],
    "ax_ego": [
      -0.015893141330823632,
      -0.016265398312690443,
      -0.02648067120584814,
      -0.13960940419369944,
      -0.20908010194823154,
      -0.19991574953553132,
      -0.10735850231515576,
      0.1428569266049217,
      0.06806597760180912,
      0.072099655939308
    ],
    "ay_ego": [
      -0.06615706903402457,
      -0.06606653158180044,
      0.21511604189013894,
      0.1036230934449446,
      -0.10555838467971188,
      -0.023944500978287472,
      -0.05453641639733412,
      0.05747152801816266,
      -0.25136472893283285,
      -0.25023757529098145
    ],
    "a_ego": [
      0.06803932483890641,
      0.06803932522827888,
      0.21673979197644408,
      0.17386354199319493,
      0.23421584405601797,
      0.20134459525761425,
      0.12041623118507205,
      0.15398401868942907,
      0.26041736550845934,
      0.2604173659226208
    ],
    "yaw": [
      -2.1125183258544347,
      -2.1068876203082745,
      -2.101985550499443,
      -2.0994708678880003,
      -2.099711966336051,
      -2.101575807403327,
      -2.1057504584554465,
      -2.109328325811754,
      -2.117813955741691,
      -2.1338968125442563
    ],
    "yaw_diff": [
      0.011261411092320373,
      0.009804139617663132,
      0.005029365222885218,
      -0.0004821968961010725,
      -0.0037276821345519906,
      -0.008349302104239342,
      -0.007155734712615214,
      -0.01697125985987391,
      -0.03216571360513054,
      -0.03216571360513054
    ],
    "min_front_frame": [
      5,
      67.04872561680166
    ],
    "v_avg": 8.121857071148781,
    "v_std": 0.12483882432114747,
    "vy_max": 0.08496517437873319,
    "a_max": 0.2604173659226208,
    "ax_avg": -0.04315804086959415,
    "a_std": 0.06843460272270491,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "85adece1f9d55cc6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 20.830858756177626,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      76.57699636307096,
      72.49478697568703,
      68.37236143907683,
      71.01837932754569,
      67.04872561680166,
      78.86075552970624,
      75.0104342107462,
      71.04623842667252,
      67.06682777954786
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "85adece1f9d55cc6",
    "pedestrians": "No"
  },
  "3756dc24f9e65fd7": {
    "vx_ego": [
      6.265813818532244,
      6.5827636751529335,
      7.187834440724436,
      7.84886061444102,
      8.43211534037474,
      8.916476214007956,
      9.234308443640986,
      9.317761657244128,
      9.346295733224109,
      9.404215838308772
    ],
    "vy_ego": [
      -0.08488055501178726,
      -0.05667012704394114,
      -0.18460137361369267,
      -0.26693917596797867,
      -0.22961789975290747,
      -0.14422961990268257,
      -0.049201401021227,
      0.04133342470540696,
      0.030500044409326882,
      0.04825435756146695
    ],
    "v_ego": [
      6.266388714174116,
      6.5830076033840434,
      7.190204559983285,
      7.85339859351287,
      8.43524116390693,
      8.917642640195162,
      9.234439517922118,
      9.317853333960924,
      9.346345498941934,
      9.404339637450427
    ],
    "ax_ego": [
      0.21865166938091019,
      1.1006859579462347,
      1.3216552177820489,
      1.3512625994033356,
      1.0315191501662204,
      0.9417039618492318,
      0.3343048857259123,
      -0.0016346343064793638,
      0.11299171631344981,
      0.11662920304319087
    ],
    "ay_ego": [
      3.4521891952015107,
      3.279315357644741,
      2.3326676372265496,
      0.9995688817095685,
      0.8874385859113253,
      1.0001295402295902,
      0.5255016789079521,
      0.3165513147848961,
      0.28025820430882153,
      0.2787640896319168
    ],
    "a_ego": [
      3.459106646518594,
      3.459106646650935,
      2.681065239872877,
      1.6807880776077562,
      1.3607273793541212,
      1.3737050079993123,
      0.622825634632432,
      0.31655553528782643,
      0.30217840597545065,
      0.3021784053680891
    ],
    "yaw": [
      -0.7861965066502006,
      -0.525619468775937,
      -0.3032969823475892,
      -0.18163224678756035,
      -0.12853880760489095,
      -0.08404637947542018,
      -0.052755122371760776,
      -0.03987935358578171,
      -0.022704318707861423,
      -0.009690758855549653
    ],
    "yaw_diff": [
      0.5211540757485271,
      0.4446449728566957,
      0.24332947112005765,
      0.1061868783653388,
      0.08898485625894154,
      0.0625825142073188,
      0.02575153757195814,
      0.03435006975584057,
      0.02602711970462354,
      0.02602711970462354
    ],
    "min_front_frame": [
      3,
      74.25686838360362
    ],
    "v_avg": 8.25488612634318,
    "v_std": 1.1453280767702578,
    "vy_max": 0.26693917596797867,
    "a_max": 3.459106646650935,
    "ax_avg": 0.6527769727304055,
    "a_std": 1.1894330743082637,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "3756dc24f9e65fd7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      74.25686838360362,
      75.21206265188621,
      75.93514138354587,
      76.49810924916775,
      77.23267256196947,
      77.73200735896371,
      78.38718860863774
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "3756dc24f9e65fd7",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "c1133aca1539575e": {
    "vx_ego": [
      2.0013126802294576,
      2.0870229742876756,
      2.344334855153462,
      2.834342036250785,
      3.4527508864104828,
      4.1513138917199965,
      5.019141233372164,
      5.8517981723007955,
      6.42752802896817,
      6.941103885721304
    ],
    "vy_ego": [
      -0.006454518682982524,
      0.0017843620604415245,
      0.0026709505178279525,
      -0.0029183186943874118,
      -0.0006114122908462694,
      0.00027379996412202345,
      0.019180146250514563,
      0.0024827755495908654,
      0.005256034529284914,
      -0.0125911505569265
    ],
    "v_ego": [
      2.001323088573818,
      2.0870237370841136,
      2.34433637668831,
      2.8343435386421048,
      3.4527509405448527,
      4.151313900749236,
      5.019177880743701,
      5.851798698991393,
      6.427530177997643,
      6.941115305874678
    ],
    "ax_ego": [
      0.17141563944276217,
      0.1714005083171379,
      0.8580038099122994,
      1.1020709535452875,
      1.3717488120443513,
      1.4221705772686595,
      2.049152732503366,
      1.2818503561943588,
      1.022449923335075,
      1.0318629476665142
    ],
    "ay_ego": [
      0.005559156676351457,
      0.006007532281487857,
      -0.04265155652389807,
      -0.05599834223569716,
      -0.0981879970022766,
      0.006291905781218077,
      0.05310169454484537,
      0.19286093382389513,
      0.35164062943630753,
      0.32297652622732276
    ],
    "a_ego": [
      0.1715057598698168,
      0.17150575703306983,
      0.8590632648984198,
      1.10349272810534,
      1.375258407027715,
      1.422184495389762,
      2.049840655048471,
      1.2962776228381903,
      1.0812284578192821,
      1.0812284584031702
    ],
    "yaw": [
      1.2133088411047,
      1.2106930086903547,
      1.2059755126957652,
      1.1985216700284311,
      1.1853849986967078,
      1.1790992097783497,
      1.1781988157402707,
      1.1923339305137994,
      1.213938765357498,
      1.241843221991454
    ],
    "yaw_diff": [
      -0.00523166482869053,
      -0.009434991989178965,
      -0.01490768533466813,
      -0.02627334266344672,
      -0.012571577836716141,
      -0.001800788076157911,
      0.02827022954705738,
      0.043209669687397145,
      0.05580891326791182,
      0.05580891326791182
    ],
    "min_front_frame": [
      9,
      31.279665386657847
    ],
    "v_avg": 4.111071364588985,
    "v_std": 1.7596623974288832,
    "vy_max": 0.019180146250514563,
    "a_max": 2.049840655048471,
    "ax_avg": 1.0482126260229812,
    "a_std": 0.5374175476316694,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c1133aca1539575e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 2.7670815337293138,
    "right_rear_min": 7.463612538445659,
    "speed_mode": "accelerating",
    "front_frame": [
      31.460280474914942,
      33.3072312174826,
      35.06811694096589,
      36.51693614995956,
      37.582391976739636,
      37.520262935494515,
      36.24976338378361,
      33.196851223116646,
      32.950298706514175,
      31.279665386657847
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c1133aca1539575e",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "37ebe75f19b1549a": {
    "vx_ego": [
      9.972826810337398,
      9.245433716795281,
      8.497849236954234,
      7.795630734514882,
      7.174510428877182,
      6.556916374983795,
      5.903446908064462,
      5.234441312871345,
      4.566867028287636,
      3.8914118134296185
    ],
    "vy_ego": [
      0.023369654267362705,
      -0.00743749366062918,
      -0.029960041049192476,
      -0.02466278790254739,
      0.01865351480997335,
      0.016690154320000872,
      -0.01235069260165167,
      -0.034374348292044665,
      -0.010905079395694628,
      0.03728041418429351
    ],
    "v_ego": [
      9.972854191740947,
      9.245436708342497,
      8.4979020503924,
      7.79566974685435,
      7.174534678129461,
      6.556937616737089,
      5.903459827587852,
      5.234554179079131,
      4.566880048218627,
      3.8915903858167478
    ],
    "ax_ego": [
      -1.4557156495872334,
      -1.4534995414072016,
      -1.5379063538595377,
      -1.2715577454931826,
      -1.2130463654141264,
      -1.2570892878543338,
      -1.3566513686211403,
      -1.3199792274479827,
      -1.350769481082176,
      -1.3509361595344562
    ],
    "ay_ego": [
      -0.23273306753811285,
      -0.24619468071941863,
      -0.10380074629042957,
      0.00957858288438107,
      0.050487443987548564,
      -0.10316129523906536,
      -0.1398298280784479,
      -0.04404182547976998,
      0.07982288248601555,
      0.0769506981767849
    ],
    "a_ego": [
      1.4742024057702798,
      1.4742024072987678,
      1.5414053808690262,
      1.2715938224817618,
      1.2140965639704355,
      1.2613150797772608,
      1.3638384496713902,
      1.3207137628137915,
      1.353125967377534,
      1.3531259797548787
    ],
    "yaw": [
      -0.6055246319446165,
      -0.6147790298663924,
      -0.6220943428308097,
      -0.625650508738206,
      -0.6294350340504704,
      -0.6310657630068377,
      -0.636144852719225,
      -0.6404479921207135,
      -0.6434093502527082,
      -0.6455355626312493
    ],
    "yaw_diff": [
      -0.018508795843551917,
      -0.014630625928834462,
      -0.0071123318147927606,
      -0.007569050624528728,
      -0.0032614579127345777,
      -0.010158179424774705,
      -0.008606278802976819,
      -0.005922716263989436,
      -0.004252424757082318,
      -0.004252424757082318
    ],
    "min_front_frame": [
      7,
      53.271462976777975
    ],
    "v_avg": 6.883981943289909,
    "v_std": 1.9170366719309602,
    "vy_max": 0.03728041418429351,
    "a_max": 1.5414053808690262,
    "ax_avg": -1.3567151180301371,
    "a_std": 0.09970498033460377,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "37ebe75f19b1549a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      78.52521441090008,
      75.10457556232679,
      71.96541069177854,
      53.271462976777975,
      54.83046177033111,
      56.75156422567133
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "37ebe75f19b1549a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "17cac31ef9135faf": {
    "vx_ego": [
      -0.03948774694322162,
      0.0537456064652012,
      0.317605474343867,
      0.8187077229019961,
      1.359443215204406,
      1.836669314426169,
      2.258362858222653,
      2.6145467397124142,
      2.8954472544746204,
      3.147530033322889
    ],
    "vy_ego": [
      -0.00016568095099492308,
      6.669153051717946e-05,
      -0.0012398113348759954,
      0.0008316662503036198,
      0.0029427206324534882,
      -0.01092616728061424,
      -0.02894240505790413,
      -0.029607078125827302,
      -0.021824735886598168,
      -0.014846726491879236
    ],
    "v_ego": [
      0.03948809452011367,
      0.05374564784308139,
      0.3176078942113039,
      0.81870814531683,
      1.3594464001828148,
      1.8367018134923636,
      2.258548308584549,
      2.614714369336728,
      2.895529506418668,
      3.1475650487253017
    ],
    "ax_ego": [
      0.186466715610493,
      0.1864666869021645,
      0.8689733461480221,
      1.135420225973193,
      1.0275580859493654,
      0.8813706057038813,
      0.8051716465995888,
      0.6193832785320353,
      0.5040917777614197,
      0.5040884823894793
    ],
    "ay_ego": [
      0.0004579461353444031,
      0.00046974129200687276,
      -0.005955349000519861,
      0.01061610253119627,
      -0.010921650650690506,
      -0.061448732716511634,
      -0.030677770333493837,
      0.015336638736791142,
      0.0010984327111956682,
      0.0021280368247420522
    ],
    "a_ego": [
      0.18646727794770682,
      0.1864672785803216,
      0.8689937528529237,
      1.1354698548098798,
      1.0276161260183,
      0.8835100969153051,
      0.8057558600969204,
      0.6195731257993973,
      0.5040929745206628,
      0.5040929741808111
    ],
    "yaw": [
      2.595188929831903,
      2.5951256748153027,
      2.5944790224987315,
      2.5927845510697742,
      2.5908005824163616,
      2.5881874361986292,
      2.5857492806544204,
      2.584460246397121,
      2.583133763105949,
      2.5810912636957934
    ],
    "yaw_diff": [
      -0.000126510033200411,
      -0.001293304633142256,
      -0.0033889428579145786,
      -0.00396793730682532,
      -0.005226292435464686,
      -0.004876311088417573,
      -0.0025780685145990745,
      -0.0026529665823433746,
      -0.004084998820311547,
      -0.004084998820311547
    ],
    "min_front_frame": [
      0,
      13.465886759361208
    ],
    "v_avg": 1.5342055228631755,
    "v_std": 1.1264251623026786,
    "vy_max": 0.029607078125827302,
    "a_max": 1.1354698548098798,
    "ax_avg": 0.6718990851569643,
    "a_std": 0.31198053990671154,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "17cac31ef9135faf",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 22.750337146484142,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.465886759361208,
      14.69206761154405,
      15.874862673824651,
      16.704289073148452,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "17cac31ef9135faf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "54511f27d12e5a58": {
    "vx_ego": [
      2.7299247349359885,
      3.283371578514524,
      3.8352869287186953,
      4.352883272009973,
      4.859455218711533,
      5.3769041664001005,
      5.935777820922525,
      6.494454627209818,
      6.974522040078893,
      7.4642704587687465
    ],
    "vy_ego": [
      -0.06583625010561645,
      0.018638518866108456,
      -0.017807804183846976,
      -0.02860136120970508,
      -0.030277358445257363,
      -0.03979180437915408,
      -0.1387109237087092,
      -0.14512165571535496,
      -0.1249315230534438,
      -0.12415391377140006
    ],
    "v_ego": [
      2.7307184897464802,
      3.2834244801704333,
      3.83532827062956,
      4.3529772360543415,
      4.859549540965415,
      5.377051404101183,
      5.937398341000197,
      6.4960758308262205,
      6.97564087184817,
      7.465302919235933
    ],
    "ax_ego": [
      1.0854084022494925,
      1.132345099913003,
      1.116146103546371,
      1.0298696025965879,
      1.0740050161239392,
      1.0749354192963558,
      1.2056593396549489,
      1.0588508376582815,
      0.9229888244225227,
      1.0829157962006424
    ],
    "ay_ego": [
      0.6637483010320215,
      0.5800584281118295,
      1.1904314337707875,
      1.8185276481396293,
      2.2788140356126223,
      2.650855451592226,
      2.31629344305965,
      1.5616876449147146,
      1.5710853316373168,
      1.4654387780061913
    ],
    "a_ego": [
      1.2722708857773535,
      1.2722708851972346,
      1.6318422481880162,
      2.0898981327808075,
      2.519222138590495,
      2.8605105804548345,
      2.6112889073517573,
      1.8868050764954263,
      1.8221463962302282,
      1.8221463809873097
    ],
    "yaw": [
      2.8422088891963013,
      2.9176457489567422,
      3.0519621676923396,
      -3.0458707164677694,
      -2.8237738556621528,
      -2.5822975373748616,
      -2.345693667151959,
      -2.1894531824158463,
      -2.076560367107067,
      -1.9713220391462896
    ],
    "yaw_diff": [
      0.1508737195208818,
      0.2686328374711948,
      0.37070484603895437,
      0.44419372161123327,
      0.48295263657458243,
      0.4732077404458055,
      0.31248096947222503,
      0.2257856306175583,
      0.21047665592155518,
      0.21047665592155518
    ],
    "min_front_frame": [
      9,
      66.62157587544111
    ],
    "v_avg": 5.131346738457793,
    "v_std": 1.5152088007090128,
    "vy_max": 0.14512165571535496,
    "a_max": 2.8605105804548345,
    "ax_avg": 1.0783124441662146,
    "a_std": 0.5155719995489846,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "54511f27d12e5a58",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      70.23614111367095,
      66.62157587544111
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "54511f27d12e5a58",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6c9e40634f705f56": {
    "vx_ego": [
      3.2365763712368754,
      3.45884084088879,
      3.5986389690756564,
      3.614253537236045,
      3.6296946307265388,
      3.719089545968703,
      3.9490430812871433,
      4.307945203251126,
      4.743856317404013,
      5.225585761046694
    ],
    "vy_ego": [
      0.20776486968536467,
      0.05637452534891407,
      0.0630651395624835,
      0.043371853117942116,
      0.02232217497251976,
      0.02550440698813125,
      0.04848993018868342,
      0.018864788726602466,
      0.05348164196341876,
      -0.004418350953471428
    ],
    "v_ego": [
      3.2432380190057337,
      3.4593002254370155,
      3.5991915261038745,
      3.6145137638506992,
      3.6297632693910726,
      3.719176995749128,
      3.949340771722739,
      4.3079865081576205,
      4.74415778049182,
      5.225587628954193
    ],
    "ax_ego": [
      0.39479132831904357,
      0.5624259228310082,
      0.06483360117131853,
      0.0526194199483182,
      0.0435675184230907,
      0.3339331760456864,
      0.627038395965815,
      0.8085247464623208,
      0.9259364908596373,
      1.0058158091752873
    ],
    "ay_ego": [
      -1.2512189680421595,
      -1.1853633014920333,
      -1.4438340401152825,
      -1.5606416773607215,
      -1.6200765253526628,
      -1.6076923461541544,
      -1.6815122561722091,
      -1.411592506471735,
      -0.9918226671751227,
      -0.9107168259094632
    ],
    "a_ego": [
      1.312024808799133,
      1.312024799764244,
      1.4452889438574077,
      1.5615284974892338,
      1.6206622339834735,
      1.6420067131247085,
      1.7946199089703465,
      1.6267469594159736,
      1.3568605632959612,
      1.3568605598887256
    ],
    "yaw": [
      -0.5579640442200022,
      -0.69534570649498,
      -0.8797286071876464,
      -1.0817633769849078,
      -1.2946207649977441,
      -1.5163855305264096,
      -1.7380677163502594,
      -1.9186967109994777,
      -2.0593288170901403,
      -2.143250791557709
    ],
    "yaw_diff": [
      -0.27476332454995545,
      -0.368765801385333,
      -0.40406953959452263,
      -0.42571477602567276,
      -0.44352953105733084,
      -0.4433643716476996,
      -0.36125798929843667,
      -0.28126421218132514,
      -0.1678439489351371,
      -0.1678439489351371
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9492256488863893,
    "v_std": 0.5931025499292308,
    "vy_max": 0.20776486968536467,
    "a_max": 1.7946199089703465,
    "ax_avg": 0.48194864092015255,
    "a_std": 0.1599797587904464,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "6c9e40634f705f56",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 30.781786947667342,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6c9e40634f705f56",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b614d476ea185810": {
    "vx_ego": [
      0.9730458523383912,
      0.4223505330535453,
      0.02906392733004639,
      -0.06622508066894213,
      -0.03304429509752881,
      -0.0181097239194569,
      -0.011081874169570507,
      -0.00737984570471667,
      -0.00537314579935987,
      -0.0033196621784811245
    ],
    "vy_ego": [
      0.02628745771848609,
      0.009663813012813813,
      0.0020477788249795145,
      -0.0017998816956688035,
      -0.000690851805146938,
      -8.962165052143426e-05,
      -0.00010022048347274517,
      2.275752384249736e-05,
      3.704885568449779e-05,
      -2.2862084342344644e-05
    ],
    "v_ego": [
      0.9734008738368009,
      0.4224610775592948,
      0.029135978960080473,
      0.06624953496988711,
      0.033051516072780104,
      0.018109945678526803,
      0.011082327339304752,
      0.007379880793774146,
      0.005373273527272378,
      0.003319740901657616
    ],
    "ax_ego": [
      -1.1016520185910903,
      -1.1018486747118186,
      -0.47136986407481246,
      0.09020899666936634,
      0.04251516449265508,
      0.01722312156117759,
      0.010888282015267575,
      0.003919832348893174,
      0.004106970193688848,
      0.004106964759044687
    ],
    "ay_ego": [
      -0.02402553365600768,
      -0.011995666659706694,
      -0.016828526342012484,
      0.0016344905029442355,
      0.002769584982493924,
      -0.00035688002337540096,
      0.0003141506607478113,
      0.00017747816267564987,
      -0.00012006634785325049,
      -0.00012021007620946424
    ],
    "a_ego": [
      1.1019139695698934,
      1.1019139703183738,
      0.47167016871618134,
      0.09022380306381439,
      0.04260527916599978,
      0.017226818616975823,
      0.01089281303803786,
      0.003923848129280248,
      0.004108724875157186,
      0.0041087236454229025
    ],
    "yaw": [
      2.955918351654005,
      2.966837110033002,
      2.9696280493504057,
      2.9690744534535845,
      2.9692579766253293,
      2.9691712945736155,
      2.9691776310612834,
      2.9691866290037163,
      2.969177622427988,
      2.969213067325242
    ],
    "yaw_diff": [
      0.02183751675799428,
      0.005581878634806969,
      -0.0011071917936424924,
      0.00036704634348971865,
      -0.000173364103427609,
      1.2672975335803471e-05,
      1.799588486584014e-05,
      -1.8013151456663934e-05,
      7.08897945083109e-05,
      7.08897945083109e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.15695641496393792,
    "v_std": 0.29774232376741555,
    "vy_max": 0.02628745771848609,
    "a_max": 1.1019139703183738,
    "ax_avg": -0.2501901225337628,
    "a_std": 0.4301018758439283,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "b614d476ea185810",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "b614d476ea185810",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "a1d5046565c75d87": {
    "vx_ego": [
      4.056116246769957,
      3.6107819247471777,
      3.185788043384484,
      2.7970559166662934,
      2.456987205845632,
      2.1655305528806106,
      1.8944363742420935,
      1.6362757020387182,
      1.3863967489777738,
      1.1365129315899478
    ],
    "vy_ego": [
      -0.06790964160404522,
      -0.018082635946757186,
      -0.0002637347384324418,
      0.003610907330912849,
      0.008270867351835798,
      -0.009363960222400491,
      -0.02591767607113038,
      -0.018696525747761372,
      -0.00807840192811038,
      -0.0008249762405398986
    ],
    "v_ego": [
      4.056684696489732,
      3.6108272029832325,
      3.185788054301094,
      2.797058247446712,
      2.4570011267673193,
      2.1655507981135997,
      1.894613655071782,
      1.6363825143154447,
      1.3864202848176495,
      1.1365132310083217
    ],
    "ax_ego": [
      -0.890736755248306,
      -0.8908781483860404,
      -0.8090779282793512,
      -0.7458817863971692,
      -0.6143387766371166,
      -0.551456014641217,
      -0.532948663160889,
      -0.49973949010731095,
      -0.49976726003541644,
      -0.4997629725988075
    ],
    "ay_ego": [
      0.08794791882498915,
      0.08650392113379013,
      -0.028036428647991607,
      0.024513697932310674,
      -0.018407084227711756,
      -0.06577082903175971,
      -0.002665123055832025,
      0.028493708851307975,
      0.015147313579471133,
      0.015288129788363719
    ],
    "a_ego": [
      0.89506804410387,
      0.8950680441414837,
      0.8095635462149596,
      0.7462845038357349,
      0.614614475284918,
      0.5553643290989251,
      0.532955326876354,
      0.5005511456552849,
      0.4999967553014543,
      0.49999675568269664
    ],
    "yaw": [
      2.747373359025107,
      2.745752360341311,
      2.7448072684210887,
      2.7432134061088327,
      2.7420131716512186,
      2.7405329022418297,
      2.7402590547331824,
      2.7398252584929366,
      2.740018551580995,
      2.7403003177551977
    ],
    "yaw_diff": [
      -0.00324199736759212,
      -0.0018901838404445925,
      -0.0031877246245120006,
      -0.00240046891522816,
      -0.0029605388187778914,
      -0.0005476950172944584,
      -0.0008675924804917301,
      0.0003865861761171985,
      0.0005635323484050048,
      0.0005635323484050048
    ],
    "min_front_frame": [
      9,
      9.71157947049379
    ],
    "v_avg": 2.432683981131489,
    "v_std": 0.9217172898582504,
    "vy_max": 0.06790964160404522,
    "a_max": 0.8950680441414837,
    "ax_avg": -0.6534587795491624,
    "a_std": 0.15679530388907298,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a1d5046565c75d87",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.32737871359783,
      18.450862048422923,
      16.760664782895603,
      15.254433716324975,
      13.975067932376193,
      12.826170785749186,
      11.798139000665117,
      10.91391334718863,
      10.197804267456549,
      9.71157947049379
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a1d5046565c75d87",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "831a14b3c0bb5c50": {
    "vx_ego": [
      2.0530485205284745,
      1.9981753452012445,
      1.8779914401359212,
      1.6111886613903448,
      1.31296502621436,
      1.1398844675243078,
      0.929892607262558,
      0.5872928240436436,
      0.2677438620879627,
      -0.008266959183797874
    ],
    "vy_ego": [
      0.0020212482032905543,
      0.005823731508867447,
      -0.00018819190103480654,
      -0.003792253172518134,
      0.007283996420221137,
      0.0166557314660183,
      0.008859616941109122,
      0.007272925750436726,
      0.007608608927750008,
      -0.008585501631046832
    ],
    "v_ego": [
      2.053049515498459,
      1.9981838318880474,
      1.8779914495651953,
      1.6111931242954507,
      1.312985230939756,
      1.1400061459017854,
      0.9299348116152556,
      0.5873378556011263,
      0.2678519490606582,
      0.011918617889809533
    ],
    "ax_ego": [
      -0.10973903771080827,
      -0.10974240659030793,
      -0.3709657642005322,
      -0.6962885873866589,
      -0.4966069315556943,
      -0.19569619813169892,
      -0.6442498902040412,
      -0.726151506251903,
      -0.5520233469054674,
      -0.5520201281988265
    ],
    "ay_ego": [
      0.004743835668114374,
      0.004665270992190587,
      -0.03560404136869952,
      0.011370994331177102,
      0.027339789608177765,
      0.008560393739672646,
      -0.040974473648145555,
      0.03318442483906268,
      -0.032386578407716554,
      -0.032441378659512674
    ],
    "a_ego": [
      0.10984152390849407,
      0.10984152474207118,
      0.37267042540382633,
      0.6963814302786862,
      0.4973589333318358,
      0.19588333850580397,
      0.6455515692171011,
      0.7269093589188454,
      0.5529725725473852,
      0.5529725716398407
    ],
    "yaw": [
      0.09572644439245867,
      0.09501051054278328,
      0.09413633761664894,
      0.09276163469569995,
      0.09178847104235272,
      0.09145478854294006,
      0.09117301626554203,
      0.09070370967420055,
      0.0903679920419978,
      0.09026872185958976
    ],
    "yaw_diff": [
      -0.001431867699350775,
      -0.0017483458522686846,
      -0.0027494058418979783,
      -0.001946327306694473,
      -0.0006673649988253039,
      -0.0005635445547960694,
      -0.0009386131826829569,
      -0.0006714352644054955,
      -0.00019854036481609105,
      -0.00019854036481609105
    ],
    "min_front_frame": [
      8,
      9.692672640194967
    ],
    "v_avg": 1.1790452532255544,
    "v_std": 0.6880584623337508,
    "vy_max": 0.0166557314660183,
    "a_max": 0.7269093589188454,
    "ax_avg": -0.4453483797135938,
    "a_std": 0.22380490554110996,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "831a14b3c0bb5c50",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.683203696087583,
    "speed_mode": "decelerating",
    "front_frame": [
      14.497743701060037,
      13.527241572109446,
      12.548310713581463,
      11.689985466479456,
      11.054477258938357,
      10.509518171817202,
      10.005577099032049,
      9.752091433445164,
      9.692672640194967,
      9.797115880343629
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "831a14b3c0bb5c50",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c75331b9d30957a1": {
    "vx_ego": [
      6.564910264245206,
      6.0645213011846275,
      5.47090764268952,
      4.765167916275733,
      3.9687191375216293,
      3.067415341113986,
      2.2348395563182755,
      1.5711403530729804,
      1.0308375275001544,
      0.546661236343519
    ],
    "vy_ego": [
      0.015821836046874704,
      0.0018181824019003479,
      -4.3404071640384956e-05,
      0.00021946941859041225,
      0.005324388137580849,
      0.003809818531218756,
      -0.010552722631904321,
      -0.004132484316746954,
      0.0003760768135908643,
      -0.010719368750798403
    ],
    "v_ego": [
      6.5649293300147535,
      6.064521573735997,
      5.470907642861695,
      4.765167921329787,
      3.9687227090890924,
      3.0674177070654514,
      2.2348644707095358,
      1.5711457877870272,
      1.03083759610154,
      0.5467663232012743
    ],
    "ax_ego": [
      -1.000783693617656,
      -1.0007246882253575,
      -1.3737610732193564,
      -1.4491399643807878,
      -1.7366917378000712,
      -1.8684792124724112,
      -1.4617786435169182,
      -1.192917091166266,
      -0.9683453575778722,
      -0.9683527226377029
    ],
    "ay_ego": [
      -0.04402169428891861,
      -0.045343022561968926,
      -0.0010490181952170774,
      -0.04785210779476734,
      -0.008988980329927565,
      -0.022201175964299713,
      -0.010745342792057966,
      0.04916422447954705,
      -0.021819106428471235,
      -0.021489817826612745
    ],
    "a_ego": [
      1.0017514217504586,
      1.0017514119375097,
      1.3737614737398818,
      1.4499298122964273,
      1.7367150007731271,
      1.8686111044451492,
      1.4618181367851064,
      1.1939297748884818,
      0.9685911443679186,
      0.9685911457937622
    ],
    "yaw": [
      -2.039836938857416,
      -2.041157273032435,
      -2.0428318252545674,
      -2.0452673683378033,
      -2.0496542987711788,
      -2.0514318902339816,
      -2.0490760348049535,
      -2.047372541788024,
      -2.045543894997709,
      -2.0452038442546083
    ],
    "yaw_diff": [
      -0.0026406683500379557,
      -0.0033491044442648388,
      -0.004871086166471805,
      -0.008773860866750915,
      -0.0035551829256057488,
      0.004711710858056328,
      0.0034069860338590274,
      0.003657293580629606,
      0.0006801014862016785,
      0.0006801014862016785
    ],
    "min_front_frame": [
      9,
      10.411317390614725
    ],
    "v_avg": 3.528528106189616,
    "v_std": 2.0492383463568076,
    "vy_max": 0.015821836046874704,
    "a_max": 1.8686111044451492,
    "ax_avg": -1.30209741846144,
    "a_std": 0.31255361239224533,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c75331b9d30957a1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.6008271501846845,
    "right_rear_min": 17.88670714412417,
    "speed_mode": "decelerating",
    "front_frame": [
      20.474339234721,
      17.41057366096857,
      19.958092899728832,
      17.51063230653692,
      15.433319112041326,
      13.727751895555322,
      12.421215364744837,
      11.43987728956937,
      10.801836524066905,
      10.411317390614725
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c75331b9d30957a1",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "e6be0f4d0dc351d0": {
    "vx_ego": [
      2.629348975672541,
      3.3679504907681443,
      4.070307651496581,
      4.634163288001661,
      5.046758440722244,
      5.390706049776221,
      5.716517989730595,
      6.026922998512374,
      6.300632980355342,
      6.614383225952521
    ],
    "vy_ego": [
      -0.04897024928903332,
      -0.0011225991379575362,
      0.02455646405114653,
      0.014702337915186603,
      0.027555047099638297,
      0.035170920825380814,
      0.0038904659794986585,
      0.0385917585683167,
      0.014248437597518038,
      -0.007239604466063421
    ],
    "v_ego": [
      2.6298049587727355,
      3.3679506778594916,
      4.070381726295251,
      4.634186610248074,
      5.046833664746826,
      5.390820782475119,
      5.716519313589263,
      6.027046553149128,
      6.300649091253647,
      6.6143871879135485
    ],
    "ax_ego": [
      1.4765582593260236,
      1.4763598671619003,
      1.3335548140220201,
      0.9217556491411184,
      0.729112948221987,
      0.6454645806704817,
      0.6598272804085358,
      0.5937802320607428,
      0.5166338834346038,
      0.7311924455257586
    ],
    "ay_ego": [
      0.004716051030930618,
      0.024658975610809347,
      -0.023993980119343866,
      0.09833396777559791,
      0.319230192733149,
      0.5063174051171764,
      0.7292836580649567,
      1.2120456899153214,
      1.6806477725119822,
      1.59901379293797
    ],
    "a_ego": [
      1.4765657907188636,
      1.4765657866971178,
      1.3337706523549213,
      0.9269860009417925,
      0.7959356803268725,
      0.8203547035427491,
      0.983476839530006,
      1.349677635003417,
      1.7582626381636524,
      1.7582626374918544
    ],
    "yaw": [
      1.4353058725716568,
      1.4217988122608083,
      1.4149717173467105,
      1.4214296861715834,
      1.4402465953445596,
      1.4782538511716385,
      1.5395084578134886,
      1.616109220680996,
      1.737047890049435,
      1.867703598506879
    ],
    "yaw_diff": [
      -0.027014120621696947,
      -0.013654189828195662,
      0.012915937649745857,
      0.03763381834595236,
      0.07601451165415796,
      0.12250921328370001,
      0.15320152573501478,
      0.24187733873687822,
      0.261311416914888,
      0.261311416914888
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.979858056630309,
    "v_std": 1.2367883809199733,
    "vy_max": 0.04897024928903332,
    "a_max": 1.7582626381636524,
    "ax_avg": 0.9084239959973173,
    "a_std": 0.3462926951365815,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "e6be0f4d0dc351d0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.093645907743173,
    "right_rear_min": 10.23192361617354,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e6be0f4d0dc351d0",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "fa02f1587177551c": {
    "vx_ego": [
      6.707343116610771,
      6.827555524722907,
      7.039461912489867,
      7.370721761237304,
      7.831601525364178,
      8.32200380590335,
      8.605140889886213,
      8.719388166429184,
      8.858524652309862,
      9.014794694657255
    ],
    "vy_ego": [
      0.04614853077154599,
      0.04147170117598842,
      0.09725671664834934,
      0.13983764504537266,
      0.04371725230923662,
      0.02979166104034947,
      0.017241438211674787,
      0.024435725623579874,
      0.023834866483669614,
      -0.008214767989040528
    ],
    "v_ego": [
      6.7075018725929745,
      6.827681476546245,
      7.040133726452127,
      7.3720481447525135,
      7.831723542760941,
      8.322057130814315,
      8.605158162519926,
      8.719422406418445,
      8.85855671745922,
      9.014798437526693
    ],
    "ax_ego": [
      0.15128935453864498,
      0.34889047349541835,
      0.52632852268569,
      0.8029786537109727,
      1.042483112085316,
      0.9194577888320692,
      0.21306124813204033,
      0.24392354148868636,
      0.31251801765532855,
      0.31247596265523725
    ],
    "ay_ego": [
      -1.6521828673673482,
      -1.6219963523808238,
      -1.5204008223553376,
      -0.6754871857607647,
      -0.18728720310494712,
      -0.027913786070408786,
      -0.010548079059095591,
      0.0419443368729999,
      -0.015024017524708763,
      -0.01587460208110164
    ],
    "a_ego": [
      1.6590951437512294,
      1.6590951538813423,
      1.6089252233746876,
      1.0493129449513543,
      1.0591730431945288,
      0.919881408061247,
      0.21332219159623264,
      0.24750357873796208,
      0.31287894218339307,
      0.31287893861452315
    ],
    "yaw": [
      0.003779876749960892,
      -0.11677658882141606,
      -0.238366439739935,
      -0.3208177181317028,
      -0.33661050437690976,
      -0.34153804772144636,
      -0.34119487601683796,
      -0.3411192522899499,
      -0.34028432934315267,
      -0.3375624006193275
    ],
    "yaw_diff": [
      -0.2411129311427539,
      -0.24317970183703785,
      -0.1649025567835356,
      -0.03158557249041394,
      -0.0098550866890732,
      0.0006863434092168053,
      0.0001512474537761488,
      0.0016698458935944238,
      0.005443857447650302,
      0.005443857447650302
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.92990816178434,
    "v_std": 0.8422694661172303,
    "vy_max": 0.13983764504537266,
    "a_max": 1.6590951538813423,
    "ax_avg": 0.4873406675279404,
    "a_std": 0.5735481545430046,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "fa02f1587177551c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "fa02f1587177551c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "7cdcf11e211759cf": {
    "vx_ego": [
      0.043113100339175196,
      0.30728834895017226,
      0.6347813857537775,
      1.1736559233696724,
      2.005724769588386,
      3.0207537423739694,
      4.027024515119291,
      4.795335529977697,
      5.303562316189908,
      5.746012626546966
    ],
    "vy_ego": [
      -0.005701454328227764,
      0.0010864575486175115,
      0.02195925082442257,
      0.03544512320315979,
      0.018710471808580875,
      -0.00398223986794366,
      -0.009392612902662467,
      0.0020776347342095214,
      0.004737260591479497,
      0.06218966982683982
    ],
    "v_ego": [
      0.043488458265528974,
      0.30729026959949085,
      0.6351610948383536,
      1.174191033528874,
      2.005812038326544,
      3.020756367253193,
      4.027035468747314,
      4.795335980057348,
      5.3035644319030935,
      5.746349159202766
    ],
    "ax_ego": [
      0.5283512419088371,
      0.5283463907133074,
      0.781646932881635,
      1.374159622807467,
      1.9545574642532229,
      2.1058690255415535,
      1.9191387510212663,
      1.155026676787955,
      0.8801064561283698,
      0.8945026111824143
    ],
    "ay_ego": [
      0.013354053088625445,
      0.013544696101598114,
      0.06797517083923646,
      -0.02047119417004989,
      -0.06685107783445188,
      -0.09505947397417236,
      -0.13847146186946113,
      -0.24508470097594326,
      -0.36392682692739575,
      -0.32694830736822716
    ],
    "a_ego": [
      0.5285199765008929,
      0.5285199782148859,
      0.7845970631693,
      1.3743120965578044,
      1.9557003726735893,
      2.1080134383650355,
      1.9241278261653334,
      1.1807426200253357,
      0.952381283665466,
      0.9523812876695479
    ],
    "yaw": [
      -0.3647010256812181,
      -0.36506187181345084,
      -0.3661835222776572,
      -0.3681227686972406,
      -0.3714816587132971,
      -0.37861178225933245,
      -0.39354494592820055,
      -0.41736600116072087,
      -0.44783535388329465,
      -0.48950444578604363
    ],
    "yaw_diff": [
      -0.0007216922644655011,
      -0.002243300928412739,
      -0.0038784928391667473,
      -0.0067177800321129855,
      -0.014260247092070744,
      -0.029866327337736198,
      -0.04764211046504063,
      -0.06093870544514757,
      -0.08333818380549796,
      -0.08333818380549796
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.7058984301722506,
    "v_std": 2.053495720612,
    "vy_max": 0.06218966982683982,
    "a_max": 2.1080134383650355,
    "ax_avg": 1.212170517322603,
    "a_std": 0.5602927272846823,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "7cdcf11e211759cf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "7cdcf11e211759cf",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f24b703a3f14583f": {
    "vx_ego": [
      7.882109187337582,
      7.540337873597336,
      7.12184229852927,
      6.642217058317785,
      6.163696154928391,
      5.635581678948821,
      5.069817816440195,
      4.466087307866338,
      3.8697262690280922,
      3.3162633649578854
    ],
    "vy_ego": [
      0.02467134295947293,
      0.006238908839579782,
      -0.0051352709175822575,
      0.007729165788547654,
      0.006205566721901867,
      0.007218305213662735,
      0.00017145771905324736,
      -0.006727311423951443,
      -0.0011316124531164373,
      -0.0050260758956715
    ],
    "v_ego": [
      7.8821477984287345,
      7.540340454647251,
      7.121844149946562,
      6.642221555309003,
      6.163699278788459,
      5.635586301711098,
      5.069817819339486,
      4.466092374571286,
      3.8697264344851074,
      3.316267173675955
    ],
    "ax_ego": [
      -0.6835535188316799,
      -0.6835706544147222,
      -0.9902473826420348,
      -0.9283131142086553,
      -0.9857845078197344,
      -1.126672307627009,
      -1.1363936903973149,
      -1.2785144807258408,
      -1.1069292702881897,
      -1.1069261394521106
    ],
    "ay_ego": [
      -0.02733462286328109,
      -0.02690264664259312,
      0.07788229282546633,
      0.02729474107070695,
      -0.02684590513345958,
      0.0214589503295054,
      -0.04493077373702409,
      0.02296920233319566,
      -0.009864522560474986,
      -0.010210933351041729
    ],
    "a_ego": [
      0.6840998426503616,
      0.6840998406470709,
      0.9933053560537929,
      0.928714294550207,
      0.9861499878212394,
      1.1268766460100297,
      1.1372815807896637,
      1.2787207911352225,
      1.1069732238071932,
      1.106973234257384
    ],
    "yaw": [
      -2.0397774938885647,
      -2.0391455429845995,
      -2.035872686525118,
      -2.0339190562892906,
      -2.033663865748243,
      -2.0340626114521294,
      -2.033842419174231,
      -2.033548131991756,
      -2.0341075322390703,
      -2.0344204751569688
    ],
    "yaw_diff": [
      0.0012639018079303455,
      0.006545712918962998,
      0.003907260471654794,
      0.0005103810820950017,
      -0.0007974914077726325,
      0.0004403845557972019,
      0.0005885743649498565,
      -0.0011188004946287577,
      -0.0006258858357970354,
      -0.0006258858357970354
    ],
    "min_front_frame": [
      9,
      17.32439057452252
    ],
    "v_avg": 5.770774334090294,
    "v_std": 1.4892569104111062,
    "vy_max": 0.02467134295947293,
    "a_max": 1.2787207911352225,
    "ax_avg": -1.0026905066407292,
    "a_std": 0.18447483896906927,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f24b703a3f14583f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      39.270137617356276,
      36.82189205505902,
      34.26659290483687,
      31.628325665572795,
      28.876737776550797,
      26.162280017606353,
      23.51866157155599,
      21.14335258930536,
      19.102897606911228,
      17.32439057452252
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f24b703a3f14583f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b022550645ac5dbf": {
    "vx_ego": [
      6.545989477645766,
      6.588319391481065,
      6.811461727950192,
      7.147286248334799,
      7.237418840194506,
      7.282056944122306,
      7.474024320319813,
      7.583467552629633,
      7.729664477501853,
      7.926548222899268
    ],
    "vy_ego": [
      -0.025353489676630314,
      -0.06628579432875492,
      -0.14986516242392334,
      -0.2367304380673545,
      -0.10412913106132438,
      0.014600344882768734,
      0.020094436434384466,
      0.01538132696867578,
      -0.008629483410614647,
      -0.03434753352906217
    ],
    "v_ego": [
      6.54603857618391,
      6.588652837317748,
      6.81311018832358,
      7.151205633733608,
      7.238167885890598,
      7.282071580773605,
      7.474051332918958,
      7.5834831513629535,
      7.729669294525991,
      7.926622640381406
    ],
    "ax_ego": [
      -0.0743900882477847,
      0.27281640982002164,
      0.6699813995549517,
      0.718870479144124,
      -0.3418200778526466,
      0.5203074019864656,
      0.2463888125036732,
      0.19117694654544581,
      0.3936391328098792,
      0.3937595172749246
    ],
    "ay_ego": [
      2.0961323770095714,
      2.079633645068091,
      1.8427980730513025,
      1.0747499115650276,
      0.5756555608061892,
      0.20537232802256575,
      0.08185383619963299,
      -0.05607341474318678,
      -0.07649156169805954,
      -0.07586933615662045
    ],
    "a_ego": [
      2.097451984474808,
      2.097451999728785,
      1.9608110091977773,
      1.293005080498115,
      0.6694925618035481,
      0.5593724927803599,
      0.25962953881938505,
      0.19923065208797988,
      0.40100215197717054,
      0.40100213666940465
    ],
    "yaw": [
      -2.638176291935269,
      -2.4722619941938015,
      -2.312579893799578,
      -2.1956587063993975,
      -2.1574377767587194,
      -2.146737683740372,
      -2.137791448207218,
      -2.1363107244288924,
      -2.137507176353792,
      -2.1390876603811892
    ],
    "yaw_diff": [
      0.33182859548293475,
      0.3193642007884474,
      0.23384237480036063,
      0.07644185928135627,
      0.021400186036694357,
      0.017892471066308424,
      0.0029614475566512866,
      -0.002392903849798955,
      -0.0031609680547948216,
      -0.0031609680547948216
    ],
    "min_front_frame": [
      3,
      19.57234217494935
    ],
    "v_avg": 7.233307312141237,
    "v_std": 0.4451143402220701,
    "vy_max": 0.2367304380673545,
    "a_max": 2.097451999728785,
    "ax_avg": 0.29907299335390547,
    "a_std": 0.7501864618100822,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "b022550645ac5dbf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      40.40156449109503,
      19.57234217494935,
      33.32028012794313,
      29.783473705454504,
      26.13353746842945,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b022550645ac5dbf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2943657d55dc5d65": {
    "vx_ego": [
      5.272784802302599,
      5.4561301292429825,
      5.61460715569431,
      5.731981886959773,
      5.845815795549522,
      5.924644805630367,
      6.002312823156945,
      6.078254153161121,
      6.145577255961017,
      6.218773529668691
    ],
    "vy_ego": [
      -0.08343029880387154,
      -0.11364949114031131,
      -0.11436654117185982,
      -0.08654071131988476,
      -0.09864106774942774,
      -0.10154600588748744,
      -0.07054979613592756,
      -0.026682447519973326,
      -0.015259275528947402,
      -0.010599461987665704
    ],
    "v_ego": [
      5.27344481208932,
      5.457313642633113,
      5.615771827497389,
      5.732635139894277,
      5.846647960647454,
      5.925514970379755,
      6.002727421828274,
      6.078312718462755,
      6.145596200083033,
      6.2187825626807705
    ],
    "ax_ego": [
      0.31239153898889044,
      0.4664994091583947,
      0.1826846596986494,
      0.29517109590783835,
      0.16523528013189165,
      0.15124032912178412,
      0.15578027036637046,
      0.14447857216146248,
      0.12285636328216393,
      0.1665732508841561
    ],
    "ay_ego": [
      1.277611962932061,
      1.229739445830621,
      0.6746312203770785,
      0.30614587122832637,
      0.09235692922228655,
      -0.02416296762630575,
      -0.387133911166294,
      -0.6344855438111853,
      -0.734569839426324,
      -0.725906252257009
    ],
    "a_ego": [
      1.3152493305297523,
      1.315249331258881,
      0.698928442973011,
      0.425266117072105,
      0.1892947441838657,
      0.1531583695309384,
      0.4173010397906186,
      0.650727257089474,
      0.7447728076358149,
      0.7447728076238636
    ],
    "yaw": [
      2.9250556357474706,
      3.0478260243195825,
      3.1333640198388353,
      -3.111416489760526,
      -3.0921710293214186,
      -3.0887816156500154,
      -3.1112228035526055,
      3.1224381594293176,
      3.064611419334841,
      3.004762663624194
    ],
    "yaw_diff": [
      0.24554077714422373,
      0.17107599103850557,
      0.07680959516044972,
      0.03849092087821493,
      0.006778827342806437,
      -0.044882375805180175,
      -0.0990486883953281,
      -0.1156534801889535,
      -0.11969751142129326,
      -0.11969751142129326
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.829674725619614,
    "v_std": 0.29251810903161685,
    "vy_max": 0.11436654117185982,
    "a_max": 1.315249331258881,
    "ax_avg": 0.21629107697016017,
    "a_std": 0.3829925408275026,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2943657d55dc5d65",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 19.057507931441382,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2943657d55dc5d65",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "41785a426b555ab9": {
    "vx_ego": [
      3.4286534386315193,
      2.8860024658795673,
      2.3416501609608646,
      1.7948084593994698,
      1.261318269280275,
      0.8090366713913716,
      0.5238613319698436,
      0.3541804559279848,
      0.2118882561189045,
      0.0815815990510173
    ],
    "vy_ego": [
      -0.013515563269146824,
      0.0006495302006666037,
      0.016313834526110682,
      0.012809551097892502,
      -0.015950435986708977,
      -0.0026381438931382117,
      0.020915178449131377,
      0.012529530908814396,
      -0.00815316964707799,
      -0.04448148530283316
    ],
    "v_ego": [
      3.428680077331541,
      2.8860025389719297,
      2.341706987973728,
      1.7948541697116307,
      1.2614191186232886,
      0.8090409726702542,
      0.5242786852646002,
      0.35440200973774133,
      0.2120450594953924,
      0.09292017993131045
    ],
    "ax_ego": [
      -1.0853092703689844,
      -1.0853399879763346,
      -1.0919894476287277,
      -1.095101342713775,
      -1.0388609027571076,
      -0.7704362476635975,
      -0.37021628215324653,
      -0.3084821538451474,
      -0.26067181325156585,
      -0.26062393639855264
    ],
    "ay_ego": [
      0.017746432569883952,
      0.015756341508496585,
      0.02046639488904123,
      -0.05792326094368083,
      -0.06897794743416413,
      0.11697094332033764,
      -0.023883307368676276,
      -0.010378705989782189,
      -0.07276384511618668,
      -0.07293516944406565
    ],
    "a_ego": [
      1.0854543510520442,
      1.085454352701302,
      1.092181224455103,
      1.0966321420475795,
      1.0411483719958183,
      0.7792651752100911,
      0.37098585949095003,
      0.3086566972851286,
      0.2706369734163306,
      0.27063698041049633
    ],
    "yaw": [
      0.8765701065976401,
      0.874736470641502,
      0.8722089449090586,
      0.869376171670968,
      0.867426634189508,
      0.8661147242450778,
      0.8656581999246473,
      0.8652411982410388,
      0.8648696664421673,
      0.8642123914394209
    ],
    "yaw_diff": [
      -0.0036672719122763375,
      -0.005055051464886606,
      -0.005665546476181227,
      -0.0038990749629199684,
      -0.0026238198888604014,
      -0.0009130486408610583,
      -0.0008340033672169511,
      -0.00074306359774301,
      -0.0013145500054929649,
      -0.0013145500054929649
    ],
    "min_front_frame": [
      9,
      8.328187403770887
    ],
    "v_avg": 1.3705349799711415,
    "v_std": 1.127212544383945,
    "vy_max": 0.04448148530283316,
    "a_max": 1.0966321420475795,
    "ax_avg": -0.7367031384757039,
    "a_std": 0.3667368646425438,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "41785a426b555ab9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 36.43956100281601,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.265333960266684,
      12.682336581651455,
      11.361463232926548,
      10.34792056123368,
      9.579800444144063,
      9.071880512580995,
      8.783096282300713,
      8.527425685930886,
      8.410049827420698,
      8.328187403770887
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "41785a426b555ab9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ad781cbf672a5485": {
    "vx_ego": [
      6.68317622987652,
      6.561653432629679,
      6.4125611798834665,
      6.234864490590418,
      6.053012884925419,
      5.850103810922878,
      5.660034831846069,
      5.468357470526701,
      5.2569285612023435,
      5.056977106214527
    ],
    "vy_ego": [
      -0.006924109232065323,
      -0.014881178306871412,
      -0.0266403573382874,
      -0.0479354474525695,
      -0.05134980618885132,
      -0.023980383434745622,
      0.02004516837645376,
      0.042230810159151755,
      0.03313007952135916,
      -0.042513183562796986
    ],
    "v_ego": [
      6.683179816739573,
      6.561670307125211,
      6.412616517022326,
      6.235048758682469,
      6.053230690108281,
      5.850152960168141,
      5.660070326991176,
      5.468520537292686,
      5.257032955931894,
      5.057155803765046
    ],
    "ax_ego": [
      -0.24479882007927214,
      -0.24188851417683344,
      -0.3556515877566237,
      -0.35704919640026694,
      -0.3725105479027454,
      -0.4397361407263153,
      -0.32055376887372233,
      -0.44608098280026587,
      -0.40007789735398114,
      -0.3993079636996766
    ],
    "ay_ego": [
      -0.20271346671568802,
      -0.2061774918141681,
      -0.20499133093988828,
      -0.17649963119340273,
      -0.03297711485212948,
      0.07057140856060978,
      0.08019106244401772,
      -0.0015270560327964033,
      0.03751398019788746,
      0.04497524363769684
    ],
    "a_ego": [
      0.31783519613173145,
      0.31783519537876465,
      0.41049908359741094,
      0.3982916625558255,
      0.37396737612093134,
      0.4453629948335428,
      0.33043202816169037,
      0.44608359655582314,
      0.4018328292480222,
      0.4018328289404095
    ],
    "yaw": [
      2.5098171946678645,
      2.495582318117169,
      2.4815803259085687,
      2.4698665180145865,
      2.4619010780462114,
      2.458885817637854,
      2.457782203620388,
      2.4573306460009245,
      2.460708993363628,
      2.4793759413318677
    ],
    "yaw_diff": [
      -0.028469753101391326,
      -0.0280039844172002,
      -0.023427615787964484,
      -0.01593087993675013,
      -0.006030520816715068,
      -0.002207228034931674,
      -0.0009031152389269437,
      0.006756694725407186,
      0.03733389593647907,
      0.03733389593647907
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.923867867382681,
    "v_std": 0.5304727080018528,
    "vy_max": 0.05134980618885132,
    "a_max": 0.44608359655582314,
    "ax_avg": -0.35776554197697025,
    "a_std": 0.04570167197858175,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ad781cbf672a5485",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ad781cbf672a5485",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "85005d733df9577f": {
    "vx_ego": [
      2.8527463234562247,
      2.4341635333598464,
      1.963400237010473,
      1.4373060324635822,
      0.8962381998181772,
      0.38683981307681375,
      0.04280000025232759,
      -0.06884499803242428,
      -0.05346638495557804,
      -0.021619370609657
    ],
    "vy_ego": [
      0.00886207972122735,
      -0.0017980114212063011,
      -0.005940807784535609,
      0.009459906011548239,
      0.029672185608537214,
      0.01461470503524039,
      -0.0010073033809393488,
      0.003652536786973331,
      0.0015271072285861212,
      -0.00157303659945073
    ],
    "v_ego": [
      2.852760088484483,
      2.434164197416428,
      1.963409224764393,
      1.437337163221612,
      0.8967292508957843,
      0.3871157844683827,
      0.04281185211714734,
      0.06894182169818763,
      0.05348818913279512,
      0.02167652254631523
    ],
    "ax_ego": [
      -0.8371649741468312,
      -0.8371836285499606,
      -1.0458570233770008,
      -1.0585091554093593,
      -1.1058843685195505,
      -0.9317608690076224,
      -0.44440061223014216,
      -0.002179862890170036,
      0.06369392392209616,
      0.06369413644759366
    ],
    "ay_ego": [
      -0.015065715734150342,
      -0.01399017822588474,
      0.002150586075475445,
      0.06257331915307186,
      0.024156995469367105,
      -0.0834867888705863,
      0.020943552516372768,
      -0.0023121985420162675,
      -0.0061987006606280814,
      -0.006196358970328862
    ],
    "a_ego": [
      0.8373005253365405,
      0.8373005153461154,
      1.0458592344897415,
      1.0603570400366413,
      1.1061481803836193,
      0.9354936455849188,
      0.44489384862293974,
      0.0031777451624764716,
      0.0639948422489957,
      0.06399482699635849
    ],
    "yaw": [
      -1.545906259002261,
      -1.5446215330234971,
      -1.5440898609301872,
      -1.5436314041919132,
      -1.542377624639345,
      -1.5420145354029402,
      -1.5421042026661875,
      -1.5420749071624615,
      -1.5420418429381084,
      -1.5420785700477895
    ],
    "yaw_diff": [
      0.0025694519575276686,
      0.0010633441866199078,
      0.0009169134765478759,
      0.0025075591051364476,
      0.0007261784728096465,
      -0.00017933452649465664,
      5.8591007451980204e-05,
      6.612844870623746e-05,
      -7.345421936211238e-05,
      -7.345421936211238e-05
    ],
    "min_front_frame": [
      9,
      10.63151289565556
    ],
    "v_avg": 1.0158434094745528,
    "v_std": 1.0309621578330042,
    "vy_max": 0.029672185608537214,
    "a_max": 1.1061481803836193,
    "ax_avg": -0.6135552433760948,
    "a_std": 0.42790887433690455,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "85005d733df9577f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.197038084212051,
    "right_rear_min": 3.8996519123356563,
    "speed_mode": "decelerating",
    "front_frame": [
      14.372155889090049,
      13.356289685082185,
      12.435687777302304,
      11.611400757678219,
      11.027633079116448,
      10.713980843452447,
      10.658597823784188,
      10.640109781424503,
      10.660192950039463,
      10.63151289565556
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "85005d733df9577f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e6ff81ab83355450": {
    "vx_ego": [
      9.646348146473715,
      9.585120261698254,
      9.497650071753261,
      9.364196189365492,
      9.225973567225582,
      9.126064743159372,
      9.15900053783004,
      9.327130419372473,
      9.592863192767656,
      9.93174928254588
    ],
    "vy_ego": [
      -0.06125388551528976,
      -0.02533079503720881,
      0.019531234676076092,
      -0.0020636897796970644,
      0.029319869561839962,
      0.03668886534774218,
      -0.02376712329754227,
      -0.007734131792962451,
      -0.02236310347165249,
      -0.015181532531930664
    ],
    "v_ego": [
      9.646542624249768,
      9.585153732747097,
      9.497670154022128,
      9.364196416764372,
      9.226020155944612,
      9.126138491671986,
      9.1590313749938,
      9.327133625974161,
      9.592889259423009,
      9.931760885677857
    ],
    "ax_ego": [
      -0.12248242616957172,
      -0.12251260333997191,
      -0.2269960746232772,
      -0.30777240603725553,
      -0.24550829078014613,
      -0.15428859124865563,
      0.28600913490555047,
      0.3859365905571247,
      0.6769480943507671,
      0.6779973630201155
    ],
    "ay_ego": [
      0.06260377093748157,
      0.06254470975561133,
      0.25117145679471153,
      0.18269677892085234,
      0.15521931995747656,
      -0.10306398152150317,
      -0.11132776807655069,
      -0.046048239652104084,
      -0.13873875684198886,
      -0.13351688442421425
    ],
    "a_ego": [
      0.1375542687668298,
      0.13755427545354945,
      0.33854736537559127,
      0.35791335117038603,
      0.2904605965184439,
      0.18554555687636254,
      0.3069121978584879,
      0.3886740180484352,
      0.691018932515742,
      0.691018945245772
    ],
    "yaw": [
      1.0886810632758261,
      1.0881989401747503,
      1.0917121715723708,
      1.1054882174902265,
      1.1112051978110462,
      1.11182386412711,
      1.112578533208144,
      1.1065792504588,
      1.1032293970193279,
      1.0955215749535405
    ],
    "yaw_diff": [
      -0.0009642462021517417,
      0.007026462795240995,
      0.0275520918357115,
      0.011433960641639374,
      0.0012373326321277744,
      0.0015093381620676638,
      -0.011998565498688052,
      -0.006699706878944056,
      -0.015415644131574702,
      -0.015415644131574702
    ],
    "min_front_frame": [
      1,
      22.21110642059422
    ],
    "v_avg": 9.445653672146879,
    "v_std": 0.23951291251127882,
    "vy_max": 0.06125388551528976,
    "a_max": 0.691018945245772,
    "ax_avg": 0.08473307906346797,
    "a_std": 0.1889250997592751,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e6ff81ab83355450",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.117705367822982,
    "right_rear_min": 19.28429680276131,
    "speed_mode": "quasi_constant",
    "front_frame": [
      22.223528137386882,
      22.21110642059422,
      22.243695928131142,
      22.247991805600037,
      22.492832043471413,
      22.85345033268039,
      23.100533368571295,
      23.466034780721674,
      23.924618189355417,
      24.233138079273285
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e6ff81ab83355450",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4827434c5d3659cd": {
    "vx_ego": [
      3.1816335694174183,
      4.062632670978686,
      4.882523466516073,
      5.583037215477332,
      6.142662398181197,
      6.568161597276754,
      6.927409777753141,
      7.253873366940745,
      7.567998713693715,
      7.981139902084459
    ],
    "vy_ego": [
      -0.022667366430142333,
      0.019770968765868924,
      0.02641930820480698,
      0.008398811071071544,
      -0.001163206183155463,
      -0.02185294807758753,
      -0.0401303436746423,
      -0.0848698496090603,
      -0.10950712401428886,
      -0.0664171116226635
    ],
    "v_ego": [
      3.1817143145707942,
      4.062680778809646,
      4.8825949433601545,
      5.583043532826185,
      6.142662508316552,
      6.5681979506772485,
      6.927526013909531,
      7.254369835828948,
      7.568790943121603,
      7.981416250851789
    ],
    "ax_ego": [
      1.761881103334167,
      1.7621240972883603,
      1.5174914855860404,
      1.2939760856827205,
      0.9805408518453937,
      0.7715131296183932,
      0.7099198606391728,
      0.6438815357024379,
      0.6753206345576839,
      1.0196888809359659
    ],
    "ay_ego": [
      0.10421139331462875,
      0.10001853492457952,
      0.2899745600186241,
      0.7770169142951382,
      1.5308085900495891,
      2.1227210027219807,
      2.3976435654369803,
      2.4403918036769827,
      2.413152499807044,
      2.289016711248237
    ],
    "a_ego": [
      1.7649603499179798,
      1.7649603512750018,
      1.5449484309465227,
      1.509347340879333,
      1.817920598240556,
      2.2585785274306,
      2.5005361175978438,
      2.5239048293214874,
      2.5058657080506888,
      2.5058657023627857
    ],
    "yaw": [
      2.8992960096292486,
      2.901675604988937,
      2.9218496397573066,
      2.9759674923835924,
      3.075261548571709,
      -3.061813299127095,
      -2.8922303396551516,
      -2.7160056569338393,
      -2.549250942905494,
      -2.4030398926146526
    ],
    "yaw_diff": [
      0.004759190719377138,
      0.04034806953673886,
      0.10823570525257153,
      0.19858811237623364,
      0.2922209189615641,
      0.3391659189438867,
      0.3524493654426246,
      0.3335094280566908,
      0.2924221005816827,
      0.2924221005816827
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.0152997072272445,
    "v_std": 1.4926523704971664,
    "vy_max": 0.10950712401428886,
    "a_max": 2.5239048293214874,
    "ax_avg": 1.1136337665190337,
    "a_std": 0.40577858687551166,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "4827434c5d3659cd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "4827434c5d3659cd",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0b3774b9729455e1": {
    "vx_ego": [
      1.2167592086297254,
      1.439089033545732,
      1.8013058955286816,
      2.3463303265077693,
      2.958125734709351,
      3.573227731261375,
      4.134821739429026,
      4.645733479316041,
      5.059228181376929,
      5.393204346874192
    ],
    "vy_ego": [
      -0.014808102050678507,
      0.005717035888939459,
      0.007816290665820902,
      -0.007102631373324009,
      -0.002770119424968298,
      0.010693875646532236,
      0.023439510828406895,
      0.04388871506501246,
      0.02766163371504904,
      -0.029169181273209777
    ],
    "v_ego": [
      1.2168493134614404,
      1.4391003894693881,
      1.8013228538122081,
      2.3463410767538635,
      2.9581270317400783,
      3.5732437334208895,
      4.134888175939315,
      4.645940785260612,
      5.059303801633017,
      5.393283227151976
    ],
    "ax_ego": [
      0.44467676386415994,
      0.4446052603157672,
      1.0043772771494859,
      1.1757339222572876,
      1.2712941750623103,
      1.1892169590005117,
      1.05731308639242,
      0.9868516876626142,
      0.6678413793569518,
      0.6680573959301994
    ],
    "ay_ego": [
      0.0352916551350034,
      0.03618128731328718,
      -0.0388363682480517,
      -0.045104099570098644,
      0.03541217685821674,
      -0.014631018264225526,
      0.019183698598304044,
      -0.0004554086105438837,
      -0.13145993938512268,
      -0.13035777722406522
    ],
    "a_ego": [
      0.44607502198942933,
      0.44607501953381984,
      1.0051278417957157,
      1.176598757327465,
      1.2717872863876245,
      1.1893069588083107,
      1.0574871048616032,
      0.9868517927427363,
      0.6806569059699138,
      0.6806569138265167
    ],
    "yaw": [
      2.2993629777882587,
      2.2973621965788293,
      2.295579858872274,
      2.2926241987929075,
      2.2900655747901615,
      2.287541501509619,
      2.2845425552836316,
      2.2809583741190247,
      2.2775343104366406,
      2.275884233904671
    ],
    "yaw_diff": [
      -0.0040015624188587395,
      -0.003564675413111118,
      -0.005911320158732636,
      -0.005117248005491959,
      -0.005048146561084543,
      -0.00599789245197524,
      -0.0071683623292138066,
      -0.006848127364768253,
      -0.0033001530639387155,
      -0.0033001530639387155
    ],
    "min_front_frame": [
      0,
      11.999044032103034
    ],
    "v_avg": 3.2568400388642784,
    "v_std": 1.4531501476030373,
    "vy_max": 0.04388871506501246,
    "a_max": 1.2717872863876245,
    "ax_avg": 0.8909967906991708,
    "a_std": 0.291512342923102,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0b3774b9729455e1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.369854927973682,
    "right_rear_min": 3.1137644202830526,
    "speed_mode": "accelerating",
    "front_frame": [
      11.999044032103034,
      13.143004667326478,
      14.475697236660784,
      15.569939220441222,
      16.333397850211703,
      16.954942232906294,
      17.474356555332665,
      17.93796814020601,
      18.490058758069793,
      18.897257266364885
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0b3774b9729455e1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3d00fb1cdc87515e": {
    "vx_ego": [
      2.6895793405851975,
      3.2120424806575314,
      3.767955694704953,
      4.318359862557343,
      4.907367431591502,
      5.439837971666274,
      5.856389387403794,
      6.176805307214637,
      6.503238498809841,
      6.862583347387256
    ],
    "vy_ego": [
      -0.11955865070046201,
      0.07429033000623342,
      0.030027697840298018,
      -0.0899756278232331,
      -0.13062450679756976,
      -0.10967286824631328,
      -0.06016047374802991,
      -0.05601986969345063,
      -0.04935356300454519,
      -0.04361621841588725
    ],
    "v_ego": [
      2.692235372373675,
      3.2129014847456845,
      3.768075341589798,
      4.319297109038513,
      4.909105607992263,
      5.440943419666448,
      5.856698382151618,
      6.177059335074852,
      6.503425770052559,
      6.8627219508257635
    ],
    "ax_ego": [
      0.8949426584778082,
      1.1926946156045426,
      1.0122857805053698,
      1.2159412633659665,
      1.1661464509617774,
      0.9767603359273387,
      0.6961866560323773,
      0.5854857548068695,
      0.7178331246452401,
      0.7183228998158273
    ],
    "ay_ego": [
      1.627136069795518,
      1.4233670329777408,
      1.680724339551905,
      1.664525279654639,
      1.1099644441175072,
      0.5029335951632665,
      0.3166958000329969,
      -0.1453017802494139,
      -0.07770737534749272,
      -0.07304137266671351
    ],
    "a_ego": [
      1.857012157093467,
      1.8570121584577535,
      1.962028747744424,
      2.0613484815929053,
      1.6099436674293408,
      1.0986368622000338,
      0.764834681350214,
      0.6032463646184854,
      0.7220268907882482,
      0.7220268904416627
    ],
    "yaw": [
      1.4687534044909303,
      1.6633519546281894,
      1.89582912740914,
      2.1327403986745286,
      2.291371476021008,
      2.364890887012976,
      2.3922321155316286,
      2.3986508506379463,
      2.38878000307096,
      2.3822821198344517
    ],
    "yaw_diff": [
      0.38919710027451826,
      0.46495434556190096,
      0.4738225425307774,
      0.31726215469295926,
      0.14703882198393536,
      0.054682457037305454,
      0.01283747021263526,
      -0.019741695133972392,
      -0.012995766473016701,
      -0.012995766473016701
    ],
    "min_front_frame": [
      4,
      15.052252233523227
    ],
    "v_avg": 4.974246377351117,
    "v_std": 1.3618361420146836,
    "vy_max": 0.13062450679756976,
    "a_max": 2.0613484815929053,
    "ax_avg": 0.9176599540143118,
    "a_std": 0.5664257934522312,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "3d00fb1cdc87515e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      15.052252233523227,
      16.863458124600903,
      18.27865810892977,
      19.66911651723711,
      20.962528050645638,
      22.25134856588002
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3d00fb1cdc87515e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4c7c3a0a401d5f38": {
    "vx_ego": [
      7.02327913962467,
      6.591522096846342,
      6.196084227758778,
      5.888862693925219,
      5.643120217227843,
      5.369607446322345,
      5.033824038740006,
      4.724165745963458,
      4.38121032413923,
      3.9538008104485662
    ],
    "vy_ego": [
      -0.00679157825903598,
      -0.004858588596933569,
      -0.0070917380902671134,
      0.007971688323912374,
      0.011554266502642352,
      0.01409311436347227,
      0.009750060854743267,
      0.0008513886502810875,
      0.0004774899556175549,
      -0.00805199792407911
    ],
    "v_ego": [
      7.023282423384545,
      6.591523887470693,
      6.196088286187523,
      5.888868089515923,
      5.64313204587311,
      5.369625940740456,
      5.033833481223174,
      4.7241658226820435,
      4.381210350159056,
      3.9538090094710325
    ],
    "ax_ego": [
      -0.8635193890358276,
      -0.8635185703176261,
      -0.7182345262651224,
      -0.5106574773906275,
      -0.47240997156469977,
      -0.621652150683862,
      -0.7216137295739663,
      -0.5170195852190878,
      -0.8548033172143737,
      -0.8547949931803516
    ],
    "ay_ego": [
      -0.0017237205796344635,
      -0.0020898593180576387,
      -0.008881854420018672,
      0.06511730950756621,
      -0.023879698084353897,
      0.053140594064766906,
      -0.04147277950928974,
      0.0033395823681723127,
      0.002346097485071901,
      0.004443754016450849
    ],
    "a_ego": [
      0.8635211094428703,
      0.8635210992184073,
      0.7182894416996697,
      0.5147925050080502,
      0.47301313006549867,
      0.6239193210563585,
      0.7228045144780679,
      0.5170303707815541,
      0.8548065367637911,
      0.8548065437957035
    ],
    "yaw": [
      -1.5512242644626952,
      -1.5516482712184714,
      -1.5517282283411236,
      -1.5518951954282025,
      -1.5507275893077979,
      -1.549863089724387,
      -1.5484707396534478,
      -1.5486014981698746,
      -1.5482107790593367,
      -1.5457568056281823
    ],
    "yaw_diff": [
      -0.0008480135115522813,
      -0.00015991424530437115,
      -0.000333934174157946,
      0.002335212240809348,
      0.0017289991668216764,
      0.0027847001418783712,
      -0.0002615170328534866,
      0.000781438221075792,
      0.004907946862308776,
      0.004907946862308776
    ],
    "min_front_frame": [
      9,
      13.610257823626466
    ],
    "v_avg": 5.480553933670756,
    "v_std": 0.9296720103432609,
    "vy_max": 0.01409311436347227,
    "a_max": 0.8635211094428703,
    "ax_avg": -0.6998223710445544,
    "a_std": 0.15078121959006774,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4c7c3a0a401d5f38",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.854316578311736,
    "right_rear_min": 11.69598620245403,
    "speed_mode": "decelerating",
    "front_frame": [
      19.141342318242074,
      18.816694036358626,
      18.473062144801556,
      17.949685601295243,
      17.424478891810157,
      16.782681373261873,
      16.31154254900791,
      15.637802755201083,
      14.643536822784565,
      13.610257823626466
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4c7c3a0a401d5f38",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e1e8aae3165c5652": {
    "vx_ego": [
      7.313843558664757,
      7.501322603773123,
      7.695030958962178,
      7.855295508940522,
      7.6945633115086025,
      7.476779973985151,
      7.477428127421128,
      7.507458147423047,
      7.522618354412199,
      7.485226984107355
    ],
    "vy_ego": [
      0.0065554571558137376,
      0.02089891486256512,
      0.021416232368511423,
      0.017062792703860463,
      -0.021895430322779408,
      -0.014585799714406544,
      0.018033904879827478,
      0.01504711180687579,
      0.017952089874741173,
      0.029600499242122602
    ],
    "v_ego": [
      7.313846496518811,
      7.5013517162255505,
      7.695060760929392,
      7.855314040296287,
      7.6945944639521615,
      7.476794201055603,
      7.477449874286944,
      7.507473226784256,
      7.52263977495069,
      7.485285511800086
    ],
    "ax_ego": [
      0.3721067782288958,
      0.3768274085136989,
      0.39600453520107026,
      0.24453919804007299,
      -0.8888241648449906,
      0.018123118306774294,
      -0.01555986159549039,
      0.13550028471668701,
      -0.07491101880945264,
      -0.07482272602141765
    ],
    "ay_ego": [
      0.2823433337581592,
      0.27601144110293563,
      0.17338894700049962,
      0.25541671890254386,
      0.049790007754405397,
      0.10679607557810131,
      0.04783008106626833,
      -0.0002323868276322208,
      0.049802051035671396,
      0.04993460226158519
    ],
    "a_ego": [
      0.46709871817589044,
      0.4670987170040926,
      0.43230003335849715,
      0.35360588184166725,
      0.8902176368083138,
      0.10832289312996059,
      0.050297375156926595,
      0.13550048399153747,
      0.08995501668294985,
      0.08995501560390526
    ],
    "yaw": [
      2.5485413994836903,
      2.565450049111196,
      2.580172797922865,
      2.5944852906423046,
      2.6090443016580256,
      2.6133049476857027,
      2.6141118691068135,
      2.616103718702483,
      2.617361775512023,
      2.619132285726313
    ],
    "yaw_diff": [
      0.03381729925501098,
      0.029445497623338035,
      0.02862498543887959,
      0.02911802203144198,
      0.008521292055354124,
      0.0016138428422216577,
      0.0039836991913393405,
      0.002516113619079441,
      0.003541020428579955,
      0.003541020428579955
    ],
    "min_front_frame": [
      0,
      41.603632554155006
    ],
    "v_avg": 7.552981006679978,
    "v_std": 0.14511402356746414,
    "vy_max": 0.029600499242122602,
    "a_max": 0.8902176368083138,
    "ax_avg": 0.048898355173584804,
    "a_std": 0.25263720713705967,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e1e8aae3165c5652",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.457799006897492,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      41.603632554155006,
      43.39798983414442,
      45.052833682078806,
      46.51443062221485,
      47.900348266667905,
      49.30860923809779,
      50.70229981645627,
      52.04348646850863,
      53.28818710898338,
      54.51743578228678
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e1e8aae3165c5652",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "84ed0a5827f656d8": {
    "vx_ego": [
      10.666649004655003,
      9.986914729569108,
      9.306168793558905,
      8.621177844737797,
      7.914621953402829,
      7.197508730127945,
      6.530049162245178,
      5.935066633251257,
      5.376460758746145,
      4.823575744691162
    ],
    "vy_ego": [
      -0.0021111934430928514,
      -0.004588294102177315,
      -0.0042403588752910615,
      0.0014661185408102462,
      0.014032814943731431,
      0.0001847866750468441,
      0.008395611195575192,
      0.011495585617388837,
      -0.010517621781878983,
      -0.016494151264924595
    ],
    "v_ego": [
      10.666649213583678,
      9.98691578357038,
      9.306169759619314,
      8.621177969401945,
      7.914634393652133,
      7.197508732500023,
      6.530054559314669,
      5.93507776609718,
      5.376471046207272,
      4.823603945371017
    ],
    "ax_ego": [
      -1.359470273755152,
      -1.3594516004041508,
      -1.363461974981101,
      -1.3764709528851484,
      -1.4497917891353862,
      -1.4187087981548916,
      -1.2511114444147848,
      -1.1286613382455597,
      -1.1057995388801498,
      -1.105783423809511
    ],
    "ay_ego": [
      0.01658744754673347,
      0.018053616056621147,
      0.05663633977685312,
      0.06742012668452213,
      0.0034289462518447555,
      -0.02508327817317546,
      0.07333592144870749,
      -0.0927899458094803,
      -0.019680192076410807,
      -0.020565907720895282
    ],
    "a_ego": [
      1.3595714650727353,
      1.3595714717859178,
      1.3646377659300961,
      1.3781210968629374,
      1.4497958440817735,
      1.4189305214865207,
      1.253258953177826,
      1.132469156530801,
      1.1059746516750355,
      1.1059746547422635
    ],
    "yaw": [
      1.0899601154734113,
      1.0910386091510897,
      1.0929381082194634,
      1.0957609501699435,
      1.0963826164877373,
      1.0974994391012292,
      1.0980624134041879,
      1.0967815454528713,
      1.095701689297981,
      1.0949007122584224
    ],
    "yaw_diff": [
      0.002156987355356854,
      0.0037989981367472225,
      0.005645683900960208,
      0.001243332635587624,
      0.0022336452269837714,
      0.001125948605917415,
      -0.002561735902633089,
      -0.002159712309780737,
      -0.0016019540791170073,
      -0.0016019540791170073
    ],
    "min_front_frame": [
      4,
      21.158163607298697
    ],
    "v_avg": 7.635826316931761,
    "v_std": 1.8940139433118486,
    "vy_max": 0.016494151264924595,
    "a_max": 1.4497958440817735,
    "ax_avg": -1.2918711134665837,
    "a_std": 0.1260915145861562,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "84ed0a5827f656d8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.502443146330368,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.975711435447977,
      33.53790975079458,
      29.153387251154893,
      25.021516249346938,
      21.158163607298697,
      27.811814290559145,
      24.406475462436852,
      21.313523784685906,
      -1,
      -1
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      0,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.25,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "84ed0a5827f656d8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5abef8058afa529f": {
    "vx_ego": [
      1.5227164558788897,
      2.2728978754231313,
      2.98647422661877,
      3.5183700776643807,
      3.87537290917894,
      4.069605812477607,
      4.03941137815067,
      3.882664695549443,
      3.621148461384947,
      3.2899955899078597
    ],
    "vy_ego": [
      0.023989599500649744,
      0.01337088809290915,
      0.015015743099927509,
      0.018114915823817856,
      -0.0023054890988080667,
      -0.022151912355750536,
      -0.014776395019992339,
      0.001261492448583229,
      0.001019058753902513,
      -0.0009235809945587758
    ],
    "v_ego": [
      1.5229054159364488,
      2.2729372038733002,
      2.9865119753315943,
      3.5184167111897597,
      3.875373594955463,
      4.069666101312556,
      4.039438404504132,
      3.882664900481272,
      3.6211486047760193,
      3.2899957195435707
    ],
    "ax_ego": [
      1.5003784202976336,
      1.500392908667631,
      1.3539548204640135,
      0.773685634822651,
      0.6543240644563795,
      0.12258043722964043,
      -0.24320463452111035,
      -0.3837779217505146,
      -0.6623083628678875,
      -0.6623028622708124
    ],
    "ay_ego": [
      -0.024030676432447023,
      -0.023108738471248322,
      0.017413593125535018,
      -0.014257327627798765,
      -0.067004238208109,
      -0.018366308278114793,
      0.06926618140323954,
      0.020395069686457226,
      0.004123303050041792,
      0.004929405549036973
    ],
    "a_ego": [
      1.5005708505447597,
      1.5005708560990536,
      1.3540667963890411,
      0.7738169892952822,
      0.6577458090057018,
      0.12394871871534843,
      0.2528760529167073,
      0.384319466187519,
      0.6623211978736478,
      0.6623212063728425
    ],
    "yaw": [
      -1.6322513694141725,
      -1.6328658379227545,
      -1.6340246940073073,
      -1.6347194718216287,
      -1.6346911797798,
      -1.6350616251253638,
      -1.633756954837217,
      -1.6321540269629797,
      -1.63047129862175,
      -1.6292541868130037
    ],
    "yaw_diff": [
      -0.001228937017164089,
      -0.00231771216910559,
      -0.0013895556286427357,
      5.6584083657273965e-05,
      -0.0007408906911274826,
      0.002609340576293473,
      0.003205855748474651,
      0.0033654566824594667,
      0.00243422361749257,
      0.00243422361749257
    ],
    "min_front_frame": [
      9,
      11.953938365177024
    ],
    "v_avg": 3.307905863190411,
    "v_std": 0.7919105666722941,
    "vy_max": 0.023989599500649744,
    "a_max": 1.5005708560990536,
    "ax_avg": 0.3953722504527624,
    "a_std": 0.476967280889787,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5abef8058afa529f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.605435087427546,
    "right_rear_min": 7.166134240793239,
    "speed_mode": "accelerating",
    "front_frame": [
      14.736846403052088,
      15.217982348037294,
      15.343458941239877,
      15.142056945136767,
      14.606367816632003,
      13.910618985891153,
      13.187826885294799,
      12.528520789956117,
      12.113519834687898,
      11.953938365177024
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5abef8058afa529f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "51552f78760d5a11": {
    "vx_ego": [
      5.064986057490802,
      4.833376124271615,
      4.845781524064016,
      5.079905790189547,
      5.359931493027856,
      5.623837444961687,
      5.933668555988843,
      6.325731115228883,
      6.789393412027481,
      7.310860038863002
    ],
    "vy_ego": [
      -0.019699778377504806,
      0.07897466010481131,
      0.08420044721029529,
      0.03181560893634994,
      -0.019341758229204586,
      -0.089268584432455,
      -0.11724672904462352,
      -0.13054418340394847,
      -0.12329626027856211,
      -0.0025359136988849507
    ],
    "v_ego": [
      5.065024367546946,
      4.834021282081572,
      4.846513003621324,
      5.080005420289753,
      5.35996639108523,
      5.624545891671591,
      5.934826815316718,
      6.327077992722663,
      6.790512857736214,
      7.310860478678431
    ],
    "ax_ego": [
      -0.6151322186086319,
      -0.32436029705963226,
      0.32008811092946227,
      0.5875736669707015,
      0.5547512298387101,
      0.5225758770488582,
      0.7411467781985844,
      0.8410903625789585,
      1.0368474723847922,
      1.0559224150658026
    ],
    "ay_ego": [
      1.753712479122649,
      1.8299413994897138,
      1.9345424851199917,
      2.132724337611516,
      2.37951086074762,
      2.14374555712138,
      1.6082205620071992,
      0.8857789105288127,
      0.668443474385935,
      0.637884920591283
    ],
    "a_ego": [
      1.8584657935514675,
      1.8584657994902638,
      1.9608444674406549,
      2.212183517332565,
      2.443321686439066,
      2.2065200114549244,
      1.7707828559416576,
      1.221489777427881,
      1.233640693005817,
      1.2336406764354622
    ],
    "yaw": [
      2.9984840799252686,
      -3.1227791507489453,
      -2.926752283454144,
      -2.7106940847410432,
      -2.4859157281776922,
      -2.2682994712668316,
      -2.1007397040691917,
      -1.9967341991960628,
      -1.938385189934334,
      -1.9091833385349513
    ],
    "yaw_diff": [
      0.32384415301074476,
      0.39205373458960224,
      0.4321163974262019,
      0.449556713126702,
      0.43523251382172123,
      0.33511953439528064,
      0.20801100974625797,
      0.11669801852345607,
      0.05840370279876517,
      0.05840370279876517
    ],
    "min_front_frame": [
      9,
      38.630086068594316
    ],
    "v_avg": 5.717335450075044,
    "v_std": 0.8134320956122618,
    "vy_max": 0.13054418340394847,
    "a_max": 2.443321686439066,
    "ax_avg": 0.4720503397347606,
    "a_std": 0.4193778047199052,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "51552f78760d5a11",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 37.961324823707834,
    "right_rear_min": 13.45281585149963,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      59.14647432420945,
      45.518300750942906,
      42.13198262341682,
      38.630086068594316
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "51552f78760d5a11",
    "pedestrians": "No"
  },
  "cbc996c2f68c541c": {
    "vx_ego": [
      3.905073751497467,
      4.185594704283248,
      4.497636593115483,
      4.820874152535347,
      5.145376726319407,
      5.434001938820525,
      5.687117275000158,
      5.9170276247807365,
      6.155549538025614,
      6.410544323518998
    ],
    "vy_ego": [
      -0.09105915478568016,
      -0.04140974056543319,
      -0.042807629097120714,
      -0.036061821736702804,
      -0.0425991794286833,
      -0.04453457991390897,
      -0.04525540414188445,
      -0.046793896596026396,
      -0.0703305983092184,
      0.023127395507180903
    ],
    "v_ego": [
      3.9061352734262527,
      4.185799540725482,
      4.497840305840167,
      4.821009028156904,
      5.145553065107522,
      5.434184428220424,
      5.687297332759144,
      5.917212653029888,
      6.15595130813637,
      6.410586041870477
    ],
    "ax_ego": [
      0.49720151731745144,
      0.6552231001340615,
      0.6261246959142436,
      0.6967991495367165,
      0.6216994084229835,
      0.552002510530325,
      0.4792105620187841,
      0.4506663245473349,
      0.5018299196161974,
      0.520928352110794
    ],
    "ay_ego": [
      1.2173107714513642,
      1.1400603294443716,
      1.2789106231198024,
      1.3861364546707178,
      1.3660251093394202,
      1.319662406597065,
      1.281374706961966,
      1.1113487225427512,
      0.6003395288397355,
      0.5838445578284458
    ],
    "a_ego": [
      1.3149353075776358,
      1.3149353085692466,
      1.423953832384458,
      1.5514197774175107,
      1.5008446800982649,
      1.430459939675816,
      1.3680511329596652,
      1.199248147456734,
      0.7824581893682976,
      0.782458187853358
    ],
    "yaw": [
      1.4109710665097857,
      1.544836738541138,
      1.6841060960393672,
      1.82568766444741,
      1.964587789580798,
      2.0915040280868418,
      2.208250957175984,
      2.311458676373869,
      2.386293842186661,
      2.418546897987736
    ],
    "yaw_diff": [
      0.2677313440627045,
      0.27853871499645866,
      0.2831631368160856,
      0.2778002502667758,
      0.25383247701208767,
      0.23349385817828416,
      0.20641543839577015,
      0.1496703316255843,
      0.06450611160214947,
      0.06450611160214947
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.216156897727262,
    "v_std": 0.8078218494992345,
    "vy_max": 0.09105915478568016,
    "a_max": 1.5514197774175107,
    "ax_avg": 0.5601685540148892,
    "a_std": 0.25997888672247016,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "cbc996c2f68c541c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "cbc996c2f68c541c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4310513b861550dc": {
    "vx_ego": [
      2.70061543875004,
      3.4855560179285527,
      4.157869786264425,
      4.66775282338507,
      5.074490470282528,
      5.434298671329767,
      5.757037131896441,
      5.985667051493399,
      6.057375430918457,
      6.023237471347267
    ],
    "vy_ego": [
      0.01824833109838031,
      0.014590002861817553,
      -0.0006018049188214469,
      0.003663156683729518,
      0.0205720229978823,
      0.014820965260704977,
      0.003501250011671342,
      0.017359016403072136,
      0.02056091142297989,
      0.00967017006527593
    ],
    "v_ego": [
      2.7006770909538496,
      3.4855865535518493,
      4.157869829816674,
      4.667754260769967,
      5.074532169680119,
      5.434318881904864,
      5.757038196571744,
      5.985692222858119,
      6.05741032638314,
      6.023245233960751
    ],
    "ax_ego": [
      1.569940622911526,
      1.5701226529233105,
      1.1194250096134328,
      0.9198084884526768,
      0.7076257765004708,
      0.7318893514333186,
      0.5591735278116009,
      0.35531228939913395,
      -0.06830277002844054,
      -0.06799101778027666
    ],
    "ay_ego": [
      -0.04123306612883049,
      -0.03359446043675318,
      -0.10084798810112572,
      0.022311777042444636,
      -0.06025005532786132,
      -0.0518288524528967,
      -0.05638711284453929,
      0.05534657006838445,
      -0.07307350108806136,
      -0.07336365738103869
    ],
    "a_ego": [
      1.5704820041026306,
      1.5704820065810914,
      1.1239584818186477,
      0.9200790568339168,
      0.7101861085200868,
      0.7337221904018358,
      0.5620093777689248,
      0.35959708816450187,
      0.10002502164371144,
      0.10002502048547818
    ],
    "yaw": [
      -0.6840101397885632,
      -0.6888753885790841,
      -0.6936248805108265,
      -0.6990102406203069,
      -0.704399233087527,
      -0.7086397776757413,
      -0.7114408354276293,
      -0.7138349829934516,
      -0.7150916557178562,
      -0.7193494988071046
    ],
    "yaw_diff": [
      -0.009730497581041941,
      -0.009498983863484689,
      -0.01077072021896086,
      -0.010777984934440266,
      -0.008481089176428425,
      -0.005602115503775984,
      -0.004788295131644693,
      -0.002513345448809101,
      -0.008515686178496962,
      -0.008515686178496962
    ],
    "min_front_frame": [
      8,
      39.412243425318486
    ],
    "v_avg": 4.934412476645107,
    "v_std": 1.1072903179090672,
    "vy_max": 0.0205720229978823,
    "a_max": 1.5704820065810914,
    "ax_avg": 0.7397003931236753,
    "a_std": 0.5043228024912167,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "4310513b861550dc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      63.273760640578,
      61.720137837499045,
      59.82220560175741,
      57.63495994531479,
      55.198767787219715,
      52.58357972217269,
      49.74464185599181,
      46.81710566829432,
      39.412243425318486,
      39.60892503724164
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4310513b861550dc",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a60202554bf55ef1": {
    "vx_ego": [
      3.3689829338563206,
      3.977271240970798,
      4.577537919360785,
      5.16381605518349,
      5.694948364111701,
      5.994863531833758,
      6.147446169786749,
      6.387914948208401,
      6.694539342461484,
      7.014702130314428
    ],
    "vy_ego": [
      -0.0005998066832384463,
      -0.013410705185076477,
      -0.03218069147928615,
      -0.030385897786630256,
      -0.0032674313313272307,
      -0.010855874822065736,
      -0.037199498730299485,
      -0.01872433241745819,
      0.03301426989090395,
      0.06129996553267736
    ],
    "v_ego": [
      3.3689829872504844,
      3.977293850253832,
      4.577651035202438,
      5.163905455617394,
      5.694949301442994,
      5.99487336107515,
      6.1475587197790595,
      6.38794239064261,
      6.694620747270234,
      7.014969968774784
    ],
    "ax_ego": [
      1.2165000471596144,
      1.2165897733345254,
      1.1843205620662065,
      1.160421349176221,
      0.9640011828605934,
      0.23575934663383816,
      0.3741985985745929,
      0.5872416691169634,
      0.6392595877905956,
      0.6401766523444575
    ],
    "ay_ego": [
      -0.04281746470663239,
      -0.04018760944458766,
      -0.07000575711508128,
      0.03670339354039287,
      0.0373499984739602,
      -0.11644042105645815,
      -0.06213412366975693,
      0.07603602658959521,
      0.14596201021994967,
      0.14188579441545818
    ],
    "a_ego": [
      1.2172533425804373,
      1.2172533510058712,
      1.1863877948470605,
      1.1610016566402228,
      0.9647244699615679,
      0.2629464606740686,
      0.37932208016328023,
      0.5921437792350864,
      0.655711620310065,
      0.6557116171487753
    ],
    "yaw": [
      -0.5818458348998443,
      -0.5840075861273599,
      -0.5860579131572132,
      -0.5881344570370937,
      -0.5897122381534814,
      -0.5917648472347397,
      -0.5947877163832849,
      -0.5971911068431415,
      -0.5966155799838881,
      -0.5902436976503631
    ],
    "yaw_diff": [
      -0.004323502455031214,
      -0.00410065405970661,
      -0.004153087759760865,
      -0.003155562232775466,
      -0.004105218162516522,
      -0.0060457382970904305,
      -0.004806780919713205,
      0.001151053718506656,
      0.012743764667050073,
      0.012743764667050073
    ],
    "min_front_frame": [
      0,
      17.107275019467302
    ],
    "v_avg": 5.502274781730899,
    "v_std": 1.141772067043384,
    "vy_max": 0.06129996553267736,
    "a_max": 1.2172533510058712,
    "ax_avg": 0.8218468769057609,
    "a_std": 0.34592461945220593,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a60202554bf55ef1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.518067539893769,
    "right_rear_min": 3.6931178630214947,
    "speed_mode": "accelerating",
    "front_frame": [
      17.107275019467302,
      18.54389317900706,
      19.897735716893113,
      21.107508875314423,
      22.330579782012286,
      23.42205189036665,
      24.850599942170835,
      26.432102986630234,
      27.899176794987877,
      29.334008913581652
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a60202554bf55ef1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3bb3a8f506bf5980": {
    "vx_ego": [
      8.08613696349474,
      8.218418700629202,
      8.424244202220319,
      8.67934083059678,
      8.948963568707063,
      9.182713010936267,
      9.466823543404114,
      9.79520416312777,
      10.055260422127445,
      10.281916176889528
    ],
    "vy_ego": [
      -0.05558350160387704,
      -0.046655841498113304,
      -0.073147708800966,
      -0.045392734247557076,
      -0.03774205718696866,
      -0.05550640187790856,
      -0.12361821657361682,
      -0.1833850631307952,
      -0.07218382195378314,
      0.02320659999102953
    ],
    "v_ego": [
      8.0863279996576,
      8.21855113182352,
      8.424561766996874,
      8.679459531214308,
      8.949043156501535,
      9.182880768139572,
      9.467630615176073,
      9.796920673289904,
      10.055519512235778,
      10.28194236585995
    ],
    "ax_ego": [
      0.16776646749364432,
      0.3829733246083765,
      0.47416081139045885,
      0.5763716068921124,
      0.5229527236949018,
      0.43273389351950836,
      0.7312119165470112,
      0.5895370634291405,
      0.45334314388896535,
      0.4531977680570184
    ],
    "ay_ego": [
      1.8948179237099665,
      1.8632798957953993,
      1.9569246852452191,
      2.016004839529651,
      2.0479611198795524,
      2.0365013150548976,
      1.815470331897044,
      0.7839733188544427,
      0.17357633136110304,
      0.1739555550598496
    ],
    "a_ego": [
      1.9022304149676097,
      1.9022304112375312,
      2.0135497755905014,
      2.0967784199190835,
      2.113675542688193,
      2.0819693150526692,
      1.9571927326910645,
      0.9809016840806748,
      0.4854366579893927,
      0.4854366612731711
    ],
    "yaw": [
      0.8304505241056224,
      0.9448552554305661,
      1.062835053936165,
      1.1757814165167015,
      1.28997077980249,
      1.4042965415969373,
      1.5152039105315258,
      1.5887170722658839,
      1.6016099597484201,
      1.6007733210712174
    ],
    "yaw_diff": [
      0.22880946264988755,
      0.23595959701119784,
      0.22589272516107295,
      0.22837872657157687,
      0.22865152358889462,
      0.22181473786917705,
      0.14702632346871614,
      0.025785774965072505,
      -0.001673277354405478,
      -0.001673277354405478
    ],
    "min_front_frame": [
      9,
      25.586499604581928
    ],
    "v_avg": 9.114283752089511,
    "v_std": 0.7345765478911656,
    "vy_max": 0.1833850631307952,
    "a_max": 2.113675542688193,
    "ax_avg": 0.47842487195211375,
    "a_std": 0.6396866619358065,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "3bb3a8f506bf5980",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 22.263588295185645,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      25.666306753306046,
      25.795399902857486,
      25.735421584855363,
      25.586499604581928
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.75,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3bb3a8f506bf5980",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "18ca4d6e9c0a576b": {
    "vx_ego": [
      1.4946558531513046,
      2.315470653354517,
      3.0577919840264673,
      3.5816757490935887,
      3.9574617871398377,
      4.203145140315795,
      4.343447284423715,
      4.525519382553013,
      4.759280406489057,
      5.109914833813711
    ],
    "vy_ego": [
      0.03072788134166138,
      0.01419609544093614,
      -0.001943706410846957,
      -0.03773418265018025,
      -0.05002148837754339,
      -0.006927004938039882,
      0.011753908114632061,
      0.03208981018843987,
      0.06711489681314553,
      0.18365996289133224
    ],
    "v_ego": [
      1.4949716793475392,
      2.315514170907136,
      3.057792601791549,
      3.581874514857464,
      3.9577779050840562,
      4.203150848346713,
      4.343463188162611,
      4.525633153248387,
      4.759753606749501,
      5.113214311057053
    ],
    "ax_ego": [
      1.6414160770591142,
      1.6413475992484865,
      1.3281176235885686,
      0.7691999727852057,
      0.7308741517287318,
      0.2730410301842861,
      0.32265300255405527,
      0.4186336981301024,
      0.5740166285891312,
      0.9134428281055973
    ],
    "ay_ego": [
      -0.008695363187986804,
      -0.017332582764055693,
      -0.0817996160026907,
      -0.38834056685988283,
      -0.6451940301987522,
      -1.217506613245948,
      -1.6045840994009324,
      -1.5704340866087916,
      -1.7833880213846391,
      -1.6357231223961954
    ],
    "a_ego": [
      1.6414391086388502,
      1.6414391124814967,
      1.3306342845668506,
      0.8616710474431738,
      0.9749114638105871,
      1.2477474734343141,
      1.6367025056825228,
      1.6252745594492257,
      1.8734908392396934,
      1.873490841546633
    ],
    "yaw": [
      2.209253766954607,
      2.2145159176058486,
      2.2113449986822147,
      2.187229868538159,
      2.12205080560745,
      1.999240888752814,
      1.8299283312710766,
      1.6463656707296024,
      1.4579814625198733,
      1.2600834201899835
    ],
    "yaw_diff": [
      0.010524301302483607,
      -0.006341837847267939,
      -0.04823026028811128,
      -0.13035812586141837,
      -0.24561983370927187,
      -0.3386251149634747,
      -0.3671253210829484,
      -0.37676841641945824,
      -0.39579608465977945,
      -0.39579608465977945
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.735314597955201,
    "v_std": 1.0829792827614324,
    "vy_max": 0.18365996289133224,
    "a_max": 1.873490841546633,
    "ax_avg": 0.8612742611973279,
    "a_std": 0.3347063644063622,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "18ca4d6e9c0a576b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.122275937875767,
    "right_rear_min": 7.571021796923297,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "18ca4d6e9c0a576b",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "fdd71ab4630a5fb8": {
    "vx_ego": [
      11.005933244509627,
      10.876179173010657,
      10.7559284720151,
      10.667123000308827,
      10.543141711861884,
      10.39139673645999,
      10.245799545953949,
      10.12306376014733,
      10.045771083701478,
      9.967318178952905
    ],
    "vy_ego": [
      -0.000964833977043774,
      -0.053143659576040406,
      -0.04657760446822047,
      -0.031384787867074465,
      -0.028905549023092725,
      -0.003503761466817301,
      0.00034523208903208813,
      -0.01686054806892262,
      -0.03830481034999239,
      -0.04193092951163002
    ],
    "v_ego": [
      11.005933286800662,
      10.876309008665757,
      10.756029321656904,
      10.667169170338823,
      10.543181336160648,
      10.391397327157486,
      10.245799551770244,
      10.123077801246485,
      10.04584411210072,
      9.967406376953573
    ],
    "ax_ego": [
      -0.260001842146035,
      -0.2593848098480786,
      -0.2231084696248323,
      -0.1326427422591253,
      -0.36414464936378244,
      -0.24331623905836855,
      -0.3388824183715721,
      -0.15216838451352885,
      -0.15776758547042016,
      -0.1570038603470073
    ],
    "ay_ego": [
      -0.17910843133060803,
      -0.18000086183908487,
      -0.027557649078016583,
      -0.14626943622203945,
      -0.09263390429727125,
      -0.07016736049984944,
      -0.14961259426684778,
      -0.18243148374789167,
      -0.1268367161545241,
      -0.12778086683402354
    ],
    "a_ego": [
      0.3157226442513157,
      0.3157226470222515,
      0.2248039440068653,
      0.1974559319107279,
      0.37574241959835736,
      0.2532316146712827,
      0.37043922827451964,
      0.23756359886968043,
      0.20243063896068117,
      0.20243063526234617
    ],
    "yaw": [
      1.5681417209827382,
      1.5647052404702757,
      1.5592984572121469,
      1.5538173123695018,
      1.5479677273196937,
      1.5416434988204986,
      1.5359522375851387,
      1.529476062838477,
      1.5239359542309159,
      1.517937013432538
    ],
    "yaw_diff": [
      -0.006872961024924962,
      -0.010813566516257644,
      -0.010962289685290116,
      -0.011699170099616296,
      -0.012648456998390234,
      -0.011382522470719802,
      -0.012952349493323467,
      -0.01108021721512209,
      -0.011997881596755633,
      -0.011997881596755633
    ],
    "min_front_frame": [
      9,
      36.78481621721868
    ],
    "v_avg": 10.462214729285131,
    "v_std": 0.3445369583780068,
    "vy_max": 0.053143659576040406,
    "a_max": 0.37574241959835736,
    "ax_avg": -0.2288421001002751,
    "a_std": 0.06574077431198115,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fdd71ab4630a5fb8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.748354224369002,
    "right_rear_min": 34.25353242172691,
    "speed_mode": "decelerating",
    "front_frame": [
      39.72535505704213,
      42.124625914833146,
      44.51801207558708,
      44.76942495162682,
      43.598178330500424,
      42.34273006656762,
      41.098709412077504,
      39.73040060362999,
      38.252470717784966,
      36.78481621721868
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fdd71ab4630a5fb8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3ea7ba225643556d": {
    "vx_ego": [
      2.2207359022392192,
      2.349511601916322,
      2.47812512951237,
      2.5963109447536894,
      2.7030926033467293,
      2.8472615133163126,
      3.055587087315235,
      3.27387420218472,
      3.4632861260972003,
      3.657923560645452
    ],
    "vy_ego": [
      -0.020356210146015963,
      0.0072506099308019545,
      0.01461344782963081,
      0.004723673876461554,
      -0.013927211619777835,
      -0.014681421156914731,
      -0.011738671662637978,
      -0.014543728088684205,
      -0.005200170616700417,
      0.03058096079775785
    ],
    "v_ego": [
      2.220829197121145,
      2.3495227896072364,
      2.478168216723427,
      2.596315241826902,
      2.7031284818689807,
      2.8472993641939874,
      3.0556096355032007,
      3.2739065062639394,
      3.4632900301579994,
      3.6580513898370013
    ],
    "ax_ego": [
      0.2575557082363932,
      0.2575388733389993,
      0.2567322365778371,
      0.2163254368481229,
      0.21308698726161518,
      0.3718236751405515,
      0.4672509956250968,
      0.412480423058656,
      0.3567608134143784,
      0.415962970572491
    ],
    "ay_ego": [
      0.05374275663942042,
      0.05382337408335018,
      0.000781216085871568,
      0.11841029032160638,
      0.20373932059383487,
      0.3923119859060308,
      0.45005918732320915,
      0.515863520879607,
      0.7020789757669529,
      0.668706193431155
    ],
    "a_ego": [
      0.26310307245707726,
      0.2631030727270918,
      0.2567334251647638,
      0.24661243172552821,
      0.2948148145807283,
      0.5405196940728063,
      0.6487501560744874,
      0.6604962313147233,
      0.78752343850965,
      0.7875234383944876
    ],
    "yaw": [
      1.8181032796542556,
      1.8177902607164294,
      1.8203952798331717,
      1.836006077073643,
      1.8734297459501557,
      1.9277716607084816,
      1.998383685635908,
      2.0753690692764275,
      2.162748808768426,
      2.2490721667259317
    ],
    "yaw_diff": [
      -0.0006260378756524076,
      0.0052100382334847595,
      0.031221594480942638,
      0.07484733775302521,
      0.1086838295166519,
      0.14122404985485293,
      0.15397076728103887,
      0.17475947898399724,
      0.17264671591501113,
      0.17264671591501113
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.864612085310382,
    "v_std": 0.4603732543030471,
    "vy_max": 0.03058096079775785,
    "a_max": 0.78752343850965,
    "ax_avg": 0.3225518120074141,
    "a_std": 0.22052234048576919,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "3ea7ba225643556d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 19.350167957021068,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "3ea7ba225643556d",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "f0e0408bae9b5037": {
    "vx_ego": [
      5.651325867074757,
      4.872700830625862,
      4.122299236663149,
      3.47714804896051,
      2.9607145225512523,
      2.531273127942858,
      2.1341895607959835,
      1.737146348835255,
      1.3887129569696932,
      1.085802023041983
    ],
    "vy_ego": [
      -0.026434921551067525,
      -0.026708828440236143,
      -0.02164198873218437,
      -0.036850210014118145,
      -0.04453963757237167,
      -0.027486951573030938,
      -0.021699348052039436,
      -0.02998495222875741,
      -0.02804367239988681,
      -0.015812391927199743
    ],
    "v_ego": [
      5.651387693385198,
      4.872774029882631,
      4.12235604627619,
      3.47734330953502,
      2.961049520585728,
      2.5314223631690544,
      2.1342998718822144,
      1.7374051152888375,
      1.3889960850978598,
      1.0859171538292054
    ],
    "ax_ego": [
      -1.5571039561976918,
      -1.55681772236805,
      -1.4445784119463596,
      -1.1359642216648593,
      -0.9292737071203112,
      -0.7881986489365802,
      -0.8002037159245947,
      -0.7880923804851966,
      -0.6058686510454081,
      -0.6058982295599624
    ],
    "ay_ego": [
      0.050531147985716895,
      0.05869164672371885,
      0.012724592379852462,
      -0.061831675716304546,
      0.059440214492249344,
      0.033210708837903946,
      -0.018847992330600694,
      -0.023741813757396535,
      0.021398812405837075,
      0.020544023658786215
    ],
    "a_ego": [
      1.5579236590164671,
      1.557923659899414,
      1.444634453248537,
      1.1376457572656509,
      0.9311727883932233,
      0.7888980044130968,
      0.8004256578811201,
      0.7884499184471483,
      0.6062464280240855,
      0.6062464197766364
    ],
    "yaw": [
      0.5508263330323524,
      0.5560676216637707,
      0.5589197013252803,
      0.5596991051113931,
      0.5619200105234174,
      0.5641594679359545,
      0.563218292541112,
      0.561997167601346,
      0.5603564025270148,
      0.5589455679848703
    ],
    "yaw_diff": [
      0.010482577262836523,
      0.0057041593230193754,
      0.0015588075722254846,
      0.004441810824048709,
      0.004478914825074121,
      -0.0018823507896850167,
      -0.0024422498795320102,
      -0.0032815301486623927,
      -0.002821669084289047,
      -0.002821669084289047
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.9962951188931934,
    "v_std": 1.443892419403525,
    "vy_max": 0.04453963757237167,
    "a_max": 1.557923659899414,
    "ax_avg": -1.0211999645249015,
    "a_std": 0.35754037051525234,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f0e0408bae9b5037",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.001480589911706,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f0e0408bae9b5037",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5f0ef7cc5f0a5b02": {
    "vx_ego": [
      4.269066295626532,
      4.285679968984923,
      4.319388002751197,
      4.318206966227722,
      4.282581868965652,
      4.244304911036184,
      4.26111704061081,
      4.291577828122752,
      4.328363046566734,
      4.442645770716802
    ],
    "vy_ego": [
      -0.0481963834516721,
      -0.024039282488251414,
      -0.027290978024874235,
      -0.027257512104538195,
      -0.035784714520668226,
      -0.02475890155378946,
      -0.0313131171872878,
      -0.035306302699419145,
      0.0029934856005993105,
      0.039484683613226546
    ],
    "v_ego": [
      4.269338347780867,
      4.285747389156431,
      4.3194742175168175,
      4.318292993202726,
      4.282731372639038,
      4.244377125215433,
      4.26123209237561,
      4.291723056051625,
      4.328364081710375,
      4.442821230289142
    ],
    "ax_ego": [
      -0.03705228771456462,
      0.12249320186765654,
      0.023488937430520412,
      -0.011280822646271949,
      -0.11113471452540824,
      -0.017492143336660604,
      0.09705128782350247,
      0.05412222990483262,
      0.10949906033459667,
      0.33174701689708436
    ],
    "ay_ego": [
      1.1928216539775292,
      1.1870938403625952,
      1.1458394535470429,
      1.1794967818180093,
      1.2129168958390477,
      1.3070650056541886,
      1.2446940709578793,
      1.3613803859747233,
      1.44588714932612,
      1.4115677798800073
    ],
    "a_ego": [
      1.1933969876879074,
      1.1933969877331705,
      1.1460801819622397,
      1.179550726030304,
      1.2179976687106076,
      1.3071820470325832,
      1.2484719791592835,
      1.362455786837341,
      1.450027480015663,
      1.4500274757450242
    ],
    "yaw": [
      1.4412442778912582,
      1.5751205745153514,
      1.7108324812911864,
      1.8450929095126665,
      1.9855174018860464,
      2.130841485112625,
      2.2826104229554685,
      2.4354081125256206,
      2.589300660826178,
      2.744544693139294
    ],
    "yaw_diff": [
      0.26775259324818634,
      0.27142381355167,
      0.2685208564429602,
      0.2808489847467599,
      0.29064816645315705,
      0.303537875685687,
      0.3055953791403043,
      0.30778509660111464,
      0.3104880646262318,
      0.3104880646262318
    ],
    "min_front_frame": [
      9,
      70.5145924515178
    ],
    "v_avg": 4.304410190593806,
    "v_std": 0.052752865207154144,
    "vy_max": 0.0481963834516721,
    "a_max": 1.450027480015663,
    "ax_avg": 0.05614417660352877,
    "a_std": 0.10628039496466153,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "5f0ef7cc5f0a5b02",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      70.5145924515178
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "5f0ef7cc5f0a5b02",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "269e03fbbb4c5856": {
    "vx_ego": [
      5.150334935101156,
      4.874657189973823,
      4.496478928663427,
      3.915228965856071,
      3.1309476173385127,
      2.105723091452739,
      0.9746253673233721,
      0.1763184981547872,
      -0.07110508435154927,
      -0.06919806492305933
    ],
    "vy_ego": [
      -0.019693942684221533,
      0.01298126295182267,
      0.0024199474520194553,
      -0.010796297566591173,
      0.006102986154440271,
      0.008830800147613505,
      0.024511319287576744,
      0.021785258159163202,
      0.0025830595924131294,
      -0.016431335540044185
    ],
    "v_ego": [
      5.150372587988356,
      4.8746744745625135,
      4.496479579855764,
      3.915243851297074,
      3.130953565442597,
      2.1057416082958818,
      0.9749335420445004,
      0.17765925324795523,
      0.07115198674316055,
      0.07112215531552353
    ],
    "ax_ego": [
      -0.5525776047747245,
      -0.5499041205273969,
      -0.9603264059664629,
      -1.3638035604112635,
      -1.7758423873735554,
      -2.327944115816749,
      -2.2006261976729697,
      -0.9934774509329306,
      0.003818551819445056,
      0.0038133272767964434
    ],
    "ay_ego": [
      0.19591945936230554,
      0.20330248979653073,
      0.4086985188064917,
      0.4092086345892354,
      0.273195971846892,
      0.19802957220304085,
      0.03897430252570344,
      -0.03855040294650472,
      -0.03804779731914087,
      -0.03804831462902333
    ],
    "a_ego": [
      0.5862818808861398,
      0.5862818811207441,
      1.0436768107374446,
      1.4238721354155452,
      1.7967337654271367,
      2.336351753874563,
      2.200971298800136,
      0.9942251148907533,
      0.03823893590094016,
      0.038238929261017636
    ],
    "yaw": [
      -0.44811110032996715,
      -0.4347178216605488,
      -0.4001917962846264,
      -0.34905672993659353,
      -0.30606492903210614,
      -0.263249114778928,
      -0.23466639091429697,
      -0.22799617214430506,
      -0.22872690131426957,
      -0.2285895782287552
    ],
    "yaw_diff": [
      0.026786557338836725,
      0.06905205075184473,
      0.10227013269606577,
      0.0859836018089748,
      0.0856316285063563,
      0.05716544772926202,
      0.013340437539983818,
      -0.0014614583399290004,
      0.00027464617102873623,
      0.00027464617102873623
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.4968332604793324,
    "v_std": 1.9678334758460272,
    "vy_max": 0.024511319287576744,
    "a_max": 2.336351753874563,
    "ax_avg": -1.0716869964379812,
    "a_std": 0.7827949651093724,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "269e03fbbb4c5856",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "269e03fbbb4c5856",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "2adba5d32c3a560f": {
    "vx_ego": [
      6.931014024627995,
      6.942229772145536,
      6.98445891337653,
      7.028430750651899,
      7.0923629249137985,
      7.228103329426365,
      7.412007860197949,
      7.5553801373096485,
      7.651106010238602,
      7.766525754210374
    ],
    "vy_ego": [
      0.02487421808252188,
      0.019029716085771087,
      -0.003179151630988253,
      -0.03403433013477186,
      -0.03474878082617727,
      -0.032217469992940506,
      -0.005670723675877731,
      0.020989438303544272,
      0.026673314164843087,
      0.011483401665911885
    ],
    "v_ego": [
      6.9310586591310255,
      6.942255853781115,
      6.984459636911788,
      7.028513153742898,
      7.092448049613104,
      7.22817512974314,
      7.4120100294551134,
      7.555409292405902,
      7.651152504400746,
      7.766534243749063
    ],
    "ax_ego": [
      0.02035395396705922,
      0.026282978860681705,
      0.14504981939616124,
      0.02802106002026672,
      0.22426728677557384,
      0.31480935343393796,
      0.4189827138172782,
      0.15489520335277526,
      0.22981620447392986,
      0.23283912131389273
    ],
    "ay_ego": [
      -0.29292588924582214,
      -0.29245352664191737,
      -0.4382918035029174,
      -0.34876720037855174,
      -0.3426753741595947,
      -0.22796301274587089,
      -0.16615866873618182,
      -0.15902704420216682,
      -0.23311277428185095,
      -0.23009345215003735
    ],
    "a_ego": [
      0.29363218493984755,
      0.29363218526429574,
      0.46166996342051425,
      0.34989103998895466,
      0.4095390432829277,
      0.38867989938980396,
      0.4507274316855714,
      0.22199577655751815,
      0.32734851973421897,
      0.3273485193743011
    ],
    "yaw": [
      -1.3011190617734587,
      -1.3213754001136508,
      -1.3444696458895145,
      -1.3680987752876725,
      -1.3925645061866894,
      -1.412873309600336,
      -1.429990256610471,
      -1.444352232387129,
      -1.458010236700129,
      -1.4710621955551684
    ],
    "yaw_diff": [
      -0.040512676680384274,
      -0.04618849155172722,
      -0.04725825879631618,
      -0.04893146179803365,
      -0.04061760682729343,
      -0.03423389402026977,
      -0.028723951553315974,
      -0.027316008626000254,
      -0.026103917710078584,
      -0.026103917710078584
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.25920165529339,
    "v_std": 0.2979435224428639,
    "vy_max": 0.03474878082617727,
    "a_max": 0.46166996342051425,
    "ax_avg": 0.17953176954115566,
    "a_std": 0.07166820101388141,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2adba5d32c3a560f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2adba5d32c3a560f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8127022f9d745e8c": {
    "vx_ego": [
      1.2467630513903014,
      1.8134744908549103,
      2.141549054896063,
      2.0662250944732667,
      1.6473114567597091,
      0.9539127992804844,
      0.2977561044697014,
      -0.016313345357113908,
      -0.05559477783605629,
      -0.029189096151363298
    ],
    "vy_ego": [
      -0.02633505803820274,
      -0.013102512583850201,
      -0.00499672141640517,
      0.007227091457484458,
      0.008445915334607368,
      -0.008507683138252675,
      0.008766518075439156,
      0.023261572543341203,
      0.008924598114491287,
      0.0020728895454632168
    ],
    "v_ego": [
      1.247041154731443,
      1.8135218236397064,
      2.141554884132353,
      2.0662377336313447,
      1.647333108104622,
      0.9539507373567624,
      0.29788512817550783,
      0.028411722825791384,
      0.0563065517870313,
      0.029262607628186905
    ],
    "ax_ego": [
      1.1334344252834476,
      1.1334471012809195,
      0.17884365401367305,
      -0.48015769897737415,
      -1.1953278599429842,
      -1.5782751145656813,
      -1.0463828030114561,
      -0.20993343650019666,
      0.05281119283828488,
      0.05281058542900641
    ],
    "ay_ego": [
      0.028115428466655684,
      0.027599691405287674,
      0.0021496527132004242,
      0.028595689357475737,
      -0.04327492034168712,
      -0.03358443403106476,
      0.10164331864650017,
      -0.04362243336455851,
      -0.01370596997208157,
      -0.01370828721626447
    ],
    "a_ego": [
      1.1337830805473694,
      1.1337830808262161,
      0.17885657267137198,
      0.4810084503801112,
      1.1961109528327436,
      1.5786323990931204,
      1.051307916199429,
      0.21441773353299734,
      0.05456075239472155,
      0.05456074662023957
    ],
    "yaw": [
      1.3207819795840394,
      1.3212369995711506,
      1.3209182076145078,
      1.3188427588319889,
      1.3163308289008846,
      1.314653949043778,
      1.3141900511692124,
      1.314471169915823,
      1.3144003301608715,
      1.3144441328697676
    ],
    "yaw_diff": [
      0.0009100399742223431,
      -0.0006375839132854999,
      -0.004150897565037948,
      -0.005023859862208546,
      -0.0033537597142130338,
      -0.0009277957491313771,
      0.0005622374932210406,
      -0.0001416795099027368,
      8.760541779206932e-05,
      8.760541779206932e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.028150545201275,
    "v_std": 0.8274014253063817,
    "vy_max": 0.02633505803820274,
    "a_max": 1.5786323990931204,
    "ax_avg": -0.195872995415236,
    "a_std": 0.5390549202758946,
    "ini_direction_judge": "straight",
    "scenario_type": "side_ego_to_main",
    "scene_token": "8127022f9d745e8c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "8127022f9d745e8c",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "f8c4bf250c1c512c": {
    "vx_ego": [
      5.658701745868116,
      6.102139772679129,
      6.538359497879176,
      6.946646400463185,
      7.3165245307854825,
      7.6413885079015955,
      7.830808443527985,
      7.809651529292882,
      7.6648414925669845,
      7.5061279005442785
    ],
    "vy_ego": [
      -0.23110443045865514,
      0.10458162061230247,
      0.042369700582388425,
      -0.01627683566652971,
      -0.029325882577009743,
      0.035293364080332346,
      0.013199493212319613,
      0.010724810737706925,
      0.029459324443974477,
      -0.1899928954528156
    ],
    "v_ego": [
      5.663418994429821,
      6.103035893773064,
      6.538496777932545,
      6.946665469737796,
      7.316583302127753,
      7.641470012388891,
      7.8308195679539345,
      7.8096588933545625,
      7.664898104865659,
      7.508532037599081
    ],
    "ax_ego": [
      0.8822896270159286,
      0.8778652465012178,
      0.8640714445370239,
      0.7634269907646227,
      0.7165585219252494,
      0.5830724403307035,
      0.1749845992005309,
      -0.2584087268789219,
      -0.31689538571966885,
      -0.3174961437077344
    ],
    "ay_ego": [
      0.06765065315964242,
      0.11119452359142068,
      0.5322298996949931,
      0.36745545634497434,
      0.22682270257019854,
      -0.008800916706120376,
      -0.1497544706631133,
      -0.24902152176561093,
      -0.41727922268953666,
      -0.41682231222829697
    ],
    "a_ego": [
      0.8848794250138449,
      0.88487943421201,
      1.01483403933532,
      0.8472569165404439,
      0.7516013928572424,
      0.5831388572270501,
      0.23031719744942994,
      0.358868762125719,
      0.5239700708807724,
      0.5239700766652865
    ],
    "yaw": [
      0.9046180286948815,
      0.855150809529581,
      0.8904317032998217,
      0.9324039818118156,
      0.9550467770602689,
      0.9536974868187768,
      0.9514444085089682,
      0.939098321414187,
      0.9151717301715911,
      0.9166122080747964
    ],
    "yaw_diff": [
      -0.098934438330601,
      0.07056178754048137,
      0.08394455702398784,
      0.0452855904969065,
      -0.002698580482984214,
      -0.004506156619617174,
      -0.024692174189562266,
      -0.04785318248519177,
      0.002880955806410457,
      0.002880955806410457
    ],
    "min_front_frame": [
      9,
      67.96797955061743
    ],
    "v_avg": 7.10235790541631,
    "v_std": 0.7252767434281548,
    "vy_max": 0.23110443045865514,
    "a_max": 1.01483403933532,
    "ax_avg": 0.39694686139689517,
    "a_std": 0.24263687855053143,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "f8c4bf250c1c512c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.62157769573327,
      75.18380912133674,
      71.65354667621203,
      67.96797955061743
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 10,
    "token": "f8c4bf250c1c512c",
    "smoothness": "No"
  },
  "ee7be0b111a85c25": {
    "vx_ego": [
      2.3496352904308404,
      2.7018396396053634,
      3.2520197190933877,
      4.075555532215453,
      4.955981063998884,
      5.738741316868989,
      6.1538459300255095,
      6.246605617245949,
      6.371136762995128,
      6.561244298879031
    ],
    "vy_ego": [
      0.04659247907975074,
      0.02648161271337092,
      0.022670164364799406,
      0.03957812120223436,
      0.05381707313853831,
      0.05732818367000023,
      0.038164307327422375,
      0.015457967991226979,
      0.019838795346715427,
      0.019787975821072834
    ],
    "v_ego": [
      2.350097201637587,
      2.701969413956187,
      3.2520987361586307,
      4.0757477012015695,
      4.956273255590001,
      5.739027654801998,
      6.153964270683192,
      6.246624743506133,
      6.37116765048518,
      6.561274137967388
    ],
    "ax_ego": [
      0.7044024187609115,
      0.7043977507175353,
      1.4964507467333024,
      1.7977347823276362,
      1.7236639740925326,
      1.4070052791791225,
      0.25292388435713853,
      0.11795858610056563,
      0.3802238602103315,
      0.38022457207960497
    ],
    "ay_ego": [
      -0.03958483709130835,
      -0.039667856894029185,
      0.0049996209124411675,
      0.056425318859330956,
      0.027838033386231795,
      0.021756913637116876,
      -0.045321239039021084,
      0.0006104085959306726,
      -0.0031315791204103993,
      -0.0030437936335817335
    ],
    "a_ego": [
      0.7055138034679179,
      0.7055138057376965,
      1.496459098541596,
      1.7986200722217494,
      1.7238887585013354,
      1.4071734857255283,
      0.2569523418580482,
      0.11796016545214974,
      0.38023675606263146,
      0.3802367550524312
    ],
    "yaw": [
      -3.1116848249872886,
      -3.111566962159866,
      -3.113254155763866,
      -3.113682084982176,
      -3.112173390957986,
      -3.110523546152618,
      -3.1083443048605437,
      -3.10648996254322,
      -3.107288409531619,
      -3.107519306777527
    ],
    "yaw_diff": [
      0.0002357256548455311,
      -0.003374387208000762,
      -0.0008558584366191724,
      0.003017388048379921,
      0.00329968961073579,
      0.004358482584148504,
      0.0037086846346472413,
      -0.001596893976797631,
      -0.0004617944918159367,
      -0.0004617944918159367
    ],
    "min_front_frame": [
      0,
      40.620897232131675
    ],
    "v_avg": 4.840824476598786,
    "v_std": 1.5398188346078434,
    "vy_max": 0.05732818367000023,
    "a_max": 1.7986200722217494,
    "ax_avg": 0.8964985854558682,
    "a_std": 0.6115781072995115,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ee7be0b111a85c25",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      40.620897232131675,
      43.63363363836011,
      46.356394477267905,
      48.42046578477916,
      50.028675566322114,
      50.879091414934486,
      50.727015463558025,
      49.886739720775026,
      47.85475252248327,
      45.33937838286305
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ee7be0b111a85c25",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "387504d3db1852b0": {
    "vx_ego": [
      3.2208764211931236,
      2.880327564489885,
      2.531854183082735,
      2.2019206778516116,
      1.9633973813779249,
      1.8060894076365641,
      1.694295466640268,
      1.6803619168269808,
      1.898072340227044,
      2.278779154812814
    ],
    "vy_ego": [
      0.0024382901235513454,
      0.009231482444727934,
      0.007759729628258327,
      0.0009234504451048897,
      -0.0030189267403989417,
      0.00041169747848801563,
      0.0011001205866876251,
      -0.008238870073682292,
      -0.020569872858281713,
      -0.024560634281542315
    ],
    "v_ego": [
      3.22087734411861,
      2.8803423579547554,
      2.531866074222222,
      2.201920871491804,
      1.9633997023327563,
      1.806089454559715,
      1.6942958237990995,
      1.680382114431874,
      1.8981837973189988,
      2.2789115079716704
    ],
    "ax_ego": [
      -0.6811558390785926,
      -0.6810917797336127,
      -0.7129475261748774,
      -0.6068268869926693,
      -0.34720929248857446,
      -0.2820024190874271,
      -0.16520760417671507,
      0.10947071491714437,
      0.7614181573844527,
      0.761417465078547
    ],
    "ay_ego": [
      0.026912467676029617,
      0.02848810371743382,
      -0.00240953042718528,
      -0.004012501189401441,
      0.018506971232713082,
      0.020207622955755553,
      0.002981302218398832,
      -0.037318538186361945,
      -0.007559029054932331,
      -0.007629608747023453
    ],
    "a_ego": [
      0.6816872875646683,
      0.6816873069627417,
      0.7129515978772731,
      0.606840152711576,
      0.34770217251927676,
      0.2827255071561158,
      0.16523450196834677,
      0.11565686627622958,
      0.761455677840141,
      0.7614556894897253
    ],
    "yaw": [
      1.0534017479063478,
      1.0557150515680522,
      1.0586638256570793,
      1.060886259891249,
      1.0645766131247176,
      1.067906062231415,
      1.0708496121159363,
      1.071306167024276,
      1.0719570991721088,
      1.0720498015620055
    ],
    "yaw_diff": [
      0.0046266073234089156,
      0.005897548178054102,
      0.004444868468339358,
      0.007380706466937337,
      0.006658898213394604,
      0.005887099769042781,
      0.0009131098166794693,
      0.001301864295665478,
      0.00018540477979334113,
      0.00018540477979334113
    ],
    "min_front_frame": [
      9,
      11.455818986669357
    ],
    "v_avg": 2.2156269048201507,
    "v_std": 0.4946673408435446,
    "vy_max": 0.024560634281542315,
    "a_max": 0.7614556894897253,
    "ax_avg": -0.1844135010352325,
    "a_std": 0.24255187382491003,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "387504d3db1852b0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.594987234648194,
      13.586250009266196,
      12.800486941768698,
      12.265821260645815,
      11.796095642770599,
      11.485924943427065,
      11.471922477641371,
      11.530340784059065,
      11.565822257336402,
      11.455818986669357
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "387504d3db1852b0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c810620e645e53b8": {
    "vx_ego": [
      3.401078966161965,
      3.505339993852264,
      3.644570224084232,
      3.825505496994521,
      4.035627825906727,
      4.172897135762778,
      4.173319754135528,
      4.134177591279389,
      4.112158277765413,
      4.105162474771431
    ],
    "vy_ego": [
      -0.02559429384418288,
      -0.0038786403309496453,
      -0.00018160415022838716,
      -0.0103412854636864,
      -0.007504516501287695,
      -0.010119677448478859,
      0.002075804699852579,
      -0.013247926368403329,
      0.008143244534638994,
      0.06346684795243895
    ],
    "v_ego": [
      3.4011752677488887,
      3.5053421396992057,
      3.64457022860878,
      3.8255194744923644,
      4.035634803472754,
      4.172909406340959,
      4.173320270386994,
      4.134198817641662,
      4.112166340729197,
      4.105653052202599
    ],
    "ax_ego": [
      0.19835983212658498,
      0.2216078236162089,
      0.3362437242238296,
      0.3876925130391482,
      0.4547684704713728,
      0.09614170738649107,
      -0.0946800309376184,
      -0.059189186795962134,
      -0.02733050350166899,
      -0.006882961331162923
    ],
    "ay_ego": [
      0.42860761101818845,
      0.4170624419673952,
      0.4325740119070953,
      0.39716992671558415,
      0.4041047160614021,
      0.40760678010436596,
      0.3648149782440981,
      0.4253629689224224,
      0.4684481168284716,
      0.46919422884705075
    ],
    "a_ego": [
      0.47228286780700157,
      0.47228286861553603,
      0.5478869571885341,
      0.5550220133957504,
      0.608370761360158,
      0.4187917323518202,
      0.37690088433113306,
      0.42946130811059685,
      0.469244706503756,
      0.4692447117870002
    ],
    "yaw": [
      -1.409702774134323,
      -1.3547354079520333,
      -1.296135495371003,
      -1.2377936112705794,
      -1.1874542387320148,
      -1.137925070712792,
      -1.094826755291257,
      -1.043535954514828,
      -0.994492012410524,
      -0.9508841100615717
    ],
    "yaw_diff": [
      0.10993473236457962,
      0.11719982516206073,
      0.11668376820084703,
      0.10067874507712915,
      0.09905833603844583,
      0.08619663084306994,
      0.102581601552858,
      0.09808788420860792,
      0.08721580469790458,
      0.08721580469790458
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9110489801323403,
    "v_std": 0.27998017639935013,
    "vy_max": 0.06346684795243895,
    "a_max": 0.608370761360158,
    "ax_avg": 0.15067313882972233,
    "a_std": 0.06630121591056097,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "c810620e645e53b8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "c810620e645e53b8",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d345cd51380a5243": {
    "vx_ego": [
      -0.3470785806840849,
      0.32342204145360975,
      1.2137252103221616,
      2.3350356533715417,
      3.3990165826082746,
      4.322441069708795,
      5.1194980711902085,
      5.813408912779097,
      6.399321125186796,
      6.932713014550108
    ],
    "vy_ego": [
      0.020452539450027563,
      0.0007034721096073615,
      -0.0020627538114434962,
      0.019970512605793855,
      0.03707395042395789,
      0.02635901900284421,
      0.006149578050626214,
      -0.006452625912928056,
      0.014731843785920518,
      -0.07131566665288869
    ],
    "v_ego": [
      0.3476806689185261,
      0.32342280651034716,
      1.2137269631695846,
      2.3351210512283944,
      3.3992187641642118,
      4.322521439968587,
      5.119501764647656,
      5.813412493842202,
      6.399338082214701,
      6.933079811052416
    ],
    "ax_ego": [
      1.3410012090199706,
      1.3410001505241413,
      2.2201658389777394,
      2.265215549104476,
      1.9909420766362609,
      1.7020784777915365,
      1.4857443661625862,
      1.290892172589843,
      1.0564666203528186,
      1.0814364460257389
    ],
    "ay_ego": [
      -0.03948081039279594,
      -0.03951673890507923,
      0.024931252724429753,
      0.03240867747460641,
      0.013989504288458687,
      0.03319514302425908,
      0.08647433029067453,
      0.21075534250249778,
      0.5240168381684095,
      0.47033028877025007
    ],
    "a_ego": [
      1.3415822661999877,
      1.3415822659678616,
      2.2203058167572634,
      2.2654473744230623,
      1.9909912251818047,
      1.702402144641963,
      1.4882587582080897,
      1.3079833392085198,
      1.1792859562479847,
      1.1792859565548501
    ],
    "yaw": [
      -0.5238949589671005,
      -0.5238681678702263,
      -0.5252043937074005,
      -0.5295567736801959,
      -0.5314538085759185,
      -0.5256770630291961,
      -0.5151197277524459,
      -0.4992918605732765,
      -0.4728075276671544,
      -0.422594529858319
    ],
    "yaw_diff": [
      5.358219374840267e-05,
      -0.002672451674348375,
      -0.008704759945590945,
      -0.0037940697914451427,
      0.011553491093444723,
      0.02111467055350058,
      0.03165573435833868,
      0.05296866581224424,
      0.10042599561767074,
      0.10042599561767074
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.6207023845716635,
    "v_std": 2.3520122566055535,
    "vy_max": 0.07131566665288869,
    "a_max": 2.2654473744230623,
    "ax_avg": 1.5774942907185112,
    "a_std": 0.39702020396612725,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "d345cd51380a5243",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "d345cd51380a5243",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1ce780e012fc5d23": {
    "vx_ego": [
      1.9597492880951468,
      2.185636554434782,
      2.405316799086371,
      2.6151728328758015,
      2.794576354945656,
      2.9823262663473815,
      3.1210960854200716,
      3.1395064721944355,
      3.151805249702091,
      3.1941082114612525
    ],
    "vy_ego": [
      0.012837591729413456,
      0.00408805141600288,
      -0.014158593114121931,
      -0.017351140762587258,
      -0.0003896401608878275,
      0.00729026928983334,
      0.013325385853658611,
      0.03154528352383146,
      0.05735818716884156,
      0.08331584303118733
    ],
    "v_ego": [
      1.9597913347983877,
      2.1856403776115423,
      2.405358470109201,
      2.6152303928903486,
      2.7945763821088887,
      2.982335176832381,
      3.121124531372089,
      3.13966494930006,
      3.1523271235208057,
      3.1951946413675953
    ],
    "ax_ego": [
      0.451758747880904,
      0.4517423516423441,
      0.42699297889934396,
      0.41263398956798575,
      0.3049940675716622,
      0.445996077755596,
      0.1090546305207068,
      -0.03547138926456154,
      0.08461956597684066,
      0.08461535132703672
    ],
    "ay_ego": [
      -0.011362521751804744,
      -0.011996707765529552,
      -0.03981610183071571,
      0.04626249102142296,
      0.027412199369130252,
      0.007943385766831235,
      0.0274242625753569,
      0.05513124386887916,
      0.051391459098815616,
      0.051398398281103735
    ],
    "a_ego": [
      0.45190161892549396,
      0.4519016190107829,
      0.428845340413452,
      0.41521925222983075,
      0.30622346403918915,
      0.4460668097390977,
      0.11245000051493995,
      0.06555664349925092,
      0.09900279296269437,
      0.09900279302151441
    ],
    "yaw": [
      -2.2474555523188195,
      -2.2460517120199706,
      -2.2437487848768516,
      -2.2418363375167196,
      -2.2413002832672317,
      -2.240896571233355,
      -2.2399893473088173,
      -2.2392210191511928,
      -2.2389598038342378,
      -2.239041806688487
    ],
    "yaw_diff": [
      0.0028076805976979813,
      0.004605854286237943,
      0.003824894720263927,
      0.0010721084989757657,
      0.0008074240677533595,
      0.0018144478490755844,
      0.0015366563152490187,
      0.0005224306339099982,
      -0.0001640057084983937,
      -0.0001640057084983937
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.75512433799113,
    "v_std": 0.4225179076000701,
    "vy_max": 0.08331584303118733,
    "a_max": 0.4519016190107829,
    "ax_avg": 0.27369363718778583,
    "a_std": 0.16334139447419208,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "1ce780e012fc5d23",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "1ce780e012fc5d23",
    "pedestrians": "No"
  },
  "47e3bbbd82b2583b": {
    "vx_ego": [
      10.276015201938106,
      10.08538604526313,
      9.914476231758936,
      9.820860415975936,
      9.843308948637256,
      9.961425193520547,
      10.168364097330212,
      10.42109349473707,
      10.609056714446494,
      10.738079535583193
    ],
    "vy_ego": [
      0.07851834827116733,
      0.053862206891282405,
      0.011340565802689717,
      0.004860571540841185,
      0.015216224635719477,
      0.006085746333626574,
      -0.004119911669571152,
      -0.008818776330014266,
      0.003988271285092715,
      0.00015773357239012853
    ],
    "v_ego": [
      10.276315174296586,
      10.085529873007143,
      9.914482717648239,
      9.820861618780642,
      9.84332070958853,
      9.961427052506801,
      10.16836493196159,
      10.421097226149808,
      10.609057464103495,
      10.738079536741681
    ],
    "ax_ego": [
      -0.3813828305477,
      -0.3814121839020969,
      -0.3026550308227132,
      -0.07184342570828758,
      0.16164376963187627,
      0.310778930566276,
      0.5171755041370703,
      0.4935193761065618,
      0.2580435133134666,
      0.2580515641787661
    ],
    "ay_ego": [
      -0.028088791687217618,
      -0.02768749268056045,
      0.012915957881904888,
      -0.005609644427921081,
      0.03478921032501022,
      -0.05186565432581884,
      -0.14580940734198022,
      -0.12467169818178231,
      -0.01754224872821529,
      -0.0174235203345193
    ],
    "a_ego": [
      0.3824157994317488,
      0.3824158094011061,
      0.30293050300407953,
      0.07206209772210315,
      0.16534508585331734,
      0.3150771171992081,
      0.5373368453296798,
      0.5090229925260149,
      0.25863910232909443,
      0.2586391092544885
    ],
    "yaw": [
      1.0929372231365075,
      1.0939894166822972,
      1.0978761407670006,
      1.098720406241896,
      1.098408176115204,
      1.098900031975609,
      1.0949939969665385,
      1.0888837682857786,
      1.0842974526987326,
      1.083837352951576
    ],
    "yaw_diff": [
      0.0021043870915793406,
      0.007773448169406727,
      0.001688530949790934,
      -0.0006244602533840293,
      0.000983711720810021,
      -0.007812070018140993,
      -0.012220457361519887,
      -0.00917263117409206,
      -0.0009201994943133229,
      -0.0009201994943133229
    ],
    "min_front_frame": [
      6,
      18.348492454519302
    ],
    "v_avg": 10.183853630478453,
    "v_std": 0.30536304936476294,
    "vy_max": 0.07851834827116733,
    "a_max": 0.5373368453296798,
    "ax_avg": 0.08619191869532197,
    "a_std": 0.1356347143254319,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "47e3bbbd82b2583b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.293467459370226,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      22.89582198885216,
      22.94912619811455,
      23.251456198536953,
      22.888081285741688,
      21.37533408695315,
      19.912814778223872,
      18.348492454519302,
      25.069673549916086,
      25.31093142220177,
      25.596065750401134
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "47e3bbbd82b2583b",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "99e0c0250e6e54c5": {
    "vx_ego": [
      3.5764298436649335,
      3.5077124734992715,
      3.4194508197661175,
      3.2844501918026348,
      3.1607912803742844,
      3.146358300804299,
      3.216151473759246,
      3.2772743643069386,
      3.3210874026994395,
      3.3700837965081747
    ],
    "vy_ego": [
      -0.03517852061411064,
      -0.055435856157702634,
      -0.05653107194131046,
      -0.04735397895385296,
      -0.013279319196324746,
      0.018892312747944784,
      0.016480933742617387,
      0.01180904074339606,
      0.010217149860886954,
      0.015422516306172196
    ],
    "v_ego": [
      3.5766028511661423,
      3.5081505000342155,
      3.4199180795589252,
      3.2847915400760406,
      3.1608191752152517,
      3.1464150197520167,
      3.21619370115371,
      3.2772956400646445,
      3.3211031189230167,
      3.3701190853582856
    ],
    "ax_ego": [
      -0.13826527926052617,
      -0.13773486103158725,
      -0.21809746515664663,
      -0.32563413353846404,
      -0.17287170986563166,
      0.11726512798855887,
      0.16476477490444807,
      0.08236912585896497,
      0.0943306081083735,
      0.10352564518546993
    ],
    "ay_ego": [
      -0.08438471426978109,
      -0.08524773003705602,
      -0.09638841147887772,
      -0.1292851454053736,
      -0.0042895196378920225,
      -0.16170308308416897,
      -0.21691801202933592,
      -0.2554985534383747,
      -0.24472297953491715,
      -0.240977263062042
    ],
    "a_ego": [
      0.16198168862986917,
      0.16198168853256664,
      0.23844754176794555,
      0.3503601543381251,
      0.17292492027059314,
      0.19974733370210165,
      0.272398338820325,
      0.2684477299286996,
      0.2622739032739304,
      0.26227390362737274
    ],
    "yaw": [
      1.904881413777195,
      1.8986276946107048,
      1.8858706486614218,
      1.8663800827816237,
      1.8453202116584226,
      1.8216888085248322,
      1.7926405603321647,
      1.7578169943077102,
      1.720381930648833,
      1.6825234415839838
    ],
    "yaw_diff": [
      -0.012507438332980403,
      -0.025514091898565905,
      -0.03898113175959628,
      -0.042119742246402136,
      -0.047262806267180935,
      -0.058096496385334984,
      -0.06964713204890893,
      -0.07487012731775433,
      -0.07571697812969846,
      -0.07571697812969846
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.3281408711302247,
    "v_std": 0.13505146585953773,
    "vy_max": 0.05653107194131046,
    "a_max": 0.3503601543381251,
    "ax_avg": -0.043034816680704045,
    "a_std": 0.05751896406793787,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "99e0c0250e6e54c5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "99e0c0250e6e54c5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "747a1e62def55db5": {
    "vx_ego": [
      8.956376789129639,
      8.764443689694755,
      8.59203444588745,
      8.443361339231984,
      8.263511749774091,
      8.0375860695321,
      7.72530890742952,
      7.317927034153124,
      6.897378171700661,
      6.4838011901906025
    ],
    "vy_ego": [
      0.03909909881884266,
      -0.02823472410788419,
      -0.03765007355798611,
      -0.02183074743009028,
      -0.03363564428485999,
      -0.03074648803545088,
      -0.04789952951007903,
      -0.009742300698015072,
      -0.023052159542102935,
      -0.04558610493540316
    ],
    "v_ego": [
      8.956462132359439,
      8.764489168769373,
      8.592116936317579,
      8.443389561448097,
      8.263580204440501,
      8.037644877180316,
      7.725457402648543,
      7.317933519075725,
      6.8974166936261225,
      6.483961440884751
    ],
    "ax_ego": [
      -0.38397348634147527,
      -0.38392005341610236,
      -0.30547019449460144,
      -0.2894543005450611,
      -0.43011311384942136,
      -0.474012568223723,
      -0.774616466272867,
      -0.8551413157310227,
      -0.8268853447288755,
      -0.8268384324720489
    ],
    "ay_ego": [
      0.005167661600219364,
      0.008230570908371593,
      0.0169544472056557,
      -0.04202361891818737,
      -0.06099023907395093,
      -0.019852172678506114,
      0.03376395630345169,
      0.06608706166601352,
      0.009424116500749313,
      0.01289869733058091
    ],
    "a_ego": [
      0.3840082589471761,
      0.38400826776581337,
      0.30594034223132294,
      0.2924889342368555,
      0.4344158145918988,
      0.474428101606668,
      0.7753519681836921,
      0.8576911854448733,
      0.8269390469068509,
      0.8269390363295597
    ],
    "yaw": [
      1.0175136677858303,
      1.0254910706625764,
      1.0273035783304558,
      1.024709943459614,
      1.023043651312134,
      1.0202114248636645,
      1.0228166676119474,
      1.0210648057796603,
      1.025595641119951,
      1.029797756994556
    ],
    "yaw_diff": [
      0.015954805753492174,
      0.0036250153357588744,
      -0.005187269741683487,
      -0.0033325842949603057,
      -0.005664452896938954,
      0.0052104854965659975,
      -0.0035037236645742986,
      0.00906167068058128,
      0.008404231749210123,
      0.008404231749210123
    ],
    "min_front_frame": [
      9,
      29.449172490253748
    ],
    "v_avg": 7.948245193675045,
    "v_std": 0.7839143775203696,
    "vy_max": 0.04789952951007903,
    "a_max": 0.8576911854448733,
    "ax_avg": -0.5550425276075199,
    "a_std": 0.22327454287347262,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "747a1e62def55db5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.581759494120725,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      65.20728670153599,
      60.766823215638745,
      56.53119923035163,
      52.26288587796717,
      48.11353400908473,
      44.02304273791844,
      40.09960461283812,
      36.39407290225888,
      32.81201886597547,
      29.449172490253748
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "747a1e62def55db5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "984716e6e27e59ee": {
    "vx_ego": [
      1.348546934222219,
      2.019934510230927,
      2.6960388406326556,
      3.3339585957205937,
      3.9012285057794225,
      4.254374974447484,
      4.2850210646524145,
      4.305938103781882,
      4.500983227335202,
      4.776006972370985
    ],
    "vy_ego": [
      -0.01930403896822319,
      0.014016447797164266,
      0.040602314329246214,
      0.022171613775983978,
      -0.004538507720075691,
      -0.0017655065349422294,
      0.004561473668883043,
      -0.04511121881025382,
      -0.10592870972194368,
      0.04587388517853763
    ],
    "v_ego": [
      1.3486850928666159,
      2.0199831401352597,
      2.6963445584955874,
      3.3340323181452014,
      3.901231145722882,
      4.254375340777815,
      4.285023492532677,
      4.306174401445355,
      4.502229548156798,
      4.776227278247722
    ],
    "ax_ego": [
      1.3427767780397224,
      1.342772895588429,
      1.361302714209727,
      1.189415484794237,
      1.079664668644742,
      0.33291560083165905,
      -0.20387862243155522,
      0.2883596233970488,
      0.47993752479905244,
      0.5997137835653976
    ],
    "ay_ego": [
      0.06640525916696038,
      0.06648361112590695,
      0.06978746465197772,
      -0.08617173535681133,
      -0.022791629595352858,
      -0.045659011717992415,
      -0.45783108930200866,
      -0.6503041279341029,
      -0.9469718106309939,
      -0.8760359626786077
    ],
    "a_ego": [
      1.34441776769268,
      1.3444177623325553,
      1.3630903748238121,
      1.1925329192281084,
      1.0799052065340606,
      0.33603205595325025,
      0.5011744197542932,
      0.7113696164539373,
      1.0616476053003576,
      1.0616476016572352
    ],
    "yaw": [
      2.200166519628582,
      2.2001081720026603,
      2.203284293014936,
      2.208005082241104,
      2.207858930655158,
      2.203091504974876,
      2.1726106541133694,
      2.11892402294278,
      2.041670434769608,
      1.910453925262273
    ],
    "yaw_diff": [
      -0.0001166952518429909,
      0.006352242024551202,
      0.009441578452336508,
      -0.0002923031718919944,
      -0.009534851360564645,
      -0.06096170172301285,
      -0.10737326234117894,
      -0.15450717634634348,
      -0.2624330190146704,
      -0.2624330190146704
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5424306316525915,
    "v_std": 1.1001580458998437,
    "vy_max": 0.10592870972194368,
    "a_max": 1.3630903748238121,
    "ax_avg": 0.781298045143846,
    "a_std": 0.34541611229215013,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "984716e6e27e59ee",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.465184864746439,
    "right_rear_min": 11.752217360979305,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "984716e6e27e59ee",
    "pedestrians": "No"
  },
  "e11091e5742d545b": {
    "vx_ego": [
      -0.10470737667837526,
      0.14131069015259348,
      0.5699987116093065,
      1.2676856641800471,
      2.0729658001186477,
      2.8211320535319535,
      3.4868999602989894,
      4.098594409768912,
      4.410187271682514,
      4.4679478006479245
    ],
    "vy_ego": [
      -0.009152855801066867,
      0.006018952319306756,
      0.052088798913113576,
      0.09934329729295899,
      0.072867896522122,
      -0.025609764673984348,
      -0.09364388236352417,
      -0.13042255213860043,
      -0.06825311946595747,
      -0.02043803440481584
    ],
    "v_ego": [
      0.10510665773480901,
      0.1414388169436678,
      0.5723738063612626,
      1.27157226844747,
      2.074246113363866,
      2.821248291716288,
      3.488157179634715,
      4.1006689915055725,
      4.41071539091192,
      4.46799454594172
    ],
    "ax_ego": [
      0.49199450309916315,
      0.4920959139357816,
      1.2215488238291847,
      1.5492981613554546,
      1.6377843571383992,
      1.3505516335586496,
      1.3308203368877298,
      1.131136783503758,
      0.11555831269078307,
      0.11566587184750231
    ],
    "ay_ego": [
      0.03128424531185642,
      0.029646503689160192,
      0.18504962539149006,
      0.27488227121179865,
      0.3015947725851136,
      0.41305818467821137,
      0.3728210544097823,
      0.15919483962230857,
      0.10480572882242382,
      0.10468701886962362
    ],
    "a_ego": [
      0.4929881287460428,
      0.49298813747724557,
      1.2354856910769931,
      1.5734945363127095,
      1.6653218930098486,
      1.412305483540157,
      1.3820558265443523,
      1.1422842990944069,
      0.15600629610993344,
      0.1560063006101092
    ],
    "yaw": [
      -2.6140274938480053,
      -2.6106990333056785,
      -2.581948819796648,
      -2.504836448625466,
      -2.402113478817633,
      -2.290611688757452,
      -2.206863618659688,
      -2.16239854077228,
      -2.1615242171020417,
      -2.160497398579794
    ],
    "yaw_diff": [
      0.006656921084653433,
      0.05750042701806102,
      0.15422474234236372,
      0.20544593961566626,
      0.2230035801203618,
      0.16749614019552794,
      0.08893015577481655,
      0.001748647340476417,
      0.00205363704449546,
      0.00205363704449546
    ],
    "min_front_frame": [
      5,
      22.630398392411344
    ],
    "v_avg": 2.345352206256129,
    "v_std": 1.6622527339387585,
    "vy_max": 0.13042255213860043,
    "a_max": 1.6653218930098486,
    "ax_avg": 0.9436454697846406,
    "a_std": 0.5561934030311004,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "e11091e5742d545b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      22.630398392411344,
      27.404350664584193,
      33.989364039721856,
      31.781650044175944,
      29.627350211705245
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "e11091e5742d545b",
    "pedestrians": "No"
  },
  "0cf7d096e8c05fed": {
    "vx_ego": [
      6.868517676032885,
      6.9940500867984525,
      7.07017336495656,
      7.105134764169109,
      7.178610093073644,
      7.213684063247609,
      7.175980044951685,
      7.139280445203468,
      7.093094134043579,
      7.03263897312201
    ],
    "vy_ego": [
      0.09362047317585942,
      0.01427279661662828,
      -0.0022961643125212206,
      0.00416645254857162,
      -0.0003198422646453203,
      0.012032113647219678,
      0.015287110933704273,
      0.00384511180136915,
      0.0261015038164909,
      0.06733200439101905
    ],
    "v_ego": [
      6.869155687489829,
      6.994064650070709,
      7.070173737816611,
      7.105135985773337,
      7.178610100198914,
      7.213694097763735,
      7.175996328127926,
      7.13928148066382,
      7.093142158656128,
      7.032961291311784
    ],
    "ax_ego": [
      0.24935426821392148,
      0.2497888718149376,
      0.05482889759225803,
      0.08520997199543445,
      0.20838160080205378,
      -0.06832722652526783,
      -0.08251246151545685,
      -0.06419655128693731,
      -0.12046720502231856,
      -0.12056360023167634
    ],
    "ay_ego": [
      0.03336450148771904,
      0.029937614637586138,
      0.11169093377500883,
      0.16315902073192864,
      0.11987195546907309,
      0.057809448422738524,
      -0.03816338504433883,
      -0.05975091625702005,
      0.023090421598442323,
      0.022581733170268486
    ],
    "a_ego": [
      0.25157651129631375,
      0.2515765117270846,
      0.12442295888908818,
      0.18406956666886745,
      0.24040003590017608,
      0.08950163245202028,
      0.09091067188940039,
      0.08770045148509667,
      0.12266016083261569,
      0.12266016620646114
    ],
    "yaw": [
      -0.6086662342243744,
      -0.5949353785701765,
      -0.5875696873807047,
      -0.5787821753783491,
      -0.5682238934022872,
      -0.5637888888745943,
      -0.5635587077943193,
      -0.5653806433215873,
      -0.5697917744560156,
      -0.5740127755755879
    ],
    "yaw_diff": [
      0.027461711308395698,
      0.01473138237894367,
      0.017575024004711226,
      0.0211165639521238,
      0.008870009055385708,
      0.0004603621605501207,
      -0.0036438710545361186,
      -0.008822262268856518,
      -0.008442002239144708,
      -0.008442002239144708
    ],
    "min_front_frame": [
      4,
      19.351264868269087
    ],
    "v_avg": 7.0872215517872785,
    "v_std": 0.09734479063798077,
    "vy_max": 0.09362047317585942,
    "a_max": 0.2515765117270846,
    "ax_avg": 0.03914965658369485,
    "a_std": 0.06536182748746709,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "0cf7d096e8c05fed",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.39397915938689,
    "right_rear_min": 18.157964532520047,
    "speed_mode": "quasi_constant",
    "front_frame": [
      28.141631824599855,
      29.16292151461262,
      19.675864977999662,
      21.086946097100718,
      19.351264868269087,
      21.272858367674242,
      23.115570894081827,
      24.34093965628501,
      24.74726862558261,
      24.674792373322358
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0cf7d096e8c05fed",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "30d5d8dfd52451a9": {
    "vx_ego": [
      4.764297754096024,
      4.236204832430872,
      3.6693594136969887,
      2.996610354866011,
      2.267976762721264,
      1.5882261975784873,
      0.9356570154747088,
      0.32746864161466976,
      -0.013608880632087683,
      -0.14244539261817676
    ],
    "vy_ego": [
      -0.044760639277920955,
      -0.09414708009336725,
      -0.08683050846086582,
      -0.01940571511557687,
      -0.008836884546064239,
      -0.010091703737846958,
      0.009831326562574516,
      -0.005554548256394842,
      -0.012436580691219418,
      0.003055671179994744
    ],
    "v_ego": [
      4.7645080128501185,
      4.237250884122957,
      3.670386634141733,
      2.996673188832801,
      2.267993978557285,
      1.5882582589613543,
      0.9357086649107293,
      0.3275157465638708,
      0.018435568104824513,
      0.1424781632549591
    ],
    "ax_ego": [
      -1.0564630522264724,
      -1.0563038478110165,
      -1.2111438010707734,
      -1.4799388287814086,
      -1.4345908360770625,
      -1.2842467582527355,
      -1.3260828948682213,
      -1.106671863213537,
      -0.2576720243147432,
      -0.2576770907273161
    ],
    "ay_ego": [
      -0.11085788429891458,
      -0.11236472834143696,
      0.13948272965412178,
      0.12454168189519588,
      -0.08330935884131752,
      0.0884538639692497,
      -0.0028161058297312414,
      -0.05864417969401492,
      0.031031098043251742,
      0.030988952182298107
    ],
    "a_ego": [
      1.0622634566014713,
      1.0622634565283717,
      1.2191491864181043,
      1.4851698783183598,
      1.4370077648457007,
      1.2872893311659779,
      1.3260858850444515,
      1.1082245948545384,
      0.2595338150612122,
      0.25953380944117904
    ],
    "yaw": [
      2.5993518783108938,
      2.5979254594815058,
      2.597790248869636,
      2.597368844477155,
      2.597269571547622,
      2.598600389145421,
      2.599773400418208,
      2.599807829044119,
      2.599389723760275,
      2.599226198840026
    ],
    "yaw_diff": [
      -0.002852837658775975,
      -0.00027042122373988065,
      -0.0008428087849612353,
      -0.00019854585906653455,
      0.0026616351955981443,
      0.0023460225455735895,
      6.885725182215197e-05,
      -0.0008362105676873455,
      -0.0003270498404983613,
      -0.0003270498404983613
    ],
    "min_front_frame": [
      9,
      8.141139850818485
    ],
    "v_avg": 2.094920910030063,
    "v_std": 1.6700150257527842,
    "vy_max": 0.09414708009336725,
    "a_max": 1.4851698783183598,
    "ax_avg": -1.0470790997343287,
    "a_std": 0.4187659425585871,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "30d5d8dfd52451a9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.364064703727518,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.103248790217243,
      14.894315500921671,
      12.973599791266327,
      11.358511580016936,
      10.080033583861706,
      9.109764748513989,
      8.480043796329252,
      8.14811767150411,
      8.148531412788918,
      8.141139850818485
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "30d5d8dfd52451a9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "09779eb483435cab": {
    "vx_ego": [
      0.6422403201649876,
      0.2659528854567627,
      0.01607492806184799,
      -0.03979533717491705,
      -0.02635950505044548,
      -0.01481072357826148,
      -0.00930737291161351,
      -0.0067353723518918975,
      -0.005020552248722413,
      -0.003680246829221935
    ],
    "vy_ego": [
      -0.012726403408980253,
      0.001747136645769874,
      0.006618601069084499,
      0.0031456913917538914,
      0.0013257439331435428,
      0.0006021025127169609,
      0.00039994100095987694,
      0.00021087797282598518,
      0.00017103842227313794,
      0.0001863748395284144
    ],
    "v_ego": [
      0.6423663987082091,
      0.26595862416781474,
      0.017384164987288706,
      0.039919471880242724,
      0.026392822953991257,
      0.014822957206559378,
      0.009315961749604048,
      0.006738672735639637,
      0.005023464842521082,
      0.0036849629991096717
    ],
    "ax_ego": [
      -0.7525742223764843,
      -0.7525796825148693,
      -0.24693105759060968,
      0.023451126623048192,
      0.030291692904342835,
      0.015903761782763096,
      0.006109379551385129,
      0.004178667584603529,
      0.0026806009649000526,
      0.002680602220763746
    ],
    "ay_ego": [
      0.028846277507899226,
      0.028703654764363023,
      -0.009227395793612272,
      -0.0046521054713515204,
      -0.0026360901328936373,
      -0.00024875225774803345,
      -0.0005648176329521928,
      -0.00018961265441715737,
      3.038535281114641e-05,
      3.0278661476471685e-05
    ],
    "a_ego": [
      0.7531268604369603,
      0.7531268673543742,
      0.24710340352967414,
      0.023908103755982374,
      0.030406177500628937,
      0.015905707042713026,
      0.0061354329481607475,
      0.004182967336871209,
      0.0026807731725546177,
      0.0026807732211629417
    ],
    "yaw": [
      1.593797400202544,
      1.5936078860306053,
      1.5935770351694019,
      1.5935105937211813,
      1.5935725436536656,
      1.5934431939574971,
      1.593556878133759,
      1.5934984365587797,
      1.5934928227711844,
      1.5935319808690844
    ],
    "yaw_diff": [
      -0.00037902834387715245,
      -6.170172240693717e-05,
      -0.00013288289644108886,
      0.00012389986496863514,
      -0.0002586993923370251,
      0.0002273683525237935,
      -0.00011688314995872418,
      -1.1227575190453365e-05,
      7.831619580001004e-05,
      7.831619580001004e-05
    ],
    "min_front_frame": [
      2,
      10.201395352862312
    ],
    "v_avg": 0.10316075022309804,
    "v_std": 0.19491799857603828,
    "vy_max": 0.012726403408980253,
    "a_max": 0.7531268673543742,
    "ax_avg": -0.16667891308501565,
    "a_std": 0.2930856907289211,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "09779eb483435cab",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.689930689171844,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.402962957154221,
      10.213022731839713,
      10.201395352862312,
      10.210703781470205,
      10.22473860218571,
      10.228908696563886,
      10.206445261849572,
      10.22452877437404,
      10.211635382081703,
      10.22584739544022
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "09779eb483435cab",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b66f066aad62515e": {
    "vx_ego": [
      6.494570535166585,
      6.3938455454171335,
      6.282410917813827,
      6.149065560623915,
      6.006582771353391,
      5.908634622367628,
      5.892973521132132,
      5.866923148924947,
      5.756798540198011,
      5.612480558815687
    ],
    "vy_ego": [
      0.014874208582752457,
      0.027978953259951977,
      0.047852172312321306,
      0.02898981720658822,
      0.01325179157172332,
      0.03910536503306286,
      0.04950700015047288,
      0.03493677770410558,
      0.0046295562721326705,
      0.006855427976045342
    ],
    "v_ego": [
      6.49458756799344,
      6.39390676194735,
      6.282593156544627,
      6.149133896603063,
      6.006597389462627,
      5.908764027291647,
      5.893181472161563,
      5.867027170026381,
      5.7568004017177135,
      5.612484745634217
    ],
    "ax_ego": [
      -0.20225437441287564,
      -0.2012964968566861,
      -0.24543606087337272,
      -0.2895804347358114,
      -0.2806534187434695,
      -0.111486375656854,
      0.046949482473515096,
      -0.15211980476358067,
      -0.28890169031625584,
      -0.2884979090648344
    ],
    "ay_ego": [
      0.12421104318002935,
      0.1257574470440111,
      0.11368608875705996,
      0.007771085304266932,
      0.07736215484690187,
      0.17892409800850606,
      0.04499817740064404,
      0.024444543229633128,
      0.06918466877969548,
      0.07084958532800292
    ],
    "a_ego": [
      0.23735040597609014,
      0.23735040580079295,
      0.27048731348053284,
      0.28968468711443435,
      0.2911206699204872,
      0.21081519111595978,
      0.06503145295863175,
      0.15407131691205636,
      0.29707020224476566,
      0.2970702059714697
    ],
    "yaw": [
      -1.6354126731052676,
      -1.6277487284213343,
      -1.621445171264217,
      -1.6135325584368285,
      -1.6074402433345223,
      -1.6010024268075644,
      -1.5932522636784923,
      -1.587844688079659,
      -1.5786296380237597,
      -1.572862712600908
    ],
    "yaw_diff": [
      0.015327889367866554,
      0.012607114314234558,
      0.015825225654777064,
      0.012184630204612468,
      0.012875633053915703,
      0.015500326258144348,
      0.010815151197666406,
      0.018430100111798797,
      0.011533850845703242,
      0.011533850845703242
    ],
    "min_front_frame": [
      6,
      21.57088644149715
    ],
    "v_avg": 6.0365076589382625,
    "v_std": 0.27116871792063774,
    "vy_max": 0.04950700015047288,
    "a_max": 0.2970702059714697,
    "ax_avg": -0.2013277082950225,
    "a_std": 0.07151183590743809,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b66f066aad62515e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.606559918602002,
    "right_rear_min": 32.25507901165372,
    "speed_mode": "quasi_constant",
    "front_frame": [
      27.749663303947475,
      26.636117498158814,
      25.453834453072616,
      24.479756240304845,
      23.5369847579528,
      22.645242942493258,
      21.57088644149715,
      41.583586441949656,
      44.78797310207414,
      48.11285007243076
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b66f066aad62515e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2ead0bb5e6705b4a": {
    "vx_ego": [
      3.1700331841544354,
      2.669265364921336,
      2.1374949512325774,
      1.5359166063412428,
      0.9137434496572794,
      0.3554558250500316,
      0.03171727114374956,
      -0.03335206208196469,
      -0.024050829638958146,
      -0.010140019740824725
    ],
    "vy_ego": [
      -0.023077091900594926,
      -0.021765905978605726,
      -0.026970915595163847,
      -0.01873807632907043,
      -0.009266327659482432,
      0.0035780752955139883,
      0.012459980838801224,
      0.0023973925751396025,
      0.0019216865701302734,
      0.0012770606817373974
    ],
    "v_ego": [
      3.1701171809273703,
      2.669354105964906,
      2.137665103993794,
      1.5360309037058189,
      0.913790433644322,
      0.35547383333350857,
      0.034076919040744016,
      0.03343811502280834,
      0.024127479884894873,
      0.010220121541799526
    ],
    "ax_ego": [
      -1.0015359236678336,
      -1.0015359419647347,
      -1.1256639432587972,
      -1.280821378331197,
      -1.2078717909670336,
      -1.0252956298141371,
      -0.26966145240943495,
      0.009383065545202032,
      0.027821671576879134,
      0.02782168639641225
    ],
    "ay_ego": [
      0.002587131255697317,
      0.002580521345905862,
      -0.03824685524628979,
      0.06216395715380085,
      -0.024488103963409058,
      0.07518890615780621,
      -0.03964856729600581,
      -0.0006167030138285162,
      -0.0012889014753671851,
      -0.0012884033921261896
    ],
    "a_ego": [
      1.0015392651540502,
      1.00153926639828,
      1.1263135154517037,
      1.2823290376339636,
      1.2081199984478495,
      1.028048880221741,
      0.2725606497721046,
      0.009403310142328748,
      0.027851511203971103,
      0.027851502961979496
    ],
    "yaw": [
      -0.7770424289574192,
      -0.7770490296022696,
      -0.7785834360592117,
      -0.7797975734311169,
      -0.7798409906066939,
      -0.7801175612758595,
      -0.7800854711194111,
      -0.779981095646305,
      -0.7799587641645224,
      -0.7799763653255314
    ],
    "yaw_diff": [
      -1.3201289700948138e-05,
      -0.003068812913884056,
      -0.0024282747438104657,
      -8.683435115397486e-05,
      -0.0005531413383312866,
      6.418031289689985e-05,
      0.00020875094621208845,
      4.466296356531174e-05,
      -3.5202322018035304e-05,
      -3.5202322018035304e-05
    ],
    "min_front_frame": [
      6,
      9.312760846501208
    ],
    "v_avg": 1.0884294197059967,
    "v_std": 1.1498544183470183,
    "vy_max": 0.026970915595163847,
    "a_max": 1.2823290376339636,
    "ax_avg": -0.6847359636894675,
    "a_std": 0.5129988985170082,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2ead0bb5e6705b4a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.887989559469325,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      12.323826374313562,
      -1,
      10.208167804504948,
      9.637232799852587,
      9.332536357280592,
      9.312760846501208,
      9.338558328527162,
      9.331042054352425,
      9.344638125656154
    ],
    "safe_frame": [
      -1,
      1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.125,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.875,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2ead0bb5e6705b4a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6840e07af4275492": {
    "vx_ego": [
      11.038842771876714,
      11.044688793561539,
      11.052543567431101,
      11.044895462607846,
      10.930682044286023,
      10.726975647239463,
      10.531095048138974,
      10.434558178851946,
      10.466354707285861,
      10.529713945153732
    ],
    "vy_ego": [
      0.004065538085460396,
      -0.0006161538979090331,
      0.007810907698835745,
      0.007547496618908411,
      0.01244830831824606,
      0.02856634201297714,
      0.02979635958063831,
      0.009954800325135738,
      -0.021628781635033345,
      -0.05334000852665244
    ],
    "v_ego": [
      11.03884352053306,
      11.044688810748335,
      11.05254632744155,
      11.044898041387281,
      10.930689132605357,
      10.727013683796834,
      10.531137200510754,
      10.434562927401203,
      10.466377055262242,
      10.529849045607188
    ],
    "ax_ego": [
      -0.00010327680405311512,
      0.023706183520842528,
      0.00518988849183824,
      -0.03612107699491847,
      -0.4214178184258647,
      -0.39169537587244446,
      -0.3901634243590351,
      0.005188998595569275,
      0.12221172461961996,
      0.12877453941424677
    ],
    "ay_ego": [
      -0.7299101914515125,
      -0.7295251313576986,
      -0.5280003138506809,
      -0.43543611903174134,
      -0.27227247158528745,
      -0.3304709831097347,
      -0.31463547079831267,
      -0.32911302731471764,
      -0.4052728756049557,
      -0.4032355704306029
    ],
    "a_ego": [
      0.729910198757958,
      0.7299102002435582,
      0.5280258197938575,
      0.4369317406193989,
      0.5017223101178342,
      0.512480573443882,
      0.5012214851660336,
      0.32915393124597936,
      0.4232987235223037,
      0.4232987210727728
    ],
    "yaw": [
      -1.2379319347776445,
      -1.270557358551868,
      -1.2997662531568976,
      -1.3215311107577967,
      -1.3380067047059363,
      -1.3534153740965107,
      -1.36870428665617,
      -1.38222752085362,
      -1.3967937053727366,
      -1.4130277407088592
    ],
    "yaw_diff": [
      -0.06525084754844679,
      -0.05841778921005947,
      -0.04352971520179816,
      -0.032951187896279155,
      -0.030817338781148784,
      -0.030577825119318724,
      -0.027046468394900103,
      -0.02913236903823302,
      -0.03246807067224511,
      -0.03246807067224511
    ],
    "min_front_frame": [
      5,
      33.98935258469182
    ],
    "v_avg": 10.780060574529383,
    "v_std": 0.2547982831245691,
    "vy_max": 0.05334000852665244,
    "a_max": 0.7299102002435582,
    "ax_avg": -0.09544296378141989,
    "a_std": 0.12257679215142932,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "6840e07af4275492",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      33.98935258469182,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "6840e07af4275492",
    "road_shape": "Straight"
  },
  "5d68790fd55c5e41": {
    "vx_ego": [
      3.0409376758305307,
      3.205036091339856,
      3.450268756901396,
      3.765078692041191,
      4.088026453596773,
      4.375414771940985,
      4.647067951672443,
      4.923270529339048,
      5.20498560976655,
      5.483174903897171
    ],
    "vy_ego": [
      0.006345946494755728,
      -0.009097355269563234,
      -0.021623098133607854,
      -0.02220853910264564,
      -0.005963791745704716,
      0.015521528189931022,
      0.004421097713728894,
      -0.0067223867417383065,
      0.003896739711886754,
      0.0150572105606952
    ],
    "v_ego": [
      3.0409442973067597,
      3.2050490025370846,
      3.4503365130408366,
      3.765144190661452,
      4.088030803714545,
      4.375442302711434,
      4.647070054729766,
      4.923275118814902,
      5.204987068423633,
      5.483195577974365
    ],
    "ax_ego": [
      0.2175774560992031,
      0.4340108924682215,
      0.5624180596449344,
      0.6937453558693769,
      0.588991039102481,
      0.5503910923849001,
      0.5337058158030176,
      0.5704092368579057,
      0.5564198327350756,
      0.5564443210494971
    ],
    "ay_ego": [
      1.1731625483766976,
      1.1114336950392947,
      1.165032078427071,
      0.9479227463230224,
      0.6489421346342902,
      0.2765848151856003,
      0.17215323391658477,
      0.07031365931639963,
      -0.00929559462933735,
      -0.007691375824779495
    ],
    "a_ego": [
      1.1931681835836505,
      1.1931681831367118,
      1.2936822707213984,
      1.1746659745591126,
      0.8763768243436892,
      0.6159785017091882,
      0.5607839457134118,
      0.5747266377846785,
      0.5564974737952028,
      0.5564974750080308
    ],
    "yaw": [
      -0.9904755137825667,
      -0.8015673757246118,
      -0.6263790794418738,
      -0.4793911137240072,
      -0.3822579612856818,
      -0.3327238553985428,
      -0.30540979695252923,
      -0.2903993084940845,
      -0.2894842863079655,
      -0.29236732903388996
    ],
    "yaw_diff": [
      0.37781627611590984,
      0.35037659256547604,
      0.2939759314357331,
      0.19426630487665086,
      0.09906821177427794,
      0.05462811689202718,
      0.03002097691688943,
      0.0018300443722379933,
      -0.005766085451848868,
      -0.005766085451848868
    ],
    "min_front_frame": [
      3,
      58.97299984081606
    ],
    "v_avg": 4.2183474929914775,
    "v_std": 0.8064720550499368,
    "vy_max": 0.02220853910264564,
    "a_max": 1.2936822707213984,
    "ax_avg": 0.5264113102014613,
    "a_std": 0.30398165675452443,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "5d68790fd55c5e41",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      58.97299984081606,
      62.85791009361776,
      66.57932449395166,
      70.47253276521319,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5d68790fd55c5e41",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f033f87821135704": {
    "vx_ego": [
      -0.1091051235627401,
      0.7386409921319351,
      1.6680553195113346,
      2.66970159173715,
      3.6438248976297722,
      4.55230570140289,
      5.387285127569714,
      6.180534331082082,
      6.944873745546666,
      7.69744112405291
    ],
    "vy_ego": [
      0.00042206278147625606,
      -0.01582412885722695,
      -0.006764020395836512,
      0.009905280522990112,
      0.019126852236022063,
      0.009515585153340833,
      0.002135756296504754,
      0.0036661339039714136,
      0.012889196836078476,
      0.04435648356488198
    ],
    "v_ego": [
      0.10910593991452662,
      0.7388104752314626,
      1.6680690336200046,
      2.6697199672449,
      3.6438750967977867,
      4.552315646501906,
      5.387285550923469,
      6.180535418410127,
      6.944885706257407,
      7.697568925049984
    ],
    "ax_ego": [
      1.69548283165192,
      1.695492472369246,
      2.0220962935835947,
      1.9844994862652199,
      1.9119924446045529,
      1.7220068656007728,
      1.618103495990884,
      1.5573522435308438,
      1.5014931629726775,
      1.5114107418584204
    ],
    "ay_ego": [
      -0.03292808895316962,
      -0.03242802504822362,
      0.06527884279965895,
      -0.0009608696633350289,
      0.03827230497167361,
      -0.087172088658868,
      -0.0919137784809615,
      -0.333010261314644,
      -0.3721606068364854,
      -0.329579736524305
    ],
    "a_ego": [
      1.6958025508497505,
      1.6958025535625623,
      2.0231497096956947,
      1.9844997188857023,
      1.912375454128383,
      1.7242118832142839,
      1.6207119011140037,
      1.5925582703849177,
      1.5469276763102393,
      1.5469276755338146
    ],
    "yaw": [
      2.909272708181209,
      2.9089777652167093,
      2.9082488269537734,
      2.907977472545654,
      2.9080110447733003,
      2.907376934827588,
      2.899872802452241,
      2.8812665321743554,
      2.8530302594879364,
      2.8247664724176342
    ],
    "yaw_diff": [
      -0.0005898859289992231,
      -0.0014578765258717041,
      -0.0005427088162388571,
      6.714445529265589e-05,
      -0.0012682198914246712,
      -0.015008264750694167,
      -0.037212540555771056,
      -0.05647254537283786,
      -0.056527574140604386,
      -0.056527574140604386
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9592171759951578,
    "v_std": 2.498416889204989,
    "vy_max": 0.04435648356488198,
    "a_max": 2.0231497096956947,
    "ax_avg": 1.721993003842813,
    "a_std": 0.16852909192053986,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f033f87821135704",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f033f87821135704",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1c3e7aa7df415acb": {
    "vx_ego": [
      2.602780542866898,
      2.7148630499004303,
      2.8897340785769203,
      3.1324680889344574,
      3.379846460706982,
      3.6291259066808337,
      3.8853009344094986,
      4.157991064826021,
      4.43428708172725,
      4.716096142181751
    ],
    "vy_ego": [
      -0.06237042149373659,
      0.0006322918699309676,
      0.030960494984512255,
      0.047916026926950295,
      0.0424505810182767,
      -0.008141386127640482,
      -0.016404491363681384,
      -0.00537315855141296,
      -0.016316827662851363,
      -0.06355465177179354
    ],
    "v_ego": [
      2.603527726720768,
      2.7148631235308485,
      2.8898999285682003,
      3.132834543002416,
      3.380113038018448,
      3.6291350386435144,
      3.8853355657214763,
      4.15799453655315,
      4.434317102106947,
      4.716524357624312
    ],
    "ax_ego": [
      0.1913585972160059,
      0.2691470808787803,
      0.4317048717410955,
      0.5129891064897562,
      0.4522407268995858,
      0.537710401233355,
      0.5007737275761136,
      0.5963865760820932,
      0.5183970541665401,
      0.6231957228411954
    ],
    "ay_ego": [
      0.7207148872082396,
      0.6954192331769246,
      0.8432683482471126,
      0.7441995140639991,
      0.6615281894387204,
      0.6680051858254009,
      0.8391519512861851,
      0.8749693781413697,
      0.9638583488423623,
      0.8996585539769394
    ],
    "a_ego": [
      0.7456863022558904,
      0.7456863020184497,
      0.9473492510370235,
      0.9038754007661957,
      0.8013371453319366,
      0.8575333252324157,
      0.9772155972854136,
      1.0588901552172527,
      1.0944215012515388,
      1.094421501393059
    ],
    "yaw": [
      -3.0454673715952496,
      -2.935717332794999,
      -2.8085180188743966,
      -2.6820892401605967,
      -2.572846107224386,
      -2.4633400516125272,
      -2.3610715601235093,
      -2.2570430783939877,
      -2.147847744254399,
      -2.035492015780387
    ],
    "yaw_diff": [
      0.21950007760050116,
      0.2543986278412049,
      0.25285755742759974,
      0.21848626587242137,
      0.21901211122371755,
      0.2045369829780359,
      0.20805696345904323,
      0.2183906682791772,
      0.2247114569480244,
      0.2247114569480244
    ],
    "min_front_frame": [
      8,
      77.75922101058897
    ],
    "v_avg": 3.5544544960490088,
    "v_std": 0.6973414594235071,
    "vy_max": 0.06355465177179354,
    "a_max": 1.094421501393059,
    "ax_avg": 0.4633903865124521,
    "a_std": 0.12771120165337685,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "1c3e7aa7df415acb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      77.75922101058897,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "1c3e7aa7df415acb",
    "pedestrians": "No"
  },
  "6b9c0c971f9d5b9a": {
    "vx_ego": [
      7.863129047654932,
      7.777130151752031,
      7.712409746865703,
      7.77631216744119,
      7.943670780080268,
      8.115365967247147,
      8.32235420595298,
      8.533812249167081,
      8.733366692322171,
      8.940892088348395
    ],
    "vy_ego": [
      0.026965760232691594,
      -0.008346273587698683,
      -0.001669030555243367,
      -0.05877578749300749,
      -0.023392492995674807,
      -0.018867575276655835,
      -0.05371047286602959,
      -0.04665788912510882,
      -0.03506495217083261,
      -0.0025215701667677948
    ],
    "v_ego": [
      7.863175285614564,
      7.777134630284689,
      7.71240992746185,
      7.776534287115908,
      7.943705223070001,
      8.115387900017476,
      8.322527521386682,
      8.533939797224475,
      8.733437085903411,
      8.940892443923428
    ],
    "ax_ego": [
      -0.17677928413105395,
      -0.16812272824085578,
      -0.09178797447155698,
      0.34701809030887454,
      0.3199275356456107,
      0.3649627309669894,
      0.46146032751983856,
      0.383480201994151,
      0.41504826530125183,
      0.4151196131319865
    ],
    "ay_ego": [
      0.3320751097022709,
      0.33654055110103887,
      0.1613147523966064,
      -0.2113730207345522,
      -0.30039323967206616,
      -0.2594645672325007,
      -0.10650823668551046,
      0.020918481257554467,
      0.08089552505508263,
      0.08052855764440556
    ],
    "a_ego": [
      0.3761978120373152,
      0.37619781270834046,
      0.18560032758152564,
      0.4063251270793718,
      0.43885046029935176,
      0.44779421238335804,
      0.47359227016134187,
      0.38405031985352844,
      0.4228583078331509,
      0.42285829991042917
    ],
    "yaw": [
      -2.134305929395529,
      -2.1084134362496814,
      -2.0931864378892047,
      -2.0873873605924413,
      -2.108156932333501,
      -2.126163844882111,
      -2.1330666686903874,
      -2.136438387960136,
      -2.1348322311316323,
      -2.133948160521916
    ],
    "yaw_diff": [
      0.051784986291695034,
      0.03045399672095339,
      0.011598154593526644,
      -0.041539143482119734,
      -0.03601382509721951,
      -0.013805647616552896,
      -0.006743438539497326,
      0.0032123136570074706,
      0.0017681412194328061,
      0.0017681412194328061
    ],
    "min_front_frame": [
      0,
      21.450624732331292
    ],
    "v_avg": 8.171914410200248,
    "v_std": 0.4164489205532871,
    "vy_max": 0.05877578749300749,
    "a_max": 0.47359227016134187,
    "ax_avg": 0.22703267780252356,
    "a_std": 0.07564248637837662,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6b9c0c971f9d5b9a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 26.177026381254773,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      21.450624732331292,
      22.360864522862222,
      23.404548034863737,
      24.468442986794518,
      25.30861238965551,
      26.148413881190304,
      26.970555521603945,
      27.593917343257065,
      28.1798977559439,
      28.505793955802844
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6b9c0c971f9d5b9a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d6b2af6a4fbd5a88": {
    "vx_ego": [
      8.377439059624566,
      8.428032349163217,
      8.469741271475064,
      8.442483756904243,
      8.404636931575698,
      8.373041806909697,
      8.30423070674251,
      8.27565122735269,
      8.225638741302546,
      8.120792575011325
    ],
    "vy_ego": [
      2.9064830021852117e-05,
      -0.003954889842850751,
      0.015065162451273206,
      0.01927087958286844,
      0.0028496129599995257,
      0.011481373964726593,
      0.03419453243713377,
      0.019786977526800698,
      0.023935880835598056,
      0.054112086889837485
    ],
    "v_ego": [
      8.377439059674984,
      8.428033277087563,
      8.469754669696622,
      8.44250575080597,
      8.404637414659849,
      8.373049678713588,
      8.304301108272375,
      8.275674882525516,
      8.225673566876376,
      8.12097285824221
    ],
    "ax_ego": [
      0.10052258643443782,
      0.10191961220161247,
      0.06537891643034056,
      -0.17608357889702472,
      0.02416988235103442,
      -0.15069389465049204,
      -0.12490647973659524,
      0.00980660527342768,
      -0.2099095442292907,
      -0.20975132161072318
    ],
    "ay_ego": [
      0.14976415031978302,
      0.1488169492360345,
      0.2815965824344488,
      0.1334533081531783,
      0.10604896605674904,
      0.11025196859701997,
      0.11119937730997878,
      -0.019541255581486443,
      0.08912616683005344,
      0.08949791370884452
    ],
    "a_ego": [
      0.18037209070273477,
      0.1803720924401764,
      0.2890865578894439,
      0.2209416488899544,
      0.10876840724478941,
      0.18671943247678285,
      0.16723316116821899,
      0.021863901223015864,
      0.2280471231398613,
      0.22804712994396753
    ],
    "yaw": [
      2.5127150702583743,
      2.5220727712929727,
      2.5325516255178333,
      2.5442829647379397,
      2.553367449625245,
      2.5587704925955643,
      2.5626874711455443,
      2.567198719747687,
      2.5687990028505387,
      2.570570625085563
    ],
    "yaw_diff": [
      0.018715402069196863,
      0.020957708449721224,
      0.02346267844021277,
      0.01816896977461102,
      0.010806085940638255,
      0.007833957099959932,
      0.009022497204285607,
      0.0032005662057033035,
      0.003543244470048279,
      0.003543244470048279
    ],
    "min_front_frame": [
      9,
      58.0978513575687
    ],
    "v_avg": 8.342204226655506,
    "v_std": 0.10400600393825088,
    "vy_max": 0.054112086889837485,
    "a_max": 0.2890865578894439,
    "ax_avg": -0.05695472164332729,
    "a_std": 0.06961998281312179,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d6b2af6a4fbd5a88",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      78.80762103738485,
      74.59437876600458,
      70.39779436128165,
      66.28703193711918,
      62.151011469613515,
      58.0978513575687
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d6b2af6a4fbd5a88",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d8d27319eb585277": {
    "vx_ego": [
      4.443553807228908,
      5.162097474299299,
      5.727799934008176,
      6.0067571691136035,
      6.13256261274043,
      6.173161351890225,
      6.172466563001472,
      6.200291080069375,
      6.311821645963237,
      6.5330031041181575
    ],
    "vy_ego": [
      -0.025315204569024807,
      0.04806301273849556,
      0.035483555021196045,
      -0.015893993756463498,
      -0.03924840216969283,
      -0.046419673585877064,
      -0.030917893117037354,
      -0.02815024400902405,
      -0.02410588491428811,
      -0.08490990573174084
    ],
    "v_ego": [
      4.443625917797413,
      5.162321220861862,
      5.727909842752504,
      6.00677819698174,
      6.132688206345942,
      6.17333587799716,
      6.172543996399378,
      6.200354982888126,
      6.311867677964864,
      6.533554870857737
    ],
    "ax_ego": [
      1.4319445568993663,
      1.440756454979953,
      0.8192427650401719,
      0.30076708755425713,
      0.22076199380820952,
      -0.034443240225756275,
      0.04723409406387886,
      0.0760551876584943,
      0.3839598428679559,
      0.5217693129263415
    ],
    "ay_ego": [
      0.3903417618513399,
      0.3564445881703538,
      0.5625193696325539,
      0.7698910382800324,
      1.0216915803875721,
      1.204071870285502,
      1.2197341833599513,
      1.226975446555382,
      1.2938512656614736,
      1.2446818939475541
    ],
    "a_ego": [
      1.4841940254154542,
      1.4841940260634168,
      0.9937739930600278,
      0.8265549296808872,
      1.0452700815315776,
      1.2045644049240687,
      1.2206484087151397,
      1.2293303616276414,
      1.3496207832532006,
      1.349620773785176
    ],
    "yaw": [
      2.70969996739412,
      2.7332983883008675,
      2.7771690133304325,
      2.8419599667709834,
      2.9194337536785557,
      3.0104999115609785,
      3.106238439246945,
      -3.0785415098285385,
      -2.977917943198678,
      -2.869450316725109
    ],
    "yaw_diff": [
      0.04719684181349493,
      0.08774125005913014,
      0.12958190688110172,
      0.15494757381514468,
      0.18213231576484556,
      0.19147705537193271,
      0.19681071620820578,
      0.201247133259721,
      0.21693525294713822,
      0.21693525294713822
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.886498079084673,
    "v_std": 0.5973914498234836,
    "vy_max": 0.08490990573174084,
    "a_max": 1.4841940260634168,
    "ax_avg": 0.5208048055572873,
    "a_std": 0.20248916357761884,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "d8d27319eb585277",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.836464585692914,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d8d27319eb585277",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "f39db68736425365": {
    "vx_ego": [
      4.510789363319583,
      4.617051762239521,
      4.759876700710906,
      5.087357106816474,
      5.4045332961959645,
      5.61407598290743,
      5.8493402437913,
      6.076840712812366,
      6.306359956077907,
      6.518117777957896
    ],
    "vy_ego": [
      -0.017911662652121407,
      -0.01835546236551089,
      -0.02171749688095259,
      0.0002044858795668958,
      0.024399699472463343,
      0.00020259621373508452,
      0.02128957805146703,
      -0.016386430896102144,
      -0.02420055365397822,
      -0.11197211434298726
    ],
    "v_ego": [
      4.5108249254317165,
      4.617088248907283,
      4.759926244769064,
      5.08735711092612,
      5.404588374245088,
      5.614075986562994,
      5.849378987018201,
      6.076862806087647,
      6.306406390522268,
      6.519079468891388
    ],
    "ax_ego": [
      0.21060180481302354,
      0.2131980082866893,
      0.3576966041895523,
      0.9520707964752286,
      0.3234915926524269,
      0.5196213667456704,
      0.41581498582537957,
      0.49316842602047034,
      0.4251857921564549,
      0.4281043748397555
    ],
    "ay_ego": [
      -0.15616154554793285,
      -0.15259801026001613,
      -0.2764686286561877,
      -0.3541920953869181,
      -0.5481429086609884,
      -0.6471450916093202,
      -0.3141362593413417,
      -0.1281924745195942,
      0.12966317355186033,
      0.11967513824992906
    ],
    "a_ego": [
      0.2621822810535105,
      0.26218227146915796,
      0.45208601314326263,
      1.0158202803328706,
      0.6364805251004404,
      0.8299416451610764,
      0.5211369223821426,
      0.5095570693719841,
      0.44451714975606055,
      0.444517147556849
    ],
    "yaw": [
      2.6493333400253727,
      2.632516714644109,
      2.610270162119684,
      2.5732409206629363,
      2.52633842234225,
      2.4762785974944084,
      2.430782233588315,
      2.418536289092507,
      2.4198559122212613,
      2.4432654935775555
    ],
    "yaw_diff": [
      -0.03363325076252721,
      -0.044493105048849735,
      -0.07405848291349582,
      -0.09380499664137254,
      -0.10011964969568332,
      -0.09099272781218648,
      -0.024491888991616584,
      0.002639246257508887,
      0.04681916271258846,
      0.04681916271258846
    ],
    "min_front_frame": [
      7,
      16.767835790613372
    ],
    "v_avg": 5.474558854336178,
    "v_std": 0.6808288037216519,
    "vy_max": 0.11197211434298726,
    "a_max": 1.0158202803328706,
    "ax_avg": 0.43389537520046506,
    "a_std": 0.2239070803587021,
    "ini_direction_judge": "right",
    "scenario_type": "lane_change",
    "scene_token": "f39db68736425365",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      29.536463584367855,
      28.27683748886055,
      26.916147012948475,
      25.423579090636135,
      23.93770105338757,
      22.63356334403385,
      19.669710285636953,
      16.767835790613372,
      25.764876403078095,
      18.36954540766859
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 12,
    "token": "f39db68736425365",
    "smoothness": "No"
  },
  "decc2e4c0f445afc": {
    "vx_ego": [
      0.18874120019371257,
      0.7861507067823632,
      1.3860282172527216,
      1.9726706060495622,
      2.511056932257165,
      3.0099321340256755,
      3.4719858536537234,
      3.856878792244578,
      4.044469007496361,
      4.085447949869329
    ],
    "vy_ego": [
      -0.040759986390760033,
      -0.01725705034762015,
      -0.005671247836283255,
      -0.015077701463156012,
      -0.028552994858751513,
      -0.0374274182023443,
      -0.014492846113174584,
      -0.015374978683453944,
      -0.03887485410078306,
      -0.03039651469154847
    ],
    "v_ego": [
      0.19309225033941166,
      0.7863400915387118,
      1.3860398198005635,
      1.9727282268608008,
      2.511219263734684,
      3.010164823240357,
      3.4720161017138205,
      3.85690943736504,
      4.044655832933126,
      4.085561026248035
    ],
    "ax_ego": [
      1.1949569293610312,
      1.1951851973949883,
      1.2051765461712436,
      1.14254066731955,
      1.0157524795196688,
      0.9848857023355697,
      0.8679394561122253,
      0.6709728173202083,
      0.08195452969809872,
      0.08402118096973053
    ],
    "ay_ego": [
      0.053996826716506074,
      0.04868339365008795,
      0.06566362657123681,
      0.07136081166762553,
      0.17883409778131343,
      0.19349277506338333,
      0.29129867265609277,
      0.12552531783223964,
      0.13899259158837204,
      0.1377531287558316
    ],
    "a_ego": [
      1.196176291490262,
      1.196176295070834,
      1.2069640505399217,
      1.1447670251718753,
      1.0313751665517312,
      1.00371275804722,
      0.9155183319669722,
      0.6826134535734719,
      0.1613551531699206,
      0.16135514659771136
    ],
    "yaw": [
      -1.9131107850103828,
      -1.9086646676237904,
      -1.892993605301242,
      -1.867116013931998,
      -1.8334461620749605,
      -1.7965678796628366,
      -1.766387109092597,
      -1.7379025575710196,
      -1.7156314491361646,
      -1.7006962855605048
    ],
    "yaw_diff": [
      0.008892234773184793,
      0.03134212464509689,
      0.05175518273848789,
      0.06733970371407505,
      0.07375656482424775,
      0.06036154114047898,
      0.056969103043154945,
      0.04454221686971005,
      0.029870327151319653,
      0.029870327151319653
    ],
    "min_front_frame": [
      6,
      15.558685303513023
    ],
    "v_avg": 2.5318726873774553,
    "v_std": 1.330924330052135,
    "vy_max": 0.040759986390760033,
    "a_max": 1.2069640505399217,
    "ax_avg": 0.8443385506202313,
    "a_std": 0.3856533894080466,
    "ini_direction_judge": "left",
    "scenario_type": "carpark_areas",
    "scene_token": "decc2e4c0f445afc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      21.29433570558626,
      20.990065668561556,
      20.424662341296163,
      19.58694683214236,
      18.47577051741963,
      17.105846963590693,
      15.558685303513023,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.14285714285714285,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8571428571428571,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "decc2e4c0f445afc",
    "maneuvering": "Yes"
  },
  "48e14ad3c65c5156": {
    "vx_ego": [
      7.459918645031905,
      7.7435732547987,
      8.01396232306149,
      8.244340154481653,
      8.480308246082227,
      8.708099401687207,
      8.841724908939089,
      8.876429553157863,
      8.88511145282817,
      8.910449129617126
    ],
    "vy_ego": [
      -0.032547693500983854,
      6.211178953474672e-05,
      -0.007473569044002648,
      -0.02714711632626088,
      -0.015254608096796574,
      -0.03381549216845681,
      -0.018844730952271682,
      0.00012040911857003067,
      -0.0017449174750527874,
      -0.027300683460889985
    ],
    "v_ego": [
      7.459989647636711,
      7.743573255047802,
      8.013965807868372,
      8.24438484962483,
      8.480321966272177,
      8.708165057988719,
      8.841744991190291,
      8.876429553974539,
      8.885111624167436,
      8.910490952737229
    ],
    "ax_ego": [
      0.5642038812230132,
      0.5716013793593736,
      0.5096167227339733,
      0.414776688445531,
      0.5307454435921016,
      0.3808771790092887,
      0.1544924772285398,
      -0.015758315441425655,
      0.050489777534138,
      0.050719458886114524
    ],
    "ay_ego": [
      0.37521791886071393,
      0.36384937301552805,
      0.3036199738165011,
      0.4038864672811113,
      0.3832529241602788,
      0.23269631676832708,
      0.19032169245914166,
      0.08542271776582613,
      -0.09446787523159048,
      -0.09434475751178023
    ],
    "a_ego": [
      0.6775798891800711,
      0.6775798868984612,
      0.5932067873772586,
      0.578933484720531,
      0.6546552755238295,
      0.44633507741115236,
      0.24513317225688364,
      0.08686406170592913,
      0.10711394440603003,
      0.10711394297502484
    ],
    "yaw": [
      2.448517904445419,
      2.468535732416154,
      2.4906489076799874,
      2.5147909613409327,
      2.536938611770756,
      2.556971547501698,
      2.567284028107707,
      2.572911146392271,
      2.5728665178824883,
      2.570433613730624
    ],
    "yaw_diff": [
      0.040035655941470516,
      0.04422635052766655,
      0.0482841073218907,
      0.0442953008596465,
      0.04006587146188423,
      0.020624961212018178,
      0.01125423656912794,
      -8.925701956563614e-05,
      -0.004865808303728514,
      -0.004865808303728514
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.416417770650812,
    "v_std": 0.5004531899918625,
    "vy_max": 0.03381549216845681,
    "a_max": 0.6775798891800711,
    "ax_avg": 0.3211764692570648,
    "a_std": 0.241039469645792,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "48e14ad3c65c5156",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "48e14ad3c65c5156",
    "pedestrians": "No"
  },
  "13336a542595599f": {
    "vx_ego": [
      5.145009610081015,
      4.593036393616551,
      4.045491459794806,
      3.4710384077378436,
      2.822808614056637,
      2.1490276335450664,
      1.5283495713329402,
      0.9927981022702648,
      0.5387438063107572,
      0.11617626444948706
    ],
    "vy_ego": [
      -0.05621628389349054,
      -0.17886748531207286,
      -0.209007655740999,
      -0.09959937786315964,
      0.04232241769068179,
      0.14100581758189445,
      0.15440906528805387,
      0.08656356672491677,
      0.009683567391108122,
      -0.05986031250531813
    ],
    "v_ego": [
      5.145316720902688,
      4.596517909286114,
      4.05088698329527,
      3.47246708610204,
      2.823125866593896,
      2.1536486274070445,
      1.536129737892185,
      0.9965647610444482,
      0.5388308271764162,
      0.13069116815864604
    ],
    "ax_ego": [
      -1.1045608434224203,
      -1.104120926417157,
      -1.0879143399445403,
      -1.2096633554836769,
      -1.3832083668909563,
      -1.312486235898748,
      -1.171824189803124,
      -0.970949703491935,
      -0.8451895281971857,
      -0.8451261627709701
    ],
    "ay_ego": [
      -0.26074558415804217,
      -0.2626022173906125,
      0.1087124124124898,
      0.33377165780307944,
      0.24263681492714795,
      0.16605999010642697,
      -0.09632328171839,
      -0.16964620075530112,
      -0.13919337705783913,
      -0.13957761076669842
    ],
    "a_ego": [
      1.134919784160963,
      1.1349197966071203,
      1.0933325201737614,
      1.2548661096518003,
      1.4043283128225883,
      1.3229497495134916,
      1.1757763845258793,
      0.9856587442628328,
      0.8565746521996476,
      0.8565746554897151
    ],
    "yaw": [
      1.102678075713867,
      1.1009968682359785,
      1.0990668663684198,
      1.0993882512349842,
      1.100076350790831,
      1.1014855926624494,
      1.1036990439025964,
      1.1047942832534747,
      1.1043544543458426,
      1.1038998279523637
    ],
    "yaw_diff": [
      -0.003362414955776938,
      -0.003860003735117523,
      0.0006427697331288229,
      0.0013761991116938432,
      0.002818483743236566,
      0.004426902480294093,
      0.002190478701756593,
      -0.0008796578152643342,
      -0.0009092527869576372,
      -0.0009092527869576372
    ],
    "min_front_frame": [
      9,
      9.308131651710962
    ],
    "v_avg": 2.544417968785875,
    "v_std": 1.661259849354815,
    "vy_max": 0.209007655740999,
    "a_max": 1.4043283128225883,
    "ax_avg": -1.1035043652320713,
    "a_std": 0.17357454100116576,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "13336a542595599f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.946477952827628,
    "right_rear_min": 9.115662558261235,
    "speed_mode": "decelerating",
    "front_frame": [
      18.917006549456463,
      17.342236770990947,
      15.691030654826367,
      14.05873775652849,
      12.502683517645385,
      11.292443524445305,
      10.429463535462993,
      9.820695108000011,
      9.52151781217691,
      9.308131651710962
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "13336a542595599f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c84db99f6a4f51ae": {
    "vx_ego": [
      8.631589107101988,
      8.619266946866023,
      8.684409836761604,
      8.827797235285415,
      8.970976164702186,
      9.109922820635589,
      9.205041012908842,
      9.265185903424072,
      9.353613402831154,
      9.46431341210726
    ],
    "vy_ego": [
      -0.018798224338008485,
      0.001489514061301378,
      -0.019123115085945663,
      -0.05471286905687034,
      -0.06513671342991767,
      -0.026867615538598066,
      0.010493697034508642,
      0.04371872448764691,
      0.022380567822563258,
      -0.06003715591924408
    ],
    "v_ego": [
      8.631609576844863,
      8.619267075569088,
      8.684430891334925,
      8.827966783204003,
      8.9712126348165,
      9.109962440466031,
      9.205046994285867,
      9.26528904847976,
      9.353640177996942,
      9.464503833941018
    ],
    "ax_ego": [
      -0.02501476970694122,
      -0.024052340621967934,
      0.28440020810080174,
      0.2906212398031504,
      0.2838185981738241,
      0.2724484489994035,
      0.10809505268379171,
      0.13220579103238914,
      0.22137111836657275,
      0.22141112458855944
    ],
    "ay_ego": [
      0.15064789995183667,
      0.1508045517022108,
      0.019222470062288277,
      0.10729717232051905,
      0.10715663479684617,
      0.13394429506475483,
      0.11875523960563289,
      0.10242106707921425,
      -0.16930934258640812,
      -0.16925701796202486
    ],
    "a_ego": [
      0.1527106036376973,
      0.15271060180452417,
      0.28504908651506833,
      0.3097957201329602,
      0.30337359979131223,
      0.3035938595271233,
      0.1605843932283053,
      0.16723769361045568,
      0.2786948609750615,
      0.27869485861954435
    ],
    "yaw": [
      1.0013852946046802,
      1.0077705959329297,
      1.0150987089883778,
      1.022776245613815,
      1.02997122491995,
      1.032405027178541,
      1.0352175660789733,
      1.0376080341715734,
      1.0381044809880708,
      1.0378681245449641
    ],
    "yaw_diff": [
      0.012770602656499097,
      0.014656226110896231,
      0.015355073250874263,
      0.014389958612269993,
      0.004867604517182045,
      0.005625077800864631,
      0.004780936185200257,
      0.000992893632994818,
      -0.0004727128862134222,
      -0.0004727128862134222
    ],
    "min_front_frame": [
      5,
      19.177092630772545
    ],
    "v_avg": 9.0132929456939,
    "v_std": 0.2956771071028001,
    "vy_max": 0.06513671342991767,
    "a_max": 0.3097957201329602,
    "ax_avg": 0.17653044714195837,
    "a_std": 0.0669254820051592,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "c84db99f6a4f51ae",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 32.59045039119086,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      41.16887252392631,
      36.8632189866571,
      32.499677604198126,
      28.10773379404941,
      23.6113231557549,
      19.177092630772545,
      19.539349633893714,
      26.67644490335755,
      22.05628378956622,
      22.834185963627984
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      1,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "c84db99f6a4f51ae",
    "pedestrians": "No"
  },
  "fff1abbe76e55819": {
    "vx_ego": [
      3.906407622868552,
      3.9586228606158214,
      4.014807727038551,
      4.06537361170316,
      4.128562560615261,
      4.249238171040714,
      4.383924557146824,
      4.494543294267853,
      4.591516686020498,
      4.676107797732983
    ],
    "vy_ego": [
      -0.0248534122861932,
      0.007833588360920407,
      0.005460225745330005,
      -0.00017220845661625184,
      0.0023607199602533324,
      -0.0224138739011448,
      -0.011213725128745189,
      0.009337087286740431,
      -0.01116956606562547,
      -0.05116204728217455
    ],
    "v_ego": [
      3.906486683467358,
      3.9586306114231973,
      4.014811440049663,
      4.065373615350519,
      4.128563235547298,
      4.249297284960502,
      4.383938899025195,
      4.4945529928177645,
      4.591530271838654,
      4.67638767545007
    ],
    "ax_ego": [
      0.09901501087021093,
      0.1084385379252714,
      0.1181976878091064,
      0.08278763386534185,
      0.16922509998570298,
      0.31328922477303917,
      0.22414753531089762,
      0.21879486125820566,
      0.1690723133050987,
      0.16916413650539694
    ],
    "ay_ego": [
      -0.24349491786728572,
      -0.23944692711034515,
      -0.30031911741523254,
      -0.19093067089370966,
      -0.10203743680028916,
      -0.13758080639509365,
      0.03466797433683025,
      -0.09190788884849779,
      -0.0895805762563735,
      -0.08940705474868221
    ],
    "a_ego": [
      0.262856895296327,
      0.26285689530609135,
      0.3227417941458515,
      0.208106495355008,
      0.19760762377485383,
      0.3421675271664687,
      0.22681266726214658,
      0.23731466736294513,
      0.19133772960072826,
      0.19133772894662054
    ],
    "yaw": [
      -1.0778074894993397,
      -1.1168280523986653,
      -1.1500876384626695,
      -1.1790581728313354,
      -1.197601920611595,
      -1.2060245208296352,
      -1.2145574429031099,
      -1.2224091035123799,
      -1.2278749333223318,
      -1.228900964962722
    ],
    "yaw_diff": [
      -0.0780411257986513,
      -0.06651917212800829,
      -0.05794106873733185,
      -0.03708749556051938,
      -0.016845200436080177,
      -0.01706584414694934,
      -0.01570332121854001,
      -0.010931659619903833,
      -0.0020520632807805583,
      -0.0020520632807805583
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.246957270993023,
    "v_std": 0.26137101039945143,
    "vy_max": 0.05116204728217455,
    "a_max": 0.3421675271664687,
    "ax_avg": 0.16721320416082713,
    "a_std": 0.050867117476431814,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fff1abbe76e55819",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fff1abbe76e55819",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "851a15966923546b": {
    "vx_ego": [
      2.810148350167187,
      2.2476413019831596,
      1.5826400891879362,
      0.8624541032760303,
      0.33579455138179215,
      0.05703932235620651,
      -0.02949783975047074,
      -0.024648492981372172,
      -0.016892013498028238,
      -0.007020907018373764
    ],
    "vy_ego": [
      0.0134239217456944,
      -0.00010696465023229962,
      -0.02064648034362404,
      -0.022701054605089754,
      -0.0150131939151609,
      -0.011506254435057983,
      -0.00405120573173934,
      -0.004680326754503854,
      -0.003254760710313851,
      -0.0014067913045411355
    ],
    "v_ego": [
      2.8101804126465613,
      2.2476413045283694,
      1.5827747562604662,
      0.8627528140422638,
      0.3361299997459811,
      0.05818829939068104,
      0.029774734555077554,
      0.02508891517745791,
      0.017202720345892125,
      0.007160460678977473
    ],
    "ax_ego": [
      -1.1250155537204347,
      -1.1250349621974833,
      -1.534976964457319,
      -1.3458557310803294,
      -0.7607828879629616,
      -0.354267235018033,
      0.0081140694370594,
      0.011282686076747997,
      0.019742201141433637,
      0.019742194499775018
    ],
    "ay_ego": [
      -0.023226808736018845,
      -0.022267042707414586,
      -0.06248913762808317,
      0.05130703109141366,
      -0.02057718260217517,
      0.03439375605005776,
      -0.004524810327712719,
      0.0020116067339458485,
      0.003695976173581167,
      0.0036960445745172063
    ],
    "a_ego": [
      1.1252552958137794,
      1.125255298746745,
      1.5362484088636534,
      1.3468333454147856,
      0.7610611165084624,
      0.35593286482503,
      0.009290426864853797,
      0.01146060935371673,
      0.020085187223038356,
      0.0200851932817129
    ],
    "yaw": [
      0.5541217839308707,
      0.5549748938115825,
      0.554644578390663,
      0.5540265573050909,
      0.5540162970769185,
      0.5536537157181598,
      0.5532670261709878,
      0.5532370461379269,
      0.553175972925446,
      0.5531728848575447
    ],
    "yaw_diff": [
      0.0017062197614234886,
      -0.0006606308418390938,
      -0.0012360421711441472,
      -2.0520456344819138e-05,
      -0.0007251627175173248,
      -0.0007733790943440511,
      -5.996006612174476e-05,
      -0.00012214642496188866,
      -6.1761358025602675e-06,
      -6.1761358025602675e-06
    ],
    "min_front_frame": [
      8,
      8.799740472892337
    ],
    "v_avg": 0.7976894417371728,
    "v_std": 0.9976808972427128,
    "vy_max": 0.022701054605089754,
    "a_max": 1.5362484088636534,
    "ax_avg": -0.6187052183281545,
    "a_std": 0.5856476682200681,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "851a15966923546b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.101956880360131,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.931345082023386,
      10.693553832097832,
      9.75257969575501,
      9.21120251242383,
      8.919200675451686,
      8.821534442837235,
      8.8514870820134,
      8.81887500510419,
      8.799740472892337,
      8.800060226743074
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "851a15966923546b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c543bad7f8ff5eae": {
    "vx_ego": [
      4.921736509163591,
      4.690306684954669,
      4.513519420111048,
      4.386886028753337,
      4.339700757360527,
      4.502045446352063,
      4.893053407445012,
      5.3531575734119965,
      5.799934801944689,
      6.24323051137656
    ],
    "vy_ego": [
      -0.004794552450459566,
      -0.013326738768774327,
      -0.0036527079259700557,
      -0.0016548051010405462,
      0.0014885581534573866,
      -0.01978154458825193,
      -0.04713908089746699,
      0.04164522755420186,
      0.13344964916259627,
      -0.023738661287217244
    ],
    "v_ego": [
      4.921738844490534,
      4.690325617789949,
      4.5135208981453445,
      4.386886340863089,
      4.339701012655239,
      4.5020889052222905,
      4.893280468260234,
      5.353319561800534,
      5.801469858205833,
      6.243275642018614
    ],
    "ax_ego": [
      -0.5129661742751475,
      -0.41405278106554966,
      -0.28707852752807533,
      -0.20097082971520364,
      0.013251593201584644,
      0.6697363910294041,
      0.8983037485793908,
      0.9118888920537296,
      0.8615781769438586,
      0.9231034140768655
    ],
    "ay_ego": [
      -0.9590489208706776,
      -1.0057183605576372,
      -1.1731945471493945,
      -1.4444502864294213,
      -1.4572796046368537,
      -1.888252777965269,
      -2.1936243112405496,
      -1.9397117360707867,
      -1.0582792912704835,
      -1.0050632337230583
    ],
    "a_ego": [
      1.0876162597964836,
      1.0876162587378222,
      1.2078077357049675,
      1.4583641192659857,
      1.4573398542594398,
      2.0035082697514994,
      2.3704297592583,
      2.1433672038411253,
      1.3646508759817875,
      1.3646508772804185
    ],
    "yaw": [
      2.3543860301120567,
      2.2537838282579115,
      2.1330416616738326,
      1.9854515935218373,
      1.8178356266786324,
      1.6305197974824068,
      1.41861206378884,
      1.2003788266881235,
      1.0499685971673962,
      0.9903497872110474
    ],
    "yaw_diff": [
      -0.2012044037082905,
      -0.24148433316815776,
      -0.29518013630399054,
      -0.3352319336864098,
      -0.37463165839245116,
      -0.4238154673871337,
      -0.43646647420143303,
      -0.3008204590414545,
      -0.11923761991269766,
      -0.11923761991269766
    ],
    "min_front_frame": [
      9,
      52.75921096561896
    ],
    "v_avg": 4.964560714945167,
    "v_std": 0.6091187171327642,
    "vy_max": 0.13344964916259627,
    "a_max": 2.3704297592583,
    "ax_avg": 0.2862793903300857,
    "a_std": 0.4313975349244833,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "c543bad7f8ff5eae",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.17869040323227,
    "right_rear_min": 20.99114373169446,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      52.75921096561896
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "c543bad7f8ff5eae",
    "pedestrians": "No"
  },
  "2313aa310e16503d": {
    "vx_ego": [
      8.931799350943407,
      9.122203829729191,
      9.46940170054365,
      9.83848038176526,
      10.17930870326877,
      10.519213313933761,
      10.841117762896449,
      11.136307545285657,
      11.435121055554859,
      11.741028300188164
    ],
    "vy_ego": [
      0.012706249135087222,
      0.03927803149608433,
      -0.034626820070929654,
      -0.10294636720759875,
      -0.11497117504045917,
      -0.10554437362349312,
      -0.16068072550234191,
      -0.26669650255444566,
      -0.2924897297668183,
      -0.1811828656835095
    ],
    "v_ego": [
      8.931808388802358,
      9.122288390249683,
      9.469465010386129,
      9.839018964149888,
      10.179957959025838,
      10.51974278957641,
      10.842308455515221,
      11.139500561859181,
      11.438861123259304,
      11.742426187830036
    ],
    "ax_ego": [
      0.15954707435981857,
      0.581993532702213,
      0.7981090843517205,
      0.736107974069695,
      0.6923763547079445,
      0.7367513894877549,
      0.6116220127523888,
      0.606697163913106,
      0.6144802569866319,
      0.6205692377389418
    ],
    "ay_ego": [
      2.8084538149356217,
      2.752117657394807,
      2.657800169156539,
      2.877942738181933,
      2.9021238614258213,
      3.0007460782648625,
      2.7993195687132886,
      1.7533177576271597,
      0.5068337288299924,
      0.49935980767972277
    ],
    "a_ego": [
      2.8129820652757855,
      2.8129820604211973,
      2.7750459184837406,
      2.970590741543357,
      2.9835730129520512,
      3.089867252186425,
      2.865357139042956,
      1.855317926370286,
      0.7965340010985542,
      0.796533989452943
    ],
    "yaw": [
      -3.1184678333566875,
      -2.966815608844155,
      -2.8132271151584947,
      -2.6631984914096765,
      -2.517959143457142,
      -2.3764391230736748,
      -2.2359470351119826,
      -2.1228510715538955,
      -2.0705063908025965,
      -2.05840351584469
    ],
    "yaw_diff": [
      0.3033044490250649,
      0.3071769873713208,
      0.3000572474976364,
      0.2904786959050689,
      0.28304004076693445,
      0.2809841759233844,
      0.22619192711617409,
      0.10468936150259811,
      0.024205749915813257,
      0.024205749915813257
    ],
    "min_front_frame": [
      7,
      33.73216605640883
    ],
    "v_avg": 10.322537783065403,
    "v_std": 0.9271094807675193,
    "vy_max": 0.2924897297668183,
    "a_max": 3.089867252186425,
    "ax_avg": 0.6158254081070214,
    "a_std": 0.8528446320962155,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "2313aa310e16503d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      33.73216605640883,
      34.71803857216159,
      35.86935546098673
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2313aa310e16503d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1a37d69ab5805f15": {
    "vx_ego": [
      8.83575141071947,
      8.992118665088233,
      9.184406470410892,
      9.394326406739392,
      9.576097457656974,
      9.727232211588621,
      9.79233269437633,
      9.788298769517029,
      9.73405940493512,
      9.633318888819403
    ],
    "vy_ego": [
      0.11814244403635277,
      0.08187377596362844,
      0.05766436763553773,
      0.06846976240552127,
      0.07662889713734833,
      0.10644545720371346,
      0.10890449363847243,
      0.08550931389921312,
      0.07035909876184543,
      0.08335121345011842
    ],
    "v_ego": [
      8.836541214135424,
      8.992491390166506,
      9.184587491717865,
      9.394575921494537,
      9.576404048828604,
      9.727814612415605,
      9.79293826111889,
      9.788672261552744,
      9.734313684157936,
      9.633679475593336
    ],
    "ax_ego": [
      0.3098170998641236,
      0.31120131623837044,
      0.4552500903983315,
      0.38279276416357466,
      0.34242986992423546,
      0.26047366929497656,
      -0.0032600806323191817,
      -0.01611568610501557,
      -0.20167738421149403,
      -0.20162487517168623
    ],
    "ay_ego": [
      0.12667445994765847,
      0.12323466518829679,
      0.14548572396906972,
      0.13344867671005575,
      0.14972771632605952,
      0.13987305189208996,
      0.1706932421880259,
      0.004691510143674148,
      0.04731232346255301,
      0.04753554963906137
    ],
    "a_ego": [
      0.334713391084443,
      0.33471337280211233,
      0.47793173224477714,
      0.40538728348537906,
      0.3737333338793126,
      0.29565351856792793,
      0.17072437158879597,
      0.016784683674814647,
      0.20715265688331355,
      0.20715264605475286
    ],
    "yaw": [
      1.6634882398383004,
      1.6745660472603765,
      1.684641697501963,
      1.6909791166155927,
      1.6975790151879813,
      1.701986380334367,
      1.7096637103521726,
      1.7165307072640363,
      1.7194078614366637,
      1.7205148631087128
    ],
    "yaw_diff": [
      0.022155614844152183,
      0.020151300483172818,
      0.012674838227259677,
      0.013199797144777037,
      0.008814730292771689,
      0.015354660035610923,
      0.01373399382372753,
      0.0057543083452546995,
      0.00221400334409827,
      0.00221400334409827
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.466201836118145,
    "v_std": 0.33114549038015195,
    "vy_max": 0.11814244403635277,
    "a_max": 0.47793173224477714,
    "ax_avg": 0.1639286783763097,
    "a_std": 0.1271599829328501,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "1a37d69ab5805f15",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "1a37d69ab5805f15",
    "road_shape": "Curve"
  },
  "5f448f3d0f8c5e95": {
    "vx_ego": [
      9.715899554519511,
      9.65104352856152,
      9.590207458326617,
      9.543923273982006,
      9.495148177641475,
      9.454953816280485,
      9.452315175759836,
      9.495344899009012,
      9.687282447640031,
      9.998804890607357
    ],
    "vy_ego": [
      -0.02976552136744992,
      -0.05406406466824887,
      -0.05642379292386046,
      -0.049064365655418385,
      0.006956893118633012,
      0.012189239646676953,
      -0.0012678829059629138,
      -0.03044375643257169,
      -0.043808203633919796,
      0.008796715445886782
    ],
    "v_ego": [
      9.715945149071947,
      9.651194957790338,
      9.590373441016329,
      9.54404939067441,
      9.495150726224946,
      9.454961673405137,
      9.452315260793345,
      9.495393702919442,
      9.687381502710641,
      9.998808760179196
    ],
    "ax_ego": [
      -0.13059221103956958,
      -0.12974699067593612,
      -0.11533774473279979,
      -0.07171432106145904,
      -0.12438767041333873,
      -0.03630116958047616,
      0.02575841489897706,
      0.14642406071940278,
      0.6227816138865219,
      0.6236052678596163
    ],
    "ay_ego": [
      -0.15417122664296917,
      -0.1548832214213118,
      -0.16392219376686495,
      -0.12350399764895811,
      -0.13315825265654918,
      -0.08467219404982335,
      -0.051787898907031026,
      -0.03208348651208718,
      0.19172650387517592,
      0.18903032511147008
    ],
    "a_ego": [
      0.20204725365320175,
      0.20204725652011352,
      0.20043273427609098,
      0.14281519975331713,
      0.18221803643273837,
      0.09212575838559717,
      0.05784014532582632,
      0.14989781741016323,
      0.651625652413484,
      0.6516256547389858
    ],
    "yaw": [
      2.637699078948275,
      2.632229396391301,
      2.624188786728628,
      2.6159040412856145,
      2.6032876527137585,
      2.596980646255367,
      2.594793671497073,
      2.595661442314154,
      2.601250652544234,
      2.60557702430847
    ],
    "yaw_diff": [
      -0.01093936511394844,
      -0.01608121932534523,
      -0.016569490886027438,
      -0.02523277714371197,
      -0.012614012916783324,
      -0.0043739495165873166,
      0.0017355416341615637,
      0.011178420460160154,
      0.008652743528472229,
      0.008652743528472229
    ],
    "min_front_frame": [
      0,
      25.480314502105955
    ],
    "v_avg": 9.608557456478573,
    "v_std": 0.15812075834377048,
    "vy_max": 0.05642379292386046,
    "a_max": 0.6516256547389858,
    "ax_avg": 0.08104892498609387,
    "a_std": 0.20433025143515712,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5f448f3d0f8c5e95",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.62323632168144,
    "right_rear_min": 19.842703527956157,
    "speed_mode": "quasi_constant",
    "front_frame": [
      25.480314502105955,
      25.536541222597744,
      25.736642037807616,
      25.922505160062457,
      26.29888509649496,
      26.536751953622232,
      26.799921725509467,
      27.00715288066289,
      27.22439791514409,
      27.34376288994145
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5f448f3d0f8c5e95",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7b7cac50a37a5c24": {
    "vx_ego": [
      7.901130621309724,
      7.893014755744538,
      7.895060847373292,
      7.905105627069874,
      7.918959923012606,
      7.935776372578096,
      7.9637441678524405,
      7.995694802061263,
      7.956506751046781,
      7.853541435722256
    ],
    "vy_ego": [
      -0.040562731865090296,
      -0.04843240409509919,
      -0.033977231226598015,
      -0.013921024397076653,
      -0.017012912701479532,
      -0.029160861760341383,
      -0.03729746024642111,
      -0.00918119661398542,
      0.016915335303767876,
      0.029930343518940195
    ],
    "v_ego": [
      7.90123474086263,
      7.893163347617192,
      7.895133959342838,
      7.905117884639802,
      7.918978198068133,
      7.9358299497549325,
      7.963831506978572,
      7.995700073294443,
      7.956524731817368,
      7.853598468731997
    ],
    "ax_ego": [
      -0.02112703538170324,
      -0.0056717295782862664,
      0.018841883600836606,
      0.02268002404254038,
      0.03343409912735523,
      0.03628280485682481,
      0.07816578907291945,
      0.04922820979197032,
      -0.20596300808350115,
      -0.2059457396043419
    ],
    "ay_ego": [
      0.4859878071951751,
      0.48641374407106325,
      0.4968678983270543,
      0.40816065185796274,
      0.3422485455105687,
      0.3635896931100527,
      0.32493419576279003,
      0.032520542780962766,
      0.033996063704864826,
      0.03410051599283531
    ],
    "a_ego": [
      0.48644681144642565,
      0.4864468099778629,
      0.497225024476415,
      0.4087902900212862,
      0.34387774846383656,
      0.3653955485007182,
      0.3342037135601627,
      0.059000019848222694,
      0.2087498336435974,
      0.20874983317875256
    ],
    "yaw": [
      0.980570610166697,
      1.0123558485634432,
      1.0416739882460657,
      1.0677752002291752,
      1.0918799231136722,
      1.115671814762351,
      1.1383616344388114,
      1.1460335044890126,
      1.1448512643578093,
      1.1453584275688833
    ],
    "yaw_diff": [
      0.06357047679349237,
      0.05863627936524507,
      0.05220242396621888,
      0.04820944576899411,
      0.047583783297357574,
      0.045379639352920886,
      0.015343740100402403,
      -0.002364480262406765,
      0.0010143264221480486,
      0.0010143264221480486
    ],
    "min_front_frame": [
      9,
      78.37405633126188
    ],
    "v_avg": 7.921911286110792,
    "v_std": 0.03939817372605959,
    "vy_max": 0.04843240409509919,
    "a_max": 0.497225024476415,
    "ax_avg": -0.020007470215538576,
    "a_std": 0.1365477183752134,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7b7cac50a37a5c24",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.37405633126188
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7b7cac50a37a5c24",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1ed850327b905ebd": {
    "vx_ego": [
      4.748784600638414,
      4.94547757502299,
      5.1384212847115425,
      5.323782080379094,
      5.5038400953499105,
      5.636546580753837,
      5.744393443554485,
      5.864228844712962,
      5.968151350304232,
      6.060641496232307
    ],
    "vy_ego": [
      0.022195896853062003,
      -0.06828455522947863,
      -0.042820510741021334,
      -0.03476923863055115,
      -0.006139887900897811,
      0.013657534410244754,
      0.009968175722157468,
      0.003544888581258121,
      0.002117808384910713,
      0.017066929912860296
    ],
    "v_ego": [
      4.74883647234748,
      4.945948971182189,
      5.13859970179783,
      5.323895616869334,
      5.50384352006893,
      5.63656312705304,
      5.744402092374713,
      5.864229916144026,
      5.968151726058125,
      6.060665526652137
    ],
    "ax_ego": [
      0.3830691205203535,
      0.40862603918511625,
      0.3643542904506887,
      0.3783866670801114,
      0.34394390081224424,
      0.1863254598787684,
      0.24397260560413714,
      0.2344144542479987,
      0.18169484491386156,
      0.18743457186311047
    ],
    "ay_ego": [
      0.4274463640681909,
      0.4030844893028047,
      0.08477195840558019,
      0.10947119884449913,
      0.2784853905044509,
      0.2535988402264304,
      0.25312145614617515,
      0.21792626861551753,
      0.28002130093172994,
      0.27621228568950434
    ],
    "a_ego": [
      0.5739793944484014,
      0.573979394592366,
      0.37408599800278847,
      0.39390406598618266,
      0.4425511491684994,
      0.3146896070149523,
      0.3515581087769587,
      0.32006561032555464,
      0.3338037531900603,
      0.33380375296770987
    ],
    "yaw": [
      0.7442957376068655,
      0.8058198978982566,
      0.8249377672300813,
      0.8326843003128572,
      0.8453010261575291,
      0.8655553871784811,
      0.8884935638207822,
      0.9098836863962221,
      0.9311421544431683,
      0.9517792505173361
    ],
    "yaw_diff": [
      0.12304832058278214,
      0.03823573866364938,
      0.015493066165551905,
      0.025233451689343767,
      0.04050872204190403,
      0.045876353284602045,
      0.04278024515087986,
      0.0425169360938924,
      0.04127419214833572,
      0.04127419214833572
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.49351366705478,
    "v_std": 0.42154398800515563,
    "vy_max": 0.06828455522947863,
    "a_max": 0.573979394592366,
    "ax_avg": 0.291222195455639,
    "a_std": 0.09371200604568543,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "1ed850327b905ebd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1ed850327b905ebd",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "73bc1971e0735c22": {
    "vx_ego": [
      5.770617212997017,
      5.145989187602961,
      4.481903277503371,
      3.7837204584362647,
      3.061975971321825,
      2.3553934849529536,
      1.7075934661704495,
      1.100485036110228,
      0.6111964274889673,
      0.21375879646205048
    ],
    "vy_ego": [
      -0.07907567533905446,
      -0.007910056128344056,
      0.022775016931102954,
      0.00936598478350259,
      -0.016955279106182664,
      -0.027279121150142194,
      -0.015190358458341602,
      0.00906427427385631,
      0.026358520859142642,
      0.03473847897071107
    ],
    "v_ego": [
      5.771158980773948,
      5.145995266993017,
      4.481961143326845,
      3.783732050404746,
      3.0620229147479945,
      2.3555514469884846,
      1.7076610298001482,
      1.1005223649570424,
      0.611764533621522,
      0.2165631200968966
    ],
    "ax_ego": [
      -1.2492873978796517,
      -1.2494619666879574,
      -1.4069048859910807,
      -1.3857201281941238,
      -1.50129648887792,
      -1.3251926887400534,
      -1.2660972348026527,
      -1.1623445874883949,
      -0.7948221099289106,
      -0.7948344856606114
    ],
    "ay_ego": [
      0.1282246835610451,
      0.12651224646316794,
      0.0010861299409652414,
      -0.07212132877445954,
      -0.05609241815518551,
      0.00011659580083245302,
      0.04134574716630135,
      0.053190451926522886,
      0.01643211651123544,
      0.015822704562195478
    ],
    "a_ego": [
      1.2558505372755315,
      1.2558505303995757,
      1.4069053052369318,
      1.3875956758892458,
      1.5023440041786924,
      1.325192693869338,
      1.2667721495137407,
      1.1635609843234322,
      0.7949919502013112,
      0.7949919606983653
    ],
    "yaw": [
      -2.099385870686265,
      -2.1007565086334736,
      -2.100505244033471,
      -2.101558414975276,
      -2.1032260553363082,
      -2.1045921002356907,
      -2.1054434280105863,
      -2.1058895472924197,
      -2.1057520059734625,
      -2.106518720858279
    ],
    "yaw_diff": [
      -0.0027412758944169724,
      0.000502529200005597,
      -0.002106341883610696,
      -0.0033352807220641267,
      -0.002732089798764825,
      -0.00170265554979121,
      -0.0008922385636669361,
      0.0002750826379145366,
      -0.0015334297696334431,
      -0.0015334297696334431
    ],
    "min_front_frame": [
      9,
      11.320874141796665
    ],
    "v_avg": 2.823693285171064,
    "v_std": 1.8420838077985453,
    "vy_max": 0.07907567533905446,
    "a_max": 1.5023440041786924,
    "ax_avg": -1.2135961974251357,
    "a_std": 0.22864856222841365,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "73bc1971e0735c22",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.620683797376916,
      20.97851295778427,
      18.674130589544017,
      16.50039932408031,
      14.894375610910828,
      13.633307854930806,
      12.615348606819673,
      11.971273680443336,
      11.599482390327701,
      11.320874141796665
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "73bc1971e0735c22",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0af18cfd826c5086": {
    "vx_ego": [
      7.637247208586846,
      7.66133643751605,
      7.6647887641791055,
      7.69402161498836,
      7.784520267701588,
      7.873371037341794,
      7.927309159304071,
      7.949847475622262,
      7.982758398334834,
      8.041223335954454
    ],
    "vy_ego": [
      -0.11876887639568778,
      -0.05379757872667046,
      -0.03340850796120476,
      -0.05356679632881667,
      -0.07075281570156466,
      -0.050750360528608596,
      -0.016620851831758543,
      0.013126092244409193,
      0.013752439831949737,
      -0.0008085677123359503
    ],
    "v_ego": [
      7.638170656058155,
      7.661525317343014,
      7.664861572650249,
      7.694208082290017,
      7.784841794101309,
      7.87353459957765,
      7.927326583401357,
      7.949858311942123,
      7.982770244456911,
      8.041223376606336
    ],
    "ax_ego": [
      0.043475065266098456,
      0.046408880038613494,
      -0.03458321552025481,
      0.1491624760267114,
      0.20822786241443614,
      0.1429029474192725,
      0.07096978043173886,
      0.019697453905946696,
      0.11385144323658761,
      0.12049005586809604
    ],
    "ay_ego": [
      -0.15704009055852597,
      -0.15619823039398742,
      -0.26076643191216764,
      -0.3214096360184959,
      -0.23662225457394945,
      -0.15651427893667308,
      -0.1680237239262256,
      -0.2435724230021536,
      -0.34216435024956526,
      -0.3398834209514686
    ],
    "a_ego": [
      0.16294683593896986,
      0.16294683588413614,
      0.2630496736510493,
      0.354335432013172,
      0.31519665931818547,
      0.2119386040630212,
      0.1823970436618031,
      0.24436758160099087,
      0.3606086434193738,
      0.3606086429923306
    ],
    "yaw": [
      -0.7670287314817604,
      -0.7857603423085449,
      -0.8020022900783088,
      -0.8183784356061543,
      -0.8341985568344812,
      -0.849291406581448,
      -0.8638643152464445,
      -0.8805594833309829,
      -0.8990465949420008,
      -0.9185126885650698
    ],
    "yaw_diff": [
      -0.03746322165356886,
      -0.03248389553952791,
      -0.032752291055690996,
      -0.031640242456653755,
      -0.03018569949393357,
      -0.029145817329992996,
      -0.03339033616907683,
      -0.03697422322203581,
      -0.03893218724613812,
      -0.03893218724613812
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.821832053842712,
    "v_std": 0.14351037372508257,
    "vy_max": 0.11876887639568778,
    "a_max": 0.3606086434193738,
    "ax_avg": 0.08806027490872463,
    "a_std": 0.07718848680135192,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0af18cfd826c5086",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0af18cfd826c5086",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cc2587bf27c75cc2": {
    "vx_ego": [
      7.1674363678617015,
      6.992158209602216,
      6.845407967905395,
      6.852815538441071,
      7.0120900076079105,
      7.22983750908832,
      7.495865672449465,
      7.753931621305156,
      7.9974458862419375,
      8.250554576446076
    ],
    "vy_ego": [
      -0.02545048367578051,
      -0.06138016425515769,
      -0.05987690895193021,
      0.00427209053912847,
      0.025286375840331665,
      0.01296510740409662,
      0.02545836945567892,
      0.00402360341757424,
      -0.003494708090497234,
      0.018757513876860976
    ],
    "v_ego": [
      7.16748155313049,
      6.9924276151184905,
      6.845669835106592,
      6.852816870065693,
      7.012135600200401,
      7.2298491340988855,
      7.495908904728073,
      7.753932665251902,
      7.997446649797217,
      8.250575898883794
    ],
    "ax_ego": [
      -0.3503011065109084,
      -0.34814100510111856,
      -0.23262259570077085,
      0.2644715637628482,
      0.3699512848478183,
      0.49932200071189736,
      0.5647311172732628,
      0.4676668100012905,
      0.5062377352333687,
      0.5062161479119774
    ],
    "ay_ego": [
      0.1399637985781037,
      0.14525346711871231,
      0.3559523467659978,
      0.3831817218265722,
      0.21133587429964795,
      0.060158442783556504,
      0.006728492027305577,
      -0.12525677510447952,
      0.03411142535400452,
      0.03443026970481919
    ],
    "a_ego": [
      0.37722769004300144,
      0.3772276887276753,
      0.42522387656243554,
      0.4655893469369148,
      0.42605962602263575,
      0.5029328967497299,
      0.5647711991786313,
      0.48415029163097417,
      0.5073856855626616,
      0.5073856835571808
    ],
    "yaw": [
      -0.6674364187633446,
      -0.6522896519982555,
      -0.6343596507636606,
      -0.6165857021340595,
      -0.5981427826061056,
      -0.5868554720514487,
      -0.5862805351301223,
      -0.5873538972137471,
      -0.5892937111418441,
      -0.5899235484041314
    ],
    "yaw_diff": [
      0.030293533530178163,
      0.035860002469189745,
      0.035547897259202266,
      0.0368858390559077,
      0.022574621109313853,
      0.0011498738426527488,
      -0.002146724167249481,
      -0.003879627856194112,
      -0.0012596745245745389,
      -0.0012596745245745389
    ],
    "min_front_frame": [
      0,
      21.450842218579318
    ],
    "v_avg": 7.359824472638154,
    "v_std": 0.46957528415720423,
    "vy_max": 0.06138016425515769,
    "a_max": 0.5647711991786313,
    "ax_avg": 0.22475319524296652,
    "a_std": 0.05817672167339979,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "cc2587bf27c75cc2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      21.450842218579318,
      46.467174978649496,
      42.98103009018457,
      39.69101895102381,
      36.21031857412098,
      32.661303097863055,
      28.990282226108736,
      31.241693271911796,
      27.33038054205183,
      30.99069734485375
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "cc2587bf27c75cc2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d2ce22d49c4c5166": {
    "vx_ego": [
      3.0682858716394352,
      3.9929568722992355,
      4.893198514420894,
      5.753072134784179,
      6.539648651604115,
      7.203267924478853,
      7.684911634461228,
      7.9998608305889976,
      8.271851102146146,
      8.551301460820246
    ],
    "vy_ego": [
      -0.019676773284973526,
      -0.0020392027533845947,
      -0.015158144376273594,
      -0.0352774094954825,
      -0.02856101551756632,
      -0.01594296420887123,
      -0.010140059707348992,
      -0.03078029541429772,
      -0.009846277225903921,
      0.021810260764519113
    ],
    "v_ego": [
      3.068348964102531,
      3.9929573930095423,
      4.8932219928051275,
      5.7531802929902085,
      6.53971101945911,
      7.20328556770684,
      7.684918324243167,
      7.999920045561573,
      8.271856962330261,
      8.551329274522242
    ],
    "ax_ego": [
      1.8493345495588733,
      1.849307449745234,
      1.7517095567605634,
      1.6876994916000787,
      1.4592143390905274,
      1.1954985853119426,
      0.7310749837695535,
      0.5287528042633787,
      0.5589534781610707,
      0.558894037754349
    ],
    "ay_ego": [
      0.027702845229822144,
      0.029456382722968195,
      -0.10807631755849707,
      0.01642887817784565,
      0.09922174908042408,
      0.05134171051748121,
      -0.0493526359694788,
      -0.022946969989434685,
      0.029594706213405347,
      0.030696642832081917
    ],
    "a_ego": [
      1.8495420308351873,
      1.8495420303865342,
      1.7550404159629185,
      1.6877794530048487,
      1.4625838242295666,
      1.1966005343144877,
      0.7327389129634025,
      0.529250499714533,
      0.5597363999100079,
      0.5597363927051019
    ],
    "yaw": [
      -1.5469465217644607,
      -1.5478947284992906,
      -1.5493617617014486,
      -1.5498855887933884,
      -1.5462910100614367,
      -1.5426668421923813,
      -1.5433740580910076,
      -1.543047997998569,
      -1.54541788024216,
      -1.547389410977451
    ],
    "yaw_diff": [
      -0.0018964134696597412,
      -0.002934066404316038,
      -0.0010476541838797537,
      0.007189157463903584,
      0.007248335738110789,
      -0.0014144317972526466,
      0.0006521201848772584,
      -0.004739764487182274,
      -0.003943061470581988,
      -0.003943061470581988
    ],
    "min_front_frame": [
      0,
      14.207848146914912
    ],
    "v_avg": 6.395872983673061,
    "v_std": 1.805268688307077,
    "vy_max": 0.0352774094954825,
    "a_max": 1.8495420308351873,
    "ax_avg": 1.2170439276015572,
    "a_std": 0.5425449741755511,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "d2ce22d49c4c5166",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.4907419861180795,
    "right_rear_min": 8.335974931161955,
    "speed_mode": "accelerating",
    "front_frame": [
      14.207848146914912,
      15.350529204192153,
      16.350667771111492,
      17.339825907317696,
      17.944888218893933,
      18.380784614631512,
      18.671290744225374,
      18.985317939229823,
      19.383979140808496,
      19.893327839315596
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d2ce22d49c4c5166",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "c6c1dab6af9858f9": {
    "vx_ego": [
      8.43780995736978,
      8.32465689525647,
      8.26770039083614,
      8.332781966239367,
      8.489466875848393,
      8.644205414520162,
      8.744524779551789,
      8.822085192178823,
      8.88765364740864,
      8.936955319933599
    ],
    "vy_ego": [
      -0.00931489211402603,
      0.009020022663171368,
      -0.004910175662349747,
      -0.004284937124924948,
      0.0007971716544874496,
      -0.015040097168533606,
      -0.01457331391705008,
      0.015911080717970982,
      0.021188738499153814,
      0.01719209313257508
    ],
    "v_ego": [
      8.437815098940229,
      8.324661781991503,
      8.26770184890923,
      8.332783067953358,
      8.489466913276106,
      8.644218498681214,
      8.744536923226626,
      8.82209954039006,
      8.887678905031127,
      8.93697185620251
    ],
    "ax_ego": [
      -0.226998495041579,
      -0.22560155088286832,
      -0.0027333284809447495,
      0.2630019914445231,
      0.3637350488422815,
      0.2552161551231501,
      0.14640984667122892,
      0.16374270949896427,
      0.09863310742924454,
      0.09867443707635437
    ],
    "ay_ego": [
      0.17153523103343046,
      0.17336838681315805,
      0.08139798556155027,
      -0.015887911502058052,
      -0.027072137550224112,
      -0.07933000904916739,
      0.15084305825987454,
      0.015621160431321501,
      -0.03149699009779535,
      -0.03136725850759987
    ],
    "a_ego": [
      0.284521795714905,
      0.28452180462479887,
      0.08144386495042515,
      0.2634814476119376,
      0.3647411224249813,
      0.267261175952634,
      0.2102129192687373,
      0.16448615615693404,
      0.10354009014082186,
      0.10354008614357058
    ],
    "yaw": [
      -0.625032343262717,
      -0.616931860809709,
      -0.6075440742679438,
      -0.6056386391716903,
      -0.6075225530687507,
      -0.6087769540476835,
      -0.6067774658042295,
      -0.6055097871771475,
      -0.6065530685669783,
      -0.6078680396095961
    ],
    "yaw_diff": [
      0.01620096490601597,
      0.018775573083530395,
      0.003810870192507032,
      -0.0037678277941208815,
      -0.002508801957865625,
      0.003998976486907946,
      0.0025353572541639835,
      -0.0020865627796615716,
      -0.0026299420852355926,
      -0.0026299420852355926
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.588793443460194,
    "v_std": 0.2373578118579476,
    "vy_max": 0.021188738499153814,
    "a_max": 0.3647411224249813,
    "ax_avg": 0.09340799216803548,
    "a_std": 0.0907631929260972,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c6c1dab6af9858f9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c6c1dab6af9858f9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "69b32d0447ac5c28": {
    "vx_ego": [
      1.0459304558376896,
      0.6395236177783613,
      0.262850977459443,
      0.01827861753238752,
      -0.041876812046979794,
      -0.02359976929488133,
      -0.012893358071172445,
      -0.007785495490925861,
      -0.005166464562201655,
      -0.003378353667839562
    ],
    "vy_ego": [
      0.019637959286332718,
      0.020196016780275106,
      0.030951027442163076,
      0.024373535260718227,
      0.0016129719182076153,
      -0.003546078386135052,
      -0.002501698998911458,
      -0.001486228757502199,
      -0.0008894136887783945,
      -0.00038566671818883783
    ],
    "v_ego": [
      1.0461147967091227,
      0.6398424312204628,
      0.264666965167756,
      0.030465998752720696,
      0.04190786400697366,
      0.02386469741463817,
      0.01313381818941553,
      0.007926084528873853,
      0.005242462473139119,
      0.003400295916905405
    ],
    "ax_ego": [
      -0.8127785211838469,
      -0.8127781932323564,
      -0.6938620127477354,
      -0.2844386276484786,
      0.04381300007189752,
      0.029294818329690966,
      0.013531234020684447,
      0.006899896699652048,
      0.00357623769226591,
      0.0035762501824641623
    ],
    "ay_ego": [
      -1.3092920526869278e-05,
      -0.0007306408530090014,
      0.042659971296403754,
      -0.0689459215881215,
      -0.02212515598106614,
      0.0014915868226848747,
      0.00268377216285484,
      0.001379700934291195,
      0.001007414688299363,
      0.0010073719474692777
    ],
    "a_ego": [
      0.8127785212893027,
      0.812778521634344,
      0.6951721843438131,
      0.2926753713625136,
      0.04908259877478574,
      0.029332766869479002,
      0.013794815226911984,
      0.00703648698811795,
      0.00371542196604702,
      0.0037154223996906464
    ],
    "yaw": [
      0.8568175159381873,
      0.8559346809522054,
      0.8553097413684534,
      0.855376945758424,
      0.8555132978514952,
      0.8554919186881946,
      0.8555249584054405,
      0.8554828993183152,
      0.855488454881911,
      0.8555007212907897
    ],
    "yaw_diff": [
      -0.0017656699719639235,
      -0.0012498791675039644,
      0.0001344087799413085,
      0.00027270418614233627,
      -4.275832660116663e-05,
      6.607943449177256e-05,
      -8.411817425058032e-05,
      1.1111127191654191e-05,
      2.453281775727234e-05,
      2.453281775727234e-05
    ],
    "min_front_frame": [
      9,
      7.858383186664902
    ],
    "v_avg": 0.2076565414380008,
    "v_std": 0.3385438007798528,
    "vy_max": 0.030951027442163076,
    "a_max": 0.812778521634344,
    "ax_avg": -0.25031659178157617,
    "a_std": 0.3396753376862243,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "69b32d0447ac5c28",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.662984888154066,
    "speed_mode": "decelerating",
    "front_frame": [
      8.539662930155913,
      8.12435015810954,
      7.9146385177506104,
      7.877606724758144,
      7.8935100645724825,
      7.881968698648423,
      7.879678676680579,
      7.888301374949477,
      7.876039375070859,
      7.858383186664902
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "69b32d0447ac5c28",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1801a3d3fffc57f5": {
    "vx_ego": [
      5.562476524187928,
      5.66289032472982,
      5.756644630771539,
      5.855600043318895,
      5.98265121667652,
      6.097252309398476,
      6.200948958747171,
      6.332287503844147,
      6.434515242230417,
      6.4976889421604715
    ],
    "vy_ego": [
      -0.014755572537383077,
      -0.011854617348893592,
      -0.019055468592051206,
      -0.022026626439350272,
      -0.01723543406777739,
      -0.02000389573335437,
      -0.02140668297634374,
      -0.015507263665119897,
      -0.0021492394499980083,
      -0.0012913707454846879
    ],
    "v_ego": [
      5.562496095195278,
      5.662902732863341,
      5.756676169099149,
      5.855641471229992,
      5.982676043426433,
      6.097285123750534,
      6.200985908310361,
      6.332306491837482,
      6.434515601171993,
      6.497689070485973
    ],
    "ax_ego": [
      0.1965950822293919,
      0.20364798215394375,
      0.17087714966350143,
      0.22237535680016984,
      0.28315261094349975,
      0.17296415274201304,
      0.23905278706961466,
      0.2844506636257664,
      0.12439769173752993,
      0.1281607479217537
    ],
    "ay_ego": [
      -0.2810003161192556,
      -0.2759317005944621,
      -0.36268541056230685,
      -0.35910067101131243,
      -0.3398771064489241,
      -0.3173855789642283,
      -0.23348998829659384,
      -0.1576168071281394,
      -0.22081762357561216,
      -0.21865505162178997
    ],
    "a_ego": [
      0.34294431620294125,
      0.3429443162210519,
      0.4009235679177164,
      0.42237908474825986,
      0.44237071396309025,
      0.36145567344865515,
      0.3341613527032922,
      0.32520030431475305,
      0.25344665827587126,
      0.2534466589000355
    ],
    "yaw": [
      1.507376695830052,
      1.4820503626945878,
      1.4553706258124635,
      1.4247721512756053,
      1.3944040594940204,
      1.367720056544581,
      1.345522683291352,
      1.3289638771642895,
      1.3121034686696527,
      1.294978563251838
    ],
    "yaw_diff": [
      -0.05065266627092857,
      -0.053359473764248655,
      -0.06119694907371631,
      -0.0607361835631699,
      -0.05336800589887858,
      -0.04439474650645803,
      -0.03311761225412502,
      -0.03372081698927376,
      -0.03424981083562928,
      -0.03424981083562928
    ],
    "min_front_frame": [
      9,
      67.6254907656756
    ],
    "v_avg": 6.038317470737054,
    "v_std": 0.31104557435859564,
    "vy_max": 0.022026626439350272,
    "a_max": 0.44237071396309025,
    "ax_avg": 0.20256742248871845,
    "a_std": 0.06005256788060314,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "1801a3d3fffc57f5",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.363374327768362,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      75.906122399957,
      73.32528859961529,
      -1,
      67.6254907656756
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1801a3d3fffc57f5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "82e6bac5509d5471": {
    "vx_ego": [
      2.5613621593407068,
      2.979531719806154,
      3.4124832831732,
      3.849067738451669,
      4.256801256656037,
      4.6142696078863175,
      4.9256456353642335,
      5.196235894584666,
      5.435005634476269,
      5.6739895368384525
    ],
    "vy_ego": [
      -0.004860172063530399,
      0.0006107419039079742,
      -0.020005457015759065,
      -0.012820568153525946,
      -0.021621681734516285,
      -0.0343830779418941,
      -0.019607448266531713,
      0.02157570754373639,
      0.03846509662401276,
      0.0017939717851869208
    ],
    "v_ego": [
      2.5613667704128154,
      2.979531782400834,
      3.4125419230021117,
      3.849089089922085,
      4.2568561680880705,
      4.614397708294346,
      4.9256846607563345,
      5.1962806875039105,
      5.435141747042766,
      5.673989820442666
    ],
    "ax_ego": [
      0.8360739818741204,
      0.8366471023137068,
      0.8952324724764988,
      0.8509916403590051,
      0.7798978443814708,
      0.6497342934580818,
      0.5953642456554463,
      0.48717285550811024,
      0.4742449679000813,
      0.48361782363010536
    ],
    "ay_ego": [
      0.06594743940459395,
      0.05822717647938963,
      -0.00551747394978902,
      0.012032373559047405,
      -0.07694132298401238,
      -0.0029389351002769293,
      -0.01336825594108726,
      -0.03849268095291036,
      -0.3676060942462979,
      -0.35518491371686484
    ],
    "a_ego": [
      0.8386708340766773,
      0.838670840014534,
      0.8952494748924301,
      0.8510767004062412,
      0.7836840019123746,
      0.6497409402484935,
      0.595514311559164,
      0.48869118841132037,
      0.6000354407079361,
      0.6000354341743297
    ],
    "yaw": [
      -1.779506318030811,
      -1.7702755984126703,
      -1.7596777139912314,
      -1.7612056832640695,
      -1.7630339572945697,
      -1.7646532254210836,
      -1.7685999230955518,
      -1.7792705809235023,
      -1.801539514024563,
      -1.827473261704907
    ],
    "yaw_diff": [
      0.018461439236281407,
      0.021195768842877882,
      -0.0030559385456760957,
      -0.003656548061000464,
      -0.003238536253027835,
      -0.007893395348936405,
      -0.021341315655901028,
      -0.04453786620212119,
      -0.05186749536068813,
      -0.05186749536068813
    ],
    "min_front_frame": [
      3,
      21.57511688335872
    ],
    "v_avg": 4.290488035786593,
    "v_std": 1.0113546371381703,
    "vy_max": 0.03846509662401276,
    "a_max": 0.8952494748924301,
    "ax_avg": 0.6888977227556626,
    "a_std": 0.1350891152412456,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "82e6bac5509d5471",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      26.321646716681418,
      24.936984555214536,
      23.393674750300338,
      21.57511688335872,
      26.026926123012768,
      23.815261848338416,
      35.28336109494484,
      32.75096219248732,
      30.13541094625699,
      27.381929611640313
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "82e6bac5509d5471",
    "maneuvering": "Yes"
  },
  "6828c3caaaca56e1": {
    "vx_ego": [
      7.209212456743085,
      7.634845007660867,
      8.060685483649994,
      8.396977617227744,
      8.57933602224401,
      8.582207772587724,
      8.46776006085003,
      8.340218372350463,
      8.191907136645147,
      8.03015682083335
    ],
    "vy_ego": [
      0.10483713257368521,
      -0.10148504076406217,
      -0.08412928214809678,
      -0.07355381634281777,
      -0.06286115831992589,
      -0.043737804760919374,
      0.011165914022396528,
      0.02884439760074109,
      -0.011403064549822872,
      -0.07151070427400308
    ],
    "v_ego": [
      7.2099746928006585,
      7.635519465269075,
      8.061124499872241,
      8.397299760525542,
      8.579566312337647,
      8.582319223113904,
      8.467767422748622,
      8.340268250947638,
      8.191915073125383,
      8.030475225539403
    ],
    "ax_ego": [
      0.8357495979082666,
      0.8648298627333394,
      0.8481280195892127,
      0.5009245015615376,
      0.229494915475945,
      -0.218041929649684,
      -0.23994630103236309,
      -0.27016080484817206,
      -0.32319516113617097,
      -0.3233935956128188
    ],
    "ay_ego": [
      0.5078144854123199,
      0.45653285834945956,
      0.44141299937136314,
      0.22350703914678724,
      0.017270153927293863,
      0.05414932912907222,
      0.07823216739324704,
      -0.02287899770035909,
      -0.08036085343736207,
      -0.0795585741000379
    ],
    "a_ego": [
      0.9779329946363445,
      0.9779329947537788,
      0.956120585295779,
      0.5485259818940561,
      0.2301438125303037,
      0.2246651573575358,
      0.25237769195029586,
      0.27112784624967085,
      0.3330360024787361,
      0.3330360106598363
    ],
    "yaw": [
      -0.8023244300973333,
      -0.7420319345280051,
      -0.7156468935944258,
      -0.6968309373604242,
      -0.6910223236000901,
      -0.6911691943394609,
      -0.6937265397496697,
      -0.6941832827525446,
      -0.6924380830147703,
      -0.6899565599855827
    ],
    "yaw_diff": [
      0.1205849911386565,
      0.05277008186715859,
      0.037631912468003126,
      0.011617227520668294,
      -0.00029374147874161594,
      -0.0051146908204176,
      -0.0009134860057498084,
      0.0034903994755486334,
      0.0049630460583751645,
      0.0049630460583751645
    ],
    "min_front_frame": [
      9,
      45.22717537177535
    ],
    "v_avg": 8.149622992628013,
    "v_std": 0.41737761298837184,
    "vy_max": 0.10483713257368521,
    "a_max": 0.9779329947537788,
    "ax_avg": 0.1904389104989092,
    "a_std": 0.31372362523927555,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6828c3caaaca56e1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      78.36245917405678,
      74.43591069776461,
      60.428415133423734,
      66.01112464828222,
      61.753355729110474,
      57.606476368103515,
      53.37769704515679,
      49.23622525900049,
      45.22717537177535
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6828c3caaaca56e1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "db951dbc3e595c29": {
    "vx_ego": [
      1.0267474485307027,
      1.7406121326408361,
      2.4279605053342554,
      3.0030896443244792,
      3.447128300102496,
      3.749998655757167,
      3.93396122855759,
      4.020885244201267,
      3.949073717851192,
      3.7928860537587488
    ],
    "vy_ego": [
      -0.06873597049988162,
      -0.03214720870152943,
      -0.011082197252349046,
      0.002446486926311109,
      -2.086018545122137e-05,
      -0.0023205214983254008,
      -0.017053243828120124,
      -0.017212894201474538,
      -0.011882730235072136,
      -0.012763141715654291
    ],
    "v_ego": [
      1.0290456533627983,
      1.740908969281214,
      2.42798579702578,
      3.0030906408477263,
      3.447128300165613,
      3.749999373733359,
      3.933998190253702,
      4.020922087129055,
      3.949091595329346,
      3.7929075278187403
    ],
    "ax_ego": [
      1.428200725274237,
      1.4321600179147236,
      1.3207829833650897,
      0.9787190181917294,
      0.7977342641872313,
      0.4133668246650485,
      0.32253622004086246,
      0.025226941105197777,
      -0.312486608227051,
      -0.3124110876221585
    ],
    "ay_ego": [
      0.16665673045364365,
      0.12825556529888604,
      0.199762958090947,
      0.051882574602575476,
      0.10744499831535893,
      0.011465373441034321,
      -0.027832871876845355,
      0.037822937840179094,
      -0.02460677864386101,
      -0.025547783754199187
    ],
    "a_ego": [
      1.4378914345246498,
      1.437891444770306,
      1.3358042253908438,
      0.9800932190958034,
      0.8049375031151988,
      0.4135257991006212,
      0.323734894620831,
      0.04546397677708329,
      0.31345394219322625,
      0.31345394705444585
    ],
    "yaw": [
      -1.8945315214031266,
      -1.8676825576536382,
      -1.8386409551332634,
      -1.820738013850455,
      -1.8077139585325908,
      -1.7989312664568864,
      -1.796169802950772,
      -1.7955079249308894,
      -1.7960110356186718,
      -1.7990227404050163
    ],
    "yaw_diff": [
      0.05369792749897684,
      0.0580832050407496,
      0.0358058825656169,
      0.026048110635728428,
      0.017565384151408736,
      0.005522927012228784,
      0.0013237560397652004,
      -0.0010062213755648308,
      -0.006023409572688987,
      -0.006023409572688987
    ],
    "min_front_frame": [
      0,
      13.968024669225173
    ],
    "v_avg": 3.109507813494733,
    "v_std": 0.9941728198485749,
    "vy_max": 0.06873597049988162,
    "a_max": 1.437891444770306,
    "ax_avg": 0.609382929889491,
    "a_std": 0.5017041686662368,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "db951dbc3e595c29",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 46.597423396889965,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.968024669225173,
      16.18054161470224,
      18.024580471309243,
      19.366966893542802,
      20.232898763957238,
      20.692315018949984,
      20.699718621066943,
      20.514271379798746,
      20.082437636632992,
      19.57323773127899
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "db951dbc3e595c29",
    "maneuvering": "Yes"
  },
  "4d6456183bd056bc": {
    "vx_ego": [
      3.088544322531628,
      3.2760334240553606,
      3.476768099595584,
      3.7123465277340872,
      3.9880791804990414,
      4.255947237277813,
      4.499638059774844,
      4.701060705697369,
      4.868341166009431,
      5.078252431189865
    ],
    "vy_ego": [
      0.0004556608823269581,
      -0.047228269545608104,
      -0.03586074526968708,
      -0.03322013037540361,
      -0.008081427290897336,
      0.00427290058633556,
      0.004217641530262384,
      0.013070472908170871,
      0.00491602413306344,
      -0.017227649974222603
    ],
    "v_ego": [
      3.088544356144038,
      3.276373834740499,
      3.4769530355494864,
      3.7124951608105152,
      3.98808736857619,
      4.255949382238007,
      4.499640036433403,
      4.701078875738407,
      4.8683436480958635,
      5.078281652961897
    ],
    "ax_ego": [
      0.35981211358698934,
      0.3844183216779678,
      0.4119697845159272,
      0.5203439966179705,
      0.5751845811384302,
      0.5031116543024474,
      0.48260980261840636,
      0.33468428154052926,
      0.3454221114008952,
      0.4884217588199931
    ],
    "ay_ego": [
      -0.45635670356703756,
      -0.435831106768787,
      -0.6055536139060186,
      -0.6568241952532299,
      -0.6616461335846888,
      -0.8238114355022985,
      -1.0003816916648762,
      -1.1292644628319364,
      -1.2374102153842115,
      -1.1882527774644076
    ],
    "a_ego": [
      0.5811421495421835,
      0.5811421510000899,
      0.7324030875608997,
      0.8379593655341621,
      0.8767057137186681,
      0.9652909499002377,
      1.1107095707707109,
      1.17781653721002,
      1.2847180531859328,
      1.2847180537537
    ],
    "yaw": [
      -2.3556104988411244,
      -2.410755773580852,
      -2.491268784486053,
      -2.5800777604219034,
      -2.6723160453834676,
      -2.765136454539864,
      -2.869142148691861,
      -2.9861945298198096,
      -3.1080319777551892,
      3.057384018499275
    ],
    "yaw_diff": [
      -0.11029054947945482,
      -0.16102602181040204,
      -0.17761795187170115,
      -0.18447656992312833,
      -0.1856408183127929,
      -0.20801138830399424,
      -0.23410476225589694,
      -0.2436748958707593,
      -0.235538621850246,
      -0.235538621850246
    ],
    "min_front_frame": [
      0,
      77.25682957367026
    ],
    "v_avg": 4.09457473512883,
    "v_std": 0.6591430299615078,
    "vy_max": 0.047228269545608104,
    "a_max": 1.2847180537537,
    "ax_avg": 0.4405978406219556,
    "a_std": 0.25277770937279354,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "4d6456183bd056bc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      77.25682957367026,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4d6456183bd056bc",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e993f3cb1dd051df": {
    "vx_ego": [
      4.858279218700227,
      4.071674964526977,
      3.392586761262363,
      2.9088632752730974,
      2.495492634169354,
      1.8672258912343511,
      1.0101772915562341,
      0.2692931365166551,
      -0.060522296088388244,
      -0.12672688836943585
    ],
    "vy_ego": [
      -0.020342729554328365,
      0.011121850866525174,
      0.022923877903689993,
      0.002145371751105074,
      -0.008580352775211297,
      -0.004815720637870391,
      -0.01233936919756079,
      -0.005664278807451434,
      0.009976798566002566,
      0.014153918775887245
    ],
    "v_ego": [
      4.858321808351132,
      4.071690154263025,
      3.3926642092713495,
      2.9088640664101995,
      2.4955073852119227,
      1.867232101282853,
      1.010252651769884,
      0.26935270080210144,
      0.06133909710321082,
      0.12751485267416449
    ],
    "ax_ego": [
      -1.573179499249852,
      -1.5732735398197502,
      -1.1430123158865715,
      -0.7919417961981379,
      -0.8615880156085186,
      -1.6514870972641507,
      -1.7767252036946357,
      -1.1868548692434382,
      -0.13241001824512655,
      -0.1324097727776159
    ],
    "ay_ego": [
      0.04541267465855303,
      0.04202863850391847,
      -0.005542153860380761,
      -0.06840464214956671,
      0.016216902700181224,
      -0.005875979159214673,
      -0.02877574707521413,
      0.05420653602896336,
      0.008346780136203512,
      0.008350679954473063
    ],
    "a_ego": [
      1.5738348222985976,
      1.573834819017377,
      1.1430257520011504,
      0.7948905607900645,
      0.8617406202410398,
      1.6514975505767637,
      1.7769582136514863,
      1.1880920962598471,
      0.1326728369724446,
      0.132672837396062
    ],
    "yaw": [
      -0.5156800723179753,
      -0.5178310844298522,
      -0.5185597815901721,
      -0.517822116170739,
      -0.5186783715428946,
      -0.5191956298845604,
      -0.5199789866892129,
      -0.5205397451610714,
      -0.5204395977466966,
      -0.5204101641703484
    ],
    "yaw_diff": [
      -0.004302024223753698,
      -0.0014573943206399598,
      0.0014753308388661956,
      -0.0017125107443112242,
      -0.0010345166833314323,
      -0.0015667136093051592,
      -0.0011215169437168715,
      0.00020029482874961424,
      5.886715269642906e-05,
      5.886715269642906e-05
    ],
    "min_front_frame": [
      7,
      11.343545278621688
    ],
    "v_avg": 2.1062739027139843,
    "v_std": 1.6314720719962634,
    "vy_max": 0.022923877903689993,
    "a_max": 1.7769582136514863,
    "ax_avg": -1.0822882127987796,
    "a_std": 0.5691624270177646,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e993f3cb1dd051df",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.521109761412127,
    "right_rear_min": 8.043024288458033,
    "speed_mode": "decelerating",
    "front_frame": [
      16.451220335001455,
      15.449386488167676,
      14.61010394435605,
      13.861309329512215,
      13.030443344991788,
      12.20841432270435,
      11.543861527361809,
      11.343545278621688,
      11.422071094132807,
      11.44784313157842
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e993f3cb1dd051df",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "008d66a74c275479": {
    "vx_ego": [
      0.13646219867466075,
      0.018961163612529492,
      -0.03335612021534836,
      -0.021225650320613538,
      -0.012699517064977435,
      -0.008292473971487592,
      -0.0056247996562936555,
      -0.004183630514748508,
      -0.0034519380668266955,
      -0.002659567550026296
    ],
    "vy_ego": [
      0.044839198211051215,
      0.026896559823149025,
      0.012081833162572199,
      0.004654861189071991,
      0.002341537411956077,
      0.0013587323399812203,
      0.0009410159213645818,
      0.0008028912125491848,
      0.0006476656171485329,
      0.00022399729078548302
    ],
    "v_ego": [
      0.14364012448940763,
      0.032908215628644266,
      0.03547677336496374,
      0.02173007050661572,
      0.012913579330892077,
      0.008403051715865495,
      0.005702971342879329,
      0.00425997635945595,
      0.003512171289792628,
      0.002668983765299465
    ],
    "ax_ego": [
      -0.23503192462291675,
      -0.23505179520926642,
      0.02579848523699749,
      0.02272492999609696,
      0.011379819568441064,
      0.006248194313212018,
      0.004422502663004583,
      0.0013421314217916221,
      0.00158474217191711,
      0.0015847310243019945
    ],
    "ay_ego": [
      -0.035864241924921964,
      -0.035733806743594346,
      -0.023490063056634588,
      -0.006211249316397018,
      -0.0030410517673027434,
      -0.0008912443687816415,
      -0.000779695926361087,
      0.00022685359163710097,
      -0.0008473647247215432,
      -0.0008473707893551191
    ],
    "a_ego": [
      0.23775249618206273,
      0.23775250025075964,
      0.0348904700875217,
      0.02355848172947378,
      0.01177914637236881,
      0.006311437926537818,
      0.004490707688312244,
      0.0013611683604165409,
      0.001797062805845966,
      0.0017970558349805288
    ],
    "yaw": [
      -1.5405890181584836,
      -1.5400340737874456,
      -1.540254159831644,
      -1.5403152989962607,
      -1.5403313537363597,
      -1.540304141179551,
      -1.540301485394484,
      -1.5402826846657405,
      -1.5403083736051428,
      -1.540303196081824
    ],
    "yaw_diff": [
      0.0011098887420759596,
      -0.0004401720883966398,
      -0.00012227832923361603,
      -3.210948019782833e-05,
      5.442511361719582e-05,
      5.311570133947896e-06,
      3.7601457487213e-05,
      -5.137787880471478e-05,
      1.0355046637489096e-05,
      1.0355046637489096e-05
    ],
    "min_front_frame": [
      0,
      9.648535522967807
    ],
    "v_avg": 0.027121591779381633,
    "v_std": 0.0404943550841781,
    "vy_max": 0.044839198211051215,
    "a_max": 0.23775250025075964,
    "ax_avg": -0.03949981834364203,
    "a_std": 0.09138093191689116,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "008d66a74c275479",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.290687909816052,
    "right_rear_min": 19.78152897027866,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.648535522967807,
      9.66245284887436,
      9.680053489855954,
      9.715886433435127,
      9.706802227067772,
      9.706334624391399,
      9.716721345026604,
      9.701494660716003,
      9.698437525786893,
      9.703182210488047
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "008d66a74c275479",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "976ec6840abe5733": {
    "vx_ego": [
      7.258145744469346,
      7.3475606862650755,
      7.4647599712398245,
      7.607736768155368,
      7.734528906307137,
      7.827796110524867,
      7.8884365996463535,
      7.895609322029147,
      7.861162976909432,
      7.826305975737517
    ],
    "vy_ego": [
      0.06285995513403808,
      -0.02760285920480232,
      -0.059153836156842665,
      -0.024995014479317845,
      0.018372199988408333,
      0.042095926742614864,
      0.05920164272832551,
      0.0692675527899147,
      0.07121909007782978,
      0.028268625841864292
    ],
    "v_ego": [
      7.258417942080624,
      7.347612534434868,
      7.464994347255493,
      7.607777828268377,
      7.734550726463244,
      7.827909300381332,
      7.888658746652808,
      7.8959131555497155,
      7.861485578968079,
      7.826357028724908
    ],
    "ax_ego": [
      0.17823835832630505,
      0.1784543688602672,
      0.29269162934481735,
      0.2801716039575343,
      0.22694764877543092,
      0.14613698051777302,
      0.09632085856078268,
      -0.06852508505922901,
      -0.07035700823907562,
      -0.07029245211066013
    ],
    "ay_ego": [
      0.017221976858483777,
      0.01481712422414861,
      0.1481419359255275,
      0.1559096504251057,
      0.06348582279452777,
      0.027857231009182176,
      0.058032862212629155,
      0.1030915382475974,
      0.010288700565745268,
      0.010720874355685122
    ],
    "a_ego": [
      0.17906844743217737,
      0.17906844762712987,
      0.328046373350304,
      0.32063054558138426,
      0.23566010477082142,
      0.1487684186726165,
      0.11245230495848585,
      0.1237883376600171,
      0.07110531602970992,
      0.0711053160507696
    ],
    "yaw": [
      1.1632539996091098,
      1.1767379706543868,
      1.1865176422498727,
      1.1920701765093007,
      1.193565614338596,
      1.1934516452091657,
      1.1940069117771364,
      1.1978255104013629,
      1.2011755277593594,
      1.2073209112037953
    ],
    "yaw_diff": [
      0.026967942090553976,
      0.019559343190971745,
      0.011105068518856065,
      0.002990875658590575,
      -0.00022793825886058272,
      0.0011105331359413384,
      0.00763719724845302,
      0.0067000347159931195,
      0.012290766888871651,
      0.012290766888871651
    ],
    "min_front_frame": [
      5,
      22.083087858620562
    ],
    "v_avg": 7.671367718877946,
    "v_std": 0.2254503205307217,
    "vy_max": 0.07121909007782978,
    "a_max": 0.328046373350304,
    "ax_avg": 0.11897869029339458,
    "a_std": 0.08781604198055103,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "976ec6840abe5733",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      40.70817997004922,
      37.067278821045285,
      33.46264769720058,
      29.68463204884033,
      25.889601869399538,
      22.083087858620562,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.8333333333333334,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.16666666666666666,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "976ec6840abe5733",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0012a35a78a151b5": {
    "vx_ego": [
      8.577913778357313,
      8.587826020689466,
      8.532440727710739,
      8.436717014845682,
      8.428032349163217,
      8.469741271475064,
      8.442483756904243,
      8.404636931575698,
      8.373041806909697,
      8.297892103763774
    ],
    "vy_ego": [
      -0.055832067855880574,
      -0.029512524830433762,
      0.045546110423019925,
      0.021303048415375336,
      -0.003954889842850751,
      0.015065162451273206,
      0.01927087958286844,
      0.0028496129599995257,
      0.011481373964726593,
      0.034105037472143884
    ],
    "v_ego": [
      8.578095476778824,
      8.587876731227162,
      8.532562289258228,
      8.436743910328108,
      8.428033277087563,
      8.469754669696622,
      8.44250575080597,
      8.404637414659849,
      8.373049678713588,
      8.29796219076022
    ],
    "ax_ego": [
      0.017743229326071086,
      0.02520959707147799,
      -0.24775016003154132,
      -0.13658924143267417,
      0.10191961220161247,
      0.06537891643034056,
      -0.17608357889702472,
      0.02416988235103442,
      -0.15069389465049204,
      -0.1502608831996711
    ],
    "ay_ego": [
      0.3854769148321531,
      0.3850607154553668,
      0.1313631332293484,
      0.06466822533072894,
      0.1488169492360345,
      0.2815965824344488,
      0.1334533081531783,
      0.10604896605674904,
      0.11025196859701997,
      0.11084138160546951
    ],
    "a_ego": [
      0.38588505290491953,
      0.38588505849735255,
      0.28042185108776,
      0.1511244528280559,
      0.1803720924401764,
      0.2890865578894439,
      0.2209416488899544,
      0.10876840724478941,
      0.18671943247678285,
      0.18671942827717344
    ],
    "yaw": [
      2.478399756135011,
      2.4977787920215997,
      2.504067546204565,
      2.5127150702583743,
      2.5220727712929727,
      2.5325516255178333,
      2.5442829647379397,
      2.553367449625245,
      2.5587704925955643,
      2.5626874711455443
    ],
    "yaw_diff": [
      0.03875807177317725,
      0.012577508365930967,
      0.01729504810761817,
      0.018715402069196863,
      0.020957708449721224,
      0.02346267844021277,
      0.01816896977461102,
      0.010806085940638255,
      0.007833957099959932,
      0.007833957099959932
    ],
    "min_front_frame": [
      9,
      70.39779436128165
    ],
    "v_avg": 8.455122138931612,
    "v_std": 0.08612310713638656,
    "vy_max": 0.055832067855880574,
    "a_max": 0.38588505849735255,
    "ax_avg": -0.06269565208308668,
    "a_std": 0.09014837204899327,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "0012a35a78a151b5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.80762103738485,
      74.59437876600458,
      70.39779436128165
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 6,
    "token": "0012a35a78a151b5",
    "smoothness": "No"
  },
  "20ae5de0a8725d9d": {
    "vx_ego": [
      6.37789152839831,
      6.3767978977770445,
      6.376001756351984,
      6.317147786176118,
      6.191095006079531,
      6.033010038706459,
      5.960706332970241,
      5.796094001015548,
      5.374349719385865,
      4.895307294982922
    ],
    "vy_ego": [
      -0.07250237192790232,
      -0.043904951053220564,
      -0.018703239749932266,
      0.007437550353707856,
      0.013398379696118123,
      -0.028435646444232354,
      -0.039501138900277066,
      -0.02667143823267759,
      -0.0014137080546965386,
      0.056020084786682744
    ],
    "v_ego": [
      6.378303610047903,
      6.376949041181113,
      6.376029188153136,
      6.317152164507761,
      6.191109504029257,
      6.033077051813744,
      5.9608372170263095,
      5.796155366639668,
      5.374349905321888,
      4.895627821047319
    ],
    "ax_ego": [
      -0.002144959055041362,
      0.0008600251844498724,
      -0.003577089289065978,
      -0.2317980088172021,
      -0.27241024847812956,
      -0.35992004283388096,
      0.07045240034614704,
      -0.7288517432232933,
      -0.9580721347688579,
      -0.9580851005076347
    ],
    "ay_ego": [
      0.22643942853047241,
      0.22644794646844674,
      0.08776959254367499,
      0.07715931628893095,
      -0.053983570661587446,
      -0.13539994390871773,
      0.06571743279266345,
      -0.002248005922519114,
      0.11375102286783878,
      0.11364176145853322
    ],
    "a_ego": [
      0.22644958741970525,
      0.22644957960458748,
      0.08784245524269389,
      0.24430283866913008,
      0.2777077049296452,
      0.38454594269609266,
      0.09634480622945908,
      0.7288552099904761,
      0.9648012803805953,
      0.9648012799339161
    ],
    "yaw": [
      -0.6064316368803947,
      -0.5931615106537149,
      -0.5847950771979871,
      -0.5824278317282228,
      -0.5824544950033523,
      -0.58335468397043,
      -0.5844240203128523,
      -0.5839159072573649,
      -0.5834495578438675,
      -0.5835636017086623
    ],
    "yaw_diff": [
      0.02654025245335956,
      0.0167328669114557,
      0.004734490939528602,
      -5.332655025913624e-05,
      -0.0018003779341553283,
      -0.002138672684844689,
      0.0010162261109749604,
      0.000932698826994649,
      -0.00022808772958948786,
      -0.00022808772958948786
    ],
    "min_front_frame": [
      0,
      24.122304565300734
    ],
    "v_avg": 5.96995908697681,
    "v_std": 0.4701002366397517,
    "vy_max": 0.07250237192790232,
    "a_max": 0.9648012803805953,
    "ax_avg": -0.3443546901442509,
    "a_std": 0.321152050519214,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "20ae5de0a8725d9d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.122304565300734,
      28.310244410733038,
      31.039211400188876,
      27.89424982866249,
      62.274505556964954,
      59.21063249219082,
      56.247148058454435,
      53.250701381572526,
      50.47940883495421,
      47.941317353921
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "20ae5de0a8725d9d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "49a747ca28cd5d5f": {
    "vx_ego": [
      8.39986454891561,
      8.273444602446345,
      8.136089619685247,
      7.956048235356845,
      7.791801219366568,
      7.674795979153379,
      7.51729254857539,
      7.315946011411117,
      7.090848467367772,
      6.846719529122759
    ],
    "vy_ego": [
      0.0424937588565365,
      -0.008849035829736618,
      -0.043807537677090336,
      -0.043780439599347964,
      -0.03962295914461489,
      -0.02487862754895076,
      -0.036597665959637427,
      -0.03942730460559085,
      -0.02243911456909764,
      0.004441040084632419
    ],
    "v_ego": [
      8.399972033267195,
      8.273449334780729,
      8.136207556343885,
      7.956168691664115,
      7.791901964284055,
      7.674836302341412,
      7.517381635251783,
      7.316052252016158,
      7.090883971765053,
      6.846720969435515
    ],
    "ax_ego": [
      -0.25386498966007637,
      -0.25112138780733195,
      -0.29962457089211675,
      -0.42344544819646274,
      -0.2362797926773024,
      -0.23389455080043786,
      -0.3973875474586197,
      -0.4113933329622482,
      -0.49167564549503706,
      -0.48553883018994537
    ],
    "ay_ego": [
      -0.27001859844987686,
      -0.2725720550151549,
      -0.2632191268788221,
      -0.24527009148570883,
      -0.22793940327768336,
      -0.2264482967864925,
      -0.3165882331314507,
      -0.2712099031470475,
      -0.2611760892344108,
      -0.2724150042749222
    ],
    "a_ego": [
      0.3706176958591515,
      0.37061769600150646,
      0.39882225644657116,
      0.4893500438088375,
      0.3283055162409175,
      0.32555413069356376,
      0.508079690828585,
      0.49274667525090227,
      0.5567386190671006,
      0.5567386192607142
    ],
    "yaw": [
      -1.6838718960055252,
      -1.693984779695857,
      -1.7060405760234267,
      -1.7218125827770345,
      -1.7374111966315078,
      -1.7540073822195863,
      -1.7702927709840388,
      -1.789719594181193,
      -1.8105251223640342,
      -1.8335260513688225
    ],
    "yaw_diff": [
      -0.020225767380663395,
      -0.024111592655139624,
      -0.031544013507215585,
      -0.031197227708946507,
      -0.03319237117615703,
      -0.032570777528905026,
      -0.03885364639430833,
      -0.04161105636568241,
      -0.04600185800957668,
      -0.04600185800957668
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.700357471114989,
    "v_std": 0.48617436201009,
    "vy_max": 0.043807537677090336,
    "a_max": 0.5567386192607142,
    "ax_avg": -0.3484226096139579,
    "a_std": 0.08602594536417227,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "49a747ca28cd5d5f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "49a747ca28cd5d5f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "17bc4c71fc425620": {
    "vx_ego": [
      4.9745287136184135,
      5.214923549529756,
      5.680741864416975,
      6.234111450138333,
      6.78400944454265,
      7.2796947789543776,
      7.637369150872947,
      7.712486212506289,
      7.6093870944927415,
      7.483560068273668
    ],
    "vy_ego": [
      0.18510128074621157,
      0.04125057516035272,
      0.10124131156570493,
      0.23314568234750066,
      0.11782655690885857,
      0.014194690618229533,
      0.018783658920526136,
      0.004084792586710684,
      0.0006683792377986109,
      -0.05951124361578586
    ],
    "v_ego": [
      4.977971314375763,
      5.215086695098279,
      5.681643946368621,
      6.238469562476293,
      6.785032589542726,
      7.279708618068265,
      7.6373922494885775,
      7.712487294228113,
      7.60938712384667,
      7.483796689086154
    ],
    "ax_ego": [
      0.17755641395384658,
      0.8810010010402914,
      1.0590330032871091,
      1.193535939701124,
      1.0390646891408266,
      0.9618695407153022,
      0.4574645092580881,
      -0.16099254169400243,
      -0.25159750893858046,
      -0.2516528753166839
    ],
    "ay_ego": [
      -2.8682436113720096,
      -2.735358274647372,
      -2.747573652913124,
      -1.7776924385593653,
      -1.0901520151356712,
      -1.12973407256799,
      -0.6085797702120446,
      -0.1752943964226611,
      -0.11302332865495973,
      -0.1128999999107448
    ],
    "a_ego": [
      2.8737341029247117,
      2.873734096000506,
      2.9446072539871393,
      2.141195564508153,
      1.5060168804909484,
      1.4837425949526835,
      0.7613429673557696,
      0.23800572240658452,
      0.2758180184910807,
      0.27581801905423187
    ],
    "yaw": [
      -2.886380284289459,
      -3.1361424856742706,
      2.884855419281293,
      2.673009790602269,
      2.580916852694858,
      2.516841707851912,
      2.4584706500816935,
      2.4350888222431895,
      2.4261393676911194,
      2.4266295025275664
    ],
    "yaw_diff": [
      -0.49952440276962307,
      -0.524374804448045,
      -0.42369125735804847,
      -0.18418587581482182,
      -0.12815028968589193,
      -0.11674211554043712,
      -0.04676365567700813,
      -0.01789890910414016,
      0.0009802696728939964,
      0.0009802696728939964
    ],
    "min_front_frame": [
      9,
      25.661109351835666
    ],
    "v_avg": 6.662097608257946,
    "v_std": 1.0047135594426815,
    "vy_max": 0.23314568234750066,
    "a_max": 2.9446072539871393,
    "ax_avg": 0.5105282171147322,
    "a_std": 1.067432021476042,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "17bc4c71fc425620",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 47.87650826664779,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      33.85059012969477,
      33.37087734317751,
      29.698441714061765,
      25.94810244950042,
      28.202744704134282,
      25.661109351835666
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "17bc4c71fc425620",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "cb3bbfd7864d53f5": {
    "vx_ego": [
      0.9544702102566526,
      1.5574937575258239,
      2.1992075514576577,
      2.951523887310883,
      3.759203990731799,
      4.501523453456309,
      5.17766873360209,
      5.813051163063867,
      6.431066615643446,
      7.055122416132157
    ],
    "vy_ego": [
      0.03023155273030881,
      0.0070652740624503885,
      -0.00046374321987419087,
      0.01064797888586999,
      0.020707634891594218,
      0.0073357519578372,
      -0.017149623117229673,
      -0.004034276079380117,
      0.033935921665804614,
      0.05287272531654574
    ],
    "v_ego": [
      0.9549488620066857,
      1.5575097825790654,
      2.199207600352036,
      2.951543094183295,
      3.7592610244670013,
      4.501529430679533,
      5.177697135261363,
      5.813052562963943,
      6.43115615279422,
      7.055320533589728
    ],
    "ax_ego": [
      1.2060527344073353,
      1.206072545442744,
      1.360772662915497,
      1.6484906153357823,
      1.5822055257199639,
      1.387013186113895,
      1.3176304590751422,
      1.2240690346156715,
      1.247968474352507,
      1.2480368426018007
    ],
    "ay_ego": [
      -0.047635107616827765,
      -0.0471307863032826,
      0.012558467191315148,
      0.03407727721372522,
      0.010547295018410119,
      -0.05283717625368356,
      -0.014037820832403458,
      0.10347962474274025,
      0.05550195079054154,
      0.053942775748888394
    ],
    "a_ego": [
      1.20699308268485,
      1.2069930802984354,
      1.3608306122498597,
      1.6488427971375705,
      1.5822406805069171,
      1.3880192165990646,
      1.3177052352845429,
      1.2284351974124805,
      1.2492020571225777,
      1.2492020587346815
    ],
    "yaw": [
      -0.5334250664655791,
      -0.5338432197606762,
      -0.5344424944164636,
      -0.5342270038337185,
      -0.5339010215782307,
      -0.533227236878467,
      -0.5316252986790733,
      -0.5299465238354618,
      -0.5296564144748341,
      -0.5284070791975306
    ],
    "yaw_diff": [
      -0.0008363065901941802,
      -0.0011985493115749257,
      0.0004309811654903406,
      0.000651964510975489,
      0.001347569399527515,
      0.0032038763987873864,
      0.003357549687222905,
      0.0005802187212553545,
      0.002498670554607063,
      0.002498670554607063
    ],
    "min_front_frame": [
      0,
      12.220478287884585
    ],
    "v_avg": 4.040122617887688,
    "v_std": 1.9948241217062197,
    "vy_max": 0.05287272531654574,
    "a_max": 1.6488427971375705,
    "ax_avg": 1.342831208058034,
    "a_std": 0.14881875122392177,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cb3bbfd7864d53f5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.8608863183249715,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      12.220478287884585,
      13.561680702685884,
      15.019815707185623,
      16.40122565350813,
      17.346120697758614,
      41.91702871909281,
      44.708934831848396,
      47.291828823571045,
      49.9526657317786,
      52.35897757341871
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cb3bbfd7864d53f5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bb6cf07ad4a350f6": {
    "vx_ego": [
      6.438305124862694,
      5.5961975777090265,
      4.7169965424722875,
      3.8736529568237015,
      3.254401417939543,
      2.890909673816798,
      2.691173987498591,
      2.552420515435066,
      2.3195194893598132,
      1.9904865609717102
    ],
    "vy_ego": [
      -0.052383696317825884,
      -0.022898126302809796,
      -0.0118850239139109,
      -0.024790533566223946,
      -0.012407316735361773,
      0.0057013972900873955,
      0.0007309561943951576,
      0.0065209274156686065,
      0.008415560800556263,
      -0.01938968042434623
    ],
    "v_ego": [
      6.438518224908053,
      5.596244423981547,
      4.717011515301712,
      3.873732283013825,
      3.254425069132101,
      2.8909152959051925,
      2.691174086766968,
      2.5524288452586035,
      2.3195347557610764,
      1.990580997878746
    ],
    "ax_ego": [
      -1.6842017280938473,
      -1.6841827434214143,
      -1.832633467087111,
      -1.54079753881081,
      -0.9363697363191015,
      -0.5176091264050666,
      -0.2813510214115217,
      -0.2736248924468967,
      -0.658036350625223,
      -0.6580777559576886
    ],
    "ay_ego": [
      0.062362578097087035,
      0.0628729065142061,
      -0.029526803155459025,
      -0.03585115901731978,
      0.06755313613870947,
      0.01699749397341631,
      -0.03171093841427357,
      0.06639061484657201,
      -0.0524523411380458,
      -0.05193029855916957
    ],
    "a_ego": [
      1.6853559125778794,
      1.6853559017643798,
      1.8328713148479099,
      1.5412145733830622,
      0.9388033389887781,
      0.5178881370906198,
      0.283132444033566,
      0.2815640167107325,
      0.6601235390705466,
      0.6601235405549113
    ],
    "yaw": [
      -1.5456313929827834,
      -1.5453283803830216,
      -1.5458455777028124,
      -1.5466530688155222,
      -1.5479309116271711,
      -1.5469280531297875,
      -1.5464601638074917,
      -1.5453612955246756,
      -1.544721230236676,
      -1.5439279239772494
    ],
    "yaw_diff": [
      0.0006060251995236854,
      -0.0010343946395816594,
      -0.00161498222541967,
      -0.0025556856232977765,
      0.0020057169947671483,
      0.0009357786445916005,
      0.002197736565632269,
      0.0012801305759992943,
      0.0015866125188530589,
      0.0015866125188530589
    ],
    "min_front_frame": [
      9,
      14.123726613395778
    ],
    "v_avg": 3.6324565497907826,
    "v_std": 1.418791778471331,
    "vy_max": 0.052383696317825884,
    "a_max": 1.8328713148479099,
    "ax_avg": -1.0066884360578678,
    "a_std": 0.585023458501751,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bb6cf07ad4a350f6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5499534327907383,
    "right_rear_min": 11.092182132049793,
    "speed_mode": "decelerating",
    "front_frame": [
      25.0125793324051,
      23.236223855659677,
      21.657280242218466,
      20.42551667320401,
      19.471086955133675,
      18.61109723113102,
      17.64822701956655,
      16.459829532374588,
      15.182267541428413,
      14.123726613395778
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bb6cf07ad4a350f6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "40c362dd278b5280": {
    "vx_ego": [
      1.378732263973568,
      0.9600941635254697,
      0.5898054956357472,
      0.28025293465204504,
      0.051324258088274496,
      -0.027759996527161532,
      -0.021114999103585077,
      -0.012600865815414659,
      -0.008064569577210811,
      -0.005286481228978725
    ],
    "vy_ego": [
      -0.04696345686600456,
      -0.03501351187105185,
      -0.022825261716390637,
      -0.00788605818746631,
      -0.010063728898730317,
      -0.012428933855709064,
      -0.002716692244615259,
      -0.0016020755202746672,
      -0.0009894338197729176,
      -0.00021468205939793354
    ],
    "v_ego": [
      1.379531885098161,
      0.9607324023104539,
      0.5902469951253891,
      0.2803638658864932,
      0.05230160712309852,
      0.0304153876184015,
      0.021289048919487956,
      0.01270230157376013,
      0.008125039184483025,
      0.005290838513030968
    ],
    "ax_ego": [
      -0.8372747980147172,
      -0.8372743183612318,
      -0.6439357045681744,
      -0.5942783217641064,
      -0.3214385622353112,
      0.005112193735921152,
      0.021468104259417368,
      0.012588797109292657,
      0.005556184315017168,
      0.005556191920540316
    ],
    "ay_ego": [
      0.02393855885984191,
      0.02395542160589515,
      0.023357321996766323,
      0.03630433199353656,
      -0.04476919425703468,
      0.03529380710670326,
      0.0035527829999049037,
      0.0009023815289142397,
      0.0015494547291764653,
      0.0015494280225728362
    ],
    "a_ego": [
      0.8376169422778359,
      0.8376169449166972,
      0.6443591825283255,
      0.5953862009152209,
      0.3245412609304526,
      0.03566212759887959,
      0.02176009576122374,
      0.012621097617983182,
      0.005768188112415381,
      0.005768188264525653
    ],
    "yaw": [
      1.5879359226570395,
      1.5879560600451408,
      1.5874764735786342,
      1.5874209939142434,
      1.5878876733986003,
      1.5880131250675253,
      1.5880355828059751,
      1.5880880634488719,
      1.5880545993617912,
      1.5880592088686214
    ],
    "yaw_diff": [
      4.0274776202497975e-05,
      -0.0009591729330131749,
      -0.0001109593287815791,
      0.0009333589687137156,
      0.0002509033378501613,
      4.491547689955411e-05,
      0.00010496128579351449,
      -6.692817416142915e-05,
      9.219013660466402e-06,
      9.219013660466402e-06
    ],
    "min_front_frame": [
      8,
      9.46590667454924
    ],
    "v_avg": 0.3340999371352759,
    "v_std": 0.46273662473137384,
    "vy_max": 0.04696345686600456,
    "a_max": 0.8376169449166972,
    "ax_avg": -0.3183920233603353,
    "a_std": 0.343105706007559,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "40c362dd278b5280",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.176498860374874,
    "right_rear_min": 38.133610423506575,
    "speed_mode": "decelerating",
    "front_frame": [
      10.70204908296112,
      10.08821809863733,
      9.764090006774808,
      9.517666940832473,
      9.469301482753076,
      9.482008753812252,
      9.48461046711705,
      9.504836605236953,
      9.46590667454924,
      9.475641835373796
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "40c362dd278b5280",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "87124bde96ba59b1": {
    "vx_ego": [
      7.1881891587667095,
      6.980686485657435,
      6.76506822795246,
      6.565233109122021,
      6.473005027658606,
      6.472291936333123,
      6.651149668924295,
      7.132413432200485,
      7.770219802655098,
      8.433446940447682
    ],
    "vy_ego": [
      0.0873347390388235,
      -0.05048385111881282,
      -0.028718259897358323,
      -0.014041396272152618,
      -0.022043841840890366,
      -0.0005658553781502373,
      0.031087242873919285,
      0.054014861754435595,
      0.03367764691727215,
      -0.024576200417037786
    ],
    "v_ego": [
      7.188719687041235,
      6.980869031163967,
      6.765129183341836,
      6.565248124627223,
      6.47304256274101,
      6.472291961068743,
      6.651222318875024,
      7.132617960687664,
      7.770292785054841,
      8.433482749550942
    ],
    "ax_ego": [
      -0.4219508879380149,
      -0.4106519461398984,
      -0.4511023111185219,
      -0.34821819889763145,
      -0.020777694914217857,
      0.017137497967367358,
      0.6983425926766957,
      1.2265007726499912,
      1.3232852451597328,
      1.3288772140244727
    ],
    "ay_ego": [
      0.2770880448523656,
      0.29357335033791715,
      0.10409444798423939,
      -0.02183459624308548,
      -0.1300441591682588,
      0.08052923922658109,
      0.03122243410561304,
      0.10361870128579595,
      0.2632643216022814,
      0.23340370987065673
    ],
    "a_ego": [
      0.5047973221321461,
      0.5047973186310675,
      0.46295674657317093,
      0.3489020831646165,
      0.13169356833090878,
      0.08233257075418846,
      0.699040211388364,
      1.2308700096140048,
      1.3492190122756806,
      1.349219011774897
    ],
    "yaw": [
      -0.305336748116979,
      -0.26574246733382434,
      -0.2544526611712038,
      -0.2535675370884918,
      -0.25819339572376165,
      -0.2634279521358882,
      -0.2640015854728157,
      -0.26242188399009103,
      -0.24735903093344586,
      -0.22484204291799176
    ],
    "yaw_diff": [
      0.07918856156630927,
      0.022579612325241083,
      0.0017702481654240376,
      -0.00925171727053975,
      -0.010469112824253113,
      -0.0011472666738550075,
      0.003159402965449365,
      0.03012570611329035,
      0.045033976030908196,
      0.045033976030908196
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.043291636415249,
    "v_std": 0.6004190226349465,
    "vy_max": 0.0873347390388235,
    "a_max": 1.3492190122756806,
    "ax_avg": 0.29414422834699755,
    "a_std": 0.45537303886040364,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "87124bde96ba59b1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "87124bde96ba59b1",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "60f2c00b9ced513f": {
    "vx_ego": [
      10.540358179686523,
      10.057381975636803,
      9.521754639650922,
      8.940083752390894,
      8.355397073415588,
      7.810432527338154,
      7.247482003747331,
      6.643927903703442,
      6.0818759656582175,
      5.534619476024089
    ],
    "vy_ego": [
      0.019318152697953117,
      -0.005222459985704919,
      -0.003832588604900433,
      -0.011423503176147598,
      -0.021061229641036405,
      -0.015492373721457398,
      0.00035198612413811503,
      -0.004278750038529289,
      -0.03317178793217179,
      -0.06048655329207975
    ],
    "v_ego": [
      10.540375882629055,
      10.057383331560567,
      9.521755410975924,
      8.940091050777305,
      8.355423617617229,
      7.81044789226235,
      7.247482012294729,
      6.643929281480283,
      6.0819664278229695,
      5.534949987806061
    ],
    "ax_ego": [
      -0.9659950100564174,
      -0.9658633567595473,
      -1.1767245389648473,
      -1.1499309753624283,
      -1.1893393407990391,
      -0.9912971770101457,
      -1.2605452394041345,
      -1.1536780084514673,
      -1.094562112254918,
      -1.094538476190724
    ],
    "ay_ego": [
      -0.08133319327944094,
      -0.08288196285245181,
      -0.08314556272655688,
      -0.15416367526965385,
      -0.14505295102273313,
      -0.01296803473140945,
      -0.05494180290160722,
      -0.06696734632265755,
      -0.0590441647507563,
      -0.05948069130752953
    ],
    "a_ego": [
      0.9694129397645407,
      0.9694129376571656,
      1.1796583510504846,
      1.1602188099107138,
      1.1981520880809315,
      0.9913819965447624,
      1.2617420109873911,
      1.1556199949196286,
      1.0961534705391678,
      1.0961534694103439
    ],
    "yaw": [
      -2.003047541363003,
      -2.0046509404773127,
      -2.009021051419064,
      -2.0146277561998094,
      -2.022159090460875,
      -2.0277526736417575,
      -2.0320926772161556,
      -2.0358210716402803,
      -2.0362317136899204,
      -2.0366305342265933
    ],
    "yaw_diff": [
      -0.0032067982286196894,
      -0.008740221883502208,
      -0.011213409561491083,
      -0.01506266852213134,
      -0.011187166361764866,
      -0.008680007148796243,
      -0.007456788848249296,
      -0.0008212840992802839,
      -0.0007976410733459005,
      -0.0007976410733459005
    ],
    "min_front_frame": [
      4,
      15.098723469635148
    ],
    "v_avg": 8.073380489522647,
    "v_std": 1.61724429081561,
    "vy_max": 0.06048655329207975,
    "a_max": 1.2617420109873911,
    "ax_avg": -1.104247423525367,
    "a_std": 0.09704954413269436,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "60f2c00b9ced513f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.255454866788616,
    "right_rear_min": 3.2606310932959257,
    "speed_mode": "decelerating",
    "front_frame": [
      18.189671717378328,
      17.394996081578377,
      16.6219352791099,
      15.839494373631293,
      15.098723469635148,
      33.28883258812473,
      30.895334508454848,
      28.671276860193576,
      26.45759500247904,
      24.34733117538221
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "60f2c00b9ced513f",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "8b1193abd0b75de0": {
    "vx_ego": [
      6.852110235383454,
      6.706487536492265,
      6.5747606410155015,
      6.43330202394084,
      6.24361622617392,
      6.020764830547389,
      5.70358384162781,
      5.185407049315478,
      4.532907517201816,
      3.860113562830467
    ],
    "vy_ego": [
      -0.038858201117229374,
      -0.02596095719037672,
      -0.05790932307042018,
      -0.04386644447867338,
      -0.02889985295788655,
      -0.04915877597678486,
      -0.06367150013911793,
      -0.041574894902103754,
      -0.014712382559129544,
      -0.008193750602505379
    ],
    "v_ego": [
      6.852220416597875,
      6.706537784015262,
      6.575015663581726,
      6.4334515772011915,
      6.243683110251773,
      6.020965514766869,
      5.703939226395019,
      5.185573713580472,
      4.532931393006661,
      3.860122259138518
    ],
    "ax_ego": [
      -0.2942823339215414,
      -0.2904645921015197,
      -0.23812714157877313,
      -0.328234044231565,
      -0.43012936492683873,
      -0.4611199904102629,
      -0.8071196113987713,
      -1.2631932294913524,
      -1.3460686628616614,
      -1.3443671896234664
    ],
    "ay_ego": [
      -0.21237920584597939,
      -0.2175714599535229,
      -0.11363359145181147,
      0.12744958883697585,
      0.03137552738229987,
      -0.07513542297905607,
      0.056346820726850766,
      0.21411793886452968,
      0.11712583005664257,
      0.13526341423277466
    ],
    "a_ego": [
      0.3629146168647365,
      0.36291461730138347,
      0.2638505801826372,
      0.35210933740433975,
      0.43127218121608896,
      0.4672012171882717,
      0.8090840693713648,
      1.2812117806109913,
      1.3511548043080182,
      1.351154814137153
    ],
    "yaw": [
      -0.6661348410019932,
      -0.6838933467467148,
      -0.6915587095152794,
      -0.6931839427406432,
      -0.6892886670101106,
      -0.6877699490871962,
      -0.6861078205543285,
      -0.6778338428023829,
      -0.6663444446093324,
      -0.6528616497625236
    ],
    "yaw_diff": [
      -0.035517011489443195,
      -0.01533072553712933,
      -0.003250466450727574,
      0.0077905514610652205,
      0.0030374358458287176,
      0.0033242570657354698,
      0.01654795550389121,
      0.022978796386101008,
      0.02696558969361762,
      0.02696558969361762
    ],
    "min_front_frame": [
      2,
      16.36985681923895
    ],
    "v_avg": 5.811444065853538,
    "v_std": 0.9450182734212842,
    "vy_max": 0.06367150013911793,
    "a_max": 1.351154814137153,
    "ax_avg": -0.6803106160545752,
    "a_std": 0.43156932962644834,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "8b1193abd0b75de0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.807926813137872,
      17.100492622344976,
      16.36985681923895,
      53.54823627671272,
      50.380591420594605,
      47.32698246102665,
      44.40381621175944,
      41.67136009185295,
      39.24529264243525,
      37.17095413602538
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.7,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 8,
    "token": "8b1193abd0b75de0",
    "smoothness": "Yes"
  },
  "f68aaf95d7825182": {
    "vx_ego": [
      0.4284600633730298,
      1.403579831305331,
      2.390559629823633,
      3.4005465158294483,
      4.412802324813933,
      5.393287189215902,
      6.311385892172364,
      7.097112020669506,
      7.76073139432326,
      8.395259130664819
    ],
    "vy_ego": [
      0.014695448383589382,
      0.06684555523610825,
      0.07579705538917458,
      0.02275274175349362,
      -0.027625204876554177,
      -0.05592214177921129,
      -0.05856589634487497,
      -0.012473477288416746,
      0.018439434419613487,
      0.0429444713977567
    ],
    "v_ego": [
      0.428712003691074,
      1.4051706910912727,
      2.3917609699441487,
      3.4006226332213196,
      4.412888794183208,
      5.393577105344981,
      6.311657614614962,
      7.097122981995399,
      7.760753300265147,
      8.395368967391168
    ],
    "ax_ego": [
      1.949558892985671,
      1.9501071907550565,
      1.994545920282748,
      2.042548683742723,
      2.006632978708176,
      1.9162091568510438,
      1.7571110905177667,
      1.385319871840339,
      1.2692088539793596,
      1.2691817305696707
    ],
    "ay_ego": [
      0.1178985766592312,
      0.10845212452817832,
      0.00015560027720895597,
      -0.07044448705192752,
      -0.037150669946598325,
      0.015664008035990218,
      0.060268703383324684,
      0.018661503349056918,
      0.010303724827125271,
      0.013229519922857369
    ],
    "a_ego": [
      1.9531205676040042,
      1.9531205591947605,
      1.9945459263521612,
      2.0437630858822993,
      2.0069768517640476,
      1.9162731783197144,
      1.758144391404768,
      1.385445559747109,
      1.269250677275735,
      1.2692506787113464
    ],
    "yaw": [
      2.615058048732316,
      2.6199027969367945,
      2.6295248663698354,
      2.641800691029939,
      2.647803784654064,
      2.652468743010211,
      2.6561516587879215,
      2.6522469160325297,
      2.649066719524376,
      2.6467614806512962
    ],
    "yaw_diff": [
      0.009689496408957332,
      0.019244138866081784,
      0.024551649320207147,
      0.0120061872482502,
      0.009329916712293773,
      0.007365831555421032,
      -0.0078094855107835315,
      -0.00636039301630742,
      -0.004610477746159525,
      -0.004610477746159525
    ],
    "min_front_frame": [
      9,
      44.23368466784714
    ],
    "v_avg": 4.699763506174267,
    "v_std": 2.6085864600870736,
    "vy_max": 0.07579705538917458,
    "a_max": 2.0437630858822993,
    "ax_avg": 1.7540424370232555,
    "a_std": 0.3028624169063384,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f68aaf95d7825182",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.129957359499294,
    "right_rear_min": 6.409169107600274,
    "speed_mode": "accelerating",
    "front_frame": [
      59.49058682057887,
      59.00227035220155,
      57.96313292121123,
      56.481112763247566,
      54.4830641807359,
      52.01957230730559,
      49.09965232570308,
      45.80729690603441,
      48.18205679573662,
      44.23368466784714
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f68aaf95d7825182",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "05741acd510e52f7": {
    "vx_ego": [
      8.785801699378759,
      9.073821520690858,
      9.364191096607474,
      9.60239165819021,
      9.663332289941549,
      9.573297964356584,
      9.382551326227862,
      9.024649709099547,
      8.51809995371875,
      7.957283621225754
    ],
    "vy_ego": [
      0.04681495827781346,
      0.02987595276133037,
      0.0349408880503983,
      0.0009988155913900343,
      -0.00995382364481312,
      -0.01499246645961616,
      -0.003499644482455544,
      0.009666332371596198,
      -0.0001888386631985206,
      -0.034843496374725724
    ],
    "v_ego": [
      8.785926424750281,
      9.073870704495738,
      9.364256284374132,
      9.602391710137299,
      9.663337416463948,
      9.573309703984535,
      9.38255197890274,
      9.024654885918467,
      8.518099955811941,
      7.957359907523805
    ],
    "ax_ego": [
      0.5730586437349288,
      0.5766341846533055,
      0.5831689367099866,
      0.36881828116255666,
      -0.12505126689142665,
      -0.2349234539814325,
      -0.527749170793915,
      -0.904063825580202,
      -1.1220358986423276,
      -1.1202461134594148
    ],
    "ay_ego": [
      0.24067149901983778,
      0.23197412774730275,
      0.13908476649277518,
      0.12949178840585956,
      0.09497350297388021,
      0.06481728817292565,
      0.14066124043228231,
      0.06623245553132978,
      0.13338390581579967,
      0.14766330793752158
    ],
    "a_ego": [
      0.6215456375840569,
      0.6215456369848512,
      0.5995252963919089,
      0.3908900712275135,
      0.15702797718330466,
      0.2437012722097657,
      0.5461728406224656,
      0.9064867008888876,
      1.1299362035853058,
      1.129936196088954
    ],
    "yaw": [
      1.912274862413869,
      1.927404475704531,
      1.9369181796055936,
      1.9475474489927285,
      1.9544656016171245,
      1.9591360778187294,
      1.9633272211018413,
      1.9674952992543049,
      1.9742871622320686,
      1.9870234839839993
    ],
    "yaw_diff": [
      0.03025922658132396,
      0.019027407802125307,
      0.021258538774269642,
      0.01383630524879198,
      0.009340952403209979,
      0.008382286566223751,
      0.008336156304927123,
      0.01358372595552737,
      0.02547264350386147,
      0.02547264350386147
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.09457589723629,
    "v_std": 0.5188812220656832,
    "vy_max": 0.04681495827781346,
    "a_max": 1.1299362035853058,
    "ax_avg": -0.1932389683087941,
    "a_std": 0.3184807737948782,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "05741acd510e52f7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "05741acd510e52f7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "536e9526257a57f2": {
    "vx_ego": [
      9.51569936835488,
      9.569658248892166,
      9.638286767163335,
      9.721815425809375,
      9.810500413921467,
      9.901965732341175,
      9.921504806443105,
      9.846428796703478,
      9.769364233225904,
      9.715592568282151
    ],
    "vy_ego": [
      0.03248166547952175,
      0.03623797804065815,
      0.031136066303215415,
      0.03820270316337249,
      0.05660437242212246,
      0.05191565472988258,
      0.019857646245072802,
      0.0188054525762944,
      0.033144351500875135,
      0.037691346508590184
    ],
    "v_ego": [
      9.51575480597844,
      9.569726860869245,
      9.638337058886282,
      9.721890485910345,
      9.810663709786947,
      9.902101827373063,
      9.921524678716876,
      9.846446754723152,
      9.769420457195501,
      9.715665679224506
    ],
    "ax_ego": [
      0.10706751358619171,
      0.1078901215493914,
      0.16564805231777519,
      0.16785037920525053,
      0.18476943775044377,
      0.17699798102133701,
      -0.10046493538322866,
      -0.20048871670567325,
      -0.10860150301573576,
      -0.10751007127875557
    ],
    "ay_ego": [
      0.1294543523677192,
      0.1287695621098525,
      0.12365294892182228,
      0.2706477762215668,
      0.34350626435823833,
      0.16313471507348043,
      0.1706889933667535,
      0.1807214177276053,
      0.15005548919974585,
      0.15083938918960207
    ],
    "a_ego": [
      0.16799369575217682,
      0.16799368575605933,
      0.20671073753855937,
      0.318471299449457,
      0.3900465341212085,
      0.2407098264461491,
      0.19806043445906082,
      0.26991842536544874,
      0.18523211464606212,
      0.18523211589099595
    ],
    "yaw": [
      1.6122930253632206,
      1.6186644139564392,
      1.6257717400833813,
      1.6352252505751914,
      1.6490652840862445,
      1.6623902605647358,
      1.6740037514632635,
      1.6829871768469382,
      1.6899647375551847,
      1.69721929863878
    ],
    "yaw_diff": [
      0.012742777186437237,
      0.014214652253884186,
      0.018907020983620182,
      0.027680067022106236,
      0.02664995295698258,
      0.0232269817970554,
      0.017966850767349385,
      0.013955121416493022,
      0.014509122167190469,
      0.014509122167190469
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.741153231866436,
    "v_std": 0.1292049004381715,
    "vy_max": 0.05660437242212246,
    "a_max": 0.3900465341212085,
    "ax_avg": 0.03931582590469963,
    "a_std": 0.06951146346166805,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "536e9526257a57f2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "536e9526257a57f2",
    "road_shape": "Straight"
  },
  "f1992f61c13e5998": {
    "vx_ego": [
      6.383180327788944,
      5.964963306012361,
      5.506264138452103,
      4.9594367450150045,
      4.344799030571421,
      3.734440782249753,
      3.1805082704111465,
      2.669265364921336,
      2.1374949512325774,
      1.574717786232365
    ],
    "vy_ego": [
      -0.056402636447796084,
      -0.013056558219141312,
      0.01093561507318297,
      -0.00028877870264087946,
      -0.019853969914271463,
      -0.032693718512915027,
      -0.01814202909842333,
      -0.021765905978605726,
      -0.026970915595163847,
      -0.04418245500642992
    ],
    "v_ego": [
      6.383429513550692,
      5.9649775955812645,
      5.506274997680438,
      4.959436753422525,
      4.344844392630847,
      3.7345838905238624,
      3.1805600122263864,
      2.669354105964906,
      2.137665103993794,
      1.575337486257137
    ],
    "ax_ego": [
      -0.8364861283156415,
      -0.8365878175949937,
      -0.998019398575136,
      -1.1892910975359976,
      -1.2692129377859,
      -1.1723841389814909,
      -1.0434362638992254,
      -1.0015359419647347,
      -1.1256639432587972,
      -1.1256166780100112
    ],
    "ay_ego": [
      0.06893418760510955,
      0.0676889851938729,
      -0.05092751583532773,
      0.0023501880046363777,
      -0.12121735205424067,
      0.05621882821923008,
      -0.01715312563983895,
      0.002580521345905862,
      -0.03824685524628979,
      -0.03961353602411777
    ],
    "a_ego": [
      0.8393217291868883,
      0.8393217352511079,
      0.9993179332932206,
      1.1892934196664988,
      1.2749882853901666,
      1.173731283549056,
      1.0435772451233258,
      1.00153926639828,
      1.1263135154517037,
      1.1263135167663696
    ],
    "yaw": [
      -0.767523950522611,
      -0.7690124761802886,
      -0.7724527988046523,
      -0.7726277990471704,
      -0.7748052673158063,
      -0.7756519130466111,
      -0.7770424289574192,
      -0.7770490296022696,
      -0.7785834360592117,
      -0.7797975734311169
    ],
    "yaw_diff": [
      -0.0029770513153550837,
      -0.006880645248727557,
      -0.00035000048503608383,
      -0.004354936537271925,
      -0.0016932914616094585,
      -0.0027810318216161534,
      -1.3201289700948138e-05,
      -0.003068812913884056,
      -0.0024282747438104657,
      -0.0024282747438104657
    ],
    "min_front_frame": [
      9,
      10.208167804504948
    ],
    "v_avg": 4.045646385183185,
    "v_std": 1.5712785828890632,
    "vy_max": 0.056402636447796084,
    "a_max": 1.2749882853901666,
    "ax_avg": -1.0598234345921926,
    "a_std": 0.13762818605618143,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f1992f61c13e5998",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.53352523235917,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      12.323826374313562,
      -1,
      10.208167804504948
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f1992f61c13e5998",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c8c9563dbe59572a": {
    "vx_ego": [
      1.9403850971292136,
      1.819751883206546,
      1.5916330228566866,
      1.1954007709992154,
      0.7384350051869096,
      0.34475425586580677,
      0.08353932458339254,
      -0.020737437222971816,
      -0.02342325631974586,
      -0.01239877256091259
    ],
    "vy_ego": [
      -0.003994810040089503,
      -0.00513719685941183,
      -0.005816099115722895,
      -0.0009240581516248847,
      -0.0046448824493574015,
      -0.008751086857019946,
      -0.003373993510999193,
      -0.0003231145488025878,
      0.0014780759737705509,
      -0.0007828254207754605
    ],
    "v_ego": [
      1.9403892093259034,
      1.8197591343981057,
      1.5916436493313564,
      1.1954011281527996,
      0.738449613594834,
      0.3448653048057535,
      0.0836074313925603,
      0.020739954329466227,
      0.023469845444841604,
      0.012423460735908139
    ],
    "ax_ego": [
      -0.24126447547652402,
      -0.24126477049620101,
      -0.6712015190663568,
      -0.9137165125876915,
      -0.9141446605665038,
      -0.6605441595637342,
      -0.3843184908029835,
      -0.032792255409556985,
      0.02204892578394376,
      0.02204903822156319
    ],
    "ay_ego": [
      -0.0015695910704000837,
      -0.0015221774609741612,
      0.0015490716290336715,
      0.020725113118179816,
      -0.036028991749878336,
      0.02086550742448745,
      0.0004926452085944055,
      0.011725194345938229,
      -0.004521168370043285,
      -0.004520605298695829
    ],
    "a_ego": [
      0.24126958105631663,
      0.24126957227716728,
      0.6712033066216948,
      0.9139515280851465,
      0.9148543866040985,
      0.6608736309869242,
      0.384318806555683,
      0.03482545329634119,
      0.02250768961168915,
      0.02250768665950704
    ],
    "yaw": [
      -2.0495783466511703,
      -2.0493818414945686,
      -2.048992156982197,
      -2.048517027557268,
      -2.048625765346438,
      -2.0480073385820754,
      -2.0482164275401633,
      -2.048501897595295,
      -2.0484955042760014,
      -2.048521113457822
    ],
    "yaw_diff": [
      0.0003930103132034901,
      0.0007793690247428486,
      0.000950258849858443,
      -0.0002174755783403981,
      0.00123685352872549,
      -0.00041817791617582145,
      -0.0005709401102631517,
      1.2786638587058974e-05,
      -5.121836364097021e-05,
      -5.121836364097021e-05
    ],
    "min_front_frame": [
      5,
      11.46785988075527
    ],
    "v_avg": 0.7770748731511529,
    "v_std": 0.7531838291081004,
    "vy_max": 0.008751086857019946,
    "a_max": 0.9148543866040985,
    "ax_avg": -0.40151488799640456,
    "a_std": 0.33744037273772604,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c8c9563dbe59572a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.51971012898452,
    "right_rear_min": 3.4622108500698703,
    "speed_mode": "decelerating",
    "front_frame": [
      14.529079753075612,
      13.547416913319646,
      12.69169538983333,
      12.007313493507674,
      11.640176133841992,
      11.46785988075527,
      11.471945939538655,
      11.510724834223359,
      11.530401285358185,
      11.522305415764414
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c8c9563dbe59572a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "18b121dcc082591e": {
    "vx_ego": [
      6.116973588816018,
      6.378334309327326,
      6.649110570956084,
      6.826273178986756,
      6.867136047362692,
      6.855030860372064,
      6.85882860816312,
      6.829716012466433,
      6.87326037794661,
      7.009770283404367
    ],
    "vy_ego": [
      0.08356674928384991,
      0.04751086254869741,
      0.03352388915670623,
      0.07789678801758004,
      0.044316881486929915,
      -0.0012456550208970185,
      -0.0118197715351398,
      0.007254213317703151,
      0.009013803531912501,
      -0.029003572219560958
    ],
    "v_ego": [
      6.117544383807819,
      6.37851125605358,
      6.649195081808333,
      6.826717617108343,
      6.867279044787158,
      6.855030973548536,
      6.85883879262051,
      6.829719865012858,
      6.873266288432661,
      7.009830285627494
    ],
    "ax_ego": [
      0.4485852761958518,
      0.6236000054265378,
      0.46284049513067105,
      0.24452597551138663,
      -0.08057183200311047,
      0.03245645783276624,
      -0.017824989049873237,
      -0.09867979287157387,
      0.2730243875224601,
      0.27301841952156886
    ],
    "ay_ego": [
      -1.543721283491309,
      -1.4816974073095743,
      -1.223371177063065,
      -0.7453109202089423,
      -0.2872889024666613,
      -0.1747812550636702,
      -0.007354548362959293,
      0.027698583684388458,
      -0.07491869078683712,
      -0.07494041630843104
    ],
    "a_ego": [
      1.6075771058097843,
      1.607577112799225,
      1.307997844341295,
      0.784398699949519,
      0.29837348004277503,
      0.1777692571191146,
      0.01928262472411907,
      0.10249347813055128,
      0.2831168070094536,
      0.28311680168180825
    ],
    "yaw": [
      0.00669989623381923,
      -0.10886751143290957,
      -0.21014276393790893,
      -0.2894131143302193,
      -0.3220164259402435,
      -0.3322332873572933,
      -0.3373270742659982,
      -0.33936780864804317,
      -0.34136113090744735,
      -0.34128152286981045
    ],
    "yaw_diff": [
      -0.2311348153334576,
      -0.20255050500999872,
      -0.1585407007846208,
      -0.06520662322004833,
      -0.02043372283409961,
      -0.010187573817409756,
      -0.0040814687640899905,
      -0.003986644518808369,
      0.00015921607527380477,
      0.00015921607527380477
    ],
    "min_front_frame": [
      8,
      36.03474912639998
    ],
    "v_avg": 6.726593358880729,
    "v_std": 0.25966630196353885,
    "vy_max": 0.08356674928384991,
    "a_max": 1.607577112799225,
    "ax_avg": 0.2160974403216685,
    "a_std": 0.599855764741924,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "18b121dcc082591e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      45.84370675084912,
      46.00533101111527,
      44.577530228575796,
      42.9255589046132,
      41.26419547253405,
      39.51215443493122,
      37.77367509256641,
      36.03474912639998,
      47.24762641479095
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1111111111111111,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8888888888888888,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "18b121dcc082591e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "ace74ef421f8514f": {
    "vx_ego": [
      7.960446180219347,
      7.638230229819835,
      7.280990462567908,
      6.8639762940945195,
      6.394108637569516,
      6.005339250106415,
      5.7534928487721775,
      5.449020595478871,
      4.9350954724622715,
      4.349555626145568
    ],
    "vy_ego": [
      0.054544807003353846,
      -0.0069742277361286575,
      -0.00823749213301328,
      0.012492326379494045,
      0.020341547748186972,
      -0.00622059391756391,
      -0.02027604870190336,
      0.018424998433088202,
      0.03889465336686149,
      -0.06880268971401038
    ],
    "v_ego": [
      7.9606330479516405,
      7.638233413793145,
      7.280995122390996,
      6.86398766200158,
      6.39414099372276,
      6.005342471887625,
      5.753528576362817,
      5.449051745993991,
      4.935248739058462,
      4.350099763803866
    ],
    "ax_ego": [
      -0.6448576137798328,
      -0.643363433302008,
      -0.7820757946826294,
      -0.8741412229456398,
      -0.9836803728454315,
      -0.5600959756019297,
      -0.44542262458869464,
      -0.7760501342962731,
      -1.2739053084652032,
      -1.0652576883140936
    ],
    "ay_ego": [
      -0.22398541742487146,
      -0.2282417804746902,
      -0.5584485993838741,
      -0.9603419535154161,
      -1.3254916619817565,
      -1.475253448942273,
      -1.6101591327717477,
      -1.5690414005808753,
      -1.4184403088206983,
      -1.5811494853213444
    ],
    "a_ego": [
      0.682649843820984,
      0.6826498499702494,
      0.9609929171342925,
      1.2986067708643385,
      1.6506226770235788,
      1.5779988087769743,
      1.6706327386184396,
      1.7504698591172767,
      1.90651715036167,
      1.906517148478932
    ],
    "yaw": [
      1.2402415773574893,
      1.233633476840827,
      1.2075000635027102,
      1.1509894246278032,
      1.0638354289935443,
      0.9543550807995598,
      0.8254143097434934,
      0.677965842694881,
      0.5321838959643486,
      0.3932901811846503
    ],
    "yaw_diff": [
      -0.013216201033324548,
      -0.05226682667623361,
      -0.11302127774981408,
      -0.1743079912685177,
      -0.2189606963879691,
      -0.25788154211213277,
      -0.2948969340972247,
      -0.2915638934610649,
      -0.2777874295593965,
      -0.2777874295593965
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.263126153696689,
    "v_std": 1.1224301299481465,
    "vy_max": 0.06880268971401038,
    "a_max": 1.90651715036167,
    "ax_avg": -0.8048850168821737,
    "a_std": 0.45112167433151895,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "ace74ef421f8514f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ace74ef421f8514f",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "b26b54b014205d5c": {
    "vx_ego": [
      10.028723362171709,
      10.00288578305675,
      9.963755439162187,
      9.8817358277677,
      9.748782871752889,
      9.5851017751509,
      9.4050207634474,
      9.252771343044225,
      9.12194705035668,
      8.987228632227882
    ],
    "vy_ego": [
      0.0027542207466355606,
      -0.017323083764567926,
      -0.02981701362569833,
      -0.0038497889481146075,
      0.006521485517041903,
      0.0037048271557740264,
      -0.01561150366529862,
      -0.07954511939374775,
      -0.09241251669236217,
      -0.05226245545371544
    ],
    "v_ego": [
      10.02872374037198,
      10.002900783178346,
      9.96380005348038,
      9.881736577680197,
      9.748785053038961,
      9.585102491144536,
      9.405033720296988,
      9.253113257313984,
      9.122415144179328,
      8.987380589036313
    ],
    "ax_ego": [
      -0.05273414723586377,
      -0.05086776045944798,
      -0.10660349048697801,
      -0.22242135377811956,
      -0.3071284302812632,
      -0.34618050993003413,
      -0.37505652225753483,
      -0.23761917592253295,
      -0.29199923972354647,
      -0.2595158163794118
    ],
    "ay_ego": [
      -0.21424552310979783,
      -0.21469631565191366,
      -0.18806491554924765,
      -0.15402218413428134,
      -0.4283529153904474,
      -0.5060816741111889,
      -0.47712789540454836,
      -0.4491396973217424,
      -0.7215469647750932,
      -0.7338563334502533
    ],
    "a_ego": [
      0.22064005632995265,
      0.22064006211172513,
      0.2161775118844531,
      0.2705440663218949,
      0.5270807270338468,
      0.6131554503766578,
      0.6068924315404587,
      0.5081233516345909,
      0.7783916612960847,
      0.7783916604744181
    ],
    "yaw": [
      -0.5427615654112313,
      -0.5514637749826248,
      -0.5602919295574167,
      -0.5715111432035641,
      -0.5873837452720394,
      -0.611244915583824,
      -0.6350877599733631,
      -0.6530896777296353,
      -0.6835201654245352,
      -0.7281511361376758
    ],
    "yaw_diff": [
      -0.017404419142786898,
      -0.017656309149583826,
      -0.022438427292294838,
      -0.03174520413695059,
      -0.04772234062356917,
      -0.047685688779078195,
      -0.03600383551254449,
      -0.06086097538979973,
      -0.08926194142628119,
      -0.08926194142628119
    ],
    "min_front_frame": [
      9,
      68.54071526861627
    ],
    "v_avg": 9.5978991409721,
    "v_std": 0.3663203456159909,
    "vy_max": 0.09241251669236217,
    "a_max": 0.7783916612960847,
    "ax_avg": -0.22501264464547327,
    "a_std": 0.21507311367204077,
    "ini_direction_judge": "right",
    "scenario_type": "roundout_entrance",
    "scene_token": "b26b54b014205d5c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 27.949340267743985,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      68.54071526861627
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "b26b54b014205d5c",
    "merge_risk": "No"
  },
  "eefc84cb86d45529": {
    "vx_ego": [
      6.443665747799563,
      6.725932563696906,
      7.01899472299556,
      7.320892939416099,
      7.605967548311165,
      7.845430416878218,
      8.043264445209683,
      8.234403960500604,
      8.410736305525885,
      8.56673278603424
    ],
    "vy_ego": [
      -0.038739906759406306,
      -0.020359714303240573,
      -0.022576277820290702,
      -0.02572496374323263,
      -0.030468388209260233,
      -0.009809315498873872,
      0.031247429287195594,
      0.004803931923672344,
      0.005292595350955054,
      -0.07351673607873188
    ],
    "v_ego": [
      6.443782200675394,
      6.725963378532844,
      7.0190310306879065,
      7.320938136888747,
      7.606028574009081,
      7.845436549278088,
      8.043325141843471,
      8.234405361801784,
      8.410737970752434,
      8.567048227820225
    ],
    "ax_ego": [
      0.5636204118759969,
      0.567163530951194,
      0.6055581904589712,
      0.6049607239244208,
      0.5361674320209963,
      0.42430151966694984,
      0.3657871504101844,
      0.3963945864171981,
      0.30966590318706216,
      0.3179108235050967
    ],
    "ay_ego": [
      0.23942523859300777,
      0.2309067882356384,
      0.12954007355411887,
      0.3086549076324002,
      0.1813299314567896,
      0.36770549957294907,
      0.2939183310608616,
      0.1635483494340122,
      0.3077768331220812,
      0.299252835668597
    ],
    "a_ego": [
      0.6123662413609906,
      0.6123662431048301,
      0.6192587122425894,
      0.6791504468795738,
      0.5660000522986846,
      0.5614615872950482,
      0.4692421813294337,
      0.4288085012490439,
      0.4365999892387955,
      0.43659999010236483
    ],
    "yaw": [
      -0.8781880705035964,
      -0.8631219142223765,
      -0.8496782036143524,
      -0.8339606550332508,
      -0.816932274305715,
      -0.8018673688323126,
      -0.7862295454902867,
      -0.7689208162896245,
      -0.754840064365227,
      -0.7276769385944033
    ],
    "yaw_diff": [
      0.030132312562439756,
      0.026887421216048146,
      0.031435097162203274,
      0.03405676145507153,
      0.03012981094680489,
      0.031275646684051805,
      0.03461745840132435,
      0.02816150384879501,
      0.054326251541647386,
      0.054326251541647386
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.621669657228997,
    "v_std": 0.690162695419908,
    "vy_max": 0.07351673607873188,
    "a_max": 0.6791504468795738,
    "ax_avg": 0.4691530272418071,
    "a_std": 0.08715544841822574,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "eefc84cb86d45529",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.38969698998446,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "eefc84cb86d45529",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4f466c389dce58e4": {
    "vx_ego": [
      3.8476794178417544,
      3.86690047441732,
      3.9114215053003827,
      3.935654336494566,
      3.9217722192576385,
      3.90033675876433,
      3.8581657913508085,
      3.784752043060423,
      3.7041370901529493,
      3.621787599985829
    ],
    "vy_ego": [
      0.00741673644561236,
      -0.019532957550969732,
      -0.025259839185217903,
      -0.023842631892025068,
      -0.017425076646953253,
      -0.0018273829039838763,
      0.0032091733021655244,
      -0.0049221936370826835,
      0.008050432478366565,
      -0.038561010486274805
    ],
    "v_ego": [
      3.847686566037125,
      3.8669498077269613,
      3.9115030680803478,
      3.9357265564904305,
      3.9218109303021143,
      3.900337186846352,
      3.858167126025374,
      3.7847552437958583,
      3.7041458383964647,
      3.621992872845118
    ],
    "ax_ego": [
      0.004550006906130832,
      0.07453785191747714,
      0.09717872557076068,
      -0.001310016174770036,
      -0.054082518800335905,
      -0.03176860504938145,
      -0.1369209902044869,
      -0.15674059429558534,
      -0.16550243003390797,
      -0.16205990402327825
    ],
    "ay_ego": [
      0.709464168794635,
      0.7055524199541774,
      0.3413241714480433,
      0.06044495641125526,
      0.004457394654112368,
      0.021670690922919105,
      0.00754625809123885,
      -0.005064848673890565,
      0.1165145566641507,
      0.12125709745681522
    ],
    "a_ego": [
      0.7094787589253875,
      0.7094787584358447,
      0.354888566620919,
      0.0604591506551052,
      0.05426589358788074,
      0.038455989284639044,
      0.13712878461416037,
      0.1568224046245392,
      0.20240231288641983,
      0.2024023126737581
    ],
    "yaw": [
      -0.8663219807546632,
      -0.7674809386796341,
      -0.698690975717359,
      -0.6735325279677937,
      -0.6710402139863331,
      -0.6733598282845126,
      -0.6727772355300469,
      -0.6704885688306539,
      -0.666513232190602,
      -0.6375586875853141
    ],
    "yaw_diff": [
      0.19768208415005817,
      0.13757992592455004,
      0.050316895499130654,
      0.0049846279629213175,
      -0.004639228596359013,
      0.00116518550893141,
      0.0045773333987859655,
      0.007950673280103793,
      0.057909089210575804,
      0.057909089210575804
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8353075196546143,
    "v_std": 0.09723195811218328,
    "vy_max": 0.038561010486274805,
    "a_max": 0.7094787589253875,
    "ax_avg": -0.053211847418737725,
    "a_std": 0.2401254742446142,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "4f466c389dce58e4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4f466c389dce58e4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8790ecedb8ac580e": {
    "vx_ego": [
      4.898788131963746,
      4.877144707809422,
      4.860395662433563,
      4.8495563957855525,
      4.817515859019108,
      4.738763617501734,
      4.656827252527263,
      4.611486804043357,
      4.5970837838123115,
      4.60129898988805
    ],
    "vy_ego": [
      -0.0142546388781839,
      -0.03725120333824905,
      -0.009171825561173574,
      0.026520543589435897,
      0.024158038985293617,
      -0.0019929851726945697,
      -0.01503394894498572,
      -0.002714331620910615,
      0.000969718892543936,
      0.01783424040785131
    ],
    "v_ego": [
      4.898808871205163,
      4.877286966445957,
      4.860404316287599,
      4.849628911075242,
      4.817576430400272,
      4.738764036597308,
      4.65685152001881,
      4.6114876028741705,
      4.597083886089621,
      4.601333551751678
    ],
    "ax_ego": [
      -0.07205025034332194,
      -0.005639710393647301,
      -0.05283835886950511,
      0.0008363970000444115,
      -0.13553473933227086,
      -0.18316539928819126,
      -0.1414000202493335,
      -0.03538213446927198,
      -0.020920544143261582,
      0.03489750595280039
    ],
    "ay_ego": [
      0.780743615393915,
      0.7840408337440804,
      0.8208988958385558,
      0.6349349793584015,
      0.6402045733555968,
      0.6257916614902583,
      0.6477350783127683,
      0.7064773028714226,
      0.733329790556734,
      0.7327976648578305
    ],
    "a_ego": [
      0.7840611146797786,
      0.7840611170766199,
      0.8225976473081981,
      0.6349355302491706,
      0.6543940413170709,
      0.6520465988617229,
      0.6629892136402824,
      0.7073627604787246,
      0.7336281421028187,
      0.7336281439140779
    ],
    "yaw": [
      -1.9317772377860365,
      -1.8469467725011108,
      -1.7704342101085353,
      -1.7027521291193546,
      -1.636568293176285,
      -1.564976106855839,
      -1.4943784065954664,
      -1.4238082278893067,
      -1.3464390324284221,
      -1.2703322708219122
    ],
    "yaw_diff": [
      0.16966093056985132,
      0.15302512478515107,
      0.13536416197836143,
      0.13236767188613907,
      0.14318437264089212,
      0.1411954005207452,
      0.14114035741231934,
      0.15473839092176922,
      0.15221352321301973,
      0.15221352321301973
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.750922609274582,
    "v_std": 0.11768295029544694,
    "vy_max": 0.03725120333824905,
    "a_max": 0.8225976473081981,
    "ax_avg": -0.06111972541359587,
    "a_std": 0.06211384723677418,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "8790ecedb8ac580e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "8790ecedb8ac580e",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "99213b077bdf516b": {
    "vx_ego": [
      0.5968662385137633,
      0.784170195042914,
      1.1516697883961655,
      1.8039425085812761,
      2.564940061922973,
      3.3316786341345477,
      4.08116496610139,
      4.793222395694597,
      5.4239540097204735,
      5.99196217337305
    ],
    "vy_ego": [
      0.02042423039666602,
      0.005245030158489428,
      -0.020545563423342572,
      -0.035639481514724736,
      -0.028362973290747107,
      -0.02635845925766822,
      -0.03672075726034674,
      -0.028724363716898793,
      0.0050220800196414395,
      0.03908775113984664
    ],
    "v_ego": [
      0.5972155857517992,
      0.7841877358993861,
      1.1518530382305077,
      1.8042945288697037,
      2.565096875268323,
      3.331782899518377,
      4.0813301624038125,
      4.7933084632286285,
      5.423956334710902,
      5.992089663833699
    ],
    "ax_ego": [
      0.3746017182706953,
      0.3745849712228023,
      1.0954171629617155,
      1.5136223367155566,
      1.53017881224759,
      1.5366319068750622,
      1.4611848399503535,
      1.3869355240578842,
      1.1359936044694856,
      1.1360139119107426
    ],
    "ay_ego": [
      -0.029470457207527584,
      -0.02968254078509769,
      -0.07207068779437631,
      0.009784133346374957,
      0.006248384959595121,
      -0.015392248577209666,
      -0.04307119253714187,
      0.06452658307443948,
      0.0715419353507335,
      0.0712186265242073
    ],
    "a_ego": [
      0.3757591717834418,
      0.37575917007233056,
      1.0977854731003904,
      1.5136539589581237,
      1.5301915696297796,
      1.5367089960505707,
      1.4618195046336302,
      1.3884357485375334,
      1.1382441380957349,
      1.1382441305883124
    ],
    "yaw": [
      0.8649469854257377,
      0.8655131555821343,
      0.865914479993354,
      0.8655793632841993,
      0.86408173729757,
      0.8626261059876685,
      0.8614813995558763,
      0.8608893475198709,
      0.8609420108540067,
      0.8612266078310605
    ],
    "yaw_diff": [
      0.0011323403127931897,
      0.0008026488224395223,
      -0.0006702334183095182,
      -0.0029952519732585614,
      -0.0029112626198029012,
      -0.002289412863584417,
      -0.0011841040720108609,
      0.00010532666827156589,
      0.0005691939541077051,
      0.0005691939541077051
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.0525115287715137,
    "v_std": 1.8711920463777554,
    "vy_max": 0.03908775113984664,
    "a_max": 1.5367089960505707,
    "ax_avg": 1.1545164788681888,
    "a_std": 0.4221370384208432,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "99213b077bdf516b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "99213b077bdf516b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8e33b543120b53d5": {
    "vx_ego": [
      -0.14469316717508007,
      0.21422479870707012,
      0.743626111242069,
      1.4950629812945027,
      2.2506275253733596,
      2.918320574151422,
      3.5020105094646454,
      4.03999220757469,
      4.583721774902347,
      5.270598895752625
    ],
    "vy_ego": [
      -0.0019870629613768648,
      -0.0001111840362472416,
      -0.006656070558444971,
      -0.014562371331966473,
      -0.00680126957780125,
      0.00044446960680311065,
      -0.014741311885859254,
      0.01013842423121658,
      -0.023140625690465544,
      -0.2415934065495604
    ],
    "v_ego": [
      0.14470681064265134,
      0.21422482755968,
      0.7436558993219116,
      1.4951339005908522,
      2.2506378018766333,
      2.9183206079984965,
      3.502041535258676,
      4.040004928822502,
      4.583780186513231,
      5.2761330625749965
    ],
    "ax_ego": [
      0.7178358956630224,
      0.7178354095998836,
      1.3997712899628563,
      1.6062502497224822,
      1.4183268973257441,
      1.261035220200664,
      1.1154168558618989,
      1.085422340278675,
      1.162183593601439,
      1.6738839312832554
    ],
    "ay_ego": [
      0.0036960202535544218,
      0.0037894033457670506,
      -0.030596861928077423,
      0.017062299508256995,
      0.16482851872247306,
      0.4466318957458635,
      1.0714582410063582,
      1.6223879173536315,
      2.202463878253626,
      1.8438086744445392
    ],
    "a_ego": [
      0.7178454107034803,
      0.7178454115289374,
      1.4001056503579021,
      1.6063408688065077,
      1.427872413159494,
      1.337792912555632,
      1.546666584807884,
      1.9519949311284313,
      2.490284690602333,
      2.4902846912281364
    ],
    "yaw": [
      0.8658938917894499,
      0.8657638061085943,
      0.8653650670879218,
      0.8695008794889512,
      0.8893867898365454,
      0.9452907316758334,
      1.0674012712051768,
      1.2388015155485852,
      1.4677890946724959,
      1.719377878878118
    ],
    "yaw_diff": [
      -0.00026017136171119226,
      -0.0007974780413448901,
      0.008271624802058675,
      0.039771820695188476,
      0.11180788367857608,
      0.24422107905868673,
      0.3428004886868168,
      0.4579751582478213,
      0.5031775684112443,
      0.5031775684112443
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.516863956115963,
    "v_std": 1.7471623106421683,
    "vy_max": 0.2415934065495604,
    "a_max": 2.4902846912281364,
    "ax_avg": 1.215796168349992,
    "a_std": 0.582832360579961,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "8e33b543120b53d5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "8e33b543120b53d5",
    "pedestrians": "No"
  },
  "b92aaa468aa25958": {
    "vx_ego": [
      6.447886173114651,
      6.67736624896022,
      6.854375031591054,
      6.991013549991793,
      7.150333852691278,
      7.291973938362236,
      7.404862792852382,
      7.556280140547237,
      7.638846515169509,
      7.613760099428529
    ],
    "vy_ego": [
      0.03926974330613814,
      0.04752273413916175,
      0.03513163611812686,
      0.018211994154306188,
      0.011294825242897488,
      0.0014378893558411043,
      -0.00762629065938758,
      -0.020316757884649483,
      0.014125226777272237,
      0.07664747965523788
    ],
    "v_ego": [
      6.44800575481927,
      6.67753535617844,
      6.854465063413425,
      6.991037271599969,
      7.150342773463393,
      7.291974080129458,
      7.404866720021285,
      7.556307453583365,
      7.638859574854669,
      7.614145893518683
    ],
    "ax_ego": [
      0.45285592598054863,
      0.46077662177074363,
      0.242709155128675,
      0.30206740907916046,
      0.33383403928374017,
      0.23161858081706643,
      0.2196754793382506,
      0.38770337040133973,
      -0.05614357473616377,
      -0.04776709194511143
    ],
    "ay_ego": [
      0.3362339289540847,
      0.32529471105414065,
      0.27612733111213483,
      0.347192118826962,
      0.3589159701472865,
      0.32069199023828476,
      0.27148444960833,
      0.3188399721021204,
      0.42485319820975426,
      0.42587632753652405
    ],
    "a_ego": [
      0.564031687652033,
      0.5640316872395166,
      0.3676330194234269,
      0.46020331050890123,
      0.4901691946779863,
      0.39558882641286025,
      0.3492293266631943,
      0.501968954449017,
      0.42854677809220776,
      0.4285467785771927
    ],
    "yaw": [
      -1.502389233804494,
      -1.4784437332251885,
      -1.4544873467673438,
      -1.429507785681868,
      -1.4035502925574823,
      -1.3787021592775495,
      -1.3573274374138036,
      -1.3358428945426755,
      -1.3160499390760645,
      -1.296358105622936
    ],
    "yaw_diff": [
      0.04789100115861089,
      0.047912772915689406,
      0.04995912217095144,
      0.051914986248771555,
      0.0496962665598657,
      0.04274944372749179,
      0.04296908574225622,
      0.039585910933221946,
      0.03938366690625683,
      0.03938366690625683
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.162753994158196,
    "v_std": 0.3913587621548084,
    "vy_max": 0.07664747965523788,
    "a_max": 0.564031687652033,
    "ax_avg": 0.25273299151182493,
    "a_std": 0.07141113702349582,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "b92aaa468aa25958",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.73260831192498,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b92aaa468aa25958",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d44d7aacab755892": {
    "vx_ego": [
      8.99801922152504,
      8.418234426284355,
      7.895002894538989,
      7.4477847744007,
      6.987149356909639,
      6.44608248785491,
      5.867401203893784,
      5.279611805005868,
      4.689114889352216,
      4.114804925315162
    ],
    "vy_ego": [
      -0.018300109642312212,
      -0.024501286155068913,
      -0.028935642586828125,
      -0.015303285732183675,
      0.009830162070284837,
      0.0068381428380149545,
      -0.0029727139796920377,
      -0.006316545932556192,
      -0.004616697578761805,
      0.006792108912358333
    ],
    "v_ego": [
      8.998037830824396,
      8.418270081727146,
      7.895055919763389,
      7.447800496545883,
      6.9871562718926725,
      6.446086114878331,
      5.867401956955278,
      5.279615583573282,
      4.689117162050995,
      4.114810531013718
    ],
    "ax_ego": [
      -1.159844173902241,
      -1.1595874727024102,
      -0.9337323616054122,
      -0.855499684527679,
      -0.9870725188473639,
      -1.177015156036242,
      -1.1377723500136592,
      -1.2133940456552517,
      -1.1486152923319037,
      -1.1486227972364058
    ],
    "ay_ego": [
      -0.07132250759008912,
      -0.0753810316313549,
      -0.04895848059404561,
      0.010108493098267527,
      0.010269063903833987,
      -0.08289218992898596,
      -0.008102203444838925,
      -0.022854409297240127,
      0.019639289800719977,
      0.019195685583824743
    ],
    "a_ego": [
      1.1620350286561547,
      1.1620350282061942,
      0.9350150030514471,
      0.855559402881925,
      0.9871259347910684,
      1.1799304185799442,
      1.1378011979938614,
      1.2136092592164682,
      1.1487831786210057,
      1.1487831843634457
    ],
    "yaw": [
      -1.5328547323808643,
      -1.536354312646416,
      -1.539633007123597,
      -1.5426799933688176,
      -1.5454501459813281,
      -1.5476998415352679,
      -1.5498029104304254,
      -1.5505901846928856,
      -1.5510932983305188,
      -1.5514795042955214
    ],
    "yaw_diff": [
      -0.006999160531103499,
      -0.006557388954361976,
      -0.006093972490440969,
      -0.005540305225021136,
      -0.004499391107879447,
      -0.00420613779031509,
      -0.0015745485249203384,
      -0.001006227275266447,
      -0.0007724119300052124,
      -0.0007724119300052124
    ],
    "min_front_frame": [
      9,
      18.3600634901905
    ],
    "v_avg": 6.614335194922509,
    "v_std": 1.5405163532768782,
    "vy_max": 0.028935642586828125,
    "a_max": 1.2136092592164682,
    "ax_avg": -1.092115585285857,
    "a_std": 0.11507058859068792,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d44d7aacab755892",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.619952689942165,
    "right_rear_min": 3.7151005307741567,
    "speed_mode": "decelerating",
    "front_frame": [
      23.84940656284019,
      22.321314033053017,
      21.200251880106638,
      29.36017366500231,
      27.395461810937608,
      25.38370126784658,
      23.47717085427466,
      21.58405096008131,
      19.950760150124545,
      18.3600634901905
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d44d7aacab755892",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "e3ce6f2ef9765b9a": {
    "vx_ego": [
      8.54559924095976,
      8.47262262891607,
      8.424090844916726,
      8.411670216701191,
      8.41832196016906,
      8.436836335150332,
      8.443454194817917,
      8.465327320076218,
      8.551089866473642,
      8.669120008995044
    ],
    "vy_ego": [
      -0.06946665572265243,
      -0.050701357742632513,
      -0.017684677908019975,
      -0.009308929193000637,
      -0.010931793072595397,
      -0.006797871031197111,
      0.00023425947363708843,
      0.007248579761123697,
      0.0037717117437625625,
      0.019914686656038683
    ],
    "v_ego": [
      8.545881581402197,
      8.472774329562757,
      8.424109407601645,
      8.411675367648266,
      8.418329058023595,
      8.436839073797925,
      8.443454198067625,
      8.465330423435187,
      8.551090698286254,
      8.66914288295578
    ],
    "ax_ego": [
      -0.14619285261838522,
      -0.14619917223838955,
      -0.04832886070501353,
      -0.001343525220604158,
      0.02815132344292835,
      0.045914796697515026,
      -0.019434857523488225,
      0.1069168294653399,
      0.23610466706354197,
      0.23610549220136987
    ],
    "ay_ego": [
      0.003273461718958738,
      0.0029779013167076304,
      0.04272858679006081,
      0.0010526434825366515,
      0.07802125496775697,
      0.014725273754829571,
      0.027951086622050782,
      0.017879390552744342,
      -0.0006591019393582531,
      -0.00021046367599707183
    ],
    "a_ego": [
      0.1462294967109112,
      0.14622949722761935,
      0.064508998644533,
      0.0017067859618963184,
      0.08294463959974815,
      0.04821827706304747,
      0.03404375023865134,
      0.10840148075306968,
      0.23610558702528084,
      0.23610558600467302
    ],
    "yaw": [
      -0.33195439994443143,
      -0.333976050359573,
      -0.33653528783534786,
      -0.33622982419642555,
      -0.33368666119042256,
      -0.3314253087450521,
      -0.3309948129729751,
      -0.33046826769512905,
      -0.329551888876108,
      -0.33145202387390615
    ],
    "yaw_diff": [
      -0.0040433008302831475,
      -0.005118474951549712,
      0.0006109272778446195,
      0.005086326012005982,
      0.004522704890740914,
      0.0008609915441539773,
      0.0010530905556921377,
      0.0018327576380421373,
      -0.0038002699955963504,
      -0.0038002699955963504
    ],
    "min_front_frame": [
      9,
      56.11843824441796
    ],
    "v_avg": 8.483862702078124,
    "v_std": 0.07751211674216998,
    "vy_max": 0.06946665572265243,
    "a_max": 0.23610558702528084,
    "ax_avg": 0.029169384056481444,
    "a_std": 0.07651542555402732,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e3ce6f2ef9765b9a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      63.14527833076641,
      62.79784908335297,
      62.49200297824242,
      61.96739280493471,
      61.41369814546508,
      60.649161135331305,
      59.77944989033606,
      58.77436105979737,
      57.50903324547497,
      56.11843824441796
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e3ce6f2ef9765b9a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7c150adbe5225f20": {
    "vx_ego": [
      6.7773791384087065,
      6.345537958220768,
      5.827541964843926,
      5.173261733935933,
      4.445408883914159,
      3.687345217883765,
      2.9561601318666257,
      2.3059810324970704,
      1.7279163342015509,
      1.1746438665979015
    ],
    "vy_ego": [
      0.011957879136175631,
      -0.011663993410495177,
      -0.04947118075509449,
      -0.062064371774202876,
      -0.03109890063516052,
      -0.01528274318117906,
      -0.014443039373084332,
      -0.012018069988077085,
      -0.019746053192384205,
      -0.040763202177159286
    ],
    "v_ego": [
      6.777389687528007,
      6.3455486782438975,
      5.827751946483508,
      5.173634018178087,
      4.445517662410492,
      3.687376888533285,
      2.9561954141470483,
      2.306012349542494,
      1.7280291561826155,
      1.1753509484353193
    ],
    "ax_ego": [
      -0.8636610148783347,
      -0.863703445268907,
      -1.208225439297901,
      -1.408903017972872,
      -1.5025055761358368,
      -1.5297245820574488,
      -1.395022286289525,
      -1.2057033988098294,
      -1.1065574055545724,
      -1.1065509224407981
    ],
    "ay_ego": [
      -0.02544241640325745,
      -0.023958745240596768,
      -0.11020301891733969,
      0.059289691770040065,
      0.06485882280724786,
      0.0047673827000616065,
      -0.002959389046263694,
      0.01104371759574041,
      -0.04239297100415479,
      -0.042561907124580745
    ],
    "a_ego": [
      0.8640356851271317,
      0.8640356837786757,
      1.2132408736706415,
      1.4101499854991502,
      1.5039048085617737,
      1.5297320108073325,
      1.3950254252980412,
      1.205753975568776,
      1.1073691596654773,
      1.1073691615232304
    ],
    "yaw": [
      2.6163612298073944,
      2.618079074594882,
      2.618775162342639,
      2.618750704072208,
      2.6187655669367924,
      2.6191563477229405,
      2.619039035272479,
      2.6188841340761715,
      2.618829592127636,
      2.6186769214628907
    ],
    "yaw_diff": [
      0.00343568957497542,
      0.0013921754955141807,
      -4.8916540862364855e-05,
      2.9725729168816883e-05,
      0.0007815615722961411,
      -0.00023462490092285293,
      -0.00030980239261513276,
      -0.00010908389707076083,
      -0.00030534132949089354,
      -0.00030534132949089354
    ],
    "min_front_frame": [
      9,
      10.584244602780121
    ],
    "v_avg": 4.042280674968475,
    "v_std": 1.8791366278292374,
    "vy_max": 0.062064371774202876,
    "a_max": 1.5297320108073325,
    "ax_avg": -1.2190557088706024,
    "a_std": 0.228553707505692,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7c150adbe5225f20",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.308031619254972,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      28.79070351651016,
      25.51037884415599,
      22.442632026193483,
      19.62362542468449,
      17.223630183252684,
      15.231305582001232,
      13.641985898887384,
      12.34311887804747,
      11.306212142949722,
      10.584244602780121
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7c150adbe5225f20",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c0649cc8913954cd": {
    "vx_ego": [
      1.8115517601887252,
      1.4189534753122022,
      1.0494856181765178,
      0.6930157754878024,
      0.34615564389080444,
      0.06861322496314981,
      -0.045657932270563965,
      -0.03679833371781667,
      -0.021584969801278796,
      -0.00936753005458682
    ],
    "vy_ego": [
      0.025934119050633142,
      -0.011388062545080735,
      -0.012257231290917991,
      0.0017586340957766455,
      -0.0013352519491160175,
      -0.0007349578735306797,
      0.0005491456767755462,
      -0.0010840585243127986,
      -0.002819855120341117,
      -0.001192964847438568
    ],
    "v_ego": [
      1.8117373867020024,
      1.4189991730332712,
      1.0495571935241388,
      0.6930180068864321,
      0.3461582191646257,
      0.06861716114005059,
      0.04566123454526528,
      0.03681429813661994,
      0.021768383132925413,
      0.009443187197700334
    ],
    "ax_ego": [
      -0.7851667737932896,
      -0.7852673258110292,
      -0.6925081375028231,
      -0.7333747571511862,
      -0.6540655580175693,
      -0.4561040000028845,
      -0.0009803643920438068,
      0.03641925291021096,
      0.024434765222927087,
      0.02443461995733649
    ],
    "ay_ego": [
      -0.07056782277371187,
      -0.06943989611461765,
      0.06997392183443751,
      -0.013309195960385989,
      0.0009963580813275308,
      0.0014219538916937224,
      0.0036841701233760885,
      -0.010201973460070936,
      0.0032546109131922837,
      0.003255702031931978
    ],
    "a_ego": [
      0.7883315801615364,
      0.7883315750106766,
      0.6960343886939215,
      0.7334955140446827,
      0.6540663169085078,
      0.4561062165455557,
      0.0038123777146505835,
      0.03782118777904657,
      0.02465056274602747,
      0.024650562836985947
    ],
    "yaw": [
      -2.0352229716000374,
      -2.0337865200704597,
      -2.032966420289733,
      -2.0327948982836572,
      -2.032764142318312,
      -2.032740691681848,
      -2.032573927057139,
      -2.0326556812113203,
      -2.0326179598559397,
      -2.0326625505134954
    ],
    "yaw_diff": [
      0.0028729030591554405,
      0.0016401995614536702,
      0.00034304401215123903,
      6.15119306903722e-05,
      4.6901272928501214e-05,
      0.00033352924941798534,
      -0.00016350830836309171,
      7.544271076120879e-05,
      -8.918131511137517e-05,
      -8.918131511137517e-05
    ],
    "min_front_frame": [
      5,
      9.866995932081592
    ],
    "v_avg": 0.550177424346303,
    "v_std": 0.6308233028242538,
    "vy_max": 0.025934119050633142,
    "a_max": 0.7883315801615364,
    "ax_avg": -0.4022178278580351,
    "a_std": 0.33671519564613933,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c0649cc8913954cd",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.591585594529544,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.0211419997471,
      11.237208314758064,
      10.619421015213762,
      10.163896603943892,
      9.923750820946779,
      9.866995932081592,
      9.87491544020304,
      9.879293971262681,
      9.878239545469226,
      9.881270079072719
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c0649cc8913954cd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dfeb840d983e55ca": {
    "vx_ego": [
      8.685666651966816,
      8.178144599336038,
      7.650902396555417,
      7.019787069891631,
      6.289931631860584,
      5.584163024402288,
      4.906268310662403,
      4.250131294749252,
      3.717371829388598,
      3.275382664631241
    ],
    "vy_ego": [
      0.059580220190269984,
      0.018035060955922777,
      -0.004932135638022306,
      -0.00944444922597043,
      -0.007898875602455835,
      -0.014192215125738983,
      -0.018592354158381008,
      -0.0018826301621264196,
      0.005902129915135168,
      0.009910582036568805
    ],
    "v_ego": [
      8.685870997875018,
      8.17816448544983,
      7.650903986299879,
      7.019793423188386,
      6.289936591549722,
      5.584181059212881,
      4.90630353849446,
      4.250131711712389,
      3.717376514838047,
      3.2753976582093283
    ],
    "ax_ego": [
      -1.015004340918897,
      -1.0147364820303684,
      -1.0942399572559047,
      -1.430195033106513,
      -1.4892275273250402,
      -1.3338330177848725,
      -1.3773354462168652,
      -1.2471095382471349,
      -0.8839923744801255,
      -0.8839843595679018
    ],
    "ay_ego": [
      -0.11943111895292802,
      -0.12168598070519626,
      0.024679325587543988,
      0.001953478474787329,
      0.0036342244445307648,
      -0.018822985760523547,
      0.07713395047260652,
      0.0538708400710764,
      0.01221310540292675,
      0.012779362807241346
    ],
    "a_ego": [
      1.0220066556821206,
      1.022006656467341,
      1.0945182287960582,
      1.4301963672169955,
      1.4892319616936665,
      1.333965825696461,
      1.379493594664695,
      1.2482725134348451,
      0.8840767376662465,
      0.8840767274815193
    ],
    "yaw": [
      1.1172827678713229,
      1.1150609473087294,
      1.1148988585148385,
      1.1164130241618713,
      1.116390712289686,
      1.116812528622384,
      1.1204269092760133,
      1.1239432910777793,
      1.1261615289764075,
      1.1268020963718046
    ],
    "yaw_diff": [
      -0.0044436411251869146,
      -0.0003241775877818043,
      0.003028331294065545,
      -4.4623744370753116e-05,
      0.0008436326653962212,
      0.00722876130725858,
      0.007032763603532111,
      0.004436475797256367,
      0.0012811347907941695,
      0.0012811347907941695
    ],
    "min_front_frame": [
      9,
      14.611098625424928
    ],
    "v_avg": 5.955805996682994,
    "v_std": 1.8125463451281352,
    "vy_max": 0.059580220190269984,
    "a_max": 1.4892319616936665,
    "ax_avg": -1.1769658076933625,
    "a_std": 0.21418315701838564,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dfeb840d983e55ca",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.447594527815932,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.68876685051351,
      20.207630873514944,
      20.93840370926945,
      21.913816219221534,
      23.145358858891075,
      20.593246095633006,
      18.518330405136915,
      16.90383385562922,
      15.626835175606269,
      14.611098625424928
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dfeb840d983e55ca",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "84d10a502c1b5a74": {
    "vx_ego": [
      1.715473663265888,
      1.3533960419881186,
      0.98723457987223,
      0.6062503289524483,
      0.23626314725216851,
      0.00018969958134563416,
      -0.04796358773697608,
      -0.025736740306551334,
      -0.013686224401452042,
      -0.006452130392563867
    ],
    "vy_ego": [
      -0.027139653156197263,
      -0.00579654944070912,
      0.011860391042927632,
      -0.0033355289013468625,
      -0.014364087766181907,
      -0.0056445387967058586,
      -0.006578825353001574,
      -0.002599390108891512,
      -0.0013147785437010468,
      -0.00045757968897518035
    ],
    "v_ego": [
      1.7156883312922322,
      1.3534084551437249,
      0.9873058211978645,
      0.6062595047568357,
      0.23669939114170624,
      0.0056477255739527865,
      0.04841267077561306,
      0.025867675398942733,
      0.013749232014402766,
      0.006468335626295917
    ],
    "ax_ego": [
      -0.7241680286161802,
      -0.7242072427610148,
      -0.7404403862654437,
      -0.7834350597494673,
      -0.6965120378398304,
      -0.2477846227722135,
      0.055173151049624426,
      0.03373367113750019,
      0.014468182045340647,
      0.014468176328371399
    ],
    "ay_ego": [
      0.04000890142297783,
      0.039292601494230056,
      0.031865197047898725,
      -0.09510082091282962,
      0.05101104195515993,
      -0.01624500702677381,
      0.012497298213906542,
      0.0034261933268814933,
      0.001714444305960083,
      0.00171449588817172
    ],
    "a_ego": [
      0.7252723942512347,
      0.7252723895197554,
      0.7411257358881966,
      0.789186073738599,
      0.6983775091289413,
      0.24831657120632944,
      0.05657083223174275,
      0.03390721706548889,
      0.014569406678906193,
      0.0145694070716486
    ],
    "yaw": [
      -1.9168517245946213,
      -1.9178408337279569,
      -1.917727805034208,
      -1.918492016429223,
      -1.9184771200964112,
      -1.9189284103859028,
      -1.9188856316091738,
      -1.9189276810937383,
      -1.9189593143759756,
      -1.9189629019320185
    ],
    "yaw_diff": [
      -0.0019782182666712167,
      0.00022605738749792437,
      -0.0015284227900300706,
      2.9792665623418202e-05,
      -0.0009025805789830699,
      8.555755345796001e-05,
      -8.409896912908721e-05,
      -6.326656447441792e-05,
      -7.1751120858110085e-06,
      -7.1751120858110085e-06
    ],
    "min_front_frame": [
      5,
      9.990669878050449
    ],
    "v_avg": 0.4999507142921571,
    "v_std": 0.6064172988704731,
    "vy_max": 0.027139653156197263,
    "a_max": 0.789186073738599,
    "ax_avg": -0.37987041974433133,
    "a_std": 0.3376880737631749,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "84d10a502c1b5a74",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.026749014491672,
      11.23346781254258,
      57.07043712411824,
      56.68331577256733,
      56.45625049502897,
      9.990669878050449,
      56.48384759504659,
      56.366823516006896,
      9.997432942159193,
      56.42243863474867
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "84d10a502c1b5a74",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f7a5f237abcd5b04": {
    "vx_ego": [
      5.314807338449111,
      4.653715915486095,
      4.0224045006013025,
      3.3958932746481887,
      2.753548393130963,
      2.168522096134867,
      1.6554624699330014,
      1.173304850849354,
      0.7123548655488603,
      0.2658987268020035
    ],
    "vy_ego": [
      -0.06512566691247113,
      -0.027721587297372396,
      -0.027688203057989247,
      -0.04984405412756776,
      -0.05502254140607743,
      -0.02485255417529353,
      -0.011242560092352916,
      -0.01376948363860786,
      -0.010423743746203029,
      -0.003131854422645533
    ],
    "v_ego": [
      5.315206336288679,
      4.653798481719086,
      4.0224997952823065,
      3.3962590540965323,
      2.7540980798397308,
      2.1686645039918444,
      1.6555006446734184,
      1.1733856449208413,
      0.712431125727127,
      0.2659171702373714
    ],
    "ax_ego": [
      -1.3236022558438785,
      -1.322980527701754,
      -1.203090056857708,
      -1.3043054288908273,
      -1.2665199686856476,
      -1.0744994110908022,
      -0.9778385551692758,
      -0.9509478314663744,
      -0.8929172480201757,
      -0.8929278766411659
    ],
    "ay_ego": [
      -0.0414870168706194,
      -0.05802263490451909,
      -0.11146734781991369,
      -0.10362136293660035,
      0.017179586051332407,
      0.053394771735940816,
      -0.020360022996341265,
      -0.004997125808350544,
      0.014175146765506352,
      0.01348902299161342
    ],
    "a_ego": [
      1.3242522811926083,
      1.3242522806622892,
      1.2082427961878726,
      1.3084150865420818,
      1.266636478732706,
      1.075825258154508,
      0.9780504948682088,
      0.9509609610477943,
      0.8930297568377817,
      0.8930297568525751
    ],
    "yaw": [
      2.6450646086971528,
      2.6325689457054455,
      2.6227598281333213,
      2.614264978894216,
      2.608912558524436,
      2.6037725492886272,
      2.6009559397885607,
      2.598254096210139,
      2.5971304731301394,
      2.596362071564444
    ],
    "yaw_diff": [
      -0.02499132598341447,
      -0.01961823514424843,
      -0.01698969847821097,
      -0.010704840739559351,
      -0.010280018471617858,
      -0.005633219000133138,
      -0.005403687156843695,
      -0.002247246159998717,
      -0.001536803131390485,
      -0.001536803131390485
    ],
    "min_front_frame": [
      9,
      9.82344409934747
    ],
    "v_avg": 2.611776083677694,
    "v_std": 1.6246397763642408,
    "vy_max": 0.06512566691247113,
    "a_max": 1.3242522811926083,
    "ax_avg": -1.120962916036761,
    "a_std": 0.1737475247076645,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f7a5f237abcd5b04",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 40.70735544319083,
    "speed_mode": "decelerating",
    "front_frame": [
      20.418865524988632,
      18.08912849530485,
      15.954671548289362,
      14.16835455640057,
      12.703646326862584,
      11.578666975714516,
      10.744807809534244,
      10.23719808418837,
      9.886503146285445,
      9.82344409934747
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f7a5f237abcd5b04",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6c76134176255a21": {
    "vx_ego": [
      -0.07427688546417095,
      0.10862211134725545,
      0.45008855388806696,
      1.041832320854259,
      1.7406121326408361,
      2.4279605053342554,
      3.0030896443244792,
      3.447128300102496,
      3.749998655757167,
      3.9566763993244516
    ],
    "vy_ego": [
      -0.0035067755741588214,
      0.005210472310934952,
      -0.0004037075550851754,
      -0.023258967685902632,
      -0.03214720870152943,
      -0.011082197252349046,
      0.002446486926311109,
      -2.086018545122137e-05,
      -0.0023205214983254008,
      -0.007514069134410661
    ],
    "v_ego": [
      0.07435962069016415,
      0.10874700959216571,
      0.45008873494105733,
      1.0420919174211005,
      1.740908969281214,
      2.42798579702578,
      3.0030906408477263,
      3.447128300165613,
      3.749999373733359,
      3.9566835342501254
    ],
    "ax_ego": [
      0.36579513944768016,
      0.3657999052652208,
      0.999929644993717,
      1.3678612428614447,
      1.4321600179147236,
      1.3207829833650897,
      0.9787190181917294,
      0.7977342641872313,
      0.4133668246650485,
      0.4133968954859646
    ],
    "ay_ego": [
      0.01749396977903811,
      0.017393826598436427,
      -0.036883859424114096,
      -0.015251278471114738,
      0.12825556529888604,
      0.199762958090947,
      0.051882574602575476,
      0.10744499831535893,
      0.011465373441034321,
      0.010323829266546708
    ],
    "a_ego": [
      0.3662132207091624,
      0.366213210979316,
      1.0006096711621764,
      1.3679462640094675,
      1.437891444770306,
      1.3358042253908438,
      0.9800932190958034,
      0.8049375031151988,
      0.4135257991006212,
      0.41352578474402096
    ],
    "yaw": [
      -1.9125430513076793,
      -1.9122692915363608,
      -1.9085625908588062,
      -1.8945315214031266,
      -1.8676825576536382,
      -1.8386409551332634,
      -1.820738013850455,
      -1.8077139585325908,
      -1.7989312664568864,
      -1.796169802950772
    ],
    "yaw_diff": [
      0.0005475195426369872,
      0.0074134013551092615,
      0.028062138911359114,
      0.05369792749897684,
      0.0580832050407496,
      0.0358058825656169,
      0.026048110635728428,
      0.017565384151408736,
      0.005522927012228784,
      0.005522927012228784
    ],
    "min_front_frame": [
      3,
      13.968024669225173
    ],
    "v_avg": 2.0001083897948306,
    "v_std": 1.4438324302952255,
    "vy_max": 0.03214720870152943,
    "a_max": 1.437891444770306,
    "ax_avg": 0.8455545936377851,
    "a_std": 0.4172085594520966,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "6c76134176255a21",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 46.597423396889965,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      29.258731774766506,
      31.991609048578866,
      32.595923185202146,
      13.968024669225173,
      16.18054161470224,
      18.024580471309243,
      19.366966893542802,
      20.232898763957238,
      20.692315018949984,
      20.699718621066943
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "6c76134176255a21",
    "maneuvering": "Yes"
  },
  "8ca47b84db7053a8": {
    "vx_ego": [
      0.5902086759199096,
      0.32350937101492805,
      0.12917398825467527,
      0.006383513822805242,
      -0.046792279275227944,
      -0.03200399422086374,
      -0.02147913262351352,
      -0.014237291512989,
      -0.010441962198541783,
      -0.008611872295141381
    ],
    "vy_ego": [
      -0.00569839715704089,
      0.005317921729652691,
      0.009717055563006125,
      -9.37501935528935e-05,
      -0.005829340686005996,
      -0.0020766446900560174,
      -0.0009655192345059051,
      -0.0006004491856258656,
      -0.0005155238083274519,
      -0.0002864104253193419
    ],
    "v_ego": [
      0.5902361839647686,
      0.32355307667521427,
      0.1295389532551253,
      0.006384202207381655,
      0.047153988300083924,
      0.03207129712465365,
      0.021500822441262186,
      0.014249947678863504,
      0.010454680260664501,
      0.008616633644269397
    ],
    "ax_ego": [
      -0.5333975622373133,
      -0.533399747014387,
      -0.2439451048933929,
      -0.247209669388848,
      0.034500643301638434,
      0.024652967847172767,
      0.01744652456551053,
      0.011520878190901454,
      0.0036602086337818927,
      0.0036602434293400692
    ],
    "ay_ego": [
      0.02196830061842668,
      0.021915261512729965,
      -0.0042604359283046605,
      -0.03503897187130882,
      0.012133161110727028,
      0.002870982244696,
      0.00157231509795738,
      -0.000113589009550098,
      0.0004572043759919731,
      0.00045698565324927187
    ],
    "a_ego": [
      0.5338497594199796,
      0.5338497623884302,
      0.24398230574315766,
      0.24968049621294391,
      0.03657195628846983,
      0.02481957619950619,
      0.017517231350365474,
      0.0115214381373455,
      0.003688653288700053,
      0.0036886607121423914
    ],
    "yaw": [
      1.5615608808335772,
      1.5614614429992026,
      1.5615380709262034,
      1.5613320603688692,
      1.5611671883219531,
      1.561210705462507,
      1.5612223924753046,
      1.5612451489180865,
      1.5611590827094122,
      1.5612184454121425
    ],
    "yaw_diff": [
      -0.00019887566874920992,
      0.00015325585400161046,
      -0.0004120211146685371,
      -0.00032974409383212944,
      8.703428110790057e-05,
      2.3374025595046533e-05,
      4.551288556386979e-05,
      -0.00017213241734870266,
      0.00011872540546065125,
      0.00011872540546065125
    ],
    "min_front_frame": [
      9,
      9.517566147073127
    ],
    "v_avg": 0.1183759785552287,
    "v_std": 0.1827180017260323,
    "vy_max": 0.009717055563006125,
    "a_max": 0.5338497623884302,
    "ax_avg": -0.1462510617565596,
    "a_std": 0.2046936059310523,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8ca47b84db7053a8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.027553537352619,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.02164768582185,
      9.760614951347119,
      9.672904233630051,
      9.617695288853865,
      9.582142039054451,
      9.611392722155053,
      9.609482613755825,
      9.574515901609612,
      9.537212479857315,
      9.517566147073127
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8ca47b84db7053a8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c8dc1e0c85f75036": {
    "vx_ego": [
      5.747051712828608,
      5.7849003209495535,
      5.789537949116134,
      5.766830773195943,
      5.843487587722095,
      6.045202172227525,
      6.2110092521465345,
      6.252224703862083,
      6.3026887014432456,
      6.409902036354626
    ],
    "vy_ego": [
      -0.024163687705413106,
      -0.0026882168576128004,
      -0.00290720968479391,
      -0.03192524790660156,
      -0.0368003227707574,
      -0.034366594307004394,
      -0.009605943921941806,
      0.0004304568613742177,
      0.0009737994312264409,
      0.10351090061354573
    ],
    "v_ego": [
      5.747102511155491,
      5.784900945550591,
      5.789538679042054,
      5.766919141806448,
      5.843603464611388,
      6.045299857402332,
      6.2110166804162175,
      6.2522247186802575,
      6.3026887766718795,
      6.410737759588127
    ],
    "ax_ego": [
      0.028757055737166082,
      0.12718468350212958,
      -0.11364624155148628,
      0.032704526881705276,
      0.27516082670536685,
      0.5280586355032528,
      0.13440499757319055,
      0.03804819929518158,
      0.1764494542487453,
      0.27122368865790764
    ],
    "ay_ego": [
      1.089481586309602,
      1.082414496511222,
      0.9450341884771405,
      1.0241798863831155,
      0.7806312663539445,
      0.34118624067492415,
      -0.09935474744801795,
      -0.629283636353786,
      -1.0094875044239027,
      -0.9882495285841414
    ],
    "a_ego": [
      1.0898610439695313,
      1.0898610397546922,
      0.9518429942009482,
      1.0247019204384695,
      0.8277068651174424,
      0.6286922723840691,
      0.16714086637656508,
      0.6304328357979538,
      1.024792384579764,
      1.024792378989998
    ],
    "yaw": [
      -0.09283325735346287,
      -0.0022577210286508992,
      0.0848545913892911,
      0.1753018165443441,
      0.2542373493129756,
      0.3012493589909261,
      0.3070281063662159,
      0.27624795981323746,
      0.21074010748557198,
      0.11592960397708788
    ],
    "yaw_diff": [
      0.18115107264962393,
      0.17422462483588402,
      0.18089445031010598,
      0.157871065537263,
      0.09402401935590099,
      0.011557494750579655,
      -0.0615602931059569,
      -0.13101570465533097,
      -0.1896210070169682,
      -0.1896210070169682
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.015403253492478,
    "v_std": 0.2452460191617796,
    "vy_max": 0.10351090061354573,
    "a_max": 1.0898610439695313,
    "ax_avg": 0.14983458265531596,
    "a_std": 0.2794428694043979,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "c8dc1e0c85f75036",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "c8dc1e0c85f75036",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "c65cb00fba005ab1": {
    "vx_ego": [
      12.32880439838036,
      12.483504523916714,
      12.670817868504965,
      12.762994429756375,
      12.918040146719417,
      13.102896850937418,
      13.176805428472827,
      13.055606584002504,
      12.818524302962768,
      12.709189548251505
    ],
    "vy_ego": [
      -0.02650516996490193,
      -0.046494174332152305,
      -0.07086338984750284,
      -0.05849795039989836,
      -0.011553753166532843,
      0.016251257213283132,
      0.0456349435978467,
      0.04594418186152449,
      0.024526863964969614,
      0.017994147136626282
    ],
    "v_ego": [
      12.328832889513823,
      12.483591106204011,
      12.67101602385718,
      12.763128488900879,
      12.918045313493325,
      13.1029069289859,
      13.17688445148959,
      13.055687425183573,
      12.818547767695959,
      12.709202286639254
    ],
    "ax_ego": [
      0.30772011734814836,
      0.3133637902286752,
      0.4381047615218342,
      -0.0679124319947485,
      0.6882584178272682,
      0.05114686497301604,
      0.24425006345626496,
      -0.7297659942581226,
      -0.21875137504270548,
      -0.21871413738518047
    ],
    "ay_ego": [
      0.3572137085496411,
      0.35227322997329813,
      0.21681085736674113,
      0.16145977683039944,
      0.10175482362370958,
      0.09382930510941598,
      0.16458605070121252,
      -0.026434575668629556,
      0.024816029518632432,
      0.02514201455065719
    ],
    "a_ego": [
      0.47147990858205835,
      0.4714798973257517,
      0.4888176857890931,
      0.1751609487116456,
      0.6957396739016589,
      0.10686412070420928,
      0.2945278621519729,
      0.730244611870794,
      0.22015448985688216,
      0.22015447937257387
    ],
    "yaw": [
      1.0493538243362623,
      1.065262686484652,
      1.0785283701253194,
      1.0849603668978731,
      1.0864400041525926,
      1.0880512222500087,
      1.0907365609452002,
      1.0933222023535405,
      1.0949544846333108,
      1.0964448045768775
    ],
    "yaw_diff": [
      0.031817724296779204,
      0.026531367281334983,
      0.012863993545107366,
      0.0029592745094388917,
      0.003222436194832312,
      0.005370677390382994,
      0.005171282816680556,
      0.003264564559540606,
      0.002980639887133485,
      0.002980639887133485
    ],
    "min_front_frame": [
      9,
      38.1090694702649
    ],
    "v_avg": 12.802784268196348,
    "v_std": 0.25724023485656583,
    "vy_max": 0.07086338984750284,
    "a_max": 0.730244611870794,
    "ax_avg": 0.08077000766744499,
    "a_std": 0.20624095226965156,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c65cb00fba005ab1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.581535304404696,
    "right_rear_min": 20.978118278989776,
    "speed_mode": "quasi_constant",
    "front_frame": [
      40.31780102076599,
      40.515437853197376,
      40.46413640919262,
      40.37470013436954,
      40.15573775884611,
      39.84752506796293,
      39.55642829229966,
      39.13974925749446,
      38.84994962995568,
      38.1090694702649
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c65cb00fba005ab1",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "613770d7f39051be": {
    "vx_ego": [
      3.476441514073618,
      3.0077990121962914,
      2.4592762525892624,
      1.762151817321101,
      1.0397304234556646,
      0.4223505330535453,
      0.02906392733004639,
      -0.06622508066894213,
      -0.03304429509752881,
      -0.011786773683752727
    ],
    "vy_ego": [
      0.0016376731615510565,
      -0.01881161907223594,
      -0.018670418474186712,
      -0.02330939783783248,
      -0.004718487797208848,
      0.009663813012813813,
      0.0020477788249795145,
      -0.0017998816956688035,
      -0.000690851805146938,
      0.0006929239658740663
    ],
    "v_ego": [
      3.476441899809035,
      3.0078578381933387,
      2.4593471229323214,
      1.7623059766441302,
      1.0397411300830548,
      0.4224610775592948,
      0.029135978960080473,
      0.06624953496988711,
      0.033051516072780104,
      0.011807124014529892
    ],
    "ax_ego": [
      -0.9443023917489797,
      -0.9269652762945195,
      -1.2670624427256738,
      -1.5200250915226101,
      -1.3683903037657204,
      -1.1018486747118186,
      -0.47136986407481246,
      0.09020899666936634,
      0.04251516449265508,
      0.04251492302011193
    ],
    "ay_ego": [
      0.2896304923002873,
      0.3410692196224289,
      0.1937731803653554,
      0.10259878401268646,
      0.09999825239581456,
      -0.011995666659706694,
      -0.016828526342012484,
      0.0016344905029442355,
      0.002769584982493924,
      0.002773274171325813
    ],
    "a_ego": [
      0.9877210279896598,
      0.9877210314808669,
      1.2817937740505903,
      1.523483767336955,
      1.3720392392064658,
      1.1019139703183738,
      0.47167016871618134,
      0.09022380306381439,
      0.04260527916599978,
      0.04260527818281892
    ],
    "yaw": [
      2.7929064905365393,
      2.847870054849447,
      2.8959756890812276,
      2.932722103547829,
      2.955918351654005,
      2.966837110033002,
      2.9696280493504057,
      2.9690744534535845,
      2.9692579766253293,
      2.9691712945736155
    ],
    "yaw_diff": [
      0.10992712862581566,
      0.09621126846356098,
      0.07349282893320286,
      0.046392496212352086,
      0.02183751675799428,
      0.005581878634806969,
      -0.0011071917936424924,
      0.00036704634348971865,
      -0.000173364103427609,
      -0.000173364103427609
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.2308399199238451,
    "v_std": 1.2807538130266696,
    "vy_max": 0.02330939783783248,
    "a_max": 1.523483767336955,
    "ax_avg": -0.7424724960662002,
    "a_std": 0.5479347402307587,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "613770d7f39051be",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "613770d7f39051be",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "603d4a913f315a41": {
    "vx_ego": [
      3.948441917762493,
      3.8189149008302747,
      3.703415042501515,
      3.6109490221289993,
      3.532710891315734,
      3.436766311824603,
      3.414855331088833,
      3.5272506681214284,
      5.680216411558119,
      9.836760550624913
    ],
    "vy_ego": [
      -0.011557317903767794,
      0.03001494342210309,
      0.025579048062840615,
      0.01782437176355689,
      0.02627270548600924,
      0.016549610248752122,
      0.005015835684745618,
      0.0307769148004422,
      0.11834725141921831,
      -0.099676560063366
    ],
    "v_ego": [
      3.948458832195301,
      3.8190328509469698,
      3.703503377172255,
      3.6109930142058073,
      3.532808584777041,
      3.4368061585855947,
      3.4148590147872047,
      3.5273849370670756,
      5.681449159682121,
      9.837265552324823
    ],
    "ax_ego": [
      -0.2701223838226684,
      -0.24518628220371713,
      -0.21167373702070924,
      -0.16046141986272155,
      -0.15161928841761152,
      -0.23200571542282156,
      0.1443315315249208,
      0.30503099434877046,
      8.304681117553532,
      8.312950648949192
    ],
    "ay_ego": [
      -0.3922856004273573,
      -0.4083353769869458,
      -0.3850976929430835,
      -0.04547596349987683,
      -0.054818753762105536,
      -0.016347977737121988,
      0.06089678973604238,
      0.14577170820890628,
      0.3719661105533656,
      0.03064072277705865
    ],
    "a_ego": [
      0.476292026539069,
      0.4762920250014186,
      0.4394382824179043,
      0.16678108562005087,
      0.1612250116585303,
      0.2325809716312766,
      0.15665251352112086,
      0.3380729188023527,
      8.313007112450366,
      8.313007118110576
    ],
    "yaw": [
      2.4390504259845702,
      2.3767786655904386,
      2.325173507080076,
      2.2978142862293174,
      2.2884263404703558,
      2.2861175911425313,
      2.292827399234003,
      2.300334260635863,
      2.3119508619334583,
      2.353024993156321
    ],
    "yaw_diff": [
      -0.12454352078826325,
      -0.10321031702072503,
      -0.054718441701517406,
      -0.01877589151792325,
      -0.004617498655648866,
      0.013419616182943628,
      0.015013722803719709,
      0.023233202595190683,
      0.0821482624457257,
      0.0821482624457257
    ],
    "min_front_frame": [
      2,
      12.976295656358634
    ],
    "v_avg": 4.451256148174419,
    "v_std": 1.9036930337481834,
    "vy_max": 0.11834725141921831,
    "a_max": 8.313007118110576,
    "ax_avg": 1.5795925465626166,
    "a_std": 3.2050968937361564,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "603d4a913f315a41",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.001672559071807,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      13.620343715611675,
      13.265963583690713,
      12.976295656358634,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "603d4a913f315a41",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "66a897321eb45503": {
    "vx_ego": [
      5.814261182416694,
      5.886790811427774,
      6.064926021306327,
      6.241264194001863,
      6.310056697943802,
      6.348772534201029,
      6.434222112398155,
      6.5634898345647255,
      6.698386377330064,
      6.836350657953871
    ],
    "vy_ego": [
      -0.10422306536455733,
      0.009419891018607629,
      0.045602004077174296,
      0.03219788791995315,
      -0.03167024342764524,
      -0.07137422413895589,
      -0.057781453794397475,
      -0.07611963152349732,
      -0.10200921331871493,
      0.1483371529395714
    ],
    "v_ego": [
      5.815195228426262,
      5.8867983481564305,
      6.06509745896094,
      6.241347245852952,
      6.310136174091983,
      6.349173723477472,
      6.434481555500487,
      6.5639312158749625,
      6.69916307754953,
      6.837959800221741
    ],
    "ax_ego": [
      0.0359740687566964,
      0.278283381084641,
      0.4261283590318738,
      0.25075643377366563,
      0.0271887850213266,
      0.15210938004824737,
      0.23304444709349248,
      0.2890917499512874,
      0.26025511160540143,
      0.2886103774498058
    ],
    "ay_ego": [
      1.8075402969590757,
      1.7863522889606698,
      1.8969537179218752,
      1.8368392206836026,
      1.8742323094386775,
      1.7852873610439044,
      1.8813880733870314,
      1.4236506994925455,
      0.9226050020045341,
      0.9141316984928683
    ],
    "a_ego": [
      1.8078982434732922,
      1.8078982660711094,
      1.9442270408336633,
      1.8538762395910984,
      1.8744295078169182,
      1.7917556264741492,
      1.895766546018807,
      1.452706217394113,
      0.9586097813190341,
      0.9586097809646925
    ],
    "yaw": [
      -3.045504293429936,
      -2.91086301596127,
      -2.7626393901796553,
      -2.609602770165167,
      -2.452613503232379,
      -2.301710431297196,
      -2.1604285511507975,
      -2.0305103385716903,
      -1.9382629653600802,
      -1.9073897170667156
    ],
    "yaw_diff": [
      0.2692825549373321,
      0.2964472515632295,
      0.30607324002897673,
      0.3139785338655763,
      0.3018061438703654,
      0.2825637602927973,
      0.25983642515821437,
      0.18449474642322006,
      0.06174649658672937,
      0.06174649658672937
    ],
    "min_front_frame": [
      8,
      45.54535220979278
    ],
    "v_avg": 6.320328382811276,
    "v_std": 0.31611008703103705,
    "vy_max": 0.1483371529395714,
    "a_max": 1.9442270408336633,
    "ax_avg": 0.22414420938164378,
    "a_std": 0.3607562179038705,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "66a897321eb45503",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      74.7564512063386,
      45.54535220979278,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "66a897321eb45503",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "da03ba74198a524b": {
    "vx_ego": [
      7.3821514475780745,
      7.266947406141162,
      7.144216431266839,
      7.01934115193605,
      6.8884169146871175,
      6.701649233768411,
      6.490588886862621,
      6.372298716058019,
      6.291423948427866,
      6.177637990028057
    ],
    "vy_ego": [
      -0.052168471851727016,
      0.056332108834570516,
      0.04015069906795965,
      -0.0001518102707103175,
      -0.010772241501543434,
      -0.03131180195134542,
      0.0022741181033878455,
      0.05115132962853863,
      0.06828184561646244,
      -0.010064590454400335
    ],
    "v_ego": [
      7.382335778358663,
      7.267165741202516,
      7.144329254410014,
      7.019341153577683,
      6.888425337603258,
      6.7017223817023455,
      6.490589285255824,
      6.3725040121758605,
      6.291794474495529,
      6.177646188623861
    ],
    "ax_ego": [
      -0.23048408949948793,
      -0.23033743156661302,
      -0.2637013161775319,
      -0.23827454377028984,
      -0.28643875825627696,
      -0.4578807910782693,
      -0.37905989850663624,
      -0.10119811252708225,
      -0.2275617929785156,
      -0.22765432295672333
    ],
    "ay_ego": [
      0.22641230488215308,
      0.22656150479781725,
      0.3172783584252833,
      0.29642720024074964,
      0.1327522218376238,
      0.27232831288549436,
      0.6465196380304243,
      0.46274584476976477,
      -0.14901742468981458,
      -0.14887602974330721
    ],
    "a_ego": [
      0.3230873679277124,
      0.3230873687363149,
      0.4125578030758904,
      0.38032071104728077,
      0.3157060573290027,
      0.532745275753358,
      0.7494491637295037,
      0.473682145357757,
      0.2720120631236441,
      0.2720120640578542
    ],
    "yaw": [
      2.054578471608192,
      2.0552260037323937,
      2.076327384034683,
      2.1036939245142867,
      2.120635615089494,
      2.138505065101051,
      2.168280898781179,
      2.2039890745181543,
      2.213646356288623,
      2.21426758442628
    ],
    "yaw_diff": [
      0.0012950642484037544,
      0.04220276060457895,
      0.05473308095920704,
      0.03388338115041467,
      0.035738900023114084,
      0.059551667360255855,
      0.07141635147395053,
      0.01931456354093708,
      0.0012424562753139412,
      0.0012424562753139412
    ],
    "min_front_frame": [
      9,
      19.62470512423395
    ],
    "v_avg": 6.7735853607405545,
    "v_std": 0.4072612303195082,
    "vy_max": 0.06828184561646244,
    "a_max": 0.7494491637295037,
    "ax_avg": -0.2642591057317426,
    "a_std": 0.14039575641237892,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "da03ba74198a524b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.725769799576839,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      65.18802122066779,
      -1,
      57.800172379132434,
      39.132077101291166,
      35.722193951648904,
      32.34674392653428,
      29.104684298815496,
      25.87603599015421,
      22.720921288792482,
      19.62470512423395
    ],
    "safe_frame": [
      1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "da03ba74198a524b",
    "merging_vehicles": "No"
  },
  "3d43337c0e6b5910": {
    "vx_ego": [
      3.0387839407848363,
      3.3050465505803985,
      3.5836917257543934,
      3.8443992672448237,
      4.099387044686903,
      4.377745092772209,
      4.668870817126317,
      4.9136053141878975,
      5.121728479847819,
      5.333554940758846
    ],
    "vy_ego": [
      -0.049187579226894096,
      -0.02442595931163738,
      -0.04999228558725144,
      -0.08235672613713962,
      -0.08680289828142729,
      -0.07656013018658803,
      -0.07473892928132486,
      -0.06790612864968504,
      -0.07183902736525674,
      -0.1157050362781518
    ],
    "v_ego": [
      3.03918200454037,
      3.3051368094213114,
      3.584040403491392,
      3.84528131042874,
      4.100305950206262,
      4.378414501943065,
      4.669468986358501,
      4.914074523847164,
      5.1222322738369686,
      5.334809833678538
    ],
    "ax_ego": [
      0.5053777999841976,
      0.5715558730769509,
      0.5638921639828278,
      0.5225271034300365,
      0.5494187816498429,
      0.6024986814406443,
      0.5748256227457162,
      0.4106589363254814,
      0.4261625760494401,
      0.429121085980317
    ],
    "ay_ego": [
      0.6988278759372426,
      0.6458258312812641,
      0.7357638015450412,
      0.9291493774522381,
      1.070677820056627,
      1.04518077775486,
      0.7062054262141892,
      0.3747937287208042,
      0.14199530914779213,
      0.13278668020243553
    ],
    "a_ego": [
      0.8624193416800355,
      0.8624193413872926,
      0.9269966258111445,
      1.0659986582725447,
      1.2034167989482316,
      1.206402718550472,
      0.910577070093117,
      0.5559776084271916,
      0.4491961810223589,
      0.44919618082983576
    ],
    "yaw": [
      -0.7894662032434061,
      -0.6911141613360973,
      -0.5835464445946694,
      -0.46307749043588753,
      -0.33614752835149836,
      -0.21372731829773028,
      -0.11748010798071742,
      -0.0627493461500767,
      -0.036208369797235886,
      -0.014675692850009516
    ],
    "yaw_diff": [
      0.19670408381461768,
      0.2151354334828557,
      0.2409379083175638,
      0.25385992416877834,
      0.24484042010753615,
      0.19249442063402572,
      0.10946152366128145,
      0.053081952705681626,
      0.043065353894452735,
      0.043065353894452735
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.22929465977523,
    "v_std": 0.7453394038377573,
    "vy_max": 0.1157050362781518,
    "a_max": 1.206402718550472,
    "ax_avg": 0.5156038624665455,
    "a_std": 0.2676227546625659,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "3d43337c0e6b5910",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "3d43337c0e6b5910",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4f8d9bfa869553bb": {
    "vx_ego": [
      8.88020359765064,
      8.649734722749983,
      8.418720973076443,
      8.279291787806367,
      8.224136067947514,
      8.216381078012773,
      8.103676594381687,
      7.867104659499313,
      7.768373943327718,
      7.80487125105177
    ],
    "vy_ego": [
      0.6160431531907632,
      0.6195876493802568,
      0.6054039167513681,
      0.6211684689865002,
      0.6191489873263115,
      0.595598449215931,
      0.5856025975108597,
      0.6165603432067946,
      0.676493444134747,
      0.6357514199992773
    ],
    "v_ego": [
      8.9015462197486,
      8.671897118232623,
      8.440460693880107,
      8.30256121775088,
      8.247409261860502,
      8.23794000535539,
      8.12480798225663,
      7.891228192134041,
      7.797773855616122,
      7.830721238399788
    ],
    "ax_ego": [
      -0.4489356963185617,
      -0.4470963365017721,
      -0.45929899759983056,
      -0.09373172097098235,
      -0.1532156840322789,
      0.08250022922159896,
      -0.5815235749395221,
      -0.429339880682598,
      -0.06954774212009682,
      0.015051278130351287
    ],
    "ay_ego": [
      -0.1737134923075695,
      -0.17839424026645928,
      -0.12705217839068095,
      0.12325527358955027,
      0.22671837220859042,
      0.2128759834885259,
      0.45652714775739234,
      0.5378792515527607,
      1.10597634834523,
      1.1080586745347016
    ],
    "a_ego": [
      0.4813726590062255,
      0.4813726613275343,
      0.4765478205070574,
      0.1548466918723709,
      0.27363527939648435,
      0.22830346508063237,
      0.7393150240932088,
      0.6882200392283746,
      1.1081608960494198,
      1.1081608940875676
    ],
    "yaw": [
      -0.018107754064114523,
      -0.02855536579806123,
      -0.03583973677185298,
      -0.0378526410697319,
      -0.027014718746082227,
      -0.010722503699449765,
      0.010791400598257736,
      0.03811003955785581,
      0.08326400291801497,
      0.159647513384792
    ],
    "yaw_diff": [
      -0.020895223467893416,
      -0.014568741947583501,
      -0.004025808595757838,
      0.021675844647299346,
      0.03258443009326492,
      0.043027808595415,
      0.05463727791919615,
      0.09030792672031833,
      0.15276702093355404,
      0.15276702093355404
    ],
    "min_front_frame": [
      3,
      21.62452344568294
    ],
    "v_avg": 8.24463457852347,
    "v_std": 0.3414828410483514,
    "vy_max": 0.676493444134747,
    "a_max": 1.1081608960494198,
    "ax_avg": -0.25851381258136924,
    "a_std": 0.31985967682500466,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "4f8d9bfa869553bb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.625868560339946,
    "right_rear_min": 7.82167782102755,
    "speed_mode": "decelerating",
    "front_frame": [
      22.045804139483458,
      22.200691856727364,
      21.871758673819667,
      21.62452344568294,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4f8d9bfa869553bb",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "dcb18ea8a7ea5d66": {
    "vx_ego": [
      4.885207720697417,
      4.284789536380723,
      3.664288465048879,
      3.0218916201040567,
      2.4288940708527025,
      1.9243704909840342,
      1.4587005621137366,
      0.985424976307558,
      0.5205847088672734,
      0.07335869007040889
    ],
    "vy_ego": [
      -0.0352252094461214,
      -0.02178811794721347,
      -0.022138601433671745,
      -0.003331646499160845,
      0.02792634093613966,
      0.0058343661654644,
      -0.019107087827710312,
      -0.017835906799478773,
      -0.006202899528192557,
      0.0252013482402007
    ],
    "v_ego": [
      4.885334716244341,
      4.2848449322188324,
      3.6643553420436326,
      3.0218934566796882,
      2.429054607854977,
      1.9243793353698968,
      1.458825695796515,
      0.9855863754649365,
      0.5206216621203738,
      0.07756678001548199
    ],
    "ax_ego": [
      -1.2007864217598176,
      -1.2007351317305743,
      -1.2812428006135566,
      -1.2883880936143386,
      -1.0836759536251865,
      -0.9344422133536958,
      -0.928149853831445,
      -0.9649302030823939,
      -0.8944559110563614,
      -0.8944510794035712
    ],
    "ay_ego": [
      0.03815849795903625,
      0.039739637511425396,
      -0.03298389074995112,
      0.1033251291071321,
      0.031052951340452217,
      -0.11797189053653157,
      0.02427587468979131,
      -0.01713419403098898,
      0.06281977741063882,
      0.06288860321605433
    ],
    "a_ego": [
      1.201392567668552,
      1.2013925650517316,
      1.2816672934787228,
      1.2925246466014468,
      1.0841207765984424,
      0.9418596588951654,
      0.9284672688141932,
      0.9650823163988248,
      0.8966591890219983,
      0.8966591938193016
    ],
    "yaw": [
      2.564406427334868,
      2.565723210088561,
      2.566235034979588,
      2.565869707694011,
      2.5667351518906614,
      2.566903011333009,
      2.567800510255081,
      2.568219726067843,
      2.567935372847078,
      2.5680123147249794
    ],
    "yaw_diff": [
      0.0026335655073861375,
      0.001023649782053937,
      -0.0007306545711536216,
      0.0017308883933004893,
      0.0003357188846955239,
      0.0017949978441436087,
      0.0008384316255245494,
      -0.0005687064415305088,
      0.00015388375580283054,
      0.00015388375580283054
    ],
    "min_front_frame": [
      9,
      8.823714303922305
    ],
    "v_avg": 2.3252462903808673,
    "v_std": 1.5394215458697589,
    "vy_max": 0.0352252094461214,
    "a_max": 1.2925246466014468,
    "ax_avg": -1.0671257662070943,
    "a_std": 0.1538150096340418,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dcb18ea8a7ea5d66",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.27302285809726,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.151363531156747,
      16.86594405111952,
      14.848953195683295,
      13.192879092869342,
      11.81591088538168,
      10.726902405601452,
      9.88464062589876,
      9.282046362788883,
      8.931869624847174,
      8.823714303922305
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dcb18ea8a7ea5d66",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c5dfe79ae983556a": {
    "vx_ego": [
      0.9616908055109595,
      0.3949667604921665,
      -0.0018488950130908283,
      -0.09228246495625854,
      -0.05242891457157158,
      -0.02856252198031278,
      -0.018115047635874,
      -0.012701059084385813,
      -0.009183944671353764,
      -0.006171995025328083
    ],
    "vy_ego": [
      0.03537625756726208,
      0.02736126424892003,
      0.00955553123123491,
      -0.0032985174277801533,
      -0.0017812461797816744,
      -0.0005584754430441278,
      -0.0003124583180552412,
      -0.0002821918920773136,
      -0.00015153021331803783,
      6.129024241958896e-05
    ],
    "v_ego": [
      0.9623412518456139,
      0.3959133499580124,
      0.00973275859561604,
      0.09234139676019881,
      0.05245916431955563,
      0.02856798131993813,
      0.0181177421620495,
      0.012704193564686172,
      0.009185194670339621,
      0.00617229933545761
    ],
    "ax_ego": [
      -1.133404103404013,
      -1.1333902620717795,
      -0.4538560379346459,
      0.09212657939512812,
      0.06728732716046398,
      0.028178395023961737,
      0.013611515003012468,
      0.008044506620640286,
      0.006023897423876277,
      0.006023891581931813
    ],
    "ay_ego": [
      -0.01666863065377894,
      -0.01758493171790672,
      -0.05371724166947946,
      0.0021572116066230582,
      0.003919614800095949,
      0.000965320048308487,
      1.8814217196483915e-05,
      9.967659869569365e-05,
      0.00042575890107527867,
      0.00042581776184730995
    ],
    "a_ego": [
      1.133526667026818,
      1.1335266719326285,
      0.4570239000559074,
      0.09215183228217763,
      0.06740139298694386,
      0.028194924878816363,
      0.013611528005775187,
      0.008045124125447223,
      0.006038924640631648,
      0.006038922963341527
    ],
    "yaw": [
      -1.554079032204962,
      -1.5548874863955193,
      -1.5550649644171002,
      -1.554753135215278,
      -1.554781093008501,
      -1.5547379542430142,
      -1.5547387637859247,
      -1.5546950680077967,
      -1.5547603685658333,
      -1.5547699389609173
    ],
    "yaw_diff": [
      -0.0016169083811146123,
      -0.0003549560431617138,
      0.0006236584036445336,
      -5.5915586446353416e-05,
      8.627753097378843e-05,
      -1.6190858209697012e-06,
      8.739155625603345e-05,
      -0.00013060111607332558,
      -1.9140790167959665e-05,
      -1.9140790167959665e-05
    ],
    "min_front_frame": [
      9,
      9.52977169572199
    ],
    "v_avg": 0.15875353325314678,
    "v_std": 0.29045190484723704,
    "vy_max": 0.03537625756726208,
    "a_max": 1.1335266719326285,
    "ax_avg": -0.2499354291201424,
    "a_std": 0.4387660831050887,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c5dfe79ae983556a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.068935535352692,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.02178316140291,
      9.681392940710944,
      9.604794751238344,
      9.595825282475156,
      9.584362980887711,
      9.624087276704339,
      9.610775588862047,
      9.580569978382586,
      9.561131088550084,
      9.52977169572199
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c5dfe79ae983556a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "88f90b93bbf255ad": {
    "vx_ego": [
      8.488871532338427,
      8.39215134587396,
      8.294446220325236,
      8.212154465445119,
      8.197314679876888,
      8.23443268084106,
      8.296949819462872,
      8.321803757453937,
      8.234298988536697,
      8.096251840702834
    ],
    "vy_ego": [
      0.038550773459656185,
      0.03420604156068263,
      0.026972011080490077,
      0.002124631101927843,
      -0.013377691504291356,
      -0.021157223977471773,
      -0.00999420884668245,
      -0.008710814222348873,
      0.008720595504381645,
      0.018034684940056334
    ],
    "v_ego": [
      8.488959067793889,
      8.392221056748529,
      8.29449007421489,
      8.21215474028513,
      8.197325595799834,
      8.234459861061303,
      8.296955838793856,
      8.32180831645736,
      8.234303606341124,
      8.09627192712454
    ],
    "ax_ego": [
      -0.1937625650938316,
      -0.19360320412869525,
      -0.19749872323002438,
      -0.1317019805454471,
      0.07229114890517321,
      0.07618970611392668,
      0.17383672372062786,
      -0.07404360763126025,
      -0.2760942167165276,
      -0.276094254202796
    ],
    "ay_ego": [
      0.047378894523866635,
      0.04802590853090295,
      -0.01614880129975811,
      -0.07021007787012258,
      -0.03284995592552481,
      0.005038725789826389,
      0.01963674964112888,
      0.1251352987913846,
      0.01859146112926849,
      0.0185908369694172
    ],
    "a_ego": [
      0.1994710286684385,
      0.1994710218029574,
      0.19815783976645696,
      0.14924766904083295,
      0.079404847549371,
      0.07635613973552867,
      0.1749423003461149,
      0.14540047742239748,
      0.276719458895167,
      0.2767194543631177
    ],
    "yaw": [
      1.0200717638913752,
      1.0234123166536664,
      1.0252344277429897,
      1.0256295316389794,
      1.024374807621941,
      1.024475438955131,
      1.0238703436508796,
      1.0280559615057612,
      1.030284022257829,
      1.030281754739605
    ],
    "yaw_diff": [
      0.0066811055245823425,
      0.0036442221786465723,
      0.0007902077919794692,
      -0.002509448034076822,
      0.00020126266637987555,
      -0.0012101906085026926,
      0.00837123570976317,
      0.004456121504135435,
      -4.53503644770592e-06,
      -4.53503644770592e-06
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.276895008462045,
    "v_std": 0.10380874322408432,
    "vy_max": 0.038550773459656185,
    "a_max": 0.276719458895167,
    "ax_avg": -0.10204809728088544,
    "a_std": 0.06539799303057138,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "88f90b93bbf255ad",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.394826464606044,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "88f90b93bbf255ad",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "51d4ce9889525c4f": {
    "vx_ego": [
      7.8512030571156295,
      7.717763929515728,
      7.589756979410137,
      7.464810707572536,
      7.324857651961892,
      7.098158027048254,
      6.738270193549887,
      6.32133720052929,
      5.886488567877745,
      5.433929356843478
    ],
    "vy_ego": [
      0.11260516468578619,
      0.04656391552069872,
      0.028515351754460738,
      0.08436626540635617,
      0.11883752007624881,
      0.12244662882567958,
      0.09729873445003179,
      0.0725901277952179,
      0.07652373970870396,
      -0.037233227649983824
    ],
    "v_ego": [
      7.852010530251199,
      7.717904396269927,
      7.589810546501841,
      7.465287440321919,
      7.325821590626034,
      7.099214080013388,
      6.738972640173605,
      6.32175397571345,
      5.886985947196951,
      5.43405691619131
    ],
    "ax_ego": [
      -0.26701040180476493,
      -0.2671542002457461,
      -0.244961945306262,
      -0.255203238447844,
      -0.30641716645706,
      -0.6012704137655915,
      -0.8388680081586353,
      -0.8295066832136173,
      -0.911647314941158,
      -0.901098313264967
    ],
    "ay_ego": [
      -0.11228467817882382,
      -0.11194211061917876,
      0.10332467153002847,
      0.18137418970830604,
      0.07269366042762122,
      -0.009009378657483302,
      -0.05635502050469432,
      0.012486188995373515,
      0.23089628312476573,
      0.2691389013478659
    ],
    "a_ego": [
      0.28965911624815827,
      0.2896591148899352,
      0.26586150980353734,
      0.31308990658692865,
      0.31492197155158913,
      0.6013379078136015,
      0.8407588378650092,
      0.8296006523693703,
      0.940432836730117,
      0.9404328356601044
    ],
    "yaw": [
      2.6262894238128407,
      2.627572042500881,
      2.6296494472857685,
      2.6316848677282767,
      2.6356093024661114,
      2.637307886305144,
      2.6385754307287828,
      2.640680218748891,
      2.6499883494915295,
      2.692175127818609
    ],
    "yaw_diff": [
      0.002565237376080276,
      0.004154809569775431,
      0.0040708408850163025,
      0.007848869475669318,
      0.0033971676780648608,
      0.002535088847277933,
      0.004209576040216767,
      0.01861626148527673,
      0.08437355665415858,
      0.08437355665415858
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.9431818063259625,
    "v_std": 0.7815707642625654,
    "vy_max": 0.12244662882567958,
    "a_max": 0.940432836730117,
    "ax_avg": -0.5423137685605647,
    "a_std": 0.2821922195932563,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "51d4ce9889525c4f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "51d4ce9889525c4f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7f86145a2a8a514b": {
    "vx_ego": [
      10.219894146422643,
      10.51829693733472,
      10.67262630748094,
      10.561884195103943,
      10.434241681746354,
      10.465856120217598,
      10.546957084249035,
      10.60682737512829,
      10.658351000097534,
      10.710452176221658
    ],
    "vy_ego": [
      -0.054270387284939936,
      0.020106419020690325,
      0.04054736117210744,
      -0.0041407767399359585,
      -0.050346951699402176,
      -0.02009047747954984,
      0.013817778765345068,
      0.02700942368542325,
      0.02673436890480474,
      -0.0006192691746038648
    ],
    "v_ego": [
      10.220038240585005,
      10.518316154690863,
      10.672703330816999,
      10.56188500679772,
      10.434363147247579,
      10.465875403251346,
      10.546966135718884,
      10.606861763723458,
      10.658384528987535,
      10.710452194124464
    ],
    "ax_ego": [
      0.5915149227077221,
      0.6033769492197791,
      0.009907425812705595,
      -0.45359343596565316,
      -0.055663595364967705,
      0.1850028853139902,
      0.13774460318936946,
      0.10209346800459902,
      0.10410897856914057,
      0.10413798568669876
    ],
    "ay_ego": [
      0.582021687481787,
      0.5697151970973376,
      0.4422399610900176,
      0.5348471746337634,
      0.413728945286987,
      0.4537654749564188,
      0.04380628594177719,
      -0.09203353728460496,
      0.009790165782806448,
      0.009476653484403637
    ],
    "a_ego": [
      0.8298428456551694,
      0.8298428457566085,
      0.442350924347553,
      0.701290599797863,
      0.41745667561704836,
      0.4900297683171153,
      0.14454261100384758,
      0.1374527125753539,
      0.10456828756733375,
      0.10456828880758513
    ],
    "yaw": [
      -0.7434094941670808,
      -0.7228117085598192,
      -0.7010172966931607,
      -0.6739505928160091,
      -0.6468330468171456,
      -0.6289239525037602,
      -0.6203165108009765,
      -0.6227026379886307,
      -0.6246105702980076,
      -0.6215996082481863
    ],
    "yaw_diff": [
      0.04119557121452311,
      0.04358882373331707,
      0.0541334077543032,
      0.054235091997727025,
      0.035818188626770775,
      0.017214883405567427,
      -0.004772254375308371,
      -0.003815864618753828,
      0.006021924099642639,
      0.006021924099642639
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.539584590594384,
    "v_std": 0.1360788700354123,
    "vy_max": 0.054270387284939936,
    "a_max": 0.8298428457566085,
    "ax_avg": 0.13286301871733838,
    "a_std": 0.2784206552239482,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7f86145a2a8a514b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.4263825894388966,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7f86145a2a8a514b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "74a397722f465751": {
    "vx_ego": [
      2.417074034706564,
      1.84540107811085,
      1.187072846563444,
      0.5188960034701147,
      0.07934216155469526,
      -0.06983511307121902,
      -0.05836277004573902,
      -0.033799213168136284,
      -0.021371700923300034,
      -0.012145365172681255
    ],
    "vy_ego": [
      0.009886018762538806,
      -0.008562473409004734,
      -0.0033099627691155487,
      0.01270011818410488,
      -0.003836913120637067,
      -0.01545363211901609,
      -0.0071421669755264705,
      -0.004109422052004208,
      -0.0026689848798011574,
      -0.0016972229659263558
    ],
    "v_ego": [
      2.417094251910678,
      1.845420942507039,
      1.1870774612053632,
      0.5190513995927065,
      0.07943488215177687,
      0.07152452560723371,
      0.05879815878510238,
      0.034048115372023395,
      0.021537712985449285,
      0.012263378856328569
    ],
    "ax_ego": [
      -1.143357451380684,
      -1.1433324923805719,
      -1.4900310476004686,
      -1.1826473164850506,
      -0.5755673011713057,
      -0.021106802106409615,
      0.0669968423710591,
      0.03125739045978275,
      0.018452583263085805,
      0.018452534744841816
    ],
    "ay_ego": [
      -0.03922468099431281,
      -0.039945762120742134,
      0.05657202963638697,
      0.005338285794585951,
      -0.07149856046694913,
      0.02492752832327793,
      0.008312775945355726,
      0.0038180454011208943,
      0.0019441778755659575,
      0.0019446701281821115
    ],
    "a_ego": [
      1.1440300858049313,
      1.1440300922810456,
      1.4911045963816658,
      1.182659364519013,
      0.5799911743522194,
      0.032663110131568314,
      0.06751058533008157,
      0.0314897114791536,
      0.01855472060401219,
      0.01855472393804441
    ],
    "yaw": [
      1.1018067537055927,
      1.101176077924433,
      1.1004733588026838,
      1.0998196315461874,
      1.0998060291229268,
      1.1002093825916486,
      1.1002278634863445,
      1.1002287921659772,
      1.1002241776818427,
      1.100197409050309
    ],
    "yaw_diff": [
      -0.0012613515623192129,
      -0.0014054382434984802,
      -0.001307454512992745,
      -2.7204846521300396e-05,
      0.0008067069374435576,
      3.69617893918317e-05,
      1.8573592655002358e-06,
      -9.22896826915931e-06,
      -5.353726306722706e-05,
      -5.353726306722706e-05
    ],
    "min_front_frame": [
      4,
      10.006902094312405
    ],
    "v_avg": 0.6246250828973701,
    "v_std": 0.839141335508089,
    "vy_max": 0.01545363211901609,
    "a_max": 1.4911045963816658,
    "ax_avg": -0.5420883060285722,
    "a_std": 0.5763938356604752,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "74a397722f465751",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.171725176565274,
    "right_rear_min": 6.299672576874412,
    "speed_mode": "decelerating",
    "front_frame": [
      12.011032080680975,
      11.121535611433936,
      10.37397735515726,
      10.077395238027812,
      10.006902094312405,
      10.195451620652076,
      10.357365549478464,
      10.54524710039305,
      10.623007768034539,
      10.640830581580754
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "74a397722f465751",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dc26fde28bc65ef6": {
    "vx_ego": [
      3.128336678078824,
      3.1987375770808706,
      3.2866918010449195,
      3.3399733411453196,
      3.3276608207293936,
      3.2288235870581623,
      3.1029756102616837,
      3.041571317861939,
      3.0505185128976247,
      3.0746448226448124
    ],
    "vy_ego": [
      0.012867215782297325,
      -0.0049111070957688074,
      -0.015522044188455375,
      -0.01891690671785584,
      -0.005636744213837641,
      -0.0069823074557213705,
      -0.0021412309164570154,
      -0.01031323222394076,
      -0.01608235721568252,
      0.015532004625946394
    ],
    "v_ego": [
      3.1283631401509706,
      3.198741347155488,
      3.286728453783745,
      3.3400269114067336,
      3.327665594783039,
      3.228831136643808,
      3.1029763490475895,
      3.041588802648924,
      3.050560905758931,
      3.074684053457241
    ],
    "ax_ego": [
      0.0622983212027875,
      0.21503402579463265,
      0.13254686868610988,
      0.07835909932668705,
      -0.12906168634510612,
      -0.26880256600189234,
      -0.23581373216733303,
      -0.012290161779115084,
      0.04832350261517494,
      0.0481733907114925
    ],
    "ay_ego": [
      0.9734561232831839,
      0.9514506131949463,
      0.8085576833926658,
      0.6301981891125077,
      0.4955879443710546,
      0.3688701216671074,
      0.28344656861288164,
      0.08120773502165719,
      0.022510320425856552,
      0.022829803073202648
    ],
    "a_ego": [
      0.9754475407638337,
      0.9754475391319033,
      0.8193498640823754,
      0.6350511050364164,
      0.5121174957840926,
      0.45642084324437715,
      0.3687140810127865,
      0.08213248020061557,
      0.0533092433886803,
      0.05330924386073512
    ],
    "yaw": [
      -0.9692484842835829,
      -0.8108861399881178,
      -0.672585800245967,
      -0.5633354876783354,
      -0.48356033735561954,
      -0.4176014857169488,
      -0.36756470880948156,
      -0.33493793482196993,
      -0.32450558883743996,
      -0.3311271698647251
    ],
    "yaw_diff": [
      0.3167246885909303,
      0.27660067948430145,
      0.21850062513526325,
      0.15955030064543174,
      0.13191770327734154,
      0.10007355381493444,
      0.06525354797502325,
      0.020864691969059934,
      -0.013243162054570323,
      -0.013243162054570323
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.178016669483647,
    "v_std": 0.1082144539658382,
    "vy_max": 0.01891690671785584,
    "a_max": 0.9754475407638337,
    "ax_avg": -0.006123293795656204,
    "a_std": 0.34129347829997914,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "dc26fde28bc65ef6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dc26fde28bc65ef6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d961ad586b625f55": {
    "vx_ego": [
      1.974213300398489,
      2.5992559156492767,
      3.202844349402776,
      3.7730196512772185,
      4.330275270771111,
      4.869610132379671,
      5.330932176646012,
      5.6707976837085425,
      5.874248093138625,
      6.001934916123519
    ],
    "vy_ego": [
      0.0172586209928268,
      0.02856509506266353,
      0.03675123738108381,
      0.02508567793422633,
      -0.022383036608821863,
      -0.03767280284174465,
      -0.0053950539619989635,
      0.0015638846777896453,
      -0.008686965626658216,
      -0.021557658195749313
    ],
    "v_ego": [
      1.9742887366008215,
      2.5994128721104888,
      3.2030551946462507,
      3.773103043936315,
      4.330333118938963,
      4.869755854398526,
      5.330934906618824,
      5.6707978993515065,
      5.874254516371807,
      6.00197363123244
    ],
    "ax_ego": [
      1.2501633048231904,
      1.25014000284702,
      1.1644110025728847,
      1.1165517961039175,
      1.112589848740751,
      1.044135870156871,
      0.8009348421504503,
      0.5585636785768912,
      0.2552306086568127,
      0.2553665608407895
    ],
    "ay_ego": [
      0.015000987077419849,
      0.016831517781800635,
      -0.000577880650532249,
      -0.06922479826297445,
      -0.15904344320083239,
      0.047206309065886784,
      0.02065358241614707,
      -0.03394587498710293,
      -0.0553787652851645,
      -0.054748435705111065
    ],
    "a_ego": [
      1.2502533016712005,
      1.2502533050183016,
      1.1644111459698574,
      1.118695662849121,
      1.1238999013907527,
      1.045202444966462,
      0.8012010932576086,
      0.5595942328634103,
      0.2611694301403524,
      0.2611694308448241
    ],
    "yaw": [
      1.5584183833446732,
      1.5569541367507673,
      1.5555382494109953,
      1.5538824819709212,
      1.5515137741875842,
      1.5487646125646577,
      1.5457800586109267,
      1.5439211344273978,
      1.5418420651780325,
      1.539373066162081
    ],
    "yaw_diff": [
      -0.0029284931878117426,
      -0.002831774679544097,
      -0.003311534880148237,
      -0.004737415566673953,
      -0.005498323245852976,
      -0.005969107907461968,
      -0.0037178483670579077,
      -0.00415813849873059,
      -0.004937998031902868,
      -0.004937998031902868
    ],
    "min_front_frame": [
      0,
      13.520246413966559
    ],
    "v_avg": 4.362790977420594,
    "v_std": 1.3559077298289108,
    "vy_max": 0.03767280284174465,
    "a_max": 1.2502533050183016,
    "ax_avg": 0.8808087515469578,
    "a_std": 0.37060254928418584,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "d961ad586b625f55",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.91798695539323,
    "right_rear_min": 39.764443113522695,
    "speed_mode": "accelerating",
    "front_frame": [
      13.520246413966559,
      14.232012486392978,
      14.970361573619194,
      15.513854378776745,
      15.83867927302494,
      15.984708745053302,
      16.027293688096094,
      15.872433571628699,
      15.801482999048948,
      15.813872411204908
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "d961ad586b625f55",
    "merging_vehicles": "No"
  },
  "a09e4156f577568a": {
    "vx_ego": [
      0.9221381393152766,
      1.4908784122197702,
      2.0500871383945025,
      2.5783847007875256,
      3.057472054507344,
      3.3907638978509844,
      3.470634846319529,
      3.3957768127852295,
      3.3006234643084476,
      3.2043041190844086
    ],
    "vy_ego": [
      0.006666210816553164,
      -0.015521516755204634,
      -0.021781484128548856,
      0.010705448399445094,
      0.031198143956699065,
      0.015685698993432196,
      0.0032983859255846237,
      -0.016951810432096925,
      -0.027705823443820554,
      -0.033624628813675894
    ],
    "v_ego": [
      0.9221622342877045,
      1.4909592071902322,
      2.050202845589041,
      2.578406925192494,
      3.0576312217596984,
      3.3908001787369475,
      3.470636413662067,
      3.3958191244715517,
      3.300739745238361,
      3.2044805356319714
    ],
    "ax_ego": [
      1.1374567427064661,
      1.1374909169164429,
      1.0995178105206307,
      1.0138943788533379,
      0.9021583300452576,
      0.430721050659323,
      -0.11141514683702969,
      -0.1879617996484387,
      -0.19262183448801568,
      -0.1926244243884462
    ],
    "ay_ego": [
      -0.04658293218259324,
      -0.045740827840967,
      0.03159813649155718,
      0.1277427704352473,
      -0.024775479286662017,
      0.013348742872656777,
      -0.015295101844571363,
      -0.028758221532807826,
      -0.010212738937304747,
      -0.010163909103047097
    ],
    "a_ego": [
      1.1384102121375808,
      1.1384102113908618,
      1.0999717532199729,
      1.0219099896120343,
      0.9024984636241392,
      0.4309278505937524,
      0.1124601044155335,
      0.19014908212455264,
      0.19289238232270878,
      0.1928923894798217
    ],
    "yaw": [
      0.8717978561856622,
      0.8710575262561333,
      0.8725921425166298,
      0.8757527807819945,
      0.8776063548387076,
      0.8814612325561197,
      0.8848629271531683,
      0.8875458978707764,
      0.8878478806449064,
      0.8881014236347624
    ],
    "yaw_diff": [
      -0.0014806598590577646,
      0.003069232520992893,
      0.006321276530729447,
      0.0037071481134263173,
      0.007709755434824217,
      0.006803389194097065,
      0.005365941435216293,
      0.0006039655482599215,
      0.0005070859797120519,
      0.0005070859797120519
    ],
    "min_front_frame": [
      0,
      9.495922009515953
    ],
    "v_avg": 2.686183843176007,
    "v_std": 0.8576792921484128,
    "vy_max": 0.033624628813675894,
    "a_max": 1.1384102121375808,
    "ax_avg": 0.5036616024339529,
    "a_std": 0.4298027279155712,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a09e4156f577568a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.025857475014641,
    "right_rear_min": 9.411780887687176,
    "speed_mode": "accelerating",
    "front_frame": [
      9.495922009515953,
      10.034359255029083,
      10.585862634102256,
      11.204424725273794,
      11.49903914860876,
      11.704595851892707,
      11.727160286904104,
      11.842283924531518,
      12.071982297196383,
      12.537671442815544
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a09e4156f577568a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1a66019703c45296": {
    "vx_ego": [
      3.797039185569513,
      3.79590828706263,
      3.836891128527764,
      3.961183972870952,
      4.170330551946187,
      4.406736500119004,
      4.6278151801171425,
      4.8001560109366945,
      4.932899419028426,
      5.07626798083758
    ],
    "vy_ego": [
      -0.006596531839566655,
      -0.012002018189987806,
      0.04481286072346147,
      0.04379560444205288,
      0.0433112309653243,
      0.04570766672170523,
      0.04673351106050261,
      0.026010266471233195,
      0.0036646650642833956,
      0.05224148268256312
    ],
    "v_ego": [
      3.797044915586685,
      3.795927261188152,
      3.8371528148695457,
      3.9614260717446363,
      4.1705554516423256,
      4.406973538867488,
      4.628051140856019,
      4.800226480416688,
      4.932900780273308,
      5.076536790548229
    ],
    "ax_ego": [
      -0.016130014146768956,
      0.013978772459971978,
      0.14781928565338556,
      0.34034588528233745,
      0.4830967772014436,
      0.45389072059376234,
      0.41138025159845204,
      0.26407177059727965,
      0.26433139344800577,
      0.3023138709330824
    ],
    "ay_ego": [
      0.47249011958586407,
      0.47255864516627966,
      0.5189515570216726,
      0.631578072445644,
      0.647826235001318,
      0.7973298428611233,
      0.708180809785984,
      0.6280258459480895,
      0.6748470440200218,
      0.6587077972758844
    ],
    "a_ego": [
      0.4727653651259143,
      0.4727653532153953,
      0.5395936061021253,
      0.7174442021668118,
      0.8081220990038598,
      0.917470252682924,
      0.818995586529218,
      0.6812858160898374,
      0.7247686654269249,
      0.7247686794768328
    ],
    "yaw": [
      -0.5659988626004193,
      -0.5023014123927948,
      -0.45202798075086137,
      -0.37757161678210793,
      -0.2984769313600434,
      -0.2149102243497933,
      -0.13196292708838503,
      -0.057030765974062474,
      0.01446125181540354,
      0.07141010412818569
    ],
    "yaw_diff": [
      0.12739490041524903,
      0.10054686328386686,
      0.14891272793750687,
      0.1581893708441291,
      0.1671334140205002,
      0.16589459452281652,
      0.1498643222286451,
      0.14298403557893202,
      0.1138977046255643,
      0.1138977046255643
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.340679524599308,
    "v_std": 0.46999795999573696,
    "vy_max": 0.05224148268256312,
    "a_max": 0.917470252682924,
    "ax_avg": 0.26650987136209514,
    "a_std": 0.1423157130694364,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "1a66019703c45296",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "1a66019703c45296",
    "with_lead": "No",
    "pedestrians": "Yes",
    "merge_risk": "No"
  },
  "c84475f2d8475f9d": {
    "vx_ego": [
      4.692133307728139,
      4.178681807341391,
      3.647411082634618,
      3.0851239771155816,
      2.527629011948836,
      1.972888343381629,
      1.40841845568537,
      0.9092979314666851,
      0.5268361558347999,
      0.20104005242210227
    ],
    "vy_ego": [
      0.022070833393310174,
      -0.008527484555936216,
      -0.01871426878128246,
      -0.010334087513679258,
      -0.0008771597326215907,
      -0.004158323013146004,
      -0.01871649191124891,
      -0.029331160246460874,
      -0.021241526281703837,
      -0.0067329674678482665
    ],
    "v_ego": [
      4.692185215779369,
      4.17869050840078,
      3.647459092242414,
      3.085141284858475,
      2.527629164148619,
      1.97289272569529,
      1.4085428120524512,
      0.9097708750729472,
      0.5272642008837372,
      0.2011527666446692
    ],
    "ax_ego": [
      -1.0269203700451528,
      -1.0268623967835002,
      -1.0983032013771312,
      -1.150892984319432,
      -1.0791204516250985,
      -1.1398484857805937,
      -1.1179697191887934,
      -0.878374688149673,
      -0.6515881654837886,
      -0.6515793700876018
    ],
    "ay_ego": [
      -0.06825091239814834,
      -0.06911769015260588,
      0.014926338962036656,
      0.0066504192591738676,
      0.01774175766323627,
      -0.007179630886194888,
      -0.0375109644616084,
      0.00045491626050153666,
      0.029138164512164666,
      0.029334347466748623
    ],
    "a_ego": [
      1.029185908112258,
      1.0291859098433023,
      1.0984046238750385,
      1.1509121988370838,
      1.0792662873825614,
      1.1398710969385857,
      1.1185988402809606,
      0.878374805951787,
      0.6522393502615945,
      0.6522393574946669
    ],
    "yaw": [
      -0.6293719593627679,
      -0.6302160386585374,
      -0.6310730175619795,
      -0.6319583211887356,
      -0.6331590341157967,
      -0.6305363202430849,
      -0.628530583510601,
      -0.6273341547404592,
      -0.6283365333165163,
      -0.6280354632490721
    ],
    "yaw_diff": [
      -0.0016881585915389241,
      -0.0017139578068843253,
      -0.0017706072535121908,
      -0.0024014258541220634,
      0.00524542774542347,
      0.004011473464967885,
      0.0023928575402836216,
      -0.0020047571521142338,
      0.0006021401348883515,
      0.0006021401348883515
    ],
    "min_front_frame": [
      9,
      10.203364349037951
    ],
    "v_avg": 2.3150728645778753,
    "v_std": 1.4871398094457444,
    "vy_max": 0.029331160246460874,
    "a_max": 1.1509121988370838,
    "ax_avg": -0.9821459832840767,
    "a_std": 0.18105058398430376,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c84475f2d8475f9d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.2221124110118655,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.508718950252504,
      18.292627795841888,
      16.340685248121336,
      14.664731395102597,
      13.235007125918028,
      12.131654042716866,
      11.27513863543684,
      10.697303030784528,
      10.346821264811075,
      10.203364349037951
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c84475f2d8475f9d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "80752a827b8253fe": {
    "vx_ego": [
      6.469327587590696,
      6.223997966273894,
      5.975908563548785,
      5.524440314116025,
      4.819507525129074,
      4.015569429415614,
      3.1210683814234916,
      2.1434610415129662,
      1.2761789857412085,
      0.5380067726686758
    ],
    "vy_ego": [
      0.026591200639705992,
      0.043506358040079185,
      0.054597893986140233,
      0.06223704051307255,
      0.07124049564404611,
      0.027761528723208084,
      0.00704567758945418,
      0.007547214558375981,
      -0.0053633641702154344,
      -0.05892525534888214
    ],
    "v_ego": [
      6.469382236930627,
      6.2241500212777225,
      5.976157970629911,
      5.524790876896807,
      4.8200340240495585,
      4.015665392551313,
      3.1210763340703713,
      2.143474328498347,
      1.2761902559268667,
      0.5412240507916247
    ],
    "ax_ego": [
      -0.5464946063873858,
      -0.41799906722407293,
      -0.5438820019541446,
      -1.2459763294236856,
      -1.5471373018280157,
      -1.663720868937456,
      -1.925690409559764,
      -1.9915227982846162,
      -1.4781711360007812,
      -1.4762306920142316
    ],
    "ay_ego": [
      -1.2340847324117632,
      -1.2833153383263034,
      -1.4313372403258422,
      -1.2407426022494006,
      -1.1617562847366532,
      -0.8596762947951802,
      -0.45330055256041485,
      -0.16326363131354907,
      -0.12275183869567832,
      -0.14422498022694993
    ],
    "a_ego": [
      1.3496745835875834,
      1.3496745821803675,
      1.5311870975139668,
      1.7583797139755495,
      1.9347639380122796,
      1.8727013807787865,
      1.9783237713837514,
      1.9982037106854433,
      1.4832592225261942,
      1.4832592157024616
    ],
    "yaw": [
      2.0671207240394454,
      1.9651233286670724,
      1.852458188814934,
      1.7368511661199464,
      1.619964704680718,
      1.5158468682832487,
      1.430499434825332,
      1.371950383765697,
      1.3363492158093735,
      1.321813099695111
    ],
    "yaw_diff": [
      -0.2039947907447459,
      -0.22533027970427666,
      -0.23121404538997536,
      -0.23377292287845686,
      -0.2082356727949386,
      -0.17069486691583347,
      -0.11709810211926985,
      -0.07120233591264702,
      -0.029072232228525063,
      -0.029072232228525063
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.011214549162315,
    "v_std": 2.0383274517252987,
    "vy_max": 0.07124049564404611,
    "a_max": 1.9982037106854433,
    "ax_avg": -1.2836825211614156,
    "a_std": 0.2481641685945408,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "80752a827b8253fe",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 48.70905831816164,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "80752a827b8253fe",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "39752b75d70d5458": {
    "vx_ego": [
      0.918735020466674,
      0.5036737066862513,
      0.16020121592979908,
      -0.017855024825451194,
      -0.047456009158481416,
      -0.02702428451898208,
      -0.015239878299780773,
      -0.00992898521537226,
      -0.007335032212126963,
      -0.005084312022861689
    ],
    "vy_ego": [
      0.07238451752058961,
      0.016781468017214,
      -0.005338959735505884,
      -0.0008087874650627364,
      -0.0011697608988923106,
      0.00011722176550970113,
      0.00012128859903882901,
      -2.264121678160081e-05,
      2.142584190380499e-05,
      -5.639160121836563e-05
    ],
    "v_ego": [
      0.9215820941232465,
      0.5039531927430173,
      0.16029015589375245,
      0.01787333345185282,
      0.04747042390594853,
      0.027024538751016708,
      0.015240360937864487,
      0.009929011029895086,
      0.007335063504813128,
      0.005084624741168603
    ],
    "ax_ego": [
      -0.8301001538809246,
      -0.830024278435743,
      -0.5438670950145932,
      -0.168358975711573,
      0.0499585463633022,
      0.03176837732541756,
      0.01536919437928342,
      0.0058743807938897085,
      0.004501431046863027,
      0.004501438088200906
    ],
    "ay_ego": [
      -0.11188740101581321,
      -0.11244879352651062,
      0.023929743267511544,
      -0.005766402312725387,
      0.004228886296911275,
      0.0009160329201871233,
      -0.0009037538104022019,
      0.0003294095669264593,
      -0.00015483296827400057,
      -0.00015448012948025315
    ],
    "a_ego": [
      0.8376067430359,
      0.8376067298907905,
      0.54439328582603,
      0.16845769824582738,
      0.05013721007441897,
      0.031781581367216,
      0.015395743139517935,
      0.005883609468209371,
      0.004504093107133433,
      0.004504088028925508
    ],
    "yaw": [
      -1.5419625341356193,
      -1.5426388579716244,
      -1.542670373491723,
      -1.542230345860021,
      -1.5418399132856202,
      -1.5418184119347922,
      -1.5417662048146694,
      -1.5417964356372043,
      -1.5417465404499415,
      -1.541825167747562
    ],
    "yaw_diff": [
      -0.0013526476720100433,
      -6.303104019744765e-05,
      0.000880055263404067,
      0.0007808651488017126,
      4.3002701656025266e-05,
      0.0001044142402455428,
      -6.0461645069675996e-05,
      9.97903745254547e-05,
      -0.0001572545952410742,
      -0.0001572545952410742
    ],
    "min_front_frame": [
      9,
      9.780060438057697
    ],
    "v_avg": 0.17157827990825755,
    "v_std": 0.28953376015834004,
    "vy_max": 0.07238451752058961,
    "a_max": 0.8376067430359,
    "ax_avg": -0.22603771350458773,
    "a_std": 0.33265789716210586,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "39752b75d70d5458",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.525672738189722,
    "right_rear_min": 3.42872413920678,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.358465937187407,
      10.009551229663199,
      9.853377261800256,
      9.837816146882371,
      9.854315903545737,
      9.838852374398858,
      9.828576178344083,
      9.802271174078017,
      9.785891651925143,
      9.780060438057697
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "39752b75d70d5458",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1a3569d56fbf5521": {
    "vx_ego": [
      3.7225242383097314,
      3.254401417939543,
      2.890909673816798,
      2.691173987498591,
      2.552420515435066,
      2.3195194893598132,
      1.8787987317530914,
      1.3246142849301434,
      0.8039185938918489,
      0.31847832478169624
    ],
    "vy_ego": [
      -0.05094072727205512,
      -0.012407316735361773,
      0.0057013972900873955,
      0.0007309561943951576,
      0.0065209274156686065,
      0.008415560800556263,
      -0.013068097134608748,
      -0.0325230139125962,
      -0.02295192150742097,
      0.021020543906158082
    ],
    "v_ego": [
      3.722872770119663,
      3.254425069132101,
      2.8909152959051925,
      2.691174086766968,
      2.5524288452586035,
      2.3195347557610764,
      1.8788441791696682,
      1.3250134906011162,
      0.8042461664850696,
      0.319171281010473
    ],
    "ax_ego": [
      -0.9362826575473476,
      -0.9363697363191015,
      -0.5176091264050666,
      -0.2813510214115217,
      -0.2736248924468967,
      -0.658036350625223,
      -1.1048290455348915,
      -1.1118870674893817,
      -0.9708838602551795,
      -0.9708769240764169
    ],
    "ay_ego": [
      0.06874961573073601,
      0.06755313613870947,
      0.01699749397341631,
      -0.03171093841427357,
      0.06639061484657201,
      -0.0524523411380458,
      -0.026643967449148133,
      -0.049435256827751226,
      0.08799511714955259,
      0.08807161304748898
    ],
    "a_ego": [
      0.9388033470791675,
      0.9388033389887781,
      0.5178881370906198,
      0.283132444033566,
      0.2815640167107325,
      0.6601235390705466,
      1.1051502707138838,
      1.1129854875369054,
      0.9748633805545074,
      0.9748633805456389
    ],
    "yaw": [
      -1.5466530688155222,
      -1.5479309116271711,
      -1.5469280531297875,
      -1.5464601638074917,
      -1.5453612955246756,
      -1.544721230236676,
      -1.5439279239772494,
      -1.5436564184483572,
      -1.5435906138359616,
      -1.5435118239257843
    ],
    "yaw_diff": [
      -0.0025556856232977765,
      0.0020057169947671483,
      0.0009357786445916005,
      0.002197736565632269,
      0.0012801305759992943,
      0.0015866125188530589,
      0.000543011057784426,
      0.00013160922479116266,
      0.00015757982035458085,
      0.00015757982035458085
    ],
    "min_front_frame": [
      9,
      12.565804515270289
    ],
    "v_avg": 2.175862594020993,
    "v_std": 1.031340197120968,
    "vy_max": 0.05094072727205512,
    "a_max": 1.1129854875369054,
    "ax_avg": -0.7761750682111027,
    "a_std": 0.30353868382477717,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1a3569d56fbf5521",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5499534327907383,
    "right_rear_min": 4.06056568693898,
    "speed_mode": "decelerating",
    "front_frame": [
      20.42551667320401,
      19.471086955133675,
      18.61109723113102,
      17.64822701956655,
      16.459829532374588,
      15.182267541428413,
      14.123726613395778,
      13.330087200650883,
      12.865601765769837,
      12.565804515270289
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1a3569d56fbf5521",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c04b59204ebe55f9": {
    "vx_ego": [
      4.6129282853073565,
      3.949725280803411,
      3.2855053450668104,
      2.6878355976604102,
      2.1613303968125916,
      1.620332381018978,
      1.1137893169952506,
      0.7364788491793,
      0.5034015420818586,
      0.33779403930402085
    ],
    "vy_ego": [
      -0.028599955455548276,
      -0.029522044007282533,
      -0.03544198346898941,
      -0.038397126862206754,
      -0.028484128980240664,
      -0.022784618925770217,
      -0.028058962702849577,
      -0.025457826500356107,
      -0.001297328509349105,
      0.03435348520399578
    ],
    "v_ego": [
      4.613016943697555,
      3.9498356098577005,
      3.2856965025173577,
      2.6881098451145493,
      2.1615180845391597,
      1.620492568276147,
      1.1141426964445384,
      0.7369187175113605,
      0.5034032137677058,
      0.3395364117955356
    ],
    "ax_ego": [
      -1.3265979141033715,
      -1.3265282973528276,
      -1.3306740840478992,
      -1.060366847190157,
      -1.0459213516837615,
      -1.1181154066268855,
      -0.9081228764642655,
      -0.6011722514310702,
      -0.3311607505156475,
      -0.3312167442965965
    ],
    "ay_ego": [
      -0.02353405337116754,
      -0.027176499070899307,
      -0.033308518284657807,
      -0.004921344393129579,
      0.027283137018544845,
      -0.008496270916820148,
      -0.016220334004129033,
      0.025146139444569865,
      0.07076590745472403,
      0.07050329956170068
    ],
    "a_ego": [
      1.3268066465659165,
      1.326806649734445,
      1.3310908967260782,
      1.0603782675303326,
      1.0462771351193523,
      1.1181476866478317,
      0.9082677237428054,
      0.6016979343654651,
      0.3386373522516048,
      0.3386373383894987
    ],
    "yaw": [
      1.2696978076646357,
      1.2669520312618507,
      1.264408921762132,
      1.2621730318771789,
      1.2603889026557673,
      1.2598610767210576,
      1.259186256055502,
      1.2587693645342841,
      1.2584580549140947,
      1.2576651224690352
    ],
    "yaw_diff": [
      -0.005491552805569899,
      -0.0050862189994376195,
      -0.004471779769906092,
      -0.003568258442823158,
      -0.0010556518694193606,
      -0.001349641331111151,
      -0.000833783042435865,
      -0.0006226192403788744,
      -0.0015858648901190264,
      -0.0015858648901190264
    ],
    "min_front_frame": [
      9,
      12.24100940891534
    ],
    "v_avg": 2.101267059352161,
    "v_std": 1.4212969315053932,
    "vy_max": 0.038397126862206754,
    "a_max": 1.3310908967260782,
    "ax_avg": -0.9379876523712483,
    "a_std": 0.36721131010278507,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c04b59204ebe55f9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.238374511938849,
    "right_rear_min": 38.539760840280934,
    "speed_mode": "decelerating",
    "front_frame": [
      18.44249160459269,
      18.912958813891727,
      17.115355051984025,
      15.6528978886532,
      14.4285881591401,
      13.540689281466063,
      12.915302292310866,
      12.584893936022652,
      12.38284170884183,
      12.24100940891534
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c04b59204ebe55f9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bf204ae0ffed51d2": {
    "vx_ego": [
      1.6022099122205287,
      1.0825134649615595,
      0.6138106463791353,
      0.23442467574471293,
      0.0002064348529473652,
      -0.04878442702897812,
      -0.025252474095656702,
      -0.012835155775707326,
      -0.008063229412002304,
      -0.005822465792685995
    ],
    "vy_ego": [
      -0.004109935658328512,
      -0.014065408119989131,
      -0.011840632283767666,
      -0.006709727041549318,
      -0.006931448040013762,
      -0.0014110987910434976,
      0.0012594622884505406,
      0.001035509038394224,
      0.0006327621756320946,
      0.0004528795685493415
    ],
    "v_ego": [
      1.6022151835470884,
      1.0826048390473153,
      0.6139248408243889,
      0.23452067933337115,
      0.006934521416790205,
      0.048804830911947386,
      0.02528386230795924,
      0.012876859196064436,
      0.008088019320049234,
      0.005840052038347602
    ],
    "ax_ego": [
      -1.0395336458133522,
      -1.0393986535967528,
      -0.8357100866842532,
      -0.6818556571636284,
      -0.25502861353930883,
      0.059064605747600446,
      0.035063123300382804,
      0.014606325505141675,
      0.00448147503607786,
      0.00448145523310849
    ],
    "ay_ego": [
      -0.02920704253409384,
      -0.03367039843497538,
      0.03093173605084032,
      -0.012726098518840684,
      0.01176606202777511,
      0.01032423797344685,
      0.000355657713661979,
      -0.001249273339587552,
      -0.0003604330032598031,
      -0.00036070023142988246
    ],
    "a_ego": [
      1.0399438696927774,
      1.0399438719611325,
      0.8362823215164367,
      0.6819744062569759,
      0.2552998902064464,
      0.05996013293724287,
      0.03506492703524613,
      0.01465965308727176,
      0.004495946001547165,
      0.00449594769356907
    ],
    "yaw": [
      2.765901985761764,
      2.761608092831881,
      2.7580716405802415,
      2.7566403739100593,
      2.7563543998821656,
      2.756319423958332,
      2.7563367737600073,
      2.7563036908760568,
      2.7562693362639625,
      2.7563270412806373
    ],
    "yaw_diff": [
      -0.00858778585976605,
      -0.007072904503279354,
      -0.0028625333403642372,
      -0.00057194805578753,
      -6.995184766722673e-05,
      3.4699603350674124e-05,
      -6.616576790108297e-05,
      -6.870922418844572e-05,
      0.00011541003334958333,
      0.00011541003334958333
    ],
    "min_front_frame": [
      8,
      9.066641639520006
    ],
    "v_avg": 0.36410936879433226,
    "v_std": 0.5337235871931818,
    "vy_max": 0.014065408119989131,
    "a_max": 1.0399438719611325,
    "ax_avg": -0.37338296719749836,
    "a_std": 0.4266037220821172,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bf204ae0ffed51d2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 48.764652858765665,
    "speed_mode": "decelerating",
    "front_frame": [
      10.43243159430778,
      9.767836149591988,
      9.33088954790438,
      9.123511800140298,
      9.082026165261649,
      9.091573327956695,
      9.077218620608324,
      9.078645573912429,
      9.066641639520006,
      9.071078589525957
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bf204ae0ffed51d2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "de16c26b38425a6b": {
    "vx_ego": [
      5.698347938199222,
      5.720131676989307,
      5.787786546357333,
      5.878479017214007,
      5.88611988049718,
      5.889111969822265,
      5.926460556020955,
      5.8868876901670015,
      5.820115635301757,
      5.797792061280584
    ],
    "vy_ego": [
      0.012443986712982191,
      -0.02099274043153576,
      -0.03240752575367489,
      -0.0207768516414939,
      -0.021625472623575615,
      0.008398702270691505,
      0.01583357308195721,
      -0.01009002304566664,
      -0.01944486612048424,
      0.011646063015626318
    ],
    "v_ego": [
      5.69836152570058,
      5.720170198276213,
      5.787877275298814,
      5.878515733872751,
      5.886159606114188,
      5.88911795868479,
      5.926481707059319,
      5.8868963372225975,
      5.820148117625738,
      5.797803758030444
    ],
    "ax_ego": [
      0.0002981453718183813,
      0.08820699147209993,
      0.19998942268408576,
      0.17171978735999754,
      -0.13274417792226478,
      0.1459407591712315,
      -0.0019119471459851933,
      -0.16344974171699983,
      -0.0917993092031647,
      0.00405299218949845
    ],
    "ay_ego": [
      0.9700571115389712,
      0.9660385135222722,
      1.1294066860871048,
      1.1072537134171707,
      1.1165355096377216,
      1.0911755934877898,
      1.068683686743554,
      0.9323834561579933,
      1.0837978014464031,
      1.0876710762988802
    ],
    "a_ego": [
      0.9700571573562018,
      0.9700571544774464,
      1.1469765611222271,
      1.1204902816388354,
      1.124398755359603,
      1.1008918570917425,
      1.0686853970433412,
      0.946601673030678,
      1.087678623302966,
      1.0876786276115076
    ],
    "yaw": [
      -1.3126259332010421,
      -1.2218778332073124,
      -1.12869142925216,
      -1.0349506914495068,
      -0.940972232417232,
      -0.8518593397722688,
      -0.7620604875053789,
      -0.6733381941141362,
      -0.5855519965916679,
      -0.49732589298024976
    ],
    "yaw_diff": [
      0.18149619998745958,
      0.18637280791030486,
      0.18748147560530626,
      0.1879569180645495,
      0.1782257852899265,
      0.17959770453377977,
      0.17744458678248543,
      0.1755723950449366,
      0.17645220722283628,
      0.17645220722283628
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.829153221788543,
    "v_std": 0.07337615979751097,
    "vy_max": 0.03240752575367489,
    "a_max": 1.1469765611222271,
    "ax_avg": 0.022030292226031707,
    "a_std": 0.06901760578664945,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "de16c26b38425a6b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "de16c26b38425a6b",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "1b736bfe747b5987": {
    "vx_ego": [
      0.7194397566879338,
      0.24687179479081414,
      -0.035085148893178,
      -0.06151673291631445,
      -0.03196717028862578,
      -0.017244824438830582,
      -0.010797946882228916,
      -0.007397464182114563,
      -0.005430394572343059,
      -0.0041257652192552285
    ],
    "vy_ego": [
      0.01233160580792634,
      -0.012031110989692543,
      -0.020746063976128673,
      -0.014587599947683407,
      -0.005959991222708258,
      -0.00306606784565212,
      -0.0020046721786686136,
      -0.0014118246366734387,
      -0.001038031118527096,
      -0.000573511826256659
    ],
    "v_ego": [
      0.7195454342882007,
      0.24716478449585844,
      0.04075986804883074,
      0.06322267394638428,
      0.03251801764617207,
      0.017515271678173603,
      0.010982457257616127,
      0.007530984340070424,
      0.005528715385545143,
      0.004165435686608592
    ],
    "ax_ego": [
      -0.944917914040045,
      -0.9453117215590562,
      -0.1825000463966799,
      0.0767469608533566,
      0.04144842645718113,
      0.017442021031808766,
      0.008344394156489928,
      0.0052584602759846244,
      0.0026092968116882115,
      0.0026093252258314924
    ],
    "ay_ego": [
      -0.043733083859846894,
      -0.034178934459904595,
      -0.0006726880109158527,
      0.02540966757666556,
      0.009115436421140044,
      0.0024539704413422273,
      0.0017973313097013233,
      0.0005688470967731794,
      0.0009287844029685199,
      0.0009287021979273642
    ],
    "a_ego": [
      0.9459294090457714,
      0.9459294109381319,
      0.18250128614327724,
      0.08084396827582933,
      0.0424389353886758,
      0.017613803354217417,
      0.008535766730393699,
      0.005289139012506248,
      0.0027696697129231595,
      0.002769668916422265
    ],
    "yaw": [
      0.08406217069248625,
      0.09417107458772853,
      0.09436560472177254,
      0.09404611348782371,
      0.09395936558622417,
      0.09403193355276843,
      0.09392073830620226,
      0.09406991107196966,
      0.09396828800663157,
      0.09399952692805871
    ],
    "yaw_diff": [
      0.020217807790484543,
      0.00038906026808802063,
      -0.0006389824678976475,
      -0.0001734958031990863,
      0.0001451359330885138,
      -0.0002223904931323295,
      0.0002983455315347938,
      -0.00020324613067618236,
      6.247784285429159e-05,
      6.247784285429159e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.11489336427734602,
    "v_std": 0.21309132745114606,
    "vy_max": 0.020746063976128673,
    "a_max": 0.9459294109381319,
    "ax_avg": -0.19182707971834403,
    "a_std": 0.36500434554982275,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "1b736bfe747b5987",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "1b736bfe747b5987",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "83873a51bef051ac": {
    "vx_ego": [
      9.068729471962133,
      8.525026861099679,
      7.953381153881513,
      7.298244288755449,
      6.604577249235937,
      5.969043713493806,
      5.398707188433539,
      4.8598022429019325,
      4.330199497275284,
      3.802311931562221
    ],
    "vy_ego": [
      0.014857466269777131,
      0.012354887567116002,
      0.011137993211100206,
      0.008418133178787368,
      -0.0064329120162591735,
      -0.0015683955908478708,
      -0.024364854730316354,
      -0.03614886363325054,
      -0.02077145991157714,
      0.022537572840680253
    ],
    "v_ego": [
      9.068741642584076,
      8.525035813749867,
      7.953388952755322,
      7.298249143686296,
      6.604580382089535,
      5.969043919545631,
      5.398762168552158,
      4.8599366848197345,
      4.330249316119106,
      3.802378724836596
    ],
    "ax_ego": [
      -1.0874249539897174,
      -1.0874207385609012,
      -1.199204104706574,
      -1.4213075494943264,
      -1.3533260239452025,
      -1.1886227562937601,
      -1.0929826722527467,
      -1.063288484400117,
      -1.0556763741701978,
      -1.0558592018329764
    ],
    "ay_ego": [
      0.0061102949761759895,
      0.0068192108258205986,
      0.024838620153393165,
      -0.0500375213441972,
      0.02105172860731036,
      -0.10278241755579876,
      -0.08623610515958796,
      -0.060722015020053366,
      0.06455874660727423,
      0.06149622491246698
    ],
    "a_ego": [
      1.0874421208801115,
      1.0874421199717357,
      1.1994613131719674,
      1.4221880690653534,
      1.3534897496341398,
      1.1930583733154008,
      1.0963793995136222,
      1.065020921938153,
      1.0576485421654198,
      1.0576485426519788
    ],
    "yaw": [
      -0.3255239368191976,
      -0.3248720055414809,
      -0.32376560062079,
      -0.32423333776916363,
      -0.32313803387040096,
      -0.3271750992844258,
      -0.3314872418859842,
      -0.33635608567744857,
      -0.33949453802874296,
      -0.34239529410891517
    ],
    "yaw_diff": [
      0.001303862555433466,
      0.0022128098413817243,
      -0.0009354742967472296,
      0.0021906077975253346,
      -0.008074130828049642,
      -0.008624285203116866,
      -0.0097376875829287,
      -0.0062769047025887925,
      -0.005801512160344413,
      -0.005801512160344413
    ],
    "min_front_frame": [
      9,
      18.430235676886976
    ],
    "v_avg": 6.381036674873832,
    "v_std": 1.717194937063606,
    "vy_max": 0.03614886363325054,
    "a_max": 1.4221880690653534,
    "ax_avg": -1.160511285964652,
    "a_std": 0.12383106886603258,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "83873a51bef051ac",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.108739682392523,
    "right_rear_min": 41.72606206141978,
    "speed_mode": "decelerating",
    "front_frame": [
      46.90223992355457,
      42.58930243010997,
      38.44208684208234,
      34.66901063604034,
      31.165725791514024,
      28.08159897207179,
      25.265727688367047,
      22.717185323237427,
      20.443770555000135,
      18.430235676886976
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "83873a51bef051ac",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d07fa319e6045a3d": {
    "vx_ego": [
      5.406990470387424,
      5.810857178942883,
      6.274250651700868,
      6.722804647687435,
      7.04000125097317,
      7.2730727262263555,
      7.496685600760703,
      7.668039482354571,
      7.6995704560674465,
      7.63998651331901
    ],
    "vy_ego": [
      0.018042584397662598,
      0.0701575787606088,
      0.06518884851602014,
      0.008434749237464345,
      0.015460894820797932,
      0.015569655641774371,
      0.03186268928831959,
      0.03942866991301397,
      0.002513848020955667,
      -0.031579032264528184
    ],
    "v_ego": [
      5.407020573450055,
      5.81128068844808,
      6.274589295431185,
      6.722809939003369,
      7.040018228170468,
      7.273089391390324,
      7.496753312442763,
      7.668140851794499,
      7.699570866443048,
      7.640051777244388
    ],
    "ax_ego": [
      0.7727032613916983,
      0.8554175757022602,
      1.0032789865195462,
      0.7897113665481723,
      0.4790039085120358,
      0.45438259880153153,
      0.44085181862796496,
      0.24512309918936226,
      -0.11917322874645843,
      -0.11916741526916788
    ],
    "ay_ego": [
      -0.9485994344874262,
      -0.8747411026225187,
      -0.5137390004250995,
      0.02927261254326935,
      0.05621995673049898,
      -0.21517048781588966,
      -0.13644373651440603,
      -0.02700647983208615,
      -0.0694641300583641,
      -0.06947409935039602
    ],
    "a_ego": [
      1.2234832313012027,
      1.2234832346369082,
      1.1271630251873364,
      0.7902537113487605,
      0.48229184930349583,
      0.5027542987589082,
      0.46148371501234664,
      0.246606333473248,
      0.13794029075879544,
      0.13794028904740993
    ],
    "yaw": [
      -1.9740428715978635,
      -2.0647090245944826,
      -2.121491115674125,
      -2.131354682217685,
      -2.1292814899764965,
      -2.1348469139681026,
      -2.14895290027151,
      -2.1553193342332566,
      -2.153663673839039,
      -2.153747336737906
    ],
    "yaw_diff": [
      -0.18133230599323813,
      -0.11356418215928521,
      -0.019727133087119597,
      0.00414638448237703,
      -0.011130847983212178,
      -0.028211972606815294,
      -0.012732867923492819,
      0.0033113207884349904,
      -0.00016732579773393041,
      -0.00016732579773393041
    ],
    "min_front_frame": [
      0,
      51.3287555486912
    ],
    "v_avg": 6.903332492381819,
    "v_std": 0.7828580334428488,
    "vy_max": 0.0701575787606088,
    "a_max": 1.2234832346369082,
    "ax_avg": 0.4802131971276946,
    "a_std": 0.4092466970047989,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "d07fa319e6045a3d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 41.644621194801104,
    "speed_mode": "accelerating",
    "front_frame": [
      51.3287555486912,
      53.594668886371664,
      55.393973626157205,
      56.88821774163859,
      58.07263372736875,
      59.05579884386858,
      59.94760520572023,
      60.462183405247686,
      60.85090785212772,
      61.348401628987574
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d07fa319e6045a3d",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "9d9aced6d8da5f28": {
    "vx_ego": [
      7.813777835428794,
      7.3648621897731115,
      6.897768243950515,
      6.349180876115666,
      5.742211576241462,
      5.185461438889766,
      4.733957500854336,
      4.381829285468406,
      4.134011109066731,
      3.9888854465923576
    ],
    "vy_ego": [
      0.039884077774867736,
      -0.0007502181224632726,
      -0.0074799851940657025,
      -0.024777364197611833,
      -0.09114401478046488,
      -0.040204470032941225,
      0.03813677714456187,
      0.0521338341047235,
      0.03948483491592314,
      0.07404768990952615
    ],
    "v_ego": [
      7.813879625454838,
      7.364862227983415,
      6.897772299621862,
      6.349229222150472,
      5.742934878418155,
      5.185617295329782,
      4.734111113362888,
      4.382139411708283,
      4.13419966886887,
      3.9895726796760136
    ],
    "ax_ego": [
      -0.8980091350859462,
      -0.8980347957399459,
      -0.9700760236895233,
      -1.2242090508224446,
      -1.205202764090651,
      -1.0280282726492431,
      -0.7552374108534212,
      -0.6228168734164283,
      -0.35064770145628543,
      -0.1945132187106799
    ],
    "ay_ego": [
      -0.007369364018812878,
      -0.00286394844917387,
      0.09324223541247678,
      -0.18535095631772908,
      -0.28257800465889155,
      -0.5449697646104893,
      -1.028384477935307,
      -1.1602863546197972,
      -1.0698992069727318,
      -1.108964709274951
    ],
    "a_ego": [
      0.8980393723127349,
      0.8980393624782858,
      0.9745468722447331,
      1.2381610465216097,
      1.237886921850597,
      1.1635437996507905,
      1.2759146449550822,
      1.3168770946937733,
      1.1258943661007708,
      1.1258943639038546
    ],
    "yaw": [
      -1.5657790742903055,
      -1.5607620408455252,
      -1.5566551805186402,
      -1.5575161260105235,
      -1.5658915370850814,
      -1.6132625349258265,
      -1.7089501345475777,
      -1.832361342494774,
      -1.9611862953077939,
      -2.104259070327254
    ],
    "yaw_diff": [
      0.010034066889560656,
      0.008213720653770018,
      -0.0017218909837666274,
      -0.01675082214911594,
      -0.09474199568149011,
      -0.19137519924350244,
      -0.24682241589439258,
      -0.25764990562603973,
      -0.2861455500389205,
      -0.2861455500389205
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.659431842257459,
    "v_std": 1.3188394806313484,
    "vy_max": 0.09114401478046488,
    "a_max": 1.3168770946937733,
    "ax_avg": -0.8146775246514568,
    "a_std": 0.1456997778303935,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "9d9aced6d8da5f28",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.311652772930112,
    "right_rear_min": 41.156698580692854,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9d9aced6d8da5f28",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c3976331b5e456d4": {
    "vx_ego": [
      3.884918164543218,
      4.157991064826021,
      4.43428708172725,
      4.659293700094564,
      4.8470083279193465,
      5.019934017067566,
      5.167875331175162,
      5.319606562959672,
      5.523030750838125,
      5.754663672040285
    ],
    "vy_ego": [
      -0.039658645807986836,
      -0.00537315855141296,
      -0.016316827662851363,
      -0.03239468983119642,
      -0.042220992344286,
      -0.025262424744582068,
      -0.04833548217761874,
      -0.05367630677786761,
      -0.03606283373163355,
      0.06744212059029575
    ],
    "v_ego": [
      3.885120584149888,
      4.15799453655315,
      4.434317102106947,
      4.659406314078023,
      4.847192212313644,
      5.019997582252016,
      5.168101368723928,
      5.319877360484256,
      5.523148486387117,
      5.75505885442798
    ],
    "ax_ego": [
      0.5023048064825189,
      0.5963865760820932,
      0.5183970541665401,
      0.3959859554025975,
      0.35428491645123744,
      0.3338363092282239,
      0.25822748061847367,
      0.34986637262918585,
      0.4635734593042131,
      0.4641674295262087
    ],
    "ay_ego": [
      0.9321685696443043,
      0.8749693781413697,
      0.9638583488423623,
      1.024298400720701,
      0.7132461710948614,
      0.2925260794573833,
      0.0276814794924142,
      0.061650699279710126,
      -0.03329131958560544,
      -0.02360637863835474
    ],
    "a_ego": [
      1.0588901552324248,
      1.0588901552172527,
      1.0944215012515388,
      1.0981767119162078,
      0.7963905465325041,
      0.4438673095890591,
      0.2597069426362205,
      0.3552566500691881,
      0.4647673225723016,
      0.4647673221574267
    ],
    "yaw": [
      -2.3610715601235093,
      -2.2570430783939877,
      -2.147847744254399,
      -2.035492015780387,
      -1.942205690575161,
      -1.8947099208455485,
      -1.8745033267768794,
      -1.8692142801539684,
      -1.8711605386421577,
      -1.892038325919001
    ],
    "yaw_diff": [
      0.20805696345904323,
      0.2183906682791772,
      0.2247114569480244,
      0.18657265041045168,
      0.09499153945922512,
      0.040413188137338185,
      0.010578093245821929,
      -0.0038925169763786016,
      -0.041755574553686614,
      -0.041755574553686614
    ],
    "min_front_frame": [
      2,
      77.75922101058897
    ],
    "v_avg": 4.877021440147694,
    "v_std": 0.5687548841140394,
    "vy_max": 0.06744212059029575,
    "a_max": 1.0981767119162078,
    "ax_avg": 0.4237030359891293,
    "a_std": 0.3269682115367008,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "c3976331b5e456d4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.624122388495778,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      77.75922101058897,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c3976331b5e456d4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9587d6ea0a8e518f": {
    "vx_ego": [
      6.486580500971295,
      6.676176838011736,
      6.853843973563468,
      6.976207221781615,
      6.974933518044757,
      6.921123061972045,
      6.928095523326163,
      7.011161316585079,
      7.126028778673581,
      7.22892034881469
    ],
    "vy_ego": [
      -0.0685614635553149,
      -0.07018141176940196,
      -0.026754512666943953,
      0.016745114233298164,
      -0.027492978521153955,
      -0.015530506264479271,
      0.018368485857785277,
      0.013462392245157329,
      0.027423644347515985,
      0.04502196797049152
    ],
    "v_ego": [
      6.486942829242898,
      6.676545708894857,
      6.853896192524389,
      6.976227318550381,
      6.974987702140569,
      6.921140486624017,
      6.928119873501377,
      7.011174241393803,
      7.126081546737547,
      7.2290605466483004
    ],
    "ax_ego": [
      0.3797263727333573,
      0.38306091885164845,
      0.32995017986994085,
      0.15925235485216832,
      -0.16443273695703595,
      -0.05029262631505005,
      0.07815083490259216,
      0.25365054801074205,
      0.20585660718154453,
      0.2058367706326931
    ],
    "ay_ego": [
      0.21094256509180165,
      0.20482482578768046,
      0.25721311957448206,
      0.16003980692374642,
      0.10621066013982222,
      0.10717512802948351,
      0.09022205426878471,
      0.020254671162285222,
      0.02250569917935604,
      0.022686388587782054
    ],
    "a_ego": [
      0.43438333752198827,
      0.43438332934220997,
      0.41836074155857783,
      0.22577433938813987,
      0.19575195863775818,
      0.11838858192326424,
      0.1193631939604992,
      0.25445795764731366,
      0.20708319394834626,
      0.20708319191004312
    ],
    "yaw": [
      -1.956086231627626,
      -1.9400460942565392,
      -1.9294014338833736,
      -1.9206341279427814,
      -1.9048419505577718,
      -1.8988734938242469,
      -1.8966370928772807,
      -1.8919556505018233,
      -1.8924180334862755,
      -1.8932958211871014
    ],
    "yaw_diff": [
      0.032080274742173565,
      0.021289320746331164,
      0.017534611881184325,
      0.031584354770019196,
      0.011936913467049948,
      0.004472801893932399,
      0.009362884750914624,
      -0.0009247659689042287,
      -0.0017555754016518321,
      -0.0017555754016518321
    ],
    "min_front_frame": [
      9,
      18.077475890747756
    ],
    "v_avg": 6.918417644625814,
    "v_std": 0.20092444832987075,
    "vy_max": 0.07018141176940196,
    "a_max": 0.43438333752198827,
    "ax_avg": 0.17807592237626008,
    "a_std": 0.11689201497055601,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9587d6ea0a8e518f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      46.466003430687415,
      43.24969013235955,
      42.431289039350354,
      38.915224895564265,
      35.44510764842138,
      31.912613794307678,
      28.500892188923526,
      25.085084247482126,
      21.615229996117986,
      18.077475890747756
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9587d6ea0a8e518f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "abda798b87535e07": {
    "vx_ego": [
      1.4586523006075787,
      1.5654106062440767,
      1.6460341979899902,
      1.69863923810983,
      1.755988580979981,
      1.852212851732797,
      2.138088926204311,
      2.7452723326183097,
      3.5151963940111237,
      4.283948801284608
    ],
    "vy_ego": [
      0.009388740090535808,
      -0.0011098169420126203,
      -0.001149396142738679,
      -0.0010162102514446048,
      -0.013873833075290776,
      -0.01682032264064104,
      -0.006013867793057792,
      0.002634553092619285,
      0.0024862638657499048,
      -0.007497479433124621
    ],
    "v_ego": [
      1.4586825160082881,
      1.5654109996531558,
      1.6460345992912917,
      1.6986395420834932,
      1.7560433877829693,
      1.8522892245483358,
      2.138097383882066,
      2.745273596767647,
      3.5151972732660135,
      4.283955362072028
    ],
    "ax_ego": [
      0.21351714725435178,
      0.21351088628292497,
      0.1089865557100761,
      0.10143775365751909,
      0.12795485755650882,
      0.2569045319701791,
      0.8865423610069353,
      1.5421893705815695,
      1.5374930868945975,
      1.5375449343705498
    ],
    "ay_ego": [
      -0.020018754730308133,
      -0.020085473098299764,
      0.020729982761273837,
      -0.021842496165007545,
      -0.030883287158236856,
      0.015919235658314518,
      0.01787561772362456,
      0.008895355790201953,
      0.01566449011485449,
      0.00927028462907531
    ],
    "a_ego": [
      0.21445354441600814,
      0.214453549261612,
      0.11094053141583661,
      0.10376277032636463,
      0.13162911151415016,
      0.25739728166933257,
      0.8867225583962283,
      1.5422150245959256,
      1.5375728823373664,
      1.5375728806744877
    ],
    "yaw": [
      1.1327719015421307,
      1.1330843945757043,
      1.133208380882036,
      1.1329625685581624,
      1.1327747365827778,
      1.1323303683089883,
      1.1311001015118385,
      1.1302713282554784,
      1.1322798265413212,
      1.13643860009517
    ],
    "yaw_diff": [
      0.0006249860671472263,
      0.00024797261266318316,
      -0.000491624647747102,
      -0.00037566395076904513,
      -0.0008887365475791498,
      -0.002460533594299541,
      -0.0016575465127202094,
      0.004016996571685638,
      0.00831754710769772,
      0.00831754710769772
    ],
    "min_front_frame": [
      0,
      16.149342265017818
    ],
    "v_avg": 2.265962388535529,
    "v_std": 0.9032581980358775,
    "vy_max": 0.01682032264064104,
    "a_max": 1.5422150245959256,
    "ax_avg": 0.6526081485285212,
    "a_std": 0.6179586185865416,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "abda798b87535e07",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.002033275159186,
    "right_rear_min": 17.80822955906959,
    "speed_mode": "accelerating",
    "front_frame": [
      16.149342265017818,
      17.115565412518077,
      18.34783845669869,
      19.87386467490647,
      21.714824749468693,
      23.904009328810073,
      23.143168581386913,
      18.93417579515613,
      20.446467127821478,
      18.48327016444027
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "abda798b87535e07",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0d857e82084e56be": {
    "vx_ego": [
      4.200494938200449,
      4.123755480210991,
      4.110049344909606,
      4.1088562985559145,
      4.327727593327418,
      4.828939674457011,
      5.412280294863344,
      5.943709813289624,
      6.386347159719204,
      6.806051170450626
    ],
    "vy_ego": [
      0.06003091040112962,
      0.026769223035624234,
      0.03326634076171442,
      0.06227517035524349,
      0.08818649592681888,
      0.02694506408138242,
      0.01966557737113983,
      0.02688275599350698,
      0.018992280066203016,
      -0.01840976042849385
    ],
    "v_ego": [
      4.20092387886893,
      4.123842365061026,
      4.11018396997258,
      4.109328202884917,
      4.328625992172501,
      4.829014849430817,
      5.412316022286522,
      5.943770606876176,
      6.386375400111995,
      6.806076068783788
    ],
    "ax_ego": [
      -0.26724956047740756,
      -0.007552147343770965,
      -0.030175088996252764,
      0.04074914591086125,
      0.8632142744999989,
      1.1430077053184509,
      1.1909437465876513,
      0.9381468224868043,
      0.8347385993254446,
      0.8438706687821643
    ],
    "ay_ego": [
      -1.4862872527186293,
      -1.510104327544215,
      -1.4581530600402832,
      -1.2539915101449397,
      -1.0427537322745564,
      -0.6175050647404181,
      -0.4541775309271995,
      -0.4356599545673664,
      -0.39639107651237904,
      -0.37655903789084333
    ],
    "a_ego": [
      1.5101232152275714,
      1.5101232118596375,
      1.4584652489863354,
      1.254653418441942,
      1.3536891186210653,
      1.2991455343407137,
      1.2746074835553725,
      1.0343689170483263,
      0.9240748967169532,
      0.9240748966659222
    ],
    "yaw": [
      -2.541263620425518,
      -2.7141716420099513,
      -2.8953757617260667,
      -3.067375761864527,
      3.070252478337853,
      2.9924147867320796,
      2.941465765085302,
      2.901244768145842,
      2.868854631674699,
      2.845226599454538
    ],
    "yaw_diff": [
      -0.3458160431688668,
      -0.36240823943223077,
      -0.344000000276921,
      -0.2911141339544123,
      -0.1556753832115465,
      -0.10189804329355479,
      -0.08044199387892004,
      -0.06478027294228639,
      -0.047256064440322376,
      -0.047256064440322376
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.025045735644925,
    "v_std": 0.9853732660450085,
    "vy_max": 0.08818649592681888,
    "a_max": 1.5101232152275714,
    "ax_avg": 0.5549694166093945,
    "a_std": 0.21244840033465592,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "0d857e82084e56be",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 30.15481804646427,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "0d857e82084e56be",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d12bf3c2e5ab5f74": {
    "vx_ego": [
      6.84460609390024,
      6.841776688117245,
      6.82256527137995,
      6.794529051869811,
      6.763819906348746,
      6.680580620179951,
      6.564566093706203,
      6.461352297292963,
      6.333901382656572,
      6.17939187331051
    ],
    "vy_ego": [
      0.05244559332749921,
      0.029592886202038704,
      -0.004031076812037515,
      -0.013866811833611603,
      0.018034027953288012,
      0.01894252540791941,
      -0.0018268606106286445,
      0.0040088608393231695,
      0.0048143403222103975,
      0.0022383784851909283
    ],
    "v_ego": [
      6.844807018529871,
      6.841840687196564,
      6.822566462250114,
      6.794543202097791,
      6.763843947910373,
      6.680607475521427,
      6.564566347905763,
      6.461353540915269,
      6.33390321232426,
      6.179392278717561
    ],
    "ax_ego": [
      -0.009594228697781503,
      -0.005011043298341483,
      -0.07311663094820439,
      -0.03735079537408255,
      -0.08444037181894601,
      -0.2519731803206149,
      -0.21292717745561543,
      -0.19917774883574002,
      -0.3123125840450272,
      -0.30596620260264557
    ],
    "ay_ego": [
      0.22855814460918447,
      0.22870453458758794,
      0.20815965634676012,
      0.30256292176343935,
      0.4153588766689853,
      0.3020331593392315,
      0.3059738456325229,
      0.37420096885536,
      0.2757099032351464,
      0.2827362445619076
    ],
    "a_ego": [
      0.22875942536100718,
      0.22875942537054744,
      0.2206274784599987,
      0.30485964564222945,
      0.4238551318795647,
      0.3933376576700008,
      0.3727706763016239,
      0.4239081748722986,
      0.4165994489852525,
      0.41659944926038245
    ],
    "yaw": [
      -1.902143110810634,
      -1.8820975998583243,
      -1.8612174045941572,
      -1.8410072114144227,
      -1.819257399682393,
      -1.7927965741897314,
      -1.766690598058871,
      -1.741472779760266,
      -1.7162591949394204,
      -1.6935314597266156
    ],
    "yaw_diff": [
      0.04009102190461933,
      0.041760390528334135,
      0.040420386359468985,
      0.04349962346405922,
      0.05292165098532342,
      0.05221195226172082,
      0.05043563659720984,
      0.05042716964169136,
      0.0454554704256096,
      0.0454554704256096
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.628742417336899,
    "v_std": 0.22340057311263037,
    "vy_max": 0.05244559332749921,
    "a_max": 0.4239081748722986,
    "ax_avg": -0.1491869963396999,
    "a_std": 0.0835877704814669,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "d12bf3c2e5ab5f74",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.150000830761527,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d12bf3c2e5ab5f74",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "24a036d6f97d5a50": {
    "vx_ego": [
      0.28649182386260463,
      0.8699988637623459,
      1.5028018875367701,
      2.145799653734788,
      2.6872903931606724,
      3.0598294581148395,
      3.3139974405577846,
      3.4944413448551424,
      3.5967550270374993,
      3.699835932671794
    ],
    "vy_ego": [
      -0.014553815867839201,
      0.005280343726778186,
      0.029168874100801545,
      0.03995175424991243,
      0.01595490933357327,
      0.003480452329039263,
      0.014544247505833385,
      -0.000600044224385643,
      -0.026036543645620025,
      -0.03923487620457089
    ],
    "v_ego": [
      0.28686125338992136,
      0.8700148877908044,
      1.5030849398488388,
      2.1461715440840186,
      2.687337756275806,
      3.0598314375624955,
      3.314029355808282,
      3.4944413963731153,
      3.5968492637480005,
      3.700043959765904
    ],
    "ax_ego": [
      1.1665527243710547,
      1.1676207998893378,
      1.3641556950122198,
      1.2035704911440976,
      0.9627320916391702,
      0.5356530865012512,
      0.47346735308198584,
      0.24681704726522913,
      0.16888414767797552,
      0.25669314908004837
    ],
    "ay_ego": [
      0.07054229059728234,
      0.049831124585924425,
      0.21806661928798002,
      0.38144642454175964,
      0.611179508147638,
      0.8190979109081254,
      0.76593732306658,
      0.7964834093783002,
      0.7980307554705898,
      0.7742632426459608
    ],
    "a_ego": [
      1.168683649881456,
      1.1686836498007982,
      1.3814752298474124,
      1.262570117636457,
      1.1403479606907359,
      0.9786958755059574,
      0.9004617245063004,
      0.8338491927414736,
      0.8157051808183374,
      0.8157051806242682
    ],
    "yaw": [
      -1.8591074460691903,
      -1.841361874053391,
      -1.8042817170344325,
      -1.72890138913157,
      -1.617780775476032,
      -1.4915221246993646,
      -1.3710942376902655,
      -1.253025184233123,
      -1.1338907602170396,
      -1.022311270466279
    ],
    "yaw_diff": [
      0.03549114403159859,
      0.07416031403791701,
      0.15076065580572484,
      0.2222412273110761,
      0.25251730155333485,
      0.24085577401819824,
      0.23613810691428494,
      0.23826884803216686,
      0.22315897950152142,
      0.22315897950152142
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.465866579464719,
    "v_std": 1.1534932100481223,
    "vy_max": 0.03995175424991243,
    "a_max": 1.3814752298474124,
    "ax_avg": 0.754614658566237,
    "a_std": 0.19371038438459495,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "24a036d6f97d5a50",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "24a036d6f97d5a50",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "9360bfdb65d153cd": {
    "vx_ego": [
      3.8844201119719997,
      4.188178551556005,
      4.6441570327062625,
      5.151178640119845,
      5.677027879955753,
      6.115859378607326,
      6.428874080397604,
      6.744255242088764,
      7.039816885840089,
      7.316156434495205
    ],
    "vy_ego": [
      -0.16930660424165467,
      -0.03358058592268853,
      -0.007118721491938901,
      -0.07878063770327581,
      -0.16762770396959015,
      -0.11467897871940291,
      -0.12000994406853582,
      -0.07453924943402024,
      -0.05842282555305234,
      0.03742444885158447
    ],
    "v_ego": [
      3.888108065953466,
      4.188313173040511,
      4.6441624886119905,
      5.151781029052367,
      5.6795021434042114,
      6.116934461563186,
      6.429994115726971,
      6.744667143021067,
      7.040059304629817,
      7.316252152801831
    ],
    "ax_ego": [
      0.4544832173430454,
      0.8289526591274361,
      1.0521086779637143,
      1.0445952117465036,
      1.1398697231528419,
      0.6722651699783149,
      0.6267497564515216,
      0.6454211754189578,
      0.5428575177991263,
      0.5635585214443669
    ],
    "ay_ego": [
      1.9338625427603002,
      1.805330113117614,
      2.1620718284406117,
      2.3758393730942338,
      2.113391771108234,
      1.729487346101855,
      1.5132504104290192,
      0.9778938293137547,
      0.6580765947711611,
      0.640438039926075
    ],
    "a_ego": [
      1.9865496039962909,
      1.9865496038115193,
      2.404472345772162,
      2.5953404175846613,
      2.4011929876518745,
      1.8555503062683076,
      1.6379078307022152,
      1.1716846141727337,
      0.8530879727300319,
      0.8530879732342461
    ],
    "yaw": [
      1.188344948602126,
      1.3879736127719648,
      1.6070855732187814,
      1.8520737987266775,
      2.0753385733271066,
      2.227485564158043,
      2.357282022511875,
      2.444907432580889,
      2.5017906184696965,
      2.5336720522517613
    ],
    "yaw_diff": [
      0.39925732833967764,
      0.43822392089363316,
      0.48997645101579224,
      0.4465295492008581,
      0.30429398166187305,
      0.25959291670766405,
      0.17525082013802784,
      0.11376637177761495,
      0.06376286756412952,
      0.06376286756412952
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.719977407780542,
    "v_std": 1.1483031256266636,
    "vy_max": 0.16930660424165467,
    "a_max": 2.5953404175846613,
    "ax_avg": 0.7570861630425829,
    "a_std": 0.6033184489761199,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "9360bfdb65d153cd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "9360bfdb65d153cd",
    "pedestrians": "No"
  },
  "47cdeda07aeb5b19": {
    "vx_ego": [
      8.558432799789255,
      8.744229455352047,
      8.928719315622816,
      9.116140748378804,
      9.22016764841083,
      9.255050256632007,
      9.352044407615567,
      9.462077884325232,
      9.562432653522935,
      9.683504623486726
    ],
    "vy_ego": [
      0.029881007246149505,
      -0.014207544483378687,
      -0.0064293229901721816,
      0.009148284878744306,
      -0.005814194115454363,
      0.0028548954984080055,
      0.020506980225057703,
      0.034646281745647656,
      0.043245361616690126,
      0.05018886932916988
    ],
    "v_ego": [
      8.558484963070425,
      8.744240997488953,
      8.928721630411045,
      9.116145338648824,
      9.220169481612306,
      9.255050696955283,
      9.352066891241291,
      9.462141314410575,
      9.562530439923474,
      9.683634685163074
    ],
    "ax_ego": [
      0.3707969155067985,
      0.3720115724020274,
      0.36603221900543553,
      0.38377118494654516,
      0.03233063205873785,
      0.10718961594515823,
      0.28085078535188707,
      0.15944409329895068,
      0.2423613594496552,
      0.2425014762766361
    ],
    "ay_ego": [
      0.10953751430281147,
      0.10533853652759087,
      0.06547499453031037,
      -0.06376564389278747,
      -0.0055972892632113296,
      0.020375440998211036,
      0.006213901458623702,
      -0.002553346541726856,
      -0.045821610472466204,
      -0.045074198765597054
    ],
    "a_ego": [
      0.3866378403480375,
      0.3866378373604988,
      0.37184211738154044,
      0.3890326204013452,
      0.03281157442753317,
      0.1091089930406385,
      0.2809195190870674,
      0.15946453670483177,
      0.24665491793308195,
      0.2466549196564067
    ],
    "yaw": [
      -0.5862358297938646,
      -0.5749302585366978,
      -0.5709782112117595,
      -0.5726578018178343,
      -0.5729159683790275,
      -0.5734550248373246,
      -0.5746406459196565,
      -0.5760441510978359,
      -0.5782219080939967,
      -0.5813048957122131
    ],
    "yaw_diff": [
      0.022611142514333604,
      0.007904094649876514,
      -0.00335918121214962,
      -0.0005163331223863032,
      -0.0010781129165942094,
      -0.0023712421646637782,
      -0.0028070103563588855,
      -0.00435551399232148,
      -0.006165975236432919,
      -0.006165975236432919
    ],
    "min_front_frame": [
      7,
      17.39600735732146
    ],
    "v_avg": 9.188318643892526,
    "v_std": 0.3404596087833392,
    "vy_max": 0.05018886932916988,
    "a_max": 0.3890326204013452,
    "ax_avg": 0.2557289854241832,
    "a_std": 0.12103994806065148,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "47cdeda07aeb5b19",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.634816220979028,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      32.38970334906674,
      32.81464939941287,
      28.576978453574075,
      24.096830236096846,
      19.592127870416824,
      21.70110211855167,
      22.041890790763517,
      17.39600735732146,
      18.07581647315685,
      35.48049523928166
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "47cdeda07aeb5b19",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "7daa0ad6ca5356fc": {
    "vx_ego": [
      0.7378039277619104,
      0.4005456717036123,
      0.24106213931280968,
      0.32354578770920395,
      0.415762402303443,
      0.32376087582688146,
      0.12223160202152136,
      0.013421756890433512,
      -0.004406913591735147,
      -0.0037210251085936278
    ],
    "vy_ego": [
      0.03331652740963614,
      0.007463383777725683,
      -0.010085861406322696,
      -0.012960504724621517,
      -0.01028152918687262,
      -0.008521579986171765,
      -0.005931335024692492,
      -0.0028889501662871793,
      -0.001109661664285241,
      -0.0005660306001982659
    ],
    "v_ego": [
      0.7385557709608255,
      0.4006151984359949,
      0.24127303954312013,
      0.32380526775685137,
      0.4158895105812967,
      0.3238730029527779,
      0.1223754275494992,
      0.01372915114233907,
      0.0045444731723494934,
      0.003763830296273336
    ],
    "ax_ego": [
      -0.674521897801068,
      -0.6745402288670402,
      0.03661148709380733,
      0.29328945319313854,
      0.07558459267895715,
      -0.443560318455103,
      -0.3625593535898238,
      -0.07268497256529273,
      0.001371603723662148,
      0.001371439776996617
    ],
    "ay_ego": [
      -0.05142005895924583,
      -0.05117904133455267,
      -0.018784706022369136,
      0.006713751592711405,
      0.004268383280637085,
      0.004177804065042881,
      0.006109814635120661,
      0.0060242193809549,
      0.0010883946918411385,
      0.0010886120427394293
    ],
    "a_ego": [
      0.6764789819917,
      0.6764789831413264,
      0.04114931551759825,
      0.2933662860909188,
      0.07570501797288133,
      0.44357999296045614,
      0.362610830933587,
      0.07293419263944197,
      0.001750971096275389,
      0.0017509777958403252
    ],
    "yaw": [
      0.02920352995037174,
      0.029560839646701594,
      0.02981228302934752,
      0.029240418842300626,
      0.029408138727750784,
      0.030217061108145215,
      0.03013092036277449,
      0.02985006337987357,
      0.03008820901996064,
      0.029935804567238718
    ],
    "yaw_diff": [
      0.00071461939265971,
      0.0005028867652918517,
      -0.0011437283740937873,
      0.0003354397709003157,
      0.0016178447607888627,
      -0.00017228149074145077,
      -0.0005617139658018397,
      0.0004762912801741376,
      -0.0003048089054438416,
      -0.0003048089054438416
    ],
    "min_front_frame": [
      5,
      10.128240658097775
    ],
    "v_avg": 0.25884246723913273,
    "v_std": 0.22182928733096174,
    "vy_max": 0.03331652740963614,
    "a_max": 0.6764789831413264,
    "ax_avg": -0.1819638194811766,
    "a_std": 0.25343294451709053,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "7daa0ad6ca5356fc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.522321205058143,
      10.418954585395484,
      10.452903416742936,
      10.37826645469962,
      10.212470661595987,
      10.128240658097775,
      10.252227247309788,
      10.42759624139083,
      10.517782554867246,
      10.666696147803698
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "7daa0ad6ca5356fc",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "2c439b29049252a7": {
    "vx_ego": [
      2.074530749547152,
      1.7080403536508386,
      1.2702481253036455,
      0.7635215125312358,
      0.3193370809128554,
      0.05779547265276602,
      -0.014670548575372543,
      -0.014120174511977626,
      -0.008401600912740188,
      -0.003958146238290917
    ],
    "vy_ego": [
      -0.012528685107059595,
      -0.016025054186761194,
      -0.0185441769145574,
      -0.010035349474919481,
      0.004009752487078548,
      0.006878709441572669,
      0.004063116928241421,
      0.0018446016906919999,
      0.0008925842536702413,
      0.0002849782390564464
    ],
    "v_ego": [
      2.0745685813602743,
      1.708115526555909,
      1.2703834800306812,
      0.7635874595205646,
      0.31936225412680064,
      0.0582033787914259,
      0.015222809027079311,
      0.01424015040812443,
      0.008448881851869917,
      0.003968391896024414
    ],
    "ax_ego": [
      -0.7330202553007804,
      -0.7330070524883013,
      -1.0182248089469035,
      -1.0086426921313325,
      -0.7680950280570439,
      -0.27807929710171847,
      -0.011784645326643266,
      0.013987154479367455,
      0.008886936363746323,
      0.008886987067730757
    ],
    "ay_ego": [
      -0.010954359730309983,
      -0.01180443851662277,
      -0.0035121012113894026,
      0.03955758635857512,
      0.01658975820412959,
      -0.0049902805560246635,
      -0.006271828407276349,
      -0.0025952051620830308,
      -0.0012148475902629173,
      -0.001214434173650222
    ],
    "a_ego": [
      0.7331021024920896,
      0.7331020964137805,
      1.0182308659679675,
      1.0094180912924329,
      0.7682741647375776,
      0.278124070113706,
      0.013349670297243058,
      0.01422587713510107,
      0.008969587091992828,
      0.008969581344976097
    ],
    "yaw": [
      -1.5330618779109622,
      -1.5342215819580174,
      -1.5350807202837387,
      -1.534585937091515,
      -1.534602099372433,
      -1.5343592885773507,
      -1.5343649267928718,
      -1.5344647135299574,
      -1.5344181617356714,
      -1.5344644155606177
    ],
    "yaw_diff": [
      -0.0023194080941104644,
      -0.0017182766514425296,
      0.0009895663844474711,
      -3.232456183610566e-05,
      0.00048562159016452,
      -1.1276431042261947e-05,
      -0.00019957347417109972,
      9.310358857206325e-05,
      -9.250764989277016e-05,
      -9.250764989277016e-05
    ],
    "min_front_frame": [
      4,
      9.34972172426719
    ],
    "v_avg": 0.6236100913568754,
    "v_std": 0.7506956450706225,
    "vy_max": 0.0185441769145574,
    "a_max": 1.0182308659679675,
    "ax_avg": -0.45190927014418786,
    "a_std": 0.4118022539903046,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2c439b29049252a7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.212346872972372,
    "right_rear_min": 4.637543023758881,
    "speed_mode": "decelerating",
    "front_frame": [
      11.562249448690906,
      10.770152837767473,
      10.056709659283477,
      9.55757160990895,
      9.34972172426719,
      9.357614277308075,
      9.385403818143402,
      9.387856326058797,
      9.37183687419911,
      9.373454343166918
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2c439b29049252a7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0a6e90cccbb15213": {
    "vx_ego": [
      3.9468674566292337,
      3.510251677961379,
      3.186537025999304,
      3.143409871162707,
      3.423650950126201,
      3.8633454184115066,
      4.353275922485813,
      4.85382845354287,
      5.3083843565378,
      5.734503200797257
    ],
    "vy_ego": [
      0.11137222047106388,
      0.002283774369209901,
      -0.01956488091671571,
      -0.05358144696796763,
      -0.06599820865306238,
      -0.0011358081377568219,
      0.051063258500971154,
      0.0815570946589197,
      0.07240189986744827,
      0.024437724592963672
    ],
    "v_ego": [
      3.9484384877684966,
      3.510252420874608,
      3.1865970882164842,
      3.1438665031426396,
      3.424287019489671,
      3.8633455853730334,
      4.353575394278069,
      4.854513592123476,
      5.308878084100223,
      5.734555271539134
    ],
    "ax_ego": [
      -0.9241375935784312,
      -0.7884535215110264,
      -0.4909605273346347,
      0.3008951652690137,
      0.7848410690374423,
      0.958967321985168,
      1.009284493707488,
      0.9874459976775141,
      0.838016411923195,
      0.8757067613277069
    ],
    "ay_ego": [
      -1.0666646616976483,
      -1.1705318658173824,
      -1.4041418974034547,
      -1.5435675398354078,
      -1.7411041287475868,
      -1.8983991617794558,
      -1.7708685122885315,
      -1.1745574545444877,
      -0.7178608003782307,
      -0.6713667412227944
    ],
    "a_ego": [
      1.411312790411641,
      1.4113127946975685,
      1.4875001537628414,
      1.5726215852886545,
      1.9098217431974451,
      2.126860997357454,
      2.0382910677951216,
      1.5344819361450193,
      1.103447160208544,
      1.103447159158596
    ],
    "yaw": [
      1.1274684892947076,
      1.0063185790916194,
      0.8190751274161681,
      0.5908109362893799,
      0.34118700704047933,
      0.07365823063108587,
      -0.161601458622278,
      -0.3276977864116759,
      -0.41860941698598786,
      -0.4728569811511626
    ],
    "yaw_diff": [
      -0.24229982040617637,
      -0.3744869033509026,
      -0.4565283822535764,
      -0.49924785849780107,
      -0.5350575528187869,
      -0.47051937850672776,
      -0.3321926555787958,
      -0.1818232611486239,
      -0.10849512833034947,
      -0.10849512833034947
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.132830944690584,
    "v_std": 0.8595250011522538,
    "vy_max": 0.11137222047106388,
    "a_max": 2.126860997357454,
    "ax_avg": 0.35516055785034356,
    "a_std": 0.33743894642741307,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "0a6e90cccbb15213",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 38.930099710701846,
    "right_rear_min": 13.054589989036767,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "0a6e90cccbb15213",
    "pedestrians": "No"
  },
  "ff86cfb959e1545e": {
    "vx_ego": [
      3.76041188188294,
      4.099443239146142,
      4.373573130986885,
      4.580546325057808,
      4.87991618373671,
      5.223688005739434,
      5.534747688137197,
      5.836109593187591,
      6.196462215942314,
      6.608518439069835
    ],
    "vy_ego": [
      -0.12603173586004446,
      -0.03358875081123691,
      -0.05269607798793352,
      -0.06955302353806037,
      -0.10544667668620811,
      -0.09301856480965998,
      -0.06883008846202521,
      -0.0856230777228073,
      -0.03811647426110554,
      0.08937732730427994
    ],
    "v_ego": [
      3.7625232916023643,
      4.099580841398554,
      4.373890580332998,
      4.581074356423816,
      4.881055312319214,
      5.224516134026698,
      5.535175656871039,
      5.836737658584199,
      6.196579448309432,
      6.609122806103853
    ],
    "ax_ego": [
      0.6017517973395731,
      0.7933815295161593,
      0.35212674368614816,
      0.5193053575227886,
      0.7375545102854633,
      0.6700493058988479,
      0.5997857129980351,
      0.6358622206221576,
      0.8099723685755579,
      0.8342033160153878
    ],
    "ay_ego": [
      1.3701057618540844,
      1.2687950087724393,
      1.5122651315946962,
      1.5234535304882009,
      1.5236520645285516,
      1.218661082004773,
      1.0737578268408667,
      1.0752617889643512,
      0.7130477734183427,
      0.6845415783660624
    ],
    "a_ego": [
      1.4964274203138512,
      1.4964274207803248,
      1.5527198948477907,
      1.6095305880625055,
      1.6927794508985945,
      1.390719563797307,
      1.2299181973686633,
      1.2492032174235537,
      1.0791164742662192,
      1.0791164649670437
    ],
    "yaw": [
      1.9943759163964954,
      2.1393559468658703,
      2.3054289555589653,
      2.479084221360748,
      2.6482899278379763,
      2.7811215879015854,
      2.8829111456160286,
      2.9803618131991403,
      3.0469931364912513,
      3.0816650076796037
    ],
    "yaw_diff": [
      0.2899600609387498,
      0.3321460173861901,
      0.34731053160356495,
      0.3384114129544571,
      0.26566332012721805,
      0.2035791154288864,
      0.19490133516622343,
      0.13326264658422193,
      0.06934374237670493,
      0.06934374237670493
    ],
    "min_front_frame": [
      9,
      70.42935210838473
    ],
    "v_avg": 5.110025608597217,
    "v_std": 0.8866078855491253,
    "vy_max": 0.12603173586004446,
    "a_max": 1.6927794508985945,
    "ax_avg": 0.6553992862460118,
    "a_std": 0.20680672296150285,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "ff86cfb959e1545e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      76.43920111107457,
      -1,
      70.42935210838473
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ff86cfb959e1545e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6239683a6e0d556d": {
    "vx_ego": [
      3.83029742100437,
      3.6762607963785316,
      3.5378444528805684,
      3.457464023063671,
      3.505339993852264,
      3.644570224084232,
      3.825505496994521,
      4.035627825906727,
      4.172897135762778,
      4.2253933036645455
    ],
    "vy_ego": [
      -0.03944027978920578,
      -0.051335700279051745,
      -0.03227582305431648,
      -0.020075526601243343,
      -0.0038786403309496453,
      -0.00018160415022838716,
      -0.0103412854636864,
      -0.007504516501287695,
      -0.010119677448478859,
      0.011643562921675565
    ],
    "v_ego": [
      3.8305004723955562,
      3.6766192075210693,
      3.53799167629485,
      3.4575223061533444,
      3.5053421396992057,
      3.64457022860878,
      3.8255194744923644,
      4.035634803472754,
      4.172909406340959,
      4.225409346230338
    ],
    "ax_ego": [
      -0.34011035008221174,
      -0.25458955166155306,
      -0.2935126620423977,
      -0.027180392393895664,
      0.2216078236162089,
      0.3362437242238296,
      0.3876925130391482,
      0.4547684704713728,
      0.09614170738649107,
      0.11361415615415328
    ],
    "ay_ego": [
      0.7721496554506331,
      0.8044092846953614,
      0.5917501152381917,
      0.4065325416937749,
      0.4170624419673952,
      0.4325740119070953,
      0.39716992671558415,
      0.4041047160614021,
      0.40760678010436596,
      0.40308602101120805
    ],
    "a_ego": [
      0.8437358239671799,
      0.8437358218775197,
      0.6605436258595097,
      0.40744015657110555,
      0.47228286861553603,
      0.5478869571885341,
      0.5550220133957504,
      0.608370761360158,
      0.4187917323518202,
      0.41879173441373985
    ],
    "yaw": [
      -1.6778731604030224,
      -1.5694889381989188,
      -1.4781937462427406,
      -1.409702774134323,
      -1.3547354079520333,
      -1.296135495371003,
      -1.2377936112705794,
      -1.1874542387320148,
      -1.137925070712792,
      -1.094826755291257
    ],
    "yaw_diff": [
      0.2167684444082072,
      0.18259038391235638,
      0.13698194421683496,
      0.10993473236457962,
      0.11719982516206073,
      0.11668376820084703,
      0.10067874507712915,
      0.09905833603844583,
      0.08619663084306994,
      0.08619663084306994
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7912019061209214,
    "v_std": 0.26239466010931045,
    "vy_max": 0.051335700279051745,
    "a_max": 0.8437358239671799,
    "ax_avg": 0.06946754387111456,
    "a_std": 0.15535824184566813,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "6239683a6e0d556d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6239683a6e0d556d",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "781386f5659b5cdf": {
    "vx_ego": [
      2.889619324528864,
      2.516636641122096,
      2.0406034404885816,
      1.4419986526892514,
      0.8713313958351074,
      0.4035867695155529,
      0.07452111251603191,
      -0.04044391325429198,
      -0.027903698614184284,
      -0.018724767108259897
    ],
    "vy_ego": [
      0.017568011993687405,
      0.02192962303918211,
      -0.00041747794588142817,
      -0.03897972673855121,
      -0.050443345752913926,
      -0.04048385644874336,
      -0.028838672755724073,
      -0.010857594423138325,
      0.0030792203894212944,
      0.0024170353918528554
    ],
    "v_ego": [
      2.8896727281365373,
      2.5167321851569637,
      2.040603483193556,
      1.4425254013202777,
      0.8727903141641208,
      0.40561215854676064,
      0.07990660333751416,
      0.04187597731370647,
      0.02807308309676473,
      0.01888012085088549
    ],
    "ax_ego": [
      -0.7459804683175688,
      -0.7459769082024365,
      -1.1581347401285667,
      -1.236331831616567,
      -1.0464396543962604,
      -0.82457759601898,
      -0.49165405734473216,
      0.03180530784763265,
      0.018357351677111187,
      0.018357213692389594
    ],
    "ay_ego": [
      0.010423006119043898,
      0.01067493430719696,
      -0.10204753370235226,
      -0.05545465575993669,
      0.007392082623830121,
      0.03195917940593124,
      0.014809685118420346,
      0.05709276896820459,
      -0.0013283243819858463,
      -0.0013302704698031293
    ],
    "a_ego": [
      0.7460532810515995,
      0.7460532834816354,
      1.1626219400249573,
      1.2375748933756812,
      1.0464657630226049,
      0.8251967044315801,
      0.4918770566684768,
      0.06535412669250097,
      0.018405347219243515,
      0.018405350148010938
    ],
    "yaw": [
      2.6015087518492552,
      2.6018464607601715,
      2.6016335760678957,
      2.6011691182709327,
      2.600681862029245,
      2.6004823035613915,
      2.600720497310269,
      2.6008334835219173,
      2.600701327865245,
      2.600806989114261
    ],
    "yaw_diff": [
      0.0006754178218324469,
      -0.000425769384551522,
      -0.0009289155939260496,
      -0.0009745124833751007,
      -0.00039911693570715556,
      0.00047638749775469336,
      0.00022597242329691625,
      -0.00026431131334447855,
      0.0002113224980320183,
      0.0002113224980320183
    ],
    "min_front_frame": [
      6,
      8.948969146231246
    ],
    "v_avg": 1.0336672055117089,
    "v_std": 1.0573542421754187,
    "vy_max": 0.050443345752913926,
    "a_max": 1.2375748933756812,
    "ax_avg": -0.6180575382807978,
    "a_std": 0.4446322132719888,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "781386f5659b5cdf",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.735574940767538,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.077762503778589,
      11.74736009288855,
      10.618750077312773,
      9.788772184431402,
      9.255037706624735,
      8.970453601905177,
      8.948969146231246,
      8.981565304950978,
      8.959557690716608,
      8.977192682377241
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "781386f5659b5cdf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "748d7e95687d5d26": {
    "vx_ego": [
      12.867711511253875,
      12.919070645680199,
      13.004965006359516,
      13.17890625315951,
      13.320517404516641,
      13.313304987030563,
      13.260925466597964,
      13.336167961286925,
      13.599368697720523,
      13.942010582315485
    ],
    "vy_ego": [
      -0.012322749693191012,
      -0.02450851523233137,
      -0.08573305529995634,
      -0.05970742965263626,
      -0.03884015729379431,
      -0.042027506859646624,
      -0.036229320073800475,
      -0.001063995701800713,
      -0.008674147184162317,
      -0.011870608464198795
    ],
    "v_ego": [
      12.867717411686328,
      12.919093892970771,
      13.00524759369873,
      13.179041505614988,
      13.320574029742463,
      13.313371323185788,
      13.260974956401187,
      13.336168003731158,
      13.599371464055615,
      13.942015635794641
    ],
    "ax_ego": [
      0.10271676924511505,
      0.10300074873008196,
      0.24591401362764456,
      0.4534986973017827,
      0.11409691711300508,
      -0.14228314253230362,
      -0.06687579169483068,
      0.36778703909451194,
      0.6850420411099744,
      0.6853818843268472
    ],
    "ay_ego": [
      0.07444813951803969,
      0.0740547478907005,
      0.4008891741762136,
      0.38136917979646223,
      0.22241072870575412,
      0.10638005748752795,
      0.059920536770206534,
      -0.03588507355046176,
      -0.10115962712109607,
      -0.09883085488062435
    ],
    "a_ego": [
      0.126859213941486,
      0.12685921300446684,
      0.4703039783694625,
      0.5925398887442433,
      0.24996927558825408,
      0.17765474741733633,
      0.08979333071915785,
      0.3695335500731024,
      0.6924708428861095,
      0.692470840714506
    ],
    "yaw": [
      -1.5803723612930836,
      -1.5765478000286977,
      -1.5626451821148,
      -1.5496697690753836,
      -1.5398837830309533,
      -1.5334874222595092,
      -1.5307929066621708,
      -1.5329943544839746,
      -1.5349790724463794,
      -1.5383776865288836
    ],
    "yaw_diff": [
      0.007649122528771812,
      0.02780523582779537,
      0.02595082607883281,
      0.019571972088860523,
      0.012792721542888241,
      0.005389031194676708,
      -0.004402895643607518,
      -0.003969435924809694,
      -0.006797228165008384,
      -0.006797228165008384
    ],
    "min_front_frame": [
      1,
      22.254115522295628
    ],
    "v_avg": 13.274357581688168,
    "v_std": 0.3053085017400901,
    "vy_max": 0.08573305529995634,
    "a_max": 0.6924708428861095,
    "ax_avg": 0.2548279176321829,
    "a_std": 0.22681942083067802,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "748d7e95687d5d26",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 28.725192724933088,
    "right_rear_min": 26.068687194653595,
    "speed_mode": "accelerating",
    "front_frame": [
      49.68103196466046,
      22.254115522295628,
      50.242485362534566,
      38.74777098368553,
      38.145324538345804,
      37.68341035914535,
      37.167748413412234,
      36.6608787706945,
      36.461032156227766,
      35.72219552377559
    ],
    "safe_frame": [
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "748d7e95687d5d26",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b9d45c43c2fd5165": {
    "vx_ego": [
      5.81558905613012,
      6.320482142559276,
      6.905413868896143,
      7.652342953136783,
      8.52095711926589,
      9.404890165947995,
      10.12673711724574,
      10.383149799778781,
      10.347679868373104,
      10.348916712646352
    ],
    "vy_ego": [
      0.05421596270822393,
      0.03661123770496033,
      0.06953455083264348,
      0.0011124342199027026,
      -0.06418755748105065,
      -0.10269293723789552,
      -0.119145185532199,
      -0.1259107275982414,
      -0.1148891339745628,
      -0.05783168201376565
    ],
    "v_ego": [
      5.81584176541907,
      6.32058817651783,
      6.905763951548207,
      7.652343033995018,
      8.521198875211365,
      9.40545080646876,
      10.127437988802404,
      10.383913196669667,
      10.348317649330225,
      10.349078298512168
    ],
    "ax_ego": [
      1.0068179399106907,
      1.0095921453706782,
      1.328880682577871,
      1.6561911030469842,
      1.819721787404712,
      1.7191622546091696,
      1.1699075697241355,
      -0.14472794957211893,
      0.0019058432763259837,
      0.0017665935821640673
    ],
    "ay_ego": [
      0.17510906313332703,
      0.1583327264771222,
      0.11399232785314872,
      -0.020771759003077817,
      0.0502276277998841,
      0.10784792766417806,
      -0.003193433621702324,
      -0.06670727699038953,
      0.0377270042997291,
      0.03773378172284709
    ],
    "a_ego": [
      1.0219322620004903,
      1.0219322640311579,
      1.333760892865737,
      1.6563213564354198,
      1.820414842322981,
      1.722541736264855,
      1.169911928187814,
      0.15936135099459453,
      0.0377751120716497,
      0.037775112653597905
    ],
    "yaw": [
      -2.1647168799358605,
      -2.148077456859691,
      -2.1427286561514283,
      -2.1300557523407138,
      -2.1210473732045383,
      -2.112354394346487,
      -2.1080210850064804,
      -2.109048952986106,
      -2.1108143446633676,
      -2.114505013874623
    ],
    "yaw_diff": [
      0.03327884615233856,
      0.01069760141652587,
      0.025345807621429017,
      0.01801675827235094,
      0.01738595771610285,
      0.008666618680012839,
      -0.002055735959251237,
      -0.0035307833545230594,
      -0.007381338422510986,
      -0.007381338422510986
    ],
    "min_front_frame": [
      1,
      18.717935877908783
    ],
    "v_avg": 8.582993374247472,
    "v_std": 1.702912675835006,
    "vy_max": 0.1259107275982414,
    "a_max": 1.820414842322981,
    "ax_avg": 0.9569217969930612,
    "a_std": 0.6576873617865407,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b9d45c43c2fd5165",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 30.871902520063845,
    "speed_mode": "accelerating",
    "front_frame": [
      21.73594267151117,
      18.717935877908783,
      20.857550241177613,
      24.55051130876587,
      20.568817642876137,
      22.144974829545482,
      23.226841594875914,
      24.517942222485793,
      25.432923220616537,
      20.39432170336785
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b9d45c43c2fd5165",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1526b1720d35559e": {
    "vx_ego": [
      3.1640032033248673,
      3.182459048715611,
      3.2348941617185054,
      3.3678652723501563,
      3.562267479438558,
      3.763986753863611,
      3.9865153132884132,
      4.256930164570102,
      4.5651359704446905,
      4.887483183612527
    ],
    "vy_ego": [
      -0.0211310167230217,
      -0.026008536231271584,
      -0.015529419862612283,
      0.0013109265211210808,
      0.022349058420208012,
      0.010200686801725034,
      -0.030592991728621954,
      -0.043523581578073456,
      -0.02661854167129607,
      0.030213918989755117
    ],
    "v_ego": [
      3.16407376502473,
      3.182565323871415,
      3.2349314367389215,
      3.3678655274862943,
      3.562337585838519,
      3.7640005761519153,
      3.986632698685185,
      4.2571526550242735,
      4.565213573909625,
      4.887576572392086
    ],
    "ax_ego": [
      0.03242817081954634,
      0.045745814742833096,
      0.16755364603143974,
      0.3676188803241061,
      0.40724819842646065,
      0.39412819776508606,
      0.4948362132293208,
      0.5875114273624363,
      0.6444192392546602,
      0.6450024403849812
    ],
    "ay_ego": [
      0.28672090744865625,
      0.2848996056593532,
      0.28950213943564274,
      0.37657590340470254,
      0.35376746598216213,
      0.22821614718277777,
      0.06956571298445974,
      -0.014662540360649581,
      -0.041796360788827924,
      -0.031542721209723984
    ],
    "a_ego": [
      0.2885488953901619,
      0.28854889511370607,
      0.3344932182216006,
      0.5262632917046536,
      0.5394464895696682,
      0.455433470562393,
      0.4997021776480167,
      0.5876943656113056,
      0.6457732509919754,
      0.6457732507342617
    ],
    "yaw": [
      -0.08887862832715493,
      -0.042290949480210345,
      -0.0006112545328946176,
      0.04506523153324122,
      0.09174532207762101,
      0.13475486894300573,
      0.16458677794251705,
      0.17107227487639803,
      0.1640286319823948,
      0.14812472110145497
    ],
    "yaw_diff": [
      0.09317535769388917,
      0.08335938989463146,
      0.09135297213227167,
      0.09336018108875958,
      0.08601909373076944,
      0.05966381799902265,
      0.01297099386776196,
      -0.014087285788006443,
      -0.031807821761879684,
      -0.031807821761879684
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.797234971512297,
    "v_std": 0.5797903324184931,
    "vy_max": 0.043523581578073456,
    "a_max": 0.6457732509919754,
    "ax_avg": 0.3786492228340871,
    "a_std": 0.12949560759253376,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "1526b1720d35559e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.665590790836347,
    "right_rear_min": 8.376685632225367,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1526b1720d35559e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "11ee697033a159a9": {
    "vx_ego": [
      7.649789896620762,
      7.614435215912451,
      7.619940483187008,
      7.679787026847722,
      7.717513916989988,
      7.703148702188734,
      7.6882208008117825,
      7.682199210567788,
      7.692958288473996,
      7.725927894281998
    ],
    "vy_ego": [
      -0.05384774939356696,
      0.013059808379270788,
      -0.02930625925388064,
      -0.03093851686959903,
      -0.004954724485156881,
      0.0019467950356237829,
      0.020560363715526275,
      0.025790107149394004,
      0.032371721968665224,
      0.02355825730261607
    ],
    "v_ego": [
      7.649979414518436,
      7.614446415592049,
      7.619996838853918,
      7.679849345499211,
      7.717515507482242,
      7.703148948192738,
      7.688248292725143,
      7.68224250075947,
      7.6930263977568645,
      7.725963811663358
    ],
    "ax_ego": [
      -0.0767291839657525,
      -0.06709554294443992,
      0.08804107018339982,
      0.14970788969741566,
      0.0007335096584994115,
      -0.0582515776606359,
      -0.0011593584189820184,
      -0.02256646004003536,
      0.06597581137791159,
      0.06600478728134276
    ],
    "ay_ego": [
      -0.3212522687688022,
      -0.32340157087734867,
      -0.207530512447826,
      -0.050464029620796866,
      -0.05946812904560578,
      -0.04469462184262727,
      -0.05866957143198042,
      -0.047604826958742,
      -0.03174470669570707,
      -0.03168441393997727
    ],
    "a_ego": [
      0.3302883404862379,
      0.3302883405888648,
      0.2254332354287974,
      0.15798439961977967,
      0.0594726526111282,
      0.0734224456253573,
      0.058681025246291645,
      0.05268267901796834,
      0.07321566833793322,
      0.07321566793231578
    ],
    "yaw": [
      -0.5624431630179421,
      -0.5923287325491242,
      -0.6042224304493162,
      -0.6124486467157555,
      -0.6193768223737319,
      -0.6236452103539984,
      -0.6294271202146532,
      -0.6335632764721995,
      -0.637004810255587,
      -0.6379184713890677
    ],
    "yaw_diff": [
      -0.05977113906236431,
      -0.023787395800384026,
      -0.016452432532878536,
      -0.013856351315952864,
      -0.008536775960533038,
      -0.011563819721309487,
      -0.008272312515092528,
      -0.006883067566775036,
      -0.001827322266961362,
      -0.001827322266961362
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.677441747304343,
    "v_std": 0.03610010072686772,
    "vy_max": 0.05384774939356696,
    "a_max": 0.3302883405888648,
    "ax_avg": 0.014466094516872353,
    "a_std": 0.10676885729518604,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "11ee697033a159a9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "11ee697033a159a9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b899b71cf6c95ff2": {
    "vx_ego": [
      9.50768844310666,
      9.434819381654858,
      9.362428200380476,
      9.29401655823297,
      9.210846725163362,
      9.009513079853745,
      8.577380714310426,
      7.954370703818455,
      7.36956594441624,
      6.8840591165953
    ],
    "vy_ego": [
      0.05264412991578715,
      0.00719519634901733,
      -0.00284106767164527,
      -0.004699281854894322,
      -0.019192758710394386,
      -0.02053019482679197,
      -0.02664073633031494,
      -0.017773361264430854,
      0.04684359452897757,
      0.11365603741106112
    ],
    "v_ego": [
      9.507834187426628,
      9.434822125260267,
      9.36242863144735,
      9.294017746268755,
      9.210866721239622,
      9.00953647114852,
      8.577422086329706,
      7.9543905603217615,
      7.369714820225273,
      6.884997285084348
    ],
    "ax_ego": [
      -0.1509281452083147,
      -0.14322754342731794,
      -0.1463291031102178,
      -0.1279670008627738,
      -0.20478291203485033,
      -0.5997792365271662,
      -1.1283661107824685,
      -1.3625503391583746,
      -0.976488434969345,
      -0.9706018419721236
    ],
    "ay_ego": [
      0.3374844137808456,
      0.3408238645039391,
      0.3590621906628733,
      0.250339795916757,
      0.14319144964848488,
      0.1648888039487414,
      0.07803408482314075,
      0.20345693164889733,
      0.3561964473963788,
      0.3719376326327643
    ],
    "a_ego": [
      0.3696958676547834,
      0.36969586934617443,
      0.38773426877265094,
      0.2811504343397973,
      0.24987963565266344,
      0.6220317116005879,
      1.1310611824108097,
      1.3776567605091574,
      1.0394255975136855,
      1.0394255808898223
    ],
    "yaw": [
      1.7275721476090293,
      1.7502764929817511,
      1.7699596058286295,
      1.786494712137141,
      1.7986815486737964,
      1.8072362246367217,
      1.814780757917121,
      1.8221953441703702,
      1.8320848419141376,
      1.8482534255256913
    ],
    "yaw_diff": [
      0.045408690745443625,
      0.03936622569375681,
      0.03307021261702303,
      0.02437367307331062,
      0.017109351925850724,
      0.015089066560798337,
      0.014829172506498622,
      0.0197789954875347,
      0.03233716722310742,
      0.03233716722310742
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.660603063475223,
    "v_std": 0.8922083360232087,
    "vy_max": 0.11365603741106112,
    "a_max": 1.3776567605091574,
    "ax_avg": -0.5811020668052953,
    "a_std": 0.3966783263874241,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b899b71cf6c95ff2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b899b71cf6c95ff2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8564551c362e5f26": {
    "vx_ego": [
      11.999546879276993,
      12.227414746831322,
      12.430379972600045,
      12.596911303800427,
      12.809966932029877,
      13.030830383779739,
      13.236736429173757,
      13.435538627317948,
      13.513764777798553,
      13.514006655227753
    ],
    "vy_ego": [
      0.0470766193510872,
      0.045691290585709365,
      0.010845969486287299,
      -0.0070757953796676265,
      0.04522746969038338,
      0.03926326915312761,
      -0.00661627813175647,
      0.011836453437076122,
      0.03875915204249847,
      0.04115473013684856
    ],
    "v_ego": [
      11.999639224412363,
      12.227500115929807,
      12.430384704355308,
      12.59691329106838,
      12.81004677289328,
      13.030889535835295,
      13.23673808272083,
      13.435543841161868,
      13.51382036070984,
      13.514069320132728
    ],
    "ax_ego": [
      0.45469414047384793,
      0.4556143929698774,
      0.3559852028040722,
      0.3110423688796839,
      0.5400019794285348,
      0.3399125863964836,
      0.4826782373443136,
      0.3125031038100619,
      0.0004770937995150343,
      0.00047764857017049145
    ],
    "ay_ego": [
      0.14935030108698905,
      0.14651895932611853,
      0.33083338158301095,
      0.4516975689534999,
      0.4254442054837193,
      0.19064240689582937,
      0.08517120148839552,
      0.0699534785262397,
      0.006949349827319121,
      0.006949312865176425
    ],
    "a_ego": [
      0.47859405952855877,
      0.47859406653584685,
      0.4859796199277358,
      0.5484323559353397,
      0.6874626606343132,
      0.389724381708127,
      0.490135098078877,
      0.320236910815795,
      0.006965707538792882,
      0.0069657086828758845
    ],
    "yaw": [
      -1.6205849133669132,
      -1.6143643135126244,
      -1.6018712403080122,
      -1.5848135815124158,
      -1.5716394476718756,
      -1.559281104428049,
      -1.5505259380616208,
      -1.5490040534914762,
      -1.5495736248288452,
      -1.5494937745494064
    ],
    "yaw_diff": [
      0.0124411997085776,
      0.024986146409224474,
      0.034115317591192795,
      0.02634826768108045,
      0.024716686487653128,
      0.017510332732856515,
      0.003043769140289143,
      -0.001139142674738025,
      0.0001597005588775957,
      0.0001597005588775957
    ],
    "min_front_frame": [
      0,
      22.73665921766885
    ],
    "v_avg": 12.879554524921971,
    "v_std": 0.5244430842125019,
    "vy_max": 0.0470766193510872,
    "a_max": 0.6874626606343132,
    "ax_avg": 0.32533867544765604,
    "a_std": 0.2113798749355312,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "8564551c362e5f26",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.7465039059314393,
    "right_rear_min": 3.567461367673823,
    "speed_mode": "accelerating",
    "front_frame": [
      22.73665921766885,
      50.33758778566233,
      50.64837056285082,
      48.76233043630668,
      46.624257768017685,
      44.65388867935964,
      42.62320490429988,
      40.547655189301594,
      38.28660106283804,
      36.01725310717708
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "8564551c362e5f26",
    "merging_vehicles": "No"
  },
  "2b610cc56f635751": {
    "vx_ego": [
      2.953696638300296,
      3.110760712447654,
      3.2981010202200896,
      3.438604111792952,
      3.435106199602104,
      3.414976602374398,
      3.5265856682512706,
      3.646559235804764,
      3.6508037759740044,
      3.620820969143285
    ],
    "vy_ego": [
      -0.0026651196908591412,
      0.024623694188300016,
      0.004725917594838869,
      -0.03428767394217247,
      -0.048566939422480804,
      -0.017859219682290206,
      0.013897394374109917,
      0.007323281577410259,
      -0.0357339741035505,
      -0.08482580453230582
    ],
    "v_ego": [
      2.9536978406684455,
      3.1108581671981312,
      3.2981044061511926,
      3.438775055484694,
      3.4354495120944035,
      3.415023301017469,
      3.5266130512271476,
      3.6465665893667825,
      3.6509786533984667,
      3.621814449651206
    ],
    "ax_ego": [
      0.2714876873967934,
      0.3500882197620693,
      0.3935459905185713,
      0.1793992303602271,
      -0.16655051057569273,
      0.10056509106768396,
      0.3526862623413769,
      0.11828119154026363,
      -0.09837583468766437,
      0.009981793717408122
    ],
    "ay_ego": [
      0.7341540351097022,
      0.7000899445814822,
      0.7197403642411098,
      0.7807503509275081,
      0.8834511702674361,
      0.8609259238670259,
      0.9560365203861504,
      0.9040284797375786,
      0.8354132564623006,
      0.8411263138716776
    ],
    "a_ego": [
      0.7827437075287906,
      0.782743695037065,
      0.8203076487337959,
      0.8010962453583644,
      0.899013371880489,
      0.8667795474789098,
      1.0190159115324886,
      0.9117334766524821,
      0.8411855407241855,
      0.841185539636276
    ],
    "yaw": [
      0.7518746195103871,
      0.8613706306038434,
      0.978415791577254,
      1.1002447126025925,
      1.2237419435505248,
      1.3431247613986068,
      1.4658119639216247,
      1.5960498271297328,
      1.7258857409758597,
      1.8549696265303481
    ],
    "yaw_diff": [
      0.2189920221869126,
      0.2340903219468211,
      0.24365784205067698,
      0.2469944618958646,
      0.23876563569616405,
      0.2453744050460358,
      0.2604757264162161,
      0.25967182769225383,
      0.25816777110897693,
      0.25816777110897693
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.409788102625794,
    "v_std": 0.22004931585749754,
    "vy_max": 0.08482580453230582,
    "a_max": 1.0190159115324886,
    "ax_avg": 0.15111091214410363,
    "a_std": 0.06863210652183485,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "2b610cc56f635751",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "2b610cc56f635751",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "46369836a9b654ee": {
    "vx_ego": [
      8.500475606071292,
      8.506269583876595,
      8.55167720269387,
      8.629690592450695,
      8.733605045893121,
      8.896143573931088,
      9.126007647166004,
      9.405962671783689,
      9.707763094620834,
      10.022648715363026
    ],
    "vy_ego": [
      -0.042059460067090715,
      -0.05275445212509178,
      -0.032417153305773994,
      0.004318563277224463,
      0.06316626436993111,
      0.022881716023926302,
      -0.008260323404134517,
      -0.01685942560429643,
      -0.03154585323318315,
      -0.07115364775100819
    ],
    "v_ego": [
      8.500579658328851,
      8.506433169419665,
      8.551738644913238,
      8.629691673021743,
      8.733833469594222,
      8.896173000842754,
      9.126011385543803,
      9.405977781348405,
      9.707814349385679,
      10.022901282221449
    ],
    "ax_ego": [
      0.010024688960189487,
      0.01715127390543074,
      0.16462687445646648,
      0.14900331327263888,
      0.2733688740275721,
      0.37864543941850387,
      0.5406512828968904,
      0.5781585117890526,
      0.6283499328230611,
      0.6297886929445352
    ],
    "ay_ego": [
      0.33773220680925947,
      0.33744536114249174,
      0.031695957078406584,
      -0.32620597402445506,
      -0.4962940473528106,
      -0.3447527924337156,
      -0.26249108286748324,
      -0.17918223548659137,
      -0.21481222648743897,
      -0.2105567314458076
    ],
    "a_ego": [
      0.3378809522672164,
      0.33788095233849125,
      0.16765035487114655,
      0.3586256054096913,
      0.5666024379800499,
      0.5120809083370288,
      0.6010036424872959,
      0.6052879796164008,
      0.6640541624952261,
      0.6640541656506102
    ],
    "yaw": [
      1.88487097201345,
      1.9059804224278785,
      1.914434364274347,
      1.901590611251184,
      1.8710749098171822,
      1.851763686291451,
      1.8383425462901464,
      1.8273485995517689,
      1.8185730515973302,
      1.8118083264637401
    ],
    "yaw_diff": [
      0.04221890082885693,
      0.016907883692937276,
      -0.02568750604632619,
      -0.06103140286800368,
      -0.03862244705146223,
      -0.026842280002609353,
      -0.021987893476755005,
      -0.01755109590887738,
      -0.01352945026718011,
      -0.01352945026718011
    ],
    "min_front_frame": [
      8,
      19.913587093688154
    ],
    "v_avg": 9.008115441461982,
    "v_std": 0.5138177178514302,
    "vy_max": 0.07115364775100819,
    "a_max": 0.6640541656506102,
    "ax_avg": 0.3369768884494341,
    "a_std": 0.1610238565738426,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "46369836a9b654ee",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      32.85668897086103,
      28.625983512624817,
      29.922258149838107,
      36.38810078617828,
      32.1499323690835,
      27.777113170525254,
      23.32383167223195,
      24.6234395582888,
      19.913587093688154,
      22.043781187083308
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "46369836a9b654ee",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "21747e180852591a": {
    "vx_ego": [
      6.16073747599888,
      5.548328022149537,
      4.946179104005136,
      4.419941875558282,
      3.9869964743475834,
      3.575672940492441,
      3.0901206414616516,
      2.525672850504824,
      1.9618307072402137,
      1.4092350801474929
    ],
    "vy_ego": [
      0.030831915039346125,
      0.008596248562039221,
      -0.0068539751426399675,
      -0.013552039117999959,
      -0.008534748791804825,
      -0.012938507613295291,
      -0.020318324662771392,
      -0.007564084495543355,
      0.011894057782451117,
      0.02760663414783948
    ],
    "v_ego": [
      6.160814625937227,
      5.548334681402983,
      4.946183852817473,
      4.419962651547853,
      3.9870056092758386,
      3.5756963492932563,
      3.090187439801099,
      2.5256841772382033,
      1.961866762163315,
      1.409505458438272
    ],
    "ax_ego": [
      -1.2248083100452243,
      -1.2247620941696677,
      -1.1838396843399912,
      -0.9211713987408338,
      -0.8106512388462211,
      -0.834654354100592,
      -1.1076647851034258,
      -1.1501845113346785,
      -1.1051816976087985,
      -1.1051870535329926
    ],
    "ay_ego": [
      -0.05389642441677123,
      -0.054936712350407146,
      -0.04033921179935357,
      -0.006473805427322954,
      0.01389755269641546,
      -0.04379704921099925,
      -0.0027305210509633304,
      0.045563653645296465,
      0.03093515120392537,
      0.030743013698249944
    ],
    "a_ego": [
      1.2259935647958153,
      1.2259935683676084,
      1.184526762140393,
      0.9211941467545562,
      0.8107703577548101,
      0.8358026515503927,
      1.1076681506224815,
      1.151086641677203,
      1.105614565890607,
      1.1056145604089107
    ],
    "yaw": [
      1.0976389193451903,
      1.09678955654294,
      1.0951931175029812,
      1.0941167854205618,
      1.093362223786476,
      1.0925506904293862,
      1.0912878319198578,
      1.0905605649901688,
      1.0904115831535994,
      1.0902377299993442
    ],
    "yaw_diff": [
      -0.0016987256045006838,
      -0.003192878079917527,
      -0.0021526641648388356,
      -0.0015091232681716527,
      -0.0016230667141794441,
      -0.0025257170190569056,
      -0.0014545338593778823,
      -0.00029796367313883465,
      -0.0003477063085104426,
      -0.0003477063085104426
    ],
    "min_front_frame": [
      9,
      15.336699044655983
    ],
    "v_avg": 3.762524160791552,
    "v_std": 1.47038642711432,
    "vy_max": 0.030831915039346125,
    "a_max": 1.2259935683676084,
    "ax_avg": -1.0668105127822427,
    "a_std": 0.1471191525074245,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "21747e180852591a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.451636916975383,
    "right_rear_min": 27.370518135993333,
    "speed_mode": "decelerating",
    "front_frame": [
      27.810432286504184,
      26.125071095589934,
      24.687525564859865,
      23.097237141071624,
      21.716579276549133,
      20.218120455086826,
      18.500376327651892,
      17.238610394536394,
      16.194536368330645,
      15.336699044655983
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "21747e180852591a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "28cd9541bc35593f": {
    "vx_ego": [
      2.9192364362177927,
      2.993003909742517,
      3.1250380400710305,
      3.2838930720006605,
      3.450478608381694,
      3.614201885069177,
      3.8011320132043283,
      3.9889150848789017,
      4.089230772794831,
      4.123607034974839
    ],
    "vy_ego": [
      0.022560894360389716,
      0.02348360930635901,
      0.04513217655571189,
      0.054475257928379595,
      0.04499219151468359,
      0.015538788787635927,
      0.0054005218230333,
      0.019213524533478354,
      0.012788099363835626,
      0.010856324147179519
    ],
    "v_ego": [
      2.9193236142120145,
      2.993096036487979,
      3.125363925249609,
      3.2843448756274514,
      3.4507719316403636,
      3.614235288410894,
      3.8011358496432024,
      3.988961357784687,
      4.089250768619791,
      4.123621325809145
    ],
    "ax_ego": [
      0.06006380825591344,
      0.24905686078958345,
      0.30041865822837693,
      0.3550700659206242,
      0.32239877839713216,
      0.32836396203042256,
      0.4184234521434822,
      0.3324950999160008,
      0.06873085236003995,
      0.06873358531970315
    ],
    "ay_ego": [
      -1.0657885136915224,
      -1.0380190267316494,
      -1.0079203730954682,
      -0.8766094420732701,
      -0.6767608078111146,
      -0.29854979923283625,
      -0.1465926831249168,
      -0.01771987086016999,
      0.0032146606454406534,
      0.0031556711747571867
    ],
    "a_ego": [
      1.067479656470786,
      1.0674796577749304,
      1.051738964150633,
      0.9457900748289159,
      0.7496306846048363,
      0.4437959826116992,
      0.4433594479081631,
      0.33296694324129605,
      0.06880598890505793,
      0.06880598819480835
    ],
    "yaw": [
      -1.5110702894813755,
      -1.6902569287508857,
      -1.8644639344664495,
      -2.014441871579444,
      -2.126702698807875,
      -2.1873858982895262,
      -2.214747867337683,
      -2.2288015145057685,
      -2.228114114490214,
      -2.2272558585739723
    ],
    "yaw_diff": [
      -0.35837327853902057,
      -0.3484140114311276,
      -0.2999558742259887,
      -0.22452165445686223,
      -0.12136639896330248,
      -0.054723938096313596,
      -0.028107294336170874,
      0.0013748000311091246,
      0.0017165118324831141,
      0.0017165118324831141
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5390104973485137,
    "v_std": 0.4297833134124007,
    "vy_max": 0.054475257928379595,
    "a_max": 1.0674796577749304,
    "ax_avg": 0.25037551233612787,
    "a_std": 0.38235147061424246,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "28cd9541bc35593f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "28cd9541bc35593f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "db29291cd4ee5499": {
    "vx_ego": [
      7.817358987734968,
      7.120717324065899,
      6.4362888304378965,
      5.681129880941432,
      4.872700830625862,
      4.122299236663149,
      3.47714804896051,
      2.9607145225512523,
      2.531273127942858,
      2.1371831004375283
    ],
    "vy_ego": [
      -0.0034426315301896437,
      0.02019150864698327,
      0.01066083247487093,
      -0.014433286541758683,
      -0.026708828440236143,
      -0.02164198873218437,
      -0.036850210014118145,
      -0.04453963757237167,
      -0.027486951573030938,
      -0.00887013348822041
    ],
    "v_ego": [
      7.817359745773028,
      7.120745951533004,
      6.43629765953756,
      5.681148215271804,
      4.872774029882631,
      4.12235604627619,
      3.47734330953502,
      2.961049520585728,
      2.5314223631690544,
      2.137201507594421
    ],
    "ax_ego": [
      -1.3932264064096136,
      -1.3932315423740045,
      -1.3442843658812584,
      -1.6763200187502871,
      -1.55681772236805,
      -1.4445784119463596,
      -1.1359642216648593,
      -0.9292737071203112,
      -0.7881986489365802,
      -0.7882295489164609
    ],
    "ay_ego": [
      0.003810192211855634,
      -0.0004412632146931772,
      -0.08844244583560978,
      0.002524597697750375,
      0.05869164672371885,
      0.012724592379852462,
      -0.061831675716304546,
      0.059440214492249344,
      0.033210708837903946,
      0.03246887332005427
    ],
    "a_ego": [
      1.393231616452102,
      1.3932316122522745,
      1.3471906036556824,
      1.676321919816268,
      1.557923659899414,
      1.444634453248537,
      1.1376457572656509,
      0.9311727883932233,
      0.7888980044130968,
      0.7888979969043661
    ],
    "yaw": [
      0.5551591249951775,
      0.5521076090123282,
      0.5502337866816296,
      0.5508263330323524,
      0.5560676216637707,
      0.5589197013252803,
      0.5596991051113931,
      0.5619200105234174,
      0.5641594679359545,
      0.563218292541112
    ],
    "yaw_diff": [
      -0.006103031965698502,
      -0.0037476446613973202,
      0.0011850927014456225,
      0.010482577262836523,
      0.0057041593230193754,
      0.0015588075722254846,
      0.004441810824048709,
      0.004478914825074121,
      -0.0018823507896850167,
      -0.0018823507896850167
    ],
    "min_front_frame": [
      2,
      21.17674963012199
    ],
    "v_avg": 4.715769834915845,
    "v_std": 1.8895995313095442,
    "vy_max": 0.04453963757237167,
    "a_max": 1.676321919816268,
    "ax_avg": -1.2450124594367784,
    "a_std": 0.3007098307778605,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "db29291cd4ee5499",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.001480589911706,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      28.216833906484062,
      24.533995992742685,
      21.17674963012199,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "db29291cd4ee5499",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a5ad1e9de54e5ad0": {
    "vx_ego": [
      0.9402958023831764,
      0.9915637119985621,
      1.0745715426984614,
      1.1519280785554729,
      1.2324123356531878,
      1.5562347495673514,
      2.1389078700536346,
      2.764233575987179,
      3.212101274353988,
      3.5189529947024973
    ],
    "vy_ego": [
      0.011880907213546787,
      0.0036914969210593562,
      -0.01429305853827123,
      -0.006308830254626141,
      0.026198871882723185,
      0.027131920417989508,
      0.017599974895176396,
      -0.011925207944856964,
      -0.061054229249720704,
      -0.13920236074433218
    ],
    "v_ego": [
      0.9403708587231095,
      0.9915705835198448,
      1.0746665956936272,
      1.1519453543912945,
      1.232690774670628,
      1.5564712451139355,
      2.138980279407383,
      2.7642592991974166,
      3.2126814681221965,
      3.5217051943855933
    ],
    "ax_ego": [
      0.10253750603477171,
      0.10254148656930046,
      0.2294936125991492,
      0.08011156051390683,
      0.24153573077424118,
      1.0512440344391492,
      1.2802443520160738,
      1.230377567342881,
      0.5922242740136745,
      0.6810000528771971
    ],
    "ay_ego": [
      -0.016848629540688637,
      -0.01682434202267751,
      -0.05125051487450619,
      0.09042248000472963,
      0.0656436996333235,
      0.052984044278776565,
      0.26448204580599216,
      0.49578997156053045,
      0.7380502777069097,
      0.657028734172392
    ],
    "a_ego": [
      0.10391254236727254,
      0.10391253510687755,
      0.2351466212785341,
      0.1208059891651862,
      0.2502970326276297,
      1.0525784193550778,
      1.3072782234179454,
      1.3265129679428607,
      0.946281038145788,
      0.946281052091249
    ],
    "yaw": [
      1.0305581692950294,
      1.0303212681417921,
      1.0312707803053232,
      1.0328687367371456,
      1.0384223799259655,
      1.060634494226039,
      1.1094983785014634,
      1.1987842938343933,
      1.3152094745624263,
      1.4423079700296801
    ],
    "yaw_diff": [
      -0.0004738023064745356,
      0.0018990243270620155,
      0.0031959128636449563,
      0.011107286377639802,
      0.04442422860014705,
      0.09772776855084864,
      0.1785718306658599,
      0.23285036145606597,
      0.25419699093450765,
      0.25419699093450765
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.858534165322503,
    "v_std": 0.9322085931928943,
    "vy_max": 0.13920236074433218,
    "a_max": 1.3265129679428607,
    "ax_avg": 0.5591310177180345,
    "a_std": 0.49340744978944445,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "a5ad1e9de54e5ad0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.837285665211019,
    "right_rear_min": 7.147817590805352,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "a5ad1e9de54e5ad0",
    "pedestrians": "No"
  },
  "7fef3d49daa652cb": {
    "vx_ego": [
      7.392839402886932,
      7.413457831445015,
      7.455188832775944,
      7.507627549007847,
      7.503608541367315,
      7.328675768939954,
      6.953127316513634,
      6.479366234086203,
      6.035076901713785,
      5.643863735026828
    ],
    "vy_ego": [
      0.027945074611342324,
      0.01982876097983377,
      -0.004869312291707839,
      -0.0019236870040320042,
      0.03309784350441358,
      0.014414909417091781,
      0.003625531446357577,
      0.006342610096406354,
      0.013387951020125577,
      -0.006818018759259914
    ],
    "v_ego": [
      7.392892219157036,
      7.4134843493714495,
      7.455190422956971,
      7.507627795461977,
      7.50368153704068,
      7.328689945403689,
      6.9531282617341645,
      6.479369338455654,
      6.035091751318431,
      5.643867853248407
    ],
    "ax_ego": [
      0.04102320161942477,
      0.042277592591843556,
      0.12555865732095584,
      0.08296172860655036,
      -0.09803451239344645,
      -0.6012186351740205,
      -0.9010184940262186,
      -0.994019714247792,
      -0.7832811695916765,
      -0.7816777715922425
    ],
    "ay_ego": [
      -0.1448192867581232,
      -0.1444580713470203,
      -0.2611856093910907,
      -0.07722068477834014,
      -0.12767025394804515,
      -0.11151074123888535,
      0.034804070767460504,
      0.07791103786997094,
      0.11280753907183327,
      0.12342930839034694
    ],
    "a_ego": [
      0.15051753681295577,
      0.15051753789064817,
      0.2897980313619067,
      0.11333879552484528,
      0.1609672617751173,
      0.6114723973264514,
      0.9016904401840253,
      0.9970683638222798,
      0.7913627054065334,
      0.7913627062043885
    ],
    "yaw": [
      -2.083044837565252,
      -2.091717361393111,
      -2.10205047843132,
      -2.113743990563407,
      -2.125199960650901,
      -2.1306969509198086,
      -2.131865361149126,
      -2.128080855648849,
      -2.1215594390102703,
      -2.107985145355798
    ],
    "yaw_diff": [
      -0.017345047655718204,
      -0.0206662340764181,
      -0.023387024264173384,
      -0.02291194017498821,
      -0.010993980537815418,
      -0.002336820458634925,
      0.007569011000554404,
      0.013042833277157051,
      0.027148587308944983,
      0.027148587308944983
    ],
    "min_front_frame": [
      3,
      21.829981774369735
    ],
    "v_avg": 6.971302347414846,
    "v_std": 0.647078827861625,
    "vy_max": 0.03309784350441358,
    "a_max": 0.9970683638222798,
    "ax_avg": -0.38674291168866215,
    "a_std": 0.3381387371090768,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7fef3d49daa652cb",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 16.96401422161323,
    "speed_mode": "decelerating",
    "front_frame": [
      32.906549364106965,
      29.216949213439072,
      25.522344656730894,
      21.829981774369735,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7fef3d49daa652cb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e6fd7389cbfb5943": {
    "vx_ego": [
      -0.43838571318869024,
      -0.5649310158930526,
      -0.6656716796825557,
      -0.7000019650567708,
      -0.6179470909592061,
      -0.41478084746278765,
      -0.18605625449593652,
      -0.04654076687997178,
      0.0777366737515861,
      0.2564160315178817
    ],
    "vy_ego": [
      0.008570756837456311,
      -0.004371261824604872,
      -0.004823160733676085,
      0.0025464644256896762,
      -0.0025392543725674677,
      -0.0038356111049203945,
      -0.0017895642968112219,
      -0.0017780136417502226,
      0.004252236500412801,
      0.0029434361308357526
    ],
    "v_ego": [
      0.4384694874226978,
      0.5649479273772899,
      0.6656891526912977,
      0.7000065968006387,
      0.6179523080608357,
      0.4147985816447502,
      0.18606486067344666,
      0.04657471754381478,
      0.07785288665949375,
      0.256432925022579
    ],
    "ax_ego": [
      -0.25308628032564995,
      -0.2530989245657221,
      -0.1496884373815495,
      0.01236207010688534,
      0.3158206202628221,
      0.49687213387322604,
      0.4180263276977121,
      0.14004609700663842,
      0.3570493696475261,
      0.3571942301223301
    ],
    "ay_ego": [
      -0.026425935172276885,
      -0.02630455759827073,
      0.012902831967399761,
      0.0018048131557471831,
      -0.028838366648445385,
      0.022085602707135304,
      -0.013886430143685763,
      0.013769674780933258,
      0.010253019540982164,
      0.001287585224571841
    ],
    "a_ego": [
      0.25446216877721306,
      0.2544621688321583,
      0.15024350687636726,
      0.012493123222585546,
      0.3171345386017484,
      0.497362736105823,
      0.4182569109896099,
      0.1407214028865739,
      0.3571965520205976,
      0.35719655080696766
    ],
    "yaw": [
      -0.3625489426825319,
      -0.36206933351769033,
      -0.35745552220635946,
      -0.3522034413640569,
      -0.3498033124373583,
      -0.34907634582656816,
      -0.34908925105100497,
      -0.34858973469830057,
      -0.3464579562743386,
      -0.3213545640146893
    ],
    "yaw_diff": [
      0.0009592183296831536,
      0.009227622622661746,
      0.010504161684605107,
      0.004800257853397216,
      0.0014539332215802725,
      -2.581044887361994e-05,
      0.0009990327054087977,
      0.0042635568479238994,
      0.05020678451929861,
      0.05020678451929861
    ],
    "min_front_frame": [
      0,
      8.617901353426335
    ],
    "v_avg": 0.39687894438968446,
    "v_std": 0.23064586332426687,
    "vy_max": 0.008570756837456311,
    "a_max": 0.497362736105823,
    "ax_avg": 0.14414972064442183,
    "a_std": 0.13732985931012331,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "e6fd7389cbfb5943",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.617901353426335,
      8.877730938230936,
      9.197367675179164,
      9.612392877848183,
      9.854949310443073,
      10.04801542899272,
      10.12250735069477,
      10.090797244492368,
      10.035989300050142,
      9.857945024437328
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "e6fd7389cbfb5943",
    "maneuvering": "Yes"
  },
  "f40843145ae35cd8": {
    "vx_ego": [
      4.512125775222043,
      4.3535549670454285,
      4.240369702529359,
      4.179608485655257,
      4.1932981791969395,
      4.260520371017284,
      4.276309135504507,
      4.195833752887743,
      4.1624639318064185,
      4.225284234576774
    ],
    "vy_ego": [
      -0.14549175310880358,
      -0.006439568233676418,
      0.01762032468469532,
      0.022889833127357484,
      0.03159376883601128,
      0.01598064838219493,
      0.01382780596212596,
      -0.007305261783010053,
      -0.04175184575433111,
      0.040940310060406215
    ],
    "v_ego": [
      4.514470828529718,
      4.353559729591976,
      4.240406311896411,
      4.179671163838375,
      4.193417196736527,
      4.260550341561049,
      4.276331492134003,
      4.195840112387716,
      4.162673323744399,
      4.225482572671538
    ],
    "ax_ego": [
      -0.32723787280288597,
      -0.2915696969422592,
      -0.1525603977327007,
      -0.09175309355228228,
      0.12296102793450114,
      0.12040059122918642,
      -0.06780065946224084,
      -0.2550655128772035,
      0.12093261637222683,
      0.13015238667084866
    ],
    "ay_ego": [
      0.7103668262985252,
      0.7257360160282875,
      0.9563592402230501,
      1.097417925276199,
      0.9200801212543347,
      0.5453741708307213,
      0.14926241039918434,
      -0.12398079845830104,
      -0.210184298396026,
      -0.20460325808254295
    ],
    "a_ego": [
      0.7821161379884682,
      0.7821161378820998,
      0.9684511713640339,
      1.1012468991529243,
      0.9282601165180482,
      0.5585063012873126,
      0.16393961260686593,
      0.283601223984786,
      0.24249151942874597,
      0.24249151938595664
    ],
    "yaw": [
      -1.3143431333701596,
      -1.2646797757810853,
      -1.1721052318253156,
      -1.0513270298709754,
      -0.93230510093593,
      -0.8420055039602885,
      -0.8010479384752212,
      -0.7946026965894538,
      -0.8064837084994898,
      -0.8509317723084069
    ],
    "yaw_diff": [
      0.09932671517814873,
      0.1851490879115394,
      0.24155640390868038,
      0.23804385787009075,
      0.180599193951283,
      0.0819151309701347,
      0.012890483771534678,
      -0.023762023820071976,
      -0.08889612761783416,
      -0.08889612761783416
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.2602403073091715,
    "v_std": 0.09991276130245658,
    "vy_max": 0.14549175310880358,
    "a_max": 1.1012468991529243,
    "ax_avg": -0.06915406111628093,
    "a_std": 0.33292821400009764,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "f40843145ae35cd8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "f40843145ae35cd8",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "8a4a0c6823cd5e33": {
    "vx_ego": [
      10.527078008509392,
      10.627335837286381,
      10.699913952288403,
      10.805434024439691,
      10.954301473264772,
      11.042101838414727,
      11.06019896244945,
      11.034207379055387,
      10.971034019258465,
      10.889585762042577
    ],
    "vy_ego": [
      -0.003212365742553125,
      0.007582968395051237,
      0.014575579568782304,
      0.02080362675183367,
      0.013125859992870859,
      -0.0049003798689336575,
      -0.02715970627699804,
      -0.0028641396332703684,
      0.01638881069282022,
      0.007032205084778864
    ],
    "v_ego": [
      10.52707849864034,
      10.627338542639974,
      10.69992387981783,
      10.805454050959865,
      10.954309337213886,
      11.042102925785683,
      11.060232309432426,
      11.034207750776499,
      10.971046260263533,
      10.889588032647918
    ],
    "ax_ego": [
      0.2004927466860082,
      0.20053046160489185,
      0.08972933641684945,
      0.3322535246293512,
      0.2629183231518483,
      0.08821678361653089,
      -0.014200898585096213,
      -0.0881696668271953,
      -0.16561310545830935,
      -0.16087139363683056
    ],
    "ay_ego": [
      0.041122542408775914,
      0.040938284425173756,
      0.03422180393635287,
      0.09744871054048226,
      0.1342629085373966,
      0.1507813720715586,
      0.29291990284685426,
      0.4070003510225414,
      0.31149119521872864,
      0.31396634344593755
    ],
    "a_ego": [
      0.2046665702254802,
      0.20466658047455485,
      0.09603377363441636,
      0.34624941272820897,
      0.29521614667545043,
      0.17469179452804193,
      0.29326393403286866,
      0.41644108332498914,
      0.3527810445564461,
      0.35278105123074355
    ],
    "yaw": [
      -1.6725015462421595,
      -1.671582600775095,
      -1.6704777131959694,
      -1.6679885623559174,
      -1.6619633739149502,
      -1.6538611504215184,
      -1.6418235864725026,
      -1.6281951456280064,
      -1.6136326032147668,
      -1.5984704711482653
    ],
    "yaw_diff": [
      0.001837890934129227,
      0.0022097751582510483,
      0.004978301680103936,
      0.012050376881934444,
      0.01620444698686363,
      0.024075127898031567,
      0.02725688168899243,
      0.02912508482647924,
      0.03032426413300282,
      0.03032426413300282
    ],
    "min_front_frame": [
      6,
      19.116319944444232
    ],
    "v_avg": 10.861128158817795,
    "v_std": 0.17867813118166256,
    "vy_max": 0.02715970627699804,
    "a_max": 0.41644108332498914,
    "ax_avg": 0.07452861115980484,
    "a_std": 0.09481080441506609,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8a4a0c6823cd5e33",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      51.43378115089739,
      46.1763925531101,
      40.88323587449287,
      35.49478245986226,
      30.081341886334755,
      24.601609233253537,
      19.116319944444232,
      19.976073613029705,
      51.561777655695934,
      46.06766633615523
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8a4a0c6823cd5e33",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f66d06ec0f355fac": {
    "vx_ego": [
      4.26842536740165,
      4.211742811193664,
      4.215800814604078,
      4.285668755315161,
      4.438650465733056,
      4.687037677575098,
      5.020005768697592,
      5.326946537446142,
      5.597578739043837,
      5.868036853427603
    ],
    "vy_ego": [
      -0.021015259645519535,
      -0.017326372225247022,
      -0.002028153148367462,
      -0.005440914671012376,
      0.012720910813400169,
      0.044975820896808294,
      0.08065649969679534,
      0.12055871416704722,
      0.06997108785598893,
      -0.007060606465281616
    ],
    "v_ego": [
      4.26847710058469,
      4.211778449873164,
      4.215801302459783,
      4.285672209098248,
      4.4386686943862115,
      4.687253461833904,
      5.020653681414447,
      5.328310596837524,
      5.598016049720771,
      5.868041101197927
    ],
    "ax_ego": [
      -0.20832656218817353,
      -0.028367804667695118,
      0.03536948619897318,
      0.24972069805455283,
      0.3571961151117757,
      0.6484163831852088,
      0.6984957688936823,
      0.5562189296670497,
      0.5369592788648057,
      0.5478261078095688
    ],
    "ay_ego": [
      -1.2197126953816286,
      -1.237050638869604,
      -1.189636455814668,
      -1.2963059017688825,
      -1.1993201557015931,
      -1.1451437987215165,
      -0.9081882070572211,
      -0.7269741415703638,
      -0.4450026261056599,
      -0.43155435310596213
    ],
    "a_ego": [
      1.2373758587382657,
      1.2373758586094041,
      1.1901621307860808,
      1.3201399236435845,
      1.251382395801954,
      1.315978011113154,
      1.1457321495882824,
      0.9153528828992268,
      0.697389851087572,
      0.6973898508599667
    ],
    "yaw": [
      0.5979259003822295,
      0.45168639521420245,
      0.3040713181668898,
      0.15800546168119,
      0.010627612819911484,
      -0.12577354230463952,
      -0.23891533542142718,
      -0.32529392496447607,
      -0.3696455187741645,
      -0.39443859645325446
    ],
    "yaw_diff": [
      -0.29247901033605406,
      -0.2952301540946253,
      -0.2921317129713996,
      -0.29475569772255705,
      -0.272802310249102,
      -0.2262835862335753,
      -0.17275717908609778,
      -0.0887031876193769,
      -0.049586155358179895,
      -0.049586155358179895
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.7922672647406666,
    "v_std": 0.59011507903033,
    "vy_max": 0.12055871416704722,
    "a_max": 1.3201399236435845,
    "ax_avg": 0.3393508400929748,
    "a_std": 0.2289688139163828,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f66d06ec0f355fac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f66d06ec0f355fac",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "74f87045b75156f4": {
    "vx_ego": [
      5.107567769657109,
      4.39969912815724,
      3.744898800883982,
      3.2124775457760055,
      2.8175013254916976,
      2.482462665872802,
      2.047722407119323,
      1.520515223010581,
      0.9708809319633768,
      0.3997082345136183
    ],
    "vy_ego": [
      0.03246068783114735,
      0.016546235535444015,
      0.011685074644066457,
      -0.01696919491543218,
      -0.034221431348454165,
      0.00959660071725154,
      0.02908124077463778,
      0.0007535054274632434,
      -0.024300774867327315,
      -0.030559741092592664
    ],
    "v_ego": [
      5.107670919107315,
      4.399730241300934,
      3.744917031101186,
      3.2125223634538496,
      2.8177091449457676,
      2.4824812148730606,
      2.0479288989570774,
      1.5205154097138727,
      0.9711850038531421,
      0.4008747566430692
    ],
    "ax_ego": [
      -1.4157408881811617,
      -1.4157441911045556,
      -1.2034456618944016,
      -0.9261375683953663,
      -0.6538831861097215,
      -0.6863090989637703,
      -1.0526027011485881,
      -1.0561960237158803,
      -1.1423544984555913,
      -1.1423525963473018
    ],
    "ay_ego": [
      -0.03088563312502912,
      -0.03073386725840391,
      0.006390204950870022,
      -0.14289625724170427,
      0.06722781232395521,
      0.10205140288962558,
      -0.027318136418993666,
      -0.08836951803874464,
      -0.01263676272445672,
      -0.01280657327520569
    ],
    "a_ego": [
      1.416077746736216,
      1.41607774689208,
      1.2034626275259936,
      0.937096652393428,
      0.657330053950727,
      0.6938549330747767,
      1.052957134475431,
      1.0598864147783178,
      1.1424243904582394,
      1.142424379423196
    ],
    "yaw": [
      1.5920879278131246,
      1.5921951249995618,
      1.5918923993823892,
      1.5903034898834565,
      1.5897449862234072,
      1.5891804763909958,
      1.588833714778698,
      1.5885007607837072,
      1.5883437406311725,
      1.5881950924637516
    ],
    "yaw_diff": [
      0.00021439437287451568,
      -0.000605451234345189,
      -0.0031778189978655114,
      -0.001117007320098562,
      -0.0011290196648228168,
      -0.0006935232245957046,
      -0.0006659079899815623,
      -0.0003140403050694296,
      -0.0002972963348417679,
      -0.0002972963348417679
    ],
    "min_front_frame": [
      9,
      15.049418268487456
    ],
    "v_avg": 2.670553498394928,
    "v_std": 1.420709351628049,
    "vy_max": 0.034221431348454165,
    "a_max": 1.41607774689208,
    "ax_avg": -1.0694766414316337,
    "a_std": 0.24446543463736853,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "74f87045b75156f4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.61739548338441,
      24.355442578430935,
      22.27861613556715,
      20.621508137734804,
      19.203158091120432,
      17.942607236606744,
      16.804037227128823,
      16.010398581146916,
      15.456326849001757,
      15.049418268487456
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "74f87045b75156f4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "be527ba55a8a548b": {
    "vx_ego": [
      2.941978696809374,
      3.3952134664050995,
      3.782862441173113,
      3.932495737016779,
      3.835294630779151,
      3.648191294892274,
      3.482056477689561,
      3.3743041066243915,
      3.4409178553546025,
      3.7151367678115848
    ],
    "vy_ego": [
      0.032986973327387606,
      -0.005917648781108176,
      -0.0259779590613243,
      -0.03480562810394019,
      -0.04723296501500954,
      -0.04751619410090552,
      -0.031644487006860844,
      -0.018171932056316065,
      -0.04505280706354542,
      0.01369527912458457
    ],
    "v_ego": [
      2.942163624424971,
      3.395218623450577,
      3.7829516390241094,
      3.9326497623616126,
      3.8355854648107495,
      3.6485007212318874,
      3.482200265260136,
      3.3743530377091386,
      3.441212786609166,
      3.7151620104937293
    ],
    "ax_ego": [
      0.9062320108319792,
      0.9061022041445584,
      0.6444451495734509,
      -0.04570227688960445,
      -0.34690246244825107,
      -0.39892652341942625,
      -0.2848437319452055,
      -0.1453662881937859,
      0.40269870401047486,
      0.6704248859786341
    ],
    "ay_ego": [
      -0.00795749688263719,
      -0.017279218665609126,
      -0.08748357441204302,
      -0.3471834291808344,
      -0.5315181315892947,
      -0.9624261723449465,
      -1.0108528563193975,
      -1.2196675227650584,
      -1.3745695892462153,
      -1.2657560113203283
    ],
    "a_ego": [
      0.9062669469936602,
      0.9062669450847918,
      0.6503559998959454,
      0.3501785710329196,
      0.6347068950790081,
      1.0418284447556876,
      1.050218762333618,
      1.2282997288248065,
      1.4323434650572555,
      1.432343467165963
    ],
    "yaw": [
      -1.5353923479489682,
      -1.5251054610403791,
      -1.526798121764974,
      -1.5521112755295614,
      -1.6049475493433973,
      -1.7044327459124147,
      -1.8475871033613207,
      -2.0146396984332533,
      -2.200285938315269,
      -2.4023930141032137
    ],
    "yaw_diff": [
      0.020573773817178065,
      -0.003385321449189682,
      -0.05062630752917485,
      -0.10567254762767186,
      -0.19897039313803466,
      -0.28630871489781207,
      -0.3341051901438652,
      -0.37129247976403157,
      -0.40421415157588925,
      -0.40421415157588925
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5549997935376076,
    "v_std": 0.2756234601950282,
    "vy_max": 0.04751619410090552,
    "a_max": 1.432343467165963,
    "ax_avg": 0.23081616716428247,
    "a_std": 0.33350873866701924,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "be527ba55a8a548b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.805811729724421,
    "right_rear_min": 16.56550452756875,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "be527ba55a8a548b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "87ab048362385059": {
    "vx_ego": [
      5.868949777288742,
      5.637940913375468,
      5.3728690828428,
      4.982329311832524,
      4.476709895269903,
      3.9403755930465465,
      3.4537995800099526,
      3.056307278410277,
      2.6180288702385393,
      2.106500468409374
    ],
    "vy_ego": [
      0.02274684701209223,
      0.0049676361343397035,
      -0.013646900084450575,
      0.0014962257166976078,
      0.02217768394497638,
      0.025862883410168486,
      0.002478418788551595,
      -0.012812091544001744,
      -0.021236819126137396,
      -0.06912324886578287
    ],
    "v_ego": [
      5.8689938581827255,
      5.637943101887582,
      5.372886414139978,
      4.982329536495649,
      4.476764829212344,
      3.940460468398993,
      3.4538004692565285,
      3.056334132543981,
      2.6181150028005034,
      2.1076342773220103
    ],
    "ax_ego": [
      -0.46201349348956194,
      -0.46198198417783587,
      -0.5982731812353557,
      -0.9639238290630553,
      -1.0584825564892926,
      -1.087036838455518,
      -0.859580660777502,
      -0.7302686124432773,
      -1.0228482380711186,
      -1.0229849384332996
    ],
    "ay_ego": [
      -0.043664778592217,
      -0.04399691559847936,
      -0.009842236198905337,
      0.05663892085219027,
      0.007317351176413439,
      0.047937862372087324,
      -0.10721386804801956,
      0.060888052616572735,
      -0.08926389252059715,
      -0.08768355122772042
    ],
    "a_ego": [
      0.46407227999088335,
      0.46407228131732875,
      0.5983541334350986,
      0.9655864102144784,
      1.0585078488232138,
      1.0880933447127472,
      0.8662411476514522,
      0.7328025663650941,
      1.0267358767634063,
      1.0267358907807236
    ],
    "yaw": [
      -1.542901172675616,
      -1.5436200835717808,
      -1.5426866651024178,
      -1.543346008828119,
      -1.5443356846566048,
      -1.54193104774252,
      -1.5395962795099063,
      -1.538451116271328,
      -1.537988037366251,
      -1.5364431038379847
    ],
    "yaw_diff": [
      -0.00143782179232943,
      0.0018668369387260242,
      -0.0013186874514024005,
      -0.0019793516569714953,
      0.004809273828169314,
      0.004669536465227608,
      0.0022903264771567677,
      0.000926157810154038,
      0.0030898670565324693,
      0.0030898670565324693
    ],
    "min_front_frame": [
      9,
      14.81187824225739
    ],
    "v_avg": 4.15152620902403,
    "v_std": 1.2532567645925754,
    "vy_max": 0.06912324886578287,
    "a_max": 1.0880933447127472,
    "ax_avg": -0.8267394332635817,
    "a_std": 0.2338462576586783,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "87ab048362385059",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.5181757290213,
      19.25256020659991,
      18.45366881309139,
      17.848117254282524,
      17.18652486070896,
      16.698641840411373,
      16.18377427410678,
      15.682389123313193,
      15.166413098114893,
      14.81187824225739
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "87ab048362385059",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "fb73ca8c7d5f5d34": {
    "vx_ego": [
      5.324804390749362,
      5.727586180141861,
      6.0495793231888575,
      6.102755365266615,
      5.974415334381548,
      5.953201850722837,
      6.122253768493212,
      6.3520279180095685,
      6.60871467637503,
      6.9116695527289425
    ],
    "vy_ego": [
      0.07188547683430224,
      -0.005785129261250521,
      0.013886781400874071,
      -0.03209811407002894,
      -0.0443337465850413,
      -0.03664875480791796,
      -0.03710923393166343,
      -0.0406882749818438,
      -0.011600996004052622,
      0.05476351832207671
    ],
    "v_ego": [
      5.325289599779845,
      5.727589101766345,
      6.049595261689152,
      6.102839776466142,
      5.974579823617694,
      5.953314657119912,
      6.122366233824331,
      6.352158232199035,
      6.608724858612515,
      6.911886504353157
    ],
    "ax_ego": [
      0.7951381538458349,
      0.8207968390106039,
      0.46405279731978066,
      -0.25367180825916413,
      -0.26317145927132984,
      0.17747609176152693,
      0.4984264002344271,
      0.4179771092702039,
      0.6056845736877263,
      0.6075669975322525
    ],
    "ay_ego": [
      -0.6325196851747561,
      -0.5988475358315489,
      -0.4329580300017361,
      -0.2952545976975158,
      -0.07161213547345516,
      0.0024012093261393114,
      -0.22684981824173162,
      -0.24178313327243517,
      -0.11178515306413131,
      -0.10105476015977816
    ],
    "a_ego": [
      1.016034367447743,
      1.0160343606893014,
      0.6346634182330801,
      0.3892616905977212,
      0.2727407467212586,
      0.17749233491386004,
      0.5476218736381482,
      0.48287052861912383,
      0.6159137303623407,
      0.6159137285702491
    ],
    "yaw": [
      -0.44783535388329465,
      -0.48950444578604363,
      -0.5362875972496021,
      -0.5583546292837115,
      -0.5715140482308331,
      -0.5757429928868145,
      -0.5850219020308347,
      -0.6032022259999723,
      -0.6213960906479893,
      -0.6390842771356938
    ],
    "yaw_diff": [
      -0.08333818380549796,
      -0.09356630292711687,
      -0.04413406406821885,
      -0.026318837894243163,
      -0.008457889311962896,
      -0.018557818288040373,
      -0.036360647938275203,
      -0.036387729296033955,
      -0.035376372975409076,
      -0.035376372975409076
    ],
    "min_front_frame": [
      5,
      27.000698725372082
    ],
    "v_avg": 6.112834404942813,
    "v_std": 0.41941138211386564,
    "vy_max": 0.07188547683430224,
    "a_max": 1.016034367447743,
    "ax_avg": 0.38702756951318623,
    "a_std": 0.2624890346551642,
    "ini_direction_judge": "right",
    "scenario_type": "carpark_areas",
    "scene_token": "fb73ca8c7d5f5d34",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      35.8053453858781,
      32.77167916649982,
      29.860275380800463,
      27.000698725372082,
      40.34708429289527,
      37.23797729825416,
      33.995056627970044,
      30.592939610608166
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.625,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.375,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "fb73ca8c7d5f5d34",
    "maneuvering": "Yes"
  },
  "d1dcd412f339598a": {
    "vx_ego": [
      6.14842580357851,
      5.6945419314472705,
      5.2821547405918805,
      4.931490922356696,
      4.602319290722107,
      4.190628059978343,
      3.610170633324131,
      2.840000256127368,
      1.9902412756771846,
      1.1654860819745538
    ],
    "vy_ego": [
      0.013146980124248624,
      0.01671414881753707,
      -0.008119253732104939,
      -0.017708293175694185,
      -0.026119285746084707,
      -0.056567219636737574,
      -0.05128561983467107,
      -0.022774906005422813,
      0.0008138282070569089,
      0.02827522778859209
    ],
    "v_ego": [
      6.14843985944373,
      5.694566460388526,
      5.2821609806819065,
      4.931522716254452,
      4.602393406787465,
      4.191009829076434,
      3.6105348934081474,
      2.8400915744297883,
      1.9902414420681471,
      1.1658290165298226
    ],
    "ax_ego": [
      -0.9077570254305858,
      -0.9077580886738302,
      -0.7418134135767764,
      -0.6605336303755217,
      -0.6560091367540616,
      -0.9901056467406527,
      -1.3310091552629937,
      -1.7493896237878948,
      -1.6495685563478315,
      -1.6495100016106485
    ],
    "ay_ego": [
      0.003256036303134838,
      0.0029469214261981323,
      0.0298000641040541,
      0.04130654119909543,
      -0.024763864572370613,
      -0.026800662060386074,
      0.08912880424515054,
      0.05337318425005308,
      0.05727193258863417,
      0.05893434470619344
    ],
    "a_ego": [
      0.9077628649548254,
      0.9077628720644272,
      0.7424117350790161,
      0.6618239246226286,
      0.6564763792349027,
      0.9904683070116889,
      1.3339899981409449,
      1.7502036317565286,
      1.6505624787792512,
      1.650562480610628
    ],
    "yaw": [
      1.569126763258488,
      1.5687862354567175,
      1.5748254512089654,
      1.5801947732438957,
      1.582827118940794,
      1.5867829201365282,
      1.5893952449406368,
      1.5915661171359736,
      1.5932611433744859,
      1.5942689474026692
    ],
    "yaw_diff": [
      -0.0006810556035410364,
      0.012078431504495946,
      0.01073864406986047,
      0.0052646913937968165,
      0.007911602391468264,
      0.0052246496082171134,
      0.004341744390673696,
      0.0033900524770245077,
      0.002015608056366691,
      0.002015608056366691
    ],
    "min_front_frame": [
      6,
      13.508445731908518
    ],
    "v_avg": 4.045679017906841,
    "v_std": 1.5474573585033948,
    "vy_max": 0.056567219636737574,
    "a_max": 1.7502036317565286,
    "ax_avg": -1.1243454278560798,
    "a_std": 0.40986470818644805,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d1dcd412f339598a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.43666262527937,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.382116734830678,
      19.505478408350392,
      18.609186085337672,
      17.566255896594896,
      16.401478043171902,
      14.937503190917838,
      13.508445731908518,
      18.088568183199474,
      16.88631734549813,
      16.082911328947272
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d1dcd412f339598a",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "69f80a41cbaa5c1b": {
    "vx_ego": [
      7.664402555145545,
      7.288240482274197,
      6.977856732976535,
      6.793181281763779,
      6.7205324491522305,
      6.682813435767354,
      6.627047965664708,
      6.56044575469697,
      6.627745924851004,
      6.838108083670253
    ],
    "vy_ego": [
      -0.040153812286739754,
      -0.035424667886557515,
      -0.023310991392262448,
      -0.005018749219899643,
      0.007803510847327555,
      -0.00252978532044823,
      -0.00025882166850044186,
      -0.010985418636959565,
      0.0026250456800367417,
      0.07023918911782134
    ],
    "v_ego": [
      7.664507737354221,
      7.288326572990215,
      6.977895670491617,
      6.793183135669869,
      6.720536979653458,
      6.682813914593645,
      6.627047970718894,
      6.5604549521922735,
      6.6277464447007866,
      6.838468813092913
    ],
    "ax_ego": [
      -0.7521732605955564,
      -0.7519949989947983,
      -0.48861234072983745,
      -0.24937416491624803,
      -0.04102990393911342,
      -0.11002219221264618,
      -0.11354073391820485,
      -0.1524793372053152,
      0.4214429775863783,
      0.42157052818162016
    ],
    "ay_ego": [
      0.055387552593978484,
      0.05775729093186621,
      0.1511678618080471,
      0.1862864636544606,
      0.22595592480268295,
      0.2279674307035601,
      0.14311721060177127,
      0.15782400582002967,
      -0.01399001039832623,
      -0.009391159738646043
    ],
    "a_ego": [
      0.7542097817830936,
      0.7542097739813339,
      0.5114623563441474,
      0.3112717794284614,
      0.2296508936858043,
      0.25312848958751943,
      0.1826856158243345,
      0.21945014260112247,
      0.42167511634885196,
      0.42167511678135217
    ],
    "yaw": [
      -1.15976758075433,
      -1.1566166836812912,
      -1.1509664306743543,
      -1.1413289529172181,
      -1.1279224036132023,
      -1.1094715622595537,
      -1.095873701027143,
      -1.0828466190551949,
      -1.0794202471753214,
      -1.090330640692319
    ],
    "yaw_diff": [
      0.006301794146077455,
      0.011300506013873779,
      0.019274955514272385,
      0.026813098608031716,
      0.03690168270729721,
      0.02719572246482116,
      0.02605416394389648,
      0.006852743759746982,
      -0.02182078703399526,
      -0.02182078703399526
    ],
    "min_front_frame": [
      7,
      29.716042994074947
    ],
    "v_avg": 6.878098219145789,
    "v_std": 0.33091219563296825,
    "vy_max": 0.07023918911782134,
    "a_max": 0.7542097817830936,
    "ax_avg": -0.1816213426743721,
    "a_std": 0.20055575221943864,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "69f80a41cbaa5c1b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      53.63050348345966,
      49.902748459158886,
      46.442527569467636,
      43.002258050414596,
      39.61192835814811,
      36.301462105659084,
      32.98282802681733,
      29.716042994074947,
      38.18045661088361,
      34.92580677234219
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "69f80a41cbaa5c1b",
    "merging_vehicles": "No"
  },
  "3580cf9f59395963": {
    "vx_ego": [
      8.60254158651856,
      8.72475226545511,
      8.877474959452384,
      9.007373484098604,
      9.1746164493013,
      9.451152324734428,
      9.7692624865966,
      10.021760164437833,
      10.205706432202888,
      10.374367394073614
    ],
    "vy_ego": [
      -0.08044753369215885,
      -0.10827008383322001,
      -0.05369349048732719,
      -0.05074289854366931,
      -0.0804819608428402,
      -0.14040981554600857,
      -0.07523169966345282,
      -0.0608063477539999,
      -0.049603226906676706,
      -0.039154302067359315
    ],
    "v_ego": [
      8.602917734900085,
      8.725424030075406,
      8.877637334709322,
      9.007516412629801,
      9.174969446151367,
      9.452195257274083,
      9.769552156606661,
      10.021944631928486,
      10.205826975822536,
      10.374441280694983
    ],
    "ax_ego": [
      0.18495607602415698,
      0.338909258486306,
      0.29771226339951173,
      0.22983570014725307,
      0.44699655230794477,
      0.6681991789647342,
      0.6122849618764461,
      0.3994367609652208,
      0.3374663561000854,
      0.33794483404293996
    ],
    "ay_ego": [
      1.6164474607317512,
      1.5913050111598441,
      1.5612381959127979,
      1.340570279219342,
      1.0433908743616043,
      0.5305726094891251,
      0.4863552749895034,
      0.17124662917827999,
      0.11096112447962099,
      0.10949526128338814
    ],
    "a_ego": [
      1.6269945123952878,
      1.6269945064535927,
      1.5893700941428048,
      1.3601298182851527,
      1.1351081157653056,
      0.853227658195188,
      0.781942662891696,
      0.43459766913239456,
      0.35524064047522996,
      0.35524065519001014
    ],
    "yaw": [
      1.165063476364916,
      1.2609780780177986,
      1.3442296750437066,
      1.4249041229657986,
      1.4939124386578941,
      1.5427349727140065,
      1.5623922359628846,
      1.5775071819689868,
      1.5833708154412904,
      1.587711456899743
    ],
    "yaw_diff": [
      0.19182920330576536,
      0.16650319405181602,
      0.161348895844184,
      0.13801663138419107,
      0.09764506811222473,
      0.03931452649775613,
      0.030229892012204385,
      0.01172726694460735,
      0.008681282916905175,
      0.008681282916905175
    ],
    "min_front_frame": [
      4,
      42.58708492208027
    ],
    "v_avg": 9.421242526079272,
    "v_std": 0.6073241711811896,
    "vy_max": 0.14040981554600857,
    "a_max": 1.6269945123952878,
    "ax_avg": 0.3853741942314599,
    "a_std": 0.5000336732857276,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "3580cf9f59395963",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.0848415695603,
    "right_rear_min": 8.472412023086227,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      42.58708492208027,
      44.70293705513846,
      46.70725721023933,
      48.49165044201491,
      50.22635213981985,
      51.94424720140305
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3580cf9f59395963",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "3b53493dfe335ea6": {
    "vx_ego": [
      7.593786696321745,
      7.386032242275917,
      7.255108809338054,
      7.123250519144933,
      6.893053251663355,
      6.575141612407755,
      6.211934003229297,
      5.980536054954348,
      5.961260101231654,
      6.074635467330995
    ],
    "vy_ego": [
      -0.017296651019116815,
      -0.0714264946153782,
      -0.07870297530050818,
      -0.07042839703129466,
      -0.03259690314173147,
      0.01878371849841276,
      0.014162401919503242,
      -0.04738293212145983,
      -0.0787627616359865,
      -0.05437375934527311
    ],
    "v_ego": [
      7.593806394909578,
      7.38637759853045,
      7.255535679304168,
      7.123598677466815,
      6.89313032579257,
      6.575168442807886,
      6.2119501474258865,
      5.980723756107227,
      5.961780402460071,
      6.074878810862073
    ],
    "ax_ego": [
      -0.43692760510104905,
      -0.40165948637755977,
      -0.1357633890917722,
      -0.4077086121223053,
      -0.5314863921737826,
      -0.7427668943711186,
      -0.6940236331170763,
      -0.23114763960144052,
      0.12771470454200456,
      0.2925330438220826
    ],
    "ay_ego": [
      -0.773333027408084,
      -0.7922243117875936,
      -0.9160963237286974,
      -1.0487367770570892,
      -0.9882263538260876,
      -0.9785798610737962,
      -1.2223520245791006,
      -1.3639150686016555,
      -1.394392307328976,
      -1.3693302628598594
    ],
    "a_ego": [
      0.8882284072126327,
      0.8882284071028191,
      0.9261015992680924,
      1.1252000444146752,
      1.1220824887067382,
      1.228544343470323,
      1.4056362528469633,
      1.3833631286296364,
      1.400228892893757,
      1.4002288921857255
    ],
    "yaw": [
      -0.5728557288522309,
      -0.6179031423262997,
      -0.6754945285427749,
      -0.7446170562283201,
      -0.822468025075843,
      -0.902756436569844,
      -0.9881239461483866,
      -1.0849321805632632,
      -1.1958868133948868,
      -1.315018425973923
    ],
    "yaw_diff": [
      -0.09009482694813764,
      -0.11518277243295039,
      -0.13824505537109033,
      -0.15570193769504592,
      -0.1605768229880018,
      -0.17073501915708533,
      -0.19361646882975325,
      -0.2219092656632471,
      -0.23826322515807252,
      -0.23826322515807252
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.705695023566672,
    "v_std": 0.5917696651808122,
    "vy_max": 0.0787627616359865,
    "a_max": 1.4056362528469633,
    "ax_avg": -0.3161235903592018,
    "a_std": 0.20799186266478945,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "3b53493dfe335ea6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3b53493dfe335ea6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b0902109adea5e0f": {
    "vx_ego": [
      8.77105923939945,
      8.633367962976902,
      8.496597842826397,
      8.347729160974646,
      8.125425235476667,
      7.85130464803855,
      7.613121637484406,
      7.423966069853911,
      7.252690143560747,
      7.078127299620073
    ],
    "vy_ego": [
      0.025747189941967008,
      -0.028086458064372266,
      -0.038175854301497836,
      -0.01346645718859385,
      -0.006654923278076819,
      -0.017963863547394432,
      0.012850015302272588,
      0.017859725818456962,
      0.027727106676400215,
      -0.0005684589438494925
    ],
    "v_ego": [
      8.771097029382606,
      8.63341364891562,
      8.496683605888466,
      8.347740022931696,
      8.1254279607492,
      7.851325198761371,
      7.61313248210134,
      7.423987552262492,
      7.252743143869625,
      7.078127322447126
    ],
    "ax_ego": [
      -0.2753069482142693,
      -0.27544875328251706,
      -0.2711674565881446,
      -0.3239301623349884,
      -0.5645175753190457,
      -0.5315276646186708,
      -0.42115322734586474,
      -0.33612942235270826,
      -0.34989895705791146,
      -0.34890516715911224
    ],
    "ay_ego": [
      -0.07483160837983062,
      -0.07430793452505222,
      0.10546056106260067,
      0.11244632118650476,
      0.20623012849695213,
      0.17345949754499423,
      0.16750998012471702,
      0.16230500288913396,
      0.09251085635953413,
      0.09619106112268841
    ],
    "a_ego": [
      0.28529578571680075,
      0.2852957847888265,
      0.2909531224306105,
      0.342892002267114,
      0.6010082850876216,
      0.5591152435263593,
      0.4532434603446813,
      0.37326385109464744,
      0.3619220063695886,
      0.36192200252297013
    ],
    "yaw": [
      -0.6594282992891477,
      -0.6575266306077767,
      -0.6554392163015339,
      -0.6519075817314851,
      -0.6430942044820449,
      -0.62978927294362,
      -0.6227375326928638,
      -0.612422639356198,
      -0.6050880365441613,
      -0.5945552597131509
    ],
    "yaw_diff": [
      0.0038033373627419653,
      0.004174828612485637,
      0.007063269140097583,
      0.017626754498880404,
      0.02660986307684987,
      0.014103480501512333,
      0.020629786673331596,
      0.014669205624073367,
      0.021065553662020786,
      0.021065553662020786
    ],
    "min_front_frame": [
      0,
      21.384367841821533
    ],
    "v_avg": 7.959367796730954,
    "v_std": 0.5722278109900151,
    "vy_max": 0.038175854301497836,
    "a_max": 0.6010082850876216,
    "ax_avg": -0.3697985334273233,
    "a_std": 0.10626109389479547,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "b0902109adea5e0f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.384367841821533,
      27.700435814785703,
      27.971410794049206,
      27.8757458175279,
      27.678350305764784,
      27.3807980022743,
      26.69973554259414,
      25.634083035622535,
      24.413646574403867,
      22.6596044281388
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 5,
    "token": "b0902109adea5e0f",
    "smoothness": "No"
  },
  "7e5925fce8df5e44": {
    "vx_ego": [
      5.576145721217888,
      5.7860938847363235,
      6.141643788467839,
      6.568025751013663,
      6.991264040993297,
      7.419760223621971,
      7.8387870645035145,
      8.24832885434857,
      8.618388092037165,
      8.936504611854879
    ],
    "vy_ego": [
      0.10963041391728989,
      0.1157547517875401,
      0.082893590211499,
      0.12493242309252728,
      0.08366876585844674,
      0.007703697190183156,
      -0.004538289284314434,
      0.05047566452819652,
      0.09602837048411228,
      0.06167030784374905
    ],
    "v_ego": [
      5.577223317378661,
      5.787251645258263,
      6.142203169199448,
      6.5692138324397975,
      6.991764680913267,
      7.419764222870776,
      7.838788378231501,
      8.248483295866505,
      8.618923062245413,
      8.936717400957303
    ],
    "ax_ego": [
      0.28467312403085765,
      0.6269359532020018,
      0.8484715906853362,
      0.8667167429736216,
      0.8315491368582437,
      0.8826491121151208,
      0.7931505996977963,
      0.844939430508045,
      0.6348491446093266,
      0.6352884177508721
    ],
    "ay_ego": [
      -1.998296505552526,
      -1.9186398853099678,
      -1.8238016072200998,
      -1.1488127588918873,
      -0.5077278404554456,
      -0.17472011977182667,
      -0.06178942902046647,
      0.16406262709152913,
      0.06226542007203631,
      0.05761116210629541
    ],
    "a_ego": [
      2.018471627655173,
      2.018471624501952,
      2.011505988730514,
      1.439086052862577,
      0.9743005321682014,
      0.8997758472923646,
      0.7955537740088028,
      0.8607201559365468,
      0.6378953040648134,
      0.6378953046759667
    ],
    "yaw": [
      -2.957042888344266,
      -3.1313606058349066,
      3.0000409160559354,
      2.8765952843362763,
      2.8216460765481806,
      2.808499261292196,
      2.8023628177882935,
      2.7986990980278525,
      2.800002856387974,
      2.807331562573144
    ],
    "yaw_diff": [
      -0.348635434981281,
      -0.3035675705774885,
      -0.2468912634393181,
      -0.10989841557619151,
      -0.026293630511968757,
      -0.012272887007805267,
      -0.007327439520881995,
      0.0026075167202428418,
      0.01465741237034024,
      0.01465741237034024
    ],
    "min_front_frame": [
      8,
      22.23200442053364
    ],
    "v_avg": 7.213033300536094,
    "v_std": 1.1301745349147185,
    "vy_max": 0.12493242309252728,
    "a_max": 2.018471627655173,
    "ax_avg": 0.7249223252431222,
    "a_std": 0.556646824810794,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "7e5925fce8df5e44",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      41.05444803445599,
      37.67924062552746,
      34.10861077873248,
      30.351562483563207,
      26.38387840444036,
      22.23200442053364,
      24.524302799137722
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      0,
      1
    ],
    "safe_ratio": 0.7142857142857143,
    "unsafe_ratio": 0.14285714285714285,
    "oversafe_ratio": 0.14285714285714285,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7e5925fce8df5e44",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b556cea74b125dfa": {
    "vx_ego": [
      2.4492311496855246,
      2.644262391720254,
      2.8213042852514314,
      2.9812578216805825,
      3.15324037243337,
      3.3149970609800326,
      3.4326667760827627,
      3.5227532834201334,
      3.6224455585064264,
      3.7656640707881373
    ],
    "vy_ego": [
      -0.017833723198111148,
      -0.02939028751711254,
      -0.037280108966717525,
      -0.019167340976372266,
      0.010679895465628086,
      0.019679044614687724,
      0.007257057034105063,
      -0.005735791161684434,
      -0.02146519889755827,
      -0.06807527193129626
    ],
    "v_ego": [
      2.4492960756660236,
      2.644425719370173,
      2.821550580177974,
      2.9813194371438554,
      3.1532584585648693,
      3.315055471497151,
      3.4326744472057387,
      3.5227579529606605,
      3.6225091551446282,
      3.7662793492614437
    ],
    "ax_ego": [
      0.3903877351610666,
      0.3906970738073104,
      0.3231468432390245,
      0.32463388744918764,
      0.36695886487929025,
      0.2796430885207165,
      0.19442366602931663,
      0.17184864635841832,
      0.2377975939189661,
      0.3563236725648864
    ],
    "ay_ego": [
      0.031813249892758716,
      0.02775721832705027,
      0.2149481058371895,
      0.3583339041902196,
      0.4538783043025923,
      0.5640835816191319,
      0.7396066732119981,
      0.8464316402692807,
      0.9082685990707553,
      0.8686385807782009
    ],
    "a_ego": [
      0.39168184363450675,
      0.3916818436573879,
      0.3881063906950545,
      0.48351871501791666,
      0.5836645643090677,
      0.629595540017298,
      0.764734328359855,
      0.8637004567002183,
      0.9388820712590064,
      0.9388820712136831
    ],
    "yaw": [
      -1.5768503824862217,
      -1.566464840511964,
      -1.5414532032149628,
      -1.498301118331911,
      -1.441749191211425,
      -1.3661338346829581,
      -1.2662476605806647,
      -1.1487279737901832,
      -1.0214144980847069,
      -0.8882046613701138
    ],
    "yaw_diff": [
      0.020771083948515123,
      0.050023274594002576,
      0.08630416976610356,
      0.11310385424097191,
      0.15123071305693392,
      0.19977234820458678,
      0.23503937358096305,
      0.2546269514109527,
      0.26641967342918615,
      0.26641967342918615
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.1709126646992516,
    "v_std": 0.41565881439872254,
    "vy_max": 0.06807527193129626,
    "a_max": 0.9388820712590064,
    "ax_avg": 0.3035861071928183,
    "a_std": 0.21418187861193907,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "b556cea74b125dfa",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.43125549664779,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b556cea74b125dfa",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "50a0fd7b031e5ca6": {
    "vx_ego": [
      1.1305155439033365,
      1.2374412547126938,
      1.4043550280356953,
      1.5357249708521101,
      1.666771866160823,
      2.0758142352529085,
      2.877599355596686,
      3.9531973776550133,
      5.038533547041854,
      6.069731937622116
    ],
    "vy_ego": [
      -0.018983661502088845,
      0.012304781831797573,
      0.04631364388981997,
      0.03494769575555811,
      -0.008633980626924314,
      -0.028149653282962313,
      -0.026640601826389238,
      -0.007046258122129986,
      0.02731106115898034,
      0.059276415939046076
    ],
    "v_ego": [
      1.1306749198647164,
      1.2375024309151292,
      1.4051184997641628,
      1.5361225626678807,
      1.6667942282857529,
      2.0760050920598845,
      2.8777226713142694,
      3.953203657345773,
      5.0386075654616915,
      6.070021374597992
    ],
    "ax_ego": [
      0.21385682768283093,
      0.21384303932875123,
      0.4539328297951359,
      0.07160627221134869,
      0.45261204272460004,
      1.183645259274388,
      2.023357398716243,
      2.278807888985113,
      2.0628160706375698,
      2.062758518153593
    ],
    "ay_ego": [
      0.062027010098357815,
      0.06207451908880684,
      0.06849165710111435,
      -0.11537119426016972,
      -0.06581459787038647,
      -0.006199098706711941,
      0.0006658833465470679,
      0.04305531928531485,
      0.0076249098716596846,
      0.017192459294873584
    ],
    "a_ego": [
      0.2226703678721213,
      0.222670364865791,
      0.45907093249113085,
      0.1357864893316842,
      0.457372083223469,
      1.1836614924155928,
      2.0233575082867565,
      2.2792145917880458,
      2.062830162793625,
      2.0628301638457325
    ],
    "yaw": [
      0.019310138759220996,
      0.019087958270833923,
      0.01802875317813696,
      0.017795570535015525,
      0.016691848808424954,
      0.017541470114456347,
      0.01632196578521478,
      0.013761268641816092,
      0.008966250506297575,
      0.0043280947946749485
    ],
    "yaw_diff": [
      -0.0004443609767741455,
      -0.0021184101853939236,
      -0.000466365286242873,
      -0.002207443453181142,
      0.001699242612062786,
      -0.0024390086584831355,
      -0.005121394286797375,
      -0.009590036271037033,
      -0.009276311423245254,
      -0.009276311423245254
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.699177300227725,
    "v_std": 1.658858654140254,
    "vy_max": 0.059276415939046076,
    "a_max": 2.2792145917880458,
    "ax_avg": 1.1017236147509575,
    "a_std": 0.8599944167718825,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "50a0fd7b031e5ca6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.102844740707216,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "50a0fd7b031e5ca6",
    "pedestrians": "No"
  },
  "4a9a5d2dcc045ec4": {
    "vx_ego": [
      6.562852420204284,
      6.709427492029855,
      6.861033535438388,
      6.990842537208206,
      7.080759559525801,
      7.199172411020852,
      7.289297681909817,
      7.258882975299937,
      7.227306952090743,
      7.243415984145645
    ],
    "vy_ego": [
      -0.024434838178989504,
      -0.03979159454278536,
      -0.03806039237977463,
      -0.01835149237867116,
      0.00033506475693730053,
      0.04800673036554384,
      0.05975449875797756,
      0.04690539824324058,
      0.013334962901485059,
      -0.05292537985886009
    ],
    "v_ego": [
      6.562897907989889,
      6.70954548697617,
      6.861139101335747,
      6.990866624197045,
      7.0807595674535095,
      7.199332472511891,
      7.289542598518624,
      7.259034520201954,
      7.227319254120076,
      7.243609336181088
    ],
    "ax_ego": [
      0.2880851307742418,
      0.3024169916510218,
      0.31097501242136216,
      0.20881522198822997,
      0.15161903222423959,
      0.3202841043454343,
      0.03650904576889373,
      -0.15962771650693452,
      0.03253335134950457,
      0.032728166082009305
    ],
    "ay_ego": [
      0.4260184281088597,
      0.4159671939269305,
      0.5141769787087205,
      0.328790718582297,
      0.3305663837257012,
      0.2949647853538025,
      0.09334867084064069,
      0.028785396706842534,
      0.018819052566123363,
      0.01847817229340271
    ],
    "a_ego": [
      0.5142808023459127,
      0.5142808019581314,
      0.6009021748874723,
      0.38949599941444457,
      0.363679068660959,
      0.4354148965012243,
      0.10023414972288366,
      0.1622023641652259,
      0.03758424789079629,
      0.03758424811535093
    ],
    "yaw": [
      -1.6711274050424763,
      -1.6370876866534991,
      -1.6030698336887994,
      -1.575540074688413,
      -1.5547891872807074,
      -1.5395186712684195,
      -1.527797097877601,
      -1.5218531571320857,
      -1.515554372486017,
      -1.505107870823873
    ],
    "yaw_diff": [
      0.06807943677795425,
      0.06803570592939945,
      0.05505951800077291,
      0.041501774815411174,
      0.03054103202457581,
      0.023443146781636948,
      0.011887881491030594,
      0.0125975692921374,
      0.020893003324288006,
      0.020893003324288006
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.042404686948599,
    "v_std": 0.24187086415467535,
    "vy_max": 0.05975449875797756,
    "a_max": 0.6009021748874723,
    "ax_avg": 0.15243383400980026,
    "a_std": 0.20173548708559866,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4a9a5d2dcc045ec4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4a9a5d2dcc045ec4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a0801105ad8b5ad3": {
    "vx_ego": [
      6.910754598062392,
      7.072320515183268,
      7.267696462122091,
      7.407909177765417,
      7.502755744999611,
      7.779803264392481,
      8.04287753262368,
      8.176215825619293,
      8.379851141692939,
      8.556324207514672
    ],
    "vy_ego": [
      0.08123966002634048,
      0.0834750317380899,
      0.10452737518527444,
      0.09198155899233296,
      0.11872811427007202,
      0.03218573186923157,
      0.021747380329291577,
      -0.024764600971169504,
      -0.024074423400630707,
      -0.0101648193509698
    ],
    "v_ego": [
      6.91123208964955,
      7.072813128480478,
      7.268448103804902,
      7.408480208059934,
      7.503695098699226,
      7.779869841712511,
      8.042906934270341,
      8.17625332976961,
      8.3798857232539,
      8.556330245359515
    ],
    "ax_ego": [
      0.19055154780938263,
      0.501127404329941,
      0.3452499889559593,
      0.24817337218332292,
      0.1282237494117633,
      0.9798067255346823,
      0.07301563242091193,
      0.4603639271035216,
      0.3529544784217906,
      0.35297397599267344
    ],
    "ay_ego": [
      -2.101782322741368,
      -2.050041500157672,
      -2.165765035776473,
      -1.8613216014903795,
      -0.9574247017352937,
      -0.34369388081177416,
      -0.19572054185495008,
      -0.2153485658922984,
      0.036882260761122554,
      0.03669533779010603
    ],
    "a_ego": [
      2.110402526666572,
      2.1104025274196347,
      2.1931109741793637,
      1.877793419637941,
      0.9659727684599224,
      1.0383384338020307,
      0.20889665646395825,
      0.508242019327452,
      0.35487626716483833,
      0.35487628202460414
    ],
    "yaw": [
      -1.6331795377628435,
      -1.7825107726457707,
      -1.9317574266863233,
      -2.066821701611281,
      -2.164655399625624,
      -2.196337235056426,
      -2.211840983527037,
      -2.2188195438464193,
      -2.224283797911773,
      -2.2237541858108694
    ],
    "yaw_diff": [
      -0.2986624697658544,
      -0.2984933080811052,
      -0.2701285498499155,
      -0.19566739602868566,
      -0.06336367086160433,
      -0.03100749694122218,
      -0.013957120638764309,
      -0.010928508130707115,
      0.0010592242018070408,
      0.0010592242018070408
    ],
    "min_front_frame": [
      9,
      77.49529961924485
    ],
    "v_avg": 7.709991470305996,
    "v_std": 0.5357801800176867,
    "vy_max": 0.11872811427007202,
    "a_max": 2.1931109741793637,
    "ax_avg": 0.36324408021639487,
    "a_std": 0.7788355049242166,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "a0801105ad8b5ad3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      77.49529961924485
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a0801105ad8b5ad3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a1bfecf3560e5aa3": {
    "vx_ego": [
      8.128396709542352,
      8.41509420221737,
      8.631280640294863,
      8.763375750486103,
      8.808962597224914,
      8.813089044475472,
      8.920534447424686,
      9.123068460167268,
      9.35779696017866,
      9.59914761760325
    ],
    "vy_ego": [
      0.06863223302645327,
      -0.012349693968248587,
      -0.010498818598700499,
      -0.004276919415727942,
      0.033001950382944845,
      0.030042424980759375,
      0.043573814810032196,
      0.037739165472183256,
      -0.04742887701918441,
      -0.09310994058630584
    ],
    "v_ego": [
      8.12868645299529,
      8.41510326419905,
      8.63128702550905,
      8.763376794150046,
      8.809024416360565,
      8.813140249261458,
      8.92064086851542,
      9.123146517156748,
      9.357917153207987,
      9.599599181506182
    ],
    "ax_ego": [
      0.5728441125402669,
      0.5746931938830881,
      0.2899024935982147,
      0.2385243223355908,
      -0.05559158243112472,
      0.07444167416612385,
      0.3550558306519057,
      0.45613332761415315,
      0.4830094377769124,
      0.4829058038641824
    ],
    "ay_ego": [
      -0.2756565803297156,
      -0.2717805562125637,
      -0.34675879482622424,
      -0.4099923860628306,
      -0.3409936222055246,
      -0.3365748198907353,
      0.010717946439322251,
      -0.18090244874391864,
      -0.056293794869397784,
      -0.05717597385426379
    ],
    "a_ego": [
      0.6357176476637398,
      0.6357176557488042,
      0.45197911188881107,
      0.4743285875583992,
      0.34549540434286613,
      0.34470882239527356,
      0.3552175632704427,
      0.4906967582141811,
      0.486278838036745,
      0.486278837080019
    ],
    "yaw": [
      -0.4240447427131307,
      -0.4308001127666561,
      -0.4490832367153276,
      -0.4715334992442538,
      -0.4970367140112731,
      -0.5159601860294363,
      -0.52671624806759,
      -0.5307911445980497,
      -0.527990585676589,
      -0.5261639632239721
    ],
    "yaw_diff": [
      -0.013510740107050778,
      -0.036566247897343085,
      -0.04490052505785236,
      -0.051006429534038555,
      -0.03784694403632638,
      -0.021512124076307426,
      -0.008149793060919341,
      0.005601117842921388,
      0.0036532449052337768,
      0.0036532449052337768
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.856192192286178,
    "v_std": 0.40827680263619787,
    "vy_max": 0.09310994058630584,
    "a_max": 0.6357176557488042,
    "ax_avg": 0.34719186139993136,
    "a_std": 0.10029789968794488,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "a1bfecf3560e5aa3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.36001500657488,
    "right_rear_min": 43.09860855685211,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a1bfecf3560e5aa3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f7b170baa6bd5b95": {
    "vx_ego": [
      1.3084759980715914,
      0.7769343970689753,
      0.32144226819525257,
      0.018946237594190046,
      -0.07412113728622695,
      -0.041518650773136455,
      -0.023035524606473123,
      -0.014624449577945823,
      -0.010175535827124995,
      -0.006916188135057778
    ],
    "vy_ego": [
      0.038667565112850334,
      0.025389163572899533,
      0.018617068993172184,
      0.010424830028756101,
      0.00016480326030921541,
      -0.0013333132442285862,
      -0.0005396287649703925,
      -0.0003242151443509795,
      -0.0001928311329004017,
      -0.0003259142849959228
    ],
    "v_ego": [
      1.3090472176820833,
      0.7773491281115993,
      0.32198094204534095,
      0.021624916187212267,
      0.07412132050036827,
      0.04154005399886836,
      0.02304184439447963,
      0.014628042962669554,
      0.010177362782907958,
      0.006923862970963419
    ],
    "ax_ego": [
      -1.0630748638633691,
      -1.0630704299176372,
      -0.7588692488669548,
      -0.45111420000533464,
      0.07884560608402875,
      0.05156516584151153,
      0.022367293106845744,
      0.011276963345352126,
      0.006518688721885096,
      0.006518691496508777
    ],
    "ay_ego": [
      -0.02681277096145398,
      -0.026987890255397964,
      -0.0008874565913974848,
      -0.03188643137941835,
      -0.009118228534263062,
      0.0031040371074284034,
      7.214991807196229e-05,
      0.0007903803151417097,
      -0.0002658570647852118,
      -0.0002657135642711861
    ],
    "a_ego": [
      1.06341294465732,
      1.0634129419871228,
      0.7588697677830484,
      0.4522397217765899,
      0.07937110110336684,
      0.05165850728221713,
      0.02236740947312019,
      0.011304627518630542,
      0.006524107803502955,
      0.006524104729761282
    ],
    "yaw": [
      1.5409006644111516,
      1.5407359345521825,
      1.5403510421659181,
      1.5403416754277914,
      1.5402472397267075,
      1.5403470750800694,
      1.5403344436788529,
      1.54032192451008,
      1.540343422170395,
      1.540321158339815
    ],
    "yaw_diff": [
      -0.0003294597179381853,
      -0.0007697847725287588,
      -1.873347625336308e-05,
      -0.00018887140216783393,
      0.00019967070672377574,
      -2.5262802433090314e-05,
      -2.5038337545524314e-05,
      4.299532063001266e-05,
      -4.452766116003204e-05,
      -4.452766116003204e-05
    ],
    "min_front_frame": [
      9,
      10.683498752088909
    ],
    "v_avg": 0.26004346916364934,
    "v_std": 0.41879655701253543,
    "vy_max": 0.038667565112850334,
    "a_max": 1.06341294465732,
    "ax_avg": -0.31590363340571637,
    "a_std": 0.4261191847970405,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "f7b170baa6bd5b95",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.404332939118294,
    "right_rear_min": 3.084028500664191,
    "speed_mode": "decelerating",
    "front_frame": [
      11.555324953445545,
      11.03571646516744,
      10.770752278760591,
      10.757650072154844,
      10.775129106032683,
      10.764427109130356,
      10.755760799974734,
      10.720280578096938,
      10.698546560168161,
      10.683498752088909
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "f7b170baa6bd5b95",
    "merging_vehicles": "No"
  },
  "4bfb085c53cc522f": {
    "vx_ego": [
      4.483389565542844,
      4.549171976892854,
      4.660428839289504,
      4.802160270469805,
      4.89847723568131,
      4.956333743536473,
      4.994495482238814,
      5.01524963578913,
      5.034964767257285,
      5.055828080849137
    ],
    "vy_ego": [
      0.040497480586049406,
      0.08946633548811644,
      0.1318994606814768,
      0.13547161443316513,
      0.13205709583690062,
      0.09145307319359146,
      0.045178430505836316,
      0.009721509472326915,
      -0.011585494060352714,
      -0.03797049459886738
    ],
    "v_ego": [
      4.483572464269121,
      4.550051637128188,
      4.662294974989182,
      4.804070755265347,
      4.900256963165185,
      4.957177406742149,
      4.994699812069479,
      5.015259057818391,
      5.0349780963967286,
      5.0559706626485434
    ],
    "ax_ego": [
      0.1254012004084329,
      0.15342898256730214,
      0.3118192328034481,
      0.27218123336961464,
      0.13085424195864515,
      0.10804496105990469,
      0.04573415694316957,
      0.03710404711526341,
      0.04197178559056928,
      0.042502360175779255
    ],
    "ay_ego": [
      -0.4606479903502328,
      -0.4520858105644219,
      -0.33875972837929247,
      -0.28432276308809623,
      -0.34256369156313926,
      -0.20797215734912386,
      -0.08395189476721608,
      -0.008208916430528346,
      0.05161485307552846,
      0.0511788374243526
    ],
    "a_ego": [
      0.4774118055490293,
      0.47741180631120533,
      0.46042305276532686,
      0.39360139406340305,
      0.36670521596499994,
      0.2343632476368363,
      0.09560090871068218,
      0.03800127131156385,
      0.06652611399795653,
      0.06652611532789195
    ],
    "yaw": [
      -1.3678618709287877,
      -1.429257597309598,
      -1.4816217300866574,
      -1.5152617982109327,
      -1.5467521247894758,
      -1.5664319942983775,
      -1.5717912589245158,
      -1.5693108687849424,
      -1.562910553030636,
      -1.5525875494173242
    ],
    "yaw_diff": [
      -0.12279145276162051,
      -0.10472826555411885,
      -0.06728013624855045,
      -0.06298065315708623,
      -0.03935973901780354,
      -0.010718529252276454,
      0.004960780279146704,
      0.01280063150861288,
      0.020646007226623464,
      0.020646007226623464
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.845833183049232,
    "v_std": 0.20007732713064755,
    "vy_max": 0.13547161443316513,
    "a_max": 0.47741180631120533,
    "ax_avg": 0.1269042201992129,
    "a_std": 0.17753485294177973,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "4bfb085c53cc522f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4bfb085c53cc522f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "dd162898ecf351d4": {
    "vx_ego": [
      0.78587139287494,
      0.7615844917149884,
      0.6654594478172852,
      0.4632955205618192,
      0.2505950038008088,
      0.07619610393743237,
      -0.01129822169132546,
      -0.014410908385466131,
      -0.007744317469670253,
      -0.0030665336011374894
    ],
    "vy_ego": [
      -0.009743966987098507,
      -0.01105944759743821,
      0.010009211669692708,
      0.026715137292036367,
      0.012813996517834825,
      -0.004368648295322235,
      -0.007027800205883417,
      -0.002000909477291199,
      -0.0015486236140063924,
      -0.00033766040177348215
    ],
    "v_ego": [
      0.7859317979518605,
      0.7616647880806475,
      0.6655347181083304,
      0.46406512251318716,
      0.2509224072032756,
      0.07632123782520969,
      0.013305629978326924,
      0.01454915527550008,
      0.00789763813863981,
      0.0030850677259715202
    ],
    "ax_ego": [
      -0.048438409471149454,
      -0.0478557798673839,
      -0.3360592432562194,
      -0.4737867703461759,
      -0.37742670775241705,
      -0.3201952113416438,
      -0.02976172313078193,
      0.01731069413408462,
      0.009355572740154404,
      0.009355590563176013
    ],
    "ay_ego": [
      0.02825024351819061,
      0.02922633912468096,
      0.10114402533814833,
      -0.013113715594812447,
      -0.036227097064756936,
      -0.03136579112708977,
      0.020722743609773976,
      -0.0006122663982351248,
      0.0024218780154328535,
      0.0024218062254737797
    ],
    "a_ego": [
      0.0560745554679822,
      0.05607454471813715,
      0.3509500375260656,
      0.47396821970651326,
      0.37916134070678637,
      0.32172781387245364,
      0.03626557963730551,
      0.017321518453826137,
      0.009663965770736006,
      0.009663965034059861
    ],
    "yaw": [
      -0.5335349278112371,
      -0.5132622076035082,
      -0.4978879834494988,
      -0.48877230409697103,
      -0.48423204032915734,
      -0.4824116221768042,
      -0.48199463726534375,
      -0.4820337366628803,
      -0.4820457502150249,
      -0.4820375592072932
    ],
    "yaw_diff": [
      0.040545440415457934,
      0.030748448308018705,
      0.018231358705055545,
      0.00908052753562738,
      0.003640836304706241,
      0.0008339698229209436,
      -7.819879507309224e-05,
      -2.402710428917043e-05,
      1.63820154633898e-05,
      1.63820154633898e-05
    ],
    "min_front_frame": [
      0,
      15.814447179312031
    ],
    "v_avg": 0.3043277562800949,
    "v_std": 0.31610262586207344,
    "vy_max": 0.026715137292036367,
    "a_max": 0.47396821970651326,
    "ax_avg": -0.15975019877283564,
    "a_std": 0.17620059300462668,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "dd162898ecf351d4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.457405816071438,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.814447179312031,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "dd162898ecf351d4",
    "maneuvering": "Yes"
  },
  "d1e4600c80ab519a": {
    "vx_ego": [
      4.867410418704801,
      4.450506898422137,
      4.057998441021465,
      3.7829575703240947,
      3.622753643723681,
      3.527627286228829,
      3.4816520097039323,
      3.426834003543466,
      3.381601545898564,
      3.370729335149736
    ],
    "vy_ego": [
      -0.009844204052529504,
      0.022716668555455843,
      0.030782878798791158,
      0.0235153259500831,
      0.007081562096158067,
      -0.013213482777663765,
      0.009051879264699164,
      0.01939469117493746,
      0.011991855272323992,
      -0.025551500935918847
    ],
    "v_ego": [
      4.867420373510949,
      4.4505648742528505,
      4.058115194638982,
      3.783030656686107,
      3.6227605650435866,
      3.5276520331054884,
      3.4816637765863683,
      3.426888886714524,
      3.3816228086255316,
      3.370826179149417
    ],
    "ax_ego": [
      -0.8340043125646031,
      -0.8336898416970367,
      -0.7373844483057977,
      -0.362967199183575,
      -0.27347863656889576,
      -0.09926514384861103,
      -0.08414050929994059,
      -0.14581178189976754,
      -0.043277487495589254,
      0.002252902667807047
    ],
    "ay_ego": [
      0.09436092147002884,
      0.09710007782188168,
      0.11858176959914798,
      0.3233956449764281,
      0.5790778120686496,
      0.7149888602496737,
      0.7087447256118904,
      0.5866537468664943,
      0.5168271510252587,
      0.5186310534706198
    ],
    "a_ego": [
      0.839325429661838,
      0.8393254298910796,
      0.7468583939974908,
      0.4861377694366988,
      0.6404074305391814,
      0.7218466866755107,
      0.7137217324615577,
      0.6045028490034453,
      0.5186359464603436,
      0.5186359466856068
    ],
    "yaw": [
      -0.3759374051718577,
      -0.3726524451608588,
      -0.3618435137709137,
      -0.3314452969472361,
      -0.2659016545368911,
      -0.16922170343586718,
      -0.07403473598027281,
      0.016461269937153414,
      0.09993961419514302,
      0.18782549736456944
    ],
    "yaw_diff": [
      0.006569920021997744,
      0.021617862779890196,
      0.06079643364735521,
      0.1310872848206901,
      0.1933599022020478,
      0.19037393491118873,
      0.18099201183485245,
      0.16695668851597922,
      0.17577176633885283,
      0.17577176633885283
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7970545348313807,
    "v_std": 0.48319895417920883,
    "vy_max": 0.030782878798791158,
    "a_max": 0.8393254298910796,
    "ax_avg": -0.34117664581960094,
    "a_std": 0.12334653798079785,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "d1e4600c80ab519a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 18.941701603154605,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "d1e4600c80ab519a",
    "pedestrians": "No"
  },
  "26b5e3878f2250ac": {
    "vx_ego": [
      1.541797509781918,
      1.9492916759633,
      2.2995228552719755,
      2.555843106550137,
      2.7891819939884614,
      3.026991057051214,
      3.277374344188897,
      3.540075209871166,
      3.83855297282041,
      4.193356982376378
    ],
    "vy_ego": [
      0.06396206876754662,
      -0.0013043252424410623,
      0.049432733420020414,
      0.08980631283845764,
      0.10202527225399938,
      0.09740290995730783,
      0.12681848723150646,
      0.11528180547839656,
      0.0394672098471448,
      -0.1645466614143889
    ],
    "v_ego": [
      1.5431236850657009,
      1.9492921123433884,
      2.3000541204614193,
      2.5574204111028545,
      2.791047357492874,
      3.0285577733198648,
      3.2798270565155243,
      3.5419517763824424,
      3.838755864313531,
      4.196584133009529
    ],
    "ax_ego": [
      0.7758632718485443,
      0.8636375921282486,
      0.5803447029953128,
      0.5248547989680163,
      0.5110606024750152,
      0.5224368631413884,
      0.5640524548861945,
      0.5528412941607623,
      0.6711976471720067,
      0.7305006992784411
    ],
    "ay_ego": [
      -0.6788693711324285,
      -0.5629898301851974,
      -0.8351446236616696,
      -1.0417976265417423,
      -1.2228678682100083,
      -1.2155958016353021,
      -1.1723371134820784,
      -1.0373115548271534,
      -0.9455950605532322,
      -0.9005692801322389
    ],
    "a_ego": [
      1.030935225736936,
      1.030935225622365,
      1.0169889462160884,
      1.1665396927099243,
      1.3253636340652386,
      1.3231074895572115,
      1.3009725129727507,
      1.175435561103744,
      1.1595931614630661,
      1.1595931613993722
    ],
    "yaw": [
      1.1604902610951222,
      1.0193654152868223,
      0.8345670925618823,
      0.6260085605475325,
      0.4105652573721714,
      0.20317169767428755,
      0.004777457683251614,
      -0.15349992872937762,
      -0.2676525330305303,
      -0.3318750575167714
    ],
    "yaw_diff": [
      -0.28224969161659974,
      -0.36959664544988,
      -0.41711706402869964,
      -0.4308866063507222,
      -0.41478711939576773,
      -0.3967884799820719,
      -0.31655477282525846,
      -0.2283052086023054,
      -0.1284450489724821,
      -0.1284450489724821
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.902661429000713,
    "v_std": 0.7980817793278058,
    "vy_max": 0.1645466614143889,
    "a_max": 1.3253636340652386,
    "ax_avg": 0.6296789927053931,
    "a_std": 0.11272576945093585,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "26b5e3878f2250ac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "26b5e3878f2250ac",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f2d4e4b013a3579e": {
    "vx_ego": [
      5.36623270047873,
      4.838462503227047,
      4.431416088492934,
      4.249452079862524,
      4.184397950783713,
      4.128128483678446,
      4.0599712418759015,
      4.015530934521186,
      4.110934085025711,
      4.313724670921953
    ],
    "vy_ego": [
      -0.04840803627920387,
      -0.05044986616780589,
      -0.03022001242879946,
      -0.02211498322881411,
      -0.015245068173172172,
      0.008789047299588848,
      -0.002540146054940573,
      -0.03305695881986792,
      -0.03558715179159089,
      -0.0043473058440992585
    ],
    "v_ego": [
      5.366451037106708,
      4.838725512377252,
      4.431519129881447,
      4.249509624830981,
      4.184425721963115,
      4.128137839887343,
      4.059972036504849,
      4.015666999219807,
      4.111088115912723,
      4.313726861495616
    ],
    "ax_ego": [
      -1.0558184203523182,
      -1.0557463933803082,
      -0.5732114055374982,
      -0.15483639858963846,
      -0.10606121430386904,
      -0.11892451589432754,
      -0.15338152962589877,
      -0.02483223856409881,
      0.4053209847651633,
      0.4052869220941812
    ],
    "ay_ego": [
      -0.027929694402541894,
      -0.030531398024544132,
      0.03949401120608151,
      -0.08174136640595235,
      0.016639042818902675,
      -0.035774653722343515,
      -0.11305964618595861,
      -0.10725427831944623,
      0.003608286662932947,
      0.006374018935831033
    ],
    "a_ego": [
      1.0561877695678377,
      1.0561877737414223,
      0.5745703545775924,
      0.17508843853927522,
      0.10735845996259685,
      0.12418883335330012,
      0.19054757208129053,
      0.11009141787591596,
      0.40533704546172883,
      0.4053370416554219
    ],
    "yaw": [
      2.6072618655405306,
      2.604797614849981,
      2.6008652290424976,
      2.596512093914434,
      2.591015445926942,
      2.5840845176387037,
      2.5777699629325506,
      2.5716626694252414,
      2.565831155450076,
      2.5590073481062783
    ],
    "yaw_diff": [
      -0.004928501381098904,
      -0.007864771614967125,
      -0.008706270256126913,
      -0.010993295974984107,
      -0.013861856576476761,
      -0.012629109412306327,
      -0.012214587014618417,
      -0.011663027950330473,
      -0.013647614687595677,
      -0.013647614687595677
    ],
    "min_front_frame": [
      0,
      18.24637715730177
    ],
    "v_avg": 4.369922287917984,
    "v_std": 0.40196108136924036,
    "vy_max": 0.05044986616780589,
    "a_max": 1.0561877737414223,
    "ax_avg": -0.24322042093886126,
    "a_std": 0.35038718050845635,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f2d4e4b013a3579e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.742341287026537,
    "right_rear_min": 3.392241320673622,
    "speed_mode": "decelerating",
    "front_frame": [
      18.24637715730177,
      26.78495767549841,
      24.94849996707955,
      23.440906016723385,
      22.235514422657328,
      21.003430242433016,
      20.010719279798067,
      19.115627823062198,
      18.790454291723574,
      18.982307220892455
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f2d4e4b013a3579e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "5cffd130ff2c510a": {
    "vx_ego": [
      3.6927059998518565,
      3.6184563624350665,
      3.593427273723306,
      3.6039925090964555,
      3.6194632710304546,
      3.639321780979231,
      3.6321054688384993,
      3.623522020970861,
      3.6876419185083598,
      3.8228903876454106
    ],
    "vy_ego": [
      0.0629406775550918,
      -0.01523550741648716,
      -0.039991175056768746,
      -0.03394976741994238,
      -0.039544603432445924,
      -0.030812083073138707,
      -0.027441538894176,
      -0.019952095865507502,
      -0.015453376340026415,
      -0.030857296817460078
    ],
    "v_ego": [
      3.6932423600723787,
      3.6184884368383785,
      3.593649797298136,
      3.604152409697907,
      3.619679287726899,
      3.6394522128986866,
      3.6322091314823015,
      3.6235769513824567,
      3.6876742977085604,
      3.8230149213308806
    ],
    "ax_ego": [
      -0.20388414803240887,
      -0.10408474492385444,
      0.030018956543420128,
      0.02942214383422831,
      0.047778564260062745,
      0.051468565039799435,
      -0.07150264404080064,
      0.04688486226597714,
      0.2219857632680145,
      0.32821419412483094
    ],
    "ay_ego": [
      0.7682617691789225,
      0.7880109510682421,
      0.9699161731517316,
      0.9368814295878901,
      0.8829930654248681,
      0.9258271948579964,
      0.8400128147315925,
      0.8224628054451273,
      0.8930361342081701,
      0.8596898613240272
    ],
    "a_ego": [
      0.7948552646871185,
      0.7948552655228116,
      0.9703806060990995,
      0.9373433072543116,
      0.8842847645363785,
      0.9272567109090569,
      0.8430505068014124,
      0.8237980678845811,
      0.9202125928801212,
      0.9202125922243932
    ],
    "yaw": [
      0.8994350659104732,
      1.0275140802718745,
      1.1566778450635877,
      1.2872744017614859,
      1.4147016294641754,
      1.5367546093224704,
      1.6565997996731463,
      1.7694408124082832,
      1.8860974689515402,
      2.007164481668709
    ],
    "yaw_diff": [
      0.2561580287228027,
      0.2583275295834264,
      0.2611931133957963,
      0.2548544554053791,
      0.24410595971659,
      0.23969038070135174,
      0.22568202547027383,
      0.23331331308651393,
      0.24213402543433737,
      0.24213402543433737
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.653513980643658,
    "v_std": 0.06435491917191234,
    "vy_max": 0.0629406775550918,
    "a_max": 0.9703806060990995,
    "ax_avg": 0.03763015123392693,
    "a_std": 0.0599494276486834,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "5cffd130ff2c510a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "5cffd130ff2c510a",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "12800b02eb685132": {
    "vx_ego": [
      1.568418330990686,
      2.0560121857937528,
      2.618798765890015,
      3.098061007589159,
      3.548789461668454,
      3.9776622028188013,
      4.241744277534417,
      4.423745938274069,
      4.472749497233857,
      4.446678132664072
    ],
    "vy_ego": [
      0.040636780291612315,
      0.045249309689239736,
      0.08621104855189243,
      0.10861974452528766,
      0.057109403318031715,
      0.026035714011110045,
      -0.00889301573364576,
      -0.018894128706674174,
      -0.01414340097725586,
      -0.012448510320731465
    ],
    "v_ego": [
      1.5689446799999285,
      2.0565100554482485,
      2.620217418673397,
      3.0999645571595,
      3.5492489525526967,
      3.9777474100472228,
      4.241753599836371,
      4.42378628716351,
      4.472771858791472,
      4.446695557481088
    ],
    "ax_ego": [
      0.9594380508671692,
      1.0040423988317417,
      1.281648103179042,
      0.6796559824527231,
      1.1398463819400506,
      0.5778592636513963,
      0.47863444228426144,
      0.2479902578258033,
      -0.0523045106761381,
      -0.05218532961519481
    ],
    "ay_ego": [
      -0.45204016485718734,
      -0.3417024144720475,
      -0.46890446277766995,
      -0.5921824675380618,
      -0.4485285125931671,
      -0.23697245871247216,
      -0.18755465776058478,
      -0.036000494261382424,
      -0.03085357706148529,
      -0.03105475061385443
    ],
    "a_ego": [
      1.0605949670330828,
      1.060594964492961,
      1.364731935434667,
      0.9014501258213035,
      1.2249194263423462,
      0.6245616661114963,
      0.5140697219137265,
      0.2505897116075842,
      0.06072647737650568,
      0.0607264865008278
    ],
    "yaw": [
      1.4692397051656978,
      1.3569678210766056,
      1.2512718489262369,
      1.153288995006227,
      1.089417973738715,
      1.0528229983564006,
      1.0355499656371379,
      1.0250291688344724,
      1.0202442302089278,
      1.0163937564841952
    ],
    "yaw_diff": [
      -0.22454376817818433,
      -0.2113919443007375,
      -0.19596570784001965,
      -0.12774204253502397,
      -0.07318995076462897,
      -0.03454606543852545,
      -0.021041593605330977,
      -0.009569877251089043,
      -0.007700947449465367,
      -0.007700947449465367
    ],
    "min_front_frame": [
      9,
      43.33497358559443
    ],
    "v_avg": 3.4457640377153433,
    "v_std": 1.00965505698602,
    "vy_max": 0.10861974452528766,
    "a_max": 1.364731935434667,
    "ax_avg": 0.6264625040740854,
    "a_std": 0.455643324392899,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "12800b02eb685132",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.710308442477498,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      51.68317258593075,
      50.737310421912305,
      49.560133325586975,
      48.11448278161592,
      46.563245485656815,
      44.94515601664148,
      43.33497358559443
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "12800b02eb685132",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0f7a1388a17f5654": {
    "vx_ego": [
      5.844713320458184,
      5.8588683966306565,
      5.900459302294404,
      5.951815826488861,
      6.005685307070038,
      6.111699389712238,
      6.247926953151555,
      6.373175757665814,
      6.479966382560622,
      6.567239479328082
    ],
    "vy_ego": [
      0.0019490737417284798,
      -0.017090979531753536,
      -0.023563878418272788,
      -0.05232692879823131,
      -0.02473194452644978,
      -0.007876522163331678,
      0.0023924295386892336,
      0.017952177347373866,
      0.018882214110185203,
      0.052927068155546486
    ],
    "v_ego": [
      5.8447136454431865,
      5.85889332473453,
      5.900506354068155,
      5.952045844910869,
      6.005736231024219,
      6.111704465188932,
      6.247927411200995,
      6.373201041766276,
      6.479993893293844,
      6.5674527522768615
    ],
    "ax_ego": [
      0.006471866399219484,
      0.05202869951845468,
      0.11882292126039543,
      0.08772005482896024,
      0.13036248534634537,
      0.2959473532175363,
      0.24944265124442563,
      0.2501712196397035,
      0.17358212066415885,
      0.17457415407837837
    ],
    "ay_ego": [
      0.7119803851747178,
      0.7101063085555056,
      0.6948178824288351,
      0.433856399314332,
      0.31927057660104924,
      0.36523594197370607,
      0.3771510375705851,
      0.35432839062166144,
      0.15336211243004927,
      0.15223191122879826
    ],
    "a_ego": [
      0.7120097990394717,
      0.712009799808899,
      0.7049047995011416,
      0.4426354970460378,
      0.344859505695932,
      0.47008736335481893,
      0.45217755517099373,
      0.43374444957434727,
      0.23162618622097475,
      0.2316261860596813
    ],
    "yaw": [
      2.6543923293600535,
      2.718440825513059,
      2.7793459876930307,
      2.8317674179054437,
      2.858666089645621,
      2.8842147750878704,
      2.912557266024676,
      2.939068851820366,
      2.958644012312912,
      2.965136484156875
    ],
    "yaw_diff": [
      0.1280969923060109,
      0.12181032435994332,
      0.10484286042482616,
      0.0537973434803547,
      0.051097370884498616,
      0.056684981873611484,
      0.053023171591379814,
      0.03915032098509208,
      0.012984943687925465,
      0.012984943687925465
    ],
    "min_front_frame": [
      1,
      14.166499484930098
    ],
    "v_avg": 6.134217496390788,
    "v_std": 0.2533248395378492,
    "vy_max": 0.052927068155546486,
    "a_max": 0.712009799808899,
    "ax_avg": 0.15391235261975778,
    "a_std": 0.1743202966355222,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "0f7a1388a17f5654",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.15933317134926,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      14.166499484930098,
      15.114935614148346,
      16.19559562590152,
      17.215679385235692,
      18.325280060658653,
      19.464190410138002,
      20.44071102997072,
      21.32966883389932,
      22.180543433922747
    ],
    "safe_frame": [
      -1,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7777777777777778,
    "unsafe_ratio": 0.2222222222222222,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0f7a1388a17f5654",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f750e0c7f8375bae": {
    "vx_ego": [
      1.7138881447785106,
      1.968125742279485,
      2.2417154433678044,
      2.4128254328998766,
      2.4097080050618627,
      2.318595904052363,
      2.188497662123468,
      2.0674585374017616,
      1.9790530652645644,
      1.9110444009575511
    ],
    "vy_ego": [
      -0.03506078144913238,
      -0.01642258529761964,
      -0.0026239886487746666,
      0.019783990145398445,
      0.014476418970065907,
      -0.00969995816674074,
      -0.02121010492377784,
      -0.023790752820722294,
      -0.02409266418185807,
      -0.02794270912751473
    ],
    "v_ego": [
      1.7142467241351662,
      1.9681942583828027,
      2.2417169790921734,
      2.4129065410650594,
      2.409751488507771,
      2.318616194085781,
      2.18860043993205,
      2.0675954158865824,
      1.9791997098828726,
      1.9112486749307611
    ],
    "ax_ego": [
      0.5084126434638392,
      0.50835928560557,
      0.5859535465199684,
      0.09853186936264607,
      -0.11069673002439755,
      -0.2538050074511927,
      -0.26657985951827196,
      -0.21759921508137847,
      -0.136034613428139,
      -0.13603188752354275
    ],
    "ay_ego": [
      0.030483085618298017,
      0.03136048624958773,
      0.009704506678602731,
      0.04965114272416946,
      -0.09219679339399205,
      -0.02616447295283121,
      -0.018759638375823978,
      0.006571744501285504,
      -0.008869961484290811,
      -0.008911596305623874
    ],
    "a_ego": [
      0.5093256664872696,
      0.5093256751423553,
      0.5860339035663413,
      0.11033478714310097,
      0.14406253763636406,
      0.255150076331949,
      0.2672391167714287,
      0.21769842955295335,
      0.13632348391702737,
      0.13632347916603432
    ],
    "yaw": [
      1.0334518485264488,
      1.0317260041607559,
      1.0300400976749775,
      1.0268707380614495,
      1.0246844765965601,
      1.022411661840078,
      1.022535432118611,
      1.0223156601794887,
      1.022180224052447,
      1.0218741417214283
    ],
    "yaw_diff": [
      -0.0034516887313857936,
      -0.0033718129715567535,
      -0.006338719227056089,
      -0.004372522929778633,
      -0.004545629512964222,
      0.000247540557066106,
      -0.0004395438782447414,
      -0.0002708722540836206,
      -0.0006121646620371735,
      -0.0006121646620371735
    ],
    "min_front_frame": [
      0,
      12.850530105148241
    ],
    "v_avg": 2.121207642590102,
    "v_std": 0.21966652014145208,
    "vy_max": 0.03506078144913238,
    "a_max": 0.5860339035663413,
    "ax_avg": 0.058051003192510144,
    "a_std": 0.1707438177221853,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f750e0c7f8375bae",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.232388585699926,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      12.850530105148241,
      14.27327462459713,
      15.942580379411895,
      17.558894052232237,
      19.4648501616026,
      21.676550883170012,
      24.085690332518556,
      26.88733512476383,
      29.99871046003362,
      33.41942556060401
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f750e0c7f8375bae",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ed0c080a65445565": {
    "vx_ego": [
      3.1799668143065034,
      3.3727695992687687,
      3.567800822897365,
      3.785448117288169,
      3.986842143297947,
      4.082530531011847,
      4.088266621057702,
      4.067044068534348,
      4.088068190496386,
      4.156929191252283
    ],
    "vy_ego": [
      0.019380232412435028,
      0.018601666015564566,
      -0.0030625311638909913,
      -0.034067851487280976,
      -0.03884652157785817,
      -0.04126888731218936,
      -0.05207382499301305,
      -0.03703389937228607,
      -0.025069904451238578,
      -0.04096879980221657
    ],
    "v_ego": [
      3.180025869941786,
      3.3728208952937546,
      3.5678021373058573,
      3.7856014141990046,
      3.9870313928805814,
      4.082739112128506,
      4.088598249779986,
      4.067212677633559,
      4.088145059835522,
      4.157131071260876
    ],
    "ax_ego": [
      0.38554047498360156,
      0.3865947760056757,
      0.3939590473178226,
      0.476223432630169,
      0.32887616212741017,
      0.05367491102711228,
      -0.030194152647554953,
      -0.053528991015260194,
      0.13809115893673432,
      0.1382700893967594
    ],
    "ay_ego": [
      -0.08632398438845978,
      -0.08147249845002458,
      -0.12158805441102674,
      -0.05891584363783381,
      -0.0030262128241790864,
      -0.029048981656522255,
      0.026780218239262674,
      0.11840911420258371,
      0.02615252723622219,
      0.025189384549411865
    ],
    "a_ego": [
      0.3950864312163607,
      0.3950864321114657,
      0.41229526548218476,
      0.479853971972327,
      0.3288900849519666,
      0.06103146245215976,
      0.04035922376664827,
      0.12994641666991943,
      0.1405458034141602,
      0.14054580291053156
    ],
    "yaw": [
      -2.156765088910556,
      -2.169331340844061,
      -2.1777192656962185,
      -2.181570689990378,
      -2.1843128241450156,
      -2.1856881775112456,
      -2.1831886569788237,
      -2.177979250407486,
      -2.1720150895375387,
      -2.165044944770681
    ],
    "yaw_diff": [
      -0.02513250386701049,
      -0.016775849704314894,
      -0.0077028485883188225,
      -0.005484268309275286,
      -0.0027507067324599177,
      0.004999041064843723,
      0.010418813142675454,
      0.011928321739894443,
      0.013940289533715067,
      0.013940289533715067
    ],
    "min_front_frame": [
      0,
      17.035258425620526
    ],
    "v_avg": 3.837710788025943,
    "v_std": 0.32968711389714345,
    "vy_max": 0.05207382499301305,
    "a_max": 0.479853971972327,
    "ax_avg": 0.22175069087624694,
    "a_std": 0.15667551556369444,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ed0c080a65445565",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.090805640614086,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      17.035258425620526,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ed0c080a65445565",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "015011d2b73158b7": {
    "vx_ego": [
      4.904109898223453,
      4.765769566064355,
      4.642669187925446,
      4.583642559092463,
      4.555231815975399,
      4.5177003903832045,
      4.4879793591339645,
      4.444674814835608,
      4.415381981600879,
      4.428880650260043
    ],
    "vy_ego": [
      -0.04222141950126801,
      0.023063664053896815,
      0.04183418866536215,
      0.04212520476941295,
      0.027937615216189204,
      0.03163663413041995,
      0.02278515164543915,
      -0.0055753786256900195,
      -0.03472929781204792,
      -0.03554508018903457
    ],
    "v_ego": [
      4.904291645295776,
      4.765825373366592,
      4.642857663966623,
      4.583836127350167,
      4.555317487027496,
      4.517811161822466,
      4.488037198057523,
      4.444678311698246,
      4.415518561570342,
      4.429023285891988
    ],
    "ax_ego": [
      -0.2770015065609796,
      -0.27688165912214646,
      -0.21555130997025998,
      -0.023748783218557362,
      -0.09181242725622465,
      -0.06309381277247378,
      -0.06080164668675636,
      -0.1207201082392266,
      0.008219369848859653,
      0.056043275741862325
    ],
    "ay_ego": [
      -0.0063531800521419435,
      -0.0103316014227543,
      0.2416953248844578,
      0.3922410345005247,
      0.6058946411757422,
      0.7110614059687017,
      0.8129969110911146,
      0.6989994350113622,
      0.650287933304924,
      0.6479206121404215
    ],
    "a_ego": [
      0.27707435380025225,
      0.27707434949159615,
      0.32385026987930504,
      0.3929593284939344,
      0.6128114212416091,
      0.7138551339511083,
      0.8152673289685506,
      0.7093472736815827,
      0.6503398759438803,
      0.650339886822496
    ],
    "yaw": [
      -0.702846735352364,
      -0.7172120221006335,
      -0.7088931159330608,
      -0.674425651834185,
      -0.6168346128924399,
      -0.5450479231355343,
      -0.4585141888528983,
      -0.36774592622826174,
      -0.2847661246620569,
      -0.21112265423659293
    ],
    "yaw_diff": [
      -0.02873057349653907,
      0.016637812335145385,
      0.0689349281977516,
      0.11518207788349022,
      0.14357337951381122,
      0.173067468565272,
      0.1815365252492731,
      0.16595960313240965,
      0.14728694085092797,
      0.14728694085092797
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.574719681604722,
    "v_std": 0.14982557554086243,
    "vy_max": 0.04222141950126801,
    "a_max": 0.8152673289685506,
    "ax_avg": -0.10653486082359027,
    "a_std": 0.19258152039347348,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "015011d2b73158b7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "015011d2b73158b7",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "59c00a21c1315d9b": {
    "vx_ego": [
      2.319919378182539,
      2.5409829520365736,
      2.796966541714078,
      3.009820979765702,
      3.0640134439467928,
      3.057803090898645,
      3.209639742124878,
      3.5523226586675154,
      3.9054271551162625,
      4.21312876179036
    ],
    "vy_ego": [
      -0.04679382563592249,
      -0.009111063379971213,
      0.010100797828989094,
      0.011610884676574618,
      0.019328659104551393,
      -0.002432460545060744,
      -0.0009322508550940745,
      0.02123907165787675,
      0.012200070580514089,
      -0.0494674118973788
    ],
    "v_ego": [
      2.3203912565307823,
      2.540999286504507,
      2.796984780363452,
      3.0098433751410956,
      3.064074408650917,
      3.0578040584009973,
      3.2096398775126023,
      3.5523861515110564,
      3.905446210824273,
      4.2134191564885874
    ],
    "ax_ego": [
      0.43911974670319537,
      0.4490798683592937,
      0.5745733270333588,
      0.277683262562567,
      -0.0655260999446482,
      0.036795131892983654,
      0.5717341175953427,
      0.7976353281873778,
      0.6118558803609263,
      0.621587763050736
    ],
    "ay_ego": [
      0.2693432413808559,
      0.2523870136491736,
      0.24205425043661813,
      0.36190347921111515,
      0.30774269287529366,
      0.22140296206995835,
      0.26797176130759537,
      0.267402480480435,
      0.23933649007381846,
      0.21278680225132046
    ],
    "a_ego": [
      0.5151426342501895,
      0.5151426334757673,
      0.623477961352778,
      0.4561601939806909,
      0.31464143845350906,
      0.2244396429875379,
      0.6314180596726863,
      0.841264645245285,
      0.6570004366917112,
      0.6570004340841492
    ],
    "yaw": [
      3.1108133507625144,
      -3.134195479078783,
      -3.094853733056471,
      -3.0440300942993153,
      -2.992190024201575,
      -2.9416622072954834,
      -2.9022642335336934,
      -2.8689595952839317,
      -2.8327907724359873,
      -2.789747724627225
    ],
    "yaw_diff": [
      0.07635295467657777,
      0.07868349204462355,
      0.1016472775143118,
      0.10368014019548077,
      0.10105563381218285,
      0.07879594752357999,
      0.06660927649952342,
      0.07233764569588885,
      0.08608609561752445,
      0.08608609561752445
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.167098856192827,
    "v_std": 0.5552825011544762,
    "vy_max": 0.0494674118973788,
    "a_max": 0.841264645245285,
    "ax_avg": 0.4314538325801133,
    "a_std": 0.17087035101265183,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "59c00a21c1315d9b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.634712283808005,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "59c00a21c1315d9b",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "17329d8654895534": {
    "vx_ego": [
      4.691599049318149,
      4.12489258677923,
      3.5873571436941134,
      3.078014942157964,
      2.615206371024466,
      2.196086134367778,
      1.800061844884825,
      1.4501954804698918,
      1.208333969075837,
      1.0541039570720034
    ],
    "vy_ego": [
      -0.12989386023032967,
      -0.050946223912647026,
      0.03222043398300922,
      -0.006902749744093772,
      -0.06768528424676168,
      0.00015837538410135021,
      0.0824621419648377,
      0.11797648531019272,
      0.0750298016052689,
      -0.030015127065065095
    ],
    "v_ego": [
      4.693396856700751,
      4.125207191184123,
      3.587501837320678,
      3.078022682194159,
      2.616082120414136,
      2.1960861400785654,
      1.8019496802817743,
      1.4549863857306178,
      1.2106611631466055,
      1.0545312039800379
    ],
    "ax_ego": [
      -1.1340470667110694,
      -1.1346263873009672,
      -1.0156682547156748,
      -1.0199126513765522,
      -0.8322776419145014,
      -0.8444690517851062,
      -0.7397140506857306,
      -0.6599410433572994,
      -0.3080803422485001,
      -0.3094841069614994
    ],
    "ay_ego": [
      0.11541040534842745,
      0.10956855760688855,
      0.06423962606406225,
      -0.319109129679665,
      0.04330160701885727,
      0.21652921335247874,
      0.11585160451415585,
      0.028963364596024277,
      -0.1948092342881182,
      -0.1925713299998809
    ],
    "a_ego": [
      1.1399045184482204,
      1.1399045168678377,
      1.0176977612209017,
      1.0686685421976554,
      0.8334033251680597,
      0.8717871756672495,
      0.7487312408671059,
      0.6605763068686639,
      0.3645053292393349,
      0.36450532177141093
    ],
    "yaw": [
      -1.8958959681332934,
      -1.9010459697728848,
      -1.9113848454369275,
      -1.9187633282633099,
      -1.9216570190319615,
      -1.9228559183490779,
      -1.9224572053003324,
      -1.9220303749768415,
      -1.9208748188663174,
      -1.91362734330061
    ],
    "yaw_diff": [
      -0.010300003279182679,
      -0.02067775132808558,
      -0.014756965652764631,
      -0.005787381537303293,
      -0.0023977986342327284,
      0.0007974260974910052,
      0.0008536606469817798,
      0.002311112221048184,
      0.014494951131414968,
      0.014494951131414968
    ],
    "min_front_frame": [
      9,
      32.26256642951217
    ],
    "v_avg": 2.5818425261031446,
    "v_std": 1.1974563764105892,
    "vy_max": 0.12989386023032967,
    "a_max": 1.1399045184482204,
    "ax_avg": -0.7998220597056901,
    "a_std": 0.27457173545027275,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "17329d8654895534",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      43.79753646699263,
      41.618153302076486,
      39.709635625366886,
      38.080320730264646,
      36.64219888921798,
      35.39483833177793,
      34.39220277254709,
      33.57644833299995,
      32.88733600482229,
      32.26256642951217
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "17329d8654895534",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "189e9c0a20085a38": {
    "vx_ego": [
      3.908732118297837,
      3.837248157573356,
      3.7489311324368497,
      3.613777759565636,
      3.4780931611397343,
      3.3577894757570785,
      3.23822182561278,
      3.1185026060932697,
      3.00504214668198,
      2.9147004929558773
    ],
    "vy_ego": [
      0.031938842402785994,
      -0.024832240927533222,
      -0.013159554271894969,
      -6.7564932049180015e-06,
      -0.009529619488277907,
      -0.018594626169883943,
      -0.008018208069721533,
      0.014387505136702505,
      0.05031146993254837,
      0.11359941652600804
    ],
    "v_ego": [
      3.9088626046801807,
      3.8373285060038316,
      3.7489542287980626,
      3.6137777595719522,
      3.478106216206541,
      3.3578409616340372,
      3.2382317525982627,
      3.118535794970866,
      3.0054632833128765,
      2.916913401366637
    ],
    "ax_ego": [
      -0.1643120131646753,
      -0.1223059914170671,
      -0.23390456093161074,
      -0.3075708461333358,
      -0.23501552957968566,
      -0.24419333734425416,
      -0.22815206026005436,
      -0.23813413876650413,
      -0.23044136932895315,
      -0.16196174128505775
    ],
    "ay_ego": [
      0.5102488603601901,
      0.521913384766033,
      0.24562573343041105,
      0.10858507725506837,
      0.08871301183925408,
      0.16525860126820346,
      0.3735070013218064,
      0.7184924655643465,
      0.6926379439485061,
      0.7117716913962396
    ],
    "a_ego": [
      0.5360525507532832,
      0.5360525503478637,
      0.3391804011847338,
      0.32617563427341606,
      0.25120170702686667,
      0.29485723884016785,
      0.437676641640053,
      0.756927533598031,
      0.7299661266767224,
      0.7299661268258629
    ],
    "yaw": [
      -0.54783600861779,
      -0.4664866767687389,
      -0.41915896841524536,
      -0.3987292160712043,
      -0.38209131480324415,
      -0.36087069228035873,
      -0.32321890186793534,
      -0.24444679987222073,
      -0.14101795594747768,
      -0.04357426033628935
    ],
    "yaw_diff": [
      0.16269866369810226,
      0.09465541670698707,
      0.04085950468808208,
      0.03327580253592033,
      0.04244124504577085,
      0.07530358082484678,
      0.1575442039914292,
      0.2068576878494861,
      0.19488739122237667,
      0.19488739122237667
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4224014509143252,
    "v_std": 0.3339086730766351,
    "vy_max": 0.11359941652600804,
    "a_max": 0.756927533598031,
    "ax_avg": -0.2165991588211198,
    "a_std": 0.18383216997346066,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "189e9c0a20085a38",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "189e9c0a20085a38",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7752ef9225b65783": {
    "vx_ego": [
      4.488627461280013,
      4.003095516621521,
      3.5589029917167188,
      3.1086749213912377,
      2.589878709708685,
      2.0739973332827026,
      1.5669119382304144,
      1.0309559100897234,
      0.5118157241108772,
      0.022952998172690302
    ],
    "vy_ego": [
      0.0882938046956041,
      0.06005496451251169,
      0.04614769167310406,
      0.025690428143258615,
      -0.01246792262265517,
      -0.00020476089213172788,
      0.026492946590176092,
      0.01857657507359728,
      0.0034674124393487826,
      -0.014375392318876346
    ],
    "v_ego": [
      4.489495771476423,
      4.003545967509043,
      3.559202173787964,
      3.1087810738270076,
      2.5899087204179314,
      2.073997343390484,
      1.5671358902111916,
      1.0311232601829885,
      0.5118274693645957,
      0.027083057977952442
    ],
    "ax_ego": [
      -0.9711325031965783,
      -0.9711614895344303,
      -0.8057584928421373,
      -0.9950436663670013,
      -1.0801382915185815,
      -0.9833433078045303,
      -1.0449874386419036,
      -1.0988597260312212,
      -0.9777091283594528,
      -0.9777292308667446
    ],
    "ay_ego": [
      -0.05198775092701774,
      -0.05144311444251076,
      0.008161111864106507,
      -0.09751550281252602,
      -0.059536429744607544,
      0.11225064221294989,
      -0.006167496849838305,
      -0.02428347589461366,
      -0.03565953092136909,
      -0.03510421004098441
    ],
    "a_ego": [
      0.9725230408639693,
      0.9725230242921133,
      0.8057998216269914,
      0.999810567690632,
      1.081777849316307,
      0.989729391137383,
      1.045005638710509,
      1.0991280110591917,
      0.978359208993779,
      0.9783592154489462
    ],
    "yaw": [
      -2.055783548398455,
      -2.055222739014602,
      -2.054401860029301,
      -2.054962206313737,
      -2.0553484533071584,
      -2.05495386112144,
      -2.055050637543148,
      -2.05481809241397,
      -2.054654904227309,
      -2.0540869256633436
    ],
    "yaw_diff": [
      0.0011216187677058898,
      0.0016417579706020646,
      -0.0011206925688718172,
      -0.0007724939868429814,
      0.000789184371436491,
      -0.0001935528434158229,
      0.0004650902583565042,
      0.00032637637332211256,
      0.0011359571279303537,
      0.0011359571279303537
    ],
    "min_front_frame": [
      9,
      9.393492798222486
    ],
    "v_avg": 2.2962100728145582,
    "v_std": 1.434625685570485,
    "vy_max": 0.0882938046956041,
    "a_max": 1.0991280110591917,
    "ax_avg": -0.9905863275162583,
    "a_std": 0.07629723126750501,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7752ef9225b65783",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.17193439055077,
      16.726126817831837,
      15.2956785987949,
      13.852764906322351,
      12.538261211804688,
      11.433068921650195,
      10.518991785129675,
      9.876617469494795,
      9.479777825542588,
      9.393492798222486
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7752ef9225b65783",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "40ffdefe6d2f541a": {
    "vx_ego": [
      5.351088363241886,
      5.6892896664805335,
      6.1140950646107886,
      6.488965563039256,
      6.759369645606331,
      6.953108834796018,
      7.172145488085311,
      7.448617495934343,
      7.663397600069188,
      7.813951498732976
    ],
    "vy_ego": [
      -0.07126640450350452,
      0.09074895860938614,
      0.10404218233242002,
      0.03630166679579361,
      0.04914896001178937,
      0.006245404739522176,
      -0.005309040795933306,
      -0.0128754096867425,
      0.006314414366596743,
      -0.011584299174373758
    ],
    "v_ego": [
      5.351562909247502,
      5.690013381584517,
      6.1149802317589295,
      6.489067104701686,
      6.759548330045026,
      6.953111639661685,
      7.172147453041987,
      7.448628623908821,
      7.663400201514663,
      7.813960085676064
    ],
    "ax_ego": [
      0.5282064263933186,
      0.8207863692325283,
      0.8684382550961137,
      0.6376912689915895,
      0.44696308388251443,
      0.32818598189926745,
      0.5477858505054393,
      0.5580740920495287,
      0.30102984403869415,
      0.30123443511801007
    ],
    "ay_ego": [
      -1.696897344905128,
      -1.5763160709561805,
      -0.5841465062793618,
      -0.45883629289995176,
      -0.3132457095438451,
      -0.13051282753655824,
      -0.057295666621555635,
      0.015767884656901016,
      0.04189965506795508,
      0.04040251507965292
    ],
    "a_ego": [
      1.7772064112053145,
      1.7772064087979897,
      1.0466193881792785,
      0.7856086164435023,
      0.5458011294431284,
      0.3531849895830423,
      0.5507741201505167,
      0.5582968013552103,
      0.3039318148808613,
      0.30393181492832927
    ],
    "yaw": [
      0.8837317289863615,
      0.7054332866078714,
      0.6116361625273172,
      0.5811497739293863,
      0.550185412436955,
      0.5402837000139,
      0.5352521847232694,
      0.5348669695085649,
      0.5342379698350035,
      0.5392096612497344
    ],
    "yaw_diff": [
      -0.35659688475698026,
      -0.18759424816110837,
      -0.060972777195861916,
      -0.06192872298486263,
      -0.019803424846109863,
      -0.010063030581261234,
      -0.0007704304294089415,
      -0.0012579993471228956,
      0.009943382829461722,
      0.009943382829461722
    ],
    "min_front_frame": [
      2,
      33.90230904165906
    ],
    "v_avg": 6.745641996114088,
    "v_std": 0.7889417605251563,
    "vy_max": 0.10404218233242002,
    "a_max": 1.7772064112053145,
    "ax_avg": 0.5338395607207004,
    "a_std": 0.5336529112816161,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "40ffdefe6d2f541a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.891170423219846,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      45.91279839686656,
      33.90230904165906,
      35.434244368497815,
      37.13898221320365,
      38.692927693263364,
      40.329683556552304,
      41.747620598103765,
      43.01307382847669,
      44.091745838178994
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "40ffdefe6d2f541a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "da751fd130625cce": {
    "vx_ego": [
      0.037196231619067224,
      0.6885709811461377,
      1.322721541058789,
      1.885855551322326,
      2.3655868332298726,
      2.7993238746447844,
      3.148687618227565,
      3.4336151591930415,
      3.716524162975043,
      4.023614262942907
    ],
    "vy_ego": [
      -0.01196740009304064,
      -0.010593121501074679,
      -0.02936384203701392,
      -0.0313211340922499,
      0.009165718536039424,
      0.023647316794803475,
      0.007815642677646562,
      -0.01173442576635364,
      -0.036325442442794786,
      -0.10055259221243062
    ],
    "v_ego": [
      0.03907401069312191,
      0.6886524597354541,
      1.3230474331633435,
      1.886115631103793,
      2.365604589940343,
      2.7994237533370834,
      3.1486973181698557,
      3.4336352104130574,
      3.716701681833775,
      4.024870502358832
    ],
    "ax_ego": [
      1.3028450669843052,
      1.30288203805636,
      1.2346344136657617,
      1.0231303149405537,
      0.9006003730187783,
      0.8346981576218973,
      0.5681775011295518,
      0.5850793715344091,
      0.5654831632057897,
      0.6946674741387672
    ],
    "ay_ego": [
      0.01031031701275198,
      0.003156661237053604,
      -0.022823091794341943,
      0.17117882886862906,
      0.32720953868607583,
      0.4683065937497047,
      0.7000417935315766,
      0.8971233402548191,
      0.9791961163662275,
      0.8922070069587881
    ],
    "a_ego": [
      1.3028858626918332,
      1.3028858620769739,
      1.2348453461575066,
      1.0373513545579396,
      0.9581999342980133,
      0.9570956483480847,
      0.9016009014418344,
      1.0710500262009535,
      1.1307503005420465,
      1.1307503008589888
    ],
    "yaw": [
      1.732260879510298,
      1.7377515826327747,
      1.7514118156547165,
      1.7753547387260944,
      1.8146344929010572,
      1.8857813387592932,
      1.9880817585729829,
      2.1152546961074012,
      2.2530288669379255,
      2.390871639349138
    ],
    "yaw_diff": [
      0.010981406244953362,
      0.027320466043883496,
      0.04788584614275582,
      0.07855950834992553,
      0.1422936917164721,
      0.2046008396273793,
      0.25434587506883677,
      0.27554834166104847,
      0.2756855448224247,
      0.2756855448224247
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.3425822590748657,
    "v_std": 1.2671699651751458,
    "vy_max": 0.10055259221243062,
    "a_max": 1.3028858626918332,
    "ax_avg": 0.9012197874296172,
    "a_std": 0.13674014879737367,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "da751fd130625cce",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "da751fd130625cce",
    "pedestrians": "Yes",
    "main_road_vehicles": "No"
  },
  "082dba79a46d57b2": {
    "vx_ego": [
      2.8988695314239323,
      2.37967226731577,
      1.883615949128488,
      1.4091689401773755,
      0.9532593307261142,
      0.5588705414155103,
      0.2441043559281289,
      0.029905210918754546,
      -0.03715497864273689,
      -0.019455870554058993
    ],
    "vy_ego": [
      -0.024880314152966876,
      -0.008995647877262557,
      0.00646432283797535,
      0.01573882040103246,
      0.012153721408751345,
      -0.002142263544278813,
      -0.016886381149950346,
      -0.022551746969603947,
      -0.013395015656443687,
      0.006580818145190925
    ],
    "v_ego": [
      2.8989763003947377,
      2.3796892699494423,
      1.883627041449811,
      1.4092568298320374,
      0.9533368054158409,
      0.5588746472646248,
      0.24468773253154322,
      0.03745534583308819,
      0.03949580841530663,
      0.020538696805697625
    ],
    "ax_ego": [
      -1.0384183018481221,
      -1.038447804640368,
      -0.9457825872372005,
      -0.9520164166607034,
      -0.871631546946506,
      -0.7059054162322811,
      -0.5531252641258537,
      -0.3036771206710824,
      0.03539668855088014,
      0.03540132874118676
    ],
    "ay_ego": [
      0.026310376137407502,
      0.025119293138517084,
      0.03146851276964013,
      0.006902201164728405,
      -0.020601903878237286,
      -0.038432747111962415,
      -0.019447481049494737,
      -0.003242152262835451,
      0.03994714962086841,
      0.03994304065493718
    ],
    "a_ego": [
      1.0387515610123672,
      1.0387515688797677,
      0.9463059598338297,
      0.952041437108913,
      0.8718749864950636,
      0.7069508700869122,
      0.5534670381634899,
      0.303694427295554,
      0.05337321728357825,
      0.05337321962748304
    ],
    "yaw": [
      1.5472222610554556,
      1.546075260671906,
      1.545455929473053,
      1.5456490971584187,
      1.5457858606211468,
      1.545156664971088,
      1.545873367268192,
      1.545806810063012,
      1.5453826045579877,
      1.5454986877404568
    ],
    "yaw_diff": [
      -0.0022940007670992912,
      -0.0012386623977058697,
      0.00038633537073140545,
      0.00027352692545612456,
      -0.0012583913001176228,
      0.001433404594207932,
      -0.00013311441035979144,
      -0.000848411010048622,
      0.0002321663649382799,
      0.0002321663649382799
    ],
    "min_front_frame": [
      9,
      9.463612440337904
    ],
    "v_avg": 1.0425938477892132,
    "v_std": 1.0007731822566148,
    "vy_max": 0.024880314152966876,
    "a_max": 1.0387515688797677,
    "ax_avg": -0.6338206441070051,
    "a_std": 0.3707954124645051,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "082dba79a46d57b2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.2932350793966165,
    "right_rear_min": 10.780994690206539,
    "speed_mode": "decelerating",
    "front_frame": [
      13.750571438856113,
      12.571504316137851,
      11.482322237119263,
      10.658231508997433,
      10.077919099067252,
      9.685836084747438,
      9.541436633688193,
      9.50638846797885,
      9.467745972109965,
      9.463612440337904
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "082dba79a46d57b2",
    "merging_vehicles": "No"
  },
  "7766bcc52078528c": {
    "vx_ego": [
      5.504883472856969,
      5.393140147776887,
      5.344640229870475,
      5.314508391692724,
      5.3655003280717946,
      5.491695338772364,
      5.696214651202857,
      5.802768325556199,
      5.84162066528358,
      5.947508467308819
    ],
    "vy_ego": [
      -0.09134086090211335,
      -0.01534420548581883,
      0.0021274206069235024,
      -0.007849309348880062,
      -0.028741440357625575,
      -0.06396858893065849,
      -0.0885236470793136,
      -0.07074562812899376,
      -0.0550321880496365,
      0.11110918226993927
    ],
    "v_ego": [
      5.5056412162984385,
      5.393161975891777,
      5.34464065327767,
      5.314514188242387,
      5.365577307329787,
      5.492067886895052,
      5.696902473157699,
      5.803199564376333,
      5.841879880551269,
      5.9485462273647
    ],
    "ax_ego": [
      -0.37660661017924346,
      -0.03065763328879345,
      -0.15704227649634372,
      0.035533043438964296,
      0.17625104210202025,
      0.3528297824557507,
      0.46383950928465045,
      -0.04510922287303934,
      0.2014265093496962,
      0.22890200063835578
    ],
    "ay_ego": [
      1.9939480124178992,
      2.028970515189987,
      2.0438974080180183,
      2.010831945853,
      1.9468237906244363,
      1.843355514283106,
      1.2134653110822522,
      0.3418823107039563,
      -0.43351567701286653,
      -0.4196574355689455
    ],
    "a_ego": [
      2.0292021129143327,
      2.029202119550734,
      2.049921679262388,
      2.0111458703035434,
      1.954785743139986,
      1.8768186932747943,
      1.299093973341949,
      0.3448454093655388,
      0.47802560693411317,
      0.4780256155527081
    ],
    "yaw": [
      2.3783732272960414,
      2.5499401986673353,
      2.735258202214827,
      2.9276058744803652,
      3.1168599654298843,
      -2.9850482485735688,
      -2.843930015879594,
      -2.7801202880283116,
      -2.786789105879543,
      -2.8511746404686273
    ],
    "yaw_diff": [
      0.3431339427425879,
      0.37063600709498346,
      0.38469534453107634,
      0.3785081818990381,
      0.3625541863522663,
      0.28223646538794966,
      0.12761945570256472,
      -0.013337635702463047,
      -0.1287710691781685,
      -0.1287710691781685
    ],
    "min_front_frame": [
      3,
      36.61829055270792
    ],
    "v_avg": 5.570613137338511,
    "v_std": 0.22068848120182027,
    "vy_max": 0.11110918226993927,
    "a_max": 2.049921679262388,
    "ax_avg": 0.08493661444320176,
    "a_std": 0.7011469657741073,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "7766bcc52078528c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      36.61829055270792,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7766bcc52078528c",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "926d8c9ced715a42": {
    "vx_ego": [
      5.684639919663579,
      5.146868210866409,
      4.7031117785093945,
      4.395928355401654,
      4.1758851063823235,
      4.040237385190048,
      3.9675763720522554,
      3.9679505413147087,
      4.084381682505752,
      4.266963184568849
    ],
    "vy_ego": [
      -0.02530293902003193,
      -0.04008727895238759,
      -0.03103426110831449,
      0.004851967651075442,
      0.01377529933411846,
      -0.0028496770774315144,
      0.0023193420948319776,
      -0.0006174753362711977,
      0.012363837252506477,
      0.0573304479026915
    ],
    "v_ego": [
      5.684696232425774,
      5.147024321873853,
      4.703214169747784,
      4.395931033059365,
      4.175907827117051,
      4.0402383901629815,
      3.967577049965771,
      3.967950589359132,
      4.084400395757022,
      4.267348309983924
    ],
    "ax_ego": [
      -1.0756290140488411,
      -1.0755884459550134,
      -0.6995277079038009,
      -0.5291463801794057,
      -0.35102893422864057,
      -0.19156193524797185,
      -0.09908711546754462,
      0.1005793383692576,
      0.36515061785406505,
      0.3651603887976271
    ],
    "ay_ego": [
      -0.03989398367699425,
      -0.04097289660681175,
      0.06821999538490199,
      0.09210883478049457,
      -0.056057995490204224,
      -0.010416488127022516,
      0.02704721243382505,
      -0.036797285968178134,
      0.09085077137608177,
      0.09081151124545479
    ],
    "a_ego": [
      1.076368573397283,
      1.0763685629598596,
      0.7028463430191989,
      0.5371032760108513,
      0.35547687902882663,
      0.19184493285163556,
      0.10271225901575225,
      0.10709922297300524,
      0.3762829206578934,
      0.3762829256311234
    ],
    "yaw": [
      -1.5889175968406037,
      -1.5899206675021662,
      -1.5903801284658154,
      -1.5894535001222398,
      -1.5894325371154772,
      -1.589430982336916,
      -1.5896843013052622,
      -1.5895576656376016,
      -1.5894244207417931,
      -1.5893169027423104
    ],
    "yaw_diff": [
      -0.0020061413231249325,
      -0.0009189219272984772,
      0.0018532566871511946,
      4.192601352537295e-05,
      3.1095571224604157e-06,
      -0.0005066379366924778,
      0.0002532713353211591,
      0.00026648979161691955,
      0.00021503599896544046,
      0.00021503599896544046
    ],
    "min_front_frame": [
      5,
      16.35127045330676
    ],
    "v_avg": 4.443428831945266,
    "v_std": 0.5433310318526235,
    "vy_max": 0.0573304479026915,
    "a_max": 1.076368573397283,
    "ax_avg": -0.31906791880102686,
    "a_std": 0.3412680429277206,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "926d8c9ced715a42",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.9241310129975053,
    "right_rear_min": 7.377720082975021,
    "speed_mode": "decelerating",
    "front_frame": [
      19.135579122096157,
      18.176883361433234,
      17.44413917125566,
      16.875961322229855,
      16.46205169272104,
      16.35127045330676,
      16.36751939108116,
      16.544784072185447,
      16.819775613451036,
      17.118969347089166
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "926d8c9ced715a42",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "84204f2655e4500b": {
    "vx_ego": [
      3.0995878775450025,
      3.0640134439467928,
      3.057803090898645,
      3.209639742124878,
      3.5523226586675154,
      3.9054271551162625,
      4.164973410750145,
      4.310064922115799,
      4.332469726698032,
      4.304957961597061
    ],
    "vy_ego": [
      0.026103275680447957,
      0.019328659104551393,
      -0.002432460545060744,
      -0.0009322508550940745,
      0.02123907165787675,
      0.012200070580514089,
      -0.017569099527213528,
      -0.005883441695387237,
      -0.005191357068117908,
      -0.016028223709347644
    ],
    "v_ego": [
      3.0996977903700844,
      3.064074408650917,
      3.0578040584009973,
      3.2096398775126023,
      3.5523861515110564,
      3.905446210824273,
      4.1650104664350955,
      4.310068937701491,
      4.332472836953872,
      4.304987799642781
    ],
    "ax_ego": [
      -0.0813843308533584,
      -0.0655260999446482,
      0.036795131892983654,
      0.5717341175953427,
      0.7976353281873778,
      0.6118558803609263,
      0.42896636695812984,
      0.15644419910735458,
      -0.06621786001531843,
      -0.04141947834688914
    ],
    "ay_ego": [
      0.30393391358882815,
      0.30774269287529366,
      0.22140296206995835,
      0.26797176130759537,
      0.267402480480435,
      0.23933649007381846,
      0.3403800688302036,
      0.4717847880203061,
      0.45045859981671277,
      0.45341171326375496
    ],
    "a_ego": [
      0.3146414358247657,
      0.31464143845350906,
      0.2244396429875379,
      0.6314180596726863,
      0.841264645245285,
      0.6570004366917112,
      0.5476045427478766,
      0.4970469531560442,
      0.4552996322575296,
      0.4552996320131414
    ],
    "yaw": [
      -3.0440300942993153,
      -2.992190024201575,
      -2.9416622072954834,
      -2.9022642335336934,
      -2.8689595952839317,
      -2.8327907724359873,
      -2.789747724627225,
      -2.744957889864981,
      -2.692115861828377,
      -2.6372580701118067
    ],
    "yaw_diff": [
      0.10368014019548077,
      0.10105563381218285,
      0.07879594752357999,
      0.06660927649952342,
      0.07233764569588885,
      0.08608609561752445,
      0.08957966952448793,
      0.10568405607320841,
      0.10971558343314047,
      0.10971558343314047
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7001588538003167,
    "v_std": 0.532548729137278,
    "vy_max": 0.026103275680447957,
    "a_max": 0.841264645245285,
    "ax_avg": 0.2348883254941901,
    "a_std": 0.17576272667731063,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "84204f2655e4500b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.1964375732910355,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "84204f2655e4500b",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "bc388668c6285884": {
    "vx_ego": [
      3.35955522562655,
      2.764334275580329,
      2.1833353687582355,
      1.621152559639295,
      1.0825134649615595,
      0.6138106463791353,
      0.23442467574471293,
      0.0002064348529473652,
      -0.04878442702897812,
      -0.019252059838010174
    ],
    "vy_ego": [
      -0.03646842013598506,
      -0.017930955173376395,
      -0.008015726494820519,
      -0.00608504883028349,
      -0.014065408119989131,
      -0.011840632283767666,
      -0.006709727041549318,
      -0.006931448040013762,
      -0.0014110987910434976,
      0.0037513577158916154
    ],
    "v_ego": [
      3.359753154578752,
      2.764392429866218,
      2.183350082863923,
      1.621163979813364,
      1.0826048390473153,
      0.6139248408243889,
      0.23452067933337115,
      0.006934521416790205,
      0.048804830911947386,
      0.019614140121833122
    ],
    "ax_ego": [
      -1.190895629915698,
      -1.1908079039121682,
      -1.1335566636658436,
      -1.1153042328521894,
      -1.0393986535967528,
      -0.8357100866842532,
      -0.6818556571636284,
      -0.25502861353930883,
      0.059064605747600446,
      0.05906478509907538
    ],
    "ay_ego": [
      -0.0064539206952596295,
      -0.01583022555157365,
      -0.012433661751268255,
      -0.02130659464293111,
      -0.03367039843497538,
      0.03093173605084032,
      -0.012726098518840684,
      0.01176606202777511,
      0.01032423797344685,
      0.010323213411461637
    ],
    "a_ego": [
      1.1909131179244974,
      1.1909131202823762,
      1.1336248522707075,
      1.1155077331839922,
      1.0399438719611325,
      0.8362823215164367,
      0.6819744062569759,
      0.2552998902064464,
      0.05996013293724287,
      0.059960133204809835
    ],
    "yaw": [
      2.786115528900471,
      2.778241948103419,
      2.7713577360191177,
      2.765901985761764,
      2.761608092831881,
      2.7580716405802415,
      2.7566403739100593,
      2.7563543998821656,
      2.756319423958332,
      2.7563367737600073
    ],
    "yaw_diff": [
      -0.015747161594104497,
      -0.013768424168602245,
      -0.010911500514707129,
      -0.00858778585976605,
      -0.007072904503279354,
      -0.0028625333403642372,
      -0.00057194805578753,
      -6.995184766722673e-05,
      3.4699603350674124e-05,
      3.4699603350674124e-05
    ],
    "min_front_frame": [
      9,
      9.077218620608324
    ],
    "v_avg": 1.1935063498777905,
    "v_std": 1.169921986208863,
    "vy_max": 0.03646842013598506,
    "a_max": 1.1909131202823762,
    "ax_avg": -0.7324428050483165,
    "a_std": 0.44298262023401,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bc388668c6285884",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 48.764652858765665,
    "speed_mode": "decelerating",
    "front_frame": [
      14.125741418858583,
      12.628701168143559,
      11.370850340062578,
      10.43243159430778,
      9.767836149591988,
      9.33088954790438,
      9.123511800140298,
      9.082026165261649,
      9.091573327956695,
      9.077218620608324
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bc388668c6285884",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3af3b3a7a8635164": {
    "vx_ego": [
      1.7660491823259732,
      2.915074480555739,
      4.078494255447611,
      5.187964775877815,
      6.113161744950456,
      6.799960471648635,
      7.3135239907005305,
      7.709307774943042,
      7.948116144441541,
      8.09922347879528
    ],
    "vy_ego": [
      -0.027344763661514712,
      -0.015275558766239733,
      -0.002100753101774322,
      -0.006988541619698474,
      -0.009940166386635696,
      -0.00595246119523396,
      -0.009378431145351862,
      -0.007224666268616675,
      0.04397558941141744,
      -0.09098913056384361
    ],
    "v_ego": [
      1.76626086705615,
      2.915114503734447,
      4.078494796476116,
      5.187969482896263,
      6.11316982643485,
      6.799963076942272,
      7.31353000387111,
      7.709311160188045,
      7.948237798279337,
      8.099734562400762
    ],
    "ax_ego": [
      2.298008944797944,
      2.2979864472719256,
      2.3556430943020126,
      2.0822584288214188,
      1.6185070432216522,
      1.1286924770304068,
      0.9255509302198016,
      0.6575591695876462,
      0.29801380359434393,
      0.3096561022961559
    ],
    "ay_ego": [
      0.017019449246001878,
      0.019825442225284345,
      0.009496990937036931,
      -0.054922028214028806,
      0.03669487401650813,
      -0.007993643455139282,
      -0.017333794897750672,
      0.009795834708598489,
      0.3233800984741448,
      0.3122499278067807
    ],
    "a_ego": [
      2.298071968417003,
      2.2980719658019577,
      2.355662238218718,
      2.0829826196060752,
      1.618922963805623,
      1.1287207830286121,
      0.9257132303668871,
      0.6576321311238016,
      0.4397577915420212,
      0.4397577959565778
    ],
    "yaw": [
      0.06993028289837774,
      0.06870921928482693,
      0.06703446267047047,
      0.06564858138377958,
      0.0653673952811152,
      0.06585645786915836,
      0.06544614575445355,
      0.0649109174589238,
      0.06898700227162333,
      0.1056152134596376
    ],
    "yaw_diff": [
      -0.0024421272271016314,
      -0.003349513228712908,
      -0.0027717625733817974,
      -0.0005623722053287594,
      0.0009781251760863363,
      -0.0008206242294096222,
      -0.0010704565910595043,
      0.008152169625399053,
      0.07325642237602856,
      0.07325642237602856
    ],
    "min_front_frame": [
      0,
      14.359478268517584
    ],
    "v_avg": 5.793178607827935,
    "v_std": 2.1182365376617134,
    "vy_max": 0.09098913056384361,
    "a_max": 2.355662238218718,
    "ax_avg": 1.397187644114331,
    "a_std": 0.7568694113583423,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "3af3b3a7a8635164",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.0011863061744375,
    "speed_mode": "accelerating",
    "front_frame": [
      14.359478268517584,
      16.087862184136558,
      17.82450568104206,
      19.25513858547695,
      20.50282727098367,
      21.461148251687455,
      31.264626938347742,
      32.81283315114912,
      34.313673823295126,
      35.94619235442123
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3af3b3a7a8635164",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "67abcf0964415891": {
    "vx_ego": [
      5.804390556397306,
      6.542779117729991,
      7.292609381023875,
      7.99628969948715,
      8.6104171458483,
      9.060935600015602,
      9.467777626320158,
      9.931685861204823,
      10.337327987919952,
      10.639562410003723
    ],
    "vy_ego": [
      -0.1675757899412904,
      -0.3200147388540482,
      -0.1806792570271134,
      -0.12615204280372572,
      -0.07838392943755013,
      -0.12448163523190825,
      -0.1417459053001089,
      -0.05708632758885379,
      -0.06478389331716183,
      -0.030080198681710968
    ],
    "v_ego": [
      5.806809052876517,
      6.550600584411133,
      7.294847262151367,
      7.9972847452137055,
      8.610773917942131,
      9.061790641211047,
      9.46883863433726,
      9.931849923073413,
      10.337530985814093,
      10.63960493132696
    ],
    "ax_ego": [
      1.414729232228525,
      1.6737444408432198,
      1.4241648052062164,
      1.4639069750186993,
      1.0329358639043413,
      0.7915353097560646,
      0.8372484484284445,
      1.0188658676078794,
      0.604476269222167,
      0.6044853655783976
    ],
    "ay_ego": [
      1.759809575482678,
      1.5155751756757494,
      1.63017419526191,
      1.798944951344124,
      1.7773698888500473,
      1.433752230259118,
      0.4232814534819987,
      0.012311949362426189,
      0.07209429272888679,
      0.07201796613805339
    ],
    "a_ego": [
      2.257961147248206,
      2.257961152539645,
      2.164650849279365,
      2.319315970167694,
      2.055723770532081,
      1.6377342899150715,
      0.938164246418329,
      1.0189402535347496,
      0.6087603363367461,
      0.6087603343230493
    ],
    "yaw": [
      -3.0911456530911794,
      -2.9333154595373396,
      -2.8402596371221245,
      -2.735276711707889,
      -2.6340961786955,
      -2.538422275094102,
      -2.486426078432917,
      -2.483921305903543,
      -2.481094068390701,
      -2.480967798723456
    ],
    "yaw_diff": [
      0.3156603871076795,
      0.1861116448304303,
      0.2099658508284712,
      0.20236106602477744,
      0.19134780720279654,
      0.10399239332237009,
      0.005009545058747733,
      0.005654475025684391,
      0.00025253933448965427,
      0.00025253933448965427
    ],
    "min_front_frame": [
      4,
      48.81663318817144
    ],
    "v_avg": 8.569993067835764,
    "v_std": 1.54857071151686,
    "vy_max": 0.3200147388540482,
    "a_max": 2.319315970167694,
    "ax_avg": 1.0866092577793955,
    "a_std": 0.6819241773845721,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "67abcf0964415891",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 19.359367518847716,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      48.81663318817144,
      49.746438687361696,
      50.25324981173365,
      50.4028650802925,
      50.35392875136742,
      49.838855362117506
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "67abcf0964415891",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0774f845fe6b5de3": {
    "vx_ego": [
      3.022199158603787,
      3.377625447641587,
      3.7675383919311556,
      4.043801852868878,
      4.124103659878867,
      4.104416911051783,
      4.090281669051497,
      4.09840319913932,
      4.065463964559123,
      3.9900670329560977
    ],
    "vy_ego": [
      -0.14379177342524074,
      -0.021138919673267642,
      -0.029149129873344837,
      -0.05381241340679255,
      -0.06650491913154521,
      -0.034446425956716764,
      -0.01483732913441127,
      -0.04340114865286482,
      -0.05456561464543,
      -0.05043904189931453
    ],
    "v_ego": [
      3.0256179250477437,
      3.3776915961172334,
      3.76765115243537,
      4.04415988817238,
      4.1246398511500315,
      4.1045614547706615,
      4.090308579864671,
      4.098632996795371,
      4.065830130911818,
      3.9903858240063452
    ],
    "ax_ego": [
      0.6463962480614243,
      0.8154336337530048,
      0.7747916034014333,
      0.3695159979711031,
      -0.027189576603241616,
      -0.04985975855670827,
      -0.00834457561880618,
      0.04733594557180652,
      -0.16356035568960997,
      -0.12283597514146996
    ],
    "ay_ego": [
      1.2195009715584253,
      1.1135882091085436,
      1.2740725533080002,
      1.3916597264670554,
      1.1770041218149212,
      0.8033883762011398,
      0.5640072077600364,
      0.5100588072114011,
      0.5714841442170969,
      0.5815990370099736
    ],
    "a_ego": [
      1.3802212609360247,
      1.3802212541912269,
      1.4911615941252414,
      1.4398815461790389,
      1.1773181285638887,
      0.8049340833499582,
      0.5640689340386783,
      0.5122506013242876,
      0.5944292363644804,
      0.5944292360238387
    ],
    "yaw": [
      0.5730226420154273,
      0.7176742424796012,
      0.8863571193562879,
      1.060596152614394,
      1.218691581697628,
      1.3310408427626301,
      1.409745841642313,
      1.482396163315949,
      1.5509014783242887,
      1.6215077719567845
    ],
    "yaw_diff": [
      0.2893032009283478,
      0.3373657537533734,
      0.3484780665162124,
      0.31619085816646786,
      0.22469852213000419,
      0.1574099977593657,
      0.1453006433472721,
      0.13701063001667935,
      0.14121258726499164,
      0.14121258726499164
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8689479399271627,
    "v_std": 0.35632235015704755,
    "vy_max": 0.14379177342524074,
    "a_max": 1.4911615941252414,
    "ax_avg": 0.22816831871489357,
    "a_std": 0.3936879294860638,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "0774f845fe6b5de3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "0774f845fe6b5de3",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "e6e2b0d2f0495557": {
    "vx_ego": [
      5.086146101619413,
      5.251634936089282,
      5.428040117898567,
      5.601080613864131,
      5.762183199813016,
      5.931898502168764,
      6.183282021870948,
      6.490001597529993,
      6.7954956386852015,
      7.089081143268567
    ],
    "vy_ego": [
      0.12689562949992073,
      0.03888890924128138,
      0.01293225823599975,
      0.0012871250849779692,
      0.054622097665481206,
      0.08550101607619887,
      0.07748313917414418,
      0.05941665548023023,
      0.06645487511322345,
      0.042800289320832796
    ],
    "v_ego": [
      5.08772883198432,
      5.251778922347689,
      5.4280555233729295,
      5.601080761754429,
      5.762442086629656,
      5.932514666124483,
      6.18376747613045,
      6.4902735747339895,
      6.795820570454749,
      7.089210345349609
    ],
    "ax_ego": [
      0.28768834746491284,
      0.40527770702196486,
      0.31020727190082087,
      0.3878499726303444,
      0.2705418867184062,
      0.43346095818440755,
      0.59052873124114,
      0.6411534864177239,
      0.585900398774527,
      0.5928435499443244
    ],
    "ay_ego": [
      -1.2095811235603708,
      -1.1754152714474606,
      -1.1575846341896863,
      -1.2124463022804122,
      -1.2288231804936338,
      -1.1387774081607782,
      -0.9255111986136498,
      -0.551142259771736,
      -0.34113005530473095,
      -0.3289156686922572
    ],
    "a_ego": [
      1.2433225968109247,
      1.2433225969799186,
      1.1984284446107827,
      1.272970399177767,
      1.258252487137476,
      1.2184836427328536,
      1.0978593540069443,
      0.8454794992499216,
      0.6779741823376157,
      0.6779741822679264
    ],
    "yaw": [
      0.0518432722429965,
      -0.04668452225775002,
      -0.1507240473282947,
      -0.2561445439008363,
      -0.37251898338932604,
      -0.47930151017266487,
      -0.5633953275396472,
      -0.6188439097855268,
      -0.6534447020922212,
      -0.6741683705282047
    ],
    "yaw_diff": [
      -0.19705558900149306,
      -0.20807905014108935,
      -0.2108409931450832,
      -0.2327488789769795,
      -0.21356505356667765,
      -0.16818763473396459,
      -0.11089716449175935,
      -0.06920158461338866,
      -0.041447336871967,
      -0.041447336871967
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.962267275888229,
    "v_std": 0.6339502485186097,
    "vy_max": 0.12689562949992073,
    "a_max": 1.272970399177767,
    "ax_avg": 0.45054523102985716,
    "a_std": 0.23101876725933923,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "e6e2b0d2f0495557",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 29.636685728032877,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e6e2b0d2f0495557",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f203a01d3a8055f1": {
    "vx_ego": [
      2.214890774236645,
      1.40867365008405,
      0.7307574808820321,
      0.26496172530905304,
      0.01629770939245775,
      -0.03671821621896561,
      -0.025382176207047986,
      -0.014681888199855496,
      -0.008732480366084375,
      -0.005477462848276035
    ],
    "vy_ego": [
      0.005988783900869876,
      -0.03684955910812182,
      -0.08155129575495074,
      -0.07104319905033231,
      -0.0256038789716477,
      -0.004395456432742502,
      -0.0018031558110481634,
      -0.0003161463542167859,
      -0.00018397765715205336,
      -0.0002895909214057392
    ],
    "v_ego": [
      2.214898870678121,
      1.4091555423187263,
      0.7352938934224633,
      0.27432071013697673,
      0.03035084759666176,
      0.03698036559520263,
      0.025446143909923752,
      0.014685291608624617,
      0.00873441819026203,
      0.005485112775140074
    ],
    "ax_ego": [
      -1.613559241814517,
      -1.6119485207434996,
      -1.1015923270063148,
      -0.7629115042827862,
      -0.2318956230153133,
      0.01983073410997072,
      0.025513427516994952,
      0.017287623180674085,
      0.006510037597074778,
      0.006510035451766075
    ],
    "ay_ego": [
      -0.12046394428031226,
      -0.140381438257275,
      -0.06597669144508045,
      0.10182371263144602,
      0.0796873201968442,
      0.005155124925502608,
      0.005214140069151068,
      0.0007379572417745527,
      -0.0002112987170794058,
      -0.00021134040197756969
    ],
    "a_ego": [
      1.6180497485295715,
      1.6180497463719519,
      1.1035663001076224,
      0.7696765761156272,
      0.2452053200357094,
      0.02048983475623692,
      0.026040780332503132,
      0.017303366612531432,
      0.006513465795040806,
      0.006513465003265095
    ],
    "yaw": [
      -0.5538365954665679,
      -0.5661864257351401,
      -0.5730336497079493,
      -0.5764282793658874,
      -0.5772573152269533,
      -0.5773099419784322,
      -0.5773105787367053,
      -0.5773641387093049,
      -0.5773156921605177,
      -0.5773089431334102
    ],
    "yaw_diff": [
      -0.02469966053714434,
      -0.013694447945618471,
      -0.0067892593158760395,
      -0.0016580717221319485,
      -0.00010525350295775837,
      -1.273516546218545e-06,
      -0.00010711994519918555,
      9.689309757443532e-05,
      1.3498054215022037e-05,
      1.3498054215022037e-05
    ],
    "min_front_frame": [
      5,
      8.50311342397739
    ],
    "v_avg": 0.47553511962321016,
    "v_std": 0.7245223994801536,
    "vy_max": 0.08155129575495074,
    "a_max": 1.6180497485295715,
    "ax_avg": -0.5246255359005951,
    "a_std": 0.6448269923410166,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f203a01d3a8055f1",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.0442172875197793,
    "speed_mode": "decelerating",
    "front_frame": [
      10.131191467631142,
      9.195632546316242,
      8.748079595948044,
      8.519588352571482,
      8.503325941654964,
      8.50311342397739,
      8.532991803076138,
      8.526605338715298,
      8.564202615961216,
      8.564721936135022
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f203a01d3a8055f1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4161016e65df5b37": {
    "vx_ego": [
      2.4499756128764365,
      2.756826574655765,
      3.1314223556196468,
      3.547491926751677,
      4.031548606482186,
      4.526522589224348,
      5.0118627849001,
      5.556846567067078,
      6.095422980493996,
      6.617429420214293
    ],
    "vy_ego": [
      0.03855100843022874,
      -0.07378597508493612,
      -0.035424831972866055,
      0.02634775009825252,
      0.12011515257591396,
      0.14779614477520564,
      0.16831023831760983,
      0.12095628461473851,
      0.04780138369019804,
      -0.0066804181072699365
    ],
    "v_ego": [
      2.450278899215405,
      2.7578138321589933,
      3.1316227244026065,
      3.5475897697314958,
      4.033337552983483,
      4.5289348031483865,
      5.014688117020751,
      5.558162843306498,
      6.0956104110595035,
      6.617432792216613
    ],
    "ax_ego": [
      0.5388394504458418,
      0.6726713133098514,
      0.8225032716419309,
      0.9010007100690207,
      1.1318413876614406,
      0.9435516594131534,
      1.0765140208388044,
      1.1156736297378438,
      1.0429711605475873,
      1.0459367948799483
    ],
    "ay_ego": [
      -0.9945465584389594,
      -0.9093866695664525,
      -1.3146460974365421,
      -1.8177695429770935,
      -1.9359303182013532,
      -1.7337794462153149,
      -1.3999036918276808,
      -0.5386874890129892,
      -0.26219076660335927,
      -0.2500980690139185
    ],
    "a_ego": [
      1.131136954687431,
      1.1311369548092594,
      1.5507436904165723,
      2.0288145284673096,
      2.2425189238342154,
      1.9738999220071922,
      1.7659594512488956,
      1.2389155979773339,
      1.075422168186075,
      1.075422160366909
    ],
    "yaw": [
      0.8851004922611929,
      0.7447467291651825,
      0.5422656430353752,
      0.28987038515761643,
      0.017103567668143315,
      -0.20168080852351794,
      -0.3704370074887189,
      -0.45321897867919014,
      -0.4749935788005399,
      -0.486571448804491
    ],
    "yaw_diff": [
      -0.2807075261920209,
      -0.4049621722596146,
      -0.5047905157555175,
      -0.5455336349789462,
      -0.4375687523833225,
      -0.3375123979304019,
      -0.16556394238094252,
      -0.04354920024269948,
      -0.023155740007902215,
      -0.023155740007902215
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.373547174524374,
    "v_std": 1.3597398800977765,
    "vy_max": 0.16831023831760983,
    "a_max": 2.2425189238342154,
    "ax_avg": 0.9291503398545421,
    "a_std": 0.42721293858918885,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "4161016e65df5b37",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "4161016e65df5b37",
    "pedestrians": "No"
  },
  "6303f880d5c05166": {
    "vx_ego": [
      3.816713406992571,
      3.7425503474109014,
      3.6555419339654858,
      3.5509103714523262,
      3.3921462242620155,
      3.162378632471793,
      2.96290220203055,
      2.878028758997111,
      2.8492377956469297,
      2.8421790216818925
    ],
    "vy_ego": [
      0.03729748667838731,
      0.01411488050224674,
      0.00044989674059758844,
      0.0036941277973433495,
      0.006370396239809853,
      0.0019851108609413026,
      0.002576448938408915,
      0.014668978178721703,
      0.008420580546951495,
      -0.05774919612843976
    ],
    "v_ego": [
      3.8168956409141397,
      3.7425769641728213,
      3.655541961650447,
      3.550912293012583,
      3.3921522060077582,
      3.162379255525703,
      2.962903322230851,
      2.8780661417930022,
      2.8492502386276506,
      2.842765653539194
    ],
    "ax_ego": [
      -0.15107011499868156,
      -0.14231187947976062,
      -0.207400220305982,
      -0.2089035414512846,
      -0.417974703812482,
      -0.49992388125423126,
      -0.2931970629508227,
      -0.056022111051264034,
      -0.06038880346266795,
      0.04701492011761449
    ],
    "ay_ego": [
      -0.2792105872120579,
      -0.28377466900432663,
      -0.04171798243020626,
      0.2710222644174756,
      0.5827263037898838,
      0.6409766744111378,
      0.7433384170962376,
      0.6443932161850703,
      0.7161278700322912,
      0.7171300739168062
    ],
    "a_ego": [
      0.31745981108955673,
      0.3174598144798441,
      0.21155434630613684,
      0.3421896512766928,
      0.7171281602027297,
      0.8128806703246526,
      0.7990722871268462,
      0.6468238508218284,
      0.7186695581563469,
      0.7186695663721886
    ],
    "yaw": [
      -0.04646215828650585,
      -0.07757319903756427,
      -0.0958367453676407,
      -0.08082852602539933,
      -0.020589106477088386,
      0.0737319189032513,
      0.18737640491251759,
      0.3030760797432994,
      0.4238637217448185,
      0.5734576610913678
    ],
    "yaw_diff": [
      -0.06222208150211683,
      -0.03652709266015286,
      0.030016438684482727,
      0.1204788390966219,
      0.18864205076067936,
      0.22728897201853257,
      0.23139934966156367,
      0.24157528400303818,
      0.2991878786930985,
      0.2991878786930985
    ],
    "min_front_frame": [
      6,
      15.843761216348476
    ],
    "v_avg": 3.2853443677474155,
    "v_std": 0.37169975877463074,
    "vy_max": 0.05774919612843976,
    "a_max": 0.8128806703246526,
    "ax_avg": -0.19901773986495624,
    "a_std": 0.22140251447404233,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "6303f880d5c05166",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 37.88923432697189,
    "right_rear_min": 35.403633607625004,
    "speed_mode": "decelerating",
    "front_frame": [
      26.078265621588837,
      -1,
      -1,
      -1,
      19.00347943334412,
      17.37181947251881,
      15.843761216348476,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6303f880d5c05166",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "4d0df74bfb035f8a": {
    "vx_ego": [
      6.748062923108701,
      6.417289126091189,
      6.044141037633377,
      5.622885974113922,
      5.293467976462456,
      5.026401511153692,
      4.735755651051319,
      4.386379819412172,
      3.9232704441719113,
      3.4249741554515936
    ],
    "vy_ego": [
      0.0062613700512219594,
      -0.03786434037347508,
      0.01072263617920255,
      -0.00016161001640258021,
      0.0012929361641864645,
      -0.007678396613752803,
      -0.032519083311289165,
      -0.010268828588995582,
      0.037740252362066906,
      -0.0018952483507420625
    ],
    "v_ego": [
      6.748065827997624,
      6.4174008318103475,
      6.0441505488968845,
      5.622885976436377,
      5.29346813436309,
      5.026407375959759,
      4.735867299370191,
      4.386391839426449,
      3.923451962846139,
      3.424974679830154
    ],
    "ax_ego": [
      -0.6890299902244998,
      -0.6366605904575542,
      -0.8504590957390472,
      -0.8184836645063145,
      -0.5028705359768411,
      -0.5629960191496948,
      -0.621423535136151,
      -0.7939742931462253,
      -1.05845512275893,
      -0.9162295348905888
    ],
    "ay_ego": [
      -0.8553924500120766,
      -0.8950541237493853,
      -1.1272147500171619,
      -1.3882889926262538,
      -1.3250609235503978,
      -1.3876565672973147,
      -1.2061005967026737,
      -1.103778084416544,
      -0.9940107924708287,
      -1.1264582302660566
    ],
    "a_ego": [
      1.0983890799559315,
      1.098389089477195,
      1.412053032354497,
      1.6116022574167932,
      1.4172738715837065,
      1.4975163659679216,
      1.3567777487074502,
      1.3596768872843663,
      1.4520277898315537,
      1.4520277907602048
    ],
    "yaw": [
      1.20264198539434,
      1.1428243412635204,
      1.0543229007689714,
      0.9484112202906019,
      0.8231229806012321,
      0.6937990333829264,
      0.5664041242005049,
      0.4357225432554757,
      0.2992413866159017,
      0.1652966030955597
    ],
    "yaw_diff": [
      -0.11963528826163916,
      -0.177002880989098,
      -0.21182336095673904,
      -0.2505764793787395,
      -0.2586478944366115,
      -0.25478981836484293,
      -0.26136316189005837,
      -0.272962313279148,
      -0.267889567040684,
      -0.267889567040684
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.162306447693702,
    "v_std": 1.0223661342657535,
    "vy_max": 0.03786434037347508,
    "a_max": 1.6116022574167932,
    "ax_avg": -0.7450582381985847,
    "a_std": 0.15479283377563274,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "4d0df74bfb035f8a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.811814557199451,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4d0df74bfb035f8a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0bd3bce35ed159be": {
    "vx_ego": [
      7.356851102003867,
      7.132734996803425,
      6.933696473841126,
      6.837417392998884,
      6.836155780307956,
      6.8611458086846815,
      6.9073526950863275,
      6.942229772145536,
      6.98445891337653,
      7.060266690538774
    ],
    "vy_ego": [
      -0.06941839109343251,
      -0.03597281805603503,
      -0.019258895175364277,
      -0.03703232405543355,
      -0.04327806956194569,
      -0.04252693715370981,
      -0.004432430329642356,
      0.019029716085771087,
      -0.003179151630988253,
      -0.05552812272630403
    ],
    "v_ego": [
      7.3571786066451805,
      7.132825707828787,
      6.933723220348519,
      6.837517678156935,
      6.836292770496512,
      6.86127760321757,
      6.907354117225711,
      6.942255853781115,
      6.984459636911788,
      7.060485048064676
    ],
    "ax_ego": [
      -0.4501122680847569,
      -0.4488404366599606,
      -0.3483653295228006,
      -0.037612870927497676,
      0.030320987859671716,
      0.06780933712148969,
      0.1149992717194617,
      0.026282978860681705,
      0.14504981939616124,
      0.1553648186729628
    ],
    "ay_ego": [
      -0.10367599875205039,
      -0.10905058241737597,
      -0.14712157150800387,
      -0.20324955717222856,
      -0.14469894278771966,
      -0.19874185181087725,
      -0.1756992960682587,
      -0.29245352664191737,
      -0.4382918035029174,
      -0.434742369228306
    ],
    "a_ego": [
      0.4618980045395728,
      0.46189800509059686,
      0.37815758569214786,
      0.206700533502252,
      0.14784162589971112,
      0.2099914994995572,
      0.2099882738032965,
      0.29363218526429574,
      0.46166996342051425,
      0.46166996272610517
    ],
    "yaw": [
      -1.2238352151010772,
      -1.2357925044376015,
      -1.24729514273564,
      -1.2574925541199933,
      -1.2693169465866867,
      -1.2819719174808704,
      -1.3011190617734587,
      -1.3213754001136508,
      -1.3444696458895145,
      -1.3680987752876725
    ],
    "yaw_diff": [
      -0.02391457867304858,
      -0.023005276596077096,
      -0.020394822768706522,
      -0.023648784933386846,
      -0.02530994178836732,
      -0.038294288585176695,
      -0.040512676680384274,
      -0.04618849155172722,
      -0.04725825879631618,
      -0.04725825879631618
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.985337024267679,
    "v_std": 0.15353301399603714,
    "vy_max": 0.06941839109343251,
    "a_max": 0.46189800509059686,
    "ax_avg": -0.07451036915645869,
    "a_std": 0.12259481623456794,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0bd3bce35ed159be",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0bd3bce35ed159be",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7d22e4c9e8605ed2": {
    "vx_ego": [
      6.461176750940247,
      6.78512841235308,
      7.170823790658197,
      7.5859097582144965,
      7.896653166146159,
      8.095270879929755,
      8.212164077402466,
      8.269472373256576,
      8.293196451918865,
      8.300204745811497
    ],
    "vy_ego": [
      0.005354546368923518,
      0.00751124428623573,
      0.01207446148654645,
      0.028145508516173923,
      0.03578540203585412,
      0.014016415331946863,
      -0.006304242514227454,
      -0.006799002635506035,
      -0.00046949098853410476,
      0.0054374009536704015
    ],
    "v_ego": [
      6.461178969666262,
      6.7851325698848175,
      7.1708339563324,
      7.585961971261361,
      7.896734250397757,
      8.095283014159383,
      8.212166497195073,
      8.26947516826132,
      8.29319646520818,
      8.300206526811296
    ],
    "ax_ego": [
      0.6460647198084315,
      0.6492691460510209,
      0.8925462476604269,
      0.7677972883790564,
      0.47515494082707854,
      0.31913743139282125,
      0.14844097762478356,
      0.08087075800022495,
      0.0140199737197985,
      0.014021147432002928
    ],
    "ay_ego": [
      0.21317240977765317,
      0.203203532047952,
      0.021701387714998355,
      0.04272473183743797,
      -0.007816604228998547,
      -0.026806507915092037,
      0.009761899702571748,
      0.04644349169437548,
      -0.0014713753642616014,
      -0.001460154893881102
    ],
    "a_ego": [
      0.6803249947426295,
      0.6803249954621577,
      0.8928100326729448,
      0.7689850965739276,
      0.47521923056001986,
      0.3202612823658358,
      0.1487616164338253,
      0.09325812254327485,
      0.014096971609760606,
      0.014096972285710404
    ],
    "yaw": [
      2.525490148184923,
      2.5408818274056886,
      2.548317923868345,
      2.5483227227169816,
      2.548462496092877,
      2.5500984843580268,
      2.5520629361286167,
      2.553826257440609,
      2.5544189836556965,
      2.5536186927446853
    ],
    "yaw_diff": [
      0.030783358441531128,
      0.01487219292531261,
      9.597697273378003e-06,
      0.0002795467517904271,
      0.0032719765302999804,
      0.003928903541179807,
      0.0035266426239850546,
      0.0011854524301746494,
      -0.0016005818220223844,
      -0.0016005818220223844
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.707016938917785,
    "v_std": 0.6448169038707453,
    "vy_max": 0.03578540203585412,
    "a_max": 0.8928100326729448,
    "ax_avg": 0.40073226308956456,
    "a_std": 0.31661788898990456,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7d22e4c9e8605ed2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7d22e4c9e8605ed2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "87339a4d32305504": {
    "vx_ego": [
      5.960903665703458,
      6.1425485282667065,
      6.426528477851992,
      6.66311737988012,
      6.83945675722219,
      7.152655935838521,
      7.558025854008851,
      7.980352165541926,
      8.376126639236258,
      8.731486017320947
    ],
    "vy_ego": [
      0.05821944202148202,
      0.10476695576241846,
      0.07902236070461344,
      -0.03356879598707474,
      -0.17019376699041722,
      -0.08896233358202865,
      0.03322033366869537,
      0.09336651308843447,
      0.050245998157532945,
      -0.041504638034933095
    ],
    "v_ego": [
      5.9611879701303,
      6.143441912896321,
      6.4270142998233615,
      6.6632019391674255,
      6.841573989385386,
      7.153209156265626,
      7.558098861515062,
      7.980898319853223,
      8.376277343596865,
      8.73158466176957
    ],
    "ax_ego": [
      0.19799220338376733,
      0.47652935875997393,
      0.6178657731539964,
      0.29521559439630884,
      0.47699043022651677,
      0.798079802991513,
      0.8180449530379718,
      0.8574373169101093,
      0.706622438832049,
      0.7140866590555561
    ],
    "ay_ego": [
      1.9029604156901296,
      1.852937943596296,
      2.071131110470464,
      1.852152052566496,
      1.8784156200899589,
      1.2793280084266763,
      0.8662446200119278,
      0.7471640803223932,
      0.2867308623204518,
      0.2676006341215229
    ],
    "a_ego": [
      1.913232671758537,
      1.9132326707902159,
      2.161328802009033,
      1.8755317840551384,
      1.9380312464781424,
      1.5078499676983577,
      1.1914601490987882,
      1.1373007145667389,
      0.76258105042545,
      0.7625810488225938
    ],
    "yaw": [
      -1.5385161861349117,
      -1.3904673398060687,
      -1.2301632687240427,
      -1.0645012133985503,
      -0.9059198388375063,
      -0.8041944536229335,
      -0.7478759824031015,
      -0.7036798952060891,
      -0.666891206640069,
      -0.6399622925622999
    ],
    "yaw_diff": [
      0.29609769265768593,
      0.3206081421640521,
      0.33132411065098477,
      0.3171627491220881,
      0.2034507704291455,
      0.11263694243966405,
      0.0883921743940248,
      0.07357737713204027,
      0.05385782815553819,
      0.05385782815553819
    ],
    "min_front_frame": [
      6,
      69.26156773170955
    ],
    "v_avg": 7.183648845440315,
    "v_std": 0.901777756376174,
    "vy_max": 0.17019376699041722,
    "a_max": 2.161328802009033,
    "ax_avg": 0.5958864530747763,
    "a_std": 0.4922900838083176,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "87339a4d32305504",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      69.26156773170955,
      71.74346170131781,
      73.92483191790345,
      75.74646032348492
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "87339a4d32305504",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "96f19d920d5558e9": {
    "vx_ego": [
      1.1317167209351902,
      1.7755604636304279,
      2.447219886727012,
      3.1911365063683967,
      3.992419592802624,
      4.780039354191337,
      5.574245527645206,
      6.339018469449634,
      7.012545854939374,
      7.6769066557499315
    ],
    "vy_ego": [
      -0.02258443560638984,
      0.000729792740800761,
      0.009247043603348826,
      0.006347548254979851,
      -0.006452911157801111,
      -0.020090894071025822,
      -0.01769868793559537,
      0.0036435884301724286,
      0.010613926214664726,
      -0.01835273733875553
    ],
    "v_ego": [
      1.1319420449722497,
      1.7755606136105138,
      2.447237357063587,
      3.1911428193745803,
      3.9924248076897677,
      4.7800815758355535,
      5.574273624969196,
      6.339019516594047,
      7.012553887354954,
      7.676928593133156
    ],
    "ax_ego": [
      1.2873128296783904,
      1.2885509592136968,
      1.3978581987291128,
      1.577087843256346,
      1.6280972991815534,
      1.5231571050613968,
      1.6597700469489791,
      1.409007075698002,
      1.2909950016487133,
      1.362350358655526
    ],
    "ay_ego": [
      0.09677221388226681,
      0.0785849663020361,
      0.08997578881996499,
      0.026192378596075594,
      -0.09042688557821321,
      -0.28235342209739267,
      -0.6900493121038761,
      -1.0066254498817009,
      -1.097526195677221,
      -1.0075878887486915
    ],
    "a_ego": [
      1.290945073515624,
      1.2909450690944329,
      1.4007509365793673,
      1.577305330633062,
      1.630606585672229,
      1.549106523667473,
      1.7974995582430748,
      1.731645383938805,
      1.694470963008713,
      1.694470965606046
    ],
    "yaw": [
      -0.3538176387366805,
      -0.3396965826995929,
      -0.32366865131661204,
      -0.312247926214794,
      -0.3131566571097647,
      -0.3312400052857255,
      -0.3788065687036808,
      -0.4531731865276068,
      -0.5327971205277876,
      -0.6005635629064463
    ],
    "yaw_diff": [
      0.028242112074175152,
      0.03205586276596173,
      0.022841450203636038,
      -0.0018174617899413548,
      -0.0361666963519216,
      -0.09513312683591058,
      -0.148733235647852,
      -0.15924786800036161,
      -0.1355328847573174,
      -0.1355328847573174
    ],
    "min_front_frame": [
      9,
      45.73523913185377
    ],
    "v_avg": 4.392116484059761,
    "v_std": 2.1413751331177084,
    "vy_max": 0.02258443560638984,
    "a_max": 1.7974995582430748,
    "ax_avg": 1.4424186718071716,
    "a_std": 0.1724077723500361,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "96f19d920d5558e9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.629302293714574,
    "right_rear_min": 9.712842893175582,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      45.73523913185377
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "96f19d920d5558e9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a22de94be8935752": {
    "vx_ego": [
      2.2697920080693024,
      2.043812257473196,
      1.7953392266341015,
      1.5465539908455133,
      1.3163328286399698,
      1.0823377279957276,
      0.8463460997576263,
      0.6303518023728176,
      0.47563438374648154,
      0.3603535918060411
    ],
    "vy_ego": [
      -0.06400381652850927,
      -0.019099816095895523,
      0.010312387079407986,
      0.020934992801530602,
      0.0109833793042543,
      -0.014158237238874468,
      -0.017656459043578494,
      0.0040710481032233126,
      0.01989750852206713,
      0.021048275094279898
    ],
    "v_ego": [
      2.2706942216920116,
      2.0439015012403554,
      1.795368843446496,
      1.5466956780581576,
      1.3163786500761265,
      1.0824303271456626,
      0.8465302541084421,
      0.6303649484126782,
      0.47605039423077994,
      0.3609677838976207
    ],
    "ax_ego": [
      -0.4519629451939809,
      -0.4519709753223565,
      -0.5419146408840592,
      -0.45327279279885946,
      -0.46768689074237957,
      -0.46827394335811007,
      -0.47561630350081685,
      -0.3883428646450414,
      -0.2305762606519059,
      -0.23057534919259237
    ],
    "ay_ego": [
      0.08944133338364442,
      0.08940079097241432,
      0.024824184095360295,
      0.022514162735794936,
      -0.05819274463904031,
      -0.03685317382385393,
      0.025959328512257972,
      0.06211064132340886,
      0.0025520058734509413,
      0.002632140046215419
    ],
    "a_ego": [
      0.4607279630604828,
      0.4607279717581032,
      0.5424829196578443,
      0.4538315901470188,
      0.47129335164088515,
      0.4697218777628371,
      0.4763242119529391,
      0.39327841573918354,
      0.23059038295252857,
      0.23059037234132046
    ],
    "yaw": [
      1.5900469519770526,
      1.589957249803009,
      1.5895139351226788,
      1.590244102432158,
      1.5909641238419885,
      1.5921148041178035,
      1.5929174477450612,
      1.5933160849140418,
      1.5939521588290928,
      1.5942997011829714
    ],
    "yaw_diff": [
      -0.00017940434808716432,
      -0.0008866293606604181,
      0.0014603346189585587,
      0.001440042819660814,
      0.002301360551629994,
      0.001605287254515364,
      0.0007972743379611735,
      0.0012721478301020994,
      0.0006950847077571431,
      0.0006950847077571431
    ],
    "min_front_frame": [
      9,
      11.309187875745135
    ],
    "v_avg": 1.2369382602308332,
    "v_std": 0.6343849876202805,
    "vy_max": 0.06400381652850927,
    "a_max": 0.5424829196578443,
    "ax_avg": -0.41601929662901027,
    "a_std": 0.10009747217059287,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a22de94be8935752",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.04957431180238,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.918536345484465,
      15.819721566558227,
      14.82756248627015,
      13.957676289490282,
      13.259587574411695,
      12.663769991859562,
      12.170814257433845,
      11.817063716804892,
      11.510188963384099,
      11.309187875745135
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a22de94be8935752",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3ffbf8596e7655ec": {
    "vx_ego": [
      4.313161344307664,
      3.6853275347116248,
      3.0563396682267916,
      2.412201872217115,
      1.678567371258684,
      0.8803066628091742,
      0.23897847894096141,
      -0.04305520326023175,
      -0.05949386822113817,
      -0.030710198816714822
    ],
    "vy_ego": [
      -0.011525549899070509,
      -0.041424857412970084,
      -0.05459483610925164,
      -0.08462773235018695,
      -0.05114408459557518,
      -0.01231750047773994,
      -0.0035658729568190245,
      0.008586100182671794,
      0.01146930057942297,
      0.0059407696487988465
    ],
    "v_ego": [
      4.313176743460715,
      3.685560345037827,
      3.0568272381190353,
      2.4136859210366395,
      1.6793463422544521,
      0.8803928335716076,
      0.2390050812156087,
      0.04390297990030685,
      0.0605893159863627,
      0.0312795309328999
    ],
    "ax_ego": [
      -1.2612803204054037,
      -1.2428783340580263,
      -1.2697748353045037,
      -1.2975921732897255,
      -1.6325591238754762,
      -1.5604623091308112,
      -1.0048200917717804,
      -0.12332289226414107,
      0.05756733922549857,
      0.057567315444411835
    ],
    "ay_ego": [
      0.3223353943513095,
      0.38727458005323306,
      0.15327722155550982,
      0.11468897748583673,
      0.1466298817239855,
      0.010524390557462127,
      0.02598818922645274,
      0.022585350203463937,
      -0.01105715179671719,
      -0.011057206071687302
    ],
    "a_ego": [
      1.3018172502673222,
      1.3018172504719174,
      1.2789925875548913,
      1.3026507627677881,
      1.6391307498681893,
      1.5604977991059357,
      1.0051561086754233,
      0.12537397576932008,
      0.058619614049900334,
      0.058619600933375315
    ],
    "yaw": [
      2.329117443111957,
      2.380970893568317,
      2.424917383579964,
      2.4603531839806863,
      2.4756102747455815,
      2.4759739177641507,
      2.476742022753381,
      2.477444680206284,
      2.4774602830002372,
      2.477461451325519
    ],
    "yaw_diff": [
      0.10370690091272028,
      0.08789298002329371,
      0.0708716008014445,
      0.030514181529790463,
      0.0007272860371383416,
      0.001536209978461045,
      0.0014053149058055325,
      3.120558790659089e-05,
      2.336650563705689e-06,
      2.336650563705689e-06
    ],
    "min_front_frame": [
      7,
      7.571554434045189
    ],
    "v_avg": 1.6403766331515452,
    "v_std": 1.5526610136753096,
    "vy_max": 0.08462773235018695,
    "a_max": 1.6391307498681893,
    "ax_avg": -0.9277555425429957,
    "a_std": 0.5998471631945707,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3ffbf8596e7655ec",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.8910091792694828,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      12.062989787167412,
      10.532314102972961,
      9.362452814438138,
      8.415479677192376,
      7.83615506826727,
      7.598132689606511,
      7.571554434045189,
      7.647390027118439,
      7.680111101431964
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4444444444444444,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5555555555555556,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3ffbf8596e7655ec",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "82ee38a271b15bb1": {
    "vx_ego": [
      6.332805959464892,
      6.437447450336198,
      6.518009084984136,
      6.5772466570077315,
      6.641614152592267,
      6.702585173188364,
      6.768356764263091,
      6.818527824616943,
      6.8438659127964465,
      6.882137863616625
    ],
    "vy_ego": [
      -0.041803325872026856,
      -0.0419477629624342,
      -0.006105348348955875,
      -0.01275547159030277,
      -0.04352212433717828,
      -0.04858488606833311,
      -0.048114859201674465,
      -0.047340349482001054,
      -0.06179702737854287,
      -0.06472695142008567
    ],
    "v_ego": [
      6.332943931402521,
      6.437584119113129,
      6.518011944390269,
      6.577259025549691,
      6.6417567500790575,
      6.702761258988624,
      6.76852778143238,
      6.8186921622672285,
      6.844144906774693,
      6.882442237466707
    ],
    "ax_ego": [
      0.2047986598003589,
      0.2102605595779653,
      0.11209233282559258,
      0.12666795255456878,
      0.1281168802056667,
      0.10672355049333955,
      0.1462393101996706,
      0.04334565789399589,
      0.044200804531553506,
      0.09362614290774579
    ],
    "ay_ego": [
      -0.2663772068450785,
      -0.26208739893515465,
      -0.46067515273131066,
      -0.6255667195252417,
      -0.7360471550470883,
      -0.7820743777490853,
      -0.8314364541638163,
      -0.8556965418501157,
      -0.8282834792280646,
      -0.8241610145749784
    ],
    "a_ego": [
      0.336004921664265,
      0.336004921979774,
      0.4741163226701859,
      0.6382620862795618,
      0.747114013686362,
      0.7893226517473848,
      0.8441993325987501,
      0.8567936844961628,
      0.8294620142498293,
      0.8294620139470158
    ],
    "yaw": [
      -1.5509532999150553,
      -1.5716233873722216,
      -1.604984403181264,
      -1.6454491220829657,
      -1.6922895705560337,
      -1.7483767818438622,
      -1.8083611435749927,
      -1.8704245062276488,
      -1.9299199019513187,
      -1.989722947965688
    ],
    "yaw_diff": [
      -0.04134017491433273,
      -0.06672203161808454,
      -0.08092943780340356,
      -0.09368089694613602,
      -0.11217442257565713,
      -0.11996872346226084,
      -0.12412672530531221,
      -0.11899079144733982,
      -0.11960609202873851,
      -0.11960609202873851
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.652412411746431,
    "v_std": 0.17475073011486716,
    "vy_max": 0.06472695142008567,
    "a_max": 0.8567936844961628,
    "ax_avg": 0.12160718509904578,
    "a_std": 0.19968076265908263,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "82ee38a271b15bb1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "82ee38a271b15bb1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "36b4b6d6e4745071": {
    "vx_ego": [
      8.958412999101991,
      8.998590082956726,
      9.078817114587743,
      9.184412076153043,
      9.24030553150041,
      9.258755774093604,
      9.27031547524454,
      9.263670823783679,
      9.253934026720454,
      9.250304915271613
    ],
    "vy_ego": [
      -0.14983839789634912,
      -0.07962816793611305,
      0.016386244647013104,
      0.06244962989561209,
      0.09065059660200481,
      0.04565053574194167,
      0.0066026008032071815,
      -0.046499281439704276,
      -0.06065488707641231,
      -0.08898065105474595
    ],
    "v_ego": [
      8.959666009844545,
      8.998942389315314,
      9.07883190224078,
      9.184624387576225,
      9.240750177671798,
      9.258868313985527,
      9.270317826530857,
      9.263787525337323,
      9.25413280573717,
      9.250732867279234
    ],
    "ax_ego": [
      0.06293449102047766,
      0.08118843021806704,
      0.23075788872431233,
      0.19319447712079102,
      0.033863873736046685,
      0.04120446988787421,
      0.005364226862221565,
      -0.03193957919309712,
      -0.007683221404165632,
      -0.007476116717637319
    ],
    "ay_ego": [
      -0.5078311162544353,
      -0.5052342296654604,
      -0.11299154677104187,
      -0.09252884487850525,
      -0.16852397984803053,
      -0.1799428976244462,
      -0.13002000678447284,
      -0.08122367770770506,
      -0.09639575405299727,
      -0.09641203774284074
    ],
    "a_ego": [
      0.5117159297854937,
      0.5117159251253816,
      0.2569363595332795,
      0.2142094608660559,
      0.17189268084543424,
      0.18460025662014304,
      0.1301306155140432,
      0.08727784678483576,
      0.09670146477996788,
      0.09670146505044627
    ],
    "yaw": [
      2.010863568832995,
      1.9748304083754125,
      1.9470527431440974,
      1.9363873256346555,
      1.926263778144373,
      1.9217099507807842,
      1.9175625052192105,
      1.9175938868131261,
      1.9143257388808912,
      1.9121774494398411
    ],
    "yaw_diff": [
      -0.07206632091516507,
      -0.05555533046263017,
      -0.021330835018883665,
      -0.020247094980565095,
      -0.009107654727177561,
      -0.008294891123147519,
      6.27631878313828e-05,
      -0.00653629586446991,
      -0.0042965788821001105,
      -0.0042965788821001105
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.176065420551877,
    "v_std": 0.1127021521731069,
    "vy_max": 0.14983839789634912,
    "a_max": 0.5117159297854937,
    "ax_avg": 0.060140894025489035,
    "a_std": 0.15194585914922576,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "36b4b6d6e4745071",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "36b4b6d6e4745071",
    "road_shape": "Straight"
  },
  "b3056d1269ae5df9": {
    "vx_ego": [
      3.444110630867064,
      3.308072954704369,
      3.3463350819004245,
      3.6233124939615466,
      3.9533471544663814,
      4.268467657214291,
      4.597232144774192,
      4.907426750019355,
      5.14580642181942,
      5.4280693129057065
    ],
    "vy_ego": [
      -0.005359597319805731,
      -0.04769052591825784,
      -0.07278864650361805,
      -0.10333994479273101,
      -0.10411032543806642,
      -0.06048659862516681,
      -0.000392544504420389,
      0.07302054721642466,
      0.15429846138435022,
      0.01506042977367672
    ],
    "v_ego": [
      3.4441148010678964,
      3.3084166998594444,
      3.34712662853041,
      3.6247858658254017,
      3.9547177754664435,
      4.2688962003423905,
      4.597232161533318,
      4.9079699782212725,
      5.148119243570759,
      5.428090205795551
    ],
    "ax_ego": [
      -0.27504722368789714,
      -0.2710543796682068,
      0.4218992850301923,
      0.6711890538892127,
      0.6172531192970137,
      0.6175269974755115,
      0.6962364210017136,
      0.5842009490021007,
      0.4408591251224112,
      0.7334391404102885
    ],
    "ay_ego": [
      -0.20931134587377712,
      -0.21445682644685862,
      -0.6183767785210094,
      -1.0596915399477318,
      -1.5153302626038632,
      -1.9409117479485167,
      -2.17391076415331,
      -2.206905513144697,
      -1.9428241640481476,
      -1.8522930405758058
    ],
    "a_ego": [
      0.34563306376837283,
      0.345633052740872,
      0.7485912415484227,
      1.254368728045104,
      1.6362234621362042,
      2.0367812857387726,
      2.2826811350757916,
      2.28291977361523,
      1.9922154754476438,
      1.9922154704879054
    ],
    "yaw": [
      -2.0799573754922056,
      -2.0988012468781982,
      -2.1552915397775507,
      -2.2677968617781357,
      -2.436819637244997,
      -2.6567299178341894,
      -2.9016650528857832,
      3.137555975980111,
      2.9166913926964586,
      2.76280817117802
    ],
    "yaw_diff": [
      -0.03768774277198528,
      -0.11298058579870496,
      -0.22501064400116988,
      -0.3380455509337228,
      -0.43982056117838475,
      -0.4898702701031876,
      -0.4879285566273843,
      -0.44172916656730443,
      -0.3077664430368774,
      -0.3077664430368774
    ],
    "min_front_frame": [
      3,
      70.2647430365453
    ],
    "v_avg": 4.202946956021289,
    "v_std": 0.7453536910343526,
    "vy_max": 0.15429846138435022,
    "a_max": 2.28291977361523,
    "ax_avg": 0.42365024878723395,
    "a_std": 0.7284358328153654,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "b3056d1269ae5df9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 40.55116633125734,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      75.58316088155854,
      73.65289039939744,
      72.431731387007,
      70.2647430365453,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b3056d1269ae5df9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1709553afe405eb4": {
    "vx_ego": [
      6.235728930445033,
      5.893628653766221,
      5.523575402694878,
      5.120521102794809,
      4.708352236939705,
      4.236204832430872,
      3.6693594136969887,
      2.996610354866011,
      2.267976762721264,
      1.5506127768442919
    ],
    "vy_ego": [
      0.05786579770394118,
      0.06583459201647202,
      0.06172713762255322,
      0.031028250662138657,
      -0.029804461113675185,
      -0.09414708009336725,
      -0.08683050846086582,
      -0.01940571511557687,
      -0.008836884546064239,
      -0.05255519298148881
    ],
    "v_ego": [
      6.235997413768953,
      5.893996343907944,
      5.523920298915884,
      5.120615111146914,
      4.708446568986145,
      4.237250884122957,
      3.670386634141733,
      2.996673188832801,
      2.267993978557285,
      1.5515031524370446
    ],
    "ax_ego": [
      -0.6840899720970696,
      -0.684094638150894,
      -0.7956195362130948,
      -0.8159273676323581,
      -0.8326809819757732,
      -1.0563038478110165,
      -1.2111438010707734,
      -1.4799388287814086,
      -1.4345908360770625,
      -1.434700431448054
    ],
    "ay_ego": [
      0.005634906190084055,
      0.005036980171268357,
      -0.06108850520688347,
      -0.12704785128818175,
      -0.17068259890972814,
      -0.11236472834143696,
      0.13948272965412178,
      0.12454168189519588,
      -0.08330935884131752,
      -0.08140011341049902
    ],
    "a_ego": [
      0.6841131792996978,
      0.6841131815102296,
      0.797961309759033,
      0.8257594236630987,
      0.8499942160478017,
      1.0622634565283717,
      1.2191491864181043,
      1.4851698783183598,
      1.4370077648457007,
      1.4370077614475416
    ],
    "yaw": [
      2.6077909125906418,
      2.606916863889505,
      2.6051859152561265,
      2.602118035249343,
      2.5993518783108938,
      2.5979254594815058,
      2.597790248869636,
      2.597368844477155,
      2.597269571547622,
      2.598600389145421
    ],
    "yaw_diff": [
      -0.0017480974022738849,
      -0.0034618972667566084,
      -0.006135760013567193,
      -0.005532313876898343,
      -0.002852837658775975,
      -0.00027042122373988065,
      -0.0008428087849612353,
      -0.00019854585906653455,
      0.0026616351955981443,
      0.0026616351955981443
    ],
    "min_front_frame": [
      9,
      9.109764748513989
    ],
    "v_avg": 4.2206783574817655,
    "v_std": 1.4948747228518036,
    "vy_max": 0.09414708009336725,
    "a_max": 1.4851698783183598,
    "ax_avg": -1.0429090241257504,
    "a_std": 0.30646536072971436,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1709553afe405eb4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.364064703727518,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.153962566030184,
      22.78035953516919,
      21.226859993206432,
      19.41265687056189,
      17.103248790217243,
      14.894315500921671,
      12.973599791266327,
      11.358511580016936,
      10.080033583861706,
      9.109764748513989
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1709553afe405eb4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f674a05cc42b5d4a": {
    "vx_ego": [
      7.77716282243142,
      7.8421131500516195,
      7.824196912504662,
      7.970946384944226,
      8.111767109126307,
      8.090255997179243,
      8.149374008735245,
      8.184243759645152,
      8.219012161145692,
      8.266594225929145
    ],
    "vy_ego": [
      0.07535589822311639,
      0.0719357875320612,
      0.06134963157294937,
      0.06082971207880039,
      0.05185043878164475,
      0.0430215196896917,
      0.04258991553508329,
      0.03702436032306533,
      0.011075577731563868,
      -0.03918311591781665
    ],
    "v_ego": [
      7.7775278898893365,
      7.842443076984391,
      7.824437430444544,
      7.971178490381897,
      8.111932821510864,
      8.090370384046153,
      8.149485298787578,
      8.184327505699413,
      8.21901962362196,
      8.266687088110817
    ],
    "ax_ego": [
      0.12629411999510068,
      0.12932542138573155,
      -0.20493401955782753,
      0.788819987676819,
      -0.22900800535586502,
      0.13950356249406365,
      0.09400296501926007,
      0.04228494111315348,
      0.09464812264144587,
      0.09645523394887134
    ],
    "ay_ego": [
      0.2150988924103916,
      0.21329011605673437,
      0.19454178194870897,
      0.23813115188087447,
      0.2779310167334175,
      0.2842788546235912,
      0.2948516710787711,
      0.23623269493244053,
      0.13017570407571782,
      0.12884241971208085
    ],
    "a_ego": [
      0.24943483770619154,
      0.24943483763117824,
      0.28256761544081277,
      0.8239802294075805,
      0.3601254178470927,
      0.31666340352910377,
      0.3094738524824934,
      0.23998729633042323,
      0.16094713744319603,
      0.1609471381335981
    ],
    "yaw": [
      -2.022499287501989,
      -2.0083474303912388,
      -1.994056241939296,
      -1.98007432306597,
      -1.963181369166239,
      -1.9446366047144252,
      -1.9267656644577869,
      -1.9098405802244827,
      -1.8954967507019471,
      -1.88154342585417
    ],
    "yaw_diff": [
      0.028303714221500798,
      0.028582376903885542,
      0.027963837746651787,
      0.03378590779946222,
      0.03708952890362749,
      0.03574188051327676,
      0.03385016846660838,
      0.02868765904507109,
      0.027906649695554453,
      0.027906649695554453
    ],
    "min_front_frame": [
      9,
      38.664010439905454
    ],
    "v_avg": 8.043740960947694,
    "v_std": 0.16821059646112768,
    "vy_max": 0.07535589822311639,
    "a_max": 0.8239802294075805,
    "ax_avg": 0.1077392329360753,
    "a_std": 0.179963921072513,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f674a05cc42b5d4a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.6550904855068485,
    "speed_mode": "quasi_constant",
    "front_frame": [
      45.202956697229496,
      43.89547676675396,
      42.84321006782357,
      41.989468635476584,
      41.01766057320416,
      40.27664450805967,
      39.496280376697555,
      39.18173072058409,
      38.68336736606795,
      38.664010439905454
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f674a05cc42b5d4a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "584c0bd68dbb55e9": {
    "vx_ego": [
      2.9404006910891596,
      2.760866910413931,
      2.5451773760240486,
      2.2546546009489266,
      1.9260850097306716,
      1.5915573536469945,
      1.2454214748083254,
      0.8922007119906467,
      0.5517249903069589,
      0.2259089835764983
    ],
    "vy_ego": [
      0.008632282973506954,
      0.03221348217817936,
      0.04191627693640086,
      0.023798698115370717,
      -0.0027195935317294237,
      -0.028782824412150857,
      -0.03644971134465275,
      -0.006698009541783449,
      0.013084890246137515,
      0.010840749531184983
    ],
    "v_ego": [
      2.940413362176642,
      2.76105483564753,
      2.5455225101532437,
      2.254780199401296,
      1.926086929735566,
      1.5918175966262482,
      1.2459547469193466,
      0.892225853586657,
      0.5518801312621857,
      0.22616894285238295
    ],
    "ax_ego": [
      -0.35915027198897803,
      -0.3590842541734181,
      -0.5038436641967025,
      -0.6582051129212431,
      -0.6560787886971748,
      -0.6820192869836842,
      -0.7026483921851917,
      -0.7102760505066453,
      -0.6516432929472388,
      -0.6516454159711362
    ],
    "ay_ego": [
      0.053898645043645305,
      0.05433675473691153,
      -0.005340917136606147,
      -0.06963396223857837,
      -0.03456397095514951,
      -0.06778026879312368,
      0.03321299041633193,
      0.08421010998500499,
      -0.004254265303201814,
      -0.003916745689702519
    ],
    "a_ego": [
      0.3631721104480598,
      0.36317211416987843,
      0.5038719711861531,
      0.6618782813876809,
      0.6569886186735205,
      0.6853790722333161,
      0.7034329149057714,
      0.7152505928323339,
      0.6516571798241702,
      0.6516571867577253
    ],
    "yaw": [
      1.5529606748360392,
      1.554180634984561,
      1.5551338554968543,
      1.5548750348134655,
      1.5550993334486236,
      1.555370135273824,
      1.554684078409197,
      1.5543139712138052,
      1.5546023154671333,
      1.5551202665502628
    ],
    "yaw_diff": [
      0.002439920297043763,
      0.0019064410245865915,
      -0.0005176413667777879,
      0.0004485972703163199,
      0.0005416036504009014,
      -0.0013721137292539431,
      -0.0007402143907837555,
      0.0005766885066562644,
      0.0010359021662589285,
      0.0010359021662589285
    ],
    "min_front_frame": [
      9,
      10.63464927832125
    ],
    "v_avg": 1.6935905108361098,
    "v_std": 0.8999207385257206,
    "vy_max": 0.04191627693640086,
    "a_max": 0.7152505928323339,
    "ax_avg": -0.5934594530571412,
    "a_std": 0.12841733857071513,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "584c0bd68dbb55e9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.1648101584637316,
    "right_rear_min": 30.449129335112403,
    "speed_mode": "decelerating",
    "front_frame": [
      16.10995204668906,
      15.16558809256093,
      14.282199072784465,
      13.452619878186482,
      12.73699457156819,
      12.185692913470623,
      11.57501209195841,
      11.158728797304382,
      10.83134912445682,
      10.63464927832125
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "584c0bd68dbb55e9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "db62e3168cd051aa": {
    "vx_ego": [
      7.968917403113286,
      7.965536193429545,
      7.976000224911973,
      8.007163300661396,
      8.054924933639525,
      8.09028389185849,
      8.153154362647358,
      8.263428011277082,
      8.340597402421702,
      8.38691555331274
    ],
    "vy_ego": [
      0.04019155246204609,
      0.011405310937555535,
      -0.010007206395317991,
      -0.021629023423393567,
      0.0025222218458662155,
      0.038737394525523716,
      0.04076848593922533,
      0.03256788760350271,
      0.02611976788764514,
      0.04804245717427558
    ],
    "v_ego": [
      7.9690187563169355,
      7.96554435867089,
      7.9760065027541,
      8.007192512866975,
      8.05492532852855,
      8.090376631319435,
      8.153256290010846,
      8.263492189435508,
      8.340638301206818,
      8.387053152096419
    ],
    "ax_ego": [
      -0.00874400248684733,
      -0.0029978350078272466,
      0.04504211433160081,
      0.07814865339924447,
      0.11193659789848248,
      0.033104592440444766,
      0.22505933142041207,
      0.21650300582209955,
      0.09268462844803883,
      0.09420347497250686
    ],
    "ay_ego": [
      -0.33268033332252,
      -0.33278172280733004,
      -0.3473558436251449,
      -0.32458206662316746,
      -0.3174373659420906,
      -0.4174002034653714,
      -0.5452726609430137,
      -0.2901981667993535,
      -0.13948094479088308,
      -0.13845966736152593
    ],
    "a_ego": [
      0.332795224964351,
      0.33279522540046874,
      0.35026400637804206,
      0.333857349779036,
      0.33659513253364093,
      0.41871093118472724,
      0.5898931915451116,
      0.3620614969086184,
      0.1674675321078936,
      0.16746753172707876
    ],
    "yaw": [
      -1.5006752587531111,
      -1.517944537089099,
      -1.5366039193807557,
      -1.5561793527524101,
      -1.5791832254703464,
      -1.606391654608621,
      -1.6363607074486972,
      -1.6608031852968312,
      -1.6729427151025789,
      -1.6838718960055252
    ],
    "yaw_diff": [
      -0.034538556671975584,
      -0.03731876458331351,
      -0.03915086674330892,
      -0.046007745435872494,
      -0.054416858276549185,
      -0.059938105680152454,
      -0.04888495569626805,
      -0.024279059611495235,
      -0.021858361805892734,
      -0.021858361805892734
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.120750402320647,
    "v_std": 0.1506362501345087,
    "vy_max": 0.04804245717427558,
    "a_max": 0.5898931915451116,
    "ax_avg": 0.08849405612381551,
    "a_std": 0.11354099550552876,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "db62e3168cd051aa",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "db62e3168cd051aa",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8bdf510cc78751f1": {
    "vx_ego": [
      0.4277367558519088,
      0.9182426576259987,
      1.3074018046736287,
      1.4967159254097713,
      1.5016310888904159,
      1.38926983950585,
      1.2303735769812678,
      1.1058412632237098,
      1.0502370125458127,
      1.014237615632086
    ],
    "vy_ego": [
      0.009506186983288423,
      -0.022281189683734604,
      -0.03593780680482306,
      -0.026937848096027173,
      -0.001062403039525428,
      0.016239129432976118,
      0.018613601900782095,
      0.03534978439476899,
      0.041636734335321945,
      0.029856169129294674
    ],
    "v_ego": [
      0.42784237739812153,
      0.9185129447633167,
      1.3078956398817918,
      1.4969583190707993,
      1.501631464715106,
      1.3893647455889153,
      1.2305143660719287,
      1.1064061219574695,
      1.0510620344048507,
      1.0146769593314593
    ],
    "ax_ego": [
      0.9810117467663164,
      0.9810118341765435,
      0.5754986899539658,
      0.18161342760926671,
      -0.16201496257502634,
      -0.2873086468055462,
      -0.3481065941383401,
      -0.1495889054953185,
      -0.07158921723720067,
      -0.07127277457998932
    ],
    "ay_ego": [
      -0.06357737040856487,
      -0.06357597382859126,
      0.005057425971212726,
      0.024761626221526306,
      0.07398011984299563,
      -0.014296611926045949,
      0.008454819690446813,
      0.037278665220537605,
      -0.03964110625939931,
      -0.04020729774261698
    ],
    "a_ego": [
      0.9830697479434342,
      0.9830697448516457,
      0.5755209116063336,
      0.18329368570990365,
      0.17810644634647893,
      0.28766412991855284,
      0.3482092544126204,
      0.15416400204948055,
      0.08183173791447972,
      0.0818317492669772
    ],
    "yaw": [
      -2.119228994649429,
      -2.1192304215953,
      -2.1200667010173033,
      -2.1211314035372286,
      -2.12190307172619,
      -2.123532417421753,
      -2.126443345917038,
      -2.1310815313161973,
      -2.137519430349056,
      -2.1454457148021353
    ],
    "yaw_diff": [
      -2.8538917415943388e-06,
      -0.001672558844006744,
      -0.002129405039850596,
      -0.0015433363779226994,
      -0.0032586913911263338,
      -0.00582185699057014,
      -0.009276370798318112,
      -0.012875798065717703,
      -0.015852568906158382,
      -0.015852568906158382
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.144486497318376,
    "v_std": 0.30619098842050135,
    "vy_max": 0.041636734335321945,
    "a_max": 0.9830697479434342,
    "ax_avg": 0.16292545976746717,
    "a_std": 0.32910392596812804,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8bdf510cc78751f1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.011245214946067,
    "right_rear_min": 25.839937009874525,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8bdf510cc78751f1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3b5422b60c4f5c4b": {
    "vx_ego": [
      0.9199720682954147,
      1.4637511890645052,
      2.027838176688906,
      2.603938776246183,
      3.2024591394234374,
      3.8231190317919825,
      4.420600664990394,
      4.990228448797097,
      5.497616714698693,
      5.955941107280544
    ],
    "vy_ego": [
      0.019616720377838737,
      0.012456679786891245,
      0.00489036156611411,
      -0.003247487757232159,
      0.0042463609880838415,
      0.0039813064491067696,
      0.013220281553806945,
      0.021355408395030473,
      0.00012036556526151543,
      -0.03468883189953198
    ],
    "v_ego": [
      0.9201811898545446,
      1.463804191946131,
      2.027844073510889,
      2.60394080128854,
      3.202461954693349,
      3.8231211048109772,
      4.420620433282852,
      4.9902741432361815,
      5.497616716016343,
      5.956042124469297
    ],
    "ax_ego": [
      1.0875856800818484,
      1.087605973685676,
      1.168783970491985,
      1.1356848781911375,
      1.258323874749685,
      1.2242383950516293,
      1.1656574882257786,
      1.1128538079720245,
      0.916678903167008,
      0.9166498039131415
    ],
    "ay_ego": [
      -0.017785674813575625,
      -0.016498177527269564,
      -0.02159636472652937,
      -0.048169136429819015,
      0.062383918472767586,
      -0.04829923277777837,
      0.04689616644785222,
      -0.014387673823594294,
      -0.06423768320049045,
      -0.06465176018500196
    ],
    "a_ego": [
      1.0877310980879746,
      1.0877310990582594,
      1.168983478347068,
      1.1367059462571723,
      1.2598693293548653,
      1.2251907866963052,
      1.1666004587194092,
      1.1129468105331404,
      0.9189269238924471,
      0.918926935674986
    ],
    "yaw": [
      2.43444727208401,
      2.4332634708572396,
      2.43213575381989,
      2.428125662449389,
      2.4267612807698304,
      2.4278378144983845,
      2.4255153839682286,
      2.425513684817692,
      2.425813336709007,
      2.426265045378761
    ],
    "yaw_diff": [
      -0.00236760245354084,
      -0.002255434074699636,
      -0.008020182741001136,
      -0.0027287633591175364,
      0.002153067457108193,
      -0.004644861060311811,
      -3.398301073431753e-06,
      0.0005993037826304004,
      0.0009034173395079392,
      0.0009034173395079392
    ],
    "min_front_frame": [
      0,
      12.823850963263792
    ],
    "v_avg": 3.4905906733109107,
    "v_std": 1.64483582370255,
    "vy_max": 0.03468883189953198,
    "a_max": 1.2598693293548653,
    "ax_avg": 1.1074062775529914,
    "a_std": 0.10822064386021948,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3b5422b60c4f5c4b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.992038495839957,
    "speed_mode": "accelerating",
    "front_frame": [
      12.823850963263792,
      13.524598393905684,
      14.392181799956925,
      15.31198696887929,
      16.19436994016198,
      16.853165307406652,
      17.748256674197457,
      18.421176699501643,
      19.159195774156213,
      19.859626720885938
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3b5422b60c4f5c4b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b7598f311c365e95": {
    "vx_ego": [
      7.473297818257072,
      7.251378633751004,
      6.9953763127253685,
      6.705936151225371,
      6.345537958220768,
      5.827541964843926,
      5.173261733935933,
      4.445408883914159,
      3.687345217883765,
      2.92248441763502
    ],
    "vy_ego": [
      -0.01792900312389678,
      0.009782739146517727,
      0.010823506779928493,
      0.001519053192851949,
      -0.011663993410495177,
      -0.04947118075509449,
      -0.062064371774202876,
      -0.03109890063516052,
      -0.01528274318117906,
      -0.012556204633566326
    ],
    "v_ego": [
      7.473319324739104,
      7.251385232630094,
      6.995384685986767,
      6.705936323276113,
      6.3455486782438975,
      5.827751946483508,
      5.173634018178087,
      4.445517662410492,
      3.687376888533285,
      2.9225113908408127
    ],
    "ax_ego": [
      -0.4438258152183896,
      -0.44387715184728316,
      -0.57990874429207,
      -0.5778890674698312,
      -0.863703445268907,
      -1.208225439297901,
      -1.408903017972872,
      -1.5025055761358368,
      -1.5297245820574488,
      -1.5297251325839576
    ],
    "ay_ego": [
      0.031542670730624056,
      0.030811807374167555,
      -0.08956929262016494,
      0.01631288788533447,
      -0.023958745240596768,
      -0.11020301891733969,
      0.059289691770040065,
      0.06485882280724786,
      0.0047673827000616065,
      0.004587928177601119
    ],
    "a_ego": [
      0.4449452711638687,
      0.4449452701239995,
      0.5867851479774195,
      0.5781192650416612,
      0.8640356837786757,
      1.2132408736706415,
      1.4101499854991502,
      1.5039048085617737,
      1.5297320108073325,
      1.5297320125904306
    ],
    "yaw": [
      2.6215260505098357,
      2.619879411759592,
      2.617676429437555,
      2.6163612298073944,
      2.618079074594882,
      2.618775162342639,
      2.618750704072208,
      2.6187655669367924,
      2.6191563477229405,
      2.619039035272479
    ],
    "yaw_diff": [
      -0.00329327750048769,
      -0.004405964644073279,
      -0.002630399260321603,
      0.00343568957497542,
      0.0013921754955141807,
      -4.8916540862364855e-05,
      2.9725729168816883e-05,
      0.0007815615722961411,
      -0.00023462490092285293,
      -0.00023462490092285293
    ],
    "min_front_frame": [
      9,
      13.641985898887384
    ],
    "v_avg": 5.682836615132215,
    "v_std": 1.4928957305071622,
    "vy_max": 0.062064371774202876,
    "a_max": 1.5297320125904306,
    "ax_avg": -1.0088287972144498,
    "a_std": 0.4484550682602216,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b7598f311c365e95",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.41134908246563,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      38.82462408461329,
      35.463707684440216,
      32.091057389397065,
      28.79070351651016,
      25.51037884415599,
      22.442632026193483,
      19.62362542468449,
      17.223630183252684,
      15.231305582001232,
      13.641985898887384
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b7598f311c365e95",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "62aefe5efb00563f": {
    "vx_ego": [
      4.82562501383568,
      4.879091179417125,
      4.962655370476068,
      5.025283833784153,
      5.122835520515681,
      5.25761065847817,
      5.397069119103187,
      5.508180453490866,
      5.609228976725334,
      5.723259593213806
    ],
    "vy_ego": [
      0.05719878347730534,
      0.052522434260039,
      0.06370576603383404,
      0.07589796198411869,
      0.1411333470547378,
      0.13710342208662296,
      0.12650829360696436,
      0.07394519152298695,
      0.044004715028975294,
      0.022771694676924525
    ],
    "v_ego": [
      4.825963994373341,
      4.879373867943159,
      4.963064250112114,
      5.025856952871391,
      5.124779252993053,
      5.25939798688891,
      5.398551604340612,
      5.508676773923862,
      5.609401583794828,
      5.7233048950228325
    ],
    "ax_ego": [
      -0.012631797623386287,
      0.2616509680826835,
      0.12449015532765598,
      0.1719045083690648,
      0.26655353573241897,
      0.31168936879981557,
      0.27338827452546954,
      0.1773259985792069,
      0.22812900676659614,
      0.22825765598106418
    ],
    "ay_ego": [
      -1.6408955065402857,
      -1.6199495154632877,
      -1.7544932846533514,
      -1.716273113110158,
      -1.4228621713386453,
      -0.9878876738552167,
      -0.6581303465151851,
      -0.24937323452950094,
      -0.06514860836235661,
      -0.06469641048102048
    ],
    "a_ego": [
      1.640944126317316,
      1.6409441373027742,
      1.7589043421025516,
      1.7248607360544919,
      1.447614432795549,
      1.0358920401170666,
      0.7126546861223962,
      0.3059926794415487,
      0.23724920421334483,
      0.23724920030022975
    ],
    "yaw": [
      0.4561359190604522,
      0.28830295746774937,
      0.11562861754607084,
      -0.06031470184110693,
      -0.22783586340481293,
      -0.34317665676625564,
      -0.41832877269019475,
      -0.45022442337242596,
      -0.45899361665190497,
      -0.46097522278148967
    ],
    "yaw_diff": [
      -0.33566592318540567,
      -0.34534867984335704,
      -0.35188663877435555,
      -0.335042323127412,
      -0.2306815867228854,
      -0.15030423184787822,
      -0.06379130136446243,
      -0.017538386558958008,
      -0.003963212259169402,
      -0.003963212259169402
    ],
    "min_front_frame": [
      9,
      22.23920970357383
    ],
    "v_avg": 5.23183711622641,
    "v_std": 0.3007291842749041,
    "vy_max": 0.1411333470547378,
    "a_max": 1.7589043421025516,
    "ax_avg": 0.20307576745405895,
    "a_std": 0.6162234868555372,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "62aefe5efb00563f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      22.734150051851955,
      22.799262908545387,
      22.76067582099238,
      22.5759022536842,
      22.23920970357383
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "62aefe5efb00563f",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "27c1c1822dc75f7b": {
    "vx_ego": [
      2.9857298097618363,
      2.319707591757207,
      1.6736276788965532,
      1.113283143097804,
      0.6444936684981442,
      0.2727635722217645,
      0.03870135266588421,
      -0.04338055608621095,
      -0.033056931063854704,
      -0.015398363009580373
    ],
    "vy_ego": [
      0.06013043536794305,
      0.032572589797231544,
      0.010233072038818403,
      -0.02381381638680108,
      -0.03148071541882924,
      0.003545613449361343,
      0.01366873474506132,
      -0.006608424289379989,
      -0.006682226668224961,
      -0.0019037808099541921
    ],
    "v_ego": [
      2.986335240082397,
      2.3199362674138526,
      1.6736589626719105,
      1.1135378101154132,
      0.6452620585293056,
      0.272786615701559,
      0.04104423233171732,
      0.043881020019335935,
      0.03372555180580414,
      0.015515603911777425
    ],
    "ax_ego": [
      -1.332774782534612,
      -1.332856883170238,
      -1.2514832329990875,
      -0.9898818550490822,
      -0.8848846518414976,
      -0.6020018993893663,
      -0.3343036412295187,
      0.0059766189417783475,
      0.035317074345426434,
      0.03531694259641023
    ],
    "ay_ego": [
      -0.015283821791767571,
      -0.003839983368377653,
      -0.08422473191904795,
      -0.050352900473057294,
      0.028713871924452294,
      0.11197879528847107,
      -0.07126640678244901,
      -0.00984872129427797,
      0.009557315489562493,
      0.009557808411163823
    ],
    "a_ego": [
      1.3328624145682646,
      1.3328624146874841,
      1.2543141902827553,
      0.9911616929348419,
      0.8853504015391546,
      0.6123279656055749,
      0.3418154842528294,
      0.011520298828918809,
      0.036587402472537035,
      0.03658740406181681
    ],
    "yaw": [
      -2.103721197910052,
      -2.095135038821902,
      -2.0949722710121375,
      -2.0946764947991046,
      -2.092069386054785,
      -2.0917224734202176,
      -2.0912728580956523,
      -2.09123666355808,
      -2.0912593244796636,
      -2.0912732476018396
    ],
    "yaw_diff": [
      0.01717231817629994,
      0.00032553561952930465,
      0.000591552426065789,
      0.00521421748863915,
      0.0006938252691348623,
      0.0008992306491304447,
      7.238907514484083e-05,
      -4.532184316730081e-05,
      -2.7846244352147664e-05,
      -2.7846244352147664e-05
    ],
    "min_front_frame": [
      9,
      10.075009023944352
    ],
    "v_avg": 0.9145683362583072,
    "v_std": 1.0233677146394762,
    "vy_max": 0.06013043536794305,
    "a_max": 1.3328624146874841,
    "ax_avg": -0.6651576310329786,
    "a_std": 0.5210502393050105,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "27c1c1822dc75f7b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.29516394084366,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.80619934925954,
      12.507578926487321,
      11.486859169782358,
      10.766664163920472,
      10.345855200987364,
      10.163289883591982,
      10.07992017834224,
      10.08360493870204,
      10.081670320991067,
      10.075009023944352
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "27c1c1822dc75f7b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "625804443c0555ac": {
    "vx_ego": [
      -0.1787374029651225,
      0.19820747236934547,
      0.8652372099919117,
      1.8792146030871153,
      2.8803257567705955,
      3.7237881508058934,
      4.375368874839163,
      4.785091668756014,
      4.899807367764071,
      4.857879743153079
    ],
    "vy_ego": [
      -0.004107289009927684,
      -0.0008364226243351147,
      -0.0032971470319534957,
      -0.015541637071720515,
      -0.022304820850718277,
      -0.019697888965532817,
      -0.02063880803503282,
      -0.02711159840176225,
      -0.03414441480900776,
      -0.02959762529327259
    ],
    "v_ego": [
      0.17878458837866212,
      0.19820923718598826,
      0.8652434921645686,
      1.879278868858673,
      2.880412118109019,
      3.7238402488442053,
      4.375417551652462,
      4.785168473227052,
      4.89992633437052,
      4.857969907107291
    ],
    "ax_ego": [
      0.7538893453368556,
      0.7538877863595475,
      1.9142508392866695,
      2.141630856698194,
      1.8616112615590321,
      1.5119310293934132,
      1.095552570709701,
      0.5453450812341677,
      -0.08419681959924005,
      -0.08140435078625455
    ],
    "ay_ego": [
      0.006446912266262733,
      0.006627243246793896,
      -0.02165089082058569,
      -0.09239953058643247,
      -0.06352044993639616,
      0.04410730309002192,
      0.11565835356474136,
      0.16672678102403884,
      0.16899208815471073,
      0.1703548136666847
    ],
    "a_ego": [
      0.7539169103357489,
      0.7539169150345089,
      1.9143732751955778,
      2.143623194410443,
      1.8626946439831553,
      1.5125742599385001,
      1.1016407263431853,
      0.5702622880192402,
      0.18880527082027265,
      0.18880527234784109
    ],
    "yaw": [
      -1.9066512300361298,
      -1.9068904290080377,
      -1.9102399593362214,
      -1.9223458348181768,
      -1.9356871877464432,
      -1.9379169355532198,
      -1.927949670037636,
      -1.9113725124991583,
      -1.8928890103725216,
      -1.8764314486130553
    ],
    "yaw_diff": [
      -0.0004783979438158781,
      -0.006699060656367273,
      -0.024211750963910816,
      -0.026682705856532873,
      -0.004459495613553077,
      0.0199345310311676,
      0.03315431507695532,
      0.03696700425327348,
      0.03291512351893244,
      0.03291512351893244
    ],
    "min_front_frame": [
      9,
      22.102104660476733
    ],
    "v_avg": 2.864425081989844,
    "v_std": 1.847086939839266,
    "vy_max": 0.03414441480900776,
    "a_max": 2.143623194410443,
    "ax_avg": 1.0412497600192085,
    "a_std": 0.684469753858326,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "625804443c0555ac",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 45.55508584668226,
    "right_rear_min": 44.40176187955796,
    "speed_mode": "accelerating",
    "front_frame": [
      35.34242254111186,
      35.319336609037975,
      34.964556680857726,
      34.161030936292555,
      32.88375311161659,
      31.281970755550926,
      29.176236082998653,
      26.886648499166206,
      24.4734437631023,
      22.102104660476733
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "625804443c0555ac",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e6b7dddf4ae95fea": {
    "vx_ego": [
      6.584102724382594,
      6.991264040993297,
      7.419760223621971,
      7.8387870645035145,
      8.24832885434857,
      8.618388092037165,
      8.865072018175578,
      8.972624874202257,
      9.009321324089068,
      9.042427481131263
    ],
    "vy_ego": [
      -0.024112894600262447,
      0.08366876585844674,
      0.007703697190183156,
      -0.004538289284314434,
      0.05047566452819652,
      0.09602837048411228,
      0.03815802226881981,
      -0.01812618675015365,
      -0.005356165854400352,
      0.02586800793341526
    ],
    "v_ego": [
      6.584146878442817,
      6.991764680913267,
      7.419764222870776,
      7.838788378231501,
      8.248483295866505,
      8.618923062245413,
      8.865154139782515,
      8.972643183131668,
      9.009322916246186,
      9.042464481840796
    ],
    "ax_ego": [
      0.8024088527831372,
      0.8315491368582437,
      0.8826491121151208,
      0.7931505996977963,
      0.844939430508045,
      0.6348491446093266,
      0.3495580354830215,
      0.08070108358061814,
      0.06619400146564902,
      0.06621690356578276
    ],
    "ay_ego": [
      -0.5526314941349147,
      -0.5077278404554456,
      -0.17472011977182667,
      -0.06178942902046647,
      0.16406262709152913,
      0.06226542007203631,
      -0.036437952389706554,
      0.057561457116694276,
      0.06849589625894835,
      0.06847375210327131
    ],
    "a_ego": [
      0.9743005364539931,
      0.9743005321682014,
      0.8997758472923646,
      0.7955537740088028,
      0.8607201559365468,
      0.6378953040648134,
      0.3514520515591051,
      0.09912611278811931,
      0.09525404786333733,
      0.09525404476945021
    ],
    "yaw": [
      2.8765952843362763,
      2.8216460765481806,
      2.808499261292196,
      2.8023628177882935,
      2.7986990980278525,
      2.800002856387974,
      2.807331562573144,
      2.8142084287855322,
      2.8162928003193777,
      2.8166271988053726
    ],
    "yaw_diff": [
      -0.10989841557619151,
      -0.026293630511968757,
      -0.012272887007805267,
      -0.007327439520881995,
      0.0026075167202428418,
      0.01465741237034024,
      0.013753732424776288,
      0.004168743067690883,
      0.000668796971989849,
      0.000668796971989849
    ],
    "min_front_frame": [
      5,
      22.23200442053364
    ],
    "v_avg": 8.159145523957145,
    "v_std": 0.8587997079828183,
    "vy_max": 0.09602837048411228,
    "a_max": 0.9743005364539931,
    "ax_avg": 0.5352216300666741,
    "a_std": 0.35989246539105385,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e6b7dddf4ae95fea",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      41.05444803445599,
      37.67924062552746,
      34.10861077873248,
      30.351562483563207,
      26.38387840444036,
      22.23200442053364,
      24.524302799137722,
      27.497037650898545,
      23.193967596660134,
      29.167953270698668
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      1,
      1,
      0,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e6b7dddf4ae95fea",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "887c38b0c24d5b51": {
    "vx_ego": [
      6.8633708942833005,
      7.062804586619233,
      7.293177560954738,
      7.538102792344269,
      7.639698716911106,
      7.593868001983102,
      7.573865794927554,
      7.5335314961026185,
      7.490086816721464,
      7.509898282195717
    ],
    "vy_ego": [
      0.01652672348726547,
      0.01191874621551614,
      -6.82411822405804e-05,
      -0.00767562853888748,
      -0.06002403482668095,
      -0.05408835389775479,
      0.015074448463871626,
      0.04893002930230983,
      0.058288261680835785,
      0.0031952652790967484
    ],
    "v_ego": [
      6.863390792100096,
      7.062814643276505,
      7.293177561274,
      7.5381067001749145,
      7.639934513458218,
      7.594060625355199,
      7.5738807964325705,
      7.53369039385995,
      7.490313614494018,
      7.509898961946584
    ],
    "ax_ego": [
      0.39797439691907543,
      0.40046920451624407,
      0.520984630993806,
      0.4586819283419925,
      -0.05244333566464867,
      -0.13097951885064482,
      0.05076467771632854,
      -0.2114388196137991,
      0.039616835879795545,
      0.03980386552779872
    ],
    "ay_ego": [
      -0.19366251902989326,
      -0.18844947650998672,
      -0.1330769672745285,
      -0.1561689186636309,
      -0.07873387535060755,
      0.09276173402843897,
      0.1133441200693846,
      -0.0695985098061514,
      -0.13154550555844702,
      -0.13148903374493068
    ],
    "a_ego": [
      0.4425932578339909,
      0.4425932545382514,
      0.5377122510699733,
      0.4845387936420535,
      0.09460088045763643,
      0.1605003852279155,
      0.12419316429637252,
      0.22259902741681875,
      0.13738163530018876,
      0.1373816352578852
    ],
    "yaw": [
      1.1285497038270407,
      1.115491876019671,
      1.1059435298526759,
      1.097227385019186,
      1.0963940562719265,
      1.096075603035406,
      1.0937431095849304,
      1.0907220539642863,
      1.082748723374766,
      1.081326632511244
    ],
    "yaw_diff": [
      -0.026115655614739275,
      -0.01909669233399036,
      -0.017432289666979628,
      -0.0016666574945189971,
      -0.0006369064730411544,
      -0.004664986900951185,
      -0.006042111241288062,
      -0.015946661179040866,
      -0.002844181727043704,
      -0.002844181727043704
    ],
    "min_front_frame": [
      9,
      34.18783385432818
    ],
    "v_avg": 7.409926860237206,
    "v_std": 0.24386729094707318,
    "vy_max": 0.06002403482668095,
    "a_max": 0.5377122510699733,
    "ax_avg": 0.15134338657659482,
    "a_std": 0.16673427550095127,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "887c38b0c24d5b51",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.98679806293459,
    "speed_mode": "quasi_constant",
    "front_frame": [
      35.3921750445526,
      43.27465993513843,
      42.8782412548507,
      42.21569604526884,
      41.19165481717709,
      40.280335410895766,
      38.85355569001079,
      37.31816696775617,
      35.731789013082036,
      34.18783385432818
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "887c38b0c24d5b51",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "9f191d1313c95362": {
    "vx_ego": [
      2.4036000211116306,
      3.1720081059857614,
      3.8696537802766136,
      4.422397323179122,
      4.83571347802785,
      5.203488106582637,
      5.6657899956706945,
      6.281700250508994,
      6.976033072730973,
      7.669571116890094
    ],
    "vy_ego": [
      0.01489289858932863,
      0.027061837975767222,
      0.03627196309732139,
      0.04252567555941944,
      0.04687462203266479,
      0.058368716727573045,
      0.04347941965114854,
      0.0303653683221623,
      0.03797141291355777,
      0.0635702384293575
    ],
    "v_ego": [
      2.4036461594661187,
      3.172123542284254,
      3.8698237730568583,
      4.422601781434052,
      4.835940660489014,
      5.2038154639110115,
      5.665956824312671,
      6.281773642279551,
      6.976136413519664,
      7.669834567462895
    ],
    "ax_ego": [
      1.5367299282085973,
      1.5367776449753803,
      1.2536954286134478,
      0.9575698666853898,
      0.6958884150749958,
      0.7755276371243782,
      1.073484588991034,
      1.3901973263162248,
      1.387162766165332,
      1.387133727918735
    ],
    "ay_ego": [
      0.033646431203365634,
      0.0313915393215054,
      0.01710336870738205,
      -0.01976035409141219,
      0.014799105782074828,
      0.0018501418465053376,
      -0.042746207804220115,
      -0.016911440114576903,
      0.04027028201494964,
      0.0412584615135515
    ],
    "a_ego": [
      1.537098225418507,
      1.5370982268017388,
      1.253812088371857,
      0.957773731722526,
      0.6960457598229721,
      0.7755298440218619,
      1.074335329905375,
      1.390300184457849,
      1.38774717994634,
      1.3877471815054039
    ],
    "yaw": [
      -0.7159218778910057,
      -0.7144545709232342,
      -0.7136352718816767,
      -0.7152890816353179,
      -0.7164880384835477,
      -0.7179515708028366,
      -0.7170872122644913,
      -0.71739060126589,
      -0.7176570466391622,
      -0.7183694294075154
    ],
    "yaw_diff": [
      0.0029346139355430623,
      0.0016385980831148395,
      -0.003307619507282311,
      -0.002397913696459586,
      -0.0029270646385777255,
      0.0017287170766904225,
      -0.0006067780027974035,
      -0.0005328907465442789,
      -0.0014247655367063405,
      -0.0014247655367063405
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.050165282821608,
    "v_std": 1.5765702386900096,
    "vy_max": 0.0635702384293575,
    "a_max": 1.5370982268017388,
    "ax_avg": 1.1994167330073515,
    "a_std": 0.2907727067000889,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "9f191d1313c95362",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.928635544646873,
    "right_rear_min": 13.963509164092397,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "9f191d1313c95362",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d42e15faa6375e18": {
    "vx_ego": [
      1.325725055417155,
      1.1766192850852015,
      1.028803480334712,
      0.8680384689497829,
      0.6801619995313297,
      0.48794622677358923,
      0.313951825795602,
      0.14400194735400318,
      0.02705558995116582,
      -0.03126506770839456
    ],
    "vy_ego": [
      0.027350406079298728,
      0.016043275530226997,
      0.005657508480415019,
      -0.009257389442371478,
      -0.018794414950901006,
      -0.00939145220361201,
      0.016462085987338088,
      0.028609119481830897,
      0.011288308597341453,
      -0.013611396594254163
    ],
    "v_ego": [
      1.326007152044634,
      1.176728655520953,
      1.0288190358615172,
      0.8680878312912645,
      0.6804216160879982,
      0.4880365965755803,
      0.31438312485794545,
      0.14681635657947237,
      0.02931605121080324,
      0.03409948058338382
    ],
    "ax_ego": [
      -0.29821525785774305,
      -0.2982178316576053,
      -0.29307407179635164,
      -0.34999042438101935,
      -0.40148859179874496,
      -0.3673521878925899,
      -0.3286253802484416,
      -0.35117637861645934,
      -0.11664214635318568,
      -0.11664063222106838
    ],
    "ay_ego": [
      -0.022342566544599596,
      -0.022308141614071825,
      -0.016095792908739776,
      -0.03996503719448327,
      0.0028983768309424063,
      0.035425594570312496,
      0.06801109429072039,
      -0.019407396955980344,
      -0.04979750444454232,
      -0.049801053036988355
    ],
    "a_ego": [
      0.2990510496536671,
      0.29905104631289503,
      0.2935157340052729,
      0.35226481708561597,
      0.4014990534643804,
      0.36905636791706065,
      0.3355892571135943,
      0.35171223458216205,
      0.12682736989617896,
      0.12682737073882538
    ],
    "yaw": [
      -0.7431359446730799,
      -0.7430204872748252,
      -0.7423083837473001,
      -0.7413668247505909,
      -0.741020444851527,
      -0.7407133789497153,
      -0.7406991504283105,
      -0.740682358919733,
      -0.7403338990549784,
      -0.7403643575480842
    ],
    "yaw_diff": [
      0.00023091479650938496,
      0.0014242070550500863,
      0.0018831179934184483,
      0.0006927597981278844,
      0.0006141318036232413,
      2.8457042809737487e-05,
      3.3583017154947825e-05,
      0.0006969197295092489,
      -6.0916986211578816e-05,
      -6.0916986211578816e-05
    ],
    "min_front_frame": [
      9,
      8.882354722209252
    ],
    "v_avg": 0.6092715900613552,
    "v_std": 0.45458541279411835,
    "vy_max": 0.028609119481830897,
    "a_max": 0.4014990534643804,
    "ax_avg": -0.29214229028232086,
    "a_std": 0.09031367590996574,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d42e15faa6375e18",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.28523854701346,
    "right_rear_min": 6.822721382858337,
    "speed_mode": "decelerating",
    "front_frame": [
      11.43019823902165,
      10.827818873657726,
      10.329540148109306,
      9.83532373023895,
      9.50020665281173,
      9.19185520493404,
      9.004782156116377,
      8.910805240756863,
      8.892992655616544,
      8.882354722209252
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d42e15faa6375e18",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "282855be37635ecc": {
    "vx_ego": [
      0.01860813886162556,
      -0.04305520326023175,
      -0.05949386822113817,
      -0.03496440598945963,
      -0.019941377399235363,
      -0.012615481571808026,
      -0.008834628183115823,
      -0.006498088424089959,
      -0.004936551360027803,
      -0.0038065306018392362
    ],
    "vy_ego": [
      -0.0026934978617706145,
      0.008586100182671794,
      0.01146930057942297,
      0.006799988297331989,
      0.004114447833343362,
      0.0028729107317626516,
      0.002101201739506039,
      0.0015920120329881997,
      0.0012358279759992052,
      0.0009175467119983171
    ],
    "v_ego": [
      0.018802068041173084,
      0.04390297990030685,
      0.0605893159863627,
      0.03561951048287459,
      0.020361414821962614,
      0.012938469436579619,
      0.009081062926993051,
      0.006690265725699627,
      0.005088890853266028,
      0.003915554519022498
    ],
    "ax_ego": [
      -0.12333873264007804,
      -0.12332289226414107,
      0.05756733922549857,
      0.040550466603607706,
      0.01954170605363123,
      0.009762386652857202,
      0.005360419370276384,
      0.003986065837694395,
      0.002259976713855988,
      0.002259951239266026
    ],
    "ay_ego": [
      0.022498691171116796,
      0.022585350203463937,
      -0.01105715179671719,
      -0.007620302776629007,
      -0.0031215166545234783,
      -0.0018422890450454582,
      -0.0012470821676075702,
      -0.0007882836859314604,
      -0.0006368557184094587,
      -0.0006369402140221973
    ],
    "a_ego": [
      0.1253739768599287,
      0.12537397576932008,
      0.058619614049900334,
      0.04126026364648926,
      0.019789445209782788,
      0.009934697885964069,
      0.0055035724541427685,
      0.004063263716760211,
      0.0023479948793049227,
      0.0023479932793981093
    ],
    "yaw": [
      2.476742022753381,
      2.477444680206284,
      2.4774602830002372,
      2.477461451325519,
      2.4774581159429667,
      2.4774194044029447,
      2.477481906668987,
      2.4774357258093103,
      2.477454302078753,
      2.477492058951909
    ],
    "yaw_diff": [
      0.0014053149058055325,
      3.120558790659089e-05,
      2.336650563705689e-06,
      -6.670765104743737e-06,
      -7.742308004399234e-05,
      0.00012500453208463824,
      -9.236171935356197e-05,
      3.7152538885365516e-05,
      7.551374631198371e-05,
      7.551374631198371e-05
    ],
    "min_front_frame": [
      9,
      7.564167902948046
    ],
    "v_avg": 0.021698953269424066,
    "v_std": 0.0180632315967708,
    "vy_max": 0.01146930057942297,
    "a_max": 0.1253739768599287,
    "ax_avg": -0.01053733132075316,
    "a_std": 0.04642412999614657,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "282855be37635ecc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      7.598132689606511,
      7.571554434045189,
      7.647390027118439,
      7.680111101431964,
      7.6287220706483705,
      7.615795743160719,
      7.625796367901732,
      7.583919041353142,
      7.589230534099656,
      7.564167902948046
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "282855be37635ecc",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "814b5e08c20e57af": {
    "vx_ego": [
      4.032596398966361,
      4.215064970592443,
      4.375389739280559,
      4.533030115509564,
      4.747130108278929,
      5.000681671377463,
      5.254414782209632,
      5.509733453814762,
      5.737479346733148,
      5.942373096889666
    ],
    "vy_ego": [
      0.07334062186439061,
      0.008320797916231637,
      -0.020878917665462016,
      -0.04212248380122374,
      -0.02208067303282668,
      0.03667705558549006,
      0.022985633313789666,
      -0.02960910740982925,
      -0.022013171598948666,
      0.13562984219449747
    ],
    "v_ego": [
      4.0332632648727405,
      4.215073183468282,
      4.375439555039525,
      4.533225819629796,
      4.747181460724869,
      5.000816171872039,
      5.254465057723948,
      5.509813012374119,
      5.737521575899588,
      5.943920715885415
    ],
    "ax_ego": [
      0.3619328937683861,
      0.3637797360199372,
      0.2772791552389995,
      0.3532401958469382,
      0.502953816150253,
      0.5112364025099436,
      0.502477260999909,
      0.5234604990004397,
      0.39695410400511527,
      0.41587109984120085
    ],
    "ay_ego": [
      0.07897432387278491,
      0.06997617366017976,
      -0.034647908031445254,
      -0.05685122787088148,
      0.11943634933179817,
      0.16521971878013175,
      0.309412181143399,
      0.48303118917205135,
      0.6592178706732578,
      0.6474503682878123
    ],
    "a_ego": [
      0.37044886748743255,
      0.37044886451284315,
      0.2794355157473879,
      0.35778582709829376,
      0.5169405988329896,
      0.5372710812291082,
      0.5901010893583287,
      0.712271032491674,
      0.7695068301850789,
      0.7695068232830388
    ],
    "yaw": [
      -2.1497503748523954,
      -2.1249535439439375,
      -2.1161214073419576,
      -2.11648840945284,
      -2.1174395418851972,
      -2.1148935516697573,
      -2.089089055472088,
      -2.042493183516438,
      -1.9932132775563076,
      -1.9642607371586007
    ],
    "yaw_diff": [
      0.04959366181691571,
      0.0176642732039598,
      -0.000734004221764728,
      -0.0019022648647144536,
      0.005091980430879772,
      0.051608992395339115,
      0.0931917439112997,
      0.09855981192026064,
      0.05790508079541379,
      0.05790508079541379
    ],
    "min_front_frame": [
      5,
      21.504895851237954
    ],
    "v_avg": 4.935071981749031,
    "v_std": 0.6276935141935004,
    "vy_max": 0.13562984219449747,
    "a_max": 0.7695068301850789,
    "ax_avg": 0.4209185163381123,
    "a_std": 0.171775916726735,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "814b5e08c20e57af",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      32.66479667279392,
      30.661226320348984,
      28.57150081011512,
      26.282075737950986,
      23.983266817099597,
      21.504895851237954,
      49.3279248924439,
      48.22783282226873,
      47.3503226639615,
      46.53765613344984
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "814b5e08c20e57af",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "14d36ea6b2d858a0": {
    "vx_ego": [
      1.634270221645866,
      1.214980877717013,
      0.7921838020190336,
      0.35747540121238025,
      0.054782735558398146,
      -0.027166636724300273,
      -0.022281680934403122,
      -0.01326806367493025,
      -0.008290082822481611,
      -0.005001518257714458
    ],
    "vy_ego": [
      0.0004819057629317225,
      0.003131205056597919,
      -0.009771065139718593,
      -0.008906440599375204,
      0.02187462378839161,
      0.024212891828428448,
      0.008054244620017921,
      0.004104724113395675,
      0.002611918784271873,
      0.0017136002827428567
    ],
    "v_ego": [
      1.6342702926968942,
      1.214984912524888,
      0.7922440595519136,
      0.3575863352480103,
      0.05898853516697163,
      0.03639079940871425,
      0.023692702709096555,
      0.013888494293086473,
      0.008691811832940065,
      0.005286928296399287
    ],
    "ax_ego": [
      -0.838582560664866,
      -0.8385787137203602,
      -0.8526205593591988,
      -0.8861653848136857,
      -0.3246141910987431,
      -0.0031799763239867794,
      0.022720153289167752,
      0.013334425895099047,
      0.006577025961665574,
      0.006576965864073447
    ],
    "ay_ego": [
      0.0066554848500045005,
      0.0071237477185602804,
      -0.056341050106616275,
      0.06094928375622011,
      0.062367183888019886,
      -0.05301179403595745,
      -0.011621925191943503,
      -0.004175838828615507,
      -0.0017969513005916217,
      -0.0017971455177008995
    ],
    "a_ego": [
      0.8386089711718044,
      0.8386089713844298,
      0.8544800361442678,
      0.8882589174516538,
      0.3305511135797509,
      0.0531070857450481,
      0.025520080537694455,
      0.013972993375596402,
      0.006818086570081146,
      0.0068180797875193435
    ],
    "yaw": [
      -0.5162705953190965,
      -0.515712194281383,
      -0.5151174212572386,
      -0.5146210052457179,
      -0.5142674868657084,
      -0.5142896042817431,
      -0.5142975176299807,
      -0.5143025411734038,
      -0.5142634484426593,
      -0.5142325345998247
    ],
    "yaw_diff": [
      0.0011168020754268593,
      0.0011895460482889142,
      0.0009928320230414567,
      0.0007070367600188199,
      -4.4234832069278696e-05,
      -1.582669647515189e-05,
      -1.004708684626543e-05,
      7.818546148907757e-05,
      6.182768566920238e-05,
      6.182768566920238e-05
    ],
    "min_front_frame": [
      9,
      11.208265530455751
    ],
    "v_avg": 0.41460248717289144,
    "v_std": 0.5647349654314416,
    "vy_max": 0.024212891828428448,
    "a_max": 0.8882589174516538,
    "ax_avg": -0.3694532814970834,
    "a_std": 0.3938586365311295,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "14d36ea6b2d858a0",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 47.04370841559764,
    "speed_mode": "decelerating",
    "front_frame": [
      12.745863802129598,
      12.029007581792472,
      11.525403860619146,
      11.254622783858037,
      11.209538074570295,
      11.217323343347337,
      11.221006480907134,
      11.21221084668004,
      11.226671195128771,
      11.208265530455751
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "14d36ea6b2d858a0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "51c83516a5d8585a": {
    "vx_ego": [
      0.9503640979118664,
      0.5872928240436436,
      0.2677438620879627,
      0.0468738521177857,
      -0.029860231502697065,
      -0.01839849274646865,
      -0.010549129773058462,
      -0.006617560213861538,
      -0.004425302030937571,
      -0.0028739069982769753
    ],
    "vy_ego": [
      -0.009765305121889944,
      0.007272925750436726,
      0.007608608927750008,
      -0.005802864608008282,
      -0.007913856977306032,
      -0.0033105834109546243,
      -0.0015621430571804054,
      -0.000994018995162715,
      -0.0006987196214414361,
      -0.0005000096990914935
    ],
    "v_ego": [
      0.9504142674560179,
      0.5873378556011263,
      0.2678519490606582,
      0.04723167634140162,
      0.0308911404394839,
      0.018693969558730632,
      0.010664165691695034,
      0.006691799230911478,
      0.0044801235668681565,
      0.0029170792128310366
    ],
    "ax_ego": [
      -0.7261358521666674,
      -0.726151506251903,
      -0.5520233469054674,
      -0.33145688866094386,
      0.024512053646701105,
      0.021336791978484575,
      0.010060405467859666,
      0.005666004723764326,
      0.003102813173927025,
      0.0031028244302833065
    ],
    "ay_ego": [
      0.03352521235519003,
      0.03318442483906268,
      -0.032386578407716554,
      -0.02131084560974882,
      0.012894320478040011,
      0.005509163707024355,
      0.0014862674001177478,
      0.000785291798188579,
      0.00039726669809852345,
      0.0003972090736688956
    ],
    "a_ego": [
      0.7269093586309595,
      0.7269093589188454,
      0.5529725725473852,
      0.3321412669052069,
      0.027696647352507393,
      0.02203655092531311,
      0.010169599252792287,
      0.005720165446735077,
      0.0031281416882413112,
      0.0031281455358355414
    ],
    "yaw": [
      0.09117301626554203,
      0.09070370967420055,
      0.0903679920419978,
      0.09026872185958976,
      0.09007796067920552,
      0.09017901401153355,
      0.0901467714579268,
      0.09017551464078354,
      0.0901094489560384,
      0.090133416817918
    ],
    "yaw_diff": [
      -0.0009386131826829569,
      -0.0006714352644054955,
      -0.00019854036481609105,
      -0.0003815223607684659,
      0.00020210666465605986,
      -6.448510721351886e-05,
      5.7486365713482757e-05,
      -0.00013213136949027926,
      4.7935723759218174e-05,
      4.7935723759218174e-05
    ],
    "min_front_frame": [
      2,
      9.692672640194967
    ],
    "v_avg": 0.19271740261597242,
    "v_std": 0.30859672293819046,
    "vy_max": 0.009765305121889944,
    "a_max": 0.7269093589188454,
    "ax_avg": -0.22679867005639615,
    "a_std": 0.29884745061697976,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "51c83516a5d8585a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.683203696087583,
    "speed_mode": "decelerating",
    "front_frame": [
      10.005577099032049,
      9.752091433445164,
      9.692672640194967,
      9.797115880343629,
      9.933347821515394,
      10.035628822154877,
      10.144120700557297,
      10.22844577112408,
      10.300380464175587,
      10.349830307726688
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "51c83516a5d8585a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f6ee3ce42dfc56e3": {
    "vx_ego": [
      1.4828227426498626,
      2.40901554634429,
      3.3461703437127714,
      4.290808938600492,
      5.207549630880731,
      6.063431739090159,
      6.841845003298421,
      7.451215806186692,
      7.818501287931523,
      8.07187388676941
    ],
    "vy_ego": [
      0.020134786921444103,
      0.007724500552367397,
      0.0009793855672335372,
      0.007432087257456477,
      0.024817322573299716,
      0.04151895574426412,
      0.03161627374465992,
      0.0038200479295875667,
      -0.02891714304042825,
      -0.043185084131478035
    ],
    "v_ego": [
      1.4829594383407902,
      2.4090279306054674,
      3.346170487040213,
      4.290815375134996,
      5.2076087657950785,
      6.0635738866028515,
      6.841918052558439,
      7.451216785407104,
      7.818554763544763,
      8.071989407537732
    ],
    "ax_ego": [
      1.8516034469820988,
      1.8521156389043256,
      1.8964442081192516,
      1.8820909840125546,
      1.78504010987478,
      1.6389241724398174,
      1.4750953572661656,
      0.9625805935675364,
      0.5064775816656039,
      0.5066492919461953
    ],
    "ay_ego": [
      0.04790651556725667,
      0.01995083409690046,
      0.03887504559194266,
      -0.005551347109879035,
      0.015627722508844366,
      -0.015347965668002672,
      -0.07773190752315984,
      -0.10087778033556438,
      -0.06905420250472499,
      -0.06778277596145907
    ],
    "a_ego": [
      1.8522230856756392,
      1.8522230901419894,
      1.8968426143670516,
      1.8820991710205073,
      1.7851085175900596,
      1.6389960350951696,
      1.4771420251537717,
      0.9678521197364095,
      0.5111634020676774,
      0.5111633885037371
    ],
    "yaw": [
      -0.5110909408356452,
      -0.4959952278410836,
      -0.48852618157604605,
      -0.48803453589970314,
      -0.4911568119785986,
      -0.49409851680814,
      -0.49616356190489924,
      -0.49850125874291873,
      -0.4997682845353685,
      -0.5022781490197163
    ],
    "yaw_diff": [
      0.030191425989123277,
      0.014938092530075053,
      0.0009832913526858222,
      -0.006244552157790961,
      -0.005883409659082739,
      -0.00413009019351851,
      -0.004675393676038975,
      -0.0025340515848994993,
      -0.005019728968695736,
      -0.005019728968695736
    ],
    "min_front_frame": [
      1,
      43.1098084448058
    ],
    "v_avg": 5.298383489256743,
    "v_std": 2.2223245696485407,
    "vy_max": 0.043185084131478035,
    "a_max": 1.8968426143670516,
    "ax_avg": 1.4357021384778328,
    "a_std": 0.5340811269626204,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f6ee3ce42dfc56e3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.464572837393327,
    "right_rear_min": 4.221577609166327,
    "speed_mode": "accelerating",
    "front_frame": [
      44.19647485083521,
      43.1098084448058,
      47.98264273848882,
      46.02125921306236,
      -1,
      -1,
      -1,
      -1,
      -1,
      75.94108834056767
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f6ee3ce42dfc56e3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f14e7ed78b5d55b4": {
    "vx_ego": [
      3.5025740553123805,
      3.787715246751227,
      4.127581377030475,
      4.5319051981242495,
      5.0382154570492474,
      5.557234490650313,
      6.066862866970289,
      6.632441911576509,
      7.149931611701181,
      7.5546514872104265
    ],
    "vy_ego": [
      -0.07206420307007733,
      0.058027231646345045,
      0.028885742237966028,
      -0.01874460435205183,
      -0.09640398965965358,
      -0.05614939086322179,
      -0.15762165487916907,
      -0.15842218699131427,
      -0.1179902944975375,
      -0.03315732902763546
    ],
    "v_ego": [
      3.503315324419362,
      3.7881597049338147,
      4.127682450251403,
      4.531943963133029,
      5.039137696161146,
      5.55751814555452,
      6.06891008606239,
      6.634333674135465,
      7.150905100866566,
      7.554724250538795
    ],
    "ax_ego": [
      0.4462902118512988,
      0.69104093947743,
      0.685869834863264,
      0.9760521480125779,
      1.0690774500275535,
      1.0574597274694415,
      1.0147812841241632,
      1.286025866059081,
      0.8039150383087704,
      0.8241627743810355
    ],
    "ay_ego": [
      1.5140490777425084,
      1.4191483240170313,
      1.9263743430985452,
      2.3129608666818093,
      2.0160625066142277,
      1.9657386583970335,
      1.5145587580760949,
      1.0174859020401819,
      0.6498845639274815,
      0.6240072525163578
    ],
    "a_ego": [
      1.5784548023327172,
      1.5784547968168736,
      2.0448314209547234,
      2.5104712239819507,
      2.281980417254508,
      2.2321177272573047,
      1.8230933290080595,
      1.6398597772442411,
      1.0337452951526331,
      1.0337452925496005
    ],
    "yaw": [
      0.3789223708678767,
      0.5454199043118025,
      0.7632152415453479,
      1.0197406784792917,
      1.2615494740403563,
      1.4413173683488005,
      1.6079383008084287,
      1.7082084022695279,
      1.7623436918022297,
      1.7941298044449905
    ],
    "yaw_diff": [
      0.33299506688785163,
      0.43559067446709077,
      0.5130508738678876,
      0.4836175911221292,
      0.3595357886168884,
      0.33324186491925634,
      0.20054020292219832,
      0.10827057906540372,
      0.06357222528552153,
      0.06357222528552153
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.395663039605649,
    "v_std": 1.356544366860827,
    "vy_max": 0.15842218699131427,
    "a_max": 2.5104712239819507,
    "ax_avg": 0.8854675274574616,
    "a_std": 0.4771227382788349,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f14e7ed78b5d55b4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f14e7ed78b5d55b4",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e17906596dab5e6c": {
    "vx_ego": [
      4.3396330653609665,
      4.615456894337402,
      4.887099397719425,
      5.015405482900476,
      5.053247785100842,
      5.131919452241475,
      5.223900702194149,
      5.212617648725316,
      5.188008617829645,
      5.20027227567716
    ],
    "vy_ego": [
      -0.08955683989144002,
      0.0027573005879205637,
      -0.03591652778685761,
      -0.059109647379037344,
      -0.0720079963229372,
      -0.11315752130831136,
      -0.09959138451127547,
      -0.08485271972012365,
      -0.10299816489815883,
      0.032948480265420965
    ],
    "v_ego": [
      4.340557057515263,
      4.615457717950972,
      4.887231375754357,
      5.015753792633908,
      5.053760810442161,
      5.133166847952936,
      5.224849949065848,
      5.213308233343445,
      5.189030934639632,
      5.200376654005776
    ],
    "ax_ego": [
      0.4201957863627604,
      0.7043895566043852,
      0.40754743093470447,
      0.1599371803287153,
      0.056926100148202874,
      0.2986280236415244,
      0.07902807228076447,
      -0.10725589766585697,
      0.022318606782386785,
      0.028866159371113254
    ],
    "ay_ego": [
      1.7313999533246456,
      1.6365040946362257,
      1.7762556880253597,
      1.9608401605192476,
      2.0822117280674775,
      1.75512219693151,
      1.0513641795410271,
      0.7260692323593898,
      0.4302309852038247,
      0.42984133708203615
    ],
    "a_ego": [
      1.7816594223502997,
      1.7816594229017102,
      1.822410266022424,
      1.9673520368141155,
      2.0829897410644715,
      1.7803462086531747,
      1.0543301542829886,
      0.7339484707818815,
      0.430809494832879,
      0.43080950572301807
    ],
    "yaw": [
      -1.5481358672457244,
      -1.379768775639819,
      -1.194048728721178,
      -1.0024595088180142,
      -0.8003329464315581,
      -0.6033411487037884,
      -0.4713509973365073,
      -0.38943250944745145,
      -0.33018795939730394,
      -0.3149626549124319
    ],
    "yaw_diff": [
      0.3367341832118109,
      0.3714400938372817,
      0.3831784398063278,
      0.4042531247729122,
      0.3939835954555393,
      0.2639803027345622,
      0.16383697577811174,
      0.11848910010029501,
      0.030450608969744053,
      0.030450608969744053
    ],
    "min_front_frame": [
      6,
      15.488721892111425
    ],
    "v_avg": 4.98734933733043,
    "v_std": 0.28047590749913526,
    "vy_max": 0.11315752130831136,
    "a_max": 2.0829897410644715,
    "ax_avg": 0.20705810187887003,
    "a_std": 0.6199008289323692,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "e17906596dab5e6c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      15.488721892111425,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "e17906596dab5e6c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "7cee421600545b00": {
    "vx_ego": [
      1.9973163068655753,
      2.1154382186896448,
      2.2907686548994137,
      2.574543812527626,
      2.925461957567637,
      3.3578349205910225,
      3.893080853759567,
      4.4307876925184475,
      4.910412952758384,
      5.50424337467903
    ],
    "vy_ego": [
      -0.024531097306182303,
      -0.011398024805333362,
      -0.012925069749739837,
      -0.006544740412775418,
      0.014939985697735914,
      0.021764691507188794,
      0.033019909662574065,
      0.0070437253332658045,
      -0.023144966127848665,
      -0.09353038903389299
    ],
    "v_ego": [
      1.9974669470121869,
      2.1154689248632987,
      2.2908051177910584,
      2.574552131197066,
      2.925500105682466,
      3.3579054566406303,
      3.8932208835800006,
      4.430793291301177,
      4.910467498729054,
      5.5050379709290675
    ],
    "ax_ego": [
      0.2294095658470023,
      0.24710442574749772,
      0.46497177493623093,
      0.6875022778909766,
      0.743359043891568,
      0.9928420285013887,
      1.1644441023229124,
      0.9975355150823819,
      0.9659253795386085,
      1.4317331736415493
    ],
    "ay_ego": [
      0.2905219024739474,
      0.27562861723332854,
      0.4383190750645117,
      0.6693182488793238,
      1.0648779421275412,
      1.2836206608285141,
      1.6646570542524823,
      1.9259219058421746,
      2.252592012657778,
      1.9893020732615825
    ],
    "a_ego": [
      0.37017796357859,
      0.3701779732263352,
      0.6390010665505638,
      0.9595031528807845,
      1.2986715134186833,
      1.622780729015656,
      2.0315051503028894,
      2.1689288349905413,
      2.4509554492741037,
      2.450955450265984
    ],
    "yaw": [
      -2.2550929356061937,
      -2.1926039228364846,
      -2.109919114623873,
      -1.9975439630572815,
      -1.8476026948321769,
      -1.66157717296291,
      -1.460862869668071,
      -1.240939441284334,
      -1.0120149966860574,
      -0.7932688901977707
    ],
    "yaw_diff": [
      0.12497802553941817,
      0.16536961642522297,
      0.22475030313318323,
      0.29988253645020935,
      0.3720510437385336,
      0.40142860658967816,
      0.43984685676747404,
      0.4578488891965531,
      0.4374922129765735,
      0.4374922129765735
    ],
    "min_front_frame": [
      1,
      46.32006426901378
    ],
    "v_avg": 3.4001218327726006,
    "v_std": 1.1736361038908798,
    "vy_max": 0.09353038903389299,
    "a_max": 2.450955450265984,
    "ax_avg": 0.7924827287400118,
    "a_std": 0.7835837792085765,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "7cee421600545b00",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.132857314373016,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      47.30312610645694,
      46.32006426901378,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "7cee421600545b00",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "71fefe3bc0f0591e": {
    "vx_ego": [
      7.05240519675628,
      6.557291843051273,
      6.087928501967981,
      5.64029288549271,
      5.197796887217788,
      4.771758053197734,
      4.327095857650757,
      3.8623253872962335,
      3.431554021217349,
      3.029090454563352
    ],
    "vy_ego": [
      -0.007416302507767314,
      -0.007559567664999364,
      0.003615386538205062,
      -0.0037835254111927147,
      -0.014150761909963977,
      0.008723764203101794,
      0.014924552737173857,
      -0.01247413897714579,
      -0.02627648300135478,
      -0.017086925803386666
    ],
    "v_ego": [
      7.052409096243487,
      6.557296200570022,
      6.087929575487378,
      5.640294154492673,
      5.197816149579895,
      4.771766027616956,
      4.327121595653715,
      3.8623455310855115,
      3.431654623369298,
      3.0291386473649937
    ],
    "ax_ego": [
      -0.9902271822416674,
      -0.9902271508264003,
      -0.8872335674762245,
      -0.9033014899248288,
      -0.8666939526489682,
      -0.8374734080171682,
      -0.9410530442251505,
      -0.9180269433536574,
      -0.8048889116790017,
      -0.8048555444332645
    ],
    "ay_ego": [
      -0.0006961119879168622,
      -0.0007270369600933697,
      0.038686470454634414,
      -0.07145229137988096,
      0.02706691882058762,
      0.05471084039940749,
      -0.052076715245091124,
      -0.060834090765295036,
      0.02600518014443897,
      0.0270183552310658
    ],
    "a_ego": [
      0.9902274269187721,
      0.990227417726106,
      0.8880765993160868,
      0.9061230665002691,
      0.8671165006230317,
      0.8392585925643536,
      0.9424928733503195,
      0.9200403552684521,
      0.8053089031782479,
      0.8053089090059532
    ],
    "yaw": [
      -1.5893913648633784,
      -1.5894225957846473,
      -1.589689658478361,
      -1.5898247636044307,
      -1.5899594224274336,
      -1.590447281207841,
      -1.5916620556750845,
      -1.591864656607345,
      -1.5904621241677481,
      -1.5892033235633205
    ],
    "yaw_diff": [
      -6.246184253777542e-05,
      -0.0005341253874275864,
      -0.0002702102521392469,
      -0.00026931764600579555,
      -0.0009757175608147151,
      -0.0024295489344869914,
      -0.0004052018645213096,
      0.0028050648791939636,
      0.002517601208855247,
      0.002517601208855247
    ],
    "min_front_frame": [
      9,
      17.394120115351498
    ],
    "v_avg": 4.995777160146393,
    "v_std": 1.2811397387075474,
    "vy_max": 0.02627648300135478,
    "a_max": 0.9902274269187721,
    "ax_avg": -0.8943981194826331,
    "a_std": 0.06415808860556237,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "71fefe3bc0f0591e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 18.763108391445527,
    "speed_mode": "decelerating",
    "front_frame": [
      23.74134567559533,
      21.441983894433548,
      20.381552880802154,
      26.52724113281953,
      23.84521281130837,
      21.33220550748685,
      21.37640356087299,
      19.359747757141164,
      19.04193029744381,
      17.394120115351498
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "71fefe3bc0f0591e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3f64ff364b585a3b": {
    "vx_ego": [
      3.1683836205558973,
      3.6812261033581946,
      4.2307161612421424,
      4.683345698620153,
      5.076427644451801,
      5.45365135910437,
      5.851315620558816,
      6.252805564681097,
      6.65559892048749,
      7.082043200513359
    ],
    "vy_ego": [
      -0.12508471419345296,
      -0.035433761618028414,
      -0.14714299058256475,
      -0.1343483390482072,
      -0.10934521473275138,
      -0.09258007323628314,
      -0.11143041232974182,
      -0.06610170157428241,
      -0.07106702908758455,
      -0.05262691376756212
    ],
    "v_ego": [
      3.1708517708546005,
      3.681396633820942,
      4.23327418160849,
      4.685272287603881,
      5.077605144685771,
      5.454437112720375,
      5.852376545317943,
      6.2531549528744215,
      6.655978328767122,
      7.082238734043791
    ],
    "ax_ego": [
      0.8496923171535777,
      1.24777131412571,
      1.0530318175146347,
      0.8495328833995016,
      0.7896683131813674,
      0.7734260248575779,
      0.8380692132096436,
      0.7684101551611507,
      0.8512550076852862,
      0.8602900595406807
    ],
    "ay_ego": [
      1.8518946566140693,
      1.6107630533669406,
      1.7422689497774873,
      1.614764414051421,
      1.505660463867251,
      1.4803555979710603,
      1.028433021356352,
      0.3395352142000654,
      0.3816153538383426,
      0.36078578065128974
    ],
    "a_ego": [
      2.037520761372889,
      2.037520764666459,
      2.0357743249331257,
      1.8246013901298825,
      1.7001733668351742,
      1.6702216955755456,
      1.3266629133076668,
      0.8400823342010401,
      0.9328801457821042,
      0.9328801456053551
    ],
    "yaw": [
      -0.14400456663126515,
      0.08491729560754487,
      0.322460405909881,
      0.5063176501509401,
      0.6605123262401753,
      0.7988387493745732,
      0.9131721100514685,
      0.9621104854985688,
      0.9908573232623415,
      1.0151962021357748
    ],
    "yaw_diff": [
      0.45784372447762,
      0.4750862206046723,
      0.3677144884821182,
      0.3083893521784704,
      0.2766528462687958,
      0.22866672135379051,
      0.09787675089420067,
      0.057493675527545474,
      0.048677757746866446,
      0.048677757746866446
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.214658569229733,
    "v_std": 1.2205776587872226,
    "vy_max": 0.14714299058256475,
    "a_max": 2.037520764666459,
    "ax_avg": 0.888114710582913,
    "a_std": 0.462240539851825,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "3f64ff364b585a3b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3f64ff364b585a3b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c5e4f3c361b252c1": {
    "vx_ego": [
      5.033421385689525,
      4.889189027212408,
      4.757239283127458,
      4.720446714667265,
      4.902647966012346,
      5.154738620920961,
      5.3537926920461345,
      5.508626130873234,
      5.6273701221813255,
      5.734913843926711
    ],
    "vy_ego": [
      -0.09432363909066366,
      -0.07518995136494588,
      -0.032435512991805915,
      0.004188025910814019,
      0.022456756024153535,
      -0.01873421866724101,
      -0.037641226748461154,
      -0.017706872705383514,
      0.002532712458640507,
      0.0055231458576545656
    ],
    "v_ego": [
      5.034305095522913,
      4.889767159344141,
      4.75734985674105,
      4.720448572495415,
      4.9026993977334685,
      5.154772664333821,
      5.353925013609896,
      5.508654589196932,
      5.627370692130692,
      5.7349165035249134
    ],
    "ax_ego": [
      -0.3241680345498336,
      -0.21665797190985242,
      -0.28999386853015957,
      0.14407903235010633,
      0.5678503685246247,
      0.43548900093723,
      0.35976886463187346,
      0.25991920169788296,
      0.21505470566175156,
      0.2150939133565077
    ],
    "ay_ego": [
      1.0369281658476122,
      1.0645958193259344,
      1.0538852515186017,
      0.9660098366144487,
      0.6585011238808577,
      0.5227645674258092,
      0.24967341994900735,
      0.08808291494140952,
      0.024481412417662288,
      0.02413450172640172
    ],
    "a_ego": [
      1.0864183981100446,
      1.086418397910468,
      1.0930556102749365,
      0.9766953322294608,
      0.8695273263019999,
      0.6803921390589401,
      0.43791603371826965,
      0.2744386840732195,
      0.21644367854300173,
      0.2164436779778946
    ],
    "yaw": [
      2.035884218308059,
      2.1381113828871694,
      2.2387769977427165,
      2.3386707591323495,
      2.420133050106407,
      2.4868063566509537,
      2.5270796647831704,
      2.5389289742249077,
      2.540346637180157,
      2.5419596141305374
    ],
    "yaw_diff": [
      0.20445432915822082,
      0.2013312297110943,
      0.1997875227792658,
      0.16292458194811488,
      0.13334661308909368,
      0.08054661626443327,
      0.023698618883474687,
      0.0028353259104987316,
      0.0032259539007606364,
      0.0032259539007606364
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.168420954463324,
    "v_std": 0.3489714423920784,
    "vy_max": 0.09432363909066366,
    "a_max": 1.0930556102749365,
    "ax_avg": 0.13664352121701312,
    "a_std": 0.3571934651150509,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "c5e4f3c361b252c1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 41.2016516007468,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "c5e4f3c361b252c1",
    "pedestrians": "No"
  },
  "b6a5d96d702a5ffd": {
    "vx_ego": [
      3.764396673746288,
      3.785752625636283,
      3.8161457680282025,
      3.834001181228496,
      3.8434612981572682,
      3.8465144501793427,
      3.8164789144756535,
      3.79590828706263,
      3.836891128527764,
      3.922600826582244
    ],
    "vy_ego": [
      0.05519060548165289,
      0.03357141440526523,
      0.02311040801253994,
      0.011175145870123027,
      -0.005200508819983574,
      -0.02261545899483708,
      -0.01583160908130954,
      -0.012002018189987806,
      0.04481286072346147,
      0.012530539293858611
    ],
    "v_ego": [
      3.764801232501598,
      3.785901475524314,
      3.816215745185021,
      3.834017467558895,
      3.8434648165066814,
      3.8465809330396312,
      3.8165117508640485,
      3.795927261188152,
      3.8371528148695457,
      3.9226208406011787
    ],
    "ax_ego": [
      0.02972235761610975,
      0.04670675528065346,
      0.07050888342302591,
      -0.0025687097813288096,
      0.039555872189763974,
      -0.020834141824097457,
      -0.09388893095697984,
      0.013978772459971978,
      0.14781928565338556,
      0.18601329279455578
    ],
    "ay_ego": [
      0.3379939982269084,
      0.33606820667506104,
      0.39052285885582416,
      0.4003193128905165,
      0.3937742965453878,
      0.49239415690956406,
      0.5094304291267908,
      0.47255864516627966,
      0.5189515570216726,
      0.5065178386179693
    ],
    "a_ego": [
      0.3392983368359935,
      0.3392983355789391,
      0.39683700171542446,
      0.4003275540642637,
      0.39575606583412964,
      0.49283472607378936,
      0.518010128739343,
      0.4727653532153953,
      0.5395936061021253,
      0.5395936118362525
    ],
    "yaw": [
      -0.9030923316076993,
      -0.8527088276169691,
      -0.8021376979235268,
      -0.7474735816192428,
      -0.691429566195225,
      -0.62942353615111,
      -0.5659988626004193,
      -0.5023014123927948,
      -0.45202798075086137,
      -0.37757161678210793
    ],
    "yaw_diff": [
      0.10076700798146043,
      0.10114225938688448,
      0.10932823260856805,
      0.11208803084803565,
      0.12401206008822996,
      0.1268493471013814,
      0.12739490041524903,
      0.10054686328386686,
      0.14891272793750687,
      0.14891272793750687
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.826319433783907,
    "v_std": 0.04085968072203713,
    "vy_max": 0.05519060548165289,
    "a_max": 0.5395936118362525,
    "ax_avg": 0.04170134368550603,
    "a_std": 0.07439543266209915,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "b6a5d96d702a5ffd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "b6a5d96d702a5ffd",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "ef5dcc2415915678": {
    "vx_ego": [
      9.201925814072188,
      8.932122777083947,
      8.50878973748522,
      7.929807866803688,
      7.390305501254525,
      6.9728664456704905,
      6.643097381753792,
      6.3262515341625605,
      6.062739419064777,
      5.845542763217615
    ],
    "vy_ego": [
      -0.026448601930358473,
      0.024578375154310828,
      0.039723448291883456,
      0.04564918820224345,
      -0.004399125341611437,
      -0.01308519488019087,
      0.007562423356579646,
      0.023155616924997013,
      0.035044982665424704,
      0.025615045044204796
    ],
    "v_ego": [
      9.201963823892822,
      8.932156592975018,
      8.508882461820589,
      7.9299392590867415,
      7.390306810557777,
      6.97287872341707,
      6.643101686238976,
      6.326293911611231,
      6.0628407050071775,
      5.845598885241652
    ],
    "ax_ego": [
      -0.5418957239496904,
      -0.5372168116997097,
      -1.1579930384141826,
      -1.1628631250532995,
      -0.9974946734170794,
      -0.6717377386558732,
      -0.6479571085655278,
      -0.6199009233948298,
      -0.4344767926948165,
      -0.4344797917127756
    ],
    "ay_ego": [
      0.3430991288902647,
      0.3503799167801037,
      0.4218853267366595,
      0.2974747158520733,
      0.27727426644016234,
      0.2596771912754261,
      0.12674512698089016,
      0.09868166510524908,
      -0.0024415285984944997,
      -0.001831364672409263
    ],
    "a_ego": [
      0.6413797532509251,
      0.6413797540113296,
      1.2324508533533531,
      1.2003090661075577,
      1.0353147551954314,
      0.720183194196588,
      0.6602368830609217,
      0.6277063213427974,
      0.4344836526870393,
      0.43448365136485884
    ],
    "yaw": [
      -1.674659764707914,
      -1.6611659418372593,
      -1.6409438348223602,
      -1.6197869321505407,
      -1.5944281942679221,
      -1.5744139331660092,
      -1.5632519832126892,
      -1.55696247266774,
      -1.5549903386339559,
      -1.5535859861957735
    ],
    "yaw_diff": [
      0.026987645741309407,
      0.04044421402979825,
      0.04231380534363893,
      0.05071747576523711,
      0.04002852220382591,
      0.022323899906639966,
      0.01257902108989839,
      0.003944268067568313,
      0.0028087048763647537,
      0.0028087048763647537
    ],
    "min_front_frame": [
      5,
      22.521755712827733
    ],
    "v_avg": 7.381396285984906,
    "v_std": 1.149521490400022,
    "vy_max": 0.04564918820224345,
    "a_max": 1.2324508533533531,
    "ax_avg": -0.7206015727557784,
    "a_std": 0.2760262825380718,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ef5dcc2415915678",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.216963095091721,
    "right_rear_min": 15.034717958964524,
    "speed_mode": "decelerating",
    "front_frame": [
      25.469948534355307,
      24.91338518084069,
      24.18609759612024,
      23.605784269233723,
      23.083292097705407,
      22.521755712827733,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ef5dcc2415915678",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "655917ea5da455c8": {
    "vx_ego": [
      1.551472126972941,
      2.1255895025545875,
      2.733880526497097,
      3.3234035527275814,
      3.7629402516329438,
      4.075249813285234,
      4.3839724501036414,
      4.749731142384481,
      5.163280637878988,
      5.5943488032934425
    ],
    "vy_ego": [
      -0.01388651695283033,
      -0.017684119504697282,
      -0.014638446963631702,
      -0.0062587112582006554,
      -0.005630092189858216,
      -0.010124399790255367,
      -0.00960621866793021,
      -0.002289937504151407,
      -0.007625566882700996,
      -0.025814018245250203
    ],
    "v_ego": [
      1.5515342716572595,
      2.125663063952732,
      2.7339197166869313,
      3.3234094459980286,
      3.762944463488329,
      4.07526238960787,
      4.383982974727983,
      4.7497316943960906,
      5.163286268915015,
      5.59440835982222
    ],
    "ax_ego": [
      1.1481994102150885,
      1.1482098728533268,
      1.284828146051366,
      1.073190603167542,
      0.6849443368280785,
      0.564225359226865,
      0.6705529906100556,
      0.7923834743512649,
      0.8618618863269908,
      0.8621523008403422
    ],
    "ay_ego": [
      -0.01161426281346567,
      -0.010528748126710341,
      0.006028474108320692,
      0.006051145525193813,
      -0.02700086972748436,
      -0.0233141418195551,
      -0.021454613654988103,
      -0.01173774506501124,
      -0.07859350053706374,
      -0.075340982018123
    ],
    "a_ego": [
      1.1482581489887094,
      1.1482581446064157,
      1.2848422889155948,
      1.073207662612078,
      0.6854763245502334,
      0.5647068311995767,
      0.6708961273276021,
      0.7924704064406398,
      0.8654379523858358,
      0.8654379546886947
    ],
    "yaw": [
      1.2697094925070722,
      1.2687640904461874,
      1.2670353993800627,
      1.265281009987128,
      1.263647787782506,
      1.261592866022384,
      1.2588154768426931,
      1.255384974140635,
      1.2518991642166744,
      1.2481259755467349
    ],
    "yaw_diff": [
      -0.0018908041217695626,
      -0.0034573821322494425,
      -0.0035087787858696373,
      -0.0032664444092436185,
      -0.0041098435202440164,
      -0.005554778359381896,
      -0.0068610054041160495,
      -0.006971619847921495,
      -0.007546377339878951,
      -0.007546377339878951
    ],
    "min_front_frame": [
      0,
      15.598116712857367
    ],
    "v_avg": 3.746414264925246,
    "v_std": 1.2487022638878043,
    "vy_max": 0.025814018245250203,
    "a_max": 1.2848422889155948,
    "ax_avg": 0.9090548380470922,
    "a_std": 0.22918790164492878,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "655917ea5da455c8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.901128778548673,
    "right_rear_min": 10.953710165526717,
    "speed_mode": "accelerating",
    "front_frame": [
      15.598116712857367,
      16.770726961882268,
      17.754064483213963,
      18.564628348072425,
      19.34668457266794,
      19.43698137901708,
      20.8934071567935,
      21.705224829009808,
      22.337745858599913,
      22.932103799777337
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "655917ea5da455c8",
    "merging_vehicles": "No"
  },
  "f8e036dd79a954d6": {
    "vx_ego": [
      0.21203775992474672,
      0.051324258088274496,
      -0.027759996527161532,
      -0.021114999103585077,
      -0.012600865815414659,
      -0.008064569577210811,
      -0.005704589806928442,
      -0.004187332130030439,
      -0.0033702607108221957,
      -0.0028286905583760702
    ],
    "vy_ego": [
      0.012419825146478963,
      -0.010063728898730317,
      -0.012428933855709064,
      -0.002716692244615259,
      -0.0016020755202746672,
      -0.0009894338197729176,
      -0.0006355349031604972,
      -0.0005705601451025265,
      -0.00038930018644433293,
      -0.00022427867192289009
    ],
    "v_ego": [
      0.2124011857089636,
      0.05230160712309852,
      0.0304153876184015,
      0.021289048919487956,
      0.01270230157376013,
      0.008125039184483025,
      0.005739882357544195,
      0.004226025230209194,
      0.003392670319096349,
      0.0028375678313875457
    ],
    "ax_ego": [
      -0.32141762859011336,
      -0.3214385622353112,
      0.005112193735921152,
      0.021468104259417368,
      0.012588797109292657,
      0.005556184315017168,
      0.00388372846443468,
      0.0021852364386467167,
      0.0010831508362794892,
      0.0010831606034682481
    ],
    "ay_ego": [
      -0.044919200597149156,
      -0.04476919425703468,
      0.03529380710670326,
      0.0035527829999049037,
      0.0009023815289142397,
      0.0015494547291764653,
      -0.00013397861800740248,
      0.00039422309782507104,
      0.00032991588829496104,
      0.0003298892188166962
    ],
    "a_ego": [
      0.3245412555450832,
      0.3245412609304526,
      0.03566212759887959,
      0.02176009576122374,
      0.012621097617983182,
      0.005768188112415381,
      0.0038860387357234783,
      0.0022205112347493724,
      0.0011322809843331337,
      0.001132282557313849
    ],
    "yaw": [
      1.5874209939142434,
      1.5878876733986003,
      1.5880131250675253,
      1.5880355828059751,
      1.5880880634488719,
      1.5880545993617912,
      1.5880592088686214,
      1.5880411263559642,
      1.588103188312227,
      1.5881258347168865
    ],
    "yaw_diff": [
      0.0009333589687137156,
      0.0002509033378501613,
      4.491547689955411e-05,
      0.00010496128579351449,
      -6.692817416142915e-05,
      9.219013660466402e-06,
      -3.616502531444965e-05,
      0.00012412391252558663,
      4.52928093190863e-05,
      4.52928093190863e-05
    ],
    "min_front_frame": [
      8,
      9.429682612439306
    ],
    "v_avg": 0.0353430715866432,
    "v_std": 0.06085593346844451,
    "vy_max": 0.012428933855709064,
    "a_max": 0.3245412609304526,
    "ax_avg": -0.058989563506294695,
    "a_std": 0.12603441176170566,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f8e036dd79a954d6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.176498860374874,
    "right_rear_min": 18.896542418446952,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.517666940832473,
      9.469301482753076,
      9.482008753812252,
      9.48461046711705,
      9.504836605236953,
      9.46590667454924,
      9.475641835373796,
      9.445904134253409,
      9.429682612439306,
      9.445139924600076
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f8e036dd79a954d6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "842d40cd41cf56e8": {
    "vx_ego": [
      7.716311463280597,
      7.906174968655298,
      8.030229736446582,
      8.03018752593838,
      7.977221020444963,
      7.882463712567518,
      7.718616907974807,
      7.61150432809571,
      7.5814482430097865,
      7.548768492495091
    ],
    "vy_ego": [
      -0.06478082339000135,
      -0.04934264674028732,
      -0.04635071274688363,
      -0.038299215320984015,
      -0.03909337019178194,
      -0.021125317189912174,
      -0.018649144921806915,
      -0.008117211524078183,
      0.01960306651182453,
      0.006361760752178647
    ],
    "v_ego": [
      7.7165833860222515,
      7.9063289415365805,
      8.030363504143699,
      8.030278857650622,
      7.977316810846987,
      7.8824920208630775,
      7.718639437276552,
      7.6115086563533945,
      7.581473586424531,
      7.548771173196766
    ],
    "ax_ego": [
      0.37995321720840025,
      0.3816421947746184,
      0.11657404771994134,
      -0.11530479787568527,
      -0.09607698329977192,
      -0.2827915454044111,
      -0.3724721587231169,
      -0.05516532557178834,
      -0.06537959946347052,
      -0.0653909831689266
    ],
    "ay_ego": [
      0.1804060678963327,
      0.1768050704110274,
      0.17273476734753504,
      0.15156372810210916,
      0.019690702686347206,
      0.08551718968746268,
      0.013263693115509706,
      0.1985003363391304,
      -0.011477541780573794,
      -0.011412548197091178
    ],
    "a_ego": [
      0.42060765161945163,
      0.420607652991997,
      0.20839099897168836,
      0.19043833671129012,
      0.09807400518112215,
      0.29543907643413825,
      0.3727082432398312,
      0.2060232915769217,
      0.06637940939273754,
      0.06637941650956093
    ],
    "yaw": [
      -0.8133353734135502,
      -0.8038789968606903,
      -0.7933317272895692,
      -0.7842709411260045,
      -0.7788208701496979,
      -0.7777729973734457,
      -0.7749286878423827,
      -0.7693671458241289,
      -0.7668617454676675,
      -0.7658678693635232
    ],
    "yaw_diff": [
      0.018912753105719826,
      0.02109453914224213,
      0.01812157232712952,
      0.01090014195261313,
      0.002095745552504358,
      0.005688619062126143,
      0.011123084036507525,
      0.005010800712922814,
      0.001987752208288507,
      0.001987752208288507
    ],
    "min_front_frame": [
      0,
      19.81504391186542
    ],
    "v_avg": 7.800375637431448,
    "v_std": 0.17765778624696643,
    "vy_max": 0.06478082339000135,
    "a_max": 0.420607652991997,
    "ax_avg": -0.017441193380421067,
    "a_std": 0.13063780251867638,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "842d40cd41cf56e8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 19.407407893388594,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.81504391186542,
      20.794056458897384,
      22.11712159586192,
      22.90382344476102,
      23.87286439620918,
      25.204916405258235,
      47.98606743621389,
      44.178103310292066,
      40.38635353267627,
      36.605841063471225
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "842d40cd41cf56e8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7f20b37cfbb7573b": {
    "vx_ego": [
      9.184826537251269,
      9.197318915091362,
      9.200084065448065,
      9.168152536576102,
      9.075876537732798,
      8.995763310126627,
      8.953513025191581,
      8.980267417363995,
      9.014645358099806,
      8.974066475210394
    ],
    "vy_ego": [
      -0.030232929782627593,
      0.0011134158333261368,
      -0.011837259898265451,
      0.019530481167119085,
      0.024951627327235215,
      0.0247390706783559,
      0.021578155110443475,
      0.05056696382695325,
      0.013762714753079663,
      -0.01160840555776943
    ],
    "v_ego": [
      9.18487629472702,
      9.19731898248572,
      9.200091680631955,
      9.16817333898206,
      9.075910836487706,
      8.995797327276687,
      8.953539027058143,
      8.980409784926303,
      9.014655863904498,
      8.974073983234968
    ],
    "ax_ego": [
      0.022277590444199163,
      0.028680397676438096,
      -0.018876470702523282,
      -0.10824708448036238,
      -0.26300426370312574,
      -0.05822437440008535,
      -0.11079793791519812,
      0.21755209093442668,
      -0.08129512359880385,
      -0.08104254846595689
    ],
    "ay_ego": [
      0.3760481954670379,
      0.3756141339182751,
      0.18049788655528168,
      0.32723023135867585,
      0.18508853089520255,
      -0.05994507962258186,
      0.08535924472330363,
      0.09901025452687462,
      0.04643055545450252,
      0.0468700036681006
    ],
    "a_ego": [
      0.3767074944171074,
      0.3767075029914516,
      0.18148225311888364,
      0.344669487500056,
      0.3216038043850969,
      0.08356728035085857,
      0.1398655915727415,
      0.2390228917309335,
      0.0936199423240499,
      0.09361993327120424
    ],
    "yaw": [
      2.4927728212242184,
      2.5098088175358075,
      2.5263195256157305,
      2.5367121753771213,
      2.550129950428561,
      2.5536258003321564,
      2.5546851736143275,
      2.5566013568232284,
      2.56469937210184,
      2.5701134686837026
    ],
    "yaw_diff": [
      0.03407199262317828,
      0.033021416159845884,
      0.02078529952278174,
      0.02683555010287897,
      0.006991699807191054,
      0.0021187465643421888,
      0.0038323664178019357,
      0.016196030557223295,
      0.010828193163725075,
      0.010828193163725075
    ],
    "min_front_frame": [
      9,
      53.48981583333918
    ],
    "v_avg": 9.074484711971506,
    "v_std": 0.09755138308020701,
    "vy_max": 0.05056696382695325,
    "a_max": 0.3767075029914516,
    "ax_avg": -0.04529777242109917,
    "a_std": 0.1155622323770478,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7f20b37cfbb7573b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.008455040303435,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      75.73554120561722,
      71.32119898991915,
      66.8532915696375,
      62.44016960961263,
      57.979456013678096,
      53.48981583333918
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7f20b37cfbb7573b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7140077d03e25c2c": {
    "vx_ego": [
      3.2068010274115393,
      3.4689858767677704,
      3.80163726309656,
      4.123792414049893,
      4.461025348718807,
      4.81000690908335,
      5.133854224215398,
      5.461115041685094,
      5.769848763903654,
      6.041978546745017
    ],
    "vy_ego": [
      0.056333746235051496,
      -0.012398451811419076,
      0.02661525478389988,
      0.06836690336224438,
      0.10416966267916061,
      0.1144464779457448,
      0.13272546414765163,
      0.11494299598084012,
      0.11527204577270211,
      0.08636465074191912
    ],
    "v_ego": [
      3.207295795584277,
      3.4690080332598794,
      3.801730428627405,
      4.124359090531617,
      4.462241418898628,
      4.811368252560154,
      5.135569612450745,
      5.462324540966441,
      5.771000121543678,
      6.042595767733003
    ],
    "ax_ego": [
      0.39297342645277744,
      0.6629064831461822,
      0.6864377376120789,
      0.6602640316855255,
      0.7214960567411451,
      0.6902378961491626,
      0.6182464255014204,
      0.6954412088196973,
      0.5454133516658912,
      0.5473655781234662
    ],
    "ay_ego": [
      -1.4567646485006398,
      -1.3554137197932628,
      -1.480540103707794,
      -1.6580826090026775,
      -1.3275833985403875,
      -0.7323639760926366,
      -0.24188381213309906,
      -0.06937872366588288,
      -0.18639111950335852,
      -0.1805776764623358
    ],
    "a_ego": [
      1.5088377497329624,
      1.5088377504559756,
      1.631930073963059,
      1.78470908828715,
      1.5109712902544068,
      1.0063723698306897,
      0.6638798243788734,
      0.6988933267832143,
      0.5763830094695161,
      0.5763830092490343
    ],
    "yaw": [
      -2.731972782888509,
      -2.923360782046755,
      -3.1285644128807686,
      2.946996271376249,
      2.7649420775456863,
      2.6518453383691236,
      2.5992887504023914,
      2.58793580197521,
      2.5765286083572465,
      2.5658889662699567
    ],
    "yaw_diff": [
      -0.3827759983164922,
      -0.410407261668027,
      -0.4152492458451391,
      -0.3641083876611253,
      -0.22619347835312542,
      -0.10511317593346448,
      -0.02270589685436253,
      -0.022814387235927214,
      -0.021279284174579693,
      -0.021279284174579693
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.628749306215584,
    "v_std": 0.9284604143104833,
    "vy_max": 0.13272546414765163,
    "a_max": 1.78470908828715,
    "ax_avg": 0.6220782195897347,
    "a_std": 0.4627467787554733,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "7140077d03e25c2c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7140077d03e25c2c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "fc8a40e606a25836": {
    "vx_ego": [
      3.923270682079595,
      3.9403105759667634,
      4.022486642003594,
      4.170738940741454,
      4.386218092663096,
      4.574402379604943,
      4.730966229074868,
      4.928225629452246,
      5.10623605709558,
      5.242880663297347
    ],
    "vy_ego": [
      0.023428903495922082,
      -0.045010840851736456,
      -0.09443424725820315,
      -0.08556416951293955,
      -0.055963996627733825,
      -0.09361071671663299,
      -0.04306791341030612,
      0.020907293993181045,
      -0.0002524119041411449,
      -0.03502000527607653
    ],
    "v_ego": [
      3.923340637566959,
      3.9405676508429224,
      4.023594986097951,
      4.171616537856947,
      4.386575101981458,
      4.5753601056987385,
      4.73116225739642,
      4.928269977358394,
      5.106236063334204,
      5.24299762066957
    ],
    "ax_ego": [
      -0.0711722445621823,
      0.1463424500852039,
      0.22326836930429833,
      0.38645025099835206,
      0.4806044237342653,
      0.28073452764649637,
      0.35037036792090565,
      0.43857563566049346,
      0.2734063747853356,
      0.27330982865134473
    ],
    "ay_ego": [
      1.2399711223887382,
      1.2333603535481483,
      1.1744396618547734,
      0.7438486875236904,
      0.35636575376555524,
      0.19791024861928166,
      0.2874364521639391,
      -0.01502164061967659,
      -0.048977565115818,
      -0.04951348852306481
    ],
    "a_ego": [
      1.2420120260102179,
      1.242012026673395,
      1.1954736651509121,
      0.8382449918892484,
      0.5983119274841824,
      0.3434826655326981,
      0.45318771910724065,
      0.43883281313264694,
      0.2777586140121195,
      0.27775861459755136
    ],
    "yaw": [
      0.9871824208869444,
      1.162619091296246,
      1.3262532434375711,
      1.4416004459422056,
      1.4991121637765807,
      1.5382202134445337,
      1.5534641428633726,
      1.5543209312227475,
      1.5553451530606295,
      1.557305668793727
    ],
    "yaw_diff": [
      0.3508733408186031,
      0.3272683042826503,
      0.23069440500926897,
      0.11502343566875028,
      0.07821609933590601,
      0.030487858837677795,
      0.0017135767187497208,
      0.0020484436757639557,
      0.003921031466195046,
      0.003921031466195046
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.502972093880356,
    "v_std": 0.46423838921453114,
    "vy_max": 0.09443424725820315,
    "a_max": 1.242012026673395,
    "ax_avg": 0.2781889984224514,
    "a_std": 0.3839845896138351,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "fc8a40e606a25836",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fc8a40e606a25836",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "615329a491785c3a": {
    "vx_ego": [
      0.49656295602453343,
      0.9412055385873478,
      1.476740500055863,
      2.2176002424338788,
      3.143935221670751,
      4.213257451514912,
      5.270659247602836,
      6.360179654170342,
      7.358167790587681,
      8.14771357053918
    ],
    "vy_ego": [
      -0.009877774863786035,
      0.0567034286125674,
      0.11765435872743418,
      0.15945746978288727,
      0.22382683011120819,
      0.2950759418837446,
      0.36399544141811846,
      0.440778544621577,
      0.5344186880960788,
      0.6786469684116117
    ],
    "v_ego": [
      0.4966611920938482,
      0.9429120556467182,
      1.4814199447262766,
      2.2233257790779017,
      3.151892626334144,
      4.22357764983959,
      5.283213187607942,
      6.375434962315991,
      7.377549496182883,
      8.175927967838426
    ],
    "ax_ego": [
      0.8892701781609562,
      0.8892877789894161,
      1.2527589094073093,
      1.7104485527661528,
      1.9951053490946908,
      2.2820810035786065,
      1.9462724712054633,
      2.410360712903717,
      1.5791765133226308,
      1.5791585134126178
    ],
    "ay_ego": [
      0.13341088447297783,
      0.13329349651010391,
      0.111716189836431,
      0.058349590978372286,
      0.195883140051209,
      0.090483696808725,
      0.20421514797376966,
      0.12313251580870097,
      0.2874362418253224,
      0.28753512413323284
    ],
    "a_ego": [
      0.899221837958955,
      0.8992218358513197,
      1.2577302541367765,
      1.7114435212495827,
      2.0046983709632156,
      2.283874122249848,
      1.9569569128711468,
      2.413503756524753,
      1.6051224418543546,
      1.6051224433337983
    ],
    "yaw": [
      -0.0053067985219789554,
      -0.005174798219667869,
      -0.004915679379266784,
      -0.004517157414433085,
      -0.004823817629145017,
      -0.004729766644863739,
      -0.0037357698156205658,
      -0.0028579761246713634,
      -0.0015651488530378736,
      -0.0016277626062365883
    ],
    "yaw_diff": [
      0.0002640006046221721,
      0.0005182376808021711,
      0.0007970439296673976,
      -0.0006133204294238633,
      0.0001881019685625561,
      0.0019879936584863457,
      0.0017555873818984047,
      0.0025856545432669797,
      -0.00012522750639742952,
      -0.00012522750639742952
    ],
    "min_front_frame": [
      0,
      11.923566571510301
    ],
    "v_avg": 3.9731914861663724,
    "v_std": 2.6079995157212403,
    "vy_max": 0.6786469684116117,
    "a_max": 2.413503756524753,
    "ax_avg": 1.653391998284156,
    "a_std": 0.49919018245552804,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "615329a491785c3a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.645139448765617,
    "right_rear_min": 14.274690676041134,
    "speed_mode": "accelerating",
    "front_frame": [
      11.923566571510301,
      12.76026813820241,
      13.971693875805313,
      15.459728862703143,
      17.029729401959752,
      18.51238077843468,
      19.903480709562086,
      21.033907875329668,
      21.705631981825395,
      22.19413378696296
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "615329a491785c3a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4b58ef9360555bac": {
    "vx_ego": [
      3.3933756868431937,
      2.849632609086722,
      2.155489991100388,
      1.4099618021663447,
      0.8660615061847461,
      0.5603376872836565,
      0.4570545623542213,
      0.4689477398188481,
      0.5248248345022368,
      0.5764955560115602
    ],
    "vy_ego": [
      0.061337319148754954,
      0.03306717396062764,
      0.015677006855561948,
      0.00967583849094722,
      -0.0022675762522970655,
      -0.01465406858483409,
      -0.006108760019672366,
      0.002299489075883232,
      5.186302514065266e-05,
      -0.0013710526496185094
    ],
    "v_ego": [
      3.3939299961517877,
      2.8498244585876056,
      2.155547000247942,
      1.4099950019126555,
      0.8660644747344455,
      0.5605292726669018,
      0.45709538382900644,
      0.46895337756670025,
      0.5248248370647808,
      0.5764971863647264
    ],
    "ax_ego": [
      -1.0878026558829355,
      -1.0879293668991958,
      -1.6888854227389354,
      -1.2932819550009014,
      -0.8823469454861951,
      -0.3404882726704138,
      -0.07260363886362106,
      0.12016389900755897,
      0.10334322928618597,
      0.10334168136690797
    ],
    "ay_ego": [
      -0.033336746147065,
      -0.02890757045085457,
      -0.012427928397960697,
      -0.0033771527863901696,
      -0.040804271211170084,
      -0.005723696573191023,
      0.041093262082369436,
      -0.006092624227289137,
      -0.0019527689050444288,
      -0.0020328089267664246
    ],
    "a_ego": [
      1.0883133541354908,
      1.0883133533091727,
      1.6889311485505671,
      1.2932863643802543,
      0.8832899415015961,
      0.3405363776875299,
      0.08342628221855154,
      0.120318255866156,
      0.1033616773552641,
      0.10336167287671129
    ],
    "yaw": [
      2.550933315199135,
      2.555004743763853,
      2.5577421989795366,
      2.5589248701182914,
      2.5597513183869918,
      2.560920234837944,
      2.561545388899124,
      2.5623243893371948,
      2.562797898039608,
      2.563572469631989
    ],
    "yaw_diff": [
      0.008142857129436187,
      0.005474910431367164,
      0.002365342277509619,
      0.0016528965374007498,
      0.0023378329019045907,
      0.0012503081223602663,
      0.001558000876141108,
      0.000947017404826056,
      0.0015491431847625137,
      0.0015491431847625137
    ],
    "min_front_frame": [
      9,
      12.540976111337466
    ],
    "v_avg": 1.3263260989126553,
    "v_std": 1.0384711911420565,
    "vy_max": 0.061337319148754954,
    "a_max": 1.6889311485505671,
    "ax_avg": -0.6126489447881545,
    "a_std": 0.5672941768511875,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "4b58ef9360555bac",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 31.391727677944463,
    "right_rear_min": 3.881676708904462,
    "speed_mode": "decelerating",
    "front_frame": [
      17.246395261546823,
      15.727465190809482,
      14.460596921543535,
      13.744992803155448,
      13.353023455743859,
      13.178208812675893,
      13.085736923264877,
      12.908114765186667,
      12.739197988369598,
      12.540976111337466
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "4b58ef9360555bac",
    "pedestrians": "No"
  },
  "687da3cabde458b5": {
    "vx_ego": [
      5.496752259293846,
      5.365465051103377,
      5.232394281884341,
      5.099427078827879,
      5.063298658030532,
      5.098245231103564,
      5.083732021470668,
      5.085171523309874,
      5.106217765736087,
      5.10517860206924
    ],
    "vy_ego": [
      0.010376269377541103,
      -0.02920471397543256,
      -0.055822662260123224,
      -0.040839725743767374,
      -0.04551328552651723,
      -0.06915847312066736,
      -0.18359641425682183,
      -0.33587122739410935,
      -0.28418654392237475,
      -0.04586413809439627
    ],
    "v_ego": [
      5.4967620529742955,
      5.365544532471066,
      5.232692050055856,
      5.099590612537624,
      5.063503210186916,
      5.098714282137666,
      5.087046187076957,
      5.096251456008906,
      5.114119852219479,
      5.105384616088076
    ],
    "ax_ego": [
      -0.2624158664162775,
      -0.26251327456424445,
      -0.268810767811288,
      -0.2628577298078431,
      0.11969355117983693,
      0.024818936950841045,
      -0.07565369739464199,
      0.099207345474521,
      -0.0021016183614345763,
      -0.002220319938707943
    ],
    "ay_ego": [
      -0.017781206963243465,
      -0.016279932375899073,
      0.018321299039474784,
      0.06089508689317266,
      0.07258658442066049,
      0.17561973184057045,
      -0.18220223521762235,
      -0.09413693242114166,
      0.4740882603683132,
      0.4740877112267717
    ],
    "a_ego": [
      0.2630176006811622,
      0.2630175954581865,
      0.2694344055420318,
      0.269819194512659,
      0.13998342198952674,
      0.1773647931330333,
      0.19728440497864458,
      0.13676205410041029,
      0.47409291854950825,
      0.47409291046889646
    ],
    "yaw": [
      2.577739098706058,
      2.5834590256593213,
      2.588577832806033,
      2.589511231052686,
      2.5970692843528282,
      2.6138964876124327,
      2.6359963538327777,
      2.652428274864051,
      2.6609051444807763,
      2.6606547557933515
    ],
    "yaw_diff": [
      0.011439853906526132,
      0.010237614293423292,
      0.0018667964933065662,
      0.015116106600284063,
      0.03365440651920881,
      0.0441997324406902,
      0.032863842062546667,
      0.01695373923345045,
      -0.0005007773748495481,
      -0.0005007773748495481
    ],
    "min_front_frame": [
      0,
      19.461537438510543
    ],
    "v_avg": 5.175960885175685,
    "v_std": 0.13768975934706854,
    "vy_max": 0.33587122739410935,
    "a_max": 0.47409291854950825,
    "ax_avg": -0.08928534406892384,
    "a_std": 0.114807569197416,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "687da3cabde458b5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.461537438510543,
      19.547173249127123,
      19.963966164778697,
      20.425402258318012,
      20.837085352936466,
      20.60852607090808,
      20.525365882950187,
      20.513328551681443,
      43.145554688946234,
      40.58659537613414
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "687da3cabde458b5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "13fcbcdacbe35755": {
    "vx_ego": [
      8.14440527162057,
      7.601126797684459,
      7.036952767848713,
      6.550188116639002,
      5.9478547475952865,
      5.298882692938959,
      4.709045873060782,
      4.03768606440009,
      3.3969713818736444,
      2.7599796269472456
    ],
    "vy_ego": [
      0.02455034688219801,
      0.044439913625035354,
      0.049196839165074585,
      0.019657625322238803,
      -0.02990655778505802,
      -0.005045512873902841,
      0.03186838562615234,
      0.011208394837514873,
      -0.04110519252550151,
      -0.08635362665811026
    ],
    "v_ego": [
      8.144442273595718,
      7.601256705334967,
      7.037124738550362,
      6.550217613605834,
      5.947929934077094,
      5.298885095067471,
      4.709153706197452,
      4.037701621314472,
      3.397220070310591,
      2.7613302030001527
    ],
    "ax_ego": [
      -1.0863636991943613,
      -1.0863472944778518,
      -1.1705619936534197,
      -0.776492214979402,
      -1.6327909824642486,
      -0.9631680590303091,
      -1.396113426565083,
      -1.2891574574150682,
      -1.2738122198045272,
      -1.2738971923559494
    ],
    "ay_ego": [
      -0.004111129398660204,
      -0.0072475149433839856,
      0.06804730065868136,
      -0.18664983300969695,
      -0.00036228543160813503,
      0.08592069787528192,
      0.04390802428026112,
      -0.1428978862658256,
      -0.08493254116987353,
      -0.083648466001085
    ],
    "a_ego": [
      1.0863714780461557,
      1.0863714699365972,
      1.1725381938823152,
      0.7986102429133786,
      1.63279102265639,
      0.9669928005210734,
      1.3968037136374936,
      1.2970531045057963,
      1.2766405554708458,
      1.2766405612217973
    ],
    "yaw": [
      -1.5421825630568737,
      -1.5450696318680892,
      -1.543644851869948,
      -1.5436613722095354,
      -1.5432190927286098,
      -1.5438457443809042,
      -1.5447268523484294,
      -1.5456643470266385,
      -1.5469142810224032,
      -1.545906259002261
    ],
    "yaw_diff": [
      -0.005774137622430953,
      0.002849559996282558,
      -3.3040679174867194e-05,
      0.000884558961851134,
      -0.0012533033045887265,
      -0.0017622159350505484,
      -0.0018749893564180553,
      -0.0024998679915295696,
      0.002016044040284548,
      0.002016044040284548
    ],
    "min_front_frame": [
      9,
      14.372155889090049
    ],
    "v_avg": 5.548526196105411,
    "v_std": 1.7256116246149291,
    "vy_max": 0.08635362665811026,
    "a_max": 1.63279102265639,
    "ax_avg": -1.1948704539940223,
    "a_std": 0.22117443644429627,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "13fcbcdacbe35755",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.197038084212051,
    "right_rear_min": 3.685337102393439,
    "speed_mode": "decelerating",
    "front_frame": [
      36.72363305336183,
      32.75121454037083,
      29.142435410443124,
      25.914056511107084,
      22.911456971454932,
      20.577475540589127,
      18.1118464969971,
      16.891742283141312,
      15.543638267733796,
      14.372155889090049
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "13fcbcdacbe35755",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "715d1ae75d215269": {
    "vx_ego": [
      5.000053648439901,
      5.3531575734119965,
      5.799934801944689,
      6.222815991253402,
      6.588834947510604,
      6.9022416890030165,
      7.105491750907932,
      7.130219305396075,
      7.058098881596453,
      6.964717613859966
    ],
    "vy_ego": [
      -0.07276184593675272,
      0.04164522755420186,
      0.13344964916259627,
      0.08460707273972012,
      0.06822579981577137,
      0.06765861522357097,
      0.06583139526156323,
      0.013421920431365031,
      -0.019022378877952217,
      -0.01406869422970125
    ],
    "v_ego": [
      5.0005830433561735,
      5.353319561800534,
      5.801469858205833,
      6.223391134884312,
      6.589188168909548,
      6.902573289840912,
      7.105796703735813,
      7.130231938092263,
      7.058124515286711,
      6.964731823190939
    ],
    "ax_ego": [
      0.47030276613847155,
      0.9118888920537296,
      0.8615781769438586,
      0.8414453180969705,
      0.6409738021500764,
      0.6153035312268176,
      0.20057464358479962,
      -0.10114578193540613,
      -0.18750404978522553,
      -0.18657643181555128
    ],
    "ay_ego": [
      -2.091133253305297,
      -1.9397117360707867,
      -1.0582792912704835,
      -0.5716803047528487,
      -0.7261542868831683,
      -0.3197300750574642,
      -0.14270076630499473,
      -0.1566471453313652,
      -0.10841053728446183,
      -0.10999932071793034
    ],
    "a_ego": [
      2.1433672048710393,
      2.1433672038411253,
      1.3646508759817875,
      1.0172750828510555,
      0.9685801275070266,
      0.6934160053218003,
      0.24615786876149645,
      0.18646393040958506,
      0.21658858067812814,
      0.21658858572747816
    ],
    "yaw": [
      1.41861206378884,
      1.2003788266881235,
      1.0499685971673962,
      0.9903497872110474,
      0.9424530353364833,
      0.9037982431194145,
      0.8876725720702456,
      0.8845383031696287,
      0.8797782363912454,
      0.871283968713
    ],
    "yaw_diff": [
      -0.43646647420143303,
      -0.3008204590414545,
      -0.11923761991269766,
      -0.0957935037491282,
      -0.0773095844341376,
      -0.03225134209833769,
      -0.006268537801233931,
      -0.009520133556766508,
      -0.01698853535649092,
      -0.01698853535649092
    ],
    "min_front_frame": [
      6,
      20.44431428028229
    ],
    "v_avg": 6.412941003730305,
    "v_std": 0.7425275576991693,
    "vy_max": 0.13344964916259627,
    "a_max": 2.1433672048710393,
    "ax_avg": 0.40668408666585415,
    "a_std": 0.7235913336606051,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "715d1ae75d215269",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.79073887868165,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      52.75921096561896,
      36.866203820599175,
      23.91477591343854,
      20.44431428028229,
      26.410057481834826,
      22.909265925750223,
      32.29899739634662
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7142857142857143,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2857142857142857,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "715d1ae75d215269",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c69051fe82a95f3c": {
    "vx_ego": [
      1.4508201296242291,
      2.0183434357240984,
      2.5683319201507047,
      3.0637790732495005,
      3.5263885250378117,
      4.0019941274083095,
      4.522451829613994,
      5.046984493426023,
      5.491416506891106,
      5.8877799460681235
    ],
    "vy_ego": [
      -0.011031294635594713,
      -0.002999097624648228,
      0.010398190515842343,
      0.023805284091094725,
      0.010655588989384901,
      -0.007962227952322598,
      -0.0008615712668320619,
      0.009956524631093977,
      0.008191901662102374,
      -0.011044146783474318
    ],
    "v_ego": [
      1.4508620671808201,
      2.0183456639329944,
      2.5683529692063374,
      3.063871554297312,
      3.526404623847789,
      4.002002048086003,
      4.522451911682865,
      5.046994314368251,
      5.491422617082841,
      5.88779030422281
    ],
    "ax_ego": [
      1.135049252194131,
      1.135058882576645,
      1.0648968976913287,
      0.9169661692520839,
      0.9335259236110178,
      0.9688831768914502,
      1.1129855866203089,
      0.9851259635232135,
      0.7927139525664798,
      0.7927367571588191
    ],
    "ay_ego": [
      0.01823114142506399,
      0.017621871359862484,
      0.03350117915578571,
      0.009621313768661488,
      -0.06883121126481889,
      -0.014926808189995477,
      0.05551478656985248,
      -0.004640170184782189,
      -0.044529342449734555,
      -0.04412157484704993
    ],
    "a_ego": [
      1.1351956568909682,
      1.1351956647496348,
      1.0654237334119436,
      0.9170166439228223,
      0.9360600331698742,
      0.9689981527670783,
      1.1143692420165092,
      0.9851368915977533,
      0.7939636471102294,
      0.7939636512571998
    ],
    "yaw": [
      -0.5758288221394319,
      -0.5752920576072424,
      -0.5755598654392202,
      -0.5764864570011816,
      -0.5769883608344771,
      -0.5776058675075812,
      -0.5768881034393063,
      -0.576492211141366,
      -0.5784811112527646,
      -0.5789955034869338
    ],
    "yaw_diff": [
      0.001073529064378853,
      -0.0005356156639555465,
      -0.001853183123922797,
      -0.0010038076665910278,
      -0.0012350133462082358,
      0.0014355281365499017,
      0.0007917845958806957,
      -0.003977800222797256,
      -0.0010287844683385394,
      -0.0010287844683385394
    ],
    "min_front_frame": [
      0,
      13.4196217799658
    ],
    "v_avg": 3.7578498073908024,
    "v_std": 1.4193725365925547,
    "vy_max": 0.023805284091094725,
    "a_max": 1.1351956647496348,
    "ax_avg": 0.9837942562085479,
    "a_std": 0.12189436950707751,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c69051fe82a95f3c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.711108875501636,
    "speed_mode": "accelerating",
    "front_frame": [
      13.4196217799658,
      13.705811016590204,
      13.977003274628721,
      14.181771625579064,
      14.660668507280043,
      15.098936004758356,
      15.718110250420294,
      16.017543818878117,
      16.095810233125512,
      16.090877362228106
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c69051fe82a95f3c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f53ee13c32ac5bec": {
    "vx_ego": [
      5.541327758915436,
      5.6832880794768785,
      5.807579113230389,
      5.921588412915553,
      6.060099770665719,
      6.163837567325242,
      6.254649093658924,
      6.37829582702538,
      6.5083450120707855,
      6.65187506772458
    ],
    "vy_ego": [
      -0.06079763146312667,
      0.011297414712312825,
      0.04390608050327538,
      0.03733246543525626,
      0.028675420409874253,
      0.028155252191460534,
      0.03441647005140691,
      0.031021459407176266,
      0.04521515980960311,
      0.06408450962150702
    ],
    "v_ego": [
      5.541661274718827,
      5.683299308139874,
      5.807745078800811,
      5.921706092415531,
      6.060167614031677,
      6.1639018709414835,
      6.254743781980138,
      6.3783712645151915,
      6.508502070893369,
      6.65218375730777
    ],
    "ax_ego": [
      0.28394012359619825,
      0.2836316983889096,
      0.21298098985284045,
      0.2404585923988647,
      0.3120738291202743,
      0.1016775515995372,
      0.25980217907419956,
      0.23347141498458615,
      0.2850512213494919,
      0.28681639762365463
    ],
    "ay_ego": [
      0.11337230753072733,
      0.11414172589458815,
      0.17454083445705318,
      0.12077180028314452,
      0.1381473023895028,
      0.1834364485478086,
      0.12400603177718499,
      0.16960828203452455,
      0.1739080980643385,
      0.1709812256290452
    ],
    "a_ego": [
      0.3057372628625208,
      0.30573726289278624,
      0.27536413152707484,
      0.2690839318912876,
      0.3412839755676889,
      0.20973138810180364,
      0.2878796070735589,
      0.28857558966344965,
      0.33391349982471896,
      0.3339134999718053
    ],
    "yaw": [
      1.0600277172586412,
      1.0573164575615999,
      1.0641916742282893,
      1.0779092084097828,
      1.0901772162025374,
      1.1033592622289028,
      1.1147654970204999,
      1.12691747707049,
      1.1380540419935736,
      1.1482901400606251
    ],
    "yaw_diff": [
      -0.00542251939408267,
      0.013750433333378886,
      0.027435068362986925,
      0.02453601558550922,
      0.026364092052730825,
      0.02281246958319416,
      0.02430396009998015,
      0.02227312984616736,
      0.020472196134103005,
      0.020472196134103005
    ],
    "min_front_frame": [
      0,
      24.264481104898387
    ],
    "v_avg": 6.097228211374467,
    "v_std": 0.3437140581762845,
    "vy_max": 0.06408450962150702,
    "a_max": 0.3412839755676889,
    "ax_avg": 0.24999039979885565,
    "a_std": 0.03717670672654855,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "f53ee13c32ac5bec",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      24.264481104898387,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      77.55995325078626,
      74.4270477634057
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6666666666666666,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 7,
    "token": "f53ee13c32ac5bec",
    "smoothness": "No"
  },
  "a85c442c31bc557f": {
    "vx_ego": [
      6.017742417759102,
      6.401531180792903,
      6.822858987732197,
      7.247367400373081,
      7.6547797895598055,
      7.985731756951459,
      8.206074663143589,
      8.299717409191484,
      8.262146663090636,
      8.160977511739116
    ],
    "vy_ego": [
      -0.04432288034089105,
      -0.12046071402399727,
      -0.08912214456057477,
      -0.047461568685220445,
      -0.04961131284109488,
      -0.013135488485517932,
      0.02792505741250695,
      0.018883496352206652,
      -0.009982166359381761,
      -0.01808193468087449
    ],
    "v_ego": [
      6.017905642681586,
      6.40266446429039,
      6.8234410324358405,
      7.247522806897025,
      7.654940555550714,
      7.98574256002789,
      8.20612217712597,
      8.299738891005587,
      8.262152693218939,
      8.160997543405669
    ],
    "ax_ego": [
      0.7150085916422801,
      0.8520247424727067,
      0.837256701005038,
      0.8643750603178519,
      0.7665549699852332,
      0.5573798355259082,
      0.3244201690662725,
      0.05202838165077159,
      -0.20286150573375308,
      -0.2021532924463845
    ],
    "ay_ego": [
      1.2724389930433824,
      1.1850705116232958,
      0.48291722948801136,
      0.2774770400120041,
      0.0916084685683366,
      0.08667608608633923,
      -0.058621639074638354,
      -0.2812450172669366,
      -0.11563296132239083,
      -0.11686666687059682
    ],
    "a_ego": [
      1.4595678391700517,
      1.4595678399117946,
      0.9665442741614149,
      0.9078203305904277,
      0.7720094776118346,
      0.5640789173069093,
      0.32967399452305307,
      0.286016978927262,
      0.2335032596191134,
      0.2335032579480563
    ],
    "yaw": [
      -0.7700716168101385,
      -0.6586788091159542,
      -0.6003862839851005,
      -0.579277307555981,
      -0.566626087328775,
      -0.565594363983619,
      -0.5697847374024998,
      -0.5789466865516835,
      -0.5874099560463293,
      -0.5935020402123741
    ],
    "yaw_diff": [
      0.2227856153883685,
      0.1165850502617074,
      0.04221795285823915,
      0.02530244045441199,
      0.0020634466903119986,
      -0.008380746837761688,
      -0.018323898298367336,
      -0.01692653898929164,
      -0.012184168332089573,
      -0.012184168332089573
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.506122836663961,
    "v_std": 0.7961022895098765,
    "vy_max": 0.12046071402399727,
    "a_max": 1.4595678399117946,
    "ax_avg": 0.45640336534859244,
    "a_std": 0.4506702586840635,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "a85c442c31bc557f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 22.132212941679136,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a85c442c31bc557f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "055e7b577c645e2e": {
    "vx_ego": [
      4.668610015137964,
      4.075544749138913,
      3.489192486543667,
      2.9636015414387193,
      2.60062630814242,
      2.417541844829118,
      2.4474382053274786,
      2.7762005764431192,
      3.383177954930307,
      4.1109612907108
    ],
    "vy_ego": [
      0.06040095375420629,
      0.05782033398707154,
      0.039744468267398636,
      0.030206713628753157,
      0.01374012089978116,
      -0.011289009528272276,
      -0.019617100960321654,
      -0.017687720336012402,
      -0.003154282077905801,
      0.014390156200489779
    ],
    "v_ego": [
      4.669000722709402,
      4.075954881160505,
      3.4894188385618943,
      2.9637554794493766,
      2.6006626050921744,
      2.4175682023959335,
      2.4475168231386433,
      2.7762569218452735,
      3.3831794253662992,
      4.110986476542836
    ],
    "ax_ego": [
      -1.186321754738455,
      -1.186308375282113,
      -1.159844394084217,
      -0.9427986707840801,
      -0.509247357051998,
      -0.22309362869043048,
      0.34259298078194705,
      0.9723195205336985,
      1.45555978884711,
      1.455568320681116
    ],
    "ay_ego": [
      0.0076116211501254805,
      0.009470607982888568,
      -0.02937624703920727,
      0.02259904267855778,
      -0.07696629903946575,
      -0.024602705456360327,
      -0.021548491573018413,
      0.014264909828363648,
      0.03699478917427268,
      0.036657370736946415
    ],
    "a_ego": [
      1.1863461731477285,
      1.1863461778418862,
      1.1602163515390966,
      0.9430694833161635,
      0.5150307581613719,
      0.2244461188749676,
      0.3432699928192559,
      0.9724241552240939,
      1.4560298463062809,
      1.456029841383682
    ],
    "yaw": [
      0.5509254120434515,
      0.5524924432109384,
      0.5559587663970462,
      0.5584104070767433,
      0.5594642430182946,
      0.5593174286630813,
      0.5579584091562819,
      0.5564779046634418,
      0.5559087266853043,
      0.5561405334949886
    ],
    "yaw_diff": [
      0.0031340623349738195,
      0.0069326463722156895,
      0.004903281359394107,
      0.0021076718831025687,
      -0.00029362871042648564,
      -0.002718039013598794,
      -0.0029610089856801913,
      -0.0011383559562749834,
      0.0004636136193685303,
      0.0004636136193685303
    ],
    "min_front_frame": [
      9,
      27.724030644779877
    ],
    "v_avg": 3.2934300376262344,
    "v_std": 0.745532569130797,
    "vy_max": 0.06040095375420629,
    "a_max": 1.4560298463062809,
    "ax_avg": -0.09815735697874224,
    "a_std": 0.41857122198906394,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "055e7b577c645e2e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.824632963816107,
    "right_rear_min": 16.833159212279973,
    "speed_mode": "decelerating",
    "front_frame": [
      42.01188893250202,
      39.80106089517482,
      37.94460719402525,
      36.34978638167965,
      34.99185967880068,
      33.718927704708804,
      32.50610117567757,
      31.201238371445843,
      29.648352162722755,
      27.724030644779877
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "055e7b577c645e2e",
    "merging_vehicles": "No"
  },
  "d618ac9cc53c573c": {
    "vx_ego": [
      9.726816373709866,
      9.607387262977152,
      9.579896879072605,
      9.656433219252321,
      9.801962097219672,
      10.011226610274186,
      10.134698696325012,
      10.108718369692152,
      10.027427003470553,
      9.948913709712343
    ],
    "vy_ego": [
      -0.03811718675696074,
      0.012227834854244612,
      -0.02635580236318047,
      -0.051626195368685845,
      -0.09910911102007436,
      -0.07010150970400808,
      -0.03906059919966465,
      -0.001453116772493157,
      0.012506326645739918,
      -0.04070672888400928
    ],
    "v_ego": [
      9.726891059726977,
      9.607395044483226,
      9.579933133481843,
      9.656571222847578,
      9.802463137967838,
      10.01147204280793,
      10.134773968653752,
      10.108718474134093,
      10.027434802487454,
      9.948996986685575
    ],
    "ax_ego": [
      -0.2401135175730455,
      -0.23706083224216162,
      0.13227512965466615,
      0.17650706603405697,
      0.4116540404026688,
      0.4295996024685097,
      0.06511122412928111,
      -0.1686335866121549,
      -0.1568616198024729,
      -0.15693676050197053
    ],
    "ay_ego": [
      0.29722501413783664,
      0.299665444187534,
      0.6134899530525056,
      0.4723974813201177,
      0.3382938287863728,
      0.29909280763246926,
      0.10246387450120474,
      0.18204555677876752,
      -0.017091344235288145,
      -0.016386927144036
    ],
    "a_ego": [
      0.3820958130502589,
      0.3820958212588281,
      0.6275879479575148,
      0.5042956719202951,
      0.5328243271236645,
      0.5234618668237209,
      0.12140147068883521,
      0.24814888933172888,
      0.15778999275880798,
      0.15778998123479449
    ],
    "yaw": [
      1.8388063418247906,
      1.8490349123445544,
      1.8769852456803287,
      1.9078528127644696,
      1.9336411555453836,
      1.9468007429154133,
      1.9536543105524096,
      1.956956456673416,
      1.9596663177496485,
      1.9641559657951193
    ],
    "yaw_diff": [
      0.02045714103952756,
      0.05590066667154847,
      0.06173513416828191,
      0.05157668556182804,
      0.026319174740059292,
      0.013707135273992588,
      0.006604292242012644,
      0.005419722152465223,
      0.008979296090941613,
      0.008979296090941613
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.860464987327626,
    "v_std": 0.2002290110569604,
    "vy_max": 0.09910911102007436,
    "a_max": 0.6275879479575148,
    "ax_avg": 0.025554074595737726,
    "a_std": 0.17351258615488332,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d618ac9cc53c573c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d618ac9cc53c573c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3febbde773f15b51": {
    "vx_ego": [
      1.0562301793923647,
      0.7479403881494218,
      0.4258637041232505,
      0.14309080877639171,
      0.002990474453290712,
      -0.018822546695118993,
      -0.01193864756420382,
      -0.006785316587256705,
      -0.004106780538668826,
      -0.0021880189942232835
    ],
    "vy_ego": [
      -0.007373717620766218,
      -0.004076854337532965,
      0.003014849670102626,
      -0.001142482838207004,
      -0.010209693728417638,
      -0.005684821264860925,
      -0.0014002453922470938,
      -0.0007082903406256226,
      -0.0004184672560163319,
      -0.0003459256006268526
    ],
    "v_ego": [
      1.0562559176500637,
      0.7479514990735677,
      0.4258743756181026,
      0.14309536967811887,
      0.010638645754224305,
      0.019662285139407116,
      0.01202048222080874,
      0.006822184136764745,
      0.004128045692230992,
      0.0022151956212151823
    ],
    "ax_ego": [
      -0.6165835560530725,
      -0.6165862496038255,
      -0.6717237689519172,
      -0.4593565322592129,
      -0.10104691606969096,
      0.013797914895713276,
      0.01373719163512446,
      0.006876462089311105,
      0.0038375642818757197,
      0.003837573602901468
    ],
    "ay_ego": [
      0.005894371705595036,
      0.005606109745099286,
      0.022004270497024414,
      -0.03897327142905299,
      0.0026989073311887574,
      0.015393389757827856,
      0.001749069573573952,
      0.0010158768333129497,
      0.00014481053423730304,
      0.00014456575078241858
    ],
    "a_ego": [
      0.6166117297074846,
      0.6166117349410284,
      0.6720840793346282,
      0.4610068758870001,
      0.10108295280598759,
      0.020672177043208242,
      0.013848092951498253,
      0.006951096072289232,
      0.0038402955235703412,
      0.003840295615442311
    ],
    "yaw": [
      -0.7228883892331304,
      -0.7233559083255667,
      -0.7236743800777278,
      -0.7240035919916209,
      -0.7240523165017243,
      -0.7239717378410808,
      -0.7240395082482847,
      -0.7239552843553829,
      -0.7240246767669851,
      -0.7239611682769691
    ],
    "yaw_diff": [
      -0.0009350381848727274,
      -0.000636943504322085,
      -0.0006584238277862475,
      -9.74490202068079e-05,
      0.00016115732128696436,
      -0.0001355408144076975,
      0.00016844778580349384,
      -0.00013878482320439645,
      0.00012701698003203532,
      0.00012701698003203532
    ],
    "min_front_frame": [
      3,
      8.818654289151207
    ],
    "v_avg": 0.2428664000584504,
    "v_std": 0.35886280981422,
    "vy_max": 0.010209693728417638,
    "a_max": 0.6720840793346282,
    "ax_avg": -0.24232103164327928,
    "a_std": 0.28324142328123364,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3febbde773f15b51",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      9.598814951373408,
      9.174041191636576,
      8.920967075611983,
      8.818654289151207,
      8.835642284208868,
      8.870681885175339,
      8.871172246493103,
      8.866763822595454,
      8.89072467776844,
      8.90935228260077
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3febbde773f15b51",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bd5f0b15f9a65bf1": {
    "vx_ego": [
      11.357227705702272,
      11.248536416112891,
      11.035962115854076,
      10.728611642058898,
      10.511452495360164,
      10.393182662546108,
      10.339846586568278,
      10.430262392520792,
      10.736922296146119,
      11.159915825662743
    ],
    "vy_ego": [
      -0.01059883284234786,
      -0.005555631652482518,
      -0.01362835876751678,
      -0.03074343062679663,
      -0.013948463906256592,
      0.007071913930963625,
      0.004235193758367117,
      0.007664914534127654,
      0.017646745039265888,
      0.04426698358587533
    ],
    "v_ego": [
      11.357232651241626,
      11.248537788070985,
      11.035970530711337,
      10.728655690469726,
      10.51146175000693,
      10.393185068544467,
      10.339847453934407,
      10.430265208888429,
      10.736936797853014,
      11.160003620147869
    ],
    "ax_ego": [
      -0.22757952272329302,
      -0.2060950731827185,
      -0.6447058863507612,
      -0.5865079348064879,
      -0.2801195664775794,
      -0.19409659516127192,
      -0.019447136167457284,
      0.3811215620422254,
      0.8454735422837498,
      0.8460123027480683
    ],
    "ay_ego": [
      0.6985619271358268,
      0.7051992765529842,
      0.5945868660852089,
      0.2431420769617149,
      0.37376023997851127,
      0.10664327778487585,
      -0.024309044331055553,
      0.06196673253578083,
      0.14009499627904803,
      0.13680387211755124
    ],
    "a_ego": [
      0.7346980367516182,
      0.7346980324194712,
      0.8770286319250649,
      0.6349091487608506,
      0.4670799594420439,
      0.22146394051831753,
      0.03113070415851285,
      0.38612630186852964,
      0.8570018195338083,
      0.8570018178670594
    ],
    "yaw": [
      -0.7263984143107731,
      -0.6957909732670076,
      -0.6660515365126874,
      -0.6452203764159641,
      -0.6322330257761771,
      -0.6227440493068594,
      -0.6204800581150959,
      -0.6199009857523426,
      -0.6160500173793898,
      -0.6121586167795954
    ],
    "yaw_diff": [
      0.06121488208753112,
      0.05947887350864023,
      0.041662320193446734,
      0.02597470127957391,
      0.018977952938635356,
      0.0045279823835271404,
      0.0011581447255064603,
      0.007701936745905691,
      0.007782801199588851,
      0.007782801199588851
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.79420965598688,
    "v_std": 0.36095812243580594,
    "vy_max": 0.04426698358587533,
    "a_max": 0.8770286319250649,
    "ax_avg": -0.008594430779552586,
    "a_std": 0.27797615516369767,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bd5f0b15f9a65bf1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 32.52606011460723,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bd5f0b15f9a65bf1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0c330f8c6d6658ee": {
    "vx_ego": [
      1.807863635129443,
      2.4220682807026863,
      2.8558012964619754,
      2.94715613769011,
      2.813172829715016,
      2.5604300973114027,
      2.252040428311261,
      1.939721074678423,
      1.6504093802052737,
      1.3978360335598001
    ],
    "vy_ego": [
      0.025465869896315718,
      0.03380323491147741,
      0.04294299620496567,
      0.03347071940306079,
      0.015505515312008722,
      0.025181196317551002,
      0.05967416225906508,
      0.11377925705053682,
      0.11190606600208752,
      0.03534435191202617
    ],
    "v_ego": [
      1.8080429844871,
      2.422304154121969,
      2.856124147476254,
      2.9473461942876416,
      2.8132155606799634,
      2.560553919734178,
      2.252830907189816,
      1.9430552145748685,
      1.6541989269364248,
      1.3982828039886193
    ],
    "ax_ego": [
      1.22846045401025,
      1.2284500287696056,
      0.5068620711282583,
      -0.14041280954111884,
      -0.39438702029791095,
      -0.6139729693290948,
      -0.6143770807112527,
      -0.6166880345650645,
      -0.5062052810250052,
      -0.48465991785947504
    ],
    "ay_ego": [
      0.01290350739796553,
      0.01385985968076342,
      -0.0029286076514173365,
      -0.09650972480336883,
      -0.10471104487447885,
      -0.14117701459009502,
      -0.08052759088243205,
      -0.11971004057285659,
      -0.3282856115276871,
      -0.3593327035640955
    ],
    "a_ego": [
      1.228528220095183,
      1.22852821249429,
      0.5068705316855613,
      0.1703815837021493,
      0.408050884937369,
      0.6299950448339713,
      0.6196320603363011,
      0.6281995111345416,
      0.6033367461656152,
      0.6033367449693705
    ],
    "yaw": [
      0.5687822205258073,
      0.5680037120293383,
      0.5656561015213684,
      0.5604967230528621,
      0.5493907346859412,
      0.5231795796366311,
      0.48581550039028165,
      0.4361329408847024,
      0.3743278267450862,
      0.31168168978611177
    ],
    "yaw_diff": [
      -0.0015570169929379762,
      -0.004695221015939888,
      -0.010318756937012452,
      -0.022211976733841787,
      -0.052422310098620306,
      -0.07472815849269887,
      -0.09936511901115852,
      -0.1236102282792324,
      -0.12529227391794884,
      -0.12529227391794884
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.2655954813476837,
    "v_std": 0.5161918686283301,
    "vy_max": 0.11377925705053682,
    "a_max": 1.228528220095183,
    "ax_avg": -0.04069305594208082,
    "a_std": 0.3135270792078288,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "0c330f8c6d6658ee",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.634118823397558,
    "right_rear_min": 7.474198824837701,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0c330f8c6d6658ee",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "9efa05c9731a51d8": {
    "vx_ego": [
      4.42153196811096,
      4.237929700310349,
      4.1275395463394,
      4.107491156819948,
      4.146520328591184,
      4.19638952989088,
      4.214611912048429,
      4.2450285304812265,
      4.284258668344892,
      4.294989896793881
    ],
    "vy_ego": [
      0.01653200156140039,
      0.0024433490885055476,
      0.014746888713894735,
      0.02016961131792261,
      0.053470305184996514,
      0.057549308454764914,
      0.04855500930439316,
      0.022605874159308925,
      0.004396148906141928,
      -0.0459960505650554
    ],
    "v_ego": [
      4.4215628743808235,
      4.237930404658307,
      4.12756589012488,
      4.1075406774096335,
      4.146865070020548,
      4.196784127100347,
      4.214891595060194,
      4.245088721115979,
      4.284260923824966,
      4.295236180960146
    ],
    "ax_ego": [
      -0.4283926705643172,
      -0.29876633906174255,
      -0.12577181857733827,
      0.04586667116357379,
      0.11918803350837176,
      0.09201288216047687,
      -0.01563283668318477,
      0.13645714657751506,
      0.02109035524045541,
      0.021544924470794653
    ],
    "ay_ego": [
      -1.0496878025310719,
      -1.0936651388037089,
      -1.2606638918858954,
      -1.124923819689186,
      -0.9629327360191453,
      -0.7458404725638585,
      -0.4252141357434321,
      -0.06765492338615053,
      -0.1306737765895071,
      -0.13059959984498098
    ],
    "a_ego": [
      1.1337392835108688,
      1.1337392827237185,
      1.2669222543838843,
      1.1258584953837385,
      0.9702810115780427,
      0.7514947644513285,
      0.42550140636523986,
      0.15230804808171933,
      0.1323647950639936,
      0.13236479611332239
    ],
    "yaw": [
      1.6570040237952162,
      1.5361945820555156,
      1.3920395788223465,
      1.2453765853010128,
      1.1107366559834675,
      1.0075259520496447,
      0.9402907365601327,
      0.9171921334880055,
      0.9098605520668817,
      0.9063809169263892
    ],
    "yaw_diff": [
      -0.24161888347940108,
      -0.2883100064663382,
      -0.29332598704266744,
      -0.26927985863509063,
      -0.20642140786764562,
      -0.1344704309790239,
      -0.04619720614425438,
      -0.014663162842247779,
      -0.006959270280984864,
      -0.006959270280984864
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.227772646465582,
    "v_std": 0.08824358279055385,
    "vy_max": 0.057549308454764914,
    "a_max": 1.2669222543838843,
    "ax_avg": -0.04324036517653952,
    "a_std": 0.44378051065558355,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "9efa05c9731a51d8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9efa05c9731a51d8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "02bfb6340c185b97": {
    "vx_ego": [
      6.659568415237812,
      6.551677714170103,
      6.45065912675167,
      6.33595976002868,
      6.209804601095892,
      6.102661238923756,
      5.991766094390944,
      5.863844940581516,
      5.744907158611801,
      5.637678779172691
    ],
    "vy_ego": [
      -0.017044299477823488,
      0.008019654417299682,
      -0.005120857070427753,
      -0.029200633239645946,
      -0.026315517247407216,
      -0.025837149008619997,
      -0.03520094147634678,
      -0.033907605924359596,
      -0.028211253752638554,
      -0.022562677147423715
    ],
    "v_ego": [
      6.659590226536296,
      6.551682622442128,
      6.450661159348068,
      6.336027048370633,
      6.209860359962993,
      6.102715932708266,
      5.99186949425417,
      5.863942974903744,
      5.744976426053236,
      5.63772392828295
    ],
    "ax_ego": [
      -0.2193225871981641,
      -0.21261769133959496,
      -0.19015212992680802,
      -0.27115434820907697,
      -0.23660703233054514,
      -0.19340963627225866,
      -0.2525174682559216,
      -0.26130951846517747,
      -0.2163148725641684,
      -0.2140572087562919
    ],
    "ay_ego": [
      -0.27094833502969806,
      -0.2762410440697624,
      -0.37746194235862673,
      -0.289516752467574,
      -0.19239234084057683,
      -0.23594617249930844,
      -0.17904888928323132,
      -0.16190592865731884,
      -0.15318339626034833,
      -0.15632270630774392
    ],
    "a_ego": [
      0.34859058723761005,
      0.34859058664761977,
      0.4226527539775991,
      0.39666690120560844,
      0.30495524353974357,
      0.30508668230527664,
      0.30955383461998853,
      0.3074023327414607,
      0.26506089297047825,
      0.2650608932451407
    ],
    "yaw": [
      1.8188347192540268,
      1.794329273543462,
      1.7712036645276945,
      1.748925152552566,
      1.7292462574766767,
      1.711759154250215,
      1.696170506205215,
      1.681575819451362,
      1.667009375789844,
      1.6524208196934174
    ],
    "yaw_diff": [
      -0.0490108914211298,
      -0.04625121803153487,
      -0.04455702395025707,
      -0.03935779015177854,
      -0.03497420645292326,
      -0.031177296090000084,
      -0.02918937350770623,
      -0.02913288732303565,
      -0.02917711219285346,
      -0.02917711219285346
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.154905017286248,
    "v_std": 0.32938086236891345,
    "vy_max": 0.03520094147634678,
    "a_max": 0.4226527539775991,
    "ax_avg": -0.22674624933180074,
    "a_std": 0.049255893410409715,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "02bfb6340c185b97",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.294256274945544,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "02bfb6340c185b97",
    "merging_vehicles": "No"
  },
  "1e60548b4c00538a": {
    "vx_ego": [
      5.850927940871776,
      5.903174201114763,
      5.919296692253778,
      5.834125557696666,
      5.733941875176998,
      5.644416081853081,
      5.507623381787787,
      5.26129085836781,
      4.850267248453863,
      4.376218911381942
    ],
    "vy_ego": [
      -0.12907637560111396,
      0.12833795597699327,
      0.09431139598614036,
      0.030191379629889825,
      0.001841506187183678,
      0.008263105896932535,
      0.0017381914279488361,
      -0.021470981476912163,
      -0.00895290897283263,
      0.1988467234729161
    ],
    "v_ego": [
      5.852351534213607,
      5.904569101945651,
      5.920047970273498,
      5.8342036767988645,
      5.733942170884996,
      5.644422130209677,
      5.507623656072098,
      5.261334669016055,
      4.850275511350184,
      4.380734182733856
    ],
    "ax_ego": [
      0.06531644406598475,
      0.14292501570546529,
      -0.06760233561047226,
      -0.271600124145933,
      -0.12872776657072504,
      -0.22941676855272009,
      -0.31704875602761656,
      -0.6676647840410104,
      -0.9693613140044444,
      -0.8703015690031213
    ],
    "ay_ego": [
      -0.7365334314633452,
      -0.725479284468554,
      -0.37078942270615517,
      -0.1438509902286359,
      -0.1315587687660038,
      -0.08329652327608196,
      -0.1775662448382812,
      -0.32228089062559884,
      -0.7100658607056076,
      -0.8285107547221598
    ],
    "a_ego": [
      0.739423920040862,
      0.7394239327391376,
      0.37690167387629725,
      0.3073430246904024,
      0.18406126025188987,
      0.24407040886403086,
      0.3633864127958385,
      0.7413779308227068,
      1.201605127996722,
      1.201605131355379
    ],
    "yaw": [
      -2.948423772176059,
      -3.0544909748843443,
      -3.0949130143687205,
      -3.1058478063719734,
      -3.1128719437513857,
      -3.1234186547224487,
      -3.1339234902601856,
      3.1305174710677774,
      3.0774023999452202,
      2.948811850333138
    ],
    "yaw_diff": [
      -0.21213440541657036,
      -0.08084407896875234,
      -0.02186958400650596,
      -0.01404827475882442,
      -0.021093421942126156,
      -0.02100967107547369,
      -0.037488691703246424,
      -0.1062301422451144,
      -0.2571810992241641,
      -0.2571810992241641
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.488950460349848,
    "v_std": 0.48808227439374785,
    "vy_max": 0.1988467234729161,
    "a_max": 1.201605131355379,
    "ax_avg": -0.3313481958184593,
    "a_std": 0.3567684224125483,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "1e60548b4c00538a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1e60548b4c00538a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "23ee5a5b9a1a550c": {
    "vx_ego": [
      7.822934158714725,
      7.9824854578952955,
      8.181441069193246,
      8.417105453849834,
      8.659195610323126,
      8.861036143133385,
      9.021870314955436,
      9.163958182679053,
      9.339654328059636,
      9.540114871270223
    ],
    "vy_ego": [
      -0.07196992131566526,
      -0.03217295675959386,
      -0.007988192101145764,
      0.0003609583118913129,
      -0.002493490622352379,
      -0.011703509389592526,
      -0.0548105445914393,
      -0.09608006731267693,
      -0.1575707091195182,
      0.1366009415345971
    ],
    "v_ego": [
      7.823265208412652,
      7.982550293274482,
      8.181444968946192,
      8.417105461589484,
      8.659195969334265,
      8.86104387203044,
      9.022036808596631,
      9.164461847442281,
      9.340983433023286,
      9.541092787215698
    ],
    "ax_ego": [
      0.2452783158706675,
      0.4121826109225867,
      0.3924659220281975,
      0.5600170813737679,
      0.41514249086764343,
      0.4098653354850381,
      0.2561686592049274,
      0.34307920694636945,
      0.3726478271792744,
      0.4306011789781948
    ],
    "ay_ego": [
      1.6788324547097515,
      1.6458266455035486,
      1.6629011677514256,
      1.8209770359626418,
      1.9359467329980737,
      2.177167104544208,
      2.263794121138024,
      2.1504410144253336,
      1.388808380315242,
      1.3719466967377816
    ],
    "a_ego": [
      1.696655493381942,
      1.6966554900145239,
      1.7085870752357042,
      1.905144744352429,
      1.9799578381192129,
      2.2154110666740094,
      2.278241910960715,
      2.1776363100301226,
      1.437934324068829,
      1.4379343218753498
    ],
    "yaw": [
      0.654101821807882,
      0.7544214585712021,
      0.853666327993203,
      0.957774427316541,
      1.0677682082997728,
      1.1860543709938085,
      1.3145893591988496,
      1.4404767910171645,
      1.5427115829896396,
      1.5846891149033895
    ],
    "yaw_diff": [
      0.20063927352664024,
      0.19848973884400167,
      0.20821619864667618,
      0.21998756196646352,
      0.23657232538807138,
      0.2570699764100821,
      0.25177486363662993,
      0.20446958394495018,
      0.08395506382749973,
      0.08395506382749973
    ],
    "min_front_frame": [
      9,
      27.98498765578144
    ],
    "v_avg": 8.699318064986542,
    "v_std": 0.5565654872317046,
    "vy_max": 0.1575707091195182,
    "a_max": 2.278241910960715,
    "ax_avg": 0.3837448628856667,
    "a_std": 0.29166730557416,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "23ee5a5b9a1a550c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.35229965926953,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      37.525132758147116,
      39.08451433634621,
      27.98498765578144
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "23ee5a5b9a1a550c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "21bc638f113e5f63": {
    "vx_ego": [
      6.034192855112524,
      5.237934889006865,
      4.438762734478431,
      3.6445900546405934,
      2.8840013830407383,
      2.1872008432677643,
      1.5516679732030194,
      0.9732453476570744,
      0.4721567894970074,
      0.014585774236805283
    ],
    "vy_ego": [
      0.04888083033979118,
      0.08840689894541409,
      0.102592167125934,
      0.08916743759302226,
      0.07466193655964748,
      0.049288309110790296,
      0.035750068745104335,
      0.054794272493527474,
      0.06917679394284051,
      0.0699655084659779
    ],
    "v_ego": [
      6.034390834895079,
      5.238680910425495,
      4.439948171516198,
      3.6456806632386263,
      2.884967657037376,
      2.187756125852747,
      1.552079755192769,
      0.9747866017925332,
      0.4771975090969478,
      0.07146969417165487
    ],
    "ax_ego": [
      -1.5923126689679046,
      -1.5923908682614876,
      -1.6036802668547239,
      -1.572569427551365,
      -1.4693434511061507,
      -1.3178794671525327,
      -1.2245237986442765,
      -1.089349669494732,
      -0.915227608973497,
      -0.9152264706186837
    ],
    "ay_ego": [
      0.06656859593221331,
      0.06467109920797631,
      -0.03559238980559132,
      -0.03665336695220167,
      -0.038846185408841216,
      -0.06184249566256805,
      0.0235448228892422,
      0.058198729930110105,
      0.001595234828100367,
      0.002154981684645896
    ],
    "a_ego": [
      1.5937035526471282,
      1.5937035572512668,
      1.6040751904169928,
      1.5729965269440873,
      1.469856864946159,
      1.3193296723003005,
      1.2247501345707599,
      1.0909032012941202,
      0.9152289992135854,
      0.9152290076626688
    ],
    "yaw": [
      -0.6992431208662548,
      -0.7004347558469819,
      -0.7018636669402556,
      -0.7030119951765137,
      -0.7043558448693391,
      -0.7042757948587259,
      -0.7021421434518045,
      -0.7010248249176286,
      -0.7002173721577336,
      -0.6996057924856756
    ],
    "yaw_diff": [
      -0.002383269961454104,
      -0.0028578221865473985,
      -0.002296656472516201,
      -0.0026876993856508324,
      0.00016010002122635036,
      0.00426730281384291,
      0.002234637068351697,
      0.0016149055197900442,
      0.0012231593441160982,
      0.0012231593441160982
    ],
    "min_front_frame": [
      9,
      9.478885770784338
    ],
    "v_avg": 2.7506957923219426,
    "v_std": 1.9467872351223345,
    "vy_max": 0.102592167125934,
    "a_max": 1.6040751904169928,
    "ax_avg": -1.3292503697625355,
    "a_std": 0.26556208652152163,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "21bc638f113e5f63",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.57729933414996,
      18.802773995733425,
      16.38329268774906,
      14.365241358993122,
      12.752757991399145,
      11.51481866914721,
      10.573482610518964,
      9.911519936754399,
      9.597957045953793,
      9.478885770784338
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "21bc638f113e5f63",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f530d03c88b652a7": {
    "vx_ego": [
      6.94419447060673,
      7.215935883838662,
      7.388317703828729,
      7.371815371392379,
      7.250249989682592,
      7.100862409253314,
      6.806245735571826,
      6.311900759854664,
      5.753522908110626,
      5.197956215793037
    ],
    "vy_ego": [
      0.07690288454227634,
      0.041331200953901526,
      0.032313118662855356,
      0.011513159125553951,
      -0.033389890924127474,
      -0.03421123409033022,
      -0.02040992538498365,
      -0.03521079095088275,
      -0.03485259416237829,
      -0.009091384115272216
    ],
    "v_ego": [
      6.944620284742428,
      7.216054250616659,
      7.388388364883559,
      7.371824361901877,
      7.250326875231789,
      7.100944821901151,
      6.8062763371790815,
      6.311998970378027,
      5.753628468842388,
      5.197964166341146
    ],
    "ax_ego": [
      0.5424994318889319,
      0.5427313861511286,
      0.14635965844723933,
      -0.21242079114858772,
      -0.27379341095082366,
      -0.3234442971395346,
      -0.8549298259156658,
      -1.1223323232823588,
      -1.1112587682670618,
      -1.1113058205841397
    ],
    "ay_ego": [
      0.03385474997673063,
      0.029906855957197997,
      0.01763087585652917,
      -0.08995524694314735,
      -0.06501199340763895,
      0.10272149876084372,
      -0.001867632007688469,
      -0.02602053439840185,
      0.015505578014463839,
      0.01165549875968619
    ],
    "a_ego": [
      0.543554760530897,
      0.543554760393808,
      0.14741776488693925,
      0.23068276694368514,
      0.28140609653474374,
      0.3393639928745558,
      0.8549318658755836,
      1.1226339172209059,
      1.1113669389540028,
      1.1113669409855258
    ],
    "yaw": [
      2.5403106216173197,
      2.5475862701135172,
      2.5504295000381427,
      2.5507956811154884,
      2.551637529028242,
      2.5530645762165194,
      2.554690241347309,
      2.5558777758261466,
      2.555382538465213,
      2.5519180018634806
    ],
    "yaw_diff": [
      0.014551296992395102,
      0.00568645984925098,
      0.0007323621546913017,
      0.0016836958255073142,
      0.0028540943765547055,
      0.0032513302615795325,
      0.0023750689576749195,
      -0.000990474721866974,
      -0.00692907320346503,
      -0.00692907320346503
    ],
    "min_front_frame": [
      0,
      38.57293266296411
    ],
    "v_avg": 6.73420269020181,
    "v_std": 0.7082983796743428,
    "vy_max": 0.07690288454227634,
    "a_max": 1.1226339172209059,
    "ax_avg": -0.37778947608008717,
    "a_std": 0.3701302988692953,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f530d03c88b652a7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      38.57293266296411,
      38.95188617480887,
      39.10527896210875,
      39.066954442225025,
      39.032010608095455,
      38.899921497455026,
      38.82775452609202,
      38.959447199677264,
      39.42191513083788,
      40.403774817193906
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f530d03c88b652a7",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "63a10444501d5ead": {
    "vx_ego": [
      4.933137653023401,
      4.753721666118803,
      4.618104606030452,
      4.664478520658959,
      4.937138125692094,
      5.3100109175696515,
      5.6972406940438045,
      6.013752539674681,
      6.181262491710617,
      6.265243247637038
    ],
    "vy_ego": [
      0.008671404995580723,
      -0.011601817668487335,
      -0.0069858683351222695,
      -0.00973573706943176,
      -0.014210164796506941,
      0.03710199984832041,
      0.07328901089045736,
      0.05197056856662252,
      0.04936293037899553,
      0.05121122581979387
    ],
    "v_ego": [
      4.93314527425879,
      4.7537358236549645,
      4.618109889835459,
      4.6644886809022355,
      4.937158575632951,
      5.310140535155509,
      5.69771206757467,
      6.0139770990951416,
      6.1814595922261075,
      6.2654525408554065
    ],
    "ax_ego": [
      -0.37161639561920357,
      -0.34589824413164283,
      -0.19690971335439136,
      0.38247566491138907,
      0.6986550729176494,
      0.7884546391450766,
      0.760675980166307,
      0.5015781919330917,
      0.16779410217174923,
      0.16782754019595858
    ],
    "ay_ego": [
      -0.5107688660594853,
      -0.5285243428275475,
      -0.5917360367180309,
      -0.660692289424552,
      -0.4136873105788263,
      -0.05701973886230066,
      0.16022452360768918,
      0.043923134185969714,
      0.022460121384381068,
      0.022208840124479254
    ],
    "a_ego": [
      0.631651470376426,
      0.6316514673889743,
      0.6236384949344222,
      0.7634146550561269,
      0.8119458737178903,
      0.7905137371414351,
      0.7773672521834727,
      0.5034976905007491,
      0.16929063109405834,
      0.16929062533968256
    ],
    "yaw": [
      2.586013363262735,
      2.5365318404770356,
      2.4755558005032325,
      2.407653219108531,
      2.3521949283873997,
      2.319142895862476,
      2.3172569998704136,
      2.329545700702439,
      2.332673687902745,
      2.334171128777749
    ],
    "yaw_diff": [
      -0.09896304557139857,
      -0.12195207994760615,
      -0.1358051627894028,
      -0.1109165814422628,
      -0.06610406504984745,
      -0.003771791984124917,
      0.0245774016640512,
      0.0062559744006120965,
      0.0029948817500073943,
      0.0029948817500073943
    ],
    "min_front_frame": [
      3,
      15.16593150108664
    ],
    "v_avg": 5.3375380079191235,
    "v_std": 0.6161581953200951,
    "vy_max": 0.07328901089045736,
    "a_max": 0.8119458737178903,
    "ax_avg": 0.25530368383359836,
    "a_std": 0.22817636990116835,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "63a10444501d5ead",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.723416625039768,
    "right_rear_min": 10.472339386805038,
    "speed_mode": "accelerating",
    "front_frame": [
      20.933310910708084,
      18.765251802093,
      16.92106788633176,
      15.16593150108664,
      17.28564388439083,
      18.081697735376544,
      18.87262404560481,
      19.504449540295614,
      20.177871501849154,
      20.948580739001805
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "63a10444501d5ead",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "f6a8d6a5c5b355d0": {
    "vx_ego": [
      5.5182360671288535,
      6.029312516641004,
      6.557689615922355,
      7.011999639924194,
      7.435722696221946,
      7.836385824397127,
      8.2174302789089,
      8.587478767621132,
      8.879758615590037,
      9.090496341009525
    ],
    "vy_ego": [
      0.007758911389296852,
      -0.09741555946997815,
      -0.13229272283579707,
      -0.05344157249207271,
      0.011811592691759465,
      0.06900605125830461,
      0.07644557502715799,
      0.05657745953122495,
      0.04166452842729562,
      0.011881315740775555
    ],
    "v_ego": [
      5.518241521831721,
      6.030099436539229,
      6.559023895618249,
      7.012203287980708,
      7.435732077531578,
      7.83668964703353,
      8.217785852324823,
      8.587665142125115,
      8.879856361680325,
      9.09050410547024
    ],
    "ax_ego": [
      0.876862307727898,
      1.1830516502414656,
      0.934921443177977,
      0.883878242327409,
      0.8112139465956474,
      0.7920396282069616,
      0.7313612247691117,
      0.7481395143994864,
      0.4214725323067369,
      0.4217693455524082
    ],
    "ay_ego": [
      1.860877458195957,
      1.6828966753421446,
      0.8486360740781517,
      0.21842647883063565,
      -0.060422750112561485,
      0.08392152624822924,
      0.023610348562619177,
      -0.02251476385354584,
      -0.10923141451050905,
      -0.10807967330863749
    ],
    "a_ego": [
      2.057122364162069,
      2.057122365591483,
      1.2626406025234456,
      0.9104673931086934,
      0.8134611090165594,
      0.7964732231645042,
      0.7317422289679771,
      0.7484782211910246,
      0.43539705718461175,
      0.4353970562948359
    ],
    "yaw": [
      2.280630176197994,
      2.453006176005678,
      2.5584910711507938,
      2.586159495491329,
      2.582599090751258,
      2.5758805068245416,
      2.5783005019169325,
      2.580698257065719,
      2.5786441561358666,
      2.575912459508201
    ],
    "yaw_diff": [
      0.34475199961536784,
      0.21096979029023188,
      0.055336848681070805,
      -0.007120809480142043,
      -0.013437167853433074,
      0.004839990184781762,
      0.004795510297572747,
      -0.004108201859704508,
      -0.005463393255331184,
      -0.005463393255331184
    ],
    "min_front_frame": [
      2,
      20.59839387876453
    ],
    "v_avg": 7.516780132813553,
    "v_std": 1.160084886067096,
    "vy_max": 0.13229272283579707,
    "a_max": 2.057122365591483,
    "ax_avg": 0.7804709835305103,
    "a_std": 0.5616800248963519,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "f6a8d6a5c5b355d0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      38.868759573074826,
      20.59839387876453,
      21.367759283044613,
      22.132704348753506,
      22.76487213537168,
      23.660880313438724,
      24.106117764320306,
      24.80811729624835,
      25.38588175222667
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8888888888888888,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1111111111111111,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f6a8d6a5c5b355d0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "74abadad5fd65d44": {
    "vx_ego": [
      2.287119734749088,
      1.5152715925953653,
      0.8383001573644832,
      0.39839608632439927,
      0.12209188066759687,
      -0.021596309359907057,
      -0.03194358349819629,
      -0.0207283055955787,
      -0.012604108874856065,
      -0.006959913711363219
    ],
    "vy_ego": [
      0.02951464292583897,
      -0.00812051696342321,
      -0.010483145032308502,
      0.018306645108692808,
      0.023412543136247167,
      0.007685089012616889,
      0.0015969194175747487,
      0.0005824201763447287,
      0.000154954116359211,
      0.00022426620477720977
    ],
    "v_ego": [
      2.287310165942909,
      1.5152933518372764,
      0.8383657019267222,
      0.3988164676310819,
      0.12431642892657972,
      0.022922939844196556,
      0.03198347508218057,
      0.020736486349560587,
      0.012605061336915505,
      0.006963525989053743
    ],
    "ax_ego": [
      -1.543667545903449,
      -1.5438167936736051,
      -1.164059257680478,
      -0.5955714289219466,
      -0.5096935233125954,
      -0.0650409149651411,
      0.02365200434052824,
      0.02120849831308102,
      0.011288364840314721,
      0.011288370931522058
    ],
    "ay_ego": [
      -0.06849615144449234,
      -0.0650454449539511,
      0.05604189099814178,
      0.06156700753953903,
      -0.040786454221531245,
      -0.022115976279785184,
      -0.0022337166863204685,
      -0.001839866383964517,
      0.00013792388581357118,
      0.0001373589748581364
    ],
    "a_ego": [
      1.5451864661063672,
      1.5451864619967095,
      1.1654075033816598,
      0.5987452073841618,
      0.5113228163839086,
      0.06869815882766245,
      0.023757247306014077,
      0.021288154194452912,
      0.011289207402042516,
      0.011289206605231665
    ],
    "yaw": [
      -1.6235189463580337,
      -1.621283659339058,
      -1.6211847143604112,
      -1.6200656764865915,
      -1.619708010811369,
      -1.6200542887102207,
      -1.6200740232981612,
      -1.619924361474137,
      -1.620052784138352,
      -1.6200025658866388
    ],
    "yaw_diff": [
      0.004470574037951369,
      0.0001978899572936399,
      0.0022380757476394564,
      0.000715331350444881,
      -0.0006925557977033314,
      -3.9469175880935126e-05,
      0.0002993236480484107,
      -0.0002568453284301775,
      0.00010043650342650423,
      0.00010043650342650423
    ],
    "min_front_frame": [
      9,
      11.7836930843209
    ],
    "v_avg": 0.5259313604866477,
    "v_std": 0.7510935868064383,
    "vy_max": 0.02951464292583897,
    "a_max": 1.5451864661063672,
    "ax_avg": -0.5354412226031768,
    "a_std": 0.6108950720324783,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "74abadad5fd65d44",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.69914314946227,
    "right_rear_min": 31.29013580155549,
    "speed_mode": "decelerating",
    "front_frame": [
      13.715689005677975,
      12.78157884530023,
      12.197224318728916,
      11.929935733042626,
      11.797865141276368,
      11.79277797637685,
      11.796664958535699,
      11.791469255028018,
      11.806297853110294,
      11.7836930843209
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "74abadad5fd65d44",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "75bf56ae8b9d5673": {
    "vx_ego": [
      9.180670295987778,
      9.340528104000095,
      9.509054891420686,
      9.696642623773263,
      9.91744832644811,
      10.137746521087198,
      10.318247015137887,
      10.454691553796104,
      10.506869350592066,
      10.50434489134586
    ],
    "vy_ego": [
      0.14210083450716926,
      0.11691692377979557,
      0.0565676094575176,
      0.04425264289861097,
      0.12234884240761001,
      0.1867597785164392,
      0.13053214530798218,
      0.002538065846184878,
      -0.13688128547210354,
      -0.23271850134692684
    ],
    "v_ego": [
      9.181769967212201,
      9.341259809505447,
      9.509223145057193,
      9.696743601311729,
      9.918202989806515,
      10.139466639852765,
      10.319072637905046,
      10.45469186187684,
      10.507760943070766,
      10.50692245603883
    ],
    "ax_ego": [
      0.3176224294187865,
      0.318176635234631,
      0.3526516142876956,
      0.39718545795593097,
      0.48328626938573777,
      0.3881090671113348,
      0.3224808858305383,
      0.21901605192455303,
      -0.000217913219394128,
      0.010598993911981686
    ],
    "ay_ego": [
      0.08032491824023046,
      0.07810076570279187,
      0.0009857612193321652,
      0.28743179542049396,
      0.4996202615490624,
      0.3097040073822709,
      0.09530192963432928,
      0.16840730432940776,
      0.3904773529731822,
      0.39033353955728856
    ],
    "a_ego": [
      0.32762188596031205,
      0.32762188695597527,
      0.35265299202601297,
      0.4902788237628781,
      0.6951158348988588,
      0.496533201470625,
      0.3362683147697317,
      0.2762771274501678,
      0.39047741377845957,
      0.3904774139118261
    ],
    "yaw": [
      2.200236048927836,
      2.207232415929248,
      2.215737337459162,
      2.224533453819717,
      2.236646758634598,
      2.250384298707952,
      2.2657685237060585,
      2.2844153419061883,
      2.3109778841569826,
      2.338682973607998
    ],
    "yaw_diff": [
      0.013992734002823859,
      0.017009843059828,
      0.017592232721110435,
      0.024226609629762308,
      0.027475080146707853,
      0.030768449996212865,
      0.03729363640025962,
      0.05312508450158848,
      0.05541017890203115,
      0.05541017890203115
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.957511405163734,
    "v_std": 0.4762035139181282,
    "vy_max": 0.23271850134692684,
    "a_max": 0.6951158348988588,
    "ax_avg": 0.28089094918417956,
    "a_std": 0.11667790501807693,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "75bf56ae8b9d5673",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 38.50349049508588,
    "right_rear_min": 42.115916699728984,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "75bf56ae8b9d5673",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "68188bae28595f7c": {
    "vx_ego": [
      3.214845276798484,
      2.6299285779129926,
      2.0215167883831118,
      1.374128692326509,
      0.7769343970689753,
      0.32144226819525257,
      0.018946237594190046,
      -0.07412113728622695,
      -0.041518650773136455,
      -0.01573607418873741
    ],
    "vy_ego": [
      0.006690018691999547,
      -0.018514982137467564,
      -0.033115068323029115,
      -0.0024760556497954445,
      0.025389163572899533,
      0.018617068993172184,
      0.010424830028756101,
      0.00016480326030921541,
      -0.0013333132442285862,
      0.00021850577980197361
    ],
    "v_ego": [
      3.2148522376780586,
      2.629993750845619,
      2.021788004085693,
      1.3741309231388916,
      0.7773491281115993,
      0.32198094204534095,
      0.021624916187212267,
      0.07412132050036827,
      0.04154005399886836,
      0.015737591164128473
    ],
    "ax_ego": [
      -1.169825224987874,
      -1.1698362402666904,
      -1.2639095358281802,
      -1.325685648264971,
      -1.0630704299176372,
      -0.7588692488669548,
      -0.45111420000533464,
      0.07884560608402875,
      0.05156516584151153,
      0.05156512454746418
    ],
    "ay_ego": [
      -0.04923017989751948,
      -0.04896777707070016,
      -0.017169319397415873,
      0.1377617115481878,
      -0.026987890255397964,
      -0.0008874565913974848,
      -0.03188643137941835,
      -0.009118228534263062,
      0.0031040371074284034,
      0.0031046866149819973
    ],
    "a_ego": [
      1.1708606525247454,
      1.1708606544899147,
      1.264026146994585,
      1.3328243422088308,
      1.0634129419871228,
      0.7588697677830484,
      0.4522397217765899,
      0.07937110110336684,
      0.05165850728221713,
      0.05165850509425085
    ],
    "yaw": [
      1.541791659773248,
      1.5420159662457817,
      1.5411884993985163,
      1.5409006644111516,
      1.5407359345521825,
      1.5403510421659181,
      1.5403416754277914,
      1.5402472397267075,
      1.5403470750800694,
      1.5403344436788529
    ],
    "yaw_diff": [
      0.00044861294506759464,
      -0.0016549336945308468,
      -0.0005756699747294647,
      -0.0003294597179381853,
      -0.0007697847725287588,
      -1.873347625336308e-05,
      -0.00018887140216783393,
      0.00019967070672377574,
      -2.5262802433090314e-05,
      -2.5262802433090314e-05
    ],
    "min_front_frame": [
      9,
      10.755760799974734
    ],
    "v_avg": 1.049311886775578,
    "v_std": 1.1372479262996136,
    "vy_max": 0.033115068323029115,
    "a_max": 1.3328243422088308,
    "ax_avg": -0.7020334631664639,
    "a_std": 0.5068669128315523,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "68188bae28595f7c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.013311623813237,
    "right_rear_min": 3.084028500664191,
    "speed_mode": "decelerating",
    "front_frame": [
      14.939103983925365,
      13.53084677295071,
      12.39296857869718,
      11.555324953445545,
      11.03571646516744,
      10.770752278760591,
      10.757650072154844,
      10.775129106032683,
      10.764427109130356,
      10.755760799974734
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "68188bae28595f7c",
    "merging_vehicles": "No"
  },
  "78a50eb4d40e5ffa": {
    "vx_ego": [
      0.8482317276672806,
      1.1406014675570113,
      1.4307986925201304,
      1.6848808348929782,
      1.8865280273565643,
      2.078059541748813,
      2.2441564932627087,
      2.358084358005952,
      2.4662994981134667,
      2.5932186174286747
    ],
    "vy_ego": [
      -0.04368528743250777,
      -0.02106774046924731,
      0.003847662542094399,
      0.02662759386276925,
      0.02958712390360929,
      0.020695582461820794,
      0.004137064063416629,
      -0.004600895610320066,
      -0.01284557194294833,
      -0.034926458360387214
    ],
    "v_ego": [
      0.8493559137131386,
      1.1407960192259121,
      1.4308038660222975,
      1.6850912309262607,
      1.8867600260506732,
      2.078162593780073,
      2.2441603065628453,
      2.3580888464417025,
      2.466332950579317,
      2.5934538082010032
    ],
    "ax_ego": [
      0.5850067134556998,
      0.5879595223195986,
      0.5759170361384391,
      0.43736117367180694,
      0.36422111718295735,
      0.3966469269185962,
      0.2664210039440903,
      0.19099343791600068,
      0.24408969466777358,
      0.27012736270797433
    ],
    "ay_ego": [
      0.11095233404572535,
      0.09405782793813014,
      0.19397225607977636,
      0.1799570263937731,
      0.21922796820850013,
      0.2581247105586499,
      0.3218785613205128,
      0.36371069461739014,
      0.35112133464568807,
      0.33150743492140866
    ],
    "a_ego": [
      0.5954353661132612,
      0.5954353658313633,
      0.6077052481616089,
      0.4729369171296206,
      0.4251093085864254,
      0.47324111279024883,
      0.417834847254678,
      0.4108089126419212,
      0.42762830903294535,
      0.42762830997460577
    ],
    "yaw": [
      -1.2771315809416184,
      -1.248327108188412,
      -1.211746413878846,
      -1.1668680798900015,
      -1.1129285281707602,
      -1.0481311296465394,
      -0.9739663938795583,
      -0.8960437325249226,
      -0.8183657419725304,
      -0.7421162440047853
    ],
    "yaw_diff": [
      0.05760894550641282,
      0.0731613886191318,
      0.08975666797768911,
      0.10787910343848273,
      0.12959479704844146,
      0.14832947153396225,
      0.15584532270927132,
      0.15535598110478444,
      0.15249899593549032,
      0.15249899593549032
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.8733005561503226,
    "v_std": 0.5568901128785695,
    "vy_max": 0.04368528743250777,
    "a_max": 0.6077052481616089,
    "ax_avg": 0.39187439889229375,
    "a_std": 0.07740560880297392,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "78a50eb4d40e5ffa",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "78a50eb4d40e5ffa",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0f49301527005b0e": {
    "vx_ego": [
      6.241971793945556,
      6.070592392619261,
      5.879128981218555,
      5.636075176582055,
      5.293016261554201,
      4.82581947298075,
      4.269743489448008,
      3.695720480890042,
      3.3129535839771003,
      3.105650050750112
    ],
    "vy_ego": [
      0.03909238461062836,
      0.03125689066487025,
      0.01998363489298094,
      0.004332195612878786,
      -0.0034890797735396273,
      0.0007265870986900014,
      -0.02191034411983772,
      -0.025900573109194025,
      -0.009327779618850673,
      0.016620138530636264
    ],
    "v_ego": [
      6.24209420715087,
      6.070672861433144,
      5.8791629441160635,
      5.636076841563045,
      5.293017411529541,
      4.8258195276791085,
      4.269799705942083,
      3.6958112387617295,
      3.3129667153563935,
      3.1056945224424357
    ],
    "ax_ego": [
      -0.3449219048964035,
      -0.34258853109274345,
      -0.4249902578439823,
      -0.5475670925591135,
      -0.8248117045512651,
      -1.0442730709688415,
      -1.1798194816390066,
      -1.11534991502374,
      -0.41505386415167383,
      -0.4142612178529211
    ],
    "ay_ego": [
      0.15936214580345126,
      0.16431832839054855,
      0.11338599195654746,
      0.1642030624414409,
      0.14931257255257868,
      0.08170807822856926,
      0.03433737409987056,
      0.07578219477033266,
      0.10023442443654428,
      0.10346155511134286
    ],
    "a_ego": [
      0.3799571212550754,
      0.37995712216162997,
      0.4398557745832886,
      0.5716575605804479,
      0.838217508936095,
      1.047464775922561,
      1.1803190520003517,
      1.1179214525125067,
      0.42698553838433617,
      0.426985538400357
    ],
    "yaw": [
      1.3143116429350896,
      1.3287291563679375,
      1.342212187856667,
      1.3569442649756773,
      1.3726189810240499,
      1.3831439612226162,
      1.394458497225993,
      1.4023886976135698,
      1.4104170321376264,
      1.418199635144499
    ],
    "yaw_diff": [
      0.028835026865695834,
      0.02696606297745907,
      0.029464154238020512,
      0.03134943209674512,
      0.021049960397132583,
      0.02262907200675368,
      0.015860400775153494,
      0.016056669048113204,
      0.015565206013745225,
      0.015565206013745225
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.8331115975974415,
    "v_std": 1.11233608313054,
    "vy_max": 0.03909238461062836,
    "a_max": 1.1803190520003517,
    "ax_avg": -0.6653637040579692,
    "a_std": 0.31299204965660443,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0f49301527005b0e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0f49301527005b0e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "614c50b897445f89": {
    "vx_ego": [
      11.425256962812288,
      11.346806590804698,
      11.249203748827183,
      11.152857424437784,
      11.049986447919961,
      11.278918295102638,
      11.562395365915469,
      11.6115847733599,
      11.556499625653167,
      11.326603667364331
    ],
    "vy_ego": [
      -0.042540805745465704,
      -0.05405052028290136,
      -0.05342096426568954,
      0.0070748633039494635,
      0.013472074470141315,
      -0.0019520531940440122,
      -0.025925819155395047,
      -0.004697091507508411,
      0.01165839758123699,
      0.03235563429713029
    ],
    "v_ego": [
      11.425336160763242,
      11.346935324917993,
      11.24933059261975,
      11.152859668422613,
      11.04999466045144,
      11.278918464024496,
      11.562424432005702,
      11.611585723388174,
      11.556505506248675,
      11.326649880905734
    ],
    "ax_ego": [
      -0.15767037078532753,
      -0.15335706366772447,
      -0.23525025121614246,
      -0.14991412657398068,
      -0.2617647568012912,
      1.176768122661355,
      -0.04270125939178163,
      0.23939421802479327,
      -0.4597077177731195,
      -0.459698748881816
    ],
    "ay_ego": [
      0.3009898629227776,
      0.3032102496580051,
      0.19956805533828365,
      0.1696429508708674,
      0.20168674247165974,
      0.0333628623061934,
      0.020138008554136205,
      0.012961073618642141,
      -0.00401130411021855,
      -0.004932723141032547
    ],
    "a_ego": [
      0.3397864673671615,
      0.33978646893962133,
      0.30849649821150704,
      0.2263912015220888,
      0.3304517059905558,
      1.1772409673015938,
      0.047211618720085016,
      0.23974482487230067,
      0.4597252182998391,
      0.4597252130143538
    ],
    "yaw": [
      1.0565430518917576,
      1.070820605647759,
      1.081880127421569,
      1.0847224750882154,
      1.0924986012026707,
      1.099252238726006,
      1.1024794624926204,
      1.101358075774888,
      1.1001484515976796,
      1.0981440698344453
    ],
    "yaw_diff": [
      0.028555107512002742,
      0.022119043547620176,
      0.005684695333292744,
      0.015552252228910657,
      0.013507275046670486,
      0.00645444753322888,
      -0.002242773435464862,
      -0.0024192483544167587,
      -0.004008763526468506,
      -0.004008763526468506
    ],
    "min_front_frame": [
      1,
      48.879026417260846
    ],
    "v_avg": 11.356054041374781,
    "v_std": 0.1749610887538833,
    "vy_max": 0.05405052028290136,
    "a_max": 1.1772409673015938,
    "ax_avg": -0.050390195440503514,
    "a_std": 0.2848631131261501,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "614c50b897445f89",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 18.746900214113094,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      48.893260173958886,
      48.879026417260846,
      49.06067072484487,
      49.54883847934451,
      50.112190387795046,
      50.73510770662734,
      51.15592019529969,
      51.73815262970884,
      52.32271823044099,
      53.00879143545788
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "614c50b897445f89",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "5fe06174763b5c36": {
    "vx_ego": [
      4.423803906774507,
      4.304867226764468,
      4.176483927655608,
      4.11689686695192,
      4.108416385338876,
      4.115626213648999,
      4.127039843571777,
      4.046539605314055,
      3.9867697760654326,
      4.030318183431006
    ],
    "vy_ego": [
      0.04889759407743946,
      -0.02563402272440174,
      -0.05069679759509334,
      -0.01174549179689436,
      0.013469842103631217,
      -0.013573721284436235,
      -0.022913483180284022,
      0.026694100599488846,
      0.03244692997072862,
      0.08963366168866971
    ],
    "v_ego": [
      4.424074138201117,
      4.304943547038897,
      4.176791611183399,
      4.116913621840527,
      4.108438466372261,
      4.115648597291113,
      4.127103451349434,
      4.046627651808607,
      3.986901811007307,
      4.031314779696857
    ],
    "ax_ego": [
      -0.2387441340749965,
      -0.23655158701658296,
      -0.27928514428552964,
      0.03961708602473836,
      -0.07215036465994919,
      0.10767692489439512,
      -0.06592442989740731,
      -0.24461107361873582,
      0.03244383534501355,
      0.1751626024222389
    ],
    "ay_ego": [
      -0.23054307486984305,
      -0.23279221408204281,
      -0.017861019900188464,
      0.025977081311880566,
      -0.16125800146077368,
      -0.5342030686413031,
      -0.5574861300773843,
      -0.7866921917891467,
      -1.018951206536167,
      -1.0043068395794752
    ],
    "a_ego": [
      0.3318868345169208,
      0.3318868304969085,
      0.27985569111680403,
      0.047374278449128636,
      0.17666300732096274,
      0.5449470054055697,
      0.5613704798846805,
      0.823844149071244,
      1.0194675883780735,
      1.0194675891431983
    ],
    "yaw": [
      -1.538625491255523,
      -1.5480895872404274,
      -1.5569450121281672,
      -1.5659354164822505,
      -1.5802411795714781,
      -1.6161390635381454,
      -1.6797382847941087,
      -1.7735220968023997,
      -1.8882031389193812,
      -2.029048016170758
    ],
    "yaw_diff": [
      -0.018928191969808772,
      -0.01771084977547943,
      -0.017980808708166762,
      -0.028611526178455193,
      -0.07179576793333453,
      -0.12719844251192658,
      -0.187567624016582,
      -0.22936208423396298,
      -0.2816897545027537,
      -0.2816897545027537
    ],
    "min_front_frame": [
      1,
      18.65187645361686
    ],
    "v_avg": 4.143875767578952,
    "v_std": 0.12464599778937692,
    "vy_max": 0.08963366168866971,
    "a_max": 1.0194675891431983,
    "ax_avg": -0.07823662848668154,
    "a_std": 0.3260197501451912,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "5fe06174763b5c36",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.992205930084786,
    "right_rear_min": 15.37179014819782,
    "speed_mode": "quasi_constant",
    "front_frame": [
      37.20243078145138,
      18.65187645361686,
      20.68213109102026,
      22.84872311802716,
      25.1823443829535,
      50.538602557333135,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6666666666666666,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5fe06174763b5c36",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ac47687039a75848": {
    "vx_ego": [
      6.904441599681784,
      5.779262711958927,
      4.50370012764508,
      3.1559371326032175,
      2.182524278438896,
      1.6094253934573717,
      1.2747168263208843,
      0.9833558988843972,
      0.513625080393768,
      -0.0434041740651236
    ],
    "vy_ego": [
      -0.0017238909683071624,
      0.0041526221886849235,
      0.010834226238953804,
      0.01624238694564825,
      0.01015442285556907,
      -0.019841823090785943,
      -0.020159244455957997,
      0.011927581433947787,
      0.008066187644176166,
      -0.022008474040227727
    ],
    "v_ego": [
      6.904441814891079,
      5.779264203867988,
      4.503713159184153,
      3.1559789289660207,
      2.182547900569138,
      1.6095476989045654,
      1.2748762224006778,
      0.9834282338176001,
      0.5136884139170511,
      0.04866513388304738
    ],
    "ax_ego": [
      -2.250364169742386,
      -2.2503372317431083,
      -2.8518504300138305,
      -2.5391186744482646,
      -1.3543959536883805,
      -0.9379994865155856,
      -0.4007082848107903,
      -0.7647327395176213,
      -1.114033434112057,
      -1.114067528814613
    ],
    "ay_ego": [
      -0.011276706762475386,
      -0.0157603996956351,
      -0.007812074515032408,
      0.003526904055911703,
      -0.045699107900819165,
      -0.08458558249322795,
      0.0875054680105087,
      0.039203051522323895,
      -0.06019873093850369,
      -0.059564459678390955
    ],
    "a_ego": [
      2.2503924236843105,
      2.250392420616414,
      2.851861129802484,
      2.5391211239293274,
      1.355166708501352,
      0.9418055836897661,
      0.41015160178614885,
      0.7657369275010759,
      1.115658720006306,
      1.1156587218391998
    ],
    "yaw": [
      -3.099338278863438,
      -3.1013307244586965,
      -3.1037412122743353,
      -3.105450503222092,
      -3.107217596257943,
      -3.108614035510409,
      -3.1078522478208797,
      -3.108201065295754,
      -3.109952657463695,
      -3.1093833081060365
    ],
    "yaw_diff": [
      -0.003984891190516926,
      -0.004820975631277591,
      -0.0034185818955130287,
      -0.0035341860717021945,
      -0.0027928785049322613,
      0.0015235753790587836,
      -0.0006976349497485046,
      -0.003503184335881926,
      0.0011386987153167993,
      0.0011386987153167993
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.6956151710401324,
    "v_std": 2.210526609631369,
    "vy_max": 0.022008474040227727,
    "a_max": 2.851861129802484,
    "ax_avg": -1.5577607933406639,
    "a_std": 0.7970489086996314,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ac47687039a75848",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ac47687039a75848",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "350ef3908a9c5db6": {
    "vx_ego": [
      0.9877542074351784,
      0.5367877561308287,
      0.1589889424526505,
      -0.027608131418297238,
      -0.050239561771628735,
      -0.029232731335850394,
      -0.015958674694050816,
      -0.010003529043297576,
      -0.006782903125058852,
      -0.004363533331500195
    ],
    "vy_ego": [
      0.014230520571271332,
      -0.017332435364736914,
      0.0024840887438188908,
      0.020472527092306174,
      0.00014762239646867736,
      -0.0025241750904377563,
      -0.001624008847961149,
      -0.0011420140776445494,
      -0.0008707633689237766,
      -0.0005374238702986318
    ],
    "v_ego": [
      0.987856711280349,
      0.5370675082777238,
      0.15900834732522498,
      0.034370529323174255,
      0.050239778655734924,
      0.029341507139906704,
      0.016041094187392392,
      0.010068504828108117,
      0.006838567368140247,
      0.004396504014723511
    ],
    "ax_ego": [
      -0.9018992217454975,
      -0.901960020147988,
      -0.6092232787671504,
      -0.13723232703023522,
      0.046704831949793996,
      0.03732027460899826,
      0.01577659126517122,
      0.008043855129684687,
      0.004838692997398496,
      0.00483868034028515
    ],
    "ay_ego": [
      -0.062066660985155175,
      -0.061176781344856934,
      0.14055679131894605,
      -0.0685910557802089,
      -0.012741770129096521,
      0.002082825589930261,
      0.0015116455458115295,
      0.00041776979188326785,
      0.0006669354273108117,
      0.0006670874628189392
    ],
    "a_ego": [
      0.9040323426686572,
      0.9040323426299943,
      0.6252273306387645,
      0.15341917909823777,
      0.0484117138044217,
      0.03737835014188171,
      0.01584884551645478,
      0.00805469657692733,
      0.004884439864229623,
      0.004884448087400686
    ],
    "yaw": [
      -2.1068608882171826,
      -2.1058742471857386,
      -2.105782768385225,
      -2.1053353845130154,
      -2.105201280925484,
      -2.1053843570046444,
      -2.1053064653147557,
      -2.105336245058081,
      -2.105326882575015,
      -2.105357240341352
    ],
    "yaw_diff": [
      0.0019732820628881598,
      0.00018295760102748915,
      0.0008947677444188784,
      0.0002682071750630399,
      -0.00036615215832114245,
      0.00015578337977739665,
      -5.955948665015143e-05,
      1.8724966131422605e-05,
      -6.071553267350538e-05,
      -6.071553267350538e-05
    ],
    "min_front_frame": [
      8,
      9.797213831694194
    ],
    "v_avg": 0.1835229052400478,
    "v_std": 0.309478683747503,
    "vy_max": 0.020472527092306174,
    "a_max": 0.9040323426686572,
    "ax_avg": -0.24327919213995397,
    "a_std": 0.3634229799842865,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "350ef3908a9c5db6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.370056062963563,
    "right_rear_min": 48.184938138623714,
    "speed_mode": "decelerating",
    "front_frame": [
      10.267084528276097,
      9.928286308823356,
      9.803604798167587,
      9.798164808439886,
      9.826883449426223,
      9.818675519495804,
      9.808416530925614,
      9.814721127908467,
      9.797213831694194,
      9.798213235697675
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "350ef3908a9c5db6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "197f2dea642850e7": {
    "vx_ego": [
      2.9322804479439495,
      2.7339140860329,
      2.5715521746140557,
      2.388216261293511,
      2.0890973479062054,
      1.8002892522735017,
      1.5417236847961628,
      1.1819329513576922,
      0.7133653000049159,
      0.19845458002020036
    ],
    "vy_ego": [
      -0.010675995821792322,
      -0.002275927583553314,
      -0.02270723053989398,
      -0.0352582120232383,
      -0.0008382207830357688,
      -0.0020130721498126183,
      -0.03132761947074592,
      -0.03363333946780404,
      -0.007559973159524915,
      0.03902615214144976
    ],
    "v_ego": [
      2.932299882733885,
      2.7339150333643274,
      2.571652426958408,
      2.388476512805146,
      2.0890975160683194,
      1.8002903777754755,
      1.542041938470923,
      1.1824113933098164,
      0.7134053577351914,
      0.2022554347402356
    ],
    "ax_ego": [
      -0.39673117305669164,
      -0.39672191696605,
      -0.2527244892617939,
      -0.4807711122660614,
      -0.7157094427367361,
      -0.4395395178107484,
      -0.594683076586713,
      -0.8444508753045945,
      -1.0298414602888166,
      -1.0298175218414007
    ],
    "ay_ego": [
      0.019395258741273107,
      0.01958355038028677,
      -0.10247477092787546,
      0.044215206140728866,
      0.09300274488062654,
      -0.09627658436871839,
      -0.01844213353135896,
      0.010337704934461598,
      0.09327401007633272,
      0.09353804465601691
    ],
    "a_ego": [
      0.3972049845313872,
      0.39720497837604546,
      0.272710003757389,
      0.48280000708742016,
      0.721726760608099,
      0.4499601853664524,
      0.5949689688276414,
      0.8445141496422708,
      1.0340568041870437,
      1.0340568137629744
    ],
    "yaw": [
      -1.540942897528395,
      -1.5404682808769292,
      -1.5405789186870593,
      -1.5413817877632767,
      -1.5414327143238211,
      -1.5412461383046954,
      -1.5408705651475485,
      -1.5406698445732618,
      -1.5408454036307613,
      -1.5405890181584836
    ],
    "yaw_diff": [
      0.000949233302931507,
      -0.00022127562026019731,
      -0.0016057381524348102,
      -0.00010185312108879074,
      0.0003731520382515008,
      0.000751146314293738,
      0.0004014411485733227,
      -0.0003511181149988829,
      0.0005127709445553741,
      0.0005127709445553741
    ],
    "min_front_frame": [
      9,
      9.648535522967807
    ],
    "v_avg": 1.8155845873961725,
    "v_std": 0.8578248488850895,
    "vy_max": 0.03902615214144976,
    "a_max": 1.0340568137629744,
    "ax_avg": -0.6180990586119607,
    "a_std": 0.25919206106340437,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "197f2dea642850e7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.705735320414494,
    "right_rear_min": 5.044149484905812,
    "speed_mode": "decelerating",
    "front_frame": [
      13.588200810992594,
      13.141658146578655,
      12.602059453381946,
      12.121897135068975,
      11.692214359002685,
      11.364412203325973,
      10.913773037585889,
      10.329563817213062,
      9.8779113825041,
      9.648535522967807
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "197f2dea642850e7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a0ff6ccbf156551f": {
    "vx_ego": [
      6.450637069345061,
      6.1599834188839235,
      5.742822053068485,
      5.150788664800631,
      4.494686139896242,
      3.9816843206877524,
      3.6536850647647703,
      3.181771865830326,
      2.538667122851333,
      1.8945412867782996
    ],
    "vy_ego": [
      -0.018105068778717426,
      -0.036804066789998036,
      -0.03431374495465844,
      -0.030393686649727636,
      -0.02385570795774039,
      0.0016223591370363444,
      -0.015679722409259522,
      -0.034905282660234516,
      -0.031406907844211296,
      -0.020531075110363006
    ],
    "v_ego": [
      6.450662477135516,
      6.160093364573069,
      5.74292456561137,
      5.150878337296158,
      4.494749446963373,
      3.981684651207307,
      3.653718709230361,
      3.181963322376137,
      2.5388613893843437,
      1.8946525307698936
    ],
    "ax_ego": [
      -0.5814090868155206,
      -0.5813425238412859,
      -1.0874639123084195,
      -1.2807470521702444,
      -1.3436565976531307,
      -0.7083636917793623,
      -0.6036259971015353,
      -1.2840936166019448,
      -1.2882448511675175,
      -1.288241075124732
    ],
    "ay_ego": [
      -0.05281847820500239,
      -0.05354617004233951,
      0.043190922735230064,
      -0.04767874546920964,
      0.07456722256259946,
      0.0048904765007937445,
      -0.081513370141354,
      -0.002030981188340941,
      0.02238633376653304,
      0.022602113767828114
    ],
    "a_ego": [
      0.5838033212234663,
      0.5838033250610681,
      1.0883212836198024,
      1.2816342202096074,
      1.3457240887706097,
      0.7083805732737821,
      0.6091048956367237,
      1.2840952227473046,
      1.288439344516895,
      1.2884393362457152
    ],
    "yaw": [
      1.2710461776766837,
      1.2697945068063887,
      1.2689500490676688,
      1.2680284543310039,
      1.268066573966177,
      1.2667167430521515,
      1.2662295314945622,
      1.265755472649369,
      1.2663114353435958,
      1.2664789343896676
    ],
    "yaw_diff": [
      -0.0025033417405899705,
      -0.0016889154774397674,
      -0.0018431894733299536,
      7.623927034616784e-05,
      -0.0026996618280508144,
      -0.000974423115178702,
      -0.0009481176903864963,
      0.0011119253884537272,
      0.00033499809214365683,
      0.00033499809214365683
    ],
    "min_front_frame": [
      9,
      12.39286277197185
    ],
    "v_avg": 4.325018879454753,
    "v_std": 1.4689896323777751,
    "vy_max": 0.036804066789998036,
    "a_max": 1.3457240887706097,
    "ax_avg": -1.0047188404563694,
    "a_std": 0.3221253170272773,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a0ff6ccbf156551f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.6028922860878745,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.723391965383243,
      22.518234050266763,
      20.318496738995208,
      17.910956322769653,
      17.248599321643756,
      16.018467105294658,
      14.695295140550211,
      13.440719202675254,
      12.684720888313679,
      12.39286277197185
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a0ff6ccbf156551f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cfb1ab3fe0185b20": {
    "vx_ego": [
      1.405374085929384,
      1.5720459406020661,
      1.9420383436842992,
      2.5493982726584377,
      3.1962234145803237,
      3.8661521280645883,
      4.570295940601507,
      5.274189537455017,
      5.91337793735912,
      6.5045342017168775
    ],
    "vy_ego": [
      0.0036248861241011676,
      -0.017028595866690144,
      -0.015490462677242856,
      0.00744758267916068,
      0.01878526255310864,
      0.005872475400143795,
      -0.010175281228328004,
      -0.010376770446087313,
      -0.015062567605351518,
      -0.03351822102403812
    ],
    "v_ego": [
      1.405378760762117,
      1.5721381658240556,
      1.9421001217172122,
      2.5494091509841232,
      3.196278617705392,
      3.866156588047834,
      4.570307267681976,
      5.274199745398809,
      5.9133971210285265,
      6.504620561758021
    ],
    "ax_ego": [
      0.3333406038945322,
      0.3333443856513454,
      1.146511523396613,
      1.282921997916498,
      1.3043600604914896,
      1.3753847798373713,
      1.441202651086667,
      1.374404151427829,
      1.1823558268360312,
      1.1823362160392321
    ],
    "ay_ego": [
      -0.0415926779555649,
      -0.04156238551711322,
      0.04061982450247448,
      0.04835747274595148,
      -0.00023601372941839394,
      -0.056854964909231365,
      -0.0016754725335910159,
      0.013935168572050793,
      -0.027905193642996207,
      -0.028723726503012748
    ],
    "a_ego": [
      0.33592545164706816,
      0.335925455027073,
      1.147230858817803,
      1.283833049079371,
      1.3043600818439067,
      1.3765593992425915,
      1.441203624998025,
      1.374474794379723,
      1.1826850811121987,
      1.1826850722919393
    ],
    "yaw": [
      -2.0548522441024684,
      -2.0549431173603763,
      -2.05601462780759,
      -2.0563259001800853,
      -2.0560845580844003,
      -2.0564706565866846,
      -2.056134517002992,
      -2.0554720383684297,
      -2.055259625706343,
      -2.0545673320374687
    ],
    "yaw_diff": [
      -0.00018174651581581713,
      -0.0021430208944277496,
      -0.0006225447449903498,
      0.00048268419137009744,
      -0.0007721970045686533,
      0.0006722791673849926,
      0.001324957269124738,
      0.00042482532417320584,
      0.0013845873377489326,
      0.0013845873377489326
    ],
    "min_front_frame": [
      0,
      20.337456219840423
    ],
    "v_avg": 3.679398610090807,
    "v_std": 1.7459901448830544,
    "vy_max": 0.03351822102403812,
    "a_max": 1.441203624998025,
    "ax_avg": 1.095616219657761,
    "a_std": 0.3907940586834215,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cfb1ab3fe0185b20",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 27.384630984261126,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      20.337456219840423,
      20.98885661828446,
      21.939168898938544,
      22.937819822611942,
      23.98930014597261,
      24.967742033164686,
      26.030744748554234,
      26.94754706863413,
      27.783671827110997,
      28.594820183161563
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cfb1ab3fe0185b20",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d6f52d0bbaf5523c": {
    "vx_ego": [
      4.128339586714459,
      4.120359527949913,
      4.15813722859723,
      4.1887959489733175,
      4.299975301858948,
      4.547041461333402,
      4.883465977710022,
      5.300150359199859,
      5.811250455019895,
      6.374700681086997
    ],
    "vy_ego": [
      0.13762875351972492,
      0.08075415868728375,
      0.10686303096532557,
      0.10384530312146167,
      0.07611998754072813,
      0.07914597741854557,
      0.09039345694593302,
      0.14306932949559803,
      0.13773186807771975,
      -0.034395823972174666
    ],
    "v_ego": [
      4.130633052817583,
      4.121150794828178,
      4.15951017780139,
      4.190082976399831,
      4.300649003243598,
      4.547730218122721,
      4.884302502150122,
      5.3020809747842135,
      5.8128824105131445,
      6.374793474784713
    ],
    "ax_ego": [
      -0.10055531147576457,
      0.14030091043974113,
      0.09654682006969739,
      0.1087205462238281,
      0.4255892733298423,
      0.6345047296770616,
      0.7840519874870894,
      0.9258569420202315,
      1.125216957512491,
      1.1309301724782765
    ],
    "ay_ego": [
      -1.46402960657014,
      -1.4607565518499714,
      -1.6065819127485876,
      -1.6213446043957056,
      -1.8093024780469844,
      -1.87233972948462,
      -1.9095176345805247,
      -1.4645270725076698,
      -0.4937675584579847,
      -0.4805377790691934
    ],
    "a_ego": [
      1.4674788106067858,
      1.4674788070847355,
      1.60948026730261,
      1.6249856871290511,
      1.8586827826825054,
      1.9769300226839344,
      2.064217797582527,
      1.7326426703723246,
      1.228787859339124,
      1.2287878629505165
    ],
    "yaw": [
      -2.029048016170758,
      -2.193377267043609,
      -2.3841111598584224,
      -2.5762253154461314,
      -2.7729676529516185,
      -2.9821973280803427,
      3.0979832434730596,
      2.921819732621352,
      2.834322635808075,
      2.8225950000976088
    ],
    "yaw_diff": [
      -0.32865850174570177,
      -0.3814677856296269,
      -0.3842283111754181,
      -0.39348467501097417,
      -0.4184593502574483,
      -0.40600947125236786,
      -0.3523270217034149,
      -0.17499419362655466,
      -0.023455271420932178,
      -0.023455271420932178
    ],
    "min_front_frame": [
      7,
      32.368491153391936
    ],
    "v_avg": 4.78238155854455,
    "v_std": 0.7593483515645055,
    "vy_max": 0.14306932949559803,
    "a_max": 2.064217797582527,
    "ax_avg": 0.5271163027762494,
    "a_std": 0.27327412256162975,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "d6f52d0bbaf5523c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      48.31831933371706,
      32.368491153391936,
      35.55427221635412,
      38.67052293788842
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d6f52d0bbaf5523c",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "c6e19ffa3c34551c": {
    "vx_ego": [
      1.949472781753683,
      2.8803257567705955,
      3.7237881508058934,
      4.375368874839163,
      4.785091668756014,
      4.899807367764071,
      4.796952922828883,
      4.569103776194137,
      4.229171623427138,
      3.8426058279770863
    ],
    "vy_ego": [
      -0.016553899647599568,
      -0.022304820850718277,
      -0.019697888965532817,
      -0.02063880803503282,
      -0.02711159840176225,
      -0.03414441480900776,
      -0.01835305165616452,
      -0.0012057758128538598,
      -0.011819597425029249,
      -0.010120217304320889
    ],
    "v_ego": [
      1.949543064000379,
      2.880412118109019,
      3.7238402488442053,
      4.375417551652462,
      4.785168473227052,
      4.89992633437052,
      4.796988031915617,
      4.569103935294844,
      4.2291881399725675,
      3.842619154691466
    ],
    "ax_ego": [
      1.8605981561628788,
      1.8616112615590321,
      1.5119310293934132,
      1.095552570709701,
      0.5453450812341677,
      -0.08419681959924005,
      -0.3251116042313882,
      -0.5866059989119929,
      -0.7732953400702094,
      -0.7731536487259975
    ],
    "ay_ego": [
      -0.08835047536861429,
      -0.06352044993639616,
      0.04410730309002192,
      0.11565835356474136,
      0.16672678102403884,
      0.16899208815471073,
      0.21533311403835212,
      0.08478887830808315,
      -0.03046059916264124,
      -0.03386730071935787
    ],
    "a_ego": [
      1.8626946355252556,
      1.8626946439831553,
      1.5125742599385001,
      1.1016407263431853,
      0.5702622880192402,
      0.18880527082027265,
      0.3899562862775272,
      0.5927020768010519,
      0.7738950387976704,
      0.7738950565783054
    ],
    "yaw": [
      -1.9223458348181768,
      -1.9356871877464432,
      -1.9379169355532198,
      -1.927949670037636,
      -1.9113725124991583,
      -1.8928890103725216,
      -1.8764314486130553,
      -1.86415706545389,
      -1.8586859579274086,
      -1.8630917796392155
    ],
    "yaw_diff": [
      -0.026682705856532873,
      -0.004459495613553077,
      0.0199345310311676,
      0.03315431507695532,
      0.03696700425327348,
      0.03291512351893244,
      0.024548766318330806,
      0.010942215052962556,
      -0.008811643423613624,
      -0.008811643423613624
    ],
    "min_front_frame": [
      9,
      15.632487316738986
    ],
    "v_avg": 4.0052207052078135,
    "v_std": 0.9020810797864435,
    "vy_max": 0.03414441480900776,
    "a_max": 1.8626946439831553,
    "ax_avg": 0.4332674687520365,
    "a_std": 0.5684008563720094,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c6e19ffa3c34551c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 43.56900998981893,
    "right_rear_min": 44.40176187955796,
    "speed_mode": "accelerating",
    "front_frame": [
      34.161030936292555,
      32.88375311161659,
      31.281970755550926,
      29.176236082998653,
      26.886648499166206,
      24.4734437631023,
      22.102104660476733,
      19.785099578413973,
      17.603800336774018,
      15.632487316738986
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c6e19ffa3c34551c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c76dce931d555c6a": {
    "vx_ego": [
      3.9580090356928954,
      3.1730987871365492,
      2.431333541684551,
      1.7515694909281352,
      1.1103626930656287,
      0.5106942518871682,
      0.07310199554916108,
      -0.06532222596016693,
      -0.04451864003461975,
      -0.023502346772964915
    ],
    "vy_ego": [
      0.1004089337609737,
      0.05919896274694558,
      0.030001530894509187,
      0.027055839382448266,
      0.014935315689457718,
      -0.02824784292910007,
      -0.04429252298436827,
      -0.009732919716550117,
      0.00893978504508347,
      -0.0039054399347801276
    ],
    "v_ego": [
      3.9592824451667528,
      3.173650962238563,
      2.4315186371435353,
      1.7517784391854283,
      1.1104631348256002,
      0.5114748865200925,
      0.08547355933615002,
      0.06604334130402487,
      0.04540736798344897,
      0.023824625179021595
    ],
    "ax_ego": [
      -1.5696162232900654,
      -1.569443303773257,
      -1.3974410201285854,
      -1.321535245115438,
      -1.2431095628232185,
      -1.1555664320743484,
      -0.5949111479180194,
      0.0411973536472849,
      0.04203272576287133,
      0.04203227178709705
    ],
    "ay_ego": [
      -0.09392881688236687,
      -0.09677512626177398,
      -0.033407430470786315,
      0.014250991818691827,
      -0.07092471196837291,
      -0.10246282600181733,
      0.037836633389321195,
      0.10043848432236474,
      -0.025691288099830907,
      -0.02569204685184124
    ],
    "a_ego": [
      1.5724241511298058,
      1.5724241504192493,
      1.3978402845635411,
      1.3216120818342034,
      1.2451311978865238,
      1.1601001722477755,
      0.5961131476015048,
      0.10855925147362322,
      0.04926248389276834,
      0.049262492253453846
    ],
    "yaw": [
      2.6113154448102005,
      2.609501966435947,
      2.6082978850044847,
      2.6074124609932587,
      2.605971451628399,
      2.605766683422828,
      2.6052623416380314,
      2.6051410313371584,
      2.604884956257646,
      2.6049027983721755
    ],
    "yaw_diff": [
      -0.003626956748506771,
      -0.0024081628629248897,
      -0.0017708480224518652,
      -0.0028820187297196043,
      -0.0004095364111416089,
      -0.0010086835695934937,
      -0.0002426206017460686,
      -0.0005121501590243938,
      3.568422905875224e-05,
      3.568422905875224e-05
    ],
    "min_front_frame": [
      6,
      19.97467699609062
    ],
    "v_avg": 1.315891739888262,
    "v_std": 1.375583861852444,
    "vy_max": 0.1004089337609737,
    "a_max": 1.5724241511298058,
    "ax_avg": -0.8726360583925681,
    "a_std": 0.6068264303787623,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "c76dce931d555c6a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.514580622383816,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.317034746433645,
      23.544687764276556,
      22.175153422013313,
      21.159736437313317,
      20.47550273558865,
      20.063115264392234,
      19.97467699609062,
      20.020656112409977,
      20.04075343034726,
      20.060804055608454
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "c76dce931d555c6a",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "b4d9c8edfbda58dc": {
    "vx_ego": [
      9.06877205619863,
      8.315310566365435,
      7.535639173631685,
      6.765386506245735,
      6.051500919427168,
      5.344798311981393,
      4.632978556467477,
      3.949725280803411,
      3.2855053450668104,
      2.620278230840864
    ],
    "vy_ego": [
      -0.02959414568360641,
      -0.020478231006191727,
      -0.020709609924334238,
      -0.022882950890655174,
      -0.020529523110446535,
      -0.014676057683943089,
      -0.023707590313613247,
      -0.029522044007282533,
      -0.03544198346898941,
      -0.04623771134488475
    ],
    "v_ego": [
      9.068820343393504,
      8.315335782339387,
      7.535667630881529,
      6.765425205287051,
      6.051535742201892,
      5.344818461129273,
      4.633039213575247,
      3.9498356098577005,
      3.2856965025173577,
      2.6206861569003146
    ],
    "ax_ego": [
      -1.5071431137250155,
      -1.5070195530723227,
      -1.611840715788433,
      -1.4692408193681323,
      -1.3863696667979084,
      -1.440537185482464,
      -1.4067990007100903,
      -1.3265282973528276,
      -1.3306740840478992,
      -1.3305962879910511
    ],
    "ay_ego": [
      -0.03567615752703818,
      -0.04056137769045903,
      -0.020340176406130006,
      -0.010273282807020445,
      0.0008115679529656084,
      -0.01168415408567719,
      -0.043103515446921536,
      -0.027176499070899307,
      -0.033308518284657807,
      -0.03628367628836632
    ],
    "a_ego": [
      1.5075653065338925,
      1.5075653082710716,
      1.6119690492840117,
      1.4692767355529637,
      1.3863699043400668,
      1.4405845696155561,
      1.4074591793166833,
      1.326806649734445,
      1.3310908967260782,
      1.3310909010208745
    ],
    "yaw": [
      1.278772347486329,
      1.2755308391530833,
      1.2736420870434717,
      1.2728737899207228,
      1.2721362479568903,
      1.270633753814156,
      1.2696978076646357,
      1.2669520312618507,
      1.264408921762132,
      1.2621730318771789
    ],
    "yaw_diff": [
      -0.006483016666491537,
      -0.0037775042192231822,
      -0.001536594245497902,
      -0.001475083927664933,
      -0.0030049882854683574,
      -0.0018718922990408338,
      -0.005491552805569899,
      -0.0050862189994376195,
      -0.004471779769906092,
      -0.004471779769906092
    ],
    "min_front_frame": [
      9,
      15.6528978886532
    ],
    "v_avg": 5.757086064808325,
    "v_std": 2.0596940848041836,
    "vy_max": 0.04623771134488475,
    "a_max": 1.6119690492840117,
    "ax_avg": -1.4316748724336146,
    "a_std": 0.08909973447703409,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b4d9c8edfbda58dc",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.238374511938849,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      40.47270983288522,
      36.66396973032699,
      32.93488503059179,
      29.544472862006284,
      26.42720538119022,
      23.59327841703201,
      18.44249160459269,
      18.912958813891727,
      17.115355051984025,
      15.6528978886532
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b4d9c8edfbda58dc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "afd632f043e35a49": {
    "vx_ego": [
      10.465201106542104,
      10.434241681746354,
      10.465856120217598,
      10.546957084249035,
      10.60682737512829,
      10.658351000097534,
      10.7344435858823,
      10.818150908127024,
      10.920403400935037,
      11.056870058949869
    ],
    "vy_ego": [
      0.026554123401957952,
      -0.050346951699402176,
      -0.02009047747954984,
      0.013817778765345068,
      0.02700942368542325,
      0.02673436890480474,
      0.011629444205687456,
      0.025435808273019944,
      0.020655625264467403,
      0.020651186326198
    ],
    "v_ego": [
      10.465234795351689,
      10.434363147247579,
      10.465875403251346,
      10.546966135718884,
      10.606861763723458,
      10.658384528987535,
      10.734449885413886,
      10.81818081062394,
      10.920422935674633,
      11.056889344295653
    ],
    "ax_ego": [
      -0.06686107749007078,
      -0.055663595364967705,
      0.1850028853139902,
      0.13774460318936946,
      0.10209346800459902,
      0.10410897856914057,
      0.20010363743004256,
      0.13481684956220225,
      0.2729258483275738,
      0.2729265079869737
    ],
    "ay_ego": [
      0.4120675695854107,
      0.413728945286987,
      0.4537654749564188,
      0.04380628594177719,
      -0.09203353728460496,
      0.009790165782806448,
      0.058471484868633815,
      0.2391848572271625,
      0.00380707372357042,
      0.0037599680909215782
    ],
    "a_ego": [
      0.4174566870792233,
      0.41745667561704836,
      0.4900297683171153,
      0.14454261100384758,
      0.1374527125753539,
      0.10456828756733375,
      0.2084715334415632,
      0.2745632510964561,
      0.2729523996884118,
      0.2729524063312291
    ],
    "yaw": [
      -0.6739505928160091,
      -0.6468330468171456,
      -0.6289239525037602,
      -0.6203165108009765,
      -0.6227026379886307,
      -0.6246105702980076,
      -0.6215996082481863,
      -0.6159797092132819,
      -0.6099413856689819,
      -0.6097688262117146
    ],
    "yaw_diff": [
      0.054235091997727025,
      0.035818188626770775,
      0.017214883405567427,
      -0.004772254375308371,
      -0.003815864618753828,
      0.006021924099642639,
      0.011239798069808682,
      0.012076647088600012,
      0.00034511891453470334,
      0.00034511891453470334
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.67076287502886,
    "v_std": 0.1992183691931509,
    "vy_max": 0.050346951699402176,
    "a_max": 0.4900297683171153,
    "ax_avg": 0.12871981055288534,
    "a_std": 0.1249945815911632,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "afd632f043e35a49",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.4263825894388966,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "afd632f043e35a49",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a7f7be23b6185470": {
    "vx_ego": [
      -0.19009971515755436,
      0.29936860035264057,
      0.9999079240973963,
      1.9541862692397927,
      2.9438945421342018,
      3.9204062591047486,
      4.905303535995883,
      5.871101883347101,
      6.738680473914757,
      7.541674999313158
    ],
    "vy_ego": [
      0.00022412114382133752,
      -0.002034669567940459,
      0.0011193332350185534,
      -0.004980386080846701,
      -0.0021053372037847656,
      0.029129913089288653,
      0.044081768591527334,
      0.047011086026532437,
      0.03442931511548656,
      -0.023149288632003506
    ],
    "v_ego": [
      0.19009984727313806,
      0.2993755146256115,
      0.9999085506083321,
      1.9541926156678757,
      2.9438952949539976,
      3.9205144800477756,
      4.905501603564702,
      5.871290093910474,
      6.738768426593937,
      7.541710527780106
    ],
    "ax_ego": [
      0.9789353755822255,
      0.9789367645871219,
      1.8231986509965847,
      1.9940592335970713,
      1.9646312567252804,
      1.9413629634308283,
      1.9985967808249354,
      1.8656962191012798,
      1.6058702483590146,
      1.606148757365935
    ],
    "ay_ego": [
      -0.0046988711164444134,
      -0.004402466201686005,
      0.012349764105224467,
      -0.06425883014324038,
      0.05706076764795207,
      0.08621067808191579,
      -0.05640128033047232,
      -0.060807459253498064,
      -0.1445396386011303,
      -0.141411111900812
    ],
    "a_ego": [
      0.9789466527631022,
      0.978946663904096,
      1.8232404771914266,
      1.9950943397105603,
      1.9654597187697662,
      1.9432762121726985,
      1.9993924569095263,
      1.866686885653209,
      1.6123619201939707,
      1.6123619114073495
    ],
    "yaw": [
      -1.540382605488587,
      -1.540685391732501,
      -1.54283052149703,
      -1.5475551095805202,
      -1.549460979046553,
      -1.5481269083531548,
      -1.5498291355227234,
      -1.555792596695354,
      -1.5619078914382822,
      -1.5638559028481347
    ],
    "yaw_diff": [
      -0.0006055724878279989,
      -0.004290259529057927,
      -0.0094491761669806,
      -0.003811738932065545,
      0.0026681413867963855,
      -0.003404454339137164,
      -0.011926922345261382,
      -0.012230589485856314,
      -0.003896022819704914,
      -0.003896022819704914
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5365256955025948,
    "v_std": 2.544320220163576,
    "vy_max": 0.047011086026532437,
    "a_max": 1.9993924569095263,
    "ax_avg": 1.6757436250570277,
    "a_std": 0.3741002674263687,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "a7f7be23b6185470",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.32615212847307,
    "right_rear_min": 4.29134803267539,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a7f7be23b6185470",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "7b13f467f23c5a2b": {
    "vx_ego": [
      6.087542796650289,
      5.499675540534212,
      4.854463475899157,
      4.132945291191068,
      3.404787954283486,
      2.706848724750201,
      2.0615959920327054,
      1.5089020920361853,
      1.074501562589692,
      0.7005544432180919
    ],
    "vy_ego": [
      -0.03856169685116395,
      -0.03445589996278775,
      -0.013352580686801563,
      -0.020754489661667597,
      -0.043700849426953736,
      -0.024918712898275297,
      0.004846229671033986,
      0.01036812717663571,
      0.012773924843650586,
      0.014327048078905835
    ],
    "v_ego": [
      6.087664930456739,
      5.49978347393718,
      4.854481839522105,
      4.132997402469488,
      3.405068395476743,
      2.706963420686415,
      2.061601688083161,
      1.5089377129001473,
      1.0745774896039844,
      0.7007009292267751
    ],
    "ax_ego": [
      -1.175522397286249,
      -1.175134869158023,
      -1.4054194972933796,
      -1.4806620153624137,
      -1.4324087342669465,
      -1.3599707697042525,
      -1.221063902327502,
      -0.9896894067205853,
      -0.7478973852199471,
      -0.7478970200281274
    ],
    "ay_ego": [
      0.06804485008788985,
      0.07443823508806136,
      0.07409568741223693,
      -0.09360819088520267,
      -0.04097660248046853,
      0.07748665175724767,
      0.012826210471205468,
      0.004717495013014217,
      0.003259742130376997,
      0.003341673757918606
    ],
    "a_ego": [
      1.177490130805814,
      1.1774901322533744,
      1.4073713562047039,
      1.4836180428728565,
      1.4329947187464014,
      1.3621764480604286,
      1.2211312645421537,
      0.9897006499614628,
      0.747904489047626,
      0.7479044854461414
    ],
    "yaw": [
      2.2169535759641814,
      2.2223932175334005,
      2.225472470825128,
      2.2260329236975913,
      2.223189367383033,
      2.220020556435302,
      2.2169841591016546,
      2.2163373696069164,
      2.216011172331319,
      2.2161207261456424
    ],
    "yaw_diff": [
      0.010879283138438112,
      0.006158506583455292,
      0.0011209057449264037,
      -0.005687112629116697,
      -0.006337621895461609,
      -0.006072794667295156,
      -0.0012935789894763516,
      -0.0006523945511949236,
      0.00021910762864685296,
      0.00021910762864685296
    ],
    "min_front_frame": [
      9,
      16.50639834781595
    ],
    "v_avg": 3.203277728236274,
    "v_std": 1.8011106805674324,
    "vy_max": 0.043700849426953736,
    "a_max": 1.4836180428728565,
    "ax_avg": -1.1735665997367426,
    "a_std": 0.2553693104767752,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7b13f467f23c5a2b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.677790553701215,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.9130087606512,
      25.783806467392658,
      23.21494036047164,
      21.055932459939992,
      19.192529753714002,
      17.714935715188847,
      18.43038860372971,
      17.613245721462373,
      16.962771782264305,
      16.50639834781595
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7b13f467f23c5a2b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0613d88c01b453c9": {
    "vx_ego": [
      11.383631627880618,
      11.345942826374765,
      11.394769926648525,
      11.590649024859609,
      11.86855476472186,
      12.156489360012172,
      12.440231576013913,
      12.711065637402077,
      12.966003572741617,
      13.217303277503051
    ],
    "vy_ego": [
      -0.026913828663341022,
      0.016297455048253973,
      0.012580727860700414,
      -0.0013024686659397489,
      0.005584168929721578,
      -0.007099663800700817,
      -0.02938526345435477,
      -0.01615426146742127,
      -0.0009454798157584321,
      -0.007790147571558492
    ],
    "v_ego": [
      11.383663443437584,
      11.345954531303484,
      11.394776871706052,
      11.590649098040352,
      11.868556078400802,
      12.15649143319384,
      12.440266281658198,
      12.711075902476054,
      12.966003607213768,
      13.217305573220742
    ],
    "ax_ego": [
      -0.09181797403537167,
      -0.059717465940067105,
      0.25623619146434723,
      0.5264178267976627,
      0.5820558853775057,
      0.568824466760204,
      0.5654892183333188,
      0.5172871560783615,
      0.5023948250284762,
      0.5027418931032279
    ],
    "ay_ego": [
      -0.8104166975209408,
      -0.8134123186961959,
      -0.7679362426004961,
      -0.6654469070129465,
      -0.37065055827693993,
      -0.22551029912692658,
      -0.11985414096344041,
      -0.0660184361532383,
      -0.1032691020331009,
      -0.10156602735059571
    ],
    "a_ego": [
      0.8156014737460374,
      0.8156014810831481,
      0.8095573225630917,
      0.8484900202262081,
      0.6900513676919997,
      0.611895553993773,
      0.5780510973584534,
      0.5214829199079855,
      0.5128986914100252,
      0.5128986927189417
    ],
    "yaw": [
      -1.0193234469710557,
      -1.0588550855392818,
      -1.0934139238642757,
      -1.1234722670322224,
      -1.1461548230772203,
      -1.1575043251801,
      -1.1627125960486082,
      -1.1674575157544123,
      -1.1719379513059316,
      -1.1753266921504846
    ],
    "yaw_diff": [
      -0.07906327713645211,
      -0.06911767664998791,
      -0.06011668633589329,
      -0.04536511208999583,
      -0.022699004205759543,
      -0.010416541737016338,
      -0.00948983941160808,
      -0.00896087110303867,
      -0.006777481689105969,
      -0.006777481689105969
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.107474282065088,
    "v_std": 0.6619840215413579,
    "vy_max": 0.02938526345435477,
    "a_max": 0.8484900202262081,
    "ax_avg": 0.38699120229676665,
    "a_std": 0.13317617812502536,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "0613d88c01b453c9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "0613d88c01b453c9",
    "road_shape": "Straight"
  },
  "2e586c7da7c55eb3": {
    "vx_ego": [
      2.633921654041906,
      2.5199912838603287,
      2.4809098954067115,
      2.539517028994524,
      2.6383119139996065,
      2.736497688490882,
      2.831781817106038,
      2.932101380989527,
      3.0422713062011075,
      3.165980131094106
    ],
    "vy_ego": [
      -0.07603594733446895,
      -0.04990301160949295,
      -0.017785475725063504,
      -0.0037257236026589924,
      -0.0024238332808775853,
      -0.0019152733492918683,
      -0.016788354833332964,
      -0.010380034486656808,
      -0.0005269260921255681,
      -0.01892070444044258
    ],
    "v_ego": [
      2.6350189268614184,
      2.5204853463767103,
      2.48097364602563,
      2.5395197619962593,
      2.6383130273945965,
      2.7364983587402247,
      2.831831581953698,
      2.9321197542932373,
      3.042271351833314,
      3.166036668066113
    ],
    "ax_ego": [
      -0.23145633163393375,
      -0.20810184800032996,
      0.05844975106280792,
      0.17701499785354263,
      0.21837288994038434,
      0.17622383564689847,
      0.20664325377888162,
      0.19913640390257836,
      0.2409498495203357,
      0.25556150657400706
    ],
    "ay_ego": [
      0.3669945359153688,
      0.3807238411665204,
      0.33446366225080365,
      0.28513787962323894,
      0.2683936954596137,
      0.31922508764032986,
      0.30103784020502095,
      0.35662302199191853,
      0.28966752204339263,
      0.27686173413951404
    ],
    "a_ego": [
      0.4338859560358856,
      0.4338859554926182,
      0.3395324944177271,
      0.3356157324398342,
      0.34600851842603975,
      0.3646361156400739,
      0.3651372557924307,
      0.40845475535718667,
      0.376781240656474,
      0.37678124087209436
    ],
    "yaw": [
      -0.592923236455567,
      -0.5304748763685834,
      -0.47103898931129634,
      -0.41461369877724874,
      -0.3615709735542374,
      -0.30721603802627095,
      -0.2461134026937577,
      -0.19131841943755296,
      -0.14045025619256174,
      -0.08887862832715493
    ],
    "yaw_diff": [
      0.12489672017396725,
      0.11887177411457406,
      0.1128505810680952,
      0.10608545044602269,
      0.10870987105593288,
      0.12220527066502651,
      0.10958996651240949,
      0.10173632648998243,
      0.10314325573081362,
      0.10314325573081362
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.75230684235412,
    "v_std": 0.22216004525289265,
    "vy_max": 0.07603594733446895,
    "a_max": 0.4338859560358856,
    "ax_avg": 0.10927943086451723,
    "a_std": 0.034381048341370034,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "2e586c7da7c55eb3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2e586c7da7c55eb3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5f402207dd7d5977": {
    "vx_ego": [
      4.095011784950332,
      3.974733232923395,
      3.849133355279192,
      3.6875737504286343,
      3.486834509901006,
      3.328540793015804,
      3.37881934800659,
      3.7327013730669334,
      4.357620660759261,
      5.147702681931938
    ],
    "vy_ego": [
      -0.028701190187811143,
      -0.05804079559820963,
      -0.033044423242641674,
      0.009288099125188909,
      -0.0006808915411717908,
      0.005421199171211977,
      -0.04755884757351691,
      -0.05335589266973728,
      -0.0014048524751659741,
      -0.03682724972107021
    ],
    "v_ego": [
      4.095112364416916,
      3.9751569788952152,
      3.849275194193095,
      3.687585447638558,
      3.486834576381546,
      3.3285452077703153,
      3.3791540406507363,
      3.73308269286636,
      4.357620887214313,
      5.147834413410292
    ],
    "ax_ego": [
      -0.24116089902530874,
      -0.24073263132396125,
      -0.2548781826924842,
      -0.3590459191187001,
      -0.41975324601283737,
      -0.18857368635354826,
      0.3899539970686784,
      0.9520498950223479,
      1.4934005113530162,
      1.6456191081587295
    ],
    "ay_ego": [
      -0.09449944556659777,
      -0.0955851976533376,
      -0.697837477634524,
      -1.2537643137142387,
      -1.4774720211951893,
      -1.6702451151891635,
      -1.8409129260920707,
      -1.6540537798255144,
      -1.3330153457261842,
      -1.1397862607398896
    ],
    "a_ego": [
      0.25901491159987206,
      0.2590149219535158,
      0.7429266674470221,
      1.3041621549405304,
      1.5359415226345408,
      1.6808565613990472,
      1.8817610159854807,
      1.9084792137110467,
      2.0017929461487642,
      2.0017929386698694
    ],
    "yaw": [
      0.8764219387068919,
      0.8719157834549933,
      0.8148620074819823,
      0.6748688072200961,
      0.488241611306757,
      0.2546015922664897,
      0.004550905210220231,
      -0.24319009760801547,
      -0.44332888075117793,
      -0.5662880125861449
    ],
    "yaw_diff": [
      -0.009012310503797138,
      -0.11410755194602196,
      -0.27998640052377244,
      -0.3732543918266783,
      -0.46728003808053453,
      -0.500101374112539,
      -0.4954820056364714,
      -0.40027756628632494,
      -0.24591826366993397,
      -0.24591826366993397
    ],
    "min_front_frame": [
      0,
      18.568372241330877
    ],
    "v_avg": 3.9040201803437355,
    "v_std": 0.5151858386094503,
    "vy_max": 0.05804079559820963,
    "a_max": 2.0017929461487642,
    "ax_avg": 0.27768789470759325,
    "a_std": 0.6587062735883453,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "5f402207dd7d5977",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.278472656299565,
    "right_rear_min": 10.909694378659381,
    "speed_mode": "accelerating",
    "front_frame": [
      18.568372241330877,
      20.07108698092399,
      21.643213918769984,
      69.37501828635293,
      -1,
      -1,
      -1,
      -1,
      -1,
      66.20348862099034
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5f402207dd7d5977",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "fa5edfd430ba550d": {
    "vx_ego": [
      4.845685082382761,
      5.333254084692127,
      5.914783875813443,
      6.436147323366795,
      6.901453175686347,
      7.31700572343415,
      7.563148547059114,
      7.635895229700558,
      7.74439706218778,
      7.892049954942108
    ],
    "vy_ego": [
      -0.07973612427125484,
      -0.056185024722327004,
      -0.16617418656611394,
      -0.14936568060571132,
      -0.2132138998927955,
      -0.04366217723407795,
      -0.0149898872435692,
      -0.03921482530449394,
      -0.02722374716262488,
      0.03155871645413999
    ],
    "v_ego": [
      4.846341070038367,
      5.3335500268478135,
      5.917117723846941,
      6.437880278059259,
      6.904745911566816,
      7.317135993166242,
      7.563163401752072,
      7.635995924664143,
      7.744444911627449,
      7.892113053161742
    ],
    "ax_ego": [
      0.6998544405555936,
      1.2870388243220172,
      1.1059283947865235,
      1.065942328219895,
      0.8336296145845634,
      0.835884599033303,
      0.1509180171840525,
      0.13966688972831556,
      0.2952531884349701,
      0.29535168366121345
    ],
    "ay_ego": [
      2.569757485520842,
      2.331733438589324,
      2.0664504954428407,
      1.90007347287886,
      1.0840525348098031,
      0.5100725260110921,
      0.4368772769025652,
      0.1861166300887803,
      0.12957275629707474,
      0.12934809649645934
    ],
    "a_ego": [
      2.6633531069604315,
      2.663353105381972,
      2.34377798959523,
      2.178649179980288,
      1.3675190062810707,
      0.9792226737021574,
      0.46220991225261127,
      0.23269344658151708,
      0.3224337830554315,
      0.32243378716997206
    ],
    "yaw": [
      -1.5587557322466488,
      -1.320297932126637,
      -1.106907643250922,
      -0.9495069887009637,
      -0.8287374268316361,
      -0.7965301630234818,
      -0.7688846327225132,
      -0.7452079179925989,
      -0.736482395515611,
      -0.7357216404027094
    ],
    "yaw_diff": [
      0.47691560024002344,
      0.4267805777514302,
      0.31480130909991644,
      0.24153912373865527,
      0.06441452761630861,
      0.055291060601937225,
      0.04735342945982857,
      0.01745104495397576,
      0.0015215102258032687,
      0.0015215102258032687
    ],
    "min_front_frame": [
      3,
      21.921714860876524
    ],
    "v_avg": 6.759248829473084,
    "v_std": 1.0249712182875907,
    "vy_max": 0.2132138998927955,
    "a_max": 2.6633531069604315,
    "ax_avg": 0.6709467980510447,
    "a_std": 0.970053216212675,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "fa5edfd430ba550d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      21.921714860876524,
      28.883506504723368,
      25.359228015279545,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fa5edfd430ba550d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d50b69bed8f2570c": {
    "vx_ego": [
      6.178390820544135,
      6.0735435330566885,
      5.956038839633807,
      5.753341106562649,
      5.468239245399227,
      5.189375702438901,
      4.9397459637648415,
      4.73660745513666,
      4.6158862388944915,
      4.647286793015704
    ],
    "vy_ego": [
      0.030345477407253352,
      -0.02039967071539328,
      -0.04926720379264138,
      -0.07662006462235826,
      -0.05728359247518977,
      -0.0042331151121350885,
      -0.00039735697209897225,
      0.018589453161426794,
      0.023958178411187553,
      0.04398366376503815
    ],
    "v_ego": [
      6.178465341764337,
      6.073577791919687,
      5.956242600549106,
      5.753851277428559,
      5.468539279816062,
      5.189377428972264,
      4.939745979746692,
      4.736643933401056,
      4.61594841443536,
      4.647494927293239
    ],
    "ax_ego": [
      -0.21067150678601831,
      -0.20851349951974166,
      -0.25901405127066357,
      -0.562518508361263,
      -0.5833239180483824,
      -0.5162464501905165,
      -0.45081574223093857,
      -0.35854156286764394,
      -0.11792156289974273,
      0.2701356072594734
    ],
    "ay_ego": [
      -0.22005620171177637,
      -0.22210208494207836,
      -0.6577575698924476,
      -0.7801441328293937,
      -1.196958531796051,
      -1.663082443785584,
      -2.0251777515591423,
      -1.982635419585489,
      -1.8739935298210746,
      -1.8581668447994613
    ],
    "a_ego": [
      0.30464276732478873,
      0.3046427672169282,
      0.7069181703043571,
      0.9617962051480069,
      1.3315316444631249,
      1.7413654447479252,
      2.0747481193757893,
      2.0147940984871133,
      1.8776999879661205,
      1.8776999945202721
    ],
    "yaw": [
      0.8957430360523475,
      0.8859818703916102,
      0.8542466026597345,
      0.7978991324298628,
      0.7064652243798352,
      0.5623543079222371,
      0.37974814295434456,
      0.1690097410562091,
      -0.03891007380114246,
      -0.2461186001371334
    ],
    "yaw_diff": [
      -0.019522331321474518,
      -0.06347053546375148,
      -0.11269494045974349,
      -0.1828678161000552,
      -0.2882218329151962,
      -0.365212329935785,
      -0.4214768037962709,
      -0.4158396297147031,
      -0.4144170526719819,
      -0.4144170526719819
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.355988697532636,
    "v_std": 0.5793873702181652,
    "vy_max": 0.07662006462235826,
    "a_max": 2.0747481193757893,
    "ax_avg": -0.29974311949154375,
    "a_std": 0.6646955782721009,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "d50b69bed8f2570c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d50b69bed8f2570c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "240f44eb30c7500b": {
    "vx_ego": [
      5.494305434078542,
      5.771748486744256,
      6.048671538495765,
      6.314190166375442,
      6.557327100894216,
      6.787205972607804,
      7.006514466722075,
      7.133229356685024,
      7.168516690521548,
      7.182268334021785
    ],
    "vy_ego": [
      0.03444009652308791,
      0.025873036065677646,
      0.025895165794435626,
      -0.011625398229059503,
      -0.0019241465457926488,
      0.03025296698398372,
      -0.008836011407045596,
      0.003757359014774142,
      -0.009395251618440792,
      -0.02285878080875614
    ],
    "v_ego": [
      5.4944133738911125,
      5.7718064770251845,
      6.048726968562909,
      6.314200868442207,
      6.55732738319978,
      6.787273396336292,
      7.006520038327395,
      7.133230346261069,
      7.168522847354187,
      7.182304709893067
    ],
    "ax_ego": [
      0.5393030989668456,
      0.5764080524642068,
      0.5335461478496679,
      0.5315812881881306,
      0.43606407229288663,
      0.48701560057031146,
      0.3906368942940068,
      0.11313392316618587,
      0.02724300105535085,
      0.027529432371207824
    ],
    "ay_ego": [
      -0.6707103920001236,
      -0.6391040800761769,
      -0.5240561851333597,
      -0.6190199292518427,
      -0.4436398031363773,
      -0.5065010793781786,
      -0.44975191866645936,
      -0.22943883761207348,
      -0.07902509630984504,
      -0.07892575819708134
    ],
    "a_ego": [
      0.8606394497652328,
      0.8606394530322184,
      0.7478678874385167,
      0.8159438330931295,
      0.6220676410741355,
      0.702657483138208,
      0.5957129942579972,
      0.25581529425691474,
      0.0835891557158112,
      0.08358914375482654
    ],
    "yaw": [
      -0.03147281713446021,
      -0.08811447803085931,
      -0.13726506798120924,
      -0.17741843199698176,
      -0.2201196139018942,
      -0.26057561244390404,
      -0.2895180039969719,
      -0.31518898780462967,
      -0.3241203523541224,
      -0.327747231961133
    ],
    "yaw_diff": [
      -0.11328332179279821,
      -0.09830117990069986,
      -0.08030672803154504,
      -0.08540236380982485,
      -0.0809119970840197,
      -0.05788478310613576,
      -0.05134196761531551,
      -0.017862729098985453,
      -0.00725375921402116,
      -0.00725375921402116
    ],
    "min_front_frame": [
      2,
      18.90083952018494
    ],
    "v_avg": 6.5464326409293205,
    "v_std": 0.5842856495415494,
    "vy_max": 0.03444009652308791,
    "a_max": 0.8606394530322184,
    "ax_avg": 0.36624615112188,
    "a_std": 0.2921352931728422,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "240f44eb30c7500b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.707828093059675,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      18.90083952018494,
      24.47673678633128,
      25.116230212523394,
      25.668018786315642,
      26.394026812035424,
      26.958862617357546,
      27.6614938625577,
      28.614039057248213
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "240f44eb30c7500b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ae90dd8267ce57a0": {
    "vx_ego": [
      2.4462979083027117,
      2.3422943149822757,
      2.1681781713736936,
      1.8915218316268547,
      1.575114078344679,
      1.1943445774920878,
      0.7539603113715566,
      0.34179115533921417,
      0.051512641038814096,
      -0.14840683790452694
    ],
    "vy_ego": [
      0.09543474750085901,
      0.037752694420282396,
      0.007046024695290587,
      -0.005410595019437525,
      -0.01588982201622341,
      -0.00388558650021242,
      0.013674768240848406,
      0.0016622674308911694,
      0.0001536999979653423,
      0.01928157721342939
    ],
    "v_ego": [
      2.44815874632279,
      2.342598540922938,
      2.1681896202328295,
      1.891529569966982,
      1.575194224926982,
      1.1943508980057762,
      0.7540843125340398,
      0.3417951974518171,
      0.05151287033822798,
      0.14965416384671015
    ],
    "ax_ego": [
      -0.21963104920568385,
      -0.21100727978847203,
      -0.48915690781076776,
      -0.6189244607249,
      -0.6457870560757217,
      -0.8751672628197411,
      -0.8883492422916053,
      -0.7611395229399015,
      -0.3998279465002517,
      -0.39983886495237503
    ],
    "ay_ego": [
      0.14746756823111096,
      0.15956318803751823,
      0.19753328412302934,
      0.14302569060858314,
      0.10229869337721628,
      0.14418780613924134,
      0.021572507241585798,
      -0.041941682039768016,
      0.03834042187049732,
      0.03822636795775774
    ],
    "a_ego": [
      0.26454580218780055,
      0.2645458052973566,
      0.5275356658989242,
      0.6352352605591652,
      0.6538393873587252,
      0.8869655356047637,
      0.8886111350578257,
      0.7622942201496125,
      0.40166201557007586,
      0.40166201355573256
    ],
    "yaw": [
      -0.2511775782119068,
      -0.1950170455469683,
      -0.14263578033291827,
      -0.09494541562626983,
      -0.05360200580985558,
      -0.018500666042265905,
      0.005970056615177079,
      0.018978410792161844,
      0.022993614518305235,
      0.022708343459440453
    ],
    "yaw_diff": [
      0.11232106532987696,
      0.10476253042810008,
      0.09538072941329687,
      0.0826868196328285,
      0.07020267953517935,
      0.048941445314885965,
      0.02601670835396953,
      0.00803040745228678,
      -0.0005705421177295625,
      -0.0005705421177295625
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.2917068144549093,
    "v_std": 0.8771170124431596,
    "vy_max": 0.09543474750085901,
    "a_max": 0.8886111350578257,
    "ax_avg": -0.5508829593109421,
    "a_std": 0.2225551375363373,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "ae90dd8267ce57a0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.813614136670578,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ae90dd8267ce57a0",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "86feb30b850f5ff2": {
    "vx_ego": [
      7.708773968317168,
      7.706664006665162,
      7.699130323224469,
      7.703908709191847,
      7.698997000996371,
      7.661182439065555,
      7.6253405907996035,
      7.621013327622846,
      7.614435215912451,
      7.582119103325332
    ],
    "vy_ego": [
      0.03567586723694083,
      0.016133834067181052,
      0.010675910083975282,
      -0.011309210207552045,
      -0.01107934953484202,
      0.023999874143584954,
      0.024230132380798075,
      0.0207341615842056,
      0.013059808379270788,
      -0.058467804587524874
    ],
    "v_ego": [
      7.708856521048211,
      7.706680894667304,
      7.699137725034579,
      7.70391701005388,
      7.699004972938855,
      7.6612200306873675,
      7.625379087298627,
      7.621041532839303,
      7.614446415592049,
      7.58234453063063
    ],
    "ax_ego": [
      -0.004187049093033045,
      -0.004000422967653804,
      -0.02580300613569799,
      0.04588246763623573,
      -0.0635496518574993,
      -0.08452960898722778,
      -0.053370144595542235,
      0.03837709092338859,
      -0.06709554294443992,
      -0.0632444478520934
    ],
    "ay_ego": [
      -0.07662291066697484,
      -0.07663288124035365,
      -0.10071769330244135,
      -0.2958535208793994,
      -0.5327113814627545,
      -0.6308761493903247,
      -0.6906374259503731,
      -0.61957991299622,
      -0.32340157087734867,
      -0.324176692063197
    ],
    "a_ego": [
      0.0767372257720246,
      0.07673722611039754,
      0.10397042305292167,
      0.29939022471204274,
      0.5364885592360434,
      0.6365139202445591,
      0.692696489421959,
      0.6207673233153832,
      0.3302883405888648,
      0.3302883404862379
    ],
    "yaw": [
      -0.38979419264344917,
      -0.39222966832301276,
      -0.397275287542466,
      -0.40730537478501183,
      -0.43418224562417124,
      -0.4766057031210228,
      -0.5198759223307228,
      -0.5624431630179421,
      -0.5923287325491242,
      -0.6042224304493162
    ],
    "yaw_diff": [
      -0.004870951359127185,
      -0.010091238438906469,
      -0.020060174485091675,
      -0.05375374167831881,
      -0.08484691499370312,
      -0.08654043841939996,
      -0.08513448137443858,
      -0.05977113906236431,
      -0.023787395800384026,
      -0.023787395800384026
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.6622028720790825,
    "v_std": 0.045080762569944234,
    "vy_max": 0.058467804587524874,
    "a_max": 0.692696489421959,
    "ax_avg": -0.028152031587356317,
    "a_std": 0.227306290738368,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "86feb30b850f5ff2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "86feb30b850f5ff2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d8c6aedcb54a56fb": {
    "vx_ego": [
      8.957856280799597,
      8.312181776025549,
      7.719522482475708,
      7.249719466639961,
      6.89293745419775,
      6.581503863908267,
      6.240399449113873,
      5.80454769048931,
      5.332872548633746,
      4.888420138405917
    ],
    "vy_ego": [
      -0.03195877791476931,
      0.013883057889180789,
      0.0040906371334471225,
      -0.0038791633971205913,
      0.0005965032775615553,
      0.01980643317154393,
      0.02015680239212264,
      0.006695455862874178,
      0.03042152254801897,
      0.045327036212890276
    ],
    "v_ego": [
      8.957913289988165,
      8.312193369802436,
      7.719523566306412,
      7.249720504466849,
      6.892937480007949,
      6.5815336666642095,
      6.2404320027689915,
      5.804551552040346,
      5.332959318146495,
      4.888630277468769
    ],
    "ax_ego": [
      -1.2913301373125627,
      -1.291401606354123,
      -1.0790726231862724,
      -0.800293419076189,
      -0.6268857179190782,
      -0.6188598259232692,
      -0.7457627092676796,
      -0.9976315431497083,
      -0.8890975885048628,
      -0.8890022388251256
    ],
    "ay_ego": [
      0.07590231474299128,
      0.07467643362148135,
      -0.14906969871643833,
      0.07631687063724289,
      0.03092743570968256,
      0.10172720363886054,
      -0.06840185810529908,
      0.05449202531870688,
      0.04864279852208765,
      0.050355271190555655
    ],
    "a_ego": [
      1.2935589220886021,
      1.293558919660188,
      1.0893206604051502,
      0.8039240146683755,
      0.6276481574978888,
      0.6271649767819957,
      0.748893071624065,
      0.9991186499663605,
      0.8904272253998204,
      0.8904272199190454
    ],
    "yaw": [
      -1.5505492709225395,
      -1.551498561119268,
      -1.5526007705408431,
      -1.5539724100827161,
      -1.5508041131895258,
      -1.5487326649665492,
      -1.5474908418206221,
      -1.5458416912448438,
      -1.5454712885356505,
      -1.5435451087640475
    ],
    "yaw_diff": [
      -0.0018985803934570278,
      -0.0022044188431502576,
      -0.002743279083746053,
      0.006336593786380629,
      0.004142896445953337,
      0.002483646291854047,
      0.003298301151556604,
      0.0007408054183866142,
      0.003852359543206063,
      0.003852359543206063
    ],
    "min_front_frame": [
      9,
      18.019954066182855
    ],
    "v_avg": 6.798039502766061,
    "v_std": 1.2311374289210308,
    "vy_max": 0.045327036212890276,
    "a_max": 1.2935589220886021,
    "ax_avg": -0.9229337409518872,
    "a_std": 0.23007257775808304,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d8c6aedcb54a56fb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.061508984491393,
    "right_rear_min": 5.946583813568454,
    "speed_mode": "decelerating",
    "front_frame": [
      34.29027337301692,
      31.478829580827778,
      28.74893367767261,
      25.972020447759512,
      23.12651549705079,
      20.31070771856819,
      24.60082710076758,
      22.63067040882857,
      20.529213663191417,
      18.019954066182855
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d8c6aedcb54a56fb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "01b9125ad835592f": {
    "vx_ego": [
      5.546178402959159,
      5.387092543197797,
      5.194189337580787,
      4.979608202896294,
      4.822974069330195,
      4.700419649547629,
      4.5707746046731685,
      4.457359337036967,
      4.368661209439059,
      4.29915273590021
    ],
    "vy_ego": [
      0.0011348788146678945,
      -0.015629127947435872,
      0.00970524637649528,
      0.027498298810696653,
      0.008785709283370302,
      0.02726032512184373,
      0.024803157113901353,
      0.027601878894424114,
      0.011093128305926125,
      -0.03525199624534103
    ],
    "v_ego": [
      5.546178519070634,
      5.387115214900987,
      5.1941984046092395,
      4.979684127611866,
      4.822982071511263,
      4.700498697710617,
      4.570841900933347,
      4.457444797548157,
      4.368675293536149,
      4.299297262325268
    ],
    "ax_ego": [
      -0.31975783736808766,
      -0.3169725101977065,
      -0.45068366078425687,
      -0.3987889427233987,
      -0.22075945707534975,
      -0.26547068758422643,
      -0.2459210674374064,
      -0.2034784349917199,
      -0.149960720235585,
      -0.13001834477073604
    ],
    "ay_ego": [
      -0.18976057515289566,
      -0.19437741107035228,
      -0.4449035596728398,
      -0.6143513247706159,
      -0.6909013472236163,
      -0.6539115803382783,
      -0.6513367507413576,
      -0.5667604272603266,
      -0.4615571048971514,
      -0.4675664822182277
    ],
    "a_ego": [
      0.37182543006184254,
      0.3718254296782939,
      0.633288985777791,
      0.7324344141872752,
      0.7253133181485165,
      0.705744316921466,
      0.6962160112176843,
      0.6021800855350395,
      0.48530730336006217,
      0.4853073101353927
    ],
    "yaw": [
      2.8123093246003443,
      2.7978078724525357,
      2.7629249879676046,
      2.707312580581113,
      2.644288109058086,
      2.569924119519175,
      2.5000530999541177,
      2.4319181789991298,
      2.3773350180384627,
      2.3344143410826823
    ],
    "yaw_diff": [
      -0.02900290429561725,
      -0.06976576896986231,
      -0.1112248147729833,
      -0.12604894304605363,
      -0.14872797907782243,
      -0.1397420391301143,
      -0.13626984190997593,
      -0.10916632192133413,
      -0.08584135391156078,
      -0.08584135391156078
    ],
    "min_front_frame": [
      5,
      24.949200376950778
    ],
    "v_avg": 4.832691628975753,
    "v_std": 0.41176551816973417,
    "vy_max": 0.03525199624534103,
    "a_max": 0.7324344141872752,
    "ax_avg": -0.2701811663168473,
    "a_std": 0.13475885020667513,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "01b9125ad835592f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      39.59877074419949,
      37.093431479852086,
      34.68195153657369,
      24.949200376950778,
      30.005935267736543,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "01b9125ad835592f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ff44394af7265df3": {
    "vx_ego": [
      7.530290131659021,
      7.5209262119856595,
      7.394748804614985,
      7.062469000471362,
      6.616748645032056,
      6.133285044475228,
      5.768623958576988,
      5.61282562175532,
      5.5816359676716125,
      5.607445511609477
    ],
    "vy_ego": [
      -0.008588361410481138,
      -0.030986965390030985,
      -0.023403383914636144,
      -0.027279298296678522,
      -0.05882994701745936,
      -0.07160022675505573,
      -0.05595418904780369,
      -0.029170055803275252,
      0.01361411403031565,
      -0.10597892560692124
    ],
    "v_ego": [
      7.530295029207884,
      7.520990046407258,
      7.394785838801108,
      7.062521684408092,
      6.617010170326144,
      6.133702962261449,
      5.768895322914123,
      5.612901420155939,
      5.581652570673514,
      5.608446906082117
    ],
    "ax_ego": [
      -0.029233816336728752,
      -0.0108611109941614,
      -0.4993314206583704,
      -0.8322142539269937,
      -0.9563971673212226,
      -0.9868903224877018,
      -0.4781565786754265,
      -0.1442355764414421,
      0.0289705429502152,
      0.08980164266793597
    ],
    "ay_ego": [
      -0.5483222656733681,
      -0.5489935875131305,
      -0.44439438626480854,
      -0.49424763280127515,
      -0.458501091900042,
      -0.2830791640894149,
      -0.07297207653946378,
      0.23586904474389642,
      0.7160181007873906,
      0.7109549049993389
    ],
    "a_ego": [
      0.5491010135219068,
      0.5491010133505172,
      0.6684446410888356,
      0.9679159503639387,
      1.0606218897107438,
      1.026687061261338,
      0.4836927099771824,
      0.27647442518213744,
      0.7166039443193235,
      0.7166039435898177
    ],
    "yaw": [
      2.037291745135449,
      2.0038082427006128,
      1.9697732115930675,
      1.9380320486330058,
      1.9078909954366878,
      1.8808305013629987,
      1.863054105365765,
      1.8655218233921436,
      1.9005258381557053,
      1.985733184148287
    ],
    "yaw_diff": [
      -0.06696700486967266,
      -0.06807006221509049,
      -0.06348232592012337,
      -0.06028210639263598,
      -0.05412098814737831,
      -0.03555279199446737,
      0.004935436052757147,
      0.07000802952712348,
      0.17041469198516346,
      0.17041469198516346
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.483120195123763,
    "v_std": 0.7953429037813811,
    "vy_max": 0.10597892560692124,
    "a_max": 1.0606218897107438,
    "ax_avg": -0.3818548061223896,
    "a_std": 0.24120099109562776,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ff44394af7265df3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ff44394af7265df3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f48e825b763050bb": {
    "vx_ego": [
      5.214930603663013,
      5.877591373570218,
      6.3416522808147695,
      6.591048402622127,
      6.851910553050889,
      7.151744887277262,
      7.444590745892542,
      7.747278603969045,
      8.035127149139807,
      8.280401214236237
    ],
    "vy_ego": [
      -0.008610476052197391,
      -0.0028517670734143352,
      -0.052458051495280655,
      -0.036950139413063854,
      -0.010338928450628088,
      0.004247823624455083,
      0.021983720227584463,
      0.01032859321865684,
      -0.0001261318638368647,
      0.020077650781902434
    ],
    "v_ego": [
      5.21493771212264,
      5.877592065399102,
      6.3418692432066,
      6.5911519750731244,
      6.85191835331184,
      7.151746148787861,
      7.444623204554003,
      7.74728548895382,
      8.035127150129789,
      8.280425555536736
    ],
    "ax_ego": [
      1.3253016764556524,
      1.3253923625769743,
      0.5323459825210786,
      0.46570023866227617,
      0.5776832592530882,
      0.6216586085906252,
      0.5501537688607127,
      0.6607876606461406,
      0.4905961938677884,
      0.4905847368367438
    ],
    "ay_ego": [
      0.039573079830528504,
      0.03640991816257443,
      0.06378605460911074,
      0.06490890766658958,
      0.016753976187936528,
      -0.012299992958969368,
      -0.07048152933892317,
      -0.06744366737586165,
      0.004797729743867137,
      0.005852621625973569
    ],
    "a_ego": [
      1.325892364509064,
      1.3258923775774485,
      0.5361538080335986,
      0.4702019551050068,
      0.5779261576874477,
      0.6217802790870927,
      0.5546501738660143,
      0.6642205813818968,
      0.49061965273341407,
      0.49061964615888953
    ],
    "yaw": [
      -1.5521216618726947,
      -1.5497349976994608,
      -1.5377109433396128,
      -1.5351369446842065,
      -1.5360606130222343,
      -1.5379863725999114,
      -1.543245799240298,
      -1.5462563289637563,
      -1.546914372992866,
      -1.5490646171749907
    ],
    "yaw_diff": [
      0.004773328346467931,
      0.024048108719695982,
      0.005147997310812613,
      -0.0018473366760556331,
      -0.0038515191553543104,
      -0.010518853280772955,
      -0.006021059446916777,
      -0.0013160880582194778,
      -0.004300488364249233,
      -0.004300488364249233
    ],
    "min_front_frame": [
      1,
      17.99447948228626
    ],
    "v_avg": 6.953667689707551,
    "v_std": 0.9239659732914809,
    "vy_max": 0.052458051495280655,
    "a_max": 1.3258923775774485,
    "ax_avg": 0.704020448827108,
    "a_std": 0.31526285601798565,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f48e825b763050bb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.579524285816822,
    "right_rear_min": 5.631835646927128,
    "speed_mode": "accelerating",
    "front_frame": [
      18.064941141584963,
      17.99447948228626,
      19.218530203763283,
      19.607081973803208,
      20.078034024816297,
      20.756373250919406,
      21.394126086425356,
      22.254888706645847,
      23.186838644899552,
      24.199475425637814
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f48e825b763050bb",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "af7ef7050e425cb9": {
    "vx_ego": [
      7.654880423722952,
      7.527491612414341,
      7.3212503047512625,
      6.992622144838256,
      6.548734803490983,
      6.033855334992942,
      5.559609192492573,
      5.113767739664219,
      4.616244293526805,
      4.078426144215639
    ],
    "vy_ego": [
      0.09370424981297454,
      0.00274382031457554,
      -0.01615604096532186,
      -0.05753319877387142,
      -0.08984069912073211,
      -0.08285213829218652,
      -0.06750197905242938,
      -0.11282876546118148,
      -0.12318541998387378,
      -0.082512420470372
    ],
    "v_ego": [
      7.655453924355491,
      7.52749211248462,
      7.32126813075987,
      6.992858823788989,
      6.549351027214268,
      6.034424138262273,
      5.560018964933835,
      5.115012299647576,
      4.617887615048183,
      4.079260731229805
    ],
    "ax_ego": [
      -0.25704043161547496,
      -0.25575283487882494,
      -0.5693415615011759,
      -0.7452740534450333,
      -1.0311508619699865,
      -1.0299490037051513,
      -0.868708020977223,
      -0.9176089435472613,
      -1.0765899959691432,
      -1.0767784979802906
    ],
    "ay_ego": [
      0.07366265299685652,
      0.07801573649086388,
      -0.07900372105061629,
      -0.10882882662728122,
      -0.10009492432264355,
      0.031194225368534778,
      -0.1566952303925226,
      -0.21480765196861007,
      0.03951164571995058,
      0.03398930501498865
    ],
    "a_ego": [
      0.26738730323559673,
      0.26738729904161007,
      0.57479683505778,
      0.7531780189593037,
      1.035997632244689,
      1.03042128759531,
      0.882727036482926,
      0.9424163096117281,
      1.077314805230272,
      1.0773148131201449
    ],
    "yaw": [
      -0.573707264606254,
      -0.5567297242242981,
      -0.5542305368969352,
      -0.5550079476649421,
      -0.5579351017977472,
      -0.5617839565559453,
      -0.5698726829506999,
      -0.5787722498730632,
      -0.5856234357376843,
      -0.5907524607223941
    ],
    "yaw_diff": [
      0.03395508076391174,
      0.004998374654725746,
      -0.0015548215360137174,
      -0.005854308265610175,
      -0.007697709516396145,
      -0.016177452789509328,
      -0.017799133844726533,
      -0.013702371729242158,
      -0.010258049969419591,
      -0.010258049969419591
    ],
    "min_front_frame": [
      1,
      17.27716932526903
    ],
    "v_avg": 6.145302776772491,
    "v_std": 1.203053660230856,
    "vy_max": 0.12318541998387378,
    "a_max": 1.0773148131201449,
    "ax_avg": -0.7828194205589565,
    "a_std": 0.3015218393792524,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "af7ef7050e425cb9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.469873174612767,
    "right_rear_min": 33.303552088836625,
    "speed_mode": "decelerating",
    "front_frame": [
      21.03308143871783,
      17.27716932526903,
      19.88122115303093,
      22.484893659520775,
      25.828611054491642,
      22.733687344017202,
      19.864139658331474,
      23.576983706259558,
      21.154334423130173,
      18.9998618734216
    ],
    "safe_frame": [
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "af7ef7050e425cb9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8322121dbb82511f": {
    "vx_ego": [
      7.432483121410496,
      7.172406913284929,
      6.803772467313754,
      6.255086963592676,
      5.631864814545228,
      4.983468876343239,
      4.322079004023376,
      3.7398489538060913,
      3.212272499705889,
      2.669293558934471
    ],
    "vy_ego": [
      0.04302026121747193,
      0.039938257052891224,
      0.010102603675987698,
      0.005447310026924335,
      0.015238068444868524,
      -0.0023219137281875746,
      -0.012816347582226495,
      0.01693011932168642,
      0.031970857765938554,
      0.03568934572333937
    ],
    "v_ego": [
      7.4326076240393,
      7.172518106921297,
      6.803779967751583,
      6.255089335516606,
      5.631885429236153,
      4.983469417259938,
      4.32209800626791,
      3.739887274534456,
      3.2124315943087427,
      2.669532137504101
    ],
    "ax_ego": [
      -0.5201978526656088,
      -0.5201968931443335,
      -0.9544167923311186,
      -1.2402925095389001,
      -1.2528110402243957,
      -1.3407896848497094,
      -1.304497761387676,
      -1.0244311767736167,
      -1.08605161020332,
      -1.0860330303487618
    ],
    "ay_ego": [
      0.001616143792823016,
      0.001898272429329384,
      -0.10742486297948783,
      0.10058879207646021,
      -0.007991788330919292,
      -0.054925365561549366,
      0.06806449291666372,
      0.06596202111243726,
      0.01413329533339025,
      0.015495560352599302
    ],
    "a_ego": [
      0.5202003631666067,
      0.5202003566658072,
      0.9604433948285466,
      1.244364743276546,
      1.2528365301143076,
      1.341914220351455,
      1.30627224752785,
      1.02655259201612,
      1.0861435678869553,
      1.08614357034379
    ],
    "yaw": [
      2.5538512370287476,
      2.554393604245403,
      2.554884064719354,
      2.5553328383983462,
      2.5575798347286596,
      2.5579240360865385,
      2.5608884292707157,
      2.5618294202909175,
      2.563259794540393,
      2.5645141307499584
    ],
    "yaw_diff": [
      0.0010847344333111408,
      0.0009809209479012537,
      0.0008975473579848625,
      0.004493992660626667,
      0.0006884027157578743,
      0.005928786368354366,
      0.0018819820404036847,
      0.0028607484989509047,
      0.002508672419130775,
      0.002508672419130775
    ],
    "min_front_frame": [
      9,
      11.89318044212027
    ],
    "v_avg": 5.2223298893340075,
    "v_std": 1.6138602574478478,
    "vy_max": 0.04302026121747193,
    "a_max": 1.341914220351455,
    "ax_avg": -1.032971835146744,
    "a_std": 0.2828369858853028,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8322121dbb82511f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      34.93854208545764,
      31.346531846837053,
      27.874110325395513,
      24.65852210272317,
      21.81382088928083,
      19.26828843471273,
      17.03583256913475,
      15.055536507334677,
      13.32582862004865,
      11.89318044212027
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8322121dbb82511f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "980e0f0b4d975c23": {
    "vx_ego": [
      1.0593997372605002,
      1.6365048257778798,
      2.2961524515513583,
      3.08681022619094,
      3.9559481524594373,
      4.777843274991842,
      5.403438422319696,
      5.797623668276685,
      5.963769501526215,
      6.014693801294567
    ],
    "vy_ego": [
      -0.02090528041554736,
      -0.012613176722121158,
      0.015259785375986643,
      0.023168133920458925,
      -0.0017597945076186505,
      -0.012306394109067503,
      -0.024909284725078834,
      -0.03243493728851013,
      -0.042523250681801184,
      -0.06329219684454498
    ],
    "v_ego": [
      1.059605980568659,
      1.6365534323758917,
      2.2962031577835256,
      3.0868971694804346,
      3.9559485438797033,
      4.7778591238880965,
      5.403495836610433,
      5.797714396563435,
      5.963921100600073,
      6.015026801728543
    ],
    "ax_ego": [
      1.154263933449941,
      1.1543238801893372,
      1.4843878100326644,
      1.67776837824472,
      1.7987697469191712,
      1.4887902064855931,
      1.0136200290553676,
      0.5629844413695158,
      0.10127963711254383,
      0.10161128761009611
    ],
    "ay_ego": [
      0.024944001304364066,
      0.02199577218443482,
      0.11277017166384196,
      -0.049016323276073935,
      -0.04608838043305198,
      -0.0034148734131136046,
      -0.0364523667340445,
      -0.01864380245253958,
      -0.08732467698994242,
      -0.08693854462884712
    ],
    "a_ego": [
      1.1545334257891375,
      1.154533427133817,
      1.4886652686855637,
      1.6784842361444512,
      1.799360092155709,
      1.4887941228685189,
      1.0142752773989503,
      0.5632930610206689,
      0.13372794810751545,
      0.13372794888116588
    ],
    "yaw": [
      -3.1179797462735945,
      -3.115425609102183,
      -3.1124031145443958,
      -3.1093925507710516,
      -3.109064066825671,
      -3.109479265616879,
      -3.1089674098537,
      -3.110071978977483,
      -3.1128343009313086,
      -3.116640630202143
    ],
    "yaw_diff": [
      0.005108274342823016,
      0.006044989115574495,
      0.006021127546688376,
      0.0006569678907615284,
      -0.0008303975824164311,
      0.001023711526357829,
      -0.002209138247565967,
      -0.005524643907651061,
      -0.007612658541669148,
      -0.007612658541669148
    ],
    "min_front_frame": [
      0,
      12.084078103506677
    ],
    "v_avg": 3.99932255434788,
    "v_std": 1.7802913975051506,
    "vy_max": 0.06329219684454498,
    "a_max": 1.799360092155709,
    "ax_avg": 1.053779935046895,
    "a_std": 0.5726628222696764,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "980e0f0b4d975c23",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.848910941354873,
    "speed_mode": "accelerating",
    "front_frame": [
      12.084078103506677,
      13.1958402695184,
      14.299512469196369,
      15.559377072377604,
      16.461777015777717,
      16.825188195753984,
      17.09161585739597,
      17.038479240636324,
      16.857449477798777,
      16.815785498770246
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "980e0f0b4d975c23",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "fb2289e9d46258f2": {
    "vx_ego": [
      9.71877857656799,
      9.810500413921467,
      9.901965732341175,
      9.921504806443105,
      9.846428796703478,
      9.769364233225904,
      9.749928803174138,
      9.778766774222477,
      9.86577924253572,
      9.99822540304555
    ],
    "vy_ego": [
      0.019357022051129325,
      0.05660437242212246,
      0.05191565472988258,
      0.019857646245072802,
      0.0188054525762944,
      0.033144351500875135,
      0.026875876977432434,
      0.013048711979716687,
      0.023350020201120314,
      0.04178294400272686
    ],
    "v_ego": [
      9.718797853369502,
      9.810663709786947,
      9.902101827373063,
      9.921524678716876,
      9.846446754723152,
      9.769420457195501,
      9.749965845054431,
      9.778775480269593,
      9.865806874548683,
      9.998312708878178
    ],
    "ax_ego": [
      0.17999776814861035,
      0.18476943775044377,
      0.17699798102133701,
      -0.10046493538322866,
      -0.20048871670567325,
      -0.10860150301573576,
      0.029834848113396782,
      0.08499463045599677,
      0.2629416402649861,
      0.26547385595839457
    ],
    "ay_ego": [
      0.3460304991395522,
      0.34350626435823833,
      0.16313471507348043,
      0.1706889933667535,
      0.1807214177276053,
      0.15005548919974585,
      0.10757751571026619,
      0.1262381352770328,
      0.24483630886792773,
      0.24208831668912978
    ],
    "a_ego": [
      0.3900465393683791,
      0.3900465341212085,
      0.2407098264461491,
      0.19806043445906082,
      0.26991842536544874,
      0.18523211464606212,
      0.11163798658316096,
      0.15218460501829312,
      0.35928139991559915,
      0.35928139567029466
    ],
    "yaw": [
      1.6352252505751914,
      1.6490652840862445,
      1.6623902605647358,
      1.6740037514632635,
      1.6829871768469382,
      1.6899647375551847,
      1.69721929863878,
      1.7046270460906665,
      1.7130420018108423,
      1.7234427841885864
    ],
    "yaw_diff": [
      0.027680067022106236,
      0.02664995295698258,
      0.0232269817970554,
      0.017966850767349385,
      0.013955121416493022,
      0.014509122167190469,
      0.014815494903773097,
      0.01682991144035162,
      0.020801564755488222,
      0.020801564755488222
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.836181618991592,
    "v_std": 0.08277331700932831,
    "vy_max": 0.05660437242212246,
    "a_max": 0.3900465393683791,
    "ax_avg": 0.07754550066085276,
    "a_std": 0.09836279098346545,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "fb2289e9d46258f2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "fb2289e9d46258f2",
    "road_shape": "Curve"
  },
  "03296a9251995268": {
    "vx_ego": [
      4.894943848535724,
      4.948471985567745,
      4.983276546056876,
      4.951806641966306,
      4.8487464925429915,
      4.70565478741703,
      4.554673407574361,
      4.3942859234098615,
      4.237929700310349,
      4.124343601428102
    ],
    "vy_ego": [
      0.00779022491562828,
      0.025973713093981665,
      -0.015111820345626303,
      -0.03260919539816909,
      -0.01534436902252967,
      -0.02097860651613792,
      -0.025725965209897117,
      -0.026736867861704927,
      0.0024433490885055476,
      0.0486026341637813
    ],
    "v_ego": [
      4.894950047541033,
      4.948540150965806,
      4.983299459353683,
      4.951914011677317,
      4.848770771918246,
      4.7057015502762365,
      4.554746060424338,
      4.394367262391835,
      4.237930404658307,
      4.124629966274378
    ],
    "ax_ego": [
      0.07980917681444781,
      0.12938117567881627,
      0.001193009264320019,
      -0.1277296374068535,
      -0.2850605493154261,
      -0.28559452355911047,
      -0.317802705153436,
      -0.3194084920817636,
      -0.29876633906174255,
      -0.13855559770646594
    ],
    "ay_ego": [
      0.7201383275051421,
      0.7129019754864492,
      0.5075726134668794,
      0.28636832805950485,
      -0.00957903231203902,
      -0.34934735895309754,
      -0.5582074736598555,
      -0.8766123247866867,
      -1.0936651388037089,
      -1.1252409116806685
    ],
    "a_ego": [
      0.7245472485943916,
      0.7245472484748766,
      0.5075740155018802,
      0.3135628797987454,
      0.28522144841517016,
      0.45122922012482714,
      0.6423349150190732,
      0.9329903283431537,
      1.1337392827237185,
      1.1337392835108688
    ],
    "yaw": [
      1.609920083915104,
      1.6790768833571903,
      1.7485413669440537,
      1.791872763531853,
      1.802428173579377,
      1.7848249744792042,
      1.7368988379953478,
      1.6570040237952162,
      1.5361945820555156,
      1.3920395788223465
    ],
    "yaw_diff": [
      0.1383135988841726,
      0.13892896717372683,
      0.08666279317559855,
      0.021110820095048055,
      -0.03520639820034566,
      -0.0958522729677127,
      -0.15978962840026334,
      -0.24161888347940108,
      -0.2883100064663382,
      -0.2883100064663382
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.664484968548118,
    "v_std": 0.30201293353083347,
    "vy_max": 0.0486026341637813,
    "a_max": 1.1337392835108688,
    "ax_avg": -0.1562534482527214,
    "a_std": 0.2920785042112935,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "03296a9251995268",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "03296a9251995268",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "56af8eae4788597f": {
    "vx_ego": [
      2.5414772456680517,
      3.2062812815571524,
      3.8550659052461524,
      4.633790585459455,
      5.356786331643483,
      6.074839239155777,
      6.790976960798532,
      7.343467655784565,
      7.926626609983839,
      8.505653289635491
    ],
    "vy_ego": [
      0.003073372253497908,
      -0.03441035888739097,
      -0.040059251082824376,
      -0.0071793545925238345,
      0.007573592090205583,
      -0.033917441895919165,
      -0.0686552065215369,
      -0.044372130196111303,
      -0.03919113784491257,
      -0.043642929749307946
    ],
    "v_ego": [
      2.5414791039600297,
      3.206465925167853,
      3.8552740340199754,
      4.63379614711578,
      5.356791685531517,
      6.074933923463819,
      6.7913239960613705,
      7.343601711523589,
      7.926723494571352,
      8.505765255919314
    ],
    "ax_ego": [
      1.3294869007863357,
      1.3296249243253262,
      1.2649856142332903,
      1.8497691947047001,
      1.0421251262593345,
      1.8300046232925071,
      1.0350129167858226,
      1.1745074351708233,
      1.1578539279066216,
      1.1579318954345246
    ],
    "ay_ego": [
      -0.08545786149930212,
      -0.08328280076077876,
      0.02377793077127882,
      0.08883728722201434,
      0.030592600085666166,
      -0.13035455454336187,
      0.033853223842507274,
      0.00421902089185433,
      -0.04163440941606161,
      -0.0394065363237418
    ],
    "a_ego": [
      1.332230635233438,
      1.3322306347962762,
      1.2652090713431272,
      1.8519012223332652,
      1.0425740673741293,
      1.8346414448502326,
      1.0355664047650577,
      1.1745150128494874,
      1.158602236497158,
      1.1586022395842437
    ],
    "yaw": [
      1.1009542629302211,
      1.0993183342480306,
      1.096710828809167,
      1.095577835159395,
      1.0985416874814837,
      1.1014880232803557,
      1.10311263632585,
      1.101018245095495,
      1.099115064674433,
      1.0971909909786342
    ],
    "yaw_diff": [
      -0.00327185736438107,
      -0.005215010877727355,
      -0.002265987299543859,
      0.005927704644177467,
      0.00589267159774387,
      0.003249226090988877,
      -0.004188782460710083,
      -0.003806360842124157,
      -0.003848147391597667,
      -0.003848147391597667
    ],
    "min_front_frame": [
      0,
      18.17844795818778
    ],
    "v_avg": 5.6236155277334605,
    "v_std": 1.9405366097986603,
    "vy_max": 0.0686552065215369,
    "a_max": 1.8519012223332652,
    "ax_avg": 1.3171302558899287,
    "a_std": 0.2796763358593653,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "56af8eae4788597f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.951434991039748,
    "right_rear_min": 7.895599077482466,
    "speed_mode": "accelerating",
    "front_frame": [
      18.17844795818778,
      19.733588956162624,
      21.184117942792618,
      22.567277644179793,
      23.804080397861007,
      24.995991042580464,
      26.000919859436188,
      26.84242686181584,
      27.52392734125958,
      28.029085569700676
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "56af8eae4788597f",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "861984dda2c458ee": {
    "vx_ego": [
      7.437184593106869,
      7.700169779288999,
      8.14361110110681,
      8.66493038838798,
      9.16676702306592,
      9.71877149657791,
      10.315474528134956,
      10.793741958591745,
      11.238063407421397,
      11.76930831303468
    ],
    "vy_ego": [
      0.6926652897893493,
      0.6873882163440379,
      0.6460650464665934,
      0.5591696503192383,
      0.5560006217722147,
      0.5644567154562568,
      0.5782351985071617,
      0.6230639322770841,
      0.6443551672284913,
      0.5865054090151395
    ],
    "v_ego": [
      7.469370781774402,
      7.730790204749074,
      8.169198357876734,
      8.682953952051548,
      9.183613360033181,
      9.735149243145628,
      10.331668339885564,
      10.811710046628543,
      11.256520898162002,
      11.78391304966526
    ],
    "ax_ego": [
      0.14614365486283853,
      0.48631187135206266,
      0.9031157230769977,
      0.9231092640620011,
      0.9854306484361319,
      1.1831623230158201,
      1.1889126713818043,
      0.7148685722052909,
      1.061805478136915,
      1.0617461206075374
    ],
    "ay_ego": [
      2.28136584073922,
      2.233716370402216,
      1.7869410297419415,
      0.9345939935131363,
      0.48746298500211466,
      0.16460012768457122,
      0.14793520237598332,
      0.1972134274528823,
      -0.10204691980341782,
      -0.10266276797387727
    ],
    "a_ego": [
      2.2860420090515476,
      2.2860420074051118,
      2.0021928611010673,
      1.3136196733103236,
      1.099406078127835,
      1.1945569407265477,
      1.1980810341017176,
      0.7415727958161251,
      1.066697917520667,
      1.0666979275095707
    ],
    "yaw": [
      1.0987601771457343,
      1.2491568995719513,
      1.3819367534615017,
      1.4731968591684999,
      1.5134564536696158,
      1.5298670874463367,
      1.5362920605336379,
      1.5401981188061253,
      1.5404259960589917,
      1.5410060129361858
    ],
    "yaw_diff": [
      0.3007934448524341,
      0.26555970777910076,
      0.18252021141399632,
      0.08051918900223187,
      0.032821267553441835,
      0.012849946174602334,
      0.007812116544974934,
      0.00045575450573265286,
      0.0011600337543882233,
      0.0011600337543882233
    ],
    "min_front_frame": [
      7,
      15.994161359149444
    ],
    "v_avg": 9.515488823397193,
    "v_std": 1.4338421172072617,
    "vy_max": 0.6926652897893493,
    "a_max": 2.2860420090515476,
    "ax_avg": 0.8654606327137401,
    "a_std": 0.5256217812618941,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "861984dda2c458ee",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 28.70846689486095,
    "right_rear_min": 40.52311081730901,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      58.35058631183294,
      26.23378932034877,
      28.367127606907346,
      31.14076863112364,
      15.994161359149444,
      18.290137927302528,
      20.54081372079219
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.42857142857142855,
    "unsafe_ratio": 0.42857142857142855,
    "oversafe_ratio": 0.14285714285714285,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "861984dda2c458ee",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "ffd429cac51751d9": {
    "vx_ego": [
      5.921675787642115,
      5.454382891729153,
      5.009898858877659,
      4.653141755939031,
      4.280765437658204,
      3.8271128322836003,
      3.368860289423195,
      2.8671116639683256,
      2.2842856225471726,
      1.6600410493770397
    ],
    "vy_ego": [
      0.020668162314972094,
      0.014637722792626234,
      0.0008559163716758689,
      0.005188251766010038,
      0.019792441994978524,
      0.0150475473604023,
      0.01558170672825393,
      0.020659770019041207,
      0.011416243787135169,
      -0.0011599647880038803
    ],
    "v_ego": [
      5.921711856117311,
      5.454402533047614,
      5.0098989319921925,
      4.653144648387771,
      4.280811193338145,
      3.8271424143492965,
      3.368896323610612,
      2.867186097859792,
      2.284314150023576,
      1.6600414546435678
    ],
    "ax_ego": [
      -0.9345716033165622,
      -0.9345618029611789,
      -0.8433410351438098,
      -0.5837336922282581,
      -0.905718182976133,
      -0.9088347612444057,
      -0.9241632609903498,
      -1.0827616054948566,
      -1.248492025294456,
      -1.2484696270009394
    ],
    "ay_ego": [
      -0.01793742647511829,
      -0.018440874003224347,
      -0.05134137720964395,
      0.043508553749208326,
      0.0013569447797325516,
      -0.031181054411937657,
      0.027811388107851803,
      -0.016723021308207103,
      -0.02778248725799661,
      -0.028771508481909718
    ],
    "a_ego": [
      0.9347437258383925,
      0.9347437239094212,
      0.8449023840487229,
      0.5853529001310086,
      0.9057191994612477,
      0.9093694966296242,
      0.9245816385116044,
      1.0828907395372231,
      1.2488011065906746,
      1.2488011087615951
    ],
    "yaw": [
      -3.1165197755915015,
      -3.1170584750893555,
      -3.117760245411513,
      -3.1190710294962463,
      -3.1198226753242135,
      -3.1204913769239413,
      -3.120873770418716,
      -3.1216086697082743,
      -3.1223338441584008,
      -3.1231260160790995
    ],
    "yaw_diff": [
      -0.0010773989957080232,
      -0.0014035406443149157,
      -0.0026215681694665705,
      -0.0015032916559345466,
      -0.0013374031994555224,
      -0.0007647869895492931,
      -0.0014697985791167767,
      -0.0014503489002528624,
      -0.0015843438413973843,
      -0.0015843438413973843
    ],
    "min_front_frame": [
      9,
      11.967720087472943
    ],
    "v_avg": 3.9327549603369882,
    "v_std": 1.3198036143795082,
    "vy_max": 0.020668162314972094,
    "a_max": 1.2488011087615951,
    "ax_avg": -0.961464759665095,
    "a_std": 0.18534364070306925,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ffd429cac51751d9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.204072040986123,
      24.102111521688364,
      22.17574389349985,
      20.416229187248778,
      18.824021436734398,
      17.213341529529043,
      15.725524329173181,
      14.184062969153963,
      12.929011522988196,
      11.967720087472943
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ffd429cac51751d9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6544f1c9668c58c3": {
    "vx_ego": [
      2.6283988747354146,
      2.915133630043402,
      3.128378277420449,
      3.16952413353367,
      3.1010804579621096,
      3.0010012665123016,
      2.8792628036623578,
      2.7828141968580176,
      2.716770761451443,
      2.662241155383791
    ],
    "vy_ego": [
      -0.03412880484328351,
      4.084839374940419e-05,
      0.003622210974340234,
      -0.0012917898824067464,
      -0.006393992563840101,
      -0.004341280943866321,
      -0.011140525559238057,
      -0.00794005597321501,
      -0.004787701014481671,
      0.02450474593780627
    ],
    "v_ego": [
      2.6286204404650024,
      2.9151336303295965,
      3.1283803744187626,
      3.1695243967783973,
      3.101087049712632,
      3.0010044065826817,
      2.879284356200922,
      2.782825524304999,
      2.716774980074437,
      2.6623539306397075
    ],
    "ax_ego": [
      0.5702713719568169,
      0.5786102264971916,
      0.27577985415403955,
      -0.11279657102673654,
      -0.15849458235325453,
      -0.24046350028493263,
      -0.24185610941985214,
      -0.1414687239899291,
      -0.12185968388394688,
      -0.09845196357838187
    ],
    "ay_ego": [
      0.2613426192998871,
      0.24232130272227123,
      0.3200171282633603,
      0.2612199366317626,
      0.3321525044044473,
      0.339374972298133,
      0.41663073470258927,
      0.40882916475599773,
      0.3817981780438213,
      0.3884930424372467
    ],
    "a_ego": [
      0.6273032777979372,
      0.6273032822807083,
      0.4224517609611201,
      0.28453281309770173,
      0.3680296439384727,
      0.4159303629114378,
      0.481742199482801,
      0.43261378367133135,
      0.4007737907022825,
      0.4007737929987282
    ],
    "yaw": [
      -2.852261009949002,
      -2.819151272193996,
      -2.7743807399924427,
      -2.7274082463010805,
      -2.678565809838363,
      -2.624409298619537,
      -2.5578419572561244,
      -2.485790398938252,
      -2.415022601000777,
      -2.3542650098785214
    ],
    "yaw_diff": [
      0.06621947551001206,
      0.0895410644031065,
      0.0939449873827245,
      0.09768487292543515,
      0.10831302243765162,
      0.13313468272682538,
      0.14410311663574493,
      0.14153559587494957,
      0.12151518224451152,
      0.12151518224451152
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.898498908950714,
    "v_std": 0.18801550595846384,
    "vy_max": 0.03412880484328351,
    "a_max": 0.6273032822807083,
    "ax_avg": 0.030927031807101428,
    "a_std": 0.10242011228960145,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "6544f1c9668c58c3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.443518288953506,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6544f1c9668c58c3",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "4e27d27410c85f81": {
    "vx_ego": [
      7.079932919734615,
      6.623855371695936,
      5.980411823336108,
      5.249389453763645,
      4.654522821445255,
      4.117555869439768,
      3.5791024013624257,
      3.1356495273364215,
      2.6746408543407467,
      2.07816069746173
    ],
    "vy_ego": [
      0.016607470495568405,
      0.008695593108611122,
      0.003452961821888756,
      -0.00309909300074962,
      -0.013045172871907068,
      -0.0020361215163657576,
      -0.007307268230769728,
      -0.0008723912181565763,
      0.0024175926407837695,
      -0.03845125993552666
    ],
    "v_ego": [
      7.079952397863857,
      6.623861079346744,
      5.98041282016916,
      5.2493903685725645,
      4.654541102180746,
      4.117556372868344,
      3.579109860790428,
      3.135649648693483,
      2.6746419469646354,
      2.0785163900881933
    ],
    "ax_ego": [
      -0.9121628627162461,
      -0.9121669443105968,
      -1.661608903128458,
      -1.2624802324000302,
      -1.1170097660438236,
      -1.0310125760152447,
      -1.1228602909371435,
      -0.6509353181900361,
      -1.1929890283358933,
      -1.1929581642100462
    ],
    "ay_ego": [
      -0.01066518889401431,
      -0.010309998940933797,
      -0.008852369040724499,
      -0.018667987698714104,
      -0.04600617779238644,
      0.0569016829303641,
      -0.05279008993019725,
      0.08104441505052273,
      -0.0832745413448078,
      -0.08371565408370293
    ],
    "a_ego": [
      0.912225210336155,
      0.9122252081427554,
      1.6616324838523682,
      1.2626182443500304,
      1.1179567906821544,
      1.0325815868113755,
      1.124100541125341,
      0.6559611159802424,
      1.1958919144161846,
      1.195891923333403
    ],
    "yaw": [
      -1.5395010991941733,
      -1.5391117059791288,
      -1.5390410284517348,
      -1.539099974144811,
      -1.5403611713043115,
      -1.5422547994108085,
      -1.54062284228314,
      -1.5404322322995783,
      -1.5417264270280238,
      -1.5420961870650562
    ],
    "yaw_diff": [
      0.0007787864300889957,
      0.00014135505478796162,
      -0.00011789138615236894,
      -0.00252239431900092,
      -0.003787256212993917,
      0.003263914255336786,
      0.00038121996712359163,
      -0.0025883894568909938,
      -0.0007395200740649699,
      -0.0007395200740649699
    ],
    "min_front_frame": [
      9,
      13.662531439042159
    ],
    "v_avg": 4.517363198753816,
    "v_std": 1.6122122999214878,
    "vy_max": 0.03845125993552666,
    "a_max": 1.6616324838523682,
    "ax_avg": -1.1056184086287515,
    "a_std": 0.2515747904688486,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4e27d27410c85f81",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.087149800768121,
    "right_rear_min": 4.405868023712519,
    "speed_mode": "decelerating",
    "front_frame": [
      22.082450408181185,
      21.063956337512156,
      19.839031699257824,
      18.864485843426834,
      17.935581089693088,
      16.998151919385005,
      16.099546780780617,
      15.274727120322382,
      14.355928804357767,
      13.662531439042159
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4e27d27410c85f81",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c484b85e7b07535c": {
    "vx_ego": [
      6.792177299382314,
      6.994902179014069,
      7.158275336058062,
      7.3172316411406335,
      7.545772036063706,
      7.84925511878819,
      8.147940362312537,
      8.441757545622359,
      8.696549284390219,
      8.873269540797764
    ],
    "vy_ego": [
      -0.04632277149741526,
      -0.006925134479394579,
      0.007769102013174045,
      -0.030471604950365716,
      -0.059830802309045694,
      -0.08847572311951835,
      -0.10249495941712494,
      -0.021455130540995793,
      0.05339523202122809,
      0.09536158038413634
    ],
    "v_ego": [
      6.7923352586134635,
      6.994905607044553,
      7.158279552082557,
      7.317295088269838,
      7.546009233041393,
      7.8497537460358675,
      8.148584991549619,
      8.441784810198527,
      8.696713201355477,
      8.873781954424096
    ],
    "ax_ego": [
      0.40474010334532745,
      0.4073176318409484,
      0.24758736013553045,
      0.38819198575702435,
      0.5280044299288571,
      0.6902835965498652,
      0.5098559223946195,
      0.6664533370802969,
      0.3523716788476898,
      0.35313293195340045
    ],
    "ay_ego": [
      0.23423343155972023,
      0.2297220025117539,
      0.37892163158721204,
      0.2848678407291856,
      0.14441381703387013,
      0.1719542454721221,
      0.20607704933562587,
      0.24653759385608934,
      0.16580884818588715,
      0.16418132473649072
    ],
    "a_ego": [
      0.46763217566398113,
      0.46763217558945686,
      0.452637938957392,
      0.481500471949603,
      0.5473975050863764,
      0.711378736118605,
      0.5499280060732916,
      0.7105918910948913,
      0.3894334014830649,
      0.3894334025507237
    ],
    "yaw": [
      2.449669035481344,
      2.460780019705035,
      2.480150315677415,
      2.50842863064005,
      2.5268633853168874,
      2.540896465362503,
      2.5544263688161353,
      2.558307060559445,
      2.5615871328343713,
      2.5662009042105507
    ],
    "yaw_diff": [
      0.02222196844738189,
      0.03874059194475965,
      0.056556629925269775,
      0.036869509353675056,
      0.028066160091230863,
      0.02705980690726495,
      0.0077613834866197,
      0.006560144549852431,
      0.009227542752358708,
      0.009227542752358708
    ],
    "min_front_frame": [
      4,
      20.058321831516416
    ],
    "v_avg": 7.781944344261538,
    "v_std": 0.6973236368900939,
    "vy_max": 0.10249495941712494,
    "a_max": 0.711378736118605,
    "ax_avg": 0.45479389778335594,
    "a_std": 0.10958654665372862,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "c484b85e7b07535c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      34.25224779587031,
      30.86375260592682,
      27.39797811399387,
      23.750631970028792,
      20.058321831516416,
      21.98088022001314,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.8333333333333334,
    "unsafe_ratio": 0.16666666666666666,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "c484b85e7b07535c",
    "pedestrians": "No"
  },
  "d20be65e3dc65738": {
    "vx_ego": [
      10.478990410154516,
      10.463507083360057,
      10.469037654308545,
      10.527772339997494,
      10.622439473089443,
      10.652065887169899,
      10.653405680665273,
      10.697416286224568,
      10.755450519210594,
      10.813892692615115
    ],
    "vy_ego": [
      0.04579508647368158,
      0.05602245328877142,
      0.044398653666027244,
      0.0460122036747026,
      0.03217799406922195,
      0.014154003407223836,
      0.008094921752846762,
      -0.0031160203404927422,
      0.003437538770335369,
      0.022785469052533536
    ],
    "v_ego": [
      10.479090476088821,
      10.463657056631709,
      10.46913180009582,
      10.527872888941209,
      10.622488210525397,
      10.65207529077884,
      10.65340875610193,
      10.697416740052963,
      10.755451068544742,
      10.813916697709232
    ],
    "ax_ego": [
      -0.046644218647883096,
      -0.006213442217708143,
      0.03336939660289556,
      0.20401802230345348,
      0.17421173946830243,
      -0.05542955355901872,
      0.060948261945369966,
      0.1151050816617934,
      0.11693220086627215,
      0.11695301050825223
    ],
    "ay_ego": [
      -0.9091948484192862,
      -0.9103693472133731,
      -0.7669958932773452,
      -0.5593453617795858,
      -0.19333634635079816,
      -0.11003456474735024,
      -0.09580725065378687,
      -0.08286921087322166,
      -0.009471635568502636,
      -0.009211193973060278
    ],
    "a_ego": [
      0.9103905510963085,
      0.9103905509230068,
      0.7677214448834643,
      0.5953911211707378,
      0.2602473304163704,
      0.12320730841508931,
      0.11355051700454286,
      0.14183259828092626,
      0.11731518009095303,
      0.1173151855530762
    ],
    "yaw": [
      2.055662206124815,
      2.0112294493881326,
      1.9722605870564105,
      1.9404606027232933,
      1.9239812523914654,
      1.9185603987549216,
      1.9142926322658886,
      1.91115651149601,
      1.9083933017794497,
      1.906166193371369
    ],
    "yaw_diff": [
      -0.08886551347336447,
      -0.07793772466344429,
      -0.0635999686662343,
      -0.032958700663655804,
      -0.010841707273087753,
      -0.008535532978065863,
      -0.00627224153975714,
      -0.005526419433120822,
      -0.004454216816161427,
      -0.004454216816161427
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.613450898547066,
    "v_std": 0.11798877515303405,
    "vy_max": 0.05602245328877142,
    "a_max": 0.9103905510963085,
    "ax_avg": 0.07132504989317293,
    "a_std": 0.3314716987955808,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "d20be65e3dc65738",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "d20be65e3dc65738",
    "road_shape": "Straight"
  },
  "fa7555f0099f5c59": {
    "vx_ego": [
      0.48205897895779976,
      0.17154663743791726,
      -0.012399319745844349,
      -0.034079770541642476,
      -0.020609127358950013,
      -0.011252799031656324,
      -0.006929059166248048,
      -0.00467786704609227,
      -0.0033417446607007127,
      -0.0023431062144217323
    ],
    "vy_ego": [
      0.02295228190413509,
      -0.02183445548624316,
      -0.013224123774001987,
      0.010574644397109971,
      0.002717601036453677,
      0.0017363928149008697,
      0.001160331167751172,
      0.0008963004583368136,
      0.0007208855711331866,
      0.00031378606484047775
    ],
    "v_ego": [
      0.4826050833118558,
      0.1729305995555355,
      0.01812789507223081,
      0.0356826829750277,
      0.02078753198171337,
      0.011385980241265347,
      0.007025541213900954,
      0.004762960698192964,
      0.0034186157116572404,
      0.0023640237787615026
    ],
    "ax_ego": [
      -0.6210178523392857,
      -0.621031848321139,
      -0.11481018406904239,
      0.028095598079977517,
      0.025788055199646352,
      0.011637005134851759,
      0.005657810248562326,
      0.0033470508350708283,
      0.0019972774017361634,
      0.0019972760009677373
    ],
    "ay_ego": [
      -0.08951979542975302,
      -0.08942263152337726,
      0.12384247938508085,
      -0.028630705696097616,
      -0.0027889489777451083,
      -0.0011377101475922094,
      -0.001167411000661991,
      0.00011182370265325442,
      -0.0008141918931907729,
      -0.0008141851742096639
    ],
    "a_ego": [
      0.6274368228737326,
      0.6274368204510602,
      0.1688737340921067,
      0.040113338680895075,
      0.025938427619662544,
      0.011692487882760474,
      0.005776994482704958,
      0.0033489183079053173,
      0.002156855456080341,
      0.002156851622607475
    ],
    "yaw": [
      -0.6151577050341153,
      -0.6150012387454102,
      -0.6153305740183348,
      -0.6154322257163296,
      -0.6155110207996177,
      -0.615478993183395,
      -0.615453141843816,
      -0.6154779425082929,
      -0.615432570128204,
      -0.6154339461424128
    ],
    "yaw_diff": [
      0.0003129325774100522,
      -0.000658670545849116,
      -0.000203303395989618,
      -0.00015759016657623803,
      6.405523244534805e-05,
      5.1702679157994424e-05,
      -4.9601328953707835e-05,
      9.074476017789657e-05,
      -2.752028417596364e-06,
      -2.752028417596364e-06
    ],
    "min_front_frame": [
      2,
      9.672540690315776
    ],
    "v_avg": 0.07590909145401412,
    "v_std": 0.14402906411176328,
    "vy_max": 0.02295228190413509,
    "a_max": 0.6274368228737326,
    "ax_avg": -0.12783398118286546,
    "a_std": 0.2426608925945414,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fa7555f0099f5c59",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.82885200490261,
      9.673263404576897,
      9.672540690315776,
      9.689027136253097,
      9.675180464213936,
      9.708992887638578,
      9.697523105002848,
      9.698879441385595,
      9.727879328139744,
      9.721908480803064
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fa7555f0099f5c59",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "65fd7014a79b5cba": {
    "vx_ego": [
      -0.21628611355802949,
      0.18440749591655234,
      0.8288547629440632,
      1.729922475374836,
      2.5700759087087093,
      3.3022084821658506,
      3.96655925496168,
      4.519941485209913,
      4.978373521224831,
      5.488203045186616
    ],
    "vy_ego": [
      -0.004286589810763819,
      -0.0026102114848534693,
      -0.008753078809333627,
      -0.01647804869952852,
      -0.0018347082269187139,
      0.003445539021523031,
      0.0013780568536144733,
      0.013356044791358546,
      -0.02780002751667965,
      -0.18632362315210882
    ],
    "v_ego": [
      0.21632858750114967,
      0.1844259682208797,
      0.8289009798785991,
      1.730000952859837,
      2.5700765635831115,
      3.3022102797107333,
      3.966559494343032,
      4.51996121815819,
      4.978451140501677,
      5.491364963079778
    ],
    "ax_ego": [
      0.8013874533423209,
      0.80138760179046,
      1.776397431289581,
      1.827828271031608,
      1.5356894212420271,
      1.4013675800252894,
      1.2782446665328389,
      0.9552401807309536,
      0.9096325884565991,
      1.189791179346133
    ],
    "ay_ego": [
      0.0033698201311022913,
      0.003332745373878284,
      -0.028837028717911394,
      -0.005770126674036605,
      0.22916688526940773,
      0.5144201584083157,
      0.9685622756756681,
      1.3311922441782442,
      1.6500123210104007,
      1.460947997930897
    ],
    "a_ego": [
      0.8013945383281611,
      0.8013945317352695,
      1.7766314778584498,
      1.827837378637452,
      1.5526942583196326,
      1.4928024630615977,
      1.6037525711223901,
      1.6384616546758777,
      1.8841369656870444,
      1.8841369650607036
    ],
    "yaw": [
      1.5598224007192893,
      1.5598686652334104,
      1.5592625550048518,
      1.5585344728472004,
      1.5773793470362247,
      1.6385254245118857,
      1.7405836374053092,
      1.8718164931543573,
      2.0368417171999753,
      2.2164678576471872
    ],
    "yaw_diff": [
      9.25290282420832e-05,
      -0.001212220457117219,
      -0.0014561643153028214,
      0.037689748378048726,
      0.12229215495132184,
      0.20411642578684708,
      0.26246571149809617,
      0.33005044809123607,
      0.35925228089442385,
      0.35925228089442385
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.7788280147836986,
    "v_std": 1.8749809224475573,
    "vy_max": 0.18632362315210882,
    "a_max": 1.8841369656870444,
    "ax_avg": 1.247696637378781,
    "a_std": 0.38484528929050943,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "65fd7014a79b5cba",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "65fd7014a79b5cba",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "907f2c5fde6f5db8": {
    "vx_ego": [
      4.223237591624511,
      4.473331690950062,
      4.916089185275304,
      5.372976029805638,
      5.851614113972106,
      6.28877805748344,
      6.516078446404736,
      6.528573538638766,
      6.472963395215748,
      6.4078926509962475
    ],
    "vy_ego": [
      0.15663537034767794,
      0.021515041142078806,
      0.08978142405574696,
      0.171285255154505,
      0.11411780580153508,
      0.05090458282185839,
      0.08868412965802808,
      0.0851723905623687,
      0.007482864314373394,
      -0.04656427007872921
    ],
    "v_ego": [
      4.226141312657961,
      4.473383430274391,
      4.916908945840494,
      5.375705540252303,
      5.852726767280232,
      6.288984077960244,
      6.51668191601781,
      6.529129098549699,
      6.472967720378446,
      6.4080618331863555
    ],
    "ax_ego": [
      0.18974846663215028,
      0.8873444641094084,
      0.9167404281739607,
      0.9417885587893583,
      0.986557832208221,
      0.7659233944657677,
      0.14567361562114736,
      -0.09070366478289726,
      -0.13093151694850322,
      -0.1298183459192946
    ],
    "ay_ego": [
      -2.649994564826448,
      -2.5042155395843135,
      -2.3031985024853485,
      -1.5629094232923946,
      -0.7221682631488529,
      -0.3035401999563122,
      -0.011548689204257633,
      -0.27519016002560903,
      -0.1850308414188672,
      -0.1858135403585052
    ],
    "a_ego": [
      2.656779191840934,
      2.656779190426101,
      2.4789385539983297,
      1.8247332832177698,
      1.222629689068123,
      0.8238782065205282,
      0.14613067614458755,
      0.2897529619865317,
      0.2266704091993707,
      0.22667040988577108
    ],
    "yaw": [
      2.1543888089910674,
      1.8853339505560631,
      1.6162153682526723,
      1.413075364105469,
      1.321445293269176,
      1.2897619798421007,
      1.271775968265376,
      1.261370950473681,
      1.2556275157326398,
      1.2496240823993396
    ],
    "yaw_diff": [
      -0.5381097168700086,
      -0.5382371646067816,
      -0.4062800082944067,
      -0.18326014167258586,
      -0.06336662685415062,
      -0.035972023153449495,
      -0.020810035583390007,
      -0.01148686948208244,
      -0.012006866666600224,
      -0.012006866666600224
    ],
    "min_front_frame": [
      9,
      22.647904122188805
    ],
    "v_avg": 5.706069064239793,
    "v_std": 0.8496093560930474,
    "vy_max": 0.171285255154505,
    "a_max": 2.656779191840934,
    "ax_avg": 0.44823232323493195,
    "a_std": 1.0107284934402931,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "907f2c5fde6f5db8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.274740852356754,
    "right_rear_min": 23.873135114935756,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      38.52223388655556,
      35.48212979038534,
      32.23278955363398,
      28.99701883236535,
      25.857024013985303,
      22.647904122188805
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "907f2c5fde6f5db8",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "eed801b1cd035275": {
    "vx_ego": [
      6.156121858902521,
      6.1846848944051365,
      6.172682824841116,
      6.04191152326719,
      5.8399870798960185,
      5.673510650138883,
      5.577761928484217,
      5.537187906983444,
      5.531739337392251,
      5.547049058573597
    ],
    "vy_ego": [
      0.014236407527670636,
      0.028536895290127706,
      0.027679384809652596,
      0.0036869615217307583,
      0.0044409213626064314,
      -0.004858663035787414,
      -0.02464932396845776,
      -0.0022761338178838297,
      -0.02146635063421165,
      0.030673839655401824
    ],
    "v_ego": [
      6.156138320161165,
      6.18475073042365,
      6.1727448841201875,
      6.041912648216136,
      5.83998876840829,
      5.673512730561713,
      5.577816393537894,
      5.537188374800776,
      5.531780988168495,
      5.547133867382455
    ],
    "ax_ego": [
      0.053980691902957845,
      0.05868735246956336,
      -0.10902265338103562,
      -0.4164087032472289,
      -0.3914903932249151,
      -0.27498782235570207,
      -0.10795920261208537,
      -0.053153233437925676,
      0.02868972230975384,
      0.03299964446342921
    ],
    "ay_ego": [
      0.2562377272919115,
      0.25520086271325665,
      0.25564901059586626,
      0.15213281184782845,
      0.15299023647291043,
      0.03402976866701099,
      -0.1471732106521374,
      -0.34520523043732526,
      -0.17288407909066028,
      -0.17211341690056564
    ],
    "a_ego": [
      0.26186196361068953,
      0.2618619591874261,
      0.27792508985136044,
      0.4433289981275368,
      0.42032218647536995,
      0.2770854157105015,
      0.18252436374987235,
      0.3492734134545506,
      0.17524840932013183,
      0.1752484088712381
    ],
    "yaw": [
      1.1127038166661323,
      1.131108899337837,
      1.1518464283610315,
      1.172337674949716,
      1.1850570904699873,
      1.194818902584792,
      1.193303190827848,
      1.167097223729344,
      1.1471255032848187,
      1.1221415752590589
    ],
    "yaw_diff": [
      0.03681016534340964,
      0.041475058046388735,
      0.04098249317736924,
      0.025438831040542453,
      0.019523624229609293,
      -0.0030314235138879653,
      -0.05241193419700796,
      -0.03994344088905066,
      -0.049967856051519544,
      -0.049967856051519544
    ],
    "min_front_frame": [
      3,
      19.228798390754733
    ],
    "v_avg": 5.826296770578076,
    "v_std": 0.2715380746427761,
    "vy_max": 0.030673839655401824,
    "a_max": 0.4433289981275368,
    "ax_avg": -0.11786645971131884,
    "a_std": 0.09122644374762012,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "eed801b1cd035275",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.202023201645233,
    "right_rear_min": 12.3362919738661,
    "speed_mode": "quasi_constant",
    "front_frame": [
      28.41590441368639,
      25.352555648146247,
      22.245589104109115,
      19.228798390754733,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "eed801b1cd035275",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0d9243e74a1a501a": {
    "vx_ego": [
      0.8303482541489595,
      1.1403748480137867,
      1.6116522914403313,
      2.2384696651427274,
      2.832651323282179,
      3.369990890706008,
      3.800337727134559,
      4.052554513558614,
      4.2215539390107235,
      4.408421049105995
    ],
    "vy_ego": [
      -0.02250798260613912,
      -0.007170374334712903,
      0.006010082750043999,
      0.009600846688180953,
      0.019861228488943894,
      0.028550993676542014,
      0.02062610874719062,
      0.02387512607272191,
      0.027732024295704427,
      0.014390284035189271
    ],
    "v_ego": [
      0.8306532564489368,
      1.1403973904962108,
      1.6116634976320376,
      2.2384902541716203,
      2.832720951256825,
      3.3701118323701653,
      3.8003937002163757,
      4.052624841631567,
      4.221645025952383,
      4.408444535941834
    ],
    "ax_ego": [
      0.6200470086159474,
      0.6200345568100228,
      1.2650782135913077,
      1.2422018000882904,
      1.134521533890595,
      1.0148369204021028,
      0.7065617077980598,
      0.30229517916157383,
      0.37371952683964893,
      0.37370877644831857
    ],
    "ay_ego": [
      0.02972404804183676,
      0.029982633929441005,
      0.01831976003488911,
      -0.005829497073657541,
      0.04792309137092926,
      -0.013181300294442144,
      -0.02012342762820274,
      0.035793868692593905,
      -0.02248725161976231,
      -0.022665104981497097
    ],
    "a_ego": [
      0.6207590610901932,
      0.6207590595198336,
      1.2652108520365726,
      1.2422154785618802,
      1.1355332375355707,
      1.0149225200421341,
      0.7068482151537333,
      0.30440692564445815,
      0.37439546101236537,
      0.3743954548045711
    ],
    "yaw": [
      -0.5915637308545957,
      -0.5919807730480937,
      -0.5928336922934071,
      -0.5930765425957579,
      -0.5929733576823919,
      -0.5929747419376787,
      -0.5930854835214292,
      -0.5929173672012087,
      -0.5930458133099494,
      -0.5925698789883911
    ],
    "yaw_diff": [
      -0.000834084386996059,
      -0.0017058384906267765,
      -0.00048570060470165544,
      0.00020636982673205573,
      -2.7685105736807714e-06,
      -0.00022148316750092434,
      0.0003362326404410254,
      -0.00025689221748148583,
      0.0009518686431166934,
      0.0009518686431166934
    ],
    "min_front_frame": [
      8,
      23.656746391285154
    ],
    "v_avg": 2.850714528611795,
    "v_std": 1.258508948620756,
    "vy_max": 0.028550993676542014,
    "a_max": 1.2652108520365726,
    "ax_avg": 0.7653005223645868,
    "a_std": 0.3521327954937384,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "0d9243e74a1a501a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      28.480525890025664,
      27.953511669091764,
      27.2675625907708,
      26.25611283695242,
      24.958470168622494,
      29.370215711434593,
      27.629824096462713,
      25.678091722797106,
      23.656746391285154,
      29.226375095238012
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "0d9243e74a1a501a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b0cc2b2b400d5661": {
    "vx_ego": [
      2.936569486426006,
      2.6877278261100965,
      2.4041858476471845,
      2.034142647362379,
      1.5339409273617621,
      1.0126501073559555,
      0.7151140400046295,
      0.7827588550422542,
      1.1305639634867775,
      1.559635998887631
    ],
    "vy_ego": [
      -0.006730720391055378,
      0.00208942932601186,
      -0.007900771867216161,
      -0.012340003188339388,
      -0.007858493292400737,
      -0.01811255095877179,
      -0.025010768846162434,
      -0.01530798269673267,
      0.0040240434050911045,
      0.03217232052015084
    ],
    "v_ego": [
      2.9365771999396304,
      2.6877286382671546,
      2.4041988295944052,
      2.0341800769590472,
      1.5339610570520652,
      1.012812077549563,
      0.7155512761291248,
      0.7829085256154158,
      1.1305711249011525,
      1.5599677904475688
    ],
    "ax_ego": [
      -0.4976822381397495,
      -0.49769540405691914,
      -0.6364539285003734,
      -0.8438115530162317,
      -1.1570092599933157,
      -0.9281945882502242,
      -0.2620018808322041,
      0.5324701140384493,
      0.85869210898579,
      0.8584041076216975
    ],
    "ay_ego": [
      0.011054260005377153,
      0.0104444818845299,
      -0.058708822500096514,
      0.03121183396435534,
      -0.020199205577339008,
      -0.02488883886617138,
      -0.004392867575402359,
      0.040404137359542264,
      0.01880299900116994,
      0.029121812489924404
    ],
    "a_ego": [
      0.4978049887496677,
      0.4978049843274134,
      0.6391559504087452,
      0.8443886046028116,
      1.1571855666297588,
      0.9285282160263679,
      0.2620387048608421,
      0.5340008582950855,
      0.8588979513340929,
      0.8588979519969187
    ],
    "yaw": [
      2.55864067549728,
      2.5574154689175543,
      2.5566056197981304,
      2.55552101889195,
      2.554573035281598,
      2.5537551984181475,
      2.55321432200837,
      2.5521368250624015,
      2.547190524647959,
      2.535171755823873
    ],
    "yaw_diff": [
      -0.002450413159451159,
      -0.0016196982388478887,
      -0.0021692018123609103,
      -0.0018959672207037315,
      -0.00163567372690121,
      -0.0010817528195552484,
      -0.0021549938919367406,
      -0.0098926008288851,
      -0.02403753764817207,
      -0.02403753764817207
    ],
    "min_front_frame": [
      9,
      11.756042715007137
    ],
    "v_avg": 1.679845659645513,
    "v_std": 0.7590844401327325,
    "vy_max": 0.03217232052015084,
    "a_max": 1.1571855666297588,
    "ax_avg": -0.25732825221430816,
    "a_std": 0.25234955974215756,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b0cc2b2b400d5661",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.797254496739562,
      14.577613822442126,
      14.103929354648452,
      13.684222787930587,
      13.467876596942226,
      13.347996808404966,
      13.186338776430388,
      12.977923476378196,
      12.488541047585203,
      11.756042715007137
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b0cc2b2b400d5661",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2ae2e400efe35400": {
    "vx_ego": [
      4.062018252795784,
      3.783020560150007,
      3.4911881169654366,
      3.1782567805470103,
      2.847236591258877,
      2.538766690229556,
      2.270622829567518,
      2.028077165766839,
      1.816283048279524,
      1.6176052988141594
    ],
    "vy_ego": [
      0.030831537442574275,
      0.022486527304866666,
      0.0307048453973906,
      0.03809624174659887,
      0.035976012352008535,
      0.02452692377771859,
      0.01588207689344978,
      0.016118857033024292,
      0.011265490238209108,
      0.014526266558399614
    ],
    "v_ego": [
      4.062135259902997,
      3.7830873902710604,
      3.491323138234493,
      3.178485093047986,
      2.847463868088272,
      2.5388851642815853,
      2.27067837320032,
      2.0281412198998634,
      1.816317985028466,
      1.6176705212037992
    ],
    "ax_ego": [
      -0.5580680986338374,
      -0.5580758526175923,
      -0.6093321988397358,
      -0.6425533607060223,
      -0.6814898529094264,
      -0.5522478057532623,
      -0.5203237249604549,
      -0.4498592657290047,
      -0.3973633780397685,
      -0.3973613988115102
    ],
    "ay_ego": [
      -0.005779877413817802,
      -0.004975138744555074,
      0.0525482624741182,
      -0.010323375187557493,
      -0.001311442059910073,
      -0.05477176565770944,
      0.019336476101191158,
      -0.018353240598111276,
      0.007386686836894862,
      0.007492932798655844
    ],
    "a_ego": [
      0.558098028750958,
      0.5580980283788683,
      0.6115938590534703,
      0.6426362839350629,
      0.6814911147614385,
      0.5549572823853706,
      0.5206828958826428,
      0.4502334954250865,
      0.39743202859055327,
      0.39743203860202975
    ],
    "yaw": [
      -2.496965106625319,
      -2.495523112139641,
      -2.4945144809203166,
      -2.493566610170807,
      -2.4938279021205414,
      -2.4947886283358027,
      -2.494877760062566,
      -2.494873544002939,
      -2.4937711718203994,
      -2.493503761833585
    ],
    "yaw_diff": [
      0.0028839889713561107,
      0.00201726243864897,
      0.0018957414990188326,
      -0.0005225838994684651,
      -0.0019214524305226632,
      -0.00017826345352656148,
      8.432119254386805e-06,
      0.0022047443650787812,
      0.0005348199736285864,
      0.0005348199736285864
    ],
    "min_front_frame": [
      9,
      10.084796310921826
    ],
    "v_avg": 2.7634188013158845,
    "v_std": 0.8049321386040735,
    "vy_max": 0.03809624174659887,
    "a_max": 0.6814911147614385,
    "ax_avg": -0.5366674937000615,
    "a_std": 0.09250193074167046,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2ae2e400efe35400",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.66232048754375,
    "right_rear_min": 9.67046085303321,
    "speed_mode": "decelerating",
    "front_frame": [
      12.234279927436145,
      11.970980812405056,
      11.816740128603879,
      11.591959070070692,
      11.288149524604005,
      11.096983934628364,
      10.831412929142724,
      10.59121531828301,
      10.314425775916632,
      10.084796310921826
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2ae2e400efe35400",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4f37ec7f0ac75960": {
    "vx_ego": [
      7.143843501555156,
      7.3095677058215225,
      7.458654474969678,
      7.598743019509781,
      7.739861111246647,
      7.879244444864091,
      7.975812248206343,
      8.006010443913638,
      7.9999264195515405,
      7.970929366741198
    ],
    "vy_ego": [
      -0.039200153942183624,
      -0.011586352938283695,
      0.014441358049834818,
      0.024845900516349273,
      0.02331539998374743,
      0.025263947859950342,
      0.004903881484256356,
      0.01643289172247009,
      0.040588431408620895,
      0.1457868082640119
    ],
    "v_ego": [
      7.143951051538702,
      7.309576888545829,
      7.4586684555493905,
      7.5987836391965455,
      7.7398962285850175,
      7.879284947822557,
      7.975813755767616,
      8.006027308720887,
      8.000029383633722,
      7.9722624620016775
    ],
    "ax_ego": [
      0.32336307778557805,
      0.3428745453650117,
      0.25476722958403236,
      0.301143463893038,
      0.2612488631144492,
      0.29634814297608253,
      0.09125426775237,
      0.02718865323990266,
      -0.0676177809177774,
      -0.05617653888421542
    ],
    "ay_ego": [
      0.5650959904238178,
      0.5534746651272782,
      0.6354987104604424,
      0.561110796345122,
      0.6487345789601807,
      0.8457262295997737,
      1.010117444825624,
      1.0196598351433235,
      0.5447313585227478,
      0.5460298648990871
    ],
    "a_ego": [
      0.651073850241305,
      0.6510738504939483,
      0.6846641163861359,
      0.6368145033057542,
      0.699362225472062,
      0.8961445627120782,
      1.014231035673859,
      1.0200222557716618,
      0.5489120305242753,
      0.5489120301858259
    ],
    "yaw": [
      1.646375210345643,
      1.6812581012140115,
      1.7179289157093505,
      1.7563067124082348,
      1.7959132620808238,
      1.8435223044734372,
      1.9044001300356068,
      1.9663780698202338,
      2.0121530489731905,
      2.033130733633145
    ],
    "yaw_diff": [
      0.06976578173673698,
      0.07334162899067787,
      0.0767555933977686,
      0.07921309934517806,
      0.09521808478522686,
      0.12175565112433917,
      0.12395587956925391,
      0.09154995830591339,
      0.04195536931990862,
      0.04195536931990862
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.708429412136195,
    "v_std": 0.29949974583921485,
    "vy_max": 0.1457868082640119,
    "a_max": 1.0200222557716618,
    "ax_avg": 0.17743939239084716,
    "a_std": 0.16791780344257165,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "4f37ec7f0ac75960",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 34.03120844051,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4f37ec7f0ac75960",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e82fe0d7d02054b8": {
    "vx_ego": [
      4.409214605708607,
      3.7869448677348947,
      3.1260744769119087,
      2.414036010713988,
      1.6356143590977632,
      1.0146662962150519,
      0.7851114744542629,
      0.886846129400144,
      1.202863206386953,
      1.5819564018422871
    ],
    "vy_ego": [
      0.014567432310851114,
      -0.006042442253931135,
      -0.004331003946272505,
      0.0057541434169505745,
      0.007417225157347218,
      -0.0018160364118022243,
      -0.0007446735999659393,
      0.0013409257180442835,
      -0.000848836197344216,
      -0.0025408761328330476
    ],
    "v_ego": [
      4.409238670028902,
      3.7869496883866907,
      3.126077477094137,
      2.4140428685486035,
      1.6356311769209528,
      1.0146679213728107,
      0.7851118276134408,
      0.8868471431502716,
      1.2028635058901702,
      1.58195844236861
    ],
    "ax_ego": [
      -1.2446265374002752,
      -1.2445382707987414,
      -1.3988905555933315,
      -1.4492462882647428,
      -1.6645534800330957,
      -0.8192466478767853,
      -0.09895355067519404,
      0.5058793029417018,
      0.7581898674943297,
      0.7581892602622164
    ],
    "ay_ego": [
      0.00913731503676063,
      0.017412304115836164,
      0.021563853338857686,
      0.04291903554085308,
      -0.02023330596163264,
      -0.010776353180730336,
      0.018216321647454646,
      -0.007045435713260745,
      -0.0002457838245407129,
      -0.0009978403404304337
    ],
    "a_ego": [
      1.244660077341231,
      1.244660072396212,
      1.3990567487772037,
      1.449881666778669,
      1.664676447409654,
      0.8193175207727619,
      0.10061629870747442,
      0.5059283618351236,
      0.7581899073324292,
      0.758189916882513
    ],
    "yaw": [
      2.2297301157356664,
      2.236378900654577,
      2.2386899044923174,
      2.2408638278095734,
      2.242817462204262,
      2.244031788563146,
      2.2450055781861877,
      2.245935539711187,
      2.2462976717379153,
      2.2472895730956743
    ],
    "yaw_diff": [
      0.013297569837821044,
      0.0046220076754810435,
      0.0043478466345119315,
      0.003907268789377305,
      0.002428652717767932,
      0.001947579246083464,
      0.001859923049998713,
      0.0007242640534563805,
      0.0019838027155181237,
      0.0019838027155181237
    ],
    "min_front_frame": [
      4,
      10.493930652919174
    ],
    "v_avg": 2.084338872137459,
    "v_std": 1.2245351574592798,
    "vy_max": 0.014567432310851114,
    "a_max": 1.664676447409654,
    "ax_avg": -0.5897796899943918,
    "a_std": 0.46102487486341936,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e82fe0d7d02054b8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 25.607639602358343,
    "right_rear_min": 3.9036077886248144,
    "speed_mode": "decelerating",
    "front_frame": [
      14.533103208960775,
      13.143989974714499,
      11.803142659506724,
      10.869146932381303,
      10.493930652919174,
      10.818678658401788,
      11.4173826694562,
      12.023479187149944,
      12.689334945877787,
      12.865069890267524
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e82fe0d7d02054b8",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "14618f22bb605676": {
    "vx_ego": [
      3.862802349279142,
      3.440747729748288,
      3.0915626640571707,
      2.8478816753941545,
      2.586342620427639,
      2.12465829790495,
      1.506886529970976,
      0.883755784951477,
      0.3280988527230236,
      -0.16133948450646837
    ],
    "vy_ego": [
      -0.09136249641918548,
      -0.026168918615954384,
      -0.007912938480444609,
      -0.0017457413232311314,
      -0.008320154219775944,
      -0.018176856363513738,
      -0.018845194666168408,
      -0.023802855185463434,
      -0.006707919025409292,
      -8.613708183530244e-05
    ],
    "v_ego": [
      3.863882645131501,
      3.440847243350034,
      3.091572790730903,
      2.847882210460711,
      2.5863560031841613,
      2.124736049716204,
      1.5070043648145066,
      0.8840762768846256,
      0.32816741662726934,
      0.16133950750020845
    ],
    "ax_ego": [
      -0.8440812261720713,
      -0.8440065396444365,
      -0.5527437280804246,
      -0.42200123409570484,
      -0.6241466796620996,
      -1.2224676506875842,
      -1.2486177792779303,
      -1.2437559426154392,
      -0.9788766567381288,
      -0.9788754669873287
    ],
    "ay_ego": [
      0.13420971081071087,
      0.1346785639914051,
      -0.05697832767439076,
      0.07879965701213296,
      -0.10635317862750254,
      0.07523868105909037,
      -0.06988796061896985,
      0.05488684632552299,
      0.01321452032666448,
      0.013302623973216965
    ],
    "a_ego": [
      0.854684364459794,
      0.854684359609653,
      0.5556727083066224,
      0.4292952684616122,
      0.633143014126664,
      1.2247808032889531,
      1.250572143368158,
      1.244966429543697,
      0.9789658485638201,
      0.9789658521492125
    ],
    "yaw": [
      -2.1134327822202907,
      -2.1128773002304566,
      -2.1125153282435565,
      -2.1127563626758104,
      -2.112870850389836,
      -2.1120157770396846,
      -2.1109129887591855,
      -2.1099023857953307,
      -2.110023883300685,
      -2.10993387781813
    ],
    "yaw_diff": [
      0.0011109639796682558,
      0.0007239439738002673,
      -0.00048206886450774533,
      -0.0002289754280511147,
      0.0017101467003026727,
      0.002205576560998068,
      0.0020212059277096017,
      -0.00024299501070856877,
      0.00018001096511000014,
      0.00018001096511000014
    ],
    "min_front_frame": [
      8,
      10.209694298626783
    ],
    "v_avg": 2.0835864508400124,
    "v_std": 1.2415340203284861,
    "vy_max": 0.09136249641918548,
    "a_max": 1.250572143368158,
    "ax_avg": -0.8959572903961149,
    "a_std": 0.2784415657450792,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "14618f22bb605676",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.585741833483994,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.126323421947985,
      14.180460325272954,
      13.545183366569159,
      12.8394819583868,
      12.039159786283122,
      11.26864810312531,
      10.564849294005732,
      10.275328147825805,
      10.209694298626783,
      10.328026923146359
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "14618f22bb605676",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9d7ec713a2fb5e44": {
    "vx_ego": [
      4.45061444565918,
      4.298815736094016,
      4.169356093996866,
      4.075272442100862,
      4.1062274663852385,
      4.35212476902587,
      4.740282038468178,
      5.177878018263335,
      5.657724913516301,
      6.293093164931042
    ],
    "vy_ego": [
      0.05982341219535803,
      -0.07702932171565857,
      -0.09524415668538477,
      -0.13880747013286165,
      -0.1258754635993078,
      -0.05704280217644575,
      -0.026536626450875844,
      -0.004086552721850323,
      0.06483164164154509,
      0.06886318936515945
    ],
    "v_ego": [
      4.451016488910916,
      4.299505814543517,
      4.170443823855144,
      4.077635710937333,
      4.108156355110267,
      4.352498579718163,
      4.74035631538046,
      5.177879630884421,
      5.658096352907131,
      6.2934699269442245
    ],
    "ax_ego": [
      -0.3376929564238616,
      -0.2712025209276537,
      -0.27431362118215435,
      -0.15874006458526618,
      0.20439267512819614,
      0.7315020418537981,
      0.8272280391950209,
      0.9511452253177625,
      1.0306382192168502,
      1.538662125909902
    ],
    "ay_ego": [
      -0.8999373579578936,
      -0.9221566922684787,
      -1.1399059309493516,
      -1.2253998086609386,
      -1.304075306465002,
      -1.523859416266668,
      -1.9202353596871125,
      -2.2995821277620663,
      -2.580207073115421,
      -2.313482774131677
    ],
    "a_ego": [
      0.9612095406655731,
      0.9612095361850382,
      1.1724476509335393,
      1.2356387413685277,
      1.31999574642415,
      1.6903380602059654,
      2.0908395599431184,
      2.4885247039094245,
      2.778431874109086,
      2.7784318749815657
    ],
    "yaw": [
      -2.1598137102891184,
      -2.2327637762530204,
      -2.3500700410996958,
      -2.483217867850498,
      -2.6423972526528487,
      -2.8282078513274334,
      -3.024199826252784,
      3.0419023542976813,
      2.804689304159324,
      2.597806296759143
    ],
    "yaw_diff": [
      -0.14590013192780393,
      -0.23461252969335078,
      -0.26629565350160433,
      -0.31835876960470166,
      -0.3716211973491692,
      -0.39198394985070095,
      -0.43416625325824043,
      -0.4744261002767143,
      -0.41376601480036257,
      -0.41376601480036257
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.732905899919158,
    "v_std": 0.7097503921313885,
    "vy_max": 0.13880747013286165,
    "a_max": 2.7784318749815657,
    "ax_avg": 0.42416191635025935,
    "a_std": 0.6933873523603238,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "9d7ec713a2fb5e44",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.821172349701315,
    "right_rear_min": 26.39467431816457,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9d7ec713a2fb5e44",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "396a8c19c4ac58f3": {
    "vx_ego": [
      0.5506746268692587,
      0.2861405163541032,
      0.06696656567318361,
      -0.020450633346742922,
      -0.016500750560295534,
      -0.00927668886142598,
      -0.005466245542883719,
      -0.0037364336962164646,
      -0.0026112508990305283,
      -0.0017315794641514554
    ],
    "vy_ego": [
      0.010574266102879815,
      0.0010984781080502493,
      -0.011370983329292175,
      -0.013662857234364546,
      -0.006120080571358218,
      -0.002975139840076164,
      -0.0016287815807976222,
      -0.0010304882421877874,
      -0.0007719515372453497,
      -0.0006873671457555103
    ],
    "v_ego": [
      0.5507761430755801,
      0.2861426248456295,
      0.06792510713967151,
      0.024594757004075915,
      0.01759915211744616,
      0.009742094913298334,
      0.005703750500595351,
      0.0038759312150126075,
      0.0027229653750173175,
      0.0018630193326251657
    ],
    "ax_ego": [
      -0.5290671063493195,
      -0.5290564474958743,
      -0.3476463471433416,
      -0.002034065182907458,
      0.017833284500947504,
      0.011063058727093775,
      0.00417834269543467,
      0.002741278727209047,
      0.0017593869318896361,
      0.0017593986222896078
    ],
    "ay_ego": [
      -0.0192657580850783,
      -0.01955621667317725,
      -0.030607857488324675,
      0.021452542427096644,
      0.008719342978258188,
      0.003860118421343806,
      0.0015265097962105676,
      0.0008653204121358085,
      0.00016905190483106807,
      0.0001689852625220543
    ],
    "a_ego": [
      0.5294177674157101,
      0.5294177653304837,
      0.34899115120893015,
      0.021548758612845845,
      0.019850767694581356,
      0.011717157617183593,
      0.0044484581416957365,
      0.002874611012973362,
      0.0017674900063737388,
      0.0017674952704503108
    ],
    "yaw": [
      2.4179052579296725,
      2.417356247887491,
      2.4168912011280606,
      2.4167386573827248,
      2.4167295054935716,
      2.416735952214509,
      2.416690394693767,
      2.416766984892069,
      2.4167494245175476,
      2.416783877090092
    ],
    "yaw_diff": [
      -0.001098020084363327,
      -0.0009300935188605308,
      -0.00030508749067159613,
      -1.8303778306361096e-05,
      1.2893441875050371e-05,
      -9.111504148417993e-05,
      0.00015318039660439098,
      -3.512074904321594e-05,
      6.890514508839374e-05,
      6.890514508839374e-05
    ],
    "min_front_frame": [
      9,
      7.9836316573904
    ],
    "v_avg": 0.0970945545518952,
    "v_std": 0.1722324702583839,
    "vy_max": 0.013662857234364546,
    "a_max": 0.5294177674157101,
    "ax_avg": -0.13684692159665784,
    "a_std": 0.2160488874399889,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "396a8c19c4ac58f3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.581586915324539,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.28020662400234,
      8.090366746764207,
      8.03032557578691,
      8.061922956926267,
      8.05437830236359,
      8.006977515332279,
      7.984999492605403,
      7.9926161987386015,
      7.996453368718493,
      7.9836316573904
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "396a8c19c4ac58f3",
    "pedestrians": "No"
  },
  "13ff352834f25320": {
    "vx_ego": [
      7.966625071268543,
      7.965370519034206,
      7.994642186073165,
      8.027996479822432,
      8.061579408774616,
      8.08637202542643,
      8.071472958509425,
      8.050607960825694,
      7.978646173854248,
      7.857788802750388
    ],
    "vy_ego": [
      0.04059567664232544,
      0.04265524000270915,
      0.038416640303179594,
      0.0033602810600732447,
      0.0029081965564743406,
      0.03065006761240463,
      0.0424819021809939,
      0.03357621253718657,
      0.010158253336244094,
      0.005380773742853506
    ],
    "v_ego": [
      7.966728502661965,
      7.965484729443585,
      7.994734487248022,
      8.027997183079362,
      8.061579933337267,
      8.086430112246305,
      8.071584753439797,
      8.050677977720781,
      7.978652640494501,
      7.857790645044919
    ],
    "ax_ego": [
      -0.008458436600131847,
      -0.0003042531285738087,
      0.11336376523745169,
      0.01723047127147439,
      0.11814929497292515,
      -0.02083126536100105,
      -0.04099670851651367,
      -0.04485015938270017,
      -0.2435826338655515,
      -0.2402789000106632
    ],
    "ay_ego": [
      0.3624267479534785,
      0.3625253090485642,
      0.31982568109427983,
      0.2208051629708318,
      0.3612272831597956,
      0.2608570517675508,
      0.22242795576174135,
      0.13147477259560253,
      0.22221662190695124,
      0.22578480261336198
    ],
    "a_ego": [
      0.3625254374272965,
      0.3625254367223399,
      0.3393225744866263,
      0.22147643020152888,
      0.38005842445814353,
      0.2616874912436571,
      0.22617454678529844,
      0.1389141915922164,
      0.3297161302887929,
      0.32971613075718503
    ],
    "yaw": [
      -1.296358105622936,
      -1.2738632683533078,
      -1.2519170259364838,
      -1.2307029465126456,
      -1.2125315029539743,
      -1.1967397519306555,
      -1.1832535758200766,
      -1.1711739478889003,
      -1.1572627045208395,
      -1.1425142072106511
    ],
    "yaw_diff": [
      0.04498967453925662,
      0.04389248483364794,
      0.04242815884767648,
      0.03634288711734257,
      0.03158350204663751,
      0.02697235222115779,
      0.02415925586235268,
      0.027822486736121643,
      0.029496994620376693,
      0.029496994620376693
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.00616609647165,
    "v_std": 0.06508744433673345,
    "vy_max": 0.04265524000270915,
    "a_max": 0.38005842445814353,
    "ax_avg": -0.035055882538328406,
    "a_std": 0.07506259254255569,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "13ff352834f25320",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "13ff352834f25320",
    "merging_vehicles": "No"
  },
  "d422c9b6689c52bf": {
    "vx_ego": [
      12.42806817113648,
      12.362633212010232,
      12.324938892275737,
      12.284300678779672,
      12.154709420997786,
      12.00324075632776,
      11.834016290847835,
      11.58782738652274,
      11.228428198569711,
      10.778296891072188
    ],
    "vy_ego": [
      0.011570451075791686,
      0.014531053783526676,
      0.016187661329601394,
      0.013000315705831988,
      0.03446076207864149,
      0.037632981368749374,
      -0.0021340729744635245,
      -0.03783198096066341,
      0.009110004794391252,
      0.086666561593607
    ],
    "v_ego": [
      12.428073557142868,
      12.362641751916234,
      12.32494952276521,
      12.284307557810296,
      12.154758272093089,
      12.003299750304269,
      11.834016483270565,
      11.587889143352633,
      11.228431894197106,
      10.778645321421187
    ],
    "ax_ego": [
      -0.13210931259099937,
      -0.13009024376577008,
      -0.021502451265760936,
      -0.14114358455349396,
      -0.37736757446431163,
      -0.2284201620982618,
      -0.4482731625419873,
      -0.536618130363262,
      -0.901556554048627,
      -0.8946148835764806
    ],
    "ay_ego": [
      0.22612158197381038,
      0.22728916918263792,
      0.03273707421464162,
      0.06984660132655691,
      0.11491285705769176,
      -0.1182998851173866,
      -0.15201039417468107,
      -0.2655660649546103,
      -0.31118486031464365,
      -0.3306122387876166
    ],
    "a_ego": [
      0.261885166261102,
      0.2618851617613554,
      0.039167224034533994,
      0.15748034536881192,
      0.3944759193844908,
      0.2572365317597465,
      0.4733455272763617,
      0.598735628378702,
      0.9537506159563301,
      0.9537506185333354
    ],
    "yaw": [
      -1.5695473666403414,
      -1.560641317384774,
      -1.5555035458810118,
      -1.5531631037380886,
      -1.551144216982112,
      -1.5514774555197879,
      -1.5538054519816114,
      -1.5596659036673173,
      -1.5763526100410197,
      -1.5979837541681974
    ],
    "yaw_diff": [
      0.017812098511134966,
      0.010275543007524313,
      0.004680884285846343,
      0.004037773511953446,
      -0.0006664770753519456,
      -0.004655992923646934,
      -0.01172090337141185,
      -0.033373412747404796,
      -0.04326228825435541,
      -0.04326228825435541
    ],
    "min_front_frame": [
      8,
      22.198602925477687
    ],
    "v_avg": 11.898701325427345,
    "v_std": 0.5202822566197965,
    "vy_max": 0.086666561593607,
    "a_max": 0.9537506185333354,
    "ax_avg": -0.3811696059268955,
    "a_std": 0.2988919767681269,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d422c9b6689c52bf",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.075224405718849,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      77.06276319149727,
      22.198602925477687,
      26.42230041862873
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.6666666666666666,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d422c9b6689c52bf",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "7b6749c7b2795906": {
    "vx_ego": [
      6.809084945580116,
      6.307197410369948,
      5.762775997343707,
      5.155400065300753,
      4.541595904850344,
      3.960342450237467,
      3.418095499244182,
      2.8860024658795673,
      2.3416501609608646,
      1.795573033475426
    ],
    "vy_ego": [
      -0.0398761989964318,
      -0.02268785960495645,
      -0.036685181827623925,
      -0.02882289657873338,
      -0.015845088515772154,
      -0.016851847794459696,
      -0.012112219135874236,
      0.0006495302006666037,
      0.016313834526110682,
      0.031633605313136526
    ],
    "v_ego": [
      6.809201708524442,
      6.3072382159191385,
      5.762892763025048,
      5.155480636436354,
      4.541623545581854,
      3.9603783036380493,
      3.4181169593514102,
      2.8860025389719297,
      2.341706987973728,
      1.795851665235537
    ],
    "ax_ego": [
      -1.0038264030595552,
      -1.003847619069835,
      -1.1732051474730616,
      -1.2559981888521055,
      -1.1989360111564211,
      -1.1259614642877238,
      -1.0430775213399204,
      -1.0853399879763346,
      -1.0919894476287277,
      -1.0920430321705654
    ],
    "ay_ego": [
      0.021839550756298287,
      0.020841858754591325,
      0.04180864404967455,
      0.04012690845286593,
      0.06541910730611211,
      -0.004537461400100473,
      0.012133048183388562,
      0.015756341508496585,
      0.02046639488904123,
      0.017372966283317748
    ],
    "a_ego": [
      1.0040639488880783,
      1.004063954829832,
      1.1739498629731,
      1.2566390170537258,
      1.2007194586781704,
      1.1259706069062871,
      1.0431480845895527,
      1.085454352701302,
      1.092181224455103,
      1.0921812139337337
    ],
    "yaw": [
      0.8645359216699832,
      0.8635420452314885,
      0.8684395229943201,
      0.8707471825067308,
      0.873516791499054,
      0.8773422834378326,
      0.8765701065976401,
      0.874736470641502,
      0.8722089449090586,
      0.869376171670968
    ],
    "yaw_diff": [
      -0.0019877528769893793,
      0.00979495552566334,
      0.004615319024821263,
      0.005539217984646516,
      0.007650983877557138,
      -0.001544353680384969,
      -0.0036672719122763375,
      -0.005055051464886606,
      -0.005665546476181227,
      -0.005665546476181227
    ],
    "min_front_frame": [
      9,
      10.34792056123368
    ],
    "v_avg": 4.297849332465749,
    "v_std": 1.6202918356357818,
    "vy_max": 0.0398761989964318,
    "a_max": 1.2566390170537258,
    "ax_avg": -1.1074224823014251,
    "a_std": 0.07885585991053772,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "7b6749c7b2795906",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.83807404154492,
      25.387143871324728,
      22.915411195514885,
      20.455607823633418,
      18.298791959623884,
      16.128545217979987,
      14.265333960266684,
      12.682336581651455,
      11.361463232926548,
      10.34792056123368
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7b6749c7b2795906",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "446dbb38653a51a8": {
    "vx_ego": [
      4.156087657645429,
      4.097734197909749,
      4.093624878522562,
      4.127897317902418,
      4.185031982217174,
      4.222392511330867,
      4.260077939308792,
      4.2913081026776485,
      4.3106253419762695,
      4.353868348742156
    ],
    "vy_ego": [
      -0.037892783985493006,
      -0.01156919025929426,
      -0.02802959751933476,
      -0.026133903509381273,
      -0.02237417568773603,
      -0.026282511411419907,
      -0.021675430001479895,
      -0.035189037502554754,
      -0.07033185388005947,
      0.0009146192042408519
    ],
    "v_ego": [
      4.156260396210858,
      4.097750529605519,
      4.093720838600986,
      4.127980044532509,
      4.1850917906204055,
      4.222474308998111,
      4.260133081636206,
      4.291452376581522,
      4.311199068537457,
      4.353868444809402
    ],
    "ax_ego": [
      -0.19454228863110834,
      -0.023836090831660495,
      0.01630999690680479,
      0.1491529934660335,
      0.09357397217345104,
      0.07623992223847814,
      0.09164122889478098,
      0.0385591808639774,
      0.04831159661470194,
      0.13723978567928935
    ],
    "ay_ego": [
      1.2028488337387189,
      1.2182462264670808,
      1.178282227822091,
      1.332830383886547,
      1.3180836356951677,
      1.3763812740349899,
      1.3956460231513343,
      1.2355476969809562,
      0.9551399603185987,
      0.9464626811106045
    ],
    "a_ego": [
      1.2184793879637135,
      1.2184793915070606,
      1.1783951053871915,
      1.341150046665562,
      1.3214009834095437,
      1.3784911814215972,
      1.3986514708001707,
      1.236149231259659,
      0.956360995735855,
      0.9563610016664059
    ],
    "yaw": [
      2.187357521047294,
      2.3281402277844876,
      2.4783444756537434,
      2.6309199641557877,
      2.7888669182811365,
      2.9496097953273637,
      3.111639227508731,
      -3.015102608077137,
      -2.879763305616626,
      -2.786301670248486
    ],
    "yaw_diff": [
      0.2815654134743868,
      0.3004084957385116,
      0.30515097700408855,
      0.31589390825069774,
      0.3214857540924543,
      0.32405886436273423,
      0.31288694318743726,
      0.2706786049210219,
      0.1869232707362798,
      0.1869232707362798
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.209993088013297,
    "v_std": 0.08752098508436153,
    "vy_max": 0.07033185388005947,
    "a_max": 1.3986514708001707,
    "ax_avg": 0.04326502973747483,
    "a_std": 0.14933224554790842,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "446dbb38653a51a8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "446dbb38653a51a8",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "a584a676d2b859c7": {
    "vx_ego": [
      3.678665910277793,
      3.5143211111054358,
      3.5245190451465547,
      3.6493770782301964,
      3.7943435946686592,
      3.8240771570235084,
      3.674079150312364,
      3.5868503631776436,
      3.6615264522925566,
      3.7679331873262765
    ],
    "vy_ego": [
      -0.08759663305159293,
      -0.032080463763677125,
      0.003660435804846429,
      -0.015553183951985683,
      -0.04995589594165578,
      -0.07877373795862465,
      -0.047756004726731305,
      -0.003732744475123728,
      0.013956501040885194,
      -0.011791711198076982
    ],
    "v_ego": [
      3.679708690856101,
      3.5144675312366505,
      3.5245209459430176,
      3.6494102209320083,
      3.7946724372391376,
      3.8248884172823883,
      3.674389505584225,
      3.5868523054635117,
      3.661553050927901,
      3.7679516383053184
    ],
    "ax_ego": [
      -0.42446754860798563,
      -0.18631964928320732,
      0.2328781868030736,
      0.2813311597408415,
      0.298652919327301,
      -0.15845526126324905,
      -0.4324317712815482,
      0.08659253807335757,
      0.2054646868301792,
      0.21971799744025222
    ],
    "ay_ego": [
      1.3333474581443285,
      1.3868212376149462,
      1.3351602697849692,
      1.4362163672773032,
      1.1754572208527558,
      0.9535872844421708,
      0.6355648963463487,
      0.5192559373644771,
      0.30564544543611627,
      0.295565347248452
    ],
    "a_ego": [
      1.3992812955089533,
      1.399281300099758,
      1.355317378292243,
      1.463511077879611,
      1.212803877087142,
      0.9666627017071664,
      0.7687262024163364,
      0.5264266293969632,
      0.3682864046500571,
      0.36828640063577245
    ],
    "yaw": [
      -2.4064840705212127,
      -2.2318315053055366,
      -2.0463968075379393,
      -1.8481988682338863,
      -1.6639430545895566,
      -1.519078372811438,
      -1.422342136575704,
      -1.3537458530785615,
      -1.3015219550808006,
      -1.2541154384750164
    ],
    "yaw_diff": [
      0.34930513043135214,
      0.3708693955351947,
      0.3963958786081059,
      0.3685116272886595,
      0.289729363556237,
      0.19347247247146804,
      0.13719256699428506,
      0.1044477959955219,
      0.09481303321156842,
      0.09481303321156842
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.6678414743770262,
    "v_std": 0.10097446659290359,
    "vy_max": 0.08759663305159293,
    "a_max": 1.463511077879611,
    "ax_avg": 0.01229632577790148,
    "a_std": 0.4218158376708555,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "a584a676d2b859c7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "a584a676d2b859c7",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "774006a654915196": {
    "vx_ego": [
      7.755048734326094,
      7.791603998736486,
      7.836375039138965,
      7.873717270695018,
      7.879284141751262,
      7.828007785045061,
      7.709866422753745,
      7.570362142565285,
      7.4504683440502735,
      7.336711237545546
    ],
    "vy_ego": [
      -0.03432450074512072,
      0.07368522942517108,
      0.04791281738529163,
      0.01670560245247943,
      -0.019007566809975618,
      -0.04796430542667052,
      -0.04841635083637996,
      -0.053962552731818825,
      -0.050627243859859394,
      0.03469132024129307
    ],
    "v_ego": [
      7.755124695523866,
      7.791952411697714,
      7.836521510983685,
      7.873734992746092,
      7.879307068140506,
      7.828154728754481,
      7.710018443540452,
      7.570554466264871,
      7.4506403525815195,
      7.336793255287161
    ],
    "ax_ego": [
      0.04823569979513542,
      0.10307341589510566,
      0.07997412685318342,
      0.06967168926592086,
      -0.04767380702227199,
      -0.15927322314971956,
      -0.3151525460599265,
      -0.24440178938683726,
      -0.23749342791616965,
      -0.21867063920116458
    ],
    "ay_ego": [
      -0.8237402365743485,
      -0.8186882991423208,
      -0.5311011231303688,
      -0.29736021585393474,
      -0.2661038251582729,
      -0.1580360618900732,
      -0.11295785485402013,
      -0.22891521456761513,
      -0.44424787554387457,
      -0.45380883043639175
    ],
    "a_ego": [
      0.8251512952703219,
      0.8251512953494234,
      0.5370886928210911,
      0.3054132319626406,
      0.27034059561941765,
      0.22437325257308058,
      0.33478441460330255,
      0.33486476392123615,
      0.5037452761352892,
      0.5037452759388337
    ],
    "yaw": [
      1.1505888172359569,
      1.0838372338573574,
      1.0439704603089932,
      1.0215807843511961,
      1.0082555993395506,
      0.9984587544047154,
      0.9898182345222547,
      0.9793453603247678,
      0.9564919838671775,
      0.9145791910461459
    ],
    "yaw_diff": [
      -0.13350316675719887,
      -0.07973354709672842,
      -0.04477935191559412,
      -0.02665037002329118,
      -0.01959368986967025,
      -0.017281039764921458,
      -0.020945748394973762,
      -0.04570675291518067,
      -0.0838255856420631,
      -0.0838255856420631
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.703280192552034,
    "v_std": 0.17881244360373372,
    "vy_max": 0.07368522942517108,
    "a_max": 0.8251512953494234,
    "ax_avg": -0.09217105009267443,
    "a_std": 0.20560844527654934,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "774006a654915196",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "774006a654915196",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "155c42ad43525252": {
    "vx_ego": [
      4.439746586730057,
      4.3089467787003715,
      4.21683813667926,
      4.115806371031171,
      3.8557124175210236,
      3.4687519254132435,
      3.081055305717938,
      2.776827012837642,
      2.5881451100499477,
      2.446352561371231
    ],
    "vy_ego": [
      -0.01111329964625729,
      -0.0027186007691994973,
      -0.012074724601049969,
      -0.002788115858044282,
      0.005800894966648595,
      -0.0015593078668465488,
      -0.002522822338962616,
      -0.012129146514175737,
      -0.020096647004056667,
      -0.028293389390242285
    ],
    "v_ego": [
      4.439760495771165,
      4.308947636310106,
      4.2168554243567336,
      4.115807315389147,
      3.8557167812234643,
      3.4687522758910165,
      3.0810563385834433,
      2.7768535026932883,
      2.588223132942031,
      2.4465161700693434
    ],
    "ax_ego": [
      -0.26162195099113483,
      -0.26162479906198327,
      -0.10680664987382973,
      -0.29747498336660005,
      -0.7428333600478321,
      -0.8050354871558043,
      -0.7457447216736107,
      -0.4711898774901053,
      -0.28360202287111896,
      -0.2835967396148179
    ],
    "ay_ego": [
      0.0018680724121785397,
      0.0014150846550829987,
      -0.06229295527187742,
      0.07280989900519828,
      -0.05415022990099977,
      0.006763984803187573,
      -0.022921638958866675,
      -0.024143503314895204,
      -0.017838411610277216,
      -0.017922164463777646
    ],
    "a_ego": [
      0.26162862025196115,
      0.26162862601176534,
      0.12364494625246507,
      0.30625585238833586,
      0.7448044362101257,
      0.8050639024764437,
      0.746096904856609,
      0.47180802176463343,
      0.2841624822269266,
      0.2841624794008201
    ],
    "yaw": [
      1.101808449775414,
      1.100077012665493,
      1.0986953026337818,
      1.0971064904797294,
      1.0961355240766402,
      1.094913086062789,
      1.0939717226864527,
      1.093225525030411,
      1.0922748138098444,
      1.0919794907877352
    ],
    "yaw_diff": [
      -0.003462874219841705,
      -0.0027634200634225614,
      -0.003177624308104754,
      -0.0019419328061784924,
      -0.0024448760277024917,
      -0.0018827267526724256,
      -0.0014923953120833389,
      -0.001901422441133338,
      -0.0005906460442184347,
      -0.0005906460442184347
    ],
    "min_front_frame": [
      8,
      10.188253424583548
    ],
    "v_avg": 3.5298489073229744,
    "v_std": 0.7203379468053824,
    "vy_max": 0.028293389390242285,
    "a_max": 0.8050639024764437,
    "ax_avg": -0.42595305921468374,
    "a_std": 0.23448441809621837,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "155c42ad43525252",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.213272818683453,
    "right_rear_min": 27.23810603654291,
    "speed_mode": "decelerating",
    "front_frame": [
      18.232276945885108,
      18.29358763193843,
      18.39703943575216,
      18.442957376880454,
      18.62868047454816,
      19.15147568233166,
      19.900407325930367,
      21.03171827844248,
      10.188253424583548,
      10.864114146664837
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "155c42ad43525252",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cebdffcaf8595c9e": {
    "vx_ego": [
      2.791167355822288,
      2.578593351242957,
      2.3635565232856175,
      2.143110859032829,
      1.886667918878901,
      1.633615478212208,
      1.4049938602093652,
      1.218934091384788,
      1.1558810319484443,
      1.1610901182915516
    ],
    "vy_ego": [
      -0.008304162616353583,
      -0.01940328649408296,
      -0.023800979204091632,
      -0.018816015978429412,
      -0.01527918800532968,
      -0.010504234581682037,
      0.0003650335685333461,
      -0.004853899165586428,
      -0.00724214011526414,
      0.004804233104299005
    ],
    "v_ego": [
      2.7911797088909807,
      2.5786663527104774,
      2.363676358001888,
      2.143193457567872,
      1.8867297871483732,
      1.6336492492572108,
      1.4049939076293247,
      1.2189437556660145,
      1.155903719438453,
      1.1611000574670598
    ],
    "ax_ego": [
      -0.4250054971371108,
      -0.4247930245994508,
      -0.43437272462231147,
      -0.44618249889060935,
      -0.5789918587067268,
      -0.43269405585012266,
      -0.4817474899855102,
      -0.2625442385453306,
      0.010395724519224804,
      0.010449865632544422
    ],
    "ay_ego": [
      0.022609350201609507,
      0.026300986151689687,
      0.0532765045544725,
      0.0793286835750843,
      0.03750092297300894,
      0.046625181827468304,
      0.02532386155404842,
      -0.0326926926413863,
      0.028504927265374493,
      0.028485123560108638
    ],
    "a_ego": [
      0.42560645591121116,
      0.4256064562725769,
      0.43762775258586284,
      0.4531797241206015,
      0.5802050427844434,
      0.4351988666672669,
      0.48241262635978743,
      0.2645718982535591,
      0.030341423280457722,
      0.030341423103949643
    ],
    "yaw": [
      -2.3232241352182834,
      -2.314535929837809,
      -2.304710204311517,
      -2.2922187000300602,
      -2.2795825437107293,
      -2.2702497003385433,
      -2.265583507596892,
      -2.262954814622505,
      -2.2617917944410104,
      -2.2598917694152405
    ],
    "yaw_diff": [
      0.017376410760948424,
      0.019651451052584257,
      0.02498300856291369,
      0.02527231263866181,
      0.018665686744371968,
      0.00933238548330273,
      0.005257385948773674,
      0.0023260403629894455,
      0.0038000500515398272,
      0.0038000500515398272
    ],
    "min_front_frame": [
      7,
      11.130843973942602
    ],
    "v_avg": 1.8338036353777654,
    "v_std": 0.580064512614205,
    "vy_max": 0.023800979204091632,
    "a_max": 0.5802050427844434,
    "ax_avg": -0.3465485798185403,
    "a_std": 0.17854443217375982,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cebdffcaf8595c9e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.664988678530586,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.51812545022226,
      16.19086792160525,
      15.00891129836166,
      13.845075940368185,
      12.814117108861852,
      11.958802886388543,
      11.294076232001295,
      11.130843973942602,
      11.442683164330258,
      12.099749295649241
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cebdffcaf8595c9e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8569121235665be9": {
    "vx_ego": [
      6.973456150572679,
      3.377508831062526,
      1.2691635368697043,
      0.706464059897502,
      0.2659528854567627,
      0.01607492806184799,
      -0.03979533717491705,
      -0.02635950505044548,
      -0.01481072357826148,
      -0.006858785890989303
    ],
    "vy_ego": [
      -0.04648440646801706,
      -0.05229725321564126,
      -0.050415347628719895,
      -0.02419651576734385,
      0.001747136645769874,
      0.006618601069084499,
      0.0031456913917538914,
      0.0013257439331435428,
      0.0006021025127169609,
      0.00047850622919111017
    ],
    "v_ego": [
      6.973611079204562,
      3.3779136914076493,
      1.2701644738364168,
      0.7068783058646946,
      0.26595862416781474,
      0.017384164987288706,
      0.039919471880242724,
      0.026392822953991257,
      0.014822957206559378,
      0.0068754572291454645
    ],
    "ax_ego": [
      -7.191957677739133,
      -7.191947178318509,
      -1.2413564365974636,
      -1.0094691787306471,
      -0.7525796825148693,
      -0.24693105759060968,
      0.023451126623048192,
      0.030291692904342835,
      0.015903761782763096,
      0.01590373848117592
    ],
    "ay_ego": [
      -0.015620169617003049,
      -0.019873039214441307,
      0.02953052273305687,
      0.0747267260554518,
      0.028703654764363023,
      -0.009227395793612272,
      -0.0046521054713515204,
      -0.0026360901328936373,
      -0.00024875225774803345,
      -0.00025056089846310127
    ],
    "a_ego": [
      7.191974640395343,
      7.191974635203546,
      1.2417076364647357,
      1.0122312514411387,
      0.7531268673543742,
      0.24710340352967414,
      0.023908103755982374,
      0.030406177500628937,
      0.015905707042713026,
      0.015905712132484807
    ],
    "yaw": [
      1.5942127865579376,
      1.593621448946452,
      1.5939585557720894,
      1.593797400202544,
      1.5936078860306053,
      1.5935770351694019,
      1.5935105937211813,
      1.5935725436536656,
      1.5934431939574971,
      1.593556878133759
    ],
    "yaw_diff": [
      -0.00118267522297133,
      0.0006742136512749575,
      -0.00032231113909109155,
      -0.00037902834387715245,
      -6.170172240693717e-05,
      -0.00013288289644108886,
      0.00012389986496863514,
      -0.0002586993923370251,
      0.0002273683525237935,
      0.0002273683525237935
    ],
    "min_front_frame": [
      5,
      10.201395352862312
    ],
    "v_avg": 1.2699921048738365,
    "v_std": 2.1470757087805743,
    "vy_max": 0.05229725321564126,
    "a_max": 7.191974640395343,
    "ax_avg": -1.7548690891699903,
    "a_std": 2.742823866271672,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8569121235665be9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 24.743806369754072,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      14.224530290877016,
      11.64281502264892,
      10.863440934308676,
      10.402962957154221,
      10.213022731839713,
      10.201395352862312,
      10.210703781470205,
      10.22473860218571,
      10.228908696563886,
      10.206445261849572
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.8,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8569121235665be9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a8dacf347a605f0d": {
    "vx_ego": [
      6.312261934953039,
      6.604995618308337,
      6.8328856827731235,
      6.95124828092084,
      7.026479360437429,
      7.061827416558301,
      7.063404973632486,
      7.034756067355552,
      6.943180242782675,
      6.812806228505572
    ],
    "vy_ego": [
      0.11089779843468106,
      -0.10213562327671788,
      -0.06710388940008638,
      -0.08077845488699742,
      -0.06150807855021423,
      0.0035032251904589806,
      0.06397770366406386,
      0.050702925745000904,
      -0.0049237235972419136,
      -0.04758791943791385
    ],
    "v_ego": [
      6.313236021023983,
      6.6057852525959735,
      6.8332151792416544,
      6.951717616659847,
      7.026748568604125,
      7.061828285496698,
      7.063694710850849,
      7.0349387853679906,
      6.943181988600165,
      6.812972428921223
    ],
    "ax_ego": [
      0.5534309608251429,
      0.6137795432294859,
      0.3010502192879607,
      0.17677193384543916,
      0.1264741492465556,
      0.015444742747564993,
      -0.009405346540121168,
      -0.10531552477217547,
      -0.26098966319453065,
      -0.2607362159989371
    ],
    "ay_ego": [
      0.7200652334280924,
      0.6693687053803574,
      0.2263497756230713,
      0.17019726444518124,
      0.14551804313386701,
      0.21361361157275247,
      0.06485045999033033,
      -0.10672383823285465,
      -0.11522587681505045,
      -0.11579827631195316
    ],
    "a_ego": [
      0.9081738648473067,
      0.908173877310712,
      0.37665030924976545,
      0.2453883155736623,
      0.1927983695604037,
      0.21417122852449913,
      0.06552894554696577,
      0.14993777844556466,
      0.28529389580254205,
      0.2852939100826792
    ],
    "yaw": [
      -2.042062909926557,
      -1.9552496234030499,
      -1.9272998307823046,
      -1.9109687188845326,
      -1.9024402270582963,
      -1.8989305258079494,
      -1.8976367391543616,
      -1.8972392876259263,
      -1.89721942300651,
      -1.8994136540579705
    ],
    "yaw_diff": [
      0.1736265730470139,
      0.055899585241490524,
      0.032662223795544065,
      0.017056983652472546,
      0.007019402500693772,
      0.002587573307175628,
      0.0007949030568705773,
      3.972923883255319e-05,
      -0.004388462102920876,
      -0.004388462102920876
    ],
    "min_front_frame": [
      9,
      21.56469655128671
    ],
    "v_avg": 6.86473188373625,
    "v_std": 0.2285273109667665,
    "vy_max": 0.11089779843468106,
    "a_max": 0.908173877310712,
    "ax_avg": 0.11505047986763847,
    "a_std": 0.2838181374534159,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a8dacf347a605f0d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      52.51049517454257,
      46.62259134741224,
      45.92500204893628,
      42.48694692056764,
      38.932917747291114,
      35.40678277188588,
      31.92574039850612,
      28.449734036393536,
      24.973176567930253,
      21.56469655128671
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a8dacf347a605f0d",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "6c84b52f0d155cac": {
    "vx_ego": [
      7.559707798880842,
      7.400214809204666,
      7.232263577662605,
      7.023673421472913,
      6.80311879170169,
      6.436849430355142,
      5.858189573729481,
      5.244817464145868,
      4.71573073225931,
      4.258647112736965
    ],
    "vy_ego": [
      0.02461223560635961,
      0.03741260065996155,
      0.013378585729545645,
      -0.010473814271142246,
      -0.006059302863498761,
      -0.00797032296869915,
      -0.018112719519177922,
      -0.009562368642713537,
      0.008811604641884685,
      -0.013987655007506872
    ],
    "v_ego": [
      7.559747863956931,
      7.40030938036108,
      7.232275951824656,
      7.023681230828347,
      6.803121490107013,
      6.436854364913932,
      5.858217574686108,
      5.2448261812097785,
      4.715738964738325,
      4.258670084112586
    ],
    "ax_ego": [
      -0.3199640246282185,
      -0.31892971907408996,
      -0.3542263944647393,
      -0.48054284306739503,
      -0.40167568373406926,
      -1.0634479000448425,
      -1.251080840841543,
      -1.2021993900754564,
      -0.9141227946081845,
      -0.914164661661441
    ],
    "ay_ego": [
      0.1366485447177656,
      0.13904544433962687,
      0.11842437455056186,
      0.03691565833123009,
      -0.02920914912109615,
      -0.012315100152177683,
      0.013676567435960796,
      0.07440676066429586,
      -0.012570230958936057,
      -0.009025375522189905
    ],
    "a_ego": [
      0.34792212035133724,
      0.3479221195904081,
      0.37349788623656344,
      0.4819587013980795,
      0.40273630243077224,
      1.0635192042467043,
      1.2511555933686316,
      1.204499788098924,
      0.914209218028695,
      0.9142092134921269
    ],
    "yaw": [
      0.5270880397659264,
      0.5345912655770642,
      0.5466667484126572,
      0.5554418228249851,
      0.5550814449439436,
      0.5538177702793974,
      0.5555164913052273,
      0.5579456204073847,
      0.5573560812825279,
      0.5612338574058628
    ],
    "yaw_diff": [
      0.01500645162227543,
      0.02415096567118602,
      0.017550148824655887,
      -0.0007207557620829697,
      -0.0025273493290924876,
      0.003397442051659816,
      0.004858258204314847,
      -0.0011790782497136387,
      0.007755552246669906,
      0.007755552246669906
    ],
    "min_front_frame": [
      9,
      11.69365211703696
    ],
    "v_avg": 6.253344308673875,
    "v_std": 1.1147226361589964,
    "vy_max": 0.03741260065996155,
    "a_max": 1.2511555933686316,
    "ax_avg": -0.722035425219998,
    "a_std": 0.3554631976875427,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6c84b52f0d155cac",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.594909534910836,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.598720223501338,
      13.69634178236331,
      13.776136616906108,
      13.691564868544246,
      13.465299338018129,
      13.099474223095443,
      12.828796440723877,
      12.371800921935082,
      12.10878888828006,
      11.69365211703696
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6c84b52f0d155cac",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1b439c269a83590c": {
    "vx_ego": [
      7.642771084740181,
      7.912487531521203,
      8.17084320890585,
      8.421800448190794,
      8.649867888706284,
      8.793819368575242,
      8.857730772239698,
      8.852941988278968,
      8.775040183169573,
      8.6613168414016
    ],
    "vy_ego": [
      -0.08207422822199595,
      0.06261449653366657,
      0.0030336232471706026,
      0.001249407001089331,
      -0.0037682823212747962,
      -0.035587634398661194,
      -0.04731491746267569,
      -0.017112046903744904,
      -0.02681498618686451,
      -0.0554984310139659
    ],
    "v_ego": [
      7.6432117616011945,
      7.9127352736999015,
      8.170843772058848,
      8.421800540867999,
      8.649868709525235,
      8.793891377931113,
      8.857857141255812,
      8.852958526390033,
      8.77508115402501,
      8.661494646017626
    ],
    "ax_ego": [
      0.5190882819923909,
      0.5565270770875296,
      0.4755617371379721,
      0.5278040567275886,
      0.3848401836177152,
      0.19035987829395845,
      0.06514038571503722,
      -0.08423468194873018,
      -0.2272839512567914,
      -0.22733109996773904
    ],
    "ay_ego": [
      -0.6477469997952885,
      -0.6158785763375031,
      -0.20606514475047716,
      -0.07802969480298227,
      -0.19102648462049981,
      -0.13305766302727756,
      0.06680580529677699,
      0.07052881809812553,
      -0.02811565797557955,
      -0.02773183043335077
    ],
    "a_ego": [
      0.8300775989301298,
      0.8300775917485658,
      0.5182873813925252,
      0.5335407721712991,
      0.4296429735878184,
      0.2322525025793505,
      0.09330747811646557,
      0.10986262251249153,
      0.22901634160535203,
      0.22901633878770808
    ],
    "yaw": [
      2.5075114857575844,
      2.4482726572591087,
      2.4301523212059637,
      2.4217999887925012,
      2.414522898201325,
      2.408897390074518,
      2.4083504552399013,
      2.408815947533962,
      2.4111151450070167,
      2.41280374999905
    ],
    "yaw_diff": [
      -0.11847765699695145,
      -0.036240672106290006,
      -0.016704664826924898,
      -0.014554181182352188,
      -0.011251016253614132,
      -0.001093869669233527,
      0.000930984588121575,
      0.004598394946109252,
      0.0033772099840660985,
      0.0033772099840660985
    ],
    "min_front_frame": [
      5,
      19.612146404251064
    ],
    "v_avg": 8.473974290337278,
    "v_std": 0.4061866486468581,
    "vy_max": 0.08207422822199595,
    "a_max": 0.8300775989301298,
    "ax_avg": 0.21804718673989312,
    "a_std": 0.2583339311795617,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1b439c269a83590c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      40.14188214720369,
      26.142976272828083,
      22.135203103758023,
      22.604676103979887,
      23.921840546769253,
      19.612146404251064,
      20.298332265329154,
      20.88039497859421,
      27.632611757834418,
      23.341367855357653
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      1,
      0,
      0,
      0,
      1,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1b439c269a83590c",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "c056dcf1096258a4": {
    "vx_ego": [
      3.6573664297959203,
      3.8256000581458434,
      3.9390264666289325,
      3.897745434398823,
      3.7613898560313648,
      3.687912163738722,
      3.6309100570240185,
      3.5987420403396704,
      3.6751510255612114,
      3.8057206801521843
    ],
    "vy_ego": [
      0.03476932602998817,
      -0.027160107677289824,
      -0.05065833757671934,
      -0.03871501888402307,
      -0.005525975125302507,
      0.005161351053404095,
      -0.009234182229688637,
      -0.00993496141990069,
      0.00109167185556025,
      0.05279575940538961
    ],
    "v_ego": [
      3.657531696080122,
      3.8256964694463833,
      3.9393522020719662,
      3.8979377014087926,
      3.7613939152203586,
      3.6879157754749117,
      3.6309217992569893,
      3.5987557539191997,
      3.6751511876970535,
      3.806086873358147
    ],
    "ax_ego": [
      0.33395139773666466,
      0.3392159485755701,
      0.11011556313075122,
      -0.28210895143363296,
      -0.2651814607919539,
      -0.023328955237699123,
      -0.20491863583631179,
      0.07648365928023684,
      0.2324470192767023,
      0.2994342966213579
    ],
    "ay_ego": [
      -0.27311409810786447,
      -0.2665471472255807,
      -0.2651654434292451,
      -0.18332772792033086,
      -0.26120782285227095,
      -0.46912499463402096,
      -0.4774921334441353,
      -0.56072628352301,
      -0.6708430571421352,
      -0.6437399609600727
    ],
    "a_ego": [
      0.4314102996400807,
      0.43141029364413547,
      0.28712044446996565,
      0.33644392742835283,
      0.3722240371966566,
      0.4697046952531481,
      0.5196059899712925,
      0.5659184704269886,
      0.709973255895199,
      0.7099732638135068
    ],
    "yaw": [
      0.9905096566529162,
      0.9709996407733473,
      0.9430210793224865,
      0.9117522223261774,
      0.8740493732654668,
      0.8217471177682889,
      0.7614036430884328,
      0.6891225376895334,
      0.6010183357358363,
      0.4991922927654752
    ],
    "yaw_diff": [
      -0.03902003175913782,
      -0.05595712290172172,
      -0.0625377139926182,
      -0.07540569812142106,
      -0.10460451099435586,
      -0.12068694935971225,
      -0.14456221079779885,
      -0.17620840390739412,
      -0.20365208594072215,
      -0.20365208594072215
    ],
    "min_front_frame": [
      0,
      20.620253600331743
    ],
    "v_avg": 3.7480743373933927,
    "v_std": 0.11034938833055143,
    "vy_max": 0.05279575940538961,
    "a_max": 0.7099732638135068,
    "ax_avg": 0.06161098813216852,
    "a_std": 0.13742864220012277,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "c056dcf1096258a4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.748438194971321,
    "speed_mode": "quasi_constant",
    "front_frame": [
      20.620253600331743,
      21.019007737206362,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c056dcf1096258a4",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4ca0e98b86fb5377": {
    "vx_ego": [
      4.7313170642082305,
      4.518318074744694,
      4.289358377642531,
      4.054280787461564,
      3.7942781780793964,
      3.4957385971754817,
      3.1702700545017213,
      2.843951690516525,
      2.5485273858918633,
      2.2642722551760555
    ],
    "vy_ego": [
      0.006253318932925023,
      0.005043199627114747,
      0.0029789665432287116,
      0.00884782790151517,
      0.03384323107216991,
      0.024480971788362504,
      0.018056774393122588,
      0.012639615213004052,
      0.005511257474097864,
      0.006622968176858479
    ],
    "v_ego": [
      4.731321196670721,
      4.518320889271487,
      4.28935941209102,
      4.054290441944007,
      3.794429108171466,
      3.495824317348071,
      3.1703214766915724,
      2.843979778033686,
      2.548533345004487,
      2.264281941205099
    ],
    "ax_ego": [
      -0.42602655700836295,
      -0.4260057725494301,
      -0.48981961773681004,
      -0.4504467430824369,
      -0.5900636161133685,
      -0.6080515716562682,
      -0.6955211817436683,
      -0.6124034079795092,
      -0.5703432997697787,
      -0.5671129101767781
    ],
    "ay_ego": [
      0.012358250967674622,
      0.013054950243532648,
      0.05162483640709725,
      0.10958055753741289,
      0.2078452621709532,
      0.1463494606148964,
      0.19151568322662574,
      0.12803427088272906,
      0.1184922775568154,
      0.1330971429441968
    ],
    "a_ego": [
      0.42620576444175406,
      0.42620576013387934,
      0.49253261988815955,
      0.4635840451782019,
      0.6255994917418788,
      0.6254157644446844,
      0.721406938680153,
      0.6256442348694577,
      0.5825220162645195,
      0.5825220187676019
    ],
    "yaw": [
      -0.471406927607414,
      -0.4697715275565346,
      -0.46563849891428655,
      -0.45737520693952977,
      -0.4435842642565588,
      -0.4167407849852213,
      -0.3895617848088405,
      -0.3610977106895126,
      -0.33554709109515024,
      -0.30986864122906854
    ],
    "yaw_diff": [
      0.0032708001017587307,
      0.008266057284496142,
      0.016526583949513562,
      0.02758188536594197,
      0.05368695854267491,
      0.054358000352761615,
      0.056928148238655885,
      0.05110123918872467,
      0.0513568997321634,
      0.0513568997321634
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5710661906431618,
    "v_std": 0.8056671630818243,
    "vy_max": 0.03384323107216991,
    "a_max": 0.721406938680153,
    "ax_avg": -0.5435794677816411,
    "a_std": 0.09461902913648769,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "4ca0e98b86fb5377",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.37697816579751,
    "right_rear_min": 5.028241399380416,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "4ca0e98b86fb5377",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "6cd97f45067e5bea": {
    "vx_ego": [
      1.153422126675966,
      2.01283957106686,
      2.917287796432352,
      3.850232983279118,
      4.724506964710289,
      5.509635130899721,
      6.195473702775299,
      6.801783739212289,
      7.324868189048502,
      7.791924203206186
    ],
    "vy_ego": [
      -0.03900360765583444,
      -0.03640544297949433,
      -0.034549555984330294,
      -0.0329945047506679,
      -0.020302280237840975,
      -0.0017982588227600793,
      0.004183951778592654,
      0.002616162159795987,
      0.005387288257896472,
      -0.008515087393912601
    ],
    "v_ego": [
      1.1540814025517778,
      2.013168769659204,
      2.917492375145451,
      3.850374353601758,
      4.724550586265204,
      5.509635424361504,
      6.195475115536561,
      6.801784242337972,
      7.324870170167485,
      7.791928855888231
    ],
    "ax_ego": [
      1.7189080009637876,
      1.718916772806338,
      1.8989980867541711,
      1.832993688652632,
      1.6643084421431464,
      1.4762096330164205,
      1.267159169483167,
      1.15810136649352,
      0.9341192734068848,
      0.9341082513643213
    ],
    "ay_ego": [
      0.009358061840907816,
      0.00758108478731967,
      0.008220559457400523,
      0.018424456102799303,
      0.06021998327738087,
      0.018565639645769516,
      0.04524045714501379,
      0.08049289760564227,
      -0.018790271344208742,
      -0.01933060899694139
    ],
    "a_ego": [
      1.7189334743086315,
      1.7189334904764373,
      1.8990158796318148,
      1.8330862836274415,
      1.6653975612372185,
      1.4763263743447557,
      1.2679665057752745,
      1.1608952931419398,
      0.9343082420953994,
      0.9343082455544865
    ],
    "yaw": [
      0.8553294848361808,
      0.8563632732078807,
      0.8572207875541001,
      0.8587261491631963,
      0.860343639639263,
      0.8605755950929441,
      0.8622714355625554,
      0.8673389627853593,
      0.8691234714104168,
      0.869701921243045
    ],
    "yaw_diff": [
      0.002067576743399968,
      0.0017150286924387803,
      0.0030107232181924015,
      0.0032349809521332595,
      0.0004639109073623082,
      0.0033916809392224856,
      0.010135054445607805,
      0.0035690172501150474,
      0.00115689966525645,
      0.00115689966525645
    ],
    "min_front_frame": [
      9,
      37.2615807342355
    ],
    "v_avg": 4.828336129551515,
    "v_std": 2.17456015884981,
    "vy_max": 0.03900360765583444,
    "a_max": 1.8990158796318148,
    "ax_avg": 1.4603822685084389,
    "a_std": 0.3446029374646017,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "6cd97f45067e5bea",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      59.582581581325464,
      58.728233152306245,
      57.45514302898696,
      55.64447575825904,
      53.46032322401808,
      50.77523579241001,
      47.91871209102763,
      44.5855083170739,
      41.016495163310616,
      37.2615807342355
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6cd97f45067e5bea",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a64a3e4f2048576d": {
    "vx_ego": [
      7.3973021062683735,
      7.251286578571768,
      7.1153323632647965,
      6.9235819943436026,
      6.462831631488828,
      5.74101602352267,
      5.01888686208952,
      4.332478982194317,
      3.627249820193387,
      2.924866652256829
    ],
    "vy_ego": [
      -0.06691220599935832,
      -0.037073165294376764,
      -0.013595479289665757,
      -0.0009371994564739694,
      0.0014288166332749874,
      0.004628765469611995,
      -0.019896278253643818,
      -0.026733228997434022,
      -0.012097155454158681,
      -0.030853087033728688
    ],
    "v_ego": [
      7.397604726850051,
      7.251381348692123,
      7.115345351898283,
      6.923582057774845,
      6.462831789431744,
      5.74101788952219,
      5.018926299154345,
      4.332561459078006,
      3.6272699926064287,
      2.9250293753163543
    ],
    "ax_ego": [
      -0.29205100680402263,
      -0.29206566384331656,
      -0.2516835773344653,
      -0.5153084163352217,
      -1.327694736154465,
      -1.5595730578826847,
      -1.3290119873274966,
      -1.4161286200997503,
      -1.4047889321620208,
      -1.4047745818838515
    ],
    "ay_ego": [
      0.05587263100234688,
      0.05579599014836617,
      0.05714587434005215,
      0.019534370291705072,
      0.018215126628563616,
      0.036104368611377224,
      -0.07218385710568753,
      0.09663261643889476,
      -0.03961788601943539,
      -0.040123638690732766
    ],
    "a_ego": [
      0.29734750960848433,
      0.2973475147245623,
      0.25808966281887924,
      0.5156785389839368,
      1.3278196802466702,
      1.5599909128922431,
      1.3309708380302088,
      1.4194217594589176,
      1.4053474733380211,
      1.4053474774192802
    ],
    "yaw": [
      -2.1129831394791037,
      -2.113245538059152,
      -2.1125827341871344,
      -2.1116593931258096,
      -2.1106186850456097,
      -2.1089256371209393,
      -2.1060280890977854,
      -2.103265061093314,
      -2.1033611770432814,
      -2.103721197910052
    ],
    "yaw_diff": [
      -0.0005247971600965684,
      0.0013256077440351177,
      0.00184668212264949,
      0.002081416160399918,
      0.0033860958493407978,
      0.0057950960463077905,
      0.005526056008942959,
      -0.00019223189993500256,
      -0.0007200417335413434,
      -0.0007200417335413434
    ],
    "min_front_frame": [
      9,
      13.80619934925954
    ],
    "v_avg": 5.6795550290324375,
    "v_std": 1.5394426736121498,
    "vy_max": 0.06691220599935832,
    "a_max": 1.5599909128922431,
    "ax_avg": -0.9793080579827296,
    "a_std": 0.5295496767189416,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a64a3e4f2048576d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 35.00047608570195,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      29.561461458246104,
      28.408650413106038,
      26.951188315865174,
      25.285029946921906,
      23.290737780019324,
      21.20851272534119,
      19.21168997412703,
      17.305555291134528,
      15.426027185323925,
      13.80619934925954
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a64a3e4f2048576d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a30baeb5294658b3": {
    "vx_ego": [
      9.249516838641213,
      9.144576203525247,
      9.028178557345312,
      8.894998176996953,
      8.67161843823289,
      8.329766661445877,
      7.87862365180011,
      7.282735002166883,
      6.5422850171219,
      5.726719044246127
    ],
    "vy_ego": [
      0.06224096366889009,
      0.003768636547219373,
      -0.0029254561903995224,
      -0.04231779803403768,
      -0.05538506527196185,
      -0.019247193777582883,
      0.0035171044266855134,
      -0.0011965422297377515,
      -0.007695268723633131,
      -0.00397596597499561
    ],
    "v_ego": [
      9.24972624923926,
      9.144576980085063,
      9.028179031322075,
      8.895098839518848,
      8.671795306841359,
      8.329788898201652,
      7.87862443683716,
      7.282735100461912,
      6.542289542844954,
      5.72672042446955
    ],
    "ax_ego": [
      -0.21043732836445558,
      -0.21029595289435304,
      -0.25530585988210885,
      -0.2771776111920894,
      -0.6154472274763912,
      -0.7516193088184728,
      -1.0529677543036078,
      -1.3306348735669384,
      -1.6311292306673852,
      -1.6311160967495084
    ],
    "ay_ego": [
      0.018333688196566743,
      0.01988971448808364,
      -0.031825081767715785,
      -0.0315561801809206,
      0.10011080687049487,
      0.11782236322318895,
      0.0403061295573654,
      -0.010260469924146143,
      0.01631499851302709,
      0.017579113627370302
    ],
    "a_ego": [
      0.2112344510065975,
      0.21123443977287756,
      0.25728178699563015,
      0.2789681355527255,
      0.6235362567330295,
      0.7607980643142147,
      1.0537389029940378,
      1.3306744320064043,
      1.6312108221545296,
      1.6312108221536774
    ],
    "yaw": [
      -1.1744215774507443,
      -1.1670248549837268,
      -1.1666167763169573,
      -1.1639900284273983,
      -1.160567493516303,
      -1.1584136978290218,
      -1.1563542405992195,
      -1.1547489302993355,
      -1.1535960846689222,
      -1.1528210871578666
    ],
    "yaw_diff": [
      0.014793444934035005,
      0.0008161573335390138,
      0.005253495779117934,
      0.006845069822190464,
      0.004307591374562492,
      0.00411891445960455,
      0.003210620599768177,
      0.002305691260826581,
      0.0015499950221111725,
      0.0015499950221111725
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.074953480982183,
    "v_std": 1.1426301410237647,
    "vy_max": 0.06224096366889009,
    "a_max": 1.6312108221545296,
    "ax_avg": -0.7966131243915311,
    "a_std": 0.5495265857010082,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a30baeb5294658b3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a30baeb5294658b3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "deb16bb9771a582a": {
    "vx_ego": [
      8.181530880282988,
      8.126922998026508,
      8.06067942082776,
      7.9598882907848605,
      7.747280530683862,
      7.38066044482418,
      6.902187516520112,
      6.396449498771019,
      5.962558289754895,
      5.580616557146452
    ],
    "vy_ego": [
      -0.0072438722670362665,
      -0.028680943658840885,
      -0.03653099242680247,
      -0.025484786389773806,
      -0.02235383619025244,
      -0.011362730858202497,
      -0.003360424987165489,
      -0.028003747542794555,
      -0.03054823463934686,
      0.002695020159897643
    ],
    "v_ego": [
      8.181534087120186,
      8.126973607215747,
      8.060762199616352,
      7.959929087379564,
      7.747312780255206,
      7.380669191438186,
      6.902188334554641,
      6.396510798881251,
      5.962636543792049,
      5.580617207892939
    ],
    "ax_ego": [
      -0.10960497410938962,
      -0.10913016094075081,
      -0.15639661735095342,
      -0.24718511765606496,
      -0.6036068080457142,
      -0.86298428536877,
      -1.0509226187899274,
      -0.9720720304034489,
      -0.7638965233275378,
      -0.7639849896502893
    ],
    "ay_ego": [
      -0.11177531005847777,
      -0.11223893042445007,
      -0.02076800619655894,
      -0.06907584877888147,
      -0.00913659428619329,
      0.009166491662903953,
      -0.03457795827536014,
      -0.10530258656908828,
      0.04319611397459758,
      0.041601983223583966
    ],
    "a_ego": [
      0.15654702261042466,
      0.15654702018811703,
      0.1577694900803094,
      0.25665532387847634,
      0.6036759528706491,
      0.8630329665562334,
      1.0514913151722993,
      0.9777590025312086,
      0.7651168555288832,
      0.7651168469058095
    ],
    "yaw": [
      1.2806773123457131,
      1.2764381994506127,
      1.2733020790365126,
      1.2691249840346654,
      1.2662529086831482,
      1.2648070080606126,
      1.2628034720975487,
      1.2612481034695335,
      1.259138383203053,
      1.257051660472011
    ],
    "yaw_diff": [
      -0.008478225790200966,
      -0.006272240828200104,
      -0.008354190003694306,
      -0.005744150703034467,
      -0.002891801245071157,
      -0.004007071926127814,
      -0.0031107372560303936,
      -0.004219440532961194,
      -0.004173445462083869,
      -0.004173445462083869
    ],
    "min_front_frame": [
      9,
      17.266097718821623
    ],
    "v_avg": 7.229913383814612,
    "v_std": 0.913897870670552,
    "vy_max": 0.03653099242680247,
    "a_max": 1.0514913151722993,
    "ax_avg": -0.5639784125642847,
    "a_std": 0.3421932152985498,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "deb16bb9771a582a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.479480147528813,
    "right_rear_min": 19.18550244741345,
    "speed_mode": "decelerating",
    "front_frame": [
      24.168014647910958,
      23.662897336516018,
      22.98742672544238,
      21.993936790857823,
      20.837678747988587,
      19.793711881237158,
      18.992763294021003,
      18.17219380899619,
      17.722236453228724,
      17.266097718821623
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "deb16bb9771a582a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6b8b72c830b85a62": {
    "vx_ego": [
      5.864220278419888,
      5.761252383423142,
      5.7769211718296,
      5.821942458509674,
      6.010186089210447,
      6.42471823206703,
      6.9828744663763525,
      7.613142630774611,
      8.18005059766513,
      8.666170588182592
    ],
    "vy_ego": [
      0.0300300125636479,
      -0.008292460778187793,
      -0.007065694707882542,
      0.023111706957482492,
      0.033553464444169956,
      0.10693247562130281,
      0.21229326141990246,
      0.1910691021336275,
      0.10493373679773432,
      -0.04899437444783539
    ],
    "v_ego": [
      5.8642971680744145,
      5.7612583512983155,
      5.776925492818371,
      5.821988332279287,
      6.010279749056194,
      6.42560805805933,
      6.986100789568894,
      7.6155399098361976,
      8.180723615272672,
      8.66630908242999
    ],
    "ax_ego": [
      -0.3756667523864856,
      -0.025848386107582,
      0.09263053646710329,
      0.10060653589834323,
      0.6863756790309063,
      0.989913377793854,
      1.2397048112944442,
      1.3009695523469476,
      0.9636675536569105,
      0.9759181122379885
    ],
    "ay_ego": [
      -2.0305721862821913,
      -2.064868224757248,
      -2.170884062458074,
      -2.241290818635086,
      -2.3572000881721746,
      -1.988765738741526,
      -0.6595784684792431,
      -0.3216208709781755,
      0.3439273737857673,
      0.30744923365363286
    ],
    "a_ego": [
      2.065030002821133,
      2.065030005756942,
      2.172859413059357,
      2.243547683639329,
      2.4550975191311744,
      2.2215124710717618,
      1.4042477613398632,
      1.3401349785684191,
      1.0232014427326954,
      1.023201443054282
    ],
    "yaw": [
      -2.6524326170383663,
      -2.8228520497602823,
      -3.0065729870908013,
      3.081795144936957,
      2.8838990122207693,
      2.696750971319852,
      2.581862371627839,
      2.5511288640598577,
      2.562681168865722,
      2.600291088776526
    ],
    "yaw_diff": [
      -0.3408388654438319,
      -0.36744187466103817,
      -0.38963435030365545,
      -0.3957922654323758,
      -0.3742960818018348,
      -0.22977719938402608,
      -0.0614670151359622,
      0.023104609611728222,
      0.0752198398216084,
      0.0752198398216084
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.710903054869367,
    "v_std": 1.0359248601049542,
    "vy_max": 0.21229326141990246,
    "a_max": 2.4550975191311744,
    "ax_avg": 0.5948271020232431,
    "a_std": 0.5155554742449134,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "6b8b72c830b85a62",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.316949089901222,
    "right_rear_min": 24.128935789230628,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6b8b72c830b85a62",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d9cf5623b4f85cad": {
    "vx_ego": [
      5.10534968795115,
      4.466087307866338,
      3.8697262690280922,
      3.289550475504583,
      2.6796261274455473,
      2.091138502340259,
      1.5578853718997983,
      1.1197723939591417,
      0.8063139081488218,
      0.5531118058892577
    ],
    "vy_ego": [
      -0.01670947408048562,
      -0.006727311423951443,
      -0.0011316124531164373,
      -0.00562439548760163,
      -0.011073727443652981,
      -0.010432877957226805,
      -0.006061546405473517,
      0.00723418695651562,
      0.009098869825352962,
      -0.009046928546114025
    ],
    "v_ego": [
      5.105377032383304,
      4.466092374571286,
      3.8697264344851074,
      3.2895552837301625,
      2.6796490087935614,
      2.091164527461274,
      1.557897164232671,
      1.1197957616163356,
      0.8063652447286683,
      0.5531857886191531
    ],
    "ax_ego": [
      -1.278521179190859,
      -1.2785144807258408,
      -1.1069292702881897,
      -1.2137776867635564,
      -1.2259156929751673,
      -1.12800583901351,
      -1.0049820436986698,
      -0.7474706833215338,
      -0.5063949678502337,
      -0.5064134413833312
    ],
    "ay_ego": [
      0.022592953613749356,
      0.02296920233319566,
      -0.009864522560474986,
      -0.01260421291635605,
      -0.007859376455847666,
      0.015449920992353927,
      0.00811272585846956,
      0.04479931225669104,
      -0.03571723280315128,
      -0.0354542975002434
    ],
    "a_ego": [
      1.2787207854698295,
      1.2787207911352225,
      1.1069732238071932,
      1.2138431278663362,
      1.2259408860467373,
      1.1281116402675944,
      1.005014788188517,
      0.7488119929620739,
      0.5076530155363541,
      0.5076530122287707
    ],
    "yaw": [
      -2.033842419174231,
      -2.033548131991756,
      -2.0341075322390703,
      -2.0344204751569688,
      -2.0343088136418004,
      -2.033779226895036,
      -2.0329394166933854,
      -2.0329912477559278,
      -2.032556225350369,
      -2.032037011560258
    ],
    "yaw_diff": [
      0.0005885743649498565,
      -0.0011188004946287577,
      -0.0006258858357970354,
      0.00022332303033678613,
      0.0010591734935285757,
      0.001679620403301385,
      -0.00010366212508472472,
      0.0008700448111174097,
      0.001038427580222212,
      0.001038427580222212
    ],
    "min_front_frame": [
      9,
      12.235903554515835
    ],
    "v_avg": 2.5538808620621523,
    "v_std": 1.5091206461155664,
    "vy_max": 0.01670947408048562,
    "a_max": 1.2787207911352225,
    "ax_avg": -0.9996925285210893,
    "a_std": 0.2877387791258101,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d9cf5623b4f85cad",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.51866157155599,
      21.14335258930536,
      19.102897606911228,
      17.32439057452252,
      15.831032918775165,
      14.66889261029482,
      13.737680927252885,
      13.116875805843794,
      12.608717090587941,
      12.235903554515835
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d9cf5623b4f85cad",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7fdfa29d75525f46": {
    "vx_ego": [
      1.2517837268655836,
      0.7632902036928993,
      0.3277540728610127,
      0.045562314116209486,
      -0.05787897742787054,
      -0.0534381269395581,
      -0.029165850403318802,
      -0.018422383432999765,
      -0.012972103446621717,
      -0.00896259670649145
    ],
    "vy_ego": [
      -0.0010860842478437882,
      0.0004662959906477082,
      0.00231683982943863,
      -0.0005950843597902367,
      -0.0014713097021106653,
      -0.0008256638439483894,
      -0.0010147407832523502,
      -0.0003944397407929408,
      -0.0003276731679308859,
      0.00047261739392447403
    ],
    "v_ego": [
      1.2517841980247568,
      0.7632903461236089,
      0.3277622614392592,
      0.04556620011608834,
      0.05789767508575342,
      0.05344450515807522,
      0.02918349753895114,
      0.01842660560335465,
      0.01297624127144825,
      0.008975049132135787
    ],
    "ax_ego": [
      -0.976988644164045,
      -0.976983804267398,
      -0.7651526879709993,
      -0.3636269866098452,
      -0.0501347567251319,
      0.06789833120834243,
      0.029191803895033265,
      0.013782048466707122,
      0.008018925629884611,
      0.00801907392512052
    ],
    "ay_ego": [
      0.004570543283524853,
      0.005508616457871318,
      -9.838379446969192e-05,
      -0.010763068873247919,
      0.007210858309472681,
      -0.004591408202499623,
      0.0038160687638038367,
      -0.001328820350424668,
      0.001598915728467,
      0.0015981752387332336
    ],
    "a_ego": [
      0.97699933505167,
      0.976999334010048,
      0.7651526942961232,
      0.36378624086477873,
      0.05065066938795034,
      0.06805339381808778,
      0.02944017315601521,
      0.013845960546757559,
      0.008176778079681474,
      0.008176778749009163
    ],
    "yaw": [
      -0.32894158099435666,
      -0.3279814029609762,
      -0.32894082606709707,
      -0.32750044967839687,
      -0.3272397068757865,
      -0.3273706517448455,
      -0.3272402652283003,
      -0.32730954719422134,
      -0.3273603739089637,
      -0.32726749983103176
    ],
    "yaw_diff": [
      0.0019203560667608865,
      -0.0019188462122416983,
      0.0028807527774004082,
      0.0005214856052206951,
      -0.00026188973811791527,
      0.0002607730330903557,
      -0.00013856393184208393,
      -0.00010165342948476042,
      0.00018574815586391846,
      0.00018574815586391846
    ],
    "min_front_frame": [
      6,
      12.118018022079255
    ],
    "v_avg": 0.25693065794934317,
    "v_std": 0.4008235504761427,
    "vy_max": 0.00231683982943863,
    "a_max": 0.97699933505167,
    "ax_avg": -0.30059766966123314,
    "a_std": 0.39644013078267,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7fdfa29d75525f46",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.42224287857472,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.688887443264282,
      12.36364060287512,
      12.176771973114631,
      12.148777469206047,
      12.148876192203941,
      12.150018229500647,
      12.118018022079255,
      12.1386028201975,
      12.192384040497437,
      12.19285238625621
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7fdfa29d75525f46",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "74cdabf6dd8e5052": {
    "vx_ego": [
      5.498629959181263,
      5.0956579537556514,
      4.606906045433665,
      4.037833858185416,
      3.4218584091235815,
      2.6741283155061004,
      1.8623778803248956,
      1.1436048426031333,
      0.5845148145868312,
      0.10747036792073184
    ],
    "vy_ego": [
      0.017405183413826103,
      0.01165653242196267,
      -0.01959098362476981,
      -0.01500517278080532,
      0.008487979133245352,
      -0.002083805030397984,
      0.005986404970331087,
      0.0017846683847541692,
      -0.015567527716641216,
      -0.026656315629829307
    ],
    "v_ego": [
      5.49865750601139,
      5.09567128614291,
      4.606947700820212,
      4.037861738781889,
      3.4218689363971166,
      2.6741291274048264,
      1.8623875016139686,
      1.143606235146775,
      0.584722084746836,
      0.11072686730859203
    ],
    "ax_ego": [
      -0.8059427185960633,
      -0.8059420388795262,
      -1.1490616745552238,
      -1.1271841051479372,
      -1.336733361983169,
      -1.6541759253928576,
      -1.5928238030160795,
      -1.2822816770570484,
      -0.9540545605840504,
      -0.9540685826736246
    ],
    "ay_ego": [
      -0.012066245410137531,
      -0.012111239277267444,
      -0.11502652410691455,
      0.13717014285087353,
      -0.04007938125428668,
      0.009299495854095244,
      0.030028983293435306,
      -0.04536775085562554,
      -0.02203899198393575,
      -0.02142390443304526
    ],
    "a_ego": [
      0.8060330389855684,
      0.8060330341556226,
      1.1548046731719497,
      1.1354997379955158,
      1.337334078620803,
      1.6542020652787426,
      1.593106841141624,
      1.2830839926263342,
      0.9543090808217709,
      0.9543090925512631
    ],
    "yaw": [
      -1.546434267962126,
      -1.5464900941247384,
      -1.5465998009390938,
      -1.5463798530576245,
      -1.5461723101252454,
      -1.5452406010726762,
      -1.5444611961403074,
      -1.5442105117270242,
      -1.5436023802799608,
      -1.5429576768142055
    ],
    "yaw_diff": [
      -0.00011165232522492019,
      -0.00021941362871080727,
      0.00043989576293856913,
      0.0004150858647582467,
      0.001863418105138237,
      0.0015588098647376647,
      0.000501368826566484,
      0.0012162628941267961,
      0.0012894069315105838,
      0.0012894069315105838
    ],
    "min_front_frame": [
      9,
      11.333534287990856
    ],
    "v_avg": 2.903657898437452,
    "v_std": 1.8277784122685574,
    "vy_max": 0.026656315629829307,
    "a_max": 1.6542020652787426,
    "ax_avg": -1.1662268447885578,
    "a_std": 0.285241060687835,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "74cdabf6dd8e5052",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.186439251007329,
    "right_rear_min": 6.887181548031813,
    "speed_mode": "decelerating",
    "front_frame": [
      18.404240779264914,
      17.662764811697595,
      16.744623730171842,
      15.75892338334833,
      14.645150947891592,
      13.519698381154472,
      12.561996105296384,
      11.850087469968031,
      11.505001905342583,
      11.333534287990856
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "74cdabf6dd8e5052",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ad0c441309de5d2e": {
    "vx_ego": [
      3.515596499174433,
      3.941602647727412,
      4.465817828422208,
      5.031812883910544,
      5.628990363203663,
      6.3063194305648365,
      7.010923440828243,
      7.6080976324423055,
      8.111324440505172,
      8.571107668801565
    ],
    "vy_ego": [
      0.21626316240460253,
      0.03320457026285761,
      0.09812205699937115,
      0.13636485090889788,
      0.1864887847761536,
      0.24989752968520795,
      0.2214601433122514,
      0.2047297618514352,
      0.17842529801482687,
      0.016551750167436374
    ],
    "v_ego": [
      3.5222419707369292,
      3.9417425050424195,
      4.466895657469897,
      5.033660325374722,
      5.632078708246804,
      6.31126877384115,
      7.014420295949682,
      7.610851717131399,
      8.113286619250438,
      8.57112365041029
    ],
    "ax_ego": [
      0.7245832754522482,
      1.0578970536704106,
      1.1698067552566904,
      1.2515618294574387,
      1.2638405850550611,
      1.5451959879908972,
      1.314691312075754,
      1.1219988415304334,
      0.9179644554205298,
      0.9271915215678077
    ],
    "ay_ego": [
      -1.845774445657305,
      -1.677127918055612,
      -2.209522762611403,
      -2.4988818214409747,
      -2.2899761063923973,
      -1.668126976200437,
      -0.7468356783038352,
      -0.8648371901975056,
      -0.5935291638824371,
      -0.5790090714692944
    ],
    "a_ego": [
      1.9829029798017452,
      1.982902980401736,
      2.5000877350889334,
      2.794783957747542,
      2.6155847515002075,
      2.2738245864689692,
      1.512010838729345,
      1.4166244265663186,
      1.0931311036625455,
      1.0931311094790783
    ],
    "yaw": [
      0.598188349010117,
      0.40952316442072934,
      0.16336346372348234,
      -0.09172195109853891,
      -0.3247339040140549,
      -0.5017564068872743,
      -0.5877309101980046,
      -0.6403788289283976,
      -0.6832736943073149,
      -0.6990119818947095
    ],
    "yaw_diff": [
      -0.37733036917877527,
      -0.492319401394494,
      -0.5101708296440425,
      -0.4660239058310319,
      -0.3540450057464388,
      -0.17194900662146062,
      -0.10529583746078597,
      -0.08578973075783458,
      -0.03147657517478919,
      -0.03147657517478919
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.021757022345374,
    "v_std": 1.6907986177386312,
    "vy_max": 0.24989752968520795,
    "a_max": 2.794783957747542,
    "ax_avg": 1.1294731617477272,
    "a_std": 0.5920757102611693,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ad0c441309de5d2e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.47465901491219,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ad0c441309de5d2e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "84765426fd0a5a99": {
    "vx_ego": [
      6.6327975181855905,
      6.103577568566923,
      5.591121583221849,
      5.138020368369721,
      4.722722800312221,
      4.307606173570575,
      3.9015357070548267,
      3.493615153640843,
      3.0909825781093474,
      2.6995160071470443
    ],
    "vy_ego": [
      0.013265359860127113,
      0.025923397281015337,
      0.027275068905361355,
      0.024813739821499592,
      0.012448135433483998,
      -0.0056605721275726495,
      -0.007404509281934368,
      -0.0034982615207741485,
      0.0009951339069231846,
      0.007592875587519865
    ],
    "v_ego": [
      6.632810783297014,
      6.103632619845325,
      5.591188110567645,
      5.13808028620282,
      4.722739205658584,
      4.307609892812967,
      3.9015427333532453,
      3.4936169050974377,
      3.090982738299747,
      2.6995266852918514
    ],
    "ax_ego": [
      -1.0585451546605582,
      -1.0584658087618448,
      -0.9914572293395323,
      -0.8209766207212086,
      -0.8402904853486459,
      -0.8201733189227765,
      -0.8040887256360119,
      -0.8275939903579773,
      -0.7829355116377685,
      -0.7829333705007088
    ],
    "ay_ego": [
      0.04597956076769166,
      0.0477713428797269,
      -0.026224576375302455,
      0.024226262042147395,
      -0.0607325692838791,
      -0.007895587062111242,
      0.010173649054840583,
      0.0050715116890858725,
      0.014017312251227654,
      0.01413649244696047
    ],
    "a_ego": [
      1.0595432810714884,
      1.0595432834567915,
      0.991803995765134,
      0.8213339902520472,
      0.8424823705807049,
      0.8202113223845777,
      0.8041530835792627,
      0.8276095293720659,
      0.7830609812947155,
      0.7830609829778924
    ],
    "yaw": [
      2.5602305783666193,
      2.5619233203956764,
      2.5626143695413157,
      2.562981513935844,
      2.56363814582906,
      2.5638490342278546,
      2.5644129379035974,
      2.5643872762589384,
      2.5644721051122854,
      2.5646243243489844
    ],
    "yaw_diff": [
      0.00338548405811423,
      0.0013820982912786661,
      0.0007342887890562366,
      0.0013132637864323726,
      0.0004217767975891462,
      0.0011278073514855436,
      -5.1323289318006005e-05,
      0.00016965770669408187,
      0.0003044384733978944,
      0.0003044384733978944
    ],
    "min_front_frame": [
      9,
      13.445984523918334
    ],
    "v_avg": 4.568172996042663,
    "v_std": 1.2392134734865006,
    "vy_max": 0.027275068905361355,
    "a_max": 1.0595432834567915,
    "ax_avg": -0.8787460215887032,
    "a_std": 0.10615194564508541,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "84765426fd0a5a99",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.66682057847462,
    "right_rear_min": 6.805235630229131,
    "speed_mode": "decelerating",
    "front_frame": [
      23.488635127293804,
      22.022215701842264,
      19.7762112020782,
      20.55393086969685,
      19.44242964871825,
      18.184314447726575,
      16.85599412949516,
      15.626127250914804,
      14.4502102122294,
      13.445984523918334
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "84765426fd0a5a99",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bb57439423df56c7": {
    "vx_ego": [
      5.585223145928007,
      5.123576062627039,
      4.640359108222659,
      4.145795089656198,
      3.655023030424827,
      3.1911857738532063,
      2.7765513097289634,
      2.3706611633270347,
      1.9685140055308308,
      1.5772921491230985
    ],
    "vy_ego": [
      -0.02736309631027911,
      -0.03966981642612932,
      -0.03554590442858263,
      -0.008149292795297303,
      0.0028383403003060526,
      -0.005537501620707541,
      -0.003471860459993037,
      -0.024284281545212894,
      -0.041431736560906485,
      -0.025282932572256
    ],
    "v_ego": [
      5.585290174095669,
      5.123729634149334,
      4.6404952499260945,
      4.1458030990859305,
      3.6550241324937303,
      3.1911905783214025,
      2.7765534803732264,
      2.370785540203343,
      1.9689499685785539,
      1.5774947703129845
    ],
    "ax_ego": [
      -0.9232224122860742,
      -0.9232361866571506,
      -1.0095686358090097,
      -0.9687783747331746,
      -0.9942179346181884,
      -0.861172188710789,
      -0.7973794514375039,
      -0.8261801214256319,
      -0.7824745352409577,
      -0.7824925999097603
    ],
    "ay_ego": [
      -0.014730615081976539,
      -0.01384021736913238,
      0.037339335416300024,
      0.05572029096128678,
      -0.04700089002830776,
      -0.009881475271751816,
      0.01252629007985634,
      -0.10189260171295539,
      0.030409714751215344,
      0.029941439304146833
    ],
    "a_ego": [
      0.9233399230879228,
      0.923339920056564,
      1.0102589056170679,
      0.9703794567979382,
      0.9953282801065734,
      0.8612288790806293,
      0.7974778351264312,
      0.8324396046096719,
      0.7830652265627704,
      0.7830652327240305
    ],
    "yaw": [
      -0.567910655038646,
      -0.5669462121715841,
      -0.5665883628742084,
      -0.5675299588131691,
      -0.5697862863477181,
      -0.5715020616423772,
      -0.5719739982855659,
      -0.5725673360350715,
      -0.5729015418653991,
      -0.5735000027561856
    ],
    "yaw_diff": [
      0.001928885734123753,
      0.0007156985947514016,
      -0.0018831918779214085,
      -0.004512655069097926,
      -0.0034315505893180998,
      -0.0009438732863775723,
      -0.0011866754990110806,
      -0.0006684116606552326,
      -0.001196921781573046,
      -0.001196921781573046
    ],
    "min_front_frame": [
      9,
      11.528488689630775
    ],
    "v_avg": 3.503531662754027,
    "v_std": 1.290760854182755,
    "vy_max": 0.041431736560906485,
    "a_max": 1.0102589056170679,
    "ax_avg": -0.8868722440828242,
    "a_std": 0.08352922780946355,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bb57439423df56c7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.9190824976940664,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.382471891202805,
      24.052472396734483,
      21.82003904441036,
      19.749924125483318,
      17.80174283059007,
      16.134970925974894,
      14.615308243831045,
      13.332848913299788,
      12.28369291209363,
      11.528488689630775
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bb57439423df56c7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "22c1a51ffc1f5022": {
    "vx_ego": [
      4.742216834832179,
      4.118194401520079,
      3.462918058737095,
      2.7580285916955978,
      2.1067154963016783,
      1.5500205886413654,
      1.0365851041906402,
      0.5977310315943251,
      0.2809763336084954,
      0.030771308882873744
    ],
    "vy_ego": [
      0.05770869102609488,
      -0.0032940642955294752,
      -0.021981334545453812,
      -0.03168354221929337,
      -0.012593318771839335,
      0.016186078899833145,
      0.014962301812328438,
      0.004114543703869322,
      0.008475768023244262,
      0.009085298913020613
    ],
    "v_ego": [
      4.742567954345587,
      4.118195718949125,
      3.46298782276171,
      2.758210571993727,
      2.1067531355228395,
      1.550105097844103,
      1.0366930831762329,
      0.597745192871266,
      0.2811041420748836,
      0.03208451506107203
    ],
    "ax_ego": [
      -1.2531111957887655,
      -1.2460795921518886,
      -1.3751714031436266,
      -1.4425071719418834,
      -1.1615479568854905,
      -1.065436077057148,
      -0.9887846826302226,
      -0.7666319769233447,
      -0.5004117136284911,
      -0.5004115860364672
    ],
    "ay_ego": [
      0.17350157963322443,
      0.21834864866996778,
      0.10614023615879398,
      0.09057351951310655,
      0.10541126037364701,
      0.0724420234197391,
      -0.05806110980785606,
      0.01743449191292329,
      0.0012246658573739078,
      0.0012702705129326586
    ],
    "a_ego": [
      1.265065400343545,
      1.2650654063539237,
      1.3792614464835358,
      1.4453478832242297,
      1.166321220744276,
      1.0678960066654763,
      0.9904878803278059,
      0.7668301960340748,
      0.500413212198744,
      0.5004131982938785
    ],
    "yaw": [
      1.030003832474541,
      1.0658892539367089,
      1.092107229293899,
      1.1109853857708285,
      1.1234603291194702,
      1.1320951141193765,
      1.1358490442710243,
      1.1367245369898318,
      1.1374720960621194,
      1.1375632198282242
    ],
    "yaw_diff": [
      0.07177084292433555,
      0.05243595071438012,
      0.03775631295385917,
      0.024949886697283485,
      0.01726956999981244,
      0.007507860303295644,
      0.0017509854376149825,
      0.0014951181445752582,
      0.00018224753220952294,
      0.00018224753220952294
    ],
    "min_front_frame": [
      9,
      9.976839814052575
    ],
    "v_avg": 2.0686447234600545,
    "v_std": 1.5688181057637396,
    "vy_max": 0.05770869102609488,
    "a_max": 1.4453478832242297,
    "ax_avg": -1.030009335618733,
    "a_std": 0.3250462326484959,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "22c1a51ffc1f5022",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.08611286431187,
    "right_rear_min": 43.10716131199459,
    "speed_mode": "decelerating",
    "front_frame": [
      17.65016890734522,
      16.267401938057407,
      14.71188671466548,
      13.328084522975791,
      12.189092907681752,
      11.29229323562662,
      10.60200705015602,
      10.234381856125859,
      10.003676844174983,
      9.976839814052575
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "22c1a51ffc1f5022",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9114a3a480dd5466": {
    "vx_ego": [
      5.525664295613868,
      5.428028031933386,
      5.300377527980002,
      5.164131902098699,
      5.039962942709128,
      4.755579531791913,
      4.16182961832021,
      3.410909539828256,
      2.6984854872254687,
      2.0233984679327026
    ],
    "vy_ego": [
      0.006278056222126072,
      -0.024057023218657214,
      -0.04277695206539356,
      -0.03514574804354931,
      0.00029971027579023257,
      0.038299364775721934,
      0.052567125379269886,
      0.04502077162023843,
      0.048327881242727244,
      0.05894907978448727
    ],
    "v_ego": [
      5.525667862060824,
      5.428081342041659,
      5.300550141895028,
      5.164251497156105,
      5.039962951620527,
      4.755733752486614,
      4.162161586795735,
      3.4112066426366914,
      2.698918210852616,
      2.024256988141537
    ],
    "ax_ego": [
      -0.19519546674320715,
      -0.19527453952789428,
      -0.31539037984419405,
      -0.22967975838035967,
      -0.2668940427323274,
      -0.8706956680066293,
      -1.5044206343678486,
      -1.4993243373169984,
      -1.3501091510596939,
      -1.3501194994708654
    ],
    "ay_ego": [
      -0.03789078131764238,
      -0.03748112403361906,
      -0.04793822403466716,
      0.06994021725516819,
      0.09689906652360332,
      0.06722004501656342,
      -0.00032321632721821203,
      -0.025145034850903913,
      0.018993704675751677,
      0.018243494486034018
    ],
    "a_ego": [
      0.19883908455321322,
      0.19883908178890458,
      0.319012797583205,
      0.24009253507629205,
      0.28393988648858604,
      0.8732865971360944,
      1.5044206690884547,
      1.4995351750621624,
      1.3502427487649904,
      1.3502427514867548
    ],
    "yaw": [
      -0.740014491892932,
      -0.7379161892276351,
      -0.738406019729118,
      -0.7388140797985526,
      -0.7375873842490629,
      -0.7369780988013501,
      -0.7364367827122411,
      -0.7361252726816161,
      -0.737721078241651,
      -0.7382767455729846
    ],
    "yaw_diff": [
      0.004196605330593739,
      -0.0009796610029657593,
      -0.0008161201388692252,
      0.0024533910989794627,
      0.0012185708954255414,
      0.0010826321782180237,
      0.0006230200612500347,
      -0.003191611120069826,
      -0.0011113346626672183,
      -0.0011113346626672183
    ],
    "min_front_frame": [
      9,
      12.186481820718491
    ],
    "v_avg": 4.351079097568734,
    "v_std": 1.1748800088428584,
    "vy_max": 0.05894907978448727,
    "a_max": 1.5044206690884547,
    "ax_avg": -0.7777103477450018,
    "a_std": 0.5592064946281592,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9114a3a480dd5466",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 28.894172681306948,
    "right_rear_min": 13.48642189837095,
    "speed_mode": "decelerating",
    "front_frame": [
      19.04811001445812,
      18.64322149553158,
      18.097314432657257,
      17.260470969089862,
      16.339099066656445,
      15.043825960872267,
      14.027720311759971,
      13.198529411372686,
      12.510827564553034,
      12.186481820718491
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9114a3a480dd5466",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "436728a1202a5ae6": {
    "vx_ego": [
      1.8904946749457079,
      2.4234490824323833,
      2.9153639877573463,
      3.235996065166055,
      3.45884084088879,
      3.5986389690756564,
      3.614253537236045,
      3.6296946307265388,
      3.719089545968703,
      3.9620950748833943
    ],
    "vy_ego": [
      0.03285661388013039,
      0.009266756273060617,
      0.006992274287892064,
      0.04086551271105332,
      0.05637452534891407,
      0.0630651395624835,
      0.043371853117942116,
      0.02232217497251976,
      0.02550440698813125,
      0.0951359341321073
    ],
    "v_ego": [
      1.8907801757670684,
      2.4234667994247796,
      2.9153723729589216,
      3.2362540882785034,
      3.4593002254370155,
      3.5991915261038745,
      3.6145137638506992,
      3.6297632693910726,
      3.719176995749128,
      3.963237089599667
    ],
    "ax_ego": [
      1.0654995157358778,
      1.06762064821818,
      0.904725867598009,
      0.3971125573381816,
      0.5624259228310082,
      0.06483360117131853,
      0.0526194199483182,
      0.0435675184230907,
      0.3339331760456864,
      0.6792463414160104
    ],
    "ay_ego": [
      -0.13137132951102537,
      -0.11284419463437634,
      -0.2985204158111828,
      -0.5836215450409012,
      -1.1853633014920333,
      -1.4438340401152825,
      -1.5606416773607215,
      -1.6200765253526628,
      -1.6076923461541544,
      -1.4949282437609692
    ],
    "a_ego": [
      1.0735677175897589,
      1.0735677252807518,
      0.9527031721145109,
      0.7059125236398625,
      1.312024799764244,
      1.4452889438574077,
      1.5615284974892338,
      1.6206622339834735,
      1.6420067131247085,
      1.6420067132388014
    ],
    "yaw": [
      -0.42220931691118513,
      -0.43957981817749625,
      -0.4769640613812597,
      -0.5579640442200022,
      -0.69534570649498,
      -0.8797286071876464,
      -1.0817633769849078,
      -1.2946207649977441,
      -1.5163855305264096,
      -1.7380677163502594
    ],
    "yaw_diff": [
      -0.034741002532622245,
      -0.07476848640752687,
      -0.1619999656774851,
      -0.27476332454995545,
      -0.368765801385333,
      -0.40406953959452263,
      -0.42571477602567276,
      -0.44352953105733084,
      -0.4433643716476996,
      -0.4433643716476996
    ],
    "min_front_frame": [
      2,
      33.41165352464348
    ],
    "v_avg": 3.245105630656073,
    "v_std": 0.6175942553977561,
    "vy_max": 0.0951359341321073,
    "a_max": 1.6420067132388014,
    "ax_avg": 0.5171584568725681,
    "a_std": 0.3166108940245394,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "436728a1202a5ae6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 30.341705910001647,
    "speed_mode": "accelerating",
    "front_frame": [
      35.87519683323336,
      34.78250888099383,
      33.41165352464348,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "436728a1202a5ae6",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "7c94fd89afb95a88": {
    "vx_ego": [
      4.355448799428555,
      3.7718795860116625,
      3.160870983426434,
      2.464991483962575,
      1.769635838608652,
      1.1999999677022612,
      0.7603417559882321,
      0.4300993054651428,
      0.17295439925644226,
      -0.05818627476808127
    ],
    "vy_ego": [
      -0.027030605030704202,
      -0.014371712022290928,
      -0.004905204619109593,
      0.013275093426317192,
      0.002746588172393649,
      -0.029562374065064703,
      -0.023176266850005695,
      0.007114987037937632,
      0.033235491487369706,
      0.04886257925528524
    ],
    "v_ego": [
      4.355532676728757,
      3.771906965644561,
      3.1608747895004554,
      2.465027229892906,
      1.769637970047754,
      1.200364051630084,
      0.7606948962917859,
      0.430158151849001,
      0.1761187727545359,
      0.07598153869767105
    ],
    "ax_ego": [
      -1.1674131871601257,
      -1.1673042266832676,
      -1.2769603902731932,
      -1.5066013494392672,
      -1.2745958485609696,
      -1.003992812087687,
      -0.7546814349678077,
      -0.5662930538143167,
      -0.46221553779846436,
      -0.4622365253940898
    ],
    "ay_ego": [
      -0.016448261286992956,
      -0.02291146287181238,
      -0.012226395684880084,
      0.04865257515535237,
      -0.1078369626172385,
      -0.02414533786033663,
      0.04858170482338674,
      0.07233957077178238,
      0.03133248713236067,
      0.03102133543405294
    ],
    "a_ego": [
      1.1675290552507582,
      1.1675290543552002,
      1.2770189204072542,
      1.5073867118962765,
      1.2791494782375397,
      1.004283109518492,
      0.7562435125861353,
      0.5708947681471519,
      0.4632762978312437,
      0.4632762984014109
    ],
    "yaw": [
      -3.090298100350095,
      -3.0958346906920466,
      -3.101079087942997,
      -3.104272230113562,
      -3.1063157906612058,
      -3.106788995862412,
      -3.107080900796909,
      -3.107187498394736,
      -3.1078893433174475,
      -3.1085624963744345
    ],
    "yaw_diff": [
      -0.011073180683903061,
      -0.010488794501900323,
      -0.0063862843411301995,
      -0.004087121095287749,
      -0.0009464104024123898,
      -0.0005838098689938676,
      -0.00021319519565388134,
      -0.0014036898454232727,
      -0.0013463061139740162,
      -0.0013463061139740162
    ],
    "min_front_frame": [
      9,
      10.570484831907633
    ],
    "v_avg": 1.8166297043037514,
    "v_std": 1.470951293810305,
    "vy_max": 0.04886257925528524,
    "a_max": 1.5073867118962765,
    "ax_avg": -0.9642294366179189,
    "a_std": 0.357233181147644,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7c94fd89afb95a88",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 27.860089014000017,
    "speed_mode": "decelerating",
    "front_frame": [
      18.423081968470775,
      16.45960121688112,
      14.721943866071207,
      13.302831914262645,
      12.277304732942303,
      11.547886796729024,
      11.067858927583211,
      10.783796028270489,
      10.59552856152807,
      10.570484831907633
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7c94fd89afb95a88",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6d9b7998b38a52a3": {
    "vx_ego": [
      1.3148921057532699,
      1.761475208371006,
      2.163159489093856,
      2.4904901074262646,
      2.677598479815705,
      2.757422453072574,
      2.8249773958936495,
      2.8189183200250096,
      2.7474431285640044,
      2.6682254009050195
    ],
    "vy_ego": [
      -0.0002899485039124794,
      -0.004489993174295104,
      -0.005600678165696288,
      -0.009543632454078271,
      -0.0028810663322262897,
      0.008401427365056696,
      0.010953361916311688,
      0.01354695085654592,
      -0.0008771723388398267,
      -0.03506158566912476
    ],
    "v_ego": [
      1.3148921377217233,
      1.7614809308489217,
      2.1631667394939087,
      2.490508393101398,
      2.6776000298130014,
      2.757435251948909,
      2.8249986306983113,
      2.818950871308355,
      2.747443268590796,
      2.66845575283241
    ],
    "ax_ego": [
      0.8931767278262055,
      0.8931821828435127,
      0.7136333047209432,
      0.595693271824549,
      0.15264914660628928,
      0.16666728678163673,
      0.10358080569516898,
      -0.12786611060486733,
      -0.15821059682122282,
      -0.15839049903514432
    ],
    "ay_ego": [
      0.0031286270315850767,
      0.00020573687298161558,
      0.017088058731652325,
      -0.027920909942738777,
      0.037929146117362436,
      -0.0002101974317703422,
      0.0019866604297457888,
      0.02288115801910893,
      -0.048418552897736805,
      -0.04782675999830249
    ],
    "a_ego": [
      0.8931822073000728,
      0.8931822065383765,
      0.7138378634943309,
      0.5963472573166297,
      0.15729075651423585,
      0.1666674193299718,
      0.1035998558306114,
      0.12989722719716382,
      0.16545376759457142,
      0.1654537674292649
    ],
    "yaw": [
      -0.0816384322056462,
      -0.07836597936928542,
      -0.07562805237403265,
      -0.07510073822844318,
      -0.07667703094688487,
      -0.07735925526540005,
      -0.07811229347490381,
      -0.07684132909124902,
      -0.07395656245178144,
      -0.07021815446181026
    ],
    "yaw_diff": [
      0.006544905672721563,
      0.0054758539905055414,
      0.001054628291178944,
      -0.003152585436883376,
      -0.0013644486370303632,
      -0.0015060764190075182,
      0.002541928767309576,
      0.005769533278935174,
      0.007476815979942347,
      0.007476815979942347
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.4224932006357736,
    "v_std": 0.4897079452974316,
    "vy_max": 0.03506158566912476,
    "a_max": 0.8931822073000728,
    "ax_avg": 0.3074115519837071,
    "a_std": 0.3174374518613989,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6d9b7998b38a52a3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6d9b7998b38a52a3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "291a9c13b9345fd7": {
    "vx_ego": [
      3.083663422809255,
      3.4054223779011767,
      3.798145343400746,
      4.290617232776622,
      4.816640349529995,
      5.283256858599205,
      5.703036096022386,
      6.100927587635173,
      6.460898595096031,
      6.822675359576538
    ],
    "vy_ego": [
      0.11684737188128624,
      0.03636966558768817,
      -0.0015337861521429463,
      -0.000541189918807472,
      -0.006087881676802409,
      0.0055095412945642686,
      0.02725907845068365,
      0.022646797631053595,
      0.03561347187510355,
      0.04127457612583063
    ],
    "v_ego": [
      3.0858764417078097,
      3.4056165850672424,
      3.7981456530913515,
      4.29061726690767,
      4.816644196847401,
      5.283259731357225,
      5.703101241420516,
      6.1009696202334,
      6.460996747831783,
      6.8228002061329045
    ],
    "ax_ego": [
      0.6427194509636863,
      0.6418477503734781,
      0.9292583817451663,
      1.0407250854141235,
      1.0632688870597387,
      0.8038796842041532,
      0.874219779740852,
      0.7163582221463235,
      0.7234782726490115,
      0.7234975550470035
    ],
    "ay_ego": [
      -0.1065464769954314,
      -0.11167770694577064,
      0.07904256149532443,
      0.08953190464014482,
      0.039269766806236506,
      0.1892937208804072,
      0.11347987743084817,
      0.03852428176103695,
      0.02294459231589077,
      0.02232836096814919
    ],
    "a_ego": [
      0.6514909396201918,
      0.6514909399893141,
      0.9326139965555886,
      1.0445691290473438,
      1.063993816135353,
      0.8258660057424076,
      0.8815542557732133,
      0.7173933528559107,
      0.7238420168184075,
      0.7238420185803777
    ],
    "yaw": [
      1.197357888793566,
      1.2053468884885485,
      1.2136883584624978,
      1.2238983063503648,
      1.2321928489325402,
      1.2411538504252286,
      1.2509897269377832,
      1.2581858079490407,
      1.2585680589659871,
      1.259419807849091
    ],
    "yaw_diff": [
      0.015977999389964914,
      0.01668293994789849,
      0.020419895775734,
      0.01658908516435087,
      0.017922002985376828,
      0.01967175302510915,
      0.01439216202251492,
      0.0007645020338928887,
      0.0017034977662078177,
      0.0017034977662078177
    ],
    "min_front_frame": [
      9,
      27.725906111970804
    ],
    "v_avg": 4.97680276905973,
    "v_std": 1.2420014920746694,
    "vy_max": 0.11684737188128624,
    "a_max": 1.063993816135353,
    "ax_avg": 0.8159253069343537,
    "a_std": 0.14568913026438204,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "291a9c13b9345fd7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.016966932457956,
    "speed_mode": "accelerating",
    "front_frame": [
      50.69497217991003,
      48.91807217174463,
      46.95858476423977,
      44.77299598896308,
      42.41880340907818,
      39.783784989714164,
      37.048593524014,
      34.03289305716084,
      31.0188806613921,
      27.725906111970804
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "291a9c13b9345fd7",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "fe9ad4d0e8d355e2": {
    "vx_ego": [
      4.812618282207223,
      4.287448730727694,
      3.793342284969781,
      3.3356335305232583,
      2.8760104343607207,
      2.4274545519335637,
      1.9931073743147185,
      1.5315742603542954,
      1.0300472000891883,
      0.5120645840175548
    ],
    "vy_ego": [
      -0.18057132772229512,
      -0.17927444562444328,
      -0.09023989981529223,
      0.04533776068231199,
      0.06444753538521653,
      0.015334836508900551,
      -0.0005545169852543275,
      0.010595393342723414,
      0.004323510043005574,
      -0.004750030103166103
    ],
    "v_ego": [
      4.816004644373861,
      4.291195165157658,
      3.794415492596776,
      3.3359416305587155,
      2.8767324351369505,
      2.4275029884458914,
      1.9931074514528309,
      1.531610909252051,
      1.0300562737786068,
      0.512086614735293
    ],
    "ax_ego": [
      -1.0519066276093525,
      -1.0517596020862288,
      -0.925225773471174,
      -0.9055868517338644,
      -0.9326954926066338,
      -0.8614242284504731,
      -0.8760048993972944,
      -0.9701219090462936,
      -1.0359699771077922,
      -1.0359607835982088
    ],
    "ay_ego": [
      -0.03311309757806852,
      -0.037493461776651194,
      0.3815973556595456,
      0.14873233243137574,
      -0.08011427381979774,
      -0.1224086285841387,
      0.05268220308152616,
      -0.008869590399768978,
      -0.018645530072925964,
      -0.019149735719828864
    ],
    "a_ego": [
      1.0524276841853295,
      1.052427679347412,
      1.0008292930073988,
      0.9177193758136141,
      0.936129894191188,
      0.8700779124385025,
      0.877587601490351,
      0.9701624544608418,
      1.0361377559284382,
      1.0361377599197676
    ],
    "yaw": [
      -0.5228671228623862,
      -0.5270316124112825,
      -0.5277791614410674,
      -0.5286200399031991,
      -0.5292488995051816,
      -0.529823293504071,
      -0.5305204797397765,
      -0.5306313825711552,
      -0.5311021926396962,
      -0.5315889003185696
    ],
    "yaw_diff": [
      -0.00832897909779251,
      -0.0014950980595698216,
      -0.0016817569242633112,
      -0.001257719203965113,
      -0.001148787997778733,
      -0.001394372471410943,
      -0.00022180566275742386,
      -0.0009416201370819888,
      -0.0009734153577469762,
      -0.0009734153577469762
    ],
    "min_front_frame": [
      9,
      8.683629470018086
    ],
    "v_avg": 2.660865360548863,
    "v_std": 1.3469307957044054,
    "vy_max": 0.18057132772229512,
    "a_max": 1.0524276841853295,
    "ax_avg": -0.9646656145107315,
    "a_std": 0.06741369196746912,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fe9ad4d0e8d355e2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.631861520218763,
      18.346744787271103,
      16.33750346772904,
      14.525798812781048,
      13.010424829417145,
      11.649142636246912,
      10.565807319564561,
      9.651411295949575,
      9.01684996268033,
      8.683629470018086
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fe9ad4d0e8d355e2",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "1b6ca45027e3531c": {
    "vx_ego": [
      9.156403108408865,
      8.983560688024323,
      8.811314369534426,
      8.63435729584441,
      8.464889053160674,
      8.302139403773735,
      8.147938348577718,
      7.998786866140081,
      7.708451500310192,
      7.28565534569889
    ],
    "vy_ego": [
      0.05485126257738138,
      -0.055857161034517766,
      0.004701704092680892,
      -0.00955755741659381,
      0.01426854007743028,
      0.024717391602478767,
      -0.012685332793083148,
      -0.01976606372953249,
      -0.007393319868419734,
      0.013947401981985408
    ],
    "v_ego": [
      9.156567399669258,
      8.983734338116577,
      8.811315623945452,
      8.63436258557662,
      8.46490107878145,
      8.302176198391608,
      8.147948223319258,
      7.998811288385945,
      7.7084550458449925,
      7.285668695894212
    ],
    "ax_ego": [
      -0.3474753509114987,
      -0.34376983335979794,
      -0.34513236922312235,
      -0.3627791353503863,
      -0.31510319297493805,
      -0.3359898792037777,
      -0.2806818859237467,
      -0.31546401868275464,
      -0.8457033592547096,
      -0.8455106589109194
    ],
    "ay_ego": [
      0.1674570689677336,
      0.17493797999431332,
      0.10971814239865663,
      0.0652638500240807,
      0.047486208145851166,
      0.031081558426559297,
      0.10924618569384568,
      0.10300900198555811,
      0.07814573906552374,
      0.0802038208369733
    ],
    "a_ego": [
      0.3857213883599579,
      0.3857213957932772,
      0.36215248591853894,
      0.36860286375113743,
      0.31866120282687715,
      0.3374244540657846,
      0.3011927126846952,
      0.33185599523518344,
      0.8493061452672984,
      0.8493061445726308
    ],
    "yaw": [
      2.5057147885508835,
      2.527358662385504,
      2.5285505739023733,
      2.5351986273093132,
      2.5357091123450743,
      2.5368053380071363,
      2.5456253771637156,
      2.553071082076781,
      2.5572271820758763,
      2.559661033973919
    ],
    "yaw_diff": [
      0.04328774766924148,
      0.002383823033738075,
      0.013296106813879938,
      0.0010209700715222425,
      0.002192451324123823,
      0.017640078313158725,
      0.014891409826130797,
      0.00831219999819055,
      0.004867703796085365,
      0.004867703796085365
    ],
    "min_front_frame": [
      9,
      31.307767301315216
    ],
    "v_avg": 8.349394047792536,
    "v_std": 0.554064035409283,
    "vy_max": 0.055857161034517766,
    "a_max": 0.8493061452672984,
    "ax_avg": -0.4337609683795652,
    "a_std": 0.20186916312602807,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "1b6ca45027e3531c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.840524273118596,
    "speed_mode": "decelerating",
    "front_frame": [
      68.849204190208,
      64.35087831003358,
      59.912580245738525,
      55.54818078103861,
      51.302759530185575,
      47.11138081871609,
      43.01613008876813,
      38.9769032365445,
      35.01013073753047,
      31.307767301315216
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 5,
    "token": "1b6ca45027e3531c",
    "smoothness": "No"
  },
  "ec921ad4a3d05806": {
    "vx_ego": [
      5.761502439515198,
      5.148541982851469,
      4.525646300887758,
      3.8214278917196385,
      2.9653889800465167,
      2.0654129974552413,
      1.2798790362739911,
      0.6777020568522222,
      0.2895701010249049,
      0.010531266262251544
    ],
    "vy_ego": [
      0.01258625447048578,
      0.05887838070952922,
      0.07774991018290311,
      0.054449509045852995,
      0.04023114761990021,
      0.02549537403783675,
      -0.012024739881831725,
      -0.042622092344967666,
      -0.03401899091170485,
      -0.0007620959516228421
    ],
    "v_ego": [
      5.761516187110921,
      5.1488786364507675,
      4.526314117388727,
      3.821815783191039,
      2.9656618735486577,
      2.065570348391546,
      1.2799355225412201,
      0.6790410301429477,
      0.2915615460759945,
      0.010558804824690982
    ],
    "ax_ego": [
      -1.2254590310388123,
      -1.225648732948057,
      -1.2649271869436272,
      -1.5519584257007901,
      -1.8719494166703603,
      -1.7277921631154012,
      -1.4143271394031345,
      -0.9944777155217146,
      -0.5580780628482551,
      -0.5580949993809783
    ],
    "ay_ego": [
      0.040815142886550304,
      0.034653742681747035,
      -0.023649243304754153,
      -0.06884915709236461,
      -0.009345759170170775,
      -0.05994318924504094,
      -0.09263273344820211,
      -0.03233280384108911,
      0.06650842655884559,
      0.06636615238659299
    ],
    "a_ego": [
      1.2261385372964322,
      1.2261385315122555,
      1.2651482422933706,
      1.5534848443213098,
      1.8719727460053923,
      1.7288316704815028,
      1.4173574286531747,
      0.9950031843534546,
      0.5620271301599188,
      0.562027129698073
    ],
    "yaw": [
      -0.7136255021226376,
      -0.7186529290861838,
      -0.7219822092364894,
      -0.721940444626998,
      -0.7234929440866887,
      -0.7245286130514397,
      -0.7249105397561066,
      -0.7256058015248118,
      -0.7257437525777417,
      -0.7259986833554524
    ],
    "yaw_diff": [
      -0.010054853927092378,
      -0.006658560300611072,
      8.352921898269194e-05,
      -0.00310499891938143,
      -0.002071337929501871,
      -0.0007638534093339366,
      -0.0013905235374103153,
      -0.00027590210585981545,
      -0.0005098615554213204,
      -0.0005098615554213204
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.655085384966651,
    "v_std": 1.9887486980734979,
    "vy_max": 0.07774991018290311,
    "a_max": 1.8719727460053923,
    "ax_avg": -1.2392712873571132,
    "a_std": 0.4181390115043873,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ec921ad4a3d05806",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ec921ad4a3d05806",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4d6e0b4cf60f5e98": {
    "vx_ego": [
      5.630962499195803,
      4.819507525129074,
      4.015569429415614,
      3.1210683814234916,
      2.1434610415129662,
      1.2761789857412085,
      0.5983749615827806,
      0.13985867900785978,
      -0.036734662363235866,
      -0.09015536294665821
    ],
    "vy_ego": [
      -0.004598310095546676,
      0.07124049564404611,
      0.027761528723208084,
      0.00704567758945418,
      0.007547214558375981,
      -0.0053633641702154344,
      -0.018849181980627627,
      -0.006959969449421795,
      0.008303654996859824,
      0.0255379722185377
    ],
    "v_ego": [
      5.630964376712499,
      4.8200340240495585,
      4.015665392551313,
      3.1210763340703713,
      2.143474328498347,
      1.2761902559268667,
      0.5986717684261827,
      0.14003175093013887,
      0.03766146711491485,
      0.09370260131436307
    ],
    "ax_ego": [
      -1.6720650683067133,
      -1.5471373018280157,
      -1.663720868937456,
      -1.925690409559764,
      -1.9915227982846162,
      -1.4781711360007812,
      -1.2347579422804504,
      -0.5995487674995413,
      -0.10682540349191336,
      -0.10683620156151595
    ],
    "ay_ego": [
      -0.9734012003328063,
      -1.1617562847366532,
      -0.8596762947951802,
      -0.45330055256041485,
      -0.16326363131354907,
      -0.12275183869567832,
      0.016079312508030574,
      0.02655379012313469,
      0.03452507799071472,
      0.03449163547079283
    ],
    "a_ego": [
      1.9347639363655924,
      1.9347639380122796,
      1.8727013807787865,
      1.9783237713837514,
      1.9982037106854433,
      1.4832592225261942,
      1.234862632164154,
      0.6001365081213794,
      0.11226596920471951,
      0.11226596492946078
    ],
    "yaw": [
      1.7368511661199464,
      1.619964704680718,
      1.5158468682832487,
      1.430499434825332,
      1.371950383765697,
      1.3363492158093735,
      1.321813099695111,
      1.317564331988871,
      1.3169567278999326,
      1.31664367835346
    ],
    "yaw_diff": [
      -0.23377292287845686,
      -0.2082356727949386,
      -0.17069486691583347,
      -0.11709810211926985,
      -0.07120233591264702,
      -0.029072232228525063,
      -0.008497535412479884,
      -0.001215208177876903,
      -0.0006260990929449761,
      -0.0006260990929449761
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.187747229959455,
    "v_std": 1.9888728847844408,
    "vy_max": 0.07124049564404611,
    "a_max": 1.9982037106854433,
    "ax_avg": -1.2326275897750767,
    "a_std": 0.7364555825951823,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "4d6e0b4cf60f5e98",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4d6e0b4cf60f5e98",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1f7910e143ab5300": {
    "vx_ego": [
      4.8224075247717195,
      4.709102420903899,
      4.529533870110874,
      4.1685760899751205,
      3.678617082576547,
      3.1290806003545977,
      2.4700702381141606,
      1.7588384287030245,
      1.1513626553714063,
      0.6350434668013902
    ],
    "vy_ego": [
      -0.11015684828948391,
      -0.022620324160784744,
      -0.0007752251584185466,
      -0.03101934862440081,
      -0.006171308739602255,
      0.02783890405229661,
      0.03121204222397944,
      0.012553195144544893,
      0.000278439950294862,
      -0.0002800025217495339
    ],
    "v_ego": [
      4.823665501068661,
      4.709156749315964,
      4.529533936450376,
      4.168691499487741,
      3.6786222591176094,
      3.1292044369287098,
      2.4702674294086333,
      1.7588832255129563,
      1.151362689039688,
      0.6350435285305572
    ],
    "ax_ego": [
      -0.22650301906149167,
      -0.2252904879907817,
      -0.4934708768172153,
      -0.9500703198346077,
      -1.0097598658583786,
      -1.1886474066916608,
      -1.4480410205641596,
      -1.3972965109404363,
      -1.0326393234689977,
      -1.0326358466898131
    ],
    "ay_ego": [
      0.2255654729440962,
      0.22677653269000023,
      -0.024154721510475957,
      -0.019374264453906165,
      0.11940663431171361,
      0.06882352334845199,
      -0.008593697768031427,
      -0.03100112520885434,
      0.0010972979823388185,
      0.0028975369741123247
    ],
    "a_ego": [
      0.31966138369916414,
      0.3196613829633215,
      0.4940616933521561,
      0.9502678436913267,
      1.0167954224011742,
      1.1906382048300421,
      1.4480665208745835,
      1.397640371930681,
      1.032639906471453,
      1.0326399118711729
    ],
    "yaw": [
      2.1841267546852903,
      2.18948786264525,
      2.195679834678478,
      2.2000741316943344,
      2.2001148460080318,
      2.2039229342347175,
      2.2080487469081116,
      2.212204185249824,
      2.215608746293061,
      2.2173520829198017
    ],
    "yaw_diff": [
      0.01072221591991962,
      0.012383944066455932,
      0.008788594031712726,
      8.142862739468626e-05,
      0.007616176453371537,
      0.008251625346788138,
      0.008310876683425228,
      0.006809122086473884,
      0.003486673253481065,
      0.003486673253481065
    ],
    "min_front_frame": [
      9,
      9.675064607207059
    ],
    "v_avg": 3.1054431254860893,
    "v_std": 1.454296820834593,
    "vy_max": 0.11015684828948391,
    "a_max": 1.4480665208745835,
    "ax_avg": -0.9004354677917542,
    "a_std": 0.3896327153267686,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1f7910e143ab5300",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.698203104096145,
    "right_rear_min": 19.715362311734857,
    "speed_mode": "decelerating",
    "front_frame": [
      19.18476854415416,
      16.84919299247365,
      19.030603749214613,
      16.855477647421722,
      14.94750699785276,
      13.250455848529691,
      11.849941321956006,
      10.807557048143286,
      10.140815615550913,
      9.675064607207059
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1f7910e143ab5300",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3e0511dc69b85b75": {
    "vx_ego": [
      7.260630565325805,
      7.842598103370175,
      8.260624423414269,
      8.489798846228837,
      8.711572307345484,
      8.948567558511211,
      9.187915537737114,
      9.451872699108257,
      9.690590798595059,
      9.886135699832884
    ],
    "vy_ego": [
      -0.05381144184991449,
      -0.011890532841356993,
      -0.009674695913250986,
      -0.005471259986642885,
      -0.020408452548572598,
      -0.0070094894053394086,
      0.09394455490695464,
      0.09336602623825474,
      0.05014860821786815,
      0.009178347622136762
    ],
    "v_ego": [
      7.26082997166421,
      7.842607117263794,
      8.26063008882793,
      8.489800609208341,
      8.711596212580341,
      8.948570303807251,
      9.188395807102987,
      9.45233382477595,
      9.690720556734748,
      9.88613996044843
    ],
    "ax_ego": [
      1.1614390622868653,
      1.1687633932411234,
      0.5039812739304221,
      0.41284345375667064,
      0.4740582273400741,
      0.47632335398232206,
      0.4794678480652661,
      0.5660273160534272,
      0.3817374807319006,
      0.39672738514406014
    ],
    "ay_ego": [
      0.38844356055560464,
      0.36581584377224297,
      0.3393153519453714,
      0.2925875273612019,
      0.16345628913557556,
      0.3918036667797368,
      0.5030748025834356,
      0.42657652882222574,
      0.5080468664676421,
      0.49642975596487715
    ],
    "a_ego": [
      1.2246750977883516,
      1.2246751001532215,
      0.6075623692579573,
      0.5060110458054037,
      0.5014470673628336,
      0.6167609349261799,
      0.6949630740713494,
      0.7087696787114031,
      0.6354802300017903,
      0.6354802284340488
    ],
    "yaw": [
      -0.853472027082552,
      -0.8340513961082205,
      -0.8126541558858917,
      -0.7943192039598908,
      -0.7793133592592332,
      -0.7651098543537964,
      -0.7515715049387601,
      -0.7265443971719949,
      -0.6976882034167704,
      -0.6678442299210055
    ],
    "yaw_diff": [
      0.038841261948662886,
      0.04279448044465761,
      0.03666990385200197,
      0.030011689401315156,
      0.028407009810873518,
      0.027076698830072576,
      0.0500542155335304,
      0.05771238751044905,
      0.059687946991529905,
      0.059687946991529905
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.773162445241399,
    "v_std": 0.7902498806270399,
    "vy_max": 0.09394455490695464,
    "a_max": 1.2246751001532215,
    "ax_avg": 0.6021368794532131,
    "a_std": 0.2527574146715969,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "3e0511dc69b85b75",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.084925531636801,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3e0511dc69b85b75",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "debb1dafdd77545e": {
    "vx_ego": [
      2.635203168890296,
      2.6189351134961565,
      2.62184959051035,
      2.628464540074301,
      2.655331853221513,
      2.631383652298815,
      2.5629118681896337,
      2.5337117855812825,
      2.535572354878511,
      2.559734279307151
    ],
    "vy_ego": [
      -0.05825168431916117,
      -0.1141547609963145,
      -0.11838629587216287,
      -0.0724728126021702,
      -0.018100988428445153,
      -0.001894915512084011,
      0.014882597729003008,
      -0.0016033737312423635,
      -0.03004205493708656,
      -0.0784446224055918
    ],
    "v_ego": [
      2.635846922728154,
      2.621421835218676,
      2.6245210211216867,
      2.629463471317766,
      2.655393548330432,
      2.631384334583272,
      2.5629550787757562,
      2.5337122929016256,
      2.5357503212834267,
      2.5609359889392893
    ],
    "ax_ego": [
      -0.06304934096171677,
      0.053319303059222445,
      0.02230385639237803,
      0.04598009239981096,
      0.07330597246363833,
      -0.16606142461261747,
      -0.11164194225220063,
      -0.014511592036866423,
      0.03338424369012054,
      0.08741107536120928
    ],
    "ay_ego": [
      0.7254720581638563,
      0.726252007603203,
      0.7162439877879834,
      0.6777203244165114,
      0.5599242667189006,
      0.5425417127064565,
      0.5146144899520202,
      0.3675808334291523,
      0.481221513293169,
      0.4743921968429317
    ],
    "a_ego": [
      0.728206651007946,
      0.7282066510451577,
      0.7165911749752467,
      0.6792782986555044,
      0.5647025323650835,
      0.5673869109970966,
      0.5265852224839029,
      0.3678671708754597,
      0.48237812199863395,
      0.48237812193471824
    ],
    "yaw": [
      2.468591237942406,
      2.628567038890689,
      2.7673750193617677,
      2.8826380852129883,
      2.979224295896759,
      3.0761865583623655,
      -3.111519788807246,
      -3.018126035709391,
      -2.923032835663456,
      -2.8100805452207718
    ],
    "yaw_diff": [
      0.319951601896566,
      0.2776159609421569,
      0.23052613170244118,
      0.19317242136754142,
      0.19392452493121315,
      0.19095792001994916,
      0.18678750619571005,
      0.1901864000918705,
      0.22590458088536813,
      0.22590458088536813
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.5991384815200087,
    "v_std": 0.043219992481858295,
    "vy_max": 0.11838629587216287,
    "a_max": 0.7282066510451577,
    "ax_avg": -0.003955975649702172,
    "a_std": 0.11813571166220599,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "debb1dafdd77545e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "debb1dafdd77545e",
    "pedestrians": "No"
  },
  "f742c7490c2d5b98": {
    "vx_ego": [
      7.505822478556181,
      7.84925511878819,
      8.147940362312537,
      8.441757545622359,
      8.696549284390219,
      8.86940232181355,
      9.012739345146912,
      9.091096706086098,
      9.141157633948517,
      9.201774941718295
    ],
    "vy_ego": [
      -0.06913329921536082,
      -0.08847572311951835,
      -0.10249495941712494,
      -0.021455130540995793,
      0.05339523202122809,
      0.018433350911194246,
      -0.06443340179879176,
      -0.05032557530731907,
      -0.010194739618096804,
      -0.010485851023346093
    ],
    "v_ego": [
      7.506140852172949,
      7.8497537460358675,
      8.148584991549619,
      8.441784810198527,
      8.696713201355477,
      8.869421476884352,
      9.012969664146581,
      9.091235998638442,
      9.141163318823875,
      9.20178091627411
    ],
    "ax_ego": [
      0.6878026614888268,
      0.6902835965498652,
      0.5098559223946195,
      0.6664533370802969,
      0.3523716788476898,
      0.33766404748052126,
      0.2361355604822412,
      0.07896479450280365,
      0.12121987351718821,
      0.12122603048668729
    ],
    "ay_ego": [
      0.18162380157708793,
      0.1719542454721221,
      0.20607704933562587,
      0.24653759385608934,
      0.16580884818588715,
      -0.1435315744904068,
      -0.06482444080686195,
      0.2733618471443836,
      -0.010953865938533605,
      -0.010885552152541708
    ],
    "a_ego": [
      0.7113787362934227,
      0.711378736118605,
      0.5499280060732916,
      0.7105918910948913,
      0.3894334014830649,
      0.3669036955886693,
      0.24487182575826183,
      0.28453846531718585,
      0.1217137827631796,
      0.12171378604424785
    ],
    "yaw": [
      2.5268633853168874,
      2.540896465362503,
      2.5544263688161353,
      2.558307060559445,
      2.5615871328343713,
      2.5662009042105507,
      2.5696383104431355,
      2.573830141775977,
      2.5766258362557832,
      2.576062268594893
    ],
    "yaw_diff": [
      0.028066160091230863,
      0.02705980690726495,
      0.0077613834866197,
      0.006560144549852431,
      0.009227542752358708,
      0.006874812465169633,
      0.008383662665682579,
      0.005591388959612864,
      -0.00112713532178077,
      -0.00112713532178077
    ],
    "min_front_frame": [
      0,
      20.058321831516416
    ],
    "v_avg": 8.595954897607978,
    "v_std": 0.5600747573936434,
    "vy_max": 0.10249495941712494,
    "a_max": 0.7113787362934227,
    "ax_avg": 0.380197750283074,
    "a_std": 0.22401677076127882,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f742c7490c2d5b98",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      20.058321831516416,
      21.98088022001314,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      0,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f742c7490c2d5b98",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "79984c4826f653fd": {
    "vx_ego": [
      1.1638811655691361,
      1.8206698394347034,
      2.4070374988773535,
      2.8949585702605654,
      3.278176032811528,
      3.56173845357462,
      3.6964849162526487,
      5.633858456542004,
      5.713198155905234,
      2.057880185355476
    ],
    "vy_ego": [
      -0.03316623895858578,
      0.0008941224133930392,
      0.0007569562695142196,
      0.01554281024952786,
      0.015325942250424163,
      -0.01287310084388582,
      -0.02223150262801976,
      0.2611895821999233,
      -0.25337634843860934,
      0.4847152382234107
    ],
    "v_ego": [
      1.164353626255026,
      1.8206700589843507,
      2.4070376178997575,
      2.8950002940372133,
      3.2782118581027966,
      3.5617617169593845,
      3.696551768309549,
      5.639909671812096,
      5.718813927956307,
      2.114194815868364
    ],
    "ax_ego": [
      1.3134980371192546,
      1.3140274937887497,
      1.0315501595693257,
      0.9210116770070638,
      0.6121105177861079,
      0.5263477381447023,
      0.021900774981376825,
      7.733078623060036,
      -7.406967871799177,
      -7.227289846187521
    ],
    "ay_ego": [
      0.09043246783318704,
      0.08238250593078211,
      0.09909407622856342,
      0.23286618281684307,
      0.3668455432675626,
      0.4951496535111075,
      0.5969498956721784,
      1.6932232844233068,
      1.8195641582435087,
      2.4372665745617708
    ],
    "a_ego": [
      1.31660743000886,
      1.316607432652641,
      1.0362988794991017,
      0.9499942990792373,
      0.7136210048755924,
      0.7226445328252431,
      0.5973515061400696,
      7.91628132909268,
      7.6271873439577735,
      7.627187350280659
    ],
    "yaw": [
      -2.629943198208096,
      -2.6238158064520216,
      -2.602642632762716,
      -2.577049682931625,
      -2.5290153523861987,
      -2.4580102998241933,
      -2.3815658390022434,
      -2.3034912915969645,
      -2.119927520716149,
      -2.035558913394596
    ],
    "yaw_diff": [
      0.012254783512148926,
      0.042346347378611426,
      0.051185899662181455,
      0.09606866109085299,
      0.1420101051240108,
      0.15288892164389978,
      0.15614909481055772,
      0.3671275417616311,
      0.1687372146431061,
      0.1687372146431061
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.2296505356184846,
    "v_std": 1.4359504818737587,
    "vy_max": 0.4847152382234107,
    "a_max": 7.91628132909268,
    "ax_avg": -0.1160732696530081,
    "a_std": 3.1128974517468517,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "79984c4826f653fd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "79984c4826f653fd",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "48ba976afe6a59c8": {
    "vx_ego": [
      2.7898145381722226,
      2.550344528659978,
      2.3924592658907744,
      2.3571157282667117,
      2.4336745192581963,
      2.5317116897789553,
      2.5943868948036135,
      2.6189351134961565,
      2.62184959051035,
      2.6431019320332942
    ],
    "vy_ego": [
      -0.004309457561680385,
      -0.02468917689330801,
      -0.04464365251253599,
      -0.034118762976513284,
      0.017110696366635647,
      0.017784936208171676,
      -0.05091909185651189,
      -0.1141547609963145,
      -0.11838629587216287,
      -0.06467132487566662
    ],
    "v_ego": [
      2.7898178666037623,
      2.550464030391637,
      2.3928757582992652,
      2.3573626463548956,
      2.4337346695185906,
      2.5317741574080697,
      2.5948865319786583,
      2.621421835218676,
      2.6245210211216867,
      2.6438930014997406
    ],
    "ax_ego": [
      -0.5376525932947213,
      -0.40462079344183616,
      -0.2076414674491278,
      0.11091494712389124,
      0.20919335149789164,
      0.14994550052854205,
      0.10021575550211986,
      0.053319303059222445,
      0.02230385639237803,
      0.10452965820263288
    ],
    "ay_ego": [
      0.7818848617114829,
      0.8583101196106409,
      0.7983025461038188,
      0.9671865812311218,
      1.0454644462280045,
      0.8348198671781388,
      0.6961416884868096,
      0.726252007603203,
      0.7162439877879834,
      0.7089262742748109
    ],
    "a_ego": [
      0.9489016008259885,
      0.948901600752962,
      0.8248647974791183,
      0.9735255561150108,
      1.0661884292364783,
      0.8481791460322993,
      0.7033181698919252,
      0.7282066510451577,
      0.7165911749752467,
      0.716591174799916
    ],
    "yaw": [
      1.3934910029748673,
      1.5553513127672218,
      1.7323081084178562,
      1.9163068476237037,
      2.1053816597261976,
      2.2933317020169115,
      2.468591237942406,
      2.628567038890689,
      2.7673750193617677,
      2.8826380852129883
    ],
    "yaw_diff": [
      0.3237206195847091,
      0.35391359130126876,
      0.36799747841169506,
      0.37814962420498777,
      0.37590008458142776,
      0.3505190718509894,
      0.319951601896566,
      0.2776159609421569,
      0.23052613170244118,
      0.23052613170244118
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.5540751518394984,
    "v_std": 0.12428954067809397,
    "vy_max": 0.11838629587216287,
    "a_max": 1.0661884292364783,
    "ax_avg": -0.039949248187900695,
    "a_std": 0.12412815547574163,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "48ba976afe6a59c8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 21.492607378117526,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "48ba976afe6a59c8",
    "pedestrians": "No"
  },
  "71405d414236553c": {
    "vx_ego": [
      3.640573109349921,
      3.0661878783081438,
      2.5346121122764136,
      2.1485356296863016,
      1.938089002803895,
      1.8266724986134013,
      1.7649866057263066,
      1.7501990473107614,
      1.902106225770771,
      2.197520036066607
    ],
    "vy_ego": [
      -0.04972432009091832,
      -0.020309072450161114,
      -0.0020170169020061746,
      -0.0005536768984459872,
      0.002488067069770783,
      0.003801340428810862,
      -0.016290892405043667,
      -0.02686141268419595,
      -0.024592468688802493,
      -0.024225652123599284
    ],
    "v_ego": [
      3.640912670269675,
      3.0662551367274675,
      2.5346129148364027,
      2.148535701027474,
      1.938090599860373,
      1.8266764539402105,
      1.7650617868983005,
      1.7504051647258378,
      1.9022651980289544,
      2.1976535648584368
    ],
    "ax_ego": [
      -1.1488323509368388,
      -1.1489007754232745,
      -0.9774251855001777,
      -0.5668770187060603,
      -0.27489098173596044,
      -0.17075068366231613,
      -0.07600484009249349,
      0.01693686584785143,
      0.5908708189213377,
      0.5908750671972155
    ],
    "ay_ego": [
      0.05036871346643257,
      0.048783425484188125,
      0.015264714229095477,
      -0.013179384564750485,
      0.03306593804692186,
      -0.03185791239094418,
      -0.054824661766539017,
      0.017239248290650596,
      0.0048257865901248365,
      0.004275644688929658
    ],
    "a_ego": [
      1.1499359885903768,
      1.1499360044672802,
      0.9775443748242596,
      0.567030202471241,
      0.2768725484743531,
      0.17369721515630995,
      0.09371488278443778,
      0.024167107943955886,
      0.5908905252828021,
      0.590890536540246
    ],
    "yaw": [
      0.8695259191517741,
      0.8681460590449381,
      0.8673256031567328,
      0.8669142925838846,
      0.86787596393354,
      0.8673349966743535,
      0.8664502316703198,
      0.8671227319287629,
      0.8689736762825934,
      0.8699047579715009
    ],
    "yaw_diff": [
      -0.00275972021367199,
      -0.0016409117764106806,
      -0.0008226211456963117,
      0.001923342699310826,
      -0.0010819345183730178,
      -0.0017695300080675658,
      0.0013450005168862411,
      0.003701888707660972,
      0.0018621633778150848,
      0.0018621633778150848
    ],
    "min_front_frame": [
      6,
      11.916101973481117
    ],
    "v_avg": 2.2770469191173133,
    "v_std": 0.5974784240244851,
    "vy_max": 0.04972432009091832,
    "a_max": 1.1499360044672802,
    "ax_avg": -0.31649990840907166,
    "a_std": 0.4007838571766074,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "71405d414236553c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.00530448972998,
    "speed_mode": "decelerating",
    "front_frame": [
      13.704257044449772,
      13.174031937654398,
      12.63703258528989,
      12.379874062381164,
      12.180437165552785,
      11.963936306333396,
      11.916101973481117,
      12.461155505971767,
      13.352369048890399,
      14.418171219541021
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "71405d414236553c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "df044fb9c65c5d52": {
    "vx_ego": [
      0.778494716216157,
      0.6048546540676475,
      0.4504091023368737,
      0.37216327990452525,
      0.3599974319607451,
      0.32877592328505256,
      0.26046611085619137,
      0.16689205686591355,
      0.05803520525166671,
      -0.049765576013867704
    ],
    "vy_ego": [
      0.08302331978582411,
      0.027683171547228422,
      -0.0070569130301927855,
      -0.013838149575919438,
      -0.012447257981764532,
      -0.011662340571691611,
      -0.013399865735669727,
      -0.010164686309089007,
      -0.007165958392413913,
      -0.010210474431593102
    ],
    "v_ego": [
      0.7829092506828196,
      0.6054878285599198,
      0.45046438204304684,
      0.3724204630427543,
      0.360212555652348,
      0.328982701550627,
      0.2608105659406531,
      0.1672013142672554,
      0.058475943842616944,
      0.0508022277475138
    ],
    "ax_ego": [
      -0.34729539519389346,
      -0.34732572553801283,
      -0.27045651861797687,
      -0.04252404637200951,
      -0.006123490855785505,
      -0.11876209619069804,
      -0.1544796897667464,
      -0.21983731517584887,
      -0.21559912927221145,
      -0.2155998628487526
    ],
    "ay_ego": [
      -0.11034758263496258,
      -0.11025205771112712,
      -0.028159347511012595,
      0.0011079188745136527,
      0.004876269941343176,
      -0.0017228684801714037,
      -0.005290478952146137,
      0.01791685756352109,
      -0.0061008585305367515,
      -0.006075238673230403
    ],
    "a_ego": [
      0.36440455611348016,
      0.36440454971095615,
      0.2719185122701322,
      0.04253847674848406,
      0.007827844454365178,
      0.11877459226370167,
      0.15457025495862167,
      0.2205662234538122,
      0.2156854307034793,
      0.21568544082839167
    ],
    "yaw": [
      -1.5412251247835265,
      -1.5409500859455174,
      -1.5406851673695905,
      -1.5406371515598876,
      -1.540346286485434,
      -1.5403367074083976,
      -1.54038957098486,
      -1.5407437935597275,
      -1.5411433820528861,
      -1.5410245514176277
    ],
    "yaw_diff": [
      0.0005500776760181125,
      0.0005298371518538403,
      9.603161940585636e-05,
      0.0005817301489070559,
      1.9158154072940192e-05,
      -0.0001057271529250059,
      -0.0007084451497347821,
      -0.0007991769863173737,
      0.00023766127051683128,
      0.00023766127051683128
    ],
    "min_front_frame": [
      9,
      9.975854140892377
    ],
    "v_avg": 0.34377672333295545,
    "v_std": 0.21893255751176696,
    "vy_max": 0.08302331978582411,
    "a_max": 0.36440455611348016,
    "ax_avg": -0.19380032698319355,
    "a_std": 0.1142256140941689,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "df044fb9c65c5d52",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.057183441098206,
    "right_rear_min": 3.6950076774954304,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.268176303913341,
      10.488129075106098,
      10.6567430127162,
      10.664419531843198,
      10.523973395801606,
      10.303104979205063,
      10.17875124939857,
      10.060824970103075,
      10.035961635708947,
      9.975854140892377
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "df044fb9c65c5d52",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bfdb40b3dded57fd": {
    "vx_ego": [
      7.871757684701603,
      7.389762290399409,
      7.07788738853766,
      6.973622680444433,
      6.826587724880335,
      6.816875624615247,
      7.158835560581708,
      7.5978675971023115,
      7.999414530334794,
      8.399348827034984
    ],
    "vy_ego": [
      -0.053163118107225404,
      -0.03845955407022794,
      -0.031469460121305914,
      -0.007747948550350436,
      -0.0043168051425279685,
      0.002003051084367158,
      0.014766933273573812,
      0.013318329567176601,
      0.009731631934843943,
      -0.06683917676175621
    ],
    "v_ego": [
      7.871937205274546,
      7.389862369889468,
      7.077957347408982,
      6.9736269845694885,
      6.826589089749984,
      6.816875918900619,
      7.158850790857952,
      7.597879269967358,
      7.99942044980707,
      8.399614764604634
    ],
    "ax_ego": [
      -0.966707609336394,
      -0.9563770736939704,
      -0.2858304846113855,
      -0.1296558916287379,
      -0.46047582806385967,
      0.42219004950034533,
      0.9499305901399954,
      0.8100669653306598,
      0.7951780830988401,
      0.8025047984975232
    ],
    "ay_ego": [
      0.39995117047276646,
      0.4240606423237437,
      0.48708720049029414,
      0.4365642380753135,
      0.21484502087137294,
      -0.25513310935473876,
      -0.48693996381087845,
      -0.5886108055874171,
      -0.4383152003760742,
      -0.4247522298899101
    ],
    "a_ego": [
      1.0461761518556147,
      1.0461761493436315,
      0.5647592467721547,
      0.4554107862142947,
      0.5081302699351004,
      0.4932923488015207,
      1.067463654856623,
      1.001334693683532,
      0.9079803955600935,
      0.9079804008942051
    ],
    "yaw": [
      1.9870234839839993,
      2.0120959200994912,
      2.042974118759813,
      2.0725443946727022,
      2.0955099114294544,
      2.093067518471126,
      2.0644238023627666,
      2.0282669693844078,
      1.9958174441080931,
      1.9788395477013514
    ],
    "yaw_diff": [
      0.05014487223098385,
      0.06175639732064386,
      0.059140551825778154,
      0.04593103351350436,
      -0.004884785916656753,
      -0.05728743221671895,
      -0.07231366595671762,
      -0.06489905055262923,
      -0.03395579281348349,
      -0.03395579281348349
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.411261419103011,
    "v_std": 0.5130050863107034,
    "vy_max": 0.06683917676175621,
    "a_max": 1.067463654856623,
    "ax_avg": 0.09808235992330161,
    "a_std": 0.2469685578232313,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "bfdb40b3dded57fd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "bfdb40b3dded57fd",
    "pedestrians": "No"
  },
  "ecd769043adc5346": {
    "vx_ego": [
      2.7922970956588715,
      3.0816305684905,
      3.3289864252997,
      3.5323326992321933,
      3.8126063071032066,
      4.125756892830121,
      4.4413796250281345,
      4.758850031842571,
      5.063366118753112,
      5.394218125372408
    ],
    "vy_ego": [
      0.08748806326094916,
      -0.03446308046038382,
      0.003106617473706219,
      0.030890780576724897,
      0.033703967626577236,
      0.059539361177790615,
      0.07399387222602799,
      0.08151674444296175,
      0.09304322152416084,
      -0.008764842091358319
    ],
    "v_ego": [
      2.7936673444843287,
      3.081823269522427,
      3.3289878748505233,
      3.532467768910232,
      3.8127552780629554,
      4.126186480791278,
      4.441995955282046,
      4.759548151368217,
      5.064220916746084,
      5.3942252461825415
    ],
    "ax_ego": [
      0.5244530129584168,
      0.6414864820544772,
      0.3789724131914354,
      0.4973299728135666,
      0.6553390616078375,
      0.5880342032435417,
      0.668952611742746,
      0.5977250216037129,
      0.6185404724738645,
      0.6867842675170457
    ],
    "ay_ego": [
      -0.9935608531144852,
      -0.9223389980289707,
      -1.376090265846869,
      -1.7682387607155698,
      -1.769816055917077,
      -1.3044213244685716,
      -0.6780604521378168,
      0.15918152992775994,
      0.7781637347309004,
      0.7186504535606989
    ],
    "a_ego": [
      1.1234830357609966,
      1.1234830367850308,
      1.4273207452141397,
      1.836846595869039,
      1.887251482301953,
      1.4308386407672282,
      0.952503844354857,
      0.6185579689255498,
      0.9940478429826879,
      0.9940478381405611
    ],
    "yaw": [
      -2.1298185719014375,
      -2.251837705954494,
      -2.4403306856012064,
      -2.6774737716303196,
      -2.919211980052193,
      -3.1182694462700216,
      3.045698303802154,
      3.0159235321110502,
      3.0613083364937803,
      -3.1307546807581446
    ],
    "yaw_diff": [
      -0.24403826810611307,
      -0.3769859592934246,
      -0.47428617205822654,
      -0.48347641684374665,
      -0.3981149324356572,
      -0.23843511421482333,
      -0.059549543382207304,
      0.09076960876546014,
      0.18224457985532272,
      0.18224457985532272
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.033587828620063,
    "v_std": 0.8279816936586364,
    "vy_max": 0.09304322152416084,
    "a_max": 1.887251482301953,
    "ax_avg": 0.5857617519206645,
    "a_std": 0.3825750725452405,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ecd769043adc5346",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ecd769043adc5346",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1e751703427e5a3c": {
    "vx_ego": [
      8.392661489554657,
      8.404636931575698,
      8.373041806909697,
      8.30423070674251,
      8.27565122735269,
      8.225638741302546,
      8.08597805906279,
      7.95256176245994,
      7.871150264181314,
      7.800364128511966
    ],
    "vy_ego": [
      0.02606816469834028,
      0.0028496129599995257,
      0.011481373964726593,
      0.03419453243713377,
      0.019786977526800698,
      0.023935880835598056,
      0.01878241568972161,
      0.017344078975743304,
      -0.0012809646930094232,
      0.021586095838434183
    ],
    "v_ego": [
      8.392701974183554,
      8.404637414659849,
      8.373049678713588,
      8.304301108272375,
      8.275674882525516,
      8.225673566876376,
      8.085999873286172,
      7.952580675655888,
      7.871150368414526,
      7.800393996261329
    ],
    "ax_ego": [
      0.023205496743698345,
      0.02416988235103442,
      -0.15069389465049204,
      -0.12490647973659524,
      0.00980660527342768,
      -0.2099095442292907,
      -0.34900940425509863,
      -0.18463870795207116,
      -0.14151296505621289,
      -0.14152823204475215
    ],
    "ay_ego": [
      0.10626415836112034,
      0.10604896605674904,
      0.11025196859701997,
      0.11119937730997878,
      -0.019541255581486443,
      0.08912616683005344,
      -0.05182073811418032,
      0.10982512485163012,
      0.006207043734566972,
      0.005848467607731396
    ],
    "a_ego": [
      0.10876840732179108,
      0.10876840724478941,
      0.18671943247678285,
      0.16723316116821899,
      0.021863901223015864,
      0.2280471231398613,
      0.35283558941410276,
      0.21483251737780845,
      0.14164902636772256,
      0.141649020607528
    ],
    "yaw": [
      2.5442829647379397,
      2.553367449625245,
      2.5587704925955643,
      2.5626874711455443,
      2.567198719747687,
      2.5687990028505387,
      2.570570625085563,
      2.5725633712713876,
      2.5785879267427476,
      2.576054263742864
    ],
    "yaw_diff": [
      0.01816896977461102,
      0.010806085940638255,
      0.007833957099959932,
      0.009022497204285607,
      0.0032005662057033035,
      0.003543244470048279,
      0.003985492371649357,
      0.012049110942720098,
      -0.005067325999767114,
      -0.005067325999767114
    ],
    "min_front_frame": [
      9,
      46.197868629910836
    ],
    "v_avg": 8.168616353884918,
    "v_std": 0.21410542067795146,
    "vy_max": 0.03419453243713377,
    "a_max": 0.35283558941410276,
    "ax_avg": -0.12450172435563522,
    "a_std": 0.08370757763344859,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1e751703427e5a3c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      78.80762103738485,
      74.59437876600458,
      70.39779436128165,
      66.28703193711918,
      62.151011469613515,
      58.0978513575687,
      54.065607431554604,
      50.12186677773197,
      46.197868629910836
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1e751703427e5a3c",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "dc05b41a768b5015": {
    "vx_ego": [
      2.9243895118611447,
      2.970487555801798,
      3.2002633873339623,
      3.5558196562830093,
      3.876852728663536,
      4.15127700416085,
      4.391755431373231,
      4.630972347396559,
      4.848486026168982,
      5.056934804966144
    ],
    "vy_ego": [
      0.09633101238836028,
      -0.005520407875784228,
      -0.03218561810868681,
      -0.029254262254101215,
      -0.0034493449763868256,
      -0.026371939244572484,
      -0.03042009009124791,
      -0.0024655054154889555,
      -0.006981764080230324,
      -0.051967067512055376
    ],
    "v_ego": [
      2.9259756801845143,
      2.97049268541036,
      3.2004252314846044,
      3.5559399938509437,
      3.8768542631528815,
      4.151360770211883,
      4.391860784551058,
      4.630973003707596,
      4.84849105299634,
      5.057201815014284
    ],
    "ax_ego": [
      0.023549445302087912,
      0.13188566732471824,
      0.7760431217542998,
      0.6460530055756404,
      0.6379470316644911,
      0.4596448256432707,
      0.5008839284354588,
      0.45523041908271605,
      0.41547421175130456,
      0.41719453726837397
    ],
    "ay_ego": [
      0.7079297437502945,
      0.6959348171579814,
      0.30190251596989204,
      0.04571851977753369,
      -0.047715347888512616,
      -0.12511792444134834,
      -0.04480899987832013,
      0.012418174061350318,
      -0.18501221189863473,
      -0.18109957790050157
    ],
    "a_ego": [
      0.708321324301615,
      0.7083213246672723,
      0.8326992590191911,
      0.647668641408527,
      0.6397289813926339,
      0.47636945825393096,
      0.5028842374095982,
      0.45539976449844954,
      0.4548058258004103,
      0.45480582564684957
    ],
    "yaw": [
      2.358085218234211,
      2.512119923682482,
      2.603948118487141,
      2.628686609640491,
      2.621610596152032,
      2.616584850586226,
      2.607576396390491,
      2.5995950953619866,
      2.5914529476818027,
      2.5820552001254686
    ],
    "yaw_diff": [
      0.3080694108965414,
      0.18365638960931818,
      0.04947698230670028,
      -0.014152026976917753,
      -0.010051491131612522,
      -0.018016908391469855,
      -0.015962602057008723,
      -0.016284295360367906,
      -0.018795495112668092,
      -0.018795495112668092
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9609575280564457,
    "v_std": 0.7390567643642435,
    "vy_max": 0.09633101238836028,
    "a_max": 0.8326992590191911,
    "ax_avg": 0.44639061938023616,
    "a_std": 0.12955252696802477,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "dc05b41a768b5015",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dc05b41a768b5015",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3aa2f4406fc750da": {
    "vx_ego": [
      12.690071418772778,
      12.575404782171772,
      12.487833423346963,
      12.426001926170047,
      12.362633212010232,
      12.324938892275737,
      12.284300678779672,
      12.154709420997786,
      12.00324075632776,
      11.889048548986437
    ],
    "vy_ego": [
      -0.01884508547286501,
      -0.009445289476049445,
      -0.006199977603676576,
      -0.007479905746405809,
      0.014531053783526676,
      0.016187661329601394,
      0.013000315705831988,
      0.03446076207864149,
      0.037632981368749374,
      0.006160694049349741
    ],
    "v_ego": [
      12.690085411485622,
      12.575408329313284,
      12.487834962433793,
      12.426004177456713,
      12.362641751916234,
      12.32494952276521,
      12.284307557810296,
      12.154758272093089,
      12.003299750304269,
      11.889050145167513
    ],
    "ax_ego": [
      -0.23159178334208677,
      -0.2262497929386251,
      -0.1236019266747435,
      -0.12384431988255476,
      -0.13009024376577008,
      -0.021502451265760936,
      -0.14114358455349396,
      -0.37736757446431163,
      -0.2284201620982618,
      -0.22814414652098366
    ],
    "ay_ego": [
      0.3752675490327469,
      0.37851223759815916,
      0.37461596893776195,
      0.3023230090423456,
      0.22728916918263792,
      0.03273707421464162,
      0.06984660132655691,
      0.11491285705769176,
      -0.1182998851173866,
      -0.1188313237614931
    ],
    "a_ego": [
      0.44097674254841734,
      0.4409767372734485,
      0.3944801141513814,
      0.3267057045164512,
      0.2618851617613554,
      0.039167224034533994,
      0.15748034536881192,
      0.3944759193844908,
      0.2572365317597465,
      0.2572365353107852
    ],
    "yaw": [
      -1.6121895446973067,
      -1.5980159255708075,
      -1.5832354715763701,
      -1.5695473666403414,
      -1.560641317384774,
      -1.5555035458810118,
      -1.5531631037380886,
      -1.551144216982112,
      -1.5514774555197879,
      -1.5538054519816114
    ],
    "yaw_diff": [
      0.02834723825299834,
      0.029560907988874785,
      0.027376209872057355,
      0.017812098511134966,
      0.010275543007524313,
      0.004680884285846343,
      0.004037773511953446,
      -0.0006664770753519456,
      -0.004655992923646934,
      -0.004655992923646934
    ],
    "min_front_frame": [
      0,
      71.8870461548081
    ],
    "v_avg": 12.319833988074603,
    "v_std": 0.23622875195911583,
    "vy_max": 0.037632981368749374,
    "a_max": 0.44097674254841734,
    "ax_avg": -0.1831955985506592,
    "a_std": 0.12315994230506577,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3aa2f4406fc750da",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.075224405718849,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      71.8870461548081,
      75.4138795295579,
      79.01688034711947,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3aa2f4406fc750da",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "ee88f3dfa73a5f65": {
    "vx_ego": [
      0.7330834409798399,
      1.690796434224339,
      2.604559544807607,
      3.454944764390346,
      4.266929739939432,
      4.999915944769174,
      5.535235800128012,
      5.868929787176901,
      6.050777275287369,
      6.145583353282287
    ],
    "vy_ego": [
      0.04244969127836068,
      0.004690018165343202,
      -0.02388565872820192,
      -0.02642764722064328,
      -0.03486609790283057,
      -0.04089281814011869,
      -0.022112391655775276,
      -0.02415108286802292,
      -0.024034827547021242,
      0.005582394603750762
    ],
    "v_ego": [
      0.7343114514485461,
      1.6908029389187051,
      2.6046690667225443,
      3.4550458384116816,
      4.267072187151578,
      5.00008316704157,
      5.535279967705656,
      5.868979478718255,
      6.050825010531146,
      6.145585888690343
    ],
    "ax_ego": [
      1.9153162464905507,
      1.9164784008782452,
      1.7387093426720637,
      1.659643621125295,
      1.5866250654557033,
      1.344227001017467,
      0.7967979098998476,
      0.5381871802962261,
      0.18960162296778954,
      0.18964789936946366
    ],
    "ay_ego": [
      -0.1137128475189616,
      -0.09207333594031103,
      -0.18342467354089248,
      -0.1230808468912511,
      -0.11489808914380006,
      -0.008879987982441717,
      0.04893477457362794,
      0.009014795144505983,
      0.06765030167548605,
      0.06752046415226094
    ],
    "a_ego": [
      1.918688858507685,
      1.9186888648824785,
      1.7483577406122301,
      1.664201263072874,
      1.590779893392298,
      1.344256331378425,
      0.7982991427925608,
      0.5382626752494548,
      0.20130906275874438,
      0.20130906292213216
    ],
    "yaw": [
      -1.8334995672804053,
      -1.8447941605298803,
      -1.8633653778190746,
      -1.8877369605293017,
      -1.9009293872195772,
      -1.9062722737184867,
      -1.9079152124403145,
      -1.9050332988265906,
      -1.9018601107239876,
      -1.9011754025276622
    ],
    "yaw_diff": [
      -0.02258918649895003,
      -0.03714243457838862,
      -0.048743165420454204,
      -0.026384853380550854,
      -0.010685772997819143,
      -0.003285877443655494,
      0.0057638272274478375,
      0.006346376205205839,
      0.0013694163926509795,
      0.0013694163926509795
    ],
    "min_front_frame": [
      9,
      17.978688051457524
    ],
    "v_avg": 4.135265499534002,
    "v_std": 1.8381826203025473,
    "vy_max": 0.04244969127836068,
    "a_max": 1.9186888648824785,
    "ax_avg": 1.1875234290172652,
    "a_std": 0.6569761762539669,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "ee88f3dfa73a5f65",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      36.78914099292615,
      36.100890647375785,
      35.00734707478564,
      33.49041162434094,
      31.596337839824905,
      29.289444466019138,
      26.689475598263456,
      23.878061211639455,
      20.969762108447117,
      17.978688051457524
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ee88f3dfa73a5f65",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e61e8cbd0df957f0": {
    "vx_ego": [
      3.1756193957484173,
      3.932211543940013,
      4.642712097526119,
      5.286397354369854,
      5.907705946391353,
      6.469783187234512,
      6.972121692806512,
      7.373297312535257,
      7.672946230058282,
      7.96983486485255
    ],
    "vy_ego": [
      -0.015231737767454234,
      0.009395254228760308,
      0.031993822120388815,
      0.050981176810895645,
      0.03482639608398852,
      0.011633470053634909,
      0.003027260989327818,
      -0.003692869255683018,
      -0.016736733709464158,
      -0.049678911051160846
    ],
    "v_ego": [
      3.1756559247640417,
      3.9322227679897694,
      4.64282233400862,
      5.286643175842078,
      5.907808597685943,
      6.4697936464347805,
      6.972122350017407,
      7.373298237310287,
      7.67296448366737,
      7.969989696807801
    ],
    "ax_ego": [
      1.5130798514422936,
      1.5133189545339183,
      1.328363173013872,
      1.2454848338512061,
      1.2385310977447392,
      1.0094805699829348,
      0.9998648150039652,
      0.6048458318461023,
      0.5937454010167493,
      0.5937675508124114
    ],
    "ay_ego": [
      0.07513784221968595,
      0.07015747631658914,
      0.10409867005884421,
      0.06858289230879006,
      -0.0010344182361126664,
      -0.01928441255355484,
      0.02880547466230704,
      0.03156106885785878,
      -0.0708721608750105,
      -0.07068636527093772
    ],
    "a_ego": [
      1.5149443330281358,
      1.514944332190046,
      1.3324358343002871,
      1.2473716705420264,
      1.238531529716493,
      1.0096647511627839,
      1.0002796627210984,
      0.6056687059515738,
      0.5979602532072127,
      0.5979602550613092
    ],
    "yaw": [
      1.2169327116588222,
      1.220223990288117,
      1.2250877028744438,
      1.22994868876302,
      1.2358512023681132,
      1.23876452241087,
      1.2403988902533558,
      1.243419035352209,
      1.2438464508262386,
      1.2435335325623327
    ],
    "yaw_diff": [
      0.006582557258589361,
      0.009727425172653792,
      0.009721971777152394,
      0.011805027210186392,
      0.005826640085513812,
      0.0032687356849714355,
      0.006040290197706355,
      0.0008548309480591598,
      -0.000625836527811785,
      -0.000625836527811785
    ],
    "min_front_frame": [
      6,
      17.513410761060946
    ],
    "v_avg": 5.94033212145281,
    "v_std": 1.5590918369650635,
    "vy_max": 0.050981176810895645,
    "a_max": 1.5149443330281358,
    "ax_avg": 1.064048207924819,
    "a_std": 0.34558255424457524,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e61e8cbd0df957f0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.432600622876828,
    "right_rear_min": 6.8819800692084,
    "speed_mode": "accelerating",
    "front_frame": [
      33.05875238810578,
      31.275033083894133,
      29.076955129297485,
      26.65123049979226,
      23.903921119513257,
      20.806990519680078,
      17.513410761060946,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.42857142857142855,
    "unsafe_ratio": 0.14285714285714285,
    "oversafe_ratio": 0.42857142857142855,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e61e8cbd0df957f0",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d5b37b79dde85eb1": {
    "vx_ego": [
      5.99331392320205,
      6.012811519573857,
      6.020048677294003,
      5.992663883424776,
      5.937926430710451,
      5.8831669342604815,
      5.832369873117554,
      5.791688239567234,
      5.703529554351565,
      5.556169235729883
    ],
    "vy_ego": [
      -0.051116084494296055,
      -0.04999582406488512,
      -0.03811097632876198,
      -0.01937180436201741,
      -0.012511334237478633,
      -0.019749933806727793,
      -0.023659929652126488,
      -0.03005789498684952,
      -0.0256394115893539,
      -0.0177935254626147
    ],
    "v_ego": [
      5.993531899985315,
      6.013019370694227,
      6.020169310202664,
      5.992695193859602,
      5.937939611516284,
      5.883200084670013,
      5.832417863041058,
      5.791766236770304,
      5.703587183237266,
      5.5561977273689225
    ],
    "ax_ego": [
      0.03733574022222809,
      0.03857726026697936,
      -0.011525947832737535,
      -0.09882575613833075,
      -0.12061355520947722,
      -0.09809756863832794,
      -0.1044755056999302,
      -0.05802152353663949,
      -0.2947627122226915,
      -0.29476700311313014
    ],
    "ay_ego": [
      -0.12116761429968645,
      -0.1207780742634944,
      -0.04533560808880018,
      -0.07570421964581063,
      -0.0598893529013398,
      0.0869334186268732,
      0.07534594471861646,
      -0.015194610730065016,
      0.004358331646913342,
      0.004057701052102233
    ],
    "a_ego": [
      0.12678938541147394,
      0.12678938533057266,
      0.04677782417154812,
      0.12448959373575752,
      0.1346638937919546,
      0.13107460565230264,
      0.12881049133046948,
      0.059978107578940974,
      0.2947949313872641,
      0.2947949305231084
    ],
    "yaw": [
      0.10241807973673092,
      0.09215536263820773,
      0.08328675217888232,
      0.07514371252490731,
      0.06831419216435805,
      0.0706839017500212,
      0.07827613947880527,
      0.081968002010751,
      0.08073426416490631,
      0.07971436529525529
    ],
    "yaw_diff": [
      -0.02052543419704639,
      -0.01773722091865082,
      -0.016286079307950008,
      -0.013659040721098525,
      0.004739419171326309,
      0.015184475457568125,
      0.007383725063891455,
      -0.002467475691689369,
      -0.002039797739302046,
      -0.002039797739302046
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.872452448134566,
    "v_std": 0.14551547054499483,
    "vy_max": 0.051116084494296055,
    "a_max": 0.2947949313872641,
    "ax_avg": -0.10051765719020574,
    "a_std": 0.07960162198039591,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d5b37b79dde85eb1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.900768818199321,
    "right_rear_min": 11.023506414532754,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d5b37b79dde85eb1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f86eb011b333505e": {
    "vx_ego": [
      4.292244484496023,
      4.325226880057655,
      4.410757435724188,
      4.517460551836293,
      4.679692750161452,
      4.858500213080901,
      5.039551782089809,
      5.200634275883331,
      5.346706239088382,
      5.516378592392851
    ],
    "vy_ego": [
      0.03741539577356573,
      0.03589998843745351,
      0.05007153383363183,
      0.01487012495701201,
      0.012913966568217639,
      0.002201337605157949,
      -0.03850198225079815,
      -0.06699124045952987,
      -0.03898346444427281,
      -0.027569815070197734
    ],
    "v_ego": [
      4.2924075559675625,
      4.32537586495591,
      4.411041636087407,
      4.517485025765255,
      4.679710568661932,
      4.8585007117828445,
      5.039698856777239,
      5.201065727116977,
      5.346848353713308,
      5.516447486318811
    ],
    "ax_ego": [
      -0.04921399902317061,
      0.15767308331937824,
      0.149901813724667,
      0.25868358985528345,
      0.3799952917272383,
      0.32105775821085436,
      0.3968497758764836,
      0.2549350987057899,
      0.3352994738005401,
      0.3475402775798679
    ],
    "ay_ego": [
      1.3339228019363558,
      1.3254852912807076,
      1.1753365725998437,
      1.1745499408331477,
      1.1226341463120446,
      0.9238119981800996,
      0.6339459760435594,
      0.4646718171914899,
      0.3817500059887772,
      0.37064074206448633
    ],
    "a_ego": [
      1.3348303484808812,
      1.334830348248399,
      1.1848572119241594,
      1.2026989495179445,
      1.1852020284325546,
      0.9780116012036298,
      0.7479152660261966,
      0.5300111340756648,
      0.5080933026554774,
      0.5080933026702917
    ],
    "yaw": [
      3.0282763335585177,
      -3.099632892980793,
      -2.9600023314830315,
      -2.820319441298213,
      -2.6947590892787594,
      -2.5855141277339553,
      -2.498487753159229,
      -2.4395026038814795,
      -2.404625674215315,
      -2.372090121591338
    ],
    "yaw_diff": [
      0.3105521612805511,
      0.2792611229955231,
      0.2793657803696368,
      0.2511207040389074,
      0.21848992308960824,
      0.17405274914945235,
      0.11797029855549912,
      0.06975385933232925,
      0.06507110524795401,
      0.06507110524795401
    ],
    "min_front_frame": [
      9,
      73.93744074378031
    ],
    "v_avg": 4.818858178714724,
    "v_std": 0.4194051062964837,
    "vy_max": 0.06699124045952987,
    "a_max": 1.3348303484808812,
    "ax_avg": 0.2552722163776932,
    "a_std": 0.32849336390479184,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "f86eb011b333505e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      76.65686768707091,
      73.93744074378031
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f86eb011b333505e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b61a73309da75ac3": {
    "vx_ego": [
      2.2653909729940254,
      2.832651323282179,
      3.369990890706008,
      3.800337727134559,
      4.052554513558614,
      4.2215539390107235,
      4.400312890149386,
      4.536379033652995,
      4.618459810317189,
      4.681154566525164
    ],
    "vy_ego": [
      -0.0038665726458273486,
      0.019861228488943894,
      0.028550993676542014,
      0.02062610874719062,
      0.02387512607272191,
      0.027732024295704427,
      0.02354315089749992,
      0.024068039933168972,
      0.00463530534374712,
      -0.023356595240916267
    ],
    "v_ego": [
      2.2653942727275624,
      2.832720951256825,
      3.3701118323701653,
      3.8003937002163757,
      4.052624841631567,
      4.221645025952383,
      4.400375871578361,
      4.536442880441978,
      4.618462136422763,
      4.681212834964956
    ],
    "ax_ego": [
      1.1345165740679113,
      1.134521533890595,
      1.0148369204021028,
      0.7065617077980598,
      0.30229517916157383,
      0.37371952683964893,
      0.34127614648267607,
      0.20293007672430202,
      0.12533974922364388,
      0.12540286154358227
    ],
    "ay_ego": [
      0.048040171049133606,
      0.04792309137092926,
      -0.013181300294442144,
      -0.02012342762820274,
      0.035793868692593905,
      -0.02248725161976231,
      0.013946351522802436,
      -0.0016848585721728898,
      -0.0650723667548352,
      -0.06495066120943901
    ],
    "a_ego": [
      1.1355332293108908,
      1.1355332375355707,
      1.0149225200421341,
      0.7068482151537333,
      0.30440692564445815,
      0.37439546101236537,
      0.34156098852015077,
      0.2029370710041399,
      0.14122487617456678,
      0.14122487767692415
    ],
    "yaw": [
      -0.5930765425957579,
      -0.5929733576823919,
      -0.5929747419376787,
      -0.5930854835214292,
      -0.5929173672012087,
      -0.5930458133099494,
      -0.5925698789883911,
      -0.5920035188796231,
      -0.5914054457964388,
      -0.5923762099434893
    ],
    "yaw_diff": [
      0.00020636982673205573,
      -2.7685105736807714e-06,
      -0.00022148316750092434,
      0.0003362326404410254,
      -0.00025689221748148583,
      0.0009518686431166934,
      0.0011327202175359652,
      0.001196146166368539,
      -0.0019415282941008805,
      -0.0019415282941008805
    ],
    "min_front_frame": [
      5,
      23.656746391285154
    ],
    "v_avg": 3.877938434756294,
    "v_std": 0.7749530929657522,
    "vy_max": 0.028550993676542014,
    "a_max": 1.1355332375355707,
    "ax_avg": 0.5461400276134096,
    "a_std": 0.38931979920692067,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b61a73309da75ac3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      26.25611283695242,
      24.958470168622494,
      29.370215711434593,
      27.629824096462713,
      25.678091722797106,
      23.656746391285154,
      29.226375095238012,
      27.02836115397446,
      24.776302994764507,
      29.013159136624633
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b61a73309da75ac3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d64b2da8ffb65c16": {
    "vx_ego": [
      7.656767470386659,
      8.181354636735323,
      8.729767448925067,
      9.117234764996487,
      9.455300887688827,
      9.933722772665448,
      10.498413437549331,
      11.05831415244851,
      11.587081137864516,
      12.089710573758431
    ],
    "vy_ego": [
      -0.09194365980999075,
      -0.050904978868009376,
      -0.06424721536674571,
      -0.09885000308689351,
      -0.04722911281685516,
      -0.04800878235496686,
      0.014688313057801494,
      -0.01299931689847611,
      -0.019591811007491522,
      -0.028373537756412937
    ],
    "v_ego": [
      7.65731948740227,
      8.181513002428348,
      8.730003861224464,
      9.117770620232275,
      9.455418841374854,
      9.93383878303626,
      10.498423712741683,
      11.058321792952258,
      11.587097701086073,
      12.089743868870475
    ],
    "ax_ego": [
      0.885593260092697,
      1.243399121933376,
      0.9904592715079811,
      0.5681452597973451,
      0.781665281314839,
      1.1263049930877582,
      1.1298059115014183,
      1.109793550657161,
      1.0053227123372777,
      1.0054618833398519
    ],
    "ay_ego": [
      2.4940530298197974,
      2.3363507038119726,
      2.4408810371061342,
      1.927672726112159,
      1.2828440012711486,
      0.6770092639785632,
      -0.07720296202452126,
      -0.05881558724680214,
      0.05070882866151999,
      0.0478700351847991
    ],
    "a_ego": [
      2.6466159407581076,
      2.6466159501573685,
      2.6341810503115455,
      2.009654491505163,
      1.502228126354442,
      1.3141173771650732,
      1.1324405922647378,
      1.111350978936634,
      1.0066007854384995,
      1.0066007843817308
    ],
    "yaw": [
      -3.030228199609005,
      -2.8823508753095135,
      -2.740299103102031,
      -2.614939380132227,
      -2.533877692492281,
      -2.4830419926127867,
      -2.474500772709093,
      -2.4750867191417307,
      -2.474683940377491,
      -2.4718603761426583
    ],
    "yaw_diff": [
      0.29575464859898304,
      0.28410354441496466,
      0.25071944593960804,
      0.16212337527989273,
      0.1016713997589882,
      0.017082439807387217,
      -0.0011718928652753036,
      0.0008055575284791061,
      0.005647128469665752,
      0.005647128469665752
    ],
    "min_front_frame": [
      3,
      61.09008084488859
    ],
    "v_avg": 9.830945167134896,
    "v_std": 1.3948403550376978,
    "vy_max": 0.09885000308689351,
    "a_max": 2.6466159501573685,
    "ax_avg": 0.9845951245569704,
    "a_std": 0.6766822159262951,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "d64b2da8ffb65c16",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 31.10246102379733,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      61.09008084488859,
      61.94650101701,
      62.76611480232813,
      63.16773175299518,
      63.10075235910627,
      63.04158011248466,
      62.28498315583459
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.14285714285714285,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8571428571428571,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d64b2da8ffb65c16",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "0004474e9e3f5470": {
    "vx_ego": [
      2.979011338700418,
      3.037998852868083,
      3.093784384252895,
      3.110192457483219,
      3.057339277594823,
      2.971386698789125,
      2.8810844409547975,
      2.776228917875782,
      2.630915488665958,
      2.458231917723384
    ],
    "vy_ego": [
      -0.02339633132169916,
      -0.004325933485552769,
      -0.0018950111685933635,
      -0.00020614907055671594,
      0.00041383627274815815,
      -0.000173585699805745,
      -0.0038812429310801644,
      -0.01330950237798545,
      -0.01856783062236933,
      -0.004195554912504562
    ],
    "v_ego": [
      2.9791032114421565,
      3.0380019328052295,
      3.0937849646209084,
      3.1101924643151815,
      3.0573393056029117,
      2.971386703859484,
      2.881087055255101,
      2.776260821195171,
      2.6309810095925164,
      2.45823549807479
    ],
    "ax_ego": [
      0.11007868508424691,
      0.12297835736610548,
      0.09848356951511722,
      -0.03357962717629884,
      -0.17768472359174795,
      -0.1663976734876723,
      -0.19448706578114222,
      -0.2262533638945558,
      -0.3549524765632038,
      -0.3379092653491764
    ],
    "ay_ego": [
      -0.2629956916516888,
      -0.25721658978076856,
      -0.19226849367192758,
      -0.14836645411982283,
      -0.1594025888794723,
      -0.136068138806331,
      -0.1777123861930193,
      -0.13964308401977155,
      -0.26983410268387387,
      -0.2908935064898558
    ],
    "a_ego": [
      0.2851035789625009,
      0.2851035784393344,
      0.21602358001688376,
      0.15211901942028394,
      0.23870703035175553,
      0.21494818943254432,
      0.2634519139474511,
      0.2658773694547079,
      0.4458718465989562,
      0.4458718467528353
    ],
    "yaw": [
      0.9496237869868476,
      0.9000400695118682,
      0.8626368275555383,
      0.8347894364031874,
      0.8097850099287923,
      0.7854644613684867,
      0.7599559692842683,
      0.7352767410162071,
      0.6995735034302542,
      0.638802586854367
    ],
    "yaw_diff": [
      -0.09916743494995872,
      -0.07480648391265987,
      -0.05569478230470182,
      -0.050008852948790095,
      -0.048641097120611265,
      -0.051016984168436696,
      -0.049358456536122475,
      -0.0714064751719059,
      -0.12154183315177436,
      -0.12154183315177436
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.899637296676345,
    "v_std": 0.20495899964048492,
    "vy_max": 0.02339633132169916,
    "a_max": 0.4458718467528353,
    "ax_avg": -0.11597235838783278,
    "a_std": 0.09050888991578951,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "0004474e9e3f5470",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0004474e9e3f5470",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8220631d2c6a52f4": {
    "vx_ego": [
      0.5680172284634472,
      0.24185510169046925,
      0.0024832516402007107,
      -0.06192203549158788,
      -0.0409601824317536,
      -0.02575593091630135,
      -0.0165240096893672,
      -0.011661391476784747,
      -0.008718308026663187,
      -0.006346661973567433
    ],
    "vy_ego": [
      0.023140999444372534,
      -0.004461048119314123,
      -0.025607909218604206,
      -0.020388168146188337,
      -0.0050953095237775935,
      -0.0016293515409499457,
      -0.0005925872428267087,
      -0.00022641608883410252,
      -0.0001704840069264189,
      -0.00022033693360961823
    ],
    "v_ego": [
      0.5684884147338276,
      0.24189624049172417,
      0.025728030497044148,
      0.0651921458442558,
      0.04127588550213836,
      0.02580741683720561,
      0.01653463201449195,
      0.011663589302616535,
      0.00871997475021559,
      0.006350485538211968
    ],
    "ax_ego": [
      -0.6523237848689225,
      -0.652326730296907,
      -0.30515533603314465,
      0.04754024928347562,
      0.036309983571125866,
      0.02450622006543851,
      0.012421467964928844,
      0.0070290006255895356,
      0.004743324911452561,
      0.004743325463017779
    ],
    "ay_ego": [
      -0.05517838607457898,
      -0.055143709849155675,
      -0.029420675891024622,
      0.050286054417856746,
      0.010867233844764419,
      0.0030072307744155643,
      0.0011396157807621104,
      0.0003249735758677347,
      -0.00010092302209589168,
      -0.00010138952861169252
    ],
    "a_ego": [
      0.6546533239780514,
      0.6546533371149814,
      0.30657031049889055,
      0.06920088562186653,
      0.03790134137959003,
      0.024690043718598256,
      0.012473635818457887,
      0.007036508908510693,
      0.0047443984520690735,
      0.004744408949977324
    ],
    "yaw": [
      2.207700972817986,
      2.2077541138262884,
      2.2078272734687365,
      2.2078733226213676,
      2.2079640546980444,
      2.2078807538556147,
      2.207883524402921,
      2.207885427697269,
      2.207877412286628,
      2.2079739101489837
    ],
    "yaw_diff": [
      0.00010628201660445313,
      0.0001463192848962791,
      9.20983052621338e-05,
      0.00018146415335351662,
      -0.00016660168485937987,
      5.541094612482311e-06,
      3.8065886958094097e-06,
      -1.6030821281987073e-05,
      0.00019299572471176418,
      0.00019299572471176418
    ],
    "min_front_frame": [
      2,
      10.389802414133314
    ],
    "v_avg": 0.10116568155117318,
    "v_std": 0.16945659813999492,
    "vy_max": 0.025607909218604206,
    "a_max": 0.6546533371149814,
    "ax_avg": -0.14725122793139456,
    "a_std": 0.25348714556087737,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8220631d2c6a52f4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.8116811499160805,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.62586482858773,
      10.43204935849362,
      10.389802414133314,
      10.421880285617224,
      10.440319983426171,
      10.435764147223749,
      10.42139135076465,
      10.432863188443084,
      10.42896225359181,
      10.437666000524205
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8220631d2c6a52f4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0e81b2ebbb30575e": {
    "vx_ego": [
      5.212954192525027,
      5.184020190812115,
      5.205048525664121,
      5.280677037463317,
      5.411957526499529,
      5.575296304426639,
      5.787387674190088,
      6.092860354798749,
      6.396625196295577,
      6.64180470459514
    ],
    "vy_ego": [
      -0.013131975973900811,
      -0.0237054597093862,
      -0.01790896053190094,
      -0.020496511176820942,
      -0.05695966518310325,
      -0.06605842989907362,
      -0.03275811038601062,
      -0.06474514867224901,
      -0.12242377701810014,
      0.02994206379404163
    ],
    "v_ego": [
      5.212970732908179,
      5.184074390628255,
      5.205079335167291,
      5.280716815069974,
      5.4122572621867,
      5.5756876345715485,
      5.787480383134219,
      6.093204348891881,
      6.397796611573614,
      6.6418721954857265
    ],
    "ax_ego": [
      -0.12593844301391283,
      0.019383616391233982,
      0.08045128249443212,
      0.22544240992809617,
      0.32166135105281607,
      0.3753179373480946,
      0.4931053536831553,
      0.7404107238296985,
      0.4835495338882686,
      0.50212521333652
    ],
    "ay_ego": [
      1.2133310658458223,
      1.2196954712493702,
      1.3131782641932908,
      1.2151992735070256,
      1.2628762115206702,
      1.4638292647530982,
      1.4013869813707474,
      1.2118606942643653,
      0.6743225250101157,
      0.6606067582840291
    ],
    "a_ego": [
      1.219849485295349,
      1.2198494854573763,
      1.3156403621068726,
      1.2359342840645657,
      1.3031969729806478,
      1.5111782391375361,
      1.4856104339248581,
      1.420145901752678,
      0.8297776927946303,
      0.8297776924928625
    ],
    "yaw": [
      0.49164203350023794,
      0.6109581292410535,
      0.7317737347925191,
      0.8531009815789613,
      0.9759209291840671,
      1.1016499255880206,
      1.2220354175730426,
      1.337877016753895,
      1.4221408144222227,
      1.4499692252578957
    ],
    "yaw_diff": [
      0.23863219148163117,
      0.24163121110293106,
      0.2426544935728845,
      0.24563989521021168,
      0.2514579928079068,
      0.24077098397004404,
      0.2316831983617047,
      0.16852759533665562,
      0.055656821671346,
      0.055656821671346
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.679113970961739,
    "v_std": 0.5054022755686282,
    "vy_max": 0.12242377701810014,
    "a_max": 1.5111782391375361,
    "ax_avg": 0.3115508978938403,
    "a_std": 0.2265698481244592,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "0e81b2ebbb30575e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "0e81b2ebbb30575e",
    "pedestrians": "No"
  },
  "9fc437191831579a": {
    "vx_ego": [
      4.873757262861181,
      4.250131294749252,
      3.717371829388598,
      3.3548236691669984,
      3.0432795753191675,
      2.6759362587755877,
      2.360916765208174,
      2.229499082432625,
      2.239822554508209,
      2.2880466229124448
    ],
    "vy_ego": [
      -0.01168016726829113,
      -0.0018826301621264196,
      0.005902129915135168,
      0.008271285933556083,
      0.0024447545502359613,
      -0.02032022332960337,
      -0.02072473162963062,
      0.010495670687089342,
      0.0047488566857013526,
      -0.032511893630619015
    ],
    "v_ego": [
      4.87377125885074,
      4.250131711712389,
      3.717376514838047,
      3.3548338655400087,
      3.0432805572900476,
      2.6760134103748534,
      2.3610077269551977,
      2.229523787195617,
      2.2398275887495225,
      2.288277599385287
    ],
    "ax_ego": [
      -1.2472912553712239,
      -1.2471095382471349,
      -0.8839923744801255,
      -0.5662203585283696,
      -0.6799831945440992,
      -0.7893911602561945,
      -0.47058634598769566,
      -0.0550845233206822,
      0.09643593527714753,
      0.09644999013637152
    ],
    "ay_ego": [
      0.04948520167551007,
      0.0538708400710764,
      0.01221310540292675,
      0.00622217327116148,
      -0.019321305843282205,
      -0.07313779562383821,
      0.077841674836862,
      0.04681964541711704,
      -0.07537516852539475,
      -0.07535718248043616
    ],
    "a_ego": [
      1.2482725106764105,
      1.2482725134348451,
      0.8840767376662465,
      0.5662545451051247,
      0.6802576406935007,
      0.7927720612126383,
      0.4769809591288304,
      0.07229373352131808,
      0.12239814395247113,
      0.12239814356719599
    ],
    "yaw": [
      1.1204269092760133,
      1.1239432910777793,
      1.1261615289764075,
      1.1268020963718046,
      1.1275962243103361,
      1.127474483141271,
      1.1281121391804263,
      1.1280875897960971,
      1.1274593221857279,
      1.127272771163975
    ],
    "yaw_diff": [
      0.007032763603532111,
      0.004436475797256367,
      0.0012811347907941695,
      0.0015882558770630162,
      -0.00024348233813009657,
      0.0012753120783104421,
      -4.909876865832885e-05,
      -0.0012565352207385416,
      -0.0003731020435058241,
      -0.0003731020435058241
    ],
    "min_front_frame": [
      5,
      13.536992916704676
    ],
    "v_avg": 3.103404402089171,
    "v_std": 0.8832131999892691,
    "vy_max": 0.032511893630619015,
    "a_max": 1.2482725134348451,
    "ax_avg": -0.5746772825322005,
    "a_std": 0.41366547401762976,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9fc437191831579a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.547719118000297,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.518330405136915,
      16.90383385562922,
      15.626835175606269,
      14.611098625424928,
      13.903124268197935,
      13.536992916704676,
      13.605959287123532,
      13.849980220559885,
      14.197356268311905,
      14.55134746874463
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9fc437191831579a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5a0b3bf9218f56a2": {
    "vx_ego": [
      2.612689826729733,
      3.1307717863835256,
      3.6523951508895953,
      4.119215551905887,
      4.427071468498708,
      4.6186621463995055,
      4.794297562924971,
      4.978540395567111,
      5.120418781240811,
      5.317068061319041
    ],
    "vy_ego": [
      -0.02972919917495198,
      0.01591472555214568,
      0.04224880567481426,
      0.03375099546513316,
      -0.005287196335652,
      -0.035909295862203594,
      -0.023647074302674292,
      -0.007982976492369676,
      -0.061089600346479145,
      -0.09847177093549808
    ],
    "v_ego": [
      2.6128589621295344,
      3.1308122359708017,
      3.6526394976540977,
      4.119353819806962,
      4.42707462571396,
      4.618801738558715,
      4.794355880198235,
      4.978546795823778,
      5.120783185661557,
      5.317979828691549
    ],
    "ax_ego": [
      1.0361168087349826,
      1.0362463719413884,
      1.0542578052204918,
      0.823964702161593,
      0.4286204544653929,
      0.37445696218611674,
      0.38398780853592174,
      0.36953486109818745,
      0.22370039580855983,
      0.6180571342215868
    ],
    "ay_ego": [
      0.09949749346850129,
      0.09813892723444229,
      0.5363200687355228,
      1.0515752142052295,
      1.441637898143614,
      1.6861780024087625,
      2.02289936975717,
      2.0574788004975737,
      2.0240422928738915,
      1.9403078222101007
    ],
    "a_ego": [
      1.040883179107857,
      1.0408831790361575,
      1.1828350417521476,
      1.3359372221549248,
      1.504006423972337,
      1.7272562844977173,
      2.0590212474057124,
      2.0904006860082567,
      2.0363666345791236,
      2.036366633514678
    ],
    "yaw": [
      -0.7175733612615787,
      -0.7162622340849188,
      -0.6772386495670599,
      -0.573751568052601,
      -0.4208213950028193,
      -0.2419091867626172,
      -0.048055000382716644,
      0.15670612759002686,
      0.36774816817711586,
      0.5660473194524488
    ],
    "yaw_diff": [
      0.002622254353319642,
      0.07804716903571784,
      0.2069741630289179,
      0.30586034609956336,
      0.3578244164804042,
      0.3877083727598011,
      0.409522255945487,
      0.422084081174178,
      0.39659830255066586,
      0.39659830255066586
    ],
    "min_front_frame": [
      0,
      26.41837893607289
    ],
    "v_avg": 4.277320657020919,
    "v_std": 0.8480904441487225,
    "vy_max": 0.09847177093549808,
    "a_max": 2.0904006860082567,
    "ax_avg": 0.6348943304374222,
    "a_std": 0.4154662208647573,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "5a0b3bf9218f56a2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.257958989810469,
    "right_rear_min": 7.184497369692148,
    "speed_mode": "accelerating",
    "front_frame": [
      26.41837893607289,
      31.788953060439034,
      37.02749566111642,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5a0b3bf9218f56a2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0202782270ab5a62": {
    "vx_ego": [
      9.319312221761326,
      9.317761657244128,
      9.346295733224109,
      9.415577836114181,
      9.515052479877172,
      9.628769121077568,
      9.712790330822935,
      9.814110246095732,
      9.928771635252845,
      10.0133817816584
    ],
    "vy_ego": [
      0.0030480084406144803,
      0.04133342470540696,
      0.030500044409326882,
      0.034093410007735116,
      0.02588832425174331,
      0.004506689576100897,
      0.02618951274835759,
      0.002438153594013833,
      0.0125369544054563,
      0.039178053710229456
    ],
    "v_ego": [
      9.319312720207723,
      9.317853333960924,
      9.346345498941934,
      9.415639561311306,
      9.515087697974689,
      9.628770175742476,
      9.71282563938556,
      9.814110548955222,
      9.928779550389223,
      10.013458424797141
    ],
    "ax_ego": [
      -0.005710226379824494,
      -0.0016346343064793638,
      0.11299171631344981,
      0.16207719268388943,
      0.23418113117503775,
      0.22043146713843212,
      0.11574422806620652,
      0.289391095152228,
      0.16925361469207964,
      0.16923363067657
    ],
    "ay_ego": [
      0.31650403335585464,
      0.3165513147848961,
      0.28025820430882153,
      0.22212027663056244,
      0.036977605039289416,
      0.03528977000557284,
      0.005352330137347336,
      -0.019837707545288043,
      0.04424470972710186,
      0.04432110000857729
    ],
    "a_ego": [
      0.31655553985964735,
      0.31655553528782643,
      0.30217840597545065,
      0.27496624098010325,
      0.23708257100188096,
      0.22323843659156886,
      0.11586791518164631,
      0.2900702338987202,
      0.17494107700929035,
      0.17494108053268678
    ],
    "yaw": [
      -0.052755122371760776,
      -0.03987935358578171,
      -0.022704318707861423,
      -0.009690758855549653,
      -0.0019732392628818915,
      0.0021472906576274833,
      0.0009574463329816187,
      0.0030238125777287163,
      0.002619517348028181,
      0.0021682476283098676
    ],
    "yaw_diff": [
      0.02575153757195814,
      0.03435006975584057,
      0.02602711970462354,
      0.015435039185335522,
      0.00824105984101875,
      -0.0023796886492917294,
      0.004132732489494195,
      -0.0008085904594010707,
      -0.0009025394394366268,
      -0.0009025394394366268
    ],
    "min_front_frame": [
      0,
      76.49810924916775
    ],
    "v_avg": 9.60121831516662,
    "v_std": 0.24543049126997976,
    "vy_max": 0.04133342470540696,
    "a_max": 0.31655553985964735,
    "ax_avg": 0.14659592152115894,
    "a_std": 0.06588717869095281,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0202782270ab5a62",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      76.49810924916775,
      77.23267256196947,
      77.73200735896371,
      78.38718860863774,
      78.99478279295973,
      79.47299068032052,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0202782270ab5a62",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "947b3794a3275a2c": {
    "vx_ego": [
      2.056102123370886,
      2.1661370458502316,
      2.2921106955953108,
      2.4062833959298056,
      2.519872070393564,
      2.6595400970894243,
      2.7977248132629167,
      2.9078767856468186,
      3.00829448971749,
      3.1683474407006638
    ],
    "vy_ego": [
      -0.06966627915818602,
      0.0023712738309016324,
      0.024271068359134507,
      0.0181382387509319,
      0.002651931734419355,
      -0.015215026219056682,
      -0.01728493041358825,
      -0.014253138606647564,
      -0.011580731216660922,
      0.014784404941362517
    ],
    "v_ego": [
      2.0572820254359905,
      2.1661383437685484,
      2.2922391946787997,
      2.4063517567538755,
      2.5198734658493214,
      2.659583618736074,
      2.797778207715262,
      2.9079117167589206,
      3.0083167802277946,
      3.168381934619612
    ],
    "ax_ego": [
      0.21527339294189268,
      0.23081979971242667,
      0.27417841526970277,
      0.17742561959671824,
      0.2815406800646436,
      0.29264994191472615,
      0.27771116049291006,
      0.18277837524851293,
      0.2317153366849588,
      0.40323577161741925
    ],
    "ay_ego": [
      0.3431917630177408,
      0.33293458848453994,
      0.4670628735578538,
      0.5439034776051044,
      0.6964708872805516,
      0.8453931319551237,
      0.9310763668075733,
      1.0377793161809834,
      1.078277339525071,
      1.0265354019905675
    ],
    "a_ego": [
      0.40512124100315905,
      0.40512124129531235,
      0.5415916646846822,
      0.5721108663888544,
      0.7512235694922124,
      0.894613623895582,
      0.9716103588835958,
      1.053752268586671,
      1.102893475449143,
      1.1028934758406324
    ],
    "yaw": [
      -1.316901967973209,
      -1.2709233800576643,
      -1.190874751391903,
      -1.0813517922854157,
      -0.948660508250946,
      -0.7931464434270334,
      -0.6300999633698406,
      -0.4597490963319676,
      -0.28191727690790835,
      -0.1192973221863518
    ],
    "yaw_diff": [
      0.09195717583108953,
      0.1600972573315227,
      0.21904591821297448,
      0.26538256806893923,
      0.3110281296478252,
      0.3260929601143856,
      0.3407017340757461,
      0.35566363884811847,
      0.3252399094431131,
      0.3252399094431131
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.5983857044544196,
    "v_std": 0.3533618489657078,
    "vy_max": 0.06966627915818602,
    "a_max": 1.1028934758406324,
    "ax_avg": 0.2567328493543911,
    "a_std": 0.26744421852512257,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "947b3794a3275a2c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "947b3794a3275a2c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fa3c2377e39c52e3": {
    "vx_ego": [
      12.816491650719453,
      12.83695019045512,
      12.857816899041728,
      12.909602034065394,
      13.01998816356056,
      13.120217011683188,
      13.072411438263712,
      12.900300002277902,
      12.67215217630143,
      12.402622245881721
    ],
    "vy_ego": [
      0.062099605792955204,
      0.015440965262224937,
      -0.01056904309121176,
      -0.0008946620006464734,
      0.014671931491134271,
      0.014530359411824623,
      0.014061783576344078,
      0.025940903905360135,
      0.03405458895938279,
      -0.0005373985446687768
    ],
    "v_ego": [
      12.816642095104362,
      12.836959477058187,
      12.857821242883839,
      12.909602065066352,
      13.01999643029255,
      13.120225057711684,
      13.072419001279194,
      12.900326084222316,
      12.672197934627215,
      12.402622257524307
    ],
    "ax_ego": [
      0.04071764139148045,
      0.04066378476932574,
      0.042859371371057886,
      0.16428136280400663,
      0.27738482901730455,
      0.12378691428521033,
      -0.31500105642394793,
      -0.37345015022755423,
      -0.5390754741646084,
      -0.5391220644601977
    ],
    "ay_ego": [
      -0.018395056527330495,
      -0.01851380167154715,
      0.04523127150749848,
      0.0016104229957082739,
      -0.05359904343992807,
      -0.10579345340412878,
      0.0003096941380652694,
      0.052487718657095075,
      -0.04025238724515215,
      -0.039623609190035075
    ],
    "a_ego": [
      0.04468002266258251,
      0.044680020636739086,
      0.06231206654017583,
      0.16428925596936264,
      0.2825158417268571,
      0.16283566848643935,
      0.31500120866222464,
      0.3771206376145559,
      0.5405761940048147,
      0.5405762025774629
    ],
    "yaw": [
      -1.5437376898121173,
      -1.5408194552582168,
      -1.5382749638198483,
      -1.5381167450327793,
      -1.5403223270143647,
      -1.5433558363566782,
      -1.545325423030319,
      -1.5452238170481651,
      -1.5456185136313576,
      -1.5444521637935968
    ],
    "yaw_diff": [
      0.005836469107801001,
      0.0050889828767370915,
      0.00031643757413801765,
      -0.004411163963170761,
      -0.006067018684627001,
      -0.003939173347281777,
      0.00020321196430783672,
      -0.000789393166384933,
      0.0023326996755215212,
      0.0023326996755215212
    ],
    "min_front_frame": [
      0,
      30.2241383556108
    ],
    "v_avg": 12.860881164577,
    "v_std": 0.19733121890787594,
    "vy_max": 0.062099605792955204,
    "a_max": 0.5405762025774629,
    "ax_avg": -0.10769548416379227,
    "a_std": 0.18018735262558735,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "fa3c2377e39c52e3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.513147165856992,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      30.2241383556108,
      31.658834406233137,
      32.77366323970357,
      33.899574868667436,
      34.60713703031048,
      35.26145679214802,
      35.33803461447893,
      35.350747355944094,
      35.27730410526551,
      35.10019746490113
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "fa3c2377e39c52e3",
    "merging_vehicles": "No"
  },
  "f2033bf66332541b": {
    "vx_ego": [
      7.7815766364238055,
      7.638978649959552,
      7.498487696251138,
      7.375738162909968,
      7.266947406141162,
      7.144216431266839,
      7.01934115193605,
      6.8884169146871175,
      6.701649233768411,
      6.4729613070884096
    ],
    "vy_ego": [
      -0.019772618006204556,
      -0.017639351038847284,
      0.010134087722607266,
      0.026549995660848147,
      0.056332108834570516,
      0.04015069906795965,
      -0.0001518102707103175,
      -0.010772241501543434,
      -0.03131180195134542,
      -0.0878959506994903
    ],
    "v_ego": [
      7.781601757026611,
      7.6389990156592456,
      7.498494544277783,
      7.37578594795674,
      7.267165741202516,
      7.144329254410014,
      7.019341153577683,
      6.888425337603258,
      6.7017223817023455,
      6.4735580464851825
    ],
    "ax_ego": [
      -0.2948813827793786,
      -0.27784853264444437,
      -0.28719444783704384,
      -0.20483095014519226,
      -0.23033743156661302,
      -0.2637013161775319,
      -0.23827454377028984,
      -0.28643875825627696,
      -0.4578807910782693,
      -0.449570211538085
    ],
    "ay_ego": [
      -0.5055210170111217,
      -0.5150793346296076,
      -0.35506317888686584,
      -0.08846156697352625,
      0.22656150479781725,
      0.3172783584252833,
      0.29642720024074964,
      0.1327522218376238,
      0.27232831288549436,
      0.28583935727702425
    ],
    "a_ego": [
      0.5852405732259489,
      0.5852405728033132,
      0.4566733097846544,
      0.22311693563867782,
      0.3230873687363149,
      0.4125578030758904,
      0.38032071104728077,
      0.3157060573290027,
      0.532745275753358,
      0.5327452611435797
    ],
    "yaw": [
      2.137496260347115,
      2.1041212582228623,
      2.0717182464348483,
      2.054578471608192,
      2.0552260037323937,
      2.076327384034683,
      2.1036939245142867,
      2.120635615089494,
      2.138505065101051,
      2.168280898781179
    ],
    "yaw_diff": [
      -0.06675000424850541,
      -0.06480602357602816,
      -0.03427954965331281,
      0.0012950642484037544,
      0.04220276060457895,
      0.05473308095920704,
      0.03388338115041467,
      0.035738900023114084,
      0.059551667360255855,
      0.059551667360255855
    ],
    "min_front_frame": [
      1,
      20.013302480936847
    ],
    "v_avg": 7.178942317990137,
    "v_std": 0.3949520890867038,
    "vy_max": 0.0878959506994903,
    "a_max": 0.5852405732259489,
    "ax_avg": -0.2990958365793125,
    "a_std": 0.1182646185561269,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "f2033bf66332541b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.778377899696263,
      20.013302480936847,
      27.026479361654538,
      65.18802122066779,
      -1,
      57.800172379132434,
      39.132077101291166,
      35.722193951648904,
      32.34674392653428,
      29.104684298815496
    ],
    "safe_frame": [
      1,
      0,
      1,
      1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5555555555555556,
    "unsafe_ratio": 0.1111111111111111,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "f2033bf66332541b",
    "merging_vehicles": "No"
  },
  "2818ed317df9550a": {
    "vx_ego": [
      1.7062531097853368,
      1.8865280273565643,
      2.078059541748813,
      2.2441564932627087,
      2.358084358005952,
      2.4662994981134667,
      2.5773203661500874,
      2.646338505217079,
      2.6188467036217147,
      2.5347899129446056
    ],
    "vy_ego": [
      0.011980468973240344,
      0.02958712390360929,
      0.020695582461820794,
      0.004137064063416629,
      -0.004600895610320066,
      -0.01284557194294833,
      -0.02470822471164924,
      -0.05029247251978686,
      -0.07207913123293852,
      -0.05479290892546529
    ],
    "v_ego": [
      1.706295169743193,
      1.8867600260506732,
      2.078162593780073,
      2.2441603065628453,
      2.3580888464417025,
      2.466332950579317,
      2.577438799688641,
      2.646816354979453,
      2.619838441245875,
      2.535382055161359
    ],
    "ax_ego": [
      0.3518720743144209,
      0.36422111718295735,
      0.3966469269185962,
      0.2664210039440903,
      0.19099343791600068,
      0.24408969466777358,
      0.20653435742130116,
      0.07956051498029656,
      -0.17115652974735002,
      -0.14890733057123998
    ],
    "ay_ego": [
      0.23854552588267858,
      0.21922796820850013,
      0.2581247105586499,
      0.3218785613205128,
      0.36371069461739014,
      0.35112133464568807,
      0.3723803676887367,
      0.3331646960826723,
      0.35116727198425624,
      0.36116425301690624
    ],
    "a_ego": [
      0.42510930900296345,
      0.4251093085864254,
      0.47324111279024883,
      0.417834847254678,
      0.4108089126419212,
      0.42762830903294535,
      0.4258210645745799,
      0.3425326119653272,
      0.3906571522294454,
      0.390657152443306
    ],
    "yaw": [
      -1.1668680798900015,
      -1.1129285281707602,
      -1.0481311296465394,
      -0.9739663938795583,
      -0.8960437325249226,
      -0.8183657419725304,
      -0.7421162440047853,
      -0.6652919948598336,
      -0.592923236455567,
      -0.5304748763685834
    ],
    "yaw_diff": [
      0.10787910343848273,
      0.12959479704844146,
      0.14832947153396225,
      0.15584532270927132,
      0.15535598110478444,
      0.15249899593549032,
      0.15364849828990335,
      0.1447375168085332,
      0.12489672017396725,
      0.12489672017396725
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.3119275544233133,
    "v_std": 0.3098638602241421,
    "vy_max": 0.07207913123293852,
    "a_max": 0.47324111279024883,
    "ax_avg": 0.17802752670268468,
    "a_std": 0.032082438430519125,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "2818ed317df9550a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2818ed317df9550a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "2f1edc1ab2b55b05": {
    "vx_ego": [
      8.235670305305051,
      7.737917405185914,
      7.239134163357861,
      6.78975515856837,
      6.378027891638524,
      5.992828135058935,
      5.650066795446785,
      5.277400313890325,
      4.839161732101488,
      4.368667589552148
    ],
    "vy_ego": [
      0.008594906199608232,
      -0.007141609025818507,
      -0.02088594995605897,
      -0.018743037374334914,
      -0.010649374569351,
      0.007916303181791928,
      0.029788622347468152,
      0.01308294474243299,
      -0.016271051885985433,
      -0.03381841247270856
    ],
    "v_ego": [
      8.235674790209725,
      7.737920700812239,
      7.239164292789638,
      6.7897810284836,
      6.3780367822471575,
      5.992833363627761,
      5.6501453215852475,
      5.277416530509302,
      4.839189086671955,
      4.368798483911285
    ],
    "ax_ego": [
      -0.9955287242139185,
      -0.9954793462912901,
      -0.9997382366338678,
      -0.7979948965611134,
      -0.8489562841723375,
      -0.691869414421478,
      -0.6792018580585398,
      -0.8121185784148797,
      -0.940859349246076,
      -0.9408918536115767
    ],
    "ay_ego": [
      -0.047415783396587474,
      -0.048441324091621774,
      -0.05422426084184012,
      0.007728543701002066,
      0.005367049943636737,
      0.040009325925281,
      0.056465335040044085,
      0.0060057842051745025,
      -0.01564222091516415,
      -0.01354750952177225
    ],
    "a_ego": [
      0.9966572616752984,
      0.9966572584255251,
      1.0012076768840916,
      0.7980323209778665,
      0.8489732490843278,
      0.6930252757099947,
      0.681544934726506,
      0.8121407851170412,
      0.9409893698331073,
      0.9409893810276879
    ],
    "yaw": [
      -2.0471406726996877,
      -2.048170844102185,
      -2.049762773787104,
      -2.0517324964928507,
      -2.0524638430441726,
      -2.053635076859165,
      -2.0532490979727775,
      -2.0473510488385,
      -2.0420410687324635,
      -2.0398147212319193
    ],
    "yaw_diff": [
      -0.0020603428049943417,
      -0.0031838593698383377,
      -0.003939445411493381,
      -0.0014626931026437973,
      -0.0023424676299850233,
      0.000771957772775167,
      0.011796098268555433,
      0.010619960212072677,
      0.004452695001088358,
      0.004452695001088358
    ],
    "min_front_frame": [
      9,
      14.9755966298892
    ],
    "v_avg": 6.250896038084791,
    "v_std": 1.1976724438047408,
    "vy_max": 0.03381841247270856,
    "a_max": 1.0012076768840916,
    "ax_avg": -0.8702638541625077,
    "a_std": 0.11626377127019111,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2f1edc1ab2b55b05",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 32.55264287010706,
    "right_rear_min": 9.17919005872968,
    "speed_mode": "decelerating",
    "front_frame": [
      18.84988581361691,
      18.445673604162153,
      17.92872304780268,
      17.667373050221588,
      17.29167255714303,
      16.927263160086824,
      16.44807646167052,
      16.030147502801505,
      15.562599220308801,
      14.9755966298892
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2f1edc1ab2b55b05",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f2e1685f07675799": {
    "vx_ego": [
      6.253720398599709,
      5.513963825748156,
      4.797118674627887,
      4.152731790512004,
      3.6645381467879834,
      3.3455391506987753,
      3.0482450546084916,
      2.6324081524148966,
      2.2129058906185075,
      1.8672829766286196
    ],
    "vy_ego": [
      -0.06855329672208121,
      -0.04301226720163509,
      -0.017927652713810138,
      -0.012502011703976468,
      -0.01985506913655044,
      -0.028641217493525994,
      -0.021311297048921984,
      -0.0061601782293095875,
      -0.01035198678415783,
      -0.022929915872330398
    ],
    "v_ego": [
      6.254096128007114,
      5.514131584101803,
      4.79715217386268,
      4.152750609442575,
      3.664591935404913,
      3.345661747427225,
      3.0483195508881664,
      2.632415360215068,
      2.2129301038135996,
      1.8674237590458547
    ],
    "ax_ego": [
      -1.4793689341470049,
      -1.4792284017779107,
      -1.38819418367183,
      -1.1894146125994018,
      -0.7634216201959999,
      -0.5126912492171569,
      -0.6767044834354343,
      -0.9867449831128547,
      -0.6913216656023488,
      -0.6912726702867849
    ],
    "ay_ego": [
      0.07214988084495327,
      0.07497592473411069,
      0.016016855638930128,
      -0.019653495176670643,
      -0.025093105930181075,
      -0.026956097942630375,
      0.03468309930725971,
      -0.0101177830408965,
      -0.030963838186820858,
      -0.032038950745122974
    ],
    "a_ego": [
      1.4811272898117793,
      1.4811272915979123,
      1.388286581093708,
      1.1895769754570928,
      0.7638339048169496,
      0.513399404207038,
      0.6775927060404172,
      0.9867968540849988,
      0.6920147430557136,
      0.6920147390412074
    ],
    "yaw": [
      1.206730161933617,
      1.2086405551629023,
      1.2081863667459833,
      1.2067628412360705,
      1.2057684940520013,
      1.2045518792981253,
      1.2028740715967472,
      1.1997446773794067,
      1.197196780059695,
      1.195641569020005
    ],
    "yaw_diff": [
      0.0038207864585704243,
      -0.0009083768338378206,
      -0.0028470510198257415,
      -0.0019886943681384217,
      -0.002433229507751822,
      -0.0033556154027563068,
      -0.006258788434680973,
      -0.0050957946394234455,
      -0.0031104220793798376,
      -0.0031104220793798376
    ],
    "min_front_frame": [
      5,
      11.299434466257747
    ],
    "v_avg": 3.7489472952209,
    "v_std": 1.358682976988817,
    "vy_max": 0.06855329672208121,
    "a_max": 1.4811272915979123,
    "ax_avg": -0.9858362804046727,
    "a_std": 0.35131983609091233,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f2e1685f07675799",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.21018251439059,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.76776330779052,
      13.064430868107467,
      12.423249927933028,
      11.945375380879085,
      11.623208068300052,
      11.299434466257747,
      23.829574582419475,
      24.30491742543884,
      25.221959885092435,
      26.182265754202994
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f2e1685f07675799",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7ffaa3cf8bf45474": {
    "vx_ego": [
      0.6986103809400398,
      1.517840449281889,
      2.3735393525931565,
      3.2762319271912665,
      4.1728516135014875,
      5.038482964208123,
      5.8528284719036066,
      6.623143629955905,
      7.304965775269844,
      7.905282124933512
    ],
    "vy_ego": [
      0.04914830797236208,
      0.02977947486048027,
      0.0130802728092001,
      0.010520760850674993,
      0.008380013638840556,
      -0.007525282174366765,
      -0.027890824706211514,
      -0.04242164755389277,
      -0.0333284337441464,
      0.007725038522490291
    ],
    "v_ego": [
      0.7003370763666119,
      1.5181325523811198,
      2.373575394177548,
      3.2762488194818595,
      4.17286002795811,
      5.038488583939362,
      5.852894926412766,
      6.623279485210229,
      7.305041804285557,
      7.905285899384884
    ],
    "ax_ego": [
      1.6385748601430121,
      1.6386626920084972,
      1.7841664913550925,
      1.8265881868907088,
      1.7597545453942525,
      1.7027354493501705,
      1.554889672875535,
      1.527235161806469,
      1.2006378386749754,
      1.2006056685237487
    ],
    "ay_ego": [
      -0.04490457181013907,
      -0.041575827875725446,
      -0.02849122843952412,
      0.027392960891257756,
      0.005850479614857296,
      -0.014479749119493346,
      0.0007508573117768202,
      0.06575153075088769,
      0.07538107508203878,
      0.07589182595648564
    ],
    "a_ego": [
      1.6391900417163787,
      1.6391900340241479,
      1.7843939640596005,
      1.8267935785947675,
      1.7597642706190668,
      1.7027970147989722,
      1.5548898541702854,
      1.5286498955791403,
      1.203001881186659,
      1.2030018871715735
    ],
    "yaw": [
      1.0652471789846811,
      1.0632157446339352,
      1.0627915889233064,
      1.063601973168224,
      1.0664018372840958,
      1.069382236482647,
      1.072481227072909,
      1.0774730786508164,
      1.0812118879690442,
      1.0807864846841473
    ],
    "yaw_diff": [
      -0.004062868701491862,
      -0.0008483114212576304,
      0.001620768489835278,
      0.005599728231743484,
      0.005960798397102618,
      0.006197981180523726,
      0.009983703155814982,
      0.007477618636455574,
      -0.0008508065697938605,
      -0.0008508065697938605
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.476614456959805,
    "v_std": 2.3567480577937245,
    "vy_max": 0.04914830797236208,
    "a_max": 1.8267935785947675,
    "ax_avg": 1.5833850567022463,
    "a_std": 0.21081604213585417,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "7ffaa3cf8bf45474",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.472870050910381,
    "right_rear_min": 7.698996358906901,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7ffaa3cf8bf45474",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "cfb7ecec39485237": {
    "vx_ego": [
      1.292788679956837,
      1.5803248440011326,
      2.0020312645475866,
      2.5370084941745907,
      2.9908372180834393,
      3.2297297554022695,
      3.243078348671787,
      3.2471599879699564,
      3.464862893606389,
      3.9112540866511223
    ],
    "vy_ego": [
      0.02587144124398988,
      0.008191806008059355,
      -0.026834627496251873,
      -0.055643215302955795,
      -0.029806472018419905,
      0.016019307623995838,
      0.05597379482315401,
      0.0648414697005637,
      0.045182094692968466,
      -0.0936757849189932
    ],
    "v_ego": [
      1.2930475252273532,
      1.5803460754698249,
      2.0022110981259873,
      2.5376186212516796,
      2.9909857389909553,
      3.2297694826639805,
      3.2435613515595216,
      3.24780732243555,
      3.4651574701839,
      3.9123757083165334
    ],
    "ax_ego": [
      0.5747825565898331,
      0.5747024981141263,
      1.1122456929817959,
      1.0252441227917588,
      0.7915095238199423,
      0.2050635714264497,
      -0.049012402041101244,
      0.1498873504973257,
      0.7420814071549305,
      1.013187758513331
    ],
    "ay_ego": [
      -0.0059159456163932755,
      -0.011270259608578637,
      -0.15372343936010358,
      -0.37756001582454063,
      -0.7455710399955814,
      -1.2746407387517356,
      -1.813126505163139,
      -1.909457814963851,
      -1.6298800585356001,
      -1.4767005024963975
    ],
    "a_ego": [
      0.5748130006989063,
      0.5748129957562391,
      1.1228184970712118,
      1.0925552969385441,
      1.087365394877805,
      1.2910306275266055,
      1.8137888353606482,
      1.9153316592605136,
      1.7908639870344853,
      1.790863983688985
    ],
    "yaw": [
      -2.0171763067346205,
      -2.007860355286334,
      -2.0114694266678956,
      -2.0570730378391273,
      -2.1667389274045963,
      -2.339346101645814,
      -2.5865060065318093,
      -2.8762137759965345,
      -3.1383160970147737,
      2.970773450739652
    ],
    "yaw_diff": [
      0.018631902896572683,
      -0.007218142763123048,
      -0.09120722234246337,
      -0.21933177913093793,
      -0.34521434848243526,
      -0.49431980977199075,
      -0.5794155389294504,
      -0.5242046420364783,
      -0.34819151885032085,
      -0.34819151885032085
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.7502880394225286,
    "v_std": 0.82081236555095,
    "vy_max": 0.0936757849189932,
    "a_max": 1.9153316592605136,
    "ax_avg": 0.6139692079848393,
    "a_std": 0.47913730476073635,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "cfb7ecec39485237",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "cfb7ecec39485237",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "deb8de65573253b7": {
    "vx_ego": [
      0.09071429576559198,
      -0.037605528141059066,
      -0.07144322935008826,
      -0.03559809770992246,
      -0.023598183989987212,
      -0.01410400495522433,
      -0.009439646885853102,
      -0.006786929891747846,
      -0.005098873480961861,
      -0.0037575726306411563
    ],
    "vy_ego": [
      -0.009021855264780429,
      0.027593734777627863,
      0.025147862518085016,
      0.004827808913456563,
      0.004223818353010021,
      0.0027082501779504995,
      0.0019619190697554305,
      0.0014672700608834468,
      0.0011948327779085464,
      0.0010612445262458943
    ],
    "v_ego": [
      0.09116181946772424,
      0.04664321971890507,
      0.07574001590439375,
      0.035923979449248626,
      0.023973212740567608,
      0.014361670334726438,
      0.00964137229681886,
      0.006943723697488643,
      0.00523699686289965,
      0.003904560413033761
    ],
    "ax_ego": [
      -0.2566312895603051,
      -0.25664238520132765,
      0.1212401617834721,
      0.022141099031296765,
      0.025859794579950208,
      0.012116372332277012,
      0.006541296880504318,
      0.0040695878307756535,
      0.0026825696453687833,
      0.0026825835095710864
    ],
    "ay_ego": [
      0.07324257833424809,
      0.0732036962572821,
      -0.08310113592875112,
      0.001827899424987128,
      -0.004236788514472293,
      -0.0018283960585776318,
      -0.0011556716502241953,
      -0.0008227918017711599,
      -0.00026723183976358543,
      -0.00026726649553161937
    ],
    "a_ego": [
      0.26687842562191805,
      0.2668784274300849,
      0.14698631100184556,
      0.022216423713585377,
      0.026204567400237435,
      0.012253550940090391,
      0.006642600533076443,
      0.004151931052108058,
      0.002695847317345222,
      0.0026958645487962633
    ],
    "yaw": [
      2.202327051782875,
      2.202175540085872,
      2.202455507248845,
      2.202413138566068,
      2.2023543578863123,
      2.2023969789473505,
      2.2023689099357386,
      2.2023649470902447,
      2.2023771392684783,
      2.202385741166245
    ],
    "yaw_diff": [
      -0.0003030233940055638,
      0.0005599343259463652,
      -8.4737365554588e-05,
      -0.00011756135951124236,
      8.524212207650095e-05,
      -5.613802322379513e-05,
      -7.92569098795326e-06,
      2.4384356467344048e-05,
      1.7203795533049515e-05,
      1.7203795533049515e-05
    ],
    "min_front_frame": [
      0,
      10.24675057373563
    ],
    "v_avg": 0.03135305708858067,
    "v_std": 0.029407181581552033,
    "vy_max": 0.027593734777627863,
    "a_max": 0.2668784274300849,
    "ax_avg": -0.031594020916841686,
    "a_std": 0.1039533965634558,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "deb8de65573253b7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.4105705347953177,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.24675057373563,
      10.292070141293522,
      10.319275177798053,
      10.331033510412379,
      10.334412557669546,
      10.333677526597011,
      10.337634607585285,
      10.334606294199055,
      10.327224275322429,
      10.321289475625278
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "deb8de65573253b7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "32dd24533788546c": {
    "vx_ego": [
      6.445016906852151,
      5.8784839033446,
      5.364060487725824,
      5.041133082342222,
      4.790979789846088,
      4.375713826331387,
      3.8523034561820144,
      3.264053663008432,
      2.729297270385465,
      2.301349452926173
    ],
    "vy_ego": [
      -0.04992839545026995,
      0.009873401836263895,
      0.0013606206660788378,
      -0.007252276331393248,
      -0.008479607572295988,
      0.002605077347422796,
      0.00495635218987156,
      -0.026146041637520864,
      -0.04011149094056243,
      -0.0079937315923609
    ],
    "v_ego": [
      6.445210297134012,
      5.878492194937865,
      5.364060660289926,
      5.041138298975459,
      4.790987293915341,
      4.375714601796562,
      3.852306644588268,
      3.264158380117618,
      2.7295920064799106,
      2.301363335987685
    ],
    "ax_ego": [
      -1.137041616648716,
      -1.1308764449141602,
      -0.9275552653046333,
      -0.3641532187815174,
      -0.6368560652410352,
      -1.02440425748407,
      -1.0691570042523437,
      -1.2837934659770032,
      -0.8559632897061508,
      -0.8561095522336558
    ],
    "ay_ego": [
      -0.20650312699361917,
      -0.2379614126043684,
      -0.0742393590314957,
      -0.09814346144735316,
      -0.055850880574056044,
      -0.017478787475382923,
      -0.032073076490435254,
      -0.14391203788654136,
      0.05058506707746087,
      0.04804625100393439
    ],
    "a_ego": [
      1.1556414580003906,
      1.1556414528522052,
      0.930521494982118,
      0.37714679605401363,
      0.6393003743899976,
      1.024553361598652,
      1.0696379677149683,
      1.291834485502653,
      0.8574567058084082,
      0.8574567089137759
    ],
    "yaw": [
      -3.0380556883614425,
      -3.0657959157408055,
      -3.078222344906331,
      -3.0849412712037703,
      -3.0924705630601297,
      -3.098821672213365,
      -3.1023994999616633,
      -3.105996109856171,
      -3.1091784625152585,
      -3.11214423194945
    ],
    "yaw_diff": [
      -0.05548045475872598,
      -0.024852858331050776,
      -0.01343785259487884,
      -0.015058583712718843,
      -0.01270221830647067,
      -0.00715565549659658,
      -0.007193219789015437,
      -0.006364705318175012,
      -0.005931538868383157,
      -0.005931538868383157
    ],
    "min_front_frame": [
      9,
      11.018207476329117
    ],
    "v_avg": 4.404302371422265,
    "v_std": 1.2902408401174297,
    "vy_max": 0.04992839545026995,
    "a_max": 1.291834485502653,
    "ax_avg": -0.9285910180543286,
    "a_std": 0.2572001828915663,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "32dd24533788546c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.343114558224865,
      22.843485269723793,
      20.623549552114877,
      18.658886769709873,
      16.881076893228983,
      15.291382854139618,
      14.031968720094719,
      12.90274763790615,
      12.07977086380021,
      11.018207476329117
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "32dd24533788546c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5bd8cf3fa67a524f": {
    "vx_ego": [
      9.047557803909672,
      9.529373684893988,
      10.008434595042964,
      10.450023268506428,
      10.916463695509695,
      11.42313273805938,
      11.907165243192656,
      12.342195234921169,
      12.668248618793893,
      12.917197608576474
    ],
    "vy_ego": [
      -0.08772990582152396,
      -0.0921428191491307,
      -0.14788695304901012,
      -0.1922945215179519,
      -0.1791799254431874,
      -0.11783840079676988,
      -0.03985945838418914,
      0.012053863554521982,
      0.027765608016683707,
      0.0034969988243531702
    ],
    "v_ego": [
      9.047983131696382,
      9.529819154919508,
      10.009527141385597,
      10.451792358027957,
      10.917934102249518,
      11.423740518762948,
      11.90723195814703,
      12.342201121053627,
      12.668279046364662,
      12.917198081937684
    ],
    "ax_ego": [
      0.9381265201369722,
      1.009666549822886,
      0.9417587366668911,
      0.8637883080849282,
      1.0332037310657287,
      1.00392538931418,
      0.9330218456878548,
      0.8071336621035154,
      0.497621568028087,
      0.49847505513113355
    ],
    "ay_ego": [
      1.1782094390865956,
      1.1175116642682368,
      1.2285589279980653,
      1.1324259397664014,
      0.9553408591856792,
      0.5242885861521008,
      0.12184859083742394,
      0.11795273251635052,
      -0.17524199355191425,
      -0.1727993014535643
    ],
    "a_ego": [
      1.506073985611947,
      1.506073989419781,
      1.5479879061711608,
      1.424260773257496,
      1.4071908566778617,
      1.132583201746784,
      0.9409446549185755,
      0.815706807381614,
      0.5275765169819266,
      0.527576514991737
    ],
    "yaw": [
      -2.3152955960498716,
      -2.2529910925464023,
      -2.1873262461477063,
      -2.125361968500243,
      -2.0776479009079147,
      -2.0500336899104656,
      -2.042876339502884,
      -2.0422143352121456,
      -2.0446086479795693,
      -2.049513163723846
    ],
    "yaw_diff": [
      0.12460900700693855,
      0.13132969279739193,
      0.12392855529492675,
      0.09542813518465643,
      0.05522842199489819,
      0.01431470081516295,
      0.0013240085814771874,
      -0.00478862553484749,
      -0.009809031488553721,
      -0.009809031488553721
    ],
    "min_front_frame": [
      3,
      34.152984542706626
    ],
    "v_avg": 11.121570661454491,
    "v_std": 1.2796578993023047,
    "vy_max": 0.1922945215179519,
    "a_max": 1.5479879061711608,
    "ax_avg": 0.8526721366042178,
    "a_std": 0.3848673596930397,
    "ini_direction_judge": "left",
    "scenario_type": "lane_change",
    "scene_token": "5bd8cf3fa67a524f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.622659811744226,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      57.06493107006418,
      34.152984542706626,
      35.71568369066965,
      37.129171041174104,
      38.02135793034315,
      38.705638914827155,
      39.215530588293156,
      39.63428405771442
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.875,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.125,
    "ANC_result": "A",
    "scene_scenario": "lane_change",
    "lane_change_frame": 7,
    "token": "5bd8cf3fa67a524f",
    "smoothness": "Yes"
  },
  "6a383816e5c1568b": {
    "vx_ego": [
      0.11635719792413399,
      0.7571049079294193,
      1.3795397086693424,
      1.9165968096929318,
      2.346800819725156,
      2.6890139547176255,
      2.980627492949506,
      3.274885693728253,
      3.5683518769778777,
      3.888669092166716
    ],
    "vy_ego": [
      -0.014557800859485673,
      -0.011338377792672105,
      -0.038800107934541916,
      -0.05120986376196668,
      -0.03409970556821962,
      -0.02112361437016433,
      -0.0022624516872670475,
      0.007109780111927644,
      -0.014154128985657488,
      -0.0630211961392988
    ],
    "v_ego": [
      0.11726434698841985,
      0.7571898047529324,
      1.3800852351109427,
      1.9172808299963893,
      2.347048546021685,
      2.689096921970308,
      2.9806283516087837,
      3.274893411389021,
      3.568379948561936,
      3.889179730937559
    ],
    "ax_ego": [
      1.2815856365198057,
      1.2823038720825566,
      1.2160466645076378,
      0.9567124149553895,
      0.7912617034611386,
      0.5997858173031787,
      0.5849923087577276,
      0.5983810148349993,
      0.5789489828463034,
      0.7177943283508113
    ],
    "ay_ego": [
      0.044640284227045635,
      0.012299538067127636,
      0.1191361440458259,
      0.37056308662162757,
      0.5672348754150619,
      0.7135962293350616,
      0.8918394925755093,
      0.9968840423945693,
      1.013995200694294,
      0.9209448937270681
    ],
    "a_ego": [
      1.2823628576614916,
      1.2823628577725503,
      1.2218686144910422,
      1.0259705873446476,
      0.9735761332589062,
      0.9321816374287041,
      1.0665803681969017,
      1.1626855262262024,
      1.1676335862631868,
      1.1676335876868877
    ],
    "yaw": [
      -2.0426488542182613,
      -2.0174223138651004,
      -1.9614083544600005,
      -1.8812158537766681,
      -1.78032524465242,
      -1.6596023685868988,
      -1.5249656962065914,
      -1.3771877587814298,
      -1.2244548646043139,
      -1.0811865833161343
    ],
    "yaw_diff": [
      0.05045308070632171,
      0.1120279188101998,
      0.16038500136666478,
      0.20178121824849615,
      0.24144575213104247,
      0.2692733447606148,
      0.2955558748503231,
      0.305465788354232,
      0.2865365625763592,
      0.2865365625763592
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.292104712733798,
    "v_std": 1.1763610848593578,
    "vy_max": 0.0630211961392988,
    "a_max": 1.2823628577725503,
    "ax_avg": 0.860781274361955,
    "a_std": 0.11712597792837406,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6a383816e5c1568b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6a383816e5c1568b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5016bf8ca2ee554c": {
    "vx_ego": [
      6.309217226731354,
      6.86554309710063,
      7.417226479057586,
      7.9448237881056345,
      8.44182434269034,
      8.876584022690944,
      9.207720595873598,
      9.479094866395675,
      9.69479844583596,
      9.838411480003797
    ],
    "vy_ego": [
      0.01576501396132901,
      -0.06779235406145412,
      -0.08119917742009675,
      -0.032664438590596374,
      0.03359596570155207,
      0.04231390256369777,
      0.015908693417433853,
      -0.030452532630843444,
      -0.04850235741890346,
      -0.04168329530580796
    ],
    "v_ego": [
      6.309236922936789,
      6.865877789577623,
      7.417670924761134,
      7.944890936293437,
      8.441891193432348,
      8.876684875461239,
      9.207734339032653,
      9.479143782160522,
      9.694919771924807,
      9.838499781317173
    ],
    "ax_ego": [
      1.0675148266751375,
      1.1626420740296577,
      1.0473515645324354,
      1.0640186975047494,
      0.9240641175790444,
      0.8150566460645389,
      0.5097465146786435,
      0.5757360100983357,
      0.2872762238823789,
      0.28729340969249384
    ],
    "ay_ego": [
      1.0891410169202669,
      0.9869546381668628,
      0.5112523631251736,
      0.17761441972983688,
      0.047786148359498695,
      -0.027920553147035704,
      -0.1329237937688719,
      -0.06086807053325031,
      0.026462430946354573,
      0.026275198901248135
    ],
    "a_ego": [
      1.5250626413066979,
      1.5250626380916514,
      1.165471697867269,
      1.0787412436426402,
      0.9252988757002648,
      0.8155347286179856,
      0.5267924108953489,
      0.5789446219928048,
      0.28849244194555473,
      0.28849244241407657
    ],
    "yaw": [
      -0.1506122297609757,
      -0.05903575735684133,
      -0.004833040602798705,
      0.01127325250244399,
      0.010066276748100848,
      0.009633714873774464,
      0.008113297354517995,
      0.007889762044800467,
      0.00887161940313869,
      0.00952336523112424
    ],
    "yaw_diff": [
      0.18315294480826877,
      0.10840543350808525,
      0.032212586210485394,
      -0.002413951508686285,
      -0.0008651237486527671,
      -0.003040835038512938,
      -0.00044707061943505613,
      0.0019637147166764457,
      0.0013034916559711007,
      0.0013034916559711007
    ],
    "min_front_frame": [
      0,
      64.37429075017565
    ],
    "v_avg": 8.407655031689771,
    "v_std": 1.1699742784321427,
    "vy_max": 0.08119917742009675,
    "a_max": 1.5250626413066979,
    "ax_avg": 0.7740700084737415,
    "a_std": 0.43288447992804374,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "5016bf8ca2ee554c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      64.37429075017565,
      67.35984910905296,
      69.85769947843808,
      72.16129702832215,
      73.94916574513174,
      75.5113429775799,
      76.7937502428222,
      77.63338067138392,
      78.37220304377865,
      78.65255551084391
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "5016bf8ca2ee554c",
    "pedestrians": "No"
  },
  "349606982fb252ae": {
    "vx_ego": [
      0.6045422811348703,
      1.7494490243737437,
      2.853807307241231,
      3.8055354056747195,
      4.496648387607181,
      4.9146185533069096,
      5.1249720584086695,
      5.232467666785874,
      5.312066721280818,
      5.541579881498658
    ],
    "vy_ego": [
      0.03448505715651601,
      -0.004940240019671971,
      -0.03251909439950684,
      -0.04906702801478735,
      -0.03804886795776241,
      -0.024855404086590482,
      0.009235882740528556,
      0.06072416157382654,
      0.04565314817631383,
      0.03153145056915185
    ],
    "v_ego": [
      0.6055250522041518,
      1.749455999690674,
      2.8539925785404576,
      3.8058517176950097,
      4.4968093619946945,
      4.914681405301956,
      5.124980380547773,
      5.23282001484462,
      5.312262894593748,
      5.541669587354128
    ],
    "ax_ego": [
      2.289382854243235,
      2.2908221916405447,
      2.126236733763159,
      1.6768861893683913,
      1.0914451054085155,
      0.6165693535330801,
      0.2783627725953488,
      0.20996646608906888,
      0.17623694800479314,
      0.7650172942912534
    ],
    "ay_ego": [
      -0.12474545908396939,
      -0.09470446044200687,
      -0.208502724889282,
      -0.3057755018257209,
      -0.7711850434103078,
      -1.5927568261456457,
      -2.2059938115527657,
      -2.4265722611049396,
      -2.5797609724526507,
      -2.4700151139555766
    ],
    "a_ego": [
      2.2927789433054753,
      2.292778935820111,
      2.1364353569181733,
      1.7045368724704126,
      1.3364051740770702,
      1.7079321049004703,
      2.223487020374994,
      2.4356393114018076,
      2.58577379846573,
      2.585773795932987
    ],
    "yaw": [
      0.9806916108742406,
      0.9675740439037666,
      0.9468087439562453,
      0.9137264369898641,
      0.8474060008180306,
      0.7207801205776968,
      0.5270451928034794,
      0.2949013628709609,
      0.06162105905653188,
      -0.17052145038167693
    ],
    "yaw_diff": [
      -0.02623513394094812,
      -0.0415305998950426,
      -0.0661646139327623,
      -0.13264087234366695,
      -0.25325176048066766,
      -0.3874698555484348,
      -0.46428765986503695,
      -0.4665606076288581,
      -0.4642850188764176,
      -0.4642850188764176
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9638048992767216,
    "v_std": 1.6091302266451408,
    "vy_max": 0.06072416157382654,
    "a_max": 2.58577379846573,
    "ax_avg": 1.1520925908937387,
    "a_std": 0.3949180663576583,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "349606982fb252ae",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.3923210371360275,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "349606982fb252ae",
    "pedestrians": "No"
  },
  "39a769c19105586e": {
    "vx_ego": [
      2.1673396584565254,
      2.3132015058175597,
      2.4869332476296537,
      2.6967271604580447,
      2.944588823543336,
      3.24283783345194,
      3.6303278286773484,
      4.1483742903829,
      4.769434708906905,
      5.4331787797573385
    ],
    "vy_ego": [
      0.07155535652464137,
      0.013917666223845993,
      -0.007756386004792559,
      -0.012948743299436849,
      -0.00458838482284496,
      -0.005059855465070262,
      -0.013816417562700689,
      0.05433875686064715,
      0.12207067120480106,
      0.02370043946059583
    ],
    "v_ego": [
      2.1685205473238702,
      2.3132433741285725,
      2.4869453431247,
      2.696758247953484,
      2.9445923984503546,
      3.2428417809391505,
      3.630354120063697,
      4.148730161580407,
      4.770996614051857,
      5.433230472162585
    ],
    "ax_ego": [
      0.27996436047875484,
      0.3158548309426413,
      0.3896542024954909,
      0.45865125662772893,
      0.5664824375820687,
      0.6743134710937426,
      0.8858928043767967,
      1.1793702334946319,
      1.3053818757678035,
      1.3663978664566616
    ],
    "ay_ego": [
      -0.4739329544596274,
      -0.45080839897509156,
      -0.6298028630591875,
      -0.8425968562395887,
      -1.2659357227449408,
      -1.7016904245583306,
      -1.8565354211878229,
      -1.6378036261370605,
      -0.938538342283696,
      -0.8472502279904855
    ],
    "a_ego": [
      0.5504475347034533,
      0.5504475332093784,
      0.7405957357694862,
      0.959338541574888,
      1.3869014406981768,
      1.8304231637334585,
      2.0570682611356466,
      2.018245491866856,
      1.607754975585427,
      1.6077549808000118
    ],
    "yaw": [
      3.0214023968645165,
      2.943818618630778,
      2.8399826382298246,
      2.6997257194306736,
      2.509542456539056,
      2.2699873260171093,
      2.013120229058541,
      1.7698880532022128,
      1.610023923381973,
      1.5417154368079053
    ],
    "yaw_diff": [
      -0.15516755646747704,
      -0.20767196080190686,
      -0.28051383759830184,
      -0.38036652578323515,
      -0.47911026104389354,
      -0.5137341939171369,
      -0.4864643517126561,
      -0.31972825964047935,
      -0.13661697314813548,
      -0.13661697314813548
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.3836213059778673,
    "v_std": 1.0431936201805316,
    "vy_max": 0.12207067120480106,
    "a_max": 2.0570682611356466,
    "ax_avg": 0.7421963339316321,
    "a_std": 0.557714104559857,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "39a769c19105586e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "39a769c19105586e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "21000f5c15845bf4": {
    "vx_ego": [
      2.1573104683633684,
      2.4548826120438867,
      2.778997505879518,
      3.1138213187708486,
      3.3727695992687687,
      3.567800822897365,
      3.785448117288169,
      3.986842143297947,
      4.082530531011847,
      4.109215693194672
    ],
    "vy_ego": [
      0.03428510688075859,
      0.03872284329932918,
      0.0331024685870982,
      0.028238268163822022,
      0.018601666015564566,
      -0.0030625311638909913,
      -0.034067851487280976,
      -0.03884652157785817,
      -0.04126888731218936,
      -0.06606464289220915
    ],
    "v_ego": [
      2.157582889592889,
      2.455187996367814,
      2.7791946515332713,
      3.1139493581336093,
      3.3728208952937546,
      3.5678021373058573,
      3.7856014141990046,
      3.9870313928805814,
      4.082739112128506,
      4.109746725801706
    ],
    "ax_ego": [
      0.5871459980831066,
      0.6124101108201927,
      0.6906790346742233,
      0.6501224569174442,
      0.3865947760056757,
      0.3939590473178226,
      0.476223432630169,
      0.32887616212741017,
      0.05367491102711228,
      0.053602134631134335
    ],
    "ay_ego": [
      -0.35921314079118494,
      -0.3142106957402674,
      -0.27213584391879275,
      -0.12175612699766558,
      -0.08147249845002458,
      -0.12158805441102674,
      -0.05891584363783381,
      -0.0030262128241790864,
      -0.029048981656522255,
      -0.029183052287686917
    ],
    "a_ego": [
      0.6883127948702357,
      0.6883127960109297,
      0.7423580311978247,
      0.6614255539740249,
      0.3950864321114657,
      0.41229526548218476,
      0.479853971972327,
      0.3288900849519666,
      0.06103146245215976,
      0.06103146219647797
    ],
    "yaw": [
      -1.995999391860304,
      -2.0709960518713855,
      -2.12505185394249,
      -2.156765088910556,
      -2.169331340844061,
      -2.1777192656962185,
      -2.181570689990378,
      -2.1843128241450156,
      -2.1856881775112456,
      -2.1831886569788237
    ],
    "yaw_diff": [
      -0.1499933200221628,
      -0.10811160414220922,
      -0.06342646993613155,
      -0.02513250386701049,
      -0.016775849704314894,
      -0.0077028485883188225,
      -0.005484268309275286,
      -0.0027507067324599177,
      0.004999041064843723,
      0.004999041064843723
    ],
    "min_front_frame": [
      3,
      17.035258425620526
    ],
    "v_avg": 3.3411656573236996,
    "v_std": 0.6603743732117613,
    "vy_max": 0.06606464289220915,
    "a_max": 0.7423580311978247,
    "ax_avg": 0.42332880642342907,
    "a_std": 0.23797361973767475,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "21000f5c15845bf4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      21.018065435383114,
      19.84777291988861,
      18.511680607073686,
      17.035258425620526,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "21000f5c15845bf4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6154b9589f9553fa": {
    "vx_ego": [
      1.090023518304856,
      0.6071472686600786,
      0.20135623573812833,
      -0.00023533070500407482,
      -0.030997540706729512,
      -0.019216857469132164,
      -0.011315584474728229,
      -0.007217019400130217,
      -0.005116645853295807,
      -0.003951051966399025
    ],
    "vy_ego": [
      -0.005203286415377206,
      -0.001174449498678426,
      0.030016873580703048,
      0.03866470856703983,
      0.012853549930988578,
      0.005992210247923252,
      0.003224488052887761,
      0.0020382736862390926,
      0.0016240722300169088,
      0.001610434112452303
    ],
    "v_ego": [
      1.0900359373191406,
      0.6071484045709242,
      0.20358130162219865,
      0.03866542472435601,
      0.03355683649710994,
      0.020129436023998713,
      0.011766043311492884,
      0.007499328546068016,
      0.005368209701228266,
      0.004266650872960622
    ],
    "ax_ego": [
      -0.9657549124786335,
      -0.9657604975479437,
      -0.6574033481722765,
      -0.1488882953879008,
      0.025841293040559838,
      0.021281081272093723,
      0.010324306807390146,
      0.006070093799701507,
      0.0023312477475359297,
      0.002331245077346362
    ],
    "ay_ego": [
      0.007033409766405763,
      0.006218771979498605,
      0.11829501659035879,
      -0.08375001668133247,
      -0.019490753434295717,
      -0.007955727731752914,
      -0.0031141587168898857,
      -0.0016302248984804758,
      -2.7141391374189625e-05,
      -2.709351989594851e-05
    ],
    "a_ego": [
      0.9657805236333746,
      0.9657805194499343,
      0.6679617302946574,
      0.17082678302197893,
      0.03236760564892925,
      0.022719551576808036,
      0.010783751460744251,
      0.006285194663397495,
      0.0023314057380724343,
      0.002331402511251971
    ],
    "yaw": [
      -0.33419217621670116,
      -0.335035680646809,
      -0.33520759710355796,
      -0.3355206190579253,
      -0.3355465185112449,
      -0.3355352464976534,
      -0.33555359694971854,
      -0.3355676619295459,
      -0.3355438477927324,
      -0.3355612969565842
    ],
    "yaw_diff": [
      -0.0016870088602156663,
      -0.0003438329134979323,
      -0.0006260439087346636,
      -5.179890663919995e-05,
      2.25440271829358e-05,
      -3.670090413021576e-05,
      -2.8129959654732417e-05,
      4.76282736270317e-05,
      -3.4898327703647425e-05,
      -3.4898327703647425e-05
    ],
    "min_front_frame": [
      2,
      10.679290819117673
    ],
    "v_avg": 0.2022017573189478,
    "v_std": 0.34534987212826485,
    "vy_max": 0.03866470856703983,
    "a_max": 0.9657805236333746,
    "ax_avg": -0.2669627785842127,
    "a_std": 0.3913965214171881,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6154b9589f9553fa",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.602824110045345,
    "speed_mode": "decelerating",
    "front_frame": [
      11.249691821666532,
      10.810867936107057,
      10.679290819117673,
      10.715139375251857,
      10.759194564707604,
      10.792310304028192,
      10.762475871410993,
      10.76805739953995,
      10.788436040648323,
      10.765821070584819
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6154b9589f9553fa",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "47e96fba9c115fe7": {
    "vx_ego": [
      2.6594778334819433,
      3.414794161421121,
      4.137507110723527,
      4.779902242728818,
      5.326401657254595,
      5.841806964983678,
      6.345610136730008,
      6.788450301765916,
      7.204312870318816,
      7.625689479209214
    ],
    "vy_ego": [
      -0.04703549207605551,
      -0.009661930418907172,
      0.017902136429566173,
      0.026135591788442047,
      0.033564809085616654,
      0.03838767333554194,
      0.03185883915747234,
      0.037235147300944016,
      0.02427445290506025,
      0.011203959969617205
    ],
    "v_ego": [
      2.6598937355271635,
      3.414807830284919,
      4.137545839960747,
      4.779973694404826,
      5.326507412067823,
      5.84193309013343,
      6.3456901116429485,
      6.78855241975344,
      7.204353765779772,
      7.625697709851939
    ],
    "ax_ego": [
      1.5106534756690506,
      1.5110758249202974,
      1.3796799762486447,
      1.1892986139690638,
      0.996284697527497,
      1.064612335126482,
      0.9505252356338285,
      0.821104961553954,
      0.8427058857939339,
      0.8431020182170872
    ],
    "ay_ego": [
      0.10350010906307228,
      0.09713928759174995,
      0.09417180683798809,
      0.027743965674952298,
      0.10837068183693166,
      -0.009444873422660094,
      -0.003319700860027197,
      -0.023108165072533687,
      -0.0926605774131731,
      -0.08898420613981245
    ],
    "a_ego": [
      1.5141949003107396,
      1.5141948982387934,
      1.3828901496737158,
      1.1896221756591918,
      1.0021613658534527,
      1.0646542301317508,
      0.9505310326288907,
      0.8214300610408287,
      0.8477848739853061,
      0.8477848795915496
    ],
    "yaw": [
      1.231791843049011,
      1.2360018921281446,
      1.2413448737890347,
      1.2463076023521964,
      1.2515465080454993,
      1.2551171907180505,
      1.255663639306959,
      1.2538433609280575,
      1.2515582291212377,
      1.2471966832651562
    ],
    "yaw_diff": [
      0.008420098158267386,
      0.010685963321780179,
      0.009925457126323423,
      0.010477811386605751,
      0.007141365345102457,
      0.0010928971778167984,
      -0.0036405567578028375,
      -0.004570263613639547,
      -0.008723091712163011,
      -0.008723091712163011
    ],
    "min_front_frame": [
      4,
      21.834447404391238
    ],
    "v_avg": 5.412495560940701,
    "v_std": 1.5702983302774536,
    "vy_max": 0.04703549207605551,
    "a_max": 1.5141949003107396,
    "ax_avg": 1.110904302465984,
    "a_std": 0.25832797457173073,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "47e96fba9c115fe7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      29.924697333040218,
      28.426559588624215,
      26.531096903790793,
      24.35658029508173,
      21.834447404391238,
      60.775047235912766,
      57.751325815064114,
      54.45530098496523,
      51.01307918524675,
      47.380175686171356
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "47e96fba9c115fe7",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "87c5cdc6c5a45ef2": {
    "vx_ego": [
      4.183499690865182,
      3.678617082576547,
      3.1290806003545977,
      2.4700702381141606,
      1.7588384287030245,
      1.1513626553714063,
      0.7424722785161004,
      0.4762768707996775,
      0.24261912537844543,
      0.006227912409205045
    ],
    "vy_ego": [
      -0.06570429431226765,
      -0.006171308739602255,
      0.02783890405229661,
      0.03121204222397944,
      0.012553195144544893,
      0.000278439950294862,
      -0.001004773705404638,
      0.005685758417552589,
      0.004403202320189051,
      -0.011665631823821136
    ],
    "v_ego": [
      4.184015621118085,
      3.6786222591176094,
      3.1292044369287098,
      2.4702674294086333,
      1.7588832255129563,
      1.151362689039688,
      0.7424729583864244,
      0.47631080767448,
      0.24265907811181173,
      0.013223988007620039
    ],
    "ax_ego": [
      -1.0097647264260943,
      -1.0097598658583786,
      -1.1886474066916608,
      -1.4480410205641596,
      -1.3972965109404363,
      -1.0326393234689977,
      -0.6029206187951915,
      -0.4618600035293444,
      -0.4727819416722456,
      -0.4727826041122743
    ],
    "ay_ego": [
      0.1193655210225894,
      0.11940663431171361,
      0.06882352334845199,
      -0.008593697768031427,
      -0.03100112520885434,
      0.0010972979823388185,
      -1.530398333615679e-06,
      0.027323960419457033,
      -0.03213741269938017,
      -0.03212763483188347
    ],
    "a_ego": [
      1.0167954220704178,
      1.0167954224011742,
      1.1906382048300421,
      1.4480665208745835,
      1.397640371930681,
      1.032639906471453,
      0.6029206187971339,
      0.4626675498380345,
      0.47387295519620964,
      0.4738729530908832
    ],
    "yaw": [
      2.2000741316943344,
      2.2001148460080318,
      2.2039229342347175,
      2.2080487469081116,
      2.212204185249824,
      2.215608746293061,
      2.2173520829198017,
      2.2175887960152343,
      2.217808274577625,
      2.217828959461447
    ],
    "yaw_diff": [
      8.142862739468626e-05,
      0.007616176453371537,
      0.008251625346788138,
      0.008310876683425228,
      0.006809122086473884,
      0.003486673253481065,
      0.00047342619086521154,
      0.00043895712478114746,
      4.136976764446132e-05,
      4.136976764446132e-05
    ],
    "min_front_frame": [
      9,
      9.068397946139417
    ],
    "v_avg": 1.7847022493306013,
    "v_std": 1.4260880569048018,
    "vy_max": 0.06570429431226765,
    "a_max": 1.4480665208745835,
    "ax_avg": -0.9096494022058783,
    "a_std": 0.3631404606103848,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "87c5cdc6c5a45ef2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.963119787494353,
    "right_rear_min": 19.715362311734857,
    "speed_mode": "decelerating",
    "front_frame": [
      16.855477647421722,
      14.94750699785276,
      13.250455848529691,
      11.849941321956006,
      10.807557048143286,
      10.140815615550913,
      9.675064607207059,
      9.348111496938472,
      9.14947438143256,
      9.068397946139417
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "87c5cdc6c5a45ef2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "29c9d694a2a15357": {
    "vx_ego": [
      7.648214280337289,
      7.165583066320424,
      6.6433905252561845,
      6.0784192614033685,
      5.462263621705302,
      4.752385514583427,
      4.019205738056581,
      3.394373106336034,
      2.942134180239584,
      2.5763736538282695
    ],
    "vy_ego": [
      -0.007721493434077964,
      0.0030487088191001877,
      0.006305301433017718,
      0.0066857264556962614,
      0.01965194403273235,
      0.011684183951510357,
      -0.016067660411899345,
      -0.020226892628129323,
      -0.013229945497821458,
      -0.01836316379971477
    ],
    "v_ego": [
      7.64821817807364,
      7.1655837148806985,
      6.643393517464535,
      6.078422938257728,
      5.462298973134791,
      4.752399877890853,
      4.019237854934447,
      3.394433371301126,
      2.942163925751236,
      2.5764390949380434
    ],
    "ax_ego": [
      -0.965551320265674,
      -0.9649010120888459,
      -1.1240663523580967,
      -1.1358090657320532,
      -1.3287584178408702,
      -1.510718675757307,
      -1.422006148110285,
      -1.0774486352974664,
      -0.7315315123061815,
      -0.7315282198580916
    ],
    "ay_ego": [
      0.10664339332565313,
      0.1123752684084601,
      -0.04255076281210187,
      -0.0013633337072754062,
      0.022072114311349762,
      -0.06090139980269894,
      -0.064500704447994,
      0.032845366614943396,
      -0.011706300951126885,
      -0.011910715709352804
    ],
    "a_ego": [
      0.9714227531856541,
      0.9714227525027158,
      1.1248714290617965,
      1.135809883949738,
      1.328941726041118,
      1.5119457324189383,
      1.4234682385419555,
      1.077949154558063,
      0.7316251710944118,
      0.731625178351222
    ],
    "yaw": [
      -1.5444790746091068,
      -1.5385407164381684,
      -1.53649005998054,
      -1.5382753915951337,
      -1.5396196100832469,
      -1.5399587010896973,
      -1.5407813117995537,
      -1.5418061175059963,
      -1.5423540125761683,
      -1.5426334489899753
    ],
    "yaw_diff": [
      0.011876716341876925,
      0.004101312915256727,
      -0.0035706632291874207,
      -0.0026884369762263383,
      -0.0006781820129009297,
      -0.0016452214197126835,
      -0.0020496114128851772,
      -0.0010957901403441106,
      -0.0005588728276140209,
      -0.0005588728276140209
    ],
    "min_front_frame": [
      9,
      12.790315520054083
    ],
    "v_avg": 5.06825914466271,
    "v_std": 1.7158979875849114,
    "vy_max": 0.020226892628129323,
    "a_max": 1.5119457324189383,
    "ax_avg": -1.099231935961487,
    "a_std": 0.25171183320281215,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "29c9d694a2a15357",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.486535179914185,
    "right_rear_min": 3.09263073022357,
    "speed_mode": "decelerating",
    "front_frame": [
      19.979985664031275,
      19.537793244239555,
      18.94815328415028,
      18.19293444144318,
      17.363726495897556,
      16.46829270136488,
      15.498201146258053,
      14.670744649563385,
      13.774546184567086,
      12.790315520054083
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "29c9d694a2a15357",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c79b2a28285f5e11": {
    "vx_ego": [
      3.2781933578143705,
      3.455844527785567,
      3.562727117995994,
      3.552805586419847,
      3.5166885404804837,
      3.4857886244118603,
      3.525284701429287,
      3.6428172860645107,
      3.7721121871901975,
      3.9570791107678414
    ],
    "vy_ego": [
      0.021681264075917583,
      0.009661193119839068,
      -0.03380810144040419,
      -0.04716680299221698,
      -0.029218121909944772,
      -0.02389993874437324,
      -0.0036233184002305574,
      0.00443044962593131,
      -0.005599903151157548,
      -0.01571947343334079
    ],
    "v_ego": [
      3.278265054633348,
      3.455858032222671,
      3.5628875234880835,
      3.553118664244213,
      3.5168099165855837,
      3.485870557142235,
      3.525286563467941,
      3.6428199802535253,
      3.7721163438664136,
      3.9571103334024227
    ],
    "ax_ego": [
      0.3222063292525338,
      0.3808362281347517,
      0.05398887728213434,
      -0.07206165588221919,
      -0.057634167144814286,
      -0.047296954354050846,
      0.22476546903308076,
      0.23648266376412452,
      0.29411905879900113,
      0.44805390443458726
    ],
    "ay_ego": [
      0.6324899801488044,
      0.5990194090534351,
      0.6482183318050305,
      0.7499707263027808,
      0.7390371614554396,
      0.858234849767624,
      1.0450974307356076,
      0.9163736114833105,
      1.104479779768955,
      1.0514890905803829
    ],
    "a_ego": [
      0.7098313134816097,
      0.7098313074827225,
      0.6504627618536529,
      0.75342482873848,
      0.7412810689843563,
      0.8595371191791692,
      1.0689939924058642,
      0.9463956075996662,
      1.1429705178469345,
      1.1429705196935915
    ],
    "yaw": [
      1.5214368045150068,
      1.6165813088755971,
      1.7165724337121748,
      1.818039413246574,
      1.9182410672187387,
      2.0306955083150147,
      2.1617341403086274,
      2.2961586710295148,
      2.4351795961445237,
      2.577736448732728
    ],
    "yaw_diff": [
      0.1902890087211806,
      0.19998224967315537,
      0.2029339590687984,
      0.20040330794432926,
      0.224908882192552,
      0.26207726398722553,
      0.2688490614417747,
      0.27804185023001793,
      0.28511370517640877,
      0.28511370517640877
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.575014296930644,
    "v_std": 0.17496748783210894,
    "vy_max": 0.04716680299221698,
    "a_max": 1.1429705196935915,
    "ax_avg": 0.17834597533191293,
    "a_std": 0.18004640646958228,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "c79b2a28285f5e11",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "c79b2a28285f5e11",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "80c159e90ae755f3": {
    "vx_ego": [
      6.52431116858715,
      6.886572918941241,
      7.209152026585958,
      7.47872726579091,
      7.69458067429329,
      7.860410953348355,
      7.990695393423833,
      8.056242393851882,
      8.04904688051827,
      8.005080274958257
    ],
    "vy_ego": [
      -0.08569133947103635,
      -0.03716115305817924,
      -0.03538693574475271,
      0.006171226864190693,
      -0.02119369656041048,
      -0.025580393158946002,
      -0.02173849756307522,
      -0.03229411093522305,
      -0.03429926872548572,
      -0.01800552753009743
    ],
    "v_ego": [
      6.524873886153768,
      6.886673182255093,
      7.2092388764452675,
      7.4787298119483765,
      7.694609861843658,
      7.860452576794351,
      7.990724962903,
      8.056307120393152,
      8.049119959636332,
      8.005100524512317
    ],
    "ax_ego": [
      0.7077986338523328,
      0.729688521282797,
      0.5558127507821399,
      0.5171843678371331,
      0.34529308022224997,
      0.31726077866344926,
      0.20275087500892364,
      0.05845293276695701,
      -0.08995782368547077,
      -0.08734508764754838
    ],
    "ay_ego": [
      -0.5112242323175229,
      -0.47946197198175244,
      -0.4911012051113453,
      -0.27268819032182345,
      -0.15203733415262782,
      -0.19353172443458572,
      -0.213442409808619,
      -0.29325614344393813,
      -0.18854237222750017,
      -0.1897668837322739
    ],
    "a_ego": [
      0.8731146097688832,
      0.8731146091255751,
      0.7416927986665536,
      0.584669581452709,
      0.37728326523397104,
      0.37163009840533984,
      0.29439018261789,
      0.2990249337708647,
      0.2089034134891038,
      0.20890340949256014
    ],
    "yaw": [
      -0.5070974952263246,
      -0.5512816730517711,
      -0.5858509234122211,
      -0.6174869894020649,
      -0.6278463869217457,
      -0.6383854959806516,
      -0.6516834353484389,
      -0.6661231437416482,
      -0.6807978391568548,
      -0.6946103377721078
    ],
    "yaw_diff": [
      -0.08836835565089296,
      -0.0691385007209,
      -0.06327213197968762,
      -0.02071879503936147,
      -0.021078218117811964,
      -0.026595878735574452,
      -0.028879416786418588,
      -0.029349390830413213,
      -0.027624997230506043,
      -0.027624997230506043
    ],
    "min_front_frame": [
      8,
      22.156240326127335
    ],
    "v_avg": 7.575583076288531,
    "v_std": 0.5128015299043601,
    "vy_max": 0.08569133947103635,
    "a_max": 0.8731146097688832,
    "ax_avg": 0.3256939029082964,
    "a_std": 0.24997887753688672,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "80c159e90ae755f3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.982576844966134,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      36.763452162167916,
      37.747003723794094,
      25.400669083503406,
      37.87500217032193,
      33.98799076948384,
      30.05555492948148,
      26.123906670574637,
      22.156240326127335,
      24.37317982084335
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "80c159e90ae755f3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "86c622a3ec1255ee": {
    "vx_ego": [
      7.064906608189356,
      6.830338364557599,
      6.749135168478009,
      6.945246180930454,
      7.288725897665392,
      7.6528755048712025,
      8.021366547667283,
      8.447839322034534,
      8.82399187301401,
      9.101321285683445
    ],
    "vy_ego": [
      0.09938165357467565,
      0.11304939811317527,
      0.12140948788491479,
      0.0664844535435054,
      0.026985842339066757,
      0.011199205859607986,
      0.017283989556247548,
      0.045873408830678475,
      0.025444805419407857,
      -0.0006068028702261863
    ],
    "v_ego": [
      7.065605571747185,
      6.831273844661852,
      6.750227091449233,
      6.945564390047222,
      7.288775853803225,
      7.65288369931685,
      8.021385168930035,
      8.447963871877688,
      8.824028559175233,
      9.101321305911812
    ],
    "ax_ego": [
      -0.47596027423835935,
      -0.4703533451327308,
      0.13747933992116662,
      0.640599817234941,
      0.7316159110151952,
      0.7245993789668446,
      0.7493630479802641,
      0.9533555524048953,
      0.5455920934164118,
      0.5618770878369705
    ],
    "ay_ego": [
      0.2885856874420039,
      0.2976367192557031,
      0.12607804842204842,
      0.09639019271673871,
      0.29359736708495543,
      0.4167298775291827,
      0.5305452951221716,
      0.5724300453006435,
      0.523563156912825,
      0.5060466934211386
    ],
    "a_ego": [
      0.556614661726969,
      0.5566146655693218,
      0.18653751150659234,
      0.6478110797859279,
      0.7883281392984852,
      0.8358875826477054,
      0.918162996343538,
      1.1120085278738376,
      0.7561673833715826,
      0.7561673873942347
    ],
    "yaw": [
      1.8482534255256913,
      1.867381869859116,
      1.8819142507719393,
      1.8982076985409508,
      1.9174870110019901,
      1.9433657574230283,
      1.972816431050098,
      2.002921513280892,
      2.036811530970251,
      2.0684422001770804
    ],
    "yaw_diff": [
      0.03825688866684951,
      0.029064761825646546,
      0.032586895538023075,
      0.03855862492207862,
      0.051757492842076314,
      0.058901347254139313,
      0.060210164461588445,
      0.06778003537871768,
      0.06326133841365866,
      0.06326133841365866
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.692902935692034,
    "v_std": 0.8178682434611594,
    "vy_max": 0.12140948788491479,
    "a_max": 1.1120085278738376,
    "ax_avg": 0.4098168609405598,
    "a_std": 0.23581828555141934,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "86c622a3ec1255ee",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "86c622a3ec1255ee",
    "pedestrians": "No"
  },
  "4800c57e89db5eae": {
    "vx_ego": [
      2.8239824834809077,
      3.899017763911889,
      4.9419756917583655,
      5.959314860860287,
      6.941113497973229,
      7.865262288553706,
      8.772437832294408,
      9.589884607697469,
      10.2310847966749,
      10.784525396372633
    ],
    "vy_ego": [
      -0.027500599551890978,
      0.0005531844165135302,
      0.007318144805527171,
      0.001672384629327589,
      0.007726657052865238,
      0.016274795904971467,
      -0.010814486438311344,
      -0.013312753529825389,
      -0.012125213560736092,
      0.010825885473118302
    ],
    "v_ego": [
      2.8241163839301504,
      3.899017803154208,
      4.941981110159565,
      5.959315095524033,
      6.941117798523187,
      7.865279126434537,
      8.772444498233495,
      9.589893848127797,
      10.231091981678015,
      10.78453083007335
    ],
    "ax_ego": [
      2.1500616193873,
      2.149986909654073,
      2.021864106112656,
      2.047512364257919,
      1.8796889260434784,
      1.816978577045581,
      1.8117150983010624,
      1.4580912881684693,
      1.1068545944154062,
      1.1069096486943142
    ],
    "ay_ego": [
      0.043141699130456145,
      0.04671656929717578,
      -0.026222595793670332,
      -0.022850087456241862,
      0.006188425173177865,
      -0.01017310625921683,
      -0.09277894803732767,
      0.08792427300811335,
      0.0644615288402558,
      0.06350909877448918
    ],
    "a_ego": [
      2.150494402077393,
      2.150494396535543,
      2.022034146130299,
      2.0476398629363053,
      1.8796991129690437,
      1.81700705599443,
      1.8140891738310279,
      1.4607398407713783,
      1.1087300762038146,
      1.1087300735524936
    ],
    "yaw": [
      1.5989585858869984,
      1.5972958755672164,
      1.5969258849651464,
      1.595710192521401,
      1.594130933787911,
      1.5928430813616823,
      1.593005502969274,
      1.5931447492267996,
      1.5968525474668267,
      1.5977130091763398
    ],
    "yaw_diff": [
      -0.0033254206395638697,
      -0.0007399812041399834,
      -0.0024313848874908395,
      -0.0031585174669799265,
      -0.0025757048524575055,
      0.0003248432151834457,
      0.00027849251505118744,
      0.007415596480054187,
      0.001720923419026299,
      0.001720923419026299
    ],
    "min_front_frame": [
      0,
      22.100398953921907
    ],
    "v_avg": 7.180878847583832,
    "v_std": 2.5963301702296824,
    "vy_max": 0.027500599551890978,
    "a_max": 2.150494402077393,
    "ax_avg": 1.7549663132080262,
    "a_std": 0.37610804088072447,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "4800c57e89db5eae",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.66785594995712,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      22.100398953921907,
      24.32371775432712,
      26.656833293991035,
      28.78941167608081,
      30.73239927600189,
      32.79711722760869,
      34.699331518500884,
      36.38772262924906,
      35.33279211789734,
      35.98997036511585
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4800c57e89db5eae",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "f9b16eaee3b956a3": {
    "vx_ego": [
      5.008207976241437,
      5.885915166266476,
      6.8817956826792175,
      7.663295353203422,
      8.354480785908002,
      9.134934219967986,
      9.690336642994973,
      10.071823863008213,
      10.377091372665303,
      10.675856425731128
    ],
    "vy_ego": [
      0.06334715002636138,
      0.21547000117011006,
      0.08000190524859407,
      0.05495896486053242,
      0.030594246334592512,
      0.018517248856661617,
      -0.023592624455285538,
      -0.05760542349397024,
      -0.027239802120679002,
      -0.06376667758673715
    ],
    "v_ego": [
      5.0086085886905565,
      5.889857779767689,
      6.8822606840329525,
      7.663492425666492,
      8.354536804037359,
      9.134952987927598,
      9.690365362900398,
      10.07198859770391,
      10.377127124761662,
      10.67604686257957
    ],
    "ax_ego": [
      1.7274922975471254,
      1.8355808303956056,
      2.163425213680004,
      0.9655484708287817,
      1.7991593367200576,
      1.3226974242825706,
      0.8999949246010276,
      0.6310736433385379,
      0.5935605975855371,
      0.6060560097565003
    ],
    "ay_ego": [
      -1.0444729726382032,
      -0.8401169350624791,
      -0.5666585122141982,
      -0.2674903972658744,
      0.13357202035420712,
      0.3358693764955136,
      0.40566116508951566,
      0.4787909627663526,
      0.4854788353540521,
      0.4697871821054945
    ],
    "a_ego": [
      2.018700926005715,
      2.0187009311670203,
      2.236405715573804,
      1.0019156462243985,
      1.8041108068875542,
      1.3646745818220665,
      0.98719392480373,
      0.7921456490717518,
      0.7668141121437625,
      0.7668141126978508
    ],
    "yaw": [
      -0.7274631839854581,
      -0.8420454010296601,
      -0.876131652499514,
      -0.9008524846625405,
      -0.9020055819639174,
      -0.8873041827278043,
      -0.8632714105972075,
      -0.8375407404872683,
      -0.8169432863134877,
      -0.7907836685091943
    ],
    "yaw_diff": [
      -0.22916443408840403,
      -0.06817250293970778,
      -0.049441664326053125,
      -0.0023061946027538305,
      0.029402798472226266,
      0.04806554426119369,
      0.05146134021987825,
      0.04119490834756134,
      0.052319235608586645,
      0.052319235608586645
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.374923721806818,
    "v_std": 1.863713227320695,
    "vy_max": 0.21547000117011006,
    "a_max": 2.236405715573804,
    "ax_avg": 1.2544588748735748,
    "a_std": 0.5589314372998142,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f9b16eaee3b956a3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 21.064956696011908,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f9b16eaee3b956a3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a2839b1b4f0352e4": {
    "vx_ego": [
      1.025688569175399,
      1.5993227594426074,
      2.118073174649467,
      2.560238383769618,
      2.979531719806154,
      3.4124832831732,
      3.849067738451669,
      4.256801256656037,
      4.6142696078863175,
      4.9392397873847305
    ],
    "vy_ego": [
      -0.033996739734750425,
      -0.032316210838333415,
      -0.042283743284572683,
      -0.031595101081843824,
      0.0006107419039079742,
      -0.020005457015759065,
      -0.012820568153525946,
      -0.021621681734516285,
      -0.0343830779418941,
      -0.016359037455139225
    ],
    "v_ego": [
      1.026251830327074,
      1.5996492197835324,
      2.1184951942630947,
      2.560433328977663,
      2.979531782400834,
      3.4125419230021117,
      3.849089089922085,
      4.2568561680880705,
      4.614397708294346,
      4.939266878332332
    ],
    "ax_ego": [
      1.1477699154231884,
      1.150222118768217,
      0.9328400089709811,
      0.8405690748963288,
      0.8366471023137068,
      0.8952324724764988,
      0.8509916403590051,
      0.7798978443814708,
      0.6497342934580818,
      0.649740828247877
    ],
    "ay_ego": [
      0.09911688807516017,
      0.06472281963089199,
      0.18551040727005297,
      0.1728871534609555,
      0.05822717647938963,
      -0.00551747394978902,
      0.012032373559047405,
      -0.07694132298401238,
      -0.0029389351002769293,
      -0.0003746150490789302
    ],
    "a_ego": [
      1.1520416382458825,
      1.152041651106686,
      0.9511070357969607,
      0.8581645165723772,
      0.838670840014534,
      0.8952494748924301,
      0.8510767004062412,
      0.7836840019123746,
      0.6497409402484935,
      0.649740936242032
    ],
    "yaw": [
      -1.8814568850652391,
      -1.8515250986719327,
      -1.813072356227564,
      -1.779506318030811,
      -1.7702755984126703,
      -1.7596777139912314,
      -1.7612056832640695,
      -1.7630339572945697,
      -1.7646532254210836,
      -1.7685999230955518
    ],
    "yaw_diff": [
      0.059863572786612806,
      0.07690548488873761,
      0.06713207639350571,
      0.018461439236281407,
      0.021195768842877882,
      -0.0030559385456760957,
      -0.003656548061000464,
      -0.003238536253027835,
      -0.007893395348936405,
      -0.007893395348936405
    ],
    "min_front_frame": [
      6,
      21.57511688335872
    ],
    "v_avg": 3.1356513123391148,
    "v_std": 1.244234962631751,
    "vy_max": 0.042283743284572683,
    "a_max": 1.152041651106686,
    "ax_avg": 0.8733645299295356,
    "a_std": 0.164804307613399,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "a2839b1b4f0352e4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      29.109465460400745,
      28.39845365840747,
      27.4304550582719,
      26.321646716681418,
      24.936984555214536,
      23.393674750300338,
      21.57511688335872,
      26.026926123012768,
      23.815261848338416,
      35.28336109494484
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "a2839b1b4f0352e4",
    "maneuvering": "Yes"
  },
  "eadc0f19b54352ae": {
    "vx_ego": [
      5.6665353733508494,
      5.762183199813016,
      5.931898502168764,
      6.183282021870948,
      6.490001597529993,
      6.7954956386852015,
      7.046537517644118,
      7.255632521644927,
      7.454297475997331,
      7.644551381625401
    ],
    "vy_ego": [
      0.011156731689315302,
      0.054622097665481206,
      0.08550101607619887,
      0.07748313917414418,
      0.05941665548023023,
      0.06645487511322345,
      0.06199117304526869,
      -0.006667325670073776,
      -0.02377933542950572,
      -0.014337663139668777
    ],
    "v_ego": [
      5.666546356476618,
      5.762442086629656,
      5.932514666124483,
      6.18376747613045,
      6.4902735747339895,
      6.795820570454749,
      7.04681019278238,
      7.255635585004467,
      7.454335404142588,
      7.644564827045104
    ],
    "ax_ego": [
      0.1260309343689369,
      0.2705418867184062,
      0.43346095818440755,
      0.59052873124114,
      0.6411534864177239,
      0.585900398774527,
      0.422669045861446,
      0.41391290263037395,
      0.38045845834295905,
      0.3804590767583176
    ],
    "ay_ego": [
      -1.25192472824801,
      -1.2288231804936338,
      -1.1387774081607782,
      -0.9255111986136498,
      -0.551142259771736,
      -0.34113005530473095,
      -0.2521521358945218,
      -0.13424083924396932,
      -0.0007258107919921042,
      -0.00023784924470482416
    ],
    "a_ego": [
      1.2582524872285215,
      1.258252487137476,
      1.2184836427328536,
      1.0978593540069443,
      0.8454794992499216,
      0.6779741823376157,
      0.492168489407433,
      0.4351373276160374,
      0.3804591506666739,
      0.38045915110567996
    ],
    "yaw": [
      -0.2561445439008363,
      -0.37251898338932604,
      -0.47930151017266487,
      -0.5633953275396472,
      -0.6188439097855268,
      -0.6534447020922212,
      -0.6741683705282047,
      -0.6780748313646975,
      -0.6803345560026464,
      -0.6816171155292453
    ],
    "yaw_diff": [
      -0.2327488789769795,
      -0.21356505356667765,
      -0.16818763473396459,
      -0.11089716449175935,
      -0.06920158461338866,
      -0.041447336871967,
      -0.00781292167298564,
      -0.004519449275897758,
      -0.002565119053197895,
      -0.002565119053197895
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.623271073952449,
    "v_std": 0.684623789571878,
    "vy_max": 0.08550101607619887,
    "a_max": 1.2582524872285215,
    "ax_avg": 0.4245115879298238,
    "a_std": 0.3578426924476581,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "eadc0f19b54352ae",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.049155335788317,
    "right_rear_min": 15.602436544845139,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "eadc0f19b54352ae",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6c08755130155f96": {
    "vx_ego": [
      4.894160061619363,
      4.817515859019108,
      4.738763617501734,
      4.656827252527263,
      4.611486804043357,
      4.5970837838123115,
      4.604667477137665,
      4.601402963283395,
      4.5377237104160395,
      4.450315174569707
    ],
    "vy_ego": [
      0.027794468937224703,
      0.024158038985293617,
      -0.0019929851726945697,
      -0.01503394894498572,
      -0.002714331620910615,
      0.000969718892543936,
      0.007163340266717055,
      0.012821915897492486,
      -0.008430402491867772,
      -0.030716669995028978
    ],
    "v_ego": [
      4.894238984893724,
      4.817576430400272,
      4.738764036597308,
      4.65685152001881,
      4.6114876028741705,
      4.597083886089621,
      4.604673049028903,
      4.60142082753148,
      4.5377315416139465,
      4.450421178587594
    ],
    "ax_ego": [
      -0.17757827361394513,
      -0.13553473933227086,
      -0.18316539928819126,
      -0.1414000202493335,
      -0.03538213446927198,
      -0.020920544143261582,
      0.048371471222892426,
      -0.06670464394712955,
      -0.19082705817644804,
      -0.15314742287902924
    ],
    "ay_ego": [
      0.6298392785077658,
      0.6402045733555968,
      0.6257916614902583,
      0.6477350783127683,
      0.7064773028714226,
      0.733329790556734,
      0.6901140556556035,
      0.6185323941459224,
      0.5539974453051439,
      0.5655740551106845
    ],
    "a_ego": [
      0.6543940403234828,
      0.6543940413170709,
      0.6520465988617229,
      0.6629892136402824,
      0.7073627604787246,
      0.7336281421028187,
      0.6918072051096985,
      0.6221188247690308,
      0.585942092306828,
      0.5859421003382772
    ],
    "yaw": [
      -1.7027521291193546,
      -1.636568293176285,
      -1.564976106855839,
      -1.4943784065954664,
      -1.4238082278893067,
      -1.3464390324284221,
      -1.2703322708219122,
      -1.2007320910691082,
      -1.1321920024018919,
      -1.064906570241533
    ],
    "yaw_diff": [
      0.13236767188613907,
      0.14318437264089212,
      0.1411954005207452,
      0.14114035741231934,
      0.15473839092176922,
      0.15221352321301973,
      0.13920035950560816,
      0.13708017733443256,
      0.13457086432071774,
      0.13457086432071774
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.651024905763583,
    "v_std": 0.1252133123911154,
    "vy_max": 0.030716669995028978,
    "a_max": 0.7336281421028187,
    "ax_avg": -0.10562887648759886,
    "a_std": 0.045794561893002406,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "6c08755130155f96",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6c08755130155f96",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "21b63f3e9c025da2": {
    "vx_ego": [
      7.757559763996909,
      7.710142534029038,
      7.601165165284799,
      7.450938074847979,
      7.340720691425158,
      7.28829975256272,
      7.292174048620915,
      7.3475606862650755,
      7.4647599712398245,
      7.611071286332658
    ],
    "vy_ego": [
      0.04514522087359962,
      0.04165655200390317,
      0.051543530602728094,
      0.06613639000130744,
      0.12484231513563593,
      0.1738097583213758,
      0.10098844324674561,
      -0.02760285920480232,
      -0.059153836156842665,
      -0.02734380716586937
    ],
    "v_ego": [
      7.757691124487459,
      7.710255064741281,
      7.601339921716834,
      7.451231590636659,
      7.34178220006327,
      7.290371946292832,
      7.29287330351006,
      7.347612534434868,
      7.464994347255493,
      7.611120404344407
    ],
    "ax_ego": [
      -0.09594366434693526,
      -0.09506820244391893,
      -0.3420668778104138,
      -0.26086366724368226,
      -0.18336597650937334,
      -0.038788766427842056,
      0.04212514130638903,
      0.1784543688602672,
      0.29269162934481735,
      0.2935096770635388
    ],
    "ay_ego": [
      0.11256006212299532,
      0.11330044627282787,
      0.15145848044622157,
      0.1850916774191718,
      0.439138713912856,
      0.30428254817488143,
      -0.1352919756533236,
      0.01481712422414861,
      0.1481419359255275,
      0.14651447902668716
    ],
    "a_ego": [
      0.1479018401286811,
      0.14790183988558056,
      0.3740981424627006,
      0.31985744002237204,
      0.4758843256488632,
      0.3067449062735887,
      0.14169843402897137,
      0.17906844762712987,
      0.328046373350304,
      0.3280463733901114
    ],
    "yaw": [
      1.09117796322697,
      1.0989301610363402,
      1.1062549890987465,
      1.1155079291627228,
      1.1286880522661402,
      1.147448419438764,
      1.1632539996091098,
      1.1767379706543868,
      1.1865176422498727,
      1.1920701765093007
    ],
    "yaw_diff": [
      0.015504395618740396,
      0.014649656124812616,
      0.018505880127952512,
      0.02636024620683486,
      0.0375207343452475,
      0.03161116034069167,
      0.026967942090553976,
      0.019559343190971745,
      0.011105068518856065,
      0.011105068518856065
    ],
    "min_front_frame": [
      9,
      29.68463204884033
    ],
    "v_avg": 7.486927243748316,
    "v_std": 0.16438504097941042,
    "vy_max": 0.1738097583213758,
    "a_max": 0.4758843256488632,
    "ax_avg": -0.020931633820715324,
    "a_std": 0.10867507388187614,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "21b63f3e9c025da2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      63.19107684639797,
      59.377738959413755,
      55.56615696607536,
      51.77914684449451,
      48.119288494909824,
      44.425775846135465,
      40.70817997004922,
      37.067278821045285,
      33.46264769720058,
      29.68463204884033
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "21b63f3e9c025da2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5e48f684248053bd": {
    "vx_ego": [
      0.4210964416597134,
      0.15174041404072858,
      -0.010580836213414522,
      -0.03104598468889428,
      -0.017897862656114295,
      -0.009965109213447933,
      -0.00667654003750344,
      -0.004467875566552789,
      -0.003173238509888096,
      -0.0023311740399027826
    ],
    "vy_ego": [
      -0.0009285241481301332,
      -0.02455032449182093,
      -0.02070847069161043,
      -0.0010498721505418016,
      0.002431795221460131,
      0.0016526568787285463,
      0.0008809752848219555,
      0.0006951173020235209,
      0.00058633579300283,
      4.667297254663913e-05
    ],
    "v_ego": [
      0.42109746536350234,
      0.15371360280048557,
      0.023254996309618976,
      0.031063731212388854,
      0.018062312024108292,
      0.0101012215298326,
      0.0067344119509318385,
      0.0045216258294746,
      0.003226954028614768,
      0.002331641218258718
    ],
    "ax_ego": [
      -0.5387484562405251,
      -0.5387131924377221,
      -0.11053580717357825,
      0.028677978968796067,
      0.02391587512790251,
      0.007814174141673834,
      0.005340098528947127,
      0.0034945280735815105,
      0.0016841220845528445,
      0.001684123593643106
    ],
    "ay_ego": [
      -0.047468080391572354,
      -0.0478665924375051,
      0.06325080903624797,
      0.015362036385360815,
      -0.0014237284216949645,
      -0.0016984009754987773,
      -0.001388434886747295,
      0.0006445709335750455,
      -0.0010793277972568763,
      -0.0010793325385514317
    ],
    "a_ego": [
      0.5408355736798476,
      0.5408355705554326,
      0.12735316843822292,
      0.032533346579161806,
      0.02395821541250867,
      0.00799661699657919,
      0.00551764476326632,
      0.0035534769093746913,
      0.0020003038993138015,
      0.0020003077281861526
    ],
    "yaw": [
      -0.7820804553527865,
      -0.7828201718326622,
      -0.7825737689640174,
      -0.7824328684935549,
      -0.7825548107036208,
      -0.7824380122958539,
      -0.7824350045528182,
      -0.7824154053247143,
      -0.7824419830093466,
      -0.7824402531475707
    ],
    "yaw_diff": [
      -0.0014794329597513922,
      0.0004928057372894923,
      0.0002818009409251143,
      -0.00024388442013179024,
      0.00023359681553380973,
      6.015486071264675e-06,
      3.9198456207811816e-05,
      -5.315536926464581e-05,
      3.459723551868521e-06,
      3.459723551868521e-06
    ],
    "min_front_frame": [
      1,
      8.638343450610341
    ],
    "v_avg": 0.06741079622672166,
    "v_std": 0.12550875338877868,
    "vy_max": 0.02455032449182093,
    "a_max": 0.5408355736798476,
    "ax_avg": -0.11153865553327283,
    "a_std": 0.20915128484237505,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5e48f684248053bd",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.987273683542221,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.775053830582666,
      8.638343450610341,
      8.63975301742556,
      8.653809824207931,
      8.654771184034697,
      8.65778562559608,
      8.646210320866546,
      8.66601809944824,
      8.654274105137645,
      8.673355633441709
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5e48f684248053bd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2c9ad43fb0cd5394": {
    "vx_ego": [
      0.6772737610178089,
      1.1505511408541431,
      1.5857253059050984,
      1.9561626065794142,
      2.279948752632319,
      2.5776133935064727,
      2.8698572875506265,
      3.1724253722114413,
      3.4356188320205203,
      3.6760704401219386
    ],
    "vy_ego": [
      -0.054971408163528794,
      -0.018253088481869795,
      -0.03117485420553262,
      -0.04036296397992056,
      -0.032859097725326025,
      -0.029923618500155236,
      -0.01644094102240623,
      -0.00340268622427109,
      -0.032853629044850674,
      -0.10496435690336758
    ],
    "v_ego": [
      0.6795009956421619,
      1.1506959211537586,
      1.5860317201501848,
      1.9565789818560384,
      2.2801855264282755,
      2.577787079905572,
      2.8699043808895692,
      3.1724271970408466,
      3.435775912348688,
      3.6775686801144096
    ],
    "ax_ego": [
      0.9458287599067103,
      0.9529697271929309,
      0.7984324314294957,
      0.7092251136756476,
      0.6143125389125849,
      0.6077847914866468,
      0.58913998965863,
      0.6320181291317617,
      0.4278491052940524,
      0.5701640098710756
    ],
    "ay_ego": [
      0.17830491002189586,
      0.1350310551772747,
      0.2255483759643875,
      0.45461590578346595,
      0.6233780174116139,
      0.8039260211750958,
      0.972361368445688,
      1.0278076457951555,
      0.9720062789165386,
      0.8959710177905305
    ],
    "a_ego": [
      0.9624887968202964,
      0.9624887982768722,
      0.8296785024686304,
      0.8424226276991593,
      0.8752028610883653,
      1.0078191307396815,
      1.1369136107288635,
      1.2065800728945393,
      1.0620033253969108,
      1.0620033252645036
    ],
    "yaw": [
      -2.9801268399116143,
      -2.9345544792187384,
      -2.860303971030554,
      -2.759816426735065,
      -2.636964372835836,
      -2.4915629662454757,
      -2.333937551691103,
      -2.1728019420331712,
      -2.0141335463879284,
      -1.8620540657879756
    ],
    "yaw_diff": [
      0.09114472138575191,
      0.14850101637636914,
      0.2009750885909778,
      0.24570410779845808,
      0.2908028131807203,
      0.315250829108745,
      0.3222712193158639,
      0.31733679129048564,
      0.3041589611999056,
      0.3041589611999056
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.3386456395529502,
    "v_std": 0.9439720132858939,
    "vy_max": 0.10496435690336758,
    "a_max": 1.2065800728945393,
    "ax_avg": 0.6847724596559537,
    "a_std": 0.11879587919187701,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "2c9ad43fb0cd5394",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2c9ad43fb0cd5394",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4a35a95ee57f5572": {
    "vx_ego": [
      4.644149935706587,
      4.601402963283395,
      4.5377237104160395,
      4.501115218297806,
      4.572874661516635,
      4.675180529180681,
      4.733608143396291,
      4.780457221135812,
      4.824920172492115,
      4.8664886161294065
    ],
    "vy_ego": [
      0.02659286625275703,
      0.012821915897492486,
      -0.008430402491867772,
      -0.010108566433120636,
      0.003898583287252677,
      0.008394165296070621,
      0.008838873858946883,
      -0.0035636227085564798,
      -0.021877713477158167,
      -0.03126676781320459
    ],
    "v_ego": [
      4.644226071786239,
      4.60142082753148,
      4.5377315416139465,
      4.501126569149933,
      4.5728763233759695,
      4.675188064927567,
      4.733616395623834,
      4.780458549398409,
      4.824969772471983,
      4.866589058230271
    ],
    "ax_ego": [
      -0.10955836241223998,
      -0.06670464394712955,
      -0.19082705817644804,
      0.05005276124016239,
      0.2372900363657526,
      0.17145182339828832,
      0.06008865445952355,
      0.1244713713622306,
      0.060502177201632035,
      0.1134959839992653
    ],
    "ay_ego": [
      0.6123959503208403,
      0.6185323941459224,
      0.5539974453051439,
      0.64800646058834,
      0.6321635917634557,
      0.6674081069220048,
      0.6752539698939926,
      0.6159912243841047,
      0.710092067616821,
      0.7035694231452154
    ],
    "a_ego": [
      0.6221188268681609,
      0.6221188247690308,
      0.585942092306828,
      0.6499366521992682,
      0.6752313441404607,
      0.6890785941616616,
      0.6779222449900527,
      0.6284411752956857,
      0.71266489876973,
      0.7126649083326978
    ],
    "yaw": [
      -1.2703322708219122,
      -1.2007320910691082,
      -1.1321920024018919,
      -1.064906570241533,
      -0.9971294385468774,
      -0.9279904249804103,
      -0.8569735612078256,
      -0.786416435529965,
      -0.7137280589638231,
      -0.6387893076389581
    ],
    "yaw_diff": [
      0.13920035950560816,
      0.13708017733443256,
      0.13457086432071774,
      0.1355542633893112,
      0.13827802713293424,
      0.1420337275451693,
      0.1411142513557213,
      0.14537675313228382,
      0.14987750264972988,
      0.14987750264972988
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.6738203174109625,
    "v_std": 0.11815480542645707,
    "vy_max": 0.03126676781320459,
    "a_max": 0.7126649083326978,
    "ax_avg": 0.04502627434910373,
    "a_std": 0.040423622722280665,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "4a35a95ee57f5572",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "4a35a95ee57f5572",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5e4da70ec09f5282": {
    "vx_ego": [
      3.072157700181232,
      2.8844246857055458,
      2.7459782647815842,
      2.7020532512673667,
      2.7447810999444098,
      2.8604250291017137,
      3.0543672004205487,
      3.294039383932147,
      3.555675616715896,
      3.8714609818292525
    ],
    "vy_ego": [
      -0.02654669377351171,
      -0.021199917588122563,
      -0.013650824600303313,
      -0.00657637650795917,
      -0.010954281606486815,
      -0.02892307788982812,
      -0.03009030784446337,
      -0.005142674190345975,
      0.029696621147868196,
      -0.0012866895063858852
    ],
    "v_ego": [
      3.0722723938044854,
      2.884502592131489,
      2.746012195104958,
      2.7020612541932727,
      2.7448029588474214,
      2.860571252660238,
      3.054515415189623,
      3.294043398316711,
      3.5557996260497537,
      3.8714611956464453
    ],
    "ax_ego": [
      -0.4052812270927165,
      -0.3529938664705697,
      -0.19754887967555806,
      0.03306370184918489,
      0.14756071985753044,
      0.31668898051424277,
      0.44685891838769937,
      0.4914709757564532,
      0.5441352866436149,
      0.7204018701123062
    ],
    "ay_ego": [
      -0.5341949378353279,
      -0.5700986174517475,
      -0.7627161670396423,
      -0.9801507790289594,
      -1.1499198042003993,
      -1.3249304362355951,
      -1.4574667035349098,
      -1.4253712115689028,
      -1.2197265155278718,
      -1.1246497805704114
    ],
    "a_ego": [
      0.6705349391662361,
      0.6705349382293486,
      0.7878841991845703,
      0.9807082940462204,
      1.1593488353973351,
      1.3622527560047712,
      1.5244317252194475,
      1.507722391815019,
      1.335595740803516,
      1.335595741007878
    ],
    "yaw": [
      2.4958179178281714,
      2.4011902944911787,
      2.2794593235470413,
      2.1155378997172725,
      1.921201939980543,
      1.7060544112136593,
      1.4710311895166677,
      1.2367832351617507,
      1.033837898775817,
      0.8837463321496863
    ],
    "yaw_diff": [
      -0.1892552466739854,
      -0.24346194188827486,
      -0.32784284765953764,
      -0.38867191947345914,
      -0.4302950575337672,
      -0.47004644339398327,
      -0.46849590870983393,
      -0.4058906727718674,
      -0.3001831332522613,
      -0.3001831332522613
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.0786042281944397,
    "v_std": 0.36775143784052144,
    "vy_max": 0.03009030784446337,
    "a_max": 1.5244317252194475,
    "ax_avg": 0.17443564798821876,
    "a_std": 0.3160728148520257,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "5e4da70ec09f5282",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5e4da70ec09f5282",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "795b989aef8a5b42": {
    "vx_ego": [
      3.9358923320471626,
      3.2161923420759226,
      2.601148588123434,
      2.126274271835863,
      1.6913256698362178,
      1.3077372290114528,
      1.0563431227579674,
      0.9102568077582104,
      0.8605948600128335,
      0.8874474185367903
    ],
    "vy_ego": [
      -0.08927617536604338,
      -0.06522561272507965,
      -0.0634864210295858,
      -0.0854446149739927,
      -0.07092346528247406,
      0.004740332603985764,
      0.044950494241577654,
      0.04348159442730731,
      0.045223451854115804,
      0.03527524187306652
    ],
    "v_ego": [
      3.9369047086455673,
      3.216853674288461,
      2.6019232316022856,
      2.127990380922617,
      1.6928120567194118,
      1.3077458204466759,
      1.0572990778065667,
      0.911294741082219,
      0.8617822658178282,
      0.8881482215018034
    ],
    "ax_ego": [
      -1.4394311216970623,
      -1.4394421324622872,
      -1.0209827917035945,
      -0.8794006230718227,
      -0.8612159762401368,
      -0.67335161902719,
      -0.3319340485827512,
      -0.25230274080057735,
      0.053766465396545046,
      0.053785309882578264
    ],
    "ay_ego": [
      0.04657460960907123,
      0.04623300403017361,
      -0.05301691455899726,
      -0.06322004798602415,
      0.10551521459899332,
      0.1899077647049551,
      -0.03531783612526716,
      0.026548203151792488,
      -0.021457015942231986,
      -0.021409733410044356
    ],
    "a_ego": [
      1.4401844147088596,
      1.4401844129725996,
      1.0223583785464965,
      0.8816701369142913,
      0.8676557025935595,
      0.6996194407974743,
      0.33380767240599407,
      0.2536956446336282,
      0.057889863831098044,
      0.05788986304919144
    ],
    "yaw": [
      2.617902716937804,
      2.6176653984669835,
      2.6164627605954887,
      2.6134359051099367,
      2.6113654589516466,
      2.610140529000252,
      2.6087689900479623,
      2.608025666924436,
      2.6074719830082795,
      2.6065927405452394
    ],
    "yaw_diff": [
      -0.0004746369416412932,
      -0.0024052757429897653,
      -0.006053710971103854,
      -0.004140892316580214,
      -0.002449859902789342,
      -0.002743077904579394,
      -0.0014866462470521924,
      -0.001107367832313244,
      -0.0017584849260803281,
      -0.0017584849260803281
    ],
    "min_front_frame": [
      7,
      11.937595707081693
    ],
    "v_avg": 1.860275417883344,
    "v_std": 1.0293247631209113,
    "vy_max": 0.08927617536604338,
    "a_max": 1.4401844147088596,
    "ax_avg": -0.6790509278306299,
    "a_std": 0.49176892110109205,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "795b989aef8a5b42",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.908441007379825,
      16.148012344276005,
      14.858989940713414,
      13.738409959517792,
      12.931614015746245,
      12.373242779745004,
      12.076592097145001,
      11.937595707081693,
      12.033494165721347,
      12.244145343873459
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "795b989aef8a5b42",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a4f950bf8f9b590b": {
    "vx_ego": [
      4.551241849245153,
      4.102672010629338,
      3.738402562954473,
      3.484670344928371,
      3.147532460958338,
      2.696906719297961,
      2.2173381902330815,
      1.5973321507740383,
      0.8565872989863774,
      0.10982060371515458
    ],
    "vy_ego": [
      0.021852183137566872,
      0.004634482004213014,
      -0.0025675856112374884,
      0.01688779944803831,
      0.026069604376186994,
      0.002755973852909488,
      -0.03750691559285735,
      -0.033136800540660594,
      -0.02339740543105845,
      -0.042454126775205735
    ],
    "v_ego": [
      4.551294309120024,
      4.102674628242511,
      3.7384034446806895,
      3.484711266460022,
      3.147640420546601,
      2.696908127464925,
      2.2176553876974228,
      1.5976758267704017,
      0.8569067856924013,
      0.11774089298373043
    ],
    "ax_ego": [
      -0.8971351324349743,
      -0.8970617125983484,
      -0.5600317948754918,
      -0.4548124282554095,
      -0.8936091488763644,
      -0.9084209362439577,
      -1.010106092010031,
      -1.469540206667815,
      -1.4934292088825152,
      -1.4934745853966156
    ],
    "ay_ego": [
      -0.047052173049595525,
      -0.04843158369984685,
      0.009886037506992296,
      0.018182993777985212,
      9.008281541911245e-05,
      -0.13714781999625159,
      -0.04557529621997142,
      0.0776907663262496,
      -0.03784343249430766,
      -0.03600795936978507
    ],
    "a_ego": [
      0.8983681610775217,
      0.8983681508766643,
      0.5601190453904015,
      0.4551757530430551,
      0.8936091534168918,
      0.9187154738742963,
      1.0111337323723877,
      1.471592428013152,
      1.4939086074209513,
      1.4939086017436172
    ],
    "yaw": [
      2.211984168041438,
      2.210446539511093,
      2.209818879710049,
      2.206362295582659,
      2.204993679799313,
      2.201248629710647,
      2.1990550036722283,
      2.2009171852123095,
      2.2010980355200767,
      2.202327051782875
    ],
    "yaw_diff": [
      -0.0030752570606900065,
      -0.001255319602087468,
      -0.006913168254779833,
      -0.0027372315666926994,
      -0.007490100177331982,
      -0.0043872520768371,
      0.0037243630801624406,
      0.00036170061553431054,
      0.0024580325255962876,
      0.0024580325255962876
    ],
    "min_front_frame": [
      9,
      10.24675057373563
    ],
    "v_avg": 2.6511611089658724,
    "v_std": 1.37033605187329,
    "vy_max": 0.042454126775205735,
    "a_max": 1.4939086074209513,
    "ax_avg": -1.0077621246241522,
    "a_std": 0.3519129406010854,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a4f950bf8f9b590b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.066701797053739,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.330332396685883,
      20.156818266026615,
      18.184647481048135,
      16.390367949893207,
      14.699709205418767,
      13.257752592026932,
      12.051313912597857,
      11.082597805655826,
      10.490277814308957,
      10.24675057373563
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a4f950bf8f9b590b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e06567ac03815716": {
    "vx_ego": [
      -0.08792228183997201,
      0.491214690254822,
      1.136302194198354,
      1.8806778837193285,
      2.669659580468203,
      3.4908662061718583,
      4.279571466750049,
      4.976689955896094,
      5.614545517078694,
      6.231405144373352
    ],
    "vy_ego": [
      -0.011780829176871656,
      0.011985407102262915,
      0.024091914371242917,
      0.014409711436867742,
      0.0015048519235622143,
      0.00018511745465413232,
      -0.023620296250763256,
      -0.020853248373901567,
      -0.0022092111091980143,
      -0.016123262639461927
    ],
    "v_ego": [
      0.08870803560017605,
      0.4913608876432349,
      1.136557564260634,
      1.8807330863508267,
      2.669660004600768,
      3.490866211080163,
      4.279636650162738,
      4.976733645181829,
      5.61454595171882,
      6.231426003164991
    ],
    "ax_ego": [
      1.1582701438014913,
      1.1582776529004357,
      1.4219780081776234,
      1.5555020362557168,
      1.6004243206071105,
      1.6844104324095703,
      1.4704049869976625,
      1.3179216305899526,
      1.2335714755015015,
      1.2337544336656732
    ],
    "ay_ego": [
      0.047687678145306736,
      0.047504694635891714,
      0.00405989731806284,
      -0.04143073721669836,
      -0.00995584488623718,
      -0.014040791382614316,
      -0.09561902709196406,
      0.09168954851973674,
      -0.06430842174231559,
      -0.0606973056511527
    ],
    "a_ego": [
      1.1592514139171095,
      1.1592514038037613,
      1.4219838038835162,
      1.5560536914843268,
      1.6004552867350372,
      1.6844689515193938,
      1.4735107139514154,
      1.321107261990726,
      1.2352465981648924,
      1.2352466010894405
    ],
    "yaw": [
      1.5948135842615643,
      1.594971564720533,
      1.5959764875646223,
      1.5962040597395437,
      1.5962297093608417,
      1.5947053499143173,
      1.5937826582835335,
      1.5929758444515394,
      1.5907522499426228,
      1.587825100322703
    ],
    "yaw_diff": [
      0.00031596091793728576,
      0.0020098456881787463,
      0.0004551443498428398,
      5.1299242596059e-05,
      -0.0030487188930488074,
      -0.0018453832615676902,
      -0.0016136276639882041,
      -0.004447189017833253,
      -0.005854299239839378,
      -0.005854299239839378
    ],
    "min_front_frame": [
      0,
      15.233389170261527
    ],
    "v_avg": 3.086022803976418,
    "v_std": 2.063808434982368,
    "vy_max": 0.024091914371242917,
    "a_max": 1.6844689515193938,
    "ax_avg": 1.3834515120906739,
    "a_std": 0.18039458727062702,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e06567ac03815716",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.702985737820712,
    "right_rear_min": 35.02915560517649,
    "speed_mode": "accelerating",
    "front_frame": [
      15.233389170261527,
      16.989245480138255,
      18.78372351897346,
      20.418286616239246,
      21.69598185784054,
      22.883718183002212,
      24.070068890280844,
      19.89096333168304,
      20.417818621390218,
      20.91766495378152
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e06567ac03815716",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c3ef435d900256c1": {
    "vx_ego": [
      5.865045904964854,
      5.9774615260694475,
      6.170813631495557,
      6.421079433643701,
      6.646522781667909,
      6.806974118969591,
      6.907753286498431,
      7.002816651422903,
      7.122925038775929,
      7.266650597118948
    ],
    "vy_ego": [
      -0.007460780286532298,
      0.023153541548710965,
      0.05035630637658883,
      0.0722791743777007,
      0.04111814864756669,
      -0.023640144666192686,
      -0.03666198031670209,
      0.00479228148452826,
      0.047583545403282024,
      0.09567092972107272
    ],
    "v_ego": [
      5.865050650300258,
      5.977506368221346,
      6.171019091871559,
      6.42148622767431,
      6.646649967418077,
      6.807015169129688,
      6.907850575101536,
      7.002818291188749,
      7.123083974081325,
      7.267280359763401
    ],
    "ax_ego": [
      0.2052580845538585,
      0.242404885811731,
      0.5255739344269265,
      0.46056890070490175,
      0.42359538568557553,
      0.21984366346498585,
      0.18467784698212197,
      0.19270049017157212,
      0.2876822879823562,
      0.2875833948214149
    ],
    "ay_ego": [
      0.700306383653841,
      0.6883311605630537,
      0.7909778677169204,
      0.7711865837324394,
      0.6152021859410306,
      0.7397905854198028,
      0.5558045441489994,
      0.10550628539581515,
      0.07772685720924086,
      0.07809196117044345
    ],
    "a_ego": [
      0.7297670260165497,
      0.729767028076412,
      0.9496704416622669,
      0.8982496641944445,
      0.7469315767597016,
      0.7717650851402131,
      0.5856830187589778,
      0.21969309313309637,
      0.29799758916875324,
      0.29799758954806305
    ],
    "yaw": [
      2.29422970655097,
      2.3477180332628875,
      2.404440551204706,
      2.4628969359108943,
      2.5206560011987547,
      2.580397333679376,
      2.6294886712568912,
      2.6473007422827903,
      2.6477286274848995,
      2.6464592834737077
    ],
    "yaw_diff": [
      0.10697665342383544,
      0.11344503588363697,
      0.1169127694123766,
      0.11551813057572069,
      0.11948266496124305,
      0.0981826751550301,
      0.0356241420517982,
      0.0008557704042182479,
      -0.0025386880223834396,
      -0.0025386880223834396
    ],
    "min_front_frame": [
      4,
      31.03676626790747
    ],
    "v_avg": 6.618976067475025,
    "v_std": 0.4648532798413595,
    "vy_max": 0.09567092972107272,
    "a_max": 0.9496704416622669,
    "ax_avg": 0.3029888874605444,
    "a_std": 0.24860932717158876,
    "ini_direction_judge": "left",
    "scenario_type": "roundout_interior",
    "scene_token": "c3ef435d900256c1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.302023514342697,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      49.35040438583524,
      46.18825923630641,
      31.03676626790747,
      32.33813194920499,
      33.61696305521518,
      35.06007796418633,
      36.60591983075318,
      38.078044566391505
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "roundout_interior",
    "lane_change_frame": -1,
    "token": "c3ef435d900256c1",
    "incoming_vehicles": "No"
  },
  "af194a8f1af65eb7": {
    "vx_ego": [
      6.245597154553215,
      5.996021793762931,
      5.719288660197146,
      5.239227587607389,
      4.545877750175159,
      3.9390397914886184,
      3.477966860744424,
      3.054831766792125,
      2.7597311206361534,
      2.576898869880164
    ],
    "vy_ego": [
      0.009135735613108487,
      0.02863889454359425,
      0.02649826514162118,
      0.015120942819275118,
      0.01064082918785525,
      0.030070501783581727,
      0.035762071943808815,
      0.0027749643171720295,
      -0.010311549446002904,
      0.0009978875902819095
    ],
    "v_ego": [
      6.2456038361897726,
      5.996090187577294,
      5.7193500449539885,
      5.239249407850144,
      4.545890203995624,
      3.9391545684332083,
      3.478150717008413,
      3.054833027160283,
      2.759750384773894,
      2.576899063092947
    ],
    "ax_ego": [
      -0.49922618579713224,
      -0.4991635605545111,
      -0.6078276559633713,
      -1.3122485201759357,
      -1.4611066634928445,
      -0.9661777541712587,
      -0.8776576002645115,
      -0.8147763068889629,
      -0.365664244578381,
      -0.36567605961084426
    ],
    "ay_ego": [
      0.053077694601172266,
      0.05366344955005658,
      -0.053822722570820256,
      -0.040556342171184506,
      -0.003612691068467233,
      0.05886742896132406,
      -0.07047811289738304,
      -0.07857605861241115,
      0.019474045273177507,
      0.019250906439108366
    ],
    "a_ego": [
      0.5020398651996951,
      0.5020398649540379,
      0.6102059855645976,
      1.312875087582303,
      1.4611111298049675,
      0.9679694348727824,
      0.8804828378223151,
      0.818556428876274,
      0.366182438413395,
      0.36618243809778894
    ],
    "yaw": [
      -3.0650688885487245,
      -3.06389549265272,
      -3.063537679320943,
      -3.0657321755349414,
      -3.067068346046447,
      -3.0684116941239807,
      -3.0707360713956593,
      -3.072048450574451,
      -3.072640842522844,
      -3.073251039472723
    ],
    "yaw_diff": [
      0.0023467917920090287,
      0.0007156266635544029,
      -0.004388992427997174,
      -0.002672341023011171,
      -0.0026866961550675583,
      -0.004648754543357114,
      -0.0026247583575838007,
      -0.0011847838967860014,
      -0.001220393899757255,
      -0.001220393899757255
    ],
    "min_front_frame": [
      8,
      13.296645144126517
    ],
    "v_avg": 4.355497144103557,
    "v_std": 1.3147636688810633,
    "vy_max": 0.035762071943808815,
    "a_max": 1.4611111298049675,
    "ax_avg": -0.7769524551497754,
    "a_std": 0.36340232573400144,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "af194a8f1af65eb7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 26.44359473999807,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.948032862675422,
      22.112692043713885,
      20.04458409348421,
      17.97015074187928,
      16.313833661389808,
      14.99160272973033,
      14.05442100084485,
      13.520579196171026,
      13.296645144126517,
      13.441780945873012
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "af194a8f1af65eb7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6157537c48ab553d": {
    "vx_ego": [
      6.923941148302567,
      7.288725897665392,
      7.6528755048712025,
      8.021366547667283,
      8.447839322034534,
      8.82399187301401,
      9.064814527316132,
      9.27224142051703,
      9.450571784145566,
      9.606794354588061
    ],
    "vy_ego": [
      0.013670256796543434,
      0.026985842339066757,
      0.011199205859607986,
      0.017283989556247548,
      0.045873408830678475,
      0.025444805419407857,
      -0.02590443085987637,
      -0.014070618063186213,
      0.03859320043137959,
      0.09799521529538602
    ],
    "v_ego": [
      6.923954643199099,
      7.288775853803225,
      7.65288369931685,
      8.021385168930035,
      8.447963871877688,
      8.824028559175233,
      9.064851540658553,
      9.272252096586048,
      9.450650585140044,
      9.607294147342728
    ],
    "ax_ego": [
      0.7258199436859478,
      0.7316159110151952,
      0.7245993789668446,
      0.7493630479802641,
      0.9533555524048953,
      0.5455920934164118,
      0.41585004070868076,
      0.4127537442340161,
      0.30703486533825153,
      0.3274933061009577
    ],
    "ay_ego": [
      0.30764698195489576,
      0.29359736708495543,
      0.4167298775291827,
      0.5305452951221716,
      0.5724300453006435,
      0.523563156912825,
      0.4048561900952351,
      -0.15518338442476123,
      -0.5734568077465272,
      -0.562024257059108
    ],
    "a_ego": [
      0.7883281399000218,
      0.7883281392984852,
      0.8358875826477054,
      0.918162996343538,
      1.1120085278738376,
      0.7561673833715826,
      0.5803790063534695,
      0.4409620575295825,
      0.6504791456181479,
      0.6504791549802176
    ],
    "yaw": [
      1.8982076985409508,
      1.9174870110019901,
      1.9433657574230283,
      1.972816431050098,
      2.002921513280892,
      2.036811530970251,
      2.0684422001770804,
      2.0739591296923496,
      2.048911548530107,
      2.012880621366717
    ],
    "yaw_diff": [
      0.03855862492207862,
      0.051757492842076314,
      0.058901347254139313,
      0.060210164461588445,
      0.06778003537871768,
      0.06326133841365866,
      0.011033859030538551,
      -0.05009516232448519,
      -0.0720618543267797,
      -0.0720618543267797
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.45540401660295,
    "v_std": 0.8961441155472215,
    "vy_max": 0.09799521529538602,
    "a_max": 1.1120085278738376,
    "ax_avg": 0.5893477883851463,
    "a_std": 0.17712183258317504,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "6157537c48ab553d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "6157537c48ab553d",
    "pedestrians": "No"
  },
  "980f649f5cef5434": {
    "vx_ego": [
      4.0017693598453725,
      4.006943165682916,
      4.007494995674187,
      3.971056626544655,
      3.9321900885686425,
      3.903258607345388,
      3.814995098470107,
      3.5798220770865816,
      3.3264620920170325,
      3.1735632194034507
    ],
    "vy_ego": [
      -0.009711116340378911,
      0.020708404525296764,
      0.030837240345492845,
      0.02340690387685962,
      0.03689240633778934,
      0.04751771842881691,
      0.0353207655059411,
      0.007637853018437779,
      0.004392393220889135,
      0.03411526156398215
    ],
    "v_ego": [
      4.0017811428385,
      4.00699667719241,
      4.007613638531761,
      3.9711256105005437,
      3.932363149848048,
      3.9035478336227083,
      3.815158601922975,
      3.5798302250798457,
      3.3264649919613674,
      3.1737465807184377
    ],
    "ax_ego": [
      0.0023958601583361494,
      0.017418675707087966,
      -0.0201552226526871,
      -0.1297202059848029,
      -0.02714523311776429,
      -0.09654395654555148,
      -0.27550248449894127,
      -0.6612603011014363,
      -0.3610312062891534,
      -0.2576523840005558
    ],
    "ay_ego": [
      0.3787285874411121,
      0.378335395341947,
      0.35573115213564116,
      0.4059046993257618,
      0.6008246000574022,
      0.7468094974836477,
      0.6779326819155543,
      0.9187268956719834,
      0.8295183873598,
      0.8672136628349558
    ],
    "a_ego": [
      0.3787361655440874,
      0.3787361636178093,
      0.3563016777955586,
      0.42612903770510263,
      0.6014374977627809,
      0.7530240109566545,
      0.7317747878782827,
      1.1319559596750404,
      0.9046791071328023,
      0.9046791077441715
    ],
    "yaw": [
      -1.1703782019678144,
      -1.1306963807971173,
      -1.0874849001432234,
      -1.0380718456391655,
      -0.9776158230722429,
      -0.8945637365438106,
      -0.7997275453840069,
      -0.6858917000345226,
      -0.5571597570195423,
      -0.43545381735993993
    ],
    "yaw_diff": [
      0.07936364234139415,
      0.08642296130778782,
      0.09882610900811573,
      0.12091204513384524,
      0.16610417305686465,
      0.18967238231960737,
      0.22767169069896864,
      0.2574638860299605,
      0.24341187931920483,
      0.24341187931920483
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.77186284522166,
    "v_std": 0.2900705217604138,
    "vy_max": 0.04751771842881691,
    "a_max": 1.1319559596750404,
    "ax_avg": -0.18091964583254685,
    "a_std": 0.25782821283653284,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "980f649f5cef5434",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "980f649f5cef5434",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "15b25b99cf2d5965": {
    "vx_ego": [
      0.9460679664565596,
      1.8857096430359364,
      2.743327134657187,
      3.465926974475348,
      4.074790021775842,
      4.5049733015787865,
      4.619940801733828,
      4.525893864082876,
      4.409279129625344,
      4.293962917212216
    ],
    "vy_ego": [
      0.05374000811433055,
      -0.005657689754964612,
      -0.03973403047009727,
      -0.032517040440042555,
      -0.014926226204200255,
      -0.028037757267973307,
      -0.027006327799043328,
      -0.021318742662076895,
      -0.014642256982942303,
      0.054265118451824135
    ],
    "v_ego": [
      0.9475930485326379,
      1.8857181303927908,
      2.7436148711004997,
      3.4660795072119766,
      4.074817359562593,
      4.505060550510979,
      4.6200197351598185,
      4.525944073641622,
      4.409303441433713,
      4.294305792264244
    ],
    "ax_ego": [
      1.8792447260373089,
      1.879550041907088,
      1.5504110447162192,
      1.339274603747651,
      1.0959998938017514,
      0.624653642032721,
      -0.16601531912541007,
      -0.209906521550696,
      -0.2527604403276994,
      -0.20089071552133222
    ],
    "ay_ego": [
      -0.12795796625137756,
      -0.12339199675760171,
      -0.05061753057808838,
      0.03128837074331531,
      0.0062861985462881464,
      -0.1029225014673533,
      -0.08993288032239802,
      -0.306469992086685,
      -0.5963003296986344,
      -0.6157148902800381
    ],
    "a_ego": [
      1.8835960239568963,
      1.8835960142495431,
      1.5512371005039371,
      1.339640036124331,
      1.0960179211607872,
      0.6330759937108973,
      0.18880945195459498,
      0.37146278930617743,
      0.6476588016798295,
      0.647658788016678
    ],
    "yaw": [
      1.218649241960382,
      1.2162197557250538,
      1.2122183188596627,
      1.2083699666956105,
      1.2062132530134027,
      1.203672888261457,
      1.1931082571730682,
      1.1702217370596522,
      1.1182834909376478,
      1.032743185385106
    ],
    "yaw_diff": [
      -0.004858972470656475,
      -0.008002873730782234,
      -0.007696704328104431,
      -0.004313427364415645,
      -0.00508072950389149,
      -0.021129262176777353,
      -0.04577304022683215,
      -0.10387649224400874,
      -0.17108061110508377,
      -0.17108061110508377
    ],
    "min_front_frame": [
      8,
      34.223369526989266
    ],
    "v_avg": 3.5472456509810875,
    "v_std": 1.2156050487222398,
    "vy_max": 0.054265118451824135,
    "a_max": 1.8835960239568963,
    "ax_avg": 0.7539560955717601,
    "a_std": 0.5848110032093612,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "15b25b99cf2d5965",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 35.29108051433956,
    "right_rear_min": 6.889322949881082,
    "speed_mode": "accelerating",
    "front_frame": [
      48.55882660561737,
      47.809614527774706,
      46.613185854462145,
      45.125860262980495,
      43.21103980408243,
      41.02832309168722,
      38.719784513522974,
      36.408782065377984,
      34.223369526989266,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "15b25b99cf2d5965",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0ba54149d1575f95": {
    "vx_ego": [
      3.185306882289946,
      3.9957543606391708,
      4.766714092363808,
      5.500576562812801,
      6.201919642592874,
      6.812933435176731,
      7.303723090587654,
      7.6477496183001445,
      7.9054538817156494,
      8.15885209761921
    ],
    "vy_ego": [
      0.0024855892429804793,
      0.02286509277553317,
      0.014242852869640998,
      -0.0010327050199792076,
      0.0023319533336469966,
      -0.004780385953228272,
      -0.010083311004787099,
      -0.0076593551595069975,
      -0.010672815302712912,
      0.006042764460514771
    ],
    "v_ego": [
      3.1853078520792275,
      3.995819781100567,
      4.766735371005777,
      5.5005766597553345,
      6.201920081006016,
      6.812935112287426,
      7.303730050949589,
      7.647753453788339,
      7.905461086168189,
      8.158854335372565
    ],
    "ax_ego": [
      1.6207284026488258,
      1.6209073984191715,
      1.4623284426061793,
      1.473073244822867,
      1.3322800380364612,
      1.1117097425722315,
      0.8515790593689104,
      0.5245539364043377,
      0.506597061461015,
      0.5070306353306164
    ],
    "ay_ego": [
      0.06397316143773679,
      0.05926487396949354,
      0.0184473017398723,
      0.056769702661817245,
      0.05264992798333368,
      0.001430065639834388,
      0.04740148265154215,
      0.010181272949208175,
      0.10290897696589044,
      0.10075104633832427
    ],
    "a_ego": [
      1.6219904810253831,
      1.6219904807170191,
      1.4624447945124273,
      1.4741667421812505,
      1.333319959599752,
      1.1117106623657758,
      0.8528972944693886,
      0.5246527332590122,
      0.516943749571558,
      0.5169437479088375
    ],
    "yaw": [
      -0.6063069672235272,
      -0.6034020856695866,
      -0.5970285723915669,
      -0.5903883384359752,
      -0.5863006159545201,
      -0.5831434116068088,
      -0.5806739164694572,
      -0.5790812134896545,
      -0.575059282279636,
      -0.5708014445250352
    ],
    "yaw_diff": [
      0.005809763107881061,
      0.012747026556039431,
      0.013280467911183536,
      0.008175444962910117,
      0.0063144086954225465,
      0.004938990274703237,
      0.0031854059596054807,
      0.008043862420036962,
      0.008515675509201515,
      0.008515675509201515
    ],
    "min_front_frame": [
      9,
      21.862119285499734
    ],
    "v_avg": 6.1479093783513035,
    "v_std": 1.6400822056117548,
    "vy_max": 0.02286509277553317,
    "a_max": 1.6219904810253831,
    "ax_avg": 1.1010787961670618,
    "a_std": 0.44076598178313303,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "0ba54149d1575f95",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.136196885248981,
    "right_rear_min": 11.708139122345461,
    "speed_mode": "accelerating",
    "front_frame": [
      49.58569359207056,
      47.762552587075405,
      45.526902098165706,
      42.969827786294324,
      40.038764087726356,
      36.83494776214423,
      33.31706766640641,
      29.63032652114377,
      25.801985058522455,
      21.862119285499734
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0ba54149d1575f95",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d894554636eb52f4": {
    "vx_ego": [
      3.2379701207967133,
      3.1936502971146954,
      3.123990821022399,
      3.0501629477836563,
      3.0185327167206615,
      3.0404381489785246,
      3.1049185467514047,
      3.1987375770808706,
      3.2866918010449195,
      3.3753626163608406
    ],
    "vy_ego": [
      -0.12984946217237364,
      -0.045550766414646116,
      0.004505208036379327,
      -0.006230942939385642,
      -0.0017167219387468347,
      0.01147163739914947,
      0.007662870874842298,
      -0.0049111070957688074,
      -0.015522044188455375,
      0.020854835595589538
    ],
    "v_ego": [
      3.2405726941389137,
      3.193975123976664,
      3.123994069573701,
      3.0501693121337046,
      3.0185332048939317,
      3.040459790266692,
      3.1049280026356323,
      3.198741347155488,
      3.286728453783745,
      3.3754270420339436
    ],
    "ax_ego": [
      -0.08819660444948099,
      -0.08123674264630527,
      -0.19216577098124657,
      -0.09619084030098647,
      -0.010288534604870503,
      0.09996857192497094,
      0.15597084651720072,
      0.21503402579463265,
      0.13254686868610988,
      0.21991620180129745
    ],
    "ay_ego": [
      0.3110759438022919,
      0.3129656131588695,
      0.4052944748603527,
      0.5669295775416425,
      0.8754895800824957,
      0.9426381133725836,
      0.9942735038057127,
      0.9514506131949463,
      0.8085576833926658,
      0.7892851603167153
    ],
    "a_ego": [
      0.32333710558626716,
      0.32333710485449885,
      0.4485435261924376,
      0.5750320196731267,
      0.8755500321382783,
      0.947924220681876,
      1.0064326630894789,
      0.9754475391319033,
      0.8193498640823754,
      0.8193498642892985
    ],
    "yaw": [
      -1.5374337909573645,
      -1.5151289530072063,
      -1.4743146268504592,
      -1.3918295367482316,
      -1.274195369937844,
      -1.128107269644496,
      -0.9692484842835829,
      -0.8108861399881178,
      -0.672585800245967,
      -0.5633354876783354
    ],
    "yaw_diff": [
      0.0446096759003165,
      0.08162865231349414,
      0.1649701802044552,
      0.23526833362077504,
      0.29217620058669613,
      0.31771757072182627,
      0.3167246885909303,
      0.27660067948430145,
      0.21850062513526325,
      0.21850062513526325
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.163352904059242,
    "v_std": 0.11054343021115129,
    "vy_max": 0.12984946217237364,
    "a_max": 1.0064326630894789,
    "ax_avg": 0.03553580217413218,
    "a_std": 0.2553107958625026,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "d894554636eb52f4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d894554636eb52f4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a31e932f22d35521": {
    "vx_ego": [
      3.898093072289102,
      3.8181084395039226,
      3.8461621449223884,
      3.855263568244221,
      3.7967604554988936,
      3.7689966626092986,
      3.743215113081113,
      3.7155649969135043,
      3.662240897304599,
      3.6152531915783164
    ],
    "vy_ego": [
      -0.016015409853431972,
      -0.02795157617481503,
      -0.015313467630164723,
      -0.013155604907165497,
      -0.007671692528224083,
      0.004781701733127752,
      0.007297040891526274,
      0.0035338115380413315,
      0.004140880125609481,
      -0.03377116653115261
    ],
    "v_ego": [
      3.8981259720000154,
      3.8182107519650796,
      3.8461926300336087,
      3.8552860141073366,
      3.796768206159867,
      3.768999695865137,
      3.7432222255170244,
      3.71556667738756,
      3.6622432383415777,
      3.615410921445317
    ],
    "ax_ego": [
      -0.21669488002583742,
      -0.09054810052102036,
      0.22200895551700284,
      -0.18032090559107877,
      -0.05287751311163402,
      -0.05897413583051353,
      -0.05361040847620169,
      -0.06016196733697596,
      -0.15143735254598828,
      -0.027622482959164696
    ],
    "ay_ego": [
      0.9627539198265214,
      0.9826763572463763,
      1.0973775060230633,
      1.0602137661707662,
      0.9891429843141561,
      0.9649226682719342,
      0.8563470364669649,
      0.8445071538201201,
      0.9039780421499578,
      0.9161585951844954
    ],
    "a_ego": [
      0.9868392884207358,
      0.9868392886377054,
      1.1196094707777122,
      1.0754389145698546,
      0.9905553365717565,
      0.9667231788066245,
      0.8580234977917204,
      0.8466473853778889,
      0.916574913706135,
      0.9165749140660885
    ],
    "yaw": [
      2.007164481668709,
      2.1366684047581455,
      2.2702334136213835,
      2.407734739969551,
      2.540569104256316,
      2.66622492116456,
      2.7866516270885224,
      2.901525869785158,
      3.0193562090625026,
      -3.127988287189565
    ],
    "yaw_diff": [
      0.2590078461788732,
      0.26713001772647615,
      0.27500265269633495,
      0.2656687285735302,
      0.2513116338164876,
      0.24085341184792508,
      0.2297484853932712,
      0.23566067855468908,
      0.27168162185503775,
      0.27168162185503775
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.772002633282253,
    "v_std": 0.08466778204067758,
    "vy_max": 0.03377116653115261,
    "a_max": 1.1196094707777122,
    "ax_avg": -0.06702387908814118,
    "a_std": 0.08236077398760046,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "a31e932f22d35521",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.412322805422928,
    "right_rear_min": 8.350288900372298,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "a31e932f22d35521",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "fd525d3c25b15c97": {
    "vx_ego": [
      9.681677987075156,
      9.71532685426498,
      9.772034054602083,
      9.82395761028169,
      9.854758218481798,
      9.874079928390705,
      9.902495301800583,
      9.96266951299536,
      10.011199905505608,
      10.04258603624262
    ],
    "vy_ego": [
      -0.012929116586867018,
      0.009584270000022599,
      0.009229148387614128,
      0.0012457855046905664,
      -0.013716497144863116,
      -0.02210257383361025,
      -0.04587870093658952,
      -0.03565944756893513,
      -0.010020283562207632,
      0.03070142063180281
    ],
    "v_ego": [
      9.681686619978533,
      9.715331581754361,
      9.772038412812487,
      9.823957689271317,
      9.854767764236176,
      9.874104666045335,
      9.902601580260727,
      9.962733330836882,
      10.011204920192082,
      10.042632965142362
    ],
    "ax_ego": [
      0.0636582368460324,
      0.07104888902439191,
      0.15520777221553544,
      0.051494858352597456,
      0.07237187131342568,
      0.004638077706600317,
      0.10964043478366098,
      0.13163365729162133,
      0.06251067153190484,
      0.06340382553701307
    ],
    "ay_ego": [
      0.40240811495481793,
      0.40116918870071216,
      0.42242403179943105,
      0.3699024548332498,
      0.38424155489913825,
      0.20590015691128727,
      0.06658360670066767,
      0.10134726623253644,
      -0.09945164275738182,
      -0.0988846219259105
    ],
    "a_ego": [
      0.4074121526167764,
      0.4074121532237201,
      0.4500350155241215,
      0.37346960589640826,
      0.3909977752733569,
      0.20595238862636475,
      0.12827471154058157,
      0.1661285288708012,
      0.11746579630901752,
      0.11746579734611369
    ],
    "yaw": [
      1.262662035503889,
      1.2810558961989535,
      1.3022458998686939,
      1.3232486774132688,
      1.343935496027687,
      1.3597280684224218,
      1.3690338804690287,
      1.3722326690705344,
      1.3697150305228027,
      1.3607086348537183
    ],
    "yaw_diff": [
      0.03678772139012931,
      0.04238000733948066,
      0.042005555089149826,
      0.04137363722883647,
      0.0315851447894695,
      0.01861162409321393,
      0.006397577203011373,
      -0.005035277095463364,
      -0.01801279133816891,
      -0.01801279133816891
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.864105953053025,
    "v_std": 0.11419517978387833,
    "vy_max": 0.04587870093658952,
    "a_max": 0.4500350155241215,
    "ax_avg": 0.07856082946027834,
    "a_std": 0.13289715350159875,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fd525d3c25b15c97",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.23628927891551,
    "right_rear_min": 4.214414086612953,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fd525d3c25b15c97",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3a61d7ced3ca590d": {
    "vx_ego": [
      1.2215136320535476,
      2.38212495838946,
      3.556595075092341,
      4.6923625750594296,
      5.662766937641266,
      6.336628931938995,
      6.732388107939374,
      7.006557055084063,
      7.219218011508539,
      7.430466646295157
    ],
    "vy_ego": [
      -0.05016478146961256,
      0.003236186781250261,
      0.02850891519799381,
      0.04414763007662126,
      0.028913830727398615,
      0.010666986019160163,
      0.008326533367740696,
      0.02229379170592538,
      0.019239723897521044,
      -0.10705606445822315
    ],
    "v_ego": [
      1.2225432747320413,
      2.3821271566158826,
      3.556709333979495,
      4.692570249773544,
      5.662840753513238,
      6.3366379102547,
      6.732393257013544,
      7.006592522710085,
      7.219243649071899,
      7.4312378230441585
    ],
    "ax_ego": [
      2.3211186050425283,
      2.3217987464193617,
      2.3754558146025384,
      2.165817709166705,
      1.7114688667552187,
      0.9839936573880795,
      0.6018816060900927,
      0.5070264632650662,
      0.3480531238246266,
      0.5143757408986167
    ],
    "ay_ego": [
      0.1324741282430143,
      0.11996480526564024,
      0.1672361847231325,
      0.3160936393163274,
      0.3634113412005427,
      0.52247392396747,
      0.7180387218334683,
      1.201790981531936,
      1.4624939269004118,
      1.412602931638122
    ],
    "a_ego": [
      2.3248959059124172,
      2.324895905922874,
      2.381335396077117,
      2.1887625586518866,
      1.7496266701172483,
      1.1141016645737205,
      0.9369317338001901,
      1.304368582012989,
      1.5033394371281117,
      1.5033394311657022
    ],
    "yaw": [
      2.6820012310726176,
      2.6873897817910803,
      2.7030941389166956,
      2.728436496380737,
      2.7637972299739184,
      2.8031506511068986,
      2.8506129751135063,
      2.918305157641696,
      3.012046612827529,
      3.127616600880404
    ],
    "yaw_diff": [
      0.010777101436925562,
      0.031408714251230485,
      0.050684714928082464,
      0.07072146718636318,
      0.07870684226596047,
      0.09492464801321532,
      0.13538436505637907,
      0.1874829103716662,
      0.23113997610574977,
      0.23113997610574977
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.224289593070859,
    "v_std": 2.0709055690852733,
    "vy_max": 0.10705606445822315,
    "a_max": 2.381335396077117,
    "ax_avg": 1.3850990333452833,
    "a_std": 0.5133214091708951,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "3a61d7ced3ca590d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.6862900378177343,
    "right_rear_min": 8.413525839435655,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3a61d7ced3ca590d",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "ff6f020133855f6a": {
    "vx_ego": [
      7.50674081078708,
      8.317704334044418,
      9.121034860035696,
      9.876627054590545,
      10.560523312970926,
      11.132470544253572,
      11.634374325243883,
      12.105393530514595,
      12.493184496802082,
      12.83717385982741
    ],
    "vy_ego": [
      -0.048737355560429574,
      -0.05860177849966064,
      -0.051495603647470745,
      -0.03728669242995508,
      -0.04806646095132727,
      -0.037695925068431,
      -0.03253197221745818,
      -0.003073784802229085,
      -0.014829786816785706,
      -0.044458774112852595
    ],
    "v_ego": [
      7.506899022243691,
      8.317910768758258,
      9.121180226000437,
      9.876697437549774,
      10.56063270019703,
      11.132534365607867,
      11.634419808014082,
      12.105393920760184,
      12.493193298501104,
      12.837250846268907
    ],
    "ax_ego": [
      1.6198417521533126,
      1.6217185987963927,
      1.589218089969163,
      1.4313492507254046,
      1.301384359639023,
      0.9836704693135168,
      1.0205924128616135,
      0.8619450061325189,
      0.6875449406562989,
      0.6880170741535221
    ],
    "ay_ego": [
      -0.19081635786373674,
      -0.1741463405177326,
      -0.22706925341905637,
      -0.3735521665541347,
      -0.3916273442533115,
      -0.4714402435739524,
      -0.41649658666961187,
      -0.40264704550642505,
      -0.14406600249227453,
      -0.14179408951879485
    ],
    "a_ego": [
      1.631042054775871,
      1.6310420477712564,
      1.605358085703474,
      1.4792910121708525,
      1.359033931982558,
      1.0908086429161359,
      1.1023058921633901,
      0.9513536865182376,
      0.7024763757566354,
      0.7024763755096943
    ],
    "yaw": [
      0.8094063573115883,
      0.7991212641790971,
      0.7868085972920842,
      0.7695412689028722,
      0.7519043771729325,
      0.7311322925597471,
      0.7111705678429727,
      0.691469799548942,
      0.6813309889931177,
      0.6780277437047686
    ],
    "yaw_diff": [
      -0.020570186264982304,
      -0.02462533377402587,
      -0.03453465677842393,
      -0.035273783459879526,
      -0.04154416922637072,
      -0.03992344943354875,
      -0.03940153658806134,
      -0.020277621111648658,
      -0.006606490576698265,
      -0.006606490576698265
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.558611239390133,
    "v_std": 1.7227593908917962,
    "vy_max": 0.05860177849966064,
    "a_max": 1.631042054775871,
    "ax_avg": 1.1805281954400768,
    "a_std": 0.3480006085704088,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "ff6f020133855f6a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.451100290188618,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "ff6f020133855f6a",
    "pedestrians": "No"
  },
  "bb6cb09beb1e5e3f": {
    "vx_ego": [
      7.312506452292244,
      7.305180679349366,
      7.212811467010898,
      7.066676550575082,
      7.107094553086368,
      7.353499205610239,
      7.601813233240874,
      7.6830572208206664,
      7.601770272911612,
      7.476155339053017
    ],
    "vy_ego": [
      0.09757813261767634,
      0.002375370416766387,
      0.03891664205358403,
      0.04792371047911015,
      0.03976527896015769,
      0.06252150625911312,
      -0.01647004264126295,
      -0.07061559683483898,
      -0.03458759758071128,
      0.1036241817229766
    ],
    "v_ego": [
      7.313157464924494,
      7.3051810655399825,
      7.212916453396131,
      7.066839049566208,
      7.1072057986188,
      7.353764988470554,
      7.601831075167395,
      7.683381730782411,
      7.601848958248847,
      7.476873452499293
    ],
    "ax_ego": [
      -0.015818595574054274,
      -0.01594590035441893,
      -0.3531955251884057,
      -0.22875088490833165,
      0.38328904828607824,
      0.5923608420519527,
      0.40071725301475464,
      -0.07560032155492337,
      -0.24979503577130371,
      -0.2507881199048365
    ],
    "ay_ego": [
      -0.010431685014712411,
      -0.010236032071215066,
      0.01569057231514187,
      0.6126018419673779,
      0.6558566692806781,
      -0.049182112091254115,
      -0.2381585806394963,
      0.03554194952843724,
      0.07563815926884855,
      0.07227730587394296
    ],
    "a_ego": [
      0.018948562430476486,
      0.018948564343400826,
      0.35354387715344526,
      0.6539174138438042,
      0.7596436435434659,
      0.5943990640523041,
      0.4661478589416778,
      0.08353824750070947,
      0.2609955766551736,
      0.26099557473221296
    ],
    "yaw": [
      2.211975005091995,
      2.224293574402823,
      2.2194754894438056,
      2.2402583062070467,
      2.286648757870828,
      2.3045424355998483,
      2.3054964135462015,
      2.305949725046836,
      2.30487551160654,
      2.2914479716365066
    ],
    "yaw_diff": [
      0.02463713862165573,
      -0.009636169918034732,
      0.04156563352648224,
      0.09278090332756239,
      0.03578735545804079,
      0.0019079558927064255,
      0.0009066230012688692,
      -0.002148426880592247,
      -0.026855079940066418,
      -0.026855079940066418
    ],
    "min_front_frame": [
      5,
      19.04929864580728
    ],
    "v_avg": 7.372300003721412,
    "v_std": 0.20258713412734658,
    "vy_max": 0.1036241817229766,
    "a_max": 0.7596436435434659,
    "ax_avg": 0.01864727600965116,
    "a_std": 0.2528555709999699,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "bb6cb09beb1e5e3f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.106530385411887,
    "right_rear_min": 29.41656523145894,
    "speed_mode": "quasi_constant",
    "front_frame": [
      25.718809073934416,
      28.015490241357305,
      24.417626000384548,
      25.606236921786223,
      22.393536170820678,
      19.04929864580728,
      35.083743596578586,
      35.701656869684335,
      36.22504977336639,
      36.84030976653378
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 12,
    "token": "bb6cb09beb1e5e3f",
    "smoothness": "No"
  },
  "0992d669b9a25a25": {
    "vx_ego": [
      6.981481715050593,
      7.0923629249137985,
      7.228103329426365,
      7.412007860197949,
      7.5553801373096485,
      7.651106010238602,
      7.762938724026751,
      7.891105877885036,
      7.965611705298986,
      7.968511516263921
    ],
    "vy_ego": [
      -0.034211346207766447,
      -0.03474878082617727,
      -0.032217469992940506,
      -0.005670723675877731,
      0.020989438303544272,
      0.026673314164843087,
      0.013711450613916432,
      0.01832530390294962,
      0.02108834235924384,
      0.03056275669267622
    ],
    "v_ego": [
      6.981565537456131,
      7.092448049613104,
      7.22817512974314,
      7.4120100294551134,
      7.555409292405902,
      7.651152504400746,
      7.762950833083513,
      7.891127156037653,
      7.965639620129679,
      7.968570126875171
    ],
    "ax_ego": [
      0.21581720281981953,
      0.22426728677557384,
      0.31480935343393796,
      0.4189827138172782,
      0.15489520335277526,
      0.22981620447392986,
      0.21849100066087668,
      0.29505483195563964,
      0.004478788931598338,
      0.008903455637287476
    ],
    "ay_ego": [
      -0.3480591363125566,
      -0.3426753741595947,
      -0.22796301274587089,
      -0.16615866873618182,
      -0.15902704420216682,
      -0.23311277428185095,
      -0.22118125803873806,
      -0.21397613317744618,
      -0.256267493636002,
      -0.2561519387368681
    ],
    "a_ego": [
      0.40953904258765605,
      0.4095390432829277,
      0.38867989938980396,
      0.4507274316855714,
      0.22199577655751815,
      0.32734851973421897,
      0.31090105544592483,
      0.3644765279547408,
      0.2563066285619085,
      0.2563066273839625
    ],
    "yaw": [
      -1.3680987752876725,
      -1.3925645061866894,
      -1.412873309600336,
      -1.429990256610471,
      -1.444352232387129,
      -1.458010236700129,
      -1.4710621955551684,
      -1.4855683562237214,
      -1.5006752587531111,
      -1.517944537089099
    ],
    "yaw_diff": [
      -0.04893146179803365,
      -0.04061760682729343,
      -0.03423389402026977,
      -0.028723951553315974,
      -0.027316008626000254,
      -0.026103917710078584,
      -0.029012321337106073,
      -0.030213805058779464,
      -0.034538556671975584,
      -0.034538556671975584
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.550904827920016,
    "v_std": 0.3427841807732061,
    "vy_max": 0.03474878082617727,
    "a_max": 0.4507274316855714,
    "ax_avg": 0.2085516041858717,
    "a_std": 0.07337572737595666,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "0992d669b9a25a25",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0992d669b9a25a25",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "56acc09e62b45e21": {
    "vx_ego": [
      1.5501470078661843,
      1.3163328286399698,
      1.0823377279957276,
      0.8463460997576263,
      0.6303518023728176,
      0.47563438374648154,
      0.346009885212995,
      0.18608418370116278,
      0.03928943991327446,
      -0.07842074212993175
    ],
    "vy_ego": [
      0.041195902690840454,
      0.0109833793042543,
      -0.014158237238874468,
      -0.017656459043578494,
      0.0040710481032233126,
      0.01989750852206713,
      0.016223814152367434,
      0.009248233757027116,
      0.008931401243327064,
      0.013845545730046769
    ],
    "v_ego": [
      1.5506943117181404,
      1.3163786500761265,
      1.0824303271456626,
      0.8465302541084421,
      0.6303649484126782,
      0.47605039423077994,
      0.3463900298951466,
      0.1863138568420307,
      0.04029181079162499,
      0.07963361057224562
    ],
    "ax_ego": [
      -0.4676448621311248,
      -0.46768689074237957,
      -0.46827394335811007,
      -0.47561630350081685,
      -0.3883428646450414,
      -0.2305762606519059,
      -0.28795019586513,
      -0.35175926239969235,
      -0.23542038700535403,
      -0.23542037295155366
    ],
    "ay_ego": [
      -0.058529475546550094,
      -0.05819274463904031,
      -0.03685317382385393,
      0.025959328512257972,
      0.06211064132340886,
      0.0025520058734509413,
      -0.016665697453267327,
      -0.01108555454130518,
      0.009828212515265469,
      0.009828328204770895
    ],
    "a_ego": [
      0.4712933445163351,
      0.47129335164088515,
      0.4697218777628371,
      0.4763242119529391,
      0.39327841573918354,
      0.23059038295252857,
      0.2884320730611812,
      0.3519338974913668,
      0.2356254493449209,
      0.23562544012892436
    ],
    "yaw": [
      1.590244102432158,
      1.5909641238419885,
      1.5921148041178035,
      1.5929174477450612,
      1.5933160849140418,
      1.5939521588290928,
      1.5942997011829714,
      1.5944375234642902,
      1.594462955283505,
      1.594463462788767
    ],
    "yaw_diff": [
      0.001440042819660814,
      0.002301360551629994,
      0.001605287254515364,
      0.0007972743379611735,
      0.0012721478301020994,
      0.0006950847077571431,
      0.0002756445626377335,
      5.0863638429543556e-05,
      1.015010524074711e-06,
      1.015010524074711e-06
    ],
    "min_front_frame": [
      9,
      11.131204272323284
    ],
    "v_avg": 0.6555078193792877,
    "v_std": 0.5015493260277871,
    "vy_max": 0.041195902690840454,
    "a_max": 0.4763242119529391,
    "ax_avg": -0.3608691343251108,
    "a_std": 0.10210967318069276,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "56acc09e62b45e21",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.944966303436937,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.957676289490282,
      13.259587574411695,
      12.663769991859562,
      12.170814257433845,
      11.817063716804892,
      11.510188963384099,
      11.309187875745135,
      11.18129590871408,
      11.138263969685461,
      11.131204272323284
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "56acc09e62b45e21",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "483faae37fd95b91": {
    "vx_ego": [
      10.449398405998148,
      10.48135529336455,
      10.518418302619684,
      10.565940451813768,
      10.614691911362119,
      10.657423766673698,
      10.660821460420088,
      10.648777070610771,
      10.650034767081,
      10.64281577508243
    ],
    "vy_ego": [
      0.037826980484550354,
      0.06814492636373437,
      0.08425421353361884,
      0.10198604441212922,
      0.01971084879641527,
      -0.06385431771146699,
      0.010597995857844822,
      0.06824970431249966,
      0.05415960114361873,
      0.02974519547498833
    ],
    "v_ego": [
      10.449466872894961,
      10.481576814426834,
      10.518755742072488,
      10.566432642312606,
      10.614710212280723,
      10.657615057617337,
      10.660826728189035,
      10.648995779964627,
      10.650172477590683,
      10.642857341851261
    ],
    "ax_ego": [
      0.0637610918671372,
      0.0670358193167965,
      0.0845838222733008,
      0.11039647865317423,
      0.08739029609703447,
      0.082640398131375,
      -0.06932516011150748,
      0.019909752542795922,
      -0.017514271875867016,
      -0.013782427482910739
    ],
    "ay_ego": [
      -0.2336920429544756,
      -0.23277380486871438,
      -0.19627634080542913,
      -0.24950230875556717,
      -0.43181917360133204,
      -0.0356742043166669,
      0.289772293706048,
      0.2027729429835951,
      0.25841102803483085,
      0.2586369107390517
    ],
    "a_ego": [
      0.2422342828262052,
      0.24223427772413322,
      0.21372605117376378,
      0.2728347202490532,
      0.44057333389762104,
      0.09001157846043732,
      0.2979495930927752,
      0.2037480420827245,
      0.2590038785990664,
      0.2590038743029955
    ],
    "yaw": [
      2.5997775725927807,
      2.585737204255907,
      2.5739850599405223,
      2.5617281610290235,
      2.553415777818459,
      2.550284326769126,
      2.549260944845808,
      2.555413385344145,
      2.5675575081483855,
      2.581992443129501
    ],
    "yaw_diff": [
      -0.028080736673747886,
      -0.023504288630769032,
      -0.024513797822997674,
      -0.016624766421128534,
      -0.006262902098666423,
      -0.002046763846635713,
      0.01230488099667415,
      0.02428824560848053,
      0.028869869962231398,
      0.028869869962231398
    ],
    "min_front_frame": [
      0,
      33.970693869156236
    ],
    "v_avg": 10.589140966920056,
    "v_std": 0.07564580356871885,
    "vy_max": 0.10198604441212922,
    "a_max": 0.44057333389762104,
    "ax_avg": 0.04150957994113289,
    "a_std": 0.08272086873104974,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "483faae37fd95b91",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      33.970693869156236,
      35.08557153132774,
      36.22825692268269,
      37.01384357070151,
      38.17196719262237,
      39.372712938495596,
      40.25613363877341,
      41.23045665075231,
      41.74959145484677,
      42.32902676290648
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "483faae37fd95b91",
    "pedestrians": "No"
  },
  "bf478a1422445c12": {
    "vx_ego": [
      7.787158940718853,
      7.632231717286918,
      7.464927212030469,
      7.278859375485412,
      6.944265109675159,
      6.535266436680999,
      6.118850027543666,
      5.440026274278511,
      4.740907896997811,
      4.208850909391419
    ],
    "vy_ego": [
      -0.03744609008756683,
      -0.030505182158036437,
      -0.012295066719421044,
      0.007547337381882624,
      0.021077120689934947,
      0.008260571003494643,
      -0.009371870631105672,
      -0.01846864127854264,
      -0.001231550835267381,
      0.01478482624892119
    ],
    "v_ego": [
      7.7872489736543296,
      7.6322926799552775,
      7.464937337284127,
      7.27886328834341,
      6.944297096068711,
      6.535271657356139,
      6.118857204701729,
      5.440057624285905,
      4.740908056958463,
      4.208876877335827
    ],
    "ax_ego": [
      -0.31036108865165535,
      -0.31003394188792,
      -0.3597541393269007,
      -0.3847154647059732,
      -0.9533555779818144,
      -0.6826036167654004,
      -0.9829995046177826,
      -1.7324896512661196,
      -1.0640620686816975,
      -1.064061336657716
    ],
    "ay_ego": [
      -0.06363342648527893,
      -0.06520868215597647,
      -0.07368371574699151,
      -0.028098733857878283,
      -0.04831047017615836,
      -0.023521627677920043,
      -0.09469780006949136,
      0.017506482947470037,
      0.0017110623562915372,
      -0.002121821110240174
    ],
    "a_ego": [
      0.3168173264127107,
      0.3168173248909872,
      0.36722245400999454,
      0.3857402333544542,
      0.9545788388591488,
      0.6830087587943688,
      0.9875503528513406,
      1.7325780988715604,
      1.0640634444155859,
      1.0640634521938197
    ],
    "yaw": [
      -2.013008622818253,
      -2.018086846706193,
      -2.0250933906185455,
      -2.031234108208781,
      -2.0357772871872397,
      -2.0365439939462946,
      -2.0384172299991903,
      -2.040154134594899,
      -2.04263724084879,
      -2.0462393602187365
    ],
    "yaw_diff": [
      -0.010156447775879762,
      -0.014013087824705117,
      -0.012281435180470979,
      -0.009086357956917368,
      -0.0015334135181097608,
      -0.0037464721057913764,
      -0.0034738091914174873,
      -0.00496621250778162,
      -0.007204238739893398,
      -0.007204238739893398
    ],
    "min_front_frame": [
      3,
      19.4537314924966
    ],
    "v_avg": 6.415161079594391,
    "v_std": 1.1923042226220062,
    "vy_max": 0.03744609008756683,
    "a_max": 1.7325780988715604,
    "ax_avg": -0.7844436390542979,
    "a_std": 0.43659237588504385,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bf478a1422445c12",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.396887320382245,
    "right_rear_min": 18.303581388544227,
    "speed_mode": "decelerating",
    "front_frame": [
      27.53623865766784,
      24.97567150288874,
      22.2287546121103,
      19.4537314924966,
      29.507738183305257,
      27.52239252138201,
      25.191077661055193,
      22.98483119475152,
      21.191054349179502,
      19.635470164785175
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bf478a1422445c12",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fb0a26a28ec359ce": {
    "vx_ego": [
      0.8071138167979752,
      0.8657191134877821,
      0.9350939813099638,
      1.0968986264224139,
      1.3797303490502006,
      1.676262424055683,
      1.9642591003541272,
      2.2606295770974003,
      2.547226171618485,
      2.8484434002315866
    ],
    "vy_ego": [
      -0.03318539339638717,
      -0.01713063524596501,
      0.007848260982267062,
      0.014645861149422526,
      0.010526056553704338,
      0.019337340849361062,
      0.010625966095869688,
      0.002714881581624029,
      0.0007442724344750573,
      -0.0759423382366573
    ],
    "v_ego": [
      0.8077957561172678,
      0.8658885852821953,
      0.9351269160293509,
      1.0969963983059317,
      1.3797705004662044,
      1.6763739579974866,
      1.9642878415546627,
      2.260631207302415,
      2.5472262803527332,
      2.8494555695886423
    ],
    "ax_ego": [
      0.1172695531734147,
      0.11733288593890871,
      0.1603822593042399,
      0.4856300372647773,
      0.6459898781913767,
      0.5388409688937945,
      0.6135220547058936,
      0.5838128244420637,
      0.5665161399221001,
      0.6535809435339717
    ],
    "ay_ego": [
      0.0352313628694188,
      0.035019868252680525,
      0.0830328331344774,
      -0.002087351725308169,
      0.11987072074832311,
      0.17852622175458005,
      0.30881964577183685,
      0.580148722870043,
      0.6550356123845655,
      0.568193756667588
    ],
    "a_ego": [
      0.1224475276644204,
      0.12244752874267437,
      0.18060155170393863,
      0.48563452320753947,
      0.657017436921146,
      0.5676453132127215,
      0.6868616201427943,
      0.8230491811737388,
      0.8660324418197388,
      0.8660324444654385
    ],
    "yaw": [
      -3.0854956471165416,
      -3.0836926446155237,
      -3.0786265686861407,
      -3.064848245113536,
      -3.037298084645994,
      -2.9946236395670285,
      -2.922565823963854,
      -2.8139129223384485,
      -2.6849336414110834,
      -2.5428209260060743
    ],
    "yaw_diff": [
      0.0036060050020356726,
      0.010132151858766036,
      0.027556647145209112,
      0.05510032093508421,
      0.08534889015793112,
      0.14411563120634874,
      0.21730580325081128,
      0.2579585618547302,
      0.28422543081001805,
      0.28422543081001805
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.6383553012996892,
    "v_std": 0.7020480586848167,
    "vy_max": 0.0759423382366573,
    "a_max": 0.8660324444654385,
    "ax_avg": 0.4482877545370541,
    "a_std": 0.28451896073697863,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "fb0a26a28ec359ce",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.894276686809349,
    "right_rear_min": 6.828089585996358,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "fb0a26a28ec359ce",
    "pedestrians": "No"
  },
  "5da61ef9efda5191": {
    "vx_ego": [
      9.077329343144878,
      8.579877928314108,
      8.08148685340213,
      7.619341379492524,
      7.165583066320424,
      6.6433905252561845,
      6.0784192614033685,
      5.462263621705302,
      4.752385514583427,
      3.9970402642335214
    ],
    "vy_ego": [
      0.0006050475227798446,
      0.005528894555156233,
      -0.019984967707325663,
      -0.0020026137325992455,
      0.0030487088191001877,
      0.006305301433017718,
      0.0066857264556962614,
      0.01965194403273235,
      0.011684183951510357,
      -0.015478512618111548
    ],
    "v_ego": [
      9.077329363309538,
      8.579879709730585,
      8.081511564097752,
      7.6193416426689256,
      7.1655837148806985,
      6.643393517464535,
      6.078422938257728,
      5.462298973134791,
      4.752399877890853,
      3.9970702343412543
    ],
    "ax_ego": [
      -0.9949015629100442,
      -0.9948891540354087,
      -0.9986650932680957,
      -0.850059712309479,
      -0.9649010120888459,
      -1.1240663523580967,
      -1.1358090657320532,
      -1.3287584178408702,
      -1.510718675757307,
      -1.510668067307068
    ],
    "ay_ego": [
      -0.010098020488975977,
      -0.011254442293947876,
      -0.05188569404650449,
      0.08376787341356406,
      0.1123752684084601,
      -0.04255076281210187,
      -0.0013633337072754062,
      0.022072114311349762,
      -0.06090139980269894,
      -0.06214411003443949
    ],
    "a_ego": [
      0.9949528078751496,
      0.9949528085736725,
      1.000012046806868,
      0.8541771309909351,
      0.9714227525027158,
      1.1248714290617965,
      1.135809883949738,
      1.328941726041118,
      1.5119457324189383,
      1.5119457331509107
    ],
    "yaw": [
      -1.5432061384324174,
      -1.5443684923872547,
      -1.54320072767664,
      -1.5444790746091068,
      -1.5385407164381684,
      -1.53649005998054,
      -1.5382753915951337,
      -1.5396196100832469,
      -1.5399587010896973,
      -1.5407813117995537
    ],
    "yaw_diff": [
      -0.0023247079096746504,
      0.0023355294212294986,
      -0.0025566938649337345,
      0.011876716341876925,
      0.004101312915256727,
      -0.0035706632291874207,
      -0.0026884369762263383,
      -0.0006781820129009297,
      -0.0016452214197126835,
      -0.0016452214197126835
    ],
    "min_front_frame": [
      9,
      15.498201146258053
    ],
    "v_avg": 6.745723153577666,
    "v_std": 1.5860551608755207,
    "vy_max": 0.019984967707325663,
    "a_max": 1.5119457331509107,
    "ax_avg": -1.1413437113607268,
    "a_std": 0.22007620961594013,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5da61ef9efda5191",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.340475813131764,
    "right_rear_min": 7.568953417416558,
    "speed_mode": "decelerating",
    "front_frame": [
      19.887752649541596,
      20.020115612613928,
      20.093290198496394,
      19.979985664031275,
      19.537793244239555,
      18.94815328415028,
      18.19293444144318,
      17.363726495897556,
      16.46829270136488,
      15.498201146258053
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5da61ef9efda5191",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "411af42484ea5bb5": {
    "vx_ego": [
      7.828264728949694,
      7.174562900662459,
      6.5031989231222695,
      5.815614411912527,
      5.143771509691311,
      4.462347569132465,
      3.7580895087491353,
      3.049301768887063,
      2.306785796487113,
      1.5360791040325392
    ],
    "vy_ego": [
      -0.06516671269807972,
      -0.01984373206776402,
      -0.02334985566717318,
      -0.06609405159102666,
      -0.05898706101367557,
      -0.009403679511027274,
      0.030387920630472687,
      0.016601862649253674,
      0.004780728163488623,
      0.026650214622919388
    ],
    "v_ego": [
      7.828535965744917,
      7.174590342957882,
      6.503240842030866,
      5.815989976925718,
      5.144109720571583,
      4.462357477492224,
      3.758212365139916,
      3.0493469628071512,
      2.306790750422859,
      1.536310270676095
    ],
    "ax_ego": [
      -1.3073894305646498,
      -1.307352272363688,
      -1.378096764253642,
      -1.3722926429552647,
      -1.3151126398836723,
      -1.4105700991359056,
      -1.4064305651056939,
      -1.4286915120748351,
      -1.5413839354312995,
      -1.5414072908697802
    ],
    "ay_ego": [
      0.09617475989948121,
      0.09667848732016959,
      -0.11939039160512899,
      -0.05761908305732455,
      0.08374918632019279,
      0.11622255960651628,
      0.03659802654430855,
      -0.09421076436349551,
      0.04201333140067032,
      0.041147525624977144
    ],
    "a_ego": [
      1.3109220829606474,
      1.3109220777624482,
      1.3832587455909988,
      1.3735017497773756,
      1.317776605419559,
      1.4153500231171683,
      1.4069066600206495,
      1.431794365401901,
      1.54195640548657,
      1.5419564050943766
    ],
    "yaw": [
      -0.5756025011193229,
      -0.5752171957300436,
      -0.5755343593168626,
      -0.5757792443778796,
      -0.57588421596571,
      -0.5757991568856721,
      -0.5761851824848825,
      -0.5763663439960076,
      -0.5768225703441825,
      -0.5773842732369872
    ],
    "yaw_diff": [
      0.0007706107785585559,
      -0.000634327173637983,
      -0.0004897701220341055,
      -0.00020994317566080944,
      0.00017011816007594938,
      -0.0007720511984208311,
      -0.0003623230222502549,
      -0.0009124526963497637,
      -0.0011234057856093216,
      -0.0011234057856093216
    ],
    "min_front_frame": [
      9,
      9.802699561212652
    ],
    "v_avg": 4.757948467476921,
    "v_std": 1.9994143041157828,
    "vy_max": 0.06609405159102666,
    "a_max": 1.54195640548657,
    "ax_avg": -1.4008727152638432,
    "a_std": 0.08067983336814809,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "411af42484ea5bb5",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 40.27281674015542,
    "speed_mode": "decelerating",
    "front_frame": [
      31.087808853863834,
      27.363976362815162,
      23.979399661186587,
      20.888326912497124,
      18.154117253261585,
      15.830500571782121,
      13.776104948207067,
      12.077599989487926,
      10.744495907355356,
      9.802699561212652
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "411af42484ea5bb5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8636c755aabe5792": {
    "vx_ego": [
      3.255297953021001,
      2.894485906509283,
      2.5418984108172307,
      2.236086300624061,
      1.9587698822409187,
      1.6978484610043412,
      1.3622306949522565,
      0.9189951412114428,
      0.46212584109856997,
      -0.0017650669311079243
    ],
    "vy_ego": [
      0.09138200472921909,
      0.038077520152482336,
      0.02515072942274177,
      0.026530067500238674,
      0.019804523899927817,
      0.017696852522892104,
      0.01129695340486625,
      0.006492224851441741,
      0.009955538202471276,
      0.03146830120899921
    ],
    "v_ego": [
      3.256580328155756,
      2.894736354233634,
      2.542022834300601,
      2.236243678206864,
      1.9588699984279216,
      1.6979406865741886,
      1.3622775368574274,
      0.9190180730289048,
      0.4622330643214109,
      0.03151776391579187
    ],
    "ax_ego": [
      -0.7218052476478432,
      -0.7220096748614045,
      -0.6883919306837972,
      -0.5348728562841555,
      -0.5744476958608971,
      -0.46926651752489407,
      -0.8732170336928535,
      -0.899711760666095,
      -0.9277648479042799,
      -0.9277764163387187
    ],
    "ay_ego": [
      -0.09389900504117524,
      -0.0923140004953594,
      0.050819034016726994,
      -0.044273927043013694,
      0.025350591623275576,
      -0.03178044110827352,
      0.008261650748114469,
      -0.02861691049322873,
      0.04302647024097139,
      0.042776175191690524
    ],
    "a_ego": [
      0.7278872431082213,
      0.7278872476427434,
      0.6902651841495115,
      0.536702108255018,
      0.5750067893299554,
      0.47034143014089047,
      0.873256115240214,
      0.9001667511339564,
      0.9287620201904516,
      0.9287620146616385
    ],
    "yaw": [
      -2.076128110293881,
      -2.07393252922422,
      -2.0729918302171004,
      -2.0728834089698416,
      -2.071934621112467,
      -2.071659049120325,
      -2.071329919283839,
      -2.071578263205324,
      -2.071377884668734,
      -2.0716476695369925
    ],
    "yaw_diff": [
      0.004391162139321558,
      0.001881398014239366,
      0.00021684249451769944,
      0.0018975757147492445,
      0.0005511439842837973,
      0.0006582596729725054,
      -0.0004966878429701893,
      0.00040075707318010245,
      -0.0005395697365173646,
      -0.0005395697365173646
    ],
    "min_front_frame": [
      9,
      9.813593473829192
    ],
    "v_avg": 1.7361440318022496,
    "v_std": 0.9970326076960739,
    "vy_max": 0.09138200472921909,
    "a_max": 0.9287620201904516,
    "ax_avg": -0.733926398146494,
    "a_std": 0.1607919486632079,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8636c755aabe5792",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.577832440144256,
      16.065668789839663,
      14.702703669315664,
      13.52904152893131,
      12.443120412081226,
      11.565274387144791,
      10.802501986182309,
      10.23488278109096,
      9.871230724528251,
      9.813593473829192
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8636c755aabe5792",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d497c1998ba75bb9": {
    "vx_ego": [
      6.416224840762386,
      6.3767809069556565,
      6.340379674098245,
      6.289196478220474,
      6.246938613274541,
      6.215700444010836,
      6.217145384990293,
      6.244108267149273,
      6.2683957728557065,
      6.316520441696466
    ],
    "vy_ego": [
      0.0317776825581082,
      0.03137898650984683,
      0.009097302816251318,
      -0.0012493300447515843,
      0.004676476020039511,
      0.013216808124844937,
      0.011844939710851321,
      -0.0018867495256855715,
      -0.008092585103716354,
      0.021129780012951294
    ],
    "v_ego": [
      6.416303533057415,
      6.376858111649387,
      6.3403862005903635,
      6.289196602308309,
      6.246940363685923,
      6.215714495831795,
      6.217156668502319,
      6.244108552203883,
      6.268400996672832,
      6.316555782859256
    ],
    "ax_ego": [
      -0.10129830698894965,
      -0.06324995141610507,
      -0.08680054823416114,
      -0.11848798870987604,
      -0.05007515450246114,
      -0.07863716167215275,
      0.08220490922205506,
      0.024101754864288866,
      0.0754390359878266,
      0.11550705878118275
    ],
    "ay_ego": [
      0.6947731735556449,
      0.6992642938357914,
      0.71019762814533,
      0.7225318112227542,
      0.7524001705244284,
      0.6908931938583556,
      0.7133593008131587,
      0.7007117115102274,
      0.7422344663352641,
      0.7370625285335484
    ],
    "a_ego": [
      0.7021190139081905,
      0.7021190134071342,
      0.7154823591095754,
      0.7321827788860822,
      0.7540646774008409,
      0.6953540166818997,
      0.7180801759948849,
      0.7011260922509804,
      0.7460583430045983,
      0.7460583432926324
    ],
    "yaw": [
      1.0075648624426092,
      1.0621385919595872,
      1.1210142528071836,
      1.179320822673056,
      1.237265506203977,
      1.2937523640565267,
      1.3506151724732687,
      1.4094721634094904,
      1.468167638395882,
      1.5223261046502987
    ],
    "yaw_diff": [
      0.10914745903395584,
      0.11775132169519287,
      0.11661313973174492,
      0.11588936706184194,
      0.1129737157050994,
      0.11372561683348392,
      0.11771398187244353,
      0.11739094997278299,
      0.10831693250883356,
      0.10831693250883356
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.293162130736148,
    "v_std": 0.06472457713532472,
    "vy_max": 0.0317776825581082,
    "a_max": 0.7540646774008409,
    "ax_avg": -0.020129635266835248,
    "a_std": 0.020683594337475766,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "d497c1998ba75bb9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d497c1998ba75bb9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c25c6a709afc5552": {
    "vx_ego": [
      5.427072033354179,
      5.3162991091587966,
      5.32401286522759,
      5.460249857621749,
      5.614985610206962,
      5.856517020640064,
      6.228153764830467,
      6.614533259367253,
      6.91629499726592,
      7.168389250905333
    ],
    "vy_ego": [
      0.01859712074488451,
      -0.021507866203883452,
      -0.01912860683550388,
      -0.01375386311606297,
      -0.009185289074740144,
      0.0125707860128772,
      0.029666857395381552,
      0.010793621366263828,
      -0.002055644577317217,
      -0.06034301002111597
    ],
    "v_ego": [
      5.427103896933894,
      5.316342615591217,
      5.324047228632402,
      5.460267179947236,
      5.6149931230916605,
      5.856530511976161,
      6.228224421197396,
      6.614542065898271,
      6.9162953027527845,
      7.168643228069977
    ],
    "ax_ego": [
      -0.22273357733424587,
      -0.22041021836889418,
      0.24933775896182314,
      0.29512635684468247,
      0.322327360551128,
      0.6438209022992745,
      0.8433189792608703,
      0.7023667899617745,
      0.50467028000283,
      0.5045080734671101
    ],
    "ay_ego": [
      -0.20183391743381035,
      -0.20436856461392655,
      -0.1330971926965817,
      -0.2069607881909522,
      -0.08865624166437218,
      -0.07915928720769558,
      -0.05272670057736378,
      -0.07080613736942931,
      -0.023287944484477296,
      -0.026571167853095767
    ],
    "a_ego": [
      0.3005780708880617,
      0.30057806733655784,
      0.282637896871271,
      0.360461279963653,
      0.33429755689491425,
      0.648669058140345,
      0.8449656831702523,
      0.7059267785899511,
      0.5052073038629261,
      0.505207307107263
    ],
    "yaw": [
      2.7683026475003847,
      2.756863353827222,
      2.74037665452982,
      2.7235960604549936,
      2.7094167263430027,
      2.6982309528133213,
      2.689910532211448,
      2.6880453289636694,
      2.686473302785471,
      2.692979986628157
    ],
    "yaw_diff": [
      -0.02287858734632575,
      -0.03297339859480353,
      -0.03356118814965292,
      -0.02835866822398181,
      -0.02237154705936284,
      -0.016640841203746426,
      -0.003730406495557226,
      -0.0031440523563972533,
      0.013013367685372756,
      0.013013367685372756
    ],
    "min_front_frame": [
      4,
      17.740250904021888
    ],
    "v_avg": 5.9926989574091,
    "v_std": 0.6593310383189966,
    "vy_max": 0.06034301002111597,
    "a_max": 0.8449656831702523,
    "ax_avg": 0.3622332705646353,
    "a_std": 0.18783097037096422,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "c25c6a709afc5552",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.441928986420606,
    "right_rear_min": 11.959160343217587,
    "speed_mode": "accelerating",
    "front_frame": [
      20.939620018944307,
      19.27789501615356,
      18.320635791439738,
      17.90014149272472,
      17.740250904021888,
      17.852767585240308,
      17.92866459945483,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c25c6a709afc5552",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "cd828def214c571e": {
    "vx_ego": [
      3.6187962832453557,
      2.8840013830407383,
      2.1872008432677643,
      1.5516679732030194,
      0.9732453476570744,
      0.4721567894970074,
      0.1167505727454981,
      -0.023744696266159507,
      -0.030855690302742975,
      -0.017335261936957194
    ],
    "vy_ego": [
      0.08922198623674893,
      0.07466193655964748,
      0.049288309110790296,
      0.035750068745104335,
      0.054794272493527474,
      0.06917679394284051,
      0.06984560342128487,
      0.04465968231773039,
      0.01305153322637937,
      0.0010525823623522331
    ],
    "v_ego": [
      3.6198960071331374,
      2.884967657037376,
      2.187756125852747,
      1.552079755192769,
      0.9747866017925332,
      0.4771975090969478,
      0.13604816997550995,
      0.05057961867682248,
      0.03350247966372148,
      0.017367188490151533
    ],
    "ax_ego": [
      -1.4693943372431977,
      -1.4693434511061507,
      -1.3178794671525327,
      -1.2245237986442765,
      -1.089349669494732,
      -0.915227608973497,
      -0.5065672696237511,
      -0.05548169839822431,
      0.02704086035866965,
      0.027040910395890856
    ],
    "ay_ego": [
      -0.036871565473238554,
      -0.038846185408841216,
      -0.06184249566256805,
      0.0235448228892422,
      0.058198729930110105,
      0.001595234828100367,
      0.0016753522313398272,
      -0.10242860176345386,
      -0.02399782525661731,
      -0.023997762773369832
    ],
    "a_ego": [
      1.4698568742101468,
      1.469856864946159,
      1.3193296723003005,
      1.2247501345707599,
      1.0909032012941202,
      0.9152289992135854,
      0.5065700400331243,
      0.11648964467439905,
      0.036153889776678404,
      0.036153885727063045
    ],
    "yaw": [
      -0.7030119951765137,
      -0.7043558448693391,
      -0.7042757948587259,
      -0.7021421434518045,
      -0.7010248249176286,
      -0.7002173721577336,
      -0.6996057924856756,
      -0.6993642031452842,
      -0.6994052855126691,
      -0.6994074686681934
    ],
    "yaw_diff": [
      -0.0026876993856508324,
      0.00016010002122635036,
      0.00426730281384291,
      0.002234637068351697,
      0.0016149055197900442,
      0.0012231593441160982,
      0.0004831786807826255,
      -8.216473476974073e-05,
      -4.3663110484981615e-06,
      -4.3663110484981615e-06
    ],
    "min_front_frame": [
      6,
      9.478885770784338
    ],
    "v_avg": 1.1934181112911717,
    "v_std": 1.2481932483874107,
    "vy_max": 0.08922198623674893,
    "a_max": 1.4698568742101468,
    "ax_avg": -0.7993685529881802,
    "a_std": 0.5623353792857474,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cd828def214c571e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.365241358993122,
      12.752757991399145,
      11.51481866914721,
      10.573482610518964,
      9.911519936754399,
      9.597957045953793,
      9.478885770784338,
      9.487299370663209,
      9.492324869002656,
      9.537244356835448
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cd828def214c571e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b156e8110afb5efd": {
    "vx_ego": [
      6.779468992993157,
      7.039816885840089,
      7.308497890115337,
      7.557788213309959,
      7.777507323344215,
      7.955566038518651,
      8.078599626808858,
      8.192131168809343,
      8.29220661220088,
      8.362380429363947
    ],
    "vy_ego": [
      -0.002034552389567068,
      -0.05842282555305234,
      -0.06140596869660353,
      -0.01489330952364476,
      -0.00857540914015642,
      -0.03253657104504404,
      0.009579782180208607,
      0.09344582560265513,
      0.0590385191341074,
      0.009531008583493428
    ],
    "v_ego": [
      6.779469298282799,
      7.040059304629817,
      7.3087558519088525,
      7.557802887606656,
      7.777512050927007,
      7.955632572064066,
      8.078605306765695,
      8.192664109390796,
      8.29241677957455,
      8.36238586083743
    ],
    "ax_ego": [
      0.504566179858195,
      0.5428575177991263,
      0.532924326293299,
      0.4655000464380282,
      0.4133120146378032,
      0.2992345975350999,
      0.19450320268640642,
      0.25886255826739607,
      0.14016649293772437,
      0.14002701223841768
    ],
    "ay_ego": [
      0.6878750324152063,
      0.6580765947711611,
      0.24511639962854903,
      0.2146441409124884,
      0.10745503934913198,
      0.027989016124923438,
      0.3751339327235831,
      0.025210544601020207,
      -0.03793586332868484,
      -0.03844749980600123
    ],
    "a_ego": [
      0.8530879732342459,
      0.8530879727300319,
      0.5865921810952045,
      0.5126035509649407,
      0.42705199557604595,
      0.30054072833084444,
      0.42256001152017575,
      0.26008728464079334,
      0.14520941935340761,
      0.14520941566493006
    ],
    "yaw": [
      2.444907432580889,
      2.5017906184696965,
      2.5336720522517613,
      2.54286728658625,
      2.55253690572805,
      2.5598739704000146,
      2.567179430795988,
      2.5691751769866724,
      2.5729569275954094,
      2.5766089635505223
    ],
    "yaw_diff": [
      0.11376637177761495,
      0.06376286756412952,
      0.018390468668977533,
      0.019339238283599514,
      0.014674129343929643,
      0.014610920791946924,
      0.003991492381368644,
      0.007563501217473956,
      0.007304071910225751,
      0.007304071910225751
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.734530402198767,
    "v_std": 0.5187866335912026,
    "vy_max": 0.09344582560265513,
    "a_max": 0.8530879732342459,
    "ax_avg": 0.34919539486914963,
    "a_std": 0.2435183556306384,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b156e8110afb5efd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b156e8110afb5efd",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "01e4bff700f15523": {
    "vx_ego": [
      5.114763641767039,
      5.461115041685094,
      5.769848763903654,
      6.005723811549959,
      6.1987361349544585,
      6.366418219844408,
      6.510145279819119,
      6.600272309098354,
      6.561653432629679,
      6.441729576484414
    ],
    "vy_ego": [
      0.09157185901337295,
      0.11494299598084012,
      0.11527204577270211,
      0.07084651706551925,
      0.04280529175402226,
      0.034071898887181096,
      0.0343347133195282,
      0.01646803639993033,
      -0.014881178306871412,
      -0.027778547166970924
    ],
    "v_ego": [
      5.115583301687617,
      5.462324540966441,
      5.771000121543678,
      6.006141667459942,
      6.198883928885286,
      6.366509392458368,
      6.510235820374704,
      6.600292853387143,
      6.561670307125211,
      6.441789470654623
    ],
    "ax_ego": [
      0.6946087555887227,
      0.6954412088196973,
      0.5454133516658912,
      0.4023466380183153,
      0.3724745046382417,
      0.30039284737246813,
      0.2761731445102628,
      0.08681686275777037,
      -0.24188851417683344,
      -0.2389780020305371
    ],
    "ay_ego": [
      -0.07726939151024659,
      -0.06937872366588288,
      -0.18639111950335852,
      -0.24265020976595597,
      -0.19899209053483713,
      -0.1930047321961057,
      -0.1603884065813443,
      -0.29628204935739266,
      -0.2061774918141681,
      -0.2095440918890075
    ],
    "a_ego": [
      0.6988933267708869,
      0.6988933267832143,
      0.5763830094695161,
      0.46985310621949034,
      0.4222974173505308,
      0.35705278237626076,
      0.31936819928475835,
      0.30873972927130383,
      0.31783519537876465,
      0.31783519613173145
    ],
    "yaw": [
      2.5992887504023914,
      2.58793580197521,
      2.5765286083572465,
      2.5658889662699567,
      2.5523991879006207,
      2.5382113033010505,
      2.5244548293990556,
      2.5098171946678645,
      2.495582318117169,
      2.4815803259085687
    ],
    "yaw_diff": [
      -0.02270589685436253,
      -0.022814387235927214,
      -0.021279284174579693,
      -0.026979556738671917,
      -0.02837576919914042,
      -0.027512947803989718,
      -0.029275269462382347,
      -0.028469753101391326,
      -0.0280039844172002,
      -0.0280039844172002
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.103443140454301,
    "v_std": 0.48187022643861643,
    "vy_max": 0.11527204577270211,
    "a_max": 0.6988933267832143,
    "ax_avg": 0.28928007971639996,
    "a_std": 0.14886466973600246,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "01e4bff700f15523",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 8,
    "token": "01e4bff700f15523",
    "smoothness": "Yes"
  },
  "a92bb2331b0e5485": {
    "vx_ego": [
      6.84258490972351,
      6.9532260154796885,
      7.051981714801845,
      7.122304807810279,
      7.1813527225754585,
      7.252622382440365,
      7.315676867317855,
      7.381084656131603,
      7.453873069828899,
      7.516748621393624
    ],
    "vy_ego": [
      -0.001205197869461383,
      -0.028477104626131844,
      -0.040889347905741946,
      -0.02063001774939499,
      -0.017770653863677932,
      -0.030698009674122506,
      -0.019388146747154167,
      -0.00950869642724328,
      -0.04014981984902022,
      -0.10385553335285813
    ],
    "v_ego": [
      6.842585015860439,
      6.953284329569116,
      7.05210025770137,
      7.12233468555008,
      7.181374709773936,
      7.252687349532787,
      7.315702558691398,
      7.381090780927242,
      7.453981201287967,
      7.51746604974249
    ],
    "ax_ego": [
      0.21683149257579865,
      0.22440333540489754,
      0.16714644012358354,
      0.1109977784055174,
      0.12391792494409021,
      0.15887576077608517,
      0.09108672725001148,
      0.17024136335653683,
      0.12008757572008241,
      0.12652539737534313
    ],
    "ay_ego": [
      -0.3539761898781246,
      -0.3492251163368537,
      -0.304028869481625,
      -0.2824420713489456,
      -0.316460876046134,
      -0.2582392600402188,
      -0.19416978413816352,
      -0.2747640387784588,
      -0.38164957201816574,
      -0.37956388928950013
    ],
    "a_ego": [
      0.41510846675692215,
      0.41510846633299586,
      0.34694594092489633,
      0.30346998283000454,
      0.33985752631115257,
      0.30319799271812403,
      0.21447306813066064,
      0.32322963787892783,
      0.4000967653755471,
      0.4000967660873559
    ],
    "yaw": [
      2.143870640253558,
      2.1223361232600197,
      2.100809650847607,
      2.0772875808482127,
      2.055948454982407,
      2.0378213197957225,
      2.020761737451138,
      2.003440764034478,
      1.9854634992138789,
      1.9685492724515026
    ],
    "yaw_diff": [
      -0.04306903398707629,
      -0.0430529448248258,
      -0.047044139998788204,
      -0.042678251731611105,
      -0.03625427037336948,
      -0.034119164689168535,
      -0.03464194683332078,
      -0.03595452964119783,
      -0.03382845352475261,
      -0.03382845352475261
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.207260693863684,
    "v_std": 0.20750616993684268,
    "vy_max": 0.10385553335285813,
    "a_max": 0.41510846675692215,
    "ax_avg": 0.1510113795931946,
    "a_std": 0.06074692707851875,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "a92bb2331b0e5485",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.78776440724906,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a92bb2331b0e5485",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "48ef77409741520d": {
    "vx_ego": [
      8.186047638286853,
      7.59808742764414,
      6.968349138057327,
      6.251459406123331,
      5.481691835093809,
      4.785076384836878,
      4.194676082951799,
      3.5252851107919496,
      2.7826557216832186,
      2.0712446947307748
    ],
    "vy_ego": [
      0.07278255775326153,
      0.012729482663248248,
      -0.025445740329236743,
      -0.02379304727406248,
      -0.013666283802447457,
      0.005378709690275332,
      0.030048801269636813,
      0.043099836459643937,
      0.016803073562831464,
      -0.03233232547817145
    ],
    "v_ego": [
      8.186371188567916,
      7.598098090828573,
      6.968395596948066,
      6.251504684114574,
      5.481708870621195,
      4.785079407830292,
      4.194783709721586,
      3.5255485684180066,
      2.7827064539217052,
      2.071497034688007
    ],
    "ax_ego": [
      -1.1759106996917486,
      -1.1758547870778215,
      -1.3430611278921234,
      -1.5244311659532512,
      -1.554618670197786,
      -1.231870090250568,
      -1.1297136441031548,
      -1.5477561935170272,
      -1.4227961877936275,
      -1.422835217556938
    ],
    "ay_ego": [
      -0.12679327244650118,
      -0.12731072379257014,
      -0.012268164114262747,
      0.03345136675933071,
      0.014402279062425305,
      0.04438864709076104,
      0.04969939507802561,
      -0.005949350990202162,
      -0.09659153637520505,
      -0.09601476306804257
    ],
    "a_ego": [
      1.1827267256586496,
      1.1827267227413174,
      1.3431171583691413,
      1.524798141941305,
      1.5546853814742467,
      1.232669570989927,
      1.1308063262751722,
      1.5477676276972334,
      1.4260711472080914,
      1.4260711381439959
    ],
    "yaw": [
      1.592287291215027,
      1.5918472382426707,
      1.5922963684065459,
      1.5928456431945914,
      1.5931585116393077,
      1.592304942432377,
      1.5920485085075646,
      1.591508273928892,
      1.5917190662458425,
      1.5921244404315043
    ],
    "yaw_diff": [
      -0.0008801059447125503,
      0.000898260327750311,
      0.0010985495760911235,
      0.00062573688943246,
      -0.0017071384138613865,
      -0.0005128678496246764,
      -0.0010804691573453873,
      0.00042158463390107315,
      0.0008107483713235553,
      0.0008107483713235553
    ],
    "min_front_frame": [
      9,
      11.92068855848347
    ],
    "v_avg": 5.184569360565992,
    "v_std": 1.9645965650807267,
    "vy_max": 0.07278255775326153,
    "a_max": 1.5546853814742467,
    "ax_avg": -1.3528847784034046,
    "a_std": 0.15514249205292904,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "48ef77409741520d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.973059318558374,
    "right_rear_min": 13.15769874425243,
    "speed_mode": "decelerating",
    "front_frame": [
      19.86054546845022,
      22.958746431700735,
      19.35902052353159,
      23.91438239376702,
      21.00735336973997,
      18.460983717401298,
      16.175685097923186,
      14.236383915712802,
      12.844154944042968,
      11.92068855848347
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "48ef77409741520d",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "9e2858dd989e5cc4": {
    "vx_ego": [
      6.743058214300385,
      6.335639695831954,
      5.662344109193318,
      4.784687558124482,
      3.870710387821588,
      2.9714783296445044,
      2.2432762802113304,
      1.652700427777674,
      1.1590654282294677,
      0.683405486248644
    ],
    "vy_ego": [
      -0.09435596929117462,
      -0.06520736531710414,
      0.012866405156970906,
      0.10789865641768026,
      0.0876699575783717,
      0.03166834901086091,
      0.00986569505540591,
      -0.0097937260435349,
      -0.041219181097023716,
      -0.07818132607968481
    ],
    "v_ego": [
      6.743718346015407,
      6.3359752489962595,
      5.662358727182334,
      4.785904005402528,
      3.871703104300708,
      2.9716470766017906,
      2.2432979742552503,
      1.6527294458096649,
      1.1597981237297585,
      0.6878629066771398
    ],
    "ax_ego": [
      -0.8153020697428208,
      -0.815357125184261,
      -1.8781423820702705,
      -1.6308423492864421,
      -2.0235616234141114,
      -1.5731524082164103,
      -1.3394498119686034,
      -1.0228534453279503,
      -0.9515631715763354,
      -0.9514445217942713
    ],
    "ay_ego": [
      0.01902748790832076,
      0.016500644539170328,
      0.26155803657168075,
      0.023952345965405186,
      -0.15942781354671443,
      -0.0791022252032384,
      -0.04123111838000648,
      -0.04153170550367474,
      -0.07603653381560482,
      -0.07750709746377282
    ],
    "a_ego": [
      0.8155240709035073,
      0.815524072519598,
      1.8962677590002481,
      1.631018235061573,
      2.0298322274233995,
      1.5751398863304793,
      1.3400842525399637,
      1.023696269985049,
      0.9545962622884641,
      0.9545962645064081
    ],
    "yaw": [
      2.2107027759562703,
      2.2076036088129762,
      2.206207763364782,
      2.2016523188431196,
      2.1985358423140298,
      2.1974567556085116,
      2.194244906019586,
      2.193704516617979,
      2.1951600880241755,
      2.1936145724384724
    ],
    "yaw_diff": [
      -0.006198334286588114,
      -0.0027916908963883103,
      -0.00911088904332491,
      -0.006232953058179724,
      -0.0021581734110363016,
      -0.006423699177851461,
      -0.0010807788032138888,
      0.0029111428123931304,
      -0.0030910311714063,
      -0.0030910311714063
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.611499495897084,
    "v_std": 2.087179332642888,
    "vy_max": 0.10789865641768026,
    "a_max": 2.0298322274233995,
    "ax_avg": -1.3001668908581476,
    "a_std": 0.4311989751911638,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9e2858dd989e5cc4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9e2858dd989e5cc4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4c9a89b8cd2853d6": {
    "vx_ego": [
      0.40523211973777884,
      1.2467346600038627,
      2.0574707285644886,
      2.782293628782167,
      3.4359770532921314,
      3.955120465888873,
      4.289768963753471,
      4.495745542522144,
      4.58645823212452,
      4.625175315037006
    ],
    "vy_ego": [
      -0.02096621621811795,
      0.010897140652918136,
      -0.010678248270763746,
      -0.015034081923305909,
      -0.008618169272116338,
      -0.0031222673177128124,
      0.0017152069967636407,
      0.006626429861992245,
      0.04316701589186267,
      0.08169127847718105
    ],
    "v_ego": [
      0.405774140489113,
      1.2467822825695578,
      2.0574984383677717,
      2.782334246703856,
      3.435987861385963,
      3.9551216982851765,
      4.289769306654796,
      4.4957504259778975,
      4.586661368172256,
      4.625896687109095
    ],
    "ax_ego": [
      1.6804805404466425,
      1.6851183442197808,
      1.5607960497254083,
      1.3435992327803068,
      1.2706963857711149,
      0.8061814488869193,
      0.5317961760139391,
      0.292341803477464,
      0.07649131140516557,
      0.0883922522897326
    ],
    "ay_ego": [
      0.15620562527867476,
      0.09376159471714435,
      0.1991333002325483,
      0.2925363353972808,
      0.17308760655569744,
      0.1558798997686644,
      -0.0011294441442553232,
      -0.06420733435366396,
      -0.2964203976137136,
      -0.2930917650280888
    ],
    "a_ego": [
      1.6877248129326479,
      1.6877248207779365,
      1.5734479273556992,
      1.3750768727076677,
      1.2824307483661463,
      0.8211133123274165,
      0.5317973753857042,
      0.29930972561087854,
      0.30613064668855694,
      0.30613064693384123
    ],
    "yaw": [
      -1.9104292074536917,
      -1.8733262301710214,
      -1.8164953636813497,
      -1.7644958091151097,
      -1.7292264321323025,
      -1.7087812507313493,
      -1.7006378669302133,
      -1.7054415907408231,
      -1.733175192112462,
      -1.7735452543205552
    ],
    "yaw_diff": [
      0.07420595456534063,
      0.11366173297934345,
      0.1039991091324799,
      0.07053875396561438,
      0.04089036280190639,
      0.01628676760227199,
      -0.009607447621219567,
      -0.05546720274327788,
      -0.08074012441618628,
      -0.08074012441618628
    ],
    "min_front_frame": [
      2,
      18.29098159345878
    ],
    "v_avg": 3.188157645571548,
    "v_std": 1.4335126843613695,
    "vy_max": 0.08169127847718105,
    "a_max": 1.6877248207779365,
    "ax_avg": 0.9335893545016474,
    "a_std": 0.565565779134723,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "4c9a89b8cd2853d6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      19.672111769467836,
      19.19363382005062,
      18.29098159345878,
      24.050448978984644,
      -1,
      -1,
      -1,
      -1,
      23.4434866020719,
      23.2070400427486
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6666666666666666,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "4c9a89b8cd2853d6",
    "maneuvering": "Yes"
  },
  "e05cdac678ea503c": {
    "vx_ego": [
      6.520679628551547,
      6.750644668080145,
      6.964765572279596,
      7.105166085105772,
      7.15253507558743,
      7.156348949654556,
      7.140934984200094,
      7.155988825288421,
      7.2215417357261344,
      7.295352483502294
    ],
    "vy_ego": [
      0.043168112312074625,
      0.027332925054237567,
      -0.0041381467729375565,
      0.0013011778653999606,
      -0.028909043276753366,
      -0.05596101488768568,
      -0.03173791883035282,
      -0.011044723318165417,
      0.00544636410188204,
      0.008938344111803165
    ],
    "v_ego": [
      6.520822517453434,
      6.7507000024790695,
      6.964766801628741,
      7.105166204248928,
      7.152593497486884,
      7.156567747489653,
      7.1410055135159,
      7.155997348627649,
      7.221543789503485,
      7.295357959177777
    ],
    "ax_ego": [
      0.4589611342132701,
      0.4631888763610205,
      0.39314117191681064,
      0.16838848450615232,
      0.021206499299589204,
      -0.00780071043359052,
      -0.05496518939336049,
      0.1151708765649864,
      0.14710489635151153,
      0.1479247937484844
    ],
    "ay_ego": [
      -0.2570740799779415,
      -0.24937617391525646,
      -0.12227322543891904,
      -0.1180109223674445,
      -0.2553891520573363,
      -0.04569418244473235,
      -0.031470871234637224,
      0.11249360709315505,
      0.11318199333249808,
      0.11210829409122916
    ],
    "a_ego": [
      0.5260536144869992,
      0.5260536201768761,
      0.4117167991658343,
      0.20562407328008486,
      0.2562680912659801,
      0.046355252049376384,
      0.06333709640735913,
      0.1609942310940876,
      0.18560715003820996,
      0.18560715021134608
    ],
    "yaw": [
      2.846355007179235,
      2.829659819235889,
      2.820711851612818,
      2.811436849665445,
      2.8026027659345187,
      2.7958664952549244,
      2.7897844489196326,
      2.7897230619776474,
      2.7952803290969266,
      2.8025588983496865
    ],
    "yaw_diff": [
      -0.03339037588669225,
      -0.01789593524614208,
      -0.01855000389474526,
      -0.017668167461852846,
      -0.013472541359188739,
      -0.012164092670583493,
      -0.00012277388397041733,
      0.011114534238558349,
      0.014557138505519873,
      0.014557138505519873
    ],
    "min_front_frame": [
      0,
      20.801898746623383
    ],
    "v_avg": 7.046452138161152,
    "v_std": 0.2260130047800341,
    "vy_max": 0.05596101488768568,
    "a_max": 0.5260536201768761,
    "ax_avg": 0.1852320833134874,
    "a_std": 0.1651193372700325,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e05cdac678ea503c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 45.141123855150994,
    "right_rear_min": 26.11491780373162,
    "speed_mode": "quasi_constant",
    "front_frame": [
      20.801898746623383,
      63.435161591853685,
      60.00864279202977,
      56.51608795720277,
      52.95809212623533,
      49.387864727620574,
      45.790423502321254,
      42.282067754366246,
      38.715229081360384,
      35.093060388795045
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e05cdac678ea503c",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "70b89bff643e5ef0": {
    "vx_ego": [
      11.88773586462802,
      11.909880915588243,
      11.870890973672871,
      11.72987743580826,
      11.564236849435984,
      11.429772900591677,
      11.325733369298481,
      11.243997777969032,
      11.159251464962674,
      11.063806429640772
    ],
    "vy_ego": [
      -0.005336267089930402,
      -0.03342795211747385,
      -0.027210233007173512,
      -0.04347661278517312,
      -0.03574921421247845,
      -0.008817074712411443,
      -0.003039604866341472,
      -0.02641209648985643,
      -0.04405224484311406,
      -0.08463677727616065
    ],
    "v_ego": [
      11.88773706232224,
      11.909927827299198,
      11.870922159024056,
      11.729958008234432,
      11.564292106141643,
      11.429776301393932,
      11.325733777183661,
      11.244028798869802,
      11.159338414912744,
      11.064130155445035
    ],
    "ax_ego": [
      0.03770642927816374,
      0.04924607313395338,
      -0.20764580375300296,
      -0.3592783555397405,
      -0.30874633780789995,
      -0.23106233532100168,
      -0.1848094205294208,
      -0.14341639903294823,
      -0.20060268810726753,
      -0.18703389234604842
    ],
    "ay_ego": [
      -0.5533042032052479,
      -0.5523967236319796,
      -0.5967131785100436,
      -0.6497554141444611,
      -0.5549815754113261,
      -0.5899808809200466,
      -0.6579039437727664,
      -0.6828536439634945,
      -0.5889428992240676,
      -0.5933915244921748
    ],
    "a_ego": [
      0.5545875188764199,
      0.5545875187907318,
      0.6318096210281937,
      0.7424708983989746,
      0.635081766511862,
      0.6336144274361099,
      0.6833682178358749,
      0.6977516482143203,
      0.6221697332901304,
      0.6221697342568671
    ],
    "yaw": [
      -1.3625994003961306,
      -1.3834716280317352,
      -1.4080873073351374,
      -1.4330747806409443,
      -1.4596103360689876,
      -1.4868711816115914,
      -1.5148107525300918,
      -1.5424530910541865,
      -1.5692438046501027,
      -1.5921953542554537
    ],
    "yaw_diff": [
      -0.04174445527120918,
      -0.0492313586068045,
      -0.049974946611613724,
      -0.05307111085608662,
      -0.054521691085207546,
      -0.05587914183700082,
      -0.0552846770481894,
      -0.053581427191832454,
      -0.0459030992107019,
      -0.0459030992107019
    ],
    "min_front_frame": [
      0,
      28.650001618491103
    ],
    "v_avg": 11.518584461082673,
    "v_std": 0.30271746178386966,
    "vy_max": 0.08463677727616065,
    "a_max": 0.7424708983989746,
    "ax_avg": -0.17356427300252128,
    "a_std": 0.05569980375733936,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "70b89bff643e5ef0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      28.650001618491103,
      -1,
      -1,
      -1,
      -1,
      -1,
      72.24547821058471,
      60.57974572104404,
      55.04651121512138,
      49.523941904511354
    ],
    "safe_frame": [
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "70b89bff643e5ef0",
    "road_shape": "Straight"
  },
  "4b22a759c31a52c5": {
    "vx_ego": [
      8.884407713749745,
      8.876429553157863,
      8.88511145282817,
      8.889082088475682,
      8.902406408581609,
      8.952263669845815,
      8.97293229092555,
      8.964496902828547,
      8.97270829946402,
      8.991064233079149
    ],
    "vy_ego": [
      0.00740252154323251,
      0.00012040911857003067,
      -0.0017449174750527874,
      -0.027656452360886874,
      -0.04274010683116636,
      -0.05734931090907125,
      -0.043059353891666596,
      -0.02862552300752519,
      0.03409714787338647,
      0.10775338423373704
    ],
    "v_ego": [
      8.884410797653448,
      8.876429553974539,
      8.885111624167436,
      8.889125111900292,
      8.902509004785495,
      8.952447361358958,
      8.973035607055843,
      8.96454260636816,
      8.97277308543817,
      8.991709894962636
    ],
    "ax_ego": [
      -0.0162387448605919,
      -0.015758315441425655,
      0.050489777534138,
      -0.034748723673247585,
      0.08796632050608205,
      0.11241183514125155,
      -0.02955426171851755,
      -0.004089748586021909,
      0.03688823304019171,
      0.03677618242819598
    ],
    "ay_ego": [
      0.08533268735448711,
      0.08542271776582613,
      -0.09446787523159048,
      -0.09576779862721413,
      0.021231690136179086,
      0.07090282881918229,
      0.02340176896846119,
      0.05622758399735333,
      0.13205663795093248,
      0.1320878909426568
    ],
    "a_ego": [
      0.08686405681169884,
      0.08686406170592913,
      0.10711394440603003,
      0.10187710758959716,
      0.09049231022256796,
      0.13290459666387083,
      0.0376974425734673,
      0.05637612301033384,
      0.13711198840265992,
      0.1371119926471465
    ],
    "yaw": [
      2.567284028107707,
      2.572911146392271,
      2.5728665178824883,
      2.570433613730624,
      2.5700338148769055,
      2.574251833309531,
      2.5752858903491243,
      2.575896395595198,
      2.574150241874583,
      2.573301857958633
    ],
    "yaw_diff": [
      0.01125423656912794,
      -8.925701956563614e-05,
      -0.004865808303728514,
      -0.0007995977074370941,
      0.008436036865250962,
      0.0020681140791865005,
      0.0012210104921477338,
      -0.0034923074412303023,
      -0.0016967678319002033,
      -0.0016967678319002033
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.929209464766497,
    "v_std": 0.043093135548358016,
    "vy_max": 0.10775338423373704,
    "a_max": 0.1371119926471465,
    "ax_avg": 0.02241425543700547,
    "a_std": 0.031695632169383925,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4b22a759c31a52c5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4b22a759c31a52c5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "93ed1cf3d95a5dab": {
    "vx_ego": [
      10.791233239919796,
      10.8964736901687,
      11.069174208039119,
      11.291630872235604,
      11.476511727784022,
      11.612692001127115,
      11.640390456307248,
      11.558166510458294,
      11.43598755532016,
      11.292979222782035
    ],
    "vy_ego": [
      0.03135659787224743,
      0.018493863981738023,
      0.021779689313447648,
      0.03491807733576202,
      0.02266180030512821,
      0.09836414200450694,
      0.10086918033329617,
      0.015170812295536962,
      0.00017704668756390873,
      0.07702723861451588
    ],
    "v_ego": [
      10.791278796999919,
      10.896489384363372,
      11.06919563485916,
      11.291684862187264,
      11.476534102034345,
      11.613108585450926,
      11.640827486344344,
      11.558176466771277,
      11.43598755669064,
      11.293241913714384
    ],
    "ax_ego": [
      0.17432169732640568,
      0.24073634083693823,
      0.443848649939204,
      0.43740183207349725,
      0.29198278830925173,
      0.2479440913963666,
      -0.14044369006612445,
      -0.19005730072541707,
      -0.29452276982220105,
      -0.2719155838058589
    ],
    "ay_ego": [
      1.1927117573952328,
      1.1810992344254,
      1.1021199531180876,
      0.9441311404966901,
      0.5904366899421395,
      0.24893375095970263,
      0.07934927284570803,
      -0.22929608777582103,
      -0.6390226617159915,
      -0.6489649782406821
    ],
    "a_ego": [
      1.2053835034492482,
      1.2053835021933164,
      1.1881372038253284,
      1.0405306209606868,
      0.6586876600473668,
      0.35134638866115736,
      0.1613094454163557,
      0.2978228893626691,
      0.7036288965998566,
      0.7036288991360503
    ],
    "yaw": [
      1.9523006605847315,
      2.0082421922043063,
      2.0600236684447415,
      2.1045932583038116,
      2.139310837119667,
      2.150924475171385,
      2.157739447009178,
      2.161893656266397,
      2.1443368917740075,
      2.1092358381194107
    ],
    "yaw_diff": [
      0.11188306323914965,
      0.10356295248087033,
      0.08913917971814023,
      0.06943515763171071,
      0.023227276103436445,
      0.013629943675585565,
      0.008308418514437754,
      -0.0351135289847786,
      -0.07020210730919363,
      -0.07020210730919363
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.306652478941562,
    "v_std": 0.2837381446420136,
    "vy_max": 0.10086918033329617,
    "a_max": 1.2053835034492482,
    "ax_avg": 0.09392960554620622,
    "a_std": 0.37598926600155197,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "93ed1cf3d95a5dab",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "93ed1cf3d95a5dab",
    "road_shape": "Straight"
  },
  "b5c2d13e8d5c517a": {
    "vx_ego": [
      5.526328307444379,
      5.00210940222472,
      4.48571273448238,
      4.0138271403070185,
      3.547920116218252,
      3.151943473971516,
      2.8627589251479146,
      2.5503681099965614,
      2.2072809769803765,
      1.8628330274322598
    ],
    "vy_ego": [
      -0.057992364858000744,
      -0.020406817371915853,
      -0.0034243357739462965,
      0.0006619750679308645,
      0.003710883653798458,
      -0.002875417313870754,
      -0.023549133653914645,
      -0.031022979567464803,
      -0.0041824308676218225,
      0.04209348452927897
    ],
    "v_ego": [
      5.5266325801561,
      5.002151028309741,
      4.485714041529273,
      4.013827194894694,
      3.5479220568839485,
      3.1519447855469105,
      2.8628557814199955,
      2.550556786615165,
      2.207284939482759,
      1.8633085492028032
    ],
    "ax_ego": [
      -1.0485033423288295,
      -1.048586760918106,
      -1.017012236860216,
      -0.8705437536835499,
      -0.9930660432733706,
      -0.5907926553579678,
      -0.566017864307807,
      -0.6838308320139436,
      -0.6887637693313697,
      -0.6889036736896076
    ],
    "ay_ego": [
      0.06142264081208998,
      0.05998165660520327,
      -0.012964847563235238,
      0.018443717237644652,
      -0.01678065018632363,
      -0.047096002246315716,
      -0.05302528101592671,
      0.00024604558556901024,
      0.08648580878185502,
      0.08536428890308084
    ],
    "a_ego": [
      1.0503009091108404,
      1.0503009065509892,
      1.0170948712857408,
      0.8707391100570752,
      0.9932078113483117,
      0.5926668499692752,
      0.5684961768933798,
      0.683830876278128,
      0.6941724029837313,
      0.6941724090188013
    ],
    "yaw": [
      -2.0366305342265933,
      -2.038004804181603,
      -2.03910782516955,
      -2.0397498242882817,
      -2.040443452328124,
      -2.0432870460579093,
      -2.044737191172891,
      -2.046839488683,
      -2.0490070497659456,
      -2.050635191288581
    ],
    "yaw_diff": [
      -0.002748539910019332,
      -0.002206041975894024,
      -0.0012839982374632797,
      -0.0013872560796848177,
      -0.005687187459570531,
      -0.002900290229963076,
      -0.004204595020218527,
      -0.004335122165890937,
      -0.0032562830452711466,
      -0.0032562830452711466
    ],
    "min_front_frame": [
      9,
      12.117330845461847
    ],
    "v_avg": 3.52121977440414,
    "v_std": 1.1565271443326797,
    "vy_max": 0.057992364858000744,
    "a_max": 1.0503009091108404,
    "ax_avg": -0.8196020931764767,
    "a_std": 0.18509945758988391,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b5c2d13e8d5c517a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.08136154387173,
    "right_rear_min": 21.681574987924968,
    "speed_mode": "decelerating",
    "front_frame": [
      24.34733117538221,
      22.446822951912555,
      20.62474353134468,
      18.99135791076318,
      17.507303010545545,
      16.2171139655285,
      15.009694131802258,
      13.919303699351111,
      12.944903390108871,
      12.117330845461847
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b5c2d13e8d5c517a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8728071969cc5091": {
    "vx_ego": [
      10.082545635290533,
      9.70603785176902,
      9.208749564044059,
      8.622606021292604,
      8.074506528440025,
      7.547010894965372,
      6.920426484207248,
      6.0435042662359635,
      5.0093108480106565,
      3.9521866266688113
    ],
    "vy_ego": [
      -0.03175156910676458,
      0.004522753089849618,
      -0.02691934408077984,
      -0.056884930794651095,
      -0.014579031824421579,
      0.02807910258629069,
      0.0033141323762994057,
      -0.03233311295321831,
      -0.03508678493286724,
      -0.0594584803310968
    ],
    "v_ego": [
      10.082595630583272,
      9.706038905509729,
      9.20878890975178,
      8.622793659469243,
      8.074519690110955,
      7.547063129769625,
      6.920427277761865,
      6.043590757670934,
      5.009433725928926,
      3.952633861478075
    ],
    "ax_ego": [
      -0.75444568950444,
      -0.7508979062456057,
      -1.2387970623826947,
      -1.101436191678447,
      -1.0882166140530718,
      -1.0232964005484289,
      -1.4847967481769555,
      -2.0225520818735285,
      -2.1144261860025115,
      -2.11433838533953
    ],
    "ay_ego": [
      0.29930673812160646,
      0.30809923993354643,
      0.14754981520053972,
      0.32978437859244314,
      0.38186806003196405,
      0.2079747334373119,
      -0.00032875011561309467,
      0.004765962809483451,
      -0.06002276426355377,
      -0.06303997250435667
    ],
    "a_ego": [
      0.8116482131421382,
      0.8116482041202724,
      1.2475532492578052,
      1.149747546508678,
      1.1532730007997707,
      1.0442169377690114,
      1.4847967845713768,
      2.0225576971479566,
      2.115277955324776,
      2.115277959478026
    ],
    "yaw": [
      -1.6391027047811964,
      -1.6274211169067452,
      -1.6121505015203694,
      -1.5953728980200121,
      -1.5791268465968922,
      -1.565695374724986,
      -1.555179466292619,
      -1.5495670955840972,
      -1.551564340036291,
      -1.5529913342915371
    ],
    "yaw_diff": [
      0.023363175748902343,
      0.030541230772751504,
      0.03355520700071457,
      0.032492102846239934,
      0.026862943743812373,
      0.021031816864733877,
      0.01122474141704366,
      -0.003994488904387694,
      -0.0028539885104921225,
      -0.0028539885104921225
    ],
    "min_front_frame": [
      0,
      36.808516975232635
    ],
    "v_avg": 7.5167885548034405,
    "v_std": 1.9310686561623507,
    "vy_max": 0.0594584803310968,
    "a_max": 2.115277959478026,
    "ax_avg": -1.3693203265805214,
    "a_std": 0.48820670157958035,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8728071969cc5091",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.980083762882087,
    "right_rear_min": 44.42392819057754,
    "speed_mode": "decelerating",
    "front_frame": [
      36.808516975232635,
      37.497726703890685,
      38.553707965809814,
      39.86462554869534,
      41.51349438827539,
      43.371482775890364,
      45.56802514653816,
      48.19184147025506,
      51.21145761816154,
      54.72442947669378
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8728071969cc5091",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5f859ab2a2205477": {
    "vx_ego": [
      5.201832699470118,
      4.80106935441412,
      4.524860282976899,
      4.415749085015227,
      4.421526228197491,
      4.476968727826076,
      4.5671873632293885,
      4.71050271531283,
      4.947066989075335,
      5.252755042775208
    ],
    "vy_ego": [
      -0.030399101175645704,
      -0.07674999901314461,
      -0.018675527407944204,
      0.024979669617421485,
      0.004281719866841782,
      -0.020171444045437914,
      -0.038875477043566864,
      -0.05061199362247493,
      -0.03480994736853171,
      0.004110461676673172
    ],
    "v_ego": [
      5.2019215236899585,
      4.801682778801921,
      4.524898822712586,
      4.415819738814868,
      4.42152830136406,
      4.477014169855565,
      4.5673528124678064,
      4.710774607733636,
      4.947189457341885,
      5.252756651063856
    ],
    "ax_ego": [
      -0.8756774128376101,
      -0.6891888855807464,
      -0.3978305265246696,
      -0.056234896799968855,
      0.07226846765343564,
      0.16615773066199,
      0.21596707506037133,
      0.39160258254997693,
      0.5597797866977579,
      0.6660468555738632
    ],
    "ay_ego": [
      1.2616624641114946,
      1.3724510127291172,
      1.2649360455826923,
      0.9901541547599136,
      0.986184657647027,
      1.1834070383548436,
      1.2529364297909087,
      1.3696658926786702,
      1.10957024640118,
      1.0492288254604094
    ],
    "a_ego": [
      1.5357744315822746,
      1.5357744308163261,
      1.3260212393658235,
      0.9917497737869276,
      0.9888290602502333,
      1.1950148994412264,
      1.271413180129623,
      1.4245480828062878,
      1.2427789591452547,
      1.2427789594279672
    ],
    "yaw": [
      -1.897586575108321,
      -1.7562275297390177,
      -1.626448582648178,
      -1.5091119082916014,
      -1.3923172206733883,
      -1.2647497352790036,
      -1.1259538301511194,
      -0.9816513853420806,
      -0.8561846212017138,
      -0.757813853580056
    ],
    "yaw_diff": [
      0.28271809073860643,
      0.2595578941816794,
      0.23467334871315337,
      0.2335893752364262,
      0.25513497078876934,
      0.2775918102557684,
      0.2886048896180775,
      0.2509335282807337,
      0.1967415352433155,
      0.1967415352433155
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.732093886384614,
    "v_std": 0.2958050625301807,
    "vy_max": 0.07674999901314461,
    "a_max": 1.5357744315822746,
    "ax_avg": 0.005289077645439999,
    "a_std": 0.1820943658469468,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "5f859ab2a2205477",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "5f859ab2a2205477",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "0fedf81df2db5b96": {
    "vx_ego": [
      6.893225362806801,
      6.992169971153765,
      7.104852958501016,
      7.203350088196932,
      7.293915981942547,
      7.373087714997361,
      7.433264812065282,
      7.518709543003892,
      7.5855784406509255,
      7.620345423797183
    ],
    "vy_ego": [
      -0.011584739152686652,
      -0.02256041286709376,
      -0.02520155516703282,
      -0.023156443499107393,
      -0.0404319601387626,
      -0.07735044433885907,
      -0.07304205206826486,
      -0.08482214073588557,
      -0.11887900261624473,
      -0.15190814032294764
    ],
    "v_ego": [
      6.893235097443304,
      6.992206366929768,
      7.104897654456641,
      7.203387308343365,
      7.294028043203397,
      7.373493442343624,
      7.4336236727223595,
      7.519187987250805,
      7.5865099022232325,
      7.621859383449884
    ],
    "ax_ego": [
      0.194760671679663,
      0.19974424441742072,
      0.24935120585872278,
      0.14231222445621544,
      0.2184142696124708,
      0.094008873821902,
      0.13903946950215484,
      0.19756689015987294,
      0.06040921246857461,
      0.067813339652355
    ],
    "ay_ego": [
      -0.27604176790571566,
      -0.27245736107324625,
      -0.2991814845684688,
      -0.2559352842358159,
      -0.3419442555751484,
      -0.36423926672789664,
      -0.27053651605902307,
      -0.426347143532258,
      -0.3708109537193535,
      -0.36952860142268507
    ],
    "a_ego": [
      0.3378324686314601,
      0.33783246851195875,
      0.38946833577556994,
      0.2928406374575498,
      0.4057470481607864,
      0.3761753737071821,
      0.30417426025355054,
      0.46989846018640996,
      0.3756993962589372,
      0.37569939619889103
    ],
    "yaw": [
      -0.5864214810200516,
      -0.6045926535069135,
      -0.6245099704066748,
      -0.6441570076093847,
      -0.6624176096622678,
      -0.681416411990055,
      -0.7034501663332081,
      -0.725198937625576,
      -0.7470274221358867,
      -0.7670287314817604
    ],
    "yaw_diff": [
      -0.036342344973723684,
      -0.03983463379952257,
      -0.039294074405419765,
      -0.036521204105766314,
      -0.037997604655574335,
      -0.04406750868630627,
      -0.043497542584735704,
      -0.04365696902062144,
      -0.04000261869174748,
      -0.04000261869174748
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.302242885836638,
    "v_std": 0.2376047632848514,
    "vy_max": 0.15190814032294764,
    "a_max": 0.46989846018640996,
    "ax_avg": 0.15634204016293524,
    "a_std": 0.04896511835517527,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "0fedf81df2db5b96",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0fedf81df2db5b96",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "191dc35423a85d10": {
    "vx_ego": [
      6.409799451982171,
      6.292252856753935,
      6.082729780432784,
      5.7019642142668046,
      5.2048203350984625,
      4.6262254114265895,
      4.01729934104224,
      3.428244327260872,
      2.8157446517259976,
      2.1738924223114777
    ],
    "vy_ego": [
      0.036996151190656024,
      0.058634865661963964,
      0.04637864775684086,
      0.007044075955475737,
      -0.04425065595956812,
      -0.07215446342916554,
      -0.018625328548667497,
      0.0230654358521456,
      0.0009608320039335982,
      0.008214473155889634
    ],
    "v_ego": [
      6.409906218489773,
      6.292526047685401,
      6.082906588197095,
      5.70196856531017,
      5.205008438149483,
      4.6267880677551965,
      4.017342516938525,
      3.4283219192087837,
      2.8157448156609823,
      2.173907942244219
    ],
    "ax_ego": [
      -0.23477511319319627,
      -0.23477980815705507,
      -0.6027879212058718,
      -0.9202555234617826,
      -1.0682673989061469,
      -1.247258606279544,
      -1.1894634878945118,
      -1.1663058449520443,
      -1.2836985097928204,
      -1.283545646834363
    ],
    "ay_ego": [
      0.0018117934890351933,
      0.001038215706045384,
      -0.10024234986758022,
      -0.06218476032674494,
      -0.11818514696592905,
      -0.08403670263229462,
      0.24758679534956884,
      -0.11599781142152438,
      -0.016694730966235694,
      -0.025906681102587925
    ],
    "a_ego": [
      0.23478210402525365,
      0.2347821036836408,
      0.6110661229839784,
      0.9223541472118041,
      1.074785078296616,
      1.250086476339817,
      1.214957863576201,
      1.17206007364123,
      1.2838070641986445,
      1.283807066358958
    ],
    "yaw": [
      1.2323003192015245,
      1.2290053886208234,
      1.226992903527406,
      1.226778439886716,
      1.2279119149660156,
      1.2233246148778347,
      1.2203946136160053,
      1.2180306878176492,
      1.2145019376459594,
      1.2073254415100303
    ],
    "yaw_diff": [
      -0.006589861161402144,
      -0.0040249701868346754,
      -0.00042892728137999825,
      0.0022669501585990126,
      -0.009174600176361736,
      -0.005860002523658814,
      -0.004727851596712185,
      -0.007057500343379708,
      -0.014352992271858156,
      -0.014352992271858156
    ],
    "min_front_frame": [
      9,
      10.58476717640979
    ],
    "v_avg": 4.675442111963963,
    "v_std": 1.4368506464285835,
    "vy_max": 0.07215446342916554,
    "a_max": 1.283807066358958,
    "ax_avg": -0.9231137860677336,
    "a_std": 0.3977403009418176,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "191dc35423a85d10",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.562117303159717,
      18.455028139839612,
      25.371815888124743,
      22.447225847965473,
      19.762764118649894,
      17.346427864716045,
      15.226275030658273,
      13.382656612548523,
      11.804624551175689,
      10.58476717640979
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "191dc35423a85d10",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "771a9923745f59c5": {
    "vx_ego": [
      11.684234099734109,
      11.821953573310166,
      11.944806714460569,
      12.055880563679171,
      12.19303331906216,
      12.325050005521529,
      12.425343068272657,
      12.498274796871494,
      12.533050086138418,
      12.552779503214346
    ],
    "vy_ego": [
      0.0336712635849139,
      0.0525650558138504,
      0.02524793517569668,
      0.003709949319423256,
      0.008523052462115821,
      0.039805087364952474,
      0.03960776729368076,
      0.03502485703076319,
      0.022903930509317494,
      0.041704535309343704
    ],
    "v_ego": [
      11.68428261603513,
      11.82207043519001,
      11.944833397919492,
      12.055881134509463,
      12.193036297911332,
      12.325114282779952,
      12.425406196157185,
      12.498323873172883,
      12.533071014387774,
      12.552848781236216
    ],
    "ax_ego": [
      0.27300802840133725,
      0.2760320163129972,
      0.21309149209238237,
      0.2306468376161323,
      0.31813494443875995,
      0.20829495269234255,
      0.1913947540143528,
      0.09865512366939855,
      0.03926378827934752,
      0.039416976094670444
    ],
    "ay_ego": [
      0.2876215579485712,
      0.28472068185317745,
      0.26605700402322413,
      0.29988903123144356,
      0.3740936058586824,
      0.23606370985089153,
      0.2556351447007102,
      0.20415082416044442,
      0.0836180438033663,
      0.08354593250377404
    ],
    "a_ego": [
      0.39655963507188763,
      0.3965596307048374,
      0.34087286983855397,
      0.37832710021257565,
      0.4910762352399107,
      0.3148219535319466,
      0.31934507835626286,
      0.22673859934209045,
      0.09237760724086283,
      0.09237759924555838
    ],
    "yaw": [
      -1.9388791368927585,
      -1.9283121654388675,
      -1.9144356658778507,
      -1.9008484047854814,
      -1.8873362255880939,
      -1.8774561177523976,
      -1.8675088006431801,
      -1.857926130759679,
      -1.8512135021578557,
      -1.849380561624153
    ],
    "yaw_diff": [
      0.021133942907781922,
      0.02775299912203355,
      0.027174522184738592,
      0.027024358394775128,
      0.019760215671392523,
      0.01989463421843496,
      0.019165339767002187,
      0.013425257203646623,
      0.0036658810674055076,
      0.0036658810674055076
    ],
    "min_front_frame": [
      0,
      19.638012235114005
    ],
    "v_avg": 12.203486802929945,
    "v_std": 0.2975734475487243,
    "vy_max": 0.0525650558138504,
    "a_max": 0.4910762352399107,
    "ax_avg": 0.1887938913611721,
    "a_std": 0.12445802566064673,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "771a9923745f59c5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.8602739419292424,
    "right_rear_min": 3.7607703907500785,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.638012235114005,
      34.419109409570964,
      34.74655327976624,
      34.87532183298225,
      34.899929307252854,
      34.823149822442225,
      34.48065863475084,
      34.27936040614776,
      34.20525929880539,
      34.20266392598407
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "771a9923745f59c5",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "ffac18af5cea540a": {
    "vx_ego": [
      2.8736832555803167,
      2.1160587927882473,
      1.433421402613933,
      1.0199257110117554,
      0.8961504466608035,
      0.8081998526089624,
      0.5304162576147116,
      0.22474202410053357,
      0.05548732183803441,
      -0.07959645925045841
    ],
    "vy_ego": [
      -0.02555871900195439,
      -0.017874114497702376,
      -0.013986013580341017,
      -0.010938004005376534,
      -0.00997458824664349,
      -0.002855583690387742,
      -0.002005335811171266,
      0.002694917787270365,
      0.015105652119658315,
      0.024205130034812335
    ],
    "v_ego": [
      2.8737969137570785,
      2.1161342817755044,
      1.433489632347428,
      1.0199843606224837,
      0.896205955939285,
      0.8082048973591792,
      0.5304200483708281,
      0.22475818111624982,
      0.05750672665625951,
      0.0831954604844042
    ],
    "ax_ego": [
      -1.5153957388742672,
      -1.515390016172724,
      -1.2152431073452838,
      -0.43888646380182994,
      -0.05665357668419233,
      -0.2953613084242594,
      -0.8158046888605348,
      -0.4068524168063524,
      -0.27019841705936115,
      -0.27018680863383476
    ],
    "ay_ego": [
      0.000912506693787507,
      -0.004264089833880047,
      0.011719940001057028,
      -0.01866798190757768,
      -0.01344714576091472,
      0.0252705664306839,
      -0.010491037247608359,
      0.03191619880589999,
      0.018097376118841754,
      0.018269761753857944
    ],
    "a_ego": [
      1.515396013610552,
      1.5153960154289967,
      1.2152996202352115,
      0.4392833045506927,
      0.058227600673795135,
      0.29644038868180245,
      0.8158721420843861,
      0.4081023557974,
      0.27080380278676164,
      0.2708037956792319
    ],
    "yaw": [
      2.1926653867397246,
      2.189249379797385,
      2.1880842205968998,
      2.183848302602983,
      2.173969654673826,
      2.169249608494357,
      2.1731232053366445,
      2.175132744218157,
      2.1758858527710285,
      2.176523882028113
    ],
    "yaw_diff": [
      -0.0068320138846793554,
      -0.0023303184009701994,
      -0.008471835987833742,
      -0.019757295858314095,
      -0.009440092358937946,
      0.007747193684575215,
      0.004019077763024903,
      0.0015062171057431684,
      0.0012760585141693426,
      0.0012760585141693426
    ],
    "min_front_frame": [
      1,
      12.44322514235335
    ],
    "v_avg": 1.00436964584287,
    "v_std": 0.8684975656043414,
    "vy_max": 0.02555871900195439,
    "a_max": 1.5153960154289967,
    "ax_avg": -0.6799972542662639,
    "a_std": 0.5197356607253659,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ffac18af5cea540a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.588717083441734,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.673571844579845,
      12.44322514235335,
      12.596021023251485,
      13.011538410784818,
      13.251808877338597,
      13.386708578450225,
      13.565761621823954,
      13.915650342730693,
      14.00092478168491,
      14.06752948930703
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ffac18af5cea540a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e64d993cb8a75338": {
    "vx_ego": [
      2.415642811717011,
      2.3355785576716244,
      2.247079891958811,
      2.1650233099369167,
      2.100426250989053,
      2.0488134330313597,
      1.9988023596089541,
      1.9394480123853548,
      1.8873561005431712,
      1.8408805066617484
    ],
    "vy_ego": [
      -0.04576846800826839,
      -0.005935651680216036,
      0.0013899045287832923,
      0.006184127366194003,
      -0.007400967510784673,
      -0.0021458457757943528,
      0.009564277576129765,
      0.007759275100439722,
      0.025368819630520067,
      0.041981916119787854
    ],
    "v_ego": [
      2.4160763536080334,
      2.335586100107708,
      2.2470803218132236,
      2.1650321420250287,
      2.1004392898067827,
      2.0488145567678493,
      1.9988252420318982,
      1.9394635338401154,
      1.887526589817206,
      1.841359150488656
    ],
    "ax_ego": [
      -0.16022216164192116,
      -0.15905946708625762,
      -0.19396219677812182,
      -0.13480475525760158,
      -0.1252049327153298,
      -0.07960883812717968,
      -0.12189421183758728,
      -0.11571522297825759,
      -0.09252703555758479,
      -0.09259447116683604
    ],
    "ay_ego": [
      0.1234093310278386,
      0.12490432728994438,
      0.1732004849450527,
      0.174556755347463,
      0.08025330654538768,
      0.1636616760623271,
      0.019027406698622455,
      0.04708400688519248,
      0.011924027707281813,
      0.011388509333515491
    ],
    "a_ego": [
      0.20223996653962478,
      0.20223996896142418,
      0.26003796215975133,
      0.22055018222050035,
      0.14871741117877968,
      0.18199645963449285,
      0.12337034118936928,
      0.12492764519221806,
      0.09329220088431071,
      0.09329219814917859
    ],
    "yaw": [
      2.3628047326804102,
      2.372169396049579,
      2.401439805037282,
      2.4387969432980876,
      2.4750522759019304,
      2.5019843193232445,
      2.5187215221355124,
      2.5280352587711974,
      2.5265395595282043,
      2.5207540450488506
    ],
    "yaw_diff": [
      0.01872932673833727,
      0.058540817975406334,
      0.07471427652161111,
      0.07251066520768568,
      0.05386408684262811,
      0.03347440562453574,
      0.018627473271370043,
      -0.002991398485986174,
      -0.01157102895870743,
      -0.01157102895870743
    ],
    "min_front_frame": [
      9,
      13.265702862760477
    ],
    "v_avg": 2.0980203280306506,
    "v_std": 0.18218017227079394,
    "vy_max": 0.04576846800826839,
    "a_max": 0.26003796215975133,
    "ax_avg": -0.12755932931466776,
    "a_std": 0.05391517876232402,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "e64d993cb8a75338",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      14.555514827144322,
      14.67413506801637,
      13.55988745942462,
      15.072427854986119,
      15.057648923058528,
      15.024082887086434,
      14.770678170041537,
      14.47994931045694,
      13.965395736108839,
      13.265702862760477
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "e64d993cb8a75338",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "134699ce1ce455c4": {
    "vx_ego": [
      9.917630259811371,
      10.020064143768082,
      10.086621653751692,
      10.142434070626198,
      10.185295308954032,
      10.197785956395917,
      10.229801508473752,
      10.356968217819546,
      10.603635677534017,
      10.88882581914119
    ],
    "vy_ego": [
      -0.01208496453031227,
      -0.008900088253305682,
      -0.019839066792893156,
      -0.018621361026055716,
      -0.03885493685963404,
      -0.044346358845248623,
      -0.03775119097509094,
      -0.03710398738873799,
      -0.016132437805508104,
      -0.02291144939405676
    ],
    "v_ego": [
      9.917637622775592,
      10.020068096415198,
      10.086641164158847,
      10.142451164885419,
      10.1853694207289,
      10.19788237880829,
      10.229871165131646,
      10.357034680390152,
      10.60364794952293,
      10.888849923389941
    ],
    "ax_ego": [
      0.20111581976296727,
      0.20780903247190835,
      0.05770053215869139,
      0.16491939954911705,
      0.0033002624875485276,
      0.04374761495927598,
      0.08093004635093054,
      0.42447090269404997,
      0.5613351826366519,
      0.5771285241710804
    ],
    "ay_ego": [
      -0.3640075888623849,
      -0.3602284038649323,
      -0.3934054665771657,
      -0.489955607910131,
      -0.39168474640423423,
      -0.42597763000907873,
      -0.44701225220510454,
      -0.4480991851569123,
      -0.5970045791614291,
      -0.5817510817095283
    ],
    "a_ego": [
      0.41587149181969346,
      0.41587149088148306,
      0.39761440183196783,
      0.5169670260956952,
      0.3916986498550078,
      0.4282181629529236,
      0.4542792379405466,
      0.6172263984731943,
      0.8194581470736858,
      0.8194581468763952
    ],
    "yaw": [
      0.755291437426575,
      0.7368084483956554,
      0.7191890061535884,
      0.6972064030982594,
      0.6775511841375319,
      0.6580235593902742,
      0.6360008013024272,
      0.614107492400662,
      0.587133857021128,
      0.560338827032119
    ],
    "yaw_diff": [
      -0.03696597806183921,
      -0.035238884484134037,
      -0.043965206110657906,
      -0.039310437921455055,
      -0.03905524949451533,
      -0.04404551617569408,
      -0.04378661780353044,
      -0.05394727075906802,
      -0.05359005997801791,
      -0.05359005997801791
    ],
    "min_front_frame": [
      6,
      28.967136966106466
    ],
    "v_avg": 10.262945356620692,
    "v_std": 0.2742009329878344,
    "vy_max": 0.044346358845248623,
    "a_max": 0.8194581470736858,
    "ax_avg": 0.23224573172422214,
    "a_std": 0.15940291686404132,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "134699ce1ce455c4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.2574922811948426,
    "right_rear_min": 4.016295521450509,
    "speed_mode": "quasi_constant",
    "front_frame": [
      41.84976244382376,
      44.53472903706737,
      47.51737399797842,
      50.422377786054746,
      53.431969383548456,
      56.31880456744501,
      28.967136966106466,
      32.04939075223516,
      35.24888125101044,
      38.11678696979029
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "134699ce1ce455c4",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "11811a7320ab58db": {
    "vx_ego": [
      12.61266676756295,
      13.277551393981161,
      13.64266440122584,
      13.713268408792285,
      13.79731503842325,
      13.844651475911485,
      13.869761771011792,
      13.890228689300129,
      13.871883243956955,
      13.843005817987098
    ],
    "vy_ego": [
      0.03197016283644327,
      -0.0017939922640950456,
      -0.02239893188351605,
      -0.002469397563796605,
      0.028536527010544432,
      -0.007849962605838812,
      -0.00746527747641057,
      -0.03337749243484467,
      -0.03290705843160424,
      -0.003237620865189861
    ],
    "v_ego": [
      12.61270728594375,
      13.277551515178516,
      13.642682788829488,
      13.713268631128933,
      13.797344548965725,
      13.844653701388525,
      13.869763780071668,
      13.890268791425802,
      13.87192227517399,
      13.84300619659666
    ],
    "ax_ego": [
      1.3290518038019024,
      1.329997580560062,
      0.13121973517520052,
      0.15149637201264196,
      0.18454047558712444,
      0.0038944656951169776,
      0.09672405608198263,
      -0.014246044928936205,
      -0.058114096853536676,
      -0.057009234114041796
    ],
    "ay_ego": [
      0.1312942857897864,
      0.12133977280575498,
      0.22081664111507848,
      0.2138340364548342,
      0.2726758652929011,
      0.18941450371560778,
      0.1813499521165395,
      0.16779881545025746,
      0.2070017979848403,
      0.2073088020408917
    ],
    "a_ego": [
      1.3355212041259923,
      1.3355212108986403,
      0.2568630138669153,
      0.26206133991789055,
      0.32925266079889837,
      0.1894545356566594,
      0.20553186652590322,
      0.16840247107042947,
      0.21500463395484962,
      0.21500463292194252
    ],
    "yaw": [
      -2.0279007573641428,
      -2.0204135202588223,
      -2.0126145596348564,
      -2.006126075463827,
      -1.9995359976440683,
      -1.9885628438433187,
      -1.9818960279233737,
      -1.9737486356908573,
      -1.9670349854986842,
      -1.9617014788085618
    ],
    "yaw_diff": [
      0.01497447421064102,
      0.0155979212479318,
      0.012976968342059081,
      0.013180155639517022,
      0.021946307601499182,
      0.013333631839890003,
      0.01629478446503274,
      0.013427300384346363,
      0.010667013380244672,
      0.010667013380244672
    ],
    "min_front_frame": [
      0,
      27.04088753500159
    ],
    "v_avg": 13.636316951470302,
    "v_std": 0.38327598808893065,
    "vy_max": 0.03337749243484467,
    "a_max": 1.3355212108986403,
    "ax_avg": 0.3097555113017516,
    "a_std": 0.4441704484852621,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "11811a7320ab58db",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 34.67805925100193,
    "right_rear_min": 4.44943211251698,
    "speed_mode": "accelerating",
    "front_frame": [
      27.04088753500159,
      27.49356364197836,
      27.650477975816674,
      27.810667141564757,
      28.011252545682634,
      27.967352652019464,
      27.909551352795734,
      27.838152203084295,
      27.880190892508356,
      27.900152959114873
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "11811a7320ab58db",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "e61cc4ac32d7538a": {
    "vx_ego": [
      1.0334930573355021,
      1.1361549282054741,
      1.2223609207996202,
      1.2612034003632315,
      1.2304509944386917,
      1.1306558262385462,
      0.9359824487754894,
      0.6537847483541148,
      0.37301349183311466,
      0.11673589280033281
    ],
    "vy_ego": [
      -0.021661118401672744,
      -0.018975539612828204,
      -0.01712869384251173,
      0.0050457451508294955,
      0.03284120213418616,
      0.040962082297348594,
      0.015326860325779765,
      -0.01705514308657341,
      -0.017687559169049842,
      -0.011793942685691838
    ],
    "v_ego": [
      1.0337200315419521,
      1.1363133775456418,
      1.222480925352558,
      1.261213493676588,
      1.2308891884620579,
      1.1313975824586617,
      0.9361079302426658,
      0.6540071674577861,
      0.3734326108401511,
      0.11733015704397645
    ],
    "ax_ego": [
      0.20531881833381302,
      0.20531815991233732,
      0.13949385452157412,
      0.01586033818644677,
      -0.13881857477921367,
      -0.2603305269685984,
      -0.5182348136215437,
      -0.6105521549073377,
      -0.5125540262577593,
      -0.5125534325858072
    ],
    "ay_ego": [
      0.005077814507866725,
      0.005104322258210468,
      0.0014775043956822202,
      0.08603147373744523,
      0.022728766837304328,
      0.008777429167214568,
      -0.11445477682366637,
      -0.014840266438787117,
      0.0117988455783869,
      0.011824341702120069
    ],
    "a_ego": [
      0.20538159937581948,
      0.20538159823972493,
      0.139501679088552,
      0.08748122541908743,
      0.14066695968022017,
      0.260478456949003,
      0.5307232970080656,
      0.610732484292401,
      0.5126898112797078,
      0.512689805157253
    ],
    "yaw": [
      1.5918854190658427,
      1.5917563239288328,
      1.591586730243639,
      1.591350342419532,
      1.590871828355398,
      1.590667493240045,
      1.5899316193769493,
      1.5900038417978992,
      1.5897485486163618,
      1.5897982921605889
    ],
    "yaw_diff": [
      -0.0002581902740197428,
      -0.000339187370387517,
      -0.00047277564821390783,
      -0.0009570281282682558,
      -0.0004086702307057877,
      -0.00147174772619163,
      0.00014444484189990447,
      -0.000510586363074772,
      9.94870884540866e-05,
      9.94870884540866e-05
    ],
    "min_front_frame": [
      9,
      14.4774120649734
    ],
    "v_avg": 0.909689246462204,
    "v_std": 0.3770874474706914,
    "vy_max": 0.040962082297348594,
    "a_max": 0.610732484292401,
    "ax_avg": -0.19870523581660887,
    "a_std": 0.18756536555445832,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e61cc4ac32d7538a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 31.64124866894292,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.497436684684953,
      17.970431639068114,
      17.382080951837104,
      16.812401124652737,
      16.190663531314577,
      15.707005268074221,
      15.177105593112824,
      14.775469377824896,
      14.583330404142098,
      14.4774120649734
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e61cc4ac32d7538a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "888d1fb945ed5982": {
    "vx_ego": [
      2.607528127899085,
      2.77381736652373,
      3.026545724783319,
      3.315361380615223,
      3.6212273863276057,
      3.9174160176506856,
      4.2316646784069185,
      4.543148939362227,
      4.84703628453515,
      5.169864545336558
    ],
    "vy_ego": [
      -0.07387665814779532,
      -0.02092522898470195,
      -0.06130671913028296,
      -0.08934349998861091,
      -0.08545096390514839,
      -0.07395010360523857,
      -0.054453417088230704,
      -0.016964561841131598,
      0.02552185608702473,
      0.06880401324119112
    ],
    "v_ego": [
      2.6085744571324763,
      2.7738962936700973,
      3.027166585772033,
      3.3165649918349396,
      3.622235449376722,
      3.918113943362212,
      4.232015019480592,
      4.543180612917187,
      4.847103476174038,
      5.170322369965539
    ],
    "ax_ego": [
      0.2231801723383502,
      0.4737990287518684,
      0.5731548445126093,
      0.6268184387592214,
      0.6116058346685033,
      0.5847150275403191,
      0.6768133205157814,
      0.5705915793391497,
      0.644753593192583,
      0.6455222986164567
    ],
    "ay_ego": [
      1.2448345068395512,
      1.172576998902616,
      1.1754282131435068,
      1.055806324872916,
      0.6085264838448124,
      0.35245106588556,
      0.17022485325113113,
      0.16439440811884132,
      0.1428821321496857,
      0.1393680796361821
    ],
    "a_ego": [
      1.2646827027928564,
      1.264682702499595,
      1.307722432338763,
      1.2278551831589102,
      0.8627665840429191,
      0.6827249938850514,
      0.6978916617154606,
      0.5938015424647273,
      0.6603957144185499,
      0.6603957144262455
    ],
    "yaw": [
      0.27603443880537115,
      0.4826411512336463,
      0.6990483190633663,
      0.88366750924713,
      1.002308378336192,
      1.0629213391861305,
      1.0902815631723286,
      1.1007720985083327,
      1.1080990009459644,
      1.1135459655085467
    ],
    "yaw_diff": [
      0.4132134248565503,
      0.43281433565943994,
      0.36923838036752743,
      0.2372817381781238,
      0.12122592169987723,
      0.05472044797239617,
      0.020981070672008162,
      0.014653804875263354,
      0.010893929125164625,
      0.010893929125164625
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8059173199685836,
    "v_std": 0.8403409435368012,
    "vy_max": 0.08934349998861091,
    "a_max": 1.307722432338763,
    "ax_avg": 0.5630954138234843,
    "a_std": 0.28857662941903783,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "888d1fb945ed5982",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "888d1fb945ed5982",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0ac560549a495626": {
    "vx_ego": [
      1.378619672237174,
      2.20037754563676,
      2.9582254710471054,
      3.6584273193462384,
      4.308629380507793,
      4.901885542150184,
      5.425210605315298,
      5.699296546418866,
      5.874267436742466,
      6.14855269789856
    ],
    "vy_ego": [
      -0.005672536712769793,
      -0.01983295822149006,
      -0.017596144147051962,
      0.0061378441422000884,
      0.026448937998039046,
      0.03964789132141516,
      0.04033294503105911,
      -0.02369494746512081,
      -0.0026519347204850274,
      -0.07756698922125393
    ],
    "v_ego": [
      1.378631342437887,
      2.2004669253534046,
      2.9582778033580133,
      3.6584324681575877,
      4.308710559424501,
      4.902045881428206,
      5.425360527972354,
      5.699345802331824,
      5.874268035349653,
      6.149041951121533
    ],
    "ax_ego": [
      1.6433344246050015,
      1.6434925406529552,
      1.3875040081268604,
      1.4131420903161125,
      1.187846180172587,
      1.1848343875658551,
      0.9092148563606518,
      0.19067425950686218,
      0.5189704605607172,
      0.5896001329001477
    ],
    "ay_ego": [
      -0.044950623149195595,
      -0.03874028807188745,
      0.005024672977863798,
      0.0273037042083544,
      0.013779891198423155,
      0.1183289836412762,
      0.4897089969057877,
      0.669526096581037,
      0.8720105944987845,
      0.825896181980176
    ],
    "a_ego": [
      1.643949083643819,
      1.64394906888924,
      1.387513106210762,
      1.4134058368658624,
      1.1879261059308557,
      1.1907284637263578,
      1.0327083599339135,
      0.6961478774237054,
      1.014757515790214,
      1.014757517895435
    ],
    "yaw": [
      1.4791599235108182,
      1.4753810032303034,
      1.4712965615506652,
      1.4665609219882034,
      1.4640581889579312,
      1.4683634018645069,
      1.4974733942161103,
      1.5600559702167955,
      1.6234453398151327,
      1.706593566953166
    ],
    "yaw_diff": [
      -0.007557840561029483,
      -0.008168883359276347,
      -0.009471279124923626,
      -0.005005466060544528,
      0.008610425813151412,
      0.05821998470320677,
      0.12516515200137057,
      0.12677873919667437,
      0.16629645427606654,
      0.16629645427606654
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.255458129693496,
    "v_std": 1.569039120845508,
    "vy_max": 0.07756698922125393,
    "a_max": 1.643949083643819,
    "ax_avg": 1.0668613340767752,
    "a_std": 0.28644354196820276,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "0ac560549a495626",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.106176278801474,
    "right_rear_min": 6.272943092930328,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0ac560549a495626",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "bdf99b84030a5a0f": {
    "vx_ego": [
      2.7641755767596905,
      2.456987205845632,
      2.1655305528806106,
      1.8944363742420935,
      1.6362757020387182,
      1.3863967489777738,
      1.1349349350433038,
      0.9324005420638645,
      0.8645185866245317,
      0.8807602788667839
    ],
    "vy_ego": [
      0.01415676205747507,
      0.008270867351835798,
      -0.009363960222400491,
      -0.02591767607113038,
      -0.018696525747761372,
      -0.00807840192811038,
      -0.017883455507834767,
      -0.017183408211340345,
      -0.011035833371832504,
      -0.025857185795989834
    ],
    "v_ego": [
      2.764211828544752,
      2.4570011267673193,
      2.1655507981135997,
      1.894613655071782,
      1.6363825143154447,
      1.3864202848176495,
      1.1350758233539506,
      0.9325588669669844,
      0.8645890215804783,
      0.8811397521884842
    ],
    "ax_ego": [
      -0.6143604272728378,
      -0.6143387766371166,
      -0.551456014641217,
      -0.532948663160889,
      -0.49973949010731095,
      -0.49976726003541644,
      -0.5060749573546952,
      -0.3039528622040846,
      0.032436288825508766,
      0.03246428206884168
    ],
    "ay_ego": [
      -0.01766972122079513,
      -0.018407084227711756,
      -0.06577082903175971,
      -0.002665123055832025,
      0.028493708851307975,
      0.015147313579471133,
      -0.05294578619618798,
      0.059252933007972367,
      -0.031222714264304455,
      -0.03119360747829128
    ],
    "a_ego": [
      0.6146144756242603,
      0.614614475284918,
      0.5553643290989251,
      0.532955326876354,
      0.5005511456552849,
      0.4999967553014543,
      0.5088370257140188,
      0.3096744298648219,
      0.04502189155069149,
      0.045021891983289916
    ],
    "yaw": [
      2.7432134061088327,
      2.7420131716512186,
      2.7405329022418297,
      2.7402590547331824,
      2.7398252584929366,
      2.740018551580995,
      2.7403003177551977,
      2.741169751516038,
      2.742173918511506,
      2.741276948991017
    ],
    "yaw_diff": [
      -0.00240046891522816,
      -0.0029605388187778914,
      -0.0005476950172944584,
      -0.0008675924804917301,
      0.0003865861761171985,
      0.0005635323484050048,
      0.0017388675216807314,
      0.0020083339909362508,
      -0.001793939040978465,
      -0.001793939040978465
    ],
    "min_front_frame": [
      6,
      9.71157947049379
    ],
    "v_avg": 1.6117543671720445,
    "v_std": 0.6527836451514991,
    "vy_max": 0.02591767607113038,
    "a_max": 0.6146144756242603,
    "ax_avg": -0.4057737880519217,
    "a_std": 0.2051657485571175,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bdf99b84030a5a0f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.254433716324975,
      13.975067932376193,
      12.826170785749186,
      11.798139000665117,
      10.91391334718863,
      10.197804267456549,
      9.71157947049379,
      9.898731757833087,
      10.663624242995187,
      11.833025387849421
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bdf99b84030a5a0f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0ea5bbb7337d5a56": {
    "vx_ego": [
      2.105084765376031,
      2.062544891562476,
      1.9888632114152345,
      1.855446173494642,
      1.6784678242614772,
      1.465809990201748,
      1.2065736978444457,
      0.9524668780301051,
      0.8018596942608646,
      0.7218088567218812
    ],
    "vy_ego": [
      -0.025512366616972315,
      0.0039045092292651074,
      0.013885573158875064,
      0.0006236904538499122,
      0.0028905870526078625,
      0.013867406673793492,
      0.0051142583784726525,
      -0.004978279547125014,
      -0.01169441909525687,
      -0.024983444253644557
    ],
    "v_ego": [
      2.1052393570016354,
      2.062548587282924,
      1.9889116830223685,
      1.855446278318424,
      1.6784703132836654,
      1.4658755855607615,
      1.2065845366027121,
      0.9524798879827671,
      0.8019449661405094,
      0.7222410941845695
    ],
    "ax_ego": [
      -0.08723894637129884,
      -0.0815622394952192,
      -0.2154018363588128,
      -0.3197309738950602,
      -0.38754946489162173,
      -0.46510648954486655,
      -0.5735686323519782,
      -0.4426473842466918,
      -0.15957984934378866,
      -0.1596701940150499
    ],
    "ay_ego": [
      0.18470376489989085,
      0.18727977570697446,
      0.12344190668396837,
      0.09924267266331227,
      0.150633285483421,
      0.08167175006184749,
      0.00915503717221458,
      0.031794873536202056,
      -0.008071901013583894,
      -0.006026007397487765
    ],
    "a_ego": [
      0.20426971026603163,
      0.20426970725080643,
      0.24826569523903685,
      0.33477903719504454,
      0.41579438961259707,
      0.4722227455077889,
      0.57364169193299,
      0.44378781051716765,
      0.15978386621483215,
      0.1597838653367675
    ],
    "yaw": [
      2.753393443952959,
      2.7839123396844183,
      2.8170557139132213,
      2.8526726447780506,
      2.8865777697599078,
      2.9163507862930187,
      2.939657640189802,
      2.958779394946665,
      2.973803085507666,
      2.9866198726108935
    ],
    "yaw_diff": [
      0.06103779146291899,
      0.06628674845760596,
      0.07123386172965862,
      0.06781024996371432,
      0.05954603306622186,
      0.04661370779356666,
      0.038243509513725904,
      0.030047381122002115,
      0.025633574206454846,
      0.025633574206454846
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.4839742289380338,
    "v_std": 0.5056343353632973,
    "vy_max": 0.025512366616972315,
    "a_max": 0.57364169193299,
    "ax_avg": -0.2892056010514388,
    "a_std": 0.13980985606890117,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "0ea5bbb7337d5a56",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 46.74224997743911,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "0ea5bbb7337d5a56",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "3e1dd9067b365a42": {
    "vx_ego": [
      3.29127243730871,
      3.34349652796721,
      3.4225649734078942,
      3.501752446145485,
      3.557485631358768,
      3.578849712467779,
      3.555974679062518,
      3.5267334097753533,
      3.5302060019043715,
      3.561707111369718
    ],
    "vy_ego": [
      0.002553546284417174,
      0.0016933864280024302,
      -0.0017991253417460884,
      -0.02182086448305398,
      -0.020690058407832224,
      -0.012775519819494319,
      -0.013844220592883927,
      0.00543931106129758,
      0.030496307909643416,
      0.028668025469083203
    ],
    "v_ego": [
      3.291273427897877,
      3.3434969567933486,
      3.422565446277189,
      3.5018204328909666,
      3.5575457967313664,
      3.578872514960174,
      3.5560016283148137,
      3.5267376043208136,
      3.5303377233173836,
      3.5618224833455576
    ],
    "ax_ego": [
      0.09384491274402605,
      0.1144149398971265,
      0.20051184692757412,
      0.1188731963864038,
      0.1090058865394901,
      -0.019975268183782507,
      -0.06965431712792376,
      -0.04330288423734349,
      0.05085621792066766,
      0.06904538968896937
    ],
    "ay_ego": [
      0.3713329075321712,
      0.36551910624762185,
      0.3125879568567939,
      0.32071807943913416,
      0.3579321937387535,
      0.3710468705907559,
      0.3393906578778876,
      0.46233001087144326,
      0.35874778775351507,
      0.3556951906293837
    ],
    "a_ego": [
      0.3830078274190096,
      0.3830078269483841,
      0.3713707467345964,
      0.34203935928230145,
      0.3741627167622354,
      0.37158416477859657,
      0.34646463390848814,
      0.46435350621661253,
      0.3623345555135965,
      0.3623345615231526
    ],
    "yaw": [
      -1.402632588830949,
      -1.3468149308483,
      -1.295519687611983,
      -1.244168769060702,
      -1.1964466451357665,
      -1.1478189224173925,
      -1.0978301794090686,
      -1.0466419360674557,
      -0.9954083808184587,
      -0.944500875211463
    ],
    "yaw_diff": [
      0.11163531596529808,
      0.10259048647263391,
      0.10270183710256209,
      0.09544424784987093,
      0.09725544543674802,
      0.0999774860166478,
      0.10237648668322574,
      0.10246711049799395,
      0.1018150112139915,
      0.1018150112139915
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4870474014849493,
    "v_std": 0.09513547263618212,
    "vy_max": 0.030496307909643416,
    "a_max": 0.46435350621661253,
    "ax_avg": 0.06236199205552079,
    "a_std": 0.03216826781759772,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "3e1dd9067b365a42",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "3e1dd9067b365a42",
    "with_lead": "Far",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "b0546b8af0f95c05": {
    "vx_ego": [
      0.8336716550127093,
      1.662249423837914,
      2.4836458241372825,
      3.269081618860822,
      3.958852499549243,
      4.443671558494451,
      4.775114976034586,
      5.062701021668236,
      5.193277797550955,
      5.197313321772485
    ],
    "vy_ego": [
      -0.01784476556689557,
      -0.0311851179567878,
      -0.01663597204355982,
      -0.00571636555249766,
      -0.014231154524584344,
      -0.024265159770076705,
      -0.021744227688413442,
      0.019277936472292367,
      0.03702423767351215,
      0.054612459954275216
    ],
    "v_ego": [
      0.8338626169998073,
      1.662541926879276,
      2.4837015390985275,
      3.2690866167186243,
      3.958878078312894,
      4.44373780929424,
      4.775164483636931,
      5.0627377251478505,
      5.193409773618003,
      5.19760024294443
    ],
    "ax_ego": [
      1.6572002047519852,
      1.6571820436419773,
      1.6284612124130995,
      1.5132931028423982,
      1.2457723003938113,
      0.6934937530102959,
      0.6319163004862187,
      0.5182834899429188,
      0.007194223564909688,
      0.013931882952591415
    ],
    "ay_ego": [
      -0.02425238600738555,
      -0.02546284581084235,
      0.08681521467652198,
      -0.048725569218639464,
      0.010875908801250667,
      -0.05495183462321823,
      0.01139763537220767,
      0.08090831702766046,
      -0.24770874584609814,
      -0.2474212633878088
    ],
    "a_ego": [
      1.657377656678487,
      1.657377652282722,
      1.6307736819783647,
      1.514077341553612,
      1.2458197742132453,
      0.695667513682192,
      0.6320190795476565,
      0.5245607035526585,
      0.24781319501057394,
      0.24781319363388254
    ],
    "yaw": [
      1.0144273745304535,
      1.0151578015010425,
      1.015537735692308,
      1.0150544047209902,
      1.0147945969464152,
      1.014563939826305,
      1.0116596279381458,
      1.0080218321402952,
      0.9965720666635343,
      0.9693580384105009
    ],
    "yaw_diff": [
      0.0014608539411780086,
      0.0007598683825311703,
      -0.000966661942635838,
      -0.000519615549150032,
      -0.000461314240220112,
      -0.005808623776318633,
      -0.007275591595701236,
      -0.02289953095352182,
      -0.054428056506066635,
      -0.054428056506066635
    ],
    "min_front_frame": [
      0,
      12.844207007351443
    ],
    "v_avg": 3.6880720812650587,
    "v_std": 1.487813840431994,
    "vy_max": 0.054612459954275216,
    "a_max": 1.657377656678487,
    "ax_avg": 0.9566728514000206,
    "a_std": 0.5632251514917861,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b0546b8af0f95c05",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      12.844207007351443,
      14.177097421590275,
      15.159436371965132,
      15.674194684639291,
      16.018876313575287,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b0546b8af0f95c05",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "86d5685d21d15ee9": {
    "vx_ego": [
      6.821030106875346,
      6.755476966909757,
      6.671985966973602,
      6.608375957492583,
      6.566305537955094,
      6.492649668369707,
      6.384946576702114,
      6.249392343940574,
      6.0827838996994625,
      5.894146893677915
    ],
    "vy_ego": [
      -0.02774785483593556,
      -0.03574908650428377,
      -0.04077002783818395,
      -0.0787999293233721,
      -0.09409687421777635,
      -0.053267411020355926,
      0.006962592254286193,
      0.00906060597080538,
      -0.012111215480156812,
      -0.016150611185715924
    ],
    "v_ego": [
      6.821086545584061,
      6.755571555955435,
      6.672110531058564,
      6.608845755835687,
      6.5669797197431095,
      6.492868174640394,
      6.384950372949733,
      6.24939891214216,
      6.082795956793505,
      5.894169020862456
    ],
    "ax_ego": [
      -0.13111542977530902,
      -0.12972951927976314,
      -0.20304565001089647,
      -0.049000147730898315,
      -0.11510415146151441,
      -0.17621855247277798,
      -0.254133710898717,
      -0.28894766816285256,
      -0.37727368233837477,
      -0.3769595158312744
    ],
    "ay_ego": [
      0.1287025190384211,
      0.1300993712242366,
      0.09011024095967077,
      0.048312664155787846,
      0.16365633529424686,
      0.253701045967152,
      0.18718275123782852,
      -0.013979029319753117,
      0.05640316138232865,
      0.058465988067742225
    ],
    "a_ego": [
      0.18372695592100557,
      0.18372695655646223,
      0.2221427277993979,
      0.06881226631553278,
      0.20008088805685115,
      0.30889674482005824,
      0.3156284609728905,
      0.28928561699032407,
      0.3814665752055846,
      0.381466575647836
    ],
    "yaw": [
      2.464009193987126,
      2.4747192925143464,
      2.483654867969131,
      2.494625373759246,
      2.504979025527285,
      2.514694223092432,
      2.5224464762549648,
      2.5289643331549847,
      2.5341087594317493,
      2.539578744498421
    ],
    "yaw_diff": [
      0.021420197054441203,
      0.01787115090956881,
      0.021941011580230096,
      0.02070730353607786,
      0.019430395130294542,
      0.015504506325065393,
      0.013035713800039872,
      0.010288852553529182,
      0.010939970133343024,
      0.010939970133343024
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.452877654556511,
    "v_std": 0.2844894595046889,
    "vy_max": 0.09409687421777635,
    "a_max": 0.381466575647836,
    "ax_avg": -0.21015280279623783,
    "a_std": 0.09415053534452186,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "86d5685d21d15ee9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "86d5685d21d15ee9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "13c76ba40a5e5987": {
    "vx_ego": [
      3.8079788638156153,
      4.033479064435048,
      4.260978143785717,
      4.457037310540817,
      4.6328397901441,
      4.797180506791451,
      4.9269374014272564,
      4.999773925677472,
      5.058219747029694,
      5.126961466218786
    ],
    "vy_ego": [
      -0.04275115562224552,
      -0.023473457528212505,
      -0.017408164277108895,
      -0.04240053054390858,
      -0.06062807112028468,
      -0.045518729979272976,
      -0.024449037510662297,
      -0.008262493017276107,
      0.0012636305142139648,
      0.0053271969691377485
    ],
    "v_ego": [
      3.8082188341235725,
      4.0335473675716464,
      4.261013704038404,
      4.457238987595721,
      4.633236480490737,
      4.797396457404663,
      4.926998063021536,
      4.999780752860587,
      5.058219904868038,
      5.126964233844413
    ],
    "ax_ego": [
      0.4194509402705826,
      0.4930336876206246,
      0.41054401460730544,
      0.3725331225752796,
      0.33276862858860323,
      0.32585906365560896,
      0.19382063120319015,
      0.09806097630979552,
      0.13616934799544855,
      0.13858427709281743
    ],
    "ay_ego": [
      0.79980266628596,
      0.7566645086598756,
      0.40553029381961236,
      0.09937370339067877,
      0.042221392417857107,
      0.114294023934644,
      0.07554003284409386,
      0.11463250940969033,
      0.1619748706881144,
      0.15991356492898595
    ],
    "a_ego": [
      0.9031187055376533,
      0.9031187052620948,
      0.5770625677821293,
      0.38555941220681783,
      0.33543644129766587,
      0.34532195596817067,
      0.20802099327252965,
      0.15085280006812277,
      0.21160801040588456,
      0.21160801049496167
    ],
    "yaw": [
      0.638791545849615,
      0.73327217923542,
      0.8016714007517356,
      0.8363211677291679,
      0.8481072698684755,
      0.8532005912013384,
      0.858609715381764,
      0.8649121143374718,
      0.8767796009668329,
      0.891784073981631
    ],
    "yaw_diff": [
      0.18896126677161007,
      0.13679844303263122,
      0.06929953395486455,
      0.023572204278615283,
      0.010186642665725776,
      0.010818248360851213,
      0.012604797911415666,
      0.023734973258722203,
      0.03000894602959603,
      0.03000894602959603
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.610261478581932,
    "v_std": 0.4331864066524558,
    "vy_max": 0.06062807112028468,
    "a_max": 0.9031187055376533,
    "ax_avg": 0.29208246899192564,
    "a_std": 0.2663680155270223,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "13c76ba40a5e5987",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "13c76ba40a5e5987",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4e5e09ac14395d70": {
    "vx_ego": [
      10.574219182161753,
      10.070740109880777,
      9.606725823969251,
      9.134962741357738,
      8.653876631573771,
      8.207205734413963,
      7.820691544770677,
      7.470678500612489,
      7.160937538303879,
      6.913188680519743
    ],
    "vy_ego": [
      -0.09620052219186292,
      0.0664475714036985,
      0.03226433873055501,
      0.006359881873848561,
      -0.06555201303168992,
      -0.044984918999054144,
      -0.0033092347920801735,
      0.021898499705863855,
      0.01681387713681423,
      0.020153290221907122
    ],
    "v_ego": [
      10.574656772343372,
      10.070959320765173,
      9.606780003959257,
      9.134964955274405,
      8.654124902086352,
      8.207329018014008,
      7.820692244902778,
      7.470710595639683,
      7.160957277763497,
      6.913218055838617
    ],
    "ax_ego": [
      -1.0143748084242523,
      -0.9980431637348505,
      -0.8652064050911711,
      -1.030027684312557,
      -0.8956841238379397,
      -0.8888077115077279,
      -0.6567911574481267,
      -0.7436091085311018,
      -0.4955443032183532,
      -0.4949354788280375
    ],
    "ay_ego": [
      0.7548700495194696,
      0.7763342447938462,
      0.8507657803567369,
      0.6130993208950968,
      0.29512393928770275,
      0.2059211007494484,
      0.15974813434390572,
      0.0995651354562261,
      -0.08759968178033387,
      -0.09097659751543431
    ],
    "a_ego": [
      1.2644307191883883,
      1.2644307083891553,
      1.2134185330860887,
      1.1986858669944838,
      0.9430525909174045,
      0.9123500686520876,
      0.6759394136521472,
      0.7502451082738472,
      0.5032274443034471,
      0.503227453045066
    ],
    "yaw": [
      -1.7082404932920985,
      -1.6869095547456359,
      -1.6420227255007123,
      -1.6003024354014803,
      -1.5666290822562163,
      -1.5542095359666712,
      -1.5479801311246413,
      -1.5428054034291363,
      -1.5416967956340435,
      -1.5485155231136285
    ],
    "yaw_diff": [
      0.04266187709292524,
      0.0897736584898472,
      0.0834405801984639,
      0.06734670629052797,
      0.024839092579090227,
      0.01245880968405988,
      0.010349455391009954,
      0.002217215590185617,
      -0.013637454959170014,
      -0.013637454959170014
    ],
    "min_front_frame": [
      1,
      43.24792318493299
    ],
    "v_avg": 8.561439314658713,
    "v_std": 1.1959819117259711,
    "vy_max": 0.09620052219186292,
    "a_max": 1.2644307191883883,
    "ax_avg": -0.8083023944934118,
    "a_std": 0.28936345500203875,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4e5e09ac14395d70",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.2908584555497,
    "right_rear_min": 12.557694701389206,
    "speed_mode": "decelerating",
    "front_frame": [
      45.66106972842437,
      43.24792318493299,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4e5e09ac14395d70",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7beae7492ff45866": {
    "vx_ego": [
      8.111952873531973,
      8.411225918492798,
      8.749646813715556,
      9.081062798587773,
      9.403477788107294,
      9.706211915788725,
      10.000143698251177,
      10.278144931967066,
      10.554125447317862,
      10.821784603287144
    ],
    "vy_ego": [
      -0.10798110398480221,
      -0.02627268443567088,
      -0.02569719102787893,
      -0.04572912488248715,
      -0.13827884822359326,
      -0.2158877100615113,
      -0.190497066149236,
      -0.11038574072725194,
      -0.030536314784968432,
      0.006175777730181409
    ],
    "v_ego": [
      8.11267152923261,
      8.411266950101659,
      8.749684549193159,
      9.081177935970494,
      9.404494433582983,
      9.708612529993903,
      10.001957964213018,
      10.278737678055423,
      10.554169622677243,
      10.8217863654839
    ],
    "ax_ego": [
      0.46791445106675533,
      0.7585307237229945,
      0.6333672044310167,
      0.726970401792969,
      0.591109031695073,
      0.6460281599158944,
      0.548297623084342,
      0.5680285939870134,
      0.5352712261622398,
      0.5352302289594328
    ],
    "ay_ego": [
      2.308994788100078,
      2.2304779898685507,
      2.5702655664954683,
      2.7425269902175895,
      2.3891201014957923,
      1.4542543002434556,
      0.5858965556270981,
      0.17606098269261056,
      0.014267858055393517,
      0.0157308103838954
    ],
    "a_ego": [
      2.3559288751977268,
      2.355928887322319,
      2.6471530174814286,
      2.8372416635096456,
      2.461159228234279,
      1.591291284831567,
      0.8024369491590205,
      0.5946881142359843,
      0.535461349987762,
      0.5354613491068249
    ],
    "yaw": [
      -2.77165519023273,
      -2.643790029620071,
      -2.504462692899007,
      -2.3533266912605235,
      -2.205049020227842,
      -2.0963945595468814,
      -2.04727846459083,
      -2.0363895946859065,
      -2.039486185761815,
      -2.0422193927030126
    ],
    "yaw_diff": [
      0.25573032122531814,
      0.27865467344212824,
      0.30227200327696657,
      0.29655534206536327,
      0.21730892136192104,
      0.09823218991210236,
      0.02177773980984732,
      -0.006193182151816856,
      -0.005466413882395216,
      -0.005466413882395216
    ],
    "min_front_frame": [
      9,
      37.49497215770891
    ],
    "v_avg": 9.51245595585044,
    "v_std": 0.8727130735654414,
    "vy_max": 0.2158877100615113,
    "a_max": 2.8372416635096456,
    "ax_avg": 0.6010747644817731,
    "a_std": 0.9150789641389343,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "7beae7492ff45866",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.228849293353336,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      37.49497215770891
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7beae7492ff45866",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b99d20a078a958b9": {
    "vx_ego": [
      8.764535781097441,
      8.933303218184005,
      9.006575135462533,
      8.94438495844647,
      8.824012293385099,
      8.750738205376573,
      8.762303973952667,
      8.852474101764349,
      9.05616492559751,
      9.312913832398017
    ],
    "vy_ego": [
      0.06419010448166729,
      -0.04925106760679876,
      -0.049293167792314296,
      -0.046444780990406276,
      -0.014935500864528883,
      -0.004915161168564275,
      -0.008211345706137685,
      0.006619013869888057,
      0.044434595889400796,
      -0.007078011177132026
    ],
    "v_ego": [
      8.764770837144043,
      8.933438982591033,
      9.006710025704333,
      8.94450554265381,
      8.824024933271518,
      8.750739585763395,
      8.762307821467184,
      8.852476576289435,
      9.056273935396081,
      9.31291652211661
    ],
    "ax_ego": [
      0.32902004616627645,
      0.34471869920327064,
      -0.05185633999199445,
      -0.19738703590506929,
      -0.28351397165679065,
      -0.005154947764152151,
      0.04980771790739891,
      0.30839340992746195,
      0.5070354499107544,
      0.521704001651463
    ],
    "ay_ego": [
      0.4318807021750215,
      0.41945697519348885,
      -0.014887069932743201,
      -0.28698205324334947,
      -0.5749731083617406,
      -0.8639801660591061,
      -0.8502220294141263,
      -0.751826062374015,
      -0.5796770895952098,
      -0.566511616478141
    ],
    "a_ego": [
      0.5429319770380524,
      0.5429319806558333,
      0.05395094854168655,
      0.34831069582652463,
      0.6410727318048783,
      0.8639955444503008,
      0.8516796980462893,
      0.8126185595662357,
      0.7701366603842296,
      0.7701366612126876
    ],
    "yaw": [
      2.663333351866485,
      2.7002091507643984,
      2.711427443126915,
      2.7027196337502626,
      2.6749531142260645,
      2.63271372091618,
      2.584120845961947,
      2.5367975692587663,
      2.4952903632396533,
      2.4696964106183725
    ],
    "yaw_diff": [
      0.07375159779582674,
      0.022436584725033626,
      -0.017415618753305218,
      -0.05553303904839613,
      -0.08447878661976915,
      -0.09718574990846562,
      -0.09464655340636163,
      -0.08301441203822613,
      -0.05118790524256145,
      -0.05118790524256145
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.920816476239745,
    "v_std": 0.16511502024334448,
    "vy_max": 0.06419010448166729,
    "a_max": 0.8639955444503008,
    "ax_avg": 0.1522767029448619,
    "a_std": 0.24534514029320947,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "b99d20a078a958b9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b99d20a078a958b9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "43a759f57b1d51e4": {
    "vx_ego": [
      2.8429382243946066,
      3.3106041637501957,
      3.777018239962812,
      4.223882768690249,
      4.615456894337402,
      4.887099397719425,
      5.015405482900476,
      5.053247785100842,
      5.131919452241475,
      5.335898017396482
    ],
    "vy_ego": [
      -0.08492953871230913,
      0.030928041896991387,
      0.010094415609857854,
      0.030599739761818304,
      0.0027573005879205637,
      -0.03591652778685761,
      -0.059109647379037344,
      -0.0720079963229372,
      -0.11315752130831136,
      0.06270617433597758
    ],
    "v_ego": [
      2.844206528061885,
      3.310748627246671,
      3.7770317290483915,
      4.223993606495149,
      4.615457717950972,
      4.887231375754357,
      5.015753792633908,
      5.053760810442161,
      5.133166847952936,
      5.336266458522808
    ],
    "ax_ego": [
      0.9136664009992884,
      0.9623481164827545,
      0.9126352464316441,
      0.8831969825902051,
      0.7043895566043852,
      0.40754743093470447,
      0.1599371803287153,
      0.056926100148202874,
      0.2986280236415244,
      0.5270173278465449
    ],
    "ay_ego": [
      0.7086170629196151,
      0.6409450485499586,
      0.9621100533954698,
      1.250773632737134,
      1.6365040946362257,
      1.7762556880253597,
      1.9608401605192476,
      2.0822117280674775,
      1.75512219693151,
      1.700554433276329
    ],
    "a_ego": [
      1.156254485040302,
      1.1562544929895902,
      1.3261066502638397,
      1.5311667415428307,
      1.7816594229017102,
      1.822410266022424,
      1.9673520368141155,
      2.0829897410644715,
      1.7803462086531747,
      1.780346214753268
    ],
    "yaw": [
      -1.8717145563881608,
      -1.7996013751465054,
      -1.6809816743119153,
      -1.5481358672457244,
      -1.379768775639819,
      -1.194048728721178,
      -1.0024595088180142,
      -0.8003329464315581,
      -0.6033411487037884,
      -0.4713509973365073
    ],
    "yaw_diff": [
      0.14422636248331067,
      0.23723940166918034,
      0.26569161413238174,
      0.3367341832118109,
      0.3714400938372817,
      0.3831784398063278,
      0.4042531247729122,
      0.3939835954555393,
      0.2639803027345622,
      0.2639803027345622
    ],
    "min_front_frame": [
      9,
      15.488721892111425
    ],
    "v_avg": 4.419761749410924,
    "v_std": 0.8078753128168188,
    "vy_max": 0.11315752130831136,
    "a_max": 2.0829897410644715,
    "ax_avg": 0.5826292366007969,
    "a_std": 0.3121705610173162,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "43a759f57b1d51e4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      15.488721892111425
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "43a759f57b1d51e4",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "447a983c9fc45077": {
    "vx_ego": [
      4.394157144882091,
      4.339700757360527,
      4.502045446352063,
      4.893053407445012,
      5.3531575734119965,
      5.799934801944689,
      6.222815991253402,
      6.588834947510604,
      6.9022416890030165,
      7.210442875935184
    ],
    "vy_ego": [
      -0.003000610614149579,
      0.0014885581534573866,
      -0.01978154458825193,
      -0.04713908089746699,
      0.04164522755420186,
      0.13344964916259627,
      0.08460707273972012,
      0.06822579981577137,
      0.06765861522357097,
      0.024064894087778566
    ],
    "v_ego": [
      4.394158169386076,
      4.339701012655239,
      4.5020889052222905,
      4.893280468260234,
      5.353319561800534,
      5.801469858205833,
      6.223391134884312,
      6.589188168909548,
      6.902573289840912,
      7.210483034183765
    ],
    "ax_ego": [
      -0.23005528953837517,
      0.013251593201584644,
      0.6697363910294041,
      0.8983037485793908,
      0.9118888920537296,
      0.8615781769438586,
      0.8414453180969705,
      0.6409738021500764,
      0.6153035312268176,
      0.6203791669413805
    ],
    "ay_ego": [
      -1.439067065577427,
      -1.4572796046368537,
      -1.888252777965269,
      -2.1936243112405496,
      -1.9397117360707867,
      -1.0582792912704835,
      -0.5716803047528487,
      -0.7261542868831683,
      -0.3197300750574642,
      -0.30976675668927733
    ],
    "a_ego": [
      1.4573398558586848,
      1.4573398542594398,
      2.0035082697514994,
      2.3704297592583,
      2.1433672038411253,
      1.3646508759817875,
      1.0172750828510555,
      0.9685801275070266,
      0.6934160053218003,
      0.6934160037990724
    ],
    "yaw": [
      1.9854515935218373,
      1.8178356266786324,
      1.6305197974824068,
      1.41861206378884,
      1.2003788266881235,
      1.0499685971673962,
      0.9903497872110474,
      0.9424530353364833,
      0.9037982431194145,
      0.8876725720702456
    ],
    "yaw_diff": [
      -0.3352319336864098,
      -0.37463165839245116,
      -0.4238154673871337,
      -0.43646647420143303,
      -0.3008204590414545,
      -0.11923761991269766,
      -0.0957935037491282,
      -0.0773095844341376,
      -0.03225134209833769,
      -0.03225134209833769
    ],
    "min_front_frame": [
      9,
      20.44431428028229
    ],
    "v_avg": 5.620965360334874,
    "v_std": 1.0247818170185679,
    "vy_max": 0.13344964916259627,
    "a_max": 2.3704297592583,
    "ax_avg": 0.5842805330684837,
    "a_std": 0.5652108060061549,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "447a983c9fc45077",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.79073887868165,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      52.75921096561896,
      36.866203820599175,
      23.91477591343854,
      20.44431428028229
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "447a983c9fc45077",
    "pedestrians": "No"
  },
  "be709e9a5d085f75": {
    "vx_ego": [
      2.9689984800869995,
      3.1765531802962066,
      3.3791085774221505,
      3.5607571994845104,
      3.8162243901444066,
      4.1198866294753556,
      4.487908461299644,
      4.899292746281136,
      5.182359371475325,
      5.375133434748918
    ],
    "vy_ego": [
      0.042071173769840264,
      -0.026619392822311738,
      0.007168616590481625,
      -0.001239177361388899,
      0.02946509877975917,
      0.07583963603024114,
      0.11082176994626003,
      0.11286370332997142,
      0.06719532455777838,
      -0.004755206981455595
    ],
    "v_ego": [
      2.9692965426884,
      3.1766647130794547,
      3.3791161813515336,
      3.560757415107256,
      3.8163381385798547,
      4.12058460538344,
      4.489276536558977,
      4.900592579402241,
      5.182794985985897,
      5.375135538137539
    ],
    "ax_ego": [
      0.3274404672959597,
      0.50246497637472,
      0.35016848376851695,
      0.4091609108835056,
      0.5887459154447124,
      0.6244834749300089,
      0.8525267188939115,
      0.7929736920697189,
      0.3305433978658168,
      0.42581840113698
    ],
    "ay_ego": [
      -1.137275142853608,
      -1.071513395186767,
      -1.554446895170887,
      -1.8034987915876701,
      -1.484558806490099,
      -1.0467717577456572,
      -0.4058540487037378,
      0.45591657985735723,
      0.9517474461255342,
      0.9131050478946788
    ],
    "a_ego": [
      1.1834745498639552,
      1.1834745491762468,
      1.59339986096747,
      1.8493297548715335,
      1.5970399503081127,
      1.21889733910391,
      0.9442030053316047,
      0.9146951427134132,
      1.007512848096319,
      1.007512848174949
    ],
    "yaw": [
      -2.1800436556241927,
      -2.3381932970064754,
      -2.5468073152476425,
      -2.785683533620866,
      -3.0172425053151812,
      3.0949986109219303,
      3.0019425285872376,
      3.0041704785628403,
      3.082109672664289,
      -3.0989847298431386
    ],
    "yaw_diff": [
      -0.3162992827645654,
      -0.4172280364823342,
      -0.47775243674644674,
      -0.46311794338863077,
      -0.3418883818849494,
      -0.1861121646693853,
      0.004455899951205211,
      0.1558783882028978,
      0.20418180934431707,
      0.20418180934431707
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.097055723627459,
    "v_std": 0.8132155813913311,
    "vy_max": 0.11286370332997142,
    "a_max": 1.8493297548715335,
    "ax_avg": 0.5204326438663851,
    "a_std": 0.3051091868606199,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "be709e9a5d085f75",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "be709e9a5d085f75",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b61a78b163d654e0": {
    "vx_ego": [
      1.561261537397942,
      1.31296502621436,
      1.1398844675243078,
      0.929892607262558,
      0.5872928240436436,
      0.2677438620879627,
      0.0468738521177857,
      -0.029860231502697065,
      -0.01839849274646865,
      -0.007730078865975303
    ],
    "vy_ego": [
      -0.007905263907436066,
      0.007283996420221137,
      0.0166557314660183,
      0.008859616941109122,
      0.007272925750436726,
      0.007608608927750008,
      -0.005802864608008282,
      -0.007913856977306032,
      -0.0033105834109546243,
      -0.0005562541505442221
    ],
    "v_ego": [
      1.5612815509560187,
      1.312985230939756,
      1.1400061459017854,
      0.9299348116152556,
      0.5873378556011263,
      0.2678519490606582,
      0.04723167634140162,
      0.0308911404394839,
      0.018693969558730632,
      0.007750066964497514
    ],
    "ax_ego": [
      -0.49658009063224434,
      -0.4966069315556943,
      -0.19569619813169892,
      -0.6442498902040412,
      -0.726151506251903,
      -0.5520233469054674,
      -0.33145688866094386,
      0.024512053646701105,
      0.021336791978484575,
      0.021336615575722855
    ],
    "ay_ego": [
      0.027823050993240943,
      0.027339789608177765,
      0.008560393739672646,
      -0.040974473648145555,
      0.03318442483906268,
      -0.032386578407716554,
      -0.02131084560974882,
      0.012894320478040011,
      0.005509163707024355,
      0.00550985030260179
    ],
    "a_ego": [
      0.49735893334582876,
      0.4973589333318358,
      0.19588333850580397,
      0.6455515692171011,
      0.7269093589188454,
      0.5529725725473852,
      0.3321412669052069,
      0.027696647352507393,
      0.02203655092531311,
      0.022036551785233102
    ],
    "yaw": [
      0.09276163469569995,
      0.09178847104235272,
      0.09145478854294006,
      0.09117301626554203,
      0.09070370967420055,
      0.0903679920419978,
      0.09026872185958976,
      0.09007796067920552,
      0.09017901401153355,
      0.0901467714579268
    ],
    "yaw_diff": [
      -0.001946327306694473,
      -0.0006673649988253039,
      -0.0005635445547960694,
      -0.0009386131826829569,
      -0.0006714352644054955,
      -0.00019854036481609105,
      -0.0003815223607684659,
      0.00020210666465605986,
      -6.448510721351886e-05,
      -6.448510721351886e-05
    ],
    "min_front_frame": [
      5,
      9.692672640194967
    ],
    "v_avg": 0.5903964397378714,
    "v_std": 0.5710121320163846,
    "vy_max": 0.0166557314660183,
    "a_max": 0.7269093589188454,
    "ax_avg": -0.3375579391141085,
    "a_std": 0.2563336040235364,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b61a78b163d654e0",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.683203696087583,
    "speed_mode": "decelerating",
    "front_frame": [
      11.689985466479456,
      11.054477258938357,
      10.509518171817202,
      10.005577099032049,
      9.752091433445164,
      9.692672640194967,
      9.797115880343629,
      9.933347821515394,
      10.035628822154877,
      10.144120700557297
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b61a78b163d654e0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d44e6abed19b5ba5": {
    "vx_ego": [
      0.48687179932284436,
      1.3560410140403825,
      2.265016639249012,
      3.192977635428083,
      4.079519799228406,
      4.921094275918434,
      5.730604145304319,
      6.521850755204805,
      7.266547385626611,
      7.9752531441602414
    ],
    "vy_ego": [
      -0.0022257278326712144,
      -0.012803435302874734,
      -0.015887796991334295,
      -0.014394059600616849,
      -0.006942251203081548,
      0.013052353680937698,
      0.014831902291281784,
      -0.019186086405068276,
      -0.02655344552092101,
      0.024237651216937467
    ],
    "v_ego": [
      0.48687688673857704,
      1.3561014562764926,
      2.26507236047066,
      3.193010079736,
      4.079525706151187,
      4.921111585446299,
      5.730623339175645,
      6.521878976113941,
      7.266595901316238,
      7.975289974488347
    ],
    "ax_ego": [
      1.7383338186242578,
      1.7383376651540308,
      1.897612842325505,
      1.8142710515773304,
      1.732055474701642,
      1.6342152963293641,
      1.6036544577607965,
      1.5613613044802983,
      1.4174123882230991,
      1.4174105555731509
    ],
    "ay_ego": [
      -0.0216397999779437,
      -0.021329330463758976,
      0.013584668731462957,
      0.00048315895100374887,
      0.06091364968506178,
      0.06308744012652748,
      -0.018492604819479154,
      -0.13246753098112754,
      0.10129415362002961,
      0.10131974987509923
    ],
    "a_ego": [
      1.7384685058740292,
      1.738468515225743,
      1.8976614668015013,
      1.8142711159124163,
      1.7331262620368675,
      1.635432560474014,
      1.603761078318427,
      1.5669705708444734,
      1.4210272283970873,
      1.421027225201875
    ],
    "yaw": [
      -1.5550714919021758,
      -1.55525009436024,
      -1.5546088653681123,
      -1.553870306112549,
      -1.5517045757264347,
      -1.5492656676916796,
      -1.5475077427316064,
      -1.548114777845985,
      -1.54817640584199,
      -1.5481944642412255
    ],
    "yaw_diff": [
      -0.0003572049161286728,
      0.001282457984255636,
      0.0014771185111266405,
      0.004331460772228457,
      0.00487781606951021,
      0.003515849920146419,
      -0.0012140702287570804,
      -0.0001232559920101295,
      -3.611679847104199e-05,
      -3.611679847104199e-05
    ],
    "min_front_frame": [
      0,
      12.027270706490588
    ],
    "v_avg": 4.379608626591339,
    "v_std": 2.413207281549404,
    "vy_max": 0.02655344552092101,
    "a_max": 1.8976614668015013,
    "ax_avg": 1.6554664854749475,
    "a_std": 0.14983081119140157,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "d44e6abed19b5ba5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.6722787817831746,
    "right_rear_min": 6.168836862563785,
    "speed_mode": "accelerating",
    "front_frame": [
      12.027270706490588,
      13.070524295337393,
      14.150056256524726,
      15.107861679254617,
      16.006215216471357,
      16.893859563575468,
      17.68909023390176,
      18.286932344477922,
      18.978539560757504,
      19.53616045544765
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d44e6abed19b5ba5",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "e60d3950023a5e46": {
    "vx_ego": [
      2.6357168850694808,
      3.0218746674494725,
      3.327380226532366,
      3.4846065270172053,
      3.5541893976994903,
      3.6172099870152845,
      3.7304983540265426,
      3.9544743206032194,
      4.250135247845095,
      4.543891636715886
    ],
    "vy_ego": [
      0.056895235511805975,
      -0.0016418570471385951,
      -0.020537082518278904,
      0.004479982035598518,
      0.021133992775585586,
      0.015356511263428185,
      0.01412559717225359,
      0.04493286363875826,
      0.032362020907567235,
      -0.03687424311401655
    ],
    "v_ego": [
      2.6363308908527228,
      3.021875113479613,
      3.327443604883025,
      3.4846094068589593,
      3.554252230831417,
      3.6172425841518145,
      3.7305250973408848,
      3.9547295880432927,
      4.25025845394989,
      4.544041253776401
    ],
    "ax_ego": [
      0.7723120173190972,
      0.7721238835175672,
      0.4504453591487835,
      0.17864875749559958,
      0.0995099781789127,
      0.15249532396291546,
      0.30058268565600177,
      0.5951653617412813,
      0.5875950725405166,
      0.5874409334072466
    ],
    "ay_ego": [
      -0.10646166572059046,
      -0.10781764015694212,
      0.08263068329913092,
      0.09002409869074747,
      0.0022294672856009515,
      -0.011524539892160957,
      0.07333612787357005,
      0.06966822652441551,
      -0.12751816273568828,
      -0.12822634465522947
    ],
    "a_ego": [
      0.7796152502122417,
      0.7796152480725743,
      0.4579616265596473,
      0.20004928617668943,
      0.09953495005044835,
      0.1529301763887054,
      0.30939964215826654,
      0.5992290627161599,
      0.6012726927953576,
      0.6012726883087397
    ],
    "yaw": [
      -0.5889542365179834,
      -0.5871982856734199,
      -0.5832794334191187,
      -0.5780042124566622,
      -0.5761881583963611,
      -0.5752231843188382,
      -0.5706589658780475,
      -0.569359895580046,
      -0.5698209052138077,
      -0.5686155159698163
    ],
    "yaw_diff": [
      0.0035119016891269617,
      0.007837704508602439,
      0.010550441924912946,
      0.0036321081206023287,
      0.0019299481550456576,
      0.009128436881581381,
      0.0025981405960031623,
      -0.000922019267523444,
      0.0024107784879827676,
      0.0024107784879827676
    ],
    "min_front_frame": [
      8,
      26.741899435302397
    ],
    "v_avg": 3.612130822416802,
    "v_std": 0.5299364997662271,
    "vy_max": 0.056895235511805975,
    "a_max": 0.7796152502122417,
    "ax_avg": 0.44963193729679213,
    "a_std": 0.24042833925778423,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "e60d3950023a5e46",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.153576931507303,
    "right_rear_min": 16.269200673315257,
    "speed_mode": "accelerating",
    "front_frame": [
      40.66634048882229,
      39.320527384461705,
      37.73927202724748,
      36.002648816956466,
      34.25777220830779,
      32.51016990972246,
      30.69482553748014,
      28.78437836571008,
      26.741899435302397,
      30.891168378074056
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "e60d3950023a5e46",
    "pedestrians": "Yes"
  },
  "7d5f417c01fb5a87": {
    "vx_ego": [
      2.251315912434118,
      2.4030575712960047,
      2.533532663122555,
      2.5898416362098127,
      2.591052528505662,
      2.5526521710022205,
      2.4454816177075327,
      2.282101607919941,
      2.1331542730217343,
      2.0188260704650234
    ],
    "vy_ego": [
      0.03081615543609295,
      0.02787419368778188,
      0.008646370697231176,
      -0.028896941781746288,
      -0.043183414369807216,
      -0.02225573541950876,
      -0.0038769097532316277,
      -0.005428186134796231,
      -0.02724716956253631,
      -0.06544570415387402
    ],
    "v_ego": [
      2.2515268093040612,
      2.403219228792246,
      2.5335474171278305,
      2.590002844378797,
      2.5914123586863242,
      2.5527491893802283,
      2.44548469080767,
      2.2821080636279025,
      2.133328282463825,
      2.019886591613857
    ],
    "ax_ego": [
      0.29946236083820693,
      0.313409385187702,
      0.21019425628023874,
      0.014141593190258296,
      -0.013237829197250004,
      -0.14209205333124775,
      -0.28689208676922484,
      -0.3667553667461353,
      -0.2294232847692445,
      -0.2288887177738355
    ],
    "ay_ego": [
      -0.2659410907051679,
      -0.24935301526186077,
      -0.19522664394064992,
      -0.20034684960791602,
      -0.03834632100688385,
      0.004622341810055441,
      -0.04781019591583874,
      -0.06158151798937704,
      -0.09823011800842832,
      -0.09946936600848075
    ],
    "a_ego": [
      0.4005026457893216,
      0.4005026453644409,
      0.28687116947775004,
      0.2008453255761151,
      0.040566987275598196,
      0.14216721726086903,
      0.29084855902051726,
      0.371889476047613,
      0.2495680261537115,
      0.24956802659451313
    ],
    "yaw": [
      2.002829028750625,
      1.9487099556607237,
      1.9116687284024774,
      1.8879476963527784,
      1.8704504158395627,
      1.85910620295641,
      1.8475156076083454,
      1.8366483586766595,
      1.8283698187121056,
      1.8229619557898755
    ],
    "yaw_diff": [
      -0.10823814617980299,
      -0.07408245451649265,
      -0.047442064099397996,
      -0.03499456102643128,
      -0.022688425766305365,
      -0.023181190696129228,
      -0.021734497863371782,
      -0.016557079929107932,
      -0.010815725844460111,
      -0.010815725844460111
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.3803265476182744,
    "v_std": 0.19069834237325511,
    "vy_max": 0.06544570415387402,
    "a_max": 0.4005026457893216,
    "ax_avg": -0.043008174309053196,
    "a_std": 0.10923194817565395,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "7d5f417c01fb5a87",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "7d5f417c01fb5a87",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "d8af5ee176db5d89": {
    "vx_ego": [
      3.7986668461493975,
      3.3530330043233163,
      2.9402348865273042,
      2.5745390477660517,
      2.284112969152499,
      2.145590121346343,
      2.1066218508631778,
      2.080133187787539,
      2.0623237794540765,
      2.049415185227615
    ],
    "vy_ego": [
      -0.023670915390521463,
      -0.030491703515961532,
      -0.009726001223609337,
      0.016575894844403027,
      0.020336740148082955,
      0.014806721368313625,
      0.007652677964519405,
      -0.004824509206325267,
      -0.015230526772890052,
      -0.01463407102439529
    ],
    "v_ego": [
      3.798740596601726,
      3.3531716436926917,
      2.9402509728001163,
      2.5745924082778657,
      2.284203502065982,
      2.1456412113437544,
      2.106635750673151,
      2.08013878258741,
      2.0623800183883487,
      2.0494674326459266
    ],
    "ax_ego": [
      -0.8911630496420724,
      -0.8911628993709987,
      -0.7598822845385915,
      -0.7029698347593365,
      -0.45879973378795125,
      -0.09533792473225722,
      -0.06053834182692505,
      -0.04540719467748583,
      -0.025841954768391046,
      -0.02584027042384108
    ],
    "ay_ego": [
      -0.0007789906363321331,
      0.000930287431393173,
      0.09651357578637865,
      0.023809744159180024,
      -0.001526457565222128,
      -0.015393144487599673,
      -0.012600523161403376,
      -0.04113286823437125,
      -0.0020907991673251546,
      -0.002111501949042631
    ],
    "a_ego": [
      0.8911633901107979,
      0.891163384935686,
      0.7659869167725138,
      0.7033729398395239,
      0.4588022730944054,
      0.09657260889853635,
      0.06183578264318069,
      0.061267660128857905,
      0.02592639711586738,
      0.02592639612553289
    ],
    "yaw": [
      -0.7505063991683361,
      -0.748588362108149,
      -0.7474397968065407,
      -0.7460657746306669,
      -0.7453112409946305,
      -0.7447119461283281,
      -0.7446385968941611,
      -0.7450957636907263,
      -0.7452890638204048,
      -0.7460902006946544
    ],
    "yaw_diff": [
      0.003836074120374011,
      0.0022971306032166794,
      0.0027480443517475805,
      0.0015090672720727838,
      0.0011985897326047823,
      0.00014669846833403888,
      -0.000914333593130312,
      -0.00038660025935710607,
      -0.0016022737484990834,
      -0.0016022737484990834
    ],
    "min_front_frame": [
      9,
      14.003352541899101
    ],
    "v_avg": 2.5395222319076973,
    "v_std": 0.5912733602864059,
    "vy_max": 0.030491703515961532,
    "a_max": 0.8911633901107979,
    "ax_avg": -0.39569434885278504,
    "a_std": 0.362341664825702,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d8af5ee176db5d89",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.317030585753145,
    "speed_mode": "decelerating",
    "front_frame": [
      17.386268005945798,
      16.225781469253207,
      15.416697980126653,
      14.849903519570514,
      14.680764441574226,
      14.676765115025294,
      14.643308817139708,
      14.62335618022431,
      14.394864763601202,
      14.003352541899101
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d8af5ee176db5d89",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "74c77891a7d45a15": {
    "vx_ego": [
      7.130370593949596,
      6.897465690178848,
      6.682546666260763,
      6.379081304472585,
      5.964963306012361,
      5.506264138452103,
      4.9594367450150045,
      4.344799030571421,
      3.734440782249753,
      3.148252044791667
    ],
    "vy_ego": [
      -0.06901010849861766,
      -0.02530355078101243,
      -0.0056012540235537145,
      -0.02914295827915314,
      -0.013056558219141312,
      0.01093561507318297,
      -0.00028877870264087946,
      -0.019853969914271463,
      -0.032693718512915027,
      -0.00020661191606308194
    ],
    "v_ego": [
      7.130704537571032,
      6.897512103423704,
      6.682549013722195,
      6.379147874213994,
      5.9649775955812645,
      5.506274997680438,
      4.959436753422525,
      4.344844392630847,
      3.7345838905238624,
      3.148252051571379
    ],
    "ax_ego": [
      -0.46575493194557155,
      -0.4656147653729452,
      -0.3939485333033137,
      -0.8200900277407789,
      -0.8365878175949937,
      -0.998019398575136,
      -1.1892910975359976,
      -1.2692129377859,
      -1.1723841389814909,
      -1.1724611807114804
    ],
    "ay_ego": [
      0.10566039577865821,
      0.10627638204680498,
      -0.10078939990090005,
      -0.04010453257043606,
      0.0676889851938729,
      -0.05092751583532773,
      0.0023501880046363777,
      -0.12121735205424067,
      0.05621882821923008,
      0.0545885596451241
    ],
    "a_ego": [
      0.4775895474858371,
      0.4775895508847124,
      0.4066373691930141,
      0.8210700500764625,
      0.8393217352511079,
      0.9993179332932206,
      1.1892934196664988,
      1.2749882853901666,
      1.173731283549056,
      1.1737312857377058
    ],
    "yaw": [
      -0.7643692545678558,
      -0.7630465045634507,
      -0.7657497057512863,
      -0.767523950522611,
      -0.7690124761802886,
      -0.7724527988046523,
      -0.7726277990471704,
      -0.7748052673158063,
      -0.7756519130466111,
      -0.7770424289574192
    ],
    "yaw_diff": [
      0.002645500008810142,
      -0.005406402375671249,
      -0.0035484895426494134,
      -0.0029770513153550837,
      -0.006880645248727557,
      -0.00035000048503608383,
      -0.004354936537271925,
      -0.0016932914616094585,
      -0.0027810318216161534,
      -0.0027810318216161534
    ],
    "min_front_frame": [
      0,
      24.175003056262856
    ],
    "v_avg": 5.474828321034124,
    "v_std": 1.3140575893678517,
    "vy_max": 0.06901010849861766,
    "a_max": 1.2749882853901666,
    "ax_avg": -0.8783364829547609,
    "a_std": 0.3148695538421043,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "74c77891a7d45a15",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 19.487037393105986,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.175003056262856,
      26.167598269862133,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "74c77891a7d45a15",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "eb3dc7204bd55d17": {
    "vx_ego": [
      0.16240920327365554,
      0.6065922266812799,
      1.0386491113453968,
      1.5501978700431946,
      2.069131184386775,
      2.4711292190453857,
      2.747771770160166,
      2.899347264863493,
      3.001022290522804,
      3.134171143819454
    ],
    "vy_ego": [
      0.008656398614432674,
      -0.001977602281882873,
      -0.014833771478878932,
      -0.023268032085031032,
      -0.024918214546982398,
      -0.012390254747358442,
      -0.016191897540474454,
      -0.00562656760063196,
      -0.016732817719824267,
      0.08128331053218107
    ],
    "v_ego": [
      0.16263973236867896,
      0.6065954503463891,
      1.0387550323704189,
      1.5503724835030992,
      2.069281221974922,
      2.4711602812510085,
      2.747819477046317,
      2.899352724408395,
      3.001068938795572,
      3.1352249895855344
    ],
    "ax_ego": [
      0.8883658756341197,
      0.8882594092166811,
      0.8404273925780655,
      1.2068263875448184,
      0.8704579224502884,
      0.7379858146740216,
      0.3686080903083028,
      0.24328925238263088,
      0.18921219460798017,
      0.3625890283089004
    ],
    "ay_ego": [
      -0.013304053646381764,
      -0.019135389369884515,
      0.0021119431018538637,
      0.024614586700303864,
      0.06664930556340826,
      0.047142971547442236,
      -0.08733115490872945,
      -0.41009588757429905,
      -0.9599539735644695,
      -0.9087585331357463
    ],
    "a_ego": [
      0.8884654899514117,
      0.8884654980292169,
      0.8404300461663846,
      1.2070773825869257,
      0.8730057987714382,
      0.7394900421414762,
      0.37881216302862614,
      0.4768315188095808,
      0.978423674054641,
      0.9784236684570881
    ],
    "yaw": [
      -1.1337371537077545,
      -1.1271726752181577,
      -1.116793437684326,
      -1.1046875395920321,
      -1.0914749989071824,
      -1.0845129478595403,
      -1.0868647120110069,
      -1.1343765283462441,
      -1.2463366845336683,
      -1.4313645296160522
    ],
    "yaw_diff": [
      0.013128956979193696,
      0.020758475067663262,
      0.024211796184587797,
      0.026425081369699566,
      0.013924102095284052,
      -0.00470352830293308,
      -0.09502363267047453,
      -0.22392031237484833,
      -0.3700556901647678,
      -0.3700556901647678
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.9682270331650336,
    "v_std": 1.0158379082281432,
    "vy_max": 0.08128331053218107,
    "a_max": 1.2070773825869257,
    "ax_avg": 0.6596021367705809,
    "a_std": 0.23049424070928665,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "eb3dc7204bd55d17",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "eb3dc7204bd55d17",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "0cf22b3901945e24": {
    "vx_ego": [
      9.782510106014538,
      9.639268400627302,
      9.513091528429698,
      9.41495041593066,
      9.277072674194711,
      9.133584113782472,
      9.021779343209213,
      8.887206893300633,
      8.700858700949276,
      8.472165073721776
    ],
    "vy_ego": [
      0.013628116243199706,
      0.0002533527501382693,
      0.0030700002331869314,
      0.010251299991013596,
      0.00931529596290126,
      0.01013160722594808,
      0.010737921280347784,
      0.01106540925217292,
      0.011036182681807283,
      0.004165369293319454
    ],
    "v_ego": [
      9.782519598744942,
      9.639268403956788,
      9.513092023794488,
      9.414955996901123,
      9.277077351031902,
      9.133589733122708,
      9.02178573346263,
      8.88721378203609,
      8.700865700102083,
      8.472166097680832
    ],
    "ax_ego": [
      -0.28649655397243146,
      -0.28650178927035325,
      -0.21820372874242144,
      -0.174264669101949,
      -0.377216513891786,
      -0.1967047234100334,
      -0.2504169761726162,
      -0.28782856670740586,
      -0.4574265553992607,
      -0.4572641862223013
    ],
    "ay_ego": [
      -0.004743256082707661,
      -0.004416222764374131,
      -0.0005106067408136988,
      -0.045063186599196184,
      -0.010176277765481634,
      -0.015676884517469375,
      -0.04477328255134963,
      -0.012096156129560443,
      -0.05950178527666333,
      -0.06073689631021545
    ],
    "a_ego": [
      0.28653581611439866,
      0.28653582372649056,
      0.21820432616320878,
      0.17999684909377095,
      0.3773537531042089,
      0.1973284392073069,
      0.25438810661243505,
      0.288082628434882,
      0.46128030094026673,
      0.4612802906855455
    ],
    "yaw": [
      1.0205241279447514,
      1.0216656190692572,
      1.021242489452462,
      1.0192786808022904,
      1.0179049388360926,
      1.0171121927493059,
      1.0153818794869114,
      1.0137584206497527,
      1.011731219311276,
      1.0090306003855076
    ],
    "yaw_diff": [
      0.002282982249011578,
      -0.0008462592335902741,
      -0.0039276173003433,
      -0.0027474839323957667,
      -0.0015854921735733996,
      -0.0034606265247889567,
      -0.0032469176743172845,
      -0.004054402676953561,
      -0.005401237851536678,
      -0.005401237851536678
    ],
    "min_front_frame": [
      5,
      29.904722569055078
    ],
    "v_avg": 9.184253442083358,
    "v_std": 0.3991068769109514,
    "vy_max": 0.013628116243199706,
    "a_max": 0.46128030094026673,
    "ax_avg": -0.2992324262890559,
    "a_std": 0.09602706677595717,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0cf22b3901945e24",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      35.231310830285715,
      36.437796921686626,
      37.298943235211155,
      32.67940734325999,
      34.43004339362505,
      29.904722569055078,
      59.51413758806013,
      55.01636443824572,
      50.67886126825744,
      46.40665907305755
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0cf22b3901945e24",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7d923c664b7b5dae": {
    "vx_ego": [
      2.783337610853014,
      2.106900235876977,
      1.4551841334960254,
      0.8597441683628543,
      0.3938098418866943,
      0.1105598922770403,
      -0.028852359807032626,
      -0.049198087456921766,
      -0.020473470302982803,
      -0.0026474998886084175
    ],
    "vy_ego": [
      0.05978659868036204,
      0.0103629669836117,
      -0.029015410356515975,
      -0.0089165462591217,
      0.02141953047160524,
      0.017573110733800638,
      0.0017679081678979426,
      -0.0072431362750482176,
      -0.0027196671335390638,
      -0.0008260459013968921
    ],
    "v_ego": [
      2.783979650315485,
      2.106925721287574,
      1.4554733788072989,
      0.8597904045935422,
      0.3943919216369007,
      0.11194777354272471,
      0.028906472730594303,
      0.049728410717796344,
      0.020653318754243137,
      0.0027733747477389683
    ],
    "ax_ego": [
      -1.3528523839971247,
      -1.3527230021233227,
      -1.2540597613324054,
      -1.1277013981554036,
      -0.7360443983797548,
      -0.396982443331137,
      -0.16063947967470285,
      0.07924812526777344,
      0.03565187697167838,
      0.0356517352555591
    ],
    "ay_ego": [
      -0.10404534172942026,
      -0.10571411519439865,
      -0.043365659058232274,
      0.12372350571927934,
      -0.002155648837477396,
      -0.012957708580927135,
      -0.05028446155982224,
      0.014294274281195861,
      0.0037874377829263573,
      0.0037887629661924062
    ],
    "a_ego": [
      1.3568474512716218,
      1.3568474470716558,
      1.254809334272998,
      1.1344681349730017,
      0.7360475549909297,
      0.39719386012982083,
      0.16832578383753485,
      0.0805269621659899,
      0.03585248968430546,
      0.03585248877757954
    ],
    "yaw": [
      -1.5959122181281682,
      -1.5971457988393638,
      -1.5959537237653012,
      -1.5959619589239753,
      -1.5958652368008448,
      -1.595540735909966,
      -1.5960127816330936,
      -1.5962083798019218,
      -1.5961049237562195,
      -1.5961420531549249
    ],
    "yaw_diff": [
      -0.0024671614223912286,
      0.002384150148125208,
      -1.647031734819393e-05,
      0.00019344424626099865,
      0.00064900178175753,
      -0.0009440914462550687,
      -0.0003911963376563854,
      0.00020691209140455413,
      -7.425879741074226e-05,
      -7.425879741074226e-05
    ],
    "min_front_frame": [
      9,
      11.658649979322547
    ],
    "v_avg": 0.7814570427133898,
    "v_std": 0.9545883893392538,
    "vy_max": 0.05978659868036204,
    "a_max": 1.3568474512716218,
    "ax_avg": -0.623045112949884,
    "a_std": 0.5460244577311012,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7d923c664b7b5dae",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.05931894175337,
    "speed_mode": "decelerating",
    "front_frame": [
      14.775836392127639,
      13.56470199818236,
      12.663267619218242,
      12.105854556070092,
      11.795074747132105,
      11.695765692739334,
      11.681372533030828,
      11.691316791448063,
      11.695620166775571,
      11.658649979322547
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7d923c664b7b5dae",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "794584aa724a55f4": {
    "vx_ego": [
      2.67777553892668,
      1.9313082960864003,
      1.211589477858842,
      0.5930262945960204,
      0.16655083066944398,
      -0.02020739773726815,
      -0.04623756921577579,
      -0.031074594648174202,
      -0.01835563114367722,
      -0.010576452729340973
    ],
    "vy_ego": [
      0.0032559823914219965,
      0.002646554887795638,
      -0.0007744483582144968,
      -0.02016393850466408,
      -0.02499728888765952,
      -0.005409917196081166,
      0.0009331812385352488,
      -0.0019992935271278926,
      -0.0014275365594665287,
      -0.0011119648357423668
    ],
    "v_ego": [
      2.67777751844611,
      1.9313101094295886,
      1.2115897253726284,
      0.5933690002842295,
      0.1684162808294225,
      0.02091903743915108,
      0.046246985136413066,
      0.03113884402407951,
      0.018411057962847942,
      0.010634745795359269
    ],
    "ax_ego": [
      -1.492947522456584,
      -1.492938121352414,
      -1.3859490571644397,
      -1.0882863837623544,
      -0.6175749114116182,
      -0.1294609958244317,
      0.02533442453488548,
      0.03531661255729113,
      0.015558529402883211,
      0.015558575899234497
    ],
    "ay_ego": [
      0.004832078704643972,
      0.007170836299114414,
      -0.01602422060718145,
      -0.058623788073610794,
      0.039663825895462024,
      0.03868324998466553,
      -0.013383176941166267,
      0.0016674090066816707,
      0.0006295375232604162,
      0.0006283547974800675
    ],
    "a_ego": [
      1.4929553421967654,
      1.49295534262767,
      1.3860416893806142,
      1.089864212464398,
      0.6188473077340917,
      0.13511677641665987,
      0.02865209401688421,
      0.03535595247362708,
      0.015571260535793956,
      0.01557125922216173
    ],
    "yaw": [
      0.8716914718194435,
      0.8732580125404217,
      0.8740331097062086,
      0.8748740411649223,
      0.8751649315296102,
      0.8751155053537756,
      0.8754593838566673,
      0.8753708334859464,
      0.8752593282400271,
      0.8753353126774115
    ],
    "yaw_diff": [
      0.0031330814419563424,
      0.0015501943315738842,
      0.0016818629174273347,
      0.0005817807293757582,
      -9.885235166917639e-05,
      0.0006877570057834959,
      -0.00017710074144194898,
      -0.00022301049183859334,
      0.00015196887476887078,
      0.00015196887476887078
    ],
    "min_front_frame": [
      6,
      8.670453874227714
    ],
    "v_avg": 0.670981330471983,
    "v_std": 0.9083331039700271,
    "vy_max": 0.02499728888765952,
    "a_max": 1.49295534262767,
    "ax_avg": -0.6115388849577548,
    "a_std": 0.631486026367919,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "794584aa724a55f4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.890838865768213,
    "speed_mode": "decelerating",
    "front_frame": [
      11.204271258812938,
      10.186676200794718,
      9.394279482954543,
      9.053260354360093,
      9.135395428892116,
      8.80734177695525,
      8.670453874227714,
      8.941559401683199,
      8.932201244252147,
      8.853226474748396
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "794584aa724a55f4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "71af26e14ba65545": {
    "vx_ego": [
      4.248294105750881,
      3.822071029237913,
      3.577921965363298,
      3.4412084947770945,
      3.521885138617093,
      3.694775069717171,
      3.707010328540844,
      3.576628406397991,
      3.281486816946429,
      2.8831969810461695
    ],
    "vy_ego": [
      -0.10010157047402046,
      -0.13133460661224827,
      -0.0788671903824022,
      -0.004145374199348954,
      0.05099250159025903,
      0.06831532897485482,
      0.06042984636971327,
      0.014011390896737197,
      -0.0035701348624459506,
      -0.0682299512468838
    ],
    "v_ego": [
      4.249473277168483,
      3.8243268337622185,
      3.578791084143915,
      3.441210991591955,
      3.5222542731651805,
      3.6954065811459054,
      3.707502844535761,
      3.5766558510049435,
      3.2814887590324213,
      2.884004188235672
    ],
    "ax_ego": [
      -1.1093033547248394,
      -0.678106466827512,
      -0.4201508632606974,
      -0.18478949753573334,
      0.49683250577169524,
      0.17976878607521551,
      -0.13699016068943484,
      -0.3844795092573598,
      -0.7958652623142468,
      -0.7964189523807546
    ],
    "ay_ego": [
      -1.782200814300927,
      -1.9866970787001628,
      -1.9709266654546003,
      -1.9166890179741107,
      -1.6528545026083061,
      -1.0162050144785655,
      -0.36454921292774006,
      -0.07353647006006644,
      -0.09475034739660904,
      -0.08997780809001732
    ],
    "a_ego": [
      2.0992364505454524,
      2.099236447584943,
      2.0152118172784466,
      1.9255762644003664,
      1.7259115115161416,
      1.0319832595048903,
      0.3894386123279919,
      0.39144872648620954,
      0.801485585703388,
      0.8014855916733267
    ],
    "yaw": [
      -0.7748550081177459,
      -1.0026829651062306,
      -1.284858815004108,
      -1.5833643292169475,
      -1.860559125761228,
      -2.0476742705900737,
      -2.1377894697025948,
      -2.154970415709431,
      -2.162006822527968,
      -2.156012254924289
    ],
    "yaw_diff": [
      -0.45565591397696936,
      -0.564351699795755,
      -0.5970110284256789,
      -0.554389593088561,
      -0.37423028965769145,
      -0.18023039822504217,
      -0.034361892013672346,
      -0.0140728136370738,
      0.011989135207358004,
      0.011989135207358004
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.576111468378646,
    "v_std": 0.33666648952693246,
    "vy_max": 0.13133460661224827,
    "a_max": 2.0992364505454524,
    "ax_avg": -0.3829502775143667,
    "a_std": 0.6765640243228045,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "71af26e14ba65545",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "71af26e14ba65545",
    "pedestrians": "No"
  },
  "e3f62a1acf9d565e": {
    "vx_ego": [
      13.897845959294811,
      13.890228689300129,
      13.871883243956955,
      13.823539341761716,
      13.85984608466198,
      13.924527949293914,
      13.938323166101945,
      13.972782032636328,
      13.961167105064517,
      13.909312304855115
    ],
    "vy_ego": [
      -0.004047082727627327,
      -0.03337749243484467,
      -0.03290705843160424,
      0.013053474328156511,
      0.01030177467984128,
      0.013921482695113063,
      0.006338960677442884,
      0.010542738965159337,
      0.03140699428543936,
      0.02541549095670792
    ],
    "v_ego": [
      13.897846548554408,
      13.890268791425802,
      13.87192227517399,
      13.823545504913925,
      13.859849913223503,
      13.924534908511228,
      13.93832460753862,
      13.972786009987752,
      13.961202431553865,
      13.909335524789618
    ],
    "ax_ego": [
      -0.015612689944186922,
      -0.014246044928936205,
      -0.058114096853536676,
      -0.13487512088926085,
      0.27953941727501663,
      -0.02129963387604368,
      0.07629813436668369,
      0.06118984100743545,
      -0.1077495111180995,
      -0.10139773117666434
    ],
    "ay_ego": [
      0.16767717548930555,
      0.16779881545025746,
      0.2070017979848403,
      0.2724731828706161,
      0.2494048980374903,
      0.22920215380520736,
      0.27203831107629234,
      0.2649728312843797,
      0.4139846395387246,
      0.4155860210088138
    ],
    "a_ego": [
      0.16840246811541892,
      0.16840247107042947,
      0.21500463395484962,
      0.3040278500705765,
      0.374626599396715,
      0.23018970809356235,
      0.2825353924751342,
      0.2719463144838988,
      0.42777709022363175,
      0.42777709235735534
    ],
    "yaw": [
      -1.9818960279233737,
      -1.9737486356908573,
      -1.9670349854986842,
      -1.9617014788085618,
      -1.9520407654488647,
      -1.9437110370362127,
      -1.9341636936928652,
      -1.9248462217864226,
      -1.9142033330588126,
      -1.8988902015588942
    ],
    "yaw_diff": [
      0.01629478446503274,
      0.013427300384346363,
      0.010667013380244672,
      0.019321426719394186,
      0.01665945682530401,
      0.019094686686695006,
      0.01863494381288522,
      0.02128577745521998,
      0.03062626299983684,
      0.03062626299983684
    ],
    "min_front_frame": [
      1,
      27.838152203084295
    ],
    "v_avg": 13.904961651567271,
    "v_std": 0.043932063471807135,
    "vy_max": 0.03337749243484467,
    "a_max": 0.42777709235735534,
    "ax_avg": -0.003626743613759242,
    "a_std": 0.09186551938046598,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e3f62a1acf9d565e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 46.501965630499875,
    "right_rear_min": 3.5597298305114298,
    "speed_mode": "quasi_constant",
    "front_frame": [
      27.909551352795734,
      27.838152203084295,
      27.880190892508356,
      27.900152959114873,
      27.926400666540324,
      27.93421163216391,
      27.897225483200437,
      27.892344765872487,
      28.03771058535663,
      28.143733854078633
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e3f62a1acf9d565e",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "43c65ce08ad6564e": {
    "vx_ego": [
      8.372474637795575,
      7.3936909541183775,
      6.394187681153792,
      5.389582597724724,
      4.354686658315227,
      3.2923746564495597,
      2.437792985726293,
      2.029904948672547,
      2.1304474081878784,
      2.4793823884941504
    ],
    "vy_ego": [
      -0.024509308026243293,
      -0.0058367146604321185,
      0.0034968703578064364,
      0.024767197334553348,
      0.0097760091248702,
      0.003312319788269402,
      0.008238266441150777,
      0.0011357106321191468,
      0.009117149299386673,
      -0.006817039919550738
    ],
    "v_ego": [
      8.372510511591495,
      7.393693257922589,
      6.394188637342599,
      5.389639504805585,
      4.354697631577082,
      3.292376322642012,
      2.4378069058664735,
      2.0299052663816446,
      2.1304669163039813,
      2.479391760171882
    ],
    "ax_ego": [
      -1.9609335091398936,
      -1.952377716778484,
      -2.0480487235336216,
      -1.969755215145337,
      -2.1667004320978194,
      -2.083414094752337,
      -1.3358977573173414,
      -0.2953325839931973,
      0.6971147978251576,
      0.698385759742169
    ],
    "ay_ego": [
      0.3647362969894219,
      0.4080613885281643,
      0.13512872250370112,
      -0.12729730745650691,
      -0.312090677779818,
      -0.20604238394460195,
      -0.09084140040641475,
      -0.08909065728656992,
      0.06937076674656029,
      0.05512426760302894
    ],
    "a_ego": [
      1.9945658158128683,
      1.994565828891265,
      2.05250172852867,
      1.973864284108188,
      2.189061751895077,
      2.0935777401840787,
      1.3389828146893077,
      0.30847768214872856,
      0.7005578809961501,
      0.7005578878932254
    ],
    "yaw": [
      2.012891590082679,
      2.0350331023408463,
      2.0533450442966457,
      2.0500617845104747,
      2.030691224620215,
      1.9984187285912671,
      1.9698647337711295,
      1.951859302381182,
      1.9452588053946878,
      1.9656758530005924
    ],
    "yaw_diff": [
      0.04428302451633481,
      0.036623883911598654,
      -0.006566519572341889,
      -0.03874111978051964,
      -0.06454499205789554,
      -0.0571079896402753,
      -0.03601086277989474,
      -0.013200993972988684,
      0.04083409521180936,
      0.04083409521180936
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.427467671460534,
    "v_std": 2.2187297888063244,
    "vy_max": 0.024767197334553348,
    "a_max": 2.189061751895077,
    "ax_avg": -1.2416959475190703,
    "a_std": 0.6751283727966599,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "43c65ce08ad6564e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "43c65ce08ad6564e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cf4d1288c560569f": {
    "vx_ego": [
      6.019813632504215,
      6.166566824193854,
      6.288181528155244,
      6.399300099303444,
      6.508309153298125,
      6.6000073003670305,
      6.674717087832394,
      6.745066209955683,
      6.8195565738956425,
      6.887454366024938
    ],
    "vy_ego": [
      0.02732605516314468,
      0.011607655210166268,
      -0.023247712942328747,
      -0.07617878159546931,
      -0.06025441058736414,
      -0.021539011323413515,
      -0.01638924331411573,
      -0.01087974946318937,
      -0.017913830392815466,
      -0.03956914475457518
    ],
    "v_ego": [
      6.0198756534810896,
      6.166577749036151,
      6.288224501971114,
      6.399753508355649,
      6.508588067230818,
      6.600042446371606,
      6.674737209051616,
      6.745074984433776,
      6.819580102167773,
      6.887568029521929
    ],
    "ax_ego": [
      0.2923414491397781,
      0.29586166172237593,
      0.1911216278228005,
      0.24981747645951063,
      0.1800942154360146,
      0.1849277264249603,
      0.11333405201046542,
      0.1668315906673512,
      0.13048147526776593,
      0.13847457300028929
    ],
    "ay_ego": [
      -0.2257432777151552,
      -0.22110953686440898,
      -0.33110082446116795,
      -0.27919923597577123,
      -0.08507832688600062,
      -0.2023727809744955,
      -0.2947942270856425,
      -0.2962007387680276,
      -0.3548606347486766,
      -0.3518185306168421
    ],
    "a_ego": [
      0.3693555879078143,
      0.36935558770582994,
      0.3823025406409199,
      0.37464781450590706,
      0.19917893497866387,
      0.27414048675826064,
      0.3158294534525434,
      0.339952433865863,
      0.37808925597309195,
      0.3780892564633466
    ],
    "yaw": [
      2.313219001155757,
      2.2974637485429525,
      2.2809273457095403,
      2.26520203904243,
      2.2486463738125195,
      2.2317737650587315,
      2.2122986876312325,
      2.18943625502831,
      2.166491249306617,
      2.143870640253558
    ],
    "yaw_diff": [
      -0.03151050522560883,
      -0.03307280566682458,
      -0.03145061333422028,
      -0.033111330459821176,
      -0.033745217507576086,
      -0.038950154854997976,
      -0.04572486520584462,
      -0.04589001144338667,
      -0.04524121810611792,
      -0.04524121810611792
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.511002225162153,
    "v_std": 0.2735680942711381,
    "vy_max": 0.07617878159546931,
    "a_max": 0.3823025406409199,
    "ax_avg": 0.19432858479513118,
    "a_std": 0.05686035715673936,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cf4d1288c560569f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.677281294955185,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cf4d1288c560569f",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "d2d63c8eb7545fc1": {
    "vx_ego": [
      2.2810016191343263,
      1.9877010096441385,
      1.6708053125985214,
      1.283972859941632,
      0.8507073585797069,
      0.42452472132450025,
      0.10291776611143776,
      -0.020710442929957766,
      -0.02608045112137957,
      -0.013875475715692464
    ],
    "vy_ego": [
      -0.028312549112332275,
      -0.005999528393960674,
      0.0012070490523884425,
      -0.010185314556299674,
      -0.007201631393616625,
      0.0018565015541822105,
      -0.018809038394691516,
      -0.024341487279132244,
      -0.007649729203086651,
      -0.007672658098537015
    ],
    "v_ego": [
      2.2811773247449785,
      1.9877100638879095,
      1.6708057486060004,
      1.2840132576026249,
      0.8507378406044905,
      0.42452878066588756,
      0.10462239964128897,
      0.03195982555201443,
      0.027179188501042954,
      0.01585555135067264
    ],
    "ax_ego": [
      -0.5865831569904818,
      -0.5863981256256345,
      -0.6811952667853043,
      -0.8661257551182779,
      -0.8668914092106261,
      -0.8378395512819988,
      -0.44858874654601927,
      -0.04589403144675887,
      0.024411369264832134,
      0.024411356193802327
    ],
    "ay_ego": [
      0.05726505233463339,
      0.059129680050582806,
      -0.028002288558722666,
      -0.015395650411363038,
      0.030642158429926736,
      0.006331676283022225,
      -0.0889631312445936,
      0.06682658073236432,
      -4.8413240898425094e-05,
      -5.066635936835581e-05
    ],
    "a_ego": [
      0.5893717725543093,
      0.5893717679021805,
      0.6817705769943638,
      0.8662625755109106,
      0.8674327969568766,
      0.8378634756432424,
      0.4573251603056315,
      0.08106820594299159,
      0.024411417271962832,
      0.02441140877337199
    ],
    "yaw": [
      -2.0541899110963593,
      -2.0510106174933718,
      -2.0506981583261936,
      -2.0503363615603756,
      -2.0495607247493375,
      -2.0492684079577,
      -2.0492327199354348,
      -2.0490497276800426,
      -2.0491362048091233,
      -2.049044048430696
    ],
    "yaw_diff": [
      0.0063585872059750415,
      0.0006249183343562947,
      0.0007235935316360909,
      0.001551273622076188,
      0.0005846335832746519,
      7.137604453077984e-05,
      0.00036598451078440064,
      -0.0001729542581614396,
      0.0001843127568541547,
      0.0001843127568541547
    ],
    "min_front_frame": [
      6,
      8.794653693399805
    ],
    "v_avg": 0.8678589981156909,
    "v_std": 0.8354751771886862,
    "vy_max": 0.028312549112332275,
    "a_max": 0.8674327969568766,
    "ax_avg": -0.48706933175464673,
    "a_std": 0.32588016554269944,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d2d63c8eb7545fc1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.9636855099998365,
    "right_rear_min": 8.523391522386657,
    "speed_mode": "decelerating",
    "front_frame": [
      12.484445287701917,
      11.424995458705641,
      10.507344586822622,
      9.751262785067338,
      9.2182313084074,
      8.92038715648096,
      8.794653693399805,
      8.812743518457989,
      8.829746813609127,
      8.807369643723428
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d2d63c8eb7545fc1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0bcae698fd905226": {
    "vx_ego": [
      1.8976635980419658,
      2.357978700116701,
      2.798824326536664,
      3.1534771504008416,
      3.2615035678743736,
      3.1626681808150208,
      3.0159304399209175,
      2.916829897418971,
      2.952093438086289,
      3.052924642672535
    ],
    "vy_ego": [
      -0.021539471593247206,
      0.002325095248496112,
      0.011495545513672045,
      0.012047469169830016,
      0.009023651724393345,
      -0.014670399614856056,
      -0.04190500680858489,
      -0.02930009290064861,
      -0.01946816328941492,
      -0.04628299558838522
    ],
    "v_ego": [
      1.897785836223386,
      2.357979846451611,
      2.7988479341293386,
      3.1535001632493396,
      3.2615160507879937,
      3.162702205798809,
      3.016221551550417,
      2.916977056118397,
      2.9521576307124913,
      3.053275452611156
    ],
    "ax_ego": [
      0.9206290071078452,
      0.9206402587036943,
      0.8426438118101431,
      0.5758813592509713,
      -0.14385983684435993,
      -0.25151140864375693,
      -0.3348984811929681,
      -0.06092958356198377,
      0.2021320266896025,
      0.20203574240924232
    ],
    "ay_ego": [
      0.04881836202257234,
      0.048605723218211994,
      0.009721531689228069,
      0.01610885179711813,
      -0.007658659706758747,
      -0.05218903376829728,
      -0.007278083475677932,
      0.09269455966650596,
      -0.014294196755799696,
      -0.015596015575954011
    ],
    "a_ego": [
      0.9219224485817361,
      0.9219224491656391,
      0.8426998883115582,
      0.5761066177705024,
      0.1440635544660404,
      0.25686900148448305,
      0.3349775562697235,
      0.11092653219498118,
      0.20263681865480343,
      0.20263681035956702
    ],
    "yaw": [
      -0.7423615958216176,
      -0.7421306285005462,
      -0.7400398061326389,
      -0.7380774599684556,
      -0.7365197851903973,
      -0.73381260488228,
      -0.7298226304727811,
      -0.7268387277491666,
      -0.723472231063947,
      -0.717030240314686
    ],
    "yaw_diff": [
      0.0004619346421428361,
      0.004181644735814727,
      0.0039246923283664525,
      0.0031153495561166977,
      0.005414360616234681,
      0.007979948818997773,
      0.005967805447228969,
      0.0067329933704392,
      0.01288398149852199,
      0.01288398149852199
    ],
    "min_front_frame": [
      0,
      12.780332547482066
    ],
    "v_avg": 2.857096372763294,
    "v_std": 0.3992520123965057,
    "vy_max": 0.04628299558838522,
    "a_max": 0.9219224491656391,
    "ax_avg": 0.287276289572843,
    "a_std": 0.31575158710838136,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0bcae698fd905226",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.217482550104005,
    "right_rear_min": 7.2708019360916465,
    "speed_mode": "accelerating",
    "front_frame": [
      12.780332547482066,
      13.845600086031274,
      15.108449101291308,
      16.41350961088444,
      17.996120743587326,
      20.031210575072972,
      22.207026883144525,
      24.82304976345039,
      27.451706029963887,
      30.2158117915041
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0bcae698fd905226",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "651f88b4c46e50a2": {
    "vx_ego": [
      7.69347519075451,
      6.993116631123511,
      6.2796067441918675,
      5.527031232025985,
      4.777629874574709,
      4.138519405635366,
      3.6329412927669167,
      3.086922346808274,
      2.3247979877755,
      1.4394375138605024
    ],
    "vy_ego": [
      -0.0988387923073657,
      -0.00968563238163922,
      0.023885957498869903,
      -0.002196916410922789,
      -0.04627878195491464,
      -0.04903166362898159,
      -0.02849544419220318,
      -0.024809651529244636,
      -0.039070610984360155,
      -0.06426383491201315
    ],
    "v_ego": [
      7.694110060144704,
      6.993123338535571,
      6.279652171949146,
      5.527031668647503,
      4.777854010336438,
      4.1388098500485295,
      3.6330530448963536,
      3.087022043010595,
      2.325126275411231,
      1.440871332488263
    ],
    "ax_ego": [
      -1.4007037171684016,
      -1.4004373262367331,
      -1.4540823398792795,
      -1.556761766056601,
      -1.4407128203773962,
      -1.1164438917604023,
      -0.9062510862984231,
      -1.2777808879943664,
      -1.7710185352200738,
      -1.7708855515377238
    ],
    "ay_ego": [
      0.1971183086556627,
      0.19900213894783003,
      0.08258853383695675,
      -0.08673772419721582,
      -0.06468546744589188,
      -0.0034143442485558007,
      0.053368352879015535,
      -0.029467693379236715,
      -0.0568872654481446,
      -0.06088648655571649
    ],
    "a_ego": [
      1.4145057549888749,
      1.4145057638705123,
      1.4564258707775477,
      1.5591762661914077,
      1.4421642210575343,
      1.116449112676328,
      0.9078211346438742,
      1.2781206291570308,
      1.771931943688364,
      1.7719319402533968
    ],
    "yaw": [
      2.6182758005914235,
      2.6196208355883757,
      2.625164356134694,
      2.6293977713199226,
      2.630609580687852,
      2.627378809851841,
      2.6252936150106434,
      2.6259656990834963,
      2.623317916024534,
      2.621059688785577
    ],
    "yaw_diff": [
      0.0026900699939043093,
      0.011087041092636696,
      0.008466830370457146,
      0.0024236187358583905,
      -0.006461541672021731,
      -0.004170389682395026,
      0.0013441681457058152,
      -0.005295566117924366,
      -0.0045164544779146,
      -0.0045164544779146
    ],
    "min_front_frame": [
      9,
      8.69001296743624
    ],
    "v_avg": 4.589665379546833,
    "v_std": 1.9391665473544548,
    "vy_max": 0.0988387923073657,
    "a_max": 1.771931943688364,
    "ax_avg": -1.4095077922529402,
    "a_std": 0.2535965912945776,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "651f88b4c46e50a2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 33.38451601573366,
    "right_rear_min": 5.210582546142434,
    "speed_mode": "decelerating",
    "front_frame": [
      29.20673306325775,
      25.589602876608097,
      22.261278463295533,
      19.334415549372387,
      16.7693001724777,
      14.538318112961568,
      12.64989278215273,
      10.934172320545116,
      9.534287998235472,
      8.69001296743624
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "651f88b4c46e50a2",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "6451d6a270c75f58": {
    "vx_ego": [
      5.80397626220347,
      5.4640871942548666,
      5.076570896075851,
      4.633575488134953,
      4.12489258677923,
      3.5873571436941134,
      3.078014942157964,
      2.615206371024466,
      2.196086134367778,
      1.7738947052577518
    ],
    "vy_ego": [
      -0.043207005000680976,
      -0.03220209856886691,
      -0.018870748760012157,
      -0.060252644107322784,
      -0.050946223912647026,
      0.03222043398300922,
      -0.006902749744093772,
      -0.06768528424676168,
      0.00015837538410135021,
      0.10771571857718087
    ],
    "v_ego": [
      5.804137084658019,
      5.464182083493582,
      5.076605969350304,
      4.633967218848984,
      4.125207191184123,
      3.587501837320678,
      3.078022682194159,
      2.616082120414136,
      2.1960861400785654,
      1.777162092036088
    ],
    "ax_ego": [
      -0.6800216460365324,
      -0.6799857376307162,
      -0.870550851118181,
      -0.9019528227433685,
      -1.1346263873009672,
      -1.0156682547156748,
      -1.0199126513765522,
      -0.8322776419145014,
      -0.8444690517851062,
      -0.84438264226704
    ],
    "ay_ego": [
      -0.01090100208598288,
      -0.012948896451639047,
      -0.08685899182832754,
      -0.16315446032842282,
      0.10956855760688855,
      0.06423962606406225,
      -0.319109129679665,
      0.04330160701885727,
      0.21652921335247874,
      0.2168659012265275
    ],
    "a_ego": [
      0.6801090140004862,
      0.6801090186878164,
      0.8748732873073808,
      0.9165905696546246,
      1.1399045168678377,
      1.0176977612209017,
      1.0686685421976554,
      0.8334033251680597,
      0.8717871756672495,
      0.8717871676485391
    ],
    "yaw": [
      -1.881306291099198,
      -1.8843178790359736,
      -1.891549098008622,
      -1.8958959681332934,
      -1.9010459697728848,
      -1.9113848454369275,
      -1.9187633282633099,
      -1.9216570190319615,
      -1.9228559183490779,
      -1.9224572053003324
    ],
    "yaw_diff": [
      -0.006023175873551168,
      -0.014462437945296891,
      -0.008693740249342774,
      -0.010300003279182679,
      -0.02067775132808558,
      -0.014756965652764631,
      -0.005787381537303293,
      -0.0023977986342327284,
      0.0007974260974910052,
      0.0007974260974910052
    ],
    "min_front_frame": [
      9,
      34.39220277254709
    ],
    "v_avg": 3.835895441957864,
    "v_std": 1.3355391273937902,
    "vy_max": 0.10771571857718087,
    "a_max": 1.1399045168678377,
    "ax_avg": -0.8823847686888641,
    "a_std": 0.14258002062050038,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6451d6a270c75f58",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      51.58135549250454,
      48.816817347233425,
      46.200603625562636,
      43.79753646699263,
      41.618153302076486,
      39.709635625366886,
      38.080320730264646,
      36.64219888921798,
      35.39483833177793,
      34.39220277254709
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6451d6a270c75f58",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "12fac37cef195384": {
    "vx_ego": [
      9.458607360012397,
      9.754194297202638,
      10.027782007791352,
      10.26770376231646,
      10.47481100773435,
      10.660668182468395,
      10.872027492306083,
      11.065317119383927,
      11.198186359736702,
      11.313952387404658
    ],
    "vy_ego": [
      -0.042019334021119015,
      -0.05649637224857873,
      -0.021191103043574522,
      -0.002370455781637304,
      0.016488787599151067,
      -0.009737116917218458,
      -0.0037669002004809826,
      0.0013222258405978238,
      0.015803929256046345,
      0.0541662243261829
    ],
    "v_ego": [
      9.458700693822184,
      9.754357909552924,
      10.027804398702248,
      10.267704035944364,
      10.474823985531653,
      10.660672629254679,
      10.872028144876944,
      11.065317198382168,
      11.198197511723619,
      11.3140820486824
    ],
    "ax_ego": [
      0.589193596506498,
      0.5971930277264426,
      0.49939352108851665,
      0.46560851038108464,
      0.36001270394187856,
      0.38009441884750383,
      0.46855193425994857,
      0.305245749705085,
      0.2245371981137869,
      0.23560471240286152
    ],
    "ay_ego": [
      0.3840847624136008,
      0.37152481345567295,
      0.36055222027160005,
      0.7030637344805977,
      0.5637486135803073,
      0.30131712939813293,
      0.5722621813648109,
      0.6108106881182859,
      0.5413187041205814,
      0.5365941812061495
    ],
    "a_ego": [
      0.7033279454725044,
      0.7033279458249531,
      0.6159478812756539,
      0.8432614657869153,
      0.6688958411541077,
      0.48503997743253374,
      0.7396113299018281,
      0.6828357521633979,
      0.5860400095279976,
      0.5860400121243712
    ],
    "yaw": [
      -0.8331219951327639,
      -0.8119493403469018,
      -0.7970338527463805,
      -0.7726965817801097,
      -0.7440168507176993,
      -0.7210659341671589,
      -0.7013158673727868,
      -0.674865791445541,
      -0.6503153670191191,
      -0.6297810042750263
    ],
    "yaw_diff": [
      0.04234530957172411,
      0.02983097520104261,
      0.048674541932541615,
      0.05735946212482079,
      0.04590183310108076,
      0.03950013358874416,
      0.052900151854491595,
      0.04910084885284394,
      0.04106872548818563,
      0.04106872548818563
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.509368855647319,
    "v_std": 0.5959015075127867,
    "vy_max": 0.05649637224857873,
    "a_max": 0.8432614657869153,
    "ax_avg": 0.4125435372973606,
    "a_std": 0.09367453605189834,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "12fac37cef195384",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.22207912693915,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "12fac37cef195384",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "664106f910475a53": {
    "vx_ego": [
      3.400054341539351,
      3.298825806196084,
      3.2764198948601226,
      3.1947957286306226,
      3.03954438104686,
      2.8166850886068926,
      2.587454482267211,
      2.421896004851811,
      2.3454484260484474,
      2.3144143969960975
    ],
    "vy_ego": [
      0.0007688815641660462,
      0.04202127378635845,
      0.050569429136127164,
      0.07981286982781266,
      0.06682055393858688,
      0.041353653870011,
      -0.009410541073866296,
      -0.023370306419305376,
      -0.02120333343736558,
      -0.00958953008147434
    ],
    "v_ego": [
      3.400054428476028,
      3.299093434123361,
      3.2768101248925565,
      3.1957925217176757,
      3.0402787751754277,
      2.8169886426943256,
      2.5874715952234113,
      2.4220087591788957,
      2.3455442653256395,
      2.314434263510198
    ],
    "ax_ego": [
      -0.3569446630369182,
      -0.023136100221114453,
      -0.0880593121363446,
      -0.22386745303269603,
      -0.38920600319186116,
      -0.49835097530349526,
      -0.4184475088916141,
      -0.2431392478927469,
      -0.06202936078482046,
      -0.06180956020920461
    ],
    "ay_ego": [
      -1.4234052978117115,
      -1.467295760380108,
      -0.8556398581745396,
      -0.5785240830067406,
      -0.24879476193940253,
      -0.13733728665901523,
      0.021161853739459335,
      0.021085920863190152,
      0.04551049267524383,
      0.04580856782660864
    ],
    "a_ego": [
      1.4674781546275184,
      1.4674781523289813,
      0.8601592930096567,
      0.6203279383891528,
      0.4619308892995434,
      0.5169286458427367,
      0.4189822690177804,
      0.24405185908838997,
      0.07693404020923927,
      0.07693404070748068
    ],
    "yaw": [
      1.4714370293849628,
      1.2415021123259473,
      1.0631749637922372,
      0.9440923872216818,
      0.882337820224802,
      0.858181292768867,
      0.866249480334663,
      0.8761261879356264,
      0.882259979575897,
      0.8870738855922731
    ],
    "yaw_diff": [
      -0.45986983411803095,
      -0.35665429706742025,
      -0.23816515314111086,
      -0.12350913399375951,
      -0.04831305491186999,
      0.01613637513159194,
      0.01975341520192675,
      0.012267583280541228,
      0.009627812032752203,
      0.009627812032752203
    ],
    "min_front_frame": [
      9,
      17.007390051707038
    ],
    "v_avg": 2.8698476810317515,
    "v_std": 0.40407233351187954,
    "vy_max": 0.07981286982781266,
    "a_max": 1.4674781546275184,
    "ax_avg": -0.23649901847008162,
    "a_std": 0.47971850416968514,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "664106f910475a53",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      24.866475484444656,
      23.333845248581884,
      21.87818606006961,
      20.53665507951267,
      19.323201354739847,
      18.158009531573978,
      17.007390051707038
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "664106f910475a53",
    "pedestrians": "No"
  },
  "315ade412d0f5304": {
    "vx_ego": [
      1.2841701480367338,
      0.8507073585797069,
      0.42452472132450025,
      0.10291776611143776,
      -0.020710442929957766,
      -0.02608045112137957,
      -0.015373893266344757,
      -0.009157927147654055,
      -0.006306743617861774,
      -0.0038263642530000736
    ],
    "vy_ego": [
      -0.021526667947844857,
      -0.007201631393616625,
      0.0018565015541822105,
      -0.018809038394691516,
      -0.024341487279132244,
      -0.007649729203086651,
      -0.005918650937848938,
      -0.0035236069503732773,
      -0.0024608955591116526,
      -0.0016457236381145432
    ],
    "v_ego": [
      1.2843505621681424,
      0.8507378406044905,
      0.42452878066588756,
      0.10462239964128897,
      0.03195982555201443,
      0.027179188501042954,
      0.01647382842842127,
      0.009812412322281305,
      0.006769861299487285,
      0.0041652694618338655
    ],
    "ax_ego": [
      -0.8669149133872609,
      -0.8668914092106261,
      -0.8378395512819988,
      -0.44858874654601927,
      -0.04589403144675887,
      0.024411369264832134,
      0.018417699838839625,
      0.006444390426945554,
      0.00496082739074797,
      0.004960856945843314
    ],
    "ay_ego": [
      0.029969759801436235,
      0.030642158429926736,
      0.006331676283022225,
      -0.0889631312445936,
      0.06682658073236432,
      -4.8413240898425094e-05,
      0.00696536537035769,
      0.0026194328651459606,
      0.0016301850975018442,
      0.0016300846860534913
    ],
    "a_ego": [
      0.8674327948353105,
      0.8674327969568766,
      0.8378634756432424,
      0.4573251603056315,
      0.08106820594299159,
      0.024411417271962832,
      0.019690809584579586,
      0.0069564068677668844,
      0.005221811165956924,
      0.005221807897733117
    ],
    "yaw": [
      -2.0503363615603756,
      -2.0495607247493375,
      -2.0492684079577,
      -2.0492327199354348,
      -2.0490497276800426,
      -2.0491362048091233,
      -2.049044048430696,
      -2.049151231306892,
      -2.0491104499679373,
      -2.049089972426253
    ],
    "yaw_diff": [
      0.001551273622076188,
      0.0005846335832746519,
      7.137604453077984e-05,
      0.00036598451078440064,
      -0.0001729542581614396,
      0.0001843127568541547,
      -0.00021436575239164313,
      8.156267790937477e-05,
      4.095508336909859e-05,
      4.095508336909859e-05
    ],
    "min_front_frame": [
      7,
      8.785351374102115
    ],
    "v_avg": 0.27605999686448895,
    "v_std": 0.42480366560299715,
    "vy_max": 0.024341487279132244,
    "a_max": 0.8674327969568766,
    "ax_avg": -0.30069335080054554,
    "a_std": 0.37644982430767665,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "315ade412d0f5304",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.9636855099998365,
    "right_rear_min": 8.523391522386657,
    "speed_mode": "decelerating",
    "front_frame": [
      9.751262785067338,
      9.2182313084074,
      8.92038715648096,
      8.794653693399805,
      8.812743518457989,
      8.829746813609127,
      8.807369643723428,
      8.785351374102115,
      8.792597042913686,
      8.786970164435964
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "315ade412d0f5304",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cc8b8b4ae726592a": {
    "vx_ego": [
      7.724443184169814,
      7.94313213673052,
      8.191387477846758,
      8.39628980015271,
      8.60177879545011,
      8.867785708700467,
      9.236899027717778,
      9.594475590091736,
      9.889379983268281,
      10.186427247951777
    ],
    "vy_ego": [
      -0.07720129023603284,
      -0.013192482737478972,
      -0.05384940338368338,
      -0.0755072553321714,
      -0.08296788795955656,
      -0.12831033042070406,
      -0.13988661446042272,
      -0.10886677029835123,
      -0.09191432900893926,
      -0.09552889680609056
    ],
    "v_ego": [
      7.72482896539992,
      7.943143092199834,
      8.191564476366493,
      8.396629309059454,
      8.60217891677961,
      8.868713938126819,
      9.237958211269351,
      9.595093215938101,
      9.889807111230457,
      10.186875175829897
    ],
    "ax_ego": [
      0.30045750445370845,
      0.5944165466573287,
      0.4315439960736398,
      0.4393237731995462,
      0.4315137105470548,
      0.6409873622537662,
      0.8439062828962312,
      0.5917951334558271,
      0.5943001600845847,
      0.6003979159429348
    ],
    "ay_ego": [
      2.2358098955411485,
      2.1761869492045154,
      2.3614406539620023,
      2.527482922589225,
      2.5450348696387883,
      1.82949718855784,
      0.9708314685767211,
      0.3240775322723046,
      0.35153251198978014,
      0.34101337323294867
    ],
    "a_ego": [
      2.2559079327362346,
      2.2559079477735966,
      2.400548308768581,
      2.5653801475957625,
      2.5813575052803928,
      1.9385367578434207,
      1.2863481467668723,
      0.6747204805737758,
      0.6904837342489741,
      0.6904837276810611
    ],
    "yaw": [
      -2.9077537644792555,
      -2.7746960033361288,
      -2.629659094935686,
      -2.479944337569555,
      -2.3301557949241527,
      -2.1995542843882347,
      -2.1207582316204183,
      -2.089777204974739,
      -2.074179483958873,
      -2.056570240009107
    ],
    "yaw_diff": [
      0.26611552228625346,
      0.2900738168008852,
      0.2994295147322621,
      0.29957708529080485,
      0.2612030210718359,
      0.15759210553563285,
      0.06196205329135829,
      0.031195442031732412,
      0.03521848789953186,
      0.03521848789953186
    ],
    "min_front_frame": [
      9,
      35.579897119603324
    ],
    "v_avg": 8.863679241219993,
    "v_std": 0.7975892083850853,
    "vy_max": 0.13988661446042272,
    "a_max": 2.5813575052803928,
    "ax_avg": 0.5468642385564622,
    "a_std": 0.7707414027987955,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "cc8b8b4ae726592a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.713937619719046,
    "right_rear_min": 11.178536279701262,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      35.579897119603324
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "cc8b8b4ae726592a",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4f6abcc897955dfd": {
    "vx_ego": [
      6.633580381951169,
      6.576278498627098,
      6.521145258380828,
      6.480368027906212,
      6.429565685178637,
      6.328051661820766,
      6.190025981665753,
      6.042806720571027,
      5.902159468985328,
      5.773137923936493
    ],
    "vy_ego": [
      -0.0029539836327984736,
      -0.0373557398249478,
      -0.04781680156455766,
      -0.06555436026841856,
      -0.04700346864639782,
      -0.0550024821539139,
      -0.08679695798102383,
      -0.0659014816728789,
      -0.010081887869103245,
      0.06040467463381405
    ],
    "v_ego": [
      6.6335810396667885,
      6.5763845951102144,
      6.521320566220819,
      6.480699588104609,
      6.429737492782378,
      6.3282906939959425,
      6.190634488128969,
      6.043166063204374,
      5.902168079764942,
      5.773453924083172
    ],
    "ax_ego": [
      -0.1144823098309616,
      -0.11456651649025157,
      -0.0980596793951313,
      -0.05495953376449156,
      -0.13830347589126923,
      -0.2639628314146704,
      -0.2823483273398672,
      -0.3021634584695704,
      -0.259084191560958,
      -0.25765674695241164
    ],
    "ay_ego": [
      -0.04294756739853166,
      -0.04272243158377727,
      0.4803147445455878,
      0.5174231849822393,
      0.5732918282899977,
      0.3650626019340952,
      0.21061466678762375,
      0.21840717765541404,
      0.21672294352131927,
      0.21841807081967507
    ],
    "a_ego": [
      0.12227302568303323,
      0.1222730258934554,
      0.49022235215356025,
      0.5203338377510873,
      0.5897383927028111,
      0.4504964813395787,
      0.3522486562326144,
      0.3728330067009832,
      0.3377772232779175,
      0.33777722378912356
    ],
    "yaw": [
      -1.6094815896674861,
      -1.6075157500585928,
      -1.589207788060098,
      -1.5480808902936156,
      -1.5087800354225838,
      -1.4708477619322924,
      -1.4427863011839444,
      -1.4286728744153638,
      -1.4197971047230835,
      -1.413236291243595
    ],
    "yaw_diff": [
      0.003931679217786588,
      0.03661592399698943,
      0.08225379553296497,
      0.07860170974206371,
      0.07586454698058276,
      0.056122921496696065,
      0.028226853537161034,
      0.017751539384560644,
      0.013121626958977117,
      0.013121626958977117
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.28794365310622,
    "v_std": 0.2826524380059309,
    "vy_max": 0.08679695798102383,
    "a_max": 0.5897383927028111,
    "ax_avg": -0.1885587071109583,
    "a_std": 0.14729350232032024,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "4f6abcc897955dfd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4f6abcc897955dfd",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cdf234c4f4c35156": {
    "vx_ego": [
      8.94239861837183,
      8.855934777455428,
      8.752115119322111,
      8.638699958097703,
      8.518063013118876,
      8.396027459019471,
      8.295060081543179,
      8.186806814147596,
      8.033976251272057,
      7.851469232007531
    ],
    "vy_ego": [
      0.08437951481092743,
      0.08251334810370281,
      0.034083490873682454,
      -0.035084212983159446,
      -0.05635860350528654,
      -0.04078973580654832,
      -0.07959363629043925,
      -0.10985758620867514,
      -0.1022483683114348,
      0.053054495567487536
    ],
    "v_ego": [
      8.942796707539433,
      8.856319169675391,
      8.75218148499086,
      8.638771201278448,
      8.518249455589622,
      8.396126541159092,
      8.295441935385302,
      8.187543862564715,
      8.034626882116292,
      7.851648481730499
    ],
    "ax_ego": [
      -0.18136809230461923,
      -0.17209518040716765,
      -0.23495201613574157,
      -0.1895473105182821,
      -0.2579125341175414,
      -0.21889019766362877,
      -0.18067864245153611,
      -0.24180468653639636,
      -0.36527187215665624,
      -0.3645485155685243
    ],
    "ay_ego": [
      0.40233937304114875,
      0.4063921835002099,
      1.195875336959372,
      1.8095386488736893,
      2.054174169371647,
      1.8644097795432688,
      1.4652233779153971,
      0.9783513805977325,
      0.3436245364057424,
      0.3443918414612869
    ],
    "a_ego": [
      0.4413290790389429,
      0.44132908121881553,
      1.2187371625719556,
      1.819439008236421,
      2.070302005352994,
      1.87721515673878,
      1.476321211331713,
      1.0077901221724959,
      0.5014991152623204,
      0.5014991133275419
    ],
    "yaw": [
      2.485392788128836,
      2.508323776864791,
      2.5592663141345744,
      2.6536204751459778,
      2.7684598577037938,
      2.8823991417863377,
      2.9867566125976075,
      3.0644470226253926,
      3.104177423844864,
      3.106280155720927
    ],
    "yaw_diff": [
      0.04586197747191001,
      0.10188507453956674,
      0.18870832202280674,
      0.229678765115632,
      0.2278785681650879,
      0.20871494162253956,
      0.1553808200555702,
      0.07946080243894293,
      0.0042054637521262705,
      0.0042054637521262705
    ],
    "min_front_frame": [
      5,
      60.87423213515422
    ],
    "v_avg": 8.447370572202964,
    "v_std": 0.3414255502524524,
    "vy_max": 0.10985758620867514,
    "a_max": 2.070302005352994,
    "ax_avg": -0.2407069047860094,
    "a_std": 0.6163462357343199,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "cdf234c4f4c35156",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.331386545068849,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      60.87423213515422,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cdf234c4f4c35156",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "130e977c13995170": {
    "vx_ego": [
      5.372071788105626,
      5.627709144541883,
      5.885414909311073,
      6.002208327273605,
      5.989102090365342,
      5.940812876512945,
      5.96760152342119,
      6.081608225125049,
      6.1818389449403774,
      6.313075840769065
    ],
    "vy_ego": [
      -0.020099090160113575,
      -0.04562882407356539,
      -0.07171258015605408,
      -0.04769087664371119,
      -0.025711467597184123,
      -0.03427555903629664,
      -0.027553094553764534,
      -0.014960472172452555,
      0.0764052518098561,
      0.04714494197504959
    ],
    "v_ego": [
      5.372109387380868,
      5.627894118153492,
      5.885851794676255,
      6.0023977895260865,
      5.989157280317867,
      5.940911752221982,
      5.9676651309669175,
      6.081626626128595,
      6.1823110972908575,
      6.313251873389486
    ],
    "ax_ego": [
      0.44592962261439684,
      0.5884141185091265,
      0.442442613630258,
      0.022678178062324944,
      -0.0750083462364541,
      -0.11474904833711053,
      0.22220310302527715,
      0.2431708342039202,
      0.18912385059590986,
      0.36256613441225827
    ],
    "ay_ego": [
      1.2547065413109582,
      1.1945336083629714,
      0.7259364480403333,
      0.11635186225321843,
      -0.20330946306933098,
      -0.6431533524511484,
      -0.899492398543165,
      -1.2721991616145176,
      -1.5150752958269234,
      -1.483161069933909
    ],
    "a_ego": [
      1.331593681696307,
      1.3315936754015967,
      0.8501406900915808,
      0.11854136666167821,
      0.21670484484355082,
      0.6533097112881635,
      0.9265315936496703,
      1.2952307753524512,
      1.526833646108594,
      1.526833639002673
    ],
    "yaw": [
      0.09981033699912174,
      0.21602930728213504,
      0.3036300519281442,
      0.33473855016136755,
      0.32746165477763,
      0.2934525115928277,
      0.22710709437104654,
      0.13492450454007382,
      0.00669989623381923,
      -0.10886751143290957
    ],
    "yaw_diff": [
      0.2324379405660266,
      0.1752014892920183,
      0.06221699646644674,
      -0.014553790767475094,
      -0.06801828636960461,
      -0.13269083444356233,
      -0.18436517966194543,
      -0.2564492166125092,
      -0.2311348153334576,
      -0.2311348153334576
    ],
    "min_front_frame": [
      9,
      45.84370675084912
    ],
    "v_avg": 5.936317685005241,
    "v_std": 0.2545333192892136,
    "vy_max": 0.0764052518098561,
    "a_max": 1.526833646108594,
    "ax_avg": 0.2326771060479907,
    "a_std": 0.4894679351950677,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "130e977c13995170",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      45.84370675084912
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "130e977c13995170",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "7f0cb33eb150567e": {
    "vx_ego": [
      1.869447246839197,
      2.669659580468203,
      3.4908662061718583,
      4.279571466750049,
      4.976689955896094,
      5.614545517078694,
      6.178084447171706,
      6.691356664706787,
      7.200671457499438,
      7.70317076475629
    ],
    "vy_ego": [
      0.006530725531065686,
      0.0015048519235622143,
      0.00018511745465413232,
      -0.023620296250763256,
      -0.020853248373901567,
      -0.0022092111091980143,
      0.007597929812063517,
      0.033284116024550336,
      0.014166243702828596,
      -0.05459356784267753
    ],
    "v_ego": [
      1.8694586540200924,
      2.669660004600768,
      3.490866211080163,
      4.279636650162738,
      4.976733645181829,
      5.61454595171882,
      6.178089119211728,
      6.691439445044353,
      7.200685392468396,
      7.70336421887514
    ],
    "ax_ego": [
      1.600424578406192,
      1.6004243206071105,
      1.6844104324095703,
      1.4704049869976625,
      1.3179216305899526,
      1.2335714755015015,
      1.0204716203140745,
      1.0327378844019197,
      1.0048524541708068,
      1.0050444375754
    ],
    "ay_ego": [
      -0.009914795183896853,
      -0.00995584488623718,
      -0.014040791382614316,
      -0.09561902709196406,
      0.09168954851973674,
      -0.06430842174231559,
      0.034187466744753287,
      0.031255213212391816,
      -0.15649450763069447,
      -0.15525678027516995
    ],
    "a_ego": [
      1.6004552897004576,
      1.6004552867350372,
      1.6844689515193938,
      1.4735107139514154,
      1.321107261990726,
      1.2352465981648924,
      1.0210441277187075,
      1.0332107366030925,
      1.0169655773779498,
      1.0169655792221604
    ],
    "yaw": [
      1.5962040597395437,
      1.5962297093608417,
      1.5947053499143173,
      1.5937826582835335,
      1.5929758444515394,
      1.5907522499426228,
      1.587825100322703,
      1.586375505422871,
      1.5846211418591905,
      1.5833895079273144
    ],
    "yaw_diff": [
      5.1299242596059e-05,
      -0.0030487188930488074,
      -0.0018453832615676902,
      -0.0016136276639882041,
      -0.004447189017833253,
      -0.005854299239839378,
      -0.0028991897996641924,
      -0.0035087271273610554,
      -0.002463267863752172,
      -0.002463267863752172
    ],
    "min_front_frame": [
      4,
      19.89096333168304
    ],
    "v_avg": 5.067447929236402,
    "v_std": 1.8644021359601637,
    "vy_max": 0.05459356784267753,
    "a_max": 1.6844689515193938,
    "ax_avg": 1.297026382097419,
    "a_std": 0.25929062910874595,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "7f0cb33eb150567e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.702985737820712,
    "right_rear_min": 14.800585627044008,
    "speed_mode": "accelerating",
    "front_frame": [
      20.418286616239246,
      21.69598185784054,
      22.883718183002212,
      24.070068890280844,
      19.89096333168304,
      20.417818621390218,
      20.91766495378152,
      21.462995972681515,
      21.82664863004542,
      22.195159998784593
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7f0cb33eb150567e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "30f09e001cf55013": {
    "vx_ego": [
      4.1341432025272775,
      4.185484251157323,
      4.19962007319698,
      4.161470485247829,
      4.151297863949726,
      4.154651702996331,
      4.148572832270158,
      4.1274727891733605,
      4.081562838382437,
      4.051546378794117
    ],
    "vy_ego": [
      0.008488834997498418,
      -0.025632742469076708,
      -0.060736545670174225,
      -0.05157591356839186,
      -0.044968085444357486,
      -0.02628961119194595,
      -0.06269414303139031,
      -0.0437275835164439,
      -0.023790791150638535,
      0.02735553838594129
    ],
    "v_ego": [
      4.134151917784603,
      4.1855627404415365,
      4.200059248055788,
      4.161790080536165,
      4.151541410601861,
      4.154734879251254,
      4.149046529049835,
      4.127704413705844,
      4.081632174193072,
      4.051638728341917
    ],
    "ax_ego": [
      0.04341912564269659,
      0.16542601557438577,
      -0.08012989172594587,
      -0.042777050608827916,
      0.018369246568853637,
      -0.017606654706116998,
      -0.007830746109711899,
      -0.07958896974202234,
      -0.09957740025475553,
      -0.0193996520078005
    ],
    "ay_ego": [
      0.9786593126640226,
      0.9655534780826308,
      1.067111185734697,
      1.0864256251249647,
      0.9668775953033608,
      0.34042974695260836,
      -0.11623642093602302,
      -0.3607113903274165,
      -0.7538513269972321,
      -0.7601520530640389
    ],
    "a_ego": [
      0.9796220040074607,
      0.9796220116280985,
      1.0701154527751309,
      1.087267453291489,
      0.9670520738404509,
      0.34088474137185637,
      0.11649989758214853,
      0.3693874811313106,
      0.7603995540878384,
      0.760399559623424
    ],
    "yaw": [
      2.9644495080894915,
      3.089792896830736,
      -3.064931369004624,
      -2.938367048697826,
      -2.8163807706873083,
      -2.7422955047915236,
      -2.7200207233068507,
      -2.7533438421932277,
      -2.8260112115724008,
      -2.9318272533894723
    ],
    "yaw_diff": [
      0.250686777482489,
      0.25692208268845285,
      0.2531286406135953,
      0.24397255602103574,
      0.14817053179156936,
      0.04454956296934576,
      -0.06664623777275391,
      -0.14533473875834613,
      -0.211632083634143,
      -0.211632083634143
    ],
    "min_front_frame": [
      1,
      28.324299724731368
    ],
    "v_avg": 4.139786212196188,
    "v_std": 0.04241401488959425,
    "vy_max": 0.06269414303139031,
    "a_max": 1.087267453291489,
    "ax_avg": -0.011969597736924506,
    "a_std": 0.3289520613184384,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "30f09e001cf55013",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      53.466308789280255,
      28.324299724731368,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "30f09e001cf55013",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "592f9e4317dd52e2": {
    "vx_ego": [
      4.079157090707553,
      4.3602277488123775,
      4.634582090716673,
      4.750603935409923,
      4.810765185416053,
      5.013412721504269,
      5.280329148448033,
      5.510274469910122,
      5.708098035690643,
      5.947262831603565
    ],
    "vy_ego": [
      0.09598931922407905,
      -0.03733482690529977,
      -0.048065426913273646,
      0.061712323802325164,
      0.09547710673855131,
      0.07017258661101677,
      0.05521285863660652,
      0.08528580380989226,
      0.13292259361830716,
      0.0017399424333590652
    ],
    "v_ego": [
      4.080286328197423,
      4.360387587223583,
      4.634831328199127,
      4.751004752896099,
      4.811712537872801,
      5.013903799241917,
      5.280617802464855,
      5.5109344400087705,
      5.709645488202363,
      5.9472630861239795
    ],
    "ax_ego": [
      0.5371967751396506,
      0.5937239489222905,
      0.5054955692836957,
      -0.004371391250771461,
      0.3270941574747824,
      0.5719245947904512,
      0.5556200792865653,
      0.4333293231345472,
      0.38899238983549134,
      0.5970824148704855
    ],
    "ay_ego": [
      -0.8553102145104072,
      -0.8170849465693603,
      -1.1917492606202207,
      -1.5765430181107039,
      -1.8271599436089598,
      -2.0734667865325696,
      -2.1625366053785293,
      -2.2596380608219198,
      -1.720932205413383,
      -1.6602455575665416
    ],
    "a_ego": [
      1.0100177910642363,
      1.01001779065229,
      1.2945238780162729,
      1.5765490785304066,
      1.8562068977846287,
      2.1508980117569316,
      2.232773665669788,
      2.3008125669430988,
      1.7643476797329083,
      1.7643476759321013
    ],
    "yaw": [
      2.159155105397856,
      2.091580571607957,
      1.982675315947231,
      1.8144867443549457,
      1.6283529552063438,
      1.4343808202263213,
      1.2323019258156926,
      1.023179557180735,
      0.8379885127166491,
      0.7150562640461358
    ],
    "yaw_diff": [
      -0.13514906757979794,
      -0.2178105113214519,
      -0.33637714318457057,
      -0.3722675782972038,
      -0.38794426996004505,
      -0.4041577888212573,
      -0.4182447372699154,
      -0.3703820889281717,
      -0.24586449734102667,
      -0.24586449734102667
    ],
    "min_front_frame": [
      9,
      21.217370030235617
    ],
    "v_avg": 5.010058715043092,
    "v_std": 0.5679491351762278,
    "vy_max": 0.13292259361830716,
    "a_max": 2.3008125669430988,
    "ax_avg": 0.4506087861487188,
    "a_std": 0.4486045282642796,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "592f9e4317dd52e2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.179578013889368,
    "right_rear_min": 12.226391272953627,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      21.217370030235617
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "592f9e4317dd52e2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ee4a2e2de70a510b": {
    "vx_ego": [
      8.38846147487103,
      8.475610231734835,
      8.534176659431424,
      8.565418618535595,
      8.587826020689466,
      8.532440727710739,
      8.436717014845682,
      8.428032349163217,
      8.469741271475064,
      8.50367410953464
    ],
    "vy_ego": [
      -0.010270558716105604,
      0.045506688600110756,
      0.009663191569466711,
      -0.029221195642616493,
      -0.029512524830433762,
      0.045546110423019925,
      0.021303048415375336,
      -0.003954889842850751,
      0.015065162451273206,
      0.05611011933064791
    ],
    "v_ego": [
      8.38846776233728,
      8.475732396613024,
      8.534182130213498,
      8.565468462905635,
      8.587876731227162,
      8.532562289258228,
      8.436743910328108,
      8.428033277087563,
      8.469754669696622,
      8.503859224296992
    ],
    "ax_ego": [
      0.17449163028631431,
      0.17430947668586977,
      0.059174155645614394,
      0.06772387187623916,
      0.02520959707147799,
      -0.24775016003154132,
      -0.13658924143267417,
      0.10191961220161247,
      0.06537891643034056,
      0.06867784728946379
    ],
    "ay_ego": [
      0.061799911502353755,
      0.06231181780273573,
      0.11865364236340627,
      0.27903342280547305,
      0.3850607154553668,
      0.1313631332293484,
      0.06466822533072894,
      0.1488169492360345,
      0.2815965824344488,
      0.2808102394295976
    ],
    "a_ego": [
      0.18511228511818054,
      0.18511228025277823,
      0.13259060125994798,
      0.2871344177636097,
      0.38588505849735255,
      0.28042185108776,
      0.1511244528280559,
      0.1803720924401764,
      0.2890865578894439,
      0.2890865567210327
    ],
    "yaw": [
      2.4556389608766076,
      2.452703817293604,
      2.4622215458693892,
      2.478399756135011,
      2.4977787920215997,
      2.504067546204565,
      2.5127150702583743,
      2.5220727712929727,
      2.5325516255178333,
      2.5442829647379397
    ],
    "yaw_diff": [
      -0.0058702871660072375,
      0.019035457151570512,
      0.03235642053124366,
      0.03875807177317725,
      0.012577508365930967,
      0.01729504810761817,
      0.018715402069196863,
      0.020957708449721224,
      0.02346267844021277,
      0.02346267844021277
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.492268085396411,
    "v_std": 0.06064479162843624,
    "vy_max": 0.05611011933064791,
    "a_max": 0.38588505849735255,
    "ax_avg": 0.0352545706022717,
    "a_std": 0.0767185501687148,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "ee4a2e2de70a510b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 9,
    "token": "ee4a2e2de70a510b",
    "smoothness": "Yes"
  },
  "69a3d7249bc85849": {
    "vx_ego": [
      3.594369281678663,
      3.147532460958338,
      2.696906719297961,
      2.2173381902330815,
      1.5973321507740383,
      0.8565872989863774,
      0.25487286215240956,
      -0.037605528141059066,
      -0.07144322935008826,
      -0.010822452009359378
    ],
    "vy_ego": [
      0.021105277886784624,
      0.026069604376186994,
      0.002755973852909488,
      -0.03750691559285735,
      -0.033136800540660594,
      -0.02339740543105845,
      -0.012081674455356364,
      0.027593734777627863,
      0.025147862518085016,
      -0.016403165293820136
    ],
    "v_ego": [
      3.594431243719911,
      3.147640420546601,
      2.696908127464925,
      2.2176553876974228,
      1.5976758267704017,
      0.8569067856924013,
      0.2551590537672657,
      0.04664321971890507,
      0.07574001590439375,
      0.01965169965044429
    ],
    "ax_ego": [
      -0.8936081805598581,
      -0.8936091488763644,
      -0.9084209362439577,
      -1.010106092010031,
      -1.469540206667815,
      -1.4934292088825152,
      -0.9132655549608231,
      -0.25664238520132765,
      0.1212401617834721,
      0.12124368634912208
    ],
    "ay_ego": [
      0.001313083660576586,
      9.008281541911245e-05,
      -0.13714781999625159,
      -0.04557529621997142,
      0.0776907663262496,
      -0.03784343249430766,
      0.0854818556959982,
      0.0732036962572821,
      -0.08310113592875112,
      -0.08309600287968087
    ],
    "a_ego": [
      0.8936091452935113,
      0.8936091534168918,
      0.9187154738742963,
      1.0111337323723877,
      1.471592428013152,
      1.4939086074209513,
      0.9172573911019369,
      0.2668784274300849,
      0.14698631100184556,
      0.146986316281837
    ],
    "yaw": [
      2.206362295582659,
      2.204993679799313,
      2.201248629710647,
      2.1990550036722283,
      2.2009171852123095,
      2.2010980355200767,
      2.202327051782875,
      2.202175540085872,
      2.202455507248845,
      2.202413138566068
    ],
    "yaw_diff": [
      -0.0027372315666926994,
      -0.007490100177331982,
      -0.0043872520768371,
      0.0037243630801624406,
      0.00036170061553431054,
      0.0024580325255962876,
      -0.0003030233940055638,
      0.0005599343259463652,
      -8.4737365554588e-05,
      -8.4737365554588e-05
    ],
    "min_front_frame": [
      6,
      10.24675057373563
    ],
    "v_avg": 1.4508411780932673,
    "v_std": 1.3164249149774363,
    "vy_max": 0.03750691559285735,
    "a_max": 1.4939086074209513,
    "ax_avg": -0.7596137865270097,
    "a_std": 0.46443316568114834,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "69a3d7249bc85849",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.6356708916517206,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.390367949893207,
      14.699709205418767,
      13.257752592026932,
      12.051313912597857,
      11.082597805655826,
      10.490277814308957,
      10.24675057373563,
      10.292070141293522,
      10.319275177798053,
      10.331033510412379
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "69a3d7249bc85849",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f3738f5be59d5d10": {
    "vx_ego": [
      1.0341864705447885,
      0.6105589704422356,
      0.23071700507581333,
      0.009424432959819049,
      -0.036133996959425735,
      -0.014028113460851414,
      -0.0028529090045464997,
      0.022011029602562557,
      0.13090891986463224,
      0.2925127942276309
    ],
    "vy_ego": [
      -0.02614756420688924,
      -0.015827594050725924,
      0.002316293642255801,
      0.005803434232978752,
      -0.0033102868890206374,
      -0.002588659997595653,
      -0.001984431553826261,
      -0.00620338160243558,
      -0.013678549789217676,
      -0.02016820956844713
    ],
    "v_ego": [
      1.0345169650478625,
      0.6107640863057661,
      0.23072863204940566,
      0.011067962120943192,
      0.036285310189543785,
      0.014264961544065676,
      0.0034752062356130475,
      0.02286847978048216,
      0.1316216092610207,
      0.2932072500195947
    ],
    "ax_ego": [
      -0.8472445169546787,
      -0.8472374594875887,
      -0.6721333984172936,
      -0.21303810455947222,
      0.03080407562415676,
      0.057617589290352225,
      -0.012915981645179295,
      0.11237200736935696,
      0.3232221260640764,
      0.32321754380966466
    ],
    "ay_ego": [
      0.021047098500174666,
      0.021329586120388155,
      0.051132420412091484,
      -0.03717887246233316,
      0.0007277545936977565,
      0.002175642517498775,
      0.00024140788860319267,
      -0.017118092531821998,
      -0.01277026464701228,
      -0.012885761022379566
    ],
    "a_ego": [
      0.8475059007847927,
      0.8475059079458093,
      0.6740755370766538,
      0.21625795373086987,
      0.030812671124188777,
      0.05765865083398726,
      0.012918237481455755,
      0.11366836469373012,
      0.3234742994992592,
      0.3234743010866217
    ],
    "yaw": [
      0.5655225487572022,
      0.5658559821653064,
      0.5657848049023592,
      0.5658047420811372,
      0.5657832020096039,
      0.5656346077742886,
      0.5657322016309122,
      0.5657682611451562,
      0.5658297474593779,
      0.5661870871301359
    ],
    "yaw_diff": [
      0.0006668668162084224,
      -0.0001423545258945058,
      3.987435755603563e-05,
      -4.308014306664276e-05,
      -0.0002971884706304273,
      0.0001951877132471136,
      7.211902848802687e-05,
      0.00012297262844329637,
      0.0007146793415160335,
      0.0007146793415160335
    ],
    "min_front_frame": [
      9,
      9.70585747681633
    ],
    "v_avg": 0.23888004625542975,
    "v_std": 0.32114318509248563,
    "vy_max": 0.02614756420688924,
    "a_max": 0.8475059079458093,
    "ax_avg": -0.17453361189066058,
    "a_std": 0.3123918937318424,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f3738f5be59d5d10",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 2.7666459952360274,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.58364608643825,
      10.196971920076106,
      10.004676813363835,
      9.95106555974344,
      9.978927683069115,
      9.95380231659209,
      9.961147620926642,
      9.91358939905356,
      9.828502293879435,
      9.70585747681633
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f3738f5be59d5d10",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c84b4ca798ca563a": {
    "vx_ego": [
      0.22499321045234472,
      1.070787806242824,
      1.926443481204359,
      2.731851938382723,
      3.3893650472995676,
      3.7090076563955807,
      3.654963146628173,
      3.5182582130392843,
      3.561523806936372,
      3.7438561436769024
    ],
    "vy_ego": [
      0.011573829178492673,
      -0.009699519741279194,
      -0.01607764614531182,
      0.002713637700211491,
      0.011189717163388568,
      0.003912136678863254,
      0.016453672649417772,
      0.03714995708322322,
      0.03697240439785343,
      0.013900344927516572
    ],
    "v_ego": [
      0.2252906972591323,
      1.0708317359331163,
      1.9265105701709355,
      2.731853286154842,
      3.3893835182266105,
      3.7090097195901808,
      3.6550001814710997,
      3.51845434430087,
      3.561715708203212,
      3.7438819484775947
    ],
    "ax_ego": [
      1.6915652682735436,
      1.6916163298582756,
      1.7308699574348512,
      1.4906629362413772,
      1.1394918038194748,
      0.13909010602141572,
      -0.3552568748689489,
      -0.19157961923240235,
      0.3646413458638443,
      0.36461045237642287
    ],
    "ay_ego": [
      -0.04502934208242404,
      -0.04306833713867608,
      0.006906820811055092,
      0.04813695696916409,
      -0.03283272805375248,
      -0.00624049503715058,
      0.04517767953333912,
      0.039784290881580545,
      -0.040445313422039636,
      -0.04072282753283166
    ],
    "a_ego": [
      1.6921645010097928,
      1.6921644982409578,
      1.7308837377837483,
      1.4914399606118967,
      1.1399647183150943,
      0.13923003042216636,
      0.35811795524612994,
      0.19566691162836522,
      0.3668775469979087,
      0.3668775417825524
    ],
    "yaw": [
      -2.104218204513244,
      -2.105377472519229,
      -2.1071597828168933,
      -2.1092920289794326,
      -2.110789859843215,
      -2.1114677493971574,
      -2.112217590739273,
      -2.1120649873386688,
      -2.1120614445698798,
      -2.1113003554921583
    ],
    "yaw_diff": [
      -0.0023185360119697407,
      -0.0035646205953288046,
      -0.004264492325078528,
      -0.0029956617275646025,
      -0.0013557791078850912,
      -0.0014996826842308408,
      0.0003052068012081577,
      7.085537577999901e-06,
      0.001522178155442866,
      0.001522178155442866
    ],
    "min_front_frame": [
      0,
      12.763669009684453
    ],
    "v_avg": 2.7531931709787596,
    "v_std": 1.1940212458365047,
    "vy_max": 0.03714995708322322,
    "a_max": 1.7308837377837483,
    "ax_avg": 0.8065711705787854,
    "a_std": 0.6547309562207219,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "c84b4ca798ca563a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      12.763669009684453,
      13.96289198035928,
      14.782770158938874,
      15.0092026161029,
      14.920292528031363,
      14.433767960305595,
      13.995551071525112,
      13.712763346027742,
      57.95258839929249,
      56.272562447646806
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c84b4ca798ca563a",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "d79874fa9ba4558e": {
    "vx_ego": [
      3.920429538509336,
      4.09759408277957,
      4.21800989978804,
      4.266984343878256,
      4.317664228556507,
      4.387961937276669,
      4.480170008789342,
      4.58575768841895,
      4.661458767385727,
      4.715118070961954
    ],
    "vy_ego": [
      -0.0011372710706369915,
      -0.007054307841640961,
      -0.026684308034558235,
      -0.0397866037941651,
      -0.043743581981121715,
      -0.043393259806747964,
      -0.02711286335456048,
      -0.024046386139846665,
      -0.011961802430990522,
      -0.010208763083765948
    ],
    "v_ego": [
      3.9204297034638964,
      4.097600155028461,
      4.218094305134155,
      4.267169830782884,
      4.317885812700585,
      4.388176493486272,
      4.480252048156975,
      4.585820734130359,
      4.661474114993524,
      4.715129122511459
    ],
    "ax_ego": [
      0.3541560141757584,
      0.35441578827582004,
      0.1270602022879366,
      0.06754693453538249,
      0.13287366394520958,
      0.14275908013202926,
      0.22107805620631937,
      0.19832322180054737,
      0.09949363257361107,
      0.11335091300722175
    ],
    "ay_ego": [
      -0.05282331720022282,
      -0.05105129260727734,
      -0.1033281324533414,
      -0.14345012519032438,
      -0.2879897239297127,
      -0.3179476568805987,
      -0.3629966018721796,
      -0.435653518328199,
      -0.3607039681195175,
      -0.3565920726460657
    ],
    "a_ego": [
      0.3580737147807632,
      0.358073715114702,
      0.16377117561325202,
      0.15855764498202848,
      0.317164770520524,
      0.348526709845897,
      0.4250200464762976,
      0.4786711693188629,
      0.374174204802868,
      0.3741742050884691
    ],
    "yaw": [
      1.7734429405884549,
      1.7684412749298213,
      1.763910978490558,
      1.7524774565701264,
      1.7282258110656494,
      1.6933374815572444,
      1.6511862141690836,
      1.6064984187458744,
      1.5609550220566297,
      1.5223222782601717
    ],
    "yaw_diff": [
      -0.010003331317267161,
      -0.009060592878526563,
      -0.022867043840863133,
      -0.04850329100895401,
      -0.06977665901681007,
      -0.08430253477632155,
      -0.08937559084641844,
      -0.09108679337848935,
      -0.07726548759291596,
      -0.07726548759291596
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.365203232038857,
    "v_std": 0.23991374884044098,
    "vy_max": 0.043743581981121715,
    "a_max": 0.4786711693188629,
    "ax_avg": 0.1811057506939836,
    "a_std": 0.0968645818025058,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "d79874fa9ba4558e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d79874fa9ba4558e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3c584e53042d5157": {
    "vx_ego": [
      5.196662615019723,
      4.445408883914159,
      3.687345217883765,
      2.9561601318666257,
      2.3059810324970704,
      1.7279163342015509,
      1.1963593353833555,
      0.7235539100289707,
      0.3649617386990862,
      0.08349955853722973
    ],
    "vy_ego": [
      -0.06345107154316665,
      -0.03109890063516052,
      -0.01528274318117906,
      -0.014443039373084332,
      -0.012018069988077085,
      -0.019746053192384205,
      -0.03272782578192501,
      -0.04080730771160618,
      -0.027330016073311952,
      0.009798792481284378
    ],
    "v_ego": [
      5.197049968282353,
      4.445517662410492,
      3.687376888533285,
      2.9561954141470483,
      2.306012349542494,
      1.7280291561826155,
      1.1968069058704984,
      0.7247037305553777,
      0.36598360686351455,
      0.08407254373458395
    ],
    "ax_ego": [
      -1.5025065419150683,
      -1.5025055761358368,
      -1.5297245820574488,
      -1.395022286289525,
      -1.2057033988098294,
      -1.1065574055545724,
      -1.0196890542377481,
      -0.8714882696225006,
      -0.56291861913251,
      -0.5629403629447285
    ],
    "ay_ego": [
      0.06483649110515699,
      0.06485882280724786,
      0.0047673827000616065,
      -0.002959389046263694,
      0.01104371759574041,
      -0.04239297100415479,
      -0.010420384717482911,
      -0.020719982404505455,
      0.07420861999518072,
      0.07404344265706628
    ],
    "a_ego": [
      1.503904810510428,
      1.5039048085617737,
      1.5297320108073325,
      1.3950254252980412,
      1.205753975568776,
      1.1073691596654773,
      1.0197422967347847,
      0.8717345477612226,
      0.5677889493884509,
      0.5677889428589226
    ],
    "yaw": [
      2.618750704072208,
      2.6187655669367924,
      2.6191563477229405,
      2.619039035272479,
      2.6188841340761715,
      2.618829592127636,
      2.6186769214628907,
      2.61898962472959,
      2.6187817203138186,
      2.618488313130771
    ],
    "yaw_diff": [
      2.9725729168816883e-05,
      0.0007815615722961411,
      -0.00023462490092285293,
      -0.00030980239261513276,
      -0.00010908389707076083,
      -0.00030534132949089354,
      0.000625406533398376,
      -0.0004158088315424635,
      -0.0005868143660956449,
      -0.0005868143660956449
    ],
    "min_front_frame": [
      9,
      9.658442390027131
    ],
    "v_avg": 2.2691748226122264,
    "v_std": 1.6738752560914192,
    "vy_max": 0.06345107154316665,
    "a_max": 1.5297320108073325,
    "ax_avg": -1.1259056096699767,
    "a_std": 0.3502614236119831,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3c584e53042d5157",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.910691191657854,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.62362542468449,
      17.223630183252684,
      15.231305582001232,
      13.641985898887384,
      12.34311887804747,
      11.306212142949722,
      10.584244602780121,
      10.116821101933287,
      9.833504444118825,
      9.658442390027131
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3c584e53042d5157",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0fc28fe43e5d5693": {
    "vx_ego": [
      13.256777516549613,
      13.185679627914718,
      13.053200643683216,
      12.847411969121206,
      12.640694710104654,
      12.547772604326804,
      12.692177401347905,
      13.029906463985863,
      13.418135468278358,
      13.797890257472618
    ],
    "vy_ego": [
      -0.056990407226026996,
      -0.01722707669054735,
      -0.017107436054708103,
      0.005561386587491057,
      0.03563585760711607,
      0.026951423137737684,
      -0.026769172566353916,
      -0.04559088330029226,
      -0.12558327976452155,
      -0.21734384242746074
    ],
    "v_ego": [
      13.256900015833684,
      13.185690881488787,
      13.053211854123118,
      12.847413172827421,
      12.640744941197697,
      12.54780154884127,
      12.692205630854172,
      13.029986223663505,
      13.418723136171566,
      13.799601947270034
    ],
    "ax_ego": [
      -0.14229728681756823,
      -0.14144373795478077,
      -0.38820881175461797,
      -0.4347678747783823,
      -0.3924860127302682,
      0.02019607100617002,
      0.5573442347006927,
      0.7940472928537418,
      0.759960713184739,
      0.759794939419711
    ],
    "ay_ego": [
      0.19485846433740886,
      0.19547891791819655,
      0.14068136281373753,
      0.17609434731245885,
      0.1317396267451495,
      -0.01414667832086916,
      -0.07794407433184788,
      0.1057664808790392,
      -0.1538696668387789,
      -0.15468614440258505
    ],
    "a_ego": [
      0.24128476735918186,
      0.24128476611068864,
      0.41291322014082193,
      0.4690760323174826,
      0.41400555484661744,
      0.024657854561993237,
      0.5627680469585578,
      0.8010603296668061,
      0.7753812997211978,
      0.7753812953882365
    ],
    "yaw": [
      -2.0789151780503037,
      -2.074541803139696,
      -2.0681601818543704,
      -2.063797379789748,
      -2.060116963611962,
      -2.0570807116271874,
      -2.054635216276851,
      -2.052626301130643,
      -2.0474883360819036,
      -2.04641385249301
    ],
    "yaw_diff": [
      0.00874674982121526,
      0.012763242570651201,
      0.008725604129244502,
      0.007360832355572278,
      0.006072503969549281,
      0.004890990700673115,
      0.004017830292415425,
      0.010275930097479069,
      0.002148967177786787,
      0.002148967177786787
    ],
    "min_front_frame": [
      0,
      30.892459085994464
    ],
    "v_avg": 13.047227935227124,
    "v_std": 0.3671736247100718,
    "vy_max": 0.21734384242746074,
    "a_max": 0.8010603296668061,
    "ax_avg": 0.1392139527129437,
    "a_std": 0.24779763310274158,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0fc28fe43e5d5693",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.87886451469864,
    "right_rear_min": 9.906006482445008,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      30.892459085994464,
      30.92240572945765,
      31.154604133002852,
      31.684944007643004,
      32.45884507564107,
      33.43062471233152,
      34.21757666546536,
      34.821702494962715,
      35.39920792314329,
      35.92335811155736
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0fc28fe43e5d5693",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a1a8c4053bc7577e": {
    "vx_ego": [
      6.136011490089732,
      6.404783963862711,
      6.793435663143294,
      7.247790900185097,
      7.666623889343022,
      8.063967325074223,
      8.4213062668035,
      8.62836850593961,
      8.636340552422732,
      8.52215913083159
    ],
    "vy_ego": [
      -0.08458242132460625,
      -0.08626858183718422,
      -0.16311164137944312,
      -0.08074300502417797,
      -0.016632391136244706,
      0.004802551779187425,
      0.002245534357612211,
      0.0071012462838697665,
      -0.02149722491759043,
      -0.10285213602517906
    ],
    "v_ego": [
      6.136594429527696,
      6.405364930428643,
      6.795393551283153,
      7.248240639332157,
      7.666641930929084,
      8.06396875517064,
      8.421306566188434,
      8.628371428142701,
      8.636367307386859,
      8.522779758570627
    ],
    "ax_ego": [
      0.39803789084639435,
      0.725076881699053,
      0.8692658249137031,
      0.9514717837835864,
      0.7303586754636214,
      0.8582302909529402,
      0.5663692554662919,
      0.2635415948805936,
      -0.2317670087292849,
      -0.2277491185922082
    ],
    "ay_ego": [
      2.062404641772867,
      1.9713474042379624,
      1.5239744172897713,
      0.6494315340667377,
      0.6375292359306151,
      0.5452915958986169,
      -0.051386721393895246,
      -0.3116557172303206,
      -0.35493270909673924,
      -0.3575241433791286
    ],
    "a_ego": [
      2.100463536687965,
      2.100463537548361,
      1.7544574941891864,
      1.1519808474000754,
      0.9694675453522151,
      1.016809793848795,
      0.5686956379936948,
      0.40814636873865784,
      0.42390231695765823,
      0.4239023167175516
    ],
    "yaw": [
      1.71955078244603,
      1.88134815008315,
      2.025553144433779,
      2.0912870473939074,
      2.125703804559789,
      2.1606422010076463,
      2.1758649310539653,
      2.164698425969115,
      2.1488206388258067,
      2.1375418042949947
    ],
    "yaw_diff": [
      0.32359473527423965,
      0.28840998870125834,
      0.13146780592025653,
      0.06883351433176355,
      0.06987679289571425,
      0.030445460092638044,
      -0.02233301016970035,
      -0.031755574286616906,
      -0.02255766906162382,
      -0.02255766906162382
    ],
    "min_front_frame": [
      9,
      21.63640582540994
    ],
    "v_avg": 7.6525029296959985,
    "v_std": 0.9049668238820516,
    "vy_max": 0.16311164137944312,
    "a_max": 2.100463537548361,
    "ax_avg": 0.49028360706846896,
    "a_std": 0.6427538249408045,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "a1a8c4053bc7577e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.448824326222468,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      26.13905542611181,
      27.61324667239987,
      28.86602324103808,
      29.973697638799703,
      30.71515128032319,
      30.101091260260684,
      25.833666966920074,
      21.63640582540994
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.875,
    "unsafe_ratio": 0.125,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "a1a8c4053bc7577e",
    "pedestrians": "No"
  },
  "a151ed0de3f35bf5": {
    "vx_ego": [
      6.265318171488868,
      6.279973203223022,
      6.40209602707821,
      6.492855792067809,
      6.423904558218498,
      6.307602467468571,
      6.173048465623726,
      6.000907047234747,
      5.834714959242476,
      5.7082998069323345
    ],
    "vy_ego": [
      -0.04064255090514113,
      0.03701091312890403,
      0.05975844928433771,
      0.07094630536444413,
      0.047818969041206305,
      0.02393762511097508,
      0.02732176394567709,
      0.06066472987303939,
      0.058665116973854126,
      -0.03356111780958759
    ],
    "v_ego": [
      6.265449992373468,
      6.2800822638632585,
      6.402374919683435,
      6.493243389465189,
      6.424082535810118,
      6.307647889468114,
      6.173108928062467,
      6.00121367716583,
      5.8350098758748885,
      5.708398464933256
    ],
    "ax_ego": [
      -0.010126071536389836,
      0.06802007125327508,
      0.4345105625199618,
      -0.054441520862640314,
      -0.2146461426555746,
      -0.2529469461656273,
      -0.2851732216017373,
      -0.40351731218525644,
      -0.26426985592737384,
      -0.24362276227050406
    ],
    "ay_ego": [
      -0.9159889099670826,
      -0.9135160015220725,
      -0.8980653115081394,
      -0.8655854625003346,
      -0.6373553187989488,
      -0.18255053048733677,
      -0.0017192956439485152,
      0.16865682506575885,
      0.3980104828793581,
      0.41097304534445367
    ],
    "a_ego": [
      0.9160448790902356,
      0.9160448761551891,
      0.9976576229727436,
      0.8672958388495563,
      0.6725286380208852,
      0.311940465082241,
      0.28517840433003494,
      0.43734579668092805,
      0.47775611061893775,
      0.4777561033581935
    ],
    "yaw": [
      2.636373921247098,
      2.5509970848686114,
      2.475476843211387,
      2.406042670517844,
      2.351627916863951,
      2.3232028702238585,
      2.315283501377249,
      2.3166587434342727,
      2.3410061123757675,
      2.392039559204924
    ],
    "yaw_diff": [
      -0.17075367275697317,
      -0.15104048331444897,
      -0.1388683453870856,
      -0.10882950730778607,
      -0.0568500932801852,
      -0.015838737693218974,
      0.0027504841140473246,
      0.048694737882989614,
      0.10206689365831334,
      0.10206689365831334
    ],
    "min_front_frame": [
      1,
      24.06050972067673
    ],
    "v_avg": 6.189061193670002,
    "v_std": 0.247664618400886,
    "vy_max": 0.07094630536444413,
    "a_max": 0.9976576229727436,
    "ax_avg": -0.12262131994318667,
    "a_std": 0.2569269770435208,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "a151ed0de3f35bf5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      34.407365298628875,
      24.06050972067673,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "a151ed0de3f35bf5",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "b56a66ac853c56e9": {
    "vx_ego": [
      2.4781131765321653,
      1.9175896960618422,
      1.3732882497741625,
      0.8525248135485028,
      0.38707897956755866,
      0.07651446779665987,
      -0.0383849744247968,
      -0.01899506549813533,
      0.11732599593704482,
      0.32493634364407015
    ],
    "vy_ego": [
      -0.04951997650842616,
      -0.03969429500914923,
      -0.024352701451612523,
      0.011518540735001064,
      0.04540079275244285,
      0.048342896879727024,
      0.021202675061426125,
      -0.0010454379611710743,
      -0.0023193356471502406,
      -0.00323192756802304
    ],
    "v_ego": [
      2.478607904404352,
      1.9180004899631338,
      1.3735041576332319,
      0.8526026240263241,
      0.389732431811381,
      0.09050690283580595,
      0.043851564297670446,
      0.019023812809453016,
      0.1173489183608592,
      0.32495241617286397
    ],
    "ax_ego": [
      -1.1210537362096802,
      -1.1210553775181271,
      -1.0562054244092283,
      -1.0268605079255444,
      -0.8350211188146471,
      -0.4071358378755261,
      -0.05250596898053387,
      0.13006582596687224,
      0.4152190922568781,
      0.41521956525940423
    ],
    "ay_ego": [
      0.019324496568439795,
      0.019228948997198327,
      0.03953026895653647,
      0.10301156736886942,
      0.034097336876938444,
      -0.022662883601474212,
      -0.08592408504705568,
      -0.0031067631502355083,
      -0.0019839578427743457,
      -0.0018825127171949452
    ],
    "a_ego": [
      1.1212202797119337,
      1.1212202780639704,
      1.0569449090256569,
      1.0320144794279285,
      0.8357169959074451,
      0.40776610547682923,
      0.10069669890199202,
      0.13010292487763817,
      0.41522383200311097,
      0.4152238326834565
    ],
    "yaw": [
      -1.5540803721647705,
      -1.5541656005468805,
      -1.5545636796577544,
      -1.5547762419267013,
      -1.5541133345456277,
      -1.5545815608818834,
      -1.5543235071658703,
      -1.5541371792138587,
      -1.5540470762666914,
      -1.5542913958689766
    ],
    "yaw_diff": [
      -0.0001704567642200061,
      -0.0007961582217479446,
      -0.000425124537893673,
      0.001325814762147104,
      -0.0009364526725113009,
      0.000516107432026125,
      0.00037265590402313364,
      0.00018020589433476175,
      -0.0004886392045704291,
      -0.0004886392045704291
    ],
    "min_front_frame": [
      5,
      11.631127765233956
    ],
    "v_avg": 0.7608131222315075,
    "v_std": 0.8324082191832987,
    "vy_max": 0.04951997650842616,
    "a_max": 1.1212202797119337,
    "ax_avg": -0.4659333488250132,
    "a_std": 0.39105217330257847,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b56a66ac853c56e9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.521642143435369,
    "right_rear_min": 3.657235085879349,
    "speed_mode": "decelerating",
    "front_frame": [
      14.39869643607335,
      13.333128988694133,
      12.51763646239257,
      11.972152527891774,
      11.692016746694602,
      11.631127765233956,
      11.676798730426878,
      11.662557258652267,
      11.661385776686362,
      11.704065735379876
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b56a66ac853c56e9",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "0994517bde3c5188": {
    "vx_ego": [
      5.7059460825941075,
      5.293016261554201,
      4.82581947298075,
      4.269743489448008,
      3.695720480890042,
      3.3129535839771003,
      3.130668960991732,
      2.9635147449642614,
      2.8205013810916224,
      2.7116427511850674
    ],
    "vy_ego": [
      0.01129144358906986,
      -0.0034890797735396273,
      0.0007265870986900014,
      -0.02191034411983772,
      -0.025900573109194025,
      -0.009327779618850673,
      0.005928464107063602,
      0.018827550983411434,
      0.028787699462823058,
      0.04134906764279367
    ],
    "v_ego": [
      5.705957254849476,
      5.293017411529541,
      4.8258195276791085,
      4.269799705942083,
      3.6958112387617295,
      3.3129667153563935,
      3.130674574273685,
      2.9635745511622655,
      2.8206482893796085,
      2.7119579929359987
    ],
    "ax_ego": [
      -0.827050716228705,
      -0.8248117045512651,
      -1.0442730709688415,
      -1.1798194816390066,
      -1.11534991502374,
      -0.41505386415167383,
      -0.3141855781897664,
      -0.35472242870214304,
      -0.21819822068581338,
      -0.21793453771014978
    ],
    "ay_ego": [
      0.13636606989711345,
      0.14931257255257868,
      0.08170807822856926,
      0.03433737409987056,
      0.07578219477033266,
      0.10023442443654428,
      0.06069485986044874,
      0.07930235239187249,
      0.052222274487777644,
      0.05331197530281866
    ],
    "a_ego": [
      0.8382175089042213,
      0.838217508936095,
      1.047464775922561,
      1.1803190520003517,
      1.1179214525125067,
      0.42698553838433617,
      0.31999444300787055,
      0.36347883641173895,
      0.22436048997791858,
      0.22436048992107557
    ],
    "yaw": [
      1.3569442649756773,
      1.3726189810240499,
      1.3831439612226162,
      1.394458497225993,
      1.4023886976135698,
      1.4104170321376264,
      1.418199635144499,
      1.4254404504404916,
      1.4334130920239185,
      1.4384101890316017
    ],
    "yaw_diff": [
      0.03134943209674512,
      0.021049960397132583,
      0.02262907200675368,
      0.015860400775153494,
      0.016056669048113204,
      0.015565206013745225,
      0.014481630591985262,
      0.01594528316685384,
      0.009994194015366276,
      0.009994194015366276
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8730227261869894,
    "v_std": 1.0305384169284595,
    "vy_max": 0.04134906764279367,
    "a_max": 1.1803190520003517,
    "ax_avg": -0.6511399517851105,
    "a_std": 0.36488749995221875,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0994517bde3c5188",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0994517bde3c5188",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "222a07b15e165f6f": {
    "vx_ego": [
      5.5635738203632,
      6.157718643245747,
      6.788450233859682,
      7.444817078507805,
      7.95827644250662,
      8.112628428629346,
      7.842101468869311,
      7.170477717335426,
      6.38485609973997,
      5.642149309568701
    ],
    "vy_ego": [
      0.07270677895973332,
      0.17403529956596087,
      0.11220300689122498,
      0.15333027345148986,
      0.0902389005266655,
      -0.011546708596696043,
      -0.06190666409663992,
      -0.07587659009029313,
      -0.05669132241820618,
      -0.023317360749232297
    ],
    "v_ego": [
      5.564048879218934,
      6.160177527869734,
      6.789377445123007,
      7.446395873521512,
      7.958788035531798,
      8.112636645843597,
      7.842345815067184,
      7.170879161701694,
      6.385107776727361,
      5.642197491295292
    ],
    "ax_ego": [
      1.135582870335111,
      1.2932537741827743,
      1.2681874723346775,
      1.399526807641249,
      0.6625909176566454,
      -0.04314022975831727,
      -1.0423527254717067,
      -1.6493090348080481,
      -1.4968488521432364,
      -1.4792967599588782
    ],
    "ay_ego": [
      -1.335618991600397,
      -1.1836051774382388,
      -1.0455332734709883,
      -1.0467312761976832,
      -0.47815941826324726,
      -0.4289318343286085,
      -0.32713293456710896,
      -0.17332286599600166,
      -0.39663898778101114,
      -0.4577773005187262
    ],
    "a_ego": [
      1.7531190906844267,
      1.7531190890799733,
      1.6436055764451454,
      1.747661766440216,
      0.8171065740984602,
      0.4310958106083904,
      1.0924811948847373,
      1.6583911203864192,
      1.548508628581213,
      1.5485086247402844
    ],
    "yaw": [
      0.9269749465457457,
      0.8019638229067784,
      0.7254977583269715,
      0.6460780902378016,
      0.6052645336314215,
      0.5898792761213214,
      0.5727664286281702,
      0.5581080667679621,
      0.5341877584615864,
      0.49310796810740143
    ],
    "yaw_diff": [
      -0.25002224727793476,
      -0.15293212915961374,
      -0.15883933617833979,
      -0.08162711321276017,
      -0.03077051502020023,
      -0.03422569498630246,
      -0.02931672372041616,
      -0.04784061661275141,
      -0.08215958070836993,
      -0.08215958070836993
    ],
    "min_front_frame": [
      2,
      12.159696592062984
    ],
    "v_avg": 6.907195465190012,
    "v_std": 0.8967977914434452,
    "vy_max": 0.17403529956596087,
    "a_max": 1.7531190906844267,
    "ax_avg": 0.004819424001027084,
    "a_std": 0.43744461934349865,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "222a07b15e165f6f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.61341898955672,
    "right_rear_min": 10.447710750638318,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      -1,
      -1,
      12.159696592062984,
      39.809074517533794,
      22.032494571312927,
      21.006912270899107,
      20.330104099493116,
      20.29704750540534,
      20.726708238957027,
      21.624301119952047
    ],
    "safe_frame": [
      -1,
      -1,
      0,
      1,
      1,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.625,
    "unsafe_ratio": 0.375,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "222a07b15e165f6f",
    "pedestrians": "No"
  },
  "09832085301555df": {
    "vx_ego": [
      7.4169837815314645,
      7.747278603969045,
      8.035127149139807,
      8.282354171636134,
      8.530279665719789,
      8.829488783319348,
      9.191887806463484,
      9.475665251215608,
      9.873018297581378,
      10.473107682523247
    ],
    "vy_ego": [
      0.02172150744119175,
      0.01032859321865684,
      -0.0001261318638368647,
      -0.010413973567170054,
      -0.038598081962113784,
      -0.03754099603067143,
      -0.032410981067220096,
      -0.025725194022672232,
      -0.0027236502762912618,
      0.02795550785561253
    ],
    "v_ego": [
      7.417015588455124,
      7.74728548895382,
      8.035127150129789,
      8.282360718736172,
      8.530366990190027,
      8.829568590885126,
      9.191944947523664,
      9.47570017142282,
      9.873018673265411,
      10.473144992796907
    ],
    "ax_ego": [
      0.6605816201811414,
      0.6607876606461406,
      0.4905961938677884,
      0.498396576949247,
      0.49331257786840516,
      0.7033594268448126,
      0.7457986032670721,
      0.38900400704683047,
      1.2002494308795322,
      1.2002092284733972
    ],
    "ay_ego": [
      -0.0694326776483556,
      -0.06744366737586165,
      0.004797729743867137,
      -0.11611387932086399,
      0.004896874924172208,
      -0.04546556938240651,
      -0.047728295801309245,
      -0.011174828784607972,
      0.018336691480390185,
      0.020801850541895046
    ],
    "a_ego": [
      0.6642205760487718,
      0.6642205813818968,
      0.49061965273341407,
      0.5117436671671344,
      0.4933368817220078,
      0.704827355691257,
      0.7473242581739288,
      0.3891644823167395,
      1.2003894911990391,
      1.2003894822509378
    ],
    "yaw": [
      -1.543245799240298,
      -1.5462563289637563,
      -1.546914372992866,
      -1.5490646171749907,
      -1.549019433345624,
      -1.5503136022746555,
      -1.5534704314174705,
      -1.5557535088355936,
      -1.5579692416626045,
      -1.5600231466952943
    ],
    "yaw_diff": [
      -0.006021059446916777,
      -0.0013160880582194778,
      -0.004300488364249233,
      9.036765873338126e-05,
      -0.0025883378580631167,
      -0.006313658285630019,
      -0.004566154836246117,
      -0.00443146565402186,
      -0.004107810065379525,
      -0.004107810065379525
    ],
    "min_front_frame": [
      5,
      20.639236340490093
    ],
    "v_avg": 8.785553331235885,
    "v_std": 0.9222959735968349,
    "vy_max": 0.038598081962113784,
    "a_max": 1.2003894911990391,
    "ax_avg": 0.7042295326024368,
    "a_std": 0.2690302424140958,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "09832085301555df",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.5573215282440565,
    "right_rear_min": 7.671107204135898,
    "speed_mode": "accelerating",
    "front_frame": [
      21.394126086425356,
      22.254888706645847,
      23.186838644899552,
      24.199475425637814,
      25.45051932794342,
      20.639236340490093,
      21.74338020837712,
      22.82244302137268,
      24.135516263104805,
      25.23136067343599
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "09832085301555df",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "64883fdea50b5b8c": {
    "vx_ego": [
      13.487369430984803,
      13.553376356607604,
      13.676725634884347,
      13.836962208617159,
      13.914880709672438,
      13.987192241537931,
      14.072358906783034,
      14.129987494495964,
      14.17199873735232,
      14.183345176351226
    ],
    "vy_ego": [
      0.5007893370944576,
      0.5243504394733808,
      0.5593829403703134,
      0.5521809501408952,
      0.5518763869702439,
      0.5373194596046864,
      0.5237046150712479,
      0.5101499439292062,
      0.4675254580413627,
      0.41430021804554584
    ],
    "v_ego": [
      13.496663444274322,
      13.563515548972763,
      13.68816033533652,
      13.847975554729938,
      13.925820360427943,
      13.997509028516781,
      14.082100401756932,
      14.139193737971883,
      14.17970832793935,
      14.189394809582197
    ],
    "ax_ego": [
      0.11985224003162295,
      0.12317103245964355,
      0.3580533223702654,
      0.2778209907570454,
      0.036661976917533194,
      0.2580521694825709,
      0.0885004204187849,
      0.14902120782220124,
      0.023530356663348184,
      0.02366990277110005
    ],
    "ay_ego": [
      0.32467502373883866,
      0.3234305596234341,
      0.10740773560387222,
      -0.013918796683060754,
      -0.05737051476786173,
      -0.138111082494945,
      -0.07460946678126791,
      -0.16650432073012664,
      -0.1356356883919638,
      -0.13561140956132095
    ],
    "a_ego": [
      0.3460902056984757,
      0.3460902052001794,
      0.37381626947998997,
      0.27816943722546283,
      0.0680843338531793,
      0.2926868519127346,
      0.11575360446952311,
      0.22345247638499907,
      0.1376616055778309,
      0.13766160939202207
    ],
    "yaw": [
      1.546799940673257,
      1.557041398661881,
      1.5623909167973002,
      1.5646117705677636,
      1.563352049613198,
      1.560887597878969,
      1.558071758931435,
      1.5547565160832588,
      1.5524334239003843,
      1.5514045842156095
    ],
    "yaw_diff": [
      0.020482915977247718,
      0.010699036270838569,
      0.004441707540926654,
      -0.002519441909131004,
      -0.004928903468458312,
      -0.005631677895067799,
      -0.006630485696352384,
      -0.00464618436574904,
      -0.002057679369549703,
      -0.002057679369549703
    ],
    "min_front_frame": [
      0,
      48.88448429830627
    ],
    "v_avg": 13.911004154950863,
    "v_std": 0.2418282121523413,
    "vy_max": 0.5593829403703134,
    "a_max": 0.37381626947998997,
    "ax_avg": 0.14583336196941157,
    "a_std": 0.1049826564591038,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "64883fdea50b5b8c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.40182332290755,
    "speed_mode": "quasi_constant",
    "front_frame": [
      48.88448429830627,
      50.20684377635273,
      51.453956736081736,
      52.79066584043337,
      53.97033040422353,
      54.82053050732025,
      55.78377381605814,
      56.62067203730456,
      57.13144686005729,
      57.85257912080932
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "64883fdea50b5b8c",
    "merging_vehicles": "No"
  },
  "f1ef98a6ff94525c": {
    "vx_ego": [
      10.714927831135876,
      10.43702489126887,
      10.244542430624781,
      10.187707248369952,
      10.248817908001714,
      10.38764029209165,
      10.564007284187172,
      10.733051689356852,
      10.89361713779748,
      11.080224477570715
    ],
    "vy_ego": [
      -0.05918084819938807,
      -0.03614394574341784,
      -0.028204173907225738,
      -0.009573329641655137,
      -0.024101405902982487,
      -0.028206547396936843,
      -0.03360879400052674,
      -0.040053657649114394,
      -0.027544524554353522,
      0.002535382434240674
    ],
    "v_ego": [
      10.715091264158405,
      10.437087475238476,
      10.244581254902384,
      10.187711746370235,
      10.248846246731537,
      10.387678587981144,
      10.564060746294192,
      10.733126425319748,
      10.893651960924212,
      11.080224767644442
    ],
    "ax_ego": [
      -0.5557549403243786,
      -0.5546776909719345,
      -0.21337898742981326,
      -0.013547367802048127,
      0.25850392484944,
      0.2984369137090226,
      0.4078082201344651,
      0.2694835972760492,
      0.37320006159556307,
      0.3732762812707089
    ],
    "ay_ego": [
      0.17403185807672922,
      0.1774353311743994,
      0.2813899634487712,
      0.211103508861944,
      0.17142448625795445,
      0.26382865418588236,
      0.16195508399758587,
      0.149344335814433,
      0.08104791777250413,
      0.08069611097143176
    ],
    "a_ego": [
      0.5823664150005496,
      0.5823664118155559,
      0.35314431017117237,
      0.21153775698014018,
      0.31017839004574216,
      0.3983342192602846,
      0.43879037551193556,
      0.3080992370011552,
      0.3818992680671052,
      0.3818992596028474
    ],
    "yaw": [
      -1.4902588485349775,
      -1.4841288690296728,
      -1.4737613861689014,
      -1.4635082104712498,
      -1.452691612776423,
      -1.4417428394693867,
      -1.4310521983354358,
      -1.4231513261669262,
      -1.4189765741592626,
      -1.4180339889934648
    ],
    "yaw_diff": [
      0.01225995901060939,
      0.020734965721542764,
      0.020506351395303213,
      0.021633195389653803,
      0.021897546614072283,
      0.021381282267901813,
      0.015801744337019308,
      0.008349504015327192,
      0.0018851703315956314,
      0.0018851703315956314
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.549206047556478,
    "v_std": 0.2854016887361737,
    "vy_max": 0.05918084819938807,
    "a_max": 0.5823664150005496,
    "ax_avg": 0.06433500123070743,
    "a_std": 0.11074333758475614,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f1ef98a6ff94525c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f1ef98a6ff94525c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "826b4daba60a5648": {
    "vx_ego": [
      -0.15382292405360343,
      0.25817188075818187,
      0.8332501427800256,
      1.5730101850703948,
      2.2702232707187746,
      2.915767197389587,
      3.519993224637528,
      4.062252685572574,
      4.558211867377757,
      5.03528180903893
    ],
    "vy_ego": [
      -0.007628458203361783,
      0.004483659069750873,
      0.018714650132326482,
      0.012737510966150223,
      -0.02056258711774145,
      -0.046078243852694656,
      -0.03445865841189916,
      -0.03967044643919404,
      -0.017554926153285688,
      0.07683593717953441
    ],
    "v_ego": [
      0.15401196492143424,
      0.2582108115723868,
      0.8334602801408766,
      1.573061755469508,
      2.270316391805782,
      2.9161312648661197,
      3.520161885571976,
      4.062446384355401,
      4.558245671674101,
      5.035868014322915
    ],
    "ax_ego": [
      0.8239685443350654,
      0.8240225663642239,
      1.4758408675247807,
      1.4813033284921684,
      1.3108628359776437,
      1.2785045863691697,
      1.1390202992313898,
      1.029760186333968,
      0.9531865867294742,
      0.9587257417750644
    ],
    "ay_ego": [
      0.025364767305148417,
      0.023544637743089153,
      0.06774032972850003,
      0.09673060066298095,
      0.18852128086913272,
      0.21657420485831472,
      -0.00703825989319784,
      -0.04399002347100628,
      -0.17180628503213574,
      -0.13757556183705388
    ],
    "a_ego": [
      0.8243588620704523,
      0.8243588659339663,
      1.4773946725665499,
      1.484458271594927,
      1.324349518853648,
      1.296718305406773,
      1.139042044510864,
      1.0306993565165101,
      0.9685463688938847,
      0.9685463763583696
    ],
    "yaw": [
      -1.872247757591535,
      -1.8700388506532086,
      -1.8515352289413314,
      -1.8123743857361774,
      -1.7585442182867592,
      -1.7097331284044106,
      -1.6971334736409183,
      -1.6991165789876268,
      -1.7167244688101855,
      -1.7525284779631094
    ],
    "yaw_diff": [
      0.004417813876652854,
      0.0370072434237545,
      0.07832168641030801,
      0.10766033489883631,
      0.09762217976469723,
      0.02519930952698468,
      -0.0039662106934170716,
      -0.03521577964511735,
      -0.07160801830584784,
      -0.07160801830584784
    ],
    "min_front_frame": [
      4,
      14.987962613593817
    ],
    "v_avg": 2.5181914424700502,
    "v_std": 1.6893024916987234,
    "vy_max": 0.07683593717953441,
    "a_max": 1.484458271594927,
    "ax_avg": 1.1275195543132948,
    "a_std": 0.2367809897816821,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "826b4daba60a5648",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      16.990666827366162,
      16.906823658051437,
      16.62070707302447,
      15.938587501549971,
      14.987962613593817,
      -1,
      -1,
      -1,
      -1,
      64.17068972229086
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "826b4daba60a5648",
    "maneuvering": "Yes"
  },
  "09978bee1b655865": {
    "vx_ego": [
      10.68398590589869,
      10.530469727170345,
      10.27289900683267,
      9.846496550395301,
      9.330544450321982,
      8.805954420353702,
      8.340931974932277,
      7.939897218423046,
      7.5554111078897295,
      7.167323134865572
    ],
    "vy_ego": [
      0.054830902181595476,
      0.026986833738658733,
      0.00866475000575928,
      0.004809262795528735,
      -0.004220189389794404,
      0.007151896495144028,
      0.013224526799673786,
      0.004446852040837557,
      -0.008749201383538963,
      -0.02444976368760443
    ],
    "v_ego": [
      10.684126602828885,
      10.530504307204206,
      10.272902661004645,
      9.846497724874322,
      9.330545404714176,
      8.805957324616692,
      8.340942458652782,
      7.939898463684224,
      7.555416173696083,
      7.167364837269248
    ],
    "ax_ego": [
      -0.30745670121203517,
      -0.30730604421372293,
      -0.7230413128722947,
      -0.9830251994832983,
      -1.0806728904541736,
      -1.0177529332844237,
      -0.8423632280636161,
      -0.761787577222643,
      -0.776162471368506,
      -0.7761702866878457
    ],
    "ay_ego": [
      0.034515747377156,
      0.035832272575227093,
      0.15826870275454946,
      0.03789348638974395,
      0.0914482035591147,
      0.05683184879067844,
      -0.021224304101456874,
      0.002415540419002764,
      -0.02727614865930692,
      -0.027052796178414697
    ],
    "a_ego": [
      0.30938804103777234,
      0.3093880355931561,
      0.7401606058091037,
      0.983755284168755,
      1.084535232298503,
      1.019338458141365,
      0.8426305709374344,
      0.7617914069128504,
      0.7766415970359504,
      0.7766415954081802
    ],
    "yaw": [
      -1.650019741250055,
      -1.6457367102798532,
      -1.639342092891449,
      -1.6341008237889525,
      -1.6297923153218479,
      -1.6269560217078536,
      -1.6266251733342705,
      -1.6261239048813048,
      -1.6252230796040943,
      -1.6249353171023446
    ],
    "yaw_diff": [
      0.008566061940403547,
      0.012789234776808378,
      0.01048253820499312,
      0.008617016934209243,
      0.005672587227988579,
      0.0006616967471662072,
      0.0010025369059314393,
      0.0018016505544209416,
      0.0005755250034993331,
      0.0005755250034993331
    ],
    "min_front_frame": [
      9,
      18.864773947998682
    ],
    "v_avg": 9.047415595854527,
    "v_std": 1.210105038807938,
    "vy_max": 0.054830902181595476,
    "a_max": 1.084535232298503,
    "ax_avg": -0.757573864486256,
    "a_std": 0.252294459610402,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "09978bee1b655865",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.981466593966904,
    "right_rear_min": 31.228435014923043,
    "speed_mode": "decelerating",
    "front_frame": [
      32.22600980959439,
      27.297551052251336,
      22.531414390865578,
      26.244597307142968,
      21.610741187858267,
      25.8272915846061,
      21.57993890465073,
      26.370922362321203,
      22.523105580568554,
      18.864773947998682
    ],
    "safe_frame": [
      1,
      0,
      0,
      0,
      0,
      1,
      0,
      1,
      1,
      0
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "09978bee1b655865",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "38b01bebf6df5fb8": {
    "vx_ego": [
      3.538758018256238,
      3.4830343938213537,
      3.465105725447997,
      3.4644217988609824,
      3.443347492202638,
      3.3889165853920007,
      3.3674640845250505,
      3.3812442019779865,
      3.3963403611000382,
      3.4452730754181524
    ],
    "vy_ego": [
      -0.004518969091060754,
      0.0006342103346939076,
      -0.0050882353595278484,
      -0.01338859245685775,
      -0.011696752805188004,
      -0.01712562438294933,
      0.004293465835006172,
      0.020706342929235122,
      0.02403207054284906,
      0.04435235833284801
    ],
    "v_ego": [
      3.5387609036009287,
      3.4830344515616316,
      3.465109461282798,
      3.464447669518352,
      3.443367358572765,
      3.3889598566161094,
      3.367466821575977,
      3.3813076029913716,
      3.39642538396646,
      3.4455585462869354
    ],
    "ax_ego": [
      -0.1458953529647583,
      -0.07567972279372229,
      6.982371961702927e-05,
      0.0044438430015344005,
      -0.08527096075465561,
      -0.13039140444407243,
      0.050853553321511334,
      -0.005568140470467164,
      0.0625097397966208,
      0.12063623226823164
    ],
    "ay_ego": [
      0.7009560413621053,
      0.7119672779398507,
      0.6141176642375049,
      0.6903971047530519,
      0.6615652095550223,
      0.5905708103599364,
      0.6811970236467972,
      0.5536451872336766,
      0.6546865273062451,
      0.6465050777857806
    ],
    "a_ego": [
      0.7159782300731949,
      0.7159782296265825,
      0.6141176682069005,
      0.6904114063310505,
      0.6670379773608116,
      0.6047940148530652,
      0.6830925771157809,
      0.553673186577887,
      0.6576639845740011,
      0.6576639842188965
    ],
    "yaw": [
      -0.4684155612898805,
      -0.36910668302104366,
      -0.2718436098805969,
      -0.1753803450281195,
      -0.07840327840707934,
      0.014599204069040419,
      0.10291005706721666,
      0.18929891233873397,
      0.27762376318436677,
      0.3669078809842055
    ],
    "yaw_diff": [
      0.19861775653767366,
      0.19452614628089349,
      0.19292652970495483,
      0.19395413324208033,
      0.1860049649522395,
      0.1766217059963525,
      0.17277771054303462,
      0.1766497016912656,
      0.1785682355996775,
      0.1785682355996775
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.437443805597333,
    "v_std": 0.051010245806544306,
    "vy_max": 0.04435235833284801,
    "a_max": 0.7159782300731949,
    "ax_avg": -0.020429238932016067,
    "a_std": 0.04907875897748056,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "38b01bebf6df5fb8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "38b01bebf6df5fb8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8b608a6353a95bce": {
    "vx_ego": [
      3.0587364787258142,
      2.65866068353184,
      2.2717317434813733,
      1.8658805170469737,
      1.4538485303355166,
      1.1309323349924065,
      0.9228670348725777,
      0.7953681361808527,
      0.6993709866871903,
      0.605843044238154
    ],
    "vy_ego": [
      -0.058204995384857745,
      -0.003481462317186622,
      0.02199181077691645,
      0.008792032561686036,
      -0.030462817181845382,
      -0.035125808709733905,
      -0.01975576846597357,
      -0.03657195649049425,
      -0.04191267155091749,
      -0.03128108723226095
    ],
    "v_ego": [
      3.0592902228745387,
      2.6586629629830583,
      2.27183818835809,
      1.865901230969112,
      1.4541676424640304,
      1.1314776925635297,
      0.9230784660266886,
      0.7962085028768193,
      0.7006257553475673,
      0.6066500644277443
    ],
    "ax_ego": [
      -0.8001485612672652,
      -0.800086607432881,
      -0.7477164339819186,
      -0.8757140509462705,
      -0.7723997062256354,
      -0.5192471686657366,
      -0.31301615691649004,
      -0.19694232197558784,
      -0.1870389304855966,
      -0.18703306976534473
    ],
    "ay_ego": [
      0.11237321953211263,
      0.11281352678606213,
      -0.0018198041476829956,
      -0.04846499444407375,
      -0.10278408277106044,
      0.08453343931771119,
      -0.023206389048363668,
      -0.042839560498109386,
      0.021592301034414646,
      0.021643107813335886
    ],
    "a_ego": [
      0.8080009038151423,
      0.808000910407511,
      0.7477186485127764,
      0.877054134424547,
      0.7792084918996558,
      0.526083191643931,
      0.3138752156246694,
      0.2015477762933823,
      0.18828114345615343,
      0.18828115492971673
    ],
    "yaw": [
      -1.5892033235633205,
      -1.5886530176579523,
      -1.5877276487783338,
      -1.5874261438160646,
      -1.5865502331193608,
      -1.5864706520581426,
      -1.5865088861213292,
      -1.5861481254267855,
      -1.5861093909069321,
      -1.5858377603812799
    ],
    "yaw_diff": [
      0.001100611810736396,
      0.0018507377592369423,
      0.0006030099245384335,
      0.001751821393407571,
      0.00015916212243638483,
      -7.64681263731859e-05,
      0.0007215213890874317,
      7.746903970673458e-05,
      0.0005432610513045333,
      0.0005432610513045333
    ],
    "min_front_frame": [
      9,
      10.617653477864474
    ],
    "v_avg": 1.546790072889118,
    "v_std": 0.8297441874351963,
    "vy_max": 0.058204995384857745,
    "a_max": 0.877054134424547,
    "ax_avg": -0.5399343007662727,
    "a_std": 0.27762667607969255,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8b608a6353a95bce",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.909075707035753,
    "speed_mode": "decelerating",
    "front_frame": [
      17.394120115351498,
      15.984460710205381,
      14.752020549720132,
      13.718677163994457,
      12.878019012837438,
      12.289944249046618,
      11.79928465003949,
      11.368130186480759,
      10.965711679958467,
      10.617653477864474
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8b608a6353a95bce",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ba02d873678c5cf9": {
    "vx_ego": [
      11.32008972788188,
      11.243997777969032,
      11.159251464962674,
      11.076916640791707,
      11.057434561193515,
      11.138048943131896,
      11.327295924081815,
      11.521988284272478,
      11.746459130013427,
      12.051117549426047
    ],
    "vy_ego": [
      0.00214163867985262,
      -0.02641209648985643,
      -0.04405224484311406,
      -0.03307849607628971,
      -0.021310880233416152,
      -0.010537385803382482,
      -0.02486697552825734,
      -0.03918637189716023,
      -0.05567306099129943,
      -0.1138774666167397
    ],
    "v_ego": [
      11.320089930469328,
      11.244028798869802,
      11.159338414912744,
      11.076966031091315,
      11.057455097294909,
      11.138053927688675,
      11.3273232194633,
      11.522054920657803,
      11.746591062210173,
      12.05165558201393
    ],
    "ax_ego": [
      -0.16223487120916413,
      -0.14341639903294823,
      -0.20060268810726753,
      -0.13459303271437212,
      0.05490636332264808,
      0.26554205633273326,
      0.49028953254807583,
      0.2870919930622906,
      0.6087103610248715,
      0.6091191164714503
    ],
    "ay_ego": [
      -0.6786289167769273,
      -0.6828536439634945,
      -0.5889428992240676,
      -0.38715840101906585,
      -0.4236279606476451,
      -0.32675389052980475,
      -0.27957488476213593,
      -0.285348211756435,
      -0.17344541794035542,
      -0.17200443655342124
    ],
    "a_ego": [
      0.6977516464488491,
      0.6977516482143203,
      0.6221697332901304,
      0.40988646224886693,
      0.42717134475032537,
      0.4210471335346912,
      0.5643987437228863,
      0.4047782287044025,
      0.6329388727385402,
      0.6329388787592528
    ],
    "yaw": [
      -1.5148107525300918,
      -1.5424530910541865,
      -1.5692438046501027,
      -1.5921953542554537,
      -1.6116147136855428,
      -1.629531456845867,
      -1.6417809923078448,
      -1.6528648014857692,
      -1.6613356441341722,
      -1.6637021175249407
    ],
    "yaw_diff": [
      -0.0552846770481894,
      -0.053581427191832454,
      -0.0459030992107019,
      -0.0388387188601782,
      -0.03583348632064842,
      -0.024499070923955646,
      -0.022167618355848795,
      -0.016941685296806064,
      -0.004732946781536906,
      -0.004732946781536906
    ],
    "min_front_frame": [
      8,
      21.496465473525138
    ],
    "v_avg": 11.364355698467197,
    "v_std": 0.30515387123725163,
    "vy_max": 0.1138774666167397,
    "a_max": 0.6977516482143203,
    "ax_avg": 0.16748124316983176,
    "a_std": 0.11630122911658501,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "ba02d873678c5cf9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      72.24547821058471,
      60.57974572104404,
      55.04651121512138,
      49.523941904511354,
      44.02161809270268,
      38.509954230301396,
      32.93945263045847,
      27.25340425521027,
      21.496465473525138,
      21.561885045090506
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "ba02d873678c5cf9",
    "road_shape": "Straight"
  },
  "b2eba34ff4c359cc": {
    "vx_ego": [
      0.9907065306559009,
      1.5676012538675523,
      2.0746720362017497,
      2.323554363592303,
      2.30958209641252,
      2.240269821323143,
      2.1659287576138144,
      2.064501566336357,
      1.9038100501990396,
      1.686777784785261
    ],
    "vy_ego": [
      -0.03939579250387021,
      -0.041457044148494604,
      -0.03648764095812829,
      -0.025863221544969672,
      -0.003960722584202436,
      0.012172965927184531,
      0.010381885567111615,
      0.030126462996876047,
      0.04864165261869713,
      0.039283834038559284
    ],
    "v_ego": [
      0.9914895149981463,
      1.5681493480012203,
      2.0749928688408072,
      2.323698299435087,
      2.3095854925489636,
      2.240302893233567,
      2.165953639071356,
      2.0647213664748985,
      1.9044313370684562,
      1.687235168807787
    ],
    "ax_ego": [
      1.1539119654901868,
      1.153911605362016,
      0.874404904180156,
      0.12139345831636826,
      -0.1771081300622651,
      -0.10020671565545006,
      -0.19722703280788273,
      -0.20851024290554704,
      -0.4339971904940736,
      -0.43397809808076715
    ],
    "ay_ego": [
      0.0006477514130891482,
      -0.0011079159772490188,
      0.022464159209293677,
      0.03862166084380805,
      0.07068742043097348,
      0.006069593027078178,
      -0.0005130333215647015,
      0.08587050086832314,
      -0.021662478965054188,
      -0.02204156545196001
    ],
    "a_ego": [
      1.1539121472986231,
      1.153912137238775,
      0.8746934176631767,
      0.12738918481700862,
      0.19069347430192107,
      0.10039036717716782,
      0.1972277000661689,
      0.22550003174258515,
      0.43453748325278063,
      0.43453747850027047
    ],
    "yaw": [
      0.8574675858822778,
      0.8589890707438153,
      0.8591882330558128,
      0.8612146399398638,
      0.8635192476051093,
      0.8648680969884841,
      0.8663037157762716,
      0.8670571752093756,
      0.8658331376418336,
      0.8649596346597848
    ],
    "yaw_diff": [
      0.0030429697230749397,
      0.0003983246239951388,
      0.004052813768101959,
      0.004609215330491079,
      0.0026976987667495234,
      0.0028712375755750585,
      0.001506918866208018,
      -0.00244807513508416,
      -0.0017470059640976032,
      -0.0017470059640976032
    ],
    "min_front_frame": [
      0,
      16.613104772874856
    ],
    "v_avg": 1.933055992848029,
    "v_std": 0.3951520257757492,
    "vy_max": 0.04864165261869713,
    "a_max": 1.1539121472986231,
    "ax_avg": 0.1752594523342741,
    "a_std": 0.3955043865614732,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b2eba34ff4c359cc",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.700856223692758,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      16.613104772874856,
      18.916934466377104,
      21.28039382200656,
      23.78768045302337,
      26.582661734952797,
      29.61944298573519,
      32.85283526746137,
      36.20975501065734,
      40.01193686826372,
      44.10913487808308
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b2eba34ff4c359cc",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "cc65333a2182508c": {
    "vx_ego": [
      2.6624513527378553,
      2.6753073333078405,
      2.675507052119247,
      2.650771252572862,
      2.5757477697291815,
      2.45792021113273,
      2.3413573312654368,
      2.2962729150084185,
      2.343238553362566,
      2.4166064361838266
    ],
    "vy_ego": [
      0.02268132641102949,
      0.010199080480992162,
      0.0017555386310981191,
      -0.005961401001735478,
      -0.0028638805521108424,
      0.013368118699597087,
      0.014457928405700704,
      -0.001556577039921958,
      -0.023497336042864747,
      -0.04524642810566126
    ],
    "v_ego": [
      2.662547961683207,
      2.6753267742265368,
      2.675507628069057,
      2.650777955953422,
      2.575749361851162,
      2.4579565640776346,
      2.341401969838625,
      2.2962734425876508,
      2.3433563627339744,
      2.4170299763679837
    ],
    "ax_ego": [
      0.025748834837587536,
      0.025868694321490835,
      -0.025033687247784864,
      -0.07383714310008449,
      -0.22656192033048955,
      -0.24458918759674017,
      -0.22146174231036933,
      0.04113817990844631,
      0.14669989176853987,
      0.14671768887181935
    ],
    "ay_ego": [
      -0.040726289239388265,
      -0.04065026283436288,
      -0.02081977492916618,
      -0.06550716741709973,
      0.02801824572119485,
      -0.0055286373154913165,
      -0.020556344862780337,
      -0.04681371066335809,
      -0.04539435167977501,
      -0.04533679406127316
    ],
    "a_ego": [
      0.04818332834812965,
      0.048183329216664926,
      0.032559922071790086,
      0.0987072068503323,
      0.2282878135975119,
      0.24465166363587149,
      0.22241372849098587,
      0.062320729715338724,
      0.15356270839409028,
      0.15356270746389658
    ],
    "yaw": [
      -2.201887104834257,
      -2.204832884376226,
      -2.2074147476719994,
      -2.2126090226793313,
      -2.217346130886213,
      -2.2215578074109605,
      -2.224733380756022,
      -2.2250955906002807,
      -2.2255773712867475,
      -2.225969692965847
    ],
    "yaw_diff": [
      -0.005891559083938347,
      -0.005163726591546514,
      -0.010388550014663878,
      -0.009474216413763337,
      -0.008423353049495041,
      -0.006351146690122711,
      -0.0007244196885176635,
      -0.0009635613729335191,
      -0.0007846433581990553,
      -0.0007846433581990553
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.5095927997389254,
    "v_std": 0.14675242235147434,
    "vy_max": 0.04524642810566126,
    "a_max": 0.24465166363587149,
    "ax_avg": -0.04053103908775846,
    "a_std": 0.07803377400437563,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cc65333a2182508c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cc65333a2182508c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "65e41bd322a25dd1": {
    "vx_ego": [
      5.573582226533524,
      5.118304808715405,
      4.6670474293512365,
      4.2123792932076585,
      3.8463391745305877,
      3.645752932188911,
      3.5109050300287485,
      3.3698062040101457,
      3.252333150916488,
      3.1949003921334893
    ],
    "vy_ego": [
      -0.01537869969197736,
      -0.03187358518606809,
      -0.04279085702066521,
      -0.0505576805825354,
      -0.07247089334669021,
      -0.07820771344498434,
      -0.05724243786046457,
      -0.020612825907442955,
      0.0005180801318702688,
      0.02808049175903271
    ],
    "v_ego": [
      5.573603443046035,
      5.118404052080282,
      4.667243593949061,
      4.212682683149841,
      3.8470218450005076,
      3.6465916811464285,
      3.511371644610319,
      3.369869246896259,
      3.2523331921802527,
      3.1950237917223956
    ],
    "ax_ego": [
      -0.9103656569656653,
      -0.910272115326258,
      -0.8946040414678099,
      -0.9246294318970671,
      -0.5412563123540584,
      -0.2694503360581587,
      -0.28305749954653825,
      -0.2867893115844409,
      -0.17538778166432428,
      -0.044740551196732925
    ],
    "ay_ego": [
      0.01695257579543996,
      0.021393796501942175,
      -0.03979504924743538,
      -0.04550259306934923,
      -0.20976277629401405,
      -0.3493455428633208,
      -0.47962026000399877,
      -0.6757795897711643,
      -0.8802070963539027,
      -0.8963948289189332
    ],
    "a_ego": [
      0.910523486357506,
      0.9105234859515194,
      0.8954887140300233,
      0.9257483849871562,
      0.5804815397423819,
      0.44118679934957594,
      0.5569175359564842,
      0.7341159058284737,
      0.8975106720417876,
      0.8975106719332039
    ],
    "yaw": [
      2.544769679837281,
      2.5496484226735157,
      2.5509400444851806,
      2.5478889183700537,
      2.5373643924612077,
      2.5012590153004686,
      2.437536223036079,
      2.3430131139062023,
      2.2187844083067105,
      2.071973256545455
    ],
    "yaw_diff": [
      0.009757485672468924,
      0.002583243623329956,
      -0.006102252230253846,
      -0.02104905181769201,
      -0.07221075432147828,
      -0.12744558452877897,
      -0.18904621825975365,
      -0.24845741119898346,
      -0.2936223035225112,
      -0.2936223035225112
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.039414517378138,
    "v_std": 0.7869614258717207,
    "vy_max": 0.07820771344498434,
    "a_max": 0.9257483849871562,
    "ax_avg": -0.5240553038061053,
    "a_std": 0.1739234660617304,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "65e41bd322a25dd1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "65e41bd322a25dd1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b0aa550f818f52a0": {
    "vx_ego": [
      8.819573965383071,
      8.630357276513546,
      8.273489397350131,
      7.742309232396073,
      7.066681428000237,
      6.217169125768617,
      5.296298341312388,
      4.335712548879788,
      3.3349826735999644,
      2.3001044190696733
    ],
    "vy_ego": [
      0.09016222753723246,
      -0.008135023334535862,
      -0.03710725421319028,
      0.023297021858490474,
      0.04500030967755242,
      0.017907439034275274,
      0.006037233748919402,
      -0.013772702426525063,
      -0.019557899723939842,
      -0.02694304322705121
    ],
    "v_ego": [
      8.820034816152221,
      8.630361110572082,
      8.273572611416443,
      7.742344283308056,
      7.06682470652234,
      6.2171949152960675,
      5.29630178222311,
      4.335734423814008,
      3.3350400214470555,
      2.3002622168357623
    ],
    "ax_ego": [
      -0.37871982340531807,
      -0.3792505666237463,
      -1.0474798169857316,
      -1.0760822104942598,
      -1.6222323368157876,
      -1.774949117068783,
      -1.9087430328309987,
      -1.9339882394507668,
      -2.0702005660648117,
      -2.0698700260216754
    ],
    "ay_ego": [
      -0.0795616083627741,
      -0.07699196135206961,
      -0.39863722005182106,
      -0.5179910149994822,
      -0.4767657760550452,
      -0.29485343888059024,
      -0.17628781723047648,
      -0.14555283814210473,
      -0.04448458753114959,
      -0.05785628473040216
    ],
    "a_ego": [
      0.38698676226122614,
      0.386986762560777,
      1.1207700924824437,
      1.1942644662562836,
      1.690841021452987,
      1.7992728860856437,
      1.9168665472287747,
      1.9394576919915263,
      2.0706784545802575,
      2.0706784574882158
    ],
    "yaw": [
      -0.43263950209059965,
      -0.42585916762479803,
      -0.436395718972983,
      -0.4725351101200728,
      -0.5087148934843295,
      -0.5336065010841349,
      -0.5519511632328249,
      -0.5645362216679584,
      -0.5753668795834028,
      -0.5818265063210701
    ],
    "yaw_diff": [
      0.013560668931603237,
      -0.021073102696369972,
      -0.07227878229417961,
      -0.0723595667285134,
      -0.04978321519961071,
      -0.03668932429738003,
      -0.025170116870266934,
      -0.021661315830888928,
      -0.012919253475334624,
      -0.012919253475334624
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.201767088758714,
    "v_std": 2.1888244197088356,
    "vy_max": 0.09016222753723246,
    "a_max": 2.0706784574882158,
    "ax_avg": -1.4261515735761878,
    "a_std": 0.6197749634217417,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b0aa550f818f52a0",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 37.876221376815025,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b0aa550f818f52a0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "973043f273bc5940": {
    "vx_ego": [
      7.745776782216112,
      7.348187457726354,
      6.857054291070517,
      6.295553482324609,
      5.755474201583327,
      5.174548609333821,
      4.595852318697595,
      4.102672010629338,
      3.738402562954473,
      3.4583577899530606
    ],
    "vy_ego": [
      0.011250790889059115,
      -0.01021394434837708,
      -0.02367967882484656,
      -0.045716474722139466,
      -0.004570720759980329,
      0.010995753164193989,
      0.013111311512741253,
      0.004634482004213014,
      -0.0025675856112374884,
      0.014329602740208669
    ],
    "v_ego": [
      7.74578495313508,
      7.3481945563890765,
      6.857095177834258,
      6.295719469994714,
      5.755476016506325,
      5.1745602921355776,
      4.595871021010886,
      4.102674628242511,
      3.7384034446806895,
      3.4583874769672223
    ],
    "ax_ego": [
      -0.7951647152614205,
      -0.795194874240058,
      -1.1692950684298056,
      -1.0757669618165164,
      -1.0845807814860196,
      -1.239103258710258,
      -1.075577012422517,
      -0.8970617125983484,
      -0.5600317948754918,
      -0.5600626250550788
    ],
    "ay_ego": [
      -0.019732926292517272,
      -0.0184778238136849,
      -0.01748762972788065,
      0.066172434449293,
      0.09190638258091283,
      -0.03491651804422913,
      -0.012088685908870911,
      -0.04843158369984685,
      0.009886037506992296,
      0.007950187114956042
    ],
    "a_ego": [
      0.7954095251987129,
      0.795409528476087,
      1.1694258310161287,
      1.0778002353019247,
      1.0884678473560594,
      1.239595114938226,
      1.075644944198015,
      0.8983681508766643,
      0.5601190453904015,
      0.560119049362498
    ],
    "yaw": [
      2.20792977422808,
      2.2095081584116167,
      2.2101339982226245,
      2.2153449554456675,
      2.215075143553438,
      2.2148346380717,
      2.211984168041438,
      2.210446539511093,
      2.209818879710049,
      2.206362295582659
    ],
    "yaw_diff": [
      0.0031567683670736812,
      0.0012516796220154447,
      0.010421914446085978,
      -0.0005396237844585983,
      -0.00048101096347608063,
      -0.005700940060524573,
      -0.0030752570606900065,
      -0.001255319602087468,
      -0.006913168254779833,
      -0.006913168254779833
    ],
    "min_front_frame": [
      9,
      16.390367949893207
    ],
    "v_avg": 5.507216703689634,
    "v_std": 1.4541760445038772,
    "vy_max": 0.045716474722139466,
    "a_max": 1.239595114938226,
    "ax_avg": -0.9251838804895514,
    "a_std": 0.23065986777736108,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "973043f273bc5940",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 22.859040898571475,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.3983843271116,
      21.640122808536283,
      18.1336068300818,
      30.47089634544873,
      27.472864148743604,
      24.74196359442987,
      22.330332396685883,
      20.156818266026615,
      18.184647481048135,
      16.390367949893207
    ],
    "safe_frame": [
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "973043f273bc5940",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "892f8a0d37dd5af3": {
    "vx_ego": [
      4.364794241528394,
      3.8485112300065816,
      3.3532676787954863,
      2.8729615487046978,
      2.374045495977037,
      1.8700397315078203,
      1.395358064347424,
      0.9600941635254697,
      0.5898054956357472,
      0.2678382563402097
    ],
    "vy_ego": [
      0.05316243298623104,
      -0.01892069867773863,
      -0.03977488513225867,
      0.007895178019655509,
      0.019196293935122878,
      -0.0012630014267347132,
      -0.023849726597430253,
      -0.03501351187105185,
      -0.022825261716390637,
      -0.011131740821066577
    ],
    "v_ego": [
      4.365117984105406,
      3.848557740287292,
      3.353503565995085,
      2.872972397043114,
      2.374123104362893,
      1.8700401580154489,
      1.3955618715048652,
      0.9607324023104539,
      0.5902469951253891,
      0.2680694820621536
    ],
    "ax_ego": [
      -1.0324730601743186,
      -1.0329906678462166,
      -0.9471439467086104,
      -0.9742479655324866,
      -1.0211006765585493,
      -0.9949244317489737,
      -0.9037780005554995,
      -0.8372743183612318,
      -0.6439357045681744,
      -0.643937000006869
    ],
    "ay_ego": [
      -0.10541809637884293,
      -0.1002191739137678,
      0.07554082721638149,
      0.08458142045634476,
      -0.06510182100646396,
      -0.015150402290611119,
      -0.0685163634680149,
      0.02395542160589515,
      0.023357321996766323,
      0.023321595942779154
    ],
    "a_ego": [
      1.0378408331867952,
      1.0378408368711123,
      0.9501516049364428,
      0.9779126315937443,
      1.023173904459396,
      0.9950397778885955,
      0.9063714284723331,
      0.8376169449166972,
      0.6443591825283255,
      0.6443591830766167
    ],
    "yaw": [
      1.5824917171509152,
      1.5875258520051663,
      1.5916160831053867,
      1.5891647781892126,
      1.5867188547204305,
      1.586905868262279,
      1.5879359226570395,
      1.5879560600451408,
      1.5874764735786342,
      1.5874209939142434
    ],
    "yaw_diff": [
      0.010068269708502164,
      0.008180462200440886,
      -0.004902609832348137,
      -0.0048918469375642815,
      0.00037402708369693727,
      0.00206010878952112,
      4.0274776202497975e-05,
      -0.0009591729330131749,
      -0.0001109593287815791,
      -0.0001109593287815791
    ],
    "min_front_frame": [
      9,
      9.517666940832473
    ],
    "v_avg": 2.18989257008121,
    "v_std": 1.3354278987502601,
    "vy_max": 0.05316243298623104,
    "a_max": 1.0378408368711123,
    "ax_avg": -0.9031805772060929,
    "a_std": 0.14322289555780443,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "892f8a0d37dd5af3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.176498860374874,
    "right_rear_min": 3.5410305886026783,
    "speed_mode": "decelerating",
    "front_frame": [
      19.30014538326769,
      17.27277241278073,
      15.475254690612983,
      13.937091763220854,
      12.597204911601382,
      11.495079012375243,
      10.70204908296112,
      10.08821809863733,
      9.764090006774808,
      9.517666940832473
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "892f8a0d37dd5af3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1d037ee2ffda5d69": {
    "vx_ego": [
      1.9853561183270054,
      2.533460043088518,
      3.022060753752483,
      3.444172612937617,
      3.8229072363692946,
      4.122688699456319,
      4.383809499296777,
      4.629129117459845,
      4.845397592447579,
      5.052362058197141
    ],
    "vy_ego": [
      -0.03356838668181781,
      -0.035812787882161634,
      -0.028407900210187284,
      0.0072982181218824715,
      0.01791603947297646,
      0.011329069858322355,
      0.0023242013991901372,
      -0.02280378911436992,
      -0.028603336704869156,
      -0.02417892655727108
    ],
    "v_ego": [
      1.9856398850654906,
      2.533713153792664,
      3.022194270420976,
      3.4441803454083653,
      3.82294921786245,
      4.1227042654608015,
      4.383810115417501,
      4.629185284573576,
      4.845482017278307,
      5.052419914021351
    ],
    "ax_ego": [
      1.096185413320315,
      1.096187243002534,
      0.8580999096364783,
      0.830223138389803,
      0.6848414665268366,
      0.5142912370464419,
      0.5302043253142996,
      0.45102743684518054,
      0.41391690908433315,
      0.41391534346924447
    ],
    "ay_ego": [
      -0.006059242523531308,
      -0.005719491756580063,
      0.02634483164860001,
      0.09550881367582208,
      -0.06702357283680498,
      0.029825785679679508,
      -0.06858985293229525,
      -0.04846694291049792,
      0.006399598276358635,
      0.0064999257977757996
    ],
    "a_ego": [
      1.0962021596385354,
      1.096202163976814,
      0.8585042254250851,
      0.83569874536676,
      0.688113358096207,
      0.515155368790979,
      0.5346224784904443,
      0.45362406609683176,
      0.4139663784463986,
      0.41396637616434406
    ],
    "yaw": [
      -1.5481438874392133,
      -1.548453827785275,
      -1.5492547305795048,
      -1.5508745485657096,
      -1.5518320472386686,
      -1.5525111651421055,
      -1.5526725637875913,
      -1.5535883901432683,
      -1.5545831992155081,
      -1.5548255832926459
    ],
    "yaw_diff": [
      -0.0006198806921235978,
      -0.0016018055884594595,
      -0.0032396359724096158,
      -0.0019149973459180458,
      -0.0013582358068737754,
      -0.00032279729097162146,
      -0.0018316527113539927,
      -0.0019896181444796213,
      -0.00048476815427545006,
      -0.00048476815427545006
    ],
    "min_front_frame": [
      0,
      15.495470047294022
    ],
    "v_avg": 3.7842278469301482,
    "v_std": 0.9705216257782093,
    "vy_max": 0.035812787882161634,
    "a_max": 1.096202163976814,
    "ax_avg": 0.6888892422635468,
    "a_std": 0.25349509003658555,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1d037ee2ffda5d69",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.7516095996403647,
    "right_rear_min": 4.58720342692444,
    "speed_mode": "accelerating",
    "front_frame": [
      15.495470047294022,
      15.619673712110385,
      15.834990927195902,
      16.047048101267528,
      16.110225793342785,
      16.229644883500733,
      16.48423087739819,
      16.75912240392435,
      16.97640918518994,
      17.30162166184024
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1d037ee2ffda5d69",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "6a833f3690205bac": {
    "vx_ego": [
      4.49389312195715,
      4.6994377235298055,
      4.96587129988375,
      5.222189297083684,
      5.4561301292429825,
      5.61460715569431,
      5.731981886959773,
      5.845815795549522,
      5.924644805630367,
      6.001303868127404
    ],
    "vy_ego": [
      -0.08947330682503019,
      -0.03396263996311766,
      -0.04929227028880234,
      -0.0843224949041046,
      -0.11364949114031131,
      -0.11436654117185982,
      -0.08654071131988476,
      -0.09864106774942774,
      -0.10154600588748744,
      0.021042893077627328
    ],
    "v_ego": [
      4.494783739425957,
      4.699560445217006,
      4.9661159365161165,
      5.222870028798557,
      5.457313642633113,
      5.615771827497389,
      5.732635139894277,
      5.846647960647454,
      5.925514970379755,
      6.001340760275991
    ],
    "ax_ego": [
      0.3142992717640696,
      0.540345587166825,
      0.5420248170895363,
      0.5147735587560719,
      0.4664994091583947,
      0.1826846596986494,
      0.29517109590783835,
      0.16523528013189165,
      0.15124032912178412,
      0.15174444780173707
    ],
    "ay_ego": [
      1.5260466777198347,
      1.4613791915598746,
      1.3520792278839977,
      1.281180747256861,
      1.229739445830621,
      0.6746312203770785,
      0.30614587122832637,
      0.09235692922228655,
      -0.02416296762630575,
      -0.02076315538827915
    ],
    "a_ego": [
      1.5580765368912946,
      1.558076536982331,
      1.4566774319719287,
      1.3807302140302573,
      1.315249331258881,
      0.698928442973011,
      0.425266117072105,
      0.1892947441838657,
      0.1531583695309384,
      0.15315836921413056
    ],
    "yaw": [
      2.489752858656246,
      2.6407968706865517,
      2.789246355605814,
      2.9250556357474706,
      3.0478260243195825,
      3.1333640198388353,
      -3.111416489760526,
      -3.0921710293214186,
      -3.0887816156500154,
      -3.1112228035526055
    ],
    "yaw_diff": [
      0.30208802406061164,
      0.2968989698385247,
      0.2716185602833132,
      0.24554077714422373,
      0.17107599103850557,
      0.07680959516044972,
      0.03849092087821493,
      0.006778827342806437,
      -0.044882375805180175,
      -0.044882375805180175
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.396255445128562,
    "v_std": 0.5027207778600867,
    "vy_max": 0.11436654117185982,
    "a_max": 1.558076536982331,
    "ax_avg": 0.3324018456596798,
    "a_std": 0.5886222016123787,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6a833f3690205bac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6a833f3690205bac",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "3813108829ab54c2": {
    "vx_ego": [
      3.436701165636718,
      3.14337153273218,
      2.8100108472183556,
      2.390034268397043,
      1.9002544545937186,
      1.3977338888178938,
      0.9314435722599534,
      0.5605135443610549,
      0.28549872415865163,
      0.036822719703821775
    ],
    "vy_ego": [
      -0.004271953438612419,
      -0.011047849404290933,
      -0.01562974430566677,
      -0.024413918445606364,
      -0.018607117928686745,
      0.002959676089931529,
      0.004953939550772002,
      -0.0012543878230460714,
      -0.0030190198851859223,
      -0.005334412560854165
    ],
    "v_ego": [
      3.4367038207379697,
      3.1433909473318002,
      2.8100543144914267,
      2.39015895779466,
      1.9003455520091295,
      1.3977370223445287,
      0.9314567460818863,
      0.5605149479728465,
      0.28551468609737923,
      0.03720710474836255
    ],
    "ax_ego": [
      -0.5866543724570694,
      -0.5866571368730793,
      -0.7468032019866997,
      -0.9331113174811948,
      -1.0259155868385303,
      -0.9841636365848369,
      -0.881011626185935,
      -0.6027081533529561,
      -0.4973501796422392,
      -0.49735095862422063
    ],
    "ay_ego": [
      -0.012111004048914992,
      -0.011976554665734523,
      -0.01023708016698971,
      -0.026090396795028892,
      0.05559743634577574,
      0.03170769390171868,
      -0.022225748430893533,
      -0.002225525558412794,
      -0.004618190758532009,
      -0.004533133241335613
    ],
    "a_ego": [
      0.5867793700719809,
      0.5867793743016025,
      0.7468733629658597,
      0.9334759984147494,
      1.0274209781031671,
      0.9846742818965345,
      0.8812919319771961,
      0.6027122622629655,
      0.49737162049723926,
      0.49737161694392545
    ],
    "yaw": [
      1.102424295247027,
      1.10265347419403,
      1.1023292810172192,
      1.1022158007431313,
      1.102943731219356,
      1.1031015933113786,
      1.1034282633401373,
      1.1035625592869382,
      1.1036935969888078,
      1.1038646111447585
    ],
    "yaw_diff": [
      0.0004583578940060562,
      -0.0006483863536215217,
      -0.0002269605481757253,
      0.0014558609524493171,
      0.0003157241840452407,
      0.000653340057517493,
      0.0002685918936018439,
      0.00026207540373901494,
      0.00034202831190155436,
      0.00034202831190155436
    ],
    "min_front_frame": [
      9,
      10.92224620649615
    ],
    "v_avg": 1.6893084099609985,
    "v_std": 1.165896630732234,
    "vy_max": 0.024413918445606364,
    "a_max": 1.0274209781031671,
    "ax_avg": -0.7341726170026761,
    "a_std": 0.1957428920477819,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3813108829ab54c2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.755428015448461,
    "right_rear_min": 3.288977939541378,
    "speed_mode": "decelerating",
    "front_frame": [
      18.472319174782882,
      16.852478997439082,
      15.32467996661908,
      14.007964569470502,
      12.944993917220318,
      12.149431765824833,
      11.62554860324297,
      11.217942255316744,
      10.978790440933771,
      10.92224620649615
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3813108829ab54c2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d3badb5f8c125e12": {
    "vx_ego": [
      10.723161005053782,
      10.617750559388014,
      10.491247645984256,
      10.336379979740697,
      10.349895551372859,
      10.554557867601847,
      10.790058286504832,
      11.043864463976421,
      11.297354389286042,
      11.5467018163192
    ],
    "vy_ego": [
      -0.0160866047645013,
      0.0015823330028049976,
      0.0013735299203639362,
      0.01081689962547655,
      0.01917638810352662,
      -0.021347070717436134,
      -0.051513517536009024,
      -0.05994214837016454,
      -0.021782236064027127,
      0.0346991602748033
    ],
    "v_ego": [
      10.723173071398172,
      10.617750677293294,
      10.491247735896557,
      10.336385639618028,
      10.349913316457698,
      10.554579455287845,
      10.790181252817792,
      11.044027135055059,
      11.297375388245207,
      11.546753953675157
    ],
    "ax_ego": [
      -0.21121170011316992,
      -0.21025465089784356,
      -0.29607658082785965,
      -0.32332387780521793,
      0.3770122929604214,
      0.4416113895739593,
      0.5009654466747107,
      0.5150726051401974,
      0.4987989218506202,
      0.49866934254718187
    ],
    "ay_ego": [
      0.16104571252716499,
      0.16229320134456604,
      0.04318509351635939,
      0.13392660892212066,
      0.049832279809606264,
      0.03239557780043224,
      0.021715770117210355,
      0.08427060437638974,
      0.04053060142393463,
      0.04209487311665834
    ],
    "a_ego": [
      0.26560516521347605,
      0.2656051607684646,
      0.2992094484081892,
      0.3499638074664038,
      0.3802913687612401,
      0.44279802716641264,
      0.5014358916489484,
      0.5219208017773115,
      0.5004428979325484,
      0.500442895382826
    ],
    "yaw": [
      -1.5630319562688526,
      -1.5571122171001934,
      -1.5522303270923128,
      -1.5488863902861594,
      -1.5452220305062299,
      -1.5393737576077977,
      -1.5352767412703883,
      -1.5320770562143662,
      -1.532699971424342,
      -1.5358364501256636
    ],
    "yaw_diff": [
      0.011839478337318354,
      0.00976378001576128,
      0.006687873612306827,
      0.0073287195598590316,
      0.0116965457968643,
      0.008194032674818885,
      0.006399370112044167,
      -0.0012458304199514103,
      -0.006272957402643442,
      -0.006272957402643442
    ],
    "min_front_frame": [
      1,
      23.26339508045574
    ],
    "v_avg": 10.775138762574482,
    "v_std": 0.3834946255338433,
    "vy_max": 0.05994214837016454,
    "a_max": 0.5219208017773115,
    "ax_avg": 0.17912631891029993,
    "a_std": 0.09811272081574104,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d3badb5f8c125e12",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.723306911387544,
    "right_rear_min": 35.91313045966481,
    "speed_mode": "accelerating",
    "front_frame": [
      23.457676669572436,
      23.26339508045574,
      23.314532066496277,
      23.562989673669342,
      24.004520920747435,
      24.6278076682873,
      25.22115761031055,
      25.768157470779805,
      26.135216593055777,
      26.461967470522485
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d3badb5f8c125e12",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0e7f0228aa865b5c": {
    "vx_ego": [
      0.7494535880800293,
      0.5325498966703222,
      0.33036499705696565,
      0.15750459322882238,
      0.04070526542485932,
      -0.0029794173633160164,
      -0.00722897301546749,
      -0.004226295480746142,
      -0.002453243225462928,
      -0.0013622339211271128
    ],
    "vy_ego": [
      -0.05466260202058437,
      -0.04894339186415561,
      -0.022246600396212762,
      0.00029105042305342665,
      0.00027778001182933096,
      0.0007835230126725409,
      0.00011979104605288303,
      0.0002324184828740878,
      8.130017126420082e-05,
      -0.00011827016118911378
    ],
    "v_ego": [
      0.7514443963099938,
      0.534794210936075,
      0.331113186855549,
      0.15750486214249249,
      0.04070621322406715,
      0.0030807200678114877,
      0.0072299654738505895,
      0.004232681400927403,
      0.002454589994505669,
      0.0013673584339510426
    ],
    "ax_ego": [
      -0.43378093531553596,
      -0.4337777410299841,
      -0.3748871453052582,
      -0.31655561009664634,
      -0.15064067963767358,
      -0.024098763129680612,
      0.007100553327673957,
      0.004910203880548387,
      0.002182019215178149,
      0.0021820128926450496
    ],
    "ay_ego": [
      0.011726604502296373,
      0.01184396394666834,
      0.09563089692277132,
      -0.005314399265404474,
      0.00533716160057883,
      -0.0033128459562962904,
      0.0006565064486306247,
      -0.00020525974667133734,
      -0.0003991639454535554,
      -0.00039918014093805903
    ],
    "a_ego": [
      0.43393941178046325,
      0.43393940601775954,
      0.386892284959754,
      0.3166002165558516,
      0.15073519713607336,
      0.02432540508831461,
      0.007130838539487155,
      0.004914492213052741,
      0.0022182289581458253,
      0.002218225653216675
    ],
    "yaw": [
      -0.5844879722937262,
      -0.5842174024578082,
      -0.5838120050831608,
      -0.5836367281876197,
      -0.5833947247509592,
      -0.5832834428516851,
      -0.5832445776543482,
      -0.5832790450744554,
      -0.5832846831045213,
      -0.5832751752321159
    ],
    "yaw_diff": [
      0.0005411396718359995,
      0.0008107947492947964,
      0.00035055379108217544,
      0.0004840068733209524,
      0.0002225637985482365,
      7.773039467373621e-05,
      -6.893484021430751e-05,
      -1.1276060131848453e-05,
      1.9015744810779722e-05,
      1.9015744810779722e-05
    ],
    "min_front_frame": [
      8,
      8.623915093505603
    ],
    "v_avg": 0.18339281848392236,
    "v_std": 0.25505539858915494,
    "vy_max": 0.05466260202058437,
    "a_max": 0.43393941178046325,
    "ax_avg": -0.17173660851987332,
    "a_std": 0.1841573652675299,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0e7f0228aa865b5c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.217598836714918,
    "right_rear_min": 5.357879399637846,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.282289875960858,
      8.96927828696897,
      8.794190269997987,
      8.66721997581723,
      8.651060882775326,
      8.629150472216121,
      8.643293327604363,
      8.651590478378406,
      8.623915093505603,
      8.643943341803446
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0e7f0228aa865b5c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e0c8f4849910501f": {
    "vx_ego": [
      9.205807680705005,
      9.545882319271364,
      9.858576752261179,
      10.183341162168812,
      10.51829693733472,
      10.67262630748094,
      10.561884195103943,
      10.434241681746354,
      10.465856120217598,
      10.559746375147649
    ],
    "vy_ego": [
      -0.011619207448171132,
      -0.007940097584114625,
      0.0004043425557815894,
      -0.033431588001315404,
      0.020106419020690325,
      0.04054736117210744,
      -0.0041407767399359585,
      -0.050346951699402176,
      -0.02009047747954984,
      0.11590526942571966
    ],
    "v_ego": [
      9.205815013354819,
      9.545885621487788,
      9.85857676055309,
      10.183396039445679,
      10.518316154690863,
      10.672703330816999,
      10.56188500679772,
      10.434363147247579,
      10.465875403251346,
      10.560382452303731
    ],
    "ax_ego": [
      0.6762915165416503,
      0.6846773256692913,
      0.5653779143648415,
      0.7377268655097561,
      0.6033769492197791,
      0.009907425812705595,
      -0.45359343596565316,
      -0.055663595364967705,
      0.1850028853139902,
      0.18890174700901546
    ],
    "ay_ego": [
      0.40734823262143594,
      0.3930900146759687,
      0.27437041546194607,
      0.4986664844012777,
      0.5697151970973376,
      0.4422399610900176,
      0.5348471746337634,
      0.413728945286987,
      0.4537654749564188,
      0.45215628022263066
    ],
    "a_ego": [
      0.7894952805216842,
      0.7894952817614593,
      0.6284356060347782,
      0.8904544855072489,
      0.8298428457566085,
      0.442350924347553,
      0.701290599797863,
      0.41745667561704836,
      0.4900297683171153,
      0.4900297662059155
    ],
    "yaw": [
      -0.8033847771520394,
      -0.7824325076193239,
      -0.7661193617871883,
      -0.7434094941670808,
      -0.7228117085598192,
      -0.7010172966931607,
      -0.6739505928160091,
      -0.6468330468171456,
      -0.6289239525037602,
      -0.6203165108009765
    ],
    "yaw_diff": [
      0.0419045390654309,
      0.03262629166427122,
      0.04541973524021503,
      0.04119557121452311,
      0.04358882373331707,
      0.0541334077543032,
      0.054235091997727025,
      0.035818188626770775,
      0.017214883405567427,
      0.017214883405567427
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.200719892994961,
    "v_std": 0.4737441760640781,
    "vy_max": 0.11590526942571966,
    "a_max": 0.8904544855072489,
    "ax_avg": 0.3142005598110409,
    "a_std": 0.16746763081421825,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "e0c8f4849910501f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.804874175868213,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e0c8f4849910501f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b87c15c9f6cf54eb": {
    "vx_ego": [
      5.014387266982896,
      4.513577310674747,
      3.9700819050712135,
      3.306381066117398,
      2.5028666850231374,
      1.7086534334588146,
      1.1279369878365453,
      0.8251041508056068,
      0.7524540284113931,
      0.7710322798326052
    ],
    "vy_ego": [
      -0.06408515452129504,
      -0.0021200650292479972,
      0.00672107412943701,
      0.06240412206789525,
      0.06319379486925016,
      0.05824915806429852,
      0.04899024098292661,
      0.028465047214234457,
      -0.007039315033286845,
      -0.05472593141925551
    ],
    "v_ego": [
      5.01479676261264,
      4.5135778085808616,
      3.9700875942240024,
      3.306969916529433,
      2.503664334272605,
      1.70964602186704,
      1.1290003951466732,
      0.8255950088206385,
      0.752486954590358,
      0.772971994391498
    ],
    "ax_ego": [
      -1.0021470657686655,
      -0.999534457938774,
      -1.172503292669035,
      -1.487268682349258,
      -1.74217013262468,
      -1.4425357404226402,
      -0.8840678363857529,
      -0.32855022757483604,
      0.037625334674340205,
      0.03723345009311957
    ],
    "ay_ego": [
      0.22581816205444463,
      0.23711481290635797,
      0.3712301814959009,
      0.3605886675761131,
      0.14782618074949905,
      0.05822777565025712,
      -0.014962196292345497,
      -0.03918624839014892,
      -0.08855445921753019,
      -0.08871994000326765
    ],
    "a_ego": [
      1.027274346872535,
      1.0272743387754686,
      1.22986821203461,
      1.5303569259101666,
      1.7484305392907316,
      1.4437104405849088,
      0.8841944393908373,
      0.3308788510956404,
      0.09621620475089072,
      0.09621620217001
    ],
    "yaw": [
      -1.7683086153971992,
      -1.757021573015622,
      -1.7234263360800388,
      -1.6888223131176552,
      -1.6458135794021933,
      -1.618518475216959,
      -1.6036314603970303,
      -1.5959275731384253,
      -1.5911238788309294,
      -1.5867027110591359
    ],
    "yaw_diff": [
      0.022574084763154367,
      0.06719047387116639,
      0.06920804592476726,
      0.08601746743092376,
      0.054590208370468574,
      0.029774029639857424,
      0.015407774517210093,
      0.009607388614991663,
      0.008842335543587154,
      0.008842335543587154
    ],
    "min_front_frame": [
      6,
      9.93895094305052
    ],
    "v_avg": 2.449879679103575,
    "v_std": 1.5655768351884587,
    "vy_max": 0.06408515452129504,
    "a_max": 1.7484305392907316,
    "ax_avg": -0.8983918650966183,
    "a_std": 0.5615271032745813,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "b87c15c9f6cf54eb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.981910701502576,
    "right_rear_min": 15.88699700066068,
    "speed_mode": "decelerating",
    "front_frame": [
      32.050224875382725,
      21.852510964980706,
      20.487735897155282,
      19.237376544564057,
      10.383292319166207,
      10.01993990095693,
      9.93895094305052,
      9.985515060828709,
      10.078372779437869,
      10.146560782627471
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b87c15c9f6cf54eb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a0f499d0aab45bab": {
    "vx_ego": [
      6.305337653045443,
      5.773261142530074,
      5.434229472159403,
      5.269240561919568,
      5.114410553785713,
      5.001402207556949,
      4.8962028463986185,
      4.803455103270039,
      4.709102420903899,
      4.596931088442307
    ],
    "vy_ego": [
      0.029537548461946006,
      -0.014491029727408566,
      -0.025500281951407633,
      -0.0004697642870143959,
      -0.003893649412026967,
      -0.0064444836930146465,
      -0.03672676022912702,
      -0.05794349553145928,
      -0.022620324160784744,
      0.0623052515031115
    ],
    "v_ego": [
      6.3054068374437,
      5.773279328924785,
      5.434289302242333,
      5.2692405828598226,
      5.114412035921668,
      5.001406359527847,
      4.896340589460547,
      4.803804573232074,
      4.709156749315964,
      4.597353301221502
    ],
    "ax_ego": [
      -1.0651043042411334,
      -1.063541565483638,
      -0.2916676775915324,
      -0.36827660150640845,
      -0.25105217619987386,
      -0.2006940520957626,
      -0.22083105284144283,
      -0.1506933360249001,
      -0.2252904879907817,
      -0.22388198515496138
    ],
    "ay_ego": [
      0.09194501144497708,
      0.10853775600207216,
      0.1053119129162295,
      -0.024207534024410976,
      -0.033430297596244996,
      -0.1441283309786161,
      -0.140152567159373,
      0.01671206389296019,
      0.22677653269000023,
      0.22816716887303892
    ],
    "a_ego": [
      1.0690655097058392,
      1.0690655293242566,
      0.3100977799883669,
      0.36907134800828545,
      0.2532681977115682,
      0.24708516413839618,
      0.26155132570954914,
      0.15161719757954847,
      0.3196613829633215,
      0.3196613836991641
    ],
    "yaw": [
      2.1783512978079003,
      2.1939409214234216,
      2.205647453949859,
      2.204760651406099,
      2.2026387264528946,
      2.1943565009498336,
      2.1861187536549265,
      2.1841267546852903,
      2.18948786264525,
      2.195679834678478
    ],
    "yaw_diff": [
      0.031179247231042595,
      0.02341306505287477,
      -0.0017736050875196696,
      -0.004243849906409025,
      -0.016564451006122027,
      -0.016475494589814232,
      -0.003983997939272399,
      0.01072221591991962,
      0.012383944066455932,
      0.012383944066455932
    ],
    "min_front_frame": [
      8,
      16.84919299247365
    ],
    "v_avg": 5.1904689660150245,
    "v_std": 0.500939669255112,
    "vy_max": 0.0623052515031115,
    "a_max": 1.0690655293242566,
    "ax_avg": -0.4061033239130435,
    "a_std": 0.32083008247845085,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a0f499d0aab45bab",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.233404683985525,
    "right_rear_min": 24.793904526740018,
    "speed_mode": "decelerating",
    "front_frame": [
      16.856462477389364,
      20.627253014735874,
      18.888716091636425,
      24.4774765693659,
      21.90051593955316,
      19.379973143420745,
      21.574569825618813,
      19.18476854415416,
      16.84919299247365,
      19.030603749214613
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a0f499d0aab45bab",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "409711b03072566a": {
    "vx_ego": [
      4.436030234916242,
      4.476968727826076,
      4.5671873632293885,
      4.71050271531283,
      4.947066989075335,
      5.2120047162895515,
      5.453700654271964,
      5.679680393638277,
      5.887189145394751,
      6.083863030434349
    ],
    "vy_ego": [
      -0.047904592075569075,
      -0.020171444045437914,
      -0.038875477043566864,
      -0.05061199362247493,
      -0.03480994736853171,
      -0.03430454115745141,
      -0.056109889089654086,
      -0.05857491057378095,
      -0.05608906792163637,
      -0.04956678054611219
    ],
    "v_ego": [
      4.436288887689008,
      4.477014169855565,
      4.5673528124678064,
      4.710774607733636,
      4.947189457341885,
      5.212117608435995,
      5.453989287307054,
      5.679982429024563,
      5.887456328262155,
      6.084064943672078
    ],
    "ax_ego": [
      0.01425244085244115,
      0.16615773066199,
      0.21596707506037133,
      0.39160258254997693,
      0.5597797866977579,
      0.5030455490327814,
      0.4658001488041478,
      0.44158301522142024,
      0.3930552031975617,
      0.3975525925618659
    ],
    "ay_ego": [
      1.1949299052233542,
      1.1834070383548436,
      1.2529364297909087,
      1.3696658926786702,
      1.10957024640118,
      0.895568812335002,
      0.5898951270636117,
      0.3022775229675507,
      0.24235927958935985,
      0.23490923645851328
    ],
    "a_ego": [
      1.1950148996842451,
      1.1950148994412264,
      1.271413180129623,
      1.4245480828062878,
      1.2427789591452547,
      1.02717979050837,
      0.7516289241104022,
      0.535132936963741,
      0.46176878755904455,
      0.4617687876266462
    ],
    "yaw": [
      -1.3923172206733883,
      -1.2647497352790036,
      -1.1259538301511194,
      -0.9816513853420806,
      -0.8561846212017138,
      -0.757813853580056,
      -0.6841851734102382,
      -0.6437024417570438,
      -0.6206145407124866,
      -0.6017687289858036
    ],
    "yaw_diff": [
      0.25513497078876934,
      0.2775918102557684,
      0.2886048896180775,
      0.2509335282807337,
      0.1967415352433155,
      0.14725736033963566,
      0.08096546330638876,
      0.04617580208911454,
      0.03769162345336596,
      0.03769162345336596
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.145623053178975,
    "v_std": 0.5769834766769061,
    "vy_max": 0.05857491057378095,
    "a_max": 1.4245480828062878,
    "ax_avg": 0.35487961246403144,
    "a_std": 0.350429658739961,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "409711b03072566a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "409711b03072566a",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "b805c900794c53f5": {
    "vx_ego": [
      7.6151897451656305,
      7.739861111246647,
      7.879244444864091,
      7.975812248206343,
      8.006010443913638,
      7.9999264195515405,
      7.9759035973231285,
      8.064479962306482,
      8.23804994636739,
      8.39067773766627
    ],
    "vy_ego": [
      0.00048103034965985003,
      0.02331539998374743,
      0.025263947859950342,
      0.004903881484256356,
      0.01643289172247009,
      0.040588431408620895,
      0.0549062231523334,
      0.03393794749888501,
      -0.0307177878192908,
      -0.12456046236932883
    ],
    "v_ego": [
      7.615189760358305,
      7.7398962285850175,
      7.879284947822557,
      7.975813755767616,
      8.006027308720887,
      8.000029383633722,
      7.976092582658057,
      8.064551372935954,
      8.23810721594058,
      8.391602243085286
    ],
    "ax_ego": [
      0.2353565610889407,
      0.2612488631144492,
      0.29634814297608253,
      0.09125426775237,
      0.02718865323990266,
      -0.0676177809177774,
      -0.03627961625200078,
      0.38816422242908316,
      0.30561304274981477,
      0.30536729543386193
    ],
    "ay_ego": [
      0.6585702777341345,
      0.6487345789601807,
      0.8457262295997737,
      1.010117444825624,
      1.0196598351433235,
      0.5447313585227478,
      0.1825075264470505,
      0.04965718317130691,
      -0.16231381375024997,
      -0.16277567627714604
    ],
    "a_ego": [
      0.699362224860928,
      0.699362225472062,
      0.8961445627120782,
      1.014231035673859,
      1.0200222557716618,
      0.5489120305242753,
      0.18607849893314723,
      0.3913276113622491,
      0.3460420581850578,
      0.3460420580046214
    ],
    "yaw": [
      1.7563067124082348,
      1.7959132620808238,
      1.8435223044734372,
      1.9044001300356068,
      1.9663780698202338,
      2.0121530489731905,
      2.033130733633145,
      2.0430475722822727,
      2.0475187040107574,
      2.0490305759434095
    ],
    "yaw_diff": [
      0.07921309934517806,
      0.09521808478522686,
      0.12175565112433917,
      0.12395587956925391,
      0.09154995830591339,
      0.04195536931990862,
      0.019833677298255914,
      0.008942263456969357,
      0.0030237438653042403,
      0.0030237438653042403
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.9886594799507975,
    "v_std": 0.21081414882732583,
    "vy_max": 0.12456046236932883,
    "a_max": 1.0200222557716618,
    "ax_avg": 0.1806643651614727,
    "a_std": 0.28279876771339796,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "b805c900794c53f5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 33.25854292009169,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b805c900794c53f5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d0ae9b081c1857cf": {
    "vx_ego": [
      2.98433614521978,
      2.4834490435764645,
      1.9548832084447119,
      1.3961713758956125,
      0.893274166960156,
      0.4804910258888797,
      0.14996238972437276,
      -0.00773312266777737,
      -0.022397341114929657,
      -0.016406242215509726
    ],
    "vy_ego": [
      -0.03507711715383621,
      -0.02923218571264319,
      -0.019582630397439238,
      -0.01665894916930466,
      -0.01704244401391286,
      -0.023773105886908535,
      -0.05376828785635329,
      -0.03907782334446288,
      -0.0045132708751347275,
      -0.001272947044226278
    ],
    "v_ego": [
      2.984542281793488,
      2.4836210807452885,
      1.9549812884200128,
      1.396270758648792,
      0.8934367253792113,
      0.48107877371929253,
      0.15931022286987212,
      0.03983563057786258,
      0.022847549168583878,
      0.016455551580283716
    ],
    "ax_ego": [
      -1.0017894214073164,
      -1.0017920723715734,
      -1.1124341307871453,
      -1.122428446503233,
      -0.8891598779432877,
      -0.7619594234310629,
      -0.5601267085683392,
      -0.0706413955610336,
      0.011982281833706141,
      0.01198253454496497
    ],
    "ay_ego": [
      0.01041061920895403,
      0.010152609834910453,
      0.03150761209966535,
      -0.022051298931184793,
      0.0205429371223666,
      -0.046724297413368254,
      -0.07302429712073266,
      0.13178806813689298,
      0.006479423677162992,
      0.006478961836670677
    ],
    "a_ego": [
      1.001843513646677,
      1.001843516599769,
      1.1128802383726537,
      1.1226450361998728,
      0.8893971558363203,
      0.7633906751619192,
      0.5648667786492478,
      0.1495269262376003,
      0.01362196788759042,
      0.013621970510991203
    ],
    "yaw": [
      -0.5807281784513514,
      -0.5809857311239826,
      -0.5806429164733549,
      -0.5809766520285563,
      -0.5809709098484324,
      -0.5806947108066494,
      -0.5804945811835438,
      -0.5804461879319831,
      -0.5805376575371765,
      -0.5804998484550286
    ],
    "yaw_diff": [
      -0.0005151053452623344,
      0.0006856293012553749,
      -0.0006674711104028841,
      1.1484360247893122e-05,
      0.000552398083565997,
      0.00040025924621112097,
      9.678650312139325e-05,
      -0.00018293921038670113,
      7.56181642957987e-05,
      7.56181642957987e-05
    ],
    "min_front_frame": [
      6,
      10.660033869005368
    ],
    "v_avg": 1.0432379862902688,
    "v_std": 1.0498266810626677,
    "vy_max": 0.05376828785635329,
    "a_max": 1.1226450361998728,
    "ax_avg": -0.6496366660194319,
    "a_std": 0.42676652405442944,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d0ae9b081c1857cf",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 2.976665391214488,
    "speed_mode": "decelerating",
    "front_frame": [
      14.986157956424094,
      13.51054647916026,
      12.528603980678001,
      11.747359887794845,
      11.145263371699007,
      10.748893558270995,
      10.660033869005368,
      10.736841085846475,
      10.69597177800927,
      10.724545006461245
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d0ae9b081c1857cf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8b8ae78cc3685216": {
    "vx_ego": [
      7.155250682781388,
      6.710896350450195,
      6.145222436994276,
      5.417461299158542,
      4.754545756093689,
      4.326713489990338,
      4.0818877597506384,
      3.929368884343824,
      3.845391040752074,
      3.791257319991832
    ],
    "vy_ego": [
      -0.04711528546614829,
      -0.023819317992229472,
      -0.0029211758735772086,
      -0.007853805574483452,
      -0.025619552944076585,
      -0.026107941385869804,
      -0.028293714277126902,
      -0.02551075106162748,
      -0.006863666467257001,
      0.0061770730338037705
    ],
    "v_ego": [
      7.155405801460046,
      6.710938621861726,
      6.145223131295262,
      5.417466992067654,
      4.754614780219483,
      4.326792258598485,
      4.081985817891787,
      3.929451695551067,
      3.8453971662513213,
      3.7912623521226956
    ],
    "ax_ego": [
      -0.8889047072141043,
      -0.8889226331534761,
      -1.3739052008960644,
      -1.5370666544217815,
      -1.1149253551343286,
      -0.5969631359527696,
      -0.3827306946354936,
      -0.22789805731335458,
      -0.10826936904897055,
      -0.10826957404327173
    ],
    "ay_ego": [
      0.007443794210134025,
      0.004851022720684495,
      0.02458168106164227,
      -0.0909139515940951,
      -0.061454675120430124,
      -0.02171308126809146,
      -0.05980737431553804,
      0.0087695656829032,
      0.00024507405100128443,
      -0.00012384088230633222
    ],
    "a_ego": [
      0.8889358742786992,
      0.8889358695394994,
      1.3741250889540848,
      1.539752982374063,
      1.1166177611947459,
      0.5973578856805354,
      0.3873754078909583,
      0.22806672227545122,
      0.10826964641834136,
      0.10826964486907505
    ],
    "yaw": [
      -0.7185169478954798,
      -0.721433726317757,
      -0.7235204303265133,
      -0.7255285239631919,
      -0.7295669556017098,
      -0.7341031572128521,
      -0.7384584453632379,
      -0.7423574228869096,
      -0.7465907885367313,
      -0.7499981528148076
    ],
    "yaw_diff": [
      -0.005833556844554444,
      -0.0041734080175124255,
      -0.004016187273357286,
      -0.008076863277035828,
      -0.009072403222284642,
      -0.008710576300771544,
      -0.0077979550473434855,
      -0.00846673129964337,
      -0.006814728556152616,
      -0.006814728556152616
    ],
    "min_front_frame": [
      6,
      14.970906344988718
    ],
    "v_avg": 5.015853861731953,
    "v_std": 1.1980311799917271,
    "vy_max": 0.04711528546614829,
    "a_max": 1.539752982374063,
    "ax_avg": -0.7227855381813615,
    "a_std": 0.4929729525470689,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8b8ae78cc3685216",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.655260298855652,
    "speed_mode": "decelerating",
    "front_frame": [
      18.280410275367874,
      17.337457997589876,
      16.419853340916355,
      15.724206845671999,
      15.378736545787154,
      15.120816125638525,
      14.970906344988718,
      15.21506869903952,
      15.752289925115658,
      16.355347427371946
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8b8ae78cc3685216",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b470096ee3425c5a": {
    "vx_ego": [
      5.410424218001895,
      4.737468248672467,
      4.095665928904934,
      3.5131671997442586,
      2.9172014005888753,
      2.275385698379574,
      1.642792045928569,
      1.0377497335217551,
      0.5164649708977226,
      0.06470085461296887
    ],
    "vy_ego": [
      0.042328835365589956,
      0.04249595902975534,
      0.02969594247518792,
      0.032557616888811314,
      0.03642627955748434,
      0.012784126990033506,
      -0.006014308917077216,
      -0.01548985215271148,
      -0.009167842892344624,
      0.02248666653940217
    ],
    "v_ego": [
      5.4105897967823084,
      4.73765884311161,
      4.095773583853507,
      3.5133180573037213,
      2.917428814116995,
      2.275421611546572,
      1.64280305517062,
      1.0378653308325636,
      0.5165463343279905,
      0.06849708577525619
    ],
    "ax_ego": [
      -1.3457846308863965,
      -1.3457575607029715,
      -1.2214014754486593,
      -1.1085092605999587,
      -1.2752791114584725,
      -1.2918429885043141,
      -1.2385471711849205,
      -1.1816263617859029,
      -0.9035434964724476,
      -0.903521959027402
    ],
    "ay_ego": [
      -0.015295001234804317,
      -0.017514897434661725,
      -0.03937928441611993,
      0.03611599702371493,
      -0.026364857582559797,
      -0.07988572584672982,
      9.778103336610666e-05,
      -0.0389755394407062,
      0.06335290707229801,
      0.06365933693143022
    ],
    "a_ego": [
      1.3458715428274748,
      1.3458715331789133,
      1.2220361255991117,
      1.109097446610028,
      1.2755516131610118,
      1.2943106412843155,
      1.2385471750447374,
      1.1822689844287058,
      0.9057618013871899,
      0.9057618018128516
    ],
    "yaw": [
      -0.7086431385876705,
      -0.7102926628471138,
      -0.710616116470671,
      -0.7115863535687108,
      -0.7120285235833445,
      -0.7131524962827092,
      -0.7137407625162098,
      -0.713923706508988,
      -0.714230388400217,
      -0.713891243199634
    ],
    "yaw_diff": [
      -0.003299048518886627,
      -0.0006469072471144699,
      -0.0019404741960795668,
      -0.0008843400292672943,
      -0.002247945398729412,
      -0.0011765324670012234,
      -0.0003658879855563679,
      -0.0006133637824581317,
      0.0006782904011659596,
      0.0006782904011659596
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.6215902512821145,
    "v_std": 1.727649169061116,
    "vy_max": 0.04249595902975534,
    "a_max": 1.3458715428274748,
    "ax_avg": -1.1815814016071446,
    "a_std": 0.15420803501571823,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b470096ee3425c5a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b470096ee3425c5a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ba72861df9725061": {
    "vx_ego": [
      5.904114161979118,
      6.060099770665719,
      6.163837567325242,
      6.254649093658924,
      6.37829582702538,
      6.5083450120707855,
      6.632110569131563,
      6.747942114621558,
      6.858035068179318,
      6.951717171226189
    ],
    "vy_ego": [
      0.032034081905749634,
      0.028675420409874253,
      0.028155252191460534,
      0.03441647005140691,
      0.031021459407176266,
      0.04521515980960311,
      0.07250887150902274,
      0.07810015314851748,
      0.06749726585811455,
      0.058372793026809866
    ],
    "v_ego": [
      5.904201065350495,
      6.060167614031677,
      6.1639018709414835,
      6.254743781980138,
      6.3783712645151915,
      6.508502070893369,
      6.632506927070193,
      6.748394062012464,
      6.85836721656661,
      6.9519622418197
    ],
    "ax_ego": [
      0.31035559637442445,
      0.3120738291202743,
      0.1016775515995372,
      0.25980217907419956,
      0.23347141498458615,
      0.2850512213494919,
      0.20775840207143603,
      0.25218880693041934,
      0.18642098271061436,
      0.18680312123381268
    ],
    "ay_ego": [
      0.14196533406162776,
      0.1381473023895028,
      0.1834364485478086,
      0.12400603177718499,
      0.16960828203452455,
      0.1739080980643385,
      0.20467867441681997,
      0.05932168655961058,
      0.0646469815751219,
      0.06353431361354572
    ],
    "a_ego": [
      0.34128397600261606,
      0.3412839755676889,
      0.20973138810180364,
      0.2878796070735589,
      0.28857558966344965,
      0.33391349982471896,
      0.2916451840718497,
      0.259071914412321,
      0.19731197384235286,
      0.19731197406401593
    ],
    "yaw": [
      1.0779092084097828,
      1.0901772162025374,
      1.1033592622289028,
      1.1147654970204999,
      1.12691747707049,
      1.1380540419935736,
      1.1482901400606251,
      1.1573272625581073,
      1.1634340963488592,
      1.1693965436042606
    ],
    "yaw_diff": [
      0.02453601558550922,
      0.026364092052730825,
      0.02281246958319416,
      0.02430396009998015,
      0.02227312984616736,
      0.020472196134103005,
      0.01807424499496424,
      0.012213667581503884,
      0.011924894510802808,
      0.011924894510802808
    ],
    "min_front_frame": [
      9,
      64.05845319650064
    ],
    "v_avg": 6.446111811518134,
    "v_std": 0.3345627825598174,
    "vy_max": 0.07810015314851748,
    "a_max": 0.34128397600261606,
    "ax_avg": 0.23356031054487958,
    "a_std": 0.05428566333364958,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ba72861df9725061",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      77.55995325078626,
      74.4270477634057,
      71.07957581810763,
      67.63985544573355,
      64.05845319650064
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ba72861df9725061",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "af682242313853cb": {
    "vx_ego": [
      8.004605441993213,
      7.762547254410207,
      7.624605241486386,
      7.459443890016034,
      7.251939300871936,
      7.269127088051373,
      7.728562067853491,
      8.229098316906196,
      8.71767376756699,
      9.429959739400486
    ],
    "vy_ego": [
      -0.07483385206507087,
      0.11655354261396678,
      0.057929430351273625,
      -0.04677870682732961,
      -0.10447122960013444,
      -0.02850484803546216,
      -0.05200597783675365,
      -0.09405805855373117,
      -0.09249458627985963,
      -0.010364036237395347
    ],
    "v_ego": [
      8.004955239562696,
      7.763422222528368,
      7.624825303402202,
      7.459590564884239,
      7.252691766602598,
      7.26918297669028,
      7.728737041612594,
      8.229635838096803,
      8.718164437897276,
      9.429965434717204
    ],
    "ax_ego": [
      -0.5794938070618558,
      -0.39454042020447133,
      -0.15146141969616395,
      -0.5089493952583789,
      -0.29484308739642384,
      0.37884666133332695,
      1.4494277111248417,
      0.5444854075662131,
      1.4202311566137809,
      1.4331947395391909
    ],
    "ay_ego": [
      1.8836599534304916,
      1.9308872961585697,
      2.701453970438093,
      2.7484831346631915,
      2.4278608513795845,
      2.1031082310929805,
      1.635549744318997,
      0.8505259002498894,
      0.5901366769556067,
      0.5579163787642336
    ],
    "a_ego": [
      1.9707835732471501,
      1.9707835735162988,
      2.7056966045830255,
      2.795208226315505,
      2.44569841964357,
      2.136957890201502,
      2.185374946300642,
      1.0098805206797634,
      1.5379589837524028,
      1.5379589874688482
    ],
    "yaw": [
      1.1086912424021604,
      1.2055880148466147,
      1.3640289302863486,
      1.5568193605406853,
      1.7407433456803205,
      1.8877368035583375,
      2.0176505529610202,
      2.0996085079308857,
      2.1424768453630927,
      2.1650594703053283
    ],
    "yaw_diff": [
      0.19379354488890854,
      0.31688183087946786,
      0.38558086050867324,
      0.3678479702792705,
      0.293986915756034,
      0.2598274988053655,
      0.16391590993973093,
      0.08573667486441394,
      0.04516524988447124,
      0.04516524988447124
    ],
    "min_front_frame": [
      7,
      17.314339298512845
    ],
    "v_avg": 7.948117082599426,
    "v_std": 0.6512537347979345,
    "vy_max": 0.11655354261396678,
    "a_max": 2.795208226315505,
    "ax_avg": 0.3296897546560059,
    "a_std": 0.5274808381150199,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "af682242313853cb",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.726440606383777,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      21.40967459028041,
      17.314339298512845,
      23.542563541164956,
      24.52993993864439
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      0,
      1,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "af682242313853cb",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "5997813b7cc55036": {
    "vx_ego": [
      1.4178922705995336,
      1.5785401788543882,
      1.7414823793087562,
      1.9276585752576263,
      2.175471733750353,
      2.5162911486088433,
      2.9406320211270547,
      3.406068942056724,
      3.8935766963824348,
      4.393222872992236
    ],
    "vy_ego": [
      -0.010984712272094417,
      -0.006915106360621891,
      -0.004654045933592332,
      -0.012291462894611624,
      -0.01856617454418596,
      -0.011700293581323733,
      -0.006557231098053642,
      -0.01656018870469042,
      -0.008400311458524948,
      0.0069828883172421
    ],
    "v_ego": [
      1.417934820409458,
      1.5785553252748612,
      1.7414885981787072,
      1.9276977623124303,
      2.1755509571563643,
      2.516318350574327,
      2.9406393320088506,
      3.406109199349508,
      3.893585758121292,
      4.393228422528403
    ],
    "ax_ego": [
      0.321304358654407,
      0.32131113914436304,
      0.33046303760594264,
      0.41424957908174626,
      0.5770233468338974,
      0.7863164042873833,
      0.9110623943069799,
      0.9508557734363187,
      0.9992584022190674,
      0.9993295818870298
    ],
    "ay_ego": [
      0.010251642217819105,
      0.01003665394432314,
      0.0009320790562285714,
      -0.028494957792420058,
      0.005492205238047494,
      0.02989450885109641,
      -0.0013610032485988832,
      0.005053419536240172,
      0.04493807404819884,
      0.04332630647014471
    ],
    "a_ego": [
      0.32146786318150367,
      0.32146785618572554,
      0.33046435207918223,
      0.4152284628839836,
      0.5770494841083987,
      0.7868844701167306,
      0.9110634108832434,
      0.9508692017970658,
      1.0002683564446917,
      1.0002683550262153
    ],
    "yaw": [
      1.5761946199234065,
      1.5768637274450086,
      1.5771537578718462,
      1.5775631091739821,
      1.5778210935782873,
      1.578674988344165,
      1.5794086447030247,
      1.5828571144987527,
      1.5840476374186718,
      1.5856605420129675
    ],
    "yaw_diff": [
      0.001338215043204194,
      0.000580060853675235,
      0.0008187026042718593,
      0.0005159688086102676,
      0.0017077895317556546,
      0.0014673127177191603,
      0.006896939591455986,
      0.002381045839838336,
      0.0032258091885912776,
      0.0032258091885912776
    ],
    "min_front_frame": [
      2,
      15.375114106673353
    ],
    "v_avg": 2.59911085259142,
    "v_std": 0.9732261107028141,
    "vy_max": 0.01856617454418596,
    "a_max": 1.0002683564446917,
    "ax_avg": 0.6611174017457134,
    "a_std": 0.2828207147044725,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5997813b7cc55036",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 48.26056154668509,
    "right_rear_min": 43.344492550264704,
    "speed_mode": "accelerating",
    "front_frame": [
      15.681122379465439,
      15.448684094173437,
      15.375114106673353,
      15.477694176428304,
      15.733718513400149,
      16.020775906943566,
      16.44699181186467,
      16.799453567844555,
      17.328590981721003,
      17.72018098613128
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5997813b7cc55036",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e536fdecd7ba54a5": {
    "vx_ego": [
      8.267313035315764,
      8.39054155601099,
      8.519879875078924,
      8.643244368088306,
      8.75939642967979,
      8.905473144105613,
      9.055226426186053,
      9.200236414980807,
      9.337941350877152,
      9.449533666846825
    ],
    "vy_ego": [
      -0.042222120349584724,
      0.03139424164698257,
      0.00022034088300681987,
      0.007967532826267387,
      0.025122730136758697,
      0.019209945126036132,
      0.0016882805654150346,
      -0.02733924959903611,
      -0.04219833378972737,
      -0.07192340301851807
    ],
    "v_ego": [
      8.267420851229769,
      8.390600288510704,
      8.51987987792815,
      8.643248040411056,
      8.759432456720958,
      8.905493862912829,
      9.055226583569818,
      9.200277035291249,
      9.338036697925107,
      9.449807378818543
    ],
    "ax_ego": [
      0.24149333004447388,
      0.25070783663831925,
      0.26636771309975,
      0.22697732046414826,
      0.2379944970219565,
      0.3464916655640578,
      0.252662486134675,
      0.327274091323484,
      0.22329680479890152,
      0.22326056125790833
    ],
    "ay_ego": [
      -0.32848510912261314,
      -0.3215075052869578,
      -0.13914467470505704,
      -0.07470782203831937,
      -0.0642498418862937,
      -0.04132801428342628,
      -0.10004534642641073,
      -0.0752634605967174,
      -0.04386857975788534,
      -0.04405266339737361
    ],
    "a_ego": [
      0.4077027046406048,
      0.40770270456266217,
      0.300521212364064,
      0.23895598481476427,
      0.24651454885086965,
      0.34894767382799097,
      0.27174878700986943,
      0.3358167943278087,
      0.2275651891730646,
      0.2275651892658421
    ],
    "yaw": [
      -0.5898857439521662,
      -0.6182364962738327,
      -0.6281721329763896,
      -0.635300783406489,
      -0.6412657026724398,
      -0.6435881842863219,
      -0.6455701142230819,
      -0.6471931687039557,
      -0.6488009885736383,
      -0.6479765292890594
    ],
    "yaw_diff": [
      -0.05670150464333301,
      -0.019871273405113854,
      -0.014257300860198718,
      -0.011929838531901549,
      -0.004644963227764309,
      -0.0039638598735198816,
      -0.003246108961747707,
      -0.003215639739365228,
      0.0016489185691579422,
      0.0016489185691579422
    ],
    "min_front_frame": [
      8,
      61.10649793545643
    ],
    "v_avg": 8.85294230733182,
    "v_std": 0.38420416012116737,
    "vy_max": 0.07192340301851807,
    "a_max": 0.4077027046406048,
    "ax_avg": 0.25965263063476746,
    "a_std": 0.06688836077127733,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e536fdecd7ba54a5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      61.10649793545643,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e536fdecd7ba54a5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "98fd4ae8de6450b2": {
    "vx_ego": [
      1.7132438492128,
      1.261585949366701,
      0.7957660682694442,
      0.34578853702049767,
      0.05222019919858095,
      -0.031048029954919572,
      -0.024162925523538156,
      -0.01395340462146889,
      -0.008549230848902358,
      -0.005033990866033603
    ],
    "vy_ego": [
      0.02069423555359695,
      0.07939478965795999,
      0.09094380575696531,
      0.04640543154450541,
      0.015016819961748702,
      0.003462657882880558,
      -0.0017297061304447341,
      -0.0005984325619129895,
      4.010061052996724e-05,
      0.0002126165680690138
    ],
    "v_ego": [
      1.7133688272671004,
      1.2640817379680445,
      0.8009459477483923,
      0.3488884870723135,
      0.054336489453249086,
      0.03124052118155934,
      0.024224757029818682,
      0.013966231491049657,
      0.008549324895381424,
      0.005038478921691267
    ],
    "ax_ego": [
      -0.9035757048944772,
      -0.9033782097156942,
      -0.9600467616143487,
      -0.8399307763465473,
      -0.3343637880423017,
      0.0012875533010146128,
      0.026251879935887613,
      0.014586221264838647,
      0.007030482033524926,
      0.007030479300453158
    ],
    "ay_ego": [
      0.12147848589233695,
      0.12293855742393323,
      -0.07537241638642411,
      -0.10226094678526737,
      -0.02315512958605076,
      -0.023072828318256487,
      0.0023165720714699526,
      0.0022083289943910763,
      0.0003452429184483555,
      0.0003453778767420145
    ],
    "a_ego": [
      0.9117050383815185,
      0.9117050393030689,
      0.9630009271221531,
      0.84613297435541,
      0.3351645905822154,
      0.023108725627058974,
      0.02635389357060116,
      0.014752442771768324,
      0.007038953778542342,
      0.007038957669416911
    ],
    "yaw": [
      -0.5899821696559069,
      -0.588366111998575,
      -0.5880354162017095,
      -0.5878014380683625,
      -0.5875467067862539,
      -0.5874566724406519,
      -0.5875641942325357,
      -0.5875616196607427,
      -0.5875483076880696,
      -0.587568290582881
    ],
    "yaw_diff": [
      0.0032321153146637194,
      0.00066139159373102,
      0.00046795626669404733,
      0.0005094625642172446,
      0.00018006869120390512,
      -0.00021504358376756016,
      5.149143585958527e-06,
      2.66239453461381e-05,
      -3.996578962262021e-05,
      -3.996578962262021e-05
    ],
    "min_front_frame": [
      5,
      43.00240397384885
    ],
    "v_avg": 0.42646408030286,
    "v_std": 0.5901580842627263,
    "vy_max": 0.09094380575696531,
    "a_max": 0.9630009271221531,
    "ax_avg": -0.388510862477765,
    "a_std": 0.42220749341449054,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "98fd4ae8de6450b2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.02651624992595,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      53.64160255289751,
      52.86610882484221,
      52.39031643761368,
      52.1172453803775,
      52.1316296600058,
      43.00240397384885,
      46.54229157999858,
      50.66075900658709,
      52.13821639569142,
      52.13519841932742
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "98fd4ae8de6450b2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "99127f15fd9b5847": {
    "vx_ego": [
      11.464992455002363,
      11.820833482482623,
      12.111167895671748,
      12.232115642613584,
      12.146543053695767,
      11.991303212761702,
      11.999404233125023,
      12.171105797332189,
      12.427781757521627,
      12.731700537445883
    ],
    "vy_ego": [
      0.2819488644389906,
      0.293142628291704,
      0.308348563506078,
      0.29624423424244695,
      0.3062289349497084,
      0.3510599702191002,
      0.34384032748270266,
      0.39451376103005525,
      0.3681202387348867,
      0.3079372847889167
    ],
    "v_ego": [
      11.468458795994321,
      11.824467718299376,
      12.115092514453462,
      12.235702421217747,
      12.150402640072688,
      11.996440965681419,
      12.004329557319815,
      12.177497995791061,
      12.433232561275188,
      12.735423979850964
    ],
    "ax_ego": [
      0.7123722631836588,
      0.7123791541085159,
      0.4481176118032317,
      0.03231278414403051,
      -0.37463783491047264,
      -0.24742628504201483,
      0.27263688953850806,
      0.4154573400901185,
      0.6071756954409943,
      0.6070769309381462
    ],
    "ay_ego": [
      -0.0061393660029921415,
      -0.005279800300456591,
      0.10120605481362072,
      -0.02023277146175459,
      0.06163026106198417,
      0.159781325714331,
      0.048862662384769676,
      0.11082789711341132,
      -0.09358362472932365,
      -0.09422220556042103
    ],
    "a_ego": [
      0.7123987178317538,
      0.7123987194679517,
      0.4594040264725261,
      0.038124546687958144,
      0.3796732758899089,
      0.2945332554682434,
      0.27698092590025153,
      0.42998560930958757,
      0.6143453588591142,
      0.6143453622336128
    ],
    "yaw": [
      1.5278933611976058,
      1.52668674260573,
      1.5274181038162458,
      1.5300644260782525,
      1.5300942189914477,
      1.5309671835071923,
      1.5359444505128899,
      1.5350535550902373,
      1.5375548484195893,
      1.538606657229736
    ],
    "yaw_diff": [
      -0.0024132371837515265,
      0.0014627224210315148,
      0.005292644524013568,
      5.9585826390318175e-05,
      0.0017459290314891796,
      0.009954534011395122,
      -0.0017817908453050535,
      0.005002586658704011,
      0.002103617620293541,
      0.002103617620293541
    ],
    "min_front_frame": [
      0,
      27.582877945796827
    ],
    "v_avg": 12.114104914995604,
    "v_std": 0.32165929524822645,
    "vy_max": 0.39451376103005525,
    "a_max": 0.7123987194679517,
    "ax_avg": 0.31854645492947165,
    "a_std": 0.20513486032983014,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "99127f15fd9b5847",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.510776551109617,
    "right_rear_min": 5.19641679943621,
    "speed_mode": "accelerating",
    "front_frame": [
      27.582877945796827,
      27.69394747459045,
      27.998723125681565,
      28.445970116287242,
      29.05016422342629,
      29.950519401101516,
      31.18339312000086,
      32.40406021509419,
      33.55973205209448,
      34.81985074023983
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "99127f15fd9b5847",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b605703d3fb05725": {
    "vx_ego": [
      6.826679679660829,
      6.735306661261389,
      6.653692848888923,
      6.600397233313293,
      6.558443874591385,
      6.515790296194823,
      6.476366618105676,
      6.433137529909882,
      6.383313000770373,
      6.3204604709787775
    ],
    "vy_ego": [
      0.0017007972406424265,
      -0.00779840636826612,
      0.007551822016052201,
      -0.006815015165126281,
      0.01001278571894848,
      0.006089834816971784,
      0.009679648989666223,
      0.026969250155824742,
      0.03388890824712165,
      0.05316001244579205
    ],
    "v_ego": [
      6.826679891528922,
      6.735311175912656,
      6.653697134478797,
      6.600400751618153,
      6.558451517854127,
      6.515793142056823,
      6.476373851756715,
      6.433194060432887,
      6.383402957976744,
      6.320684025651694
    ],
    "ax_ego": [
      -0.19442949337000426,
      -0.17037290532606986,
      -0.16011787967859425,
      -0.05382791330066013,
      -0.11429150259488005,
      -0.05704456405834581,
      -0.10070122038707725,
      -0.07323978908944627,
      -0.1278949601539575,
      -0.12559787702742486
    ],
    "ay_ego": [
      0.557734228700807,
      0.5655469661076052,
      0.29373669047024287,
      0.2268104371822024,
      0.19398759529429155,
      0.15501146975465258,
      0.21052521010587044,
      0.2039986965171734,
      0.19041566330295012,
      0.19193858160908267
    ],
    "a_ego": [
      0.5906524339716215,
      0.5906524339599074,
      0.3345429400259107,
      0.23311031436872365,
      0.2251526919524999,
      0.16517456839387923,
      0.23337009208029977,
      0.21674762948316734,
      0.2293801335423032,
      0.22938013389110798
    ],
    "yaw": [
      -1.3831051661578442,
      -1.3402790044437776,
      -1.3104792984830413,
      -1.2886312275506981,
      -1.2752153067146401,
      -1.2612533192908617,
      -1.2477498905280422,
      -1.2343665681748357,
      -1.2200748215368913,
      -1.2080594957167552
    ],
    "yaw_diff": [
      0.08565232342813323,
      0.059599411921472445,
      0.0436961418646864,
      0.026831841672116052,
      0.02792397484755682,
      0.027006857525639028,
      0.02676664470641299,
      0.028583493275888827,
      0.024030651640272183,
      0.024030651640272183
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.550398850926752,
    "v_std": 0.1499433559537238,
    "vy_max": 0.05316001244579205,
    "a_max": 0.5906524339716215,
    "ax_avg": -0.11775181049864603,
    "a_std": 0.14816139775137405,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "b605703d3fb05725",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b605703d3fb05725",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c370f836e3275da4": {
    "vx_ego": [
      7.114591623025802,
      7.587655243116515,
      8.079448706091457,
      8.47386045746637,
      8.622276736976016,
      8.605544183445806,
      8.541925459909088,
      8.506269583876595,
      8.55167720269387,
      8.633491313257162
    ],
    "vy_ego": [
      -0.04504064317156686,
      -0.10719326673853247,
      -0.04957071222112641,
      -0.04852322084441352,
      -0.03535486902881724,
      -0.044749832064987505,
      -0.08021027505231126,
      -0.05275445212509178,
      -0.032417153305773994,
      0.09432198700168115
    ],
    "v_ego": [
      7.114734191940429,
      7.5884123823648135,
      8.079600772926408,
      8.473999383736896,
      8.622349221399109,
      8.605660534828678,
      8.542302046337804,
      8.506433169419665,
      8.551738644913238,
      8.634006537715779
    ],
    "ax_ego": [
      0.9452750028892121,
      0.9561777628506284,
      1.013360284676982,
      0.5663943142642237,
      0.03011248372314102,
      -0.09065480137014192,
      -0.15577472363615716,
      0.01715127390543074,
      0.16462687445646648,
      0.164206214775443
    ],
    "ay_ego": [
      0.35808595505347696,
      0.32786351358038923,
      0.19947237515852054,
      0.18073425149971464,
      0.30133389501951613,
      0.5040404619017875,
      0.490335464097047,
      0.33744536114249174,
      0.031695957078406584,
      0.03380771082534006
    ],
    "a_ego": [
      1.0108265836896855,
      1.010826591313916,
      1.0328060297132253,
      0.5945312345840227,
      0.30283473704911923,
      0.5121279920543567,
      0.5144848218122549,
      0.33788095233849125,
      0.16765035487114655,
      0.16765035723829738
    ],
    "yaw": [
      1.7623436918022297,
      1.7941298044449905,
      1.8036119188879867,
      1.8148933927415245,
      1.8273537526597403,
      1.8517746498141987,
      1.88487097201345,
      1.9059804224278785,
      1.914434364274347,
      1.901590611251184
    ],
    "yaw_diff": [
      0.06357222528552153,
      0.018964228885992362,
      0.022562947707075676,
      0.024920719836431626,
      0.048841794308916775,
      0.06619264439850259,
      0.04221890082885693,
      0.016907883692937276,
      -0.02568750604632619,
      -0.02568750604632619
    ],
    "min_front_frame": [
      7,
      28.625983512624817
    ],
    "v_avg": 8.271923688558282,
    "v_std": 0.4955578489222722,
    "vy_max": 0.10719326673853247,
    "a_max": 1.0328060297132253,
    "ax_avg": 0.3610874686535228,
    "a_std": 0.3253723103796916,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c370f836e3275da4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      41.35183504507027,
      -1,
      32.85668897086103,
      28.625983512624817,
      29.922258149838107,
      36.38810078617828
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c370f836e3275da4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "70b8b9ad6d6f54f7": {
    "vx_ego": [
      0.8106192430066782,
      0.9070278451289716,
      1.0922573896245622,
      1.449981906790238,
      1.9261243050738215,
      2.4347106483527075,
      2.7303138905354234,
      2.780209503713744,
      2.8949850208132086,
      3.109663813779467
    ],
    "vy_ego": [
      -0.025094738621221874,
      0.01724327430979066,
      0.04526776705546965,
      0.03141734554139978,
      0.000933897420059844,
      -0.0172379725442885,
      -0.0035622660953956095,
      0.01930305911950078,
      -0.0034463029236994486,
      -0.04847529867340513
    ],
    "v_ego": [
      0.8110075850688374,
      0.9071917340607929,
      1.093195031055141,
      1.450322233029585,
      1.9261245314777815,
      2.4347716707936904,
      2.7303162143953976,
      2.7802765136999583,
      2.894987072119096,
      3.1100416217971967
    ],
    "ax_ego": [
      0.19288075038343494,
      0.19272281969924246,
      0.5485469704341419,
      0.882898724012344,
      1.0217749067534274,
      1.0125025441794766,
      0.1698310383575321,
      0.02978506725972409,
      0.42933268335584435,
      0.4293560147027302
    ],
    "ay_ego": [
      0.08115375592002882,
      0.08152810178622559,
      0.021894251748092085,
      -0.09015567154207116,
      -0.047757483817273516,
      -0.041524961859169415,
      0.08820979132317813,
      -0.0016317860168800857,
      -0.09164271872645846,
      -0.09153331796176496
    ],
    "a_ego": [
      0.20925801291325632,
      0.20925801445510248,
      0.5489837311178576,
      0.8874898320396843,
      1.0228903838298278,
      1.013353701541233,
      0.19137280077084143,
      0.029829732772372827,
      0.43900448846578605,
      0.4390044825038813
    ],
    "yaw": [
      -1.5419991413803649,
      -1.5439407606409312,
      -1.5462114715016915,
      -1.5488266699338311,
      -1.5512177953032564,
      -1.5531195114093777,
      -1.5538652750194117,
      -1.5543055654198716,
      -1.5545097741173501,
      -1.5547645814758626
    ],
    "yaw_diff": [
      -0.0038832385211327036,
      -0.0045414217215205,
      -0.005230396864279285,
      -0.004782250738850635,
      -0.0038034322122424413,
      -0.0014915272200681784,
      -0.0008805808009197946,
      -0.0004084173949570058,
      -0.000509614717024931,
      -0.000509614717024931
    ],
    "min_front_frame": [
      0,
      12.441162837510108
    ],
    "v_avg": 2.0138234207497474,
    "v_std": 0.8426348177744901,
    "vy_max": 0.04847529867340513,
    "a_max": 1.0228903838298278,
    "ax_avg": 0.4909631519137897,
    "a_std": 0.34384568658964293,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "70b8b9ad6d6f54f7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.448619905173798,
    "right_rear_min": 5.191558463976826,
    "speed_mode": "accelerating",
    "front_frame": [
      12.441162837510108,
      12.67821213447126,
      12.999808247536206,
      13.307748970730449,
      13.481550405420958,
      13.438589133799567,
      13.327634269764516,
      13.439889847542538,
      13.916928107534105,
      14.58312705190557
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "70b8b9ad6d6f54f7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "06091e78878d510e": {
    "vx_ego": [
      5.717792150843968,
      5.372078490794596,
      4.995352127684412,
      4.580260295727164,
      4.149477517373878,
      3.708529183713247,
      3.2647485093362967,
      2.8584300695364933,
      2.4960975484501207,
      2.140083202853109
    ],
    "vy_ego": [
      -0.011740948857805744,
      0.07119213393966639,
      0.03403893450544526,
      -0.016869233407361683,
      0.0017790486112962967,
      0.02464359556951523,
      0.031238422454116677,
      0.03516081288623907,
      0.042831433420810194,
      0.04983061349235873
    ],
    "v_ego": [
      5.717804205298829,
      5.372550198108234,
      4.995468099049722,
      4.58029136056326,
      4.1494778987488585,
      3.7086110625482736,
      3.2648979567899197,
      2.85864631341361,
      2.4964650013704546,
      2.1406632629105977
    ],
    "ax_ego": [
      -0.6911090248025072,
      -0.6914504641002363,
      -0.8141851759659094,
      -0.8466083599408192,
      -0.8765395712083079,
      -0.8871148468940121,
      -0.8881031127163155,
      -0.7371309550238271,
      -0.711828601294771,
      -0.7118375292066286
    ],
    "ay_ego": [
      0.13938473436049392,
      0.13768094346998772,
      -0.34475868537892906,
      0.09737794380769726,
      0.02463261457163124,
      0.025251462668717584,
      0.012366285999998783,
      -0.00015170542699988188,
      0.004998300854275495,
      0.0035015445032794967
    ],
    "a_ego": [
      0.7050246721471654,
      0.7050246708443741,
      0.8841696963291867,
      0.8521902246927611,
      0.8768856171671873,
      0.8874741618473724,
      0.8881892049815976,
      0.7371309706347142,
      0.7118461495524857,
      0.7118461412418461
    ],
    "yaw": [
      0.8683095006674648,
      0.8658448099799677,
      0.8630334878221887,
      0.8607510729806549,
      0.8634646024409944,
      0.8608201598179457,
      0.8616259537580363,
      0.8613404381777001,
      0.8589250597574181,
      0.8568223743999377
    ],
    "yaw_diff": [
      -0.004929381374994213,
      -0.005622644315558034,
      -0.004564829683067595,
      0.005427058920679073,
      -0.005288885246097497,
      0.0016115878801812311,
      -0.0005710311606723639,
      -0.00483075684056411,
      -0.004205370714960743,
      -0.004205370714960743
    ],
    "min_front_frame": [
      9,
      10.9881853242457
    ],
    "v_avg": 3.9284875358801763,
    "v_std": 1.1738553918216774,
    "vy_max": 0.07119213393966639,
    "a_max": 0.8881892049815976,
    "ax_avg": -0.7855907641153335,
    "a_std": 0.08277826568228676,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "06091e78878d510e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      28.595795933295925,
      25.80119498214551,
      23.237304557776255,
      20.846442629762283,
      18.700917534868463,
      16.798835262940614,
      15.012814312124974,
      13.508747370560085,
      12.16192156365748,
      10.9881853242457
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "06091e78878d510e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d0910fc41d785f46": {
    "vx_ego": [
      0.4677397752781435,
      0.17597229497762096,
      -8.603454565663969e-05,
      -0.02853521814625052,
      -0.021042345555384128,
      -0.012251607446355076,
      -0.007704340953158773,
      -0.005352610376900058,
      -0.003973671473304255,
      -0.002875786960701399
    ],
    "vy_ego": [
      -0.060104570907469596,
      -0.020982917427221262,
      0.004376087806534456,
      0.006496118021669328,
      0.002469190293837154,
      0.0016678553666756926,
      0.0010892394761859315,
      0.0008366382755172789,
      0.0006732891813061969,
      0.0005737227393016061
    ],
    "v_ego": [
      0.47158568343538504,
      0.1772188799858763,
      0.004376933450892975,
      0.02926530751599173,
      0.02118672242654285,
      0.012364611863852905,
      0.0077809583059544295,
      0.005417601078979395,
      0.0040303080898879155,
      0.002932457744781999
    ],
    "ax_ego": [
      -0.5835330949211501,
      -0.5835296096708568,
      -0.12070408841457456,
      0.006912406090653261,
      0.023059483133379813,
      0.012103042874506809,
      0.006086346297664175,
      0.003320304183515881,
      0.0021957254781175815,
      0.002195714388057525
    ],
    "ay_ego": [
      0.07825895194078403,
      0.07828488603039627,
      0.023142899417552522,
      -0.014647749703919188,
      -0.001456233688596176,
      -0.0017522385246548098,
      -0.0005598547770972553,
      -0.000452368130831636,
      -0.00019936148476135292,
      -0.0001994419397731295
    ],
    "a_ego": [
      0.5887574512710017,
      0.5887574447456394,
      0.12290268814572114,
      0.016196849364946413,
      0.023105418821878786,
      0.012229226740453972,
      0.006112041281481091,
      0.003350978483497793,
      0.0022047574417293466,
      0.002204753673602405
    ],
    "yaw": [
      -0.5703018164747515,
      -0.5702573590848856,
      -0.5703256828402428,
      -0.5704499098518554,
      -0.5704847530275151,
      -0.5704336324591276,
      -0.5704981842396539,
      -0.5704251561136511,
      -0.5705179582723536,
      -0.5704785776219794
    ],
    "yaw_diff": [
      8.891477973183015e-05,
      -0.00013664751071429393,
      -0.0002484540232252641,
      -6.968635131943124e-05,
      0.00010224113677503865,
      -0.00012910356105266807,
      0.0001460562520056996,
      -0.00018560431740510808,
      7.876130074846444e-05,
      7.876130074846444e-05
    ],
    "min_front_frame": [
      4,
      10.496683425071451
    ],
    "v_avg": 0.07361594638981456,
    "v_std": 0.14184450134759669,
    "vy_max": 0.060104570907469596,
    "a_max": 0.5887574512710017,
    "ax_avg": -0.12318937705606865,
    "a_std": 0.22865540212127283,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d0910fc41d785f46",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.231662160476153,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.63824283026579,
      10.51437713404309,
      10.529761248723215,
      10.510408628818299,
      10.496683425071451,
      10.53056266139258,
      10.535781487436717,
      10.50818804078178,
      10.503809305150122,
      10.509162325224645
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d0910fc41d785f46",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "97eca45f93285d17": {
    "vx_ego": [
      0.05798692535025106,
      0.45797743380429573,
      0.880838622320574,
      1.3258650244492014,
      1.7285345324815047,
      2.00135777695352,
      2.0761025240456186,
      2.0817730382071353,
      2.0219378120326743,
      1.8558891335850716
    ],
    "vy_ego": [
      0.005793656655967632,
      -0.008697236242943135,
      -0.011033040297439345,
      -0.0022257543887349573,
      0.0066228763903853904,
      -0.0018397164394962084,
      -0.008153349187785763,
      0.001234645380375543,
      -0.013732654790557186,
      -0.04457796549951121
    ],
    "v_ego": [
      0.05827563786886272,
      0.4580600089423149,
      0.8809077173857723,
      1.325866892655624,
      1.7285472202033523,
      2.0013586225184414,
      2.0761185340561763,
      2.0817734043251157,
      2.02198444641275,
      1.8564244318493612
    ],
    "ax_ego": [
      0.7999814335182438,
      0.7999807607240772,
      0.8914831566898955,
      0.888638982948061,
      0.7220418546087438,
      0.36925210060124947,
      -0.07026043274034371,
      0.09294093430884266,
      -0.33227301165143786,
      -0.33214215659034046
    ],
    "ay_ego": [
      -0.028960052599709796,
      -0.02897902448749501,
      0.020421527437635145,
      0.0177072798835467,
      0.015901675466063747,
      -0.04992552345927531,
      0.026493878803704886,
      0.0015352505724881768,
      -0.06872574463976412,
      -0.06935541097007805
    ],
    "a_ego": [
      0.8005054519617479,
      0.8005054661830362,
      0.8917170276745123,
      0.8888153856543205,
      0.722216936307549,
      0.37261195859918117,
      0.07508963991740648,
      0.09295361350975515,
      0.33930603037406604,
      0.33930603474637855
    ],
    "yaw": [
      -2.1061874083145096,
      -2.1061636833623023,
      -2.105865145632526,
      -2.10520834514809,
      -2.105496707969518,
      -2.1055194263690016,
      -2.1053017605106605,
      -2.1064582677556736,
      -2.107327777875981,
      -2.1092231729352315
    ],
    "yaw_diff": [
      4.744990441452046e-05,
      0.0005970754595523431,
      0.0013136009688725636,
      -0.0005767256428566014,
      -4.5436798966846936e-05,
      0.0004353317166820858,
      -0.0023130144900260774,
      -0.001739020240615119,
      -0.0037907901185008086,
      -0.0037907901185008086
    ],
    "min_front_frame": [
      9,
      11.159694156767243
    ],
    "v_avg": 1.4489316916217772,
    "v_std": 0.701797638283487,
    "vy_max": 0.04457796549951121,
    "a_max": 0.8917170276745123,
    "ax_avg": 0.3829643622416991,
    "a_std": 0.3063136910677159,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "97eca45f93285d17",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.085273811161533,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      12.468739243453244,
      13.149845339598986,
      13.733337647123186,
      14.221210407653881,
      14.417879910889601,
      14.342190418398276,
      13.810110656781646,
      13.047620237258641,
      12.06060970355086,
      11.159694156767243
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "97eca45f93285d17",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2a3ab48ae28f5e90": {
    "vx_ego": [
      1.2794976420728732,
      2.121567664704566,
      2.8323621503559924,
      3.3222847027937235,
      3.711451658994547,
      4.068099975217116,
      4.468070386089412,
      4.914982551150052,
      5.364848089903981,
      5.876681542109782
    ],
    "vy_ego": [
      -0.0689934446033258,
      0.011620779380181911,
      6.44893728951601e-05,
      -0.002280535809458195,
      0.002399911909498509,
      -0.018051854019535615,
      -0.058903358541964934,
      -0.09998187354050114,
      -0.06465074349736044,
      -0.1071474963852177
    ],
    "v_ego": [
      1.2813564342009893,
      2.1215994905809596,
      2.8323621510901638,
      3.3222854855145663,
      3.7114524349142006,
      4.068140026817543,
      4.468458635894117,
      4.915999374811407,
      5.365237622545823,
      5.8776582525148084
    ],
    "ax_ego": [
      1.6791666259306306,
      1.6924998810052099,
      1.164085566988137,
      0.8392546278890358,
      0.7470303110747059,
      0.7066310179112165,
      0.9380960836142752,
      0.9169399608182929,
      0.9233079789386716,
      1.1639264793636481
    ],
    "ay_ego": [
      0.34467794678468766,
      0.2717491865004231,
      0.6118429340461872,
      1.2006082994287464,
      1.511480789905837,
      1.7046125741605263,
      1.8102606865981745,
      1.8384062202321914,
      1.6768673813402735,
      1.5197555686982727
    ],
    "a_ego": [
      1.7141771917275548,
      1.7141771984151146,
      1.3150844015546452,
      1.4648578835813222,
      1.6860096274691745,
      1.8452727233285646,
      2.0388889169190496,
      2.054389525463432,
      1.9142575162644133,
      1.91425751610207
    ],
    "yaw": [
      0.8641057511668978,
      0.9073587805129746,
      0.9987040979353334,
      1.1445222890161824,
      1.3347813733042764,
      1.5456808942367979,
      1.7617592840702834,
      1.9641357157555137,
      2.1278994427208446,
      2.2781615127552395
    ],
    "yaw_diff": [
      0.08650605869215355,
      0.1826906348447177,
      0.29163638216169785,
      0.38051816857618803,
      0.421799041865043,
      0.43215677966697097,
      0.4047528633704607,
      0.32752745393066185,
      0.3005241400687897,
      0.3005241400687897
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7964549908884577,
    "v_std": 1.3734506216707154,
    "vy_max": 0.1071474963852177,
    "a_max": 2.054389525463432,
    "ax_avg": 1.0770938533533823,
    "a_std": 0.2266412484508108,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "2a3ab48ae28f5e90",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "2a3ab48ae28f5e90",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "69d2af69b1b75698": {
    "vx_ego": [
      12.007377630440573,
      11.798206150346005,
      11.538967724992009,
      11.31396343685565,
      11.162277424918615,
      11.042318770194118,
      11.042339475062287,
      11.176815570024564,
      11.374961111308139,
      11.579844158725301
    ],
    "vy_ego": [
      -0.012243731739468078,
      -0.052525545392698714,
      -0.03481054952785265,
      -0.0184272849764857,
      -0.010966334224117727,
      -0.0283267906992032,
      -0.05970601454217103,
      -0.036509922907865505,
      0.026766128639261977,
      0.06272950879118791
    ],
    "v_ego": [
      12.007383872808079,
      11.798323071478467,
      11.539020232791243,
      11.31397844329474,
      11.162282811832625,
      11.042355103403107,
      11.042500889322643,
      11.176875201093294,
      11.374992602609234,
      11.580014064397231
    ],
    "ax_ego": [
      -0.418445240348108,
      -0.4169525237150445,
      -0.6179742316693783,
      -0.2815258744395446,
      -0.3251153637629805,
      -0.1546707620766743,
      0.15541675542468547,
      0.38316468763012007,
      0.4094139891577353,
      0.4097031268336971
    ],
    "ay_ego": [
      0.15043449342251813,
      0.15452358320920356,
      0.2997427032890566,
      0.19619696441592352,
      0.11185749671449251,
      -0.018858621828153375,
      0.036574725207784875,
      0.17164564066192625,
      0.1254903488122923,
      0.12454311926706035
    ],
    "a_ego": [
      0.4446649929792939,
      0.44466498040677366,
      0.6868317400807783,
      0.3431472961061669,
      0.3438198646471257,
      0.15581621308014287,
      0.15966238877945388,
      0.41985402678184547,
      0.4282144814962252,
      0.42821447978095944
    ],
    "yaw": [
      -1.6023402986580475,
      -1.5925508114005404,
      -1.5843540114468282,
      -1.5749024143500587,
      -1.5687164388101007,
      -1.5650515928499393,
      -1.561797355820004,
      -1.5591930150182527,
      -1.5582164932932911,
      -1.5559036826412496
    ],
    "yaw_diff": [
      0.019578974515014114,
      0.016393599907424505,
      0.01890319419353892,
      0.012371951079916066,
      0.007329691920322734,
      0.00650847405987065,
      0.0052086816035026295,
      0.0019530434499230864,
      0.004625621304083172,
      0.004625621304083172
    ],
    "min_front_frame": [
      0,
      20.15225207358055
    ],
    "v_avg": 11.403772629303067,
    "v_std": 0.3080909770154686,
    "vy_max": 0.06272950879118791,
    "a_max": 0.6868317400807783,
    "ax_avg": -0.08569854369654924,
    "a_std": 0.14488592560198926,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "69d2af69b1b75698",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.664370983195669,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.15225207358055,
      20.39823853511055,
      20.98692252413883,
      21.60015965315099,
      22.35215814620012,
      23.306715961383862,
      24.2490543680369,
      25.384358385325232,
      26.233089974256107,
      26.979720531090273
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "69d2af69b1b75698",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ddfadfe2f0385b3b": {
    "vx_ego": [
      10.797400797426732,
      10.832772979355433,
      10.904769898953907,
      11.000774501597514,
      11.053416669758045,
      10.986175715797396,
      10.865600621643964,
      10.814487510542426,
      10.813251802155717,
      10.8291398242373
    ],
    "vy_ego": [
      -0.00940831056078173,
      -0.010848146613233633,
      -0.01269773609718279,
      0.04157707225134636,
      0.040900078198869594,
      0.0313914111091753,
      0.005919589695775898,
      -0.014109968713866078,
      0.0013347187143983863,
      0.05564417410864153
    ],
    "v_ego": [
      10.797404896389644,
      10.832778411125103,
      10.904777291702624,
      11.00085307091841,
      11.053492339151537,
      10.986220563918597,
      10.86560223414293,
      10.814496715376782,
      10.813251884530292,
      10.82928278359165
    ],
    "ax_ego": [
      0.0697623514468648,
      0.07215086225662953,
      0.21588267334236286,
      0.1680560903500769,
      0.041555202544648846,
      -0.3113462027817095,
      -0.17165710227978842,
      -0.03252435737463905,
      0.02899636240397401,
      0.03322177078087937
    ],
    "ay_ego": [
      0.22623312066387494,
      0.22548273982660771,
      0.1419169065980811,
      0.12997540421697465,
      0.10698984523700854,
      0.1270926193299104,
      0.07359741034977706,
      0.12500775159199695,
      0.36172634687208105,
      0.36136277176692816
    ],
    "a_ego": [
      0.23674503281951084,
      0.23674503771798217,
      0.25835196346808326,
      0.21245341890663744,
      0.11477657357826042,
      0.3362870676590566,
      0.18676921473649563,
      0.12916954664594768,
      0.36288667522255996,
      0.36288667497290983
    ],
    "yaw": [
      -1.5984704711482653,
      -1.5878953464017187,
      -1.5792601419596872,
      -1.5780101574907808,
      -1.5725842172640143,
      -1.5664354799486335,
      -1.5595010222183112,
      -1.5530626182471927,
      -1.543231393312424,
      -1.5315443709225813
    ],
    "yaw_diff": [
      0.0211502494930933,
      0.01727040888406295,
      0.002499968937812902,
      0.010851880453532914,
      0.012297474630761585,
      0.013868915460644615,
      0.012876807942237,
      0.01966244986953747,
      0.0233740447796853,
      0.0233740447796853
    ],
    "min_front_frame": [
      6,
      18.925837860952893
    ],
    "v_avg": 10.889816019084757,
    "v_std": 0.0873015401265123,
    "vy_max": 0.05564417410864153,
    "a_max": 0.36288667522255996,
    "ax_avg": 0.01140976506892993,
    "a_std": 0.0844101015881565,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ddfadfe2f0385b3b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      46.06766633615523,
      40.70799434473284,
      35.331216135820334,
      29.905270525243562,
      24.4076032639919,
      18.95797271988349,
      18.925837860952893,
      19.501546938480054,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      -1,
      -1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ddfadfe2f0385b3b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "aab517c2e5e75245": {
    "vx_ego": [
      -0.2440495610001282,
      0.08644008173789629,
      0.6691583811068232,
      1.5438314027611697,
      2.371485522789166,
      3.086500202174626,
      3.668569696994263,
      4.099443239146142,
      4.373573130986885,
      4.602751382302308
    ],
    "vy_ego": [
      -0.005304854981170382,
      -0.0026817752407226293,
      -0.0024616944391680426,
      0.010882895681568083,
      0.01434545068192078,
      -0.003827774076124446,
      -0.03251306448191249,
      -0.03358875081123691,
      -0.05269607798793352,
      -0.09324677672114223
    ],
    "v_ego": [
      0.24410720946077474,
      0.08648167233174868,
      0.6691629091222976,
      1.543869760559464,
      2.3715289112203273,
      3.086502575712255,
      3.6687137693020673,
      4.099580841398554,
      4.373890580332998,
      4.603695824949199
    ],
    "ax_ego": [
      0.6609835673428215,
      0.6609877070117524,
      1.6699467376676012,
      1.8322286495707747,
      1.4804261220924102,
      1.3909509809753615,
      0.969120526225598,
      0.7933815295161593,
      0.35212674368614816,
      0.6081255845477986
    ],
    "ay_ego": [
      0.005386235003491578,
      0.004850684814291663,
      0.002718381109021617,
      0.2176571610407232,
      0.37496506507785043,
      0.6442639393363505,
      0.9960310815742167,
      1.2687950087724393,
      1.5122651315946962,
      1.4286785191144444
    ],
    "a_ego": [
      0.6610055127037558,
      0.6610055052447156,
      1.6699489501905493,
      1.8451115045059614,
      1.5271739596399647,
      1.5329124746721559,
      1.3897023097820929,
      1.4964274207803248,
      1.5527198948477907,
      1.5527198838041083
    ],
    "yaw": [
      1.6489610840537434,
      1.6497713157651694,
      1.6564154003073561,
      1.694846430530215,
      1.7671024265381743,
      1.866641624121948,
      1.9943759163964954,
      2.1393559468658703,
      2.3054289555589653,
      2.479084221360748
    ],
    "yaw_diff": [
      0.0016204634228520476,
      0.013288169084373358,
      0.07686206044571797,
      0.14451199201591836,
      0.19907839516754722,
      0.25546858454909493,
      0.2899600609387498,
      0.3321460173861901,
      0.34731053160356495,
      0.34731053160356495
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.4747534054389684,
    "v_std": 1.655171938162274,
    "vy_max": 0.09324677672114223,
    "a_max": 1.8451115045059614,
    "ax_avg": 1.0418278148636424,
    "a_std": 0.38103467098438987,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "aab517c2e5e75245",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aab517c2e5e75245",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "71357a4fc5c65199": {
    "vx_ego": [
      6.174675434685021,
      5.601832332033348,
      5.075130691200364,
      4.6351245563118075,
      4.178681807341391,
      3.647411082634618,
      3.0851239771155816,
      2.527629011948836,
      1.972888343381629,
      1.4029457382701982
    ],
    "vy_ego": [
      -0.011659497216308878,
      -0.0035351473284976898,
      0.00379230998884017,
      0.007745806385319298,
      -0.008527484555936216,
      -0.01871426878128246,
      -0.010334087513679258,
      -0.0008771597326215907,
      -0.004158323013146004,
      -0.010562099137067738
    ],
    "v_ego": [
      6.174686442855053,
      5.6018334474956335,
      5.075132108071566,
      4.635131028357374,
      4.17869050840078,
      3.647459092242414,
      3.085141284858475,
      2.527629164148619,
      1.97289272569529,
      1.402985496171893
    ],
    "ax_ego": [
      -1.1457045704239637,
      -1.1457059796921725,
      -0.9610992754743881,
      -0.7988853682934347,
      -1.0268623967835002,
      -1.0983032013771312,
      -1.150892984319432,
      -1.0791204516250985,
      -1.1398484857805937,
      -1.1398605923132341
    ],
    "ay_ego": [
      0.0018359731802654045,
      0.0003620962560316743,
      -0.0004894357148927941,
      -0.010950798605043777,
      -0.06911769015260588,
      0.014926338962036656,
      0.0066504192591738676,
      0.01774175766323627,
      -0.007179630886194888,
      -0.004893383815757435
    ],
    "a_ego": [
      1.1457060414817921,
      1.145706036911781,
      0.9610994000959072,
      0.7989604193346658,
      1.0291859098433023,
      1.0984046238750385,
      1.1509121988370838,
      1.0792662873825614,
      1.1398710969385857,
      1.1398710958322635
    ],
    "yaw": [
      -0.6252917506387451,
      -0.6265781809855668,
      -0.6279627014899932,
      -0.6293719593627679,
      -0.6302160386585374,
      -0.6310730175619795,
      -0.6319583211887356,
      -0.6331590341157967,
      -0.6305363202430849,
      -0.628530583510601
    ],
    "yaw_diff": [
      -0.002572860693643486,
      -0.0027690410088527795,
      -0.002818515745549366,
      -0.0016881585915389241,
      -0.0017139578068843253,
      -0.0017706072535121908,
      -0.0024014258541220634,
      0.00524542774542347,
      0.004011473464967885,
      0.004011473464967885
    ],
    "min_front_frame": [
      9,
      11.27513863543684
    ],
    "v_avg": 3.8301581298297096,
    "v_std": 1.5026867722055846,
    "vy_max": 0.01871426878128246,
    "a_max": 1.1509121988370838,
    "ax_avg": -1.0686283306082949,
    "a_std": 0.10753681571378311,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "71357a4fc5c65199",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 5.2221124110118655,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      28.469876427931123,
      25.565224296344276,
      22.919241674038823,
      20.508718950252504,
      18.292627795841888,
      16.340685248121336,
      14.664731395102597,
      13.235007125918028,
      12.131654042716866,
      11.27513863543684
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "71357a4fc5c65199",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cb52442dd7165211": {
    "vx_ego": [
      2.6342923923485744,
      2.6441306961585958,
      2.667911835378792,
      2.7021734331656075,
      2.739438414329508,
      2.7713832179215263,
      2.7088399525796656,
      2.556128944558997,
      2.446724730461089,
      2.386883975810253
    ],
    "vy_ego": [
      0.003613535579042315,
      0.03389943388140737,
      0.0351948656199661,
      0.03178119796261192,
      0.023683748923845727,
      0.03137643869469242,
      0.030433318717371982,
      0.009934147683967831,
      -0.002100748858136603,
      0.010575988226885213
    ],
    "v_ego": [
      2.6342948707433944,
      2.644347993359728,
      2.668143969114156,
      2.7023603215429923,
      2.739540791057373,
      2.7715608276713386,
      2.709010903555015,
      2.556148248537729,
      2.446725632308546,
      2.3869074061443474
    ],
    "ax_ego": [
      0.012912212233193901,
      0.02347330987008628,
      0.06484232906560082,
      0.06523291469175187,
      0.07844796372102247,
      0.04445610142804818,
      -0.3042587832770218,
      -0.3144473459957115,
      -0.12435913050980238,
      -0.11558674896748651
    ],
    "ay_ego": [
      0.2686256620046013,
      0.2679094496621371,
      0.27650872578099356,
      0.28329565204962026,
      0.32152369622857957,
      0.3817108153729735,
      0.3286645699776313,
      0.23261780891335476,
      0.21653455292654325,
      0.22134162064464155
    ],
    "a_ego": [
      0.268935812996643,
      0.2689358092454894,
      0.2840098643915038,
      0.2907090635487667,
      0.33095554119618964,
      0.38429089441057696,
      0.4478769995878278,
      0.39113703279975515,
      0.24970463742640428,
      0.24970464466338857
    ],
    "yaw": [
      -1.0776558865056955,
      -1.0382932076145015,
      -0.9874491142146609,
      -0.9340669732028635,
      -0.8754984822697184,
      -0.8145982296797267,
      -0.750483653347118,
      -0.6894416636273685,
      -0.6392747220747446,
      -0.5992121948119477
    ],
    "yaw_diff": [
      0.0787253577823881,
      0.10168818679968128,
      0.10676428202359478,
      0.11713698186629018,
      0.12180050517998331,
      0.1282291526652175,
      0.122083979439499,
      0.10033388310524782,
      0.08012505452559382,
      0.08012505452559382
    ],
    "min_front_frame": [
      0,
      12.666707610159715
    ],
    "v_avg": 2.625904096403462,
    "v_std": 0.11965219807019212,
    "vy_max": 0.0351948656199661,
    "a_max": 0.4478769995878278,
    "ax_avg": -0.05692871777403188,
    "a_std": 0.06542456517595703,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "cb52442dd7165211",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      12.666707610159715,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "cb52442dd7165211",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "680e24fa0952531b": {
    "vx_ego": [
      10.262150218304344,
      10.179256045668819,
      10.082727767637229,
      9.978746497980225,
      9.894934224735971,
      9.830411351539246,
      9.784767196185053,
      9.70361541514852,
      9.615705581130307,
      9.5705885327671
    ],
    "vy_ego": [
      0.01955543342769772,
      -0.004805829000858353,
      -0.015232882443174667,
      -0.01103789676417044,
      0.00018230624284321095,
      0.04134571905325579,
      0.06209488886050529,
      0.03195202831788002,
      -0.006362244953358243,
      -0.044302500949099155
    ],
    "v_ego": [
      10.262168850590037,
      10.179257180132428,
      10.082739274472505,
      9.978752602711301,
      9.894934226415394,
      9.830498299117684,
      9.784964223683279,
      9.70366802076522,
      9.61570768592418,
      9.570691070927086
    ],
    "ax_ego": [
      -0.16893189788466145,
      -0.16315028227729275,
      -0.2207431088628014,
      -0.1946010329019278,
      -0.1394408611636907,
      -0.11992982874444685,
      -0.06851256689224572,
      -0.2607166401780554,
      -0.09216809307416794,
      -0.086298985831598
    ],
    "ay_ego": [
      0.3187695898200666,
      0.32176703715184474,
      0.4601877189738903,
      0.4097308648997522,
      0.47984138055216036,
      0.5259979974185904,
      0.3828317602451573,
      0.3207666518760333,
      0.298880119892546,
      0.3006272891538455
    ],
    "a_ego": [
      0.3607659040388479,
      0.3607659085953618,
      0.510392257782979,
      0.45359557279364643,
      0.4996914090238843,
      0.5394970408732932,
      0.3889140373843171,
      0.41335748622892265,
      0.3127687379645081,
      0.31276873555320744
    ],
    "yaw": [
      2.019552075773294,
      2.037604009220636,
      2.0579142067436633,
      2.079183443202008,
      2.1004489075062613,
      2.121775831492701,
      2.1428397248281135,
      2.1639320925983165,
      2.1839785365112743,
      2.2035576665383183
    ],
    "yaw_diff": [
      0.03610386689468381,
      0.04062039504605508,
      0.04253847291668933,
      0.04253092860850671,
      0.04265384797287908,
      0.042127786670825174,
      0.04218473554040614,
      0.04009288782591547,
      0.03915826005408807,
      0.03915826005408807
    ],
    "min_front_frame": [
      9,
      37.437797868688996
    ],
    "v_avg": 9.89033814347391,
    "v_std": 0.22219699911267352,
    "vy_max": 0.06209488886050529,
    "a_max": 0.5394970408732932,
    "ax_avg": -0.1514493297810888,
    "a_std": 0.07792889512791691,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "680e24fa0952531b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      61.70137410552453,
      56.82336541301943,
      51.89101015043516,
      47.01530394095795,
      42.23170732435733,
      37.437797868688996
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "680e24fa0952531b",
    "road_shape": "Straight"
  },
  "530df64bb4b5533f": {
    "vx_ego": [
      5.217882988245172,
      5.201544330185049,
      5.263258900019981,
      5.333753658256399,
      5.439771816955339,
      5.55331173915399,
      5.662862737835864,
      5.7719048946139235,
      5.8958605862266875,
      6.0507149123430315
    ],
    "vy_ego": [
      0.045505701954582145,
      0.028840926558103774,
      0.006342577170970198,
      -0.023268387077934438,
      -0.06989569101984117,
      -0.11072521492499021,
      -0.05077486876443027,
      -0.05296866353988561,
      0.003187691982034835,
      0.02296268241730237
    ],
    "v_ego": [
      5.218081414459605,
      5.201624286501762,
      5.263262721632343,
      5.333804411937199,
      5.440220843694191,
      5.554415481888774,
      5.6630903643565444,
      5.772147935715557,
      5.895861447965129,
      6.050758484292208
    ],
    "ax_ego": [
      -0.1725262105233436,
      0.08408322617501551,
      0.15231261536637908,
      0.13850566020176025,
      0.2884313396040147,
      0.18826526667418392,
      0.25690373490035867,
      0.1851118716887479,
      0.30966678715598106,
      0.3097073986972405
    ],
    "ay_ego": [
      1.6100148448192433,
      1.6170476532155442,
      1.6266241564947954,
      1.6687114342955565,
      1.3346176737420583,
      1.0084286717820639,
      0.5917759001815934,
      0.4353693634846324,
      0.04950224836504767,
      0.04924754828207707
    ],
    "a_ego": [
      1.619232254451435,
      1.6192322568717241,
      1.6337396608065042,
      1.6744496614878153,
      1.3654292265549428,
      1.02585193702992,
      0.6451342845032257,
      0.4730886679060548,
      0.31359845608788084,
      0.31359845953002863
    ],
    "yaw": [
      1.732623891227954,
      1.8913258881354527,
      2.0505287025682413,
      2.2112024237378525,
      2.359487545248663,
      2.4731034145310637,
      2.533822379848393,
      2.579040647282688,
      2.5902227307331565,
      2.591045135690889
    ],
    "yaw_diff": [
      0.3174039938149975,
      0.3184056288655772,
      0.3213474423392224,
      0.2965702430216215,
      0.22723173856480106,
      0.12143793063465846,
      0.09043653486858982,
      0.02236416690093712,
      0.0016448099154651175,
      0.0016448099154651175
    ],
    "min_front_frame": [
      6,
      17.15091409131505
    ],
    "v_avg": 5.5393267392443315,
    "v_std": 0.28353914996101326,
    "vy_max": 0.11072521492499021,
    "a_max": 1.6744496614878153,
    "ax_avg": 0.17404616899403377,
    "a_std": 0.5528810282255692,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "530df64bb4b5533f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      22.721895090147665,
      19.94614461427832,
      17.15091409131505,
      28.378146986025207,
      28.61396060557847,
      28.51771145149875
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "530df64bb4b5533f",
    "pedestrians": "No"
  },
  "f9720f622fd4511b": {
    "vx_ego": [
      2.467852128747859,
      1.6356143590977632,
      1.0146662962150519,
      0.7851114744542629,
      0.886846129400144,
      1.202863206386953,
      1.5610366006067944,
      1.7967937480796223,
      1.8541762359875142,
      1.8347028653855948
    ],
    "vy_ego": [
      0.022355203878524632,
      0.007417225157347218,
      -0.0018160364118022243,
      -0.0007446735999659393,
      0.0013409257180442835,
      -0.000848836197344216,
      0.012342379795841407,
      0.020797246814029724,
      0.020811894432768985,
      0.03438487245982502
    ],
    "v_ego": [
      2.4679533797269735,
      1.6356311769209528,
      1.0146679213728107,
      0.7851118276134408,
      0.8868471431502716,
      1.2028635058901702,
      1.5610853925308,
      1.7969141044059564,
      1.8542930321420903,
      1.835025047160989
    ],
    "ax_ego": [
      -1.664510770094752,
      -1.6645534800330957,
      -0.8192466478767853,
      -0.09895355067519404,
      0.5058793029417018,
      0.7581898674943297,
      0.6745100457365261,
      0.2685253046171052,
      -0.03904732747568158,
      -0.03900173127675058
    ],
    "ay_ego": [
      -0.023485198780468286,
      -0.02023330596163264,
      -0.010776353180730336,
      0.018216321647454646,
      -0.007045435713260745,
      -0.0002457838245407129,
      0.05853519521800482,
      -0.025149101139330582,
      0.03231870795757936,
      0.032373723652164205
    ],
    "a_ego": [
      1.664676442532657,
      1.664676447409654,
      0.8193175207727619,
      0.10061629870747442,
      0.5059283618351236,
      0.7581899073324292,
      0.6770451763942348,
      0.26970041992519295,
      0.05068720417462795,
      0.05068720771250435
    ],
    "yaw": [
      2.2408638278095734,
      2.242817462204262,
      2.244031788563146,
      2.2450055781861877,
      2.245935539711187,
      2.2462976717379153,
      2.2472895730956743,
      2.2472269329220174,
      2.248180697323229,
      2.2495904151831274
    ],
    "yaw_diff": [
      0.003907268789377305,
      0.002428652717767932,
      0.001947579246083464,
      0.001859923049998713,
      0.0007242640534563805,
      0.0019838027155181237,
      -0.00012528034731396076,
      0.0019075288024232862,
      0.0028194357197968145,
      0.0028194357197968145
    ],
    "min_front_frame": [
      1,
      10.493930652919174
    ],
    "v_avg": 1.5040392530914457,
    "v_std": 0.4995678130950398,
    "vy_max": 0.03438487245982502,
    "a_max": 1.664676447409654,
    "ax_avg": -0.21182089866425963,
    "a_std": 0.5731859622345894,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f9720f622fd4511b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 25.607639602358343,
    "right_rear_min": 3.9036077886248144,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      10.869146932381303,
      10.493930652919174,
      10.818678658401788,
      11.4173826694562,
      12.023479187149944,
      12.689334945877787,
      12.865069890267524,
      12.739382530180258,
      12.34925339717964,
      11.731220821154364
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f9720f622fd4511b",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "adc1a3a3dd1c501e": {
    "vx_ego": [
      2.3658124233628133,
      3.000905375128583,
      3.5561954296602125,
      3.994917411202034,
      4.312899082760135,
      4.427019302782299,
      4.371947441246422,
      4.288059469783471,
      4.259890181908285,
      4.326935063049486
    ],
    "vy_ego": [
      -0.03606560650589058,
      0.011632193998150742,
      -0.01225139753098807,
      -0.015272670516272874,
      -0.028965067482779383,
      -0.03184388882303235,
      -0.03941567755994524,
      -0.021518491688965025,
      -0.006999812425295016,
      0.030232327152272198
    ],
    "v_ego": [
      2.3660873083025624,
      3.000927919563019,
      3.556216533153971,
      3.994946604998602,
      4.312996345141912,
      4.427133829066211,
      4.37212511539396,
      4.288113461871581,
      4.25989593291815,
      4.327040678506744
    ],
    "ax_ego": [
      1.2615687904816602,
      1.2796600306656507,
      0.9513229995584543,
      0.8202022602410544,
      0.47737149202784823,
      -0.005617830189246997,
      -0.1871976263287105,
      -0.1276320177251664,
      0.02972479946063933,
      0.23009561628700714
    ],
    "ay_ego": [
      0.39447191617277977,
      0.33111041574315525,
      0.5861898693576552,
      0.8295664249693284,
      1.088976728875971,
      1.0925686670598058,
      1.2220064143295994,
      1.2738571351456434,
      1.355299595543328,
      1.3359553019456822
    ],
    "a_ego": [
      1.3218032780131783,
      1.3218032763981253,
      1.1174229335513208,
      1.1665814164219002,
      1.1890138171755213,
      1.0925831099998187,
      1.236261553218326,
      1.2802351083727017,
      1.3556255225477587,
      1.3556255240409412
    ],
    "yaw": [
      -0.16029376616064867,
      -0.11043728331303841,
      -0.03419720173425127,
      0.05986981456972636,
      0.17728445164707113,
      0.3008794689199865,
      0.4332484024857064,
      0.5732300437611489,
      0.7240306835017695,
      0.8726615770868031
    ],
    "yaw_diff": [
      0.0997129656952205,
      0.1524801631575743,
      0.18813403260795525,
      0.23482927415468954,
      0.24719003454583077,
      0.26473786713143976,
      0.2799632825508851,
      0.30160127948124105,
      0.29726178717006735,
      0.29726178717006735
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8905483728916708,
    "v_std": 0.6649350653445837,
    "vy_max": 0.03941567755994524,
    "a_max": 1.3556255240409412,
    "ax_avg": 0.47294985144791896,
    "a_std": 0.09293282534488394,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "adc1a3a3dd1c501e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "adc1a3a3dd1c501e",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5cdca96b002d5331": {
    "vx_ego": [
      13.411282473700865,
      13.313971695268986,
      13.316557199900739,
      13.441502393618787,
      13.553376356607604,
      13.676725634884347,
      13.836962208617159,
      13.914880709672438,
      13.987192241537931,
      14.114843803262653
    ],
    "vy_ego": [
      0.534300929016116,
      0.61488087761997,
      0.5495660150779895,
      0.5293584429729301,
      0.5243504394733808,
      0.5593829403703134,
      0.5521809501408952,
      0.5518763869702439,
      0.5373194596046864,
      0.5080110064240414
    ],
    "v_ego": [
      13.421921437415117,
      13.328162693938216,
      13.32789249893459,
      13.451922054442864,
      13.563515548972763,
      13.68816033533652,
      13.847975554729938,
      13.925820360427943,
      13.997509028516781,
      14.123982822601779
    ],
    "ax_ego": [
      -0.20251129320030573,
      -0.20057116627894717,
      0.17142471786129418,
      0.30332039204767886,
      0.12317103245964355,
      0.3580533223702654,
      0.2778209907570454,
      0.036661976917533194,
      0.2580521694825709,
      0.25844004054227027
    ],
    "ay_ego": [
      0.32151551587102256,
      0.3227293934049695,
      0.314324733699558,
      0.2103985996455203,
      0.3234305596234341,
      0.10740773560387222,
      -0.013918796683060754,
      -0.05737051476786173,
      -0.138111082494945,
      -0.13738390359832808
    ],
    "a_ego": [
      0.37997769779221247,
      0.3799777021221596,
      0.35803138425160774,
      0.3691487924465601,
      0.3460902052001794,
      0.37381626947998997,
      0.27816943722546283,
      0.0680843338531793,
      0.2926868519127346,
      0.29268684890750557
    ],
    "yaw": [
      1.5125228575750085,
      1.518545812135936,
      1.5354707507600762,
      1.546799940673257,
      1.557041398661881,
      1.5623909167973002,
      1.5646117705677636,
      1.563352049613198,
      1.560887597878969,
      1.558071758931435
    ],
    "yaw_diff": [
      0.012045909121855214,
      0.03384987724828026,
      0.022658379826361763,
      0.020482915977247718,
      0.010699036270838569,
      0.004441707540926654,
      -0.002519441909131004,
      -0.004928903468458312,
      -0.005631677895067799,
      -0.005631677895067799
    ],
    "min_front_frame": [
      0,
      45.147338574963264
    ],
    "v_avg": 13.667686233531654,
    "v_std": 0.27660230882246845,
    "vy_max": 0.61488087761997,
    "a_max": 0.3799777021221596,
    "ax_avg": 0.13838621829590486,
    "a_std": 0.08997816458130377,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "5cdca96b002d5331",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 47.20655581208403,
    "right_rear_min": 33.99549033953151,
    "speed_mode": "quasi_constant",
    "front_frame": [
      45.147338574963264,
      46.33925329182045,
      47.655344153555546,
      48.88448429830627,
      50.20684377635273,
      51.453956736081736,
      52.79066584043337,
      53.97033040422353,
      54.82053050732025,
      55.78377381605814
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "5cdca96b002d5331",
    "merging_vehicles": "No"
  },
  "e10fd359f695575f": {
    "vx_ego": [
      10.500202512427704,
      10.001823765422833,
      9.46356481021738,
      8.88272537215353,
      8.3154438650487,
      7.724703027962889,
      7.095620460144442,
      6.456208749623542,
      5.803834216863414,
      5.150190502337707
    ],
    "vy_ego": [
      -0.015991196067208335,
      -0.0008013513502023173,
      0.0033386213555242072,
      -0.01653695348115347,
      -0.027791687145791055,
      -0.01913533014429669,
      -0.004147450124756702,
      0.015958676730247756,
      -0.004638296173873346,
      -0.05614084289306476
    ],
    "v_ego": [
      10.500214689250154,
      10.001823797525176,
      9.46356539912824,
      8.882740765548126,
      8.315490307290995,
      7.724726728569675,
      7.095621672254162,
      6.456228473193817,
      5.803836070275069,
      5.150496481370535
    ],
    "ax_ego": [
      -0.996780097848455,
      -0.9967817615352289,
      -1.1562519275535237,
      -1.1671050112666503,
      -1.1020044972116165,
      -1.260956588538604,
      -1.2553185690678048,
      -1.3023407681434924,
      -1.3072103489928963,
      -1.307277919428968
    ],
    "ay_ego": [
      0.0018708553029260777,
      0.00045025811766741253,
      0.00011608840380988861,
      -0.05058225661601817,
      0.010334088946782727,
      0.025015796393758505,
      0.06036976246956932,
      0.028625737055247402,
      -0.09569526940745432,
      -0.09476756308832118
    ],
    "a_ego": [
      0.9967818535498828,
      0.9967818632286838,
      1.1562519333811971,
      1.1682006129120532,
      1.102052950301839,
      1.2612047051324096,
      1.256769357546194,
      1.302655330158572,
      1.3107083890404818,
      1.3107083770390082
    ],
    "yaw": [
      1.1010522157972886,
      1.0996270335470033,
      1.0992170533000487,
      1.1000082715778556,
      1.1001471029544476,
      1.1001696299308046,
      1.101027791422962,
      1.101343747640974,
      1.1019684127098421,
      1.102678075713867
    ],
    "yaw_diff": [
      -0.0028503645005706346,
      -0.0008199604939091998,
      0.001582436555613853,
      0.0002776627531839715,
      4.505395271392487e-05,
      0.0017163229843148997,
      0.0006319124360238959,
      0.0012493301377363153,
      0.001419326008049726,
      0.001419326008049726
    ],
    "min_front_frame": [
      8,
      18.72097171206399
    ],
    "v_avg": 7.9394744384405955,
    "v_std": 1.7164568160278422,
    "vy_max": 0.05614084289306476,
    "a_max": 1.3107083890404818,
    "ax_avg": -1.185202748958724,
    "a_std": 0.11628942894659747,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e10fd359f695575f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5157056679742054,
    "right_rear_min": 14.226630069161523,
    "speed_mode": "decelerating",
    "front_frame": [
      33.761188702567665,
      30.325956828131126,
      26.81158281097696,
      23.404234356083446,
      19.89662234365577,
      25.660272858930583,
      23.860880947988854,
      21.230572778795363,
      18.72097171206399,
      18.917006549456463
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e10fd359f695575f",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "d87ac612c49152b5": {
    "vx_ego": [
      4.385337959208608,
      4.282581868965652,
      4.244304911036184,
      4.26111704061081,
      4.291577828122752,
      4.328363046566734,
      4.383945210908319,
      4.466658558163515,
      4.570564488815892,
      4.71936427961117
    ],
    "vy_ego": [
      -0.02873905655545772,
      -0.035784714520668226,
      -0.02475890155378946,
      -0.0313131171872878,
      -0.035306302699419145,
      0.0029934856005993105,
      0.02569504137934442,
      0.01633655052564853,
      -0.013780125965011436,
      -0.05146613467397271
    ],
    "v_ego": [
      4.385432128063051,
      4.282731372639038,
      4.244377125215433,
      4.26123209237561,
      4.291723056051625,
      4.328364081710375,
      4.38402051174461,
      4.466688433067438,
      4.57058526211868,
      4.7196448983676875
    ],
    "ax_ego": [
      -0.2798047970213968,
      -0.11113471452540824,
      -0.017492143336660604,
      0.09705128782350247,
      0.05412222990483262,
      0.10949906033459667,
      0.09694477503263249,
      0.2185490605874475,
      0.20063090045542276,
      0.41112777102280407
    ],
    "ay_ego": [
      1.185422958044748,
      1.2129168958390477,
      1.3070650056541886,
      1.2446940709578793,
      1.3613803859747233,
      1.44588714932612,
      1.3564092322532093,
      1.3252415322595237,
      1.3809686351111392,
      1.3335295565402339
    ],
    "a_ego": [
      1.2179976658006144,
      1.2179976687106076,
      1.3071820470325832,
      1.2484719791592835,
      1.362455786837341,
      1.450027480015663,
      1.3598692197222013,
      1.3431413963947452,
      1.395466634992853,
      1.3954666324468572
    ],
    "yaw": [
      1.8450929095126665,
      1.9855174018860464,
      2.130841485112625,
      2.2826104229554685,
      2.4354081125256206,
      2.589300660826178,
      2.744544693139294,
      2.89838017450358,
      3.054376364666401,
      -3.0740278765957987
    ],
    "yaw_diff": [
      0.2808489847467599,
      0.29064816645315705,
      0.303537875685687,
      0.3055953791403043,
      0.30778509660111464,
      0.3104880646262318,
      0.3076709627285723,
      0.31199238032564214,
      0.309562131834773,
      0.309562131834773
    ],
    "min_front_frame": [
      6,
      70.5145924515178
    ],
    "v_avg": 4.393479896135355,
    "v_std": 0.14486011628083903,
    "vy_max": 0.05146613467397271,
    "a_max": 1.450027480015663,
    "ax_avg": 0.0779493430277773,
    "a_std": 0.07573160051433277,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "d87ac612c49152b5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      70.5145924515178,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d87ac612c49152b5",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "1979ed31b57b59ea": {
    "vx_ego": [
      3.7147936896181686,
      2.840000256127368,
      1.9902412756771846,
      1.2203613525994461,
      0.6031024270244353,
      0.17810191697579872,
      -0.0383910454402678,
      -0.07230382891678903,
      -0.042332660984523915,
      -0.017095051266316223
    ],
    "vy_ego": [
      -0.0413972589150914,
      -0.022774906005422813,
      0.0008138282070569089,
      0.013546964068303791,
      0.0018901682551213175,
      -0.010080828237914136,
      -0.0019068787721157534,
      0.005870200704733956,
      0.003774176205007973,
      0.0023205584017129484
    ],
    "v_ego": [
      3.715024345744271,
      2.8400915744297883,
      1.9902414420681471,
      1.2204365412235973,
      0.6031053889817243,
      0.17838698362945832,
      0.038438373491190454,
      0.07254173235002151,
      0.042500571667415034,
      0.017251833789303107
    ],
    "ax_ego": [
      -1.7495013719716417,
      -1.7493896237878948,
      -1.6495685563478315,
      -1.4300089440658343,
      -1.0390748987102312,
      -0.6609137820496273,
      -0.20506096864394205,
      0.06940710577292662,
      0.05047598518379847,
      0.05047646752759526
    ],
    "ay_ego": [
      0.049575359874696974,
      0.05337318425005308,
      0.05727193258863417,
      2.1294929128237716e-05,
      -0.04349252371089256,
      -0.003883919073949197,
      0.03657635919284835,
      -0.005501586761465528,
      -0.0029016106378612285,
      -0.002893313420385242
    ],
    "a_ego": [
      1.750203635819947,
      1.7502036317565286,
      1.6505624787792512,
      1.4300089442243906,
      1.0399847329400655,
      0.660925194050367,
      0.20829745776892247,
      0.06962480727921734,
      0.0505593159028956,
      0.050559321955629115
    ],
    "yaw": [
      1.5893952449406368,
      1.5915661171359736,
      1.5932611433744859,
      1.5942689474026692,
      1.595183328609708,
      1.5955528973538704,
      1.5954876223901189,
      1.5955811721812831,
      1.5956680824673581,
      1.5955036356752894
    ],
    "yaw_diff": [
      0.004341744390673696,
      0.0033900524770245077,
      0.002015608056366691,
      0.0018287624140773673,
      0.0007391374883249924,
      -0.00013054992750305416,
      0.00018709958232854262,
      0.00017382057214998525,
      -0.0003288935841374574,
      -0.0003288935841374574
    ],
    "min_front_frame": [
      0,
      13.508445731908518
    ],
    "v_avg": 1.0718018787374914,
    "v_std": 1.2741609583896465,
    "vy_max": 0.0413972589150914,
    "a_max": 1.750203635819947,
    "ax_avg": -0.8313158587092684,
    "a_std": 0.70471809055403,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1979ed31b57b59ea",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.977743256670461,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.508445731908518,
      18.088568183199474,
      16.88631734549813,
      16.082911328947272,
      15.675948669315177,
      15.542485891964896,
      15.545225048432199,
      15.548949000933725,
      15.560921642798888,
      15.559230955896684
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1979ed31b57b59ea",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6151a6ef02ee5f8e": {
    "vx_ego": [
      2.3795142140325387,
      2.4444712248804232,
      2.5276487509030874,
      2.618270975060736,
      2.6919952660290143,
      2.740546171444923,
      2.805246110276241,
      2.870612426830949,
      2.9079420226730575,
      2.9524783104378405
    ],
    "vy_ego": [
      0.0754180954295714,
      0.0589269082194932,
      0.051852338944020915,
      0.03054646054785265,
      0.005093721841159193,
      -0.012826071180334853,
      -0.022592602303211362,
      -0.015580140832491818,
      -0.006322224611281735,
      0.01723592098783744
    ],
    "v_ego": [
      2.3807090926656946,
      2.445181373595976,
      2.5281805459650037,
      2.618449156485094,
      2.692000085127194,
      2.7405761850244827,
      2.8053370857882323,
      2.870654706833379,
      2.9079488953129675,
      2.95252861977292
    ],
    "ax_ego": [
      0.13094616070427295,
      0.1386533718696802,
      0.20193765258876906,
      0.1697339582604852,
      0.13045595403895627,
      0.06387416698890769,
      0.1889772980215753,
      0.06888633470313309,
      0.07616659788993656,
      0.10332139853605513
    ],
    "ay_ego": [
      -0.2124504600852582,
      -0.20750262082047907,
      -0.18886872342060976,
      -0.31330643676322195,
      -0.3658356817398448,
      -0.40073304634870993,
      -0.3607959842377548,
      -0.41067262922605346,
      -0.3790700132305581,
      -0.37258571410777347
    ],
    "a_ego": [
      0.24956380946288498,
      0.2495638098326745,
      0.2764963114032322,
      0.35632925771544344,
      0.38839992530672723,
      0.4057916751788338,
      0.40729124887434726,
      0.41641005692018496,
      0.38664638310055716,
      0.38664638334354795
    ],
    "yaw": [
      1.5237086913970876,
      1.4870077069630805,
      1.4498801251627573,
      1.4094360830938784,
      1.3551898159945726,
      1.291450555779278,
      1.2259684111049065,
      1.155936138824103,
      1.0844059538786641,
      1.0121840708933292
    ],
    "yaw_diff": [
      -0.07340196886801431,
      -0.07425516360064632,
      -0.08088808413775794,
      -0.1084925341986116,
      -0.12747852043058927,
      -0.13096428934874282,
      -0.1400645445616071,
      -0.14306036989087767,
      -0.14444376597066988,
      -0.14444376597066988
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.694156574657094,
    "v_std": 0.18752413909586413,
    "vy_max": 0.0754180954295714,
    "a_max": 0.41641005692018496,
    "ax_avg": 0.12729528936017714,
    "a_std": 0.06366312171349908,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "6151a6ef02ee5f8e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6151a6ef02ee5f8e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "103ac69be43f55b5": {
    "vx_ego": [
      0.19778883317593682,
      1.082985018114895,
      1.760024838113034,
      2.2690382369867352,
      2.898126358508316,
      3.5905600700008864,
      4.07558889865136,
      4.422396189799105,
      4.800834096544104,
      5.246166039101107
    ],
    "vy_ego": [
      -0.018824560806811316,
      0.033425734735779145,
      0.03161748081880611,
      0.024599985654591094,
      0.019721412412384565,
      0.020517445282328794,
      -0.039635097802074526,
      -0.05530777912908241,
      -0.03416990493196015,
      -0.1256608346056658
    ],
    "v_ego": [
      0.19868262787336968,
      1.083500728750999,
      1.7603088069620452,
      2.2691715845660676,
      2.8981934586890867,
      3.5906186906779287,
      4.075781619737248,
      4.422742023901217,
      4.800955697040279,
      5.247670793330275
    ],
    "ax_ego": [
      1.7698588236901713,
      1.7706717730890444,
      0.9328909520637556,
      1.102626248804689,
      1.4359539622998898,
      1.3691012333489867,
      0.6080457178987639,
      0.7956276724952451,
      0.7651560631118808,
      1.0591039639457005
    ],
    "ay_ego": [
      0.11999067739911828,
      0.10732893448198688,
      0.1708902721496267,
      0.3810117340916791,
      0.9046238472949679,
      1.4555262681122383,
      1.7197420320877521,
      1.508866315792626,
      1.7057615806453714,
      1.5405794756206703
    ],
    "a_ego": [
      1.7739216494695182,
      1.7739216522133494,
      0.9484139463113108,
      1.1665995825769218,
      1.6971470434053446,
      1.998247958668407,
      1.8240702431606997,
      1.7057845562009917,
      1.8695150095473074,
      1.8695149978401229
    ],
    "yaw": [
      -0.7365662448364174,
      -0.7294138227496383,
      -0.6826645277237327,
      -0.6099569297036797,
      -0.48176995852508975,
      -0.3011083561769802,
      -0.08456422991787987,
      0.10955025404128499,
      0.2786902182765113,
      0.4592926167106073
    ],
    "yaw_diff": [
      0.014304844173558262,
      0.09349859005181127,
      0.145415196040106,
      0.2563739423571798,
      0.36132320469621915,
      0.4330882525182006,
      0.3882289679183297,
      0.33827992847045263,
      0.36120479686819196,
      0.36120479686819196
    ],
    "min_front_frame": [
      2,
      27.79682241307501
    ],
    "v_avg": 3.034762603152852,
    "v_std": 1.59421986892213,
    "vy_max": 0.1256608346056658,
    "a_max": 1.998247958668407,
    "ax_avg": 1.1609036410748128,
    "a_std": 0.31753444809321335,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "103ac69be43f55b5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.44602253348021,
    "right_rear_min": 24.65911189324911,
    "speed_mode": "accelerating",
    "front_frame": [
      29.066137279522753,
      28.639519980977308,
      27.79682241307501,
      37.80137939362115,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "103ac69be43f55b5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "2458f368da645ef5": {
    "vx_ego": [
      2.066949433818152,
      2.4400969398191656,
      2.791297894546719,
      3.1075898595271227,
      3.4041102283766946,
      3.694682151953671,
      3.9738103184860347,
      4.254834424817185,
      4.529485605722989,
      4.784146328829182
    ],
    "vy_ego": [
      0.001214365318267907,
      0.016399618823196932,
      0.0200643844394717,
      0.007891483704291657,
      0.0039926107046320825,
      0.020476778495648162,
      0.03294237995395649,
      -0.005121337921628943,
      -0.029630155975561845,
      -0.01467153318124742
    ],
    "v_ego": [
      2.0669497905474885,
      2.4401520491994764,
      2.791370006936358,
      3.1075998794167274,
      3.4041125698012795,
      3.6947388950266253,
      3.973946860201217,
      4.254837506969155,
      4.52958251923893,
      4.784168825358866
    ],
    "ax_ego": [
      0.7463960369800874,
      0.7464711292059464,
      0.6602174429971921,
      0.6055138529171673,
      0.5804262951137206,
      0.5818660313739272,
      0.5347906276495593,
      0.5892758687108849,
      0.5092961723002198,
      0.5092787239633764
    ],
    "ay_ego": [
      -0.01190184843830936,
      -0.005436289379780426,
      -0.12764044114275125,
      -0.09321589296138993,
      0.005199978196230144,
      0.057830896525237166,
      -0.022989280678157746,
      -0.12464695253457916,
      0.022590475869137424,
      0.02298045519112441
    ],
    "a_ego": [
      0.7464909229292935,
      0.7464909242450449,
      0.6724426772988659,
      0.6126469038322011,
      0.5804495876755199,
      0.5847328373366394,
      0.5352845247603453,
      0.6023146289283747,
      0.5097969406730971,
      0.5097969399697846
    ],
    "yaw": [
      3.0826175588857545,
      3.0739556789041007,
      3.0598937587387756,
      3.0453347872898147,
      3.0397793601122407,
      3.039574681321098,
      3.0385967986221933,
      3.038877907853763,
      3.0386495422790003,
      3.0378838070413265
    ],
    "yaw_diff": [
      -0.017323759963307594,
      -0.028123840330650296,
      -0.0291179428979218,
      -0.011110854355147914,
      -0.0004093575822849971,
      -0.001955765397809728,
      0.0005622184631395299,
      -0.0004567311495256021,
      -0.0015314704753475183,
      -0.0015314704753475183
    ],
    "min_front_frame": [
      6,
      38.65457850235876
    ],
    "v_avg": 3.504745890269612,
    "v_std": 0.8592713383594757,
    "vy_max": 0.03294237995395649,
    "a_max": 0.7464909242450449,
    "ax_avg": 0.6063532181212082,
    "a_std": 0.08270432177639593,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2458f368da645ef5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      46.575108720536264,
      45.34338359610716,
      43.990478885921775,
      42.347785769035475,
      40.59917379188701,
      38.65457850235876,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2458f368da645ef5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f4495a91b9fb505d": {
    "vx_ego": [
      7.931261638432245,
      7.899769163778799,
      7.84079381271512,
      7.622042583580938,
      7.188968857733995,
      6.607229037369226,
      5.916142263161742,
      5.173461447989895,
      4.529307898081929,
      3.992859242293952
    ],
    "vy_ego": [
      0.05162783035666707,
      0.03002530243033963,
      -0.0015434362300739135,
      -0.023779754712297985,
      -0.005930356638389256,
      0.02425343651598255,
      0.025934587523901098,
      -0.0019399470725667278,
      -0.02807045198272906,
      -0.02135528710951584
    ],
    "v_ego": [
      7.931429669998611,
      7.899826223391019,
      7.840793964625464,
      7.622079678319779,
      7.188971303781861,
      6.607273551279522,
      5.916199107602665,
      5.173461811711027,
      4.529394880765184,
      3.9929163498700753
    ],
    "ax_ego": [
      -0.06756337700814564,
      -0.06175250685784058,
      -0.17506370339154742,
      -0.6992050536945957,
      -1.030497576325656,
      -1.298496784165006,
      -1.4688165641154654,
      -1.5033115078183006,
      -1.07293944873184,
      -1.0729446148582322
    ],
    "ay_ego": [
      0.2817887688666732,
      0.2831189633004247,
      0.3176851053791405,
      0.2829782896404931,
      0.41185476460177733,
      0.2914273323949498,
      0.14606285273487976,
      -0.0016806743890299125,
      0.0061691133837894485,
      0.00519351156494556
    ],
    "a_ego": [
      0.28977529254948603,
      0.28977529136131475,
      0.36272734446815463,
      0.7542973018113756,
      1.1097520452507563,
      1.330798177243153,
      1.4760611288049734,
      1.5033124472994077,
      1.0729571839569958,
      1.0729571841949963
    ],
    "yaw": [
      -1.82455153793624,
      -1.8039794521687393,
      -1.7809262509494577,
      -1.7588156235294414,
      -1.7378870740426957,
      -1.7168772929811973,
      -1.6997375226496205,
      -1.6882096689592212,
      -1.6825292018595035,
      -1.6834384794454302
    ],
    "yaw_diff": [
      0.041144171535001384,
      0.04610640243856334,
      0.044221254840032476,
      0.041857098973491436,
      0.042019562122996845,
      0.03427954066315353,
      0.02305570738079865,
      0.011360934199435402,
      -0.0018185551718534754,
      -0.0018185551718534754
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.47023465413452,
    "v_std": 1.4075476880614037,
    "vy_max": 0.05162783035666707,
    "a_max": 1.5033124472994077,
    "ax_avg": -0.845059113696663,
    "a_std": 0.45088770114130233,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "f4495a91b9fb505d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "f4495a91b9fb505d",
    "merging_vehicles": "No"
  },
  "afd9edcb6d94521f": {
    "vx_ego": [
      7.16017884436672,
      7.558025854008851,
      7.980352165541926,
      8.376126639236258,
      8.732279108966504,
      9.085157822235725,
      9.405833949645064,
      9.558220501456804,
      9.479334211595654,
      9.312288305863344
    ],
    "vy_ego": [
      0.0031401879262644705,
      0.03322033366869537,
      0.09336651308843447,
      0.050245998157532945,
      -0.0011658716698130789,
      -0.03522968092049439,
      0.05321743867184203,
      0.0876582533959187,
      0.08587761351826284,
      0.06875713561237706
    ],
    "v_ego": [
      7.160179532951457,
      7.558098861515062,
      7.980898319853223,
      8.376277343596865,
      8.73227918679594,
      9.08522612736462,
      9.405984498396457,
      9.558622449069613,
      9.479723205855295,
      9.312542136023698
    ],
    "ax_ego": [
      0.7679881794787046,
      0.8180449530379718,
      0.8574373169101093,
      0.706622438832049,
      0.7172590296950434,
      0.6929999224525374,
      0.5908667882914604,
      0.022576463659566795,
      -0.3337537575701328,
      -0.3308039649987107
    ],
    "ay_ego": [
      0.9109179135115569,
      0.8662446200119278,
      0.7471640803223932,
      0.2867308623204518,
      0.4289556914163151,
      0.15988908500545718,
      -0.08113551253535928,
      -0.2107787330734357,
      -0.25124079003430144,
      -0.2551122136429083
    ],
    "a_ego": [
      1.191460149973663,
      1.1914601490987882,
      1.1373007145667389,
      0.76258105042545,
      0.835741288245067,
      0.7112056046060837,
      0.5964113789157959,
      0.21198436505415771,
      0.41774813616489415,
      0.4177481356136172
    ],
    "yaw": [
      -0.8041944536229335,
      -0.7478759824031015,
      -0.7036798952060891,
      -0.666891206640069,
      -0.6399622925622999,
      -0.619621872547828,
      -0.6270485800279803,
      -0.6382929563736746,
      -0.6501845289790287,
      -0.661835553849637
    ],
    "yaw_diff": [
      0.11263694243966405,
      0.0883921743940248,
      0.07357737713204027,
      0.05385782815553819,
      0.04068084002894379,
      -0.014853414960304567,
      -0.022488752691388614,
      -0.023783145210708234,
      -0.023302049741216635,
      -0.023302049741216635
    ],
    "min_front_frame": [
      1,
      69.26156773170955
    ],
    "v_avg": 8.664983166142223,
    "v_std": 0.8156525585210814,
    "vy_max": 0.09336651308843447,
    "a_max": 1.191460149973663,
    "ax_avg": 0.45092373697885996,
    "a_std": 0.3290219199028169,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "afd9edcb6d94521f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      69.26156773170955,
      71.74346170131781,
      73.92483191790345,
      75.74646032348492,
      77.3332763822945,
      78.69547511348324,
      79.6869170306933,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "afd9edcb6d94521f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "108fd8b55b1952af": {
    "vx_ego": [
      3.840331045337773,
      3.7286761679771976,
      3.5362012794969564,
      3.160965599281514,
      2.6299285779129926,
      2.0215167883831118,
      1.374128692326509,
      0.7769343970689753,
      0.32144226819525257,
      -0.057992527149166154
    ],
    "vy_ego": [
      0.011925748261149755,
      1.0926869179223031e-05,
      -0.0018148932429323805,
      -0.0043125318692839865,
      -0.018514982137467564,
      -0.033115068323029115,
      -0.0024760556497954445,
      0.025389163572899533,
      0.018617068993172184,
      0.01817279797842906
    ],
    "v_ego": [
      3.8403495623779746,
      3.728676167993208,
      3.5362017452279777,
      3.1609685410918384,
      2.629993750845619,
      2.021788004085693,
      1.3741309231388916,
      0.7773491281115993,
      0.32198094204534095,
      0.06077321607017
    ],
    "ax_ego": [
      -0.22331163033927273,
      -0.22329086379312987,
      -0.5466308889925175,
      -0.9543065285065474,
      -1.1698362402666904,
      -1.2639095358281802,
      -1.325685648264971,
      -1.0630704299176372,
      -0.7588692488669548,
      -0.758869238394565
    ],
    "ay_ego": [
      -0.02913022180192689,
      -0.029288939526677285,
      0.007003120871394829,
      -0.005219978357940802,
      -0.04896777707070016,
      -0.017169319397415873,
      0.1377617115481878,
      -0.026987890255397964,
      -0.0008874565913974848,
      -0.0008945645678364832
    ],
    "a_ego": [
      0.22520358360162357,
      0.2252035786395932,
      0.5466757471323284,
      0.9543208048262781,
      1.1708606544899147,
      1.264026146994585,
      1.3328243422088308,
      1.0634129419871228,
      0.7588697677830484,
      0.7588697656563431
    ],
    "yaw": [
      1.5426564318167424,
      1.541945645930356,
      1.5409258306101434,
      1.541791659773248,
      1.5420159662457817,
      1.5411884993985163,
      1.5409006644111516,
      1.5407359345521825,
      1.5403510421659181,
      1.5403416754277914
    ],
    "yaw_diff": [
      -0.0014215717727728006,
      -0.0020396306404251163,
      0.001731658326209029,
      0.00044861294506759464,
      -0.0016549336945308468,
      -0.0005756699747294647,
      -0.0003294597179381853,
      -0.0007697847725287588,
      -1.873347625336308e-05,
      -1.873347625336308e-05
    ],
    "min_front_frame": [
      9,
      10.757650072154844
    ],
    "v_avg": 2.145221198098831,
    "v_std": 1.3686629305531426,
    "vy_max": 0.033115068323029115,
    "a_max": 1.3328243422088308,
    "ax_avg": -0.8287780253170466,
    "a_std": 0.38069453989251634,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "108fd8b55b1952af",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.33434183977051,
    "right_rear_min": 3.611623911386153,
    "speed_mode": "decelerating",
    "front_frame": [
      18.78054564088951,
      17.68220920268511,
      16.330671526416705,
      14.939103983925365,
      13.53084677295071,
      12.39296857869718,
      11.555324953445545,
      11.03571646516744,
      10.770752278760591,
      10.757650072154844
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "108fd8b55b1952af",
    "merging_vehicles": "No"
  },
  "14128c4b87b15777": {
    "vx_ego": [
      3.2536313487368833,
      3.3549073742629614,
      3.5036164613339547,
      3.6871155683233487,
      3.911643118373924,
      4.187854889604072,
      4.484912719808417,
      4.754210788052264,
      4.990005727183911,
      5.242848256505989
    ],
    "vy_ego": [
      -0.049987339907532236,
      0.039330158333863996,
      0.026710577858737927,
      -0.011272685255636211,
      -0.012960261266591222,
      0.010712721425275795,
      0.032992684690327234,
      -0.0032573000562403642,
      -0.04554672473550969,
      -0.01967254103938343
    ],
    "v_ego": [
      3.254015317670527,
      3.355137903460686,
      3.5037182767882196,
      3.6871328003755552,
      3.911664588623899,
      4.187868591393606,
      4.485034071391477,
      4.754211903905439,
      4.990213588761744,
      5.242885164641587
    ],
    "ax_ego": [
      0.1557693509039714,
      0.25045262395475265,
      0.3274861836805313,
      0.4142403147078112,
      0.5038558551200858,
      0.6052821123896073,
      0.5719083470682608,
      0.49792328891311544,
      0.44959314220507457,
      0.5728380107917546
    ],
    "ay_ego": [
      0.8948364591144207,
      0.8730806769784816,
      0.8810904373782443,
      1.0492950373134418,
      1.218635094881459,
      1.267591432063805,
      1.2869043677227507,
      1.3063035962468905,
      1.1749419029556378,
      1.1200353037007154
    ],
    "a_ego": [
      0.9082931130650935,
      0.9082931164326989,
      0.9399827441719474,
      1.1281024393466417,
      1.3186895833423178,
      1.4046901701871461,
      1.4082620527125778,
      1.397983078298737,
      1.258023238592534,
      1.2580232383162913
    ],
    "yaw": [
      1.2537024602005888,
      1.3607130157548877,
      1.4924551284884013,
      1.637430541863213,
      1.7872666562638209,
      1.9350952384222384,
      2.0768539347554134,
      2.2244746836739755,
      2.360096779949916,
      2.4673977145007617
    ],
    "yaw_diff": [
      0.21402111110859767,
      0.2634842254670273,
      0.28995082674962314,
      0.2996722288012159,
      0.2956571643168351,
      0.2835173926663499,
      0.2952414978371243,
      0.27124419255188137,
      0.2146018691016911,
      0.2146018691016911
    ],
    "min_front_frame": [
      9,
      23.353837576313193
    ],
    "v_avg": 4.137188220701274,
    "v_std": 0.6708795351640551,
    "vy_max": 0.049987339907532236,
    "a_max": 1.4082620527125778,
    "ax_avg": 0.43493492297349645,
    "a_std": 0.19691822940361245,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "14128c4b87b15777",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      25.949780750953636,
      23.353837576313193
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "14128c4b87b15777",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d8699a1844cc5541": {
    "vx_ego": [
      4.999992038541901,
      5.06661596827166,
      5.127353831379293,
      5.1336252741726325,
      5.0774745380098105,
      4.984970826708865,
      4.898172124261465,
      4.86187131847014,
      4.955871799035425,
      5.155404794421112
    ],
    "vy_ego": [
      -0.002314133913685845,
      -0.0009275833770984176,
      -0.012374954210506939,
      -0.024829120083729284,
      -0.03398011953346647,
      -0.036832295433195106,
      -0.017674838091593426,
      -0.005095354993909229,
      -0.0013624986249534121,
      -0.041145616294216314
    ],
    "v_ego": [
      4.999992574064302,
      5.066616053181481,
      5.127368764937005,
      5.133685317666848,
      5.077588239771067,
      4.985106895656837,
      4.898204013594538,
      4.861873988495083,
      4.955871986328654,
      5.155568984707742
    ],
    "ax_ego": [
      0.09959521519115261,
      0.1669851527539571,
      0.07807824105028609,
      -0.04672896913361198,
      -0.17186976787113506,
      -0.18781669286310132,
      -0.14985493701799474,
      0.003179905798813387,
      0.37562008106456163,
      0.42780957805556535
    ],
    "ay_ego": [
      0.8297895811700338,
      0.8188931066675796,
      0.8170024557181053,
      0.8209660357509612,
      0.7397318938685741,
      0.7361115607704605,
      0.779464432390493,
      0.6467864649645139,
      0.7025212557955052,
      0.6720160169043001
    ],
    "a_ego": [
      0.8357451500949987,
      0.8357451533738872,
      0.8207248164731715,
      0.8222948549109003,
      0.7594356404030991,
      0.7596942411378119,
      0.7937388131561292,
      0.646794281871896,
      0.7966345210593384,
      0.7966345222572278
    ],
    "yaw": [
      -1.7943231794332897,
      -1.71261863060396,
      -1.6303601950964257,
      -1.5484125228031393,
      -1.4704768978256961,
      -1.3966386019638346,
      -1.3238028417447185,
      -1.2530668993573104,
      -1.1844857381379887,
      -1.108584639382907
    ],
    "yaw_diff": [
      0.16340909765865952,
      0.1645168710150684,
      0.16389534458657273,
      0.15587124995488644,
      0.14767659172372305,
      0.14567152043823217,
      0.1414718847748162,
      0.13716232243864335,
      0.15180219751016333,
      0.15180219751016333
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.026187681840356,
    "v_std": 0.09669863817035487,
    "vy_max": 0.041145616294216314,
    "a_max": 0.8357451533738872,
    "ax_avg": 0.0594997807028493,
    "a_std": 0.05341228016686067,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "d8699a1844cc5541",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d8699a1844cc5541",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "54b907a5a03b51ef": {
    "vx_ego": [
      7.598550540058139,
      7.003891665639876,
      6.428809448670368,
      5.952193990319622,
      5.637940913375468,
      5.3728690828428,
      4.982329311832524,
      4.476709895269903,
      3.9403755930465465,
      3.396964259182014
    ],
    "vy_ego": [
      -0.05550470321314488,
      -0.012262178374100596,
      0.00823270459605202,
      0.01639802434637963,
      0.0049676361343397035,
      -0.013646900084450575,
      0.0014962257166976078,
      0.02217768394497638,
      0.025862883410168486,
      0.041900812493586265
    ],
    "v_ego": [
      7.5987532583902615,
      7.003902399736749,
      6.4288147200505295,
      5.952216578183248,
      5.637943101887582,
      5.372886414139978,
      4.982329536495649,
      4.476764829212344,
      3.940460468398993,
      3.3972226680404147
    ],
    "ax_ego": [
      -1.1892974601127468,
      -1.189042323648042,
      -1.111371028460824,
      -0.794990340218332,
      -0.46198198417783587,
      -0.5982731812353557,
      -0.9639238290630553,
      -1.0584825564892926,
      -1.087036838455518,
      -1.0869219626816486
    ],
    "ay_ego": [
      0.11676043891619624,
      0.11933061985199289,
      0.012784567280229326,
      -0.018269488490601716,
      -0.04399691559847936,
      -0.009842236198905337,
      0.05663892085219027,
      0.007317351176413439,
      0.047937862372087324,
      0.050475711149633715
    ],
    "a_ego": [
      1.1950152504158822,
      1.195015248547313,
      1.1114445591493138,
      0.795200235947002,
      0.46407228131732875,
      0.5983541334350986,
      0.9655864102144784,
      1.0585078488232138,
      1.0880933447127472,
      1.0880933555425236
    ],
    "yaw": [
      -1.5453809593886052,
      -1.5432196355221146,
      -1.5413507551278065,
      -1.542901172675616,
      -1.5436200835717808,
      -1.5426866651024178,
      -1.543346008828119,
      -1.5443356846566048,
      -1.54193104774252,
      -1.5395962795099063
    ],
    "yaw_diff": [
      0.0043226477329811885,
      0.0037377607886162068,
      -0.0031008350956192032,
      -0.00143782179232943,
      0.0018668369387260242,
      -0.0013186874514024005,
      -0.0019793516569714953,
      0.004809273828169314,
      0.004669536465227608,
      0.004669536465227608
    ],
    "min_front_frame": [
      9,
      16.18377427410678
    ],
    "v_avg": 5.479129397453574,
    "v_std": 1.2622734889799858,
    "vy_max": 0.05550470321314488,
    "a_max": 1.1950152504158822,
    "ax_avg": -0.9541321504542651,
    "a_std": 0.24076474552031119,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "54b907a5a03b51ef",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.314988503959437,
      20.685848363082602,
      20.20534309422159,
      19.5181757290213,
      19.25256020659991,
      18.45366881309139,
      17.848117254282524,
      17.18652486070896,
      16.698641840411373,
      16.18377427410678
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "54b907a5a03b51ef",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1bc892186af15042": {
    "vx_ego": [
      2.3652067970611927,
      2.367454669431299,
      2.3716711727118343,
      2.3828775885525975,
      2.4038045743994667,
      2.4064118999584054,
      2.3792417206683254,
      2.33440125092238,
      2.2174306964285444,
      2.0402814779179175
    ],
    "vy_ego": [
      -0.016750658659550943,
      -0.020536341740351072,
      -0.020056658199672006,
      -0.017818163314190005,
      -0.004800281070271473,
      0.009181873605161397,
      -0.008191488963895849,
      -0.03215346402918284,
      -0.04136681835135758,
      -0.08150823584689137
    ],
    "v_ego": [
      2.3652661113350426,
      2.367543738380378,
      2.3717559783861546,
      2.382944206012833,
      2.4038093673588503,
      2.40642941701275,
      2.3792558218611592,
      2.3346226773414687,
      2.217816517912177,
      2.0419089356888063
    ],
    "ax_ego": [
      -0.0074077439408826995,
      0.011711963597171027,
      -0.0017094253391474676,
      0.04353219866678883,
      0.03617714281294257,
      -0.021174989555365824,
      -0.08498029900991022,
      -0.0995558860857844,
      -0.3812965593056432,
      -0.34621030849487383
    ],
    "ay_ego": [
      -0.30453588878425114,
      -0.30440074346462315,
      -0.21885668405963823,
      -0.25148677395554314,
      -0.1852857021937699,
      -0.32391461898509405,
      -0.394678762841361,
      -0.4202887300865418,
      -0.4134322149591571,
      -0.4432287046938571
    ],
    "a_ego": [
      0.3046259710331794,
      0.3046259718295812,
      0.21886335986768188,
      0.2552266635665859,
      0.1887844726124117,
      0.3246060082237057,
      0.4037238871528424,
      0.4319189635708111,
      0.5624173383745887,
      0.5624173382575524
    ],
    "yaw": [
      -1.2825812231644347,
      -1.3453576352366758,
      -1.4007128415769503,
      -1.4512263811083663,
      -1.5022586220938225,
      -1.560809880844698,
      -1.6283761403641999,
      -1.7045610063329193,
      -1.7907064677340871,
      -1.8725746881554066
    ],
    "yaw_diff": [
      -0.12555282414448232,
      -0.11071041268054893,
      -0.10102707906283204,
      -0.10206448197091245,
      -0.11710251750175082,
      -0.1351325190390038,
      -0.15236973193743886,
      -0.1722909228023357,
      -0.16373644084263894,
      -0.16373644084263894
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.3271352771289617,
    "v_std": 0.10790560403772136,
    "vy_max": 0.08150823584689137,
    "a_max": 0.5624173383745887,
    "ax_avg": -0.08509139066547051,
    "a_std": 0.1250774302062492,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "1bc892186af15042",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "1bc892186af15042",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d20659149c14557c": {
    "vx_ego": [
      10.122125502551986,
      9.798262402413673,
      9.536692577022464,
      9.345714832047877,
      9.128233532671732,
      8.907076636451428,
      8.790311401144184,
      8.837954976182145,
      8.914197742263237,
      8.926616807438991
    ],
    "vy_ego": [
      0.026073408624128547,
      -0.03198911192190934,
      -0.03804322912795488,
      -0.0209562105612493,
      -0.000757466280830954,
      0.012618261385816343,
      0.03651782288145888,
      0.01455518944386247,
      -0.01974873154929968,
      -0.07082983757931283
    ],
    "v_ego": [
      10.122159083518229,
      9.798314620884295,
      9.536768456658569,
      9.345738327426076,
      9.128233564099235,
      8.907085574313255,
      8.790387254295082,
      8.837966961612976,
      8.914219618147671,
      8.926897809023233
    ],
    "ax_ego": [
      -0.6479589762010192,
      -0.6475220078626653,
      -0.3998799175266001,
      -0.3650223503853269,
      -0.5056294639157092,
      -0.376996867312548,
      -0.09101266843342576,
      0.28176805279213846,
      0.02348878365537914,
      0.024973511188089964
    ],
    "ay_ego": [
      -0.16710930353751097,
      -0.16879455148571412,
      -0.19109794452133247,
      -0.291183210572974,
      -0.2977072602636428,
      -0.43383896885163625,
      -0.13693056293878467,
      -0.05484827440907859,
      -0.22174272246975296,
      -0.2215803953868259
    ],
    "a_ego": [
      0.6691609329363639,
      0.6691609307765666,
      0.4431956372093015,
      0.4669357326232522,
      0.5867629569028466,
      0.5747546336113576,
      0.16441801872697884,
      0.2870567344270587,
      0.22298331311088523,
      0.2229832905866351
    ],
    "yaw": [
      -0.4367556810945645,
      -0.4393573941572395,
      -0.44806577157140337,
      -0.46265272741443164,
      -0.48074294169130205,
      -0.5025451803336249,
      -0.521447711077445,
      -0.5244111498204906,
      -0.5283225066870569,
      -0.5350207086112001
    ],
    "yaw_diff": [
      -0.005203426125350075,
      -0.01741675482832772,
      -0.02917391168605654,
      -0.03618042855374082,
      -0.04360447728464578,
      -0.03780506148764018,
      -0.00592687748609122,
      -0.007822713733132591,
      -0.013396403848286331,
      -0.013396403848286331
    ],
    "min_front_frame": [
      9,
      28.684254803218035
    ],
    "v_avg": 9.230777126997861,
    "v_std": 0.43354274722231795,
    "vy_max": 0.07082983757931283,
    "a_max": 0.6691609329363639,
    "ax_avg": -0.2703791904001687,
    "a_std": 0.1838846657504156,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "d20659149c14557c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.419429393646052,
    "right_rear_min": 19.810146228028266,
    "speed_mode": "decelerating",
    "front_frame": [
      44.386664214788475,
      45.622315114400706,
      46.951267240552504,
      48.259705612035376,
      49.765626902736486,
      46.31990156009384,
      41.898276262967904,
      37.507609653532576,
      33.08514956201956,
      28.684254803218035
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "d20659149c14557c",
    "pedestrians": "No"
  },
  "32e38b7677e15f69": {
    "vx_ego": [
      7.512487709100106,
      7.480092959734408,
      7.4229079126016035,
      7.339794280911363,
      7.185541253158888,
      6.937740894810327,
      6.718405587891981,
      6.583841174886473,
      6.417966335477368,
      6.189413514331753
    ],
    "vy_ego": [
      -0.02433261107672946,
      0.004658085790226529,
      0.03758574672755177,
      0.07609801479372091,
      0.03940121214457282,
      -0.07725590841515473,
      -0.09486922927241492,
      -0.021937532938138826,
      0.035671259166715874,
      0.021353575420814508
    ],
    "v_ego": [
      7.512527115115257,
      7.4800944101014855,
      7.423003069332557,
      7.340188757379112,
      7.185649278691987,
      6.938171026928397,
      6.719075368983513,
      6.58387772300503,
      6.418065465703146,
      6.189450349310171
    ],
    "ax_ego": [
      -0.06530439502525082,
      -0.06462388753916877,
      -0.16325907611781548,
      -0.16737405193925775,
      -0.4470428735409065,
      -0.5444515290894612,
      -0.3338914078768634,
      -0.20523515460606412,
      -0.4582421650243298,
      -0.45714504227550756
    ],
    "ay_ego": [
      -0.07580361462737514,
      -0.07638459283433771,
      -0.08315311462031043,
      -0.03038631661548366,
      -0.3184078821036147,
      -0.21270198239197988,
      0.08709593407850164,
      0.1106538435926401,
      0.10174779585729932,
      0.10656879423919771
    ],
    "a_ego": [
      0.10005424528819157,
      0.10005424960061761,
      0.18321562817047335,
      0.17010996884375051,
      0.5488450693678685,
      0.584525107109464,
      0.3450640143321245,
      0.2331646237918598,
      0.46940227499236065,
      0.46940227692531705
    ],
    "yaw": [
      -0.5529181874550206,
      -0.5618610184304755,
      -0.5716162659368081,
      -0.5806785638935377,
      -0.5875988333678824,
      -0.5898777069285772,
      -0.5919048583339923,
      -0.5954457893459395,
      -0.5961359321595856,
      -0.5856027901321222
    ],
    "yaw_diff": [
      -0.017885661950909792,
      -0.01951049501266522,
      -0.018124595913459052,
      -0.01384053894868953,
      -0.004557747121389566,
      -0.00405430281083019,
      -0.007081862023894381,
      -0.0013802856272921993,
      0.02106628405492672,
      0.02106628405492672
    ],
    "min_front_frame": [
      9,
      22.546241822109888
    ],
    "v_avg": 6.979010256455065,
    "v_std": 0.4549101442113619,
    "vy_max": 0.09486922927241492,
    "a_max": 0.584525107109464,
    "ax_avg": -0.29065695830346255,
    "a_std": 0.1769412464370222,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "32e38b7677e15f69",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.5827780195243775,
    "speed_mode": "decelerating",
    "front_frame": [
      34.50072367943759,
      33.48642383517792,
      32.392650760924084,
      29.265869855242986,
      29.946961831009705,
      28.79999043737436,
      27.21620213578566,
      24.83305441955189,
      24.10858449943201,
      22.546241822109888
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "32e38b7677e15f69",
    "pedestrians": "No"
  },
  "973f0873af40574e": {
    "vx_ego": [
      9.746767955487678,
      9.6419518287632,
      9.474183429970658,
      9.245178395630676,
      8.922825938325271,
      8.42776454902852,
      7.779430073478734,
      7.121135516753505,
      6.474526892088413,
      5.775724690104437
    ],
    "vy_ego": [
      0.028085436667743657,
      0.06888042798805394,
      0.0760817465377226,
      0.026443683790243533,
      -0.03432118992617195,
      -0.06431000060565806,
      -0.075362000363135,
      -0.058281298718190655,
      -0.027030787993887806,
      -0.04426340930803363
    ],
    "v_ego": [
      9.746808419676375,
      9.642197860526915,
      9.474488909534214,
      9.245216213558697,
      8.92289194542488,
      8.428009911600709,
      7.779795093654078,
      7.121374007714275,
      6.474583317857267,
      5.775894298313081
    ],
    "ax_ego": [
      -0.20922462657469262,
      -0.2092265350180862,
      -0.45850273432367306,
      -0.45381279810731034,
      -0.8360487938707609,
      -1.1482748198861283,
      -1.4489961730323142,
      -1.1888761777864532,
      -1.3990619323034708,
      -1.3974995180880796
    ],
    "ay_ego": [
      0.000896598506104837,
      2.1083602447333205e-05,
      -0.27228330775899817,
      -0.4218619843123488,
      -0.39594996648302694,
      -0.25099638226963217,
      -0.255147569834122,
      -0.05637994166427518,
      -0.1496737719578709,
      -0.16362041387529713
    ],
    "a_ego": [
      0.20922654768026147,
      0.20922653608037567,
      0.5332569334443444,
      0.619607609325401,
      0.9250697063955041,
      1.1753868494657254,
      1.4712886160962948,
      1.1902122768356045,
      1.407045318542661,
      1.407045323681202
    ],
    "yaw": [
      -0.5316666986143788,
      -0.5358511423143039,
      -0.5437002091820784,
      -0.5569382896844592,
      -0.5726729132780635,
      -0.5877911568174699,
      -0.6019760714837579,
      -0.6147779388745027,
      -0.626905965739776,
      -0.6368800248195816
    ],
    "yaw_diff": [
      -0.0083688873998502,
      -0.01569813373554907,
      -0.02647616100476169,
      -0.03146924718720845,
      -0.030236487078812768,
      -0.028369829332576035,
      -0.025603734781489695,
      -0.024256053730546512,
      -0.019948118159611283,
      -0.019948118159611283
    ],
    "min_front_frame": [
      9,
      18.15909245436314
    ],
    "v_avg": 8.26112599778605,
    "v_std": 1.3386524811434732,
    "vy_max": 0.0760817465377226,
    "a_max": 1.4712886160962948,
    "ax_avg": -0.8749524108990968,
    "a_std": 0.46546050486556084,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "973f0873af40574e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.10402513632975,
    "speed_mode": "decelerating",
    "front_frame": [
      29.209718530962,
      28.441347038281908,
      27.551072508445444,
      26.77040839122073,
      25.56148615254568,
      24.030297214839965,
      22.463164583463968,
      20.80355519424437,
      19.329813558919852,
      18.15909245436314
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "973f0873af40574e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ac07a96cae965e88": {
    "vx_ego": [
      4.690967613279278,
      5.171582870962181,
      5.677152276954197,
      6.181654956603302,
      6.6823268767143995,
      7.157410748881954,
      7.560654454291728,
      7.878045224710386,
      8.135239266864643,
      8.393906269943422
    ],
    "vy_ego": [
      0.0006538740977015955,
      0.013291492616883893,
      0.002688372899250696,
      -0.009298708290400484,
      -0.01837498307660372,
      -0.031145315722213296,
      -0.008195368831003927,
      0.031856291766481526,
      0.043331667115702216,
      0.049116927996258386
    ],
    "v_ego": [
      4.690967658851041,
      5.171599951176176,
      5.677152913483577,
      6.181661950355587,
      6.682352140321751,
      7.157478512639934,
      7.560658895974055,
      7.8781096327677,
      8.135354667284728,
      8.394049972522875
    ],
    "ax_ego": [
      0.9612011950013485,
      0.9612333865634091,
      1.0609403749024406,
      0.9571015938435844,
      1.045579859550743,
      0.854722802505719,
      0.7582445918519711,
      0.5113697250115455,
      0.5173404594063925,
      0.517339762645746
    ],
    "ay_ego": [
      0.034930633346108596,
      0.03403332954261336,
      -0.04498136584056175,
      0.014347269210060576,
      -0.05930693514709437,
      0.0011696339767144504,
      0.08883943539969351,
      0.04793733367316432,
      0.010461598006844897,
      0.010495772381063263
    ],
    "a_ego": [
      0.9618356857686143,
      0.9618356881317704,
      1.0618934986009725,
      0.9572091229567944,
      1.0472605001883215,
      0.854723602790323,
      0.7634312715332655,
      0.5136117051022844,
      0.5174462251980142,
      0.5174462206376929
    ],
    "yaw": [
      -1.5560674042859004,
      -1.5551338980573002,
      -1.553680415195513,
      -1.5529519940619432,
      -1.5532889608738882,
      -1.5535430019550858,
      -1.553603736297479,
      -1.5543595180839618,
      -1.5539692608849105,
      -1.554035316116864
    ],
    "yaw_diff": [
      0.0018670124572004454,
      0.002906965723574295,
      0.001456842267139713,
      -0.0006739336238901217,
      -0.0005080821623950627,
      -0.00012146868478657424,
      -0.0015115635729654464,
      0.0007805143981025608,
      -0.00013211046390715353,
      -0.00013211046390715353
    ],
    "min_front_frame": [
      0,
      14.602125582263819
    ],
    "v_avg": 6.752938629537743,
    "v_std": 1.221777622031796,
    "vy_max": 0.049116927996258386,
    "a_max": 1.0618934986009725,
    "ax_avg": 0.8145073751282899,
    "a_std": 0.2122240408249566,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "ac07a96cae965e88",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.8264505583536925,
    "right_rear_min": 12.31560906510934,
    "speed_mode": "accelerating",
    "front_frame": [
      14.602125582263819,
      14.82127774881097,
      15.047462067965819,
      15.232680006781143,
      15.443899294401714,
      15.529104501427131,
      15.483524470458919,
      15.484507877846154,
      15.565453127813669,
      15.761902966577109
    ],
    "safe_frame": [
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.8,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ac07a96cae965e88",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "51ed8d0e57055ed3": {
    "vx_ego": [
      2.920738949656579,
      2.4005157299529363,
      1.8766598514669943,
      1.4151536429815033,
      1.0922749485168304,
      0.8860269565288377,
      0.7378252526925497,
      0.6040086128382518,
      0.4634137938767583,
      0.3156229970374667
    ],
    "vy_ego": [
      0.02680960300704882,
      0.024107346964566068,
      0.023215967194494036,
      0.013330423788290524,
      0.0034004134980619716,
      0.003532374302281649,
      0.005719667658435124,
      0.012220867095616872,
      -0.004249218192615284,
      -0.0378352557739326
    ],
    "v_ego": [
      2.9208619903813346,
      2.4006367767592725,
      1.8768034471518047,
      1.4152164263610691,
      1.0922802414991322,
      0.8860339978601082,
      0.7378474219707946,
      0.6041322321937126,
      0.46343327482011804,
      0.3178826557684323
    ],
    "ax_ego": [
      -1.0403132183665886,
      -1.0402371193813158,
      -1.0551732219775896,
      -0.7908498180924386,
      -0.5006668651402921,
      -0.32433225636565965,
      -0.26847473236701297,
      -0.26679085241080247,
      -0.2955868636734677,
      -0.29558218374856093
    ],
    "ay_ego": [
      -0.021285410538497418,
      -0.02472639563038992,
      0.01960512524301028,
      -0.05924975372069691,
      0.017662105311279985,
      -0.016235224249106534,
      0.02468111823595502,
      0.0012693191684031713,
      -0.0672160153226723,
      -0.06723659619211034
    ],
    "a_ego": [
      1.0405309514906522,
      1.0405309506110851,
      1.0553553379380622,
      0.7930661814078358,
      0.5009783027371886,
      0.32473834856028133,
      0.26960682394352786,
      0.2667938719334345,
      0.3031329521714439,
      0.3031329530372258
    ],
    "yaw": [
      -0.7107863381078525,
      -0.7140940978407455,
      -0.7142758051049058,
      -0.7142916840815391,
      -0.714675191758125,
      -0.7144427853546601,
      -0.7145369737038529,
      -0.7145572308004815,
      -0.7145880979123498,
      -0.7146577149059101
    ],
    "yaw_diff": [
      -0.0066155194657859795,
      -0.00036341452832067134,
      -3.1757953266486894e-05,
      -0.0007670153531718071,
      0.0004648128069297819,
      -0.00018837669838567273,
      -4.051419325712402e-05,
      -6.173422373656479e-05,
      -0.00013923398712067936,
      -0.00013923398712067936
    ],
    "min_front_frame": [
      9,
      10.245830270607506
    ],
    "v_avg": 1.271512846476578,
    "v_std": 0.8279865912189354,
    "vy_max": 0.0378352557739326,
    "a_max": 1.0553553379380622,
    "ax_avg": -0.5878007131523729,
    "a_std": 0.3337267273885897,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "51ed8d0e57055ed3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.092875145209832,
    "speed_mode": "decelerating",
    "front_frame": [
      15.762839455345672,
      14.441829782048144,
      13.395021912232302,
      12.614668128310402,
      11.945608492754083,
      11.437670472365161,
      11.027757203114023,
      10.671356472943279,
      10.382599177432075,
      10.245830270607506
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "51ed8d0e57055ed3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "87a5fd24e88d5e0a": {
    "vx_ego": [
      7.98784858117377,
      7.932983321036316,
      7.969067250827315,
      8.083452244947306,
      8.101075089332522,
      8.165714133587624,
      8.355332343253266,
      8.481185130378368,
      8.471369799307087,
      8.383265110908113
    ],
    "vy_ego": [
      -0.10473363254566825,
      -0.057198142957103126,
      -0.03305226459718513,
      -0.011188394887073017,
      -0.008044860394865516,
      -0.010023991697677204,
      0.0003605718217132292,
      0.00019617282682116155,
      0.014488070883023951,
      0.04774846991619164
    ],
    "v_ego": [
      7.988535165444666,
      7.933189522468131,
      7.969135793823784,
      8.083459987933619,
      8.101079083849429,
      8.165720286164731,
      8.35533235103345,
      8.481185132647141,
      8.471382188333266,
      8.383401090020001
    ],
    "ax_ego": [
      -0.10932093486023958,
      -0.10760861825255089,
      0.25434766357916155,
      0.20368582609084274,
      -0.13341057788511537,
      0.3920048617898917,
      0.3664652727726861,
      0.13696888049752703,
      -0.17625808454603945,
      -0.1762215253911841
    ],
    "ay_ego": [
      0.21892733154904975,
      0.2197740455789864,
      0.25776849960469894,
      0.1731412947034047,
      0.01699612496052589,
      0.011766173647435985,
      0.02640816313976252,
      -0.04748378586276341,
      0.07472016844348907,
      0.07480635777998143
    ],
    "a_ego": [
      0.24470439983356307,
      0.24470440501220572,
      0.36212889053020336,
      0.2673309254124563,
      0.13448884918577542,
      0.3921814051038291,
      0.3674155511526091,
      0.14496614827126578,
      0.1914419388223546,
      0.19144194204902523
    ],
    "yaw": [
      -0.8036354886628058,
      -0.7958292117945264,
      -0.7837825069348154,
      -0.7730932102780215,
      -0.7676360519109164,
      -0.7664994594637273,
      -0.7666012268365417,
      -0.7672055286380344,
      -0.7680842628019883,
      -0.7675952302547842
    ],
    "yaw_diff": [
      0.015612553736558787,
      0.024093409719421865,
      0.021378593313587935,
      0.010914316734210061,
      0.002273184894378222,
      -0.00020353474562884166,
      -0.0012086036029852476,
      -0.0017574683279077963,
      0.0009780650944082314,
      0.0009780650944082314
    ],
    "min_front_frame": [
      0,
      22.552007967954278
    ],
    "v_avg": 8.193242060171823,
    "v_std": 0.20093936455309971,
    "vy_max": 0.10473363254566825,
    "a_max": 0.3921814051038291,
    "ax_avg": 0.06506527637949798,
    "a_std": 0.08831637881944542,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "87a5fd24e88d5e0a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.927569315627139,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      22.552007967954278,
      23.364908629123846,
      24.435172169215026,
      25.707767912009867,
      53.96678590915821,
      49.864598340591336,
      45.81972143597347,
      41.47806262137408,
      37.263288635347486,
      33.10667865307139
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "87a5fd24e88d5e0a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6de8e1962fc4559a": {
    "vx_ego": [
      8.912345861575055,
      8.850510524104687,
      8.794757653051127,
      8.783362129384113,
      8.840078545105571,
      8.926205174774433,
      8.969183678654764,
      8.977715972272431,
      8.923105024474156,
      8.79986410057669
    ],
    "vy_ego": [
      -0.1684758111746707,
      -0.05465125075405375,
      -0.028339501097595976,
      -0.0282150088665456,
      -0.025395551800988958,
      -0.019612159142394114,
      -0.0269360068550748,
      -0.02977596436500396,
      -0.022891288999773884,
      -0.04091189720123545
    ],
    "v_ego": [
      8.91393812269779,
      8.85067925622078,
      8.79480331236713,
      8.783407447148535,
      8.84011502287652,
      8.926226720118422,
      8.969224125302718,
      8.977765350400364,
      8.923134387024998,
      8.799959202857192
    ],
    "ax_ego": [
      -0.12388652978722581,
      -0.12422751757056322,
      -0.09073464076850322,
      0.047697670593177525,
      0.17893136523308278,
      0.16571623216151182,
      0.006484493493226116,
      0.027950247272862085,
      -0.24630517331760726,
      -0.2462221149782881
    ],
    "ay_ego": [
      0.19699155328461357,
      0.19677668734429063,
      0.6405226071216698,
      0.5627902098168345,
      0.32944712155699757,
      0.17044666018441904,
      0.06264229864958813,
      0.035695292040101134,
      0.023950921222705895,
      0.024790358195065282
    ],
    "a_ego": [
      0.23270914104995089,
      0.2327091334776899,
      0.6469172939946267,
      0.564807832847325,
      0.3749024397978306,
      0.23772659415772335,
      0.06297702943111784,
      0.045336190802076015,
      0.24746693724704483,
      0.2474669508516662
    ],
    "yaw": [
      -1.441570713106123,
      -1.4433026891903533,
      -1.4225499992206934,
      -1.3882724526618615,
      -1.3632331741688533,
      -1.3498183138901183,
      -1.3425035576721702,
      -1.339446479522877,
      -1.3385530846585247,
      -1.3351444081589858
    ],
    "yaw_diff": [
      -0.0034639521684605157,
      0.04150537993931991,
      0.06855509311766372,
      0.05007855698601649,
      0.026829720557469905,
      0.014629512435896164,
      0.0061141562985862485,
      0.0017867897287047185,
      0.006817352999077819,
      0.006817352999077819
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.877925294701445,
    "v_std": 0.06933317308222768,
    "vy_max": 0.1684758111746707,
    "a_max": 0.6469172939946267,
    "ax_avg": -0.04045959676683273,
    "a_std": 0.1828736658493674,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6de8e1962fc4559a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6de8e1962fc4559a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e41f13ed67485c54": {
    "vx_ego": [
      12.123056954326147,
      12.158632982562391,
      12.205559944985328,
      12.228780957164519,
      12.260287948308761,
      12.29132513526048,
      12.305277974457018,
      12.32965235043601,
      12.33387942329948,
      12.33489262300986
    ],
    "vy_ego": [
      -0.0924119915224459,
      -0.029185594143257037,
      0.009334988102687989,
      0.027784623298328044,
      0.014537833663744865,
      0.0271766237001419,
      0.044556687514825666,
      0.031897169103853984,
      0.026155250983457834,
      0.010379071130084738
    ],
    "v_ego": [
      12.123409169619439,
      12.158668011075864,
      12.205563514751507,
      12.228812521402125,
      12.260296567540799,
      12.291355179538252,
      12.305358642764514,
      12.329693609818902,
      12.333907155708784,
      12.334896989691506
    ],
    "ax_ego": [
      0.0709443973540648,
      0.07078099835205244,
      0.11710154128367589,
      -0.023622061906534517,
      0.1506498660301579,
      -0.025876411850562133,
      0.08319516086115575,
      0.015110541755477902,
      0.002035109501576076,
      0.0020762901040304337
    ],
    "ay_ego": [
      0.0686049623012913,
      0.06877353468859433,
      -0.10164182940697622,
      -0.13868708204935756,
      -0.25573353409667865,
      -0.20830687090264258,
      -0.21934235504365993,
      -0.15768983402702502,
      -0.05134103073057062,
      -0.05133938070278638
    ],
    "a_ego": [
      0.09869016348295831,
      0.09869016567660903,
      0.15506073795841843,
      0.14068442890413063,
      0.2968080568254198,
      0.20990793495127835,
      0.23459007546529445,
      0.15841215934269295,
      0.05138134979893776,
      0.05138134867383037
    ],
    "yaw": [
      -1.5655163039083797,
      -1.5678951918642454,
      -1.5717335970596467,
      -1.5781523242739535,
      -1.5851358601711216,
      -1.5955968337218738,
      -1.605714430168045,
      -1.6123344521363858,
      -1.6161059783256322,
      -1.6169081201292086
    ],
    "yaw_diff": [
      -0.004757775911731432,
      -0.00767681039080248,
      -0.012837454428613615,
      -0.013967071794336317,
      -0.0209219471015043,
      -0.020235192892342546,
      -0.013240043936681545,
      -0.007543052378492732,
      -0.0016042836071528122,
      -0.0016042836071528122
    ],
    "min_front_frame": [
      0,
      28.981041835509373
    ],
    "v_avg": 12.257196136191169,
    "v_std": 0.07193904908831673,
    "vy_max": 0.0924119915224459,
    "a_max": 0.2968080568254198,
    "ax_avg": 0.04623954314850946,
    "a_std": 0.07562734100147761,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e41f13ed67485c54",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.711061842846354,
    "right_rear_min": 15.833800520964074,
    "speed_mode": "quasi_constant",
    "front_frame": [
      28.981041835509373,
      29.358245044042942,
      29.59780065749382,
      30.01083808967197,
      30.134632754368905,
      30.773679794798735,
      31.233576703994693,
      31.466389413853292,
      31.92987248693732,
      32.348167424938566
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e41f13ed67485c54",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "ac24fb00e61a5da2": {
    "vx_ego": [
      6.689198413510147,
      6.31984088666917,
      5.901522259865764,
      5.430229946234848,
      4.942920075602758,
      4.474750470867261,
      4.030323059458289,
      3.59284794004235,
      3.2382860721431532,
      2.952296867740559
    ],
    "vy_ego": [
      -0.06982871719683365,
      -0.046500123726200604,
      -0.033291192274836484,
      -0.028503881713790175,
      -0.030024047390704106,
      -0.018866198483722244,
      -0.014659183474977841,
      -0.012935114564788602,
      -0.01961831777550744,
      -0.04432841071842263
    ],
    "v_ego": [
      6.68956287548387,
      6.320011953653404,
      5.90161615891564,
      5.4303047557442365,
      4.943011260074014,
      4.474790242008222,
      4.030349718729304,
      3.5928712247247834,
      3.2383454978474226,
      2.952629642076286
    ],
    "ax_ego": [
      -0.7385297124961416,
      -0.7383453228568544,
      -0.9342831507721112,
      -0.9506124324913593,
      -0.99835249129062,
      -0.874181775657738,
      -0.9034645719907646,
      -0.8463481462022174,
      -0.5718714198108669,
      -0.571923848933936
    ],
    "ay_ego": [
      0.07670031055162199,
      0.07845548195809608,
      0.07486149502362881,
      0.011718584419341493,
      0.027790600379083572,
      0.042574668545478214,
      -0.0017360299261492476,
      0.02773541016029962,
      -0.04198335791894041,
      -0.041263060765438564
    ],
    "a_ego": [
      0.7425019015991468,
      0.7425019046668295,
      0.9372775732160865,
      0.9506846596153387,
      0.9987392123750911,
      0.8752179038924381,
      0.9034662399018349,
      0.8468024784781218,
      0.5734104316618652,
      0.5734104369150774
    ],
    "yaw": [
      1.5351011407605126,
      1.5374780113894861,
      1.5415724800945496,
      1.5445467112794375,
      1.5467416777222245,
      1.5481124504445365,
      1.5495227805832228,
      1.550778094726673,
      1.551701187805861,
      1.5529606748360392
    ],
    "yaw_diff": [
      0.004753741257947031,
      0.00818893741012694,
      0.005948462369775864,
      0.004389932885573877,
      0.002741545444624016,
      0.0028206602773725997,
      0.002510628286900296,
      0.001846186158376284,
      0.0025189740603561717,
      0.0025189740603561717
    ],
    "min_front_frame": [
      9,
      16.10995204668906
    ],
    "v_avg": 4.757349332925719,
    "v_std": 1.2450225989323362,
    "vy_max": 0.06982871719683365,
    "a_max": 0.9987392123750911,
    "ax_avg": -0.812791287250261,
    "a_std": 0.14381428962877116,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "ac24fb00e61a5da2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.842950828656996,
    "right_rear_min": 13.537732277266914,
    "speed_mode": "decelerating",
    "front_frame": [
      29.819664377846276,
      27.733480401558875,
      25.80410962934515,
      23.916741958159182,
      22.134238038141756,
      20.563704769228032,
      19.193677594550564,
      18.061694433199207,
      17.104214132430997,
      16.10995204668906
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "ac24fb00e61a5da2",
    "merging_vehicles": "No"
  },
  "73f2ce543024548e": {
    "vx_ego": [
      0.6387168134218747,
      1.3589583168155333,
      2.0247745386910485,
      2.573415080509085,
      3.0129543065603976,
      3.4124328534857553,
      3.80297240945296,
      4.137091655481676,
      4.366331190780295,
      4.5702169900396425
    ],
    "vy_ego": [
      0.0008397225290886073,
      -0.03317695547355859,
      -0.023120375686313976,
      0.011017315157138663,
      0.04002383039048407,
      0.052706964495453645,
      0.03677324371696278,
      0.028872843326587017,
      0.04135231506496018,
      0.04969462521643675
    ],
    "v_ego": [
      0.6387173654142494,
      1.359363239615005,
      2.0249065371773147,
      2.573438664088354,
      3.013220131424183,
      3.41283987372031,
      3.8031501966808934,
      4.137192406323143,
      4.366527004558899,
      4.570487161323442
    ],
    "ax_ego": [
      1.4376440062303266,
      1.4410087555996802,
      1.2191323785597619,
      0.9775373011224391,
      0.80360411508987,
      0.8288759572159726,
      0.7623396097357367,
      0.5969397518011059,
      0.3448854557511704,
      0.49066175099552306
    ],
    "ay_ego": [
      -0.1424882300347114,
      -0.10303857773869068,
      -0.20474682538931893,
      -0.31316571227483253,
      -0.6080261444402488,
      -0.8323237488321154,
      -0.9605317707253214,
      -1.0633485548031347,
      -1.157663621330066,
      -1.1038034623815745
    ],
    "a_ego": [
      1.4446879193612745,
      1.4446879186237254,
      1.2362058966692346,
      1.026475493341339,
      1.0077079766044563,
      1.1746481070178596,
      1.2262882871269531,
      1.2194454544104385,
      1.2079449646981997,
      1.207944964580566
    ],
    "yaw": [
      1.392067699851855,
      1.3646610027716655,
      1.3140769545831636,
      1.2438631525093409,
      1.1518105312025537,
      1.03579607548569,
      0.916392288517037,
      0.7917465415907032,
      0.6593919745636923,
      0.5306482157164107
    ],
    "yaw_diff": [
      -0.054813394160379225,
      -0.10116809637700364,
      -0.14042760414764555,
      -0.1841052426135743,
      -0.23202891143372728,
      -0.23880757393730612,
      -0.24929149385266758,
      -0.26470913405402197,
      -0.257487517694563,
      -0.257487517694563
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.9899842580325795,
    "v_std": 1.258642032600684,
    "vy_max": 0.052706964495453645,
    "a_max": 1.4446879193612745,
    "ax_avg": 0.8902629082101587,
    "a_std": 0.13643214882174973,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "73f2ce543024548e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "73f2ce543024548e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8fb6a2364e0c53f9": {
    "vx_ego": [
      8.884113076874241,
      8.59082810039479,
      8.20203666270642,
      7.651588028913794,
      6.993116631123511,
      6.2796067441918675,
      5.527031232025985,
      4.777629874574709,
      4.138519405635366,
      3.580395474591754
    ],
    "vy_ego": [
      -0.021013228083749613,
      -0.02981396125040936,
      -0.03835299274153359,
      -0.04733693869966871,
      -0.00968563238163922,
      0.023885957498869903,
      -0.002196916410922789,
      -0.04627878195491464,
      -0.04903166362898159,
      -0.0432731099935848
    ],
    "v_ego": [
      8.884137927702518,
      8.590879834034357,
      8.202126332142933,
      7.65173445370279,
      6.993123338535571,
      6.279652171949146,
      5.527031668647503,
      4.777854010336438,
      4.1388098500485295,
      3.5806569671675654
    ],
    "ax_ego": [
      -0.586594004090796,
      -0.5865847234582092,
      -0.9686688614570697,
      -1.2331550668897822,
      -1.4004373262367331,
      -1.4540823398792795,
      -1.556761766056601,
      -1.4407128203773962,
      -1.1164438917604023,
      -1.1164343461946842
    ],
    "ay_ego": [
      -0.024169666117902416,
      -0.02439390218719298,
      -0.03215931794932969,
      -0.008889111595529076,
      0.19900213894783003,
      0.08258853383695675,
      -0.08673772419721582,
      -0.06468546744589188,
      -0.0034143442485558007,
      -0.00574233756102982
    ],
    "a_ego": [
      0.5870917291152411,
      0.5870917307018232,
      0.9692025510116561,
      1.2331871047415721,
      1.4145057638705123,
      1.4564258707775477,
      1.5591762661914077,
      1.4421642210575343,
      1.116449112676328,
      1.1164491138443422
    ],
    "yaw": [
      2.6194817488400117,
      2.6190994686282987,
      2.618436376573414,
      2.6182758005914235,
      2.6196208355883757,
      2.625164356134694,
      2.6293977713199226,
      2.630609580687852,
      2.627378809851841,
      2.6252936150106434
    ],
    "yaw_diff": [
      -0.0007645604234260972,
      -0.0013261841097689242,
      -0.0003211519639814142,
      0.0026900699939043093,
      0.011087041092636696,
      0.008466830370457146,
      0.0024236187358583905,
      -0.006461541672021731,
      -0.004170389682395026,
      -0.004170389682395026
    ],
    "min_front_frame": [
      9,
      12.64989278215273
    ],
    "v_avg": 6.462600655426735,
    "v_std": 1.8046493281187899,
    "vy_max": 0.04903166362898159,
    "a_max": 1.5591762661914077,
    "ax_avg": -1.1459875146400953,
    "a_std": 0.3304848724533447,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "8fb6a2364e0c53f9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 22.76851913764212,
    "right_rear_min": 12.608935086755263,
    "speed_mode": "decelerating",
    "front_frame": [
      41.735829338497204,
      37.33502935695529,
      33.16043157403251,
      29.20673306325775,
      25.589602876608097,
      22.261278463295533,
      19.334415549372387,
      16.7693001724777,
      14.538318112961568,
      12.64989278215273
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8fb6a2364e0c53f9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "fa545b09688957b8": {
    "vx_ego": [
      3.2270054761990505,
      2.8584300695364933,
      2.4960975484501207,
      2.1511386646057824,
      1.810898040205358,
      1.450676565178088,
      1.0532998238479245,
      0.6395236177783613,
      0.262850977459443,
      -0.08407651505968856
    ],
    "vy_ego": [
      0.034315307667638795,
      0.03516081288623907,
      0.042831433420810194,
      0.06041947286515881,
      0.05955823987179709,
      0.0309517301565857,
      0.01680393195907781,
      0.020196016780275106,
      0.030951027442163076,
      0.05228666338906454
    ],
    "v_ego": [
      3.2271879219777375,
      2.85864631341361,
      2.4964650013704546,
      2.151987004389955,
      1.811877174633047,
      1.4510067216786358,
      1.053433856987402,
      0.6398424312204628,
      0.264666965167756,
      0.09900886603200433
    ],
    "ax_ego": [
      -0.7371309739274177,
      -0.7371309550238271,
      -0.711828601294771,
      -0.6676156964690092,
      -0.6937298501714807,
      -0.747174914522902,
      -0.8422559919170207,
      -0.8127781932323564,
      -0.6938620127477354,
      -0.6938591377655965
    ],
    "ay_ego": [
      5.875115188508362e-05,
      -0.00015170542699988188,
      0.004998300854275495,
      0.04585697128659344,
      -0.03852654575241243,
      -0.07528012403121626,
      0.011323016218183601,
      -0.0007306408530090014,
      0.042659971296403754,
      0.04270660601435383
    ],
    "a_ego": [
      0.7371309762687233,
      0.7371309706347142,
      0.7118461495524857,
      0.6691887476544862,
      0.6947988196208725,
      0.750957688532757,
      0.8423320999560694,
      0.812778521634344,
      0.6951721843438131,
      0.695172178138684
    ],
    "yaw": [
      0.8616259537580363,
      0.8613404381777001,
      0.8589250597574181,
      0.8568223743999377,
      0.858179963385039,
      0.8582745261739844,
      0.8568175159381873,
      0.8559346809522054,
      0.8553097413684534,
      0.855376945758424
    ],
    "yaw_diff": [
      -0.0005710311606723639,
      -0.00483075684056411,
      -0.004205370714960743,
      0.002715177970202598,
      0.00018912557789074746,
      -0.0029140204715940587,
      -0.0017656699719639235,
      -0.0012498791675039644,
      0.0001344087799413085,
      0.0001344087799413085
    ],
    "min_front_frame": [
      9,
      7.877606724758144
    ],
    "v_avg": 1.6054122256871064,
    "v_std": 1.032656479347372,
    "vy_max": 0.06041947286515881,
    "a_max": 0.8423320999560694,
    "ax_avg": -0.7337366327072117,
    "a_std": 0.05242905280468873,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fa545b09688957b8",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.527346841577074,
    "speed_mode": "decelerating",
    "front_frame": [
      15.012814312124974,
      13.508747370560085,
      12.16192156365748,
      10.9881853242457,
      9.991309948196276,
      9.147391978571351,
      8.539662930155913,
      8.12435015810954,
      7.9146385177506104,
      7.877606724758144
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fa545b09688957b8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "569a63e20e845d44": {
    "vx_ego": [
      2.3226089023620258,
      2.1407941172895533,
      1.9658104890450847,
      1.831491969970664,
      1.697093268954434,
      1.4507204674399599,
      1.107899142472255,
      0.8206631304328463,
      0.6919606488687606,
      0.6479731083517153
    ],
    "vy_ego": [
      0.03167525576500248,
      -0.028200921010136118,
      -0.03503811184117768,
      0.00830859976173013,
      0.029584710533113553,
      0.01165791180966431,
      -0.003351477150847649,
      -0.012174404344879399,
      -0.0344682821452523,
      -0.053444801234023495
    ],
    "v_ego": [
      2.322824882585666,
      2.14097985617973,
      1.9661227194966926,
      1.8315108159377669,
      1.6973511182509573,
      1.4507673078605603,
      1.107904211694247,
      0.8207534281213765,
      0.6928185924590369,
      0.6501734352662588
    ],
    "ax_ego": [
      -0.3635804564678552,
      -0.363684818614359,
      -0.33589927683154747,
      -0.20132969153627547,
      -0.33636679240092576,
      -0.6491907133485318,
      -0.7220888744179668,
      -0.42685986214253285,
      -0.0879778322040058,
      -0.08797684367833762
    ],
    "ay_ego": [
      -0.11589152298213744,
      -0.11556362618204873,
      0.10046811548662257,
      0.08071245404536065,
      0.01093664159933359,
      -0.07929229566038427,
      0.02014666655352295,
      -0.05197945792607685,
      -0.03798632462626755,
      -0.0379885833589091
    ],
    "a_ego": [
      0.3816039745921067,
      0.3816039818803041,
      0.35060257615338464,
      0.21690584347157704,
      0.336544542608493,
      0.654015176008225,
      0.7223698711404186,
      0.43001302998238433,
      0.09582828297495673,
      0.09582827082452985
    ],
    "yaw": [
      1.5513836816780877,
      1.5522854047581394,
      1.5537798277408355,
      1.554815218733213,
      1.5557338061345398,
      1.5562532601495933,
      1.5564263253743484,
      1.557358770388876,
      1.5570820447811287,
      1.5570563611716728
    ],
    "yaw_diff": [
      0.0018034461601033058,
      0.002988845965392173,
      0.0020707819847549658,
      0.0018371748026537738,
      0.0010389080301069775,
      0.0003461304495102624,
      0.0018648900290552106,
      -0.0005534512154947713,
      -5.136721891174645e-05,
      -5.136721891174645e-05
    ],
    "min_front_frame": [
      6,
      10.291737468626872
    ],
    "v_avg": 1.4681206367852293,
    "v_std": 0.5861003485264584,
    "vy_max": 0.053444801234023495,
    "a_max": 0.7223698711404186,
    "ax_avg": -0.35749551616423375,
    "a_std": 0.19592175211295762,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "569a63e20e845d44",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.117062789657403,
    "right_rear_min": 42.18993568357607,
    "speed_mode": "decelerating",
    "front_frame": [
      14.341567963439546,
      13.622372477177633,
      12.973676205665408,
      12.202192761946524,
      11.308311103548442,
      10.626743872002889,
      10.291737468626872,
      10.36637747077872,
      10.885216651115645,
      11.491937340604698
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "569a63e20e845d44",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a44db880afe95be7": {
    "vx_ego": [
      1.4860403945200045,
      1.4291310060322322,
      1.5759822149016902,
      2.0959181611664772,
      2.8798181755245094,
      3.754385827561257,
      4.6102640458457085,
      5.374813206665729,
      5.974653876555951,
      6.483440763806318
    ],
    "vy_ego": [
      -0.003040684096013102,
      -0.02245756826841616,
      -0.038535219227100126,
      -0.04768827954922983,
      -0.042078861505663756,
      -0.030787098514576616,
      -0.0024553193582721455,
      0.06342810840410484,
      0.010720552114972914,
      -0.0484984266216828
    ],
    "v_ego": [
      1.4860435053876928,
      1.4293074458545407,
      1.5764532675621303,
      2.0964606150161353,
      2.8801255796695613,
      3.7545120571956847,
      4.610264699668642,
      5.3751874508229065,
      5.9746634946984845,
      6.48362215394838
    ],
    "ax_ego": [
      -0.11492796751048485,
      -0.11352430158485334,
      0.6987702182040646,
      1.3777282430458162,
      1.7528890325843474,
      1.74253408388658,
      1.6794214694744736,
      1.384336038881398,
      1.0162074801835455,
      1.0182315324685292
    ],
    "ay_ego": [
      -0.085334267238829,
      -0.0871929554462508,
      -0.06964293009833944,
      -0.12280619536720949,
      -0.2002049084003945,
      -0.3685353155572729,
      -0.44519408064455357,
      -0.4026282444103352,
      -0.2331949991027748,
      -0.22419211367904862
    ],
    "a_ego": [
      0.14314459431385787,
      0.1431446070579699,
      0.7022321237038635,
      1.3831906858082441,
      1.7642851146858605,
      1.7810792549236378,
      1.7374274780757755,
      1.4416989185481093,
      1.0426205207972525,
      1.042620524231654
    ],
    "yaw": [
      1.142295069494698,
      1.1260234697806841,
      1.109513500747769,
      1.087265743373075,
      1.0518892015134247,
      1.005647146374789,
      0.9503504321834513,
      0.8951217688547626,
      0.8765498671625489,
      0.8676994481056903
    ],
    "yaw_diff": [
      -0.03254319942802786,
      -0.03301993806583026,
      -0.044495514749387954,
      -0.07075308371930067,
      -0.09248411027727155,
      -0.11059342838267527,
      -0.1104573266573774,
      -0.037143803384427354,
      -0.017700838113717143,
      -0.017700838113717143
    ],
    "min_front_frame": [
      9,
      23.552477978618047
    ],
    "v_avg": 3.5666640269824166,
    "v_std": 1.8491430247803868,
    "vy_max": 0.06342810840410484,
    "a_max": 1.7810792549236378,
    "ax_avg": 1.0441665829633417,
    "a_std": 0.5916983173012901,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "a44db880afe95be7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      29.496085004631382,
      26.658235639929142,
      23.552477978618047
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a44db880afe95be7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cf9af12edb535bc0": {
    "vx_ego": [
      10.398176327416648,
      10.26340875931947,
      10.08914630165065,
      9.921936003150432,
      9.767048330182332,
      9.575639269527194,
      9.332642540113412,
      9.005840758668818,
      8.619764465976628,
      8.208308392041623
    ],
    "vy_ego": [
      0.03494456950014446,
      -0.014709107658151477,
      -0.005496787378002965,
      -0.010301238069606145,
      -0.0030600305243169146,
      0.003073079070217144,
      0.008393732641509666,
      0.005641581434836951,
      0.00478306090282643,
      -0.010128579293814388
    ],
    "v_ego": [
      10.398235045380803,
      10.263419299566968,
      10.08914779903548,
      9.92194135066916,
      9.76704880953834,
      9.575639762643865,
      9.332646314753505,
      9.005842525713051,
      8.6197657930239,
      8.20831464108068
    ],
    "ax_ego": [
      -0.27103740666542636,
      -0.2685589093327216,
      -0.4286801286015257,
      -0.2401510821382022,
      -0.3794180816312389,
      -0.3861452956220877,
      -0.5858526329930497,
      -0.7213628689043339,
      -0.8229626187331074,
      -0.8228122937697367
    ],
    "ay_ego": [
      0.1801849334400736,
      0.18385862864964622,
      -0.00800827287535984,
      -2.44218774821843e-05,
      0.0032975730466082154,
      -0.06331871857226805,
      -0.008470096447812589,
      0.018869260199927636,
      0.035901505161736416,
      0.03919598231851704
    ],
    "a_ego": [
      0.32546564496229624,
      0.32546564044597626,
      0.4287549242775724,
      0.240151083379979,
      0.3794324111837669,
      0.39130224820808734,
      0.5859138589577176,
      0.7216096157995566,
      0.8237453428729853,
      0.8237453464563724
    ],
    "yaw": [
      -1.6652660976996585,
      -1.6516498516278721,
      -1.6482417270705354,
      -1.6479615943911536,
      -1.6486128805277667,
      -1.6507983626789797,
      -1.6532530086338708,
      -1.6526704005876747,
      -1.6510216322718492,
      -1.6470180791507265
    ],
    "yaw_diff": [
      0.027232492143572706,
      0.006816249114673489,
      0.0005602653587635231,
      -0.0013025722732260547,
      -0.004370964302426117,
      -0.004909291909782176,
      0.001165216092392285,
      0.003297536631650999,
      0.008007106242245321,
      0.008007106242245321
    ],
    "min_front_frame": [
      0,
      18.60421945126555
    ],
    "v_avg": 9.518200134140574,
    "v_std": 0.6858535586181913,
    "vy_max": 0.03494456950014446,
    "a_max": 0.8237453464563724,
    "ax_avg": -0.492698131839143,
    "a_std": 0.20634433568964478,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cf9af12edb535bc0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.513184364060486,
    "right_rear_min": 3.2692770055679516,
    "speed_mode": "decelerating",
    "front_frame": [
      18.60421945126555,
      28.60851426256014,
      23.57734246188169,
      28.480201048025908,
      23.506323707098318,
      27.286579176737412,
      23.0030479654233,
      23.009818041806454,
      18.70684387475444,
      20.77837972934432
    ],
    "safe_frame": [
      0,
      1,
      0,
      1,
      0,
      1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cf9af12edb535bc0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5e119121956f52be": {
    "vx_ego": [
      13.720541316079842,
      13.85984608466198,
      13.924527949293914,
      13.938323166101945,
      13.972782032636328,
      13.961167105064517,
      13.813795585008604,
      13.655463802320128,
      13.680741579918188,
      13.807019075117424
    ],
    "vy_ego": [
      0.018148328300021888,
      0.01030177467984128,
      0.013921482695113063,
      0.006338960677442884,
      0.010542738965159337,
      0.03140699428543936,
      0.025395898135499806,
      0.02108412898470302,
      -0.00474434095062648,
      -0.013510673833699638
    ],
    "v_ego": [
      13.720553318582821,
      13.859849913223503,
      13.924534908511228,
      13.93832460753862,
      13.972786009987752,
      13.961202431553865,
      13.81381892946499,
      13.655480079329703,
      13.680742402562569,
      13.807025685460422
    ],
    "ax_ego": [
      0.27711697724456164,
      0.27953941727501663,
      -0.02129963387604368,
      0.07629813436668369,
      0.06118984100743545,
      -0.1077495111180995,
      -0.48346458794267355,
      -0.1513457901418737,
      0.2511195775741296,
      0.25438419008124097
    ],
    "ay_ego": [
      0.25209376652830834,
      0.2494048980374903,
      0.22920215380520736,
      0.27203831107629234,
      0.2649728312843797,
      0.4139846395387246,
      0.41550765527044287,
      0.40821801168372823,
      0.29233716328400383,
      0.2895008445365408
    ],
    "a_ego": [
      0.37462659569175294,
      0.374626599396715,
      0.23018970809356235,
      0.2825353924751342,
      0.2719463144838988,
      0.42777709022363175,
      0.6374830345843883,
      0.4353705241018098,
      0.38538559817142576,
      0.38538559281667406
    ],
    "yaw": [
      -1.9617014788085618,
      -1.9520407654488647,
      -1.9437110370362127,
      -1.9341636936928652,
      -1.9248462217864226,
      -1.9142033330588126,
      -1.8988902015588942,
      -1.8835365689093908,
      -1.8687791413806436,
      -1.8575575072577748
    ],
    "yaw_diff": [
      0.019321426719394186,
      0.01665945682530401,
      0.019094686686695006,
      0.01863494381288522,
      0.02128577745521998,
      0.03062626299983684,
      0.030707265299006803,
      0.029514855057494405,
      0.022443268245737613,
      0.022443268245737613
    ],
    "min_front_frame": [
      4,
      27.892344765872487
    ],
    "v_avg": 13.833431828621547,
    "v_std": 0.11160174300210655,
    "vy_max": 0.03140699428543936,
    "a_max": 0.6374830345843883,
    "ax_avg": 0.04357886144703776,
    "a_std": 0.10741370941437815,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5e119121956f52be",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 49.17801828756085,
    "right_rear_min": 3.4595614136017905,
    "speed_mode": "quasi_constant",
    "front_frame": [
      27.900152959114873,
      27.926400666540324,
      27.93421163216391,
      27.897225483200437,
      27.892344765872487,
      28.03771058535663,
      28.143733854078633,
      28.293219820281124,
      28.428910648167196,
      28.47312684385577
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5e119121956f52be",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "43fd9868f2ed549f": {
    "vx_ego": [
      9.986684722510134,
      9.83342628069105,
      9.654299064342005,
      9.464371717371689,
      9.294605090919582,
      9.149238823111336,
      9.03521730401518,
      8.901413892638264,
      8.757313582440418,
      8.633703582496722
    ],
    "vy_ego": [
      -0.04085766151778625,
      -0.03234925227739627,
      -0.05996352783845271,
      -0.11611213330782633,
      -0.10490719333047949,
      -0.06701566741515119,
      -0.04534035332561981,
      -0.03452723061473595,
      0.030143022057675495,
      0.12507058103583812
    ],
    "v_ego": [
      9.986768300873011,
      9.833479490592755,
      9.654485281382211,
      9.46508394215743,
      9.295197110086514,
      9.149484255519914,
      9.035331066342563,
      8.901480855324435,
      8.757365459027858,
      8.634609441118767
    ],
    "ax_ego": [
      -0.30689824022264545,
      -0.3066828992140661,
      -0.4102585497442737,
      -0.35267454012188615,
      -0.33382816559103223,
      -0.25236882256487553,
      -0.20662252331941158,
      -0.3327945140601168,
      -0.2455209947906713,
      -0.24326062802396414
    ],
    "ay_ego": [
      -0.05679801704620714,
      -0.05794949277080211,
      -0.2763717446461753,
      -0.32252218827255863,
      -0.1716752037787681,
      -0.23761849919880285,
      -0.392366921866877,
      -0.3025930914306582,
      -0.12267906447252216,
      -0.12710223745677401
    ],
    "a_ego": [
      0.31210982777243307,
      0.31210982743697496,
      0.4946649561845325,
      0.4779120140552062,
      0.3753846290597887,
      0.34663031281795464,
      0.4434463535966541,
      0.4497941391015138,
      0.27446440888183316,
      0.2744644091920328
    ],
    "yaw": [
      2.4083427925481518,
      2.4045894992843744,
      2.398853415166908,
      2.389057269444799,
      2.374686994960178,
      2.359465956164304,
      2.3397481691370134,
      2.3192066678205205,
      2.2998174501049027,
      2.281719175489231
    ],
    "yaw_diff": [
      -0.007506586527554759,
      -0.011472168234933022,
      -0.01959229144421748,
      -0.028740548969242496,
      -0.030442077591747996,
      -0.03943557405458087,
      -0.04108300263298581,
      -0.038778435431235714,
      -0.03619654923134341,
      -0.03619654923134341
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.271328520242546,
    "v_std": 0.434705084193376,
    "vy_max": 0.12507058103583812,
    "a_max": 0.4946649561845325,
    "ax_avg": -0.2990909877652943,
    "a_std": 0.08006730776696852,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "43fd9868f2ed549f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "43fd9868f2ed549f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "25e9d76574075cee": {
    "vx_ego": [
      6.424105662718411,
      6.22752372831193,
      6.03220762021412,
      5.8476890245704105,
      5.638154885475027,
      5.4000996159085375,
      5.131781175656107,
      4.80106935441412,
      4.524860282976899,
      4.368054814494731
    ],
    "vy_ego": [
      -0.08521397285680665,
      -0.019024987349734346,
      -0.003931846884877466,
      0.002832420207939279,
      -0.03041805080178417,
      -0.04118963965594569,
      -0.04188439715964365,
      -0.07674999901314461,
      -0.018675527407944204,
      0.10314396753757116
    ],
    "v_ego": [
      6.424670807671067,
      6.227552788763156,
      6.032208901620469,
      5.847689710534022,
      5.63823693812352,
      5.4002567020606085,
      5.131952098134179,
      4.801682778801921,
      4.524898822712586,
      4.3692724269001575
    ],
    "ax_ego": [
      -0.39428609811931853,
      -0.38847909063648584,
      -0.3860908625343582,
      -0.34882213646205384,
      -0.4764093903402832,
      -0.4505073547186321,
      -0.595471317683129,
      -0.6891888855807464,
      -0.3978305265246696,
      -0.24701197932569008
    ],
    "ay_ego": [
      0.3418962940049532,
      0.3484804128329718,
      0.6186740097208456,
      0.7280265385092641,
      0.9465949418209454,
      1.1758027855402415,
      1.3076036485979181,
      1.3724510127291172,
      1.2649360455826923,
      1.3028113487348711
    ],
    "a_ego": [
      0.5218760418188195,
      0.5218760408276945,
      0.7292624249449533,
      0.8072790865987628,
      1.0597206665368941,
      1.2591541077802075,
      1.4368066647986673,
      1.5357744308163261,
      1.3260212393658235,
      1.326021239770604
    ],
    "yaw": [
      -2.300950144591632,
      -2.284127822364751,
      -2.247148109834617,
      -2.1915777869034287,
      -2.113146752036861,
      -2.0150778793114403,
      -1.897586575108321,
      -1.7562275297390177,
      -1.626448582648178,
      -1.5091119082916014
    ],
    "yaw_diff": [
      0.03364464445376125,
      0.0739594250602682,
      0.11114064586237671,
      0.1568620697331351,
      0.19613774545084173,
      0.23498260840623875,
      0.28271809073860643,
      0.2595578941816794,
      0.23467334871315337,
      0.23467334871315337
    ],
    "min_front_frame": [
      2,
      36.584308927444496
    ],
    "v_avg": 5.439842197532169,
    "v_std": 0.6807220818619455,
    "vy_max": 0.10314396753757116,
    "a_max": 1.5357744308163261,
    "ax_avg": -0.4374097641925368,
    "a_std": 0.36074517803670014,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "25e9d76574075cee",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 34.71925803676495,
    "right_rear_min": 7.0895367389603745,
    "speed_mode": "decelerating",
    "front_frame": [
      38.57923920113035,
      37.58514952284526,
      36.584308927444496,
      63.57143701041529,
      72.96984147009319,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "25e9d76574075cee",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "4a07defcfe7f57fb": {
    "vx_ego": [
      3.9684283353497065,
      3.833194998341523,
      3.7015723054514567,
      3.589769246444387,
      3.5077124734992715,
      3.4194508197661175,
      3.2844501918026348,
      3.1607912803742844,
      3.146358300804299,
      3.2054383271111306
    ],
    "vy_ego": [
      -0.041078555266280015,
      -0.02940976355799152,
      -0.031200571837508795,
      -0.04560523776608982,
      -0.055435856157702634,
      -0.05653107194131046,
      -0.04735397895385296,
      -0.013279319196324746,
      0.018892312747944784,
      0.031153187319650888
    ],
    "v_ego": [
      3.96864093872313,
      3.8333078182560563,
      3.7017037980054806,
      3.590058924367343,
      3.5081505000342155,
      3.4199180795589252,
      3.2847915400760406,
      3.1608191752152517,
      3.1464150197520167,
      3.20558971017708
    ],
    "ax_ego": [
      -0.27074683408255895,
      -0.27072233056016287,
      -0.25616865784812237,
      -0.19162288969965385,
      -0.13773486103158725,
      -0.21809746515664663,
      -0.32563413353846404,
      -0.17287170986563166,
      0.11726512798855887,
      0.12191218822165927
    ],
    "ay_ego": [
      -0.005907012225319086,
      -0.006939788316515275,
      -0.06595036367216224,
      -0.04267784581433798,
      -0.08524773003705602,
      -0.09638841147887772,
      -0.1292851454053736,
      -0.0042895196378920225,
      -0.16170308308416897,
      -0.15822899897844966
    ],
    "a_ego": [
      0.2708112644613565,
      0.2708112643997737,
      0.26452189272761306,
      0.19631793188651442,
      0.16198168853256664,
      0.23844754176794555,
      0.3503601543381251,
      0.17292492027059314,
      0.19974733370210165,
      0.19974733478751475
    ],
    "yaw": [
      1.9165655135707387,
      1.9127507983401104,
      1.9083871221299435,
      1.904881413777195,
      1.8986276946107048,
      1.8858706486614218,
      1.8663800827816237,
      1.8453202116584226,
      1.8216888085248322,
      1.7926405603321647
    ],
    "yaw_diff": [
      -0.007629430461256526,
      -0.008727352420333734,
      -0.007011416705497098,
      -0.012507438332980403,
      -0.025514091898565905,
      -0.03898113175959628,
      -0.042119742246402136,
      -0.047262806267180935,
      -0.058096496385334984,
      -0.058096496385334984
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4819395504165542,
    "v_std": 0.2749162198783132,
    "vy_max": 0.05653107194131046,
    "a_max": 0.3503601543381251,
    "ax_avg": -0.16044215655726096,
    "a_std": 0.05464786400418751,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4a07defcfe7f57fb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4a07defcfe7f57fb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d9150469e9885120": {
    "vx_ego": [
      4.680587408525619,
      4.8298359058326685,
      5.0426939062622225,
      5.248591140411879,
      5.423523744244206,
      5.604670134944589,
      5.845860081489942,
      6.073629477420708,
      6.248533145173911,
      6.403390574855113
    ],
    "vy_ego": [
      0.015555523657598394,
      -0.0048434722997677815,
      -0.051777067567502,
      -0.11793912291414621,
      -0.12833646070484628,
      -0.1158879017019463,
      -0.0792172189792466,
      -0.06409224103217603,
      -0.05781601179848428,
      -0.028021633899931953
    ],
    "v_ego": [
      4.680613257166717,
      4.829838334405655,
      5.04295971597831,
      5.249916056083547,
      5.4250419400707806,
      5.605868115403776,
      5.846396792909322,
      6.0739676360970405,
      6.248800617523114,
      6.403451886764647
    ],
    "ax_ego": [
      0.1440243929042109,
      0.4443052743074704,
      0.4289664837128534,
      0.4343189714496943,
      0.3182336932603791,
      0.4525081966591362,
      0.5233323003801115,
      0.39230336964752155,
      0.3098297848355148,
      0.31053488129585394
    ],
    "ay_ego": [
      1.6895113111570474,
      1.6363936933954937,
      1.657708839017445,
      1.461671179499594,
      1.286921830997071,
      1.157653561813439,
      0.6773711072425288,
      0.33344433106340843,
      0.12968088385076365,
      0.12798324371228512
    ],
    "a_ego": [
      1.6956389640129859,
      1.6956389640964202,
      1.7123115484938876,
      1.5248329764078605,
      1.3256849107623556,
      1.2429502955561196,
      0.855983827854305,
      0.5148660561302559,
      0.3358744217822141,
      0.3358744157755221
    ],
    "yaw": [
      -0.025545232251391103,
      0.15453744587424795,
      0.33035432732801595,
      0.4944190279232278,
      0.6246033627251543,
      0.7334028136289099,
      0.8072067782559222,
      0.8469562253180105,
      0.8646997471249227,
      0.8701727563783079
    ],
    "yaw_diff": [
      0.3601653562512781,
      0.351633762907536,
      0.32812940119042366,
      0.26036866960385296,
      0.2175989018075113,
      0.14760792925402466,
      0.07949889412417654,
      0.035487043613824376,
      0.01094601850677046,
      0.01094601850677046
    ],
    "min_front_frame": [
      8,
      18.098027822751146
    ],
    "v_avg": 5.540685435240292,
    "v_std": 0.5673244289393348,
    "vy_max": 0.12833646070484628,
    "a_max": 1.7123115484938876,
    "ax_avg": 0.37583573484527466,
    "a_std": 0.5385449304755601,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "d9150469e9885120",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      26.990390677749403,
      24.121835543354315,
      21.136139241722645,
      18.098027822751146,
      21.026400481814655
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d9150469e9885120",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "2738dcd449ef567f": {
    "vx_ego": [
      6.804837232148048,
      6.277320959178496,
      5.702735421776632,
      5.1156553646728575,
      4.56077249260508,
      4.018052615540508,
      3.598449369179808,
      3.2903263759613353,
      2.8873480295866227,
      2.3864745451291034
    ],
    "vy_ego": [
      -0.04109038799945709,
      -0.001139260520976501,
      0.0001743679746011445,
      0.01012464770299705,
      0.0303678703899377,
      0.0352671000663102,
      0.00926009074667674,
      -0.013731063579612589,
      0.01296838004674851,
      0.04260758935459914
    ],
    "v_ego": [
      6.804961291294335,
      6.277321062559742,
      5.702735424442387,
      5.115665383759702,
      4.560873593606292,
      4.0182073850908955,
      3.5984612839144448,
      3.290355026810007,
      2.887377152856687,
      2.386854868067971
    ],
    "ax_ego": [
      -1.0550412847076533,
      -1.0551087722539392,
      -1.2432399841749822,
      -1.1050971101953115,
      -1.1144410546908423,
      -1.0563671585082688,
      -0.6221469474510234,
      -0.6100171480053381,
      -1.0018924292518616,
      -1.001781616481846
    ],
    "ay_ego": [
      0.06719041401078674,
      0.06612212637064019,
      -0.05822416125567592,
      0.09130419395411268,
      -0.009344755991350942,
      0.018535783564559795,
      -0.11274700407604553,
      0.06657362273519302,
      0.0670693860009241,
      0.06870472804203016
    ],
    "a_ego": [
      1.0571786339935727,
      1.0571786305459403,
      1.2446026318489516,
      1.1088625157320626,
      1.1144802325949863,
      1.0565297671372946,
      0.6322805636351241,
      0.6136391187861595,
      1.0041348227856344,
      1.0041348249992677
    ],
    "yaw": [
      -1.5533563141604838,
      -1.5543688355135339,
      -1.5542589396356306,
      -1.5545705667238283,
      -1.554519601994404,
      -1.5551271168414924,
      -1.5544733549351082,
      -1.5511482820692597,
      -1.5490094393949003,
      -1.5473770975528662
    ],
    "yaw_diff": [
      -0.0020250427061001552,
      0.0002197917558066642,
      -0.0006232541763955268,
      0.00010192945884845983,
      -0.0012150296941766392,
      0.0013075238127684408,
      0.006650145731696977,
      0.004277685348718752,
      0.0032646836840681814,
      0.0032646836840681814
    ],
    "min_front_frame": [
      9,
      12.722496571284115
    ],
    "v_avg": 4.464281247240246,
    "v_std": 1.409338579562993,
    "vy_max": 0.04260758935459914,
    "a_max": 1.2446026318489516,
    "ax_avg": -0.9865133505721067,
    "a_std": 0.19439745323071947,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2738dcd449ef567f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.141546568803783,
    "right_rear_min": 9.752670418047977,
    "speed_mode": "decelerating",
    "front_frame": [
      19.24156075636492,
      18.44625471002965,
      17.706502895594042,
      16.954135544988237,
      16.282589260153095,
      15.6624864746947,
      15.072926239197868,
      14.317788815547656,
      13.48583635789842,
      12.722496571284115
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2738dcd449ef567f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ab88e1b94ce953bf": {
    "vx_ego": [
      7.6401653607456925,
      7.915023513363415,
      8.15339309899063,
      8.350750598739776,
      8.541231670214295,
      8.74543240906217,
      8.947458826312314,
      9.099853453041987,
      9.2246219881101,
      9.353339012109936
    ],
    "vy_ego": [
      -0.017709194257028327,
      -0.01848828434823091,
      -0.013495684273262532,
      0.006552310464151168,
      -0.01465588508145732,
      -0.03623260680746632,
      -0.06261935243052363,
      -0.04121380152703891,
      -0.01856619832300299,
      -0.020794470614540872
    ],
    "v_ego": [
      7.640185884852514,
      7.915045106236216,
      8.153404268166888,
      8.350753169333,
      8.54124424420934,
      8.745507465165815,
      8.947677946364237,
      9.099946782496945,
      9.22464067198525,
      9.353362127356442
    ],
    "ax_ego": [
      0.5492571451270889,
      0.5497590891493412,
      0.4033703154414366,
      0.386597129358602,
      0.37496960460387013,
      0.44102609092783474,
      0.36553935953811656,
      0.2421970843472324,
      0.2564780970978665,
      0.25774166045005925
    ],
    "ay_ego": [
      -0.09069176540556459,
      -0.08759762798439219,
      -0.11415808711397764,
      -0.2263013792856743,
      -0.18461854565254657,
      -0.20325447100376853,
      -0.14041477111895675,
      -0.024878433424493085,
      -0.1565015210450952,
      -0.15441172009085574
    ],
    "a_ego": [
      0.5566941779698598,
      0.5566941714539548,
      0.41921316800984026,
      0.4479616665462685,
      0.41795479633046934,
      0.485609300633862,
      0.39158055533941605,
      0.24347148522148818,
      0.3004558875781452,
      0.3004558916596085
    ],
    "yaw": [
      1.4549569256429793,
      1.4493262005715999,
      1.442442467226971,
      1.4297020634734787,
      1.420051671259297,
      1.4113208780583593,
      1.4045987531778925,
      1.3976590377874725,
      1.3902366665460109,
      1.3821086586670972
    ],
    "yaw_diff": [
      -0.011261450142758811,
      -0.01376746668925799,
      -0.025480807506984338,
      -0.01930078442836347,
      -0.01746158640187545,
      -0.013444249760933502,
      -0.013879430780840085,
      -0.014844742482923223,
      -0.016256015757827313,
      -0.016256015757827313
    ],
    "min_front_frame": [
      6,
      14.819892373988292
    ],
    "v_avg": 8.597176766616666,
    "v_std": 0.5481861208528415,
    "vy_max": 0.06261935243052363,
    "a_max": 0.5566941779698598,
    "ax_avg": 0.38269355760414486,
    "a_std": 0.10118046189308603,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ab88e1b94ce953bf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.890063572352113,
    "right_rear_min": 4.000575001227109,
    "speed_mode": "accelerating",
    "front_frame": [
      32.35836019665419,
      35.44266050935043,
      38.252339851944846,
      40.951049585899106,
      43.47833535133989,
      44.34615152787685,
      14.819892373988292,
      15.789514171468326,
      16.535869623097508,
      17.46648783382373
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ab88e1b94ce953bf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6322316826a2547a": {
    "vx_ego": [
      7.297084328296324,
      7.381084656131603,
      7.453873069828899,
      7.512294060598066,
      7.5327144848130825,
      7.457334305778439,
      7.318206436051525,
      7.198588238316207,
      7.08402908098308,
      6.954242728017253
    ],
    "vy_ego": [
      0.0014872628647872865,
      -0.00950869642724328,
      -0.04014981984902022,
      -0.05596476931323302,
      -0.01660137333935774,
      0.009370762175295866,
      0.001004594681135007,
      -0.015294722458044863,
      -0.0397395499993638,
      -0.0815023884027668
    ],
    "v_ego": [
      7.29708447986034,
      7.381090780927242,
      7.453981201287967,
      7.51250251968685,
      7.532732778700542,
      7.457340193348011,
      7.318206505003561,
      7.198604486520946,
      7.0841405443460905,
      6.954720307783499
    ],
    "ax_ego": [
      0.16545688330260885,
      0.17024136335653683,
      0.12008757572008241,
      0.10870715364144573,
      -0.02960008437972622,
      -0.27195345991132963,
      -0.2836246239816824,
      -0.19579742371193168,
      -0.26353312458580164,
      -0.2591885177880944
    ],
    "ay_ego": [
      -0.27767142255295163,
      -0.2747640387784588,
      -0.38164957201816574,
      -0.1880008321222236,
      -0.18611895754935687,
      -0.21109744622072066,
      -0.28807495284460155,
      -0.22133764857489457,
      -0.2902799006347294,
      -0.2941656691824764
    ],
    "a_ego": [
      0.323229638391644,
      0.32322963787892783,
      0.4000967653755471,
      0.21716712028176224,
      0.18845803605722475,
      0.34426852333411667,
      0.40426489556375056,
      0.29551139708798585,
      0.3920613835440364,
      0.39206138381478406
    ],
    "yaw": [
      2.020761737451138,
      2.003440764034478,
      1.9854634992138789,
      1.9685492724515026,
      1.9509241321904978,
      1.9342772164986106,
      1.9185212398185603,
      1.9031983142833955,
      1.8887282441179858,
      1.8738610713958352
    ],
    "yaw_diff": [
      -0.03464194683332078,
      -0.03595452964119783,
      -0.03382845352475261,
      -0.035250280522009625,
      -0.033293831383774286,
      -0.03151195336010071,
      -0.030645851070329577,
      -0.028940140330819375,
      -0.02973434544430109,
      -0.02973434544430109
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.319040379746506,
    "v_std": 0.1808791767391767,
    "vy_max": 0.0815023884027668,
    "a_max": 0.40426489556375056,
    "ax_avg": -0.07392042583378922,
    "a_std": 0.07234885021124945,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6322316826a2547a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.195631757308266,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6322316826a2547a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3a8a3a691f4450b5": {
    "vx_ego": [
      4.483291983621447,
      3.867844322017185,
      3.30263103822718,
      2.8328563791821537,
      2.41116426542865,
      2.0353130435589066,
      1.7227090358414918,
      1.3750951673906864,
      0.9454273766333132,
      0.4890336828600234
    ],
    "vy_ego": [
      0.04379467131728218,
      0.03760963314219487,
      0.02595630210091776,
      0.024321011490819527,
      0.02867920765655725,
      0.018181587499668438,
      -0.0038536792266850375,
      -0.03187689684845446,
      -0.032191596422872316,
      -0.004831536402450492
    ],
    "v_ego": [
      4.48350588085263,
      3.868027169483905,
      3.3027330355752786,
      2.8329607792330904,
      2.411334819520485,
      2.035394250607245,
      1.7227133461529531,
      1.3754645963942171,
      0.9459752762984885,
      0.4890575494925379
    ],
    "ax_ego": [
      -1.2308978523963572,
      -1.2308982531878394,
      -1.0300365289185474,
      -0.849086467748382,
      -0.8376692530773235,
      -0.6657846106997605,
      -0.5846406345696655,
      -0.8057725821257269,
      -0.9127891278272545,
      -0.912798851760713
    ],
    "ay_ego": [
      -0.012110743374646255,
      -0.012069478414682144,
      -0.02587077096989029,
      0.023230878533853718,
      -0.006902158087744133,
      -0.03101181259764404,
      -0.055446832441577956,
      -0.0529789578337658,
      0.054545388792909835,
      0.05438231656342589
    ],
    "a_ego": [
      1.230957429458489,
      1.2309574249380344,
      1.030361367529444,
      0.8494042049759813,
      0.8376976885114279,
      0.6665064743610695,
      0.5872640145776221,
      0.8075123677558834,
      0.9144174054107947,
      0.9144173992933865
    ],
    "yaw": [
      1.5949212559243322,
      1.5949547800202266,
      1.5955638218193924,
      1.595884109725282,
      1.5957787831808259,
      1.5962416536881514,
      1.5964667121454341,
      1.5970482177922243,
      1.597650026821336,
      1.5974713766570345
    ],
    "yaw_diff": [
      6.704819178882104e-05,
      0.001218083598331532,
      0.0006405758117793425,
      -0.00021065308891232704,
      0.0009257410146510381,
      0.0004501169145654238,
      0.0011630112935803183,
      0.0012036180582235545,
      -0.0003573003286030385,
      -0.0003573003286030385
    ],
    "min_front_frame": [
      9,
      9.934094147480751
    ],
    "v_avg": 2.346716670361083,
    "v_std": 1.2197309598932438,
    "vy_max": 0.04379467131728218,
    "a_max": 1.230957429458489,
    "ax_avg": -0.906037416231157,
    "a_std": 0.20082603859153386,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3a8a3a691f4450b5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.988854473178125,
    "right_rear_min": 4.335899540560822,
    "speed_mode": "decelerating",
    "front_frame": [
      20.412116493775894,
      18.320848817830697,
      16.532174726054624,
      14.99493862143872,
      13.710600432413932,
      12.591133771817312,
      11.622576812509902,
      10.822079404897016,
      10.262034762077645,
      9.934094147480751
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3a8a3a691f4450b5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d26786f5e54e53f3": {
    "vx_ego": [
      2.726073813209397,
      3.3947368170897145,
      3.973098394043558,
      4.347214678916309,
      4.518404709340064,
      4.5927751895884095,
      4.622679144177518,
      4.638595030044671,
      4.704410030150657,
      4.83169278342136
    ],
    "vy_ego": [
      0.011289253653819609,
      0.01725963024142918,
      0.024783104508237175,
      0.03471227870306559,
      0.020169590774021584,
      0.03478073119891323,
      0.04818002122773524,
      0.03235064993385528,
      0.02506447314329696,
      -0.018784035070625926
    ],
    "v_ego": [
      2.7260971887139465,
      3.3947806927901065,
      3.973175688416077,
      4.347353264559735,
      4.5184497263750165,
      4.592906883593612,
      4.6229302162653605,
      4.638707839183911,
      4.704476799772325,
      4.831729296363734
    ],
    "ax_ego": [
      1.3372782856840004,
      1.3373023120853036,
      0.9759444120407903,
      0.5197965382742434,
      0.16330237348680174,
      0.1369402413155384,
      -0.019477545461026424,
      0.07691816331017981,
      0.17971078717046235,
      0.32571190531717426
    ],
    "ay_ego": [
      0.020311395038601576,
      0.01866266496204283,
      0.05744623310024988,
      0.12962835793902996,
      0.1928289488710323,
      0.5580408015665459,
      0.8301626726968871,
      1.0329294249885368,
      1.1509157749504262,
      1.1183983351386604
    ],
    "a_ego": [
      1.3374325276926509,
      1.337432528755071,
      0.9776336558706702,
      0.5357162984116278,
      0.2526868985704049,
      0.5745973946204341,
      0.8303911354996664,
      1.0357893612381626,
      1.164861832173742,
      1.1648618292768766
    ],
    "yaw": [
      1.0183211762310433,
      1.019554065911639,
      1.022638933987619,
      1.0313744596584278,
      1.0526265347285682,
      1.0905931638087658,
      1.1626672931123234,
      1.2668477839713859,
      1.3854654576515828,
      1.5139625914578405
    ],
    "yaw_diff": [
      0.0024657793611915224,
      0.006169736151959704,
      0.01747105134161764,
      0.04250415014028075,
      0.07593325816039531,
      0.14414825860711522,
      0.2083609817181249,
      0.23723534736039387,
      0.2569942676125154,
      0.2569942676125154
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.235060759603382,
    "v_std": 0.6451617349836222,
    "vy_max": 0.04818002122773524,
    "a_max": 1.337432528755071,
    "ax_avg": 0.5033427473223469,
    "a_std": 0.347195005889667,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "d26786f5e54e53f3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d26786f5e54e53f3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "f7a9f82f17b256e2": {
    "vx_ego": [
      6.686797764633797,
      6.576496885317815,
      6.441539411478752,
      6.299470231280396,
      6.224333274806263,
      6.267147058022002,
      6.313163896354942,
      6.268072473544624,
      6.146372229288557,
      5.973539894241086
    ],
    "vy_ego": [
      0.015174611701617824,
      -0.020897791014164557,
      -0.07169008334639448,
      -0.04563328196662253,
      -0.004486448539633869,
      0.013830460759141072,
      0.007602841169839447,
      0.0007048799049242938,
      -0.006524265754405789,
      -0.01912354611335232
    ],
    "v_ego": [
      6.686814982781551,
      6.576530088144066,
      6.441938330788664,
      6.2996355125682415,
      6.2243348917037675,
      6.267162318666929,
      6.313168474342607,
      6.268072513178473,
      6.146375691984116,
      5.973570504991613
    ],
    "ax_ego": [
      -0.22086266849533095,
      -0.22021218749824384,
      -0.31686423922157203,
      -0.24852960026893361,
      -0.05193904672520781,
      0.22314515985043407,
      -0.039204641059084916,
      -0.14117065542046112,
      -0.3456291437091966,
      -0.3456421539867107
    ],
    "ay_ego": [
      0.06244208770107029,
      0.06469874788108455,
      0.0927162791271641,
      0.24686166483040295,
      0.07199563065874567,
      0.033280333805891904,
      -0.00746707279370031,
      0.009320655907510834,
      -0.011733893204475099,
      -0.011344346188574272
    ],
    "a_ego": [
      0.22951978705842904,
      0.22951979326441943,
      0.3301503513744182,
      0.3502965083649481,
      0.08877519590895781,
      0.2256132597674777,
      0.03990941062804745,
      0.1414780144700539,
      0.3458282655175637,
      0.3458282706821686
    ],
    "yaw": [
      2.5296276099006674,
      2.5398600369379487,
      2.5536835658874315,
      2.5629318530591076,
      2.5691151681238065,
      2.5704034664358195,
      2.5724090065652856,
      2.573576851874616,
      2.5746399142430487,
      2.5757669393122082
    ],
    "yaw_diff": [
      0.020464854074562666,
      0.0276470578989656,
      0.01849657434335228,
      0.012366630129397649,
      0.002576596624026095,
      0.004011080258932154,
      0.0023356906186604576,
      0.0021261247368657976,
      0.0022540501383190303,
      0.0022540501383190303
    ],
    "min_front_frame": [
      9,
      21.38226540079303
    ],
    "v_avg": 6.319760330915003,
    "v_std": 0.19506141972659954,
    "vy_max": 0.07169008334639448,
    "a_max": 0.3502965083649481,
    "ax_avg": -0.17069091765343075,
    "a_std": 0.10732939009151717,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "f7a9f82f17b256e2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      25.400196130780934,
      25.21626786428932,
      24.679959118829736,
      24.428100596601002,
      23.8977066014621,
      23.330248422522484,
      22.881139828182913,
      22.310346026556136,
      21.836563566593448,
      21.38226540079303
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f7a9f82f17b256e2",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "60e9369e91da5d9c": {
    "vx_ego": [
      4.6328239875177655,
      4.341696884267729,
      3.9908575016018895,
      3.4874864640385397,
      2.917293206947626,
      2.4220645664874296,
      1.9317465366690203,
      1.4282937836765295,
      0.9651872295431958,
      0.5114466990736378
    ],
    "vy_ego": [
      -0.041308820094986196,
      -0.010913926690636441,
      0.01270927052604437,
      0.027295312120936013,
      0.007560808764337269,
      -0.027168365895149867,
      -0.040215197910600624,
      -0.018719805830344452,
      0.03842915019258067,
      0.10634723857296088
    ],
    "v_ego": [
      4.633008149996895,
      4.3417106016702585,
      3.9908777384993117,
      3.487593277736929,
      2.91730300468291,
      2.4222169358542915,
      1.932165092344788,
      1.4284164531464003,
      0.9659519592908302,
      0.5223863140870122
    ],
    "ax_ego": [
      -0.5823100583706523,
      -0.5823922506682959,
      -0.8209193308815648,
      -1.1924280291964395,
      -1.0883830256517375,
      -0.8925516750602712,
      -1.0687928196103913,
      -0.9449964663929451,
      -0.9074400166826005,
      -0.9074661808448881
    ],
    "ay_ego": [
      0.04458688141891484,
      0.04350023213855406,
      0.011556849545660254,
      0.019537000716535774,
      -0.09465086120423169,
      -0.0476611637936778,
      -0.008651834813076034,
      0.0954850918403895,
      0.1356387504344604,
      0.13546360798252258
    ],
    "a_ego": [
      0.584014549539904,
      0.5840145578961121,
      0.8210006751437279,
      1.1925880676957583,
      1.0924909134878575,
      0.8938232930434649,
      1.0688278371638547,
      0.9498082565754629,
      0.9175212556101031,
      0.9175212577727284
    ],
    "yaw": [
      1.5974636148972317,
      1.5955976447890854,
      1.5932480965391367,
      1.5914484983425292,
      1.5917482545053372,
      1.5914273591171852,
      1.5909583055596261,
      1.591086221134624,
      1.5916164050144586,
      1.5914234016432234
    ],
    "yaw_diff": [
      -0.0037319402162925286,
      -0.004699096499897415,
      -0.003599196393214932,
      0.0005995123256159474,
      -0.0006417907763038855,
      -0.0009381071151182141,
      0.0002558311499956112,
      0.001060367759669223,
      -0.00038600674247035727,
      -0.00038600674247035727
    ],
    "min_front_frame": [
      9,
      11.996490909999077
    ],
    "v_avg": 2.6641629527309627,
    "v_std": 1.3705970573471524,
    "vy_max": 0.10634723857296088,
    "a_max": 1.1925880676957583,
    "ax_avg": -0.8987679853359788,
    "a_std": 0.189785185541712,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "60e9369e91da5d9c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.041299585026206,
      21.79691583331996,
      19.694616104523384,
      17.796267819366488,
      16.202798287042302,
      14.851470073644593,
      13.762256882382394,
      12.918661766765137,
      12.353556705865511,
      11.996490909999077
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "60e9369e91da5d9c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "449ed0c45858583f": {
    "vx_ego": [
      6.899549765419056,
      6.481661779203403,
      6.046904875610005,
      5.579485381704259,
      5.103807701911327,
      4.607729572024484,
      4.055992884337083,
      3.506421131088745,
      2.9764881000122783,
      2.4362235712271207
    ],
    "vy_ego": [
      -0.03070721916703567,
      -0.0379219903746133,
      -0.0437673957491751,
      -0.027222759047980993,
      0.007141266405043645,
      0.029616100396600897,
      -0.004146544695808219,
      -0.05176320046073157,
      -0.05514637168798875,
      -0.03153196066424879
    ],
    "v_ego": [
      6.899618098040145,
      6.481772712564071,
      6.047063267372577,
      5.579551792327203,
      5.103812697951919,
      4.60782474952245,
      4.055995003895587,
      3.5068031848775907,
      2.9769989136419,
      2.4364276212409752
    ],
    "ax_ego": [
      -0.8355717200430078,
      -0.8353960906967286,
      -0.9032237568962229,
      -0.9661713878946606,
      -0.936478659321303,
      -1.0477887587373846,
      -1.159158957467776,
      -1.039153399439697,
      -1.0805889552644534,
      -1.080627722086644
    ],
    "ay_ego": [
      0.040044354845258257,
      0.043555150294247724,
      0.004251067302384448,
      0.09690141231398952,
      0.08086660004680546,
      0.0012768263793509482,
      -0.136189402429786,
      -0.05679556148398701,
      0.04275929459505512,
      0.041768040367947123
    ],
    "a_ego": [
      0.8365307225025292,
      0.8365307403009954,
      0.9032337607701213,
      0.9710185551753069,
      0.9399636622590021,
      1.0477895367019239,
      1.167131972834248,
      1.0407043400367657,
      1.081434624706362,
      1.0814346225909117
    ],
    "yaw": [
      1.025595641119951,
      1.029797756994556,
      1.0326349361883715,
      1.0341369783528518,
      1.0360249700511877,
      1.0356267971522364,
      1.035634736546807,
      1.0354675700648648,
      1.0354287930915644,
      1.0345114809041822
    ],
    "yaw_diff": [
      0.008404231749210123,
      0.005674358387631084,
      0.003004084328960488,
      0.0037759833966717338,
      -0.0007963457979025534,
      1.587878914133256e-05,
      -0.0003343329638845205,
      -7.75539466006947e-05,
      -0.0018346243747644486,
      -0.0018346243747644486
    ],
    "min_front_frame": [
      9,
      11.357804853477163
    ],
    "v_avg": 4.769586804143442,
    "v_std": 1.437195743417391,
    "vy_max": 0.05514637168798875,
    "a_max": 1.167131972834248,
    "ax_avg": -0.9884159407847879,
    "a_std": 0.10559426521148617,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "449ed0c45858583f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.19918152720655,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      32.81201886597547,
      29.449172490253748,
      26.333522232535536,
      23.43150937347942,
      20.796312242723136,
      18.39774930927402,
      16.19169458670804,
      14.34475823301594,
      12.712186154940147,
      11.357804853477163
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "449ed0c45858583f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f8b4b55200585f2b": {
    "vx_ego": [
      0.12771707050820413,
      0.0002064348529473652,
      -0.04878442702897812,
      -0.025252474095656702,
      -0.012835155775707326,
      -0.008063229412002304,
      -0.005882957754131932,
      -0.004158849697543372,
      -0.0032248890863856884,
      -0.002685455945733305
    ],
    "vy_ego": [
      -0.012850997928846412,
      -0.006931448040013762,
      -0.0014110987910434976,
      0.0012594622884505406,
      0.001035509038394224,
      0.0006327621756320946,
      0.000484817436731645,
      0.00035505238938507845,
      0.0002877479486660722,
      0.00029604018341779757
    ],
    "v_ego": [
      0.12836198131442503,
      0.006934521416790205,
      0.048804830911947386,
      0.02528386230795924,
      0.012876859196064436,
      0.008088019320049234,
      0.005902900971883238,
      0.004173978079238636,
      0.003237701113668625,
      0.002701724158139095
    ],
    "ax_ego": [
      -0.255025236634598,
      -0.25502861353930883,
      0.059064605747600446,
      0.035063123300382804,
      0.014606325505141675,
      0.00448147503607786,
      0.004239483854698141,
      0.002656973884642089,
      0.0010788680792385966,
      0.0010788710600420645
    ],
    "ay_ego": [
      0.01183898758495043,
      0.01176606202777511,
      0.01032423797344685,
      0.000355657713661979,
      -0.001249273339587552,
      -0.0003604330032598031,
      -0.00023293266331340066,
      -0.00028581490722289155,
      1.6631906102003403e-05,
      1.663126554325722e-05
    ],
    "a_ego": [
      0.2552998882639186,
      0.2552998902064464,
      0.05996013293724287,
      0.03506492703524613,
      0.01465965308727176,
      0.004495946001547165,
      0.004245878116465954,
      0.0026723024501094377,
      0.0010789962709391375,
      0.0010789992415149597
    ],
    "yaw": [
      2.7566403739100593,
      2.7563543998821656,
      2.756319423958332,
      2.7563367737600073,
      2.7563036908760568,
      2.7562693362639625,
      2.7563270412806373,
      2.7563114789488115,
      2.756309989086615,
      2.7563022601170686
    ],
    "yaw_diff": [
      -0.00057194805578753,
      -6.995184766722673e-05,
      3.4699603350674124e-05,
      -6.616576790108297e-05,
      -6.870922418844572e-05,
      0.00011541003334958333,
      -3.112466365173816e-05,
      -2.9797243925600014e-06,
      -1.54579390931886e-05,
      -1.54579390931886e-05
    ],
    "min_front_frame": [
      9,
      9.054344296506557
    ],
    "v_avg": 0.024636637879016512,
    "v_std": 0.037118337384739006,
    "vy_max": 0.012850997928846412,
    "a_max": 0.2552998902064464,
    "ax_avg": -0.03877841237060831,
    "a_std": 0.09760431803347522,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f8b4b55200585f2b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 25.435069317944038,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.123511800140298,
      9.082026165261649,
      9.091573327956695,
      9.077218620608324,
      9.078645573912429,
      9.066641639520006,
      9.071078589525957,
      9.061462914749717,
      9.05828487686548,
      9.054344296506557
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f8b4b55200585f2b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "013ec5b715635a66": {
    "vx_ego": [
      8.368766382853435,
      8.296942875810615,
      8.269866763317129,
      8.30511905625042,
      8.366900968174164,
      8.410543927374531,
      8.424519215201084,
      8.425326883875979,
      8.419416004474973,
      8.417534938098518
    ],
    "vy_ego": [
      -0.020743271701314736,
      -0.04585559398153505,
      -0.05378728539802524,
      -0.05771539732926345,
      -0.05695877485933387,
      -0.05385243441336662,
      -0.05272628076515118,
      -0.05018528993644589,
      -0.0503155451943027,
      -0.03231992017192087
    ],
    "v_ego": [
      8.368792090504977,
      8.297069592329807,
      8.270041677953493,
      8.305319596835679,
      8.367094843090237,
      8.410716333285105,
      8.42468421176578,
      8.425476346384775,
      8.419566349313813,
      8.417596985562396
    ],
    "ax_ego": [
      -0.14432491467816216,
      -0.14364231760079724,
      0.034095204698002715,
      0.10644662283305897,
      0.1407718609913257,
      0.034137204521391636,
      0.021758287630203717,
      -0.01906436918734003,
      -0.005335526728408285,
      -0.0039009163338204617
    ],
    "ay_ego": [
      -0.1343215427354259,
      -0.13505125916779426,
      -0.07622989577257282,
      0.0014113912841467596,
      0.01445000510595042,
      0.04574270507335479,
      -0.0423648114233804,
      -0.03356815930706221,
      -0.13843422616403075,
      -0.13848207687665345
    ],
    "a_ego": [
      0.197159726718424,
      0.19715972714663366,
      0.08350736490212118,
      0.10645597934320307,
      0.14151155251258857,
      0.05707664846470262,
      0.0476256267941668,
      0.03860403465669757,
      0.13853700884277664,
      0.13853700864503615
    ],
    "yaw": [
      -0.20818806686011546,
      -0.21325610439332354,
      -0.2186897646236518,
      -0.22047470164840538,
      -0.22008957985176442,
      -0.21866827996828922,
      -0.2187017373194559,
      -0.22125501792557162,
      -0.22634610009587985,
      -0.23670733223659413
    ],
    "yaw_diff": [
      -0.010136075066416173,
      -0.010867320460656527,
      -0.003569874049507149,
      0.0007702435932819274,
      0.0028425997669503933,
      -6.691470233338714e-05,
      -0.005106561212231409,
      -0.010182164340616473,
      -0.020722464281428543,
      -0.020722464281428543
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.370635802702607,
    "v_std": 0.05652258436572293,
    "vy_max": 0.05771539732926345,
    "a_max": 0.19715972714663366,
    "ax_avg": 0.002094113614545458,
    "a_std": 0.05486836321722374,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "013ec5b715635a66",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "013ec5b715635a66",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "200c447283ed50eb": {
    "vx_ego": [
      12.333853753804137,
      12.146543053695767,
      11.991303212761702,
      11.999404233125023,
      12.171105797332189,
      12.427781757521627,
      12.70521087796743,
      12.931373464545295,
      13.018275109169291,
      12.988358974779924
    ],
    "vy_ego": [
      0.27578126694836413,
      0.3062289349497084,
      0.3510599702191002,
      0.34384032748270266,
      0.39451376103005525,
      0.3681202387348867,
      0.3212009979511082,
      0.3174757830443657,
      0.29826842987554625,
      0.3327142202128419
    ],
    "v_ego": [
      12.336936561700723,
      12.150402640072688,
      11.996440965681419,
      12.004329557319815,
      12.177497995791061,
      12.433232561275188,
      12.709270377748153,
      12.935270022398674,
      13.021691551955804,
      12.992619736222485
    ],
    "ax_ego": [
      -0.3746396646945803,
      -0.37463783491047264,
      -0.24742628504201483,
      0.27263688953850806,
      0.4154573400901185,
      0.6071756954409943,
      0.5011182700234833,
      0.40340988186887433,
      -0.06033635834098665,
      -0.060270416887792215
    ],
    "ay_ego": [
      0.06161909847331266,
      0.06163026106198417,
      0.159781325714331,
      0.048862662384769676,
      0.11082789711341132,
      -0.09358362472932365,
      -0.041167348524456415,
      0.03131871163354522,
      0.08828731692614489,
      0.08833234334824829
    ],
    "a_ego": [
      0.3796732696136658,
      0.3796732758899089,
      0.2945332554682434,
      0.27698092590025153,
      0.42998560930958757,
      0.6143453588591142,
      0.5028063952813874,
      0.4046237690594119,
      0.1069351507590909,
      0.10693514872679184
    ],
    "yaw": [
      1.5300644260782525,
      1.5300942189914477,
      1.5309671835071923,
      1.5359444505128899,
      1.5350535550902373,
      1.5375548484195893,
      1.538606657229736,
      1.5387050987911606,
      1.542473193877326,
      1.543219859586243
    ],
    "yaw_diff": [
      5.9585826390318175e-05,
      0.0017459290314891796,
      0.009954534011395122,
      -0.0017817908453050535,
      0.005002586658704011,
      0.002103617620293541,
      0.00019688312284893428,
      0.007536190172330759,
      0.0014933314178340318,
      0.0014933314178340318
    ],
    "min_front_frame": [
      0,
      28.445970116287242
    ],
    "v_avg": 12.4757691970166,
    "v_std": 0.3871373614789685,
    "vy_max": 0.39451376103005525,
    "a_max": 0.6143453588591142,
    "ax_avg": 0.10824875170861319,
    "a_std": 0.1519667333863233,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "200c447283ed50eb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.464917539972044,
    "right_rear_min": 5.19641679943621,
    "speed_mode": "accelerating",
    "front_frame": [
      28.445970116287242,
      29.05016422342629,
      29.950519401101516,
      31.18339312000086,
      32.40406021509419,
      33.55973205209448,
      34.81985074023983,
      35.97141959656992,
      37.08909396483147,
      38.3486079132416
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "200c447283ed50eb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9bd12765d98b514f": {
    "vx_ego": [
      2.420103138238275,
      1.7902052976016383,
      1.1848218685173437,
      0.6621587249864225,
      0.29130428983798146,
      0.05990146246381445,
      -0.03192761096519571,
      -0.025211123247631376,
      -0.015247403212045018,
      -0.006895088214420786
    ],
    "vy_ego": [
      1.824470800726452e-05,
      -0.008872450662457565,
      -0.012591499428542041,
      -0.009688371058262563,
      -0.013722888640686964,
      -0.015758882698398407,
      -0.010324488557392495,
      -0.005253218822276971,
      -0.0024571322052988212,
      -0.0008628633509002346
    ],
    "v_ego": [
      2.420103138307047,
      1.7902272838781472,
      1.18488877367236,
      0.6622295988623638,
      0.2916273425978014,
      0.06193970930837222,
      0.03355543779950746,
      0.025752612360729236,
      0.015444118731251628,
      0.006948868587545113
    ],
    "ax_ego": [
      -1.2598572913214114,
      -1.2597776028684304,
      -1.1617743636396711,
      -0.9288354042715057,
      -0.5545853467347577,
      -0.3710143965452388,
      0.0037278186805618624,
      0.02314784855866834,
      0.01670486331225111,
      0.01670527996478162
    ],
    "ay_ego": [
      -0.027533556391230285,
      -0.03096501724511075,
      0.014446390074209225,
      0.0012014500893766655,
      -0.01747827391125306,
      0.009431709643540995,
      0.012232987918391794,
      0.008010657687267839,
      0.003186701346328375,
      0.003184473854561873
    ],
    "a_ego": [
      1.2601581215162139,
      1.2601581015816703,
      1.1618641788937891,
      0.9288361813099921,
      0.5548607004211311,
      0.37113426086879636,
      0.012788378533913734,
      0.024494765348490835,
      0.01700610254443046,
      0.01700609456730505
    ],
    "yaw": [
      -1.8764455962308269,
      -1.8791693744272964,
      -1.8794477035797503,
      -1.8783197277872148,
      -1.8784004092959043,
      -1.8782408856079704,
      -1.8776863381443554,
      -1.877352152432798,
      -1.8775196144540254,
      -1.8773863772800463
    ],
    "yaw_diff": [
      -0.005447556392939035,
      -0.0005566583049079199,
      0.002255951585071081,
      -0.00016136301737912362,
      0.0003190473758678536,
      0.0011090949272301032,
      0.0006683714231145998,
      -0.0003349240424546096,
      0.0002664743479581233,
      0.0002664743479581233
    ],
    "min_front_frame": [
      2,
      9.402164875753753
    ],
    "v_avg": 0.6492716884105125,
    "v_std": 0.8233920165038265,
    "vy_max": 0.015758882698398407,
    "a_max": 1.2601581215162139,
    "ax_avg": -0.5475558594864752,
    "a_std": 0.5186814368391325,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9bd12765d98b514f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.64321845268391,
    "speed_mode": "decelerating",
    "front_frame": [
      11.159990214633984,
      10.108887939867339,
      9.402164875753753,
      72.33610329377946,
      75.44207046184795,
      78.1704282030932,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.16666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8333333333333334,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9bd12765d98b514f",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "46e614a434b650e3": {
    "vx_ego": [
      6.2155538559760695,
      5.875206016191127,
      5.476073162128328,
      4.940924304543024,
      4.296158757284505,
      3.5927826616518637,
      2.8237346814349866,
      2.0263988610135586,
      1.2576109008009744,
      0.5062095917458375
    ],
    "vy_ego": [
      -0.004978480735496671,
      -0.019224309566978626,
      -0.01703838809435787,
      0.002477526679141473,
      -0.0016579600460060462,
      -0.006341010920409174,
      0.013280734196775557,
      -0.000721839750597586,
      -0.01060138673666966,
      0.007260431694108144
    ],
    "v_ego": [
      6.215555849786036,
      5.875237468117075,
      5.476099668893089,
      4.940924925695836,
      4.2961590772018505,
      3.5927882573686056,
      2.823765912578369,
      2.026398989579711,
      1.2576555837009507,
      0.5062616563042003
    ],
    "ax_ego": [
      -0.6807193431498771,
      -0.6803106464775797,
      -0.9156084901498915,
      -1.224870228388457,
      -1.354308920537728,
      -1.4592277234191484,
      -1.616945195342001,
      -1.5723757753408887,
      -1.5028008660241063,
      -1.5028051715864599
    ],
    "ay_ego": [
      0.05505986190609685,
      0.059898674474588354,
      0.0998772200854598,
      0.08676325327688017,
      -0.07741187569806707,
      0.05236892388452463,
      0.018189122209615993,
      -0.07716805714694075,
      0.035600692401709044,
      0.035418202578068936
    ],
    "a_ego": [
      0.6829424664871256,
      0.6829424770173218,
      0.9210398288491999,
      1.2279393057116377,
      1.3565195357042075,
      1.46016713186671,
      1.6170474974181615,
      1.574268238872491,
      1.5032224892617476,
      1.503222482808473
    ],
    "yaw": [
      1.0109851858673877,
      1.018095681593834,
      1.0247140116973648,
      1.0298871270036,
      1.0312838306789867,
      1.0308851822444038,
      1.0302711028852938,
      1.029964362286123,
      1.0296507087098297,
      1.0295292739921496
    ],
    "yaw_diff": [
      0.014220991452892573,
      0.01323666020706149,
      0.010346230612470642,
      0.0027934073507731583,
      -0.0007972968691656313,
      -0.0012281587182201292,
      -0.0006134811983415922,
      -0.0006273071525866314,
      -0.00024286943536022676,
      -0.00024286943536022676
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7010847389225723,
    "v_std": 1.8935345149088456,
    "vy_max": 0.019224309566978626,
    "a_max": 1.6170474974181615,
    "ax_avg": -1.2509972360416137,
    "a_std": 0.34283489885966767,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "46e614a434b650e3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.738180882936952,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "46e614a434b650e3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e97db5c7da675b13": {
    "vx_ego": [
      4.664079562615808,
      3.9985314284315,
      3.2640659811259343,
      2.504285371726332,
      1.8914071692380656,
      1.3833549816880621,
      0.837446653613557,
      0.31179180389055006,
      0.0003234191009249803,
      -0.1566646073405177
    ],
    "vy_ego": [
      0.024189521632177247,
      0.012709581308071094,
      0.0029105701081608704,
      -0.02901369016345101,
      -0.05285100086643013,
      -0.05287612180184442,
      -0.04919559802392298,
      -0.01596739304730513,
      0.02162566484435062,
      0.04593711264056241
    ],
    "v_ego": [
      4.664142289785686,
      3.9985516274785646,
      3.2640672788044616,
      2.5044534368319553,
      1.8921454246800735,
      1.3843651576148477,
      0.8388904007756176,
      0.3122003949613939,
      0.02162808312992683,
      0.1632605816200295
    ],
    "ax_ego": [
      -1.3310630806155963,
      -1.3309917297911775,
      -1.6068295376599404,
      -1.432299081543142,
      -1.0191962265604153,
      -1.0131138780350153,
      -1.1707135424388362,
      -0.9319068776169079,
      -0.313984847123431,
      -0.3139801911665115
    ],
    "ay_ego": [
      -0.037642503526898574,
      -0.04008627180187585,
      -0.024473201878494,
      -0.11122108864945057,
      0.01653235839706707,
      -0.020067658691058976,
      0.0309693737436052,
      0.10193016909529651,
      0.04859289962136609,
      0.048622960351419164
    ],
    "a_ego": [
      1.331595239796859,
      1.3315952440435812,
      1.607015899332251,
      1.4366108692160509,
      1.019330303242849,
      1.0133126076352197,
      1.1711230936839048,
      0.9374647662293717,
      0.31772276298171725,
      0.31772276078099093
    ],
    "yaw": [
      0.5695352045624447,
      0.567699207429013,
      0.565969465256732,
      0.5652709826789781,
      0.5653479237074321,
      0.5648232445731558,
      0.5639781068515703,
      0.5639720215088354,
      0.5644505028176406,
      0.5645462343430723
    ],
    "yaw_diff": [
      -0.0036719942668632655,
      -0.0034594843445621137,
      -0.00139696515550769,
      0.00015388205690802792,
      -0.0010493582685526803,
      -0.0016902754431709077,
      -1.2170685469881093e-05,
      0.0009569626176104684,
      0.00019146305086326088,
      0.00019146305086326088
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.9043704675682556,
    "v_std": 1.572507584646661,
    "vy_max": 0.05287612180184442,
    "a_max": 1.607015899332251,
    "ax_avg": -1.0464078992550971,
    "a_std": 0.41477471899867346,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e97db5c7da675b13",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.532032208423381,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e97db5c7da675b13",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "faa12c2adc7c521f": {
    "vx_ego": [
      5.960499889125194,
      5.372841669732856,
      4.788619547560346,
      4.239501289905549,
      3.822071029237913,
      3.577921965363298,
      3.4412084947770945,
      3.521885138617093,
      3.694775069717171,
      3.8088806153557186
    ],
    "vy_ego": [
      0.11081847377218645,
      -0.09026013211035266,
      -0.11722721968069161,
      -0.10685935978475891,
      -0.13133460661224827,
      -0.0788671903824022,
      -0.004145374199348954,
      0.05099250159025903,
      0.06831532897485482,
      -0.09740876160140766
    ],
    "v_ego": [
      5.961529976641119,
      5.373599771053509,
      4.790054216009576,
      4.240847805555443,
      3.8243268337622185,
      3.578791084143915,
      3.441210991591955,
      3.5222542731651805,
      3.6954065811459054,
      3.8101259833330023
    ],
    "ax_ego": [
      -1.1780942185723429,
      -1.171989673247813,
      -1.1655812203332236,
      -1.074132082926067,
      -0.678106466827512,
      -0.4201508632606974,
      -0.18478949753573334,
      0.49683250577169524,
      0.17976878607521551,
      0.27049097038635367
    ],
    "ay_ego": [
      -0.5254101731678255,
      -0.538889643899058,
      -1.3532965327361755,
      -1.7551696667542198,
      -1.9866970787001628,
      -1.9709266654546003,
      -1.9166890179741107,
      -1.6528545026083061,
      -1.0162050144785655,
      -0.9959036524434915
    ],
    "a_ego": [
      1.2899464476875866,
      1.2899464494703528,
      1.7860546147050602,
      2.0577609896839846,
      2.099236447584943,
      2.0152118172784466,
      1.9255762644003664,
      1.7259115115161416,
      1.0319832595048903,
      1.0319832605284052
    ],
    "yaw": [
      -0.5011773065074175,
      -0.5126486606246818,
      -0.60040443318053,
      -0.7748550081177459,
      -1.0026829651062306,
      -1.284858815004108,
      -1.5833643292169475,
      -1.860559125761228,
      -2.0476742705900737,
      -2.1377894697025948
    ],
    "yaw_diff": [
      -0.022942708234528597,
      -0.17551154511169642,
      -0.34890114987443166,
      -0.45565591397696936,
      -0.564351699795755,
      -0.5970110284256789,
      -0.554389593088561,
      -0.37423028965769145,
      -0.18023039822504217,
      -0.18023039822504217
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.223814751640182,
    "v_std": 0.8242106842325875,
    "vy_max": 0.13133460661224827,
    "a_max": 2.099236447584943,
    "ax_avg": -0.4925751760470124,
    "a_std": 0.4023398471457509,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "faa12c2adc7c521f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "faa12c2adc7c521f",
    "pedestrians": "Yes"
  },
  "022cc20c8dd45bc5": {
    "vx_ego": [
      2.363720691442302,
      1.5987850309950902,
      0.8619048350217634,
      0.2745917845378999,
      -0.008007063785420793,
      -0.04910036053719027,
      -0.030798325412422414,
      -0.016887641498985258,
      -0.010200154755435958,
      -0.0059192778206905595
    ],
    "vy_ego": [
      -0.036286132723877706,
      0.014319500814436038,
      0.029793836021482327,
      0.016078589747148934,
      -0.006037753410522645,
      -0.002270258057199708,
      -0.002303242788654123,
      -0.0011768514645354926,
      -0.0005579327035034208,
      -0.00011572673602026342
    ],
    "v_ego": [
      2.3639991942850846,
      1.5988491559360896,
      0.8624196294720848,
      0.2750621187731338,
      0.010028336687111925,
      0.04915281758483792,
      0.03088432896394143,
      0.016928597542851222,
      0.010215402387399207,
      0.005920408988908543
    ],
    "ax_ego": [
      -1.531040921968244,
      -1.529273973704867,
      -1.4175282806823575,
      -0.9302619503834768,
      -0.20013283025329923,
      0.035757621632689106,
      0.037453314709366976,
      0.018188516308299298,
      0.008561729814269909,
      0.008561678728116154
    ],
    "ay_ego": [
      -0.018524121163992865,
      -0.0758324849172689,
      0.03352224162655591,
      -0.10671293920426929,
      0.018250020060695052,
      -0.0031012561113011416,
      0.0029323176889860855,
      0.0015854564480768639,
      0.000885276417011817,
      0.0008859024712371119
    ],
    "a_ego": [
      1.531152979883548,
      1.5311529813901035,
      1.4179245985657876,
      0.9363626155100835,
      0.20096321299534312,
      0.035891855542649766,
      0.03756792873912568,
      0.01825748607136311,
      0.008607376589128394,
      0.00860739018704396
    ],
    "yaw": [
      1.5665265143753775,
      1.5290782981801847,
      1.5076614953442793,
      1.498629294210279,
      1.4986438806476823,
      1.4983045410749893,
      1.498534868072682,
      1.4983924844302847,
      1.4984926138960346,
      1.4984195518922383
    ],
    "yaw_diff": [
      -0.07489643239038557,
      -0.042833605671810826,
      -0.018064402268000546,
      2.917287480652675e-05,
      -0.0006786791453858854,
      0.00046065399538530727,
      -0.0002847672847945404,
      0.00020025893149977492,
      -0.00014612400759261845,
      -0.00014612400759261845
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.5223459990621443,
    "v_std": 0.7899164870434472,
    "vy_max": 0.036286132723877706,
    "a_max": 1.5311529813901035,
    "ax_avg": -0.5499715095799503,
    "a_std": 0.6588204872267265,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "022cc20c8dd45bc5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "022cc20c8dd45bc5",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "051d26c01f3653ba": {
    "vx_ego": [
      3.7841850060894786,
      3.5927895314200993,
      3.3662747648104996,
      3.0571077310202717,
      2.702620776832295,
      2.3395551717511913,
      1.9487877519679473,
      1.5425829500660098,
      1.141482548619085,
      0.744065145297019
    ],
    "vy_ego": [
      0.01937600783463722,
      -0.011821804493227006,
      -0.01182542264788125,
      0.004563580630100261,
      0.0034172431635363654,
      -0.004170793901728892,
      -0.0033579795306426796,
      -0.003994856534860369,
      -0.006869082890173628,
      -0.014223332343242738
    ],
    "v_ego": [
      3.7842346108548868,
      3.592808980747979,
      3.366295535573308,
      3.0571111372228654,
      2.702622937243824,
      2.3395588894467942,
      1.9487906450531862,
      1.5425881228354792,
      1.1415032164219572,
      0.7442010774171322
    ],
    "ax_ego": [
      -0.3827554956985895,
      -0.3828602852004211,
      -0.5229574518751342,
      -0.7136845256321509,
      -0.704453641845509,
      -0.7477895295655231,
      -0.8152875513623877,
      -0.8095453223326038,
      -0.7948599142128262,
      -0.7948458169481789
    ],
    "ay_ego": [
      -0.04578777980615116,
      -0.04490300732351894,
      0.07618943652760968,
      0.0571267803263442,
      -0.022360811165293492,
      0.004863338281712905,
      -0.00996719613948939,
      0.0029024014279678614,
      -0.015992768379415823,
      -0.016678738028745935
    ],
    "a_ego": [
      0.3854844877126051,
      0.3854844718668234,
      0.528478312431199,
      0.7159672277117456,
      0.7048084416246521,
      0.7478053440482147,
      0.8153484754418574,
      0.8095505251957091,
      0.7950207870633692,
      0.7950207877925265
    ],
    "yaw": [
      -1.6431790202750265,
      -1.640867752445983,
      -1.6386300848178128,
      -1.6333944660219295,
      -1.629977025797296,
      -1.6287050437923152,
      -1.6296753911520574,
      -1.630322578571113,
      -1.6306198220662775,
      -1.631482837970067
    ],
    "yaw_diff": [
      0.0046225356580871235,
      0.0044753352563402515,
      0.010471237591766602,
      0.006834880449266834,
      0.002543964009961819,
      -0.001940694719484437,
      -0.0012943748381113451,
      -0.0005944869903289351,
      -0.0017260318075789094,
      -0.0017260318075789094
    ],
    "min_front_frame": [
      9,
      11.522724019442235
    ],
    "v_avg": 2.421971515281741,
    "v_std": 1.0029484713445276,
    "vy_max": 0.01937600783463722,
    "a_max": 0.8153484754418574,
    "ax_avg": -0.6669039534673324,
    "a_std": 0.16221490459622312,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "051d26c01f3653ba",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.518723088090539,
    "right_rear_min": 8.526526129401248,
    "speed_mode": "decelerating",
    "front_frame": [
      19.800750343672963,
      18.752297669836533,
      17.532811991530828,
      16.459493986880787,
      15.396174229752106,
      14.420067728574082,
      13.496673699590044,
      12.633309793964425,
      11.984939338287749,
      11.522724019442235
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "051d26c01f3653ba",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a0ff0b74063659a2": {
    "vx_ego": [
      3.207125869624536,
      3.3477534566470237,
      3.4641132838754305,
      3.549565935960378,
      3.664049738126454,
      3.7783770039545903,
      3.809045543629856,
      3.768949339971924,
      3.712385080588812,
      3.6511531024162815
    ],
    "vy_ego": [
      -0.023127057630434766,
      -0.009144477292242659,
      -0.012986970579176305,
      0.0006934058302876522,
      -0.0024916819344346086,
      -0.02074886523306546,
      -0.026946587478093274,
      -0.019917870421769096,
      0.003285185492694853,
      0.027751643469302423
    ],
    "v_ego": [
      3.2072092548521955,
      3.3477659458147673,
      3.464137627884759,
      3.5495660036886085,
      3.664050585341774,
      3.7784339744689635,
      3.8091408574668355,
      3.769001969863765,
      3.712386534161296,
      3.651258568082968
    ],
    "ax_ego": [
      0.2583115375801023,
      0.30868657532942084,
      0.16604436796019903,
      0.18034256715188823,
      0.27542029541192037,
      0.18278878253841505,
      -0.056877948717589076,
      -0.10041527016940847,
      -0.12751669754354986,
      -0.11923963688406254
    ],
    "ay_ego": [
      0.600372004021219,
      0.5760937348049757,
      0.6866834090907493,
      0.7316160537586971,
      0.6805785966789294,
      0.6073644476527488,
      0.503745028124084,
      0.4209583714734962,
      0.27064508623855354,
      0.27439238360355
    ],
    "a_ego": [
      0.6535835016732379,
      0.653583501222416,
      0.7064735214088319,
      0.7535154223002885,
      0.7341958630925745,
      0.6342738456647922,
      0.5069459087615313,
      0.4327691959888242,
      0.2991810001612523,
      0.29918100070673076
    ],
    "yaw": [
      -2.1133461766774766,
      -2.0277605400036047,
      -1.9344990955344963,
      -1.8373176203304946,
      -1.7383050230925594,
      -1.6472183404204428,
      -1.5729847633902887,
      -1.5139294062822075,
      -1.473951928516,
      -1.4435818167921424
    ],
    "yaw_diff": [
      0.17117127334774374,
      0.1865228889382169,
      0.19436295040800333,
      0.19802519447587041,
      0.18217336534423323,
      0.1484671540603082,
      0.11811071421616237,
      0.07995495553241483,
      0.06074022344771546,
      0.06074022344771546
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.595295132162593,
    "v_std": 0.19031245375997985,
    "vy_max": 0.027751643469302423,
    "a_max": 0.7535154223002885,
    "ax_avg": 0.09675445726573359,
    "a_std": 0.1633375532310069,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "a0ff0b74063659a2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a0ff0b74063659a2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3a54e9d3717d5760": {
    "vx_ego": [
      5.898564049902848,
      6.095173527601821,
      6.235723736294669,
      6.326616428599932,
      6.413106128411507,
      6.4963231710062885,
      6.570612590041289,
      6.574893652268651,
      6.457723031745029,
      6.272058658327754
    ],
    "vy_ego": [
      0.056922285687281526,
      0.05503733737698102,
      0.017504794717568828,
      0.009395180778999812,
      0.004111772663198732,
      0.00227652100711051,
      0.005663107502939191,
      0.02795711708151316,
      0.03564963525343101,
      0.03422938048750135
    ],
    "v_ego": [
      5.898838699050361,
      6.0954220067263245,
      6.235748305795131,
      6.326623404633188,
      6.413107446545992,
      6.496323569889442,
      6.570615030512417,
      6.574953090253809,
      6.4578214322806975,
      6.272152060018372
    ],
    "ax_ego": [
      0.3917139687478193,
      0.392671483851011,
      0.16762894410736873,
      0.19524400837864817,
      0.14976688162935364,
      0.1831994825146544,
      0.11385215767677659,
      -0.09582292657628336,
      -0.37133201641484914,
      -0.36977112384579136
    ],
    "ay_ego": [
      0.10707804454100592,
      0.10351157910940953,
      0.17294521800348267,
      0.19245504826332432,
      0.08404059538051338,
      -0.11403995617613295,
      -0.05124915397165536,
      -0.1086102737132871,
      -0.14035456697077087,
      -0.14441671405745388
    ],
    "a_ego": [
      0.40608563251473595,
      0.4060856328897618,
      0.24085163759630845,
      0.2741517251629107,
      0.17173508815874522,
      0.2157942584924156,
      0.12485507434809383,
      0.14483861644505908,
      0.3969721285988103,
      0.3969721291593806
    ],
    "yaw": [
      -2.3452003172671825,
      -2.3361067270623845,
      -2.3188882322115685,
      -2.3030452782749244,
      -2.291374673816811,
      -2.2922528316024335,
      -2.299086790395073,
      -2.308521365056478,
      -2.319196951233626,
      -2.3301592768192334
    ],
    "yaw_diff": [
      0.018187180409595882,
      0.034436989701632115,
      0.031685907873288066,
      0.02334120891622682,
      -0.001756315571245004,
      -0.013667917585278744,
      -0.018869149322810586,
      -0.0213511723542954,
      -0.021924651171215004,
      -0.021924651171215004
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.334160504570574,
    "v_std": 0.20537801178674972,
    "vy_max": 0.056922285687281526,
    "a_max": 0.4060856328897618,
    "ax_avg": 0.07571508600687081,
    "a_std": 0.10902395916702734,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "3a54e9d3717d5760",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 5,
    "token": "3a54e9d3717d5760",
    "smoothness": "Yes"
  },
  "8a46ac0d50d4505e": {
    "vx_ego": [
      1.9058898031601261,
      1.8925615074040905,
      1.883766739997805,
      1.8748180203045064,
      1.8610166866519084,
      1.8600102104979175,
      1.922456572241286,
      2.0305913294153886,
      2.083364911526998,
      2.0835903144451824
    ],
    "vy_ego": [
      -0.02055306578780336,
      -0.0015921868435282427,
      -0.00043884488432166524,
      -0.005736712216321438,
      -0.007012585067366239,
      -0.010633350214688142,
      -0.005952669718296,
      0.00010878891855015116,
      -0.0037416345079134272,
      -0.018518844417711233
    ],
    "v_ego": [
      1.9060006218002716,
      1.8925621771467873,
      1.8837667911147575,
      1.8748267971003512,
      1.8610298988318739,
      1.8600406047431586,
      1.9224657881040406,
      2.0305913323295712,
      2.0833682714322705,
      2.083672610092176
    ],
    "ax_ego": [
      -0.0285780184818223,
      -0.023272125001532765,
      -0.01283429369412993,
      -0.022270488769927446,
      -0.032127195278729676,
      0.028857819324957595,
      0.22199293545240228,
      0.21114834339981028,
      -0.00035953426302139796,
      0.0026194534364007427
    ],
    "ay_ego": [
      0.1617382069686057,
      0.16258646749032069,
      0.10025356430603288,
      0.11876984819812687,
      0.1177545447403855,
      0.09625058932538899,
      0.11329433044856105,
      0.13286169892608607,
      0.09762084455156304,
      0.09758634537449361
    ],
    "a_ego": [
      0.16424357136206855,
      0.1642435728211855,
      0.10107173814024895,
      0.12083977619582703,
      0.12205854940762274,
      0.10048357916434197,
      0.2492317570105427,
      0.24947114855632133,
      0.09762150662557263,
      0.09762149527565853
    ],
    "yaw": [
      2.508292960577374,
      2.541009685757011,
      2.575220166132431,
      2.6071529024610207,
      2.639467980925776,
      2.6702941563872127,
      2.695843494083417,
      2.723890656826849,
      2.753393443952959,
      2.7839123396844183
    ],
    "yaw_diff": [
      0.06543345035927395,
      0.06842096075084036,
      0.06386547265717901,
      0.06463015692951046,
      0.06165235092287347,
      0.05109867539240831,
      0.056094325486863994,
      0.05900557425221997,
      0.06103779146291899,
      0.06103779146291899
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.939832489269526,
    "v_std": 0.08553130672851988,
    "vy_max": 0.02055306578780336,
    "a_max": 0.24947114855632133,
    "ax_avg": 0.03451768961244074,
    "a_std": 0.056569840875231786,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "8a46ac0d50d4505e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 31.378595321349867,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "8a46ac0d50d4505e",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "4cc1186b46d85ec4": {
    "vx_ego": [
      3.7636590036815303,
      3.049301768887063,
      2.306785796487113,
      1.5944927621133216,
      0.9652962873399744,
      0.3988645553722102,
      0.04318574299641407,
      -0.04478922663328823,
      -0.03163566628437223,
      -0.012372781734263712
    ],
    "vy_ego": [
      0.06302541639415238,
      0.016601862649253674,
      0.004780728163488623,
      0.005935185104879892,
      0.006179696097693033,
      0.012365362446488143,
      0.010156328300865908,
      0.0074311440429614545,
      0.0017526572812581551,
      0.0010480903940821955
    ],
    "v_ego": [
      3.7641866716602546,
      3.0493469628071512,
      2.306790750422859,
      1.5945038083535577,
      0.9653160679260437,
      0.3990561811583727,
      0.04436394259651971,
      0.04540150574810595,
      0.03168417884057772,
      0.012417093915965084
    ],
    "ax_ego": [
      -1.4287085521984246,
      -1.4286915120748351,
      -1.5413839354312995,
      -1.3077526454101562,
      -1.209024710676099,
      -1.0567261535591599,
      -0.36598642838452006,
      0.014088275357266096,
      0.03852593988265726,
      0.038526048555471815
    ],
    "ay_ego": [
      -0.09395194394583484,
      -0.09421076436349551,
      0.04201333140067032,
      -0.04171261573615037,
      0.044956851931010955,
      -0.01929687837712113,
      0.010413236383346847,
      -0.0213074857946734,
      -0.0014071466285945043,
      -0.001404041340057574
    ],
    "a_ego": [
      1.4317943619445217,
      1.431794365401901,
      1.54195640548657,
      1.3084177176608447,
      1.2098602686099629,
      1.0569023290404078,
      0.3661345398260493,
      0.025543853535290244,
      0.038551629089786675,
      0.03855162447139112
    ],
    "yaw": [
      -0.5761851824848825,
      -0.5763663439960076,
      -0.5768225703441825,
      -0.5773842732369872,
      -0.5769373096776325,
      -0.5765914359362554,
      -0.5766795945806031,
      -0.5767132430873169,
      -0.5767091812180825,
      -0.5767895977441402
    ],
    "yaw_diff": [
      -0.0003623230222502549,
      -0.0009124526963497637,
      -0.0011234057856093216,
      0.0008939271187093922,
      0.0006917474827541348,
      -0.00017631728869549335,
      -6.729701342744754e-05,
      8.123738468812647e-06,
      -0.00016083305211544996,
      -0.00016083305211544996
    ],
    "min_front_frame": [
      6,
      8.819996916715004
    ],
    "v_avg": 1.2213067163429407,
    "v_std": 1.3233182413987392,
    "vy_max": 0.06302541639415238,
    "a_max": 1.54195640548657,
    "ax_avg": -0.82471336739391,
    "a_std": 0.6138993006428881,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4cc1186b46d85ec4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 31.303487662453808,
    "right_rear_min": 20.71591622531067,
    "speed_mode": "decelerating",
    "front_frame": [
      13.776104948207067,
      12.077599989487926,
      10.744495907355356,
      9.802699561212652,
      9.178590627010061,
      8.870097377654734,
      8.819996916715004,
      8.843160064455567,
      8.846764666701436,
      8.862493561195697
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4cc1186b46d85ec4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f727c5fa1e735d2d": {
    "vx_ego": [
      6.95333486604498,
      7.04495440907192,
      7.1698156607134,
      7.296332981524833,
      7.309002408594317,
      7.26870602268813,
      7.234835923151235,
      7.219563374828992,
      7.265613774180168,
      7.322200752701538
    ],
    "vy_ego": [
      -0.08365291156653454,
      -0.07208521075073238,
      0.002146151382986794,
      0.007563167837536078,
      0.011423305140789264,
      0.0010288662391331194,
      0.012616439269931945,
      0.025202122839614205,
      0.02528225239165849,
      0.0026965789009496532
    ],
    "v_ego": [
      6.9538380459261715,
      7.045323193687488,
      7.169815981918705,
      7.296336901404347,
      7.309011335381679,
      7.268706095504786,
      7.234846923706087,
      7.219607362604132,
      7.265657761541111,
      7.322201249241975
    ],
    "ax_ego": [
      0.17610105944538906,
      0.2037995097876589,
      0.2973229934372795,
      0.20615589732759976,
      -0.15743966569149379,
      -0.00362707150936295,
      -0.1321145306438719,
      0.07090005161880857,
      0.11317323267841514,
      0.11322236697544524
    ],
    "ay_ego": [
      0.638349703482586,
      0.630053705662923,
      0.4690111141733309,
      0.30948443489110666,
      0.03488037645990374,
      0.11988431976383099,
      0.0367046670539971,
      0.07986324128518583,
      -0.057660279482583975,
      -0.05756374217357181
    ],
    "a_ego": [
      0.6621947803132353,
      0.6621947690893302,
      0.555312873652875,
      0.37186135782414326,
      0.1612572137767298,
      0.11993917530552939,
      0.13711849543659435,
      0.10679398217186926,
      0.1270153078368603,
      0.1270153092998944
    ],
    "yaw": [
      0.9331730707188102,
      0.9768406627968589,
      1.00510026389474,
      1.031216199670768,
      1.0424068499631995,
      1.0491589740956937,
      1.0529509772511196,
      1.055249879625619,
      1.0560057705059038,
      1.0551529577201544
    ],
    "yaw_diff": [
      0.08733518415609742,
      0.05651920219576212,
      0.05223187155205622,
      0.022381300584862984,
      0.013504248264988306,
      0.007584006310851876,
      0.004597804748998513,
      0.0015117817605698747,
      -0.0017056255714988922,
      -0.0017056255714988922
    ],
    "min_front_frame": [
      0,
      19.198447833545615
    ],
    "v_avg": 7.208534485091647,
    "v_std": 0.11464334421787305,
    "vy_max": 0.08365291156653454,
    "a_max": 0.6621947803132353,
    "ax_avg": 0.08874938434258677,
    "a_std": 0.22538908068239602,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f727c5fa1e735d2d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.198447833545615,
      19.728915923991217,
      20.23407717185746,
      20.849685322328956,
      21.442703021139998,
      21.98977965731388,
      22.528879005233495,
      22.807805702622726,
      22.94551514489025,
      23.128192942274996
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f727c5fa1e735d2d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1d58f582aa95543b": {
    "vx_ego": [
      6.550393664096948,
      6.874441455051099,
      7.18141320479575,
      7.441065481988383,
      7.561921916579214,
      7.485480701926923,
      7.329398465894407,
      7.146119558868873,
      6.924480195606913,
      6.701473931778454
    ],
    "vy_ego": [
      0.09144074800894364,
      -0.11539477372074902,
      -0.08246665653353391,
      -0.05364515072484144,
      -0.024491530115827942,
      -0.00616448561503713,
      -0.037611397484386355,
      -0.05218771840958558,
      -0.006164057176806459,
      0.03581998411720155
    ],
    "v_ego": [
      6.551031870250508,
      6.8754098985243886,
      7.181886685784912,
      7.4412588524681285,
      7.561961578022496,
      7.485483240232608,
      7.329494968214114,
      7.146310118347863,
      6.9244829391769915,
      6.701569661621696
    ],
    "ax_ego": [
      0.6393944826984955,
      0.6584635986186974,
      0.5714912928165877,
      0.4667199198259681,
      0.016401573187696576,
      -0.3222141578782954,
      -0.30211926160055813,
      -0.43376375736107536,
      -0.45326119263091846,
      -0.4361377086804637
    ],
    "ay_ego": [
      0.3579041049493593,
      0.3214752513902181,
      0.039012960131092816,
      0.032968289318320534,
      0.022808950973736503,
      -0.07717992879146954,
      -0.25096721623729384,
      -0.2317567276687954,
      -0.43419892186858633,
      -0.4513959507530996
    ],
    "a_ego": [
      0.7327486969247224,
      0.7327486935930279,
      0.572821358560734,
      0.4678828824213754,
      0.028093768838546432,
      0.33132869623000566,
      0.3927602218351078,
      0.4917948535921722,
      0.6276738105871913,
      0.6276738048455899
    ],
    "yaw": [
      -1.9517766633352833,
      -1.8956545198578758,
      -1.8875290397328457,
      -1.889007152222279,
      -1.8910195552372078,
      -1.8952383793865293,
      -1.9020702730573715,
      -1.9166966359046897,
      -1.9468904933068094,
      -1.985556806542208
    ],
    "yaw_diff": [
      0.11224428695481503,
      0.01625096025006023,
      -0.0029562249788668282,
      -0.004024806029857331,
      -0.008437648298643019,
      -0.013663787341684497,
      -0.02925272569463644,
      -0.06038771480423932,
      -0.0773326264707972,
      -0.0773326264707972
    ],
    "min_front_frame": [
      0,
      48.642882762455834
    ],
    "v_avg": 7.11988898126437,
    "v_std": 0.32823549592438794,
    "vy_max": 0.11539477372074902,
    "a_max": 0.7327486969247224,
    "ax_avg": 0.04049747889961343,
    "a_std": 0.20248202680292138,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1d58f582aa95543b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      48.642882762455834,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1d58f582aa95543b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b3edadc19d8a5812": {
    "vx_ego": [
      6.275310357976847,
      6.276836432608231,
      6.304509863413887,
      6.341444036805043,
      6.375589664636722,
      6.380144345006883,
      6.260309747166706,
      6.023351703181907,
      5.763794086987883,
      5.5163811261805265
    ],
    "vy_ego": [
      0.06400362616492172,
      0.068306310872988,
      0.05621536715410169,
      0.035466259024813596,
      0.016788595981645393,
      -0.027772633740252406,
      -0.04136707692795927,
      -0.041626862456711766,
      -0.05032440719708786,
      -0.07541432135465387
    ],
    "v_ego": [
      6.275636744832652,
      6.277208085910734,
      6.30476048596513,
      6.341543213403143,
      6.375611768981674,
      6.380204791564937,
      6.260446419028281,
      6.023495541286834,
      5.764013777148371,
      5.5168965958359335
    ],
    "ax_ego": [
      0.003010231536359667,
      0.008932044159160796,
      0.1073513746595767,
      0.04339409524558735,
      0.09496494313972814,
      -0.07681627049356284,
      -0.4056528700434928,
      -0.5439588367493436,
      -0.4951332853153334,
      -0.4949967482431274
    ],
    "ay_ego": [
      -0.26841902327520545,
      -0.2682872560696324,
      -0.3050232241446941,
      -0.25664929540760034,
      -0.2544857246926768,
      -0.2885921801130543,
      -0.144966168844902,
      -0.07330455400292918,
      -0.071197979409959,
      -0.07214112462292405
    ],
    "a_ego": [
      0.26843590212547536,
      0.2684359014406115,
      0.32336277601004904,
      0.2602919674815203,
      0.2716271792326546,
      0.2986405629430567,
      0.43077771655935443,
      0.5488759183233196,
      0.5002260713909424,
      0.500226071524796
    ],
    "yaw": [
      2.672079058881756,
      2.65001271880117,
      2.629110496869412,
      2.61020890221107,
      2.593032863310559,
      2.578780345441184,
      2.563878844333047,
      2.5550614235630973,
      2.550402709271883,
      2.5484976163585626
    ],
    "yaw_diff": [
      -0.04413268016117211,
      -0.04180444386351567,
      -0.03780318931668436,
      -0.034352077801021785,
      -0.02850503573874974,
      -0.02980300221627452,
      -0.01763484153989925,
      -0.009317428582428455,
      -0.003810185826640833,
      -0.003810185826640833
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.151981742395768,
    "v_std": 0.27829279848198124,
    "vy_max": 0.07541432135465387,
    "a_max": 0.5488759183233196,
    "ax_avg": -0.17589053221044476,
    "a_std": 0.10914866010520916,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b3edadc19d8a5812",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b3edadc19d8a5812",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "dad522fc9c405963": {
    "vx_ego": [
      5.892129156884844,
      6.097027878856534,
      6.329383821350541,
      6.481284005501111,
      6.548422174106651,
      6.650826578741096,
      6.87029726590123,
      7.133894645672212,
      7.243654530950474,
      7.211010659832471
    ],
    "vy_ego": [
      0.09932586879335581,
      0.09494664261411834,
      0.09160400886542108,
      0.0472784123832688,
      -0.007796063784970997,
      -0.022826954430293256,
      -0.003398243132390455,
      0.0018178385720366563,
      0.025409043586673175,
      0.0005291557743856146
    ],
    "v_ego": [
      5.892966284446574,
      6.097767117601122,
      6.330046670634759,
      6.481456441899614,
      6.548426814811495,
      6.650865751940687,
      6.87029810633471,
      7.133894877280414,
      7.243699095300364,
      7.21101067924763
    ],
    "ax_ego": [
      0.35005484890153227,
      0.5116928306799842,
      0.42993687620431154,
      0.18409631459756418,
      0.08169250406478779,
      0.3272302902363828,
      0.5502939503191242,
      0.5043680886134313,
      -0.06562987182834336,
      -0.0652976319401765
    ],
    "ay_ego": [
      -1.4191022683298684,
      -1.369145753330376,
      -0.8931603553382872,
      -0.5910507163090251,
      -0.1624117719940062,
      -0.06025000292051852,
      0.046901106287338984,
      0.13528427429794312,
      0.04852858178358646,
      0.04897472523892551
    ],
    "a_ego": [
      1.461639369071062,
      1.4616393696229921,
      0.9912523078754153,
      0.6190576728365597,
      0.18180002448462,
      0.3327307104853861,
      0.552289005439003,
      0.5221963267621549,
      0.08162293382457542,
      0.08162294070433267
    ],
    "yaw": [
      -1.8156487844639329,
      -1.9314614891413977,
      -2.021741670434846,
      -2.0724958322059686,
      -2.0929145807273564,
      -2.0991004301664153,
      -2.1024818352095043,
      -2.096726827843571,
      -2.0936466742442166,
      -2.0868314620278405
    ],
    "yaw_diff": [
      -0.2316254093549297,
      -0.18056036258689634,
      -0.10150832354224537,
      -0.04083749704277562,
      -0.012371698878117954,
      -0.006762810086177851,
      0.011510014731866747,
      0.006160307198708637,
      0.013630424432752086,
      0.013630424432752086
    ],
    "min_front_frame": [
      5,
      21.266804844958646
    ],
    "v_avg": 6.646043183949738,
    "v_std": 0.4437225112931153,
    "vy_max": 0.09932586879335581,
    "a_max": 1.4616393696229921,
    "ax_avg": 0.28084381998485985,
    "a_std": 0.49215838003984713,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "dad522fc9c405963",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      36.129665100124605,
      27.894262547563855,
      24.611021359942956,
      21.266804844958646,
      45.64571903534915,
      42.35608331754667,
      38.669688297456105,
      65.72384744787341
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dad522fc9c405963",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "dfd5770faffa5ba7": {
    "vx_ego": [
      8.448879699468897,
      8.216164797243202,
      7.935461075212516,
      7.6457723054034235,
      7.488726141949717,
      7.438281234439024,
      7.304426140944424,
      7.039987535047972,
      6.8775730679090055,
      6.851431096034721
    ],
    "vy_ego": [
      0.018655677518231162,
      -0.04251807455881762,
      -0.022296496734504956,
      -0.004045082270910161,
      0.010879994220433176,
      0.018895195411667842,
      0.005785571132806755,
      0.005666502116103089,
      -0.002189427544593059,
      -0.027452244474518217
    ],
    "v_ego": [
      8.448900295920252,
      8.216274810528347,
      7.935492398709712,
      7.645773375451601,
      7.488734045444218,
      7.438305233789306,
      7.304428432214638,
      7.039989815537879,
      6.877573416403511,
      6.851486093501046
    ],
    "ax_ego": [
      -0.4669549253462721,
      -0.46287145493693965,
      -0.6597784927371041,
      -0.49903853520384456,
      -0.12681379885315988,
      -0.07326284260342734,
      -0.46170600597679146,
      -0.5968206238392,
      -0.052888579610709245,
      -0.05204622283202147
    ],
    "ay_ego": [
      0.20217071268312314,
      0.21135260393442373,
      0.02213433852790303,
      -0.04156136489713827,
      -0.33550428222985845,
      -0.35667494601704974,
      -0.30215058112599924,
      -0.16018207175564877,
      -0.13556575731096168,
      -0.13589137885163446
    ],
    "a_ego": [
      0.5088417233010128,
      0.5088417307820781,
      0.6601496712265429,
      0.5007662195780701,
      0.35867096756517974,
      0.3641214923931296,
      0.5517856555129175,
      0.6179426778850475,
      0.14551727185641192,
      0.14551727099309855
    ],
    "yaw": [
      -1.1174686457765963,
      -1.09771960583616,
      -1.0930099662183146,
      -1.095983787750953,
      -1.110502284985686,
      -1.1347822540302688,
      -1.1552126233000493,
      -1.1712732807322133,
      -1.1808629694882997,
      -1.1870690983438346
    ],
    "yaw_diff": [
      0.039498079880872616,
      0.009419279235690858,
      -0.005947643065276953,
      -0.02903699446946595,
      -0.04855993808916548,
      -0.04086073853956096,
      -0.03212131486432801,
      -0.019179377512172913,
      -0.012412257711069685,
      -0.012412257711069685
    ],
    "min_front_frame": [
      8,
      42.26172071087187
    ],
    "v_avg": 7.524695791750051,
    "v_std": 0.5176912181554474,
    "vy_max": 0.04251807455881762,
    "a_max": 0.6601496712265429,
    "ax_avg": -0.34521814819394697,
    "a_std": 0.1707235469447035,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "dfd5770faffa5ba7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      45.719346544973334,
      42.26172071087187,
      45.01895964516128
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "dfd5770faffa5ba7",
    "pedestrians": "No"
  },
  "3be6682bde7d5548": {
    "vx_ego": [
      4.284104127677606,
      4.718836944799934,
      5.205846684988234,
      5.596134255058846,
      5.891882719860923,
      6.174118583023784,
      6.444798781353867,
      6.725932563696906,
      7.01899472299556,
      7.3215326036139725
    ],
    "vy_ego": [
      0.1598030244184605,
      0.16402274329898914,
      0.14130107240360346,
      0.07252316355577104,
      0.011957107637893483,
      -0.02196437877984536,
      -0.018936518354522924,
      -0.020359714303240573,
      -0.022576277820290702,
      -0.07288705192833111
    ],
    "v_ego": [
      4.28708352885707,
      4.721686729541478,
      5.2077639828111835,
      5.5966041676980485,
      5.891894852848174,
      6.174157651953406,
      6.444826601536125,
      6.725963378532844,
      7.0190310306879065,
      7.321895395874022
    ],
    "ax_ego": [
      0.8248988941452187,
      0.9948431203645394,
      0.9951194545135992,
      0.5764051014145197,
      0.6064920355222543,
      0.5243918870019547,
      0.5590882807067585,
      0.567163530951194,
      0.6055581904589712,
      0.6075193592740835
    ],
    "ay_ego": [
      -1.2926633049442635,
      -1.1669292028176659,
      -0.8223324528770578,
      -0.43012217240649386,
      -0.07532362806363455,
      0.21966455439783286,
      0.1602116837769641,
      0.2309067882356384,
      0.12954007355411887,
      0.12000657734774953
    ],
    "a_ego": [
      1.5334394691383912,
      1.5334394668604714,
      1.2909273379265935,
      0.7191995023165438,
      0.6111515672045651,
      0.5685414387819672,
      0.5815904824206541,
      0.6123662431048301,
      0.6192587122425894,
      0.6192587104752861
    ],
    "yaw": [
      -0.6145579739487372,
      -0.7525276246871515,
      -0.848094556054056,
      -0.8928919355741083,
      -0.9043539276359904,
      -0.8927697991844189,
      -0.8781880705035964,
      -0.8631219142223765,
      -0.8496782036143524,
      -0.8339606550332508
    ],
    "yaw_diff": [
      -0.27593930147682855,
      -0.19113386273380906,
      -0.0895947590401045,
      -0.022923984123764285,
      0.02316825690314306,
      0.02916345736164505,
      0.030132312562439756,
      0.026887421216048146,
      0.031435097162203274,
      0.031435097162203274
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.9390907320340265,
    "v_std": 0.9420285129373113,
    "vy_max": 0.16402274329898914,
    "a_max": 1.5334394691383912,
    "ax_avg": 0.6861479854353093,
    "a_std": 0.38902314998521076,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "3be6682bde7d5548",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.38969698998446,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3be6682bde7d5548",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "59baf497f88254c8": {
    "vx_ego": [
      9.63531555839901,
      9.628535084192432,
      9.601881080334378,
      9.578860748905209,
      9.618944147452774,
      9.641647042965031,
      9.646954081201521,
      9.683672186699965,
      9.717267785190021,
      9.752395060869269
    ],
    "vy_ego": [
      0.0005607140661920695,
      -0.015400357884843174,
      -0.03319453489647284,
      -0.04882574671118256,
      -0.020980799767244207,
      0.048335997483028414,
      0.07633227097399864,
      0.07988312180410873,
      0.07298584051726476,
      0.10762719150225042
    ],
    "v_ego": [
      9.635315574714006,
      9.628547400233721,
      9.60193845835466,
      9.578985186357622,
      9.618967029040846,
      9.641768202449642,
      9.64725606897644,
      9.684001669383152,
      9.717541877553591,
      9.752988928303875
    ],
    "ax_ego": [
      -0.0174557164844526,
      -0.009016734091307488,
      -0.09551540288443533,
      0.007938884876052016,
      0.15666887241572486,
      -0.06560004394558205,
      0.07782960781262677,
      0.060406179324174525,
      0.06490773722909113,
      0.07022973770907578
    ],
    "ay_ego": [
      0.38738489182872987,
      0.38767312977534685,
      0.38374710132635437,
      0.4435565677897684,
      0.5399455993055067,
      0.6706618965278056,
      0.5366642425576051,
      0.5220070226776319,
      0.3588875594319042,
      0.35788416879551377
    ],
    "a_ego": [
      0.3877779731433212,
      0.3877779739019305,
      0.39545547153194793,
      0.4436276081608477,
      0.5622156043666855,
      0.6738625566240755,
      0.5422784866580965,
      0.5254904739624783,
      0.36470987739186517,
      0.36470987693390117
    ],
    "yaw": [
      2.429630843871217,
      2.451406371942917,
      2.4732888134628825,
      2.496514972909572,
      2.5192721861447143,
      2.5434305848085765,
      2.5718750290711148,
      2.5988831836032356,
      2.6222968662231527,
      2.637146512541775
    ],
    "yaw_diff": [
      0.043551056143400046,
      0.04376488303993131,
      0.04645231889337875,
      0.0455144264702847,
      0.04831679732772454,
      0.05688888852507645,
      0.0540163090642416,
      0.04682736523983433,
      0.029699292637244135,
      0.029699292637244135
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.650731039536755,
    "v_std": 0.050385109674453976,
    "vy_max": 0.10762719150225042,
    "a_max": 0.6738625566240755,
    "ax_avg": 0.025039312196096765,
    "a_std": 0.10002049065297461,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "59baf497f88254c8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "59baf497f88254c8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d44d886053b15b23": {
    "vx_ego": [
      7.007386835081326,
      7.360722872272262,
      7.713831865089077,
      7.990000759389666,
      8.186912616259388,
      8.383283323933233,
      8.628109801448304,
      8.88877579653102,
      9.14000580638439,
      9.403632696265142
    ],
    "vy_ego": [
      -0.019370682552951823,
      -0.005260532330602086,
      0.0572575044965431,
      0.05706613846676678,
      0.011802411318482697,
      0.013850715972793637,
      -0.03353391906705916,
      -0.08554238122623659,
      -0.062325397710203845,
      0.043562308584186304
    ],
    "v_ego": [
      7.007413608444534,
      7.36072475206025,
      7.714044364967367,
      7.990204545517401,
      8.186921123547,
      8.383294765882326,
      8.628174967487405,
      8.889187401555978,
      9.140218301328481,
      9.40373359687502
    ],
    "ax_ego": [
      0.6900544804224172,
      0.724843073286494,
      0.6833961752563182,
      0.4130252762132054,
      0.3714656228914332,
      0.4108013777126443,
      0.5638812372221296,
      0.4876489567682468,
      0.5237822686463722,
      0.5312327486728902
    ],
    "ay_ego": [
      0.7381014775113365,
      0.7039683944613769,
      0.6907209514232739,
      0.7985485115710866,
      0.9691433664339487,
      0.9609146064078773,
      0.7138109798665428,
      0.63657083494345,
      0.4963467318904821,
      0.4883643230973235
    ],
    "a_ego": [
      1.0104300950859837,
      1.0104300971823525,
      0.9716613427990419,
      0.8990381549875358,
      1.0378947796829154,
      1.0450428951668023,
      0.9096637646236073,
      0.8018877308811755,
      0.7216009584297284,
      0.7216009599057231
    ],
    "yaw": [
      -0.9778418478329651,
      -0.9296030855631193,
      -0.8916685053382186,
      -0.84443885049425,
      -0.7842633327778541,
      -0.7262535563969243,
      -0.6713492296266024,
      -0.6269216424570331,
      -0.5980650386736743,
      -0.5829330060426797
    ],
    "yaw_diff": [
      0.0964775245396916,
      0.07586916044980141,
      0.09445930968793714,
      0.12035103543279191,
      0.11601955276185949,
      0.10980865354064395,
      0.08885517433913859,
      0.057713207566717495,
      0.030264065261989215,
      0.030264065261989215
    ],
    "min_front_frame": [
      9,
      59.14334848126094
    ],
    "v_avg": 8.270391742766574,
    "v_std": 0.7336435382681514,
    "vy_max": 0.08554238122623659,
    "a_max": 1.0450428951668023,
    "ax_avg": 0.5400131217092151,
    "a_std": 0.11886107942537011,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "d44d886053b15b23",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      76.6763098413723,
      72.00268985692664,
      67.40687201266,
      59.14334848126094
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "d44d886053b15b23",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "8601b9cf8c6852f3": {
    "vx_ego": [
      5.5976938591695475,
      5.901906073506485,
      6.195638281127613,
      6.465874513722008,
      6.704655463647167,
      6.920844125650427,
      7.0774021338842665,
      7.1124155159718345,
      7.012879631794843,
      6.8448781929811275
    ],
    "vy_ego": [
      0.00045826533061443797,
      0.009648746826826926,
      0.010637942290041558,
      0.009253208064694984,
      0.02257535448947756,
      0.0414691222743504,
      0.02804891878332816,
      0.0022991199587849565,
      -0.024403425211333207,
      -0.06516440430921167
    ],
    "v_ego": [
      5.597693877927908,
      5.901913960640909,
      6.195647413821263,
      6.465881134776552,
      6.704693470461131,
      6.920968364300781,
      7.077457714925218,
      7.112415887572202,
      7.012922091197436,
      6.8451883740579085
    ],
    "ax_ego": [
      0.6079105079055445,
      0.6087612028123683,
      0.5660590443948568,
      0.5141793664194122,
      0.4404259727375436,
      0.4237057386332769,
      0.20122417684852453,
      -0.06186529750453858,
      -0.33582539616529017,
      -0.3329824454930028
    ],
    "ay_ego": [
      0.11090726287040906,
      0.10613860960698218,
      0.16780693173389227,
      0.12883745970249616,
      0.10273225051151424,
      0.10842804346142826,
      0.15740498739488068,
      0.19105917137651146,
      0.15892598365092833,
      0.16479944212653352
    ],
    "a_ego": [
      0.617944663039809,
      0.6179446629746589,
      0.5904083401165346,
      0.530075005894506,
      0.4522487730850931,
      0.4373593414569353,
      0.2554750465410444,
      0.20082560096363272,
      0.37153218567035246,
      0.37153218586243275
    ],
    "yaw": [
      1.1593713846146771,
      1.1672101945070001,
      1.1783590654502722,
      1.1902798576243145,
      1.1970385532415344,
      1.2020124391178415,
      1.2133797877251142,
      1.2292140646531808,
      1.245305102832921,
      1.262868614993156
    ],
    "yaw_diff": [
      0.01567761978464599,
      0.02229774188654421,
      0.023841584348084588,
      0.013517391234439735,
      0.009947771752614187,
      0.022734697214545463,
      0.03166855385613321,
      0.03218207635948023,
      0.03512702432047021,
      0.03512702432047021
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.583478228968131,
    "v_std": 0.5005836785851472,
    "vy_max": 0.06516440430921167,
    "a_max": 0.617944663039809,
    "ax_avg": 0.26315928705886954,
    "a_std": 0.13951548220013066,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8601b9cf8c6852f3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8601b9cf8c6852f3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "330166def5a35f4d": {
    "vx_ego": [
      3.736047639300107,
      3.8895530829636673,
      3.941943068105631,
      3.851371015921479,
      3.73964240977364,
      3.6273455857421935,
      3.4848644471478982,
      3.2449191456593107,
      2.898180949563251,
      2.5290246443559194
    ],
    "vy_ego": [
      -0.017684086004367106,
      -0.01953742574415429,
      -0.0137151551165966,
      0.010338915800443438,
      0.0017497457495418978,
      -0.01200766529698849,
      0.004059306694267795,
      0.0011973486411951395,
      -0.0017601242572304887,
      0.030362421341370238
    ],
    "v_ego": [
      3.736089491703553,
      3.889602151402747,
      3.941966927520563,
      3.8513848931858234,
      3.739642819118931,
      3.6273654602795764,
      3.4848668113668655,
      3.244919366565234,
      2.8981814840428384,
      2.529206897110099
    ],
    "ax_ego": [
      0.2905172041525793,
      0.327977751910174,
      -0.11561471788492264,
      -0.2494010358247289,
      -0.2000647443613662,
      -0.24707418950779347,
      -0.3217666926569017,
      -0.6405244564539163,
      -0.7458117454536715,
      -0.73260919352537
    ],
    "ay_ego": [
      0.54317430086124,
      0.5214107378954023,
      0.4794924300775707,
      0.3494473959927039,
      0.2815588037549728,
      0.3310770070105357,
      0.34944152733441747,
      0.26043580818516143,
      0.2854658341808917,
      0.3178201979101243
    ],
    "a_ego": [
      0.6159858496952088,
      0.6159858467048407,
      0.4932339743907594,
      0.42931848229086217,
      0.34540014752213133,
      0.4131072980376737,
      0.4750191422765734,
      0.6914465919365307,
      0.7985774240117512,
      0.7985774280791585
    ],
    "yaw": [
      -2.8816036054147416,
      -2.8112567614033876,
      -2.7497321354033737,
      -2.7029318167581753,
      -2.659041844363581,
      -2.6138070509327465,
      -2.5706037923866853,
      -2.524989585589049,
      -2.4797960003057535,
      -2.436034165215639
    ],
    "yaw_diff": [
      0.14069368802270787,
      0.12304925200002792,
      0.0936006372903968,
      0.08777994478918849,
      0.09046958686166917,
      0.08640651709212221,
      0.09122841359527278,
      0.09038717056659085,
      0.08752367018022866,
      0.08752367018022866
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.494322630229623,
    "v_std": 0.44379977763888534,
    "vy_max": 0.030362421341370238,
    "a_max": 0.7985774280791585,
    "ax_avg": -0.26343718196059174,
    "a_std": 0.15270413472446678,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "330166def5a35f4d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.639573430622203,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "330166def5a35f4d",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "55bd10ac74585a12": {
    "vx_ego": [
      3.974127137925946,
      3.852152412258841,
      3.7277020633142905,
      3.665291012224121,
      3.745088930956199,
      3.897334325879564,
      4.070624071438463,
      4.213253219849348,
      4.24335509221351,
      4.217218287984069
    ],
    "vy_ego": [
      -0.028929584927850804,
      0.04986056381866932,
      0.033807662492517654,
      0.002910164610695709,
      -0.004697014301026092,
      -0.009976479035388008,
      -0.01075829850174026,
      -0.02444894018779653,
      -0.03062615655340073,
      0.0245987994638317
    ],
    "v_ego": [
      3.974232432720005,
      3.8524750853309775,
      3.7278553661429554,
      3.6652921675289387,
      3.7450918764049024,
      3.8973470948599203,
      4.070638288028168,
      4.213324156203414,
      4.243465611982682,
      4.217290029087677
    ],
    "ax_ego": [
      -0.2505215652376897,
      -0.23853511241237668,
      -0.26867516982848827,
      0.017054432111555717,
      0.3077478350093057,
      0.30367816372042566,
      0.3937025901139294,
      0.17288099069595425,
      -0.05268231965639918,
      -0.05179645017948607
    ],
    "ay_ego": [
      0.3912781256516778,
      0.3986986747745477,
      0.40396341819209125,
      0.4941810716413779,
      0.6296958247857389,
      0.6293799505720414,
      0.650980727350775,
      0.3904761017856786,
      0.15776513739580011,
      0.1580581890587043
    ],
    "a_ego": [
      0.4646069589046554,
      0.4646069662850157,
      0.4851523370239552,
      0.4944752624988113,
      0.7008748545250477,
      0.698812957308803,
      0.7607743665795796,
      0.42703562264728484,
      0.16632878699099177,
      0.16632878097224513
    ],
    "yaw": [
      2.2917348735379326,
      2.3220788967919415,
      2.3791893204343824,
      2.4489367606664523,
      2.5275519942141598,
      2.611247693226956,
      2.6919725423731062,
      2.7576767106757405,
      2.7913250186179894,
      2.796934906588918
    ],
    "yaw_diff": [
      0.060688046508017734,
      0.1142208472848818,
      0.13949488046413983,
      0.157230467095415,
      0.16739139802559233,
      0.1614496982923006,
      0.13140833660526852,
      0.06729661588449787,
      0.01121977594185708,
      0.01121977594185708
    ],
    "min_front_frame": [
      5,
      13.499577699586636
    ],
    "v_avg": 3.960701210828964,
    "v_std": 0.2062956250738593,
    "vy_max": 0.04986056381866932,
    "a_max": 0.7607743665795796,
    "ax_avg": 0.03328533943367306,
    "a_std": 0.1938322559273368,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "55bd10ac74585a12",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      15.419897776680513,
      13.499577699586636,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "55bd10ac74585a12",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "8c2841e7cecf5047": {
    "vx_ego": [
      6.45110802038303,
      5.889472065754457,
      5.345047251888358,
      4.844157147612171,
      4.37394151686006,
      3.916046188373853,
      3.540541965267618,
      3.2158414066470913,
      2.8373073929520505,
      2.428592706337134
    ],
    "vy_ego": [
      -0.02720089546750515,
      -0.03566256227489628,
      -0.04392196100728585,
      -0.007742708855003055,
      0.02026947713438032,
      -0.004837256537098877,
      -0.04451624158640155,
      -0.06137237008281349,
      -0.018547578468665282,
      0.05023113380166455
    ],
    "v_ego": [
      6.451165365991209,
      5.889580038648773,
      5.345227709235409,
      4.8441633354277505,
      4.373988482451158,
      3.9160491759588756,
      3.540821811894248,
      3.216426980442044,
      2.837368015391626,
      2.4291121217590854
    ],
    "ax_ego": [
      -1.1232690826953922,
      -1.1232697418369755,
      -1.0541521503952347,
      -0.9492367663999453,
      -0.931668167944449,
      -0.8999171410043151,
      -0.6021941720764404,
      -0.6969780898852721,
      -0.8174292850939773,
      -0.8174294103000028
    ],
    "ay_ego": [
      -0.01645549679421987,
      -0.016410874000291065,
      0.018593775923853362,
      0.14693440975028216,
      -0.027937359728380573,
      -0.0712279263237306,
      -0.10447144877332354,
      0.01869121440369187,
      0.13755302392723123,
      0.1375522831604642
    ],
    "a_ego": [
      1.1233896098478446,
      1.1233896161670531,
      1.0543161217993415,
      0.9605415969410632,
      0.9320869440291281,
      0.9027315648418189,
      0.6111890906189562,
      0.6972286707214551,
      0.8289218723865213,
      0.8289218729325863
    ],
    "yaw": [
      -0.6271222347572658,
      -0.6270825162826645,
      -0.6255125893030499,
      -0.6244887168803253,
      -0.6241116528607631,
      -0.6240354847048686,
      -0.625185787161106,
      -0.6265394371843309,
      -0.6277768420297649,
      -0.6277777490174982
    ],
    "yaw_diff": [
      7.943694920253819e-05,
      0.003139853959229333,
      0.0020477448454492286,
      0.0007541280391243355,
      0.0001523363117890142,
      -0.0023006049124747463,
      -0.002707300046449923,
      -0.002474809690867996,
      -1.8139754665025265e-06,
      -1.8139754665025265e-06
    ],
    "min_front_frame": [
      9,
      13.32198448679101
    ],
    "v_avg": 4.284390303720018,
    "v_std": 1.2682012269700553,
    "vy_max": 0.06137237008281349,
    "a_max": 1.1233896161670531,
    "ax_avg": -0.9015544007632004,
    "a_std": 0.16203716680033833,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8c2841e7cecf5047",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 29.920948582950565,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      32.536416183905274,
      29.534467874678647,
      26.644765424998194,
      24.14226981876359,
      21.865984884104204,
      19.765373007331515,
      17.90057725935555,
      16.17500100024012,
      14.626536219198766,
      13.32198448679101
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8c2841e7cecf5047",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "6136d15f12905f36": {
    "vx_ego": [
      0.34615616997146753,
      0.13067302621976057,
      -0.00013538636605195994,
      -0.019783386233550047,
      -0.012723142873721595,
      -0.007405966076668009,
      -0.004519965676460706,
      -0.003062038526090099,
      -0.002505808154084878,
      -0.0018861577469809654
    ],
    "vy_ego": [
      -0.009224696005078636,
      0.0095836384104599,
      0.011089314319773174,
      0.0017722404499833765,
      0.00025938159657596174,
      0.00011853790454911892,
      5.8067944948118205e-05,
      -3.693626833696853e-06,
      9.886728037618807e-05,
      0.00030519595799063427
    ],
    "v_ego": [
      0.34627906235535183,
      0.13102398981336463,
      0.01109014073629542,
      0.0198626082647364,
      0.012725786553206638,
      0.007406914658855753,
      0.004520338660168438,
      0.0030620407538338237,
      0.0025077578121116975,
      0.0019106898281170946
    ],
    "ax_ego": [
      -0.43097101121713977,
      -0.43096173182870123,
      -0.09226176139640277,
      0.013670078027285613,
      0.014570829213323283,
      0.0066978750651756035,
      0.004846096924647381,
      0.0009855942231575354,
      0.0012393090119012706,
      0.0012393107395395973
    ],
    "ay_ego": [
      0.03768090181055983,
      0.03778683153341289,
      -0.031776388793783424,
      -0.0054894540959561245,
      -0.0005640734783135017,
      1.50786545209192e-06,
      -0.00024406728139073964,
      -2.747168217911381e-06,
      0.0004127003459540816,
      0.00041271707841938183
    ],
    "a_ego": [
      0.4326151440608397,
      0.4326151395156299,
      0.09758058977450608,
      0.014731094309102986,
      0.014581743477814026,
      0.006697875234905419,
      0.004852239095605478,
      0.0009855980517709658,
      0.001306219125005572,
      0.001306226050864556
    ],
    "yaw": [
      1.1017784944184188,
      1.102024279798221,
      1.1018906554819057,
      1.1018641737092376,
      1.1018960629043546,
      1.1018736824285513,
      1.101903160958857,
      1.1018852950820506,
      1.1019105645686285,
      1.1018991847862987
    ],
    "yaw_diff": [
      0.0004915707596042651,
      -0.00026724863263050125,
      -5.296354533612657e-05,
      6.377839023397058e-05,
      -4.476095160654836e-05,
      5.895706061131989e-05,
      -3.5731753612822104e-05,
      5.053897315576705e-05,
      -2.2759564659580178e-05,
      -2.2759564659580178e-05
    ],
    "min_front_frame": [
      2,
      9.265074761697718
    ],
    "v_avg": 0.054038932943604165,
    "v_std": 0.10423458341275972,
    "vy_max": 0.011089314319773174,
    "a_max": 0.4326151440608397,
    "ax_avg": -0.09109454112372134,
    "a_std": 0.1681893140305665,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6136d15f12905f36",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.319312413021823,
    "right_rear_min": 4.964672971103171,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.378599941397185,
      9.27967425091142,
      9.265074761697718,
      9.287174834922368,
      9.300195072488012,
      9.286550188961739,
      9.301615393973806,
      9.299292266302912,
      9.3147383785437,
      9.305170021321576
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6136d15f12905f36",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "661d0a5bf2735f03": {
    "vx_ego": [
      7.380609767529455,
      7.66720466748632,
      7.99527050441119,
      8.363326375236872,
      8.713402536179126,
      8.9612575235102,
      9.035226470507649,
      8.930698990744533,
      8.727242650859024,
      8.485834219475006
    ],
    "vy_ego": [
      -0.03296959558182744,
      -0.10537947569703965,
      -0.058275912493630955,
      -0.07315986073110192,
      -0.14209262646568988,
      -0.19277678582015367,
      -0.11796116263661993,
      -0.05669508345981766,
      -0.04417553593002177,
      0.006227456967531797
    ],
    "v_ego": [
      7.38068340567349,
      7.667928810769059,
      7.995482882270747,
      8.363646359331252,
      8.71456103725189,
      8.963330814592268,
      9.035996470188149,
      8.93087894866871,
      8.727354453953819,
      8.48583650453114
    ],
    "ax_ego": [
      0.5214357484457095,
      0.6490610930795151,
      0.6892443405341682,
      0.8067760114741114,
      0.6181657982081075,
      0.39393662664069984,
      -0.08524279245713898,
      -0.32933130674470273,
      -0.48295410024468943,
      -0.48242236132678395
    ],
    "ay_ego": [
      1.3422528544263033,
      1.2854017612110988,
      1.3085779186227604,
      1.3538661146917401,
      1.1090491425143356,
      0.5552385658769959,
      0.515808923957843,
      0.28006483206571753,
      0.15772916747565452,
      0.15934811557470235
    ],
    "a_ego": [
      1.4399784598988612,
      1.4399784686842265,
      1.4789976098917321,
      1.5760206182663294,
      1.2696924645700824,
      0.6807906659511405,
      0.5228051068040926,
      0.43231402910635697,
      0.508058218333018,
      0.5080582217082199
    ],
    "yaw": [
      -2.5023767962119368,
      -2.4053129578074026,
      -2.3285075401028985,
      -2.2452088054096464,
      -2.165285677041907,
      -2.112648403353145,
      -2.091348338901353,
      -2.0760712455320043,
      -2.0651166705545085,
      -2.0617626479232687
    ],
    "yaw_diff": [
      0.19412767680906828,
      0.15361083540900822,
      0.16659746938650422,
      0.15984625673547903,
      0.1052745473775234,
      0.042600128903584,
      0.03055418673869781,
      0.02190914995499149,
      0.0067080452624797005,
      0.0067080452624797005
    ],
    "min_front_frame": [
      6,
      44.70286163272807
    ],
    "v_avg": 8.426569968723053,
    "v_std": 0.5431366001301049,
    "vy_max": 0.19277678582015367,
    "a_max": 1.5760206182663294,
    "ax_avg": 0.2298669057608996,
    "a_std": 0.4642166819446101,
    "ini_direction_judge": "left",
    "scenario_type": "lane_change",
    "scene_token": "661d0a5bf2735f03",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.433255681898835,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      44.70286163272807,
      47.97349031802878,
      51.61990093974952,
      55.30184851583156
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 10,
    "token": "661d0a5bf2735f03",
    "smoothness": "No"
  },
  "d9c700e9e21b50ba": {
    "vx_ego": [
      4.829447101007558,
      5.361940990504069,
      5.863692904248037,
      6.2582826646483,
      6.525696630033151,
      6.799246975384763,
      7.1353705947678305,
      7.380523018647798,
      7.525913601076143,
      7.667621053278454
    ],
    "vy_ego": [
      0.053362189399435156,
      -0.00869684182075492,
      -0.035232239282740885,
      0.009932653139219205,
      0.03452217309595795,
      0.014962244089140597,
      0.018809673826574613,
      0.006202950967108212,
      0.022322404862541667,
      0.020085410959021388
    ],
    "v_ego": [
      4.829741900421575,
      5.361948043454488,
      5.86379875047001,
      6.258290546805559,
      6.525787943816539,
      6.799263438125268,
      7.135395386977998,
      7.380525625278373,
      7.525946705938178,
      7.667647360201979
    ],
    "ax_ego": [
      1.0649462505192862,
      1.0651708109311162,
      0.9421868407462115,
      0.636409879951753,
      0.432417026821362,
      0.6603415014597009,
      0.6838504683766262,
      0.29707225608777166,
      0.28330886914349607,
      0.28335678275910725
    ],
    "ay_ego": [
      -0.1412684481717148,
      -0.13956512407974453,
      0.07391372960455661,
      0.16656894611747008,
      0.1389376463566299,
      0.07282982878879662,
      0.1026110874331431,
      0.248255259126281,
      0.02511066970066317,
      0.02456406804283376
    ],
    "a_ego": [
      1.0742752398449527,
      1.0742752348998121,
      0.9450816273208269,
      0.6578470560174982,
      0.4541895580703573,
      0.6643456047205082,
      0.6915059640835668,
      0.38714674094060963,
      0.28441951597628173,
      0.2844195137018641
    ],
    "yaw": [
      -0.6302874300754303,
      -0.6318867026708337,
      -0.6300881584933786,
      -0.6276360750034641,
      -0.6195664309384749,
      -0.6086376875938253,
      -0.6028923451569724,
      -0.5891614804614453,
      -0.5821564843347763,
      -0.5802272843156603
    ],
    "yaw_diff": [
      -0.0031985451908067564,
      0.0035970883549101274,
      0.004904166979829094,
      0.016139288129978446,
      0.0218574866892991,
      0.011490684873705748,
      0.02746172939105418,
      0.0140099922533381,
      0.0038584000382320127,
      0.0038584000382320127
    ],
    "min_front_frame": [
      0,
      17.748272621520435
    ],
    "v_avg": 6.534834570148997,
    "v_std": 0.9067088116434351,
    "vy_max": 0.053362189399435156,
    "a_max": 1.0742752398449527,
    "ax_avg": 0.634906068679643,
    "a_std": 0.28701626079791615,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "d9c700e9e21b50ba",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.65240391173148,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      17.748272621520435,
      18.581823149461854,
      19.62292398258427,
      20.656261083459402,
      21.827984918146058,
      23.024865353218853,
      24.274231452867095,
      25.624252406570424,
      27.21156908404652,
      28.96062317570564
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d9c700e9e21b50ba",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "557690c1c31357b1": {
    "vx_ego": [
      1.8782291495206045,
      1.8610166866519084,
      1.8600102104979175,
      1.922456572241286,
      2.0305913294153886,
      2.083364911526998,
      2.062544891562476,
      1.9888632114152345,
      1.855446173494642,
      1.696309433397247
    ],
    "vy_ego": [
      -0.00520801204301824,
      -0.007012585067366239,
      -0.010633350214688142,
      -0.005952669718296,
      0.00010878891855015116,
      -0.0037416345079134272,
      0.0039045092292651074,
      0.013885573158875064,
      0.0006236904538499122,
      -0.007261709246189518
    ],
    "v_ego": [
      1.878236369975391,
      1.8610298988318739,
      1.8600406047431586,
      1.9224657881040406,
      2.0305913323295712,
      2.0833682714322705,
      2.062548587282924,
      1.9889116830223685,
      1.855446278318424,
      1.696324976604915
    ],
    "ax_ego": [
      -0.035915004698108516,
      -0.032127195278729676,
      0.028857819324957595,
      0.22199293545240228,
      0.21114834339981028,
      -0.00035953426302139796,
      -0.0815622394952192,
      -0.2154018363588128,
      -0.3197309738950602,
      -0.31618302586009284
    ],
    "ay_ego": [
      0.11665504666099769,
      0.1177545447403855,
      0.09625058932538899,
      0.11329433044856105,
      0.13286169892608607,
      0.09762084455156304,
      0.18727977570697446,
      0.12344190668396837,
      0.09924267266331227,
      0.11002407460632009
    ],
    "a_ego": [
      0.12205854117571904,
      0.12205854940762274,
      0.10048357916434197,
      0.2492317570105427,
      0.24947114855632133,
      0.09762150662557263,
      0.20426970725080643,
      0.24826569523903685,
      0.33477903719504454,
      0.33477903583561086
    ],
    "yaw": [
      2.6071529024610207,
      2.639467980925776,
      2.6702941563872127,
      2.695843494083417,
      2.723890656826849,
      2.753393443952959,
      2.7839123396844183,
      2.8170557139132213,
      2.8526726447780506,
      2.8865777697599078
    ],
    "yaw_diff": [
      0.06463015692951046,
      0.06165235092287347,
      0.05109867539240831,
      0.056094325486863994,
      0.05900557425221997,
      0.06103779146291899,
      0.06628674845760596,
      0.07123386172965862,
      0.06781024996371432,
      0.06781024996371432
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.9238963790644938,
    "v_std": 0.11263095439588267,
    "vy_max": 0.013885573158875064,
    "a_max": 0.33477903719504454,
    "ax_avg": -0.05392807116718745,
    "a_std": 0.08699840592215398,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "557690c1c31357b1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 31.378595321349867,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "557690c1c31357b1",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "c9a4d6a0295f5142": {
    "vx_ego": [
      3.3100514310158875,
      3.4077708273600136,
      3.5560281751400833,
      3.691075584845004,
      3.6762607963785316,
      3.5378444528805684,
      3.457464023063671,
      3.505339993852264,
      3.644570224084232,
      3.8188059967962684
    ],
    "vy_ego": [
      -0.08001280906599195,
      -0.07395873365179395,
      -0.04010372383352012,
      -0.04400337502756252,
      -0.051335700279051745,
      -0.03227582305431648,
      -0.020075526601243343,
      -0.0038786403309496453,
      -0.00018160415022838716,
      -0.006575752571972515
    ],
    "v_ego": [
      3.3110183517439093,
      3.408573294809623,
      3.556254306296925,
      3.6913378699399364,
      3.6766192075210693,
      3.53799167629485,
      3.4575223061533444,
      3.5053421396992057,
      3.64457022860878,
      3.818811658315847
    ],
    "ax_ego": [
      0.14533494491628746,
      0.2879719235017663,
      0.3337308448952977,
      0.2167769977917417,
      -0.25458955166155306,
      -0.2935126620423977,
      -0.027180392393895664,
      0.2216078236162089,
      0.3362437242238296,
      0.36089449966963055
    ],
    "ay_ego": [
      0.9980822679270305,
      0.9666243479757222,
      0.9564326871071381,
      0.7904020356968009,
      0.8044092846953614,
      0.5917501152381917,
      0.4065325416937749,
      0.4170624419673952,
      0.4325740119070953,
      0.4122320662939635
    ],
    "a_ego": [
      1.0086081795048982,
      1.0086081790392132,
      1.0129855684073243,
      0.8195899247826608,
      0.8437358218775197,
      0.6605436258595097,
      0.40744015657110555,
      0.47228286861553603,
      0.5478869571885341,
      0.5478869558337592
    ],
    "yaw": [
      -2.07216421770109,
      -1.9272192501725578,
      -1.7988325571813635,
      -1.6778731604030224,
      -1.5694889381989188,
      -1.4781937462427406,
      -1.409702774134323,
      -1.3547354079520333,
      -1.296135495371003,
      -1.2377936112705794
    ],
    "yaw_diff": [
      0.2898899350570643,
      0.25677338598238864,
      0.24191879355668222,
      0.2167684444082072,
      0.18259038391235638,
      0.13698194421683496,
      0.10993473236457962,
      0.11719982516206073,
      0.11668376820084703,
      0.11668376820084703
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5608041039383487,
    "v_std": 0.14278945060278653,
    "vy_max": 0.08001280906599195,
    "a_max": 1.0129855684073243,
    "ax_avg": 0.13272781525169158,
    "a_std": 0.22311837940930893,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "c9a4d6a0295f5142",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "c9a4d6a0295f5142",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "eb1315c4860c5189": {
    "vx_ego": [
      4.795546046077403,
      4.415338997568319,
      3.9826907796798015,
      3.449735539269254,
      2.8355626514680363,
      2.1742513675487283,
      1.5035321739964393,
      0.9759684338153466,
      0.8214854251439515,
      0.8975470337623548
    ],
    "vy_ego": [
      0.032917590957305176,
      -0.05922539325546139,
      -0.012938973930225028,
      -0.0031348807026354564,
      -0.0020190739628827004,
      0.0030824872283414795,
      0.019248318350936877,
      0.04487481620334127,
      0.07142159747526089,
      0.09337475647508847
    ],
    "v_ego": [
      4.795659021223574,
      4.415736191243072,
      3.9827117977067927,
      3.4497369636501785,
      2.8355633703128746,
      2.1742535526049,
      1.5036553780709854,
      0.9769995562605257,
      0.8245843488145145,
      0.9023910033695947
    ],
    "ax_ego": [
      -0.7648918675441563,
      -0.7525387639361453,
      -0.9780838397144608,
      -1.1542268786196932,
      -1.3025343811074517,
      -1.3428676219609528,
      -1.3398178900819886,
      -0.7699578113937917,
      0.1527832528761695,
      0.15264757222525197
    ],
    "ay_ego": [
      0.23927800186138198,
      0.27567905336271625,
      -0.07406913198850912,
      -0.04696402194148641,
      -0.050235970279237874,
      -0.0034904669034044877,
      0.02322483085084326,
      0.058984826096915355,
      0.03744909024984328,
      0.037998329183784735
    ],
    "a_ego": [
      0.8014446526179849,
      0.8014446529171586,
      0.9808844140999051,
      1.1551819366165141,
      1.303502768189185,
      1.3428721582750416,
      1.3400191682777534,
      0.772213857060336,
      0.1573059335179842,
      0.15730592591197187
    ],
    "yaw": [
      -2.051286541314787,
      -2.0033185204845,
      -2.0023448139427384,
      -2.0130616472405296,
      -2.0211015590289887,
      -2.028485410016395,
      -2.034594815510631,
      -2.038937134444782,
      -2.042049656498518,
      -2.0456461441535962
    ],
    "yaw_diff": [
      0.09593604166057368,
      0.0019474130835233083,
      -0.021433666595582324,
      -0.016079823576918173,
      -0.014767701974812475,
      -0.012218810988471773,
      -0.008684637868302758,
      -0.006225044107472044,
      -0.007192975310156058,
      -0.007192975310156058
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.586129118325701,
    "v_std": 1.4441837283471206,
    "vy_max": 0.09337475647508847,
    "a_max": 1.3428721582750416,
    "ax_avg": -0.8099488229257219,
    "a_std": 0.41948110565533153,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "eb1315c4860c5189",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "eb1315c4860c5189",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "dd2bc3e6bb8353b8": {
    "vx_ego": [
      0.13665706440420183,
      1.0673915548634303,
      2.035541665694832,
      3.031832720064553,
      3.892726311848181,
      4.368504797028678,
      4.432305883735183,
      4.134676440399219,
      3.531770555163269,
      2.8321497857260356
    ],
    "vy_ego": [
      0.0011028056166574873,
      0.0026645041123762314,
      0.004239901564340953,
      -0.004659679694929975,
      -0.0146376841381477,
      -0.019081266839958255,
      -0.018926159942033394,
      0.009001160863381985,
      0.008334745830397727,
      -0.03852073778760201
    ],
    "v_ego": [
      0.13666151408425967,
      1.0673948805273221,
      2.035546081410334,
      3.031836300836324,
      3.892753832539642,
      4.368546469525852,
      4.432346291358977,
      4.134686238118831,
      3.5317803898751015,
      2.832411738435592
    ],
    "ax_ego": [
      1.8614724250290724,
      1.8614707323946922,
      2.01115576685628,
      1.9740262825042785,
      1.4696256761401458,
      0.4335670455690734,
      -0.17828503700234752,
      -1.0122945520758764,
      -1.3992551682330236,
      -1.3992384915390934
    ],
    "ay_ego": [
      0.0014922809284703131,
      0.002914564365982808,
      -0.005487687795376894,
      0.0035870211707641486,
      -0.00940586538834498,
      0.00913537049016322,
      0.0097135946653202,
      0.08275212310835,
      -0.09470721068577276,
      -0.09495331432295667
    ],
    "a_ego": [
      1.8614730231851293,
      1.861473014106698,
      2.011163253760522,
      1.9740295415060387,
      1.4696557754365762,
      0.4336632772065067,
      0.17854945628662822,
      1.0156712923192417,
      1.4024565881276705,
      1.4024565904531632
    ],
    "yaw": [
      1.220419678171222,
      1.219655612813628,
      1.2182081044456257,
      1.221526984643054,
      1.2239447132340926,
      1.22497190416871,
      1.225989829064908,
      1.2248933903662946,
      1.2242950905988637,
      1.2241192086886281
    ],
    "yaw_diff": [
      -0.0015281307151879808,
      -0.002895016736004674,
      0.006637760394856862,
      0.004835457182077008,
      0.0020543818692346782,
      0.002035849792396238,
      -0.0021928773972268445,
      -0.001196599534861953,
      -0.0003517638204710849,
      -0.0003517638204710849
    ],
    "min_front_frame": [
      9,
      38.7459281430961
    ],
    "v_avg": 2.9463963736712233,
    "v_std": 1.3840540114785285,
    "vy_max": 0.03852073778760201,
    "a_max": 2.011163253760522,
    "ax_avg": 0.5622244679643201,
    "a_std": 0.607626686568759,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dd2bc3e6bb8353b8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.880734636894328,
    "right_rear_min": 5.795105386647601,
    "speed_mode": "accelerating",
    "front_frame": [
      52.87328704688971,
      52.458130112893784,
      51.597244901273015,
      50.27967114730063,
      48.534472659875725,
      46.428567935513186,
      44.30191059932179,
      42.13951800786599,
      40.302446029805765,
      38.7459281430961
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dd2bc3e6bb8353b8",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "df1a9e58ca1150cd": {
    "vx_ego": [
      1.5241242415215108,
      1.6998731224863814,
      1.839313268940795,
      1.9817860150004158,
      2.185636554434782,
      2.405316799086371,
      2.6151728328758015,
      2.794576354945656,
      2.9823262663473815,
      3.205333203448355
    ],
    "vy_ego": [
      -0.004707438993666657,
      -0.00011256239404289214,
      0.006648793221171734,
      0.009460397628194284,
      0.00408805141600288,
      -0.014158593114121931,
      -0.017351140762587258,
      -0.0003896401608878275,
      0.00729026928983334,
      0.008354011168894893
    ],
    "v_ego": [
      1.5241315112467821,
      1.6998731262132163,
      1.8393252860092395,
      1.9818085952923183,
      2.1856403776115423,
      2.405358470109201,
      2.6152303928903486,
      2.7945763821088887,
      2.982335176832381,
      3.2053440898959824
    ],
    "ax_ego": [
      0.35149463570666484,
      0.3515142614854102,
      0.20624178480179534,
      0.3636118403141359,
      0.4517423516423441,
      0.42699297889934396,
      0.41263398956798575,
      0.3049940675716622,
      0.445996077755596,
      0.4460031004194499
    ],
    "ay_ego": [
      0.014031252027787294,
      0.013530682303979663,
      0.01629197162827424,
      0.002146254759920474,
      -0.011996707765529552,
      -0.03981610183071571,
      0.04626249102142296,
      0.027412199369130252,
      0.007943385766831235,
      0.007538764815101795
    ],
    "a_ego": [
      0.3517745797581575,
      0.3517745803653876,
      0.20688427233061132,
      0.3636181744991952,
      0.4519016190107829,
      0.428845340413452,
      0.41521925222983075,
      0.30622346403918915,
      0.4460668097390977,
      0.4460668095237521
    ],
    "yaw": [
      -2.250218854187578,
      -2.248794777177671,
      -2.2484064079173387,
      -2.2474555523188195,
      -2.2460517120199706,
      -2.2437487848768516,
      -2.2418363375167196,
      -2.2413002832672317,
      -2.240896571233355,
      -2.2399893473088173
    ],
    "yaw_diff": [
      0.0028481540198139754,
      0.0007767385206642885,
      0.0019017111970383027,
      0.0028076805976979813,
      0.004605854286237943,
      0.003824894720263927,
      0.0010721084989757657,
      0.0008074240677533595,
      0.0018144478490755844,
      0.0018144478490755844
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.32336234082099,
    "v_std": 0.5406955605871036,
    "vy_max": 0.017351140762587258,
    "a_max": 0.4519016190107829,
    "ax_avg": 0.3761225088164388,
    "a_std": 0.07395909890198,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "df1a9e58ca1150cd",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "df1a9e58ca1150cd",
    "pedestrians": "No"
  },
  "2a3a3e232e86560b": {
    "vx_ego": [
      4.436553640801212,
      3.9466708175747653,
      3.4233151977513208,
      2.9477095341145025,
      2.622229293918791,
      2.354798590996083,
      2.053704773397722,
      1.7287621139179692,
      1.3986112643409538,
      1.0641701507282213
    ],
    "vy_ego": [
      0.001719016368525006,
      -0.024911131316046164,
      -0.03896703869007534,
      -0.02544038169468088,
      -0.007822868951286477,
      0.021359520039796465,
      0.025673601733931184,
      0.001357722260653671,
      -0.019997800516911912,
      -0.0440038435563454
    ],
    "v_ego": [
      4.436553973831916,
      3.946749435517754,
      3.4235369682916286,
      2.9478193144306366,
      2.6222409628339785,
      2.354895461215522,
      2.053865241466095,
      1.7287626470767645,
      1.398754224575181,
      1.0650795500565469
    ],
    "ax_ego": [
      -0.9798759413405387,
      -0.9797426710559014,
      -1.1137795784007543,
      -0.788776046512304,
      -0.5130759943615147,
      -0.5566541913572489,
      -0.6480422891250315,
      -0.6517752662462413,
      -0.6688045943761091,
      -0.6688454448868038
    ],
    "ay_ego": [
      -0.06842562523775952,
      -0.07030813412667908,
      0.005158760802429385,
      0.037407827021106066,
      0.04392859791164702,
      0.08900174349479031,
      -0.05458185489043438,
      -0.03463126538692601,
      -0.046114088019697796,
      -0.04551764923415502
    ],
    "a_ego": [
      0.9822621475997053,
      0.9822621519798711,
      1.1137915254101993,
      0.7896625843194177,
      0.5149531024321926,
      0.5637243999515235,
      0.6503368260968245,
      0.6526946623289166,
      0.6703924929267036,
      0.6703924861882254
    ],
    "yaw": [
      0.5617133649131498,
      0.5597920712858141,
      0.55918926635696,
      0.5582719019793254,
      0.5592595726559912,
      0.5608835743529501,
      0.5628201811811296,
      0.5638840936827942,
      0.5646307899847418,
      0.5655225487572022
    ],
    "yaw_diff": [
      -0.003842587254671459,
      -0.0012056098577082341,
      -0.0018347287552691327,
      0.001975341353331661,
      0.003248003393917731,
      0.0038732136563590647,
      0.002127825003329198,
      0.0014933926038951384,
      0.0017835175449207874,
      0.0017835175449207874
    ],
    "min_front_frame": [
      9,
      10.58364608643825
    ],
    "v_avg": 2.5978257779296023,
    "v_std": 1.0441584878590864,
    "vy_max": 0.0440038435563454,
    "a_max": 1.1137915254101993,
    "ax_avg": -0.7569372017662447,
    "a_std": 0.19052866280531924,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2a3a3e232e86560b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.547418173738521,
    "right_rear_min": 12.012317670601401,
    "speed_mode": "decelerating",
    "front_frame": [
      22.245787694892194,
      20.137532833401437,
      18.281730201836925,
      16.7209868108307,
      15.300779165500224,
      14.060570797256585,
      12.911846880579908,
      11.98772511207211,
      11.186332649687419,
      10.58364608643825
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2a3a3e232e86560b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f33405d075755825": {
    "vx_ego": [
      3.3329710955868643,
      3.199111953003624,
      3.08549732334492,
      2.96000941315423,
      2.860190736334401,
      2.777284876500294,
      2.6989531250617653,
      2.5883946481752953,
      2.3710739214329077,
      2.104762121189619
    ],
    "vy_ego": [
      0.05723080520017443,
      0.01675119054409735,
      -0.0008796996672255641,
      -0.014739390661433482,
      -0.002262523795111382,
      0.018596638941518993,
      0.02997942063086148,
      0.03036358677661044,
      0.02707140662316687,
      -0.011978777365423188
    ],
    "v_ego": [
      3.3334624175294616,
      3.1991558089963834,
      3.0854974487495803,
      2.960046110383877,
      2.860191631207085,
      2.777347137146737,
      2.699119622569928,
      2.5885727345594236,
      2.371228458406272,
      2.1047962081640574
    ],
    "ax_ego": [
      -0.31324952049388843,
      -0.20170109263642827,
      -0.2465108851961338,
      -0.2694792054816215,
      -0.14384622575244088,
      -0.18775313103478913,
      -0.11678625116062791,
      -0.3149913220365334,
      -0.5482678833468179,
      -0.5128099441511502
    ],
    "ay_ego": [
      -0.8771459405867889,
      -0.9093002428673472,
      -0.934523577648818,
      -0.7938881185158535,
      -0.6430839414279501,
      -0.578164551700043,
      -0.5476608849199099,
      -0.5158696529921585,
      -0.4175147957444123,
      -0.4603718466012996
    ],
    "a_ego": [
      0.9314023100559358,
      0.9314023096650264,
      0.9664894897006008,
      0.8383778306394127,
      0.6589754869384212,
      0.6078860806564651,
      0.559974529180937,
      0.6044344727400754,
      0.6891416955714538,
      0.6891416951276395
    ],
    "yaw": [
      0.6628359751571871,
      0.5381148450347841,
      0.3975151798275238,
      0.2595009793531387,
      0.13124961658813766,
      0.015887230911355417,
      -0.0913066428553177,
      -0.19100731145813138,
      -0.2826385068142544,
      -0.363374844361208
    ],
    "yaw_diff": [
      -0.24944226024480587,
      -0.2811993304145206,
      -0.27602840094877024,
      -0.2565027255300021,
      -0.2307247713535645,
      -0.21438774753334622,
      -0.19940133720562736,
      -0.18326239071224604,
      -0.16147267509390717,
      -0.16147267509390717
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.7979417577712806,
    "v_std": 0.3573732738610161,
    "vy_max": 0.05723080520017443,
    "a_max": 0.9664894897006008,
    "ax_avg": -0.28553954612904314,
    "a_std": 0.14616031164737117,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "f33405d075755825",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f33405d075755825",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1623cbaee7295b13": {
    "vx_ego": [
      6.8491845788165975,
      7.163901092976641,
      7.505998355132162,
      7.7509080561915,
      7.840583727685301,
      7.809903580924002,
      7.750318300509035,
      7.808940844119823,
      8.02847476136897,
      8.397085338139645
    ],
    "vy_ego": [
      -0.03728197446724435,
      0.01398355909469573,
      0.033906034924462425,
      0.01481658000035918,
      -0.03843781455495554,
      -0.05247305482759357,
      -0.0377106646899148,
      -0.042910504587296394,
      -0.02026257236960971,
      -0.049726211295118006
    ],
    "v_ego": [
      6.849286046028394,
      7.163914740550509,
      7.506074934774567,
      7.750922217812356,
      7.840677946225778,
      7.810079856493945,
      7.750410044212926,
      7.80905874087055,
      8.028500331056703,
      8.39723257222816
    ],
    "ax_ego": [
      0.5725056929930679,
      0.6880265743528281,
      0.6803585137041468,
      0.30445371862158593,
      0.07293636294080436,
      -0.1546570832454236,
      -0.0478704668238491,
      0.30026195520359256,
      0.5933377989060581,
      0.8933157196202809
    ],
    "ay_ego": [
      1.3508196742656755,
      1.2957993653134334,
      1.4872717366379136,
      1.777246980376278,
      1.9775780859850347,
      2.2195823745059684,
      2.3519753618044725,
      2.2682098485469773,
      2.2364285545867904,
      2.134396731881155
    ],
    "a_ego": [
      1.4671320870639761,
      1.4671320874966864,
      1.6355014294618244,
      1.803135850688769,
      1.9789226359833438,
      2.2249639841164925,
      2.352462472416768,
      2.287997630852835,
      2.3137982676503683,
      2.3137982591370525
    ],
    "yaw": [
      2.907238319020731,
      2.9944798907745485,
      3.086543184722954,
      -3.0879322261901745,
      -2.9613283743947263,
      -2.8261428617588202,
      -2.6811468139957295,
      -2.531449075133947,
      -2.3916743699935856,
      -2.2546255341137
    ],
    "yaw_diff": [
      0.1744831435076346,
      0.18412658789681124,
      0.21741979253291532,
      0.2532077035908964,
      0.2703710252718121,
      0.28999209552618144,
      0.29939547772356523,
      0.27954941028072255,
      0.2740976717597716,
      0.2740976717597716
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.690615743025388,
    "v_std": 0.41119454829059987,
    "vy_max": 0.05247305482759357,
    "a_max": 2.352462472416768,
    "ax_avg": 0.39026687862730924,
    "a_std": 0.34529233830775263,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "1623cbaee7295b13",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.36980572283192,
    "right_rear_min": 43.10994822743426,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1623cbaee7295b13",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "cd5c67041095597b": {
    "vx_ego": [
      0.8809132569358318,
      0.6801619995313297,
      0.48794622677358923,
      0.313951825795602,
      0.14400194735400318,
      0.02705558995116582,
      -0.005563925830761039,
      -0.007007140652327326,
      0.00021587631418218194,
      0.01063028096936981
    ],
    "vy_ego": [
      -0.019938477436428348,
      -0.018794414950901006,
      -0.00939145220361201,
      0.016462085987338088,
      0.028609119481830897,
      0.011288308597341453,
      -0.00132999006789725,
      -0.0010168306424270207,
      -0.0005483827994949567,
      -0.0005754642150236347
    ],
    "v_ego": [
      0.8811388705123487,
      0.6804216160879982,
      0.4880365965755803,
      0.31438312485794545,
      0.14681635657947237,
      0.02931605121080324,
      0.005720676903209553,
      0.007080534208439133,
      0.0005893439384661642,
      0.010645845788405857
    ],
    "ax_ego": [
      -0.4014895716424505,
      -0.40148859179874496,
      -0.3673521878925899,
      -0.3286253802484416,
      -0.35117637861645934,
      -0.11664214635318568,
      -0.013836048054296078,
      0.008063181208839981,
      0.02082883132057338,
      0.020828826700177563
    ],
    "ay_ego": [
      0.0027593104256247725,
      0.0028983768309424063,
      0.035425594570312496,
      0.06801109429072039,
      -0.019407396955980344,
      -0.04979750444454232,
      -0.0006754473038812232,
      0.0019281682697330992,
      -5.379795693523544e-05,
      -5.415303328409893e-05
    ],
    "a_ego": [
      0.40149905346297315,
      0.4014990534643804,
      0.36905636791706065,
      0.3355892571135943,
      0.35171223458216205,
      0.12682736989617896,
      0.013852525214599348,
      0.00829052013344131,
      0.02082890079675519,
      0.020828897096510982
    ],
    "yaw": [
      -0.7413668247505909,
      -0.741020444851527,
      -0.7407133789497153,
      -0.7406991504283105,
      -0.740682358919733,
      -0.7403338990549784,
      -0.7403643575480842,
      -0.7403669547921174,
      -0.7403964846023283,
      -0.7403791809991491
    ],
    "yaw_diff": [
      0.0006927597981278844,
      0.0006141318036232413,
      2.8457042809737487e-05,
      3.3583017154947825e-05,
      0.0006969197295092489,
      -6.0916986211578816e-05,
      -5.1944880665732995e-06,
      -5.9059620421741954e-05,
      3.460720635839465e-05,
      3.460720635839465e-05
    ],
    "min_front_frame": [
      6,
      8.882354722209252
    ],
    "v_avg": 0.2564149016662669,
    "v_std": 0.3068421011661358,
    "vy_max": 0.028609119481830897,
    "a_max": 0.4014990534643804,
    "ax_avg": -0.1930889465376577,
    "a_std": 0.1708499948237923,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cd5c67041095597b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.28523854701346,
    "right_rear_min": 5.952074040261728,
    "speed_mode": "decelerating",
    "front_frame": [
      9.83532373023895,
      9.50020665281173,
      9.19185520493404,
      9.004782156116377,
      8.910805240756863,
      8.892992655616544,
      8.882354722209252,
      8.96255346785206,
      9.177078917268153,
      9.575742526867264
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cd5c67041095597b",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "571c1c28470e5dcc": {
    "vx_ego": [
      3.055650469658798,
      2.7182088758006895,
      2.4149832018568462,
      2.0732785071455124,
      1.6021703416957782,
      1.112418166174634,
      0.7384360298661492,
      0.4524271084163771,
      0.19289885908599397,
      -0.050607763303015155
    ],
    "vy_ego": [
      0.010380403690733266,
      0.027046148859186218,
      0.01881807758781799,
      -0.010927570487974058,
      -0.027236366279122567,
      -0.02612085027776221,
      -0.022775586825717717,
      -0.011120040075005326,
      0.01144553288835289,
      0.047367274272559386
    ],
    "v_ego": [
      3.0556681013334575,
      2.7183434269145907,
      2.415056518033242,
      2.0733073047641284,
      1.6024018295850941,
      1.112724797627234,
      0.7387871801538899,
      0.45256374547821876,
      0.19323811751250458,
      0.06931669624661776
    ],
    "ax_ego": [
      -0.674891104997518,
      -0.674886139149991,
      -0.5385044612635367,
      -0.8283700959759097,
      -1.0560130235466387,
      -0.9030239965671865,
      -0.5929582397237034,
      -0.5510843326874095,
      -0.48701995440642276,
      -0.487014866343457
    ],
    "ay_ego": [
      0.034121557454084704,
      0.03421963613683532,
      -0.026351546126806846,
      -0.08079944689443863,
      0.01849967115591517,
      -0.01572948730856727,
      0.027515828194546454,
      0.018850047936190897,
      0.07183631410866947,
      0.07187079530291482
    ],
    "a_ego": [
      0.675753123772183,
      0.6757531237916096,
      0.5391488280465841,
      0.8323013676100653,
      1.0561750535460448,
      0.9031609796415944,
      0.5935963231502236,
      0.5514066249517902,
      0.49228943926795093,
      0.49228943849833784
    ],
    "yaw": [
      -3.130387811126229,
      -3.1302424837118137,
      -3.1262437064709294,
      -3.1249465913990613,
      -3.1245533562458125,
      -3.124869439946549,
      -3.1253190808293723,
      -3.1254276574033066,
      -3.125090737023192,
      -3.125019922589611
    ],
    "yaw_diff": [
      0.0002906548288308386,
      0.007997554481768532,
      0.002594230143736276,
      0.0007864703064974776,
      -0.0006321674014726497,
      -0.0008992817656467977,
      -0.00021715314786874274,
      0.0006738407602293606,
      0.00014162886716206913,
      0.00014162886716206913
    ],
    "min_front_frame": [
      9,
      11.011647141029691
    ],
    "v_avg": 1.4431407717648974,
    "v_std": 1.0310024801410242,
    "vy_max": 0.047367274272559386,
    "a_max": 1.0561750535460448,
    "ax_avg": -0.6793766214661773,
    "a_std": 0.1813387950661251,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "571c1c28470e5dcc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.109858144124086,
      14.68033969260696,
      13.508377067452145,
      12.613773792133987,
      11.966433350456366,
      11.592533906544753,
      11.411118646054137,
      11.175109657390655,
      11.03760265313399,
      11.011647141029691
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "571c1c28470e5dcc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "43ef28a235035eac": {
    "vx_ego": [
      0.8953293371997262,
      1.1805315641930954,
      1.3783751802529192,
      1.4602121487350828,
      1.4925236279490515,
      1.4909553746539541,
      1.5010235514228958,
      1.6052423408180916,
      1.9113014854060864,
      2.349950068654019
    ],
    "vy_ego": [
      -0.0050897476044493295,
      -0.000607879264876654,
      -0.031689711578822236,
      -0.04130136792038544,
      -0.037025601371893556,
      -0.028383256387534195,
      -0.011970164440350928,
      -0.0025910869690805027,
      -0.0018025853818297577,
      -0.021748828216305305
    ],
    "v_ego": [
      0.8953438041228509,
      1.1805317206976682,
      1.3787394153201018,
      1.4607961261947617,
      1.492982811402445,
      1.4912255156255454,
      1.5010712797075734,
      1.605244432006175,
      1.9113023354324588,
      2.3500507093881637
    ],
    "ax_ego": [
      0.5676851638667197,
      0.5730051914971717,
      0.22289483729863552,
      0.11604696457974842,
      0.023829651693344084,
      -0.02007995296831699,
      0.0658123595587646,
      0.35175010806683354,
      0.87319073588507,
      0.8826660975801401
    ],
    "ay_ego": [
      0.12347079742471334,
      0.0957942185751424,
      0.11119708341784948,
      0.19965401393928153,
      0.2092847561375348,
      0.23831000378607387,
      0.2357414651149008,
      0.1985254283815957,
      0.20478861790629982,
      0.15906288763548265
    ],
    "a_ego": [
      0.5809573849182735,
      0.5809573838029193,
      0.24909215133163345,
      0.2309299098649636,
      0.21063703722606217,
      0.2391544739613465,
      0.24475560268400826,
      0.4039065290870218,
      0.8968837378721294,
      0.8968837394223912
    ],
    "yaw": [
      2.9684113174581763,
      3.016927834717456,
      3.0795045789086837,
      3.1404388102586234,
      -3.076933010286491,
      -3.0079953260739085,
      -2.9392800300282156,
      -2.8739360516441286,
      -2.814866063196024,
      -2.762794161575378
    ],
    "yaw_diff": [
      0.09703303451855927,
      0.12515348838245544,
      0.12186846269987939,
      0.13162697326894346,
      0.13787536842516523,
      0.13743059209138586,
      0.13068795676817402,
      0.11813997689620948,
      0.1041438032412918,
      0.1041438032412918
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.5267288149897744,
    "v_std": 0.3714465593578127,
    "vy_max": 0.04130136792038544,
    "a_max": 0.8968837394223912,
    "ax_avg": 0.36568011570581105,
    "a_std": 0.2584471223970245,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "43ef28a235035eac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "43ef28a235035eac",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "7abf60c1594953cf": {
    "vx_ego": [
      -0.26533531161290397,
      0.4244747113990227,
      1.1716223049259884,
      1.9306093263037372,
      2.448118265826281,
      2.565150522042065,
      2.4528777273247617,
      2.2108921966512556,
      1.8174013185061761,
      1.3773796212241924
    ],
    "vy_ego": [
      -0.005016358699697326,
      -0.0017237325528246805,
      -0.0035401637821618204,
      -0.00826315448964099,
      -0.011364921755465995,
      -0.017500581316781783,
      -0.011019418115134183,
      -0.008917751294223897,
      -0.01193429527941825,
      -0.002228453845238121
    ],
    "v_ego": [
      0.26538272634691373,
      0.4244782113032391,
      1.1716276533778514,
      1.9306270096870317,
      2.448144645424119,
      2.5652102196660422,
      2.452902479264409,
      2.2109101816902377,
      1.8174405024406723,
      1.3773814239237585
    ],
    "ax_ego": [
      1.3796207024420168,
      1.3796219867657362,
      1.6089724194217592,
      1.427130947472468,
      0.6431151103637244,
      -0.17474714978952532,
      -0.2741004242453654,
      -0.6938387299959624,
      -0.8800397858370557,
      -0.880001404470868
    ],
    "ay_ego": [
      0.0067499015637342286,
      0.006482332643971189,
      -0.009170267413154853,
      0.016940565624631143,
      0.018631460796180943,
      0.005538068645421224,
      0.05115558523429553,
      -0.02535313313465523,
      0.023740484701493536,
      0.025123335083278353
    ],
    "a_ego": [
      1.3796372145523343,
      1.3796372157215622,
      1.6089985519770793,
      1.4272314892817306,
      0.643384936495676,
      0.1748348837157053,
      0.2788331696053261,
      0.694301782081937,
      0.8803599464253202,
      0.880359956970106
    ],
    "yaw": [
      -1.919018570419593,
      -1.9188246261025248,
      -1.9173371336170901,
      -1.9131019322596692,
      -1.907858019834079,
      -1.9031900859585171,
      -1.9001393432660527,
      -1.8983153911781974,
      -1.8970327012183352,
      -1.8954613132469689
    ],
    "yaw_diff": [
      0.00038788863413641295,
      0.002974984970869343,
      0.008470402714841896,
      0.01048782485118016,
      0.009335867751123939,
      0.006101485384928829,
      0.0036479041757107034,
      0.0025653799197242755,
      0.0031427759427327118,
      0.0031427759427327118
    ],
    "min_front_frame": [
      0,
      13.077584742338379
    ],
    "v_avg": 1.6664105053124274,
    "v_std": 0.7912168904298036,
    "vy_max": 0.017500581316781783,
    "a_max": 1.6089985519770793,
    "ax_avg": 0.3535733672126927,
    "a_std": 0.4742701516729053,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7abf60c1594953cf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.077584742338379,
      14.148586298774795,
      15.123239581524702,
      15.740552200755147,
      53.783335117086,
      52.446566423831186,
      51.26620193147831,
      50.13727985646913,
      49.062503894678926,
      48.33749362769738
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7abf60c1594953cf",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "89fcf773eb5d514e": {
    "vx_ego": [
      5.108563415726437,
      5.577764989924524,
      6.249841623055714,
      6.931801294195038,
      7.504958881558102,
      7.94700840939124,
      8.302465592041102,
      8.627658409049232,
      8.922052734197317,
      9.170233849880056
    ],
    "vy_ego": [
      -0.14696698058516922,
      -0.02077413866834532,
      0.017336459730189824,
      0.029715595926635974,
      -0.1386095816735664,
      -0.4187194787590056,
      -0.2834409054677818,
      -0.1701813716280638,
      -0.030144680708426463,
      0.09303679781115548
    ],
    "v_ego": [
      5.110677006608897,
      5.577803675970062,
      6.249865667845642,
      6.931864987061222,
      7.506238767186237,
      7.958031707704318,
      8.307302429424295,
      8.629336667582692,
      8.922103658531032,
      9.17070579111733
    ],
    "ax_ego": [
      0.6552994630660575,
      1.2732239322714658,
      1.4127511516235405,
      1.2634349420191437,
      1.0517830734356552,
      0.8380587611850083,
      0.6282104859703249,
      0.6857249377270962,
      0.4944346705125334,
      0.4973259899958805
    ],
    "ay_ego": [
      2.791517129249918,
      2.569218953567374,
      2.5332510147529352,
      2.129418099530417,
      1.9682422794369046,
      1.41435821885671,
      0.5883678665309988,
      0.4093125119451736,
      0.38482656871767407,
      0.3810826594730764
    ],
    "a_ego": [
      2.8674004375375213,
      2.8674004277530973,
      2.900556243233428,
      2.4760228785943497,
      2.2316418404682987,
      1.6440047622943421,
      0.8607120081939783,
      0.7985959069865671,
      0.6265437984657227,
      0.6265438002857066
    ],
    "yaw": [
      1.203215867868567,
      1.4327400725087625,
      1.6418510641847721,
      1.8159001935177894,
      1.9801629962550467,
      2.1251174329243687,
      2.1699393201053163,
      2.186037649291455,
      2.192686065248635,
      2.200236048927836
    ],
    "yaw_diff": [
      0.45904840928039103,
      0.4182219833520193,
      0.3480982586660346,
      0.3285256054745145,
      0.2899088733386441,
      0.08964377436189519,
      0.032196658372277476,
      0.013296831914360041,
      0.015099967358401578,
      0.015099967358401578
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.436393035903173,
    "v_std": 1.349053927842155,
    "vy_max": 0.4187194787590056,
    "a_max": 2.900556243233428,
    "ax_avg": 0.8800247407806706,
    "a_std": 0.9378500383354276,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "89fcf773eb5d514e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 23.374994583010537,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "89fcf773eb5d514e",
    "pedestrians": "No"
  },
  "8f41a318d1a45310": {
    "vx_ego": [
      7.080906325722444,
      7.219218011508539,
      7.340116922602717,
      7.461561353728471,
      7.673613294515553,
      7.94313213673052,
      8.191387477846758,
      8.39628980015271,
      8.60177879545011,
      8.89735890078132
    ],
    "vy_ego": [
      -0.04942147781241335,
      0.019239723897521044,
      -0.019959620754023272,
      -0.012821337828124668,
      -4.2902115616749725e-05,
      -0.013192482737478972,
      -0.05384940338368338,
      -0.0755072553321714,
      -0.08296788795955656,
      0.031106476786121107
    ],
    "v_ego": [
      7.081078793243674,
      7.219243649071899,
      7.34014406016254,
      7.4615723692904,
      7.673613294635483,
      7.943143092199834,
      8.191564476366493,
      8.396629309059454,
      8.60217891677961,
      8.89741327702668
    ],
    "ax_ego": [
      0.209629381787999,
      0.3480531238246266,
      0.15297684928299823,
      0.34938697646851546,
      0.5037770598353303,
      0.5944165466573287,
      0.4315439960736398,
      0.4393237731995462,
      0.4315137105470548,
      0.759280119978803
    ],
    "ay_ego": [
      1.4886520639789536,
      1.4624939269004118,
      1.7609887288181956,
      1.899359868616523,
      1.927176331458161,
      2.1761869492045154,
      2.3614406539620023,
      2.527482922589225,
      2.5450348696387883,
      2.4671644130795567
    ],
    "a_ego": [
      1.5033394311657022,
      1.5033394371281117,
      1.7676207793079592,
      1.9312273739352357,
      1.9919337184125543,
      2.2559079477735966,
      2.400548308768581,
      2.5653801475957625,
      2.5813575052803928,
      2.5813574997975812
    ],
    "yaw": [
      2.918305157641696,
      3.012046612827529,
      3.127616600880404,
      -3.032633552491592,
      -2.9077537644792555,
      -2.7746960033361288,
      -2.629659094935686,
      -2.479944337569555,
      -2.3301557949241527,
      -2.1995542843882347
    ],
    "yaw_diff": [
      0.1874829103716662,
      0.23113997610574977,
      0.24587030761518047,
      0.24975957602467336,
      0.26611552228625346,
      0.2900738168008852,
      0.2994295147322621,
      0.29957708529080485,
      0.2612030210718359,
      0.2612030210718359
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.880658123783607,
    "v_std": 0.5923367951439776,
    "vy_max": 0.08296788795955656,
    "a_max": 2.5813575052803928,
    "ax_avg": 0.42199015376558424,
    "a_std": 0.40701337516843333,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "8f41a318d1a45310",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.7984694397819965,
    "right_rear_min": 48.00208907526466,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8f41a318d1a45310",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "2d0334f7e7d75853": {
    "vx_ego": [
      0.7061724397639663,
      0.7329223992420761,
      0.7639155861912608,
      0.7698223743590062,
      0.7754852903247575,
      0.843308933948597,
      1.0854144645892867,
      1.539471604753719,
      1.9986396890304157,
      2.392202975912725
    ],
    "vy_ego": [
      0.013691332319524463,
      3.337079781817742e-05,
      0.002906715786731129,
      0.003549627509363773,
      -0.00037909300626903786,
      0.009809327884237051,
      0.005714859986800769,
      0.0031419748775616263,
      -0.00478057775826235,
      -0.03305243905048161
    ],
    "v_ego": [
      0.7063051516610057,
      0.7329224000017814,
      0.7639211162303359,
      0.7698305579276475,
      0.7754853829838322,
      0.8433659828277754,
      1.0854295092562745,
      1.5394748110473007,
      1.998645406391864,
      2.3924313034427724
    ],
    "ax_ego": [
      0.05349985102659548,
      0.053492599565432036,
      0.07048905518491382,
      -0.04686027793685356,
      0.06951317091674222,
      0.20178192741464807,
      0.7666773837224516,
      1.0495427372013055,
      0.7871304996682531,
      0.7871271459196104
    ],
    "ay_ego": [
      -0.026921009891517585,
      -0.026935424201791,
      0.039402018091763795,
      -0.036929057456552845,
      0.021376271223530894,
      0.019295178553142903,
      -0.03790136886671308,
      0.024395782799172094,
      -0.05625888940931745,
      -0.05630574691945106
    ],
    "a_ego": [
      0.059891358587421416,
      0.059891362358841765,
      0.08075410782471383,
      0.059662726496100944,
      0.07272568942486672,
      0.20270236837927663,
      0.7676136557367085,
      1.0498262291590894,
      0.7891384454869522,
      0.7891384422138544
    ],
    "yaw": [
      -0.7164648928310056,
      -0.7161954796216208,
      -0.7158694594036136,
      -0.7159010217873687,
      -0.7158475627166663,
      -0.7158734884339255,
      -0.7164967905783828,
      -0.7171259634595302,
      -0.7171499501438987,
      -0.7170904171507895
    ],
    "yaw_diff": [
      0.0005388264187695668,
      0.0006520404360144116,
      -6.312476751024754e-05,
      0.00010691814140484368,
      -5.185143451846841e-05,
      -0.0012466042889145434,
      -0.001258345762294777,
      -4.797336873707536e-05,
      0.00011906598621846953,
      0.00011906598621846953
    ],
    "min_front_frame": [
      2,
      10.94072162006738
    ],
    "v_avg": 1.160781162177059,
    "v_std": 0.5759533299311731,
    "vy_max": 0.03305243905048161,
    "a_max": 1.0498262291590894,
    "ax_avg": 0.3792394092683099,
    "a_std": 0.3814354503960002,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2d0334f7e7d75853",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.360964563133654,
    "speed_mode": "accelerating",
    "front_frame": [
      11.029597034471324,
      10.977704030266365,
      10.94072162006738,
      11.021040709855892,
      11.507051328932357,
      12.293822149582033,
      -1,
      -1,
      -1,
      21.21481970174045
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2d0334f7e7d75853",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "fb2ff1ed5e1b529f": {
    "vx_ego": [
      1.0007232700094035,
      1.675646625864986,
      1.9948371844373332,
      2.00232301043851,
      2.1396147469537015,
      2.206942126062753,
      2.323877149297703,
      2.7845566640108155,
      3.360818882324143,
      3.9616334998709526
    ],
    "vy_ego": [
      -0.04839135789325749,
      0.05814319031317361,
      0.033784467968914766,
      0.026182985489063143,
      0.01887420126558153,
      -0.011510099235237048,
      -0.0019950527516016114,
      0.021773213283479143,
      0.007176881139790314,
      -0.15833271083094314
    ],
    "v_ego": [
      1.0018926023566932,
      1.6766550764401444,
      1.9951232499998113,
      2.0024941914673957,
      2.13969799290815,
      2.2069721407790333,
      2.3238780056757498,
      2.7846417880768306,
      3.360826545272665,
      3.9647962412485778
    ],
    "ax_ego": [
      1.331095567678116,
      1.363138817826282,
      -0.10536690465305293,
      0.12279435842388876,
      0.4232340679956156,
      -0.15503381766135596,
      0.6377512966558253,
      1.2236543940899953,
      1.1003741896891825,
      1.3392566538321502
    ],
    "ay_ego": [
      0.46941131866244623,
      0.3660805355413582,
      0.36247845262167877,
      0.3291561245091875,
      0.4459067950019436,
      0.4558901386288028,
      0.6458869104700418,
      0.9690417332142447,
      1.2874011706151676,
      1.0366372285675065
    ],
    "a_ego": [
      1.4114398309459537,
      1.4114398305160165,
      0.37748220250916753,
      0.3513149708774766,
      0.6147844712913808,
      0.4815301684397807,
      0.9076875109324366,
      1.5608881948706708,
      1.6935835177030476,
      1.6935835168322253
    ],
    "yaw": [
      2.785677369739836,
      2.862344919366306,
      2.964543343763845,
      3.056106036346411,
      -3.128274545740333,
      -3.014469023252607,
      -2.8918661471007976,
      -2.739013658351592,
      -2.5521600187997997,
      -2.3473041350521155
    ],
    "yaw_diff": [
      0.1533350992529403,
      0.2043968487950778,
      0.18312538516513222,
      0.1976094501856842,
      0.22761104497545226,
      0.24520575230361885,
      0.3057049774984115,
      0.37370727910358426,
      0.4097117674953683,
      0.4097117674953683
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.3456977834225055,
    "v_std": 0.8000572852148111,
    "vy_max": 0.15833271083094314,
    "a_max": 1.6935835177030476,
    "ax_avg": 0.7280898623876647,
    "a_std": 0.5314081906902313,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "fb2ff1ed5e1b529f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.878999283887435,
    "right_rear_min": 11.781797276849321,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "fb2ff1ed5e1b529f",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8615a4df3a525ccc": {
    "vx_ego": [
      8.559895811126244,
      8.232173351265779,
      7.978397299972074,
      7.806874859120548,
      7.59617009543509,
      7.17783628200485,
      6.506960273995347,
      5.846685657397083,
      5.456870657606794,
      5.234346944240252
    ],
    "vy_ego": [
      -0.05474685487122756,
      -0.009655569321504104,
      0.030657305623703363,
      0.04945215504275155,
      0.03930534601561847,
      -0.005536370241344818,
      -0.032092159234414025,
      -0.0023466203819819675,
      -0.0025237144452508603,
      -0.04493815536047647
    ],
    "v_ego": [
      8.560070882618609,
      8.232179013803657,
      7.978456200706361,
      7.8070314833236605,
      7.596271784830224,
      7.177838417146255,
      6.507039412362424,
      5.846686128315764,
      5.4568712411953255,
      5.234539843241664
    ],
    "ax_ego": [
      -0.6555736144413238,
      -0.6546247258247436,
      -0.3606745368480984,
      -0.32558871513102006,
      -0.5174810630062191,
      -1.1558925835350722,
      -1.5275737834289402,
      -1.1138836697177714,
      -0.445255304872191,
      -0.4450345846040337
    ],
    "ay_ego": [
      0.17739636289539124,
      0.18086652140268586,
      0.035213286032945094,
      0.07963506087853699,
      -0.09072681692774608,
      -0.06826854077715205,
      -0.02712785486224155,
      0.07177832380926835,
      -0.10644402730746842,
      -0.10736314470996652
    ],
    "a_ego": [
      0.6791511124338786,
      0.6791511100082432,
      0.362389427334502,
      0.3351861487916779,
      0.52537415798637,
      1.1579068435462436,
      1.5278146433153579,
      1.1161939604893036,
      0.4578019413089692,
      0.45780195099594984
    ],
    "yaw": [
      -1.559525187760975,
      -1.5542280489495104,
      -1.552529219685303,
      -1.5512720033889846,
      -1.5503175199752064,
      -1.5496354507994492,
      -1.5492425423313305,
      -1.5522764308979842,
      -1.5538010402450269,
      -1.5558658013628208
    ],
    "yaw_diff": [
      0.010594277622929305,
      0.00339765852841456,
      0.0025144325926369504,
      0.0019089668275564797,
      0.001364138351514388,
      0.0007858169362373602,
      -0.006067777133307306,
      -0.003049218694085365,
      -0.004129522235587935,
      -0.004129522235587935
    ],
    "min_front_frame": [
      7,
      18.257230437696286
    ],
    "v_avg": 7.039698440754394,
    "v_std": 1.1403248867571805,
    "vy_max": 0.05474685487122756,
    "a_max": 1.5278146433153579,
    "ax_avg": -0.7201582581409414,
    "a_std": 0.3814446383772234,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8615a4df3a525ccc",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.921899072085303,
    "right_rear_min": 22.031208479596707,
    "speed_mode": "decelerating",
    "front_frame": [
      19.26376266526847,
      19.242747349871756,
      19.989638988620204,
      20.15761286825869,
      19.736597968327196,
      19.33356259631543,
      18.70638399434447,
      18.257230437696286,
      18.29250218645566,
      18.5940688939505
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8615a4df3a525ccc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c844ccab55295a05": {
    "vx_ego": [
      3.099822517891654,
      3.930362758170628,
      4.740399200437611,
      5.503036379212634,
      6.186610231742167,
      6.8089720529757916,
      7.3810726570046885,
      7.853402979698788,
      8.22106050494733,
      8.543855943271168
    ],
    "vy_ego": [
      0.025528412077310714,
      -0.009172767363767376,
      -0.062126964516395766,
      -0.0386421704830493,
      -0.01067441602030117,
      0.00899047366473571,
      0.028225440313687233,
      0.009799524388089065,
      -0.019858363026218573,
      -0.017959688487874104
    ],
    "v_ego": [
      3.099927635002363,
      3.9303734619595296,
      4.740806296320233,
      5.503172049670748,
      6.186619440587423,
      6.808977988422497,
      7.381126624267,
      7.853409093649715,
      8.221084489322983,
      8.543874819411895
    ],
    "ax_ego": [
      1.6599905014351364,
      1.6612395278648813,
      1.5815416618033156,
      1.468752236396676,
      1.2653903240391202,
      1.2246936729469664,
      1.0634373162316146,
      0.8261001131316189,
      0.6445846435728206,
      0.6458941540043173
    ],
    "ay_ego": [
      0.08112279490399699,
      0.04932144904493807,
      0.05443392988654139,
      0.010339924840474635,
      0.07402234642410399,
      0.22063601514708847,
      -0.11157982028158481,
      -0.07579574329924388,
      -0.14916851419315796,
      -0.14339228087915262
    ],
    "a_ego": [
      1.6619715318584467,
      1.6619715323303905,
      1.5824781454233376,
      1.4687886321611916,
      1.2675535412525814,
      1.2444094357309885,
      1.0692749795295735,
      0.8295700040493017,
      0.6616196855871919,
      0.6616196825916522
    ],
    "yaw": [
      -0.6592693669817649,
      -0.6401196086128131,
      -0.6219643389427878,
      -0.6233840404018085,
      -0.6245555733441818,
      -0.6162516513755487,
      -0.6151232068770311,
      -0.6188394735776186,
      -0.6221376632816028,
      -0.6310896718006506
    ],
    "yaw_diff": [
      0.03829951673790344,
      0.036310539340050685,
      -0.0028394029180414115,
      -0.0023430658847465313,
      0.01660784393726611,
      0.0022568889970351336,
      -0.00743253340117489,
      -0.006596379407968422,
      -0.01790401703809552,
      -0.01790401703809552
    ],
    "min_front_frame": [
      0,
      18.79202524903499
    ],
    "v_avg": 6.226937189861439,
    "v_std": 1.773347097185612,
    "vy_max": 0.062126964516395766,
    "a_max": 1.6619715323303905,
    "ax_avg": 1.2041624151426467,
    "a_std": 0.3721193842600365,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c844ccab55295a05",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 43.400709829119045,
    "speed_mode": "accelerating",
    "front_frame": [
      18.79202524903499,
      20.67048815454144,
      22.54490770256886,
      24.491721354488558,
      26.524753122404636,
      28.449736020824975,
      30.38906353330401,
      32.3884154732653,
      34.402752467431796,
      36.45174849514546
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c844ccab55295a05",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e3ddabf456b155a9": {
    "vx_ego": [
      9.795554550634716,
      9.788298769517029,
      9.73405940493512,
      9.652441791021577,
      9.594809898717118,
      9.534767453816398,
      9.477395236794823,
      9.426669889767009,
      9.345144671382409,
      9.243686892151693
    ],
    "vy_ego": [
      0.15043262167754734,
      0.08550931389921312,
      0.07035909876184543,
      0.07164783902129535,
      0.049984049856846235,
      0.09025001246505271,
      0.11855066169506312,
      0.09915303708312528,
      0.09032284336662233,
      0.07644953306781943
    ],
    "v_ego": [
      9.796709597008848,
      9.788672261552744,
      9.734313684157936,
      9.652707700013309,
      9.594940093495117,
      9.535194568707363,
      9.478136669926718,
      9.42719133864391,
      9.345581156091946,
      9.244003023108728
    ],
    "ax_ego": [
      -0.016147516140673304,
      -0.01611568610501557,
      -0.20167738421149403,
      -0.12513327281883316,
      -0.10595516239132569,
      -0.13472677153271578,
      -0.10227860036442442,
      -0.11211286520761674,
      -0.23017252151474493,
      -0.19099656170197224
    ],
    "ay_ego": [
      0.004580732382408848,
      0.004691510143674148,
      0.04731232346255301,
      0.0007220567905364336,
      0.0014930002952227746,
      0.3980210467400755,
      0.5430355839988941,
      0.8038278978012909,
      0.834467414329082,
      0.8442958988345848
    ],
    "a_ego": [
      0.016784677139359994,
      0.016784683674814647,
      0.20715265688331355,
      0.12513535604441012,
      0.10596568070490432,
      0.4202047793822602,
      0.5525835299586168,
      0.8116086395724875,
      0.865629975935168,
      0.8656299737017398
    ],
    "yaw": [
      1.7096637103521726,
      1.7165307072640363,
      1.7194078614366637,
      1.7205148631087128,
      1.722824084079259,
      1.7290542216354265,
      1.7508343494454535,
      1.7885008602843477,
      1.833001433711694,
      1.8796653645158687
    ],
    "yaw_diff": [
      0.01373399382372753,
      0.0057543083452546995,
      0.00221400334409827,
      0.004618441941092399,
      0.01246027511233505,
      0.043560255620053834,
      0.07533302167778855,
      0.08900114685469251,
      0.0933278616083495,
      0.0933278616083495
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.559745009270664,
    "v_std": 0.17869167842060293,
    "vy_max": 0.15043262167754734,
    "a_max": 0.865629975935168,
    "ax_avg": -0.12353163419888158,
    "a_std": 0.33460772916134635,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "e3ddabf456b155a9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "e3ddabf456b155a9",
    "road_shape": "Curve"
  },
  "93512ae1de725307": {
    "vx_ego": [
      1.4599546647537407,
      0.9955389838281488,
      0.5709382709223789,
      0.2561663493436899,
      0.04252362411442574,
      -0.037666253154083965,
      -0.02357847852632751,
      -0.016017588408349947,
      -0.004492052438298694,
      0.009457033019372951
    ],
    "vy_ego": [
      -0.013567402996740863,
      -0.009165440569708638,
      -0.020718130923034372,
      -0.024862779344871105,
      0.013605841221293238,
      0.021806747908479952,
      0.0009569700796365523,
      -0.0004908163432799763,
      -0.0005110952373556575,
      -0.0006215769441110372
    ],
    "v_ego": [
      1.4600177045365865,
      0.9955811737987114,
      0.571314055623332,
      0.25737007660725664,
      0.044647256614085626,
      0.04352333719984642,
      0.02359789061229429,
      0.016025106523893603,
      0.0045210345552840975,
      0.009477438020212038
    ],
    "ax_ego": [
      -0.9288271091511939,
      -0.9288249054792583,
      -0.7696181647455281,
      -0.489516535763389,
      -0.3650537804623902,
      0.04431243775263518,
      0.012039443668453479,
      0.018204216109125898,
      0.02789795301389939,
      0.027897989920637647
    ],
    "ay_ego": [
      0.009271288335241268,
      0.009489309733918483,
      -0.060676878474142104,
      0.043601398301911426,
      0.11027857676328079,
      -0.0774534529161711,
      -0.005937261864967059,
      0.00014271345893309556,
      -0.00022423706185549508,
      -0.00021941052031189227
    ],
    "a_ego": [
      0.9288733796818376,
      0.9288733778280974,
      0.772006349123918,
      0.49145449506507843,
      0.3813471215609445,
      0.08923356716067503,
      0.01342383262332545,
      0.018204775507517788,
      0.027898854181232027,
      0.02789885271097045
    ],
    "yaw": [
      -2.106070179857298,
      -2.105835452402783,
      -2.107465403698555,
      -2.1077935675169384,
      -2.107783313788085,
      -2.1078935458523747,
      -2.1079724453943536,
      -2.107931020071767,
      -2.107922049309839,
      -2.1080950968826233
    ],
    "yaw_diff": [
      0.0004694549090293876,
      -0.0032599025915436286,
      -0.000656327636766818,
      2.0507457707097387e-05,
      -0.00022046412857967823,
      -0.0001577990839578547,
      8.285064517288276e-05,
      1.79415238559244e-05,
      -0.00034609514556827037,
      -0.00034609514556827037
    ],
    "min_front_frame": [
      4,
      9.89309740534963
    ],
    "v_avg": 0.34260750740915025,
    "v_std": 0.48440532829508626,
    "vy_max": 0.024862779344871105,
    "a_max": 0.9288733796818376,
    "ax_avg": -0.3351488455137008,
    "a_std": 0.3694492362757746,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "93512ae1de725307",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.149681373457614,
      10.540732449231994,
      10.177103532837116,
      9.989472982640095,
      9.89309740534963,
      9.925601456499036,
      9.895754220608406,
      9.92008770353767,
      9.910837791480619,
      9.911907486064358
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "93512ae1de725307",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8b328af730c75e49": {
    "vx_ego": [
      7.197233867679656,
      6.876118883648898,
      6.54845356056415,
      6.222982045115095,
      5.893628653766221,
      5.523575402694878,
      5.120521102794809,
      4.708352236939705,
      4.236204832430872,
      3.7080731991164804
    ],
    "vy_ego": [
      0.020335805217980507,
      -0.020596506857753827,
      0.020603543886073883,
      0.04630084005057533,
      0.06583459201647202,
      0.06172713762255322,
      0.031028250662138657,
      -0.029804461113675185,
      -0.09414708009336725,
      -0.1498280723441594
    ],
    "v_ego": [
      7.1972625970607,
      6.876149730639066,
      6.5484859731762395,
      6.223154288752147,
      5.893996343907944,
      5.523920298915884,
      5.120615111146914,
      4.708446568986145,
      4.237250884122957,
      3.7110989344489718
    ],
    "ax_ego": [
      -0.6426671463756873,
      -0.6417442339108251,
      -0.6689158429304105,
      -0.6331024308915311,
      -0.684094638150894,
      -0.7956195362130948,
      -0.8159273676323581,
      -0.8326809819757732,
      -1.0563038478110165,
      -1.0562886451700835
    ],
    "ay_ego": [
      0.07646488493112175,
      0.08385872493808527,
      0.07417522498390239,
      0.05189473794854621,
      0.005036980171268357,
      -0.06108850520688347,
      -0.12704785128818175,
      -0.17068259890972814,
      -0.11236472834143696,
      -0.1125075522605275
    ],
    "a_ego": [
      0.6472000769918054,
      0.6472000830547175,
      0.6730158756854954,
      0.6352257487126243,
      0.6841131815102296,
      0.797961309759033,
      0.8257594236630987,
      0.8499942160478017,
      1.0622634565283717,
      1.0622634566014713
    ],
    "yaw": [
      2.595617662466366,
      2.607130717591583,
      2.606878834482946,
      2.6077909125906418,
      2.606916863889505,
      2.6051859152561265,
      2.602118035249343,
      2.5993518783108938,
      2.5979254594815058,
      2.597790248869636
    ],
    "yaw_diff": [
      0.02302611025043433,
      -0.0005037662172746593,
      0.0018241562153917812,
      -0.0017480974022738849,
      -0.0034618972667566084,
      -0.006135760013567193,
      -0.005532313876898343,
      -0.002852837658775975,
      -0.00027042122373988065,
      -0.00027042122373988065
    ],
    "min_front_frame": [
      9,
      12.973599791266327
    ],
    "v_avg": 5.604038073115698,
    "v_std": 1.095879625641506,
    "vy_max": 0.1498280723441594,
    "a_max": 1.0622634566014713,
    "ax_avg": -0.7827344671061673,
    "a_std": 0.15582352250633186,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8b328af730c75e49",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.8356441879783687,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.812440401640423,
      26.076761233723058,
      25.237564081544168,
      24.153962566030184,
      22.78035953516919,
      21.226859993206432,
      19.41265687056189,
      17.103248790217243,
      14.894315500921671,
      12.973599791266327
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8b328af730c75e49",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3e8c8729205850ab": {
    "vx_ego": [
      2.4740336300442025,
      2.2501553810174464,
      1.9084889222108283,
      1.4595115995587773,
      1.0847723006568386,
      0.8417125141600904,
      0.6953273888379383,
      0.5684161408044097,
      0.41453399560742127,
      0.2429166339519151
    ],
    "vy_ego": [
      -0.058865645153325596,
      -0.03593501611696881,
      -0.021152928427241924,
      -0.02686683881575347,
      -0.02877521220597573,
      -0.015837957812604275,
      0.007748466338593218,
      0.01340664545819334,
      -0.006725681720513965,
      -0.024730118915432947
    ],
    "v_ego": [
      2.4747338375609225,
      2.250442304104928,
      1.908606143913012,
      1.4597588623723348,
      1.0851538863727253,
      0.8418615072572058,
      0.695370560491876,
      0.5685742231841153,
      0.4145885530364523,
      0.24417221347258203
    ],
    "ax_ego": [
      -0.44769431787942443,
      -0.4476497555213175,
      -0.9190060012074949,
      -0.8768917400940326,
      -0.6220484640041296,
      -0.3501781372983484,
      -0.23535247409697124,
      -0.27231687775923,
      -0.3432139891418339,
      -0.34322900153102887
    ],
    "ay_ego": [
      0.04986630797887706,
      0.050264697260936436,
      0.009780686669705274,
      -0.03160732094381752,
      0.024578514498999948,
      0.02768385098756687,
      0.0674881263363329,
      -0.044223508991766344,
      -0.0358047312511279,
      -0.03566052106932649
    ],
    "a_ego": [
      0.4504629295879599,
      0.4504629212366196,
      0.9190580460923679,
      0.8774611937757624,
      0.6225338504409816,
      0.35127072671551035,
      0.24483756709286741,
      0.27588439727552605,
      0.34507654386036785,
      0.34507654260312004
    ],
    "yaw": [
      -0.5296714004758778,
      -0.5287814560876278,
      -0.5286742361378218,
      -0.5285209934077234,
      -0.5283991070455136,
      -0.5282609960608416,
      -0.527987085742706,
      -0.5277388843855259,
      -0.5274885129813601,
      -0.5270683448089467
    ],
    "yaw_diff": [
      0.0017798887764999272,
      0.0002144398996120067,
      0.0003064854601968481,
      0.00024377272441955533,
      0.00027622196934395937,
      0.0005478206362712346,
      0.0004964027143603555,
      0.0005007428083314558,
      0.0008403363448268308,
      0.0008403363448268308
    ],
    "min_front_frame": [
      9,
      10.210904545337955
    ],
    "v_avg": 1.1943262091766154,
    "v_std": 0.7498620470986448,
    "vy_max": 0.058865645153325596,
    "a_max": 0.9190580460923679,
    "ax_avg": -0.48575807585338115,
    "a_std": 0.22849029537936835,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3e8c8729205850ab",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.150908244905528,
    "right_rear_min": 20.14229507112584,
    "speed_mode": "decelerating",
    "front_frame": [
      15.517793381191092,
      14.322162130720885,
      13.25953602217172,
      12.455678842353812,
      11.820752366540377,
      11.387945865726007,
      10.99280912360965,
      10.633068708200467,
      10.367586665639939,
      10.210904545337955
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3e8c8729205850ab",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0e6a9b4fe9ec5443": {
    "vx_ego": [
      7.607022184410997,
      7.6242093369567145,
      7.6682720656543175,
      7.720471080420677,
      7.791603998736486,
      7.836375039138965,
      7.873717270695018,
      7.879284141751262,
      7.828007785045061,
      7.749179113966171
    ],
    "vy_ego": [
      -0.011587929078893722,
      0.022488235951155344,
      0.06422839001917424,
      0.07503516570458002,
      0.07368522942517108,
      0.04791281738529163,
      0.01670560245247943,
      -0.019007566809975618,
      -0.04796430542667052,
      -0.06002847433539493
    ],
    "v_ego": [
      7.607031010467973,
      7.624242502340422,
      7.668541045008418,
      7.7208357047475324,
      7.791952411697714,
      7.836521510983685,
      7.873734992746092,
      7.879307068140506,
      7.828154728754481,
      7.7494116136685225
    ],
    "ax_ego": [
      -0.07959873734332826,
      0.1508027967184919,
      0.03237142182692121,
      0.18654631536374394,
      0.10307341589510566,
      0.07997412685318342,
      0.06967168926592086,
      -0.04767380702227199,
      -0.15927322314971956,
      -0.15790178045415898
    ],
    "ay_ego": [
      -1.838234992972072,
      -1.8337672606041011,
      -1.6045929085136776,
      -1.2611789022088788,
      -0.8186882991423208,
      -0.5311011231303688,
      -0.29736021585393474,
      -0.2661038251582729,
      -0.1580360618900732,
      -0.15940634930319483
    ],
    "a_ego": [
      1.839957567003567,
      1.839957567326374,
      1.604919409504253,
      1.2749006828583087,
      0.8251512953494234,
      0.5370886928210911,
      0.3054132319626406,
      0.27034059561941765,
      0.22437325257308058,
      0.22437325256983193
    ],
    "yaw": [
      1.488114763775266,
      1.362788106923003,
      1.2452724512110611,
      1.1505888172359569,
      1.0838372338573574,
      1.0439704603089932,
      1.0215807843511961,
      1.0082555993395506,
      0.9984587544047154,
      0.9898182345222547
    ],
    "yaw_diff": [
      -0.25065331370452615,
      -0.23503131142388378,
      -0.18936726795020853,
      -0.13350316675719887,
      -0.07973354709672842,
      -0.04477935191559412,
      -0.02665037002329118,
      -0.01959368986967025,
      -0.017281039764921458,
      -0.017281039764921458
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.757973258855536,
    "v_std": 0.09512655776375631,
    "vy_max": 0.07503516570458002,
    "a_max": 1.839957567326374,
    "ax_avg": 0.017799221795388825,
    "a_std": 0.6484188619050322,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "0e6a9b4fe9ec5443",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0e6a9b4fe9ec5443",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "83e895f722575452": {
    "vx_ego": [
      3.539037788599555,
      3.6252911499578517,
      3.7743031175180506,
      3.950114802299154,
      3.9594390726339443,
      3.7428062129721504,
      3.440700695501627,
      3.2562841069395745,
      3.267130924930047,
      3.4982484679697703
    ],
    "vy_ego": [
      -0.010782806789817245,
      -0.025623549870506634,
      -0.03475093364980264,
      -0.044169497550012204,
      -0.07075527678201943,
      -0.018691975018334972,
      0.01650901175355665,
      0.0155665141640845,
      0.019013489839688535,
      0.03175942272990562
    ],
    "v_ego": [
      3.5390542151905353,
      3.625381702423993,
      3.7744630943083823,
      3.950361742404954,
      3.9600712214672162,
      3.74285288754354,
      3.44074030166394,
      3.256321314224148,
      3.267186250189932,
      3.4983926315645277
    ],
    "ax_ego": [
      0.1724878744984359,
      0.17249943907775928,
      0.422955695137685,
      0.280190272484086,
      -0.2426527618815505,
      -0.6174350989820243,
      -0.553972828941727,
      -0.1529449303862962,
      0.22504215342311096,
      0.7097578182250515
    ],
    "ay_ego": [
      -0.03228250353534071,
      -0.03222062442496152,
      -0.11157441418621884,
      -0.4209341160032146,
      -0.8870675219576472,
      -1.3277810207828322,
      -1.6741821733017614,
      -1.7809631858548918,
      -1.845459818088163,
      -1.7183159696329793
    ],
    "a_ego": [
      0.17548283928492112,
      0.17548283426157674,
      0.4374247020349905,
      0.5056600822787123,
      0.9196570835701888,
      1.4643184560081328,
      1.7634545201413925,
      1.7875183974161706,
      1.8591304179630075,
      1.8591304236194164
    ],
    "yaw": [
      -1.1284864928303753,
      -1.1288452252466747,
      -1.1361564771495134,
      -1.1680369789079397,
      -1.2427297808050195,
      -1.397826039051837,
      -1.6161872384383873,
      -1.8763080631414564,
      -2.157551705326642,
      -2.427916337229906
    ],
    "yaw_diff": [
      -0.0007174648325989352,
      -0.014622503805677312,
      -0.06376100351685254,
      -0.14938560379415966,
      -0.3101925164936352,
      -0.4367223987731004,
      -0.5202416494061382,
      -0.5624872843703717,
      -0.5407292638065275,
      -0.5407292638065275
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.605482536098117,
    "v_std": 0.23913902468274634,
    "vy_max": 0.07075527678201943,
    "a_max": 1.8591304236194164,
    "ax_avg": 0.04159276326545306,
    "a_std": 0.6879022258767608,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "83e895f722575452",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "83e895f722575452",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "660e14c77a1c550b": {
    "vx_ego": [
      4.976889328387082,
      4.972268831991401,
      5.011017264303287,
      5.070878077410772,
      5.122783124567996,
      5.172317292710559,
      5.192955882859983,
      5.184020190812115,
      5.205048525664121,
      5.284014830520675
    ],
    "vy_ego": [
      -0.00499037259442503,
      0.004423862984928029,
      0.006433519035856233,
      0.016264298256656984,
      0.03266013978341875,
      0.028270662131824942,
      -0.0023385849660293445,
      -0.0237054597093862,
      -0.01790896053190094,
      -0.0008493490590710806
    ],
    "v_ego": [
      4.976891830332647,
      4.97227079996221,
      5.0110213942182265,
      5.0709041603409295,
      5.122887235347789,
      5.172394552507577,
      5.192956409436705,
      5.184074390628255,
      5.205079335167291,
      5.284014898782579
    ],
    "ax_ego": [
      -0.07293023107701002,
      0.054633534008555834,
      0.09998110629605703,
      0.13210359602095156,
      0.06659000101499923,
      0.11998201687965632,
      -0.04594520478775932,
      0.019383616391233982,
      0.08045128249443212,
      0.23879358314130816
    ],
    "ay_ego": [
      1.133698689790453,
      1.1347275947330382,
      1.1715778288872831,
      1.1313778368730854,
      1.1635458983632123,
      1.2082077450964048,
      1.1701575020450665,
      1.2196954712493702,
      1.3131782641932908,
      1.2937879215327281
    ],
    "a_ego": [
      1.1360420493263161,
      1.1360420490839633,
      1.1758362261626505,
      1.1390641640615724,
      1.1654498212420097,
      1.2141505836120368,
      1.1710591536875234,
      1.2198494854573763,
      1.3156403621068726,
      1.3156403616693437
    ],
    "yaw": [
      -0.19318736706805273,
      -0.08083674269120794,
      0.03427257512227106,
      0.14650635897165543,
      0.25557204941804545,
      0.3716334368490847,
      0.49164203350023794,
      0.6109581292410535,
      0.7317737347925191,
      0.8531009815789613
    ],
    "yaw_diff": [
      0.22470124875368958,
      0.230218635626958,
      0.22446756769876874,
      0.21813138089278006,
      0.23212277486207844,
      0.24001719330230653,
      0.23863219148163117,
      0.24163121110293106,
      0.2426544935728845,
      0.2426544935728845
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.119249500672421,
    "v_std": 0.10144261482965404,
    "vy_max": 0.03266013978341875,
    "a_max": 1.3156403621068726,
    "ax_avg": 0.06930433003824249,
    "a_std": 0.06468123096974734,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "660e14c77a1c550b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "660e14c77a1c550b",
    "pedestrians": "No"
  },
  "98045d12586d50b6": {
    "vx_ego": [
      7.314885426505183,
      6.8988238406465445,
      6.447448904634217,
      5.895921443917264,
      5.241235819772576,
      4.546828989604583,
      3.839384131076824,
      3.20502756537663,
      2.687807278768172,
      2.2012821388353365
    ],
    "vy_ego": [
      0.009544436185199512,
      -0.03940241901506303,
      -0.07974890703880844,
      -0.09261903311347464,
      -0.06995189853466366,
      0.007249950206110967,
      0.049270874181156055,
      0.05887753855653366,
      0.060014902172288664,
      0.0503936634795773
    ],
    "v_ego": [
      7.314891653275529,
      6.89893636257774,
      6.44794209543191,
      5.896648875262823,
      5.241702603789698,
      4.54683476964873,
      3.839700264995578,
      3.2055683208084216,
      2.688477218851206,
      2.201858891045102
    ],
    "ax_ego": [
      -0.8349898869274018,
      -0.8273507701172744,
      -0.9771191563321413,
      -1.2300353359186926,
      -1.39310308065822,
      -1.3880040268832239,
      -1.4402999838667534,
      -1.0926886938261293,
      -0.9719816307739686,
      -0.9703002931837168
    ],
    "ay_ego": [
      0.27298968387974554,
      0.2953340240796804,
      -0.04678414603957742,
      -0.08420272896646641,
      -0.17889420270720108,
      -0.24336637229404012,
      -0.11198426619689938,
      -0.12606962984001613,
      -0.09269193300726991,
      -0.10889183175782896
    ],
    "a_ego": [
      0.878482486322749,
      0.8784824884952143,
      0.9782385199898275,
      1.2329140388421291,
      1.404542391350887,
      1.4091779056625913,
      1.4446468493726168,
      1.0999373314800491,
      0.9763913585272289,
      0.9763913610719741
    ],
    "yaw": [
      -0.45290779744698495,
      -0.4260264330098208,
      -0.4107120068997884,
      -0.4139162003890283,
      -0.42974016118232405,
      -0.4670855513264359,
      -0.4982424799286659,
      -0.5181110459848023,
      -0.5371556718016527,
      -0.5538365954665679
    ],
    "yaw_diff": [
      0.053762728874328314,
      0.03062885222006484,
      -0.006408386978479896,
      -0.031647921586591465,
      -0.07469078028822373,
      -0.06231385720445992,
      -0.03973713211227281,
      -0.038089251633700805,
      -0.033361847329830496,
      -0.033361847329830496
    ],
    "min_front_frame": [
      9,
      10.131191467631142
    ],
    "v_avg": 4.8282561055686735,
    "v_std": 1.7196810510796188,
    "vy_max": 0.09261903311347464,
    "a_max": 1.4446468493726168,
    "ax_avg": -1.1125872858487524,
    "a_std": 0.21459570833796388,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "98045d12586d50b6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 30.06259669870127,
    "right_rear_min": 5.678217405759847,
    "speed_mode": "decelerating",
    "front_frame": [
      31.537656763301662,
      28.074990234932475,
      24.743639292839354,
      21.713065731328953,
      18.953818140838955,
      16.581088756114713,
      14.5552470483472,
      12.818989471771626,
      11.32910093631397,
      10.131191467631142
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "98045d12586d50b6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "29b1f4b4868f59e3": {
    "vx_ego": [
      9.233027461847238,
      9.240857777917917,
      9.249987458051246,
      9.247953115288661,
      9.24763831977151,
      9.222362393489494,
      9.136515168206627,
      9.026662672850371,
      8.93044642515891,
      8.850451967458405
    ],
    "vy_ego": [
      -0.06369700221664143,
      -0.050739984346760636,
      -0.06040714812386794,
      -0.07343468393044028,
      -0.07588188455212297,
      -0.07005666534528254,
      -0.05293204017369191,
      -0.038637642511567094,
      -0.02312357483026517,
      -0.02218753395657158
    ],
    "v_ego": [
      9.233247176335995,
      9.240997079196463,
      9.250184700731646,
      9.24824466995663,
      9.247949640526253,
      9.22262847854171,
      9.136668496763287,
      9.026745364573493,
      8.93047636200592,
      8.85047977880021
    ],
    "ax_ego": [
      0.015253450450718657,
      0.015352768688053575,
      0.02073882777155435,
      -0.029446345943010252,
      0.02776414765560055,
      -0.12938192023696865,
      -0.214562784713187,
      -0.22529344417503278,
      -0.16010146713440984,
      -0.16004393394847566
    ],
    "ay_ego": [
      -0.03181852984028305,
      -0.03177072498227035,
      -0.0882975073390584,
      -0.035596125104618875,
      -0.025694453200473852,
      -0.015032009954414423,
      0.0034828195576243615,
      -0.04994814360430639,
      -0.030913676687202615,
      -0.03121016587995676
    ],
    "a_ego": [
      0.0352857845576588,
      0.03528578286346975,
      0.0907003240326586,
      0.046197093110488176,
      0.03782925878620053,
      0.13025222688105925,
      0.2145910497107193,
      0.23076384690363658,
      0.16305868632155543,
      0.16305868651488167
    ],
    "yaw": [
      1.3821086586670972,
      1.3789848602376487,
      1.3767836230448616,
      1.3748446284795617,
      1.3734512795696199,
      1.3717216796433578,
      1.3695441250570692,
      1.3666914431362773,
      1.362708404120489,
      1.3608561906523042
    ],
    "yaw_diff": [
      -0.0062475968588970865,
      -0.004402474385574173,
      -0.0038779891305997793,
      -0.00278669781988361,
      -0.0034591998525241863,
      -0.004355109172577087,
      -0.0057053638415838215,
      -0.007966078031576451,
      -0.0037044269363697424,
      -0.0037044269363697424
    ],
    "min_front_frame": [
      0,
      17.46648783382373
    ],
    "v_avg": 9.13876217474316,
    "v_std": 0.14204862396857337,
    "vy_max": 0.07588188455212297,
    "a_max": 0.23076384690363658,
    "ax_avg": -0.08397207015851568,
    "a_std": 0.07222119788203599,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "29b1f4b4868f59e3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.1435872026904166,
    "right_rear_min": 24.89374744732422,
    "speed_mode": "quasi_constant",
    "front_frame": [
      17.46648783382373,
      18.414112740382176,
      19.519218931086808,
      20.545527511090505,
      21.554363143720348,
      22.460018169967437,
      23.267022253006196,
      24.021541669085835,
      24.94964681829666,
      25.826251954850978
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.8,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "29b1f4b4868f59e3",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "09cd7b3746d65a79": {
    "vx_ego": [
      10.905245035554875,
      10.923450948146403,
      10.95969865882901,
      10.976621464099338,
      10.966175175865395,
      10.976530809962032,
      10.956012942379473,
      10.900064745915405,
      10.850428594110504,
      10.800289454796271
    ],
    "vy_ego": [
      0.014350976980761487,
      -0.005662805636254653,
      -0.03833218988627163,
      -0.03134611334829707,
      0.01062159718600153,
      0.01417370863079892,
      0.006960418013843395,
      -0.015822606839538622,
      -0.02893214725241755,
      -0.01982272341913749
    ],
    "v_ego": [
      10.905254478279476,
      10.923452415968507,
      10.959765693166979,
      10.976666221806525,
      10.966180319787433,
      10.976539961028799,
      10.956015153376041,
      10.900076230010278,
      10.850467167133196,
      10.80030764597691
    ],
    "ax_ego": [
      0.03624492631937111,
      0.036500828770245616,
      0.1086833093463806,
      -0.03987650424847866,
      -0.0020263686182845153,
      0.0436076353990414,
      -0.12564841915870884,
      -0.09814257689686456,
      -0.10049730416229648,
      -0.10035400385790379
    ],
    "ay_ego": [
      0.05744091396028814,
      0.057278633304347244,
      -0.01877166747356314,
      0.2319282702624259,
      0.010475027046326631,
      -0.07265147427779742,
      -0.0264959814948329,
      -0.050670374252464116,
      -0.04717872289413673,
      -0.0474827692429682
    ],
    "a_ego": [
      0.06792019788317659,
      0.06792019091646215,
      0.1102925075887709,
      0.2353313794163452,
      0.010669224967093098,
      0.0847340697702712,
      0.12841169055992183,
      0.11045113049146103,
      0.1110204487372073,
      0.11102044615877354
    ],
    "yaw": [
      0.6549267497760765,
      0.6593881920661372,
      0.6632570120331573,
      0.6674714605492548,
      0.6691705284933496,
      0.6674290705574746,
      0.6658296456193402,
      0.6661492398355906,
      0.6651053626725528,
      0.6620777653201132
    ],
    "yaw_diff": [
      0.00892288458012147,
      0.007737639934040308,
      0.008428897032194849,
      0.0033981358881896018,
      -0.003482915871749981,
      -0.003198849876268728,
      0.0006391884325007702,
      -0.0020877543260755527,
      -0.006055194704879252,
      -0.006055194704879252
    ],
    "min_front_frame": [
      9,
      38.41160184454003
    ],
    "v_avg": 10.921472528653414,
    "v_std": 0.05584312732784396,
    "vy_max": 0.03833218988627163,
    "a_max": 0.2353313794163452,
    "ax_avg": -0.024150847710749813,
    "a_std": 0.054505472771335835,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "09cd7b3746d65a79",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 25.28115120942401,
    "speed_mode": "quasi_constant",
    "front_frame": [
      40.31488262692063,
      40.24983613689757,
      40.007239781882454,
      39.76176199880305,
      39.63669560093586,
      39.34666810037429,
      39.13925671775513,
      38.898839082329744,
      38.66325064254359,
      38.41160184454003
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "09cd7b3746d65a79",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "a58d5374dae0552a": {
    "vx_ego": [
      6.417089200514555,
      6.508309153298125,
      6.6000073003670305,
      6.674717087832394,
      6.745066209955683,
      6.8195565738956425,
      6.8748142526428015,
      6.9532260154796885,
      7.051981714801845,
      7.138118096050694
    ],
    "vy_ego": [
      -0.12396656294253017,
      -0.06025441058736414,
      -0.021539011323413515,
      -0.01638924331411573,
      -0.01087974946318937,
      -0.017913830392815466,
      -0.020656879041998977,
      -0.028477104626131844,
      -0.040889347905741946,
      -0.02502287437238726
    ],
    "v_ego": [
      6.41828649376828,
      6.508588067230818,
      6.600042446371606,
      6.674737209051616,
      6.745074984433776,
      6.819580102167773,
      6.874845286622264,
      6.953284329569116,
      7.05210025770137,
      7.138161955111991
    ],
    "ax_ego": [
      0.17866107103566006,
      0.1800942154360146,
      0.1849277264249603,
      0.11333405201046542,
      0.1668315906673512,
      0.13048147526776593,
      0.08791412051415393,
      0.22440333540489754,
      0.16714644012358354,
      0.17425093098747008
    ],
    "ay_ego": [
      -0.0880481109982632,
      -0.08507832688600062,
      -0.2023727809744955,
      -0.2947942270856425,
      -0.2962007387680276,
      -0.3548606347486766,
      -0.27616946593739017,
      -0.3492251163368537,
      -0.304028869481625,
      -0.3000134990318244
    ],
    "a_ego": [
      0.1991789350156578,
      0.19917893497866387,
      0.27414048675826064,
      0.3158294534525434,
      0.339952433865863,
      0.37808925597309195,
      0.2898248893761895,
      0.41510846633299586,
      0.34694594092489633,
      0.3469459418285773
    ],
    "yaw": [
      2.26520203904243,
      2.2486463738125195,
      2.2317737650587315,
      2.2122986876312325,
      2.18943625502831,
      2.166491249306617,
      2.143870640253558,
      2.1223361232600197,
      2.100809650847607,
      2.0772875808482127
    ],
    "yaw_diff": [
      -0.033111330459821176,
      -0.033745217507576086,
      -0.038950154854997976,
      -0.04572486520584462,
      -0.04589001144338667,
      -0.04524121810611792,
      -0.04306903398707629,
      -0.0430529448248258,
      -0.047044139998788204,
      -0.047044139998788204
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.778470113202862,
    "v_std": 0.22182665154786338,
    "vy_max": 0.12396656294253017,
    "a_max": 0.41510846633299586,
    "ax_avg": 0.16080449578723227,
    "a_std": 0.06752623979524087,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "a58d5374dae0552a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.677281294955185,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a58d5374dae0552a",
    "with_lead": "Far",
    "road_shape": "Curve"
  },
  "6e59104beb995339": {
    "vx_ego": [
      7.286473281434962,
      7.052235142906623,
      6.753499506218371,
      6.600172571703601,
      6.501375405664216,
      6.27316900717921,
      6.054789561064785,
      5.805884942054391,
      5.568978754025867,
      5.358675272270823
    ],
    "vy_ego": [
      -0.02931646334007798,
      0.0025599914488765307,
      0.016444359835799283,
      0.0142131710554243,
      0.04830936920831297,
      0.06185116968811366,
      0.04813591762090308,
      -0.020633036714902797,
      -0.07583926391679041,
      -0.0839284692980864
    ],
    "v_ego": [
      7.286532257259852,
      7.052235607550517,
      6.753519526695854,
      6.600187875394152,
      6.501554887911726,
      6.27347391481192,
      6.054980899667999,
      5.805921604928712,
      5.569495125838871,
      5.359332482838278
    ],
    "ax_ego": [
      -0.4695934767933088,
      -0.4680129944675978,
      -0.7261079135117477,
      0.11340058872820385,
      -0.5067983449772586,
      -0.4029046982427283,
      -0.4675708001261783,
      -0.5275183823002905,
      -0.4205934219917319,
      -0.42059465819955516
    ],
    "ay_ego": [
      -0.11896205412797005,
      -0.1250353593627368,
      -0.17663421527473575,
      -0.15256583819827796,
      -0.12944881622128235,
      -0.15670086936519081,
      -0.2055074285600291,
      -0.24162630491553203,
      -0.01531153848193742,
      -0.015277519652380056
    ],
    "a_ego": [
      0.4844275010454856,
      0.4844275013678481,
      0.7472833117834932,
      0.19009478822168263,
      0.5230693629842793,
      0.4323047054172213,
      0.5107404001290577,
      0.5802231595617751,
      0.4208720349861688,
      0.4208720341300066
    ],
    "yaw": [
      1.1789305012797582,
      1.1659757683829106,
      1.1530992197182701,
      1.1409158533651964,
      1.1251353803148012,
      1.111788322175356,
      1.099339350727041,
      1.092095242004937,
      1.0905041023181146,
      1.0905849871636295
    ],
    "yaw_diff": [
      -0.02590946579369513,
      -0.025753097329280994,
      -0.02436673270614742,
      -0.03156094610079041,
      -0.026694116278890512,
      -0.024897942896629832,
      -0.01448821744420803,
      -0.003182279373644903,
      0.00016176969102987826,
      0.00016176969102987826
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.325723418289789,
    "v_std": 0.5993537067609317,
    "vy_max": 0.0839284692980864,
    "a_max": 0.7472833117834932,
    "ax_avg": -0.4296294101882193,
    "a_std": 0.1332790574764746,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6e59104beb995339",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6e59104beb995339",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "205cce163e5a5b46": {
    "vx_ego": [
      4.14818881788367,
      4.236802253525693,
      4.276041854285078,
      4.1644809373179426,
      3.995755462971133,
      3.7962867704451346,
      3.608292976482226,
      3.436138144426706,
      3.265736646861052,
      3.1056971159293845
    ],
    "vy_ego": [
      -0.02749377566948663,
      -0.12398999205092665,
      -0.0783025693965288,
      -0.051264715953017015,
      -0.052327163911602,
      -0.01065221389965132,
      0.003660252787908269,
      -0.00603595570269877,
      -0.003535877879280891,
      -0.018119123913211466
    ],
    "v_ego": [
      4.148279929864387,
      4.238616148415563,
      4.276758729689094,
      4.1647964594186675,
      3.996098078369284,
      3.796301715237833,
      3.6082948329621614,
      3.4361434458336357,
      3.265738561043067,
      3.105749970384525
    ],
    "ax_ego": [
      0.06185599878293058,
      0.34847150008409244,
      -0.14924245846127485,
      -0.2738921016900392,
      -0.375319982882208,
      -0.41969442061274387,
      -0.33827205230754986,
      -0.3631876413387354,
      -0.32150961189413757,
      -0.3173066026196581
    ],
    "ay_ego": [
      1.4704019877938126,
      1.4298516615307724,
      1.2140634985213965,
      1.057727025186616,
      1.0429644231341735,
      0.8429761054792818,
      0.6955395901597389,
      0.35298194562254603,
      0.14521134022770874,
      0.15417939621856278
    ],
    "a_ego": [
      1.4717024734277744,
      1.4717024700506445,
      1.223202145947095,
      1.0926130802705571,
      1.1084402904416188,
      0.9416751675086712,
      0.7734360366907784,
      0.5064597878969977,
      0.35278146758446133,
      0.3527814710048562
    ],
    "yaw": [
      -2.112913323294335,
      -1.9159044310555835,
      -1.7736711702133463,
      -1.6461460053708832,
      -1.5177467281905852,
      -1.4076944874530168,
      -1.3074790900096318,
      -1.230410549928983,
      -1.1939357595232805,
      -1.1658605071770012
    ],
    "yaw_diff": [
      0.39401778447750324,
      0.2844665216844744,
      0.25505032968492625,
      0.25679855436059595,
      0.22010448147513673,
      0.20043079488677007,
      0.15413708016129757,
      0.07294958081140512,
      0.056150504692558556,
      0.056150504692558556
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8036777871218215,
    "v_std": 0.4060729124999376,
    "vy_max": 0.12398999205092665,
    "a_max": 1.4717024734277744,
    "ax_avg": -0.21480973729393238,
    "a_std": 0.4001911087526766,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "205cce163e5a5b46",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "205cce163e5a5b46",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "18649e595e7b51ab": {
    "vx_ego": [
      4.4964271771536755,
      4.96098024499261,
      5.405605038380948,
      5.80705856533988,
      6.093438017593322,
      6.2779223304180025,
      6.388717588999562,
      6.452923859874305,
      6.573822155105276,
      6.730480341297421
    ],
    "vy_ego": [
      0.01459790510262371,
      0.047464212910926395,
      0.01177182281898137,
      0.010705735753906431,
      0.007374362484551256,
      -0.015012024757948161,
      -0.014022410838360422,
      -0.022526114715673895,
      -0.013504132037146732,
      -0.009888356900143336
    ],
    "v_ego": [
      4.496450873553447,
      4.961207296889961,
      5.405617856155017,
      5.807068433733608,
      6.093442479869133,
      6.277940279076278,
      6.3887329776723405,
      6.452963177268199,
      6.573836025376283,
      6.730487605232865
    ],
    "ax_ego": [
      0.9234792412052775,
      0.9393414867227368,
      0.8402302056028678,
      0.7650999358614292,
      0.3807906051391429,
      0.3571579698541011,
      0.08616390456895047,
      0.17116624568966193,
      0.31300642385393923,
      0.31400880993318425
    ],
    "ay_ego": [
      -0.3765275635690678,
      -0.3349992164675561,
      -0.20912830356641054,
      -0.02437132806956066,
      -0.1055095158889027,
      0.01956891223815843,
      0.03778755039477707,
      0.07187084897279551,
      0.12047151900709972,
      0.1178341096323723
    ],
    "a_ego": [
      0.9972897848992205,
      0.9972897792078078,
      0.8658645654835415,
      0.7654879969581739,
      0.3951376252716834,
      0.357693664685982,
      0.09408569187397742,
      0.18564294383456673,
      0.33538993465175704,
      0.33538993739900513
    ],
    "yaw": [
      2.5063506420873285,
      2.461771512748957,
      2.4424600183283784,
      2.4322550410653077,
      2.4273971902414484,
      2.427542817446645,
      2.42963942300824,
      2.435242716588955,
      2.441256515185891,
      2.449669035481344
    ],
    "yaw_diff": [
      -0.08915825867674343,
      -0.03862298884115667,
      -0.020409954526141583,
      -0.009715701647718511,
      0.0002912544103930159,
      0.004193211123189933,
      0.011206587161430193,
      0.01202759719387192,
      0.016825040590906504,
      0.016825040590906504
    ],
    "min_front_frame": [
      9,
      34.25224779587031
    ],
    "v_avg": 5.918774700482713,
    "v_std": 0.7049438753635909,
    "vy_max": 0.047464212910926395,
    "a_max": 0.9972897848992205,
    "ax_avg": 0.5090444828431291,
    "a_std": 0.3220434679968019,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "18649e595e7b51ab",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      50.350040660953944,
      -1,
      44.06542800322315,
      40.77536267470232,
      37.56175210589614,
      34.25224779587031
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "18649e595e7b51ab",
    "pedestrians": "No"
  },
  "b27212debb885706": {
    "vx_ego": [
      1.6734769022322307,
      2.344104482917249,
      2.967268624795776,
      3.436779695017952,
      3.604563739508345,
      3.502517562532364,
      3.43857670094655,
      3.60244070450115,
      3.876400642341996,
      4.187662604128594
    ],
    "vy_ego": [
      0.021881757625663578,
      -0.006579882013285632,
      -0.009463936528298023,
      0.0018397498836821846,
      0.03752869057747876,
      0.05618609067600766,
      -0.005927476128695597,
      -0.0401243148950326,
      -0.01981180327791493,
      0.06644537054137456
    ],
    "v_ego": [
      1.6736199549544009,
      2.3441137177364184,
      2.967283717104252,
      3.436780187438138,
      3.6047590980251156,
      3.502968191781522,
      3.438581809884086,
      3.602664151720576,
      3.8764512698470184,
      4.188189713143789
    ],
    "ax_ego": [
      1.3412179805348743,
      1.3413526814019663,
      1.1553315986217945,
      0.7458473880242704,
      -0.01943609371917665,
      -0.3119620339791519,
      0.10019772476174194,
      0.5240885898675705,
      0.5006608190444006,
      0.7508642422477869
    ],
    "ay_ego": [
      -0.06660614843121604,
      -0.06383587951962888,
      -0.34517984310827765,
      -0.8579807004716851,
      -1.3739268618784906,
      -1.6995976499223344,
      -1.8618248077443331,
      -1.8007985353682077,
      -1.3900951572860967,
      -1.2724891706369046
    ],
    "a_ego": [
      1.342870824137187,
      1.3428708185891485,
      1.2057944380624113,
      1.1368461675198234,
      1.3740643302008597,
      1.7279908802612158,
      1.864519026124339,
      1.875511720841451,
      1.4775066165795903,
      1.4775066157802952
    ],
    "yaw": [
      2.690225683929489,
      2.6881603090493638,
      2.6510715652836074,
      2.555210914956386,
      2.3914156847902697,
      2.1730630982941816,
      1.9319924635730477,
      1.6791439589088084,
      1.4614192544615028,
      1.2740292529121984
    ],
    "yaw_diff": [
      -0.004130749760250296,
      -0.07417748753151265,
      -0.19172130065444293,
      -0.3275904603322326,
      -0.43670517299217604,
      -0.482141269442268,
      -0.5056970093284785,
      -0.43544940889461126,
      -0.3747800030986088,
      -0.3747800030986088
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.263541181163532,
    "v_std": 0.7100006239382188,
    "vy_max": 0.06644537054137456,
    "a_max": 1.875511720841451,
    "ax_avg": 0.6128162896806078,
    "a_std": 0.24647633058179644,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b27212debb885706",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 43.11092732755279,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b27212debb885706",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "68505dcbf4fb5f32": {
    "vx_ego": [
      7.889451581075312,
      7.96396456470732,
      8.090493744785,
      8.2350758088813,
      8.36644305911645,
      8.500338421368223,
      8.590287542327228,
      8.609470909074094,
      8.503460314801004,
      8.315889511429305
    ],
    "vy_ego": [
      -0.0855860478076087,
      -0.05371247340540508,
      -0.034976884004236375,
      -0.014510097671166289,
      -0.004654056510893234,
      0.016080402174134534,
      0.040324758122780135,
      0.025173926491872667,
      -0.0032589768397492946,
      -0.0036367397180558925
    ],
    "v_ego": [
      7.889915793068457,
      7.964145692898465,
      8.090569350597018,
      8.235088592174126,
      8.36644435358772,
      8.500353631298106,
      8.59038218858626,
      8.609507713032617,
      8.503460939307338,
      8.31589030664641
    ],
    "ax_ego": [
      0.1457494035761441,
      0.1600767338217801,
      0.35184209942251626,
      0.2275116626322384,
      0.2969166964604085,
      0.2383573551911054,
      0.12034019802070312,
      -0.04501544393441803,
      -0.3784522501383597,
      -0.37147168273980496
    ],
    "ay_ego": [
      0.5116236791189027,
      0.5073234826484948,
      0.5361296205739154,
      0.41533733413142004,
      0.22351506286414208,
      0.21001051335694473,
      0.16269597482534204,
      0.18913173637910857,
      0.33843041681476915,
      0.3460781010750814
    ],
    "a_ego": [
      0.5319790199603398,
      0.5319790190953462,
      0.6412704834800791,
      0.47356800753121014,
      0.37164298454850964,
      0.317676949894301,
      0.20236537125711596,
      0.19441503002183078,
      0.5077019328899645,
      0.5077019431923385
    ],
    "yaw": [
      -1.2899305933266785,
      -1.2618106108593914,
      -1.2315592796954888,
      -1.2049783936692107,
      -1.186906581486752,
      -1.1765228408933508,
      -1.1684701106385553,
      -1.1565095573093247,
      -1.1378638151002427,
      -1.1174686457765963
    ],
    "yaw_diff": [
      0.05623996493457417,
      0.0605026623278051,
      0.053161772052556344,
      0.03614362436491714,
      0.020767481186802605,
      0.01610546050959094,
      0.023921106658461255,
      0.03729148441816399,
      0.040790338647292756,
      0.040790338647292756
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.306575856119652,
    "v_std": 0.24391219046073684,
    "vy_max": 0.0855860478076087,
    "a_max": 0.6412704834800791,
    "ax_avg": 0.07458547723123135,
    "a_std": 0.14237591675261074,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "68505dcbf4fb5f32",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "68505dcbf4fb5f32",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c6851e9ed6b95ab0": {
    "vx_ego": [
      3.882881624265438,
      3.2414932568303163,
      2.557452346484694,
      1.8406078441459295,
      1.261585949366701,
      0.7957660682694442,
      0.34578853702049767,
      0.05222019919858095,
      -0.031048029954919572,
      -0.030403384861944577
    ],
    "vy_ego": [
      0.05216177691367441,
      0.058950746291152045,
      0.0014159075832491652,
      -0.0032157296706553096,
      0.07939478965795999,
      0.09094380575696531,
      0.04640543154450541,
      0.015016819961748702,
      0.003462657882880558,
      -0.008077026076885452
    ],
    "v_ego": [
      3.883231973373339,
      3.2420292602881755,
      2.5574527384361088,
      1.8406106532476771,
      1.2640817379680445,
      0.8009459477483923,
      0.3488884870723135,
      0.054336489453249086,
      0.03124052118155934,
      0.031457974526504534
    ],
    "ax_ego": [
      -1.2825511179514024,
      -1.2825493784072626,
      -1.4538502475242896,
      -1.4130316871484645,
      -0.9033782097156942,
      -0.9600467616143487,
      -0.8399307763465473,
      -0.3343637880423017,
      0.0012875533010146128,
      0.0012900322910154131
    ],
    "ay_ego": [
      0.00043995263642881977,
      -0.002159127975928543,
      -0.21586514738935536,
      0.21711834972395283,
      0.12293855742393323,
      -0.07537241638642411,
      -0.10226094678526737,
      -0.02315512958605076,
      -0.023072828318256487,
      -0.023072687022301246
    ],
    "a_ego": [
      1.282551193409727,
      1.2825511958149944,
      1.4697885235923793,
      1.4296149574876758,
      0.9117050393030689,
      0.9630009271221531,
      0.84613297435541,
      0.3351645905822154,
      0.023108725627058974,
      0.02310872280635455
    ],
    "yaw": [
      -0.5912465304062557,
      -0.5932730268273376,
      -0.5922360901140178,
      -0.5899821696559069,
      -0.588366111998575,
      -0.5880354162017095,
      -0.5878014380683625,
      -0.5875467067862539,
      -0.5874566724406519,
      -0.5875641942325357
    ],
    "yaw_diff": [
      -0.004052992842163761,
      0.002073873426639672,
      0.004507840916221806,
      0.0032321153146637194,
      0.00066139159373102,
      0.00046795626669404733,
      0.0005094625642172446,
      0.00018006869120390512,
      -0.00021504358376756016,
      -0.00021504358376756016
    ],
    "min_front_frame": [
      2,
      14.775321332239518
    ],
    "v_avg": 1.4054275783295365,
    "v_std": 1.3465677794595499,
    "vy_max": 0.09094380575696531,
    "a_max": 1.4697885235923793,
    "ax_avg": -0.846712438115828,
    "a_std": 0.523735875762354,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c6851e9ed6b95ab0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.923219329386601,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      57.79885811345563,
      16.197561511257707,
      14.775321332239518,
      53.64160255289751,
      52.86610882484221,
      52.39031643761368,
      52.1172453803775,
      52.1316296600058,
      43.00240397384885,
      46.54229157999858
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c6851e9ed6b95ab0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fd676fd01e475e33": {
    "vx_ego": [
      0.8315825549720515,
      0.461239790817496,
      0.1960588491564041,
      0.05693055467737091,
      -0.010720675600502586,
      -0.01727778481321211,
      -0.011701561984292357,
      0.0009046037410194724,
      0.022316394792584408,
      0.04709330431861977
    ],
    "vy_ego": [
      -0.007748499940886555,
      0.013525634901969952,
      0.02814143718508176,
      0.03513846249586295,
      0.020458228699810187,
      0.004209384948966733,
      0.004412052293413564,
      0.002570090927879869,
      0.0018434711447621061,
      0.0017374392568955416
    ],
    "v_ego": [
      0.8316186535817838,
      0.4614380645686579,
      0.19806820244394485,
      0.06690141704363432,
      0.02309701294247697,
      0.017783159722058694,
      0.012505709028761703,
      0.002724642234466175,
      0.02239240635572825,
      0.0471253435724084
    ],
    "ax_ego": [
      -0.7406845583927343,
      -0.7406860912050607,
      -0.3200572986037245,
      -0.2364465289486342,
      -0.034198395575348435,
      0.007970686036028114,
      0.014332582425493637,
      0.036092874227500286,
      0.04955417596553197,
      0.04955419949673522
    ],
    "ay_ego": [
      0.04251513115410627,
      0.04248853463477836,
      0.016199252937411104,
      0.011755147636126798,
      -0.07047835870273537,
      0.005487944320926504,
      -0.00468169696176672,
      -0.0026841402541758867,
      -0.00022174259880378654,
      -0.0002166581931106401
    ],
    "a_ego": [
      0.7419037346034125,
      0.7419037412495251,
      0.32046698766837733,
      0.23673855737459507,
      0.07833727915468756,
      0.00967726039509752,
      0.015077838221223386,
      0.036192543139523116,
      0.04955467208450713,
      0.049554673125093616
    ],
    "yaw": [
      2.8098815857510138,
      2.8098456569444794,
      2.810049015084589,
      2.8099763823276676,
      2.8102390152043992,
      2.8101747913809536,
      2.810247341636315,
      2.8101859259547206,
      2.8102005005282376,
      2.810097686649065
    ],
    "yaw_diff": [
      -7.185761306871541e-05,
      0.0004067162802190438,
      -0.00014526551384275166,
      0.0005252657534633443,
      -0.00012844764689123878,
      0.00014510051072313956,
      -0.00012283136318913535,
      2.9149147033891154e-05,
      -0.00020562775834509495,
      -0.00020562775834509495
    ],
    "min_front_frame": [
      6,
      8.505595023353843
    ],
    "v_avg": 0.1683654611493921,
    "v_std": 0.2585513385845828,
    "vy_max": 0.03513846249586295,
    "a_max": 0.7419037412495251,
    "ax_avg": -0.19145683545742126,
    "a_std": 0.27435300994043815,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fd676fd01e475e33",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 46.29958123383235,
    "right_rear_min": 6.637046568365195,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.056633513279753,
      8.720404457957315,
      8.590593920893342,
      8.538662581992098,
      8.541782565334094,
      8.540276444898705,
      8.505595023353843,
      8.644022742928362,
      8.82157553189164,
      8.913944673498957
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fd676fd01e475e33",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "196375ae13835990": {
    "vx_ego": [
      13.679452477864453,
      13.627708745667281,
      13.536078761178848,
      13.431243994101253,
      13.337241882112869,
      13.214067399795148,
      13.076242227587459,
      12.99480165685315,
      13.023130559791712,
      13.103242718465468
    ],
    "vy_ego": [
      0.023447177533672425,
      0.035195722405828134,
      -0.0003402003574622947,
      -0.027419158799830257,
      -0.030481438431134267,
      -0.025167701119516495,
      0.007534642972319094,
      -0.0001431542821522802,
      -0.022730314678797492,
      -0.013422197190721352
    ],
    "v_ego": [
      13.679472572591614,
      13.627754194863222,
      13.53607876545395,
      13.431271981437584,
      13.337276713785107,
      13.214091367154555,
      13.076244398350244,
      12.994801657641665,
      13.023150396297595,
      13.103249592921435
    ],
    "ax_ego": [
      -0.10424902169030434,
      -0.10334912730943566,
      -0.2639682837033701,
      -0.15534134418637582,
      -0.2206858125865177,
      -0.2720149449922475,
      -0.27913448906351673,
      -0.04661774209621096,
      0.16006328920030283,
      0.16072174473956616
    ],
    "ay_ego": [
      0.16866977240900635,
      0.16922265363473507,
      0.09519943924245704,
      -0.00023939488269144292,
      -0.021550498558764744,
      0.04174842101389069,
      0.16934134220173447,
      0.20150685681264252,
      0.141174583027869,
      0.14042448352667333
    ],
    "a_ego": [
      0.19828603240745815,
      0.1982860272908897,
      0.2806103847568389,
      0.15534152865071188,
      0.22173554488422223,
      0.27520003807464943,
      0.3264851499891465,
      0.20682898061117946,
      0.21342567662470338,
      0.21342566576178978
    ],
    "yaw": [
      -1.6500615048337213,
      -1.6447350640046399,
      -1.6372625460744197,
      -1.6334898217511977,
      -1.6336679221003996,
      -1.6336878178123035,
      -1.6321611157877762,
      -1.6244426920497084,
      -1.6161044187933773,
      -1.6114277710105394
    ],
    "yaw_diff": [
      0.010652881658162805,
      0.014945035860440381,
      0.0075454486464439086,
      -0.00035620069840369695,
      -3.9791423807944426e-05,
      0.003053404049054631,
      0.015436847476135718,
      0.01667654651266215,
      0.009353295565675879,
      0.009353295565675879
    ],
    "min_front_frame": [
      0,
      72.33360179624759
    ],
    "v_avg": 13.302339164049698,
    "v_std": 0.24324307083978844,
    "vy_max": 0.035195722405828134,
    "a_max": 0.3264851499891465,
    "ax_avg": -0.11245757316881097,
    "a_std": 0.04758479579837364,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "196375ae13835990",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.91929461223017,
    "right_rear_min": 11.102412744768822,
    "speed_mode": "quasi_constant",
    "front_frame": [
      72.33360179624759,
      73.36142616316144,
      74.26220873464837,
      75.21165102888126,
      76.43139070108182,
      77.43404552027,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6666666666666666,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "196375ae13835990",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "c4e78f6c6fbc5ebe": {
    "vx_ego": [
      0.7786311943310473,
      1.245531595184877,
      1.8685248790449742,
      2.7177657312113115,
      3.6507873079888533,
      4.551716149936061,
      5.348445400500098,
      5.998071834303168,
      6.529564362004888,
      7.048003506924439
    ],
    "vy_ego": [
      -0.03050781107214856,
      -0.017554793092137366,
      0.003367772597425933,
      -0.0068703295290032385,
      -0.02069451292700153,
      -0.02232491265730574,
      -0.02662814081389353,
      0.013482948642144166,
      -0.0020206208032047535,
      -0.032728884076905995
    ],
    "v_ego": [
      0.7792286335356312,
      1.2456552995770107,
      1.868527914028127,
      2.717774415063618,
      3.6508459610120205,
      4.551770898377236,
      5.348511686442674,
      5.998086988312612,
      6.5295646746527245,
      7.04807949823724
    ],
    "ax_ego": [
      0.9337643314976191,
      0.9337403839620566,
      1.5581390179887076,
      1.8391594717032516,
      1.8923934675009366,
      1.711298657034685,
      1.477384367357679,
      1.1236717335670914,
      1.0105508328467472,
      1.057606101521061
    ],
    "ay_ego": [
      0.023407318496130758,
      0.024343937973176966,
      0.045022339039094694,
      -0.12481780814819887,
      0.015386293502448245,
      -0.1507381765198329,
      -0.46423679826639924,
      -0.6112055974382189,
      -0.8595649695640161,
      -0.8009583227127622
    ],
    "a_ego": [
      0.934057669170579,
      0.934057670573745,
      1.5587893412489595,
      1.8433900964219982,
      1.8924560163628539,
      1.717924646609752,
      1.5486059452867558,
      1.279144419976682,
      1.3266743845679851,
      1.3266743762873459
    ],
    "yaw": [
      -0.33690831806167243,
      -0.3379113966390772,
      -0.3403326572158442,
      -0.3446332202633546,
      -0.3488922766027005,
      -0.3567022361518547,
      -0.38671221601031397,
      -0.4407389761479139,
      -0.4968235717013675,
      -0.5534836426074803
    ],
    "yaw_diff": [
      -0.0020061571548095625,
      -0.004842521153534007,
      -0.008601126095020728,
      -0.008518112678691847,
      -0.015619919098308399,
      -0.060019959716918536,
      -0.10805352027519988,
      -0.11216919110690715,
      -0.1133201418122256,
      -0.1133201418122256
    ],
    "min_front_frame": [
      8,
      54.540201219882476
    ],
    "v_avg": 3.9738045969238898,
    "v_std": 2.146319588404856,
    "vy_max": 0.032728884076905995,
    "a_max": 1.8924560163628539,
    "ax_avg": 1.3537708364979835,
    "a_std": 0.3215520733807794,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "c4e78f6c6fbc5ebe",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.32014075404167,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      54.540201219882476,
      55.31517604894307
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "c4e78f6c6fbc5ebe",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4fdf85786f785a83": {
    "vx_ego": [
      4.157138920340724,
      3.492498922807166,
      2.8770333937859163,
      2.362568525635582,
      1.84540107811085,
      1.187072846563444,
      0.5188960034701147,
      0.07934216155469526,
      -0.06983511307121902,
      -0.0803885630512522
    ],
    "vy_ego": [
      -0.02267929350220843,
      -0.02091919633460204,
      -0.01471220325272804,
      -0.003044276300004478,
      -0.008562473409004734,
      -0.0033099627691155487,
      0.01270011818410488,
      -0.003836913120637067,
      -0.01545363211901609,
      -0.0029883785530870725
    ],
    "v_ego": [
      4.157200783383622,
      3.4925615726261006,
      2.877071010226174,
      2.3625704869785533,
      1.845420942507039,
      1.1870774612053632,
      0.5190513995927065,
      0.07943488215177687,
      0.07152452560723371,
      0.08044408912916909
    ],
    "ax_ego": [
      -1.3292941842408474,
      -1.3292945234413158,
      -1.1325402130015823,
      -0.9253354162459732,
      -1.1433324923805719,
      -1.4900310476004686,
      -1.1826473164850506,
      -0.5755673011713057,
      -0.021106802106409615,
      -0.021106327947180425
    ],
    "ay_ego": [
      0.0012152903676343474,
      0.0007766458370475071,
      0.028128497192846658,
      0.012496497559510544,
      -0.039945762120742134,
      0.05657202963638697,
      0.005338285794585951,
      -0.07149856046694913,
      0.02492752832327793,
      0.024927924346427852
    ],
    "a_ego": [
      1.3292947397726427,
      1.3292947503205716,
      1.1328894678740715,
      0.9254197939369804,
      1.1440300922810456,
      1.4911045963816658,
      1.182659364519013,
      0.5799911743522194,
      0.032663110131568314,
      0.03266310597042418
    ],
    "yaw": [
      1.1023969708616956,
      1.1020669913636758,
      1.102389535220131,
      1.1018067537055927,
      1.101176077924433,
      1.1004733588026838,
      1.0998196315461874,
      1.0998060291229268,
      1.1002093825916486,
      1.1002278634863445
    ],
    "yaw_diff": [
      -0.0006599589960396557,
      0.000645087712910275,
      -0.001165563029076555,
      -0.0012613515623192129,
      -0.0014054382434984802,
      -0.001307454512992745,
      -2.7204846521300396e-05,
      0.0008067069374435576,
      3.69617893918317e-05,
      3.69617893918317e-05
    ],
    "min_front_frame": [
      7,
      10.006902094312405
    ],
    "v_avg": 1.6672357153407737,
    "v_std": 1.4368324505593313,
    "vy_max": 0.02267929350220843,
    "a_max": 1.4911045963816658,
    "ax_avg": -0.9150255624620705,
    "a_std": 0.5016009491903295,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4fdf85786f785a83",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.882556882357377,
    "right_rear_min": 6.299672576874412,
    "speed_mode": "decelerating",
    "front_frame": [
      14.4566512327084,
      13.638339941531777,
      12.818061463986966,
      12.011032080680975,
      11.121535611433936,
      10.37397735515726,
      10.077395238027812,
      10.006902094312405,
      10.195451620652076,
      10.357365549478464
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4fdf85786f785a83",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2c21ad85949653a6": {
    "vx_ego": [
      4.676581380027098,
      4.8001560109366945,
      4.932899419028426,
      5.045808785594557,
      5.132123657086958,
      5.228317913710174,
      5.356594883291765,
      5.501933217267089,
      5.625630743988872,
      5.7296918058417425
    ],
    "vy_ego": [
      0.06227058909464611,
      0.026010266471233195,
      0.0036646650642833956,
      -0.014110308795729387,
      -0.002524973695028132,
      0.015116389292559429,
      -0.0010273514992340527,
      -0.0010008507355954155,
      -0.007865846295789236,
      0.025957894064986053
    ],
    "v_ego": [
      4.676995940802424,
      4.800226480416688,
      4.932900780273308,
      5.045828514882122,
      5.132124278222788,
      5.228339766316641,
      5.356594981810612,
      5.501933308298927,
      5.625636243061823,
      5.729750605584356
    ],
    "ax_ego": [
      0.21631545166155047,
      0.26407177059727965,
      0.26433139344800577,
      0.18047708571327484,
      0.16688174419638516,
      0.21566394068495753,
      0.29413030441426,
      0.28658582481804834,
      0.20822033574183457,
      0.20812052930159466
    ],
    "ay_ego": [
      0.6460325017644543,
      0.6280258459480895,
      0.6748470440200218,
      0.39330062260427284,
      0.4359616098985107,
      0.35878838405293606,
      0.18493030240535266,
      0.06681423899198607,
      0.0368104365989651,
      0.037370626543409925
    ],
    "a_ego": [
      0.681285819582046,
      0.6812858160898374,
      0.7247686654269249,
      0.43273243258215044,
      0.4668104988657913,
      0.41861681743938817,
      0.34743611315256284,
      0.29427126519373126,
      0.21144908715586536,
      0.21144909185197022
    ],
    "yaw": [
      -0.13196292708838503,
      -0.057030765974062474,
      0.01446125181540354,
      0.07141010412818569,
      0.10985421587771699,
      0.14484133724929127,
      0.17362669488591737,
      0.185211692267509,
      0.19109141200970367,
      0.18840043910491716
    ],
    "yaw_diff": [
      0.1498643222286451,
      0.14298403557893202,
      0.1138977046255643,
      0.0768882234990626,
      0.06997424274314856,
      0.05757071527325219,
      0.023169994763183266,
      0.011759439484389345,
      -0.005381945809573019,
      -0.005381945809573019
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.2030330899669694,
    "v_std": 0.3333569916811087,
    "vy_max": 0.06227058909464611,
    "a_max": 0.7247686654269249,
    "ax_avg": 0.2304798380577191,
    "a_std": 0.18235795582431794,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "2c21ad85949653a6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 18.11116397185724,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "2c21ad85949653a6",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d1cf48dea57f5d2a": {
    "vx_ego": [
      11.65255531310231,
      11.558166510458294,
      11.43598755532016,
      11.352145820441152,
      11.292536159764678,
      11.207171662047319,
      11.245426179153405,
      11.468679207147147,
      11.79336424266555,
      12.143060236539785
    ],
    "vy_ego": [
      0.17822741032653244,
      0.015170812295536962,
      0.00017704668756390873,
      0.01344873617394704,
      0.06905382065660337,
      0.05874658037410452,
      0.08650154868107496,
      0.13257307947617836,
      0.04333542928906686,
      0.0033252150494935684
    ],
    "v_ego": [
      11.653918239575074,
      11.558176466771277,
      11.43598755669064,
      11.352153786707797,
      11.292747289731585,
      11.20732563207218,
      11.24575886584418,
      11.469445425906656,
      11.793443861723091,
      12.143060691822667
    ],
    "ax_ego": [
      -0.18910311662400817,
      -0.19005730072541707,
      -0.29452276982220105,
      -0.03524921316351842,
      -0.19174314259495145,
      -0.13818881161815477,
      0.30112330788128705,
      0.6023469697275552,
      0.698599027117962,
      0.7009406197315529
    ],
    "ay_ego": [
      -0.23008364732629946,
      -0.22929608777582103,
      -0.6390226617159915,
      -0.9032789744916213,
      -1.0505123202087505,
      -1.0441734908906717,
      -0.8953749412861589,
      -0.5872266686310539,
      -0.28303654267122713,
      -0.2771868295362225
    ],
    "a_ego": [
      0.2978228894559419,
      0.2978228893626691,
      0.7036288965998566,
      0.9039664887523664,
      1.0678677669274226,
      1.0532779437239013,
      0.9446541864791375,
      0.8412235328921166,
      0.7537574445253886,
      0.7537574482935451
    ],
    "yaw": [
      2.157739447009178,
      2.161893656266397,
      2.1443368917740075,
      2.1092358381194107,
      2.0612766341607274,
      2.015624427000578,
      1.9697436206758487,
      1.9329329338640269,
      1.921888355347099,
      1.9135289203437869
    ],
    "yaw_diff": [
      0.008308418514437754,
      -0.0351135289847786,
      -0.07020210730919363,
      -0.09591840791736672,
      -0.09130441432029901,
      -0.09176161264945826,
      -0.07362137362364374,
      -0.022089157033855944,
      -0.016718870006624087,
      -0.016718870006624087
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.515201781684514,
    "v_std": 0.2728627752149683,
    "vy_max": 0.17822741032653244,
    "a_max": 1.0678677669274226,
    "ax_avg": 0.12641455699101062,
    "a_std": 0.2593558727487247,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "d1cf48dea57f5d2a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "d1cf48dea57f5d2a",
    "road_shape": "Straight"
  },
  "02902d180b405100": {
    "vx_ego": [
      2.6418107275684957,
      3.3456712767097994,
      4.062802855275167,
      4.750736758227717,
      5.384736778206277,
      5.993480069451982,
      6.577741132710442,
      7.1292280656761,
      7.562388231567153,
      7.898072685110918
    ],
    "vy_ego": [
      0.011854969061158196,
      0.002520630183618769,
      0.0018761992205946487,
      0.019646646370296478,
      -0.007482768592365102,
      -0.04378183998715311,
      -0.04077815266597892,
      -0.010914631333654057,
      0.07112543806667437,
      0.2135402676055218
    ],
    "v_ego": [
      2.641837326670101,
      3.3456722262315983,
      4.062803288488819,
      4.750777382354344,
      5.384741977327523,
      5.993639978546492,
      6.577867531859067,
      7.129236420655506,
      7.562722697077128,
      7.900958902891739
    ],
    "ax_ego": [
      1.4076757049529454,
      1.4076736877356775,
      1.4608659958680192,
      1.290989634369438,
      1.245097426982616,
      1.1895390227794558,
      1.14654444797792,
      1.0592527121628508,
      0.6732961735282296,
      0.6722625526845392
    ],
    "ay_ego": [
      0.0014467725604326229,
      -0.0027849788707551004,
      0.02870013648724315,
      0.004001852173957161,
      -0.13167480211163246,
      -0.07133189037446644,
      -0.051807996900192485,
      0.1510793676461845,
      0.20632782452071446,
      0.2096711190380813
    ],
    "a_ego": [
      1.4076764484303959,
      1.4076764426709258,
      1.4611478897489625,
      1.2909958368911023,
      1.2520406767313386,
      1.1916758474096458,
      1.1477143545899406,
      1.0699725620560212,
      0.7042009006378838,
      0.7042009073415157
    ],
    "yaw": [
      1.595654281911754,
      1.5986604801360778,
      1.600586929805134,
      1.5984200513419964,
      1.5974761568892046,
      1.5949388570406957,
      1.5895679049414313,
      1.5888328542540098,
      1.5898217202484162,
      1.584852350638702
    ],
    "yaw_diff": [
      0.0060123964486473724,
      0.003852899338112614,
      -0.004333756926275356,
      -0.0018877889055834984,
      -0.005074599697017845,
      -0.010741904198528829,
      -0.001470101374843047,
      0.001977731988812792,
      -0.009938739219428339,
      -0.009938739219428339
    ],
    "min_front_frame": [
      0,
      24.323490874726346
    ],
    "v_avg": 5.535025773210231,
    "v_std": 1.7180636205849644,
    "vy_max": 0.2135402676055218,
    "a_max": 1.4611478897489625,
    "ax_avg": 1.1553197359041691,
    "a_std": 0.25761102756201465,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "02902d180b405100",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.324616978341302,
    "right_rear_min": 3.789004745810477,
    "speed_mode": "accelerating",
    "front_frame": [
      24.323490874726346,
      26.4378730056762,
      28.254666273801305,
      30.019904365835917,
      31.281770125783062,
      32.56466068075096,
      33.64504492308965,
      34.54972211194041,
      35.532938025075374,
      36.37823935861111
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "02902d180b405100",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9f4bf4a979835749": {
    "vx_ego": [
      6.244848672840198,
      6.32024310976568,
      6.400550607371196,
      6.482239943010264,
      6.557312183402544,
      6.629962182742851,
      6.701038424401524,
      6.6848462250754705,
      6.579258770525275,
      6.4502918712433805
    ],
    "vy_ego": [
      -0.0052383986734168,
      -0.19344532054139268,
      -0.05852494391139282,
      0.010806593460481975,
      0.003750130795056039,
      0.026705493577526412,
      0.024358904986277186,
      0.011554513245428971,
      0.009621134435045642,
      -0.0032920260677125335
    ],
    "v_ego": [
      6.244850869916322,
      6.323202832313693,
      6.400818170091978,
      6.482248950882706,
      6.557313255753489,
      6.63001596740065,
      6.7010826977107065,
      6.684856210845683,
      6.579265805221854,
      6.4502927113166
    ],
    "ax_ego": [
      0.1380435207461792,
      0.19670046938116392,
      0.13138568352700297,
      0.19505465429922278,
      0.10500774561394258,
      0.1856748264930176,
      0.09921354793832289,
      -0.16387102145991694,
      -0.25814931103365274,
      -0.257647687103926
    ],
    "ay_ego": [
      0.6973079318968458,
      0.683083670976808,
      0.36384379034392983,
      0.06597265134326712,
      0.0057113735337973055,
      0.037703439279718004,
      -0.13070287417047471,
      -0.03802064748193683,
      -0.09410087705115644,
      -0.09546578081399323
    ],
    "a_ego": [
      0.7108406048519295,
      0.7108406123808081,
      0.3868391159224922,
      0.205909467701341,
      0.1051629517775392,
      0.18946421964775187,
      0.1640931729565031,
      0.16822390231254972,
      0.2747654305929813,
      0.27476543810389975
    ],
    "yaw": [
      -1.6985863089842725,
      -1.6136514842822482,
      -1.5937400325290936,
      -1.5878143564358693,
      -1.583989931892548,
      -1.5858280965353138,
      -1.5889590564620046,
      -1.5933267628637813,
      -1.5980073328091466,
      -1.603299726457761
    ],
    "yaw_diff": [
      0.16986964940404858,
      0.03982290350630935,
      0.011851352186448505,
      0.007648849086642429,
      -0.003676329285531299,
      -0.006261919853381759,
      -0.008735412803553277,
      -0.00936113989073073,
      -0.010584787297228893,
      -0.010584787297228893
    ],
    "min_front_frame": [
      0,
      40.33572784618463
    ],
    "v_avg": 6.505394747145369,
    "v_std": 0.14483381260677916,
    "vy_max": 0.19344532054139268,
    "a_max": 0.7108406123808081,
    "ax_avg": 0.03714124284013562,
    "a_std": 0.2091933099452167,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9f4bf4a979835749",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      40.33572784618463,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9f4bf4a979835749",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d09ecc45a5685873": {
    "vx_ego": [
      2.024535912299111,
      1.962375972121797,
      1.9067062140834776,
      1.849901631067024,
      1.7929826565861942,
      1.726966129040036,
      1.6950405397910624,
      1.7160157893730392,
      1.7559288653974956,
      1.8244199563935217
    ],
    "vy_ego": [
      0.02472824300089771,
      0.008916473540479086,
      -0.0016093978042184265,
      -0.0216427882080511,
      -0.014137527101564351,
      -0.008981612548793594,
      -0.001505617771748291,
      0.013442352542445385,
      0.022030581070293632,
      0.039093661722170214
    ],
    "v_ego": [
      2.0246869254753204,
      1.9623962289663537,
      1.9067068933073694,
      1.8500282308402363,
      1.7930383923640436,
      1.7269894846858516,
      1.6950412084725406,
      1.7160684386758736,
      1.756067062170016,
      1.8248387577190996
    ],
    "ax_ego": [
      -0.12625619735573584,
      -0.11986075009129674,
      -0.09839761423960024,
      -0.12914580721872637,
      -0.10816320258076974,
      -0.1521398389941754,
      0.017934716536399276,
      0.078824112428698,
      0.09555767667442538,
      0.19747854802887368
    ],
    "ay_ego": [
      -0.17400927021298107,
      -0.1784747994503837,
      -0.3042885496149504,
      -0.38931822438486935,
      -0.3503247855326332,
      -0.5035757594783838,
      -0.4567535856134288,
      -0.5697800209296804,
      -0.5978662221442591,
      -0.5723438756704595
    ],
    "a_ego": [
      0.21498803104076464,
      0.21498803094894137,
      0.3198024576434886,
      0.41017961841169526,
      0.36664251492566174,
      0.526056153032549,
      0.4571055589554396,
      0.575206495921942,
      0.6054546136189423,
      0.6054546134509792
    ],
    "yaw": [
      -2.3004766607216878,
      -2.336760543126882,
      -2.3937704864989153,
      -2.475211249662827,
      -2.5809044617620995,
      -2.704583768363288,
      -2.8508289670792726,
      -3.0104389927015447,
      3.0998676340642546,
      2.9261136676201094
    ],
    "yaw_diff": [
      -0.07256776481038862,
      -0.11401988674406649,
      -0.1628815263278236,
      -0.2113864241985448,
      -0.24735861320237706,
      -0.29249039743196903,
      -0.3192200512445442,
      -0.3457573608275739,
      -0.3475079328882904,
      -0.3475079328882904
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.8255861622676703,
    "v_std": 0.10496968075135285,
    "vy_max": 0.039093661722170214,
    "a_max": 0.6054546136189423,
    "ax_avg": -0.034416835681190805,
    "a_std": 0.14199442824940187,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "d09ecc45a5685873",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d09ecc45a5685873",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "932f0bf1d23b5ba7": {
    "vx_ego": [
      6.440562813021365,
      6.24482931310007,
      6.074530598614237,
      5.920886017625562,
      5.744742204008041,
      5.4953144709142165,
      5.144900947556657,
      4.6804409089865695,
      4.1175671447922015,
      3.5181845826904845
    ],
    "vy_ego": [
      -0.009310663063312408,
      0.011713744314982844,
      0.04916356045792947,
      0.03808921812176047,
      0.013049576657069739,
      0.006167895177779936,
      0.04607805304450707,
      0.1095941116377448,
      0.13997556886696483,
      0.12792744162850656
    ],
    "v_ego": [
      6.440569542899165,
      6.24484029912373,
      6.074729545352413,
      5.921008530837548,
      5.74475702549395,
      5.495317932310206,
      5.145107282374369,
      4.681723824812896,
      4.119945673398114,
      3.520509648929063
    ],
    "ax_ego": [
      -0.40820115436120785,
      -0.37391106895714127,
      -0.31067580344756784,
      -0.30232586662376326,
      -0.4014232223144498,
      -0.5963904006607599,
      -0.8050321292862663,
      -1.0522535770850154,
      -1.1973505279333367,
      -1.1969277384214996
    ],
    "ay_ego": [
      -0.62812169503043,
      -0.6491190602890088,
      -0.24582427869748782,
      -0.12702742504565054,
      -0.14598082407601345,
      -0.03981621918395967,
      0.08364539237919993,
      0.13222390779028448,
      -0.06652077302415293,
      -0.07373798259890374
    ],
    "a_ego": [
      0.7491095021355176,
      0.7491094992850897,
      0.396167932630762,
      0.32792818778436517,
      0.42714283841734746,
      0.5977180282628313,
      0.8093659746057096,
      1.0605285249721217,
      1.1991969396166633,
      1.1991969400730482
    ],
    "yaw": [
      0.7532997092692766,
      0.6996186006071966,
      0.6571680230769956,
      0.6434708593875087,
      0.6360780907479423,
      0.629068059680608,
      0.6236524644705747,
      0.6217209210172902,
      0.6185614883354964,
      0.6125327926044142
    ],
    "yaw_diff": [
      -0.10736221732415996,
      -0.08490115506040197,
      -0.02739432737897385,
      -0.014785537279132788,
      -0.014020062134668665,
      -0.010831190420066639,
      -0.003863086906569002,
      -0.0063188653635875,
      -0.012057391462164446,
      -0.012057391462164446
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.3388509305531455,
    "v_std": 0.9146428155993982,
    "vy_max": 0.13997556886696483,
    "a_max": 1.1991969400730482,
    "ax_avg": -0.6644491489091007,
    "a_std": 0.30565569336628345,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "932f0bf1d23b5ba7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.447141635856438,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "932f0bf1d23b5ba7",
    "road_shape": "Straight"
  },
  "a27875deccc151e0": {
    "vx_ego": [
      7.2613754154892085,
      7.153419519109068,
      7.069289211078425,
      7.098308545602997,
      7.2667653263859755,
      7.431132995665921,
      7.491908586717909,
      7.494754977440635,
      7.387384506246697,
      7.174111549990917
    ],
    "vy_ego": [
      0.034293498752076434,
      0.02126702187657692,
      0.03433891589990834,
      0.030089012899663592,
      0.034743593767577075,
      0.036488585915753546,
      0.05202754023903444,
      0.05620055336762042,
      0.01379037850772069,
      -0.05104982835595928
    ],
    "v_ego": [
      7.261456394465764,
      7.153451132326977,
      7.069372610848505,
      7.098372317459673,
      7.266848383314004,
      7.431222578834313,
      7.492089237100748,
      7.494965688651949,
      7.387397377809937,
      7.17429317889144
    ],
    "ax_ego": [
      -0.22343769835909502,
      -0.20430041239377336,
      -0.130193575321294,
      0.2469397192078896,
      0.428923524592882,
      0.2295297832763738,
      0.014402246017910757,
      -0.0009615056279224724,
      -0.42737043162203425,
      -0.42614291510002705
    ],
    "ay_ego": [
      -0.5345230345558615,
      -0.5421260175225084,
      -0.4319268785593042,
      -0.23237718591014825,
      -0.22043314212429166,
      -0.10821401786841636,
      -0.01800259025853912,
      -0.1744131605831554,
      -0.212201760122363,
      -0.214656243401807
    ],
    "a_ego": [
      0.5793438353161416,
      0.5793438334694527,
      0.45112215139241985,
      0.33908462285097946,
      0.48225113799344094,
      0.2537601132450194,
      0.02305467298352492,
      0.17441581085921679,
      0.4771530916004137,
      0.47715310637291747
    ],
    "yaw": [
      -1.2107029806426408,
      -1.2462489384793711,
      -1.2823731183910745,
      -1.3053696883408543,
      -1.3218302992774476,
      -1.33320910543397,
      -1.339497882272218,
      -1.3464725291662152,
      -1.353710403841268,
      -1.3594618815980053
    ],
    "yaw_diff": [
      -0.07109191567346063,
      -0.07224835982340672,
      -0.045993139899559665,
      -0.03292122187318647,
      -0.022757612313045072,
      -0.012577553676496045,
      -0.013949293787994144,
      -0.014475749350105538,
      -0.011502955513474689,
      -0.011502955513474689
    ],
    "min_front_frame": [
      8,
      67.55764654076408
    ],
    "v_avg": 7.282946889970331,
    "v_std": 0.1518438690523833,
    "vy_max": 0.05620055336762042,
    "a_max": 0.5793438353161416,
    "ax_avg": -0.049261126532909,
    "a_std": 0.17349866750875262,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a27875deccc151e0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      70.80426778242386,
      67.55764654076408,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a27875deccc151e0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f3282fb9352c5c9c": {
    "vx_ego": [
      4.8884288854857605,
      5.145376726319407,
      5.434001938820525,
      5.687117275000158,
      5.9170276247807365,
      6.155549538025614,
      6.375348010374395,
      6.531927803326731,
      6.671752982122784,
      6.827837396459486
    ],
    "vy_ego": [
      -0.04926407602274141,
      -0.0425991794286833,
      -0.04453457991390897,
      -0.04525540414188445,
      -0.046793896596026396,
      -0.0703305983092184,
      -0.049298535890864414,
      -0.03556920564769506,
      -0.020606783314051746,
      0.015852036108770395
    ],
    "v_ego": [
      4.888677113252411,
      5.145553065107522,
      5.434184428220424,
      5.687297332759144,
      5.917212653029888,
      6.15595130813637,
      6.375538612464498,
      6.532024647554783,
      6.671784805730982,
      6.827855798092067
    ],
    "ax_ego": [
      0.4265802180057419,
      0.6216994084229835,
      0.552002510530325,
      0.4792105620187841,
      0.4506663245473349,
      0.5018299196161974,
      0.3801431000887829,
      0.24868245050145832,
      0.3116376500934439,
      0.3127574461659998
    ],
    "ay_ego": [
      1.438945471802303,
      1.3660251093394202,
      1.319662406597065,
      1.281374706961966,
      1.1113487225427512,
      0.6003395288397355,
      0.2941408332840946,
      0.2307247752263795,
      0.16576102882362528,
      0.16363839104522138
    ],
    "a_ego": [
      1.5008446799100095,
      1.5008446800982649,
      1.430459939675816,
      1.3680511329596652,
      1.199248147456734,
      0.7824581893682976,
      0.4806533120141501,
      0.3392298381491133,
      0.35297980626720066,
      0.3529798055925396
    ],
    "yaw": [
      1.82568766444741,
      1.964587789580798,
      2.0915040280868418,
      2.208250957175984,
      2.311458676373869,
      2.386293842186661,
      2.418546897987736,
      2.436704944902403,
      2.4494677984302466,
      2.4562667914696386
    ],
    "yaw_diff": [
      0.2778002502667758,
      0.25383247701208767,
      0.23349385817828416,
      0.20641543839577015,
      0.1496703316255843,
      0.06450611160214947,
      0.03631609382933476,
      0.025525707055686908,
      0.01359798607878382,
      0.01359798607878382
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.963607976434809,
    "v_std": 0.6294202591880291,
    "vy_max": 0.0703305983092184,
    "a_max": 1.5008446800982649,
    "ax_avg": 0.42852095899910514,
    "a_std": 0.4904242885320613,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "f3282fb9352c5c9c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f3282fb9352c5c9c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f749ff64838c5664": {
    "vx_ego": [
      6.345010405215449,
      5.742211576241462,
      5.185461438889766,
      4.733957500854336,
      4.381829285468406,
      4.134011109066731,
      4.008306016670611,
      3.905366232077994,
      3.772982544587907,
      3.732140553231779
    ],
    "vy_ego": [
      -0.0029965681347177697,
      -0.09114401478046488,
      -0.040204470032941225,
      0.03813677714456187,
      0.0521338341047235,
      0.03948483491592314,
      0.0434747348093627,
      0.02989169699535843,
      0.0729794067907239,
      0.09199072101954808
    ],
    "v_ego": [
      6.345011112812404,
      5.742934878418155,
      5.185617295329782,
      4.734111113362888,
      4.382139411708283,
      4.13419966886887,
      4.008541776736843,
      3.905480626018305,
      3.7736882854285363,
      3.7332740860846134
    ],
    "ax_ego": [
      -1.207527172759891,
      -1.205202764090651,
      -1.0280282726492431,
      -0.7552374108534212,
      -0.6228168734164283,
      -0.35064770145628543,
      -0.11683091635611276,
      -0.2661629281711413,
      -0.20403645379477675,
      0.11042782497864778
    ],
    "ay_ego": [
      -0.27247414111415835,
      -0.28257800465889155,
      -0.5449697646104893,
      -1.028384477935307,
      -1.1602863546197972,
      -1.0698992069727318,
      -1.2312565209271653,
      -1.3062160476412528,
      -1.504423205056597,
      -1.5141749420994932
    ],
    "a_ego": [
      1.2378869215438841,
      1.237886921850597,
      1.1635437996507905,
      1.2759146449550822,
      1.3168770946937733,
      1.1258943661007708,
      1.2367869999891963,
      1.3330577884878703,
      1.5181963161560867,
      1.5181963179416285
    ],
    "yaw": [
      -1.5575161260105235,
      -1.5658915370850814,
      -1.6132625349258265,
      -1.7089501345475777,
      -1.832361342494774,
      -1.9611862953077939,
      -2.104259070327254,
      -2.260095537011188,
      -2.4541250734121562,
      -2.661727435311425
    ],
    "yaw_diff": [
      -0.01675082214911594,
      -0.09474199568149011,
      -0.19137519924350244,
      -0.24682241589439258,
      -0.25764990562603973,
      -0.2861455500389205,
      -0.31167293336786805,
      -0.3880590728019362,
      -0.4152047237985377,
      -0.4152047237985377
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.594499825476868,
    "v_std": 0.8510354189378475,
    "vy_max": 0.09199072101954808,
    "a_max": 1.5181963179416285,
    "ax_avg": -0.5646062668569305,
    "a_std": 0.12557634049834882,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "f749ff64838c5664",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.311652772930112,
    "right_rear_min": 41.156698580692854,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f749ff64838c5664",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "129c4e6b058a5f6d": {
    "vx_ego": [
      3.853911344792793,
      3.6636982640637656,
      3.577655545667535,
      3.5806781071884117,
      3.674460966274896,
      3.8663187468214018,
      4.205540256350426,
      4.66299566457093,
      5.13880913568791,
      5.60781689420447
    ],
    "vy_ego": [
      0.06813922913542148,
      0.07361584648302633,
      0.036062506831050056,
      0.040883101018479584,
      0.05831115589213831,
      0.08890586006206835,
      0.1073504760133227,
      0.08999223531625722,
      0.048127442450634605,
      0.022070608791068924
    ],
    "v_ego": [
      3.8545136668676845,
      3.66443778265606,
      3.57783729476965,
      3.5809114950312964,
      3.6749236160197016,
      3.867340805253138,
      4.206910145520617,
      4.663863974241156,
      5.139034499178456,
      5.6078603255339265
    ],
    "ax_ego": [
      -0.4591494838036436,
      -0.24888348117231174,
      -0.04631442823714216,
      0.11209215377668902,
      0.3107209402340636,
      0.5273687249381261,
      0.8685363823520793,
      0.9695914210874464,
      0.9368384299874288,
      0.9416843906130896
    ],
    "ay_ego": [
      -1.2175526283627212,
      -1.2772273286223035,
      -1.3966673681268442,
      -1.5963812314193262,
      -1.6180610656206718,
      -1.652781501717799,
      -1.2820689888760586,
      -0.6504052807347495,
      -0.2646315047500043,
      -0.24683311580364506
    ],
    "a_ego": [
      1.3012504183707774,
      1.3012504125571351,
      1.3974350659165882,
      1.6003117468062844,
      1.647625295623202,
      1.7348788039697205,
      1.548565897760543,
      1.167533534016913,
      0.9734968295826968,
      0.9734968302884615
    ],
    "yaw": [
      -2.0873941148345745,
      -2.2555614351027673,
      -2.4305952204421883,
      -2.6413889792027763,
      -2.868303064695983,
      -3.0939597255062883,
      3.001423926369516,
      2.8961845144487324,
      2.858086260877459,
      2.839137476297503
    ],
    "yaw_diff": [
      -0.3363346405363856,
      -0.3500675706788421,
      -0.42158751752117585,
      -0.45382817098641315,
      -0.4513133216206109,
      -0.3756033106075636,
      -0.21047882384156757,
      -0.076196507142547,
      -0.03789756915991216,
      -0.03789756915991216
    ],
    "min_front_frame": [
      7,
      31.035963803245846
    ],
    "v_avg": 4.183763360507169,
    "v_std": 0.6811277260253396,
    "vy_max": 0.1073504760133227,
    "a_max": 1.7348788039697205,
    "ax_avg": 0.39124850497758257,
    "a_std": 0.25699732292477406,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "129c4e6b058a5f6d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      68.0318136468567,
      31.035963803245846,
      33.27823198695405,
      35.4740128536931
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "129c4e6b058a5f6d",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "c1e76b8992fa5182": {
    "vx_ego": [
      7.095399309435038,
      7.471271281599375,
      7.78146707605614,
      8.035831012269858,
      8.284154094973804,
      8.402675088235643,
      8.350517183678685,
      8.197413703839711,
      8.03189511856513,
      7.8979193362283215
    ],
    "vy_ego": [
      0.002822786212915762,
      -0.02011456374636511,
      0.0033361648634455676,
      -0.02474277032001515,
      -0.015337806299539736,
      -0.0339575803281118,
      0.009116184928616988,
      0.015405207409478816,
      0.03329210007702521,
      0.05459099328298134
    ],
    "v_ego": [
      7.095399870934211,
      7.4712983583127155,
      7.781467791216622,
      8.035869104362087,
      8.284168293653462,
      8.402743704036057,
      8.350522159705982,
      8.197428179149508,
      8.031964115928178,
      7.898108002434307
    ],
    "ax_ego": [
      0.7515279434248973,
      0.7522325079954881,
      0.48956334599551515,
      0.5306447552051916,
      0.4635798222541069,
      0.010063814815991529,
      -0.21830310669143493,
      -0.3940515512052552,
      -0.2676206880673085,
      -0.2674911942173963
    ],
    "ay_ego": [
      0.08420679130852043,
      0.07766128337500289,
      0.26246122214183165,
      0.4011248417587617,
      0.328798496376433,
      0.06895614567008218,
      -0.1391861841841105,
      -0.05873498597828683,
      -0.02826700244591135,
      -0.029467333566310996
    ],
    "a_ego": [
      0.7562308069967345,
      0.7562307987781473,
      0.5554801192396613,
      0.6651954561651555,
      0.5683438244764806,
      0.06968665865374925,
      0.25889967218763554,
      0.39840484884742233,
      0.26910937573577176,
      0.26910938804017426
    ],
    "yaw": [
      0.880067849147749,
      0.8887733027642297,
      0.8968132476403134,
      0.9213549540555481,
      0.9425426911782058,
      0.956596861304551,
      0.9493832995560465,
      0.9426608372985531,
      0.9377666478039703,
      0.9332804067736121
    ],
    "yaw_diff": [
      0.017410907232961348,
      0.016079889752167453,
      0.04908341283046935,
      0.04237547424531529,
      0.02810834025269049,
      -0.014427123497009031,
      -0.0134449245149868,
      -0.009788378989165514,
      -0.008972482060716436,
      -0.008972482060716436
    ],
    "min_front_frame": [
      8,
      36.920278065384
    ],
    "v_avg": 7.954896957973314,
    "v_std": 0.3927758086812853,
    "vy_max": 0.05459099328298134,
    "a_max": 0.7562308069967345,
    "ax_avg": 0.18501456495097954,
    "a_std": 0.2253470003496105,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "c1e76b8992fa5182",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.639164432001712,
    "right_rear_min": 26.76417144418771,
    "speed_mode": "accelerating",
    "front_frame": [
      50.81713937325198,
      48.96660223522959,
      47.00074466216564,
      45.22384471244716,
      43.47990037266827,
      41.60985744540149,
      39.89012439924288,
      38.29908089333016,
      36.920278065384,
      60.19437082802062
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "c1e76b8992fa5182",
    "merging_vehicles": "No"
  },
  "02015675e4585611": {
    "vx_ego": [
      3.5826796231665723,
      3.1990535830598725,
      2.915117783650011,
      2.8272458163813208,
      2.981791264348563,
      3.307294806566566,
      3.701457201384849,
      4.019887824754837,
      4.105528947065342,
      4.043738654231389
    ],
    "vy_ego": [
      -0.027360293260769497,
      -0.016653378898126903,
      -0.007181696404613747,
      -0.03130530734136608,
      -0.02705786221963391,
      0.01641821713951841,
      0.0623770677751585,
      0.09887402848958637,
      0.02810519021908986,
      -0.0406515340735325
    ],
    "v_ego": [
      3.582784094513691,
      3.199096929184381,
      2.915126630065288,
      2.8274191285540633,
      2.9819140282800403,
      3.3073355583303337,
      3.7019827541829504,
      4.021103604375536,
      4.105625145688377,
      4.043942983147465
    ],
    "ax_ego": [
      -0.8531241155979787,
      -0.6856429572569205,
      -0.44266084019009555,
      0.08393288084233512,
      0.5241282214369934,
      0.7694671862653792,
      0.8067569728453229,
      0.4658867481794331,
      -0.1232305320320369,
      -0.1235710199478413
    ],
    "ay_ego": [
      -0.9905412728155456,
      -1.113052786650383,
      -1.2824204472998293,
      -1.3728664144606952,
      -1.5272294819851944,
      -1.50436286817997,
      -1.1850361706185097,
      -0.5218512284459407,
      -0.025421765003463867,
      -0.023711483521231723
    ],
    "a_ego": [
      1.3072845022281396,
      1.3072845025877873,
      1.3566690175169829,
      1.3754297221016634,
      1.6146641394269803,
      1.6897299754392194,
      1.4335855533970516,
      0.6995564071322226,
      0.1258253955320237,
      0.12582540054268626
    ],
    "yaw": [
      -0.9122426633334899,
      -1.0711408223668724,
      -1.2714585913174368,
      -1.4985054717380921,
      -1.753052217615225,
      -2.0090015966753105,
      -2.213533340316734,
      -2.332068561077752,
      -2.348036271749847,
      -2.3341768865627595
    ],
    "yaw_diff": [
      -0.3177963180667649,
      -0.4006355379011288,
      -0.4540937608413107,
      -0.5090934917542658,
      -0.511898758120171,
      -0.4090634872828467,
      -0.23707044152203594,
      -0.03193542134419047,
      0.02771877037417525,
      0.02771877037417525
    ],
    "min_front_frame": [
      9,
      32.31115657464159
    ],
    "v_avg": 3.468633085632213,
    "v_std": 0.4650304683908097,
    "vy_max": 0.09887402848958637,
    "a_max": 1.6897299754392194,
    "ax_avg": 0.04219425445445906,
    "a_std": 0.5486230959379019,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "02015675e4585611",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.881987349028755,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      38.29937197730909,
      36.3105867289971,
      34.30816561301547,
      32.31115657464159
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "02015675e4585611",
    "pedestrians": "No"
  },
  "975e6554112f5a46": {
    "vx_ego": [
      5.227108787742893,
      5.164158416364332,
      5.1324102018937605,
      5.10387599825379,
      5.045132917670369,
      4.973039029737811,
      7.289677964887632,
      7.200072049555583,
      4.735412394220638,
      4.701461226996781
    ],
    "vy_ego": [
      -0.02024309348655505,
      -0.004578651643840526,
      -0.010996144485015846,
      -0.037317704447903166,
      -0.011160962434562771,
      0.013395845170497411,
      0.2995975343104811,
      -0.2575216399851761,
      0.012854624241149804,
      -0.0024338787216864333
    ],
    "v_ego": [
      5.227147985444154,
      5.164160446128435,
      5.132421981452488,
      5.1040124232427555,
      5.045145262927877,
      4.973057071858659,
      7.295831927500332,
      7.204675906232854,
      4.735429841598629,
      4.701461856988708
    ],
    "ax_ego": [
      -0.16447252137050933,
      -0.08251856424040155,
      -0.04415597626618603,
      -0.06253784128307982,
      -0.1609436428632679,
      -0.13303317846781837,
      9.394718794491466,
      -9.771238473152115,
      -0.09569374700036137,
      -0.0415195161941222
    ],
    "ay_ego": [
      0.9323153888287753,
      0.9431086243542076,
      0.8878639129379007,
      0.8592048377971235,
      0.9410634341357199,
      0.8146785760626991,
      1.9476537157026237,
      1.8857215156482483,
      0.6967118256248424,
      0.7020262051779991
    ],
    "a_ego": [
      0.9467117800750782,
      0.9467117780906622,
      0.888961235452604,
      0.8614777622703497,
      0.9547267898437823,
      0.8254689629954584,
      9.594482592816634,
      9.951534903409966,
      0.7032529140931233,
      0.7032529153737054
    ],
    "yaw": [
      -1.5520623593867002,
      -1.4647201385483872,
      -1.374538937444577,
      -1.2841612712016617,
      -1.200874170879422,
      -1.1181383292272846,
      -1.0363318561082306,
      -0.8794587603465346,
      -0.8006411426180973,
      -0.7232182623363481
    ],
    "yaw_diff": [
      0.174684441676626,
      0.18036240220762068,
      0.18075533248583042,
      0.16657420064447948,
      0.16547168330427464,
      0.16361294623810796,
      0.3137461915233921,
      0.15763523545687463,
      0.1548457605634983,
      0.1548457605634983
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.45833447033749,
    "v_std": 0.9110170501299057,
    "vy_max": 0.2995975343104811,
    "a_max": 9.951534903409966,
    "ax_avg": -0.11613946663463962,
    "a_std": 3.5696175041666205,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "975e6554112f5a46",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "975e6554112f5a46",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "e7756dc30c605482": {
    "vx_ego": [
      5.592123613160264,
      5.949479016872693,
      6.173237731995857,
      6.312957870956598,
      6.225715141413953,
      6.033204825603189,
      6.084731448159749,
      6.245160927674087,
      6.415009799957803,
      6.558003537511077
    ],
    "vy_ego": [
      0.020582345927534273,
      0.012538012758983363,
      0.018811432334429057,
      0.017039404138561753,
      -0.003074707921538522,
      0.0063369680647871185,
      0.002152682812337936,
      -0.015846636216362064,
      -0.006479507190913392,
      0.02511086004964458
    ],
    "v_ego": [
      5.59216149067858,
      5.94949222824708,
      6.1732663935491905,
      6.312980866576919,
      6.225715900670361,
      6.033208153614946,
      6.084731828952491,
      6.245181032478277,
      6.415013072283492,
      6.558051612582828
    ],
    "ax_ego": [
      0.7141196214312187,
      0.7147433473829943,
      0.17998854356370858,
      0.3782959488747062,
      -0.7274608428656931,
      -0.04259700836173172,
      0.24872801296568123,
      0.39333508737776446,
      0.2860827517692067,
      0.2860459701926919
    ],
    "ay_ego": [
      0.08006803288297304,
      0.07429449663523824,
      0.10042508550322099,
      0.03339549786025828,
      -0.03153886542499862,
      -0.00812160670664083,
      -0.029838715379661027,
      0.0686190395192561,
      0.008170574971778671,
      0.009370364050649616
    ],
    "a_ego": [
      0.7185942691135352,
      0.7185942699872655,
      0.206109372937075,
      0.37976714472469686,
      0.728144201333198,
      0.043364335771078004,
      0.2505114236304694,
      0.39927567362289784,
      0.2861994045332921,
      0.2861994073821958
    ],
    "yaw": [
      0.5620118636095759,
      0.5700931232297605,
      0.5761970925698371,
      0.5818621501705785,
      0.5850737108177058,
      0.581875953127807,
      0.5809949659408281,
      0.5855004061313556,
      0.5870500692014557,
      0.5828559666294764
    ],
    "yaw_diff": [
      0.016162519240369155,
      0.01220793868015324,
      0.01133011520148286,
      0.006423121294254486,
      -0.006395515379797434,
      -0.0017619743739578642,
      0.009010880381054909,
      0.0030993261402003647,
      -0.008388205143958771,
      -0.008388205143958771
    ],
    "min_front_frame": [
      5,
      18.060730645930406
    ],
    "v_avg": 6.1589802579634165,
    "v_std": 0.2543846398129754,
    "vy_max": 0.02511086004964458,
    "a_max": 0.728144201333198,
    "ax_avg": 0.2431281432330547,
    "a_std": 0.2289313425839696,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "e7756dc30c605482",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.515437471074454,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      28.27206936581582,
      29.993717906484484,
      27.359030632048814,
      24.24139860898841,
      21.081555011188623,
      18.060730645930406,
      34.488072822971645,
      31.503439057261797,
      36.04804690001344,
      35.85727662289516
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "e7756dc30c605482",
    "pedestrians": "No"
  },
  "10ae805f0be95c1f": {
    "vx_ego": [
      5.639869326411841,
      5.314377410144459,
      5.004147479038014,
      4.72206706873175,
      4.4599921506096765,
      4.167322945492815,
      3.8269745611989245,
      3.440747729748288,
      3.0915626640571707,
      2.81519949004248
    ],
    "vy_ego": [
      -0.006280075503257265,
      -0.005706712106007483,
      -0.015872744521366222,
      -0.023465020064434405,
      0.002916533072842231,
      0.005647062977148343,
      -0.034101085751488736,
      -0.026168918615954384,
      -0.007912938480444609,
      -0.03572354458435978
    ],
    "v_ego": [
      5.639872822887895,
      5.31438047414906,
      5.004172652495231,
      4.722125369869746,
      4.4599931042172125,
      4.167326771606851,
      3.827126490738597,
      3.440847243350034,
      3.091572790730903,
      2.815426138326685
    ],
    "ax_ego": [
      -0.6510260209656026,
      -0.6509869541164282,
      -0.5899759820497811,
      -0.5383362636593243,
      -0.5099914259962888,
      -0.6606062544748307,
      -0.7007700739907675,
      -0.8440065396444365,
      -0.5527437280804246,
      -0.5527299867740381
    ],
    "ay_ego": [
      -0.019490235089748176,
      -0.020754244539421873,
      -0.07435002824788611,
      0.04529708274221142,
      0.0481310472542609,
      -0.05689923953548787,
      -0.09483593125054551,
      0.1346785639914051,
      -0.05697832767439076,
      -0.057111560589926696
    ],
    "a_ego": [
      0.6513177022299937,
      0.6513177051917034,
      0.594642401865243,
      0.5402386125367533,
      0.5122576034570107,
      0.663052144941091,
      0.7071580802459828,
      0.854684359609653,
      0.5556727083066224,
      0.5556727171926341
    ],
    "yaw": [
      -2.1075748700290386,
      -2.109516489723497,
      -2.112158374546949,
      -2.1120906246135185,
      -2.112749922863687,
      -2.1138861251643215,
      -2.1134327822202907,
      -2.1128773002304566,
      -2.1125153282435565,
      -2.1127563626758104
    ],
    "yaw_diff": [
      -0.0038832393889167705,
      -0.005283769646903913,
      0.0001354998668610108,
      -0.0013185965003366107,
      -0.0022724046012694288,
      0.0009066858880615314,
      0.0011109639796682558,
      0.0007239439738002673,
      -0.00048206886450774533,
      -0.00048206886450774533
    ],
    "min_front_frame": [
      9,
      12.8394819583868
    ],
    "v_avg": 4.248284385837222,
    "v_std": 0.9022604666941371,
    "vy_max": 0.03572354458435978,
    "a_max": 0.854684359609653,
    "ax_avg": -0.6251173229751922,
    "a_std": 0.09624854958774472,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "10ae805f0be95c1f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.135426238733936,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.620455704786103,
      23.304956974366018,
      21.173060481181732,
      19.289580575355213,
      17.602841220772607,
      16.251960803559765,
      15.126323421947985,
      14.180460325272954,
      13.545183366569159,
      12.8394819583868
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "10ae805f0be95c1f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "10214bdcdd9c5607": {
    "vx_ego": [
      1.4678938351905608,
      0.985424976307558,
      0.5205847088672734,
      0.14724053970958617,
      -0.024253376061400805,
      -0.03617249751795255,
      -0.004237351793199876,
      0.17503065314590766,
      0.7074518148974916,
      1.4579681040076056
    ],
    "vy_ego": [
      -0.008653447013500681,
      -0.017835906799478773,
      -0.006202899528192557,
      -0.0034751856174553425,
      -0.011911910046960756,
      -0.003165798416484591,
      0.0012633852781696025,
      0.005355750172450435,
      0.023864232582431366,
      0.05238795430667187
    ],
    "v_ego": [
      1.4679193416314362,
      0.9855863754649365,
      0.5206216621203738,
      0.14728154483521005,
      0.027020730029786652,
      0.03631076777348696,
      0.0044216843601087,
      0.17511257407905562,
      0.7078542025011246,
      1.4589090067786854
    ],
    "ax_ego": [
      -0.9649229386660634,
      -0.9649302030823939,
      -0.8944559110563614,
      -0.5989236920529141,
      -0.08704845382874297,
      0.039369944426539606,
      0.08837016815667598,
      0.628702142905776,
      1.5009842282651662,
      1.501010843445102
    ],
    "ay_ego": [
      -0.017538700966927945,
      -0.01713419403098898,
      0.06281977741063882,
      -0.051817511673161176,
      0.018070091605851983,
      0.01692691962072052,
      0.000778425135970949,
      0.01558738273723953,
      0.05838448487155623,
      0.057696224911645055
    ],
    "a_ego": [
      0.9650823195953591,
      0.9650823163988248,
      0.8966591890219983,
      0.6011610794273795,
      0.08890422669715248,
      0.042854557890557574,
      0.08837359654179239,
      0.6288953418454553,
      1.5021193033758982,
      1.502119305018357
    ],
    "yaw": [
      2.567800510255081,
      2.568219726067843,
      2.567935372847078,
      2.5680123147249794,
      2.568065925113191,
      2.5679977253222788,
      2.56810601395079,
      2.5680546773204576,
      2.568007964063951,
      2.5684664969421362
    ],
    "yaw_diff": [
      0.0008384316255245494,
      -0.0005687064415305088,
      0.00015388375580283054,
      0.00010722077642366656,
      -0.00013639958182487533,
      0.00021657725702262098,
      -0.00010267326066504268,
      -9.342651301302851e-05,
      0.0009170657563704054,
      0.0009170657563704054
    ],
    "min_front_frame": [
      3,
      8.823714303922305
    ],
    "v_avg": 0.5531037889574205,
    "v_std": 0.549715751150042,
    "vy_max": 0.05238795430667187,
    "a_max": 1.502119305018357,
    "ax_avg": 0.024815612851278444,
    "a_std": 0.5150031724266596,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "10214bdcdd9c5607",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.45291805393273,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      9.88464062589876,
      9.282046362788883,
      8.931869624847174,
      8.823714303922305,
      8.907108990531738,
      9.06057632878105,
      9.483698820307179,
      10.082485947138197,
      10.79037829177718,
      11.418891705419139
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "10214bdcdd9c5607",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "eb74b3c99b175bc1": {
    "vx_ego": [
      9.967499395211352,
      9.894934224735971,
      9.830411351539246,
      9.784767196185053,
      9.70361541514852,
      9.615705581130307,
      9.544536441050893,
      9.459549404086935,
      9.394549804230378,
      9.339688987393144
    ],
    "vy_ego": [
      -0.027797140886572258,
      0.00018230624284321095,
      0.04134571905325579,
      0.06209488886050529,
      0.03195202831788002,
      -0.006362244953358243,
      -0.029416773494777004,
      -0.01889209218846677,
      0.00740001976168525,
      0.039105566203586406
    ],
    "v_ego": [
      9.967538155160488,
      9.894934226415394,
      9.830498299117684,
      9.784964223683279,
      9.70366802076522,
      9.61570768592418,
      9.544581772980484,
      9.459568269192244,
      9.394552718701274,
      9.33977085514098
    ],
    "ax_ego": [
      -0.14961261528651357,
      -0.1394408611636907,
      -0.11992982874444685,
      -0.06851256689224572,
      -0.2607166401780554,
      -0.09216809307416794,
      -0.19050736619096276,
      -0.1472340212218933,
      -0.1128980971627412,
      -0.10790275995326065
    ],
    "ay_ego": [
      0.476767837460761,
      0.47984138055216036,
      0.5259979974185904,
      0.3828317602451573,
      0.3207666518760333,
      0.298880119892546,
      0.3601702134614393,
      0.4003125777153637,
      0.3384359000626987,
      0.3400615128891444
    ],
    "a_ego": [
      0.4996914102622547,
      0.4996914090238843,
      0.5394970408732932,
      0.3889140373843171,
      0.41335748622892265,
      0.3127687379645081,
      0.4074501677970894,
      0.42653020629527283,
      0.3567700082605273,
      0.35677000736326575
    ],
    "yaw": [
      2.079183443202008,
      2.1004489075062613,
      2.121775831492701,
      2.1428397248281135,
      2.1639320925983165,
      2.1839785365112743,
      2.2035576665383183,
      2.2224686477249156,
      2.2392780873784592,
      2.25400251917531
    ],
    "yaw_diff": [
      0.04253092860850671,
      0.04265384797287908,
      0.042127786670825174,
      0.04218473554040614,
      0.04009288782591547,
      0.03915826005408807,
      0.03782196237319457,
      0.03361887930708729,
      0.0294488635937018,
      0.0294488635937018
    ],
    "min_front_frame": [
      9,
      23.34239129955389
    ],
    "v_avg": 9.653578422708122,
    "v_std": 0.20601434018223988,
    "vy_max": 0.06209488886050529,
    "a_max": 0.5394970408732932,
    "ax_avg": -0.13889228498679781,
    "a_std": 0.06905504046585594,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "eb74b3c99b175bc1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      61.70137410552453,
      56.82336541301943,
      51.89101015043516,
      47.01530394095795,
      42.23170732435733,
      37.437797868688996,
      32.68838079920741,
      27.98657473082142,
      23.34239129955389
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.1111111111111111,
    "oversafe_ratio": 0.2222222222222222,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "eb74b3c99b175bc1",
    "road_shape": "Straight"
  },
  "52761f4f68355373": {
    "vx_ego": [
      7.719481788753164,
      7.587137020106458,
      7.4802556079671,
      7.392755528013105,
      7.27546474963007,
      7.181757070095104,
      7.119037703988186,
      7.045623097753833,
      6.959116138122239,
      6.8563598098334495
    ],
    "vy_ego": [
      0.012515045785937762,
      -0.011388263767996065,
      -0.007836774972780791,
      -0.0019522149021220514,
      0.01787579986522525,
      0.016390640701749337,
      -0.010848643570146699,
      -0.005944219769918657,
      0.022239734075482964,
      0.04330223655043808
    ],
    "v_ego": [
      7.719491933622495,
      7.5871455669719134,
      7.4802597131092465,
      7.392755785775109,
      7.275486709996147,
      7.181775773926922,
      7.119045970063172,
      7.045625605249756,
      6.959151674568182,
      6.856496548937339
    ],
    "ax_ego": [
      -0.2682672416094304,
      -0.2610926145907736,
      -0.16390922174956685,
      -0.18610808948813343,
      -0.28318160673323456,
      -0.09549732295259118,
      -0.1556729922741144,
      -0.13567306217700562,
      -0.21166721921745646,
      -0.2024830070146576
    ],
    "ay_ego": [
      0.3052487233176151,
      0.31140767920726337,
      0.4403970199960874,
      0.4000031522268993,
      0.45409583393690206,
      0.2988838461257366,
      0.2972688999695615,
      0.4182884374951598,
      0.37534675229744313,
      0.3803798474329078
    ],
    "a_ego": [
      0.4063792514484056,
      0.40637925151648685,
      0.4699103831540466,
      0.4411788104208758,
      0.53515871364565,
      0.3137694889023222,
      0.33556352515237653,
      0.43974128387340194,
      0.43091553250200776,
      0.4309155328632052
    ],
    "yaw": [
      -1.1014288217473842,
      -1.078160424417486,
      -1.0536454653039535,
      -1.0261962162854954,
      -0.9998309739835526,
      -0.973499931953189,
      -0.9488742615073585,
      -0.9243007695384828,
      -0.9000252893343514,
      -0.8757208373499463
    ],
    "yaw_diff": [
      0.04653679465979632,
      0.04902991822706504,
      0.054898498036916266,
      0.05273048460388563,
      0.052662084060727254,
      0.04925134089166083,
      0.04914698393775141,
      0.04855096040826279,
      0.048608903968810235,
      0.048608903968810235
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.261723528222028,
    "v_std": 0.2664158086112264,
    "vy_max": 0.04330223655043808,
    "a_max": 0.53515871364565,
    "ax_avg": -0.19635523778069644,
    "a_std": 0.05966975675347011,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "52761f4f68355373",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "52761f4f68355373",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4f2041f942aa5630": {
    "vx_ego": [
      2.804281819080745,
      2.9712904801197686,
      3.072021652920786,
      3.141309041679534,
      3.2433180739649177,
      3.3549073742629614,
      3.5036164613339547,
      3.6871155683233487,
      3.911643118373924,
      4.205997877692674
    ],
    "vy_ego": [
      -0.021692342186356184,
      -0.0017192527889084985,
      -0.008313958604414307,
      -0.0013551388192578617,
      0.018292803233949773,
      0.039330158333863996,
      0.026710577858737927,
      -0.011272685255636211,
      -0.012960261266591222,
      -0.023402526491056896
    ],
    "v_ego": [
      2.8043657176866827,
      2.9712909775181084,
      3.0720329031313836,
      3.14130933397824,
      3.243369660639635,
      3.355137903460686,
      3.5037182767882196,
      3.6871328003755552,
      3.911664588623899,
      4.206062984003145
    ],
    "ax_ego": [
      0.3337830827110825,
      0.3346802465866171,
      0.07126738117605526,
      0.21373610350690797,
      0.197022443881306,
      0.25045262395475265,
      0.3274861836805313,
      0.4142403147078112,
      0.5038558551200858,
      0.6778540892609215
    ],
    "ay_ego": [
      0.09625868969139037,
      0.09309141113385608,
      0.2518820705835782,
      0.48638730412605413,
      0.621715884172769,
      0.8730806769784816,
      0.8810904373782443,
      1.0492950373134418,
      1.218635094881459,
      1.1311304289367987
    ],
    "a_ego": [
      0.34738578215755567,
      0.34738577731705056,
      0.26177016083038157,
      0.5312774525211157,
      0.6521874608007198,
      0.9082931164326989,
      0.9399827441719474,
      1.1281024393466417,
      1.3186895833423178,
      1.3186895819693503
    ],
    "yaw": [
      1.0758236407424921,
      1.0852998603455393,
      1.1156905687583127,
      1.1731744950862195,
      1.2537024602005888,
      1.3607130157548877,
      1.4924551284884013,
      1.637430541863213,
      1.7872666562638209,
      1.9350952384222384
    ],
    "yaw_diff": [
      0.01895243920609424,
      0.06078141682554694,
      0.11496785265581355,
      0.16105593022873865,
      0.21402111110859767,
      0.2634842254670273,
      0.28995082674962314,
      0.2996722288012159,
      0.2956571643168351,
      0.2956571643168351
    ],
    "min_front_frame": [
      0,
      23.676978161811228
    ],
    "v_avg": 3.389608514620556,
    "v_std": 0.41752385012029763,
    "vy_max": 0.039330158333863996,
    "a_max": 1.3186895833423178,
    "ax_avg": 0.33243783245860714,
    "a_std": 0.3826825461996266,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "4f2041f942aa5630",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      23.676978161811228,
      25.78482745696141,
      27.944926184148926,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4f2041f942aa5630",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a92ed51516c358dc": {
    "vx_ego": [
      7.190612146665524,
      6.8809942081986435,
      6.793192661090138,
      6.994682285454065,
      7.333764156762522,
      7.748290195783548,
      8.060277130598562,
      8.217337459062135,
      8.399123760496261,
      8.667167646481518
    ],
    "vy_ego": [
      0.05081969766854444,
      -0.01912152159490743,
      -0.025039897122601573,
      -0.0043032086093517385,
      -0.014163713015054924,
      0.02504842955995512,
      0.0028347538828388252,
      0.06471071881094481,
      0.09094842171615802,
      -0.0012289074526483645
    ],
    "v_ego": [
      7.190791728693364,
      6.881020776443811,
      6.793238809812063,
      6.994683609145537,
      7.333777833953048,
      7.748330683566549,
      8.060277629082002,
      8.21759225036353,
      8.399616155488626,
      8.667167733604185
    ],
    "ax_ego": [
      -0.6193340752590057,
      -0.6190154174943518,
      0.26888519950363693,
      0.5374452905631388,
      0.8241811687527746,
      0.8338083652018345,
      0.41799786992724824,
      0.22294169758560062,
      0.5207409794066308,
      0.5584867828126836
    ],
    "ay_ego": [
      -0.16617821980776545,
      -0.1673613153150479,
      -0.4427360671561102,
      -0.5785970558553316,
      -0.8673179945851657,
      -0.8200304516897481,
      -0.8625940394317153,
      -0.987713033999198,
      -0.9111591043161478,
      -0.8885238291618105
    ],
    "a_ego": [
      0.6412409044309367,
      0.6412409039976237,
      0.5179908065525588,
      0.7896974062214934,
      1.196459402845714,
      1.1694812232691247,
      0.9585357041481765,
      1.0125611280580793,
      1.049467522609243,
      1.0494675228728272
    ],
    "yaw": [
      2.625373467062335,
      2.6234627059183255,
      2.6016670081909634,
      2.561431156431428,
      2.5121146310356117,
      2.4509851284009154,
      2.4009164767238333,
      2.336692503123549,
      2.2761433149223524,
      2.2342022932812995
    ],
    "yaw_diff": [
      -0.0038215222880193522,
      -0.043591395454724235,
      -0.08047170351907074,
      -0.09863305079163265,
      -0.1222590052693926,
      -0.10013730335416415,
      -0.12844794720056907,
      -0.12109837640239274,
      -0.08388204328210591,
      -0.08388204328210591
    ],
    "min_front_frame": [
      9,
      23.822806019080886
    ],
    "v_avg": 7.628649721015272,
    "v_std": 0.644812445893224,
    "vy_max": 0.09094842171615802,
    "a_max": 1.196459402845714,
    "ax_avg": 0.29461378610001904,
    "a_std": 0.22654529488906291,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "a92ed51516c358dc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      24.09514345574163,
      24.247358799451302,
      24.68150387935822,
      23.822806019080886
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a92ed51516c358dc",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "ed95bd64d5a555c8": {
    "vx_ego": [
      5.685896370030905,
      5.44390155868861,
      5.084590387417661,
      4.622171757529559,
      4.146984360026606,
      3.641575740847138,
      3.156828663828832,
      2.686301694080283,
      2.239744553787144,
      1.8253671054319538
    ],
    "vy_ego": [
      -0.02968755631272435,
      -0.0139848079383329,
      -0.015733845303404603,
      0.008870925896772519,
      0.009766725864169157,
      0.030834298308146657,
      0.017707874200466822,
      -0.03001308711295425,
      -0.1037852742397185,
      -0.23492824269897594
    ],
    "v_ego": [
      5.6859738727618545,
      5.443919521406002,
      5.084614730902245,
      4.622180270113895,
      4.14699586101064,
      3.641706280066878,
      3.1568783285993187,
      2.686469351587069,
      2.242147865188241,
      1.840422872279808
    ],
    "ax_ego": [
      -0.48429440234493953,
      -0.48274290355780203,
      -0.9542071262091938,
      -0.8954368358435514,
      -1.005126242183307,
      -1.014805093881294,
      -0.9200806596477602,
      -0.9608779241163923,
      -0.8373334355130828,
      -0.831651891957373
    ],
    "ay_ego": [
      0.1455086459383937,
      0.150575929333294,
      0.08370672359268572,
      -0.004715423100868477,
      -0.047588607499204794,
      -0.10720358111637235,
      -0.26298712181018574,
      -0.372703124424368,
      -0.32471460291059273,
      -0.33900145689709527
    ],
    "a_ego": [
      0.5056815541281559,
      0.5056815415160044,
      0.9578716277680588,
      0.8954492516053221,
      1.0062521743028678,
      1.0204518540193832,
      0.9569277122624588,
      1.0306279658586377,
      0.8980906722439144,
      0.8980906731364218
    ],
    "yaw": [
      -0.42266816156534853,
      -0.4121882048774293,
      -0.4008568070053532,
      -0.4018590578565816,
      -0.4050357002025734,
      -0.42037765860742504,
      -0.44382292920063576,
      -0.48181437206208677,
      -0.5229031564220143,
      -0.5400231561451967
    ],
    "yaw_diff": [
      0.020959913375838468,
      0.022662795744152198,
      -0.002004501702456807,
      -0.006353284691983596,
      -0.030683916809703282,
      -0.04689054118642144,
      -0.07598288572290202,
      -0.08217756871985515,
      -0.03423999944636469,
      -0.03423999944636469
    ],
    "min_front_frame": [
      9,
      10.964243659344898
    ],
    "v_avg": 3.8551308953915955,
    "v_std": 1.2892267023560862,
    "vy_max": 0.23492824269897594,
    "a_max": 1.0306279658586377,
    "ax_avg": -0.8386556515254695,
    "a_std": 0.18705599105057144,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ed95bd64d5a555c8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.719236520992077,
    "right_rear_min": 14.128019324551722,
    "speed_mode": "decelerating",
    "front_frame": [
      20.751484355528678,
      19.171620179033848,
      17.515286358062085,
      16.00657526205783,
      14.638348681717774,
      13.519629123851434,
      12.658810078188049,
      11.927565287010495,
      11.48588369532942,
      10.964243659344898
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ed95bd64d5a555c8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c48cfa7c240d5808": {
    "vx_ego": [
      8.400403410268328,
      7.799107958997355,
      7.2740237041957805,
      6.977117164893548,
      6.981491589943669,
      7.22184759518092,
      7.386887761560666,
      7.39255719890848,
      7.6455636269442,
      8.14355783211582
    ],
    "vy_ego": [
      -0.03068990563264462,
      -0.014925575072150643,
      -0.010662781915021569,
      0.0023346529553851525,
      0.014785454962713773,
      0.007817575600573612,
      0.0045138031660273414,
      -0.010848822041285677,
      -0.023147343148246513,
      0.007905643915461225
    ],
    "v_ego": [
      8.400459471097728,
      7.799122240924752,
      7.274031519324086,
      6.977117555499306,
      6.981507246299515,
      7.221851826402194,
      7.38688914065412,
      7.392565159406664,
      7.645598666758998,
      8.14356166945524
    ],
    "ax_ego": [
      -1.202707008160535,
      -1.202689694703318,
      -0.8977228689364221,
      -0.28998155169476975,
      0.30751738114738997,
      0.6538709050170025,
      0.006209626258187717,
      0.01637926783873583,
      0.9959935169466295,
      0.9959707136695126
    ],
    "ay_ego": [
      -0.00579946415140048,
      -0.008677655821544922,
      -0.03061264470598976,
      0.04023452769881741,
      -0.008418619721678625,
      0.054850112189167424,
      0.06985405996712077,
      0.006371455077538777,
      0.055427076609998197,
      0.05583550206740971
    ],
    "a_ego": [
      1.2027209906137453,
      1.2027209998399953,
      0.8982446679092148,
      0.29275948753619124,
      0.30763259395871456,
      0.6561674292700896,
      0.07012951698219858,
      0.017574864287901077,
      0.9975345841730233,
      0.9975345937753126
    ],
    "yaw": [
      1.4855501643331905,
      1.4831570543294657,
      1.4812786162725176,
      1.479776125585675,
      1.4791248475418304,
      1.4817565779576696,
      1.486425262247098,
      1.4910837407288806,
      1.4948352061047172,
      1.494425133808822
    ],
    "yaw_diff": [
      -0.004786220007449771,
      -0.0037568761138961904,
      -0.0030049813736852116,
      -0.001302556087689144,
      0.00526346083167839,
      0.009337368578856697,
      0.009316956963565381,
      0.007502930751673187,
      -0.0008201445917905836,
      -0.0008201445917905836
    ],
    "min_front_frame": [
      6,
      13.94648894097743
    ],
    "v_avg": 7.52227044958226,
    "v_std": 0.45007971489842624,
    "vy_max": 0.03068990563264462,
    "a_max": 1.2027209998399953,
    "ax_avg": -0.06171597126175867,
    "a_std": 0.4351122981571758,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c48cfa7c240d5808",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.304199435790293,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      18.7697176042674,
      17.932293159933028,
      17.31245682084072,
      16.72575763312638,
      16.007468604364337,
      15.126042514851756,
      13.94648894097743,
      48.94437661263513,
      52.1237244613848,
      33.480814265730764
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c48cfa7c240d5808",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f3e32c06633756e9": {
    "vx_ego": [
      8.526837474739652,
      8.433003931109567,
      8.297718287451774,
      8.032266730919812,
      7.605131382244311,
      7.097085358983423,
      6.70766005543154,
      6.417289126091189,
      6.044141037633377,
      5.645874011548271
    ],
    "vy_ego": [
      -0.030718789365580257,
      -0.01988475200473605,
      -0.00702166476983157,
      0.011298643583774304,
      0.010485328474076017,
      -0.03462002291153521,
      -0.04876276234643839,
      -0.03786434037347508,
      0.01072263617920255,
      0.04420969483935222
    ],
    "v_ego": [
      8.526892808323826,
      8.433027374879778,
      8.29772125837496,
      8.032274677573474,
      7.605138610394322,
      7.09716979779146,
      6.707837298729264,
      6.4174008318103475,
      6.0441505488968845,
      5.646047099643604
    ],
    "ax_ego": [
      -0.18763440350587118,
      -0.18759237706312495,
      -0.3535091495013393,
      -0.7082962399833188,
      -1.0000552842478498,
      -1.0313215963302835,
      -0.5274185145565609,
      -0.6366605904575542,
      -0.8504590957390472,
      -0.726531494115598
    ],
    "ay_ego": [
      0.039552659442197935,
      0.039751595049645636,
      0.03777361800292672,
      0.032959658567413924,
      -0.09237508152223406,
      -0.3621777715793557,
      -0.6352959186770737,
      -0.8950541237493853,
      -1.1272147500171619,
      -1.2108037619305878
    ],
    "a_ego": [
      0.19175787401813404,
      0.19175789225266493,
      0.3555215394293169,
      0.7090626930444075,
      1.004312564512805,
      1.093067689250502,
      0.8256943706873605,
      1.098389089477195,
      1.412053032354497,
      1.4120530308197021
    ],
    "yaw": [
      1.246376544457792,
      1.2474369356503046,
      1.2482141998948229,
      1.2481366067462707,
      1.246349180390348,
      1.237031408754238,
      1.20264198539434,
      1.1428243412635204,
      1.0543229007689714,
      0.9484112202906019
    ],
    "yaw_diff": [
      0.0021207823850253327,
      0.0015545284890365885,
      -0.00015518629710431497,
      -0.003574852711845544,
      -0.018635543272219834,
      -0.06877884671979606,
      -0.11963528826163916,
      -0.177002880989098,
      -0.21182336095673904,
      -0.21182336095673904
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.280766030641793,
    "v_std": 0.9946656278257331,
    "vy_max": 0.04876276234643839,
    "a_max": 1.412053032354497,
    "ax_avg": -0.6209478745500547,
    "a_std": 0.4363106483107303,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "f3e32c06633756e9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.17612666358918,
    "right_rear_min": 15.811814557199451,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f3e32c06633756e9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ead9740dd25f59c3": {
    "vx_ego": [
      1.5218093555657046,
      1.206574779950043,
      0.8856730117426335,
      0.5489747951874078,
      0.24693659987044544,
      0.05088649080256821,
      -0.017185979112283152,
      -0.014608310856120015,
      -0.008959964532565796,
      -0.004136764346771606
    ],
    "vy_ego": [
      -0.03774949933627403,
      -0.02982701270651933,
      -0.018133699037956363,
      -0.01872543263338114,
      -0.02275002722609934,
      0.00010928742642824646,
      0.010973009032644015,
      0.0037981895897479445,
      0.0021161728800857737,
      0.000924120856508209
    ],
    "v_ego": [
      1.5222774843593545,
      1.206943391505372,
      0.8858586313684967,
      0.5492940629374794,
      0.24798235440120478,
      0.05088660815913588,
      0.02039031155422398,
      0.01509400510893989,
      0.009206473379272192,
      0.004238728419957355
    ],
    "ax_ego": [
      -0.6308699637131174,
      -0.6308669352965237,
      -0.6531196930705967,
      -0.6937148678068042,
      -0.5145298393323862,
      -0.26965189432629105,
      -0.0026373378204097263,
      0.012947075662220569,
      0.00964637716559787,
      0.009646357255310184
    ],
    "ay_ego": [
      0.0013849974726368175,
      -0.0023955819792520483,
      0.03529283278432044,
      -0.041049755236148566,
      0.02375414658936506,
      0.06781455765060947,
      -0.02435905650110909,
      -0.0043436610926099965,
      -0.002384171258740676,
      -0.0023842609764320867
    ],
    "a_ego": [
      0.6308714840071544,
      0.6308714836346999,
      0.6540725628877674,
      0.6949283417886765,
      0.515077872795561,
      0.2780484820010803,
      0.024501411885913607,
      0.013656286460481051,
      0.009936642542225874,
      0.009936644740595907
    ],
    "yaw": [
      -0.5672277741495934,
      -0.5732204122896487,
      -0.576527665080393,
      -0.5777008311394701,
      -0.5784977917295637,
      -0.5782199971586888,
      -0.5782294287872665,
      -0.5781813618323441,
      -0.5781868440388722,
      -0.5781776715234036
    ],
    "yaw_diff": [
      -0.011985276280110702,
      -0.006614505581488572,
      -0.0023463321181542707,
      -0.0015939211801871966,
      0.0005555891417499126,
      -1.886325715538817e-05,
      9.613390984464232e-05,
      -1.0964413056147038e-05,
      1.8345030937227946e-05,
      1.8345030937227946e-05
    ],
    "min_front_frame": [
      5,
      8.489984963046007
    ],
    "v_avg": 0.45121720511934377,
    "v_std": 0.53752878293425,
    "vy_max": 0.03774949933627403,
    "a_max": 0.6949283417886765,
    "ax_avg": -0.3363150721283,
    "a_std": 0.29186613982532045,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ead9740dd25f59c3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.4434519581510425,
    "speed_mode": "decelerating",
    "front_frame": [
      9.657021172110007,
      9.19793774099218,
      8.786646639006312,
      8.597033972682944,
      8.499606325832797,
      8.489984963046007,
      8.537836092430563,
      8.55051371023423,
      8.547773930281997,
      8.555937053293217
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ead9740dd25f59c3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1c542cec168557e3": {
    "vx_ego": [
      9.547738854492389,
      9.141758143039715,
      8.645904373873524,
      8.015399326834576,
      7.306159121340795,
      6.570062616340371,
      5.816500797020758,
      5.020681226561865,
      4.1561103713378,
      3.2407650225994367
    ],
    "vy_ego": [
      0.0410105930072886,
      0.03642077225189233,
      0.028499301652924913,
      0.0068235248264461035,
      -0.019884428354757233,
      -0.0007301106384405287,
      0.006600361053886061,
      0.013854487473044408,
      0.009162802770534162,
      0.004729728560784574
    ],
    "v_ego": [
      9.547826930894928,
      9.141830692945716,
      8.645951344551971,
      8.015402231273939,
      7.306186180001321,
      6.570062656907834,
      5.81650454194864,
      5.020700342140914,
      4.156120471749614,
      3.24076847399443
    ],
    "ax_ego": [
      -0.8118622094208952,
      -0.8117893710639235,
      -1.1712439713564027,
      -1.350755102028447,
      -1.4859003657219476,
      -1.4584835622393661,
      -1.5557581592018594,
      -1.6275514273646188,
      -1.8306842635312448,
      -1.830666099940352
    ],
    "ay_ego": [
      -0.04106035621164944,
      -0.0424759170154243,
      -0.0808109592319683,
      -0.02283695657327056,
      0.05748738481609428,
      -0.027475456905118212,
      0.06104710205809727,
      -0.02388299466458288,
      -0.015854596045953184,
      -0.01782844474466383
    ],
    "a_ego": [
      0.8128998707946785,
      0.8128998625283815,
      1.1740284713629003,
      1.3509481382500994,
      1.4870120027308493,
      1.4587423357312204,
      1.5569554260134908,
      1.6277266497022025,
      1.8307529164135494,
      1.8307529114855539
    ],
    "yaw": [
      1.0295731654784914,
      1.0278294845694813,
      1.0252675825589814,
      1.0247604408547095,
      1.029367370836434,
      1.0276872175608065,
      1.0278584287509531,
      1.028233717157903,
      1.0270974034120153,
      1.026019194266489
    ],
    "yaw_diff": [
      -0.0034873618180202293,
      -0.005123804020999767,
      -0.0010142834085438146,
      0.009213859963448812,
      -0.0033603065512548547,
      0.00034242238029325023,
      0.0007505768138997837,
      -0.0022726274917754807,
      -0.0021564182910527308,
      -0.0021564182910527308
    ],
    "min_front_frame": [
      9,
      53.681614268375746
    ],
    "v_avg": 6.746135386640932,
    "v_std": 2.0491691744641503,
    "vy_max": 0.0410105930072886,
    "a_max": 1.8307529164135494,
    "ax_avg": -1.3934694531869056,
    "a_std": 0.3465727287447245,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1c542cec168557e3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      70.71293206611409,
      66.97120075307528,
      63.55329159606247,
      60.437843862833226,
      57.84118332538546,
      55.463274991883715,
      53.681614268375746
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1c542cec168557e3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5350c9f947cb5482": {
    "vx_ego": [
      1.3085787491832406,
      1.407926807315212,
      1.5636736138082294,
      1.8089523520423214,
      2.1554485551447513,
      2.59594138221289,
      3.123543432053628,
      3.757204721344698,
      4.37221379220531,
      4.923868393977538
    ],
    "vy_ego": [
      -0.018605254963580842,
      -0.0165912440479492,
      -0.003774646114614026,
      0.028644225899434807,
      0.031076826284349643,
      0.005424258589554781,
      0.0012877358804925382,
      0.013068809955483263,
      0.03088681158391382,
      0.01231845425834266
    ],
    "v_ego": [
      1.3087110064205292,
      1.4080245609135746,
      1.5636781697246331,
      1.809179124254098,
      2.1556725732372954,
      2.595947049241686,
      3.123543697499533,
      3.757227450113786,
      4.3723228883375205,
      4.9238838030081755
    ],
    "ax_ego": [
      0.19869249724666413,
      0.19869209170820717,
      0.4241880195961487,
      0.5569248031532604,
      0.8288013828109551,
      0.9331716393954973,
      1.177236494481407,
      1.3574020288439925,
      1.1022783363217692,
      1.1032055440369137
    ],
    "ay_ego": [
      0.003722257780409903,
      0.0037438436541505204,
      0.03659586852969633,
      0.0937531757229233,
      -0.07411262222522601,
      -0.028818502168771146,
      0.012161573679777514,
      0.06314881192305491,
      0.08282707966200809,
      0.06939291791434202
    ],
    "a_ego": [
      0.19872736013216563,
      0.19872736015126183,
      0.4257637062530641,
      0.5647609178452695,
      0.832108414163954,
      0.9336165244035324,
      1.177299311056131,
      1.3588701337350382,
      1.1053858402610484,
      1.105385837366505
    ],
    "yaw": [
      -3.108760050000689,
      -3.1088686363580322,
      -3.1107427086173978,
      -3.110641862595365,
      -3.1093701691736437,
      -3.1094041216351243,
      -3.109413916966094,
      -3.1073522380028953,
      -3.1027933510378265,
      -3.0906109998460316
    ],
    "yaw_diff": [
      -0.00021717271468624233,
      -0.003748144518731067,
      0.00020169204406528252,
      0.0025433868434427964,
      -6.790492296104844e-05,
      -1.959066193979453e-05,
      0.0041233579263977305,
      0.009117773930137574,
      0.024364702383589787,
      0.024364702383589787
    ],
    "min_front_frame": [
      0,
      22.894542313988644
    ],
    "v_avg": 2.7018190322750835,
    "v_std": 1.226221968727186,
    "vy_max": 0.031076826284349643,
    "a_max": 1.3588701337350382,
    "ax_avg": 0.7880592837594815,
    "a_std": 0.3971846691554875,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "5350c9f947cb5482",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.357083491983635,
    "speed_mode": "accelerating",
    "front_frame": [
      22.894542313988644,
      24.180287698130456,
      25.41397167222432,
      26.734717271649615,
      27.67567491927723,
      28.707145034325976,
      29.36909077700145,
      29.781582269491516,
      29.805723867099218,
      29.702888078656905
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "5350c9f947cb5482",
    "pedestrians": "No"
  },
  "04b80ae53fc5549e": {
    "vx_ego": [
      2.72592896867356,
      3.563296479791903,
      4.368913789152042,
      5.06847872002858,
      5.657192972219135,
      6.1474343163311636,
      6.50274283315091,
      6.6889769366368705,
      6.742581248016273,
      6.759151510082595
    ],
    "vy_ego": [
      -0.02492919623400902,
      -0.009334444022416344,
      -0.0007853455519417629,
      0.013315930481998972,
      0.012825060054147741,
      0.030812769409976237,
      0.01081248434451565,
      0.0017944594121059865,
      0.004038079672795458,
      -0.007209870079011083
    ],
    "v_ego": [
      2.7260429576730028,
      3.563308706068361,
      4.368913859737966,
      5.068496211835138,
      5.657207509636796,
      6.147511537229086,
      6.502751822414355,
      6.688977177337694,
      6.74258245720348,
      6.759155355403394
    ],
    "ax_ego": [
      1.6747262799343199,
      1.675105519652084,
      1.5476173040567296,
      1.2504838509180118,
      1.1038851327610129,
      0.8569088892158582,
      0.563745130717014,
      0.1812001027955273,
      0.03309173508593742,
      0.03321414432887064
    ],
    "ay_ego": [
      0.07161140739545913,
      0.06211131118451685,
      0.09008829967157994,
      0.09232995972652336,
      0.06500165621099835,
      0.04982098742504554,
      0.022454018097724265,
      0.0763524675291852,
      0.030998611372118696,
      0.030867419625309887
    ],
    "a_ego": [
      1.676256634997101,
      1.6762566381511927,
      1.5502371501010859,
      1.253887827068212,
      1.1057972696841731,
      0.8583559723128642,
      0.5641921262618579,
      0.19662954139931504,
      0.045342880786265756,
      0.04534288232814512
    ],
    "yaw": [
      -2.1314114858620905,
      -2.1257395164874726,
      -2.11833108768666,
      -2.1117069822699497,
      -2.1043064244405567,
      -2.1024999839491345,
      -2.0965159360117855,
      -2.091440498506503,
      -2.087788426630345,
      -2.0838312331192377
    ],
    "yaw_diff": [
      0.011343938749235782,
      0.014816857601624989,
      0.01324821083342087,
      0.014801115658785946,
      0.003612880982844402,
      0.011968095874697937,
      0.010150875010564775,
      0.00730414375231625,
      0.007914387022214697,
      0.007914387022214697
    ],
    "min_front_frame": [
      0,
      14.043484053340444
    ],
    "v_avg": 5.422494759453928,
    "v_std": 1.3727249652769369,
    "vy_max": 0.030812769409976237,
    "a_max": 1.6762566381511927,
    "ax_avg": 0.8919978089465366,
    "a_std": 0.6217377416372019,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "04b80ae53fc5549e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      14.043484053340444,
      15.350495304171712,
      16.596999037695564,
      17.681029129189884,
      18.910024509862453,
      20.008237453160884,
      21.092414245826,
      22.031835421970932,
      22.830362639204065,
      23.622993994115184
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "04b80ae53fc5549e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "26cae32c50095246": {
    "vx_ego": [
      2.454552388525957,
      1.6043347760319042,
      0.7625242832683046,
      0.14303956197063533,
      -0.06522391290083018,
      -0.04567616971721142,
      0.006041637884662479,
      0.24516296478988664,
      0.904765556703538,
      1.7991281093394202
    ],
    "vy_ego": [
      -0.04864943204073846,
      -0.016576053368723365,
      -0.003019648638256378,
      -0.0044524645802322405,
      -0.004964654749072116,
      -0.004309837720099172,
      -0.0015451008566746967,
      -0.002387535733795562,
      0.004154737105288964,
      0.02099990633397708
    ],
    "v_ego": [
      2.4550344590771767,
      1.6044204059817435,
      0.7625302622530729,
      0.1431088422480926,
      0.06541258755677355,
      0.04587904948022671,
      0.006236082503197484,
      0.24517459010151796,
      0.9047750960528683,
      1.7992506634377747
    ],
    "ax_ego": [
      -1.7004645199517237,
      -1.7005160371428367,
      -1.6667285003273073,
      -0.8112088581954463,
      -0.02185030487753284,
      0.10004263251247038,
      0.1068296157456455,
      0.8496555673173685,
      1.7887424844470379,
      1.7887287712266096
    ],
    "ay_ego": [
      0.061423645810382066,
      0.05998048026829639,
      -0.008092665970639401,
      0.002466422540504054,
      -0.0044336234459323425,
      0.007036907151527626,
      0.004013638372511508,
      -0.007390043847828154,
      0.03217334566579233,
      0.03292746348527653
    ],
    "a_ego": [
      1.7015735211501397,
      1.70157352194761,
      1.666748146855375,
      0.8112126076774867,
      0.022295578936225368,
      0.10028981195657122,
      0.10690498628851494,
      0.8496877048783701,
      1.7890318051496714,
      1.7890318149394187
    ],
    "yaw": [
      0.8518114977676821,
      0.8509628215305438,
      0.8504671921692231,
      0.8505431125526954,
      0.8502018818200894,
      0.8502583677360886,
      0.8503598535080878,
      0.8503090435075852,
      0.8495519167344923,
      0.8491303282756282
    ],
    "yaw_diff": [
      -0.0016973524742764923,
      -0.000991258722641497,
      0.00015184076694474413,
      -0.0006824614652121141,
      0.00011297183199854288,
      0.00020297154399839812,
      -0.00010162000100533142,
      -0.0015142535461858397,
      -0.0008431769177281723,
      -0.0008431769177281723
    ],
    "min_front_frame": [
      2,
      9.426375063114413
    ],
    "v_avg": 0.8031822038692444,
    "v_std": 0.8291398637330748,
    "vy_max": 0.04864943204073846,
    "a_max": 1.7890318149394187,
    "ax_avg": -0.12667691492457145,
    "a_std": 0.7256970308787893,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "26cae32c50095246",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.5315662765751705,
    "right_rear_min": 15.13373271847049,
    "speed_mode": "decelerating",
    "front_frame": [
      10.807627606175052,
      9.867001280216385,
      9.426375063114413,
      9.500977594867061,
      9.859655347530861,
      10.532969186337747,
      11.53663932163979,
      12.634206607757866,
      13.835374825026198,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.1111111111111111,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8888888888888888,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "26cae32c50095246",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2dbf2462b447576f": {
    "vx_ego": [
      11.333153221302052,
      11.476511727784022,
      11.612692001127115,
      11.640390456307248,
      11.558166510458294,
      11.43598755532016,
      11.352145820441152,
      11.292536159764678,
      11.207171662047319,
      11.147607179884936
    ],
    "vy_ego": [
      0.12089691464422359,
      0.02266180030512821,
      0.09836414200450694,
      0.10086918033329617,
      0.015170812295536962,
      0.00017704668756390873,
      0.01344873617394704,
      0.06905382065660337,
      0.05874658037410452,
      0.04799212261271535
    ],
    "v_ego": [
      11.333798039557594,
      11.476534102034345,
      11.613108585450926,
      11.640827486344344,
      11.558176466771277,
      11.43598755669064,
      11.352153786707797,
      11.292747289731585,
      11.20732563207218,
      11.147710486052956
    ],
    "ax_ego": [
      0.27131242977205816,
      0.29198278830925173,
      0.2479440913963666,
      -0.14044369006612445,
      -0.19005730072541707,
      -0.29452276982220105,
      -0.03524921316351842,
      -0.19174314259495145,
      -0.13818881161815477,
      -0.09015267005643368
    ],
    "ay_ego": [
      0.6002157939078514,
      0.5904366899421395,
      0.24893375095970263,
      0.07934927284570803,
      -0.22929608777582103,
      -0.6390226617159915,
      -0.9032789744916213,
      -1.0505123202087505,
      -1.0441734908906717,
      -1.0494126571668079
    ],
    "a_ego": [
      0.6586876602800832,
      0.6586876600473668,
      0.35134638866115736,
      0.1613094454163557,
      0.2978228893626691,
      0.7036288965998566,
      0.9039664887523664,
      1.0678677669274226,
      1.0532779437239013,
      1.053277944770612
    ],
    "yaw": [
      2.1045932583038116,
      2.139310837119667,
      2.150924475171385,
      2.157739447009178,
      2.161893656266397,
      2.1443368917740075,
      2.1092358381194107,
      2.0612766341607274,
      2.015624427000578,
      1.9697436206758487
    ],
    "yaw_diff": [
      0.06943515763171071,
      0.023227276103436445,
      0.013629943675585565,
      0.008308418514437754,
      -0.0351135289847786,
      -0.07020210730919363,
      -0.09591840791736672,
      -0.09130441432029901,
      -0.09176161264945826,
      -0.09176161264945826
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.405836943141365,
    "v_std": 0.15943441611748913,
    "vy_max": 0.12089691464422359,
    "a_max": 1.0678677669274226,
    "ax_avg": -0.026911828856912436,
    "a_std": 0.3166460513769504,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "2dbf2462b447576f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "2dbf2462b447576f",
    "road_shape": "Straight"
  },
  "5ebf3103a78b5e39": {
    "vx_ego": [
      2.089310428269822,
      2.5448688934423185,
      2.9466057889674278,
      3.256698674341901,
      3.54851898858047,
      3.8911761159629097,
      4.237504596666383,
      4.541042755904098,
      4.736415578746649,
      4.895970324000077
    ],
    "vy_ego": [
      -0.005742090794955496,
      0.04609818751154668,
      0.06828825867275884,
      0.05162479819412447,
      0.05564855366396926,
      0.06905539643942726,
      0.0408004736251939,
      0.001817008055980729,
      0.02781637613580612,
      0.010221947134158249
    ],
    "v_ego": [
      2.0893183188025044,
      2.545286374399191,
      2.947396980701601,
      3.257107823706314,
      3.5489553073885074,
      3.891788819195821,
      4.237701014160481,
      4.541043119423923,
      4.736497259090865,
      4.895980994825514
    ],
    "ax_ego": [
      0.9101617782157844,
      0.911361211687777,
      0.690883893059703,
      0.5386719128278613,
      0.626205503401482,
      0.7294727896823121,
      0.6516898893950999,
      0.551213367655503,
      0.21521657914331427,
      0.40881538470684636
    ],
    "ay_ego": [
      0.14647383676385894,
      0.13881565399583007,
      0.2846757811483822,
      0.4093625663118268,
      0.7830061733715341,
      1.0297969922065884,
      1.4163520347046383,
      1.4560080966849775,
      1.3671288859832014,
      1.3222063179019652
    ],
    "a_ego": [
      0.9218725765425742,
      0.9218725746887707,
      0.7472354743063078,
      0.6765686516289621,
      1.0026125872081582,
      1.2619874785609526,
      1.559087168233953,
      1.5568544422309787,
      1.3839651609877395,
      1.383965160642738
    ],
    "yaw": [
      -0.08986140319169707,
      -0.08145290587526681,
      -0.05128071578788958,
      0.00964008032571224,
      0.09628903747162196,
      0.21479089449181357,
      0.37150966139075203,
      0.5430780661047476,
      0.6880541691077893,
      0.831781449391773
    ],
    "yaw_diff": [
      0.016816994632860516,
      0.060344380174754464,
      0.12184159222720364,
      0.17329791429181943,
      0.23700371404038323,
      0.3134375337978769,
      0.3431368094279912,
      0.2899522060060833,
      0.2874545605679675,
      0.2874545605679675
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.669107601169472,
    "v_std": 0.9078243709274607,
    "vy_max": 0.06905539643942726,
    "a_max": 1.559087168233953,
    "ax_avg": 0.6233692309775684,
    "a_std": 0.3108636343795568,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "5ebf3103a78b5e39",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "5ebf3103a78b5e39",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "20024f7ea9635ed8": {
    "vx_ego": [
      5.364059447719743,
      5.219967967091346,
      5.137646962023929,
      5.130154433089633,
      5.110819147142979,
      4.954326999680955,
      4.765769566064355,
      4.642669187925446,
      4.583642559092463,
      4.577901842642909
    ],
    "vy_ego": [
      -0.04832647292752035,
      0.004238137018655275,
      0.02542174836388611,
      0.0009520573751888861,
      0.060525470552813765,
      0.034513733500660226,
      0.023063664053896815,
      0.04183418866536215,
      0.04212520476941295,
      -0.025296623626971382
    ],
    "v_ego": [
      5.364277137383661,
      5.219969687581064,
      5.137709856704988,
      5.1301545214313435,
      5.111177524542551,
      4.954447216145091,
      4.765825373366592,
      4.642857663966623,
      4.583836127350167,
      4.5779717342989645
    ],
    "ax_ego": [
      -0.3549243768196483,
      -0.22959856922002303,
      -0.10210646521107541,
      0.07408474521964631,
      -0.14848271872661245,
      -0.4778699155039654,
      -0.27688165912214646,
      -0.21555130997025998,
      -0.023748783218557362,
      -0.0011323288136623755
    ],
    "ay_ego": [
      -1.081977468834465,
      -1.1153165677315977,
      -0.9501724628864279,
      -0.8903992856057815,
      -0.7104012699747788,
      -0.3132937884086431,
      -0.0103316014227543,
      0.2416953248844578,
      0.3922410345005247,
      0.3929577029741852
    ],
    "a_ego": [
      1.1387038931725189,
      1.1387038900629405,
      0.9556429455950379,
      0.8934760418061282,
      0.7257527692969727,
      0.5714128577475367,
      0.27707434949159615,
      0.32385026987930504,
      0.3929593284939344,
      0.3929593344040706
    ],
    "yaw": [
      -0.26514278019709075,
      -0.3790921845000384,
      -0.48311783749431303,
      -0.568293953546174,
      -0.6575404323554181,
      -0.702846735352364,
      -0.7172120221006335,
      -0.7088931159330608,
      -0.674425651834185,
      -0.6168346128924399
    ],
    "yaw_diff": [
      -0.2278988086058953,
      -0.20805130598854926,
      -0.17035223210372186,
      -0.17849295761848838,
      -0.09061260599389165,
      -0.02873057349653907,
      0.016637812335145385,
      0.0689349281977516,
      0.11518207788349022,
      0.11518207788349022
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.948822684277105,
    "v_std": 0.27183113358992056,
    "vy_max": 0.060525470552813765,
    "a_max": 1.1387038931725189,
    "ax_avg": -0.17562113813863045,
    "a_std": 0.3178394812581958,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "20024f7ea9635ed8",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.09411886857747,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "20024f7ea9635ed8",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5594163f2d8751f6": {
    "vx_ego": [
      5.4372112446159955,
      6.225161184571665,
      7.017173806947522,
      7.74213596065691,
      8.494193645972187,
      9.089290187910983,
      9.331492775754771,
      9.363007965250038,
      9.30633301655915,
      9.193515958930403
    ],
    "vy_ego": [
      -0.06480297536343094,
      -0.09147918178090064,
      -0.09609572662863686,
      -0.06080856585769201,
      -0.005139235675909681,
      -0.003987758825197751,
      -0.009981676691948493,
      -0.005717132326887864,
      -0.009651587121121352,
      0.004711129529078484
    ],
    "v_ego": [
      5.437597405490275,
      6.225833294796528,
      7.017831760991899,
      7.74237475939899,
      8.494195200666018,
      9.089291062688845,
      9.331498114334753,
      9.363009710714696,
      9.306338021382679,
      9.19351716601701
    ],
    "ax_ego": [
      1.4548365563051964,
      1.7263261144230024,
      1.438710699111918,
      1.4695723641134268,
      1.5374296881316674,
      0.842696525753892,
      0.12614577447864517,
      -0.0002539630893932318,
      -0.22631524507049994,
      -0.22503382279411727
    ],
    "ay_ego": [
      1.8712638975269353,
      1.6241847586098241,
      0.8084031207179756,
      0.5798565165715653,
      0.16274472637390103,
      0.02591472164804215,
      -0.08968404261891935,
      0.04150070317328984,
      -0.13924246949150787,
      -0.14130406050428146
    ],
    "a_ego": [
      2.3702696006466564,
      2.3702696014249676,
      1.6502739412975247,
      1.5798343309272769,
      1.5460193698369864,
      0.843094898167327,
      0.1547772073636469,
      0.04150148022815913,
      0.2657198815696973,
      0.2657198880707498
    ],
    "yaw": [
      -1.2192161998312407,
      -1.0641885486634535,
      -0.9722071090623823,
      -0.9299430210634008,
      -0.9139154887058438,
      -0.908732985927943,
      -0.9098027119556136,
      -0.9115447054492085,
      -0.9137342956414172,
      -0.9228695294219333
    ],
    "yaw_diff": [
      0.31005530233557455,
      0.18396287920214238,
      0.08452817599796303,
      0.03205506471511388,
      0.010365005555801554,
      -0.002139452055341051,
      -0.00348398698718988,
      -0.004379180384417314,
      -0.018270467561032344,
      -0.018270467561032344
    ],
    "min_front_frame": [
      9,
      23.015443792557818
    ],
    "v_avg": 8.120148649648169,
    "v_std": 1.370865115745269,
    "vy_max": 0.09609572662863686,
    "a_max": 2.3702696014249676,
    "ax_avg": 0.8144114691363737,
    "a_std": 0.8619914274847815,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "5594163f2d8751f6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.774887061684804,
    "right_rear_min": 17.539804907278754,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      48.137203738527106,
      44.863099500369756,
      41.21077261746923,
      37.15621984584472,
      32.80428294754621,
      28.22905188436167,
      23.705303021361967,
      27.611253660895215,
      23.015443792557818
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      1,
      0
    ],
    "safe_ratio": 0.5555555555555556,
    "unsafe_ratio": 0.2222222222222222,
    "oversafe_ratio": 0.2222222222222222,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5594163f2d8751f6",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "cfbf3f55398f5fc6": {
    "vx_ego": [
      1.6391296538305677,
      2.0817849508356123,
      2.3021919040702237,
      2.184162212460892,
      1.917632768074775,
      1.6807323593225332,
      1.3179111448804006,
      0.6632709328357465,
      0.11025211343276212,
      -0.234992215282199
    ],
    "vy_ego": [
      0.04375577988900037,
      0.04739725469006195,
      0.04274404810136656,
      0.0362285051512945,
      0.03185062131651917,
      0.003959947138224118,
      -0.01566614500808372,
      -0.022725753292968442,
      -0.03283386722843426,
      -0.06117406514231498
    ],
    "v_ego": [
      1.6397135696030607,
      2.0823244418864673,
      2.302588677296615,
      2.184462651300671,
      1.9178972587895242,
      1.6807370243007163,
      1.3180042541279533,
      0.6636601466168766,
      0.11503734764660169,
      0.24282423167647738
    ],
    "ax_ego": [
      0.8857937521954042,
      0.8858784000681459,
      -0.0009881644047800217,
      -0.4672821004605359,
      -0.5940669807880106,
      -0.34963548843724007,
      -1.1033775379115531,
      -1.5225904495702145,
      -0.6903482875431216,
      -0.6904133405842666
    ],
    "ay_ego": [
      -0.017066745827458152,
      -0.011886441686800586,
      -0.13181228405905265,
      -0.12414178760948777,
      -0.15415859320825753,
      -0.22056039868913002,
      -0.20365788072492147,
      0.004610606332766443,
      -0.05721835772772732,
      -0.056428008332265245
    ],
    "a_ego": [
      0.8859581509538429,
      0.8859581407737454,
      0.13181598802025216,
      0.48349120451326677,
      0.6137429832776351,
      0.413390692015018,
      1.1220153847203376,
      1.5225974303187246,
      0.6927154528193944,
      0.6927154545562505
    ],
    "yaw": [
      -2.1228575220459627,
      -2.128705440010716,
      -2.1422847178365476,
      -2.167255777737556,
      -2.1987989962181,
      -2.2359924981197334,
      -2.290216006393525,
      -2.3311522948560697,
      -2.3419179805780157,
      -2.340773177951296
    ],
    "yaw_diff": [
      -0.011695835929506515,
      -0.027158555651663363,
      -0.049942119802016904,
      -0.06308643696108795,
      -0.0743870038032668,
      -0.10844701654758282,
      -0.08187257692508965,
      -0.021531371443892056,
      0.002289605253439575,
      0.002289605253439575
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.4147249603244965,
    "v_std": 0.7640055152147924,
    "vy_max": 0.06117406514231498,
    "a_max": 1.5225974303187246,
    "ax_avg": -0.36470301974361724,
    "a_std": 0.36926624466965946,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "cfbf3f55398f5fc6",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 24.374799755125313,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "cfbf3f55398f5fc6",
    "pedestrians": "No"
  },
  "62667ead92a35fbd": {
    "vx_ego": [
      0.9084704397131471,
      1.6454552962773716,
      2.3501802065165878,
      3.0217226781151183,
      3.681905533388174,
      4.296998523574771,
      4.8379865067482015,
      5.322878076003773,
      5.678900148794098,
      5.922361787957653
    ],
    "vy_ego": [
      0.002716441332820285,
      -0.00753908971448769,
      -0.0005031006888533973,
      0.016069230236052556,
      0.012733961005512606,
      0.016243996609917488,
      0.04311714958494006,
      0.0825555613353175,
      0.10671981736608727,
      0.12668835021773317
    ],
    "v_ego": [
      0.9084745009553727,
      1.6454725673559483,
      2.350180260365714,
      3.021765405122572,
      3.6819275536812706,
      4.29702922715562,
      4.8381786374694755,
      5.323518238224513,
      5.679902817777104,
      5.923716661483891
    ],
    "ax_ego": [
      1.4739652496623847,
      1.4739713507148673,
      1.344877757808328,
      1.34136353290454,
      1.2993598869301204,
      1.160985828024022,
      1.0028332333004826,
      0.9369012674269808,
      0.48675186458192804,
      0.486783611877274
    ],
    "ay_ego": [
      -0.021455680769796648,
      -0.021032601173584298,
      0.04048607032073526,
      0.009370233410139539,
      -0.02123697110321432,
      0.05860794588016599,
      0.07050463818792596,
      0.07354337092689339,
      0.04782736346154676,
      0.04750311171118879
    ],
    "a_ego": [
      1.474121400512723,
      1.4741214037657608,
      1.3454870141839241,
      1.3413962608716,
      1.2995334257743023,
      1.1624641861979732,
      1.005308608248189,
      0.9397832794392404,
      0.48909593575255406,
      0.48909593170924065
    ],
    "yaw": [
      -0.5825027576489377,
      -0.5827897963280877,
      -0.5838685794746068,
      -0.5853978628926091,
      -0.5852880684622066,
      -0.5838323470448052,
      -0.5826540851831131,
      -0.5833274249414397,
      -0.5822156280646891,
      -0.5815494785720412
    ],
    "yaw_diff": [
      -0.0005740773583000625,
      -0.0021575662930382045,
      -0.0030585668360045837,
      0.00021958886080497564,
      0.0029114428348027133,
      0.0023565237233842407,
      -0.0013466795166532375,
      0.0022235937535013406,
      0.0013322989852957434,
      0.0013322989852957434
    ],
    "min_front_frame": [
      8,
      40.774783670479344
    ],
    "v_avg": 3.7670165869591488,
    "v_std": 1.6554082396695373,
    "vy_max": 0.12668835021773317,
    "a_max": 1.4741214037657608,
    "ax_avg": 1.1007793583230927,
    "a_std": 0.3497408763258737,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "62667ead92a35fbd",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.642695205757146,
    "right_rear_min": 5.098213204497576,
    "speed_mode": "accelerating",
    "front_frame": [
      55.028329091877616,
      54.29291705404134,
      53.21700893288324,
      51.8568084947586,
      50.1835132429511,
      48.21631780414843,
      45.965370208762224,
      43.450523574140156,
      40.774783670479344,
      44.20905731347855
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "62667ead92a35fbd",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6c64511810415244": {
    "vx_ego": [
      10.972521642613462,
      10.72805810645047,
      10.471278867608055,
      10.19568268437562,
      9.949034633569985,
      9.736243466984385,
      9.512200720828561,
      9.369881082958559,
      9.355332802518154,
      9.377472528038046
    ],
    "vy_ego": [
      -0.04595400363455848,
      -0.07802178418393879,
      -0.09536100909298995,
      -0.03727484416128046,
      -0.03583814185653633,
      -0.054630435521938026,
      -0.03176603419639523,
      0.010700790850447284,
      0.009767926717367814,
      -0.02202615120903939
    ],
    "v_ego": [
      10.97261787214295,
      10.728341816617556,
      10.471713080736611,
      10.195750821517958,
      9.949099180950343,
      9.736396732512569,
      9.512253762082883,
      9.369887193328928,
      9.3553379018753,
      9.377498395918037
    ],
    "ax_ego": [
      -0.4884966598392012,
      -0.4866394439431624,
      -0.5376585895324022,
      -0.5650414133846396,
      -0.42098086882989066,
      -0.42837215765180564,
      -0.4674428203708731,
      -0.1019174810421169,
      0.04402185645007932,
      0.044453570829038724
    ],
    "ay_ego": [
      0.16858619331422844,
      0.17387450084769263,
      0.1267715994231658,
      0.047842852149540344,
      0.09348894407165045,
      0.16246383943152842,
      0.04776837377186777,
      0.03085225423847545,
      -0.1272534583693099,
      -0.12710327709956293
    ],
    "a_ego": [
      0.5167690889074527,
      0.5167690881296447,
      0.5524018440576387,
      0.567063256913648,
      0.43123668047187474,
      0.4581453967618761,
      0.4698772263571466,
      0.106484902843388,
      0.13465276273534488,
      0.13465274972647473
    ],
    "yaw": [
      -0.5947886916016554,
      -0.5839425001811067,
      -0.5752210437940272,
      -0.5766172594536809,
      -0.5732459610659539,
      -0.564836404058183,
      -0.561752667013867,
      -0.5641806397138005,
      -0.5666599331970814,
      -0.5700545403266724
    ],
    "yaw_diff": [
      0.021692382841097313,
      0.017442912774159103,
      -0.002792431319307509,
      0.006742596775453968,
      0.016819114015541814,
      0.006167474088632163,
      -0.004855945399867112,
      -0.004958586966561818,
      -0.006789214259181886,
      -0.006789214259181886
    ],
    "min_front_frame": [
      3,
      17.276632776159456
    ],
    "v_avg": 9.966889675768314,
    "v_std": 0.5688980217567711,
    "vy_max": 0.09536100909298995,
    "a_max": 0.567063256913648,
    "ax_avg": -0.3408074007314974,
    "a_std": 0.1770203820877388,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6c64511810415244",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 33.3375931301161,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      32.73411816462333,
      27.410942453322328,
      22.310071585670276,
      17.276632776159456,
      17.536291344214906,
      18.55085231196345,
      19.43751462395414,
      20.335632915499883,
      21.191777496620308,
      40.24532625436038
    ],
    "safe_frame": [
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.8,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6c64511810415244",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "683e518fbfa650d5": {
    "vx_ego": [
      1.256630713842384,
      1.915529958114203,
      2.5804219680531166,
      3.2666442754396234,
      3.9866925631572854,
      4.690531184402034,
      5.299422934865006,
      5.813720170948114,
      6.209767578958764,
      6.5221950667619835
    ],
    "vy_ego": [
      0.016505895388959108,
      -0.0134392351647116,
      -0.029365430014507116,
      -0.01229832556186694,
      0.012544033008682148,
      0.018910793593779174,
      0.0226310418064824,
      0.017789290287328396,
      0.005495077519415664,
      0.0073390386210853975
    ],
    "v_ego": [
      1.2567391119697877,
      1.9155771019394683,
      2.5805890532378566,
      3.2666674258445854,
      3.9867122978586917,
      4.690569305528093,
      5.299471257269586,
      5.813747387437633,
      6.209770010279312,
      6.522199195852749
    ],
    "ax_ego": [
      1.3178309735833393,
      1.3177566614991199,
      1.342255275305737,
      1.402920681837045,
      1.477266791232331,
      1.3377754912114541,
      1.0976594066309102,
      0.9593470667408036,
      0.6248023559821692,
      0.6248568873216833
    ],
    "ay_ego": [
      -0.05477423166167181,
      -0.05653401825173729,
      0.024439173620004424,
      0.07466730558508126,
      0.0721797715102201,
      0.011684361909009143,
      0.042410824349915256,
      -0.026487449646807132,
      0.0288612326424881,
      0.027655424202627718
    ],
    "a_ego": [
      1.3189687984898424,
      1.3189688071159962,
      1.3424777455486212,
      1.4049062766068972,
      1.4790291044780475,
      1.3378265168545838,
      1.0984784253627202,
      0.9597126546279235,
      0.62546858817251,
      0.6254685860386356
    ],
    "yaw": [
      -1.6304033181266506,
      -1.6290679154144938,
      -1.6255477461543861,
      -1.6229038354367884,
      -1.6196226163106906,
      -1.6162711245941537,
      -1.6143201668951388,
      -1.6127373153254843,
      -1.610608377992313,
      -1.6086785557017949
    ],
    "yaw_diff": [
      0.002670805424313638,
      0.00704033852021535,
      0.005287821435195461,
      0.0065624382521956015,
      0.00670298343307385,
      0.003901915398029754,
      0.003165703139309084,
      0.0042578746663424205,
      0.003859644581036381,
      0.003859644581036381
    ],
    "min_front_frame": [
      0,
      14.354175450685876
    ],
    "v_avg": 4.154204214721776,
    "v_std": 1.7574115557843548,
    "vy_max": 0.029365430014507116,
    "a_max": 1.4790291044780475,
    "ax_avg": 1.1502471591344592,
    "a_std": 0.2986272138136701,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "683e518fbfa650d5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      14.354175450685876,
      15.02843418490925,
      15.63989772313027,
      15.99320618055295,
      17.58926681075452,
      17.871301981266278,
      17.97397510670317,
      17.999211505383148,
      18.26424542822066,
      18.444990006795383
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "683e518fbfa650d5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4f5d9ee9c2915058": {
    "vx_ego": [
      1.3093487553838576,
      2.0331890338652934,
      2.722922493847994,
      3.3509274901436905,
      3.903208665262964,
      4.3380876542280955,
      4.650536675916831,
      4.882168841397046,
      5.086918170154882,
      5.358310228479829
    ],
    "vy_ego": [
      0.028586543466233683,
      -0.028707532833757266,
      -0.04285300819638893,
      -0.04671841966465773,
      -0.023151885033537045,
      -0.0010268695699968688,
      0.046205070161349004,
      0.12397551126189482,
      0.17422562464289437,
      0.08402634575021439
    ],
    "v_ego": [
      1.309660778099659,
      2.0333916912074486,
      2.723259680569383,
      3.351253146949161,
      3.9032773273704877,
      4.338087775763341,
      4.650766203815903,
      4.883742675786761,
      5.089900886867454,
      5.358969017582738
    ],
    "ax_ego": [
      1.4459574357317035,
      1.4491585380374605,
      1.3086538219178716,
      1.2090598740522926,
      1.017746619475782,
      0.7484571468465884,
      0.5368091394010299,
      0.4602708305914115,
      0.4566204439806548,
      0.6972476297467876
    ],
    "ay_ego": [
      -0.18872989160952303,
      -0.1623311639545597,
      -0.4066257560198053,
      -0.8746425389318476,
      -1.3745062661807972,
      -1.7474888632508803,
      -1.9010633325774964,
      -1.8791915784753241,
      -1.715047135635302,
      -1.6320951588523704
    ],
    "a_ego": [
      1.4582221634355808,
      1.4582221624833824,
      1.3703719681454851,
      1.4922551222738336,
      1.710285256097549,
      1.9010274663590712,
      1.9754001737914095,
      1.9347377667544219,
      1.7747926378346133,
      1.7747926258402298
    ],
    "yaw": [
      1.0539861630105045,
      1.0357499360365539,
      0.9822926643359301,
      0.8786097137018771,
      0.7184880154510684,
      0.5258829471821072,
      0.3144600954428914,
      0.10110825078464286,
      -0.08865322175061459,
      -0.23218696345949902
    ],
    "yaw_diff": [
      -0.03647245394790133,
      -0.10691454340124751,
      -0.20736590126810595,
      -0.3202433965016174,
      -0.3852101365379226,
      -0.42284570347843153,
      -0.42670368931649705,
      -0.37952294507051487,
      -0.2870674834177689,
      -0.2870674834177689
    ],
    "min_front_frame": [
      0,
      55.9866219485469
    ],
    "v_avg": 3.7642309184012333,
    "v_std": 1.3024353425729929,
    "vy_max": 0.17422562464289437,
    "a_max": 1.9754001737914095,
    "ax_avg": 0.9329981479781582,
    "a_std": 0.21192725564570658,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "4f5d9ee9c2915058",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.253393224184816,
    "right_rear_min": 6.913617147819135,
    "speed_mode": "accelerating",
    "front_frame": [
      55.9866219485469,
      58.26545419771349,
      60.18318545337524,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4f5d9ee9c2915058",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "aecf8e9ea11c5a06": {
    "vx_ego": [
      8.884285212038748,
      8.910725913253788,
      8.908765614647502,
      8.83530640536718,
      8.735408110275019,
      8.628424139422103,
      8.53692378435154,
      8.47262262891607,
      8.424090844916726,
      8.39992714569812
    ],
    "vy_ego": [
      0.0901239023721887,
      0.007597466332189828,
      0.04147331923249631,
      0.05255838474445751,
      0.011606529890392459,
      -0.010039215476195018,
      -0.032288003064157245,
      -0.050701357742632513,
      -0.017684677908019975,
      0.001113743244185006
    ],
    "v_ego": [
      8.884742317401736,
      8.910729152130438,
      8.908862150293595,
      8.835462730413687,
      8.73541582093232,
      8.628429979759321,
      8.536984843313762,
      8.472774329562757,
      8.424109407601645,
      8.399927219533524
    ],
    "ax_ego": [
      0.04797289056364756,
      0.06253064605648394,
      -0.06341274909725875,
      -0.22616137312818824,
      -0.173501018984697,
      -0.25522951264361055,
      -0.1114910257839612,
      -0.14619917223838955,
      -0.04832886070501353,
      -0.04831580811078512
    ],
    "ay_ego": [
      -0.598769481422837,
      -0.5974246455229303,
      -0.7387805737569654,
      -0.5844016885804237,
      -0.32118903340428206,
      -0.18241378061472158,
      -0.14544115481448416,
      0.0029779013167076304,
      0.04272858679006081,
      0.04274335042709315
    ],
    "a_ego": [
      0.6006881804334133,
      0.6006881793197201,
      0.7414970754552865,
      0.6266372956590424,
      0.3650547887206867,
      0.31371466571145623,
      0.183257682906149,
      0.14622949722761935,
      0.064508998644533,
      0.064509001845723
    ],
    "yaw": [
      -0.18786773345725327,
      -0.21220665561808283,
      -0.25342289374318017,
      -0.2918646314827724,
      -0.31298818592734223,
      -0.32498221709550623,
      -0.33195439994443143,
      -0.333976050359573,
      -0.33653528783534786,
      -0.33622982419642555
    ],
    "yaw_diff": [
      -0.048677844321659114,
      -0.08243247625019468,
      -0.0768834754791845,
      -0.04224710888913963,
      -0.023988062336327998,
      -0.013944365697850403,
      -0.0040433008302831475,
      -0.005118474951549712,
      0.0006109272778446195,
      0.0006109272778446195
    ],
    "min_front_frame": [
      9,
      61.96739280493471
    ],
    "v_avg": 8.673743795094278,
    "v_std": 0.1960503641740847,
    "vy_max": 0.0901239023721887,
    "a_max": 0.7414970754552865,
    "ax_avg": -0.09621359840717725,
    "a_std": 0.2418863728867522,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "aecf8e9ea11c5a06",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      63.888380549866795,
      63.99751069400569,
      63.96343403098516,
      63.76974875908666,
      63.63295268308365,
      63.42398533083319,
      63.14527833076641,
      62.79784908335297,
      62.49200297824242,
      61.96739280493471
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "aecf8e9ea11c5a06",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6bc26fb97d7f5d48": {
    "vx_ego": [
      3.2146979618349896,
      3.134435977264252,
      3.2382850575313666,
      3.3839193438274364,
      3.5142099285933455,
      3.7057214533735094,
      3.926186850680626,
      4.105051139666129,
      4.222604783014062,
      4.319935747479441
    ],
    "vy_ego": [
      0.05088676941300663,
      0.055842502036926644,
      0.029727716674092797,
      0.0028211577255843334,
      -0.024782100171650834,
      -0.05993709155372784,
      -0.054418978941237484,
      -0.058109959356018814,
      -0.03472070878097444,
      0.016537837182498016
    ],
    "v_ego": [
      3.2151006903559534,
      3.134933377378577,
      3.238421506068903,
      3.3839205198202307,
      3.5142973088105345,
      3.7062061390236507,
      3.9265639701558994,
      4.105462413255119,
      4.222747527517066,
      4.319967402933665
    ],
    "ax_ego": [
      -0.3731953653107077,
      0.005333420010569245,
      0.3260935872333081,
      0.20549219208806374,
      0.3047433023233246,
      0.4609850559169576,
      0.4160878632459294,
      0.2876199759055292,
      0.16947100637141885,
      0.21630826887713467
    ],
    "ay_ego": [
      1.5210831793624,
      1.5661865705581302,
      1.1624599427211053,
      0.5461910440861235,
      0.002677538999626139,
      -0.2264775553668921,
      -0.48406812673014027,
      -0.5693211369347625,
      -0.5906737926620536,
      -0.5751753501417999
    ],
    "a_ego": [
      1.5661956516440148,
      1.5661956516239106,
      1.2073318293103361,
      0.5835680745628974,
      0.3047550648078219,
      0.5136139648254555,
      0.6383189338070667,
      0.637849361135204,
      0.6145046389884425,
      0.6145046383839302
    ],
    "yaw": [
      -2.8055850201688055,
      -2.5615837362595735,
      -2.337410725115861,
      -2.2011082828236748,
      -2.1531579744683293,
      -2.1589497383372085,
      -2.206867129393494,
      -2.2712489258902293,
      -2.3462121835419447,
      -2.426517752812696
    ],
    "yaw_diff": [
      0.4880025678184641,
      0.44834602228742515,
      0.27260488458437226,
      0.09590061671069083,
      -0.011583527737758281,
      -0.09583478211257113,
      -0.1287635929934705,
      -0.14992651530343082,
      -0.160611138541503,
      -0.160611138541503
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.67676208553196,
    "v_std": 0.4206980069710108,
    "vy_max": 0.05993709155372784,
    "a_max": 1.5661956516440148,
    "ax_avg": 0.20189393066615277,
    "a_std": 0.4277050177689808,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6bc26fb97d7f5d48",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6bc26fb97d7f5d48",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "13b9787d163b5072": {
    "vx_ego": [
      4.095542492177024,
      3.8019612672245384,
      3.5148904537915096,
      3.241494725599382,
      3.017014902200414,
      2.927705223375389,
      2.970487555801798,
      3.2002633873339623,
      3.5558196562830093,
      3.8787943034839922
    ],
    "vy_ego": [
      -0.04613939760144514,
      0.0055465469850735916,
      -0.03750942669421509,
      -0.032854731403479054,
      -0.025861895094117404,
      -0.015895924206610346,
      -0.005520407875784228,
      -0.03218561810868681,
      -0.029254262254101215,
      0.021051696692373056
    ],
    "v_ego": [
      4.095802381614451,
      3.801965313053116,
      3.515090590474961,
      3.241661223734554,
      3.017125744432478,
      2.9277483763783247,
      2.97049268541036,
      3.2004252314846044,
      3.5559399938509437,
      3.8788514308585595
    ],
    "ax_ego": [
      -0.595185278804389,
      -0.5749462421318833,
      -0.5296892527593118,
      -0.5046058233391457,
      -0.37357837038531916,
      0.010286599290766918,
      0.13188566732471824,
      0.7760431217542998,
      0.6460530055756404,
      0.6457133294394943
    ],
    "ay_ego": [
      0.44166200644992776,
      0.46770467528563997,
      1.0810083581525558,
      1.4394104903280787,
      1.3805690423901105,
      1.1568374907399726,
      0.6959348171579814,
      0.30190251596989204,
      0.04571851977753369,
      0.05028881692350967
    ],
    "a_ego": [
      0.7411550742232251,
      0.7411550746136871,
      1.20380636934866,
      1.52529656021847,
      1.4302208499479014,
      1.156883224057867,
      0.7083213246672723,
      0.8326992590191911,
      0.647668641408527,
      0.6476686413000117
    ],
    "yaw": [
      1.5751421231707883,
      1.6196471538648272,
      1.7372943179502283,
      1.922082079473172,
      2.1453801585780843,
      2.358085218234211,
      2.512119923682482,
      2.603948118487141,
      2.628686609640491,
      2.621610596152032
    ],
    "yaw_diff": [
      0.08901006138807777,
      0.2352943281708022,
      0.36957552304588726,
      0.4465961582098248,
      0.4254101193122537,
      0.3080694108965414,
      0.18365638960931818,
      0.04947698230670028,
      -0.014152026976917753,
      -0.014152026976917753
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4205102971292356,
    "v_std": 0.39081507698414647,
    "vy_max": 0.04613939760144514,
    "a_max": 1.52529656021847,
    "ax_avg": -0.03680232440351294,
    "a_std": 0.31767693716122225,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "13b9787d163b5072",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "13b9787d163b5072",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "6b0d21782a3b5a22": {
    "vx_ego": [
      6.704211558247227,
      6.43398758041131,
      6.10548025020286,
      5.703549503892392,
      5.340760185173096,
      5.0995482121694895,
      4.98791132994766,
      4.972268831991401,
      5.011017264303287,
      5.095493877640276
    ],
    "vy_ego": [
      -0.010597146384228928,
      0.030687088818376562,
      0.038193762718715885,
      0.04495941561331662,
      0.03204712725706815,
      0.024350519249717095,
      0.008467783301132181,
      0.004423862984928029,
      0.006433519035856233,
      0.021672092072203553
    ],
    "v_ego": [
      6.70421993353792,
      6.4340607614714935,
      6.105599712487528,
      5.7037267021135785,
      5.340856333388457,
      5.09960634912429,
      4.987918517655864,
      4.97227079996221,
      5.0110213942182265,
      5.095539965169964
    ],
    "ax_ego": [
      -0.5423110256992494,
      -0.5390583275859231,
      -0.776728301940504,
      -0.830886273417377,
      -0.6238407413759752,
      -0.3414681886055462,
      -0.11701823734364164,
      0.054633534008555834,
      0.09998110629605703,
      0.23056679984921188
    ],
    "ay_ego": [
      0.2485952357031241,
      0.2555718282272825,
      0.3863680343045319,
      0.7237145278688325,
      0.9402503550645511,
      1.156853971975271,
      1.07986606613721,
      1.1347275947330382,
      1.1715778288872831,
      1.1530090121760403
    ],
    "a_ego": [
      0.5965742533911967,
      0.5965742534866619,
      0.867517788271645,
      1.1018778140981982,
      1.1283829140852588,
      1.2061971796951418,
      1.0861878238434024,
      1.1360420490839633,
      1.1758362261626505,
      1.1758362264158537
    ],
    "yaw": [
      -0.5712036352571106,
      -0.5583005576834842,
      -0.5340173340985711,
      -0.4882222684264258,
      -0.41022651259777776,
      -0.30771516319434866,
      -0.19318736706805273,
      -0.08083674269120794,
      0.03427257512227106,
      0.14650635897165543
    ],
    "yaw_diff": [
      0.02580615514725282,
      0.048566447169826166,
      0.09159013134429062,
      0.15599151165729608,
      0.2050226988068582,
      0.22905559225259187,
      0.22470124875368958,
      0.230218635626958,
      0.22446756769876874,
      0.22446756769876874
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.545482046912952,
    "v_std": 0.6196160021787164,
    "vy_max": 0.04495941561331662,
    "a_max": 1.2061971796951418,
    "ax_avg": -0.3386129655814392,
    "a_std": 0.2235403322050381,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6b0d21782a3b5a22",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6b0d21782a3b5a22",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1d63ddad646b5496": {
    "vx_ego": [
      7.779722348235133,
      7.40923002691574,
      7.009568231210521,
      6.599034224314687,
      6.2790674746645,
      6.115500299618129,
      6.01597598685948,
      5.905119555468309,
      5.734683828225163,
      5.496098173120631
    ],
    "vy_ego": [
      0.02213208498533259,
      0.041060918359427045,
      0.04961394434668476,
      0.0704253786583835,
      0.07208170650729873,
      0.06010536724932125,
      0.06411654441212056,
      0.035315407615606365,
      0.04124432098770159,
      0.11064395486752998
    ],
    "v_ego": [
      7.779753829319728,
      7.409343802980554,
      7.009743813540508,
      6.599410006025972,
      6.279481198618452,
      6.1157956612203455,
      6.01631764501653,
      5.905225155943615,
      5.734832142593272,
      5.497211767189678
    ],
    "ax_ego": [
      -0.7408296783317914,
      -0.7408326292377838,
      -0.8578003493505554,
      -0.7842466503097032,
      -0.49529075933620204,
      -0.15904414770256925,
      -0.23901743320545754,
      -0.20442104629258043,
      -0.4773395755772859,
      -0.4772296995345513
    ],
    "ay_ego": [
      0.0021190187090815993,
      0.0003323245763390825,
      0.03140638476923446,
      0.0415443415496245,
      -0.06005521253389273,
      0.019406948405932073,
      -0.006676574047459485,
      -0.10730758898714671,
      0.14700522374873093,
      0.14736153216161846
    ],
    "a_ego": [
      0.7408327088739232,
      0.74083270377528,
      0.8583750930392889,
      0.7853462553783406,
      0.49891839496687496,
      0.16022381397553603,
      0.2391106647917164,
      0.23087417097108917,
      0.49946331819435735,
      0.4994633192526332
    ],
    "yaw": [
      -2.489869247668927,
      -2.492280999412803,
      -2.4923665960814056,
      -2.4927453622584137,
      -2.4937267951657818,
      -2.4934320434564228,
      -2.493568419733924,
      -2.493517197087872,
      -2.49283467537358,
      -2.4920881435571856
    ],
    "yaw_diff": [
      -0.004823503487751957,
      -0.00017119333720572172,
      -0.0007575323540160994,
      -0.0019628658147361477,
      0.0005895034187179959,
      -0.00027275255500214257,
      0.00010244529210368114,
      0.0013650434285841229,
      0.0014930636327887825,
      0.0014930636327887825
    ],
    "min_front_frame": [
      9,
      14.438814201504085
    ],
    "v_avg": 6.434711502244864,
    "v_std": 0.7118134996080853,
    "vy_max": 0.11064395486752998,
    "a_max": 0.8583750930392889,
    "ax_avg": -0.5176051968878481,
    "a_std": 0.2398696169595057,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1d63ddad646b5496",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.504394605222547,
    "speed_mode": "decelerating",
    "front_frame": [
      18.985047696247953,
      18.233262432322014,
      17.52168194964045,
      17.090377038862083,
      16.68843057753341,
      16.56861870025719,
      16.13867721067926,
      15.562563743026434,
      14.966852852968902,
      14.438814201504085
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.9,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1d63ddad646b5496",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9aadb4c8a77d5849": {
    "vx_ego": [
      9.918116280991304,
      9.509277656381757,
      9.110864881001826,
      8.721715738375396,
      8.313639995782989,
      7.939922955178345,
      7.686768373296477,
      7.481429452299172,
      7.384974635045257,
      7.417650270731736
    ],
    "vy_ego": [
      0.030771476519741547,
      0.02186472836820741,
      0.003810413086184461,
      0.006243878310526085,
      -0.002587128871620159,
      -0.009635243786013437,
      0.014990645643910838,
      0.028496563816267972,
      0.0078113656425835565,
      -0.008855058853594944
    ],
    "v_ego": [
      9.918164015937224,
      9.509302793186677,
      9.110865677811319,
      8.721717973372073,
      8.313640398328422,
      7.939928801449723,
      7.686782990573351,
      7.4814837234253755,
      7.384978766231832,
      7.41765555623567
    ],
    "ax_ego": [
      -0.8178783228002776,
      -0.8166702509618745,
      -0.7768296757134782,
      -0.779763246987961,
      -0.8524406750057482,
      -0.6426401126626208,
      -0.3699658889703562,
      -0.45100595450452685,
      0.06527360280635525,
      0.06542405293727438
    ],
    "ay_ego": [
      -0.15932173371220665,
      -0.1654027245927277,
      -0.11639290524211954,
      -0.07744847731792698,
      -0.1078612453221065,
      -0.02463520986768053,
      -0.00901089604619909,
      -0.046994837699348035,
      -0.06678860570037713,
      -0.06664123369945157
    ],
    "a_ego": [
      0.8332516821103083,
      0.8332516787314795,
      0.7855008933539215,
      0.7836000178612003,
      0.8592375414556158,
      0.6431121270573666,
      0.3700756074766092,
      0.4534477762310974,
      0.09338822770950456,
      0.09338822587309495
    ],
    "yaw": [
      -2.0217781475024257,
      -2.029218688184307,
      -2.0348494180342223,
      -2.0405571259332835,
      -2.0449546172453816,
      -2.048173652610366,
      -2.052420504013045,
      -2.0560426390336475,
      -2.057095836723869,
      -2.059350986644307
    ],
    "yaw_diff": [
      -0.01488108136376276,
      -0.01126145969983039,
      -0.011415415798122552,
      -0.008794982624196201,
      -0.0064380707299687145,
      -0.008493702805358438,
      -0.007244270041204537,
      -0.0021063953804434377,
      -0.004510299840875476,
      -0.004510299840875476
    ],
    "min_front_frame": [
      1,
      18.177521882396356
    ],
    "v_avg": 8.348452069655167,
    "v_std": 0.8766058460853484,
    "vy_max": 0.030771476519741547,
    "a_max": 0.8592375414556158,
    "ax_avg": -0.5376496471863212,
    "a_std": 0.28763016901421556,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9aadb4c8a77d5849",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.508912397492902,
    "right_rear_min": 20.069778640511853,
    "speed_mode": "decelerating",
    "front_frame": [
      20.746827435843706,
      18.177521882396356,
      24.923801626088338,
      23.979015631269775,
      22.21955960826467,
      19.82422512007389,
      22.25023333872608,
      21.725644552247484,
      21.610047342332948,
      20.99088202853711
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9aadb4c8a77d5849",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6a947d290fe257ce": {
    "vx_ego": [
      5.299041813516979,
      5.731371957086321,
      6.141111064014784,
      6.460315486492394,
      6.693330931418616,
      6.859752652848806,
      6.9006682724253565,
      6.818995311684786,
      6.720141121302469,
      6.635286900220924
    ],
    "vy_ego": [
      0.05320290962085694,
      0.025383647698488776,
      0.0533926165970231,
      0.02873998447773851,
      0.04346327861676702,
      0.021012085436832972,
      -0.02782607958496852,
      -0.028001335200384503,
      0.008167494128772823,
      0.023235797479306708
    ],
    "v_ego": [
      5.2993088880526145,
      5.731428167572719,
      6.141343165144891,
      6.460379413913802,
      6.6934720447667,
      6.859784833797678,
      6.900724374785811,
      6.819052803399611,
      6.720146084586313,
      6.635327584266499
    ],
    "ax_ego": [
      0.8412680842309268,
      0.8967805642960942,
      0.7455739535006266,
      0.531438707904017,
      0.4022668187949598,
      0.26485548459769165,
      -0.10137660786502656,
      -0.22548534889610372,
      -0.16991898215196827,
      -0.1696937106740744
    ],
    "ay_ego": [
      -0.8401004329935502,
      -0.7805673187573378,
      -0.5757167192432129,
      -0.26056537895559584,
      -0.1546255796878364,
      -0.19592342382744565,
      -0.15970834294924863,
      0.14115671013129424,
      0.07168537604075187,
      0.07221702792607411
    ],
    "a_ego": [
      1.1889073668968178,
      1.1889073637635694,
      0.9419820916316418,
      0.5918795628917799,
      0.4309613247116456,
      0.3294456187684805,
      0.1891665177292593,
      0.2660241706723054,
      0.18442140231997184,
      0.18442140484448066
    ],
    "yaw": [
      -0.1516514819964514,
      -0.2201303969281178,
      -0.2817517305171293,
      -0.31089521759009286,
      -0.3288716144247413,
      -0.33846658923099116,
      -0.34425199542064877,
      -0.34490107552496263,
      -0.34238109367933517,
      -0.3392501768069049
    ],
    "yaw_diff": [
      -0.13695782986333283,
      -0.12324266717802301,
      -0.058286974145927095,
      -0.03595279366929682,
      -0.019189949612499757,
      -0.011570812379315232,
      -0.0012981602086277189,
      0.005039963691254923,
      0.0062618337448605565,
      0.0062618337448605565
    ],
    "min_front_frame": [
      9,
      49.629695293474526
    ],
    "v_avg": 6.426096736028664,
    "v_std": 0.5102919289923914,
    "vy_max": 0.0533926165970231,
    "a_max": 1.1889073668968178,
    "ax_avg": 0.3015708963737143,
    "a_std": 0.38894222298064285,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "6a947d290fe257ce",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      75.8310408631883,
      72.86870162418464,
      69.76006432128588,
      66.49107946808583,
      63.112302371324674,
      59.6962189542926,
      56.30047489797354,
      52.94964006686934,
      49.629695293474526
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6a947d290fe257ce",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6659724ab0a8566c": {
    "vx_ego": [
      9.327863237190764,
      9.317585964465328,
      9.344975750883293,
      9.404182581004942,
      9.481603552352052,
      9.589132439132635,
      9.738440391750924,
      9.949560807684477,
      10.173452746225243,
      10.384306202464801
    ],
    "vy_ego": [
      0.08306928813720393,
      0.07518629151407286,
      0.045807495543414234,
      0.0096908464169001,
      0.012737686434085127,
      0.003839390893276118,
      -0.010815282858261277,
      0.008579324421714496,
      0.04888349477316467,
      0.1386428592418758
    ],
    "v_ego": [
      9.328233116639323,
      9.317889309475238,
      9.34508802051884,
      9.40418757412787,
      9.481612108319489,
      9.589133207759096,
      9.73844639734846,
      9.949564506581106,
      10.173570188274082,
      10.385231684895995
    ],
    "ax_ego": [
      -0.030210961681009285,
      -0.018841678657956107,
      0.12423577002957165,
      0.1139053730723063,
      0.19304239888150743,
      0.23295430463562533,
      0.366179751196305,
      0.47809506069445135,
      0.40979117807546617,
      0.42486240322980084
    ],
    "ay_ego": [
      0.45226000333149363,
      0.45287614460944703,
      0.6907905445237628,
      0.9674490259050745,
      0.9487172346762942,
      0.8431873247267617,
      0.8969030190710201,
      0.8783773967026218,
      0.6583361138503583,
      0.6487119464756068
    ],
    "a_ego": [
      0.453267926086872,
      0.4532679243129459,
      0.7018732812682623,
      0.9741314345299709,
      0.968157920557262,
      0.8747757270455904,
      0.968773779478418,
      1.0000608671968452,
      0.7754580894078482,
      0.7754580911811886
    ],
    "yaw": [
      -0.9666049091301765,
      -0.941484525121475,
      -0.9076337839849937,
      -0.8595753342020757,
      -0.8091254542208792,
      -0.7611958837129982,
      -0.7145917933151823,
      -0.6714219969043048,
      -0.6372770842814048,
      -0.6142166338758741
    ],
    "yaw_diff": [
      0.05024076801740307,
      0.06770148227296247,
      0.09611689956583613,
      0.10089975996239287,
      0.0958591410157621,
      0.09320818079563176,
      0.08633959282175496,
      0.06828982524579996,
      0.04612090081106146,
      0.04612090081106146
    ],
    "min_front_frame": [
      7,
      32.71110627277837
    ],
    "v_avg": 9.671295611393951,
    "v_std": 0.3615250684364899,
    "vy_max": 0.1386428592418758,
    "a_max": 1.0000608671968452,
    "ax_avg": 0.22940135994760688,
    "a_std": 0.19587722907131155,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "6659724ab0a8566c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 45.862682175495394,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      68.60936773795169,
      37.577681962424265,
      32.71110627277837,
      34.5431567298861,
      42.111470425521176
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "6659724ab0a8566c",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "22343d7492d158bb": {
    "vx_ego": [
      0.749559219849345,
      0.37865573449955714,
      0.08765844289571548,
      -0.02605504891114332,
      -0.026058452468611187,
      -0.013668685600870551,
      -0.007639588470836164,
      -0.0048982472194671845,
      -0.00352582433358565,
      -0.0026590678203136766
    ],
    "vy_ego": [
      -0.013593702973694333,
      -0.010249071683021388,
      -0.008709648277686666,
      -0.003346108627857369,
      0.0012188907803643949,
      0.000245095187060701,
      0.0003693704365898688,
      0.00031632757889093945,
      0.00010558367362827623,
      -3.383695027754348e-05
    ],
    "v_ego": [
      0.7496824746662388,
      0.37879441487403537,
      0.08809007085944716,
      0.02626903151453232,
      0.026086943856905236,
      0.013670882842968345,
      0.0076485127000717875,
      0.004908450769864663,
      0.00352740487376223,
      0.0026592831011819354
    ],
    "ax_ego": [
      -0.741801464030164,
      -0.7417995733151,
      -0.4221860881840062,
      -0.03266510874168172,
      0.032651786215118196,
      0.016907305148234127,
      0.007209101218752789,
      0.0037562038894764695,
      0.0017335173164050042,
      0.0017335001956484118
    ],
    "ay_ego": [
      0.006893664061058735,
      0.0070938769855879436,
      -0.0008565603008017231,
      0.02230516895353557,
      -0.0040408187073865814,
      0.00014723221522321486,
      0.000350366166834302,
      -0.0005634121056262789,
      -0.00027913926060005377,
      -0.0002792337001148844
    ],
    "a_ego": [
      0.7418334952275217,
      0.741833492140353,
      0.42218695710746723,
      0.039554138736062235,
      0.03290087170370639,
      0.016907946199958872,
      0.0072176101884962665,
      0.0037982233820675155,
      0.0017558476622658219,
      0.0017558457755716848
    ],
    "yaw": [
      -0.7471838501642489,
      -0.746913943611776,
      -0.7468109002733867,
      -0.7467334914147046,
      -0.7467653696721512,
      -0.7467877759499485,
      -0.7468010809992333,
      -0.7467640875538869,
      -0.7467917275182956,
      -0.7467358010386003
    ],
    "yaw_diff": [
      0.0005398131049458854,
      0.00020608667677857184,
      0.00015481771736425287,
      -6.375651489332057e-05,
      -4.481255559452002e-05,
      -2.66100985695239e-05,
      7.398689069271214e-05,
      -5.5279928817375534e-05,
      0.00011185295939064588,
      0.00011185295939064588
    ],
    "min_front_frame": [
      9,
      10.978599174063936
    ],
    "v_avg": 0.13013374700590077,
    "v_std": 0.23357665802664723,
    "vy_max": 0.013593702973694333,
    "a_max": 0.7418334952275217,
    "ax_avg": -0.18744608202873167,
    "a_std": 0.2963062583046081,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "22343d7492d158bb",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.201138997928986,
    "speed_mode": "quasi_constant",
    "front_frame": [
      11.325753453630963,
      11.037028384498749,
      10.979741245967388,
      10.992615050977243,
      10.998545295966737,
      10.994344361198905,
      10.984880794909417,
      10.978948742617693,
      10.988086208823894,
      10.978599174063936
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "22343d7492d158bb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0fa0e8a25eec5e1e": {
    "vx_ego": [
      8.217502367508043,
      8.480308246082227,
      8.708099401687207,
      8.841724908939089,
      8.876429553157863,
      8.88511145282817,
      8.889082088475682,
      8.902406408581609,
      8.952263669845815,
      9.008442129970422
    ],
    "vy_ego": [
      -0.024903677077765973,
      -0.015254608096796574,
      -0.03381549216845681,
      -0.018844730952271682,
      0.00012040911857003067,
      -0.0017449174750527874,
      -0.027656452360886874,
      -0.04274010683116636,
      -0.05734931090907125,
      -0.031213158465569713
    ],
    "v_ego": [
      8.217540103530514,
      8.480321966272177,
      8.708165057988719,
      8.841744991190291,
      8.876429553974539,
      8.885111624167436,
      8.889125111900292,
      8.902509004785495,
      8.952447361358958,
      9.008496204710719
    ],
    "ax_ego": [
      0.5221278293947903,
      0.5307454435921016,
      0.3808771790092887,
      0.1544924772285398,
      -0.015758315441425655,
      0.050489777534138,
      -0.034748723673247585,
      0.08796632050608205,
      0.11241183514125155,
      0.11248509840485156
    ],
    "ay_ego": [
      0.3949127220511654,
      0.3832529241602788,
      0.23269631676832708,
      0.19032169245914166,
      0.08542271776582613,
      -0.09446787523159048,
      -0.09576779862721413,
      0.021231690136179086,
      0.07090282881918229,
      0.07078654110601562
    ],
    "a_ego": [
      0.6546552743745186,
      0.6546552755238295,
      0.44633507741115236,
      0.24513317225688364,
      0.08686406170592913,
      0.10711394440603003,
      0.10187710758959716,
      0.09049231022256796,
      0.13290459666387083,
      0.13290459647770944
    ],
    "yaw": [
      2.5147909613409327,
      2.536938611770756,
      2.556971547501698,
      2.567284028107707,
      2.572911146392271,
      2.5728665178824883,
      2.570433613730624,
      2.5700338148769055,
      2.574251833309531,
      2.5752858903491243
    ],
    "yaw_diff": [
      0.0442953008596465,
      0.04006587146188423,
      0.020624961212018178,
      0.01125423656912794,
      -8.925701956563614e-05,
      -0.004865808303728514,
      -0.0007995977074370941,
      0.008436036865250962,
      0.0020681140791865005,
      0.0020681140791865005
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.776189097987915,
    "v_std": 0.2332826609174659,
    "vy_max": 0.05734931090907125,
    "a_max": 0.6546552755238295,
    "ax_avg": 0.19010889216963703,
    "a_std": 0.22035415316385817,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0fa0e8a25eec5e1e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0fa0e8a25eec5e1e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3f0c448b71005686": {
    "vx_ego": [
      10.844692937352088,
      10.87969311567172,
      10.947719264816492,
      11.04228446911975,
      11.085932380042141,
      11.117678588073435,
      11.1902559330699,
      11.281743584773459,
      11.3575912576481,
      11.406518300216685
    ],
    "vy_ego": [
      0.10489830619280305,
      0.11219641619540699,
      0.08899418280627813,
      0.017522099932837598,
      -0.00375940793116758,
      0.028596937082605578,
      0.069664155097656,
      0.12089580888410989,
      0.1603726980124769,
      0.20869449655418482
    ],
    "v_ego": [
      10.845200254494905,
      10.88027161090208,
      10.948080976399813,
      11.042298371306098,
      11.085933017478268,
      11.117715366590252,
      11.190472775629791,
      11.28239132937618,
      11.358723457240798,
      11.408427285391713
    ],
    "ax_ego": [
      0.0706693615686098,
      0.07090050094582329,
      0.20373139297302706,
      0.17710359365295153,
      -0.002882541083456258,
      0.1307061739542001,
      0.1632640461190502,
      0.20905670382836358,
      0.10120784672630584,
      0.10328817951630581
    ],
    "ay_ego": [
      -0.06406649514058693,
      -0.06381060448922948,
      -0.25108894518602004,
      -0.4172464165742992,
      -0.31109663632633716,
      -0.3107597056871654,
      -0.3255842868256087,
      -0.27438171466428973,
      -0.17520130566370598,
      -0.17398297717890318
    ],
    "a_ego": [
      0.09538697219281966,
      0.09538697122589418,
      0.32334523172200663,
      0.45327723859563407,
      0.31110999048031085,
      0.33712860838042097,
      0.36422558474509115,
      0.3449493162157244,
      0.20233271051721405,
      0.20233270713314583
    ],
    "yaw": [
      0.8463532371443487,
      0.8427381803112255,
      0.8376430156125785,
      0.8289497731113395,
      0.8144456566742213,
      0.7975025693032307,
      0.7795519255239467,
      0.7616344874900454,
      0.7482339422781945,
      0.736318750775435
    ],
    "yaw_diff": [
      -0.007230113666246485,
      -0.010190329397294029,
      -0.01738648500247786,
      -0.029008232874236484,
      -0.03388617474198119,
      -0.03590128755856803,
      -0.03583487606780267,
      -0.026801090423701712,
      -0.023830383005519096,
      -0.023830383005519096
    ],
    "min_front_frame": [
      9,
      45.67341727626556
    ],
    "v_avg": 11.11595144448099,
    "v_std": 0.18468803676293838,
    "vy_max": 0.20869449655418482,
    "a_max": 0.45327723859563407,
    "ax_avg": 0.12270452582011811,
    "a_std": 0.1127735192806395,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "3f0c448b71005686",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 20.20105558425216,
    "speed_mode": "quasi_constant",
    "front_frame": [
      51.36772148234611,
      50.87216323125023,
      50.381340668895064,
      49.62875807427616,
      48.78110865900255,
      48.02112422531967,
      47.267367368946424,
      46.573607388082046,
      46.10360055224766,
      45.67341727626556
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3f0c448b71005686",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "874ce413a47e5c30": {
    "vx_ego": [
      5.00122926631523,
      4.535942397741753,
      4.013245435309993,
      3.3816244746539383,
      2.645664670270783,
      1.9423546918677004,
      1.403766088592525,
      0.9548233597851852,
      0.541086010598486,
      0.15222271520193584
    ],
    "vy_ego": [
      -0.03223940617443333,
      -0.031315063930178466,
      -0.02409329911198088,
      -0.006944590967891573,
      -0.0045548567936966045,
      -0.014123392361600096,
      -0.012808046235506021,
      0.006850468285032774,
      0.009847972927823134,
      -0.020623245808508488
    ],
    "v_ego": [
      5.001333177619589,
      4.536050492318196,
      4.013317756059018,
      3.381631605441704,
      2.6456685911578988,
      1.9424060387139113,
      1.403824518068668,
      0.9548479341273108,
      0.5411756216203498,
      0.15361338903600763
    ],
    "ax_ego": [
      -0.9307686010663269,
      -0.9307081692219701,
      -1.1604046332600588,
      -1.3662614284541703,
      -1.5775521774059542,
      -1.2357107991837561,
      -0.9186091329341644,
      -0.8771659495421806,
      -0.777748340766667,
      -0.7777160782541734
    ],
    "ay_ego": [
      -0.02188180175832105,
      -0.024316474976367797,
      0.009389829834543617,
      0.01846434328698532,
      -0.044854457249310586,
      0.003195025637322324,
      0.006136392709863658,
      0.07205996464107267,
      -0.06110268039298322,
      -0.06151206155602945
    ],
    "a_ego": [
      0.9310257794385489,
      0.9310257715078502,
      1.1604426232243166,
      1.3663861909631,
      1.578189720779285,
      1.2357149296695336,
      0.9186296285367389,
      0.8801208675746235,
      0.7801448705955264,
      0.7801448789115548
    ],
    "yaw": [
      -2.103857151556287,
      -2.106473005988301,
      -2.1090183563857066,
      -2.111753973475965,
      -2.1147102536516087,
      -2.1150861837286934,
      -2.1144632542902424,
      -2.11455645391744,
      -2.114907474018457,
      -2.115433845413496
    ],
    "yaw_diff": [
      -0.00523170886402724,
      -0.0050907007948115535,
      -0.00547123418051676,
      -0.00591256035128751,
      -0.0007518601541693926,
      0.001245858876901984,
      -0.00018639925439511984,
      -0.0007020402020341265,
      -0.001052742790077943,
      -0.001052742790077943
    ],
    "min_front_frame": [
      9,
      9.40382489126479
    ],
    "v_avg": 2.4573869124162657,
    "v_std": 1.6344774232251997,
    "vy_max": 0.03223940617443333,
    "a_max": 1.578189720779285,
    "ax_avg": -1.0552645310089421,
    "a_std": 0.2540591227219904,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "874ce413a47e5c30",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 49.45637010387903,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.27801186190085,
      17.94576115957635,
      15.816363838155212,
      13.954358248199306,
      12.463162081014788,
      11.383245033143478,
      10.552740723281177,
      9.973337321355961,
      9.535884530089746,
      9.40382489126479
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "874ce413a47e5c30",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0f622aef14545f59": {
    "vx_ego": [
      3.961295481908861,
      3.6297607720614975,
      3.3614486085657873,
      3.161208668704678,
      2.893075792556996,
      2.577789419406371,
      2.33984468461873,
      2.19805611571899,
      2.106499607184647,
      2.020738216314004
    ],
    "vy_ego": [
      -0.012409116270170951,
      -0.013773172696603848,
      -0.012300090951434289,
      0.004662489287526991,
      0.0028751173540452826,
      -0.03181564660201644,
      -0.05381541215048205,
      -0.04834611474989924,
      -0.01649322982602104,
      0.026236501196367334
    ],
    "v_ego": [
      3.9613149182005416,
      3.62978690320556,
      3.3614711125140255,
      3.161212107072216,
      2.8930772211918385,
      2.5779857498000527,
      2.3404634683590877,
      2.198587736402863,
      2.1065641745978607,
      2.020908531543902
    ],
    "ax_ego": [
      -0.6631398154818684,
      -0.6631033651434004,
      -0.41026964736803195,
      -0.3907989031472311,
      -0.681363068424461,
      -0.5800349071503165,
      -0.3725790139489603,
      -0.195399237751077,
      -0.17136050939889752,
      -0.17161402890043462
    ],
    "ay_ego": [
      -0.017382908036647982,
      -0.018721559641212533,
      -0.004457341019238063,
      0.025171434440362885,
      -0.09326776191237512,
      -0.09282464781007743,
      -0.035854746320412516,
      0.026271406547559654,
      0.07095689598813593,
      0.07034154029356283
    ],
    "a_ego": [
      0.6633676057580269,
      0.6633675976861557,
      0.41029385986199096,
      0.3916087126365607,
      0.6877168795550537,
      0.5874154481744085,
      0.37430025977666737,
      0.19715742166017763,
      0.18547049703314214,
      0.18547050225388978
    ],
    "yaw": [
      -1.5724148848082935,
      -1.5744335936406852,
      -1.5765316890378034,
      -1.5801476521168274,
      -1.5851213302318063,
      -1.5894670273798621,
      -1.5936472772776193,
      -1.597147861867326,
      -1.600658723853565,
      -1.6042470802383413
    ],
    "yaw_diff": [
      -0.004037417664783494,
      -0.004196190794236276,
      -0.007231926158048019,
      -0.009947356229957904,
      -0.008691394296111543,
      -0.008360499795514453,
      -0.007001169179413402,
      -0.007021723972477911,
      -0.007176712769552562,
      -0.007176712769552562
    ],
    "min_front_frame": [
      7,
      12.591805820115729
    ],
    "v_avg": 2.825137192288795,
    "v_std": 0.6477086418579506,
    "vy_max": 0.05381541215048205,
    "a_max": 0.6877168795550537,
    "ax_avg": -0.4299662496714679,
    "a_std": 0.19459574406341773,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "0f622aef14545f59",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.3942283029829015,
    "right_rear_min": 19.65291301060431,
    "speed_mode": "decelerating",
    "front_frame": [
      14.714167612428657,
      14.267384699745195,
      13.837375594885653,
      13.503125532571323,
      13.151741796933795,
      12.886539713485694,
      12.696637067619157,
      12.591805820115729,
      12.613234771829813,
      12.888512473456444
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0f622aef14545f59",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "515fefed28a65a88": {
    "vx_ego": [
      5.304619073651951,
      4.854112615982843,
      4.392542192178704,
      3.977311878416049,
      3.636181200876681,
      3.3062777858774464,
      3.0046003540566177,
      2.7444037886731865,
      2.4996168215490835,
      2.2614555512092034
    ],
    "vy_ego": [
      0.0005760451746423811,
      0.025755766126365875,
      0.02682436052382764,
      0.009964792294667735,
      0.009115161804798433,
      0.03176607229463224,
      0.036105859749133495,
      0.02683330787903415,
      0.013171192272961374,
      -0.024048509523280637
    ],
    "v_ego": [
      5.304619104929224,
      4.854180945137146,
      4.39262409686825,
      3.977324361335756,
      3.6361926257809434,
      3.3064303834703215,
      3.0048172857439064,
      2.744534966382369,
      2.4996515226881195,
      2.261583414536199
    ],
    "ax_ego": [
      -0.9008767554696502,
      -0.9008753329656478,
      -0.9451642528209016,
      -0.7159267981815252,
      -0.6486376605412012,
      -0.6714606404287659,
      -0.5389967938645022,
      -0.5048782213414901,
      -0.4779462577781949,
      -0.4734697268035977
    ],
    "ay_ego": [
      0.0019603836640754158,
      -0.002530781265577875,
      -0.03077567506951051,
      0.02537494481611674,
      0.09111270168063768,
      0.1800309552122068,
      0.13033046921445704,
      0.17490575399563976,
      0.10403605511980732,
      0.12281100798688001
    ],
    "a_ego": [
      0.9008788884470733,
      0.9008788877533878,
      0.9456651664233368,
      0.7163763453512904,
      0.6550056023271156,
      0.6951766225065599,
      0.5545300487817348,
      0.5343164241961217,
      0.48913814622156826,
      0.4891381460101297
    ],
    "yaw": [
      2.7012896380450586,
      2.696304317058116,
      2.6942746167986584,
      2.698006173863927,
      2.705896837323084,
      2.7188885755235033,
      2.74222403879225,
      2.7720387406218423,
      2.803883667159,
      2.843345936142532
    ],
    "yaw_diff": [
      -0.009970641973885641,
      -0.004059400518914735,
      0.007463114130537463,
      0.015781326918313354,
      0.025983476400838867,
      0.04667092653749361,
      0.059629403659184455,
      0.0636898530743153,
      0.07892453796706445,
      0.07892453796706445
    ],
    "min_front_frame": [
      3,
      63.85064711561232
    ],
    "v_avg": 3.5981958706872232,
    "v_std": 0.9708229426920136,
    "vy_max": 0.036105859749133495,
    "a_max": 0.9456651664233368,
    "ax_avg": -0.6778232440195476,
    "a_std": 0.1671814440711055,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "515fefed28a65a88",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.286188369256584,
    "right_rear_min": 29.33497534829806,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      63.85064711561232,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "515fefed28a65a88",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e27870f87c3656b1": {
    "vx_ego": [
      8.891497004638607,
      8.947770685611175,
      8.946396585193531,
      8.810478511140222,
      8.631942281741127,
      8.506146896891025,
      8.409964642520395,
      8.382415526511586,
      8.45688434509363,
      8.576328870796406
    ],
    "vy_ego": [
      0.09547125478020924,
      -0.003588613974980781,
      -0.025955501305263695,
      -0.031108170792163214,
      -0.00944042939279921,
      -0.0165454030139367,
      -0.031772476676845685,
      -0.0271543218816368,
      -0.013120995195907703,
      0.017349879057085182
    ],
    "v_ego": [
      8.89200954475346,
      8.94777140524013,
      8.94643423647715,
      8.810533429569043,
      8.631947444060195,
      8.506162988201536,
      8.410024659816246,
      8.382459508777801,
      8.456894523807463,
      8.576346420146473
    ],
    "ax_ego": [
      0.11244931120341901,
      0.11195815901810378,
      -0.1177009170782787,
      -0.4261059919216422,
      -0.28825723575374074,
      -0.21490892253488408,
      -0.17001643555235957,
      0.060258644327846,
      0.23833942678225822,
      0.23938130478738248
    ],
    "ay_ego": [
      -0.13126901255483558,
      -0.13168816834697772,
      -0.04350433441407618,
      -0.014424179170632406,
      0.02610887581346355,
      -0.10065860114125384,
      -0.006429534528537922,
      0.10861896747919034,
      0.16787101247499409,
      0.16638194379125612
    ],
    "a_ego": [
      0.17284791363289567,
      0.172847918857315,
      0.12548359651316826,
      0.42635005957109134,
      0.289437225250365,
      0.2373141356279032,
      0.1701379654050891,
      0.12421426774922137,
      0.29152420000451945,
      0.2915242019137801
    ],
    "yaw": [
      -0.5886562335096441,
      -0.5849206195640488,
      -0.5873082894582287,
      -0.5883545457697523,
      -0.5905083373232021,
      -0.5918556060157343,
      -0.593221477945435,
      -0.5907202015130744,
      -0.584159951773761,
      -0.5779258955987052
    ],
    "yaw_diff": [
      0.0074712278911905905,
      -0.004775339788359645,
      -0.0020925126230473268,
      -0.004307583106899493,
      -0.0026945373850644216,
      -0.0027317438594014476,
      0.005002552864721288,
      0.013120499478626702,
      0.012468112350111582,
      0.012468112350111582
    ],
    "min_front_frame": [
      9,
      25.843620862957927
    ],
    "v_avg": 8.65605841608495,
    "v_std": 0.21293408789586668,
    "vy_max": 0.09547125478020924,
    "a_max": 0.42635005957109134,
    "ax_avg": -0.04546026567218957,
    "a_std": 0.09052087183289324,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e27870f87c3656b1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 30.234000379716427,
    "right_rear_min": 41.01296166043821,
    "speed_mode": "quasi_constant",
    "front_frame": [
      31.693474950763292,
      31.61482211028209,
      31.728829715089525,
      31.703602386426308,
      31.57261580346513,
      31.54020766550045,
      31.53544287864459,
      31.493257609804758,
      30.093124387734427,
      25.843620862957927
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e27870f87c3656b1",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "da83e9a4e38a5d6e": {
    "vx_ego": [
      7.154453180941146,
      7.404840290926928,
      7.836824113337029,
      8.370264771654496,
      8.910748535017762,
      9.360261934795142,
      9.61821813598366,
      9.639995309428024,
      9.535435161058176,
      9.433796105237864
    ],
    "vy_ego": [
      0.04476327067867625,
      0.16240388935052552,
      0.13990520342283297,
      0.1320979454480522,
      0.0433910516813083,
      0.016912690752480586,
      -0.015086617391139256,
      0.008013225552584657,
      0.019871491115204698,
      -0.006178759233972819
    ],
    "v_ego": [
      7.154593214759364,
      7.406621008085331,
      7.838072827508398,
      8.371307079231528,
      8.910854181148247,
      9.360277214221991,
      9.618229968002913,
      9.639998639915778,
      9.535455866758742,
      9.433798128657767
    ],
    "ax_ego": [
      0.34998933877726196,
      0.7132733207996818,
      1.041314261382321,
      1.094815887548579,
      1.068101520917371,
      0.7301630006189352,
      0.30166686793196396,
      -0.21481149852221465,
      -0.2032744151371007,
      -0.20329439070605596
    ],
    "ay_ego": [
      -2.2223453127713735,
      -2.133671123727858,
      -1.3944976180066995,
      -0.3937657254251043,
      -0.11978598420872216,
      -0.06791496176305722,
      -0.07999958082513821,
      0.024889399375319407,
      -0.043414148256224395,
      -0.04332054179739324
    ],
    "a_ego": [
      2.249735812591034,
      2.249735827690599,
      1.7403904727343709,
      1.1634746555676843,
      1.0747974418460686,
      0.7333147001827556,
      0.31209426803464174,
      0.2162486117842692,
      0.2078587888883792,
      0.20785879494061882
    ],
    "yaw": [
      -0.17985877519795895,
      -0.34627009882910875,
      -0.45954764010474314,
      -0.513784846465103,
      -0.5183755067180411,
      -0.5206033805993147,
      -0.5211251690994425,
      -0.5249294406756793,
      -0.526649550830199,
      -0.5261891655168848
    ],
    "yaw_diff": [
      -0.3328226472622996,
      -0.22655508255126877,
      -0.10847441272071978,
      -0.009181320505876167,
      -0.004455747762547091,
      -0.001043577000255702,
      -0.0076085431524735014,
      -0.0034402203090395655,
      0.000920770626628542,
      0.000920770626628542
    ],
    "min_front_frame": [
      8,
      43.91752490854147
    ],
    "v_avg": 8.726920812829006,
    "v_std": 0.9136978130233632,
    "vy_max": 0.16240388935052552,
    "a_max": 2.249735827690599,
    "ax_avg": 0.46779438936107426,
    "a_std": 0.782006046460455,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "da83e9a4e38a5d6e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 46.200279036839525,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      71.09832121067758,
      66.90835644131718,
      62.49665901203857,
      58.07909650763434,
      53.31854017493304,
      48.811389343099684,
      43.91752490854147,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.2857142857142857,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7142857142857143,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "da83e9a4e38a5d6e",
    "pedestrians": "No"
  },
  "60216ba3ee9557d9": {
    "vx_ego": [
      4.304292974192879,
      4.72760476205686,
      5.1583787801732806,
      5.561715170085353,
      5.912507131844674,
      6.212523164597033,
      6.451375149127695,
      6.638954047025255,
      6.815511448864596,
      6.9833557303442335
    ],
    "vy_ego": [
      -0.12591546351879268,
      -0.04312449662361573,
      0.00046494177954903293,
      0.026844181754544838,
      0.03834595048526257,
      0.027051649275517065,
      0.02190245144523395,
      0.024711916297361025,
      0.013549900591270703,
      0.005214776112830499
    ],
    "v_ego": [
      4.306134311843899,
      4.727801445538057,
      5.158378801126652,
      5.56177995278954,
      5.912631478118076,
      6.212582060816843,
      6.451412328487592,
      6.639000038960694,
      6.815524918112355,
      6.983357677394274
    ],
    "ax_ego": [
      0.7759361296234837,
      0.8735431885678366,
      0.8307535137755305,
      0.7806545427186165,
      0.6243065450202626,
      0.5763273058793416,
      0.3794140077265494,
      0.371372987203541,
      0.33538952156417046,
      0.3362537812223708
    ],
    "ay_ego": [
      -0.905394811018389,
      -0.8116273395051362,
      -0.4717404298685502,
      -0.2635813031471909,
      -0.17370083086715882,
      -0.059339067026755704,
      -0.051461997646437024,
      -0.062377967527710326,
      -0.11908854938990505,
      -0.1166259324822264
    ],
    "a_ego": [
      1.19239953080924,
      1.19239953057918,
      0.9553483311457425,
      0.8239518301672638,
      0.6480205558460924,
      0.5793740487610279,
      0.38288813831311613,
      0.376575233462544,
      0.35590478188812663,
      0.3559047815268725
    ],
    "yaw": [
      -1.7813928015847489,
      -1.8949639883345846,
      -1.9685779192152133,
      -2.007745023779542,
      -2.0287325372424667,
      -2.0364717382652704,
      -2.0400194169801074,
      -2.0447961639583117,
      -2.049877255489408,
      -2.0572103301298794
    ],
    "yaw_diff": [
      -0.22714237349967137,
      -0.14722786176125746,
      -0.07833420912865696,
      -0.04197502692584987,
      -0.015478402045607353,
      -0.007095357429673932,
      -0.009553493956408587,
      -0.010162183062192298,
      -0.01466614928094323,
      -0.01466614928094323
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.876860301318798,
    "v_std": 0.8679510974010302,
    "vy_max": 0.12591546351879268,
    "a_max": 1.19239953080924,
    "ax_avg": 0.5883951523301703,
    "a_std": 0.3198151277834905,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "60216ba3ee9557d9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "60216ba3ee9557d9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b84c079a32635d34": {
    "vx_ego": [
      0.4749089711381399,
      0.7160283589390315,
      1.0803937120401006,
      1.5651044517341575,
      2.036716964270991,
      2.4821645398875036,
      2.8480440198735617,
      3.0212522978099727,
      3.0561238437160148,
      3.0818632010005045
    ],
    "vy_ego": [
      -0.00556242426917658,
      0.002164559651091469,
      -0.0024485748867900115,
      -0.008299306690153774,
      0.0018597121493452162,
      -0.0028501560784968127,
      -0.011515732838999648,
      0.007050459070168769,
      0.0012231181803159519,
      -0.011163062086996467
    ],
    "v_ego": [
      0.47494154527819205,
      0.7160316306724206,
      1.0803964867282585,
      1.5651264560186868,
      2.036717813315953,
      2.482166176238935,
      2.8480673010377364,
      3.0212605243499175,
      3.056124088473443,
      3.0818834182422012
    ],
    "ax_ego": [
      0.48223858194034785,
      0.4822392808849437,
      0.9752194848198081,
      0.9636274856551686,
      0.9228288487970046,
      0.8589597435691632,
      0.6045558077440154,
      0.08841015423025941,
      0.051247888669234576,
      0.051594176586105475
    ],
    "ay_ego": [
      0.015518980176166292,
      0.015497085504877856,
      -0.03357887206552718,
      0.010662445554653344,
      0.03190180836665496,
      -0.05034218652776096,
      0.015263105027568724,
      -0.03610878653315439,
      -0.06027209879708655,
      -0.059975935249786484
    ],
    "a_ego": [
      0.48248822644448625,
      0.48248822129412977,
      0.9757974094151947,
      0.9636864733175973,
      0.9233801002561554,
      0.8604337143654928,
      0.6047484494003283,
      0.09549973736045125,
      0.07911429697886485,
      0.0791142962218891
    ],
    "yaw": [
      -2.0906016695696152,
      -2.0905562729590823,
      -2.090445481238973,
      -2.0903536333713526,
      -2.0900867227699527,
      -2.0900427202403797,
      -2.0900813550981185,
      -2.09800938780315,
      -2.1040119595655113,
      -2.109771511349449
    ],
    "yaw_diff": [
      9.079322106586574e-05,
      0.00022158344021860898,
      0.0001836957352407964,
      0.0005338212027998779,
      8.800505914585699e-05,
      -7.726971547761252e-05,
      -0.01585606541006257,
      -0.012005143524723039,
      -0.011519103567875,
      -0.011519103567875
    ],
    "min_front_frame": [
      0,
      13.211570581912436
    ],
    "v_avg": 2.036271544035574,
    "v_std": 0.9632186087016442,
    "vy_max": 0.011515732838999648,
    "a_max": 0.9757974094151947,
    "ax_avg": 0.548092145289605,
    "a_std": 0.3535750853877384,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b84c079a32635d34",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.866799224869304,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.211570581912436,
      14.446360064789465,
      15.643265066584267,
      16.479433122504673,
      17.112000892079426,
      17.447317344151205,
      17.633341267109152,
      17.64199292580583,
      17.909718185787735,
      18.25028338436772
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b84c079a32635d34",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dee481365b265a2d": {
    "vx_ego": [
      5.561207439890741,
      4.906679265018704,
      4.26398870159476,
      3.602654062712427,
      2.858232853735682,
      2.0126180349514873,
      1.1518046034525147,
      0.4013484950327588,
      -0.006464971618831687,
      -0.1488038439177233
    ],
    "vy_ego": [
      0.022820559127462392,
      0.010955713832859981,
      0.0018142188443999174,
      -0.011760591236545714,
      -0.017777566183042603,
      -0.004146004960965954,
      0.019025401182520107,
      0.018337569885794575,
      0.009151064564619128,
      0.004678651325467548
    ],
    "v_ego": [
      5.561254262072093,
      4.906691496052108,
      4.2639890875467525,
      3.602673258440819,
      2.858288139434758,
      2.01262230534423,
      1.1519617226386303,
      0.4017671974345054,
      0.011204367036924803,
      0.14887737821077943
    ],
    "ax_ego": [
      -1.3095826648277253,
      -1.309049143837955,
      -1.2620606394046812,
      -1.3832711104395796,
      -1.5943787499334652,
      -1.7879519958971555,
      -1.655329353968963,
      -1.3465986524703792,
      -0.2846781204567071,
      -0.2846784815062955
    ],
    "ay_ego": [
      0.058328237168651764,
      0.06927684763518405,
      0.014986208797280742,
      -0.02039974849225612,
      0.0027798708344602963,
      0.06825824254847801,
      0.027890692668862016,
      -0.027659243477370032,
      -0.008956848765384343,
      -0.008945353449698143
    ],
    "a_ego": [
      1.3108809782998947,
      1.3108809795710485,
      1.2621496123632365,
      1.3834215245959183,
      1.594381173346341,
      1.7892544613073984,
      1.6555643028432492,
      1.3468826840466774,
      0.2848189906002923,
      0.28481899020442836
    ],
    "yaw": [
      2.6032004553342474,
      2.6115624901037213,
      2.6181587140528606,
      2.621253939494763,
      2.6217489002749885,
      2.6234271918603618,
      2.623980210516227,
      2.6249906536580156,
      2.6254926629605224,
      2.6255330500396328
    ],
    "yaw_diff": [
      0.016724069538947894,
      0.013192447898278559,
      0.006190450883805099,
      0.000989921560450746,
      0.0033565831707464966,
      0.0011060373117306455,
      0.0020208862835771058,
      0.0010040186050135347,
      8.077415822071998e-05,
      8.077415822071998e-05
    ],
    "min_front_frame": [
      7,
      61.311767835192235
    ],
    "v_avg": 2.49193292142116,
    "v_std": 1.9441685481708262,
    "vy_max": 0.022820559127462392,
    "a_max": 1.7892544613073984,
    "ax_avg": -1.2217578912742906,
    "a_std": 0.4963973373632961,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dee481365b265a2d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      67.3545745991665,
      65.38402376069754,
      63.82223883983211,
      62.49646332012126,
      61.65457675668169,
      61.311767835192235,
      61.347879629730194,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dee481365b265a2d",
    "with_lead": "Close",
    "road_shape": "Curve"
  },
  "4cf608d9de4e5349": {
    "vx_ego": [
      1.4920583630122546,
      1.6854728688929042,
      1.8684222119036447,
      2.02681388421127,
      2.1891936613294316,
      2.378008539780929,
      2.563563065353906,
      2.7148630499004303,
      2.8897340785769203,
      3.1378680180885645
    ],
    "vy_ego": [
      0.0019616264550894047,
      -0.003612498858221125,
      -0.006941377229058632,
      0.004916818767975756,
      -0.00033131691024143595,
      -0.0013920720906889957,
      -0.003610449392597387,
      0.0006322918699309676,
      0.030960494984512255,
      0.05739194517493362
    ],
    "v_ego": [
      1.4920596524982364,
      1.685476740249499,
      1.8684351058178992,
      2.0268198480226043,
      2.1891936864005106,
      2.3780089472362658,
      2.563565607779823,
      2.7148631235308485,
      2.8898999285682003,
      3.1383928266413714
    ],
    "ax_ego": [
      0.3852221207785564,
      0.388333326003541,
      0.3457744313129487,
      0.2889406354084441,
      0.36034791666646954,
      0.3999245678013465,
      0.3482285078604861,
      0.2691470808787803,
      0.4317048717410955,
      0.5345888205751036
    ],
    "ay_ego": [
      0.10039888103805382,
      0.08759706393367515,
      0.1679186028219814,
      0.2135769016745577,
      0.22346614412664256,
      0.36957054981272147,
      0.4856749988878081,
      0.6954192331769246,
      0.8432683482471126,
      0.7821031875802876
    ],
    "a_ego": [
      0.3980904641545963,
      0.39809046420979843,
      0.3843912258669277,
      0.359307366636337,
      0.4240138424824056,
      0.5445383836057575,
      0.5976146737082457,
      0.7456863020184497,
      0.9473492510370235,
      0.9473492508611209
    ],
    "yaw": [
      2.9170037636256025,
      2.9500993838350666,
      2.9878040697490302,
      3.0305226596496677,
      3.085061137833603,
      -3.132617722114091,
      -3.0454673715952496,
      -2.935717332794999,
      -2.8085180188743966,
      -2.6820892401605967
    ],
    "yaw_diff": [
      0.06619124041892821,
      0.07540937182792717,
      0.08543717980127497,
      0.10907695636787018,
      0.13101289446378495,
      0.1743007010376827,
      0.21950007760050116,
      0.2543986278412049,
      0.25285755742759974,
      0.25285755742759974
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.294671546674526,
    "v_std": 0.5100808077562858,
    "vy_max": 0.05739194517493362,
    "a_max": 0.9473492510370235,
    "ax_avg": 0.37522122790267715,
    "a_std": 0.21819844347249995,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "4cf608d9de4e5349",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "4cf608d9de4e5349",
    "pedestrians": "No"
  },
  "35c98e62401f5c7e": {
    "vx_ego": [
      0.842189798522903,
      1.1667179625562116,
      1.4691516582134347,
      1.734431015965963,
      2.0067980303283255,
      2.2224810456325694,
      2.3302706154661483,
      2.3873631909140114,
      2.4444712248804232,
      2.5137293673154324
    ],
    "vy_ego": [
      0.040591871558660064,
      -0.015025076437325202,
      -0.009842145717625483,
      0.01826338272649769,
      0.05358698921692839,
      0.06658006529070293,
      0.06384937475003949,
      0.06621408382196065,
      0.0589269082194932,
      0.04851628574797179
    ],
    "v_ego": [
      0.843167454763692,
      1.1668147055438,
      1.4691846251113616,
      1.734527169084802,
      2.0075133623323613,
      2.2234781094695206,
      2.331145187233295,
      2.3882812460486122,
      2.445181373595976,
      2.5141975185109904
    ],
    "ax_ego": [
      0.6364725429412367,
      0.6635944987014495,
      0.5396100610492504,
      0.524095892372983,
      0.5786648603825092,
      0.3026028177688198,
      0.13877459697856467,
      0.09955025282360311,
      0.1386533718696802,
      0.14626011935661537
    ],
    "ay_ego": [
      -0.3250516833670406,
      -0.2653266594636344,
      -0.22974136757041622,
      -0.25195494217028347,
      -0.26544827210978417,
      -0.3005107672583455,
      -0.17927930398527195,
      -0.17563441297422888,
      -0.20750262082047907,
      -0.20221293845700325
    ],
    "a_ego": [
      0.7146718791010537,
      0.7146718792067863,
      0.5864811283909319,
      0.5815133681062408,
      0.636644175193317,
      0.4264682714573607,
      0.22671448476885325,
      0.20188536315950514,
      0.2495638098326745,
      0.24956380946288498
    ],
    "yaw": [
      2.0544058909117657,
      1.9625905346111021,
      1.8659605594316937,
      1.773411615418945,
      1.6851145928603841,
      1.6132645283831182,
      1.5622419648959098,
      1.5237086913970876,
      1.4870077069630805,
      1.4498801251627573
    ],
    "yaw_diff": [
      -0.18363071260132724,
      -0.19325995035881682,
      -0.18509788802549743,
      -0.17659404511712173,
      -0.14370012895453188,
      -0.1020451269744167,
      -0.07706654699764437,
      -0.07340196886801431,
      -0.07425516360064632,
      -0.07425516360064632
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.9123490751694412,
    "v_std": 0.5550564956000297,
    "vy_max": 0.06658006529070293,
    "a_max": 0.7146718792067863,
    "ax_avg": 0.3768279014244712,
    "a_std": 0.20060013713809507,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "35c98e62401f5c7e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "35c98e62401f5c7e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ccb49e301e40523f": {
    "vx_ego": [
      9.956651474307101,
      9.853302024732105,
      9.774288065518666,
      9.729397191610781,
      9.671898191614638,
      9.599329933525262,
      9.542475765161928,
      9.505721391394115,
      9.460843172737452,
      9.395147424441458
    ],
    "vy_ego": [
      0.0035389915831220975,
      0.0861561698647142,
      0.09242021620459795,
      0.024957182525725763,
      -0.07153249161214248,
      -0.1191262686822343,
      -0.10098447272274491,
      -0.047528620290407275,
      0.0527235578464369,
      0.1751580986439354
    ],
    "v_ego": [
      9.956652103256555,
      9.853678687484972,
      9.774724992760868,
      9.72942920078477,
      9.672162711943733,
      9.600069074780881,
      9.54301009076454,
      9.505840212235547,
      9.46099008099495,
      9.39678005949429
    ],
    "ax_ego": [
      -0.20784219459197198,
      -0.2064731769230595,
      -0.11175894594007833,
      -0.06756295959293188,
      -0.16255113457052162,
      -0.12893144563653425,
      -0.10069853657348582,
      -0.04682753495294202,
      -0.1325735195562962,
      -0.13162811842784988
    ],
    "ay_ego": [
      0.26632845108236947,
      0.26739119548239587,
      -0.08188193866938127,
      -0.2190222395180575,
      -0.21519357341086157,
      -0.07885084248710875,
      -0.031088592087754767,
      0.19786280205396772,
      0.30338200745553145,
      0.30379337873574336
    ],
    "a_ego": [
      0.33783016696076923,
      0.33783017066302096,
      0.13854498864229506,
      0.2292062279094124,
      0.269687124993945,
      0.15113164140858598,
      0.1053883097219064,
      0.20332856775774677,
      0.3310836458288023,
      0.3310836427921725
    ],
    "yaw": [
      2.432500804366888,
      2.4376309018917293,
      2.441723269846662,
      2.4409267624977167,
      2.439684625586641,
      2.436993710081378,
      2.432224734505649,
      2.4309888564638538,
      2.4336283133894505,
      2.4367424060755116
    ],
    "yaw_diff": [
      0.010260195049682785,
      0.00818473590986546,
      -0.0015930146978906379,
      -0.0024842738221515503,
      -0.005381831010526028,
      -0.009537951151457946,
      -0.002471756083590293,
      0.005278913851193501,
      0.006228185372122219,
      0.006228185372122219
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.649333721450109,
    "v_std": 0.171008671881039,
    "vy_max": 0.1751580986439354,
    "a_max": 0.33783017066302096,
    "ax_avg": -0.12968475667656715,
    "a_std": 0.0861767243289703,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "ccb49e301e40523f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 22.265822312081934,
    "right_rear_min": 23.364959280498944,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "ccb49e301e40523f",
    "pedestrians": "No"
  },
  "1c3c37eeacd15c92": {
    "vx_ego": [
      3.823802170059546,
      3.181771865830326,
      2.538667122851333,
      2.0288478892102386,
      1.7617027966923962,
      1.672004257995818,
      1.6897875698621125,
      1.7538906242642651,
      1.812568678682531,
      1.8578902014669123
    ],
    "vy_ego": [
      -0.035702504757073594,
      -0.034905282660234516,
      -0.031406907844211296,
      -0.023978615212076226,
      -0.019972315819577258,
      0.002303936296842779,
      0.04470123299659223,
      0.03829980687615586,
      -0.003175547481685137,
      -0.027324740738412068
    ],
    "v_ego": [
      3.823968842001465,
      3.181963322376137,
      2.5388613893843437,
      2.0289895838915313,
      1.7618160055105094,
      1.6720058453482172,
      1.6903787242780595,
      1.7543087519273353,
      1.8125714603961811,
      1.8580911285949313
    ],
    "ax_ego": [
      -1.284094424297463,
      -1.2840936166019448,
      -1.2882448511675175,
      -0.7510146819064112,
      -0.317548366607836,
      -0.04128864233140297,
      0.11247284791959612,
      0.14424639264245961,
      0.09052945236331708,
      0.09063756169299553
    ],
    "ay_ego": [
      -0.0014222431358980048,
      -0.002030981188340941,
      0.02238633376653304,
      0.00881195077015684,
      0.008666973962028965,
      0.07626852932733286,
      0.08944495993564082,
      -0.12280375065217548,
      -0.055541739457413974,
      -0.05536515637741227
    ],
    "a_ego": [
      1.2840952119244782,
      1.2840952227473046,
      1.288439344516895,
      0.7510663771700632,
      0.3176666201743002,
      0.0867273921625962,
      0.14370296579066483,
      0.18944071094831838,
      0.10620954084806766,
      0.10620954820705568
    ],
    "yaw": [
      1.2662295314945622,
      1.265755472649369,
      1.2663114353435958,
      1.2664789343896676,
      1.266676334664007,
      1.266056728747201,
      1.2654736282599939,
      1.2643453277330827,
      1.2626072753088655,
      1.2606578969405238
    ],
    "yaw_diff": [
      -0.0009481176903864963,
      0.0011119253884537272,
      0.00033499809214365683,
      0.00039480054867890857,
      -0.001239211833611975,
      -0.0011662009744144441,
      -0.0022566010538223047,
      -0.0034761048484344137,
      -0.003898756736683495,
      -0.003898756736683495
    ],
    "min_front_frame": [
      3,
      12.39286277197185
    ],
    "v_avg": 2.212295505370871,
    "v_std": 0.7028674625196892,
    "vy_max": 0.04470123299659223,
    "a_max": 1.288439344516895,
    "ax_avg": -0.4528398328294207,
    "a_std": 0.5119335962723577,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "1c3c37eeacd15c92",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 2.8109249595437285,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.695295140550211,
      13.440719202675254,
      12.684720888313679,
      12.39286277197185,
      12.560024803239532,
      12.967512613347731,
      13.44590019870148,
      13.971183887812487,
      14.47679390593215,
      15.062608948844806
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "1c3c37eeacd15c92",
    "merging_vehicles": "No"
  },
  "0603ebc3a71d59f5": {
    "vx_ego": [
      7.541118777249253,
      7.118166137766778,
      6.669918009168095,
      6.242754033116897,
      5.880145699004009,
      5.501144817668247,
      5.134215736800089,
      4.817472186382068,
      4.510799228387328,
      4.21050409511096
    ],
    "vy_ego": [
      -0.00866339027802221,
      -0.02044042312634886,
      -0.022804328942481522,
      -0.010321314958454675,
      0.001929478251328831,
      0.005881805518457295,
      0.01247861877274481,
      -0.018030428680029242,
      -0.03871175189683873,
      -0.04303025952938078
    ],
    "v_ego": [
      7.541123753586888,
      7.118195485918267,
      6.6699569928481095,
      6.242762565366374,
      5.880146015568123,
      5.501147962070678,
      5.134230901306656,
      4.817505927647958,
      4.5109653377691386,
      4.210723968414616
    ],
    "ax_ego": [
      -0.84623983170911,
      -0.8458274061540958,
      -0.9476726109528426,
      -0.7612387721538554,
      -0.6891973878731931,
      -0.8268107194091892,
      -0.6409034989576526,
      -0.6261208585239844,
      -0.6009440681522121,
      -0.6008063962935143
    ],
    "ay_ego": [
      -0.08848863595709427,
      -0.09234759694979433,
      -0.04355764264972206,
      0.02953462980246091,
      0.006939084682610619,
      0.0257582339161187,
      -0.0002616826929136562,
      -0.09377806484013415,
      -0.03818399048147739,
      -0.040292341114419816
    ],
    "a_ego": [
      0.8508537426988318,
      0.8508537357641249,
      0.9486730974278645,
      0.7618115006928405,
      0.6892323195755297,
      0.8272118545719823,
      0.6409035523805385,
      0.6331047740492656,
      0.6021559517072136,
      0.6021559586848577
    ],
    "yaw": [
      -2.0270185186200833,
      -2.0315797511780667,
      -2.036156758600049,
      -2.0386421745615015,
      -2.0391597117902904,
      -2.038420028085198,
      -2.038462086603372,
      -2.037054946732157,
      -2.03969584241721,
      -2.0432046345540087
    ],
    "yaw_diff": [
      -0.009122465115966705,
      -0.00915401484396483,
      -0.004970831922904928,
      -0.0010350744575777782,
      0.0014793674101847287,
      -8.411703634791934e-05,
      0.0028142797424299815,
      -0.0052817913701055375,
      -0.007017584273597777,
      -0.007017584273597777
    ],
    "min_front_frame": [
      9,
      15.23763505527917
    ],
    "v_avg": 5.76267589104968,
    "v_std": 1.0676971441554854,
    "vy_max": 0.04303025952938078,
    "a_max": 0.9486730974278645,
    "ax_avg": -0.7385761550179649,
    "a_std": 0.11748378121049824,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0603ebc3a71d59f5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.110898539927169,
    "right_rear_min": 27.567683351165964,
    "speed_mode": "decelerating",
    "front_frame": [
      21.783559123363858,
      21.048268668101567,
      20.43062696814043,
      19.770916388819323,
      19.276682841576836,
      18.628211318968734,
      17.89969571538111,
      17.217431538377284,
      16.29908534989601,
      15.23763505527917
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0603ebc3a71d59f5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dd07f89bea6f5147": {
    "vx_ego": [
      9.065376138171374,
      9.27224142051703,
      9.450571784145566,
      9.630004132436156,
      9.812536295054924,
      9.945690190392686,
      9.926520225868519,
      9.77178087451802,
      9.593263908080933,
      9.397436864943256
    ],
    "vy_ego": [
      0.11353559207878838,
      -0.014070618063186213,
      0.03859320043137959,
      0.06163167518294088,
      0.032834559704225,
      0.002762488613335279,
      0.004842553802337335,
      0.00398831581160719,
      0.006442624793457696,
      0.01890296050564677
    ],
    "v_ego": [
      9.066087075315107,
      9.272252096586048,
      9.450650585140044,
      9.630201350653229,
      9.812591230153286,
      9.945690574043445,
      9.926521407064214,
      9.771781688426076,
      9.59326607144316,
      9.397455876592899
    ],
    "ax_ego": [
      0.4136035988027536,
      0.4127537442340161,
      0.30703486533825153,
      0.42033241070256155,
      0.31234182468661914,
      0.21942778347861136,
      -0.2965467523059267,
      -0.32245059107922974,
      -0.39164786261057527,
      -0.3914622025636122
    ],
    "ay_ego": [
      -0.15290390345666624,
      -0.15518338442476123,
      -0.5734568077465272,
      -0.7074784113047322,
      -0.5095383955425383,
      -0.2648081828496226,
      -0.15169400812626727,
      -0.10388999299762944,
      -0.04745580288367782,
      -0.04896363407973123
    ],
    "a_ego": [
      0.44096206258007575,
      0.4409620575295825,
      0.6504791456181479,
      0.8229246854659876,
      0.5976510620593182,
      0.34390685638186325,
      0.3330931527435001,
      0.3387735443218554,
      0.39451248587942883,
      0.3945124757193977
    ],
    "yaw": [
      2.0684422001770804,
      2.0739591296923496,
      2.048911548530107,
      2.012880621366717,
      1.9845862971877741,
      1.9680545657259398,
      1.957434743453987,
      1.9510361378428027,
      1.9468786736033525,
      1.943027816286245
    ],
    "yaw_diff": [
      0.011033859030538551,
      -0.05009516232448519,
      -0.0720618543267797,
      -0.05658864835788613,
      -0.033063462923668574,
      -0.02123964454390581,
      -0.012797211222368432,
      -0.008314928478900363,
      -0.0077017146342148735,
      -0.0077017146342148735
    ],
    "min_front_frame": [
      5,
      77.33141640985279
    ],
    "v_avg": 9.58664979554175,
    "v_std": 0.2749197043935155,
    "vy_max": 0.11353559207878838,
    "a_max": 0.8229246854659876,
    "ax_avg": 0.06833868186834696,
    "a_std": 0.15428415614289828,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dd07f89bea6f5147",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      77.33141640985279,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dd07f89bea6f5147",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "684a977a365b5e73": {
    "vx_ego": [
      0.22903329308351125,
      0.7516335492720337,
      1.3205020361340396,
      1.8940854195370502,
      2.391808974601716,
      2.82037132218339,
      3.1510258512719767,
      3.4268224888171033,
      3.7257107446131648,
      4.0395344575042405
    ],
    "vy_ego": [
      0.005844861711575762,
      0.004046004745517589,
      0.007429946510556356,
      0.007873831712726768,
      -0.003715489732685151,
      -0.01822098092848353,
      -0.019725830489710446,
      -0.0011723470219799428,
      0.01908211186336993,
      0.02718059399558973
    ],
    "v_ego": [
      0.22910786051356904,
      0.7516444389108958,
      1.3205229386645634,
      1.894101785472123,
      2.3918118604625374,
      2.82043017980245,
      3.1510875937956397,
      3.4268226893523663,
      3.7257596110751896,
      4.03962590075542
    ],
    "ax_ego": [
      1.045194142673012,
      1.0451920146774487,
      1.2302746028429243,
      1.0640394924138623,
      0.9268435568868385,
      0.7874539141518719,
      0.5351826536712109,
      0.5680034482149294,
      0.627531543412638,
      0.6275890587359744
    ],
    "ay_ego": [
      -0.002491002721478312,
      -0.0032604788279297255,
      0.01933894384318767,
      -0.01491383358766954,
      -0.02392690643704485,
      -0.022743452172032073,
      0.01902747813914557,
      0.055091846836883396,
      0.03131687008957015,
      0.030142387105393905
    ],
    "a_ego": [
      1.0451971110620863,
      1.0451971002005753,
      1.2304265899066409,
      1.064144005221394,
      0.9271523476723194,
      0.7877822868850284,
      0.5355207911135617,
      0.5706689309678149,
      0.6283124893952488,
      0.6283124940230917
    ],
    "yaw": [
      1.556031977187775,
      1.5567681817204562,
      1.5573957395689477,
      1.5578025956740253,
      1.5586725269009447,
      1.5597542442726888,
      1.5599450997718454,
      1.559937899116893,
      1.5603155357957057,
      1.562187039826338
    ],
    "yaw_diff": [
      0.001472409065362168,
      0.0012551156969831112,
      0.0008137122101552485,
      0.0017398624538387253,
      0.002163434743488235,
      0.0003817109983130784,
      -1.4401309904599202e-05,
      0.0007552733576252635,
      0.0037430080612645966,
      0.0037430080612645966
    ],
    "min_front_frame": [
      0,
      12.0308307754738
    ],
    "v_avg": 2.3750914858804757,
    "v_std": 1.2282583505573825,
    "vy_max": 0.02718059399558973,
    "a_max": 1.2304265899066409,
    "ax_avg": 0.8457304427680711,
    "a_std": 0.23487956319695977,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "684a977a365b5e73",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.8730474264184105,
    "right_rear_min": 47.46538714855689,
    "speed_mode": "accelerating",
    "front_frame": [
      12.0308307754738,
      12.425748942039048,
      12.808357869908887,
      12.878649533917509,
      12.764489210570583,
      12.4948772500467,
      12.371752988072814,
      12.754558946058298,
      13.41247605217658,
      14.4064769175307
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "684a977a365b5e73",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "37b96c1d86665204": {
    "vx_ego": [
      7.225461948941036,
      6.673639965428699,
      6.234132310089178,
      5.95210817086699,
      5.776947572646225,
      5.682365408818175,
      5.65773155378146,
      5.701535159351291,
      5.859460477732748,
      6.185349618040062
    ],
    "vy_ego": [
      0.051701626194878614,
      -0.04871481433011626,
      0.0013077615355225891,
      0.02499814027216951,
      0.03082822217714143,
      0.016286243270637213,
      0.06259815549333192,
      0.08574505091747398,
      0.1126879159973222,
      0.057340116886922754
    ],
    "v_ego": [
      7.225646921469799,
      6.673817762068603,
      6.23413244725664,
      5.952160665230624,
      5.777029828240956,
      5.682388747793767,
      5.658077841787398,
      5.702179880280505,
      5.860543972748938,
      6.18561539269885
    ],
    "ax_ego": [
      -1.1396975897440624,
      -1.0647477315301301,
      -0.6849897864118389,
      -0.43529150145986073,
      -0.23914239126499864,
      -0.10427174733502753,
      0.05299044501166683,
      0.18121092183968524,
      0.5165125137871162,
      0.8323315777752502
    ],
    "ay_ego": [
      -1.0886079486611,
      -1.16201984830598,
      -1.500143792092004,
      -1.5167224970767197,
      -1.6743485904713662,
      -1.935202095188593,
      -2.1230326674952535,
      -2.1428620089791566,
      -2.0533580463040826,
      -1.9468663549803298
    ],
    "a_ego": [
      1.5760640411977407,
      1.576064040467776,
      1.6491338346055224,
      1.5779498801868896,
      1.6913403813879075,
      1.9380092225050478,
      2.123693879662167,
      2.150510401676815,
      2.117324831767767,
      2.117324835615979
    ],
    "yaw": [
      -2.920438670725921,
      -2.9870175780307893,
      -3.098596485970906,
      3.0564374122143256,
      2.919051759684482,
      2.7639499762306263,
      2.5767468844324553,
      2.3849471333974597,
      2.197991295702206,
      2.040417475018825
    ],
    "yaw_diff": [
      -0.13315781460973675,
      -0.2231578158802332,
      -0.25630281798871124,
      -0.27477130505968717,
      -0.31020356690771145,
      -0.37440618359634215,
      -0.38359950206999116,
      -0.3739116753905076,
      -0.315147641366762,
      -0.315147641366762
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.095159345957608,
    "v_std": 0.483000579163055,
    "vy_max": 0.1126879159973222,
    "a_max": 2.150510401676815,
    "ax_avg": -0.20850952893322003,
    "a_std": 0.2460626844166684,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "37b96c1d86665204",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "37b96c1d86665204",
    "pedestrians": "No"
  },
  "aef33fdade585ab3": {
    "vx_ego": [
      7.694139422156085,
      7.488185066840014,
      7.292804834980933,
      7.0668466967551,
      6.710896350450195,
      6.145222436994276,
      5.417461299158542,
      4.754545756093689,
      4.326713489990338,
      4.028354704114213
    ],
    "vy_ego": [
      -0.07690063854694973,
      -0.03441176364759713,
      -0.03629083288906987,
      -0.03275000996171862,
      -0.023819317992229472,
      -0.0029211758735772086,
      -0.007853805574483452,
      -0.025619552944076585,
      -0.026107941385869804,
      -0.019420071833511132
    ],
    "v_ego": [
      7.694523712081555,
      7.488264135614016,
      7.292895130582439,
      7.066922583316656,
      6.710938621861726,
      6.145223131295262,
      5.417466992067654,
      4.754614780219483,
      4.326792258598485,
      4.028401514416001
    ],
    "ax_ego": [
      -0.41266648123814254,
      -0.4125813988455827,
      -0.3692367725382359,
      -0.5352887624029361,
      -0.8889226331534761,
      -1.3739052008960644,
      -1.5370666544217815,
      -1.1149253551343286,
      -0.5969631359527696,
      -0.5968629167291454
    ],
    "ay_ego": [
      -0.011829220164585735,
      -0.014496476801909769,
      -0.07042367518585277,
      -0.05001730916529165,
      0.004851022720684495,
      0.02458168106164227,
      -0.0909139515940951,
      -0.061454675120430124,
      -0.02171308126809146,
      -0.02431280218512233
    ],
    "a_ego": [
      0.4128359906635715,
      0.41283599469165244,
      0.37589265518381104,
      0.5376204891659202,
      0.8889358695394994,
      1.3741250889540848,
      1.539752982374063,
      1.1166177611947459,
      0.5973578856805354,
      0.5973578941610428
    ],
    "yaw": [
      -0.704759175388242,
      -0.7112232970815288,
      -0.7138435752363212,
      -0.7185169478954798,
      -0.721433726317757,
      -0.7235204303265133,
      -0.7255285239631919,
      -0.7295669556017098,
      -0.7341031572128521,
      -0.7384584453632379
    ],
    "yaw_diff": [
      -0.012928243386573612,
      -0.005240556309584976,
      -0.00934674531831714,
      -0.005833556844554444,
      -0.0041734080175124255,
      -0.004016187273357286,
      -0.008076863277035828,
      -0.009072403222284642,
      -0.008710576300771544,
      -0.008710576300771544
    ],
    "min_front_frame": [
      9,
      14.970906344988718
    ],
    "v_avg": 6.092604286005328,
    "v_std": 1.300544658783784,
    "vy_max": 0.07690063854694973,
    "a_max": 1.539752982374063,
    "ax_avg": -0.7838419311312463,
    "a_std": 0.4016825849262039,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aef33fdade585ab3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 16.96628812147351,
    "speed_mode": "decelerating",
    "front_frame": [
      20.668145028113337,
      20.09975114898942,
      19.251606739099557,
      18.280410275367874,
      17.337457997589876,
      16.419853340916355,
      15.724206845671999,
      15.378736545787154,
      15.120816125638525,
      14.970906344988718
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aef33fdade585ab3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "98b3a0bf3cce5649": {
    "vx_ego": [
      4.792360577412655,
      4.710935273405421,
      4.6875072911026345,
      4.741018199909291,
      4.9324436992738026,
      5.238216232772665,
      5.581143725131246,
      5.943516339277525,
      6.3052747558453595,
      6.669579841567492
    ],
    "vy_ego": [
      0.04011896317991104,
      0.045851641409597854,
      0.03696053529920018,
      -0.003498477084241003,
      0.02213649301179199,
      0.024761025757491506,
      0.01954283517074895,
      -0.04288251861843895,
      0.026784813810622143,
      0.07513920443673028
    ],
    "v_ego": [
      4.792528501234561,
      4.711158405661538,
      4.687653003935974,
      4.741019490701662,
      4.932493372608695,
      5.238274755077249,
      5.581177940451137,
      5.943671036124221,
      6.3053316465473594,
      6.670003085687955
    ],
    "ax_ego": [
      -0.25502710365120856,
      -0.0916786437386981,
      -0.01238306423308283,
      0.21740646446229384,
      0.5554965585413087,
      0.6376305648319227,
      0.7068211988665226,
      0.7168058823776893,
      0.7293075059718238,
      0.7292297504461984
    ],
    "ay_ego": [
      1.2376630315728208,
      1.260334727367103,
      1.4501950112815727,
      1.4744972258069402,
      1.6407286292391217,
      1.4309140691630653,
      1.1565928562685959,
      0.40521474674475294,
      0.009512347963669399,
      0.014279353459764166
    ],
    "a_ego": [
      1.2636647511578178,
      1.2636647493402977,
      1.4502478791660967,
      1.4904387406741537,
      1.732214438617842,
      1.566552843199577,
      1.3554715940729474,
      0.8234134222798849,
      0.7293695380468147,
      0.7293695420505669
    ],
    "yaw": [
      1.6434535617167878,
      1.7740511302067792,
      1.9201923208732594,
      2.08450536697854,
      2.2412752214471956,
      2.3917838755359986,
      2.5123727957117956,
      2.590942109559108,
      2.596497438661343,
      2.5899607563519864
    ],
    "yaw_diff": [
      0.26119513697998276,
      0.2922823813329605,
      0.32862609221056127,
      0.3135397089373111,
      0.30101730817760597,
      0.24117784035159406,
      0.15713862769462494,
      0.011110658204469992,
      -0.013073364618713335,
      -0.013073364618713335
    ],
    "min_front_frame": [
      6,
      34.25235867325073
    ],
    "v_avg": 5.360331123803035,
    "v_std": 0.6910235952538824,
    "vy_max": 0.07513920443673028,
    "a_max": 1.732214438617842,
    "ax_avg": 0.393360911387477,
    "a_std": 0.3413676381481822,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "98b3a0bf3cce5649",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      36.96841996065568,
      34.25235867325073,
      54.10561654976416,
      57.49871861908682,
      54.22365315517843
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "98b3a0bf3cce5649",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "893455c02e16508b": {
    "vx_ego": [
      3.0322230091154165,
      3.681905533388174,
      4.296998523574771,
      4.8379865067482015,
      5.322878076003773,
      5.678900148794098,
      5.889255502617395,
      6.129094582918441,
      6.417468381666147,
      6.691688487574855
    ],
    "vy_ego": [
      0.023685364587977098,
      0.012733961005512606,
      0.016243996609917488,
      0.04311714958494006,
      0.0825555613353175,
      0.10671981736608727,
      0.09196465066116577,
      0.04978702814933644,
      0.02293188376477806,
      0.004340300296926891
    ],
    "v_ego": [
      3.0323155135151447,
      3.6819275536812706,
      4.29702922715562,
      4.8381786374694755,
      5.323518238224513,
      5.679902817777104,
      5.8899735035126,
      6.12929679119327,
      6.417509353400096,
      6.691689895157166
    ],
    "ax_ego": [
      1.2993622084890157,
      1.2993598869301204,
      1.160985828024022,
      1.0028332333004826,
      0.9369012674269808,
      0.48675186458192804,
      0.35435848095118866,
      0.6050092649273409,
      0.5483357022813726,
      0.5483585682175292
    ],
    "ay_ego": [
      -0.021094303825792693,
      -0.02123697110321432,
      0.05860794588016599,
      0.07050463818792596,
      0.07354337092689339,
      0.04782736346154676,
      -0.09139170588436515,
      -0.07830450135197292,
      0.007733468321264286,
      0.005893127340659415
    ],
    "a_ego": [
      1.2995334233883125,
      1.2995334257743023,
      1.1624641861979732,
      1.005308608248189,
      0.9397832794392404,
      0.48909593575255406,
      0.3659540639567871,
      0.6100555758124848,
      0.548390234166038,
      0.5483902335813721
    ],
    "yaw": [
      -0.5853978628926091,
      -0.5852880684622066,
      -0.5838323470448052,
      -0.5826540851831131,
      -0.5833274249414397,
      -0.5822156280646891,
      -0.5815494785720412,
      -0.5815907017122489,
      -0.5801238464501094,
      -0.5767676856365205
    ],
    "yaw_diff": [
      0.00021958886080497564,
      0.0029114428348027133,
      0.0023565237233842407,
      -0.0013466795166532375,
      0.0022235937535013406,
      0.0013322989852957434,
      -8.24462804154269e-05,
      0.002933710524279043,
      0.006712321627177831,
      0.006712321627177831
    ],
    "min_front_frame": [
      8,
      22.280200326887247
    ],
    "v_avg": 5.198134153108626,
    "v_std": 1.150752939889984,
    "vy_max": 0.10671981736608727,
    "a_max": 1.2995334257743023,
    "ax_avg": 0.8242256305129981,
    "a_std": 0.3365531011620203,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "893455c02e16508b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.92159946753948,
    "right_rear_min": 5.470617112647838,
    "speed_mode": "accelerating",
    "front_frame": [
      51.8568084947586,
      50.1835132429511,
      48.21631780414843,
      45.965370208762224,
      43.450523574140156,
      40.774783670479344,
      44.20905731347855,
      52.27388308239651,
      22.280200326887247,
      24.735796530018906
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "893455c02e16508b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "67b05cf704325e6b": {
    "vx_ego": [
      9.31812196551331,
      9.469912998821943,
      9.630863906406066,
      9.765290746647304,
      9.829335809218927,
      9.783987318843188,
      9.621685906939783,
      9.427390929159998,
      9.238903694842447,
      9.045017372951627
    ],
    "vy_ego": [
      0.01514175407583096,
      -0.023240453787878756,
      -0.013926626266235864,
      -0.03932365315884567,
      -0.00538260867705187,
      0.00523835713791776,
      0.018915291273699175,
      0.0006467015167688217,
      -0.02165830358322829,
      -0.013615061258803074
    ],
    "v_ego": [
      9.318134268022657,
      9.469941516395394,
      9.630873975638673,
      9.765369922140852,
      9.829337282994702,
      9.783988721154058,
      9.621704499726004,
      9.427390951341259,
      9.238929081050873,
      9.045027620018073
    ],
    "ax_ego": [
      0.3014140887004977,
      0.30599005398795603,
      0.33771773216429696,
      0.20092786848589095,
      0.055232801747148674,
      -0.23663310316623454,
      -0.4123430625635684,
      -0.3659738943053245,
      -0.38795645764297554,
      -0.38781587369479686
    ],
    "ay_ego": [
      0.26002297211587966,
      0.25462224380286347,
      0.08146140216687259,
      0.11397153249613802,
      -0.0030824948923585463,
      0.03134556577804082,
      0.21915225569394575,
      0.02075052401355479,
      -0.042657543350982846,
      -0.04391712948959231
    ],
    "a_ego": [
      0.3980733586854652,
      0.3980733602977686,
      0.3474035501562826,
      0.23100112240809942,
      0.05531875056073886,
      0.23870016759111687,
      0.46696307393630976,
      0.3665616940705097,
      0.3902946054349546,
      0.39029458893541463
    ],
    "yaw": [
      0.9871381437631459,
      1.0049206614951083,
      1.0127462845054211,
      1.0203894707389685,
      1.0197559046896338,
      1.0193947197507238,
      1.024427976779224,
      1.0326479540806925,
      1.034450485844462,
      1.031203158165302
    ],
    "yaw_diff": [
      0.035565035463924755,
      0.01565124602062573,
      0.015286372467094633,
      -0.0012671320986692436,
      -0.0007223698778200394,
      0.010066514057000209,
      0.016439954602937235,
      0.0036050635275390874,
      -0.006494655358320056,
      -0.006494655358320056
    ],
    "min_front_frame": [
      4,
      75.41857283420566
    ],
    "v_avg": 9.513069783848255,
    "v_std": 0.24579956217688229,
    "vy_max": 0.03932365315884567,
    "a_max": 0.46696307393630976,
    "ax_avg": -0.058943984628710956,
    "a_std": 0.11423379911844675,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "67b05cf704325e6b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      79.50604414812844,
      75.41857283420566,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "67b05cf704325e6b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9f105aba36355fe1": {
    "vx_ego": [
      9.935231136763118,
      9.922780284541098,
      9.868046221494954,
      9.768491478936294,
      9.6849256099189,
      9.570735041593702,
      9.352102617416135,
      8.952399968461805,
      8.324269236701678,
      7.593458402152962
    ],
    "vy_ego": [
      -0.02377333155012451,
      0.017126025528004796,
      0.035134586803947876,
      0.013307040720791363,
      -0.003709348111228472,
      0.01165282000911283,
      0.00453691375176124,
      -0.012235835290229424,
      -0.03684304391873594,
      -0.07277245588898884
    ],
    "v_ego": [
      9.935259579507742,
      9.922795063691877,
      9.868108768591412,
      9.768500542631081,
      9.684926320263173,
      9.570742135519259,
      9.35210371789514,
      8.952408330219315,
      8.324350769578558,
      7.593807104184536
    ],
    "ax_ego": [
      -0.02487232901637458,
      -0.024955786407852766,
      -0.19379704486920035,
      -0.2038228059278121,
      -0.1306378269987307,
      -0.3250217833043988,
      -0.5495724069392889,
      -1.0488122782637188,
      -1.4651102299456051,
      -1.4610382598274854
    ],
    "ay_ego": [
      0.04484504725578808,
      0.04479864870122536,
      -0.024955190197873345,
      -0.19258360616742665,
      -0.07880841543184525,
      -0.25984198468837755,
      -0.18327504697354693,
      -0.29114934870361886,
      -0.2828696783543697,
      -0.30320033669145474
    ],
    "a_ego": [
      0.051280708010641336,
      0.05128070007995376,
      0.19539717530672465,
      0.2804143034524756,
      0.15256804444518712,
      0.41612139650487406,
      0.5793268277166174,
      1.0884737655484737,
      1.4921672965266224,
      1.492167296535324
    ],
    "yaw": [
      -0.5400289930523472,
      -0.5418910531316217,
      -0.5432068063434885,
      -0.5465223566457964,
      -0.551753247388722,
      -0.5621161298035324,
      -0.573040040888288,
      -0.584091165119782,
      -0.5977724773455998,
      -0.6116681025066206
    ],
    "yaw_diff": [
      -0.003724120158548949,
      -0.002631506423733665,
      -0.006631100604615803,
      -0.010461781485851196,
      -0.020725764829620852,
      -0.02184782216951109,
      -0.022102248462988028,
      -0.02736262445163562,
      -0.02779125032204166,
      -0.02779125032204166
    ],
    "min_front_frame": [
      8,
      54.46397101869037
    ],
    "v_avg": 9.297300233208208,
    "v_std": 0.7444182849415709,
    "vy_max": 0.07277245588898884,
    "a_max": 1.492167296535324,
    "ax_avg": -0.5427640751500468,
    "a_std": 0.5411984567804464,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9f105aba36355fe1",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 29.42450692824379,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      55.06380696637469,
      54.6241883958684,
      54.46397101869037,
      54.76615919337237
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9f105aba36355fe1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ada00fe35a595d6b": {
    "vx_ego": [
      4.360837737875404,
      4.089563708113537,
      3.8518869052957605,
      3.774205294902148,
      4.012922724502151,
      4.538065192901577,
      5.1552736238089345,
      5.626684042986083,
      5.77723226247962,
      5.748487671252812
    ],
    "vy_ego": [
      0.05491522316171382,
      0.013500329377000853,
      -0.011466503133154893,
      -0.001958702967467696,
      0.014003028467153289,
      0.02428091246104014,
      0.020103550075841525,
      -0.0035733147435119683,
      -0.0066793711872161765,
      0.020823681486809686
    ],
    "v_ego": [
      4.361183492793347,
      4.089585991468161,
      3.8519039723081177,
      3.7742058031570993,
      4.012947156097626,
      4.538130149933425,
      5.155312821649696,
      5.626685177631006,
      5.7772361236697645,
      5.748525387632575
    ],
    "ax_ego": [
      -0.5429437387157463,
      -0.5431067870131939,
      -0.4072969518732448,
      0.09713839798190152,
      0.8574017256983946,
      1.2423370317843492,
      1.2252985677196502,
      0.6600143499554729,
      -0.05758983115417287,
      -0.05744252421810641
    ],
    "ay_ego": [
      -0.024968312751917937,
      -0.021126704203413782,
      0.057474594518238054,
      0.12320391275878587,
      0.11340630005874058,
      0.12151480035640833,
      0.04398965842298186,
      0.01904393161837392,
      0.07698820272622497,
      0.07709817331866375
    ],
    "a_ego": [
      0.5435175434632356,
      0.5435175431670015,
      0.4113321480510272,
      0.15689191337212,
      0.864869185555595,
      1.2482656557193283,
      1.226087953657484,
      0.6602890378301239,
      0.09614453708547592,
      0.09614453659788713
    ],
    "yaw": [
      -0.6471795482199127,
      -0.6401051211545461,
      -0.6314921319471021,
      -0.6219823613253395,
      -0.6106120822616422,
      -0.5991506341086802,
      -0.5897559069435062,
      -0.5825355298957282,
      -0.5778539618436181,
      -0.5759419650584412
    ],
    "yaw_diff": [
      0.014148854130733302,
      0.017225978414888043,
      0.01901954124352523,
      0.022740558127394506,
      0.022922896305924034,
      0.018789454330347954,
      0.014440754095556008,
      0.009363136104220127,
      0.0038239935703539008,
      0.0038239935703539008
    ],
    "min_front_frame": [
      1,
      12.294078084916954
    ],
    "v_avg": 4.693571607634082,
    "v_std": 0.7672999550046838,
    "vy_max": 0.05491522316171382,
    "a_max": 1.2482656557193283,
    "ax_avg": 0.24738102401653045,
    "a_std": 0.4037013008495221,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "ada00fe35a595d6b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      12.42003900940642,
      12.294078084916954,
      12.560242024658162,
      13.100486469481039,
      13.849078009876374,
      14.32450889948955,
      14.427658989754994,
      14.177845793858166,
      13.865188413679423,
      13.56935736697319
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "ada00fe35a595d6b",
    "pedestrians": "No"
  },
  "3151813685fe5b1d": {
    "vx_ego": [
      10.751101861133833,
      10.818150908127024,
      10.920403400935037,
      10.999528789903094,
      10.896024995671912,
      10.746261507832276,
      10.721563805144783,
      10.754626374040633,
      10.75628486894067,
      10.714719725821618
    ],
    "vy_ego": [
      -0.033737366868743734,
      0.025435808273019944,
      0.020655625264467403,
      0.037140707995067856,
      0.03374303984437521,
      0.041082326432249516,
      0.0421893882194766,
      0.03586975436767137,
      0.018113995023462337,
      0.0017588807162409736
    ],
    "v_ego": [
      10.751154795574223,
      10.81818081062394,
      10.920422935674633,
      10.999591493873643,
      10.896077243625113,
      10.7463400352056,
      10.721646812512946,
      10.754686191818372,
      10.756300121259992,
      10.714719870186634
    ],
    "ax_ego": [
      0.13347053455928767,
      0.13481684956220225,
      0.2729258483275738,
      0.043561449646175684,
      -0.4577841651504568,
      -0.14087320432069653,
      0.04240177370507774,
      0.09035549741231445,
      -0.08330121822422593,
      -0.08279323995907881
    ],
    "ay_ego": [
      0.2399387321096697,
      0.2391848572271625,
      0.00380707372357042,
      0.06971802433305499,
      -0.036390772517384734,
      -0.045250392172273134,
      -0.035071162402282356,
      -0.10431162505681703,
      -0.12189028958450217,
      -0.12223590182084576
    ],
    "a_ego": [
      0.2745632509312524,
      0.2745632510964561,
      0.2729523996884118,
      0.08220828919385653,
      0.4592282985475881,
      0.14796235226342283,
      0.05502632865805138,
      0.1380037355821238,
      0.14763582103484882,
      0.1476358231489805
    ],
    "yaw": [
      -0.6215996082481863,
      -0.6159797092132819,
      -0.6099413856689819,
      -0.6097688262117146,
      -0.6087035211473787,
      -0.6112773265670319,
      -0.6132554269601016,
      -0.6159134379169082,
      -0.6195131491545272,
      -0.6236747278377226
    ],
    "yaw_diff": [
      0.011239798069808682,
      0.012076647088600012,
      0.00034511891453470334,
      0.0021306101286717727,
      -0.005147610839306482,
      -0.003956200786139341,
      -0.005316021913613245,
      -0.00719942247523786,
      -0.008323157366390888,
      -0.008323157366390888
    ],
    "min_front_frame": [
      5,
      14.649860329983367
    ],
    "v_avg": 10.80791203103551,
    "v_std": 0.09268981232637945,
    "vy_max": 0.0421893882194766,
    "a_max": 0.4592282985475881,
    "ax_avg": -0.004721987444182655,
    "a_std": 0.11426654614915929,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3151813685fe5b1d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 19.142507487172423,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      14.649860329983367,
      17.298508765262316,
      20.094015402437854,
      22.571429680677937,
      25.104131291409647
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3151813685fe5b1d",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "c856f2dbe8715b80": {
    "vx_ego": [
      0.7817676516492585,
      1.3886580161747137,
      1.955532600727253,
      2.5109394846539845,
      3.153342745470115,
      3.86161751186649,
      4.571201381680527,
      5.244271624738442,
      5.853503501507375,
      6.428965797442833
    ],
    "vy_ego": [
      -0.05474190672938831,
      -0.02238423698992703,
      -0.01148452784263665,
      0.005813916694834553,
      -0.005297625948619156,
      -0.03366571608531477,
      -0.012473112158040478,
      -0.011750884450748122,
      -0.02820199021573866,
      0.014457073004096266
    ],
    "v_ego": [
      0.7836819109291507,
      1.3888384139099526,
      1.9555663238271572,
      2.510946215517519,
      3.1533471954812864,
      3.861764258521418,
      4.571218398895951,
      5.244284789875751,
      5.853571439250676,
      6.42898205252197
    ],
    "ax_ego": [
      1.2140839682409696,
      1.216647708350223,
      1.0534995489744863,
      1.168268439097553,
      1.400677847799417,
      1.4362461257784105,
      1.4038349154309664,
      1.2879335837842198,
      1.1490180959176972,
      1.152070465554531
    ],
    "ay_ego": [
      0.12736552019058384,
      0.09995101912064791,
      0.14373131938221936,
      0.13305783658973164,
      0.07618390565321048,
      0.19732214737888598,
      0.20083090308511375,
      0.004004442031628669,
      -0.16688852877952465,
      -0.14431907863418109
    ],
    "a_ego": [
      1.2207464346346286,
      1.2207464324982094,
      1.0632591367398634,
      1.1758212167116957,
      1.4027481672761453,
      1.4497375499240228,
      1.4181274700875979,
      1.2879398090730982,
      1.161074659866679,
      1.1610746548180495
    ],
    "yaw": [
      -1.9088959743448863,
      -1.8863403474218006,
      -1.8567878718506634,
      -1.833399384846646,
      -1.8107746122841077,
      -1.7831589934138443,
      -1.7645962318249657,
      -1.7543394528036713,
      -1.7586996358703297,
      -1.778315330959654
    ],
    "yaw_diff": [
      0.04511125384617154,
      0.05910495114227432,
      0.0467769740080346,
      0.04524954512507673,
      0.05523123774052685,
      0.03712552317775719,
      0.02051355804258881,
      -0.008720366133316837,
      -0.03923139017864852,
      -0.03923139017864852
    ],
    "min_front_frame": [
      8,
      65.00214272228446
    ],
    "v_avg": 3.575220099873083,
    "v_std": 1.83580019483723,
    "vy_max": 0.05474190672938831,
    "a_max": 1.4497375499240228,
    "ax_avg": 1.2482280698928474,
    "a_std": 0.12266193990874931,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "c856f2dbe8715b80",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      72.33679522467446,
      70.22514195009589,
      67.75237335272158,
      65.00214272228446,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "c856f2dbe8715b80",
    "maneuvering": "Yes"
  },
  "65676c8917335c2c": {
    "vx_ego": [
      10.381381909877511,
      10.561264674498302,
      10.714949298661816,
      10.743668942423193,
      10.664645084120915,
      10.604268959839388,
      10.565986971723696,
      10.484452846573008,
      10.407443927426113,
      10.37722245840932
    ],
    "vy_ego": [
      -0.04316154931973992,
      0.06220154222924501,
      0.07402541792144435,
      0.038619351166580884,
      0.04731599495363836,
      0.02907663196634669,
      -0.015330784222381766,
      -0.0072483482319531944,
      -0.003408260054818868,
      0.1023018404531939
    ],
    "v_ego": [
      10.381471633543663,
      10.561447843769406,
      10.715205002023609,
      10.743738353044215,
      10.664750047405839,
      10.604308823451891,
      10.565998093865991,
      10.484455352118438,
      10.407444485499564,
      10.377726707611588
    ],
    "ax_ego": [
      0.350854915134171,
      0.3676704045542093,
      0.2410925958605539,
      -0.13104247358073057,
      -0.19185751784411165,
      -0.06526847237679095,
      -0.0854191725841501,
      -0.24455356890546653,
      -0.06883515994283373,
      -0.05604138830905031
    ],
    "ay_ego": [
      0.7122832360102309,
      0.7037507013162277,
      0.9270258279929654,
      1.1936101348864092,
      1.300223384509844,
      1.060521755255801,
      1.200272172026971,
      0.9577068729044123,
      0.6314315696968114,
      0.6326953965079503
    ],
    "a_ego": [
      0.7940066622988832,
      0.7940066599142215,
      0.9578635213561604,
      1.2007819468936518,
      1.3143021558148404,
      1.0625282899091417,
      1.2033078251167917,
      0.9884376067677457,
      0.635172501336554,
      0.6351724978035165
    ],
    "yaw": [
      1.759626531161798,
      1.783375547127242,
      1.8205284801340054,
      1.8730010500174585,
      1.9303766018860602,
      1.9876588573418148,
      2.0452200493013475,
      2.095603574555415,
      2.1333432561666106,
      2.1535838341098685
    ],
    "yaw_diff": [
      0.04749803193088775,
      0.07430586601352696,
      0.10494513976690634,
      0.11475110373720332,
      0.11456451091150921,
      0.11512238391906537,
      0.10076705050813484,
      0.07547936322239135,
      0.04048115588651591,
      0.04048115588651591
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.550654634233421,
    "v_std": 0.1280722622756314,
    "vy_max": 0.1023018404531939,
    "a_max": 1.3143021558148404,
    "ax_avg": 0.011660016200580043,
    "a_std": 0.22806634257705455,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "65676c8917335c2c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "65676c8917335c2c",
    "road_shape": "Curve"
  },
  "662d6c1f51815bad": {
    "vx_ego": [
      5.197573098452686,
      5.141451010197236,
      5.062129365868328,
      4.8449754879570905,
      4.437161551086825,
      3.949104096055523,
      3.3946021275211504,
      2.69845251632717,
      1.8873589424166595,
      1.039898358542849
    ],
    "vy_ego": [
      0.07557536324934033,
      0.06725882031196306,
      0.06777181393696124,
      0.04004722640761765,
      0.018018855510585075,
      0.020467872675621723,
      0.013257814523858713,
      -0.009283729056703716,
      -0.02477487592090178,
      -0.023661259455445095
    ],
    "v_ego": [
      5.198122521573469,
      5.141890920582421,
      5.062583010238034,
      4.845140994774868,
      4.437198137293077,
      3.9491571373261882,
      3.394628017002315,
      2.698468486104226,
      1.8875215421279374,
      1.0401675111726618
    ],
    "ax_ego": [
      -0.11144129551748405,
      -0.10818932836911464,
      -0.20566423050776186,
      -0.6623109444040285,
      -0.9686169721712018,
      -0.9828746997461576,
      -1.2346750847825898,
      -1.549779168305932,
      -1.695101223397166,
      -1.695072592143596
    ],
    "ay_ego": [
      -0.19093072074203848,
      -0.19279205029933338,
      -0.11135769863035723,
      -0.06604466786521093,
      -0.07330546068829547,
      -0.075524195104751,
      -0.06363945157168233,
      -0.09773474512786351,
      -0.005116030167868553,
      -0.011101245184213918
    ],
    "a_ego": [
      0.22107397510717877,
      0.22107398180604793,
      0.2338767041725175,
      0.6655957370887994,
      0.9713869102190074,
      0.985772072766986,
      1.236314096327968,
      1.55285786565295,
      1.695108943793067,
      1.6951089434844742
    ],
    "yaw": [
      0.10022365348853085,
      0.08327448332288052,
      0.06830589139850445,
      0.06498775093392409,
      0.062250376969449184,
      0.052796995428611465,
      0.04534944515730982,
      0.039580669938534215,
      0.03515781749479113,
      0.03162690303138299
    ],
    "yaw_diff": [
      -0.03389834033130065,
      -0.029937183848752158,
      -0.006636280929160715,
      -0.005474747928949808,
      -0.018906763081675437,
      -0.01489510054260329,
      -0.011537550437551211,
      -0.008845704887486164,
      -0.007061828926816283,
      -0.007061828926816283
    ],
    "min_front_frame": [
      0,
      12.837913203201504
    ],
    "v_avg": 3.76548782781952,
    "v_std": 1.3967877126173747,
    "vy_max": 0.07557536324934033,
    "a_max": 1.695108943793067,
    "ax_avg": -0.9213725539345031,
    "a_std": 0.5669093468924666,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "662d6c1f51815bad",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.606924328340416,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.837913203201504,
      12.937710734956228,
      12.967598258443566,
      12.93974235421045,
      12.926111217492005,
      13.119792646239542,
      13.491471568829338,
      14.143901749257227,
      15.349083254018216,
      17.05756266078554
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "662d6c1f51815bad",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f6eec3b743985122": {
    "vx_ego": [
      4.104527106127041,
      3.6074124064638133,
      3.128102370628839,
      2.6302661804051217,
      2.1039392985771794,
      1.598943755887892,
      1.1462325300144907,
      0.7690853283298281,
      0.4682253946358075,
      0.206826585207878
    ],
    "vy_ego": [
      -0.02393566999980523,
      -0.019086555334845157,
      -0.0048558819649073826,
      0.014094862863999191,
      -0.0017113129309195285,
      -0.020463918723365504,
      -0.009292531098315848,
      0.00451377166444511,
      -0.0018065122311935189,
      -0.012764728719131993
    ],
    "v_ego": [
      4.104596896313932,
      3.607462898894955,
      3.128106139619214,
      2.6303039453534836,
      2.103939994555306,
      1.5990747032150798,
      1.1462701967676003,
      0.7690985739076872,
      0.4682288795752555,
      0.20722011159157466
    ],
    "ax_ego": [
      -0.994212307843756,
      -0.9942060634722122,
      -0.922979344934437,
      -1.068349193044881,
      -1.0370999827922,
      -0.9827931343439006,
      -0.8279401241564336,
      -0.6806522690713035,
      -0.5227924193985857,
      -0.5227968680141268
    ],
    "ay_ego": [
      0.013077192418691486,
      0.013542819859346023,
      0.054160011265103836,
      0.016601450317971278,
      -0.058304294928948563,
      -0.007300878805922839,
      0.058523954171175674,
      -0.002655287131097306,
      -0.021832097717871313,
      -0.021725515377499838
    ],
    "a_ego": [
      0.9942983083710658,
      0.9942982976022111,
      0.9245670219058425,
      1.0684781731192774,
      1.0387375824118157,
      0.9828202520017824,
      0.8300059652797687,
      0.6806574483113094,
      0.5232480810011532,
      0.5232480895558036
    ],
    "yaw": [
      -2.0293071290725297,
      -2.0288387936837657,
      -2.028036426919045,
      -2.0284714375016675,
      -2.0261946646486346,
      -2.0249200016420903,
      -2.0237122408745383,
      -2.02354097287048,
      -2.023209650583155,
      -2.0230057749481514
    ],
    "yaw_diff": [
      0.0009366707775280148,
      0.001604733529441127,
      -0.0008700211652445944,
      0.004553545706065698,
      0.0025493260130886597,
      0.002415521535104048,
      0.0003425360081168449,
      0.0006626445746498177,
      0.0004077512700071395,
      0.0004077512700071395
    ],
    "min_front_frame": [
      9,
      10.554933873610572
    ],
    "v_avg": 1.9764302339794089,
    "v_std": 1.2904850352395663,
    "vy_max": 0.02393566999980523,
    "a_max": 1.0684781731192774,
    "ax_avg": -0.8553821707071837,
    "a_std": 0.19759706803952504,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f6eec3b743985122",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.822538994288446,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.278772848814334,
      17.353189266092627,
      15.697510796205412,
      14.256412091479572,
      13.0674287804848,
      12.153252378339639,
      11.489049426879435,
      11.011929601424022,
      10.694036049719697,
      10.554933873610572
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f6eec3b743985122",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f790e64181a15f5a": {
    "vx_ego": [
      3.1496321676158963,
      3.194608697723214,
      3.267213672416398,
      3.3169522732766,
      3.2514431917247184,
      3.1328487958119804,
      2.996091848776298,
      2.7851174858907393,
      2.481313104449936,
      2.1302758002705513
    ],
    "vy_ego": [
      0.0026883052881676583,
      0.003470334337696168,
      -0.011049267162914655,
      -0.00737161701291511,
      0.0048919243663286816,
      0.008894156020337274,
      0.0023101791685786743,
      -0.006169629991822578,
      -0.00739408283668852,
      -0.045081865770265184
    ],
    "v_ego": [
      3.1496333148901843,
      3.194610582651542,
      3.267232355913715,
      3.316960464632069,
      3.2514468717690943,
      3.1328614210385832,
      2.9960927394243932,
      2.7851243194063326,
      2.4813241212658967,
      2.1307527683519893
    ],
    "ax_ego": [
      0.07479935654367517,
      0.10574786308618966,
      0.18187762439780455,
      0.013548257714479608,
      -0.2771368734440805,
      -0.19587204392865398,
      -0.34801344608048473,
      -0.49387099682456564,
      -0.7237810845620203,
      -0.6866060716777297
    ],
    "ay_ego": [
      -0.4452165225612333,
      -0.43889643997252276,
      -0.37377657887540494,
      -0.31440499333479843,
      -0.25796776457631393,
      -0.2672026033479515,
      -0.35292573639287883,
      -0.4308355522241639,
      -0.42409843503488703,
      -0.48196539501662705
    ],
    "a_ego": [
      0.45145619466440484,
      0.45145619451708685,
      0.41567824236107265,
      0.31469676693755944,
      0.37861882439052186,
      0.3313051294935097,
      0.4956510204380399,
      0.6553837307751775,
      0.8388793363582242,
      0.8388793355770883
    ],
    "yaw": [
      -0.08980873075715085,
      -0.159790457627267,
      -0.2183348987789516,
      -0.2713609428400598,
      -0.31813909047634903,
      -0.3606516488971506,
      -0.4087852709240282,
      -0.47320815961047846,
      -0.5529977744580143,
      -0.6350100392439002
    ],
    "yaw_diff": [
      -0.13996345374023234,
      -0.11708888230336917,
      -0.10605208812221639,
      -0.09355629527257847,
      -0.08502511684160319,
      -0.0962672440537552,
      -0.12884577737290048,
      -0.15957922969507177,
      -0.16402452957177172,
      -0.16402452957177172
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.97060389593438,
    "v_std": 0.3708340727167042,
    "vy_max": 0.045081865770265184,
    "a_max": 0.8388793363582242,
    "ax_avg": -0.23493074147753856,
    "a_std": 0.1844545093062678,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "f790e64181a15f5a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "f790e64181a15f5a",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "8a249b6f42f35ca2": {
    "vx_ego": [
      0.9678267052517078,
      1.4315764676340603,
      1.8635549451077438,
      2.231157579692212,
      2.4547783486673196,
      2.5172811693012065,
      2.4339073391237362,
      2.315718031980313,
      2.2434431712769785,
      2.1558001873361152
    ],
    "vy_ego": [
      0.005960758790395815,
      -0.0027262898874088615,
      -0.008424154799571926,
      -0.004993853428623796,
      -0.005030076433935493,
      -0.018007929470190698,
      -0.022701373539342873,
      0.002082777150020698,
      0.014223157895750571,
      -0.0003719898150187362
    ],
    "v_ego": [
      0.9678450609698503,
      1.4315790636008072,
      1.8635739856039022,
      2.231163168392235,
      2.4547835022165976,
      2.5173455803370053,
      2.4340132061681503,
      2.3157189686141604,
      2.2434882573728423,
      2.1558002194300965
    ],
    "ax_ego": [
      0.9274832814176233,
      0.9275266943212077,
      0.8003455833954773,
      0.6700062222293031,
      0.22447469573617557,
      0.025476190162314498,
      -0.35919611937580587,
      -0.1136395233239881,
      -0.17529941034155455,
      -0.17520750570186772
    ],
    "ay_ego": [
      -0.023001322583724504,
      -0.02117840644220692,
      -0.011897380165725169,
      0.01332682536645996,
      -0.01851849457257035,
      -0.05531312266056059,
      0.017276944826434132,
      0.07106697255061191,
      -0.03923716660884241,
      -0.03964554175816029
    ],
    "a_ego": [
      0.927768450719145,
      0.9277684482551982,
      0.8004340075955386,
      0.6701387483949353,
      0.22523726083195675,
      0.06089809359617616,
      0.3596113805167654,
      0.13403154796096575,
      0.17963696309386545,
      0.17963696455787723
    ],
    "yaw": [
      -2.1158404364283045,
      -2.1178058364392145,
      -2.11935145634474,
      -2.120840537534855,
      -2.121366537886125,
      -2.123549038362186,
      -2.125457205435265,
      -2.12660824470274,
      -2.1284370169581424,
      -2.1307672142969887
    ],
    "yaw_diff": [
      -0.003930800021819891,
      -0.003091239811051416,
      -0.002978162380229854,
      -0.001052000702539857,
      -0.004365000952121889,
      -0.00381633414615834,
      -0.002302078534949459,
      -0.003657544510804911,
      -0.004660394677692636,
      -0.004660394677692636
    ],
    "min_front_frame": [
      9,
      10.812385760858458
    ],
    "v_avg": 2.061531101270565,
    "v_std": 0.47631024933308186,
    "vy_max": 0.022701373539342873,
    "a_max": 0.927768450719145,
    "ax_avg": 0.2751970108518885,
    "a_std": 0.3292090772858109,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8a249b6f42f35ca2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.009483033480794,
    "right_rear_min": 37.8685171782459,
    "speed_mode": "accelerating",
    "front_frame": [
      11.027562981698079,
      11.5476057621863,
      11.882445278095926,
      12.083351844649316,
      12.012612009399009,
      11.777701461933354,
      11.430955508683185,
      11.055065311209717,
      10.861576853278896,
      10.812385760858458
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8a249b6f42f35ca2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2a79320a3e3b5239": {
    "vx_ego": [
      4.762145196736792,
      4.085793696071947,
      3.3617827360362433,
      2.5662529306208968,
      1.7787482577340823,
      1.084411514188017,
      0.49596717356463643,
      0.0788254911816995,
      -0.08314360541488605,
      -0.1166417155544955
    ],
    "vy_ego": [
      0.14732488157236273,
      0.1255430758762689,
      0.10165099518527748,
      0.05820920401694893,
      0.028310824169046817,
      0.021835310722729772,
      0.012224936028573172,
      0.02315698288188269,
      0.020439557130349326,
      -0.010632774116846622
    ],
    "v_ego": [
      4.764423521847486,
      4.087722005073454,
      3.363319207142475,
      2.5669130128137625,
      1.778973543130185,
      1.0846313257959619,
      0.4961178149538645,
      0.08215658169756088,
      0.08561912529961448,
      0.11712534180490455
    ],
    "ax_ego": [
      -1.3524208336588492,
      -1.352359358351415,
      -1.5429033515511312,
      -1.6387850027766122,
      -1.5111908203522204,
      -1.2660119924224884,
      -1.087739914187476,
      -0.580821766526101,
      -0.06698994977061687,
      -0.0670082727897788
    ],
    "ay_ego": [
      -0.052921310477685404,
      -0.05446997274537092,
      -0.06653114493416032,
      -0.12199836266994321,
      -0.0008838933995409769,
      -0.03199229582405785,
      -0.007845153708913396,
      0.05146298693594045,
      -0.06221342947263625,
      -0.062193680004020827
    ],
    "a_ego": [
      1.3534558642294814,
      1.3534558773936933,
      1.5443371217043136,
      1.6433197758865095,
      1.5111910788462057,
      1.2664161527513982,
      1.0877682047905675,
      0.5830972161611384,
      0.09142299588733928,
      0.09142298646791162
    ],
    "yaw": [
      1.5622839279320768,
      1.5611387970637778,
      1.5594421945928905,
      1.5582020796285967,
      1.557820829810044,
      1.5565762771771303,
      1.556121809438538,
      1.555998661301155,
      1.5555495653924645,
      1.5558443484504214
    ],
    "yaw_diff": [
      -0.002290261736598076,
      -0.0033932049417746413,
      -0.0024802299285875407,
      -0.000762499637105396,
      -0.0024891052658273516,
      -0.0009089354771845137,
      -0.0002462962747662445,
      -0.0008981918173809333,
      0.0005895661159138754,
      0.0005895661159138754
    ],
    "min_front_frame": [
      7,
      11.053158357316843
    ],
    "v_avg": 1.8427001479559268,
    "v_std": 1.6724182009476392,
    "vy_max": 0.14732488157236273,
    "a_max": 1.6433197758865095,
    "ax_avg": -1.046623126238669,
    "a_std": 0.556524845378098,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2a79320a3e3b5239",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.684046292215562,
    "right_rear_min": 46.27476890788003,
    "speed_mode": "decelerating",
    "front_frame": [
      18.99473096417799,
      16.73093131378089,
      14.871131234856618,
      13.416883264269277,
      12.310111523884201,
      11.561489414759139,
      11.161267202777742,
      11.053158357316843,
      11.117706627225555,
      11.128648580469285
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2a79320a3e3b5239",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dfb6fbca92bb5183": {
    "vx_ego": [
      7.143977739760373,
      7.181096314875357,
      7.251876524915908,
      7.340117289412304,
      7.405920343520361,
      7.472464312413467,
      7.549213473125438,
      7.637569580990928,
      7.719186950709424,
      7.783518170666779
    ],
    "vy_ego": [
      0.019171535856227884,
      0.025219086173211114,
      0.009620808716516493,
      0.0010085355078811586,
      0.013700800650390144,
      0.026476465239798408,
      0.017302074072216622,
      0.014094445363266872,
      0.02628125761319766,
      0.02945898122181534
    ],
    "v_ego": [
      7.144003464023434,
      7.181140597831506,
      7.251882906706836,
      7.340117358698926,
      7.405933016609534,
      7.472511218024665,
      7.549233300447526,
      7.637582585993296,
      7.719231690039131,
      7.783573918494932
    ],
    "ax_ego": [
      0.07003544619234714,
      0.07656442694383431,
      0.20491199212480696,
      0.14736945705922108,
      0.11462072013150136,
      0.15062513172031144,
      0.15555265410134514,
      0.1978046691005852,
      0.12819439071353333,
      0.12858895522343736
    ],
    "ay_ego": [
      0.3126807678248188,
      0.3111464526180886,
      0.3124142889914729,
      0.29266133391176674,
      0.18092676714944678,
      0.12181227947565709,
      0.017661358175075633,
      0.11530528206452646,
      0.08176307333932181,
      0.08114112740021877
    ],
    "a_ego": [
      0.32042819209751094,
      0.3204281923458955,
      0.3736196093389699,
      0.32767119684364115,
      0.21417844091928137,
      0.19371670484709563,
      0.15655207367058743,
      0.22895850102141221,
      0.15204934058490804,
      0.15204934054849994
    ],
    "yaw": [
      2.9574885739962538,
      2.978419825496598,
      3.0022350765862917,
      3.0241261679994347,
      3.0384546675033652,
      3.0469161778796128,
      3.0527805409660713,
      3.057584005649403,
      3.062407710710435,
      3.067251832026158
    ],
    "yaw_diff": [
      0.04186250300068828,
      0.04763050217938769,
      0.043782182826285876,
      0.028656999007861117,
      0.016923020752495077,
      0.011728726172917092,
      0.009606929366663408,
      0.009647410122063604,
      0.009688242631446187,
      0.009688242631446187
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.448521005686979,
    "v_std": 0.21176929709134712,
    "vy_max": 0.02945898122181534,
    "a_max": 0.3736196093389699,
    "ax_avg": 0.13742678433109234,
    "a_std": 0.07980326215694666,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "dfb6fbca92bb5183",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 11,
    "token": "dfb6fbca92bb5183",
    "smoothness": "No"
  },
  "534efc35151f543d": {
    "vx_ego": [
      4.71603602651403,
      4.05773449354742,
      3.4047051266565376,
      2.7797480097059504,
      2.2271597084857047,
      1.7688551544782256,
      1.366270960919831,
      0.9778050768173641,
      0.596458216003493,
      0.2193496283962229
    ],
    "vy_ego": [
      -0.11126191949951947,
      -0.05907935858683078,
      -0.03476987412139532,
      -0.0561411504587237,
      -0.06266097956618055,
      -0.04706479087320192,
      -0.05088873322962806,
      -0.03715102994229086,
      -0.013840076694122905,
      -0.0009512682320590715
    ],
    "v_ego": [
      4.717348303666898,
      4.058164559346451,
      3.40488266224076,
      2.7803148789730674,
      2.228041015210968,
      1.769481181607797,
      1.3672183446042971,
      0.9785105861847302,
      0.5966187653443099,
      0.21935169110086752
    ],
    "ax_ego": [
      -1.3167269977051843,
      -1.3168237662392768,
      -1.2951929658788681,
      -1.2044574391582568,
      -1.00528951697585,
      -0.8275527002405588,
      -0.7824855545232766,
      -0.7711081693522613,
      -0.7542176665279957,
      -0.7542240846665572
    ],
    "ay_ego": [
      0.09613949428246893,
      0.09480483573535492,
      0.012678695240611049,
      -0.08185555807759404,
      0.07480081779193165,
      0.0037406895788733574,
      -0.009191379516146125,
      0.0700000030425656,
      0.0256675171631075,
      0.025478231342574098
    ],
    "a_ego": [
      1.32023209658249,
      1.3202320963419276,
      1.295255020517235,
      1.2072357081911802,
      1.0080685369973015,
      0.8275611544979414,
      0.7825395354197828,
      0.7742788963078839,
      0.7546542982984019,
      0.7546542984462832
    ],
    "yaw": [
      2.4583061764923535,
      2.4572925948885915,
      2.4579795700496248,
      2.459302910636472,
      2.4612218257686713,
      2.4632661653947325,
      2.4648419527791576,
      2.466092962755404,
      2.466864823692763,
      2.466613855423831
    ],
    "yaw_diff": [
      -0.002027163207523941,
      0.0013739503220664417,
      0.0026466811736947093,
      0.003837830264398434,
      0.004088679252122418,
      0.003151574768850196,
      0.0025020199524927733,
      0.0015437218747180737,
      -0.0005019365378640117,
      -0.0005019365378640117
    ],
    "min_front_frame": [
      9,
      8.92792558928966
    ],
    "v_avg": 2.211993198828015,
    "v_std": 1.429768539459156,
    "vy_max": 0.11126191949951947,
    "a_max": 1.32023209658249,
    "ax_avg": -1.0028078861268086,
    "a_std": 0.2415466409741524,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "534efc35151f543d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.491867921731332,
    "speed_mode": "decelerating",
    "front_frame": [
      18.604586237633118,
      16.419872985691573,
      14.595671657596013,
      13.042428463579299,
      11.832276988049076,
      10.89290624855148,
      10.070305904888476,
      9.495239295262198,
      9.12307533491558,
      8.92792558928966
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "534efc35151f543d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8b788f2715985cee": {
    "vx_ego": [
      0.20033081771296485,
      0.9120692902180313,
      1.611902540385352,
      2.2494163415701363,
      2.821030555267135,
      3.3424178549720494,
      3.840437308279212,
      4.31858686482432,
      4.742683905151978,
      5.144116917306629
    ],
    "vy_ego": [
      0.014030006311623142,
      0.016929581507047875,
      0.020774503380845633,
      0.02125278918880824,
      0.03601334045482596,
      0.05320018995941833,
      0.058645196899939744,
      0.07354760085991652,
      0.08693396055979674,
      0.08506828416786627
    ],
    "v_ego": [
      0.20082150682297287,
      0.9122263978250285,
      1.612036407681747,
      2.2495167389399615,
      2.821260419465299,
      3.3428412133165515,
      3.8408850513836406,
      4.319213094838619,
      4.743480593160071,
      5.144820256519321
    ],
    "ax_ego": [
      1.4235076596806602,
      1.4235032283158036,
      1.3758748735765114,
      1.1740921613956306,
      1.1122992404472325,
      0.9731675616371371,
      1.018338419882155,
      0.8933335390822961,
      0.8023520250289404,
      0.8024183923965567
    ],
    "ay_ego": [
      0.004101698188126335,
      0.005426334216511952,
      0.006889894298309662,
      0.0030460420686366785,
      0.0639123026686988,
      0.009805734261984611,
      0.0525091643053896,
      0.0659903706383489,
      0.0249344326226153,
      0.022698705075859582
    ],
    "a_ego": [
      1.4235135689896097,
      1.4235135707567188,
      1.375892124544153,
      1.1740961126853913,
      1.1141339159777452,
      0.9732169621657792,
      1.0196913012005813,
      0.89576757089453,
      0.8027393711524639,
      0.8027393771756779
    ],
    "yaw": [
      2.6150575799457334,
      2.614127034462911,
      2.6135230089655934,
      2.6145484775847296,
      2.6153267211512135,
      2.615727692516418,
      2.618553773422981,
      2.6221488810609004,
      2.6242063046967177,
      2.626992640568749
    ],
    "yaw_diff": [
      -0.001861090965644685,
      -0.001208050994635279,
      0.0020509372382724322,
      0.0015564871329676322,
      0.000801942730409344,
      0.005652161813126,
      0.0071902152758385185,
      0.004114847271634581,
      0.005572671744062951,
      0.005572671744062951
    ],
    "min_front_frame": [
      0,
      9.808849637635376
    ],
    "v_avg": 2.918710167995321,
    "v_std": 1.5765361983600605,
    "vy_max": 0.08693396055979674,
    "a_max": 1.4235135707567188,
    "ax_avg": 1.0998887101442922,
    "a_std": 0.23067028044037352,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8b788f2715985cee",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.494825585307531,
    "right_rear_min": 8.220962729182498,
    "speed_mode": "accelerating",
    "front_frame": [
      9.808849637635376,
      10.432997724370486,
      11.111174583835748,
      11.946334512429276,
      12.844555991942814,
      13.71856091499726,
      14.635680354084304,
      15.638163703864933,
      16.712019514547958,
      17.635400800139326
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8b788f2715985cee",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "52ed9777731d5ba8": {
    "vx_ego": [
      6.072615044670888,
      6.357732439297771,
      6.611250562522014,
      6.848225700483852,
      7.064835243615161,
      7.238192134137352,
      7.367102919129631,
      7.407669907550337,
      7.413457831445015,
      7.43474117144583
    ],
    "vy_ego": [
      0.026456031322020346,
      0.027961805748181856,
      0.0359932923962587,
      0.04124197580294231,
      0.028100187672112753,
      0.013981738225478768,
      -0.01325989179319409,
      0.0011508590471440705,
      0.01982876097983377,
      0.024423712888552274
    ],
    "v_ego": [
      6.072672673737365,
      6.357793928107444,
      6.611348540013994,
      6.848349884850779,
      7.064891127255543,
      7.238205638118583,
      7.36711485221852,
      7.407669996949336,
      7.4134843493714495,
      7.4347812882520605
    ],
    "ax_ego": [
      0.5649010814927629,
      0.5789113705011426,
      0.44014619096283397,
      0.510731423801627,
      0.35941778457979057,
      0.33490172780607075,
      0.17994924328358947,
      -0.018298817260769984,
      0.042277592591843556,
      0.043768010414699125
    ],
    "ay_ego": [
      -0.4253904655966464,
      -0.40611809391718345,
      -0.44415278897178584,
      -0.3352085204209335,
      -0.37347042666787605,
      -0.28934039276777057,
      -0.1429260891861773,
      -0.03764242375629634,
      -0.1444580713470203,
      -0.14401350684077616
    ],
    "a_ego": [
      0.7071564749701615,
      0.7071564756844396,
      0.625300223389139,
      0.6109102548011683,
      0.5183254802416433,
      0.4425799703720213,
      0.22980338798283975,
      0.041854495330748365,
      0.15051753789064817,
      0.15051753681295577
    ],
    "yaw": [
      -1.9218819983846074,
      -1.9555772934195774,
      -1.9895027891887507,
      -2.019271687410695,
      -2.0427856565066547,
      -2.063971892923303,
      -2.0750104051298397,
      -2.083044837565252,
      -2.091717361393111,
      -2.10205047843132
    ],
    "yaw_diff": [
      -0.06739059006994008,
      -0.0678509915383465,
      -0.05953779644388835,
      -0.04702793819191964,
      -0.04237247283329637,
      -0.022077024413073687,
      -0.016068864870824484,
      -0.017345047655718204,
      -0.0206662340764181,
      -0.0206662340764181
    ],
    "min_front_frame": [
      9,
      25.522344656730894
    ],
    "v_avg": 6.981631227887507,
    "v_std": 0.4652916512299805,
    "vy_max": 0.04124197580294231,
    "a_max": 0.7071564756844396,
    "ax_avg": 0.303670560817359,
    "a_std": 0.24043200755164756,
    "ini_direction_judge": "right",
    "scenario_type": "lane_change",
    "scene_token": "52ed9777731d5ba8",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.715814094789092,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      40.25361133446457,
      36.58414762717529,
      32.906549364106965,
      29.216949213439072,
      25.522344656730894
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 10,
    "token": "52ed9777731d5ba8",
    "smoothness": "Yes"
  },
  "5aad75c605655367": {
    "vx_ego": [
      6.11958090027624,
      6.077912709410956,
      5.843863516388997,
      5.281146342385275,
      4.438173870060076,
      3.6943432890764134,
      3.282878207569829,
      2.849632609086722,
      2.155489991100388,
      1.311057554060955
    ],
    "vy_ego": [
      -0.034375263055656635,
      -0.09476531297447899,
      -0.0701840432624703,
      -0.06070342630839942,
      -0.05600202933497567,
      -0.021908314075322455,
      0.0248219420069542,
      0.03306717396062764,
      0.015677006855561948,
      0.007912499665585715
    ],
    "v_ego": [
      6.119677446870537,
      6.078651443187245,
      5.844284951823537,
      5.281495204547189,
      4.4385271800647645,
      3.694408249201698,
      3.2829720459580356,
      2.8498244585876056,
      2.155547000247942,
      1.311081430617966
    ],
    "ax_ego": [
      -0.08209268716037806,
      -0.08215142385819202,
      -0.8528817435083664,
      -1.396540595567536,
      -1.9742243252658958,
      -1.0001505266680593,
      -0.6458127397965566,
      -1.0879293668991958,
      -1.6888854227389354,
      -1.688898936941041
    ],
    "ay_ego": [
      -0.006641628854029531,
      -0.005870576450794807,
      0.17154524846223396,
      0.03480493542030805,
      0.07205519784606418,
      0.14255863554174442,
      0.11272476287009786,
      -0.02890757045085457,
      -0.012427928397960697,
      -0.010430528969066932
    ],
    "a_ego": [
      0.0823609162105812,
      0.0823609137260688,
      0.8699626662563403,
      1.3969742369126714,
      1.975538822197179,
      1.010259392711555,
      0.6555768200963598,
      1.0883133533091727,
      1.6889311485505671,
      1.688931145765023
    ],
    "yaw": [
      2.516901935116227,
      2.526290996381126,
      2.5290707136698964,
      2.5365490926159233,
      2.5410126316599655,
      2.545971359829767,
      2.550933315199135,
      2.555004743763853,
      2.5577421989795366,
      2.5589248701182914
    ],
    "yaw_diff": [
      0.018778122529798047,
      0.005559434577540934,
      0.014956757892053751,
      0.00892707808808435,
      0.00991745633960317,
      0.009923910738735664,
      0.008142857129436187,
      0.005474910431367164,
      0.002365342277509619,
      0.002365342277509619
    ],
    "min_front_frame": [
      9,
      13.744992803155448
    ],
    "v_avg": 4.105646941110653,
    "v_std": 1.6279079731971995,
    "vy_max": 0.09476531297447899,
    "a_max": 1.975538822197179,
    "ax_avg": -1.0499567768404154,
    "a_std": 0.621048035929745,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "5aad75c605655367",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.3335660312797732,
    "speed_mode": "decelerating",
    "front_frame": [
      25.64720605465076,
      25.108835006831313,
      23.97263907604726,
      22.461438496489997,
      20.711508874239335,
      18.942499833163094,
      17.246395261546823,
      15.727465190809482,
      14.460596921543535,
      13.744992803155448
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5aad75c605655367",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "3d84e6189fdd51bb": {
    "vx_ego": [
      4.423580805490784,
      3.987935103166932,
      3.594096410110246,
      3.316385042874823,
      3.1393769692589366,
      2.9048968783465594,
      2.5912140168770934,
      2.284105736088791,
      1.987620432434607,
      1.68771264010093
    ],
    "vy_ego": [
      0.0030480300222135437,
      0.023256074595414455,
      0.02259635753213085,
      -0.0017166661984830967,
      -0.013194261001283847,
      -0.006578262201741625,
      -0.0004481688499529124,
      0.006336567492388978,
      0.010633298070216401,
      0.009094130593917282
    ],
    "v_ego": [
      4.423581855599997,
      3.9880029127467593,
      3.59416744191768,
      3.316385487175259,
      3.1394046957403874,
      2.9049043267139076,
      2.5912140556340844,
      2.284114525526534,
      1.9876488750429198,
      1.6877371414908515
    ],
    "ax_ego": [
      -0.8879398729331482,
      -0.8487480397279198,
      -0.7221173122687251,
      -0.3885963002297993,
      -0.32642646349517973,
      -0.6135327283644632,
      -0.6424469116628468,
      -0.585957683693054,
      -0.599773185938741,
      -0.5995510540656946
    ],
    "ay_ego": [
      -0.5232596966985957,
      -0.5846919636107254,
      -0.5238820540950064,
      -0.44449705217126456,
      -0.20655870971576326,
      -0.15813471266252457,
      -0.082689110278792,
      -0.06235818018749689,
      -0.027944426348716744,
      -0.032361993671756684
    ],
    "a_ego": [
      1.0306492750366838,
      1.030649274609434,
      0.8921355386268449,
      0.5904106316295737,
      0.386290999933225,
      0.6335842454821626,
      0.6477464961416834,
      0.5892664505257579,
      0.6004238215919372,
      0.6004238212010715
    ],
    "yaw": [
      2.6312516075529464,
      2.560534618208969,
      2.4873302136110107,
      2.423552652702627,
      2.3765795551792355,
      2.34460433616692,
      2.320497940180264,
      2.302788132020707,
      2.290216950817211,
      2.2828502279563683
    ],
    "yaw_diff": [
      -0.14143397868795482,
      -0.1464088091959166,
      -0.12755512181676743,
      -0.09394619504678303,
      -0.06395043802463096,
      -0.048212791973312186,
      -0.035419616319114056,
      -0.025142362406991303,
      -0.01473344572168589,
      -0.01473344572168589
    ],
    "min_front_frame": [
      9,
      14.211746954732074
    ],
    "v_avg": 2.991716131758838,
    "v_std": 0.8312729385201512,
    "vy_max": 0.023256074595414455,
    "a_max": 1.0306492750366838,
    "ax_avg": -0.6215089552379571,
    "a_std": 0.20130352665470147,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "3d84e6189fdd51bb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      18.883812871387224,
      17.953540577724734,
      16.946088010393375,
      16.06588186395523,
      15.383030322807985,
      14.702601411141957,
      14.211746954732074
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "3d84e6189fdd51bb",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "6cad8c31d4725496": {
    "vx_ego": [
      6.850912437524566,
      6.6625028380478994,
      6.461737591658015,
      6.26888602150853,
      6.006963043634507,
      5.577696358421243,
      5.052567549746822,
      4.494996249512113,
      3.910250998213111,
      3.3171622484114818
    ],
    "vy_ego": [
      0.040135456971091,
      0.03666054856024914,
      0.02493209936179186,
      -0.007210218723499029,
      -0.02848214233204871,
      -0.04225780752543695,
      -0.05394239582525007,
      -0.07265153502636634,
      -0.08731671468049962,
      -0.06656386007122772
    ],
    "v_ego": [
      6.851030001505983,
      6.6626036999672325,
      6.461785690737887,
      6.268890167957889,
      6.007030567595155,
      5.57785643316879,
      5.052855492374779,
      4.495583335749616,
      3.911225776874716,
      3.3178300332828834
    ],
    "ax_ego": [
      -0.376780301320028,
      -0.3752331348231319,
      -0.42565626109212246,
      -0.34499945828451645,
      -0.7011254553677813,
      -1.0243619203603866,
      -1.0805837245479155,
      -1.1560766706053014,
      -1.1871024071277376,
      -1.1870894882496348
    ],
    "ay_ego": [
      -0.14614509657651645,
      -0.15007291604216436,
      -0.23809239743250504,
      -0.2682239722017276,
      -0.5210530442410473,
      -0.2704151454621117,
      -0.2826872904093954,
      -0.22346794841618361,
      0.0014444709305343473,
      -0.0057242781555628675
    ],
    "a_ego": [
      0.4041309004718278,
      0.4041309015635815,
      0.48772045509911005,
      0.43699968590410104,
      0.8735405995587964,
      1.0594534887288418,
      1.116948203775292,
      1.177476620696639,
      1.187103285946399,
      1.187103289723848
    ],
    "yaw": [
      -0.4430787747641713,
      -0.4535248345198784,
      -0.46651298637882366,
      -0.4813724073512388,
      -0.5098458621729108,
      -0.5414050059138905,
      -0.5651895326310341,
      -0.5877319068971965,
      -0.5974407738466212,
      -0.6034796567395848
    ],
    "yaw_diff": [
      -0.02089211951141423,
      -0.025976303717890503,
      -0.02971884194483032,
      -0.056946909643344035,
      -0.06311828748195936,
      -0.04756905343428719,
      -0.04508474853232469,
      -0.019417733898849487,
      -0.01207776578592723,
      -0.01207776578592723
    ],
    "min_front_frame": [
      9,
      15.84563378476847
    ],
    "v_avg": 5.4606691199214925,
    "v_std": 1.1591240664680442,
    "vy_max": 0.08731671468049962,
    "a_max": 1.187103289723848,
    "ax_avg": -0.7859008821778556,
    "a_std": 0.33865664359162423,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6cad8c31d4725496",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      40.08696215646946,
      36.79813891217987,
      33.65880731342376,
      30.544579237930773,
      27.518079299522377,
      24.65353038342294,
      22.04844708021489,
      19.705658469308723,
      17.66584343721077,
      15.84563378476847
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6cad8c31d4725496",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2a49d54f73775909": {
    "vx_ego": [
      1.0327822413391192,
      1.2717457275636275,
      1.4562600024366834,
      1.5659427641916694,
      1.6456518681012886,
      1.7526094873922526,
      1.8613611970456043,
      1.8904164579536946,
      1.8938083759247593,
      1.9158648060993797
    ],
    "vy_ego": [
      0.03250084633747524,
      0.024465290662008976,
      -0.0006366571863534176,
      -0.023379848498374378,
      -0.008528965469991268,
      0.012797762774798382,
      0.012996962260179101,
      0.013334906210975217,
      0.029577545763992852,
      0.06243058710559457
    ],
    "v_ego": [
      1.033293502852944,
      1.271981032100525,
      1.4562601416056342,
      1.5661172874469056,
      1.645673969605538,
      1.7526562121618074,
      1.8614065721639208,
      1.8904634892601995,
      1.8940393332600554,
      1.9168817213006553
    ],
    "ax_ego": [
      0.4779389593164285,
      0.4779430539251269,
      0.260214089652668,
      0.1783678410087079,
      0.14017116448602787,
      0.2878236960872883,
      0.14779175814491394,
      -0.03095658774815209,
      0.04606708127650716,
      0.0469514038873487
    ],
    "ay_ego": [
      -0.01669839343877308,
      -0.01658053639784568,
      -0.09041073445725328,
      -0.010897945781682863,
      0.049973885381741044,
      0.0015743404938406702,
      -0.0560288762106408,
      -0.04331711844795175,
      -0.03444868349990097,
      -0.0332333177226511
    ],
    "a_ego": [
      0.47823057741627806,
      0.478230568849919,
      0.2754731808341181,
      0.1787004530726439,
      0.14881311962833274,
      0.2878280017255761,
      0.15805580895681134,
      0.05324174185395254,
      0.05752293257660518,
      0.057522932243129064
    ],
    "yaw": [
      0.5640898046244291,
      0.563843184590421,
      0.5626601450187506,
      0.5609616491797552,
      0.5578063157408177,
      0.5527847290772501,
      0.5452139723627173,
      0.5319521238003405,
      0.5129968443800814,
      0.4868667292018259
    ],
    "yaw_diff": [
      -0.0004932400680162097,
      -0.00236607914334086,
      -0.0033969916779907905,
      -0.00631066687787496,
      -0.010043173327135335,
      -0.015141513429065556,
      -0.026523697124753554,
      -0.037910558840518194,
      -0.05226023035651106,
      -0.05226023035651106
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.6288773261758187,
    "v_std": 0.28411063032107203,
    "vy_max": 0.06243058710559457,
    "a_max": 0.47823057741627806,
    "ax_avg": 0.20323124600368653,
    "a_std": 0.1523780149271027,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2a49d54f73775909",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.8274377122316037,
    "right_rear_min": 5.2650087146895,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2a49d54f73775909",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "47e0ff3bc36a5f69": {
    "vx_ego": [
      -0.04097833900440177,
      0.08075507671832696,
      0.3136719045334465,
      0.6881468493147797,
      1.1694698274253195,
      1.8367605515822079,
      2.6345500726950455,
      3.427208827635405,
      4.119168772203542,
      4.791057113126119
    ],
    "vy_ego": [
      -0.0017759525951073565,
      0.0006798728011933944,
      0.012831988160858745,
      0.02307919637512626,
      0.024468173412874994,
      0.00935521728711608,
      -0.004515357650915486,
      0.0297614368665875,
      0.0027107579454780373,
      -0.29222486188064634
    ],
    "v_ego": [
      0.041016804789985095,
      0.0807579385745369,
      0.3139342663899562,
      0.6885337577251965,
      1.1697257664804896,
      1.8367843760058136,
      2.634553942129898,
      3.4273380474278303,
      4.119169664156294,
      4.799960794750051
    ],
    "ax_ego": [
      0.2434668104060456,
      0.24346688999649277,
      0.6882020972993446,
      0.8097602347313507,
      1.1155934107236785,
      1.5535430252935192,
      1.6378330203694385,
      1.5360891701655148,
      1.275470683419457,
      1.4987991347398353
    ],
    "ay_ego": [
      0.004914253888824369,
      0.00491032023192467,
      0.04357503754169709,
      -0.0038582151956011446,
      0.006962133589643149,
      -0.06594104870588607,
      0.05044588900110708,
      0.4038041271311222,
      1.277523344591864,
      1.0062268722626835
    ],
    "a_ego": [
      0.24351640121473783,
      0.24351640143806405,
      0.6895802423387556,
      0.8097694261804824,
      1.1156151349610717,
      1.5549418488620634,
      1.638609712631287,
      1.588278222411901,
      1.8052399730339672,
      1.805239974286084
    ],
    "yaw": [
      -0.3443735371343426,
      -0.34435739108825497,
      -0.34457467200796343,
      -0.34522937582121704,
      -0.34591768510736187,
      -0.34566344608911015,
      -0.3411707554571553,
      -0.3151222290691046,
      -0.19770344749446403,
      -0.0027428827135273443
    ],
    "yaw_diff": [
      3.229209217525675e-05,
      -0.00043456183941692483,
      -0.0013094076265072196,
      -0.0013766185722896562,
      0.0005084780365034458,
      0.008985381263909686,
      0.05209705277610144,
      0.23483756314928111,
      0.38992112956187336,
      0.38992112956187336
    ],
    "min_front_frame": [
      7,
      27.364758561434446
    ],
    "v_avg": 1.9111775358430052,
    "v_std": 1.658058505549144,
    "vy_max": 0.29222486188064634,
    "a_max": 1.805239974286084,
    "ax_avg": 1.0602224477144675,
    "a_std": 0.5853060142250204,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "47e0ff3bc36a5f69",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.422406037112331,
    "right_rear_min": 8.13188226053586,
    "speed_mode": "accelerating",
    "front_frame": [
      31.651576750665512,
      31.58755286716495,
      31.464097340532728,
      31.191391658627392,
      30.75587997216153,
      30.016756134515628,
      28.91792524386874,
      27.364758561434446,
      59.94806613205202,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "47e0ff3bc36a5f69",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "ba09d23c78b95a66": {
    "vx_ego": [
      3.7530535539099006,
      3.20502756537663,
      2.687807278768172,
      2.1276790870728486,
      1.40867365008405,
      0.7307574808820321,
      0.26496172530905304,
      0.01629770939245775,
      -0.03671821621896561,
      -0.026802850749473642
    ],
    "vy_ego": [
      0.04735881591208835,
      0.05887753855653366,
      0.060014902172288664,
      0.026744711452752035,
      -0.03684955910812182,
      -0.08155129575495074,
      -0.07104319905033231,
      -0.0256038789716477,
      -0.004395456432742502,
      -0.0018179061893541827
    ],
    "v_ego": [
      3.7533523463645575,
      3.2055683208084216,
      2.688477218851206,
      2.127847169596031,
      1.4091555423187263,
      0.7352938934224633,
      0.27432071013697673,
      0.03035084759666176,
      0.03698036559520263,
      0.02686442985086138
    ],
    "ax_ego": [
      -1.0949776799184057,
      -1.0926886938261293,
      -0.9719816307739686,
      -1.2647124955075868,
      -1.6119485207434996,
      -1.1015923270063148,
      -0.7629115042827862,
      -0.2318956230153133,
      0.01983073410997072,
      0.019830723283881684
    ],
    "ay_ego": [
      -0.10433602447273921,
      -0.12606962984001613,
      -0.09269193300726991,
      -0.20348765223107013,
      -0.140381438257275,
      -0.06597669144508045,
      0.10182371263144602,
      0.0796873201968442,
      0.005155124925502608,
      0.005155151488200663
    ],
    "a_ego": [
      1.0999373279974956,
      1.0999373314800491,
      0.9763913585272289,
      1.2809781110165548,
      1.6180497463719519,
      1.1035663001076224,
      0.7696765761156272,
      0.2452053200357094,
      0.02048983475623692,
      0.020489830961435106
    ],
    "yaw": [
      -0.4982424799286659,
      -0.5181110459848023,
      -0.5371556718016527,
      -0.5538365954665679,
      -0.5661864257351401,
      -0.5730336497079493,
      -0.5764282793658874,
      -0.5772573152269533,
      -0.5773099419784322,
      -0.5773105787367053
    ],
    "yaw_diff": [
      -0.03973713211227281,
      -0.038089251633700805,
      -0.033361847329830496,
      -0.02469966053714434,
      -0.013694447945618471,
      -0.0067892593158760395,
      -0.0016580717221319485,
      -0.00010525350295775837,
      -1.273516546218545e-06,
      -1.273516546218545e-06
    ],
    "min_front_frame": [
      8,
      8.50311342397739
    ],
    "v_avg": 1.428821084454111,
    "v_std": 1.3530819353648544,
    "vy_max": 0.08155129575495074,
    "a_max": 1.6180497463719519,
    "ax_avg": -0.8093047017680153,
    "a_std": 0.5217485949370901,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ba09d23c78b95a66",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 47.50900178509315,
    "right_rear_min": 3.0442172875197793,
    "speed_mode": "decelerating",
    "front_frame": [
      14.5552470483472,
      12.818989471771626,
      11.32910093631397,
      10.131191467631142,
      9.195632546316242,
      8.748079595948044,
      8.519588352571482,
      8.503325941654964,
      8.50311342397739,
      8.532991803076138
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ba09d23c78b95a66",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4e252b23d8935563": {
    "vx_ego": [
      5.738933522835434,
      5.2048203350984625,
      4.6262254114265895,
      4.01729934104224,
      3.428244327260872,
      2.8157446517259976,
      2.1605585634137046,
      1.54274618251021,
      0.9736952988676867,
      0.40304088580225833
    ],
    "vy_ego": [
      0.02134686776155159,
      -0.04425065595956812,
      -0.07215446342916554,
      -0.018625328548667497,
      0.0230654358521456,
      0.0009608320039335982,
      0.028280492915732314,
      0.09707770946817157,
      0.14281621317814777,
      0.13269333925151944
    ],
    "v_ego": [
      5.738973224217688,
      5.205008438149483,
      4.6267880677551965,
      4.017342516938525,
      3.4283219192087837,
      2.8157448156609823,
      2.160743643336675,
      1.5457974852241845,
      0.984113309423046,
      0.4243223749815556
    ],
    "ax_ego": [
      -1.0681327530534908,
      -1.0682673989061469,
      -1.247258606279544,
      -1.1894634878945118,
      -1.1663058449520443,
      -1.2836985097928204,
      -1.336881101663912,
      -1.1335958396584713,
      -1.1409399774325333,
      -1.1409091004992067
    ],
    "ay_ego": [
      -0.1193959254753634,
      -0.11818514696592905,
      -0.08403670263229462,
      0.24758679534956884,
      -0.11599781142152438,
      -0.016694730966235694,
      0.05435739302405801,
      0.18997573557577735,
      -0.021368732918295108,
      -0.022957828520698054
    ],
    "a_ego": [
      1.0747850785928077,
      1.074785078296616,
      1.250086476339817,
      1.214957863576201,
      1.17206007364123,
      1.2838070641986445,
      1.3379857271893771,
      1.1494043273794268,
      1.1411400680242032,
      1.1411400604186563
    ],
    "yaw": [
      1.226778439886716,
      1.2279119149660156,
      1.2233246148778347,
      1.2203946136160053,
      1.2180306878176492,
      1.2145019376459594,
      1.2073254415100303,
      1.2031015083998742,
      1.2002529342758765,
      1.1988601171919695
    ],
    "yaw_diff": [
      0.0022669501585990126,
      -0.009174600176361736,
      -0.005860002523658814,
      -0.004727851596712185,
      -0.007057500343379708,
      -0.014352992271858156,
      -0.008447866220312239,
      -0.005697148247995276,
      -0.0027856341678140772,
      -0.0027856341678140772
    ],
    "min_front_frame": [
      9,
      8.677274336428914
    ],
    "v_avg": 3.0947155794896117,
    "v_std": 1.7230824571781058,
    "vy_max": 0.14281621317814777,
    "a_max": 1.3379857271893771,
    "ax_avg": -1.1775452620132678,
    "a_std": 0.08238205653260544,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4e252b23d8935563",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.447225847965473,
      19.762764118649894,
      17.346427864716045,
      15.226275030658273,
      13.382656612548523,
      11.804624551175689,
      10.58476717640979,
      9.643196813257484,
      8.995373424340828,
      8.677274336428914
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4e252b23d8935563",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "9a94341d994d5ec9": {
    "vx_ego": [
      7.878172091175845,
      7.365679396920486,
      6.803380006068024,
      6.149508465672371,
      5.416226584400224,
      4.6643859930982146,
      3.900017550299871,
      3.110089331133285,
      2.3530774696829764,
      1.6227579279673765
    ],
    "vy_ego": [
      -0.027948022964335628,
      -0.012915325059250193,
      -0.0016042442771859733,
      -0.0010323391764259782,
      -0.00376504971102376,
      0.01143962672217258,
      0.009018849184207367,
      -0.003750522347018226,
      -0.0030853345408584643,
      -0.0015884295851339436
    ],
    "v_ego": [
      7.878221664193614,
      7.365690720077806,
      6.80338019520928,
      6.149508552323538,
      5.4162278930232475,
      4.664400021189259,
      3.9000279783980543,
      3.11009159254948,
      2.3530794924139022,
      1.6227587053809078
    ],
    "ax_ego": [
      -1.0249673872262506,
      -1.0247918060322954,
      -1.22435794818308,
      -1.3911063762202063,
      -1.5420576196732085,
      -1.4652980829380347,
      -1.5923047647329642,
      -1.5673965451561476,
      -1.4606375567760868,
      -1.4606323496303082
    ],
    "ay_ego": [
      0.06760104530117678,
      0.0702124495690084,
      0.04892184572236047,
      0.05010099507704202,
      0.0054322740378766055,
      0.06473632097386106,
      -0.05207374478453719,
      0.009073225940911867,
      0.005686379461844804,
      0.006898154124948985
    ],
    "a_ego": [
      1.0271942592339671,
      1.0271942531894414,
      1.2253349469708126,
      1.3920082829021614,
      1.5420671878985768,
      1.4667273990469771,
      1.5931560308667778,
      1.5674228061363666,
      1.4606486255003974,
      1.4606486385564759
    ],
    "yaw": [
      -2.075326052221812,
      -2.0727780452827487,
      -2.0701797549814813,
      -2.0664576209448526,
      -2.0635936481647548,
      -2.0631290079253124,
      -2.0618292595114647,
      -2.0612526531717466,
      -2.060139906083075,
      -2.0593102801867342
    ],
    "yaw_diff": [
      0.005096013878127081,
      0.005196580602534695,
      0.007444268073257376,
      0.005727945560195735,
      0.000929280478884742,
      0.0025994968276954467,
      0.001153212679436244,
      0.002225494177342746,
      0.0016592517926818928,
      0.0016592517926818928
    ],
    "min_front_frame": [
      9,
      13.278916635494776
    ],
    "v_avg": 4.926338681475909,
    "v_std": 2.0464470393903307,
    "vy_max": 0.027948022964335628,
    "a_max": 1.5931560308667778,
    "ax_avg": -1.375355043656858,
    "a_std": 0.20005662349742795,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9a94341d994d5ec9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5198727523811066,
    "right_rear_min": 31.138265248820776,
    "speed_mode": "decelerating",
    "front_frame": [
      24.01991501514971,
      22.600934289223424,
      21.10972264490567,
      19.59288568290692,
      18.1680780540032,
      16.72442178861981,
      15.567958352888331,
      14.55850713226832,
      13.847503015950076,
      13.278916635494776
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9a94341d994d5ec9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "290091fca02b5939": {
    "vx_ego": [
      0.47738977004601524,
      1.4641073984436963,
      2.3974342206247385,
      3.3027821397106694,
      4.236608912879792,
      5.156650500829799,
      6.033524542175204,
      6.758786883988236,
      7.241379242041399,
      7.608253749130601
    ],
    "vy_ego": [
      0.0003942111461364417,
      -0.005355603767823569,
      -0.03447752666489279,
      -0.030742932398486134,
      -0.022058298667518295,
      -0.0011498190801553232,
      0.016492099274223904,
      -0.013059221117253994,
      0.02218513279813239,
      -0.03467126528446651
    ],
    "v_ego": [
      0.47738993280861614,
      1.4641171936253212,
      2.3976821186444788,
      3.302925217180105,
      4.236666336783273,
      5.156650629021917,
      6.0335470819716805,
      6.758799500386707,
      7.241413225827217,
      7.608332748230474
    ],
    "ax_ego": [
      1.9727064380186592,
      1.973743919379407,
      1.767882092275267,
      1.8587872475419152,
      1.8766810630685402,
      1.803851862949548,
      1.70362712072046,
      1.1989395457734806,
      0.7316055208993788,
      0.7355115407493943
    ],
    "ay_ego": [
      0.06541190685272802,
      0.013577358553780061,
      0.22301424187899607,
      0.23353659541958266,
      0.0424709136479659,
      0.12147250277574329,
      -0.04755927152879197,
      -0.3328499198478656,
      -0.30901499534789706,
      -0.2995991792669034
    ],
    "a_ego": [
      1.9737906191281729,
      1.973790618062737,
      1.781892938497832,
      1.8734004838860854,
      1.8771615782841282,
      1.807937253445804,
      1.7042908351459953,
      1.2442849768289619,
      0.7941894645236187,
      0.7941894577447814
    ],
    "yaw": [
      -0.33674880233753446,
      -0.3104813668809955,
      -0.2653729079523719,
      -0.22648628538916268,
      -0.21047656563471187,
      -0.206209994005785,
      -0.20606084095702457,
      -0.2162091547703939,
      -0.24393431557784961,
      -0.25676993304177625
    ],
    "yaw_diff": [
      0.05253487091307796,
      0.09021691785724717,
      0.07777324512641842,
      0.032019439508901626,
      0.00853314325785376,
      0.0002983060975208507,
      -0.020296627626738672,
      -0.055450321614911424,
      -0.02567123492785328,
      -0.02567123492785328
    ],
    "min_front_frame": [
      0,
      17.052518304065735
    ],
    "v_avg": 4.4677523984479794,
    "v_std": 2.3742759117127537,
    "vy_max": 0.03467126528446651,
    "a_max": 1.9737906191281729,
    "ax_avg": 1.5623336351376051,
    "a_std": 0.4404922420531865,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "290091fca02b5939",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      17.052518304065735,
      22.512238210904634,
      27.455758864402764,
      32.08178659924437,
      36.062155946844136,
      39.44153588429309,
      42.345667583618464,
      44.44789037197393,
      46.26402584832524,
      47.477011003092635
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "290091fca02b5939",
    "maneuvering": "Yes"
  },
  "51754449a4dd5f27": {
    "vx_ego": [
      7.1208871676757095,
      7.611259307150064,
      8.062400898319662,
      8.437319400338765,
      8.723704380925582,
      8.858500797291244,
      8.893654763130947,
      8.89618421575205,
      8.867016658685703,
      8.8383956690193
    ],
    "vy_ego": [
      -0.06844889321366665,
      0.013373793671057399,
      -0.011941741225909741,
      0.0005473671498030797,
      0.004089799773856484,
      -0.02272492901904677,
      0.007031433381417429,
      0.017356195692020293,
      0.004937882575009489,
      0.026965375672468817
    ],
    "v_ego": [
      7.121216139519342,
      7.611271056731302,
      8.062409742155829,
      8.43731941809386,
      8.723705339604404,
      8.858529945651735,
      8.893657542699582,
      8.89620114645149,
      8.867018033594727,
      8.838436803735393
    ],
    "ax_ego": [
      0.9755328279963251,
      0.9824897495503264,
      0.821554630645905,
      0.6780109394398852,
      0.4682188655286206,
      0.07048730644517848,
      0.06984932473116856,
      -0.059192784179235985,
      -0.057506015708033695,
      -0.05718237669146917
    ],
    "ay_ego": [
      -0.2622900743658578,
      -0.23489204613748438,
      -0.03797533887119303,
      0.015610049047149632,
      -0.2023151997128946,
      -0.06507167313775629,
      0.09520460175896406,
      -0.16212683200962433,
      0.10077244716825198,
      0.10095644604483586
    ],
    "a_ego": [
      1.0101783909831743,
      1.010178390835063,
      0.8224318436795303,
      0.6781906130516775,
      0.5100591593842589,
      0.09593113683702227,
      0.11807982199124106,
      0.1725945982826999,
      0.11602597963771198,
      0.1160259807202203
    ],
    "yaw": [
      0.8807244227853117,
      0.8527408428089578,
      0.8472805535973805,
      0.8450937064374866,
      0.8392589071386475,
      0.8347308288900561,
      0.8322271422122118,
      0.8291909906306776,
      0.8288621815951591,
      0.8320707864168292
    ],
    "yaw_diff": [
      -0.055967159952707846,
      -0.010920578423154526,
      -0.004373694319787846,
      -0.011669598597678243,
      -0.009056156497182721,
      -0.005007373355688571,
      -0.006072303163068504,
      -0.000657618071036925,
      0.006417209643340138,
      0.006417209643340138
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.430976516823767,
    "v_std": 0.5981995371707121,
    "vy_max": 0.06844889321366665,
    "a_max": 1.0101783909831743,
    "ax_avg": 0.3892262467758671,
    "a_std": 0.36814523254216963,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "51754449a4dd5f27",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "51754449a4dd5f27",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7f3a478c21ce55f9": {
    "vx_ego": [
      8.00054912972285,
      8.054924933639525,
      8.09028389185849,
      8.153154362647358,
      8.263428011277082,
      8.340597402421702,
      8.349881492924341,
      8.273444602446345,
      8.136089619685247,
      7.988050601840751
    ],
    "vy_ego": [
      -0.022792507945975274,
      0.0025222218458662155,
      0.038737394525523716,
      0.04076848593922533,
      0.03256788760350271,
      0.02611976788764514,
      0.028823241889875506,
      -0.008849035829736618,
      -0.043807537677090336,
      -0.04944088571020533
    ],
    "v_ego": [
      8.000581596079595,
      8.05492532852855,
      8.090376631319435,
      8.153256290010846,
      8.263492189435508,
      8.340638301206818,
      8.34993124074405,
      8.273449334780729,
      8.136207556343885,
      7.988203603986831
    ],
    "ax_ego": [
      0.1046053370050965,
      0.11193659789848248,
      0.033104592440444766,
      0.22505933142041207,
      0.21650300582209955,
      0.09268462844803883,
      -0.053932765971831706,
      -0.25112138780733195,
      -0.29962457089211675,
      -0.29543598349381683
    ],
    "ay_ego": [
      -0.3199281278466222,
      -0.3174373659420906,
      -0.4174002034653714,
      -0.5452726609430137,
      -0.2901981667993535,
      -0.13948094479088308,
      -0.2153365307794349,
      -0.2725720550151549,
      -0.2632191268788221,
      -0.2679118728829738
    ],
    "a_ego": [
      0.3365951329377691,
      0.33659513253364093,
      0.41871093118472724,
      0.5898931915451116,
      0.3620614969086184,
      0.1674675321078936,
      0.22198775807123888,
      0.37061769600150646,
      0.39882225644657116,
      0.39882225611746086
    ],
    "yaw": [
      -1.5561793527524101,
      -1.5791832254703464,
      -1.606391654608621,
      -1.6363607074486972,
      -1.6608031852968312,
      -1.6729427151025789,
      -1.6838718960055252,
      -1.693984779695857,
      -1.7060405760234267,
      -1.7218125827770345
    ],
    "yaw_diff": [
      -0.046007745435872494,
      -0.054416858276549185,
      -0.059938105680152454,
      -0.04888495569626805,
      -0.024279059611495235,
      -0.021858361805892734,
      -0.020225767380663395,
      -0.024111592655139624,
      -0.031544013507215585,
      -0.031544013507215585
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.165106207243626,
    "v_std": 0.1278485864716969,
    "vy_max": 0.04944088571020533,
    "a_max": 0.5898931915451116,
    "ax_avg": -0.011622121513052303,
    "a_std": 0.10800029238265231,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "7f3a478c21ce55f9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7f3a478c21ce55f9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a75469eea7815984": {
    "vx_ego": [
      3.9330578039277584,
      3.394373106336034,
      2.942134180239584,
      2.538392448536921,
      1.9981257378555775,
      1.331041751477572,
      0.6740042161391275,
      0.17901043179973158,
      -0.032740411141696506,
      -0.08494931251984256
    ],
    "vy_ego": [
      -0.04068021817801666,
      -0.020226892628129323,
      -0.013229945497821458,
      -0.021467025092064287,
      -0.024147354138685205,
      0.001487427099267434,
      0.018420259811759182,
      0.0029239407815912855,
      -0.007561075682716797,
      -0.00220431328732571
    ],
    "v_ego": [
      3.9332681791594193,
      3.394433371301126,
      2.942163925751236,
      2.53848321955367,
      1.9982716429436702,
      1.331042582570467,
      0.6742558782427132,
      0.17903430990405333,
      0.03360214855045873,
      0.08497790709744833
    ],
    "ax_ego": [
      -1.077414414475832,
      -1.0774486352974664,
      -0.7315315123061815,
      -0.8834530288489337,
      -1.2775693018624024,
      -1.3908301580220612,
      -1.2373737979137729,
      -0.7425961360125345,
      -0.1044183332124685,
      -0.1044196239816992
    ],
    "ay_ego": [
      0.03394952637414736,
      0.032845366614943396,
      -0.011706300951126885,
      -0.024326165141894618,
      0.017286608640257262,
      0.07967696160003711,
      -0.009436109747233683,
      -0.052666808047692415,
      0.010733941296349811,
      0.01072139510161829
    ],
    "a_ego": [
      1.07794915968302,
      1.077949154558063,
      0.7316251710944118,
      0.8837878798064984,
      1.277686247832177,
      1.3931105292378942,
      1.2374097768850527,
      0.744461425387964,
      0.10496859438243225,
      0.10496859618669031
    ],
    "yaw": [
      -1.5407813117995537,
      -1.5418061175059963,
      -1.5423540125761683,
      -1.5426334489899753,
      -1.5422362833191001,
      -1.5430666004989315,
      -1.5424285908278224,
      -1.5425092401871776,
      -1.542780546594904,
      -1.5429007210913117
    ],
    "yaw_diff": [
      -0.0020496114128851772,
      -0.0010957901403441106,
      -0.0005588728276140209,
      0.0007943313417504427,
      -0.0016606343596627937,
      0.0012760193422183264,
      -0.00016129871871051193,
      -0.0005426128154528698,
      -0.00024034899281533129,
      -0.00024034899281533129
    ],
    "min_front_frame": [
      7,
      10.393016517732608
    ],
    "v_avg": 1.7109533165074264,
    "v_std": 1.3812739818305004,
    "vy_max": 0.04068021817801666,
    "a_max": 1.3931105292378942,
    "ax_avg": -0.8627054941933352,
    "a_std": 0.43203418627507967,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a75469eea7815984",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.307952453944585,
    "right_rear_min": 3.09263073022357,
    "speed_mode": "decelerating",
    "front_frame": [
      15.498201146258053,
      14.670744649563385,
      13.774546184567086,
      12.790315520054083,
      11.806190207291227,
      11.041770557360778,
      10.560410070093324,
      10.393016517732608,
      10.419269068590491,
      10.453768536382313
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a75469eea7815984",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e3aa32e033635c8d": {
    "vx_ego": [
      7.530163285910736,
      6.633091034591576,
      5.715642622108751,
      4.69176704054709,
      3.5615581832255456,
      2.536077332317026,
      1.90367347859834,
      1.6638081422236326,
      1.814806507879878,
      2.2292221184013554
    ],
    "vy_ego": [
      -0.0755051171794765,
      -0.0906327252940633,
      -0.07861971108867571,
      -0.06640384175125957,
      -0.0372384744647698,
      0.013982739011005885,
      -0.0035944791417876765,
      -0.02657797146969476,
      -0.020733614528850586,
      0.010306892437806026
    ],
    "v_ego": [
      7.530541822153188,
      6.633710195966763,
      5.716183310797326,
      4.692236932739365,
      3.561752854491916,
      2.5361158791511267,
      1.9036768721080282,
      1.6640204093391102,
      1.8149249416476123,
      2.229245945426738
    ],
    "ax_ego": [
      -1.7990521749898214,
      -1.7945584895942226,
      -1.88255252384101,
      -2.216427604920469,
      -2.3081835125273233,
      -1.7937574699847643,
      -0.7352556528348839,
      -0.2249210602326967,
      0.8282372296302571,
      0.8287818880779358
    ],
    "ay_ego": [
      -0.2527784047717955,
      -0.2829230882333249,
      -0.08097117546337096,
      -0.1634408798297965,
      0.09414005509559065,
      0.005091750060843392,
      -0.13177567844112353,
      0.0010085388371641885,
      -0.03417149159775723,
      -0.016283752016464648
    ],
    "a_ego": [
      1.816723878374086,
      1.8167238773215315,
      1.8842930600827663,
      2.2224455559255047,
      2.3101024820289626,
      1.7937646966770264,
      0.746971019822235,
      0.22492332134926882,
      0.8289418552489788,
      0.828941842704156
    ],
    "yaw": [
      -0.6116681025066206,
      -0.6284445293733578,
      -0.6450941821229756,
      -0.6590715982284889,
      -0.6703061553790832,
      -0.6791561998960094,
      -0.6859074738830896,
      -0.6915519816679421,
      -0.7003442505609369,
      -0.7219336577295856
    ],
    "yaw_diff": [
      -0.033552853733474386,
      -0.033299305499235654,
      -0.02795483221102657,
      -0.022469114301188586,
      -0.01770008903385234,
      -0.013502547974160395,
      -0.011289015569704963,
      -0.017584537785989562,
      -0.04317881433729753,
      -0.04317881433729753
    ],
    "min_front_frame": [
      0,
      54.76615919337237
    ],
    "v_avg": 3.828240916382118,
    "v_std": 2.064633908719097,
    "vy_max": 0.0906327252940633,
    "a_max": 2.3101024820289626,
    "ax_avg": -1.1097689371216997,
    "a_std": 0.6840048567974332,
    "ini_direction_judge": "straight",
    "scenario_type": "roundout_entrance",
    "scene_token": "e3aa32e033635c8d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.123547246597541,
    "speed_mode": "decelerating",
    "front_frame": [
      54.76615919337237,
      55.43682462740772,
      56.778942943968275,
      58.66109097006428,
      61.22035316345764,
      -1,
      -1,
      -1,
      -1,
      62.71107500181477
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "e3aa32e033635c8d",
    "merge_risk": "No"
  },
  "742ec95b24ee529c": {
    "vx_ego": [
      1.0520476898434117,
      1.2015841496960862,
      1.3306695168484493,
      1.4250438637178444,
      1.4757665362986494,
      1.4561230439929411,
      1.3614777587849158,
      1.209111850284138,
      1.0732675843287927,
      0.9776828150003987
    ],
    "vy_ego": [
      -0.0003368186698357034,
      -0.0025626842509864356,
      -0.0020562883170515134,
      -0.007433520811133909,
      -0.012479877847337395,
      -0.0030970649180265264,
      0.010329967091721848,
      0.00325676068477887,
      0.0010070968236717825,
      0.022461141931252093
    ],
    "v_ego": [
      1.0520477437605558,
      1.2015868824814278,
      1.3306711056423102,
      1.425063251491502,
      1.4758193036445881,
      1.4561263376020555,
      1.3615169466026171,
      1.2091162363427637,
      1.0732680568315516,
      0.9779407904591974
    ],
    "ax_ego": [
      0.2990765183693453,
      0.29907434099070396,
      0.21727294009579004,
      0.1602278447774476,
      0.04271976813466025,
      -0.12128493537204779,
      -0.25730004589698036,
      -0.352184922713248,
      -0.1911866082784743,
      -0.19117014244601682
    ],
    "ay_ego": [
      -0.0023178453629401075,
      -0.0025834073042296513,
      0.006748968107846559,
      -0.023410149503227097,
      0.009170961156269216,
      0.02962737227244206,
      0.025396995789380913,
      -0.05201044768051126,
      0.04364467017772437,
      0.043716690773657224
    ],
    "a_ego": [
      0.29908549989435435,
      0.29908549853231503,
      0.2173777336076294,
      0.16192898857767649,
      0.04369307860530009,
      0.12485117835235549,
      0.2585504225750057,
      0.35600464386643005,
      0.19610501375525594,
      0.19610500354409605
    ],
    "yaw": [
      1.0993265128235343,
      1.1002144597304206,
      1.1006336193350599,
      1.1015086729109802,
      1.1025233254648192,
      1.102736432373915,
      1.1029672223193325,
      1.1032908873448974,
      1.1034320212863262,
      1.1038087212837027
    ],
    "yaw_diff": [
      0.0017758938137726332,
      0.0008383192092784597,
      0.001750107151840652,
      0.00202930510767807,
      0.0004262138181916342,
      0.0004615798908349511,
      0.0006473300511298241,
      0.00028226788285756754,
      0.0007533999947528791,
      0.0007533999947528791
    ],
    "min_front_frame": [
      9,
      12.361300569411137
    ],
    "v_avg": 1.256315665485857,
    "v_std": 0.17062395740205064,
    "vy_max": 0.022461141931252093,
    "a_max": 0.35600464386643005,
    "ax_avg": -0.009475524233882001,
    "a_std": 0.08770861594629151,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "742ec95b24ee529c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.329926188970317,
    "right_rear_min": 27.09222879575877,
    "speed_mode": "quasi_constant",
    "front_frame": [
      15.987943076001502,
      16.014761621719902,
      15.883443504001141,
      15.593317897941937,
      15.16615905175122,
      14.615455730293824,
      14.02223025341112,
      13.408491131422677,
      12.892410189305837,
      12.361300569411137
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "742ec95b24ee529c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e9cb16355c1f5d9b": {
    "vx_ego": [
      8.47156918694138,
      8.14357848739455,
      7.751946424475799,
      7.232126042282539,
      6.673639965428699,
      6.234132310089178,
      5.95210817086699,
      5.776947572646225,
      5.682365408818175,
      5.708912327578662
    ],
    "vy_ego": [
      -0.01846652073302746,
      -0.04132685343488873,
      -0.04567013018644284,
      -0.03794756291714352,
      -0.04871481433011626,
      0.0013077615355225891,
      0.02499814027216951,
      0.03082822217714143,
      0.016286243270637213,
      0.11315692415489353
    ],
    "v_ego": [
      8.4715893137901,
      8.143683349023961,
      7.752080954733017,
      7.232225598596372,
      6.673817762068603,
      6.23413244725664,
      5.952160665230624,
      5.777029828240956,
      5.682388747793767,
      5.710033664827539
    ],
    "ax_ego": [
      -0.656287895319111,
      -0.656017409151709,
      -0.9113328852542315,
      -1.1663539646416643,
      -1.0647477315301301,
      -0.6849897864118389,
      -0.43529150145986073,
      -0.23914239126499864,
      -0.10427174733502753,
      0.25771355090263115
    ],
    "ay_ego": [
      -0.09274156904023192,
      -0.09463588193164371,
      -0.30553440100586804,
      -0.7300111966814646,
      -1.16201984830598,
      -1.500143792092004,
      -1.5167224970767197,
      -1.6743485904713662,
      -1.935202095188593,
      -1.9207976129864108
    ],
    "a_ego": [
      0.6628082680311347,
      0.6628082613087293,
      0.9611861931716543,
      1.3759716269297244,
      1.576064040467776,
      1.6491338346055224,
      1.5779498801868896,
      1.6913403813879075,
      1.9380092225050478,
      1.9380092219525522
    ],
    "yaw": [
      -2.870127746914891,
      -2.8730147650451765,
      -2.885007500028583,
      -2.920438670725921,
      -2.9870175780307893,
      -3.098596485970906,
      3.0564374122143256,
      2.919051759684482,
      2.7639499762306263,
      2.5767468844324553
    ],
    "yaw_diff": [
      -0.005774036260571158,
      -0.023985469966812722,
      -0.07086234139467606,
      -0.13315781460973675,
      -0.2231578158802332,
      -0.25630281798871124,
      -0.27477130505968717,
      -0.31020356690771145,
      -0.37440618359634215,
      -0.37440618359634215
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.762914233156157,
    "v_std": 1.0108278006178986,
    "vy_max": 0.11315692415489353,
    "a_max": 1.9380092225050478,
    "ax_avg": -0.5660721761465941,
    "a_std": 0.45480181453057583,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "e9cb16355c1f5d9b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e9cb16355c1f5d9b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "65d05fc646de5ce6": {
    "vx_ego": [
      3.4754793475033,
      3.7057214533735094,
      3.926186850680626,
      4.105051139666129,
      4.222604783014062,
      4.282037057983366,
      4.323203701652859,
      4.331978542210912,
      4.311478963953394,
      4.323719110891434
    ],
    "vy_ego": [
      0.033173199222460203,
      -0.05993709155372784,
      -0.054418978941237484,
      -0.058109959356018814,
      -0.03472070878097444,
      -0.011830559116089212,
      0.013390041379762074,
      0.026213075051358725,
      0.025041598571171608,
      0.006517976680419757
    ],
    "v_ego": [
      3.475637661792238,
      3.7062061390236507,
      3.9265639701558994,
      4.105462413255119,
      4.222747527517066,
      4.282053400889793,
      4.323224437753971,
      4.332057849969161,
      4.311551685677864,
      4.323724023791045
    ],
    "ax_ego": [
      0.4596656267976543,
      0.4609850559169576,
      0.4160878632459294,
      0.2876199759055292,
      0.16947100637141885,
      0.06471351232441408,
      0.10101526608991968,
      -0.0556514885309391,
      -0.013109489843561861,
      0.0679345479396189
    ],
    "ay_ego": [
      -0.22914365873730455,
      -0.2264775553668921,
      -0.48406812673014027,
      -0.5693211369347625,
      -0.5906737926620536,
      -0.688648936607172,
      -0.7068193730842736,
      -0.7804257195902077,
      -0.8556063853852848,
      -0.8530058860975004
    ],
    "a_ego": [
      0.5136139647622509,
      0.5136139648254555,
      0.6383189338070667,
      0.637849361135204,
      0.6145046389884425,
      0.6916828728308595,
      0.7140011975833533,
      0.7824074334856506,
      0.8557068104415383,
      0.855706809906724
    ],
    "yaw": [
      -2.1531579744683293,
      -2.1589497383372085,
      -2.206867129393494,
      -2.2712489258902293,
      -2.3462121835419447,
      -2.426517752812696,
      -2.5134988149438726,
      -2.601920311767419,
      -2.6963352189338683,
      -2.7911295054072163
    ],
    "yaw_diff": [
      -0.011583527737758281,
      -0.09583478211257113,
      -0.1287635929934705,
      -0.14992651530343082,
      -0.160611138541503,
      -0.1739621242623528,
      -0.17684299364709233,
      -0.18882981433289903,
      -0.18958857294669595,
      -0.18958857294669595
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.100922910982581,
    "v_std": 0.2866531453236018,
    "vy_max": 0.05993709155372784,
    "a_max": 0.8557068104415383,
    "ax_avg": 0.19587318762169412,
    "a_std": 0.11690490930790384,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "65d05fc646de5ce6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "65d05fc646de5ce6",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "98b148d419725caa": {
    "vx_ego": [
      3.625521809294191,
      3.454537741483138,
      3.393010073850925,
      3.47749583409378,
      3.6671763716150707,
      3.974843974016888,
      4.364562608249084,
      4.768453418026371,
      5.140565327982464,
      5.499820643761673
    ],
    "vy_ego": [
      -0.03984719335844271,
      -0.02670318476580555,
      -0.00453559277810564,
      -0.0006034290163115519,
      -0.018946176947652438,
      -0.04058133186859089,
      -0.04101503340272323,
      -0.025566835938721506,
      0.02164533299218052,
      0.07428118372030029
    ],
    "v_ego": [
      3.625740777894411,
      3.4546409462356658,
      3.393013105317412,
      3.4774958864484904,
      3.6672253132515333,
      3.9750511270013367,
      4.3647553189487125,
      4.768521957901347,
      5.140610898686634,
      5.500322245814508
    ],
    "ax_ego": [
      -0.34229379243555164,
      -0.3422617249947964,
      0.09566495724872055,
      0.2427435444461858,
      0.5155379121891807,
      0.7139510096044166,
      0.8451960930039064,
      0.7739637322357522,
      0.7147573783263586,
      0.7191222068437446
    ],
    "ay_ego": [
      -0.006050045311108868,
      -0.0076521206274379125,
      -0.01723812771385496,
      -0.12063028736918235,
      -0.1274146112116986,
      -0.08878198878689707,
      0.10447537699314353,
      0.2654245310929512,
      0.2801680712550646,
      0.2687666483827353
    ],
    "a_ego": [
      0.3423472555581233,
      0.34234725549726625,
      0.09720564331600665,
      0.27106474245292195,
      0.5310497359519235,
      0.7194499882883608,
      0.8516287571629598,
      0.8182114888720448,
      0.7677058408158376,
      0.76770584188132
    ],
    "yaw": [
      0.04282433995837458,
      0.03814371873679308,
      0.029716972732931005,
      0.018478943676765235,
      0.00613722526358324,
      -0.002401240877100524,
      -0.0013521833271152254,
      0.015482357375140645,
      0.03345599611865786,
      0.04935856262418576
    ],
    "yaw_diff": [
      -0.009361242443162998,
      -0.016853492007724145,
      -0.02247605811233154,
      -0.02468343682636399,
      -0.01707693228136753,
      0.002098115099970597,
      0.03366908140451174,
      0.03594727748703444,
      0.031805133011055794,
      0.031805133011055794
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.136737757750005,
    "v_std": 0.7265639615529002,
    "vy_max": 0.07428118372030029,
    "a_max": 0.8516287571629598,
    "ax_avg": 0.39363813164679173,
    "a_std": 0.25609387375747283,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "98b148d419725caa",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 9.27737870134898,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "98b148d419725caa",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "92427e4a55475ba6": {
    "vx_ego": [
      5.352228961227343,
      5.281376009664047,
      5.319180029806146,
      5.422106847760867,
      5.551584823280294,
      5.718140208201438,
      5.893305348314346,
      6.037151101614105,
      6.16519644111556,
      6.256796844369876
    ],
    "vy_ego": [
      -0.1876896209976322,
      -0.05084892836912805,
      -0.06575930204195612,
      -0.05186909090364278,
      -0.06244509928779918,
      -0.14020646939083292,
      -0.09505423264950386,
      -0.14595872022248368,
      -0.12915909951856075,
      0.024405879804823227
    ],
    "v_ego": [
      5.355518858825068,
      5.281620789963174,
      5.3195864947656935,
      5.422354937767027,
      5.551936008321886,
      5.719858852691124,
      5.894071872281086,
      6.038915247933969,
      6.166549215771525,
      6.256844444181578
    ],
    "ax_ego": [
      -0.28199595237617076,
      0.08285826712374664,
      0.17011653414106953,
      0.31705415409935733,
      0.24425004217537838,
      0.4553638321933249,
      0.2825167985090147,
      0.3386142882164458,
      0.18141910041239956,
      0.1877773806735135
    ],
    "ay_ego": [
      2.0942042165536647,
      2.111479937328149,
      2.555952315193765,
      2.7060554619158803,
      2.6051715548416396,
      2.093624560842513,
      1.6408273668351536,
      1.357750457259728,
      0.47504515720434914,
      0.4725679406797386
    ],
    "a_ego": [
      2.113105065487207,
      2.1131050655776757,
      2.561607283080788,
      2.724565928656605,
      2.616596436835203,
      2.1425732242872813,
      1.6649715280433377,
      1.3993376791801653,
      0.5085083985321669,
      0.5085084102066499
    ],
    "yaw": [
      -1.7750675927674162,
      -1.6019956148641028,
      -1.3794948627998864,
      -1.1374944229770354,
      -0.8951654883451948,
      -0.672770921859918,
      -0.5206007383154512,
      -0.38644181371601255,
      -0.31435867514961324,
      -0.30093929745230474
    ],
    "yaw_diff": [
      0.3461439558066268,
      0.44500150412843276,
      0.48400087964570204,
      0.48465786926368115,
      0.44478913297055356,
      0.30434036708893375,
      0.26831784919887725,
      0.14416627713279861,
      0.026838755394616998,
      0.026838755394616998
    ],
    "min_front_frame": [
      7,
      21.670658189023907
    ],
    "v_avg": 5.700725672250213,
    "v_std": 0.3490118954804674,
    "vy_max": 0.1876896209976322,
    "a_max": 2.724565928656605,
    "ax_avg": 0.19779744451680795,
    "a_std": 0.7692421748262361,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "92427e4a55475ba6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 34.45780661417534,
    "right_rear_min": 28.197535924402132,
    "speed_mode": "accelerating",
    "front_frame": [
      68.1113649999914,
      -1,
      -1,
      -1,
      -1,
      -1,
      49.394627499205036,
      21.670658189023907,
      35.72945880970248,
      32.619408954839486
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "92427e4a55475ba6",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "2b4e72f733d35e89": {
    "vx_ego": [
      3.021293255345474,
      2.7582379627511893,
      2.4846916778628123,
      2.154818334839549,
      1.763546768443919,
      1.3277612836308896,
      0.8476883066121236,
      0.3830491115407201,
      0.05975771243828024,
      -0.15303822220816643
    ],
    "vy_ego": [
      -0.033179967590680634,
      -0.00025623877101040027,
      0.02189937038235206,
      -0.003125130022370602,
      -0.02057532364833243,
      0.0047112126921251135,
      0.009216312353953955,
      -0.014011211726122965,
      -0.03286149386054633,
      -0.036440476870354815
    ],
    "v_ego": [
      3.0214754417412317,
      2.758237974653409,
      2.4847881834200396,
      2.1548206010242117,
      1.7636667906473216,
      1.3277696418559124,
      0.8477384063379075,
      0.3833052776915148,
      0.0681972284964933,
      0.1573168961401635
    ],
    "ax_ego": [
      -0.5261117315959812,
      -0.5260593911977025,
      -0.5681731408217032,
      -0.7513114101666581,
      -0.8137682351478294,
      -0.9293643080725837,
      -0.991002946696988,
      -0.8675639029304415,
      -0.4255998626136898,
      -0.4255990820047034
    ],
    "ay_ego": [
      0.06996279145803684,
      0.07035525369744226,
      0.02586852718341959,
      -0.12669125911484863,
      0.05726341970005547,
      0.04612108941827393,
      -0.022801662527497782,
      -0.06826701352359324,
      -0.007124403946441634,
      -0.007171071255054864
    ],
    "a_ego": [
      0.5307432018514439,
      0.5307432004181767,
      0.5687617239669336,
      0.7619183093893452,
      0.8157805095559452,
      0.930508018239693,
      0.9912652299844532,
      0.8702456611804111,
      0.42565948854499147,
      0.4256594916904724
    ],
    "yaw": [
      -1.6002481977624057,
      -1.5995021899365598,
      -1.5987787286842683,
      -1.5988560693469327,
      -1.5988086698265858,
      -1.5984499811890922,
      -1.597240631492896,
      -1.5964732934842236,
      -1.5964586772568277,
      -1.596568333214192
    ],
    "yaw_diff": [
      0.0014920156516917693,
      0.0014469225045830036,
      -0.0001546813253288093,
      9.479904069387146e-05,
      0.0007173772749871077,
      0.002418699392392476,
      0.0015346760173446938,
      2.9232454791916496e-05,
      -0.0002193119147286815,
      -0.0002193119147286815
    ],
    "min_front_frame": [
      8,
      9.942974724438843
    ],
    "v_avg": 1.4967316442008203,
    "v_std": 1.0450375180320313,
    "vy_max": 0.036440476870354815,
    "a_max": 0.9912652299844532,
    "ax_avg": -0.682455401124828,
    "a_std": 0.2017486041988779,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2b4e72f733d35e89",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.2863944822876,
      13.80938016898841,
      13.158849271165826,
      12.387271766457355,
      11.596560920377136,
      10.833119127657389,
      10.282049543087238,
      9.989375881937622,
      9.942974724438843,
      9.98240299761704
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2b4e72f733d35e89",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fbf241ca4b6758d8": {
    "vx_ego": [
      11.660054003424559,
      11.534745887570763,
      11.47496324513393,
      11.451512636542956,
      11.453891314806388,
      11.523258316355474,
      11.633275246801524,
      11.734572358164877,
      11.804419073466478,
      11.882325555132105
    ],
    "vy_ego": [
      -0.025908028751373102,
      -0.003951977733919421,
      0.018087907113344848,
      0.032096667271614976,
      0.04690073548863438,
      0.05124822371162896,
      0.03440423392853997,
      0.022415162379224363,
      0.014237787156614168,
      -0.020256580592520557
    ],
    "v_ego": [
      11.6600827865299,
      11.5347465645743,
      11.474977501048023,
      11.451557617239366,
      11.453987337621191,
      11.523372275765857,
      11.63332612020987,
      11.734593766658975,
      11.804427659848752,
      11.882342821481075
    ],
    "ax_ego": [
      -0.25217970421310965,
      -0.24831872564283616,
      0.008892084282070417,
      -0.10398646880442478,
      0.11138484073611037,
      0.16304736233200304,
      0.27478180316676437,
      0.12925587054399193,
      0.14912110424758424,
      0.1627610715840942
    ],
    "ay_ego": [
      0.3205110303960945,
      0.32351157776199785,
      0.3321766352014171,
      0.3405641233778224,
      0.3502963787486908,
      0.3073525144982325,
      0.3729894581846459,
      0.48079705861421274,
      0.5369053473679902,
      0.5329289673154562
    ],
    "a_ego": [
      0.40782584987047804,
      0.4078258579969388,
      0.33229563063124196,
      0.35608581525598326,
      0.3675787476313816,
      0.34792242027758097,
      0.4632776438254431,
      0.49786834770063854,
      0.5572292667873441,
      0.5572292621777156
    ],
    "yaw": [
      1.9653384173942539,
      1.9773284945536727,
      1.9896952711827105,
      2.0031281750545302,
      2.0169485474356197,
      2.0308886719529564,
      2.047052677684911,
      2.0663166087776697,
      2.0886325598998914,
      2.114130370184373
    ],
    "yaw_diff": [
      0.0239801543188376,
      0.02473355325807569,
      0.026865807743639447,
      0.027640744762178926,
      0.027880249034673454,
      0.03232801146390951,
      0.03852786218551696,
      0.04463190224444347,
      0.05099562056896367,
      0.05099562056896367
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.615341445097732,
    "v_std": 0.1452948291922718,
    "vy_max": 0.05124822371162896,
    "a_max": 0.5572292667873441,
    "ax_avg": 0.03947592382322479,
    "a_std": 0.0804435829896791,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "fbf241ca4b6758d8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "fbf241ca4b6758d8",
    "road_shape": "Straight"
  },
  "4aab1b32b1ad58aa": {
    "vx_ego": [
      1.3202459235327368,
      1.2979239781388978,
      1.2671307209304938,
      1.2125813277939326,
      1.1585645002763407,
      1.1224929300157884,
      1.1027249387953244,
      1.0706432157580261,
      0.9406247728908279,
      0.7324107973172375
    ],
    "vy_ego": [
      -0.0607697338632211,
      -0.03685820160889497,
      -0.028783762983647793,
      -0.021817992348417914,
      -0.020222502727527902,
      -0.030538283954992418,
      -0.02470608577573774,
      0.015908203215880712,
      0.05253550470994339,
      0.03243672669692432
    ],
    "v_ego": [
      1.3216437716565745,
      1.2984472188170546,
      1.2674576004495504,
      1.2127775976264619,
      1.1587409766281385,
      1.1229082619352062,
      1.1030016687727677,
      1.0707613956331472,
      0.9420907295112557,
      0.7331287180745837
    ],
    "ax_ego": [
      -0.08965238445413932,
      -0.030214224998387388,
      -0.11238161810951072,
      -0.12505878106347657,
      -0.10245514992342529,
      -0.05486629237978524,
      -0.04726641185502989,
      -0.08693654546340672,
      -0.4168739387979894,
      -0.3979987841340837
    ],
    "ay_ego": [
      -0.36536787241240515,
      -0.3749911101918134,
      -0.38355353941243964,
      -0.3272296197283656,
      -0.3328897294033137,
      -0.35214919338742745,
      -0.2398111260991142,
      -0.1880762622133637,
      -0.17933371824979796,
      -0.21803997620600662
    ],
    "a_ego": [
      0.3762063692037661,
      0.3762063690518037,
      0.3996785529456413,
      0.3503126071791498,
      0.3482996263105129,
      0.3563977615571117,
      0.24442481439202232,
      0.20719711229952245,
      0.4538110436627206,
      0.45381104371326714
    ],
    "yaw": [
      -2.8316298167975362,
      -2.9918519564542256,
      3.1386980875846597,
      2.9902236522234027,
      2.849576080447052,
      2.707959918520565,
      2.569808242024952,
      2.434817248841015,
      2.312244109973438,
      2.217315942039362
    ],
    "yaw_diff": [
      -0.3204442793133788,
      -0.3052705262814017,
      -0.2969488707225141,
      -0.28129514355270135,
      -0.2832323238529737,
      -0.276303352991226,
      -0.26998198636787407,
      -0.24514627773515407,
      -0.18985633586815176,
      -0.18985633586815176
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.123095793910474,
    "v_std": 0.16979487910131158,
    "vy_max": 0.0607697338632211,
    "a_max": 0.45381104371326714,
    "ax_avg": -0.14637041311792343,
    "a_std": 0.07519142689356945,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "4aab1b32b1ad58aa",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 49.87036493295642,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4aab1b32b1ad58aa",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "87423b239de058c9": {
    "vx_ego": [
      8.16662399815331,
      8.191680076761244,
      8.404257383084838,
      8.70490235800398,
      8.976788348077315,
      9.305359052502922,
      9.801957792624641,
      10.461306673887812,
      11.148583688640194,
      11.804244906098797
    ],
    "vy_ego": [
      0.0022435792743897842,
      0.03742328560429797,
      0.023312912682531106,
      -0.023806929049631442,
      -0.07708868470367758,
      -0.09262607219452379,
      -0.1523921769347265,
      -0.1546945791965758,
      -0.16130187714207705,
      0.06131898312018075
    ],
    "v_ego": [
      8.166624306337443,
      8.191765559530651,
      8.40428971734279,
      8.704934912579992,
      8.977119343725246,
      9.305820043674188,
      9.803142350490777,
      10.462450369677386,
      11.14975051551306,
      11.804404170514083
    ],
    "ax_ego": [
      -0.1291079756991269,
      0.2174675724754327,
      0.6102862991098532,
      0.5978010448533839,
      0.5442267414692743,
      0.7972410007815603,
      1.230354172685555,
      1.4487930755705434,
      1.3078517445177118,
      1.317230923526467
    ],
    "ay_ego": [
      2.413350306450437,
      2.4069973889585943,
      2.340075753217488,
      2.414366495854777,
      2.7305249042618427,
      2.430928625866949,
      2.1063855021295694,
      1.7509150357857717,
      0.7455734346235395,
      0.728874917162002
    ],
    "a_ego": [
      2.4168013097963894,
      2.4168013107270214,
      2.4183473484339664,
      2.4872739425993817,
      2.7842322099502423,
      2.558321167755635,
      2.4393915786167653,
      2.2725986971662735,
      1.505442105181851,
      1.5054421113952885
    ],
    "yaw": [
      0.5776618759909912,
      0.7212117699111502,
      0.866536519422783,
      1.0107124008743558,
      1.1618227007626531,
      1.3049346997441797,
      1.4304701117115348,
      1.5260619624003557,
      1.5843245933696959,
      1.5970467006982392
    ],
    "yaw_diff": [
      0.2870997878403181,
      0.29064949902326553,
      0.28835176290314557,
      0.30222059977659477,
      0.2862239979630532,
      0.25107082393471014,
      0.19118370137764185,
      0.11652526193868029,
      0.025444214657086572,
      0.025444214657086572
    ],
    "min_front_frame": [
      6,
      42.69858380916783
    ],
    "v_avg": 9.497030128938562,
    "v_std": 1.2117450551378577,
    "vy_max": 0.16130187714207705,
    "a_max": 2.7842322099502423,
    "ax_avg": 0.7942144599290655,
    "a_std": 0.4070113773576203,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "87423b239de058c9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      42.69858380916783,
      45.2286445227487,
      47.46062724104742,
      49.66609903263739
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "87423b239de058c9",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "77c3cf2f4a1a5f31": {
    "vx_ego": [
      0.1660760967957485,
      0.7844886864104509,
      1.5259390253038085,
      2.40455676330089,
      3.256338188857115,
      3.9434904751146322,
      4.464511532876782,
      4.855794289508773,
      5.0961875084149515,
      5.426030820125298
    ],
    "vy_ego": [
      0.04911960475874645,
      -0.0027670962085509787,
      -0.05026932776084447,
      -0.048762418694800025,
      -0.0022118416205909597,
      -0.01927423782390092,
      -0.08948920600825433,
      -0.06427877779563573,
      -0.06195852568591098,
      -0.1180543766944453
    ],
    "v_ego": [
      0.1731877752572805,
      0.7844935665302948,
      1.5267668172509725,
      2.405051143201121,
      3.2563389400448766,
      3.9435375772982715,
      4.465408329053657,
      4.856219717362561,
      5.096564134770578,
      5.427314925154642
    ],
    "ax_ego": [
      1.236828339020781,
      1.2367637683526953,
      1.7292055836227005,
      1.7869384895615303,
      1.6277524620634394,
      1.1568647330297228,
      1.0108136538445747,
      0.6622104095505041,
      0.40178598025774725,
      0.984501871731177
    ],
    "ay_ego": [
      -0.10279129839513984,
      -0.10356546581939824,
      -0.08020279906744854,
      0.12949073275899664,
      0.41163610716525223,
      1.0257182115108403,
      1.571688230484015,
      2.095147557624257,
      2.487545992347505,
      2.3194984584618883
    ],
    "a_ego": [
      1.2410924184889145,
      1.2410924318600722,
      1.731064539354376,
      1.7916241278088731,
      1.6789944498049276,
      1.546102797343349,
      1.8686755033018958,
      2.1973087891181646,
      2.5197851174208905,
      2.5197851166814336
    ],
    "yaw": [
      -1.9412462245356594,
      -1.9406202744840035,
      -1.9391937194760975,
      -1.9336702908086134,
      -1.9025428499962576,
      -1.7997572181756634,
      -1.629745661579927,
      -1.4407797882753424,
      -1.213482913311481,
      -0.9722176037503896
    ],
    "yaw_diff": [
      0.001251900103311776,
      0.0028531100158120104,
      0.01104685733496824,
      0.06225488162471171,
      0.20557126364118838,
      0.3400231131914726,
      0.3779317466091694,
      0.4545937499277226,
      0.482530619122183,
      0.482530619122183
    ],
    "min_front_frame": [
      0,
      26.669678668045112
    ],
    "v_avg": 3.1934882925924257,
    "v_std": 1.7856574142030637,
    "vy_max": 0.1180543766944453,
    "a_max": 2.5197851174208905,
    "ax_avg": 1.1833665291034872,
    "a_std": 0.43545124251488987,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "77c3cf2f4a1a5f31",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.185031121475658,
    "right_rear_min": 13.03377905121316,
    "speed_mode": "accelerating",
    "front_frame": [
      26.669678668045112,
      29.66924887782059,
      29.994630280702648,
      29.011484321320506,
      27.54951375533253,
      36.76650786953774,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "77c3cf2f4a1a5f31",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "3458fad66b245ac3": {
    "vx_ego": [
      8.643242585844643,
      8.625505017673683,
      8.622533552873596,
      8.663055824460526,
      8.683426541083405,
      8.648461469907023,
      8.581829598993272,
      8.53460190180283,
      8.526782977744471,
      8.515133708810387
    ],
    "vy_ego": [
      0.0666208473294283,
      0.04810585864368999,
      0.06370434669609315,
      0.08961021166905736,
      0.08337066651268854,
      0.057856772694812264,
      0.0860943331599704,
      0.1286088563351715,
      0.12274946659867325,
      0.09007120259741574
    ],
    "v_ego": [
      8.643499333895809,
      8.625639163769241,
      8.622768877467315,
      8.66351927381447,
      8.683826757969467,
      8.64865499384806,
      8.582261444418906,
      8.53557085731144,
      8.527666467510507,
      8.515610072123797
    ],
    "ax_ego": [
      -0.04530478593862418,
      -0.03220156206733159,
      0.016598451829890587,
      0.13426170081274558,
      -0.06605180796594237,
      -0.08311028421353239,
      -0.19006189437548737,
      -0.011812263910536858,
      -0.03445494611854988,
      -0.02368155947487907
    ],
    "ay_ego": [
      0.45693018084584774,
      0.45804014329543485,
      0.663257233549576,
      0.6188007698186206,
      0.510640213386714,
      0.491260129190499,
      0.5965797482216956,
      0.5016108694407989,
      0.39662259064381566,
      0.39741138166701284
    ],
    "a_ego": [
      0.45917068046290116,
      0.4591706801067319,
      0.6634648946696321,
      0.63319870264653,
      0.514894424968069,
      0.49824073887461257,
      0.6261237255382203,
      0.5017499316590351,
      0.3981163431976185,
      0.3981163429672869
    ],
    "yaw": [
      -1.4086715846252806,
      -1.3800316873932061,
      -1.349316031508498,
      -1.3151740455919734,
      -1.2819981409184809,
      -1.2501611268360264,
      -1.2219168436203622,
      -1.1947354208789667,
      -1.1677355799845768,
      -1.1406014122578116
    ],
    "yaw_diff": [
      0.05727979446414899,
      0.0614313117694163,
      0.06828397183304924,
      0.06635180934698504,
      0.06367402816490886,
      0.05648856643132838,
      0.05436284548279113,
      0.053999681788779785,
      0.05426833545353027,
      0.05426833545353027
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.6049017242129,
    "v_std": 0.05751192406943364,
    "vy_max": 0.1286088563351715,
    "a_max": 0.6634648946696321,
    "ax_avg": -0.03358189514222476,
    "a_std": 0.09076044769209539,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "3458fad66b245ac3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3458fad66b245ac3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c51da2f899b55508": {
    "vx_ego": [
      0.429642448011863,
      1.1620468824585168,
      1.9057367372726313,
      2.644742566884579,
      3.3396670897168965,
      3.977271240970798,
      4.577537919360785,
      5.16381605518349,
      5.694948364111701,
      6.176904321089513
    ],
    "vy_ego": [
      -0.01811797937626075,
      0.004130310422038819,
      0.021195360417736064,
      0.02658007929895856,
      0.00885462893362532,
      -0.013410705185076477,
      -0.03218069147928615,
      -0.030385897786630256,
      -0.0032674313313272307,
      0.02808638290666554
    ],
    "v_ego": [
      0.43002429502332196,
      1.1620542227003612,
      1.9058545996727483,
      2.6448761305034254,
      3.3396788280599194,
      3.977293850253832,
      4.577651035202438,
      5.163905455617394,
      5.694949301442994,
      6.1769681751486365
    ],
    "ax_ego": [
      1.4648177220891483,
      1.4647619951547974,
      1.5100411085096157,
      1.446098096159804,
      1.3337634205149926,
      1.2165897733345254,
      1.1843205620662065,
      1.160421349176221,
      0.9640011828605934,
      0.9639224930283368
    ],
    "ay_ego": [
      0.04144213604088731,
      0.04336722456808895,
      0.020589228864007714,
      -0.008656213383049338,
      -0.08063520223014153,
      -0.04018760944458766,
      -0.07000575711508128,
      0.03670339354039287,
      0.0373499984739602,
      0.03932862825698058
    ],
    "a_ego": [
      1.465403838396117,
      1.4654038414773594,
      1.51018146781576,
      1.4461240035858414,
      1.3361986745026164,
      1.2172533510058712,
      1.1863877948470605,
      1.1610016566402228,
      0.9647244699615679,
      0.9647244754677574
    ],
    "yaw": [
      -0.5772464876193693,
      -0.5785607335599945,
      -0.5792647717211146,
      -0.5803165529039733,
      -0.5818458348998443,
      -0.5840075861273599,
      -0.5860579131572132,
      -0.5881344570370937,
      -0.5897122381534814,
      -0.5917648472347397
    ],
    "yaw_diff": [
      -0.002628491881250472,
      -0.0014080763222401593,
      -0.002103562365717515,
      -0.0030585639917419805,
      -0.004323502455031214,
      -0.00410065405970661,
      -0.004153087759760865,
      -0.003155562232775466,
      -0.004105218162516522,
      -0.004105218162516522
    ],
    "min_front_frame": [
      0,
      11.710724567136602
    ],
    "v_avg": 3.5073255893625075,
    "v_std": 1.852839105182768,
    "vy_max": 0.03218069147928615,
    "a_max": 1.51018146781576,
    "ax_avg": 1.270873770289424,
    "a_std": 0.1942843903451683,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c51da2f899b55508",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.518067539893769,
    "right_rear_min": 3.3213151535026766,
    "speed_mode": "accelerating",
    "front_frame": [
      11.710724567136602,
      13.046720534076544,
      14.332191951106847,
      15.684579206519087,
      17.107275019467302,
      18.54389317900706,
      19.897735716893113,
      21.107508875314423,
      22.330579782012286,
      23.42205189036665
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c51da2f899b55508",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f93c0db62e075508": {
    "vx_ego": [
      1.0473952786268828,
      1.244441881285356,
      1.5508527411497282,
      2.0349499951468637,
      2.5912165542432493,
      3.122430459193789,
      3.607051129713828,
      4.044575640510225,
      4.4552596851336785,
      4.98708533662713
    ],
    "vy_ego": [
      -0.03948609572621947,
      -0.04963192592313648,
      -0.04803785517677006,
      -0.013941661474894729,
      0.04748374705920799,
      0.07437622668598404,
      0.04785272112758377,
      0.020022279814962074,
      -0.0178398564739497,
      -0.2606240425381863
    ],
    "v_ego": [
      1.04813931394905,
      1.2454312200871935,
      1.5515965520268502,
      2.034997752498243,
      2.5916515848429627,
      3.123316153641379,
      3.607368533334114,
      4.044625199384696,
      4.455295402378663,
      4.993890772368803
    ],
    "ax_ego": [
      0.3956572366363084,
      0.3962893905671405,
      0.8388189821872244,
      1.1135687885390715,
      1.124260451804924,
      0.9874034699484946,
      0.9337695718350736,
      0.8307391968219033,
      0.8501308089170594,
      1.3861351660856054
    ],
    "ay_ego": [
      0.03352434927005701,
      0.02496509034735303,
      0.17084230955303445,
      0.4191352017325891,
      0.7966269545331557,
      1.1160450484283906,
      1.4288498572729824,
      1.8316002676925585,
      2.1535768516261222,
      1.8545201415375907
    ],
    "a_ego": [
      0.39707496886187693,
      0.39707497631068006,
      0.8560399404297827,
      1.189836024055329,
      1.3778882640408048,
      1.490141658563996,
      1.7069087637932143,
      2.0111904817166755,
      2.315300336485497,
      2.3153003377591803
    ],
    "yaw": [
      -2.13440084651434,
      -2.112785932353599,
      -2.07750934057431,
      -2.0130480394741777,
      -1.908238514438584,
      -1.7515361599186468,
      -1.5555889221181316,
      -1.3368738029013452,
      -1.0945914782040038,
      -0.8287082182458649
    ],
    "yaw_diff": [
      0.04322982832148181,
      0.07055318355857754,
      0.12892260220026497,
      0.2096190500711872,
      0.3134047090398746,
      0.3918944756010303,
      0.43743023843357287,
      0.4845646493946827,
      0.5317665199162778,
      0.5317665199162778
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.8696312484511957,
    "v_std": 1.3222326677964837,
    "vy_max": 0.2606240425381863,
    "a_max": 2.3153003377591803,
    "ax_avg": 0.8856773063342805,
    "a_std": 0.6710713225031975,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "f93c0db62e075508",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "f93c0db62e075508",
    "pedestrians": "No"
  },
  "1bf45a481f1d52e3": {
    "vx_ego": [
      0.435959721735206,
      1.0321333167392857,
      1.6718585943247928,
      2.3658906912376074,
      3.068316057839912,
      3.7606656929840723,
      4.445699401441065,
      5.106598310100508,
      5.726215469582268,
      6.329248454986437
    ],
    "vy_ego": [
      0.0422369564374499,
      0.025381456570736705,
      0.0058219137303343604,
      -0.004421119448173361,
      -5.4471029019342865e-05,
      -0.00627367531311962,
      -0.023446739977611264,
      -0.017283458887645153,
      -0.018349699331962288,
      -0.0318615913585063
    ],
    "v_ego": [
      0.4380009582918024,
      1.0324453505444686,
      1.6718687311201066,
      2.365894822087816,
      3.068316058323417,
      3.7606709259637845,
      4.4457612303844005,
      5.106627558249425,
      5.726244870379615,
      6.329328650493044
    ],
    "ax_ego": [
      1.1923343517676388,
      1.1923259744826855,
      1.3664915920092533,
      1.409652674410395,
      1.400060521022702,
      1.3693230637125902,
      1.3708707526491302,
      1.2724514669342437,
      1.2058757352171077,
      1.2060107881765176
    ],
    "ay_ego": [
      -0.03319144730277146,
      -0.03349153601638338,
      -0.03786349995030658,
      0.003948469077728944,
      0.020837679225144567,
      -0.02906433591717361,
      -0.024010245937364005,
      -0.010809522494269808,
      -0.05751609338351105,
      -0.054611142713528016
    ],
    "a_ego": [
      1.1927962435299702,
      1.1927962577116102,
      1.3670160626929262,
      1.4096582042752197,
      1.400215580331061,
      1.3696314790619921,
      1.3710810013922465,
      1.2724973797535548,
      1.2072466151468393,
      1.20724661859399
    ],
    "yaw": [
      -2.0488982357757317,
      -2.048646547050117,
      -2.047352944601308,
      -2.046476713098789,
      -2.0458035403500294,
      -2.044585830265348,
      -2.0436342269397154,
      -2.0467392418164936,
      -2.0496914912816315,
      -2.0521003490669596
    ],
    "yaw_diff": [
      0.0005033774512295253,
      0.0025872048976181006,
      0.0017524630050376189,
      0.00134634549751933,
      0.002435420169362601,
      0.001903206651265421,
      -0.006210029753556334,
      -0.005904498930275892,
      -0.004817715570656134,
      -0.004817715570656134
    ],
    "min_front_frame": [
      0,
      10.617931778953551
    ],
    "v_avg": 3.3945159155837876,
    "v_std": 1.9150179439891732,
    "vy_max": 0.0422369564374499,
    "a_max": 1.4096582042752197,
    "ax_avg": 1.2985396920382262,
    "a_std": 0.08797654124395896,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "1bf45a481f1d52e3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.248955761018076,
    "right_rear_min": 2.896614998149519,
    "speed_mode": "accelerating",
    "front_frame": [
      10.617931778953551,
      11.783158931891471,
      13.058179918313511,
      14.475085433674865,
      15.946344632261663,
      17.546664340153143,
      19.1572103462876,
      20.786495859112197,
      22.39275893791779,
      23.903230195334118
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1bf45a481f1d52e3",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "69dec5959d7d53a9": {
    "vx_ego": [
      0.09523249819800209,
      0.42350945743384694,
      0.9087969338599784,
      1.5779071127168507,
      2.221716613945678,
      2.757495686422764,
      3.216118931827437,
      3.5671187695032267,
      3.807176737383515,
      4.082370928772525
    ],
    "vy_ego": [
      0.02517348266040533,
      0.0013927614973439362,
      -0.019435104969609318,
      -0.025402753166310243,
      -0.017906953250198976,
      -0.005329025414001709,
      0.0008292267536600395,
      0.022264622933292233,
      0.01595440663009179,
      0.06579591423106301
    ],
    "v_ego": [
      0.09850346665110928,
      0.4235117475590257,
      0.9090047251243955,
      1.578111579144788,
      2.2217887774621947,
      2.7575008357481985,
      3.216119038729111,
      3.567188252556427,
      3.807210166613488,
      4.082901113475141
    ],
    "ax_ego": [
      0.6565573820335773,
      0.6568035629833275,
      1.283986101497463,
      1.3904400084357929,
      1.1886134709427967,
      0.9660079213727478,
      0.8808636073257146,
      0.5507118524051335,
      0.4405106264122579,
      0.6807160456073029
    ],
    "ay_ego": [
      -0.05172271559151459,
      -0.04849655302040273,
      -0.06554524146834828,
      -0.12818770638985655,
      -0.40564423005531536,
      -0.6991767538066515,
      -0.8999784793254249,
      -1.1604723994702508,
      -1.373359642616756,
      -1.271531354540566
    ],
    "a_ego": [
      0.6585915541600466,
      0.658591554760957,
      1.2856579978819396,
      1.3963364584255544,
      1.2559256445681217,
      1.1924845647715965,
      1.2593180527411552,
      1.2845153694338325,
      1.4422781701012268,
      1.442278170231738
    ],
    "yaw": [
      -2.394742691045029,
      -2.3996555163915385,
      -2.4127263836709223,
      -2.447246553047516,
      -2.5204350822145605,
      -2.6350229385671113,
      -2.770247293148137,
      -2.926226710524663,
      -3.095280076753724,
      3.0067648638115805
    ],
    "yaw_diff": [
      -0.009825650693018773,
      -0.02614173455876756,
      -0.06904033875318749,
      -0.14637705833408887,
      -0.22917571270510173,
      -0.2704487091620509,
      -0.3119588347530522,
      -0.3381067324581224,
      -0.36228073322856336,
      -0.36228073322856336
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.266183970306388,
    "v_std": 1.3756174502200433,
    "vy_max": 0.06579591423106301,
    "a_max": 1.442278170231738,
    "ax_avg": 0.8695210579016115,
    "a_std": 0.27601384244223404,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "69dec5959d7d53a9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "69dec5959d7d53a9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "5f88affe449253a9": {
    "vx_ego": [
      7.583224186820734,
      8.049352318357629,
      8.475866954067103,
      8.8229398440198,
      9.068628626362342,
      9.21697683996073,
      9.327495744789456,
      9.417298773727472,
      9.430396179472222,
      9.38624454137241
    ],
    "vy_ego": [
      0.09955073882060805,
      0.03865938711063821,
      -0.004491526452819805,
      -0.028823794907705924,
      -0.050181280470206424,
      -0.044635827134971606,
      -0.0008260785966092143,
      0.03914301521930863,
      0.012311482293878129,
      -0.011691602839680293
    ],
    "v_ego": [
      7.583877597718908,
      8.049445154373133,
      8.475868144140552,
      8.822986926338778,
      9.068767464423606,
      9.217084920159763,
      9.327495781369791,
      9.417380122374238,
      9.430404215854193,
      9.386251822960022
    ],
    "ax_ego": [
      0.9255365276767968,
      0.9319282751631397,
      0.772534122401925,
      0.6174922005945749,
      0.3676633687167779,
      0.2300829825472725,
      0.21537927938495213,
      0.14154622777613146,
      -0.09316406997511495,
      -0.08344677631666067
    ],
    "ay_ego": [
      0.2723762388646876,
      0.24963249833223727,
      0.22218563896650434,
      0.2872113262084187,
      0.248657769899778,
      0.3883086933863449,
      0.540078168069563,
      0.4979058093620326,
      0.40318715187362975,
      0.40530983612194893
    ],
    "a_ego": [
      0.9647832293122095,
      0.9647832369357062,
      0.8038503768975084,
      0.681019062653557,
      0.4438547501465996,
      0.4513555363759914,
      0.581440161679391,
      0.5176345521640854,
      0.4138108545824983,
      0.4138108598560989
    ],
    "yaw": [
      -0.8945118924741164,
      -0.8700241132588746,
      -0.8505734991859837,
      -0.8330765067406922,
      -0.8157744387374484,
      -0.7989957755720738,
      -0.7786939645435709,
      -0.7552953683744724,
      -0.728628186754456,
      -0.7045914160029305
    ],
    "yaw_diff": [
      0.04897555843048362,
      0.038901228145781896,
      0.03499398489058292,
      0.03460413600648771,
      0.03355732633074915,
      0.04060362205700585,
      0.0467971923381969,
      0.053334363240032934,
      0.048073541503050876,
      0.048073541503050876
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.8779562149713,
    "v_std": 0.6110491705727615,
    "vy_max": 0.09955073882060805,
    "a_max": 0.9647832369357062,
    "ax_avg": 0.4025552137969794,
    "a_std": 0.20775099026773514,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "5f88affe449253a9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5f88affe449253a9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0fc626b8de655cc7": {
    "vx_ego": [
      4.004741433970893,
      3.5718771815950268,
      3.152610161202375,
      2.795295962066243,
      2.5796832508806578,
      2.4789428660526607,
      2.4008297770591205,
      2.2501553810174464,
      1.9084889222108283,
      1.4489834103384953
    ],
    "vy_ego": [
      0.08082562204263222,
      0.05757168697406945,
      -0.011868545543272546,
      -0.11732183721133316,
      -0.16715626556781515,
      -0.13363125840636902,
      -0.07213976146502032,
      -0.03593501611696881,
      -0.021152928427241924,
      -0.01648462742128476
    ],
    "v_ego": [
      4.0055569817619405,
      3.5723411230648554,
      3.152632501718172,
      2.797756946024884,
      2.5850932076025375,
      2.482542053294697,
      2.4019133547232667,
      2.250442304104928,
      1.908606143913012,
      1.449077177508981
    ],
    "ax_ego": [
      -0.8656818101866184,
      -0.8656614251851967,
      -0.8114452965985526,
      -0.6181072098900324,
      -0.24605622968514432,
      -0.15779179352854267,
      -0.15487890941133806,
      -0.4476497555213175,
      -0.9190060012074949,
      -0.9190044974563737
    ],
    "ay_ego": [
      -0.049442199419193034,
      -0.04979778470113844,
      -0.22506620637788938,
      -0.20986505279826084,
      -0.01665540617123376,
      0.1375983528633138,
      0.10296278060052058,
      0.050264697260936436,
      0.009780686669705274,
      0.009921528960366466
    ],
    "a_ego": [
      0.8670925715120547,
      0.8670925685385654,
      0.8420797270005066,
      0.6527632521091069,
      0.246619282947618,
      0.2093598739387547,
      0.18598067310727853,
      0.4504629212366196,
      0.9190580460923679,
      0.9190580520739445
    ],
    "yaw": [
      -0.5239315013871613,
      -0.5243422540122502,
      -0.5241264160888693,
      -0.5252381987063033,
      -0.5278113617170918,
      -0.5291175175507131,
      -0.5296714004758778,
      -0.5287814560876278,
      -0.5286742361378218,
      -0.5285209934077234
    ],
    "yaw_diff": [
      -0.0008215052501778786,
      0.00043167584676173654,
      -0.002223565234867886,
      -0.005146326021576941,
      -0.0026123116672427393,
      -0.0011077658503293453,
      0.0017798887764999272,
      0.0002144398996120067,
      0.0003064854601968481,
      0.0003064854601968481
    ],
    "min_front_frame": [
      9,
      12.455678842353812
    ],
    "v_avg": 2.6605961793717277,
    "v_std": 0.721590292462449,
    "vy_max": 0.16715626556781515,
    "a_max": 0.9190580520739445,
    "ax_avg": -0.6005282928670612,
    "a_std": 0.29603451366127337,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0fc626b8de655cc7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.656891279784828,
    "right_rear_min": 26.182140851165588,
    "speed_mode": "decelerating",
    "front_frame": [
      23.888839898062415,
      22.371854803440797,
      20.831571222381083,
      19.38073390574329,
      18.047346463842167,
      16.781766788809957,
      15.517793381191092,
      14.322162130720885,
      13.25953602217172,
      12.455678842353812
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0fc626b8de655cc7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fdc43c8424a256ce": {
    "vx_ego": [
      4.176989165189223,
      4.2450285304812265,
      4.284258668344892,
      4.312882380346133,
      4.34209640082563,
      4.344482319619424,
      4.340315942513441,
      4.328027214802903,
      4.30710183102657,
      4.288601349325269
    ],
    "vy_ego": [
      -0.0400513832182503,
      0.022605874159308925,
      0.004396148906141928,
      -0.028508930195624504,
      -0.04041120174189938,
      -0.03079653871155852,
      -0.014076978268757756,
      -0.012106904944507502,
      -0.014442434892539158,
      -0.01253062285457407
    ],
    "v_ego": [
      4.177181178666525,
      4.245088721115979,
      4.284260923824966,
      4.31297660390142,
      4.34228444707266,
      4.3445914712757965,
      4.340338770436418,
      4.328044148252408,
      4.307126044911857,
      4.288619655546951
    ],
    "ax_ego": [
      0.13485815060347303,
      0.13645714657751506,
      0.02109035524045541,
      0.09311485720443244,
      0.023207821947980115,
      -0.014311819190015765,
      -0.0023863559138032862,
      -0.04678465242563391,
      -0.03711523102016365,
      -0.037048882217152045
    ],
    "ay_ego": [
      -0.07078856569936451,
      -0.06765492338615053,
      -0.1306737765895071,
      -0.060651117845166476,
      -0.05204609792750315,
      0.02891678867914322,
      0.03173943084972988,
      -0.041734850434129986,
      -0.02199008460248348,
      -0.02210168684613218
    ],
    "a_ego": [
      0.15230804909118315,
      0.15230804808171933,
      0.1323647950639936,
      0.11112576086610212,
      0.056985957121455766,
      0.032264668540710736,
      0.031829014518393886,
      0.06269450887714628,
      0.04314051685486046,
      0.04314051732402959
    ],
    "yaw": [
      0.9402907365601327,
      0.9171921334880055,
      0.9098605520668817,
      0.9063809169263892,
      0.9026283434029434,
      0.899087164074706,
      0.8987288275989213,
      0.8976990545551218,
      0.8945492463998187,
      0.8915396566755172
    ],
    "yaw_diff": [
      -0.04619720614425438,
      -0.014663162842247779,
      -0.006959270280984864,
      -0.007505147046891647,
      -0.007082358656474774,
      -0.0007166729515695192,
      -0.0020595460875989513,
      -0.00629961631060616,
      -0.006019179448603085,
      -0.006019179448603085
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.297051196500498,
    "v_std": 0.04979882021851072,
    "vy_max": 0.04041120174189938,
    "a_max": 0.15230804909118315,
    "ax_avg": 0.02710813908070874,
    "a_std": 0.04720199377961628,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fdc43c8424a256ce",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fdc43c8424a256ce",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f7544894729252f5": {
    "vx_ego": [
      0.6944503275153041,
      1.4693194120833988,
      2.280682716820345,
      3.090344241625119,
      3.8061736445368544,
      4.375013334392139,
      4.76387714831678,
      4.987646550041656,
      5.116164519318254,
      5.297874713712353
    ],
    "vy_ego": [
      -0.043463905782964496,
      -0.043090441787991485,
      -0.028665246701365943,
      -0.0024636415960934688,
      0.010302856920180736,
      -0.015845166069219513,
      -0.0934399347982875,
      -0.11929712432579209,
      -0.08661855713060973,
      -0.032602288260059176
    ],
    "v_ego": [
      0.6958091465998586,
      1.4699511287449623,
      2.2808628523371324,
      3.090345223640143,
      3.8061875888121537,
      4.375042027843479,
      4.76479343788059,
      4.9890730513808705,
      5.1168977088828305,
      5.297975027441384
    ],
    "ax_ego": [
      1.5500636190665353,
      1.550102265451201,
      1.700221011465343,
      1.5582776079725957,
      1.336556003907638,
      0.9965197489834479,
      0.6139362679899621,
      0.40620925776841543,
      0.18466286082713623,
      0.5807032860318007
    ],
    "ay_ego": [
      0.012669308295415016,
      0.006380800909335238,
      0.20136014493686077,
      0.6510902628079265,
      1.1759242315903407,
      1.7777653265275712,
      1.8557559576944231,
      2.1875260036714215,
      2.1124217460237933,
      2.0394140505307976
    ],
    "a_ego": [
      1.550115393938893,
      1.5501153982775573,
      1.7121032082784111,
      1.6888302560743307,
      1.7802190174309698,
      2.038014025054223,
      1.9546733526785973,
      2.224921566670481,
      2.1204777775876535,
      2.120477770671168
    ],
    "yaw": [
      -1.9323151359273303,
      -1.9282582572248943,
      -1.908051365386417,
      -1.838935988541603,
      -1.711378952500072,
      -1.526916543323348,
      -1.3141816976942255,
      -1.1034724680939734,
      -0.8989929151718368,
      -0.7087899563589759
    ],
    "yaw_diff": [
      0.008113757404871969,
      0.04041378367695447,
      0.13823075368962812,
      0.255114072083062,
      0.3689248183534479,
      0.42546969125824496,
      0.42141845920050436,
      0.4089591058442732,
      0.38040591762572173,
      0.38040591762572173
    ],
    "min_front_frame": [
      3,
      24.058903955131854
    ],
    "v_avg": 3.5886937193563404,
    "v_std": 1.5518889846645993,
    "vy_max": 0.11929712432579209,
    "a_max": 2.224921566670481,
    "ax_avg": 1.0477251929464075,
    "a_std": 0.23604090183932552,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f7544894729252f5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      27.00111508158172,
      26.403997040447663,
      25.40572114903563,
      24.058903955131854,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f7544894729252f5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "96588474ccef5f60": {
    "vx_ego": [
      9.371545928360847,
      9.779428972802268,
      10.20429943158561,
      10.568238543840298,
      10.866031604979309,
      11.121111273373952,
      11.293406575938667,
      11.331121189921621,
      11.332270932053369,
      11.375708500919659
    ],
    "vy_ego": [
      0.2167459401170806,
      -0.1491511651116264,
      -0.1450496970475017,
      -0.12950341476615002,
      -0.1053422785078153,
      -0.04692815271358164,
      -0.028895208974714315,
      -0.01515136549265872,
      0.005591950145737989,
      0.02230593587151919
    ],
    "v_ego": [
      9.374052052870947,
      9.78056629772216,
      10.205330288828089,
      10.569031982823583,
      10.866542220782582,
      11.121210285139037,
      11.293443541389685,
      11.33113131971239,
      11.332272311737313,
      11.375730370076065
    ],
    "ax_ego": [
      0.7397166139159552,
      0.8732048794296334,
      0.8314968253136585,
      0.6283840172191166,
      0.5648558980882301,
      0.4561461749199168,
      0.2330719821506467,
      -0.08231463099039246,
      0.08691103706331227,
      0.08690227214474705
    ],
    "ay_ego": [
      1.3152455734343387,
      1.2306765859560262,
      0.3250710897002943,
      0.12122266357327688,
      0.15729256253776602,
      0.17272214301695263,
      -0.056050642688112426,
      0.08178132798233295,
      0.00769980321103329,
      0.007798081776563964
    ],
    "a_ego": [
      1.5089902542236344,
      1.508990265270158,
      0.8927811511594707,
      0.639969848711824,
      0.5863472826190619,
      0.48775226455900744,
      0.23971696520976946,
      0.11603397813415858,
      0.0872514488871622,
      0.08725144688378329
    ],
    "yaw": [
      -2.212032774651745,
      -2.1072643466505925,
      -2.0687743049661007,
      -2.059551328819256,
      -2.0553119555130017,
      -2.0531234219194285,
      -2.05213234162657,
      -2.0527764021343455,
      -2.0526325570342956,
      -2.053763393992579
    ],
    "yaw_diff": [
      0.20953685600230543,
      0.07698008336898354,
      0.01844595229368906,
      0.008478746612508914,
      0.004377067187146366,
      0.0019821605857170965,
      -0.0012881210155510914,
      0.0002876902000998882,
      -0.002261673916566842,
      -0.002261673916566842
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.724931067108185,
    "v_std": 0.683459410599086,
    "vy_max": 0.2167459401170806,
    "a_max": 1.508990265270158,
    "ax_avg": 0.44183750692548235,
    "a_std": 0.5138165942032609,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "96588474ccef5f60",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 34.326970912567035,
    "right_rear_min": 30.17031888094849,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_change",
    "lane_change_frame": 5,
    "token": "96588474ccef5f60",
    "smoothness": "No"
  },
  "1a0ce53e0a4755e5": {
    "vx_ego": [
      4.676947956008386,
      4.541253525092991,
      4.395241024907394,
      4.1446590953987865,
      3.7402010341708163,
      3.3926354663860154,
      3.211989257947487,
      3.1264327111128583,
      3.0944216858215743,
      3.0712282950504846
    ],
    "vy_ego": [
      0.007393487766892637,
      0.022219354307328576,
      0.022727249344002276,
      -0.006788647630047606,
      0.0025754116767389146,
      0.004424441025225878,
      -0.01974454528765679,
      -0.030707409257429985,
      -0.02351600044342983,
      -0.027456491676894235
    ],
    "v_ego": [
      4.676953799950603,
      4.541307881973578,
      4.395299784416501,
      4.144664655048528,
      3.7402019208537056,
      3.3926383514101,
      3.212049943609013,
      3.126583509535576,
      3.0945110392370054,
      3.071351021823118
    ],
    "ax_ego": [
      -0.2724301159056042,
      -0.26905670608344234,
      -0.3140501436703024,
      -0.688285924376634,
      -0.9295227714925935,
      -0.46068329574968553,
      -0.2619701159887239,
      -0.08059063069849885,
      -0.048529388897971926,
      -0.04616712828488743
    ],
    "ay_ego": [
      -0.1593144750540753,
      -0.16494775488071256,
      -0.10794365543970799,
      -0.02820538043130047,
      0.07204775834370636,
      -0.07372629179750417,
      -0.0423608251366005,
      -0.04344960307578784,
      -0.12423574823271014,
      -0.12513281187074704
    ],
    "a_ego": [
      0.31559352023464693,
      0.31559352485223696,
      0.33208331106670197,
      0.6888635983852478,
      0.9323108184536021,
      0.46654545875509595,
      0.2653729096524344,
      0.09155718302692224,
      0.13337774449192016,
      0.13337775054615753
    ],
    "yaw": [
      -1.8843463383661034,
      -1.905152292398704,
      -1.9205146911144158,
      -1.921562095841483,
      -1.9211602078359062,
      -1.9218069534887627,
      -1.923287604041299,
      -1.9266213418121767,
      -1.9424310945762802,
      -1.9613765412182405
    ],
    "yaw_diff": [
      -0.04161190806520132,
      -0.030724797431423312,
      -0.0020948094541344275,
      0.0008037760111534453,
      -0.0012934913057129904,
      -0.0029613011050724225,
      -0.006667475541755508,
      -0.031619505528206915,
      -0.03789089328392059,
      -0.03789089328392059
    ],
    "min_front_frame": [
      4,
      17.64565860094808
    ],
    "v_avg": 3.7395561907857724,
    "v_std": 0.6125818091303779,
    "vy_max": 0.030707409257429985,
    "a_max": 0.9323108184536021,
    "ax_avg": -0.33712862211483435,
    "a_std": 0.25198007085766877,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1a0ce53e0a4755e5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 25.927458602655516,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.709582503878604,
      19.397973720026926,
      18.22817569117295,
      17.654387885737467,
      17.64565860094808,
      18.45657831824019,
      19.71405648187617,
      21.581816390427925,
      23.80608660316425,
      26.44938372958224
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1a0ce53e0a4755e5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e0a1d14a2cea5d4a": {
    "vx_ego": [
      0.6254956916211569,
      1.055298243803112,
      1.4408974206775849,
      1.7667156425843487,
      1.9978981299588803,
      2.135690969221219,
      2.2630344886561566,
      2.3994259343352295,
      2.520018546712847,
      2.629159813002315
    ],
    "vy_ego": [
      -0.007012626132195554,
      -0.014658373632428057,
      -0.012589597346538972,
      -0.006212192095736535,
      -0.015561519554877834,
      -0.019092915554420165,
      -0.0005962999554858239,
      0.012749167367579695,
      0.008426611548485896,
      8.909757630237713e-06
    ],
    "v_ego": [
      0.6255350007488785,
      1.0554000432497055,
      1.440952419365978,
      1.7667265643225218,
      1.997958732953223,
      2.135776312125743,
      2.2630345672174053,
      2.399459804962162,
      2.520032635415446,
      2.6291598130174116
    ],
    "ax_ego": [
      0.8596525623319635,
      0.8596311761077335,
      0.6833089547384164,
      0.6204008195022199,
      0.3054320227144987,
      0.2487725998014807,
      0.2640027058605336,
      0.2808173316464202,
      0.20265175342603267,
      0.23196468998296327
    ],
    "ay_ego": [
      -0.0116485128574777,
      -0.013132275866077014,
      0.052947451644635934,
      0.05024867834161323,
      0.0704203373271797,
      0.14810941515996479,
      0.25244563170334394,
      0.2715294557768271,
      0.3882874190625828,
      0.37152016853948144
    ],
    "a_ego": [
      0.859731478879133,
      0.8597314787803154,
      0.6853572500976175,
      0.6224324112014934,
      0.31344496232790825,
      0.289524101364661,
      0.3652755475908342,
      0.390623372454178,
      0.43798955805923884,
      0.43798955812952545
    ],
    "yaw": [
      -2.2574848334533373,
      -2.255758809217801,
      -2.249550828785453,
      -2.2375003520527983,
      -2.2169374953234824,
      -2.1888933910389134,
      -2.15174468501851,
      -2.1012436903798095,
      -2.0327233326564675,
      -1.9556027377279264
    ],
    "yaw_diff": [
      0.0034520484710727217,
      0.012415960864696096,
      0.02410095346530916,
      0.04112571345863181,
      0.056088208569137876,
      0.07429741204080731,
      0.10100198927740056,
      0.13704071544668395,
      0.15424118985708235,
      0.15424118985708235
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.8834035893378478,
    "v_std": 0.6265698110443972,
    "vy_max": 0.019092915554420165,
    "a_max": 0.859731478879133,
    "ax_avg": 0.45566346161122623,
    "a_std": 0.20449896172414778,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "e0a1d14a2cea5d4a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e0a1d14a2cea5d4a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7e8549121120596a": {
    "vx_ego": [
      4.4850540598383875,
      5.27630307199345,
      6.012851589494441,
      6.711916497340619,
      7.440258463237353,
      8.127352821967557,
      8.611697931432513,
      8.802893101940507,
      8.54067562989215,
      7.9671397446082155
    ],
    "vy_ego": [
      0.029802304225671428,
      0.11186754551345546,
      0.06424467511941201,
      0.05512318505379543,
      0.054556107752828265,
      0.0357644295204842,
      0.05520917000971881,
      0.04962744413232745,
      0.05147265156086678,
      0.03247479328930791
    ],
    "v_ego": [
      4.485153073977516,
      5.27748883989978,
      6.01319479275094,
      6.712142849552864,
      7.440458478391517,
      8.127431512302207,
      8.611874901244919,
      8.80303299138444,
      8.540830735291056,
      7.967205929453251
    ],
    "ax_ego": [
      1.584388834091707,
      1.5885687504364348,
      1.357144894655073,
      1.4392687655396843,
      1.474143551354505,
      1.275624155507537,
      0.6679403814874793,
      0.10358774047781634,
      -1.1492067984223113,
      -1.141168632935461
    ],
    "ay_ego": [
      -0.1603414061828679,
      -0.11156466196051887,
      -0.04472766799107844,
      -0.009458415684184901,
      0.0013142088469818292,
      -0.22442790458125103,
      -0.43065590033132145,
      -0.52110631219602,
      -0.37174665314819966,
      -0.39573476315622547
    ],
    "a_ego": [
      1.5924815051143226,
      1.5924815065367448,
      1.3578817435153363,
      1.4392998440510516,
      1.474144137167382,
      1.2952161481656441,
      0.7947382321946141,
      0.5313023702072439,
      1.2078376710746137,
      1.2078376760004228
    ],
    "yaw": [
      -2.9617044492516755,
      -2.9924473068075144,
      -2.99094034029165,
      -2.9916369636943734,
      -2.9918446892422215,
      -2.996581336381672,
      -3.018274405656163,
      -3.04474393289518,
      -3.0702351523564504,
      -3.0911812577620985
    ],
    "yaw_diff": [
      -0.06148571511167766,
      0.0030139330317284774,
      -0.001393246805446502,
      -0.0004154510956961843,
      -0.009473294278900646,
      -0.04338613854898199,
      -0.05293905447803482,
      -0.050982438922540396,
      -0.04189221081129624,
      -0.04189221081129624
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.19788141042485,
    "v_std": 1.4345869197920642,
    "vy_max": 0.11186754551345546,
    "a_max": 1.5924815065367448,
    "ax_avg": 0.7200291642192465,
    "a_std": 0.32583514967226895,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7e8549121120596a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7e8549121120596a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e074c5e6917e5f1d": {
    "vx_ego": [
      2.1216730337279435,
      1.6913256698362178,
      1.3077372290114528,
      1.0563431227579674,
      0.9102568077582104,
      0.8605948600128335,
      0.9188462766096097,
      1.0607923056819484,
      1.3775232633270003,
      1.8168371459163954
    ],
    "vy_ego": [
      -0.12807414985499999,
      -0.07092346528247406,
      0.004740332603985764,
      0.044950494241577654,
      0.04348159442730731,
      0.045223451854115804,
      0.035405996876861745,
      0.025613905427634365,
      -0.00032852781125081165,
      -0.04070733538534621
    ],
    "v_ego": [
      2.1255350973130076,
      1.6928120567194118,
      1.3077458204466759,
      1.0572990778065667,
      0.911294741082219,
      0.8617822658178282,
      0.9195281750192257,
      1.0611014974757504,
      1.3775233025025715,
      1.8172931249349427
    ],
    "ax_ego": [
      -0.8609956664442997,
      -0.8612159762401368,
      -0.67335161902719,
      -0.3319340485827512,
      -0.25230274080057735,
      0.053766465396545046,
      0.1793807304387402,
      0.38859570216378153,
      0.8784702679909591,
      0.8786313003091772
    ],
    "ay_ego": [
      0.1072980849727993,
      0.10551521459899332,
      0.1899077647049551,
      -0.03531783612526716,
      0.026548203151792488,
      -0.021457015942231986,
      -0.020886689873389166,
      -0.024273144570847838,
      -0.08750715723081681,
      -0.08587521848020319
    ],
    "a_ego": [
      0.8676557016897277,
      0.8676557025935595,
      0.6996194407974743,
      0.33380767240599407,
      0.2536956446336282,
      0.057889863831098044,
      0.18059263624689437,
      0.38935305994369646,
      0.8828179395043615,
      0.8828179399128782
    ],
    "yaw": [
      2.6134359051099367,
      2.6113654589516466,
      2.610140529000252,
      2.6087689900479623,
      2.608025666924436,
      2.6074719830082795,
      2.6065927405452394,
      2.6050383965557082,
      2.6033088826429847,
      2.601451345893842
    ],
    "yaw_diff": [
      -0.004140892316580214,
      -0.002449859902789342,
      -0.002743077904579394,
      -0.0014866462470521924,
      -0.001107367832313244,
      -0.0017584849260803281,
      -0.0031086879790622746,
      -0.0034590278254471585,
      -0.0037150734982853706,
      -0.0037150734982853706
    ],
    "min_front_frame": [
      4,
      11.937595707081693
    ],
    "v_avg": 1.3131915159118197,
    "v_std": 0.41371403018965136,
    "vy_max": 0.12807414985499999,
    "a_max": 0.8828179399128782,
    "ax_avg": -0.06009555847957522,
    "a_std": 0.3136880077168817,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e074c5e6917e5f1d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 40.83185759875838,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      13.738409959517792,
      12.931614015746245,
      12.373242779745004,
      12.076592097145001,
      11.937595707081693,
      12.033494165721347,
      12.244145343873459,
      12.852301643550085,
      13.540506805529473,
      14.476310202527447
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e074c5e6917e5f1d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bd70654aee0f54a6": {
    "vx_ego": [
      0.8753864382876185,
      1.626556578806744,
      2.253344006725594,
      2.7241889241183537,
      3.1313270067689465,
      3.3496014615465692,
      3.3291148651233686,
      3.403023600855469,
      3.750707606183478,
      4.281704730425444
    ],
    "vy_ego": [
      0.04323093791946819,
      0.02870093257296502,
      0.05853901419115215,
      0.07822528700305276,
      0.08202142656156364,
      0.03841538842833092,
      -0.011435027276421303,
      0.03505428057271365,
      0.05676018970997898,
      -0.007115929855147751
    ],
    "v_ego": [
      0.876453267625422,
      1.6268097760924778,
      2.254104263078491,
      2.7253118151536024,
      3.132401049951261,
      3.3498217405203836,
      3.3291345038965003,
      3.4032041417707806,
      3.7511370631074663,
      4.281710643540188
    ],
    "ax_ego": [
      1.5019227663519785,
      1.5074308897902662,
      1.0061061194465555,
      0.8809532454517155,
      0.7433510914731638,
      0.13130017129086408,
      -0.18629315840001115,
      0.4995900229082341,
      0.8686981940281855,
      1.2098042731260377
    ],
    "ay_ego": [
      -0.16399410385219942,
      -0.10157843982281639,
      -0.08600846372718418,
      0.003593201321306305,
      0.3187425560761094,
      0.8316059195071078,
      1.2578582385320856,
      1.5304424477853091,
      1.6957296589170985,
      1.4719066813956319
    ],
    "a_ego": [
      1.5108494505359116,
      1.5108494521065663,
      1.009775707481873,
      0.8809605733332485,
      0.8088063193671744,
      0.8419074416705631,
      1.2715787388556372,
      1.609920580951911,
      1.9052914812277228,
      1.9052914889882657
    ],
    "yaw": [
      -0.18499428902163395,
      -0.22646945415241582,
      -0.2647820521387156,
      -0.28086935647466754,
      -0.25479650654164565,
      -0.15503125210101948,
      0.013907837691180591,
      0.21159071339849225,
      0.4329698124145717,
      0.6475125493927681
    ],
    "yaw_diff": [
      -0.08295033026156373,
      -0.07662519597259954,
      -0.032174608671903915,
      0.05214569986604378,
      0.19953050888125234,
      0.33787817958440014,
      0.3953657514146233,
      0.44275819803215893,
      0.42908547395639285,
      0.42908547395639285
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.873008826473657,
    "v_std": 0.9738298637047941,
    "vy_max": 0.08202142656156364,
    "a_max": 1.9052914889882657,
    "ax_avg": 0.8162863615466991,
    "a_std": 0.4028596514132309,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "bd70654aee0f54a6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.92856998061628,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "bd70654aee0f54a6",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "3f269e7b5ced51fa": {
    "vx_ego": [
      12.311080723170594,
      12.08705210615217,
      11.890446809135018,
      11.701316675151181,
      11.534745887570763,
      11.47496324513393,
      11.451512636542956,
      11.453891314806388,
      11.523258316355474,
      11.606578264559761
    ],
    "vy_ego": [
      0.00804178574276282,
      0.019411992183524518,
      0.015883803999961366,
      -0.012672908628506008,
      -0.003951977733919421,
      0.018087907113344848,
      0.032096667271614976,
      0.04690073548863438,
      0.05124822371162896,
      0.017326116665137725
    ],
    "v_ego": [
      12.311083349678878,
      12.087067694121602,
      11.890457418287095,
      11.701323537736412,
      11.5347465645743,
      11.474977501048023,
      11.451557617239366,
      11.453987337621191,
      11.523372275765857,
      11.606591196629171
    ],
    "ax_ego": [
      -0.44810020988205057,
      -0.4480619203119603,
      -0.3385004227700498,
      -0.41723039553048635,
      -0.24831872564283616,
      0.008892084282070417,
      -0.10398646880442478,
      0.11138484073611037,
      0.16304736233200304,
      0.1679938937411904
    ],
    "ay_ego": [
      0.0437909845988068,
      0.044181173356536055,
      0.0998778650986856,
      0.26757055159596443,
      0.32351157776199785,
      0.3321766352014171,
      0.3405641233778224,
      0.3502963787486908,
      0.3073525144982325,
      0.30467697838171837
    ],
    "a_ego": [
      0.45023488139911005,
      0.45023489481913964,
      0.3529279305356459,
      0.4956563356156105,
      0.4078258579969388,
      0.33229563063124196,
      0.35608581525598326,
      0.3675787476313816,
      0.34792242027758097,
      0.34792241878059604
    ],
    "yaw": [
      1.9509655707790148,
      1.951836361572855,
      1.955138468535256,
      1.9653384173942539,
      1.9773284945536727,
      1.9896952711827105,
      2.0031281750545302,
      2.0169485474356197,
      2.0308886719529564,
      2.047052677684911
    ],
    "yaw_diff": [
      0.0017415815876802299,
      0.006604213924802149,
      0.020399897717995774,
      0.0239801543188376,
      0.02473355325807569,
      0.026865807743639447,
      0.027640744762178926,
      0.027880249034673454,
      0.03232801146390951,
      0.03232801146390951
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.703516449270188,
    "v_std": 0.2827558335274059,
    "vy_max": 0.05124822371162896,
    "a_max": 0.4956563356156105,
    "ax_avg": -0.15528799618504335,
    "a_std": 0.05350516402542561,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "3f269e7b5ced51fa",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "3f269e7b5ced51fa",
    "road_shape": "Curve"
  },
  "6cd0498ce2d857f3": {
    "vx_ego": [
      2.9973181137975935,
      2.7444037886731865,
      2.4996168215490835,
      2.2466418199661997,
      2.020005778264485,
      1.8609354406245717,
      1.7463307189803448,
      1.7247795786445559,
      1.8287866362712133,
      1.9828312208544234
    ],
    "vy_ego": [
      0.028744112924792287,
      0.02683330787903415,
      0.013171192272961374,
      -0.0039821047373613805,
      -0.010804735081821393,
      -0.0046907044715763235,
      0.021464624502862628,
      0.07236006891138963,
      0.14640147410190688,
      0.2108188192763707
    ],
    "v_ego": [
      2.997455937845792,
      2.744534966382369,
      2.4996515226881195,
      2.2466453490435865,
      2.0200346745841014,
      1.8609413523485925,
      1.7464626277591675,
      1.7262967805340288,
      1.8346372809423093,
      1.9940070774588856
    ],
    "ax_ego": [
      -0.5098678314627323,
      -0.5048782213414901,
      -0.4779462577781949,
      -0.5327246493445444,
      -0.3742545799927846,
      -0.2590537269545037,
      -0.2012992101041937,
      0.10993034454478805,
      0.2892256758119123,
      0.2996105529073971
    ],
    "ay_ego": [
      0.15977745721144715,
      0.17490575399563976,
      0.10403605511980732,
      0.20307662793197417,
      0.12311908927232984,
      0.2096980011721696,
      0.17892505660849872,
      0.28568338352519296,
      0.27906676222989973,
      0.267886665168628
    ],
    "a_ego": [
      0.5343164244092306,
      0.5343164241961217,
      0.48913814622156826,
      0.5701189953259663,
      0.3939857875467382,
      0.3332897915397677,
      0.269324243006319,
      0.3061040285166765,
      0.40190763781040134,
      0.4019076371365003
    ],
    "yaw": [
      2.74222403879225,
      2.7720387406218423,
      2.803883667159,
      2.843345936142532,
      2.8851524462332634,
      2.925171725285875,
      2.964690012442875,
      3.0031473057177003,
      3.041416251613586,
      3.0793852263380814
    ],
    "yaw_diff": [
      0.059629403659184455,
      0.0636898530743153,
      0.07892453796706445,
      0.08361302018146244,
      0.08003855810522342,
      0.07903657431399935,
      0.076914586549651,
      0.07653789179177117,
      0.07593794944899113,
      0.07593794944899113
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.1670667569586954,
    "v_std": 0.42034953488116833,
    "vy_max": 0.2108188192763707,
    "a_max": 0.5701189953259663,
    "ax_avg": -0.21612579037143465,
    "a_std": 0.09892392519358259,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6cd0498ce2d857f3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.9926631366934,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6cd0498ce2d857f3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "39168e35ed085e11": {
    "vx_ego": [
      3.079503846595759,
      3.27387420218472,
      3.4632861260972003,
      3.6483737378835928,
      3.8582313548550893,
      4.060812677398488,
      4.2241777802993905,
      4.354065468974709,
      4.463622513140008,
      4.571581150960687
    ],
    "vy_ego": [
      -0.035738670813312945,
      -0.014543728088684205,
      -0.005200170616700417,
      0.013710405966608441,
      -0.012747026424231311,
      -0.04476537231371136,
      -0.041969202019160434,
      -0.02533864275707831,
      -0.02899096617153951,
      -0.05452633016364228
    ],
    "v_ego": [
      3.0797112192200067,
      3.2739065062639394,
      3.4632900301579994,
      3.6483994993024638,
      3.8582524119437283,
      4.061059410976236,
      4.224386267079895,
      4.3541391979281885,
      4.463716659458783,
      4.571906313618003
    ],
    "ax_ego": [
      0.3715839586519598,
      0.412480423058656,
      0.3567608134143784,
      0.3777636810103322,
      0.45786660430788007,
      0.3568316579723675,
      0.2986563698196468,
      0.22222611173613435,
      0.2164199197984992,
      0.21645324664640622
    ],
    "ay_ego": [
      0.5460591839917155,
      0.515863520879607,
      0.7020789757669529,
      0.6012239768602613,
      0.5117023764904485,
      0.4135753983206502,
      0.18185141766748958,
      0.11310416462139462,
      0.006013633185524753,
      0.004662371753243369
    ],
    "a_ego": [
      0.6604962306850506,
      0.6604962313147233,
      0.78752343850965,
      0.7100532860582677,
      0.6866448495739275,
      0.546235702080515,
      0.34966493295943385,
      0.24935315677180508,
      0.2165034537130502,
      0.2165034542314173
    ],
    "yaw": [
      1.998383685635908,
      2.0753690692764275,
      2.162748808768426,
      2.2490721667259317,
      2.3304233288070186,
      2.3966950733451045,
      2.4318887245509204,
      2.4451736299433735,
      2.452755234096373,
      2.4589984358902033
    ],
    "yaw_diff": [
      0.15397076728103887,
      0.17475947898399724,
      0.17264671591501113,
      0.1627023241621739,
      0.13254348907617164,
      0.07038730241163194,
      0.026569810784906167,
      0.015163208305999376,
      0.012486403587660178,
      0.012486403587660178
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.899876751594925,
    "v_std": 0.4926734646142039,
    "vy_max": 0.05452633016364228,
    "a_max": 0.78752343850965,
    "ax_avg": 0.32870427864162605,
    "a_std": 0.2146514578320761,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "39168e35ed085e11",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 19.350167957021068,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "39168e35ed085e11",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a6b518a433065727": {
    "vx_ego": [
      9.134632169272585,
      9.127327980958935,
      9.161725786236282,
      9.213768259938456,
      9.221564458089288,
      9.24216039094308,
      9.310009669164101,
      9.400800008832354,
      9.488933411573996,
      9.56523719715609
    ],
    "vy_ego": [
      -0.016896407575030192,
      0.007922646377670262,
      0.009333577127414117,
      -0.0047053189412462615,
      -0.01927534590658908,
      -0.009083781944823954,
      0.000355130689465355,
      0.00990008718511115,
      0.005271620561001278,
      0.004005699308566868
    ],
    "v_ego": [
      9.13464779597432,
      9.127331419441365,
      9.161730540561036,
      9.213769461402629,
      9.221584603182656,
      9.242164855000778,
      9.310009675937339,
      9.400805221776945,
      9.488934875910395,
      9.565238035902999
    ],
    "ax_ego": [
      -0.015612688896257255,
      -0.013807598933428866,
      0.1512188353010472,
      0.05694658454375133,
      -0.02562024222241429,
      0.10812748179302241,
      0.1632923682923529,
      0.1998305857128484,
      0.15259899828464574,
      0.152604677485224
    ],
    "ay_ego": [
      -0.1583447642823843,
      -0.1585123647526652,
      -0.0169464819710475,
      -0.02810902816405915,
      0.03538036238837744,
      0.0678077282351703,
      0.05315541244172924,
      0.04987037575892693,
      0.009262823077953251,
      0.009168746894559245
    ],
    "a_ego": [
      0.15911260298987998,
      0.1591126002797654,
      0.15216543431739113,
      0.0635061489584,
      0.04368256922695932,
      0.12763009177821313,
      0.17172622226781722,
      0.2059595041863245,
      0.15287986842240145,
      0.1528798662675557
    ],
    "yaw": [
      -0.3165136439074617,
      -0.3279072488131873,
      -0.332869551502065,
      -0.33256790334553704,
      -0.3307920166968896,
      -0.3290985587777776,
      -0.32685436390674316,
      -0.325120670014447,
      -0.3230666827063713,
      -0.3224501442794919
    ],
    "yaw_diff": [
      -0.022787209811451214,
      -0.009924605377755413,
      0.0006032963130558899,
      0.0035517732972948357,
      0.003386915838224036,
      0.004488389742068888,
      0.003467387784592324,
      0.004107974616151422,
      0.00123307685375873,
      0.00123307685375873
    ],
    "min_front_frame": [
      9,
      48.426413001856154
    ],
    "v_avg": 9.286621648509044,
    "v_std": 0.14412616148097254,
    "vy_max": 0.01927534590658908,
    "a_max": 0.2059595041863245,
    "ax_avg": 0.09295790013607916,
    "a_std": 0.046729083502473776,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a6b518a433065727",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      76.46529470907926,
      71.79785177578907,
      67.19663741700062,
      62.59139916963065,
      57.90837844931606,
      53.21867741155015,
      48.426413001856154
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.14285714285714285,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8571428571428571,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a6b518a433065727",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3ebe88aecd0c5d20": {
    "vx_ego": [
      2.5673678417989896,
      2.793655568460551,
      3.0101247908232516,
      3.1667787835372025,
      3.2872818125792467,
      3.3419089685333083,
      3.281983495369434,
      3.160190475943075,
      3.046545792314813,
      2.934485390102747
    ],
    "vy_ego": [
      0.05344393193520258,
      0.07462817211552053,
      0.09365562726227283,
      0.09797234516960374,
      0.07662589747424753,
      0.04385082764260817,
      0.020298267474267107,
      -0.0015519989956076508,
      -0.025082089743585723,
      -0.0568407833548179
    ],
    "v_ego": [
      2.567924042678112,
      2.794652178583937,
      3.011581417270105,
      3.1682939327466757,
      3.28817475865837,
      3.342196650265855,
      3.282046264686076,
      3.1601908570436374,
      3.0466490404864484,
      2.9350358395390783
    ],
    "ax_ego": [
      0.4064361360238441,
      0.5333870225248992,
      0.3601477645973413,
      0.2925296514427113,
      0.2035552283852572,
      0.018294501106644746,
      -0.256983554190855,
      -0.2297072587415932,
      -0.22547775666551217,
      -0.22432183962752134
    ],
    "ay_ego": [
      -0.8388291623415968,
      -0.7644102180498428,
      -0.5548576508500452,
      -0.4316171737901689,
      -0.29858836141951595,
      -0.12338911442973724,
      -0.09149169583758342,
      -0.11798667986542818,
      -0.11968715318447291,
      -0.12183983583637524
    ],
    "a_ego": [
      0.9321076634491842,
      0.9321076639836117,
      0.661493329559182,
      0.5214086513319538,
      0.3613720251737338,
      0.1247379746929371,
      0.27278430587517494,
      0.2582368706134821,
      0.2552748193385227,
      0.2552748192253013
    ],
    "yaw": [
      2.93638880490405,
      2.7783505869847342,
      2.659169457610453,
      2.5781859134112746,
      2.528413188032374,
      2.5066271470814367,
      2.4976121353980356,
      2.4881273130593566,
      2.476561143314108,
      2.4669894767979397
    ],
    "yaw_diff": [
      -0.31607643583863165,
      -0.23836225874856254,
      -0.16196708839835683,
      -0.09954545075780086,
      -0.04357208190187478,
      -0.01803002336680226,
      -0.018969644677357955,
      -0.023132339490497422,
      -0.019143333032336507,
      -0.019143333032336507
    ],
    "min_front_frame": [
      9,
      73.6917012210624
    ],
    "v_avg": 3.0596744981958297,
    "v_std": 0.2309664046002057,
    "vy_max": 0.09797234516960374,
    "a_max": 0.9321076639836117,
    "ax_avg": 0.08778598948552163,
    "a_std": 0.2778109684503964,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "3ebe88aecd0c5d20",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      77.88438594587267,
      77.0837200692959,
      76.3417378402598,
      75.56194750801083,
      74.89509130135441,
      74.22615827179894,
      73.6917012210624
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3ebe88aecd0c5d20",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "95e6e7c4cfe15b91": {
    "vx_ego": [
      3.0419735447489975,
      2.3389564744096947,
      1.6552932053428666,
      1.067037537882754,
      0.6613645317962206,
      0.40007946974364106,
      0.2559851709454555,
      0.22894414973089258,
      0.23259476263369117,
      0.22920632504567445
    ],
    "vy_ego": [
      -0.028701082679617018,
      -0.016504294646006556,
      -0.00551211636197968,
      0.0120259227524806,
      0.03379413409006121,
      0.032275152479102426,
      0.0009389126958457006,
      -0.013540850954560077,
      0.008649971201926634,
      0.04008728718987878
    ],
    "v_ego": [
      3.0421089393872407,
      2.3390147030159496,
      1.6553023829744973,
      1.0671053041143306,
      0.6622273683689999,
      0.4013792067084471,
      0.2559868928305207,
      0.2293442354640181,
      0.23275554903464127,
      0.23268547448258817
    ],
    "ax_ego": [
      -1.4060094169370898,
      -1.4059866654729452,
      -1.328626725724587,
      -1.0243951886279912,
      -0.5982716738050764,
      -0.4468374491162057,
      -0.12955261388642164,
      0.02141065545413243,
      -0.0068061353538511095,
      -0.006783147480054295
    ],
    "ay_ego": [
      0.028106817481208468,
      0.029222870476468876,
      0.022504432732370683,
      0.05098794368905485,
      0.03526445280024071,
      -0.04171390156035654,
      -0.08346115820009953,
      0.025790089227181845,
      0.06304177514240694,
      0.06304425166010441
    ],
    "a_ego": [
      1.406290323405767,
      1.4062903255183887,
      1.3288173033951065,
      1.0256633331097569,
      0.5993100844377877,
      0.44878029760236227,
      0.15410919730147934,
      0.033519320836221785,
      0.06340811376756716,
      0.06340811270743472
    ],
    "yaw": [
      2.442336930121892,
      2.4431307084954916,
      2.444106652038295,
      2.4447377672073394,
      2.4444848317657115,
      2.4443023683832306,
      2.4444496477435975,
      2.4447269058986585,
      2.4448000619850445,
      2.4451646978734125
    ],
    "yaw_diff": [
      0.001587556747199237,
      0.001951887085606785,
      0.001262230338088699,
      -0.0005058708832557102,
      -0.0003649267649619148,
      0.0002945587207339173,
      0.000554516310121933,
      0.00014631217277205621,
      0.0007292717767359846,
      0.0007292717767359846
    ],
    "min_front_frame": [
      9,
      12.388321627575102
    ],
    "v_avg": 1.0117910056381232,
    "v_std": 0.9588035250535183,
    "vy_max": 0.04008728718987878,
    "a_max": 1.4062903255183887,
    "ax_avg": -0.6331858360950089,
    "a_std": 0.5570433934271123,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "95e6e7c4cfe15b91",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.728292767653882,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.772181168591505,
      15.445467507416161,
      14.407978722785176,
      13.773276020944007,
      13.298553019113518,
      13.0072667117125,
      12.852178738235427,
      12.689255826990411,
      12.543466531035262,
      12.388321627575102
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "95e6e7c4cfe15b91",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "112db94505025ec5": {
    "vx_ego": [
      10.089901021618925,
      9.989158351521112,
      9.86394479336715,
      9.741744432966374,
      9.6419518287632,
      9.474183429970658,
      9.245178395630676,
      8.922825938325271,
      8.42776454902852,
      7.855529356665675
    ],
    "vy_ego": [
      0.03776029279146087,
      0.035718370272210365,
      0.019766456482964934,
      0.03259793659887755,
      0.06888042798805394,
      0.0760817465377226,
      0.026443683790243533,
      -0.03432118992617195,
      -0.06431000060565806,
      -0.07838980566616272
    ],
    "v_ego": [
      10.089971678145501,
      9.98922221064978,
      9.863964598446042,
      9.741798972607773,
      9.642197860526915,
      9.474488909534214,
      9.245216213558697,
      8.92289194542488,
      8.428009911600709,
      7.855920470261179
    ],
    "ax_ego": [
      -0.20143968949147995,
      -0.20142668553944443,
      -0.29940121943731507,
      -0.18913054898993997,
      -0.2092265350180862,
      -0.45850273432367306,
      -0.45381279810731034,
      -0.8360487938707609,
      -1.1482748198861283,
      -1.1445990552357554
    ],
    "ay_ego": [
      -0.01825592475861927,
      -0.01839882307190298,
      -0.0535501497359816,
      -0.017153380400945994,
      2.1083602447333205e-05,
      -0.27228330775899817,
      -0.4218619843123488,
      -0.39594996648302694,
      -0.25099638226963217,
      -0.267258765122804
    ],
    "a_ego": [
      0.2022652399479857,
      0.20226523759123172,
      0.3041524432538679,
      0.18990682720854363,
      0.20922653608037567,
      0.5332569334443444,
      0.619607609325401,
      0.9250697063955041,
      1.1753868494657254,
      1.1753868489912376
    ],
    "yaw": [
      -0.5276360683899721,
      -0.5283454403798394,
      -0.5285502264203854,
      -0.5316666986143788,
      -0.5358511423143039,
      -0.5437002091820784,
      -0.5569382896844592,
      -0.5726729132780635,
      -0.5877911568174699,
      -0.6019760714837579
    ],
    "yaw_diff": [
      -0.0014187439797346268,
      -0.00040957208109193566,
      -0.006232944387986716,
      -0.0083688873998502,
      -0.01569813373554907,
      -0.02647616100476169,
      -0.03146924718720845,
      -0.030236487078812768,
      -0.028369829332576035,
      -0.028369829332576035
    ],
    "min_front_frame": [
      9,
      22.463164583463968
    ],
    "v_avg": 9.325368277075569,
    "v_std": 0.6887945498814624,
    "vy_max": 0.07838980566616272,
    "a_max": 1.1753868494657254,
    "ax_avg": -0.5141862879899893,
    "a_std": 0.38418230710585116,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "112db94505025ec5",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.442772461867772,
    "speed_mode": "decelerating",
    "front_frame": [
      31.09507674050331,
      30.54811739241754,
      29.839462939886797,
      29.209718530962,
      28.441347038281908,
      27.551072508445444,
      26.77040839122073,
      25.56148615254568,
      24.030297214839965,
      22.463164583463968
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "112db94505025ec5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5b1a620dcd675298": {
    "vx_ego": [
      2.3558325375250595,
      3.065773338910554,
      3.785361451936418,
      4.509785694669627,
      5.205141951686784,
      5.8727142607676655,
      6.425604657402574,
      6.728153051254424,
      6.765554013758674,
      6.677627905703186
    ],
    "vy_ego": [
      -0.0389153905576789,
      -0.06437933948658991,
      -0.059568870437770816,
      -0.029329715691358338,
      0.025415418438135884,
      0.02492337117982313,
      -0.048925006618981026,
      -0.0472513363195044,
      -0.02485532016859704,
      -0.03984125131461003
    ],
    "v_ego": [
      2.356153932255704,
      3.066449227515025,
      3.785830129856782,
      4.509881067619117,
      5.205203999912404,
      5.872767147014674,
      6.425790913926963,
      6.728318970581595,
      6.765599670393364,
      6.677746758625415
    ],
    "ax_ego": [
      1.4195040030606867,
      1.4196852347750673,
      1.4578296963594375,
      1.4398814782752931,
      1.341523577315646,
      1.3286493072336825,
      0.8829084220216799,
      0.32495085164775406,
      -0.17570382015983388,
      -0.1757013588791388
    ],
    "ay_ego": [
      -0.06780283276503285,
      -0.0638957773517036,
      0.04525015730346649,
      0.07692487171532336,
      0.1308841196141215,
      -0.1214871368797168,
      -0.21255063553109405,
      0.017264942332948258,
      0.0008658793410209059,
      0.0012715746668267858
    ],
    "a_ego": [
      1.4211223870013014,
      1.421122386074372,
      1.4585317961304232,
      1.4419348485173185,
      1.3478932306606972,
      1.334191929986003,
      0.9081327294737729,
      0.32540917968053806,
      0.17570595370047212,
      0.17570596009842476
    ],
    "yaw": [
      0.8690089344776275,
      0.8662567022284471,
      0.8634877979078934,
      0.8635611996183455,
      0.8629876834942858,
      0.8635005028363849,
      0.8619434917968204,
      0.8543464241312267,
      0.8517231084726704,
      0.8540321281597739
    ],
    "yaw_diff": [
      -0.005504464498360839,
      -0.005537808641107311,
      0.00014680342090422904,
      -0.0011470322481195172,
      0.001025638684198249,
      -0.0031140220791290307,
      -0.015194135331187297,
      -0.005246631317112671,
      0.004618039374207017,
      0.004618039374207017
    ],
    "min_front_frame": [
      0,
      16.11606084619937
    ],
    "v_avg": 5.139374181770104,
    "v_std": 1.5493446287599626,
    "vy_max": 0.06437933948658991,
    "a_max": 1.4585317961304232,
    "ax_avg": 0.9263527391650275,
    "a_std": 0.5306019313471546,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "5b1a620dcd675298",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.148286951986819,
    "speed_mode": "accelerating",
    "front_frame": [
      16.11606084619937,
      17.604324732172905,
      19.310826073041746,
      21.015999828201608,
      22.813846327059295,
      24.831664472326974,
      26.89458842704797,
      28.980360688625286,
      31.026232190159416,
      33.261060779694795
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5b1a620dcd675298",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "1cddf5eb97425ac1": {
    "vx_ego": [
      6.7476349017089,
      6.783264551600901,
      6.776356005184598,
      6.752855300485411,
      6.767729736602199,
      6.788142785246848,
      6.799614185176916,
      6.757160251874126,
      6.705910297398674,
      6.698463176073209
    ],
    "vy_ego": [
      0.022975574025738354,
      0.0017636421589281581,
      -0.006795169948035362,
      0.011174971487279861,
      0.03734882860444322,
      0.03552559672282374,
      0.033105799422112,
      0.03413361029312756,
      0.03485152353821841,
      0.04171989587129599
    ],
    "v_ego": [
      6.747674017301213,
      6.783264780873517,
      6.7763594122018045,
      6.752864546937222,
      6.767832793641388,
      6.788235745826845,
      6.799694777062754,
      6.757246463823799,
      6.706000860829836,
      6.698593096383769
    ],
    "ax_ego": [
      0.06925324562177808,
      0.07241704907615566,
      -0.09943961179013738,
      0.00513575021831536,
      0.05314284197413807,
      0.027461127315560486,
      0.018037662255540106,
      -0.18826441428254637,
      -0.015079325554821032,
      -0.012505795233888574
    ],
    "ay_ego": [
      0.18737012876848677,
      0.18617022056427535,
      0.23855289383531195,
      0.2132764959561997,
      0.12340326536116092,
      0.009612428862858392,
      0.08781300938306012,
      -0.025115365946189693,
      -0.17888751578858172,
      -0.17908583092059382
    ],
    "a_ego": [
      0.19975879751307485,
      0.19975880461659073,
      0.25844867875494126,
      0.21333832205597708,
      0.1343596946814234,
      0.029094884465914884,
      0.0896464270149923,
      0.18993228080492602,
      0.17952194674801839,
      0.17952194782519343
    ],
    "yaw": [
      -3.1140651114630558,
      -3.097125960242703,
      -3.0802560978441744,
      -3.0661873484625595,
      -3.057600848678308,
      -3.0524281135019105,
      -3.0484875841926566,
      -3.0463349956301853,
      -3.0540427827698924,
      -3.068420876566476
    ],
    "yaw_diff": [
      0.03387830244070589,
      0.03373972479705678,
      0.028137498763229907,
      0.017172999568503045,
      0.010345470352794983,
      0.00788105861850763,
      0.004305177124942716,
      -0.015415574279414201,
      -0.028756187593167226,
      -0.028756187593167226
    ],
    "min_front_frame": [
      2,
      27.068827189087223
    ],
    "v_avg": 6.757776649488216,
    "v_std": 0.031766136357156485,
    "vy_max": 0.04171989587129599,
    "a_max": 0.25844867875494126,
    "ax_avg": -0.00698414703999056,
    "a_std": 0.06289794026094185,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1cddf5eb97425ac1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      33.71369182591393,
      30.407969629130147,
      27.068827189087223,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1cddf5eb97425ac1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "46ce401b30ac56e9": {
    "vx_ego": [
      5.577499621141923,
      5.3778248037502,
      5.1011185574886815,
      4.695289645587557,
      4.191103738300037,
      3.6332451430609938,
      3.162834416366311,
      2.864448578499075,
      2.634444342895001,
      2.3951597145575785
    ],
    "vy_ego": [
      -0.02835840468529438,
      -0.011755776320878514,
      -0.01851063381188206,
      -0.012310138861322345,
      0.013398016357794335,
      0.015009468046616029,
      -0.0075263642023064535,
      -0.01844632070037908,
      -0.023242688266573726,
      -0.02030628632455918
    ],
    "v_ego": [
      5.577571713833413,
      5.377837652635843,
      5.101152142518347,
      4.695305782958178,
      4.191125153468322,
      3.6332761460845973,
      3.162843371321022,
      2.8645079726914275,
      2.634546871545339,
      2.3952457918768664
    ],
    "ax_ego": [
      -0.4013421044684082,
      -0.3986769494303287,
      -0.7090856636313467,
      -0.9152195967097814,
      -1.1016589456881085,
      -1.1295543300234985,
      -0.7520986195680861,
      -0.44152409130665415,
      -0.4786142033199599,
      -0.47861486144588516
    ],
    "ay_ego": [
      -0.15163256357597946,
      -0.15850743500060996,
      -0.12552238539376237,
      -0.020199363724490528,
      0.05461319030779512,
      -0.0764702501302002,
      -0.029244450545943556,
      -0.033366026022104554,
      0.0008781740781553433,
      0.000379139273868633
    ],
    "a_ego": [
      0.4290313731602319,
      0.42903137059840446,
      0.7201099552168735,
      0.9154424747063515,
      1.1030118010113175,
      1.1321398692872757,
      0.7526669724678736,
      0.4427830336594599,
      0.478615008967867,
      0.47861501161523634
    ],
    "yaw": [
      -3.0892802010689793,
      -3.106466554568706,
      -3.1186394398670743,
      -3.127297222710026,
      -3.1311267705418833,
      -3.132933800931335,
      -3.1340955474224845,
      -3.1356864561097795,
      -3.1368939722632945,
      -3.137936628323177
    ],
    "yaw_diff": [
      -0.03437270699945305,
      -0.024345770596736926,
      -0.017315565685903422,
      -0.007659095663714588,
      -0.0036140607789034718,
      -0.002323492982299058,
      -0.0031818173745898903,
      -0.002415032307029996,
      -0.002085312119764815,
      -0.002085312119764815
    ],
    "min_front_frame": [
      7,
      11.817467516113387
    ],
    "v_avg": 3.9633412598933355,
    "v_std": 1.1256377542829203,
    "vy_max": 0.02835840468529438,
    "a_max": 1.1321398692872757,
    "ax_avg": -0.6806389365592057,
    "a_std": 0.2661546099716335,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "46ce401b30ac56e9",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.25305038259204,
    "speed_mode": "decelerating",
    "front_frame": [
      21.130261038388912,
      19.033237652062187,
      16.890818348185036,
      15.003598847500765,
      13.526575738259004,
      12.57408229562467,
      11.994452198338962,
      11.817467516113387,
      11.964214830879321,
      12.494328520562364
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "46ce401b30ac56e9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8eb6e6b220755d3b": {
    "vx_ego": [
      4.532754399526888,
      3.723643216387698,
      2.913906286908483,
      2.1362031496599503,
      1.4038764024298382,
      0.7012061320286924,
      0.16115666454459515,
      -0.04733594795765281,
      -0.05067489434568952,
      -0.034803820443055154
    ],
    "vy_ego": [
      0.05651569474954732,
      0.049314591611970826,
      0.03450188680560751,
      0.021089203004713397,
      0.011180569665923179,
      0.0024300234462681924,
      -0.01014646584783678,
      -0.008909240394250909,
      -0.0007936204149714098,
      -0.006202362509976972
    ],
    "v_ego": [
      4.5331067128607705,
      3.723969754428193,
      2.914110538239401,
      2.1363072464185637,
      1.4039209231425394,
      0.7012103426280801,
      0.16147576070835057,
      0.0481670689730252,
      0.05068110841635032,
      0.03535216002081898
    ],
    "ax_ego": [
      -1.6180805412946873,
      -1.6180393454136586,
      -1.6209157286227687,
      -1.4900205692522366,
      -1.4393601147904214,
      -1.3713322518297735,
      -0.7888652331992249,
      -0.04509805140004368,
      0.03174167000303668,
      0.031742090444961915
    ],
    "ay_ego": [
      -0.02576629056994517,
      -0.028235325436924974,
      -0.030437368565075507,
      -0.01097385152107877,
      -0.02119778782225923,
      -0.011711068654919998,
      -0.03832355663092857,
      0.04325931638358186,
      -0.010814787032680438,
      -0.010813557716366932
    ],
    "a_ego": [
      1.6182856793058025,
      1.6182856845777231,
      1.6212014781333772,
      1.4900609793602293,
      1.439516198678588,
      1.3713822567167615,
      0.7897955755404757,
      0.06249162099078416,
      0.03353346437730393,
      0.033533465915430535
    ],
    "yaw": [
      0.9443299575422848,
      0.942804036538122,
      0.9428475817367781,
      0.944067292408262,
      0.9451251354594821,
      0.9456263957940066,
      0.9458156836415355,
      0.94590672029215,
      0.9459832612318178,
      0.945944538623932
    ],
    "yaw_diff": [
      -0.003051842008325645,
      8.709039731225054e-05,
      0.002439421342967929,
      0.002115686102440062,
      0.0010025206690491562,
      0.0003785756950576147,
      0.000182073301228991,
      0.0001530818793356037,
      -7.744521577146557e-05,
      -7.744521577146557e-05
    ],
    "min_front_frame": [
      6,
      12.741186351635434
    ],
    "v_avg": 1.5708301615836093,
    "v_std": 1.590367405906387,
    "vy_max": 0.05651569474954732,
    "a_max": 1.6212014781333772,
    "ax_avg": -0.9928228075354817,
    "a_std": 0.6717378891008048,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8eb6e6b220755d3b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 22.09246099534415,
    "speed_mode": "decelerating",
    "front_frame": [
      18.545815312585376,
      16.49848303437265,
      14.944384336000198,
      13.859842927610288,
      13.18758250880921,
      12.825552627430575,
      12.741186351635434,
      12.940999717673275,
      12.906095747940737,
      12.911763440865673
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8eb6e6b220755d3b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "16ac515a3ba45d76": {
    "vx_ego": [
      5.875897151128791,
      5.9999770765989595,
      6.106302866960984,
      6.212849953162301,
      6.276836432608231,
      6.304509863413887,
      6.341444036805043,
      6.375589664636722,
      6.380144345006883,
      6.343596103529396
    ],
    "vy_ego": [
      -0.0451495646371769,
      7.10659532243696e-05,
      0.013778499928850607,
      0.045838973812255546,
      0.068306310872988,
      0.05621536715410169,
      0.035466259024813596,
      0.016788595981645393,
      -0.027772633740252406,
      -0.07755172850462122
    ],
    "v_ego": [
      5.876070610010602,
      5.999977077019825,
      6.106318412113491,
      6.213019052926602,
      6.277208085910734,
      6.30476048596513,
      6.341543213403143,
      6.375611768981674,
      6.380204791564937,
      6.344070128498534
    ],
    "ax_ego": [
      0.24493721401751628,
      0.24922540603331814,
      0.17613208350829748,
      0.2528518501182888,
      0.008932044159160796,
      0.1073513746595767,
      0.04339409524558735,
      0.09496494313972814,
      -0.07681627049356284,
      -0.07250744524972104
    ],
    "ay_ego": [
      -0.18778832531018705,
      -0.18205875607327754,
      -0.13376879380786622,
      -0.19576041412807774,
      -0.2682872560696324,
      -0.3050232241446941,
      -0.25664929540760034,
      -0.2544857246926768,
      -0.2885921801130543,
      -0.2897047755945752
    ],
    "a_ego": [
      0.30864007182066816,
      0.3086400714026315,
      0.22117097693365037,
      0.3197752301974593,
      0.2684359014406115,
      0.32336277601004904,
      0.2602919674815203,
      0.2716271792326546,
      0.2986405629430567,
      0.29864056425566915
    ],
    "yaw": [
      2.729160208767995,
      2.7059722465755804,
      2.690687144445974,
      2.672079058881756,
      2.65001271880117,
      2.629110496869412,
      2.61020890221107,
      2.593032863310559,
      2.578780345441184,
      2.563878844333047
    ],
    "yaw_diff": [
      -0.0463759243848294,
      -0.030570204259213085,
      -0.03721617112843578,
      -0.04413268016117211,
      -0.04180444386351567,
      -0.03780318931668436,
      -0.034352077801021785,
      -0.02850503573874974,
      -0.02980300221627452,
      -0.02980300221627452
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.221878362639467,
    "v_std": 0.164358850990811,
    "vy_max": 0.07755172850462122,
    "a_max": 0.32336277601004904,
    "ax_avg": 0.10284652951381898,
    "a_std": 0.03036984699921413,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "16ac515a3ba45d76",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "16ac515a3ba45d76",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b5bdef8a05605164": {
    "vx_ego": [
      5.859007006111949,
      6.460507476568752,
      7.0729870288808225,
      7.656741143185252,
      8.181627655433408,
      8.62443768202998,
      8.932286637070654,
      9.053056884815481,
      9.017480596921903,
      8.928822126933945
    ],
    "vy_ego": [
      0.025494982061152527,
      0.0897294071953727,
      0.07709490470677105,
      0.006030851433673323,
      0.019959511143089692,
      -0.01700179588664774,
      -0.021838785897720037,
      0.001232464090263008,
      0.05194287037659073,
      0.14044091612781084
    ],
    "v_ego": [
      5.859062475497185,
      6.461130568353838,
      7.073407180068748,
      7.65674351829254,
      8.181652001535987,
      8.624454440269368,
      8.932313334145888,
      9.053056968708013,
      9.017630197432469,
      8.92992655206906
    ],
    "ax_ego": [
      1.1887779686574471,
      1.2293187647622816,
      1.2249242746568187,
      1.110106779146121,
      0.9891868202444043,
      0.781812004652573,
      0.449947033600104,
      0.03392413141430403,
      -0.17705483005236128,
      -0.17720858143285867
    ],
    "ay_ego": [
      -0.6830926112047779,
      -0.6071111613049568,
      -0.2354387013211311,
      0.10274397113985445,
      0.088235461312282,
      0.04143659802031041,
      0.07492109177083431,
      0.24436484050366886,
      0.15980547876882883,
      0.15963496794969312
    ],
    "a_ego": [
      1.3710611125139127,
      1.371061117375048,
      1.2473455257960058,
      1.1148512836749849,
      0.9931143247271316,
      0.7829093193176152,
      0.45614197684237184,
      0.2467083743341488,
      0.23850828893228246,
      0.23850828984701067
    ],
    "yaw": [
      -2.213793604092171,
      -2.276616942355005,
      -2.305873653781325,
      -2.3007389235326183,
      -2.2964769032169476,
      -2.2882458790829583,
      -2.2843992844688743,
      -2.2781248690233147,
      -2.2725704620358043,
      -2.273533101925964
    ],
    "yaw_diff": [
      -0.12564667652566808,
      -0.058513422852640495,
      0.010269460497413618,
      0.008524040631341379,
      0.0164620482679787,
      0.007693189228167974,
      0.012548830891119245,
      0.011108813975020837,
      -0.0019252797803197552,
      -0.0019252797803197552
    ],
    "min_front_frame": [
      4,
      16.850981654839607
    ],
    "v_avg": 7.97893772363731,
    "v_std": 1.1056721134124783,
    "vy_max": 0.14044091612781084,
    "a_max": 1.371061117375048,
    "ax_avg": 0.6653734365648833,
    "a_std": 0.45206299379641457,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b5bdef8a05605164",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 35.801947413622784,
    "right_rear_min": 36.891072290782496,
    "speed_mode": "accelerating",
    "front_frame": [
      30.93305951551371,
      21.649192843139833,
      18.299474332160717,
      20.73835819359724,
      16.850981654839607,
      19.52664347769452,
      21.528436349233203,
      24.392125531737122,
      20.017693286376026,
      22.348266042070744
    ],
    "safe_frame": [
      1,
      1,
      0,
      1,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b5bdef8a05605164",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bf8a9586c59551f2": {
    "vx_ego": [
      11.24184112058173,
      11.140561274388117,
      11.012319077949066,
      10.731193938488941,
      10.270735591309133,
      9.69640461568031,
      9.03553763329158,
      8.315310566365435,
      7.535639173631685,
      6.729740557364497
    ],
    "vy_ego": [
      -0.010105069065621919,
      -0.005790565618463361,
      0.002043489268489296,
      0.0007102679810828683,
      -0.009541156474889956,
      -0.02112419963695933,
      -0.026594908951433904,
      -0.020478231006191727,
      -0.020709609924334238,
      -0.02570926540782814
    ],
    "v_ego": [
      11.241845662204366,
      11.14056277927854,
      11.012319267548019,
      10.731193961994276,
      10.27074002300959,
      9.69642762582162,
      9.03557677250382,
      8.315335782339387,
      7.535667630881529,
      6.729789665046332
    ],
    "ax_ego": [
      -0.2026631828331911,
      -0.2025373074133631,
      -0.3104490034157154,
      -0.8140183693945818,
      -1.027843383364916,
      -1.2696520882950606,
      -1.3742054314387984,
      -1.5070195530723227,
      -1.611840715788433,
      -1.6118246030040517
    ],
    "ay_ego": [
      -0.04867894251719905,
      -0.0492000378297397,
      -0.052511704016120084,
      -0.06694442639424861,
      -0.07965648312862386,
      -0.09627129057185779,
      -0.047673106748697736,
      -0.04056137769045903,
      -0.020340176406130006,
      -0.021578541762517223
    ],
    "a_ego": [
      0.20842745769373144,
      0.20842745648475144,
      0.31485879816274387,
      0.8167664671967556,
      1.0309253978981499,
      1.2732967394525048,
      1.3750321061353319,
      1.5075653082710716,
      1.6119690492840117,
      1.6119690395022372
    ],
    "yaw": [
      1.295949434702269,
      1.2933773896164955,
      1.2903780949463899,
      1.2877688978070554,
      1.2852613409009914,
      1.282025917363967,
      1.278772347486329,
      1.2755308391530833,
      1.2736420870434717,
      1.2728737899207228
    ],
    "yaw_diff": [
      -0.005144090171547155,
      -0.005998589340211247,
      -0.005218394278668992,
      -0.005015113812127936,
      -0.00647084707404888,
      -0.006507139755275837,
      -0.006483016666491537,
      -0.0037775042192231822,
      -0.001536594245497902,
      -0.001536594245497902
    ],
    "min_front_frame": [
      9,
      29.544472862006284
    ],
    "v_avg": 9.570945917062748,
    "v_std": 1.5252047943018185,
    "vy_max": 0.026594908951433904,
    "a_max": 1.6119690492840117,
    "ax_avg": -0.9932053638020435,
    "a_std": 0.5457959649229556,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bf8a9586c59551f2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.3359279736202927,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      53.944175569195345,
      54.4630769124738,
      54.93529509898276,
      52.32053609624407,
      48.50683082001679,
      44.54916812490911,
      40.47270983288522,
      36.66396973032699,
      32.93488503059179,
      29.544472862006284
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bf8a9586c59551f2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "28871fc023c85fe6": {
    "vx_ego": [
      1.8991565652681495,
      1.575114078344679,
      1.1943445774920878,
      0.7539603113715566,
      0.34179115533921417,
      0.051512641038814096,
      -0.04189240495415915,
      -0.02803668593136646,
      -0.015959180302632235,
      -0.006405753035986572
    ],
    "vy_ego": [
      0.011465866503963945,
      -0.01588982201622341,
      -0.00388558650021242,
      0.013674768240848406,
      0.0016622674308911694,
      0.0001536999979653423,
      0.004368091290373349,
      -0.0009632769616466883,
      -0.0007365581022109764,
      -0.0003463047194826024
    ],
    "v_ego": [
      1.8991911766580534,
      1.575194224926982,
      1.1943508980057762,
      0.7540843125340398,
      0.3417951974518171,
      0.05151287033822798,
      0.04211951821144555,
      0.028053229056900403,
      0.015976168306883143,
      0.006415107085371772
    ],
    "ax_ego": [
      -0.6494633929993345,
      -0.6457870560757217,
      -0.8751672628197411,
      -0.8883492422916053,
      -0.7611395229399015,
      -0.3998279465002517,
      0.026218863862083622,
      0.02920359458570473,
      0.019106841267824685,
      0.019106831081649487
    ],
    "ay_ego": [
      0.07551984706049963,
      0.10229869337721628,
      0.14418780613924134,
      0.021572507241585798,
      -0.041941682039768016,
      0.03834042187049732,
      -0.021427591553072032,
      0.00011686984969488555,
      0.0007806996343378552,
      0.000781032199004688
    ],
    "a_ego": [
      0.6538393886469744,
      0.6538393873587252,
      0.8869655356047637,
      0.8886111350578257,
      0.7622942201496125,
      0.40166201557007586,
      0.033861046971169664,
      0.029203828435463222,
      0.01912278418936175,
      0.01912278759173382
    ],
    "yaw": [
      -0.09494541562626983,
      -0.05360200580985558,
      -0.018500666042265905,
      0.005970056615177079,
      0.018978410792161844,
      0.022993614518305235,
      0.022708343459440453,
      0.022603860789047373,
      0.022715848021645006,
      0.02269938514103071
    ],
    "yaw_diff": [
      0.0826868196328285,
      0.07020267953517935,
      0.048941445314885965,
      0.02601670835396953,
      0.00803040745228678,
      -0.0005705421177295625,
      -0.00020896534078616164,
      0.00022397446519526604,
      -3.29257612285902e-05,
      -3.29257612285902e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.5908692702575499,
    "v_std": 0.6866113315558185,
    "vy_max": 0.01588982201622341,
    "a_max": 0.8886111350578257,
    "ax_avg": -0.41260982928292933,
    "a_std": 0.3585443736790953,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "28871fc023c85fe6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "28871fc023c85fe6",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "3e53e34cb63f5d05": {
    "vx_ego": [
      5.15463722499022,
      5.308788293406854,
      5.466283254606006,
      5.57118451483556,
      5.648285645654925,
      5.726994293381113,
      5.804007209180093,
      5.905971388195538,
      6.066200253485906,
      6.307108655067822
    ],
    "vy_ego": [
      0.03301202892192995,
      0.059322620591905566,
      0.04207689235778722,
      -0.01469117978727108,
      -0.012874224513307553,
      -0.03346036063254143,
      -0.07296564277961748,
      -0.03913504882520913,
      -0.04150638373630766,
      -0.027201809251864884
    ],
    "v_ego": [
      5.1547429339694935,
      5.309119730946699,
      5.466445196327913,
      5.571203885077899,
      5.648300317845032,
      5.727092039783671,
      5.804465838407591,
      5.906101048088399,
      6.066342250094643,
      6.307167313878553
    ],
    "ax_ego": [
      0.25345604689768114,
      0.34506494279340344,
      0.2765153591438697,
      0.16036697493600047,
      0.1673120701978678,
      0.15715655964150854,
      0.18887722656872963,
      0.24432694303994273,
      0.40529698500840616,
      0.5708896100396175
    ],
    "ay_ego": [
      1.0182885065244658,
      0.9910003200129867,
      1.2388680239352994,
      1.5980213090510162,
      1.746884739762821,
      1.686267634296896,
      1.747919160502775,
      1.661691736081144,
      1.471385783093054,
      1.4153892827680064
    ],
    "a_ego": [
      1.049357636951686,
      1.0493576363713453,
      1.2693520884970477,
      1.6060478420119517,
      1.7548788057441789,
      1.6935751293389985,
      1.7580944224839066,
      1.679558001634838,
      1.52618536513271,
      1.5261853650935453
    ],
    "yaw": [
      3.0613083364937803,
      -3.1307546807581446,
      -3.0243500565291903,
      -2.886136477718809,
      -2.7376437844409516,
      -2.583460900157737,
      -2.4279050889166722,
      -2.2881596317896262,
      -2.1566623190687007,
      -2.042062909926557
    ],
    "yaw_diff": [
      0.18224457985532272,
      0.2128092484579085,
      0.27642715762076264,
      0.2969853865557148,
      0.3083657685664294,
      0.3111116224821293,
      0.279490914254092,
      0.26299462544185026,
      0.22919881828428856,
      0.22919881828428856
    ],
    "min_front_frame": [
      9,
      52.51049517454257
    ],
    "v_avg": 5.696098055441989,
    "v_std": 0.3287450481808326,
    "vy_max": 0.07296564277961748,
    "a_max": 1.7580944224839066,
    "ax_avg": 0.27692627182670276,
    "a_std": 0.25932554102974625,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "3e53e34cb63f5d05",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      52.51049517454257
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3e53e34cb63f5d05",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "36e789a0e4035ad7": {
    "vx_ego": [
      10.784699317589082,
      10.270735591309133,
      9.69640461568031,
      9.03553763329158,
      8.315310566365435,
      7.535639173631685,
      6.765386506245735,
      6.051500919427168,
      5.344798311981393,
      4.624546897554084
    ],
    "vy_ego": [
      0.0032438770952198936,
      -0.009541156474889956,
      -0.02112419963695933,
      -0.026594908951433904,
      -0.020478231006191727,
      -0.020709609924334238,
      -0.022882950890655174,
      -0.020529523110446535,
      -0.014676057683943089,
      -0.01618981563484234
    ],
    "v_ego": [
      10.784699805444054,
      10.27074002300959,
      9.69642762582162,
      9.03557677250382,
      8.315335782339387,
      7.535667630881529,
      6.765425205287051,
      6.051535742201892,
      5.344818461129273,
      4.624575236473874
    ],
    "ax_ego": [
      -1.028039888326698,
      -1.027843383364916,
      -1.2696520882950606,
      -1.3742054314387984,
      -1.5070195530723227,
      -1.611840715788433,
      -1.4692408193681323,
      -1.3863696667979084,
      -1.440537185482464,
      -1.4405256106856175
    ],
    "ay_ego": [
      -0.0770788617787306,
      -0.07965648312862386,
      -0.09627129057185779,
      -0.047673106748697736,
      -0.04056137769045903,
      -0.020340176406130006,
      -0.010273282807020445,
      0.0008115679529656084,
      -0.01168415408567719,
      -0.013032412408520266
    ],
    "a_ego": [
      1.0309253915409564,
      1.0309253978981499,
      1.2732967394525048,
      1.3750321061353319,
      1.5075653082710716,
      1.6119690492840117,
      1.4692767355529637,
      1.3863699043400668,
      1.4405845696155561,
      1.4405845614938253
    ],
    "yaw": [
      1.2877688978070554,
      1.2852613409009914,
      1.282025917363967,
      1.278772347486329,
      1.2755308391530833,
      1.2736420870434717,
      1.2728737899207228,
      1.2721362479568903,
      1.270633753814156,
      1.2696978076646357
    ],
    "yaw_diff": [
      -0.005015113812127936,
      -0.00647084707404888,
      -0.006507139755275837,
      -0.006483016666491537,
      -0.0037775042192231822,
      -0.001536594245497902,
      -0.001475083927664933,
      -0.0030049882854683574,
      -0.0018718922990408338,
      -0.0018718922990408338
    ],
    "min_front_frame": [
      9,
      18.44249160459269
    ],
    "v_avg": 7.84248022850921,
    "v_std": 2.0172303995010137,
    "vy_max": 0.026594908951433904,
    "a_max": 1.6119690492840117,
    "ax_avg": -1.3555274342620351,
    "a_std": 0.18305737592742377,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "36e789a0e4035ad7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.3359279736202927,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      52.32053609624407,
      48.50683082001679,
      44.54916812490911,
      40.47270983288522,
      36.66396973032699,
      32.93488503059179,
      29.544472862006284,
      26.42720538119022,
      23.59327841703201,
      18.44249160459269
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "36e789a0e4035ad7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6fc4fc2702305dfa": {
    "vx_ego": [
      4.2384242009754,
      4.310064922115799,
      4.332469726698032,
      4.289314348343544,
      4.269346263371793,
      4.2657591585532,
      4.25341448951229,
      4.261615812619771,
      4.310524351125293,
      4.396577700120526
    ],
    "vy_ego": [
      -0.05205318581286811,
      -0.005883441695387237,
      -0.005191357068117908,
      -0.003882164472913674,
      -0.016343662770443412,
      -0.0027250740005109186,
      0.004172618529715066,
      0.009711678457772877,
      0.012598028004326967,
      0.0019046202657935218
    ],
    "v_ego": [
      4.23874382825469,
      4.310068937701491,
      4.332472836953872,
      4.289316105174204,
      4.269377546186264,
      4.26576002897594,
      4.253416536190464,
      4.2616268784431774,
      4.310542760715143,
      4.396578112666196
    ],
    "ax_ego": [
      0.1351632030130003,
      0.15644419910735458,
      -0.06621786001531843,
      -0.10399392027440191,
      0.028263502534393303,
      -0.032243270717993155,
      -0.0205714066844066,
      0.051012607016314826,
      0.14210887859598414,
      0.19914215669249152
    ],
    "ay_ego": [
      0.4783164041547057,
      0.4717847880203061,
      0.45045859981671277,
      0.501995961415941,
      0.5493606696131623,
      0.7564715388190054,
      0.6791318342297976,
      0.6743120596223982,
      0.7005213591816615,
      0.6864892527801973
    ],
    "a_ego": [
      0.49704695344828476,
      0.4970469531560442,
      0.4552996322575296,
      0.5126545432666657,
      0.5500872393478454,
      0.7571583833979438,
      0.6794433243746711,
      0.6762388925718497,
      0.714790254582091,
      0.7147902438861701
    ],
    "yaw": [
      -2.789747724627225,
      -2.744957889864981,
      -2.692115861828377,
      -2.6372580701118067,
      -2.5726983563820105,
      -2.499554149923111,
      -2.4169350014805664,
      -2.3386375773884795,
      -2.2589494174830547,
      -2.1767565665120268
    ],
    "yaw_diff": [
      0.08957966952448793,
      0.10568405607320841,
      0.10971558343314047,
      0.12911942745959237,
      0.14628841291779882,
      0.1652382968850894,
      0.15659484818417369,
      0.15937631981084976,
      0.16438570194205582,
      0.16438570194205582
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.292790357126144,
    "v_std": 0.04437752903170315,
    "vy_max": 0.05205318581286811,
    "a_max": 0.7571583833979438,
    "ax_avg": 0.04891080892674186,
    "a_std": 0.10730130423295962,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "6fc4fc2702305dfa",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6fc4fc2702305dfa",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "0b5b1309df2f5627": {
    "vx_ego": [
      2.859255916090275,
      2.546459938228394,
      2.2919840987703637,
      2.09530886999538,
      1.88036847426775,
      1.6424527860032159,
      1.3825881998406624,
      1.145769305042462,
      0.8762152115032206,
      0.5341358909028022
    ],
    "vy_ego": [
      -0.017822506161990548,
      -0.005092792983397043,
      0.004423937784507115,
      0.007926354623494558,
      0.018433502799535484,
      0.02591041459832244,
      0.018990781686861302,
      0.0018501307904963404,
      -0.00019212480688585165,
      0.0214853627416986
    ],
    "v_ego": [
      2.85931146177242,
      2.546465030889395,
      2.291988368260563,
      2.0953238622654333,
      1.8804588251396217,
      1.6426571473787166,
      1.3827186192887262,
      1.145770798790678,
      0.8762152325665052,
      0.5345678355107728
    ],
    "ax_ego": [
      -0.6255961564797244,
      -0.6256049834170253,
      -0.3922980593573685,
      -0.3943918605559169,
      -0.4653588453785136,
      -0.48635131476088733,
      -0.5531200527079583,
      -0.39412873892704714,
      -0.6841153802325409,
      -0.6841581168104093
    ],
    "ay_ego": [
      0.02354125303249971,
      0.02330563033291677,
      0.013832535733740492,
      -0.0027515383766397727,
      0.041917016365182524,
      -0.00908081391179888,
      -0.01775716466777405,
      -0.05305395904371342,
      0.04226544808258231,
      0.041567720873818326
    ],
    "a_ego": [
      0.6260389297771697,
      0.6260389346370009,
      0.3925418530811493,
      0.39440145871458937,
      0.4672428610829515,
      0.48643608269837924,
      0.5534050140762126,
      0.3976835241978683,
      0.6854197411603604,
      0.6854197284994131
    ],
    "yaw": [
      1.096495148038028,
      1.096118512722804,
      1.0960213652813977,
      1.0956876382711505,
      1.0953291596382715,
      1.0957441967547785,
      1.095882367540983,
      1.0954306060095251,
      1.0948052758188647,
      1.093785403231496
    ],
    "yaw_diff": [
      -0.0007532706304482772,
      -0.00019429488281241802,
      -0.0006674540204945068,
      -0.0007169572657579337,
      0.0008300742330140665,
      0.00027634157240896684,
      -0.0009035230629157454,
      -0.0012506603813209338,
      -0.002039745174737373,
      -0.002039745174737373
    ],
    "min_front_frame": [
      9,
      11.103116448387986
    ],
    "v_avg": 1.7255477181862833,
    "v_std": 0.710017956429321,
    "vy_max": 0.02591041459832244,
    "a_max": 0.6854197411603604,
    "ax_avg": -0.5305123508627392,
    "a_std": 0.11309711186272409,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0b5b1309df2f5627",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.3000969514822027,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.587890495208722,
      24.278562769745037,
      23.05871352884486,
      21.959481692755524,
      20.944106680603287,
      20.07609370286893,
      19.31202357973851,
      11.930445712365609,
      11.427340772675626,
      11.103116448387986
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0b5b1309df2f5627",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a93fa981f60d50af": {
    "vx_ego": [
      3.038279513621105,
      2.534140783899314,
      2.085245116399159,
      1.711433635239518,
      1.3533960419881186,
      0.98723457987223,
      0.6062503289524483,
      0.23626314725216851,
      0.00018969958134563416,
      -0.12370319615394623
    ],
    "vy_ego": [
      -0.04886760619645647,
      -0.02168104635859336,
      -0.004569076393107663,
      -0.008480660591442368,
      -0.00579654944070912,
      0.011860391042927632,
      -0.0033355289013468625,
      -0.014364087766181907,
      -0.0056445387967058586,
      -0.013761749885013805
    ],
    "v_ego": [
      3.038672480841769,
      2.5342335291746565,
      2.0852501221497697,
      1.7114546472031387,
      1.3534084551437249,
      0.9873058211978645,
      0.6062595047568357,
      0.23669939114170624,
      0.0056477255739527865,
      0.12446632676591439
    ],
    "ax_ego": [
      -1.0083321722953476,
      -1.0083886093804,
      -0.7872489685485533,
      -0.708007924533143,
      -0.7242072427610148,
      -0.7404403862654437,
      -0.7834350597494673,
      -0.6965120378398304,
      -0.2477846227722135,
      -0.24778531521798597
    ],
    "ay_ego": [
      0.04839005167201432,
      0.04719967697494909,
      0.005380501671383653,
      -0.03462706979642158,
      0.039292601494230056,
      0.031865197047898725,
      -0.09510082091282962,
      0.05101104195515993,
      -0.01624500702677381,
      -0.01623440756964574
    ],
    "a_ego": [
      1.0094926283964012,
      1.0094926433781855,
      0.7872673550192443,
      0.708854184698387,
      0.7252723895197554,
      0.7411257358881966,
      0.789186073738599,
      0.6983775091289413,
      0.24831657120632944,
      0.2483165689735867
    ],
    "yaw": [
      -1.9121324462558464,
      -1.9133129452051092,
      -1.9150512610184323,
      -1.9168517245946213,
      -1.9178408337279569,
      -1.917727805034208,
      -1.918492016429223,
      -1.9184771200964112,
      -1.9189284103859028,
      -1.9188856316091738
    ],
    "yaw_diff": [
      -0.0023609978985255076,
      -0.0034766316266461317,
      -0.0036009271523780306,
      -0.0019782182666712167,
      0.00022605738749792437,
      -0.0015284227900300706,
      2.9792665623418202e-05,
      -0.0009025805789830699,
      8.555755345796001e-05,
      8.555755345796001e-05
    ],
    "min_front_frame": [
      8,
      9.990669878050449
    ],
    "v_avg": 1.268339800394933,
    "v_std": 1.0045867209017694,
    "vy_max": 0.04886760619645647,
    "a_max": 1.0094926433781855,
    "ax_avg": -0.69521423393634,
    "a_std": 0.24848951352585075,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a93fa981f60d50af",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.599815285706221,
      14.099879739350134,
      12.936980328648715,
      12.026749014491672,
      11.23346781254258,
      57.07043712411824,
      56.68331577256733,
      56.45625049502897,
      9.990669878050449,
      56.48384759504659
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a93fa981f60d50af",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e9ed7dbcb6365ea2": {
    "vx_ego": [
      0.34860224625177155,
      1.2099584399741168,
      1.9898043955174982,
      2.5209472398087858,
      2.826563763193958,
      3.0986134225858155,
      3.4239291951428976,
      3.7785140422693613,
      4.146545004123604,
      4.527332935147653
    ],
    "vy_ego": [
      -0.012471384016664672,
      -0.011192281375301483,
      -0.005518290627371303,
      0.002746999371494141,
      -0.004775838813415811,
      -0.00866016833520411,
      0.005031851588646052,
      0.031037937439840402,
      0.03132763015048967,
      0.007740255186314382
    ],
    "v_ego": [
      0.34882525927901475,
      1.2100102039350669,
      1.9898120473934728,
      2.5209487364690863,
      2.8265677978844876,
      3.098625524509952,
      3.423932892578694,
      3.77864151795156,
      4.14666334438103,
      4.527339551792312
    ],
    "ax_ego": [
      1.7227197349427004,
      1.7227207708491066,
      1.3968007505111277,
      0.7278068710140765,
      0.49453965630849284,
      0.5935791945618618,
      0.7076757880277922,
      0.7107744537036513,
      0.7615744191381146,
      0.7615702256893966
    ],
    "ay_ego": [
      0.0033667971102252503,
      0.0027911526704433864,
      0.03767145553904416,
      0.04134242775069147,
      -0.031469583589090744,
      -0.008670848425415656,
      0.06093263926427389,
      0.025339740396481847,
      -0.0463559445800143,
      -0.04642481285158151
    ],
    "a_ego": [
      1.722723024889326,
      1.7227230319607878,
      1.397308654231727,
      0.7289801354135939,
      0.4955399139857384,
      0.5936425219179681,
      0.710294169684974,
      0.7112260023938136,
      0.7629839247870575,
      0.7629839263738804
    ],
    "yaw": [
      -0.6156181199963655,
      -0.6152839781268019,
      -0.6125766747246653,
      -0.6076651055239503,
      -0.603968709287689,
      -0.606053569982011,
      -0.6062465378709666,
      -0.6074790263155527,
      -0.6088803123593944,
      -0.608789884126323
    ],
    "yaw_diff": [
      0.0006682837391271956,
      0.005414606804273303,
      0.00982313840143001,
      0.007392792472522558,
      -0.004169721388644021,
      -0.00038593577791123934,
      -0.0024649768891722434,
      -0.0028025720876834193,
      0.00018085646614296458,
      0.00018085646614296458
    ],
    "min_front_frame": [
      0,
      14.518552074138144
    ],
    "v_avg": 2.7871366876174677,
    "v_std": 1.245112977061545,
    "vy_max": 0.03132763015048967,
    "a_max": 1.7227230319607878,
    "ax_avg": 0.959976186474632,
    "a_std": 0.44270847655625745,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "e9ed7dbcb6365ea2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      14.518552074138144,
      17.075524375950447,
      19.976739812246915,
      23.1820411388333,
      26.76373947538997,
      17.1549885636543,
      19.980444462505673,
      22.892532885565615,
      25.99957384424137,
      29.11291421852047
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "e9ed7dbcb6365ea2",
    "pedestrians": "No"
  },
  "0f42590c7ad65eb4": {
    "vx_ego": [
      1.4823304153988393,
      2.0199627132209366,
      2.578707214342268,
      3.1857391003467406,
      3.8208104212588143,
      4.4906024230488875,
      5.190487280073708,
      5.809120358838299,
      6.311423082739907,
      6.774881950991976
    ],
    "vy_ego": [
      0.056217043925388746,
      0.0028535749564292945,
      -0.03364607597440695,
      -0.019375786791722936,
      0.009870857014168836,
      0.025815602127787773,
      0.02768226555704366,
      0.009003557188836012,
      0.023457180687245865,
      0.07521643007233618
    ],
    "v_ego": [
      1.4833960416706673,
      2.019964728823976,
      2.578926706156911,
      3.1857980219392217,
      3.8208231716500767,
      4.490676626879936,
      5.190561098034906,
      5.809127336141949,
      6.311466673338924,
      6.775299473914765
    ],
    "ax_ego": [
      1.0752677961534813,
      1.0753523982780153,
      1.1595467575415481,
      1.2684225817119994,
      1.2718720526944947,
      1.407294053287337,
      1.3922556578897292,
      1.0822805180255453,
      0.9269318180370583,
      0.9269222050400394
    ],
    "ay_ego": [
      -0.10985019206475881,
      -0.1090188708700067,
      -0.04467779554191331,
      0.09133025273640533,
      0.01818417621851868,
      0.046139235696297395,
      -0.04000186630154537,
      -0.03591751125408192,
      0.10224450937928854,
      0.10233166062409435
    ],
    "a_ego": [
      1.08086442172061,
      1.0808644201231024,
      1.160407164894979,
      1.2717063579544727,
      1.2720020372193015,
      1.40805020559941,
      1.3928302000723454,
      1.0828763490409834,
      0.9325537705610853,
      0.9325537748368047
    ],
    "yaw": [
      1.5894442901529149,
      1.5886711934323383,
      1.5878303565980392,
      1.586921493990783,
      1.5863882022616984,
      1.5864210880513316,
      1.5863524608713728,
      1.5862980897863719,
      1.5866481281796108,
      1.5865541051826626
    ],
    "yaw_diff": [
      -0.001546193441153143,
      -0.0016816736685982825,
      -0.0018177252145124,
      -0.0010665834581691236,
      6.577157926646038e-05,
      -0.0001372543599176268,
      -0.00010874217000189645,
      0.0007000767864777657,
      -0.00018804599389632415,
      -0.00018804599389632415
    ],
    "min_front_frame": [
      0,
      16.041718635321356
    ],
    "v_avg": 4.166603987855134,
    "v_std": 1.7512010485498748,
    "vy_max": 0.07521643007233618,
    "a_max": 1.40805020559941,
    "ax_avg": 1.1586145838659248,
    "a_std": 0.16207301268884242,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0f42590c7ad65eb4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.987374951394168,
    "right_rear_min": 6.921689517517717,
    "speed_mode": "accelerating",
    "front_frame": [
      16.041718635321356,
      16.937624400364665,
      17.784690474464327,
      18.380738345031602,
      20.268188306428343,
      21.57478721160676,
      22.661414509731546,
      23.695300249507266,
      24.658745586109696,
      25.65881696946465
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0f42590c7ad65eb4",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "6247bc8d9df7529d": {
    "vx_ego": [
      1.1300051543089,
      2.3830120658658265,
      3.5773640123203743,
      4.629459813939047,
      5.484131769622362,
      6.071631581059998,
      6.42451590472446,
      6.713512435942576,
      7.021670241388852,
      7.343417225373464
    ],
    "vy_ego": [
      0.03427350878914981,
      0.04345347123719612,
      0.05165783237656818,
      0.04350482409354539,
      0.03692347865751078,
      0.06899958637752235,
      0.1484966189564667,
      0.062359584249073396,
      0.04364981483095676,
      -0.06751897099397874
    ],
    "v_ego": [
      1.1305247994490881,
      2.38340821308996,
      3.577736967454535,
      4.629664225253918,
      5.484256067130479,
      6.072023632945231,
      6.426231855130895,
      6.713802048415141,
      7.02180591337731,
      7.343727620041187
    ],
    "ax_ego": [
      2.506388147639057,
      2.5063840102038353,
      2.2761427079468026,
      1.9558659576227126,
      1.4843394846719902,
      0.9133502494988686,
      0.552549262382104,
      0.6005756436539922,
      0.6329208572002495,
      0.6556204758030758
    ],
    "ay_ego": [
      -0.005423313460813484,
      0.007083460524305307,
      -0.188267842233104,
      -0.7111155178184309,
      -0.9335553119352,
      -1.4119614929797897,
      -1.4128266779865055,
      -0.4718614517335407,
      0.4860194857715999,
      0.4549346492656172
    ],
    "a_ego": [
      2.5063940151050543,
      2.506394019706091,
      2.283915586741006,
      2.081128761962985,
      1.75350769208428,
      1.6816194384929553,
      1.5170332591572908,
      0.7637698170145844,
      0.797999844629552,
      0.7979998392197092
    ],
    "yaw": [
      -0.5380110068610138,
      -0.5430009634501192,
      -0.5607808270431343,
      -0.6130666378561438,
      -0.692112082901726,
      -0.7977460611956921,
      -0.9224328896532277,
      -0.9810835035998398,
      -0.9778418478329651,
      -0.9296030855631193
    ],
    "yaw_diff": [
      -0.009979913178210786,
      -0.03555972718603018,
      -0.10457162162601907,
      -0.1580908900911644,
      -0.2112679565879323,
      -0.24937365691507107,
      -0.11730122789322417,
      0.006483311533749259,
      0.0964775245396916,
      0.0964775245396916
    ],
    "min_front_frame": [
      5,
      73.01663841788968
    ],
    "v_avg": 5.078318134228774,
    "v_std": 1.9963413036731528,
    "vy_max": 0.1484966189564667,
    "a_max": 2.506394019706091,
    "ax_avg": 1.4084136796622688,
    "a_std": 0.6570804894280607,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "6247bc8d9df7529d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      73.01663841788968,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "6247bc8d9df7529d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "cc4a4dc2afc75aed": {
    "vx_ego": [
      4.569692490097998,
      4.457359337036967,
      4.368661209439059,
      4.282086817402784,
      4.186540518251647,
      4.075963604753427,
      3.961740542131101,
      3.852152412258841,
      3.7277020633142905,
      3.601060065689709
    ],
    "vy_ego": [
      -0.00013299947693434788,
      0.027601878894424114,
      0.011093128305926125,
      0.003827443895908278,
      0.0043909201076384186,
      0.032235207868410054,
      0.042087052851055295,
      0.04986056381866932,
      0.033807662492517654,
      -0.015208737809818906
    ],
    "v_ego": [
      4.569692492033452,
      4.457444797548157,
      4.368675293536149,
      4.28208852793838,
      4.186542820889589,
      4.0760910706093,
      3.9619640890829535,
      3.8524750853309775,
      3.7278553661429554,
      3.6010921818818993
    ],
    "ax_ego": [
      -0.24159260911984332,
      -0.2034784349917199,
      -0.149960720235585,
      -0.1982820211017142,
      -0.18579686650382518,
      -0.25602242566839795,
      -0.20097518147635166,
      -0.23853511241237668,
      -0.26867516982848827,
      -0.23986934434611115
    ],
    "ay_ego": [
      -0.5515921238231236,
      -0.5667604272603266,
      -0.4615571048971514,
      -0.311248715025577,
      -0.135589703942031,
      -0.044567462212769235,
      0.10721157320296021,
      0.3986986747745477,
      0.40396341819209125,
      0.4217054456892136
    ],
    "a_ego": [
      0.6021800892133826,
      0.6021800855350395,
      0.48530730336006217,
      0.3690413560798484,
      0.2300109636902725,
      0.2598725478637884,
      0.2277835485677273,
      0.4646069662850157,
      0.4851523370239552,
      0.485152332037033
    ],
    "yaw": [
      2.5000530999541177,
      2.4319181789991298,
      2.3773350180384627,
      2.3344143410826823,
      2.307891059039352,
      2.2902869122982175,
      2.2917348735379326,
      2.3220788967919415,
      2.3791893204343824,
      2.4489367606664523
    ],
    "yaw_diff": [
      -0.13626984190997593,
      -0.10916632192133413,
      -0.08584135391156078,
      -0.0530465640866602,
      -0.035208293482269504,
      0.0028959224794302685,
      0.060688046508017734,
      0.1142208472848818,
      0.13949488046413983,
      0.13949488046413983
    ],
    "min_front_frame": [
      0,
      30.005935267736543
    ],
    "v_avg": 4.108392172499381,
    "v_std": 0.3047623028628124,
    "vy_max": 0.04986056381866932,
    "a_max": 0.6021800892133826,
    "ax_avg": -0.2183187885684413,
    "a_std": 0.13505239308452438,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "cc4a4dc2afc75aed",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      30.005935267736543,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "cc4a4dc2afc75aed",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "6762c1ac11a15adf": {
    "vx_ego": [
      8.917718898554728,
      9.028949708449279,
      9.222226366100681,
      9.460232515390151,
      9.573346119989026,
      9.635487364592176,
      9.74988187706461,
      9.871622030554828,
      9.98079520185934,
      10.085571046279142
    ],
    "vy_ego": [
      0.03081955755308652,
      0.013487654727487808,
      0.007074893129328963,
      -0.018373100100800954,
      -0.03565478475970174,
      -0.003125215528870129,
      -0.006225738892290167,
      -0.039558887619977945,
      -0.05180619773153161,
      -0.019658489870301388
    ],
    "v_ego": [
      8.917772154454717,
      9.028959782529567,
      9.222229079876263,
      9.460250356943646,
      9.573412515753471,
      9.635487871415105,
      9.74988386477181,
      9.871701293076343,
      9.980929653272876,
      10.085590205127716
    ],
    "ax_ego": [
      0.22111905806170243,
      0.22283495548790583,
      0.5496613073935429,
      0.40240704013316875,
      0.05022406438497759,
      0.19810162264838505,
      0.25959687430758244,
      0.22712823705283286,
      0.20945443454434468,
      0.2094031992489614
    ],
    "ay_ego": [
      0.16020160445667547,
      0.15780612983786702,
      0.006357095241924793,
      -0.0065759265918792775,
      -0.001460055441466341,
      0.03658075009446744,
      -0.1244666278207481,
      -0.0964209022219038,
      0.029656879982593587,
      0.030016518826707472
    ],
    "a_ego": [
      0.2730534597997023,
      0.27305345997020936,
      0.549698067583918,
      0.4024607667329568,
      0.050245282417740775,
      0.20145074875362717,
      0.28789317218603044,
      0.2467472926943957,
      0.21154359049754526,
      0.21154359186270405
    ],
    "yaw": [
      0.8310489620424583,
      0.8418404037387297,
      0.8470638321863156,
      0.8497768940012891,
      0.8513743197658703,
      0.848896795260414,
      0.8469483241524063,
      0.844718151477535,
      0.8442705783562191,
      0.8425533422153569
    ],
    "yaw_diff": [
      0.021582883392542884,
      0.010446856895171885,
      0.005426123629946877,
      0.0031948515291624346,
      -0.004955049010912704,
      -0.003896942216015331,
      -0.004460345349742489,
      -0.0008951462426318724,
      -0.0034344722817243323,
      -0.0034344722817243323
    ],
    "min_front_frame": [
      8,
      35.76105546209062
    ],
    "v_avg": 9.552621677722152,
    "v_std": 0.3755627559790655,
    "vy_max": 0.05180619773153161,
    "a_max": 0.549698067583918,
    "ax_avg": 0.25499307932634036,
    "a_std": 0.12509032394603195,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "6762c1ac11a15adf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      73.48292479691754,
      69.03355753035407,
      64.4561754663382,
      59.76833078464315,
      55.06317922637081,
      50.307325808857584,
      45.50410903859386,
      40.59807236494484,
      35.76105546209062,
      75.4799024256996
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "6762c1ac11a15adf",
    "pedestrians": "No"
  },
  "8b57a471e74e573f": {
    "vx_ego": [
      4.113338856042901,
      4.312899082760135,
      4.427019302782299,
      4.371947441246422,
      4.288059469783471,
      4.259890181908285,
      4.402793308969137,
      4.696959596420929,
      4.889056833587495,
      5.030704641451843
    ],
    "vy_ego": [
      -0.09223122305781745,
      -0.028965067482779383,
      -0.03184388882303235,
      -0.03941567755994524,
      -0.021518491688965025,
      -0.006999812425295016,
      0.054617024335269715,
      0.03081242177567134,
      -0.031152487287760877,
      -0.06792628918478849
    ],
    "v_ego": [
      4.114372752089809,
      4.312996345141912,
      4.427133829066211,
      4.37212511539396,
      4.288113461871581,
      4.25989593291815,
      4.403132060346436,
      4.697060661280237,
      4.889156082547662,
      5.031163202509687
    ],
    "ax_ego": [
      0.3465164807034471,
      0.47737149202784823,
      -0.005617830189246997,
      -0.1871976263287105,
      -0.1276320177251664,
      0.02972479946063933,
      0.5335285820482903,
      0.6064720882253896,
      0.1786873282360849,
      0.4156224695221529
    ],
    "ay_ego": [
      1.1374006280636562,
      1.088976728875971,
      1.0925686670598058,
      1.2220064143295994,
      1.2738571351456434,
      1.355299595543328,
      1.433494080785796,
      1.3052408762847283,
      1.5157582866527428,
      1.4685742462609923
    ],
    "a_ego": [
      1.189013818304355,
      1.1890138171755213,
      1.0925831099998187,
      1.236261553218326,
      1.2802351083727017,
      1.3556255225477587,
      1.5295613840282363,
      1.439257495697344,
      1.5262543512890008,
      1.526254354278059
    ],
    "yaw": [
      0.05986981456972636,
      0.17728445164707113,
      0.3008794689199865,
      0.4332484024857064,
      0.5732300437611489,
      0.7240306835017695,
      0.8726615770868031,
      1.0283748187458395,
      1.186348913545512,
      1.3448025591874728
    ],
    "yaw_diff": [
      0.23482927415468954,
      0.24719003454583077,
      0.26473786713143976,
      0.2799632825508851,
      0.30160127948124105,
      0.29726178717006735,
      0.31142648331807266,
      0.31594818959934523,
      0.3169072912839215,
      0.3169072912839215
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.4795149443165645,
    "v_std": 0.2802646616124673,
    "vy_max": 0.09223122305781745,
    "a_max": 1.5295613840282363,
    "ax_avg": 0.22674757659807288,
    "a_std": 0.1537609210627567,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "8b57a471e74e573f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "8b57a471e74e573f",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "885aa5c90eb9554c": {
    "vx_ego": [
      5.276443005240164,
      4.545877750175159,
      3.9390397914886184,
      3.477966860744424,
      3.054831766792125,
      2.7597311206361534,
      2.6013103352696763,
      2.4824476610759914,
      2.3628545758877686,
      2.2273671295317823
    ],
    "vy_ego": [
      0.005396960465781198,
      0.01064082918785525,
      0.030070501783581727,
      0.035762071943808815,
      0.0027749643171720295,
      -0.010311549446002904,
      -0.016695822910178654,
      -0.015194648658357623,
      -0.006706793889194901,
      -0.021153306889350937
    ],
    "v_ego": [
      5.276445765354755,
      4.545890203995624,
      3.9391545684332083,
      3.478150717008413,
      3.054833027160283,
      2.759750384773894,
      2.6013639135813897,
      2.482494162597268,
      2.3628640942462265,
      2.2274675737507397
    ],
    "ax_ego": [
      -1.4611101888559603,
      -1.4611066634928445,
      -0.9661777541712587,
      -0.8776576002645115,
      -0.8147763068889629,
      -0.365664244578381,
      -0.2680301901406956,
      -0.2074513443687791,
      -0.2709220024024692,
      -0.27095256827636927
    ],
    "ay_ego": [
      -0.001660411306817905,
      -0.003612691068467233,
      0.05886742896132406,
      -0.07047811289738304,
      -0.07857605861241115,
      0.019474045273177507,
      -0.05152391458891404,
      0.05485563355328066,
      -0.022899059066074017,
      -0.02253451225189423
    ],
    "a_ego": [
      1.4611111323045924,
      1.4611111298049675,
      0.9679694348727824,
      0.8804828378223151,
      0.818556428876274,
      0.366182438413395,
      0.2729375324161614,
      0.21458145496045455,
      0.2718880252822384,
      0.27188802566128456
    ],
    "yaw": [
      -3.0657321755349414,
      -3.067068346046447,
      -3.0684116941239807,
      -3.0707360713956593,
      -3.072048450574451,
      -3.072640842522844,
      -3.073251039472723,
      -3.0735147204010236,
      -3.0737199033181275,
      -3.0723743844933233
    ],
    "yaw_diff": [
      -0.002672341023011171,
      -0.0026866961550675583,
      -0.004648754543357114,
      -0.0026247583575838007,
      -0.0011847838967860014,
      -0.001220393899757255,
      -0.0005273618566015159,
      -0.00041036583420783757,
      0.002691037649608319,
      0.002691037649608319
    ],
    "min_front_frame": [
      5,
      13.296645144126517
    ],
    "v_avg": 3.27284144109018,
    "v_std": 0.9709992177579931,
    "vy_max": 0.035762071943808815,
    "a_max": 1.4611111323045924,
    "ax_avg": -0.6963848863440231,
    "a_std": 0.46615526873106866,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "885aa5c90eb9554c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 22.915408647851844,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.97015074187928,
      16.313833661389808,
      14.99160272973033,
      14.05442100084485,
      13.520579196171026,
      13.296645144126517,
      13.441780945873012,
      13.873626827925108,
      14.555059135808074,
      15.546628474802816
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "885aa5c90eb9554c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c96b4de8d3d55287": {
    "vx_ego": [
      7.034886979456377,
      6.418092268775269,
      5.805023929234431,
      5.2373730841723285,
      4.761586865438097,
      4.345146746215199,
      3.9795722602280206,
      3.64270213622334,
      3.3092571846251255,
      2.9921715910174402
    ],
    "vy_ego": [
      0.049127492466571415,
      0.030098261688881772,
      0.00046799042234368926,
      -0.011796474095541631,
      -0.003838322300429353,
      0.009537423806335182,
      -0.013389100050120298,
      -0.017458519583324644,
      -0.01300925773762443,
      -0.04979734184496809
    ],
    "v_ego": [
      7.0350585160495225,
      6.418162842735418,
      5.805023948098698,
      5.2373863691362175,
      4.761588412476521,
      4.345157213335024,
      3.9795947836904837,
      3.6427439730445133,
      3.3092827553383675,
      2.99258593950895
    ],
    "ax_ego": [
      -1.233591099977607,
      -1.2335921441258926,
      -1.2187469963625215,
      -1.0518941435647864,
      -0.8512647590010706,
      -0.8144911698183649,
      -0.6477844896729974,
      -0.6997014275148139,
      -0.634093797845055,
      -0.6341483824070497
    ],
    "ay_ego": [
      -0.03770042777193995,
      -0.03766602092986317,
      -0.0583601040564031,
      -0.008087317101989025,
      0.03460873640716593,
      0.015004231455181599,
      -0.11324911275176312,
      0.0964731469474273,
      -0.06881206023294836,
      -0.0683072429672533
    ],
    "a_ego": [
      1.2341670568436631,
      1.2341670499498054,
      1.2201434927450714,
      1.0519252321167145,
      0.8519679891597168,
      0.8146293590791147,
      0.6576093875546237,
      0.7063208589219268,
      0.6378166226268084,
      0.6378166275280578
    ],
    "yaw": [
      -1.5417000162470185,
      -1.5416721236258557,
      -1.540751663023761,
      -1.5415420483674824,
      -1.541808974186924,
      -1.5420227689991874,
      -1.5424174780223172,
      -1.5424501085376499,
      -1.5417389874561227,
      -1.540942897528395
    ],
    "yaw_diff": [
      5.57852423255234e-05,
      0.0018409212041894385,
      -0.0015807706874428895,
      -0.0005338516388833092,
      -0.0004275896245267141,
      -0.0007894180462595379,
      -6.526103066528677e-05,
      0.0014222421630543103,
      0.0015921798554554556,
      0.0015921798554554556
    ],
    "min_front_frame": [
      9,
      13.588200810992594
    ],
    "v_avg": 4.752658475341372,
    "v_std": 1.2846226083743544,
    "vy_max": 0.04979734184496809,
    "a_max": 1.2341670568436631,
    "ax_avg": -0.901930841029016,
    "a_std": 0.2433170435694649,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c96b4de8d3d55287",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.917273763721212,
    "right_rear_min": 3.758206694373691,
    "speed_mode": "decelerating",
    "front_frame": [
      19.702561712666803,
      18.86583649864125,
      17.893640833908005,
      17.270435064273197,
      16.54755974157388,
      15.823075498016976,
      15.210406995236585,
      14.615499952349131,
      14.084082265922909,
      13.588200810992594
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c96b4de8d3d55287",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "78adf1b8ed315c4f": {
    "vx_ego": [
      8.98806859108284,
      8.535229642542458,
      8.046634002131588,
      7.488664069033857,
      6.9224540225646605,
      6.5064077144557695,
      6.219831053843615,
      6.018279257579451,
      5.948394713155416,
      6.001261356386419
    ],
    "vy_ego": [
      0.015146772180197665,
      -0.024524959034972316,
      -0.052184487431652826,
      -0.08589564201950717,
      -0.0916002127951332,
      -0.021321805708759967,
      0.04816298894467515,
      0.03707567811299417,
      0.0010645527698538437,
      0.10633684136337473
    ],
    "v_ego": [
      8.988081353810575,
      8.535264877234397,
      8.046803215251925,
      7.489156668154076,
      6.923060038271065,
      6.506442650644685,
      6.22001752504456,
      6.018393459065185,
      5.948394808414107,
      6.002203378051107
    ],
    "ax_ego": [
      -0.9058390348016908,
      -0.9055580990520278,
      -1.0495439936885742,
      -1.1850416394373364,
      -1.0880012766072606,
      -0.5731407109510331,
      -0.5526520040636099,
      -0.22682276851783406,
      -0.030045465239880276,
      0.2761942878460393
    ],
    "ay_ego": [
      -0.11921652518430256,
      -0.12133206787282486,
      -0.22667381698080796,
      -0.488732537016608,
      -0.8361903000154114,
      -1.35340697748126,
      -1.5719106312939108,
      -1.6411835656014304,
      -1.814908548465972,
      -1.7940213219115706
    ],
    "a_ego": [
      0.9136503362049828,
      0.9136503387253889,
      1.0737428062587477,
      1.2818670679672757,
      1.3722102593039058,
      1.4697621308376452,
      1.6662314576223634,
      1.6567836504258242,
      1.815157229904986,
      1.815157235093456
    ],
    "yaw": [
      -2.854228989669759,
      -2.8565647929691838,
      -2.8637067106782053,
      -2.882350762957762,
      -2.9275963065318455,
      -3.0204124612951198,
      3.137035635005538,
      3.006889983367845,
      2.8681553812617535,
      2.698848750752901
    ],
    "yaw_diff": [
      -0.004671606598849465,
      -0.014283835418043012,
      -0.03728810455911358,
      -0.090491087148167,
      -0.1856323095265484,
      -0.2514744217578553,
      -0.26029130327538574,
      -0.27746920421218313,
      -0.33861326101770484,
      -0.33861326101770484
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.067781797394169,
    "v_std": 1.0733847150262814,
    "vy_max": 0.10633684136337473,
    "a_max": 1.815157235093456,
    "ax_avg": -0.6240450704513207,
    "a_std": 0.32872340611305984,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "78adf1b8ed315c4f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "78adf1b8ed315c4f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b411a654aa215f1b": {
    "vx_ego": [
      4.247958563972983,
      3.564301302131756,
      2.7974065306524083,
      1.9266686158382087,
      1.0687474621168136,
      0.36238829004092,
      0.0028253128749303196,
      -0.0535429332121301,
      -0.033286878312380544,
      -0.01597347678189189
    ],
    "vy_ego": [
      -0.0032874960336939374,
      0.010449629003610905,
      0.003430359307235342,
      -0.003977041696108241,
      -0.010065440914756862,
      -0.0012360031839124819,
      0.005344722452423521,
      -0.0025366786756520765,
      -0.002515467157334559,
      -0.0019852295128666682
    ],
    "v_ego": [
      4.2479598360697315,
      3.5643166199321357,
      2.7974086339149165,
      1.9266727205513063,
      1.0687948591202796,
      0.362390397862102,
      0.006045531484880971,
      0.05360298905529553,
      0.03338178908930525,
      0.016096369053932507
    ],
    "ax_ego": [
      -1.3739846136513363,
      -1.360106052407493,
      -1.7117733046517078,
      -1.7740225242430252,
      -1.658434465831577,
      -1.166439793271525,
      -0.2718649135101807,
      0.04639562922763173,
      0.03462702582659485,
      0.034627075815339775
    ],
    "ay_ego": [
      0.315588207388416,
      0.3708654187801549,
      0.257341516722853,
      0.12392606601782241,
      0.009765086243521792,
      0.057288831826500464,
      -0.030679484435943927,
      -0.0009500941113943055,
      0.0010587330491936223,
      0.0010568279657857584
    ],
    "a_ego": [
      1.4097622619410854,
      1.409762261036404,
      1.7310090995565122,
      1.7783457443253965,
      1.65846321465609,
      1.1678457952912118,
      0.2735905004987442,
      0.04640535626679728,
      0.03464320760647203,
      0.03464319940292114
    ],
    "yaw": [
      -2.8247610276394672,
      -2.7843310079718844,
      -2.7334642890474115,
      -2.6901241751470915,
      -2.6634876714348623,
      -2.651357534365211,
      -2.6503459039388546,
      -2.649946839074759,
      -2.6500885924411373,
      -2.650033855716634
    ],
    "yaw_diff": [
      0.08086003933516572,
      0.10173343784894584,
      0.08668022780064,
      0.053273007424458285,
      0.024260274139302318,
      0.0020232608527130935,
      0.0007981297281913768,
      -0.0002835067327566776,
      0.00010947344900635869,
      0.00010947344900635869
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.4076669746133885,
    "v_std": 1.541095323988848,
    "vy_max": 0.010449629003610905,
    "a_max": 1.7783457443253965,
    "ax_avg": -0.920097593669728,
    "a_std": 0.7223463804954828,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "b411a654aa215f1b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "b411a654aa215f1b",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d04049c3978354f0": {
    "vx_ego": [
      5.172636236165249,
      4.872077453860342,
      4.566168611994145,
      4.2051212365143735,
      3.793467459712121,
      3.380045198166857,
      2.9712342198994413,
      2.571040674621937,
      2.194212614460376,
      1.8365698849563699
    ],
    "vy_ego": [
      -0.007947005459533196,
      -0.021639107647943856,
      -0.008248529868597476,
      0.018177959999904347,
      0.009255458534648042,
      0.01185481209374628,
      0.022888767695774304,
      0.03529683076207968,
      0.028907668836472722,
      0.03471294201995395
    ],
    "v_ego": [
      5.172642340872367,
      4.872125508173417,
      4.566176062243498,
      4.2051605263074,
      3.793478750620256,
      3.3800659872583267,
      2.9713223798820745,
      2.571282951528725,
      2.1944030283370006,
      1.836897909703295
    ],
    "ax_ego": [
      -0.6021766018428433,
      -0.6006707563045385,
      -0.6243284682885499,
      -0.8196673558344695,
      -0.8267970432156131,
      -0.8263728974743003,
      -0.8085226274701084,
      -0.797425206437846,
      -0.7242660688573361,
      -0.7120898069954197
    ],
    "ay_ego": [
      -0.134141767324838,
      -0.14073135998581165,
      -0.021256746283662975,
      -0.026162688349580798,
      -0.04658241909272201,
      0.16983817431617187,
      0.3282941296287539,
      0.389452331474579,
      0.20810452390295495,
      0.2465703531558055
    ],
    "a_ego": [
      0.6169365231107858,
      0.6169365227986768,
      0.6246902316973548,
      0.8200847885934406,
      0.828108249227485,
      0.8436451689751568,
      0.8726315801527404,
      0.8874458171367009,
      0.7535707208795569,
      0.7535707214868109
    ],
    "yaw": [
      -1.9225144829303606,
      -1.933471030424586,
      -1.9448827422980672,
      -1.9535631430201508,
      -1.9558789783314796,
      -1.9480125791325915,
      -1.9122507076688986,
      -1.851964419946881,
      -1.786355113310694,
      -1.732807608544406
    ],
    "yaw_diff": [
      -0.02191309498845051,
      -0.022823423746962668,
      -0.017360801444167073,
      -0.00463167062265768,
      0.015732798397776193,
      0.07152374292738584,
      0.12057257544403521,
      0.13121861327237383,
      0.10709500953257622,
      0.10709500953257622
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.556355544492636,
    "v_std": 1.095249078614051,
    "vy_max": 0.03529683076207968,
    "a_max": 0.8874458171367009,
    "ax_avg": -0.7342316832721024,
    "a_std": 0.10171942433786867,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "d04049c3978354f0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d04049c3978354f0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "50433807834059b1": {
    "vx_ego": [
      8.105247368086259,
      7.605131382244311,
      7.097085358983423,
      6.70766005543154,
      6.417289126091189,
      6.044141037633377,
      5.622885974113922,
      5.293467976462456,
      5.026401511153692,
      4.795578773194523
    ],
    "vy_ego": [
      0.04218540950510885,
      0.010485328474076017,
      -0.03462002291153521,
      -0.04876276234643839,
      -0.03786434037347508,
      0.01072263617920255,
      -0.00016161001640258021,
      0.0012929361641864645,
      -0.007678396613752803,
      -0.09297901437549072
    ],
    "v_ego": [
      8.10535714861747,
      7.605138610394322,
      7.09716979779146,
      6.707837298729264,
      6.4174008318103475,
      6.0441505488968845,
      5.622885976436377,
      5.29346813436309,
      5.026407375959759,
      4.796480049685199
    ],
    "ax_ego": [
      -1.0002187897001058,
      -1.0000552842478498,
      -1.0313215963302835,
      -0.5274185145565609,
      -0.6366605904575542,
      -0.8504590957390472,
      -0.8184836645063145,
      -0.5028705359768411,
      -0.5629960191496948,
      -0.3821310329124718
    ],
    "ay_ego": [
      -0.09058740630649706,
      -0.09237508152223406,
      -0.3621777715793557,
      -0.6352959186770737,
      -0.8950541237493853,
      -1.1272147500171619,
      -1.3882889926262538,
      -1.3250609235503978,
      -1.3876565672973147,
      -1.4479403018231098
    ],
    "a_ego": [
      1.0043125536656818,
      1.004312564512805,
      1.093067689250502,
      0.8256943706873605,
      1.098389089477195,
      1.412053032354497,
      1.6116022574167932,
      1.4172738715837065,
      1.4975163659679216,
      1.4975163584944076
    ],
    "yaw": [
      1.2481366067462707,
      1.246349180390348,
      1.237031408754238,
      1.20264198539434,
      1.1428243412635204,
      1.0543229007689714,
      0.9484112202906019,
      0.8231229806012321,
      0.6937990333829264,
      0.5664041242005049
    ],
    "yaw_diff": [
      -0.003574852711845544,
      -0.018635543272219834,
      -0.06877884671979606,
      -0.11963528826163916,
      -0.177002880989098,
      -0.21182336095673904,
      -0.2505764793787395,
      -0.2586478944366115,
      -0.25478981836484293,
      -0.25478981836484293
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.271629577268417,
    "v_std": 1.0578234953755323,
    "vy_max": 0.09297901437549072,
    "a_max": 1.6116022574167932,
    "ax_avg": -0.7312615123576723,
    "a_std": 0.2560768929224867,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "50433807834059b1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.17612666358918,
    "right_rear_min": 15.811814557199451,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "50433807834059b1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d55a7602f48e582b": {
    "vx_ego": [
      2.1608216641705833,
      2.284716928045542,
      2.438949738024931,
      2.6000261870339063,
      2.6753073333078405,
      2.675507052119247,
      2.650771252572862,
      2.5757477697291815,
      2.45792021113273,
      2.3355801677516363
    ],
    "vy_ego": [
      -0.02303406381096984,
      -0.014124283623590195,
      0.006753320633803517,
      0.018707012675478252,
      0.010199080480992162,
      0.0017555386310981191,
      -0.005961401001735478,
      -0.0028638805521108424,
      0.013368118699597087,
      0.018020684480854143
    ],
    "v_ego": [
      2.160944430670205,
      2.2847605862947082,
      2.438959087797797,
      2.6000934840088568,
      2.6753267742265368,
      2.675507628069057,
      2.650777955953422,
      2.575749361851162,
      2.4579565640776346,
      2.335649688002017
    ],
    "ax_ego": [
      0.24749755664431305,
      0.2475785413023978,
      0.369118756103445,
      0.2754494971155906,
      0.025868694321490835,
      -0.025033687247784864,
      -0.07383714310008449,
      -0.22656192033048955,
      -0.24458918759674017,
      -0.24457039804376285
    ],
    "ay_ego": [
      -0.012883754797011149,
      -0.011220423748258351,
      0.04093462284037547,
      -0.024829033708092973,
      -0.04065026283436288,
      -0.02081977492916618,
      -0.06550716741709973,
      0.02801824572119485,
      -0.0055286373154913165,
      -0.006305318941433866
    ],
    "a_ego": [
      0.24783266871535412,
      0.24783266940117796,
      0.3713816089340428,
      0.2765662784507709,
      0.048183329216664926,
      0.032559922071790086,
      0.0987072068503323,
      0.2282878135975119,
      0.24465166363587149,
      0.24465166389427603
    ],
    "yaw": [
      -2.186304620026211,
      -2.193024092172232,
      -2.1987552706865996,
      -2.201887104834257,
      -2.204832884376226,
      -2.2074147476719994,
      -2.2126090226793313,
      -2.217346130886213,
      -2.2215578074109605,
      -2.224733380756022
    ],
    "yaw_diff": [
      -0.013438944292041732,
      -0.011462357028735326,
      -0.006263668295314773,
      -0.005891559083938347,
      -0.005163726591546514,
      -0.010388550014663878,
      -0.009474216413763337,
      -0.008423353049495041,
      -0.006351146690122711,
      -0.006351146690122711
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.4855725560951396,
    "v_std": 0.17080483309450892,
    "vy_max": 0.02303406381096984,
    "a_max": 0.3713816089340428,
    "ax_avg": 0.03509207091683753,
    "a_std": 0.10284801970768094,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d55a7602f48e582b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d55a7602f48e582b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c77d96b1b7d65d8a": {
    "vx_ego": [
      0.280945604691099,
      1.1350740750438377,
      1.997932786150941,
      2.85652391767985,
      3.697174135927928,
      4.499260380639004,
      5.19844946219049,
      5.754621612198881,
      6.156348611083237,
      6.47731008986751
    ],
    "vy_ego": [
      -0.01701436378924709,
      0.0012476958694844775,
      0.020258323512634013,
      0.01605572080196438,
      0.00269286521369283,
      0.009256132867416111,
      0.01404403454681935,
      0.00019170031680681987,
      -0.00547966028090574,
      -0.01749034706240593
    ],
    "v_ego": [
      0.28146033711768365,
      1.135074760789617,
      1.9980354895868102,
      2.8565690396781083,
      3.697175116612341,
      4.499269901748893,
      5.198468432707363,
      5.754621615391882,
      6.156351049758558,
      6.4773337039664565
    ],
    "ax_ego": [
      1.708256979186966,
      1.7082564017662063,
      1.743178921917841,
      1.6912677710797235,
      1.6713906120544992,
      1.5372664819411774,
      1.2605473318844926,
      0.9658537758922103,
      0.6400650019482377,
      0.6430500745844057
    ],
    "ay_ego": [
      0.036488406754456415,
      0.03651529295163569,
      0.03945474271387883,
      -0.06273053569151477,
      -0.028100420817277483,
      -0.06581091148959373,
      -0.1491094760908191,
      -0.28935434817391453,
      -0.21120815458261033,
      -0.20193736093159492
    ],
    "a_ego": [
      1.7086466313338333,
      1.7086466284151822,
      1.7436253698949395,
      1.6924307352447605,
      1.6716268159233454,
      1.5386745310724084,
      1.2693357364311428,
      1.0082655678006618,
      0.6740119370465105,
      0.6740119406679876
    ],
    "yaw": [
      2.7814506764495155,
      2.7814349427495437,
      2.7814233412556204,
      2.7807591928422157,
      2.7779095649337355,
      2.770609176939554,
      2.7586263853658366,
      2.741257484137318,
      2.721334008603704,
      2.7068838010226193
    ],
    "yaw_diff": [
      -3.146739994352998e-05,
      -2.3202987846637768e-05,
      -0.0013282968268093498,
      -0.005699255816960402,
      -0.014600775988363068,
      -0.0239655831474348,
      -0.0347378024570375,
      -0.039846951067227465,
      -0.02890041516216968,
      -0.02890041516216968
    ],
    "min_front_frame": [
      0,
      9.90313305615335
    ],
    "v_avg": 3.805435944735771,
    "v_std": 2.064342691256762,
    "vy_max": 0.020258323512634013,
    "a_max": 1.7436253698949395,
    "ax_avg": 1.3569133352255758,
    "a_std": 0.4125679052818456,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c77d96b1b7d65d8a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.197141937813438,
    "right_rear_min": 6.2366632951824075,
    "speed_mode": "accelerating",
    "front_frame": [
      9.90313305615335,
      11.32782248857563,
      12.816765301641748,
      14.220861264869242,
      15.395653301354354,
      16.29775059098736,
      16.952152861159707,
      17.507708756547945,
      17.841085990607137,
      18.388449935785207
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c77d96b1b7d65d8a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f976da772a435bd5": {
    "vx_ego": [
      4.52538544753806,
      4.570564488815892,
      4.673892459721404,
      4.752304969935144,
      4.820817292478241,
      4.879060684353021,
      4.917715174857399,
      4.958739250948979,
      5.0062984517496565,
      5.0823722919398895
    ],
    "vy_ego": [
      -0.0011957534654958302,
      -0.013780125965011436,
      -0.04557867241045327,
      -0.0731039850537929,
      -0.04973711299439443,
      -0.04140563050973767,
      -0.042481477264061596,
      -0.05518462925860801,
      -0.048119044794854515,
      0.10874351840846364
    ],
    "v_ego": [
      4.525385605516462,
      4.57058526211868,
      4.674114690550425,
      4.7528672104216225,
      4.821073858370793,
      4.879236373433581,
      4.917898658668484,
      4.959046309746306,
      5.006529699348939,
      5.083535508548571
    ],
    "ax_ego": [
      -0.016358495547329654,
      0.20063090045542276,
      0.22924049667700558,
      0.11875485760484367,
      0.1531039478383756,
      0.07369182382449883,
      0.08126302299784754,
      0.08174548362760284,
      0.10352727488300784,
      0.21434649575205053
    ],
    "ay_ego": [
      1.3953707471120351,
      1.3809686351111392,
      1.357079428781429,
      1.3443031883330012,
      0.812319382203556,
      0.20321007015145864,
      -0.29080367468779417,
      -0.6321963893273755,
      -0.920307362167375,
      -0.900965661450142
    ],
    "a_ego": [
      1.395466632446857,
      1.395466634992853,
      1.3763051192735025,
      1.3495383575011934,
      0.8266217983741192,
      0.21615924109216733,
      0.30194445866528685,
      0.6374594879457683,
      0.9261120545075384,
      0.9261120576655266
    ],
    "yaw": [
      2.89838017450358,
      3.054376364666401,
      -3.0740278765957987,
      -2.9256052781762425,
      -2.8178552114875046,
      -2.7673396864973823,
      -2.771591401833632,
      -2.815739656677673,
      -2.8950570236607325,
      -3.0166014139055655
    ],
    "yaw_diff": [
      0.31199238032564214,
      0.309562131834773,
      0.29684519683911237,
      0.21550013337747576,
      0.1010310499802447,
      -0.00850343067249959,
      -0.08829650968808167,
      -0.15863473396611916,
      -0.24308878048966598,
      -0.24308878048966598
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.819027317672386,
    "v_std": 0.1764816263772675,
    "vy_max": 0.10874351840846364,
    "a_max": 1.395466634992853,
    "ax_avg": 0.12399458081133255,
    "a_std": 0.4252736408631613,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "f976da772a435bd5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f976da772a435bd5",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "225eb6e22af55972": {
    "vx_ego": [
      0.8676758642219068,
      1.37222491972523,
      1.8916498423247243,
      2.34294560551494,
      2.6340547657016176,
      2.7653690443042622,
      2.7461305167393952,
      2.6458084059339013,
      2.5127018811108752,
      2.3604008225682747
    ],
    "vy_ego": [
      0.01205547368850729,
      0.013597416850066102,
      0.009106936542408794,
      0.0068700028066910335,
      0.023890118815891315,
      0.04133163938792839,
      0.03529377786642418,
      0.01732946390705492,
      0.04515440549616234,
      0.11522338043769209
    ],
    "v_ego": [
      0.8677596094536131,
      1.372292286672161,
      1.8916717638798601,
      2.3429556776303584,
      2.6341631017255636,
      2.76567790163836,
      2.7463573084585082,
      2.6458651574163405,
      2.5131075710509974,
      2.36321147394398
    ],
    "ax_ego": [
      1.0090192497591097,
      1.009041930912664,
      1.0684668363092988,
      0.736641030147297,
      0.42775676386151595,
      0.09760313938386393,
      -0.17460782076578318,
      -0.22681711903641572,
      -0.3056909367077061,
      -0.3049587024753239
    ],
    "ay_ego": [
      0.010129621455815085,
      0.007539134447056561,
      -0.00036780721604146027,
      0.026132037547313247,
      0.04985626983375202,
      0.012356139665249274,
      -0.03330256288745034,
      -0.023877719674188877,
      0.16145442227977086,
      0.16283325555731845
    ],
    "a_ego": [
      1.0090700945005133,
      1.009070095131239,
      1.0684668996159639,
      0.7371043960544836,
      0.43065240817974376,
      0.09838214779630051,
      0.1777553143156301,
      0.2280704956473299,
      0.3457086624007697,
      0.3457086625047572
    ],
    "yaw": [
      2.468066282786653,
      2.47063358495591,
      2.474501401589846,
      2.4785212626064013,
      2.4793035632729046,
      2.478614606150016,
      2.4789018174955775,
      2.4802595412272286,
      2.482796791154605,
      2.4873127392465464
    ],
    "yaw_diff": [
      0.005134604338513427,
      0.007735633267872188,
      0.008039722033110763,
      0.001564601333006621,
      -0.0013779142457774896,
      0.0005744226911232886,
      0.002715447463302212,
      0.005074499854752723,
      0.009031896183882893,
      0.009031896183882893
    ],
    "min_front_frame": [
      0,
      11.746382297045411
    ],
    "v_avg": 2.2143061851869748,
    "v_std": 0.6085955919325695,
    "vy_max": 0.11522338043769209,
    "a_max": 1.0684668996159639,
    "ax_avg": 0.3336454371388521,
    "a_std": 0.3562209597662153,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "225eb6e22af55972",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.19021045984967,
    "right_rear_min": 4.438146924651072,
    "speed_mode": "accelerating",
    "front_frame": [
      11.746382297045411,
      12.464983322768285,
      13.150450460677881,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "225eb6e22af55972",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6e813b55dcb35df7": {
    "vx_ego": [
      3.615555995593181,
      3.2058421285553758,
      2.744182291882001,
      2.190422973991394,
      1.5877750978880047,
      1.0332859976469135,
      0.5876848792766894,
      0.29348709137959694,
      0.14701697810651007,
      0.04858040203331117
    ],
    "vy_ego": [
      -0.07486402240138235,
      -0.05372088353109539,
      -0.01059822629803997,
      0.018600970052885635,
      0.017399629435638775,
      0.019771508367052437,
      0.019258005223917546,
      0.003009832999822673,
      0.00027928688759085163,
      0.013371434697750616
    ],
    "v_ego": [
      3.6163309830710895,
      3.206292202302813,
      2.744202757355844,
      2.1905019518540065,
      1.587870431923764,
      1.0334751402313873,
      0.5880003300132249,
      0.2935025245226056,
      0.14701724338571867,
      0.05038700951231729
    ],
    "ax_ego": [
      -0.8193700759866352,
      -0.8193449898698737,
      -1.0277399303011967,
      -1.1869908964257843,
      -1.2232750012662748,
      -0.9946234966813094,
      -0.7877120541484485,
      -0.38904038494717086,
      -0.19685667912653254,
      -0.19687275250234454
    ],
    "ay_ego": [
      0.04578433128906717,
      0.046231343956388116,
      0.09082176944738385,
      -0.01748231279741741,
      -0.020805253974807536,
      0.024545183177899332,
      -0.02866629020928163,
      -0.03756206351708624,
      0.0261242891052908,
      0.026002749047695242
    ],
    "a_ego": [
      0.8206482354906586,
      0.8206482496105608,
      1.0317451032794207,
      1.1871196314855692,
      1.2234519145908271,
      0.9949263119285726,
      0.7882334910704638,
      0.3908494975505335,
      0.19858255360928212,
      0.19858253607980444
    ],
    "yaw": [
      1.0870440661186507,
      1.0875896388390378,
      1.0846375594291175,
      1.0802694849732688,
      1.0758491301366804,
      1.0747282621906242,
      1.0740696358572461,
      1.0732790707215771,
      1.072622207166272,
      1.0720047762734908
    ],
    "yaw_diff": [
      0.001091145440774266,
      -0.0059041588198405215,
      -0.008736148911697494,
      -0.00884070967317685,
      -0.0022417358921122954,
      -0.0013172526667561968,
      -0.0015811302713379938,
      -0.0013137271106100634,
      -0.0012348617855626465,
      -0.0012348617855626465
    ],
    "min_front_frame": [
      9,
      9.832900509188518
    ],
    "v_avg": 1.545758057417277,
    "v_std": 1.2585257937027037,
    "vy_max": 0.07486402240138235,
    "a_max": 1.2234519145908271,
    "ax_avg": -0.7641826261255571,
    "a_std": 0.36066039742074274,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6e813b55dcb35df7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.963409842491213,
    "right_rear_min": 3.570074022664272,
    "speed_mode": "decelerating",
    "front_frame": [
      16.418586899125767,
      14.775231292261875,
      13.29049216945473,
      12.097338403151769,
      11.148602350899543,
      10.541276965440835,
      10.181257374174308,
      9.95428544387321,
      9.87151070012933,
      9.832900509188518
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6e813b55dcb35df7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b111bb8716b756d2": {
    "vx_ego": [
      9.124908591844816,
      9.441019769081299,
      9.808902360947458,
      10.228791855267351,
      10.580188809485698,
      10.823244513497505,
      10.98189897867528,
      11.05080792751516,
      11.061851870421298,
      11.058942849493189
    ],
    "vy_ego": [
      0.0037208132226100865,
      0.022724565272473463,
      0.02313889709922501,
      0.02042644657265802,
      0.003637784593726767,
      -0.022884650053443867,
      -0.00031439779351094543,
      0.018762194738611626,
      0.03456764692598524,
      -0.026837367297908976
    ],
    "v_ego": [
      9.124909350452441,
      9.441047118092925,
      9.808929652880563,
      10.228812250603845,
      10.580189434875122,
      10.823268707103317,
      10.981898983175686,
      11.050823854843733,
      11.061905881237518,
      11.058975413330117
    ],
    "ax_ego": [
      0.6320141589816702,
      0.6328182765498753,
      0.8394723090356316,
      0.840350374694417,
      0.5663550857262749,
      0.4074137383781251,
      0.2241789976238589,
      0.05314814901402655,
      -0.007807374821992841,
      -0.0036551354162774746
    ],
    "ay_ego": [
      -0.10708039249030768,
      -0.10222093741526395,
      -0.14933021661524976,
      -0.0746293532102526,
      -0.2910396293568873,
      -0.5487612006098883,
      -0.38280418392479365,
      -0.46979460182650334,
      -0.3705927797030632,
      -0.37065698787026796
    ],
    "a_ego": [
      0.6410211444322148,
      0.6410211316186151,
      0.85265073226496,
      0.8436576868669114,
      0.6367590980772952,
      0.6834652950326341,
      0.44361612482636986,
      0.47279138491404427,
      0.3706750105815797,
      0.37067500950559273
    ],
    "yaw": [
      1.357495006370163,
      1.3498110915425992,
      1.3432165464646424,
      1.3378987789250265,
      1.330749614620223,
      1.3136417606565587,
      1.2902606321787062,
      1.269222096690612,
      1.2488049343465781,
      1.237601725041043
    ],
    "yaw_diff": [
      -0.015367829655127618,
      -0.013189090155913519,
      -0.010635535079231762,
      -0.014298328609607225,
      -0.03421570792732842,
      -0.046762256955704906,
      -0.0420770709761884,
      -0.0408343246880678,
      -0.0224064186110704,
      -0.0224064186110704
    ],
    "min_front_frame": [
      0,
      26.507022854076713
    ],
    "v_avg": 10.416076064659528,
    "v_std": 0.690485520124632,
    "vy_max": 0.03456764692598524,
    "a_max": 0.85265073226496,
    "ax_avg": 0.41842885797656093,
    "a_std": 0.16748485942284427,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "b111bb8716b756d2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 21.858202619259377,
    "speed_mode": "accelerating",
    "front_frame": [
      26.507022854076713,
      27.10989102651144,
      27.704918205624285,
      28.2991168980462,
      28.623724035427664,
      28.90656130338201,
      29.432668603054548,
      29.766840281390966,
      30.249708396833448,
      30.875943337069753
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b111bb8716b756d2",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "90831b78d185503a": {
    "vx_ego": [
      9.107403863918307,
      9.034155608652975,
      8.937117804077468,
      8.816098149994353,
      8.71575417359183,
      8.588224894700755,
      8.416117843633867,
      8.282553496793101,
      8.220306139730802,
      8.194197121870685
    ],
    "vy_ego": [
      0.07979757781694374,
      0.05360063435318985,
      0.028634839281429514,
      -0.011700427048295658,
      -0.04772492988352095,
      -0.04475223486246005,
      -0.025695259578375484,
      -0.01255257876569349,
      0.010805968637827235,
      0.009922573313918548
    ],
    "v_ego": [
      9.107753443848793,
      9.034314616469757,
      8.937163677475038,
      8.8161059141963,
      8.715884836516357,
      8.58834149323855,
      8.416157068656524,
      8.282563008783772,
      8.220313242197898,
      8.194203129623709
    ],
    "ax_ego": [
      -0.15010638554149364,
      -0.14685041995900436,
      -0.24381874912086132,
      -0.2412228043025468,
      -0.15912792216712876,
      -0.3507300782609878,
      -0.338220223860733,
      -0.1965761179989945,
      -0.05228325378163039,
      -0.051974850459194866
    ],
    "ay_ego": [
      0.21713762651786775,
      0.21935275712407878,
      0.19758466577338446,
      0.12361916170882052,
      0.08786600736046467,
      -0.00989092144270945,
      -0.0894194277713252,
      -0.018294624409138413,
      -0.07192718363846513,
      -0.07215035237386386
    ],
    "a_ego": [
      0.26397097535552,
      0.26397097927626634,
      0.31382683532744865,
      0.271053755659604,
      0.18177494564074836,
      0.35086951723389204,
      0.34984104089051016,
      0.197425589652978,
      0.08892164175360155,
      0.08892164206720651
    ],
    "yaw": [
      2.4948035534048714,
      2.5097221271801042,
      2.5240810300540417,
      2.537671669019786,
      2.547824528408585,
      2.549728768051825,
      2.544566258419578,
      2.5397567410059096,
      2.5341801965336366,
      2.5298990925583427
    ],
    "yaw_diff": [
      0.029837147550465737,
      0.02871780574787497,
      0.027181277931488168,
      0.02030571877759879,
      0.003808479286479205,
      -0.010325019264493918,
      -0.009619034827336392,
      -0.011153088944546141,
      -0.008562207950587819,
      -0.008562207950587819
    ],
    "min_front_frame": [
      3,
      18.24220349693491
    ],
    "v_avg": 8.63128004310067,
    "v_std": 0.32465401019917517,
    "vy_max": 0.07979757781694374,
    "a_max": 0.35086951723389204,
    "ax_avg": -0.19309108054525753,
    "a_std": 0.09093215227209615,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "90831b78d185503a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.280837508281545,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      31.578167636035474,
      27.041661412152493,
      22.606318282611078,
      18.24220349693491,
      78.6054422727521,
      69.63023727197358,
      65.35437294232509,
      61.24060059787077,
      57.11852576451725,
      52.977811411985016
    ],
    "safe_frame": [
      1,
      1,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "90831b78d185503a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b4646fcc459d51df": {
    "vx_ego": [
      9.134140557130966,
      9.128912582605064,
      9.110476389840741,
      9.063762654750617,
      8.992704756135609,
      8.916561090571061,
      8.831982981267219,
      8.723797195824226,
      8.598129501624278,
      8.470866449145731
    ],
    "vy_ego": [
      -0.08626771051840887,
      -0.02612335469707805,
      0.023377440934780225,
      0.02068408767013974,
      -0.06407388124741598,
      -0.1014827506991729,
      -0.06175629232063784,
      -0.005227242865888826,
      0.030930572909351195,
      0.058482690957332384
    ],
    "v_ego": [
      9.134547927254138,
      9.128949959908077,
      9.110506382994869,
      9.063786255927194,
      8.992933019503822,
      8.917138578634699,
      8.832198889349979,
      8.723798761889146,
      8.59818513565754,
      8.471068328398989
    ],
    "ax_ego": [
      -0.014449509356040224,
      -0.010562516445475442,
      -0.06372982205091876,
      -0.12075702595839907,
      -0.16379600632010993,
      -0.14717576962688325,
      -0.19566601878157958,
      -0.2385657361506051,
      -0.2594828978915914,
      -0.24370628426033009
    ],
    "ay_ego": [
      -0.21287505949490707,
      -0.21310329065536576,
      -0.15324783356033406,
      -0.3366164218361596,
      -0.459335196778715,
      -0.1736312116830657,
      -0.12821795058273489,
      -0.21119416623908444,
      -0.48801800619481694,
      -0.4960848685866665
    ],
    "a_ego": [
      0.21336489700883443,
      0.21336489692966423,
      0.16597104780526517,
      0.35762113299985054,
      0.48766582275791925,
      0.2276148168195449,
      0.23393382345755412,
      0.318616676146278,
      0.5527141654314484,
      0.5527141664808557
    ],
    "yaw": [
      2.2900973544289047,
      2.271848140067557,
      2.2563889569747166,
      2.243218986165248,
      2.2305741665721754,
      2.2170773610978185,
      2.2041063238544827,
      2.1880098919793856,
      2.1636607793550047,
      2.1316005891511414
    ],
    "yaw_diff": [
      -0.036498428722695486,
      -0.030918366185680668,
      -0.0263399416189376,
      -0.025289639186144797,
      -0.026993610948713886,
      -0.02594207448667163,
      -0.032192863750194256,
      -0.04869822524876177,
      -0.06412038040772661,
      -0.06412038040772661
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.897311323951845,
    "v_std": 0.22319187588122902,
    "vy_max": 0.1014827506991729,
    "a_max": 0.5527141664808557,
    "ax_avg": -0.14578915868419332,
    "a_std": 0.14096915881811428,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b4646fcc459d51df",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b4646fcc459d51df",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0f97d412a94255ac": {
    "vx_ego": [
      3.2230716577367833,
      2.9542493694465763,
      2.682931020232679,
      2.36141793241506,
      1.9632563347721645,
      1.5244423887807965,
      1.041299821085025,
      0.538958922671971,
      0.15192320207565319,
      -0.13322521884838656
    ],
    "vy_ego": [
      -0.02620024656240516,
      -0.003207997816449981,
      0.004917114924427923,
      0.002958959353738355,
      -0.009940492396508849,
      -0.017159281416906147,
      0.008586684164556602,
      0.02309439031422883,
      -0.001417576520049181,
      -0.03810982430774629
    ],
    "v_ego": [
      3.2231781464613567,
      2.954251111216764,
      2.6829355261254313,
      2.3614197862667017,
      1.963281500297937,
      1.524538959046454,
      1.0413352239008566,
      0.5394534930758327,
      0.15192981554688317,
      0.13856881916927696
    ],
    "ax_ego": [
      -0.5376483830124946,
      -0.5376692331405187,
      -0.5475940950326073,
      -0.7384528515734978,
      -0.8541956661270975,
      -0.9010820794597398,
      -1.0314943458568104,
      -0.9779022624646682,
      -0.570255585222356,
      -0.5702952635514356
    ],
    "ay_ego": [
      0.04311872094464572,
      0.042857940133038036,
      -0.013926902366163563,
      -0.00012311436004455723,
      -0.04976745245341935,
      0.01915847750819316,
      0.08317451389121178,
      -0.024259998645016545,
      -0.07352857280049462,
      -0.07322018925381907
    ],
    "a_ego": [
      0.539374645169619,
      0.5393746446565324,
      0.5477711671164308,
      0.7384528618362692,
      0.8556442224160806,
      0.9012857267170721,
      1.034842299722817,
      0.9782031396738475,
      0.5749764199472612,
      0.5749764201630937
    ],
    "yaw": [
      -0.33200220774568323,
      -0.3324872333518844,
      -0.33280368827569184,
      -0.3334141851917437,
      -0.33321811158939363,
      -0.3334658387908831,
      -0.3335910829185824,
      -0.3333090838298227,
      -0.3330889455134113,
      -0.33254819173305095
    ],
    "yaw_diff": [
      -0.0009700512124023453,
      -0.000632909847614882,
      -0.0012209938321037228,
      0.00039214720470015507,
      -0.0004954544029789343,
      -0.00025048825539863984,
      0.0005639981775193981,
      0.0004402766328228669,
      0.0010815075607206737,
      0.0010815075607206737
    ],
    "min_front_frame": [
      8,
      10.26137848800913
    ],
    "v_avg": 1.6580892381107493,
    "v_std": 1.0952027489999978,
    "vy_max": 0.03810982430774629,
    "a_max": 1.034842299722817,
    "ax_avg": -0.7266589765441227,
    "a_std": 0.18805732418864593,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0f97d412a94255ac",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.864697599895038,
    "right_rear_min": 3.5911081390923227,
    "speed_mode": "decelerating",
    "front_frame": [
      15.530922408490664,
      14.84986296250299,
      13.968544572638315,
      13.09295339068463,
      12.19612711718062,
      11.313883872904793,
      10.719131857897233,
      10.344731765261537,
      10.26137848800913,
      10.263477213931296
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0f97d412a94255ac",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cb9992677d95539f": {
    "vx_ego": [
      3.7689535987929363,
      3.7155649969135043,
      3.662240897304599,
      3.6199401351925005,
      3.61841620706983,
      3.6321927687476165,
      3.656532372672303,
      3.6778153694096516,
      3.769901378117071,
      3.929280617964245
    ],
    "vy_ego": [
      0.013372472409451053,
      0.0035338115380413315,
      0.004140880125609481,
      0.004082563504144682,
      -0.020622338031874077,
      -0.05283127628125117,
      -0.05265901140346174,
      -0.043392218059140175,
      -0.02877995078872675,
      0.04525694598805341
    ],
    "v_ego": [
      3.7689773218835594,
      3.71556667738756,
      3.6622432383415777,
      3.61994243734652,
      3.6184749727490884,
      3.632576971393171,
      3.6569115335050877,
      3.6780713391740982,
      3.7700112315875653,
      3.929541241146305
    ],
    "ax_ego": [
      -0.1565643497541586,
      -0.06016196733697596,
      -0.15143735254598828,
      -0.008874702338535207,
      -0.002094904104667644,
      0.06579062075100292,
      0.03514587745028104,
      0.05066364666458521,
      0.3174736247071257,
      0.32095609215326965
    ],
    "ay_ego": [
      0.8320453074618945,
      0.8445071538201201,
      0.9039780421499578,
      1.0675735495898637,
      0.934252717780906,
      0.7756060320735088,
      0.4396262205040507,
      0.09532316051161113,
      -0.11091956069194488,
      -0.10039839256375964
    ],
    "a_ego": [
      0.8466473819030571,
      0.8466473853778889,
      0.916574913706135,
      1.067610436500833,
      0.9342550665124685,
      0.7783913686363788,
      0.4410288499139556,
      0.10795049802236355,
      0.3362925085825953,
      0.3362925070822793
    ],
    "yaw": [
      2.7866516270885224,
      2.901525869785158,
      3.0193562090625026,
      -3.127988287189565,
      -2.983103113170942,
      -2.8561804240657986,
      -2.772999329529366,
      -2.7390428118335475,
      -2.7440587435716823,
      -2.7770152956589627
    ],
    "yaw_diff": [
      0.2297484853932712,
      0.23566067855468908,
      0.27168162185503775,
      0.289770348037246,
      0.2538453782102863,
      0.16636218907286526,
      0.06791303539163707,
      -0.01003186347626972,
      -0.06591310417456064,
      -0.06591310417456064
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7052316964514533,
    "v_std": 0.09147770394535246,
    "vy_max": 0.05283127628125117,
    "a_max": 1.067610436500833,
    "ax_avg": 0.04108965856459389,
    "a_std": 0.308731312636906,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "cb9992677d95539f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.25473451314507,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cb9992677d95539f",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "fd3606c29f3f57fb": {
    "vx_ego": [
      7.158345201232299,
      7.007235019332166,
      6.819440872789636,
      6.5109282189219115,
      6.0645213011846275,
      5.47090764268952,
      4.765167916275733,
      3.9687191375216293,
      3.067415341113986,
      2.133152635560754
    ],
    "vy_ego": [
      -0.001659978832013298,
      0.010070452448491807,
      0.011852042414069341,
      0.017131814421253555,
      0.0018181824019003479,
      -4.3404071640384956e-05,
      0.00021946941859041225,
      0.005324388137580849,
      0.003809818531218756,
      -0.012316200534238986
    ],
    "v_ego": [
      7.158345393702039,
      7.0072422557071325,
      6.819451172079998,
      6.510950757840134,
      6.064521573735997,
      5.470907642861695,
      4.765167921329787,
      3.9687227090890924,
      3.0674177070654514,
      2.133188190337503
    ],
    "ax_ego": [
      -0.3022332465818119,
      -0.30214829318588016,
      -0.44901699444085663,
      -0.7848555154870196,
      -1.0007246882253575,
      -1.3737610732193564,
      -1.4491399643807878,
      -1.7366917378000712,
      -1.8684792124724112,
      -1.8685263382898294
    ],
    "ay_ego": [
      -0.024372750098010293,
      -0.025404175806558932,
      0.018306276637099633,
      -0.0492616078654563,
      -0.045343022561968926,
      -0.0010490181952170774,
      -0.04785210779476734,
      -0.008988980329927565,
      -0.022201175964299713,
      -0.0177992554321722
    ],
    "a_ego": [
      0.3032143899730393,
      0.3032143849218753,
      0.44939000997019757,
      0.78639995307724,
      1.0017514119375097,
      1.3737614737398818,
      1.4499298122964273,
      1.7367150007731271,
      1.8686111044451492,
      1.8686111126654303
    ],
    "yaw": [
      -2.0339697670640087,
      -2.037382924303193,
      -2.0378959395078526,
      -2.039836938857416,
      -2.041157273032435,
      -2.0428318252545674,
      -2.0452673683378033,
      -2.0496542987711788,
      -2.0514318902339816,
      -2.0490760348049535
    ],
    "yaw_diff": [
      -0.0068263144783689,
      -0.0010260304093190342,
      -0.003881998699126754,
      -0.0026406683500379557,
      -0.0033491044442648388,
      -0.004871086166471805,
      -0.008773860866750915,
      -0.0035551829256057488,
      0.004711710858056328,
      0.004711710858056328
    ],
    "min_front_frame": [
      9,
      12.421215364744837
    ],
    "v_avg": 5.296591532374883,
    "v_std": 1.6681819180475421,
    "vy_max": 0.017131814421253555,
    "a_max": 1.8686111126654303,
    "ax_avg": -1.1135577064083382,
    "a_std": 0.5986108103864504,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fd3606c29f3f57fb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.4665484153006245,
    "right_rear_min": 25.314260124863743,
    "speed_mode": "decelerating",
    "front_frame": [
      18.107523047128712,
      27.145545774198137,
      23.7418943202066,
      20.474339234721,
      17.41057366096857,
      19.958092899728832,
      17.51063230653692,
      15.433319112041326,
      13.727751895555322,
      12.421215364744837
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fd3606c29f3f57fb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "575317389c085760": {
    "vx_ego": [
      2.4600991108187555,
      2.888276066333393,
      3.2452602601016287,
      3.4585959330353075,
      3.6956852158816464,
      4.0196661083559055,
      4.33781851091541,
      4.653303493769741,
      4.98673929017597,
      5.345013355540202
    ],
    "vy_ego": [
      -0.03919825739320215,
      0.023622006391974426,
      -0.016084139639776007,
      -0.04614647046283102,
      -0.04973367118416683,
      -0.026149262724096678,
      -0.007209137903468887,
      -0.005851621956670439,
      -0.03925201114085741,
      0.06259454994605118
    ],
    "v_ego": [
      2.4604113758544313,
      2.888372661991572,
      3.245300117915575,
      3.458903775005102,
      3.69601983935904,
      4.019751162274368,
      4.3378245014419035,
      4.653307173033949,
      4.986893769528618,
      5.34537986008348
    ],
    "ax_ego": [
      0.8191413350730194,
      0.8920748269747888,
      0.5448568334217597,
      0.33384602331620417,
      0.657373462941607,
      0.6894500402570795,
      0.6025255778006712,
      0.6758654063988805,
      0.6441134174576699,
      0.7801007046643977
    ],
    "ay_ego": [
      0.734725713794665,
      0.6442180621216521,
      0.8128701978892344,
      0.931522312155924,
      1.1317209068820246,
      1.4572291397264017,
      1.545552715515404,
      1.676850940592391,
      1.3271367137900034,
      1.2520450654730957
    ],
    "a_ego": [
      1.1003701201578897,
      1.100370123406609,
      0.9785841443344923,
      0.9895387740398868,
      1.3087903120262285,
      1.6120974299583253,
      1.6588460652939057,
      1.8079333849819552,
      1.475186073564392,
      1.4751860748371435
    ],
    "yaw": [
      -0.3589166938723707,
      -0.2532334859743459,
      -0.1235262273598276,
      0.01424197028605374,
      0.1608383879003179,
      0.32232028158893883,
      0.49653791416689896,
      0.6753229474566786,
      0.8375695074083014,
      0.9429218989693104
    ],
    "yaw_diff": [
      0.21136641579604953,
      0.25941451722903663,
      0.27553639529176266,
      0.29319283522852835,
      0.32296378737724185,
      0.34843526515592027,
      0.35757006657955936,
      0.3244931199032455,
      0.21070478312201812,
      0.21070478312201812
    ],
    "min_front_frame": [
      9,
      19.73294239533092
    ],
    "v_avg": 3.9092164236488047,
    "v_std": 0.8833869431011651,
    "vy_max": 0.06259454994605118,
    "a_max": 1.8079333849819552,
    "ax_avg": 0.6639347628306078,
    "a_std": 0.28272472577650964,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "575317389c085760",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.199809457303834,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      19.73294239533092
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "575317389c085760",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "171e0bea742d52d0": {
    "vx_ego": [
      9.137671976244068,
      9.422659344691537,
      9.63192447573544,
      9.754581092603479,
      9.849348417189647,
      9.895588761900576,
      9.925840328729292,
      9.96215019844591,
      9.882000336077382,
      9.695115567190568
    ],
    "vy_ego": [
      -0.007771459521921598,
      -0.007338661024694826,
      -0.029734218882381036,
      -0.025077073148064066,
      -0.03427634554278569,
      -0.04757766352715542,
      -0.05562057132696108,
      -0.055729475686662866,
      -0.025902086216961884,
      -0.000246205585153092
    ],
    "v_ego": [
      9.13767528100114,
      9.422662202480167,
      9.63197037111535,
      9.754613326614999,
      9.849408058917042,
      9.89570313715603,
      9.925996165593837,
      9.962306075947286,
      9.88203428248981,
      9.695115570316739
    ],
    "ax_ego": [
      0.5692500535974268,
      0.5709628598102795,
      0.2660786906603621,
      0.2246011771073753,
      0.15444462168627288,
      0.03058909867232259,
      0.09087330168015452,
      0.05467635494382696,
      -0.3744741263242646,
      -0.3726041390688255
    ],
    "ay_ego": [
      0.18146124507385814,
      0.17599778182700482,
      0.022666600147884373,
      0.015493913866532504,
      -0.06397485266127168,
      0.024526432310566473,
      0.02974971641685605,
      0.025742208817546828,
      0.21710385793444853,
      0.22029778619378695
    ],
    "a_ego": [
      0.5974728504161742,
      0.5974728500030432,
      0.26704240184996225,
      0.22513495980172002,
      0.16717034109209494,
      0.039207637514518605,
      0.09561904927960603,
      0.060433145745935946,
      0.43285673890600623,
      0.43285674195177337
    ],
    "yaw": [
      -1.3476486782768744,
      -1.338065516364834,
      -1.330531979335801,
      -1.330028497819629,
      -1.3303262289422992,
      -1.3299784102774102,
      -1.3277960870806196,
      -1.326390663528354,
      -1.3232947359854768,
      -1.3147443428271979
    ],
    "yaw_diff": [
      0.019166323824080678,
      0.015067074058066066,
      0.0010069630323439327,
      -0.0005954622453403502,
      0.0006956373297781759,
      0.00436464639358114,
      0.0028108471045311667,
      0.006191855085754483,
      0.01710078631655776,
      0.01710078631655776
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.71574844716324,
    "v_std": 0.2473696467756029,
    "vy_max": 0.055729475686662866,
    "a_max": 0.5974728504161742,
    "ax_avg": 0.12143978927649306,
    "a_std": 0.20076734048565165,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "171e0bea742d52d0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "171e0bea742d52d0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7fb1c845280a55aa": {
    "vx_ego": [
      3.396219771999423,
      3.3404860933866143,
      3.252912973822049,
      3.0377032541647297,
      2.70157539769886,
      2.3145924052931504,
      1.8060207043265166,
      1.1972751208635963,
      0.6478412627299486,
      0.16203215851563452
    ],
    "vy_ego": [
      0.03158188118482741,
      0.04479225506328666,
      0.04258442878539759,
      0.024412826105708163,
      0.003180058739029601,
      -0.0145014300283417,
      -0.011926935295862084,
      -0.005969208545351212,
      0.002722736299868689,
      0.0159614525031552
    ],
    "v_ego": [
      3.3963666107973363,
      3.3407863873978862,
      3.2531917018268053,
      3.037801350720856,
      2.7015772693419926,
      2.3146378321702077,
      1.8060600865534897,
      1.197290000997919,
      0.6478469842397144,
      0.16281642533616253
    ],
    "ax_ego": [
      -0.11157645622679352,
      -0.11153645192912444,
      -0.23871687800156036,
      -0.6221329487437445,
      -0.7224290181388644,
      -0.8254589425964758,
      -1.208875692050229,
      -1.2261250922963096,
      -0.971619911013752,
      -0.9716184936936996
    ],
    "ay_ego": [
      0.034217530422412434,
      0.03434772379219561,
      -0.04559521272624281,
      -0.025965764000684566,
      -0.05031646977034393,
      -0.010035223572193663,
      0.014122465259566064,
      0.006224408121203839,
      0.026494658257478154,
      0.02654628430881606
    ],
    "a_ego": [
      0.11670537679275231,
      0.11670538221797162,
      0.24303224326488695,
      0.6226745753704144,
      0.7241791445348544,
      0.8255199401738493,
      1.2089581807717453,
      1.2261408912580531,
      0.9719810792369118,
      0.9719810710596263
    ],
    "yaw": [
      2.206739884180551,
      2.2079069064423233,
      2.20772455775651,
      2.2078126680153396,
      2.208562867480251,
      2.2095916663338935,
      2.2088551796695413,
      2.208275975192519,
      2.207700972817986,
      2.2077541138262884
    ],
    "yaw_diff": [
      0.0023340445235451313,
      -0.00036469737162647675,
      0.00017622051765897595,
      0.0015003989298225662,
      0.002057597707285197,
      -0.001472973328704441,
      -0.0011584089540441767,
      -0.0011500047490660137,
      0.00010628201660445313,
      0.00010628201660445313
    ],
    "min_front_frame": [
      9,
      10.43204935849362
    ],
    "v_avg": 2.185837464938237,
    "v_std": 1.1192157177050337,
    "vy_max": 0.04479225506328666,
    "a_max": 1.2261408912580531,
    "ax_avg": -0.7010089884690553,
    "a_std": 0.39941660294206716,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7fb1c845280a55aa",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.792664812441595,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.380227392964827,
      17.683636264747925,
      16.027319454233698,
      14.512220156200616,
      13.237856711491217,
      12.289604377694365,
      11.535201248878803,
      11.00389854371008,
      10.62586482858773,
      10.43204935849362
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7fb1c845280a55aa",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4afad5f528f45dfe": {
    "vx_ego": [
      3.5685470299194932,
      3.521351980751581,
      3.451371129870534,
      3.2692500920460636,
      3.068646328825614,
      2.9153078401815384,
      2.770029164123608,
      2.5548225361755836,
      2.1913670500216944,
      1.7720228593948875
    ],
    "vy_ego": [
      -0.009821998405943111,
      -0.0268538810641763,
      -0.016826183810286333,
      -0.0036352649458739617,
      -0.01965416737089698,
      0.001037712231976018,
      0.015812848520809886,
      0.0009618986242733163,
      -0.017059563186652582,
      -0.04444471489059698
    ],
    "v_ego": [
      3.5685605468311623,
      3.521454373305338,
      3.4514121452769766,
      3.269252113174269,
      3.0687092690103377,
      2.915308024869863,
      2.770074297969944,
      2.554822717254488,
      2.1914334524728107,
      1.7725801383575694
    ],
    "ax_ego": [
      -0.11433122369723522,
      -0.06802012421346124,
      -0.2074069519005695,
      -0.526470725220609,
      -0.2754499045527034,
      -0.337033035733899,
      -0.24519789867699254,
      -0.6158101642044455,
      -0.8381080589548612,
      -0.8382947029346153
    ],
    "ay_ego": [
      0.5519650839164737,
      0.5595626349042039,
      0.5075611056907389,
      0.20251613860837978,
      0.13989033752278873,
      0.16117604808743768,
      0.017960434645562892,
      0.05543720798457738,
      -0.027424836593554935,
      -0.020957900973056554
    ],
    "a_ego": [
      0.5636817209871429,
      0.563681718418249,
      0.5483027628114694,
      0.5640781957416564,
      0.30893681627532377,
      0.3735893275417429,
      0.2458548082268684,
      0.6183004466815719,
      0.8385566409893063,
      0.8385566424407067
    ],
    "yaw": [
      0.8976868973924317,
      0.9809674753951125,
      1.05421353529756,
      1.1025332604658944,
      1.134918711919878,
      1.153111753771952,
      1.1637110825333932,
      1.1759676275791762,
      1.1863906005270253,
      1.1941058190581175
    ],
    "yaw_diff": [
      0.1665611560053617,
      0.14649211980489474,
      0.09663945033666899,
      0.06477090290796728,
      0.036386083704147865,
      0.021198657522882414,
      0.024513090091565992,
      0.020845945895698215,
      0.015430437062184499,
      0.015430437062184499
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.9083607078522755,
    "v_std": 0.5666347588977981,
    "vy_max": 0.04444471489059698,
    "a_max": 0.8385566424407067,
    "ax_avg": -0.40661227900893915,
    "a_std": 0.18798239779445355,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "4afad5f528f45dfe",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "4afad5f528f45dfe",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "5237b49651b35ffb": {
    "vx_ego": [
      1.2274109981699446,
      1.8083017394692162,
      2.402125249397916,
      2.9967375143801127,
      3.4911294171045197,
      3.6648659453659977,
      3.688054522580383,
      3.8256000581458434,
      3.9390264666289325,
      3.9978606162737087
    ],
    "vy_ego": [
      0.029035953833082773,
      0.00807910724786498,
      -0.012384209826802328,
      -0.009089153265010363,
      0.012132227360212244,
      0.017382712282657975,
      0.005367982923073944,
      -0.027160107677289824,
      -0.05065833757671934,
      -0.05828139037457647
    ],
    "v_ego": [
      1.2277543911725735,
      1.8083197872448655,
      2.4021571727195608,
      2.9967512981227142,
      3.4911504977461605,
      3.6649071688365735,
      3.6880584291421252,
      3.8256964694463833,
      3.9393522020719662,
      3.9982854109751087
    ],
    "ax_ego": [
      1.1617800600819936,
      1.1617764248947724,
      1.2135168022169864,
      1.1648532430281435,
      0.8127789456464349,
      -0.11737111850382397,
      0.21119904374985488,
      0.3392159485755701,
      0.11011556313075122,
      0.11835179826990377
    ],
    "ay_ego": [
      -0.04159901132190513,
      -0.04170010407990443,
      -0.04089907608640975,
      0.04407166340043411,
      0.006594973000832061,
      -0.05963747238770078,
      -0.15550871403788846,
      -0.2665471472255807,
      -0.2651654434292451,
      -0.26159320040056794
    ],
    "a_ego": [
      1.162524574255134,
      1.162524563233635,
      1.2142058160327114,
      1.1656866600026203,
      0.8128057013548885,
      0.13165336141410314,
      0.2622746579877112,
      0.43141029364413547,
      0.28712044446996565,
      0.2871204462408271
    ],
    "yaw": [
      1.0105390452782663,
      1.0106260560227134,
      1.0105372045997223,
      1.009612460614251,
      1.0070106162898127,
      1.0019998596692594,
      0.9905096566529162,
      0.9709996407733473,
      0.9430210793224865,
      0.9117522223261774
    ],
    "yaw_diff": [
      0.00017402148889411606,
      -0.000177702845982175,
      -0.0018494879709427536,
      -0.005203688648876437,
      -0.010021513241106561,
      -0.022980406032686362,
      -0.03902003175913782,
      -0.05595712290172172,
      -0.0625377139926182,
      -0.0625377139926182
    ],
    "min_front_frame": [
      0,
      16.624474184608914
    ],
    "v_avg": 3.1042432827478033,
    "v_std": 0.9234284999486374,
    "vy_max": 0.05828139037457647,
    "a_max": 1.2142058160327114,
    "ax_avg": 0.6176216711090587,
    "a_std": 0.42998513183780496,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5237b49651b35ffb",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.944552922714556,
    "speed_mode": "accelerating",
    "front_frame": [
      16.624474184608914,
      17.61641575489327,
      -1,
      -1,
      -1,
      -1,
      20.620253600331743,
      21.019007737206362,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5237b49651b35ffb",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "03388b830f975734": {
    "vx_ego": [
      1.1452171918038263,
      0.6587262616059578,
      0.23775617114419495,
      0.014018794933812579,
      -0.027414127798703627,
      -0.0161783704796494,
      -0.008452432982707826,
      -0.005052060754393337,
      -0.003502004017570717,
      -0.002356793103431555
    ],
    "vy_ego": [
      0.0827949114503431,
      0.007538832348748866,
      -0.006429457253370889,
      -0.014676063103807304,
      -0.008110421216981715,
      -0.0027578197477914294,
      -0.0013638080168976961,
      -0.0008183492738167177,
      -0.000565092583924199,
      -0.0007449555822974883
    ],
    "v_ego": [
      1.148206172150765,
      0.6587693995037591,
      0.23784308869025528,
      0.02029565075633751,
      0.028588692437404726,
      0.016411740953905518,
      0.0085617519021589,
      0.005117911038699063,
      0.003547303450155846,
      0.0024717266337479006
    ],
    "ax_ego": [
      -0.9777241534785668,
      -0.9789551143303786,
      -0.7055870405312806,
      -0.18945656583525133,
      0.02373081080666305,
      0.021212199015369665,
      0.009691717343944787,
      0.003909739623801796,
      0.0022904770218583953,
      0.0022904647034746404
    ],
    "ay_ego": [
      -0.052894052949473934,
      0.019727807321955882,
      -0.0429255888145524,
      0.009601800214180818,
      0.016644615668159616,
      0.0047658602048445305,
      0.0008089849438275507,
      0.0013729790736870032,
      -0.0003599034660623293,
      -0.0003599806828013535
    ],
    "a_ego": [
      0.9791538699983786,
      0.9791538705715956,
      0.7068915602415742,
      0.1896997229977945,
      0.028986110678778213,
      0.021740993780408717,
      0.009725422444000048,
      0.0041438068804793785,
      0.002318580490848869,
      0.0023185803091230854
    ],
    "yaw": [
      -0.09113024390430442,
      -0.01693459138456948,
      0.002792940483383362,
      0.001418729825583281,
      0.0015397040210752347,
      0.0015387078655569372,
      0.0015659326180195773,
      0.001559858032159028,
      0.001555903769439546,
      0.0015927631327690758
    ],
    "yaw_diff": [
      0.1483913050394699,
      0.03945506373590568,
      -0.0027484213156001615,
      0.00024194839098390722,
      -1.992311036595057e-06,
      5.444950492528022e-05,
      -1.214917172109864e-05,
      -7.908525438964087e-06,
      7.371872665905971e-05,
      7.371872665905971e-05
    ],
    "min_front_frame": [
      9,
      8.317514985442095
    ],
    "v_avg": 0.21298134375171887,
    "v_std": 0.3683653219131645,
    "vy_max": 0.0827949114503431,
    "a_max": 0.9791538705715956,
    "ax_avg": -0.2788597465660365,
    "a_std": 0.3999433134523166,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "03388b830f975734",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.728039281268579,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      8.993798430637337,
      8.562690184548725,
      8.392746734985572,
      8.425402977896228,
      8.411897504811844,
      8.400521986344327,
      8.36772082286772,
      8.357932126307063,
      8.320348532825664,
      8.317514985442095
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "03388b830f975734",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "27244c34c9e355c2": {
    "vx_ego": [
      4.430874014113385,
      4.506123668225273,
      4.607750080993884,
      4.735687686726769,
      4.919825529550123,
      5.193337094754821,
      5.591690802617927,
      6.044023008621586,
      6.471250726977032,
      6.869044282320222
    ],
    "vy_ego": [
      0.04069292742241348,
      0.04206200554604034,
      0.03429574845349381,
      -0.010948459522258203,
      -0.04728267434507227,
      -0.039521959376881854,
      -0.0186308729127031,
      0.007582055181499431,
      0.024948706157579936,
      0.0107059240486847
    ],
    "v_ego": [
      4.431060871088037,
      4.506319975950503,
      4.607877711838839,
      4.735700342608414,
      4.920052732695694,
      5.193487476159873,
      5.591721840498453,
      6.044027764356143,
      6.471298819351468,
      6.869052625310558
    ],
    "ax_ego": [
      0.08671416291434886,
      0.23428846158798988,
      0.1822366845913841,
      0.3369507317151597,
      0.38193804682097987,
      0.6903382329686287,
      0.8889818543149142,
      0.9131827032287301,
      0.7955839603802162,
      0.7955802135305181
    ],
    "ay_ego": [
      -1.1550260713028915,
      -1.1343339402631243,
      -1.0026017490348802,
      -1.0565857282968785,
      -0.9167736405145359,
      -0.7489219249941946,
      -0.5408042977014351,
      -0.1826420444873901,
      -0.026551148963613627,
      -0.02666317196164993
    ],
    "a_ego": [
      1.1582765522271996,
      1.158276552152435,
      1.0190291832811564,
      1.1090127126611429,
      0.9931518411359365,
      1.0185533494300918,
      1.0405565941905928,
      0.9312683640555308,
      0.7960268849263556,
      0.7960268845336327
    ],
    "yaw": [
      0.6593919745636923,
      0.5306482157164107,
      0.4154095954862217,
      0.3145677207040718,
      0.21986605922224467,
      0.13538426508404577,
      0.07144501284667398,
      0.03583733906548387,
      0.024730755300479912,
      0.024871562050401474
    ],
    "yaw_diff": [
      -0.257487517694563,
      -0.2304772404603781,
      -0.2016837495642998,
      -0.18940332296365425,
      -0.1689635882763978,
      -0.12787850447474358,
      -0.07121534756238022,
      -0.02221316753000792,
      0.0002816134998431252,
      0.0002816134998431252
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.337060015985798,
    "v_std": 0.8244371997195433,
    "vy_max": 0.04728267434507227,
    "a_max": 1.1582765522271996,
    "ax_avg": 0.530579505205287,
    "a_std": 0.1234010369006137,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "27244c34c9e355c2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "27244c34c9e355c2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ed7a09d2f93d5e90": {
    "vx_ego": [
      5.281989193130965,
      4.443012345597027,
      3.6145783765195203,
      2.7867921639247277,
      1.9893635985104858,
      1.253285799096643,
      0.6047515975459283,
      0.11656566988174653,
      -0.09015599707196953,
      -0.10935062228168776
    ],
    "vy_ego": [
      0.02384767135065216,
      0.0012979093636797528,
      -0.005450541570444785,
      0.011626281209016452,
      0.010360588886174908,
      -0.01573348519720528,
      -0.023704894040409152,
      -0.014535217152885143,
      -0.00010585206735184071,
      0.014283850645798336
    ],
    "v_ego": [
      5.282043027823718,
      4.443012535172088,
      3.6145824860426004,
      2.786816415791865,
      1.9893905772574318,
      1.2533845526309002,
      0.6052160083274561,
      0.11746841248889779,
      0.09015605921235212,
      0.11027958552091054
    ],
    "ax_ego": [
      -1.6779540983015437,
      -1.6779597018639572,
      -1.6358179453070691,
      -1.6753546516527562,
      -1.5143807020746527,
      -1.4299443537811694,
      -1.164222859656537,
      -0.78848541403254,
      -0.03838989351968235,
      -0.038389250989009596
    ],
    "ay_ego": [
      -0.043962542764931715,
      -0.0437478450110456,
      -0.009904624985113908,
      0.0636342900086517,
      -0.06686662849722412,
      -0.04131010836329317,
      0.008373309742004252,
      0.028818015331217632,
      0.028774507275971584,
      0.028775367968556308
    ],
    "a_ego": [
      1.6785299107175018,
      1.678529902927705,
      1.6358479305194409,
      1.6765627133153813,
      1.5158562124498167,
      1.4305409396321493,
      1.1642529704762965,
      0.7890118669257746,
      0.04797662132150919,
      0.04797662340372643
    ],
    "yaw": [
      -1.5507727494802839,
      -1.5506447977515494,
      -1.5523012208301181,
      -1.5534380981832148,
      -1.5532448477887386,
      -1.5538346956546352,
      -1.5541280523102738,
      -1.5537195127510781,
      -1.5533317961495083,
      -1.55330940136992
    ],
    "yaw_diff": [
      0.0002559034574689534,
      -0.00331284615713745,
      -0.0022737547061932872,
      0.0003865007889523042,
      -0.0011796957317931067,
      -0.0005867133112773537,
      0.0008170791183914616,
      0.0007754332031395528,
      4.478955917663896e-05,
      4.478955917663896e-05
    ],
    "min_front_frame": [
      7,
      10.414200284383337
    ],
    "v_avg": 2.029234966026822,
    "v_std": 1.8227168841613848,
    "vy_max": 0.02384767135065216,
    "a_max": 1.6785299107175018,
    "ax_avg": -1.1640898871178917,
    "a_std": 0.6197789537407737,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ed7a09d2f93d5e90",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.978357006549745,
    "right_rear_min": 18.475971930853056,
    "speed_mode": "decelerating",
    "front_frame": [
      18.370274205000978,
      16.08642941627538,
      14.16279983615332,
      12.706299180247061,
      11.615299219335862,
      10.919880239941905,
      10.556488688438836,
      10.414200284383337,
      10.611207167036277,
      10.702741338763273
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ed7a09d2f93d5e90",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "14d9640a8b9d5d7d": {
    "vx_ego": [
      4.0955159824983705,
      3.905366232077994,
      3.772982544587907,
      3.7140204353118973,
      3.8003385980393607,
      4.02202394601556,
      4.3881677347344175,
      4.87655906811271,
      5.3984129541135575,
      5.918454780751153
    ],
    "vy_ego": [
      0.047929898073580945,
      0.02989169699535843,
      0.0729794067907239,
      0.0632356707700259,
      0.08402327140419785,
      0.09702718972686525,
      0.09768280773517601,
      0.10303008990540352,
      0.06099290092400267,
      0.049831569891809924
    ],
    "v_ego": [
      4.09579643513065,
      3.905480626018305,
      3.7736882854285363,
      3.7145587280284196,
      3.801267337334384,
      4.023194116354426,
      4.389254834147958,
      4.877647337007691,
      5.398757501231574,
      5.9186645602833465
    ],
    "ax_ego": [
      -0.46567078089988634,
      -0.2661629281711413,
      -0.20403645379477675,
      0.03794736938665788,
      0.3793941007979539,
      0.593433776297022,
      0.9087210927684334,
      1.0506683881363006,
      1.040212195462656,
      1.043251548146033
    ],
    "ay_ego": [
      -1.249077174777245,
      -1.3062160476412528,
      -1.504423205056597,
      -1.6291951204249129,
      -1.6728038162550853,
      -1.724228388420434,
      -1.3521335266572039,
      -0.6552615875048373,
      -0.2049901893733319,
      -0.1889142406679657
    ],
    "a_ego": [
      1.3330577874696259,
      1.3330577884878703,
      1.5181963161560867,
      1.629636997389208,
      1.7152878742059205,
      1.823493126470476,
      1.6291221864405085,
      1.2382535321525603,
      1.060218085739228,
      1.0602180827717702
    ],
    "yaw": [
      -2.104259070327254,
      -2.260095537011188,
      -2.4541250734121562,
      -2.661727435311425,
      -2.888583032420649,
      -3.109657445674959,
      2.9892683599659398,
      2.879468117055362,
      2.8458007920392445,
      2.830369153729952
    ],
    "yaw_diff": [
      -0.31167293336786805,
      -0.3880590728019362,
      -0.4152047237985377,
      -0.45371119421844774,
      -0.4421488265086202,
      -0.36851900307737484,
      -0.21960048582115554,
      -0.06733465003223493,
      -0.03086327661858501,
      -0.03086327661858501
    ],
    "min_front_frame": [
      7,
      30.921587077427397
    ],
    "v_avg": 4.389830976096529,
    "v_std": 0.7232382550820783,
    "vy_max": 0.10303008990540352,
    "a_max": 1.823493126470476,
    "ax_avg": 0.4117758308129253,
    "a_std": 0.2554181742788301,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "14d9640a8b9d5d7d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      30.921587077427397,
      32.812390253326846,
      34.531123371947025
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "14d9640a8b9d5d7d",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d1e6f085af9b5199": {
    "vx_ego": [
      3.2586038545388654,
      3.2063946100255243,
      3.1481411125298306,
      3.0728961209025436,
      2.994032866337545,
      2.916207575533268,
      2.789625850268404,
      2.624987085100747,
      2.416579839454026,
      2.157709839002047
    ],
    "vy_ego": [
      0.025817480498267376,
      0.05964409708474472,
      0.0320660060923561,
      0.004819968930004803,
      -0.010607407653905332,
      -0.007779111274510253,
      -0.004474324332830459,
      0.0010358468575053514,
      0.003848151145727341,
      0.02056193648551108
    ],
    "v_ego": [
      3.258706127148447,
      3.2069493001165124,
      3.1483044155778956,
      3.0728999010638773,
      2.9940516565026987,
      2.916217951074618,
      2.7896294384853255,
      2.624987289478642,
      2.4165829033415935,
      2.1578078094580793
    ],
    "ax_ego": [
      -0.10439455219238167,
      -0.09804873869817408,
      -0.1334200252823015,
      -0.1674431518200322,
      -0.14783539161437764,
      -0.16303572225218346,
      -0.34293757201823455,
      -0.3157941774781261,
      -0.5178056212244215,
      -0.5177460989208149
    ],
    "ay_ego": [
      -0.16962934753984477,
      -0.17337468930903555,
      -0.08050058884199487,
      -0.052772136206562584,
      0.030730406951979865,
      0.07042253653502129,
      0.08048482897779494,
      -0.005611764337622588,
      0.03981708911092935,
      0.040583726406532517
    ],
    "a_ego": [
      0.1991791607428883,
      0.19917916069033784,
      0.15582441384532106,
      0.1755622608968976,
      0.15099556591241575,
      0.17759498974441118,
      0.3522555691502218,
      0.3158440349730658,
      0.519334248780953,
      0.5193342486267997
    ],
    "yaw": [
      -2.1160678438324956,
      -2.153065016644302,
      -2.164345297226923,
      -2.1662947634806304,
      -2.1630229418655205,
      -2.1554275148264677,
      -2.1434564532868565,
      -2.1385716561891197,
      -2.1363175532308922,
      -2.1348369173787614
    ],
    "yaw_diff": [
      -0.07399434562361318,
      -0.022560561165241744,
      -0.0038989325074147985,
      0.006543643230219942,
      0.015190854078105609,
      0.023942123079222277,
      0.00976959419547363,
      0.004508205916454955,
      0.0029612717042617476,
      0.0029612717042617476
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.8586136792247685,
    "v_std": 0.3433326180942494,
    "vy_max": 0.05964409708474472,
    "a_max": 0.519334248780953,
    "ax_avg": -0.25084610515010475,
    "a_std": 0.1369180103679881,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d1e6f085af9b5199",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d1e6f085af9b5199",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ce3d0bc0b2d55876": {
    "vx_ego": [
      4.841957619440606,
      4.746274685526553,
      4.7967218675875785,
      4.893184850156861,
      4.983264808982186,
      5.175916806660724,
      5.310830011890612,
      5.30363765640241,
      5.2300790144238345,
      5.16579773890933
    ],
    "vy_ego": [
      0.025649741276884797,
      0.017803076921575123,
      0.018578535219618608,
      0.0011738983522402435,
      -0.027164905713525034,
      -0.0077556483941312315,
      0.020130173888162073,
      0.017292164185894965,
      0.033129908118078255,
      0.04903154041021285
    ],
    "v_ego": [
      4.842025557314471,
      4.746308074705861,
      4.796757846396227,
      4.893184990968762,
      4.983338849460539,
      5.175922617230184,
      5.31086816246636,
      5.303665846313461,
      5.230183943985957,
      5.166030426863139
    ],
    "ax_ego": [
      -0.19202075784773853,
      -0.191449565573434,
      0.39274961681136955,
      -0.007635924265230829,
      0.3682812657507509,
      0.4028197990223473,
      0.13662003475593448,
      -0.1656372733627825,
      -0.1287172769553374,
      -0.12864838794650005
    ],
    "ay_ego": [
      0.06574996270394089,
      0.06739504956282724,
      0.10335558037250539,
      -0.0468495903685167,
      0.011813775212830058,
      0.14043809782964495,
      0.025925450714892453,
      0.04207716052629358,
      0.04693710576151913,
      0.04712561093547701
    ],
    "a_ego": [
      0.20296558585136903,
      0.20296558541741147,
      0.40612145658609944,
      0.04746779389314563,
      0.36847069895414275,
      0.42659893319886916,
      0.13905812774334,
      0.1708981970794678,
      0.13700813583165442,
      0.1370081418284152
    ],
    "yaw": [
      -0.6147422538044404,
      -0.6061623030879792,
      -0.5972419748047428,
      -0.5908005001716716,
      -0.5867974568395713,
      -0.5831220503874386,
      -0.5805247463549036,
      -0.5768131312845175,
      -0.5755939127159657,
      -0.5741290898242588
    ],
    "yaw_diff": [
      0.01715990143292223,
      0.017840656566472823,
      0.012882949266142418,
      0.008006086664200662,
      0.007350812904265425,
      0.005194608065069994,
      0.007423230140772175,
      0.0024384371371035662,
      0.0029296457834138145,
      0.0029296457834138145
    ],
    "min_front_frame": [
      9,
      25.599239138133022
    ],
    "v_avg": 5.044828631570495,
    "v_std": 0.20556394312438286,
    "vy_max": 0.04903154041021285,
    "a_max": 0.42659893319886916,
    "ax_avg": 0.04863615303893789,
    "a_std": 0.1234118036764968,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "ce3d0bc0b2d55876",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 33.93335660763257,
    "right_rear_min": 32.69483899465754,
    "speed_mode": "quasi_constant",
    "front_frame": [
      48.23533723524402,
      45.849710901247235,
      43.49509951834344,
      41.06911808607476,
      38.6236095823886,
      36.03680721290519,
      33.435682852585664,
      30.771187952375907,
      28.1620586809345,
      25.599239138133022
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "ce3d0bc0b2d55876",
    "pedestrians": "No"
  },
  "bb2645c10ec25a6b": {
    "vx_ego": [
      8.5563403084461,
      8.569560579406032,
      8.566279530533809,
      8.614126365097183,
      8.68435733032017,
      8.72636422067962,
      8.825194006657311,
      8.949112617890282,
      9.060478666487,
      9.175012457003547
    ],
    "vy_ego": [
      0.03139858386034877,
      0.03581493278782766,
      0.03714739186442184,
      0.058983315634101086,
      0.045658903699832276,
      0.028745910208530123,
      0.07147912328352657,
      0.08981765974973221,
      0.06982999334390527,
      0.03246529264675235
    ],
    "v_ego": [
      8.556397918809523,
      8.569635420105131,
      8.566360074381933,
      8.614328300302097,
      8.684477357686687,
      8.726411567151251,
      8.825483472320682,
      8.949563333464152,
      9.060747755778022,
      9.175069895177742
    ],
    "ax_ego": [
      0.0181428203348728,
      0.031070027477677287,
      -0.04741538764617975,
      0.23289705980112682,
      0.04006272663827683,
      0.12636554491612445,
      0.26533476545452844,
      0.2183667511568547,
      0.21525514033413792,
      0.23549021347770402
    ],
    "ay_ego": [
      0.47524864009434664,
      0.474578849859474,
      0.5494414939986179,
      0.524127378595424,
      0.34103641095248766,
      0.5187054565398148,
      0.6706243789626933,
      0.6105993809022837,
      0.575142418294116,
      0.5671577704536888
    ],
    "a_ego": [
      0.47559481898064165,
      0.4755948184551686,
      0.5514836120077102,
      0.5735421078328256,
      0.343381501629088,
      0.5338760170546405,
      0.721207040604782,
      0.6484717742269527,
      0.6141038810832198,
      0.6141038814645073
    ],
    "yaw": [
      -1.1406014122578116,
      -1.113382976214445,
      -1.083695179998557,
      -1.054877586929909,
      -1.0284054564645677,
      -1.0017411538043084,
      -0.9726740766277657,
      -0.9387218029434832,
      -0.9035875352532,
      -0.8681625964931912
    ],
    "yaw_diff": [
      0.05443687208673342,
      0.059375592431775814,
      0.057635186137296124,
      0.052944260930682496,
      0.05332860532051864,
      0.05813415435308533,
      0.0679045473685651,
      0.07026853538056632,
      0.0708498775200177,
      0.0708498775200177
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.772847509517723,
    "v_std": 0.21084235484708094,
    "vy_max": 0.08981765974973221,
    "a_max": 0.721207040604782,
    "ax_avg": 0.13355696619451235,
    "a_std": 0.10076867447782692,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "bb2645c10ec25a6b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bb2645c10ec25a6b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b07f7a319de35f9a": {
    "vx_ego": [
      1.3589108944340271,
      1.382771958279091,
      1.4274162834401494,
      1.476275319943744,
      1.6682104924360301,
      2.132954899511749,
      2.78694687290604,
      3.522592273699168,
      4.242210166981919,
      4.939721385021623
    ],
    "vy_ego": [
      0.002184083006904522,
      0.015125646738995344,
      0.008362397595879784,
      -0.00751540218306479,
      -0.008984282636454122,
      0.016082185225496953,
      0.03230652822489696,
      0.012646713664317133,
      0.006016315990573506,
      0.009850254157156735
    ],
    "v_ego": [
      1.3589126495952817,
      1.3828546828182147,
      1.4274407784295784,
      1.4762944494730637,
      1.6682346850512833,
      2.133015527377333,
      2.787134116645035,
      3.5226149755673815,
      4.242214433159038,
      4.939731206163642
    ],
    "ax_ego": [
      0.04769556657340113,
      0.04771940416408069,
      0.13075783190580048,
      0.06470159478342555,
      0.7029650078216007,
      1.1562447974613475,
      1.458933584204795,
      1.4833736187005555,
      1.3950034105704718,
      1.3950155064227903
    ],
    "ay_ego": [
      0.02822089562753045,
      0.02818056298954806,
      -0.048698197697229786,
      -0.007600383264603457,
      -0.012831179724674548,
      0.14050830894187463,
      -0.03405273025248229,
      0.004332954909066919,
      0.015608497516326605,
      0.014487266001406915
    ],
    "a_ego": [
      0.0554191845914184,
      0.05541918137416654,
      0.13953180663799938,
      0.06514646723566415,
      0.7030821014609532,
      1.1647508817503156,
      1.4593309396974692,
      1.4833799469977424,
      1.3950907284825476,
      1.39509072967898
    ],
    "yaw": [
      0.06408461457416431,
      0.06492993779502038,
      0.06610139212007507,
      0.06733634496676483,
      0.06489808552517846,
      0.06861451589737774,
      0.07290396561532946,
      0.07678434848307442,
      0.07976776009080275,
      0.08057151337687281
    ],
    "yaw_diff": [
      0.0016906464417121292,
      0.0023429086501093876,
      0.002469905693379515,
      -0.004876518883172726,
      0.007432860744398556,
      0.008578899435903425,
      0.007760765735489922,
      0.0059668232154566625,
      0.0016075065721401216,
      0.0016075065721401216
    ],
    "min_front_frame": [
      0,
      22.892342778965602
    ],
    "v_avg": 2.493844750427985,
    "v_std": 1.2526120504317273,
    "vy_max": 0.03230652822489696,
    "a_max": 1.4833799469977424,
    "ax_avg": 0.7882410322608269,
    "a_std": 0.6194154721087215,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "b07f7a319de35f9a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.162574674006155,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      22.892342778965602,
      26.098242882052862,
      29.239081449460386,
      32.354796597712394,
      35.018522368465725,
      37.00614599672671,
      38.17902892242476,
      38.43683658622443,
      38.102161020775796,
      36.89134577972848
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "b07f7a319de35f9a",
    "pedestrians": "No"
  },
  "52d3f15d6ca75701": {
    "vx_ego": [
      1.5815913419465932,
      1.6319039876614037,
      1.8479319472349611,
      2.304777591405063,
      2.8577112723368097,
      3.444336127275404,
      4.034434231528194,
      4.598262233814342,
      5.129490914784655,
      5.729411323990059
    ],
    "vy_ego": [
      -0.05031433019900167,
      -0.04305068394652334,
      -0.035121732019495866,
      -0.03046576898296277,
      -0.04752452615433919,
      -0.07322233946916484,
      -0.07111698244878184,
      -0.03145263703651757,
      0.02634863011101718,
      -0.03420141651203901
    ],
    "v_ego": [
      1.5823914511724966,
      1.6324717413583165,
      1.848265678324316,
      2.304978938932555,
      2.8581064180024964,
      3.4451143476888926,
      4.035060990086657,
      4.598369802364727,
      5.129558586775966,
      5.729513404850096
    ],
    "ax_ego": [
      0.09328883835715764,
      0.09932985367921845,
      0.7589805552098324,
      1.071060580638234,
      1.1485215723593456,
      1.1844506084747985,
      1.1448863714503479,
      1.0841194978691644,
      1.0536220171251638,
      1.329438210586513
    ],
    "ay_ego": [
      -0.1344227346179342,
      -0.13002253708310724,
      -0.26054953241603684,
      -0.5737054889327313,
      -0.9933769592934631,
      -1.3225019461982532,
      -1.5803207076625667,
      -1.7281420890847918,
      -1.8787009551502507,
      -1.6947656786950396
    ],
    "a_ego": [
      0.16362236688237783,
      0.1636223700520896,
      0.8024571901533695,
      1.2150344667657191,
      1.5185188788519919,
      1.7753688748016532,
      1.9514554421251489,
      2.0400466087142317,
      2.1539815769531,
      2.153981583359089
    ],
    "yaw": [
      0.4462247271528535,
      0.4005444391237861,
      0.33687099191888337,
      0.2323106719604815,
      0.08685395076049757,
      -0.08853052777389564,
      -0.2822987709891489,
      -0.4820920170686133,
      -0.6785760523076223,
      -0.832639568722749
    ],
    "yaw_diff": [
      -0.09136057605813475,
      -0.1273468944098055,
      -0.20912063991680374,
      -0.29091344239996786,
      -0.3507689570687864,
      -0.38753648643050653,
      -0.39958649215892883,
      -0.39296807047801796,
      -0.30812703283025344,
      -0.30812703283025344
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.3163831359556517,
    "v_std": 1.4324095756096769,
    "vy_max": 0.07322233946916484,
    "a_max": 2.153981583359089,
    "ax_avg": 0.8967698105749775,
    "a_std": 0.7385007373091548,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "52d3f15d6ca75701",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 42.02057270411601,
    "right_rear_min": 25.43954262269114,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "52d3f15d6ca75701",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "501de4adcf415443": {
    "vx_ego": [
      5.032672949275611,
      5.391460879287846,
      5.752511567754719,
      5.987140258869351,
      6.189015880567182,
      6.506293320902107,
      6.989111148596484,
      7.551044661969187,
      8.099578597626795,
      8.622428027294756
    ],
    "vy_ego": [
      0.07693397333986329,
      -0.080006070615108,
      -0.017438958126263282,
      0.059959442220553716,
      0.08028181187593385,
      0.07373273680927128,
      0.09248238097317607,
      0.1133246890944477,
      0.1245175872547053,
      0.10720546658953856
    ],
    "v_ego": [
      5.0332609559434065,
      5.3920544678467905,
      5.752538001127188,
      5.98744048939825,
      6.189536552863297,
      6.506711096559671,
      6.989723001537767,
      7.551894992133545,
      8.10053566677351,
      8.623094461847488
    ],
    "ax_ego": [
      0.5728780864608457,
      0.8533167330040747,
      0.571627111866475,
      0.40826150545810796,
      0.4708814410677678,
      0.8464811941131246,
      1.0800168940759018,
      1.182368844931599,
      1.0356338706362633,
      1.077122456843412
    ],
    "ay_ego": [
      -1.9216903444153555,
      -1.8146442143751096,
      -1.9914481164370064,
      -2.249776460050816,
      -2.421971175359028,
      -2.321509778782727,
      -1.592331991029556,
      -1.0780142200055907,
      -0.875939734295407,
      -0.8243877368148189
    ],
    "a_ego": [
      2.005263843429649,
      2.005263840892217,
      2.0718646566514205,
      2.286519533491394,
      2.467321159843616,
      2.4710196407497467,
      1.924047208658225,
      1.6000346071254665,
      1.3563951976199844,
      1.356395195968729
    ],
    "yaw": [
      -2.4572063212506565,
      -2.6070396871242885,
      -2.7874042230030898,
      -2.9799576495191813,
      3.108416787110622,
      2.9217874783255144,
      2.7736318144669947,
      2.6788424508459077,
      2.61515879863689,
      2.5663677781881975
    ],
    "yaw_diff": [
      -0.2996667317472639,
      -0.3607290717576026,
      -0.38510685303218306,
      -0.3896217410995675,
      -0.3732586175702153,
      -0.2963113277170395,
      -0.18957872724217406,
      -0.12736730441803523,
      -0.09758204089738509,
      -0.09758204089738509
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.612678968603092,
    "v_std": 1.1218425342118392,
    "vy_max": 0.1245175872547053,
    "a_max": 2.4710196407497467,
    "ax_avg": 0.8098588138457572,
    "a_std": 0.3874242082982203,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "501de4adcf415443",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "501de4adcf415443",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "df30f32cd2ee5633": {
    "vx_ego": [
      3.8139639761374546,
      4.035627825906727,
      4.172897135762778,
      4.173319754135528,
      4.134177591279389,
      4.112158277765413,
      4.09637482796685,
      4.082963277406572,
      4.0914801233564475,
      4.123841126176007
    ],
    "vy_ego": [
      -0.01766778111128353,
      -0.007504516501287695,
      -0.010119677448478859,
      0.002075804699852579,
      -0.013247926368403329,
      0.008143244534638994,
      0.02063833788092584,
      0.05099706948605642,
      0.018852074663179064,
      -0.02333100936158683
    ],
    "v_ego": [
      3.8140048979732075,
      4.035634803472754,
      4.172909406340959,
      4.173320270386994,
      4.134198817641662,
      4.112166340729197,
      4.096426817629106,
      4.0832817470444995,
      4.091523554929141,
      4.123907124310443
    ],
    "ax_ego": [
      0.43385859497708545,
      0.4547684704713728,
      0.09614170738649107,
      -0.0946800309376184,
      -0.059189186795962134,
      -0.02733050350166899,
      -0.042033534423136704,
      -0.010763898349133827,
      0.03476284036900479,
      0.09522772299776822
    ],
    "ay_ego": [
      0.4264759093726127,
      0.4041047160614021,
      0.40760678010436596,
      0.3648149782440981,
      0.4253629689224224,
      0.4684481168284716,
      0.2978801722247628,
      0.6192860282660124,
      0.6661900419924927,
      0.6602645743778643
    ],
    "a_ego": [
      0.608370760072086,
      0.608370761360158,
      0.4187917323518202,
      0.37690088433113306,
      0.42946130811059685,
      0.469244706503756,
      0.3008312068598525,
      0.6193795656244746,
      0.6670964151608672,
      0.6670964153746608
    ],
    "yaw": [
      -1.2377936112705794,
      -1.1874542387320148,
      -1.137925070712792,
      -1.094826755291257,
      -1.043535954514828,
      -0.994492012410524,
      -0.9508841100615717,
      -0.9022044228482465,
      -0.8156454145314912,
      -0.7245408251297156
    ],
    "yaw_diff": [
      0.10067874507712915,
      0.09905833603844583,
      0.08619663084306994,
      0.102581601552858,
      0.09808788420860792,
      0.08721580469790458,
      0.09735937442665032,
      0.17311801663351067,
      0.18220917880355114,
      0.18220917880355114
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.083737378045796,
    "v_std": 0.0981000708789074,
    "vy_max": 0.05099706948605642,
    "a_max": 0.6670964153746608,
    "ax_avg": 0.08807621821942022,
    "a_std": 0.12576957224792845,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "df30f32cd2ee5633",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "df30f32cd2ee5633",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "650ed02359615f58": {
    "vx_ego": [
      6.282965558224039,
      6.246938613274541,
      6.215700444010836,
      6.217145384990293,
      6.244108267149273,
      6.2683957728557065,
      6.32384946904169,
      6.423876069514755,
      6.5239437502719815,
      6.5989849297912215
    ],
    "vy_ego": [
      -0.00767573591520021,
      0.004676476020039511,
      0.013216808124844937,
      0.011844939710851321,
      -0.0018867495256855715,
      -0.008092585103716354,
      -0.018433340997332737,
      -0.032413962239703956,
      -0.03465764315203297,
      0.02010588975311914
    ],
    "v_ego": [
      6.282970246845942,
      6.246940363685923,
      6.215714495831795,
      6.217156668502319,
      6.244108552203883,
      6.268400996672832,
      6.323876334587765,
      6.42395784710893,
      6.524035806840862,
      6.5990155591886905
    ],
    "ax_ego": [
      -0.09356430856221995,
      -0.05007515450246114,
      -0.07863716167215275,
      0.08220490922205506,
      0.024101754864288866,
      0.0754390359878266,
      0.14482316750556024,
      0.2536810866414205,
      0.1489621111072616,
      0.15149534347654292
    ],
    "ay_ego": [
      0.7482374340099285,
      0.7524001705244284,
      0.6908931938583556,
      0.7133593008131587,
      0.7007117115102274,
      0.7422344663352641,
      0.5788100474522078,
      0.2869758027674537,
      0.24591011470655158,
      0.24435763870673285
    ],
    "a_ego": [
      0.7540646772595097,
      0.7540646774008409,
      0.6953540166818997,
      0.7180801759948849,
      0.7011260922509804,
      0.7460583430045983,
      0.5966530154771452,
      0.38302637649853355,
      0.2875091216996802,
      0.2875091210542822
    ],
    "yaw": [
      1.179320822673056,
      1.237265506203977,
      1.2937523640565267,
      1.3506151724732687,
      1.4094721634094904,
      1.468167638395882,
      1.5223261046502987,
      1.5585513605825914,
      1.5794331614008672,
      1.5897671464360625
    ],
    "yaw_diff": [
      0.11588936706184194,
      0.1129737157050994,
      0.11372561683348392,
      0.11771398187244353,
      0.11739094997278299,
      0.10831693250883356,
      0.07245051186458529,
      0.041763601636551684,
      0.020667970070390673,
      0.020667970070390673
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.334617687146895,
    "v_std": 0.12835454187359188,
    "vy_max": 0.03465764315203297,
    "a_max": 0.7540646774008409,
    "ax_avg": 0.0658430784068122,
    "a_std": 0.18543745275765333,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "650ed02359615f58",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "650ed02359615f58",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fd9ae566c34f5acd": {
    "vx_ego": [
      6.482094368668268,
      5.845668186892595,
      5.153265219198932,
      4.343616727851714,
      3.4436320465081947,
      2.527053896131245,
      1.7061221494170873,
      1.019644590907333,
      0.4764223779012196,
      0.0249858950670223
    ],
    "vy_ego": [
      -0.013462455444754495,
      0.004576220529948938,
      0.0011061347702098212,
      -0.0025685356823687555,
      -0.0012683039420825493,
      -0.009342535849872102,
      -0.011662997510736059,
      -0.0011633153639966781,
      0.005049373518594413,
      0.010667986868197627
    ],
    "v_ego": [
      6.482108348525769,
      5.845669978115639,
      5.153265337913385,
      4.3436174872850835,
      3.4436322800689836,
      2.52707116578228,
      1.7061620128940034,
      1.0196452545219925,
      0.4764491351004667,
      0.0271680123697021
    ],
    "ax_ego": [
      -1.2729497180907356,
      -1.272687838829446,
      -1.4971296300241028,
      -1.7414694113604234,
      -1.8584786801297457,
      -1.8078422584483176,
      -1.4758916077391344,
      -1.270014535508106,
      -0.9028751582351368,
      -0.9028739959167495
    ],
    "ay_ego": [
      0.07550605819101462,
      0.0797986131549662,
      -0.01866053334576681,
      -0.00731631389332546,
      -0.009161682699239587,
      -0.03938357839440537,
      0.029354535320168212,
      0.013867076458509903,
      0.011242357851376769,
      0.01133508521803956
    ],
    "a_ego": [
      1.275187103765886,
      1.275187105395056,
      1.4972459198811847,
      1.7414847800520696,
      1.858501262019126,
      1.8082711903026774,
      1.4761835002934662,
      1.27009023939694,
      0.9029451489255489,
      0.9029451459859447
    ],
    "yaw": [
      0.06901020258487517,
      0.0723826860746693,
      0.07577563371510618,
      0.07518564685510536,
      0.07379890703623088,
      0.07243534171894234,
      0.07234532376613298,
      0.07257396298126348,
      0.07266607265358044,
      0.07276876716610156
    ],
    "yaw_diff": [
      0.006744966979588263,
      0.006785895280873755,
      -0.0011799737200016425,
      -0.00277347963774896,
      -0.0027271306345770796,
      -0.00018003590561871397,
      0.0004572784302609989,
      0.00018421934463391798,
      0.00020538902504224632,
      0.00020538902504224632
    ],
    "min_front_frame": [
      9,
      10.906676488178078
    ],
    "v_avg": 3.1024789012577303,
    "v_std": 2.185911444276088,
    "vy_max": 0.013462455444754495,
    "a_max": 1.858501262019126,
    "ax_avg": -1.40022128342819,
    "a_std": 0.32418127210845366,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fd9ae566c34f5acd",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.017249844754248,
    "speed_mode": "decelerating",
    "front_frame": [
      22.72748581186597,
      21.5157062759023,
      18.767067911553273,
      16.387784695797578,
      14.457866835742099,
      13.04744523216112,
      11.983771008965858,
      11.36689846324749,
      11.033191287837994,
      10.906676488178078
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fd9ae566c34f5acd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f51a75fadd695f06": {
    "vx_ego": [
      4.546081165336204,
      4.542899754215176,
      4.654571397469094,
      4.885145658421209,
      5.1738156877482595,
      5.5041980702485365,
      5.8235086995027885,
      6.086548521692379,
      6.326590212854233,
      6.576327300520914
    ],
    "vy_ego": [
      -0.04799142669802925,
      -0.02702627209488373,
      -0.03342583603059701,
      -0.01943354626574223,
      -0.02227278257427745,
      -0.0007539933809423971,
      0.04162166972194559,
      0.03485672175735033,
      0.024114620455980784,
      -0.006263513607105864
    ],
    "v_ego": [
      4.5463344728320525,
      4.542980144820319,
      4.654691416265071,
      4.885184312460693,
      5.1738636286274104,
      5.504198121891483,
      5.82365743640327,
      6.086648330400513,
      6.326636170691556,
      6.5763302833099395
    ],
    "ax_ego": [
      -0.05457308702808794,
      0.058233854066415236,
      0.41018908302958146,
      0.5171038901988511,
      0.6313104972018004,
      0.6843365041495937,
      0.5898459805772895,
      0.4607885274821197,
      0.4994781186341045,
      0.49941586445108443
    ],
    "ay_ego": [
      1.0322814388312496,
      1.0320813964866138,
      1.1491685765686455,
      1.0273787322612322,
      0.7174034241729528,
      0.37623780881096847,
      0.14770220351879437,
      -0.02143650533558189,
      -0.04093623752011061,
      -0.04168886559561305
    ],
    "a_ego": [
      1.0337229758418307,
      1.0337229758175968,
      1.2201817492527314,
      1.1501754182564858,
      0.9556257724089813,
      0.7809425969241054,
      0.6080577453889486,
      0.4612868855930576,
      0.5011528375022608,
      0.5011528381442861
    ],
    "yaw": [
      0.35883933514645416,
      0.4680205874888996,
      0.5890019878200496,
      0.7003438124623611,
      0.7878287180969767,
      0.8350580526980533,
      0.8506698875720389,
      0.8570892827419403,
      0.8563070684466153,
      0.8578139903887936
    ],
    "yaw_diff": [
      0.21836250468489082,
      0.24196280066230014,
      0.22268364928462292,
      0.17496981126923128,
      0.09445866920215318,
      0.031223669747971083,
      0.012838790339802841,
      -0.00156442859064998,
      0.0030138438843565485,
      0.0030138438843565485
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.41205243177023,
    "v_std": 0.7237174392570441,
    "vy_max": 0.04799142669802925,
    "a_max": 1.2201817492527314,
    "ax_avg": 0.4296129232762752,
    "a_std": 0.2751628488292251,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "f51a75fadd695f06",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f51a75fadd695f06",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "31134bc6685c57ae": {
    "vx_ego": [
      4.657022686495216,
      4.244246375901968,
      3.8409851747203323,
      3.4078001761824837,
      2.907996295096072,
      2.4069215358517604,
      1.9942124126711858,
      1.6558596965392332,
      1.4058080016104122,
      1.2321167354812035
    ],
    "vy_ego": [
      0.005281966340813904,
      -0.0127966588539421,
      -0.02838319101859521,
      -0.02625242905262648,
      -0.008630661293440367,
      0.00967834627732711,
      0.007835609729388127,
      -0.011070110304781333,
      -0.004042450128100117,
      0.03085012211620536
    ],
    "v_ego": [
      4.657025681881038,
      4.244265667207322,
      3.8410900429375228,
      3.4079012941721962,
      2.908009102566022,
      2.4069409943190676,
      1.9942278063530412,
      1.6558967002700264,
      1.4058138137018354,
      1.2325028924458727
    ],
    "ax_ego": [
      -0.8255705119665401,
      -0.8255440916626606,
      -0.7875532179450971,
      -0.9452254804398041,
      -1.0540349467261771,
      -0.9502574774848805,
      -0.70048309042056,
      -0.6529392587739229,
      -0.34733455797681423,
      -0.34738803948004565
    ],
    "ay_ego": [
      -0.04152616076365828,
      -0.04204832250149132,
      -0.029883862243543224,
      0.03441921563611061,
      0.02747874017364632,
      0.02493397184396362,
      -0.04426217043853442,
      -0.04436301062285672,
      0.067838122249158,
      0.06756367308933314
    ],
    "a_ego": [
      0.82661423424501,
      0.8266142441939388,
      0.7881199885285671,
      0.9458519394057738,
      1.0543930719051533,
      0.9505845446186487,
      0.7018801177530735,
      0.6544446136685392,
      0.35389730995762125,
      0.3538973013391202
    ],
    "yaw": [
      1.1117327012703844,
      1.1111002080432097,
      1.110506698351124,
      1.1102331268448276,
      1.1095560725186921,
      1.1075875141235203,
      1.106209535638107,
      1.1044226159490225,
      1.1036462153304831,
      1.1028561108179158
    ],
    "yaw_diff": [
      -0.0012649864543492484,
      -0.0011870193841714283,
      -0.0005471430125929544,
      -0.0013541086522708135,
      -0.003937116790343698,
      -0.002755956970826645,
      -0.003573839378169019,
      -0.0015528012370786826,
      -0.0015802090251346712,
      -0.0015802090251346712
    ],
    "min_front_frame": [
      9,
      12.192068782708692
    ],
    "v_avg": 2.7753673995853942,
    "v_std": 1.162196082961666,
    "vy_max": 0.03085012211620536,
    "a_max": 1.0543930719051533,
    "ax_avg": -0.7436330672876502,
    "a_std": 0.22571884117302737,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "31134bc6685c57ae",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.831922301017844,
    "right_rear_min": 33.36768017716335,
    "speed_mode": "decelerating",
    "front_frame": [
      17.47453385579702,
      16.947941728665654,
      15.987241242377257,
      15.251437320988078,
      14.327151220414784,
      13.642157395429,
      12.917191637403933,
      12.384502291875354,
      12.208937346816214,
      12.192068782708692
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "31134bc6685c57ae",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "923e4fcf3daa57f8": {
    "vx_ego": [
      7.302689502574061,
      7.411048455718329,
      7.507764653333047,
      7.657341640070342,
      7.861810121876173,
      8.099701684795999,
      8.399962521169533,
      8.701276148229484,
      8.978208936416886,
      9.256517623267303
    ],
    "vy_ego": [
      0.003792566068845815,
      -0.15291954125358576,
      -0.09766203326799383,
      -0.08766549201816343,
      -0.016523482000676104,
      0.01901102784037345,
      0.035760656665466684,
      0.07778625750511026,
      0.061049191761125776,
      -0.11141132997583725
    ],
    "v_ego": [
      7.302690487386328,
      7.41262595839708,
      7.50839982703233,
      7.657843445203483,
      7.861827485889783,
      8.099723995412848,
      8.400038641674094,
      8.701623831768641,
      8.978416492331524,
      9.257188071671933
    ],
    "ax_ego": [
      0.2167615085827219,
      0.2167169772940301,
      0.1593355557323928,
      0.42245523109679783,
      0.38439179404847396,
      0.5725196438090263,
      0.6434388593587359,
      0.5715909387454149,
      0.5419980863973781,
      0.5680247526888876
    ],
    "ay_ego": [
      -0.3113038907278403,
      -0.31133490446044,
      -0.8446395570693732,
      -1.077534370196443,
      -1.2300578344525994,
      -1.3453186800675603,
      -1.46766523674434,
      -1.2457765573750947,
      -0.8906887753713968,
      -0.8743204653735749
    ],
    "a_ego": [
      0.37933581953903134,
      0.3793358287623942,
      0.8595369687726627,
      1.1573887597673023,
      1.2887200345420347,
      1.4620742434931056,
      1.6025151521532301,
      1.3706478147800065,
      1.0426353246610334,
      1.0426353129634238
    ],
    "yaw": [
      -0.47905668220296516,
      -0.4789136304045283,
      -0.525011066332183,
      -0.5899633084783815,
      -0.6733786109659636,
      -0.7587054827318798,
      -0.8460178242539285,
      -0.9301293780860349,
      -0.9886169883694329,
      -1.0181066818759432
    ],
    "yaw_diff": [
      0.00028610359687375464,
      -0.09219487185530939,
      -0.1299044842923971,
      -0.16683060497516422,
      -0.17065374353183227,
      -0.1746246830440974,
      -0.1682231076642129,
      -0.11697522056679599,
      -0.058979387013020634,
      -0.058979387013020634
    ],
    "min_front_frame": [
      6,
      20.816052755419463
    ],
    "v_avg": 8.118037823676804,
    "v_std": 0.6534390175122916,
    "vy_max": 0.15291954125358576,
    "a_max": 1.6025151521532301,
    "ax_avg": 0.429723334775386,
    "a_std": 0.3977007394564819,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "923e4fcf3daa57f8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.72426995724084,
    "right_rear_min": 28.63978365544983,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      20.816052755419463,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "923e4fcf3daa57f8",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8c3d43af9a905864": {
    "vx_ego": [
      4.413995644706694,
      3.8457110260972462,
      3.239448820371624,
      2.6490685547269393,
      2.2646789278117185,
      2.0517379150784585,
      1.8900697541658968,
      1.8254590334901033,
      1.8410934504780443,
      1.871819352286939
    ],
    "vy_ego": [
      -0.024885728540879004,
      -0.009488348562239457,
      -0.006140686390203265,
      -0.015901718421560962,
      -0.016537005629671753,
      -0.01711781901448972,
      -0.023339077892217674,
      -0.026054841747601643,
      -0.019924219354747863,
      -0.007300719941845779
    ],
    "v_ego": [
      4.414065795949883,
      3.8457227311656745,
      3.23945464049683,
      2.64911628138363,
      2.2647393047831423,
      2.051809321525349,
      1.8902138472060754,
      1.8256449648628603,
      1.8412012567641938,
      1.8718335898544949
    ],
    "ax_ego": [
      -1.1366378785830038,
      -1.1366639850857854,
      -1.288413440034473,
      -1.0731948298758398,
      -0.4644999662980269,
      -0.3872413206481263,
      -0.25945837427210006,
      0.0011209079185331243,
      0.061456093547751195,
      0.06146419074742556
    ],
    "ay_ego": [
      0.012142180808407288,
      0.009385660977054011,
      -0.025859012056700437,
      -0.04107931059316988,
      0.025305485825334706,
      -0.02308775123561195,
      -0.00413599972834712,
      0.0008723758923395491,
      0.026394385725082473,
      0.02637555167455376
    ],
    "a_ego": [
      1.1367027314053817,
      1.1367027340615816,
      1.2886729146552327,
      1.0739807505868264,
      0.46518876416324195,
      0.387928968594023,
      0.2594913379549962,
      0.0014203782099727826,
      0.06688434070807893,
      0.06688435146110762
    ],
    "yaw": [
      1.281816646580931,
      1.279391522435747,
      1.2772952441666854,
      1.274904879765659,
      1.2735153525962706,
      1.2740437306595276,
      1.2737446518871405,
      1.274785560669223,
      1.2751613374725452,
      1.2754678280482308
    ],
    "yaw_diff": [
      -0.004850248290368064,
      -0.004192556538123338,
      -0.004780728802052714,
      -0.0027790543387768984,
      0.0010567561265140135,
      -0.0005981575447742138,
      0.002081817564165256,
      0.0007515536066442507,
      0.0006129811513710948,
      0.0006129811513710948
    ],
    "min_front_frame": [
      7,
      13.1985088182561
    ],
    "v_avg": 2.5893801733992134,
    "v_std": 0.8874222999577027,
    "vy_max": 0.026054841747601643,
    "a_max": 1.2886729146552327,
    "ax_avg": -0.5622068602583644,
    "a_std": 0.48780071481508697,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8c3d43af9a905864",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.531214446927051,
    "right_rear_min": 7.649633714843425,
    "speed_mode": "decelerating",
    "front_frame": [
      14.932571271148298,
      14.347365322377081,
      13.923375545992927,
      13.53292801448123,
      13.37576067771075,
      13.309778862777259,
      13.226157081289815,
      13.1985088182561,
      13.324998290409681,
      13.23283119931855
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8c3d43af9a905864",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6e5ae240ac8a5862": {
    "vx_ego": [
      5.328329919438395,
      5.29904971777934,
      5.333687632332146,
      5.410278715346716,
      5.500023783393365,
      5.575683047356439,
      5.670710773709975,
      5.82466177062356,
      5.967022633074789,
      6.085210652746774
    ],
    "vy_ego": [
      -0.02206602598496632,
      0.011184536110867338,
      0.007545284439766875,
      -0.0027369654090608764,
      -0.01979607431868924,
      -0.035454117906377425,
      -0.03647118422754958,
      -0.05844423294319001,
      -0.06802695273339432,
      0.08858254293200307
    ],
    "v_ego": [
      5.3283756098725945,
      5.299061521188947,
      5.333692969285931,
      5.4102794076381455,
      5.500059408992879,
      5.575795767337117,
      5.670828054733218,
      5.824954975836972,
      5.96741039060705,
      6.085855367589269
    ],
    "ax_ego": [
      -0.1117944031143639,
      -0.002911048296954155,
      0.14576677346310052,
      0.1597477850675204,
      0.2023093202044507,
      0.10737397192996873,
      0.26937599839372345,
      0.340507016639774,
      0.22868948591153426,
      0.24590748932343437
    ],
    "ay_ego": [
      1.1052752954636111,
      1.110910880292425,
      1.262228530064518,
      1.267259852645359,
      1.229427866036035,
      1.137205676561592,
      0.7707127037570827,
      0.11057231729179581,
      -0.3313063121770349,
      -0.3187354039035754
    ],
    "a_ego": [
      1.1109146984939346,
      1.1109146943641883,
      1.2706174933293957,
      1.2772888823444426,
      1.2459622541744615,
      1.1422635075375236,
      0.816432177368805,
      0.35801014752685,
      0.4025701845080292,
      0.40257018146769186
    ],
    "yaw": [
      -0.3442819980101441,
      -0.2460990254915018,
      -0.13354370165026067,
      -0.014016533392684435,
      0.10350872543213549,
      0.21283161286811425,
      0.29809158456600926,
      0.34030573054016344,
      0.33258966584225175,
      0.27962698139061803
    ],
    "yaw_diff": [
      0.19636594503728455,
      0.2251106476824823,
      0.23905433651515245,
      0.23505051764963986,
      0.21864577487195752,
      0.17051994339579002,
      0.08442829194830836,
      -0.01543212939582339,
      -0.10592536890326743,
      -0.10592536890326743
    ],
    "min_front_frame": [
      3,
      36.311178672384905
    ],
    "v_avg": 5.599631347308213,
    "v_std": 0.2661760527374853,
    "vy_max": 0.08858254293200307,
    "a_max": 1.2772888823444426,
    "ax_avg": 0.15849723895221884,
    "a_std": 0.36616571650446644,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "6e5ae240ac8a5862",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      36.311178672384905,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6e5ae240ac8a5862",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5f2c3f928abe5f5b": {
    "vx_ego": [
      5.651519616866871,
      5.564081408615079,
      5.487849410182459,
      5.40817758637286,
      5.313193527230677,
      5.204445775472958,
      5.073908353107866,
      4.947733421675683,
      4.852271011349227,
      4.77482235550001
    ],
    "vy_ego": [
      0.03170895226990211,
      -0.0018954647583457884,
      -0.0034279973567561406,
      -0.011437395402973394,
      -0.021115168083751357,
      -0.0022645652527932825,
      0.007498173016891929,
      0.011830074309219007,
      0.000788408581298139,
      -0.011901196182196427
    ],
    "v_ego": [
      5.651608570795143,
      5.564081731470398,
      5.487850480835447,
      5.408189680453098,
      5.3132354839710585,
      5.204446268153231,
      5.073913893468864,
      4.947747564561547,
      4.852271075400481,
      4.774837187282225
    ],
    "ax_ego": [
      -0.17592693062763903,
      -0.17464842587264207,
      -0.12991951209548921,
      -0.18904899691039975,
      -0.19055589076635798,
      -0.24444606699930968,
      -0.27771438005680144,
      -0.22701860831757123,
      -0.15488021236709487,
      -0.1548950062452112
    ],
    "ay_ego": [
      0.08953213115212855,
      0.09200118104492888,
      0.13803946837127826,
      0.010685494125579828,
      0.039800266827569805,
      0.030107672233013277,
      0.02898853851576283,
      0.0009769324043005095,
      -0.017068740284060108,
      -0.016933952677534142
    ],
    "a_ego": [
      0.19739880300727272,
      0.19739880945297905,
      0.1895625871614837,
      0.18935074073669775,
      0.1946679448324914,
      0.2462932228030677,
      0.27922323015038236,
      0.22702071033139112,
      0.15581791321206012,
      0.15581791204155246
    ],
    "yaw": [
      1.0430693264877333,
      1.0571548297783082,
      1.067850143246302,
      1.076133741610772,
      1.0802933585605332,
      1.0800324902432745,
      1.0810068219240314,
      1.081638149230523,
      1.0830731799425068,
      1.0839434174781597
    ],
    "yaw_diff": [
      0.028171006581149793,
      0.021390626935987367,
      0.016567196728940026,
      0.008319233899522605,
      -0.000521736634517378,
      0.0019486633615137805,
      0.0012626546129830274,
      0.00287006142396784,
      0.0017404750713057027,
      0.0017404750713057027
    ],
    "min_front_frame": [
      9,
      34.3601002732136
    ],
    "v_avg": 5.227818193639149,
    "v_std": 0.2913791337233524,
    "vy_max": 0.03170895226990211,
    "a_max": 0.27922323015038236,
    "ax_avg": -0.19190540302585166,
    "a_std": 0.03634826301314613,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5f2c3f928abe5f5b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.015758009053618,
    "right_rear_min": 10.846774296234946,
    "speed_mode": "quasi_constant",
    "front_frame": [
      39.53605587502516,
      38.758464805385074,
      38.185365500742485,
      37.59669384984661,
      37.17135731353889,
      36.86615018970246,
      36.36939234159313,
      35.87510649061465,
      35.17487650697063,
      34.3601002732136
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5f2c3f928abe5f5b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4826c59b43f6568a": {
    "vx_ego": [
      8.17010885049459,
      8.383687244051409,
      8.56618443960846,
      8.699866878240826,
      8.936120767961947,
      9.013769485712775,
      9.09782147973164,
      9.301291788948156,
      9.345227300471647,
      9.369397960443857
    ],
    "vy_ego": [
      -0.03854100738999744,
      -0.006338282821376495,
      -0.06187248996335093,
      -0.14454073601907602,
      -0.09278600146299176,
      -0.09052017724434336,
      -0.02814433673342176,
      0.020925807114357653,
      0.05608540588594568,
      0.08033281311411855
    ],
    "v_ego": [
      8.170199755096606,
      8.383689640003345,
      8.566407885362707,
      8.701067504822653,
      8.936602465236344,
      9.014223995666796,
      9.09786501222988,
      9.301315328089773,
      9.345395597310688,
      9.369742339148518
    ],
    "ax_ego": [
      0.37924255929716993,
      0.4806745176307895,
      0.2552028330329638,
      0.2869259398428432,
      0.6680234275866069,
      -0.34795214495375204,
      0.686101047060834,
      0.12742818353138832,
      0.04812853770015581,
      0.04821701140412829
    ],
    "ay_ego": [
      1.3438323303972846,
      1.310977595956262,
      1.1854791794426096,
      0.6010728853157055,
      0.4640266119502539,
      0.47377679501102016,
      0.2761160795909413,
      0.10904860584026572,
      0.07164435189308473,
      0.07158483591122941
    ],
    "a_ego": [
      1.3963202537395438,
      1.396320253021796,
      1.2126373616543298,
      0.6660443742097415,
      0.8133732208541109,
      0.5878223768017267,
      0.739577403783163,
      0.16771863460514702,
      0.08630914956906638,
      0.08630914737838323
    ],
    "yaw": [
      2.315393613509916,
      2.3917701881205,
      2.4716569733170877,
      2.5329777163979905,
      2.5574361791440583,
      2.582944189670574,
      2.5969580565662236,
      2.6020523419276875,
      2.603125250031762,
      2.6043606372348274
    ],
    "yaw_diff": [
      0.15275314922116756,
      0.15977357039317575,
      0.1226414861618057,
      0.048916925492135555,
      0.051016021053031047,
      0.028027733791299525,
      0.010188570722927892,
      0.0021458162081486876,
      0.002470774406130971,
      0.002470774406130971
    ],
    "min_front_frame": [
      7,
      79.80781690766746
    ],
    "v_avg": 8.88865095229673,
    "v_std": 0.3977915451104194,
    "vy_max": 0.14454073601907602,
    "a_max": 1.3963202537395438,
    "ax_avg": 0.26319919121331276,
    "a_std": 0.4790522241354057,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "4826c59b43f6568a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 41.31167097927657,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      79.80781690766746,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "4826c59b43f6568a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c5388dbd766353cf": {
    "vx_ego": [
      5.068771462310688,
      5.029696288638947,
      5.012044927955213,
      5.015158166824843,
      5.06661596827166,
      5.127353831379293,
      5.1336252741726325,
      5.0774745380098105,
      4.984970826708865,
      4.902198143250165
    ],
    "vy_ego": [
      0.021957638052911843,
      -0.004958905409425007,
      0.005199364893900826,
      0.01294563087483347,
      -0.0009275833770984176,
      -0.012374954210506939,
      -0.024829120083729284,
      -0.03398011953346647,
      -0.036832295433195106,
      -0.025584061406938252
    ],
    "v_ego": [
      5.068819021725287,
      5.029698733193794,
      5.012047624797361,
      5.0151748750794996,
      5.066616053181481,
      5.127368764937005,
      5.133685317666848,
      5.077588239771067,
      4.985106895656837,
      4.902264903071175
    ],
    "ax_ego": [
      -0.11116824890616242,
      -0.04765550824404549,
      -0.02616413448080665,
      0.03893069818253206,
      0.1669851527539571,
      0.07807824105028609,
      -0.04672896913361198,
      -0.17186976787113506,
      -0.18781669286310132,
      -0.13375087799893742
    ],
    "ay_ego": [
      0.770509900077225,
      0.7770282082629216,
      0.6873590874071491,
      0.7687505188371315,
      0.8188931066675796,
      0.8170024557181053,
      0.8209660357509612,
      0.7397318938685741,
      0.7361115607704605,
      0.7478275503047562
    ],
    "a_ego": [
      0.7784882052297759,
      0.7784882040867958,
      0.6878568724482722,
      0.7697356425899339,
      0.8357451533738872,
      0.8207248164731715,
      0.8222948549109003,
      0.7594356404030991,
      0.7596942411378119,
      0.7596942426794475
    ],
    "yaw": [
      -2.0184078803973486,
      -1.93637161984846,
      -1.8654715842628642,
      -1.7943231794332897,
      -1.71261863060396,
      -1.6303601950964257,
      -1.5484125228031393,
      -1.4704768978256961,
      -1.3966386019638346,
      -1.3238028417447185
    ],
    "yaw_diff": [
      0.16407252109777737,
      0.14180007117119153,
      0.14229680965914904,
      0.16340909765865952,
      0.1645168710150684,
      0.16389534458657273,
      0.15587124995488644,
      0.14767659172372305,
      0.14567152043823217,
      0.14567152043823217
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.0418370429080355,
    "v_std": 0.06543413992005086,
    "vy_max": 0.036832295433195106,
    "a_max": 0.8357451533738872,
    "ax_avg": -0.04411601075110251,
    "a_std": 0.0404044474024573,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "c5388dbd766353cf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "c5388dbd766353cf",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "02325da26296565c": {
    "vx_ego": [
      7.521929960499625,
      7.281065152588963,
      6.936145467807437,
      6.437739111013771,
      5.845668186892595,
      5.153265219198932,
      4.343616727851714,
      3.4436320465081947,
      2.527053896131245,
      1.6231353746852084
    ],
    "vy_ego": [
      -0.03303994940428828,
      -0.009518752494414973,
      -0.004955029468888539,
      0.0016244579211385224,
      0.004576220529948938,
      0.0011061347702098212,
      -0.0025685356823687555,
      -0.0012683039420825493,
      -0.009342535849872102,
      -0.02888821448898203
    ],
    "v_ego": [
      7.522002523857495,
      7.281071374660077,
      6.9361472376891395,
      6.43773931596643,
      5.845669978115639,
      5.153265337913385,
      4.3436174872850835,
      3.4436322800689836,
      2.52707116578228,
      1.6233924274465659
    ],
    "ax_ego": [
      -0.48171893445988834,
      -0.48158638576520385,
      -0.8980962134107947,
      -1.0955286859405091,
      -1.272687838829446,
      -1.4971296300241028,
      -1.7414694113604234,
      -1.8584786801297457,
      -1.8078422584483176,
      -1.8078387031742111
    ],
    "ay_ego": [
      0.07324133528390177,
      0.0741078779516709,
      0.013005809457984185,
      0.015158408641847074,
      0.0797986131549662,
      -0.01866053334576681,
      -0.00731631389332546,
      -0.009161682699239587,
      -0.03938357839440537,
      -0.039546313781017084
    ],
    "a_ego": [
      0.48725498972441433,
      0.48725498922934746,
      0.8981903804998499,
      1.0956335514537203,
      1.275187105395056,
      1.4972459198811847,
      1.7414847800520696,
      1.858501262019126,
      1.8082711903026774,
      1.8082711875236746
    ],
    "yaw": [
      0.06473825449013498,
      0.06653736839895924,
      0.06894143068207201,
      0.06901020258487517,
      0.0723826860746693,
      0.07577563371510618,
      0.07518564685510536,
      0.07379890703623088,
      0.07243534171894234,
      0.07234532376613298
    ],
    "yaw_diff": [
      0.003598227817648514,
      0.004808124566225536,
      0.00013754380560632162,
      0.006744966979588263,
      0.006785895280873755,
      -0.0011799737200016425,
      -0.00277347963774896,
      -0.0027271306345770796,
      -0.00018003590561871397,
      -0.00018003590561871397
    ],
    "min_front_frame": [
      9,
      11.983771008965858
    ],
    "v_avg": 5.111360912878508,
    "v_std": 1.9586769376448065,
    "vy_max": 0.03303994940428828,
    "a_max": 1.858501262019126,
    "ax_avg": -1.2942376741542643,
    "a_std": 0.5086429452489201,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "02325da26296565c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.017249844754248,
    "speed_mode": "decelerating",
    "front_frame": [
      24.903562834007626,
      21.29418422350591,
      25.984668109832413,
      22.72748581186597,
      21.5157062759023,
      18.767067911553273,
      16.387784695797578,
      14.457866835742099,
      13.04744523216112,
      11.983771008965858
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "02325da26296565c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9ab5654cfc9f5724": {
    "vx_ego": [
      0.6374863428700971,
      1.2261865735000157,
      1.7020695126579874,
      1.9160086762650839,
      1.947161860175584,
      1.9261391738031313,
      1.8082129295075808,
      1.6044205946756536,
      1.3930137296191059,
      1.1813333314609178
    ],
    "vy_ego": [
      -0.011384468539270498,
      0.004941708291120506,
      0.02966805780361559,
      0.04027728854625312,
      0.03610511763384627,
      0.07399340742601945,
      0.11574914346052911,
      0.10529585330233415,
      0.06337637704588828,
      0.015210436909489422
    ],
    "v_ego": [
      0.637587988806104,
      1.226196531357247,
      1.7023280587400413,
      1.9164319730936752,
      1.947496569763807,
      1.9275598930257711,
      1.811913867337582,
      1.6078720911011686,
      1.39445466619564,
      1.181431249549261
    ],
    "ax_ego": [
      1.1773955873895408,
      1.177411223006205,
      0.7260967099387947,
      0.12926347392971077,
      -0.005010459189157986,
      -0.07916808163637608,
      -0.3926493850332302,
      -0.4221602927306743,
      -0.42334549140256894,
      -0.4232953550259343
    ],
    "ay_ego": [
      0.033796179030937346,
      0.03324701565552057,
      0.0684664475643349,
      -0.009320758015993143,
      0.012387389692557605,
      0.14358626089451898,
      0.025392581105259604,
      -0.07221708826510084,
      -0.09754494525986723,
      -0.09776228551510621
    ],
    "a_ego": [
      1.1778805333825044,
      1.1778805338874423,
      0.7293175485520844,
      0.12959908264478465,
      0.013362339790676634,
      0.16396523859541928,
      0.3934695957023377,
      0.42829268099739687,
      0.43443805247311507,
      0.4344380531855709
    ],
    "yaw": [
      -0.5832933552008728,
      -0.5828269370247062,
      -0.5823652475283687,
      -0.5801476343517382,
      -0.5776127827534013,
      -0.5770448637619032,
      -0.576788365973294,
      -0.5775210143735845,
      -0.5778686295750635,
      -0.5783820593389134
    ],
    "yaw_diff": [
      0.0009328363523330996,
      0.000923378992675028,
      0.00443522635326099,
      0.005069703196673769,
      0.0011358379829962129,
      0.0005129955772185113,
      -0.0014652968005810507,
      -0.0006952304029579359,
      -0.0010268595276998749,
      -0.0010268595276998749
    ],
    "min_front_frame": [
      9,
      11.105172066614456
    ],
    "v_avg": 1.53532728889703,
    "v_std": 0.40313868974021755,
    "vy_max": 0.11574914346052911,
    "a_max": 1.1778805338874423,
    "ax_avg": 0.14645379292463095,
    "a_std": 0.38509315673631883,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9ab5654cfc9f5724",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.003001030305635,
    "right_rear_min": 6.8589250477905965,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      11.214106895943466,
      11.892324877689203,
      12.241975852151144,
      12.51637261072907,
      12.371877566804132,
      12.13292290752805,
      11.965769074987854,
      11.712184003069385,
      11.413091973139956,
      11.105172066614456
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9ab5654cfc9f5724",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d1fdb156118a52ae": {
    "vx_ego": [
      0.8000516229419173,
      1.4942841239460276,
      2.2155822159418634,
      2.9436936157189413,
      3.581750074138235,
      4.078770511804824,
      4.453813070196372,
      4.747281702514477,
      5.028387632530546,
      5.333295982552585
    ],
    "vy_ego": [
      -0.0006568463784329959,
      0.009196826361340782,
      0.02092235648352836,
      0.00036066358935804566,
      -0.019878279680605182,
      -0.009281340456058773,
      -0.01436513857951116,
      -0.011230317663398104,
      -0.0010235721227189742,
      0.0316533491864015
    ],
    "v_ego": [
      0.8000518925789506,
      1.4943124253957965,
      2.2156810015430204,
      2.9436936378133307,
      3.58180523473741,
      4.078781071747937,
      4.453836236488544,
      4.747294985890762,
      5.028387736709057,
      5.333389913744003
    ],
    "ax_ego": [
      1.3884809611377344,
      1.3884644718268653,
      1.496865725631763,
      1.4157627031693958,
      1.1361892505517828,
      0.8517534166067633,
      0.6484337727044116,
      0.5248302175730148,
      0.6018138825012301,
      0.6199621768718767
    ],
    "ay_ego": [
      0.016900576512119736,
      0.018204593043800954,
      0.012594934646005806,
      -0.11283102355323282,
      -0.007527030809721336,
      -0.09434914161085106,
      -0.19113016628550084,
      -0.24304033584676465,
      -0.41588736259317693,
      -0.3883157772954334
    ],
    "a_ego": [
      1.3885838141532576,
      1.3885838097620706,
      1.4969187128731611,
      1.4202516930324656,
      1.1362141828292025,
      0.8569630349227433,
      0.6760156048849758,
      0.5783730302549094,
      0.7315341738674367,
      0.7315341712102537
    ],
    "yaw": [
      -0.37189080061790103,
      -0.3728299634305403,
      -0.3750161697901625,
      -0.37675273864943715,
      -0.3797398673915837,
      -0.38906926373031997,
      -0.40451409995165766,
      -0.4287064846738817,
      -0.46456387094288676,
      -0.5096898220643307
    ],
    "yaw_diff": [
      -0.0018783256252785652,
      -0.0043724127192443785,
      -0.0034731377185492907,
      -0.005974257484293144,
      -0.018658792677472502,
      -0.030889672442675375,
      -0.04838476944444814,
      -0.07171477253801006,
      -0.09025190224288782,
      -0.09025190224288782
    ],
    "min_front_frame": [
      1,
      21.01195048608017
    ],
    "v_avg": 3.4677234136648805,
    "v_std": 1.4753152995442191,
    "vy_max": 0.0316533491864015,
    "a_max": 1.4969187128731611,
    "ax_avg": 1.0072556578574836,
    "a_std": 0.3427872617103404,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "d1fdb156118a52ae",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.4348976400098685,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      21.01195048608017,
      22.474397589064928,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "d1fdb156118a52ae",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "29b743b5bdd1527e": {
    "vx_ego": [
      2.716204769034147,
      2.459155728043905,
      2.277122570888545,
      2.1621036875467357,
      1.9143620288251197,
      1.4953838913474453,
      1.117986573634688,
      0.7438958778651726,
      0.29314520347423884,
      -0.14934954269722012
    ],
    "vy_ego": [
      -0.012283027660711543,
      -0.011135890658138692,
      -0.007516145281313946,
      -0.0059885337774159275,
      -0.013211853366987047,
      -0.014949921612411932,
      -0.0030020663960249605,
      -0.00392506747774457,
      0.010845532207963637,
      0.04936753778857903
    ],
    "v_ego": [
      2.716232541608387,
      2.4591809414583343,
      2.277134975202381,
      2.1621119809667575,
      1.9144076186843855,
      1.4954586195069544,
      1.1179906042673506,
      0.7439062328408741,
      0.29334576166842236,
      0.15729729715152627
    ],
    "ax_ego": [
      -0.5140797902881353,
      -0.5140733707243974,
      -0.2140616687616776,
      -0.24598508755220855,
      -0.7449953530643687,
      -0.9311595242971656,
      -0.5784610116019759,
      -0.9179012646375735,
      -0.8851061384832168,
      -0.8850147522850123
    ],
    "ay_ego": [
      0.006787679143229447,
      0.007257338391281676,
      0.006615382224126873,
      0.008632330914163253,
      -0.054533913519589305,
      0.030647071547048044,
      0.011103490573161234,
      -0.017896822076635233,
      0.07669040625044443,
      0.07773793462514172
    ],
    "a_ego": [
      0.5141245990719027,
      0.5141245952572872,
      0.21416386556794653,
      0.24613650772504134,
      0.7469886370027763,
      0.9316637283289146,
      0.5785675668809043,
      0.9180757201144683,
      0.8884223628384923,
      0.888422364780336
    ],
    "yaw": [
      2.569154099414039,
      2.570067703718212,
      2.570002670785421,
      2.571029973332775,
      2.569005761607603,
      2.566555940059141,
      2.5653598203437964,
      2.5645632737707,
      2.5644229059490162,
      2.5656064705385697
    ],
    "yaw_diff": [
      0.0018272086083461758,
      -0.00013006586558184097,
      0.0020546050947078953,
      -0.004048423450344174,
      -0.0048996430969241445,
      -0.0023922394306890027,
      -0.0015930931461927145,
      -0.00028073564336761336,
      0.002367129179106975,
      0.002367129179106975
    ],
    "min_front_frame": [
      9,
      9.349728695753814
    ],
    "v_avg": 1.5337066573355371,
    "v_std": 0.8705427957375085,
    "vy_max": 0.04936753778857903,
    "a_max": 0.9316637283289146,
    "ax_avg": -0.6430837961695732,
    "a_std": 0.25865618518364547,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "29b743b5bdd1527e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 39.28791346515979,
    "right_rear_min": 6.228907307812182,
    "speed_mode": "decelerating",
    "front_frame": [
      16.187264823601936,
      14.915625655634686,
      13.718950759013637,
      12.600218049498235,
      11.518878748907749,
      10.647995012126094,
      10.025505768734872,
      9.554385045426745,
      9.35751087798189,
      9.349728695753814
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "29b743b5bdd1527e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aafbe79abf625492": {
    "vx_ego": [
      0.06655891516683453,
      0.7522646150646533,
      1.4168057787539365,
      2.0559462297760414,
      2.6064521729245955,
      3.053436599737461,
      3.497104202048134,
      3.9321004860349635,
      4.3457571112372655,
      4.789540714402139
    ],
    "vy_ego": [
      -0.0023797820535163966,
      -0.03243477363217073,
      -0.0473343567733846,
      -0.025451403446400622,
      0.002755167192835417,
      0.012654560988438757,
      -0.001841425908897465,
      -0.024737652009144906,
      -0.04183585205286522,
      -0.04078509745132841
    ],
    "v_ego": [
      0.06660144556094946,
      0.7529635221037876,
      1.4175962598856202,
      2.05610376043324,
      2.606453629107874,
      3.053462822195495,
      3.4971046868562707,
      3.93217830009059,
      4.345958479827695,
      4.7897143629959675
    ],
    "ax_ego": [
      1.3709145747434541,
      1.3713810480172977,
      1.2859273067323145,
      1.272839629230708,
      0.9323154792304265,
      0.8659920688585521,
      0.9193764024117005,
      0.830957769757855,
      0.84483047090973,
      0.9426185311438718
    ],
    "ay_ego": [
      -0.07075724548488405,
      -0.061052295997546024,
      -0.01934134386516906,
      0.1706043226763181,
      0.26439327252976536,
      0.6085691041307124,
      0.8377787717161793,
      0.9000695672878981,
      0.9911873264120667,
      0.8986996962267194
    ],
    "a_ego": [
      1.3727393631103588,
      1.3727393640846735,
      1.2860727529118774,
      1.2842221601638915,
      0.9690799530336279,
      1.0584415986857154,
      1.2438352944219548,
      1.2249963432920004,
      1.3023789159140504,
      1.3023789153905359
    ],
    "yaw": [
      -2.3828121488158818,
      -2.3898900943123826,
      -2.3946369319626877,
      -2.385469745381821,
      -2.351542582455478,
      -2.2781703144657506,
      -2.1632375669979504,
      -2.0406322030298387,
      -1.9223537132236292,
      -1.81896030457485
    ],
    "yaw_diff": [
      -0.01415589099300174,
      -0.009493675300610072,
      0.01833437316173292,
      0.06785432585268669,
      0.14674453597945458,
      0.22986549493560027,
      0.24521072793622345,
      0.23655697961241895,
      0.20678681729755866,
      0.20678681729755866
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.651813726905749,
    "v_std": 1.4874506080893173,
    "vy_max": 0.0473343567733846,
    "a_max": 1.3727393640846735,
    "ax_avg": 1.0637153281035912,
    "a_std": 0.12396470001542198,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "aafbe79abf625492",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "aafbe79abf625492",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "875f14a6967d5192": {
    "vx_ego": [
      8.626868262047703,
      9.013613157243173,
      9.283641067306212,
      9.328927512271928,
      9.250649371588636,
      9.151959591293945,
      9.085676516740877,
      9.099006352592813,
      9.202669437711066,
      9.352798279876517
    ],
    "vy_ego": [
      0.009381528061228828,
      0.02500914146063815,
      -0.029989717217538292,
      -0.06809016885110131,
      -0.01809824296156526,
      -0.01403007973659598,
      0.019551622039355898,
      -0.004098906607389097,
      0.015588915261856684,
      -0.044907697820714354
    ],
    "v_ego": [
      8.62687336314813,
      9.013647852317275,
      9.28368950631769,
      9.329175997928127,
      9.250667075539555,
      9.151970345440082,
      9.085697553450753,
      9.099007275827388,
      9.2026826411683,
      9.352906091979364
    ],
    "ax_ego": [
      0.7542403712396001,
      0.7890138807990745,
      0.2873234122649112,
      -0.10643448493394653,
      -0.2064878913585375,
      -0.18384240698488755,
      -0.07260079774291056,
      0.12846051067328362,
      0.2821859305651152,
      0.31578525032513366
    ],
    "ay_ego": [
      0.815598094684562,
      0.7820076016835708,
      0.5870544292467765,
      0.1736826297536336,
      -0.22695997507565796,
      -0.7007284168552845,
      -1.019849837115362,
      -1.0512699288464802,
      -0.8581155170417263,
      -0.8463278515221653
    ],
    "a_ego": [
      1.1108909890987222,
      1.1108909906847326,
      0.6535959349122443,
      0.20370065159761339,
      0.3068355904454998,
      0.7244434724631801,
      1.022430714570497,
      1.0590894986257413,
      0.903322279143324,
      0.9033222883251755
    ],
    "yaw": [
      2.600291088776526,
      2.643816251266271,
      2.686937325191235,
      2.711337227891737,
      2.7045312709248726,
      2.67887730644414,
      2.6279568780259623,
      2.573474049782301,
      2.5190574830590915,
      2.4796370330333657
    ],
    "yaw_diff": [
      0.08705032497949006,
      0.08624214784992823,
      0.04879980540100348,
      -0.013611913933728736,
      -0.05130792896146552,
      -0.10184085683635491,
      -0.1089656564873227,
      -0.10883313344641898,
      -0.07884090005145161,
      -0.07884090005145161
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.139631770311667,
    "v_std": 0.20049300600728093,
    "vy_max": 0.06809016885110131,
    "a_max": 1.1108909906847326,
    "ax_avg": 0.19876437748468362,
    "a_std": 0.309384382841644,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "875f14a6967d5192",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "875f14a6967d5192",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "dadc8dc029e15f0f": {
    "vx_ego": [
      7.7772083967612335,
      7.673706245666417,
      7.636695742808197,
      7.6279010839458055,
      7.5686852139094825,
      7.521068098213676,
      7.482752616055963,
      7.425699593427077,
      7.281301005438025,
      7.0551957776993675
    ],
    "vy_ego": [
      -0.020747622518165088,
      -0.027843824784124838,
      -0.016332189571117706,
      -0.0021725455145347183,
      -0.005546694287551723,
      -0.014173604121874295,
      -0.013977014602053028,
      -0.023263724832262245,
      -0.03868652789022642,
      0.0005561523895543097
    ],
    "v_ego": [
      7.77723607141339,
      7.673756760763165,
      7.636713207174997,
      7.627901393333268,
      7.568687246350555,
      7.521081453422857,
      7.48276566985961,
      7.425736034408719,
      7.281403778065943,
      7.055195799619771
    ],
    "ax_ego": [
      -0.20871890418472988,
      -0.2034049102891819,
      0.057808673861494575,
      -0.0935095529740068,
      -0.14235448433121914,
      -0.04825183053821669,
      -0.10377627651165205,
      -0.12386385145162429,
      -0.45236144491039526,
      -0.4517079722089337
    ],
    "ay_ego": [
      0.2775620045726892,
      0.28147945919148765,
      0.3566669509240944,
      0.22133671913597144,
      0.3034207605646788,
      0.20936037038493488,
      0.2562203723787366,
      0.17942518127916401,
      0.14265753311591411,
      0.14471333177450832
    ],
    "a_ego": [
      0.34728122227739866,
      0.34728121670554324,
      0.36132140353861547,
      0.24027896232353446,
      0.3351551240110398,
      0.21484879296380954,
      0.27643877222365415,
      0.2180267171093738,
      0.47432272620668164,
      0.474322717725375
    ],
    "yaw": [
      2.0722927339211035,
      2.091303229569008,
      2.1107219709760496,
      2.1277569320414305,
      2.145451954361884,
      2.1636142221257995,
      2.1790887969444315,
      2.1949396470915192,
      2.207914334020396,
      2.2124622163872893
    ],
    "yaw_diff": [
      0.03802099129580938,
      0.038837482814082946,
      0.034069922130761654,
      0.03539004464090745,
      0.03632453552783055,
      0.03094914963726403,
      0.03170170029417552,
      0.02594937385775342,
      0.009095764733786815,
      0.009095764733786815
    ],
    "min_front_frame": [
      6,
      20.623230971643725
    ],
    "v_avg": 7.505047741441227,
    "v_std": 0.1996134591729324,
    "vy_max": 0.03868652789022642,
    "a_max": 0.47432272620668164,
    "ax_avg": -0.1770140553538465,
    "a_std": 0.08942481327159114,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "dadc8dc029e15f0f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.951930899611646,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      43.345660063887166,
      39.49067287043266,
      35.65673125269538,
      31.83655956477593,
      28.093105355595345,
      24.33867357944447,
      20.623230971643725,
      29.487575211352084,
      25.786939741244034,
      27.351363038536448
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "dadc8dc029e15f0f",
    "merging_vehicles": "No"
  },
  "afbf82af256b5711": {
    "vx_ego": [
      1.496324326596886,
      1.6249246607775842,
      1.9823279423697968,
      2.6629286330126734,
      3.46887020512486,
      4.288923096191947,
      5.034772375285989,
      5.738970777840887,
      6.40028430394021,
      7.012532800184228
    ],
    "vy_ego": [
      -0.0288345158233973,
      -0.018751977855930413,
      8.166095853501254e-05,
      0.016502374385623297,
      0.008073446918845262,
      -0.021310316534155938,
      -0.03749215487300317,
      -0.03490147286536294,
      -0.03918762938930698,
      -0.07814123888805069
    ],
    "v_ego": [
      1.4966021247039554,
      1.6250328580913853,
      1.982327944051787,
      2.662979765765994,
      3.468879600180459,
      4.288976038011812,
      5.0349119687061,
      5.739076903276328,
      6.400404271728511,
      7.012968153847172
    ],
    "ax_ego": [
      0.2571834864183829,
      0.2571750526944091,
      1.1723852100584704,
      1.5501002756728184,
      1.6740851120903646,
      1.6071448319428685,
      1.3752266408691796,
      1.4373253729825772,
      1.2039060971286042,
      1.2335280393984696
    ],
    "ay_ego": [
      0.018704450368869363,
      0.0188200410332644,
      0.04974968627976306,
      0.002658213168788559,
      -0.08994574514927456,
      -0.27230638773580296,
      -0.4488853855148573,
      -0.5592461572248203,
      -0.6972390793332874,
      -0.6433822978972568
    ],
    "a_ego": [
      0.2578627583617224,
      0.2578627574367145,
      1.1734402890853795,
      1.5501025549098997,
      1.6764996867262059,
      1.6300506984883607,
      1.4466327810073811,
      1.542290663976876,
      1.3912340653006448,
      1.3912340583919682
    ],
    "yaw": [
      -0.35095831705576025,
      -0.35140776007708535,
      -0.35240893129437006,
      -0.35386744999897946,
      -0.35825799681572473,
      -0.3739960587499448,
      -0.40897901531937086,
      -0.4563058172433485,
      -0.5070974952263246,
      -0.5512816730517711
    ],
    "yaw_diff": [
      -0.0008988860426502043,
      -0.0020023424345694263,
      -0.002917037409218781,
      -0.008781093633490555,
      -0.03147612386844012,
      -0.06996591313885214,
      -0.09465360384795529,
      -0.10158335596595225,
      -0.08836835565089296,
      -0.08836835565089296
    ],
    "min_front_frame": [
      9,
      36.763452162167916
    ],
    "v_avg": 3.971215962836351,
    "v_std": 1.9250650202861435,
    "vy_max": 0.07814123888805069,
    "a_max": 1.6764996867262059,
    "ax_avg": 1.1768060119256145,
    "a_std": 0.5051323845932031,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "afbf82af256b5711",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.266625180605283,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      36.763452162167916
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "afbf82af256b5711",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "390cb416304c5d2a": {
    "vx_ego": [
      1.6920114125731562,
      1.755988580979981,
      1.852212851732797,
      2.138088926204311,
      2.7452723326183097,
      3.5151963940111237,
      4.256171612701245,
      4.7165566190770525,
      4.828787947822032,
      4.8458475059226656
    ],
    "vy_ego": [
      0.0012499961304647256,
      -0.013873833075290776,
      -0.01682032264064104,
      -0.006013867793057792,
      0.002634553092619285,
      0.0024862638657499048,
      -0.003237361113824555,
      -0.01491688369806976,
      -0.013236085387873242,
      0.012569313866603204
    ],
    "v_ego": [
      1.6920118742987986,
      1.7560433877829693,
      1.8522892245483358,
      2.138097383882066,
      2.745273596767647,
      3.5151972732660135,
      4.25617284391399,
      4.716580207563402,
      4.828806088360528,
      4.845863807238911
    ],
    "ax_ego": [
      0.12794905600948692,
      0.12795485755650882,
      0.2569045319701791,
      0.8865423610069353,
      1.5421893705815695,
      1.5374930868945975,
      1.426436154204427,
      0.4151936789079421,
      0.03404376626940357,
      0.0341972288897409
    ],
    "ay_ego": [
      -0.030907321486934855,
      -0.030883287158236856,
      0.015919235658314518,
      0.01787561772362456,
      0.008895355790201953,
      0.01566449011485449,
      0.02631074760247243,
      -0.0005633782167431545,
      0.07221557897501696,
      0.07214303886767587
    ],
    "a_ego": [
      0.13162911325088977,
      0.13162911151415016,
      0.25739728166933257,
      0.8867225583962283,
      1.5422150245959256,
      1.5375728823373664,
      1.4266787856630225,
      0.41519406113301577,
      0.07983775966610468,
      0.07983776375124944
    ],
    "yaw": [
      1.1329625685581624,
      1.1327747365827778,
      1.1323303683089883,
      1.1311001015118385,
      1.1302713282554784,
      1.1322798265413212,
      1.13643860009517,
      1.1403660331568708,
      1.1437334966074677,
      1.1458595284719402
    ],
    "yaw_diff": [
      -0.00037566395076904513,
      -0.0008887365475791498,
      -0.002460533594299541,
      -0.0016575465127202094,
      0.004016996571685638,
      0.00831754710769772,
      0.007854866123401472,
      0.006734926901193816,
      0.0042520637289449326,
      0.0042520637289449326
    ],
    "min_front_frame": [
      6,
      18.48327016444027
    ],
    "v_avg": 3.2346335687622663,
    "v_std": 1.2796298103467385,
    "vy_max": 0.01682032264064104,
    "a_max": 1.5422150245959256,
    "ax_avg": 0.6388904092290791,
    "a_std": 0.6033196063690918,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "390cb416304c5d2a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.002033275159186,
    "right_rear_min": 17.80822955906959,
    "speed_mode": "accelerating",
    "front_frame": [
      19.87386467490647,
      21.714824749468693,
      23.904009328810073,
      23.143168581386913,
      18.93417579515613,
      20.446467127821478,
      18.48327016444027,
      23.720673330952504,
      25.61741679746283,
      27.765444242756345
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "390cb416304c5d2a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1013821ba47c55b3": {
    "vx_ego": [
      9.302507470486777,
      9.594475590091736,
      9.889379983268281,
      10.178262541225262,
      10.487708155826818,
      10.823910063626654,
      11.136733536469398,
      11.411147038343223,
      11.67620682528974,
      11.94596465559867
    ],
    "vy_ego": [
      0.017257874041578525,
      -0.10886677029835123,
      -0.09191432900893926,
      -0.09298973131926402,
      -0.005274162401520677,
      0.01791420446403169,
      0.0065480696663851035,
      0.006921782645259,
      0.025508320812282825,
      0.07493276320059117
    ],
    "v_ego": [
      9.302523478749126,
      9.595093215938101,
      9.889807111230457,
      10.1786873145922,
      10.487709481988208,
      10.823924888144777,
      11.1367354615048,
      11.411149137653242,
      11.676234688518957,
      11.946199666497021
    ],
    "ax_ego": [
      0.5814725017363179,
      0.5917951334558271,
      0.5943001600845847,
      0.5677391065926258,
      0.6705516256157641,
      0.6739600526042593,
      0.577236550732148,
      0.5204211117598682,
      0.5399660783558871,
      0.5400612693075962
    ],
    "ay_ego": [
      0.34225350818815853,
      0.3240775322723046,
      0.35153251198978014,
      0.3511700394854943,
      0.18480241857748736,
      0.032029390468887975,
      -0.020648097085690126,
      0.008737685933479594,
      -0.020416411221621272,
      -0.01772075788893515
    ],
    "a_ego": [
      0.6747204859366537,
      0.6747204805737758,
      0.6904837342489741,
      0.6675687903031692,
      0.695551160252093,
      0.6747207084121136,
      0.5776057300740772,
      0.5204944579155952,
      0.5403519183108415,
      0.5403519222379896
    ],
    "yaw": [
      -2.1207582316204183,
      -2.089777204974739,
      -2.074179483958873,
      -2.056570240009107,
      -2.0520860474972045,
      -2.049174883981016,
      -2.047882041710923,
      -2.0481791168453998,
      -2.0500425410607654,
      -2.05503434888716
    ],
    "yaw_diff": [
      0.06196205329135829,
      0.031195442031732412,
      0.03521848789953186,
      0.008968385023805148,
      0.005822327032376506,
      0.0025856845401861506,
      -0.0005941502689532641,
      -0.0037268484307313443,
      -0.009983615652789268,
      -0.009983615652789268
    ],
    "min_front_frame": [
      3,
      35.579897119603324
    ],
    "v_avg": 10.64480644448169,
    "v_std": 0.8564122344578523,
    "vy_max": 0.10886677029835123,
    "a_max": 0.695551160252093,
    "ax_avg": 0.5857503590244878,
    "a_std": 0.06781444801195016,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1013821ba47c55b3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.435641603157138,
    "right_rear_min": 11.171224550188434,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      35.579897119603324,
      37.44228662508934,
      39.139608252884095,
      40.54020161128452,
      41.683191982657426,
      42.74332087110497,
      43.53807963120089
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1013821ba47c55b3",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "11de8888bf235231": {
    "vx_ego": [
      4.642754481622253,
      4.611486804043357,
      4.5970837838123115,
      4.604667477137665,
      4.601402963283395,
      4.5377237104160395,
      4.501115218297806,
      4.572874661516635,
      4.675180529180681,
      4.773180246248698
    ],
    "vy_ego": [
      -0.02865617975942686,
      -0.002714331620910615,
      0.000969718892543936,
      0.007163340266717055,
      0.012821915897492486,
      -0.008430402491867772,
      -0.010108566433120636,
      0.003898583287252677,
      0.008394165296070621,
      0.003415396474408805
    ],
    "v_ego": [
      4.642842917142677,
      4.6114876028741705,
      4.597083886089621,
      4.604673049028903,
      4.60142082753148,
      4.5377315416139465,
      4.501126569149933,
      4.5728763233759695,
      4.675188064927567,
      4.773181468173178
    ],
    "ax_ego": [
      -0.08510893530165722,
      -0.03538213446927198,
      -0.020920544143261582,
      0.048371471222892426,
      -0.06670464394712955,
      -0.19082705817644804,
      0.05005276124016239,
      0.2372900363657526,
      0.17145182339828832,
      0.21837704926000684
    ],
    "ay_ego": [
      0.7022240016312633,
      0.7064773028714226,
      0.733329790556734,
      0.6901140556556035,
      0.6185323941459224,
      0.5539974453051439,
      0.64800646058834,
      0.6321635917634557,
      0.6674081069220048,
      0.6535600811998269
    ],
    "a_ego": [
      0.7073627636052142,
      0.7073627604787246,
      0.7336281421028187,
      0.6918072051096985,
      0.6221188247690308,
      0.585942092306828,
      0.6499366521992682,
      0.6752313441404607,
      0.6890785941616616,
      0.6890785988415485
    ],
    "yaw": [
      -1.4943784065954664,
      -1.4238082278893067,
      -1.3464390324284221,
      -1.2703322708219122,
      -1.2007320910691082,
      -1.1321920024018919,
      -1.064906570241533,
      -0.9971294385468774,
      -0.9279904249804103,
      -0.8569735612078256
    ],
    "yaw_diff": [
      0.14114035741231934,
      0.15473839092176922,
      0.15221352321301973,
      0.13920035950560816,
      0.13708017733443256,
      0.13457086432071774,
      0.1355542633893112,
      0.13827802713293424,
      0.1420337275451693,
      0.1420337275451693
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.611761224990745,
    "v_std": 0.07116927173458495,
    "vy_max": 0.02865617975942686,
    "a_max": 0.7336281421028187,
    "ax_avg": 0.03265998254493342,
    "a_std": 0.04191248848313437,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "11de8888bf235231",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "11de8888bf235231",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "6761ba552b3759fa": {
    "vx_ego": [
      3.8310300523830803,
      3.854173242911472,
      3.8836513792921847,
      3.896394782147105,
      3.8869595917121673,
      3.9001732734367835,
      4.0082573325058135,
      4.2287245365165145,
      4.435366102950297,
      4.590456757513376
    ],
    "vy_ego": [
      0.006293839397274237,
      -0.02200937264366587,
      -0.009772537169090434,
      0.03753090733055253,
      0.07375096213966237,
      0.027100990053012364,
      -0.001994149852313498,
      0.016597710475894534,
      0.0016684150021588628,
      0.05152813789903554
    ],
    "v_ego": [
      3.831035222322638,
      3.8542360849925763,
      3.883663674722724,
      3.8965755308152623,
      3.88765920214462,
      3.9002674301248175,
      4.008257828560963,
      4.228757109332464,
      4.435366416747225,
      4.590745951541597
    ],
    "ax_ego": [
      0.045109491751773846,
      0.048207089402410974,
      0.07128864619349465,
      -0.02068537861912885,
      -0.021743612726346395,
      0.06709310640294813,
      0.36755763408363074,
      0.5100692231652018,
      0.3022500981518452,
      0.3145691716522912
    ],
    "ay_ego": [
      0.12911643974644452,
      0.12799219262363887,
      0.1857681508935046,
      0.24989761258490975,
      0.413541037093959,
      0.6269839885826861,
      0.7751683152190518,
      0.7367813714593535,
      0.39187112974693156,
      0.3820527839063983
    ],
    "a_ego": [
      0.13676959186493387,
      0.13676960496125853,
      0.1989770764748873,
      0.25075227150367824,
      0.4141122722826993,
      0.6305635629069056,
      0.857895408131259,
      0.89611238232148,
      0.4948920126269331,
      0.4948920017990165
    ],
    "yaw": [
      -2.643695035575902,
      -2.619600626764321,
      -2.6024766834046007,
      -2.5866849624325927,
      -2.5533771605302604,
      -2.4744010453077774,
      -2.3775489628329796,
      -2.2899620172373347,
      -2.221817020799209,
      -2.1899843230898126
    ],
    "yaw_diff": [
      0.04818881762316174,
      0.03424788671944068,
      0.031583441944015966,
      0.06661560380466458,
      0.1579522304449661,
      0.19370416494959564,
      0.17517389119128968,
      0.1362899928762511,
      0.06366539541879312,
      0.06366539541879312
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.051656445130489,
    "v_std": 0.25706669104287094,
    "vy_max": 0.07375096213966237,
    "a_max": 0.89611238232148,
    "ax_avg": 0.16837154694581213,
    "a_std": 0.2649984143552121,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "6761ba552b3759fa",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6761ba552b3759fa",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "fcbe2ed045225b79": {
    "vx_ego": [
      3.944393833297492,
      4.470368255950774,
      5.061476233703633,
      5.628207412909691,
      6.130337902335243,
      6.721759280772121,
      7.2909220975000935,
      7.659840192490572,
      7.861631636421869,
      7.951115426121775
    ],
    "vy_ego": [
      -0.09453551760358736,
      0.009199900100618663,
      -0.046476830025971694,
      -0.06990182993654503,
      -0.09555877420830572,
      -0.12535071549731258,
      -0.1602856320773003,
      -0.11840977184743318,
      -0.060065521010433165,
      0.05996297643054199
    ],
    "v_ego": [
      3.945526539797174,
      4.47037772251677,
      5.061689615145912,
      5.628641483391892,
      6.131082634913369,
      6.722927980465196,
      7.292683766328112,
      7.660755357571665,
      7.861861093507278,
      7.95134152694085
    ],
    "ax_ego": [
      0.912899339517192,
      1.2046533883571577,
      1.1892464497381303,
      1.09028733121011,
      0.9600162609028617,
      1.446819065011447,
      0.8578473012136664,
      0.6418781950423817,
      0.17385810412220265,
      0.18404894547499903
    ],
    "ay_ego": [
      1.7598713746113495,
      1.574592861875405,
      1.7429718512486063,
      1.442265410059708,
      1.4405051753835172,
      1.29173668696086,
      0.8459332345402105,
      0.7452061354805675,
      0.5406786121347616,
      0.5372950541283978
    ],
    "a_ego": [
      1.9825570506967425,
      1.982557052583698,
      2.110037438639358,
      1.807997781428938,
      1.7310939840183748,
      1.9395538340869058,
      1.2047842252865173,
      0.9835343418654723,
      0.5679436609285632,
      0.5679436499524377
    ],
    "yaw": [
      2.16076756282276,
      2.3353161063068346,
      2.520418349776673,
      2.6731359455004435,
      2.799562551246394,
      2.9114378943026025,
      2.9918120329023115,
      3.039242632680611,
      3.0728906802193037,
      3.0917975216797142
    ],
    "yaw_diff": [
      0.34909708696814956,
      0.37020448693967634,
      0.3054351914475415,
      0.2528532114919013,
      0.22375068611241655,
      0.16074827719941798,
      0.09486119955659866,
      0.06729609507738576,
      0.0378136829208211,
      0.0378136829208211
    ],
    "min_front_frame": [
      7,
      17.228408053599132
    ],
    "v_avg": 6.272688772057822,
    "v_std": 1.381251427452498,
    "vy_max": 0.1602856320773003,
    "a_max": 2.110037438639358,
    "ax_avg": 0.8661554380590148,
    "a_std": 0.5717693408015178,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "fcbe2ed045225b79",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      20.921057009275568,
      17.228408053599132,
      19.106678442905956,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      0,
      0,
      -1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.6666666666666666,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "fcbe2ed045225b79",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "936bb410fa70545b": {
    "vx_ego": [
      5.391354401690401,
      4.8598022429019325,
      4.330199497275284,
      3.785467913118173,
      3.2307426040500045,
      2.6844617111742513,
      2.144536921351205,
      1.6191957190876312,
      1.1049522377883756,
      0.591944087033493
    ],
    "vy_ego": [
      -0.0320377994327643,
      -0.03614886363325054,
      -0.02077145991157714,
      -0.004587933001104938,
      -0.013994316582172539,
      -0.011030531080325257,
      -0.008143315351991087,
      -0.00190074146666952,
      -0.006965058360478893,
      -0.026104530177226415
    ],
    "v_ego": [
      5.391449592198647,
      4.8599366848197345,
      4.330249316119106,
      3.7854706933717606,
      3.2307729128678178,
      2.6844843734647634,
      2.1445523823454224,
      1.619196834708441,
      1.1049741896675704,
      0.5925194078422151
    ],
    "ax_ego": [
      -1.0635715256413627,
      -1.063288484400117,
      -1.0556763741701978,
      -1.1232352716810166,
      -1.0957472720528956,
      -1.0894363229064572,
      -1.0702506248741825,
      -1.0311051895630923,
      -1.025887962462173,
      -1.025973968968788
    ],
    "ay_ego": [
      -0.055544327502555446,
      -0.060722015020053366,
      0.06455874660727423,
      -0.04700581869851167,
      -0.011346899631704321,
      0.011669217128724485,
      0.00332646293369504,
      0.023867327167596153,
      -0.0352824681345103,
      -0.03268594575275158
    ],
    "a_ego": [
      1.0650209211432453,
      1.065020921938153,
      1.0576485421654198,
      1.1242184051775013,
      1.0958060213115342,
      1.0894988170238369,
      1.0702557943777868,
      1.0313813849639064,
      1.0264945027044479,
      1.026494498792526
    ],
    "yaw": [
      -0.3314872418859842,
      -0.33635608567744857,
      -0.33949453802874296,
      -0.34239529410891517,
      -0.3438738332609439,
      -0.3448489377516192,
      -0.34449169392789303,
      -0.34419553735150615,
      -0.3425718414538894,
      -0.3400409427660417
    ],
    "yaw_diff": [
      -0.0097376875829287,
      -0.0062769047025887925,
      -0.005801512160344413,
      -0.0029570783040574478,
      -0.0019502089813505652,
      0.0007144876474522999,
      0.0005923131527737491,
      0.0032473917952334785,
      0.005061797375695454,
      0.005061797375695454
    ],
    "min_front_frame": [
      9,
      11.952119729726855
    ],
    "v_avg": 2.974360638740548,
    "v_std": 1.540670282294775,
    "vy_max": 0.03614886363325054,
    "a_max": 1.1242184051775013,
    "ax_avg": -1.0644172996720285,
    "a_std": 0.030385704551422792,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "936bb410fa70545b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.904345309556847,
    "right_rear_min": 27.070235621251335,
    "speed_mode": "decelerating",
    "front_frame": [
      25.265727688367047,
      22.717185323237427,
      20.443770555000135,
      18.430235676886976,
      16.724308525491082,
      15.20682652770024,
      14.01180197461207,
      13.056527621139587,
      12.370004406855555,
      11.952119729726855
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "936bb410fa70545b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2073f76964735ff7": {
    "vx_ego": [
      2.602432654997389,
      2.925461957567637,
      3.3578349205910225,
      3.893080853759567,
      4.4307876925184475,
      4.910412952758384,
      5.418296620290809,
      5.948038568093706,
      6.461451139183367,
      6.994554544775716
    ],
    "vy_ego": [
      -0.13020839551493701,
      0.014939985697735914,
      0.021764691507188794,
      0.033019909662574065,
      0.0070437253332658045,
      -0.023144966127848665,
      -0.10257483193730987,
      -0.08808866422020323,
      -0.11374371911429426,
      -0.05984333521787599
    ],
    "v_ego": [
      2.6056879993697124,
      2.925500105682466,
      3.3579054566406303,
      3.8932208835800006,
      4.430793291301177,
      4.910467498729054,
      5.419267465405428,
      5.94869081565804,
      6.462452201578902,
      6.9948105410091435
    ],
    "ax_ego": [
      0.5759469134108977,
      0.743359043891568,
      0.9928420285013887,
      1.1644441023229124,
      0.9975355150823819,
      0.9659253795386085,
      1.0879461774732333,
      1.0504408403924188,
      1.0334062066814496,
      1.1227071729842852
    ],
    "ay_ego": [
      1.163972872365427,
      1.0648779421275412,
      1.2836206608285141,
      1.6646570542524823,
      1.9259219058421746,
      2.252592012657778,
      1.9531242782201712,
      1.4542826433964242,
      1.1923456489362132,
      1.1086681802233276
    ],
    "a_ego": [
      1.298671511457059,
      1.2986715134186833,
      1.622780729015656,
      2.0315051503028894,
      2.1689288349905413,
      2.4509554492741037,
      2.235692584245805,
      1.7939799235354954,
      1.577851873448475,
      1.5778518720431491
    ],
    "yaw": [
      -1.9975439630572815,
      -1.8476026948321769,
      -1.66157717296291,
      -1.460862869668071,
      -1.240939441284334,
      -1.0120149966860574,
      -0.7932688901977707,
      -0.6463140271922967,
      -0.5356929511366507,
      -0.4581130862857469
    ],
    "yaw_diff": [
      0.29988253645020935,
      0.3720510437385336,
      0.40142860658967816,
      0.43984685676747404,
      0.4578488891965531,
      0.4374922129765735,
      0.293909726010948,
      0.22124215211129195,
      0.1551597297018077,
      0.1551597297018077
    ],
    "min_front_frame": [
      8,
      16.834801098498712
    ],
    "v_avg": 4.694879625895456,
    "v_std": 1.4336170059161515,
    "vy_max": 0.13020839551493701,
    "a_max": 2.4509554492741037,
    "ax_avg": 0.9734553380279143,
    "a_std": 0.3789133807414609,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "2073f76964735ff7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.722773593002628,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      35.72793779169686,
      16.834801098498712,
      18.569787085502607
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.6666666666666666,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "2073f76964735ff7",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1f381d3a242b54f0": {
    "vx_ego": [
      8.157082725575368,
      8.263428011277082,
      8.340597402421702,
      8.349881492924341,
      8.273444602446345,
      8.136089619685247,
      7.956048235356845,
      7.791801219366568,
      7.674795979153379,
      7.559095460558837
    ],
    "vy_ego": [
      -0.02169897254454889,
      0.03256788760350271,
      0.02611976788764514,
      0.028823241889875506,
      -0.008849035829736618,
      -0.043807537677090336,
      -0.043780439599347964,
      -0.03962295914461489,
      -0.02487862754895076,
      -0.0150073989940116
    ],
    "v_ego": [
      8.15711158666409,
      8.263492189435508,
      8.340638301206818,
      8.34993124074405,
      8.273449334780729,
      8.136207556343885,
      7.956168691664115,
      7.791901964284055,
      7.674836302341412,
      7.55911035796315
    ],
    "ax_ego": [
      0.20934587980279734,
      0.21650300582209955,
      0.09268462844803883,
      -0.053932765971831706,
      -0.25112138780733195,
      -0.29962457089211675,
      -0.42344544819646274,
      -0.2362797926773024,
      -0.23389455080043786,
      -0.23017590027552853
    ],
    "ay_ego": [
      -0.295402826713943,
      -0.2901981667993535,
      -0.13948094479088308,
      -0.2153365307794349,
      -0.2725720550151549,
      -0.2632191268788221,
      -0.24527009148570883,
      -0.22793940327768336,
      -0.2264482967864925,
      -0.23022716380862818
    ],
    "a_ego": [
      0.36206149673915217,
      0.3620614969086184,
      0.1674675321078936,
      0.22198775807123888,
      0.37061769600150646,
      0.39882225644657116,
      0.4893500438088375,
      0.3283055162409175,
      0.32555413069356376,
      0.32555413071103084
    ],
    "yaw": [
      -1.6363607074486972,
      -1.6608031852968312,
      -1.6729427151025789,
      -1.6838718960055252,
      -1.693984779695857,
      -1.7060405760234267,
      -1.7218125827770345,
      -1.7374111966315078,
      -1.7540073822195863,
      -1.7702927709840388
    ],
    "yaw_diff": [
      -0.04888495569626805,
      -0.024279059611495235,
      -0.021858361805892734,
      -0.020225767380663395,
      -0.024111592655139624,
      -0.031544013507215585,
      -0.031197227708946507,
      -0.03319237117615703,
      -0.032570777528905026,
      -0.032570777528905026
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.050284752542781,
    "v_std": 0.2731265396403888,
    "vy_max": 0.043807537677090336,
    "a_max": 0.4893500438088375,
    "ax_avg": -0.12099409025480765,
    "a_std": 0.0846713221746682,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "1f381d3a242b54f0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "1f381d3a242b54f0",
    "pedestrians": "No"
  },
  "407b876e623a5c51": {
    "vx_ego": [
      -0.04553863214557913,
      -0.07502437910375095,
      -0.06777855897973413,
      -0.03511609888204679,
      -0.020150872173338236,
      0.004723825304376192,
      0.23035870426096777,
      0.900555324525935,
      1.7719811093241384,
      2.584891071707796
    ],
    "vy_ego": [
      0.025473082413871785,
      0.004726446266244036,
      -0.004017987291826553,
      -0.002103681799377498,
      -0.0016369182251044032,
      -0.000832965590940582,
      -0.002942510743451296,
      -0.008794681386881276,
      -0.008844672201636317,
      -0.010418444056855325
    ],
    "v_ego": [
      0.05217897033627893,
      0.07517311190985136,
      0.06789754987660879,
      0.03517905453258686,
      0.0202172488390952,
      0.004796702740628798,
      0.23037749672714855,
      0.9005982672383447,
      1.7720031828492744,
      2.5849120674737165
    ],
    "ax_ego": [
      -0.05896449322379747,
      -0.05893400809763213,
      0.08791822081069486,
      0.042731166074272124,
      0.017129941536541345,
      0.08236900217929152,
      0.8201699295504847,
      1.8605479852252542,
      1.6257005446985204,
      1.6262832662047668
    ],
    "ay_ego": [
      -0.04138274829264618,
      -0.04142618046023698,
      0.00643331276021767,
      0.001232332298149147,
      0.000631856479694692,
      0.0025821666902131057,
      -0.011101991448233928,
      -0.01831669127722002,
      0.058537525183357864,
      0.03913620796269046
    ],
    "a_ego": [
      0.07203709681401499,
      0.07203711361496856,
      0.08815328163822876,
      0.04274893211485038,
      0.017141590931306717,
      0.08240946611177734,
      0.820245065546245,
      1.8606381449666933,
      1.6267541003137684,
      1.6267541008742974
    ],
    "yaw": [
      1.0061707426485558,
      1.0054341283752943,
      1.0054762588682282,
      1.00543026233987,
      1.0054595404894577,
      1.0054875917757906,
      1.0046814060129532,
      1.001230639013519,
      1.0086302988132971,
      1.0205621444557962
    ],
    "yaw_diff": [
      -0.0014732285465228756,
      8.426098586777897e-05,
      -9.199305671625524e-05,
      5.8556299175283044e-05,
      5.610257266575047e-05,
      -0.0016123715256748383,
      -0.006901533998868281,
      0.01479931959955616,
      0.0238636912849981,
      0.0238636912849981
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.5743333652523533,
    "v_std": 0.8603476967188132,
    "vy_max": 0.025473082413871785,
    "a_max": 1.8606381449666933,
    "ax_avg": 0.6044951554958395,
    "a_std": 0.7398817903871815,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "407b876e623a5c51",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "407b876e623a5c51",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b0e6764ee8a35223": {
    "vx_ego": [
      0.2254399769659769,
      0.6333607868978661,
      1.0686036071866796,
      1.4975835279474812,
      1.8110734586535449,
      1.9672156870812207,
      2.0258969727973257,
      2.0870229742876756,
      2.344334855153462,
      2.7733987636221844
    ],
    "vy_ego": [
      0.020644053690093506,
      0.01401050269904544,
      0.0010885604840996654,
      -0.00980808639953229,
      -0.0018353370874335528,
      -0.0037616057240164036,
      -0.007470861657573602,
      0.0017843620604415245,
      0.0026709505178279525,
      0.0020175134654986104
    ],
    "v_ego": [
      0.22638321529472907,
      0.6335157303222739,
      1.0686041616315702,
      1.4976156455307366,
      1.8110743886161988,
      1.9672192834496265,
      2.025910747827573,
      2.0870237370841136,
      2.34433637668831,
      2.773399497443822
    ],
    "ax_ego": [
      0.8158565724574598,
      0.8158639905294781,
      0.92516203583502,
      0.7907052707171142,
      0.4631576474628467,
      0.161473957085419,
      0.07307846243402515,
      0.1714005083171379,
      0.8580038099122994,
      0.8582978902970689
    ],
    "ay_ego": [
      -0.013951548009254577,
      -0.01351071746849758,
      -0.04229060246701849,
      -0.009320887912971199,
      0.024981219343642835,
      -0.05079205503209141,
      0.009624527178669191,
      0.006007532281487857,
      -0.04265155652389807,
      -0.03625500728859743
    ],
    "a_ego": [
      0.8159758528987785,
      0.8159758516826328,
      0.9261281161952822,
      0.7907602064414414,
      0.4638308611155728,
      0.1692739544974558,
      0.0737095190266099,
      0.17150575703306983,
      0.8590632648984198,
      0.859063265447834
    ],
    "yaw": [
      1.2246422138654829,
      1.2241018886031436,
      1.2228737000070682,
      1.2213303324350457,
      1.2189368144247414,
      1.2165876819297066,
      1.2133088411047,
      1.2106930086903547,
      1.2059755126957652,
      1.1985216700284311
    ],
    "yaw_diff": [
      -0.0010806505246785392,
      -0.0024563771921508604,
      -0.0030867351440448942,
      -0.004787036020608593,
      -0.004698264990069756,
      -0.006557681650013247,
      -0.00523166482869053,
      -0.009434991989178965,
      -0.01490768533466813,
      -0.01490768533466813
    ],
    "min_front_frame": [
      0,
      22.7207862362247
    ],
    "v_avg": 1.6435082783888955,
    "v_std": 0.7499164495114455,
    "vy_max": 0.020644053690093506,
    "a_max": 0.9261281161952822,
    "ax_avg": 0.593300014504787,
    "a_std": 0.3216557608697538,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b0e6764ee8a35223",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 2.7653768192702604,
    "right_rear_min": 7.463612538445659,
    "speed_mode": "accelerating",
    "front_frame": [
      22.7207862362247,
      23.91518623283201,
      25.339371999654254,
      26.6925151952146,
      28.20548621557668,
      29.70852086017114,
      31.460280474914942,
      33.3072312174826,
      35.06811694096589,
      36.51693614995956
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b0e6764ee8a35223",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c2156c6760fd55b5": {
    "vx_ego": [
      4.520344468169242,
      4.693852760847424,
      4.795568249304596,
      4.7964544492630194,
      4.610425575327975,
      4.291296516817309,
      3.9973848607824136,
      3.685960746301736,
      3.3826298122439944,
      3.108327229594651
    ],
    "vy_ego": [
      0.09824840176159477,
      0.0256930240271811,
      0.002865164486233418,
      0.003858304716944261,
      -0.04502246207285898,
      -0.083937212299241,
      -0.05621072831806351,
      -0.07496604076466484,
      -0.07111165675921605,
      -0.055650185822973874
    ],
    "v_ego": [
      4.521412042642981,
      4.693923079045783,
      4.795569105216385,
      4.7964560010877095,
      4.610645400345747,
      4.292117338896612,
      3.9977800553795455,
      3.6867230070274033,
      3.383377205457423,
      3.1088253584628536
    ],
    "ax_ego": [
      0.3441019935282261,
      0.3574444768334517,
      0.06117349892740753,
      -0.057169733428676095,
      -0.6950168731513732,
      -0.5982099895129913,
      -0.5827601217390481,
      -0.6583917704581117,
      -0.5478587140629023,
      -0.5423433891532055
    ],
    "ay_ego": [
      -0.4359851138885157,
      -0.4251148384954842,
      -0.7325953827314817,
      -0.7178467314716299,
      -0.609672191025875,
      -0.16159810005515438,
      0.0414983489442593,
      0.11682414002755637,
      0.19795755323509323,
      0.21260293123425886
    ],
    "a_ego": [
      0.5554180420930539,
      0.5554180226890209,
      0.7351450141098066,
      0.7201196486034861,
      0.9245261675449771,
      0.6196524328158236,
      0.5842358020991265,
      0.6686760075702918,
      0.5825258478878699,
      0.5825258433130536
    ],
    "yaw": [
      2.6476259064630088,
      2.6166389688917864,
      2.5608997553026795,
      2.485355062099771,
      2.4262067563040826,
      2.391537749046382,
      2.377596469472416,
      2.3927439365728294,
      2.4140019031629363,
      2.4408675647346714
    ],
    "yaw_diff": [
      -0.06197387514244479,
      -0.11147842717821366,
      -0.15108938640581737,
      -0.11829661159137661,
      -0.06933801451540145,
      -0.027882559147931474,
      0.030294934200826518,
      0.04251593318021385,
      0.05373132314347018,
      0.05373132314347018
    ],
    "min_front_frame": [
      1,
      22.777983729799658
    ],
    "v_avg": 4.188682859356244,
    "v_std": 0.5827043475156448,
    "vy_max": 0.09824840176159477,
    "a_max": 0.9245261675449771,
    "ax_avg": -0.2919030622217223,
    "a_std": 0.10956413989680254,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "c2156c6760fd55b5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      31.18010409240978,
      22.777983729799658,
      23.133895505768262,
      23.444790353572674,
      23.631486266196745,
      24.312414012718698,
      25.244181587795993,
      26.37656082803124,
      27.675201930343803,
      28.88490178521417
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c2156c6760fd55b5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "77dce92bdc8752d4": {
    "vx_ego": [
      6.753691492970169,
      6.902577181228445,
      6.987177836920957,
      7.048088386045196,
      7.1629720498907545,
      7.280352325342971,
      7.414625333801476,
      7.5239719920375725,
      7.555320086608182,
      7.561997551452998
    ],
    "vy_ego": [
      0.001441187905772079,
      0.014312831661965397,
      0.028740070928701567,
      0.04878073954761675,
      0.05050414436574968,
      0.04149382966198312,
      0.02851334181323928,
      0.017871286372761475,
      0.013808751028001165,
      0.010234731899978478
    ],
    "v_ego": [
      6.753691646739597,
      6.902592020391021,
      6.9872369443462,
      7.048257192955999,
      7.163150093088534,
      7.280470569889478,
      7.414680158396046,
      7.523993216360742,
      7.555332705626538,
      7.56200447751244
    ],
    "ax_ego": [
      0.2972874024680727,
      0.29857543196865943,
      0.04093059585752003,
      0.20392664747974826,
      0.2575383523433714,
      0.21407115911737998,
      0.3257588083198769,
      0.11318408396062674,
      0.012491011261812748,
      0.01480102039891748
    ],
    "ay_ego": [
      -0.12196996605316847,
      -0.11878208480709992,
      -0.14072405038010735,
      -0.06694534636288012,
      -0.15302571887241057,
      -0.1849452646486392,
      -0.28718175348335506,
      -0.27965250071048436,
      -0.1905593353624484,
      -0.19039384424077982
    ],
    "a_ego": [
      0.32133545133586633,
      0.32133545127544305,
      0.14655569600883694,
      0.21463400697926574,
      0.29957114941889273,
      0.2828978827807197,
      0.4342719893474144,
      0.30168884304135885,
      0.19096828442472016,
      0.1909682856644828
    ],
    "yaw": [
      1.2003394318246974,
      1.1896394838194897,
      1.1782732841859127,
      1.1679896305488873,
      1.1600001619059974,
      1.1495558908334749,
      1.1352313430130643,
      1.117746626688049,
      1.1027195091152646,
      1.0905921388441024
    ],
    "yaw_diff": [
      -0.021399896010415365,
      -0.02273239926715398,
      -0.020567307274050872,
      -0.015978937285779704,
      -0.020888542145045097,
      -0.028649095640821187,
      -0.03496943265003072,
      -0.030054235145568597,
      -0.02425474054232435,
      -0.02425474054232435
    ],
    "min_front_frame": [
      9,
      33.90162927744084
    ],
    "v_avg": 7.219140902530659,
    "v_std": 0.2772136513071357,
    "vy_max": 0.05050414436574968,
    "a_max": 0.4342719893474144,
    "ax_avg": 0.17785645131759859,
    "a_std": 0.08068151037184054,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "77dce92bdc8752d4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.023281766952472,
    "speed_mode": "quasi_constant",
    "front_frame": [
      66.39802065784936,
      62.971176787675454,
      59.53810014757588,
      56.01144870422221,
      52.46755868178968,
      48.84817893422896,
      45.21834422164514,
      41.43295649069328,
      37.640610426212675,
      33.90162927744084
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "77dce92bdc8752d4",
    "merging_vehicles": "No"
  },
  "fe5bd33f199d5a64": {
    "vx_ego": [
      8.954582832092026,
      8.97938909746469,
      8.971456316594677,
      8.928851853320307,
      8.850549954112157,
      8.773547478659736,
      8.718175986679022,
      8.667290334289458,
      8.625689477725107,
      8.576854180303034
    ],
    "vy_ego": [
      0.06623285381065447,
      0.07086934153319913,
      0.07812974851117671,
      0.05951061265373214,
      0.047521815620255925,
      0.009467193038698252,
      -0.031235984462898436,
      -0.04383598728893423,
      -0.04293186012050754,
      -0.0069517075793346095
    ],
    "v_ego": [
      8.95482777543606,
      8.979668759327211,
      8.971796514532022,
      8.929050169618261,
      8.85067753413232,
      8.77355258649771,
      8.718231943544064,
      8.667401186783097,
      8.625796317485769,
      8.576856997549854
    ],
    "ax_ego": [
      0.04855963910641541,
      0.04915460550667182,
      -0.08250605091695487,
      -0.0896404255749463,
      -0.2238678552208416,
      -0.08464339776674236,
      -0.1367797207207345,
      -0.06681999087877669,
      -0.09805400392942565,
      -0.09653160769840198
    ],
    "ay_ego": [
      0.10817087232564379,
      0.10790181370166814,
      0.12115423250811963,
      -0.015510938359127497,
      0.022466611117143098,
      -0.0616600761241969,
      -0.05446652368035604,
      -0.007351280540399383,
      0.20139354846802998,
      0.20212768432462797
    ],
    "a_ego": [
      0.11857055355287854,
      0.11857055554658598,
      0.1465796592046204,
      0.09097249642632733,
      0.2249923670177916,
      0.10472091373331652,
      0.14722531780323964,
      0.06722315454234094,
      0.2239954219423615,
      0.2239954286481638
    ],
    "yaw": [
      2.571367334288218,
      2.576874420588643,
      2.582435378856925,
      2.5874660602316855,
      2.589007377202911,
      2.5922202670710774,
      2.5935537928341033,
      2.5932250900170506,
      2.5987284597298688,
      2.6062740050609845
    ],
    "yaw_diff": [
      0.011014172600850358,
      0.011121916536564136,
      0.01006136274952052,
      0.0030826339424514515,
      0.006425779736332515,
      0.0026670515260516225,
      -0.0006574056341053236,
      0.011006739425636347,
      0.015091090662231466,
      0.015091090662231466
    ],
    "min_front_frame": [
      0,
      59.8648407022259
    ],
    "v_avg": 8.804785978490637,
    "v_std": 0.14486797331404,
    "vy_max": 0.07812974851117671,
    "a_max": 0.2249923670177916,
    "ax_avg": -0.07811288080937367,
    "a_std": 0.055539217717182315,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "fe5bd33f199d5a64",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      59.8648407022259,
      60.59035603615135,
      61.047846113676925,
      61.43727546097577,
      61.67407194859132,
      61.75214616228563,
      61.773976626850846,
      61.54637120733893,
      61.16600396101207,
      60.70001683962364
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "fe5bd33f199d5a64",
    "pedestrians": "No"
  },
  "8e04fd5e1613597a": {
    "vx_ego": [
      5.5787556334398225,
      5.062649911367033,
      4.528301664083607,
      4.031194270568829,
      3.643262617039955,
      3.3434472563627198,
      3.048837330976408,
      2.7927141699576365,
      2.613080408311406,
      2.442210493510523
    ],
    "vy_ego": [
      -0.020271485513087883,
      -0.009000241559233013,
      -0.002104845836907593,
      0.003501141191936119,
      0.005325098847883458,
      -0.0010372743330135242,
      -0.03899629341933235,
      -0.050614834635414906,
      -0.006212990188851589,
      0.03943305657110553
    ],
    "v_ego": [
      5.578792463496152,
      5.062657911553253,
      4.528302153270954,
      4.0311957909603695,
      3.6432665086977325,
      3.3434474172652155,
      3.049086712715103,
      2.7931728010574894,
      2.6130877944585005,
      2.4425288249196675
    ],
    "ax_ego": [
      -1.0322038906999274,
      -1.0321904215164348,
      -1.1052016827607936,
      -0.8832241214491098,
      -0.6684547601360642,
      -0.5307765478783224,
      -0.6476995933920985,
      -0.377177602545031,
      -0.34160602591732636,
      -0.3417537195981179
    ],
    "ay_ego": [
      0.027463168114424293,
      0.027964799469580207,
      0.001501587202924974,
      0.000740652885168315,
      -0.019593804440753572,
      -0.03314630953877064,
      -0.13465800222838706,
      0.07248041534105754,
      0.0825171933667708,
      0.08190336305182942
    ],
    "a_ego": [
      1.0325691732658635,
      1.0325691726367048,
      1.1052027028294031,
      0.8832244319969008,
      0.6687418661344792,
      0.5318105128837424,
      0.6615493487597354,
      0.3840785785091764,
      0.35143102330920944,
      0.35143102557735106
    ],
    "yaw": [
      -3.102441777610323,
      -3.101955799651559,
      -3.101857727622949,
      -3.1030443289613188,
      -3.104759970019145,
      -3.1067226778891244,
      -3.10796601735848,
      -3.109325876200808,
      -3.111420576036341,
      -3.113217059704195
    ],
    "yaw_diff": [
      0.0009719559175280779,
      0.00019614405722023776,
      -0.002373202676739794,
      -0.0034312821156525786,
      -0.003925415739958638,
      -0.002486678938711684,
      -0.0027197176846556204,
      -0.004189399671066241,
      -0.0035929673357077974,
      -0.0035929673357077974
    ],
    "min_front_frame": [
      9,
      10.986190621302647
    ],
    "v_avg": 3.7085538378394447,
    "v_std": 1.0159096977961712,
    "vy_max": 0.050614834635414906,
    "a_max": 1.1052027028294031,
    "ax_avg": -0.6960288365893226,
    "a_std": 0.2815163379740372,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8e04fd5e1613597a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.28336573946105,
      19.7688473045805,
      17.944614704372313,
      16.440010538923357,
      15.025446602111309,
      13.972077653121735,
      12.823516577266632,
      12.32888073371539,
      11.446853929581843,
      10.986190621302647
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8e04fd5e1613597a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f561d19a11375418": {
    "vx_ego": [
      4.839545750181133,
      4.443976213251313,
      4.01000511696407,
      3.5066581269812818,
      3.0044644753893186,
      2.5285330634317296,
      2.108205390856745,
      1.7408431015105337,
      1.3435788789459446,
      0.925059014177195
    ],
    "vy_ego": [
      -0.03086959973508785,
      0.002660621754607684,
      0.017438719408636283,
      0.0054604028238793845,
      -0.004762115312928028,
      0.006153227210161871,
      0.021882926689337223,
      0.017369028076285042,
      -0.009460019172891188,
      -0.04568744164111321
    ],
    "v_ego": [
      4.839644201827658,
      4.443977009712314,
      4.0100430355561825,
      3.5066623783197137,
      3.004468249394336,
      2.5285405504109573,
      2.108318958914408,
      1.74092974792584,
      1.3436121821092546,
      0.926186548182489
    ],
    "ax_ego": [
      -0.7913190923731772,
      -0.79133415142855,
      -0.9441343677068545,
      -1.0689855556271615,
      -0.9398706069909951,
      -0.9638628880729918,
      -0.7174179779682464,
      -0.7520289060289006,
      -0.8370321692666431,
      -0.8370381571839686
    ],
    "ay_ego": [
      0.004920995808235906,
      -0.000611558955475322,
      -0.049520103826405926,
      -0.07036193626479637,
      -0.0035456844491459916,
      0.042952945441944834,
      0.016041988547348784,
      -0.03426588873481362,
      -0.07230193606330082,
      -0.07223276856719629
    ],
    "a_ego": [
      0.7913343933850302,
      0.791334387741048,
      0.9454321472047584,
      1.0712987072775,
      0.9398772950570913,
      0.9648194766517452,
      0.717597310828713,
      0.7528091568477443,
      0.8401490476967309,
      0.8401490638195201
    ],
    "yaw": [
      -2.0457185303423833,
      -2.052709997080586,
      -2.059142012487237,
      -2.0639094888874556,
      -2.0664575927922777,
      -2.066841607690657,
      -2.067270433703377,
      -2.06729224863565,
      -2.0671717660541375,
      -2.0670891226527375
    ],
    "yaw_diff": [
      -0.01398293347640589,
      -0.012864030813301675,
      -0.009534952800437146,
      -0.005096207809644149,
      -0.000768029796758718,
      -0.0008576520254397479,
      -4.362986454609086e-05,
      0.00024096516302485327,
      0.0001652868028001464,
      0.0001652868028001464
    ],
    "min_front_frame": [
      9,
      10.318016694663708
    ],
    "v_avg": 2.8452382862353156,
    "v_std": 1.2709725412237396,
    "vy_max": 0.04568744164111321,
    "a_max": 1.0712987072775,
    "ax_avg": -0.8643023872647488,
    "a_std": 0.10535627184192131,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f561d19a11375418",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.776037472140723,
    "right_rear_min": 11.92818953399222,
    "speed_mode": "decelerating",
    "front_frame": [
      22.724165542507947,
      20.358446706468804,
      18.276940869668437,
      16.432541517316928,
      14.854013770297206,
      13.470554736981647,
      12.321613724765294,
      11.382236987449838,
      10.659670686984027,
      10.318016694663708
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f561d19a11375418",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2dd7293bcb445815": {
    "vx_ego": [
      3.120727569118186,
      3.371793981977712,
      3.4192634450617456,
      3.0917645261745386,
      2.5396501937173985,
      1.8561628277234838,
      1.0159214067988147,
      0.2655993692025313,
      -0.04793222569849441,
      -0.09335822893173149
    ],
    "vy_ego": [
      -0.012855932259048464,
      0.006710231200910188,
      0.014167392000509427,
      0.009317489387743905,
      -0.000634998692350397,
      -4.6533608806020865e-05,
      0.014657980336353349,
      0.015348555179618625,
      0.0015615687644046326,
      -0.01983615307881481
    ],
    "v_ego": [
      3.1207540492080676,
      3.371800659010536,
      3.419292795554603,
      3.0917785659583967,
      2.5396502731030033,
      1.8561628283067777,
      1.0160271458871675,
      0.2660424835752447,
      0.047957655879091635,
      0.09544229606540153
    ],
    "ax_ego": [
      0.5020656537009729,
      0.5022334812407379,
      -0.31254475082909733,
      -0.9975995937979273,
      -1.2109102656021613,
      -1.5229644520338133,
      -1.838021552379912,
      -1.163286206847837,
      -0.09085442258938811,
      -0.09085181160630348
    ],
    "ay_ego": [
      0.058666126231650045,
      0.05721156876637301,
      0.014553387266329681,
      0.004113082074217789,
      -0.02530748936019267,
      0.045783333899638845,
      0.01574421362669931,
      -0.01239316222580733,
      -0.04278409653562992,
      -0.042789612405625344
    ],
    "a_ego": [
      0.5054815871950363,
      0.5054815855003029,
      0.3128834005691997,
      0.9976080728371933,
      1.2111746944014365,
      1.5236524655647754,
      1.8380889824151017,
      1.163352220745026,
      0.10042412568910529,
      0.10042411364792277
    ],
    "yaw": [
      0.8500458107454778,
      0.8529424716838941,
      0.8559401685436612,
      0.8587884478654519,
      0.8604257734543859,
      0.8624511069186471,
      0.8629102116581857,
      0.8631747425355705,
      0.8634652311354708,
      0.8634044365767637
    ],
    "yaw_diff": [
      0.00579332187683268,
      0.005995393719534059,
      0.00569655864358154,
      0.003274651177867849,
      0.004050666928522517,
      0.00091820947907717,
      0.000529061754769522,
      0.0005809771998006585,
      -0.00012158911741422251,
      -0.00012158911741422251
    ],
    "min_front_frame": [
      8,
      58.1858429397016
    ],
    "v_avg": 1.8824908752548288,
    "v_std": 1.3390574063858884,
    "vy_max": 0.01983615307881481,
    "a_max": 1.8380889824151017,
    "ax_avg": -0.622273392074473,
    "a_std": 0.5765701805888663,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2dd7293bcb445815",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.55522320721614,
    "right_rear_min": 16.750217896715295,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      69.00044956427614,
      67.44693256620883,
      66.12625364158009,
      65.01749532484796,
      64.32638980491545,
      64.00720526242452,
      58.1858429397016,
      64.07155160826623
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2dd7293bcb445815",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "c43a415dd7d2585d": {
    "vx_ego": [
      1.6365747538571487,
      2.221716613945678,
      2.757495686422764,
      3.216118931827437,
      3.5671187695032267,
      3.807176737383515,
      4.007860312155484,
      4.215304912934795,
      4.483395326639776,
      4.818057416604827
    ],
    "vy_ego": [
      0.06541869878044082,
      -0.017906953250198976,
      -0.005329025414001709,
      0.0008292267536600395,
      0.022264622933292233,
      0.01595440663009179,
      0.006950975748281074,
      0.014970715109846822,
      0.03351243738978593,
      0.011371026334727752
    ],
    "v_ego": [
      1.6378817207334333,
      2.2217887774621947,
      2.7575008357481985,
      3.216119038729111,
      3.567188252556427,
      3.807210166613488,
      4.007866339814104,
      4.215331497204357,
      4.4835205741019175,
      4.818070834882016
    ],
    "ax_ego": [
      1.1557694441716115,
      1.1886134709427967,
      0.9660079213727478,
      0.8808636073257146,
      0.5507118524051335,
      0.4405106264122579,
      0.3826735809897376,
      0.45775990133470457,
      0.6030089673221826,
      0.7415701550359176
    ],
    "ay_ego": [
      -0.4914735146277051,
      -0.40564423005531536,
      -0.6991767538066515,
      -0.8999784793254249,
      -1.1604723994702508,
      -1.373359642616756,
      -1.506911108036376,
      -1.5330490076859595,
      -1.1958124998185282,
      -1.1151955231091502
    ],
    "a_ego": [
      1.2559256441610167,
      1.2559256445681217,
      1.1924845647715965,
      1.2593180527411552,
      1.2845153694338325,
      1.4422781701012268,
      1.5547411865358578,
      1.5999323070795413,
      1.3392488004076026,
      1.3392488004858119
    ],
    "yaw": [
      -2.447246553047516,
      -2.5204350822145605,
      -2.6350229385671113,
      -2.770247293148137,
      -2.926226710524663,
      -3.095280076753724,
      3.0067648638115805,
      2.82008971637521,
      2.6586482216701546,
      2.538877534182208
    ],
    "yaw_diff": [
      -0.14637705833408887,
      -0.22917571270510173,
      -0.2704487091620509,
      -0.3119588347530522,
      -0.3381067324581224,
      -0.36228073322856336,
      -0.37335029487274074,
      -0.32288298941011107,
      -0.239541374975893,
      -0.239541374975893
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.473247803784525,
    "v_std": 0.9643229846722974,
    "vy_max": 0.06541869878044082,
    "a_max": 1.5999323070795413,
    "ax_avg": 0.7367489527312804,
    "a_std": 0.12965272801343988,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "c43a415dd7d2585d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c43a415dd7d2585d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4755336a0e225d97": {
    "vx_ego": [
      3.207591181906353,
      3.068646328825614,
      2.9153078401815384,
      2.770029164123608,
      2.5548225361755836,
      2.1913670500216944,
      1.7184829277409706,
      1.1152775833864337,
      0.4937296196738919,
      -0.06940178517633455
    ],
    "vy_ego": [
      0.014269275885730348,
      -0.01965416737089698,
      0.001037712231976018,
      0.015812848520809886,
      0.0009618986242733163,
      -0.017059563186652582,
      -0.02131090268193503,
      0.006513648760273882,
      0.022091673854917254,
      0.022218880106755084
    ],
    "v_ego": [
      3.2076229208679905,
      3.0687092690103377,
      2.915308024869863,
      2.770074297969944,
      2.554822717254488,
      2.1914334524728107,
      1.7186150608877768,
      1.1152966043275017,
      0.49422361274734533,
      0.07287171206209202
    ],
    "ax_ego": [
      -0.27983508521093436,
      -0.2754499045527034,
      -0.337033035733899,
      -0.24519789867699254,
      -0.6158101642044455,
      -0.8381080589548612,
      -1.0524544564314429,
      -1.36019938743856,
      -1.1262969910848264,
      -1.1262965396400346
    ],
    "ay_ego": [
      0.1308979752779188,
      0.13989033752278873,
      0.16117604808743768,
      0.017960434645562892,
      0.05543720798457738,
      -0.027424836593554935,
      0.07157733826592566,
      0.07228777697963301,
      0.00014750369786764583,
      0.0010148926492307697
    ],
    "a_ego": [
      0.30893681368019177,
      0.30893681627532377,
      0.3735893275417429,
      0.2458548082268684,
      0.6183004466815719,
      0.8385566409893063,
      1.0548856327657699,
      1.3621188994683582,
      1.1262970007436202,
      1.1262969968938945
    ],
    "yaw": [
      1.1025332604658944,
      1.134918711919878,
      1.153111753771952,
      1.1637110825333932,
      1.1759676275791762,
      1.1863906005270253,
      1.1941058190581175,
      1.1997001543841113,
      1.2029645747635915,
      1.2037346990347109
    ],
    "yaw_diff": [
      0.06477090290796728,
      0.036386083704147865,
      0.021198657522882414,
      0.024513090091565992,
      0.020845945895698215,
      0.015430437062184499,
      0.011188670651987476,
      0.006528840758960541,
      0.0015402485422386647,
      0.0015402485422386647
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.0108977672470147,
    "v_std": 1.0591339280425691,
    "vy_max": 0.022218880106755084,
    "a_max": 1.3621188994683582,
    "ax_avg": -0.7256681521928701,
    "a_std": 0.3948538686378342,
    "ini_direction_judge": "straight",
    "scenario_type": "side_ego_to_main",
    "scene_token": "4755336a0e225d97",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "4755336a0e225d97",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "94a5491ee69d5e27": {
    "vx_ego": [
      5.882007467162795,
      6.073629477420708,
      6.248533145173911,
      6.320497780845958,
      6.281142488864706,
      6.213638928562577,
      6.168371374296521,
      6.18279807359704,
      6.232394144106582,
      6.2795598027184605
    ],
    "vy_ego": [
      0.0029328867724229823,
      -0.06409224103217603,
      -0.05781601179848428,
      -0.02648849308988721,
      0.006530591765679716,
      0.0267753892864655,
      -0.020916029881421494,
      -0.023773379515348747,
      0.002273443489653193,
      0.048564352667461286
    ],
    "v_ego": [
      5.882008198360803,
      6.0739676360970405,
      6.248800617523114,
      6.320553285745232,
      6.281145883837624,
      6.213696617635892,
      6.168406835767787,
      6.18284377875172,
      6.23239455875824,
      6.279747591445656
    ],
    "ax_ego": [
      0.37874275291281545,
      0.39230336964752155,
      0.3098297848355148,
      -0.02103631336502209,
      -0.13628752737959893,
      -0.13400552157038756,
      -0.046478576051303,
      0.10445262596268787,
      0.09410805569846777,
      0.0943478111922772
    ],
    "ay_ego": [
      0.3487706798910737,
      0.33344433106340843,
      0.12968088385076365,
      0.13411579372698976,
      0.10169121051494762,
      0.05808179623844107,
      0.15353679738795364,
      0.03924217951058692,
      0.11809859381116813,
      0.11790714696847891
    ],
    "a_ego": [
      0.5148660602871972,
      0.5148660561302559,
      0.3358744217822141,
      0.1357555619744984,
      0.17004526578308587,
      0.14605127478264404,
      0.16041759935838176,
      0.11158091110598758,
      0.1510086222952888,
      0.15100862486301925
    ],
    "yaw": [
      0.8072067782559222,
      0.8469562253180105,
      0.8646997471249227,
      0.8701727563783079,
      0.8742791222890529,
      0.877432332967408,
      0.8937094854877106,
      0.9020015334605169,
      0.9041417500298545,
      0.906173500041252
    ],
    "yaw_diff": [
      0.07949889412417654,
      0.035487043613824376,
      0.01094601850677046,
      0.00821273182148996,
      0.006306421356710112,
      0.03255430504060519,
      0.01658409594561272,
      0.00428043313867521,
      0.004063500022794875,
      0.004063500022794875
    ],
    "min_front_frame": [
      2,
      18.098027822751146
    ],
    "v_avg": 6.1883565003923104,
    "v_std": 0.12166989288023454,
    "vy_max": 0.06409224103217603,
    "a_max": 0.5148660602871972,
    "ax_avg": 0.1035976461882973,
    "a_std": 0.14951187838480748,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "94a5491ee69d5e27",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      24.121835543354315,
      21.136139241722645,
      18.098027822751146,
      21.026400481814655,
      24.263701670554685,
      21.205972028803416,
      23.30347892628177,
      20.244076570094954,
      25.03750705428578,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "94a5491ee69d5e27",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d55aac327e4451ba": {
    "vx_ego": [
      7.634066487690742,
      7.95827644250662,
      8.112628428629346,
      7.842101468869311,
      7.170477717335426,
      6.38485609973997,
      5.851709686366088,
      5.724748717100538,
      6.053288886962781,
      6.645183161817664
    ],
    "vy_ego": [
      0.01784655746120123,
      0.0902389005266655,
      -0.011546708596696043,
      -0.06190666409663992,
      -0.07587659009029313,
      -0.05669132241820618,
      -0.025372807891079763,
      -0.01605389957343828,
      -0.022671828059981802,
      -0.056727493920116334
    ],
    "v_ego": [
      7.6340873480787526,
      7.958788035531798,
      8.112636645843597,
      7.842345815067184,
      7.170879161701694,
      6.385107776727361,
      5.851764693909947,
      5.724771227012986,
      6.053331344046407,
      6.645425288322145
    ],
    "ax_ego": [
      0.6425291714558024,
      0.6625909176566454,
      -0.04314022975831727,
      -1.0423527254717067,
      -1.6493090348080481,
      -1.4968488521432364,
      -0.6410552602714272,
      0.1283454263547464,
      1.1818177703590285,
      1.183995109601532
    ],
    "ay_ego": [
      -0.5047964125041938,
      -0.47815941826324726,
      -0.4289318343286085,
      -0.32713293456710896,
      -0.17332286599600166,
      -0.39663898778101114,
      -0.46599909835462305,
      -0.38118123653005676,
      -0.21010244804607686,
      -0.19746360560828224
    ],
    "a_ego": [
      0.8171065745964746,
      0.8171065740984602,
      0.4310958106083904,
      1.0924811948847373,
      1.6583911203864192,
      1.548508628581213,
      0.7925320223113946,
      0.4022085075539361,
      1.20034839984537,
      1.2003484057140106
    ],
    "yaw": [
      0.6460780902378016,
      0.6052645336314215,
      0.5898792761213214,
      0.5727664286281702,
      0.5581080667679621,
      0.5341877584615864,
      0.49310796810740143,
      0.4542667718529759,
      0.4297422448550454,
      0.41905779292396816
    ],
    "yaw_diff": [
      -0.08162711321276017,
      -0.03077051502020023,
      -0.03422569498630246,
      -0.02931672372041616,
      -0.04784061661275141,
      -0.08215958070836993,
      -0.077682392508851,
      -0.049049053995861014,
      -0.02136890386215451,
      -0.02136890386215451
    ],
    "min_front_frame": [
      7,
      10.543337246888369
    ],
    "v_avg": 6.937913733624187,
    "v_std": 0.8720178118169386,
    "vy_max": 0.0902389005266655,
    "a_max": 1.6583911203864192,
    "ax_avg": -0.10734277070249812,
    "a_std": 0.40174157774989055,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "d55aac327e4451ba",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.469721763617711,
    "right_rear_min": 10.447710750638318,
    "speed_mode": "decelerating",
    "front_frame": [
      39.809074517533794,
      22.032494571312927,
      21.006912270899107,
      20.330104099493116,
      20.29704750540534,
      20.726708238957027,
      21.624301119952047,
      10.543337246888369,
      11.328865300584416,
      11.82332895385638
    ],
    "safe_frame": [
      1,
      1,
      0,
      0,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d55aac327e4451ba",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "4ae996307c6d5733": {
    "vx_ego": [
      6.751106440119736,
      6.352060474592822,
      5.830448865479905,
      5.155109897009185,
      4.432443407270984,
      3.7050630575838754,
      3.0163369237478577,
      2.349079627341654,
      1.7049774198728014,
      1.0858544607502658
    ],
    "vy_ego": [
      -0.010372140329867996,
      -0.06698829611578683,
      -0.08597280340839486,
      -0.05636261102970819,
      -0.026650075701117437,
      -0.011282887484378001,
      0.004472136127534387,
      -0.009810292749283578,
      -0.012731947792181342,
      0.0005023545288856957
    ],
    "v_ego": [
      6.751114407793812,
      6.352413691243737,
      5.831082686422978,
      5.1554180038251145,
      4.4325235233662195,
      3.705080237217915,
      3.016340239025802,
      2.349100112263296,
      1.705024957228104,
      1.0858545769537111
    ],
    "ax_ego": [
      -0.8006641719831195,
      -0.7899324156747454,
      -1.2870642713203382,
      -1.4050268449115255,
      -1.4850937605517827,
      -1.4238517090778937,
      -1.3309670035236967,
      -1.3381107127810439,
      -1.2382482220027105,
      -1.2382168582971689
    ],
    "ay_ego": [
      0.30936031593097596,
      0.33581796086863835,
      0.34152131422121396,
      0.41346505881613366,
      0.1306924019180309,
      0.09376364852901042,
      -0.050410292051926375,
      -0.0352527266180277,
      0.028781749066434936,
      0.030100632260471882
    ],
    "a_ego": [
      0.8583512808695094,
      0.8583512825036781,
      1.3316047636505128,
      1.4646002150019863,
      1.4908333178289717,
      1.4269356366807548,
      1.3319213047374865,
      1.3385750014076159,
      1.238582677245325,
      1.2385826723452058
    ],
    "yaw": [
      0.45819700779971384,
      0.49146152435155627,
      0.5220632647265668,
      0.550955615058492,
      0.5730886811048075,
      0.5831220475879669,
      0.5816539825510005,
      0.5789958678726077,
      0.5796431170586245,
      0.5807082449162579
    ],
    "yaw_diff": [
      0.06652903310368485,
      0.06120348075002113,
      0.05778470066385033,
      0.04426613209263097,
      0.02006673296631889,
      -0.0029361300739327856,
      -0.005316229356785662,
      0.001294498372033548,
      0.0021302557152669266,
      0.0021302557152669266
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.03839524353407,
    "v_std": 1.8841936870551135,
    "vy_max": 0.08597280340839486,
    "a_max": 1.4908333178289717,
    "ax_avg": -1.2337175970124021,
    "a_std": 0.2151744846421958,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4ae996307c6d5733",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4ae996307c6d5733",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9e970e2a22da585c": {
    "vx_ego": [
      2.0137849617324157,
      1.9423205574260218,
      1.8672228236234871,
      1.736324103736089,
      1.4455690403938215,
      0.988409213983565,
      0.5261600468896372,
      0.17597229497762096,
      -8.603454565663969e-05,
      -0.06044006061580062
    ],
    "vy_ego": [
      -0.013073179351176578,
      -0.006217183873383325,
      -0.0012502003108055826,
      0.005606231927424377,
      0.004472375792452743,
      -0.00796141612567769,
      -0.03007033873263984,
      -0.020982917427221262,
      0.004376087806534456,
      0.015940031740915968
    ],
    "v_ego": [
      2.013827395810767,
      1.9423305077084712,
      1.8672232421596742,
      1.7363331543950191,
      1.4455759588103085,
      0.9884412771805592,
      0.527018614675422,
      0.1772188799858763,
      0.004376933450892975,
      0.06250668395574238
    ],
    "ax_ego": [
      -0.14299821540583263,
      -0.14299660220488652,
      -0.1574003774357225,
      -0.36618481067753417,
      -0.7968576588536608,
      -1.0317832442011419,
      -0.8172141797816704,
      -0.5835296096708568,
      -0.12070408841457456,
      -0.12070696634869266
    ],
    "ay_ego": [
      -0.00019498411699331308,
      -0.0007069162193922562,
      0.01870338560119718,
      0.004274151541752702,
      -0.0026158399101589014,
      -0.04658616762306256,
      -0.04187798043560187,
      0.07828488603039627,
      0.023142899417552522,
      0.02312791200885332
    ],
    "a_ego": [
      0.14299834834031752,
      0.14299834954531396,
      0.15850771416513132,
      0.3662097540240339,
      0.7968619523431727,
      1.0328344175268547,
      0.818286490711898,
      0.5887574447456394,
      0.12290268814572114,
      0.12290269337566888
    ],
    "yaw": [
      -0.566906657317142,
      -0.5704866739339626,
      -0.5707320697664655,
      -0.5713404530824437,
      -0.5703990289893976,
      -0.5702920820511073,
      -0.5703018164747515,
      -0.5702573590848856,
      -0.5703256828402428,
      -0.5704499098518554
    ],
    "yaw_diff": [
      -0.007160033233641228,
      -0.0004907916650058741,
      -0.0012167666319564674,
      0.0018828481860921897,
      0.00021389387658077297,
      -1.9468847288539592e-05,
      8.891477973183015e-05,
      -0.00013664751071429393,
      -0.0002484540232252641,
      -0.0002484540232252641
    ],
    "min_front_frame": [
      9,
      10.510408628818299
    ],
    "v_avg": 1.0764852648132732,
    "v_std": 0.782374986349432,
    "vy_max": 0.03007033873263984,
    "a_max": 1.0328344175268547,
    "ax_avg": -0.4280375752994573,
    "a_std": 0.33243006423275095,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9e970e2a22da585c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.312391439165276,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.967471316473889,
      13.487816598615229,
      12.974086403144119,
      12.310082672120956,
      11.558312659483418,
      10.967804380045823,
      10.63824283026579,
      10.51437713404309,
      10.529761248723215,
      10.510408628818299
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9e970e2a22da585c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c672b42254b3556d": {
    "vx_ego": [
      0.4246711989392473,
      0.822310709948556,
      1.3602049182327924,
      2.0045926225936768,
      2.57016300447895,
      3.0140897117180487,
      3.351771475998655,
      3.6083109809947684,
      3.6462089181545894,
      3.5168597675666975
    ],
    "vy_ego": [
      0.07223476699871367,
      0.03528068486314767,
      0.010786608769119299,
      -0.007762016350268741,
      -0.01146221435864736,
      -0.007728777849975943,
      -0.0053666403382939265,
      0.008039560218370712,
      0.013812859380385678,
      0.017155428284598484
    ],
    "v_ego": [
      0.430770807706205,
      0.8230672089328496,
      1.36024768719282,
      2.0046076502534897,
      2.5701885635007926,
      3.0140996208306796,
      3.351775772355114,
      3.6083199373248394,
      3.6462350815484075,
      3.516901609861856
    ],
    "ax_ego": [
      0.7953004240314097,
      0.7953230444951015,
      1.3562640164209103,
      1.2212852949519926,
      1.0408714736865674,
      0.7348130170991196,
      0.6159181871307573,
      0.4102395307982435,
      -0.2586804141348776,
      -0.25868191437048427
    ],
    "ay_ego": [
      -0.0744088266624584,
      -0.0741667190770316,
      -0.024430950829901987,
      -0.049210064105597806,
      0.018463079964065487,
      -0.015283581915464417,
      0.025867887649913435,
      0.02883399388488972,
      0.002797125204614004,
      0.0026541254592828134
    ],
    "a_ego": [
      0.7987737088498993,
      0.798773714717509,
      1.3564840410401562,
      1.2222763198537605,
      1.0410352107667666,
      0.7349719436648434,
      0.616461159238688,
      0.41125159189104277,
      0.25869553642535476,
      0.2586955299272335
    ],
    "yaw": [
      2.437674265681564,
      2.437369841372388,
      2.4372177137927045,
      2.4372991422535573,
      2.4355733103487287,
      2.4345350890102955,
      2.4346238804895477,
      2.434700687890348,
      2.4352758833114723,
      2.434723115594731
    ],
    "yaw_diff": [
      -0.0006088486183521979,
      -0.00030425515936727265,
      0.00016285692170558974,
      -0.003451663809657113,
      -0.0020764426768664634,
      0.00017758295850445194,
      0.00015361480160080987,
      0.0011503908422483278,
      -0.001105535433482352,
      -0.001105535433482352
    ],
    "min_front_frame": [
      9,
      23.9346053053015
    ],
    "v_avg": 2.4326213939507055,
    "v_std": 1.1473415723289067,
    "vy_max": 0.07223476699871367,
    "a_max": 1.3564840410401562,
    "ax_avg": 0.6452652660108741,
    "a_std": 0.359985485621964,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "c672b42254b3556d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.216099939469064,
    "speed_mode": "accelerating",
    "front_frame": [
      31.66455947911519,
      32.3335694745259,
      32.56930970460503,
      32.25260550601131,
      31.547986565088543,
      30.48771648997428,
      29.18469699707878,
      27.50075072951749,
      25.681971074623597,
      23.9346053053015
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "c672b42254b3556d",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "84a832f4cdbc5aef": {
    "vx_ego": [
      4.192235483147773,
      4.357710280335999,
      4.590977761080203,
      4.861753864495963,
      5.055767499504594,
      5.143685071636915,
      5.1453330098862775,
      5.077267893820619,
      5.038306519315045,
      5.056504202243244
    ],
    "vy_ego": [
      -0.03401111544272073,
      -0.019011559149631818,
      -0.04791732593609532,
      -0.08677561446244018,
      -0.05690305546242219,
      -0.0109375182932554,
      -0.004962648921714385,
      0.03174993733053333,
      0.014129826820105329,
      0.05741152629778867
    ],
    "v_ego": [
      4.192373444975638,
      4.357751751388249,
      4.591227817573188,
      4.862528215466392,
      5.056087713516043,
      5.1436967003787135,
      5.14533540311122,
      5.077367164598416,
      5.038326332680174,
      5.056830116847453
    ],
    "ax_ego": [
      0.300169565153659,
      0.3698105599529203,
      0.5693657672899427,
      0.5480956950046258,
      0.24965294142086172,
      0.09954015493544612,
      -0.09632882374606226,
      -0.17634773020265976,
      0.027207577121697926,
      0.0534596764374433
    ],
    "ay_ego": [
      0.800838807469986,
      0.7711580230059825,
      0.6453128231226933,
      0.8799244917760192,
      0.8452254158424202,
      0.48541002808414296,
      0.21525942446873372,
      -0.018387588582932997,
      -0.4742778666058359,
      -0.47204004073173633
    ],
    "a_ego": [
      0.8552453235151222,
      0.8552453137545905,
      0.8605846946397813,
      1.0366658102348556,
      0.8813243414010986,
      0.49551098656762504,
      0.23583015521114006,
      0.17730376578495247,
      0.47505762493093,
      0.4750576144625149
    ],
    "yaw": [
      -0.24868361979802012,
      -0.16013956137398125,
      -0.07410835608469019,
      0.014681951143203536,
      0.09498497028097491,
      0.15098163893732514,
      0.1837109160840823,
      0.18615274977064106,
      0.16517993747421938,
      0.10971154960692525
    ],
    "yaw_diff": [
      0.17708811684807774,
      0.17206241057858213,
      0.17758061445578743,
      0.16060603827554276,
      0.11199333731270045,
      0.06545855429351433,
      0.004883667373117517,
      -0.041945624592843345,
      -0.11093677573458827,
      -0.11093677573458827
    ],
    "min_front_frame": [
      4,
      17.606237688571404
    ],
    "v_avg": 4.852152466053548,
    "v_std": 0.3298103882193582,
    "vy_max": 0.08677561446244018,
    "a_max": 1.0366658102348556,
    "ax_avg": 0.19446253833678748,
    "a_std": 0.28449214565832764,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "84a832f4cdbc5aef",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 25.2449113366711,
    "speed_mode": "accelerating",
    "front_frame": [
      52.05275623586188,
      54.61545335963247,
      32.253981206979766,
      17.642296055487225,
      17.606237688571404,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "84a832f4cdbc5aef",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "40bdfb00872f5bc4": {
    "vx_ego": [
      5.849965161603856,
      6.336628931938995,
      6.732388107939374,
      7.006557055084063,
      7.219218011508539,
      7.340116922602717,
      7.461561353728471,
      7.673613294515553,
      7.94313213673052,
      8.309175860810644
    ],
    "vy_ego": [
      -0.02042906570663483,
      0.010666986019160163,
      0.008326533367740696,
      0.02229379170592538,
      0.019239723897521044,
      -0.019959620754023272,
      -0.012821337828124668,
      -4.2902115616749725e-05,
      -0.013192482737478972,
      -0.1273526100607576
    ],
    "v_ego": [
      5.8500008323678445,
      6.3366379102547,
      6.732393257013544,
      7.006592522710085,
      7.219243649071899,
      7.34014406016254,
      7.4615723692904,
      7.673613294635483,
      7.943143092199834,
      8.310151753919275
    ],
    "ax_ego": [
      0.9626759735009706,
      0.9839936573880795,
      0.6018816060900927,
      0.5070264632650662,
      0.3480531238246266,
      0.15297684928299823,
      0.34938697646851546,
      0.5037770598353303,
      0.5944165466573287,
      0.9026975201013092
    ],
    "ay_ego": [
      0.5607829219164011,
      0.52247392396747,
      0.7180387218334683,
      1.201790981531936,
      1.4624939269004118,
      1.7609887288181956,
      1.899359868616523,
      1.927176331458161,
      2.1761869492045154,
      2.067427819341033
    ],
    "a_ego": [
      1.114101662986434,
      1.1141016645737205,
      0.9369317338001901,
      1.304368582012989,
      1.5033394371281117,
      1.7676207793079592,
      1.9312273739352357,
      1.9919337184125543,
      2.2559079477735966,
      2.255907932736235
    ],
    "yaw": [
      2.7637972299739184,
      2.8031506511068986,
      2.8506129751135063,
      2.918305157641696,
      3.012046612827529,
      3.127616600880404,
      -3.032633552491592,
      -2.9077537644792555,
      -2.7746960033361288,
      -2.629659094935686
    ],
    "yaw_diff": [
      0.07870684226596047,
      0.09492464801321532,
      0.13538436505637907,
      0.1874829103716662,
      0.23113997610574977,
      0.24587030761518047,
      0.24975957602467336,
      0.26611552228625346,
      0.2900738168008852,
      0.2900738168008852
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.187349274162561,
    "v_std": 0.7014123512889748,
    "vy_max": 0.1273526100607576,
    "a_max": 2.2559079477735966,
    "ax_avg": 0.5906885776414318,
    "a_std": 0.4644747521416266,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "40bdfb00872f5bc4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.6862900378177343,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "40bdfb00872f5bc4",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "7dbe342f2b1c57c5": {
    "vx_ego": [
      1.9400243241731154,
      2.8430378412182553,
      3.5940426442554188,
      4.1304639329198425,
      4.569838395093152,
      4.908171293174681,
      5.21384349606417,
      5.555293936187833,
      5.969383824804316,
      6.459045544117496
    ],
    "vy_ego": [
      -0.0018437691332573447,
      0.07105320603222864,
      0.03729508864501874,
      -0.002200367710462947,
      -0.050296536988264084,
      -0.08307520503071009,
      -0.10393034193770911,
      -0.16783510243244315,
      -0.12938282624413722,
      -0.04130361920469783
    ],
    "v_ego": [
      1.9400252003177614,
      2.843925583535268,
      3.5942361430996046,
      4.130464519006272,
      4.570115173483111,
      4.908874304037018,
      5.2148792428421515,
      5.557828653265034,
      5.970785807878418,
      6.459177604768542
    ],
    "ax_ego": [
      1.7914896019544742,
      1.8112133081062296,
      1.190565649157389,
      0.984082757864303,
      0.8468820371173926,
      0.6248110877744419,
      0.7023649653195748,
      0.7827671108509463,
      0.9084429636577898,
      1.0820821839336372
    ],
    "ay_ego": [
      0.4341580240971804,
      0.34268721892366133,
      0.7270471225993972,
      1.2829655034924148,
      1.8458389910741568,
      2.3544246897803363,
      2.467222699067324,
      2.3847029618338658,
      1.6126787741866704,
      1.5016989065609558
    ],
    "a_ego": [
      1.8433470058019374,
      1.843347004086519,
      1.3950068399235962,
      1.6169166204468794,
      2.030844840395683,
      2.4359196446625893,
      2.565249381892805,
      2.509886962795167,
      1.8509460950907162,
      1.8509460982840533
    ],
    "yaw": [
      -2.1119482596149295,
      -2.0611801784844395,
      -1.969866064305631,
      -1.8306904978805014,
      -1.6411432617590527,
      -1.4149470918834053,
      -1.173366874885962,
      -0.9368935265355867,
      -0.7700716168101385,
      -0.6586788091159542
    ],
    "yaw_diff": [
      0.10153616226098006,
      0.18262822835761705,
      0.27835113285025903,
      0.3790944722428975,
      0.4523923397512948,
      0.4831604339948865,
      0.47294669670075073,
      0.3336438194508964,
      0.2227856153883685,
      0.2227856153883685
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.519031223223318,
    "v_std": 1.3436194444386507,
    "vy_max": 0.16783510243244315,
    "a_max": 2.565249381892805,
    "ax_avg": 1.0724701665736178,
    "a_std": 0.37100152527282293,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "7dbe342f2b1c57c5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.121072291533064,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "7dbe342f2b1c57c5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1faa29a936cd5277": {
    "vx_ego": [
      6.822639749157812,
      6.907753286498431,
      7.002816651422903,
      7.122925038775929,
      7.229258204330021,
      7.335774883230693,
      7.493268096083188,
      7.738458949229983,
      7.98497667814342,
      8.158610012944825
    ],
    "vy_ego": [
      0.020258160729475172,
      -0.03666198031670209,
      0.00479228148452826,
      0.047583545403282024,
      0.08708522750145731,
      0.09244555262038467,
      0.06518536832182997,
      0.024107321538807014,
      -0.0036839283136411716,
      -0.030287281531124588
    ],
    "v_ego": [
      6.822669824919298,
      6.907850575101536,
      7.002818291188749,
      7.123083974081325,
      7.229782709163665,
      7.336357360273392,
      7.49355162069505,
      7.738496499441568,
      7.9849775279472235,
      8.158666230625329
    ],
    "ax_ego": [
      0.1571811356540394,
      0.18467784698212197,
      0.19270049017157212,
      0.2876822879823562,
      0.1380138163584471,
      0.28780557151687675,
      0.34232664062754015,
      0.6387059045058057,
      0.347364979697708,
      0.3473302033244083
    ],
    "ay_ego": [
      0.5641973746796649,
      0.5558045441489994,
      0.10550628539581515,
      0.07772685720924086,
      0.043749172636096775,
      -0.0035305330153303643,
      -0.11818402802381829,
      -0.09498792863133845,
      -0.014096139019806109,
      -0.01492870452244166
    ],
    "a_ego": [
      0.5856830089740693,
      0.5856830187589778,
      0.21969309313309637,
      0.29799758916875324,
      0.1447819174212241,
      0.28782722536189725,
      0.36215327330188757,
      0.6457305467733825,
      0.3476508740901636,
      0.34765088286971624
    ],
    "yaw": [
      2.580397333679376,
      2.6294886712568912,
      2.6473007422827903,
      2.6477286274848995,
      2.6464592834737077,
      2.647105548235786,
      2.6466778235298296,
      2.6450661017700448,
      2.6451319692006106,
      2.6475288491462177
    ],
    "yaw_diff": [
      0.0981826751550301,
      0.0356241420517982,
      0.0008557704042182479,
      -0.0025386880223834396,
      0.0012925295241563717,
      -0.0008554494119126232,
      -0.003223443519569713,
      0.00013173486113160493,
      0.004793759891214222,
      0.004793759891214222
    ],
    "min_front_frame": [
      0,
      32.33813194920499
    ],
    "v_avg": 7.379825461343714,
    "v_std": 0.43359152642387605,
    "vy_max": 0.09244555262038467,
    "a_max": 0.6457305467733825,
    "ax_avg": 0.29237888768208753,
    "a_std": 0.15931712777548704,
    "ini_direction_judge": "straight",
    "scenario_type": "roundout_interior",
    "scene_token": "1faa29a936cd5277",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 21.390336282143526,
    "right_rear_min": 23.208036939847943,
    "speed_mode": "accelerating",
    "front_frame": [
      32.33813194920499,
      33.61696305521518,
      35.06007796418633,
      36.60591983075318,
      38.078044566391505,
      39.72061752514304,
      41.22651709099234,
      42.73197175746531,
      44.188436248474076,
      45.49852374358301
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "roundout_interior",
    "lane_change_frame": -1,
    "token": "1faa29a936cd5277",
    "incoming_vehicles": "No"
  },
  "2c337eb368fb54ca": {
    "vx_ego": [
      3.7694630491003314,
      3.486834509901006,
      3.328540793015804,
      3.37881934800659,
      3.7327013730669334,
      4.357620660759261,
      5.1248542917156925,
      5.914718822162292,
      6.701298587491854,
      7.474640805420343
    ],
    "vy_ego": [
      0.039330332908951826,
      -0.0006808915411717908,
      0.005421199171211977,
      -0.04755884757351691,
      -0.05335589266973728,
      -0.0014048524751659741,
      0.07391075702920347,
      0.055987237520017885,
      0.06302966405790578,
      0.03001793293617494
    ],
    "v_ego": [
      3.7696682285871654,
      3.486834576381546,
      3.3285452077703153,
      3.3791540406507363,
      3.73308269286636,
      4.357620887214313,
      5.125387235255633,
      5.914983796766142,
      6.701594996511768,
      7.474701080735779
    ],
    "ax_ego": [
      -0.6866031057760698,
      -0.41975324601283737,
      -0.18857368635354826,
      0.3899539970686784,
      0.9520498950223479,
      1.4934005113530162,
      1.5542255516491077,
      1.6083425503645965,
      1.5450631721563863,
      1.551606150685739
    ],
    "ay_ego": [
      -1.373933238017252,
      -1.4774720211951893,
      -1.6702451151891635,
      -1.8409129260920707,
      -1.6540537798255144,
      -1.3330153457261842,
      -0.696834245360679,
      -0.3220521903862168,
      -0.3542592805462398,
      -0.3244043491746593
    ],
    "a_ego": [
      1.5359415247299995,
      1.5359415226345408,
      1.6808565613990472,
      1.8817610159854807,
      1.9084792137110467,
      2.0017929461487642,
      1.7032894736087463,
      1.640269298818293,
      1.5851560944610767,
      1.5851560896672765
    ],
    "yaw": [
      0.6748688072200961,
      0.488241611306757,
      0.2546015922664897,
      0.004550905210220231,
      -0.24319009760801547,
      -0.44332888075117793,
      -0.5662880125861449,
      -0.6092339128844122,
      -0.6371172488555847,
      -0.6563986112007867
    ],
    "yaw_diff": [
      -0.3732543918266783,
      -0.46728003808053453,
      -0.500101374112539,
      -0.4954820056364714,
      -0.40027756628632494,
      -0.24591826366993397,
      -0.08589180059653456,
      -0.05576667194234508,
      -0.03856272469040389,
      -0.03856272469040389
    ],
    "min_front_frame": [
      9,
      65.39485979679552
    ],
    "v_avg": 4.727157274273975,
    "v_std": 1.4272377429667786,
    "vy_max": 0.07391075702920347,
    "a_max": 2.0017929461487642,
    "ax_avg": 0.7799711790157418,
    "a_std": 0.15855263643790685,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "2c337eb368fb54ca",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.909694378659381,
    "speed_mode": "accelerating",
    "front_frame": [
      69.37501828635293,
      -1,
      -1,
      -1,
      -1,
      -1,
      66.20348862099034,
      66.6507136389244,
      66.4487971765231,
      65.39485979679552
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2c337eb368fb54ca",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e9d8c81a844c5c95": {
    "vx_ego": [
      -0.015807556523196528,
      0.004936501914826423,
      0.13564883729491117,
      0.5962072116694304,
      1.2627467543051343,
      1.7917014308295742,
      2.172165691039953,
      2.424291718636525,
      2.472128614148091,
      2.4313774237992516
    ],
    "vy_ego": [
      -0.0006850798852598696,
      -0.0013817065124064247,
      -0.000675472193120516,
      -0.010440701932280222,
      -0.022740992081859757,
      -0.022331291170352485,
      -0.026920293816771856,
      -0.04712893248946903,
      -0.017614875842808297,
      0.05910551445877221
    ],
    "v_ego": [
      0.01582239481504746,
      0.005126223175156468,
      0.1356505190633083,
      0.5962986227583253,
      1.2629515106404594,
      1.7918405910688815,
      2.172332500228788,
      2.424749775405131,
      2.472191369765035,
      2.432095729777124
    ],
    "ax_ego": [
      0.04148822439949871,
      0.04148815260332866,
      0.4813644487476418,
      1.3608702184787291,
      1.3061130119035886,
      0.8105239474804966,
      0.7112247195385935,
      0.2958449860266147,
      -0.10646470484334433,
      -0.04523094237456318
    ],
    "ay_ego": [
      -0.0013928491012840175,
      -0.001394559806911673,
      0.004248410573509609,
      -0.03956756063351102,
      0.022150646067647772,
      0.03371239814782112,
      -0.07074866354576512,
      -0.2582939034884956,
      -0.4708552723182325,
      -0.48061791297825385
    ],
    "a_ego": [
      0.04151159828821468,
      0.04151158396751611,
      0.48138319612396335,
      1.3614453141411265,
      1.306300827139399,
      0.8112247501329357,
      0.7147348984597456,
      0.3927340020120643,
      0.4827415673497128,
      0.4827415627679716
    ],
    "yaw": [
      1.2038807725051732,
      1.2039218732164136,
      1.2043941140978633,
      1.2080483296840314,
      1.2165347453067845,
      1.22506495614792,
      1.2227233058636466,
      1.1963214306891234,
      1.1116007005318378,
      0.9830643899686269
    ],
    "yaw_diff": [
      8.220142248083206e-05,
      0.0009444817628994073,
      0.0073084311723361495,
      0.016972831245506192,
      0.017060421682271176,
      -0.004683300568546933,
      -0.052803750349046386,
      -0.1694414603145713,
      -0.2570726211264218,
      -0.2570726211264218
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.3309059236697256,
    "v_std": 1.0045965834614967,
    "vy_max": 0.05910551445877221,
    "a_max": 1.3614453141411265,
    "ax_avg": 0.48972220619605833,
    "a_std": 0.42935223222061786,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "e9d8c81a844c5c95",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "e9d8c81a844c5c95",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "36aef5f67c8d5e2e": {
    "vx_ego": [
      3.4567978363399066,
      3.903208665262964,
      4.3380876542280955,
      4.650536675916831,
      4.882168841397046,
      5.086918170154882,
      5.309615261557062,
      5.550013162794874,
      5.780347328360692,
      6.0104243536560285
    ],
    "vy_ego": [
      0.11441876128810247,
      -0.023151885033537045,
      -0.0010268695699968688,
      0.046205070161349004,
      0.12397551126189482,
      0.17422562464289437,
      0.2010382884313362,
      0.12769381640535427,
      0.10880079624499772,
      0.03853778398988794
    ],
    "v_ego": [
      3.458690927830783,
      3.9032773273704877,
      4.338087775763341,
      4.650766203815903,
      4.883742675786761,
      5.089900886867454,
      5.313419860991137,
      5.551481947907651,
      5.781371191140571,
      6.010547901133169
    ],
    "ax_ego": [
      0.7855784847422411,
      1.017746619475782,
      0.7484571468465884,
      0.5368091394010299,
      0.4602708305914115,
      0.4566204439806548,
      0.5024677603687997,
      0.4853657739329843,
      0.4563137518141963,
      0.4733238750395399
    ],
    "ay_ego": [
      -1.5191912659483646,
      -1.3745062661807972,
      -1.7474888632508803,
      -1.9010633325774964,
      -1.8791915784753241,
      -1.715047135635302,
      -1.1640473973116836,
      -0.6161156129454631,
      -0.5310552709793084,
      -0.5159519787328336
    ],
    "a_ego": [
      1.7102852563896205,
      1.710285256097549,
      1.9010274663590712,
      1.9754001737914095,
      1.9347377667544219,
      1.7747926378346133,
      1.2678644223252509,
      0.7843330816819654,
      0.7001727936228703,
      0.7001727894175639
    ],
    "yaw": [
      0.8786097137018771,
      0.7184880154510684,
      0.5258829471821072,
      0.3144600954428914,
      0.10110825078464286,
      -0.08865322175061459,
      -0.23218696345949902,
      -0.3005880367608108,
      -0.34783777190783466,
      -0.38032776392750134
    ],
    "yaw_diff": [
      -0.3202433965016174,
      -0.3852101365379226,
      -0.42284570347843153,
      -0.42670368931649705,
      -0.37952294507051487,
      -0.2870674834177689,
      -0.13680214660262358,
      -0.0944994702940477,
      -0.06497998403933336,
      -0.06497998403933336
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.898128669860727,
    "v_std": 0.7804139232748198,
    "vy_max": 0.2010382884313362,
    "a_max": 1.9754001737914095,
    "ax_avg": 0.5922953826193228,
    "a_std": 0.5055718439842556,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "36aef5f67c8d5e2e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.253393224184816,
    "right_rear_min": 8.377531215333029,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "36aef5f67c8d5e2e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d9435ec2640f586f": {
    "vx_ego": [
      4.187585995117979,
      4.552764388491317,
      4.925479185723081,
      5.231645209736458,
      5.404594306083443,
      5.47343279974535,
      5.488304234156986,
      5.447996016920702,
      5.355827754866427,
      5.238324262437813
    ],
    "vy_ego": [
      -0.13835679997183947,
      -0.16592684469331656,
      -0.18765457759281268,
      -0.1840175638017718,
      -0.1582497512488743,
      -0.10101230246087045,
      -0.03708621376109589,
      -0.009192507498030578,
      -0.000850371084671675,
      0.001720577400530443
    ],
    "v_ego": [
      4.189871008826725,
      4.555787011582587,
      4.92905259147058,
      5.234880520541607,
      5.4069106333580095,
      5.474364812339115,
      5.488429534385645,
      5.44800377226172,
      5.355827822375224,
      5.238324545007807
    ],
    "ax_ego": [
      0.7170823323334581,
      0.8015684593659081,
      0.750224045811247,
      0.5157519072576977,
      0.19005220937072043,
      0.08668959765244261,
      -0.027742356378118845,
      -0.13351453426130183,
      -0.2353986261568167,
      -0.23459023410359026
    ],
    "ay_ego": [
      0.8697502888434426,
      0.7925658591614677,
      0.775781484546963,
      0.5634520947639705,
      0.16092647579172642,
      0.12828849432179995,
      0.08050210787045735,
      -0.09634578247109045,
      -0.08895170373661997,
      -0.09106229076339364
    ],
    "a_ego": [
      1.127241161547982,
      1.127241161490562,
      1.0792001810041016,
      0.7638575082656838,
      0.24903247358012823,
      0.15483224507994736,
      0.08514826897240661,
      0.16464701837257492,
      0.2516444292929294,
      0.2516444291770714
    ],
    "yaw": [
      -1.5835244012317622,
      -1.481963102199244,
      -1.3948175587176226,
      -1.3300047570681603,
      -1.301021584868686,
      -1.2982581095922336,
      -1.3003924253566572,
      -1.3062038420954223,
      -1.3162997983475722,
      -1.3252811750192768
    ],
    "yaw_diff": [
      0.2031225980650362,
      0.17429108696324302,
      0.12962560329892447,
      0.05796634439894888,
      0.00552695055290453,
      -0.0042686315288471555,
      -0.011622833477530126,
      -0.020191912504299747,
      -0.017962753343409243,
      -0.017962753343409243
    ],
    "min_front_frame": [
      1,
      54.90171458656281
    ],
    "v_avg": 5.132145225214901,
    "v_std": 0.41862799790862565,
    "vy_max": 0.18765457759281268,
    "a_max": 1.127241161547982,
    "ax_avg": 0.24301228008916462,
    "a_std": 0.42137040277500204,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "d9435ec2640f586f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      54.90171458656281,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d9435ec2640f586f",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "4a096077f8165879": {
    "vx_ego": [
      3.514563474164339,
      3.5038487005231,
      3.491556124171985,
      3.4768144505127005,
      3.4426385163476247,
      3.386452345228702,
      3.3264783734348455,
      3.27556820869319,
      3.2572193614337634,
      3.2596052961765047
    ],
    "vy_ego": [
      0.01919046233824595,
      0.01828825584592808,
      0.013259184947113312,
      0.010497399950541997,
      0.015204377309749884,
      0.004321950117119888,
      -0.0012087645137195402,
      0.005627795760791532,
      0.01236288462398527,
      0.036113069081782245
    ],
    "v_ego": [
      3.5146158663180906,
      3.503896427758575,
      3.4915812999597122,
      3.476830297656136,
      3.442672091171268,
      3.3864551031658148,
      3.326478593053228,
      3.2755730432836696,
      3.25724282321954,
      3.259805337841575
    ],
    "ax_ego": [
      -0.036769801292132726,
      -0.010631141225727142,
      -0.042666038891796654,
      -0.018819634609254343,
      -0.12057180302651815,
      -0.10893908968663651,
      -0.1304917745776467,
      -0.07467384633258249,
      -0.0025116480461933044,
      0.008419527935912052
    ],
    "ay_ego": [
      0.42648706017526117,
      0.42793715701252305,
      0.42111580699523143,
      0.43526758591872095,
      0.45211125407607883,
      0.38191839164595076,
      0.4097272397302397,
      0.37429371531301014,
      0.2917063771079008,
      0.2915956583220658
    ],
    "a_ego": [
      0.4280691892486538,
      0.4280691901033315,
      0.4232716784477333,
      0.4356742475730428,
      0.46791254070318544,
      0.39715158710394555,
      0.43000524904864207,
      0.3816699734704301,
      0.2917171897940277,
      0.2917171856489476
    ],
    "yaw": [
      -2.3141140617158245,
      -2.2529488802214557,
      -2.190915523500579,
      -2.128641805690747,
      -2.066130524266116,
      -2.001873719183471,
      -1.9413288194286231,
      -1.8839171401603303,
      -1.8348798047198451,
      -1.797403810165032
    ],
    "yaw_diff": [
      0.12233036298873756,
      0.12406671344175368,
      0.12454743561966364,
      0.12502256284926183,
      0.12851361016529061,
      0.12108979950969534,
      0.11482335853658565,
      0.09807467088097033,
      0.0749519891096262,
      0.0749519891096262
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.3935150883427605,
    "v_std": 0.10036271424856896,
    "vy_max": 0.036113069081782245,
    "a_max": 0.46791254070318544,
    "ax_avg": -0.05376552497525759,
    "a_std": 0.057127604209554345,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "4a096077f8165879",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "4a096077f8165879",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "e5599a8884235d93": {
    "vx_ego": [
      0.057915905109610394,
      -0.022394113792871984,
      0.15561577937194293,
      0.8466964221326647,
      1.8628919965874884,
      2.9397749920554688,
      3.962746470385114,
      4.915670503018737,
      5.72780955512995,
      6.425032397777565
    ],
    "vy_ego": [
      0.08288582070763835,
      0.04488536438725619,
      0.006647366527975984,
      -0.010328535022802288,
      0.0028447501301145373,
      0.009556349076898618,
      -0.014996557896905127,
      -0.020560815562737034,
      0.02949658623631679,
      0.0720411506361196
    ],
    "v_ego": [
      0.10111533681417555,
      0.05016166134354867,
      0.1557576908897101,
      0.846759416769588,
      1.862894168640028,
      2.9397905244629947,
      3.9627748466571293,
      4.915713502777098,
      5.727885504131306,
      6.4254362684471715
    ],
    "ax_ego": [
      -0.1606033863465978,
      -0.16058929016105938,
      0.8726347292564589,
      1.8916814037098928,
      2.173137186970575,
      2.1343135871486534,
      1.9575670903414462,
      1.8541687190486802,
      1.394404042371888,
      1.3944293182596965
    ],
    "ay_ego": [
      -0.07599260021047469,
      -0.07602238955386124,
      -0.07691539295421124,
      0.008820408156737125,
      0.0493140045446141,
      -0.007823909432557175,
      -0.08789530613668273,
      0.07034263926208395,
      0.0887565445218571,
      0.08835857245513634
    ],
    "a_ego": [
      0.17767476746219085,
      0.1776747698124637,
      0.876017892726966,
      1.891701967208863,
      2.1736966449895005,
      2.1343279274390246,
      1.959539358632211,
      1.855502553379267,
      1.3972259507962634,
      1.3972259520022206
    ],
    "yaw": [
      2.413631615578777,
      2.413446097064626,
      2.413389345499257,
      2.4132613340472764,
      2.4142921785029325,
      2.4158136407987274,
      2.4159930353831855,
      2.416257198165254,
      2.414345652553556,
      2.414631053561053
    ],
    "yaw_diff": [
      -0.0003710370283016573,
      -0.00011350313073776874,
      -0.00025602290396165017,
      0.0020616889113123094,
      0.003042924591589724,
      0.00035878916891629586,
      0.0005283255641366225,
      -0.003823091223395636,
      0.0005708020149937099,
      0.0005708020149937099
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.6988288920932755,
    "v_std": 2.3236329079711737,
    "vy_max": 0.08288582070763835,
    "a_max": 2.1736966449895005,
    "ax_avg": 1.3351143400599632,
    "a_std": 0.7185226192052752,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "e5599a8884235d93",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "e5599a8884235d93",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "63d6fbc938bc58cb": {
    "vx_ego": [
      6.304134205634369,
      6.160471227991695,
      6.075933456001243,
      5.974546710554121,
      5.7360825497726315,
      5.421914004720624,
      5.123794930367288,
      4.883434023285333,
      4.699687537867539,
      4.544750055841761
    ],
    "vy_ego": [
      -0.05166762337691111,
      -0.012953769239030688,
      -0.005134176710607008,
      -0.0033615799697894744,
      -0.013885467755725855,
      0.004137303795995972,
      0.010016195457601462,
      0.005314034907316856,
      0.019943804657947428,
      0.06730259813868433
    ],
    "v_ego": [
      6.304345931653394,
      6.160484847075837,
      6.075935625195983,
      5.974547656250886,
      5.736099356184557,
      5.421915583248077,
      5.123804720383962,
      4.88343691458667,
      4.699729854888649,
      4.545248366128072
    ],
    "ax_ego": [
      -0.28730737699935127,
      -0.2869180132972843,
      -0.05117998251947875,
      -0.3538423678324085,
      -0.599167027018181,
      -0.6573562375874452,
      -0.5359631909970899,
      -0.42549895747331135,
      -0.3094983558288022,
      -0.3097041886075781
    ],
    "ay_ego": [
      0.11794137498162477,
      0.11888546264272831,
      0.06363403054272314,
      0.15179462467415522,
      0.1874303632866929,
      0.17191708153489338,
      0.03255670376617392,
      -0.04608465213579421,
      0.06628216419101061,
      0.06531362550221063
    ],
    "a_ego": [
      0.31057317464778506,
      0.31057317910958787,
      0.08166198903900376,
      0.385027309879719,
      0.6277987474880683,
      0.6794650145655748,
      0.5369510974603753,
      0.4279873338936001,
      0.3165162832313307,
      0.3165162778078267
    ],
    "yaw": [
      2.5601907480020554,
      2.563478937647831,
      2.5696887918225695,
      2.5782791956523026,
      2.5944749770339786,
      2.6073302585803573,
      2.615934675436974,
      2.6161992489011108,
      2.6141937496645458,
      2.6110654352586162
    ],
    "yaw_diff": [
      0.006576379291550971,
      0.012419708349477254,
      0.01718080765946617,
      0.03239156276335198,
      0.025710563092757432,
      0.017208833713233673,
      0.0005291469282733274,
      -0.004010998473130023,
      -0.006256628811859066,
      -0.006256628811859066
    ],
    "min_front_frame": [
      8,
      19.071267510874033
    ],
    "v_avg": 5.492554885559609,
    "v_std": 0.614414488149869,
    "vy_max": 0.06730259813868433,
    "a_max": 0.6794650145655748,
    "ax_avg": -0.38164356981609304,
    "a_std": 0.16763761590029624,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "63d6fbc938bc58cb",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.511567576765804,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.381346779526186,
      25.471255285739982,
      23.941250317391106,
      22.268898979143927,
      19.383381454858473,
      20.344477081043646,
      19.704533948336582,
      19.261441861340042,
      19.071267510874033,
      19.22458698250529
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "63d6fbc938bc58cb",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d01fec804cd45644": {
    "vx_ego": [
      5.643683609239141,
      5.547398797578689,
      5.437331690735929,
      5.329777848298479,
      5.251366206130477,
      5.182491772090755,
      5.090293213953432,
      4.857302547944627,
      4.416508179031916,
      3.888321934185509
    ],
    "vy_ego": [
      0.09454083576898142,
      0.12335809090649175,
      0.12537158707292262,
      0.10448596184062087,
      0.09038819400455633,
      0.09059835183529907,
      0.07665078005655435,
      0.07177456593570142,
      0.07934648660276844,
      0.07838991471162338
    ],
    "v_ego": [
      5.644475409710139,
      5.548770191490145,
      5.438776879954391,
      5.330801931082688,
      5.252144043769611,
      5.183283614577119,
      5.090870293584746,
      4.857832812127711,
      4.417220886529449,
      3.889112037804598
    ],
    "ax_ego": [
      -0.19231805217994488,
      -0.1923660378058655,
      -0.24858110605756562,
      -0.1821478218382953,
      -0.13178742665627183,
      -0.14321612498352324,
      -0.22522990535193882,
      -0.7072783420312231,
      -1.056847150567518,
      -1.0567860949434555
    ],
    "ay_ego": [
      0.04604906704583568,
      0.04584821737455658,
      -0.009359859059251505,
      -0.051209610552806345,
      0.011851617935874428,
      -0.03768419346574723,
      -0.03947943640115091,
      0.06487411065616472,
      0.020087124909789367,
      0.023076967397687165
    ],
    "a_ego": [
      0.19775426612359054,
      0.19775427059245082,
      0.248757257683895,
      0.18920954842027785,
      0.1323192603984022,
      0.1480910425800967,
      0.22866380597592578,
      0.7102473536310179,
      1.057038027816324,
      1.0570380300112727
    ],
    "yaw": [
      0.847501145863474,
      0.8464569350510998,
      0.8477495496101097,
      0.8488180131301467,
      0.8496238512936198,
      0.8483459974830542,
      0.8473077805417406,
      0.8495375699085199,
      0.8524577885618194,
      0.8552868908608742
    ],
    "yaw_diff": [
      -0.0020884216247485377,
      0.0025852291180199494,
      0.002136927040073955,
      0.0016116763269462542,
      -0.002555707621131331,
      -0.0020764338826271267,
      0.004459578733558622,
      0.005840437306599,
      0.005658204598109506,
      0.005658204598109506
    ],
    "min_front_frame": [
      3,
      22.416880106302337
    ],
    "v_avg": 5.065328810063059,
    "v_std": 0.5172152155466799,
    "vy_max": 0.12537158707292262,
    "a_max": 1.0570380300112727,
    "ax_avg": -0.4136558062415602,
    "a_std": 0.3564333814536058,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d01fec804cd45644",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 23.623442484967423,
    "speed_mode": "decelerating",
    "front_frame": [
      30.631521559245172,
      27.83064101142104,
      25.06373397363933,
      22.416880106302337,
      55.36254316377514,
      52.72777128769201,
      50.21203534699039,
      47.70626948310643,
      45.36764361806608,
      43.28831805292185
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d01fec804cd45644",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b4176d2246d452ea": {
    "vx_ego": [
      1.2150550594203682,
      2.3863804060833873,
      3.486968166286003,
      4.408043713591908,
      5.121478430775627,
      5.634046698242494,
      5.825430300201839,
      5.705110916911048,
      5.495986026328774,
      5.311966197185698
    ],
    "vy_ego": [
      -0.03777384359799563,
      -0.009361275521427848,
      0.011504389489276345,
      0.021406607163406033,
      0.03844946832996987,
      0.0822568178122487,
      0.07040538340262081,
      0.004684096180196384,
      -0.009335377143795176,
      -0.03243807893814177
    ],
    "v_ego": [
      1.2156420775389443,
      2.3863987671841644,
      3.4869871441789817,
      4.40809569131245,
      5.12162275831741,
      5.634647139089878,
      5.8258557397623365,
      5.705112839814357,
      5.495993954769926,
      5.3120652395286605
    ],
    "ax_ego": [
      2.3426712085503834,
      2.3427522490745982,
      2.059578964932176,
      1.6245950830483988,
      1.2289364207801547,
      0.8183746265830224,
      -0.0645603351636296,
      -0.4217506294744717,
      -0.4051694017290647,
      -0.32191614494506327
    ],
    "ay_ego": [
      0.06310733175082317,
      0.060023723299233334,
      0.039858365098525916,
      0.028427323304294316,
      0.22465968262043678,
      0.44977935911112177,
      0.5244492875652597,
      0.663561118385813,
      0.90847866767768,
      0.9412044059518914
    ],
    "a_ego": [
      2.3435210531786614,
      2.343521057704153,
      2.0599646118463837,
      1.6248437760521104,
      1.2493024851152152,
      0.9338300173571809,
      0.5284080734660936,
      0.7862486574205034,
      0.9947340014913036,
      0.9947340037213686
    ],
    "yaw": [
      -2.11475293224146,
      -2.1134366756070992,
      -2.112055532861471,
      -2.110264074193858,
      -2.1006615738860535,
      -2.0776748339307156,
      -2.0339482431328864,
      -1.9715366819619127,
      -1.8988650683388664,
      -1.8089068307827483
    ],
    "yaw_diff": [
      0.0026325132687219366,
      0.0027622854912561223,
      0.003582917335226199,
      0.019205000615609258,
      0.045973479910675685,
      0.08745318159565851,
      0.12482312234194737,
      0.1453432272460926,
      0.17991647511223618,
      0.17991647511223618
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.459242135149711,
    "v_std": 1.5102261367481988,
    "vy_max": 0.0822568178122487,
    "a_max": 2.343521057704153,
    "ax_avg": 0.9203512041656502,
    "a_std": 0.630036138772048,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "b4176d2246d452ea",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.294572108054252,
    "right_rear_min": 3.2825484448255264,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b4176d2246d452ea",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "51a80bf5fd575fa2": {
    "vx_ego": [
      4.451340697578363,
      4.762171114176153,
      5.091308544502199,
      5.411555227931551,
      5.733468761145302,
      6.050245454641059,
      6.340591581799735,
      6.57397875316429,
      6.716582803708109,
      6.808281684150149
    ],
    "vy_ego": [
      -0.007772931112352444,
      0.016822997912746107,
      0.043618500980053376,
      -0.01995486654009948,
      0.0029796102518493406,
      0.014776844130830913,
      0.03696894595509859,
      0.03089788175370778,
      0.014307059532224109,
      -0.022308114296550663
    ],
    "v_ego": [
      4.4513474841193315,
      4.7622008288135556,
      5.091495386323044,
      5.411592019142974,
      5.733469535377885,
      6.05026349975993,
      6.340699354972975,
      6.574051363212215,
      6.716598041495407,
      6.808318231597129
    ],
    "ax_ego": [
      0.5716065900234566,
      0.6701331999931689,
      0.6456449726421766,
      0.6317884918583043,
      0.6521723173171783,
      0.6150398920497465,
      0.5467495955572016,
      0.3869999021684285,
      0.18347080414566042,
      0.18337489239185045
    ],
    "ay_ego": [
      -0.9602072322146609,
      -0.8942334646930877,
      -0.6338599162908342,
      -0.3282314144417178,
      -0.03204232576081373,
      -0.014233953452328807,
      -0.0008317074510560962,
      -0.055372675017643175,
      -0.029735868347141717,
      -0.030321768313803343
    ],
    "a_ego": [
      1.1174667881219484,
      1.1174667758417196,
      0.904784960185756,
      0.7119638753974821,
      0.6529589896119208,
      0.6152045791795173,
      0.5467502281474125,
      0.3909412454793978,
      0.1858648913598634,
      0.18586489930430303
    ],
    "yaw": [
      2.679912094186249,
      2.573751712415489,
      2.4908711226396116,
      2.457189946566694,
      2.4369027347766394,
      2.4329399973486754,
      2.428755814271372,
      2.4275238054363086,
      2.4268212854278017,
      2.4300155071784966
    ],
    "yaw_diff": [
      -0.21232076354151985,
      -0.16576117955175462,
      -0.0673623521458353,
      -0.0405744235801091,
      -0.007925474855928094,
      -0.00836836615460701,
      -0.002464017670126495,
      -0.0014050400170138033,
      0.006388443501389673,
      0.006388443501389673
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.794003574481445,
    "v_std": 0.7977341510521959,
    "vy_max": 0.043618500980053376,
    "a_max": 1.1174667881219484,
    "ax_avg": 0.5086980658147172,
    "a_std": 0.3186124905346956,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "51a80bf5fd575fa2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "51a80bf5fd575fa2",
    "pedestrians": "No"
  },
  "6fb754e903985d44": {
    "vx_ego": [
      10.547105904155305,
      10.64241047071445,
      10.711050622670644,
      10.757816835294882,
      10.771442601751943,
      10.70860987172686,
      10.61627323858533,
      10.532847424281005,
      10.464814388569934,
      10.412928460614564
    ],
    "vy_ego": [
      0.059428066821999415,
      0.030054086351739562,
      0.0320416770655827,
      0.036680623969729265,
      0.036535925004361536,
      0.04436665832508946,
      0.03787957599320868,
      0.06163307998009038,
      0.0496211286046655,
      0.02015545406694752
    ],
    "v_ego": [
      10.547273327670707,
      10.642452906885659,
      10.711098548257429,
      10.757879369556473,
      10.771504565131679,
      10.70870177870394,
      10.616340816805971,
      10.533027746081885,
      10.464932032441698,
      10.412947967228371
    ],
    "ax_ego": [
      0.1857780441683865,
      0.1920661474053878,
      0.08018408562833094,
      0.1066536980374129,
      -0.05266093235023601,
      -0.19921585067424838,
      -0.17170356432490247,
      -0.16475839716443594,
      -0.1119294392145734,
      -0.09922379605088784
    ],
    "ay_ego": [
      0.3385792678540849,
      0.33505222756178427,
      0.02981262015181358,
      0.07279567656092359,
      0.08162328721014053,
      0.24745680968183847,
      0.3670143046404196,
      0.434998150182232,
      0.48499739058774016,
      0.487755376117826
    ],
    "a_ego": [
      0.3861986565430272,
      0.3861986537693546,
      0.0855469456402029,
      0.1291287025839656,
      0.09713668107870077,
      0.31768196017051087,
      0.4051933042543604,
      0.4651545120690088,
      0.4977455858566763,
      0.49774558625324855
    ],
    "yaw": [
      1.6654184982324995,
      1.6840872379970022,
      1.6924335549684657,
      1.6943917019172487,
      1.6979847511081987,
      1.7049039369739654,
      1.7199242776897428,
      1.7366398667384995,
      1.7597045698153533,
      1.785826153165082
    ],
    "yaw_diff": [
      0.037337479529005346,
      0.01669263394292697,
      0.003916293897566092,
      0.007186098381899875,
      0.01383837173153335,
      0.030040681431554805,
      0.03343117809751339,
      0.04612940615370764,
      0.05224316669945761,
      0.05224316669945761
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.616615905876383,
    "v_std": 0.11760283466863687,
    "vy_max": 0.06163307998009038,
    "a_max": 0.49774558625324855,
    "ax_avg": -0.023481000453976598,
    "a_std": 0.15520760868073602,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "6fb754e903985d44",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "6fb754e903985d44",
    "road_shape": "Curve"
  },
  "64b99da814205341": {
    "vx_ego": [
      4.847910614919949,
      4.6229325374568395,
      4.252740919185541,
      3.8695466786374664,
      3.6350321926272726,
      3.4023916912753283,
      3.235910729753365,
      3.2272343412158984,
      3.3871829276934307,
      3.696267527288475
    ],
    "vy_ego": [
      0.047136794168168156,
      -0.02482287392358823,
      0.004783654870077592,
      0.011774160833014191,
      0.05275341860664762,
      0.07719655017937477,
      0.058570120570644146,
      0.04818536398915518,
      0.02156014594613831,
      0.06593084442655583
    ],
    "v_ego": [
      4.848139767747829,
      4.622999180288372,
      4.252743609608861,
      3.869564591658546,
      3.6354149645688767,
      3.4032673312890047,
      3.2364407471722103,
      3.227594045481244,
      3.387251544475411,
      3.6968554894036707
    ],
    "ax_ego": [
      -0.4676644878735725,
      -0.42899118909605494,
      -1.0410870650964787,
      -0.49582717991455033,
      -0.41960175190686516,
      -0.4690553704228734,
      -0.16487420150727106,
      0.1730038124104673,
      0.5118760469476925,
      0.7463038780763398
    ],
    "ay_ego": [
      -0.668389396235757,
      -0.6938450911001546,
      -0.9883711362967118,
      -0.8513787680088951,
      -0.9398247987304205,
      -0.9999716982371261,
      -0.9135677837038712,
      -1.053997227876604,
      -1.2991620741270444,
      -1.1801990079213118
    ],
    "a_ego": [
      0.815753920136735,
      0.8157539155688001,
      1.4355277009433336,
      0.985236214802501,
      1.029240633919972,
      1.1045163365916237,
      0.9283262345448734,
      1.0681013413904705,
      1.396366421212169,
      1.3963664192217717
    ],
    "yaw": [
      -1.6127311532273296,
      -1.669495103226934,
      -1.7691303220431074,
      -1.8859343777777373,
      -2.0163427110383116,
      -2.1606047981703,
      -2.3004982503536455,
      -2.4511862804530797,
      -2.6227977052183933,
      -2.811340599798215
    ],
    "yaw_diff": [
      -0.11352789999920887,
      -0.19927043763234664,
      -0.23360811146925986,
      -0.26081666652114865,
      -0.28852417426397636,
      -0.2797869043666914,
      -0.3013760601988684,
      -0.3432228495306271,
      -0.3770857891596435,
      -0.3770857891596435
    ],
    "min_front_frame": [
      0,
      59.10222689733259
    ],
    "v_avg": 3.8180271271694024,
    "v_std": 0.5471036089202038,
    "vy_max": 0.07719655017937477,
    "a_max": 1.4355277009433336,
    "ax_avg": -0.20559175083831666,
    "a_std": 0.2232627327735058,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "64b99da814205341",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.077116637146364,
    "right_rear_min": 9.351150653847574,
    "speed_mode": "decelerating",
    "front_frame": [
      59.10222689733259,
      63.373032837573824,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "64b99da814205341",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e38aa05b9c8b5e32": {
    "vx_ego": [
      -0.09061470128146774,
      0.13290646614349022,
      0.4562223914169389,
      0.865511505974834,
      1.2802359001960315,
      1.7352977474111104,
      2.1991429490563608,
      2.6635783426611557,
      3.1685750048633006,
      3.700732202267501
    ],
    "vy_ego": [
      -0.009522524031768235,
      0.00888155041736826,
      0.03506373719368008,
      0.03321930792218397,
      0.00866081927639839,
      4.0205337800580665e-05,
      -0.014534651640576435,
      -0.030508137804541535,
      0.0044472287584462755,
      -0.009086283759579983
    ],
    "v_ego": [
      0.09111367928179191,
      0.13320289291365622,
      0.45756784862594757,
      0.8661487686267607,
      1.2802651951612531,
      1.7352977478768716,
      2.199190979993011,
      2.663753054238671,
      3.168578125798399,
      3.7007433568747006
    ],
    "ax_ego": [
      0.4470428984489158,
      0.44704173850399925,
      0.8462646507745532,
      0.7914974709727047,
      0.8680729126907789,
      0.9533027656035156,
      0.905184947933501,
      0.9485243718888259,
      1.0628090699475221,
      1.0654842100886701
    ],
    "ay_ego": [
      0.03679974242263115,
      0.036813884119847706,
      0.06733977098750626,
      -0.08236861481031144,
      -0.05631928440479711,
      -0.11808957164326628,
      -0.30904149714025,
      -0.35986630321415475,
      -0.15926470883266747,
      -0.14025603725898844
    ],
    "a_ego": [
      0.448554984473453,
      0.4485549888571831,
      0.8489396350196086,
      0.7957718487493491,
      0.8698979500742148,
      0.9605890431595613,
      0.9564865063972738,
      1.01449605236103,
      1.074675935639331,
      1.0746759315886218
    ],
    "yaw": [
      -2.072007377463791,
      -2.072039005859395,
      -2.0726266493356844,
      -2.075491326295602,
      -2.085002653532043,
      -2.108367628153794,
      -2.155088436652936,
      -2.21741656325218,
      -2.274172508495471,
      -2.2920348674107536
    ],
    "yaw_diff": [
      -6.32567912077775e-05,
      -0.0011752869525789578,
      -0.005729353919835312,
      -0.01902265447288176,
      -0.04672994924350249,
      -0.0934416169982839,
      -0.12465625319848783,
      -0.11351189048658217,
      -0.035724717830564856,
      -0.035724717830564856
    ],
    "min_front_frame": [
      0,
      11.998665060745294
    ],
    "v_avg": 1.6295861649391064,
    "v_std": 1.2144078114879628,
    "vy_max": 0.03506373719368008,
    "a_max": 1.074675935639331,
    "ax_avg": 0.8335225036852988,
    "a_std": 0.21845716833270148,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "e38aa05b9c8b5e32",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      11.998665060745294,
      13.317873629680202,
      14.787432426259175,
      16.499019529688415,
      18.39996317417586,
      20.465832786677314,
      22.563619863344073,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e38aa05b9c8b5e32",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "29be20efdac25f74": {
    "vx_ego": [
      1.369206522912577,
      1.8938209370297856,
      2.4408515382387863,
      2.9816096490754633,
      3.4837861258901306,
      3.952414367330094,
      4.410035046673467,
      4.904823232135191,
      5.398933591080758,
      5.868299913855282
    ],
    "vy_ego": [
      -0.009500674784014623,
      -0.007467895630663662,
      -0.006463237154304573,
      0.0019928997609858987,
      0.0011865467388455647,
      -0.00016291529752761325,
      -0.022350185806661566,
      -0.014535503354829504,
      0.024397036733264404,
      0.04483024185704276
    ],
    "v_ego": [
      1.369239484242147,
      1.8938356610322675,
      2.4408600953674426,
      2.9816103150997724,
      3.4837863279537866,
      3.952414370687712,
      4.41009168200547,
      4.904844770158468,
      5.3989887142224635,
      5.868471149246528
    ],
    "ax_ego": [
      1.0492059332150252,
      1.0492062274835665,
      1.1388800445067582,
      1.024101394437193,
      0.9845823767896573,
      0.8899087658665548,
      0.9409264344563508,
      1.038550639825357,
      0.937895810631718,
      0.9386443832179272
    ],
    "ay_ego": [
      -0.0009115358607145567,
      0.00046716616467403806,
      -0.010318924414562456,
      0.021978731144909926,
      0.02273467248773523,
      0.009542351861894697,
      0.019463597270413843,
      0.07202647501378498,
      0.11758342352594522,
      0.11145013663027427
    ],
    "a_ego": [
      1.0492063291799365,
      1.0492063314880076,
      1.1389267913157495,
      1.0243372153304513,
      0.9848448212880522,
      0.8899599249658329,
      0.9411277207039682,
      1.0410452653869426,
      0.9452377547943213,
      0.9452377537431891
    ],
    "yaw": [
      -3.128037729792045,
      -3.1293517687824988,
      -3.130960023166015,
      -3.132993055193933,
      -3.1292913793753194,
      -3.1267662120045108,
      -3.119714785111494,
      -3.1164732167308227,
      -3.1148331753963374,
      -3.1082964041312877
    ],
    "yaw_diff": [
      -0.002628077980907584,
      -0.003216508767032167,
      -0.004066064055836094,
      0.00740335163722694,
      0.005050334741617313,
      0.014102853786033265,
      0.006483136761342934,
      0.0032800826689705076,
      0.013073542530099402,
      0.013073542530099402
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.670414257001606,
    "v_std": 1.4297765677827716,
    "vy_max": 0.04483024185704276,
    "a_max": 1.1389267913157495,
    "ax_avg": 0.9991902010430108,
    "a_std": 0.06943637916352217,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "29be20efdac25f74",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.764695845458071,
    "right_rear_min": 7.4612652018069365,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "29be20efdac25f74",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "9bfa838de21f5d25": {
    "vx_ego": [
      7.714363051120268,
      7.727475992576764,
      7.81451180132251,
      7.953572076155193,
      8.124400303725615,
      8.377562531220924,
      8.67637966578945,
      8.97005550578741,
      9.326454085540204,
      9.803617307761144
    ],
    "vy_ego": [
      -0.005296441714072397,
      -0.01586943879818392,
      -0.03398758897643228,
      -0.02853013575933616,
      -0.09549130583426457,
      -0.05419846839641185,
      -0.03569897587741622,
      -0.062062345359919835,
      -0.07278815413041073,
      -0.072909377957032
    ],
    "v_ego": [
      7.71436486930612,
      7.727492287601328,
      7.8145857119372115,
      7.95362324599563,
      8.12496146973429,
      8.377737847324495,
      8.676453107220906,
      8.970270202821018,
      9.326738118177827,
      9.8038884170735
    ],
    "ax_ego": [
      -0.04248978062677,
      0.09889464563944994,
      0.27109236557396144,
      0.3015624912763032,
      0.41431479151447814,
      0.6283890382203869,
      0.5935060657144969,
      0.6113093450314856,
      0.8517800308771303,
      1.0830984529729588
    ],
    "ay_ego": [
      1.4667110169773732,
      1.4639898941398437,
      1.684944036353655,
      1.7390217074973555,
      1.7931001362422645,
      1.7753731150873135,
      1.9178959058895702,
      2.0486891629688544,
      2.1535728888743746,
      2.0470230022678724
    ],
    "a_ego": [
      1.4673263402462697,
      1.4673263308070714,
      1.706612866562371,
      1.7649749106692105,
      1.8403436758007221,
      1.8833009534140779,
      2.0076289886002034,
      2.1379491111317055,
      2.3159027200415316,
      2.3159027247805963
    ],
    "yaw": [
      0.4800284863872859,
      0.57643880342525,
      0.6802688809201017,
      0.7880968752529177,
      0.9063395272101009,
      1.009701016945145,
      1.1156599816782777,
      1.2309397564185285,
      1.3472013089321937,
      1.4572261810399794
    ],
    "yaw_diff": [
      0.1928206340759282,
      0.20766015498970347,
      0.21565598866563196,
      0.2364853039143664,
      0.20672297947008822,
      0.21191792946626542,
      0.2305595494805015,
      0.23252310502733042,
      0.22004974421557133,
      0.22004974421557133
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.449011527719232,
    "v_std": 0.6890446575465281,
    "vy_max": 0.09549130583426457,
    "a_max": 2.3159027247805963,
    "ax_avg": 0.4811457446193882,
    "a_std": 0.29106272691761437,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "9bfa838de21f5d25",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.457665129007891,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9bfa838de21f5d25",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1e91e4b9af695706": {
    "vx_ego": [
      2.825144809715265,
      2.1265710327472345,
      1.4770277282443651,
      0.9116117018514936,
      0.461239790817496,
      0.1960588491564041,
      0.05693055467737091,
      -0.010720675600502586,
      -0.01727778481321211,
      -0.013291937607354526
    ],
    "vy_ego": [
      -0.062179441529029766,
      -0.017155216921056482,
      0.010376768528233327,
      0.00964355313593035,
      0.013525634901969952,
      0.02814143718508176,
      0.03513846249586295,
      0.020458228699810187,
      0.004209384948966733,
      0.006954322934343192
    ],
    "v_ego": [
      2.8258289896612574,
      2.1266402278681857,
      1.4770641784728917,
      0.9116627079516098,
      0.4614380645686579,
      0.19806820244394485,
      0.06690141704363432,
      0.02309701294247697,
      0.017783159722058694,
      0.015001273707020257
    ],
    "ax_ego": [
      -1.3971789370386452,
      -1.3972533698076444,
      -1.2009273058601857,
      -1.060801140301152,
      -0.7406860912050607,
      -0.3200572986037245,
      -0.2364465289486342,
      -0.034198395575348435,
      0.007970686036028114,
      0.007971084192701105
    ],
    "ay_ego": [
      0.08635685008502447,
      0.0851441153007998,
      0.028583203894197717,
      -0.02705309304919251,
      0.04248853463477836,
      0.016199252937411104,
      0.011755147636126798,
      -0.07047835870273537,
      0.005487944320926504,
      0.005487364442160558
    ],
    "a_ego": [
      1.3998451656026267,
      1.3998451699417238,
      1.2012674113225004,
      1.06114604513599,
      0.7419037412495251,
      0.32046698766837733,
      0.23673855737459507,
      0.07833727915468756,
      0.00967726039509752,
      0.009677259515390578
    ],
    "yaw": [
      2.8092951412802494,
      2.8084271673720798,
      2.808933475739633,
      2.8098815857510138,
      2.8098456569444794,
      2.810049015084589,
      2.8099763823276676,
      2.8102390152043992,
      2.8101747913809536,
      2.810247341636315
    ],
    "yaw_diff": [
      -0.001735947816339234,
      0.001012616735106775,
      0.0018962200227612414,
      -7.185761306871541e-05,
      0.0004067162802190438,
      -0.00014526551384275166,
      0.0005252657534633443,
      -0.00012844764689123878,
      0.00014510051072313956,
      0.00014510051072313956
    ],
    "min_front_frame": [
      9,
      8.505595023353843
    ],
    "v_avg": 0.8123485234381738,
    "v_std": 0.9580898200856196,
    "vy_max": 0.062179441529029766,
    "a_max": 1.3998451699417238,
    "ax_avg": -0.6371607297111666,
    "a_std": 0.5506315930495835,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1e91e4b9af695706",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 47.80888064535324,
    "right_rear_min": 6.637046568365195,
    "speed_mode": "decelerating",
    "front_frame": [
      11.645605800654309,
      10.477358103996465,
      9.592508011555525,
      9.056633513279753,
      8.720404457957315,
      8.590593920893342,
      8.538662581992098,
      8.541782565334094,
      8.540276444898705,
      8.505595023353843
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1e91e4b9af695706",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9f0193389f8a520c": {
    "vx_ego": [
      1.863271901863933,
      1.5311325081709726,
      1.21110307652672,
      0.9126909735829216,
      0.5550525523125254,
      0.18986270136118066,
      0.0022451489747900392,
      -0.027713298216223026,
      -0.01701216402253618,
      -0.006919916194521168
    ],
    "vy_ego": [
      -0.016611519009018028,
      -0.00534501819740596,
      0.0022454488590440413,
      -0.00814048030941733,
      -0.01797804398809061,
      -0.00930236665943203,
      0.0025477270455562754,
      0.005077142247220107,
      0.0013170732784537863,
      0.00014079211069297805
    ],
    "v_ego": [
      1.8633459482445618,
      1.5311418375831365,
      1.211105158115126,
      0.9127272761780538,
      0.5553436286609278,
      0.1900904505587574,
      0.003395821994401307,
      0.02817453231945151,
      0.01706307143366901,
      0.006921348319339933
    ],
    "ax_ego": [
      -0.6642972904641601,
      -0.664322652693587,
      -0.6157965632047726,
      -0.5778462501922387,
      -0.852752003933887,
      -0.6080253619486831,
      -0.14244619323268318,
      0.02261902653661907,
      0.020184510220196957,
      0.020184631542388212
    ],
    "ay_ego": [
      0.018135345632229405,
      0.017181338076311004,
      0.007887199806303313,
      -0.05077708734859668,
      0.009766398905876827,
      0.024539541352281008,
      0.02284456494308184,
      -0.012700201024632457,
      -0.002351835997308296,
      -0.0023507763223664466
    ],
    "a_ego": [
      0.6645447922294065,
      0.6645447955254309,
      0.6158470712568129,
      0.5800729277089548,
      0.8528079284111099,
      0.6085203610912353,
      0.14426639287762621,
      0.025940614247360314,
      0.020321062604782027,
      0.020321060499387623
    ],
    "yaw": [
      -2.050635191288581,
      -2.0520712756431605,
      -2.0530407138355837,
      -2.0533590626592355,
      -2.0538994041014256,
      -2.054189554911221,
      -2.054297022031765,
      -2.054497049435276,
      -2.054363704171074,
      -2.054416207463776
    ],
    "yaw_diff": [
      -0.002872168709158629,
      -0.0019388763848464663,
      -0.0006366976473035635,
      -0.0010806828843801242,
      -0.0005803016195908839,
      -0.00021493424108776082,
      -0.0004000548070219878,
      0.0002666905284041121,
      -0.00010500658540468777,
      -0.00010500658540468777
    ],
    "min_front_frame": [
      5,
      9.83560840053846
    ],
    "v_avg": 0.6319309073407424,
    "v_std": 0.6684772870068275,
    "vy_max": 0.01797804398809061,
    "a_max": 0.8528079284111099,
    "ax_avg": -0.40624981473708066,
    "a_std": 0.30939358386247606,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9f0193389f8a520c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.158659620782724,
    "right_rear_min": 4.121223300257232,
    "speed_mode": "decelerating",
    "front_frame": [
      12.117330845461847,
      11.357398711999805,
      10.797171195415364,
      10.347137437660036,
      9.951617851980778,
      9.83560840053846,
      9.84526198139643,
      9.87402036210896,
      9.904722421003889,
      9.883012220178287
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9f0193389f8a520c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d25b6512a43f5e54": {
    "vx_ego": [
      4.9303429346875,
      4.602319290722107,
      4.190628059978343,
      3.610170633324131,
      2.840000256127368,
      1.9902412756771846,
      1.2203613525994461,
      0.6031024270244353,
      0.17810191697579872,
      -0.1523541837240541
    ],
    "vy_ego": [
      -0.000759002878201423,
      -0.026119285746084707,
      -0.056567219636737574,
      -0.05128561983467107,
      -0.022774906005422813,
      0.0008138282070569089,
      0.013546964068303791,
      0.0018901682551213175,
      -0.010080828237914136,
      -0.012032733730907772
    ],
    "v_ego": [
      4.930342993109944,
      4.602393406787465,
      4.191009829076434,
      3.6105348934081474,
      2.8400915744297883,
      1.9902414420681471,
      1.2204365412235973,
      0.6031053889817243,
      0.17838698362945832,
      0.1528286098191754
    ],
    "ax_ego": [
      -0.6559416723808206,
      -0.6560091367540616,
      -0.9901056467406527,
      -1.3310091552629937,
      -1.7493896237878948,
      -1.6495685563478315,
      -1.4300089440658343,
      -1.0390748987102312,
      -0.6609137820496273,
      -0.6609135143360365
    ],
    "ay_ego": [
      -0.026490620816592515,
      -0.024763864572370613,
      -0.026800662060386074,
      0.08912880424515054,
      0.05337318425005308,
      0.05727193258863417,
      2.1294929128237716e-05,
      -0.04349252371089256,
      -0.003883919073949197,
      -0.003927062765221666
    ],
    "a_ego": [
      0.6564763747135126,
      0.6564763792349027,
      0.9904683070116889,
      1.3339899981409449,
      1.7502036317565286,
      1.6505624787792512,
      1.4300089442243906,
      1.0399847329400655,
      0.660925194050367,
      0.6609251812830045
    ],
    "yaw": [
      1.5801947732438957,
      1.582827118940794,
      1.5867829201365282,
      1.5893952449406368,
      1.5915661171359736,
      1.5932611433744859,
      1.5942689474026692,
      1.595183328609708,
      1.5955528973538704,
      1.5954876223901189
    ],
    "yaw_diff": [
      0.0052646913937968165,
      0.007911602391468264,
      0.0052246496082171134,
      0.004341744390673696,
      0.0033900524770245077,
      0.002015608056366691,
      0.0018287624140773673,
      0.0007391374883249924,
      -0.00013054992750305416,
      -0.00013054992750305416
    ],
    "min_front_frame": [
      3,
      13.508445731908518
    ],
    "v_avg": 2.4319371662533884,
    "v_std": 1.757361943612908,
    "vy_max": 0.056567219636737574,
    "a_max": 1.7502036317565286,
    "ax_avg": -1.0822934930435983,
    "a_std": 0.41003055542954986,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d25b6512a43f5e54",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.977743256670461,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.566255896594896,
      16.401478043171902,
      14.937503190917838,
      13.508445731908518,
      18.088568183199474,
      16.88631734549813,
      16.082911328947272,
      15.675948669315177,
      15.542485891964896,
      15.545225048432199
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d25b6512a43f5e54",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "f69367f756605199": {
    "vx_ego": [
      2.0624379422086316,
      2.8585105543318376,
      3.6304455202817825,
      4.367345536339073,
      5.059493152589406,
      5.661587698295829,
      6.138854250859355,
      6.584564036568642,
      6.998215244921334,
      7.342054355599249
    ],
    "vy_ego": [
      0.023461614132796127,
      -0.019110247901445776,
      -0.037739223323300486,
      -0.033657095067088694,
      -0.016306398951291268,
      0.002613493146990109,
      -0.0036462279378812745,
      -0.043046572912838865,
      -0.03683424240356903,
      -0.02705573301004982
    ],
    "v_ego": [
      2.062571383685784,
      2.8585744333148586,
      3.6306416684535403,
      4.367475224180348,
      5.059519429723128,
      5.66158830151408,
      6.138855333714271,
      6.584704743503133,
      6.9983121804948665,
      7.342104206102132
    ],
    "ax_ego": [
      1.5920980787469838,
      1.5922012297640564,
      1.4953906760530589,
      1.452204226570112,
      1.3168193558156218,
      1.0918757270602455,
      0.8167397646397248,
      0.9662494975539364,
      0.6876864159280867,
      0.6876897921948546
    ],
    "ay_ego": [
      -0.09164274489155422,
      -0.08983280617908096,
      0.0032912665531350527,
      0.012477272662544503,
      0.11172541013501247,
      0.13624751291355963,
      -0.003490828732593987,
      -0.08305121102275531,
      0.02182942155658041,
      0.02172299373956854
    ],
    "a_ego": [
      1.5947334213093722,
      1.5947334225908048,
      1.4953942979903154,
      1.4522578276604994,
      1.3215505223488453,
      1.1003435773059569,
      0.8167472246839859,
      0.9698121442710339,
      0.6880327973995951,
      0.6880328035392002
    ],
    "yaw": [
      2.4102479191080244,
      2.4091111293168295,
      2.408187948335006,
      2.4081529868267193,
      2.411049174929196,
      2.4190424643027253,
      2.4256896952868594,
      2.428490382960459,
      2.425338155956523,
      2.4254929082422474
    ],
    "yaw_diff": [
      -0.0022735795823898286,
      -0.0018463619636470696,
      -6.992301657327005e-05,
      0.005792376204952987,
      0.015986578747059,
      0.013294461968268223,
      0.005601375347199067,
      -0.006304454007872273,
      0.00030950457144918175,
      0.00030950457144918175
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.0704346904686135,
    "v_std": 1.70786520636035,
    "vy_max": 0.043046572912838865,
    "a_max": 1.5947334225908048,
    "ax_avg": 1.1698954764326681,
    "a_std": 0.34692479172765966,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f69367f756605199",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 31.036222799807472,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f69367f756605199",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "378d79a6bf715912": {
    "vx_ego": [
      7.99808859434193,
      7.497483294523622,
      6.9630651607135565,
      6.437961709846832,
      5.943024349433183,
      5.441967851651933,
      4.9501456601417795,
      4.466170205168991,
      4.030232248269639,
      3.636846428463101
    ],
    "vy_ego": [
      0.030502235383575993,
      0.020165364428114785,
      0.014713711905467441,
      -0.0024383964961347537,
      -0.013648368320318127,
      0.005161421174068703,
      0.005932837965896054,
      -0.008554029258919016,
      -0.011526169489431748,
      -0.012832996549890563
    ],
    "v_ego": [
      7.998146757174806,
      7.497510413036004,
      6.9630807065307625,
      6.437962171621654,
      5.943040021395912,
      5.4419702993200625,
      4.950149215446624,
      4.466178396902187,
      4.030248730236838,
      3.636869069684151
    ],
    "ax_ego": [
      -1.001204564200724,
      -1.0012010111082723,
      -1.1364612960904341,
      -0.9639492895809968,
      -1.0156925309175686,
      -0.9884546569302122,
      -0.9789363075197304,
      -0.9569464602630852,
      -0.7867413358720282,
      -0.7867280246727154
    ],
    "ay_ego": [
      -0.022981692411697674,
      -0.023135792572716973,
      -0.0036055925654398524,
      -0.06652957593642228,
      0.05101790392289718,
      0.08063432977720508,
      -0.05379124349823622,
      0.006035614735266148,
      0.008290757005666893,
      0.009470194635490647
    ],
    "a_ego": [
      1.001468290842235,
      1.001468286837978,
      1.1364670157155012,
      0.9662424216303012,
      1.0169730300663935,
      0.9917381226642659,
      0.9804130721575731,
      0.9569654938686561,
      0.7867850190626602,
      0.7867850210774648
    ],
    "yaw": [
      -2.0400369549505846,
      -2.040190870098275,
      -2.0403611010713094,
      -2.040418248544408,
      -2.0392350795852874,
      -2.0367560790271337,
      -2.035612767169212,
      -2.0350712714486203,
      -2.033520799172269,
      -2.032021644918598
    ],
    "yaw_diff": [
      -0.0003078302953811729,
      -0.00034046194606851543,
      -0.00011429494619719094,
      0.002366337918241257,
      0.004958001116307287,
      0.0022866237158432057,
      0.0010829914411836228,
      0.0031009445527026003,
      0.0029983085073421734,
      0.0029983085073421734
    ],
    "min_front_frame": [
      9,
      17.49164130144446
    ],
    "v_avg": 5.736515578134901,
    "v_std": 1.41045977008479,
    "vy_max": 0.030502235383575993,
    "a_max": 1.1364670157155012,
    "ax_avg": -0.9616315477155768,
    "a_std": 0.09961966175130339,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "378d79a6bf715912",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 20.288102887109225,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      33.196182078065306,
      31.50105208980999,
      21.59109076010374,
      22.657760438778098,
      23.188377929319778,
      22.054808948194747,
      22.912592639861966,
      21.201314963182597,
      19.40357230297638,
      17.49164130144446
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "378d79a6bf715912",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "451f66014a765bce": {
    "vx_ego": [
      5.611820423025293,
      4.854725960568169,
      4.151835529763656,
      3.5219059265393162,
      2.8962102209570864,
      2.390651985967136,
      2.112685159122985,
      1.992978345072625,
      2.0481054294051613,
      2.2124730400303037
    ],
    "vy_ego": [
      -0.016373467085070814,
      -0.03395496168665968,
      -0.02766688959425445,
      0.02594004966856911,
      0.0539921230999314,
      0.05972851053720296,
      0.022773391115899932,
      0.005865204241704336,
      0.0207615725123953,
      0.029633811458768533
    ],
    "v_ego": [
      5.6118443092006896,
      4.854844703143209,
      4.151927711676551,
      3.522001453942001,
      2.8967134468796067,
      2.391398003883838,
      2.112807896833366,
      1.9929869755091767,
      2.048210656366207,
      2.2126714884145153
    ],
    "ax_ego": [
      -1.514242441393578,
      -1.5142102799418198,
      -1.2975957581640667,
      -1.2216157428526735,
      -1.2794039405373718,
      -0.7401349028824111,
      -0.3706904930670341,
      -0.10818583180960774,
      0.32896772257984364,
      0.32898010802423533
    ],
    "ay_ego": [
      -0.04242562216245682,
      -0.04355826677249253,
      0.042393852886161265,
      -0.03830521042215074,
      -0.006855410262867734,
      -0.07612369571370792,
      -0.12076530578999142,
      0.032815769333212126,
      -0.0033790305562765854,
      -0.0018086442390277402
    ],
    "a_ego": [
      1.514836659423535,
      1.5148366560410755,
      1.298288099909998,
      1.2222161479586884,
      1.2794223070247084,
      0.7440393077747098,
      0.38986626005956326,
      0.11305330124002269,
      0.3289850761765178,
      0.3289850797066957
    ],
    "yaw": [
      2.619967131707999,
      2.6192191326967844,
      2.617749321054656,
      2.6040104062810956,
      2.5917783488774226,
      2.5814985732867797,
      2.575936492616771,
      2.5734220620114376,
      2.569588100269774,
      2.564814501751341
    ],
    "yaw_diff": [
      -0.00149599802242939,
      -0.002939623284256676,
      -0.02747782954712097,
      -0.024464114807345894,
      -0.02055955118128594,
      -0.01112416134001748,
      -0.005028861210666591,
      -0.007667923483327677,
      -0.009547197036865462,
      -0.009547197036865462
    ],
    "min_front_frame": [
      6,
      12.718544915452696
    ],
    "v_avg": 3.1795406645849162,
    "v_std": 1.2347992848107006,
    "vy_max": 0.05972851053720296,
    "a_max": 1.514836659423535,
    "ax_avg": -0.7388131560044482,
    "a_std": 0.5207091360351543,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "451f66014a765bce",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.245592460947108,
    "speed_mode": "decelerating",
    "front_frame": [
      20.765158729160877,
      18.161493659928087,
      16.074357420373325,
      14.339682508707792,
      13.309327627845242,
      12.85360142083249,
      12.718544915452696,
      12.820213626884248,
      13.333010917804296,
      13.887128681366143
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "451f66014a765bce",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8b10128072e6539f": {
    "vx_ego": [
      4.413381628287034,
      4.235965974216466,
      4.045896983737632,
      3.8441335018340843,
      3.6610408052698022,
      3.4776737481539444,
      3.2066773806142597,
      2.85976403557612,
      2.5394854292739786,
      2.2542715863941094
    ],
    "vy_ego": [
      -0.042297747229121496,
      0.00982221565087582,
      0.033191082612971545,
      0.02051080434308661,
      0.007062494197558777,
      0.00042790956144522774,
      -0.003757114293515107,
      0.0018104059364182357,
      -3.788883244260077e-05,
      0.01932198296115506
    ],
    "v_ego": [
      4.413584313947358,
      4.235977361913062,
      4.046033125294736,
      3.844188220290206,
      3.6610476173733186,
      3.477673774479961,
      3.2066795816312776,
      2.8597646086250297,
      2.539485429556627,
      2.2543543918934676
    ],
    "ax_ego": [
      -0.3553610181509185,
      -0.3536957345511784,
      -0.4080903148887851,
      -0.4011131423242309,
      -0.3305475489014773,
      -0.4052699993074544,
      -0.6782688411781228,
      -0.7055938163894879,
      -0.5782163018713857,
      -0.5638619749473976
    ],
    "ay_ego": [
      0.18134762710417016,
      0.18457447439595803,
      0.1300954894303315,
      0.11768998411123571,
      0.27555681036459534,
      0.15994692074914627,
      0.18041212965608328,
      0.3528426007676839,
      0.26777584979144003,
      0.29681253325089824
    ],
    "a_ego": [
      0.398959164674244,
      0.3989591573560405,
      0.42832527531788883,
      0.418022350246158,
      0.43034083912996696,
      0.4356911633207607,
      0.7018526607772867,
      0.7888983043736281,
      0.6372111090379304,
      0.6372111162608475
    ],
    "yaw": [
      -0.488933148412768,
      -0.47983137763460837,
      -0.46649931445252635,
      -0.4475790007711438,
      -0.41772892454468846,
      -0.3854544749302784,
      -0.3590144136955719,
      -0.3169523035248225,
      -0.25846662809133675,
      -0.20762875244114146
    ],
    "yaw_diff": [
      0.018203541556319314,
      0.026664126364164042,
      0.037840627362765056,
      0.059700152452910715,
      0.06454889922882012,
      0.05288012246941298,
      0.0841242203414988,
      0.11697135086697152,
      0.10167575130039058,
      0.10167575130039058
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4538788425005036,
    "v_std": 0.690524388402878,
    "vy_max": 0.042297747229121496,
    "a_max": 0.7888983043736281,
    "ax_avg": -0.4780018692510438,
    "a_std": 0.13983425887397863,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "8b10128072e6539f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "8b10128072e6539f",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d68d495f8f605301": {
    "vx_ego": [
      6.297750727773058,
      5.755474201583327,
      5.174548609333821,
      4.595852318697595,
      4.102672010629338,
      3.738402562954473,
      3.484670344928371,
      3.147532460958338,
      2.696906719297961,
      2.242835235464768
    ],
    "vy_ego": [
      -0.052223118680858605,
      -0.004570720759980329,
      0.010995753164193989,
      0.013111311512741253,
      0.004634482004213014,
      -0.0025675856112374884,
      0.01688779944803831,
      0.026069604376186994,
      0.002755973852909488,
      -0.060898145179168806
    ],
    "v_ego": [
      6.29796725009672,
      5.755476016506325,
      5.1745602921355776,
      4.595871021010886,
      4.102674628242511,
      3.7384034446806895,
      3.484711266460022,
      3.147640420546601,
      2.696908127464925,
      2.2436618456283837
    ],
    "ax_ego": [
      -1.084555938531408,
      -1.0845807814860196,
      -1.239103258710258,
      -1.075577012422517,
      -0.8970617125983484,
      -0.5600317948754918,
      -0.4548124282554095,
      -0.8936091488763644,
      -0.9084209362439577,
      -0.90811789940397
    ],
    "ay_ego": [
      0.09219900658917352,
      0.09190638258091283,
      -0.03491651804422913,
      -0.012088685908870911,
      -0.04843158369984685,
      0.009886037506992296,
      0.018182993777985212,
      9.008281541911245e-05,
      -0.13714781999625159,
      -0.13914022512105256
    ],
    "a_ego": [
      1.0884678408753168,
      1.0884678473560594,
      1.239595114938226,
      1.075644944198015,
      0.8983681508766643,
      0.5601190453904015,
      0.4551757530430551,
      0.8936091534168918,
      0.9187154738742963,
      0.9187154736177117
    ],
    "yaw": [
      2.2153449554456675,
      2.215075143553438,
      2.2148346380717,
      2.211984168041438,
      2.210446539511093,
      2.209818879710049,
      2.206362295582659,
      2.204993679799313,
      2.201248629710647,
      2.1990550036722283
    ],
    "yaw_diff": [
      -0.0005396237844585983,
      -0.00048101096347608063,
      -0.005700940060524573,
      -0.0030752570606900065,
      -0.001255319602087468,
      -0.006913168254779833,
      -0.0027372315666926994,
      -0.007490100177331982,
      -0.0043872520768371,
      -0.0043872520768371
    ],
    "min_front_frame": [
      9,
      12.051313912597857
    ],
    "v_avg": 4.123787431277263,
    "v_std": 1.2568833163254762,
    "vy_max": 0.060898145179168806,
    "a_max": 1.239595114938226,
    "ax_avg": -0.9105870911403746,
    "a_std": 0.23010310347199034,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d68d495f8f605301",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.50317061352249,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      30.47089634544873,
      27.472864148743604,
      24.74196359442987,
      22.330332396685883,
      20.156818266026615,
      18.184647481048135,
      16.390367949893207,
      14.699709205418767,
      13.257752592026932,
      12.051313912597857
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d68d495f8f605301",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "65451b2015ec58c7": {
    "vx_ego": [
      4.117080422466948,
      3.8463391745305877,
      3.645752932188911,
      3.5109050300287485,
      3.3698062040101457,
      3.252333150916488,
      3.213375776532061,
      3.2814234837985374,
      3.4281158317522014,
      3.6162888187556708
    ],
    "vy_ego": [
      -0.010919629375881756,
      -0.07247089334669021,
      -0.07820771344498434,
      -0.05724243786046457,
      -0.020612825907442955,
      0.0005180801318702688,
      -0.006446163042020503,
      -0.007308357794340248,
      0.004004870521430393,
      -0.06534205540063814
    ],
    "v_ego": [
      4.117094903371348,
      3.8470218450005076,
      3.6465916811464285,
      3.511371644610319,
      3.369869246896259,
      3.2523331921802527,
      3.213382242158718,
      3.2814316223438484,
      3.428118171081327,
      3.6168790973519234
    ],
    "ax_ego": [
      -0.5434339494205408,
      -0.5412563123540584,
      -0.2694503360581587,
      -0.28305749954653825,
      -0.2867893115844409,
      -0.17538778166432428,
      0.029160986747102324,
      0.23772488395712632,
      0.33307840857290993,
      0.4066190954188755
    ],
    "ay_ego": [
      -0.204054798429379,
      -0.20976277629401405,
      -0.3493455428633208,
      -0.47962026000399877,
      -0.6757795897711643,
      -0.8802070963539027,
      -1.0345014455314425,
      -1.022960993119892,
      -0.8086834013348594,
      -0.7743196899526961
    ],
    "a_ego": [
      0.5804815398829333,
      0.5804815397423819,
      0.44118679934957594,
      0.5569175359564842,
      0.7341159058284737,
      0.8975106720417876,
      1.0349123653501822,
      1.0502201264007773,
      0.8745913730720075,
      0.8745913737327301
    ],
    "yaw": [
      2.5478889183700537,
      2.5373643924612077,
      2.5012590153004686,
      2.437536223036079,
      2.3430131139062023,
      2.2187844083067105,
      2.071973256545455,
      1.9129022192718328,
      1.7727654758587716,
      1.6799193525224094
    ],
    "yaw_diff": [
      -0.02104905181769201,
      -0.07221075432147828,
      -0.12744558452877897,
      -0.18904621825975365,
      -0.24845741119898346,
      -0.2936223035225112,
      -0.3181420745472443,
      -0.2802734868261223,
      -0.18569224667272444,
      -0.18569224667272444
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.528409364614093,
    "v_std": 0.2723601020938703,
    "vy_max": 0.07820771344498434,
    "a_max": 1.0502201264007773,
    "ax_avg": -0.10927918159320468,
    "a_std": 0.20320472937537054,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "65451b2015ec58c7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "65451b2015ec58c7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "edf7281f49b9573d": {
    "vx_ego": [
      11.283099526082331,
      11.41111202464537,
      11.509583110970727,
      11.580557195854658,
      11.602626463565926,
      11.587874825172062,
      11.567980418682744,
      11.527479186411632,
      11.548539399484689,
      11.632017731883849
    ],
    "vy_ego": [
      0.05884592159015245,
      0.01352322925440319,
      0.023391874704103977,
      0.011790961211389117,
      0.011209859906370134,
      -0.005849848363412846,
      -0.017118267184067726,
      0.04574423289863283,
      0.09966506093755623,
      0.1218460046847758
    ],
    "v_ego": [
      11.28325297766416,
      11.41112003778488,
      11.509606881563974,
      11.580563198447102,
      11.60263187875921,
      11.58787630174668,
      11.567993084459326,
      11.52756994895268,
      11.54896945124637,
      11.632655886069953
    ],
    "ax_ego": [
      0.25515426003256597,
      0.25578388589150325,
      0.13790018990975886,
      0.1459445660203961,
      -0.058463703489721394,
      -0.0003703396019352906,
      -0.07922456554285554,
      -0.0827989705377481,
      0.1661872099570558,
      0.16649086437725
    ],
    "ay_ego": [
      0.08349207359331415,
      0.08154277280060959,
      0.09721187381793633,
      0.22502344385025536,
      0.0353681452348809,
      -0.1731532246826164,
      0.1239624784747854,
      0.2198606927913979,
      0.10919284729770076,
      0.10872929352527519
    ],
    "a_ego": [
      0.2684671726034259,
      0.268467167597398,
      0.16872051087032047,
      0.268207693090841,
      0.06832942501653069,
      0.17315362072278304,
      0.1471163752104634,
      0.23493487130867635,
      0.1988498595782495,
      0.19884986092926818
    ],
    "yaw": [
      2.2596148115569488,
      2.2672450903771315,
      2.270279489881072,
      2.2782627482415974,
      2.2839163604191968,
      2.282415965439708,
      2.282327141800445,
      2.284326875998158,
      2.286789969882985,
      2.289576760354981
    ],
    "yaw_diff": [
      0.01526055764036549,
      0.006068799007881154,
      0.01596651672105054,
      0.01130722435519882,
      -0.0030007899589774567,
      -0.000177647278525761,
      0.003999468395425865,
      0.0049261877696542555,
      0.0055735809439916295,
      0.0055735809439916295
    ],
    "min_front_frame": [
      9,
      44.24814097850123
    ],
    "v_avg": 11.525223964669433,
    "v_std": 0.09936471022753375,
    "vy_max": 0.1218460046847758,
    "a_max": 0.2684671726034259,
    "ax_avg": 0.09066033970162696,
    "a_std": 0.06089452788928506,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "edf7281f49b9573d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      78.79161347724417,
      72.9921126182386,
      67.24022653571615,
      61.44282981585471,
      55.74459553101336,
      50.01561470347978,
      44.24814097850123
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5714285714285714,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.42857142857142855,
    "ANC_result": "C",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "edf7281f49b9573d",
    "road_shape": "Straight"
  },
  "6d024ab27b8e517b": {
    "vx_ego": [
      4.00219558259464,
      3.4762987547648434,
      2.9164982884575776,
      2.240398860067443,
      1.6030467055545867,
      1.315710071262747,
      1.3022348590473958,
      1.3761712254417473,
      1.504702385880425,
      1.6379615104356318
    ],
    "vy_ego": [
      0.08564070020527859,
      0.03023858613181396,
      0.021546055080252646,
      0.016312347084537215,
      0.013064779932170034,
      0.01283227782007429,
      0.000957459443471198,
      -0.01684959241649342,
      -0.030981809899535806,
      -0.037862199549783204
    ],
    "v_ego": [
      4.003111765973029,
      3.476430267454081,
      2.9165778746787305,
      2.2404582443908443,
      1.603099943442108,
      1.3157726471454991,
      1.3022352110301643,
      1.3762743732622658,
      1.5050213096892995,
      1.638399052680184
    ],
    "ax_ego": [
      -1.0738027660753957,
      -1.043632641004716,
      -1.2077675891797846,
      -1.501488721601498,
      -1.048132010213254,
      -0.10165447233929843,
      0.04768167380154564,
      0.2482821503541644,
      0.2672302729567608,
      0.26759172486416577
    ],
    "ay_ego": [
      0.3847887524442305,
      0.4603755882462696,
      0.24115522313142024,
      -0.008934056790630529,
      0.04965175814569822,
      -0.023943848731050637,
      0.0011060934417944056,
      -0.019230558506989445,
      0.029273827132989372,
      0.025761328116219617
    ],
    "a_ego": [
      1.1406641768893937,
      1.1406641800387953,
      1.2316080509304548,
      1.5015153007769315,
      1.0493073943895734,
      0.10443629464241168,
      0.04769450135203202,
      0.24902578293216676,
      0.26882889677182586,
      0.26882889956641737
    ],
    "yaw": [
      0.9813620238178842,
      1.05272642595739,
      1.1099318578413704,
      1.1341314562526819,
      1.14133067992445,
      1.1462964707754761,
      1.1510746948732518,
      1.1611770772783971,
      1.1727501367546167,
      1.1858851553417498
    ],
    "yaw_diff": [
      0.1427288042790118,
      0.11441086376796061,
      0.04839919682262295,
      0.014398447343536347,
      0.009931581702052217,
      0.009556448195551237,
      0.020204764810290765,
      0.02314611895243912,
      0.026270037174266125,
      0.026270037174266125
    ],
    "min_front_frame": [
      4,
      10.192682316955924
    ],
    "v_avg": 2.137738068974621,
    "v_std": 0.9369037157179688,
    "vy_max": 0.08564070020527859,
    "a_max": 1.5015153007769315,
    "ax_avg": -0.514569237843731,
    "a_std": 0.5282813739217342,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "6d024ab27b8e517b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 32.58640508446449,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      11.29410603209653,
      10.49844509055153,
      10.192682316955924,
      10.234331081076487,
      10.726395894280978,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "6d024ab27b8e517b",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "8a2637d104fb5194": {
    "vx_ego": [
      9.736373222450784,
      9.778766774222477,
      9.86577924253572,
      9.98649615755757,
      10.107147054351218,
      10.24957382175306,
      10.397735216666405,
      10.561264674498302,
      10.714949298661816,
      10.848775018727896
    ],
    "vy_ego": [
      0.02205418501239831,
      0.013048711979716687,
      0.023350020201120314,
      0.031223713981550327,
      0.02344941386032917,
      0.026004314936111106,
      0.04552764882229887,
      0.06220154222924501,
      0.07402541792144435,
      -0.03150694009774879
    ],
    "v_ego": [
      9.736398200255227,
      9.778775480269593,
      9.865806874548683,
      9.98654496936888,
      10.10717425660065,
      10.249606809627426,
      10.397834890144777,
      10.561447843769406,
      10.715205002023609,
      10.848820769754138
    ],
    "ax_ego": [
      0.0840571761011816,
      0.08499463045599677,
      0.2629416402649861,
      0.21855683948593096,
      0.2629301048875675,
      0.3059020610352279,
      0.2854416842618124,
      0.3676704045542093,
      0.2410925958605539,
      0.28938186127198134
    ],
    "ay_ego": [
      0.12686428306181383,
      0.1262381352770328,
      0.24483630886792773,
      0.1998514047827398,
      0.2193408048795737,
      0.2678882960834317,
      0.3575264437812459,
      0.7037507013162277,
      0.9270258279929654,
      0.9131049572966629
    ],
    "a_ego": [
      0.15218460885021545,
      0.15218460501829312,
      0.35928139991559915,
      0.2961548177553651,
      0.3424071096537081,
      0.4066204743050756,
      0.45749547879414565,
      0.7940066599142215,
      0.9578635213561604,
      0.9578635209010607
    ],
    "yaw": [
      1.69721929863878,
      1.7046270460906665,
      1.7130420018108423,
      1.7234427841885864,
      1.7346536287524077,
      1.7463759464013884,
      1.759626531161798,
      1.783375547127242,
      1.8205284801340054,
      1.8730010500174585
    ],
    "yaw_diff": [
      0.014815494903773097,
      0.01682991144035162,
      0.020801564755488222,
      0.02242168912764253,
      0.02344463529796137,
      0.026501169520819268,
      0.04749803193088775,
      0.07430586601352696,
      0.10494513976690634,
      0.10494513976690634
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.22476150963624,
    "v_std": 0.3755980196236932,
    "vy_max": 0.07402541792144435,
    "a_max": 0.9578635213561604,
    "ax_avg": 0.2402968998179448,
    "a_std": 0.290318692713822,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "8a2637d104fb5194",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "8a2637d104fb5194",
    "road_shape": "Curve"
  },
  "52ab5e0a4e075cad": {
    "vx_ego": [
      8.032600569867888,
      8.155745381431522,
      8.261226393711066,
      8.32975064549273,
      8.373582021372808,
      8.39774939196985,
      8.403783308031489,
      8.408733662302884,
      8.45645562290178,
      8.544863857577564
    ],
    "vy_ego": [
      -0.09677749889014464,
      -0.07944215153077838,
      -0.05754182063843016,
      -0.016519877414357786,
      -0.018317228317498824,
      -0.015535975522956491,
      -0.035687529721543765,
      -0.02779373027006704,
      -0.014596256866434842,
      -0.020525201472306076
    ],
    "v_ego": [
      8.033183540747302,
      8.156132280816774,
      8.261426788955449,
      8.329767026900353,
      8.373602055836614,
      8.397763762863624,
      8.403859083071675,
      8.40877959605245,
      8.456468219819763,
      8.544888508835607
    ],
    "ax_ego": [
      0.2444551998154854,
      0.24524618163935927,
      0.17456016478375477,
      0.09834735774863464,
      0.0769934252521606,
      0.019334597015255944,
      0.003209964308946628,
      0.01356669322945845,
      0.1767182048381186,
      0.17679128147644618
    ],
    "ay_ego": [
      -0.098138728948098,
      -0.09614502387921811,
      -0.05097565121075797,
      -0.0695101377825292,
      -0.2125731212574832,
      -0.30458752393397015,
      -0.3086847695769165,
      -0.09094137722584826,
      -0.04182691564457695,
      -0.04151695205442402
    ],
    "a_ego": [
      0.26341897205094617,
      0.2634189727893969,
      0.1818509503568581,
      0.1204319809298349,
      0.2260869731170036,
      0.3052005674601035,
      0.308701459082426,
      0.09194775286496275,
      0.18160070152272484,
      0.18160070075297993
    ],
    "yaw": [
      -2.488401446520614,
      -2.4965439369825857,
      -2.503684980336015,
      -2.5122512447276675,
      -2.5204772820508428,
      -2.5362130959734372,
      -2.5520606727849033,
      -2.564886291036374,
      -2.570400832423771,
      -2.572154465063612
    ],
    "yaw_diff": [
      -0.016284980923943593,
      -0.014282086706858266,
      -0.01713252878330529,
      -0.016452074646350567,
      -0.031471627845188976,
      -0.03169515362293218,
      -0.025651236502941543,
      -0.011029082774793864,
      -0.003507265279681704,
      -0.003507265279681704
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.336587086389963,
    "v_std": 0.142451456407643,
    "vy_max": 0.09677749889014464,
    "a_max": 0.308701459082426,
    "ax_avg": 0.12292230701076204,
    "a_std": 0.07005455901353927,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "52ab5e0a4e075cad",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 16.18424558045607,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "52ab5e0a4e075cad",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7b2758fa57ef54b7": {
    "vx_ego": [
      7.104278204599224,
      6.83801059238855,
      6.518961080786724,
      6.093811166870515,
      5.57955481439032,
      4.973970483911851,
      4.277699964374409,
      3.4688655193885216,
      2.569558397560153,
      1.6564327116337965
    ],
    "vy_ego": [
      -0.11381474419895898,
      -0.03167265275631603,
      -0.03616002343605995,
      -0.0684897872553174,
      -0.09325250560255682,
      -0.038422845372863,
      0.04969486119743949,
      0.07293937451565036,
      0.03639067798759177,
      -0.014792996100369216
    ],
    "v_ego": [
      7.105189835911539,
      6.838083943514487,
      6.519061368027372,
      6.094196041188211,
      5.58033403629096,
      4.974118885779957,
      4.277988612004274,
      3.4696322779161095,
      2.5698160712230553,
      1.6564987657418033
    ],
    "ax_ego": [
      -0.5424323990285171,
      -0.5321384841388077,
      -0.7470544439163915,
      -0.9579704863917042,
      -1.1041703181701967,
      -1.320923005442715,
      -1.4639725736709785,
      -1.7707134581408175,
      -1.826279904727771,
      -1.8261824379544982
    ],
    "ay_ego": [
      -0.29641501802024733,
      -0.3145209142388062,
      -0.3290675375440898,
      -0.2882857359960151,
      -0.09639553500098302,
      0.16786986111935298,
      0.11434537165156211,
      -0.0523967183162638,
      -0.10540668893711158,
      -0.10708213177467507
    ],
    "a_ego": [
      0.618138148332374,
      0.6181381494416621,
      0.8163184344608174,
      1.0004079759659668,
      1.108370060357189,
      1.3315471739972435,
      1.4684313264429367,
      1.771488517301573,
      1.8293192341647646,
      1.8293192393999587
    ],
    "yaw": [
      -0.4818465431176534,
      -0.5155421879614961,
      -0.538867240359133,
      -0.5581329250651392,
      -0.5703288641119364,
      -0.5772975524568025,
      -0.5810798406424317,
      -0.5830629918416128,
      -0.5840220139063699,
      -0.5849394511779633
    ],
    "yaw_diff": [
      -0.06739128968768537,
      -0.04665010479527387,
      -0.038531369412012406,
      -0.024391878093594332,
      -0.013937376689732162,
      -0.007564576371258402,
      -0.003966302398362265,
      -0.0019180441295141293,
      -0.0018348745431868707,
      -0.0018348745431868707
    ],
    "min_front_frame": [
      8,
      53.56747102513143
    ],
    "v_avg": 4.9084919837597765,
    "v_std": 1.7753036287004138,
    "vy_max": 0.11381474419895898,
    "a_max": 1.8293192393999587,
    "ax_avg": -1.2091837511582397,
    "a_std": 0.4544546220886018,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7b2758fa57ef54b7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 28.145164081427488,
    "right_rear_min": 9.486708026018839,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      59.29216908829355,
      57.030780740282374,
      55.10185561471475,
      53.56747102513143,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7b2758fa57ef54b7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "35fa5481e4de5703": {
    "vx_ego": [
      6.574348401928201,
      6.219932325287453,
      5.869409945621772,
      5.526829408403485,
      5.1804843177262265,
      4.840542820102835,
      4.469681387292406,
      4.062541376710693,
      3.663451441595213,
      3.2632458694384203
    ],
    "vy_ego": [
      0.0003297308851735181,
      -0.024861114994959355,
      -0.018251398360407123,
      -0.016599817350502644,
      -0.02789926085411487,
      -0.02567320657559402,
      -0.0074886389375150575,
      0.00431788362713359,
      -0.005210864664211279,
      -0.01562514267461279
    ],
    "v_ego": [
      6.574348410196888,
      6.219982010118243,
      5.869438322642626,
      5.526854337100778,
      5.1805594422768255,
      4.840610902229694,
      4.469687660633716,
      4.062543671347476,
      3.6634551475399,
      3.2632832775428056
    ],
    "ax_ego": [
      -0.709090953338466,
      -0.7087449740250933,
      -0.6941131803089711,
      -0.676443466314379,
      -0.7091356653841367,
      -0.6508435946698115,
      -0.8326093657397258,
      -0.7959587585271058,
      -0.8004428563310779,
      -0.80041765578078
    ],
    "ay_ego": [
      -0.09505870627504664,
      -0.09760476811992722,
      -0.032143818753261666,
      -0.047157250423873615,
      -0.04545475638519236,
      0.024304463979030022,
      0.04668419365580001,
      0.019211716070112572,
      -0.026867430958388394,
      -0.027608058014060022
    ],
    "a_ego": [
      0.7154342302022878,
      0.7154342240664581,
      0.6948570587989135,
      0.6780852228053288,
      0.7105909701071634,
      0.6512972375897428,
      0.8339171240925568,
      0.7961905772554522,
      0.8008936415640708,
      0.8008936437211291
    ],
    "yaw": [
      -2.0400765213946475,
      -2.043667993960269,
      -2.050129643514193,
      -2.0539002122401775,
      -2.0561126277304647,
      -2.057614383958232,
      -2.0577078897950747,
      -2.05661263688944,
      -2.0546417028374897,
      -2.055566991010769
    ],
    "yaw_diff": [
      -0.007182945131242846,
      -0.012923299107848507,
      -0.007541137451968716,
      -0.004424830980574335,
      -0.0030035124555345405,
      -0.00018701167368551097,
      0.0021905058112690057,
      0.003941868103900958,
      -0.0018505763465581637,
      -0.0018505763465581637
    ],
    "min_front_frame": [
      9,
      14.911418054644475
    ],
    "v_avg": 4.967076318162895,
    "v_std": 1.0492943858443273,
    "vy_max": 0.02789926085411487,
    "a_max": 0.8339171240925568,
    "ax_avg": -0.7377800470419548,
    "a_std": 0.0593335065104619,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "35fa5481e4de5703",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.682608354318151,
    "right_rear_min": 17.879378333336383,
    "speed_mode": "decelerating",
    "front_frame": [
      18.82698071675507,
      18.644493498571116,
      18.504763362189845,
      18.273875270302547,
      18.573871828268018,
      17.896795972469224,
      17.149667947393425,
      16.369517519691712,
      15.647103437007118,
      14.911418054644475
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "35fa5481e4de5703",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "2fb759c52be35681": {
    "vx_ego": [
      8.218746450543659,
      8.36644305911645,
      8.500338421368223,
      8.590287542327228,
      8.609470909074094,
      8.503460314801004,
      8.370449198358184,
      8.216164797243202,
      7.935461075212516,
      7.605571595927071
    ],
    "vy_ego": [
      0.03211321115339727,
      -0.004654056510893234,
      0.016080402174134534,
      0.040324758122780135,
      0.025173926491872667,
      -0.0032589768397492946,
      -0.010478953633866084,
      -0.04251807455881762,
      -0.022296496734504956,
      0.011388300556704145
    ],
    "v_ego": [
      8.218809188480687,
      8.36644435358772,
      8.500353631298106,
      8.59038218858626,
      8.609507713032617,
      8.503460939307338,
      8.370455757649307,
      8.216274810528347,
      7.935492398709712,
      7.605580122131527
    ],
    "ax_ego": [
      0.2928291004394341,
      0.2969166964604085,
      0.2383573551911054,
      0.12034019802070312,
      -0.04501544393441803,
      -0.3784522501383597,
      -0.15323292191971172,
      -0.46287145493693965,
      -0.6597784927371041,
      -0.6598413988384612
    ],
    "ay_ego": [
      0.22884409809186138,
      0.22351506286414208,
      0.21001051335694473,
      0.16269597482534204,
      0.18913173637910857,
      0.33843041681476915,
      0.31870923636870685,
      0.21135260393442373,
      0.02213433852790303,
      0.0201721813067246
    ],
    "a_ego": [
      0.37164297826764553,
      0.37164298454850964,
      0.317676949894301,
      0.20236537125711596,
      0.19441503002183078,
      0.5077019328899645,
      0.3536324443638857,
      0.5088417307820781,
      0.6601496712265429,
      0.6601496713017198
    ],
    "yaw": [
      -1.2049783936692107,
      -1.186906581486752,
      -1.1765228408933508,
      -1.1684701106385553,
      -1.1565095573093247,
      -1.1378638151002427,
      -1.1174686457765963,
      -1.09771960583616,
      -1.0930099662183146,
      -1.095983787750953
    ],
    "yaw_diff": [
      0.03614362436491714,
      0.020767481186802605,
      0.01610546050959094,
      0.023921106658461255,
      0.03729148441816399,
      0.040790338647292756,
      0.039498079880872616,
      0.009419279235690858,
      -0.005947643065276953,
      -0.005947643065276953
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.291676110331164,
    "v_std": 0.29983785271291535,
    "vy_max": 0.04251807455881762,
    "a_max": 0.6601496713017198,
    "ax_avg": -0.14107486123933433,
    "a_std": 0.15762771125961508,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2fb759c52be35681",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2fb759c52be35681",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "088b38f5e629514b": {
    "vx_ego": [
      9.969527626341133,
      9.801973309978184,
      9.651558139631916,
      9.533105064078551,
      9.432682348905344,
      9.294737961035187,
      9.14989986383475,
      9.023553724985717,
      8.903018897931084,
      8.803504039075815
    ],
    "vy_ego": [
      0.02111238919562819,
      0.027727373027811808,
      0.029186569174018295,
      0.03673573905702199,
      0.032690626970675485,
      -0.003955371134094499,
      -0.017576094476882798,
      -0.0021816711147502055,
      0.0025772472404641533,
      0.014226943870052633
    ],
    "v_ego": [
      9.969549981085235,
      9.802012526860986,
      9.651602270012749,
      9.533175844244361,
      9.432738996306544,
      9.294738802638262,
      9.149916744828898,
      9.02355398872265,
      8.903019270962034,
      8.803515534827895
    ],
    "ax_ego": [
      -0.33521939126505584,
      -0.33515030014765523,
      -0.26679305274824083,
      -0.20746927571827067,
      -0.19501086697260603,
      -0.35694401073098425,
      -0.22226462801744729,
      -0.28311056374220334,
      -0.19902886973544484,
      -0.1990295504301794
    ],
    "ay_ego": [
      0.043901003169251884,
      0.044425411792412134,
      0.0703396433426933,
      0.12470110672754031,
      0.012761717143798826,
      -0.10119302157650718,
      0.08551545079401517,
      0.021499488736999972,
      0.022769868486338052,
      0.022763883492451398
    ],
    "a_ego": [
      0.33808185156760673,
      0.3380818553279498,
      0.27590976499628084,
      0.24206169954401546,
      0.19542799098866512,
      0.3710108548445779,
      0.2381479733112122,
      0.2839257285248742,
      0.20032712721709411,
      0.20032712331608324
    ],
    "yaw": [
      1.0837781268346989,
      1.0853426647356916,
      1.0881448289313607,
      1.092444392443316,
      1.09649559000299,
      1.0980448488629753,
      1.0990987131593979,
      1.100347766989083,
      1.1010524000175586,
      1.1010223253461109
    ],
    "yaw_diff": [
      0.0031290758019855147,
      0.005604328391338065,
      0.008599127023910746,
      0.00810239511934796,
      0.003098517719970495,
      0.0021077285928452483,
      0.002498107659370419,
      0.0014092660569509086,
      -6.014934289533258e-05,
      -6.014934289533258e-05
    ],
    "min_front_frame": [
      3,
      19.323696851884296
    ],
    "v_avg": 9.35638239604896,
    "v_std": 0.36975726692363536,
    "vy_max": 0.03673573905702199,
    "a_max": 0.3710108548445779,
    "ax_avg": -0.26000205095080875,
    "a_std": 0.06061282278646972,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "088b38f5e629514b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.5949797278616145,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.778430494629998,
      21.1978200553324,
      20.377696128126008,
      19.323696851884296,
      37.018597775491735,
      36.22811359042542,
      35.31941536179446,
      34.88549868074689,
      34.534504275198934,
      34.11649126551619
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "088b38f5e629514b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a5b6e054384c586c": {
    "vx_ego": [
      1.8215744357403445,
      1.8695277197160012,
      1.962016810366905,
      2.1336222384760197,
      2.3132015058175597,
      2.4869332476296537,
      2.6967271604580447,
      2.944588823543336,
      3.24283783345194,
      3.6799813703298945
    ],
    "vy_ego": [
      0.0791205310549584,
      0.052130309298672926,
      0.02762911765472803,
      0.016446768393275607,
      0.013917666223845993,
      -0.007756386004792559,
      -0.012948743299436849,
      -0.00458838482284496,
      -0.005059855465070262,
      0.08168029705565627
    ],
    "v_ego": [
      1.8232919358613895,
      1.870254384818837,
      1.9622113373193781,
      2.133685626494682,
      2.3132433741285725,
      2.4869453431247,
      2.696758247953484,
      2.9445923984503546,
      3.2428417809391505,
      3.680887740328709
    ],
    "ax_ego": [
      0.09605405444545798,
      0.09614024359334059,
      0.27762772116107576,
      0.4148340390062389,
      0.3158548309426413,
      0.3896542024954909,
      0.45865125662772893,
      0.5664824375820687,
      0.6743134710937426,
      1.0845069984452187
    ],
    "ay_ego": [
      -0.05941121282419058,
      -0.05927164445692307,
      -0.17232792504420774,
      -0.25349860402512575,
      -0.45080839897509156,
      -0.6298028630591875,
      -0.8425968562395887,
      -1.2659357227449408,
      -1.7016904245583306,
      -1.474548576752395
    ],
    "a_ego": [
      0.11294278898917041,
      0.11294279204453361,
      0.32676301092249427,
      0.4861571990220007,
      0.5504475332093784,
      0.7405957357694862,
      0.959338541574888,
      1.3869014406981768,
      1.8304231637334585,
      1.8304231573270622
    ],
    "yaw": [
      3.087405904641069,
      3.085953488037675,
      3.068311483316331,
      3.0214023968645165,
      2.943818618630778,
      2.8399826382298246,
      2.6997257194306736,
      2.509542456539056,
      2.2699873260171093,
      2.013120229058541
    ],
    "yaw_diff": [
      -0.0029048332067880267,
      -0.03528400944268828,
      -0.09381817290362893,
      -0.15516755646747704,
      -0.20767196080190686,
      -0.28051383759830184,
      -0.38036652578323515,
      -0.47911026104389354,
      -0.5137341939171369,
      -0.5137341939171369
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.5154712169419255,
    "v_std": 0.5910378212395515,
    "vy_max": 0.08168029705565627,
    "a_max": 1.8304231637334585,
    "ax_avg": 0.4374119255393005,
    "a_std": 0.6176070253476738,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "a5b6e054384c586c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "a5b6e054384c586c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b27e6e6bf91d59be": {
    "vx_ego": [
      0.19500260087398893,
      0.23921253683832494,
      0.4953664263550416,
      1.261063781721718,
      2.3868241028081245,
      3.5433467811366848,
      4.621791823984787,
      5.577645387376683,
      6.324855961647772,
      6.939331888973404
    ],
    "vy_ego": [
      0.028712696779584046,
      0.014656789908944479,
      0.006178766499764565,
      0.016788460218801315,
      0.026857786737017886,
      0.039108057351012526,
      0.04601376295217818,
      0.030153385242748687,
      0.0103319617954849,
      -0.016978217397607853
    ],
    "v_ego": [
      0.19710513261702894,
      0.23966113425222269,
      0.4954049591144839,
      1.261175528610827,
      2.386975206920721,
      3.5435625931456998,
      4.622020870856561,
      5.577726893095966,
      6.324864400524798,
      6.939352658943714
    ],
    "ax_ego": [
      0.08841126126898428,
      0.08840306807029552,
      0.9362039433639426,
      2.126558556264322,
      2.376106668871605,
      2.2495008117462927,
      2.0628792972270786,
      1.7595153878930694,
      1.2289787839902577,
      1.2289375565051812
    ],
    "ay_ego": [
      -0.02797164807452604,
      -0.027997552979313126,
      -0.00562159943584295,
      0.05274874179969968,
      0.01265086988964148,
      0.10261732140488788,
      0.03873207988615568,
      0.032699462054787465,
      -0.040807086565740724,
      -0.04203025071143174
    ],
    "a_ego": [
      0.09273060020930382,
      0.09273060668986668,
      0.9362208211476678,
      2.1272126651988628,
      2.3761403465210296,
      2.251840184537869,
      2.0632428768665103,
      1.759819210899566,
      1.2296560778576082,
      1.2296560737717646
    ],
    "yaw": [
      2.5641752265757853,
      2.5644681914808345,
      2.5647484396947,
      2.5663553141822346,
      2.569858627280455,
      2.5754162338149027,
      2.5823407932992337,
      2.5889037571883984,
      2.591860849284645,
      2.5928561371771495
    ],
    "yaw_diff": [
      0.0005859298100983068,
      0.0005604964277310387,
      0.0032137489750692083,
      0.00700662619644099,
      0.01111521306889518,
      0.013849118968662033,
      0.013125927778329327,
      0.0059141841924930105,
      0.001990575785009163,
      0.001990575785009163
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.1587849378082025,
    "v_std": 2.470631105034254,
    "vy_max": 0.04601376295217818,
    "a_max": 2.3761403465210296,
    "ax_avg": 1.4145495335201028,
    "a_std": 0.8040632224936193,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b27e6e6bf91d59be",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b27e6e6bf91d59be",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "15f1c723f81a50b2": {
    "vx_ego": [
      4.900371265435627,
      4.358901470359983,
      3.824159242502431,
      3.321305728138352,
      2.8306021153998038,
      2.317115668018401,
      1.8353613443214676,
      1.4189534753122022,
      1.0494856181765178,
      0.7032354403592028
    ],
    "vy_ego": [
      -0.0004933543315230882,
      0.008189307533104095,
      -0.0064147457058274515,
      -0.02330819426779751,
      -0.01570856142269239,
      0.00171448668524532,
      0.007348266377919743,
      -0.011388062545080735,
      -0.012257231290917991,
      0.022609110904505014
    ],
    "v_ego": [
      4.900371290270327,
      4.358909163204057,
      3.8241646226305734,
      3.3213875130259423,
      2.830645702769567,
      2.317116302312198,
      1.8353760544499498,
      1.4189991730332712,
      1.0495571935241388,
      0.7035987894198612
    ],
    "ax_ego": [
      -1.0829278954739265,
      -1.0829360232255802,
      -1.0559987471863848,
      -0.955528262840365,
      -1.0073350215277532,
      -1.046642470514092,
      -0.8804051139381204,
      -0.7852673258110292,
      -0.6925081375028231,
      -0.6924961271327216
    ],
    "ay_ego": [
      0.009012678565659071,
      0.007975110834585297,
      -0.0783393290548543,
      -0.006065051233419105,
      0.030200753993436302,
      0.027121190038761067,
      0.003775586280984178,
      -0.06943989611461765,
      0.06997392183443751,
      0.07009270118310412
    ],
    "a_ego": [
      1.0829653988796297,
      1.0829653885477866,
      1.0589005640455476,
      0.9555475110810501,
      1.0077876418859735,
      1.046993801334545,
      0.880413209635203,
      0.7883315750106766,
      0.6960343886939215,
      0.6960343905677092
    ],
    "yaw": [
      -2.031662167734855,
      -2.032620280690913,
      -2.033350927233122,
      -2.034532792843258,
      -2.0350407388309324,
      -2.0362399772159776,
      -2.0352229716000374,
      -2.0337865200704597,
      -2.032966420289733,
      -2.0327948982836572
    ],
    "yaw_diff": [
      -0.0019162259121152658,
      -0.0014612930844180028,
      -0.002363731220272669,
      -0.0010158919753484597,
      -0.0023984767700904186,
      0.002034011231880406,
      0.0028729030591554405,
      0.0016401995614536702,
      0.00034304401215123903,
      0.00034304401215123903
    ],
    "min_front_frame": [
      9,
      10.163896603943892
    ],
    "v_avg": 2.656012580463988,
    "v_std": 1.3596292950183737,
    "vy_max": 0.02330819426779751,
    "a_max": 1.0829653988796297,
    "ax_avg": -0.9282045125152797,
    "a_std": 0.146904835175197,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "15f1c723f81a50b2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 19.7314119986392,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.98717220515643,
      19.69161121965299,
      17.634549683335763,
      15.887924650679691,
      14.335980882355237,
      13.008950761683733,
      12.0211419997471,
      11.237208314758064,
      10.619421015213762,
      10.163896603943892
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "15f1c723f81a50b2",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9e77d9cf35e05d55": {
    "vx_ego": [
      9.720049824744597,
      9.949560807684477,
      10.173452746225243,
      10.430932150859856,
      10.704052466254709,
      10.822067238416547,
      10.826343961710984,
      10.872195117254467,
      10.90859747351498,
      10.902017122864454
    ],
    "vy_ego": [
      -0.01113750710680339,
      0.008579324421714496,
      0.04888349477316467,
      0.05137350891564996,
      0.06005743952417664,
      0.048111217477657675,
      0.028131436854768488,
      0.006819868894963221,
      0.029825661528221303,
      0.06649277369433726
    ],
    "v_ego": [
      9.720056205577313,
      9.949564506581106,
      10.173570188274082,
      10.431058660234834,
      10.704220947662455,
      10.822174180914663,
      10.826380510355962,
      10.87219725622487,
      10.9086382472453,
      10.902219894873856
    ],
    "ax_ego": [
      0.43974202988584343,
      0.47809506069445135,
      0.40979117807546617,
      0.611366200780787,
      0.47826167759681193,
      -0.00758968257145113,
      0.024123414591407807,
      0.1592375055878058,
      -0.013634700128057911,
      -0.01324200675955342
    ],
    "ay_ego": [
      0.8981919036565715,
      0.8783773967026218,
      0.6583361138503583,
      0.2996345355391085,
      0.12382566827111507,
      0.08096951926594918,
      -0.046033247235146374,
      0.002105652825011517,
      0.13619233657024085,
      0.13623106638819069
    ],
    "a_ego": [
      1.0000608724684403,
      1.0000608671968452,
      0.7754580894078482,
      0.6808446859195354,
      0.49403140424522113,
      0.08132445100764164,
      0.05197113605224595,
      0.15925142686847726,
      0.13687314414465618,
      0.13687313173988414
    ],
    "yaw": [
      -0.7145917933151823,
      -0.6714219969043048,
      -0.6372770842814048,
      -0.6142166338758741,
      -0.605034921597698,
      -0.5992010282831072,
      -0.5965473135034973,
      -0.5955937215458074,
      -0.5945335400820049,
      -0.5916506451012218
    ],
    "yaw_diff": [
      0.08633959282175496,
      0.06828982524579996,
      0.04612090081106146,
      0.018363424556352204,
      0.011667786629181665,
      0.005307429559219701,
      0.0019071839153799175,
      0.0021203629276049796,
      0.005765789961566181,
      0.005765789961566181
    ],
    "min_front_frame": [
      1,
      32.71110627277837
    ],
    "v_avg": 10.531008059794443,
    "v_std": 0.4162102091253177,
    "vy_max": 0.06649277369433726,
    "a_max": 1.0000608724684403,
    "ax_avg": 0.2566150677753511,
    "a_std": 0.3662290406565843,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9e77d9cf35e05d55",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.557738970752506,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      37.577681962424265,
      32.71110627277837,
      34.5431567298861,
      42.111470425521176,
      36.901160320689435,
      38.16597089365211,
      39.94776743567658,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9e77d9cf35e05d55",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "98867b3fc7a95c24": {
    "vx_ego": [
      4.4314716865171375,
      4.213285494560383,
      4.013221908005926,
      3.8355773233065453,
      3.6600083986567387,
      3.48583349223161,
      3.3128791471566936,
      3.145857549863042,
      3.006417157831577,
      2.885922520934723
    ],
    "vy_ego": [
      0.016929913170079303,
      0.0037674789425385935,
      -0.0006670043776362267,
      0.0022793130506175707,
      0.012408641727140735,
      0.024249796428963855,
      0.015324589165563562,
      0.011825278271094586,
      0.008975671054375356,
      -0.006378064623523194
    ],
    "v_ego": [
      4.431504025764051,
      4.213287178981574,
      4.013221963434563,
      3.835578000553683,
      3.6600294333006906,
      3.4859178401377258,
      3.312914590915189,
      3.145879775394554,
      3.0064305562535405,
      2.8859295688818474
    ],
    "ax_ego": [
      -0.43637509389948903,
      -0.4363823590941667,
      -0.36385726090070913,
      -0.3467286275489634,
      -0.35556952786186524,
      -0.34155042339249175,
      -0.3515362894439911,
      -0.3169618798869144,
      -0.24149336467607563,
      -0.24053692118228637
    ],
    "ay_ego": [
      -0.023737005155290453,
      -0.023602997795314523,
      0.020915617062611747,
      0.018913329262005618,
      0.06022147601165845,
      0.08926640787906401,
      0.048539705996432536,
      0.08525111237852612,
      0.05938878494668004,
      0.06315110128277941
    ],
    "a_ego": [
      0.4370202146234544,
      0.4370202110126212,
      0.364457911626674,
      0.3472440858902579,
      0.36063321438399504,
      0.35302292177027517,
      0.3548716188345718,
      0.32822642407829206,
      0.24868870694105727,
      0.24868870510154117
    ],
    "yaw": [
      -0.4732343557625236,
      -0.4729272477072115,
      -0.4720104666891619,
      -0.47022299638531156,
      -0.4676477407513365,
      -0.4604986210961162,
      -0.4477431975257158,
      -0.43628704793309525,
      -0.4235668562920202,
      -0.4079568817656877
    ],
    "yaw_diff": [
      0.0006142161106241772,
      0.00183356203609919,
      0.003574940607700694,
      0.005150511267950075,
      0.014298239310440608,
      0.025510847140800874,
      0.02291229918524107,
      0.025440383282150147,
      0.031219949052665008,
      0.031219949052665008
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5990692933617416,
    "v_std": 0.496109219803382,
    "vy_max": 0.024249796428963855,
    "a_max": 0.4370202146234544,
    "ax_avg": -0.34309917478869534,
    "a_std": 0.06038968188086351,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "98867b3fc7a95c24",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.691144747054707,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "98867b3fc7a95c24",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "dc482250cdb35c9e": {
    "vx_ego": [
      8.84214928630181,
      8.949112617890282,
      9.060478666487,
      9.140567255302592,
      9.193755476836905,
      9.24345292242349,
      9.159308470259402,
      9.239931069904433,
      9.43609713686131,
      9.45655775995781
    ],
    "vy_ego": [
      0.08472019257477825,
      0.08981765974973221,
      0.06982999334390527,
      0.06171136980254133,
      0.0747481535853689,
      0.04250549037908424,
      0.002717814109344019,
      0.007822651348986298,
      0.0415478633298223,
      0.10009849288066075
    ],
    "v_ego": [
      8.842555146125893,
      8.949563333464152,
      9.060747755778022,
      9.140775571135793,
      9.194059334936501,
      9.243550651441886,
      9.159308873483806,
      9.239934381285368,
      9.436188605641023,
      9.45708752078013
    ],
    "ax_ego": [
      0.19751364720939374,
      0.2183667511568547,
      0.21525514033413792,
      0.09770940498737518,
      0.10461784154238662,
      0.08305107939667138,
      -0.42159239389218117,
      0.7436442126113167,
      0.039568662860816575,
      0.04074742618236346
    ],
    "ay_ego": [
      0.6176601025371085,
      0.6105993809022837,
      0.575142418294116,
      0.6841420768190409,
      0.6187139604155325,
      0.317653322489018,
      0.314681456740961,
      0.3037195076297846,
      0.21896406738272595,
      0.21874777596925515
    ],
    "a_ego": [
      0.6484717750990464,
      0.6484717742269527,
      0.6141038810832198,
      0.6910842995592198,
      0.6274965000556266,
      0.3283308012923312,
      0.5260841812907449,
      0.8032759515043284,
      0.22251054331285047,
      0.22251054409169602
    ],
    "yaw": [
      -0.9726740766277657,
      -0.9387218029434832,
      -0.9035875352532,
      -0.8681625964931912,
      -0.8340542881806694,
      -0.8051737647643531,
      -0.7838164675391732,
      -0.7673052479047991,
      -0.7570204414805535,
      -0.7516344327757019
    ],
    "yaw_diff": [
      0.0679045473685651,
      0.07026853538056632,
      0.0708498775200177,
      0.06821661662504352,
      0.05776104683263261,
      0.042714594450359744,
      0.03302243926874815,
      0.020569612848491348,
      0.010772017409703238,
      0.010772017409703238
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.172377117407258,
    "v_std": 0.18243227666129416,
    "vy_max": 0.10009849288066075,
    "a_max": 0.8032759515043284,
    "ax_avg": 0.1318881772389135,
    "a_std": 0.19363852715312804,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "dc482250cdb35c9e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dc482250cdb35c9e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ae7fdaafe2c250e6": {
    "vx_ego": [
      3.2238492962766876,
      3.3714819846995603,
      3.463503977654443,
      3.491271688977711,
      3.5038487005231,
      3.491556124171985,
      3.4768144505127005,
      3.4426385163476247,
      3.386452345228702,
      3.337693719014239
    ],
    "vy_ego": [
      -0.005873982337780692,
      0.013073184985849862,
      0.0015341893124887207,
      0.0033099004500685147,
      0.01828825584592808,
      0.013259184947113312,
      0.010497399950541997,
      0.015204377309749884,
      0.004321950117119888,
      -0.006688003626524219
    ],
    "v_ego": [
      3.2238546475876046,
      3.3715073307527246,
      3.4635043174456985,
      3.4912732579530736,
      3.503896427758575,
      3.4915812999597122,
      3.476830297656136,
      3.442672091171268,
      3.3864551031658148,
      3.337700419651172
    ],
    "ax_ego": [
      0.2823273291241724,
      0.3068659726008186,
      0.05797004029414446,
      0.05639734512069583,
      -0.010631141225727142,
      -0.042666038891796654,
      -0.018819634609254343,
      -0.12057180302651815,
      -0.10893908968663651,
      -0.08563040595128107
    ],
    "ay_ego": [
      0.4300754515105388,
      0.4129248133490838,
      0.36209918677536923,
      0.4900093120194663,
      0.42793715701252305,
      0.42111580699523143,
      0.43526758591872095,
      0.45211125407607883,
      0.38191839164595076,
      0.3878102836522086
    ],
    "a_ego": [
      0.5144643960104358,
      0.5144644075343037,
      0.36671016707351933,
      0.4932441448232848,
      0.4280691901033315,
      0.4232716784477333,
      0.4356742475730428,
      0.46791254070318544,
      0.39715158710394555,
      0.3971515863367383
    ],
    "yaw": [
      -2.49255523153128,
      -2.4343542820661233,
      -2.374841986517052,
      -2.3141140617158245,
      -2.2529488802214557,
      -2.190915523500579,
      -2.128641805690747,
      -2.066130524266116,
      -2.001873719183471,
      -1.9413288194286231
    ],
    "yaw_diff": [
      0.11640189893031305,
      0.11902459109814245,
      0.12145584960245515,
      0.12233036298873756,
      0.12406671344175368,
      0.12454743561966364,
      0.12502256284926183,
      0.12851361016529061,
      0.12108979950969534,
      0.12108979950969534
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.418927519310178,
    "v_std": 0.08461100377883138,
    "vy_max": 0.01828825584592808,
    "a_max": 0.5144644075343037,
    "ax_avg": 0.03163025737486175,
    "a_std": 0.04903360237196015,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "ae7fdaafe2c250e6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ae7fdaafe2c250e6",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "4ad7866306895cca": {
    "vx_ego": [
      2.1235322252689928,
      1.4038764024298382,
      0.7012061320286924,
      0.16115666454459515,
      -0.04733594795765281,
      -0.05067489434568952,
      -0.033452788480034364,
      -0.02070118173006376,
      -0.01419451410224738,
      -0.008111064307257875
    ],
    "vy_ego": [
      0.02402583608955211,
      0.011180569665923179,
      0.0024300234462681924,
      -0.01014646584783678,
      -0.008909240394250909,
      -0.0007936204149714098,
      -0.0028215258689904647,
      -0.0019301997514934617,
      -0.001472656657931888,
      -0.0009877066594359564
    ],
    "v_ego": [
      2.123668136163389,
      1.4039209231425394,
      0.7012103426280801,
      0.16147576070835057,
      0.0481670689730252,
      0.05068110841635032,
      0.033571566322102134,
      0.02079097390941057,
      0.014270702443504696,
      0.008170980886133978
    ],
    "ax_ego": [
      -1.4393368738619143,
      -1.4393601147904214,
      -1.3713322518297735,
      -0.7888652331992249,
      -0.04509805140004368,
      0.03174167000303668,
      0.037146205937558296,
      0.013859984621088072,
      0.012166853303611332,
      0.012166827435285948
    ],
    "ay_ego": [
      -0.022720385563260836,
      -0.02119778782225923,
      -0.011711068654919998,
      -0.03832355663092857,
      0.04325931638358186,
      -0.010814787032680438,
      0.0027097833105077275,
      0.0008580499748549004,
      0.0009703185577401062,
      0.0009706302518036102
    ],
    "a_ego": [
      1.4395161869109814,
      1.439516198678588,
      1.3713822567167615,
      0.7897955755404757,
      0.06249162099078416,
      0.03353346437730393,
      0.03724491295660922,
      0.013886519486759322,
      0.012205483907452944,
      0.012205482904241978
    ],
    "yaw": [
      0.944067292408262,
      0.9451251354594821,
      0.9456263957940066,
      0.9458156836415355,
      0.94590672029215,
      0.9459832612318178,
      0.945944538623932,
      0.9459183100230685,
      0.9459443783140702,
      0.9459187087835468
    ],
    "yaw_diff": [
      0.002115686102440062,
      0.0010025206690491562,
      0.0003785756950576147,
      0.000182073301228991,
      0.0001530818793356037,
      -7.744521577146557e-05,
      -5.2457201727085234e-05,
      5.213658200342586e-05,
      -5.1339061046817847e-05,
      -5.1339061046817847e-05
    ],
    "min_front_frame": [
      3,
      12.741186351635434
    ],
    "v_avg": 0.45659275635928864,
    "v_std": 0.7014755590269942,
    "vy_max": 0.02402583608955211,
    "a_max": 1.439516198678588,
    "ax_avg": -0.49769109837807973,
    "a_std": 0.6276563601496834,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4ad7866306895cca",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 16.5078340224606,
    "speed_mode": "decelerating",
    "front_frame": [
      13.859842927610288,
      13.18758250880921,
      12.825552627430575,
      12.741186351635434,
      12.940999717673275,
      12.906095747940737,
      12.911763440865673,
      12.945860730574749,
      12.937580982926482,
      12.937564538360709
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4ad7866306895cca",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ca4be8d422eb5f56": {
    "vx_ego": [
      1.0449134191727434,
      1.3746501619302918,
      1.6996235786044929,
      2.003795969963926,
      2.3034786861892877,
      2.606318160280814,
      2.9154325597280337,
      3.248064275906748,
      3.6186407367605495,
      4.018282712841971
    ],
    "vy_ego": [
      -0.1955005589862246,
      -0.08290015103178164,
      0.05177320225960862,
      0.17085609771433494,
      0.168967847888212,
      0.08422235116691923,
      0.040392784216210946,
      0.022495670606330898,
      -0.0011834483851495443,
      -0.013233284186318178
    ],
    "v_ego": [
      1.063044929497902,
      1.3771475965691076,
      1.7004119422718005,
      2.0110669047472887,
      2.3096675499621804,
      2.6076786146006663,
      2.9157123636152957,
      3.2481421760165694,
      3.618640930279352,
      4.018304503162371
    ],
    "ax_ego": [
      0.6593715170780734,
      0.6592346162904618,
      0.6406167197983733,
      0.575572207605469,
      0.6218735830118631,
      0.5889365876711361,
      0.6471764936594301,
      0.6829434904079954,
      0.7993081201919813,
      0.799290892517507
    ],
    "ay_ego": [
      0.2235186158623851,
      0.22392202856300017,
      0.3123237944236823,
      0.17122810204231237,
      -0.16576392601646614,
      -0.16254527895252868,
      0.010551449028133576,
      -0.05005280133709744,
      -0.015296989312527022,
      -0.01617248482960907
    ],
    "a_ego": [
      0.6962265214503657,
      0.6962265106927497,
      0.7126962426226436,
      0.6005018143992953,
      0.6435871599219527,
      0.6109560311572979,
      0.6472625024067961,
      0.6847752142216792,
      0.7994544820606526,
      0.7994544890905277
    ],
    "yaw": [
      1.5560838217671211,
      1.5554719453940011,
      1.5550744705371853,
      1.556045025715157,
      1.5575601654450901,
      1.5586452315653676,
      1.5607628652854184,
      1.5633696403028685,
      1.5655170759435846,
      1.5666124030624933
    ],
    "yaw_diff": [
      -0.001223752746239981,
      -0.0007949497136316985,
      0.001941110355943465,
      0.0030302794598662253,
      0.002170132240554956,
      0.004235267440101609,
      0.005213550034900205,
      0.004294871281432133,
      0.002190654237817391,
      0.002190654237817391
    ],
    "min_front_frame": [
      0,
      11.638085654864048
    ],
    "v_avg": 2.4869817510722534,
    "v_std": 0.9240833288060256,
    "vy_max": 0.1955005589862246,
    "a_max": 0.7994544890905277,
    "ax_avg": 0.6674324228232291,
    "a_std": 0.0654302659796953,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ca4be8d422eb5f56",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.45941577446845,
    "right_rear_min": 14.457093721817047,
    "speed_mode": "accelerating",
    "front_frame": [
      11.638085654864048,
      11.792405904646703,
      11.805298021377359,
      11.846614279044289,
      11.98547391871508,
      12.279551761039121,
      12.57851016334975,
      12.918056735977407,
      13.328864151345273,
      13.723422674795792
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ca4be8d422eb5f56",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9e1cdfa2d2185645": {
    "vx_ego": [
      8.530833431198701,
      8.452107452068503,
      8.404447287028049,
      8.381850604415526,
      8.352516035272332,
      8.348937579197154,
      8.348678055991963,
      8.272294696827728,
      8.36178521427635,
      8.665407453487717
    ],
    "vy_ego": [
      -0.03733692488159246,
      0.0013921800308986931,
      -0.004796684479178026,
      -0.028138516159444737,
      -0.017077601911049456,
      -0.012951376300530892,
      -0.027153248031296595,
      -0.008830709270166714,
      0.027602324507851606,
      0.06730179150668825
    ],
    "v_ego": [
      8.53091513712433,
      8.45210756672424,
      8.404448655837879,
      8.381897835862269,
      8.352533493735207,
      8.34894762466974,
      8.348722212499371,
      8.27229941023597,
      8.361830771906881,
      8.665668806624247
    ],
    "ax_ego": [
      -0.16252550069254262,
      -0.15058238865514043,
      -0.04217991541750388,
      -0.0476572950044713,
      -0.06969098601589059,
      0.0554574163773118,
      -0.05603838948758709,
      -0.24883877027818063,
      0.6065195894610441,
      0.6071606125318274
    ],
    "ay_ego": [
      0.48881233297924326,
      0.4926225533909515,
      0.30542017832615787,
      0.23216266663952673,
      0.04846109972057536,
      0.023989314239626032,
      0.06846193028281672,
      0.1776796698069783,
      0.15274605481153183,
      0.15017775137144795
    ],
    "a_ego": [
      0.5151233204272276,
      0.515123321043135,
      0.30831904027064216,
      0.2370036319306504,
      0.08488410757023135,
      0.06042360655351562,
      0.08847223855205523,
      0.3057626508523793,
      0.6254577281163619,
      0.6254577255234828
    ],
    "yaw": [
      -0.7034866103817066,
      -0.6791497473049192,
      -0.6547057806213094,
      -0.6359142591338003,
      -0.6288538974533444,
      -0.6271758844311337,
      -0.6227138776608964,
      -0.6175291252087032,
      -0.6119051785475631,
      -0.6076729166832768
    ],
    "yaw_diff": [
      0.04867372615357479,
      0.04888793336721964,
      0.03758304297501813,
      0.014120723360911747,
      0.003356026044421423,
      0.008924013540474673,
      0.010369504904386373,
      0.011247893322280156,
      0.008464523728572537,
      0.008464523728572537
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.411937151522014,
    "v_std": 0.1070558572923992,
    "vy_max": 0.06730179150668825,
    "a_max": 0.6254577281163619,
    "ax_avg": 0.04916243728188667,
    "a_std": 0.21059216339245007,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9e1cdfa2d2185645",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.296654897545434,
    "right_rear_min": 13.043574715844136,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9e1cdfa2d2185645",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b4ec906c4dbe5735": {
    "vx_ego": [
      12.86198956573993,
      12.23583272906708,
      11.600062863015971,
      10.9805195237043,
      10.344568908625565,
      9.64603603994792,
      8.900552256431713,
      8.154369608695598,
      7.496342430756946,
      6.900078713108262
    ],
    "vy_ego": [
      0.05655517593479176,
      0.03692068219946054,
      0.00859001939894355,
      0.01087967724765837,
      0.018187914081032597,
      0.04519866439341441,
      0.015462470445672866,
      0.018288414051133378,
      -0.004987141920869076,
      -0.08507445540421943
    ],
    "v_ego": [
      12.862113903908947,
      12.235888431596752,
      11.600066043534216,
      10.980524913583519,
      10.344584897690256,
      9.646141933604184,
      8.900565687497842,
      8.1543901170662,
      7.496344089671411,
      6.900603155525761
    ],
    "ax_ego": [
      -1.2526991298133938,
      -1.2525483748367474,
      -1.2908946454823238,
      -1.1872910375222838,
      -1.356941751718727,
      -1.4374835364977607,
      -1.544958247760546,
      -1.4398530058529324,
      -1.1921595831504812,
      -1.1924605741445407
    ],
    "ay_ego": [
      0.04283286464813635,
      0.04703541780565687,
      0.09125601386857106,
      0.16462254554309302,
      0.15362950032378075,
      0.014273877626340171,
      0.04161509396372526,
      0.0009758936213859343,
      -0.1271304771620182,
      -0.1242755564210749
    ],
    "a_ego": [
      1.2534311964081633,
      1.2534311954927282,
      1.2941161639521064,
      1.198649485997399,
      1.3656108307007608,
      1.4375544028956262,
      1.5455186195478028,
      1.439853336570112,
      1.198918942181235,
      1.1989189442213746
    ],
    "yaw": [
      -1.6273129388740655,
      -1.6239579395043227,
      -1.618682023912862,
      -1.6132126645851068,
      -1.6064496369953474,
      -1.6049539310050505,
      -1.6002473912363961,
      -1.5993287270467982,
      -1.6003888592499695,
      -1.597994416068
    ],
    "yaw_diff": [
      0.006709998739485634,
      0.010551831182921134,
      0.010938718655510549,
      0.013526055179518881,
      0.0029914119805938277,
      0.009413079537308633,
      0.0018373283791959238,
      -0.00212026440634272,
      0.004788886363939149,
      0.004788886363939149
    ],
    "min_front_frame": [
      0,
      19.740318141179348
    ],
    "v_avg": 9.912122317367908,
    "v_std": 1.9331023848595856,
    "vy_max": 0.08507445540421943,
    "a_max": 1.5455186195478028,
    "ax_avg": -1.3147289886779734,
    "a_std": 0.11605310874329712,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b4ec906c4dbe5735",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 21.650616994784684,
    "right_rear_min": 17.641733510195596,
    "speed_mode": "decelerating",
    "front_frame": [
      19.740318141179348,
      20.246282461880337,
      20.573383171798916,
      21.102568019412672,
      21.29891734939818,
      21.262645391671985,
      21.125303681653083,
      20.96836162212636,
      20.775921912035116,
      20.38308141374211
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.8,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b4ec906c4dbe5735",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8b3679b7c11d5ada": {
    "vx_ego": [
      0.9912500214232854,
      1.6111190104054272,
      2.2557629221017694,
      2.9074997025679403,
      3.5168931409917517,
      4.101685762420017,
      4.699338960120664,
      5.294816694998219,
      5.881663021153839,
      6.4749169368242345
    ],
    "vy_ego": [
      -0.005571544723496658,
      0.008050543438893595,
      0.01649779104672651,
      0.011991060693757369,
      -0.009627442476441317,
      -7.4157274598252165e-06,
      0.007691233457133129,
      -0.003969914428992527,
      -0.009753248503260134,
      -0.022598437696222745
    ],
    "v_ego": [
      0.9912656793626368,
      1.6111391240173596,
      2.255823250575837,
      2.9075244291268167,
      3.516906318457099,
      4.101685762426721,
      4.699345254094452,
      5.294818183266772,
      5.881671107794525,
      6.4749563726838835
    ],
    "ax_ego": [
      1.2397359666272467,
      1.2397393805110843,
      1.3387904910229924,
      1.2680711389352017,
      1.169470438078134,
      1.1697920307788863,
      1.2208866754016028,
      1.160967760411146,
      1.1864096277835223,
      1.1864916909607819
    ],
    "ay_ego": [
      0.027642770148059416,
      0.02748941060073063,
      0.012518263234786456,
      -0.018306197784862723,
      -0.04552146853247915,
      0.09928678026434797,
      -0.0795459377068176,
      -0.005074463119506323,
      -0.0482147210763422,
      -0.04615105575673674
    ],
    "a_ego": [
      1.2400441079617501,
      1.2400441118303747,
      1.3388490152993355,
      1.2682032685172193,
      1.1703560610498056,
      1.1739979812627668,
      1.2234753084467358,
      1.1609788503198597,
      1.1873889271110394,
      1.1873889222434395
    ],
    "yaw": [
      -1.5496945247115725,
      -1.5495708234300944,
      -1.548761545219533,
      -1.547580390578585,
      -1.5458245995552922,
      -1.5448214355353613,
      -1.5454503291872617,
      -1.5473473858674516,
      -1.5486972299946733,
      -1.5504365900784265
    ],
    "yaw_diff": [
      0.00024740256295618934,
      0.001618556421123074,
      0.002362309281895847,
      0.0035115820465856373,
      0.002006328039861671,
      -0.0012577873038006615,
      -0.003794113360379825,
      -0.002699688254443444,
      -0.0034787201675063883,
      -0.0034787201675063883
    ],
    "min_front_frame": [
      0,
      14.952320216201866
    ],
    "v_avg": 3.7735135481806106,
    "v_std": 1.7480642262444992,
    "vy_max": 0.022598437696222745,
    "a_max": 1.3388490152993355,
    "ax_avg": 1.21803552005106,
    "a_std": 0.05238971395664717,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8b3679b7c11d5ada",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.623231685587258,
    "right_rear_min": 21.917512943092017,
    "speed_mode": "accelerating",
    "front_frame": [
      14.952320216201866,
      16.463579321042303,
      17.91318803607521,
      19.47876507203316,
      21.080495548256984,
      22.709260197951405,
      24.46808974002405,
      26.379674365376584,
      28.20333363170162,
      30.410709540550986
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8b3679b7c11d5ada",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cdac2937953e5398": {
    "vx_ego": [
      2.4573488891765893,
      1.7588384287030245,
      1.1513626553714063,
      0.7424722785161004,
      0.4762768707996775,
      0.24261912537844543,
      0.05373943833424693,
      -0.01864582477048638,
      -0.017726860905392577,
      -0.012483305921411978
    ],
    "vy_ego": [
      0.03826542278648537,
      0.012553195144544893,
      0.000278439950294862,
      -0.001004773705404638,
      0.005685758417552589,
      0.004403202320189051,
      -0.007362098115407327,
      -0.0007763412068880551,
      0.004812713812441632,
      -0.0046424766238815736
    ],
    "v_ego": [
      2.4576468024755806,
      1.7588832255129563,
      1.151362689039688,
      0.7424729583864244,
      0.47631080767448,
      0.24265907811181173,
      0.05424138384242434,
      0.01866197971923654,
      0.018368554973094704,
      0.013318615390904799
    ],
    "ax_ego": [
      -1.3971556244315395,
      -1.3972965109404363,
      -1.0326393234689977,
      -0.6029206187951915,
      -0.4618600035293444,
      -0.4727819416722456,
      -0.28273651574459435,
      -0.006810835842899814,
      0.010486818383844198,
      0.010487409844716078
    ],
    "ay_ego": [
      -0.03680722074461196,
      -0.03100112520885434,
      0.0010972979823388185,
      -1.530398333615679e-06,
      0.027323960419457033,
      -0.03213741269938017,
      -0.014913485453356468,
      0.04126613013561005,
      -0.018909600931327354,
      -0.01890927758712064
    ],
    "a_ego": [
      1.3976403723346102,
      1.397640371930681,
      1.032639906471453,
      0.6029206187971339,
      0.4626675498380345,
      0.47387295519620964,
      0.2831295628926106,
      0.04182440652595124,
      0.021622820519020848,
      0.02162282461006958
    ],
    "yaw": [
      2.2080487469081116,
      2.212204185249824,
      2.215608746293061,
      2.2173520829198017,
      2.2175887960152343,
      2.217808274577625,
      2.217828959461447,
      2.217687197195253,
      2.2176835400190806,
      2.217652398516235
    ],
    "yaw_diff": [
      0.008310876683425228,
      0.006809122086473884,
      0.003486673253481065,
      0.00047342619086521154,
      0.00043895712478114746,
      4.136976764446132e-05,
      -0.00028352453238777997,
      -7.314352345133557e-06,
      -6.228300569155465e-05,
      -6.228300569155465e-05
    ],
    "min_front_frame": [
      6,
      9.068397946139417
    ],
    "v_avg": 0.69339260951266,
    "v_std": 0.8057436089304608,
    "vy_max": 0.03826542278648537,
    "a_max": 1.3976403723346102,
    "ax_avg": -0.5633227146196689,
    "a_std": 0.506796788085419,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cdac2937953e5398",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.963119787494353,
    "right_rear_min": 7.001198591610946,
    "speed_mode": "decelerating",
    "front_frame": [
      11.849941321956006,
      10.807557048143286,
      10.140815615550913,
      9.675064607207059,
      9.348111496938472,
      9.14947438143256,
      9.068397946139417,
      9.070824335817852,
      9.0778718920787,
      9.079915146491722
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cdac2937953e5398",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e8edb3108f41545c": {
    "vx_ego": [
      4.366618797935027,
      4.477308993772832,
      4.562729554921755,
      4.610204698428258,
      4.6435392623348175,
      4.683680507109982,
      4.7461554255419145,
      4.762774210071034,
      4.84244120531786,
      5.0395092746678545
    ],
    "vy_ego": [
      0.007602292296252866,
      -0.04493182317113534,
      -0.039589030250309645,
      -0.022890074540947644,
      0.0016270460745290705,
      0.02181500692160393,
      0.016822774460222123,
      0.03226211191084488,
      0.025629110002255318,
      0.006401390056970324
    ],
    "v_ego": [
      4.366625415733264,
      4.477534443692485,
      4.562901301000563,
      4.610261523701499,
      4.643539547384507,
      4.683731310313286,
      4.74618523965737,
      4.762883477472728,
      4.84250902717174,
      5.039513340319478
    ],
    "ax_ego": [
      0.21344024067148232,
      0.22671553443647552,
      0.10676198704420797,
      0.07837499820267403,
      0.05172930955263066,
      0.10788597797387606,
      0.1419814409152952,
      -0.07559629835558132,
      0.3941025808318437,
      0.3940663109597046
    ],
    "ay_ego": [
      -0.4027796797893013,
      -0.39545957200923015,
      -0.34048724248445933,
      -0.36345216155275933,
      -0.28886568049590206,
      -0.12332775383088478,
      0.05805010115716616,
      0.01828818132299895,
      -0.022269338558474766,
      -0.022902207177678262
    ],
    "a_ego": [
      0.4558379172349229,
      0.4558379170807758,
      0.3568328518680681,
      0.3718065546499177,
      0.29346090512221973,
      0.16385700811485296,
      0.15339016855307475,
      0.07777697539226473,
      0.3947312600468221,
      0.3947312611473785
    ],
    "yaw": [
      0.0899423413031389,
      0.05668396613769685,
      0.01494164144245775,
      -0.027031096553415013,
      -0.06754140196397437,
      -0.09400478381499108,
      -0.09640936931042843,
      -0.09564703331252315,
      -0.09445861921557958,
      -0.09285269644328245
    ],
    "yaw_diff": [
      -0.0665167503308841,
      -0.0834846493904782,
      -0.08394547599174552,
      -0.08102061082111872,
      -0.05292676370203342,
      -0.004809170990874689,
      0.0015246719958105504,
      0.002376828193887154,
      0.0032118455445942495,
      0.0032118455445942495
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.673568462644694,
    "v_std": 0.18044675532121984,
    "vy_max": 0.04493182317113534,
    "a_max": 0.4558379172349229,
    "ax_avg": 0.16394620822326086,
    "a_std": 0.1276564414991203,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "e8edb3108f41545c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 31.906285885020374,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e8edb3108f41545c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "790e0f5c7fce5627": {
    "vx_ego": [
      8.801189398262656,
      8.755858958194077,
      8.673072170939509,
      8.57074273880757,
      8.488083207234137,
      8.414115657794008,
      8.363175190417723,
      8.324583821733745,
      8.310574012600954,
      8.323958726716645
    ],
    "vy_ego": [
      0.004462344962850917,
      -0.012998338667711273,
      0.008037181191891563,
      0.012862745537197018,
      -0.012407111753230726,
      0.017079792936026905,
      0.03481956755464077,
      0.009461445398275092,
      -0.05065464986036927,
      -0.11527512022349029
    ],
    "v_ego": [
      8.801190529503014,
      8.755868606403112,
      8.673075894894895,
      8.570752390837425,
      8.488092275025773,
      8.414132992891249,
      8.363247674671797,
      8.324589198514257,
      8.310728386397356,
      8.324756887586853
    ],
    "ax_ego": [
      -0.09080735530066243,
      -0.09056297183674704,
      -0.23968997183240393,
      -0.16618910398918277,
      -0.16616012172884348,
      -0.13122774379135396,
      -0.07192231939521798,
      -0.08209260142501007,
      0.02592609637225709,
      0.026526940192729935
    ],
    "ay_ego": [
      -0.08512075420477293,
      -0.08538072487244319,
      -0.2530620360729729,
      -0.483087962371747,
      -0.3133575712301139,
      -0.10257286059676335,
      -0.06613518269156882,
      -0.13172176914287853,
      -0.18370319658973092,
      -0.18361739263383048
    ],
    "a_ego": [
      0.12446492908884058,
      0.12446493501242539,
      0.348556561691811,
      0.5108745420093018,
      0.3546859928164347,
      0.16655903599496572,
      0.09770712572189877,
      0.15520895487972125,
      0.1855236559320371,
      0.18552365195207574
    ],
    "yaw": [
      -0.2394910887288248,
      -0.24235771562821928,
      -0.25445477632501046,
      -0.27638228550422905,
      -0.29676300561356067,
      -0.31256399435230364,
      -0.31971288655599517,
      -0.3226015215543803,
      -0.32485826064949047,
      -0.32812975626143237
    ],
    "yaw_diff": [
      -0.005733253798788973,
      -0.024194121393582346,
      -0.04385501835843719,
      -0.040761440218663236,
      -0.03160197747748594,
      -0.014297784407383052,
      -0.005777269996770307,
      -0.004513478190220299,
      -0.006542991223883798,
      -0.006542991223883798
    ],
    "min_front_frame": [
      0,
      36.83739796688106
    ],
    "v_avg": 8.502643483672575,
    "v_std": 0.1773681881558806,
    "vy_max": 0.11527512022349029,
    "a_max": 0.5108745420093018,
    "ax_avg": -0.09861991527344345,
    "a_std": 0.12713325137589127,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "790e0f5c7fce5627",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.029396711540674,
    "right_rear_min": 25.092585886231667,
    "speed_mode": "quasi_constant",
    "front_frame": [
      36.83739796688106,
      37.324450306933116,
      37.869856610625384,
      38.25981662184558,
      38.69818931111024,
      38.93493850368812,
      39.2528558452759,
      39.54429429809188,
      39.78689582215754,
      39.82105015983326
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "790e0f5c7fce5627",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "cf693fb497155dee": {
    "vx_ego": [
      9.904602619038606,
      9.748782871752889,
      9.5851017751509,
      9.4050207634474,
      9.252771343044225,
      9.12194705035668,
      8.969473481833486,
      8.848819014507132,
      8.700399199090256,
      8.485775211655861
    ],
    "vy_ego": [
      0.06350072830149678,
      0.006521485517041903,
      0.0037048271557740264,
      -0.01561150366529862,
      -0.07954511939374775,
      -0.09241251669236217,
      -0.08071915793983653,
      -0.06511046280307742,
      -0.026518929864622898,
      -0.003957924781428979
    ],
    "v_ego": [
      9.904806175971402,
      9.748785053038961,
      9.585102491144536,
      9.405033720296988,
      9.253113257313984,
      9.122415144179328,
      8.96983668322744,
      8.84905855579391,
      8.700439614017876,
      8.485776134681002
    ],
    "ax_ego": [
      -0.31388852671149614,
      -0.3071284302812632,
      -0.34618050993003413,
      -0.37505652225753483,
      -0.23761917592253295,
      -0.29199923972354647,
      -0.33053640199245005,
      -0.16502305925151867,
      -0.444392290904947,
      -0.41627518993445595
    ],
    "ay_ego": [
      -0.42342424064503936,
      -0.4283529153904474,
      -0.5060816741111889,
      -0.47712789540454836,
      -0.4491396973217424,
      -0.7215469647750932,
      -0.8476831646419692,
      -0.9312350997334572,
      -0.6638150576096753,
      -0.6817990209088145
    ],
    "a_ego": [
      0.5270807288897421,
      0.5270807270338468,
      0.6131554503766578,
      0.6068924315404587,
      0.5081233516345909,
      0.7783916612960847,
      0.9098467237175383,
      0.9457438453726845,
      0.7988334863568775,
      0.7988334861954558
    ],
    "yaw": [
      -0.5715111432035641,
      -0.5873837452720394,
      -0.611244915583824,
      -0.6350877599733631,
      -0.6530896777296353,
      -0.6835201654245352,
      -0.7281511361376758,
      -0.7799301345355486,
      -0.8295655024143098,
      -0.8713501541326812
    ],
    "yaw_diff": [
      -0.03174520413695059,
      -0.04772234062356917,
      -0.047685688779078195,
      -0.03600383551254449,
      -0.06086097538979973,
      -0.08926194142628119,
      -0.10355799679574562,
      -0.09927073575752243,
      -0.08356930343674285,
      -0.08356930343674285
    ],
    "min_front_frame": [
      8,
      59.73030395607201
    ],
    "v_avg": 9.202436682966544,
    "v_std": 0.4396421212384455,
    "vy_max": 0.09241251669236217,
    "a_max": 0.9457438453726845,
    "ax_avg": -0.3228099346909779,
    "a_std": 0.15585804336570883,
    "ini_direction_judge": "right",
    "scenario_type": "roundout_entrance",
    "scene_token": "cf693fb497155dee",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 28.53194778730997,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      68.54071526861627,
      -1,
      59.73030395607201,
      66.27808163188772
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "cf693fb497155dee",
    "merge_risk": "No"
  },
  "a8ca647927f25ae9": {
    "vx_ego": [
      3.461468104547011,
      2.917293206947626,
      2.4220645664874296,
      1.9317465366690203,
      1.4282937836765295,
      0.9651872295431958,
      0.5101827151988756,
      0.13431223284016355,
      -0.03194303311132808,
      -0.06897733700578507
    ],
    "vy_ego": [
      0.05592383885441929,
      0.007560808764337269,
      -0.027168365895149867,
      -0.040215197910600624,
      -0.018719805830344452,
      0.03842915019258067,
      0.048395065873403365,
      0.010853906886799464,
      -0.005145163118574467,
      -0.010204635709667296
    ],
    "v_ego": [
      3.461919830751211,
      2.91730300468291,
      2.4222169358542915,
      1.932165092344788,
      1.4284164531464003,
      0.9659519592908302,
      0.5124729117607955,
      0.1347500767540324,
      0.03235475340453302,
      0.06972809771087021
    ],
    "ax_ego": [
      -1.088354591233008,
      -1.0883830256517375,
      -0.8925516750602712,
      -1.0687928196103913,
      -0.9449964663929451,
      -0.9074400166826005,
      -0.9125221546454398,
      -0.5909572706382207,
      -0.07406626137455942,
      -0.07406742060350982
    ],
    "ay_ego": [
      -0.09497710684307221,
      -0.09465086120423169,
      -0.0476611637936778,
      -0.008651834813076034,
      0.0954850918403895,
      0.1356387504344604,
      -0.09634507641313791,
      -0.05384882972266958,
      -0.010134829250680355,
      -0.010126301983817145
    ],
    "a_ego": [
      1.0924909002285776,
      1.0924909134878575,
      0.8938232930434649,
      1.0688278371638547,
      0.9498082565754629,
      0.9175212556101031,
      0.9175941676295732,
      0.5934055882637744,
      0.0747564434543605,
      0.07475643642339226
    ],
    "yaw": [
      1.5914484983425292,
      1.5917482545053372,
      1.5914273591171852,
      1.5909583055596261,
      1.591086221134624,
      1.5916164050144586,
      1.5914234016432234,
      1.5913974540395257,
      1.59116251366301,
      1.5912776505289863
    ],
    "yaw_diff": [
      0.0005995123256159474,
      -0.0006417907763038855,
      -0.0009381071151182141,
      0.0002558311499956112,
      0.001060367759669223,
      -0.00038600674247035727,
      -5.189520739534714e-05,
      -0.00046988075303122656,
      0.00023027373195239065,
      0.00023027373195239065
    ],
    "min_front_frame": [
      7,
      11.866642534264525
    ],
    "v_avg": 1.387727911570066,
    "v_std": 1.1873578506928117,
    "vy_max": 0.05592383885441929,
    "a_max": 1.0924909134878575,
    "ax_avg": -0.7642131701892683,
    "a_std": 0.37233872713457405,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a8ca647927f25ae9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.796267819366488,
      16.202798287042302,
      14.851470073644593,
      13.762256882382394,
      12.918661766765137,
      12.353556705865511,
      11.996490909999077,
      11.866642534264525,
      11.879597578781137,
      11.892000241294415
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a8ca647927f25ae9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "71217bf1294b5c4b": {
    "vx_ego": [
      2.8300022586474163,
      2.41116426542865,
      2.0353130435589066,
      1.7227090358414918,
      1.3750951673906864,
      0.9454273766333132,
      0.49602485665508966,
      0.14747426849733272,
      -0.009580510883441687,
      -0.06904168468123466
    ],
    "vy_ego": [
      0.031832213681399366,
      0.02867920765655725,
      0.018181587499668438,
      -0.0038536792266850375,
      -0.03187689684845446,
      -0.032191596422872316,
      0.007668151732021603,
      0.028437057859014084,
      0.010775659017053922,
      -0.013759166310707487
    ],
    "v_ego": [
      2.83018127931363,
      2.411334819520485,
      2.035394250607245,
      1.7227133461529531,
      1.3754645963942171,
      0.9459752762984885,
      0.4960841248928326,
      0.15019096553554842,
      0.014418773042098975,
      0.07039935284637736
    ],
    "ax_ego": [
      -0.8376699756458196,
      -0.8376692530773235,
      -0.6657846106997605,
      -0.5846406345696655,
      -0.8057725821257269,
      -0.9127891278272545,
      -0.8848341814046592,
      -0.5093405135885862,
      -0.11892060399790123,
      -0.11892370874778355
    ],
    "ay_ego": [
      -0.006813930175021916,
      -0.006902158087744133,
      -0.03101181259764404,
      -0.055446832441577956,
      -0.0529789578337658,
      0.054545388792909835,
      0.10438107319016644,
      -0.021530499975243547,
      -0.04907839938897095,
      -0.04907086607176358
    ],
    "a_ego": [
      0.8376976887534655,
      0.8376976885114279,
      0.6665064743610695,
      0.5872640145776221,
      0.8075123677558834,
      0.9144174054107947,
      0.8909696611121976,
      0.5097953719011862,
      0.12864990999533962,
      0.1286499063324984
    ],
    "yaw": [
      1.595884109725282,
      1.5957787831808259,
      1.5962416536881514,
      1.5964667121454341,
      1.5970482177922243,
      1.597650026821336,
      1.5974713766570345,
      1.5972666423587367,
      1.5977220093396538,
      1.59778535733673
    ],
    "yaw_diff": [
      -0.00021065308891232704,
      0.0009257410146510381,
      0.0004501169145654238,
      0.0011630112935803183,
      0.0012036180582235545,
      -0.0003573003286030385,
      -0.0004094685965956302,
      0.0009107339618341648,
      0.00012669599415238153,
      0.00012669599415238153
    ],
    "min_front_frame": [
      7,
      9.805279989837146
    ],
    "v_avg": 1.2052156784603876,
    "v_std": 0.973148356226262,
    "vy_max": 0.032191596422872316,
    "a_max": 0.9144174054107947,
    "ax_avg": -0.6276345191684481,
    "a_std": 0.2805511365872302,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "71217bf1294b5c4b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.9672831063323155,
    "right_rear_min": 3.7226230502817095,
    "speed_mode": "decelerating",
    "front_frame": [
      14.99493862143872,
      13.710600432413932,
      12.591133771817312,
      11.622576812509902,
      10.822079404897016,
      10.262034762077645,
      9.934094147480751,
      9.805279989837146,
      9.86058979272229,
      9.873128409310146
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "71217bf1294b5c4b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a8377f936650561b": {
    "vx_ego": [
      5.994547870232989,
      5.863844940581516,
      5.744907158611801,
      5.568231454960774,
      5.339895602954793,
      5.149314991492748,
      4.921639867302048,
      4.758465429439457,
      4.803995905001731,
      4.937227074810013
    ],
    "vy_ego": [
      -0.0404443912148289,
      -0.033907605924359596,
      -0.028211253752638554,
      -0.021785812263867,
      -0.018188126155964934,
      0.0032860936862625367,
      0.02280392566962014,
      0.021301315963808326,
      -0.021190096581194605,
      -0.0745571615001248
    ],
    "v_ego": [
      5.994684305056905,
      5.863942974903744,
      5.744976426053236,
      5.568274073501643,
      5.339926577996087,
      5.149316040021595,
      4.921692696871967,
      4.758513106972831,
      4.804042638806042,
      4.937789987288645
    ],
    "ax_ego": [
      -0.26364457155368254,
      -0.26130951846517747,
      -0.2163148725641684,
      -0.49184650575092054,
      -0.4227730482256494,
      -0.34020035278380995,
      -0.5698566120236197,
      -0.08115574801071326,
      0.2636898257305053,
      0.2667231882818819
    ],
    "ay_ego": [
      -0.15807509031124914,
      -0.16190592865731884,
      -0.15318339626034833,
      -0.15321524494623856,
      -0.11943132907928661,
      -0.08522412573698929,
      -0.08560968018649218,
      -0.16869796573023085,
      -0.23507524507593092,
      -0.23162779628479332
    ],
    "a_ego": [
      0.30740233292321384,
      0.3074023327414607,
      0.26506089297047825,
      0.5151581276688996,
      0.4393186687037692,
      0.35071274804583724,
      0.5762513128910612,
      0.1872037902305841,
      0.35326009545559095,
      0.3532600956505022
    ],
    "yaw": [
      1.696170506205215,
      1.681575819451362,
      1.667009375789844,
      1.6524208196934174,
      1.6392431091679338,
      1.6253659633412423,
      1.6130785947823476,
      1.6000897093428357,
      1.5877533632862262,
      1.5747544343451332
    ],
    "yaw_diff": [
      -0.02918937350770623,
      -0.02913288732303565,
      -0.02917711219285346,
      -0.02635542105096711,
      -0.027754291653383056,
      -0.024574737117789347,
      -0.025977770879023865,
      -0.024672692113218986,
      -0.025997857882186004,
      -0.025997857882186004
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.308315882747269,
    "v_std": 0.4367717341598012,
    "vy_max": 0.0745571615001248,
    "a_max": 0.5762513128910612,
    "ax_avg": -0.21166882153653543,
    "a_std": 0.11018592952879115,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "a8377f936650561b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.03704552772041,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "a8377f936650561b",
    "merging_vehicles": "No"
  },
  "44062179c5b350bc": {
    "vx_ego": [
      10.500033590129073,
      10.69971810576949,
      10.905646737170445,
      11.043486547997931,
      11.22157700249174,
      11.489270177763927,
      11.804677614381225,
      12.19589244573764,
      12.58242279642819,
      12.90339386921012
    ],
    "vy_ego": [
      -0.11376248530155886,
      -0.14304840526246343,
      -0.12165541033706173,
      -0.13658416601810908,
      -0.2548076990580067,
      -0.13343952882967108,
      -0.06180579846183256,
      -0.0642355018378453,
      -0.019498122373422827,
      0.030134160287643652
    ],
    "v_ego": [
      10.500649851171156,
      10.700674296004882,
      10.906325265405423,
      11.04433114182195,
      11.224469581514787,
      11.490045053241081,
      11.804839411707247,
      12.19606160806417,
      12.582437903874267,
      12.903429056323965
    ],
    "ax_ego": [
      0.3005086892890496,
      0.5524101257052483,
      0.337456571583286,
      0.25177866231639423,
      0.4785008569873159,
      0.6017121756344522,
      0.6606973815683107,
      0.9058049328544234,
      0.6412565626496793,
      0.6425055119817749
    ],
    "ay_ego": [
      2.301937903151532,
      2.2547874894269735,
      2.4395209333295065,
      2.1261982456819006,
      1.0025646220458113,
      0.3918269608570741,
      0.05734106786798108,
      0.18281305793849667,
      0.23652402064530545,
      0.23310997990329888
    ],
    "a_ego": [
      2.3214701338384462,
      2.3214701310717056,
      2.462750357193683,
      2.1410538234100107,
      1.1109000366889257,
      0.7180431112135517,
      0.6631809919437245,
      0.9240688234846096,
      0.6834863506197494,
      0.6834863536731944
    ],
    "yaw": [
      1.1527775696455866,
      1.2632276347593523,
      1.369520042686401,
      1.474687406679992,
      1.5557308006308488,
      1.5757679856129438,
      1.5792610809113372,
      1.5844799561705591,
      1.5893177985525238,
      1.5946365913156242
    ],
    "yaw_diff": [
      0.2209001302275313,
      0.21258481585409728,
      0.2103347279871821,
      0.1620867879017136,
      0.040074369964190115,
      0.006986190596786734,
      0.010437750518443867,
      0.009675684763929215,
      0.010637585526200866,
      0.010637585526200866
    ],
    "min_front_frame": [
      5,
      23.468692254857757
    ],
    "v_avg": 11.535326316912892,
    "v_std": 0.7733017836963169,
    "vy_max": 0.2548076990580067,
    "a_max": 2.462750357193683,
    "ax_avg": 0.5372631470569934,
    "a_std": 0.7564102310859835,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "44062179c5b350bc",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.312760640398226,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      29.622666517975496,
      30.09811779232153,
      23.468692254857757,
      24.909562775010265,
      26.51482590484884,
      28.385522953273977,
      30.219712029226308
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "44062179c5b350bc",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "ccdb8ab156ba5b06": {
    "vx_ego": [
      2.5343544413977135,
      1.7787482577340823,
      1.084411514188017,
      0.49596717356463643,
      0.0788254911816995,
      -0.08314360541488605,
      -0.08128283251112463,
      -0.04912201653051158,
      -0.029164324230615143,
      -0.016356600024986814
    ],
    "vy_ego": [
      0.027786551763313377,
      0.028310824169046817,
      0.021835310722729772,
      0.012224936028573172,
      0.02315698288188269,
      0.020439557130349326,
      0.0031412649941316454,
      0.0007305886495027775,
      0.00013751557950252285,
      0.0002483346845741209
    ],
    "v_ego": [
      2.5345067620922244,
      1.778973543130185,
      1.0846313257959619,
      0.4961178149538645,
      0.08215658169756088,
      0.08561912529961448,
      0.0813435086948854,
      0.04912744922951562,
      0.029164648435444092,
      0.016358485091626337
    ],
    "ax_ego": [
      -1.511191044009969,
      -1.5111908203522204,
      -1.2660119924224884,
      -1.087739914187476,
      -0.580821766526101,
      -0.06698994977061687,
      0.0744272469066506,
      0.05421539633368576,
      0.025615399419486363,
      0.025615425278250423
    ],
    "ay_ego": [
      -0.0003077533945702836,
      -0.0008838933995409769,
      -0.03199229582405785,
      -0.007845153708913396,
      0.05146298693594045,
      -0.06221342947263625,
      -0.00709752050063679,
      -0.002572855266460487,
      0.00021818350204354234,
      0.00021547395177260942
    ],
    "a_ego": [
      1.5111910753468907,
      1.5111910788462057,
      1.2664161527513982,
      1.0877682047905675,
      0.5830972161611384,
      0.09142299588733928,
      0.07476489737410526,
      0.054276410933671554,
      0.025616328610095284,
      0.025616331533018604
    ],
    "yaw": [
      1.5582020796285967,
      1.557820829810044,
      1.5565762771771303,
      1.556121809438538,
      1.555998661301155,
      1.5555495653924645,
      1.5558443484504214,
      1.5559547293875262,
      1.5558308935810068,
      1.5559365663096898
    ],
    "yaw_diff": [
      -0.000762499637105396,
      -0.0024891052658273516,
      -0.0009089354771845137,
      -0.0002462962747662445,
      -0.0008981918173809333,
      0.0005895661159138754,
      0.00022076187420960736,
      -0.00024767161303884677,
      0.00021134545736600785,
      0.00021134545736600785
    ],
    "min_front_frame": [
      4,
      11.053158357316843
    ],
    "v_avg": 0.6237999244420883,
    "v_std": 0.8452215522620136,
    "vy_max": 0.028310824169046817,
    "a_max": 1.5111910788462057,
    "ax_avg": -0.5844072019330798,
    "a_std": 0.6188432365058794,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ccdb8ab156ba5b06",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.246734037815279,
    "right_rear_min": 26.467861120603533,
    "speed_mode": "decelerating",
    "front_frame": [
      13.416883264269277,
      12.310111523884201,
      11.561489414759139,
      11.161267202777742,
      11.053158357316843,
      11.117706627225555,
      11.128648580469285,
      11.115095245136795,
      11.11555711918967,
      11.120140334552444
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ccdb8ab156ba5b06",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "676880c7e31252c0": {
    "vx_ego": [
      6.5478648277565785,
      6.316527534660741,
      6.085224028856157,
      5.778284726015071,
      5.286676332581005,
      4.616907106393724,
      3.9229205775876754,
      3.2355288512229654,
      2.5158344627497913,
      1.7744988214940942
    ],
    "vy_ego": [
      -0.06273036005319232,
      0.010498981439237554,
      0.027496761120518798,
      0.010132799375328183,
      -0.013617412221307745,
      -0.0372852285982429,
      -0.06312503111882356,
      -0.04637450023955127,
      -0.01649747629134913,
      -0.03970895905875041
    ],
    "v_ego": [
      6.548165307980862,
      6.3165362600667905,
      6.085286152124687,
      5.778293610446102,
      5.286693870405942,
      4.617057658004771,
      3.9234284277420652,
      3.2358611746131305,
      2.515888552913963,
      1.7749430607525016
    ],
    "ax_ego": [
      -0.519384906172823,
      -0.41387461688028904,
      -0.5075084865671354,
      -0.7154495423996405,
      -1.2626803124238704,
      -1.4229258499705577,
      -1.371936593751574,
      -1.4002614127088082,
      -1.487725641114285,
      -1.480672431161108
    ],
    "ay_ego": [
      -1.070396259123167,
      -1.1154445887813933,
      -1.0487585789369405,
      -1.0130488433006775,
      -0.7038655049282951,
      -0.710722946920761,
      -0.5593585387059563,
      -0.2877690457899981,
      -0.1723279480490637,
      -0.2250192239468915
    ],
    "a_ego": [
      1.189751584283468,
      1.189751582953138,
      1.1651006054549518,
      1.2402161128741618,
      1.445609982122013,
      1.590548673192419,
      1.4815842845069376,
      1.42952546239518,
      1.4976730300395047,
      1.49767302824956
    ],
    "yaw": [
      2.1449146592700483,
      2.0484497541563913,
      1.9586845035636133,
      1.8751297501584976,
      1.8027659246108572,
      1.7364203833781495,
      1.668034283108496,
      1.6042692948193134,
      1.5540821818110575,
      1.5185844207527412
    ],
    "yaw_diff": [
      -0.19292981022731404,
      -0.1795305011855559,
      -0.1671095068102315,
      -0.14472765109528085,
      -0.13269108246541528,
      -0.13677220053930705,
      -0.1275299765783653,
      -0.10037422601651169,
      -0.07099552211663251,
      -0.07099552211663251
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.608215407505082,
    "v_std": 1.595322887467663,
    "vy_max": 0.06312503111882356,
    "a_max": 1.590548673192419,
    "ax_avg": -1.058241979315009,
    "a_std": 0.15056063985378007,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "676880c7e31252c0",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 9.128142754922562,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "676880c7e31252c0",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "5a73f6b4c9855899": {
    "vx_ego": [
      1.758392479586795,
      1.598226880888416,
      1.4340045901405776,
      1.290433428235596,
      1.2060683161567327,
      1.1308149091479434,
      1.0217769843027016,
      0.8956128951173168,
      0.7574497175462965,
      0.616223182084364
    ],
    "vy_ego": [
      -0.02360877671875572,
      -0.02322753203942729,
      -0.03711090724215438,
      -0.04312812049006909,
      -0.0290063186714149,
      -0.013950005256226139,
      -0.015765175976834578,
      -0.018227472663949362,
      -0.0004985755852516816,
      0.02321086087657187
    ],
    "v_ego": [
      1.7585509621860702,
      1.5983956584772612,
      1.4344847102637872,
      1.2911539286564089,
      1.2064170712320033,
      1.1309009511879986,
      1.021898598895362,
      0.8957983582593445,
      0.757449881634804,
      0.6166601610294042
    ],
    "ax_ego": [
      -0.32135451027623513,
      -0.3206455372715957,
      -0.33761236417175977,
      -0.23898517635844926,
      -0.09995296485337453,
      -0.20182009310825338,
      -0.23448309979778753,
      -0.270336384885552,
      -0.2823899302230908,
      -0.2824529989450169
    ],
    "ay_ego": [
      -0.04605086732546439,
      -0.0507527878920777,
      -0.08508440533860027,
      -0.0005879089027266832,
      0.008123351474450029,
      0.011032543011487442,
      -0.03670330382865741,
      0.02034169322292184,
      0.04571111689774074,
      0.04531978779588472
    ],
    "a_ego": [
      0.3246373417466118,
      0.3246373454348845,
      0.34816872989036246,
      0.23898589949190935,
      0.10028252102015273,
      0.20212141644943118,
      0.23733827462657162,
      0.27110061873069335,
      0.2860656898326694,
      0.2860656913698281
    ],
    "yaw": [
      -0.5198594190557104,
      -0.534506903349637,
      -0.5477298930411194,
      -0.5591387399010941,
      -0.5690811538206395,
      -0.5777735756485919,
      -0.5820336642935771,
      -0.5837240120338096,
      -0.585192171922261,
      -0.5865777997373791
    ],
    "yaw_diff": [
      -0.029294968587853187,
      -0.02644597938296478,
      -0.02281769371994935,
      -0.019884827839090846,
      -0.017384843655904758,
      -0.008520177289970343,
      -0.0033806954804651568,
      -0.002936319776902785,
      -0.002771255630236169,
      -0.002771255630236169
    ],
    "min_front_frame": [
      9,
      10.249305631746251
    ],
    "v_avg": 1.1711710281822443,
    "v_std": 0.34509272380146916,
    "vy_max": 0.04312812049006909,
    "a_max": 0.34816872989036246,
    "ax_avg": -0.25900330598911153,
    "a_std": 0.06883956823153194,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5a73f6b4c9855899",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.260615032758317,
    "speed_mode": "decelerating",
    "front_frame": [
      12.674406228848317,
      12.288851825917195,
      11.936237610652102,
      11.604609473678565,
      11.2390742602821,
      11.07422866271398,
      10.675833243617937,
      10.510543377356408,
      10.358818813319202,
      10.249305631746251
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5a73f6b4c9855899",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7580af9b56085218": {
    "vx_ego": [
      5.7538407587969935,
      5.413818063745174,
      4.989355465850436,
      4.483634457494527,
      3.9413854771103156,
      3.326159485414751,
      2.6714454322174803,
      2.1068899197549946,
      1.6817934842504723,
      1.2995786497822284
    ],
    "vy_ego": [
      0.048379638171410555,
      0.02932170182692717,
      -0.018484159741235295,
      -0.06176936413380418,
      -0.10351934794017392,
      -0.11043420385961933,
      -0.0632460259424501,
      -0.00025510217672941593,
      0.00945712603301363,
      -0.024479210261640683
    ],
    "v_ego": [
      5.75404414885593,
      5.413897467585765,
      4.989389705041385,
      4.48405992408417,
      3.942744695586321,
      3.327992283013383,
      2.6721939969083746,
      2.106889935198877,
      1.6818200738783409,
      1.2998091778045089
    ],
    "ax_ego": [
      -0.6799052254742826,
      -0.6796279639423213,
      -1.0182455415306313,
      -1.0049389272773739,
      -1.164720573379147,
      -1.2965489539278365,
      -1.322529317609101,
      -0.9358354203106753,
      -0.7644798023417145,
      -0.7644091313203025
    ],
    "ay_ego": [
      -0.07666474386371533,
      -0.07908484905409521,
      -0.0960547456584872,
      -0.11472703056123335,
      -0.08478482480949484,
      0.046308519069062415,
      0.13564193084765186,
      0.10432135695796702,
      -0.07046540468984352,
      -0.07122796629930822
    ],
    "a_ego": [
      0.6842138544190143,
      0.6842138428315333,
      1.0227661008317224,
      1.0114665289068132,
      1.1678024150388737,
      1.29737568532393,
      1.3294670094965402,
      0.9416320297364624,
      0.767720483930532,
      0.7677204850914132
    ],
    "yaw": [
      -2.045859007834376,
      -2.049419210782207,
      -2.0486524244524063,
      -2.050639873629886,
      -2.0525602542823376,
      -2.053301085741456,
      -2.053867554190695,
      -2.055149194216326,
      -2.055815661250935,
      -2.056813198278423
    ],
    "yaw_diff": [
      -0.007120405895662429,
      0.0015335726596017452,
      -0.003974898354959677,
      -0.003840761304902962,
      -0.0014816629182368146,
      -0.001132936898478043,
      -0.002563280051261607,
      -0.0013329340692180836,
      -0.0019950740549763424,
      -0.0019950740549763424
    ],
    "min_front_frame": [
      8,
      11.420793252797415
    ],
    "v_avg": 3.5672841407957057,
    "v_std": 1.5127243127044343,
    "vy_max": 0.11043420385961933,
    "a_max": 1.3294670094965402,
    "ax_avg": -0.9631240857113387,
    "a_std": 0.22933413369105293,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7580af9b56085218",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 37.22005521989953,
    "right_rear_min": 18.90766392983443,
    "speed_mode": "decelerating",
    "front_frame": [
      25.268808672744544,
      22.595935006987766,
      19.969844498749094,
      17.63097007342335,
      15.45495602063824,
      13.840718865451143,
      12.507753078450543,
      11.826857954996779,
      11.420793252797415,
      11.428673499596218
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7580af9b56085218",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f84498af5b4f55eb": {
    "vx_ego": [
      1.9976928851925604,
      2.62281049369044,
      3.3225700661775157,
      3.948266730247943,
      4.381571497976085,
      4.688888554338693,
      4.944678209590313,
      5.298235593080332,
      5.730622020329635,
      6.148499742654486
    ],
    "vy_ego": [
      -0.0791646747592234,
      0.04148423407525903,
      0.016577371127114826,
      -0.04055253903739975,
      -0.10595991317546471,
      -0.14790405687846242,
      -0.08651008847803121,
      -0.055500014258517805,
      -0.041248079864671716,
      0.05577755962596198
    ],
    "v_ego": [
      1.999260840730571,
      2.6231385452334575,
      3.3226114208393898,
      3.9484749817625997,
      4.382852529469426,
      4.691220681768179,
      4.945434924433415,
      5.29852627165007,
      5.73077046687262,
      6.148752737066283
    ],
    "ax_ego": [
      1.1755406275691256,
      1.321708345193756,
      1.5074006701676939,
      1.0397393446540155,
      0.7544136626403775,
      0.5268617234623099,
      0.5308360583709452,
      0.9065235531861716,
      0.8249216597583984,
      0.8451254866276158
    ],
    "ay_ego": [
      1.0442997181407923,
      0.8517891277816041,
      1.3874113340531746,
      1.688192718211151,
      1.6681183455089479,
      1.264988054369788,
      0.9897118258605183,
      0.9413147346461447,
      0.61048587568871,
      0.5821955677968659
    ],
    "a_ego": [
      1.5724050586202498,
      1.5724050584889895,
      2.0486988529994403,
      1.9826882151873289,
      1.830780923267986,
      1.3703204199558354,
      1.123083442632364,
      1.3068505584584733,
      1.0262498473344404,
      1.0262498561801991
    ],
    "yaw": [
      -0.22107868147672774,
      -0.06720487838898152,
      0.13039047865879266,
      0.35308724710983147,
      0.5675846646230402,
      0.7370456479105394,
      0.8412393044233082,
      0.9302035248711413,
      0.9978199796259823,
      1.0316963963069474
    ],
    "yaw_diff": [
      0.30774760617549246,
      0.3951907140955484,
      0.4453935369020776,
      0.42899483502641755,
      0.3389219665749983,
      0.2083873130255376,
      0.17792844089566628,
      0.13523290950968203,
      0.06775283336193016,
      0.06775283336193016
    ],
    "min_front_frame": [
      9,
      40.74452874202832
    ],
    "v_avg": 4.309104339982602,
    "v_std": 1.2736500434795321,
    "vy_max": 0.14790405687846242,
    "a_max": 2.0486988529994403,
    "ax_avg": 0.943307113163041,
    "a_std": 0.36014717010048464,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "f84498af5b4f55eb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      45.03781635591901,
      43.0134596438109,
      40.74452874202832
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "f84498af5b4f55eb",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "025b657634505df3": {
    "vx_ego": [
      11.007489215036722,
      11.22157700249174,
      11.489270177763927,
      11.804677614381225,
      12.19589244573764,
      12.58242279642819,
      12.784483278556435,
      12.8371196826638,
      12.80170203825496,
      12.709245330648727
    ],
    "vy_ego": [
      0.13546267493845376,
      -0.2548076990580067,
      -0.13343952882967108,
      -0.06180579846183256,
      -0.0642355018378453,
      -0.019498122373422827,
      0.013590490964659807,
      0.02225350287286071,
      0.02295690224883057,
      0.02285593996692553
    ],
    "v_ego": [
      11.008322713086278,
      11.224469581514787,
      11.490045053241081,
      11.804839411707247,
      12.19606160806417,
      12.582437903874267,
      12.78449050221141,
      12.837138971181409,
      12.801722622195111,
      12.709265882363475
    ],
    "ax_ego": [
      0.39576799573107224,
      0.4785008569873159,
      0.6017121756344522,
      0.6606973815683107,
      0.9058049328544234,
      0.6412565626496793,
      0.16686313086219223,
      0.04325220777534126,
      -0.18487354433753855,
      -0.18481687168975008
    ],
    "ay_ego": [
      1.038010881308964,
      1.0025646220458113,
      0.3918269608570741,
      0.05734106786798108,
      0.18281305793849667,
      0.23652402064530545,
      0.16693530796268366,
      0.019564302866734277,
      -0.037986953098177643,
      -0.03826172955993483
    ],
    "a_ego": [
      1.1109000387797283,
      1.1109000366889257,
      0.7180431112135517,
      0.6631809919437245,
      0.9240688234846096,
      0.6834863506197494,
      0.23603114516039853,
      0.04747120626340348,
      0.18873588954305162,
      0.18873588956555967
    ],
    "yaw": [
      1.474687406679992,
      1.5557308006308488,
      1.5757679856129438,
      1.5792610809113372,
      1.5844799561705591,
      1.5893177985525238,
      1.5946365913156242,
      1.5975962914611603,
      1.5971830681686272,
      1.5956965522080457
    ],
    "yaw_diff": [
      0.1620867879017136,
      0.040074369964190115,
      0.006986190596786734,
      0.010437750518443867,
      0.009675684763929215,
      0.010637585526200866,
      0.0059194002910722965,
      -0.0008264465850662539,
      -0.0029730319211629386,
      -0.0029730319211629386
    ],
    "min_front_frame": [
      2,
      23.468692254857757
    ],
    "v_avg": 12.143879424943924,
    "v_std": 0.6719909531446174,
    "vy_max": 0.2548076990580067,
    "a_max": 1.1109000387797283,
    "ax_avg": 0.3524164828035498,
    "a_std": 0.37766945409614416,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "025b657634505df3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.466209402283843,
    "right_rear_min": 14.161477634015899,
    "speed_mode": "accelerating",
    "front_frame": [
      29.622666517975496,
      30.09811779232153,
      23.468692254857757,
      24.909562775010265,
      26.51482590484884,
      28.385522953273977,
      30.219712029226308,
      30.95770202626858,
      31.393830754973614,
      31.90444988212156
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "025b657634505df3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "09d33cf8b87c5ae3": {
    "vx_ego": [
      1.9841172868626278,
      1.6479348270178977,
      1.3583155170662704,
      1.1127283432394157,
      0.8560279576420369,
      0.6437980227502615,
      0.5071082629454039,
      0.4647971249450398,
      0.5460736332574674,
      0.6789738974097803
    ],
    "vy_ego": [
      0.05809004327302825,
      0.01456281039185281,
      -0.012084475474825052,
      -0.013500328663785033,
      -0.005477419144791218,
      0.0014011791902319715,
      0.01533491937893322,
      0.004343687726239359,
      -0.016253355743945652,
      -0.010010407757108597
    ],
    "v_ego": [
      1.984967471057039,
      1.647999171585052,
      1.3583692717558473,
      1.1128102375168756,
      0.8560454814934103,
      0.6437995475303392,
      0.5073400734220226,
      0.4648174211238623,
      0.5463154624499935,
      0.6790476872998614
    ],
    "ax_ego": [
      -0.6723379871938278,
      -0.672249284430934,
      -0.48623978071028245,
      -0.49617500425903577,
      -0.5306641050291983,
      -0.3182556074369624,
      -0.2284978867176374,
      0.059295723701713,
      0.26577436129657706,
      0.2657606283683744
    ],
    "ay_ego": [
      -0.09028072372313789,
      -0.09093882419097654,
      -0.01786793976123513,
      0.007065978532070777,
      0.021744985379677673,
      0.005210939902663525,
      0.04942484846396654,
      -0.09407627453345441,
      0.010783266641522349,
      0.01111649933309089
    ],
    "a_ego": [
      0.678372300510436,
      0.6783722946606385,
      0.486567968136513,
      0.49622531465461317,
      0.5311094395278645,
      0.3182982650906836,
      0.2337821633061691,
      0.11120399399034088,
      0.26599302615306597,
      0.2659930227434092
    ],
    "yaw": [
      -0.7382767455729846,
      -0.7392556200841869,
      -0.7396302486476046,
      -0.7406689542952138,
      -0.7414985028386467,
      -0.7416915112913806,
      -0.7421785254559641,
      -0.7425599232325646,
      -0.7430315504709956,
      -0.7442853858870864
    ],
    "yaw_diff": [
      -0.0019577490224045313,
      -0.0007492571268354897,
      -0.0020774112952184343,
      -0.001659097086865735,
      -0.00038601690546768985,
      -0.0009740283291670426,
      -0.0007627955532010233,
      -0.0009432544768619433,
      -0.002507670832181619,
      -0.002507670832181619
    ],
    "min_front_frame": [
      5,
      11.2548808233623
    ],
    "v_avg": 0.9801511825234304,
    "v_std": 0.5012838200916302,
    "vy_max": 0.05809004327302825,
    "a_max": 0.678372300510436,
    "ax_avg": -0.2813588942411213,
    "a_std": 0.18496301815821348,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "09d33cf8b87c5ae3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.661507453223534,
    "speed_mode": "decelerating",
    "front_frame": [
      12.186481820718491,
      11.763897989163286,
      11.617963216328956,
      11.381731887214151,
      11.274788127715862,
      11.2548808233623,
      11.448366354902666,
      11.85949665709426,
      12.778599462440287,
      14.018955054678925
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "09d33cf8b87c5ae3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7ed9d0ca20ac5e2c": {
    "vx_ego": [
      2.9852754205779912,
      2.267976762721264,
      1.5882261975784873,
      0.9356570154747088,
      0.32746864161466976,
      -0.013608880632087683,
      -0.06510287850237449,
      -0.040362508172891026,
      -0.02309937644090225,
      -0.012207165506814138
    ],
    "vy_ego": [
      0.03252144418984004,
      -0.008836884546064239,
      -0.010091703737846958,
      0.009831326562574516,
      -0.005554548256394842,
      -0.012436580691219418,
      -0.002729663967088708,
      0.00024977506509500647,
      0.0012170142270881007,
      0.001119065940284135
    ],
    "v_ego": [
      2.985452558832462,
      2.267993978557285,
      1.5882582589613543,
      0.9357086649107293,
      0.3275157465638708,
      0.018435568104824513,
      0.06516007868832079,
      0.040363281006254165,
      0.023131414042108295,
      0.012258352184916898
    ],
    "ax_ego": [
      -1.4345990955911652,
      -1.4345908360770625,
      -1.2842467582527355,
      -1.3260828948682213,
      -1.106671863213537,
      -0.2576720243147432,
      0.05169296305674456,
      0.047268486146089715,
      0.021784270433079428,
      0.02178425494590679
    ],
    "ay_ego": [
      -0.08316694890090415,
      -0.08330935884131752,
      0.0884538639692497,
      -0.0028161058297312414,
      -0.05864417969401492,
      0.031031098043251742,
      0.007847618170669132,
      0.004071865218791472,
      -0.00019760554208966483,
      -0.00019912254600774025
    ],
    "a_ego": [
      1.4370077614475416,
      1.4370077648457007,
      1.2872893311659779,
      1.3260858850444515,
      1.1082245948545384,
      0.2595338150612122,
      0.05228525165415745,
      0.04744354401710605,
      0.02178516665650743,
      0.02178516498300146
    ],
    "yaw": [
      2.597368844477155,
      2.597269571547622,
      2.598600389145421,
      2.599773400418208,
      2.599807829044119,
      2.599389723760275,
      2.599226198840026,
      2.599217997633753,
      2.5991716607467,
      2.5992413744580594
    ],
    "yaw_diff": [
      -0.00019854585906653455,
      0.0026616351955981443,
      0.0023460225455735895,
      6.885725182215197e-05,
      -0.0008362105676873455,
      -0.0003270498404983613,
      -1.6402412546412393e-05,
      -9.267377410537847e-05,
      0.0001394274227184411,
      0.0001394274227184411
    ],
    "min_front_frame": [
      6,
      8.141139850818485
    ],
    "v_avg": 0.8264277901852125,
    "v_std": 1.0362999826737431,
    "vy_max": 0.03252144418984004,
    "a_max": 1.4370077648457007,
    "ax_avg": -0.6701333497735644,
    "a_std": 0.6284286566539673,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7ed9d0ca20ac5e2c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.364064703727518,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.358511580016936,
      10.080033583861706,
      9.109764748513989,
      8.480043796329252,
      8.14811767150411,
      8.148531412788918,
      8.141139850818485,
      8.152248983060327,
      8.151334682079677,
      8.148271770588769
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7ed9d0ca20ac5e2c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "80dea9d7cb445906": {
    "vx_ego": [
      1.9664524278142086,
      3.0005305362874006,
      3.991829651377645,
      4.909622340761452,
      5.70472545166812,
      6.373089834536049,
      6.942909310226673,
      7.372725788776546,
      7.752669426061402,
      8.159244704702195
    ],
    "vy_ego": [
      0.05840762217387996,
      0.01972657369814046,
      0.02316125326384122,
      0.01834530818903435,
      0.032731390701859375,
      0.06352075377157851,
      0.0528158260257543,
      0.030674012715548482,
      0.04067264606632026,
      0.05176762929976064
    ],
    "v_ego": [
      1.9673196489600773,
      3.0005953804042,
      3.991896843515689,
      4.909656615206048,
      5.704819350588352,
      6.373406383185246,
      6.943110196555359,
      7.372789597672432,
      7.752776115297363,
      8.159408927039637
    ],
    "ax_ego": [
      2.067937490179534,
      2.0677001388495637,
      1.900243039452945,
      1.7743564159341958,
      1.4138109830623877,
      1.2744277633048988,
      1.0158592879135266,
      0.713253752139025,
      0.8076242121846601,
      0.8243550587366741
    ],
    "ay_ego": [
      -0.05214927417132753,
      -0.0608371630628608,
      -0.1859416974575604,
      -0.2888580234004342,
      -0.4842826950185559,
      -0.6629886303122992,
      -0.6584730686574132,
      -0.7530022098570527,
      -0.518440598773005,
      -0.4914023302651489
    ],
    "a_ego": [
      2.0685949362034672,
      2.0685949397134378,
      1.9093187067230986,
      1.797715118824351,
      1.4944534869049189,
      1.4365653649610608,
      1.2106018647711096,
      1.037180429332333,
      0.9597069982880216,
      0.959706993334301
    ],
    "yaw": [
      -0.33122584071944994,
      -0.3270243758106784,
      -0.34554170675662677,
      -0.3710379084661534,
      -0.40983383861433315,
      -0.46226400717741223,
      -0.5100344683996093,
      -0.5559884975806695,
      -0.5994015717150654,
      -0.6325340905834709
    ],
    "yaw_diff": [
      0.008402929817543092,
      -0.03703466189189675,
      -0.05099240341905331,
      -0.07759186029635945,
      -0.10486033712615817,
      -0.09554092244439416,
      -0.09190805836212035,
      -0.08682614826879176,
      -0.06626503773681103,
      -0.06626503773681103
    ],
    "min_front_frame": [
      9,
      24.491737173883426
    ],
    "v_avg": 5.61757790584244,
    "v_std": 1.9938315470022545,
    "vy_max": 0.06352075377157851,
    "a_max": 2.0685949397134378,
    "ax_avg": 1.385956814175741,
    "a_std": 0.4228813293368366,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "80dea9d7cb445906",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.314435488062962,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      48.38114548703149,
      28.439924626842284,
      24.491737173883426
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "80dea9d7cb445906",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "43162b00fe4550b8": {
    "vx_ego": [
      7.227391379794227,
      6.696264414961383,
      6.110745037168361,
      5.475858662175228,
      4.994626633126436,
      4.683265668468655,
      4.423531636529303,
      4.347261417968065,
      4.537872136586902,
      4.903737432416883
    ],
    "vy_ego": [
      0.08114762144470139,
      -0.02513263141402966,
      -0.013968444796228052,
      0.028783123157126722,
      0.04830038874810061,
      0.07110676155345663,
      0.08284602993196799,
      0.06445008546312225,
      0.07112060773233075,
      0.1944396493313192
    ],
    "v_ego": [
      7.227846919601302,
      6.696311579088887,
      6.110761002258866,
      5.475934308983094,
      4.994860171405115,
      4.683805449951543,
      4.424307358677864,
      4.3477391423209735,
      4.538429427550459,
      4.907590812539143
    ],
    "ax_ego": [
      -1.0932927743347147,
      -1.021795054195735,
      -1.298156542625097,
      -1.2353161830634516,
      -0.6480971932452267,
      -0.5646868236679817,
      -0.4349351951571871,
      0.1826155771452973,
      0.631857275328364,
      0.9179065728100698
    ],
    "ay_ego": [
      -1.0749510371976363,
      -1.1431288974099307,
      -1.6948581818539756,
      -1.714110916709135,
      -1.8734554066759452,
      -1.7366721371283647,
      -1.5490457942734293,
      -1.5591061077358543,
      -1.591469470723339,
      -1.4454986102856477
    ],
    "a_ego": [
      1.5332347578843795,
      1.5332347533474804,
      2.134889848623977,
      2.112861166030529,
      1.9823887440902384,
      1.826171218890013,
      1.608947325658183,
      1.569764410411752,
      1.7123138417444999,
      1.7123138464503718
    ],
    "yaw": [
      -1.5755669341404621,
      -1.6400127310937556,
      -1.7518338389136048,
      -1.906223878091579,
      -2.0832950595681528,
      -2.274351903928017,
      -2.457469907017604,
      -2.6331094465690876,
      -2.8137022693562628,
      -3.0015263519713935
    ],
    "yaw_diff": [
      -0.1288915939065869,
      -0.22364221563969844,
      -0.30878007835594845,
      -0.3541423629531475,
      -0.38211368871972873,
      -0.3662360061791734,
      -0.35127907910296763,
      -0.3611856455743503,
      -0.37564816523026145,
      -0.37564816523026145
    ],
    "min_front_frame": [
      0,
      66.53801578818299
    ],
    "v_avg": 5.340758617237724,
    "v_std": 0.960123559509205,
    "vy_max": 0.1944396493313192,
    "a_max": 2.134889848623977,
    "ax_avg": -0.4563900341005662,
    "a_std": 0.21993124893356866,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "43162b00fe4550b8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      66.53801578818299,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "43162b00fe4550b8",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "02ff5ce64ad75584": {
    "vx_ego": [
      6.880379544639164,
      6.791825569676032,
      6.755728800922686,
      6.741430198734836,
      6.650558658225887,
      6.516657610106488,
      6.239857014125734,
      5.769598276303104,
      5.320543295296199,
      4.940702249194914
    ],
    "vy_ego": [
      0.016642491530595827,
      -0.0024848636883532116,
      -0.016148500485168693,
      -0.012333317802083688,
      0.011354962531247459,
      0.021006829451241327,
      0.024773302373144013,
      0.008126319592873354,
      -0.0018645973083826206,
      -0.04450925650087356
    ],
    "v_ego": [
      6.880399672316527,
      6.791826024233299,
      6.755748101112429,
      6.741441480510086,
      6.65056835177847,
      6.516691468394249,
      6.239906191061256,
      5.769603999148458,
      5.320543622022514,
      4.940902730181393
    ],
    "ax_ego": [
      -0.17762591240274286,
      -0.17684047464253716,
      0.032533161456370426,
      -0.08953489151204051,
      -0.2738691705536964,
      -0.2620604104047135,
      -0.8452372824434322,
      -1.036229223612219,
      -0.7598048532525203,
      -0.7596780842326842
    ],
    "ay_ego": [
      0.08544249420152564,
      0.08705647260096666,
      0.03665724513247415,
      0.05652412451922534,
      0.11223519856937156,
      -0.003838879422879235,
      0.06022500022869981,
      -0.03508414700149237,
      -0.09800686799427993,
      -0.09898467274957662
    ],
    "a_ego": [
      0.1971075457010325,
      0.1971075414425351,
      0.0490118374992059,
      0.1058842455266021,
      0.29597476645429743,
      0.2620885264499579,
      0.8473801474455873,
      1.0368229845247474,
      0.7660997070878778,
      0.7660997044137153
    ],
    "yaw": [
      -2.1277496439063013,
      -2.1186432037895626,
      -2.112034651721734,
      -2.109154608630071,
      -2.10640100866354,
      -2.103750317174378,
      -2.102149045048493,
      -2.098345150131702,
      -2.102570125828384,
      -2.103857151556287
    ],
    "yaw_diff": [
      0.018212880233477335,
      0.013217104135657465,
      0.005760086183325797,
      0.005507199933061813,
      0.005301382978323943,
      0.003202544251769801,
      0.007607789833582679,
      -0.008449951393364685,
      -0.0025740514558059147,
      -0.0025740514558059147
    ],
    "min_front_frame": [
      9,
      20.27801186190085
    ],
    "v_avg": 6.260763164075868,
    "v_std": 0.6501694369710241,
    "vy_max": 0.04450925650087356,
    "a_max": 1.0368229845247474,
    "ax_avg": -0.43483471416002156,
    "a_std": 0.3417902133791771,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "02ff5ce64ad75584",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      43.956832459209224,
      41.644349674356555,
      39.154771919711415,
      36.4775440336712,
      33.727910925435694,
      30.71466472947476,
      27.803644093209236,
      25.15428600504763,
      22.676031627038245,
      20.27801186190085
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "02ff5ce64ad75584",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "2ef80fbe7233514a": {
    "vx_ego": [
      4.171555104923814,
      4.461025348718807,
      4.81000690908335,
      5.133854224215398,
      5.461115041685094,
      5.769848763903654,
      6.005723811549959,
      6.1987361349544585,
      6.366418219844408,
      6.516856845269013
    ],
    "vy_ego": [
      0.012913893590843717,
      0.10416966267916061,
      0.1144464779457448,
      0.13272546414765163,
      0.11494299598084012,
      0.11527204577270211,
      0.07084651706551925,
      0.04280529175402226,
      0.034071898887181096,
      0.02721825176917081
    ],
    "v_ego": [
      4.171575093662298,
      4.462241418898628,
      4.811368252560154,
      5.135569612450745,
      5.462324540966441,
      5.771000121543678,
      6.006141667459942,
      6.198883928885286,
      6.366509392458368,
      6.516913684786608
    ],
    "ax_ego": [
      0.4692132683724388,
      0.7214960567411451,
      0.6902378961491626,
      0.6182464255014204,
      0.6954412088196973,
      0.5454133516658912,
      0.4023466380183153,
      0.3724745046382417,
      0.30039284737246813,
      0.30301940493318336
    ],
    "ay_ego": [
      -1.4362705697867655,
      -1.3275833985403875,
      -0.7323639760926366,
      -0.24188381213309906,
      -0.06937872366588288,
      -0.18639111950335852,
      -0.24265020976595597,
      -0.19899209053483713,
      -0.1930047321961057,
      -0.1888542546285006
    ],
    "a_ego": [
      1.5109712905453718,
      1.5109712902544068,
      1.0063723698306897,
      0.6638798243788734,
      0.6988933267832143,
      0.5763830094695161,
      0.46985310621949034,
      0.4222974173505308,
      0.35705278237626076,
      0.3570527821728142
    ],
    "yaw": [
      2.946996271376249,
      2.7649420775456863,
      2.6518453383691236,
      2.5992887504023914,
      2.58793580197521,
      2.5765286083572465,
      2.5658889662699567,
      2.5523991879006207,
      2.5382113033010505,
      2.5244548293990556
    ],
    "yaw_diff": [
      -0.3641083876611253,
      -0.22619347835312542,
      -0.10511317593346448,
      -0.02270589685436253,
      -0.022814387235927214,
      -0.021279284174579693,
      -0.026979556738671917,
      -0.02837576919914042,
      -0.027512947803989718,
      -0.027512947803989718
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.490252771367215,
    "v_std": 0.7779562532641029,
    "vy_max": 0.13272546414765163,
    "a_max": 1.5109712905453718,
    "ax_avg": 0.5118281602211964,
    "a_std": 0.4193084263819436,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "2ef80fbe7233514a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2ef80fbe7233514a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "639c2678cce95d68": {
    "vx_ego": [
      5.631140094941439,
      5.197796887217788,
      4.771758053197734,
      4.327095857650757,
      3.8623253872962335,
      3.431554021217349,
      3.0445018399107457,
      2.65866068353184,
      2.2717317434813733,
      1.8978797942351882
    ],
    "vy_ego": [
      -0.02844250494882858,
      -0.014150761909963977,
      0.008723764203101794,
      0.014924552737173857,
      -0.01247413897714579,
      -0.02627648300135478,
      -0.0269766022975321,
      -0.003481462317186622,
      0.02199181077691645,
      0.020509689219825253
    ],
    "v_ego": [
      5.631211925060612,
      5.197816149579895,
      4.771766027616956,
      4.327121595653715,
      3.8623455310855115,
      3.431654623369298,
      3.0446213541738545,
      2.6586629629830583,
      2.27183818835809,
      1.8979906113356027
    ],
    "ax_ego": [
      -0.8666903183263549,
      -0.8666939526489682,
      -0.8374734080171682,
      -0.9410530442251505,
      -0.9180269433536574,
      -0.8048889116790017,
      -0.7432099884221668,
      -0.800086607432881,
      -0.7477164339819186,
      -0.7477169598796674
    ],
    "ay_ego": [
      0.027183627704188473,
      0.02706691882058762,
      0.05471084039940749,
      -0.052076715245091124,
      -0.060834090765295036,
      0.02600518014443897,
      -0.012540352314010631,
      0.11281352678606213,
      -0.0018198041476829956,
      -0.0015943640472051452
    ],
    "a_ego": [
      0.8671165189845009,
      0.8671165006230317,
      0.8392585925643536,
      0.9424928733503195,
      0.9200403552684521,
      0.8053089031782479,
      0.7433157790109374,
      0.808000910407511,
      0.7477186485127764,
      0.7477186597166123
    ],
    "yaw": [
      -1.5898247636044307,
      -1.5899594224274336,
      -1.590447281207841,
      -1.5916620556750845,
      -1.591864656607345,
      -1.5904621241677481,
      -1.5892033235633205,
      -1.5886530176579523,
      -1.5877276487783338,
      -1.5874261438160646
    ],
    "yaw_diff": [
      -0.00026931764600579555,
      -0.0009757175608147151,
      -0.0024295489344869914,
      -0.0004052018645213096,
      0.0028050648791939636,
      0.002517601208855247,
      0.001100611810736396,
      0.0018507377592369423,
      0.0006030099245384335,
      0.0006030099245384335
    ],
    "min_front_frame": [
      9,
      13.718677163994457
    ],
    "v_avg": 3.7095028969216584,
    "v_std": 1.2005518266358304,
    "vy_max": 0.02844250494882858,
    "a_max": 0.9424928733503195,
    "ax_avg": -0.8273556567966935,
    "a_std": 0.06762907526562446,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "639c2678cce95d68",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.158707563917911,
    "speed_mode": "decelerating",
    "front_frame": [
      26.52724113281953,
      23.84521281130837,
      21.33220550748685,
      21.37640356087299,
      19.359747757141164,
      19.04193029744381,
      17.394120115351498,
      15.984460710205381,
      14.752020549720132,
      13.718677163994457
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "639c2678cce95d68",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "83a4f915caf15aca": {
    "vx_ego": [
      2.600830981608528,
      3.5953443066727866,
      4.521306312539267,
      5.245166997998551,
      5.7175959204939595,
      5.959930817045221,
      6.078143788863597,
      6.246215430173647,
      6.4456415353797345,
      6.615852928831656
    ],
    "vy_ego": [
      0.014602847970874744,
      0.011214302546579402,
      0.00870445928986241,
      0.01458445614035897,
      0.003896578084785496,
      0.019879182862146294,
      0.038300035104218644,
      0.025524539648017708,
      0.03244782924244882,
      -0.08522398041625134
    ],
    "v_ego": [
      2.6008719764847403,
      3.5953617959957835,
      4.521314691482883,
      5.2451872743739125,
      5.717597248265213,
      5.959963970182754,
      6.078264457128376,
      6.246267581705382,
      6.445723207230897,
      6.616401824463837
    ],
    "ax_ego": [
      1.9887608768593155,
      1.9897761028647258,
      1.7152473293051218,
      1.1811934198034009,
      0.7093770482220537,
      0.2594120975431732,
      0.21408534603664697,
      0.4584274802313435,
      0.3392894306009076,
      0.34468741001151393
    ],
    "ay_ego": [
      -0.09497158368217606,
      -0.07057255669804896,
      -0.16303451343465014,
      -0.1782222829765927,
      -0.21301533325540023,
      -0.03458712200494443,
      -0.028825190619933022,
      -0.060899093071272836,
      0.1780934689097956,
      0.16740725231805031
    ],
    "a_ego": [
      1.9910272291039453,
      1.991027228666257,
      1.722978134875549,
      1.1945631323359356,
      0.7406695138495597,
      0.2617076715733295,
      0.21601719144990833,
      0.4624548131095214,
      0.38319003299382987,
      0.38319002955338605
    ],
    "yaw": [
      2.733073106676673,
      2.720807936236466,
      2.707151460354822,
      2.6887288862485113,
      2.6730043199593787,
      2.6597927896538476,
      2.654103904855666,
      2.652529190447643,
      2.6560468619472184,
      2.687291597715221
    ],
    "yaw_diff": [
      -0.02453034088041406,
      -0.027312951763287963,
      -0.036845148212621304,
      -0.03144913257826509,
      -0.026423060611062255,
      -0.011377769596363052,
      -0.0031494288160462958,
      0.007035342999150984,
      0.06248947153600515,
      0.06248947153600515
    ],
    "min_front_frame": [
      0,
      13.771556163191143
    ],
    "v_avg": 5.302695402731378,
    "v_std": 1.2632109611090834,
    "vy_max": 0.08522398041625134,
    "a_max": 1.9910272291039453,
    "ax_avg": 0.9200256541478202,
    "a_std": 0.6898535483787812,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "83a4f915caf15aca",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.659143899769884,
    "right_rear_min": 12.900126168611354,
    "speed_mode": "accelerating",
    "front_frame": [
      13.771556163191143,
      14.928809898122662,
      15.690529740459528,
      16.190511835609094,
      16.321410200691577,
      16.218761216935572,
      15.929278286785069,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.8571428571428571,
    "unsafe_ratio": 0.14285714285714285,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "83a4f915caf15aca",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "6dd8c9210247547d": {
    "vx_ego": [
      5.2241927684347065,
      5.359931493027856,
      5.623837444961687,
      5.933668555988843,
      6.325731115228883,
      6.789393412027481,
      7.283809559305661,
      7.671720717685432,
      7.850692600486884,
      7.906539868418826
    ],
    "vy_ego": [
      -0.0458281647185268,
      -0.019341758229204586,
      -0.089268584432455,
      -0.11724672904462352,
      -0.13054418340394847,
      -0.12329626027856211,
      -0.09050402197018004,
      -0.03168351979815798,
      -0.019965860369871358,
      -0.029296048814417386
    ],
    "v_ego": [
      5.224393773678144,
      5.35996639108523,
      5.624545891671591,
      5.934826815316718,
      6.327077992722663,
      6.790512857736214,
      7.284371810542437,
      7.6717861424567015,
      7.850717989007109,
      7.906594143458517
    ],
    "ax_ego": [
      0.010425754824405109,
      0.5547512298387101,
      0.5225758770488582,
      0.7411467781985844,
      0.8410903625789585,
      1.0368474723847922,
      0.9477205096654774,
      0.6049979163571875,
      0.11156691935103613,
      0.11272096927326938
    ],
    "ay_ego": [
      2.44329943353277,
      2.37951086074762,
      2.14374555712138,
      1.6082205620071992,
      0.8857789105288127,
      0.668443474385935,
      0.28601249015281544,
      0.1385583668524381,
      0.12635622689013137,
      0.12532778355975174
    ],
    "a_ego": [
      2.4433216771979107,
      2.443321686439066,
      2.2065200114549244,
      1.7707828559416576,
      1.221489777427881,
      1.233640693005817,
      0.9899380328909515,
      0.6206616629222022,
      0.1685617796755568,
      0.1685617698231284
    ],
    "yaw": [
      -2.7106940847410432,
      -2.4859157281776922,
      -2.2682994712668316,
      -2.1007397040691917,
      -1.9967341991960628,
      -1.938385189934334,
      -1.9091833385349513,
      -1.9028910187204857,
      -1.895922903558346,
      -1.8867522567318158
    ],
    "yaw_diff": [
      0.449556713126702,
      0.43523251382172123,
      0.33511953439527975,
      0.20801100974625797,
      0.1166980185234574,
      0.05840370279876561,
      0.012584639628931082,
      0.013936230324279375,
      0.018341293653060475,
      0.018341293653060475
    ],
    "min_front_frame": [
      9,
      27.18735339516621
    ],
    "v_avg": 6.597479380767533,
    "v_std": 0.991122293866378,
    "vy_max": 0.13054418340394847,
    "a_max": 2.443321686439066,
    "ax_avg": 0.5483843789521279,
    "a_std": 0.8233575815616292,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "6dd8c9210247547d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      59.14647432420945,
      45.518300750942906,
      42.13198262341682,
      38.630086068594316,
      34.94831192050285,
      31.076934863865446,
      27.18735339516621
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5714285714285714,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.42857142857142855,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "6dd8c9210247547d",
    "pedestrians": "No"
  },
  "5806eb348e3250d9": {
    "vx_ego": [
      4.867916593611717,
      5.004008411597136,
      5.247343843975631,
      5.434835199721759,
      5.480163517291427,
      5.387990065477904,
      5.192742706857344,
      4.890740905984007,
      4.6123091653925545,
      4.401484114607244
    ],
    "vy_ego": [
      -0.03612652085533183,
      0.0963911735319023,
      0.13500124641077615,
      0.12660565823405845,
      0.06957594006129719,
      -0.0012264062473898996,
      -0.028541499853181218,
      -0.035430299497787754,
      -0.012476728864507791,
      0.014102732492609515
    ],
    "v_ego": [
      4.868050645573587,
      5.004936707059316,
      5.249080181654821,
      5.436309652772874,
      5.480605166191719,
      5.387990205054281,
      5.192821144313947,
      4.890869239264915,
      4.612326040722547,
      4.401506707731305
    ],
    "ax_ego": [
      0.06373910382513022,
      0.5006359977218576,
      0.4828309127386451,
      0.28935112650989375,
      -0.10374310127839159,
      -0.2651483026817921,
      -0.5156800168353588,
      -0.691467672244728,
      -0.4218382718969812,
      -0.4214716888113889
    ],
    "ay_ego": [
      -1.9688125508568828,
      -1.9051638071167414,
      -1.1106156263479026,
      -0.6245866817563651,
      -0.17242834320017986,
      -0.0557695433163187,
      -0.01149997776883388,
      0.08324575580905402,
      0.08905074420964948,
      0.09076994824424206
    ],
    "a_ego": [
      1.969844037929911,
      1.9698440380300457,
      1.2110296279547321,
      0.688354993764098,
      0.20123161928886232,
      0.27094992964890396,
      0.5158082291433509,
      0.6964606217294437,
      0.4311352023221067,
      0.43113520845992925
    ],
    "yaw": [
      -1.6126824870840641,
      -1.8372882151569703,
      -1.9915389958327,
      -2.070786075273584,
      -2.096612392916651,
      -2.0940908986890534,
      -2.092118269080702,
      -2.0872157040838606,
      -2.082950912981803,
      -2.078873634333716
    ],
    "yaw_diff": [
      -0.44921145614581226,
      -0.3085015613514597,
      -0.15849415888176743,
      -0.05165263528613462,
      0.005042988455195463,
      0.003945259216703079,
      0.009805129993682549,
      0.008529582204115371,
      0.00815455729617387,
      0.00815455729617387
    ],
    "min_front_frame": [
      9,
      27.12267970637239
    ],
    "v_avg": 5.052449569033931,
    "v_std": 0.34371864096984023,
    "vy_max": 0.13500124641077615,
    "a_max": 1.9698440380300457,
    "ax_avg": -0.10827919129531136,
    "a_std": 0.6249497448053939,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "5806eb348e3250d9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      45.06266201358812,
      42.335686777357125,
      39.62244653279907,
      36.84765716646999,
      34.24655227468445,
      31.743159086237345,
      29.34978801245088,
      27.12267970637239
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5806eb348e3250d9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2b006c0fae365892": {
    "vx_ego": [
      2.6066091987078885,
      2.220955308704313,
      1.8707291407160307,
      1.5712304480155064,
      1.2864437115620593,
      1.001541166623692,
      0.7072982189642709,
      0.41481399050665896,
      0.1471695067748724,
      -0.10759044818090033
    ],
    "vy_ego": [
      0.002074136822894368,
      -0.0018785198947187665,
      -0.007901522335700295,
      -0.018466545879667118,
      -0.011746100995372655,
      -0.006171102032354714,
      -0.005218920185745324,
      -0.007919464760645284,
      -0.002002740930722724,
      0.017052037038680613
    ],
    "v_ego": [
      2.6066100239261227,
      2.220956103145414,
      1.870745827732715,
      1.5713389621872598,
      1.2864973353669102,
      1.001560178392811,
      0.7073174730472414,
      0.4148895812648875,
      0.14718313318989645,
      0.10893335809996649
    ],
    "ax_ego": [
      -0.77182144022972,
      -0.7707086844922906,
      -0.6304145097486473,
      -0.5688230973416043,
      -0.5715036447445389,
      -0.568129469297574,
      -0.6088540890178766,
      -0.5610860565698514,
      -0.5095136463774483,
      -0.5095206411093075
    ],
    "ay_ego": [
      -0.07180253128948072,
      -0.08289788046637345,
      -0.09963931769922017,
      -0.06005423760367459,
      0.01969138700314857,
      -0.0015518760889841332,
      0.0037706819612260134,
      -0.01499708930429866,
      0.03814908161853062,
      0.038055504099387544
    ],
    "a_ego": [
      0.7751541389284173,
      0.7751541362449499,
      0.6382401176149879,
      0.5719844644074302,
      0.571842781434198,
      0.5681315888099681,
      0.6088657649730695,
      0.5612864469811361,
      0.510939828427165,
      0.5109398253304378
    ],
    "yaw": [
      2.846554077447175,
      2.8321684168258123,
      2.81263977922249,
      2.79550443854193,
      2.7837417071634176,
      2.782832165978826,
      2.7823697121358206,
      2.782178639546661,
      2.781709754722856,
      2.7815261214468556
    ],
    "yaw_diff": [
      -0.028771321242725634,
      -0.039057275206644704,
      -0.03427068136111977,
      -0.02352546275702494,
      -0.0018190823691828228,
      -0.0009249076860111671,
      -0.00038214517831924866,
      -0.0009377696476100539,
      -0.00036726655200070013,
      -0.00036726655200070013
    ],
    "min_front_frame": [
      9,
      7.752712614502867
    ],
    "v_avg": 1.1936031976353223,
    "v_std": 0.8254169182489812,
    "vy_max": 0.018466545879667118,
    "a_max": 0.7751541389284173,
    "ax_avg": -0.6070375278928859,
    "a_std": 0.09055272868272858,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2b006c0fae365892",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.42644203150127,
    "speed_mode": "decelerating",
    "front_frame": [
      11.165462238670376,
      10.606038381057818,
      10.027454510746963,
      9.529076661212546,
      9.089108381008437,
      8.528679955812487,
      8.12836845691196,
      7.86478196425933,
      7.754954392265094,
      7.752712614502867
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2b006c0fae365892",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "71bacc65bda2569c": {
    "vx_ego": [
      7.477684917774392,
      7.324857651961892,
      7.098158027048254,
      6.738270193549887,
      6.32133720052929,
      5.886488567877745,
      5.429209463216356,
      5.069168319847619,
      4.855238794272445,
      4.794940884858906
    ],
    "vy_ego": [
      0.11183716850360215,
      0.11883752007624881,
      0.12244662882567958,
      0.09729873445003179,
      0.0725901277952179,
      0.07652373970870396,
      0.1286636153346712,
      0.10908869904114793,
      0.05778449489833293,
      -0.0235601502229133
    ],
    "v_ego": [
      7.478521196183743,
      7.325821590626034,
      7.099214080013388,
      6.738972640173605,
      6.32175397571345,
      5.886985947196951,
      5.4307338105811285,
      5.070341980498477,
      4.85558264240851,
      4.794998766420074
    ],
    "ax_ego": [
      -0.3067000823844568,
      -0.30641716645706,
      -0.6012704137655915,
      -0.8388680081586353,
      -0.8295066832136173,
      -0.911647314941158,
      -0.919977892031477,
      -0.5399785045313004,
      -0.3431757685856417,
      0.08991931166406954
    ],
    "ay_ego": [
      0.07149058149253999,
      0.07269366042762122,
      -0.009009378657483302,
      -0.05635502050469432,
      0.012486188995373515,
      0.23089628312476573,
      0.9327262883602341,
      1.5638758781744952,
      1.9391108547958464,
      1.9671896297002356
    ],
    "a_ego": [
      0.3149219645829329,
      0.31492197155158913,
      0.6013379078136015,
      0.8407588378650092,
      0.8296006523693703,
      0.940432836730117,
      1.3100907032816234,
      1.6544741000365972,
      1.96924364041919,
      1.9692436420642039
    ],
    "yaw": [
      2.6316848677282767,
      2.6356093024661114,
      2.637307886305144,
      2.6385754307287828,
      2.640680218748891,
      2.6499883494915295,
      2.692175127818609,
      2.8157707130231215,
      3.002975282797151,
      -3.059370143026487
    ],
    "yaw_diff": [
      0.007848869475669318,
      0.0033971676780648608,
      0.002535088847277933,
      0.004209576040216767,
      0.01861626148527673,
      0.08437355665415858,
      0.2471911704090255,
      0.3744091395480593,
      0.441679762711896,
      0.441679762711896
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.100292662981536,
    "v_std": 0.9830533392356435,
    "vy_max": 0.1286636153346712,
    "a_max": 1.9692436420642039,
    "ax_avg": -0.5507622522404868,
    "a_std": 0.5918944050662368,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "71bacc65bda2569c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "71bacc65bda2569c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "17c5c685420d5729": {
    "vx_ego": [
      6.541385846019223,
      6.497370490561584,
      6.4426231954686175,
      6.27654298878441,
      5.929367215243601,
      5.349658184215994,
      4.611081458055584,
      3.8265285538794456,
      3.116765065913329,
      2.474913136757882
    ],
    "vy_ego": [
      0.09949014745183771,
      0.011952665077634261,
      -0.027626642547962543,
      -0.057204744618812864,
      -0.058329448526571515,
      -0.08640332111645233,
      -0.07777155732047253,
      -0.037932466278679536,
      -0.014601256334540902,
      -0.04373626939506575
    ],
    "v_ego": [
      6.542142391903482,
      6.497381484707739,
      6.442682428163655,
      6.276803666904489,
      5.929654112827414,
      5.3503558967464135,
      4.611737267879867,
      3.826716561969635,
      3.1167992673228517,
      2.4752995567723386
    ],
    "ax_ego": [
      -0.21654802774138215,
      0.010468932506182638,
      -0.22438080023554408,
      -0.4201084326527724,
      -0.9484612020912531,
      -1.3621699840000077,
      -1.580100077726012,
      -1.5563980454644604,
      -1.2831906607697807,
      -1.2833149719003492
    ],
    "ay_ego": [
      1.6242457915545545,
      1.6385840975017647,
      1.6524229498041152,
      1.612471968561438,
      1.4720036605372722,
      1.0356583130529433,
      0.667876552799668,
      0.2784902534774375,
      -0.021499918552268252,
      -0.011967686781487205
    ],
    "a_ego": [
      1.6386175391778777,
      1.638617540225141,
      1.667587583473107,
      1.6663003764574884,
      1.7511063441457557,
      1.7111677903426799,
      1.715451936199122,
      1.5811172306971801,
      1.2833707641926946,
      1.2833707736388942
    ],
    "yaw": [
      -2.3728432230050904,
      -2.233913702959761,
      -2.101428306237506,
      -1.969134852028976,
      -1.844116594668338,
      -1.7291558090597257,
      -1.645880413141295,
      -1.5992190583624608,
      -1.5873162393775437,
      -1.579888093733158
    ],
    "yaw_diff": [
      0.2778590400906591,
      0.26497079344451,
      0.2645869084170598,
      0.25003651472127597,
      0.22992157121722467,
      0.1665507918368614,
      0.0933227095576683,
      0.023805637969834148,
      0.014856291288771306,
      0.014856291288771306
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.1069572635197895,
    "v_std": 1.4370950359801962,
    "vy_max": 0.09949014745183771,
    "a_max": 1.7511063441457557,
    "ax_avg": -0.8864203270075379,
    "a_std": 0.16153362318506917,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "17c5c685420d5729",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.837861950216087,
    "right_rear_min": 6.705676626333023,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "17c5c685420d5729",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "268ed4d63bb85cae": {
    "vx_ego": [
      8.399212847111633,
      7.920581413354178,
      7.4130365911287015,
      6.82388489798934,
      6.112318258248301,
      5.307196708702492,
      4.510548535776563,
      3.723643216387698,
      2.913906286908483,
      2.1034703719573415
    ],
    "vy_ego": [
      7.798375575474026e-05,
      -0.047253261829014015,
      -0.07906248287447948,
      -0.0880676858680367,
      -0.08910571080985186,
      -0.042198573380340054,
      0.02606582235527055,
      0.049314591611970826,
      0.03450188680560751,
      0.016717586251475458
    ],
    "v_ego": [
      8.399212847473658,
      7.920722365815201,
      7.41345819288214,
      6.824453166247178,
      6.112967717714079,
      5.307364470663184,
      4.510623850499081,
      3.723969754428193,
      2.914110538239401,
      2.103536803431885
    ],
    "ax_ego": [
      -0.9577737809545843,
      -0.9571252364314128,
      -1.073695125593076,
      -1.2837605665805525,
      -1.5638703716774414,
      -1.6573547188795437,
      -1.529257082434899,
      -1.6180393454136586,
      -1.6209157286227687,
      -1.6209516521713825
    ],
    "ay_ego": [
      -0.1586423520447688,
      -0.16250939917473423,
      -0.026122146507612243,
      -0.09016934060466975,
      -0.0031914562414284697,
      0.14024108226095233,
      0.09603320132580573,
      -0.028235325436924974,
      -0.030437368565075507,
      -0.02846030208032313
    ],
    "a_ego": [
      0.970823367738095,
      0.9708233737575651,
      1.0740128440854404,
      1.286923347481233,
      1.5638736281437446,
      1.6632775551140027,
      1.5322694279839242,
      1.6182856845777231,
      1.6212014781333772,
      1.6212014826885763
    ],
    "yaw": [
      0.9606947079072711,
      0.9566558123899489,
      0.95465764822863,
      0.9518489088313328,
      0.9484194525317197,
      0.9462093940580202,
      0.9443299575422848,
      0.942804036538122,
      0.9428475817367781,
      0.944067292408262
    ],
    "yaw_diff": [
      -0.008077791034644344,
      -0.003996328322637854,
      -0.005617478794594399,
      -0.006858912599226219,
      -0.0044201169473989665,
      -0.003758873031470822,
      -0.003051842008325645,
      8.709039731225054e-05,
      0.002439421342967929,
      0.002439421342967929
    ],
    "min_front_frame": [
      9,
      13.859842927610288
    ],
    "v_avg": 5.5230419707394,
    "v_std": 2.0602013020878442,
    "vy_max": 0.08910571080985186,
    "a_max": 1.6632775551140027,
    "ax_avg": -1.388274360875932,
    "a_std": 0.2731327758025239,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "268ed4d63bb85cae",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 25.764633445339054,
    "speed_mode": "decelerating",
    "front_frame": [
      38.039731378828435,
      34.031545486937205,
      30.210407110142498,
      26.66714965823199,
      23.461006250375707,
      20.704710928902657,
      18.545815312585376,
      16.49848303437265,
      14.944384336000198,
      13.859842927610288
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "268ed4d63bb85cae",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b9aa102f4d7b5751": {
    "vx_ego": [
      5.629523605623525,
      5.095615658890745,
      4.554369696158914,
      4.125664326507266,
      3.909611208173505,
      3.7804556377610328,
      3.6906542426075752,
      3.6318994121543073,
      3.5363564281563344,
      3.4183853078578315
    ],
    "vy_ego": [
      0.0828594042319164,
      0.060467309742891384,
      0.03532987548299027,
      0.027486280537742935,
      0.033321716116505584,
      -0.009416893831009299,
      -0.04167081970845121,
      0.007863953022781311,
      0.04943173967363412,
      0.06080652009434839
    ],
    "v_ego": [
      5.630133364951684,
      5.095974415033901,
      4.5545067273407644,
      4.125755885971982,
      3.909753206513276,
      3.7804673662086543,
      3.690889485705643,
      3.6319079258378713,
      3.536701893551362,
      3.418926080783886
    ],
    "ax_ego": [
      -1.0677432631736263,
      -1.0677115693890906,
      -1.097165428055244,
      -0.6175725218247486,
      -0.24650018229028356,
      -0.2701010354783078,
      -0.0890666571986459,
      -0.14613586550479635,
      -0.2358373638845579,
      -0.23585204511594537
    ],
    "ay_ego": [
      -0.05106803940042437,
      -0.051726400800837236,
      -0.0593838967187435,
      0.012101533930026276,
      -0.005766472327326147,
      -0.16770560126570244,
      0.04141164210612355,
      0.13302587424652765,
      0.016703394708971003,
      0.01649483001631738
    ],
    "a_ego": [
      1.0689638070116625,
      1.0689638047881338,
      1.0987713245753865,
      0.6176910771870023,
      0.24656762170294144,
      0.31793039814139334,
      0.09822318222531158,
      0.19761471201782754,
      0.2364281404546021,
      0.2364281425774883
    ],
    "yaw": [
      -0.33717575203691685,
      -0.3377923432560983,
      -0.3383391054633188,
      -0.3392682942678318,
      -0.34033890507584375,
      -0.3405024730094843,
      -0.3403192108801514,
      -0.34193445809828793,
      -0.34308468747418597,
      -0.34396904028431563
    ],
    "yaw_diff": [
      -0.0012331824383629009,
      -0.001093524414440994,
      -0.001858377609025963,
      -0.002141221616023925,
      -0.0003271358672810587,
      0.0003665242586657902,
      -0.0032304944362731014,
      -0.002300458751796075,
      -0.0017687056202593254,
      -0.0017687056202593254
    ],
    "min_front_frame": [
      9,
      15.44646876140639
    ],
    "v_avg": 4.137501635189902,
    "v_std": 0.6951540939846188,
    "vy_max": 0.0828594042319164,
    "a_max": 1.0987713245753865,
    "ax_avg": -0.5073685931915246,
    "a_std": 0.3880049275722941,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b9aa102f4d7b5751",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.69271695083884,
      21.16666747917509,
      19.55630398423452,
      18.43993416574761,
      17.91989615353185,
      17.296256401348845,
      16.84917105883653,
      16.380388512404867,
      15.923703595294691,
      15.44646876140639
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b9aa102f4d7b5751",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4c5c196977b255f5": {
    "vx_ego": [
      4.649630635308348,
      4.146984360026606,
      3.641575740847138,
      3.156828663828832,
      2.686301694080283,
      2.239744553787144,
      1.8591613058539338,
      1.599213436281872,
      1.4708681171372677,
      1.3879650229655307
    ],
    "vy_ego": [
      0.018790929179159255,
      0.009766725864169157,
      0.030834298308146657,
      0.017707874200466822,
      -0.03001308711295425,
      -0.1037852742397185,
      -0.13919552035089422,
      -0.09022324301403628,
      -0.07496926584639962,
      -0.10357727631988756
    ],
    "v_ego": [
      4.649668605805937,
      4.14699586101064,
      3.641706280066878,
      3.1568783285993187,
      2.686469351587069,
      2.242147865188241,
      1.8643648124951995,
      1.601756488472715,
      1.4727774471495954,
      1.3918243988181673
    ],
    "ax_ego": [
      -1.005272346662939,
      -1.005126242183307,
      -1.014805093881294,
      -0.9200806596477602,
      -0.9608779241163923,
      -0.8373334355130828,
      -0.6964750867046785,
      -0.34792436124493575,
      -0.16768377528072168,
      -0.16698331296506846
    ],
    "ay_ego": [
      -0.04439543545363006,
      -0.047588607499204794,
      -0.10720358111637235,
      -0.26298712181018574,
      -0.372703124424368,
      -0.32471460291059273,
      0.04392942061857419,
      0.08730289417158635,
      -0.08100207761280781,
      -0.08243638771268043
    ],
    "a_ego": [
      1.006252177962527,
      1.0062521743028678,
      1.0204518540193832,
      0.9569277122624588,
      1.0306279658586377,
      0.8980906722439144,
      0.69785911213953,
      0.3587104075412808,
      0.18622348152149584,
      0.18622348087152
    ],
    "yaw": [
      -0.4018590578565816,
      -0.4050357002025734,
      -0.42037765860742504,
      -0.44382292920063576,
      -0.48181437206208677,
      -0.5229031564220143,
      -0.5400231561451967,
      -0.5496125569867836,
      -0.558656246258793,
      -0.5672277741495934
    ],
    "yaw_diff": [
      -0.006353284691983596,
      -0.030683916809703282,
      -0.04689054118642144,
      -0.07598288572290202,
      -0.08217756871985515,
      -0.03423999944636469,
      -0.019178801683173763,
      -0.018087378544018762,
      -0.017143055781600802,
      -0.017143055781600802
    ],
    "min_front_frame": [
      9,
      9.657021172110007
    ],
    "v_avg": 2.685458943919376,
    "v_std": 1.1099582887184154,
    "vy_max": 0.13919552035089422,
    "a_max": 1.0306279658586377,
    "ax_avg": -0.7122562238200179,
    "a_std": 0.33721931874428546,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4c5c196977b255f5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.719236520992077,
    "right_rear_min": 11.111623928252861,
    "speed_mode": "decelerating",
    "front_frame": [
      16.00657526205783,
      14.638348681717774,
      13.519629123851434,
      12.658810078188049,
      11.927565287010495,
      11.48588369532942,
      10.964243659344898,
      10.512143955022763,
      10.093685440828297,
      9.657021172110007
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4c5c196977b255f5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "92fe6ff13c005ee3": {
    "vx_ego": [
      7.42096258677738,
      7.518709543003892,
      7.5855784406509255,
      7.625754032097126,
      7.66133643751605,
      7.6647887641791055,
      7.69402161498836,
      7.784520267701588,
      7.873371037341794,
      7.945858854300706
    ],
    "vy_ego": [
      -0.033040477818026215,
      -0.08482214073588557,
      -0.11887900261624473,
      -0.10877744426733749,
      -0.05379757872667046,
      -0.03340850796120476,
      -0.05356679632881667,
      -0.07075281570156466,
      -0.050750360528608596,
      -0.013218726445348938
    ],
    "v_ego": [
      7.421036139753267,
      7.519187987250805,
      7.5865099022232325,
      7.626529819677289,
      7.661525317343014,
      7.664861572650249,
      7.694208082290017,
      7.784841794101309,
      7.87353459957765,
      7.945869849626142
    ],
    "ax_ego": [
      0.18824837035277345,
      0.19756689015987294,
      0.06040921246857461,
      0.08944777153779783,
      0.046408880038613494,
      -0.03458321552025481,
      0.1491624760267114,
      0.20822786241443614,
      0.1429029474192725,
      0.14516856156766855
    ],
    "ay_ego": [
      -0.43054281319910004,
      -0.426347143532258,
      -0.3708109537193535,
      -0.19700581928230243,
      -0.15619823039398742,
      -0.26076643191216764,
      -0.3214096360184959,
      -0.23662225457394945,
      -0.15651427893667308,
      -0.15441522078997894
    ],
    "a_ego": [
      0.469898460242072,
      0.46989846018640996,
      0.3756993962589372,
      0.2163612642414748,
      0.16294683588413614,
      0.2630496736510493,
      0.354335432013172,
      0.31519665931818547,
      0.2119386040630212,
      0.2119386035606631
    ],
    "yaw": [
      -0.7034501663332081,
      -0.725198937625576,
      -0.7470274221358867,
      -0.7670287314817604,
      -0.7857603423085449,
      -0.8020022900783088,
      -0.8183784356061543,
      -0.8341985568344812,
      -0.849291406581448,
      -0.8638643152464445
    ],
    "yaw_diff": [
      -0.043497542584735704,
      -0.04365696902062144,
      -0.04000261869174748,
      -0.03746322165356886,
      -0.03248389553952791,
      -0.032752291055690996,
      -0.031640242456653755,
      -0.03018569949393357,
      -0.029145817329992996,
      -0.029145817329992996
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.677810506449296,
    "v_std": 0.14979348435524617,
    "vy_max": 0.11887900261624473,
    "a_max": 0.469898460242072,
    "ax_avg": 0.11929597564654659,
    "a_std": 0.1044202134671677,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "92fe6ff13c005ee3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "92fe6ff13c005ee3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1647fbd477655958": {
    "vx_ego": [
      2.7295388951695236,
      3.12440366399252,
      3.5213486337229774,
      3.8692029960552525,
      4.185594704283248,
      4.497636593115483,
      4.820874152535347,
      5.145376726319407,
      5.434001938820525,
      5.742805063497077
    ],
    "vy_ego": [
      -0.08038772961510587,
      -0.00234030394219098,
      -0.027229001548213616,
      -0.03745967324179511,
      -0.04140974056543319,
      -0.042807629097120714,
      -0.036061821736702804,
      -0.0425991794286833,
      -0.04453457991390897,
      -0.05400385130173824
    ],
    "v_ego": [
      2.730722389280158,
      3.1244045404832623,
      3.5214539069463897,
      3.8693843246442094,
      4.185799540725482,
      4.497840305840167,
      4.821009028156904,
      5.145553065107522,
      5.434184428220424,
      5.743058976998502
    ],
    "ax_ego": [
      0.7689319397553674,
      0.821462024493559,
      0.781266021572817,
      0.6406845388437987,
      0.6552231001340615,
      0.6261246959142436,
      0.6967991495367165,
      0.6216994084229835,
      0.552002510530325,
      0.7019617151222295
    ],
    "ay_ego": [
      0.6701964309122124,
      0.6046649704535006,
      0.7584678197020986,
      1.0029128451108367,
      1.1400603294443716,
      1.2789106231198024,
      1.3861364546707178,
      1.3660251093394202,
      1.319662406597065,
      1.2463809163704795
    ],
    "a_ego": [
      1.0200095999466965,
      1.0200096000423668,
      1.088875580582039,
      1.1900885904846765,
      1.3149353085692466,
      1.423953832384458,
      1.5514197774175107,
      1.5008446800982649,
      1.430459939675816,
      1.43045993938658
    ],
    "yaw": [
      1.0976310408931136,
      1.1799935413657505,
      1.2897638376704552,
      1.4109710665097857,
      1.544836738541138,
      1.6841060960393672,
      1.82568766444741,
      1.964587789580798,
      2.0915040280868418,
      2.208250957175984
    ],
    "yaw_diff": [
      0.16472500094527387,
      0.2195405926094094,
      0.24241445767866088,
      0.2677313440627045,
      0.27853871499645866,
      0.2831631368160856,
      0.2778002502667758,
      0.25383247701208767,
      0.23349385817828416,
      0.23349385817828416
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.307341050640303,
    "v_std": 0.9509504890229509,
    "vy_max": 0.08038772961510587,
    "a_max": 1.5514197774175107,
    "ax_avg": 0.6866155104326102,
    "a_std": 0.1914516162521378,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "1647fbd477655958",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 44.1612228325819,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1647fbd477655958",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c0e14f1288ca5066": {
    "vx_ego": [
      6.990841562523862,
      7.543300162925034,
      8.096719220568932,
      8.621528599686155,
      9.124328946086315,
      9.650130816983612,
      10.208821804823186,
      10.771821024562474,
      11.232717133683327,
      11.596230589036997
    ],
    "vy_ego": [
      -0.022848897320959516,
      -0.06211852501443316,
      -0.024308961010918395,
      0.011113351138316574,
      0.020682686780417292,
      0.04329974376476731,
      0.023850005410388064,
      0.06871029679612217,
      0.05891047753988676,
      0.024894811813354956
    ],
    "v_ego": [
      6.990878902142409,
      7.543555929343588,
      8.096755712155073,
      8.621535762367389,
      9.124352387425699,
      9.650227958587656,
      10.208849664158612,
      10.772040163780117,
      11.232871611912376,
      11.596257311122955
    ],
    "ax_ego": [
      1.0969123390996989,
      1.1190626116887394,
      1.0939959461323132,
      1.00587325964135,
      1.0067113779721668,
      1.1030442492541916,
      1.1350692446030388,
      1.1210897594412095,
      0.7259364231611718,
      0.7300888938958634
    ],
    "ay_ego": [
      0.552553696391378,
      0.5061927739715009,
      0.06938388272978935,
      -0.16309187412469628,
      -0.2523256832887957,
      -0.5478307476107271,
      -0.5420294879210905,
      -0.46599174151443407,
      -0.3481695459358268,
      -0.33937579219813296
    ],
    "a_ego": [
      1.2282232154885153,
      1.2282232098851518,
      1.0961939852674782,
      1.019009310000169,
      1.0378516507602502,
      1.2315945533496289,
      1.257846634458952,
      1.2140801258086733,
      0.8051122426029775,
      0.8051122414422697
    ],
    "yaw": [
      0.7305586439678253,
      0.7723949979788993,
      0.7859551457532756,
      0.7789243110795521,
      0.7661412132371809,
      0.7423928157419039,
      0.7169026841346733,
      0.6886102856237828,
      0.6710802963552618,
      0.6590013105939705
    ],
    "yaw_diff": [
      0.08367270802214799,
      0.027120295548752615,
      -0.014061669347447125,
      -0.025566195684742388,
      -0.04749679499055404,
      -0.05098026321446114,
      -0.056584797021780986,
      -0.035059978537042014,
      -0.02415797152258259,
      -0.02415797152258259
    ],
    "min_front_frame": [
      0,
      30.491148894087402
    ],
    "v_avg": 9.383732540299587,
    "v_std": 1.4970085885681368,
    "vy_max": 0.06871029679612217,
    "a_max": 1.257846634458952,
    "ax_avg": 1.0137784104889747,
    "a_std": 0.16489215292472023,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c0e14f1288ca5066",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      30.491148894087402,
      32.11098851715045,
      33.43146599180907,
      34.73846806159013,
      36.01573860695874,
      36.7202934643548,
      37.11281618798815,
      37.346567181191325,
      37.264512791399106,
      37.030744341201874
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c0e14f1288ca5066",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "a366d90f10ca5866": {
    "vx_ego": [
      8.823827676526896,
      8.735408110275019,
      8.628424139422103,
      8.53692378435154,
      8.47262262891607,
      8.424090844916726,
      8.411670216701191,
      8.41832196016906,
      8.436836335150332,
      8.459793192250386
    ],
    "vy_ego": [
      -0.014178862865015684,
      0.011606529890392459,
      -0.010039215476195018,
      -0.032288003064157245,
      -0.050701357742632513,
      -0.017684677908019975,
      -0.009308929193000637,
      -0.010931793072595397,
      -0.006797871031197111,
      -0.0030771351876128783
    ],
    "v_ego": [
      8.823839068409747,
      8.73541582093232,
      8.628429979759321,
      8.536984843313762,
      8.472774329562757,
      8.424109407601645,
      8.411675367648266,
      8.418329058023595,
      8.436839073797925,
      8.45979375188349
    ],
    "ax_ego": [
      -0.18024646017460086,
      -0.173501018984697,
      -0.25522951264361055,
      -0.1114910257839612,
      -0.14619917223838955,
      -0.04832886070501353,
      -0.001343525220604158,
      0.02815132344292835,
      0.045914796697515026,
      0.045921129890203624
    ],
    "ay_ego": [
      -0.3174526909482055,
      -0.32118903340428206,
      -0.18241378061472158,
      -0.14544115481448416,
      0.0029779013167076304,
      0.04272858679006081,
      0.0010526434825366515,
      0.07802125496775697,
      0.014725273754829571,
      0.014705519752213805
    ],
    "a_ego": [
      0.3650547868412779,
      0.3650547887206867,
      0.31371466571145623,
      0.183257682906149,
      0.14622949722761935,
      0.064508998644533,
      0.0017067859618963184,
      0.08294463959974815,
      0.04821827706304747,
      0.048218279537699214
    ],
    "yaw": [
      -0.2918646314827724,
      -0.31298818592734223,
      -0.32498221709550623,
      -0.33195439994443143,
      -0.333976050359573,
      -0.33653528783534786,
      -0.33622982419642555,
      -0.33368666119042256,
      -0.3314253087450521,
      -0.3309948129729751
    ],
    "yaw_diff": [
      -0.04224710888913963,
      -0.023988062336327998,
      -0.013944365697850403,
      -0.0040433008302831475,
      -0.005118474951549712,
      0.0006109272778446195,
      0.005086326012005982,
      0.004522704890740914,
      0.0008609915441539773,
      0.0008609915441539773
    ],
    "min_front_frame": [
      9,
      59.77944989033606
    ],
    "v_avg": 8.534819070093283,
    "v_std": 0.1387835222434809,
    "vy_max": 0.050701357742632513,
    "a_max": 0.3650547887206867,
    "ax_avg": -0.07963523257202298,
    "a_std": 0.1317273822563066,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "a366d90f10ca5866",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      63.76974875908666,
      63.63295268308365,
      63.42398533083319,
      63.14527833076641,
      62.79784908335297,
      62.49200297824242,
      61.96739280493471,
      61.41369814546508,
      60.649161135331305,
      59.77944989033606
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "a366d90f10ca5866",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "8d1d97f4b7d05914": {
    "vx_ego": [
      2.152108956094027,
      1.5807371916090773,
      1.117404599868089,
      0.8556460276918926,
      0.6752924200832126,
      0.49232970846900037,
      0.3328481234846272,
      0.16843068688632687,
      0.03347295608144853,
      -0.05312334569524938
    ],
    "vy_ego": [
      0.06160948986976249,
      -0.007262216016211319,
      -0.025666752500264435,
      0.0071342850455189295,
      0.03814006599390938,
      0.031614077968165,
      -0.001793641835471236,
      -0.013189808392503197,
      -0.004037636541764778,
      0.013642250126509142
    ],
    "v_ego": [
      2.1529906381919397,
      1.5807538735418676,
      1.1176993432897213,
      0.8556757696277404,
      0.6763686252746071,
      0.4933436852407742,
      0.3328529562108043,
      0.16894634453112867,
      0.03371559428030264,
      0.0548470678010339
    ],
    "ax_ego": [
      -1.1427469758394935,
      -1.1427148725457752,
      -0.7105589451943424,
      -0.33647827150921367,
      -0.3849138049497261,
      -0.34691774839242767,
      -0.29103531926988613,
      -0.36664441149403837,
      -0.17318998261825513,
      -0.17319338794320582
    ],
    "ay_ego": [
      -0.13847549364918288,
      -0.1387401102496774,
      0.06685836103032133,
      0.0640352461269103,
      0.059246206558844466,
      -0.08556085113316347,
      -0.04699493629419531,
      0.0012179067581167494,
      0.035370012634321185,
      0.035353322748704626
    ],
    "a_ego": [
      1.151106473412296,
      1.1511064668958297,
      0.7136974534320248,
      0.34251735714319953,
      0.3894467232273101,
      0.3573130047959395,
      0.29480515785823697,
      0.3666464342887862,
      0.1767648377734202,
      0.17676483546401378
    ],
    "yaw": [
      -1.5385110340411057,
      -1.5387425973179667,
      -1.5384073981856494,
      -1.5384900091641591,
      -1.538730334688097,
      -1.5388212959528547,
      -1.5381586446726057,
      -1.5383435419192866,
      -1.538411162084047,
      -1.5385075308138756
    ],
    "yaw_diff": [
      -0.0004631265537220486,
      0.000670398264634553,
      -0.00016522195701940134,
      -0.0004806510478756465,
      -0.00018192252951543253,
      0.0013253025604980095,
      -0.00036979449336183023,
      -0.000135240329520947,
      -0.00019273745965708855,
      -0.00019273745965708855
    ],
    "min_front_frame": [
      8,
      9.717040619147902
    ],
    "v_avg": 0.746719389798992,
    "v_std": 0.6621198743064448,
    "vy_max": 0.06160948986976249,
    "a_max": 1.151106473412296,
    "ax_avg": -0.5068393719756364,
    "a_std": 0.3490464505870649,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8d1d97f4b7d05914",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.294513336343961,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.415968637734371,
      11.008437653680652,
      10.805260645631359,
      10.661863804474148,
      10.357474424434306,
      10.091528830581698,
      9.863804643149079,
      9.7441524539517,
      9.717040619147902,
      9.72291904053283
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8d1d97f4b7d05914",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "93ec10a2fdc35c9a": {
    "vx_ego": [
      4.523027553173999,
      4.679692750161452,
      4.858500213080901,
      5.039551782089809,
      5.200634275883331,
      5.346706239088382,
      5.504689149517523,
      5.660792845068839,
      5.805976780901711,
      5.934106087812058
    ],
    "vy_ego": [
      0.0181617475237994,
      0.012913966568217639,
      0.002201337605157949,
      -0.03850198225079815,
      -0.06699124045952987,
      -0.03898346444427281,
      -0.043969299835836306,
      -0.04003320391765808,
      -0.03876184236924329,
      -0.015764235183091113
    ],
    "v_ego": [
      4.523064016332766,
      4.679710568661932,
      4.8585007117828445,
      5.039698856777239,
      5.201065727116977,
      5.346848353713308,
      5.504864751485181,
      5.660934400979972,
      5.806106170299821,
      5.934127026995549
    ],
    "ax_ego": [
      0.23641558371757937,
      0.3799952917272383,
      0.32105775821085436,
      0.3968497758764836,
      0.2549350987057899,
      0.3352994738005401,
      0.3007825076735386,
      0.32780815646819134,
      0.25551849621618133,
      0.25851465230850096
    ],
    "ay_ego": [
      1.1613834508476577,
      1.1226341463120446,
      0.9238119981800996,
      0.6339459760435594,
      0.4646718171914899,
      0.3817500059887772,
      0.30504280237408943,
      0.29050425640002175,
      0.2137633928543908,
      0.21013011300009599
    ],
    "a_ego": [
      1.1852020284016298,
      1.1852020284325546,
      0.9780116012036298,
      0.7479152660261966,
      0.5300111340756648,
      0.5080933026554774,
      0.4283937770353581,
      0.4380078885517974,
      0.3331433475745828,
      0.3331433472960525
    ],
    "yaw": [
      -2.820319441298213,
      -2.6947590892787594,
      -2.5855141277339553,
      -2.498487753159229,
      -2.4395026038814795,
      -2.404625674215315,
      -2.372090121591338,
      -2.3461117935258082,
      -2.3243804298146165,
      -2.3102442975906907
    ],
    "yaw_diff": [
      0.2511207040389074,
      0.21848992308960824,
      0.17405274914945235,
      0.11797029855549912,
      0.06975385933232925,
      0.06507110524795401,
      0.051956656131059376,
      0.04346272742238355,
      0.02827226444785147,
      0.02827226444785147
    ],
    "min_front_frame": [
      9,
      65.30964262933293
    ],
    "v_avg": 5.255492058414559,
    "v_std": 0.4553837665260411,
    "vy_max": 0.06699124045952987,
    "a_max": 1.1852020284325546,
    "ax_avg": 0.3067176794704898,
    "a_std": 0.3188494138440744,
    "ini_direction_judge": "left",
    "scenario_type": "lane_change",
    "scene_token": "93ec10a2fdc35c9a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.771927665892836,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      76.65686768707091,
      73.93744074378031,
      71.12747845725802,
      68.23270973823568,
      65.30964262933293
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 12,
    "token": "93ec10a2fdc35c9a",
    "smoothness": "No"
  },
  "a04f86a92daf50ba": {
    "vx_ego": [
      -0.24790217778512685,
      0.5153156133314211,
      1.3936896534987222,
      2.3563565699822866,
      3.283200416463683,
      4.146134142503732,
      4.893338711878448,
      5.426525751424199,
      5.759213733847805,
      6.118169159855748
    ],
    "vy_ego": [
      0.00014804675246195276,
      -0.018889207260754437,
      -0.03255408949868843,
      -0.029519378766821314,
      -0.011411097499182787,
      -0.010754858536020984,
      -0.010299283644750327,
      -0.05201323633164634,
      -0.06110766731100048,
      -0.12457975108565078
    ],
    "v_ego": [
      0.24790222199175535,
      0.5156616948097642,
      1.3940698042108497,
      2.3565414655001224,
      3.283220246619687,
      4.146148091254977,
      4.893349550605579,
      5.426775019071977,
      5.759537913682431,
      6.119437391050795
    ],
    "ax_ego": [
      1.52641958243949,
      1.5264356775109882,
      1.9876616696375635,
      1.8684341931684918,
      1.850885986056529,
      1.6355288761538558,
      1.4035050269492328,
      0.7816149207149279,
      0.5851021788157217,
      0.9030086260105101
    ],
    "ay_ego": [
      -0.038508621208700244,
      -0.037865663623975254,
      0.0008483410574537942,
      0.19625833139828902,
      0.4794982839668656,
      1.064361843354277,
      1.6530526406637347,
      1.9811309948654001,
      1.937325704298819,
      1.8111186783786657
    ],
    "a_ego": [
      1.526905254284673,
      1.5269052642715308,
      1.9876618506750428,
      1.8787133008643,
      1.9119878497803322,
      1.9513638405796108,
      2.168503952838711,
      2.129742215175483,
      2.023752812028144,
      2.0237528124307755
    ],
    "yaw": [
      -1.9011796866248432,
      -1.9016009015163093,
      -1.8966830837191813,
      -1.8722167095891777,
      -1.818780680202382,
      -1.715891497522578,
      -1.5669179142217138,
      -1.385985103262556,
      -1.210430208130262,
      -1.0412146773661421
    ],
    "yaw_diff": [
      -0.0008424297829323635,
      0.009835635594256154,
      0.04893274826000704,
      0.1068720587735914,
      0.20577836535960792,
      0.2979471666017286,
      0.3618656219183154,
      0.3511097902645881,
      0.33843106152823976,
      0.33843106152823976
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.414264339879794,
    "v_std": 2.079343599399834,
    "vy_max": 0.12457975108565078,
    "a_max": 2.168503952838711,
    "ax_avg": 1.4068596737457313,
    "a_std": 0.21051196024944577,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "a04f86a92daf50ba",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "a04f86a92daf50ba",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "2f6263adaf4f54c5": {
    "vx_ego": [
      -0.23353446915139583,
      0.4958807311636775,
      1.3905167753741507,
      2.4012091725131057,
      3.315824794346826,
      4.167785920543654,
      4.97798891605665,
      5.7225515957216535,
      6.39067254447705,
      7.0256158724162505
    ],
    "vy_ego": [
      0.0050089336555907416,
      -0.006705102040959449,
      0.0011440613757879858,
      0.0077959177300549465,
      0.007274591611632464,
      -0.02626082028091803,
      -0.052558477218833,
      -0.039790349682021886,
      -0.01520227058196566,
      0.005959080967545383
    ],
    "v_ego": [
      0.23358817970563142,
      0.49592606095344804,
      1.390517246017955,
      2.401221827839804,
      3.315832774204436,
      4.167868653180393,
      4.978266369119919,
      5.722689930235978,
      6.39069062619711,
      7.025618399642349
    ],
    "ax_ego": [
      1.4588397329295348,
      1.4588231201250408,
      2.1201734793412816,
      1.9244032426727313,
      1.7373310385984495,
      1.6737110169623222,
      1.5659461660051048,
      1.4117516094468217,
      1.2608618583942839,
      1.2773779977813557
    ],
    "ay_ego": [
      -0.02271905503702809,
      -0.023761970976651392,
      0.07989686035803956,
      0.21799412882408054,
      0.3999372508207651,
      0.4240993688821241,
      0.033541109503601035,
      -0.2455786043547987,
      -0.47326165152871746,
      -0.42667865413420125
    ],
    "a_ego": [
      1.4590166283616142,
      1.4590166301574683,
      2.121678366481873,
      1.9367109440004446,
      1.782770019456138,
      1.7266061632541647,
      1.5663053344903157,
      1.4329520081609648,
      1.3467550693281896,
      1.346755071685152
    ],
    "yaw": [
      2.821546634596704,
      2.8222615316778783,
      2.8294484145616683,
      2.86476197481085,
      2.918534403822531,
      2.9823953666203464,
      3.01307259161806,
      3.0008226359271983,
      2.967199098954918,
      2.930498252844738
    ],
    "yaw_diff": [
      0.0014297941623482302,
      0.014373765767579982,
      0.07062712049836328,
      0.10754485802336244,
      0.12772192559563056,
      0.061354449995427274,
      -0.02449991138172347,
      -0.06724707394456075,
      -0.07340169222035975,
      -0.07340169222035975
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.6122220067097026,
    "v_std": 2.315531581934555,
    "vy_max": 0.052558477218833,
    "a_max": 2.121678366481873,
    "ax_avg": 1.5889219262256926,
    "a_std": 0.25076422407298565,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "2f6263adaf4f54c5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "2f6263adaf4f54c5",
    "maneuvering": "Yes"
  },
  "955098957a615194": {
    "vx_ego": [
      1.1802417527322484,
      1.27372270674284,
      1.389609864487244,
      1.4853962185542715,
      1.5654106062440767,
      1.6460341979899902,
      1.69863923810983,
      1.755988580979981,
      1.852212851732797,
      1.9806745157796204
    ],
    "vy_ego": [
      -0.015770591034918235,
      0.0014511019385124446,
      0.019569757052359527,
      0.01699690410505139,
      -0.0011098169420126203,
      -0.001149396142738679,
      -0.0010162102514446048,
      -0.013873833075290776,
      -0.01682032264064104,
      -0.006423953196284082
    ],
    "v_ego": [
      1.1803471126893479,
      1.2737235333341153,
      1.3897476572642047,
      1.4854934603842878,
      1.5654109996531558,
      1.6460345992912917,
      1.6986395420834932,
      1.7560433877829693,
      1.8522892245483358,
      1.9806849332070717
    ],
    "ax_ego": [
      0.18696332808721933,
      0.186939945708669,
      0.276606322217152,
      0.10654146415188759,
      0.21351088628292497,
      0.1089865557100761,
      0.10143775365751909,
      0.12795485755650882,
      0.2569045319701791,
      0.25688474900106467
    ],
    "ay_ego": [
      0.0326217331380583,
      0.03275541908949214,
      0.040042319910433916,
      -0.05045141618329553,
      -0.020085473098299764,
      0.020729982761273837,
      -0.021842496165007545,
      -0.030883287158236856,
      0.015919235658314518,
      0.016235283291446342
    ],
    "a_ego": [
      0.18978794356433687,
      0.18978793634287816,
      0.2794896149668328,
      0.11788311574830401,
      0.214453549261612,
      0.11094053141583661,
      0.10376277032636463,
      0.13162911151415016,
      0.25739728166933257,
      0.2573972779438305
    ],
    "yaw": [
      1.1334459828925079,
      1.1327308934743359,
      1.132792069412525,
      1.1327719015421307,
      1.1330843945757043,
      1.133208380882036,
      1.1329625685581624,
      1.1327747365827778,
      1.1323303683089883,
      1.1311001015118385
    ],
    "yaw_diff": [
      -0.0014301788363439982,
      0.0001223518763784348,
      -4.033574078876612e-05,
      0.0006249860671472263,
      0.00024797261266318316,
      -0.000491624647747102,
      -0.00037566395076904513,
      -0.0008887365475791498,
      -0.002460533594299541,
      -0.002460533594299541
    ],
    "min_front_frame": [
      0,
      14.537116126506268
    ],
    "v_avg": 1.5828414450238273,
    "v_std": 0.24143410411213598,
    "vy_max": 0.019569757052359527,
    "a_max": 0.2794896149668328,
    "ax_avg": 0.18227303943432005,
    "a_std": 0.06305645129220479,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "955098957a615194",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.002033275159186,
    "right_rear_min": 17.80822955906959,
    "speed_mode": "quasi_constant",
    "front_frame": [
      14.537116126506268,
      15.026627082705243,
      15.543844777677183,
      16.149342265017818,
      17.115565412518077,
      18.34783845669869,
      19.87386467490647,
      21.714824749468693,
      23.904009328810073,
      23.143168581386913
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "955098957a615194",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "94e4d365aeec5cec": {
    "vx_ego": [
      7.161546009507628,
      7.269127088051373,
      7.728562067853491,
      8.229098316906196,
      8.71767376756699,
      9.342805228025282,
      9.8021667196699,
      10.058110648751896,
      10.127261886842833,
      10.131515909170558
    ],
    "vy_ego": [
      -0.0314849556257204,
      -0.02850484803546216,
      -0.05200597783675365,
      -0.09405805855373117,
      -0.09249458627985963,
      -0.04967600848253362,
      -0.015630323641672383,
      0.010258174467742798,
      0.01616111299603773,
      0.020660781071092593
    ],
    "v_ego": [
      7.161615219259227,
      7.26918297669028,
      7.728737041612594,
      8.229635838096803,
      8.718164437897276,
      9.342937291592795,
      9.802179181550462,
      10.058115879859393,
      10.127274781809405,
      10.131536975486522
    ],
    "ax_ego": [
      0.06673007348706833,
      0.37884666133332695,
      1.4494277111248417,
      0.5444854075662131,
      1.4202311566137809,
      1.0845766834066504,
      0.7544947923355712,
      0.26828959819541176,
      0.008194761586776254,
      0.008535260957802937
    ],
    "ay_ego": [
      2.135915756173561,
      2.1031082310929805,
      1.635549744318997,
      0.8505259002498894,
      0.5901366769556067,
      0.4006684982607785,
      0.3446740180859432,
      0.06044770972833538,
      0.0876909297464882,
      0.08765843565516668
    ],
    "a_ego": [
      2.1369578891915637,
      2.136957890201502,
      2.185374946300642,
      1.0098805206797634,
      1.5379589837524028,
      1.156218762902556,
      0.8294953709364542,
      0.2750149707038811,
      0.08807299970630973,
      0.08807299257507259
    ],
    "yaw": [
      1.7407433456803205,
      1.8877368035583375,
      2.0176505529610202,
      2.0996085079308857,
      2.1424768453630927,
      2.1650594703053283,
      2.18089999228067,
      2.1884460057288058,
      2.1915206807877343,
      2.195404211076818
    ],
    "yaw_diff": [
      0.293986915756034,
      0.2598274988053655,
      0.16391590993973093,
      0.08573667486441394,
      0.04516524988447124,
      0.03168104395068383,
      0.015092026896271094,
      0.006149350117857111,
      0.007767060578167673,
      0.007767060578167673
    ],
    "min_front_frame": [
      3,
      17.314339298512845
    ],
    "v_avg": 8.856937962385476,
    "v_std": 1.1354096811564325,
    "vy_max": 0.09405805855373117,
    "a_max": 2.185374946300642,
    "ax_avg": 0.5983812106607445,
    "a_std": 0.7945906963664026,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "94e4d365aeec5cec",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.726440606383777,
    "right_rear_min": 12.222055805535481,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      21.40967459028041,
      17.314339298512845,
      23.542563541164956,
      24.52993993864439,
      24.734772109125135,
      26.352016397378183,
      26.975604419977035,
      27.67140406680621
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      0,
      1,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.375,
    "unsafe_ratio": 0.625,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "94e4d365aeec5cec",
    "pedestrians": "No"
  },
  "1d3dfbbe8a0a54f6": {
    "vx_ego": [
      6.836562031781605,
      7.224591741723305,
      7.57723677012596,
      7.861134772632967,
      8.009711613542189,
      8.012891898301636,
      8.01990108615937,
      8.044835218779525,
      8.083844582679703,
      8.163932173921514
    ],
    "vy_ego": [
      0.0436201619526817,
      0.07254707773896074,
      0.04094213921911827,
      -0.0461362460502448,
      -0.06711680339463033,
      -0.04878612708787866,
      -0.02479098533124624,
      -0.04842026743402972,
      -0.034317077820005704,
      -0.04186322722278213
    ],
    "v_ego": [
      6.836701187921452,
      7.224955980008809,
      7.577347380799743,
      7.861270156068851,
      8.009992808823895,
      8.013040412980844,
      8.019939402809346,
      8.044980933452472,
      8.083917422806227,
      8.164039506897574
    ],
    "ax_ego": [
      0.7731586839676238,
      0.7760264986903326,
      0.6300478446570362,
      0.5039776431801817,
      0.09082534521897084,
      -0.07689519901447717,
      0.10494671446928107,
      -0.003947815011887006,
      0.16034616699527926,
      0.1604324108623698
    ],
    "ay_ego": [
      0.23659648525823238,
      0.22701348023744736,
      0.15566315433248265,
      -0.11312283036887372,
      0.07833991810618196,
      0.14225330472449688,
      -0.037994287660525886,
      0.12265528585162062,
      0.030865767655984186,
      0.03041431826655276
    ],
    "a_ego": [
      0.8085494712329586,
      0.8085494708916051,
      0.6489925301370696,
      0.5165174145913335,
      0.11994326201595705,
      0.16170613574171083,
      0.11161262819559263,
      0.12271880210754524,
      0.16328989216443002,
      0.16328989316773834
    ],
    "yaw": [
      2.556505077168154,
      2.56887659340141,
      2.586030953970039,
      2.5986635157137976,
      2.60020160516273,
      2.6047853126912646,
      2.6050442190558494,
      2.6106115226151156,
      2.6136296286275456,
      2.616444313630806
    ],
    "yaw_diff": [
      0.024743032466512105,
      0.03430872113725769,
      0.025265123487517194,
      0.003076178897864601,
      0.009167415057069306,
      0.00051781272916962,
      0.011134607118532536,
      0.006036212024859822,
      0.005629370006521306,
      0.005629370006521306
    ],
    "min_front_frame": [
      0,
      41.0826143249848
    ],
    "v_avg": 7.783618519256922,
    "v_std": 0.41476149526769956,
    "vy_max": 0.07254707773896074,
    "a_max": 0.8085494712329586,
    "ax_avg": 0.3118918294014711,
    "a_std": 0.2833161430637986,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1d3dfbbe8a0a54f6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 24.535394924484653,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      41.0826143249848,
      42.86155934010977,
      44.56488428722601,
      46.0559277498436,
      47.37460716641214,
      48.712682614430605,
      50.043236207724,
      51.329222532246604,
      52.55273083957429,
      53.56114232026383
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1d3dfbbe8a0a54f6",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "3efebf87894a552e": {
    "vx_ego": [
      -0.08424086079161208,
      0.5371642637371226,
      1.2093717541656674,
      1.911271556088027,
      2.5525720121768005,
      3.1295460529982275,
      3.6461173957893935,
      4.121265002768342,
      4.597553956818133,
      5.081023076118236
    ],
    "vy_ego": [
      -0.0006937406398169615,
      -0.00507776999348894,
      -0.016792233532207046,
      -0.02522176049522018,
      -0.0020751242326468855,
      0.02049635192522503,
      0.002582966718720492,
      -0.013594772137845768,
      -0.015733224936506307,
      -0.009276759925087585
    ],
    "v_ego": [
      0.08424371729088823,
      0.5371882630738983,
      1.209488329369384,
      1.9114379661170346,
      2.55257285566718,
      3.129613170709605,
      3.6461183106963357,
      4.121287425171001,
      4.597580876963555,
      5.081031544708292
    ],
    "ax_ego": [
      1.2428103432371018,
      1.2428102694267185,
      1.446017827998611,
      1.3614894993926532,
      1.2036345438238847,
      1.1043250352530742,
      0.9617694208923717,
      0.9391481863179132,
      0.9667422442158429,
      0.9675160527379025
    ],
    "ay_ego": [
      -0.008758747320708804,
      -0.008769535165792264,
      -0.038307011522538015,
      -0.0010348805622556467,
      0.08649841890544185,
      -0.0049767630734850465,
      -0.016661492535955447,
      0.04667785401598595,
      0.09725045167757529,
      0.08922391380261702
    ],
    "a_ego": [
      1.2428412066357273,
      1.2428412088998082,
      1.44652514185603,
      1.3614898927036645,
      1.2067386177458945,
      1.1043362493631155,
      0.9619137301739558,
      0.9403074698840606,
      0.9716214371363863,
      0.9716214381639532
    ],
    "yaw": [
      -0.6007555460922647,
      -0.6007468698070587,
      -0.600811350352916,
      -0.6017063499120063,
      -0.6024972121793859,
      -0.6032650692335686,
      -0.5995935804300667,
      -0.5935002716117497,
      -0.5847489775364232,
      -0.5764496796984374
    ],
    "yaw_diff": [
      1.7352570411910406e-05,
      -0.00012896109171456338,
      -0.001789999118180674,
      -0.0015817245347591324,
      -0.0015357141083653936,
      0.007342977607003753,
      0.01218661763663409,
      0.017502588150652976,
      0.01659859567597155,
      0.01659859567597155
    ],
    "min_front_frame": [
      9,
      19.004880302102134
    ],
    "v_avg": 2.6870562459767173,
    "v_std": 1.6356448177227896,
    "vy_max": 0.02522176049522018,
    "a_max": 1.44652514185603,
    "ax_avg": 1.1436263423296074,
    "a_std": 0.1726082693520244,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "3efebf87894a552e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      31.304521476164464,
      31.08591603737294,
      30.554017671996128,
      29.692108365177088,
      28.575676934110373,
      27.19254933356279,
      25.455868747947772,
      23.54390656872741,
      21.35767479416483,
      19.004880302102134
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "3efebf87894a552e",
    "pedestrians": "No"
  },
  "61046515c9885bf5": {
    "vx_ego": [
      5.150207178282565,
      4.7886980324888135,
      4.451171082554948,
      4.144226528148987,
      3.826105950793081,
      3.5164617280214463,
      3.191954461906125,
      2.800141595714512,
      2.425119044924009,
      2.0932203385330355
    ],
    "vy_ego": [
      -0.0062544036569107675,
      -0.0019558960863592656,
      -0.00033612338930311125,
      0.0016788805191345624,
      0.006526168714304559,
      -0.007582173496752942,
      -0.013875443287533984,
      0.012440591271914103,
      0.0012568061319042645,
      -0.045667452056881164
    ],
    "v_ego": [
      5.150210975950244,
      4.788698431921949,
      4.45117109524587,
      4.144226868217232,
      3.826111516614788,
      3.516469902330249,
      3.191984620077115,
      2.8001692313790265,
      2.425119370590815,
      2.09371843900409
    ],
    "ax_ego": [
      -0.7230271033389007,
      -0.7230256675193492,
      -0.6270807921405515,
      -0.6007012516472029,
      -0.6717762453503229,
      -0.5668445987100705,
      -0.730972887212485,
      -0.8362524397891784,
      -0.6636820405985895,
      -0.6637965756334187
    ],
    "ay_ego": [
      -0.0010600973354997767,
      -0.001789147462318591,
      -0.013251202151530445,
      -0.002313969271601185,
      0.012949702930421053,
      -0.045785101330958006,
      0.05176156419813535,
      0.02440191841181022,
      -0.08839749721656476,
      -0.08753327510875855
    ],
    "a_ego": [
      0.7230278804921718,
      0.7230278811639579,
      0.6272207858721538,
      0.6007057084665552,
      0.6719010482377322,
      0.5686906668749426,
      0.7328032623890222,
      0.8366083890779067,
      0.6695431043086474,
      0.6695431039701017
    ],
    "yaw": [
      -0.32753294046293235,
      -0.3285412636314189,
      -0.3297087819259411,
      -0.33108412888245475,
      -0.33163203126734236,
      -0.3300193398012613,
      -0.3277117776833506,
      -0.33012940935000323,
      -0.33198776312057776,
      -0.3306857165611264
    ],
    "yaw_diff": [
      -0.0020166463369730714,
      -0.002335036589044437,
      -0.002750693913027291,
      -0.0010958047697752216,
      0.003225382932162124,
      0.004615124235821444,
      -0.004835263333305306,
      -0.0037167075411490558,
      0.0026040931189027505,
      0.0026040931189027505
    ],
    "min_front_frame": [
      9,
      15.198153090003721
    ],
    "v_avg": 3.6387880451331385,
    "v_std": 0.9661949163204899,
    "vy_max": 0.045667452056881164,
    "a_max": 0.8366083890779067,
    "ax_avg": -0.6807159601940069,
    "a_std": 0.07260249464304502,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "61046515c9885bf5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 33.33675904604508,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.232693570426214,
      20.750479820265163,
      25.090389541694464,
      22.893264248190096,
      20.939167090835674,
      20.372237642394943,
      18.95955767899727,
      17.551403877067067,
      16.290726326240634,
      15.198153090003721
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "61046515c9885bf5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "06fbdeb141965cca": {
    "vx_ego": [
      6.573924880140826,
      6.02751118427876,
      5.461340407709907,
      4.980339255349582,
      4.690306684954669,
      4.513519420111048,
      4.386886028753337,
      4.339700757360527,
      4.502045446352063,
      4.931453162271088
    ],
    "vy_ego": [
      0.009769107730840165,
      -0.041942785693941165,
      -0.04507617892478111,
      -0.019996065767344362,
      -0.013326738768774327,
      -0.0036527079259700557,
      -0.0016548051010405462,
      0.0014885581534573866,
      -0.01978154458825193,
      0.07497880674838309
    ],
    "v_ego": [
      6.5739321387736,
      6.027657113164062,
      5.461526426814345,
      4.9803793972971775,
      4.690325617789949,
      4.5135208981453445,
      4.386886340863089,
      4.339701012655239,
      4.5020889052222905,
      4.932023125770491
    ],
    "ax_ego": [
      -1.0935970239599204,
      -1.0924421588304838,
      -1.1724093120103818,
      -0.7473771649148857,
      -0.41405278106554966,
      -0.28707852752807533,
      -0.20097082971520364,
      0.013251593201584644,
      0.6697363910294041,
      1.051902781964407
    ],
    "ay_ego": [
      -0.1795131450763967,
      -0.18641232516773903,
      -0.5233727614398638,
      -0.898242862746694,
      -1.0057183605576372,
      -1.1731945471493945,
      -1.4444502864294213,
      -1.4572796046368537,
      -1.888252777965269,
      -1.7051527614589697
    ],
    "a_ego": [
      1.1082325658765015,
      1.1082325682656375,
      1.2839247027399407,
      1.1685088220084556,
      1.0876162587378222,
      1.2078077357049675,
      1.4583641192659857,
      1.4573398542594398,
      2.0035082697514994,
      2.0035082736578875
    ],
    "yaw": [
      2.4645816791017916,
      2.458269659251237,
      2.427979985672876,
      2.3543860301120567,
      2.2537838282579115,
      2.1330416616738326,
      1.9854515935218373,
      1.8178356266786324,
      1.6305197974824068,
      1.41861206378884
    ],
    "yaw_diff": [
      -0.012624039701108813,
      -0.06057934715672264,
      -0.14718791112163832,
      -0.2012044037082905,
      -0.24148433316815776,
      -0.29518013630399054,
      -0.3352319336864098,
      -0.37463165839245116,
      -0.4238154673871337,
      -0.4238154673871337
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.040804097649559,
    "v_std": 0.7160365180303049,
    "vy_max": 0.07497880674838309,
    "a_max": 2.0035082736578875,
    "ax_avg": -0.3273037031829105,
    "a_std": 0.33252102956286234,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "06fbdeb141965cca",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.17869040323227,
    "right_rear_min": 20.99114373169446,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "06fbdeb141965cca",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "9ecb516bac035ce4": {
    "vx_ego": [
      6.8221520960499324,
      6.277732066087364,
      5.717194209848501,
      5.13414917979883,
      4.590890668144957,
      4.091631738268987,
      3.604253856667948,
      4.271480236297088,
      3.377508831062526,
      -0.21848573121020365
    ],
    "vy_ego": [
      -0.011116112421495766,
      -0.016626554414337635,
      -0.022465231938588126,
      -0.016395254442061802,
      0.005282107594612687,
      0.029264278268501615,
      0.01783869079652771,
      -0.024602869076581976,
      -0.05229725321564126,
      -0.06216012389237066
    ],
    "v_ego": [
      6.822161152420387,
      6.277754083738325,
      5.717238347294197,
      5.134175357815237,
      4.590893706841958,
      4.09173638930866,
      3.6042980013027655,
      4.271551089504072,
      3.3779136914076493,
      0.2271561043528706
    ],
    "ax_ego": [
      -1.0888005991869294,
      -1.0886785815184097,
      -1.1534310765552667,
      -1.1790588747128237,
      -0.9941493173158297,
      -1.0026696551143157,
      -0.9470842357809455,
      3.615945972685207,
      -7.191947178318509,
      -7.191953474191228
    ],
    "ay_ego": [
      0.03294226436231973,
      0.03675449794595492,
      -0.03607741414775264,
      -0.01654075722201194,
      0.01954610178009219,
      0.02122158405551646,
      -0.03669176201362094,
      -0.1031463203572082,
      -0.019873039214441307,
      -0.01744858614471398
    ],
    "a_ego": [
      1.0892988284080423,
      1.0892988327250681,
      1.1539951595110916,
      1.1791748923245218,
      0.9943414480018059,
      1.0028942082377814,
      0.9477947220070608,
      3.617416818778505,
      7.191974635203546,
      7.191974640395343
    ],
    "yaw": [
      1.5965623207220783,
      1.6000638267590959,
      1.601064224696608,
      1.5975230673518546,
      1.5931989843544136,
      1.5900232122605622,
      1.5919909420845575,
      1.5942127865579376,
      1.593621448946452,
      1.5939585557720894
    ],
    "yaw_diff": [
      0.0070030120740351975,
      0.0020007958750243304,
      -0.00708231468950693,
      -0.008648165994881829,
      -0.0063515441877028955,
      0.00393545964799058,
      0.0044436889467602825,
      -0.00118267522297133,
      0.0006742136512749575,
      0.0006742136512749575
    ],
    "min_front_frame": [
      9,
      10.863440934308676
    ],
    "v_avg": 4.411487792398612,
    "v_std": 1.7579542066598919,
    "vy_max": 0.06216012389237066,
    "a_max": 7.191974640395343,
    "ax_avg": -1.8221827020009052,
    "a_std": 2.443583825753257,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9ecb516bac035ce4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 24.203852286681283,
    "speed_mode": "decelerating",
    "front_frame": [
      31.379782301538665,
      28.12483426991664,
      25.12205469569116,
      22.427761896904947,
      20.032069854452455,
      17.849860413749724,
      15.914694511533794,
      14.224530290877016,
      11.64281502264892,
      10.863440934308676
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9ecb516bac035ce4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9d21f2742b1a5b27": {
    "vx_ego": [
      3.781306725519908,
      3.6713573139070563,
      3.57188383834967,
      3.447612374499579,
      3.218872994383184,
      2.8928743497611515,
      2.508956953187183,
      1.9846756044598446,
      1.3693834560223463,
      0.7707597895097391
    ],
    "vy_ego": [
      0.021802079286751264,
      0.016717554302689397,
      0.013595832515211459,
      -0.002907000205432997,
      0.025356035312998015,
      0.04198250557049499,
      0.019748643331426896,
      -0.01354321983375284,
      -0.019927558756463126,
      -0.008230175897929404
    ],
    "v_ego": [
      3.7813695776958003,
      3.6713953754670303,
      3.571909713490159,
      3.4476136000794546,
      3.2189728614103226,
      2.8931789668598076,
      2.5090346753003923,
      1.984721812683459,
      1.369528443379581,
      0.7708037291816953
    ],
    "ax_ego": [
      -0.21989534288164025,
      -0.21919994645270946,
      -0.17799952887501824,
      -0.31746656110381294,
      -0.5973250145885601,
      -0.6997552734830785,
      -0.8328306856722528,
      -1.2648783980071072,
      -1.1973426890406542,
      -1.1974054963661733
    ],
    "ay_ego": [
      -0.07626512774900128,
      -0.07824140681013325,
      -0.08781536797428992,
      -0.22801543803462349,
      -0.14737443797773658,
      -0.24662219605982827,
      -0.19161954994108582,
      -0.09822892579176024,
      0.016086839559232957,
      0.010410237156503244
    ],
    "a_ego": [
      0.23274520732252602,
      0.23274521319352512,
      0.19848267212073803,
      0.39086577926598054,
      0.6152368633481557,
      0.7419433606123519,
      0.8545905469386723,
      1.2686868343319517,
      1.19745075114015,
      1.1974507487849246
    ],
    "yaw": [
      1.0928478580899939,
      1.0838463351194836,
      1.0732304291336736,
      1.0555241565474505,
      1.0192744605829258,
      0.9817624936753104,
      0.9496309572419952,
      0.932606909593793,
      0.9241260268375526,
      0.9193851585682711
    ],
    "yaw_diff": [
      -0.018003045941020535,
      -0.02123181197161994,
      -0.0354125451724463,
      -0.0724993919290493,
      -0.07502393381523076,
      -0.06426307286663047,
      -0.0340480952964044,
      -0.016961765512480742,
      -0.009481736538563101,
      -0.009481736538563101
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.72185287555477,
    "v_std": 0.9886374815759301,
    "vy_max": 0.04198250557049499,
    "a_max": 1.2686868343319517,
    "ax_avg": -0.6724098936471007,
    "a_std": 0.40427860768056295,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9d21f2742b1a5b27",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.857792485022177,
    "right_rear_min": 9.262975358602995,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9d21f2742b1a5b27",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5cf3fc5bbafd57bf": {
    "vx_ego": [
      4.737939586513932,
      4.845247635133713,
      4.954779878741643,
      5.044138564390777,
      5.1240146854405895,
      5.1887426962412695,
      5.2012145663734595,
      5.164158416364332,
      5.1324102018937605,
      5.128549988437934
    ],
    "vy_ego": [
      -0.0272307811546173,
      -0.018932495742121302,
      -0.016472431888125083,
      -0.00254969861472909,
      -0.004832540063568924,
      -0.001394240109583611,
      -0.010133899531350493,
      -0.004578651643840526,
      -0.010996144485015846,
      -0.030062521639578454
    ],
    "v_ego": [
      4.7380178388117224,
      4.845284623751619,
      4.954807260408356,
      5.044139208798392,
      5.12401696426293,
      5.188742883560777,
      5.201224438665877,
      5.164160446128435,
      5.132421981452488,
      5.128638097888567
    ],
    "ax_ego": [
      0.18520212160858146,
      0.25086673509289964,
      0.1969206509125872,
      0.1626962584881797,
      0.16145178089228865,
      0.1049147187399309,
      -0.0608956367642875,
      -0.08251856424040155,
      -0.04415597626618603,
      0.036158103678533726
    ],
    "ay_ego": [
      0.8098691733914531,
      0.7919935498783003,
      0.8786550632164696,
      0.8546357392398527,
      0.9303773361095994,
      1.0611619164375539,
      0.8918786134466723,
      0.9431086243542076,
      0.8878639129379007,
      0.888225576731793
    ],
    "a_ego": [
      0.8307754834238161,
      0.8307754822002168,
      0.9004512551336552,
      0.8699840914132293,
      0.944282089790803,
      1.0663356465511695,
      0.8939551105623182,
      0.9467117780906622,
      0.888961235452604,
      0.8889612385375157
    ],
    "yaw": [
      -2.081405020583686,
      -1.9994655767195693,
      -1.914897580749726,
      -1.8311292558277052,
      -1.7429653950793345,
      -1.647279448447752,
      -1.5520623593867002,
      -1.4647201385483872,
      -1.374538937444577,
      -1.2841612712016617
    ],
    "yaw_diff": [
      0.16387888772823356,
      0.16913599193968665,
      0.16753664984404137,
      0.17632772149674159,
      0.19137189326316495,
      0.1904341781221035,
      0.174684441676626,
      0.18036240220762068,
      0.18075533248583042,
      0.18075533248583042
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.052145374372916,
    "v_std": 0.14896244658245067,
    "vy_max": 0.030062521639578454,
    "a_max": 1.0663356465511695,
    "ax_avg": 0.09106401921421262,
    "a_std": 0.06496264532045562,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "5cf3fc5bbafd57bf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "5cf3fc5bbafd57bf",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "78a8c3b8447d5489": {
    "vx_ego": [
      1.4260584472816482,
      1.932534370831125,
      2.4409282583076655,
      2.9546579686326844,
      3.452002892063174,
      3.90418955986494,
      4.28870225114877,
      4.66243217908253,
      5.02069823077941,
      5.3305452049382165
    ],
    "vy_ego": [
      -0.024353892067334515,
      0.003435160500412038,
      -0.0022350397190973315,
      0.013266607159110322,
      0.018756777960510895,
      0.01065979816269813,
      0.0204267697113254,
      0.04675148183568911,
      0.04821527388045421,
      0.0813217655578149
    ],
    "v_ego": [
      1.4262663871528953,
      1.932537423899293,
      2.440929281566232,
      2.9546877524486637,
      3.4520538500336255,
      3.9042041123198543,
      4.288750896465003,
      4.662666568134387,
      5.020929738324055,
      5.331165483404473
    ],
    "ax_ego": [
      1.0107470926543065,
      1.0159770372415904,
      1.0164281193216929,
      1.0387791760718,
      0.9527978966013331,
      0.856461877790546,
      0.6830977171969025,
      0.8134564439136652,
      0.6208756303934574,
      0.6215592316697456
    ],
    "ay_ego": [
      0.17941898164492692,
      0.14694052458862267,
      0.06416382958103517,
      -0.04320704765122296,
      -0.1628750054755968,
      -0.10857083982487603,
      -0.15079058892335218,
      -0.06415148018568095,
      -0.06099885961369467,
      -0.05358668992205179
    ],
    "a_ego": [
      1.026548029214238,
      1.0265480300349221,
      1.018451333532603,
      1.0396773661127487,
      0.9666189006928223,
      0.8633160344675563,
      0.6995429171591052,
      0.815982106761343,
      0.6238648966648503,
      0.6238648986845522
    ],
    "yaw": [
      -0.5530263386530885,
      -0.5209788849234824,
      -0.4942520898780595,
      -0.4980600446172895,
      -0.5157973813900621,
      -0.5319927563259371,
      -0.5501091178522577,
      -0.5680622882505753,
      -0.5747934202470607,
      -0.5867249662288576
    ],
    "yaw_diff": [
      0.06409490745921209,
      0.053453590090845826,
      -0.007615909478459915,
      -0.03547467354554534,
      -0.032390749871749946,
      -0.036232723052641136,
      -0.03590634079663513,
      -0.013462263992970902,
      -0.02386309196359382,
      -0.02386309196359382
    ],
    "min_front_frame": [
      0,
      18.760639127157088
    ],
    "v_avg": 3.5414191493748484,
    "v_std": 1.2635326041985286,
    "vy_max": 0.0813217655578149,
    "a_max": 1.0396773661127487,
    "ax_avg": 0.8630180222855041,
    "a_std": 0.16197507333065936,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "78a8c3b8447d5489",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 21.9636354350396,
    "right_rear_min": 22.510711074561286,
    "speed_mode": "accelerating",
    "front_frame": [
      18.760639127157088,
      48.24327159086272,
      -1,
      -1,
      53.352094578079594,
      51.61166013785891,
      49.481186615987035,
      37.96250853428264,
      35.68714276696908,
      33.19695904087889
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "78a8c3b8447d5489",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d767dfeed9965477": {
    "vx_ego": [
      1.763379175103123,
      2.0066998173687627,
      2.2182595187579794,
      2.392508371691455,
      2.574184289349348,
      2.772853254329149,
      2.9855857867383486,
      3.205036091339856,
      3.450268756901396,
      3.7733881175810913
    ],
    "vy_ego": [
      -0.0557038290163302,
      -0.0367070882909582,
      -0.06439492677680944,
      -0.08448867661185885,
      -0.054695103412704116,
      -0.0018514562974033533,
      0.013544833063739992,
      -0.009097355269563234,
      -0.021623098133607854,
      0.008335241080265288
    ],
    "v_ego": [
      1.7642587768676259,
      2.0070355172140393,
      2.219193997638551,
      2.3939997170194736,
      2.5747652921907918,
      2.7728538724451695,
      2.9856165112882076,
      3.2050490025370846,
      3.4503365130408366,
      3.7733973236522598
    ],
    "ax_ego": [
      0.48360209581160657,
      0.5000875454743046,
      0.3772494352188921,
      0.379714757322659,
      0.41710454403583486,
      0.4082350114155594,
      0.43898501204240326,
      0.4340108924682215,
      0.5624180596449344,
      0.7269830600345288
    ],
    "ay_ego": [
      0.28396305369628483,
      0.2538078996225133,
      0.47782409636865353,
      0.7364606028409478,
      1.025870738906081,
      1.136056675707353,
      1.1443670017038499,
      1.1114336950392947,
      1.165032078427071,
      1.0700978684169122
    ],
    "a_ego": [
      0.5608083477783631,
      0.5608083478776921,
      0.6087963562994554,
      0.8285876637178822,
      1.1074235746086727,
      1.2071787750638692,
      1.2256768233863802,
      1.1931681831367118,
      1.2936822707213984,
      1.2936822707170361
    ],
    "yaw": [
      -1.8303333858397322,
      -1.7690422792266227,
      -1.6701510401917345,
      -1.5299670553421685,
      -1.364615294670018,
      -1.1827977792321938,
      -0.9904755137825667,
      -0.8015673757246118,
      -0.6263790794418738,
      -0.4793911137240072
    ],
    "yaw_diff": [
      0.12258221322621887,
      0.19778247806977634,
      0.28036796969913214,
      0.3307035213443008,
      0.36363503087564863,
      0.3846445308992541,
      0.37781627611590984,
      0.35037659256547604,
      0.2939759314357331,
      0.2939759314357331
    ],
    "min_front_frame": [
      9,
      58.97299984081606
    ],
    "v_avg": 2.714650652389404,
    "v_std": 0.6124789778016283,
    "vy_max": 0.08448867661185885,
    "a_max": 1.2936822707213984,
    "ax_avg": 0.4728390413468945,
    "a_std": 0.2969784488537408,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "d767dfeed9965477",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      58.97299984081606
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "d767dfeed9965477",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "6c8305cdaa0653ca": {
    "vx_ego": [
      0.04975593265557144,
      0.8779716673050277,
      1.7621075249261247,
      2.6883883785277645,
      3.563296479791903,
      4.368913789152042,
      5.06847872002858,
      5.657192972219135,
      6.1474343163311636,
      6.576104477715432
    ],
    "vy_ego": [
      0.0015508398659040967,
      -0.01535774215584551,
      -0.015691105012774265,
      -0.010131448486085937,
      -0.009334444022416344,
      -0.0007853455519417629,
      0.013315930481998972,
      0.012825060054147741,
      0.030812769409976237,
      0.016372069365570674
    ],
    "v_ego": [
      0.049780095808620514,
      0.8781059781339015,
      1.762177386127116,
      2.6884074691258335,
      3.563308706068361,
      4.368913859737966,
      5.068496211835138,
      5.657207509636796,
      6.147511537229086,
      6.576124857884334
    ],
    "ax_ego": [
      1.6564614828742417,
      1.6564284005428085,
      1.880375270893111,
      1.8248886407608287,
      1.675105519652084,
      1.5476173040567296,
      1.2504838509180118,
      1.1038851327610129,
      0.8569088892158582,
      0.8571916792504152
    ],
    "ay_ego": [
      -0.0320509543132842,
      -0.0337170698928958,
      0.04560088379604521,
      0.012420416468747808,
      0.06211131118451685,
      0.09008829967157994,
      0.09232995972652336,
      0.06500165621099835,
      0.04982098742504554,
      0.04469234409171974
    ],
    "a_ego": [
      1.6567715315994307,
      1.6567715252644128,
      1.880928121962485,
      1.8249309077121694,
      1.6762566381511927,
      1.5502371501010859,
      1.253887827068212,
      1.1057972696841731,
      0.8583559723128642,
      0.8583559754534009
    ],
    "yaw": [
      -2.1389823285902576,
      -2.1379764929761538,
      -2.135419065876529,
      -2.1314114858620905,
      -2.1257395164874726,
      -2.11833108768666,
      -2.1117069822699497,
      -2.1043064244405567,
      -2.1024999839491345,
      -2.0965159360117855
    ],
    "yaw_diff": [
      0.0020116712282076676,
      0.005114854199249841,
      0.0080151600288767,
      0.011343938749235782,
      0.014816857601624989,
      0.01324821083342087,
      0.014801115658785946,
      0.003612880982844402,
      0.011968095874697937,
      0.011968095874697937
    ],
    "min_front_frame": [
      0,
      9.989884553261284
    ],
    "v_avg": 3.6760033611587155,
    "v_std": 2.156197789312961,
    "vy_max": 0.030812769409976237,
    "a_max": 1.880928121962485,
    "ax_avg": 1.4309346170925101,
    "a_std": 0.36426412737458697,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "6c8305cdaa0653ca",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      9.989884553261284,
      11.380763730322636,
      12.776758688019328,
      14.043484053340444,
      15.350495304171712,
      16.596999037695564,
      17.681029129189884,
      18.910024509862453,
      20.008237453160884,
      21.092414245826
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6c8305cdaa0653ca",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "6916caadd44a5806": {
    "vx_ego": [
      6.871225802932312,
      7.136546427956377,
      7.512922525817849,
      7.970022023363285,
      8.346383654648772,
      8.59080858640721,
      8.782927212231089,
      8.92260026884388,
      8.921061261349841,
      8.860589075717717
    ],
    "vy_ego": [
      0.021944964967994363,
      0.01116983282083961,
      0.01645154808231286,
      0.04823740996282755,
      0.010393672223574235,
      -0.001995154460191273,
      0.01425212504343154,
      0.026673379689321042,
      0.02478780312928297,
      0.027734927396518838
    ],
    "v_ego": [
      6.87126084618902,
      7.136555169235517,
      7.512940538322898,
      7.970167997013345,
      8.346390126216871,
      8.590808818087455,
      8.78293877574116,
      8.922640137692259,
      8.921095698620254,
      8.86063248278168
    ],
    "ax_ego": [
      0.5268508152778708,
      0.5328825204676433,
      0.9734307747882099,
      0.850939063728975,
      0.6535743757966869,
      0.32462799725991803,
      0.4435400235930117,
      0.11462322003681943,
      -0.1210115615074428,
      -0.12098624445599918
    ],
    "ay_ego": [
      0.2857872963229626,
      0.27437634765387087,
      0.45160477192420656,
      0.05971934984481314,
      -0.010955139785907508,
      0.17952115220268805,
      0.14736196814661748,
      0.04242847279055143,
      0.024304879935235356,
      0.024430583219175107
    ],
    "a_ego": [
      0.5993714710415787,
      0.5993714714363924,
      1.073086363406734,
      0.8530320573846165,
      0.6536661837557131,
      0.37095981007808115,
      0.46737918458670585,
      0.12222380240750035,
      0.12342821884454065,
      0.12342821696838949
    ],
    "yaw": [
      2.5379292698475853,
      2.559463950138653,
      2.5837023313499015,
      2.5960842595442086,
      2.6021988147515014,
      2.60860680184546,
      2.6161567509676322,
      2.620094999947098,
      2.622169439984482,
      2.6232083475672034
    ],
    "yaw_diff": [
      0.04306936058213573,
      0.048476762422496655,
      0.024763856388614336,
      0.01222911041458552,
      0.012815974187916801,
      0.015099898244344878,
      0.007876497958931417,
      0.004148880074768435,
      0.002077815165442587,
      0.002077815165442587
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.191543058990046,
    "v_std": 0.7357460956066681,
    "vy_max": 0.04823740996282755,
    "a_max": 1.073086363406734,
    "ax_avg": 0.4178470984985694,
    "a_std": 0.30666683821468027,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6916caadd44a5806",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 47.97823164547579,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6916caadd44a5806",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "55644491cba35aad": {
    "vx_ego": [
      1.091153189642994,
      1.2970676125785336,
      1.516874391659121,
      1.84364050958327,
      2.290012334015899,
      2.798895162259475,
      3.341629751774288,
      3.8674917015271255,
      4.333229769259573,
      4.754746193968291
    ],
    "vy_ego": [
      -0.03641686831089785,
      0.014226719421421778,
      0.03442252006905764,
      0.02339475062813138,
      -0.0019355305858389169,
      -0.005740283597590615,
      0.02369105575833698,
      0.026120065719547406,
      0.006140174756322919,
      -0.03208601772678682
    ],
    "v_ego": [
      1.0917607208384321,
      1.2971456322039068,
      1.5172649175273027,
      1.8437889366555522,
      2.2900131519761175,
      2.7989010486573607,
      3.341713731615267,
      3.867579904696783,
      4.333234119562825,
      4.754854454301363
    ],
    "ax_ego": [
      0.4118241691530287,
      0.41184076247798945,
      0.4676536639849637,
      0.839456158854327,
      0.9461060628308,
      1.0893565167721977,
      1.0815301739307528,
      1.021301582365575,
      0.841734515444553,
      0.8453524352961537
    ],
    "ay_ego": [
      0.10171050995583777,
      0.10164332097919802,
      -0.030035816502418326,
      -0.016793735702372945,
      -0.09216228454679846,
      0.06972951505871201,
      0.06447017344687196,
      0.017567246225560256,
      0.15745276644236356,
      0.1367026883720756
    ],
    "a_ego": [
      0.424198272195985,
      0.42419827715130104,
      0.46861722088665103,
      0.8396241255450574,
      0.9505843301980539,
      1.0915859223645101,
      1.0834500082546283,
      1.0214526568972135,
      0.8563342619275665,
      0.8563342600114108
    ],
    "yaw": [
      -3.1168582818470973,
      -3.116695093816376,
      -3.1183336203064385,
      -3.11874960140078,
      -3.119679103260869,
      -3.1203929007289126,
      -3.1190518862640433,
      -3.114046389069279,
      -3.0985875943951777,
      -3.073990138406935
    ],
    "yaw_diff": [
      0.00032637606144270137,
      -0.003277052980124928,
      -0.0008319621886831996,
      -0.0018590037201775544,
      -0.0014275949360875728,
      0.002682028929738678,
      0.01001099438952835,
      0.030917589348202767,
      0.0491949119764854,
      0.0491949119764854
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.713625661803491,
    "v_std": 1.2460869764118283,
    "vy_max": 0.03641686831089785,
    "a_max": 1.0915859223645101,
    "ax_avg": 0.795615604111034,
    "a_std": 0.2524365143631977,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "55644491cba35aad",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.698613835257948,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "55644491cba35aad",
    "pedestrians": "No"
  },
  "a067e1b873c8534d": {
    "vx_ego": [
      -0.08829540525950733,
      0.05788138099438975,
      0.4507516428281231,
      1.2348985282358595,
      2.121567664704566,
      2.8323621503559924,
      3.3222847027937235,
      3.711451658994547,
      4.068099975217116,
      4.497463672220773
    ],
    "vy_ego": [
      -0.006787234673925065,
      0.000939471139235315,
      0.0018663536643251377,
      0.005470807412250589,
      0.011620779380181911,
      6.44893728951601e-05,
      -0.002280535809458195,
      0.002399911909498509,
      -0.018051854019535615,
      -0.13310083036261933
    ],
    "v_ego": [
      0.08855588712479574,
      0.05788900475771853,
      0.45075550666436914,
      1.2349106464731907,
      2.1215994905809596,
      2.8323621510901638,
      3.3222854855145663,
      3.7114524349142006,
      4.068140026817543,
      4.499432776916306
    ],
    "ax_ego": [
      0.2923535558730076,
      0.29235364382993045,
      1.2791225550567047,
      1.8575630694877427,
      1.6924998810052099,
      1.164085566988137,
      0.8392546278890358,
      0.7470303110747059,
      0.7066310179112165,
      1.0556692571261734
    ],
    "ay_ego": [
      0.015454048761572886,
      0.01545242984657183,
      -0.011612641985406902,
      0.046820928784357174,
      0.2717491865004231,
      0.6118429340461872,
      1.2006082994287464,
      1.511480789905837,
      1.7046125741605263,
      1.5134707923920907
    ],
    "a_ego": [
      0.2927617277833919,
      0.29276173016431134,
      1.2791752672361492,
      1.858153049804282,
      1.7141771984151146,
      1.3150844015546452,
      1.4648578835813222,
      1.6860096274691745,
      1.8452727233285646,
      1.8452727223544139
    ],
    "yaw": [
      0.8571021562255985,
      0.8571077003365655,
      0.8573601760050953,
      0.8641057511668978,
      0.9073587805129746,
      0.9987040979353334,
      1.1445222890161824,
      1.3347813733042764,
      1.5456808942367979,
      1.7617592840702834
    ],
    "yaw_diff": [
      1.1088221933963638e-05,
      0.0005049513370596337,
      0.013491150323605039,
      0.08650605869215355,
      0.1826906348447177,
      0.29163638216169785,
      0.38051816857618803,
      0.421799041865043,
      0.43215677966697097,
      0.43215677966697097
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.2387383410853814,
    "v_std": 1.604695076460221,
    "vy_max": 0.13310083036261933,
    "a_max": 1.858153049804282,
    "ax_avg": 0.9926563486241864,
    "a_std": 0.5699469751462759,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "a067e1b873c8534d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "a067e1b873c8534d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "12b32c24d2cf5309": {
    "vx_ego": [
      3.409486487819997,
      2.8398353924468367,
      2.3372503657702177,
      1.9525480249662621,
      1.6749932849222422,
      1.5896389113338003,
      1.6880204314590983,
      1.8370874171958937,
      2.009539458778799,
      2.2491026769628863
    ],
    "vy_ego": [
      -0.005685276452930654,
      -0.011282134428438395,
      -0.02148361967695661,
      -0.02771321779836955,
      -0.0572537416617972,
      -0.08926830949016529,
      -0.06030787762248335,
      -0.00858866988556417,
      0.01656845250366562,
      0.07221435150413028
    ],
    "v_ego": [
      3.409491227880706,
      2.839857803262505,
      2.337349100628197,
      1.9527446869061995,
      1.6759715079525903,
      1.5921434293133712,
      1.6890973971700651,
      1.8371074937710865,
      2.009607760237643,
      2.250261710131687
    ],
    "ax_ego": [
      -1.1458303605861115,
      -1.1331616972144094,
      -0.8715881226222434,
      -0.6738747375946194,
      -0.46283807495880824,
      0.05358663512922507,
      0.2745491690692178,
      0.31083776189627244,
      0.3981325666589227,
      0.5876468805493723
    ],
    "ay_ego": [
      -0.2618001662188496,
      -0.3121075301971695,
      -0.5777890321858635,
      -0.6832825427206626,
      -0.7308237344046202,
      -0.6226102597959604,
      -0.583167662373546,
      -0.760028066849927,
      -0.8950845606067306,
      -0.7838093226084535
    ],
    "a_ego": [
      1.1753580485422797,
      1.17535804861311,
      1.0457083824902829,
      0.9596781726990726,
      0.8650563070694822,
      0.6249120442651638,
      0.6445632386933218,
      0.8211350538250822,
      0.9796356012676171,
      0.9796356008370312
    ],
    "yaw": [
      -1.624751429129247,
      -1.6688930436328624,
      -1.7518991190267996,
      -1.8974019298324523,
      -2.0781700478239302,
      -2.272953787621276,
      -2.4773060681541232,
      -2.6968489960241593,
      -2.925369749191413,
      3.1330062539129067
    ],
    "yaw_diff": [
      -0.08828322900723062,
      -0.16601215078787446,
      -0.2910056216113053,
      -0.3615362359829559,
      -0.3895674795946915,
      -0.4087045610656945,
      -0.4390858557400721,
      -0.457041506334507,
      -0.44961860815053356,
      -0.44961860815053356
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.159363211725405,
    "v_std": 0.548758314244716,
    "vy_max": 0.08926830949016529,
    "a_max": 1.17535804861311,
    "ax_avg": -0.26625399796731813,
    "a_std": 0.18169643734085833,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "12b32c24d2cf5309",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "12b32c24d2cf5309",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2f5ae1e4cf9d59fa": {
    "vx_ego": [
      4.683795659337246,
      4.981753815672493,
      5.3106723343719535,
      5.577734773112017,
      5.8908138418550955,
      6.3193439815364485,
      6.799456337293049,
      7.284818543383335,
      7.803137544016791,
      8.372373536484035
    ],
    "vy_ego": [
      0.16685875381680104,
      0.06251760831142666,
      0.10285473986011939,
      0.1598075761506137,
      0.21597994015561284,
      0.17149555874959832,
      0.0690601574446239,
      -0.032738683075482555,
      -0.03933527825211014,
      -0.04107873345299495
    ],
    "v_ego": [
      4.686766862363832,
      4.982146076874546,
      5.311668263415492,
      5.580023625449814,
      5.894771840702676,
      6.321670592782557,
      6.799807040504964,
      7.284892108424888,
      7.8032366871036,
      8.372474311501964
    ],
    "ax_ego": [
      0.4662742339413639,
      0.796163655265708,
      0.6240716775105881,
      0.6174890557893995,
      0.7966124822238589,
      0.9236576372126957,
      1.00430293193901,
      0.9373028056640387,
      1.1381536411622382,
      1.14075364064017
    ],
    "ay_ego": [
      -1.9406420270400693,
      -1.8301985205928517,
      -2.200008817669174,
      -2.639262711814448,
      -2.511420006387201,
      -1.0500545401731394,
      -0.4490808054613742,
      0.06582834904840673,
      0.2106213553614788,
      0.19605149171037045
    ],
    "a_ego": [
      1.9958715235084132,
      1.9958715366341382,
      2.286810935887136,
      2.710535075588183,
      2.634733742774922,
      1.3984841679903148,
      1.1001354229980636,
      0.9396115798797487,
      1.1574778901668779,
      1.1574778857652803
    ],
    "yaw": [
      0.11805066520386492,
      -0.05647363946524381,
      -0.25855878222563256,
      -0.49016519387826507,
      -0.7243602969706197,
      -0.8630530853199938,
      -0.904631328049682,
      -0.9037823501890203,
      -0.8937132349988831,
      -0.8809266945104621
    ],
    "yaw_diff": [
      -0.34904860933821746,
      -0.4041702855207775,
      -0.46321282330526503,
      -0.46839020618470917,
      -0.2773855766987483,
      -0.08315648545937648,
      0.0016979557213234742,
      0.020138230380274402,
      0.025573080976841966,
      0.025573080976841966
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.303745740912433,
    "v_std": 1.173612148143929,
    "vy_max": 0.21597994015561284,
    "a_max": 2.710535075588183,
    "ax_avg": 0.8444781761349069,
    "a_std": 0.6338550317857691,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "2f5ae1e4cf9d59fa",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 30.134967858341877,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2f5ae1e4cf9d59fa",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e36f096910ed562a": {
    "vx_ego": [
      3.710024365481287,
      3.527026216043387,
      3.2257431935645835,
      2.7454836145024393,
      2.1744539640481766,
      1.5256188985210584,
      0.8260962489748531,
      0.23588204062646728,
      -0.035091577743734455,
      -0.09909670315203145
    ],
    "vy_ego": [
      -0.05259228187180787,
      -0.01832725914208888,
      -0.008989182691079511,
      -0.025249462371869758,
      -0.03359097759672891,
      -0.017460845226895172,
      0.0022656338194786407,
      0.013234222336331744,
      0.005162317947359666,
      -0.021370921591229282
    ],
    "v_ego": [
      3.7103971135954312,
      3.5270738321000588,
      3.225755718623729,
      2.745599718249448,
      2.174713405380289,
      1.5257188157195432,
      0.8260993558083232,
      0.2362530036443004,
      0.03546925929779463,
      0.10137491240568502
    ],
    "ax_ego": [
      -0.36737285016108023,
      -0.36673763752300037,
      -0.8387586000691261,
      -1.082206029870815,
      -1.202070932345986,
      -1.39324010660425,
      -1.4048645046772368,
      -0.9559833334021548,
      -0.1279928717701439,
      -0.128014456779712
    ],
    "ay_ego": [
      -0.03890660179418737,
      -0.04449758475785981,
      0.026253297920233565,
      -0.05773277137744326,
      0.014161549520440131,
      0.05216697464499365,
      0.022492335196821256,
      0.02084561952048214,
      -0.05314699972903532,
      -0.053094988049463096
    ],
    "a_ego": [
      0.36942730637927534,
      0.3694272997833735,
      0.8391693660052235,
      1.0837448795632998,
      1.2021543477756789,
      1.3942164064069225,
      1.4050445479217462,
      0.9562105801526608,
      0.1385885233493978,
      0.1385885236972289
    ],
    "yaw": [
      -0.7723690466344666,
      -0.787600723505756,
      -0.7916465919920486,
      -0.7888646671815539,
      -0.7898955106209979,
      -0.7896543055825019,
      -0.7905560627451,
      -0.7908384445403269,
      -0.7897306872197071,
      -0.7893243799794627
    ],
    "yaw_diff": [
      -0.030463353742578914,
      -0.008091736972585029,
      0.005563849620989325,
      -0.0020616868788880804,
      0.00048241007699201255,
      -0.0018035143251962094,
      -0.0005647635904537651,
      0.002215514641239702,
      0.0008126144804887492,
      0.0008126144804887492
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.8108455134824601,
    "v_std": 1.384430802118746,
    "vy_max": 0.05259228187180787,
    "a_max": 1.4050445479217462,
    "ax_avg": -0.7867241323203504,
    "a_std": 0.4724397888363231,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e36f096910ed562a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e36f096910ed562a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "23fb1660b6985e05": {
    "vx_ego": [
      8.662161035164191,
      8.290152614224324,
      7.904737441327622,
      7.528930326839928,
      7.158594556002167,
      6.768438531468463,
      6.392905716884356,
      6.003494313810259,
      5.5752840520778335,
      5.240045299344277
    ],
    "vy_ego": [
      0.00028735965589321566,
      0.013973187922341701,
      -0.0037619917587354834,
      -0.012944334811418656,
      0.006607308066285622,
      0.030010699456284318,
      0.04790862875588653,
      0.055023724871143376,
      0.017473979726728928,
      -0.06678600814607427
    ],
    "v_ego": [
      8.662161039930643,
      8.290164390234436,
      7.904738336523781,
      7.528941454295796,
      7.158597605239712,
      6.76850506362733,
      6.393085228720321,
      6.003746462522448,
      5.5753114353658235,
      5.240470886291053
    ],
    "ax_ego": [
      -0.7440866344029113,
      -0.7439936453338163,
      -0.7978580614437444,
      -0.7053384031567569,
      -0.7760015086894331,
      -0.7845539049014565,
      -0.7178778200020354,
      -0.8316482889257686,
      -0.8424008094952729,
      -0.4668345931818511
    ],
    "ay_ego": [
      0.05506119047871777,
      0.05630376508838675,
      -0.029339792373548446,
      0.011014080661912784,
      0.06942222842695284,
      0.005961052217769602,
      0.20053771329899533,
      0.9666427293608622,
      1.8602637683722996,
      1.9880356808905806
    ],
    "a_ego": [
      0.7461210720747575,
      0.7461210747996794,
      0.7983973381890077,
      0.7054243920793715,
      0.7791006271901213,
      0.7845765506562548,
      0.7453616162011999,
      1.2751615751344516,
      2.042111753003983,
      2.0421117515663383
    ],
    "yaw": [
      2.6346787480122744,
      2.6363487766396543,
      2.63936896583452,
      2.6399660782577623,
      2.640041892571205,
      2.6393874998144957,
      2.6445191112918134,
      2.690335419380884,
      2.818687782540263,
      3.013257175315693
    ],
    "yaw_diff": [
      0.0033400572547597207,
      0.006040378389731593,
      0.0011942248464844596,
      0.0001516286268854472,
      -0.00130878551341862,
      0.010263222954635332,
      0.09163261617814111,
      0.25670472631875807,
      0.3891387855508599,
      0.3891387855508599
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.952572190275134,
    "v_std": 1.0985640622860573,
    "vy_max": 0.06678600814607427,
    "a_max": 2.042111753003983,
    "ax_avg": -0.7410593669533045,
    "a_std": 0.5118520534781748,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "23fb1660b6985e05",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "23fb1660b6985e05",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "93b2aee4f638552e": {
    "vx_ego": [
      6.282870341473335,
      6.203924247115615,
      6.162628767829138,
      6.137836023592465,
      6.162927692864519,
      6.281907017859677,
      6.483062911600445,
      6.801859306345478,
      7.203523064644212,
      7.652554354054375
    ],
    "vy_ego": [
      -0.07683001165863024,
      0.07352196692388802,
      0.08091763315531386,
      0.06526892128459538,
      0.009541689824551614,
      -0.008274359736584368,
      -0.024602548547745684,
      -0.026718664678941906,
      -0.045365415760215466,
      0.07184695060807789
    ],
    "v_ego": [
      6.283340081394347,
      6.204359881854808,
      6.163159984409843,
      6.138183044239966,
      6.1629350792719775,
      6.28191246723987,
      6.483109593487086,
      6.801911783488581,
      7.203665911451491,
      7.652891618601967
    ],
    "ax_ego": [
      -0.16289775770797357,
      -0.15273313087969148,
      -0.02153634643227892,
      -0.06911134548891551,
      0.18522384566031042,
      0.2910524298459334,
      0.529979315170936,
      0.7664739031252095,
      0.8208595717390564,
      0.96666517112153
    ],
    "ay_ego": [
      0.5355152145282125,
      0.5385023822915824,
      0.8185161852819335,
      1.574223780377673,
      2.0726354014469037,
      2.0819245021537114,
      2.1447063504554964,
      2.1980017055064116,
      1.632771207565588,
      1.5509064109977442
    ],
    "a_ego": [
      0.5597429985783503,
      0.5597429990647695,
      0.8187994624974663,
      1.5757401082608324,
      2.0808953314215883,
      2.1021705805160535,
      2.2092178263342865,
      2.3278087854420275,
      1.827498906366517,
      1.8274989052618666
    ],
    "yaw": [
      1.0756639800430738,
      1.0945916468193009,
      1.148391800744713,
      1.2480194864661227,
      1.4058064963636223,
      1.5755417810650547,
      1.7440464300030736,
      1.9081726510835284,
      2.0475058191652797,
      2.139037564732738
    ],
    "yaw_diff": [
      0.037855333552454073,
      0.10760030785082408,
      0.19925537144281957,
      0.3155740197949992,
      0.3394705694028648,
      0.33700929787603773,
      0.32825244216090965,
      0.27866633616350267,
      0.1830634911349165,
      0.1830634911349165
    ],
    "min_front_frame": [
      9,
      33.648704900380295
    ],
    "v_avg": 6.537546944543995,
    "v_std": 0.4941189449589226,
    "vy_max": 0.08091763315531386,
    "a_max": 2.3278087854420275,
    "ax_avg": 0.31539756561541166,
    "a_std": 0.6528170995742222,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "93b2aee4f638552e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.680940200476806,
    "right_rear_min": 17.891767573975752,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      40.31030394169018,
      33.648704900380295
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "93b2aee4f638552e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "88207b881eb5573c": {
    "vx_ego": [
      4.795774320707943,
      4.834297137226322,
      4.953505788785751,
      5.056667663619504,
      5.138269176622177,
      5.264768367638105,
      5.400138551545112,
      5.510105636849223,
      5.634246907168244,
      5.770980624669199
    ],
    "vy_ego": [
      0.013784251809410897,
      0.007792591577798991,
      0.01810877714972481,
      0.04244547288246259,
      0.04651816563796851,
      0.050007502828314565,
      0.0496113075615556,
      0.019315850287903613,
      -0.06659933521761086,
      0.19311884279039404
    ],
    "v_ego": [
      4.795794130356272,
      4.834303417812965,
      4.953538889253198,
      5.056845803310929,
      5.138479743188627,
      5.265005860891507,
      5.400366437356053,
      5.5101394929084995,
      5.634640510483907,
      5.774210964084011
    ],
    "ax_ego": [
      -0.06084109744280464,
      0.20666050425238236,
      0.2626277759804986,
      0.13545052135969915,
      0.16048178080912973,
      0.32133164961092575,
      0.19951001604883545,
      0.2023482747385589,
      0.2544878237478376,
      0.28396576601594115
    ],
    "ay_ego": [
      1.5995675661600872,
      1.5873277782721247,
      1.5970698339413039,
      1.6537067927476636,
      1.6293889976961153,
      1.7144508295777632,
      1.8664582630840083,
      1.691307490377023,
      0.8993208563788144,
      0.8904524073912388
    ],
    "a_ego": [
      1.600724222922034,
      1.6007242234976544,
      1.6185195096759777,
      1.6592447077258912,
      1.6372730095450851,
      1.7443037797590073,
      1.877091019193896,
      1.7033689709793047,
      0.9346347174986785,
      0.9346347126540255
    ],
    "yaw": [
      2.205167066756972,
      2.372650451525819,
      2.5330989669326813,
      2.689790130995898,
      2.8497635267351376,
      3.010084054248873,
      -3.10601223933279,
      -2.9377984394694368,
      -2.806185440000135,
      -2.7732479940268906
    ],
    "yaw_diff": [
      0.33496676953769455,
      0.32089703081372445,
      0.3133823281264334,
      0.31994679147847904,
      0.32064105502747076,
      0.334178027195847,
      0.3364275997267061,
      0.2632259989386032,
      0.0658748919464891,
      0.0658748919464891
    ],
    "min_front_frame": [
      4,
      69.44103217635991
    ],
    "v_avg": 5.236332524964597,
    "v_std": 0.32064409827277546,
    "vy_max": 0.19311884279039404,
    "a_max": 1.877091019193896,
    "ax_avg": 0.1966023015121004,
    "a_std": 0.3084501408946995,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "88207b881eb5573c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      69.44103217635991,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "88207b881eb5573c",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "dbb9c9811b275fd8": {
    "vx_ego": [
      1.9962183076212847,
      2.503748212623416,
      2.987346577219156,
      3.416025970103088,
      3.787715246751227,
      4.127581377030475,
      4.5319051981242495,
      5.0382154570492474,
      5.557234490650313,
      6.155376187172536
    ],
    "vy_ego": [
      -0.008802685682459621,
      0.023893600238612756,
      0.0642978023654659,
      0.07078008893278609,
      0.058027231646345045,
      0.028885742237966028,
      -0.01874460435205183,
      -0.09640398965965358,
      -0.05614939086322179,
      -0.09547784419057387
    ],
    "v_ego": [
      1.9962377160442617,
      2.503862219920919,
      2.9880384501896953,
      3.4167591734578067,
      3.7881597049338147,
      4.127682450251403,
      4.531943963133029,
      5.039137696161146,
      5.55751814555452,
      6.156116635050215
    ],
    "ax_ego": [
      1.0148812727664018,
      1.015136573072391,
      0.9196055972588258,
      0.792482553585854,
      0.69104093947743,
      0.685869834863264,
      0.9760521480125779,
      1.0690774500275535,
      1.0574597274694415,
      1.3688345709193874
    ],
    "ay_ego": [
      0.0814146103041673,
      0.0781669079087833,
      0.4518158214018436,
      0.9426719116432392,
      1.4191483240170313,
      1.9263743430985452,
      2.3129608666818093,
      2.0160625066142277,
      1.9657386583970335,
      1.763133997221757
    ],
    "a_ego": [
      1.0181416092975137,
      1.0181416048277263,
      1.0246033334802227,
      1.2315270726780938,
      1.5784547968168736,
      2.0448314209547234,
      2.5104712239819507,
      2.281980417254508,
      2.2321177272573047,
      2.232117733163561
    ],
    "yaw": [
      0.23609439038253177,
      0.2392940559855259,
      0.2726878189429873,
      0.3789223708678767,
      0.5454199043118025,
      0.7632152415453479,
      1.0197406784792917,
      1.2615494740403563,
      1.4413173683488005,
      1.6079383008084287
    ],
    "yaw_diff": [
      0.006399331205988235,
      0.06678752591492287,
      0.2124691038497788,
      0.33299506688785163,
      0.43559067446709077,
      0.5130508738678876,
      0.4836175911221292,
      0.3595357886168884,
      0.33324186491925634,
      0.33324186491925634
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.010545615469681,
    "v_std": 1.2694592492652836,
    "vy_max": 0.09640398965965358,
    "a_max": 2.5104712239819507,
    "ax_avg": 0.9590440667453126,
    "a_std": 0.5742876339425351,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "dbb9c9811b275fd8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "dbb9c9811b275fd8",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "9baf79c0513b5228": {
    "vx_ego": [
      4.413139654713105,
      4.609852220306,
      4.82768145649258,
      5.031672268161427,
      5.225936744864485,
      5.417990078929863,
      5.587344393641746,
      5.729474501804619,
      5.893683022441441,
      6.1011143596922475
    ],
    "vy_ego": [
      -0.015226781099587805,
      0.008502434458321106,
      -0.0016811473221574058,
      -0.021762789776747615,
      -0.0580478876638193,
      -0.06136439491524426,
      -0.0481050595873711,
      -0.027762601984134605,
      -0.0005988136521088983,
      0.03136955459124158
    ],
    "v_ego": [
      4.413165923332587,
      4.609860061265621,
      4.8276817492062,
      5.031719331719887,
      5.226259122793954,
      5.418337575709522,
      5.5875514735810485,
      5.729541764303514,
      5.89368305286196,
      6.101195004177312
    ],
    "ax_ego": [
      0.36451476299062274,
      0.42219768766846066,
      0.45918247516340194,
      0.3583720610880697,
      0.42352646609849975,
      0.3520931646620004,
      0.3289015596564655,
      0.24187094939014112,
      0.41482751653062533,
      0.41486498598118604
    ],
    "ay_ego": [
      0.7602093108120009,
      0.7297522322999946,
      0.9745236249375311,
      0.9127247110208252,
      0.7059098521632359,
      0.4895705583250243,
      0.27358296692682255,
      0.21869012883575387,
      0.07043784693015123,
      0.07021682437703367
    ],
    "a_ego": [
      0.8430831564462472,
      0.843083156052486,
      1.077285867845009,
      0.9805594996105845,
      0.8232152737085271,
      0.603033107035077,
      0.42781289804882977,
      0.326078102007919,
      0.42076520620308144,
      0.4207652065211249
    ],
    "yaw": [
      0.09380829045413781,
      0.17119838483969713,
      0.26367363276049527,
      0.3631193263387326,
      0.4491768960640106,
      0.5058476555352532,
      0.5380902369389351,
      0.5562094435873758,
      0.5640018952614478,
      0.5645346765863515
    ],
    "yaw_diff": [
      0.15478018877111863,
      0.18495049584159629,
      0.1988913871564747,
      0.172115139450556,
      0.11334151894248523,
      0.06448516280736372,
      0.03623841329688138,
      0.015584903348144108,
      0.0010655626498072834,
      0.0010655626498072834
    ],
    "min_front_frame": [
      9,
      49.834862485874666
    ],
    "v_avg": 5.283899505895161,
    "v_std": 0.532563712666014,
    "vy_max": 0.06136439491524426,
    "a_max": 1.077285867845009,
    "ax_avg": 0.3780351629229473,
    "a_std": 0.2551363257444291,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "9baf79c0513b5228",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      63.90291894429767,
      61.229708694888835,
      58.51925898930007,
      55.6797378530675,
      52.807162751325855,
      49.834862485874666
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9baf79c0513b5228",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a728ab8233415a86": {
    "vx_ego": [
      1.0661005875053182,
      1.691362595262067,
      2.1873816176106375,
      2.5993700992414457,
      3.098333827081507,
      3.6057231164938006,
      4.050495542500205,
      4.473331690950062,
      4.916089185275304,
      5.478166604336365
    ],
    "vy_ego": [
      0.02535439953518831,
      -0.014715755546303666,
      -0.0211110396783889,
      -0.010712064343563199,
      -0.005690181781216719,
      -0.004708072348199144,
      0.018099199801965282,
      0.021515041142078806,
      0.08978142405574696,
      0.04428974411520781
    ],
    "v_ego": [
      1.066402038752259,
      1.6914266115066694,
      2.187483489550774,
      2.5993921714802837,
      3.0983390521707337,
      3.6057261902095394,
      4.050535979453522,
      4.473383430274391,
      4.916908945840494,
      5.47834563771765
    ],
    "ax_ego": [
      1.2504309124256683,
      1.250670611648419,
      0.7321057106641335,
      0.9218204191752771,
      1.0970378717337743,
      0.9797405768555298,
      0.8807166693229157,
      0.8873444641094084,
      0.9167404281739607,
      1.3625508772854973
    ],
    "ay_ego": [
      -0.08938818670340287,
      -0.08596930595546304,
      -0.09612959517542596,
      -0.42471701749968815,
      -0.8823260849890427,
      -1.4648676073627631,
      -2.0958498856134566,
      -2.5042155395843135,
      -2.3031985024853485,
      -2.0708914674680536
    ],
    "a_ego": [
      1.2536218387822589,
      1.2536218330930162,
      0.7383899177640681,
      1.0149568612321975,
      1.4078321676500578,
      1.7623077781811871,
      2.2733782339613415,
      2.656779190426101,
      2.4789385539983297,
      2.4789385557579817
    ],
    "yaw": [
      2.76395825400337,
      2.761224364110256,
      2.741701191735036,
      2.682380738493391,
      2.5651509923124487,
      2.3910054009855353,
      2.1543888089910674,
      1.8853339505560631,
      1.6162153682526723,
      1.413075364105469
    ],
    "yaw_diff": [
      -0.005467779786227922,
      -0.039046344750440554,
      -0.1186409064832894,
      -0.2344594923618848,
      -0.34829118265382686,
      -0.47323318398893566,
      -0.5381097168700086,
      -0.5382371646067816,
      -0.4062800082944067,
      -0.4062800082944067
    ],
    "min_front_frame": [
      3,
      29.671381061468935
    ],
    "v_avg": 3.3167943546956318,
    "v_std": 1.368796728489169,
    "vy_max": 0.08978142405574696,
    "a_max": 2.656779190426101,
    "ax_avg": 1.0279158541394584,
    "a_std": 0.6579701922782354,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "a728ab8233415a86",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.274740852356754,
    "right_rear_min": 6.012244709679226,
    "speed_mode": "accelerating",
    "front_frame": [
      32.60069879813614,
      31.83140234751361,
      30.83924915240922,
      29.671381061468935,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "a728ab8233415a86",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "df3b1f0f39625162": {
    "vx_ego": [
      6.938430618197151,
      7.006342102180193,
      7.02047417463989,
      6.950794715427877,
      6.840749559891098,
      6.706487536492265,
      6.5747606410155015,
      6.43330202394084,
      6.24361622617392,
      6.028524523933365
    ],
    "vy_ego": [
      -0.13940401589331275,
      -0.11548510899211717,
      -0.03808876553559726,
      0.020400095450324507,
      0.011554050904945434,
      -0.02596095719037672,
      -0.05790932307042018,
      -0.04386644447867338,
      -0.02889985295788655,
      -0.022367737219834094
    ],
    "v_ego": [
      6.939830900186465,
      7.007293804542642,
      7.020577496961747,
      6.95082465178877,
      6.840759317301155,
      6.706537784015262,
      6.575015663581726,
      6.4334515772011915,
      6.243683110251773,
      6.028566019488742
    ],
    "ax_ego": [
      0.12020133476543993,
      0.13427681154557433,
      -0.0911386146420441,
      -0.18841374494062274,
      -0.2488396354024628,
      -0.2904645921015197,
      -0.23812714157877313,
      -0.328234044231565,
      -0.43012936492683873,
      -0.43008122737892296
    ],
    "ay_ego": [
      -0.42183834351751603,
      -0.41757116932874133,
      -0.291065113008229,
      -0.3055722951705446,
      -0.4140282098687548,
      -0.2175714599535229,
      -0.11363359145181147,
      0.12744958883697585,
      0.03137552738229987,
      0.03202874870175226
    ],
    "a_ego": [
      0.43862962615513695,
      0.4386296200365612,
      0.30500024113000984,
      0.3589904829634687,
      0.4830533331986814,
      0.36291461730138347,
      0.2638505801826372,
      0.35210933740433975,
      0.43127218121608896,
      0.43127219118227506
    ],
    "yaw": [
      -0.5420065554727338,
      -0.5755400351432343,
      -0.6116863987993868,
      -0.6413576039489137,
      -0.6661348410019932,
      -0.6838933467467148,
      -0.6915587095152794,
      -0.6931839427406432,
      -0.6892886670101106,
      -0.6877699490871962
    ],
    "yaw_diff": [
      -0.06706695934100093,
      -0.07229272731230507,
      -0.05934241029905385,
      -0.049554474106158874,
      -0.035517011489443195,
      -0.01533072553712933,
      -0.003250466450727574,
      0.0077905514610652205,
      0.0030374358458287176,
      0.0030374358458287176
    ],
    "min_front_frame": [
      6,
      16.36985681923895
    ],
    "v_avg": 6.674654032531947,
    "v_std": 0.3281433936493156,
    "vy_max": 0.13940401589331275,
    "a_max": 0.4830533331986814,
    "ax_avg": -0.1990950218891735,
    "a_std": 0.0655342955032471,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "df3b1f0f39625162",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.339546926934332,
      19.168468512435343,
      18.913416107265355,
      18.33291201969222,
      17.807926813137872,
      17.100492622344976,
      16.36985681923895,
      53.54823627671272,
      50.380591420594605,
      47.32698246102665
    ],
    "safe_frame": [
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.3,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 12,
    "token": "df3b1f0f39625162",
    "smoothness": "No"
  },
  "e36849f8d9e15ce8": {
    "vx_ego": [
      4.7169512755586,
      4.98673929017597,
      5.331706070508069,
      5.669456293298851,
      5.979437085510911,
      6.259663652924861,
      6.511643031976156,
      6.774477027461269,
      7.013159765763634,
      7.210767987839221
    ],
    "vy_ego": [
      0.05992247507915227,
      -0.03925201114085741,
      -0.02754243738979323,
      0.004942146776304668,
      -0.012862553289832768,
      0.04832362929092682,
      0.05672779994179189,
      0.0032219448251282756,
      -0.06850429904824784,
      -0.148358811536633
    ],
    "v_ego": [
      4.7173318771328265,
      4.986893769528618,
      5.331777209162998,
      5.6694584473687355,
      5.979450920014341,
      6.259850175594977,
      6.511890126466345,
      6.77447779364055,
      7.013494331580651,
      7.212294039444554
    ],
    "ax_ego": [
      0.4212742805761788,
      0.6441134174576699,
      0.7268715513610814,
      0.6248026369431198,
      0.603314682325693,
      0.5159874691019217,
      0.49181654285395837,
      0.5595241116998952,
      0.39513683867381827,
      0.3951804301889194
    ],
    "ay_ego": [
      1.4137545529258042,
      1.3271367137900034,
      0.8914971092072916,
      0.819874843665072,
      0.34180261864118616,
      0.11823894453954285,
      -0.07516978848298675,
      -0.13967079677322333,
      -0.16355263935396622,
      -0.16344731421945838
    ],
    "a_ego": [
      1.4751860748371433,
      1.475186073564392,
      1.1502649033605359,
      1.030811861789484,
      0.6934101499255141,
      0.5293614231090434,
      0.49752789763529487,
      0.576693300676212,
      0.4276477371818862,
      0.4276477486551914
    ],
    "yaw": [
      0.6753229474566786,
      0.8375695074083014,
      0.9429218989693104,
      1.0146006150044897,
      1.067482924505366,
      1.0762626586726838,
      1.076632550807312,
      1.0766017591845505,
      1.0760117393023587,
      1.075745219957355
    ],
    "yaw_diff": [
      0.3244931199032455,
      0.21070478312201812,
      0.14335743207035856,
      0.10576461900175271,
      0.017559468334635397,
      0.0007397842692564716,
      -6.158324552307803e-05,
      -0.0011800397643835225,
      -0.0005330386900075368,
      -0.0005330386900075368
    ],
    "min_front_frame": [
      9,
      19.434049191030358
    ],
    "v_avg": 6.04569186899346,
    "v_std": 0.8144410983004371,
    "vy_max": 0.148358811536633,
    "a_max": 1.4751860748371433,
    "ax_avg": 0.5378021961182256,
    "a_std": 0.3978587319981955,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "e36849f8d9e15ce8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.600160835286262,
    "right_rear_min": 12.17638645315597,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      19.73294239533092,
      20.29012755520542,
      20.45115676573482,
      20.43783707302688,
      20.23316389314549,
      20.070262475161275,
      19.746576660927865,
      19.434049191030358
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.875,
    "unsafe_ratio": 0.125,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "e36849f8d9e15ce8",
    "pedestrians": "No"
  },
  "6233d1b3e62a5772": {
    "vx_ego": [
      0.2561777787899796,
      1.116098794528166,
      1.9568795617579449,
      2.7445089200217785,
      3.430012087710088,
      4.031910952523595,
      4.596674899357554,
      4.998684813438153,
      5.159539792580988,
      5.220373424521193
    ],
    "vy_ego": [
      0.0028898707696244025,
      0.0025155953372050753,
      0.0020026248184425305,
      0.013397946940727275,
      0.03031708528970329,
      0.01662449795779008,
      -0.019472439474786052,
      -0.04474734518239953,
      -0.02809934170454363,
      0.016560413343536542
    ],
    "v_ego": [
      0.2561940781884563,
      1.1161016294975676,
      1.9568805864773993,
      2.744541622395502,
      3.4301460679536344,
      4.031945225695914,
      4.596716143757724,
      4.998885094598404,
      5.159616307849925,
      5.22039969147356
    ],
    "ax_ego": [
      1.7198394639068153,
      1.7198394113898263,
      1.6433050058221654,
      1.5072236713726503,
      1.2349925801589308,
      1.17287587420954,
      1.0861673328737167,
      0.5217783561973615,
      0.12160191713239639,
      0.12176891218539988
    ],
    "ay_ego": [
      0.0002847521310713752,
      -0.0005113599522654153,
      -0.01083718630109004,
      0.038728579807517496,
      0.004621655099374421,
      -0.08846467987004573,
      -0.07102484819129636,
      -0.04291667483022582,
      0.10581230708728287,
      0.10562008375465202
    ],
    "a_ego": [
      1.7198394874798806,
      1.7198394874111669,
      1.6433407397028503,
      1.5077211607057712,
      1.2350012278307543,
      1.1762073864277942,
      1.0884870252155512,
      0.5235403460808956,
      0.16119327089369348,
      0.16119326929855146
    ],
    "yaw": [
      -3.1223225546196547,
      -3.121859647122709,
      -3.1233629361764508,
      -3.12523076914275,
      -3.127179188645376,
      -3.129123211890518,
      -3.1299961214665615,
      -3.1306555972563084,
      -3.1308357638829722,
      -3.129256102046326
    ],
    "yaw_diff": [
      0.0009258149938915494,
      -0.003006578107483726,
      -0.003735665932598664,
      -0.003896839005252062,
      -0.0038880464902835143,
      -0.001745819152087158,
      -0.001318951579493799,
      -0.00036033325332773813,
      0.0031593236732927465,
      0.0031593236732927465
    ],
    "min_front_frame": [
      0,
      11.673687097368402
    ],
    "v_avg": 3.3511426447888084,
    "v_std": 1.6848438376121708,
    "vy_max": 0.04474734518239953,
    "a_max": 1.7198394874798806,
    "ax_avg": 1.0849392525248802,
    "a_std": 0.5786743517472881,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "6233d1b3e62a5772",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.766833988300311,
    "speed_mode": "accelerating",
    "front_frame": [
      11.673687097368402,
      12.094041299821901,
      12.681234219542565,
      13.151695340137138,
      13.540831440485688,
      13.856676050275475,
      14.202879820093429,
      14.344712812174032,
      14.65261608580479,
      14.981644504910701
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "6233d1b3e62a5772",
    "pedestrians": "No"
  },
  "c1019bca7cd95123": {
    "vx_ego": [
      8.695544195619572,
      9.125339597405919,
      9.53333120364944,
      9.901245161034666,
      10.177128062493223,
      10.350688611396066,
      10.41986596144848,
      10.329263044327934,
      10.07105503383531,
      9.728001886712548
    ],
    "vy_ego": [
      0.02982022123785466,
      -0.0018689726173910515,
      -0.01724344979416692,
      -0.0784145964318661,
      -0.11227881979438692,
      -0.10727926286153355,
      -0.09882674361566313,
      -0.14848241522727257,
      -0.11728705312954801,
      -0.11886059343168753
    ],
    "v_ego": [
      8.695595327725867,
      9.125339788799268,
      9.533346798215037,
      9.901555665037993,
      10.177747399781618,
      10.351244542098517,
      10.420334609781316,
      10.330330201235125,
      10.071737970547654,
      9.728728002598995
    ],
    "ax_ego": [
      0.8595892776628486,
      0.8595551114297937,
      0.7723674915616869,
      0.6989852153337159,
      0.39993272443862804,
      0.2809476996777906,
      -0.016018579272520095,
      -0.3474247434762997,
      -0.6847358568844076,
      -0.6830460521412303
    ],
    "ay_ego": [
      -0.051287942828146915,
      -0.05185737947649921,
      -0.08463681868918305,
      -0.3167272922379071,
      -0.6086978397643622,
      -0.5713358408599467,
      -0.25865038525123996,
      -0.00938369546508075,
      0.17815632695214823,
      0.1845290363350453
    ],
    "a_ego": [
      0.8611179822489373,
      0.8611179811101698,
      0.7769909478875016,
      0.7673959270829354,
      0.7283263308508795,
      0.6366759403380847,
      0.2591459370172044,
      0.34755144384702824,
      0.7075329466083574,
      0.7075329494775919
    ],
    "yaw": [
      -0.6303962715428522,
      -0.6297338058448148,
      -0.6317411498493954,
      -0.6357682904630356,
      -0.6553668019142606,
      -0.6845518449319554,
      -0.7052708143743309,
      -0.7069367953684607,
      -0.7058630352201565,
      -0.6965447953906531
    ],
    "yaw_diff": [
      0.0013249313960748133,
      -0.004014688009161382,
      -0.008054281227280358,
      -0.03919702290244986,
      -0.058370086035389734,
      -0.041437938884751,
      -0.0033319619882594687,
      0.002147520296608363,
      0.018636479659006833,
      0.018636479659006833
    ],
    "min_front_frame": [
      2,
      16.803007641790398
    ],
    "v_avg": 9.83359603058214,
    "v_std": 0.5419000504755245,
    "vy_max": 0.14848241522727257,
    "a_max": 0.8611179822489373,
    "ax_avg": 0.21401522883300056,
    "a_std": 0.1933576897276706,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "c1019bca7cd95123",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 22.71912079918433,
    "right_rear_min": 16.941840733769375,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      16.803007641790398,
      17.43024885712819,
      17.9600781343026,
      18.38563228081249,
      18.55149882578194,
      18.96806199512048,
      19.056493298430755,
      18.81194548747936
    ],
    "safe_frame": [
      -1,
      -1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 11,
    "token": "c1019bca7cd95123",
    "smoothness": "No"
  },
  "9b3eda2685e75099": {
    "vx_ego": [
      2.954692503756078,
      3.0887812708481266,
      3.0919705680465954,
      2.8681445623862207,
      2.3369107321950393,
      1.655301606335082,
      1.0535876518006453,
      0.5367877561308287,
      0.1589889424526505,
      -0.14559012899960244
    ],
    "vy_ego": [
      0.0166927363588647,
      -0.011259400104558726,
      -0.01959245957687239,
      -0.010868837883851512,
      0.010971359964070393,
      0.009156890817609287,
      0.0009664172977607022,
      -0.017332435364736914,
      0.0024840887438188908,
      0.07282762700743786
    ],
    "v_ego": [
      2.9547396567548057,
      3.088801792480845,
      3.0920326418294257,
      2.86816515605057,
      2.3369364862973527,
      1.655326933443949,
      1.053588095030117,
      0.5370675082777238,
      0.15900834732522498,
      0.16278927764952877
    ],
    "ax_ego": [
      0.2681711031519969,
      0.2680940897408907,
      -0.25530605437238457,
      -0.640066992290699,
      -1.4848366348425075,
      -1.2416308733762993,
      -1.165232996986187,
      -0.901960020147988,
      -0.6092232787671504,
      -0.6091603367828637
    ],
    "ay_ego": [
      -0.009164499880952623,
      -0.011193206290133692,
      -0.015598145172775663,
      0.041126155665095865,
      0.01758280170595039,
      -0.020735587248210563,
      -0.009010246044722448,
      -0.061176781344856934,
      0.14055679131894605,
      0.14082933383138027
    ],
    "a_ego": [
      0.2683276516198562,
      0.26832765198736086,
      0.2557821016647294,
      0.641386868668085,
      1.48494073521008,
      1.2418040063954214,
      1.1652678326458676,
      0.9040323426299943,
      0.6252273306387645,
      0.6252273323974267
    ],
    "yaw": [
      -2.11260953732564,
      -2.105043515994274,
      -2.1045253528544765,
      -2.105298636608989,
      -2.10794362499343,
      -2.1074215371193725,
      -2.1068608882171826,
      -2.1058742471857386,
      -2.105782768385225,
      -2.1053353845130154
    ],
    "yaw_diff": [
      0.015132042662731493,
      0.0010363262795953787,
      -0.001546567509024932,
      -0.005289976768882099,
      0.001044175748114995,
      0.0011212978043797506,
      0.0019732820628881598,
      0.00018295760102748915,
      0.0008947677444188784,
      0.0008947677444188784
    ],
    "min_front_frame": [
      9,
      9.798164808439886
    ],
    "v_avg": 1.7908455895139546,
    "v_std": 1.167843898026794,
    "vy_max": 0.07282762700743786,
    "a_max": 1.48494073521008,
    "ax_avg": -0.6371151994673192,
    "a_std": 0.4158539128442099,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9b3eda2685e75099",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.252451407227843,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.705948657323104,
      14.337977320394746,
      13.565394551224749,
      12.564379231988845,
      11.585494652872848,
      10.878772237625121,
      10.267084528276097,
      9.928286308823356,
      9.803604798167587,
      9.798164808439886
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9b3eda2685e75099",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4c5501833dfd5bb4": {
    "vx_ego": [
      2.278484996595818,
      2.051318309275804,
      1.8238917869217983,
      1.5673405864196222,
      1.214980877717013,
      0.7921838020190336,
      0.35747540121238025,
      0.054782735558398146,
      -0.027166636724300273,
      -0.028756606139988823
    ],
    "vy_ego": [
      -0.018575242876401554,
      -0.01558260060990968,
      -0.004285123574245486,
      0.004244088984345806,
      0.003131205056597919,
      -0.009771065139718593,
      -0.008906440599375204,
      0.02187462378839161,
      0.024212891828428448,
      -0.0022932340408252285
    ],
    "v_ego": [
      2.278560712239233,
      2.0513774941272778,
      1.8238968207343411,
      1.5673463325409327,
      1.214984912524888,
      0.7922440595519136,
      0.3575863352480103,
      0.05898853516697163,
      0.03639079940871425,
      0.028847899733887777
    ],
    "ax_ego": [
      -0.45432424355848544,
      -0.4543220626582498,
      -0.45534363306535036,
      -0.5708640202005257,
      -0.8385787137203602,
      -0.8526205593591988,
      -0.8861653848136857,
      -0.3246141910987431,
      -0.0031799763239867794,
      -0.003179558430457693
    ],
    "ay_ego": [
      0.007211033664243999,
      0.0073467613203545,
      0.043268925233767935,
      -0.00839324698915625,
      0.0071237477185602804,
      -0.056341050106616275,
      0.06094928375622011,
      0.062367183888019886,
      -0.05301179403595745,
      -0.053011816049530494
    ],
    "a_ego": [
      0.4543814667121634,
      0.45438146036116495,
      0.45739482295281597,
      0.5709257185961474,
      0.8386089713844298,
      0.8544800361442678,
      0.8882589174516538,
      0.3305511135797509,
      0.0531070857450481,
      0.05310708269790343
    ],
    "yaw": [
      -0.5173803232806555,
      -0.5170815511063384,
      -0.5163815332083626,
      -0.5162705953190965,
      -0.515712194281383,
      -0.5151174212572386,
      -0.5146210052457179,
      -0.5142674868657084,
      -0.5142896042817431,
      -0.5142975176299807
    ],
    "yaw_diff": [
      0.000597544348634349,
      0.001400035795951604,
      0.00022187577853216567,
      0.0011168020754268593,
      0.0011895460482889142,
      0.0009928320230414567,
      0.0007070367600188199,
      -4.4234832069278696e-05,
      -1.582669647515189e-05,
      -1.582669647515189e-05
    ],
    "min_front_frame": [
      7,
      11.209538074570295
    ],
    "v_avg": 1.0210223901276172,
    "v_std": 0.8363993414490244,
    "vy_max": 0.024212891828428448,
    "a_max": 0.8882589174516538,
    "ax_avg": -0.48431923432290436,
    "a_std": 0.28809783521972726,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4c5501833dfd5bb4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.134886639024227,
      14.427823392709296,
      13.562658527251878,
      12.745863802129598,
      12.029007581792472,
      11.525403860619146,
      11.254622783858037,
      11.209538074570295,
      11.217323343347337,
      11.221006480907134
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4c5501833dfd5bb4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "81e0ac3869b95ef4": {
    "vx_ego": [
      3.461125018740989,
      3.1356495273364215,
      2.6746408543407467,
      2.097499187682958,
      1.5409869490929513,
      1.0080939942836482,
      0.5773284142643483,
      0.29855305987118613,
      0.12517609801044036,
      -0.014940843582510343
    ],
    "vy_ego": [
      -0.040734875833714726,
      -0.0008723912181565763,
      0.0024175926407837695,
      0.0038581281675532375,
      0.018715843713624405,
      -0.008640564143488686,
      -0.024019708565412357,
      -0.01852013104951648,
      -0.0075918621787194945,
      0.010517785134130694
    ],
    "v_ego": [
      3.461364720087151,
      3.135649648693483,
      2.6746419469646354,
      2.097502735989545,
      1.5411006002466923,
      1.008131023557691,
      0.5778278673762234,
      0.2991269376243793,
      0.12540610784351788,
      0.018271634056229922
    ],
    "ax_ego": [
      -0.6509507533480293,
      -0.6509353181900361,
      -1.1929890283358933,
      -1.1156041888775803,
      -1.110330503380839,
      -1.0212327309435818,
      -0.7018676893826733,
      -0.41325096993164073,
      -0.28023467008821656,
      -0.2802333237644995
    ],
    "ay_ego": [
      0.08092033980203231,
      0.08104441505052273,
      -0.0832745413448078,
      0.08552189282307529,
      -0.03401225352065752,
      -0.07645963021555255,
      0.013904354812035395,
      0.007755678026142377,
      0.0362181826162763,
      0.03622861248231129
    ],
    "a_ego": [
      0.6559611152180008,
      0.6559611159802424,
      1.1958919144161846,
      1.1188774286727055,
      1.1108513222423158,
      1.024090994884334,
      0.7020054020320012,
      0.4133237407784448,
      0.2825654385650827,
      0.28256544040362097
    ],
    "yaw": [
      -1.54062284228314,
      -1.5404322322995783,
      -1.5417264270280238,
      -1.5420961870650562,
      -1.543185113679162,
      -1.5433921433984517,
      -1.543737091262996,
      -1.5439475317817997,
      -1.5436135939509854,
      -1.5435763785536016
    ],
    "yaw_diff": [
      0.00038121996712359163,
      -0.0025883894568909938,
      -0.0007395200740649699,
      -0.0021778532282112906,
      -0.0004140594385795282,
      -0.0006898957290886187,
      -0.00042088103760740125,
      0.0006678756616285142,
      7.443079476754377e-05,
      7.443079476754377e-05
    ],
    "min_front_frame": [
      9,
      11.61663565260194
    ],
    "v_avg": 1.493902322243955,
    "v_std": 1.2198308065903234,
    "vy_max": 0.040734875833714726,
    "a_max": 1.1958919144161846,
    "ax_avg": -0.741762917624299,
    "a_std": 0.3332004712966153,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "81e0ac3869b95ef4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.196026990495367,
    "right_rear_min": 9.394866257836473,
    "speed_mode": "decelerating",
    "front_frame": [
      16.099546780780617,
      15.274727120322382,
      14.355928804357767,
      13.662531439042159,
      12.931519100218994,
      12.337908473806781,
      11.991302962983127,
      11.779493828658001,
      11.648514019301857,
      11.61663565260194
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "81e0ac3869b95ef4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e973ce0e5d605df5": {
    "vx_ego": [
      14.618554605216902,
      14.493264180570405,
      14.339253292850607,
      14.145226623280733,
      13.968316977371998,
      13.833141295456516,
      13.712811165943588,
      13.627708745667281,
      13.536078761178848,
      13.404177525512308
    ],
    "vy_ego": [
      0.01532277731161158,
      0.03480315921825272,
      0.029701622103517566,
      0.003319240890341524,
      0.00025763784991283956,
      0.002619840639482174,
      0.014906641121133823,
      0.035195722405828134,
      -0.0003402003574622947,
      -0.00331065099132577
    ],
    "v_ego": [
      14.618562635677039,
      14.493305967504332,
      14.339284054055229,
      14.145227012718111,
      13.968316979747991,
      13.833141543540618,
      13.712819268143829,
      13.627754194863222,
      13.53607876545395,
      13.404177934355364
    ],
    "ax_ego": [
      -0.2511824267096294,
      -0.2504253039909688,
      -0.36644485151443285,
      -0.4101703635512113,
      -0.29695750011972444,
      -0.2439244126107841,
      -0.23768378297256926,
      -0.10334912730943566,
      -0.2639682837033701,
      -0.26360724499152616
    ],
    "ay_ego": [
      0.16865373301667333,
      0.16977590491794153,
      0.12544211397040625,
      0.05440992476871583,
      0.24993759351283448,
      0.21800414448649444,
      0.20283191845775778,
      0.16922265363473507,
      0.09519943924245704,
      0.09619463886802049
    ],
    "a_ego": [
      0.30255031506874636,
      0.3025503111379578,
      0.3873209949883935,
      0.4137634191770342,
      0.3881398685117815,
      0.3271466430835022,
      0.3124649865719452,
      0.1982860272908897,
      0.2806103847568389,
      0.2806103849806193
    ],
    "yaw": [
      -1.6856442580170385,
      -1.6811699692019748,
      -1.6757020770588218,
      -1.670694587140742,
      -1.6650582975832575,
      -1.6568085669699806,
      -1.6500615048337213,
      -1.6447350640046399,
      -1.6372625460744197,
      -1.6334898217511977
    ],
    "yaw_diff": [
      0.008948577630127463,
      0.010935784286306038,
      0.010014979836159732,
      0.011272579114968817,
      0.01649946122655388,
      0.013494124272518615,
      0.010652881658162805,
      0.014945035860440381,
      0.0075454486464439086,
      0.0075454486464439086
    ],
    "min_front_frame": [
      0,
      67.23099025095064
    ],
    "v_avg": 13.96786683560597,
    "v_std": 0.3964797321526023,
    "vy_max": 0.035195722405828134,
    "a_max": 0.4137634191770342,
    "ax_avg": -0.2687713297473652,
    "a_std": 0.060495162311766715,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e973ce0e5d605df5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.13771774609227,
    "right_rear_min": 12.719573451804315,
    "speed_mode": "decelerating",
    "front_frame": [
      67.23099025095064,
      68.11336505849793,
      68.91256285036393,
      69.65363181165948,
      70.58205002322006,
      71.46057461947323,
      72.33360179624759,
      73.36142616316144,
      74.26220873464837,
      75.21165102888126
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e973ce0e5d605df5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "015ef5e7f5a55db8": {
    "vx_ego": [
      8.054082579275303,
      7.9786519244898795,
      7.892885703112702,
      7.780677784841142,
      7.651821843057893,
      7.526634146837843,
      7.423624507755742,
      7.390706472278859,
      7.443110406256765,
      7.529032835374904
    ],
    "vy_ego": [
      0.01127797898709293,
      -0.008768914353773916,
      -0.0006178023385579046,
      0.03212121637771359,
      0.019630831974362994,
      0.025062100827583755,
      0.053717411375053814,
      -0.018158693642376544,
      -0.03701667470293879,
      0.031019135218118166
    ],
    "v_ego": [
      8.054090475441404,
      7.978656743213421,
      7.892885727291421,
      7.780744088071657,
      7.651847024572688,
      7.526675872471413,
      7.423818855039266,
      7.39072877986599,
      7.443202452838013,
      7.52909673353339
    ],
    "ax_ego": [
      -0.15087257701472243,
      -0.15084743706493003,
      -0.19205213578673958,
      -0.25675138395028746,
      -0.26104555718077566,
      -0.2385436914552112,
      -0.1772448456010016,
      0.043283676411902026,
      0.1663211308056338,
      0.17690524694318627
    ],
    "ay_ego": [
      -0.04838287304776524,
      -0.048461244571364574,
      0.129744761753825,
      0.2625228574827705,
      -0.0013613775709870324,
      0.376744110830897,
      0.1557110220772152,
      -0.11947420276130594,
      -0.3384854190970537,
      -0.3330760151324413
    ],
    "a_ego": [
      0.15844064156465512,
      0.15844065606549235,
      0.2317708481729423,
      0.3672050161167559,
      0.26104910701381917,
      0.4459139129684587,
      0.23592722964603705,
      0.12707305681842979,
      0.37714068660616934,
      0.3771406876121111
    ],
    "yaw": [
      1.024257499669385,
      1.0237380455769212,
      1.0252705842660697,
      1.0335980029547454,
      1.0436773405633466,
      1.055331516085236,
      1.06931976283279,
      1.0802870925054877,
      1.0673667085620537,
      1.0358483969339922
    ],
    "yaw_diff": [
      -0.0010389081849275783,
      0.0030650773782969765,
      0.016654837377351406,
      0.020158675217202493,
      0.023308351043778597,
      0.027976493495108112,
      0.021934659345395513,
      -0.025840767886867955,
      -0.06303662325612303,
      -0.06303662325612303
    ],
    "min_front_frame": [
      0,
      18.817346101101748
    ],
    "v_avg": 7.667174675233866,
    "v_std": 0.23139073421515677,
    "vy_max": 0.053717411375053814,
    "a_max": 0.4459139129684587,
    "ax_avg": -0.10408475738929457,
    "a_std": 0.10545785262359174,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "015ef5e7f5a55db8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      18.817346101101748,
      19.62617617537798,
      27.83441336447685,
      23.995741734801847,
      20.255774407790593,
      46.85003384649013,
      43.15117683296966,
      39.55766084965983,
      35.939125433476,
      32.24206722183434
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "015ef5e7f5a55db8",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "f32e1b068c3351eb": {
    "vx_ego": [
      1.8400293494296684,
      1.4538485303355166,
      1.1309323349924065,
      0.9228670348725777,
      0.7953681361808527,
      0.6993709866871903,
      0.5827823651712059,
      0.45585242116830854,
      0.37816250310113486,
      0.33702386118255456
    ],
    "vy_ego": [
      0.022540933485164696,
      -0.030462817181845382,
      -0.035125808709733905,
      -0.01975576846597357,
      -0.03657195649049425,
      -0.04191267155091749,
      -0.018337918512270172,
      -0.011091218970934253,
      -0.010182782406350878,
      0.014098042033913485
    ],
    "v_ego": [
      1.840167410983292,
      1.4541676424640304,
      1.1314776925635297,
      0.9230784660266886,
      0.7962085028768193,
      0.7006257553475673,
      0.5830708056573467,
      0.4559873298933537,
      0.3782995741594893,
      0.33731859983639767
    ],
    "ax_ego": [
      -0.7723093850412254,
      -0.7723997062256354,
      -0.5192471686657366,
      -0.31301615691649004,
      -0.19694232197558784,
      -0.1870389304855966,
      -0.27927576971381984,
      -0.2284439702032247,
      -0.08227353320439826,
      -0.08227998778211082
    ],
    "ay_ego": [
      -0.10346059558599373,
      -0.10278408277106044,
      0.08453343931771119,
      -0.023206389048363668,
      -0.042839560498109386,
      0.021592301034414646,
      0.07341577928266164,
      -0.04408135650852494,
      0.0484719737316077,
      0.0484610273976533
    ],
    "a_ego": [
      0.779208496528217,
      0.7792084918996558,
      0.526083191643931,
      0.3138752156246694,
      0.2015477762933823,
      0.18828114345615343,
      0.2887643194664587,
      0.23265814731885814,
      0.09549066186477549,
      0.09549066742808121
    ],
    "yaw": [
      -1.5874261438160646,
      -1.5865502331193608,
      -1.5864706520581426,
      -1.5865088861213292,
      -1.5861481254267855,
      -1.5861093909069321,
      -1.5858377603812799,
      -1.585668339150887,
      -1.5851937935724267,
      -1.5853268354893797
    ],
    "yaw_diff": [
      0.001751821393407571,
      0.00015916212243638483,
      -7.64681263731859e-05,
      0.0007215213890874317,
      7.746903970673458e-05,
      0.0005432610513045333,
      0.00033884246078574876,
      0.0009490911569205451,
      -0.00026608383390591683,
      -0.00026608383390591683
    ],
    "min_front_frame": [
      9,
      9.912647255465135
    ],
    "v_avg": 0.8600401779808514,
    "v_std": 0.46540939212480303,
    "vy_max": 0.04191267155091749,
    "a_max": 0.779208496528217,
    "ax_avg": -0.3433226930213826,
    "a_std": 0.2441331788731461,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f32e1b068c3351eb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 48.634483389334505,
    "right_rear_min": 7.909075707035753,
    "speed_mode": "decelerating",
    "front_frame": [
      13.718677163994457,
      12.878019012837438,
      12.289944249046618,
      11.79928465003949,
      11.368130186480759,
      10.965711679958467,
      10.617653477864474,
      10.365055375062507,
      10.113262747400727,
      9.912647255465135
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f32e1b068c3351eb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fbf9670a3e82519c": {
    "vx_ego": [
      4.654554210689354,
      4.433362615458865,
      4.1604362361139895,
      3.7456334642484035,
      3.24543163208331,
      2.7843200821232554,
      2.3789067084964137,
      1.9906243865584639,
      1.6032594114253085,
      1.2213857717222347
    ],
    "vy_ego": [
      0.0464650259710242,
      0.024905200773743363,
      0.013527005308840545,
      -0.013204759755642614,
      -0.04713865691549768,
      -0.05492918867709018,
      -0.03818256198308778,
      -0.023881817109859593,
      -0.04339208179207732,
      -0.06630604307170895
    ],
    "v_ego": [
      4.654786128157177,
      4.433432569598172,
      4.160458226523007,
      3.745656740036078,
      3.2457739495384974,
      2.7848618521362196,
      2.3792131127263136,
      1.9907676382616153,
      1.6038465054630624,
      1.2231842439769025
    ],
    "ax_ego": [
      -0.44237154086784364,
      -0.44236071871589777,
      -0.6490472902616061,
      -1.0101026781697582,
      -0.9913682219719899,
      -0.856318400331629,
      -0.7686249863740123,
      -0.785620204130055,
      -0.7633592030136194,
      -0.7634715486073437
    ],
    "ay_ego": [
      -0.045238510839032825,
      -0.04534422111125164,
      -0.06093277390197804,
      -0.09755743350003326,
      -0.12476387759238972,
      -0.07671200104370357,
      -0.010558877121202737,
      -0.011025720137987305,
      -0.0384749743188908,
      -0.036177212691047844
    ],
    "a_ego": [
      0.444678651424513,
      0.4446786523446248,
      0.6519012102545317,
      1.0148028740976405,
      0.9991881588008305,
      0.8597475989211305,
      0.7686975084937581,
      0.7856975700878236,
      0.7643281994499663,
      0.7643281993037997
    ],
    "yaw": [
      1.0891679370073137,
      1.0889289694884605,
      1.0854147505812026,
      1.0821905789632815,
      1.0759938484582015,
      1.061791780798763,
      1.0467902840818804,
      1.0377835385309044,
      1.0417603768269426,
      1.0447702197099762
    ],
    "yaw_diff": [
      -0.000477935037706434,
      -0.007028437814515787,
      -0.006448343235842202,
      -0.012393461010160145,
      -0.02840413531887709,
      -0.030002993433765113,
      -0.01801349110195183,
      0.007953676592076242,
      0.006019685766067262,
      0.006019685766067262
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.0221980966417044,
    "v_std": 1.1535909224476362,
    "vy_max": 0.06630604307170895,
    "a_max": 1.0148028740976405,
    "ax_avg": -0.7472644792443754,
    "a_std": 0.18502961573951152,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fbf9670a3e82519c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fbf9670a3e82519c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2be2e48e80985bee": {
    "vx_ego": [
      5.84893155487553,
      5.077112036833434,
      4.266252019607384,
      3.5012760903591835,
      2.804849969734632,
      2.0799765252167117,
      1.3582382386294056,
      0.7123273249167941,
      0.21237489607012466,
      -0.20202973523537993
    ],
    "vy_ego": [
      -0.0024982283222350077,
      -0.014758913713994293,
      -0.018791315527665553,
      -0.004792129772432485,
      0.017593220825968814,
      0.018305542028060673,
      0.0025473779356646187,
      -0.022910025986901283,
      -0.043285176357981084,
      -0.05833087061889816
    ],
    "v_ego": [
      5.8489320884041245,
      5.077133488504409,
      4.266293403921411,
      3.501279369805935,
      2.8049051453016016,
      2.0800570757365113,
      1.3582406274329513,
      0.712695648305668,
      0.21674109664098726,
      0.21028196400651283
    ],
    "ax_ego": [
      -1.5436027575403695,
      -1.543612006186379,
      -1.6999122190744385,
      -1.360240365724949,
      -1.425530300968472,
      -1.4743171499371945,
      -1.4126329500725985,
      -1.171011854667564,
      -0.8286453038236837,
      -0.8286874712884554
    ],
    "ay_ego": [
      -0.006603873034274899,
      -0.0038801289598496824,
      -0.046883293269671666,
      0.06596605242168563,
      0.047654752610004625,
      -0.010459513679690113,
      -0.05290385651504692,
      -0.049034529078347155,
      -0.030657781059071798,
      -0.029495948459786148
    ],
    "a_ego": [
      1.5436168838883841,
      1.543616882857752,
      1.7005586128523744,
      1.3618389672129536,
      1.4263266156198529,
      1.4743542518761723,
      1.4136232417674015,
      1.1720380321533528,
      0.829212240073982,
      0.8292122382394009
    ],
    "yaw": [
      -0.6267851592588191,
      -0.6250206262523522,
      -0.6268662975199226,
      -0.6292687334747054,
      -0.6273644551225952,
      -0.6238576379128353,
      -0.6239059467281319,
      -0.6239329996255808,
      -0.6228554899045529,
      -0.6214534377079608
    ],
    "yaw_diff": [
      0.0035290660129336793,
      -0.003691342535140807,
      -0.004804871909565467,
      0.0038085567042203117,
      0.007013634419519743,
      -9.661763059320982e-05,
      -5.410579489772971e-05,
      0.002155019442055872,
      0.002804104393184126,
      0.002804104393184126
    ],
    "min_front_frame": [
      7,
      48.49748313486197
    ],
    "v_avg": 2.6076559908060113,
    "v_std": 1.925795633334632,
    "vy_max": 0.05833087061889816,
    "a_max": 1.7005586128523744,
    "ax_avg": -1.3288192379284107,
    "a_std": 0.28164288956416256,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2be2e48e80985bee",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.650089625676666,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      54.28745417913712,
      55.52585370423219,
      57.349564239684476,
      59.002293880784826,
      57.353774219572045,
      56.15236857179197,
      55.298908944341484,
      48.49748313486197,
      52.401205888507526,
      54.60650351670181
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2be2e48e80985bee",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ae50b115259f5a24": {
    "vx_ego": [
      11.494957488390817,
      11.646818716468434,
      11.762177688042485,
      11.806198913141355,
      11.841944608151625,
      11.922644558516112,
      12.011575975046238,
      12.00836212548908,
      11.91253580412161,
      11.807566678722235
    ],
    "vy_ego": [
      -0.01782985316414809,
      -0.021304636543518995,
      -0.014346599113439495,
      -0.014262831090090522,
      -0.025543498652355723,
      -0.01393678981062596,
      -0.010021778115574698,
      -0.017703727374058786,
      0.008836813986129677,
      -0.04396361851357522
    ],
    "v_ego": [
      11.494971316344202,
      11.646838201924918,
      11.762186437477965,
      11.806207528457682,
      11.841972157240312,
      11.922652704110108,
      12.011580155847298,
      12.008375175636525,
      11.912539081730676,
      11.807648524250054
    ],
    "ax_ego": [
      0.3034285890434911,
      0.3037392087217879,
      0.15737751192343627,
      0.018613885130825444,
      0.12406071977264968,
      0.198657202768506,
      0.15808810748810811,
      -0.17189682031687306,
      -0.21317056650080402,
      -0.20761740668933581
    ],
    "ay_ego": [
      -0.08886333819451554,
      -0.08779575761814547,
      -0.05838900530320826,
      -0.1246955591488281,
      -0.16472584603738133,
      -0.3076548077211433,
      -0.5193774944921852,
      -0.5410182481881494,
      -0.4181524040896168,
      -0.42093721244181886
    ],
    "a_ego": [
      0.31617337257270206,
      0.31617337327909506,
      0.16785993327625687,
      0.12607719536499234,
      0.20621752239622843,
      0.36621873917884235,
      0.5429040721104894,
      0.5676700288967397,
      0.4693539426362581,
      0.46935394360620214
    ],
    "yaw": [
      -0.8615613158735012,
      -0.8650779071275905,
      -0.8687889829740958,
      -0.8726744821780238,
      -0.877845518477704,
      -0.8887695399814903,
      -0.9063659697507627,
      -0.9277254054110536,
      -0.9499827117625773,
      -0.9632186470453529
    ],
    "yaw_diff": [
      -0.007033182508178637,
      -0.007422151693010637,
      -0.007770998407856,
      -0.010342072599360375,
      -0.021848043007572704,
      -0.035192859538544674,
      -0.04271887132058194,
      -0.04451461270304735,
      -0.026471870565551114,
      -0.026471870565551114
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.821497128301974,
    "v_std": 0.15200770925484694,
    "vy_max": 0.04396361851357522,
    "a_max": 0.5676700288967397,
    "ax_avg": 0.06712804313417915,
    "a_std": 0.14811950773486074,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "ae50b115259f5a24",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "ae50b115259f5a24",
    "road_shape": "Straight"
  },
  "d4849a52aaa55a9f": {
    "vx_ego": [
      5.077209604442199,
      4.351983678975662,
      4.6395318573635675,
      5.235127081782421,
      5.199681446036744,
      5.193142029394827,
      5.200006301207818,
      5.242740948439839,
      5.24131297450589,
      5.210788378512415
    ],
    "vy_ego": [
      0.044030359418325116,
      -0.014575558094053009,
      -0.029186894029333554,
      -0.09614209280132935,
      -0.07222570755208224,
      -0.05433388089696001,
      -0.03439996696432113,
      -0.014733867893409691,
      0.0032992628389774126,
      0.028770926728511448
    ],
    "v_ego": [
      5.0774005199502055,
      4.352008086959891,
      4.639623662569467,
      5.236009822796358,
      5.200183044190865,
      5.193426259039436,
      5.2001200842219175,
      5.242761651964637,
      5.241314012903545,
      5.210867806024718
    ],
    "ax_ego": [
      -1.4805450589630729,
      -1.420018630633963,
      2.578263705300067,
      -0.1472406789500111,
      0.03350807729815447,
      -0.03776474198877755,
      0.08672980672050962,
      0.08405976782625724,
      -0.0917690149533057,
      -0.03475414927641901
    ],
    "ay_ego": [
      0.6356829207970559,
      0.7613498047531642,
      0.7502538327915216,
      1.1823398714452698,
      1.0535396588559762,
      1.0060544030450473,
      1.0926609341917033,
      0.8928608260397285,
      0.7950655971362435,
      0.7995892789838652
    ],
    "a_ego": [
      1.6112437579128258,
      1.6112437545403355,
      2.6852047496766422,
      1.1914727815384107,
      1.0540723903160474,
      1.0067629500651112,
      1.0960976126616018,
      0.8968090650987816,
      0.8003442108587476,
      0.8003442171702531
    ],
    "yaw": [
      -1.6509217564975598,
      -1.5643259371749014,
      -1.4661778374856929,
      -1.362046607197521,
      -1.2591398270441991,
      -1.1637317551603656,
      -1.0663866336073,
      -0.9751552383052362,
      -0.8984550104992224,
      -0.8269779841149587
    ],
    "yaw_diff": [
      0.17319163864531673,
      0.19629619937841714,
      0.20826246057634368,
      0.20581356030664377,
      0.19081614376766698,
      0.19469024310613126,
      0.18246279060412762,
      0.15340045561202764,
      0.14295405276852735,
      0.14295405276852735
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.059371495062104,
    "v_std": 0.2924674815622159,
    "vy_max": 0.09614209280132935,
    "a_max": 2.6852047496766422,
    "ax_avg": -0.04295309176205608,
    "a_std": 0.5448085414287106,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "d4849a52aaa55a9f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d4849a52aaa55a9f",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "7caa2336614b5ad3": {
    "vx_ego": [
      2.0878063603262524,
      1.9675008054764662,
      1.7909115867304384,
      1.4693839837229423,
      1.1195895198066719,
      0.886055601763951,
      0.7609963915575156,
      0.6197088159080733,
      0.4008296688093791,
      0.1733211616877895
    ],
    "vy_ego": [
      -0.025194503419625924,
      -0.01152323842403713,
      0.0055057810672934915,
      0.010238242620380866,
      0.017761670333579893,
      0.02587057029880696,
      0.01124966351814205,
      -0.001595759093891591,
      0.0013857407443678138,
      0.002748175319761237
    ],
    "v_ego": [
      2.0879583715249965,
      1.9675345497790682,
      1.7909200498934892,
      1.4694196518467615,
      1.1197304004955715,
      0.886433198737989,
      0.7610795378229736,
      0.6197108704559505,
      0.4008320641805582,
      0.17334294781269013
    ],
    "ax_ego": [
      -0.24111127876440677,
      -0.2383708724142107,
      -0.46786919661116505,
      -0.8195043647066576,
      -0.5799824843116329,
      -0.35434441750560564,
      -0.14486404106356401,
      -0.4205365420824214,
      -0.4550097887365008,
      -0.4550124482320394
    ],
    "ay_ego": [
      0.11722600799992927,
      0.12270253910820193,
      0.10949896561491052,
      0.02143170905530073,
      0.04336953784097439,
      -0.0042214875719285005,
      -0.083112705798191,
      -0.005160083732620585,
      0.002248779768751319,
      0.001623850370651353
    ],
    "a_ego": [
      0.26809808969667603,
      0.26809809010716906,
      0.4805118194262368,
      0.8197845582385005,
      0.5816017528522702,
      0.35436956299138744,
      0.16701291045414007,
      0.420568198620352,
      0.4550153457373536,
      0.455015345824886
    ],
    "yaw": [
      0.5619443650596634,
      0.5847868687288718,
      0.606286905294165,
      0.6230120239650174,
      0.6298736550361748,
      0.6315954716216843,
      0.6225496666677368,
      0.6098254686572817,
      0.6026170304231595,
      0.6012435962582481
    ],
    "yaw_diff": [
      0.04568500733841674,
      0.0430000731305864,
      0.033450237341704936,
      0.013723262142314674,
      0.0034436331710190338,
      -0.018091609907894934,
      -0.025448396020910202,
      -0.01441687646824441,
      -0.002746868329822849,
      -0.002746868329822849
    ],
    "min_front_frame": [
      9,
      8.585066905411907
    ],
    "v_avg": 1.127696164255005,
    "v_std": 0.6382728607805334,
    "vy_max": 0.02587057029880696,
    "a_max": 0.8197845582385005,
    "ax_avg": -0.4176605434428204,
    "a_std": 0.1749354491991096,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7caa2336614b5ad3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.723764747616439,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.62160947114085,
      12.601897546009136,
      11.674330334020281,
      10.832510091011686,
      10.224204310751812,
      9.742806600804196,
      9.349448045891416,
      8.98734264291999,
      8.709281690968655,
      8.585066905411907
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7caa2336614b5ad3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "98c050c637ca5909": {
    "vx_ego": [
      5.864882958406943,
      5.431104175899114,
      5.009514009040166,
      4.526341684042638,
      3.8929096493214495,
      3.129739748800578,
      2.3120294943064,
      1.606000165139419,
      1.0815598359410217,
      0.6259678473913168
    ],
    "vy_ego": [
      0.0499701385501381,
      -0.0034985193370697942,
      -0.018826309498875204,
      -0.004271919502461863,
      0.02183581935788137,
      0.022461620455063835,
      0.01522976524132269,
      -0.010837180522901835,
      -0.03293197057793884,
      -0.041703802800694134
    ],
    "v_ego": [
      5.865095833024291,
      5.431105302708312,
      5.009549384595288,
      4.526343699941287,
      3.8929708887669685,
      3.129820349415565,
      2.312079654400344,
      1.6060367290038937,
      1.0820610858019597,
      0.6273555237150288
    ],
    "ax_ego": [
      -0.8677882119895179,
      -0.8679729779289688,
      -0.8182999214063812,
      -1.114318782332767,
      -1.4191291498699743,
      -1.6332042526763038,
      -1.637324719914794,
      -1.1867221465913356,
      -0.9112912374874266,
      -0.9112661210600489
    ],
    "ay_ego": [
      -0.028809090954400263,
      -0.022566651251937575,
      -0.00461270310786166,
      0.07830765287634811,
      -0.027850682340839317,
      -0.025645322309168495,
      -0.043557145822157084,
      -0.08041244970066252,
      -0.01913828574644577,
      -0.020299054260491833
    ],
    "a_ego": [
      0.8682662866825958,
      0.8682662864372938,
      0.818312922055891,
      1.117066890189922,
      1.4194024110580925,
      1.633405587573492,
      1.637903984791609,
      1.189443405663846,
      0.9114921796168511,
      0.9114921804358489
    ],
    "yaw": [
      -0.7302693816771013,
      -0.723076670997315,
      -0.7214401560662029,
      -0.7206348686205888,
      -0.723811504728661,
      -0.7277683871420002,
      -0.7314682289633698,
      -0.7340569058266224,
      -0.7361899399788389,
      -0.7374637209580497
    ],
    "yaw_diff": [
      0.014385421359572659,
      0.0032730298622241083,
      0.0016105748912282891,
      -0.0063532722161443456,
      -0.007913764826678493,
      -0.007399683642739241,
      -0.005177353726505185,
      -0.0042660683044328795,
      -0.0025475619584216513,
      -0.0025475619584216513
    ],
    "min_front_frame": [
      4,
      16.467884855814724
    ],
    "v_avg": 3.3482418451372937,
    "v_std": 1.7836167453022418,
    "vy_max": 0.0499701385501381,
    "a_max": 1.637903984791609,
    "ax_avg": -1.1367317521257518,
    "a_std": 0.3046184733809478,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "98c050c637ca5909",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.996794277986737,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.512529551310273,
      22.42104496137049,
      20.397722132160023,
      18.398123956784055,
      16.467884855814724,
      24.48901256751,
      23.159075852268924,
      22.24102136774633,
      21.598621467437468,
      21.13110898202284
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "98c050c637ca5909",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "1559a9e324d6519d": {
    "vx_ego": [
      8.53969539656175,
      8.707125445146625,
      8.818334316880787,
      8.770946907346787,
      8.599371792173969,
      8.391503527385447,
      8.184372348608395,
      7.9588795300448325,
      7.751310188684748,
      7.595360718545512
    ],
    "vy_ego": [
      0.004559912546135969,
      0.011763579561260507,
      0.014188038952463344,
      0.019551453850059186,
      0.00579364511606828,
      0.009404261954630844,
      0.0012718846371155834,
      0.0027680790732009797,
      -0.03596242085763235,
      -0.07932335909637267
    ],
    "v_ego": [
      8.539696613982278,
      8.707133391611956,
      8.818345730619017,
      8.770968698544296,
      8.599373743846762,
      8.391508797008159,
      8.18437244743641,
      7.958880011410425,
      7.751393612565544,
      7.595774920317382
    ],
    "ax_ego": [
      0.3347330055024003,
      0.33489776423638934,
      0.10997244263636004,
      -0.2993905387037846,
      -0.3866899500479749,
      -0.4448970303118276,
      -0.3836448733542907,
      -0.5183501066559052,
      -0.31187130542772645,
      -0.3118860635814955
    ],
    "ay_ego": [
      0.06144819587513492,
      0.06054374733589474,
      -0.06165375006393923,
      -0.018405039733262962,
      -0.11423034199300086,
      0.014320358405905592,
      0.04457707362643565,
      -0.0194733964872989,
      -0.08405357377742345,
      -0.08399878983638988
    ],
    "a_ego": [
      0.3403264105957381,
      0.34032639896429556,
      0.12607586222728834,
      0.29995573032186823,
      0.40320923662528274,
      0.4451274427005785,
      0.3862259757501124,
      0.5187157663315622,
      0.3229995579160303,
      0.3229995562695693
    ],
    "yaw": [
      0.5616216478522086,
      0.5643229416387527,
      0.5640155814530959,
      0.5611466426056626,
      0.5589156324469127,
      0.5555534019907716,
      0.5583137820143395,
      0.5589047133005531,
      0.5605458281973361,
      0.5607214812123038
    ],
    "yaw_diff": [
      0.005402587573088313,
      -0.000614720371313604,
      -0.0057378776948666665,
      -0.004462020317499871,
      -0.006724460912282071,
      0.005520760047135642,
      0.0011818625724273613,
      0.0032822297935659606,
      0.0003513060299353832,
      0.0003513060299353832
    ],
    "min_front_frame": [
      4,
      15.0900726531997
    ],
    "v_avg": 8.331744796734224,
    "v_std": 0.41572365373313813,
    "vy_max": 0.07932335909637267,
    "a_max": 0.5187157663315622,
    "ax_avg": -0.18771266557078553,
    "a_std": 0.09795196935384949,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "1559a9e324d6519d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.194779837050733,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.221119110729317,
      15.330360766466908,
      15.234494162683045,
      15.179762776241043,
      15.0900726531997,
      15.243768930266128,
      15.360054052448366,
      15.64334494894066,
      15.918067346620873,
      16.334002239533117
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1559a9e324d6519d",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "d5110a9cb2b352d5": {
    "vx_ego": [
      6.705375933523358,
      6.602491156904476,
      6.487826326030089,
      6.356249115897228,
      6.20618395911999,
      5.992347763996258,
      5.918829595189025,
      5.851524348436458,
      5.685963728504246,
      5.60701922553814
    ],
    "vy_ego": [
      0.059612657473820274,
      4.5236642839618924e-05,
      -0.06315133842057197,
      -0.053926642509125156,
      -0.021366177336614722,
      0.006389942669213333,
      0.012958994539071345,
      0.023073991190130982,
      -0.0027444455564378245,
      -0.08798882052883039
    ],
    "v_ego": [
      6.70564091484217,
      6.602491157059444,
      6.488133670653942,
      6.356477869552965,
      6.206220737934823,
      5.992351170954375,
      5.918843781721641,
      5.851569841454014,
      5.685964390835324,
      5.607709570590508
    ],
    "ax_ego": [
      -0.2079087329721119,
      -0.20574381943457193,
      -0.251565174033667,
      -0.2741585231889372,
      -0.3260760575847743,
      -0.529264940130123,
      0.23509942881065873,
      -0.5045947724835345,
      -0.15768398187854676,
      -0.1578740074412396
    ],
    "ay_ego": [
      0.11845336856904456,
      0.12217494191466717,
      0.040204687028023545,
      0.05850074772751852,
      0.07585409722822808,
      0.042222196575249005,
      0.06739014886091377,
      0.05921195003757562,
      -0.1568986411632235,
      -0.1567074319017237
    ],
    "a_ego": [
      0.23928485487264514,
      0.23928484211787848,
      0.2547576370702368,
      0.28033057864210564,
      0.33478267487481866,
      0.5309464104168911,
      0.24456731913850246,
      0.508057023812251,
      0.2224441991600137,
      0.22244419848310262
    ],
    "yaw": [
      -0.6372128122885575,
      -0.6192195243009926,
      -0.6033759718387293,
      -0.6009709930294271,
      -0.6008074600238309,
      -0.6005196148842631,
      -0.5969643483029463,
      -0.5933616702772633,
      -0.593117709720342,
      -0.5919058378617619
    ],
    "yaw_diff": [
      0.035986575975129886,
      0.03168710492452664,
      0.004809957618604255,
      0.00032706601119247836,
      0.0005756902791356211,
      0.007110533162633548,
      0.007205356051366074,
      0.0004879211138426598,
      0.002423743717160143,
      0.002423743717160143
    ],
    "min_front_frame": [
      2,
      26.120507903786287
    ],
    "v_avg": 6.14154031055992,
    "v_std": 0.3673761747457695,
    "vy_max": 0.08798882052883039,
    "a_max": 0.5309464104168911,
    "ax_avg": -0.2379770580336848,
    "a_std": 0.11052214738181258,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d5110a9cb2b352d5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      26.41000628462271,
      29.380312697989606,
      26.120507903786287,
      30.323660582520066,
      27.172597679534928,
      30.021005924491703,
      27.15123077346525,
      61.56454193266617,
      58.7479835566617,
      55.92513958503295
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d5110a9cb2b352d5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "613c91adcbe55cd5": {
    "vx_ego": [
      2.572412762445807,
      2.6572713311127862,
      2.8115175601627023,
      3.079182318462193,
      3.5269590360503615,
      4.129084158827904,
      4.771553375930367,
      5.3898051681349575,
      5.969337899521255,
      6.543280036402079
    ],
    "vy_ego": [
      0.08837015136049642,
      0.007440274814016323,
      0.011551892162657396,
      -0.0007933638022342704,
      -0.015994962110197353,
      0.06729722882405365,
      0.14407928585876384,
      0.14138262751350394,
      0.023116309749533936,
      -0.01726381731072868
    ],
    "v_ego": [
      2.573930205744815,
      2.6572817473582337,
      2.811541292123552,
      3.0791824206688903,
      3.5269953049005043,
      4.1296325390633655,
      4.773728151033116,
      5.391659187839761,
      5.969382658402565,
      6.543302810826206
    ],
    "ax_ego": [
      0.1380571497472688,
      0.22173789750215894,
      0.4493810735643567,
      0.7029890780805199,
      1.1156413663491822,
      1.2881839646834412,
      1.3089982350946392,
      1.181806203403818,
      1.1423088999015216,
      1.1533635359344094
    ],
    "ay_ego": [
      -0.756167367820691,
      -0.7359899226545434,
      -1.2463198141819456,
      -1.8320774214024382,
      -2.0848921872670476,
      -1.8462979608131551,
      -1.2834795999147233,
      -0.5415918820945889,
      -0.4297508171496511,
      -0.39913394752170406
    ],
    "a_ego": [
      0.7686669400678112,
      0.7686669379111598,
      1.3248609091147543,
      1.9623203922685781,
      2.364620707605481,
      2.2512738809328297,
      1.8332474636224478,
      1.2999952573584663,
      1.2204734276644524,
      1.2204734139207547
    ],
    "yaw": [
      0.7715441899734684,
      0.6595007964234438,
      0.47535907015646295,
      0.21690851801283184,
      -0.07743977556217133,
      -0.35570449086121436,
      -0.5482907362558656,
      -0.6372273085289,
      -0.6591402610966485,
      -0.6858122221034377
    ],
    "yaw_diff": [
      -0.22408678710004915,
      -0.3682834525339618,
      -0.5169011042872622,
      -0.5886965871500063,
      -0.5565294305980861,
      -0.3851724907893024,
      -0.17787314454606884,
      -0.043825905135497,
      -0.053343922013578515,
      -0.053343922013578515
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.145663631796101,
    "v_std": 1.3786766614714274,
    "vy_max": 0.14407928585876384,
    "a_max": 2.364620707605481,
    "ax_avg": 0.8702467404261316,
    "a_std": 0.5416083476758136,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "613c91adcbe55cd5",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 21.212510784261234,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "613c91adcbe55cd5",
    "pedestrians": "No"
  },
  "76df9fb807c9580a": {
    "vx_ego": [
      7.903939031050413,
      7.879284141751262,
      7.828007785045061,
      7.709866422753745,
      7.570362142565285,
      7.4504683440502735,
      7.347345695792041,
      7.1988868888004145,
      7.078273812271579,
      7.067257536261984
    ],
    "vy_ego": [
      0.008726787616061493,
      -0.019007566809975618,
      -0.04796430542667052,
      -0.04841635083637996,
      -0.053962552731818825,
      -0.050627243859859394,
      -0.05043941480847458,
      -0.03944091941719252,
      -0.03882087072576512,
      0.010453379961510745
    ],
    "v_ego": [
      7.903943848698841,
      7.879307068140506,
      7.828154728754481,
      7.710018443540452,
      7.570554466264871,
      7.4506403525815195,
      7.347518826654345,
      7.198994931507244,
      7.078380268217691,
      7.06726526720233
    ],
    "ax_ego": [
      -0.051215352122731136,
      -0.04767380702227199,
      -0.15927322314971956,
      -0.3151525460599265,
      -0.24440178938683726,
      -0.23749342791616965,
      -0.17613280783097696,
      -0.42063612866618383,
      -0.07203213895890015,
      0.02319554207995722
    ],
    "ay_ego": [
      -0.26544495708630983,
      -0.2661038251582729,
      -0.1580360618900732,
      -0.11295785485402013,
      -0.22891521456761513,
      -0.44424787554387457,
      -0.7943317690123943,
      -1.0637323815256254,
      -1.1103721220276261,
      -1.1124643124933216
    ],
    "a_ego": [
      0.2703405954265992,
      0.27034059561941765,
      0.22437325257308058,
      0.33478441460330255,
      0.33486476392123615,
      0.5037452761352892,
      0.8136250520090834,
      1.143879946605173,
      1.1127061060401924,
      1.1127061066353603
    ],
    "yaw": [
      1.0215807843511961,
      1.0082555993395506,
      0.9984587544047154,
      0.9898182345222547,
      0.9793453603247678,
      0.9564919838671775,
      0.9145791910461459,
      0.849496010593923,
      0.772839306566251,
      0.6872104363505621
    ],
    "yaw_diff": [
      -0.02665037002329118,
      -0.01959368986967025,
      -0.017281039764921458,
      -0.020945748394973762,
      -0.04570675291518067,
      -0.0838255856420631,
      -0.1301663609044459,
      -0.153313408055344,
      -0.17125774043137776,
      -0.17125774043137776
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.5034778201562276,
    "v_std": 0.3074098598496347,
    "vy_max": 0.053962552731818825,
    "a_max": 1.143879946605173,
    "ax_avg": -0.17008156790337597,
    "a_std": 0.3706818393418989,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "76df9fb807c9580a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "76df9fb807c9580a",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "f4da372227475285": {
    "vx_ego": [
      4.8175919006080585,
      5.083387468585361,
      5.316429771696819,
      5.381833819937187,
      5.361034235105363,
      5.417242007242049,
      5.533135354752217,
      5.655853181679888,
      5.706430593835438,
      5.6970884176531555
    ],
    "vy_ego": [
      0.06552800226595412,
      0.001547877287034094,
      -0.09772267538549428,
      -0.13134578639812045,
      0.0072322419475625566,
      0.13591068183926458,
      0.10984611468985728,
      0.048532144485017525,
      0.01204368840738912,
      -0.018018177136748026
    ],
    "v_ego": [
      4.818037529937405,
      5.083387704247511,
      5.317327828775351,
      5.3834363543209305,
      5.361039113389803,
      5.418946639197131,
      5.5342256028211745,
      5.656061401873818,
      5.706443303204854,
      5.697116910619359
    ],
    "ax_ego": [
      0.5200687153689363,
      0.5489293771834289,
      0.3751199799006124,
      -0.12124605634786065,
      0.033651033889846665,
      0.19053666999049912,
      0.26957330454980044,
      0.2206647407797751,
      -0.01872697793728035,
      -0.01855346771728703
    ],
    "ay_ego": [
      -0.6149656834506629,
      -0.5893477728176116,
      -0.3612322098261246,
      -0.045247501299404226,
      0.39956130795005984,
      0.14871707313807603,
      -0.13326956842308546,
      -0.06147407270441409,
      0.023557237412032403,
      0.023694138569517017
    ],
    "a_ego": [
      0.8053907502122412,
      0.8053907489287832,
      0.5207722234686689,
      0.1294138422030201,
      0.400975848265975,
      0.24170434512814248,
      0.3007167178485009,
      0.22906765253582384,
      0.030093905315698794,
      0.030093909132711323
    ],
    "yaw": [
      -0.526727185547358,
      -0.5746468366621827,
      -0.6011455000829179,
      -0.6137113267410825,
      -0.6230533558971517,
      -0.6214906193857743,
      -0.6160149232086891,
      -0.6137601575511777,
      -0.6090308827481841,
      -0.6016867145606274
    ],
    "yaw_diff": [
      -0.09583930222964954,
      -0.052997326841470294,
      -0.025131653316329272,
      -0.018684058312138374,
      0.0031254730227547878,
      0.01095139235417042,
      0.004509531315022741,
      0.009458549605987354,
      0.014688336375113353,
      0.014688336375113353
    ],
    "min_front_frame": [
      2,
      16.110908683586448
    ],
    "v_avg": 5.397602238838735,
    "v_std": 0.2671370525610474,
    "vy_max": 0.13591068183926458,
    "a_max": 0.8053907502122412,
    "ax_avg": 0.20000173196604712,
    "a_std": 0.26993306231725356,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f4da372227475285",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.194400289228259,
    "right_rear_min": 13.49366902146022,
    "speed_mode": "quasi_constant",
    "front_frame": [
      16.819908836673914,
      16.392055119124983,
      16.110908683586448,
      19.734861295262974,
      17.124527094666973,
      19.081662975796466,
      16.41768018747959,
      19.486456719647204,
      22.558917361548144,
      19.71249146236083
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f4da372227475285",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "24b68863c230509c": {
    "vx_ego": [
      1.747457425124755,
      2.085732288990561,
      2.247294197126495,
      2.1925192661246893,
      2.047764927704232,
      1.835956525860426,
      1.5821986358718507,
      1.367562705410577,
      1.2522217815921568,
      1.1725140386281767
    ],
    "vy_ego": [
      0.0220090515657283,
      0.009335801047624881,
      0.0008531104129695377,
      0.008287586428471605,
      0.027913161415147103,
      0.04174343122833102,
      0.0410668735452997,
      0.026738502311597134,
      0.01209470760684539,
      0.013747286874920217
    ],
    "v_ego": [
      1.7475960205306207,
      2.085753182550372,
      2.24729435905397,
      2.1925349293493035,
      2.047955161549126,
      1.8364310166462012,
      1.5827315032744913,
      1.3678240752142665,
      1.2522801891932693,
      1.172594626747274
    ],
    "ax_ego": [
      0.67648839346617,
      0.6764486591671905,
      -0.030160874134659312,
      -0.18881527092322353,
      -0.38843196868916163,
      -0.45281236824939297,
      -0.5548872114449773,
      -0.29500886174184177,
      -0.16317614690606466,
      -0.15167678190212186
    ],
    "ay_ego": [
      -0.014686065622120659,
      -0.01641483111726899,
      -0.030676801014761487,
      -0.021231654770311803,
      -0.06304232983948253,
      -0.14252747894752782,
      -0.15446939482628122,
      -0.2090878490568242,
      -0.15976058098722384,
      -0.17071630527724616
    ],
    "a_ego": [
      0.6766477865314398,
      0.6766477925551064,
      0.0430202795093899,
      0.19000523597547517,
      0.39351458632600644,
      0.47471372751876667,
      0.5759866416534158,
      0.36159086980927274,
      0.2283635219479786,
      0.22836353267476342
    ],
    "yaw": [
      -2.07879425273309,
      -2.0762386738933087,
      -2.0776978545575653,
      -2.0868111727696372,
      -2.1057813663885705,
      -2.1392273720114847,
      -2.181950042356442,
      -2.235016593702036,
      -2.2949704288776713,
      -2.3645349623967737
    ],
    "yaw_diff": [
      0.005111157679562162,
      -0.002918361328513086,
      -0.018226636424143905,
      -0.037940387237866524,
      -0.06689201124582844,
      -0.0854453406899145,
      -0.10613310269118781,
      -0.11990767035127092,
      -0.13912906703820482,
      -0.13912906703820482
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.7532995064108892,
    "v_std": 0.3751230086346398,
    "vy_max": 0.04174343122833102,
    "a_max": 0.6766477925551064,
    "ax_avg": -0.08720324313580823,
    "a_std": 0.20476931583661376,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "24b68863c230509c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.09532057145341,
    "right_rear_min": 9.406830961950805,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "24b68863c230509c",
    "pedestrians": "No"
  },
  "1d538fa6a8825de1": {
    "vx_ego": [
      5.039267367959439,
      5.497616714698693,
      5.966746688305104,
      6.443439121628511,
      6.875237209781783,
      7.220180173880549,
      7.449424459686268,
      7.635703390561097,
      7.800401877485566,
      7.916218650863401
    ],
    "vy_ego": [
      0.03374924421262682,
      0.00012036556526151543,
      -0.014934862295754137,
      0.00180849065118327,
      0.03768919960119543,
      0.02629783090887683,
      -0.018865149370465684,
      0.004848955230982721,
      0.049193936954749606,
      0.026129562555628816
    ],
    "v_ego": [
      5.039380380291387,
      5.497616716016343,
      5.966765379375304,
      6.4434393754245285,
      6.875340512769864,
      7.220228065595177,
      7.449448346987367,
      7.635704930194269,
      7.800556998940104,
      7.916261774494128
    ],
    "ax_ego": [
      0.9166981219474155,
      0.916678903167008,
      0.9598721192575557,
      0.9469750715732145,
      0.7801162060743654,
      0.5991211050092762,
      0.31813232974428557,
      0.4274270632872515,
      0.23161895593251763,
      0.23160772283551606
    ],
    "ay_ego": [
      -0.06396300748949474,
      -0.06423768320049045,
      0.014364132502710458,
      0.0840805324853563,
      0.09655993696537662,
      -0.07068032023150311,
      0.0567579360076227,
      0.18393549301948658,
      -0.04188254398687609,
      -0.04194467212980389
    ],
    "a_ego": [
      0.918926935674986,
      0.9189269238924471,
      0.9599795902156184,
      0.9507004376374903,
      0.7860694094077311,
      0.6032758955366639,
      0.3231557558335798,
      0.46532371530224603,
      0.23537520735642944,
      0.23537521704106823
    ],
    "yaw": [
      2.425513684817692,
      2.425813336709007,
      2.426265045378761,
      2.4275326760234144,
      2.4289217676096495,
      2.4314479936828715,
      2.437103717943782,
      2.441946280200876,
      2.440805600174886,
      2.441073796399489
    ],
    "yaw_diff": [
      0.0005993037826304004,
      0.0009034173395079392,
      0.0025352612893065896,
      0.00277818317247025,
      0.005052452146443898,
      0.011311448521821532,
      0.00968512451418757,
      -0.002281360051980208,
      0.0005363924492058914,
      0.0005363924492058914
    ],
    "min_front_frame": [
      0,
      18.421176699501643
    ],
    "v_avg": 6.784474248008847,
    "v_std": 0.9573190141754214,
    "vy_max": 0.049193936954749606,
    "a_max": 0.9599795902156184,
    "ax_avg": 0.6328247598828406,
    "a_std": 0.2890589521532795,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1d538fa6a8825de1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.937669690187718,
    "right_rear_min": 10.012973523421572,
    "speed_mode": "accelerating",
    "front_frame": [
      18.421176699501643,
      19.159195774156213,
      19.859626720885938,
      20.409983094510267,
      21.11001633267951,
      21.636247553980258,
      22.215055627253673,
      22.847605093658643,
      23.552482072222077,
      23.95727788912046
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1d538fa6a8825de1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ff5e13b14d735e52": {
    "vx_ego": [
      6.183120964931656,
      5.819137833553778,
      5.39922819215416,
      4.854076526688474,
      4.213612759822959,
      3.5007192795267916,
      2.7387006847854347,
      2.008624120130177,
      1.3626294722043464,
      0.7661109747769439
    ],
    "vy_ego": [
      0.046311446707040904,
      0.030305030937692656,
      0.02696338284649702,
      0.02713034120731095,
      0.015427667358965502,
      0.003926273196787733,
      -0.015579370513515878,
      -0.018394134450643196,
      0.006462742848060921,
      0.02852983098754952
    ],
    "v_ego": [
      6.18329439838291,
      5.8192167446140965,
      5.3992955183956,
      4.8541523443709576,
      4.213641003059348,
      3.5007214813052174,
      2.73874499682424,
      2.008708341235959,
      1.3626447980178165,
      0.766642013543386
    ],
    "ax_ego": [
      -0.727910387630099,
      -0.7278651092336679,
      -0.9516278663409565,
      -1.2288511528842656,
      -1.3329822911436526,
      -1.518569897659919,
      -1.529502219438749,
      -1.39094377169942,
      -1.193045170221871,
      -1.1930388065092887
    ],
    "ay_ego": [
      -0.043911387224047194,
      -0.04465554967313845,
      -0.003629817437565075,
      -0.018496700159274237,
      -0.032584719859451994,
      -0.0233268785073788,
      -0.07304124864154171,
      0.051676187999188716,
      0.044353066901891725,
      0.04452351202573862
    ],
    "a_ego": [
      0.7292336678649314,
      0.7292336630712747,
      0.9516347889664771,
      1.228990351411178,
      1.3333804980090644,
      1.5187490501527086,
      1.5312452655506155,
      1.3919033746763945,
      1.1938693281650787,
      1.1938693131830695
    ],
    "yaw": [
      1.1192834931640276,
      1.118261131869044,
      1.1167125327080663,
      1.1156084347504482,
      1.1153736177958482,
      1.114735403454814,
      1.1132659149234687,
      1.1121937025131226,
      1.1116821920484337,
      1.1118250531091716
    ],
    "yaw_diff": [
      -0.0020447225899671295,
      -0.003097198321955652,
      -0.002208195915236022,
      -0.0004696339092000734,
      -0.0012764286820683424,
      -0.0029389770626906397,
      -0.0021444248206923255,
      -0.0010230209293777826,
      0.00028572212147581766,
      0.00028572212147581766
    ],
    "min_front_frame": [
      9,
      10.030486352423397
    ],
    "v_avg": 3.6847061639749525,
    "v_std": 1.8174432766790733,
    "vy_max": 0.046311446707040904,
    "a_max": 1.5312452655506155,
    "ax_avg": -1.179433667276189,
    "a_std": 0.2771043747314514,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "ff5e13b14d735e52",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 32.0750755311386,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.537802734466318,
      21.802622932027504,
      19.813573876001563,
      17.770367132710746,
      15.894109139635802,
      14.028831329748588,
      12.499406518680745,
      11.33012770480836,
      10.500731300356673,
      10.030486352423397
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ff5e13b14d735e52",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "cfd47fe44d355d32": {
    "vx_ego": [
      8.839074082999595,
      8.808962597224914,
      8.813089044475472,
      8.920534447424686,
      9.123068460167268,
      9.35779696017866,
      9.540150520115489,
      9.691107254905388,
      9.912907988647234,
      10.178272136679611
    ],
    "vy_ego": [
      -0.021908741500817897,
      0.033001950382944845,
      0.030042424980759375,
      0.043573814810032196,
      0.037739165472183256,
      -0.04742887701918441,
      -0.054405416091993786,
      0.00611180250702148,
      0.025260600093183427,
      -0.008022425555981094
    ],
    "v_ego": [
      8.839101234724563,
      8.809024416360565,
      8.813140249261458,
      8.92064086851542,
      9.123146517156748,
      9.357917153207987,
      9.540305650017718,
      9.691109182142657,
      9.912940173798248,
      10.178275298282138
    ],
    "ax_ego": [
      -0.06426900119551233,
      -0.05559158243112472,
      0.07444167416612385,
      0.3550558306519057,
      0.45613332761415315,
      0.4830094377769124,
      0.24691742578988402,
      0.35674581670820077,
      0.530734182802086,
      0.5306878560915909
    ],
    "ay_ego": [
      -0.33946511155124615,
      -0.3409936222055246,
      -0.3365748198907353,
      0.010717946439322251,
      -0.18090244874391864,
      -0.056293794869397784,
      0.09764209804977772,
      -0.018216450258705247,
      -0.046322844814508796,
      -0.04685060107909786
    ],
    "a_ego": [
      0.3454953928421749,
      0.34549540434286613,
      0.34470882239527356,
      0.3552175632704427,
      0.4906967582141811,
      0.486278838036745,
      0.2655224933414593,
      0.3572106056639823,
      0.532751892297256,
      0.5327518929338139
    ],
    "yaw": [
      -0.4715334992442538,
      -0.4970367140112731,
      -0.5159601860294363,
      -0.52671624806759,
      -0.5307911445980497,
      -0.527990585676589,
      -0.5261639632239721,
      -0.5303986189225409,
      -0.5340062513765591,
      -0.5330118195186879
    ],
    "yaw_diff": [
      -0.051006429534038555,
      -0.03784694403632638,
      -0.021512124076307426,
      -0.008149793060919341,
      0.005601117842921388,
      0.0036532449052337768,
      -0.008469311397137691,
      -0.007215264908036367,
      0.0019888637157423616,
      0.0019888637157423616
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.318560074346752,
    "v_std": 0.47152874827941443,
    "vy_max": 0.054405416091993786,
    "a_max": 0.5327518929338139,
    "ax_avg": 0.29138649679742196,
    "a_std": 0.09028855525102358,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "cfd47fe44d355d32",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 30.284531350516165,
    "right_rear_min": 43.09860855685211,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "cfd47fe44d355d32",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "91d37a0aabe95056": {
    "vx_ego": [
      7.425544442443686,
      7.1988868888004145,
      7.078273812271579,
      7.048686474355209,
      7.0615555550167795,
      7.117683587038157,
      7.208349900490911,
      7.332356664900795,
      7.459345694080575,
      7.611172904297478
    ],
    "vy_ego": [
      0.009508461283286529,
      -0.03944091941719252,
      -0.03882087072576512,
      -0.05258396024026579,
      -0.055757740753491714,
      -0.02738557461276958,
      0.00499673549254398,
      0.01264366172528364,
      0.00528800827583864,
      0.02029893915883768
    ],
    "v_ego": [
      7.425550530266579,
      7.198994931507244,
      7.078380268217691,
      7.048882612629652,
      7.061775681954382,
      7.117736270394488,
      7.20835163232711,
      7.3323675660387435,
      7.459347568442561,
      7.611199972806067
    ],
    "ax_ego": [
      -0.4889277947363572,
      -0.42063612866618383,
      -0.07203213895890015,
      -0.05108870645697172,
      0.08248466352836226,
      0.13851397800636334,
      0.21768905630684643,
      0.28440332086762354,
      0.22254393558320365,
      0.38847445440695366
    ],
    "ay_ego": [
      -1.0341232731866363,
      -1.0637323815256254,
      -1.1103721220276261,
      -1.364613673300885,
      -1.384836888511282,
      -1.6542628952167777,
      -1.635672622939172,
      -1.670707370123389,
      -1.5804336450724288,
      -1.5480258100860795
    ],
    "a_ego": [
      1.1438799467653937,
      1.143879946605173,
      1.1127061060401924,
      1.3655696735381835,
      1.3872912194269076,
      1.6600517608177594,
      1.6500949835292744,
      1.6947413860247655,
      1.5960251594952333,
      1.5960251597075288
    ],
    "yaw": [
      0.9145791910461459,
      0.849496010593923,
      0.772839306566251,
      0.6872104363505621,
      0.5900791995165077,
      0.47891471943284103,
      0.35954709950763586,
      0.24479569719588737,
      0.13611364667192266,
      0.030134849387593317
    ],
    "yaw_diff": [
      -0.1301663609044459,
      -0.153313408055344,
      -0.17125774043137776,
      -0.1942624736681089,
      -0.22232896016733328,
      -0.23873523985041034,
      -0.22950280462349698,
      -0.21736410104792941,
      -0.2119575945686587,
      -0.2119575945686587
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.254258703458452,
    "v_std": 0.18408492368546678,
    "vy_max": 0.055757740753491714,
    "a_max": 1.6947413860247655,
    "ax_avg": 0.030142463988094004,
    "a_std": 0.2228698621513086,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "91d37a0aabe95056",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "91d37a0aabe95056",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "dbfcc3b5aa945597": {
    "vx_ego": [
      6.891723142564462,
      6.874223792536794,
      6.828429356146916,
      6.767032335294703,
      6.743744137240294,
      6.754715884440726,
      6.7743636460943035,
      6.79588091796527,
      6.822692996734721,
      6.851519393749701
    ],
    "vy_ego": [
      0.0025817292790994983,
      -0.0007664224085983662,
      -0.017196314281199054,
      -0.02061286617036817,
      -0.022669690499520723,
      -0.01884915943495935,
      -0.026472467709187875,
      -0.007636544718188976,
      -0.020704014901221868,
      -0.006536888205114444
    ],
    "v_ego": [
      6.891723626139157,
      6.8742238352618585,
      6.828451009205078,
      6.767063729356761,
      6.743782240214328,
      6.754742183853302,
      6.774415369688422,
      6.795885208564056,
      6.822724410668076,
      6.851522512101647
    ],
    "ax_ego": [
      -0.03734964393969567,
      -0.0325751103390368,
      -0.15166519964091033,
      -0.0949751562207736,
      0.001793940883511631,
      0.04289021274336675,
      0.036291785194452884,
      0.04976877242627267,
      0.05745047557645526,
      0.057605906978574484
    ],
    "ay_ego": [
      -0.2594083488026814,
      -0.2600510563800244,
      -0.17301591508778075,
      -0.046356387176434186,
      0.03203230688343349,
      0.14012246071639253,
      0.08430306566616777,
      -0.032281900118947854,
      -0.03419398802716142,
      -0.03393147608456726
    ],
    "a_ego": [
      0.2620833595079162,
      0.26208336409998834,
      0.23008007227002372,
      0.1056844119594362,
      0.032082501588373606,
      0.1465396681666375,
      0.09178289902435259,
      0.05932159627073301,
      0.06685645788674824,
      0.06685645509673495
    ],
    "yaw": [
      -0.3029751472391775,
      -0.321357334429613,
      -0.3347323172710511,
      -0.3423054237266995,
      -0.34253145446846983,
      -0.3367162833494226,
      -0.32729635897494663,
      -0.32815589768507714,
      -0.32867753808145916,
      -0.3332406568920355
    ],
    "yaw_diff": [
      -0.03676437438087099,
      -0.026749965682876242,
      -0.015146212911296697,
      -0.0004520614835407111,
      0.011630342238094449,
      0.01883984874895195,
      -0.001719077420261006,
      -0.0010432807927640564,
      -0.009126237621152722,
      -0.009126237621152722
    ],
    "min_front_frame": [
      1,
      29.402028736614014
    ],
    "v_avg": 6.810453412505268,
    "v_std": 0.04875971716449912,
    "vy_max": 0.026472467709187875,
    "a_max": 0.26208336409998834,
    "ax_avg": -0.007076401633778267,
    "a_std": 0.08350824696249386,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "dbfcc3b5aa945597",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 39.27970004261363,
    "speed_mode": "quasi_constant",
    "front_frame": [
      29.41502095896753,
      29.402028736614014,
      29.453942357889886,
      29.50057276779153,
      29.659720733673595,
      29.85923383974465,
      30.079411027225348,
      30.466883179197296,
      30.716309160408244,
      30.96672357841633
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "dbfcc3b5aa945597",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "54e57dfcbf295398": {
    "vx_ego": [
      0.9337952863116814,
      0.9632647374267675,
      0.972647806829267,
      0.9877892933750327,
      1.0396005449092738,
      1.1225143783482328,
      1.2106855053315764,
      1.2722455637058971,
      1.332129730236514,
      1.4019683676431498
    ],
    "vy_ego": [
      -0.03272847806864779,
      -0.0167444102442006,
      -0.0009131391757096624,
      0.023856092477888162,
      0.03126833394170387,
      0.003421701489927362,
      -0.02585096383951766,
      -0.04119450451663223,
      -0.01878651384742862,
      0.041880745239545755
    ],
    "v_ego": [
      0.9343686585147241,
      0.9634102602963523,
      0.9726482354648762,
      0.988077325544241,
      1.040070671484947,
      1.1225195934323844,
      1.210961463115737,
      1.272912314957989,
      1.332262193144633,
      1.4025937760783833
    ],
    "ax_ego": [
      0.058932510442691724,
      0.058926511410691274,
      -0.02139193771583415,
      0.081953049488604,
      0.1251081849372337,
      0.2065340842116238,
      0.14620380842137096,
      0.0999334429317173,
      0.13968793928352805,
      0.13967250161738737
    ],
    "ay_ego": [
      0.03160201926712755,
      0.03161321526631582,
      0.031963454140915296,
      0.06778450034713879,
      -0.03352879216343528,
      -0.07724364432208775,
      -0.03601858030981417,
      -0.029091160377619156,
      0.12097701418405736,
      0.12099482575570004
    ],
    "a_ego": [
      0.06687098330993697,
      0.06687098867602267,
      0.03846137542855849,
      0.10635337703990802,
      0.12952311701865388,
      0.2205060283286861,
      0.1505752028869544,
      0.10408164405073142,
      0.18479220314225445,
      0.18479219563529
    ],
    "yaw": [
      -1.539247212568383,
      -1.5394372518622448,
      -1.5393729395414537,
      -1.5391995104560414,
      -1.5380573048595756,
      -1.5379139419318553,
      -1.5370987843089385,
      -1.5378475469051922,
      -1.5374131763282577,
      -1.5375406761957957
    ],
    "yaw_diff": [
      -0.00038007858772370895,
      0.00012862464158214237,
      0.00034685817082458215,
      0.002284411192931657,
      0.00028672585544065043,
      0.001630315245833458,
      -0.001497525192507343,
      0.0008687411538690348,
      -0.0002549997350760336,
      -0.0002549997350760336
    ],
    "min_front_frame": [
      5,
      11.33070709304481
    ],
    "v_avg": 1.1239824492034267,
    "v_std": 0.16152478686424038,
    "vy_max": 0.041880745239545755,
    "a_max": 0.2205060283286861,
    "ax_avg": 0.1035560095029014,
    "a_std": 0.05654868543094669,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "54e57dfcbf295398",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.713394720178459,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      12.185590645274884,
      12.029278497530592,
      11.819463170394036,
      11.592326033992963,
      11.420993246422302,
      11.33070709304481,
      11.412827779103685,
      11.68538176652538,
      12.288956815055265,
      13.280174427815153
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "54e57dfcbf295398",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "75aa8f2b9b6250e4": {
    "vx_ego": [
      10.225166327616616,
      10.284715533751154,
      10.240036400126385,
      10.081173544515256,
      9.933650154715924,
      9.803948601957579,
      9.664844642928315,
      9.565257889393825,
      9.450748827174223,
      9.279572905460597
    ],
    "vy_ego": [
      0.2621612375106226,
      0.024538161744567688,
      0.0710317256567965,
      0.08725569118145948,
      0.11451118426049955,
      -0.04793330574299759,
      0.03682544272699051,
      0.001088604637332402,
      -0.03376980734915058,
      0.047020627460417685
    ],
    "v_ego": [
      10.228526528385101,
      10.284744806341287,
      10.240282758887233,
      10.08155115001049,
      9.934310152577703,
      9.804065778625999,
      9.664914799685105,
      9.565257951339884,
      9.45080916081916,
      9.279692034069082
    ],
    "ax_ego": [
      0.11463375815026933,
      0.13692257849048556,
      -0.2924281554941385,
      -0.3327362823904944,
      -0.25527720312654995,
      -0.2617243653121361,
      -0.2924287355064253,
      -0.1015280901188465,
      -0.35644535789524306,
      -0.3289648160692898
    ],
    "ay_ego": [
      -0.9556683859762296,
      -0.9527303754148391,
      -1.3424849942532515,
      -1.049802953453972,
      -0.3527954258144099,
      0.20014314211685438,
      0.5672444758417365,
      0.9249162457256643,
      0.7967669597142055,
      0.8085004847058468
    ],
    "a_ego": [
      0.9625190712199245,
      0.9625190703246266,
      1.373965132716568,
      1.1012718441419125,
      0.4354664888503875,
      0.3294797728760414,
      0.6381856005292295,
      0.9304719311674254,
      0.8728636097680361,
      0.8728636113283053
    ],
    "yaw": [
      2.3447260894571818,
      2.321368489810547,
      2.261257213680909,
      2.200846957594454,
      2.1630523657232796,
      2.1756445384843754,
      2.186641097749628,
      2.2292547058055368,
      2.278017121904865,
      2.312251741600786
    ],
    "yaw_diff": [
      -0.04671519929326973,
      -0.1202225522592757,
      -0.12082051217291045,
      -0.07558918374234835,
      0.02518434552219162,
      0.021993118530504674,
      0.08522721611181794,
      0.0975248321986566,
      0.0684692393918418,
      0.0684692393918418
    ],
    "min_front_frame": [
      4,
      20.540999355671104
    ],
    "v_avg": 9.853415512074104,
    "v_std": 0.3387126379871832,
    "vy_max": 0.2621612375106226,
    "a_max": 1.373965132716568,
    "ax_avg": -0.19699766692723686,
    "a_std": 0.2929372614007002,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "75aa8f2b9b6250e4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      65.51285683863935,
      60.265551382787514,
      40.26491358758068,
      25.50327563610059,
      20.540999355671104,
      25.42886513240104,
      20.63670110335899,
      24.241502908312555,
      34.50104923546166,
      30.231356486728316
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "75aa8f2b9b6250e4",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "60681597a59d5cf9": {
    "vx_ego": [
      4.821744437833362,
      4.581904509709087,
      4.389154741743306,
      4.235873670451958,
      4.142187668135452,
      4.164897995423297,
      4.289118435765644,
      4.4937513497505375,
      4.7828085307634876,
      5.104008158722154
    ],
    "vy_ego": [
      0.025049981377638086,
      -0.09072287348439112,
      -0.0870128877712184,
      -0.03864921797741139,
      -0.029258883661435364,
      -0.017604858006459168,
      0.03433285290837129,
      0.08166737792836543,
      0.0943046332108628,
      0.022555425856297218
    ],
    "v_ego": [
      4.821809507367954,
      4.582802589667783,
      4.390017151402263,
      4.2360499895632024,
      4.1422910038198095,
      4.164935202774039,
      4.289255844644098,
      4.494493381239144,
      4.7837381623359185,
      5.104057996490427
    ],
    "ax_ego": [
      -0.5386157177510422,
      -0.43107283296670135,
      -0.37622513332635843,
      -0.2719115000173533,
      -0.13004626650402296,
      0.20520055061573683,
      0.28536875761423575,
      0.5695003369174554,
      0.6122945793213497,
      0.6893742977876245
    ],
    "ay_ego": [
      -1.1034770303197101,
      -1.149758521619716,
      -1.3418031360425449,
      -1.4396379133972799,
      -1.3951007201462042,
      -1.4010436312739498,
      -1.2598968334442486,
      -1.2628008490015676,
      -0.9733045729922853,
      -0.920320336045343
    ],
    "a_ego": [
      1.2279122313307562,
      1.227912230315788,
      1.393549786279645,
      1.4650915280393102,
      1.4011488324885737,
      1.4159910037518944,
      1.2918108835062263,
      1.3852785344428662,
      1.1498810563158275,
      1.1498810561918105
    ],
    "yaw": [
      -1.6300558630546296,
      -1.725439879793258,
      -1.8651199148554505,
      -2.037670686248757,
      -2.209394117105168,
      -2.381814150774691,
      -2.5514736005300884,
      -2.7068128316552675,
      -2.8300479909522895,
      -2.9114127748977516
    ],
    "yaw_diff": [
      -0.1907680334772568,
      -0.279360070124385,
      -0.34510154278661265,
      -0.3434468617128221,
      -0.34484006733904593,
      -0.3393188995107952,
      -0.3106784622503582,
      -0.246470318594044,
      -0.1627295678909242,
      -0.1627295678909242
    ],
    "min_front_frame": [
      0,
      75.76489248475247
    ],
    "v_avg": 4.500945082930464,
    "v_std": 0.3036833062765975,
    "vy_max": 0.0943046332108628,
    "a_max": 1.4650915280393102,
    "ax_avg": 0.06138670716909239,
    "a_std": 0.1101452026950805,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "60681597a59d5cf9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      75.76489248475247,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "60681597a59d5cf9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "098c8aa8816b5805": {
    "vx_ego": [
      6.1507733655643655,
      6.407418954536348,
      6.852107077324351,
      7.3218146213583655,
      7.790966125162749,
      8.218560732233541,
      8.609638388070397,
      8.974643487838701,
      9.304323105117122,
      9.630783872497078
    ],
    "vy_ego": [
      -0.03777018775850127,
      0.02509268826291211,
      -0.06465670351675268,
      -0.07718016800934624,
      -0.10590430006915641,
      -0.0403338324263407,
      0.03877188609617388,
      0.09095961389477747,
      0.10951992158938584,
      0.11426411241579348
    ],
    "v_ego": [
      6.150889332577795,
      6.407468088251078,
      6.85241212190482,
      7.322221392983901,
      7.791685882028779,
      8.218659703835494,
      8.609725688573759,
      8.975104421964431,
      9.304967654841217,
      9.631461690010296
    ],
    "ax_ego": [
      0.2154559425985862,
      0.8049585138895051,
      0.9602299178801457,
      0.9371400984304363,
      0.9373984168607394,
      0.767745020634981,
      0.7946669864170794,
      0.6654328296815419,
      0.6533532275641032,
      0.6534146881786491
    ],
    "ay_ego": [
      2.8227631942746205,
      2.7141214302890764,
      2.4254113338416508,
      2.0884678397242804,
      1.3206644607316036,
      0.523184710064698,
      0.09864228062066888,
      0.09930860689831905,
      -0.0303737510649858,
      -0.029021577063234882
    ],
    "a_ego": [
      2.83097391619077,
      2.83097392206951,
      2.6085746363712974,
      2.2890892253577206,
      1.6195278354423297,
      0.9290611699749858,
      0.8007658327046987,
      0.6728023857137166,
      0.6540588694622133,
      0.6540588709457571
    ],
    "yaw": [
      0.11658471632935438,
      0.3287221203892446,
      0.5359289899527161,
      0.6965164002255242,
      0.8129761055561747,
      0.862230200123846,
      0.8713079459203646,
      0.8710014163217001,
      0.8708562907665822,
      0.8687867980549524
    ],
    "yaw_diff": [
      0.4242748081197804,
      0.414413739126943,
      0.3211748205456162,
      0.23291941066130106,
      0.09850818913534254,
      0.01815549159303731,
      -0.0006130591973290134,
      -0.0002902511102358396,
      -0.0041389854232596335,
      -0.0041389854232596335
    ],
    "min_front_frame": [
      3,
      31.744194449267972
    ],
    "v_avg": 7.926459597697158,
    "v_std": 1.160001583348326,
    "vy_max": 0.11426411241579348,
    "a_max": 2.83097392206951,
    "ax_avg": 0.7389795642135767,
    "a_std": 0.9088491626394208,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "098c8aa8816b5805",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.16794032015562,
    "right_rear_min": 17.73857928334628,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      31.744194449267972,
      33.11538860420616,
      34.6486468681507,
      36.01620219168662,
      37.462555201638615,
      38.78148106590574,
      40.0589972975651
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "098c8aa8816b5805",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "e8d654d610fa547f": {
    "vx_ego": [
      5.477502465052706,
      5.674893032115424,
      5.873626644042975,
      6.036828985021679,
      6.239186145100684,
      6.472771196900162,
      6.741535607686323,
      7.088343899068606,
      7.477120231971408,
      7.875303074132581
    ],
    "vy_ego": [
      -0.04243643004057329,
      -0.12937952685863463,
      -0.1509747705057296,
      -0.050972056683527445,
      -0.05627939325892939,
      -0.043083007005360496,
      -0.015918796547772285,
      -0.004152460808291014,
      -0.017423680965575006,
      -0.009225759739470707
    ],
    "v_ego": [
      5.477666848691427,
      5.676367675540614,
      5.87556663947749,
      6.037044172851514,
      6.239439968724912,
      6.472914576364574,
      6.741554402197325,
      7.088345115356186,
      7.47714053285175,
      7.8753084780270575
    ],
    "ax_ego": [
      0.3435128690172832,
      0.48451332971655214,
      0.3350735502174709,
      0.3233455882106782,
      0.48888018071401296,
      0.44672993282555096,
      0.6282550785159282,
      0.7589046066618212,
      0.796376121471932,
      0.796405629307019
    ],
    "ay_ego": [
      1.1930675287749213,
      1.1430914516204584,
      0.634576966155122,
      0.3140571862628653,
      0.16092030456904435,
      0.08986522194845803,
      -0.009128547303282941,
      0.018685205083222023,
      0.031386918493875815,
      0.03062892805971895
    ],
    "a_ego": [
      1.241535830895582,
      1.2415358365511595,
      0.7176086747176199,
      0.45075967616753115,
      0.5146835683384112,
      0.45567904384354446,
      0.628321393919484,
      0.7591345986724196,
      0.7969943949007539,
      0.7969943899589234
    ],
    "yaw": [
      0.604710319001821,
      0.7252754176041452,
      0.8056769576701656,
      0.8287014360549585,
      0.8489795230951221,
      0.8567609760045852,
      0.8557008986352064,
      0.8543416146749858,
      0.8578850409068126,
      0.8588368177828796
    ],
    "yaw_diff": [
      0.24113019720464823,
      0.1608030801320408,
      0.04604895676958587,
      0.0405561740803273,
      0.015562905818926165,
      -0.002120154738757707,
      -0.0027185679204411173,
      0.007086852463653592,
      0.001903553752133913,
      0.001903553752133913
    ],
    "min_front_frame": [
      1,
      17.807944141639698
    ],
    "v_avg": 6.496134841008285,
    "v_std": 0.7514673437996912,
    "vy_max": 0.1509747705057296,
    "a_max": 1.2415358365511595,
    "ax_avg": 0.5401996886658249,
    "a_std": 0.2709331350088258,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "e8d654d610fa547f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.48828042767656,
    "right_rear_min": 9.465431236195272,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      17.807944141639698,
      18.07334383874604,
      18.613564707787944,
      19.031919774438183,
      19.733907223274393,
      20.35243542215112,
      21.034556835203503,
      21.56574294153182,
      22.242604503905905
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e8d654d610fa547f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "46f4d9ea67c75a76": {
    "vx_ego": [
      1.1094104482779008,
      0.7690853283298281,
      0.4682253946358075,
      0.1922718887063657,
      0.000299464157659449,
      -0.03764016399763749,
      -0.02261287241680696,
      -0.013221609301290353,
      -0.008354700001801756,
      -0.004913849472638573
    ],
    "vy_ego": [
      0.006031421330755793,
      0.00451377166444511,
      -0.0018065122311935189,
      0.012328581017452642,
      0.013332661712234238,
      -0.004057999965698771,
      -0.002229722119512543,
      -0.0013081824309920083,
      -0.0008766693942001791,
      -0.0007258504073995745
    ],
    "v_ego": [
      1.1094268433706846,
      0.7690985739076872,
      0.4682288795752555,
      0.19266674102350143,
      0.013336024411892754,
      0.03785827927271202,
      0.022722536382829988,
      0.013286169266900212,
      0.008400569108508874,
      0.004967169762920582
    ],
    "ax_ego": [
      -0.6806518053820546,
      -0.6806522690713035,
      -0.5227924193985857,
      -0.5810156363731058,
      -0.18688911238483188,
      0.03512969293497861,
      0.024978998008614004,
      0.01258575614362805,
      0.006881889153486663,
      0.0068819195464697
    ],
    "ay_ego": [
      -0.002771859546910227,
      -0.002655287131097306,
      -0.021832097717871313,
      0.07864772796155159,
      -0.07460925876962653,
      0.005054648645344757,
      0.00226349635262052,
      0.0014257347770582434,
      0.00030039894492809877,
      0.0002995290498463191
    ],
    "a_ego": [
      0.6806574493643613,
      0.6806574483113094,
      0.5232480810011532,
      0.5863144504645603,
      0.20123141360668173,
      0.035491475013498266,
      0.02508134281199212,
      0.012666253485596463,
      0.006888442338220688,
      0.006888434821915901
    ],
    "yaw": [
      -2.0237122408745383,
      -2.02354097287048,
      -2.023209650583155,
      -2.0230057749481514,
      -2.022888036650175,
      -2.022931301635933,
      -2.022974885448975,
      -2.0230217644493895,
      -2.023023691536727,
      -2.022897518314371
    ],
    "yaw_diff": [
      0.0003425360081168449,
      0.0006626445746498177,
      0.0004077512700071395,
      0.00023547659595291037,
      -8.652997151603614e-05,
      -8.716762608429462e-05,
      -9.375800082889185e-05,
      -3.854174674522426e-06,
      0.0002523464447117263,
      0.0002523464447117263
    ],
    "min_front_frame": [
      4,
      10.513108299944232
    ],
    "v_avg": 0.2639991786082893,
    "v_std": 0.37204069777801796,
    "vy_max": 0.013332661712234238,
    "a_max": 0.6806574493643613,
    "ax_avg": -0.2565542986822705,
    "a_std": 0.28731576507168116,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "46f4d9ea67c75a76",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.821543580624274,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.489049426879435,
      11.011929601424022,
      10.694036049719697,
      10.554933873610572,
      10.513108299944232,
      10.55009621750441,
      10.573779382172066,
      10.548378043684064,
      10.55188276479121,
      10.531523691073346
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "46f4d9ea67c75a76",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2c1f43c6b93c5952": {
    "vx_ego": [
      7.073708026341,
      7.313449061906913,
      7.455049834161884,
      7.593719775159087,
      7.755256620479061,
      7.781983521196362,
      7.712315648654373,
      7.576518806340497,
      7.416004358129151,
      7.261713877973263
    ],
    "vy_ego": [
      0.04502685106017923,
      0.05439765637372185,
      -0.005113054679786622,
      -0.09313079276080227,
      -0.155370203253959,
      -0.15417716881477928,
      -0.11004369274882153,
      -0.05319025755488127,
      -0.003172183743358925,
      0.02206904915170327
    ],
    "v_ego": [
      7.073851331434488,
      7.313651364819495,
      7.455051587558955,
      7.594290840374922,
      7.756812821613235,
      7.783510655453326,
      7.713100691602109,
      7.576705512709991,
      7.416005036577326,
      7.2617474128807284
    ],
    "ax_ego": [
      0.4797511445693473,
      0.4815148958858073,
      0.08559393700439026,
      0.468312190694515,
      0.17807237432472378,
      -0.06921101002580925,
      -0.20973408167683447,
      -0.33344368149726633,
      -0.30857949057585854,
      -0.3085811638926781
    ],
    "ay_ego": [
      -0.15302075574814802,
      -0.14737677104440547,
      -0.2370180508705079,
      -0.23103715075855377,
      -0.005918964212673669,
      0.10130114709116377,
      0.05847292014396796,
      0.16971144506589125,
      0.04999372694355442,
      0.04998332707286299
    ],
    "a_ego": [
      0.5035638116518433,
      0.5035638068838892,
      0.25199975890934145,
      0.5222015635592511,
      0.178170717669867,
      0.12268694433711463,
      0.2177325593635181,
      0.374147916360366,
      0.31260306258538645,
      0.3126030513200929
    ],
    "yaw": [
      2.579408122081259,
      2.567665453460886,
      2.5627435803768144,
      2.558865314569719,
      2.559254429983331,
      2.56215877059541,
      2.5616191550892573,
      2.5616443061223793,
      2.5622993327715426,
      2.562265680199862
    ],
    "yaw_diff": [
      -0.02348533724074553,
      -0.00984374616814332,
      -0.007756531614190543,
      0.0007782308272235028,
      0.005808681224158008,
      -0.0010792310123051152,
      5.030206624390132e-05,
      0.0013100532983267854,
      -6.730514336172888e-05,
      -6.730514336172888e-05
    ],
    "min_front_frame": [
      2,
      43.57616200637654
    ],
    "v_avg": 7.494472725502457,
    "v_std": 0.2209932856380462,
    "vy_max": 0.155370203253959,
    "a_max": 0.5222015635592511,
    "ax_avg": 0.04636951148103367,
    "a_std": 0.13581729478127794,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2c1f43c6b93c5952",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      50.8251471369881,
      47.1898087537856,
      43.57616200637654,
      54.56047974046396,
      -1,
      -1,
      -1,
      -1,
      67.65735957303005,
      67.0848910268447
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2c1f43c6b93c5952",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5167871fd80b575d": {
    "vx_ego": [
      6.831136044046211,
      6.5821053085462,
      6.320897799298797,
      6.02018670950252,
      5.7038971434665084,
      5.436204281602073,
      5.171901189068565,
      4.872077453860342,
      4.566168611994145,
      4.254007967867638
    ],
    "vy_ego": [
      -0.04015419680736754,
      -0.011631471557542294,
      0.004112384386383283,
      -0.004300682604861938,
      -0.01858825732156233,
      -0.02969921294737543,
      -0.025701031851340206,
      -0.021639107647943856,
      -0.008248529868597476,
      0.01804980674901091
    ],
    "v_ego": [
      6.83125405850116,
      6.582115585730978,
      6.32089913705999,
      6.02018824565658,
      5.703927431739963,
      5.436285407753939,
      5.171965047496654,
      4.872125508173417,
      4.566176062243498,
      4.254046260468382
    ],
    "ax_ego": [
      -0.5016096737007927,
      -0.496626474605629,
      -0.5488680509860521,
      -0.6538505360437086,
      -0.6123713532712398,
      -0.4594213697482843,
      -0.5992364134233732,
      -0.6006707563045385,
      -0.6243284682885499,
      -0.6241204323188003
    ],
    "ay_ego": [
      -0.2261996114060478,
      -0.23694023319147028,
      -0.19807946264250034,
      -0.21522106119434545,
      -0.139042906471709,
      -0.1324179705934561,
      -0.06312566187796786,
      -0.14073135998581165,
      -0.021256746283662975,
      -0.02667529871950347
    ],
    "a_ego": [
      0.5502531498778201,
      0.5502531502718033,
      0.5835165900931774,
      0.6883608273763587,
      0.6279582821711567,
      0.47812395246157574,
      0.6025521789521961,
      0.6169365227986768,
      0.6246902316973548,
      0.6246902317145522
    ],
    "yaw": [
      -1.8335260513688225,
      -1.8550444177889975,
      -1.8743219513678904,
      -1.8896704864878622,
      -1.902352616351578,
      -1.9125768038127045,
      -1.9225144829303606,
      -1.933471030424586,
      -1.9448827422980672,
      -1.9535631430201508
    ],
    "yaw_diff": [
      -0.043036732840350034,
      -0.03855506715778567,
      -0.030697070239943614,
      -0.025364259727431726,
      -0.02044837492225282,
      -0.01987535823531239,
      -0.02191309498845051,
      -0.022823423746962668,
      -0.017360801444167073,
      -0.017360801444167073
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.575898274482457,
    "v_std": 0.8247414355190393,
    "vy_max": 0.04015419680736754,
    "a_max": 0.6883608273763587,
    "ax_avg": -0.572110352869097,
    "a_std": 0.05468042501373642,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5167871fd80b575d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5167871fd80b575d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8c1e2438ad5f514a": {
    "vx_ego": [
      8.451633255267758,
      8.660501126891495,
      8.938060679146785,
      9.25755626183058,
      9.61688954317945,
      9.979568894976836,
      10.367393972917549,
      10.69971810576949,
      10.905646737170445,
      11.128461241004276
    ],
    "vy_ego": [
      -0.059089401451798196,
      -0.021893035162425356,
      -0.05178544164699428,
      -0.08954201187395405,
      -0.12870177390656945,
      -0.1323764493382944,
      -0.1068050129620115,
      -0.14304840526246343,
      -0.12165541033706173,
      -0.0704790846117691
    ],
    "v_ego": [
      8.451839813845966,
      8.66052879874419,
      8.938210695439913,
      9.257989291031235,
      9.617750705457121,
      9.980446826366473,
      10.367944111562375,
      10.700674296004882,
      10.906325265405423,
      11.128684418829664
    ],
    "ax_ego": [
      0.2960879124262362,
      0.5558948046325485,
      0.5730543121886178,
      0.7503840977192344,
      0.7502161380586334,
      0.7661231483048777,
      0.8310671592085673,
      0.5524101257052483,
      0.337456571583286,
      0.5916774509489366
    ],
    "ay_ego": [
      2.167872356552532,
      2.1162040454220437,
      2.123559283397176,
      2.2824761723531846,
      2.3971510065199593,
      2.417696556264932,
      2.2741080131829676,
      2.2547874894269735,
      2.4395209333295065,
      2.3906185663066113
    ],
    "a_ego": [
      2.1879987674104284,
      2.187998765008354,
      2.1995216013534167,
      2.402659728607019,
      2.5118035754937655,
      2.536178486728387,
      2.4212062858703267,
      2.3214701310717056,
      2.462750357193683,
      2.4627503599697858
    ],
    "yaw": [
      0.4187559933712398,
      0.5398971991077178,
      0.6636241251353004,
      0.7889896813177815,
      0.9169313607806198,
      1.0400256838034347,
      1.1527775696455866,
      1.2632276347593523,
      1.369520042686401,
      1.474687406679992
    ],
    "yaw_diff": [
      0.24228241147295604,
      0.24745385205516524,
      0.25073111236496204,
      0.2558833589256766,
      0.24618864604562996,
      0.2255037716843038,
      0.2209001302275313,
      0.21258481585409728,
      0.2103347279871821,
      0.2103347279871821
    ],
    "min_front_frame": [
      9,
      29.622666517975496
    ],
    "v_avg": 9.801039422268724,
    "v_std": 0.9133063318345694,
    "vy_max": 0.14304840526246343,
    "a_max": 2.536178486728387,
    "ax_avg": 0.6004371720776186,
    "a_std": 0.1289500942696588,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "8c1e2438ad5f514a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.312760640398226,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      29.622666517975496
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8c1e2438ad5f514a",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "25a3a5bc491d521b": {
    "vx_ego": [
      2.7231970770015415,
      2.445107430086551,
      2.120519260670715,
      1.7827412570744843,
      1.4619079779302033,
      1.2258940978741502,
      1.0068264465986851,
      0.7182929527341175,
      0.44449745097012544,
      0.17068599126950457
    ],
    "vy_ego": [
      -0.01135699686603231,
      0.0016933959668377074,
      0.019759500849054645,
      0.031210524606589685,
      0.010789465801718356,
      -0.015169551014201033,
      -0.011635694657393503,
      -0.012453462937654036,
      -0.015164323047602096,
      -0.0015908394002770443
    ],
    "v_ego": [
      2.7232207588749673,
      2.445108016479918,
      2.1206113205274746,
      1.7830144381136488,
      1.4619477926753275,
      1.2259879503815072,
      1.0068936800679082,
      0.7184009010898,
      0.4447560461786114,
      0.17069340463430582
    ],
    "ax_ego": [
      -0.556185452364236,
      -0.5561527660909333,
      -0.7422434161168397,
      -0.60902468234277,
      -0.6743622596930019,
      -0.26968313751474365,
      -0.6065669054712102,
      -0.5475614898821408,
      -0.5476233219938234,
      -0.5476267467800506
    ],
    "ay_ego": [
      0.031180677554105807,
      0.031758426077472895,
      0.052919230480850066,
      0.002381296493374818,
      -0.08127593230089558,
      -0.021209124144889624,
      0.03650055323394924,
      -0.038021376651412475,
      0.02710375925661726,
      0.027034452235694145
    ],
    "a_ego": [
      0.5570587869106303,
      0.5570587912038681,
      0.7441274982981623,
      0.6090293377791428,
      0.6792423974323389,
      0.27051584354116764,
      0.6076641351925457,
      0.5488799598130891,
      0.5482936408142915,
      0.5482936397557295
    ],
    "yaw": [
      2.5431320355577482,
      2.5441708225524935,
      2.5455165320592883,
      2.5467434735770857,
      2.5471711953580916,
      2.5474323449243093,
      2.5476818086175,
      2.54819346391487,
      2.5481615645524593,
      2.548035008197945
    ],
    "yaw_diff": [
      0.0020775739894904888,
      0.002691419013589602,
      0.002453883035594906,
      0.0008554435620116152,
      0.0005222991324353998,
      0.0004989273863813537,
      0.0010233105947401455,
      -6.379872482131788e-05,
      -0.0002531127090286134,
      -0.0002531127090286134
    ],
    "min_front_frame": [
      9,
      10.06257958783697
    ],
    "v_avg": 1.410063430902347,
    "v_std": 0.8114829204022886,
    "vy_max": 0.031210524606589685,
    "a_max": 0.7441274982981623,
    "ax_avg": -0.565703017824975,
    "a_std": 0.11684230522130992,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "25a3a5bc491d521b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.636426358431999,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.084223930756844,
      13.96051672346641,
      12.925633684861706,
      12.048573641548243,
      11.385124861396237,
      10.979913087080103,
      10.65741020533192,
      10.42169684845259,
      10.184836219836573,
      10.06257958783697
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "25a3a5bc491d521b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "262333f372975eef": {
    "vx_ego": [
      4.619846885945581,
      5.329811210079869,
      5.87436743218067,
      6.206875803179372,
      6.536428887695349,
      6.79992809527712,
      7.026982591683218,
      7.1429431702546555,
      7.113203430247225,
      7.116326046558756
    ],
    "vy_ego": [
      -0.14735123614741852,
      -0.04973201471329647,
      -0.08638355179758905,
      -0.10542727109055416,
      -0.052387385987546775,
      -0.026777478275141764,
      0.014598014338266463,
      0.05210994559659543,
      0.03102725186877242,
      -0.030778688302814494
    ],
    "v_ego": [
      4.622196191895715,
      5.330043227627754,
      5.875002540108905,
      6.207771109309941,
      6.536638818391977,
      6.799980818670145,
      7.0269977547912745,
      7.143133246686478,
      7.113271099180701,
      7.116392606411216
    ],
    "ax_ego": [
      1.4008174299547966,
      1.46311456812446,
      0.7502665682250362,
      0.5834761158125648,
      0.7353570305790824,
      0.3185401506672234,
      0.5896762453568525,
      -0.12565081026680383,
      0.006357634385396313,
      0.006131509642551894
    ],
    "ay_ego": [
      0.9404303869268678,
      0.8402348164463425,
      1.0728886193381004,
      0.4202591673388624,
      -0.031918343373761426,
      0.12299819533316171,
      0.07124988900613252,
      0.04315931604683166,
      -0.08633828539117709,
      -0.08635464782225427
    ],
    "a_ego": [
      1.6872162827333606,
      1.6872162831796769,
      1.3091943755231261,
      0.7190703341510283,
      0.7360494161846817,
      0.34146212621945643,
      0.593965168188793,
      0.13285651162940654,
      0.08657204536839082,
      0.08657205444600626
    ],
    "yaw": [
      2.2832503252623635,
      2.3531924341446833,
      2.4436095623239167,
      2.508312308163238,
      2.515245638552568,
      2.5148230449568207,
      2.515867664308595,
      2.514625796265617,
      2.5160724449595238,
      2.5186913120322076
    ],
    "yaw_diff": [
      0.13988421776463955,
      0.18083425635846684,
      0.1294054916786429,
      0.0138666607786595,
      -0.0008451871914942899,
      0.0020892387035482685,
      -0.0024837360859555346,
      0.0028932973878132984,
      0.005237734145367767,
      0.005237734145367767
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.377142741307411,
    "v_std": 0.8221159083548223,
    "vy_max": 0.14735123614741852,
    "a_max": 1.6872162831796769,
    "ax_avg": 0.572808644248116,
    "a_std": 0.5934266559757492,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "262333f372975eef",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 40.70111295701708,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "262333f372975eef",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "21f55c28bb945892": {
    "vx_ego": [
      4.120263234586211,
      3.6152263067217745,
      3.1541907219936904,
      2.762150089283679,
      2.387048318366087,
      1.9645819910890194,
      1.5091005863188516,
      1.081853364394844,
      0.6951309318777005,
      0.32697116908978374
    ],
    "vy_ego": [
      -0.007541123200197827,
      -0.01487903116211331,
      -0.010216965510951602,
      -0.0107571780410907,
      -0.022710281963291747,
      -0.0012589050935916113,
      0.02555014072418339,
      0.010741247735460063,
      -0.012050740770770792,
      -0.022680531799327885
    ],
    "v_ego": [
      4.120270135661247,
      3.61525692508589,
      3.154207269203362,
      2.762171036089048,
      2.387156348277426,
      1.9645823944424756,
      1.5093168618016983,
      1.08190668565055,
      0.6952353794264822,
      0.32775684880508643
    ],
    "ax_ego": [
      -1.0101134246333463,
      -1.0100858426155812,
      -0.8340975433283195,
      -0.7340658120523608,
      -0.7664202857096102,
      -0.9234945188963749,
      -0.8983705347861014,
      -0.8105713895612462,
      -0.7363188022578784,
      -0.7363191319159615
    ],
    "ay_ego": [
      -0.023097752594161025,
      -0.02427430708953544,
      0.036053984533178554,
      -0.04506651583704419,
      -0.012539316844739978,
      0.0940525772152157,
      0.008583118865572892,
      -0.06997658104501814,
      -0.021249041878858753,
      -0.021237175201727326
    ],
    "a_ego": [
      1.0103774724326586,
      1.0103774796763365,
      0.834876398987932,
      0.7354478956892748,
      0.7665228560285292,
      0.9282715193909975,
      0.8984115358238264,
      0.8135863196182685,
      0.7366253459793832,
      0.7366253332841765
    ],
    "yaw": [
      1.5943213861914218,
      1.5931565960698628,
      1.5926459522298517,
      1.5920644467594793,
      1.5911149727592782,
      1.5906262059762695,
      1.5899628143257603,
      1.5895428280818122,
      1.5895264291412656,
      1.5895425468676303
    ],
    "yaw_diff": [
      -0.0023295802431180235,
      -0.001021287680022187,
      -0.0011630109407447797,
      -0.0018989480004023562,
      -0.0009775335660173745,
      -0.0013267833010184304,
      -0.0008399724878960235,
      -3.279788109322723e-05,
      3.223545272934558e-05,
      3.223545272934558e-05
    ],
    "min_front_frame": [
      9,
      14.960455468186414
    ],
    "v_avg": 2.1617859884443265,
    "v_std": 1.2037262987390294,
    "vy_max": 0.02555014072418339,
    "a_max": 1.0103774796763365,
    "ax_avg": -0.845985728575678,
    "a_std": 0.10352850285745295,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "21f55c28bb945892",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      21.420185849090057,
      20.05736100727412,
      18.958736741344044,
      18.08565181561788,
      17.19782574597235,
      16.470323634862602,
      15.824599003884007,
      15.320279383668586,
      15.041776110276379,
      14.960455468186414
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "21f55c28bb945892",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4ae7296f92115e83": {
    "vx_ego": [
      5.982733172595994,
      6.429753858264151,
      6.821897211989154,
      7.162381761912187,
      7.4954939575636335,
      7.657095795287548,
      7.64663786850635,
      7.6862816505814795,
      7.855059748871286,
      8.068821125486528
    ],
    "vy_ego": [
      0.028054456929880178,
      0.11530000012763475,
      0.03950620380918268,
      0.029535447256100245,
      0.00776167378580217,
      -0.013906452141409176,
      -0.009835401413269551,
      0.009370984864347509,
      0.008664431865923916,
      -0.0018942439632700925
    ],
    "v_ego": [
      5.9827989492405775,
      6.430787569799843,
      6.822011602972015,
      7.1624426591782875,
      7.49549797621565,
      7.657108423394656,
      7.646644193840609,
      7.686287363052651,
      7.855064527469993,
      8.068821347833763
    ],
    "ax_ego": [
      0.8679293305193078,
      0.9410855476155715,
      0.6290848304543516,
      0.7331375224448825,
      0.5994075838994226,
      0.04701373247295141,
      -0.08878649016999385,
      0.24740351113817416,
      0.4275159093308642,
      0.4275391789724363
    ],
    "ay_ego": [
      -0.9070321801019974,
      -0.8308830797284144,
      -0.3129463974143931,
      -0.08152336211295674,
      -0.05262979267817178,
      -0.01928713464753983,
      0.056726300751228996,
      0.09094292326721656,
      -0.03266530414011534,
      -0.03235936251367047
    ],
    "a_ego": [
      1.2553918505854162,
      1.2553918512201179,
      0.7026259115364503,
      0.7376562108372849,
      0.6017136750261628,
      0.050816184468637324,
      0.10536087525085057,
      0.26358890837037036,
      0.428762025866986,
      0.42876202945073866
    ],
    "yaw": [
      0.6771832937936955,
      0.5930444846460111,
      0.5615138534990405,
      0.54881234874554,
      0.5472107880510604,
      0.5476932904166398,
      0.5483829308183062,
      0.5507058454006682,
      0.5526774052585476,
      0.5519618142582768
    ],
    "yaw_diff": [
      -0.1682776182953687,
      -0.06306126229394127,
      -0.02540300950700103,
      -0.0032031213889591736,
      0.0009650047311589027,
      0.0013792808033328274,
      0.004645829164724002,
      0.0039431197157586695,
      -0.0014311820005414866,
      -0.0014311820005414866
    ],
    "min_front_frame": [
      9,
      61.064922531538784
    ],
    "v_avg": 7.280746461299804,
    "v_std": 0.6378515267991863,
    "vy_max": 0.11530000012763475,
    "a_max": 1.2553918512201179,
    "ax_avg": 0.48313306566779685,
    "a_std": 0.40046992426604433,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4ae7296f92115e83",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.073742973900822,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      76.30392254266361,
      72.653990565755,
      68.91362243792364,
      65.07005637145132,
      61.064922531538784
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4ae7296f92115e83",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b4f05c1e42ea5aec": {
    "vx_ego": [
      2.6320351862927254,
      3.46887020512486,
      4.288923096191947,
      5.034772375285989,
      5.738970777840887,
      6.40028430394021,
      6.886572918941241,
      7.209152026585958,
      7.47872726579091,
      7.738252768959847
    ],
    "vy_ego": [
      0.04149067307802401,
      0.008073446918845262,
      -0.021310316534155938,
      -0.03749215487300317,
      -0.03490147286536294,
      -0.03918762938930698,
      -0.03716115305817924,
      -0.03538693574475271,
      0.006171226864190693,
      -0.05001335024386311
    ],
    "v_ego": [
      2.632362189713917,
      3.468879600180459,
      4.288976038011812,
      5.0349119687061,
      5.739076903276328,
      6.400404271728511,
      6.886673182255093,
      7.2092388764452675,
      7.4787298119483765,
      7.738414388717973
    ],
    "ax_ego": [
      1.6736740631339846,
      1.6740851120903646,
      1.6071448319428685,
      1.3752266408691796,
      1.4373253729825772,
      1.2039060971286042,
      0.729688521282797,
      0.5558127507821399,
      0.5171843678371331,
      0.5199814504903235
    ],
    "ay_ego": [
      -0.09729498898721456,
      -0.08994574514927456,
      -0.27230638773580296,
      -0.4488853855148573,
      -0.5592461572248203,
      -0.6972390793332874,
      -0.47946197198175244,
      -0.4911012051113453,
      -0.27268819032182345,
      -0.2673159337029709
    ],
    "a_ego": [
      1.6764996822216947,
      1.6764996867262059,
      1.6300506984883607,
      1.4466327810073811,
      1.542290663976876,
      1.3912340653006448,
      0.8731146091255751,
      0.7416927986665536,
      0.584669581452709,
      0.5846695795622617
    ],
    "yaw": [
      -0.35386744999897946,
      -0.35825799681572473,
      -0.3739960587499448,
      -0.40897901531937086,
      -0.4563058172433485,
      -0.5070974952263246,
      -0.5512816730517711,
      -0.5858509234122211,
      -0.6174869894020649,
      -0.6278463869217457
    ],
    "yaw_diff": [
      -0.008781093633490555,
      -0.03147612386844012,
      -0.06996591313885214,
      -0.09465360384795529,
      -0.10158335596595225,
      -0.08836835565089296,
      -0.0691385007209,
      -0.06327213197968762,
      -0.02071879503936147,
      -0.02071879503936147
    ],
    "min_front_frame": [
      8,
      25.400669083503406
    ],
    "v_avg": 5.687766723098383,
    "v_std": 1.6827725780257479,
    "vy_max": 0.05001335024386311,
    "a_max": 1.6764996867262059,
    "ax_avg": 1.1294029208539973,
    "a_std": 0.43881657584228,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b4f05c1e42ea5aec",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.266625180605283,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      36.763452162167916,
      37.747003723794094,
      25.400669083503406,
      37.87500217032193
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b4f05c1e42ea5aec",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "25aab48e050659be": {
    "vx_ego": [
      3.6275535299721398,
      3.6194632710304546,
      3.639321780979231,
      3.6321054688384993,
      3.623522020970861,
      3.6876419185083598,
      3.7923780983969113,
      3.8181084395039226,
      3.8461621449223884,
      3.992926139378539
    ],
    "vy_ego": [
      -0.02020583380962704,
      -0.039544603432445924,
      -0.030812083073138707,
      -0.027441538894176,
      -0.019952095865507502,
      -0.015453376340026415,
      -0.010553347833808457,
      -0.02795157617481503,
      -0.015313467630164723,
      -0.014061652174136796
    ],
    "v_ego": [
      3.627609803787237,
      3.619679287726899,
      3.6394522128986866,
      3.6322091314823015,
      3.6235769513824567,
      3.6876742977085604,
      3.792392782182652,
      3.8182107519650796,
      3.8461926300336087,
      3.9929508993467815
    ],
    "ax_ego": [
      -0.0648219247904622,
      0.047778564260062745,
      0.051468565039799435,
      -0.07150264404080064,
      0.04688486226597714,
      0.2219857632680145,
      0.20616501585286895,
      -0.09054810052102036,
      0.22200895551700284,
      0.37032938395005527
    ],
    "ay_ego": [
      0.8819056989136723,
      0.8829930654248681,
      0.9258271948579964,
      0.8400128147315925,
      0.8224628054451273,
      0.8930361342081701,
      0.9409056724345994,
      0.9826763572463763,
      1.0973775060230633,
      1.05658956328839
    ],
    "a_ego": [
      0.884284763925034,
      0.8842847645363785,
      0.9272567109090569,
      0.8430505068014124,
      0.8237980678845811,
      0.9202125928801212,
      0.9632276460843612,
      0.9868392886377054,
      1.1196094707777122,
      1.1196094666743301
    ],
    "yaw": [
      1.2872744017614859,
      1.4147016294641754,
      1.5367546093224704,
      1.6565997996731463,
      1.7694408124082832,
      1.8860974689515402,
      2.007164481668709,
      2.1366684047581455,
      2.2702334136213835,
      2.407734739969551
    ],
    "yaw_diff": [
      0.2548544554053791,
      0.24410595971659,
      0.23969038070135174,
      0.22568202547027383,
      0.23331331308651393,
      0.24213402543433737,
      0.2590078461788732,
      0.26713001772647615,
      0.27500265269633495,
      0.27500265269633495
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7279948748514258,
    "v_std": 0.12157770823895685,
    "vy_max": 0.039544603432445924,
    "a_max": 1.1196094707777122,
    "ax_avg": 0.09397484408014978,
    "a_std": 0.09818149924649418,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "25aab48e050659be",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "25aab48e050659be",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "a0024513b78656f1": {
    "vx_ego": [
      0.5915702555133742,
      0.3743452488935862,
      0.16746254659824028,
      0.024004380163736662,
      -0.017813541873357517,
      -0.011177943570384354,
      -0.006171696737942575,
      -0.0037524673928070783,
      -0.002652514983218151,
      -0.001850785654175657
    ],
    "vy_ego": [
      -0.007416751758469675,
      0.012538672163294101,
      -0.0004579917605538747,
      -0.015055080774625373,
      -0.0034582046682784095,
      -0.00040905078353100244,
      -0.0003703172061797345,
      -0.00021100703550156917,
      -0.00022539490221806617,
      -7.349574825655928e-05
    ],
    "v_ego": [
      0.5916167470709442,
      0.37455518107325597,
      0.1674631728757715,
      0.028334885286086627,
      0.01814611400828189,
      0.01118542556214131,
      0.006182796734352811,
      0.003758395336192231,
      0.0026620741158244784,
      0.0018522443582622153
    ],
    "ax_ego": [
      -0.43448846458782425,
      -0.4344264268224255,
      -0.39324935253402593,
      -0.18066631663533622,
      0.013398389962738342,
      0.013144059208695068,
      0.006880764341886265,
      0.002796226733875279,
      0.0016034664951400496,
      0.0016034719998258636
    ],
    "ay_ego": [
      0.041033745970981556,
      0.0416853702450658,
      -0.09197830983076097,
      0.03334482861881999,
      0.013030869053377426,
      -0.000837688450405819,
      0.0009948622278100547,
      -0.0003599083398291979,
      0.00030366136634688197,
      0.00030359513132750164
    ],
    "a_ego": [
      0.43642180762227734,
      0.43642180332124614,
      0.40386267808223386,
      0.18371770617498479,
      0.01869011508471462,
      0.01317072566040402,
      0.0069523139155893065,
      0.0028192938761891105,
      0.0016319666131537037,
      0.0016319596986418864
    ],
    "yaw": [
      -2.3025636979644473,
      -2.3010638466283195,
      -2.29947055712845,
      -2.3003566675676677,
      -2.300217092255372,
      -2.300157619506645,
      -2.300228295618608,
      -2.300099396530596,
      -2.3002055447786685,
      -2.3001676807235345
    ],
    "yaw_diff": [
      0.0029997026722554665,
      0.003186578999739176,
      -0.0017722208784354265,
      0.0002791506245909403,
      0.00011894549745417038,
      -0.0001413522239257503,
      0.0002577981760243375,
      -0.00021229649614529222,
      7.572811026790305e-05,
      7.572811026790305e-05
    ],
    "min_front_frame": [
      3,
      8.220537524095635
    ],
    "v_avg": 0.12057570364211134,
    "v_std": 0.19346343353379442,
    "vy_max": 0.015055080774625373,
    "a_max": 0.43642180762227734,
    "ax_avg": -0.1403404181837451,
    "a_std": 0.1875555116103942,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "a0024513b78656f1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.53852668726204,
      8.319998691616,
      8.226188252173483,
      8.220537524095635,
      8.245546973222806,
      8.252865029087873,
      8.264979184150784,
      8.24212897645347,
      8.236678733652445,
      8.23171131090144
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "a0024513b78656f1",
    "maneuvering": "Yes"
  },
  "de310b1492245dab": {
    "vx_ego": [
      7.286572559718513,
      7.0931073432990726,
      7.022168704087666,
      7.095178447960824,
      7.2669369137052096,
      7.478501517259549,
      7.70589578673958,
      7.948284904329417,
      8.252266758844183,
      8.596667158617613
    ],
    "vy_ego": [
      -0.010184905541131349,
      -0.009705089699785674,
      0.007277419531034557,
      -0.03336089864550296,
      -0.038455750318754145,
      -0.07487601995488102,
      -0.09252098661034047,
      -0.07886699703828315,
      -0.14535193006108482,
      0.017427047089300984
    ],
    "v_ego": [
      7.2865796777599074,
      7.093113982753224,
      7.022172475060925,
      7.09525687751798,
      7.267038664580228,
      7.478876343543704,
      7.706451194230335,
      7.948676174282905,
      8.253546743230885,
      8.596684822536236
    ],
    "ax_ego": [
      -0.5139597530515518,
      -0.2509991680633905,
      -0.026492195110457195,
      0.3152472122095119,
      0.389352218471122,
      0.4944957826993518,
      0.46359732789722996,
      0.53673020537322,
      0.6775128739628462,
      0.7084499797087177
    ],
    "ay_ego": [
      1.914669351956229,
      1.9664975977068393,
      2.0460776776329066,
      1.8968473304930458,
      1.8753160650604142,
      1.975728925799732,
      2.0294941214247353,
      1.847440699312343,
      0.9145961421024495,
      0.8908470220407714
    ],
    "a_ego": [
      1.9824513499900314,
      1.9824513573238773,
      2.046249178206173,
      1.922865205885338,
      1.9153081981503812,
      2.036671516801177,
      2.081770609680858,
      1.9238285918541853,
      1.1382046378108286,
      1.1382046346892958
    ],
    "yaw": [
      3.136684135295411,
      -3.0112020093267136,
      -2.871143931768604,
      -2.725113233240812,
      -2.593101871163751,
      -2.457543664103974,
      -2.323602280591466,
      -2.2015251584733946,
      -2.1079371747682334,
      -2.0736695951212267
    ],
    "yaw_diff": [
      0.2705983251149231,
      0.280116155116219,
      0.2920613970555843,
      0.2640227241541222,
      0.2711164141195539,
      0.2678827670250161,
      0.2441542442361424,
      0.18717596741032239,
      0.06853515929401333,
      0.06853515929401333
    ],
    "min_front_frame": [
      7,
      30.693895707765638
    ],
    "v_avg": 7.574839695549632,
    "v_std": 0.5115105761671425,
    "vy_max": 0.14535193006108482,
    "a_max": 2.081770609680858,
    "ax_avg": 0.27939344840966,
    "a_std": 0.3434345240494908,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "de310b1492245dab",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.538103970332907,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      30.693895707765638,
      32.41529111506726,
      33.95610381369672
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "de310b1492245dab",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "98ae2c97a0375eaf": {
    "vx_ego": [
      4.145617314148076,
      3.9609513078056455,
      3.7293196170471057,
      3.300265586295934,
      2.6764667436492147,
      2.060375434534061,
      1.6977497712079292,
      1.8343194025010678,
      2.45838208048854,
      3.2733775617476923
    ],
    "vy_ego": [
      -0.026706711127784777,
      0.00562644182357297,
      0.017818915768966326,
      0.024474929527874112,
      0.005703877187227535,
      -0.010159564998504012,
      -0.0004745527861936827,
      0.009225233987362302,
      0.016189542959823333,
      -0.012848306159841227
    ],
    "v_ego": [
      4.145703337647735,
      3.960955303920362,
      3.729362186735361,
      3.300356338679907,
      2.676472821471423,
      2.06040048242869,
      1.6977498375311137,
      1.8343426003159813,
      2.4584353875927696,
      3.273402777038665
    ],
    "ax_ego": [
      -0.3693611568586817,
      -0.3694881512992342,
      -0.5567582186950519,
      -1.1588093561451798,
      -1.335935616516276,
      -1.1286259582700142,
      -0.3217030445502189,
      0.8678544926545941,
      1.6278364275762152,
      1.6312183020020223
    ],
    "ay_ego": [
      0.029158308402722793,
      0.027502443633936224,
      -0.03445510956137404,
      -0.04346029444801042,
      -0.0947061869375343,
      -0.0020478962509430376,
      0.0636197278537477,
      0.08343575906075612,
      0.13752134797777205,
      0.08882803745926227
    ],
    "a_ego": [
      0.3705102848031239,
      0.37051029453493406,
      0.5578233310461059,
      1.1596240429911384,
      1.3392883309134629,
      1.1286278162263956,
      0.3279334058083517,
      0.8718560353124863,
      1.633635074333836,
      1.6336350782917295
    ],
    "yaw": [
      1.0267505532969639,
      1.022268296557638,
      1.0186672976498985,
      1.0113875229312788,
      1.0061490262899737,
      1.0025951133145778,
      1.0058050737086104,
      1.0225383867431606,
      1.0460705341939847,
      1.07595017318781
    ],
    "yaw_diff": [
      -0.008964513478651792,
      -0.007201997815478922,
      -0.014559549437239472,
      -0.010476993282610092,
      -0.007107825950791735,
      0.006419920788065081,
      0.033466626069100336,
      0.04706429490164821,
      0.059759277987650794,
      0.059759277987650794
    ],
    "min_front_frame": [
      3,
      10.277791588333532
    ],
    "v_avg": 2.9137181073362006,
    "v_std": 0.8481733177421609,
    "vy_max": 0.026706711127784777,
    "a_max": 1.6336350782917295,
    "ax_avg": -0.11137722801018254,
    "a_std": 0.4877977517858458,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "98ae2c97a0375eaf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.713314731836153,
    "right_rear_min": 17.733767444805384,
    "speed_mode": "decelerating",
    "front_frame": [
      11.252958460256693,
      10.919293126352892,
      10.559677634942808,
      10.277791588333532,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "98ae2c97a0375eaf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ffcc0535b4fa5628": {
    "vx_ego": [
      6.698603975984267,
      6.156794555495025,
      5.5940206063752855,
      5.0181271573408965,
      4.451016609347487,
      3.9163313131255633,
      3.477370469047623,
      3.14337153273218,
      2.8100108472183556,
      2.4366115898517022
    ],
    "vy_ego": [
      -0.04516561817520559,
      0.0060839183589433965,
      0.013920886705725,
      -0.00886677376231404,
      -0.014475863779918496,
      -0.008763224865073083,
      -0.006447198456985381,
      -0.011047849404290933,
      -0.01562974430566677,
      -0.02047177514319576
    ],
    "v_ego": [
      6.69875623979089,
      6.1567975614466794,
      5.594037927618832,
      5.018134990902415,
      4.451040148922426,
      3.9163411174561693,
      3.477376445737854,
      3.1433909473318002,
      2.8100543144914267,
      2.4366975875920986
    ],
    "ax_ego": [
      -1.0836131529036597,
      -1.0836836124880405,
      -1.1673931674103184,
      -1.1361717743485162,
      -1.1322348090765162,
      -1.0065020223795544,
      -0.7493315880630365,
      -0.5866571368730793,
      -0.7468032019866997,
      -0.7468020239583308
    ],
    "ay_ego": [
      0.09314258870024339,
      0.09231918247818849,
      -0.06475081125145116,
      -0.014059024151980848,
      0.0037563927758429427,
      0.02042256756142563,
      -0.0034100255288819215,
      -0.011976554665734523,
      -0.01023708016698971,
      -0.010321823386105822
    ],
    "a_ego": [
      1.0876088483345439,
      1.0876088467038922,
      1.1691875276763848,
      1.1362587544157192,
      1.1322410403139525,
      1.0067091945144508,
      0.7493393471206352,
      0.5867793743016025,
      0.7468733629658597,
      0.7468733513965224
    ],
    "yaw": [
      1.101513772236774,
      1.1007539222256917,
      1.1005933895436257,
      1.101175264785604,
      1.1018160298674797,
      1.101895709640671,
      1.102424295247027,
      1.10265347419403,
      1.1023292810172192,
      1.1022158007431313
    ],
    "yaw_diff": [
      -0.0015197000221647272,
      -0.00032106536413190057,
      0.0011637504839563384,
      0.001281530163751654,
      0.00015935954638246486,
      0.0010571712127118715,
      0.0004583578940060562,
      -0.0006483863536215217,
      -0.0002269605481757253,
      -0.0002269605481757253
    ],
    "min_front_frame": [
      9,
      14.007964569470502
    ],
    "v_avg": 4.370262728129059,
    "v_std": 1.3863227437756354,
    "vy_max": 0.04516561817520559,
    "a_max": 1.1691875276763848,
    "ax_avg": -0.9439192489487752,
    "a_std": 0.20285343754220245,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ffcc0535b4fa5628",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.378236098969385,
    "right_rear_min": 3.288977939541378,
    "speed_mode": "decelerating",
    "front_frame": [
      20.939985582316755,
      27.49789669056699,
      24.78795807762778,
      22.17423230121809,
      19.854945686040228,
      20.175854595185918,
      18.472319174782882,
      16.852478997439082,
      15.32467996661908,
      14.007964569470502
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ffcc0535b4fa5628",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "72191253c85a5227": {
    "vx_ego": [
      10.77743379997709,
      10.664645084120915,
      10.604268959839388,
      10.565986971723696,
      10.484452846573008,
      10.407443927426113,
      10.366389856332775,
      10.340002860196009,
      10.30267255685522,
      10.233788711771574
    ],
    "vy_ego": [
      0.01525140089747179,
      0.04731599495363836,
      0.02907663196634669,
      -0.015330784222381766,
      -0.0072483482319531944,
      -0.003408260054818868,
      0.05911353350900583,
      0.035011292811080175,
      0.017962932152580713,
      0.07776173324952573
    ],
    "v_ego": [
      10.777444591280343,
      10.664750047405839,
      10.604308823451891,
      10.565998093865991,
      10.484455352118438,
      10.407444485499564,
      10.366558400130826,
      10.340062134217856,
      10.302688216223435,
      10.234084144873016
    ],
    "ax_ego": [
      -0.26610191459083654,
      -0.19185751784411165,
      -0.06526847237679095,
      -0.0854191725841501,
      -0.24455356890546653,
      -0.06883515994283373,
      -0.09937180130545659,
      -0.012011068428168369,
      -0.13743322417320414,
      -0.13567828365955145
    ],
    "ay_ego": [
      1.287081938883734,
      1.300223384509844,
      1.060521755255801,
      1.200272172026971,
      0.9577068729044123,
      0.6314315696968114,
      0.45994217461326414,
      0.09313634852096846,
      -0.1383768644543271,
      -0.14009800491692986
    ],
    "a_ego": [
      1.314302151846987,
      1.3143021558148404,
      1.0625282899091417,
      1.2033078251167917,
      0.9884376067677457,
      0.635172501336554,
      0.47055452275232623,
      0.09390764175830127,
      0.19502832543723847,
      0.19502832522099403
    ],
    "yaw": [
      1.8730010500174585,
      1.9303766018860602,
      1.9876588573418148,
      2.0452200493013475,
      2.095603574555415,
      2.1333432561666106,
      2.1535838341098685,
      2.16928333103801,
      2.16983844578738,
      2.157234661092866
    ],
    "yaw_diff": [
      0.11475110373720332,
      0.11456451091150921,
      0.11512238391906537,
      0.10076705050813484,
      0.07547936322239135,
      0.04048115588651591,
      0.031398993856282864,
      0.0011102294987397343,
      -0.025207569389027462,
      -0.025207569389027462
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.47477942890672,
    "v_std": 0.16578042984197253,
    "vy_max": 0.07776173324952573,
    "a_max": 1.3143021558148404,
    "ax_avg": -0.13065301838105697,
    "a_std": 0.46201000392910774,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "72191253c85a5227",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "72191253c85a5227",
    "road_shape": "Curve"
  },
  "dce197f508425f2b": {
    "vx_ego": [
      0.8460700220788535,
      0.4935490705442537,
      0.1572629207068851,
      -0.03400293066174293,
      -0.049977396159793214,
      -0.026201230930800797,
      -0.013999657682317456,
      -0.008865348622938021,
      -0.006315984197346662,
      -0.004135418146216565
    ],
    "vy_ego": [
      0.01295376826598782,
      -0.006557474234219179,
      -0.020358701634657833,
      -0.03512948098157728,
      -0.027869811771296618,
      -0.006637065327959868,
      -0.0029356722426578897,
      -0.0019504400248237276,
      -0.0014034239599423864,
      -0.0010477706139496164
    ],
    "v_ego": [
      0.8461691807037176,
      0.49359263112756163,
      0.15857522808279056,
      0.04889048708718597,
      0.05722295461683551,
      0.02702878351788625,
      0.01430414578849021,
      0.009077368698949241,
      0.0064700274491282595,
      0.00426608796246791
    ],
    "ax_ego": [
      -0.7050456316748261,
      -0.7050345667747402,
      -0.6401004695372794,
      -0.12488790556382895,
      0.0609969660190547,
      0.03410572240312754,
      0.014700976884423119,
      0.00583638541405225,
      0.00436114287506064,
      0.004361149978207863
    ],
    "ay_ego": [
      -0.039299966973986855,
      -0.039498165435856325,
      -0.01552212008512266,
      -0.043569583737984585,
      0.07259842672681471,
      0.012339543902495613,
      0.0024639227846246043,
      0.0014763853935313774,
      0.0007112688994963267,
      0.0007112499782763926
    ],
    "a_ego": [
      0.7061400924376912,
      0.7061401032515034,
      0.6402886437488818,
      0.13226979089429722,
      0.09482173499118438,
      0.036269334765898484,
      0.014906026863149522,
      0.006020224956892778,
      0.004418763472294359,
      0.004418767437195649
    ],
    "yaw": [
      1.0345637944666248,
      1.0342826862815415,
      1.0344281603359968,
      1.0352021710034611,
      1.035239840691029,
      1.0351895045796007,
      1.03521918854873,
      1.0352340944455927,
      1.035247696177602,
      1.035252397245153
    ],
    "yaw_diff": [
      -0.0005622163701666238,
      0.00029094810891061584,
      0.0015480213349285954,
      7.53393751358189e-05,
      -0.00010067222285670141,
      5.936793825878084e-05,
      2.9811793725187385e-05,
      2.7203464018743517e-05,
      9.40213510203236e-06,
      9.40213510203236e-06
    ],
    "min_front_frame": [
      8,
      8.458106881607192
    ],
    "v_avg": 0.16655968950350133,
    "v_std": 0.2672270829341221,
    "vy_max": 0.03512948098157728,
    "a_max": 0.7061401032515034,
    "ax_avg": -0.20507062299767492,
    "a_std": 0.29750778791886684,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dce197f508425f2b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.163208457446478,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.97597437028403,
      8.619590310978268,
      8.472147836879394,
      8.472160513341803,
      8.474748611935913,
      8.478407775894219,
      8.473564599570473,
      8.476149868324333,
      8.458106881607192,
      8.492716914191965
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dce197f508425f2b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "eaee116f6fae5472": {
    "vx_ego": [
      10.949331324275194,
      10.989244767251172,
      10.998265833844378,
      10.962449226041326,
      10.904096706666621,
      10.723311977411921,
      10.43702489126887,
      10.244542430624781,
      10.187707248369952,
      10.181376126953728
    ],
    "vy_ego": [
      0.03604658301790736,
      0.024144799187736155,
      0.020613993471273018,
      0.008627997323976455,
      0.01838226717151159,
      -0.020968467006253322,
      -0.03614394574341784,
      -0.028204173907225738,
      -0.009573329641655137,
      -0.01414810465547367
    ],
    "v_ego": [
      10.949390659068715,
      10.989271291850297,
      10.998285152178743,
      10.9624526213741,
      10.904112201187413,
      10.723332478362991,
      10.437087475238476,
      10.244581254902384,
      10.187711746370235,
      10.181385957096834
    ],
    "ax_ego": [
      0.07863504380428346,
      0.07999910605988347,
      -0.04439522540299158,
      -0.09978705523987991,
      -0.134141158667161,
      -0.5892915228015738,
      -0.5546776909719345,
      -0.21337898742981326,
      -0.013547367802048127,
      -0.011263211145081522
    ],
    "ay_ego": [
      0.16183040999121368,
      0.16116046403935766,
      0.2377604141711936,
      0.18295755055291243,
      0.11774341361611117,
      0.02118233442910761,
      0.1774353311743994,
      0.2813899634487712,
      0.211103508861944,
      0.21123769520919905
    ],
    "a_ego": [
      0.1799237386006246,
      0.1799237397892829,
      0.24186969753451948,
      0.20840086779514222,
      0.1784863073138752,
      0.5896721039167991,
      0.5823664118155559,
      0.35314431017117237,
      0.21153775698014018,
      0.21153775975601416
    ],
    "yaw": [
      -1.5315443709225813,
      -1.523098025785947,
      -1.5137186623783299,
      -1.5030550257533544,
      -1.4970737343592688,
      -1.4902588485349775,
      -1.4841288690296728,
      -1.4737613861689014,
      -1.4635082104712498,
      -1.452691612776423
    ],
    "yaw_diff": [
      0.016892690273268673,
      0.018758726815234272,
      0.021327273249950984,
      0.011962582788171083,
      0.0136297716485827,
      0.01225995901060939,
      0.020734965721542764,
      0.020506351395303213,
      0.021633195389653803,
      0.021633195389653803
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.65776108376302,
    "v_std": 0.3370493933733528,
    "vy_max": 0.03614394574341784,
    "a_max": 0.5896721039167991,
    "ax_avg": -0.15018480695963168,
    "a_std": 0.1539770333102593,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "eaee116f6fae5472",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "eaee116f6fae5472",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "20403b65d87d5e5a": {
    "vx_ego": [
      7.736881974763978,
      7.736590008225605,
      7.701687428464254,
      7.623138314671662,
      7.504030648371051,
      7.326175513504918,
      7.087400321036673,
      6.832309317528077,
      6.509545222784923,
      6.101222792955177
    ],
    "vy_ego": [
      -0.07695668401026667,
      -0.014094423760783403,
      -0.014124687490275623,
      -0.008709017816868503,
      -0.015509640418250648,
      -0.013979950877428315,
      -0.01935261081021933,
      -0.0422283928667917,
      -0.02816134164175388,
      0.05479333077806281
    ],
    "v_ego": [
      7.737264699016158,
      7.736602846738187,
      7.701700380601743,
      7.623143289457863,
      7.504046676336572,
      7.326188851900119,
      7.087426742773141,
      6.832439816606151,
      6.509606137750969,
      6.101468829583047
    ],
    "ax_ego": [
      -0.0005972136636791803,
      0.00016971848350012808,
      -0.13779735532988296,
      -0.17550577202746578,
      -0.30059440026403006,
      -0.4096016643747199,
      -0.5460319342138559,
      -0.4736031095538868,
      -0.816510563925315,
      -0.8167079760969996
    ],
    "ay_ego": [
      0.18863412601848323,
      0.18863498893638728,
      0.3179377172171296,
      0.3160840992491508,
      0.2528264016288757,
      0.2744899029898176,
      0.05289991208103312,
      0.033908639414095304,
      0.1497661524635378,
      0.14868583203731645
    ],
    "a_ego": [
      0.1886350714022106,
      0.18863506528584392,
      0.3465147950162438,
      0.3615403626334186,
      0.3927826152348109,
      0.4930702082887387,
      0.5485884376101138,
      0.47481543909821006,
      0.8301321590116645,
      0.8301321550627264
    ],
    "yaw": [
      0.4609330218366595,
      0.46499873745741027,
      0.48137209772077005,
      0.5013384702088685,
      0.5210005776946804,
      0.5385400581996236,
      0.55061383561431,
      0.5570271640846772,
      0.5617713676135863,
      0.5604484279424581
    ],
    "yaw_diff": [
      0.008131431241501508,
      0.032746720526719564,
      0.03993274497619681,
      0.03932421497162397,
      0.03507896100988628,
      0.024147554829372808,
      0.012826656940734482,
      0.00948840705781806,
      -0.002645879342256352,
      -0.002645879342256352
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.215988827076394,
    "v_std": 0.542618532040324,
    "vy_max": 0.07695668401026667,
    "a_max": 0.8301321590116645,
    "ax_avg": -0.3676780270966335,
    "a_std": 0.21382822166390908,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "20403b65d87d5e5a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.5156007540647325,
    "right_rear_min": 25.68345227414314,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "20403b65d87d5e5a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d71f89f4f6e350b8": {
    "vx_ego": [
      3.5826648629608133,
      4.03999220757469,
      4.583721774902347,
      5.166948721354779,
      5.76669204886453,
      6.330244074058664,
      6.8048642431451585,
      7.218671713744358,
      7.622531864981749,
      8.042315767648976
    ],
    "vy_ego": [
      -0.19281349880135457,
      0.01013842423121658,
      -0.023140625690465544,
      -0.07264125235581631,
      -0.16802101411348147,
      -0.040999516311229556,
      -0.07307290282145251,
      -0.15009380999804378,
      -0.16311038969694458,
      -0.0048708001360773245
    ],
    "v_ego": [
      3.587849573994713,
      4.040004928822502,
      4.583780186513231,
      5.167459321625436,
      5.769139298684087,
      6.330376844824689,
      6.805256572441797,
      7.220231953518712,
      7.624276820255757,
      8.042317242640289
    ],
    "ax_ego": [
      0.7927994369038581,
      1.085422340278675,
      1.162183593601439,
      1.259283215601752,
      1.2060962876467602,
      1.071706191433074,
      0.8713462122431624,
      0.8270434383709511,
      0.8220610305687817,
      0.8720119005498015
    ],
    "ay_ego": [
      1.7837469862485578,
      1.6223879173536315,
      2.202463878253626,
      2.5196172963565124,
      2.134417790167095,
      1.6479815954998573,
      1.8414740646686472,
      1.5957324595142144,
      1.0765330216870026,
      1.0364858539346393
    ],
    "a_ego": [
      1.9519949431558186,
      1.9519949311284313,
      2.490284690602333,
      2.8167828345818906,
      2.451613256216625,
      1.9658070861257573,
      2.0372213803211903,
      1.797321042913516,
      1.3545138185940946,
      1.3545138168756699
    ],
    "yaw": [
      1.0674012712051768,
      1.2388015155485852,
      1.4677890946724959,
      1.719377878878118,
      1.9483702589054963,
      2.0831275984408517,
      2.2201028235253544,
      2.353335874936152,
      2.4450465486780066,
      2.4923168939532316
    ],
    "yaw_diff": [
      0.3428004886868168,
      0.4579751582478213,
      0.5031775684112443,
      0.45798476005475663,
      0.2695146790707108,
      0.2739504501690053,
      0.2664661028215951,
      0.18342134748370942,
      0.09454069055045,
      0.09454069055045
    ],
    "min_front_frame": [
      8,
      44.62321524529806
    ],
    "v_avg": 5.917069274332121,
    "v_std": 1.4628486744924651,
    "vy_max": 0.19281349880135457,
    "a_max": 2.8167828345818906,
    "ax_avg": 0.9969953647198253,
    "a_std": 0.4461003145705327,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "d71f89f4f6e350b8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      44.62321524529806,
      46.21578708929514
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "d71f89f4f6e350b8",
    "pedestrians": "No"
  },
  "dc0c3446973f56b3": {
    "vx_ego": [
      5.7618250494240355,
      6.29360764402375,
      6.836001399778112,
      7.392960459850847,
      7.928100149582729,
      8.415159898409968,
      8.88266650387278,
      9.339438153888432,
      9.82157664253407,
      10.342441273577904
    ],
    "vy_ego": [
      -0.03135609876791179,
      -0.018941009170235557,
      -0.01948283685165464,
      -0.022006576254920418,
      -0.024704557943285632,
      -0.0038659181672704435,
      0.01203200666616544,
      0.0119893130024038,
      0.009242815924905834,
      0.002495613543035624
    ],
    "v_ego": [
      5.761910369408763,
      6.2936361460401065,
      6.8360291630960806,
      7.3929932131929155,
      7.928138640122085,
      8.41516078640988,
      8.882674652840095,
      9.339445849403123,
      9.821580991613166,
      10.34244157467156
    ],
    "ax_ego": [
      1.0634374232436978,
      1.0634475754309891,
      1.1060190395908742,
      1.1215173510826317,
      1.0184099121189576,
      0.9295953578421395,
      0.9405111761872773,
      0.8866015400440943,
      1.0417013750598554,
      1.0417227984717505
    ],
    "ay_ego": [
      -0.005490491398064845,
      -0.002928803688162007,
      -0.055504396227509745,
      -0.11527697074195797,
      -0.04816822709354335,
      0.06393485595159076,
      -0.04070170129806372,
      0.0922181670876433,
      0.01584706412320136,
      0.01436939255363301
    ],
    "a_ego": [
      1.0634515967598093,
      1.0634516084811254,
      1.1074108785532586,
      1.1274262498109777,
      1.019548393752586,
      0.9317913903482936,
      0.9413914706548666,
      0.8913845865559737,
      1.0418219062022638,
      1.0418218985499277
    ],
    "yaw": [
      -2.0496914912816315,
      -2.0521003490669596,
      -2.0542447967182937,
      -2.059892775698567,
      -2.064866209503321,
      -2.066931165007003,
      -2.068097927563275,
      -2.066680719530042,
      -2.063567822718836,
      -2.0621493239299142
    ],
    "yaw_diff": [
      -0.004817715570656134,
      -0.004288895302668294,
      -0.011295957960546943,
      -0.009946867609507137,
      -0.004129911007364484,
      -0.0023335251125438106,
      0.002834416066465728,
      0.006225793622411935,
      0.002836997577843725,
      0.002836997577843725
    ],
    "min_front_frame": [
      4,
      22.151020358246146
    ],
    "v_avg": 8.101401138679776,
    "v_std": 1.452485054498661,
    "vy_max": 0.03135609876791179,
    "a_max": 1.1274262498109777,
    "ax_avg": 1.021296354907227,
    "a_std": 0.07370529056392466,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "dc0c3446973f56b3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.1727030283197943,
    "right_rear_min": 3.3274304389515215,
    "speed_mode": "accelerating",
    "front_frame": [
      22.39275893791779,
      23.903230195334118,
      25.42619456298848,
      26.89449611764665,
      22.151020358246146,
      23.108765349291186,
      23.919243626516757,
      24.487332123292617,
      24.97683526657017,
      25.236056434423205
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "dc0c3446973f56b3",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "09bf6cc1f6545219": {
    "vx_ego": [
      8.083326066006302,
      7.8698922341174695,
      7.643020270580054,
      7.479432810703771,
      7.475311522101503,
      7.619654659468349,
      7.851408189318921,
      8.059295925458096,
      8.167244695253238,
      8.220671353013081
    ],
    "vy_ego": [
      -0.026221257587558,
      -0.012636574288757085,
      0.010754355635876678,
      0.0033425497961010464,
      -0.019664644534182152,
      0.0022299363774314074,
      0.00919191718209511,
      -0.002092750271110333,
      -0.012210392383736224,
      -0.014436585931572932
    ],
    "v_ego": [
      8.083368595067677,
      7.869902379294944,
      7.643027836705997,
      7.479433557594535,
      7.475337387082147,
      7.6196549857702855,
      7.851413569965965,
      8.059296197169402,
      8.167253822786721,
      8.220684029280246
    ],
    "ax_ego": [
      -0.42696857908398345,
      -0.4263304522180141,
      -0.48121701314349363,
      -0.17318775131272227,
      0.1566689075666695,
      0.42060236683406854,
      0.5062871406621822,
      0.3251782423498475,
      0.10681445863468299,
      0.10713360455705219
    ],
    "ay_ego": [
      0.11421116527498784,
      0.11657057211243607,
      0.06866299243669191,
      -0.08237716850024474,
      -0.026138769459891853,
      0.07888226548424002,
      0.03974873354906644,
      -0.02824154703802334,
      0.07037032570392578,
      0.06988350205739512
    ],
    "a_ego": [
      0.44198004230786986,
      0.4419800366204757,
      0.48609095884320513,
      0.19178111245603685,
      0.1588344479859801,
      0.42793546568886587,
      0.5078450852559695,
      0.3264023196560298,
      0.12791134161245046,
      0.1279113485394974
    ],
    "yaw": [
      1.0009548351655235,
      1.0064848891706943,
      1.0094369064354671,
      1.0099664038996081,
      1.0094121124192847,
      1.008253191016988,
      1.0111912207968992,
      1.0129662870936138,
      1.015502944647713,
      1.0200538304697342
    ],
    "yaw_diff": [
      0.01106010801034163,
      0.0059040345295455765,
      0.0010589949282819866,
      -0.0011085829606467534,
      -0.002317842804593351,
      0.005876059559822178,
      0.0035501325934292893,
      0.005073315108198528,
      0.009101771644042245,
      0.009101771644042245
    ],
    "min_front_frame": [
      9,
      24.467429977441103
    ],
    "v_avg": 7.846937236071793,
    "v_std": 0.26649851750377007,
    "vy_max": 0.026221257587558,
    "a_max": 0.5078450852559695,
    "ax_avg": 0.011498092484628939,
    "a_std": 0.14845277517184266,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "09bf6cc1f6545219",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.787705999030496,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      59.59178866237301,
      55.60155894039202,
      51.74706361265768,
      48.0077916374424,
      44.266961478409456,
      40.50927430628551,
      36.63759915641752,
      32.62253028521117,
      28.528270781532164,
      24.467429977441103
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "09bf6cc1f6545219",
    "pedestrians": "No"
  },
  "c1e612a123d059d7": {
    "vx_ego": [
      3.4097001765166146,
      3.6671763716150707,
      3.974843974016888,
      4.364562608249084,
      4.768453418026371,
      5.140565327982464,
      5.464862768206245,
      5.73534698561508,
      5.957375295067966,
      6.150847732301045
    ],
    "vy_ego": [
      0.0026808414553599336,
      -0.018946176947652438,
      -0.04058133186859089,
      -0.04101503340272323,
      -0.025566835938721506,
      0.02164533299218052,
      0.03585081463462708,
      0.005233031521419407,
      -0.01218722424871621,
      -0.012693571334764397
    ],
    "v_ego": [
      3.4097012304083685,
      3.6672253132515333,
      3.9750511270013367,
      4.3647553189487125,
      4.768521957901347,
      5.140610898686634,
      5.4649803619259965,
      5.735349372969609,
      5.957387760983922,
      6.150860830217682
    ],
    "ax_ego": [
      0.5139261750253263,
      0.5155379121891807,
      0.7139510096044166,
      0.8451960930039064,
      0.7739637322357522,
      0.7147573783263586,
      0.5792907032659581,
      0.5011635537524588,
      0.38689845801287365,
      0.3869226460320894
    ],
    "ay_ego": [
      -0.13376736958518037,
      -0.1274146112116986,
      -0.08878198878689707,
      0.10447537699314353,
      0.2654245310929512,
      0.2801680712550646,
      0.11504517125779279,
      0.036979787449303164,
      -0.01789245117698351,
      -0.01736155134062916
    ],
    "a_ego": [
      0.5310497364107251,
      0.5310497359519235,
      0.7194499882883608,
      0.8516287571629598,
      0.8182114888720448,
      0.7677058408158376,
      0.5906040215915425,
      0.5025260314546792,
      0.3873119629211833,
      0.3873119640256764
    ],
    "yaw": [
      0.018478943676765235,
      0.00613722526358324,
      -0.002401240877100524,
      -0.0013521833271152254,
      0.015482357375140645,
      0.03345599611865786,
      0.04935856262418576,
      0.06159113802429802,
      0.06537776324527309,
      0.0640056120284121
    ],
    "yaw_diff": [
      -0.02468343682636399,
      -0.01707693228136753,
      0.002098115099970597,
      0.03366908140451174,
      0.03594727748703444,
      0.031805133011055794,
      0.024465150800224517,
      0.007573250441950133,
      -0.002744302433721979,
      -0.002744302433721979
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.8634444172295135,
    "v_std": 0.9297468036475037,
    "vy_max": 0.04101503340272323,
    "a_max": 0.8516287571629598,
    "ax_avg": 0.5931607661448319,
    "a_std": 0.16190821118429083,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c1e612a123d059d7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.387217704661856,
    "right_rear_min": 9.296046639149191,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c1e612a123d059d7",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "cbc47540cc665da4": {
    "vx_ego": [
      3.8412769547550143,
      4.235621100394284,
      4.670263150971551,
      5.0348132694628625,
      5.281032414993067,
      5.468282386363333,
      5.678109169850848,
      5.931314078332774,
      6.229260355709247,
      6.557757198335805
    ],
    "vy_ego": [
      -0.1546522474993639,
      0.037198546263792265,
      -0.021912179272032706,
      -0.06147617928495447,
      -0.054297009636440574,
      -0.04511093936534882,
      -0.0716315658103226,
      -0.12466312104895039,
      -0.15194081796363124,
      -0.11359909321995376
    ],
    "v_ego": [
      3.8443888930216934,
      4.235784441865452,
      4.670314555029797,
      5.035188574321601,
      5.281311535353976,
      5.468468455962957,
      5.6785609819711125,
      5.932624005410946,
      6.231113110141266,
      6.558741054981929
    ],
    "ax_ego": [
      0.7056617180399365,
      0.8957215393643525,
      0.8769852246938692,
      0.6622958506934177,
      0.41547395495494116,
      0.37765378630677293,
      0.45154254327350507,
      0.5558799675902981,
      0.6563132301148806,
      0.6770802067853733
    ],
    "ay_ego": [
      1.4947655088395253,
      1.3892319186961963,
      1.8050479951986014,
      2.22683505221093,
      2.5720954530489037,
      2.5480420974578126,
      1.9840404812803767,
      1.1235336815726815,
      0.5674487882475167,
      0.5425012204581832
    ],
    "a_ego": [
      1.6529617015295182,
      1.6529617055472157,
      2.006813730594309,
      2.3232369968647135,
      2.605435400627071,
      2.575876727005594,
      2.034774508328914,
      1.2535272123079158,
      0.8676088884442132,
      0.8676088868949776
    ],
    "yaw": [
      1.0902438988197765,
      1.2218566303030372,
      1.4137740314999818,
      1.6276413934184828,
      1.8564709290693735,
      2.0916254470329303,
      2.299278225043336,
      2.4423301257946886,
      2.5164627864428484,
      2.553878079647242
    ],
    "yaw_diff": [
      0.2632254629665214,
      0.38383480239388934,
      0.42773472383700195,
      0.4576590713017814,
      0.4703090359271136,
      0.41530555602081165,
      0.28610380150270487,
      0.14826532129631964,
      0.07483058640878681,
      0.07483058640878681
    ],
    "min_front_frame": [
      9,
      21.598797362917402
    ],
    "v_avg": 5.293649560806073,
    "v_std": 0.8210503708643142,
    "vy_max": 0.1546522474993639,
    "a_max": 2.605435400627071,
    "ax_avg": 0.6274608021817347,
    "a_std": 0.6083111000866024,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "cbc47540cc665da4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.679753154525624,
    "right_rear_min": 7.398009453001222,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      26.75307539119389,
      24.726468153206064,
      21.598797362917402
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "cbc47540cc665da4",
    "pedestrians": "No"
  },
  "b1c09de2415c5b14": {
    "vx_ego": [
      1.598940470678513,
      1.9569918496659469,
      2.259520997484514,
      2.6535769200810755,
      3.2121876171279786,
      3.7672337630003763,
      4.30305210730629,
      4.814528653075103,
      5.154861365089232,
      5.350515066733185
    ],
    "vy_ego": [
      -0.0087251517309734,
      -0.00015906590319951681,
      0.007628001092693975,
      0.014439282689819342,
      0.022562058101348856,
      0.00942245847796127,
      0.019740680836776565,
      0.05211238238059502,
      0.0648284912287473,
      0.0655279797501298
    ],
    "v_ego": [
      1.5989642763508987,
      1.9569918561304505,
      2.259533873274327,
      2.653616205043895,
      3.212266852877589,
      3.767245546525172,
      4.30309738823943,
      4.814810676618401,
      5.155268996528175,
      5.350916313629746
    ],
    "ax_ego": [
      0.7160748003005765,
      0.7160600842144834,
      0.49410847846541045,
      1.0821570027650025,
      1.152439456069096,
      1.0675576085117726,
      1.0757157856566133,
      0.9696549028599538,
      0.39076568977931425,
      0.3909071358543681
    ],
    "ay_ego": [
      0.0026536017312390244,
      0.005302482639933736,
      0.00034718548547873476,
      0.015935293767786296,
      -0.004754158207812818,
      -0.007678834729072385,
      0.10898405354523606,
      0.0829998332294376,
      0.039957743250810904,
      0.03854941872274193
    ],
    "a_ego": [
      0.7160797170899749,
      0.7160797166010219,
      0.4941086004403934,
      1.0822743239219894,
      1.152449262191225,
      1.0675852246983242,
      1.0812224449381245,
      0.973200700244539,
      0.3928033166285654,
      0.3928033178904255
    ],
    "yaw": [
      0.003178314368359975,
      -0.0005208842936931749,
      -0.003505266634065524,
      -0.004655333040786963,
      -0.006477258468004782,
      -0.0036114218234685677,
      0.00010885836267432881,
      0.003526201941956692,
      0.0070901865050976886,
      0.010693549829732531
    ],
    "yaw_diff": [
      -0.0073983973241063,
      -0.005968764680744698,
      -0.002300132813442879,
      -0.0036438508544356374,
      0.005731673289072429,
      0.007440560372285793,
      0.006834687158564726,
      0.007127969126281993,
      0.007206726649269685,
      0.007206726649269685
    ],
    "min_front_frame": [
      0,
      40.42814673788128
    ],
    "v_avg": 3.507271198521809,
    "v_std": 1.3016571637202257,
    "vy_max": 0.0655279797501298,
    "a_max": 1.152449262191225,
    "ax_avg": 0.8055440944476592,
    "a_std": 0.28694738909650513,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "b1c09de2415c5b14",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.519113602750288,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      40.42814673788128,
      42.258194304675314,
      43.48736482527167,
      44.609945160841455,
      45.018639524099406,
      44.948729325994826,
      44.52483467768146,
      43.72827744050178,
      42.707329716472614,
      41.647979049169784
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "b1c09de2415c5b14",
    "pedestrians": "No"
  },
  "d54047580ffb5dba": {
    "vx_ego": [
      5.699746181434124,
      5.909515196686401,
      6.109969604827113,
      6.234250954226335,
      6.184814348598616,
      6.017676348610515,
      5.837149202037772,
      5.623678857239341,
      5.395863707064184,
      5.182221524626758
    ],
    "vy_ego": [
      -0.03147997797714219,
      -0.0034840234942408177,
      0.0034985538376623992,
      0.010018623685721817,
      0.000879576667354387,
      0.007036276122829754,
      -0.03271360335716289,
      -0.05467322651611739,
      -0.0472700370439596,
      -0.015353228255052365
    ],
    "v_ego": [
      5.699833113503089,
      5.9095162237096215,
      6.10997060645877,
      6.2342590043318316,
      6.184814411143348,
      6.017680462255209,
      5.837240871053276,
      5.623944616642172,
      5.396070755801352,
      5.182244267874946
    ],
    "ax_ego": [
      0.4126749890493274,
      0.42382389212546,
      0.37766091093613324,
      0.11934690425008776,
      -0.3178654065033863,
      -0.35057426113050505,
      -0.3715262766262259,
      -0.4827478145050956,
      -0.42909565390431104,
      -0.42741825945892
    ],
    "ay_ego": [
      -0.3398185431494926,
      -0.3258076147858096,
      -0.30129557989877664,
      -0.2368821569618098,
      -0.0028835932617902876,
      -0.04592591443168,
      -0.15726461448779044,
      0.03618920287627328,
      -0.10163752849832386,
      -0.10847536730706978
    ],
    "a_ego": [
      0.534581414618116,
      0.5345814188585234,
      0.48312192054972014,
      0.2652486377739933,
      0.3178784858427233,
      0.35356965676311297,
      0.40344012343065266,
      0.48410237637742104,
      0.4409685560205125,
      0.44096856331409423
    ],
    "yaw": [
      -1.7917688652452461,
      -1.8252647081739037,
      -1.8524857068187106,
      -1.8752209333236134,
      -1.8833308661476424,
      -1.8863379191729313,
      -1.8882009361637335,
      -1.8896474492455813,
      -1.8939659946662677,
      -1.9099323222113722
    ],
    "yaw_diff": [
      -0.06699168585731519,
      -0.05444199728961374,
      -0.04547045300980557,
      -0.016219865648058107,
      -0.006014106050577617,
      -0.0037260339816045374,
      -0.002893026163695467,
      -0.008637090841372874,
      -0.03193265509020904,
      -0.03193265509020904
    ],
    "min_front_frame": [
      4,
      22.15142163362588
    ],
    "v_avg": 5.819557433277362,
    "v_std": 0.32794743636799206,
    "vy_max": 0.05467322651611739,
    "a_max": 0.5345814188585234,
    "ax_avg": -0.10457209757674354,
    "a_std": 0.08599586720034694,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d54047580ffb5dba",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      72.13461948499686,
      31.122464681555854,
      28.15811120601493,
      25.152265097569884,
      22.15142163362588,
      57.28636523479244,
      54.44777808094326,
      51.63078490538808,
      48.90473457828615,
      46.31401533248048
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d54047580ffb5dba",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0727a3cccad352d7": {
    "vx_ego": [
      2.8128744756798203,
      3.6589906251418154,
      4.503045878910874,
      5.318452086894734,
      6.064127077945122,
      6.746137736093201,
      7.400938369074691,
      8.065113918487036,
      8.72623201292137,
      9.368158136061249
    ],
    "vy_ego": [
      0.021331805991231037,
      0.013472518939382061,
      0.008838417571974705,
      0.004692084479498038,
      -0.0017889322844718836,
      0.0035945199549840545,
      -0.01892302658810166,
      -0.031675806119084826,
      -0.017497349152885616,
      0.004856102214206667
    ],
    "v_ego": [
      2.8129553608043394,
      3.659015428177676,
      4.503054552767641,
      5.31845415663722,
      6.064127341814811,
      6.746138693720609,
      7.400962560625287,
      8.065176121751254,
      8.726249555253457,
      9.368159394671894
    ],
    "ax_ego": [
      1.692213405846506,
      1.692205970829615,
      1.6839703619767996,
      1.5775936719206545,
      1.405139680346767,
      1.322991079320964,
      1.296194328432222,
      1.359975149707003,
      1.2836864683284372,
      1.2838832334901487
    ],
    "ay_ego": [
      -0.011000278762735571,
      -0.012091339940733768,
      0.018397036708296996,
      -0.0034476400610981076,
      0.03479594522380048,
      -0.05832850087767502,
      -0.10669823649580154,
      -0.10818343048627187,
      -0.0444187840461245,
      -0.03831199563378906
    ],
    "a_ego": [
      1.6922491592727973,
      1.692249168477551,
      1.6840708509370736,
      1.5775974391162293,
      1.4055704461495455,
      1.324276258934474,
      1.3005784292887426,
      1.3642712569179059,
      1.2844547393137962,
      1.2844547349932434
    ],
    "yaw": [
      -1.5440739740989875,
      -1.5434292194723338,
      -1.5419077955205047,
      -1.5403067378980297,
      -1.5378004414462454,
      -1.5395566196449133,
      -1.5422045528882313,
      -1.5475077576242282,
      -1.553733520791642,
      -1.5584903743815914
    ],
    "yaw_diff": [
      0.001289509253307397,
      0.0030428479036581635,
      0.0032021152449499546,
      0.005012592903568702,
      -0.003512356397335825,
      -0.005295866486636047,
      -0.01060640947199376,
      -0.012451526334827712,
      -0.009513707179898745,
      -0.009513707179898745
    ],
    "min_front_frame": [
      0,
      15.692511688726672
    ],
    "v_avg": 6.2664293166224185,
    "v_std": 2.078422118352494,
    "vy_max": 0.031675806119084826,
    "a_max": 1.692249168477551,
    "ax_avg": 1.4597853350199117,
    "a_std": 0.17014750081079497,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "0727a3cccad352d7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.0805411743117115,
    "right_rear_min": 3.930849701871191,
    "speed_mode": "accelerating",
    "front_frame": [
      15.692511688726672,
      16.87931646523405,
      18.063699067137044,
      19.057855057918353,
      20.055457134360434,
      20.88126628687708,
      21.758760466588413,
      22.578894041950853,
      23.27225391819261,
      23.78290789655129
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0727a3cccad352d7",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "b7c8677392845e18": {
    "vx_ego": [
      7.748002536559131,
      7.375683676138957,
      6.993305907329668,
      6.669072438320862,
      6.277320959178496,
      5.702735421776632,
      5.1156553646728575,
      4.56077249260508,
      4.018052615540508,
      3.4898974072292046
    ],
    "vy_ego": [
      0.013244734551430104,
      0.015161218521606706,
      0.01857103451454198,
      0.0011009256282564356,
      -0.001139260520976501,
      0.0001743679746011445,
      0.01012464770299705,
      0.0303678703899377,
      0.0352671000663102,
      0.042253439812212246
    ],
    "v_ego": [
      7.748013857081056,
      7.37569925857947,
      6.993330565389782,
      6.669072529190863,
      6.277321062559742,
      5.702735424442387,
      5.115665383759702,
      4.560873593606292,
      4.0182073850908955,
      3.4901531866325137
    ],
    "ax_ego": [
      -0.7446201627713771,
      -0.7446154810110166,
      -0.784867816272504,
      -0.5119821066588429,
      -1.0551087722539392,
      -1.2432399841749822,
      -1.1050971101953115,
      -1.1144410546908423,
      -1.0563671585082688,
      -1.0563548184778746
    ],
    "ay_ego": [
      -0.006452000665791671,
      -0.006971166914141099,
      0.007368842638863811,
      -0.10157484034909929,
      0.06612212637064019,
      -0.05822416125567592,
      0.09130419395411268,
      -0.009344755991350942,
      0.018535783564559795,
      0.019226394612535443
    ],
    "a_ego": [
      0.7446481149632109,
      0.7446481126877396,
      0.7849024072215638,
      0.5219608469327675,
      1.0571786305459403,
      1.2446026318489516,
      1.1088625157320626,
      1.1144802325949863,
      1.0565297671372946,
      1.0565297708873234
    ],
    "yaw": [
      -1.5513039398845665,
      -1.5520011607859598,
      -1.5524616078104416,
      -1.5533563141604838,
      -1.5543688355135339,
      -1.5542589396356306,
      -1.5545705667238283,
      -1.554519601994404,
      -1.5551271168414924,
      -1.5544733549351082
    ],
    "yaw_diff": [
      -0.0013944418027866945,
      -0.0009208940489635609,
      -0.0017894127000843696,
      -0.0020250427061001552,
      0.0002197917558066642,
      -0.0006232541763955268,
      0.00010192945884845983,
      -0.0012150296941766392,
      0.0013075238127684408,
      0.0013075238127684408
    ],
    "min_front_frame": [
      9,
      15.072926239197868
    ],
    "v_avg": 5.79510722463327,
    "v_std": 1.3859254230962275,
    "vy_max": 0.042253439812212246,
    "a_max": 1.2446026318489516,
    "ax_avg": -0.941669446501496,
    "a_std": 0.21625185339686476,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b7c8677392845e18",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.85654590966358,
    "right_rear_min": 14.928213706679646,
    "speed_mode": "decelerating",
    "front_frame": [
      20.962275077248282,
      20.553012060224987,
      19.926539215026615,
      19.24156075636492,
      18.44625471002965,
      17.706502895594042,
      16.954135544988237,
      16.282589260153095,
      15.6624864746947,
      15.072926239197868
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b7c8677392845e18",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aab1c6b4ac3d57a4": {
    "vx_ego": [
      6.409681367146608,
      6.533575738271806,
      6.654413143932109,
      6.753674284664832,
      6.886636541346416,
      7.021917420050348,
      7.167262337525783,
      7.322389521458736,
      7.489387548590288,
      7.692467769392324
    ],
    "vy_ego": [
      0.06736686608142162,
      0.021381582861339773,
      0.04335806121341246,
      0.06058603084506764,
      0.048790368599344935,
      0.009576112043573781,
      0.03216247345746748,
      -0.002051695965985978,
      -0.00408289802846129,
      -0.0387353968315014
    ],
    "v_ego": [
      6.410035376110809,
      6.533610724539658,
      6.654554396171737,
      6.7539460325410205,
      6.886809373917343,
      7.021923949739729,
      7.167334500329565,
      7.32238980889607,
      7.489388661502056,
      7.692565294757491
    ],
    "ax_ego": [
      0.21293740059504707,
      0.2954644434434044,
      0.1994448050132564,
      0.21594945070224067,
      0.3175123972292977,
      0.22224226939866015,
      0.35895070466974177,
      0.2617668123379284,
      0.40592787457847473,
      0.40618455070126214
    ],
    "ay_ego": [
      -1.0894219377828906,
      -1.0699921764475748,
      -1.083578483381845,
      -1.1038358737303093,
      -0.7158828598355116,
      -0.4031312180682549,
      -0.2213897827424227,
      -0.15215680759102607,
      -0.10654177773451218,
      -0.10555896632278229
    ],
    "a_ego": [
      1.1100371593306253,
      1.1100371592871738,
      1.1017806314756469,
      1.1247612197229042,
      0.7831362534071361,
      0.4603329287468598,
      0.4217333805683886,
      0.30277641608595074,
      0.41967676819503374,
      0.419676762043743
    ],
    "yaw": [
      0.062414427009211126,
      -0.013983053932656808,
      -0.09875958210392259,
      -0.18287634463522784,
      -0.24794872631934375,
      -0.2824748460883436,
      -0.30772487495665896,
      -0.3158787070431289,
      -0.32435788690684597,
      -0.3267782440365021
    ],
    "yaw_diff": [
      -0.15279496188373587,
      -0.16955305634253157,
      -0.1682335250626105,
      -0.13014476336823183,
      -0.06905223953799972,
      -0.05050005773663069,
      -0.01630766417293994,
      -0.01695835972743409,
      -0.0048407142593122066,
      -0.0048407142593122066
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.993255811850548,
    "v_std": 0.40117008161985757,
    "vy_max": 0.06736686608142162,
    "a_max": 1.1247612197229042,
    "ax_avg": 0.28963807086693133,
    "a_std": 0.3359158795438147,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "aab1c6b4ac3d57a4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "aab1c6b4ac3d57a4",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "80199eddf2cc590f": {
    "vx_ego": [
      0.872633554394134,
      0.9800833152035323,
      1.0918113443130757,
      1.1808109309237163,
      1.2090943366783589,
      1.1020150545996639,
      0.8439494342562159,
      0.5590043986946767,
      0.30075058027207136,
      0.04664582593887838
    ],
    "vy_ego": [
      -0.02571576056375091,
      -0.016549041815343758,
      -0.013696571524255647,
      0.005100886578517212,
      0.027897499322699797,
      0.019057822152249514,
      -0.009714856383710533,
      -0.029969521499459296,
      -0.020226396649280998,
      0.0059659489235669395
    ],
    "v_ego": [
      0.8730123828422551,
      0.98022302336017,
      1.0918972514125331,
      1.1808219483193987,
      1.209416134114367,
      1.1021798315835247,
      0.8440053471489046,
      0.5598071900028648,
      0.3014299564665093,
      0.04702579743160926
    ],
    "ax_ego": [
      0.21492075568148863,
      0.21493354578589194,
      0.23199657536085086,
      0.12404909453086792,
      -0.010980716324134018,
      -0.4173053849699622,
      -0.6149716927968483,
      -0.5247995199779596,
      -0.508209977865413,
      -0.5082079401718699
    ],
    "ay_ego": [
      0.01961631308560695,
      0.01947565202543173,
      -0.006497281409334346,
      0.08514227725608461,
      0.009083682064862625,
      -0.045677366461037344,
      -0.0674452536192385,
      -0.01334144490237766,
      0.05238829321503631,
      0.05240792895887572
    ],
    "a_ego": [
      0.2158141120542739,
      0.21581411011773954,
      0.23208753875396895,
      0.15045725383071495,
      0.014250944208950164,
      0.4197978157777197,
      0.6186590702294636,
      0.5249690755855816,
      0.5109030386168673,
      0.5109030255063023
    ],
    "yaw": [
      1.5982141289860108,
      1.59886859766524,
      1.5992478935540368,
      1.599999142882242,
      1.6006261906420067,
      1.6003702566750588,
      1.6008634184457355,
      1.600947436487739,
      1.6009908826526325,
      1.601029518114549
    ],
    "yaw_diff": [
      0.001308937358458273,
      0.0007585917775938533,
      0.0015024986564102782,
      0.0012540955195294856,
      -0.0005118679338957932,
      0.0009863235413534177,
      0.00016803608400683956,
      8.689232978698058e-05,
      7.72709238332503e-05,
      7.72709238332503e-05
    ],
    "min_front_frame": [
      9,
      10.80779823615582
    ],
    "v_avg": 0.8189818862682137,
    "v_std": 0.3739709753338983,
    "vy_max": 0.029969521499459296,
    "a_max": 0.6186590702294636,
    "ax_avg": -0.17985752607470876,
    "a_std": 0.19004142736992916,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "80199eddf2cc590f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.40952499720736,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.513046610024292,
      14.038519217770695,
      13.507923554405712,
      13.037183102365491,
      12.402578747195015,
      11.77512781119764,
      11.341004685514568,
      11.04302435238802,
      10.829268853685184,
      10.80779823615582
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "80199eddf2cc590f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8ea9276bf0ee55f5": {
    "vx_ego": [
      5.237817751809051,
      4.744896867583759,
      4.199558626698594,
      3.655645424493575,
      3.2058421285553758,
      2.744182291882001,
      2.190422973991394,
      1.5877750978880047,
      1.0332859976469135,
      0.5359530280818805
    ],
    "vy_ego": [
      -0.036452331340353084,
      -0.051051356311120344,
      -0.04683751904744238,
      -0.054481655707972365,
      -0.05372088353109539,
      -0.01059822629803997,
      0.018600970052885635,
      0.017399629435638775,
      0.019771508367052437,
      0.03239710036556176
    ],
    "v_ego": [
      5.237944594363916,
      4.74517149584579,
      4.199819807119003,
      3.6560513837239066,
      3.206292202302813,
      2.744202757355844,
      2.1905019518540065,
      1.587870431923764,
      1.0334751402313873,
      0.5369312995367594
    ],
    "ax_ego": [
      -0.9857749129506442,
      -0.9857900942116433,
      -1.1955800462392776,
      -0.9797277794908404,
      -0.8193449898698737,
      -1.0277399303011967,
      -1.1869908964257843,
      -1.2232750012662748,
      -0.9946234966813094,
      -0.9946394413574098
    ],
    "ay_ego": [
      -0.022782077815665713,
      -0.02211560143961039,
      0.037601875296951304,
      -0.03574512911780009,
      0.046231343956388116,
      0.09082176944738385,
      -0.01748231279741741,
      -0.020805253974807536,
      0.024545183177899332,
      0.023890096261284133
    ],
    "a_ego": [
      0.986038134187745,
      0.9860381380417476,
      1.196171203461846,
      0.9803796387939221,
      0.8206482496105608,
      1.0317451032794207,
      1.1871196314855692,
      1.2234519145908271,
      0.9949263119285726,
      0.9949263063177863
    ],
    "yaw": [
      1.084365336099183,
      1.0850414258359953,
      1.0849653400740682,
      1.0870440661186507,
      1.0875896388390378,
      1.0846375594291175,
      1.0802694849732688,
      1.0758491301366804,
      1.0747282621906242,
      1.0740696358572461
    ],
    "yaw_diff": [
      0.0013521794736246484,
      -0.000152171523854161,
      0.004157452089164959,
      0.001091145440774266,
      -0.0059041588198405215,
      -0.008736148911697494,
      -0.00884070967317685,
      -0.0022417358921122954,
      -0.0013172526667561968,
      -0.0013172526667561968
    ],
    "min_front_frame": [
      9,
      10.181257374174308
    ],
    "v_avg": 2.913826106425719,
    "v_std": 1.5013675200300296,
    "vy_max": 0.054481655707972365,
    "a_max": 1.2234519145908271,
    "ax_avg": -1.0393486588794256,
    "a_std": 0.11887513993502509,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8ea9276bf0ee55f5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 24.963409842491213,
    "right_rear_min": 3.570074022664272,
    "speed_mode": "decelerating",
    "front_frame": [
      22.663821271159566,
      20.360899817297287,
      18.24420789439328,
      16.418586899125767,
      14.775231292261875,
      13.29049216945473,
      12.097338403151769,
      11.148602350899543,
      10.541276965440835,
      10.181257374174308
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8ea9276bf0ee55f5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "09a0456056555b0a": {
    "vx_ego": [
      1.987035031128331,
      1.593276351645688,
      1.1443627355304864,
      0.6792070891644175,
      0.3134301503604888,
      0.06852440547526248,
      -0.023136748426674528,
      -0.018417026166550676,
      -0.011331378698658677,
      -0.005327218624278674
    ],
    "vy_ego": [
      0.0067865967744144,
      0.03358368104676279,
      0.045675766438109555,
      0.03421934360681039,
      0.02021924387294982,
      0.014310639282749022,
      0.007033804813264176,
      0.0008294514168721272,
      0.00037384444882544547,
      0.0003105605883257194
    ],
    "v_ego": [
      1.9870466206979003,
      1.5936302571004495,
      1.145273917502065,
      0.6800685505506647,
      0.3140816406251605,
      0.07000277524797957,
      0.024182298027903067,
      0.018435694792232907,
      0.01133754395291737,
      0.005336263313394756
    ],
    "ax_ego": [
      -0.7874554884895602,
      -0.7875028121785785,
      -1.0079065818253712,
      -0.8526522066019341,
      -0.6104733909711273,
      -0.3691823730235717,
      0.002545865103387576,
      0.01633367087280055,
      0.012008467661127177,
      0.0120084933666252
    ],
    "ay_ego": [
      0.05059164095064067,
      0.049849652657843246,
      -0.008769223011923677,
      -0.03836093889812059,
      -0.017301307743756322,
      -0.006000546024322817,
      -0.023091725452075624,
      -0.0017139237979464641,
      -0.0001241750574025374,
      -0.00012146978238433519
    ],
    "a_ego": [
      0.7890789950863033,
      0.7890789992512012,
      1.0079447291191796,
      0.8535147023082219,
      0.6107185082617286,
      0.36923113506840893,
      0.023231642504969032,
      0.016423347373971612,
      0.01200910966779878,
      0.012009107703918468
    ],
    "yaw": [
      2.4224552807220783,
      2.4215130390477375,
      2.4202082411360144,
      2.4198427908664897,
      2.4200241818528663,
      2.420541167971118,
      2.4203828141226422,
      2.420252257057931,
      2.420525833722637,
      2.4203005919221274
    ],
    "yaw_diff": [
      -0.0018844833486815205,
      -0.00260959582344622,
      -0.0007309005390494505,
      0.00036278197275319,
      0.0010339722365033666,
      -0.00031670769695146817,
      -0.00026111412942242396,
      0.0005471533294123532,
      -0.00045048360101951346,
      -0.00045048360101951346
    ],
    "min_front_frame": [
      5,
      9.838330803921094
    ],
    "v_avg": 0.5849395561810669,
    "v_std": 0.7032242703709958,
    "vy_max": 0.045675766438109555,
    "a_max": 1.0079447291191796,
    "ax_avg": -0.43722763560862016,
    "a_std": 0.3860302467927776,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "09a0456056555b0a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.357366787273736,
    "speed_mode": "decelerating",
    "front_frame": [
      11.751962870322927,
      11.081525833879002,
      10.516103201244643,
      10.154816980291518,
      9.92279992521022,
      9.838330803921094,
      9.922931444154889,
      9.92595797738037,
      9.938979866042715,
      9.904855872339642
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "09a0456056555b0a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1ec7ff5bb8cf5477": {
    "vx_ego": [
      5.153439013233411,
      4.616244293526805,
      4.068141552158821,
      3.5455994144814293,
      3.081109316516398,
      2.637936132010508,
      2.1911081054832273,
      1.7547652895858772,
      1.4105946922389436,
      1.1450918606158376
    ],
    "vy_ego": [
      -0.17825232633369925,
      -0.12318541998387378,
      -0.14430546137130928,
      -0.15922668366355897,
      -0.049468973106625125,
      0.050431048337531426,
      0.10864042462958812,
      0.13005152341939785,
      0.10691837520481362,
      0.0631018228283145
    ],
    "v_ego": [
      5.156520877002199,
      4.617887615048183,
      4.0707001553274305,
      3.5491729099554377,
      3.0815064172615916,
      2.638418148664647,
      2.1937997793276383,
      1.7595779665246758,
      1.4146409172398193,
      1.1468291979597034
    ],
    "ax_ego": [
      -1.0762940370439902,
      -1.0765899959691432,
      -1.1179168628665752,
      -0.974847012581034,
      -0.8848461090009424,
      -0.8882223173890118,
      -0.9018063407004193,
      -0.8460440726820808,
      -0.531449084807793,
      -0.5317180697622834
    ],
    "ay_ego": [
      0.0468865907445018,
      0.03951164571995058,
      -0.21318286907782308,
      0.10205894276865246,
      0.29231680156873097,
      0.18374027102500684,
      0.12460613673410764,
      -0.0029355572022260468,
      -0.07982855786441176,
      -0.07801683096152603
    ],
    "a_ego": [
      1.0773148131201449,
      1.077314805230272,
      1.1380619701710875,
      0.9801748444727715,
      0.9318807590531529,
      0.9070277682101301,
      0.9103742996368471,
      0.8460491654842345,
      0.5374111353458844,
      0.5374111383522003
    ],
    "yaw": [
      -0.5787722498730632,
      -0.5856234357376843,
      -0.5907524607223941,
      -0.5941464405921247,
      -0.5975272431196554,
      -0.5908438350595303,
      -0.5830311641649053,
      -0.5784499397634022,
      -0.5768675947284639,
      -0.5734594425934354
    ],
    "yaw_diff": [
      -0.013702371729242158,
      -0.010258049969419591,
      -0.006787959739461336,
      -0.006761605055061404,
      0.013366816120250258,
      0.015625341789250013,
      0.009162448803006207,
      0.003164690069876519,
      0.006816304270057083,
      0.006816304270057083
    ],
    "min_front_frame": [
      9,
      10.373910547846922
    ],
    "v_avg": 2.9629053984311327,
    "v_std": 1.3029185712047484,
    "vy_max": 0.17825232633369925,
    "a_max": 1.1380619701710875,
    "ax_avg": -0.8829733902803273,
    "a_std": 0.1981624042759409,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1ec7ff5bb8cf5477",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5863370400009176,
    "right_rear_min": 23.503747477430426,
    "speed_mode": "decelerating",
    "front_frame": [
      23.576983706259558,
      21.154334423130173,
      18.9998618734216,
      17.128712972668037,
      15.473594671512659,
      14.062834361492646,
      12.822190960418828,
      11.84750271538729,
      11.06782204016462,
      10.373910547846922
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1ec7ff5bb8cf5477",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "71531dafe28052ac": {
    "vx_ego": [
      9.012176661118575,
      9.006195140639242,
      9.006807751984311,
      8.990801957065994,
      8.998590082956726,
      9.078817114587743,
      9.184412076153043,
      9.24030553150041,
      9.258755774093604,
      9.279462012677145
    ],
    "vy_ego": [
      -0.024956794807112104,
      -0.08911579527514801,
      -0.12049212795074693,
      -0.11289435724277608,
      -0.07962816793611305,
      0.016386244647013104,
      0.06244962989561209,
      0.09065059660200481,
      0.04565053574194167,
      -0.005835008093180605
    ],
    "v_ego": [
      9.012211216611458,
      9.006636027743179,
      9.007613681442093,
      8.991510716619258,
      8.998942389315314,
      9.07883190224078,
      9.184624387576225,
      9.240750177671798,
      9.258868313985527,
      9.279463847229408
    ],
    "ax_ego": [
      -0.031243196081004843,
      -0.0012104621487922795,
      -0.014595321988813525,
      -0.06662133147597474,
      0.08118843021806704,
      0.23075788872431233,
      0.19319447712079102,
      0.033863873736046685,
      0.04120446988787421,
      0.04195041061620688
    ],
    "ay_ego": [
      -0.8021180944921957,
      -0.8027254248452462,
      -0.6495293208946791,
      -0.6556072817814353,
      -0.5052342296654604,
      -0.11299154677104187,
      -0.09252884487850525,
      -0.16852397984803053,
      -0.1799428976244462,
      -0.17977045604120234
    ],
    "a_ego": [
      0.8027263386815878,
      0.8027263374971539,
      0.6496932831158563,
      0.658983542838874,
      0.5117159251253816,
      0.2569363595332795,
      0.2142094608660559,
      0.17189268084543424,
      0.18460025662014304,
      0.18460025410635336
    ],
    "yaw": [
      2.1221752467452086,
      2.0847519947843365,
      2.0479354469530318,
      2.010863568832995,
      1.9748304083754125,
      1.9470527431440974,
      1.9363873256346555,
      1.926263778144373,
      1.9217099507807842,
      1.9175625052192105
    ],
    "yaw_diff": [
      -0.0748465039217443,
      -0.07363309566260945,
      -0.07414375624007352,
      -0.07206632091516507,
      -0.05555533046263017,
      -0.021330835018883665,
      -0.020247094980565095,
      -0.009107654727177561,
      -0.008294891123147519,
      -0.008294891123147519
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.105945266043504,
    "v_std": 0.11465358196087982,
    "vy_max": 0.12049212795074693,
    "a_max": 0.8027263386815878,
    "ax_avg": 0.05084892386087127,
    "a_std": 0.25434174783147045,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "71531dafe28052ac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "71531dafe28052ac",
    "road_shape": "Straight"
  },
  "2930485ddc4458da": {
    "vx_ego": [
      6.404318124095123,
      7.097112020669506,
      7.76073139432326,
      8.31924457091008,
      8.724351705587509,
      8.937983394268246,
      9.023077734317043,
      9.07276139040256,
      9.11736707462269,
      9.178041132139018
    ],
    "vy_ego": [
      -0.04681174255351195,
      -0.012473477288416746,
      0.018439434419613487,
      0.05151182291021161,
      0.06989640603156166,
      0.05574100219324407,
      0.03741018536353735,
      0.01073971851874056,
      -0.01946368309338853,
      -0.036702641129801705
    ],
    "v_ego": [
      6.404489204757407,
      7.097122981995399,
      7.760753300265147,
      8.319404047076711,
      8.7246316936799,
      8.938157204678177,
      9.023155286345068,
      9.07276774687489,
      9.117387850057355,
      9.178114518086032
    ],
    "ax_ego": [
      1.3853821689890908,
      1.385319871840339,
      1.2692088539793596,
      0.9651234829079562,
      0.6557710474410433,
      0.1996667601054091,
      0.1418714995174134,
      0.05759743904625676,
      0.1205950002162577,
      0.12143602407979957
    ],
    "ay_ego": [
      0.013252075594941237,
      0.018661503349056918,
      0.010303724827125271,
      0.04749894581885783,
      -0.030573821102974685,
      -0.1331089081731326,
      -0.15292383725978548,
      -0.18774717235492175,
      -0.14283130906741137,
      -0.1421169617275163
    ],
    "a_ego": [
      1.3854455498721312,
      1.385445559747109,
      1.269250677275735,
      0.9662916159805418,
      0.6564833777017967,
      0.23996832400555376,
      0.2085982319617709,
      0.19638346598417075,
      0.18693297442417586,
      0.18693297931336245
    ],
    "yaw": [
      2.6561516587879215,
      2.6522469160325297,
      2.649066719524376,
      2.6467614806512962,
      2.64510814778367,
      2.6420968160236225,
      2.636180186382701,
      2.629722452280287,
      2.623951572730826,
      2.6180486081274994
    ],
    "yaw_diff": [
      -0.0078094855107835315,
      -0.00636039301630742,
      -0.004610477746159525,
      -0.003306665735252068,
      -0.006022663520095506,
      -0.011833259281843311,
      -0.012915468204827363,
      -0.011541759098922633,
      -0.011805929206652799,
      -0.011805929206652799
    ],
    "min_front_frame": [
      3,
      44.23368466784714
    ],
    "v_avg": 8.363598383381609,
    "v_std": 0.9185574847601579,
    "vy_max": 0.06989640603156166,
    "a_max": 1.385445559747109,
    "ax_avg": 0.6301972148122925,
    "a_std": 0.5059251982697411,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "2930485ddc4458da",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.014471872117365,
    "right_rear_min": 10.373318456087608,
    "speed_mode": "accelerating",
    "front_frame": [
      49.09965232570308,
      45.80729690603441,
      48.18205679573662,
      44.23368466784714,
      51.7264483789279,
      47.34175364222564,
      49.22966165491644,
      44.76314255498856,
      52.17556898603439,
      47.707916170082946
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2930485ddc4458da",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "db1231d931455d2c": {
    "vx_ego": [
      4.85882014079405,
      4.770227597923462,
      4.711022876031906,
      4.592775601533976,
      4.427581124415019,
      4.161340866573974,
      3.7373039219918365,
      3.1790276219540536,
      2.789506266703772,
      2.6482022117223263
    ],
    "vy_ego": [
      0.059933862134553983,
      -0.004032005121245241,
      -0.07623393617955188,
      -0.08884719569380461,
      -0.08927882990948266,
      -0.06312600526978862,
      -0.009637362719821407,
      0.0033305472616333986,
      0.0007170138637564438,
      0.05079214081882322
    ],
    "v_ego": [
      4.859189770776222,
      4.770229301936746,
      4.711639645762541,
      4.593634895181421,
      4.4284811530304795,
      4.161819638134257,
      3.7373163478752716,
      3.1790293665979097,
      2.789506358854286,
      2.6486892599434877
    ],
    "ax_ego": [
      -0.27440166356714707,
      -0.0941555339446114,
      -0.15522724320613046,
      -0.31105909318443203,
      -0.3310443348306174,
      -0.725492797017062,
      -0.9703927500384701,
      -1.2624748771518877,
      -0.29121350607820695,
      -0.264950603401654
    ],
    "ay_ego": [
      1.2386589465103939,
      1.2651904977677426,
      0.7356913157547771,
      0.3049443929941238,
      0.4655146667790242,
      0.2992953311738604,
      0.06411094967437186,
      -0.07209203111733276,
      -0.3198686747330121,
      -0.34193924752327887
    ],
    "a_ego": [
      1.2686891891786012,
      1.2686891897601174,
      0.7518890936237673,
      0.43560170140998733,
      0.5712217228098314,
      0.7848041117285961,
      0.9725082535358631,
      1.2645315640150294,
      0.43257516710719235,
      0.43257516253211614
    ],
    "yaw": [
      0.6880541691077893,
      0.831781449391773,
      0.9521899199260202,
      1.010565566298784,
      1.0533377365557322,
      1.0913300645720123,
      1.100717819756659,
      1.096436119098962,
      1.0631240305139786,
      0.9837985227794155
    ],
    "yaw_diff": [
      0.2874545605679675,
      0.24081694106849438,
      0.11675129274552765,
      0.08554434051389626,
      0.07598465603256033,
      0.018775510369293258,
      -0.008563401315393904,
      -0.06662417716996671,
      -0.1586510154691263,
      -0.1586510154691263
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.987953573809262,
    "v_std": 0.8020570551627609,
    "vy_max": 0.08927882990948266,
    "a_max": 1.2686891897601174,
    "ax_avg": -0.4680412402420219,
    "a_std": 0.3375217000739403,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "db1231d931455d2c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "db1231d931455d2c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "847432a116d35db0": {
    "vx_ego": [
      5.217963959611579,
      4.904673920876057,
      4.628269852286782,
      4.383357838074324,
      4.158944903664991,
      3.9485757096983507,
      3.688808011364986,
      3.454537741483138,
      3.393010073850925,
      3.440773106198719
    ],
    "vy_ego": [
      -0.0030170096685034897,
      -0.011204662488583372,
      -0.0002577261359033023,
      0.010032707365454585,
      -0.0014236146525668514,
      -0.028767489308586136,
      -0.03619114636513886,
      -0.02670318476580555,
      -0.00453559277810564,
      0.02551364868056534
    ],
    "v_ego": [
      5.217964831824059,
      4.904686719310745,
      4.628269859462548,
      4.383369319578797,
      4.158945147317969,
      3.948680501593026,
      3.6889855439925117,
      3.4546409462356658,
      3.393013105317412,
      3.4408676979229202
    ],
    "ax_ego": [
      -0.6268462602604751,
      -0.6264590683216118,
      -0.47951689772859857,
      -0.49994517487909157,
      -0.3974294403369707,
      -0.4443732231312243,
      -0.5954386022827294,
      -0.3422617249947964,
      0.09566495724872055,
      0.09585263482281867
    ],
    "ay_ego": [
      -0.06962478105886175,
      -0.0730265745613915,
      -0.016022046793871897,
      -0.0435276945958015,
      -0.10291714899829194,
      -0.08024643079165447,
      -0.020674233360328885,
      -0.0076521206274379125,
      -0.01723812771385496,
      -0.016161976101191824
    ],
    "a_ego": [
      0.6307010735206002,
      0.6307010741029004,
      0.4797844945292879,
      0.5018364654762654,
      0.41053879183884,
      0.45156068373014124,
      0.5957974093712121,
      0.34234725549726625,
      0.09720564331600665,
      0.0972056432208137
    ],
    "yaw": [
      0.07592291143481773,
      0.07049440916769009,
      0.06350025835274004,
      0.05791557520469455,
      0.052008382750929276,
      0.0474643735048908,
      0.04282433995837458,
      0.03814371873679308,
      0.029716972732931005,
      0.018478943676765235
    ],
    "yaw_diff": [
      -0.010857004534255282,
      -0.013988301629900113,
      -0.011169366296090971,
      -0.011814384907530548,
      -0.009088018492076952,
      -0.009280067093032446,
      -0.009361242443162998,
      -0.016853492007724145,
      -0.02247605811233154,
      -0.02247605811233154
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.121942367255565,
    "v_std": 0.6162789786716238,
    "vy_max": 0.03619114636513886,
    "a_max": 0.6307010741029004,
    "ax_avg": -0.3820752799863959,
    "a_std": 0.18583109891645563,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "847432a116d35db0",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 9.27737870134898,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "847432a116d35db0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0a91b3a6e4ae56fe": {
    "vx_ego": [
      8.86541692912953,
      8.209236903207286,
      7.576219081137637,
      6.926473137574184,
      6.2201116375252665,
      5.479276357814412,
      4.793658876347945,
      4.341696884267729,
      3.9908575016018895,
      3.5803587718099528
    ],
    "vy_ego": [
      0.021667143997108895,
      -0.0018260588705422132,
      -0.000810853631721592,
      0.00096007865576625,
      0.005514501447837994,
      -0.008952261104125697,
      -0.02471651458657184,
      -0.010913926690636441,
      0.01270927052604437,
      0.024930938259562482
    ],
    "v_ego": [
      8.865443406419413,
      8.20923710630113,
      7.576219124528912,
      6.926473204112449,
      6.220114081992667,
      5.479283671090853,
      4.793722596154553,
      4.3417106016702585,
      3.9908777384993117,
      3.5804455709532825
    ],
    "ax_ego": [
      -1.3123627813444216,
      -1.3123902171214161,
      -1.2197012866243002,
      -1.3791624314141941,
      -1.4463619335467528,
      -1.5169635121534486,
      -1.225649611563862,
      -0.5823922506682959,
      -0.8209193308815648,
      -0.8209387881027272
    ],
    "ay_ego": [
      -0.033193363556824694,
      -0.03209084155967059,
      -0.019928149547986065,
      0.09056763969954287,
      -0.04713372716324132,
      -0.07274381775493637,
      -0.02178233869466082,
      0.04350023213855406,
      0.011556849545660254,
      0.010079503597071911
    ],
    "a_ego": [
      1.3127824912156172,
      1.3127825044949395,
      1.219864074287533,
      1.382132956551235,
      1.4471297215693553,
      1.518706673530636,
      1.2258431549776891,
      0.5840145578961121,
      0.8210006751437279,
      0.8210006639487802
    ],
    "yaw": [
      1.5994482207188332,
      1.600288313523675,
      1.598509389772513,
      1.6006945532658037,
      1.6016523698485163,
      1.5990062036528305,
      1.5974636148972317,
      1.5955976447890854,
      1.5932480965391367,
      1.5914484983425292
    ],
    "yaw_diff": [
      0.0016801856096835266,
      -0.0035578475023241296,
      0.004370326986581574,
      0.0019156331654253123,
      -0.0052923323913716125,
      -0.0030851775111977453,
      -0.0037319402162925286,
      -0.004699096499897415,
      -0.003599196393214932,
      -0.003599196393214932
    ],
    "min_front_frame": [
      9,
      17.796267819366488
    ],
    "v_avg": 5.998352710172282,
    "v_std": 1.7564090412766566,
    "vy_max": 0.024930938259562482,
    "a_max": 1.518706673530636,
    "ax_avg": -1.1636842143420982,
    "a_std": 0.29605008267176663,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0a91b3a6e4ae56fe",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      44.25663808945071,
      40.21029415620876,
      36.390293118109,
      32.75702422468073,
      29.47867435736039,
      26.56675347860875,
      24.041299585026206,
      21.79691583331996,
      19.694616104523384,
      17.796267819366488
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0a91b3a6e4ae56fe",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "82cd87ad4f1d5969": {
    "vx_ego": [
      0.23321762556599593,
      0.05858689306550995,
      -0.027639224935330508,
      -0.02138818978251479,
      -0.01266260685952061,
      -0.007373971995413729,
      -0.004833555375537712,
      -0.003409611042538862,
      -0.0025183657553635654,
      -0.001950035957288756
    ],
    "vy_ego": [
      -0.0010572713429704422,
      -0.0024618239467419922,
      -0.0009556638941578908,
      0.0009028840448622091,
      0.0009724605862508166,
      0.0007089538685562079,
      0.0003867943555949699,
      0.0005019540624340087,
      0.00021404023246314333,
      -0.00018331949915588734
    ],
    "v_ego": [
      0.23322002207643697,
      0.058638593231883133,
      0.02765574169145338,
      0.02140723853679724,
      0.01269989338815841,
      0.007407973985975298,
      0.004849006851089163,
      0.0034463611740786757,
      0.002527445211849463,
      0.0019586337772768653
    ],
    "ax_ego": [
      -0.3492566667077912,
      -0.34925915402454316,
      0.004364582464188173,
      0.020642445864967454,
      0.014259305127032352,
      0.006895005704019173,
      0.0032667740582798276,
      0.0024285630375231503,
      0.0011366939417927495,
      0.0011366231603790948
    ],
    "ay_ego": [
      -0.002693637058935161,
      -0.0023494532183372385,
      0.008280484719270904,
      -0.0007770743751415454,
      0.001042003913530036,
      -0.0020977957719869223,
      0.0008123602773633682,
      -0.00035479065111915144,
      -0.0007950483697192143,
      -0.0007951368607487439
    ],
    "a_ego": [
      0.3492670538720227,
      0.34926705627694793,
      0.009360342262587295,
      0.02065706697168341,
      0.01429732684321174,
      0.007207069498722982,
      0.0033662652848651044,
      0.0024543420367473686,
      0.0013871463612400528,
      0.0013871390831605636
    ],
    "yaw": [
      -0.6322655423299379,
      -0.6312800755052012,
      -0.6304655699753199,
      -0.6311174645749075,
      -0.6309115146918235,
      -0.6308634144052752,
      -0.631005765301964,
      -0.6308156496413109,
      -0.6309787056136678,
      -0.6308954143333685
    ],
    "yaw_diff": [
      0.0019709336494735386,
      0.0016290110597625418,
      -0.001303789199175176,
      0.00041189976616795576,
      9.620057309667196e-05,
      -0.00028470179337758417,
      0.000380231321306157,
      -0.0003261119447137695,
      0.00016658256059853827,
      0.00016658256059853827
    ],
    "min_front_frame": [
      8,
      9.318261204733124
    ],
    "v_avg": 0.03738109099249985,
    "v_std": 0.06733609244300724,
    "vy_max": 0.0024618239467419922,
    "a_max": 0.34926705627694793,
    "ax_avg": -0.06443858273741523,
    "a_std": 0.13682533986575918,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "82cd87ad4f1d5969",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.020581526984845,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.469262335027077,
      9.394901427642147,
      9.37580894414037,
      9.399818581247496,
      9.418115437983037,
      9.343140500418798,
      9.33561040869899,
      9.34464959794755,
      9.318261204733124,
      9.33946709691036
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "82cd87ad4f1d5969",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "46320fa2dc795a5a": {
    "vx_ego": [
      0.8879000128103904,
      1.116903408567876,
      1.3336186914891415,
      1.6654322787358924,
      2.2085873413606216,
      2.9057825181236816,
      3.696271435652113,
      4.492668673939552,
      5.199480236975528,
      5.834087912077306
    ],
    "vy_ego": [
      -0.005797239939004106,
      0.021124606134088952,
      0.0390780481959494,
      0.020279350602280477,
      -0.012426257690351328,
      -0.02052157185912118,
      -0.006460567424211083,
      0.0035908551704546543,
      0.00714036176553412,
      0.012112300666541564
    ],
    "v_ego": [
      0.887918938157984,
      1.1171031613306177,
      1.3341911063037464,
      1.665555741221613,
      2.2086222982435375,
      2.90585498219453,
      3.6962770817336157,
      4.492670108970681,
      5.199485139844641,
      5.834100485393955
    ],
    "ax_ego": [
      0.4579790847759781,
      0.4580146469488266,
      0.4088193290633293,
      0.918286837190805,
      1.2543330788536142,
      1.5344821294235005,
      1.6274993003337348,
      1.558077147675467,
      1.2691541062623592,
      1.269206363805023
    ],
    "ay_ego": [
      0.05528437025843713,
      0.054988984479675346,
      0.017787525284521433,
      -0.08802277858127339,
      -0.04319681924854535,
      0.014488169799046657,
      0.046593764260334236,
      0.009938049352044787,
      0.030619297948197566,
      0.02837036540141641
    ],
    "a_ego": [
      0.4613038084463584,
      0.4613038101227479,
      0.40920610927934375,
      0.9224959213498235,
      1.255076666144176,
      1.5345505246111015,
      1.628166131405129,
      1.558108841812228,
      1.2695234093349552,
      1.2695234033117224
    ],
    "yaw": [
      -2.055059897616154,
      -2.054414951688838,
      -2.054219497367507,
      -2.053355974115723,
      -2.0534083710890254,
      -2.0530443384652943,
      -2.052676648937474,
      -2.051681917735623,
      -2.050332148762907,
      -2.0485601949832866
    ],
    "yaw_diff": [
      0.0012898918546317972,
      0.0003909086426618913,
      0.0017270465035679194,
      -0.00010479394660478647,
      0.0007280652474621618,
      0.0007353790556408057,
      0.0019894624037020137,
      0.0026995379454319846,
      0.003543907559240722,
      0.003543907559240722
    ],
    "min_front_frame": [
      0,
      12.486358951971468
    ],
    "v_avg": 2.9341779043394918,
    "v_std": 1.6951811232396432,
    "vy_max": 0.0390780481959494,
    "a_max": 1.628166131405129,
    "ax_avg": 1.0755852024332637,
    "a_std": 0.4558977804291691,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "46320fa2dc795a5a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.023753259491044,
    "right_rear_min": 4.640297836413034,
    "speed_mode": "accelerating",
    "front_frame": [
      12.486358951971468,
      12.685170255639312,
      12.97264259918124,
      13.425353142579597,
      14.05550023690527,
      14.644585797654324,
      15.381775645430595,
      15.98577162339877,
      16.710080933980645,
      17.456277765532842
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "46320fa2dc795a5a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "69e8a01f073d5080": {
    "vx_ego": [
      5.502433419162823,
      5.195015733041186,
      4.868821755630067,
      4.543806785615545,
      4.257335927099168,
      4.074182283756306,
      4.091818979348187,
      4.211929135150118,
      4.314576777179666,
      4.4231609068420665
    ],
    "vy_ego": [
      -0.06786205739106288,
      -0.09237911123048503,
      -0.15882262636896471,
      -0.15735313498212355,
      -0.08659859801665926,
      -0.020538812272584916,
      0.013849061957419195,
      -0.0018072568046674231,
      -0.009627629491214693,
      -0.018172548480226536
    ],
    "v_ego": [
      5.502851877995011,
      5.195837022726673,
      4.8714114910099084,
      4.546530557919366,
      4.258216588355715,
      4.074234053669882,
      4.091842415864905,
      4.211929522879458,
      4.314587518804978,
      4.4231982376255985
    ],
    "ax_ego": [
      -0.623771115658558,
      -0.5845367699304528,
      -0.6613677632036932,
      -0.5709017789712144,
      -0.527126621376793,
      -0.1949383814090401,
      0.2595607672142604,
      0.2153311775516876,
      0.1990396019731734,
      0.23858395781485953
    ],
    "ay_ego": [
      0.6044895774495886,
      0.6425066677053999,
      0.9296167425552617,
      0.9931891775258318,
      1.0008081013393189,
      0.7989399052546313,
      0.6236905472004819,
      0.5187122270717968,
      0.5864732255763262,
      0.5715289168777761
    ],
    "a_ego": [
      0.8686184743459607,
      0.8686184740417534,
      1.1408744918894944,
      1.145580020595216,
      1.1311407209850264,
      0.8223782248787085,
      0.6755454762960759,
      0.5616314543716188,
      0.6193283519035276,
      0.6193283521316351
    ],
    "yaw": [
      -0.648634210877199,
      -0.5857287979079795,
      -0.4946537873926145,
      -0.3926695622524981,
      -0.295423154094545,
      -0.20241187418433476,
      -0.12265916125190567,
      -0.05022805162915082,
      0.016358696673070047,
      0.0846297203696729
    ],
    "yaw_diff": [
      0.12581082593843895,
      0.18215002103072997,
      0.2039684502802328,
      0.1944928163159062,
      0.18602255982042049,
      0.1595054258648582,
      0.14486221924550968,
      0.13317349660444172,
      0.1365420473932057,
      0.1365420473932057
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.5490639286851495,
    "v_std": 0.46211787676440413,
    "vy_max": 0.15882262636896471,
    "a_max": 1.145580020595216,
    "ax_avg": -0.22501269259957707,
    "a_std": 0.21731567185467518,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "69e8a01f073d5080",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "69e8a01f073d5080",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "db817c126780531f": {
    "vx_ego": [
      1.103740176648837,
      1.1615748378368007,
      1.2241261190321822,
      1.3047884679520547,
      1.3899545832089952,
      1.5210999392168412,
      1.7788925841677514,
      2.1378175908277073,
      2.4600308862928237,
      2.7160599806071732
    ],
    "vy_ego": [
      -0.05152130543127781,
      -0.023690194024506228,
      0.0029407135391703587,
      0.01530186707975345,
      0.009954248501613194,
      0.02323452404999682,
      0.03056541527847756,
      -0.013214572809159275,
      -0.020292353370200855,
      0.031792645882681825
    ],
    "v_ego": [
      1.1049419995919012,
      1.1618163922016718,
      1.2241296512595843,
      1.3048781909576068,
      1.3899902267451105,
      1.5212773804251833,
      1.7791551564206443,
      2.1378584323071794,
      2.4601145788600896,
      2.7162460475052805
    ],
    "ax_ego": [
      0.11570852959340563,
      0.11575717028766737,
      0.1344925054132107,
      0.18809340545571837,
      0.15249552104456826,
      0.3720617512219179,
      0.6590369935444814,
      0.776654801412007,
      0.5121081731845988,
      0.5120267639883491
    ],
    "ay_ego": [
      0.05762539146562365,
      0.057527588288466824,
      0.05431558013926314,
      0.00015248101392779934,
      -0.014481771597127095,
      0.0738031375075925,
      -0.041675084960460074,
      -0.13264827688560238,
      0.09974504961026356,
      0.1001621760112136
    ],
    "a_ego": [
      0.12926387570483255,
      0.12926386148995925,
      0.14504625558140832,
      0.1880934672613296,
      0.15318161001649552,
      0.3793110199141134,
      0.6603533687099736,
      0.7879011650689721,
      0.5217315937953355,
      0.5217316058508262
    ],
    "yaw": [
      1.0783967036699584,
      1.0792417423506617,
      1.0803588152809276,
      1.081357308840182,
      1.082663174464949,
      1.083748593555104,
      1.084182961031423,
      1.0842854220402163,
      1.0837931282564002,
      1.0829785428529055
    ],
    "yaw_diff": [
      0.0016900773614065834,
      0.002234145860531722,
      0.0019969871185088195,
      0.002611731249534177,
      0.002170838180309609,
      0.0008687349526383947,
      0.00020492201758637307,
      -0.0009845875676322002,
      -0.0016291708069893218,
      -0.0016291708069893218
    ],
    "min_front_frame": [
      0,
      15.680562326645042
    ],
    "v_avg": 1.680040805627425,
    "v_std": 0.5439567390704165,
    "vy_max": 0.05152130543127781,
    "a_max": 0.7879011650689721,
    "ax_avg": 0.35384356151459245,
    "a_std": 0.23473018941552562,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "db817c126780531f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.246184958603288,
    "right_rear_min": 43.78601608187752,
    "speed_mode": "accelerating",
    "front_frame": [
      15.680562326645042,
      15.962708143343749,
      16.234412768287985,
      16.606071608879184,
      16.847807259570747,
      17.41490340458466,
      17.91784014501927,
      18.31598760923368,
      18.208052720328368,
      17.94115796283216
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "db817c126780531f",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "4e5b53cea7145f00": {
    "vx_ego": [
      2.1951460245344308,
      1.554739019080921,
      0.9815137234850537,
      0.602526045901947,
      0.439017498377711,
      0.4424211436173626,
      0.6651415870661955,
      1.139475497741054,
      1.6828219881578297,
      2.1845208185137066
    ],
    "vy_ego": [
      -0.019695481105980073,
      -0.03982695386488899,
      -0.04589171508117329,
      -0.02487263097565487,
      -0.02013144340978465,
      -0.01962490018913357,
      0.0076411540137912015,
      0.024302364072836702,
      0.015367971124429447,
      0.003413187545186047
    ],
    "v_ego": [
      2.1952343795151608,
      1.5552490487722088,
      0.9825859956780302,
      0.603039205824867,
      0.43947882644740105,
      0.44285619000656234,
      0.6651854764496891,
      1.1397346247490034,
      1.682892158863411,
      2.1845234849662325
    ],
    "ax_ego": [
      -1.2810409628530106,
      -1.280904533414633,
      -1.012401207853702,
      -0.5036998596710223,
      -0.15036447804562839,
      0.163875563663029,
      0.7269758937231453,
      1.1705303546163974,
      1.0033087238353546,
      1.0037588661648822
    ],
    "ay_ego": [
      -0.04867780354365653,
      -0.052144500452610376,
      0.018216266770671175,
      0.06318891340375968,
      -0.04584358270093011,
      0.0465476857735868,
      0.06062572456360263,
      -0.00011219451502331168,
      -0.05943698834569916,
      -0.05127653461237086
    ],
    "a_ego": [
      1.281965474209506,
      1.2819654724873095,
      1.0125650784214784,
      0.507647897080009,
      0.15719767915841276,
      0.1703581152066201,
      0.7294994369658059,
      1.1705303599932804,
      1.0050677344874497,
      1.0050677312532044
    ],
    "yaw": [
      -0.33778063431850275,
      -0.34048692552724935,
      -0.342444940635164,
      -0.3433616855910905,
      -0.34421113823359195,
      -0.3450344607422577,
      -0.346012332682575,
      -0.3478223319467316,
      -0.35197922982768975,
      -0.3601108944495111
    ],
    "yaw_diff": [
      -0.005412582417493206,
      -0.003916030215829314,
      -0.001833489911852948,
      -0.0016989052850029385,
      -0.0016466450173314717,
      -0.001955743880634575,
      -0.003619998528313295,
      -0.008313795761916265,
      -0.01626332924364271,
      -0.01626332924364271
    ],
    "min_front_frame": [
      3,
      9.372621500201776
    ],
    "v_avg": 1.1890779391272566,
    "v_std": 0.6452069827406115,
    "vy_max": 0.04589171508117329,
    "a_max": 1.281965474209506,
    "ax_avg": -0.015996163983518795,
    "a_std": 0.4026025021181449,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4e5b53cea7145f00",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 42.85584711413441,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      11.223859736592406,
      10.280338259388143,
      9.641630259058516,
      9.372621500201776,
      9.414572829485483,
      10.13510378900105,
      11.541264720194478,
      13.151761248268862,
      14.965435832605044,
      16.97668207827365
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4e5b53cea7145f00",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e24d893472bf5ce0": {
    "vx_ego": [
      6.330827557648057,
      5.949369122629667,
      5.546465460453301,
      5.054476735736519,
      4.420153611824217,
      3.652032800130989,
      2.8055752989790665,
      1.972700283160442,
      1.2290070207942017,
      0.5416080558219449
    ],
    "vy_ego": [
      0.02466256479778814,
      -0.03296987721888753,
      -0.04807552427928656,
      -0.015795716563468457,
      0.012730157984400053,
      0.012382210642534822,
      -0.00687144607711224,
      -0.03887638566406238,
      -0.04740507428108564,
      -0.03419352798210943
    ],
    "v_ego": [
      6.330875595585374,
      5.9494604772284285,
      5.546673810495455,
      5.054501417228355,
      4.420171943380142,
      3.6520537910021247,
      2.8055837137773434,
      1.9730833181960639,
      1.2299209316980642,
      0.5426863583020033
    ],
    "ax_ego": [
      -0.762906284402942,
      -0.7629247530865587,
      -0.8489852699654394,
      -1.1191060846510485,
      -1.4181601677615379,
      -1.6542807112244935,
      -1.7315018900708588,
      -1.6000706326337892,
      -1.3748135086307331,
      -1.3748194065214
    ],
    "ay_ego": [
      -0.11332485566697213,
      -0.11320046532870857,
      0.02323741632157487,
      0.08768249337587261,
      0.01088172860708195,
      -0.02256821278139115,
      -0.07170610698982581,
      -0.06350574425304402,
      0.026176959421981075,
      0.025864565059472565
    ],
    "a_ego": [
      0.7712772015906101,
      0.7712772032303449,
      0.8493032239050975,
      1.1225358116103066,
      1.4182019156110708,
      1.654434645357006,
      1.7329860244960409,
      1.6013303872000393,
      1.3750626955590524,
      1.3750626808526112
    ],
    "yaw": [
      1.5678082118937375,
      1.5679712566250232,
      1.5666888235528642,
      1.565835874648326,
      1.5650222481923057,
      1.5643892126263843,
      1.5630568114609582,
      1.5622990176845257,
      1.5617881063596768,
      1.5615608808335772
    ],
    "yaw_diff": [
      0.0003260894625713995,
      -0.0025648661443180565,
      -0.0017058978090762622,
      -0.0016272529120406887,
      -0.0012660711318428497,
      -0.0026648023308522006,
      -0.001515587552864961,
      -0.0010218226496978566,
      -0.00045445105219910076,
      -0.00045445105219910076
    ],
    "min_front_frame": [
      9,
      10.02164768582185
    ],
    "v_avg": 3.7505011356893356,
    "v_std": 1.9384024779261302,
    "vy_max": 0.04807552427928656,
    "a_max": 1.7329860244960409,
    "ax_avg": -1.2647568708948802,
    "a_std": 0.3481472334621643,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e24d893472bf5ce0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.835400715564958,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.415044640868423,
      18.623462632205076,
      17.587365036737815,
      16.402523437510542,
      15.137554187414617,
      13.771484913649461,
      12.383237586452154,
      11.21523659446603,
      10.453407445253715,
      10.02164768582185
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e24d893472bf5ce0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cf8f42e252855b82": {
    "vx_ego": [
      3.474380887634251,
      3.0044644753893186,
      2.5285330634317296,
      2.108205390856745,
      1.7408431015105337,
      1.3435788789459446,
      1.0291948251585117,
      0.8635254476888602,
      0.9232430884508458,
      1.1637950761785723
    ],
    "vy_ego": [
      -0.011842383393377398,
      -0.004762115312928028,
      0.006153227210161871,
      0.021882926689337223,
      0.017369028076285042,
      -0.009460019172891188,
      -0.016113891337289576,
      0.011511076412084764,
      0.0095915610861953,
      -0.026603515388492094
    ],
    "v_ego": [
      3.4744010698827794,
      3.004468249394336,
      2.5285405504109573,
      2.108318958914408,
      1.74092974792584,
      1.3436121821092546,
      1.0293209633671556,
      0.8636021674859387,
      0.923292910411602,
      1.1640991050458351
    ],
    "ax_ego": [
      -0.9398765946016417,
      -0.9398706069909951,
      -0.9638628880729918,
      -0.7174179779682464,
      -0.7520289060289006,
      -0.8370321692666431,
      -0.4204949188322014,
      -0.2421848480229895,
      0.48109469063349175,
      0.48110732392128386
    ],
    "ay_ego": [
      -0.0011507892317957902,
      -0.0035456844491459916,
      0.042952945441944834,
      0.016041988547348784,
      -0.03426588873481362,
      -0.07230193606330082,
      0.04606142661897658,
      0.06397594225463742,
      -0.07279425094958764,
      -0.07271072442865881
    ],
    "a_ego": [
      0.9398772991171959,
      0.9398772950570913,
      0.9648194766517452,
      0.717597310828713,
      0.7528091568477443,
      0.8401490476967309,
      0.42301020293354036,
      0.25049235876426895,
      0.486570759835655,
      0.4865707621483637
    ],
    "yaw": [
      -2.0639094888874556,
      -2.0664575927922777,
      -2.066841607690657,
      -2.067270433703377,
      -2.06729224863565,
      -2.0671717660541375,
      -2.0670891226527375,
      -2.0672142505756006,
      -2.067569260608654,
      -2.067742869748743
    ],
    "yaw_diff": [
      -0.005096207809644149,
      -0.000768029796758718,
      -0.0008576520254397479,
      -4.362986454609086e-05,
      0.00024096516302485327,
      0.0001652868028001464,
      -0.0002502558457262438,
      -0.0007100200661067646,
      -0.000347218280178474,
      -0.000347218280178474
    ],
    "min_front_frame": [
      6,
      10.318016694663708
    ],
    "v_avg": 1.8180585904948106,
    "v_std": 0.8793454938825714,
    "vy_max": 0.026603515388492094,
    "a_max": 0.9648194766517452,
    "ax_avg": -0.4850566895229834,
    "a_std": 0.23956356109297813,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cf8f42e252855b82",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.856037932644478,
    "right_rear_min": 8.406573773866148,
    "speed_mode": "decelerating",
    "front_frame": [
      16.432541517316928,
      14.854013770297206,
      13.470554736981647,
      12.321613724765294,
      11.382236987449838,
      10.659670686984027,
      10.318016694663708,
      10.320622556133966,
      10.667641846301722,
      11.278033137568865
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cf8f42e252855b82",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3d580ffc3de95e49": {
    "vx_ego": [
      7.461429638378679,
      7.502755744999611,
      7.779803264392481,
      8.04287753262368,
      8.176215825619293,
      8.379851141692939,
      8.54592873159256,
      8.704772330235112,
      8.87450798486181,
      9.052129139933042
    ],
    "vy_ego": [
      -0.13200609028682964,
      0.11872811427007202,
      0.03218573186923157,
      0.021747380329291577,
      -0.024764600971169504,
      -0.024074423400630707,
      -0.027504949061185613,
      -0.0421002623341824,
      -0.015439409280374683,
      0.02736488431600126
    ],
    "v_ego": [
      7.462597259423062,
      7.503695098699226,
      7.779869841712511,
      8.042906934270341,
      8.17625332976961,
      8.3798857232539,
      8.545972993619984,
      8.704874137706726,
      8.87452141519389,
      9.052170502311506
    ],
    "ax_ego": [
      0.0340915373781846,
      0.1282237494117633,
      0.9798067255346823,
      0.07301563242091193,
      0.4603639271035216,
      0.3529544784217906,
      0.31139210717654964,
      0.3239315550283081,
      0.3549882980651057,
      0.3554212733692951
    ],
    "ay_ego": [
      -0.9653709996058433,
      -0.9574247017352937,
      -0.34369388081177416,
      -0.19572054185495008,
      -0.2153485658922984,
      0.036882260761122554,
      -0.03266515690017585,
      -0.03856120905368832,
      0.14130022565922234,
      0.14020754424176324
    ],
    "a_ego": [
      0.9659727738403362,
      0.9659727684599224,
      1.0383384338020307,
      0.20889665646395825,
      0.508242019327452,
      0.35487626716483833,
      0.31310071364844394,
      0.3262186677471724,
      0.3820764917323591,
      0.3820764805974809
    ],
    "yaw": [
      -2.066821701611281,
      -2.164655399625624,
      -2.196337235056426,
      -2.211840983527037,
      -2.2188195438464193,
      -2.224283797911773,
      -2.2237541858108694,
      -2.224126560590855,
      -2.2242376609212977,
      -2.221161479591077
    ],
    "yaw_diff": [
      -0.19566739602868566,
      -0.06336367086160433,
      -0.03100749694122218,
      -0.013957120638764309,
      -0.010928508130707115,
      0.0010592242018070408,
      -0.0007447495599715026,
      -0.00022220066088518564,
      0.006152362660441391,
      0.006152362660441391
    ],
    "min_front_frame": [
      8,
      72.4439166786332
    ],
    "v_avg": 8.252274723596075,
    "v_std": 0.5283139332726818,
    "vy_max": 0.13200609028682964,
    "a_max": 1.0383384338020307,
    "ax_avg": 0.3374189283910113,
    "a_std": 0.30050149811478816,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3d580ffc3de95e49",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      77.49529961924485,
      -1,
      72.4439166786332,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3d580ffc3de95e49",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6cd6a10cb3595110": {
    "vx_ego": [
      3.5239605040793323,
      3.534605701672713,
      3.5618099274491506,
      3.5852743983905784,
      3.579774243190675,
      3.5563193135321773,
      3.5310618082862266,
      3.495199664936783,
      3.445276963420444,
      3.397879372562068
    ],
    "vy_ego": [
      0.010779277602696924,
      0.002898335222330184,
      -0.0007477725588955764,
      0.0026064307780373497,
      -0.005767165044563871,
      -0.019141826804513595,
      -0.021725727621321633,
      -0.016270484861924173,
      -0.016114391963716557,
      -0.032746607442774245
    ],
    "v_ego": [
      3.523976990154263,
      3.5346068899729586,
      3.5618100059434843,
      3.585275345804883,
      3.5797788887589164,
      3.5563708284338675,
      3.531128644099259,
      3.4952375350542115,
      3.445314648664757,
      3.398037164420337
    ],
    "ax_ego": [
      0.016290108294490846,
      0.027326315357830727,
      0.08211581215526703,
      0.011231338126999696,
      -0.03229313447898792,
      -0.06405985894830156,
      -0.04107347823891762,
      -0.10597604129975324,
      -0.0968705408876757,
      -0.09435671287089575
    ],
    "ay_ego": [
      -0.28746224964986977,
      -0.2866237689152451,
      -0.30853140214706576,
      -0.2766440106381677,
      -0.3358304227992609,
      -0.31409061389870313,
      -0.2776405776545069,
      -0.24243321655111297,
      -0.14802750945606974,
      -0.14964242789647111
    ],
    "a_ego": [
      0.2879234492048369,
      0.2879234488856638,
      0.3192720356009175,
      0.27687190463839706,
      0.3373794887245049,
      0.3205566709144274,
      0.28066228990545045,
      0.26458417529566247,
      0.1769068829854782,
      0.17690688367203583
    ],
    "yaw": [
      2.254941953262601,
      2.216498766177092,
      2.1755194788666974,
      2.1337524546228765,
      2.0934161101923747,
      2.0516794871873065,
      2.0106357163457043,
      1.9721672086696922,
      1.9439856052599656,
      1.9270959714865397
    ],
    "yaw_diff": [
      -0.07688637417101774,
      -0.08195857462078937,
      -0.08353404848764168,
      -0.08067268886100365,
      -0.08347324601013639,
      -0.08208754168320453,
      -0.07693701535202413,
      -0.05636320681945328,
      -0.03377926754685179,
      -0.03377926754685179
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.5211536941306933,
    "v_std": 0.05684279110796309,
    "vy_max": 0.032746607442774245,
    "a_max": 0.3373794887245049,
    "ax_avg": -0.02976661927899435,
    "a_std": 0.05254053241905612,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "6cd6a10cb3595110",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6cd6a10cb3595110",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2908ea54e9955267": {
    "vx_ego": [
      4.166680081343085,
      4.285606792377601,
      4.429269999354259,
      4.55509853871645,
      4.668428053440017,
      4.7712860121117675,
      4.87697776604311,
      4.989477425319763,
      5.1089970038431245,
      5.228190553883747
    ],
    "vy_ego": [
      -0.06349462077012857,
      -0.01796671583192344,
      -0.03851124665444905,
      -0.08597123807681317,
      -0.08455113141120396,
      -0.07186973978225808,
      -0.030487236344149515,
      -0.012506476450335313,
      0.02069766374222537,
      0.020409275868782384
    ],
    "v_ego": [
      4.167163839726962,
      4.285644453492476,
      4.4294374183747705,
      4.555909761089787,
      4.669193654579843,
      4.771827267291827,
      4.8770730568711755,
      4.989493099477014,
      5.1090389290513745,
      5.228230389554455
    ],
    "ax_ego": [
      0.14551049630222024,
      0.3520195240001084,
      0.23908540613509272,
      0.26688074128424377,
      0.1973405554035694,
      0.21772524029601992,
      0.2043294165374019,
      0.24498514599600052,
      0.23561605668849828,
      0.24331006167772537
    ],
    "ay_ego": [
      1.382276406577044,
      1.344597941142584,
      1.327580684904317,
      0.8695474510013737,
      0.4860190734330784,
      0.11125569584638414,
      -0.06234158409853731,
      -0.13365186696190967,
      -0.28554415047629367,
      -0.27901720756339676
    ],
    "a_ego": [
      1.3899141587571746,
      1.389914158717055,
      1.3489374731090384,
      0.9095812770783125,
      0.5245548918347224,
      0.24450380389724566,
      0.21362814320784163,
      0.279070857133248,
      0.37020317130011987,
      0.37020317155596355
    ],
    "yaw": [
      0.29655588540679434,
      0.44772940132592237,
      0.6049207687044764,
      0.7376683677878847,
      0.8106745025637713,
      0.8396375724539487,
      0.8335963256981531,
      0.8200053937407383,
      0.7926819479276538,
      0.7654270598749249
    ],
    "yaw_diff": [
      0.30234703183825606,
      0.3143827347571081,
      0.26549519816681655,
      0.14601226955177316,
      0.05792613978035477,
      -0.012082493511591075,
      -0.027181863914829574,
      -0.05464689162616909,
      -0.05450977610545782,
      -0.05450977610545782
    ],
    "min_front_frame": [
      9,
      52.44107176316776
    ],
    "v_avg": 4.708301186950968,
    "v_std": 0.3341394024027457,
    "vy_max": 0.08597123807681317,
    "a_max": 1.3899141587571746,
    "ax_avg": 0.23468026443208806,
    "a_std": 0.47816019563453,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "2908ea54e9955267",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      69.33956064318667,
      67.28518810151304,
      64.74681695856617,
      62.50601154711803,
      60.0661372137384,
      57.4088586604594,
      54.8557063477288,
      52.44107176316776
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2908ea54e9955267",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "429cd9dc9d2154a4": {
    "vx_ego": [
      0.5003366513122081,
      0.20300088754657208,
      0.013878989702787881,
      -0.023655927588788084,
      -0.01612036725421185,
      -0.009236790498827524,
      -0.005815514040609763,
      -0.004079665663946465,
      -0.00310268300686714,
      -0.002326110075659831
    ],
    "vy_ego": [
      -0.0025272192153734108,
      0.007056769512582425,
      0.009988606737271819,
      0.004842237503535839,
      0.0011491290326010742,
      0.00048692639685451924,
      0.00018503427455139913,
      8.189501922663939e-05,
      1.8340246932124424e-05,
      2.22316794328244e-05
    ],
    "v_ego": [
      0.500343033811081,
      0.20312350514071414,
      0.017099667240094586,
      0.024146431912948012,
      0.01616127278230995,
      0.009249615993931,
      0.005818456946587132,
      0.004080487559564161,
      0.003102737211843705,
      0.0023262163123098823
    ],
    "ax_ego": [
      -0.5946725713798076,
      -0.5946711627646736,
      -0.16184263892992135,
      0.011703939028339553,
      0.01843808037852951,
      0.009096423138732778,
      0.0045886381066203045,
      0.0023547615900881827,
      0.0015531570408379672,
      0.0015531515761828603
    ],
    "ay_ego": [
      0.019197857125569706,
      0.01924162115731226,
      -0.007394204195659865,
      -0.01318807332075471,
      -0.0015872590463678355,
      -0.0010584077866735773,
      -0.0001501870663138112,
      -0.00026180444146580296,
      7.6017117056929526e-06,
      7.5327037715763705e-06
    ],
    "a_ego": [
      0.5949823735789878,
      0.5949823794102229,
      0.1620114626546159,
      0.01763256835213441,
      0.01850627459337485,
      0.009157791270921409,
      0.004591095275467056,
      0.002369270713051982,
      0.0015531756434883364,
      0.0015531698426847636
    ],
    "yaw": [
      1.0078975310422653,
      1.0079711309861938,
      1.0085236047072406,
      1.0084934632292788,
      1.008528403231219,
      1.0084600555315077,
      1.008496705470618,
      1.008466108657788,
      1.0084645475385856,
      1.008505559895089
    ],
    "yaw_diff": [
      0.0001471998878570524,
      0.0011049474420934402,
      -6.028295592352961e-05,
      6.988000388030713e-05,
      -0.00013669539942240405,
      7.329987822046746e-05,
      -6.119362566003872e-05,
      -3.122238404706934e-06,
      8.202471300666758e-05,
      8.202471300666758e-05
    ],
    "min_front_frame": [
      1,
      12.243777290703704
    ],
    "v_avg": 0.07854514249113835,
    "v_std": 0.1520515207890807,
    "vy_max": 0.009988606737271819,
    "a_max": 0.5949823794102229,
    "ax_avg": -0.13018982222150713,
    "a_std": 0.23172485359098613,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "429cd9dc9d2154a4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      12.372450037164674,
      12.243777290703704,
      12.288828682645146,
      12.39236945802516,
      12.361806739403264,
      12.431000039472528,
      12.430824108582966,
      12.444235382975206,
      12.453696884477953,
      12.449356466447892
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "429cd9dc9d2154a4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e1d5cb7ac38f5038": {
    "vx_ego": [
      9.836111985374279,
      9.335484436690663,
      8.703019811885156,
      7.8799352470165305,
      6.996471780672098,
      6.051485834386201,
      5.027499962378839,
      4.056929652244786,
      3.3074625883919433,
      2.7063212117029516
    ],
    "vy_ego": [
      -0.005134685811703538,
      -0.0069151303818679455,
      -0.043566642333618885,
      -0.02282681201426949,
      0.015230129410834542,
      0.007957583504584503,
      0.007529403680924279,
      0.0005994203375452867,
      -0.02360935628013547,
      -0.06017106303067866
    ],
    "v_ego": [
      9.836113325588615,
      9.335486997833685,
      8.703128856818665,
      7.879968309613954,
      6.996488357353485,
      6.051491066415952,
      5.0275056005576975,
      4.056929696527627,
      3.307546851567835,
      2.7069900365054123
    ],
    "ax_ego": [
      -1.0012972173556793,
      -1.001248186677022,
      -1.5285748769868195,
      -1.7634377811220527,
      -1.7706503794595407,
      -2.009416347691711,
      -2.0865546604894076,
      -1.7957532825540945,
      -1.202091108706738,
      -1.2021956122563402
    ],
    "ay_ego": [
      -0.0317352289930931,
      -0.033246145307501127,
      -0.09499405295532187,
      0.21557151228339097,
      0.022226573794765257,
      0.010229307650956407,
      0.006739465391774294,
      -0.017487222576078973,
      -0.06417096327832733,
      -0.062182664447616776
    ],
    "a_ego": [
      1.00180000111972,
      1.0017999987531605,
      1.5315237590883626,
      1.7765651929486903,
      1.7707898765417849,
      2.009442384619602,
      2.08656554452618,
      1.795838426684659,
      1.203802702339492,
      1.203802713855639
    ],
    "yaw": [
      -1.552925013696882,
      -1.554434006947028,
      -1.5539286268276475,
      -1.5527983876087563,
      -1.5499226967869926,
      -1.547574982126461,
      -1.5467333422022795,
      -1.545791670632393,
      -1.544740051218033,
      -1.5430860918257214
    ],
    "yaw_diff": [
      -0.003017986500291947,
      0.0010107602387607884,
      0.0022604784377824316,
      0.005751381643527509,
      0.004695429321063038,
      0.0016832798483630285,
      0.0018833431397728972,
      0.002103238828720322,
      0.0033079187846229985,
      0.0033079187846229985
    ],
    "min_front_frame": [
      9,
      11.037941385790017
    ],
    "v_avg": 6.390164909878292,
    "v_std": 2.4283794054021453,
    "vy_max": 0.06017106303067866,
    "a_max": 2.08656554452618,
    "ax_avg": -1.5361219453299406,
    "a_std": 0.38719572825381443,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e1d5cb7ac38f5038",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.9661164309352155,
    "right_rear_min": 4.0724678353228505,
    "speed_mode": "decelerating",
    "front_frame": [
      20.704141516165798,
      20.170016497902953,
      19.349833672157363,
      18.226997238753977,
      16.963666197178377,
      15.462667575413162,
      14.025944009346539,
      12.783716233059511,
      11.864903868036333,
      11.037941385790017
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e1d5cb7ac38f5038",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "37a8f4466b8b5110": {
    "vx_ego": [
      8.039564211120254,
      7.850064052241345,
      7.691954712978013,
      7.575062283211276,
      7.471338034844253,
      7.3979788804708875,
      7.350532126448234,
      7.29190717140705,
      7.219394536597413,
      7.1498906294632345
    ],
    "vy_ego": [
      0.017092080996838455,
      0.01959712881139941,
      -0.01015857473845072,
      -0.02268819983992776,
      -0.004183964769830517,
      0.013702777628662233,
      -0.015138746600679376,
      -0.049262887464943006,
      -0.0340890023303424,
      0.023157664252310806
    ],
    "v_ego": [
      8.039582379947259,
      7.850088513625146,
      7.69196142106455,
      7.575096260044621,
      7.471339206358628,
      7.3979915708256945,
      7.350547715891398,
      7.292073575362425,
      7.219475017972737,
      7.149928131855578
    ],
    "ax_ego": [
      -0.3797025918801082,
      -0.37882260493586195,
      -0.25390464762261367,
      -0.2120520861952082,
      -0.20065564348977943,
      -0.09384398732397319,
      -0.09530473896692279,
      -0.13243310301638586,
      -0.14941382309712703,
      -0.12775028756508894
    ],
    "ay_ego": [
      0.11939740707310417,
      0.12216068372351296,
      0.10847590632114978,
      0.23024065065172977,
      0.372100861673522,
      0.3061527292284396,
      0.34926330169080233,
      0.49551677976800435,
      0.6155756006794018,
      0.6204334579541575
    ],
    "a_ego": [
      0.39803240960536435,
      0.3980324090550772,
      0.27610612513408406,
      0.3130125308550312,
      0.42275493908702594,
      0.32021272237511783,
      0.3620329365921196,
      0.5129087694767965,
      0.6334491381984081,
      0.6334491390174244
    ],
    "yaw": [
      -2.5604365168481666,
      -2.55315062954627,
      -2.5418792591287884,
      -2.5291362176871193,
      -2.5115768332626978,
      -2.4911395469463096,
      -2.465010834972983,
      -2.4315272279124347,
      -2.395349387711297,
      -2.3602989679994266
    ],
    "yaw_diff": [
      0.014571774603793664,
      0.02254274083496277,
      0.025486082883338312,
      0.03511876884884302,
      0.040874572632776385,
      0.05225742394665289,
      0.06696721412109685,
      0.0723556804022758,
      0.07010083942374035,
      0.07010083942374035
    ],
    "min_front_frame": [
      4,
      18.918190220886256
    ],
    "v_avg": 7.503808379294805,
    "v_std": 0.270942029307603,
    "vy_max": 0.049262887464943006,
    "a_max": 0.6334491390174244,
    "ax_avg": -0.20238835140930692,
    "a_std": 0.12070850014564584,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "37a8f4466b8b5110",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.7354867563523175,
    "speed_mode": "quasi_constant",
    "front_frame": [
      23.93004419722285,
      21.381772954379347,
      26.420249185050967,
      22.607604522709504,
      18.918190220886256,
      28.90569796994084,
      27.094056741768064,
      25.483255291276382,
      34.62149869174952,
      32.93035341899514
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "37a8f4466b8b5110",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "79efd3e82ef059b6": {
    "vx_ego": [
      2.772729401771507,
      1.972700283160442,
      1.2290070207942017,
      0.6710860976908883,
      0.32350937101492805,
      0.12917398825467527,
      0.006383513822805242,
      -0.046792279275227944,
      -0.03200399422086374,
      -0.019677512860270644
    ],
    "vy_ego": [
      -0.009224672241538046,
      -0.03887638566406238,
      -0.04740507428108564,
      -0.020432996206706706,
      0.005317921729652691,
      0.009717055563006125,
      -9.37501935528935e-05,
      -0.005829340686005996,
      -0.0020766446900560174,
      -0.0006409234217396378
    ],
    "v_ego": [
      2.772744746641159,
      1.9730833181960639,
      1.2299209316980642,
      0.671397094012156,
      0.32355307667521427,
      0.1295389532551253,
      0.006384202207381655,
      0.047153988300083924,
      0.03207129712465365,
      0.019687947968202554
    ],
    "ax_ego": [
      -1.6001182959728268,
      -1.6000706326337892,
      -1.3748135086307331,
      -0.8569072464890807,
      -0.533399747014387,
      -0.2439451048933929,
      -0.247209669388848,
      0.034500643301638434,
      0.024652967847172767,
      0.024653016307749943
    ],
    "ay_ego": [
      -0.06229320315068046,
      -0.06350574425304402,
      0.026176959421981075,
      0.08090669740143494,
      0.021915261512729965,
      -0.0042604359283046605,
      -0.03503897187130882,
      0.012133161110727028,
      0.002870982244696,
      0.0028706933479345316
    ],
    "a_ego": [
      1.601330385731113,
      1.6013303872000393,
      1.3750626955590524,
      0.860718259809739,
      0.5338497623884302,
      0.24398230574315766,
      0.24968049621294391,
      0.03657195628846983,
      0.02481957619950619,
      0.024819590918628377
    ],
    "yaw": [
      1.5630568114609582,
      1.5622990176845257,
      1.5617881063596768,
      1.5615608808335772,
      1.5614614429992026,
      1.5615380709262034,
      1.5613320603688692,
      1.5611671883219531,
      1.561210705462507,
      1.5612223924753046
    ],
    "yaw_diff": [
      -0.001515587552864961,
      -0.0010218226496978566,
      -0.00045445105219910076,
      -0.00019887566874920992,
      0.00015325585400161046,
      -0.0004120211146685371,
      -0.00032974409383212944,
      8.703428110790057e-05,
      2.3374025595046533e-05,
      2.3374025595046533e-05
    ],
    "min_front_frame": [
      7,
      9.582142039054451
    ],
    "v_avg": 0.7205535556078104,
    "v_std": 0.9207509910685665,
    "vy_max": 0.04740507428108564,
    "a_max": 1.6013303872000393,
    "ax_avg": -0.6372657577566497,
    "a_std": 0.6226152106031753,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "79efd3e82ef059b6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.027553537352619,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.383237586452154,
      11.21523659446603,
      10.453407445253715,
      10.02164768582185,
      9.760614951347119,
      9.672904233630051,
      9.617695288853865,
      9.582142039054451,
      9.611392722155053,
      9.609482613755825
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "79efd3e82ef059b6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8067c4f48fe45421": {
    "vx_ego": [
      2.88471376982195,
      2.374045495977037,
      1.8700397315078203,
      1.395358064347424,
      0.9600941635254697,
      0.5898054956357472,
      0.28025293465204504,
      0.051324258088274496,
      -0.027759996527161532,
      -0.025203780300063677
    ],
    "vy_ego": [
      0.044691557090375485,
      0.019196293935122878,
      -0.0012630014267347132,
      -0.023849726597430253,
      -0.03501351187105185,
      -0.022825261716390637,
      -0.00788605818746631,
      -0.010063728898730317,
      -0.012428933855709064,
      0.005218536814883739
    ],
    "v_ego": [
      2.8850599420246934,
      2.374123104362893,
      1.8700401580154489,
      1.3955618715048652,
      0.9607324023104539,
      0.5902469951253891,
      0.2803638658864932,
      0.05230160712309852,
      0.0304153876184015,
      0.025738369565731525
    ],
    "ax_ego": [
      -1.0212568500389183,
      -1.0211006765585493,
      -0.9949244317489737,
      -0.9037780005554995,
      -0.8372743183612318,
      -0.6439357045681744,
      -0.5942783217641064,
      -0.3214385622353112,
      0.005112193735921152,
      0.005112991288366246
    ],
    "ay_ego": [
      -0.06260409572010575,
      -0.06510182100646396,
      -0.015150402290611119,
      -0.0685163634680149,
      0.02395542160589515,
      0.023357321996766323,
      0.03630433199353656,
      -0.04476919425703468,
      0.03529380710670326,
      0.03529369317565496
    ],
    "a_ego": [
      1.0231738984905479,
      1.023173904459396,
      0.9950397778885955,
      0.9063714284723331,
      0.8376169449166972,
      0.6443591825283255,
      0.5953862009152209,
      0.3245412609304526,
      0.03566212759887959,
      0.03566212918338139
    ],
    "yaw": [
      1.5891647781892126,
      1.5867188547204305,
      1.586905868262279,
      1.5879359226570395,
      1.5879560600451408,
      1.5874764735786342,
      1.5874209939142434,
      1.5878876733986003,
      1.5880131250675253,
      1.5880355828059751
    ],
    "yaw_diff": [
      -0.0048918469375642815,
      0.00037402708369693727,
      0.00206010878952112,
      4.0274776202497975e-05,
      -0.0009591729330131749,
      -0.0001109593287815791,
      0.0009333589687137156,
      0.0002509033378501613,
      4.491547689955411e-05,
      4.491547689955411e-05
    ],
    "min_front_frame": [
      7,
      9.469301482753076
    ],
    "v_avg": 1.0464583703537467,
    "v_std": 0.9903660173732621,
    "vy_max": 0.044691557090375485,
    "a_max": 1.023173904459396,
    "ax_avg": -0.6327761680806477,
    "a_std": 0.3690029819878038,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8067c4f48fe45421",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.176498860374874,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.937091763220854,
      12.597204911601382,
      11.495079012375243,
      10.70204908296112,
      10.08821809863733,
      9.764090006774808,
      9.517666940832473,
      9.469301482753076,
      9.482008753812252,
      9.48461046711705
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8067c4f48fe45421",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dc8554c53a2a5afc": {
    "vx_ego": [
      0.9896211069028276,
      1.4058521358546612,
      1.9568180275188216,
      2.6964563626352733,
      3.4855560179285527,
      4.157869786264425,
      4.66775282338507,
      5.074490470282528,
      5.434298671329767,
      5.800251668315814
    ],
    "vy_ego": [
      -0.011766443587535258,
      0.0034172069494848856,
      -0.0026364360384272256,
      -0.00017921972003343,
      0.014590002861817553,
      -0.0006018049188214469,
      0.003663156683729518,
      0.0205720229978823,
      0.014820965260704977,
      0.005153374927237664
    ],
    "v_ego": [
      0.9896910550380236,
      1.4058562889536215,
      1.9568198035633317,
      2.696456368591184,
      3.4855865535518493,
      4.157869829816674,
      4.667754260769967,
      5.074532169680119,
      5.434318881904864,
      5.800253957636124
    ],
    "ax_ego": [
      0.8324701622905933,
      0.8324037017200568,
      1.3716522954614696,
      1.5865769252157538,
      1.5701226529233105,
      1.1194250096134328,
      0.9198084884526768,
      0.7076257765004708,
      0.7318893514333186,
      0.7320316579228873
    ],
    "ay_ego": [
      0.022458804373218122,
      0.024800196470763813,
      -0.07350891211831723,
      0.03247714029084037,
      -0.03359446043675318,
      -0.10084798810112572,
      0.022311777042444636,
      -0.06025005532786132,
      -0.0518288524528967,
      -0.04977859012565333
    ],
    "a_ego": [
      0.8327730597215554,
      0.8327730617534659,
      1.3736206098503099,
      1.5869092930185225,
      1.5704820065810914,
      1.1239584818186477,
      0.9200790568339168,
      0.7101861085200868,
      0.7337221904018358,
      0.7337221928197544
    ],
    "yaw": [
      -0.6718744045096503,
      -0.6746871025827127,
      -0.6784812759705899,
      -0.6840101397885632,
      -0.6888753885790841,
      -0.6936248805108265,
      -0.6990102406203069,
      -0.704399233087527,
      -0.7086397776757413,
      -0.7114408354276293
    ],
    "yaw_diff": [
      -0.005625396146124784,
      -0.007588346775754484,
      -0.01105772763594648,
      -0.009730497581041941,
      -0.009498983863484689,
      -0.01077072021896086,
      -0.010777984934440266,
      -0.008481089176428425,
      -0.005602115503775984,
      -0.005602115503775984
    ],
    "min_front_frame": [
      9,
      49.74464185599181
    ],
    "v_avg": 3.5669139169505764,
    "v_std": 1.6424969247747883,
    "vy_max": 0.0205720229978823,
    "a_max": 1.5869092930185225,
    "ax_avg": 1.040400602153397,
    "a_std": 0.33098276228679036,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "dc8554c53a2a5afc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      65.99943521981105,
      65.32262338608433,
      64.48818825800737,
      63.273760640578,
      61.720137837499045,
      59.82220560175741,
      57.63495994531479,
      55.198767787219715,
      52.58357972217269,
      49.74464185599181
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "dc8554c53a2a5afc",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "cacf768cc27e5574": {
    "vx_ego": [
      2.871418508933916,
      2.967034276761262,
      3.0638136789970005,
      3.1524514427455235,
      3.209976623855636,
      3.2788035076842896,
      3.38448378755688,
      3.494484746244176,
      3.5931978627270844,
      3.7070966365750038
    ],
    "vy_ego": [
      -0.01123871275761501,
      -0.017163493085035453,
      -0.022356827793185874,
      -0.002961307907152433,
      0.005181900245367854,
      -0.0048392978683239815,
      -0.013854428165649552,
      0.0018905423932689125,
      -0.012099593648980611,
      -0.061015863483978805
    ],
    "v_ego": [
      2.8714405029728063,
      2.967083919435226,
      3.0638952474518626,
      3.152452833622234,
      3.20998080645193,
      3.2788070789246904,
      3.384512144078547,
      3.4944852576429284,
      3.5932182345180426,
      3.7075987388743137
    ],
    "ax_ego": [
      0.19077364814237938,
      0.19276005684854278,
      0.19657907946756725,
      0.1607378578729375,
      0.06995804364689791,
      0.20867386728533796,
      0.22038569591646776,
      0.22960894797847942,
      0.17833489053658474,
      0.29466202029224675
    ],
    "ay_ego": [
      0.10379409773554141,
      0.10005678501330903,
      0.1441715873440405,
      0.2562404287074655,
      0.2944613084426859,
      0.4109537247102165,
      0.5122204673840546,
      0.7028912003720226,
      0.8878522415004532,
      0.8563055687108325
    ],
    "a_ego": [
      0.2171814898887276,
      0.21718149033343745,
      0.2437801900926661,
      0.30248275365343785,
      0.30265754581817367,
      0.4608988465390419,
      0.5576196393346678,
      0.7394432422790859,
      0.9055854106157379,
      0.9055854091182625
    ],
    "yaw": [
      1.3916784388298415,
      1.4111666632287205,
      1.4331397760890083,
      1.459067499796634,
      1.499635069208866,
      1.5573729856378482,
      1.6293526246122756,
      1.7130748291359525,
      1.8289020458720597,
      1.96209538897281
    ],
    "yaw_diff": [
      0.03897644879775797,
      0.043946225720575605,
      0.05185544741525128,
      0.0811351388244641,
      0.11547583285796437,
      0.14395927794885477,
      0.16744440904735391,
      0.23165443347221437,
      0.26638668620150074,
      0.26638668620150074
    ],
    "min_front_frame": [
      0,
      19.067879991487086
    ],
    "v_avg": 3.2723474763972575,
    "v_std": 0.25884328020840774,
    "vy_max": 0.061015863483978805,
    "a_max": 0.9055854106157379,
    "ax_avg": 0.19424741079874414,
    "a_std": 0.2631693850753804,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "cacf768cc27e5574",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.067879991487086,
      19.24732320626101,
      19.588035006430097,
      19.98336023564315,
      20.456142825417267,
      21.536328105255084,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "cacf768cc27e5574",
    "pedestrians": "No"
  },
  "3e2a45dbe6fa50aa": {
    "vx_ego": [
      1.7409598125389514,
      2.1554485551447513,
      2.59594138221289,
      3.123543432053628,
      3.757204721344698,
      4.37221379220531,
      4.864168142889718,
      5.252454326834537,
      5.564665181873437,
      5.84933856987028
    ],
    "vy_ego": [
      0.07034716480857137,
      0.031076826284349643,
      0.005424258589554781,
      0.0012877358804925382,
      0.013068809955483263,
      0.03088681158391382,
      0.03422962313368133,
      0.018863533066218963,
      0.022146737956263318,
      0.04531186561783973
    ],
    "v_ego": [
      1.7423804958941271,
      2.1556725732372954,
      2.595947049241686,
      3.123543697499533,
      3.757227450113786,
      4.3723228883375205,
      4.864288579988145,
      5.252488199735683,
      5.564709252454851,
      5.8495140712830045
    ],
    "ax_ego": [
      0.8288949601033607,
      0.8288013828109551,
      0.9331716393954973,
      1.177236494481407,
      1.3574020288439925,
      1.1022783363217692,
      0.8644045436955419,
      0.6880529770660069,
      0.5599662483253355,
      0.5739590495963092
    ],
    "ay_ego": [
      -0.07305858552913964,
      -0.07411262222522601,
      -0.028818502168771146,
      0.012161573679777514,
      0.06314881192305491,
      0.08282707966200809,
      0.15703761297002478,
      0.31727977939141583,
      0.43278532488236277,
      0.41404871306975666
    ],
    "a_ego": [
      0.8321084134920584,
      0.832108414163954,
      0.9336165244035324,
      1.177299311056131,
      1.3588701337350382,
      1.1053858402610484,
      0.8785533717702194,
      0.7576828872688497,
      0.707718402118444,
      0.707718395555902
    ],
    "yaw": [
      -3.110641862595365,
      -3.1093701691736437,
      -3.1094041216351243,
      -3.109413916966094,
      -3.1073522380028953,
      -3.1027933510378265,
      -3.0906109998460316,
      -3.0642471589839015,
      -3.0302877223217184,
      -2.9972433974939303
    ],
    "yaw_diff": [
      0.0025433868434427964,
      -6.790492296104844e-05,
      -1.959066193979453e-05,
      0.0041233579263977305,
      0.009117773930137574,
      0.024364702383589787,
      0.05272768172426012,
      0.0679188733243663,
      0.06608864965557615,
      0.06608864965557615
    ],
    "min_front_frame": [
      0,
      26.734717271649615
    ],
    "v_avg": 3.9278094257785634,
    "v_std": 1.3988608458247394,
    "vy_max": 0.07034716480857137,
    "a_max": 1.3588701337350382,
    "ax_avg": 0.8914167660640174,
    "a_std": 0.20644018803363495,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "3e2a45dbe6fa50aa",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 4.357083491983635,
    "speed_mode": "accelerating",
    "front_frame": [
      26.734717271649615,
      27.67567491927723,
      28.707145034325976,
      29.36909077700145,
      29.781582269491516,
      29.805723867099218,
      29.702888078656905,
      29.39328367547569,
      28.789091595226196,
      27.97996972513277
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "3e2a45dbe6fa50aa",
    "pedestrians": "No"
  },
  "61d7fbf592275c75": {
    "vx_ego": [
      7.118434077143293,
      6.582904802722732,
      6.106691250124154,
      5.835224530652059,
      5.761252383423142,
      5.7769211718296,
      5.821942458509674,
      6.010186089210447,
      6.42471823206703,
      6.9757911681537745
    ],
    "vy_ego": [
      0.16265093508948425,
      -0.012407602118441385,
      -0.04356242136821242,
      -0.06351616769703483,
      -0.008292460778187793,
      -0.007065694707882542,
      0.023111706957482492,
      0.033553464444169956,
      0.10693247562130281,
      -0.0883559140504917
    ],
    "v_ego": [
      7.120292061237402,
      6.582916495771486,
      6.1068466256242555,
      5.8355702057881595,
      5.7612583512983155,
      5.776925492818371,
      5.821988332279287,
      6.010279749056194,
      6.42560805805933,
      6.976350707156278
    ],
    "ax_ego": [
      -1.0735943774192935,
      -1.0629942150110994,
      -0.82744520754503,
      -0.2596837603925105,
      -0.025848386107582,
      0.09263053646710329,
      0.10060653589834323,
      0.6863756790309063,
      0.989913377793854,
      1.2113716281593454
    ],
    "ay_ego": [
      -0.5848821857763555,
      -0.6039332219859115,
      -1.2491547763588442,
      -1.6563874639934766,
      -2.064868224757248,
      -2.170884062458074,
      -2.241290818635086,
      -2.3572000881721746,
      -1.988765738741526,
      -1.8621751885136408
    ],
    "a_ego": [
      1.2225759929202142,
      1.222575984454687,
      1.498350168281551,
      1.676620137743292,
      2.065030005756942,
      2.172859413059357,
      2.243547683639329,
      2.4550975191311744,
      2.2215124710717618,
      2.2215124699684305
    ],
    "yaw": [
      -2.446611642213579,
      -2.464444309651573,
      -2.5328409006275754,
      -2.6524326170383663,
      -2.8228520497602823,
      -3.0065729870908013,
      3.081795144936957,
      2.8838990122207693,
      2.696750971319852,
      2.581862371627839
    ],
    "yaw_diff": [
      -0.03566533487598811,
      -0.13679318195200452,
      -0.23918343282158183,
      -0.3408388654438319,
      -0.36744187466103817,
      -0.38963435030365545,
      -0.3957922654323758,
      -0.3742960818018348,
      -0.22977719938402608,
      -0.22977719938402608
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.241803607908908,
    "v_std": 0.48182631873760645,
    "vy_max": 0.16265093508948425,
    "a_max": 2.4550975191311744,
    "ax_avg": -0.016866818912596337,
    "a_std": 0.4316959217365039,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "61d7fbf592275c75",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.316949089901222,
    "right_rear_min": 24.128935789230628,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "61d7fbf592275c75",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "08ac82bf0eeb5661": {
    "vx_ego": [
      10.387005489740162,
      10.521165592909291,
      10.606000767269833,
      10.640519942040497,
      10.72660984141439,
      10.95227755124107,
      11.18022020850964,
      11.562817927719278,
      11.726692600376678,
      11.432032540904347
    ],
    "vy_ego": [
      -0.015447081925837935,
      0.057721092775143534,
      0.053639193438640986,
      0.030827127362577145,
      0.0020924340203724023,
      -0.0036026634698452797,
      0.002124188528210502,
      0.011363152020562706,
      0.006845674018332859,
      0.020728483313301627
    ],
    "v_ego": [
      10.387016975832488,
      10.521323926102147,
      10.606136404855494,
      10.64056459727316,
      10.72661004549938,
      10.952278143774617,
      11.180220410302484,
      11.562823511184895,
      11.726694598521014,
      11.432051333261077
    ],
    "ax_ego": [
      0.26717895054140806,
      0.27088055374592435,
      0.06913641329043549,
      0.06911574891264138,
      0.2753679428202453,
      0.62721762819483,
      0.28454055873205647,
      1.2458685250076291,
      -0.5902594933685402,
      -0.5887742807489921
    ],
    "ay_ego": [
      -0.2168055999430973,
      -0.21216264504994123,
      -0.02551872238653933,
      -0.10173844844745092,
      -0.09672299882410867,
      -0.035403419594907594,
      -0.028574534002044266,
      0.09062660680461873,
      0.19767117611844714,
      0.20205203451481082
    ],
    "a_ego": [
      0.34407740376126783,
      0.3440774075005303,
      0.07369565004060395,
      0.12299470980595026,
      0.29186099848143876,
      0.628216010013563,
      0.285971735591098,
      1.2491603433769438,
      0.6224790465387056,
      0.6224790585417852
    ],
    "yaw": [
      -1.590735355584766,
      -1.6079930814643666,
      -1.613219198628558,
      -1.614066605434847,
      -1.6160257990535436,
      -1.6185580196098137,
      -1.6205132963945452,
      -1.6199556696887623,
      -1.6135054499644936,
      -1.606074213945612
    ],
    "yaw_diff": [
      -0.03451545175920101,
      -0.010452234328382826,
      -0.001694813612577839,
      -0.00391838723739335,
      -0.00506444111254023,
      -0.003910553569463016,
      0.0011152534115659307,
      0.012900439448537249,
      0.014862472037763474,
      0.014862472037763474
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.973571994660675,
    "v_std": 0.44980434137511927,
    "vy_max": 0.057721092775143534,
    "a_max": 1.2491603433769438,
    "ax_avg": 0.19302725471276375,
    "a_std": 0.3243583463578219,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "08ac82bf0eeb5661",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.104289440640372,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "08ac82bf0eeb5661",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fbe786c417ca5245": {
    "vx_ego": [
      1.3890720180884544,
      0.9532593307261142,
      0.5588705414155103,
      0.2441043559281289,
      0.029905210918754546,
      -0.03715497864273689,
      -0.022087730981772056,
      -0.012534549686521375,
      -0.007601578149155925,
      -0.004404527952431025
    ],
    "vy_ego": [
      0.02264464888572513,
      0.012153721408751345,
      -0.002142263544278813,
      -0.016886381149950346,
      -0.022551746969603947,
      -0.013395015656443687,
      -0.0028593775786954793,
      -0.0018045797191366321,
      -0.001079795442165513,
      -0.0006524372051244637
    ],
    "v_ego": [
      1.3892565823344114,
      0.9533368054158409,
      0.5588746472646248,
      0.24468773253154322,
      0.03745534583308819,
      0.03949580841530663,
      0.022272043014970124,
      0.01266378473469098,
      0.007677886985013926,
      0.00445258810023753
    ],
    "ax_ego": [
      -0.8716287204794666,
      -0.871631546946506,
      -0.7059054162322811,
      -0.5531252641258537,
      -0.3036771206710824,
      0.03539668855088014,
      0.024873866356857288,
      0.013338067355217267,
      0.0063941382923464515,
      0.006394158299883223
    ],
    "ay_ego": [
      -0.020721111997380796,
      -0.020601903878237286,
      -0.038432747111962415,
      -0.019447481049494737,
      -0.003242152262835451,
      0.03994714962086841,
      0.0021822616049844337,
      0.002042251494183475,
      0.0008545049155035857,
      0.0008543533116961154
    ],
    "a_ego": [
      0.8718749857904401,
      0.8718749864950636,
      0.7069508700869122,
      0.5534670381634899,
      0.303694427295554,
      0.05337321728357825,
      0.024969411151474642,
      0.013493510734342164,
      0.0064509831151748475,
      0.0064509828666003775
    ],
    "yaw": [
      1.5456490971584187,
      1.5457858606211468,
      1.545156664971088,
      1.545873367268192,
      1.545806810063012,
      1.5453826045579877,
      1.5454986877404568,
      1.5454148885105319,
      1.5454796578108487,
      1.5455034989604242
    ],
    "yaw_diff": [
      0.00027352692545612456,
      -0.0012583913001176228,
      0.001433404594207932,
      -0.00013311441035979144,
      -0.000848411010048622,
      0.0002321663649382799,
      -0.00016759845984992694,
      0.00012953860063369405,
      4.768229915086408e-05,
      4.768229915086408e-05
    ],
    "min_front_frame": [
      8,
      9.437166769324563
    ],
    "v_avg": 0.32701732246297277,
    "v_std": 0.463183829020952,
    "vy_max": 0.02264464888572513,
    "a_max": 0.8718749864950636,
    "ax_avg": -0.32195711496000057,
    "a_std": 0.35465770854246137,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "fbe786c417ca5245",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.545510869287115,
    "right_rear_min": 4.009853758330644,
    "speed_mode": "decelerating",
    "front_frame": [
      10.658231508997433,
      10.077919099067252,
      9.685836084747438,
      9.541436633688193,
      9.50638846797885,
      9.467745972109965,
      9.463612440337904,
      9.456242475624872,
      9.437166769324563,
      9.449757880356763
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "fbe786c417ca5245",
    "merging_vehicles": "No"
  },
  "30e7a7c93a225968": {
    "vx_ego": [
      11.58192984887716,
      11.646043889113667,
      11.73650525455357,
      11.806715966709056,
      11.872344005219428,
      11.955543045545687,
      11.989750171350789,
      11.984258508571788,
      11.980288369866791,
      11.992292548895579
    ],
    "vy_ego": [
      0.14658718021562667,
      0.12133504366791126,
      0.09334781822692673,
      0.11960925452791216,
      0.12107768110477668,
      0.11000294330789462,
      0.12542226426650416,
      0.1184197912316467,
      0.06328575069074027,
      0.007918417187164017
    ],
    "v_ego": [
      11.582857455123726,
      11.646675940369581,
      11.736876475678327,
      11.807321808619909,
      11.872961382196584,
      11.956049103338119,
      11.990406161418386,
      11.984843563736268,
      11.980455521865851,
      11.992295163129832
    ],
    "ax_ego": [
      0.12918663512476286,
      0.13558080988283652,
      0.2348607077165065,
      0.05143881883917721,
      0.21569859026379173,
      0.11867259955936844,
      0.018685313529009945,
      -0.040433677040326604,
      0.02385318892006396,
      0.02373663658050087
    ],
    "ay_ego": [
      -0.4124818090395024,
      -0.410424507145145,
      -0.5259145095854548,
      -0.25514067540913304,
      -0.2136785090023344,
      -0.032760899074533695,
      0.03627022545925792,
      -0.08340876292971783,
      -0.03885464260468406,
      -0.03892595628012239
    ],
    "a_ego": [
      0.43223885697997944,
      0.43223885997654243,
      0.5759736308387804,
      0.2602743097806587,
      0.3036188186711223,
      0.1231115851345843,
      0.04080037005399342,
      0.09269252382186659,
      0.045592300595539065,
      0.04559230185543138
    ],
    "yaw": [
      0.7237148549902352,
      0.7081746936344788,
      0.6905281000151067,
      0.6717466342480369,
      0.6617058314063826,
      0.6574684733608654,
      0.6562551392607119,
      0.6558564397782864,
      0.6579081932033972,
      0.6609051264106885
    ],
    "yaw_diff": [
      -0.031080322711512842,
      -0.035293187238744306,
      -0.037562931534139476,
      -0.020081605683308634,
      -0.00847471609103434,
      -0.002426668200307125,
      -0.0007973989648508706,
      0.004103506850221539,
      0.00599386641458266,
      0.00599386641458266
    ],
    "min_front_frame": [
      9,
      40.052547438888276
    ],
    "v_avg": 11.855074257547656,
    "v_std": 0.14628860593271595,
    "vy_max": 0.14658718021562667,
    "a_max": 0.5759736308387804,
    "ax_avg": 0.09112796233756913,
    "a_std": 0.18483795969914332,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "30e7a7c93a225968",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 21.190075454583805,
    "speed_mode": "quasi_constant",
    "front_frame": [
      45.20000501232949,
      44.566686504620215,
      43.8778813230653,
      43.161588688426434,
      42.51544447090216,
      41.983155906790806,
      41.428436698133055,
      40.914060267897064,
      40.43286002423223,
      40.052547438888276
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "30e7a7c93a225968",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "b86df9a9f50e525a": {
    "vx_ego": [
      5.939587749043139,
      5.631656055670161,
      5.4277649454863806,
      5.307403916134023,
      5.19397644603955,
      5.107470361170436,
      5.046051347889957,
      5.090337442395361,
      5.248000233152909,
      5.438526458793225
    ],
    "vy_ego": [
      0.08946477141863513,
      0.054743415299749965,
      0.03894782146091303,
      0.03234971264037728,
      0.025390434634343317,
      0.01308571496144495,
      0.00460499211732901,
      0.01720695907061698,
      0.025867764114559044,
      0.011695758521506061
    ],
    "v_ego": [
      5.9402614903645725,
      5.631922120456308,
      5.427904681941948,
      5.307502504276628,
      5.194038505458403,
      5.107487124425329,
      5.046053449131752,
      5.090366524808661,
      5.248063984784605,
      5.438539034866015
    ],
    "ax_ego": [
      -0.6306841821413633,
      -0.612739747701356,
      -0.2111177076462484,
      -0.2763950060129651,
      -0.18216532475462338,
      -0.166670002911694,
      -0.07950928793212314,
      0.25467916358546033,
      0.37401111515155394,
      0.38532873540972723
    ],
    "ay_ego": [
      0.4089736827820523,
      0.43539868117188935,
      0.41009434655721344,
      0.37279311948459926,
      0.3227135312641183,
      0.305767521488285,
      0.3468226995657233,
      0.30121708463099645,
      0.34027920438506554,
      0.3274080278839594
    ],
    "a_ego": [
      0.7516794601501595,
      0.751679459596537,
      0.4612462027594316,
      0.4640785593883494,
      0.37057823573965387,
      0.3482422534209095,
      0.3558197743261738,
      0.39445304972605616,
      0.5056424143540987,
      0.5056424142171255
    ],
    "yaw": [
      -1.643610845577611,
      -1.6011136380165008,
      -1.5596616805053123,
      -1.5220304063894967,
      -1.4875159867317498,
      -1.4546131467353143,
      -1.420737029033549,
      -1.3910146908056102,
      -1.361582232852311,
      -1.327684516104949
    ],
    "yaw_diff": [
      0.08499441512222061,
      0.08290391502237693,
      0.07526254823163114,
      0.06902883931549386,
      0.06580567999287101,
      0.06775223540353048,
      0.05944467645587759,
      0.05886491590659837,
      0.06779543349472394,
      0.06779543349472394
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.343213942051422,
    "v_std": 0.26390585850131987,
    "vy_max": 0.08946477141863513,
    "a_max": 0.7516794601501595,
    "ax_avg": -0.11452622449536318,
    "a_std": 0.1415706569616892,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "b86df9a9f50e525a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "b86df9a9f50e525a",
    "pedestrians": "No"
  },
  "e23fdb8f34b35d20": {
    "vx_ego": [
      6.915057266855642,
      7.055468524369048,
      7.138772645604125,
      7.20608945079019,
      7.306015230916258,
      7.401745933538675,
      7.510241852394132,
      7.599338695632959,
      7.707914770544894,
      7.864796176985301
    ],
    "vy_ego": [
      0.07089331778650543,
      0.042057858615265786,
      0.029014624117956966,
      0.044111789986703176,
      0.07245689611595552,
      0.08129969368643275,
      0.07553610870034788,
      0.08070350900429535,
      0.052892237949981435,
      0.015417296094995425
    ],
    "v_ego": [
      6.915420657226847,
      7.0555938773312095,
      7.1388316084663614,
      7.206224463809429,
      7.306374515187071,
      7.40219241203914,
      7.510621704304513,
      7.599767211389441,
      7.708096243484477,
      7.864811288170968
    ],
    "ax_ego": [
      0.2800196186240533,
      0.2802059675110914,
      0.05232966994993286,
      0.21606519537031288,
      0.18199677638742429,
      0.19838382966809961,
      0.23544341047875705,
      0.12206607451028703,
      0.3135664265759195,
      0.31495191982994597
    ],
    "ay_ego": [
      0.03064899020349686,
      0.028895724419065655,
      0.1091619136666194,
      0.14795428915650305,
      0.19025676960901025,
      0.04066027812869904,
      -0.05074034275573408,
      -0.03933216439528708,
      -0.19021722197692964,
      -0.18791429838883184
    ],
    "a_ego": [
      0.28169193707817464,
      0.28169193655220126,
      0.12105667165599496,
      0.26186760076461846,
      0.2632877988009891,
      0.20250778279188364,
      0.24084887776536942,
      0.1282464256904216,
      0.36675127186175105,
      0.36675127176812305
    ],
    "yaw": [
      1.1693965436042606,
      1.175655669601717,
      1.1823298350024882,
      1.1892065041198943,
      1.196948235615659,
      1.2035977731082164,
      1.2040330718716121,
      1.2003753054683037,
      1.1964988646282917,
      1.1891707954146296
    ],
    "yaw_diff": [
      0.012518251994912966,
      0.013348330801542296,
      0.013753338234812063,
      0.015483462991529695,
      0.013299074985114512,
      0.0008705975267915278,
      -0.007315532806616787,
      -0.007752881680024082,
      -0.014656138427324272,
      -0.014656138427324272
    ],
    "min_front_frame": [
      9,
      31.09150176919748
    ],
    "v_avg": 7.370793398140945,
    "v_std": 0.28680094406431866,
    "vy_max": 0.08129969368643275,
    "a_max": 0.36675127186175105,
    "ax_avg": 0.2195028888905824,
    "a_std": 0.07959637999872952,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e23fdb8f34b35d20",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      64.05845319650064,
      60.61418198403812,
      57.08217070432313,
      53.54867306867815,
      49.91867843888504,
      46.21004575553479,
      42.53092173846541,
      38.76433763436469,
      34.93418391004254,
      31.09150176919748
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e23fdb8f34b35d20",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "396eba48b9c5529d": {
    "vx_ego": [
      2.3491719292371602,
      1.79088299686638,
      1.2453009943449167,
      0.7452490834558574,
      0.3292318261809228,
      0.056029084450455076,
      -0.034694197158956164,
      -0.02716790957740622,
      -0.01636751942347966,
      -0.009671600239881242
    ],
    "vy_ego": [
      0.02657577782532572,
      -0.005218317489229185,
      -0.01189965201901172,
      0.0010128376564004227,
      -0.0060946832991338185,
      -0.012818663419713251,
      -0.0052311124845448535,
      -0.0027380804185555795,
      -0.0015485782965019958,
      -0.0010395728236260106
    ],
    "v_ego": [
      2.349322248028751,
      1.790890599479076,
      1.2453578474617695,
      0.7452497717087296,
      0.3292882332166488,
      0.057476746917550246,
      0.035086348546557004,
      0.02730553781167106,
      0.016440613942866642,
      0.009727310155212112
    ],
    "ax_ego": [
      -1.1165738646612189,
      -1.1165993593507544,
      -1.0657965429129375,
      -0.9344097480781814,
      -0.7296505988251014,
      -0.3631894701496479,
      0.000296350489336932,
      0.029809386185066497,
      0.013391935602574965,
      0.013391978479571867
    ],
    "ay_ego": [
      -0.062111858379382434,
      -0.06165162004348923,
      0.02979059229450909,
      0.022150936047857284,
      -0.05124955556658106,
      0.02412719872700464,
      0.0062230438636974444,
      0.0037436928483438187,
      0.0010171213319371698,
      0.0010165051602158224
    ],
    "a_ego": [
      1.1183000841437107,
      1.1183000722330756,
      1.0662128072174084,
      0.9346722640965264,
      0.7314482300967042,
      0.3639899901727991,
      0.006230096190431787,
      0.030043547408273447,
      0.013430505388383437,
      0.013430501492426163
    ],
    "yaw": [
      -2.0304796745230718,
      -2.030067494929444,
      -2.030916795696232,
      -2.0308423293526827,
      -2.031168990497183,
      -2.0315545558316623,
      -2.031554812062166,
      -2.0315158552567905,
      -2.0315513759537174,
      -2.0315053727343475
    ],
    "yaw_diff": [
      0.0008243591872556522,
      -0.0016986015335760385,
      0.00014893268709847973,
      -0.000653322289000613,
      -0.0007711306689586195,
      -5.124610069628943e-07,
      7.791361075071279e-05,
      -7.104139385383235e-05,
      9.200643873974457e-05,
      9.200643873974457e-05
    ],
    "min_front_frame": [
      5,
      10.431009760374295
    ],
    "v_avg": 0.6606145257268833,
    "v_std": 0.8113493646024948,
    "vy_max": 0.02657577782532572,
    "a_max": 1.1183000841437107,
    "ax_avg": -0.5269329933221292,
    "a_std": 0.4763061235242218,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "396eba48b9c5529d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.352698341469419,
    "right_rear_min": 6.192069260859226,
    "speed_mode": "decelerating",
    "front_frame": [
      12.965443300695808,
      11.933655815840842,
      11.211815064765744,
      10.697362230875042,
      10.474312157770054,
      10.431009760374295,
      10.4512870368919,
      10.448781635363856,
      10.446021681741673,
      10.448393156105771
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "396eba48b9c5529d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6747e9a7ad2f5643": {
    "vx_ego": [
      5.978161632575518,
      5.658674400056367,
      5.421854661719927,
      5.24746051259587,
      5.201544330185049,
      5.263258900019981,
      5.333753658256399,
      5.439771816955339,
      5.55331173915399,
      5.660914665349953
    ],
    "vy_ego": [
      -0.07246148599997326,
      -0.01576364322634538,
      -0.047025836711956655,
      0.005984833887395347,
      0.028840926558103774,
      0.006342577170970198,
      -0.023268387077934438,
      -0.06989569101984117,
      -0.11072521492499021,
      0.050067675071132633
    ],
    "v_ego": [
      5.978600770427083,
      5.658696356785815,
      5.422058594494581,
      5.24746392550626,
      5.201624286501762,
      5.263262721632343,
      5.333804411937199,
      5.440220843694191,
      5.554415481888774,
      5.661136071537338
    ],
    "ax_ego": [
      -0.735593147926673,
      -0.5131639120537611,
      -0.40058915536582224,
      -0.2908363078025501,
      0.08408322617501551,
      0.15231261536637908,
      0.13850566020176025,
      0.2884313396040147,
      0.18826526667418392,
      0.24911145595291923
    ],
    "ay_ego": [
      1.6209288549687675,
      1.7044560542285208,
      1.8555119436581429,
      1.768098317870913,
      1.6170476532155442,
      1.6266241564947954,
      1.6687114342955565,
      1.3346176737420583,
      1.0084286717820639,
      0.9951460560332956
    ],
    "a_ego": [
      1.7800302334924067,
      1.7800302361001001,
      1.8982613741144085,
      1.7918586494459243,
      1.6192322568717241,
      1.6337396608065042,
      1.6744496614878153,
      1.3654292265549428,
      1.02585193702992,
      1.0258519339191239
    ],
    "yaw": [
      1.2727760714680216,
      1.4063536435936168,
      1.5726760166624332,
      1.732623891227954,
      1.8913258881354527,
      2.0505287025682413,
      2.2112024237378525,
      2.359487545248663,
      2.4731034145310637,
      2.533822379848393
    ],
    "yaw_diff": [
      0.26715514425119036,
      0.33264474613763273,
      0.31989574913104146,
      0.3174039938149975,
      0.3184056288655772,
      0.3213474423392224,
      0.2965702430216215,
      0.22723173856480106,
      0.12143793063465846,
      0.12143793063465846
    ],
    "min_front_frame": [
      9,
      17.15091409131505
    ],
    "v_avg": 5.476128346440534,
    "v_std": 0.22882023706418128,
    "vy_max": 0.11072521492499021,
    "a_max": 1.8982613741144085,
    "ax_avg": -0.08394729591745335,
    "a_std": 0.29925471517459057,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "6747e9a7ad2f5643",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 25.98437297242158,
    "right_rear_min": 7.92824693089085,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      22.721895090147665,
      19.94614461427832,
      17.15091409131505
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6747e9a7ad2f5643",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "bba5d587cab25dfa": {
    "vx_ego": [
      3.7599077200596502,
      4.263383679383109,
      4.8473525401512045,
      5.398888501513532,
      5.910148570051078,
      6.388196092191794,
      6.82195238077596,
      7.195686033169581,
      7.429985219934382,
      7.56466409826188
    ],
    "vy_ego": [
      -0.05160655575849174,
      -0.015777100198368643,
      -0.06896567740081316,
      -0.04953466716142785,
      -0.08255623247426236,
      -0.1625356268063478,
      -0.05239000499930491,
      -0.04961698454622887,
      -0.041099340594451306,
      -0.047356181191318125
    ],
    "v_ego": [
      3.7602618658760205,
      4.2634128716933954,
      4.84784311969454,
      5.399115736398492,
      5.910725137544221,
      6.390263464230238,
      6.822153545486836,
      7.195857095100433,
      7.430098890609779,
      7.564812325988613
    ],
    "ax_ego": [
      0.7772188755809368,
      1.2402436135215145,
      1.1521430547038638,
      1.0867436081281912,
      0.9949177391457007,
      0.9109076094716897,
      0.8283185653995528,
      0.6719372823050197,
      0.26829342351433716,
      0.273849994720706
    ],
    "ay_ego": [
      2.069422369306324,
      1.829856255463786,
      2.0013750600627658,
      1.8806823852724261,
      1.7889521993695063,
      0.6967972192224654,
      0.26426193914396223,
      0.35124884110685706,
      0.285114229382205,
      0.2797814478421166
    ],
    "a_ego": [
      2.2105605902450844,
      2.2105605932751207,
      2.3093149957386907,
      2.1720906758423926,
      2.047000556740468,
      1.1468561538874824,
      0.86945156177081,
      0.7582054205361274,
      0.3914990228560629,
      0.3914990142582248
    ],
    "yaw": [
      -3.0801250855374698,
      -2.843739492387635,
      -2.6232373421707833,
      -2.4384156976101647,
      -2.271064561872376,
      -2.15731498224324,
      -2.1376464795019876,
      -2.116148049468623,
      -2.095699601441525,
      -2.0760272951227665
    ],
    "yaw_diff": [
      0.47277118629966974,
      0.4410043004337032,
      0.3696432891212371,
      0.3347022714755772,
      0.22749915925827224,
      0.03933700548250485,
      0.042996860066729425,
      0.04089689605419622,
      0.03934461263751654,
      0.03934461263751654
    ],
    "min_front_frame": [
      5,
      23.413756269145214
    ],
    "v_avg": 5.958454405262256,
    "v_std": 1.2831030918688753,
    "vy_max": 0.1625356268063478,
    "a_max": 2.3093149957386907,
    "ax_avg": 0.8204573766491512,
    "a_std": 0.7695133410325007,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "bba5d587cab25dfa",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      23.413756269145214,
      25.429095203094345,
      27.583103628772815,
      29.513751008134967,
      31.47709997064714
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "bba5d587cab25dfa",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "8439357bbb005600": {
    "vx_ego": [
      4.82306999415872,
      5.082189953555314,
      5.2821220621653415,
      5.404480820714162,
      5.477367614738318,
      5.555986254925524,
      5.649819661119134,
      5.716897364313662,
      5.808676713267909,
      5.92825621467173
    ],
    "vy_ego": [
      -0.023981978940076143,
      -0.034728753413376445,
      -0.032504188085078045,
      -0.035966241823085277,
      -0.011128211259713083,
      -0.001766765929871017,
      -0.0008630966357339176,
      -0.01621374206318027,
      -0.03498022962296998,
      -0.04851772352570194
    ],
    "v_ego": [
      4.823129617153999,
      5.082308610300266,
      5.282222070479138,
      5.404600495135426,
      5.477378919161059,
      5.555986535835306,
      5.649819727044759,
      5.716920356234481,
      5.8087820389239395,
      5.928454749451168
    ],
    "ax_ego": [
      0.5171383408946841,
      0.5182151326393898,
      0.2800016489924997,
      0.20808685198336513,
      0.08056692269209499,
      0.23492317797891987,
      0.13900113875444503,
      0.1280446864729368,
      0.2391278583290209,
      0.239137547589111
    ],
    "ay_ego": [
      -0.11701135166532078,
      -0.11214631984059945,
      -0.13166303985755057,
      -0.24788413850123722,
      -0.20930402203488124,
      -0.33734793239597516,
      -0.23864749639121724,
      -0.03193946434870597,
      -0.03080865423253236,
      -0.03073335020288001
    ],
    "a_ego": [
      0.5302110146364859,
      0.5302110153045204,
      0.3094124747049639,
      0.3236459239490704,
      0.22427483735821116,
      0.4110870066586327,
      0.2761773779816669,
      0.1319680685500661,
      0.24110434629977956,
      0.24110434562991018
    ],
    "yaw": [
      2.5914529476818027,
      2.5820552001254686,
      2.5699337596351537,
      2.552852752307248,
      2.527356876184312,
      2.500795898883827,
      2.4749905130893293,
      2.4657911766169556,
      2.4663268367725153,
      2.4660119321462552
    ],
    "yaw_diff": [
      -0.018795495112668092,
      -0.024242880980629877,
      -0.034162014655811035,
      -0.05099175224587249,
      -0.0531219546009698,
      -0.05161077158899552,
      -0.018398672944747396,
      0.0010713203111194503,
      -0.0006298092525200971,
      -0.0006298092525200971
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.4729603119719545,
    "v_std": 0.32154360108308094,
    "vy_max": 0.04851772352570194,
    "a_max": 0.5302110153045204,
    "ax_avg": 0.25842433063264675,
    "a_std": 0.12476037323798567,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8439357bbb005600",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8439357bbb005600",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c9fb5f51480b5ff8": {
    "vx_ego": [
      3.2352204443574033,
      3.403023600855469,
      3.750707606183478,
      4.237596512788196,
      4.691801022145235,
      5.039108492442919,
      5.195127710990154,
      5.11182147220812,
      4.944701716179428,
      4.775908632397494
    ],
    "vy_ego": [
      -0.09665906974799925,
      0.03505428057271365,
      0.05676018970997898,
      -0.004850025469766983,
      -0.024650592989349462,
      -0.08555852769462735,
      -0.16502069364916716,
      -0.13675895324065213,
      -0.09694971961832932,
      0.06812155726771163
    ],
    "v_ego": [
      3.2366640695865647,
      3.4032041417707806,
      3.7511370631074663,
      4.237599288269449,
      4.6918657784657265,
      5.039834785017423,
      5.197747951067871,
      5.113650533133788,
      4.945652061166642,
      4.776394436347722
    ],
    "ax_ego": [
      0.18928452514733227,
      0.4995900229082341,
      0.8686981940281855,
      1.0333713865739282,
      0.7691883897834684,
      0.650079370859167,
      0.006874803563708731,
      -0.30823594729526993,
      -0.3412034642162983,
      -0.3329567856988363
    ],
    "ay_ego": [
      1.5987544098085333,
      1.5304424477853091,
      1.6957296589170985,
      1.4809702846102477,
      1.1754268031150903,
      1.1849570115192487,
      0.7811755118964525,
      0.6098477155516135,
      0.4899613650000009,
      0.4956023822092576
    ],
    "a_ego": [
      1.6099205863465698,
      1.609920580951911,
      1.9052914812277228,
      1.8058597416433761,
      1.4047344761409701,
      1.351564392681784,
      0.7812057624664095,
      0.6833181070105886,
      0.5970610883200034,
      0.5970610876571943
    ],
    "yaw": [
      0.013907837691180591,
      0.21159071339849225,
      0.4329698124145717,
      0.6475125493927681,
      0.7992753227325613,
      0.9324711030005723,
      1.0422200218808408,
      1.103726230323657,
      1.1504437181534644,
      1.167178266573551
    ],
    "yaw_diff": [
      0.3953657514146233,
      0.44275819803215893,
      0.42908547395639285,
      0.3035255466795863,
      0.2663915605360221,
      0.219497837760537,
      0.12301241688563236,
      0.09343497565961467,
      0.03346909684017341,
      0.03346909684017341
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.439375010793343,
    "v_std": 0.6970313954528304,
    "vy_max": 0.16502069364916716,
    "a_max": 1.9052914812277228,
    "ax_avg": 0.3034690495653619,
    "a_std": 0.4922308436083248,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "c9fb5f51480b5ff8",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.460122382862512,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "c9fb5f51480b5ff8",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "19a52017c000548c": {
    "vx_ego": [
      3.7884742468787547,
      4.4234098054434545,
      5.048113397097618,
      5.549390156837076,
      5.91621065907465,
      6.203575625344813,
      6.425591846863846,
      6.6274855222702715,
      6.862371493307382,
      7.119996579510452
    ],
    "vy_ego": [
      -0.0017880723396348497,
      0.1300042554051506,
      0.09645019607639016,
      0.009598600615714492,
      -0.0026436446060711383,
      0.002774034315688123,
      -0.020083316519277528,
      0.0033780172936594965,
      0.021931921869506432,
      -0.006482738740073213
    ],
    "v_ego": [
      3.788474668843153,
      4.425319809156933,
      5.049034710742205,
      5.549398458025339,
      5.916211249727761,
      6.203576245573086,
      6.425623232191999,
      6.627486383154845,
      6.862406540081597,
      7.119999530768391
    ],
    "ax_ego": [
      1.2328379845665824,
      1.3290148654456742,
      1.186514439913433,
      0.8209764145566552,
      0.6455922038566662,
      0.5045326666707136,
      0.38244958960600334,
      0.4248737251050195,
      0.515169228550463,
      0.5154091694683957
    ],
    "ay_ego": [
      -0.845825948298589,
      -0.6848580455969173,
      -0.42833538857755193,
      -0.28367727195571324,
      -0.1758624534843478,
      -0.24792293525967374,
      -0.04478825234153802,
      0.06391026024477772,
      -0.09359573539267615,
      -0.09226529673276523
    ],
    "a_ego": [
      1.495095659483165,
      1.4950956675726181,
      1.2614625326306645,
      0.8686052428362016,
      0.6691165042248185,
      0.5621556666668351,
      0.38506321057406884,
      0.4296535856351846,
      0.5236024214315429,
      0.5236024226006661
    ],
    "yaw": [
      -2.0369883694516657,
      -2.1624886028948236,
      -2.213963608765061,
      -2.2310185841756716,
      -2.2488543618101042,
      -2.2671777584785926,
      -2.275127430118715,
      -2.2779920438278074,
      -2.2818495765207323,
      -2.2844314944590693
    ],
    "yaw_diff": [
      -0.2510004668863157,
      -0.10295001174047513,
      -0.034109950821220814,
      -0.03567155526886534,
      -0.036646793336976735,
      -0.015899343280245226,
      -0.005729227418184379,
      -0.007715065385849762,
      -0.005163835876674128,
      -0.005163835876674128
    ],
    "min_front_frame": [
      8,
      22.31640152591981
    ],
    "v_avg": 5.79675308282653,
    "v_std": 1.0337430899375786,
    "vy_max": 0.1300042554051506,
    "a_max": 1.4950956675726181,
    "ax_avg": 0.7557370287739607,
    "a_std": 0.4141539280376318,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "19a52017c000548c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      33.809290443787226,
      31.134224190799536,
      28.300742548928017,
      25.36485275917823,
      28.83043000873157,
      25.625657723196973,
      22.31640152591981,
      24.774101494409965
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "19a52017c000548c",
    "pedestrians": "No"
  },
  "b8baf3c807cd50b4": {
    "vx_ego": [
      5.610773783277064,
      5.434116138484941,
      5.300228793773325,
      5.191793483669673,
      5.117751603359333,
      5.038082441574346,
      4.950077820302464,
      4.7786136757310524,
      4.391248945792693,
      3.9068971197705546
    ],
    "vy_ego": [
      0.051887197644074456,
      0.00971960675344441,
      -0.03223581270816789,
      -0.03473379750392169,
      -0.025360727964359064,
      -0.01330661603664618,
      0.0034249086350905955,
      -0.031714538717040996,
      -0.042151837095079525,
      0.06884610330549068
    ],
    "v_ego": [
      5.61101369882382,
      5.434124830853441,
      5.300326821429485,
      5.191909669260813,
      5.1178144397984875,
      5.03810001430401,
      4.950079005132094,
      4.778718915551518,
      4.3914512500192835,
      3.9075036647982566
    ],
    "ax_ego": [
      -0.4337872601351012,
      -0.28505190368433386,
      -0.2503299374129917,
      -0.1676922394402499,
      -0.1181741556123963,
      -0.19037384356465742,
      -0.1523838932479597,
      -0.5304268067836534,
      -1.0163676132407309,
      -0.9217636326359677
    ],
    "ay_ego": [
      1.2164825181667707,
      1.2596612787954984,
      1.1723609868888085,
      1.1828515000822089,
      1.1290245777011259,
      1.1584311748692122,
      1.2750942580553588,
      1.2075593992497404,
      0.9569777619181566,
      1.0484089719616048
    ],
    "a_ego": [
      1.2915111707069689,
      1.2915111788485507,
      1.198789122883626,
      1.194679186399101,
      1.1351923308884306,
      1.173969755667685,
      1.2841675193864512,
      1.3189208846898652,
      1.3959976941422731,
      1.3959976958934581
    ],
    "yaw": [
      -2.8234169752004403,
      -2.703426484370169,
      -2.5823771752002815,
      -2.4695601864120986,
      -2.3592348555122484,
      -2.2492973177963043,
      -2.130852994578814,
      -1.997529635609773,
      -1.8789408072053952,
      -1.7846608408575215
    ],
    "yaw_diff": [
      0.23998098166054227,
      0.2420986183397753,
      0.22563397757636583,
      0.2206506617997004,
      0.21987507543188833,
      0.23688864643498064,
      0.26664671793808203,
      0.23717765680875535,
      0.18855993269574745,
      0.18855993269574745
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.972104230997121,
    "v_std": 0.4808029733027485,
    "vy_max": 0.06884610330549068,
    "a_max": 1.3959976958934581,
    "ax_avg": -0.4066351285758042,
    "a_std": 0.08565762809736083,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "b8baf3c807cd50b4",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 24.5290908509433,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b8baf3c807cd50b4",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "04fafb805d465314": {
    "vx_ego": [
      5.369255434515059,
      5.219081908992878,
      5.096864389387926,
      5.004212825318876,
      4.867533255904964,
      4.545962335801438,
      4.032949588190121,
      3.509288544371251,
      3.000379215507692,
      2.4681036002189427
    ],
    "vy_ego": [
      -0.015029992888536015,
      -0.006226384498640325,
      0.0027073224990243894,
      0.015083927360512561,
      0.015921556708460294,
      -0.0068997489095488085,
      -0.02887438357829808,
      -0.011688464996732373,
      -0.010289296045646434,
      -0.0027946918072085936
    ],
    "v_ego": [
      5.369276470974067,
      5.2190856230417095,
      5.09686510841771,
      5.004235558599389,
      4.867559295304866,
      4.545967571932325,
      4.03305295166204,
      3.509308009831749,
      3.0003968581612113,
      2.4681051824660964
    ],
    "ax_ego": [
      -0.3003794131142309,
      -0.30038097430181965,
      -0.18725019191218906,
      -0.1806941547471561,
      -0.3606715415670826,
      -0.9291510815260817,
      -1.1240995904212128,
      -0.9704244073880326,
      -1.064829849420617,
      -1.0638890360392113
    ],
    "ay_ego": [
      0.0012384958717445715,
      0.0007674570026726113,
      -0.21624820558902846,
      -0.3266159677297039,
      -0.4685028447820897,
      -0.1967404352964981,
      -0.021019751578028933,
      0.1023896205998559,
      0.0733222350380709,
      0.08590052047624891
    ],
    "a_ego": [
      0.3003819663276644,
      0.3003819547056071,
      0.28605230429350914,
      0.37326715357207657,
      0.5912519568384418,
      0.9497518261007677,
      1.124296099406887,
      0.9758110292782085,
      1.0673512816163722,
      1.0673512919477508
    ],
    "yaw": [
      -2.0696488332997935,
      -2.071216996302206,
      -2.0834263992587,
      -2.1127512059779647,
      -2.1530044285684395,
      -2.1830346727119156,
      -2.190560537555133,
      -2.1897192201364226,
      -2.1767002576929135,
      -2.1648826848198794
    ],
    "yaw_diff": [
      -0.0031363260048244967,
      -0.024418805912988617,
      -0.05864961343852926,
      -0.08050644518094963,
      -0.06006048828695221,
      -0.015051729686434534,
      0.0016826348374205935,
      0.02603792488701817,
      0.023635145746068176,
      0.023635145746068176
    ],
    "min_front_frame": [
      9,
      11.511337652010178
    ],
    "v_avg": 4.311385263039116,
    "v_std": 0.9613324676495655,
    "vy_max": 0.02887438357829808,
    "a_max": 1.124296099406887,
    "ax_avg": -0.6481770240437633,
    "a_std": 0.34605813028564214,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "04fafb805d465314",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      31.023889740978674,
      28.391767154156504,
      25.835901499391817,
      23.29732917641507,
      20.828756547726595,
      18.47161913615085,
      16.363888203612753,
      14.519077041809183,
      12.890819584928243,
      11.511337652010178
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "04fafb805d465314",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "52b2e626eca85976": {
    "vx_ego": [
      8.041260270657318,
      7.727147127753059,
      7.367076206739899,
      6.876052737776375,
      6.331298059164721,
      5.825534656619983,
      5.378594133894703,
      5.128621157124042,
      5.061172785509013,
      5.039312565559207
    ],
    "vy_ego": [
      -0.08211308302000342,
      -0.06524368789810087,
      -0.04404503870115972,
      -0.024421350423018406,
      -0.013415784494793748,
      -0.025350450205220865,
      -0.06076192965856153,
      -0.05362191640157099,
      -0.0611027205731125,
      -0.14088380496753872
    ],
    "v_ego": [
      8.041679507345144,
      7.727422563361791,
      7.367207870105697,
      6.876096105715689,
      6.331312272922303,
      5.825589813985028,
      5.378937336432015,
      5.128901469439525,
      5.061541613702144,
      5.041281521588043
    ],
    "ax_ego": [
      -0.6423050446023851,
      -0.6240950557029585,
      -0.825389340530301,
      -1.1436912129596277,
      -1.0388788099582071,
      -0.9862321588557996,
      -0.8028514428922471,
      -0.19005761388224202,
      -0.05745116431307243,
      0.0053418085412914595
    ],
    "ay_ego": [
      -0.5080708737416837,
      -0.5302802501627437,
      -0.4383289501387927,
      -0.40088597284968497,
      -0.301316340358578,
      -0.26287894641856546,
      0.028461563485647268,
      0.36451960384998133,
      0.7188444426728752,
      0.7211167955906691
    ],
    "a_ego": [
      0.8189577419295271,
      0.8189577414406319,
      0.9345586295095784,
      1.2119154895572144,
      1.0816934495259123,
      1.0206660627411426,
      0.8033557742060553,
      0.4110917637043568,
      0.7211365814064657,
      0.7211365805459093
    ],
    "yaw": [
      2.03194036882057,
      1.996869145305341,
      1.9620943300762108,
      1.9300601844502425,
      1.9017555642748296,
      1.880491929737357,
      1.8763348686559858,
      1.893932469394874,
      1.9487246284168744,
      2.035884218308059
    ],
    "yaw_diff": [
      -0.07014244703045813,
      -0.06954963045826057,
      -0.06406829125193658,
      -0.05660924035082582,
      -0.042527269074945195,
      -0.008314122162742521,
      0.03519520147777655,
      0.10958431804400082,
      0.1743191797823691,
      0.1743191797823691
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.277997007459738,
    "v_std": 1.1000448076758873,
    "vy_max": 0.14088380496753872,
    "a_max": 1.2119154895572144,
    "ax_avg": -0.6305610035155549,
    "a_std": 0.21229877749732137,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "52b2e626eca85976",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "52b2e626eca85976",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "62c0730b5f435548": {
    "vx_ego": [
      5.685537784606387,
      6.055141253899177,
      6.461270965242118,
      6.753927600547304,
      6.919298571648511,
      6.941844508499541,
      6.85175782169623,
      6.722423193559413,
      6.559712561035389,
      6.391071280765635
    ],
    "vy_ego": [
      0.0799836275894128,
      0.18089396529930246,
      0.11016097431441763,
      0.02039246633828018,
      0.00394319498256035,
      0.0003324513134024265,
      -0.006342012336359559,
      -0.016958115920151062,
      -0.02931542301209511,
      -0.044092862651512466
    ],
    "v_ego": [
      5.686100357966721,
      6.057842704408344,
      6.4622099878093335,
      6.753958386466268,
      6.919299695229554,
      6.9418445164602405,
      6.851760756790618,
      6.722444582962443,
      6.559778066172044,
      6.3912233802585945
    ],
    "ax_ego": [
      0.6605623640053643,
      0.8865956093624573,
      0.7542202874039841,
      0.41571647383868754,
      0.24620803062472127,
      -0.1562511839532733,
      -0.2041816299237701,
      -0.3132274503768072,
      -0.337957504873714,
      -0.33740688223431525
    ],
    "ay_ego": [
      -1.5845800151961322,
      -1.470096833499857,
      -0.732119373927687,
      -0.1381171657905311,
      -0.14967035654820618,
      -0.07117656875464884,
      -0.03659248016704668,
      -0.06823078243061577,
      -0.09958042858550113,
      -0.10143043155445089
    ],
    "a_ego": [
      1.716751718012634,
      1.71675172183024,
      1.0511170342126592,
      0.4380599709022513,
      0.2881312374133892,
      0.17169897037106807,
      0.20743468273917723,
      0.320572730188719,
      0.35232305751644827,
      0.35232305718531
    ],
    "yaw": [
      0.818440743744258,
      0.6707183654845735,
      0.594287077749249,
      0.5750707800575682,
      0.5669782006142454,
      0.5595864736791057,
      0.5566503021148757,
      0.5543579418027805,
      0.549903586699829,
      0.5444250664662214
    ],
    "yaw_diff": [
      -0.29544475651936897,
      -0.15286257547064896,
      -0.038432595383361745,
      -0.016185158886645512,
      -0.01478345387027935,
      -0.005872343128460189,
      -0.004584720624190242,
      -0.008908710205903114,
      -0.01095704046721524,
      -0.01095704046721524
    ],
    "min_front_frame": [
      1,
      22.686715699727973
    ],
    "v_avg": 6.534646243452416,
    "v_std": 0.3836035493086015,
    "vy_max": 0.18089396529930246,
    "a_max": 1.71675172183024,
    "ax_avg": 0.16142781138733345,
    "a_std": 0.5763450375359828,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "62c0730b5f435548",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.487784525720944,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      22.686715699727973,
      43.557319627693325,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "62c0730b5f435548",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "69c991e96f74541f": {
    "vx_ego": [
      8.942804042078725,
      8.595272308895469,
      8.228608798604537,
      7.828819905439563,
      7.365679396920486,
      6.803380006068024,
      6.149508465672371,
      5.416226584400224,
      4.6643859930982146,
      3.9317905711812196
    ],
    "vy_ego": [
      -0.04110673568470746,
      -0.015899980095639865,
      -0.007205671792641866,
      -0.014719814711612766,
      -0.012915325059250193,
      -0.0016042442771859733,
      -0.0010323391764259782,
      -0.00376504971102376,
      0.01143962672217258,
      0.0386974833839957
    ],
    "v_ego": [
      8.942898517747937,
      8.59528701518642,
      8.228611953554378,
      7.828833743588624,
      7.365690720077806,
      6.80338019520928,
      6.149508552323538,
      5.4162278930232475,
      4.664400021189259,
      3.9319810008251306
    ],
    "ax_ego": [
      -0.6950958073662248,
      -0.6951255792457623,
      -0.7715335275874408,
      -0.8275586427725731,
      -1.0247918060322954,
      -1.22435794818308,
      -1.3911063762202063,
      -1.5420576196732085,
      -1.4652980829380347,
      -1.4652127056776147
    ],
    "ay_ego": [
      0.036133489150036835,
      0.03555606778865783,
      -0.0077474721967917826,
      0.014688213425953112,
      0.0702124495690084,
      0.04892184572236047,
      0.05010099507704202,
      0.0054322740378766055,
      0.06473632097386106,
      0.06664078478640012
    ],
    "a_ego": [
      0.6960343457447051,
      0.6960343417377826,
      0.7715724253217972,
      0.8276889819498805,
      1.0271942531894414,
      1.2253349469708126,
      1.3920082829021614,
      1.5420671878985768,
      1.4667273990469771,
      1.4667274003972461
    ],
    "yaw": [
      -2.0754395168298028,
      -2.0762702081617688,
      -2.076477078960517,
      -2.075326052221812,
      -2.0727780452827487,
      -2.0701797549814813,
      -2.0664576209448526,
      -2.0635936481647548,
      -2.0631290079253124,
      -2.0618292595114647
    ],
    "yaw_diff": [
      -0.0016613826639320095,
      -0.0004137415974962977,
      0.002302053477409416,
      0.005096013878127081,
      0.005196580602534695,
      0.007444268073257376,
      0.005727945560195735,
      0.000929280478884742,
      0.0025994968276954467,
      0.0025994968276954467
    ],
    "min_front_frame": [
      9,
      15.567958352888331
    ],
    "v_avg": 6.792681961272562,
    "v_std": 1.6235229288899342,
    "vy_max": 0.04110673568470746,
    "a_max": 1.5420671878985768,
    "ax_avg": -1.1102138095696439,
    "a_std": 0.3283037366107369,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "69c991e96f74541f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.43450214367338,
    "right_rear_min": 41.417336658221934,
    "speed_mode": "decelerating",
    "front_frame": [
      25.31924722693324,
      25.078467090950255,
      24.73104660896801,
      24.01991501514971,
      22.600934289223424,
      21.10972264490567,
      19.59288568290692,
      18.1680780540032,
      16.72442178861981,
      15.567958352888331
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "69c991e96f74541f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aaf9003e92855b6c": {
    "vx_ego": [
      2.484094733526847,
      2.926864522202859,
      3.340552407975283,
      3.70844941191073,
      4.08746262196766,
      4.497218944808613,
      4.909801071374313,
      5.292999344022899,
      5.620629578545775,
      5.9219174805632235
    ],
    "vy_ego": [
      -0.0237672985300712,
      -0.03482144293993117,
      -0.02860976240847979,
      -0.01867712398467658,
      -0.020896117104904244,
      -0.03204686324153161,
      -0.03900876645041307,
      -0.022373409747536543,
      -0.004456546056068156,
      -0.015695848169618554
    ],
    "v_ego": [
      2.484208431193976,
      2.92707165341373,
      3.3406749181766444,
      3.7084964440675114,
      4.087516034671032,
      4.497333125196433,
      4.909956032830471,
      5.293046629805048,
      5.6206313453229075,
      5.921938281192235
    ],
    "ax_ego": [
      0.8855295091467962,
      0.8855327981554251,
      0.7690996107230424,
      0.70249756816675,
      0.813506222797546,
      0.8253901111837348,
      0.8245855264186739,
      0.7079170669824542,
      0.6025826569862424,
      0.6025781293387028
    ],
    "ay_ego": [
      -0.0229495069224962,
      -0.02282224999430671,
      0.038133768773496085,
      0.003275145222033482,
      -0.023763057931244114,
      -0.04394519774734318,
      -0.028161854854750534,
      0.05896183225558152,
      -0.019776631741701856,
      -0.019914100625625847
    ],
    "a_ego": [
      0.885826840549411,
      0.8858268406995689,
      0.770044411404437,
      0.7025052027255193,
      0.813853216159139,
      0.8265591424967431,
      0.8250662885174873,
      0.7103682646261555,
      0.6029071020179197,
      0.6029071017669787
    ],
    "yaw": [
      2.742263876141821,
      2.742120169610854,
      2.741362989790494,
      2.74148175869038,
      2.7407343525700534,
      2.739388160090729,
      2.7370357427574996,
      2.735289185152431,
      2.7338046165631686,
      2.7340327497556585
    ],
    "yaw_diff": [
      -0.0002874130619341386,
      -0.0015143596407201088,
      0.00023753779977209177,
      -0.0014948122406535091,
      -0.0026923849586486526,
      -0.004704834666458879,
      -0.0034931152101371765,
      -0.002969137178524761,
      0.0004562663849796422,
      0.0004562663849796422
    ],
    "min_front_frame": [
      0,
      19.18885064798071
    ],
    "v_avg": 4.2790872895869985,
    "v_std": 1.1074686283573234,
    "vy_max": 0.03900876645041307,
    "a_max": 0.8858268406995689,
    "ax_avg": 0.7619219199899367,
    "a_std": 0.09919073013726243,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "aaf9003e92855b6c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.857020946131775,
    "speed_mode": "accelerating",
    "front_frame": [
      19.18885064798071,
      21.146967091419658,
      23.23215457896009,
      25.400937976325917,
      27.5549948646578,
      29.56877332335031,
      31.79265400904743,
      33.84858474859219,
      36.120288184359026,
      38.293200893928756
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "aaf9003e92855b6c",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "3265a706c55157b2": {
    "vx_ego": [
      6.503667796635103,
      6.359342258587153,
      6.215763601545767,
      6.0528885916210715,
      5.838969909153625,
      5.439209078678386,
      4.8372175276203,
      4.1324168737349485,
      3.351039238339364,
      2.523468850374213
    ],
    "vy_ego": [
      0.05248506986962598,
      -0.008373080776602926,
      0.020896125851508796,
      0.03337493549379689,
      0.04174378452245242,
      0.04114902826862643,
      0.05187602846728112,
      -0.0032828348257792905,
      -0.02177810019006682,
      -0.06489557195857253
    ],
    "v_ego": [
      6.50387957234355,
      6.359347770827921,
      6.215798725697028,
      6.052980603710517,
      5.839119123938794,
      5.439364727990285,
      4.837495688044237,
      4.1324181776937605,
      3.3511100045414732,
      2.5243031660378636
    ],
    "ax_ego": [
      -0.32529925953055416,
      -0.24462175006683717,
      -0.3277869360359038,
      -0.3096530512238964,
      -0.5416958175632113,
      -1.0497622203994033,
      -1.343736109248493,
      -1.4736163863734184,
      -1.6656743508733338,
      -1.6506129238318834
    ],
    "ay_ego": [
      -1.069941943295138,
      -1.091217472662696,
      -1.0830349093561373,
      -1.16597640663603,
      -0.9612014966505117,
      -0.8237574768850879,
      -0.8090880400277175,
      -0.6677483592972194,
      -0.307241917917592,
      -0.379928397652022
    ],
    "a_ego": [
      1.1183002147336392,
      1.1183002160645967,
      1.1315515411680823,
      1.206393796802743,
      1.1033325318908438,
      1.3343826662925338,
      1.5685184690701512,
      1.6178483011495175,
      1.6937734911383464,
      1.6937734829850395
    ],
    "yaw": [
      2.2243580550744193,
      2.149731390417699,
      2.0588386382916593,
      1.9651814454526424,
      1.874838050083801,
      1.7967300695390303,
      1.7158193374086048,
      1.6460749958127812,
      1.58627653418054,
      1.5424474946240756
    ],
    "yaw_diff": [
      -0.14925332931344037,
      -0.18178550425207973,
      -0.1873143856780337,
      -0.18068679073768257,
      -0.15621596108954172,
      -0.16182146426085087,
      -0.1394886831916473,
      -0.11959692326448224,
      -0.08765807911292889,
      -0.08765807911292889
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.125581756082543,
    "v_std": 1.306249907855766,
    "vy_max": 0.06489557195857253,
    "a_max": 1.6937734911383464,
    "ax_avg": -0.8932458805146934,
    "a_std": 0.2432923423674377,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "3265a706c55157b2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3265a706c55157b2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6c8a49ddb7435fbf": {
    "vx_ego": [
      7.103332904611517,
      6.91857774607228,
      6.676504082749666,
      6.182355069667073,
      5.538902317564797,
      4.859566719207774,
      4.159074826286691,
      3.464196748749926,
      2.815314981349401,
      2.207314434365414
    ],
    "vy_ego": [
      -0.05516059300848086,
      -0.05594906777507358,
      -0.09511490096311226,
      -0.09276949007379875,
      -0.09399649106488928,
      -0.07184886705539523,
      -0.02098644821713022,
      0.01988702125944118,
      -0.003107987802582063,
      -0.0667871305109133
    ],
    "v_ego": [
      7.1035470748604,
      6.918803966483766,
      6.677181561958473,
      6.18305105799125,
      5.539699831566435,
      4.860097834213726,
      4.1591277741445305,
      3.464253831298182,
      2.815316696891943,
      2.208324598640288
    ],
    "ax_ego": [
      -0.48435949264646994,
      -0.22077710542577433,
      -0.6930492249317115,
      -1.2483586592400848,
      -1.3121789128376555,
      -1.400053542548693,
      -1.4012000730784906,
      -1.380669934288574,
      -1.2156592093471132,
      -1.2159642623674591
    ],
    "ay_ego": [
      1.892932383257627,
      1.941405315488887,
      2.056322927262987,
      1.7825181225742834,
      1.241213772174234,
      0.6932215125347357,
      0.3524608398404496,
      0.09550850677145512,
      -0.11553499604608192,
      -0.11227892622228834
    ],
    "a_ego": [
      1.9539184030307268,
      1.953918403948509,
      2.1699726287135204,
      2.1761824830205416,
      1.8062184606328224,
      1.5622758999114374,
      1.4448495729369901,
      1.3839694152379698,
      1.221137031041896,
      1.2211370294231803
    ],
    "yaw": [
      -2.31809939081453,
      -2.1808301232175165,
      -2.029644019472988,
      -1.8825964449625814,
      -1.7537562632038615,
      -1.6652456057817804,
      -1.618561582263507,
      -1.5998911953341963,
      -1.594124093578066,
      -1.5914459919984214
    ],
    "yaw_diff": [
      0.2745385351940275,
      0.30237220748905713,
      0.294095149020813,
      0.25768036351743984,
      0.17702131484416217,
      0.09336804703654655,
      0.037340773858621557,
      0.011534203512260532,
      0.005356203159289308,
      0.005356203159289308
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.9929404228048995,
    "v_std": 1.681115462416295,
    "vy_max": 0.09511490096311226,
    "a_max": 2.1761824830205416,
    "ax_avg": -1.0572270416712024,
    "a_std": 0.35061195813616636,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "6c8a49ddb7435fbf",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 47.19743885480357,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6c8a49ddb7435fbf",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c38eb1a738745b1e": {
    "vx_ego": [
      3.0018572368803875,
      3.9595135930605787,
      4.897463924380769,
      5.7162962241881115,
      6.389052400266337,
      6.889341035807243,
      7.212956812343346,
      7.493930321860447,
      7.800225983231389,
      8.248088941305967
    ],
    "vy_ego": [
      -0.12323410698600457,
      0.02252564656949274,
      0.013639172854997383,
      -0.008549635962989743,
      -0.035154986996679405,
      -0.07498456927917818,
      -0.08209989162323406,
      -0.07771606883278036,
      -0.09572829408153316,
      -0.10562297719221636
    ],
    "v_ego": [
      3.0043857135420864,
      3.9595776666691194,
      4.897482916524289,
      5.7163026178590615,
      6.38914911756329,
      6.889749095089574,
      7.213424039174103,
      7.4943332896431984,
      7.80081337398645,
      8.24876520438088
    ],
    "ax_ego": [
      1.9002918719097557,
      1.938620952808833,
      1.8289961427509178,
      1.4667775219060422,
      1.2691597538712167,
      0.8044613841412946,
      0.5755752682949793,
      0.621976325391707,
      0.6749348139587733,
      1.1734519498204592
    ],
    "ay_ego": [
      0.7360647777388963,
      0.628211201544383,
      1.092838222884675,
      1.4463052232860378,
      1.9033102267850524,
      2.3438681670645645,
      2.675659573509197,
      2.8259025325047538,
      2.889658757813919,
      2.7255596222038205
    ],
    "a_ego": [
      2.037866667737145,
      2.037866657172462,
      2.1306154677922224,
      2.059911429570045,
      2.2876530113264586,
      2.478079115596015,
      2.7368670122576755,
      2.893541026590871,
      2.967434032915348,
      2.9674340317394203
    ],
    "yaw": [
      0.6103076759118682,
      0.666482538790862,
      0.7652607362593329,
      0.8878564619617352,
      1.0297858525427372,
      1.1939046777839806,
      1.3716891692573054,
      1.5577419596420743,
      1.7465528235243697,
      1.9236478252337026
    ],
    "yaw_diff": [
      0.11234972575798752,
      0.19755639493694188,
      0.24519145140480458,
      0.28385878116200414,
      0.32823765048248665,
      0.35556898294664974,
      0.3721055807695377,
      0.3776217277645908,
      0.3541900034186658,
      0.3541900034186658
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.161398303443205,
    "v_std": 1.6468441447717286,
    "vy_max": 0.12323410698600457,
    "a_max": 2.967434032915348,
    "ax_avg": 1.2254245984853978,
    "a_std": 0.37875843157783784,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "c38eb1a738745b1e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "c38eb1a738745b1e",
    "road_shape": "Straight"
  },
  "248a920cf01751f1": {
    "vx_ego": [
      1.3589673737493388,
      2.2455223767155448,
      3.149765303738652,
      4.05997824113363,
      4.95455221929269,
      5.795567054741069,
      6.5604223376237245,
      7.261917542010391,
      7.799303508647827,
      8.209453708272235
    ],
    "vy_ego": [
      0.031704874920672775,
      0.011277079636042887,
      0.0013444571261921057,
      -0.004021929880772698,
      -0.020043795737813244,
      -0.020504798625680443,
      0.005627452481671902,
      0.026924897300357298,
      0.030533117690425493,
      0.038464960618343785
    ],
    "v_ego": [
      1.3593371627410584,
      2.2455506934503497,
      3.149765590675091,
      4.059980233252188,
      4.954592763027623,
      5.795603327762067,
      6.560424751204282,
      7.261967456347685,
      7.799363274734817,
      8.209543820545703
    ],
    "ax_ego": [
      1.7730799266893091,
      1.7730363446487054,
      1.8439338039687465,
      1.796911783744019,
      1.7814073759256626,
      1.5825839860362136,
      1.4768172465245912,
      1.329266808236238,
      0.8203916631857673,
      0.8204006497416417
    ],
    "ay_ego": [
      -0.035502375601985,
      -0.03761582304703452,
      0.01015758080884404,
      -0.008099908832390548,
      -0.042436528934069684,
      0.027969628584184607,
      0.06651483530246444,
      -0.009130174078318228,
      -0.007016856172669719,
      -0.005873598824750349
    ],
    "a_ego": [
      1.7734353230670552,
      1.7734353186932836,
      1.8439617810211089,
      1.7969300395622543,
      1.7819127638552699,
      1.5828311258568957,
      1.4783143789288493,
      1.3292981635273766,
      0.8204216704203134,
      0.8204216752741617
    ],
    "yaw": [
      1.595369334872807,
      1.5965613139188999,
      1.5977023737023934,
      1.599331066788369,
      1.6000823647986744,
      1.5994979622062317,
      1.5990923656384464,
      1.5980892390801396,
      1.5970825552885324,
      1.5956890110004172
    ],
    "yaw_diff": [
      0.002383958092185612,
      0.0022821195669870953,
      0.0032573861719509267,
      0.00150259602061098,
      -0.0011688051848852687,
      -0.0008111931355707647,
      -0.002006253116613621,
      -0.002013367583214354,
      -0.0027870885762304454,
      -0.0027870885762304454
    ],
    "min_front_frame": [
      0,
      12.867948079994651
    ],
    "v_avg": 5.139612907374087,
    "v_std": 2.2644553141809154,
    "vy_max": 0.038464960618343785,
    "a_max": 1.8439617810211089,
    "ax_avg": 1.4997829588700893,
    "a_std": 0.3735785596711642,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "248a920cf01751f1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.31421319421309,
    "right_rear_min": 10.235923075673,
    "speed_mode": "accelerating",
    "front_frame": [
      12.867948079994651,
      13.45599511951865,
      14.06844144082068,
      14.518263031579949,
      15.065802014156299,
      15.37546763163717,
      15.543732804129753,
      15.717239816826309,
      15.915620062572694,
      16.08983020306532
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "248a920cf01751f1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fb21dbec77535015": {
    "vx_ego": [
      9.357329882042047,
      9.402941288060443,
      9.38488370727781,
      9.311685852598494,
      9.335640722867836,
      9.39682562596775,
      9.365626411780607,
      9.330445364291345,
      9.385559452194455,
      9.492467310703214
    ],
    "vy_ego": [
      -0.010565673176907264,
      0.034259346719475836,
      0.038898658193886604,
      0.11261441715141274,
      0.15620559685506885,
      0.12390175113698199,
      0.044768892489942314,
      0.008517190213396031,
      0.0061510432792020175,
      0.015835072679462492
    ],
    "v_ego": [
      9.357335847067086,
      9.403003699326584,
      9.384964320909152,
      9.312366800359257,
      9.336947461293608,
      9.397642443122585,
      9.365733411686309,
      9.330449251700315,
      9.385561467808417,
      9.492480518510211
    ],
    "ax_ego": [
      0.08899564433499875,
      0.09286641316710345,
      -0.16754410956464222,
      -0.12701565390046787,
      0.22171273256385426,
      0.02204145743922166,
      -0.14788086571051817,
      0.006852568276878266,
      0.21363154481383562,
      0.2138651495353937
    ],
    "ay_ego": [
      0.3185489866777077,
      0.31744214121694386,
      0.3038916235481588,
      0.16947266077308587,
      0.0761995601280906,
      -0.150456758776899,
      -0.022689632244018577,
      -0.007905663997984454,
      0.07711885654926075,
      0.07646864727636093
    ],
    "a_ego": [
      0.33074715663780996,
      0.33074715979872193,
      0.34701750317893865,
      0.21178753288442848,
      0.23444169583213148,
      0.15206269137331155,
      0.1496113961390011,
      0.01046218023350324,
      0.22712497655478428,
      0.2271249792560757
    ],
    "yaw": [
      1.0953320319437476,
      1.1075042699636906,
      1.1234902138453893,
      1.1282664296181961,
      1.1301874137402075,
      1.1316504383027932,
      1.1354628655234387,
      1.138528981288099,
      1.1406366872070737,
      1.1436786271975992
    ],
    "yaw_diff": [
      0.024344476039885876,
      0.03197188776339743,
      0.009552431545613693,
      0.00384196824402272,
      0.0029260491251714704,
      0.007624854441290907,
      0.006132231529320631,
      0.004215411837949379,
      0.006083879981050977,
      0.006083879981050977
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.376648522178353,
    "v_std": 0.047995614598417426,
    "vy_max": 0.15620559685506885,
    "a_max": 0.34701750317893865,
    "ax_avg": 0.04175248809556574,
    "a_std": 0.09719688536330902,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fb21dbec77535015",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 20.131392287688193,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fb21dbec77535015",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7135ce0e5eea5907": {
    "vx_ego": [
      1.3293853735284122,
      1.7978067945644411,
      2.220391292113432,
      2.554662709140421,
      2.837803709937888,
      3.1044535170828964,
      3.2726933652627794,
      3.2501718195248595,
      3.097820348676037,
      2.91556338455132
    ],
    "vy_ego": [
      0.0014689290815023126,
      0.007184082170046402,
      0.005026553965050917,
      -0.02156733429149349,
      -0.0032514944829187264,
      0.03319509133011378,
      0.030445815352143413,
      0.015253693213738595,
      -0.02646186687851504,
      -0.0807572275855255
    ],
    "v_ego": [
      1.3293861850884123,
      1.7978211483956619,
      2.2203969816989755,
      2.554753746915956,
      2.837805572683515,
      3.104630985127988,
      3.2728349806715697,
      3.250207613613351,
      3.097933366467074,
      2.916681604005423
    ],
    "ax_ego": [
      0.9368662761218509,
      0.9368564868489342,
      0.7535066683347742,
      0.583588057930695,
      0.5486811998569463,
      0.517921264066979,
      0.1550413874151405,
      -0.24527798780292992,
      -0.36413903685443927,
      -0.3643672063159146
    ],
    "ay_ego": [
      0.00322173877439208,
      0.005360517890999228,
      -0.019536770971927075,
      -0.09948997690774108,
      0.15473940656910487,
      -0.009223872470314476,
      -0.0021134507829663196,
      -0.04065062058171581,
      -0.09443541026990088,
      -0.09355119458339856
    ],
    "a_ego": [
      0.9368718156370991,
      0.9368718226646519,
      0.75375989853864,
      0.5920078351376974,
      0.5700836280948761,
      0.5180033934214003,
      0.1550557915262236,
      0.24862374032729226,
      0.37618517365005655,
      0.37618517653736067
    ],
    "yaw": [
      -0.6835349237000865,
      -0.6858178534850986,
      -0.6865001960480424,
      -0.6878132314765746,
      -0.6894808182955793,
      -0.689503574618265,
      -0.6895298747150205,
      -0.6881706285253276,
      -0.6856794349815212,
      -0.6832519712028617
    ],
    "yaw_diff": [
      -0.0045658595700242,
      -0.0013646851258874992,
      -0.0026260708570644553,
      -0.003335173638009392,
      -4.551264537133726e-05,
      -5.260019351105427e-05,
      0.0027184923793857063,
      0.004982387087612894,
      0.004854927557318867,
      0.004854927557318867
    ],
    "min_front_frame": [
      0,
      13.188463535745287
    ],
    "v_avg": 2.6382452184667926,
    "v_std": 0.6264483006198068,
    "vy_max": 0.0807572275855255,
    "a_max": 0.9368718226646519,
    "ax_avg": 0.34586771096020363,
    "a_std": 0.2551762367365327,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7135ce0e5eea5907",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.541891761252923,
    "right_rear_min": 43.51302581082674,
    "speed_mode": "accelerating",
    "front_frame": [
      13.188463535745287,
      14.391758513803076,
      23.103288490063264,
      23.571810151787588,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7135ce0e5eea5907",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2e0a31d833765412": {
    "vx_ego": [
      6.335777346732003,
      6.484695422167896,
      6.653430859345642,
      6.766110961605744,
      6.771702830662228,
      6.842668353366774,
      6.964853105449377,
      7.006183783058308,
      6.987878873770061,
      6.944146208355062
    ],
    "vy_ego": [
      0.2109851155910647,
      0.07077212802349075,
      0.023716902260880968,
      -0.05612394242271446,
      -0.06367422604411344,
      -0.03420453789162714,
      -0.08317940942307311,
      -0.12883273363301662,
      -0.14070006051142947,
      -0.07054331005607706
    ],
    "v_ego": [
      6.339289337643724,
      6.485081604142714,
      6.653473129993518,
      6.766343727721381,
      6.772002187969313,
      6.842753842173452,
      6.965349782648378,
      7.00736819892066,
      6.989295219227032,
      6.944504512318042
    ],
    "ax_ego": [
      0.26493524649154976,
      0.29573669491286503,
      0.367731872535651,
      0.08312908370961113,
      -0.05754944481646717,
      0.34234808810768813,
      0.14944500364151206,
      0.018927144921982754,
      -0.08695742471275678,
      -0.08599657483610913
    ],
    "ay_ego": [
      0.51203286637746,
      0.4948819585325641,
      0.15071470894481787,
      0.03607003352030912,
      0.20344969752667558,
      0.09394884268215938,
      0.08092923741292152,
      -0.03137827502854744,
      0.20526260903871885,
      0.2056670172394992
    ],
    "a_ego": [
      0.5765139556717219,
      0.5765139595872866,
      0.39741873832382063,
      0.09061728243859313,
      0.21143253775703347,
      0.35500506823467537,
      0.16995102406766655,
      0.036644685271740314,
      0.22292225636319202,
      0.2229222574435648
    ],
    "yaw": [
      -2.306097739842434,
      -2.244936970608166,
      -2.2131633688748247,
      -2.1944047590480773,
      -2.184468894757618,
      -2.177827121384412,
      -2.164447401597764,
      -2.15615803937349,
      -2.1482641713727446,
      -2.1435877282056985
    ],
    "yaw_diff": [
      0.12232153846853588,
      0.06354720346668241,
      0.03751721965349475,
      0.019871728580918457,
      0.013283546746412078,
      0.026759439573296184,
      0.016578724448548243,
      0.015787736001490416,
      0.009352886334092148,
      0.009352886334092148
    ],
    "min_front_frame": [
      7,
      24.837828714723567
    ],
    "v_avg": 6.776546154275822,
    "v_std": 0.2140556173311475,
    "vy_max": 0.2109851155910647,
    "a_max": 0.5765139595872866,
    "ax_avg": 0.1291749689955527,
    "a_std": 0.17700573646107226,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "2e0a31d833765412",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      32.946160591867866,
      29.561061212027994,
      42.00600887654264,
      38.51525601244603,
      35.14807576488701,
      31.695526564001593,
      28.29411665050258,
      24.837828714723567,
      29.10354848769712,
      25.77311097647794
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "2e0a31d833765412",
    "pedestrians": "No"
  },
  "913212df2a415e44": {
    "vx_ego": [
      7.006248941951347,
      6.378217637391722,
      5.726978344069661,
      5.071675813657867,
      4.39969912815724,
      3.744898800883982,
      3.2124775457760055,
      2.8175013254916976,
      2.482462665872802,
      2.1392869650392674
    ],
    "vy_ego": [
      0.014834430140243354,
      -0.0170200966427545,
      -0.02073381843508483,
      0.003809842616453757,
      0.016546235535444015,
      0.011685074644066457,
      -0.01696919491543218,
      -0.034221431348454165,
      0.00959660071725154,
      0.061364127969860266
    ],
    "v_ego": [
      7.006264646508292,
      6.378240346178918,
      5.727015876062312,
      5.071677244634456,
      4.399730241300934,
      3.744917031101186,
      3.2125223634538496,
      2.8177091449457676,
      2.4824812148730606,
      2.140166880172764
    ],
    "ax_ego": [
      -1.256057131676391,
      -1.256067341850097,
      -1.3490282301210874,
      -1.272173065103199,
      -1.4157441911045556,
      -1.2034456618944016,
      -0.9261375683953663,
      -0.6538831861097215,
      -0.6863090989637703,
      -0.6863444432312465
    ],
    "ay_ego": [
      -0.061590721319683725,
      -0.06138213901886948,
      0.017300209506641864,
      0.08371774719712899,
      -0.03073386725840391,
      0.006390204950870022,
      -0.14289625724170427,
      0.06722781232395521,
      0.10205140288962558,
      0.10181340904822002
    ],
    "a_ego": [
      1.2575662745906484,
      1.2575662742984564,
      1.3491391562446802,
      1.2749246914111558,
      1.41607774689208,
      1.2034626275259936,
      0.937096652393428,
      0.657330053950727,
      0.6938549330747767,
      0.693854930815102
    ],
    "yaw": [
      1.592994879703768,
      1.5931609394309438,
      1.5919560420535124,
      1.5920879278131246,
      1.5921951249995618,
      1.5918923993823892,
      1.5903034898834565,
      1.5897449862234072,
      1.5891804763909958,
      1.588833714778698
    ],
    "yaw_diff": [
      0.00033211945435152046,
      -0.002409794754862915,
      0.00026377151922440945,
      0.00021439437287451568,
      -0.000605451234345189,
      -0.0031778189978655114,
      -0.001117007320098562,
      -0.0011290196648228168,
      -0.0006935232245957046,
      -0.0006935232245957046
    ],
    "min_front_frame": [
      9,
      16.804037227128823
    ],
    "v_avg": 4.298072498923154,
    "v_std": 1.6106174236419977,
    "vy_max": 0.061364127969860266,
    "a_max": 1.41607774689208,
    "ax_avg": -1.0705189918449836,
    "a_std": 0.282598662023829,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "913212df2a415e44",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      35.36836361251508,
      32.042271526081855,
      29.29638211382267,
      26.61739548338441,
      24.355442578430935,
      22.27861613556715,
      20.621508137734804,
      19.203158091120432,
      17.942607236606744,
      16.804037227128823
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "913212df2a415e44",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "47a83e9f70525906": {
    "vx_ego": [
      6.611014097913782,
      7.1699676884748325,
      7.74858025910231,
      8.25504752485415,
      8.605754471158908,
      8.742240691593514,
      8.79158174713634,
      9.026158806863124,
      9.381686785996287,
      9.73571481633129
    ],
    "vy_ego": [
      0.019385452504102674,
      0.029781985218159807,
      -0.0013128677058771021,
      -0.01998759995309013,
      0.007363025934749107,
      -0.022403220254265183,
      -0.03422734545853284,
      -0.008230502190983771,
      0.035388104780941954,
      -0.040961302166906494
    ],
    "v_ego": [
      6.61104251979849,
      7.170029541111854,
      7.7485803703240785,
      8.255071722386942,
      8.60575762103619,
      8.742269397246414,
      8.791648373755514,
      9.026162559353729,
      9.38175352844538,
      9.735800984675468
    ],
    "ax_ego": [
      1.1175360761965993,
      1.1178602110005398,
      1.1959783653040585,
      0.8312158332053523,
      0.5719618218388448,
      -0.026284562420839756,
      0.22401647978204908,
      0.7142884802566019,
      0.7079757800927742,
      0.7082093873797675
    ],
    "ay_ego": [
      0.08035552661833151,
      0.07571298477873618,
      -0.04406708651054171,
      0.21626312343012433,
      0.23504155260015058,
      0.13671591613832526,
      0.030165005833529157,
      0.07272447254022026,
      0.028409420149464244,
      0.021823276493522375
    ],
    "a_ego": [
      1.1204213012340496,
      1.1204213079918985,
      1.1967899391241956,
      0.8588885259025302,
      0.6183727493105593,
      0.13921968232687723,
      0.2260382949654285,
      0.7179811153042531,
      0.7085455527707453,
      0.7085455467150564
    ],
    "yaw": [
      -1.6092544440422356,
      -1.6051007888378628,
      -1.5998647070925376,
      -1.5921947305844424,
      -1.582094676351434,
      -1.5680694493525458,
      -1.5619400427380308,
      -1.5619710650520702,
      -1.5639629934141968,
      -1.5546618118746145
    ],
    "yaw_diff": [
      0.00830731040874566,
      0.010472163490650388,
      0.0153399530161904,
      0.02020010846601661,
      0.028050453997776614,
      0.012258813229029997,
      -6.204462807879452e-05,
      -0.003983856724253165,
      0.01860236307916452,
      0.01860236307916452
    ],
    "min_front_frame": [
      4,
      20.369296679835696
    ],
    "v_avg": 8.406811661813405,
    "v_std": 0.9279677121269575,
    "vy_max": 0.040961302166906494,
    "a_max": 1.1967899391241956,
    "ax_avg": 0.7162757872635748,
    "a_std": 0.33978809567713397,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "47a83e9f70525906",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.596581088323815,
    "right_rear_min": 13.344328171224426,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      20.369296679835696,
      24.238521189015838,
      28.7710235056093,
      33.6338153044106,
      38.962562548316065,
      44.01647069558586
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8333333333333334,
    "unsafe_ratio": 0.16666666666666666,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "47a83e9f70525906",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "ea91c9a3a75f514c": {
    "vx_ego": [
      8.113509789746795,
      8.178361124531413,
      8.250720262407464,
      8.328078970545162,
      8.368306558564836,
      8.371413286644456,
      8.387819419900431,
      8.41877858624942,
      8.439512766954174,
      8.45090238955844
    ],
    "vy_ego": [
      0.014546761655850116,
      -0.00020081644203484572,
      0.008382063938342732,
      0.03392326047977612,
      0.01828804075827506,
      0.0023787345545573935,
      0.012110915506504227,
      0.017744241393473192,
      -0.0015827226179525589,
      0.011710292235661779
    ],
    "v_ego": [
      8.113522830225582,
      8.178361126996897,
      8.250724520155606,
      8.328148061078053,
      8.36832654182149,
      8.371413624602802,
      8.387828163185821,
      8.41879728597823,
      8.439512915363858,
      8.450910502945158
    ],
    "ax_ego": [
      0.12917688669871177,
      0.12999349488910025,
      0.15939958701970303,
      0.1497207102376052,
      0.010489102920735129,
      0.0018564323730063496,
      0.06370744898040108,
      0.06001787334610721,
      0.02270741780903558,
      0.022813726213953105
    ],
    "ay_ego": [
      0.10205509808428645,
      0.10101288474377429,
      0.11830264221802884,
      0.08888125768561081,
      0.013566576213930329,
      0.05501884712072412,
      0.03831198089751131,
      0.06455304592423641,
      0.05772527498068937,
      0.05768334715275593
    ],
    "a_ego": [
      0.16462658078865983,
      0.16462658229381294,
      0.19850376192359384,
      0.17411539002003495,
      0.017148564670261893,
      0.05505015785308121,
      0.07434007624344811,
      0.08814329730096294,
      0.06203091322195981,
      0.0620309168279058
    ],
    "yaw": [
      2.5941651074135965,
      2.6022077733966102,
      2.6078400518582576,
      2.611006858154627,
      2.615937420053677,
      2.6198862742497537,
      2.6215108212663525,
      2.6239005751028968,
      2.629816809815089,
      2.6316591760243484
    ],
    "yaw_diff": [
      0.01608533196602746,
      0.011264556923294755,
      0.006333612592738902,
      0.009861123798099669,
      0.007897708392153646,
      0.0032490940331975082,
      0.0047795076730885455,
      0.011832469424384762,
      0.0036847324185185215,
      0.0036847324185185215
    ],
    "min_front_frame": [
      9,
      50.43626131034359
    ],
    "v_avg": 8.33075455723535,
    "v_std": 0.1082425727588424,
    "vy_max": 0.03392326047977612,
    "a_max": 0.19850376192359384,
    "ax_avg": 0.07498826804883588,
    "a_std": 0.0597904707493582,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ea91c9a3a75f514c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      78.80278425590582,
      74.68409696596531,
      70.47948464921616,
      66.26914548229345,
      62.23961482700346,
      58.25641693281931,
      54.316917660353695,
      50.43626131034359
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ea91c9a3a75f514c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7ef6481e00005279": {
    "vx_ego": [
      4.4123700777369494,
      4.263824607229952,
      4.103694942167431,
      3.9215486268406448,
      3.6688688972672376,
      3.3426530258114933,
      2.887668882816177,
      2.3607334668315056,
      1.7370589627570008,
      0.973220198897746
    ],
    "vy_ego": [
      0.00259553308299032,
      -0.0031703500867776846,
      -0.005568751732462074,
      0.0026415474070387024,
      0.0029840514247410077,
      0.004327431357459943,
      -0.011305257536175395,
      -0.01842575615156461,
      -0.04792616411788719,
      -0.0991010869884536
    ],
    "v_ego": [
      4.412370841135223,
      4.263825785880484,
      4.103698720589319,
      3.921549516511101,
      3.668870110796759,
      3.3426558269778366,
      2.887691012839287,
      2.360805373152996,
      1.7377199881745857,
      0.9782528205862027
    ],
    "ax_ego": [
      -0.2970897956592641,
      -0.29709038502418894,
      -0.34342144150031195,
      -0.38516092495545967,
      -0.6255360407881044,
      -0.679249595178178,
      -1.1407137931009579,
      -0.9670110622774235,
      -1.527546675115687,
      -1.5276132756190886
    ],
    "ay_ego": [
      -0.0006465485126766202,
      -0.0002673315110668373,
      -0.002350513420196071,
      -0.015886166315505074,
      0.038401483253039714,
      -0.05140515589523681,
      -0.023266802193158798,
      -0.0027053093224048697,
      -0.10106060905169423,
      -0.1000488497683909
    ],
    "a_ego": [
      0.29709049919147956,
      0.2970905053009228,
      0.3434294853321286,
      0.3854884024101751,
      0.6267136604869009,
      0.6811919719156504,
      1.1409510514720036,
      0.9670148464555448,
      1.5308860478033268,
      1.5308860480740096
    ],
    "yaw": [
      0.5613456068712993,
      0.562622068466079,
      0.563038328565331,
      0.5598601387398121,
      0.5612420928396369,
      0.5599340995162911,
      0.5589774503278309,
      0.5592185551364528,
      0.5608981171642742,
      0.561560446804447
    ],
    "yaw_diff": [
      0.002552923189559353,
      0.0008325201985039943,
      -0.006356379651037747,
      0.0027639081996495563,
      -0.0026159866466914927,
      -0.001913298376920558,
      0.00048220961724387834,
      0.0033591240556427593,
      0.0013246592803457524,
      0.0013246592803457524
    ],
    "min_front_frame": [
      9,
      9.999847228078147
    ],
    "v_avg": 3.1677439996643795,
    "v_std": 1.097491079649928,
    "vy_max": 0.0991010869884536,
    "a_max": 1.5308860480740096,
    "ax_avg": -0.7790432989218663,
    "a_std": 0.4624733486856532,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7ef6481e00005279",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 16.21532179904259,
    "right_rear_min": 17.069193590803796,
    "speed_mode": "decelerating",
    "front_frame": [
      24.40033733694478,
      22.260853412622353,
      20.166825259274336,
      18.172441577509485,
      16.288621318971973,
      14.535287879154733,
      12.974684946025308,
      11.696505830425604,
      10.64669113060742,
      9.999847228078147
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7ef6481e00005279",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7984326209765d68": {
    "vx_ego": [
      7.084111669698782,
      6.661143063547972,
      6.227516241600936,
      5.79119240907112,
      5.337374325466598,
      4.840083221679767,
      4.269562794645114,
      3.634715361031362,
      2.946760384748978,
      2.214647070300771
    ],
    "vy_ego": [
      -0.02215756496891652,
      -0.03952786562201083,
      -0.03801237228278054,
      -0.03765230564975819,
      -0.05409964356115693,
      -0.024104712280884177,
      0.008089731542208822,
      -0.0018811491507693123,
      -0.005146689475275079,
      0.010289625964550297
    ],
    "v_ego": [
      7.084146321642983,
      6.661260343599693,
      6.22763225309989,
      5.791314808832594,
      5.337648495506563,
      4.840143244774904,
      4.26957045862628,
      3.6347158478262744,
      2.946764879242743,
      2.2146709738456134
    ],
    "ax_ego": [
      -0.8460893760672554,
      -0.845991778270052,
      -0.8889762829036423,
      -0.8566859832799913,
      -0.9589669573264507,
      -1.0305389688586652,
      -1.2515090699905516,
      -1.2877786149899217,
      -1.4641933131914922,
      -1.4642352757774855
    ],
    "ay_ego": [
      -0.05719424056517633,
      -0.058620180177386405,
      0.0002583079143131384,
      -0.07704321119357405,
      -0.02973261557859469,
      0.11957448982656388,
      -0.00971607069270991,
      -0.06870284898198009,
      0.021622382369840987,
      0.0185644854600992
    ],
    "a_ego": [
      0.848020290705184,
      0.8480202912811428,
      0.8889763204316272,
      0.8601433196505238,
      0.9594277740784322,
      1.0374529507180381,
      1.2515467847021624,
      1.2896099575777173,
      1.4643529580719352,
      1.4643529570945548
    ],
    "yaw": [
      -0.3189036490747471,
      -0.3205890773143093,
      -0.3230862388552971,
      -0.32634273126223223,
      -0.32818000696712607,
      -0.32965802519354376,
      -0.3306901890607098,
      -0.3331250227516388,
      -0.33569221531875154,
      -0.33778063431850275
    ],
    "yaw_diff": [
      -0.0033708564791243845,
      -0.00499432308197556,
      -0.006512984813870304,
      -0.003674551409787674,
      -0.0029560364528353755,
      -0.002064327734332072,
      -0.004869667381858012,
      -0.005134385134225483,
      -0.004176837999502414,
      -0.004176837999502414
    ],
    "min_front_frame": [
      9,
      11.223859736592406
    ],
    "v_avg": 4.900786762699754,
    "v_std": 1.5378296490526568,
    "vy_max": 0.05409964356115693,
    "a_max": 1.4643529580719352,
    "ax_avg": -1.0894965620655506,
    "a_std": 0.24007725296157903,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7984326209765d68",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      33.221669879574904,
      29.833798367347875,
      26.64865477003592,
      23.66483161564343,
      20.943713911585622,
      18.387300420250003,
      16.090350705280017,
      14.110218383322682,
      12.501283930772145,
      11.223859736592406
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7984326209765d68",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "aff4d44c562f5eef": {
    "vx_ego": [
      1.003151976488209,
      0.3783800386645587,
      0.001020919242712681,
      -0.053457066036615465,
      -0.032144806988505574,
      -0.006142624434641814,
      0.080594547182555,
      0.4461384775311539,
      1.1351249935281598,
      1.9251062208192098
    ],
    "vy_ego": [
      0.013098782026936068,
      0.020471132895304903,
      0.013863467284286089,
      0.0017087248402943463,
      0.0002102475253028856,
      -0.00017453889104836976,
      -0.0007665274738236638,
      -0.003003760616835341,
      -0.012470185546066381,
      -0.02701818253817323
    ],
    "v_ego": [
      1.0032374923330913,
      0.37893339908460194,
      0.013901007202451616,
      0.05348436827544012,
      0.03214549455756083,
      0.0061451036418881545,
      0.0805981922869813,
      0.4461485892745366,
      1.1351934885559634,
      1.925295806785151
    ],
    "ax_ego": [
      -1.2496009717736707,
      -1.2495780499756568,
      -0.2599102725126606,
      0.0419973184395114,
      0.043252226307615826,
      0.06075651387539626,
      0.2861921852438063,
      1.1759854663265528,
      1.5799866427346811,
      1.5799740414210481
    ],
    "ay_ego": [
      0.015786642012192598,
      0.0175071982516129,
      -0.043800117335521915,
      -0.004840722917201104,
      -0.0011076191408288978,
      -0.00043882870120838524,
      -0.0019282134181290433,
      -0.006788751795903825,
      -0.027344065091446434,
      -0.02806298767888893
    ],
    "a_ego": [
      1.2497006868541456,
      1.2497006861531228,
      0.26357503682293393,
      0.042275375272974695,
      0.04326640614525715,
      0.06075809862825056,
      0.28619868081738425,
      1.176005061282572,
      1.5802232402783267,
      1.5802232446214128
    ],
    "yaw": [
      1.3173100940095592,
      1.318686990850657,
      1.3192088154932544,
      1.3192943003952946,
      1.3190291154585365,
      1.3191147067189042,
      1.319139924208403,
      1.3195210944933458,
      1.3207819795840394,
      1.3212369995711506
    ],
    "yaw_diff": [
      0.0027537936821957487,
      0.0010436492851946255,
      0.00017096980408037865,
      -0.0005303698735161788,
      0.00017118252073533569,
      5.0434978997593305e-05,
      0.0007623405698855557,
      0.0025217701813873283,
      0.0009100399742223431,
      0.0009100399742223431
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.5075082941997666,
    "v_std": 0.614778581549093,
    "vy_max": 0.02701818253817323,
    "a_max": 1.5802232446214128,
    "ax_avg": 0.20090551000866239,
    "a_std": 0.6313828492281429,
    "ini_direction_judge": "straight",
    "scenario_type": "side_ego_to_main",
    "scene_token": "aff4d44c562f5eef",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "aff4d44c562f5eef",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "0000548db87959c2": {
    "vx_ego": [
      5.186602297472132,
      5.188008617829645,
      5.151895046442042,
      5.027978522508898,
      4.747929882176057,
      4.304567679858274,
      3.8683439299452123,
      3.610295478552409,
      3.5243715163665312,
      3.4839777326437877
    ],
    "vy_ego": [
      -0.011034827431411376,
      -0.10299816489815883,
      -0.04631803883220087,
      -0.03865260018486527,
      -0.022533892067354344,
      0.004270305884460868,
      -0.0037619731978564275,
      0.030006162145480797,
      0.029134716225972968,
      -0.08000449213546146
    ],
    "v_ego": [
      5.186614036108686,
      5.189030934639632,
      5.15210325306814,
      5.028127091304656,
      4.747983355315395,
      4.304569798016149,
      3.86834575920849,
      3.610420171146659,
      3.524491937437975,
      3.484896205099888
    ],
    "ax_ego": [
      -0.0031944892474158604,
      0.022318606782386785,
      -0.16464275955229107,
      -0.3305474703734425,
      -0.7898657518326213,
      -0.9756860009965392,
      -0.7599708072381268,
      -0.2736419266704353,
      -0.07923079640457005,
      -0.0809128311263625
    ],
    "ay_ego": [
      0.4307976618550282,
      0.4302309852038247,
      0.11277525020967072,
      0.0025889957078666925,
      -0.21038326986447986,
      -0.5975171553765317,
      -0.8131233980339354,
      -0.6825405593638918,
      -0.12076319607024064,
      -0.11964272660680393
    ],
    "a_ego": [
      0.430809505723018,
      0.430809494832879,
      0.19956326148078302,
      0.3305576093044255,
      0.8174038329717953,
      1.1441109751723744,
      1.1129803629374706,
      0.7353512896627585,
      0.14443430556485468,
      0.14443430434212534
    ],
    "yaw": [
      -0.38943250944745145,
      -0.33018795939730394,
      -0.3149626549124319,
      -0.3108192498838285,
      -0.32458287376947104,
      -0.37485923342219174,
      -0.4597026446047504,
      -0.5704174545327629,
      -0.6268384627727834,
      -0.612845443108677
    ],
    "yaw_diff": [
      0.11848910010029501,
      0.030450608969744053,
      0.008286810057206884,
      -0.027527247771285124,
      -0.10055271930544141,
      -0.16968682236511734,
      -0.22142961985602505,
      -0.112842016480041,
      0.027986039328212975,
      0.027986039328212975
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.409658254134567,
    "v_std": 0.6957602162355463,
    "vy_max": 0.10299816489815883,
    "a_max": 1.1441109751723744,
    "ax_avg": -0.34353742266594184,
    "a_std": 0.3611241097616126,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "0000548db87959c2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0000548db87959c2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0c6772102cc550ef": {
    "vx_ego": [
      1.4378947154881443,
      2.2001797764286066,
      2.883965610575106,
      3.4382871928929406,
      3.941602647727412,
      4.465817828422208,
      5.031812883910544,
      5.628990363203663,
      6.3063194305648365,
      7.102932748706639
    ],
    "vy_ego": [
      0.05054213787041184,
      -0.0001875616097530841,
      -0.0005343005639621978,
      0.013758088021697423,
      0.03320457026285761,
      0.09812205699937115,
      0.13636485090889788,
      0.1864887847761536,
      0.24989752968520795,
      0.02584859791384897
    ],
    "v_ego": [
      1.4387827217927116,
      2.200179784423262,
      2.88396566006895,
      3.4383147188408496,
      3.9417425050424195,
      4.466895657469897,
      5.033660325374722,
      5.632078708246804,
      6.31126877384115,
      7.102979781941053
    ],
    "ax_ego": [
      1.5221271708164181,
      1.5295177540283227,
      1.218234500359027,
      1.0338205037933463,
      1.0578970536704106,
      1.1698067552566904,
      1.2515618294574387,
      1.2638405850550611,
      1.5451959879908972,
      1.6827285309882725
    ],
    "ay_ego": [
      -0.24769205277322515,
      -0.19697187419576645,
      -0.5493496343303967,
      -1.035754142109384,
      -1.677127918055612,
      -2.209522762611403,
      -2.4988818214409747,
      -2.2899761063923973,
      -1.668126976200437,
      -1.529281837037424
    ],
    "a_ego": [
      1.5421486559811954,
      1.5421486566190814,
      1.3363683319369508,
      1.4634109050298465,
      1.982902980401736,
      2.5000877350889334,
      2.794783957747542,
      2.6155847515002075,
      2.2738245864689692,
      2.2738245856034074
    ],
    "yaw": [
      0.832313224265069,
      0.7990750800867503,
      0.7269502770989067,
      0.598188349010117,
      0.40952316442072934,
      0.16336346372348234,
      -0.09172195109853891,
      -0.3247339040140549,
      -0.5017564068872743,
      -0.5877309101980046
    ],
    "yaw_diff": [
      -0.06647628835663744,
      -0.14424960597568726,
      -0.25752385617757945,
      -0.37733036917877527,
      -0.492319401394494,
      -0.5101708296440425,
      -0.4660239058310319,
      -0.3540450057464388,
      -0.17194900662146062,
      -0.17194900662146062
    ],
    "min_front_frame": [
      2,
      43.81953728170762
    ],
    "v_avg": 4.244986863704183,
    "v_std": 1.7229042650305249,
    "vy_max": 0.24989752968520795,
    "a_max": 2.794783957747542,
    "ax_avg": 1.3274730671415886,
    "a_std": 0.504776039723236,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "0c6772102cc550ef",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.47465901491219,
    "speed_mode": "accelerating",
    "front_frame": [
      46.43680085034543,
      45.54400473891475,
      43.81953728170762,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "0c6772102cc550ef",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "20ae5f5df50a5865": {
    "vx_ego": [
      8.425409865199345,
      8.112812383315008,
      7.7283545316335145,
      7.26396437228465,
      6.7751782633842685,
      6.231381750921604,
      5.62188146140993,
      5.026174520372816,
      4.591773809531339,
      4.275916319226563
    ],
    "vy_ego": [
      -0.030907866953516105,
      0.011309748207733783,
      -0.0006799297692050565,
      -0.02941624285975264,
      -0.026079786838066887,
      -0.016947569065340673,
      -0.011958444148574499,
      -0.004558770020706593,
      -0.003770436833109958,
      0.009340533753454672
    ],
    "v_ego": [
      8.425466556389507,
      8.112820266545652,
      7.7283545615431475,
      7.264023934236775,
      6.775228457839352,
      6.231404797139729,
      5.621894179947814,
      5.026176587788078,
      4.59177535753785,
      4.2759265211879915
    ],
    "ax_ego": [
      -0.6291496932759311,
      -0.6219890579011397,
      -0.9165557903713131,
      -0.9414399353803125,
      -1.0141363018547802,
      -1.1611739739968419,
      -1.276851426596397,
      -1.105966195178551,
      -0.631699771586291,
      -0.6317177644997907
    ],
    "ay_ego": [
      -0.2971158663186056,
      -0.311828140837962,
      -0.1628838621231965,
      -0.0813104856518228,
      0.01941956069315104,
      -0.04083445838478961,
      0.055350629648431904,
      -0.040295949049959034,
      0.016969812076164437,
      0.016286387182254197
    ],
    "a_ego": [
      0.6957781072780701,
      0.6957781094337527,
      0.9309165748891524,
      0.944944732249364,
      1.0143222161015724,
      1.1618917552333339,
      1.2780505693452557,
      1.1067000444508701,
      0.6319276667025052,
      0.631927670221888
    ],
    "yaw": [
      -0.27755065368633014,
      -0.30106777655853034,
      -0.3144750029124288,
      -0.3187837183035088,
      -0.3214597869853649,
      -0.3236809903783827,
      -0.32390991770414557,
      -0.3245956104186109,
      -0.3259893565629125,
      -0.32707124287324096
    ],
    "yaw_diff": [
      -0.047034245744400405,
      -0.02681445270779692,
      -0.00861743078216004,
      -0.005352137363712206,
      -0.00444240678603558,
      -0.00045785465152570204,
      -0.0013713854289306715,
      -0.0027874922886031994,
      -0.002163772620656923,
      -0.002163772620656923
    ],
    "min_front_frame": [
      9,
      39.49138007178129
    ],
    "v_avg": 6.40530712201559,
    "v_std": 1.4138767363298714,
    "vy_max": 0.030907866953516105,
    "a_max": 1.2780505693452557,
    "ax_avg": -0.8930679910641348,
    "a_std": 0.2228380135332758,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "20ae5f5df50a5865",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      68.35692519532054,
      64.25444243187553,
      60.24542624512608,
      56.50144425478522,
      52.99316798988086,
      49.745861141467735,
      40.53724333702729,
      40.73907772152446,
      40.743319672839974,
      39.49138007178129
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "20ae5f5df50a5865",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ed166d61f7435477": {
    "vx_ego": [
      2.696858993158317,
      2.608461683430182,
      2.5712491450902744,
      2.6577648517072583,
      2.8887796047812735,
      3.1530832976546836,
      3.3589079749734188,
      3.5021251832283617,
      3.576237434171829,
      3.6541655525618815
    ],
    "vy_ego": [
      0.02292973413950089,
      0.0020700473125462304,
      0.000657995875445076,
      0.0038187974221664533,
      0.0013021959517878212,
      -0.004011510071633806,
      -0.0030832402156519834,
      -0.028109470212729137,
      -0.05036721340942818,
      -0.07031657438117467
    ],
    "v_ego": [
      2.6969564701134128,
      2.608462504813764,
      2.571249229282537,
      2.6577675952167557,
      2.888779898281374,
      3.153085849475398,
      3.358909390071465,
      3.5022379903881355,
      3.5765920988782796,
      3.654842035733225
    ],
    "ax_ego": [
      -0.20050620596651045,
      -0.15701507275185206,
      0.0067670926615275555,
      0.34138728095298837,
      0.5862524338644557,
      0.4798545994514166,
      0.35134960110479546,
      0.22836501100783962,
      0.10109545402109066,
      0.24347366700288725
    ],
    "ay_ego": [
      0.4509885608127932,
      0.4679099142632726,
      0.447631506429578,
      0.5110414927261335,
      0.6015094878463848,
      0.7481243869980276,
      0.8495698915117427,
      0.8307927602049084,
      1.0047249193864958,
      0.9800066473351309
    ],
    "a_ego": [
      0.4935518418718333,
      0.4935518421980942,
      0.44768265444564975,
      0.6145800866317013,
      0.8399437958466138,
      0.8887916150796282,
      0.9193560478725166,
      0.8616073285792671,
      1.0097982246270445,
      1.0097982250652238
    ],
    "yaw": [
      2.9564100629878363,
      3.050998753136169,
      3.1405702353904967,
      -3.05074933531106,
      -2.9485093883658138,
      -2.8356773477203303,
      -2.7140402145018654,
      -2.585046091969326,
      -2.4499145515316023,
      -2.3066863851969743
    ],
    "yaw_diff": [
      0.1891773802966652,
      0.17914296450865574,
      0.18373147295605907,
      0.20447989389049237,
      0.22566408129096693,
      0.24327426643692984,
      0.25798824506507856,
      0.2702630808754476,
      0.28645633266925596,
      0.28645633266925596
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.0668883062254344,
    "v_std": 0.40981550192481553,
    "vy_max": 0.07031657438117467,
    "a_max": 1.0097982250652238,
    "ax_avg": 0.1981023861348639,
    "a_std": 0.21074339394971692,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "ed166d61f7435477",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "ed166d61f7435477",
    "pedestrians": "No"
  },
  "c440ceb9353f50b6": {
    "vx_ego": [
      5.715728910544979,
      5.706430593835438,
      5.657098999475475,
      5.552325989909651,
      5.416181155125045,
      5.294958247314682,
      5.141533436937856,
      4.9022414894809305,
      4.660411532525563,
      4.439349140227919
    ],
    "vy_ego": [
      0.02729652437346619,
      0.01204368840738912,
      -0.005936634668821217,
      -0.005158948978706057,
      0.0055116413171401035,
      -0.0028314044730990418,
      -0.0008378119954044472,
      0.07182676968919122,
      0.08023723496805957,
      -0.001454414716925534
    ],
    "v_ego": [
      5.715794089982823,
      5.706443303204854,
      5.65710211446617,
      5.552328386630311,
      5.416183959516301,
      5.294959004341493,
      5.141533505198516,
      4.9027676577655805,
      4.661102194371261,
      4.439349378474794
    ],
    "ax_ego": [
      -0.01883817836384168,
      -0.01872697793728035,
      -0.17851113690361017,
      -0.24049068267747864,
      -0.30398685378740165,
      -0.18123603856764822,
      -0.43221612195994286,
      -0.5250555199935789,
      -0.4421656264275422,
      -0.44165323159610986
    ],
    "ay_ego": [
      0.023468412873902934,
      0.023557237412032403,
      0.07202030056366593,
      0.05924392657049285,
      0.09926884775317014,
      0.012450164659255664,
      0.0985199947836975,
      0.21748631768573157,
      -0.1875612515342832,
      -0.18876463303489882
    ],
    "a_ego": [
      0.03009390913271132,
      0.030093905315698794,
      0.19249194708324874,
      0.24768046206790248,
      0.3197847892095638,
      0.1816631725907501,
      0.4433023409077286,
      0.5683164588996402,
      0.48030163883872756,
      0.48030163820674926
    ],
    "yaw": [
      -0.6137601575511777,
      -0.6090308827481841,
      -0.6016867145606274,
      -0.5959782929194262,
      -0.5907057994296996,
      -0.5839134535814958,
      -0.5790085450301776,
      -0.5777495784824108,
      -0.5779443390143204,
      -0.5806674850898783
    ],
    "yaw_diff": [
      0.009458549605987354,
      0.014688336375113353,
      0.011416843282402445,
      0.010544986979453164,
      0.013584691696407525,
      0.009809817102636398,
      0.0025179330955336088,
      -0.00038952106381917595,
      -0.005446292151115806,
      -0.005446292151115806
    ],
    "min_front_frame": [
      3,
      16.993750897064047
    ],
    "v_avg": 5.248756359395211,
    "v_std": 0.4299247024727495,
    "vy_max": 0.08023723496805957,
    "a_max": 0.5683164588996402,
    "ax_avg": -0.27828803682144343,
    "a_std": 0.1821724891244296,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c440ceb9353f50b6",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.765204974216957,
    "right_rear_min": 14.085464847926893,
    "speed_mode": "decelerating",
    "front_frame": [
      19.486456719647204,
      22.558917361548144,
      19.71249146236083,
      16.993750897064047,
      20.39848229965926,
      35.1607813529466,
      35.47044663308112,
      36.26187867934059,
      37.5923945294346,
      38.751972329652396
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c440ceb9353f50b6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d66904f908405550": {
    "vx_ego": [
      5.987337962060549,
      5.8868876901670015,
      5.820115635301757,
      5.758005296398128,
      5.74747802212503,
      5.8784427866599795,
      6.093696423590002,
      6.255740862531233,
      6.329794224859066,
      6.41839395181496
    ],
    "vy_ego": [
      0.05444610615724388,
      -0.01009002304566664,
      -0.01944486612048424,
      -0.011463859228544315,
      -0.010681012284089242,
      -0.0032043490481536985,
      0.007798877690115669,
      0.019062137281137925,
      -0.02750024785696248,
      -0.045774282965380775
    ],
    "v_ego": [
      5.987585510905632,
      5.8868963372225975,
      5.820148117625738,
      5.758016708330857,
      5.747487946819346,
      5.8784436600079415,
      6.093701414195382,
      6.255769904993369,
      6.329853962982984,
      6.418557174760996
    ],
    "ax_ego": [
      -0.24542157359335315,
      -0.16344974171699983,
      -0.0917993092031647,
      -0.15509405943555304,
      0.11889933246496842,
      0.41275862286270193,
      0.45063655177011974,
      0.19506415647374287,
      0.10894367534970353,
      0.2605410368726847
    ],
    "ay_ego": [
      0.9142335556355509,
      0.9323834561579933,
      1.0837978014464031,
      0.9952313625149433,
      1.0398122101489562,
      1.151042723931172,
      1.2184071440744073,
      1.2756288740873798,
      1.3801767883326914,
      1.3597334530207517
    ],
    "a_ego": [
      0.9466016812973974,
      0.946601673030678,
      1.087678623302966,
      1.0072435813672627,
      1.0465880200133537,
      1.2228119369152421,
      1.2990724654624997,
      1.290456915029033,
      1.3844698232359725,
      1.3844698245748914
    ],
    "yaw": [
      -0.7620604875053789,
      -0.6733381941141362,
      -0.5855519965916679,
      -0.49732589298024976,
      -0.40855347403619724,
      -0.3150939043124038,
      -0.21797474431292405,
      -0.11941134532166779,
      -0.006813692762948459,
      0.1037322260165597
    ],
    "yaw_diff": [
      0.17744458678248543,
      0.1755723950449366,
      0.17645220722283628,
      0.17754483788810504,
      0.18691913944758687,
      0.19423831999895952,
      0.1971267979825125,
      0.22519530511743865,
      0.22109183755901632,
      0.22109183755901632
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.017646073784484,
    "v_std": 0.23183303420122325,
    "vy_max": 0.05444610615724388,
    "a_max": 1.3844698245748914,
    "ax_avg": 0.08910786918448504,
    "a_std": 0.1653959456683461,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "d66904f908405550",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d66904f908405550",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "092e56d3db8b5e24": {
    "vx_ego": [
      7.655638642871562,
      7.504030648371051,
      7.326175513504918,
      7.087400321036673,
      6.832309317528077,
      6.509545222784923,
      6.045635887657815,
      5.403747663824156,
      4.720795134923776,
      4.118559628934112
    ],
    "vy_ego": [
      0.008595112742747713,
      -0.015509640418250648,
      -0.013979950877428315,
      -0.01935261081021933,
      -0.0422283928667917,
      -0.02816134164175388,
      -2.798361073841349e-05,
      -0.045507279704347425,
      -0.055952964385452386,
      -0.0188449600397671
    ],
    "v_ego": [
      7.655643467808006,
      7.504046676336572,
      7.326188851900119,
      7.087426742773141,
      6.832439816606151,
      6.509606137750969,
      6.045635887722579,
      5.403939278599558,
      4.721126712993786,
      4.118602742387859
    ],
    "ax_ego": [
      -0.30550708104091234,
      -0.30059440026403006,
      -0.4096016643747199,
      -0.5460319342138559,
      -0.4736031095538868,
      -0.816510563925315,
      -1.0390556035128713,
      -1.5286041846128502,
      -1.204983477365075,
      -1.2050439778220001
    ],
    "ay_ego": [
      0.24686758450758917,
      0.2528264016288757,
      0.2744899029898176,
      0.05289991208103312,
      0.033908639414095304,
      0.1497661524635378,
      -0.07059943335785529,
      -0.17476148773734623,
      0.012593999717852689,
      0.0035789860373852678
    ],
    "a_ego": [
      0.39278261270930803,
      0.3927826152348109,
      0.4930702082887387,
      0.5485884376101138,
      0.47481543909821006,
      0.8301321590116645,
      1.041451308118602,
      1.5385617734794035,
      1.205049289262361,
      1.2050492926125989
    ],
    "yaw": [
      0.5013384702088685,
      0.5210005776946804,
      0.5385400581996236,
      0.55061383561431,
      0.5570271640846772,
      0.5617713676135863,
      0.5604484279424581,
      0.5577071152593365,
      0.5517140486499243,
      0.544232834863593
    ],
    "yaw_diff": [
      0.03932421497162397,
      0.03507896100988628,
      0.024147554829372808,
      0.012826656940734482,
      0.00948840705781806,
      -0.002645879342256352,
      -0.005482625366243221,
      -0.011986133218824246,
      -0.014962427572662751,
      -0.014962427572662751
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.320465631487873,
    "v_std": 1.1577046810895038,
    "vy_max": 0.055952964385452386,
    "a_max": 1.5385617734794035,
    "ax_avg": -0.7829535996685516,
    "a_std": 0.3906565476809359,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "092e56d3db8b5e24",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.5156007540647325,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "092e56d3db8b5e24",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "67dbad26dd165f16": {
    "vx_ego": [
      4.5169060141293516,
      4.554931519623433,
      4.607843308300927,
      4.672498589762404,
      4.70982581027842,
      4.771694332185006,
      4.898574326565576,
      4.983203009863914,
      5.016229422986269,
      5.067960152880531
    ],
    "vy_ego": [
      -0.015269483950923757,
      -0.025607770668986785,
      -0.02678446208578833,
      -0.035384014376432696,
      -0.019008377310586383,
      -0.0017140962128098791,
      -0.02890168459250997,
      -0.0336422681072511,
      -0.004629199567997788,
      0.021245274252402857
    ],
    "v_ego": [
      4.516931823441442,
      4.5550035023452695,
      4.6079211539763625,
      4.672632566316878,
      4.709864168059707,
      4.771694640055285,
      4.89865958607655,
      4.983316570289326,
      5.016231559001418,
      5.0680046835873105
    ],
    "ax_ego": [
      0.0662805582845109,
      0.08240347372102988,
      0.12605314791415867,
      0.12617629018385315,
      0.016340842167016235,
      0.22783064277227813,
      0.2781969021039582,
      0.06876421524535423,
      0.07586220472804925,
      0.12849351160614908
    ],
    "ay_ego": [
      -0.39436401007643995,
      -0.3913128575270043,
      -0.46348853271615575,
      -0.4387684189785626,
      -0.36084525530656364,
      -0.2643573757789896,
      0.01050109909497244,
      0.45422402508538273,
      0.7579448612282195,
      0.7508161591645638
    ],
    "a_ego": [
      0.3998950923055657,
      0.39989509242705396,
      0.48032386580144415,
      0.45655030576871525,
      0.3612150625319858,
      0.348986566954637,
      0.27839502406192845,
      0.4593995888799595,
      0.7617318995345183,
      0.7617318999408567
    ],
    "yaw": [
      1.7258215683955749,
      1.6847852250245947,
      1.6383497657112007,
      1.5916002188601173,
      1.5456393340629249,
      1.5088206228825989,
      1.5013081930684944,
      1.5256517088945696,
      1.5804566566066063,
      1.6501959626730383
    ],
    "yaw_diff": [
      -0.08207268674196033,
      -0.09287091862678798,
      -0.09349909370216691,
      -0.0919217695943848,
      -0.07363742236065196,
      -0.015024859628208986,
      0.04868703165215038,
      0.1096098954240734,
      0.13947861213286394,
      0.13947861213286394
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.780026025314955,
    "v_std": 0.18976958767157723,
    "vy_max": 0.035384014376432696,
    "a_max": 0.7617318999408567,
    "ax_avg": 0.11964017887263578,
    "a_std": 0.1560860415958593,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "67dbad26dd165f16",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 28.68329622974084,
    "right_rear_min": 26.5074455176892,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "67dbad26dd165f16",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a7f15e4638b352c4": {
    "vx_ego": [
      10.353584036157502,
      10.2406882880282,
      10.1970176956291,
      10.299835618625123,
      10.463456524651422,
      10.609593958285862,
      10.754095878297765,
      10.879437106546469,
      10.980238822896352,
      11.075267378360559
    ],
    "vy_ego": [
      0.03188166206863352,
      -0.020085860647880427,
      -0.05241633059774098,
      -0.07125416855257205,
      -0.05161247237511679,
      -0.019550600246300842,
      -0.0194607601505683,
      -0.035794845578294154,
      -0.0365566041692138,
      -0.04114568905167193
    ],
    "v_ego": [
      10.353633122443142,
      10.240707985991786,
      10.197152414114754,
      10.30008208351928,
      10.463583816770193,
      10.60961197149386,
      10.75411348651327,
      10.879495991371575,
      10.980299676837088,
      11.075343808203206
    ],
    "ax_ego": [
      -0.22604862586882732,
      -0.22570151079773965,
      0.05243387830556491,
      0.3599042193627187,
      0.29387189236352496,
      0.28956336521314774,
      0.28825678538378696,
      0.21328870106334172,
      0.1896996395484639,
      0.18993613076597463
    ],
    "ay_ego": [
      0.04644676312096199,
      0.04810523246393035,
      0.1313671919167071,
      0.020329035695468407,
      -0.10036891391280622,
      -0.09208050830483788,
      0.03605205480793068,
      -0.011318396811717833,
      -0.07724736260608853,
      -0.07666404264582448
    ],
    "a_ego": [
      0.23077106201081587,
      0.230771067005357,
      0.1414448680802656,
      0.3604779005811529,
      0.31053922135755335,
      0.3038515467843468,
      0.29050253867336284,
      0.2135888014566191,
      0.2048245792731274,
      0.20482458154516076
    ],
    "yaw": [
      1.3553527494489677,
      1.3626951307630752,
      1.3702754090600944,
      1.3758348398531637,
      1.372018478065054,
      1.36440973217906,
      1.363090041070381,
      1.3651699603419445,
      1.3632144045254004,
      1.3601413550749322
    ],
    "yaw_diff": [
      0.014684762628215164,
      0.015160556594038255,
      0.011118861586138618,
      -0.007632723576219469,
      -0.015217491771987834,
      -0.002639382217358044,
      0.004159838543126959,
      -0.003911111633088105,
      -0.006146098900936536,
      -0.006146098900936536
    ],
    "min_front_frame": [
      0,
      33.99719829650515
    ],
    "v_avg": 10.585402435725815,
    "v_std": 0.3051300962048933,
    "vy_max": 0.07125416855257205,
    "a_max": 0.3604779005811529,
    "ax_avg": 0.14252044753399568,
    "a_std": 0.06191516709527073,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "a7f15e4638b352c4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.74298505491452,
    "right_rear_min": 20.03584766836127,
    "speed_mode": "accelerating",
    "front_frame": [
      33.99719829650515,
      35.07347082462567,
      36.4313564693814,
      37.936597112697434,
      39.45865975282188,
      40.97070169563413,
      42.39853411863206,
      43.8746251891825,
      45.13826446679961,
      46.34916992933632
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "a7f15e4638b352c4",
    "pedestrians": "No"
  },
  "e051405f88c05270": {
    "vx_ego": [
      4.184277469595287,
      3.351039238339364,
      2.497494216754382,
      1.6720616596595952,
      0.9284921338852986,
      0.31872437520384483,
      -0.0022115979993825984,
      -0.05812104192118299,
      -0.03540899133399516,
      -0.013585275710773231
    ],
    "vy_ego": [
      -0.1184330885402185,
      -0.02177810019006682,
      -0.007522175346449098,
      -0.003480584080463839,
      0.002643062571697774,
      0.032480874437013155,
      0.03754166857904556,
      0.009763222865400718,
      0.0010585132754288283,
      -0.0007389932779748396
    ],
    "v_ego": [
      4.185953217491079,
      3.3511100045414732,
      2.497505544707264,
      1.6720652822689495,
      0.9284958957726378,
      0.32037514659110855,
      0.03760675531616321,
      0.058935354709405065,
      0.035424809352277445,
      0.013605360237884813
    ],
    "ax_ego": [
      -1.6810587703982993,
      -1.6656743508733338,
      -1.7545114646956852,
      -1.54898791325033,
      -1.4260090499167435,
      -1.0128933823534922,
      -0.2708200057670345,
      0.04720079218438807,
      0.043647460351915024,
      0.04364740810438263
    ],
    "ay_ego": [
      -0.20714734400959534,
      -0.307241917917592,
      -0.15043480884899532,
      -0.07262740813700765,
      0.0004857143717959256,
      0.10002635905476209,
      -0.07981794934911611,
      -0.031221946830514043,
      -0.0035953904628065574,
      -0.0035959963268286555
    ],
    "a_ego": [
      1.6937734829850395,
      1.6937734911383464,
      1.7609489235812699,
      1.5506896194301139,
      1.4260091326365707,
      1.0178203557216028,
      0.2823373524030334,
      0.05659262095645718,
      0.04379529230125122,
      0.043795289972930786
    ],
    "yaw": [
      1.6460749958127812,
      1.58627653418054,
      1.5424474946240756,
      1.5134040751985174,
      1.4946023994437758,
      1.4863680918173974,
      1.4862353863088562,
      1.4859712011134198,
      1.4859631023430475,
      1.4859769864340249
    ],
    "yaw_diff": [
      -0.11959692326448224,
      -0.08765807911292889,
      -0.05808683885111643,
      -0.03760335150948313,
      -0.01646861525275689,
      -0.0002654110170823287,
      -0.0005283703908727233,
      -1.619754074466684e-05,
      2.7768181954712645e-05,
      2.7768181954712645e-05
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.310107737098824,
    "v_std": 1.4694464453513576,
    "vy_max": 0.1184330885402185,
    "a_max": 1.7609489235812699,
    "ax_avg": -0.9225459276614234,
    "a_std": 0.7240116750366878,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e051405f88c05270",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e051405f88c05270",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "56b80cb2ca2c5983": {
    "vx_ego": [
      4.350177590372042,
      4.264948460583481,
      4.171178882409638,
      4.014532326509377,
      3.8049910150997963,
      3.6411078006498085,
      3.612510135584695,
      3.7139290341919855,
      3.810042937306189,
      3.891664632150567
    ],
    "vy_ego": [
      -0.021590882634313857,
      -0.03564628727120267,
      -0.026769097923118768,
      0.009027972941856977,
      0.02204997809960707,
      0.021211928026028115,
      -0.013307642520952512,
      -0.04877537320363892,
      0.022367130324445372,
      0.06509783692096505
    ],
    "v_ego": [
      4.350231170177975,
      4.265097423181518,
      4.171264778656917,
      4.014542477653491,
      3.8050549045348045,
      3.641169587075486,
      3.6125346466230073,
      3.714249306124371,
      3.810108590661915,
      3.8922090562434333
    ],
    "ax_ego": [
      -0.19074362623578361,
      -0.15684749510711068,
      -0.2213134913944372,
      -0.39954774019326944,
      -0.42140830896498516,
      -0.21478467583916555,
      0.11701060525716414,
      0.25487402854680585,
      0.10855605267157888,
      0.2402171124694092
    ],
    "ay_ego": [
      -0.5490472659532908,
      -0.5596739073739374,
      -0.7307317425388853,
      -0.907495958188057,
      -1.051079500268022,
      -1.1395573081840606,
      -1.3137942264823461,
      -1.1348598291996732,
      -0.9749274109968717,
      -0.9510854905671423
    ],
    "a_ego": [
      0.5812366395886962,
      0.5812366293658597,
      0.7635106685745205,
      0.9915580219135983,
      1.1324102961155038,
      1.1596220572285771,
      1.3189945986549734,
      1.163128368822113,
      0.9809525336552722,
      0.9809525327407451
    ],
    "yaw": [
      0.8525875741595071,
      0.7914620735119993,
      0.713066603375833,
      0.604948621720699,
      0.4766478217093281,
      0.3290159787668927,
      0.16792472064605893,
      0.010080498570681109,
      -0.14793529723408916,
      -0.2844417020583624
    ],
    "yaw_diff": [
      -0.12225100129501576,
      -0.15679094027233242,
      -0.21623596331026818,
      -0.2566016000227417,
      -0.29526368588487084,
      -0.32218251624166755,
      -0.31568844415075564,
      -0.31603159160954053,
      -0.27301280964854646,
      -0.27301280964854646
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.927646194093291,
    "v_std": 0.24826482666990335,
    "vy_max": 0.06509783692096505,
    "a_max": 1.3189945986549734,
    "ax_avg": -0.08839875387897936,
    "a_std": 0.23808203804487127,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "56b80cb2ca2c5983",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "56b80cb2ca2c5983",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6771ec6dba275364": {
    "vx_ego": [
      8.016810678704779,
      8.71767376756699,
      9.342805228025282,
      9.8021667196699,
      10.058110648751896,
      10.127261886842833,
      10.091411827705599,
      10.012135259521616,
      9.889971308748908,
      9.72831026751519
    ],
    "vy_ego": [
      -0.04404128615383973,
      -0.09249458627985963,
      -0.04967600848253362,
      -0.015630323641672383,
      0.010258174467742798,
      0.01616111299603773,
      0.04069601485705654,
      0.059144444373418814,
      0.024575077179693317,
      0.024943905190856874
    ],
    "v_ego": [
      8.01693165076771,
      8.718164437897276,
      9.342937291592795,
      9.802179181550462,
      10.058115879859393,
      10.127274781809405,
      10.091493885544484,
      10.012309949270259,
      9.890001841369646,
      9.728342246212744
    ],
    "ax_ego": [
      1.3936359570309478,
      1.4202311566137809,
      1.0845766834066504,
      0.7544947923355712,
      0.26828959819541176,
      0.008194761586776254,
      -0.15188106918715566,
      -0.1660831570216831,
      -0.32325980959134826,
      -0.3231709042668194
    ],
    "ay_ego": [
      0.6504588122292134,
      0.5901366769556067,
      0.4006684982607785,
      0.3446740180859432,
      0.06044770972833538,
      0.0876909297464882,
      0.16779937765433178,
      0.03587255474361334,
      -0.041048772496422026,
      -0.041742933961121775
    ],
    "a_ego": [
      1.5379589874688482,
      1.5379589837524028,
      1.156218762902556,
      0.8294953709364542,
      0.2750149707038811,
      0.08807299970630973,
      0.22632827997979976,
      0.16991308139787997,
      0.3258556524298723,
      0.32585565193857896
    ],
    "yaw": [
      2.0996085079308857,
      2.1424768453630927,
      2.1650594703053283,
      2.18089999228067,
      2.1884460057288058,
      2.1915206807877343,
      2.195404211076818,
      2.198633868891998,
      2.201971174978349,
      2.1998235078107866
    ],
    "yaw_diff": [
      0.08573667486441394,
      0.04516524988447124,
      0.03168104395068383,
      0.015092026896271094,
      0.006149350117857111,
      0.007767060578167673,
      0.006459315630359619,
      0.006674612172702155,
      -0.004295334335124856,
      -0.004295334335124856
    ],
    "min_front_frame": [
      0,
      17.314339298512845
    ],
    "v_avg": 9.578775114587419,
    "v_std": 0.6622853951051196,
    "vy_max": 0.09249458627985963,
    "a_max": 1.5379589874688482,
    "ax_avg": 0.3965028009102131,
    "a_std": 0.5423872864018023,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6771ec6dba275364",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.726440606383777,
    "right_rear_min": 12.222055805535481,
    "speed_mode": "accelerating",
    "front_frame": [
      17.314339298512845,
      23.542563541164956,
      24.52993993864439,
      24.734772109125135,
      26.352016397378183,
      26.975604419977035,
      27.67140406680621,
      23.577702086759437,
      28.82219283634654,
      29.165687294505407
    ],
    "safe_frame": [
      0,
      1,
      0,
      0,
      0,
      0,
      1,
      0,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6771ec6dba275364",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "aabb4c5a82d65945": {
    "vx_ego": [
      4.690547758990973,
      4.475064244595315,
      4.253854058811442,
      3.9836977538618,
      3.5964806636484283,
      3.118067611504423,
      2.631497328281513,
      2.154471136459244,
      1.778025727185216,
      1.5019009885926011
    ],
    "vy_ego": [
      0.03341244570819324,
      0.03369590730252492,
      0.03390126438397667,
      0.014144298939545052,
      -0.024065683295845686,
      -0.03432581214693542,
      -0.00672067879847571,
      0.011090935318954998,
      0.007327527801870515,
      -0.006625399424993961
    ],
    "v_ego": [
      4.690666761869088,
      4.475191102894309,
      4.253989145424964,
      3.9837228637690196,
      3.596561179948081,
      3.118256546740894,
      2.631505910363162,
      2.1544996836115424,
      1.7780408260768938,
      1.5019156019740167
    ],
    "ax_ego": [
      -0.43115604959051146,
      -0.431101151652425,
      -0.4535572159968343,
      -0.6267486240098846,
      -0.9221346129770572,
      -0.9920087659326576,
      -0.9545532411959724,
      -0.9534916242874285,
      -0.5522557381448914,
      -0.5522425233740665
    ],
    "ay_ego": [
      0.022197713009809855,
      0.023239675866534443,
      -0.04143630156171399,
      -0.082875662523612,
      -0.11164223392586403,
      0.035897822140764424,
      0.03503906411106239,
      0.009529203320896684,
      -0.02925629223422288,
      -0.02950456862006287
    ],
    "a_ego": [
      0.43172708689791683,
      0.4317270960808792,
      0.455446061866729,
      0.6322042495404562,
      0.9288682537616971,
      0.9926580706979037,
      0.9551961192820642,
      0.9535392405675865,
      0.5530301356610262,
      0.5530301295517382
    ],
    "yaw": [
      1.0246097161030099,
      1.0270265541684651,
      1.0259378841728881,
      1.023203619545145,
      1.0204810038788361,
      1.0179034799011961,
      1.014464262344485,
      1.0116769847128548,
      1.011067221644463,
      1.0106176446533377
    ],
    "yaw_diff": [
      0.004833676130910458,
      -0.0021773399911539926,
      -0.005468529255486132,
      -0.0054452313326178725,
      -0.00515504795527999,
      -0.006878435113422121,
      -0.00557455526326045,
      -0.0012195261367837773,
      -0.000899153982250489,
      -0.000899153982250489
    ],
    "min_front_frame": [
      9,
      13.91200615233088
    ],
    "v_avg": 3.2184349622671973,
    "v_std": 1.0979787625272346,
    "vy_max": 0.03432581214693542,
    "a_max": 0.9926580706979037,
    "ax_avg": -0.6869249547161729,
    "a_std": 0.22753312557458027,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "aabb4c5a82d65945",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.373767517258635,
      19.76195959192998,
      19.068765645267757,
      18.334315455296505,
      17.457566168904098,
      16.90197527797126,
      15.972356816203053,
      15.188325286534699,
      14.599947045784635,
      13.91200615233088
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "aabb4c5a82d65945",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5f4ad64db9ac5419": {
    "vx_ego": [
      6.498242884655529,
      6.357591771272144,
      6.19666144982488,
      5.973494923676805,
      5.616637045653803,
      5.098392097743054,
      4.3548406675798566,
      3.369301612111226,
      2.2239730678798146,
      1.004551134826771
    ],
    "vy_ego": [
      -0.21532086112527926,
      -0.14408201055136294,
      -0.028097643584529486,
      0.08349723688008215,
      0.10432447074866813,
      0.05542167860296754,
      0.005316916716177289,
      -0.011151792228497825,
      -0.008723414667152651,
      0.0043060871983346405
    ],
    "v_ego": [
      6.501809260599079,
      6.359224225950191,
      6.196725151345733,
      5.974078455440568,
      5.617605833253849,
      5.098693317389073,
      4.354843913346463,
      3.369320067290315,
      2.2239901763762826,
      1.0045603639745664
    ],
    "ax_ego": [
      -0.2809223333369196,
      -0.2807049593362611,
      -0.3634429929946563,
      -0.5288608110698942,
      -0.8983438620464395,
      -1.1745117786554666,
      -1.7996723508324808,
      -2.1425041252341757,
      -2.4388486559539193,
      -2.4388341127907855
    ],
    "ay_ego": [
      0.15975892175914658,
      0.16014055355270065,
      0.2771618857365625,
      0.1222179801162773,
      -0.05038283243122943,
      -0.15245553399124495,
      -0.05372134544579521,
      -0.024091484961275333,
      0.027111449877229354,
      0.028389026196188993
    ],
    "a_ego": [
      0.32317219937535546,
      0.32317220036404337,
      0.45706620971360495,
      0.5427992190020258,
      0.8997555914137493,
      1.1843650653599098,
      1.8004739801806118,
      2.142639569851425,
      2.4389993434526964,
      2.4389993371299603
    ],
    "yaw": [
      0.557942120536454,
      0.5593012013050502,
      0.5582421495809002,
      0.5563177508774843,
      0.555826683993823,
      0.5554915977698479,
      0.5551920087443567,
      0.5544277189654416,
      0.553837185871058,
      0.5543610274907461
    ],
    "yaw_diff": [
      0.0027181615371925094,
      -0.0021181034482999905,
      -0.003848797406831972,
      -0.0009821337673225905,
      -0.0006701724479500903,
      -0.0005991780509824185,
      -0.0015285795578301453,
      -0.0011810661887672325,
      0.001047683239376207,
      0.001047683239376207
    ],
    "min_front_frame": [
      9,
      8.834566540984186
    ],
    "v_avg": 4.670085076496612,
    "v_std": 1.8036560672860715,
    "vy_max": 0.21532086112527926,
    "a_max": 2.4389993434526964,
    "ax_avg": -1.2346645982250997,
    "a_std": 0.8307151620530046,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "5f4ad64db9ac5419",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.8468935473158385,
    "right_rear_min": 32.781451193458714,
    "speed_mode": "decelerating",
    "front_frame": [
      18.881999707759867,
      18.64638243760237,
      18.133737012812542,
      17.32087654476983,
      15.988166555373455,
      14.284403184376213,
      12.333634860294314,
      10.664187413724003,
      9.383023807170753,
      8.834566540984186
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "A",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "5f4ad64db9ac5419",
    "merging_vehicles": "No"
  },
  "bd77aab92bda5261": {
    "vx_ego": [
      3.667018876330738,
      3.244442855165728,
      2.8361832047617064,
      2.4549070758133666,
      2.079899362606712,
      1.677133423364343,
      1.2290738358392326,
      0.7600798477428353,
      0.3416718800052443,
      -0.029414598770711193
    ],
    "vy_ego": [
      0.08225840111048766,
      0.05141594089268464,
      0.03068400298139684,
      0.0346597270080784,
      0.037292341732638956,
      0.02987459062180864,
      0.03072505731037145,
      0.02651378380751096,
      0.004288346809088434,
      -0.016142017248576196
    ],
    "v_ego": [
      3.667941368658883,
      3.2448502337417393,
      2.8363491814322415,
      2.4551517361570157,
      2.080233659309384,
      1.6773994786366844,
      1.229457816718935,
      0.76054214589105,
      0.3416987906104923,
      0.03355269499899011
    ],
    "ax_ego": [
      -0.8451010113810564,
      -0.845068153830941,
      -0.7882912759688223,
      -0.7372829239177285,
      -0.763328038451212,
      -0.8477645111053991,
      -0.9445282355111587,
      -0.9314588833971291,
      -0.7421753658808703,
      -0.742172309523605
    ],
    "ay_ego": [
      -0.06495725467254887,
      -0.06538343250244755,
      0.01367736609743464,
      0.045406696191984064,
      -0.0035890926470248385,
      -0.02458029981848725,
      0.031401591347524405,
      -0.04795938055286797,
      -0.04085630800044837,
      -0.04091193751573069
    ],
    "a_ego": [
      0.8475937496064249,
      0.8475937575661097,
      0.7884099226366429,
      0.7386798210048425,
      0.7633364761832123,
      0.8481207799770875,
      0.9450500767774054,
      0.932692743427567,
      0.7432990727989852,
      0.7432990808920006
    ],
    "yaw": [
      0.862558911141252,
      0.862054614975106,
      0.8646279298493331,
      0.8687183379008429,
      0.8721630563418727,
      0.8723617810132213,
      0.8729452229511401,
      0.8730175620661172,
      0.8730583728826999,
      0.8729834297505961
    ],
    "yaw_diff": [
      -0.001008592332292002,
      0.005146629748454146,
      0.008180816103019461,
      0.006889436882059785,
      0.0003974493426970316,
      0.001166883875837632,
      0.00014467822995434254,
      8.162163316538518e-05,
      -0.00014988626420775475,
      -0.00014988626420775475
    ],
    "min_front_frame": [
      9,
      7.952200658861956
    ],
    "v_avg": 1.8327177106155415,
    "v_std": 1.1754091796361388,
    "vy_max": 0.08225840111048766,
    "a_max": 0.9450500767774054,
    "ax_avg": -0.8187170708967922,
    "a_std": 0.07296446884808226,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "bd77aab92bda5261",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.379914858894408,
    "speed_mode": "decelerating",
    "front_frame": [
      16.066519765778967,
      14.368013666620126,
      12.838216095118193,
      11.518660058053388,
      10.402001808936935,
      9.455958722309143,
      8.720508600995636,
      8.241038916106119,
      7.973856925109405,
      7.952200658861956
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "bd77aab92bda5261",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "8ddb6763987051ba": {
    "vx_ego": [
      4.771753780396645,
      4.882168841397046,
      5.086918170154882,
      5.309615261557062,
      5.550013162794874,
      5.780347328360692,
      5.971594798605132,
      6.13816235788831,
      6.259544405164681,
      6.3267704765453265
    ],
    "vy_ego": [
      0.054449339238067385,
      0.12397551126189482,
      0.17422562464289437,
      0.2010382884313362,
      0.12769381640535427,
      0.10880079624499772,
      0.09267983442029415,
      0.0479445651114232,
      0.017085596196227293,
      -0.017495688837959378
    ],
    "v_ego": [
      4.772064424468003,
      4.883742675786761,
      5.089900886867454,
      5.313419860991137,
      5.551481947907651,
      5.781371191140571,
      5.972313956117515,
      6.138349600105936,
      6.259567722920317,
      6.326794667287179
    ],
    "ax_ego": [
      0.05194072056706156,
      0.4602708305914115,
      0.4566204439806548,
      0.5024677603687997,
      0.4853657739329843,
      0.4563137518141963,
      0.3180056585874461,
      0.3535847637904259,
      0.13321576399825208,
      0.1356702378120902
    ],
    "ay_ego": [
      -1.9340404145791057,
      -1.8791915784753241,
      -1.715047135635302,
      -1.1640473973116836,
      -0.6161156129454631,
      -0.5310552709793084,
      -0.2993837959174472,
      -0.32067073119771605,
      -0.21448229926417584,
      -0.21293820091901752
    ],
    "a_ego": [
      1.9347377506210872,
      1.9347377667544219,
      1.7747926378346133,
      1.2678644223252509,
      0.7843330816819654,
      0.7001727936228703,
      0.4367588077550068,
      0.47733835277673753,
      0.25248583420716,
      0.2524858230448137
    ],
    "yaw": [
      0.3144600954428914,
      0.10110825078464286,
      -0.08865322175061459,
      -0.23218696345949902,
      -0.3005880367608108,
      -0.34783777190783466,
      -0.38032776392750134,
      -0.39855378836504984,
      -0.4150845202613665,
      -0.4265694654009624
    ],
    "yaw_diff": [
      -0.42670368931649705,
      -0.37952294507051487,
      -0.2870674834177689,
      -0.13680214660262358,
      -0.0944994702940477,
      -0.06497998403933336,
      -0.03645204887509701,
      -0.033061463792633305,
      -0.02296989027919183,
      -0.02296989027919183
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.608900693359253,
    "v_std": 0.544700512512597,
    "vy_max": 0.2010382884313362,
    "a_max": 1.9347377667544219,
    "ax_avg": 0.3353455705443322,
    "a_std": 0.6527256114696164,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "8ddb6763987051ba",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.23031771373121,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8ddb6763987051ba",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "df140a20f6b55c9b": {
    "vx_ego": [
      5.75196233430115,
      5.764717074007085,
      5.856332540291679,
      6.07401024793744,
      6.404783963862711,
      6.793435663143294,
      7.247790900185097,
      7.666623889343022,
      8.063967325074223,
      8.496321785873448
    ],
    "vy_ego": [
      -0.014338988841522182,
      -0.006213657117738358,
      -0.029160629668539325,
      -0.02637088448237035,
      -0.08626858183718422,
      -0.16311164137944312,
      -0.08074300502417797,
      -0.016632391136244706,
      0.004802551779187425,
      0.14813329802534358
    ],
    "v_ego": [
      5.751980207008725,
      5.76472042278579,
      5.856405140083962,
      6.074067493500333,
      6.405364930428643,
      6.795393551283153,
      7.248240639332157,
      7.666641930929084,
      8.06396875517064,
      8.49761303914762
    ],
    "ax_ego": [
      -0.08009268354879129,
      0.1364690168284995,
      0.24992691820469543,
      0.6460428576004329,
      0.725076881699053,
      0.8692658249137031,
      0.9514717837835864,
      0.7303586754636214,
      0.8582302909529402,
      0.8664313556306538
    ],
    "ay_ego": [
      1.5856201322245815,
      1.5817655482577369,
      1.7132016375086834,
      1.8295584943336214,
      1.9713474042379624,
      1.5239744172897713,
      0.6494315340667377,
      0.6375292359306151,
      0.5452915958986169,
      0.5321643148486834
    ],
    "a_ego": [
      1.5876416603484385,
      1.5876416605170185,
      1.731335702631275,
      1.9402720577395431,
      2.100463537548361,
      1.7544574941891864,
      1.1519808474000754,
      0.9694675453522151,
      1.016809793848795,
      1.0168097914646284
    ],
    "yaw": [
      1.288232542905256,
      1.424764817646358,
      1.5705788468313089,
      1.71955078244603,
      1.88134815008315,
      2.025553144433779,
      2.0912870473939074,
      2.125703804559789,
      2.1606422010076463,
      2.1758649310539653
    ],
    "yaw_diff": [
      0.2730645494822044,
      0.2916280583699016,
      0.29794387122944244,
      0.32359473527423965,
      0.28840998870125834,
      0.13146780592025653,
      0.06883351433176355,
      0.06987679289571425,
      0.030445460092638044,
      0.030445460092638044
    ],
    "min_front_frame": [
      5,
      26.13905542611181
    ],
    "v_avg": 6.81243961096701,
    "v_std": 0.9577684544487491,
    "vy_max": 0.16311164137944312,
    "a_max": 2.100463537548361,
    "ax_avg": 0.5953180921528395,
    "a_std": 0.39439854561355175,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "df140a20f6b55c9b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.830530210466947,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      26.13905542611181,
      27.61324667239987,
      28.86602324103808,
      29.973697638799703,
      30.71515128032319
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "df140a20f6b55c9b",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "e8e01645fcde5b8e": {
    "vx_ego": [
      2.4614141277182093,
      2.079899362606712,
      1.677133423364343,
      1.2290738358392326,
      0.7600798477428353,
      0.3416718800052443,
      0.06608924960791991,
      -0.03186150988341072,
      -0.03084510256031185,
      -0.013001834726334805
    ],
    "vy_ego": [
      0.04756602702243473,
      0.037292341732638956,
      0.02987459062180864,
      0.03072505731037145,
      0.02651378380751096,
      0.004288346809088434,
      0.008391891410562569,
      0.01497083383330734,
      0.0037280057600003486,
      -0.003325754299130801
    ],
    "v_ego": [
      2.4618736838143205,
      2.080233659309384,
      1.6773994786366844,
      1.229457816718935,
      0.76054214589105,
      0.3416987906104923,
      0.06661991260264918,
      0.03520343275470701,
      0.031069573201168255,
      0.013420445145713783
    ],
    "ax_ego": [
      -0.7633111376338596,
      -0.763328038451212,
      -0.8477645111053991,
      -0.9445282355111587,
      -0.9314588833971291,
      -0.7421753658808703,
      -0.36015693691873163,
      -0.03162333418173058,
      0.03568581594442065,
      0.03568736528492987
    ],
    "ay_ego": [
      -0.00621850949268421,
      -0.0035890926470248385,
      -0.02458029981848725,
      0.031401591347524405,
      -0.04795938055286797,
      -0.04085630800044837,
      0.057223681265389625,
      -0.03088387802100432,
      -0.014104637492032676,
      -0.01410070690466998
    ],
    "a_ego": [
      0.7633364675529446,
      0.7633364761832123,
      0.8481207799770875,
      0.9450500767774054,
      0.932692743427567,
      0.7432990727989852,
      0.36467460688707976,
      0.04420236629848772,
      0.03837210260593913,
      0.038372098928667234
    ],
    "yaw": [
      0.8687183379008429,
      0.8721630563418727,
      0.8723617810132213,
      0.8729452229511401,
      0.8730175620661172,
      0.8730583728826999,
      0.8729834297505961,
      0.8727325070748545,
      0.8728406090224503,
      0.8727302506783088
    ],
    "yaw_diff": [
      0.006889436882059785,
      0.0003974493426970316,
      0.001166883875837632,
      0.00014467822995434254,
      8.162163316538518e-05,
      -0.00014988626420775475,
      -0.0005018453514831211,
      0.00021620389519161343,
      -0.00022071668828305135,
      -0.00022071668828305135
    ],
    "min_front_frame": [
      8,
      7.946158631822771
    ],
    "v_avg": 0.8697518938685105,
    "v_std": 0.8860446612821193,
    "vy_max": 0.04756602702243473,
    "a_max": 0.9450500767774054,
    "ax_avg": -0.5312973261850741,
    "a_std": 0.3651646625249954,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e8e01645fcde5b8e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.706149020012414,
    "speed_mode": "decelerating",
    "front_frame": [
      11.518660058053388,
      10.402001808936935,
      9.455958722309143,
      8.720508600995636,
      8.241038916106119,
      7.973856925109405,
      7.952200658861956,
      7.949636542639855,
      7.946158631822771,
      7.949753651497276
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e8e01645fcde5b8e",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "e2ae96f479935b31": {
    "vx_ego": [
      1.348519677167537,
      0.9092979314666851,
      0.5268361558347999,
      0.22856621426321408,
      0.024671998427696833,
      -0.033413770115890445,
      -0.0178190049595974,
      -0.01009237379329694,
      -0.006273511232195822,
      -0.003782727642500993
    ],
    "vy_ego": [
      -0.027945235131504265,
      -0.029331160246460874,
      -0.021241526281703837,
      -0.007285875202405298,
      0.005951302949988796,
      0.008625637814916274,
      0.0038334750107206416,
      0.0022982061987345545,
      0.0014397752423568186,
      0.0007750004828966811
    ],
    "v_ego": [
      1.3488091992103972,
      0.9097708750729472,
      0.5272642008837372,
      0.22868230862942265,
      0.025379627917265068,
      0.03450915329404196,
      0.018226696585173528,
      0.010350737196718347,
      0.00643660593239875,
      0.003861302133455916
    ],
    "ax_ego": [
      -0.8783746067160617,
      -0.878374688149673,
      -0.6515881654837886,
      -0.5414747181050654,
      -0.2741019706780343,
      0.04176518138170483,
      0.020612731246555698,
      0.010293843234376328,
      0.004981496513012148,
      0.004981435671252015
    ],
    "ay_ego": [
      -0.0005959902511465387,
      0.00045491626050153666,
      0.029138164512164666,
      0.02712270736878497,
      0.025857111464501203,
      -0.015137580874718119,
      -0.004036532920137835,
      -0.0021043478368794897,
      -0.0013298835724947266,
      -0.001330102852221759
    ],
    "a_ego": [
      0.8783748089101688,
      0.878374805951787,
      0.6522393502615945,
      0.5421535867279427,
      0.27531887066249133,
      0.04442383066086642,
      0.02100424451052906,
      0.010506735380340302,
      0.005155957508120439,
      0.005155955289207857
    ],
    "yaw": [
      -0.628530583510601,
      -0.6273341547404592,
      -0.6283365333165163,
      -0.6280354632490721,
      -0.6279519993379039,
      -0.6280785351309608,
      -0.6280191466887759,
      -0.6280231492470771,
      -0.6280066573444104,
      -0.6279621566449357
    ],
    "yaw_diff": [
      0.0023928575402836216,
      -0.0020047571521142338,
      0.0006021401348883515,
      0.00016692782233640457,
      -0.00025307158611376224,
      0.00011877688436978673,
      -8.005116602483042e-06,
      3.298380533345302e-05,
      8.900139894940651e-05,
      8.900139894940651e-05
    ],
    "min_front_frame": [
      4,
      10.129199384250702
    ],
    "v_avg": 0.3113290706855557,
    "v_std": 0.448368735666664,
    "vy_max": 0.029331160246460874,
    "a_max": 0.8783748089101688,
    "ax_avg": -0.31412794610857225,
    "a_std": 0.3526196896297413,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e2ae96f479935b31",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.993176539880979,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.27513863543684,
      10.697303030784528,
      10.346821264811075,
      10.203364349037951,
      10.129199384250702,
      10.134350758748488,
      10.144235355675765,
      10.141991497785298,
      10.134766250330653,
      10.13926591501728
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e2ae96f479935b31",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c18b1648f6045467": {
    "vx_ego": [
      3.285227621788002,
      3.38448378755688,
      3.494484746244176,
      3.5931978627270844,
      3.65315077583426,
      3.6821392452108586,
      3.736202048925703,
      3.8172349532331076,
      3.880453603433617,
      3.971987081503107
    ],
    "vy_ego": [
      -0.0337867927955406,
      -0.013854428165649552,
      0.0018905423932689125,
      -0.012099593648980611,
      -0.022779843877236416,
      -0.05180787661127817,
      -0.06281081043196979,
      -0.04741660371030254,
      -0.027698820177576744,
      -0.009126980362890613
    ],
    "v_ego": [
      3.2854013566573963,
      3.384512144078547,
      3.4944852576429284,
      3.5932182345180426,
      3.653221798942069,
      3.682503696834663,
      3.7367299806520333,
      3.817529439636581,
      3.8805524597716974,
      3.9719975676475574
    ],
    "ax_ego": [
      0.1829774105734731,
      0.22038569591646776,
      0.22960894797847942,
      0.17833489053658474,
      0.07887857721549746,
      0.04408476629261959,
      0.20213041657531822,
      0.1480219872354519,
      0.12807847852502746,
      0.2455584354146837
    ],
    "ay_ego": [
      0.5267437040963089,
      0.5122204673840546,
      0.7028912003720226,
      0.8878522415004532,
      1.0092496484239895,
      0.8169134690699382,
      0.8695190741769754,
      0.8919335212355041,
      0.9886519302133026,
      0.9661975935329348
    ],
    "a_ego": [
      0.5576196397054834,
      0.5576196393346678,
      0.7394432422790859,
      0.9055854106157379,
      1.0123273594976516,
      0.8181021223337315,
      0.8927038286366291,
      0.9041326866166811,
      0.9969136049707491,
      0.9969136045576575
    ],
    "yaw": [
      1.5573729856378482,
      1.6293526246122756,
      1.7130748291359525,
      1.8289020458720597,
      1.96209538897281,
      2.0941389228702962,
      2.211262212432131,
      2.3234665220117545,
      2.44028729974938,
      2.5603362663853346
    ],
    "yaw_diff": [
      0.14395927794885477,
      0.16744440904735391,
      0.23165443347221437,
      0.26638668620150074,
      0.26408706779497226,
      0.23424657912366964,
      0.22440861915924692,
      0.23364155547525112,
      0.2400979332719091,
      0.2400979332719091
    ],
    "min_front_frame": [
      0,
      21.536328105255084
    ],
    "v_avg": 3.6500151936381515,
    "v_std": 0.20598954276980191,
    "vy_max": 0.06281081043196979,
    "a_max": 1.0123273594976516,
    "ax_avg": 0.16580596062636035,
    "a_std": 0.16129674283953932,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "c18b1648f6045467",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      21.536328105255084,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c18b1648f6045467",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "59c3714116c25a7c": {
    "vx_ego": [
      7.734839974083659,
      7.698997000996371,
      7.661182439065555,
      7.6253405907996035,
      7.621013327622846,
      7.614435215912451,
      7.619940483187008,
      7.679787026847722,
      7.717513916989988,
      7.7179584302990865
    ],
    "vy_ego": [
      0.04743020365739703,
      -0.01107934953484202,
      0.023999874143584954,
      0.024230132380798075,
      0.0207341615842056,
      0.013059808379270788,
      -0.02930625925388064,
      -0.03093851686959903,
      -0.004954724485156881,
      -0.0017456638889625786
    ],
    "v_ego": [
      7.734985394226771,
      7.699004972938855,
      7.6612200306873675,
      7.625379087298627,
      7.621041532839303,
      7.614446415592049,
      7.619996838853918,
      7.679849345499211,
      7.717515507482242,
      7.717958627718028
    ],
    "ax_ego": [
      -0.07784259197143129,
      -0.0635496518574993,
      -0.08452960898722778,
      -0.053370144595542235,
      0.03837709092338859,
      -0.06709554294443992,
      0.08804107018339982,
      0.14970788969741566,
      0.0007335096584994115,
      0.0009873356746271413
    ],
    "ay_ego": [
      -0.5308111765078135,
      -0.5327113814627545,
      -0.6308761493903247,
      -0.6906374259503731,
      -0.61957991299622,
      -0.32340157087734867,
      -0.207530512447826,
      -0.050464029620796866,
      -0.05946812904560578,
      -0.05946445610048004
    ],
    "a_ego": [
      0.5364885592726464,
      0.5364885592360434,
      0.6365139202445591,
      0.692696489421959,
      0.6207673233153832,
      0.3302883405888648,
      0.2254332354287974,
      0.15798439961977967,
      0.0594726526111282,
      0.05947265229549048
    ],
    "yaw": [
      -0.40730537478501183,
      -0.43418224562417124,
      -0.4766057031210228,
      -0.5198759223307228,
      -0.5624431630179421,
      -0.5923287325491242,
      -0.6042224304493162,
      -0.6124486467157555,
      -0.6193768223737319,
      -0.6236452103539984
    ],
    "yaw_diff": [
      -0.05375374167831881,
      -0.08484691499370312,
      -0.08654043841939996,
      -0.08513448137443858,
      -0.05977113906236431,
      -0.023787395800384026,
      -0.016452432532878536,
      -0.013856351315952864,
      -0.008536775960533038,
      -0.008536775960533038
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.6691397753136386,
    "v_std": 0.04445595029562214,
    "vy_max": 0.04743020365739703,
    "a_max": 0.692696489421959,
    "ax_avg": -0.006854064421880993,
    "a_std": 0.23480718591426486,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "59c3714116c25a7c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "59c3714116c25a7c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4339d22a9e205757": {
    "vx_ego": [
      2.4500654871396357,
      1.97318371720131,
      1.5189542027838723,
      1.1259393626023715,
      0.8416280349892171,
      0.6580256625036549,
      0.5103144885655052,
      0.3583707930399247,
      0.2170411540947403,
      0.09596180748153692
    ],
    "vy_ego": [
      -0.010587015821247547,
      -0.015667491750052553,
      -0.017215236565503278,
      -0.010686904907606043,
      -0.020550246282451945,
      -0.034712134199695655,
      -0.02405695323825166,
      -0.0133509236598493,
      -0.024002731977993186,
      -0.04509554633212151
    ],
    "v_ego": [
      2.4500883608916597,
      1.9732459178029782,
      1.5190517550514187,
      1.1259900790832655,
      0.8418788879061407,
      0.6589405927502658,
      0.5108812134332017,
      0.35861939778354945,
      0.21836435998849305,
      0.10602960338563977
    ],
    "ax_ego": [
      -0.9538234681236065,
      -0.9537927801371958,
      -0.8632398004524122,
      -0.708921958812694,
      -0.4283496560262021,
      -0.3062313650901677,
      -0.2846487861569276,
      -0.32313630870679005,
      -0.24220406361466995,
      -0.24218277464868926
    ],
    "ay_ego": [
      -0.01696829528057381,
      -0.018613590037607874,
      0.001974677422020066,
      0.01561551528143107,
      -0.059037775581145174,
      -0.0012243461417648371,
      0.04325515549431845,
      -0.0007740141357032715,
      -0.04228212608345151,
      -0.04240390234800624
    ],
    "a_ego": [
      0.9539743871761303,
      0.9539743881131869,
      0.8632420590054921,
      0.7090939204395506,
      0.4323989902431958,
      0.30623381261458116,
      0.287916550301385,
      0.3231372357103591,
      0.24586701002289016,
      0.24586701135141545
    ],
    "yaw": [
      2.6239860608973213,
      2.6222610814903016,
      2.6207553979318723,
      2.6191203037840594,
      2.6180744377240246,
      2.6168442551151863,
      2.6165906215332537,
      2.6163953675040537,
      2.6159910690834147,
      2.615488253489511
    ],
    "yaw_diff": [
      -0.003449958814039533,
      -0.0030113671168585654,
      -0.0032701882956258643,
      -0.0020917321200695227,
      -0.0024603652176766744,
      -0.0005072671638650661,
      -0.0003905080584001297,
      -0.0008085968412778755,
      -0.0010056311878070545,
      -0.0010056311878070545
    ],
    "min_front_frame": [
      9,
      9.210301300113528
    ],
    "v_avg": 0.9763090168076612,
    "v_std": 0.7437544542327984,
    "vy_max": 0.04509554633212151,
    "a_max": 0.9539743881131869,
    "ax_avg": -0.5306530961769356,
    "a_std": 0.2872356745811473,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4339d22a9e205757",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.858706916399356,
    "right_rear_min": 7.7621350815095855,
    "speed_mode": "decelerating",
    "front_frame": [
      13.455533356734907,
      12.370958179673307,
      11.493215566218634,
      10.81014791362847,
      10.307492169955424,
      9.944480908618278,
      9.624804880465303,
      9.389525928094006,
      9.240789699368774,
      9.210301300113528
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4339d22a9e205757",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "27967352b2a95cbe": {
    "vx_ego": [
      -0.20164027654947192,
      0.31469044144648856,
      0.9435761527958668,
      1.6154331184883648,
      2.085732288990561,
      2.247294197126495,
      2.1925192661246893,
      2.047764927704232,
      1.835956525860426,
      1.609342473488172
    ],
    "vy_ego": [
      -0.014431023249249428,
      0.0018982106675819732,
      0.0027714819604686136,
      0.007136224620351461,
      0.009335801047624881,
      0.0008531104129695377,
      0.008287586428471605,
      0.027913161415147103,
      0.04174343122833102,
      0.03925000224334252
    ],
    "v_ego": [
      0.202156017864836,
      0.31469616639152814,
      0.9435802230003055,
      1.615448880655428,
      2.085753182550372,
      2.24729435905397,
      2.1925349293493035,
      2.047955161549126,
      1.8364310166462012,
      1.6098210334223895
    ],
    "ax_ego": [
      1.032661319009835,
      1.03266238278133,
      1.4828433719210625,
      1.2045856174312561,
      0.6764486591671905,
      -0.030160874134659312,
      -0.18881527092322353,
      -0.38843196868916163,
      -0.45281236824939297,
      -0.446311884829382
    ],
    "ay_ego": [
      0.03267883777310787,
      0.032645423619307945,
      -0.02698083691461617,
      0.044805240467664764,
      -0.01641483111726899,
      -0.030676801014761487,
      -0.021231654770311803,
      -0.06304232983948253,
      -0.14252747894752782,
      -0.16173689388614737
    ],
    "a_ego": [
      1.0331782548124662,
      1.0331782617220022,
      1.4830888143367678,
      1.2054186074951747,
      0.6766477925551064,
      0.0430202795093899,
      0.19000523597547517,
      0.39351458632600644,
      0.47471372751876667,
      0.47471372571676757
    ],
    "yaw": [
      -2.0798437794689053,
      -2.0798114185322616,
      -2.0788637637661322,
      -2.07879425273309,
      -2.0762386738933087,
      -2.0776978545575653,
      -2.0868111727696372,
      -2.1057813663885705,
      -2.1392273720114847,
      -2.181950042356442
    ],
    "yaw_diff": [
      6.472187328743217e-05,
      0.0018953095322586933,
      0.00013902206608484846,
      0.005111157679562162,
      -0.002918361328513086,
      -0.018226636424143905,
      -0.037940387237866524,
      -0.06689201124582844,
      -0.0854453406899145,
      -0.0854453406899145
    ],
    "min_front_frame": [
      0,
      15.784926733786783
    ],
    "v_avg": 1.5095670970483461,
    "v_std": 0.7223587698973108,
    "vy_max": 0.04174343122833102,
    "a_max": 1.4830888143367678,
    "ax_avg": 0.3922668983484855,
    "a_std": 0.44479089765175844,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "27967352b2a95cbe",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.583784923551688,
    "right_rear_min": 10.700589547557106,
    "speed_mode": "accelerating",
    "front_frame": [
      15.784926733786783,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "27967352b2a95cbe",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a1ff2db262ab5db7": {
    "vx_ego": [
      -0.2056298059077215,
      0.26586555341948975,
      0.955168588265921,
      1.7846655890137162,
      2.418204155756102,
      2.801910219839728,
      2.914244106898557,
      2.8126610033260833,
      2.7385907881959937,
      2.8631434486490375
    ],
    "vy_ego": [
      0.0013465118064178577,
      0.002013981407276544,
      -0.009399596028431878,
      -0.02559557809814683,
      -0.02031058088998061,
      -0.014313732725329431,
      -0.013393356984047422,
      0.019145463581676125,
      0.002247887431451545,
      0.013269676739412484
    ],
    "v_ego": [
      0.20563421449674185,
      0.26587318145341476,
      0.9552148367856366,
      1.7848491247799778,
      2.4182894488898907,
      2.801946780898389,
      2.914274883500915,
      2.8127261630679667,
      2.7385917107502276,
      2.8631741986583132
    ],
    "ax_ego": [
      0.9429913443359489,
      0.9429911331055446,
      1.8142265410159883,
      1.5035285560641551,
      1.0295961285040658,
      0.5065665866139237,
      -0.0429689927006357,
      -0.3419305135277592,
      0.09211727718136886,
      0.4063486853490572
    ],
    "ay_ego": [
      0.0012509573073293812,
      0.0013998931363406464,
      -0.04816657836152988,
      -0.033600408691655315,
      -0.054883434889574645,
      -0.2744603909523395,
      -0.719883492251875,
      -0.9701370316635601,
      -1.3364027660507927,
      -1.2764555182146675
    ],
    "a_ego": [
      0.9429921740856098,
      0.9429921721925756,
      1.8148658246266842,
      1.5039039551662232,
      1.031057893261013,
      0.5761407925805921,
      0.7211647362083525,
      1.0286312926828254,
      1.3395737926159643,
      1.3395737919448791
    ],
    "yaw": [
      1.3143317117079776,
      1.3141737707744379,
      1.3136193715669626,
      1.3106055307920133,
      1.29792172939493,
      1.264908498767522,
      1.1797103182843864,
      1.0231636064317922,
      0.8182019506839886,
      0.5788246540174664
    ],
    "yaw_diff": [
      -0.0003158818670794261,
      -0.0011087984149504848,
      -0.006027681549898745,
      -0.02536760279416672,
      -0.0660264612548156,
      -0.1703963609662713,
      -0.31309342370518856,
      -0.4099233114956071,
      -0.4787545933330444,
      -0.4787545933330444
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.976057454328147,
    "v_std": 1.047099439883128,
    "vy_max": 0.02559557809814683,
    "a_max": 1.8148658246266842,
    "ax_avg": 0.6853466745941657,
    "a_std": 0.35500052049047537,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "a1ff2db262ab5db7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "a1ff2db262ab5db7",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "c580790700c057e0": {
    "vx_ego": [
      8.354107247239755,
      8.541231670214295,
      8.74543240906217,
      8.947458826312314,
      9.099853453041987,
      9.2246219881101,
      9.262872213172203,
      9.240857777917917,
      9.249987458051246,
      9.26054219647393
    ],
    "vy_ego": [
      -0.002965910199712596,
      -0.01465588508145732,
      -0.03623260680746632,
      -0.06261935243052363,
      -0.04121380152703891,
      -0.01856619832300299,
      -0.026921587381870893,
      -0.050739984346760636,
      -0.06040714812386794,
      -0.08659993399826993
    ],
    "v_ego": [
      8.35410777372468,
      8.54124424420934,
      8.745507465165815,
      8.947677946364237,
      9.099946782496945,
      9.22464067198525,
      9.262911335504883,
      9.240997079196463,
      9.250184700731646,
      9.26094710713989
    ],
    "ax_ego": [
      0.3731705346745632,
      0.37496960460387013,
      0.44102609092783474,
      0.36553935953811656,
      0.2421970843472324,
      0.2564780970978665,
      -0.10412555886463684,
      0.015352768688053575,
      0.02073882777155435,
      0.020909997430104264
    ],
    "ay_ego": [
      -0.18822849758908927,
      -0.18461854565254657,
      -0.20325447100376853,
      -0.14041477111895675,
      -0.024878433424493085,
      -0.1565015210450952,
      -0.1789201891286263,
      -0.03177072498227035,
      -0.0882975073390584,
      -0.08825712846236973
    ],
    "a_ego": [
      0.41795480049156647,
      0.41795479633046934,
      0.485609300633862,
      0.39158055533941605,
      0.24347148522148818,
      0.3004558875781452,
      0.20701344421726905,
      0.03528578286346975,
      0.0907003240326586,
      0.09070032368713024
    ],
    "yaw": [
      1.4297020634734787,
      1.420051671259297,
      1.4113208780583593,
      1.4045987531778925,
      1.3976590377874725,
      1.3902366665460109,
      1.3821086586670972,
      1.3789848602376487,
      1.3767836230448616,
      1.3748446284795617
    ],
    "yaw_diff": [
      -0.01930078442836347,
      -0.01746158640187545,
      -0.013444249760933502,
      -0.013879430780840085,
      -0.014844742482923223,
      -0.016256015757827313,
      -0.0062475968588970865,
      -0.004402474385574173,
      -0.0038779891305997793,
      -0.0038779891305997793
    ],
    "min_front_frame": [
      3,
      14.819892373988292
    ],
    "v_avg": 8.992816510651915,
    "v_std": 0.3182706653760798,
    "vy_max": 0.08659993399826993,
    "a_max": 0.485609300633862,
    "ax_avg": 0.20062568062145586,
    "a_std": 0.1516573247628331,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c580790700c057e0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.469438025310012,
    "right_rear_min": 4.000575001227109,
    "speed_mode": "accelerating",
    "front_frame": [
      40.951049585899106,
      43.47833535133989,
      44.34615152787685,
      14.819892373988292,
      15.789514171468326,
      16.535869623097508,
      17.46648783382373,
      18.414112740382176,
      19.519218931086808,
      20.545527511090505
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c580790700c057e0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e91f2da06b8e517f": {
    "vx_ego": [
      3.2925847592989164,
      2.6796261274455473,
      2.091138502340259,
      1.5578853718997983,
      1.1197723939591417,
      0.8063139081488218,
      0.5741223350703111,
      0.37146572823840945,
      0.17882879897790013,
      -0.012323952621624987
    ],
    "vy_ego": [
      -0.006776380678738203,
      -0.011073727443652981,
      -0.010432877957226805,
      -0.006061546405473517,
      0.00723418695651562,
      0.009098869825352962,
      -0.002288693302537975,
      -0.0030571887868197922,
      0.00589368073697373,
      0.02061646221186374
    ],
    "v_ego": [
      3.2925917324354996,
      2.6796490087935614,
      2.091164527461274,
      1.557897164232671,
      1.1197957616163356,
      0.8063652447286683,
      0.5741268968996485,
      0.37147830846359,
      0.17892589196789713,
      0.02401912409629591
    ],
    "ax_ego": [
      -1.2259148173233965,
      -1.2259156929751673,
      -1.12800583901351,
      -1.0049820436986698,
      -0.7474706833215338,
      -0.5063949678502337,
      -0.4223712911964799,
      -0.3882469900126884,
      -0.3823015885266472,
      -0.3823043884954494
    ],
    "ay_ego": [
      -0.007996268335457968,
      -0.007859376455847666,
      0.015449920992353927,
      0.00811272585846956,
      0.04479931225669104,
      -0.03571723280315128,
      -0.00842134443805595,
      0.006193584649274386,
      0.029447901185183395,
      0.029411658668996227
    ],
    "a_ego": [
      1.2259408956553939,
      1.2259408860467373,
      1.1281116402675944,
      1.005014788188517,
      0.7488119929620739,
      0.5076530155363541,
      0.4224552362903388,
      0.38829638904414276,
      0.3834340666584155,
      0.38343407663970225
    ],
    "yaw": [
      -2.0344204751569688,
      -2.0343088136418004,
      -2.033779226895036,
      -2.0329394166933854,
      -2.0329912477559278,
      -2.032556225350369,
      -2.032037011560258,
      -2.031585482540553,
      -2.0317330721024245,
      -2.031827863581315
    ],
    "yaw_diff": [
      0.00022332303033678613,
      0.0010591734935285757,
      0.001679620403301385,
      -0.00010366212508472472,
      0.0008700448111174097,
      0.001038427580222212,
      0.0009030580394098209,
      -0.0002951791237428836,
      -0.00018958295778137568,
      -0.00018958295778137568
    ],
    "min_front_frame": [
      9,
      11.865554008958087
    ],
    "v_avg": 1.269601366069544,
    "v_std": 1.0539066453435337,
    "vy_max": 0.02061646221186374,
    "a_max": 1.2259408956553939,
    "ax_avg": -0.7413908302413775,
    "a_std": 0.35013933365238514,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e91f2da06b8e517f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.32439057452252,
      15.831032918775165,
      14.66889261029482,
      13.737680927252885,
      13.116875805843794,
      12.608717090587941,
      12.235903554515835,
      12.00060485930372,
      11.869140098171785,
      11.865554008958087
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e91f2da06b8e517f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2a7b12a784c351c3": {
    "vx_ego": [
      2.047440405874583,
      2.319291216181764,
      2.558525713360887,
      2.6736666930711177,
      2.722558533976307,
      2.7657875626835855,
      2.8176722454275636,
      2.8787844115927683,
      2.936553412974402,
      3.0117314486023368
    ],
    "vy_ego": [
      0.06117736442974642,
      -0.16665101684851727,
      -0.1975834903760763,
      -0.12488868742490761,
      -0.07027416902469563,
      -0.04540549427782281,
      -0.03712229714541704,
      -0.037944132300608,
      -0.03109709468906985,
      -0.0627681351763163
    ],
    "v_ego": [
      2.0483541894717447,
      2.325270802911895,
      2.5661436167132248,
      2.6765819191432496,
      2.7234653347820177,
      2.7661602449615645,
      2.817916774427194,
      2.879034464122576,
      2.93671806214858,
      3.0123854596139985
    ],
    "ax_ego": [
      0.5044087192571883,
      0.5651896641767122,
      0.2884333768720416,
      0.07914346135717054,
      0.055254504552943284,
      0.07862954899928781,
      0.09860177949209031,
      0.10938166734871385,
      0.09115042551964408,
      0.1857995456523726
    ],
    "ay_ego": [
      -0.8108843521492467,
      -0.7697546570380148,
      -0.6534847904141663,
      -0.8445853448667278,
      -0.9774557059984423,
      -1.034839768301726,
      -1.044872922988234,
      -0.922241369458785,
      -0.7895687300792965,
      -0.7727908571819812
    ],
    "a_ego": [
      0.9549667997491749,
      0.9549667996971919,
      0.7143081857269004,
      0.8482853837236872,
      0.9790161987742105,
      1.0378226977834901,
      1.0495150004230445,
      0.9287052776275151,
      0.794812669496055,
      0.7948126698214425
    ],
    "yaw": [
      -2.9366359359146426,
      -3.013504863910595,
      3.138525738784929,
      2.9696741761753422,
      2.7813742822229144,
      2.5893744698322916,
      2.4005622993298976,
      2.2285335453738426,
      2.079392272174241,
      1.9583784073824846
    ],
    "yaw_diff": [
      -0.15373785599190448,
      -0.26230940896812527,
      -0.3377031252191731,
      -0.3765997879048557,
      -0.3839996247812456,
      -0.3776243410047879,
      -0.34405750791211,
      -0.2982825463992036,
      -0.24202772958351204,
      -0.24202772958351204
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.675203086829604,
    "v_std": 0.27962241034465685,
    "vy_max": 0.1975834903760763,
    "a_max": 1.0495150004230445,
    "ax_avg": 0.2055992693228165,
    "a_std": 0.1064975890994616,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "2a7b12a784c351c3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2a7b12a784c351c3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "93a59ff864b45716": {
    "vx_ego": [
      2.636923207987069,
      1.9981257378555775,
      1.331041751477572,
      0.6740042161391275,
      0.17901043179973158,
      -0.032740411141696506,
      -0.04911009649985611,
      -0.031117257683981416,
      -0.018469658318154027,
      -0.009692015316154873
    ],
    "vy_ego": [
      -0.03174336643224117,
      -0.024147354138685205,
      0.001487427099267434,
      0.018420259811759182,
      0.0029239407815912855,
      -0.007561075682716797,
      -0.004150630849487563,
      -0.002444398075223119,
      -0.0011901825855409913,
      -0.0006196825345583623
    ],
    "v_ego": [
      2.6371142648989,
      1.9982716429436702,
      1.331042582570467,
      0.6742558782427132,
      0.17903430990405333,
      0.03360214855045873,
      0.04928518352074888,
      0.03121311916040201,
      0.018507966203132133,
      0.009711805564992399
    ],
    "ax_ego": [
      -1.277576070030006,
      -1.2775693018624024,
      -1.3908301580220612,
      -1.2373737979137729,
      -0.7425961360125345,
      -0.1044183332124685,
      0.03893726279572856,
      0.0330348512792019,
      0.017555343512079918,
      0.01755539938759729
    ],
    "ay_ego": [
      0.016779200550079604,
      0.017286608640257262,
      0.07967696160003711,
      -0.009436109747233683,
      -0.052666808047692415,
      0.010733941296349811,
      0.0029361208527677704,
      0.0038802367284702143,
      0.0011400313472074099,
      0.0011391562253225888
    ],
    "a_ego": [
      1.2776862511134786,
      1.277686247832177,
      1.3931105292378942,
      1.2374097768850527,
      0.744461425387964,
      0.10496859438243225,
      0.03904780710469776,
      0.03326195478482822,
      0.01759232097535007,
      0.017592320044944116
    ],
    "yaw": [
      -1.5426334489899753,
      -1.5422362833191001,
      -1.5430666004989315,
      -1.5424285908278224,
      -1.5425092401871776,
      -1.542780546594904,
      -1.5429007210913117,
      -1.5428463134839556,
      -1.5428836113521167,
      -1.5428336665074323
    ],
    "yaw_diff": [
      0.0007943313417504427,
      -0.0016606343596627937,
      0.0012760193422183264,
      -0.00016129871871051193,
      -0.0005426128154528698,
      -0.00024034899281533129,
      0.00010881521471217681,
      -7.459573632218053e-05,
      9.988968936891496e-05,
      9.988968936891496e-05
    ],
    "min_front_frame": [
      4,
      10.393016517732608
    ],
    "v_avg": 0.6962038901559539,
    "v_std": 0.9145370700532959,
    "vy_max": 0.03174336643224117,
    "a_max": 1.3931105292378942,
    "ax_avg": -0.5923280940078638,
    "a_std": 0.5943042272683474,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "93a59ff864b45716",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.001845413528498,
    "right_rear_min": 3.4663041550389817,
    "speed_mode": "decelerating",
    "front_frame": [
      12.790315520054083,
      11.806190207291227,
      11.041770557360778,
      10.560410070093324,
      10.393016517732608,
      10.419269068590491,
      10.453768536382313,
      10.460603134633873,
      10.435902381145162,
      10.427209887727235
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "93a59ff864b45716",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "214bd73e71715f2c": {
    "vx_ego": [
      12.98003390489508,
      13.160433961525246,
      13.304250765055897,
      13.151345031639217,
      13.277551393981161,
      13.64266440122584,
      13.713268408792285,
      13.79731503842325,
      13.844651475911485,
      13.846870050601153
    ],
    "vy_ego": [
      -0.024718653526293544,
      0.026985321687271302,
      0.04745446490491112,
      0.03869574875875248,
      -0.0017939922640950456,
      -0.02239893188351605,
      -0.002469397563796605,
      0.028536527010544432,
      -0.007849962605838812,
      -0.005456681666608176
    ],
    "v_ego": [
      12.980057441477598,
      13.160461628045335,
      13.304335396619022,
      13.151401959570451,
      13.277551515178516,
      13.642682788829488,
      13.713268631128933,
      13.797344548965725,
      13.844653701388525,
      13.846871125767365
    ],
    "ax_ego": [
      0.3604118908194873,
      0.36116878205117287,
      0.21327426258508173,
      -0.8256612579017178,
      1.329997580560062,
      0.13121973517520052,
      0.15149637201264196,
      0.18454047558712444,
      0.0038944656951169776,
      0.005157155652829495
    ],
    "ay_ego": [
      0.2022433119876645,
      0.20088852498590587,
      0.10033609829345705,
      0.10439194085862152,
      0.12133977280575498,
      0.22081664111507848,
      0.2138340364548342,
      0.2726758652929011,
      0.18941450371560778,
      0.18938433013925685
    ],
    "a_ego": [
      0.41327846337284246,
      0.4132784637497344,
      0.2356973561624412,
      0.8322344562177637,
      1.3355212108986403,
      0.2568630138669153,
      0.26206133991789055,
      0.32925266079889837,
      0.1894545356566594,
      0.1894545348011563
    ],
    "yaw": [
      -2.040281535184639,
      -2.036526492884004,
      -2.032388115376876,
      -2.0279007573641428,
      -2.0204135202588223,
      -2.0126145596348564,
      -2.006126075463827,
      -1.9995359976440683,
      -1.9885628438433187,
      -1.9818960279233737
    ],
    "yaw_diff": [
      0.007510084601269895,
      0.008276755014255954,
      0.008974716025466734,
      0.01497447421064102,
      0.0155979212479318,
      0.012976968342059081,
      0.013180155639517022,
      0.021946307601499182,
      0.013333631839890003,
      0.013333631839890003
    ],
    "min_front_frame": [
      0,
      25.865717871525543
    ],
    "v_avg": 13.471862873697097,
    "v_std": 0.313106941867607,
    "vy_max": 0.04745446490491112,
    "a_max": 1.3355212108986403,
    "ax_avg": 0.19154994622369995,
    "a_std": 0.34664969620675623,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "214bd73e71715f2c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.215708715447676,
    "right_rear_min": 4.9692122268379615,
    "speed_mode": "accelerating",
    "front_frame": [
      25.865717871525543,
      26.352624539332208,
      26.754876386504865,
      27.04088753500159,
      27.49356364197836,
      27.650477975816674,
      27.810667141564757,
      28.011252545682634,
      27.967352652019464,
      27.909551352795734
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "214bd73e71715f2c",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "4ceacfb6be565ab3": {
    "vx_ego": [
      3.24627258461548,
      3.1607912803742844,
      3.146358300804299,
      3.216151473759246,
      3.2772743643069386,
      3.3210874026994395,
      3.3706430953382616,
      3.4379699089572173,
      3.5116799371026586,
      3.5781584868013887
    ],
    "vy_ego": [
      -0.07951321964351732,
      -0.013279319196324746,
      0.018892312747944784,
      0.016480933742617387,
      0.01180904074339606,
      0.010217149860886954,
      -4.53302125196231e-05,
      -0.01684775298277355,
      -0.023142204193711907,
      -0.04997087803282368
    ],
    "v_ego": [
      3.2472462249919,
      3.1608191752152517,
      3.1464150197520167,
      3.21619370115371,
      3.2772956400646445,
      3.3211031189230167,
      3.370643095643074,
      3.438011189870659,
      3.511756190606671,
      3.5785074046758902
    ],
    "ax_ego": [
      -0.17292370520059192,
      -0.17287170986563166,
      0.11726512798855887,
      0.16476477490444807,
      0.08236912585896497,
      0.0943306081083735,
      0.10576283991527072,
      0.16157072043793624,
      0.12970359064487386,
      0.133368880431679
    ],
    "ay_ego": [
      -0.0006481823838231093,
      -0.0042895196378920225,
      -0.16170308308416897,
      -0.21691801202933592,
      -0.2554985534383747,
      -0.24472297953491715,
      -0.30284864769697234,
      -0.26280042835840517,
      -0.19150551965710566,
      -0.1889712347076497
    ],
    "a_ego": [
      0.1729249200106911,
      0.17292492027059314,
      0.19974733370210165,
      0.272398338820325,
      0.2684477299286996,
      0.2622739032739304,
      0.32078510208366606,
      0.30849499647189577,
      0.23129501828900487,
      0.2312950190006977
    ],
    "yaw": [
      1.8663800827816237,
      1.8453202116584226,
      1.8216888085248322,
      1.7926405603321647,
      1.7578169943077102,
      1.720381930648833,
      1.6825234415839838,
      1.6458487999390328,
      1.615012511950268,
      1.5957462817667654
    ],
    "yaw_diff": [
      -0.042119742246402136,
      -0.047262806267180935,
      -0.058096496385334984,
      -0.06964713204890893,
      -0.07487012731775433,
      -0.07571697812969846,
      -0.07334928328990209,
      -0.0616725759775294,
      -0.03853246036700542,
      -0.03853246036700542
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.3267990760896837,
    "v_std": 0.13892070531648712,
    "vy_max": 0.07951321964351732,
    "a_max": 0.32078510208366606,
    "ax_avg": 0.06433402532238816,
    "a_std": 0.04917121129295863,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "4ceacfb6be565ab3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4ceacfb6be565ab3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7272f8ee7e64591e": {
    "vx_ego": [
      4.697091144847048,
      4.566701460921549,
      4.431514862407161,
      4.223708316604675,
      3.890306934567899,
      3.5569015430163904,
      3.1785106077857472,
      2.6805452735407203,
      2.2103348557326,
      1.7846633633864357
    ],
    "vy_ego": [
      -0.021746776607736162,
      -0.015281676906023112,
      -0.006555831883169105,
      -0.014470764992208895,
      -0.003424438529152196,
      0.0011370401901100724,
      0.01219476673710762,
      0.008840951439808453,
      -0.0036447914137509585,
      -0.014708239526918687
    ],
    "v_ego": [
      4.697141486616448,
      4.566727029594835,
      4.431519711641508,
      4.2237331055353105,
      3.890308441746788,
      3.5569017247560795,
      3.1785340010989804,
      2.680559853076192,
      2.210337860819224,
      1.7847239710733327
    ],
    "ax_ego": [
      -0.2608091869525356,
      -0.2608134385478088,
      -0.28002095194059934,
      -0.5511992008995721,
      -0.7824208251347446,
      -0.5512279235177011,
      -0.9621942222594888,
      -1.0295583331496192,
      -0.8512881529082728,
      -0.8513172239073405
    ],
    "ay_ego": [
      0.005037651431304926,
      0.004812266292820763,
      -0.02766512903940914,
      -0.002078410821174659,
      0.042170573117456644,
      0.00720580032763829,
      -0.014553216764547183,
      -0.025693705304850434,
      -0.014479689768131021,
      -0.012655801684922141
    ],
    "a_ego": [
      0.260857834712293,
      0.2608578303099308,
      0.2813842442115169,
      0.551203119425016,
      0.7835564464935435,
      0.5512750195900394,
      0.9623042748880098,
      1.0298788898943967,
      0.8514112876264679,
      0.8514112901750769
    ],
    "yaw": [
      -0.6253712669798771,
      -0.6262354088966611,
      -0.6294430097973653,
      -0.6293331737097456,
      -0.6295836155718182,
      -0.6274771918132378,
      -0.631248549696543,
      -0.6335317447516982,
      -0.6325238041748891,
      -0.6303813428064894
    ],
    "yaw_diff": [
      -0.001728283833567934,
      -0.006415201801408532,
      0.00021967217523943816,
      -0.0005008837241451403,
      0.004212847517160778,
      -0.007542715766610364,
      -0.004566390110310348,
      0.002015881153618171,
      0.004284922736799368,
      0.004284922736799368
    ],
    "min_front_frame": [
      9,
      11.183254101436923
    ],
    "v_avg": 3.52204871859587,
    "v_std": 0.9743465878946496,
    "vy_max": 0.021746776607736162,
    "a_max": 1.0298788898943967,
    "ax_avg": -0.6380849459217683,
    "a_std": 0.2824390545680743,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "7272f8ee7e64591e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.645459466968116,
    "right_rear_min": 12.977218142756744,
    "speed_mode": "decelerating",
    "front_frame": [
      23.87945799710554,
      22.0978503755975,
      20.328774446533824,
      18.49982270618147,
      16.87688119635682,
      15.365976841683699,
      14.022922913236172,
      12.912712645638571,
      11.941096363022755,
      11.183254101436923
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7272f8ee7e64591e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "89321ac9caaf505a": {
    "vx_ego": [
      6.4994661131413505,
      5.935066633251257,
      5.376460758746145,
      4.791941540815678,
      4.135136157697844,
      3.4588281396127787,
      2.874641676450562,
      2.435683034357263,
      2.1517724037472528,
      1.9487013455417692
    ],
    "vy_ego": [
      0.049565641403175764,
      0.011495585617388837,
      -0.010517621781878983,
      -0.018488370689766276,
      -0.03411754276830847,
      -0.022436115743848628,
      -0.003088612207208019,
      -0.00016248277425590096,
      -0.007514672323945315,
      -0.02724181995197117
    ],
    "v_ego": [
      6.499655106902246,
      5.93507776609718,
      5.376471046207272,
      4.791977206795301,
      4.135276901179005,
      3.458900906164683,
      2.8746433357047727,
      2.435683039776821,
      2.151785525517905,
      1.9488917493977436
    ],
    "ax_ego": [
      -1.128779253964157,
      -1.1286613382455597,
      -1.1057995388801498,
      -1.2323202636397421,
      -1.3948723231825049,
      -1.3103946517817333,
      -1.0263407277449341,
      -0.7294863406641573,
      -0.4061572004522693,
      -0.40614606748778553
    ],
    "ay_ego": [
      -0.09134420126939158,
      -0.0927899458094803,
      -0.019680192076410807,
      -0.028542791071776596,
      -0.029025816205594746,
      0.07252750897656968,
      0.01129381441530286,
      0.01194364613725346,
      -0.0405223225082513,
      -0.04063361572039617
    ],
    "a_ego": [
      1.1324691462840928,
      1.132469156530801,
      1.1059746516750355,
      1.2326507709401275,
      1.3951742887492442,
      1.312400237342449,
      1.0264028642166039,
      0.7295841088583515,
      0.408173651894249,
      0.4081736381275813
    ],
    "yaw": [
      1.0980624134041879,
      1.0967815454528713,
      1.095701689297981,
      1.0949007122584224,
      1.0951765954471058,
      1.0949637289053173,
      1.095477210735516,
      1.0965785001625163,
      1.0966705965408365,
      1.0963965614986444
    ],
    "yaw_diff": [
      -0.002561735902633089,
      -0.002159712309780737,
      -0.0016019540791170073,
      0.000551766377366647,
      -0.00042573308357685136,
      0.0010269636603972288,
      0.0022025788540007696,
      0.00018419275664038892,
      -0.000548070084384289,
      -0.000548070084384289
    ],
    "min_front_frame": [
      1,
      21.313523784685906
    ],
    "v_avg": 3.960836258374293,
    "v_std": 1.553927575773287,
    "vy_max": 0.049565641403175764,
    "a_max": 1.3951742887492442,
    "ax_avg": -0.9868957706042993,
    "a_std": 0.3357366014900909,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "89321ac9caaf505a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.502443146330368,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      24.406475462436852,
      21.313523784685906,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "89321ac9caaf505a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b44d5d0d2d1b531e": {
    "vx_ego": [
      5.4319651259742505,
      5.858055019925025,
      6.234759981436501,
      6.515560382436761,
      6.750644668080145,
      6.964765572279596,
      7.105166085105772,
      7.15253507558743,
      7.156348949654556,
      7.152795618265592
    ],
    "vy_ego": [
      0.040703891982184714,
      0.010717011640232643,
      0.03142753550486743,
      0.04734099764317801,
      0.027332925054237567,
      -0.0041381467729375565,
      0.0013011778653999606,
      -0.028909043276753366,
      -0.05596101488768568,
      -0.03530539415518019
    ],
    "v_ego": [
      5.432117629122454,
      5.858064823028787,
      6.2348391892742505,
      6.515732366145599,
      6.7507000024790695,
      6.964766801628741,
      7.105166204248928,
      7.152593497486884,
      7.156567747489653,
      7.15288274946094
    ],
    "ax_ego": [
      0.8473404739402292,
      0.8597689617507934,
      0.6476008020887348,
      0.4794381140427922,
      0.4631888763610205,
      0.39314117191681064,
      0.16838848450615232,
      0.021206499299589204,
      -0.00780071043359052,
      -0.007522650198576508
    ],
    "ay_ego": [
      -0.41879755629334925,
      -0.3926507315819659,
      -0.26037920013224614,
      -0.2737656102975575,
      -0.24937617391525646,
      -0.12227322543891904,
      -0.1180109223674445,
      -0.2553891520573363,
      -0.04569418244473235,
      -0.04574078867786079
    ],
    "a_ego": [
      0.945186368889508,
      0.9451863650105677,
      0.6979857639862586,
      0.5520946608857068,
      0.5260536201768761,
      0.4117167991658343,
      0.20562407328008486,
      0.2562680912659801,
      0.046355252049376384,
      0.04635525876190166
    ],
    "yaw": [
      2.930640674518324,
      2.9000102127964023,
      2.8697193994118884,
      2.846355007179235,
      2.829659819235889,
      2.820711851612818,
      2.811436849665445,
      2.8026027659345187,
      2.7958664952549244,
      2.7897844489196326
    ],
    "yaw_diff": [
      -0.06126092344384393,
      -0.060581626769027785,
      -0.046728784465306816,
      -0.03339037588669225,
      -0.01789593524614208,
      -0.01855000389474526,
      -0.017668167461852846,
      -0.013472541359188739,
      -0.012164092670583493,
      -0.012164092670583493
    ],
    "min_front_frame": [
      3,
      20.801898746623383
    ],
    "v_avg": 6.63234310103653,
    "v_std": 0.5810477173939744,
    "vy_max": 0.05596101488768568,
    "a_max": 0.945186368889508,
    "ax_avg": 0.3864750023273955,
    "a_std": 0.31479113962972066,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b44d5d0d2d1b531e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 45.141123855150994,
    "right_rear_min": 26.11491780373162,
    "speed_mode": "accelerating",
    "front_frame": [
      64.75149269748903,
      65.7952377646863,
      23.96381950555189,
      20.801898746623383,
      63.435161591853685,
      60.00864279202977,
      56.51608795720277,
      52.95809212623533,
      49.387864727620574,
      45.790423502321254
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b44d5d0d2d1b531e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "f87414e8321c5fa7": {
    "vx_ego": [
      0.4100450757787536,
      0.8657941539963148,
      1.2939075642501847,
      1.586817620959705,
      1.6765812674420255,
      1.6562173092129289,
      1.5808795658273127,
      1.4287432390991022,
      1.3937111689638362,
      1.5112805634258586
    ],
    "vy_ego": [
      0.002520057369997464,
      0.007329773705423583,
      0.015802014271487502,
      0.01852419826618628,
      -0.0002717431718087873,
      -0.014634791399550727,
      -0.008283989240361396,
      0.006630233807048441,
      0.005461394132079966,
      -0.05185586535297207
    ],
    "v_ego": [
      0.4100528195971244,
      0.8658251802048536,
      1.294004052728925,
      1.5869257412083349,
      1.6765812894643255,
      1.6562819664706316,
      1.5809012702025662,
      1.4287586231661842,
      1.3937218694274724,
      1.5121699547869234
    ],
    "ax_ego": [
      0.9114323006251526,
      0.9114851473808294,
      0.8008027956543682,
      0.3701835696731696,
      -0.011587191257401356,
      -0.06941519023154191,
      -0.23150731406694816,
      -0.37699683737454126,
      0.23633409842075995,
      0.2386043019168875
    ],
    "ay_ego": [
      0.016006816611582392,
      0.012644627671640657,
      0.04556869791359537,
      0.010721827302144622,
      -0.033304304844892774,
      0.026631119270463514,
      0.04832269829614755,
      0.053576950675564186,
      0.04848184482370807,
      0.03566904419186563
    ],
    "a_ego": [
      0.9115728477751491,
      0.9115728498067539,
      0.8020982631557011,
      0.3703388081698534,
      0.035262440676123746,
      0.07434840380585722,
      0.23649676453836124,
      0.3807848539977636,
      0.24125566387934513,
      0.2412556602585864
    ],
    "yaw": [
      -3.140201598786531,
      -3.1365127917770037,
      -3.1309526306168225,
      -3.123356281509787,
      -3.1155260515482466,
      -3.107940919903985,
      -3.1003820267212485,
      -3.0934479097312177,
      -3.0734543313159257,
      -3.0195118091500635
    ],
    "yaw_diff": [
      0.007377614019054235,
      0.011120322320362419,
      0.01519269821407132,
      0.015660459923080516,
      0.01517026328852289,
      0.01511778636547323,
      0.01386823398006154,
      0.03998715683058407,
      0.10788504433172452,
      0.10788504433172452
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.3405222767257343,
    "v_std": 0.3826865602112991,
    "vy_max": 0.05185586535297207,
    "a_max": 0.9115728498067539,
    "ax_avg": 0.27793356807407343,
    "a_std": 0.315968181742258,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f87414e8321c5fa7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.900906870252964,
    "right_rear_min": 41.411316312376954,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f87414e8321c5fa7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b07ccbd562295ef9": {
    "vx_ego": [
      2.938835267494502,
      2.789506266703772,
      2.6010376638141253,
      2.536601522765027,
      2.756826574655765,
      3.1314223556196468,
      3.547491926751677,
      4.031548606482186,
      4.526522589224348,
      5.048071089814895
    ],
    "vy_ego": [
      0.06280555854701642,
      0.0007170138637564438,
      0.0022314421671838502,
      -0.04806595378709688,
      -0.07378597508493612,
      -0.035424831972866055,
      0.02634775009825252,
      0.12011515257591396,
      0.14779614477520564,
      0.13061750036945208
    ],
    "v_ego": [
      2.939506296583473,
      2.789506358854286,
      2.6010386209961953,
      2.5370568817445376,
      2.7578138321589933,
      3.1316227244026065,
      3.5475897697314958,
      4.033337552983483,
      4.5289348031483865,
      5.049760653657528
    ],
    "ax_ego": [
      -0.30170545996844916,
      -0.29121350607820695,
      -0.45360880845814344,
      0.19233580789329233,
      0.6726713133098514,
      0.8225032716419309,
      0.9010007100690207,
      1.1318413876614406,
      0.9435516594131534,
      1.221347235063218
    ],
    "ay_ego": [
      -0.3099920751646939,
      -0.3198686747330121,
      -0.5361820470965867,
      -0.6480787107286858,
      -0.9093866695664525,
      -1.3146460974365421,
      -1.8177695429770935,
      -1.9359303182013532,
      -1.7337794462153149,
      -1.55067462761137
    ],
    "a_ego": [
      0.43257516253211614,
      0.43257516710719235,
      0.7023191146049658,
      0.6760170695313256,
      1.1311369548092594,
      1.5507436904165723,
      2.0288145284673096,
      2.2425189238342154,
      1.9738999220071922,
      1.9738999137023714
    ],
    "yaw": [
      1.096436119098962,
      1.0631240305139786,
      0.9837985227794155,
      0.8851004922611929,
      0.7447467291651825,
      0.5422656430353752,
      0.28987038515761643,
      0.017103567668143315,
      -0.20168080852351794,
      -0.3704370074887189
    ],
    "yaw_diff": [
      -0.06662417716996671,
      -0.1586510154691263,
      -0.19739606103644514,
      -0.2807075261920209,
      -0.4049621722596146,
      -0.5047905157555175,
      -0.5455336349789462,
      -0.4375687523833225,
      -0.3375123979304019,
      -0.3375123979304019
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.391616749426099,
    "v_std": 0.8288906378308295,
    "vy_max": 0.14779614477520564,
    "a_max": 2.2425189238342154,
    "ax_avg": 0.48387236105471076,
    "a_std": 0.6832658818728105,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "b07ccbd562295ef9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "b07ccbd562295ef9",
    "pedestrians": "No"
  },
  "888913e0978f559b": {
    "vx_ego": [
      -0.014913234335235758,
      0.023864727194091634,
      0.2578790008177432,
      0.9441890624513232,
      1.8857096430359364,
      2.743327134657187,
      3.465926974475348,
      4.074790021775842,
      4.5049733015787865,
      4.817871152188214
    ],
    "vy_ego": [
      0.00044841344441249546,
      -0.0008236973892564873,
      0.002346098187889209,
      0.014131023259887354,
      -0.005657689754964612,
      -0.03973403047009727,
      -0.032517040440042555,
      -0.014926226204200255,
      -0.028037757267973307,
      -0.028602520876083615
    ],
    "v_ego": [
      0.014919974294709244,
      0.02387893802993518,
      0.2578896726111087,
      0.9442948011458498,
      1.8857181303927908,
      2.7436148711004997,
      3.4660795072119766,
      4.074817359562593,
      4.505060550510979,
      4.8179560545202005
    ],
    "ax_ego": [
      0.07755583666080432,
      0.07755596077945484,
      0.8584997174665425,
      1.8867603474615515,
      1.879550041907088,
      1.5504110447162192,
      1.339274603747651,
      1.0959998938017514,
      0.624653642032721,
      0.6257061039046107
    ],
    "ay_ego": [
      -0.0025465427811546364,
      -0.002542772719579492,
      0.015180236232092748,
      0.030477975230689403,
      -0.12339199675760171,
      -0.05061753057808838,
      0.03128837074331531,
      0.0062861985462881464,
      -0.1029225014673533,
      -0.09631764613090751
    ],
    "a_ego": [
      0.07759763321322119,
      0.07759763363355725,
      0.8586339176052827,
      1.8870064959420243,
      1.8835960142495431,
      1.5512371005039371,
      1.339640036124331,
      1.0960179211607872,
      0.6330759937108973,
      0.6330759965594068
    ],
    "yaw": [
      1.219722813231454,
      1.2196742050315685,
      1.219433093862842,
      1.218649241960382,
      1.2162197557250538,
      1.2122183188596627,
      1.2083699666956105,
      1.2062132530134027,
      1.203672888261457,
      1.1931082571730682
    ],
    "yaw_diff": [
      -9.721639977078311e-05,
      -0.00048222233745320864,
      -0.0015677038049197733,
      -0.004858972470656475,
      -0.008002873730782234,
      -0.007696704328104431,
      -0.004313427364415645,
      -0.00508072950389149,
      -0.021129262176777353,
      -0.021129262176777353
    ],
    "min_front_frame": [
      9,
      38.719784513522974
    ],
    "v_avg": 2.273422985938064,
    "v_std": 1.8023302148466307,
    "vy_max": 0.03973403047009727,
    "a_max": 1.8870064959420243,
    "ax_avg": 1.0015967192478394,
    "a_std": 0.6314049558402391,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "888913e0978f559b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.889322949881082,
    "speed_mode": "accelerating",
    "front_frame": [
      48.91690414551736,
      48.902675232529056,
      48.81439245868986,
      48.55882660561737,
      47.809614527774706,
      46.613185854462145,
      45.125860262980495,
      43.21103980408243,
      41.02832309168722,
      38.719784513522974
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "888913e0978f559b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e0f8a20a76c25e20": {
    "vx_ego": [
      3.243727933557669,
      2.4763114414355822,
      1.783810153000217,
      1.2254879922431847,
      0.7576627357193413,
      0.3379526859802281,
      0.0448669310812094,
      -0.04125985822612885,
      -0.028137396420375122,
      -0.012813000702276287
    ],
    "vy_ego": [
      -0.11696463674007873,
      -0.07430495471453136,
      -0.033401703613043954,
      -0.0033522220100772326,
      0.00047486503621535503,
      -0.002479247762024045,
      0.022452394193951612,
      0.02977826294771046,
      0.009961130191631487,
      0.004839633606576056
    ],
    "v_ego": [
      3.24583604533409,
      2.477425999153133,
      1.7841228477184277,
      1.2254925770989544,
      0.7576628845301313,
      0.3379617798371824,
      0.050171221927381694,
      0.0508834044165997,
      0.02984857102127288,
      0.013696533884250899
    ],
    "ax_ego": [
      -1.534946583996209,
      -1.535007731455014,
      -1.2348541115544829,
      -0.9984570154265784,
      -0.8728395062992839,
      -0.8060075513571069,
      -0.3663377597822909,
      0.02183714628682119,
      0.030648750059058802,
      0.030648693152062072
    ],
    "ay_ego": [
      0.08158065680451088,
      0.08042189745825201,
      0.0886554611088951,
      0.02848831468049512,
      -0.01430637724016176,
      0.0012352451634035089,
      0.09834665583623153,
      -0.06903665775471449,
      -0.010243133740954065,
      -0.01024329152940268
    ],
    "a_ego": [
      1.5371130144808114,
      1.5371130138078506,
      1.2380324986071416,
      0.9988633518794678,
      0.8729567435941574,
      0.8060084978927289,
      0.3793091337635803,
      0.07240801800832286,
      0.03231513065141047,
      0.032315126694561935
    ],
    "yaw": [
      2.2104064607427327,
      2.2096515572791002,
      2.210304393390108,
      2.20978677450844,
      2.2094982073314986,
      2.2089167439399624,
      2.208651674346178,
      2.2086168286747685,
      2.2086955280914937,
      2.2087007393732883
    ],
    "yaw_diff": [
      -0.0015098069272649894,
      0.001305672222015275,
      -0.0010352377633360277,
      -0.0005771343538825136,
      -0.0011629267830723933,
      -0.0005301391875685013,
      -6.969134281931133e-05,
      0.00015739883345045058,
      1.042256358907423e-05,
      1.042256358907423e-05
    ],
    "min_front_frame": [
      6,
      8.446573923981653
    ],
    "v_avg": 0.9973101864921421,
    "v_std": 1.10028167038027,
    "vy_max": 0.11696463674007873,
    "a_max": 1.5371130144808114,
    "ax_avg": -0.7265315670373024,
    "a_std": 0.564281792673188,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e0f8a20a76c25e20",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.550666809576347,
      11.128880857908188,
      10.119844244583009,
      9.32239959748569,
      8.792458295525673,
      8.501501525765509,
      8.446573923981653,
      8.499438860116333,
      8.500472246164717,
      8.487283755060293
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e0f8a20a76c25e20",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b2872eb05a455f97": {
    "vx_ego": [
      2.6171892271337054,
      3.073734819921752,
      3.3697050832215316,
      3.4617925075034144,
      3.497100265881324,
      3.5296300703656147,
      3.577704208452914,
      3.6276039468380725,
      3.788419913970231,
      4.117244124478972
    ],
    "vy_ego": [
      0.008529827383781718,
      -0.00526963960211102,
      -0.01359514907007342,
      -0.007907630675567434,
      -0.009411527913238293,
      -0.024766734678993263,
      -0.031412423448735405,
      -0.022554385525749954,
      -0.01361097951528123,
      0.09737334148029753
    ],
    "v_ego": [
      2.6172031271148826,
      3.0737393370780386,
      3.369732508073492,
      3.4618015390298846,
      3.497112930187541,
      3.5297169610006742,
      3.5778421071266706,
      3.627674061354135,
      3.788444364555137,
      4.118395409402509
    ],
    "ax_ego": [
      0.9130574236186249,
      0.9131362358295405,
      0.27063778029920915,
      0.09746780656044016,
      0.04463906056358884,
      0.08761762714091337,
      0.1070193734454048,
      0.09880483207176005,
      0.553049850426643,
      0.7818376686257736
    ],
    "ay_ego": [
      -0.03999822857964741,
      -0.03815651901927081,
      -0.02827529353772018,
      -0.042559482321888935,
      -0.2106489501491617,
      -0.4478310289551979,
      -0.7302896220899154,
      -1.0452583033899918,
      -1.2955088111373634,
      -1.1717239884032233
    ],
    "a_ego": [
      0.9139331031944246,
      0.9139330966370625,
      0.27211082365449424,
      0.10635451495451691,
      0.21532678868859714,
      0.4563216837723969,
      0.7380894786032913,
      1.0499177661352592,
      1.4086189040302834,
      1.4086189140721284
    ],
    "yaw": [
      2.5606306346400727,
      2.558613654275997,
      2.556105367736082,
      2.5492990140036813,
      2.531572189476825,
      2.489028694532319,
      2.4080071871187405,
      2.2825379980157465,
      2.1201737595832997,
      1.9352415615693412
    ],
    "yaw_diff": [
      -0.004033960728150987,
      -0.005016573079830167,
      -0.013612707464801588,
      -0.03545364905371251,
      -0.08508698988901209,
      -0.162043014827157,
      -0.25093837820598797,
      -0.3247284768648937,
      -0.3698643960279169,
      -0.3698643960279169
    ],
    "min_front_frame": [
      2,
      18.26280839744952
    ],
    "v_avg": 3.466166234492296,
    "v_std": 0.3816902543766251,
    "vy_max": 0.09737334148029753,
    "a_max": 1.4086189140721284,
    "ax_avg": 0.3867267658581898,
    "a_std": 0.45012778363126305,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "b2872eb05a455f97",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 35.00900399965645,
    "right_rear_min": 27.492887640800042,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      18.26280839744952,
      21.098805332664075,
      24.240268713620104,
      27.517817465465363,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b2872eb05a455f97",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "c40e41ba1a285e0d": {
    "vx_ego": [
      1.6405953015556458,
      1.5135456688943707,
      1.3585983092405773,
      1.0812961198365476,
      0.6587262616059578,
      0.23775617114419495,
      0.014018794933812579,
      -0.027414127798703627,
      -0.0161783704796494,
      -0.005572281086439882
    ],
    "vy_ego": [
      -0.04806116213724487,
      0.016301708331345643,
      0.017407714848715616,
      0.006491507865135054,
      0.007538832348748866,
      -0.006429457253370889,
      -0.014676063103807304,
      -0.008110421216981715,
      -0.0027578197477914294,
      -0.00037473484891022477
    ],
    "v_ego": [
      1.6412991253249491,
      1.5136334554717756,
      1.3587098271550146,
      1.0813156053844486,
      0.6587693995037591,
      0.23784308869025528,
      0.02029565075633751,
      0.028588692437404726,
      0.016411740953905518,
      0.00558486729594208
    ],
    "ax_ego": [
      -0.26731394135566494,
      -0.23471681117015883,
      -0.39793829554555515,
      -0.7220398660906563,
      -0.9789551143303786,
      -0.7055870405312806,
      -0.18945656583525133,
      0.02373081080666305,
      0.021212199015369665,
      0.02121232992474793
    ],
    "ay_ego": [
      0.3805382502136933,
      0.40146494897715335,
      0.3301579864570659,
      0.2523195569844505,
      0.019727807321955882,
      -0.0429255888145524,
      0.009601800214180818,
      0.016644615668159616,
      0.0047658602048445305,
      0.004765295725989725
    ],
    "a_ego": [
      0.46504419480174064,
      0.4650441771521458,
      0.5170678708671481,
      0.7648573246436502,
      0.9791538705715956,
      0.7068915602415742,
      0.1896997229977945,
      0.028986110678778213,
      0.021740993780408717,
      0.02174099777361868
    ],
    "yaw": [
      -0.4231403698640682,
      -0.3398203401816452,
      -0.2151602682892701,
      -0.09113024390430442,
      -0.01693459138456948,
      0.002792940483383362,
      0.001418729825583281,
      0.0015397040210752347,
      0.0015387078655569372,
      0.0015659326180195773
    ],
    "yaw_diff": [
      0.16664005936484605,
      0.2493201437847502,
      0.24806004876993135,
      0.1483913050394699,
      0.03945506373590568,
      -0.0027484213156001615,
      0.00024194839098390722,
      -1.992311036595057e-06,
      5.444950492528022e-05,
      5.444950492528022e-05
    ],
    "min_front_frame": [
      9,
      8.36772082286772
    ],
    "v_avg": 0.6562451452973793,
    "v_std": 0.6469763675148152,
    "vy_max": 0.04806116213724487,
    "a_max": 0.9791538705715956,
    "ax_avg": -0.34298522951121646,
    "a_std": 0.32409240644771325,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "c40e41ba1a285e0d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.804668256791768,
    "right_rear_min": 17.768725627442823,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      8.993798430637337,
      8.562690184548725,
      8.392746734985572,
      8.425402977896228,
      8.411897504811844,
      8.400521986344327,
      8.36772082286772
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "c40e41ba1a285e0d",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "c574d461642f5deb": {
    "vx_ego": [
      10.872163019948708,
      11.232717133683327,
      11.523939413815494,
      11.724096953577497,
      11.920779483365767,
      12.097912005085039,
      12.256320467066425,
      12.39739378927393,
      12.450653148675514,
      12.451330824772828
    ],
    "vy_ego": [
      0.042422629472128826,
      0.05891047753988676,
      0.05978232322781629,
      0.033477618665476605,
      0.029519349725990907,
      0.0183722843234273,
      0.0470736586635736,
      0.011844590047949133,
      0.017079186911008293,
      0.04142860687379546
    ],
    "v_ego": [
      10.872245785109511,
      11.232871611912376,
      11.524094478069012,
      11.72414475037888,
      11.920816032597871,
      12.097925955452528,
      12.25641086618637,
      12.39739944749064,
      12.450664862859695,
      12.45139974610909
    ],
    "ax_ego": [
      0.719721784775588,
      0.7259364231611718,
      0.4409241653537478,
      0.36032779605554754,
      0.42641575654699704,
      0.2817289908699735,
      0.3517939821992181,
      0.2116928293765292,
      0.0013469808407697431,
      0.001352079698127423
    ],
    "ay_ego": [
      -0.36084106451405706,
      -0.3481695459358268,
      -0.19982577971283327,
      -0.10984912570291228,
      0.075066448523267,
      0.05836382358213414,
      0.10709696061503757,
      -0.03987834175281317,
      0.051177867847244,
      0.051177738614527624
    ],
    "a_ego": [
      0.8051122414422698,
      0.8051122426029775,
      0.4840913775628945,
      0.376700081003366,
      0.43297271175611535,
      0.28771089690823337,
      0.36773463922312605,
      0.21541619286951125,
      0.05119559077474711,
      0.05119559599425521
    ],
    "yaw": [
      0.6886102856237828,
      0.6710802963552618,
      0.6590013105939705,
      0.6546078492799442,
      0.6542068567930254,
      0.657907113684701,
      0.6589478312313586,
      0.6631630038603853,
      0.6629694576159668,
      0.6630690063586906
    ],
    "yaw_diff": [
      -0.035059978537042014,
      -0.02415797152258259,
      -0.008786922628052585,
      -0.000801984973837655,
      0.00740051378335127,
      0.0020814350933151538,
      0.008430345258053418,
      -0.0003870924888369487,
      0.00019909748544755246,
      0.00019909748544755246
    ],
    "min_front_frame": [
      5,
      36.86208287021947
    ],
    "v_avg": 11.892797353616597,
    "v_std": 0.5190728888757249,
    "vy_max": 0.05978232322781629,
    "a_max": 0.8051122426029775,
    "ax_avg": 0.35212407888776703,
    "a_std": 0.25029511500865753,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c574d461642f5deb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      37.346567181191325,
      37.264512791399106,
      37.030744341201874,
      36.874338204609465,
      36.87401987244638,
      36.86208287021947,
      36.92351078382844,
      37.22356190762251,
      37.422621505530024,
      37.94220624960533
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c574d461642f5deb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "88b49de4eea35896": {
    "vx_ego": [
      4.609339120341967,
      4.555231815975399,
      4.5177003903832045,
      4.4879793591339645,
      4.444674814835608,
      4.415381981600879,
      4.401310176228814,
      4.374380266061086,
      4.327667433933704,
      4.277463205443391
    ],
    "vy_ego": [
      -0.009715906315454603,
      0.027937615216189204,
      0.03163663413041995,
      0.02278515164543915,
      -0.0055753786256900195,
      -0.03472929781204792,
      -0.02301022184718804,
      -0.0164248643079854,
      -0.0017837691531419897,
      0.028563556007609348
    ],
    "v_ego": [
      4.609349360283986,
      4.555317487027496,
      4.517811161822466,
      4.488037198057523,
      4.444678311698246,
      4.415518561570342,
      4.401370324987977,
      4.374411101882424,
      4.327667801548857,
      4.277558573608765
    ],
    "ax_ego": [
      -0.12653502819182957,
      -0.09181242725622465,
      -0.06309381277247378,
      -0.06080164668675636,
      -0.1207201082392266,
      0.008219369848859653,
      -0.05423862048009746,
      -0.046622999955933275,
      -0.1348508641472852,
      -0.07007573734510592
    ],
    "ay_ego": [
      0.5996054792419658,
      0.6058946411757422,
      0.7110614059687017,
      0.8129969110911146,
      0.6989994350113622,
      0.650287933304924,
      0.6980600297952538,
      0.714007179083311,
      0.7725810372025023,
      0.7811245776360053
    ],
    "a_ego": [
      0.6128114262124154,
      0.6128114212416091,
      0.7138551339511083,
      0.8152673289685506,
      0.7093472736815827,
      0.6503398759438803,
      0.7001640044656214,
      0.7155277464273474,
      0.7842615728225907,
      0.784261572915241
    ],
    "yaw": [
      -0.674425651834185,
      -0.6168346128924399,
      -0.5450479231355343,
      -0.4585141888528983,
      -0.36774592622826174,
      -0.2847661246620569,
      -0.21112265423659293,
      -0.13219399998124665,
      -0.05039606284145388,
      0.03293714528817331
    ],
    "yaw_diff": [
      0.11518207788349022,
      0.14357337951381122,
      0.173067468565272,
      0.1815365252492731,
      0.16595960313240965,
      0.14728694085092797,
      0.15785730851069257,
      0.16359587427958555,
      0.16666641625925438,
      0.16666641625925438
    ],
    "min_front_frame": [
      7,
      35.731023903473826
    ],
    "v_avg": 4.441171988248808,
    "v_std": 0.09785032701651407,
    "vy_max": 0.03472929781204792,
    "a_max": 0.8152673289685506,
    "ax_avg": -0.07605318752260733,
    "a_std": 0.06686086299934546,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "88b49de4eea35896",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      35.731023903473826,
      39.477726422350514,
      43.27141070756915
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "88b49de4eea35896",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5cfbf7afa66458c3": {
    "vx_ego": [
      12.229634141193202,
      12.440213538960803,
      12.606087064796785,
      12.752399401996824,
      12.929149665922985,
      13.098712948098445,
      13.146935507985614,
      13.020689147671835,
      12.837977707729378,
      12.663657761534786
    ],
    "vy_ego": [
      0.0008651957224818929,
      -0.03743459789713022,
      -0.03284984473520858,
      -0.048704503829861245,
      -0.04397432985506544,
      -0.04807613313746728,
      -0.04011668395415402,
      -0.018051605952281058,
      0.011135093002690333,
      0.03341784760698818
    ],
    "v_ego": [
      12.2296341717977,
      12.440269862188014,
      12.60612986596346,
      12.752492408809434,
      12.929224447952114,
      13.098801174583087,
      13.146996714058478,
      13.02070166084672,
      12.837982536771602,
      12.66370185426911
    ],
    "ax_ego": [
      0.42047124730768387,
      0.42147457306339176,
      0.24080769722277012,
      0.3437889407134462,
      0.362511758332635,
      0.3158603511078615,
      -0.1230199920736846,
      -0.3821924008089779,
      -0.34865370544623464,
      -0.3486438242074237
    ],
    "ay_ego": [
      -0.20127494309489072,
      -0.19916541232488283,
      -0.1416932229103117,
      -0.10295639313482494,
      -0.04652665714141585,
      0.05642064883273515,
      -0.045554240504214666,
      0.06428408011874998,
      0.04961245410381554,
      0.04968191365266361
    ],
    "a_ego": [
      0.46616271036016055,
      0.46616271537469506,
      0.27940171162762156,
      0.3588744274035223,
      0.36548530032570886,
      0.32085986195952954,
      0.13118348706192123,
      0.38756092965215705,
      0.35216587274123107,
      0.352165882365353
    ],
    "yaw": [
      -2.462989847158118,
      -2.4680008873492554,
      -2.475158621938715,
      -2.478735629228736,
      -2.482014915532856,
      -2.4815098910784754,
      -2.481907749256578,
      -2.4832330268738856,
      -2.4832881573131473,
      -2.483088888868301
    ],
    "yaw_diff": [
      -0.010022080382274368,
      -0.014315469178919571,
      -0.007154014580041945,
      -0.006558572608239999,
      0.0010100489087614406,
      -0.0007957163562055669,
      -0.002650555234614771,
      -0.00011026087852350486,
      0.0003985368896923802,
      0.0003985368896923802
    ],
    "min_front_frame": [
      9,
      48.93391999149253
    ],
    "v_avg": 12.772593469723974,
    "v_std": 0.27967325064857756,
    "vy_max": 0.048704503829861245,
    "a_max": 0.46616271537469506,
    "ax_avg": 0.09024046452114678,
    "a_std": 0.09077462808538746,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5cfbf7afa66458c3",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 32.14781288420292,
    "speed_mode": "quasi_constant",
    "front_frame": [
      54.285456915266124,
      53.73581347022413,
      53.07308170076213,
      52.52386671002582,
      51.909072616424616,
      51.3846225886892,
      50.573100741460145,
      50.018843227466455,
      49.366740707062405,
      48.93391999149253
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5cfbf7afa66458c3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6a85f61bdde35d74": {
    "vx_ego": [
      4.06053216443796,
      3.9337574580861556,
      3.8214198525516196,
      3.7159123348520384,
      3.5830644207292077,
      3.4388138337569347,
      3.3132145660904238,
      3.227897572045432,
      3.1561957098739892,
      3.073802554780953
    ],
    "vy_ego": [
      0.07727599883641667,
      -0.011251892342596825,
      -0.017274516395460404,
      0.011483495928655163,
      0.002937215197498455,
      -0.03621719443621907,
      -0.024185640402574315,
      0.014975907596754101,
      0.02699250564697861,
      0.03167433917852331
    ],
    "v_ego": [
      4.0612674177442925,
      3.933773550184319,
      3.821458896598567,
      3.7159300788610476,
      3.5830656246193215,
      3.4390045461457155,
      3.3133028394874255,
      3.227932312398316,
      3.156311130796214,
      3.073965746318639
    ],
    "ax_ego": [
      -0.26263986343156576,
      -0.2508634044666558,
      -0.19573806410734174,
      -0.22735509605672874,
      -0.305136608455677,
      -0.2674679443453428,
      -0.22443912821845022,
      -0.11817339867289216,
      -0.17392177585049506,
      -0.1607823533346107
    ],
    "ay_ego": [
      0.22421211752955805,
      0.2373148229418679,
      0.2803380205503637,
      0.1579060892336232,
      0.10843792416113338,
      0.22634918366958562,
      0.4413124717613878,
      0.3491999037756757,
      0.286972768211608,
      0.2945355482768786
    ],
    "a_ego": [
      0.34532705007056697,
      0.345327052065909,
      0.34191050803768225,
      0.27681161955384265,
      0.3238319521236422,
      0.35038986029879804,
      0.49510566549738017,
      0.3686536653158944,
      0.33556244398028684,
      0.3355624447738112
    ],
    "yaw": [
      1.208932410403199,
      1.2599539536512574,
      1.2949404135909317,
      1.31635788070158,
      1.3368895318240632,
      1.3719239139725918,
      1.4178667669437357,
      1.4665072428430626,
      1.5124591025783976,
      1.5576422671399945
    ],
    "yaw_diff": [
      0.1020430864961166,
      0.06997291987934862,
      0.042834934221296805,
      0.04106330224496624,
      0.07006876429705722,
      0.09188570594228773,
      0.0972809517986537,
      0.09190371947067,
      0.09036632912319398,
      0.09036632912319398
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.532601214315386,
    "v_std": 0.3258278779295701,
    "vy_max": 0.07727599883641667,
    "a_max": 0.49510566549738017,
    "ax_avg": -0.218651763693976,
    "a_std": 0.05285537867687217,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "6a85f61bdde35d74",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.014276749109598,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6a85f61bdde35d74",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "360b5fec28655626": {
    "vx_ego": [
      7.140576003779662,
      7.256263542948707,
      7.455253918743223,
      7.68158614934423,
      7.923235956515918,
      8.21344329277447,
      8.487147634917546,
      8.807520039020554,
      9.140013174920584,
      9.419465264913985
    ],
    "vy_ego": [
      -0.03652439947814745,
      -0.0001066268728786568,
      -0.017884842069035845,
      -0.051291689370455806,
      -0.04649221781146462,
      -0.02903457142213428,
      -0.027648828395303804,
      -0.06409803273080206,
      -0.06965564322238382,
      -0.021206532886535567
    ],
    "v_ego": [
      7.1406694152237,
      7.2562635437321195,
      7.455275371206084,
      7.681757390545187,
      7.923372359604447,
      8.21349461130642,
      8.487192670995407,
      8.807753277399895,
      9.140278592381886,
      9.419489136569888
    ],
    "ax_ego": [
      0.16800501488641584,
      0.3005745219774022,
      0.49566616786050044,
      0.4266990214493187,
      0.5622241574856238,
      0.6035648214403304,
      0.4939389509350813,
      0.7963341664381641,
      0.5438516745174555,
      0.5811402087651937
    ],
    "ay_ego": [
      1.4277826060173426,
      1.405860514722633,
      1.3397083725573231,
      1.4199268915611294,
      1.5069761020106156,
      1.320866958475059,
      1.1665596273900078,
      1.0551095125908827,
      0.8934453649379381,
      0.8696524207447028
    ],
    "a_ego": [
      1.437633073865741,
      1.4376330651867084,
      1.4284619258005111,
      1.4826545222283773,
      1.608438054539723,
      1.4522327691081245,
      1.2668216336592784,
      1.3218941667911752,
      1.0459537580622413,
      1.0459537633905118
    ],
    "yaw": [
      0.8393967045819308,
      0.9328967789937338,
      1.0288719669573418,
      1.12426106794433,
      1.2175629268912695,
      1.3030235142045399,
      1.377173046360237,
      1.4458914613851126,
      1.500589473728172,
      1.5428820399250092
    ],
    "yaw_diff": [
      0.18700014882360594,
      0.1919503759272161,
      0.1907782019739761,
      0.1866037178938793,
      0.17092117462654066,
      0.14829906431139417,
      0.13743683004975127,
      0.10939602468611875,
      0.08458513239367438,
      0.08458513239367438
    ],
    "min_front_frame": [
      8,
      40.93191422300819
    ],
    "v_avg": 8.152554636896504,
    "v_std": 0.7558654347733228,
    "vy_max": 0.06965564322238382,
    "a_max": 1.608438054539723,
    "ax_avg": 0.4971998705755486,
    "a_std": 0.1757482809299574,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "360b5fec28655626",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.66620303306382,
    "right_rear_min": 11.748503923645238,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      40.93191422300819,
      42.16038168777164
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "360b5fec28655626",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "0735d8974394552b": {
    "vx_ego": [
      4.523620040585921,
      3.9413854771103156,
      3.326159485414751,
      2.6714454322174803,
      2.1068899197549946,
      1.6817934842504723,
      1.3158821913535124,
      1.024756759243401,
      0.9148051426339008,
      0.9275917783306343
    ],
    "vy_ego": [
      -0.06981412914846086,
      -0.10351934794017392,
      -0.11043420385961933,
      -0.0632460259424501,
      -0.00025510217672941593,
      0.00945712603301363,
      -0.017615998196831906,
      -0.026474260070115607,
      -0.023523444601298904,
      -0.020186016321187883
    ],
    "v_ego": [
      4.5241587377344885,
      3.942744695586321,
      3.327992283013383,
      2.6721939969083746,
      2.106889935198877,
      1.6818200738783409,
      1.316000100651133,
      1.025098679182301,
      0.9151075354488902,
      0.9278113938088429
    ],
    "ax_ego": [
      -1.1648812501891284,
      -1.164720573379147,
      -1.2965489539278365,
      -1.322529317609101,
      -0.9358354203106753,
      -0.7644798023417145,
      -0.699194943413081,
      -0.4653811710046593,
      0.02554474834389517,
      0.02554099520182223
    ],
    "ay_ego": [
      -0.08254796497904271,
      -0.08478482480949484,
      0.046308519069062415,
      0.13564193084765186,
      0.10432135695796702,
      -0.07046540468984352,
      -0.04377510921851696,
      0.005329662708444399,
      0.00538489763784049,
      0.005402657419054628
    ],
    "a_ego": [
      1.1678024206022044,
      1.1678024150388737,
      1.29737568532393,
      1.3294670094965402,
      0.9416320297364624,
      0.767720483930532,
      0.7005639364694093,
      0.46541168832578084,
      0.026106154265286854,
      0.02610615144151225
    ],
    "yaw": [
      -2.050639873629886,
      -2.0525602542823376,
      -2.053301085741456,
      -2.053867554190695,
      -2.055149194216326,
      -2.055815661250935,
      -2.056813198278423,
      -2.057473180813295,
      -2.057772797723925,
      -2.0584681290941607
    ],
    "yaw_diff": [
      -0.003840761304902962,
      -0.0014816629182368146,
      -0.001132936898478043,
      -0.002563280051261607,
      -0.0013329340692180836,
      -0.0019950740549763424,
      -0.0013199650697437448,
      -0.0005992338212603698,
      -0.0013906627404711713,
      -0.0013906627404711713
    ],
    "min_front_frame": [
      5,
      11.420793252797415
    ],
    "v_avg": 2.2439817431410947,
    "v_std": 1.2499321616404673,
    "vy_max": 0.11043420385961933,
    "a_max": 1.3294670094965402,
    "ax_avg": -0.7762485688629626,
    "a_std": 0.46236638073939623,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0735d8974394552b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.72846817877604,
    "right_rear_min": 12.02283984065117,
    "speed_mode": "decelerating",
    "front_frame": [
      17.63097007342335,
      15.45495602063824,
      13.840718865451143,
      12.507753078450543,
      11.826857954996779,
      11.420793252797415,
      11.428673499596218,
      11.92822829416646,
      12.844372470299033,
      14.040630019892157
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0735d8974394552b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "dd182f5d47495d7f": {
    "vx_ego": [
      4.3213424145683135,
      3.8623253872962335,
      3.431554021217349,
      3.0445018399107457,
      2.65866068353184,
      2.2717317434813733,
      1.8658805170469737,
      1.4538485303355166,
      1.1309323349924065,
      0.8713084767400281
    ],
    "vy_ego": [
      0.017067397552178995,
      -0.01247413897714579,
      -0.02627648300135478,
      -0.0269766022975321,
      -0.003481462317186622,
      0.02199181077691645,
      0.008792032561686036,
      -0.030462817181845382,
      -0.035125808709733905,
      0.007174224946559113
    ],
    "v_ego": [
      4.321376118785115,
      3.8623455310855115,
      3.431654623369298,
      3.0446213541738545,
      2.6586629629830583,
      2.27183818835809,
      1.865901230969112,
      1.4541676424640304,
      1.1314776925635297,
      0.8713380119922531
    ],
    "ax_ego": [
      -0.9180392613483562,
      -0.9180269433536574,
      -0.8048889116790017,
      -0.7432099884221668,
      -0.800086607432881,
      -0.7477164339819186,
      -0.8757140509462705,
      -0.7723997062256354,
      -0.5192471686657366,
      -0.5192504043858932
    ],
    "ay_ego": [
      -0.06064809493904486,
      -0.060834090765295036,
      0.02600518014443897,
      -0.012540352314010631,
      0.11281352678606213,
      -0.0018198041476829956,
      -0.04846499444407375,
      -0.10278408277106044,
      0.08453343931771119,
      0.08451358730372438
    ],
    "a_ego": [
      0.9200403669387398,
      0.9200403552684521,
      0.8053089031782479,
      0.7433157790109374,
      0.808000910407511,
      0.7477186485127764,
      0.877054134424547,
      0.7792084918996558,
      0.526083191643931,
      0.526083195791177
    ],
    "yaw": [
      -1.5916620556750845,
      -1.591864656607345,
      -1.5904621241677481,
      -1.5892033235633205,
      -1.5886530176579523,
      -1.5877276487783338,
      -1.5874261438160646,
      -1.5865502331193608,
      -1.5864706520581426,
      -1.5865088861213292
    ],
    "yaw_diff": [
      -0.0004052018645213096,
      0.0028050648791939636,
      0.002517601208855247,
      0.001100611810736396,
      0.0018507377592369423,
      0.0006030099245384335,
      0.001751821393407571,
      0.00015916212243638483,
      -7.64681263731859e-05,
      -7.64681263731859e-05
    ],
    "min_front_frame": [
      9,
      11.79928465003949
    ],
    "v_avg": 2.4913383356743855,
    "v_std": 1.1151551604476684,
    "vy_max": 0.035125808709733905,
    "a_max": 0.9200403669387398,
    "ax_avg": -0.7618579476441518,
    "a_std": 0.13387958771832703,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "dd182f5d47495d7f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.909075707035753,
    "speed_mode": "decelerating",
    "front_frame": [
      21.37640356087299,
      19.359747757141164,
      19.04193029744381,
      17.394120115351498,
      15.984460710205381,
      14.752020549720132,
      13.718677163994457,
      12.878019012837438,
      12.289944249046618,
      11.79928465003949
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dd182f5d47495d7f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "91b143f42de55e14": {
    "vx_ego": [
      3.6605304335585203,
      3.5402112976304694,
      3.4453669695735147,
      3.33061813347952,
      3.199111953003624,
      3.08549732334492,
      2.96000941315423,
      2.860190736334401,
      2.777284876500294,
      2.6969450881872596
    ],
    "vy_ego": [
      -0.005701867105848857,
      -0.01998932520085006,
      0.005550775902469995,
      0.01420802780844932,
      0.01675119054409735,
      -0.0008796996672255641,
      -0.014739390661433482,
      -0.002262523795111382,
      0.018596638941518993,
      0.01816126958092809
    ],
    "v_ego": [
      3.66053487434509,
      3.5402677306938806,
      3.4453714409539797,
      3.330648438234934,
      3.1991558089963834,
      3.0854974487495803,
      2.960046110383877,
      2.860191631207085,
      2.777347137146737,
      2.697006236627972
    ],
    "ax_ego": [
      -0.24614121608405556,
      -0.23675087062844732,
      -0.13993806970219974,
      -0.3038376719043795,
      -0.20170109263642827,
      -0.2465108851961338,
      -0.2694792054816215,
      -0.14384622575244088,
      -0.18775313103478913,
      -0.1248183955797798
    ],
    "ay_ego": [
      -0.2705436766196958,
      -0.2787981433448391,
      -0.4289781980591566,
      -0.705054831414877,
      -0.9093002428673472,
      -0.934523577648818,
      -0.7938881185158535,
      -0.6430839414279501,
      -0.578164551700043,
      -0.5949334881981178
    ],
    "a_ego": [
      0.365758635187524,
      0.3657586355451601,
      0.4512260605971897,
      0.7677367036749865,
      0.9314023096650264,
      0.9664894897006008,
      0.8383778306394127,
      0.6589754869384212,
      0.6078860806564651,
      0.6078860808199924
    ],
    "yaw": [
      0.8408423080000582,
      0.806658013048713,
      0.7485007925978706,
      0.6628359751571871,
      0.5381148450347841,
      0.3975151798275238,
      0.2595009793531387,
      0.13124961658813766,
      0.015887230911355417,
      -0.0913066428553177
    ],
    "yaw_diff": [
      -0.06836858990269046,
      -0.11631444090168475,
      -0.1713296348813671,
      -0.24944226024480587,
      -0.2811993304145206,
      -0.27602840094877024,
      -0.2565027255300021,
      -0.2307247713535645,
      -0.21438774753334622,
      -0.21438774753334622
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.155606685733952,
    "v_std": 0.3167396890172683,
    "vy_max": 0.01998932520085006,
    "a_max": 0.9664894897006008,
    "ax_avg": -0.21007767640002756,
    "a_std": 0.20809803290008544,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "91b143f42de55e14",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "91b143f42de55e14",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "07952d3dbf4550de": {
    "vx_ego": [
      2.4696697530542964,
      2.053600839627358,
      1.5947767116762195,
      1.0962843393113737,
      0.6071472686600786,
      0.20135623573812833,
      -0.00023533070500407482,
      -0.030997540706729512,
      -0.019216857469132164,
      -0.008576355666213672
    ],
    "vy_ego": [
      -0.008044941103064973,
      -0.004893398765931756,
      -0.0019493406512064992,
      -0.0009072577665235615,
      -0.001174449498678426,
      0.030016873580703048,
      0.03866470856703983,
      0.012853549930988578,
      0.005992210247923252,
      0.002014193601338218
    ],
    "v_ego": [
      2.469682856204136,
      2.0536066697081194,
      1.5947779030428626,
      1.0962847147233377,
      0.6071484045709242,
      0.20358130162219865,
      0.03866542472435601,
      0.03355683649710994,
      0.020129436023998713,
      0.00880970217300603
    ],
    "ax_ego": [
      -0.8321796680990944,
      -0.8321633200750015,
      -1.0031674654197626,
      -0.9907981980914491,
      -0.9657604975479437,
      -0.6574033481722765,
      -0.1488882953879008,
      0.025841293040559838,
      0.021281081272093723,
      0.02128122370447697
    ],
    "ay_ego": [
      -0.004873898801216525,
      -0.007138518542798983,
      0.006606524580681783,
      -0.010150701142651153,
      0.006218771979498605,
      0.11829501659035879,
      -0.08375001668133247,
      -0.019490753434295717,
      -0.007955727731752914,
      -0.007955323767489055
    ],
    "a_ego": [
      0.8321939406695072,
      0.832193937568182,
      1.0031892193618042,
      0.9908501935585166,
      0.9657805194499343,
      0.6679617302946574,
      0.17082678302197893,
      0.03236760564892925,
      0.022719551576808036,
      0.022719543538671037
    ],
    "yaw": [
      -0.32836895047890663,
      -0.3310902754962283,
      -0.3327575443919588,
      -0.33419217621670116,
      -0.335035680646809,
      -0.33520759710355796,
      -0.3355206190579253,
      -0.3355465185112449,
      -0.3355352464976534,
      -0.33555359694971854
    ],
    "yaw_diff": [
      -0.005442650034643393,
      -0.0033345377914609786,
      -0.002869263649484699,
      -0.0016870088602156663,
      -0.0003438329134979323,
      -0.0006260439087346636,
      -5.179890663919995e-05,
      2.25440271829358e-05,
      -3.670090413021576e-05,
      -3.670090413021576e-05
    ],
    "min_front_frame": [
      5,
      10.679290819117673
    ],
    "v_avg": 0.8126243249290048,
    "v_std": 0.8872083170338261,
    "vy_max": 0.03866470856703983,
    "a_max": 1.0031892193618042,
    "ax_avg": -0.5361957194776298,
    "a_std": 0.41393031985510154,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "07952d3dbf4550de",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.602824110045345,
    "speed_mode": "decelerating",
    "front_frame": [
      13.93280298022081,
      12.829291663977106,
      11.911985902537868,
      11.249691821666532,
      10.810867936107057,
      10.679290819117673,
      10.715139375251857,
      10.759194564707604,
      10.792310304028192,
      10.762475871410993
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "07952d3dbf4550de",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8c9e3fd944c051e3": {
    "vx_ego": [
      3.4481235612066357,
      3.4809180179832735,
      3.5400408250564017,
      3.553459880286047,
      3.5667970644560523,
      3.6188120162642576,
      3.725537760346669,
      3.907983463363917,
      4.17412424080455,
      4.482052039539719
    ],
    "vy_ego": [
      0.09087621704768267,
      0.015327879114965137,
      0.009698202551286617,
      0.035982262144488075,
      0.030852544592371856,
      0.002638251744865483,
      0.01258669417842237,
      0.02168405875263857,
      0.02976852704573485,
      -0.01669013966148092
    ],
    "v_ego": [
      3.4493208868084784,
      3.4809517652215125,
      3.540054109501539,
      3.5536420534420126,
      3.566930498134234,
      3.6188129779571163,
      3.725559022299769,
      3.908043621600177,
      4.174230389290297,
      4.4820831145689475
    ],
    "ax_ego": [
      -0.015725288418757977,
      0.1793984881595665,
      0.063883239744985,
      0.012797668207576884,
      0.06484473119663664,
      0.15748723192888345,
      0.2621654150798583,
      0.46631818017473126,
      0.5926415783195258,
      0.6394179607649251
    ],
    "ay_ego": [
      -1.243128928187547,
      -1.230216646728514,
      -1.209336538195204,
      -1.2787736162118533,
      -1.2831872256182444,
      -1.3138250065999875,
      -1.1687844917091441,
      -1.0139443661599383,
      -0.7051074379759119,
      -0.6629820595710116
    ],
    "a_ego": [
      1.2432283848081063,
      1.2432283842648895,
      1.2110226797770036,
      1.2788376526483303,
      1.28482461649589,
      1.323230280861226,
      1.1978263200163022,
      1.1160357623431931,
      0.9210866080027508,
      0.9210866082306244
    ],
    "yaw": [
      2.545265334241662,
      2.3878101982413975,
      2.2168033224320034,
      2.0348452241308816,
      1.856526898127176,
      1.683544324871166,
      1.511630828866961,
      1.3655592094609037,
      1.2568914226726529,
      1.1885360005268544
    ],
    "yaw_diff": [
      -0.314910272000529,
      -0.3420137516187882,
      -0.3639161966022435,
      -0.3566366520074111,
      -0.34596514651202037,
      -0.3438269920084096,
      -0.2921432388121148,
      -0.21733557357650168,
      -0.13671084429159697,
      -0.13671084429159697
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.749962843882409,
    "v_std": 0.32212502586334724,
    "vy_max": 0.09087621704768267,
    "a_max": 1.323230280861226,
    "ax_avg": 0.24232292051579307,
    "a_std": 0.13724300361056926,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "8c9e3fd944c051e3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8c9e3fd944c051e3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "218d9b0348fe5687": {
    "vx_ego": [
      6.856631489021891,
      6.962300112255067,
      7.107349744974663,
      7.250511392989294,
      7.505562249816153,
      7.89601846204099,
      8.345574289990783,
      8.756837207008257,
      9.111849123186897,
      9.447322132247276
    ],
    "vy_ego": [
      0.01722917237670396,
      -0.043939751277636496,
      -0.14185016660218652,
      -0.12958424768016918,
      -0.0402334743090802,
      -0.03932487797207296,
      -0.01460047384632368,
      0.015056878135373708,
      0.03496747972692482,
      -0.0011210923678142137
    ],
    "v_ego": [
      6.856653135504765,
      6.96243876489045,
      7.10876514362069,
      7.251669293143089,
      7.5056700845640885,
      7.896116387118396,
      8.345587061650708,
      8.756850151716845,
      9.111916218247416,
      9.447322198766024
    ],
    "ax_ego": [
      0.042095901588631635,
      0.3864373101893801,
      0.23181224209538187,
      0.35475953674302085,
      0.6623688549880616,
      0.9026397884136071,
      0.8953784829416291,
      0.7499910533864775,
      0.6709044510048674,
      0.671120461756364
    ],
    "ay_ego": [
      2.1317171309973646,
      2.09682050028569,
      1.8487573975525855,
      1.0436832886786038,
      0.14798906575115958,
      0.28490491525021866,
      -0.00398350711218326,
      -0.10003491860576547,
      -0.10963221453648697,
      -0.1083020634660154
    ],
    "a_ego": [
      2.132132733091023,
      2.1321327362818514,
      1.8632339709737735,
      1.102328959964814,
      0.6786996858995125,
      0.9465354712640703,
      0.8953873441387062,
      0.7566330452076623,
      0.679802916176679,
      0.6798029208079883
    ],
    "yaw": [
      2.01460729584507,
      2.1771142031225916,
      2.3305241849901477,
      2.429673435558821,
      2.4580882927644474,
      2.4720781967181327,
      2.477681186658257,
      2.4711857609004086,
      2.4630993183899896,
      2.461117005412498
    ],
    "yaw_diff": [
      0.3250138145550432,
      0.3068199637351121,
      0.19829850113734704,
      0.0568297144112524,
      0.027979807907370535,
      0.011205979880248407,
      -0.012990851515696455,
      -0.016172885020838024,
      -0.003964625954983703,
      -0.003964625954983703
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.924298843922247,
    "v_std": 0.8921475661562618,
    "vy_max": 0.14185016660218652,
    "a_max": 2.1321327362818514,
    "ax_avg": 0.5567508083107422,
    "a_std": 0.5789607983126788,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "218d9b0348fe5687",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 19.456040694259805,
    "right_rear_min": 20.17812855247525,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "218d9b0348fe5687",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "069c47e25ca55ef5": {
    "vx_ego": [
      6.387967196831212,
      6.401792229387737,
      6.451315874816556,
      6.537757854724963,
      6.677503346551552,
      6.805538242935564,
      7.043089707691083,
      7.399878794691977,
      7.788331697731686,
      8.22998110425209
    ],
    "vy_ego": [
      -0.07904644444139608,
      -0.019776188513576765,
      -0.006820316654542413,
      -0.0043217135299418175,
      -0.030213821360171256,
      -0.08992779313323451,
      -0.16686722795911146,
      -0.07531464285585798,
      -0.022367853961075657,
      0.08675970911912101
    ],
    "v_ego": [
      6.388456249217838,
      6.401822775263412,
      6.451319480027274,
      6.537759283135605,
      6.6775717007163875,
      6.806132366038461,
      7.045066167350795,
      7.400262054249193,
      7.788363817566752,
      8.230438398012154
    ],
    "ax_ego": [
      -0.030817942220245087,
      0.10546763611602294,
      0.10686957249845014,
      0.2586116168849135,
      0.3224410065412324,
      0.20840997567101005,
      0.7585673085545642,
      0.6791080030703348,
      0.8787973659272327,
      0.8857533429643062
    ],
    "ay_ego": [
      1.380936250664686,
      1.3772477108202847,
      1.5275190629845226,
      1.7915667436506428,
      1.9560026060766127,
      1.7329057836798252,
      1.0074883200606262,
      0.549711279393979,
      0.4669629179253688,
      0.4536300193949174
    ],
    "a_ego": [
      1.3812800852696498,
      1.3812800871755215,
      1.5312529488321371,
      1.8101357311933262,
      1.9824011697125845,
      1.7453931285158024,
      1.2611332509557815,
      0.8737105759501501,
      0.9951578654052919,
      0.9951578664054648
    ],
    "yaw": [
      1.706593566953166,
      1.8053359548492691,
      1.9162078883564138,
      2.0437874774576654,
      2.1894136971753975,
      2.334507021451386,
      2.445549229908003,
      2.4867175475434227,
      2.5133004617000134,
      2.528412103907761
    ],
    "yaw_diff": [
      0.19748477579220625,
      0.22174386701428928,
      0.25515917820250333,
      0.2912524394354641,
      0.29018664855197684,
      0.22208441691323433,
      0.08233663527083923,
      0.05316582831318151,
      0.030223284415495044,
      0.030223284415495044
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.972719229157787,
    "v_std": 0.6064946528536802,
    "vy_max": 0.16686722795911146,
    "a_max": 1.9824011697125845,
    "ax_avg": 0.41732078860078226,
    "a_std": 0.35616009910132285,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "069c47e25ca55ef5",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.420487543325677,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "069c47e25ca55ef5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "8a2c1d34f9df5213": {
    "vx_ego": [
      4.329098735463842,
      4.683675813362489,
      4.9700794593382085,
      5.082204610143571,
      5.070124375538724,
      4.985565075351089,
      4.87912423398182,
      4.777636158680703,
      4.676834700598537,
      4.597834944922147
    ],
    "vy_ego": [
      -0.08263974095297599,
      -0.05141506727551648,
      -0.024468872006357723,
      -0.017607569563347303,
      0.018121337403486315,
      0.027487120724634995,
      0.0068614333067539834,
      0.009622235346561443,
      0.00012855041230624975,
      -0.02564464512853959
    ],
    "v_ego": [
      4.329887433661459,
      4.6839580093997135,
      4.9701396919838015,
      5.082235111235065,
      5.070156759539219,
      4.985640847711179,
      4.879129058540643,
      4.777645848338527,
      4.6768347023652455,
      4.597906461485598
    ],
    "ax_ego": [
      0.6862602339526833,
      0.7515755426726349,
      0.40364652294638054,
      0.04936299032621225,
      -0.099090317223475,
      -0.24359191640023142,
      -0.18614256943016358,
      -0.22175744897694905,
      -0.1846472132801861,
      -0.1266454901306036
    ],
    "ay_ego": [
      0.8278206637833525,
      0.7690087042683637,
      0.7338074750726057,
      0.6959284276821761,
      0.6503488077350444,
      0.6956573310827897,
      0.7292525218513264,
      0.7436752436295254,
      0.7011753401228378,
      0.713934433244355
    ],
    "a_ego": [
      1.0752860829060804,
      1.075286093829997,
      0.8374986125117675,
      0.6976769175414445,
      0.6578544388311466,
      0.737072685713402,
      0.7526342383791628,
      0.7760342996054995,
      0.7250803065650837,
      0.7250803094432776
    ],
    "yaw": [
      -2.064828761031924,
      -1.9830681048295928,
      -1.9114905812073966,
      -1.8423774507903188,
      -1.783345165540947,
      -1.7185359623353713,
      -1.6420573945791153,
      -1.5664708410837134,
      -1.488014816239161,
      -1.4060857933158117
    ],
    "yaw_diff": [
      0.1635213124046624,
      0.14315504724439254,
      0.13822626083415557,
      0.11806457049874375,
      0.1296184064111512,
      0.1529571355125121,
      0.15117310699080377,
      0.15691204968910455,
      0.16385804584669872,
      0.16385804584669872
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.805353392426046,
    "v_std": 0.22649701040540143,
    "vy_max": 0.08263974095297599,
    "a_max": 1.075286093829997,
    "ax_avg": 0.08289703344563024,
    "a_std": 0.14187880240728412,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "8a2c1d34f9df5213",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "8a2c1d34f9df5213",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "a55fa060a119508b": {
    "vx_ego": [
      4.714972903405389,
      4.4599921506096765,
      4.167322945492815,
      3.8269745611989245,
      3.440747729748288,
      3.0915626640571707,
      2.8478816753941545,
      2.586342620427639,
      2.12465829790495,
      1.513444992518373
    ],
    "vy_ego": [
      -0.024257565105238132,
      0.002916533072842231,
      0.005647062977148343,
      -0.034101085751488736,
      -0.026168918615954384,
      -0.007912938480444609,
      -0.0017457413232311314,
      -0.008320154219775944,
      -0.018176856363513738,
      0.017773485114228382
    ],
    "v_ego": [
      4.715035303082245,
      4.4599931042172125,
      4.167326771606851,
      3.827126490738597,
      3.440847243350034,
      3.091572790730903,
      2.847882210460711,
      2.5863560031841613,
      2.124736049716204,
      1.5135493524005235
    ],
    "ax_ego": [
      -0.5099595952827598,
      -0.5099914259962888,
      -0.6606062544748307,
      -0.7007700739907675,
      -0.8440065396444365,
      -0.5527437280804246,
      -0.42200123409570484,
      -0.6241466796620996,
      -1.2224676506875842,
      -1.2223839411113608
    ],
    "ay_ego": [
      0.04846726695117129,
      0.0481310472542609,
      -0.05689923953548787,
      -0.09483593125054551,
      0.1346785639914051,
      -0.05697832767439076,
      0.07879965701213296,
      -0.10635317862750254,
      0.07523868105909037,
      0.07658675446726959
    ],
    "a_ego": [
      0.5122576156453629,
      0.5122576034570107,
      0.663052144941091,
      0.7071580802459828,
      0.854684359609653,
      0.5556727083066224,
      0.4292952684616122,
      0.633143014126664,
      1.2247808032889531,
      1.224780809143731
    ],
    "yaw": [
      -2.1120906246135185,
      -2.112749922863687,
      -2.1138861251643215,
      -2.1134327822202907,
      -2.1128773002304566,
      -2.1125153282435565,
      -2.1127563626758104,
      -2.112870850389836,
      -2.1120157770396846,
      -2.1109129887591855
    ],
    "yaw_diff": [
      -0.0013185965003366107,
      -0.0022724046012694288,
      0.0009066858880615314,
      0.0011109639796682558,
      0.0007239439738002673,
      -0.00048206886450774533,
      -0.0002289754280511147,
      0.0017101467003026727,
      0.002205576560998068,
      0.002205576560998068
    ],
    "min_front_frame": [
      9,
      10.564849294005732
    ],
    "v_avg": 3.2774425319487444,
    "v_std": 0.9860308286059575,
    "vy_max": 0.034101085751488736,
    "a_max": 1.224780809143731,
    "ax_avg": -0.7269077123026257,
    "a_std": 0.2711374158560092,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a55fa060a119508b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.142471745194552,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.289580575355213,
      17.602841220772607,
      16.251960803559765,
      15.126323421947985,
      14.180460325272954,
      13.545183366569159,
      12.8394819583868,
      12.039159786283122,
      11.26864810312531,
      10.564849294005732
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a55fa060a119508b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "94ec2c53ddbc5dae": {
    "vx_ego": [
      6.985428885683649,
      7.150333852691278,
      7.291973938362236,
      7.404862792852382,
      7.556280140547237,
      7.638846515169509,
      7.795106167232197,
      7.965370519034206,
      7.994642186073165,
      8.053719500706412
    ],
    "vy_ego": [
      0.013145128137511342,
      0.011294825242897488,
      0.0014378893558411043,
      -0.00762629065938758,
      -0.020316757884649483,
      0.014125226777272237,
      0.05069038108176516,
      0.04265524000270915,
      0.038416640303179594,
      0.027496236832379672
    ],
    "v_ego": [
      6.985441253874894,
      7.150342773463393,
      7.291974080129458,
      7.404866720021285,
      7.556307453583365,
      7.638859574854669,
      7.795270981380676,
      7.965484729443585,
      7.994734487248022,
      8.053766438077199
    ],
    "ax_ego": [
      0.32440606606610684,
      0.33383403928374017,
      0.23161858081706643,
      0.2196754793382506,
      0.38770337040133973,
      -0.05614357473616377,
      0.6776171794406735,
      -0.0003042531285738087,
      0.11336376523745169,
      0.12012255543531261
    ],
    "ay_ego": [
      0.3674595826536843,
      0.3589159701472865,
      0.32069199023828476,
      0.27148444960833,
      0.3188399721021204,
      0.42485319820975426,
      0.3220479306436276,
      0.3625253090485642,
      0.31982568109427983,
      0.31734898930391203
    ],
    "a_ego": [
      0.4901691958747582,
      0.4901691946779863,
      0.39558882641286025,
      0.3492293266631943,
      0.501968954449017,
      0.42854677809220776,
      0.750253231585827,
      0.3625254367223399,
      0.3393225744866263,
      0.33932257416288153
    ],
    "yaw": [
      -1.429507785681868,
      -1.4035502925574823,
      -1.3787021592775495,
      -1.3573274374138036,
      -1.3358428945426755,
      -1.3160499390760645,
      -1.296358105622936,
      -1.2738632683533078,
      -1.2519170259364838,
      -1.2307029465126456
    ],
    "yaw_diff": [
      0.051914986248771555,
      0.0496962665598657,
      0.04274944372749179,
      0.04296908574225622,
      0.039585910933221946,
      0.03938366690625683,
      0.04498967453925662,
      0.04389248483364794,
      0.04242815884767648,
      0.04242815884767648
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.583704849207654,
    "v_std": 0.3531322646309245,
    "vy_max": 0.05069038108176516,
    "a_max": 0.750253231585827,
    "ax_avg": 0.2351893208155204,
    "a_std": 0.11896484814483994,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "94ec2c53ddbc5dae",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.73260831192498,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "94ec2c53ddbc5dae",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "dd157f14e18f5a1a": {
    "vx_ego": [
      4.728541060677879,
      5.039099956994817,
      5.386814280019494,
      5.6692592240775195,
      5.902806275904699,
      6.111509890350335,
      6.265866851954024,
      6.243080309222249,
      6.045554674116581,
      5.815081666103148
    ],
    "vy_ego": [
      0.14425630444595905,
      0.11564540709295068,
      0.09265833446502403,
      0.0974785227928181,
      0.006375968166825063,
      0.022963536923164607,
      0.02901408069801087,
      0.03322074501575295,
      0.026392666070853638,
      -0.006103544597143712
    ],
    "v_ego": [
      4.730741003678925,
      5.040426791132559,
      5.387611126869475,
      5.670097196009422,
      5.902809719432769,
      6.111553032076052,
      6.265934026407793,
      6.243168695886567,
      6.045612284173967,
      5.815084869260775
    ],
    "ax_ego": [
      0.5484014973040149,
      0.7625530298707097,
      0.666655275922898,
      0.481762539294724,
      0.4525060682956967,
      0.38077558377263726,
      0.2378768173280036,
      -0.32794546893616455,
      -0.46113620945790473,
      -0.4605572375824732
    ],
    "ay_ego": [
      -1.518921668958677,
      -1.4235097910637389,
      -1.2188441167890178,
      -0.8539355848176295,
      -0.4425133570158247,
      -0.22457072825473728,
      -0.16397223096803945,
      -0.10548717742530968,
      -0.1204087670205638,
      -0.12260466161057376
    ],
    "a_ego": [
      1.614889234182177,
      1.6148892372603545,
      1.3892480836578598,
      0.9804596510237061,
      0.6329137484538034,
      0.4420656706715143,
      0.28891568450109534,
      0.3444935053044101,
      0.47659718300533105,
      0.47659718016186575
    ],
    "yaw": [
      0.50743048735032,
      0.3621257509435062,
      0.2402465706941891,
      0.14609871259160673,
      0.1058585198153664,
      0.07538302043816875,
      0.05875802085387966,
      0.047442847662694104,
      0.039384755553573195,
      0.034619844276367724
    ],
    "yaw_diff": [
      -0.2906094728136277,
      -0.2437583604986342,
      -0.18829571620516472,
      -0.08048038555248066,
      -0.0609509987543953,
      -0.03324999916857817,
      -0.022630346382371117,
      -0.01611618421824182,
      -0.009529822554410941,
      -0.009529822554410941
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.72130387449283,
    "v_std": 0.49264143836187635,
    "vy_max": 0.14425630444595905,
    "a_max": 1.6148892372603545,
    "ax_avg": 0.22808918958121419,
    "a_std": 0.5034837753984592,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "dd157f14e18f5a1a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 18.71690601205005,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dd157f14e18f5a1a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "df284ad97ad55a31": {
    "vx_ego": [
      5.219984334692224,
      4.961108880257906,
      4.70791180561743,
      4.479259551973264,
      4.3089467787003715,
      4.21683813667926,
      4.115806371031171,
      3.8557124175210236,
      3.4687519254132435,
      3.0662311083608023
    ],
    "vy_ego": [
      -0.00885639506923619,
      0.011448319498365223,
      0.007477656344256012,
      -0.006147041032377398,
      -0.0027186007691994973,
      -0.012074724601049969,
      -0.002788115858044282,
      0.005800894966648595,
      -0.0015593078668465488,
      0.004709123357813594
    ],
    "v_ego": [
      5.219991847710669,
      4.961122089385948,
      4.7079177440580215,
      4.4792637698685684,
      4.308947636310106,
      4.2168554243567336,
      4.115807315389147,
      3.8557167812234643,
      3.4687522758910165,
      3.066234724498813
    ],
    "ax_ego": [
      -0.5177252910040959,
      -0.5177605947536487,
      -0.49494607385844414,
      -0.4196738153780208,
      -0.26162479906198327,
      -0.10680664987382973,
      -0.29747498336660005,
      -0.7428333600478321,
      -0.8050354871558043,
      -0.8050414928102176
    ],
    "ay_ego": [
      0.013736399821459189,
      0.012334164422072968,
      -0.050926710374374906,
      -0.01799696252947061,
      0.0014150846550829987,
      -0.06229295527187742,
      0.07280989900519828,
      -0.05415022990099977,
      0.006763984803187573,
      0.006006151278027949
    ],
    "a_ego": [
      0.5179074875161883,
      0.5179074870009533,
      0.4975591882956679,
      0.42005952194210794,
      0.26162862601176534,
      0.12364494625246507,
      0.30625585238833586,
      0.7448044362101257,
      0.8050639024764437,
      0.8050638974635977
    ],
    "yaw": [
      1.106478537094452,
      1.103770173150583,
      1.1025951166314631,
      1.101808449775414,
      1.100077012665493,
      1.0986953026337818,
      1.0971064904797294,
      1.0961355240766402,
      1.094913086062789,
      1.0939717226864527
    ],
    "yaw_diff": [
      -0.005416727887738393,
      -0.0023501130382395097,
      -0.0015733337120984459,
      -0.003462874219841705,
      -0.0027634200634225614,
      -0.003177624308104754,
      -0.0019419328061784924,
      -0.0024448760277024917,
      -0.0018827267526724256,
      -0.0018827267526724256
    ],
    "min_front_frame": [
      3,
      18.232276945885108
    ],
    "v_avg": 4.240060960869249,
    "v_std": 0.6243020147322724,
    "vy_max": 0.012074724601049969,
    "a_max": 0.8050639024764437,
    "ax_avg": -0.4968922547310476,
    "a_std": 0.22115510484015308,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "df284ad97ad55a31",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.213272818683453,
    "right_rear_min": 29.12647820071631,
    "speed_mode": "decelerating",
    "front_frame": [
      18.685417174029322,
      18.46478948143283,
      18.30791433819191,
      18.232276945885108,
      18.29358763193843,
      18.39703943575216,
      18.442957376880454,
      18.62868047454816,
      19.15147568233166,
      19.900407325930367
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "df284ad97ad55a31",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "f2dd261c41755967": {
    "vx_ego": [
      8.573251877208904,
      8.38394340745542,
      8.24392285771032,
      8.174387092089686,
      8.214941260479966,
      8.347237828686456,
      8.462238512613101,
      8.438953912154062,
      8.318444082636292,
      8.217062632537452
    ],
    "vy_ego": [
      0.08171850278521697,
      0.0882311543350891,
      0.06514795624303726,
      -0.008381371292663253,
      -0.10386788649135248,
      -0.07929317436131411,
      0.018203376181462172,
      0.09716790882117854,
      0.1329669661984223,
      0.17376763530800554
    ],
    "v_ego": [
      8.573641330482834,
      8.384407659221402,
      8.244180270959712,
      8.174391388886834,
      8.215597875442807,
      8.347614436241917,
      8.462258091505884,
      8.439513299590505,
      8.319506726365859,
      8.218899774186559
    ],
    "ax_ego": [
      -0.3777024982529396,
      -0.3754878592028728,
      -0.1821217698513381,
      -0.09454302393381109,
      0.2563060593303969,
      0.27499075643193716,
      0.18625195768069083,
      -0.2820501921074071,
      -0.20512061770263465,
      -0.20405032843666893
    ],
    "ay_ego": [
      -0.18515675783732424,
      -0.18960767387121447,
      -0.1760409238643203,
      -0.3561736369812315,
      -0.06577884217027621,
      0.29223928529838494,
      0.3628218196452141,
      0.295318817028434,
      0.1793403479660975,
      0.18055717365989576
    ],
    "a_ego": [
      0.420644983518574,
      0.4206449838041686,
      0.25329576768826434,
      0.36850786023501214,
      0.264612267528811,
      0.4012776046513434,
      0.4078350948000357,
      0.4083693359679433,
      0.2724654624265456,
      0.2724654647751935
    ],
    "yaw": [
      -0.5935030287630144,
      -0.6053217120623194,
      -0.6135642356117978,
      -0.6208248530138388,
      -0.6220519216843071,
      -0.6181817304768225,
      -0.6103074765924501,
      -0.6002512348508118,
      -0.5903499038410049,
      -0.5844021743621339
    ],
    "yaw_diff": [
      -0.023637366598610043,
      -0.016485047098956818,
      -0.014521234804081962,
      -0.0024541373409365796,
      0.007740382414969327,
      0.0157485077687447,
      0.020112483483276655,
      0.01980266201961367,
      0.011895458957742022,
      0.011895458957742022
    ],
    "min_front_frame": [
      9,
      29.866932407498133
    ],
    "v_avg": 8.33800108528843,
    "v_std": 0.12190038243551359,
    "vy_max": 0.17376763530800554,
    "a_max": 0.4206449838041686,
    "ax_avg": -0.10035275160446473,
    "a_std": 0.06954240213411582,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "f2dd261c41755967",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.02606075457553,
    "right_rear_min": 15.761193153734537,
    "speed_mode": "quasi_constant",
    "front_frame": [
      42.53426822390261,
      42.64812447554751,
      41.30475906268272,
      39.87260036429647,
      38.32643225819253,
      36.72701583560704,
      34.98999848583334,
      33.17512081198368,
      31.523737641744702,
      29.866932407498133
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "f2dd261c41755967",
    "pedestrians": "No"
  },
  "b3f47592bf415aa3": {
    "vx_ego": [
      6.475083450961578,
      5.493788859300969,
      4.4423653085323025,
      3.3299255240803913,
      2.3842796699572726,
      1.8730443632404468,
      1.850830341103811,
      2.213116684204595,
      2.7565191770388138,
      3.3079583098064873
    ],
    "vy_ego": [
      -0.01323872119043834,
      -0.06634259304766082,
      -0.07579300861331306,
      -0.046201533322863225,
      -0.041270411032613016,
      -0.03887016796374006,
      -0.02120142143780511,
      -0.000912675302650337,
      -0.0007225988051194066,
      0.10334736948852458
    ],
    "v_ego": [
      6.475096984652451,
      5.494189418852588,
      4.443011829221925,
      3.3302460235849622,
      2.384636825891599,
      1.8734476444844517,
      1.8509517691775312,
      2.213116872395344,
      2.756519271750476,
      3.3095723074436654
    ],
    "ax_ego": [
      -1.962663267863387,
      -1.9626017079955616,
      -2.2435769979828337,
      -2.2068028339252197,
      -1.575829182628858,
      -0.46902074457240345,
      0.3801941500446515,
      1.0689122996735048,
      1.1052190936229542,
      1.1090551364205745
    ],
    "ay_ego": [
      -0.11220703354281973,
      -0.113278648116233,
      0.04893950567952721,
      0.02817310931581614,
      -0.011935565238473375,
      0.02559610919485655,
      0.04666397209060216,
      0.025484473231534254,
      -0.10692345947525522,
      -0.05420867424709522
    ],
    "a_ego": [
      1.9658681342848683,
      1.9658681330003132,
      2.244110697156854,
      2.2069826623489592,
      1.575874382856164,
      0.4697186600989647,
      0.38304714855934835,
      1.0692160505572246,
      1.1103791564573342,
      1.1103791586590983
    ],
    "yaw": [
      3.094798196953887,
      3.094252188335111,
      3.092926162212687,
      3.0902691505850663,
      3.0899553747863813,
      3.090465289782088,
      3.090690984873829,
      3.0895338570685835,
      3.081248618494631,
      3.033644001279991
    ],
    "yaw_diff": [
      -0.0010920172375517012,
      -0.00265205224484788,
      -0.005314023255241551,
      -0.0006275515973701573,
      0.001019829991413701,
      0.0004513901834819478,
      -0.002314255610491145,
      -0.01657047714790494,
      -0.09520923442928009,
      -0.09520923442928009
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4130788947454995,
    "v_std": 1.5008227933363638,
    "vy_max": 0.10334736948852458,
    "a_max": 2.244110697156854,
    "ax_avg": -0.6757114055206579,
    "a_std": 0.6489110140391465,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "b3f47592bf415aa3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "b3f47592bf415aa3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b5be2c625dcf54e2": {
    "vx_ego": [
      5.0640289512275025,
      4.8301190910915315,
      4.562852649236216,
      4.248609704972697,
      3.823599392272854,
      3.2414932568303163,
      2.557452346484694,
      1.8406078441459295,
      1.261585949366701,
      0.8099433851205438
    ],
    "vy_ego": [
      -0.09772132198400296,
      -0.037603870999044275,
      -0.013132509780044987,
      -0.025100842256070788,
      0.015939321407033802,
      0.058950746291152045,
      0.0014159075832491652,
      -0.0032157296706553096,
      0.07939478965795999,
      0.14059622877834815
    ],
    "v_ego": [
      5.064971734930079,
      4.830265467367296,
      4.5628715477706665,
      4.248683852379481,
      3.8236326150084365,
      3.2420292602881755,
      2.5574527384361088,
      1.8406106532476771,
      1.2640817379680445,
      0.8220557077517431
    ],
    "ax_ego": [
      -0.46757665027904105,
      -0.4668188667049445,
      -0.6022532837008665,
      -0.6548994733891156,
      -1.045422187330463,
      -1.2825493784072626,
      -1.4538502475242896,
      -1.4130316871484645,
      -0.9033782097156942,
      -0.9033375041746265
    ],
    "ay_ego": [
      0.1644592611133571,
      0.166598044170722,
      -0.057102080250060167,
      -0.025365554300438742,
      0.14532977041160994,
      -0.002159127975928543,
      -0.21586514738935536,
      0.21711834972395283,
      0.12293855742393323,
      0.12323729371340014
    ],
    "a_ego": [
      0.4956559012582419,
      0.49565589135326393,
      0.6049542671122841,
      0.6553905183860302,
      1.055475386700562,
      1.2825511958149944,
      1.4697885235923793,
      1.4296149574876758,
      0.9117050393030689,
      0.9117050383815186
    ],
    "yaw": [
      -0.5917753164994844,
      -0.5871974034933203,
      -0.5865815796454884,
      -0.5885416791351239,
      -0.5912465304062557,
      -0.5932730268273376,
      -0.5922360901140178,
      -0.5899821696559069,
      -0.588366111998575,
      -0.5880354162017095
    ],
    "yaw_diff": [
      0.009155826012328339,
      0.0012316476956637512,
      -0.0039201989792709835,
      -0.005409702542263695,
      -0.004052992842163761,
      0.002073873426639672,
      0.004507840916221806,
      0.0032321153146637194,
      0.00066139159373102,
      0.00066139159373102
    ],
    "min_front_frame": [
      6,
      14.775321332239518
    ],
    "v_avg": 3.22566553151477,
    "v_std": 1.4539719254510324,
    "vy_max": 0.14059622877834815,
    "a_max": 1.4697885235923793,
    "ax_avg": -0.9193117488374767,
    "a_std": 0.352143673148104,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b5be2c625dcf54e2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 35.41556923906576,
    "right_rear_min": 17.83475848012554,
    "speed_mode": "decelerating",
    "front_frame": [
      18.0550229577985,
      64.37378446888552,
      62.02276738857018,
      59.82471536991039,
      57.79885811345563,
      16.197561511257707,
      14.775321332239518,
      53.64160255289751,
      52.86610882484221,
      52.39031643761368
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b5be2c625dcf54e2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "639ed89313465584": {
    "vx_ego": [
      12.206764635705294,
      12.102883550757745,
      11.949178015740308,
      11.771802320289027,
      11.685821144527221,
      11.650274996403013,
      11.637410950239987,
      11.693754258158235,
      11.736433777574097,
      11.733866182395245
    ],
    "vy_ego": [
      -0.019234976308103224,
      -0.037426564229514625,
      -0.03037134201765701,
      -0.0034271187779730816,
      -0.01324862568139018,
      -0.0006247029744907984,
      0.015042399807723594,
      -0.012170496056032487,
      -0.00014237019580765065,
      0.03376333709721324
    ],
    "v_ego": [
      12.20677979058437,
      12.102941418965575,
      11.949216613245717,
      11.771802819156683,
      11.685828654740833,
      11.650275013151708,
      11.637420672062927,
      11.693760591493572,
      11.736433778437618,
      11.733914758054564
    ],
    "ax_ego": [
      -0.2079490508073254,
      -0.20779111855254842,
      -0.40759230972002924,
      -0.30233917191041926,
      -0.04171540796120799,
      -0.1009248235599239,
      0.049761159607749336,
      0.17561051182619844,
      -0.005097171731425468,
      -0.005130680824141894
    ],
    "ay_ego": [
      -0.08256917356934393,
      -0.08296580716266713,
      -0.11675909932846261,
      -0.14070040335513095,
      -0.16110576166454596,
      0.05476739236720228,
      -0.11284852213615088,
      -0.09995387663501232,
      0.052971082913417025,
      0.052967853384258384
    ],
    "a_ego": [
      0.22374198567902281,
      0.22374198110205448,
      0.423986058991215,
      0.333475004124409,
      0.16641887423872181,
      0.11482720617216487,
      0.12333272864013525,
      0.20206392384150776,
      0.05321575692104495,
      0.053215762494354155
    ],
    "yaw": [
      -1.246023586413342,
      -1.2479316506812015,
      -1.2526604128860734,
      -1.260367518007809,
      -1.2659787140169008,
      -1.2693369125593414,
      -1.271933673675002,
      -1.2741644052812333,
      -1.2761898319423546,
      -1.276822203095578
    ],
    "yaw_diff": [
      -0.003816128535718999,
      -0.0094575244097439,
      -0.015414210243471338,
      -0.011222392018183314,
      -0.006716397084881365,
      -0.005193522231321079,
      -0.004461463212462657,
      -0.004050853322242531,
      -0.0012647423064469088,
      -0.0012647423064469088
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.816837410989358,
    "v_std": 0.18948573487851472,
    "vy_max": 0.037426564229514625,
    "a_max": 0.423986058991215,
    "ax_avg": -0.10531680636330736,
    "a_std": 0.11215884476118494,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "639ed89313465584",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "639ed89313465584",
    "road_shape": "Straight"
  },
  "fda9b858e7e4588f": {
    "vx_ego": [
      3.555286520807688,
      3.5267334097753533,
      3.5302060019043715,
      3.5612807536797364,
      3.616861843745,
      3.673531219587781,
      3.7160033240936663,
      3.802390816903433,
      3.9065323438883546,
      4.002527583956068
    ],
    "vy_ego": [
      -0.04387375667627458,
      0.00543931106129758,
      0.030496307909643416,
      0.026416720776109903,
      0.02745870019510721,
      0.013349815390687692,
      -0.017868530532530347,
      -0.022836795194604687,
      -0.003126845662124067,
      0.03024353106896771
    ],
    "v_ego": [
      3.5555572209657553,
      3.5267376043208136,
      3.5303377233173836,
      3.561378728760292,
      3.616966073514498,
      3.673555476491005,
      3.716046284568933,
      3.802459394087768,
      3.9065335952746696,
      4.002641844020111
    ],
    "ax_ego": [
      -0.0669016896733991,
      -0.04330288423734349,
      0.05085621792066766,
      0.06733996641236074,
      0.15081265579166653,
      0.06918787287960469,
      0.1031735342996348,
      0.24858404096698603,
      0.174091926221928,
      0.20630770763894066
    ],
    "ay_ego": [
      0.45950880475746464,
      0.46233001087144326,
      0.35874778775351507,
      0.3466899622794395,
      0.401713751959786,
      0.311130748608773,
      0.3822821095880722,
      0.4400505382925674,
      0.5446736228422383,
      0.5333052430610161
    ],
    "a_ego": [
      0.4643535051346006,
      0.46435350621661253,
      0.3623345555135965,
      0.35316936591632214,
      0.4290901952510033,
      0.31873077115876314,
      0.3959600857295906,
      0.5054092417784369,
      0.5718193370250346,
      0.5718193355489163
    ],
    "yaw": [
      -1.0978301794090686,
      -1.0466419360674557,
      -0.9954083808184587,
      -0.944500875211463,
      -0.8925210162864725,
      -0.8399205653871087,
      -0.7845031016522201,
      -0.7282361385377703,
      -0.6696389374431461,
      -0.6098860205549123
    ],
    "yaw_diff": [
      0.10237648668322574,
      0.10246711049799395,
      0.1018150112139915,
      0.10395971784998093,
      0.10520090179872765,
      0.11083492746977708,
      0.1125339262288998,
      0.11719440218924837,
      0.11950583377646762,
      0.11950583377646762
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.6892213945321224,
    "v_std": 0.15821520279923737,
    "vy_max": 0.04387375667627458,
    "a_max": 0.5718193370250346,
    "ax_avg": 0.09601493482210466,
    "a_std": 0.08391440808757177,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "fda9b858e7e4588f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "fda9b858e7e4588f",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "772a0e9ce5825b3a": {
    "vx_ego": [
      9.573663098966755,
      9.192472090094244,
      8.855198797342437,
      8.522654913930316,
      8.16875386404043,
      7.839534137156435,
      7.503949540388744,
      7.118166137766778,
      6.669918009168095,
      6.196173372100416
    ],
    "vy_ego": [
      -0.001830725384109666,
      0.00470417440218629,
      0.003758217145611642,
      -0.023555906366178103,
      -0.0205452524702725,
      -0.0031281807687801866,
      -0.0025493709615869165,
      -0.02044042312634886,
      -0.022804328942481522,
      -0.02918318857011748
    ],
    "v_ego": [
      9.573663274007142,
      9.192473293756063,
      8.855199594851099,
      8.522687467147044,
      8.168779700706496,
      7.839534761269702,
      7.503949973446834,
      7.118195485918267,
      6.6699569928481095,
      6.196242096272656
    ],
    "ax_ego": [
      -0.7624429802867719,
      -0.7622992644648057,
      -0.5865133586811653,
      -0.7438374658587504,
      -0.6724373251706873,
      -0.6446137345619988,
      -0.6975628868776125,
      -0.8458274061540958,
      -0.9476726109528426,
      -0.9475614358653328
    ],
    "ay_ego": [
      -0.044610403897458906,
      -0.04700224016475024,
      -0.12987083771032099,
      -0.12544088132621903,
      -0.022792523183141428,
      -0.012406939929746896,
      -0.1129447146394173,
      -0.09234759694979433,
      -0.04355764264972206,
      -0.04591286983383669
    ],
    "a_ego": [
      0.7637469386678216,
      0.7637469339932492,
      0.6007198634963237,
      0.7543405002537423,
      0.6728234949790046,
      0.6447331222640786,
      0.706647358810608,
      0.8508537357641249,
      0.9486730974278645,
      0.9486731082704675
    ],
    "yaw": [
      -2.002641451840018,
      -2.005778815276602,
      -2.0105858461811184,
      -2.014778688382434,
      -2.0195849723031776,
      -2.0228618138081873,
      -2.0270185186200833,
      -2.0315797511780667,
      -2.036156758600049,
      -2.0386421745615015
    ],
    "yaw_diff": [
      -0.006274726873168213,
      -0.00961406180903257,
      -0.0083856844026311,
      -0.00961256784148734,
      -0.006553683010019462,
      -0.008313409623792012,
      -0.009122465115966705,
      -0.00915401484396483,
      -0.004970831922904928,
      -0.004970831922904928
    ],
    "min_front_frame": [
      5,
      16.582556773150962
    ],
    "v_avg": 7.964068264022342,
    "v_std": 1.0483560359612987,
    "vy_max": 0.02918318857011748,
    "a_max": 0.9486731082704675,
    "ax_avg": -0.7610768468874063,
    "a_std": 0.11327418604860387,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "772a0e9ce5825b3a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.31357938451111,
    "right_rear_min": 34.574368073804855,
    "speed_mode": "decelerating",
    "front_frame": [
      25.12586371278898,
      24.558579780999427,
      24.096994942399206,
      23.50389266558575,
      23.059201076085422,
      16.582556773150962,
      21.783559123363858,
      21.048268668101567,
      20.43062696814043,
      19.770916388819323
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      0,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "772a0e9ce5825b3a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1f13bc7f674b5ebe": {
    "vx_ego": [
      0.5084288745343726,
      0.3541804559279848,
      0.2118882561189045,
      0.07908087557737005,
      -0.0020511402300901127,
      -0.011552603620201926,
      -0.005962376880665652,
      -0.0035999580244755356,
      -0.002377617556201126,
      -0.0014273019421102726
    ],
    "vy_ego": [
      0.017506868570721118,
      0.012529530908814396,
      -0.00815316964707799,
      -0.0015363444077023877,
      0.01446098280718422,
      0.0043378422202285175,
      0.0021473562046217054,
      0.0010897793684625688,
      0.0006558991535589879,
      0.0003457413848407307
    ],
    "v_ego": [
      0.5087301946095212,
      0.35440200973774133,
      0.2120450594953924,
      0.07909579784174732,
      0.014605724904747854,
      0.0123401590562318,
      0.0063372767602988276,
      0.003761291912350393,
      0.0024664283778766433,
      0.0014685802460687471
    ],
    "ax_ego": [
      -0.30848645591886464,
      -0.3084821538451474,
      -0.26067181325156585,
      -0.2706268548284359,
      -0.05390847492506835,
      0.015900608463233594,
      0.006461290844677371,
      0.002988486468268323,
      0.0019006687175573674,
      0.0019007263096802447
    ],
    "ay_ego": [
      -0.01025006947388099,
      -0.010378705989782189,
      -0.07276384511618668,
      0.09884537285482131,
      -0.034852495316290685,
      -0.005645480649243282,
      -0.0031138640670392024,
      -0.001116083956020781,
      -0.0006201262193595992,
      -0.0006199795987631427
    ],
    "a_ego": [
      0.3086566983067126,
      0.3086566972851286,
      0.2706369734163306,
      0.28811334972392366,
      0.06419361415685199,
      0.016873079187333773,
      0.007172477173718264,
      0.0031900932224481885,
      0.0019992743938335223,
      0.0019992836735173896
    ],
    "yaw": [
      0.8656581999246473,
      0.8652411982410388,
      0.8648696664421673,
      0.8642123914394209,
      0.8642906582142739,
      0.8643776918904769,
      0.8642916209760532,
      0.8642703698619587,
      0.8643298208087018,
      0.8642594178775261
    ],
    "yaw_diff": [
      -0.0008340033672169511,
      -0.00074306359774301,
      -0.0013145500054929649,
      0.00015653354970601718,
      0.00017406735240599325,
      -0.00017214182884739415,
      -4.250222818891203e-05,
      0.00011890189348617852,
      -0.00014080586235132309,
      -0.00014080586235132309
    ],
    "min_front_frame": [
      9,
      8.23237218468616
    ],
    "v_avg": 0.11952525229419764,
    "v_std": 0.1712284274477511,
    "vy_max": 0.017506868570721118,
    "a_max": 0.3086566983067126,
    "ax_avg": -0.11730239719656652,
    "a_std": 0.1376944626148395,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1f13bc7f674b5ebe",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 28.314112998468417,
    "right_rear_min": 16.302864546865035,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.783096282300713,
      8.527425685930886,
      8.410049827420698,
      8.328187403770887,
      8.281687833711798,
      8.244745868248664,
      8.244280663143234,
      8.23498212270249,
      8.247967167964813,
      8.23237218468616
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1f13bc7f674b5ebe",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b7bcc88d87ba59ae": {
    "vx_ego": [
      1.7396546555996557,
      1.3703278895604618,
      1.0289931261057297,
      0.7331697611016934,
      0.5773153656403116,
      0.5912785906391866,
      0.6570152574037322,
      0.6764616891750441,
      0.545529508236399,
      0.31496464022972015
    ],
    "vy_ego": [
      -0.010622700939015295,
      -0.01657131405421397,
      -0.009800050209296196,
      0.016052273879819556,
      0.013439686408258683,
      -0.00895042223414827,
      -0.006778161153782658,
      -0.0011252950605993295,
      -0.02241662941127448,
      -0.0650369534822376
    ],
    "v_ego": [
      1.739687087531777,
      1.3704280839784015,
      1.029039792504132,
      0.7333454670826206,
      0.5774717798950517,
      0.5913463298325545,
      0.657050220249502,
      0.6764626251394288,
      0.5459898805205182,
      0.3216092814476718
    ],
    "ax_ego": [
      -0.7386480496589214,
      -0.7386499289321724,
      -0.6266195783647888,
      -0.5566754240500157,
      -0.06669116179807728,
      0.12253609159880766,
      0.14033703310011866,
      -0.06255942313339848,
      -0.4611813010233846,
      -0.4611474111640908
    ],
    "ay_ego": [
      -0.011440767680974628,
      -0.011317735408540253,
      0.042541948735118185,
      0.06360622620327006,
      -0.07500082782552783,
      -0.01541973876380244,
      0.020402337717710918,
      -0.004495929854177641,
      -0.08549011300451018,
      -0.08567274992772395
    ],
    "a_ego": [
      0.7387366461940672,
      0.7387366300964648,
      0.6280620298921493,
      0.560297492188825,
      0.10036351546499253,
      0.12350247806362143,
      0.14181233459643533,
      0.06272076855426181,
      0.46903811341419327,
      0.4690381166851169
    ],
    "yaw": [
      -2.1092231729352315,
      -2.1090566220699825,
      -2.1081838669346533,
      -2.1073989430892417,
      -2.10779636124849,
      -2.108179910256241,
      -2.1096698281963295,
      -2.1120918247205758,
      -2.113915575892087,
      -2.1143116088669442
    ],
    "yaw_diff": [
      0.00033310173049816427,
      0.0017455102706582792,
      0.001569847690823245,
      -0.0007948363184961948,
      -0.0007670980155021212,
      -0.0029798358801773617,
      -0.004843993048492479,
      -0.0036475023430222464,
      -0.0007920659497147042,
      -0.0007920659497147042
    ],
    "min_front_frame": [
      8,
      9.57193504603343
    ],
    "v_avg": 0.8242430548181657,
    "v_std": 0.4100676680055866,
    "vy_max": 0.0650369534822376,
    "a_max": 0.7387366461940672,
    "ax_avg": -0.3449299153425923,
    "a_std": 0.2575406355745132,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b7bcc88d87ba59ae",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.104272920900081,
    "right_rear_min": 46.72126126605208,
    "speed_mode": "decelerating",
    "front_frame": [
      11.159694156767243,
      10.510923464450897,
      10.125561643159793,
      9.928671593913483,
      9.86675618138304,
      9.859127961197899,
      9.830971107416879,
      9.682480025535972,
      9.57193504603343,
      9.608096656200106
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b7bcc88d87ba59ae",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "667afe1f010351c5": {
    "vx_ego": [
      4.537928364070606,
      4.4258329643323115,
      4.340205754675147,
      4.272632284519492,
      4.217941376068666,
      4.136016340791613,
      3.9942464990250013,
      3.762449522859386,
      3.4230913950774946,
      3.032684462980053
    ],
    "vy_ego": [
      -0.03153373230978085,
      -0.08842899025164819,
      -0.06935053373374434,
      -0.05752559810855784,
      -0.008315939779580006,
      0.01511632755533876,
      0.007781259587266387,
      -0.022977331162411962,
      -0.03334705170968366,
      0.015355861144062288
    ],
    "v_ego": [
      4.53803792554777,
      4.4267162902638635,
      4.340759782508636,
      4.273019521738228,
      4.217949573762878,
      4.136043964303814,
      3.99425407841993,
      3.762519683644481,
      3.4232538212804666,
      3.0327233395864
    ],
    "ax_ego": [
      -0.27251279139060264,
      -0.14383434433899323,
      -0.17316279692287778,
      -0.09311495506889189,
      -0.12441115208959032,
      -0.2050150373096755,
      -0.36316273503421487,
      -0.5640822397423744,
      -0.7933262949031609,
      -0.7689150678818761
    ],
    "ay_ego": [
      1.0034949934577273,
      1.0298432338510728,
      0.8855436184683085,
      0.48255187192240756,
      0.29200411148276617,
      0.15601940448265555,
      -0.07361754065816845,
      -0.09678040286129519,
      -0.3239102130211281,
      -0.3782248814672976
    ],
    "a_ego": [
      1.0398391334077701,
      1.0398391245381486,
      0.9023152744180379,
      0.49145366409591595,
      0.31740279754138734,
      0.257630006206983,
      0.3705492064626349,
      0.5723244006424749,
      0.8569039831183943,
      0.8569039867900846
    ],
    "yaw": [
      0.49015255691375614,
      0.6165526614188637,
      0.7212668189500573,
      0.7980835846198369,
      0.8320700942159126,
      0.8532234646239982,
      0.8600621700570459,
      0.8570287392443755,
      0.8308518906219888,
      0.761345606208019
    ],
    "yaw_diff": [
      0.25280020901021505,
      0.20942831506238724,
      0.15363353133955915,
      0.06797301919215148,
      0.04230674081617125,
      0.013677410866095308,
      -0.006066861625340758,
      -0.052353697244773345,
      -0.13901256882793955,
      -0.13901256882793955
    ],
    "min_front_frame": [
      2,
      14.27052062382624
    ],
    "v_avg": 4.014527798105647,
    "v_std": 0.4528595926772812,
    "vy_max": 0.08842899025164819,
    "a_max": 1.0398391334077701,
    "ax_avg": -0.35015374146822575,
    "a_std": 0.2868553255300948,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "667afe1f010351c5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      14.27052062382624,
      34.30972619931065,
      32.276223711618535,
      30.103736606811015,
      28.13949890968145,
      26.129667787635107,
      24.331018508778207,
      22.764802118187742
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.125,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.875,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "667afe1f010351c5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "722ed88251d25420": {
    "vx_ego": [
      3.8771690199201414,
      3.9001732734367835,
      4.0082573325058135,
      4.2287245365165145,
      4.435366102950297,
      4.534719789742574,
      4.518787173672479,
      4.431167290313674,
      4.37048043202829,
      4.379317938824897
    ],
    "vy_ego": [
      0.019555488559878986,
      0.027100990053012364,
      -0.001994149852313498,
      0.016597710475894534,
      0.0016684150021588628,
      -0.014492419280533575,
      -0.033791998607245244,
      -0.035763967778355,
      -0.006943318450958191,
      0.028582014656324706
    ],
    "v_ego": [
      3.877218336147879,
      3.9002674301248175,
      4.008257828560963,
      4.228757109332464,
      4.435366416747225,
      4.534742947698308,
      4.518913522088775,
      4.43131161352224,
      4.370485947399134,
      4.379411209383672
    ],
    "ax_ego": [
      0.017418672343724517,
      0.06709310640294813,
      0.36755763408363074,
      0.5100692231652018,
      0.3022500981518452,
      0.09162131307496593,
      -0.15452321376196687,
      -0.18956950270731504,
      -0.048275704179943535,
      0.08906623434343791
    ],
    "ay_ego": [
      0.6303229277684603,
      0.6269839885826861,
      0.7751683152190518,
      0.7367813714593535,
      0.39187112974693156,
      0.11797055783083048,
      -0.31904075079317923,
      -0.8027345003211006,
      -1.060447958039464,
      -1.0578032052370112
    ],
    "a_ego": [
      0.6305635601720272,
      0.6305635629069056,
      0.857895408131259,
      0.89611238232148,
      0.4948920126269331,
      0.1493704037769807,
      0.35449178306133133,
      0.8248146909230375,
      1.0615462379586385,
      1.0615462378576896
    ],
    "yaw": [
      -2.5533771605302604,
      -2.4744010453077774,
      -2.3775489628329796,
      -2.2899620172373347,
      -2.221817020799209,
      -2.1899843230898126,
      -2.1967792116476863,
      -2.2589270034268383,
      -2.3716521055224042,
      -2.5011456883679517
    ],
    "yaw_diff": [
      0.1579522304449661,
      0.19370416494959564,
      0.17517389119128968,
      0.1362899928762511,
      0.06366539541879312,
      -0.013589777115747381,
      -0.12429558355830395,
      -0.22545020419113193,
      -0.2589871656910949,
      -0.2589871656910949
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.268473236100547,
    "v_std": 0.23846356861965942,
    "vy_max": 0.035763967778355,
    "a_max": 1.0615462379586385,
    "ax_avg": 0.10527078609165286,
    "a_std": 0.285400797127673,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "722ed88251d25420",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "722ed88251d25420",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "f6ce545dcc975501": {
    "vx_ego": [
      1.517679479299038,
      0.9137434496572794,
      0.3554558250500316,
      0.03171727114374956,
      -0.03335206208196469,
      -0.024050829638958146,
      -0.013514497757489164,
      -0.008194274618129695,
      -0.005443221261336138,
      -0.0034195528070172917
    ],
    "vy_ego": [
      0.0029118235896460343,
      -0.009266327659482432,
      0.0035780752955139883,
      0.012459980838801224,
      0.0023973925751396025,
      0.0019216865701302734,
      0.0013169977616708482,
      0.0008831179915264652,
      0.0006518992926774006,
      0.0004939974162812366
    ],
    "v_ego": [
      1.5176822726124255,
      0.913790433644322,
      0.35547383333350857,
      0.034076919040744016,
      0.03343811502280834,
      0.024127479884894873,
      0.01357851732485641,
      0.00824172517767259,
      0.005482119151172754,
      0.003455050628756745
    ],
    "ax_ego": [
      -1.2078728645600543,
      -1.2078717909670336,
      -1.0252956298141371,
      -0.26966145240943495,
      0.009383065545202032,
      0.027821671576879134,
      0.014323771232305348,
      0.00695701350151757,
      0.004047326594975715,
      0.004047316624209034
    ],
    "ay_ego": [
      -0.02443564853017277,
      -0.024488103963409058,
      0.07518890615780621,
      -0.03964856729600581,
      -0.0006167030138285162,
      -0.0012889014753671851,
      -0.001128655505666992,
      -0.0006079309918019735,
      -0.00031588139326166787,
      -0.0003159195059767063
    ],
    "a_ego": [
      1.2081200097091354,
      1.2081199984478495,
      1.028048880221741,
      0.2725606497721046,
      0.009403310142328748,
      0.027851511203971103,
      0.014368169179331466,
      0.006983524679636429,
      0.004059634665952916,
      0.004059627691162747
    ],
    "yaw": [
      -0.7797975734311169,
      -0.7798409906066939,
      -0.7801175612758595,
      -0.7800854711194111,
      -0.779981095646305,
      -0.7799587641645224,
      -0.7799763653255314,
      -0.7799496317574617,
      -0.779991081543062,
      -0.7799798521607664
    ],
    "yaw_diff": [
      -8.683435115397486e-05,
      -0.0005531413383312866,
      6.418031289689985e-05,
      0.00020875094621208845,
      4.466296356531174e-05,
      -3.5202322018035304e-05,
      5.346713613940679e-05,
      -8.289957120055647e-05,
      2.2458764591171132e-05,
      2.2458764591171132e-05
    ],
    "min_front_frame": [
      3,
      9.312760846501208
    ],
    "v_avg": 0.2909346465821162,
    "v_std": 0.4920833435499693,
    "vy_max": 0.012459980838801224,
    "a_max": 1.2081200097091354,
    "ax_avg": -0.3644121572675571,
    "a_std": 0.5118485892822479,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f6ce545dcc975501",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.635706897953478,
    "right_rear_min": 8.119543519789064,
    "speed_mode": "decelerating",
    "front_frame": [
      10.208167804504948,
      9.637232799852587,
      9.332536357280592,
      9.312760846501208,
      9.338558328527162,
      9.331042054352425,
      9.344638125656154,
      9.36038990592386,
      9.445899629687116,
      9.422813289350131
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f6ce545dcc975501",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6e6d55e69a6a5d18": {
    "vx_ego": [
      1.4638411106280111,
      0.992795092693264,
      0.5849690820183177,
      0.2933129260471099,
      0.09006894735414603,
      -0.007746811521517785,
      -0.017346860271094066,
      -0.010093412187008929,
      -0.005685911881589625,
      -0.0027256930010768465
    ],
    "vy_ego": [
      -0.017803645092916875,
      0.000581627725961209,
      -0.004435101333044478,
      -0.004178081153495633,
      0.02537694915759936,
      0.021689605795242473,
      0.0032492722939647277,
      0.002306677135425445,
      0.001231042074860452,
      0.0005300246098567456
    ],
    "v_ego": [
      1.4639493730806552,
      0.9927952630661764,
      0.584985894736948,
      0.2933426817707279,
      0.09357566364194972,
      0.023031545504002472,
      0.01764855041370788,
      0.010353633612599729,
      0.005817650600996832,
      0.0027767478141115195
    ],
    "ax_ego": [
      -0.9420926940728196,
      -0.9420769365236822,
      -0.6892146150633378,
      -0.4774064880155552,
      -0.3355695616348241,
      -0.05570242500383027,
      0.017303343481328646,
      0.011709614326835063,
      0.005920445354052343,
      0.005920453629905854
    ],
    "ay_ego": [
      0.03759820909557321,
      0.03799089897791347,
      -0.05898570703477024,
      0.06008958203665582,
      0.058132650883199605,
      -0.07288063044647178,
      -0.0008736990587750902,
      -0.0029002293743029097,
      -0.0014020084600725531,
      -0.001401976627376365
    ],
    "a_ego": [
      0.9428426536557294,
      0.9428426500402896,
      0.6917341246832461,
      0.481173266785143,
      0.34056766698337054,
      0.09172974678686585,
      0.01732538731682911,
      0.01206343226891876,
      0.006084184490335166,
      0.006084185208191399
    ],
    "yaw": [
      2.5629783645419826,
      2.5633951985264947,
      2.5630888703842567,
      2.5631347825607653,
      2.563137804655124,
      2.563193852974099,
      2.5631131923499524,
      2.5631815378190925,
      2.563171406813858,
      2.563165872671397
    ],
    "yaw_diff": [
      0.0008336679690241766,
      -0.000612656284475932,
      9.182435301724468e-05,
      6.044188717524435e-06,
      0.00011209663794975455,
      -0.00016132124829315586,
      0.00013669093828028167,
      -2.0262010469451752e-05,
      -1.1068284921478266e-05,
      -1.1068284921478266e-05
    ],
    "min_front_frame": [
      4,
      10.438806667636657
    ],
    "v_avg": 0.3488277004241876,
    "v_std": 0.4847667545149117,
    "vy_max": 0.02537694915759936,
    "a_max": 0.9428426536557294,
    "ax_avg": -0.34012088635219273,
    "a_std": 0.3694631734060333,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6e6d55e69a6a5d18",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.84406565431421,
      11.203390800866226,
      10.792524790827121,
      10.563547688696035,
      10.438806667636657,
      10.47563753720144,
      10.484122762238314,
      10.495089087519727,
      10.536123715024885,
      10.521742459927916
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6e6d55e69a6a5d18",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c4f21fef5b86535b": {
    "vx_ego": [
      4.962042295526898,
      4.845022682384572,
      4.745635830088213,
      4.681511789743083,
      4.604340859072156,
      4.516983452658862,
      4.402858959067786,
      4.270314618693232,
      4.233810398166924,
      4.264424977358321
    ],
    "vy_ego": [
      0.031809810659318094,
      0.021821378615593856,
      -0.006490481822336136,
      -0.019591737185259417,
      -0.006970594724075019,
      0.005087360223492432,
      -0.009209187592976287,
      -0.016254885184763257,
      -0.009886009934894746,
      -0.004268342532549596
    ],
    "v_ego": [
      4.962144254921659,
      4.845071822520867,
      4.745640268517129,
      4.681552784458317,
      4.604346135523711,
      4.5169863175382785,
      4.40286859020112,
      4.270345555563097,
      4.233821940140941,
      4.26442711348963
    ],
    "ax_ego": [
      -0.23441409888588563,
      -0.23209711277415082,
      -0.16472546770088042,
      -0.09322223393878667,
      -0.21590848504810964,
      -0.13352889629956313,
      -0.32275146183748143,
      -0.20590741597269968,
      0.06047875795485851,
      0.062378215076643206
    ],
    "ay_ego": [
      -0.15937779663686064,
      -0.1627334589877643,
      -0.20885537325489484,
      -0.05583841005531842,
      0.008905863705603756,
      0.011524517831714993,
      0.057086895852252864,
      0.16500877234047867,
      0.13322900870980944,
      0.132350320959376
    ],
    "a_ego": [
      0.283462963748886,
      0.28346295777794184,
      0.2659982079765111,
      0.10866606157418128,
      0.21609208297416305,
      0.1340252985754294,
      0.32776122375332506,
      0.2638669340820602,
      0.1463135295369531,
      0.14631353038662487
    ],
    "yaw": [
      2.8078600634870297,
      2.7934740392526516,
      2.779982162037895,
      2.768701452412433,
      2.763473273545471,
      2.761945843859908,
      2.7689601739959033,
      2.783436987715673,
      2.7996002709865357,
      2.8139043059525464
    ],
    "yaw_diff": [
      -0.02877204846875614,
      -0.026983754429513063,
      -0.022561419250924253,
      -0.010456357733923838,
      -0.0030548593711259286,
      0.014028660271990567,
      0.028953627439538998,
      0.03232656654172583,
      0.02860806993202125,
      0.02860806993202125
    ],
    "min_front_frame": [
      6,
      18.430701293880855
    ],
    "v_avg": 4.552720478287474,
    "v_std": 0.2445108610713741,
    "vy_max": 0.031809810659318094,
    "a_max": 0.32776122375332506,
    "ax_avg": -0.14796981994260555,
    "a_std": 0.07369633579768567,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c4f21fef5b86535b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.275456050685303,
      19.089257391375252,
      18.853982272464766,
      18.61888310743807,
      18.53580933563491,
      18.52779120100704,
      18.430701293880855,
      18.490429198669684,
      18.525019593128885,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c4f21fef5b86535b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6496c4adf0f65e78": {
    "vx_ego": [
      8.773598830929837,
      8.580008475139813,
      8.387475890297992,
      8.2096866110482,
      8.148248057903466,
      8.268285131853256,
      8.509705193177837,
      8.77964597534152,
      9.111495004005537,
      9.518816760123443
    ],
    "vy_ego": [
      0.002621258721195119,
      0.03285340133597758,
      0.009521445794381744,
      -0.014126397500645371,
      -0.009093149541942402,
      0.0010884865701825674,
      0.00835030751105137,
      0.016283191399317776,
      0.018236468948593654,
      -0.016833379746513444
    ],
    "v_ego": [
      8.77359922250217,
      8.580071373796978,
      8.387481294659327,
      8.209698764676475,
      8.148253131714563,
      8.268285203500701,
      8.509709290124627,
      8.779661075158465,
      9.11151325394512,
      9.518831644455144
    ],
    "ax_ego": [
      -0.387514330802739,
      -0.3870922410621898,
      -0.3838872630357848,
      -0.32721320289645417,
      0.0815247577181646,
      0.3986252737836703,
      0.5670551764068839,
      0.512694645225436,
      0.8146163867614071,
      0.8146515806128886
    ],
    "ay_ego": [
      0.12032419882160453,
      0.12167525989959035,
      -0.042067775419824704,
      0.004928557588741528,
      0.046915829857110264,
      0.01935274981406021,
      0.009396396502494131,
      0.0349496641600307,
      0.010068563465874314,
      0.006636385895009367
    ],
    "a_ego": [
      0.40576504211126374,
      0.4057650452690341,
      0.38618535504324686,
      0.3272503183033771,
      0.09406051888112651,
      0.39909477298565527,
      0.5671330226296775,
      0.5138844989564626,
      0.814678607519847,
      0.8146786111177985
    ],
    "yaw": [
      2.5553322718242946,
      2.5588206383935495,
      2.5639169472267307,
      2.565649207577703,
      2.566624597235089,
      2.5674063080313547,
      2.567397400445981,
      2.567761919769989,
      2.5688060883344432,
      2.573019227205287
    ],
    "yaw_diff": [
      0.006976733138509772,
      0.01019261766636248,
      0.0034645207019448065,
      0.0019507793147717223,
      0.0015634215925315331,
      -1.7815170747503828e-05,
      0.0007290386480161004,
      0.002088337128908435,
      0.008426277741687471,
      0.008426277741687471
    ],
    "min_front_frame": [
      9,
      39.440669046017234
    ],
    "v_avg": 8.628710425453358,
    "v_std": 0.4099058504786373,
    "vy_max": 0.03285340133597758,
    "a_max": 0.8146786111177985,
    "ax_avg": 0.17034607827112827,
    "a_std": 0.2075810275523216,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6496c4adf0f65e78",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.019799254365072,
    "right_rear_min": 13.564884582074518,
    "speed_mode": "accelerating",
    "front_frame": [
      49.53667642278655,
      46.78163851701669,
      44.56673677892087,
      42.87533164257968,
      41.79586725266424,
      40.970639292870786,
      40.48410847567172,
      40.17614083810082,
      39.92009987606631,
      39.440669046017234
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6496c4adf0f65e78",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e6e40103bfcb539e": {
    "vx_ego": [
      1.8760000160029673,
      2.174985061885568,
      2.4788964279534396,
      2.774681668119099,
      2.9918263054541527,
      3.0603284878000094,
      3.0469722178164513,
      3.0344731932206996,
      3.03837607717848,
      3.05905300621322
    ],
    "vy_ego": [
      -0.024662887718680748,
      -0.012483875864499505,
      -0.008921612725131478,
      -0.00737622238746205,
      -0.00010690965164861232,
      -1.793502958957749e-05,
      0.0010745272117880234,
      0.008220509902190698,
      0.007257049757928291,
      0.004247814689566143
    ],
    "v_ego": [
      1.8761621246773312,
      2.17502088876911,
      2.4789124824595845,
      2.7746914725880596,
      2.9918263073643026,
      3.0603284878525634,
      3.046972407284653,
      3.0344843280462137,
      3.0383847437646336,
      3.059055955479039
    ],
    "ax_ego": [
      0.5979135987257875,
      0.5978816225906809,
      0.6177283965845541,
      0.5653416068794815,
      0.3032152616425813,
      -0.029178825104524932,
      -0.024270320094439385,
      -0.025690321887312396,
      0.04135909535794496,
      0.0413911715171104
    ],
    "ay_ego": [
      0.015936707656470817,
      0.017094212825873006,
      -0.01519877519596144,
      0.0035840557265789663,
      0.012476811995521017,
      -0.028803667868809342,
      0.019996389350996444,
      -0.00523938275863289,
      -0.017351596401160477,
      -0.017274952588467007
    ],
    "a_ego": [
      0.598125948435737,
      0.5981259455531098,
      0.6179153459126756,
      0.5653529675561325,
      0.3034718532756384,
      0.041000672155187094,
      0.03144684442934127,
      0.026219148925264182,
      0.04485145110803383,
      0.04485145556715673
    ],
    "yaw": [
      1.233746384056714,
      1.231810424077055,
      1.2304817703252389,
      1.2287922533281366,
      1.2276763161922375,
      1.2263167351089361,
      1.225237717412233,
      1.2241009718938138,
      1.2225540049995818,
      1.2207016153037222
    ],
    "yaw_diff": [
      -0.0038719199593177933,
      -0.0026573075036324667,
      -0.0033790339942045833,
      -0.002231874271798162,
      -0.002719162166602729,
      -0.002158035393406088,
      -0.002273491036838493,
      -0.0030939337884641205,
      -0.003704779391719093,
      -0.003704779391719093
    ],
    "min_front_frame": [
      6,
      18.057612123000553
    ],
    "v_avg": 2.753583919828549,
    "v_std": 0.4087483697611078,
    "vy_max": 0.024662887718680748,
    "a_max": 0.6179153459126756,
    "ax_avg": 0.26856912862118637,
    "a_std": 0.26305071017790327,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "e6e40103bfcb539e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.015134690750909,
    "speed_mode": "accelerating",
    "front_frame": [
      20.439255222488708,
      20.9378546496914,
      21.361942497514367,
      21.63904863013991,
      21.038641374159635,
      19.541747858576468,
      18.057612123000553,
      22.279999726084746,
      22.44007261647268,
      21.93679614047913
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "e6e40103bfcb539e",
    "merging_vehicles": "No"
  },
  "4d1a4e9606075497": {
    "vx_ego": [
      8.507079544330246,
      8.659195610323126,
      8.861036143133385,
      9.021870314955436,
      9.163958182679053,
      9.339654328059636,
      9.527585087475703,
      9.701390961946647,
      9.878124155610712,
      10.073212247073567
    ],
    "vy_ego": [
      -0.036849395724922296,
      -0.002493490622352379,
      -0.011703509389592526,
      -0.0548105445914393,
      -0.09608006731267693,
      -0.1575707091195182,
      -0.10985080012149791,
      -0.06542255858011567,
      -0.024833027131857643,
      0.002773902573109943
    ],
    "v_ego": [
      8.507159352658642,
      8.659195969334265,
      8.86104387203044,
      9.022036808596631,
      9.164461847442281,
      9.340983433023286,
      9.528218343288358,
      9.701611552093356,
      9.878155369951232,
      10.073212629004134
    ],
    "ax_ego": [
      0.20012072325690933,
      0.41514249086764343,
      0.4098653354850381,
      0.2561686592049274,
      0.34307920694636945,
      0.3726478271792744,
      0.3804820156436248,
      0.31737145154155216,
      0.3900762849171154,
      0.3904017848796696
    ],
    "ay_ego": [
      1.969818454930155,
      1.9359467329980737,
      2.177167104544208,
      2.263794121138024,
      2.1504410144253336,
      1.388808380315242,
      0.38613973453209416,
      0.19139955093878291,
      0.11335362059258414,
      0.11222744198821367
    ],
    "a_ego": [
      1.9799578402734468,
      1.9799578381192129,
      2.2154110666740094,
      2.278241910960715,
      2.1776363100301226,
      1.437934324068829,
      0.5420982003408162,
      0.37061897732463667,
      0.4062124460872489,
      0.40621244733815043
    ],
    "yaw": [
      0.957774427316541,
      1.0677682082997728,
      1.1860543709938085,
      1.3145893591988496,
      1.4404767910171645,
      1.5427115829896396,
      1.5846891149033895,
      1.5950769516856464,
      1.5987166536018242,
      1.60160251878811
    ],
    "yaw_diff": [
      0.21998756196646352,
      0.23657232538807138,
      0.2570699764100821,
      0.25177486363662993,
      0.20446958394495018,
      0.08395506382749973,
      0.02077567356451393,
      0.007279403832355591,
      0.005771730372571504,
      0.005771730372571504
    ],
    "min_front_frame": [
      6,
      27.98498765578144
    ],
    "v_avg": 9.273607917742263,
    "v_std": 0.4967649122891512,
    "vy_max": 0.1575707091195182,
    "a_max": 2.278241910960715,
    "ax_avg": 0.34753557799221235,
    "a_std": 0.8050887944778915,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "4d1a4e9606075497",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.492537347538088,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      37.525132758147116,
      39.08451433634621,
      27.98498765578144,
      28.638695313711867,
      29.156835784837515,
      29.53005231903664
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4d1a4e9606075497",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "35eba76323535988": {
    "vx_ego": [
      6.328257934045375,
      6.209804601095892,
      6.102661238923756,
      5.991766094390944,
      5.863844940581516,
      5.744907158611801,
      5.568231454960774,
      5.339895602954793,
      5.149314991492748,
      4.979322140646095
    ],
    "vy_ego": [
      -0.05465501514572302,
      -0.026315517247407216,
      -0.025837149008619997,
      -0.03520094147634678,
      -0.033907605924359596,
      -0.028211253752638554,
      -0.021785812263867,
      -0.018188126155964934,
      0.0032860936862625367,
      0.021856907401375802
    ],
    "v_ego": [
      6.328493948048684,
      6.209860359962993,
      6.102715932708266,
      5.99186949425417,
      5.863942974903744,
      5.744976426053236,
      5.568274073501643,
      5.339926577996087,
      5.149316040021595,
      4.979370111241939
    ],
    "ax_ego": [
      -0.24034704432528636,
      -0.23660703233054514,
      -0.19340963627225866,
      -0.2525174682559216,
      -0.26130951846517747,
      -0.2163148725641684,
      -0.49184650575092054,
      -0.4227730482256494,
      -0.34020035278380995,
      -0.33912751778606187
    ],
    "ay_ego": [
      -0.18769922499219432,
      -0.19239234084057683,
      -0.23594617249930844,
      -0.17904888928323132,
      -0.16190592865731884,
      -0.15318339626034833,
      -0.15321524494623856,
      -0.11943132907928661,
      -0.08522412573698929,
      -0.08939775515864173
    ],
    "a_ego": [
      0.3049552438942009,
      0.30495524353974357,
      0.30508668230527664,
      0.30955383461998853,
      0.3074023327414607,
      0.26506089297047825,
      0.5151581276688996,
      0.4393186687037692,
      0.35071274804583724,
      0.3507127484810613
    ],
    "yaw": [
      1.748925152552566,
      1.7292462574766767,
      1.711759154250215,
      1.696170506205215,
      1.681575819451362,
      1.667009375789844,
      1.6524208196934174,
      1.6392431091679338,
      1.6253659633412423,
      1.6130785947823476
    ],
    "yaw_diff": [
      -0.03935779015177854,
      -0.03497420645292326,
      -0.031177296090000084,
      -0.02918937350770623,
      -0.02913288732303565,
      -0.02917711219285346,
      -0.02635542105096711,
      -0.027754291653383056,
      -0.024574737117789347,
      -0.024574737117789347
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.7278745938692355,
    "v_std": 0.43508910017491415,
    "vy_max": 0.05465501514572302,
    "a_max": 0.5151581276688996,
    "ax_avg": -0.29944529967597994,
    "a_std": 0.07195466214895216,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "35eba76323535988",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 13.268548778254518,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "35eba76323535988",
    "merging_vehicles": "No"
  },
  "1b3de6f75c0559d8": {
    "vx_ego": [
      1.6798957949262125,
      1.4968366465964091,
      1.2838362576728226,
      1.0462316347527219,
      0.7834001953344336,
      0.49548383361984316,
      0.23202133972380878,
      0.037277999053040994,
      -0.027874608279231626,
      -0.013272483029343633
    ],
    "vy_ego": [
      -0.029269826300877932,
      -0.05516138869548182,
      -0.03745816253139139,
      0.010641283948188085,
      0.026542111319663664,
      0.022693284786141937,
      0.005912929359241426,
      -0.004666608213325719,
      -0.0024755702782997477,
      -0.0060188188308266544
    ],
    "v_ego": [
      1.680150768396234,
      1.497852704840098,
      1.284382595045412,
      1.0462857499179747,
      0.7838496984265122,
      0.49600324046623057,
      0.23209667128340827,
      0.03756895587603153,
      0.02798432123392328,
      0.014573434251490906
    ],
    "ax_ego": [
      -0.3661544594416565,
      -0.36613723275126825,
      -0.4859030928921209,
      -0.46449330627797103,
      -0.5870054514238568,
      -0.5648068922268725,
      -0.48912998997535223,
      -0.289813125009158,
      0.029203937683400447,
      0.029204126937824093
    ],
    "ay_ego": [
      -0.05275990858323355,
      -0.05287937972450721,
      0.12289461150171968,
      0.07308033804990771,
      -0.003770947282003251,
      -0.007903871767865528,
      -0.057718042897175886,
      0.01578762074345945,
      -0.007085798692464413,
      -0.007085031335466913
    ],
    "a_ego": [
      0.3699360703185387,
      0.36993607827137515,
      0.5012034529193586,
      0.470207153695613,
      0.5870175636594953,
      0.5648621926593255,
      0.4925236233615281,
      0.2902428231607341,
      0.0300512648540135,
      0.030051267847215547
    ],
    "yaw": [
      1.1273425136692765,
      1.1270162298175492,
      1.1268743269109116,
      1.1276437041377,
      1.1291773834986294,
      1.1306383091507453,
      1.131696411588486,
      1.1325797533078497,
      1.1330226932208867,
      1.132996445214494
    ],
    "yaw_diff": [
      -0.0006525677034545652,
      -0.0002838058132752508,
      0.0015387544535769848,
      0.003067358721858593,
      0.0029218513042317262,
      0.0021162048754814755,
      0.0017666834387273234,
      0.0008858798260740208,
      -5.2496012785230306e-05,
      -5.2496012785230306e-05
    ],
    "min_front_frame": [
      7,
      8.962852394253686
    ],
    "v_avg": 0.7100748139737315,
    "v_std": 0.6070811147813412,
    "vy_max": 0.05516138869548182,
    "a_max": 0.5870175636594953,
    "ax_avg": -0.3555035485377031,
    "a_std": 0.19100356426465429,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1b3de6f75c0559d8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.95882560976452,
      11.166902644621757,
      10.493392233961027,
      9.910401674532174,
      9.502117232939714,
      9.203939241370248,
      9.012420742049349,
      8.962852394253686,
      8.968508969329969,
      8.985052177966915
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1b3de6f75c0559d8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "431840d399445a32": {
    "vx_ego": [
      6.505715040491909,
      6.576410139410436,
      6.699397810562097,
      6.805693854114963,
      7.020072554628703,
      7.414927207093412,
      7.846181725569193,
      8.217898026966136,
      8.398135040761098,
      8.41499397022157
    ],
    "vy_ego": [
      -0.03409141538690852,
      -0.06406798470942388,
      -0.10656623327268022,
      -0.12261641085353814,
      -0.02819797518818712,
      -0.009168861025453445,
      0.01814983271732995,
      0.04357589923814542,
      0.03990388762104313,
      -0.00926502075796698
    ],
    "v_ego": [
      6.505804363234859,
      6.576722210068259,
      6.700245322839914,
      6.806798338437006,
      7.020129186707028,
      7.41493287592724,
      7.846202717689852,
      8.218013558069146,
      8.398229842240964,
      8.414999070675826
    ],
    "ax_ego": [
      0.018095811107713078,
      0.29193481311706637,
      0.21958534029279342,
      0.2094521195670394,
      0.6514186378645778,
      0.9274572832200247,
      0.7977881827206861,
      0.6912342995147567,
      0.032559699387697635,
      0.03552866027011757
    ],
    "ay_ego": [
      1.8694476618113132,
      1.8466012284599351,
      1.4631173991527082,
      0.6423443105581106,
      0.34237733266967174,
      0.11003879985360726,
      -0.06630126816763937,
      -0.19837405059939567,
      -0.27811431227697836,
      -0.27775065325114745
    ],
    "a_ego": [
      1.8695352413451403,
      1.8695352449364089,
      1.4795033779531856,
      0.6756303750553995,
      0.7359133642510788,
      0.9339622849296921,
      0.8005384704368754,
      0.7191363714740535,
      0.2800137580861231,
      0.2800137694507693
    ],
    "yaw": [
      2.100306719967037,
      2.2474226184358885,
      2.3781125842932602,
      2.458381962870671,
      2.4805114178954826,
      2.4936081232815,
      2.4914654769565026,
      2.4800807881634483,
      2.466321141921446,
      2.4556389608766076
    ],
    "yaw_diff": [
      0.2942317969377033,
      0.2613799317147434,
      0.16053875715482135,
      0.044258910049623346,
      0.026193410772035186,
      -0.00428529264999522,
      -0.02276937758610842,
      -0.027519292484004865,
      -0.021364362089676625,
      -0.021364362089676625
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.390207748589009,
    "v_std": 0.7319434334197928,
    "vy_max": 0.12261641085353814,
    "a_max": 1.8695352449364089,
    "ax_avg": 0.38750548470624724,
    "a_std": 0.5535490479197585,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "431840d399445a32",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "431840d399445a32",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8ebce152a39f5010": {
    "vx_ego": [
      8.004412565214146,
      8.061579408774616,
      8.08637202542643,
      8.071472958509425,
      8.050607960825694,
      7.978646173854248,
      7.8792737270422055,
      7.790770443046688,
      7.696660114948151,
      7.610389145689146
    ],
    "vy_ego": [
      -0.03226704626471699,
      0.0029081965564743406,
      0.03065006761240463,
      0.0424819021809939,
      0.03357621253718657,
      0.010158253336244094,
      0.0007857288032941945,
      -0.009234169110392099,
      -0.006251561823832574,
      0.006842287591342089
    ],
    "v_ego": [
      8.004477601719724,
      8.061579933337267,
      8.086430112246305,
      8.071584753439797,
      8.050677977720781,
      7.978652640494501,
      7.879273766219024,
      7.790775915538134,
      7.696662653842828,
      7.610392221543029
    ],
    "ax_ego": [
      0.11156612943404487,
      0.11814929497292515,
      -0.02083126536100105,
      -0.04099670851651367,
      -0.04485015938270017,
      -0.2435826338655515,
      -0.154339203405153,
      -0.19821238027452026,
      -0.1769805464269916,
      -0.16808411231890724
    ],
    "ay_ego": [
      0.3633144716826442,
      0.3612272831597956,
      0.2608570517675508,
      0.22242795576174135,
      0.13147477259560253,
      0.22221662190695124,
      0.20740462031346968,
      0.33185155509937614,
      0.38031515345571243,
      0.38432988631738707
    ],
    "a_ego": [
      0.3800584252071422,
      0.38005842445814353,
      0.2616874912436571,
      0.22617454678529844,
      0.1389141915922164,
      0.3297161302887929,
      0.2585290433106341,
      0.3865405571424107,
      0.4194779252375965,
      0.419477925915978
    ],
    "yaw": [
      -1.2307029465126456,
      -1.2125315029539743,
      -1.1967397519306555,
      -1.1832535758200766,
      -1.1711739478889003,
      -1.1572627045208395,
      -1.1425142072106511,
      -1.124042208139528,
      -1.1014288217473842,
      -1.078160424417486
    ],
    "yaw_diff": [
      0.03634288711734257,
      0.03158350204663751,
      0.02697235222115779,
      0.02415925586235268,
      0.027822486736121643,
      0.029496994620376693,
      0.03694399814224614,
      0.04522677278428766,
      0.04653679465979632,
      0.04653679465979632
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.923050757610139,
    "v_std": 0.16198027476350768,
    "vy_max": 0.0424819021809939,
    "a_max": 0.419477925915978,
    "ax_avg": -0.08181615851443684,
    "a_std": 0.08961141984446895,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "8ebce152a39f5010",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "8ebce152a39f5010",
    "merging_vehicles": "No"
  },
  "f5f7d39ffe625dda": {
    "vx_ego": [
      12.696240831989687,
      12.7698420995066,
      12.80129877317901,
      12.82273116324228,
      12.871180172278743,
      12.938659768275446,
      13.001560490488785,
      13.067516400602416,
      13.11237266209153,
      13.104633471464723
    ],
    "vy_ego": [
      -0.04032257034681974,
      0.004615137491829291,
      0.005481799572186308,
      0.007818262392830011,
      0.01555492118312829,
      0.01641954472255991,
      0.0361106285981907,
      0.05492397269107063,
      0.015287253953887081,
      0.027417103018759104
    ],
    "v_ego": [
      12.696304862973383,
      12.769842933482982,
      12.80129994689293,
      12.82273354671349,
      12.871189571396828,
      12.93867018671697,
      13.001610637353233,
      13.067631825345758,
      13.11238157352427,
      13.104662152034729
    ],
    "ax_ego": [
      0.1472007554000385,
      0.14721565561475286,
      -0.021371368396037926,
      0.10692204873832982,
      0.08707276932766972,
      0.18203930266502533,
      0.06883490919294022,
      0.19338755090595636,
      -0.01631361494269598,
      -0.015169047010012591
    ],
    "ay_ego": [
      0.09392704385345117,
      0.09390368962500564,
      0.14203748737755523,
      0.123852982030669,
      0.27316078189051013,
      0.23688465096757147,
      0.2703470001414866,
      0.2923809910628529,
      0.18573089730852838,
      0.18582787720793006
    ],
    "a_ego": [
      0.17461486751531238,
      0.17461486816210958,
      0.14363628792073516,
      0.16362116508658345,
      0.28670277278293704,
      0.2987518126786796,
      0.2789726603255259,
      0.35055012306416317,
      0.18644597138991678,
      0.1864459705512498
    ],
    "yaw": [
      -1.7749145821043906,
      -1.7747559416112388,
      -1.7702177867671645,
      -1.7652055853665338,
      -1.7580833747572002,
      -1.748260584588241,
      -1.7400108871741489,
      -1.7306501028641343,
      -1.7185152423514425,
      -1.7123543199666358
    ],
    "yaw_diff": [
      0.0003172809863034587,
      0.009076309688148765,
      0.010024402801261267,
      0.014244421218667203,
      0.0196455803379183,
      0.01649939482818441,
      0.01872156862002905,
      0.024269721025383717,
      0.0123218447696134,
      0.0123218447696134
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.918632723643459,
    "v_std": 0.14086010651455738,
    "vy_max": 0.05492397269107063,
    "a_max": 0.35055012306416317,
    "ax_avg": 0.08798189614959663,
    "a_std": 0.06808584508544278,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f5f7d39ffe625dda",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 25.970061584879584,
    "right_rear_min": 3.3663170789278345,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f5f7d39ffe625dda",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ac7167da1d1a5342": {
    "vx_ego": [
      1.8515163031402986,
      1.7511691421049709,
      1.5866706917069453,
      1.2741540652270456,
      0.9044150688265755,
      0.6057906946181255,
      0.3711352811557094,
      0.1532304756623203,
      0.009949353906399954,
      -0.05627438863696328
    ],
    "vy_ego": [
      -0.0034864545587764972,
      -0.012898915276858158,
      -0.008006354870973786,
      0.0014536474263479038,
      0.004131592749672897,
      0.0058632810351574305,
      0.003026912341716148,
      0.01017372101763267,
      0.007825555858391953,
      -0.008362252879603925
    ],
    "v_ego": [
      1.8515195856808289,
      1.7512166474414235,
      1.5866908916484384,
      1.2741548944400152,
      0.9044245058484586,
      0.6058190684935629,
      0.37114762442571536,
      0.1535678458240707,
      0.012658158145939267,
      0.056892302552159255
    ],
    "ax_ego": [
      -0.20105070600624544,
      -0.2006151188569371,
      -0.4578494755422753,
      -0.7921688911600522,
      -0.6868020237859538,
      -0.5076822038552206,
      -0.43094544262489454,
      -0.4406676223803092,
      -0.13244681153984542,
      -0.13244810544240332
    ],
    "ay_ego": [
      -0.04925631375460501,
      -0.051001412945815644,
      0.032157201284175374,
      -0.01799872847007078,
      0.020998018574471866,
      -0.01509414423807412,
      0.005257053970820658,
      0.022960245771614513,
      -0.03238010633825588,
      -0.032374829939673194
    ],
    "a_ego": [
      0.2069965478704943,
      0.2069965459529521,
      0.45897737182650683,
      0.7923733377318333,
      0.6871229414453688,
      0.5079065399279414,
      0.43097750653093064,
      0.44126536947760553,
      0.13634745752506017,
      0.1363474614685024
    ],
    "yaw": [
      2.5207540450488506,
      2.5120647768848148,
      2.5064191730681564,
      2.5023977284049046,
      2.5006059788438995,
      2.500256970477267,
      2.5010444336141178,
      2.5006933034168037,
      2.5005353179941,
      2.500575148119404
    ],
    "yaw_diff": [
      -0.017378536328071625,
      -0.011291207633316702,
      -0.008042889326503655,
      -0.0035834991220102808,
      -0.0006980167332653053,
      0.0015749262737019265,
      -0.0007022603946280626,
      -0.00031597084540724296,
      7.966025060746063e-05,
      7.966025060746063e-05
    ],
    "min_front_frame": [
      8,
      9.532364094416286
    ],
    "v_avg": 0.8568091524500611,
    "v_std": 0.6815023845779409,
    "vy_max": 0.012898915276858158,
    "a_max": 0.7923733377318333,
    "ax_avg": -0.39826764011941374,
    "a_std": 0.216264693679209,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "ac7167da1d1a5342",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.265702862760477,
      12.344255660614682,
      11.48595958220142,
      10.769922788327714,
      10.264858684822688,
      9.918138646582387,
      9.707830954298727,
      9.558305207863988,
      9.532364094416286,
      9.535180866949602
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ac7167da1d1a5342",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d12fdbd7f3265051": {
    "vx_ego": [
      9.916468492791607,
      9.66056261107838,
      9.380543497937257,
      9.087795382621682,
      8.827594022328737,
      8.608565186283151,
      8.458783814366651,
      8.432698921355685,
      8.476113182889167,
      8.513979673517193
    ],
    "vy_ego": [
      -0.015836864691062935,
      -0.010016346697772072,
      0.0012562366016668491,
      -0.005659118404482744,
      -0.01781690341140063,
      -0.03769918083724999,
      -0.04859010526312346,
      -0.05156928007721673,
      -0.047132336060609514,
      -0.09441633659449034
    ],
    "v_ego": [
      9.916481138731212,
      9.660567803693874,
      9.380543582054472,
      9.087797144634175,
      8.827612002410461,
      8.608647733222801,
      8.458923372186362,
      8.432856603125717,
      8.476244224080029,
      8.514503175504714
    ],
    "ax_ego": [
      -0.5123467439680727,
      -0.5108159505272034,
      -0.6090440468998641,
      -0.5620014183519153,
      -0.47835487885235056,
      -0.3968711887301522,
      -0.20216775028546458,
      0.09646417215523287,
      0.0748781543525478,
      0.07549550939368989
    ],
    "ay_ego": [
      0.17684297000855906,
      0.18121721632852883,
      0.1958921724382473,
      0.16829189570692532,
      0.159737503876762,
      0.11335492815166465,
      -0.10896112896053817,
      -0.190470146218913,
      -0.16023316567252718,
      -0.1599432111556176
    ],
    "a_ego": [
      0.542007953904861,
      0.5420079471805475,
      0.6397721424747563,
      0.5866581256491681,
      0.5043207910314877,
      0.4127421473273031,
      0.22966133083268717,
      0.21350459739838976,
      0.17686550082105756,
      0.176865493337121
    ],
    "yaw": [
      -1.3232947359854768,
      -1.3147443428271979,
      -1.3060371459891065,
      -1.2954219114323875,
      -1.284897517449016,
      -1.2747739867392944,
      -1.273365019849034,
      -1.2819133879913576,
      -1.292805042682033,
      -1.2966614490329849
    ],
    "yaw_diff": [
      0.01710078631655776,
      0.017414393676182804,
      0.021230469113437955,
      0.02104878796674292,
      0.020247061419443213,
      0.002817933780520754,
      -0.01709673628464703,
      -0.021783309381350868,
      -0.007712812701903715,
      -0.007712812701903715
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.936417677964382,
    "v_std": 0.5192012315311626,
    "vy_max": 0.09441633659449034,
    "a_max": 0.6397721424747563,
    "ax_avg": -0.30247641417135523,
    "a_std": 0.17522097098673536,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d12fdbd7f3265051",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d12fdbd7f3265051",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1a0f27ced7e056f6": {
    "vx_ego": [
      11.84767992686962,
      11.93739815217163,
      11.969305276335326,
      11.893421918028737,
      11.77144468451793,
      11.709443128185297,
      11.666410579906882,
      11.567507358816599,
      11.401423359388483,
      11.193549100064793
    ],
    "vy_ego": [
      0.11848258654833366,
      -0.004695908985377528,
      0.021678633573206874,
      -0.004494174972325737,
      -0.020800463460821206,
      -0.010747781142470991,
      0.01786632163936197,
      0.025072548161090502,
      0.01671449473494846,
      0.029087049240462903
    ],
    "v_ego": [
      11.84827235392842,
      11.937399075805075,
      11.969324908333897,
      11.893422767137098,
      11.771463061996398,
      11.709448060733067,
      11.666424260432679,
      11.567534531132702,
      11.401435611112472,
      11.193586892144754
    ],
    "ax_ego": [
      0.1734855205704409,
      0.18016997913467606,
      -0.05331817369563255,
      -0.25056515061564827,
      -0.23725735279907623,
      -0.01058755478494429,
      -0.15695481285629717,
      -0.2376611668784902,
      -0.42348370640039623,
      -0.4051808605833271
    ],
    "ay_ego": [
      0.2961458950304255,
      0.2921273627689299,
      0.10289646463128554,
      0.03186812416210606,
      0.00829638125028656,
      -0.1869520392846363,
      -0.6231725150161843,
      -0.5298748365287306,
      -0.6247503355135289,
      -0.6367730357990748
    ],
    "a_ego": [
      0.3432194880699065,
      0.34321948875277986,
      0.11589007757290974,
      0.2525835941637024,
      0.23740236182286692,
      0.18725159894913684,
      0.6426342635981619,
      0.5807324449592898,
      0.7547525629707288,
      0.754752561376121
    ],
    "yaw": [
      -1.0852265135691948,
      -1.0625018313801622,
      -1.0564612748745814,
      -1.0514542712172084,
      -1.0492272473730884,
      -1.0538990353242454,
      -1.0736438953325238,
      -1.0990546600955484,
      -1.1234109213227765,
      -1.1524259411341777
    ],
    "yaw_diff": [
      0.04544936437806513,
      0.012081113011161548,
      0.01001400731474611,
      0.0044540476882399815,
      -0.00934357590231416,
      -0.039489720016556706,
      -0.050821529526049236,
      -0.04871252245445623,
      -0.0580300396228024,
      -0.0580300396228024
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.695831152275657,
    "v_std": 0.23613197332122543,
    "vy_max": 0.11848258654833366,
    "a_max": 0.7547525629707288,
    "ax_avg": -0.14213532789086952,
    "a_std": 0.22788578847973268,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "1a0f27ced7e056f6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "1a0f27ced7e056f6",
    "road_shape": "Straight"
  },
  "eeab709ca6e05d14": {
    "vx_ego": [
      8.233630687454507,
      7.725420427805368,
      7.1632922274782205,
      6.516998796214784,
      5.816864024689854,
      5.148541982851469,
      4.525646300887758,
      3.8214278917196385,
      2.9653889800465167,
      2.0293763537323235
    ],
    "vy_ego": [
      -0.0021653704685089536,
      -0.009044970943367758,
      -0.051346767679916194,
      -0.07003857619449239,
      -0.0031119410468312125,
      0.05887838070952922,
      0.07774991018290311,
      0.054449509045852995,
      0.04023114761990021,
      0.03766005297065511
    ],
    "v_ego": [
      8.233630972190936,
      7.7254257227580565,
      7.16347625296553,
      6.51737513973381,
      5.816864857112303,
      5.1488786364507675,
      4.526314117388727,
      3.821815783191039,
      2.9656618735486577,
      2.0297257609533492
    ],
    "ax_ego": [
      -1.016470822812371,
      -1.0164055425331526,
      -1.2321988078841364,
      -1.354861225954798,
      -1.4469053753900765,
      -1.225648732948057,
      -1.2649271869436272,
      -1.5519584257007901,
      -1.8719494166703603,
      -1.8719387417403697
    ],
    "ay_ego": [
      -0.03904843046318379,
      -0.04071210092966154,
      -0.2263619474318353,
      0.007863464429552214,
      0.10360792749564895,
      0.034653742681747035,
      -0.023649243304754153,
      -0.06884915709236461,
      -0.009345759170170775,
      -0.0112844644709299
    ],
    "a_ego": [
      1.0172205825436766,
      1.0172205768928484,
      1.2528182762859983,
      1.3548840451007509,
      1.4506101364503976,
      1.2261385315122555,
      1.2651482422933706,
      1.5534848443213098,
      1.8719727460053923,
      1.8719727540663924
    ],
    "yaw": [
      -0.6971507711974722,
      -0.6987875275543676,
      -0.7020622710139701,
      -0.707303732627274,
      -0.7136255021226376,
      -0.7186529290861838,
      -0.7219822092364894,
      -0.721940444626998,
      -0.7234929440866887,
      -0.7245286130514397
    ],
    "yaw_diff": [
      -0.003273512713790838,
      -0.006549486919205094,
      -0.01048292322660771,
      -0.012643538990727343,
      -0.010054853927092378,
      -0.006658560300611072,
      8.352921898269194e-05,
      -0.00310499891938143,
      -0.002071337929501871,
      -0.002071337929501871
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.394916911629317,
    "v_std": 1.9639441909250013,
    "vy_max": 0.07774991018290311,
    "a_max": 1.8719727540663924,
    "ax_avg": -1.385326427857774,
    "a_std": 0.2890296703439682,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "eeab709ca6e05d14",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "eeab709ca6e05d14",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d74dbc89af495c84": {
    "vx_ego": [
      6.85737918341408,
      6.720193457558221,
      6.591065157623859,
      6.475025393375818,
      6.359342258587153,
      6.215763601545767,
      6.0528885916210715,
      5.838969909153625,
      5.439209078678386,
      4.928214103169769
    ],
    "vy_ego": [
      0.023728514051051253,
      -0.02524472484565843,
      -0.03686768324540424,
      -0.004903989810461695,
      -0.008373080776602926,
      0.020896125851508796,
      0.03337493549379689,
      0.04174378452245242,
      0.04114902826862643,
      0.02767130087008185
    ],
    "v_ego": [
      6.857420237049777,
      6.7202408738929025,
      6.5911682680774515,
      6.475027250442868,
      6.359347770827921,
      6.215798725697028,
      6.052980603710517,
      5.839119123938794,
      5.439364727990285,
      4.928291787990363
    ],
    "ax_ego": [
      -0.27563409947658046,
      -0.2731255237605507,
      -0.2449452385495401,
      -0.21072964792866877,
      -0.24462175006683717,
      -0.3277869360359038,
      -0.3096530512238964,
      -0.5416958175632113,
      -1.0497622203994033,
      -0.9797498006203758
    ],
    "ay_ego": [
      -0.23847670172952068,
      -0.24134569307611498,
      -0.3326679798504139,
      -0.8403857034867195,
      -1.091217472662696,
      -1.0830349093561373,
      -1.16597640663603,
      -0.9612014966505117,
      -0.8237574768850879,
      -0.9059069530588426
    ],
    "a_ego": [
      0.36447948373270095,
      0.3644794854252643,
      0.41311760396507735,
      0.8664035521285731,
      1.1183002160645967,
      1.1315515411680823,
      1.206393796802743,
      1.1033325318908438,
      1.3343826662925338,
      1.334382658541403
    ],
    "yaw": [
      2.304443156206251,
      2.2939869433518756,
      2.2741622250361795,
      2.2243580550744193,
      2.149731390417699,
      2.0588386382916593,
      1.9651814454526424,
      1.874838050083801,
      1.7967300695390303,
      1.7158193374086048
    ],
    "yaw_diff": [
      -0.02091242570875096,
      -0.0396494366313922,
      -0.09960833992352036,
      -0.14925332931344037,
      -0.18178550425207973,
      -0.1873143856780337,
      -0.18068679073768257,
      -0.15621596108954172,
      -0.16182146426085087,
      -0.16182146426085087
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.147875936961791,
    "v_std": 0.5725062596010411,
    "vy_max": 0.04174378452245242,
    "a_max": 1.3343826662925338,
    "ax_avg": -0.44577040856249683,
    "a_std": 0.37682994409194287,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "d74dbc89af495c84",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d74dbc89af495c84",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a5c9bcab52165145": {
    "vx_ego": [
      13.808817589788319,
      13.528265406410235,
      13.307462094604928,
      13.112579707860226,
      12.92262953682371,
      12.747017480627088,
      12.57875759561179,
      12.473882730338923,
      12.462022458028049,
      12.512139971403531
    ],
    "vy_ego": [
      0.07356840731802428,
      -0.011104704445729308,
      -0.006562941028752656,
      0.01123292976125656,
      0.023150845453657976,
      0.005859634040700001,
      0.03395534819316426,
      0.02269578048665577,
      0.0004815366053395609,
      -0.010056619560091296
    ],
    "v_ego": [
      13.809013561388177,
      13.528269964069194,
      13.30746371295229,
      13.11258451922041,
      12.922650274136252,
      12.747018827424851,
      12.578803425399103,
      12.473903377399536,
      12.462022467331414,
      12.512144012901663
    ],
    "ax_ego": [
      -0.5611944831758847,
      -0.5614516403791835,
      -0.3216671505608685,
      -0.4576533589400206,
      -0.3028305026328807,
      -0.39991364418310016,
      -0.2732892349113127,
      -0.14792145001409923,
      0.1001291719774837,
      0.10041331764032575
    ],
    "ay_ego": [
      -0.0738569233700303,
      -0.07187586945712107,
      0.12749971815921418,
      0.22484671609228193,
      0.13429572042810473,
      0.168587379671058,
      0.27846115436199625,
      0.10975928994728387,
      0.07454945997137127,
      0.07416629213205915
    ],
    "a_ego": [
      0.5660336501275652,
      0.5660336430767107,
      0.3460143550210417,
      0.5099045427200728,
      0.3312727786133156,
      0.4339961144850962,
      0.39016358160011055,
      0.18419516037074804,
      0.1248337817376354,
      0.12483378247956317
    ],
    "yaw": [
      -1.6764889469592665,
      -1.672959693281478,
      -1.6722602403917128,
      -1.666946074598104,
      -1.6609554642927788,
      -1.653715495576683,
      -1.6471000357024426,
      -1.638442291323583,
      -1.6329512922558003,
      -1.6291299691346701
    ],
    "yaw_diff": [
      0.007058507355576893,
      0.0013989057795305015,
      0.010628331587217765,
      0.011981220610650212,
      0.014479937432191559,
      0.013230919748481007,
      0.017315488757719155,
      0.01098199813556544,
      0.007642646242260298,
      0.007642646242260298
    ],
    "min_front_frame": [
      3,
      18.715792560855853
    ],
    "v_avg": 12.945387414222287,
    "v_std": 0.45415260819294884,
    "vy_max": 0.07356840731802428,
    "a_max": 0.5660336501275652,
    "ax_avg": -0.2825378975179541,
    "a_std": 0.16007474669952076,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a5c9bcab52165145",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.760683967245605,
      23.42058645042258,
      21.13982480572631,
      18.715792560855853,
      42.4504238760209,
      43.71592543352454,
      45.082680035468975,
      45.967936764823264,
      46.77912855028188,
      47.351945733285106
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a5c9bcab52165145",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "f2508193ac0c5f27": {
    "vx_ego": [
      0.16247532395435,
      0.8171352336978553,
      1.4640979240816114,
      2.050333429428681,
      2.5448688934423185,
      2.9466057889674278,
      3.256698674341901,
      3.54851898858047,
      3.8911761159629097,
      4.294897517182972
    ],
    "vy_ego": [
      0.027251597905066975,
      0.02230991671566577,
      0.026061102353059723,
      0.027458437768181965,
      0.04609818751154668,
      0.06828825867275884,
      0.05162479819412447,
      0.05564855366396926,
      0.06905539643942726,
      -0.08745707584641926
    ],
    "v_ego": [
      0.1647448951635541,
      0.8174397363318647,
      1.4643298509406755,
      2.050517285378849,
      2.545286374399191,
      2.947396980701601,
      3.257107823706314,
      3.5489553073885074,
      3.891788819195821,
      4.295787869904665
    ],
    "ax_ego": [
      1.309855180664062,
      1.310341652512789,
      1.2792468608585927,
      1.066069775264539,
      0.911361211687777,
      0.690883893059703,
      0.5386719128278613,
      0.626205503401482,
      0.7294727896823121,
      0.8812615867742088
    ],
    "ay_ego": [
      -0.038985759710168585,
      -0.015659905294367074,
      -0.04178607199784447,
      0.013671708782848055,
      0.13881565399583007,
      0.2846757811483822,
      0.4093625663118268,
      0.7830061733715341,
      1.0297969922065884,
      0.9033218649841023
    ],
    "a_ego": [
      1.3104352268512403,
      1.3104352250087659,
      1.2799291413314928,
      1.0661574374142064,
      0.9218725746887707,
      0.7472354743063078,
      0.6765686516289621,
      1.0026125872081582,
      1.2619874785609526,
      1.26198747065181
    ],
    "yaw": [
      -0.05150834389913388,
      -0.06931253386574382,
      -0.08513799841580977,
      -0.08986140319169707,
      -0.08145290587526681,
      -0.05128071578788958,
      0.00964008032571224,
      0.09628903747162196,
      0.21479089449181357,
      0.37150966139075203
    ],
    "yaw_diff": [
      -0.035608379933219886,
      -0.0316509291001319,
      -0.009446809551774599,
      0.016816994632860516,
      0.060344380174754464,
      0.12184159222720364,
      0.17329791429181943,
      0.23700371404038323,
      0.3134375337978769,
      0.3134375337978769
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.498335494311104,
    "v_std": 1.2882821782024982,
    "vy_max": 0.08745707584641926,
    "a_max": 1.3104352268512403,
    "ax_avg": 0.9343370366733327,
    "a_std": 0.22736123076235137,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f2508193ac0c5f27",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f2508193ac0c5f27",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "238955ab60075940": {
    "vx_ego": [
      2.003751557824376,
      1.5089020920361853,
      1.074501562589692,
      0.7334524740275614,
      0.43966074405553723,
      0.17031248727577236,
      -0.0024343478402972154,
      -0.035287777038523684,
      -0.0190029893831354,
      -0.006930918847580358
    ],
    "vy_ego": [
      0.006713375244027153,
      0.01036812717663571,
      0.012773924843650586,
      0.01693910256947556,
      0.01846664262966627,
      0.01932798201723125,
      0.020461788985144197,
      0.012157622492054704,
      0.004381878440090707,
      0.0016915547668436876
    ],
    "v_ego": [
      2.003762804049117,
      1.5089377129001473,
      1.0745774896039844,
      0.7336480524427295,
      0.44004839137699436,
      0.17140570063716823,
      0.02060608788392712,
      0.03732338399689763,
      0.019501652857111588,
      0.007134353061138497
    ],
    "ax_ego": [
      -0.9896861534659418,
      -0.9896894067205853,
      -0.7478973852199471,
      -0.6163049152077167,
      -0.5588135774361849,
      -0.51855301037062,
      -0.17241462852462025,
      0.04099206251048999,
      0.024144480496893845,
      0.024145002441011594
    ],
    "ay_ego": [
      0.005357618231535799,
      0.004717495013014217,
      0.003259742130376997,
      0.013789908314263077,
      -0.009044931881719398,
      0.012002631029649408,
      -0.007503287482299101,
      -0.025735014312894502,
      -0.005379300117481346,
      -0.005376941192615007
    ],
    "a_ego": [
      0.9897006549635736,
      0.9897006499614628,
      0.747904489047626,
      0.6164591714627228,
      0.5588867730764183,
      0.5186919005691781,
      0.17257781854086818,
      0.048400827994454845,
      0.024736467173362125,
      0.024736463762334664
    ],
    "yaw": [
      2.2169841591016546,
      2.2163373696069164,
      2.216011172331319,
      2.2161207261456424,
      2.2155316403448957,
      2.2151251902967943,
      2.21490457493845,
      2.2150234184326103,
      2.2151367361231693,
      2.2150391022183715
    ],
    "yaw_diff": [
      -0.0012935789894763516,
      -0.0006523945511949236,
      0.00021910762864685296,
      -0.0011781716014933608,
      -0.0008129000962027177,
      -0.00044123071668877856,
      0.00023768698832071777,
      0.00022663538111800108,
      -0.00019526780959555623,
      -0.00019526780959555623
    ],
    "min_front_frame": [
      6,
      15.999282383588444
    ],
    "v_avg": 0.6016945628809215,
    "v_std": 0.6774822899964327,
    "vy_max": 0.020461788985144197,
    "a_max": 0.9897006549635736,
    "ax_avg": -0.45040775314972203,
    "a_std": 0.3621945339548814,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "238955ab60075940",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 33.816115670465415,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.43038860372971,
      17.613245721462373,
      16.962771782264305,
      16.50639834781595,
      16.187918041138953,
      16.02272561337503,
      15.999282383588444,
      16.05581564715668,
      16.001666704855843,
      16.017991373693604
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "238955ab60075940",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fd765c984c93597f": {
    "vx_ego": [
      4.090219088166823,
      3.4218584091235815,
      2.6741283155061004,
      1.8623778803248956,
      1.1436048426031333,
      0.5845148145868312,
      0.21224131796230958,
      0.007427368789836506,
      -0.05210411247810757,
      -0.02903257581768479
    ],
    "vy_ego": [
      0.02937656497898318,
      0.008487979133245352,
      -0.002083805030397984,
      0.005986404970331087,
      0.0017846683847541692,
      -0.015567527716641216,
      -0.014498909829392032,
      -0.010606096756968558,
      -0.007469612428026634,
      0.004572260460896469
    ],
    "v_ego": [
      4.090324580247171,
      3.4218689363971166,
      2.6741291274048264,
      1.8623875016139686,
      1.143606235146775,
      0.584722084746836,
      0.21273597588705825,
      0.01294816958332012,
      0.05263680885992439,
      0.02939040701201487
    ],
    "ax_ego": [
      -1.33672502566357,
      -1.336733361983169,
      -1.6541759253928576,
      -1.5928238030160795,
      -1.2822816770570484,
      -0.9540545605840504,
      -0.5349847646959232,
      -0.28426428262242076,
      0.046143607539972833,
      0.046142193832326914
    ],
    "ay_ego": [
      -0.040356808297465824,
      -0.04007938125428668,
      0.009299495854095244,
      0.030028983293435306,
      -0.04536775085562554,
      -0.02203899198393575,
      0.027205714811165373,
      -0.011565893950318882,
      0.024087141996889095,
      0.024089842071716664
    ],
    "a_ego": [
      1.33733408922798,
      1.337334078620803,
      1.6542020652787426,
      1.593106841141624,
      1.2830839926263342,
      0.9543090808217709,
      0.5356760675773548,
      0.28449947676175,
      0.05205211740535957,
      0.05205211371981236
    ],
    "yaw": [
      -1.5463798530576245,
      -1.5461723101252454,
      -1.5452406010726762,
      -1.5444611961403074,
      -1.5442105117270242,
      -1.5436023802799608,
      -1.5429576768142055,
      -1.5427392763534125,
      -1.542642301755202,
      -1.5427007949286264
    ],
    "yaw_diff": [
      0.0004150858647582467,
      0.001863418105138237,
      0.0015588098647376647,
      0.000501368826566484,
      0.0012162628941267961,
      0.0012894069315105838,
      0.00043680092158604467,
      0.00019394919642090613,
      -0.00011698634684886855,
      -0.00011698634684886855
    ],
    "min_front_frame": [
      9,
      11.254485999497216
    ],
    "v_avg": 1.4084749826899012,
    "v_std": 1.4463807256349939,
    "vy_max": 0.02937656497898318,
    "a_max": 1.6542020652787426,
    "ax_avg": -0.8883757599642819,
    "a_std": 0.5941672485436787,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fd765c984c93597f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.447369793051958,
    "right_rear_min": 3.0744262425587157,
    "speed_mode": "decelerating",
    "front_frame": [
      15.75892338334833,
      14.645150947891592,
      13.519698381154472,
      12.561996105296384,
      11.850087469968031,
      11.505001905342583,
      11.333534287990856,
      11.294479521201394,
      11.287673143993548,
      11.254485999497216
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fd765c984c93597f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b868adf3ec2e56a5": {
    "vx_ego": [
      2.1549047484355595,
      2.299144847661073,
      2.442121400929363,
      2.5870575285595714,
      2.7175694951002853,
      2.8161226441663243,
      2.8894295334678213,
      2.9505470466796537,
      3.00445325781409,
      3.053788103066196
    ],
    "vy_ego": [
      -0.05201162297044548,
      -0.01866740589958371,
      -0.022675018739085395,
      -0.011188555198470285,
      0.028711762437479083,
      0.0444729392454144,
      0.0258717019908431,
      -0.004931998041902752,
      -0.00844904576978489,
      0.05532723772898494
    ],
    "v_ego": [
      2.155532343472058,
      2.299220629380634,
      2.442226667070854,
      2.5870817226837244,
      2.7177211641376835,
      2.8164737863703713,
      2.8895453576367296,
      2.950551168726737,
      3.0044651378846314,
      3.0542892596581868
    ],
    "ax_ego": [
      0.2817893989599008,
      0.303458788803431,
      0.27818225563309085,
      0.31401048341998106,
      0.20895804167135834,
      0.1674671836728697,
      0.11085955315353271,
      0.12625139064911378,
      0.08596039180221406,
      0.10667826496489644
    ],
    "ay_ego": [
      0.3547852704692895,
      0.33643813296736796,
      0.41267901136826934,
      0.5499237538118567,
      0.639087415123974,
      0.5949766409071996,
      0.609858615906925,
      0.5608465968390991,
      0.4259566561176329,
      0.4212457831450979
    ],
    "a_ego": [
      0.45307599087586736,
      0.453075991216279,
      0.4976839697770127,
      0.633260387758601,
      0.6723809837800083,
      0.6180958346668722,
      0.6198527017939918,
      0.5748811345198537,
      0.43454373985791755,
      0.434543740069337
    ],
    "yaw": [
      -2.3430014849724428,
      -2.28032335547813,
      -2.1997841032855514,
      -2.1085509833265865,
      -2.0120744761327076,
      -1.9065622947506826,
      -1.7948511321261025,
      -1.684110135121086,
      -1.6002649732309768,
      -1.55136581043766
    ],
    "yaw_diff": [
      0.12535625898862524,
      0.16107850438515747,
      0.18246623991792976,
      0.1929530143877578,
      0.21102436276405,
      0.22342232524916028,
      0.22148199401003277,
      0.16769032378021853,
      0.0977983255866337,
      0.0977983255866337
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.691710723702161,
    "v_std": 0.29434385562522103,
    "vy_max": 0.05532723772898494,
    "a_max": 0.6723809837800083,
    "ax_avg": 0.19836157527303888,
    "a_std": 0.08891073323649994,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "b868adf3ec2e56a5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "b868adf3ec2e56a5",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "ab7d0c4a928e5ec9": {
    "vx_ego": [
      4.320003753785631,
      4.87332895247013,
      5.511006753744208,
      6.05560384883905,
      6.5827636751529335,
      7.187834440724436,
      7.84886061444102,
      8.43211534037474,
      8.916476214007956,
      9.393865515231395
    ],
    "vy_ego": [
      -0.2520281091557928,
      -0.01921953080440275,
      -0.023673700565661093,
      -0.03718326565766761,
      -0.05667012704394114,
      -0.18460137361369267,
      -0.26693917596797867,
      -0.22961789975290747,
      -0.14422961990268257,
      0.06196758877638381
    ],
    "v_ego": [
      4.327349142434267,
      4.873366851505021,
      5.511057601215282,
      6.055718006093025,
      6.5830076033840434,
      7.190204559983285,
      7.85339859351287,
      8.43524116390693,
      8.917642640195162,
      9.394069900757199
    ],
    "ax_ego": [
      0.8536264372008681,
      1.4548494623720876,
      1.1892641634352,
      1.059491547556712,
      1.1006859579462347,
      1.3216552177820489,
      1.3512625994033356,
      1.0315191501662204,
      0.9417039618492318,
      0.9725331727751679
    ],
    "ay_ego": [
      2.7108032500541785,
      2.4414228242263714,
      2.9867927503698666,
      3.261400037511206,
      3.279315357644741,
      2.3326676372265496,
      0.9995688817095685,
      0.8874385859113253,
      1.0001295402295902,
      0.9701776532445386
    ],
    "a_ego": [
      2.842029618915423,
      2.8420296206791766,
      3.2148530579317645,
      3.429176656870015,
      3.459106646650935,
      2.681065239872877,
      1.6807880776077562,
      1.3607273793541212,
      1.3737050079993123,
      1.3737050087275706
    ],
    "yaw": [
      -1.5476451488404113,
      -1.3153121183437384,
      -1.0562139400988144,
      -0.7861965066502006,
      -0.525619468775937,
      -0.3032969823475892,
      -0.18163224678756035,
      -0.12853880760489095,
      -0.08404637947542018,
      -0.052755122371760776
    ],
    "yaw_diff": [
      0.46466606099334573,
      0.518196356489848,
      0.5400348668972277,
      0.5211540757485271,
      0.4446449728566957,
      0.24332947112005765,
      0.1061868783653388,
      0.08898485625894154,
      0.0625825142073188,
      0.0625825142073188
    ],
    "min_front_frame": [
      6,
      74.25686838360362
    ],
    "v_avg": 6.914105606298709,
    "v_std": 1.6464404457377126,
    "vy_max": 0.26693917596797867,
    "a_max": 3.459106646650935,
    "ax_avg": 1.1276591670487108,
    "a_std": 0.8373754673787511,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ab7d0c4a928e5ec9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 27.913099833209582,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      74.25686838360362,
      75.21206265188621,
      75.93514138354587,
      76.49810924916775
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ab7d0c4a928e5ec9",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a65539b18da350df": {
    "vx_ego": [
      3.6438962585314485,
      3.8023909888111707,
      3.9874189804044327,
      4.180703635486112,
      4.38737438315712,
      4.593271662620255,
      4.790034016238329,
      4.994715630895754,
      5.2025985552863965,
      5.447500057080529
    ],
    "vy_ego": [
      -0.0068808545067442495,
      0.01975749343614175,
      0.02552987331565837,
      0.0497674530080352,
      0.007852492594547344,
      -0.014261005346003053,
      -0.02942512077483317,
      -0.049066387746663886,
      -0.06210694149983764,
      0.040632693792235886
    ],
    "v_ego": [
      3.6439027551648837,
      3.802442319133753,
      3.9875007084289074,
      4.180999842997569,
      4.3873814103202,
      4.593293801065171,
      4.790124394465441,
      4.994956630834833,
      5.202969248386018,
      5.447651593824369
    ],
    "ax_ego": [
      0.26448158803843236,
      0.36460245364612487,
      0.37132205165078486,
      0.39206100219707624,
      0.42838970901950174,
      0.40918316749614836,
      0.40194931390919963,
      0.44809540438681733,
      0.40663969412816187,
      0.5746398065316582
    ],
    "ay_ego": [
      0.9067489106654475,
      0.8713260869275794,
      0.9811683564853022,
      1.1237191889456146,
      1.270927091540916,
      1.42575173238913,
      1.5488678869372918,
      1.6127563164081122,
      1.4702511698743967,
      1.4130758737999571
    ],
    "a_ego": [
      0.9445337989740266,
      0.9445337998003578,
      1.0490812217412993,
      1.190149841426854,
      1.3411835872864182,
      1.4833067339470911,
      1.600173422519468,
      1.6738495833099365,
      1.525448898966359,
      1.5254488953636742
    ],
    "yaw": [
      2.221032742855749,
      2.333531092774224,
      2.450844640456857,
      2.5736810401907446,
      2.723087466122692,
      2.8777585662489527,
      3.0391145011351997,
      -3.078679966900779,
      -2.925411523540176,
      -2.8090110048594443
    ],
    "yaw_diff": [
      0.22499669983695014,
      0.2346270953652656,
      0.24567279946777543,
      0.29881285186389483,
      0.30934220025252124,
      0.322711869772494,
      0.33078167828721483,
      0.30653688672120616,
      0.23280103736146351,
      0.23280103736146351
    ],
    "min_front_frame": [
      7,
      16.375182995101714
    ],
    "v_avg": 4.503122270462114,
    "v_std": 0.5767632588189081,
    "vy_max": 0.06210694149983764,
    "a_max": 1.6738495833099365,
    "ax_avg": 0.40613641910039056,
    "a_std": 0.26207764295483243,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "a65539b18da350df",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.901593768057303,
    "right_rear_min": 8.196326028361076,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      56.09236571823985,
      -1,
      16.375182995101714,
      16.77726509202827,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a65539b18da350df",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1371cce68aa95a4e": {
    "vx_ego": [
      1.2173547220514611,
      1.7700697219673356,
      2.2368223773968463,
      2.722246600195593,
      3.4073271353109655,
      4.229436579823252,
      5.0817198713383736,
      5.902852503082135,
      6.648109571470821,
      7.337594403130894
    ],
    "vy_ego": [
      0.038854291818451236,
      0.025232367587114557,
      0.019121298661834096,
      -0.003039768923530195,
      -0.028602064771462654,
      -0.022892716921421252,
      0.015053564088979066,
      0.06296388787143226,
      0.08658786750726044,
      0.06536627021020491
    ],
    "v_ego": [
      1.21797462013529,
      1.7702495567008545,
      2.2369041043562405,
      2.722248297358559,
      3.407447180094744,
      4.229498535197176,
      5.081742167854158,
      5.903188301614554,
      6.6486734265627305,
      7.337885551992414
    ],
    "ax_ego": [
      1.1050459812319395,
      1.104992339079695,
      0.7616037358529849,
      1.1794220407881757,
      1.561804616189871,
      1.72716369365494,
      1.6819369571786145,
      1.603186314413327,
      1.3780567200679705,
      1.3782317522468692
    ],
    "ay_ego": [
      -0.005144774957549836,
      -0.012043166781742887,
      0.043106436454094066,
      -0.047797724395442276,
      0.045047223127581804,
      0.053098463416779595,
      0.0765667342433064,
      0.04019611852861238,
      0.03631269765305978,
      0.028916521194478628
    ],
    "a_ego": [
      1.105057957460252,
      1.105057965579611,
      0.7628226630934573,
      1.1803901781844544,
      1.56245413099505,
      1.7279797080686445,
      1.683678827067663,
      1.6036901467138074,
      1.378535068736133,
      1.3785350659665738
    ],
    "yaw": [
      -0.650024858344823,
      -0.6437821093978573,
      -0.6370009121638798,
      -0.6283542455002817,
      -0.6201094254417912,
      -0.6151519567676709,
      -0.6163383337910097,
      -0.6197405780772443,
      -0.6204539413346458,
      -0.6150871856112223
    ],
    "yaw_diff": [
      0.012485497893931496,
      0.013562394467955041,
      0.01729333332719607,
      0.016489640116981175,
      0.00991493734824056,
      -0.002372754046677583,
      -0.006804488572469181,
      -0.0014267265148031338,
      0.010733511446846977,
      0.010733511446846977
    ],
    "min_front_frame": [
      8,
      13.437811715350225
    ],
    "v_avg": 4.055581174186672,
    "v_std": 2.0192757925834273,
    "vy_max": 0.08658786750726044,
    "a_max": 1.7279797080686445,
    "ax_avg": 1.3481444150704387,
    "a_std": 0.2930628207229894,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "1371cce68aa95a4e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.507329065522223,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      46.64058729689439,
      45.81820017851421,
      44.82404150975223,
      43.57327760902631,
      42.025603367892224,
      40.0928864554911,
      37.737820539449196,
      35.01286254932626,
      13.437811715350225,
      14.975520046266647
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1371cce68aa95a4e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ef90f66b5d465ebf": {
    "vx_ego": [
      1.4622807020514796,
      0.8993078425350917,
      0.39362159201854136,
      0.06455512028932715,
      -0.05159252810288525,
      -0.047715761748404605,
      -0.025856823934323373,
      -0.015460995814262947,
      -0.010553095598656213,
      -0.008109315644665964
    ],
    "vy_ego": [
      0.030820906989719267,
      0.02208577912077379,
      -0.0016493205538503156,
      -0.020479071781161977,
      -0.007831514067934992,
      0.0022691866535891423,
      0.000702834549383576,
      0.0003178746614062429,
      0.000235665875494498,
      0.0004511805387874716
    ],
    "v_ego": [
      1.4626054765041177,
      0.899579000024174,
      0.39362504742648224,
      0.06772559292163843,
      0.05218353733356208,
      0.04776968837347947,
      0.025866374318299912,
      0.015464263185455055,
      0.010555726650460864,
      0.008121857183145042
    ],
    "ax_ego": [
      -1.1259761029535977,
      -1.125986867757301,
      -0.896745540400034,
      -0.4194974417186441,
      -0.04509164862630803,
      0.06059663777856401,
      0.026839273096132085,
      0.014744033579400033,
      0.0048875771059140845,
      0.004887564023906232
    ],
    "ay_ego": [
      -0.016249671507620633,
      -0.015485546639590418,
      -0.0798802571874283,
      0.004740447706029952,
      0.04584666989706792,
      -0.005480049836010356,
      -0.0007801383330482242,
      -0.0007605077735171544,
      0.0004313166356137138,
      0.00043140616926053545
    ],
    "a_ego": [
      1.1260933514796527,
      1.1260933480474098,
      0.9002962955136928,
      0.41952422510856374,
      0.06430531794874465,
      0.060843927028682555,
      0.026850608859902057,
      0.014763634317608108,
      0.004906571512411965,
      0.004906566352415763
    ],
    "yaw": [
      -1.5405682815811494,
      -1.5398896510910212,
      -1.5400617922814015,
      -1.5397973812339059,
      -1.5397781034620264,
      -1.5396342295065604,
      -1.5396743351755848,
      -1.5396638464747596,
      -1.5396563460066202,
      -1.5396741718693185
    ],
    "yaw_diff": [
      0.0013572609802565694,
      -0.0003442823807606743,
      0.000528822094991277,
      3.855554375897796e-05,
      0.00028774791093200136,
      -8.021133804891889e-05,
      2.097740165041273e-05,
      1.500093627893051e-05,
      -3.5651725396768086e-05,
      -3.5651725396768086e-05
    ],
    "min_front_frame": [
      9,
      9.275529985600784
    ],
    "v_avg": 0.29834965639208144,
    "v_std": 0.4715877523612224,
    "vy_max": 0.030820906989719267,
    "a_max": 1.1260933514796527,
    "ax_avg": -0.3501342515871968,
    "a_std": 0.46112282540126875,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ef90f66b5d465ebf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.034097183635775,
    "right_rear_min": 20.912249890730635,
    "speed_mode": "decelerating",
    "front_frame": [
      10.278885322907948,
      9.68031617193139,
      9.358283059947576,
      9.297672435806243,
      9.276856464876483,
      9.310677764721728,
      9.296836817767556,
      9.313856833547916,
      9.295825117594282,
      9.275529985600784
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ef90f66b5d465ebf",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "14b6e7ce317d531f": {
    "vx_ego": [
      6.569225073627351,
      5.981344032955743,
      5.396114433278048,
      4.73710851623102,
      4.036607942786872,
      3.3722391435604497,
      2.715092660748109,
      2.1123823580117236,
      1.5970544804477638,
      1.1192320942636502
    ],
    "vy_ego": [
      -0.07291028065079175,
      -0.06389640273061659,
      -0.016546153202579017,
      0.01101592678566865,
      -0.014865346801367307,
      -0.0638320059687365,
      -0.06924137913533679,
      -0.043119499983670706,
      -0.0362331102540262,
      -0.019543539611466487
    ],
    "v_ego": [
      6.569629668177564,
      5.981685313593251,
      5.3961398010260515,
      4.737121324727856,
      4.036635314504592,
      3.3728432169828633,
      2.715975427914032,
      2.1128224056266562,
      1.5974654461981195,
      1.1194027116146992
    ],
    "ax_ego": [
      -1.1753681229894068,
      -1.1711502914559915,
      -1.168176449811704,
      -1.468298421143011,
      -1.3337447514217824,
      -1.3244812435330702,
      -1.3056639763295335,
      -1.1056138078711104,
      -0.9555856439978745,
      -0.9555259281924524
    ],
    "ay_ego": [
      0.22891775498408362,
      0.2496007741157723,
      0.20301314212645072,
      0.02678902293500851,
      -0.11938795987522832,
      -0.15661612843789408,
      0.08602187853535925,
      -0.004797518601935669,
      0.03692626220540829,
      0.03844043279043591
    ],
    "a_ego": [
      1.1974529481723255,
      1.1974529433830152,
      1.1856856892830963,
      1.4685427829249207,
      1.3390774984698686,
      1.3337088048587604,
      1.3084946246245723,
      1.10562421660345,
      0.9562988402457127,
      0.956298837352197
    ],
    "yaw": [
      2.5011162342027835,
      2.5187444677797366,
      2.530312392747976,
      2.5361681196557324,
      2.53679317960422,
      2.5313832741006794,
      2.527358968550761,
      2.524924291450768,
      2.525548373763746,
      2.5271329754819805
    ],
    "yaw_diff": [
      0.03525646715390618,
      0.023135849936478436,
      0.011711453815513195,
      0.0012501198969747662,
      -0.010819811007080737,
      -0.00804861109983701,
      -0.00486935419998602,
      0.0012481646259558943,
      0.0031692034364692034,
      0.0031692034364692034
    ],
    "min_front_frame": [
      9,
      9.032650024209058
    ],
    "v_avg": 3.7639720630365687,
    "v_std": 1.7927736835986383,
    "vy_max": 0.07291028065079175,
    "a_max": 1.4685427829249207,
    "ax_avg": -1.1963608636745937,
    "a_std": 0.1577261938361514,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "14b6e7ce317d531f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.889778343587895,
    "right_rear_min": 29.114843376168395,
    "speed_mode": "decelerating",
    "front_frame": [
      23.316509181369188,
      20.781583059388286,
      18.314834514598516,
      15.874463834446262,
      15.135266964448926,
      13.290065530561517,
      11.79471916638652,
      10.681064038036222,
      9.733231687296081,
      9.032650024209058
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "14b6e7ce317d531f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c20397c103e65d12": {
    "vx_ego": [
      8.624741233904158,
      8.62310537699589,
      8.682824317048977,
      8.837267962790675,
      9.002675633320838,
      9.076841583115502,
      9.119001949930762,
      9.222239393384482,
      9.352035311134944,
      9.485885681622463
    ],
    "vy_ego": [
      -0.0007700958777334677,
      0.03834089793863438,
      0.03142438066264397,
      0.0020097203194557878,
      -0.03799674491404126,
      -0.01956025093575775,
      0.0065361760225846055,
      0.02959541281685052,
      -0.058351212918289264,
      -0.018539554075281295
    ],
    "v_ego": [
      8.624741268284764,
      8.623190614107411,
      8.682881181522472,
      8.837268191310152,
      9.002755817604564,
      9.07686265889219,
      9.119004292379627,
      9.222286881102344,
      9.352217348028429,
      9.485903798788778
    ],
    "ax_ego": [
      -0.003778550063959857,
      -0.0017645850801853297,
      0.242390959957476,
      0.3756262059609565,
      0.2858433738275358,
      0.01024787055969174,
      0.15815164131506823,
      0.25498264999229103,
      0.2666155830143293,
      0.2707364364478516
    ],
    "ay_ego": [
      -0.15130524560977643,
      -0.1513421374431949,
      -0.22181040712570485,
      -0.1538460047169261,
      -0.05324554473998164,
      -0.05463198988157841,
      0.017102639268456572,
      0.24243985890483236,
      0.32297601264800957,
      0.3195295785578172
    ],
    "a_ego": [
      0.15135241917333406,
      0.1513524242500929,
      0.3285623748672049,
      0.4059108766367112,
      0.29076024899522585,
      0.055584828590444384,
      0.15907369965081264,
      0.3518426309913087,
      0.41880469654969005,
      0.4188046914658644
    ],
    "yaw": [
      1.0148409355851429,
      1.0015320864759678,
      0.9915151028178357,
      0.9841382003414312,
      0.982820748488265,
      0.9778169199314197,
      0.9739093285340634,
      0.9784762597892636,
      1.0031689978148144,
      1.0159962824700577
    ],
    "yaw_diff": [
      -0.02661769821835014,
      -0.020033967316264167,
      -0.014753804952809091,
      -0.0026349037063324587,
      -0.010007657113690449,
      -0.007815182794712605,
      0.00913386251040027,
      0.04938547605110166,
      0.025654569310486597,
      0.025654569310486597
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.002711205202074,
    "v_std": 0.2897283923242642,
    "vy_max": 0.058351212918289264,
    "a_max": 0.41880469654969005,
    "ax_avg": 0.18590515859310552,
    "a_std": 0.12635129148775506,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "c20397c103e65d12",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "c20397c103e65d12",
    "merging_vehicles": "No"
  },
  "48b2f85cc68c5a0a": {
    "vx_ego": [
      7.657617025570108,
      7.344496035065372,
      6.983583778824913,
      6.526332975599186,
      5.981344032955743,
      5.396114433278048,
      4.73710851623102,
      4.036607942786872,
      3.3722391435604497,
      2.7105485891914345
    ],
    "vy_ego": [
      -0.05507559151950758,
      -0.013385869309923137,
      -0.039165151436873824,
      -0.06477715210739499,
      -0.06389640273061659,
      -0.016546153202579017,
      0.01101592678566865,
      -0.014865346801367307,
      -0.0638320059687365,
      -0.13123308398835976
    ],
    "v_ego": [
      7.657815082063709,
      7.344508233407336,
      6.983693600449087,
      6.526654440663185,
      5.981685313593251,
      5.3961398010260515,
      4.737121324727856,
      4.036635314504592,
      3.3728432169828633,
      2.713723599908578
    ],
    "ax_ego": [
      -0.6285788526170457,
      -0.6210784511695067,
      -0.8215531841242973,
      -1.0037997282578892,
      -1.1711502914559915,
      -1.168176449811704,
      -1.468298421143011,
      -1.3337447514217824,
      -1.3244812435330702,
      -1.3238402505727511
    ],
    "ay_ego": [
      0.37352111865519966,
      0.3858639193772133,
      0.25437510215022024,
      0.19638523842051187,
      0.2496007741157723,
      0.20301314212645072,
      0.02678902293500851,
      -0.11938795987522832,
      -0.15661612843789408,
      -0.16194496223811994
    ],
    "a_ego": [
      0.7311835611108838,
      0.7311835657235861,
      0.8600327475966869,
      1.0228299254128683,
      1.1974529433830152,
      1.1856856892830963,
      1.4685427829249207,
      1.3390774984698686,
      1.3337088048587604,
      1.3337088062357654
    ],
    "yaw": [
      2.435109677280238,
      2.454862926055635,
      2.4807116005655265,
      2.5011162342027835,
      2.5187444677797366,
      2.530312392747976,
      2.5361681196557324,
      2.53679317960422,
      2.5313832741006794,
      2.527358968550761
    ],
    "yaw_diff": [
      0.039506497550794606,
      0.051697349019782735,
      0.04080926727451395,
      0.03525646715390618,
      0.023135849936478436,
      0.011711453815513195,
      0.0012501198969747662,
      -0.010819811007080737,
      -0.00804861109983701,
      -0.00804861109983701
    ],
    "min_front_frame": [
      9,
      11.79471916638652
    ],
    "v_avg": 5.475081992732651,
    "v_std": 1.6297819926793564,
    "vy_max": 0.13123308398835976,
    "a_max": 1.4685427829249207,
    "ax_avg": -1.0864701624107047,
    "a_std": 0.2550517154114558,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "48b2f85cc68c5a0a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.713610806020329,
    "right_rear_min": 22.13135153628336,
    "speed_mode": "decelerating",
    "front_frame": [
      26.032083785284794,
      22.337363078969975,
      18.800242461793292,
      23.316509181369188,
      20.781583059388286,
      18.314834514598516,
      15.874463834446262,
      15.135266964448926,
      13.290065530561517,
      11.79471916638652
    ],
    "safe_frame": [
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "48b2f85cc68c5a0a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ea3b45489faf5c70": {
    "vx_ego": [
      1.0775902675429876,
      1.7939815785041844,
      2.434173433221475,
      2.88470658609795,
      3.1765531802962066,
      3.3791085774221505,
      3.5607571994845104,
      3.8162243901444066,
      4.1198866294753556,
      4.454539168710912
    ],
    "vy_ego": [
      0.10367812502230767,
      0.004340142567111682,
      -0.0682239500611812,
      -0.07499879589221092,
      -0.026619392822311738,
      0.007168616590481625,
      -0.001239177361388899,
      0.02946509877975917,
      0.07583963603024114,
      -0.033768381760984734
    ],
    "v_ego": [
      1.0825663667006789,
      1.7939868285051224,
      2.435129321075818,
      2.885681359274127,
      3.1766647130794547,
      3.3791161813515336,
      3.560757415107256,
      3.8163381385798547,
      4.12058460538344,
      4.454667160314726
    ],
    "ax_ego": [
      1.4327528868817012,
      1.4343214938020208,
      1.1247505364557198,
      0.6646080506533737,
      0.50246497637472,
      0.35016848376851695,
      0.4091609108835056,
      0.5887459154447124,
      0.6244834749300089,
      0.7190495465044221
    ],
    "ay_ego": [
      -0.22434903921725602,
      -0.21409155593898155,
      -0.37038735527944017,
      -0.6689952589373156,
      -1.071513395186767,
      -1.554446895170887,
      -1.8034987915876701,
      -1.484558806490099,
      -1.0467717577456572,
      -0.9842146635885407
    ],
    "a_ego": [
      1.4502114763942378,
      1.450211481786996,
      1.1841666108315703,
      0.9430050463671354,
      1.1834745491762468,
      1.59339986096747,
      1.8493297548715335,
      1.5970399503081127,
      1.21889733910391,
      1.2188973518516313
    ],
    "yaw": [
      -2.0456461441535962,
      -2.052801477560343,
      -2.0869659952693587,
      -2.1800436556241927,
      -2.3381932970064754,
      -2.5468073152476425,
      -2.785683533620866,
      -3.0172425053151812,
      3.0949986109219303,
      3.0019425285872376
    ],
    "yaw_diff": [
      -0.014310666813493356,
      -0.06832903541803148,
      -0.186155320709668,
      -0.3162992827645654,
      -0.4172280364823342,
      -0.47775243674644674,
      -0.46311794338863077,
      -0.3418883818849494,
      -0.1861121646693853,
      -0.1861121646693853
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.0705492089372015,
    "v_std": 0.997043528370947,
    "vy_max": 0.10367812502230767,
    "a_max": 1.8493297548715335,
    "ax_avg": 0.7850506275698701,
    "a_std": 0.25325500998736034,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "ea3b45489faf5c70",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "ea3b45489faf5c70",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "5b14b00087b051e3": {
    "vx_ego": [
      5.115809259937858,
      5.138269176622177,
      5.264768367638105,
      5.400138551545112,
      5.510105636849223,
      5.634246907168244,
      5.760814281442155,
      5.790114632690978,
      5.762163684796643,
      5.80335450888839
    ],
    "vy_ego": [
      0.0473352631771955,
      0.04651816563796851,
      0.050007502828314565,
      0.0496113075615556,
      0.019315850287903613,
      -0.06659933521761086,
      -0.06968528336951185,
      -0.05699726149672779,
      -0.06858175179677817,
      -0.013416798107512506
    ],
    "v_ego": [
      5.116028245739657,
      5.138479743188627,
      5.265005860891507,
      5.400366437356053,
      5.5101394929084995,
      5.634640510483907,
      5.761235737581494,
      5.790395163330419,
      5.762571803202866,
      5.803370018041816
    ],
    "ax_ego": [
      -0.1011158635114584,
      0.16048178080912973,
      0.32133164961092575,
      0.19951001604883545,
      0.2023482747385589,
      0.2544878237478376,
      0.24330040475709921,
      -0.11898661038052497,
      -0.0019617510445399944,
      0.14678698133760312
    ],
    "ay_ego": [
      1.634147629421698,
      1.6293889976961153,
      1.7144508295777632,
      1.8664582630840083,
      1.691307490377023,
      0.8993208563788144,
      -0.16076408123938066,
      -0.9521160911242531,
      -1.2597992174686958,
      -1.2512200094038577
    ],
    "a_ego": [
      1.637273004907313,
      1.6372730095450851,
      1.7443037797590073,
      1.877091019193896,
      1.7033689709793047,
      0.9346347174986785,
      0.29161648919721683,
      0.9595222063233211,
      1.2598007448806732,
      1.2598007500485129
    ],
    "yaw": [
      2.689790130995898,
      2.8497635267351376,
      3.010084054248873,
      -3.10601223933279,
      -2.9377984394694368,
      -2.806185440000135,
      -2.7732479940268906,
      -2.8232153561167115,
      -2.917113726254181,
      -3.0354522102342147
    ],
    "yaw_diff": [
      0.31994679147847904,
      0.32064105502747076,
      0.334178027195847,
      0.3364275997267061,
      0.2632259989386032,
      0.0658748919464891,
      -0.09993472417964178,
      -0.18779674027493876,
      -0.23667696796006776,
      -0.23667696796006776
    ],
    "min_front_frame": [
      1,
      69.44103217635991
    ],
    "v_avg": 5.518223301272484,
    "v_std": 0.2591796803033889,
    "vy_max": 0.06968528336951185,
    "a_max": 1.877091019193896,
    "ax_avg": 0.13061827061134662,
    "a_std": 0.4669963049999285,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "5b14b00087b051e3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      69.44103217635991,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5b14b00087b051e3",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "956bda5985a559f1": {
    "vx_ego": [
      5.332058207758192,
      5.304539487424916,
      5.311346475477169,
      5.319852732004732,
      5.362088572829441,
      5.45353385658538,
      5.610162015893375,
      5.8547661368461466,
      6.158799029365274,
      6.4936164452642595
    ],
    "vy_ego": [
      0.031461429164341775,
      0.010225473121288964,
      -0.03926806438676289,
      -0.04160007960231438,
      -0.01688334489689991,
      -0.025387551466331537,
      -0.042681418394212134,
      -0.07801599486352151,
      -0.06384832414126862,
      0.10145780603239718
    ],
    "v_ego": [
      5.332151024909794,
      5.304549343153548,
      5.31149163262491,
      5.320015381259826,
      5.362115152642936,
      5.453592948936734,
      5.610324371018931,
      5.855285903575922,
      6.159129978544558,
      6.494408997330807
    ],
    "ax_ego": [
      -0.127596771877245,
      0.008310069796615333,
      0.04841880825570316,
      0.0246075695683442,
      0.15461304276239118,
      0.22516316117162438,
      0.42423541372456486,
      0.5759801981372603,
      0.6436951135516193,
      0.6910335622680269
    ],
    "ay_ego": [
      1.1759188483391663,
      1.1827920374208356,
      1.5009257077893747,
      1.695156834318864,
      1.5982649024704583,
      1.615311123067399,
      1.6457896677746906,
      1.4690051427419686,
      0.9728429011830795,
      0.9398081282198272
    ],
    "a_ego": [
      1.1828212350447571,
      1.1828212295381564,
      1.5017064830704894,
      1.6953354315350144,
      1.6057259702269089,
      1.6309287150130323,
      1.6995879844279846,
      1.5778876062789102,
      1.1665190566778338,
      1.1665190534444323
    ],
    "yaw": [
      -3.0989847298431386,
      -2.983873768400928,
      -2.848228363807377,
      -2.697841909151915,
      -2.5481351554402183,
      -2.3980380096214766,
      -2.2471402248912407,
      -2.1049049918339553,
      -2.005576484136003,
      -1.956086231627626
    ],
    "yaw_diff": [
      0.23022192288442067,
      0.2712908091871027,
      0.3007729093109237,
      0.29941350742339345,
      0.30019429163748335,
      0.3017955694604719,
      0.2844704661145707,
      0.19865701539590486,
      0.09898050501675382,
      0.09898050501675382
    ],
    "min_front_frame": [
      9,
      46.466003430687415
    ],
    "v_avg": 5.620306473399796,
    "v_std": 0.39653935467532264,
    "vy_max": 0.10145780603239718,
    "a_max": 1.6995879844279846,
    "ax_avg": 0.2668460167358905,
    "a_std": 0.22386992687946025,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "956bda5985a559f1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      49.92316776248526,
      46.466003430687415
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "956bda5985a559f1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "77761cd0edf15867": {
    "vx_ego": [
      4.714204366076601,
      5.41774333868908,
      5.978013500900751,
      6.241255333097605,
      6.287879531719711,
      6.217275156006995,
      6.097719185573256,
      5.989399774378439,
      5.892353285767493,
      5.800084028920861
    ],
    "vy_ego": [
      -0.014592923596928653,
      -0.019773094194417862,
      -0.004352705532585599,
      0.0325852877077355,
      0.04197742324415188,
      0.020935492635633324,
      -0.0030181416151999763,
      -0.015797710521569197,
      -0.04763145397861468,
      -0.1283434547661817
    ],
    "v_ego": [
      4.71422695238093,
      5.417779421420175,
      5.978015085544457,
      6.24134039561169,
      6.288019649260164,
      6.217310404053645,
      6.097719932506492,
      5.989420608454729,
      5.8925457995422565,
      5.801503838223686
    ],
    "ax_ego": [
      1.4070755366363237,
      1.4070762019971097,
      0.8340316391708782,
      0.21892592962308222,
      -0.032441343455165764,
      -0.2498195562695048,
      -0.2284025476557022,
      -0.2048084262359993,
      -0.18326018348137887,
      -0.18380094443339093
    ],
    "ay_ego": [
      -0.011015383932356237,
      -0.01093032846037878,
      0.07932965641647693,
      0.07245649041847291,
      -0.03336551371591143,
      -0.07740794771657693,
      -0.02336388165635775,
      0.0037221160021162353,
      -0.09507536313157622,
      -0.09402569872786402
    ],
    "a_ego": [
      1.4071186533066695,
      1.4071186553758936,
      0.8377958996827438,
      0.23060465230583055,
      0.04653706340867137,
      0.2615373798606704,
      0.22959441356807356,
      0.20484224565455234,
      0.20645488496092734,
      0.20645488416569252
    ],
    "yaw": [
      -0.7078959762651476,
      -0.7079564294693794,
      -0.7076653393595915,
      -0.7075023163293981,
      -0.7074418634158852,
      -0.7085010508566031,
      -0.7087024087621199,
      -0.707399704515538,
      -0.7058848586181327,
      -0.7001655629682106
    ],
    "yaw_diff": [
      -0.00012090640846373901,
      0.0005821802195757897,
      0.00032604606038688644,
      0.00012090582702573016,
      -0.002118374881435736,
      -0.00040271581103357157,
      0.002605408493163708,
      0.0030296917948107183,
      0.011438591299844036,
      0.011438591299844036
    ],
    "min_front_frame": [
      4,
      16.91344402352116
    ],
    "v_avg": 5.863788208699822,
    "v_std": 0.4534503836663325,
    "vy_max": 0.1283434547661817,
    "a_max": 1.4071186553758936,
    "ax_avg": 0.27845763058962525,
    "a_std": 0.49267954994928786,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "77761cd0edf15867",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.372843135115616,
    "right_rear_min": 4.006538722599703,
    "speed_mode": "accelerating",
    "front_frame": [
      17.05334460436391,
      17.460475225609994,
      17.619146517569586,
      17.287127978191542,
      16.91344402352116,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "77761cd0edf15867",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "e7b0fe1f4b13597c": {
    "vx_ego": [
      7.139210273256116,
      7.2669369137052096,
      7.478501517259549,
      7.70589578673958,
      7.948284904329417,
      8.252266758844183,
      8.6312297058148,
      9.059809091340709,
      9.48935985237945,
      9.913407338807648
    ],
    "vy_ego": [
      -0.03671130918121612,
      -0.038455750318754145,
      -0.07487601995488102,
      -0.09252098661034047,
      -0.07886699703828315,
      -0.14535193006108482,
      -0.10728951167412681,
      -0.07389050183918666,
      -0.05946017373010015,
      -0.06073162422235168
    ],
    "v_ego": [
      7.139304661238898,
      7.267038664580228,
      7.478876343543704,
      7.706451194230335,
      7.948676174282905,
      8.253546743230885,
      8.631896505047724,
      9.060110406490741,
      9.4895461387893,
      9.91359336443179
    ],
    "ax_ego": [
      0.13911991056176665,
      0.389352218471122,
      0.4944957826993518,
      0.46359732789722996,
      0.53673020537322,
      0.6775128739628462,
      0.8467001890753602,
      0.8707090316017361,
      0.8482793194836702,
      0.8483359458274793
    ],
    "ay_ego": [
      1.9102489705269095,
      1.8753160650604142,
      1.975728925799732,
      2.0294941214247353,
      1.847440699312343,
      0.9145961421024495,
      0.391980796242791,
      0.17357228250644155,
      0.032650051199900054,
      0.03114430281391173
    ],
    "a_ego": [
      1.9153081942376353,
      1.9153081981503812,
      2.036671516801177,
      2.081770609680858,
      1.9238285918541853,
      1.1382046378108286,
      0.933032772630942,
      0.8878409513912551,
      0.8489074329436836,
      0.8489074417041993
    ],
    "yaw": [
      -2.725113233240812,
      -2.593101871163751,
      -2.457543664103974,
      -2.323602280591466,
      -2.2015251584733946,
      -2.1079371747682334,
      -2.0736695951212267,
      -2.0614572464213365,
      -2.057455559283203,
      -2.0556805495049906
    ],
    "yaw_diff": [
      0.2640227241541222,
      0.2711164141195539,
      0.2678827670250161,
      0.2441542442361424,
      0.18717596741032239,
      0.06853515929401333,
      0.02442469739978037,
      0.008003374276267294,
      0.003550019556424644,
      0.003550019556424644
    ],
    "min_front_frame": [
      4,
      30.693895707765638
    ],
    "v_avg": 8.28890401958665,
    "v_std": 0.9094915526737767,
    "vy_max": 0.14535193006108482,
    "a_max": 2.081770609680858,
    "ax_avg": 0.6114832804953783,
    "a_std": 0.5295171999209728,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "e7b0fe1f4b13597c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.6131023340776345,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      30.693895707765638,
      32.41529111506726,
      33.95610381369672,
      35.35673279212695,
      36.43914387196534,
      37.24063147728265
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e7b0fe1f4b13597c",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "a760f4373fd751e4": {
    "vx_ego": [
      8.54843403091333,
      8.493641019135636,
      8.434742817003926,
      8.36155438364962,
      8.273594367717374,
      8.158427084399916,
      8.028129196505475,
      7.875621909330832,
      7.717763929515728,
      7.5841509203424415
    ],
    "vy_ego": [
      0.028041393716743634,
      0.03546256812149684,
      0.04757407529128699,
      0.06796303706742934,
      0.09507296093419804,
      0.11757743556926492,
      0.127777629323802,
      0.09838171783412131,
      0.04656391552069872,
      -0.02516253269761659
    ],
    "v_ego": [
      8.548480022825034,
      8.493715050299322,
      8.434876980824269,
      8.361830582183403,
      8.274140597634624,
      8.159274290329083,
      8.02914600180737,
      7.8762363741279255,
      7.717904396269927,
      7.584192662082291
    ],
    "ax_ego": [
      -0.10960938213484876,
      -0.10960295902603932,
      -0.12602670094015325,
      -0.16723310686565812,
      -0.185485638747572,
      -0.27580598545354773,
      -0.24645921854050437,
      -0.3646858090277478,
      -0.2671542002457461,
      -0.26738617300924095
    ],
    "ay_ego": [
      0.02023184729256132,
      0.020266623738035408,
      0.036068583378852964,
      0.14062858382441482,
      0.04614163550222236,
      0.09497737885231099,
      0.011043916199994827,
      -0.05539089502544994,
      -0.11194211061917876,
      -0.11138688481655422
    ],
    "a_ego": [
      0.11146095413575476,
      0.11146095578722962,
      0.13108650600582844,
      0.21850242703549336,
      0.1911386217079498,
      0.29170129260196637,
      0.24670653515589855,
      0.36886839192040205,
      0.2896591148899352,
      0.28965911624815827
    ],
    "yaw": [
      2.6146884258777545,
      2.6150056925010627,
      2.615238652003423,
      2.618069125060383,
      2.6204228461274877,
      2.621975636566792,
      2.6239911998619365,
      2.6262894238128407,
      2.627572042500881,
      2.6296494472857685
    ],
    "yaw_diff": [
      0.0006345332466164422,
      0.0004659190047204831,
      0.005660946113920318,
      0.004707442134209039,
      0.0031055808786089045,
      0.004031126590288814,
      0.004596447901808354,
      0.002565237376080276,
      0.004154809569775431,
      0.004154809569775431
    ],
    "min_front_frame": [
      0,
      59.81864995710461
    ],
    "v_avg": 8.147979695838325,
    "v_std": 0.31856024617517775,
    "vy_max": 0.127777629323802,
    "a_max": 0.36886839192040205,
    "ax_avg": -0.21194491739910584,
    "a_std": 0.08352887647086381,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a760f4373fd751e4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      59.81864995710461,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a760f4373fd751e4",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "f5a9eba40a9055f3": {
    "vx_ego": [
      0.6461581040978404,
      1.1690295539704807,
      1.7956251640376237,
      2.590487727111999,
      3.4866306236478457,
      4.442807860892472,
      5.428331872422047,
      6.4090426256549975,
      7.332743547341065,
      8.21029641499823
    ],
    "vy_ego": [
      -0.04020609014907851,
      -0.027431202237435982,
      -0.022962750864615553,
      -0.025406818231100414,
      0.007260631043676538,
      0.023286121122060174,
      0.011610543083131197,
      0.011158679152214634,
      0.016592147897968618,
      0.034219467005103366
    ],
    "v_ego": [
      0.6474077734908589,
      1.1693513453674271,
      1.7957719837586323,
      2.5906123157914847,
      3.4866381834830693,
      4.442868885331285,
      5.428344289179135,
      6.409052339744396,
      7.332762319238493,
      8.210367725872873
    ],
    "ax_ego": [
      1.045717000498815,
      1.0457054595301694,
      1.4606907550646138,
      1.7187584419190558,
      1.8657724816844716,
      1.959012231652286,
      1.983122424985412,
      1.9397243103193744,
      1.7550603746780864,
      1.7550880455541265
    ],
    "ay_ego": [
      0.024456691615090693,
      0.024945580284581277,
      -0.0061480910061320615,
      -0.003722671029217639,
      0.12961947862606898,
      -0.07289495068603288,
      0.002475216966136125,
      -0.006047402330799895,
      0.04538897979891556,
      0.04430579574368364
    ],
    "a_ego": [
      1.0460029516674387,
      1.046002958918825,
      1.460703693756626,
      1.718762473394044,
      1.8702695427799507,
      1.9603679750492735,
      1.9831239696950491,
      1.9397337371708838,
      1.7556471964071743,
      1.7556471886980836
    ],
    "yaw": [
      -1.5431505386713094,
      -1.5436180588070907,
      -1.5434566262726412,
      -1.5434675585049704,
      -1.5438626493919867,
      -1.5443292133052418,
      -1.5455312987527945,
      -1.545605770968813,
      -1.5449672531945544,
      -1.5443500796056138
    ],
    "yaw_diff": [
      -0.0009350402715626593,
      0.0003228650688988921,
      -2.1864464658349902e-05,
      -0.0007901817740325612,
      -0.0009331278265101162,
      -0.002404170895105473,
      -0.00014894443203683494,
      0.0012770355485169915,
      0.0012343471778812898,
      0.0012343471778812898
    ],
    "min_front_frame": [
      0,
      13.11160263697838
    ],
    "v_avg": 4.1513177161257655,
    "v_std": 2.5101064832988285,
    "vy_max": 0.04020609014907851,
    "a_max": 1.9831239696950491,
    "ax_avg": 1.652865152588641,
    "a_std": 0.33647311422715215,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f5a9eba40a9055f3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.661929778450457,
    "right_rear_min": 3.563855971764056,
    "speed_mode": "accelerating",
    "front_frame": [
      13.11160263697838,
      14.442135367275654,
      16.146424483741406,
      17.89730320370455,
      19.7529605622429,
      21.650873943023157,
      23.61454264447871,
      25.432052491083866,
      26.94458601418102,
      28.496506983131408
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f5a9eba40a9055f3",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "9ecb100495a5584e": {
    "vx_ego": [
      0.6238057295217201,
      0.3037082693953378,
      0.07185704791915738,
      0.0013837418818526573,
      0.003354057489557046,
      0.0037815220663035033,
      0.003416196472686186,
      0.002953129895783906,
      0.0026154133450270916,
      0.0025074671815502256
    ],
    "vy_ego": [
      -0.03940371872946852,
      -0.017761720921752405,
      -0.0042096178883095844,
      -0.0025554666810938347,
      -0.002838808825915998,
      -0.002202031273946618,
      -0.0016624720539353355,
      -0.0013068072586543285,
      -0.0011420912911428217,
      -0.0009934419610931197
    ],
    "v_ego": [
      0.6250489910669694,
      0.30422720395982555,
      0.07198024880772264,
      0.0029060542929845398,
      0.0043941480622928806,
      0.0043759399983751245,
      0.00379923830130587,
      0.0032293530919743512,
      0.0028539025005507946,
      0.002697094473060218
    ],
    "ax_ego": [
      -0.6401470433540808,
      -0.6400862967341585,
      -0.2873195674931658,
      0.005426313134418359,
      0.0024546920850734726,
      -0.0007444781091010516,
      -0.0007172839771655828,
      -0.001134940476838344,
      -0.00021589847510543106,
      -0.00021589642031746473
    ],
    "ay_ego": [
      0.04411238293715436,
      0.044985337744012144,
      0.00920160796881217,
      -0.0025849955371529086,
      0.0014514191789200823,
      0.0010962837345494863,
      0.0010611202983434715,
      0.00036165547851023584,
      0.0002972869778603589,
      0.0002972806610529533
    ],
    "a_ego": [
      0.6416651303003503,
      0.6416651368734256,
      0.28746687366316065,
      0.006010580351335605,
      0.0028516891249677615,
      0.0013251738306986167,
      0.001280809350159115,
      0.00119116941326686,
      0.00036741216468456233,
      0.00036740584609118063
    ],
    "yaw": [
      2.444070758047738,
      2.4454344860365342,
      2.4453971226061832,
      2.4453938417005903,
      2.4453741600965886,
      2.4454108148806735,
      2.4453521323144862,
      2.4453605113480443,
      2.4453670979257125,
      2.4453642919723837
    ],
    "yaw_diff": [
      0.0027274559775927187,
      -7.472686070197909e-05,
      -6.56181118596777e-06,
      -3.9363208003351247e-05,
      7.330956816975487e-05,
      -0.00011736513237448065,
      1.6758067116207087e-05,
      1.3173155336332343e-05,
      -5.611906657598809e-06,
      -5.611906657598809e-06
    ],
    "min_front_frame": [
      1,
      8.984456914352677
    ],
    "v_avg": 0.10255121745550613,
    "v_std": 0.19579102421106154,
    "vy_max": 0.03940371872946852,
    "a_max": 0.6416651368734256,
    "ax_avg": -0.15627003998204408,
    "a_std": 0.255966521691201,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9ecb100495a5584e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.003044725238667,
    "right_rear_min": 17.109851659251518,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.04605046118025,
      8.984456914352677,
      9.080527452108033,
      9.202807458622454,
      9.345414331109248,
      9.480332363777556,
      9.544251777887368,
      9.599271892227925,
      9.689863345647563,
      9.700503081526236
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9ecb100495a5584e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "516cb0d01d1f5b32": {
    "vx_ego": [
      7.2669159501819305,
      7.829492011035118,
      8.406034618567006,
      8.932617021064207,
      9.384788398639484,
      9.754194297202638,
      10.027782007791352,
      10.26770376231646,
      10.47481100773435,
      10.658858407940304
    ],
    "vy_ego": [
      0.2897208900580841,
      0.11441127818011454,
      -0.07859652393600669,
      -0.15472912850648513,
      -0.10164068411552751,
      -0.05649637224857873,
      -0.021191103043574522,
      -0.002370455781637304,
      0.016488787599151067,
      0.05376815688334613
    ],
    "v_ego": [
      7.272689022716742,
      7.830327904464636,
      8.406402049754803,
      8.933957015131334,
      9.385338785355898,
      9.754357909552924,
      10.027804398702248,
      10.267704035944364,
      10.474823985531653,
      10.658994022665288
    ],
    "ax_ego": [
      1.126155688065481,
      1.1284758523158935,
      1.1778737592179938,
      0.9375102187369159,
      0.8844694347564932,
      0.5971930277264426,
      0.49939352108851665,
      0.46560851038108464,
      0.36001270394187856,
      0.3728553051408288
    ],
    "ay_ego": [
      -0.4347724502128633,
      -0.42871431622862943,
      -0.20274392396114826,
      0.3284806000700226,
      0.6225701688254384,
      0.37152481345567295,
      0.36055222027160005,
      0.7030637344805977,
      0.5637486135803073,
      0.5553382454560989
    ],
    "a_ego": [
      1.2071676425527376,
      1.20716764129903,
      1.19519525239916,
      0.9933906154471673,
      1.081609816953325,
      0.7033279458249531,
      0.6159478812756539,
      0.8432614657869153,
      0.6688958411541077,
      0.6688958404997888
    ],
    "yaw": [
      -0.8645937949415341,
      -0.8699677274741511,
      -0.8656352605105617,
      -0.8532705272051071,
      -0.8331219951327639,
      -0.8119493403469018,
      -0.7970338527463805,
      -0.7726965817801097,
      -0.7440168507176993,
      -0.7210659341671589
    ],
    "yaw_diff": [
      -0.010747865065233952,
      0.008664933927178708,
      0.024729466610909245,
      0.04029706414468648,
      0.04234530957172411,
      0.02983097520104261,
      0.048674541932541615,
      0.05735946212482079,
      0.04590183310108076,
      0.04590183310108076
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.301239912981988,
    "v_std": 1.10042562535837,
    "vy_max": 0.2897208900580841,
    "a_max": 1.2071676425527376,
    "ax_avg": 0.7549548021371528,
    "a_std": 0.2331381134485207,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "516cb0d01d1f5b32",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.52178719294856,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "516cb0d01d1f5b32",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "7ccf4b40faff5ac4": {
    "vx_ego": [
      2.029534771099602,
      1.6566105463974798,
      1.2319855055079687,
      0.7789667162089231,
      0.37865573449955714,
      0.08765844289571548,
      -0.02605504891114332,
      -0.026058452468611187,
      -0.013668685600870551,
      -0.005215030243082714
    ],
    "vy_ego": [
      -0.011879601412277063,
      -0.0034135388450541315,
      0.003743124182023605,
      -0.002561022605002461,
      -0.010249071683021388,
      -0.008709648277686666,
      -0.003346108627857369,
      0.0012188907803643949,
      0.000245095187060701,
      0.00031863353197251554
    ],
    "v_ego": [
      2.0295695386046835,
      1.6566140632877662,
      1.231991191835545,
      0.7789709261571296,
      0.37879441487403537,
      0.08809007085944716,
      0.02626903151453232,
      0.026086943856905236,
      0.013670882842968345,
      0.005224755282686897
    ],
    "ax_ego": [
      -0.7458505760629881,
      -0.7458552022231368,
      -0.9526446566311768,
      -0.8594314482910799,
      -0.7417995733151,
      -0.4221860881840062,
      -0.03266510874168172,
      0.032651786215118196,
      0.016907305148234127,
      0.01690731401279018
    ],
    "ay_ego": [
      0.015965770076187824,
      0.015748231255944933,
      0.012160809793365035,
      -0.03723705922735565,
      0.0070938769855879436,
      -0.0008565603008017231,
      0.02230516895353557,
      -0.0040408187073865814,
      0.00014723221522321486,
      0.0001474447217021252
    ],
    "a_ego": [
      0.7460214391206307,
      0.7460214403561114,
      0.9527222717574956,
      0.8602377653251482,
      0.741833492140353,
      0.42218695710746723,
      0.039554138736062235,
      0.03290087170370639,
      0.016907946199958872,
      0.016907956915992214
    ],
    "yaw": [
      -0.746805461560174,
      -0.7470971261212365,
      -0.7472191553052306,
      -0.7471838501642489,
      -0.746913943611776,
      -0.7468109002733867,
      -0.7467334914147046,
      -0.7467653696721512,
      -0.7467877759499485,
      -0.7468010809992333
    ],
    "yaw_diff": [
      -0.0005833291221248871,
      -0.00024405836798835345,
      7.061028196342356e-05,
      0.0005398131049458854,
      0.00020608667677857184,
      0.00015481771736425287,
      -6.375651489332057e-05,
      -4.481255559452002e-05,
      -2.66100985695239e-05,
      -2.66100985695239e-05
    ],
    "min_front_frame": [
      5,
      10.979741245967388
    ],
    "v_avg": 0.6235281819115699,
    "v_std": 0.7247811105416293,
    "vy_max": 0.011879601412277063,
    "a_max": 0.9527222717574956,
    "ax_avg": -0.4433966248073027,
    "a_std": 0.37406288970311974,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7ccf4b40faff5ac4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.201138997928986,
    "speed_mode": "decelerating",
    "front_frame": [
      13.33944051409006,
      12.514411163914748,
      11.829338507661179,
      11.325753453630963,
      11.037028384498749,
      10.979741245967388,
      10.992615050977243,
      10.998545295966737,
      10.994344361198905,
      10.984880794909417
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7ccf4b40faff5ac4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "82bebb2c1ca55736": {
    "vx_ego": [
      8.401485992067036,
      8.408733662302884,
      8.45645562290178,
      8.535758584347096,
      8.629776348698448,
      8.68281103235622,
      8.681189316777363,
      8.695951497965492,
      8.739074998852487,
      8.804297619908796
    ],
    "vy_ego": [
      -0.09008174865812979,
      -0.02779373027006704,
      -0.014596256866434842,
      -0.023777623458393737,
      -0.041886888355647134,
      -0.04306385026547632,
      -0.035670602315082345,
      -0.02415439283565135,
      -0.00147742001075013,
      0.0025100273207527835
    ],
    "v_ego": [
      8.401968911888448,
      8.40877959605245,
      8.456468219819763,
      8.535791702333913,
      8.629878002612276,
      8.68291782287536,
      8.681262600889282,
      8.695985044240906,
      8.739075123738123,
      8.804297977702076
    ],
    "ax_ego": [
      0.012399229108149078,
      0.01356669322945845,
      0.1767182048381186,
      0.14037019067372053,
      0.23579833590126348,
      -0.023525024553599776,
      0.016894596118618738,
      0.04202544018625654,
      0.13043725144929194,
      0.13045173496068763
    ],
    "ay_ego": [
      -0.09110789416540863,
      -0.09094137722584826,
      -0.04182691564457695,
      -0.05452664025472162,
      0.0029643262626311007,
      0.018642300507944815,
      -0.02592982893302709,
      0.04298285043931567,
      0.02046553515802406,
      0.02037300447947562
    ],
    "a_ego": [
      0.0919477528911483,
      0.09194775286496275,
      0.18160070152272484,
      0.15058866135019758,
      0.23581696810025443,
      0.030016031524436933,
      0.030948075974239434,
      0.06011375096213183,
      0.13203300608162388,
      0.13203300521375036
    ],
    "yaw": [
      -2.5520606727849033,
      -2.564886291036374,
      -2.570400832423771,
      -2.572154465063612,
      -2.5715455764310136,
      -2.5707884307737148,
      -2.571850455050905,
      -2.5726855264769126,
      -2.5734682641886204,
      -2.5727589150003936
    ],
    "yaw_diff": [
      -0.025651236502941543,
      -0.011029082774793864,
      -0.003507265279681704,
      0.0012177772651966734,
      0.0015142913145975712,
      -0.002124048554380309,
      -0.0016701428520153883,
      -0.0015654754234155632,
      0.0014186983764536976,
      0.0014186983764536976
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.60364250021526,
    "v_std": 0.13602841880462088,
    "vy_max": 0.09008174865812979,
    "a_max": 0.23581696810025443,
    "ax_avg": 0.08751366519119652,
    "a_std": 0.06262964520909826,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "82bebb2c1ca55736",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.031733497269643,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "82bebb2c1ca55736",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e610e8c900a75a0b": {
    "vx_ego": [
      4.8639336162635995,
      4.768571256630082,
      4.726610342651948,
      4.685501861012236,
      4.654734877124935,
      4.6655710242119355,
      4.685630627930144,
      4.684457294353472,
      4.672006195496226,
      4.662312529875724
    ],
    "vy_ego": [
      -0.007051949280004743,
      -0.011378043118804193,
      -0.01244395954634403,
      -0.020477820442389466,
      -0.02678128392905421,
      -0.04117636052192064,
      -0.06289729040496006,
      -0.040331362529083536,
      -0.03492573308400315,
      -0.003669245219408479
    ],
    "v_ego": [
      4.863938728377213,
      4.768584830893104,
      4.726626723509437,
      4.685546609594146,
      4.654811920313448,
      4.6657527232625435,
      4.686052757976304,
      4.684630909839633,
      4.672136737894833,
      4.662313973725563
    ],
    "ax_ego": [
      -0.30495591306915937,
      -0.06836241227878137,
      -0.0930465695216027,
      -0.06741201191669344,
      -0.04647279633946538,
      0.07277011510755291,
      -0.0008760300556026491,
      -0.005016645330540699,
      -0.042662088847256086,
      -0.0014554263751398455
    ],
    "ay_ego": [
      1.48595558853708,
      1.5153840074773148,
      1.5010548106251025,
      1.420012241143139,
      1.3534952933496363,
      0.7944233123225908,
      0.03791332774554389,
      -0.18778973129602833,
      -0.5886080452588659,
      -0.5901502989625745
    ],
    "a_ego": [
      1.5169252189941416,
      1.5169252155365407,
      1.5039359057488124,
      1.4216114604022496,
      1.3542928892670252,
      0.7977492643771996,
      0.03792344722463066,
      0.1878567270837192,
      0.5901520861339679,
      0.5901520936432824
    ],
    "yaw": [
      2.7098570169613634,
      2.867190262112575,
      3.0258185006529286,
      -3.1006980666227624,
      -2.951073136310816,
      -2.8325156807049603,
      -2.7834722425509124,
      -2.796284839368411,
      -2.838880947817933,
      -2.9087678635810166
    ],
    "yaw_diff": [
      0.31466649030242344,
      0.3172564770807069,
      0.3133374798077906,
      0.2992498606238927,
      0.23711491121171147,
      0.09808687630809576,
      -0.0256251936349976,
      -0.08519221689904377,
      -0.13977383152616696,
      -0.13977383152616696
    ],
    "min_front_frame": [
      2,
      33.70992857991544
    ],
    "v_avg": 4.7070395915386225,
    "v_std": 0.0615177056244401,
    "vy_max": 0.06289729040496006,
    "a_max": 1.5169252189941416,
    "ax_avg": -0.05574897786266887,
    "a_std": 0.5504907012176892,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "e610e8c900a75a0b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      67.7036648973201,
      33.70992857991544,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e610e8c900a75a0b",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "2914f532ca9e56ce": {
    "vx_ego": [
      2.0166368690476992,
      1.5315742603542954,
      1.0300472000891883,
      0.5346849545702272,
      0.15806325075123914,
      -0.008671787093549118,
      -0.02927433716662875,
      -0.018333433989826287,
      -0.01068783737683867,
      -0.005546479561282046
    ],
    "vy_ego": [
      0.014806537504386985,
      0.010595393342723414,
      0.004323510043005574,
      -0.017023212994654535,
      -0.021916721574045797,
      -0.0017324617189380834,
      0.0033999296248756142,
      0.00032076082570133696,
      0.0003415439741466745,
      0.00044195817268036404
    ],
    "v_ego": [
      2.016691224544644,
      1.531610909252051,
      1.0300562737786068,
      0.5349558770818649,
      0.15957548033016647,
      0.00884315073960808,
      0.029471110226789356,
      0.018336239782644162,
      0.0106932932289368,
      0.0055640598981425825
    ],
    "ax_ego": [
      -0.9701228848150594,
      -0.9701219090462936,
      -1.0359699771077922,
      -0.9454792938666252,
      -0.5610868665620334,
      -0.1058741946428443,
      0.023463974955815828,
      0.020299655536140368,
      0.010282734703064397,
      0.010282726365229963
    ],
    "ay_ego": [
      -0.008762003461032286,
      -0.008869590399768978,
      -0.018645530072925964,
      -0.06824248397737398,
      0.04797215160674895,
      0.032727355324709016,
      -0.012197936538234042,
      -0.00011791538451300272,
      0.00020104813879527183,
      0.0002012625675171919
    ],
    "a_ego": [
      0.9701624525544905,
      0.9701624544608418,
      1.0361377559284382,
      0.9479388860838732,
      0.5631339087270292,
      0.11081707845734176,
      0.02644518437292388,
      0.02029999800305062,
      0.010284699962940964,
      0.010284695820649194
    ],
    "yaw": [
      -0.5305204797397765,
      -0.5306313825711552,
      -0.5311021926396962,
      -0.5315889003185696,
      -0.5321723989098656,
      -0.5326995417552911,
      -0.5326985852251434,
      -0.5327075073801768,
      -0.5327076765306418,
      -0.5327277477216041
    ],
    "yaw_diff": [
      -0.00022180566275742386,
      -0.0009416201370819888,
      -0.0009734153577469762,
      -0.0011669971825918335,
      -0.0010542856908510867,
      1.91306029551086e-06,
      -1.7844310066905678e-05,
      -3.383009299362527e-07,
      -4.014238192473485e-05,
      -4.014238192473485e-05
    ],
    "min_front_frame": [
      4,
      8.543629734955939
    ],
    "v_avg": 0.5345797618863454,
    "v_std": 0.7020830845728553,
    "vy_max": 0.021916721574045797,
    "a_max": 1.0361377559284382,
    "ax_avg": -0.45243260344803965,
    "a_std": 0.44816048497635713,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2914f532ca9e56ce",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 33.49382059367798,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.565807319564561,
      9.651411295949575,
      9.01684996268033,
      8.683629470018086,
      8.543629734955939,
      8.57339912357442,
      8.567299649834704,
      8.579237769604923,
      8.576231851481428,
      8.573435462757056
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2914f532ca9e56ce",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b0ec3fbe5d07514d": {
    "vx_ego": [
      2.4267976002679275,
      2.574184289349348,
      2.772853254329149,
      2.9855857867383486,
      3.205036091339856,
      3.450268756901396,
      3.765078692041191,
      4.088026453596773,
      4.375414771940985,
      4.653076374004902
    ],
    "vy_ego": [
      -0.17050690371957306,
      -0.054695103412704116,
      -0.0018514562974033533,
      0.013544833063739992,
      -0.009097355269563234,
      -0.021623098133607854,
      -0.02220853910264564,
      -0.005963791745704716,
      0.015521528189931022,
      0.026745314221078065
    ],
    "v_ego": [
      2.432780137390596,
      2.5747652921907918,
      2.7728538724451695,
      2.9856165112882076,
      3.2050490025370846,
      3.4503365130408366,
      3.765144190661452,
      4.088030803714545,
      4.375442302711434,
      4.653153237768491
    ],
    "ax_ego": [
      0.2425578435266669,
      0.41710454403583486,
      0.4082350114155594,
      0.43898501204240326,
      0.4340108924682215,
      0.5624180596449344,
      0.6937453558693769,
      0.588991039102481,
      0.5503910923849001,
      0.5577395076664083
    ],
    "ay_ego": [
      1.080533510566421,
      1.025870738906081,
      1.136056675707353,
      1.1443670017038499,
      1.1114336950392947,
      1.165032078427071,
      0.9479227463230224,
      0.6489421346342902,
      0.2765848151856003,
      0.2614501018712114
    ],
    "a_ego": [
      1.107423575202055,
      1.1074235746086727,
      1.2071787750638692,
      1.2256768233863802,
      1.1931681831367118,
      1.2936822707213984,
      1.1746659745591126,
      0.8763768243436892,
      0.6159785017091882,
      0.6159785013946789
    ],
    "yaw": [
      -1.5299670553421685,
      -1.364615294670018,
      -1.1827977792321938,
      -0.9904755137825667,
      -0.8015673757246118,
      -0.6263790794418738,
      -0.4793911137240072,
      -0.3822579612856818,
      -0.3327238553985428,
      -0.30540979695252923
    ],
    "yaw_diff": [
      0.3307035213443008,
      0.36363503087564863,
      0.3846445308992541,
      0.37781627611590984,
      0.35037659256547604,
      0.2939759314357331,
      0.19426630487665086,
      0.09906821177427794,
      0.05462811689202718,
      0.05462811689202718
    ],
    "min_front_frame": [
      6,
      58.97299984081606
    ],
    "v_avg": 3.430317186374861,
    "v_std": 0.7308555435081286,
    "vy_max": 0.17050690371957306,
    "a_max": 1.2936822707213984,
    "ax_avg": 0.4894178358156787,
    "a_std": 0.23744405848477915,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "b0ec3fbe5d07514d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      58.97299984081606,
      62.85791009361776,
      66.57932449395166,
      70.47253276521319
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b0ec3fbe5d07514d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "cba2150084b1510a": {
    "vx_ego": [
      10.617751045202096,
      10.484452846573008,
      10.407443927426113,
      10.366389856332775,
      10.340002860196009,
      10.30267255685522,
      10.277315711506422,
      10.334197998483273,
      10.392575565806968,
      10.421225386788251
    ],
    "vy_ego": [
      0.04869343451147401,
      -0.0072483482319531944,
      -0.003408260054818868,
      0.05911353350900583,
      0.035011292811080175,
      0.017962932152580713,
      0.012399408035819626,
      0.04152152521380703,
      0.03591604175160246,
      0.1178136093218507
    ],
    "v_ego": [
      10.617862699642274,
      10.484455352118438,
      10.407444485499564,
      10.366558400130826,
      10.340062134217856,
      10.302688216223435,
      10.277323191342013,
      10.334281412314635,
      10.392637627333261,
      10.421891316300577
    ],
    "ax_ego": [
      -0.29247546620480147,
      -0.24455356890546653,
      -0.06883515994283373,
      -0.09937180130545659,
      -0.012011068428168369,
      -0.13743322417320414,
      0.038429699828135155,
      0.19401615417126408,
      0.04737771394187135,
      0.08074077525716339
    ],
    "ay_ego": [
      0.9441752974723787,
      0.9577068729044123,
      0.6314315696968114,
      0.45994217461326414,
      0.09313634852096846,
      -0.1383768644543271,
      -0.40154729096506825,
      -0.560871759372326,
      -0.7566797684262154,
      -0.753850019694812
    ],
    "a_ego": [
      0.9884376008068344,
      0.9884376067677457,
      0.635172501336554,
      0.47055452275232623,
      0.09390764175830127,
      0.19502832543723847,
      0.403382038160186,
      0.59348074824784,
      0.7581615393330823,
      0.7581615428013981
    ],
    "yaw": [
      2.0452200493013475,
      2.095603574555415,
      2.1333432561666106,
      2.1535838341098685,
      2.16928333103801,
      2.16983844578738,
      2.157234661092866,
      2.131014231499021,
      2.0998290072040167,
      2.055662206124815
    ],
    "yaw_diff": [
      0.10076705050813484,
      0.07547936322239135,
      0.04048115588651591,
      0.031398993856282864,
      0.0011102294987397343,
      -0.025207569389027462,
      -0.05244085918769059,
      -0.06237044859000829,
      -0.08833360215840358,
      -0.08833360215840358
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.394520483512286,
    "v_std": 0.09403960324270796,
    "vy_max": 0.1178136093218507,
    "a_max": 0.9884376067677457,
    "ax_avg": -0.0494115945761497,
    "a_std": 0.2876273158819094,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "cba2150084b1510a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "cba2150084b1510a",
    "road_shape": "Straight"
  },
  "5d8677f177185a61": {
    "vx_ego": [
      5.785255840375808,
      5.468239245399227,
      5.189375702438901,
      4.9397459637648415,
      4.73660745513666,
      4.6158862388944915,
      4.540135020515714,
      4.521092434686803,
      4.588619538573495,
      4.679829577150573
    ],
    "vy_ego": [
      0.013018235753659013,
      -0.05728359247518977,
      -0.0042331151121350885,
      -0.00039735697209897225,
      0.018589453161426794,
      0.023958178411187553,
      0.057993392958457735,
      0.043345018485252185,
      0.056104214703452504,
      -0.05473805445843949
    ],
    "v_ego": [
      5.785270487459038,
      5.468539279816062,
      5.189377428972264,
      4.939745979746692,
      4.736643933401056,
      4.61594841443536,
      4.540505394572289,
      4.521300210515746,
      4.588962513759066,
      4.6801496905311915
    ],
    "ax_ego": [
      -0.6901774439971825,
      -0.5833239180483824,
      -0.5162464501905165,
      -0.45081574223093857,
      -0.35854156286764394,
      -0.11792156289974273,
      -0.15847147621864793,
      0.08085655149407556,
      0.16902312232404035,
      0.19576546957410113
    ],
    "ay_ego": [
      -1.1386973347193157,
      -1.196958531796051,
      -1.663082443785584,
      -2.0251777515591423,
      -1.982635419585489,
      -1.8739935298210746,
      -1.802127963669142,
      -1.3801229598602678,
      -0.6246412530935457,
      -0.6167830948031536
    ],
    "a_ego": [
      1.331531645999958,
      1.3315316444631249,
      1.7413654447479252,
      2.0747481193757893,
      2.0147940984871133,
      1.8776999879661205,
      1.8090821999603022,
      1.382489481425801,
      0.647105486722561,
      0.6471054822148583
    ],
    "yaw": [
      0.7978991324298628,
      0.7064652243798352,
      0.5623543079222371,
      0.37974814295434456,
      0.1690097410562091,
      -0.03891007380114246,
      -0.2461186001371334,
      -0.4191948747083645,
      -0.5321838657171066,
      -0.5752605359212346
    ],
    "yaw_diff": [
      -0.1828678161000552,
      -0.2882218329151962,
      -0.365212329935785,
      -0.4214768037962709,
      -0.4158396297147031,
      -0.4144170526719819,
      -0.34615254914246213,
      -0.2259779820174843,
      -0.08615334040825595,
      -0.08615334040825595
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.906644333320877,
    "v_std": 0.41435699612480065,
    "vy_max": 0.057993392958457735,
    "a_max": 2.0747481193757893,
    "ax_avg": -0.24298530130608373,
    "a_std": 0.4914461095787606,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "5d8677f177185a61",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5d8677f177185a61",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2bc38f766c8851fa": {
    "vx_ego": [
      6.978468154114124,
      7.029926160762841,
      7.106758323080859,
      7.148413445211165,
      7.112123418999142,
      6.992158209602216,
      6.845407967905395,
      6.852815538441071,
      7.0120900076079105,
      7.198085278284772
    ],
    "vy_ego": [
      0.09492210541570456,
      0.04956100055181922,
      0.013021715031238834,
      -0.026319111285237007,
      -0.03955946639505603,
      -0.06138016425515769,
      -0.05987690895193021,
      0.00427209053912847,
      0.025286375840331665,
      0.049712183474587945
    ],
    "v_ego": [
      6.979113696170993,
      7.030100861193492,
      7.1067702529166805,
      7.148461896051108,
      7.112233438130212,
      6.9924276151184905,
      6.845669835106592,
      6.852816870065693,
      7.012135600200401,
      7.198256940026924
    ],
    "ax_ego": [
      0.09102081481134366,
      0.128780981660217,
      0.17787444292474008,
      -0.014546995864544207,
      -0.12904930927370864,
      -0.34814100510111856,
      -0.23262259570077085,
      0.2644715637628482,
      0.3699512848478183,
      0.37231307698547594
    ],
    "ay_ego": [
      -0.7765069883700307,
      -0.7711441808629296,
      -0.4865953180889389,
      -0.08547608053388778,
      0.19639972745014084,
      0.14525346711871231,
      0.3559523467659978,
      0.3831817218265722,
      0.21133587429964795,
      0.2071467525659547
    ],
    "a_ego": [
      0.7818234402449289,
      0.781823438454059,
      0.51808717512776,
      0.08670510614790074,
      0.2350033556494692,
      0.3772276887276753,
      0.42522387656243554,
      0.4655893469369148,
      0.42605962602263575,
      0.4260596253965092
    ],
    "yaw": [
      -0.5705426146005202,
      -0.6193296782870428,
      -0.6586742900955614,
      -0.6731709965393038,
      -0.6674364187633446,
      -0.6522896519982555,
      -0.6343596507636606,
      -0.6165857021340595,
      -0.5981427826061056,
      -0.5868554720514487
    ],
    "yaw_diff": [
      -0.09757412737304505,
      -0.07868922361703734,
      -0.028993412887484693,
      0.011469155551918409,
      0.030293533530178163,
      0.035860002469189745,
      0.035547897259202266,
      0.0368858390559077,
      0.022574621109313853,
      0.022574621109313853
    ],
    "min_front_frame": [
      4,
      21.450842218579318
    ],
    "v_avg": 7.027798700498058,
    "v_std": 0.11164358009624756,
    "vy_max": 0.09492210541570456,
    "a_max": 0.7818234402449289,
    "ax_avg": 0.0680052259052301,
    "a_std": 0.20255849967730719,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2bc38f766c8851fa",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      64.05417799624792,
      31.971694939528362,
      28.523141235373796,
      24.986685207617647,
      21.450842218579318,
      46.467174978649496,
      42.98103009018457,
      39.69101895102381,
      36.21031857412098,
      32.661303097863055
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2bc38f766c8851fa",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6bacccc5dd3652c3": {
    "vx_ego": [
      1.853744596289624,
      1.7929826565861942,
      1.726966129040036,
      1.6950405397910624,
      1.7160157893730392,
      1.7559288653974956,
      1.8126348759580149,
      1.8426999949781684,
      1.850502523914955,
      1.9002815995538738
    ],
    "vy_ego": [
      -0.03473259074912172,
      -0.014137527101564351,
      -0.008981612548793594,
      -0.001505617771748291,
      0.013442352542445385,
      0.022030581070293632,
      0.02616924072404203,
      0.031526939870485604,
      0.025510193848478968,
      0.004873596748002806
    ],
    "v_ego": [
      1.8540699504423037,
      1.7930383923640436,
      1.7269894846858516,
      1.6950412084725406,
      1.7160684386758736,
      1.756067062170016,
      1.8128237704474752,
      1.842969674039738,
      1.8506783515797136,
      1.9002878491292552
    ],
    "ax_ego": [
      -0.1445176683970591,
      -0.10816320258076974,
      -0.1521398389941754,
      0.017934716536399276,
      0.078824112428698,
      0.09555767667442538,
      0.1503382279513385,
      -0.007168509383389449,
      0.05561496282892936,
      0.1516801888700791
    ],
    "ay_ego": [
      -0.33695901413982526,
      -0.3503247855326332,
      -0.5035757594783838,
      -0.4567535856134288,
      -0.5697800209296804,
      -0.5978662221442591,
      -0.6240415583393017,
      -0.6538356606111957,
      -0.6273724865690347,
      -0.611295658142622
    ],
    "a_ego": [
      0.3666425148410987,
      0.36664251492566174,
      0.526056153032549,
      0.4571055589554396,
      0.575206495921942,
      0.6054546136189423,
      0.6418952011957192,
      0.6538749564050136,
      0.6298327246136681,
      0.6298327249037511
    ],
    "yaw": [
      -2.475211249662827,
      -2.5809044617620995,
      -2.704583768363288,
      -2.8508289670792726,
      -3.0104389927015447,
      3.0998676340642546,
      2.9261136676201094,
      2.7507311197647413,
      2.580222396860556,
      2.4254217508089377
    ],
    "yaw_diff": [
      -0.2113864241985448,
      -0.24735861320237706,
      -0.29249039743196903,
      -0.3192200512445442,
      -0.3457573608275739,
      -0.3475079328882904,
      -0.3507650957107362,
      -0.34101744580837057,
      -0.3096012921032365,
      -0.3096012921032365
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.7948034182006811,
    "v_std": 0.06531482385579959,
    "vy_max": 0.03473259074912172,
    "a_max": 0.6538749564050136,
    "ax_avg": 0.013796066593447598,
    "a_std": 0.10578716907605878,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "6bacccc5dd3652c3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6bacccc5dd3652c3",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "45b494315ca85268": {
    "vx_ego": [
      7.281254469280797,
      6.604577249235937,
      5.969043713493806,
      5.398707188433539,
      4.8598022429019325,
      4.330199497275284,
      3.785467913118173,
      3.2307426040500045,
      2.6844617111742513,
      2.1397415566826035
    ],
    "vy_ego": [
      -0.008983601990558476,
      -0.0064329120162591735,
      -0.0015683955908478708,
      -0.024364854730316354,
      -0.03614886363325054,
      -0.02077145991157714,
      -0.004587933001104938,
      -0.013994316582172539,
      -0.011030531080325257,
      -0.005960329833105682
    ],
    "v_ego": [
      7.281260011256727,
      6.604580382089535,
      5.969043919545631,
      5.398762168552158,
      4.8599366848197345,
      4.330249316119106,
      3.7854706933717606,
      3.2307729128678178,
      2.6844843734647634,
      2.1397498580269168
    ],
    "ax_ego": [
      -1.3533482707899316,
      -1.3533260239452025,
      -1.1886227562937601,
      -1.0929826722527467,
      -1.063288484400117,
      -1.0556763741701978,
      -1.1232352716810166,
      -1.0957472720528956,
      -1.0894363229064572,
      -1.0894320855457558
    ],
    "ay_ego": [
      0.019569417752574036,
      0.02105172860731036,
      -0.10278241755579876,
      -0.08623610515958796,
      -0.060722015020053366,
      0.06455874660727423,
      -0.04700581869851167,
      -0.011346899631704321,
      0.011669217128724485,
      0.012058419993600522
    ],
    "a_ego": [
      1.3534897502978265,
      1.3534897496341398,
      1.1930583733154008,
      1.0963793995136222,
      1.065020921938153,
      1.0576485421654198,
      1.1242184051775013,
      1.0958060213115342,
      1.0894988170238369,
      1.089498818039431
    ],
    "yaw": [
      -0.32423333776916363,
      -0.32313803387040096,
      -0.3271750992844258,
      -0.3314872418859842,
      -0.33635608567744857,
      -0.33949453802874296,
      -0.34239529410891517,
      -0.3438738332609439,
      -0.3448489377516192,
      -0.34449169392789303
    ],
    "yaw_diff": [
      0.0021906077975253346,
      -0.008074130828049642,
      -0.008624285203116866,
      -0.0097376875829287,
      -0.0062769047025887925,
      -0.005801512160344413,
      -0.0029570783040574478,
      -0.0019502089813505652,
      0.0007144876474522999,
      0.0007144876474522999
    ],
    "min_front_frame": [
      9,
      14.01180197461207
    ],
    "v_avg": 4.628431032011415,
    "v_std": 1.615930721646402,
    "vy_max": 0.03614886363325054,
    "a_max": 1.3534897502978265,
    "ax_avg": -1.1505095534038081,
    "a_std": 0.1068575012452316,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "45b494315ca85268",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.904345309556847,
    "right_rear_min": 35.054175702265674,
    "speed_mode": "decelerating",
    "front_frame": [
      34.66901063604034,
      31.165725791514024,
      28.08159897207179,
      25.265727688367047,
      22.717185323237427,
      20.443770555000135,
      18.430235676886976,
      16.724308525491082,
      15.20682652770024,
      14.01180197461207
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "45b494315ca85268",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "33c848df67305ec1": {
    "vx_ego": [
      5.362561049556487,
      5.63307130881088,
      5.904342835517335,
      6.007298380970815,
      5.959622641140276,
      5.914255041344528,
      5.927666509792298,
      5.984030076501105,
      6.038959510760945,
      6.067286759971877
    ],
    "vy_ego": [
      -0.030935467998162547,
      0.14159685243636566,
      0.11219342991983616,
      0.1367628229317972,
      0.12889424359729817,
      0.11229352606741783,
      0.047810248395148136,
      0.005955957049044169,
      0.00014300538506661908,
      -0.009263341076255482
    ],
    "v_ego": [
      5.362650278864047,
      5.6348506669447955,
      5.905408680611534,
      6.008854958122292,
      5.961016335393179,
      5.915320999748519,
      5.927859316073957,
      5.984033040508231,
      6.038959512454162,
      6.067293831455497
    ],
    "ax_ego": [
      0.4412656568738079,
      0.6692105037609585,
      0.4400030522612204,
      -0.0005146090546683801,
      -0.16463941995812992,
      -0.005031116168090544,
      0.06278536980284247,
      0.16290661189264588,
      0.05666032508886355,
      0.05665516135953958
    ],
    "ay_ego": [
      -1.4606114533003276,
      -1.371225189574343,
      -0.8804243651914624,
      -0.6844973296839987,
      -0.6006903151658157,
      -0.3030235202755074,
      -0.27317870822315776,
      -0.11040051719756483,
      -0.014495780630597404,
      -0.014515928446688281
    ],
    "a_ego": [
      1.5258116520227416,
      1.5258116590415702,
      0.9842508566529062,
      0.6844975231270044,
      0.6228442769570549,
      0.30306528334676947,
      0.2803009263055562,
      0.19679135752321786,
      0.05848521262050864,
      0.05848520742328645
    ],
    "yaw": [
      -0.02189627010439026,
      -0.1825372104069633,
      -0.2744985699098327,
      -0.3436454768850454,
      -0.3958370864980211,
      -0.4312108131059665,
      -0.4446681144057626,
      -0.4537606787172733,
      -0.45797844267075005,
      -0.45762268912349957
    ],
    "yaw_diff": [
      -0.32128188060514606,
      -0.18392271900573876,
      -0.1382938139504254,
      -0.1043832192259514,
      -0.07074745321589082,
      -0.02691460259959222,
      -0.018185128623021463,
      -0.008435527906953455,
      0.0007115070945009627,
      0.0007115070945009627
    ],
    "min_front_frame": [
      3,
      67.58259834145306
    ],
    "v_avg": 5.880624762017621,
    "v_std": 0.2064620886849118,
    "vy_max": 0.14159685243636566,
    "a_max": 1.5258116590415702,
    "ax_avg": 0.17193015358589894,
    "a_std": 0.5294544176019985,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "33c848df67305ec1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      68.96285755470367,
      67.58259834145306,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "33c848df67305ec1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "09df1da0af885ddd": {
    "vx_ego": [
      8.138794014833778,
      7.6945633115086025,
      7.476779973985151,
      7.477428127421128,
      7.507458147423047,
      7.522618354412199,
      7.537176194776197,
      7.562569289066108,
      7.53367372194468,
      7.491612851079973
    ],
    "vy_ego": [
      0.07170577884718465,
      -0.021895430322779408,
      -0.014585799714406544,
      0.018033904879827478,
      0.01504711180687579,
      0.017952089874741173,
      0.016090386902824605,
      -0.006097385767896757,
      -0.008229660777844927,
      0.02761505127347874
    ],
    "v_ego": [
      8.139109885891344,
      7.6945944639521615,
      7.476794201055603,
      7.477449874286944,
      7.507473226784256,
      7.52263977495069,
      7.537193369660332,
      7.562571747100258,
      7.533678216916113,
      7.491663747227543
    ],
    "ax_ego": [
      -0.8894548269154219,
      -0.8888241648449906,
      0.018123118306774294,
      -0.01555986159549039,
      0.13550028471668701,
      -0.07491101880945264,
      0.13297411124217706,
      -0.031447900449358274,
      -0.08408718479236901,
      -0.08412951223795356
    ],
    "ay_ego": [
      0.03684477493525701,
      0.049790007754405397,
      0.10679607557810131,
      0.04783008106626833,
      -0.0002323868276322208,
      0.049802051035671396,
      -0.004105834647768279,
      -0.05328731998203365,
      0.06134568139032914,
      0.06128761087236245
    ],
    "a_ego": [
      0.890217628764547,
      0.8902176368083138,
      0.10832289312996059,
      0.050297375156926595,
      0.13550048399153747,
      0.08995501668294985,
      0.13303748396148243,
      0.061874945765959186,
      0.10408624919531777,
      0.1040862434514672
    ],
    "yaw": [
      2.5944852906423046,
      2.6090443016580256,
      2.6133049476857027,
      2.6141118691068135,
      2.616103718702483,
      2.617361775512023,
      2.619132285726313,
      2.620167825974348,
      2.620716737330632,
      2.6200263831811537
    ],
    "yaw_diff": [
      0.02911802203144198,
      0.008521292055354124,
      0.0016138428422216577,
      0.0039836991913393405,
      0.002516113619079441,
      0.003541020428579955,
      0.002071080496070188,
      0.0010978227125679751,
      -0.0013807082989565345,
      -0.0013807082989565345
    ],
    "min_front_frame": [
      0,
      46.51443062221485
    ],
    "v_avg": 7.5943168507825245,
    "v_std": 0.1911777915237695,
    "vy_max": 0.07170577884718465,
    "a_max": 0.8902176368083138,
    "ax_avg": -0.17818169553793978,
    "a_std": 0.31774695960249655,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "09df1da0af885ddd",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.089699437248719,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      46.51443062221485,
      47.900348266667905,
      49.30860923809779,
      50.70229981645627,
      52.04348646850863,
      53.28818710898338,
      54.51743578228678,
      55.559854166409515,
      56.40298157537647,
      57.081417822218455
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "09df1da0af885ddd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "601c3cce2a215275": {
    "vx_ego": [
      8.636294541491988,
      7.954370703818455,
      7.36956594441624,
      7.036313059614605,
      6.830338364557599,
      6.749135168478009,
      6.945246180930454,
      7.288725897665392,
      7.6528755048712025,
      8.018164871381098
    ],
    "vy_ego": [
      -0.05546938641246757,
      -0.017773361264430854,
      0.04684359452897757,
      0.09609985138103228,
      0.11304939811317527,
      0.12140948788491479,
      0.0664844535435054,
      0.026985842339066757,
      0.011199205859607986,
      -0.016549252543646364
    ],
    "v_ego": [
      8.636472674664889,
      7.9543905603217615,
      7.369714820225273,
      7.036969280474265,
      6.831273844661852,
      6.750227091449233,
      6.945564390047222,
      7.288775853803225,
      7.65288369931685,
      8.018181949944115
    ],
    "ax_ego": [
      -1.3640214152401196,
      -1.3625503391583746,
      -0.976488434969345,
      -0.36158607098130935,
      -0.4703533451327308,
      0.13747933992116662,
      0.640599817234941,
      0.7316159110151952,
      0.7245993789668446,
      0.7365563657709173
    ],
    "ay_ego": [
      0.19334868336909267,
      0.20345693164889733,
      0.3561964473963788,
      0.30171289302851545,
      0.2976367192557031,
      0.12607804842204842,
      0.09639019271673871,
      0.29359736708495543,
      0.4167298775291827,
      0.3952123128338003
    ],
    "a_ego": [
      1.377656754998944,
      1.3776567605091574,
      1.0394255975136855,
      0.4709300973046179,
      0.5566146655693218,
      0.18653751150659234,
      0.6478110797859279,
      0.7883281392984852,
      0.8358875826477054,
      0.8358875834543201
    ],
    "yaw": [
      1.814780757917121,
      1.8221953441703702,
      1.8320848419141376,
      1.8482534255256913,
      1.867381869859116,
      1.8819142507719393,
      1.8982076985409508,
      1.9174870110019901,
      1.9433657574230283,
      1.972816431050098
    ],
    "yaw_diff": [
      0.014829172506498622,
      0.0197789954875347,
      0.03233716722310742,
      0.03825688866684951,
      0.029064761825646546,
      0.032586895538023075,
      0.03855862492207862,
      0.051757492842076314,
      0.058901347254139313,
      0.058901347254139313
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.448445416490867,
    "v_std": 0.5793175619269553,
    "vy_max": 0.12140948788491479,
    "a_max": 1.3776567605091574,
    "ax_avg": -0.15641487925728143,
    "a_std": 0.35959278856916654,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "601c3cce2a215275",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "601c3cce2a215275",
    "pedestrians": "No"
  },
  "1ca03ed089925396": {
    "vx_ego": [
      8.489017775702766,
      8.80769242074399,
      9.040672307766279,
      9.131751937427904,
      9.091680040640844,
      8.963176697942979,
      8.778594709998348,
      8.398125403340698,
      7.807460317150723,
      7.159668325345852
    ],
    "vy_ego": [
      -0.02097011540567406,
      -0.011584164272888664,
      0.0030113473289095083,
      2.9089231977863506e-05,
      0.006879699126277838,
      0.014063708321871982,
      -0.004812284763533459,
      -0.002232095595813277,
      0.00931115989540654,
      0.0340464116314072
    ],
    "v_ego": [
      8.489043676524327,
      8.807700038675991,
      9.040672809289406,
      9.131751937474236,
      9.091682643584035,
      8.963187731295143,
      8.778596029006895,
      8.398125699969434,
      7.807465869383091,
      7.159749275435953
    ],
    "ax_ego": [
      0.637362689160405,
      0.637450234240279,
      0.29463740038697417,
      0.07020481402909363,
      -0.23061117197559183,
      -0.28413331797624947,
      -0.4548964979602237,
      -1.0670940631862518,
      -1.2955682153408323,
      -1.2955791197650441
    ],
    "ay_ego": [
      0.049980479256776816,
      0.04885121633394984,
      0.12188494352096849,
      0.2370180021460368,
      0.24555423733163748,
      0.20366205620008893,
      0.11352112722074786,
      0.023187794921256555,
      0.04606968041619697,
      0.04576198224401906
    ],
    "a_ego": [
      0.6393193613840583,
      0.6393193587482652,
      0.3188528456261663,
      0.24719678245106333,
      0.3368655460439345,
      0.34958543379242885,
      0.4688473847447003,
      1.0673459671168737,
      1.2963870625916782,
      1.296387062026642
    ],
    "yaw": [
      2.6148439108476134,
      2.6166155753955,
      2.6197479936972616,
      2.6299196510452774,
      2.642356750916753,
      2.6539925153800255,
      2.6650325781388577,
      2.6686791358490485,
      2.6693888714233394,
      2.6691513729789667
    ],
    "yaw_diff": [
      0.003543329095773373,
      0.006264836603523172,
      0.020343314696031456,
      0.024874199742951575,
      0.023271528926544605,
      0.022080125517664584,
      0.0072931154203814685,
      0.0014194711485817635,
      -0.0004749968887454159,
      -0.0004749968887454159
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.566797571063852,
    "v_std": 0.605815043501083,
    "vy_max": 0.0340464116314072,
    "a_max": 1.2963870625916782,
    "ax_avg": -0.29882272483874417,
    "a_std": 0.38736314950429157,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1ca03ed089925396",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1ca03ed089925396",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a3f2ea7187975b13": {
    "vx_ego": [
      3.584475679014111,
      4.012922724502151,
      4.538065192901577,
      5.1552736238089345,
      5.626684042986083,
      5.77723226247962,
      5.677123912638008,
      5.478693752942117,
      5.299865707210345,
      5.167463305778614
    ],
    "vy_ego": [
      -0.001944641621707488,
      0.014003028467153289,
      0.02428091246104014,
      0.020103550075841525,
      -0.0035733147435119683,
      -0.0066793711872161765,
      0.00863265669916169,
      0.018871045389203367,
      0.016569414372605173,
      0.030202081289846028
    ],
    "v_ego": [
      3.584476206515355,
      4.012947156097626,
      4.538130149933425,
      5.155312821649696,
      5.626685177631006,
      5.7772361236697645,
      5.677130476059888,
      5.478726252960724,
      5.299891608321519,
      5.16755156551753
    ],
    "ax_ego": [
      0.8560568664949085,
      0.8574017256983946,
      1.2423370317843492,
      1.2252985677196502,
      0.6600143499554729,
      -0.05758983115417287,
      -0.3428975448679757,
      -0.45089840008383425,
      -0.2647074241308457,
      -0.26472104517029266
    ],
    "ay_ego": [
      0.12314766056724064,
      0.11340630005874058,
      0.12151480035640833,
      0.04398965842298186,
      0.01904393161837392,
      0.07698820272622497,
      0.028334048562682512,
      0.05133529204302886,
      0.007307365525494408,
      0.006796179971108748
    ],
    "a_ego": [
      0.8648691837360526,
      0.864869185555595,
      1.2482656557193283,
      1.226087953657484,
      0.6602890378301239,
      0.09614453708547592,
      0.34406619215557616,
      0.45381128171003476,
      0.2648082664512394,
      0.264808269920431
    ],
    "yaw": [
      -0.6219823613253395,
      -0.6106120822616422,
      -0.5991506341086802,
      -0.5897559069435062,
      -0.5825355298957282,
      -0.5778539618436181,
      -0.5759419650584412,
      -0.5742109260440138,
      -0.5710498627235916,
      -0.5729809711287341
    ],
    "yaw_diff": [
      0.022740558127394506,
      0.022922896305924034,
      0.018789454330347954,
      0.014440754095556008,
      0.009363136104220127,
      0.0038239935703539008,
      0.003462078028854787,
      0.0063221266408444166,
      -0.0038622168102850907,
      -0.0038622168102850907
    ],
    "min_front_frame": [
      0,
      13.100486469481039
    ],
    "v_avg": 5.031808753835653,
    "v_std": 0.7076603778559329,
    "vy_max": 0.030202081289846028,
    "a_max": 1.2482656557193283,
    "ax_avg": 0.34602942962456545,
    "a_std": 0.389016153165031,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "a3f2ea7187975b13",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      13.100486469481039,
      13.849078009876374,
      14.32450889948955,
      14.427658989754994,
      14.177845793858166,
      13.865188413679423,
      13.56935736697319,
      13.68797939914752,
      14.254953883085795,
      15.077014603331467
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "a3f2ea7187975b13",
    "pedestrians": "No"
  },
  "2488018e08b35c68": {
    "vx_ego": [
      8.436500510491696,
      8.497015633359217,
      8.542164322593047,
      8.567471380300622,
      8.579739976276109,
      8.616227954885609,
      8.728054646770058,
      8.868953524816293,
      8.98650609233104,
      9.094237679549543
    ],
    "vy_ego": [
      -0.01581973240294232,
      0.016138241832035494,
      0.04846946886615777,
      0.07074599157355843,
      0.058357216623329045,
      0.0237666389485387,
      0.03570834227053421,
      0.06728587984192114,
      0.045330639065143785,
      -0.016846341939879217
    ],
    "v_ego": [
      8.436515342690958,
      8.49703095889384,
      8.542301832854754,
      8.567763468233352,
      8.579938439478594,
      8.616260733269343,
      8.728127691705255,
      8.869208759239882,
      8.986620422291182,
      9.094253282781134
    ],
    "ax_ego": [
      0.1208666605467495,
      0.12119148421549203,
      0.059283615982906296,
      0.041476630173159904,
      0.0061812580488264796,
      0.13954433315369802,
      0.3080161938058422,
      0.2570689791043369,
      0.21499355061492126,
      0.21624669980433345
    ],
    "ay_ego": [
      0.11288941032525722,
      0.1125406269957543,
      0.041562675523982434,
      0.13002466266398352,
      -0.03744224642029451,
      -0.05617623145591638,
      0.004718739032169406,
      -0.08680997587623626,
      -0.22563730185636943,
      -0.22443659359188572
    ],
    "a_ego": [
      0.16538672436234858,
      0.16538672428871476,
      0.07240167899103274,
      0.13647975582995373,
      0.037949041727878184,
      0.1504273575381119,
      0.3080523366973409,
      0.27133085325738154,
      0.3116639517092618,
      0.31166395319220797
    ],
    "yaw": [
      1.01480464621199,
      1.0176864618779178,
      1.0184129026726252,
      1.020822648836133,
      1.0249651362055858,
      1.0262686613446603,
      1.0234012677389757,
      1.017484067571909,
      1.0111976621710344,
      1.005629059822833
    ],
    "yaw_diff": [
      0.005763631331855645,
      0.0014528815894148117,
      0.0048194923270155066,
      0.00828497473890577,
      0.0026070502781490035,
      -0.00573478721136933,
      -0.0118344003341333,
      -0.012572810801749323,
      -0.01113720469640267,
      -0.01113720469640267
    ],
    "min_front_frame": [
      2,
      19.53649499596764
    ],
    "v_avg": 8.69180209314383,
    "v_std": 0.20993820128335391,
    "vy_max": 0.07074599157355843,
    "a_max": 0.31166395319220797,
    "ax_avg": 0.1484869405450266,
    "a_std": 0.09625574446599122,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "2488018e08b35c68",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.233038986810975,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      22.011083680199807,
      23.736732543612757,
      19.53649499596764,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      0,
      1,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.6666666666666666,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "2488018e08b35c68",
    "merging_vehicles": "No"
  },
  "9b4e0723f48755fb": {
    "vx_ego": [
      8.784407339454201,
      8.566866328771203,
      8.37200095051698,
      8.182733160288176,
      8.024034017235394,
      7.926821410266523,
      7.773087313040753,
      7.3686839233547134,
      6.6481303722583105,
      5.7855500131073905
    ],
    "vy_ego": [
      0.03411873322112147,
      -0.049690082826203685,
      0.010454743947936329,
      0.016603324983103462,
      -0.014029022898505605,
      -0.013149300227266902,
      -0.0029935536565712795,
      -0.00698834845568852,
      -0.0032167404137908306,
      0.027704260433295103
    ],
    "v_ego": [
      8.784473597968944,
      8.567010435348207,
      8.372007478324912,
      8.182750004911565,
      8.024046281224596,
      7.926832316528224,
      7.77308788947601,
      7.368687237175992,
      6.64813115047848,
      5.785616344021878
    ],
    "ax_ego": [
      -0.44555044363182955,
      -0.4229599003302038,
      -0.35797012937858746,
      -0.4000666345018581,
      -0.23477816433323637,
      -0.15396890926837511,
      -0.4609316150862731,
      -1.156692847820312,
      -1.7253537104073375,
      -1.725094289301565
    ],
    "ay_ego": [
      0.5387988401033993,
      0.5567084802633255,
      0.21129595698488235,
      0.05716954525417618,
      0.05413087758451314,
      0.02858217908735,
      0.041318886991320414,
      -0.014057403254410128,
      0.09324535822475344,
      0.09792754951279192
    ],
    "a_ego": [
      0.6991561970813737,
      0.6991562123620425,
      0.4156784754656896,
      0.40413075723856084,
      0.2409376233711823,
      0.15659938053094105,
      0.46277986581985364,
      1.1567782651765723,
      1.7278715585502382,
      1.727871555392487
    ],
    "yaw": [
      2.7294879456852033,
      2.770724272672819,
      2.7863073931419375,
      2.7936682825212724,
      2.800900647110094,
      2.803386236202484,
      2.8043141286517512,
      2.8057257721409647,
      2.807989405667884,
      2.810703373271216
    ],
    "yaw_diff": [
      0.0824726539752314,
      0.031166240938237166,
      0.014721778758669757,
      0.014464729177642965,
      0.004971178184780101,
      0.0018557848985345515,
      0.002823286978427042,
      0.004527267053838102,
      0.005427935206664181,
      0.005427935206664181
    ],
    "min_front_frame": [
      9,
      15.974548989314453
    ],
    "v_avg": 7.74326427354588,
    "v_std": 0.8738750174751343,
    "vy_max": 0.049690082826203685,
    "a_max": 1.7278715585502382,
    "ax_avg": -0.7083366644059578,
    "a_std": 0.5481439915520582,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "9b4e0723f48755fb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 22.63160199830668,
    "right_rear_min": 19.545646302573406,
    "speed_mode": "decelerating",
    "front_frame": [
      25.106691763100713,
      24.844882022544276,
      24.483693975645636,
      24.039987254642377,
      23.506056911733356,
      22.389699761639815,
      21.08242305366119,
      19.409583674920796,
      17.6353950396126,
      15.974548989314453
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9b4e0723f48755fb",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4d718caa6ebc5b37": {
    "vx_ego": [
      6.107287869620121,
      5.70358384162781,
      5.185407049315478,
      4.532907517201816,
      3.8501718643253673,
      3.196440144629889,
      2.6203446743089494,
      2.0351554657089945,
      1.3177780181592136,
      0.5165598186837594
    ],
    "vy_ego": [
      -0.08169393203139741,
      -0.06367150013911793,
      -0.041574894902103754,
      -0.014712382559129544,
      -0.013577260374096012,
      -0.02675091833623444,
      -0.012460266949221976,
      0.009774168230918812,
      0.019849270935442864,
      0.00868943535371175
    ],
    "v_ego": [
      6.107834233256485,
      5.703939226395019,
      5.185573713580472,
      4.532931393006661,
      3.850195803701669,
      3.196552081514296,
      2.6203742996815778,
      2.035178936597419,
      1.3179275013066134,
      0.5166328992286154
    ],
    "ax_ego": [
      -0.8072121497258056,
      -0.8071196113987713,
      -1.2631932294913524,
      -1.3460686628616614,
      -1.384133980842609,
      -1.229226072946983,
      -1.0736927481522278,
      -1.2673523517467693,
      -1.6024374391830774,
      -1.6024387764942432
    ],
    "ay_ego": [
      0.055005205741842145,
      0.056346820726850766,
      0.21411793886452968,
      0.11712583005664257,
      0.11372936798637256,
      0.11082891882800083,
      0.13408309671756363,
      0.0799952984145097,
      -0.0222577089052981,
      -0.02216158402094226
    ],
    "a_ego": [
      0.8090840669075487,
      0.8090840693713648,
      1.2812117806109913,
      1.3511548043080182,
      1.3887984900862282,
      1.2342122133819797,
      1.0820325292060562,
      1.2698744942892952,
      1.6025920104946647,
      1.6025920155231912
    ],
    "yaw": [
      -0.6877699490871962,
      -0.6861078205543285,
      -0.6778338428023829,
      -0.6663444446093324,
      -0.6528616497625236,
      -0.63308079638663,
      -0.6168339552970379,
      -0.6035323947990581,
      -0.6009954906539854,
      -0.6009355091991893
    ],
    "yaw_diff": [
      0.0033242570657354698,
      0.01654795550389121,
      0.022978796386101008,
      0.02696558969361762,
      0.03956170675178727,
      0.032493682179184136,
      0.026603120995959628,
      0.005073808290145365,
      0.00011996290959226386,
      0.00011996290959226386
    ],
    "min_front_frame": [
      9,
      31.45683634887513
    ],
    "v_avg": 3.506714008826883,
    "v_std": 1.7989408616556894,
    "vy_max": 0.08169393203139741,
    "a_max": 1.6025920155231912,
    "ax_avg": -1.23828750228435,
    "a_std": 0.26387566292650705,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4d718caa6ebc5b37",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      47.32698246102665,
      44.40381621175944,
      41.67136009185295,
      39.24529264243525,
      37.17095413602538,
      35.359124509640715,
      33.912651897454005,
      32.7703983901901,
      31.897795757240463,
      31.45683634887513
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4d718caa6ebc5b37",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "01f2481a8cfc5803": {
    "vx_ego": [
      6.023332125301261,
      6.4207446750464285,
      6.747708211462661,
      7.000482624330317,
      7.2359986934391065,
      7.344598843869564,
      7.336789966328498,
      7.26090090205053,
      7.1581386653518955,
      7.075387049772855
    ],
    "vy_ego": [
      -0.04299533730761973,
      0.00839909681003892,
      -0.024156552273329357,
      -0.0514463021886149,
      -0.14535239382139942,
      -0.037684694780113936,
      0.005390553599240899,
      -0.008897246457745478,
      0.03155639992492931,
      0.024266424963260924
    ],
    "v_ego": [
      6.023485576534271,
      6.420750168552292,
      6.7477514511175025,
      7.000671660316571,
      7.237458421976742,
      7.344695522184075,
      7.3367919466267155,
      7.260906353231167,
      7.158208222647763,
      7.075428662877885
    ],
    "ax_ego": [
      0.7292658653042534,
      0.8633234150677371,
      0.4621948146445466,
      0.5572026548917308,
      0.4087016138429243,
      0.029719044204467915,
      -0.060930481977593876,
      -0.24529797866356512,
      -0.16599145585185382,
      -0.16563289177722018
    ],
    "ay_ego": [
      1.3820387010442232,
      1.302510015658986,
      1.5534346623180613,
      1.3998090070341411,
      1.0879688371353118,
      0.551105897577933,
      0.4236944821742331,
      0.16868864040158588,
      0.0640591100212124,
      0.06498058583803776
    ],
    "a_ego": [
      1.5626450887779877,
      1.562645084430944,
      1.6207354184985086,
      1.5066320236847155,
      1.1622018756375216,
      0.5519066333480749,
      0.42805319512756057,
      0.2977027976639897,
      0.1779233907965103,
      0.17792338624907894
    ],
    "yaw": [
      0.3463232413608721,
      0.44611378298926074,
      0.5585217213046381,
      0.6699737110398365,
      0.7701938313144734,
      0.8113592501929864,
      0.8386459343326029,
      0.8608228444565207,
      0.8632859351503019,
      0.8688432434141986
    ],
    "yaw_diff": [
      0.19958108325677726,
      0.22481587663075464,
      0.22290397947039686,
      0.20044024054927378,
      0.08233083775702599,
      0.05457336827923309,
      0.04435382024783552,
      0.0049261813875625116,
      0.01111461652779333,
      0.01111461652779333
    ],
    "min_front_frame": [
      8,
      18.29485256975403
    ],
    "v_avg": 6.960614798606498,
    "v_std": 0.4152891038383969,
    "vy_max": 0.14535239382139942,
    "a_max": 1.6207354184985086,
    "ax_avg": 0.24125545996854272,
    "a_std": 0.5986341796120697,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "01f2481a8cfc5803",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 39.11098637451219,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      27.34348505408961,
      23.716879254768994,
      20.098210399890373,
      21.841999895639283,
      18.29485256975403,
      24.086546799722846
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      0,
      1
    ],
    "safe_ratio": 0.8333333333333334,
    "unsafe_ratio": 0.16666666666666666,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "01f2481a8cfc5803",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4c771d89311d548a": {
    "vx_ego": [
      5.278539547690877,
      5.721485046912127,
      6.123887858829722,
      6.399316991629545,
      6.576171478130179,
      6.715473767248057,
      6.829169092898096,
      6.940269178343192,
      7.026528109875038,
      7.100525494340738
    ],
    "vy_ego": [
      -0.09577492463653181,
      -0.052631185936792946,
      -0.04066994702497517,
      -0.030072503831858555,
      -0.009543903877510473,
      0.03108893316883732,
      -0.01889147084190279,
      -0.04061732977259647,
      -0.02688678226438901,
      0.010041879236335483
    ],
    "v_ego": [
      5.2794083563147245,
      5.721727115458424,
      6.124022905910223,
      6.399387651552712,
      6.5761784035923245,
      6.715545729154288,
      6.8291952225035395,
      6.94038803204391,
      7.026579550387558,
      7.1005325951735045
    ],
    "ax_ego": [
      0.8844134846756543,
      0.8952533549024425,
      0.7226026677322194,
      0.38300773350074874,
      0.32668421475837306,
      0.2279064281337408,
      0.22471438325498422,
      0.21938522407595012,
      0.12904443506278887,
      0.1649484092921552
    ],
    "ay_ego": [
      0.4034277207021042,
      0.3787645282790352,
      0.4856860266894306,
      0.42808077382191434,
      0.42322291218500496,
      0.21808693246414865,
      -0.06114612691958375,
      -0.20856837482075194,
      -0.6798977840901913,
      -0.6720903823401937
    ],
    "a_ego": [
      0.9720808287930736,
      0.9720808286076414,
      0.8706581027792061,
      0.5744110660819041,
      0.5346402618309355,
      0.315441357618658,
      0.23288495631734948,
      0.30270553929227084,
      0.6920357382617076,
      0.6920357358996717
    ],
    "yaw": [
      2.616936574371626,
      2.6446514430385077,
      2.6789923137838283,
      2.7135451041119847,
      2.7431509004636223,
      2.761127521713828,
      2.7743001180136204,
      2.7676624932782996,
      2.7339476742219544,
      2.680847300485323
    ],
    "yaw_diff": [
      0.05542973733376311,
      0.0686817414906411,
      0.06910558065631278,
      0.05921159270327525,
      0.03595324250041099,
      0.026345192599585232,
      -0.013275249470641626,
      -0.06742963811269043,
      -0.10620074747326314,
      -0.10620074747326314
    ],
    "min_front_frame": [
      0,
      14.705585649788356
    ],
    "v_avg": 6.47129655620912,
    "v_std": 0.5684448109625134,
    "vy_max": 0.09577492463653181,
    "a_max": 0.9720808287930736,
    "ax_avg": 0.41779603353890576,
    "a_std": 0.25954108029886575,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "4c771d89311d548a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.415853856937274,
    "right_rear_min": 16.610968676656807,
    "speed_mode": "accelerating",
    "front_frame": [
      14.705585649788356,
      15.231481628014798,
      15.676177531678762,
      16.112982790250864,
      16.52447305666847,
      16.863304200131076,
      17.377174585071597,
      -1,
      18.536567885501306,
      19.160207891933982
    ],
    "safe_frame": [
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      -1,
      0,
      0
    ],
    "safe_ratio": 0.1111111111111111,
    "unsafe_ratio": 0.8888888888888888,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4c771d89311d548a",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "0eb2056214155957": {
    "vx_ego": [
      1.9193211853303063,
      1.4401657914964558,
      0.9174574311688218,
      0.3866543201262487,
      0.036381225126374914,
      -0.06741615296319184,
      0.04031257634345941,
      0.23157838197515052,
      0.24279052693512365,
      0.10054183896953306
    ],
    "vy_ego": [
      0.014803122580672845,
      -0.000551242427914933,
      -0.012682989983764159,
      -0.026561230702951022,
      -0.022269346946435228,
      -0.004535541258858248,
      -0.0016779450756687735,
      -0.0028735732856356305,
      0.001894068755660741,
      0.011313087667409835
    ],
    "v_ego": [
      1.9193782704031717,
      1.4401658969941022,
      0.9175450922117244,
      0.38756555864620756,
      0.04265580095504804,
      0.06756854900667385,
      0.04034748209150361,
      0.2315962098603011,
      0.24279791487137234,
      0.10117631805885217
    ],
    "ax_ego": [
      -0.9583105896456666,
      -0.9583239956306013,
      -1.1324938747921676,
      -0.990687533937292,
      -0.4103829275922818,
      -0.004798151199878803,
      0.43571319620198284,
      0.3293497659861783,
      -0.2845002081478834,
      -0.28449784149116797
    ],
    "ay_ego": [
      -0.02938520565763525,
      -0.028944854327290215,
      -0.01726559722286064,
      -0.037098482987958536,
      0.05435105237063842,
      0.01651967774713975,
      -0.005113395913733637,
      0.0003183953512142512,
      0.01886316530739124,
      0.018898725278190753
    ],
    "a_ego": [
      0.9587610111693982,
      0.958761015682964,
      1.1326254797104114,
      0.9913819079137772,
      0.41396640461879014,
      0.017202383782669268,
      0.4357431997889562,
      0.32934991988878654,
      0.2851248628962458,
      0.28512485621263234
    ],
    "yaw": [
      1.0774578261332715,
      1.0779173308994716,
      1.0783997094951636,
      1.0788525046258486,
      1.0790054745902204,
      1.0792489574041824,
      1.0793367626038854,
      1.0793158513366885,
      1.0794042491359068,
      1.0795292266956584
    ],
    "yaw_diff": [
      0.0009190095324003167,
      0.0009647571913840025,
      0.0009055902613699374,
      0.0003059399287437259,
      0.0004869656279238299,
      0.00017561039940616752,
      -4.182253439388717e-05,
      0.00017679559843664094,
      0.00024995511950320903,
      0.00024995511950320903
    ],
    "min_front_frame": [
      9,
      11.422735454447759
    ],
    "v_avg": 0.5390797093098957,
    "v_std": 0.6304724188304709,
    "vy_max": 0.026561230702951022,
    "a_max": 1.1326254797104114,
    "ax_avg": -0.42589321602487795,
    "a_std": 0.36924109133731026,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "0eb2056214155957",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.560563547378513,
    "right_rear_min": 28.074646140043406,
    "speed_mode": "decelerating",
    "front_frame": [
      12.35672605498157,
      11.88622162155207,
      11.59591917504005,
      11.43082013026444,
      11.574373882210619,
      11.788498700573854,
      11.779946882181143,
      11.660638181591299,
      11.459780779381559,
      11.422735454447759
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0eb2056214155957",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "33c84d1650d45e15": {
    "vx_ego": [
      7.426887467910465,
      7.3404796228144065,
      7.247930527884762,
      7.138869109779728,
      7.03600120658372,
      6.923249948208949,
      6.83531452410741,
      6.9059272814290775,
      7.092843239667521,
      7.288302288910008
    ],
    "vy_ego": [
      -0.03593554820770484,
      -0.011497016910050561,
      0.01797901352240272,
      0.05406411469479,
      0.08148300033618572,
      0.013714290563236808,
      -0.07790476681752301,
      -0.06125443971684508,
      -0.020607173845447413,
      -0.027969397539015617
    ],
    "v_ego": [
      7.426974405814962,
      7.34048862640297,
      7.247952826969221,
      7.13907382613914,
      7.036473012695447,
      6.923263531539217,
      6.835758465317993,
      6.906198934491493,
      7.092873175104088,
      7.288355956025306
    ],
    "ax_ego": [
      -0.17305139662153907,
      -0.17186888894407162,
      -0.1985362111154448,
      -0.23792628951599554,
      -0.17590829988285112,
      -0.27710317014187846,
      -0.0740343880894996,
      0.3572391845890627,
      0.3908417320906182,
      0.391839696997762
    ],
    "ay_ego": [
      0.15818201557667785,
      0.15946605638740768,
      0.04561492780088272,
      0.1798330451072343,
      0.1740987391699727,
      -0.31634895477420333,
      0.0069766795083714556,
      0.12092233348330451,
      0.11439543287030293,
      0.11092892398057533
    ],
    "a_ego": [
      0.2344532702364494,
      0.2344532749326004,
      0.2037089805638333,
      0.2982429267482967,
      0.24749565844323262,
      0.4205506248829144,
      0.07436238751377722,
      0.3771498982379631,
      0.40723896498883616,
      0.40723896463720927
    ],
    "yaw": [
      -0.5993083717285276,
      -0.5918629909731334,
      -0.5888764767674379,
      -0.5860595872339538,
      -0.5774343864780146,
      -0.572828431734503,
      -0.5707455316017995,
      -0.5684974646589661,
      -0.5658982238729701,
      -0.5570402367383934
    ],
    "yaw_diff": [
      0.014890761510788275,
      0.005973028411391024,
      0.00563377906696827,
      0.0172504015118784,
      0.009211909487023107,
      0.004165800265407027,
      0.004496133885666831,
      0.005198481571992097,
      0.01771597426915328,
      0.01771597426915328
    ],
    "min_front_frame": [
      0,
      19.719656823695086
    ],
    "v_avg": 7.123741276049984,
    "v_std": 0.18992367397098664,
    "vy_max": 0.08148300033618572,
    "a_max": 0.4205506248829144,
    "ax_avg": -0.016850803063383733,
    "a_std": 0.10682569297979594,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "33c84d1650d45e15",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.719656823695086,
      29.192749783003507,
      29.073415220546014,
      29.267808208715557,
      29.542244439718992,
      29.95006744169505,
      30.405130366630143,
      29.52477550817824,
      26.065613378397202,
      22.48652562784475
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "33c84d1650d45e15",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "94f5e53f2e205285": {
    "vx_ego": [
      3.6730259071685842,
      3.7364767744186036,
      3.7767461462344767,
      3.797061397872362,
      3.8082538482185377,
      3.8151885492180675,
      3.8344430489152965,
      3.8540275173065925,
      3.861981797555316,
      3.865879866554887
    ],
    "vy_ego": [
      -0.023798852482658672,
      -0.029518320400157227,
      -0.02099682500208444,
      0.009245207577577963,
      0.0036988275673797144,
      -0.011252791575221188,
      -0.009949375457705134,
      -0.025476972445658497,
      -0.04133280341794876,
      -0.0070875965849070965
    ],
    "v_ego": [
      3.6731030070107065,
      3.73659337057284,
      3.7768045117211377,
      3.797072653120502,
      3.8082556444908837,
      3.8152051440784804,
      3.8344559569053382,
      3.854111723897144,
      3.862202973082458,
      3.865886363650616
    ],
    "ax_ego": [
      0.12638005232491062,
      0.126747635929027,
      0.03406261142116129,
      0.04720153617413396,
      -0.002283565586107268,
      0.02995233124567072,
      0.04696163038326438,
      0.03147097161922584,
      -0.0018659827068620294,
      0.012783405952405763
    ],
    "ay_ego": [
      -0.058619382885095966,
      -0.05782029480228714,
      0.06728205708025378,
      0.017638018005445448,
      -0.07179573953172139,
      -0.011611423423365581,
      -0.03485031598574014,
      -0.1940327874600447,
      -0.30400990820897,
      -0.3037467545841157
    ],
    "a_ego": [
      0.13931313533000622,
      0.13931313543460488,
      0.07541310696277906,
      0.05038933117593936,
      0.07183204637689806,
      0.03212424786616903,
      0.05848024668689655,
      0.19656842234746913,
      0.3040156347635573,
      0.30401563510472124
    ],
    "yaw": [
      2.5150542137382668,
      2.5087405203102957,
      2.5071068335369096,
      2.504726017793022,
      2.5026274678571783,
      2.5010779278346575,
      2.4976984123073995,
      2.4868583419422507,
      2.458727102830954,
      2.4105283655161784
    ],
    "yaw_diff": [
      -0.012627386855942113,
      -0.003267373546772312,
      -0.0047616314877751975,
      -0.004197099871687371,
      -0.003099080045041447,
      -0.006759031054516029,
      -0.02168014073029756,
      -0.05626247822259334,
      -0.09639747462955128,
      -0.09639747462955128
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8023691348530106,
    "v_std": 0.057652914929738765,
    "vy_max": 0.04133280341794876,
    "a_max": 0.30401563510472124,
    "ax_avg": 0.04514106267568303,
    "a_std": 0.095944160178974,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "94f5e53f2e205285",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "94f5e53f2e205285",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "35dbc03efb3c5f00": {
    "vx_ego": [
      6.04568109140493,
      6.019272344069542,
      5.957384564475246,
      5.854651449024628,
      5.694815272615786,
      5.398025528200039,
      4.993268593588979,
      4.509739100408141,
      3.9283431611336113,
      3.3072862423134737
    ],
    "vy_ego": [
      0.0033230490107669652,
      0.015886800148773084,
      -0.002178071507730195,
      -0.02109672659371631,
      -0.048333653041527924,
      -0.012771800560579472,
      -0.0028344931248827088,
      -0.023675793554593927,
      -0.01644584274685057,
      -0.01331884755761692
    ],
    "v_ego": [
      6.045682004672908,
      6.019293309226541,
      5.957384962636157,
      5.854689459009687,
      5.695020380229938,
      5.398040637304324,
      4.99326939810715,
      4.509801248054116,
      3.928377585895845,
      3.307313060521522
    ],
    "ax_ego": [
      -0.05915898433169034,
      -0.0476019958290107,
      -0.19995176527799685,
      -0.21225201547153127,
      -0.423125248457436,
      -0.7617829901078352,
      -0.8580804664928084,
      -1.0754055648202119,
      -1.246662183073885,
      -1.2340449422281377
    ],
    "ay_ego": [
      0.385340943149973,
      0.3869385947412627,
      0.44163315170765766,
      0.2724577301944595,
      0.2751688193168281,
      0.2765225013630393,
      0.11516973543574205,
      0.0922195228830398,
      0.27958922297028865,
      0.3308622169495592
    ],
    "a_ego": [
      0.3898556500743165,
      0.3898556477816479,
      0.48478918008246236,
      0.3453753506179097,
      0.5047304775881719,
      0.8104184214205069,
      0.8657748869867125,
      1.0793523841855608,
      1.2776293407352834,
      1.2776293382838486
    ],
    "yaw": [
      0.9117783105027426,
      0.9417056363881469,
      0.9791898197042348,
      1.0126085494060646,
      1.0409019468235403,
      1.0592169672017193,
      1.076111935387237,
      1.0913226994934346,
      1.1115373828179536,
      1.1528688994046175
    ],
    "yaw_diff": [
      0.05985465177080851,
      0.07496836663217588,
      0.0668374594036596,
      0.05658679483495144,
      0.03663004075635801,
      0.033789936371035445,
      0.030421528212395188,
      0.040429366649037846,
      0.0826630331733278,
      0.0826630331733278
    ],
    "min_front_frame": [
      6,
      18.005577794602274
    ],
    "v_avg": 5.170887204565818,
    "v_std": 0.9155795347808308,
    "vy_max": 0.048333653041527924,
    "a_max": 1.2776293407352834,
    "ax_avg": -0.6118066156090544,
    "a_std": 0.35147961789084997,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "35dbc03efb3c5f00",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.450843948979555,
    "right_rear_min": 15.595316472920763,
    "speed_mode": "decelerating",
    "front_frame": [
      34.99387547344139,
      32.01570097384877,
      29.105241166962887,
      26.039488271485517,
      23.385628120705046,
      20.593207362864593,
      18.005577794602274,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.8571428571428571,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.14285714285714285,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "35dbc03efb3c5f00",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "50cc657e2283511b": {
    "vx_ego": [
      8.385508325057238,
      8.595699812535326,
      8.799619095328493,
      8.973870026470841,
      9.111030660981196,
      9.220444627024504,
      9.288542979890241,
      9.303965285763212,
      9.319154185463086,
      9.358995989700318
    ],
    "vy_ego": [
      -0.01633777405270287,
      -0.011229195952895843,
      0.002241807355568781,
      0.018275003084558428,
      0.046556690819244295,
      0.051219318259486,
      0.04381579640203448,
      0.03098250829159177,
      0.030905704745751272,
      0.05368208434388322
    ],
    "v_ego": [
      8.385524240765466,
      8.595707147295188,
      8.799619380891999,
      8.973888634685052,
      9.111149610822967,
      9.220586886884588,
      9.28864632297315,
      9.304016872002489,
      9.319205432600999,
      9.359149945449433
    ],
    "ax_ego": [
      0.41964763262166405,
      0.421681524842617,
      0.39414844196105225,
      0.30244328335487125,
      0.24585152995281495,
      0.19191735826002843,
      0.08059978257494196,
      -0.018924097119102482,
      0.0795262902637989,
      0.07961844974344304
    ],
    "ay_ego": [
      0.19325906532536047,
      0.18878002016324874,
      0.18598321016080183,
      0.1662486803153087,
      0.00702495705190638,
      -0.008755979352041365,
      -0.04299653937739181,
      -0.004467271890176011,
      0.07016112050944384,
      0.0700565236885429
    ],
    "a_ego": [
      0.46200995865392236,
      0.4620099613714311,
      0.4358242177323811,
      0.34512398258170446,
      0.24595187497094018,
      0.1921169945005425,
      0.09135112122770865,
      0.019444227161653393,
      0.1060519385690931,
      0.10605194034468458
    ],
    "yaw": [
      -0.7395095910870275,
      -0.7288621683327061,
      -0.719642732888356,
      -0.7115484751540474,
      -0.7098868716787226,
      -0.7104423789789134,
      -0.7110395263335132,
      -0.7109356087112191,
      -0.7091612442240787,
      -0.7078465479795852
    ],
    "yaw_diff": [
      0.0212948455086428,
      0.01843887088870022,
      0.016188515468617215,
      0.003323206950649693,
      -0.0011110146003816546,
      -0.001194294709199628,
      0.0002078352445882281,
      0.0035487289742808237,
      0.002629392488986859,
      0.002629392488986859
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.035749447437134,
    "v_std": 0.3219819398390404,
    "vy_max": 0.05368208434388322,
    "a_max": 0.4620099613714311,
    "ax_avg": 0.2196510196456129,
    "a_std": 0.1601542922158814,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "50cc657e2283511b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 23.76214309946526,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "50cc657e2283511b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5fed3ec5ed1351c1": {
    "vx_ego": [
      6.563048841809686,
      6.851910553050889,
      7.151744887277262,
      7.444590745892542,
      7.747278603969045,
      8.035127149139807,
      8.282354171636134,
      8.530279665719789,
      8.829488783319348,
      9.181313018769602
    ],
    "vy_ego": [
      -0.02477800858954257,
      -0.010338928450628088,
      0.004247823624455083,
      0.021983720227584463,
      0.01032859321865684,
      -0.0001261318638368647,
      -0.010413973567170054,
      -0.038598081962113784,
      -0.03754099603067143,
      -0.03129014781718156
    ],
    "v_ego": [
      6.563095614851968,
      6.85191835331184,
      7.151746148787861,
      7.444623204554003,
      7.74728548895382,
      8.035127150129789,
      8.282360718736172,
      8.530366990190027,
      8.829568590885126,
      9.181366337423782
    ],
    "ax_ego": [
      0.577698481763849,
      0.5776832592530882,
      0.6216586085906252,
      0.5501537688607127,
      0.6607876606461406,
      0.4905961938677884,
      0.498396576949247,
      0.49331257786840516,
      0.7033594268448126,
      0.7034994368395152
    ],
    "ay_ego": [
      0.016220384255368318,
      0.016753976187936528,
      -0.012299992958969368,
      -0.07048152933892317,
      -0.06744366737586165,
      0.004797729743867137,
      -0.11611387932086399,
      0.004896874924172208,
      -0.04546556938240651,
      -0.043244959307532235
    ],
    "a_ego": [
      0.5779261515952084,
      0.5779261576874477,
      0.6217802790870927,
      0.5546501738660143,
      0.6642205813818968,
      0.49061965273341407,
      0.5117436671671344,
      0.4933368817220078,
      0.704827355691257,
      0.7048273434955721
    ],
    "yaw": [
      -1.5351369446842065,
      -1.5360606130222343,
      -1.5379863725999114,
      -1.543245799240298,
      -1.5462563289637563,
      -1.546914372992866,
      -1.5490646171749907,
      -1.549019433345624,
      -1.5503136022746555,
      -1.5534704314174705
    ],
    "yaw_diff": [
      -0.0018473366760556331,
      -0.0038515191553543104,
      -0.010518853280772955,
      -0.006021059446916777,
      -0.0013160880582194778,
      -0.004300488364249233,
      9.036765873338126e-05,
      -0.0025883378580631167,
      -0.006313658285630019,
      -0.006313658285630019
    ],
    "min_front_frame": [
      0,
      19.607081973803208
    ],
    "v_avg": 7.86174585978244,
    "v_std": 0.8203381813851016,
    "vy_max": 0.038598081962113784,
    "a_max": 0.704827355691257,
    "ax_avg": 0.5877145991484184,
    "a_std": 0.07731391022272485,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "5fed3ec5ed1351c1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.407900872486084,
    "right_rear_min": 6.080729388917065,
    "speed_mode": "accelerating",
    "front_frame": [
      19.607081973803208,
      20.078034024816297,
      20.756373250919406,
      21.394126086425356,
      22.254888706645847,
      23.186838644899552,
      24.199475425637814,
      25.45051932794342,
      20.639236340490093,
      21.74338020837712
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5fed3ec5ed1351c1",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "9c193ab1a07454e3": {
    "vx_ego": [
      1.4007397799798045,
      1.8343194025010678,
      2.45838208048854,
      3.394899120961247,
      4.480774319551101,
      5.460026171689622,
      5.881273494242624,
      5.710678694366409,
      5.387676772445218,
      5.091929047109023
    ],
    "vy_ego": [
      -0.009055994193410188,
      0.009225233987362302,
      0.016189542959823333,
      -0.004031172226094393,
      -7.703489054344814e-05,
      -0.04221209742997045,
      0.003410160495350034,
      0.03015218451249968,
      -0.006866766301014238,
      0.018876893813054352
    ],
    "v_ego": [
      1.4007690538588802,
      1.8343426003159813,
      2.4584353875927696,
      3.3949015143083257,
      4.480774320213305,
      5.460189342569089,
      5.881274482905508,
      5.710758295053409,
      5.387681148400038,
      5.091964037374246
    ],
    "ax_ego": [
      0.8663369130856291,
      0.8678544926545941,
      1.6278364275762152,
      2.1173045136283593,
      2.2263237279858386,
      1.6909510179045553,
      -0.005488623056531361,
      -0.6705907201015883,
      -0.6166543631266063,
      -0.562934360878526
    ],
    "ay_ego": [
      0.09794548767295619,
      0.08343575906075612,
      0.13752134797777205,
      0.12409656231650912,
      -0.12544546880656382,
      -0.3319059977886072,
      -0.508872963057573,
      -0.615296282883927,
      -0.7026616385207841,
      -0.7463919140094224
    ],
    "a_ego": [
      0.8718560463346171,
      0.8718560353124863,
      1.633635074333836,
      2.1209380849543433,
      2.2298551314910258,
      1.7232170311137545,
      0.5089025619055684,
      0.9100996811433043,
      0.9348775223588347,
      0.9348775235058139
    ],
    "yaw": [
      1.0058050737086104,
      1.0225383867431606,
      1.0460705341939847,
      1.07595017318781,
      1.0748566121729413,
      1.0605232880051498,
      1.017043850514935,
      0.96470363839235,
      0.9119465646297233,
      0.8378355525874058
    ],
    "yaw_diff": [
      0.033466626069100336,
      0.04706429490164821,
      0.059759277987650794,
      -0.002187122029737587,
      -0.028666648335582856,
      -0.08695887498042953,
      -0.10468042424517021,
      -0.10551414752525323,
      -0.14822202408463503,
      -0.14822202408463503
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.1101090182591555,
    "v_std": 1.6129050831519605,
    "vy_max": 0.04221209742997045,
    "a_max": 2.2298551314910258,
    "ax_avg": 0.7540939025671939,
    "a_std": 0.5686248013509522,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "9c193ab1a07454e3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.713314731836153,
    "right_rear_min": 3.1777845624544945,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "9c193ab1a07454e3",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "e367d7a3c3b55302": {
    "vx_ego": [
      9.736657864549926,
      9.682557538812429,
      9.62529012359494,
      9.56266532830772,
      9.449325330821576,
      9.289539804725596,
      9.106088939507764,
      8.918919185078753,
      8.812310132438956,
      8.763054445763437
    ],
    "vy_ego": [
      0.010479315174652726,
      0.01397561570062944,
      0.006708232181275697,
      -0.013094304475570695,
      -0.0029233329067048786,
      -0.014819132565674131,
      -0.016446790728573468,
      -0.018383353423057525,
      -0.0011601597059236468,
      0.0048281961934733
    ],
    "v_ego": [
      9.73666350385739,
      9.682567624873457,
      9.625292461206222,
      9.562674293419612,
      9.449325783016564,
      9.289551624824057,
      9.106103792026033,
      8.918938130609996,
      8.812310208807723,
      8.763055775863396
    ],
    "ax_ego": [
      -0.11019259532923562,
      -0.10683407089088975,
      -0.12337735345100428,
      -0.12701955498736445,
      -0.3260037312406933,
      -0.3131297332686947,
      -0.42067670559589027,
      -0.32792961847928565,
      -0.09851218302220133,
      -0.09851112696480692
    ],
    "ay_ego": [
      0.25819273322961767,
      0.2596004193243918,
      0.13334178643908942,
      0.1306709251772855,
      0.1666418774229198,
      0.097750366575255,
      -0.030270141505425813,
      0.046727019442970086,
      0.013364111052967517,
      0.013371906761060204
    ],
    "a_ego": [
      0.28072387778379876,
      0.2807238793129643,
      0.18166453521626552,
      0.18223297735557045,
      0.3661255906023091,
      0.328032565490868,
      0.42176435612527746,
      0.33124197955874124,
      0.09941453449086678,
      0.09941453629275146
    ],
    "yaw": [
      0.9700938722735102,
      0.9830661439435698,
      0.9939921978991881,
      1.002935419815781,
      1.0096669143519215,
      1.0179925849884768,
      1.02000074820776,
      1.0206729894985749,
      1.0204239881149517,
      1.0205031495965562
    ],
    "yaw_diff": [
      0.025944543340119308,
      0.021852107911236596,
      0.017886443833185606,
      0.01346298907228105,
      0.01665134127311063,
      0.00401632643856642,
      0.00134448258162978,
      -0.0004980027672463194,
      0.00015832296320894557,
      0.00015832296320894557
    ],
    "min_front_frame": [
      3,
      15.387108757505226
    ],
    "v_avg": 9.294648319850443,
    "v_std": 0.3525508823124732,
    "vy_max": 0.018383353423057525,
    "a_max": 0.42176435612527746,
    "ax_avg": -0.20521866732300661,
    "a_std": 0.10567428603171662,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e367d7a3c3b55302",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.646891669178995,
      19.866596935698535,
      20.146229639978916,
      15.387108757505226,
      17.62861644119895,
      51.40379930316809,
      46.8168533141197,
      42.3314706950458,
      37.90379778841479,
      33.501050754333335
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e367d7a3c3b55302",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d3fe95784a34578f": {
    "vx_ego": [
      4.773788812968442,
      4.354930731567247,
      3.9589092917042605,
      3.6038593090941804,
      3.3216125366563594,
      3.1400669868757167,
      3.039797963231201,
      2.960337128471079,
      2.863873718774405,
      2.7697769124823894
    ],
    "vy_ego": [
      0.004429013791403591,
      0.0018092735764059231,
      -0.0040546714503615355,
      -0.007445525905352968,
      -0.012283815237648543,
      -0.009296004914495448,
      -0.005210746787626119,
      0.005551541173960173,
      0.02023120180360949,
      -0.0010575358385376266
    ],
    "v_ego": [
      4.7737908675376435,
      4.354931107402241,
      3.958911368078717,
      3.6038670002652413,
      3.3216352502629616,
      3.140080747014973,
      3.0398024292948125,
      2.9603423338887347,
      2.8639451773058013,
      2.769777114372658
    ],
    "ax_ego": [
      -0.8377871063258064,
      -0.8375810359451018,
      -0.7462279524511504,
      -0.6732505090698004,
      -0.4568353020530503,
      -0.27112207328990645,
      -0.13080937232143647,
      -0.18653438605328287,
      -0.19517911457162992,
      -0.17906375019916893
    ],
    "ay_ego": [
      -0.04419771642024786,
      -0.047944596530319794,
      -0.12031493951457806,
      -0.23081452845198844,
      -0.24333056543406034,
      -0.23714292289134864,
      -0.253719719616758,
      -0.27343350895114354,
      -0.3185788846492955,
      -0.32790786379231773
    ],
    "a_ego": [
      0.8389521283497245,
      0.8389521298091597,
      0.7558649626023375,
      0.7117173557721206,
      0.5175985483715746,
      0.36019986743816207,
      0.2854554045898141,
      0.33099994108399816,
      0.37361396187690116,
      0.3736139635669839
    ],
    "yaw": [
      2.8087730824186314,
      2.8043001830030576,
      2.7955676523871027,
      2.7731969913916306,
      2.740106749968214,
      2.70173223430796,
      2.660467033898689,
      2.613070180216969,
      2.557241096988603,
      2.5073962234253635
    ],
    "yaw_diff": [
      -0.008945798831147656,
      -0.01746506123190983,
      -0.04474132199094427,
      -0.06618048284683287,
      -0.07674903132050837,
      -0.08253040081854213,
      -0.09479370736343995,
      -0.11165816645673221,
      -0.0996897471264786,
      -0.0996897471264786
    ],
    "min_front_frame": [
      7,
      13.664999415671486
    ],
    "v_avg": 3.4787083395423783,
    "v_std": 0.6459461491124487,
    "vy_max": 0.02023120180360949,
    "a_max": 0.8389521298091597,
    "ax_avg": -0.4514390602280334,
    "a_std": 0.21248172059853773,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "d3fe95784a34578f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      38.16251058500117,
      13.664999415671486,
      13.757403809620365,
      13.848777570607634
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d3fe95784a34578f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3068d16e627b5e69": {
    "vx_ego": [
      4.5459311391891015,
      4.955239749869192,
      5.56161784799472,
      6.236026671478665,
      6.907459605397737,
      7.539406547242532,
      8.094751735383387,
      8.60747423335694,
      9.046752353630772,
      9.431608226690843
    ],
    "vy_ego": [
      0.06905442492752623,
      0.05686854318721135,
      0.1035141366459218,
      0.011749572560379562,
      0.01959837775627271,
      0.032911916848004985,
      0.034076953468720195,
      0.016508205199060377,
      0.013384235614829265,
      -0.006487266401813407
    ],
    "v_ego": [
      4.546455590440886,
      4.9555660635176615,
      5.562581079284954,
      6.236037740412468,
      6.907487408357118,
      7.539478382413081,
      8.09482346294532,
      8.607490063818984,
      9.046762254292247,
      9.43161045773243
    ],
    "ax_ego": [
      0.639909146508794,
      1.0312090820475093,
      1.3819007887589239,
      1.3210151095712612,
      1.3668834806771026,
      1.1611033091640728,
      1.0633728200555406,
      0.9872234350813831,
      0.7696401756870286,
      0.7697298762911
    ],
    "ay_ego": [
      -2.015118438987019,
      -1.8457502269256296,
      -1.035572499125332,
      -0.7503712030455857,
      -0.7017050921610659,
      -0.50085450551076,
      -0.4383139192418603,
      -0.20147492331533223,
      0.02678974291676467,
      0.02407497323835539
    ],
    "a_ego": [
      2.1142814474263103,
      2.114281455032248,
      1.7268642653425952,
      1.5192556934484895,
      1.5364766467840378,
      1.2645220955927137,
      1.1501655733997749,
      1.007572456699172,
      0.7701062851042748,
      0.7701062827892912
    ],
    "yaw": [
      -0.17297871943432191,
      -0.37498939034581086,
      -0.5218077807985186,
      -0.5818465215694772,
      -0.6383145054506072,
      -0.6816167043279004,
      -0.7117521468052499,
      -0.7287813646752288,
      -0.7333607442337494,
      -0.7298336254333133
    ],
    "yaw_diff": [
      -0.4040213418229779,
      -0.29363678090541556,
      -0.12007748154191722,
      -0.11293596776225989,
      -0.0866043977545865,
      -0.0602708849546989,
      -0.034058435739957815,
      -0.009158759117041226,
      0.007054237600872204,
      0.007054237600872204
    ],
    "min_front_frame": [
      9,
      61.842077397578024
    ],
    "v_avg": 7.092829250321515,
    "v_std": 1.6415679227377604,
    "vy_max": 0.1035141366459218,
    "a_max": 2.114281455032248,
    "ax_avg": 1.0491987223842716,
    "a_std": 0.4677945668390721,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "3068d16e627b5e69",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      79.02507012337328,
      75.03959417409176,
      70.8695754311329,
      66.41256673721672,
      61.842077397578024
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3068d16e627b5e69",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "535e19c081ec5c28": {
    "vx_ego": [
      8.81532016876194,
      8.235122766806306,
      7.7532801800141975,
      7.372258187271567,
      6.922102478004126,
      6.343394029254416,
      5.691029441337011,
      5.035339872742655,
      4.37163324742168,
      3.6868037318187956
    ],
    "vy_ego": [
      0.037946352691809015,
      0.015784871735801176,
      -0.011037718755990439,
      -0.014438697273468998,
      -0.022650722681691715,
      -0.027183834402099205,
      -0.04523787984643596,
      -0.02605229346077073,
      0.009770556119628349,
      0.035927447396902
    ],
    "v_ego": [
      8.815401840158147,
      8.235137894810704,
      7.753288036764552,
      7.372272326479239,
      6.922139537110536,
      6.343452275475348,
      5.691209236000522,
      5.035407268138952,
      4.371644165955129,
      3.68697878193372
    ],
    "ax_ego": [
      -1.1603647115521358,
      -1.1602323425172745,
      -0.767138725505286,
      -0.7570257474172324,
      -1.043336672685566,
      -1.2714636754995212,
      -1.3373587555110835,
      -1.285099088254089,
      -1.3697479521105678,
      -1.369675893168058
    ],
    "ay_ego": [
      -0.0735544193361701,
      -0.07561372065369365,
      -0.05458731976875638,
      0.013803102026438745,
      0.03937898034693904,
      -0.04236181197412238,
      0.05031275998779201,
      0.06882330374314324,
      0.06092403497436967,
      0.06252347495667045
    ],
    "a_ego": [
      1.1626936468474196,
      1.1626936498382612,
      0.769078409298695,
      0.7571515752332367,
      1.0440795547580426,
      1.2721691716232093,
      1.338304828788921,
      1.2869406799730947,
      1.371102180856209,
      1.371102197958407
    ],
    "yaw": [
      -1.5483804808075357,
      -1.5501552826440987,
      -1.5508761916323472,
      -1.5517748321176794,
      -1.5487805925325033,
      -1.5482120211173678,
      -1.5448858348177774,
      -1.5429072805626105,
      -1.5436255591229606,
      -1.542457839934364
    ],
    "yaw_diff": [
      -0.003549603673126178,
      -0.0014418179764970063,
      -0.001797280970664339,
      0.005988479170352168,
      0.0011371428302711095,
      0.0066523725991807225,
      0.003957108510333818,
      -0.0014365571207002326,
      0.0023354383771931886,
      0.0023354383771931886
    ],
    "min_front_frame": [
      9,
      14.17618137418705
    ],
    "v_avg": 6.4226931362826845,
    "v_std": 1.6151930496654936,
    "vy_max": 0.04523787984643596,
    "a_max": 1.371102197958407,
    "ax_avg": -1.1521443564220815,
    "a_std": 0.21857651776641585,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "535e19c081ec5c28",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.957369389834637,
    "right_rear_min": 19.434202533860972,
    "speed_mode": "decelerating",
    "front_frame": [
      21.282811710286254,
      18.881575406093,
      24.81929190859951,
      24.009697452451192,
      22.898532008120625,
      23.195917635610925,
      20.678399298599178,
      18.26912141368818,
      16.07777261205411,
      14.17618137418705
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "535e19c081ec5c28",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "e39a79ae2ceb5829": {
    "vx_ego": [
      3.166360086090789,
      3.379846460706982,
      3.6291259066808337,
      3.8853009344094986,
      4.157991064826021,
      4.43428708172725,
      4.659293700094564,
      4.8470083279193465,
      5.019934017067566,
      5.188238138935652
    ],
    "vy_ego": [
      0.05724321990350667,
      0.0424505810182767,
      -0.008141386127640482,
      -0.016404491363681384,
      -0.00537315855141296,
      -0.016316827662851363,
      -0.03239468983119642,
      -0.042220992344286,
      -0.025262424744582068,
      0.01617442893533605
    ],
    "v_ego": [
      3.1668774812129676,
      3.380113038018448,
      3.6291350386435144,
      3.8853355657214763,
      4.15799453655315,
      4.434317102106947,
      4.659406314078023,
      4.847192212313644,
      5.019997582252016,
      5.1882633509159755
    ],
    "ax_ego": [
      0.3774211179001263,
      0.4522407268995858,
      0.537710401233355,
      0.5007737275761136,
      0.5963865760820932,
      0.5183970541665401,
      0.3959859554025975,
      0.35428491645123744,
      0.3338363092282239,
      0.3396787107584694
    ],
    "ay_ego": [
      0.7068907416905129,
      0.6615281894387204,
      0.6680051858254009,
      0.8391519512861851,
      0.8749693781413697,
      0.9638583488423623,
      1.024298400720701,
      0.7132461710948614,
      0.2925260794573833,
      0.2857211260826863
    ],
    "a_ego": [
      0.8013371456039864,
      0.8013371453319366,
      0.8575333252324157,
      0.9772155972854136,
      1.0588901552172527,
      1.0944215012515388,
      1.0981767119162078,
      0.7963905465325041,
      0.4438673095890591,
      0.44386730948842607
    ],
    "yaw": [
      -2.6820892401605967,
      -2.572846107224386,
      -2.4633400516125272,
      -2.3610715601235093,
      -2.2570430783939877,
      -2.147847744254399,
      -2.035492015780387,
      -1.942205690575161,
      -1.8947099208455485,
      -1.8745033267768794
    ],
    "yaw_diff": [
      0.21848626587242137,
      0.21901211122371755,
      0.2045369829780359,
      0.20805696345904323,
      0.2183906682791772,
      0.2247114569480244,
      0.18657265041045168,
      0.09499153945922512,
      0.040413188137338185,
      0.040413188137338185
    ],
    "min_front_frame": [
      5,
      77.75922101058897
    ],
    "v_avg": 4.236863222181617,
    "v_std": 0.6698141293013044,
    "vy_max": 0.05724321990350667,
    "a_max": 1.0981767119162078,
    "ax_avg": 0.44067154956983423,
    "a_std": 0.22739720421242696,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "e39a79ae2ceb5829",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      77.75922101058897,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "e39a79ae2ceb5829",
    "pedestrians": "No"
  },
  "6c84787939055fe8": {
    "vx_ego": [
      0.9529665524119533,
      1.4892832162924514,
      1.990589065218325,
      2.4213623043129475,
      2.760104003139519,
      2.9903009441769477,
      3.1756709616635126,
      3.3477534566470237,
      3.4641132838754305,
      3.5624524995791518
    ],
    "vy_ego": [
      0.004949946267187533,
      0.004153634285709917,
      0.006874118890415892,
      0.0007486316744871324,
      -0.02484682103780189,
      -0.03092256671241045,
      -0.006461514518777189,
      -0.009144477292242659,
      -0.012986970579176305,
      -0.015377530937931039
    ],
    "v_ego": [
      0.9529794079537984,
      1.489289008556824,
      1.9906009344108337,
      2.4213624200431236,
      2.760215838057322,
      2.9904608243342077,
      3.1756775352549154,
      3.3477659458147673,
      3.464137627884759,
      3.56248568842255
    ],
    "ax_ego": [
      1.0726255641253508,
      1.0726258894249407,
      0.9325855623282058,
      0.7902731370752362,
      0.5664460931820895,
      0.3666895507759725,
      0.3841311695665536,
      0.30868657532942084,
      0.16604436796019903,
      0.23188881984854784
    ],
    "ay_ego": [
      0.0008361089096202701,
      -3.851474962224266e-05,
      0.03783202612919251,
      0.013011211520982502,
      0.09288629527260509,
      0.41159474261844653,
      0.5337098315996447,
      0.5760937348049757,
      0.6866834090907493,
      0.6673323094270157
    ],
    "a_ego": [
      1.0726258899976897,
      1.0726258901164147,
      0.9333526092876452,
      0.790380239383538,
      0.5740113590607088,
      0.5512453707736962,
      0.6575735242379284,
      0.653583501222416,
      0.7064735214088319,
      0.7064735210720544
    ],
    "yaw": [
      -2.260659845659382,
      -2.2598444412632395,
      -2.256016213445517,
      -2.2475458101404335,
      -2.2276627060125973,
      -2.1820884705551427,
      -2.1133461766774766,
      -2.0277605400036047,
      -1.9344990955344963,
      -1.8373176203304946
    ],
    "yaw_diff": [
      0.0016308087922851655,
      0.007656455635444814,
      0.01694080661016706,
      0.03976620825567245,
      0.0911484709149093,
      0.13748458775533212,
      0.17117127334774374,
      0.1865228889382169,
      0.19436295040800333,
      0.19436295040800333
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.6154975230733104,
    "v_std": 0.8419639217806627,
    "vy_max": 0.03092256671241045,
    "a_max": 1.0726258901164147,
    "ax_avg": 0.5891996729616517,
    "a_std": 0.18186794883891558,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6c84787939055fe8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6c84787939055fe8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e69feea0fa7953e0": {
    "vx_ego": [
      8.257177201177935,
      8.410736305525885,
      8.56748636325843,
      8.56852482234158,
      8.452107452068503,
      8.404447287028049,
      8.381850604415526,
      8.352516035272332,
      8.348937579197154,
      8.37657863301169
    ],
    "vy_ego": [
      -0.032335606862154975,
      0.005292595350955054,
      -0.03985001324686355,
      -0.027847365435960114,
      0.0013921800308986931,
      -0.004796684479178026,
      -0.028138516159444737,
      -0.017077601911049456,
      -0.012951376300530892,
      -0.038333329810773975
    ],
    "v_ego": [
      8.257240515034294,
      8.410737970752434,
      8.567579040089152,
      8.568570073638046,
      8.45210756672424,
      8.404448655837879,
      8.381897835862269,
      8.352533493735207,
      8.34894762466974,
      8.376666344029847
    ],
    "ax_ego": [
      0.3053016210671491,
      0.30966590318706216,
      0.3209251487265048,
      -0.3132910650219554,
      -0.15058238865514043,
      -0.04217991541750388,
      -0.0476572950044713,
      -0.06969098601589059,
      0.0554574163773118,
      0.05556390536819473
    ],
    "ay_ego": [
      0.31210650671069956,
      0.3077768331220812,
      0.43391970661095564,
      0.45085409429859424,
      0.4926225533909515,
      0.30542017832615787,
      0.23216266663952673,
      0.04846109972057536,
      0.023989314239626032,
      0.02374162514961787
    ],
    "a_ego": [
      0.4365999901023648,
      0.4365999892387955,
      0.5397029394680624,
      0.5490179466724169,
      0.515123321043135,
      0.30831904027064216,
      0.2370036319306504,
      0.08488410757023135,
      0.06042360655351562,
      0.06042360750990184
    ],
    "yaw": [
      -0.7689208162896245,
      -0.754840064365227,
      -0.7276769385944033,
      -0.7034866103817066,
      -0.6791497473049192,
      -0.6547057806213094,
      -0.6359142591338003,
      -0.6288538974533444,
      -0.6271758844311337,
      -0.6227138776608964
    ],
    "yaw_diff": [
      0.02816150384879501,
      0.054326251541647386,
      0.048380656425393465,
      0.04867372615357479,
      0.04888793336721964,
      0.03758304297501813,
      0.014120723360911747,
      0.003356026044421423,
      0.008924013540474673,
      0.008924013540474673
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.412072912037312,
    "v_std": 0.09165324765463605,
    "vy_max": 0.03985001324686355,
    "a_max": 0.5490179466724169,
    "ax_avg": 0.04235123446112609,
    "a_std": 0.19051719311155918,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e69feea0fa7953e0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.296654897545434,
    "right_rear_min": 13.614025867243393,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e69feea0fa7953e0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "57fa478b9b1e5de3": {
    "vx_ego": [
      6.156247364390401,
      6.162927692864519,
      6.281907017859677,
      6.483062911600445,
      6.801859306345478,
      7.203523064644212,
      7.538924858207508,
      7.730729258646705,
      7.872991440955085,
      8.026693318007133
    ],
    "vy_ego": [
      -0.06017332225476624,
      0.009541689824551614,
      -0.008274359736584368,
      -0.024602548547745684,
      -0.026718664678941906,
      -0.045365415760215466,
      -0.08688514068325759,
      -0.15496045846076667,
      -0.071176797545212,
      -0.05679869549526906
    ],
    "v_ego": [
      6.156541434951522,
      6.1629350792719775,
      6.28191246723987,
      6.483109593487086,
      6.801911783488581,
      7.203665911451491,
      7.5394255116269076,
      7.732282173729992,
      7.873313175903828,
      8.02689427569283
    ],
    "ax_ego": [
      -0.14275671325172978,
      0.18522384566031042,
      0.2910524298459334,
      0.529979315170936,
      0.7664739031252095,
      0.8208595717390564,
      0.5121471678820809,
      0.2622929432795206,
      0.3077960492208264,
      0.3090923343172919
    ],
    "ay_ego": [
      2.0759927526502295,
      2.0726354014469037,
      2.0819245021537114,
      2.1447063504554964,
      2.1980017055064116,
      1.632771207565588,
      0.915978060721923,
      0.25541085510395883,
      0.15991773212641675,
      0.15739766080261836
    ],
    "a_ego": [
      2.0808953333204228,
      2.0808953314215883,
      2.1021705805160535,
      2.2092178263342865,
      2.3278087854420275,
      1.827498906366517,
      1.0494334325213444,
      0.36610421057284936,
      0.34686033062949956,
      0.3468603389836443
    ],
    "yaw": [
      1.2480194864661227,
      1.4058064963636223,
      1.5755417810650547,
      1.7440464300030736,
      1.9081726510835284,
      2.0475058191652797,
      2.139037564732738,
      2.1861094574238025,
      2.188681036256206,
      2.1968512243506204
    ],
    "yaw_diff": [
      0.3155740197949992,
      0.3394705694028648,
      0.33700929787603773,
      0.32825244216090965,
      0.27866633616350267,
      0.1830634911349165,
      0.09414378538212897,
      0.0051431576648068855,
      0.016340376188828998,
      0.016340376188828998
    ],
    "min_front_frame": [
      6,
      33.648704900380295
    ],
    "v_avg": 7.026199140684409,
    "v_std": 0.7009411563044575,
    "vy_max": 0.15496045846076667,
    "a_max": 2.3278087854420275,
    "ax_avg": 0.3842160846989435,
    "a_std": 0.8046313025156849,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "57fa478b9b1e5de3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.680940200476806,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      40.31030394169018,
      33.648704900380295,
      34.50850783580228,
      35.21922958271063,
      35.79146301400377
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "57fa478b9b1e5de3",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b5efcbfe3c6f5888": {
    "vx_ego": [
      -0.027068741525822962,
      0.04507969527659563,
      0.3560073971666933,
      1.06157997115459,
      1.8206698394347034,
      2.4070374988773535,
      2.8949585702605654,
      3.278176032811528,
      3.56173845357462,
      3.8316660169003933
    ],
    "vy_ego": [
      -0.0006876752585454858,
      -0.00014984004181611832,
      0.004289417599090989,
      -0.003010107918062943,
      0.0008941224133930392,
      0.0007569562695142196,
      0.01554281024952786,
      0.015325942250424163,
      -0.01287310084388582,
      -0.05809237175443194
    ],
    "v_ego": [
      0.027077475234095,
      0.045079944301971465,
      0.3560332371292645,
      1.0615842387235497,
      1.8206700589843507,
      2.4070376178997575,
      2.8950002940372133,
      3.2782118581027966,
      3.5617617169593845,
      3.8321063644848614
    ],
    "ax_ego": [
      0.14429695696725006,
      0.14429726380902114,
      1.0994135169314099,
      1.7227028162408424,
      1.3140274937887497,
      1.0315501595693257,
      0.9210116770070638,
      0.6121105177861079,
      0.5263477381447023,
      0.5626251557555861
    ],
    "ay_ego": [
      0.0011008652896923668,
      0.0010605518491469401,
      0.01759190631675217,
      -0.03019205174820183,
      0.08238250593078211,
      0.09909407622856342,
      0.23286618281684307,
      0.3668455432675626,
      0.4951496535111075,
      0.4535064006691762
    ],
    "a_ego": [
      0.14430115624760068,
      0.1443011611630169,
      1.0995542534951828,
      1.7229673685455844,
      1.316607432652641,
      1.0362988794991017,
      0.9499942990792373,
      0.7136210048755924,
      0.7226445328252431,
      0.7226445331813622
    ],
    "yaw": [
      -2.639558241026741,
      -2.639278828222397,
      -2.6365204467234324,
      -2.629943198208096,
      -2.6238158064520216,
      -2.602642632762716,
      -2.577049682931625,
      -2.5290153523861987,
      -2.4580102998241933,
      -2.3815658390022434
    ],
    "yaw_diff": [
      0.0005588256086879184,
      0.0055167629979289146,
      0.01315449703067273,
      0.012254783512148926,
      0.042346347378611426,
      0.051185899662181455,
      0.09606866109085299,
      0.1420101051240108,
      0.15288892164389978,
      0.15288892164389978
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.9284562805857246,
    "v_std": 1.4026619284580253,
    "vy_max": 0.05809237175443194,
    "a_max": 1.7229673685455844,
    "ax_avg": 0.8078383296000059,
    "a_std": 0.4618772352158848,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "b5efcbfe3c6f5888",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "b5efcbfe3c6f5888",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "2aa9dce62cd75fce": {
    "vx_ego": [
      6.918226795824998,
      6.843025673920128,
      6.744306135933702,
      6.630565320243102,
      6.527962291809104,
      6.484213783321411,
      6.508214731654206,
      6.5021472074686475,
      6.462427330716441,
      6.430289538563102
    ],
    "vy_ego": [
      -0.011748018748554134,
      0.007779118363131499,
      -0.004894007518923438,
      -0.01259846120089847,
      -0.016726520200075257,
      -0.018636884271322485,
      -0.018333068521320106,
      -0.018570994667889806,
      -0.025159218081504564,
      -0.012171137994488213
    ],
    "v_ego": [
      6.918236770624111,
      6.843030095550693,
      6.744307911602389,
      6.63057728913819,
      6.527983720855894,
      6.484240566270711,
      6.508240552923827,
      6.502173728026289,
      6.462476304873024,
      6.430301057209853
    ],
    "ax_ego": [
      -0.15113504170391168,
      -0.1497510818218392,
      -0.24527426326309376,
      -0.2096551479703895,
      -0.20072298987294912,
      0.025662504096690263,
      0.07023705818862887,
      -0.09460430598144137,
      -0.06430244250873084,
      -0.06431535988713011
    ],
    "ay_ego": [
      -0.11898105864879951,
      -0.12071829443782206,
      -0.023386651871767215,
      0.010067059962198574,
      -0.008475484643959266,
      -0.027233783233621838,
      -0.0029970397284004614,
      -0.046823338369890194,
      0.0144933102490621,
      0.0144358940041356
    ],
    "a_ego": [
      0.19234940381512025,
      0.1923494037391015,
      0.2463866873534864,
      0.20989670499264257,
      0.20090184793447277,
      0.03741982182919296,
      0.07030097147356107,
      0.10555756593599255,
      0.06591555320684339,
      0.06591555622999552
    ],
    "yaw": [
      -0.3106298801871712,
      -0.32217724344556553,
      -0.3256086913891699,
      -0.32495410955344184,
      -0.3242660804766901,
      -0.3253493123227044,
      -0.3265605200397203,
      -0.32843265624352735,
      -0.3286633083759789,
      -0.3295561812069766
    ],
    "yaw_diff": [
      -0.023094726516788677,
      -0.006862895887208786,
      0.0013091636714561705,
      0.001376058153503501,
      -0.002166463692028664,
      -0.002422415434031766,
      -0.003744272407614102,
      -0.0004613042649030952,
      -0.0017857456619954082,
      -0.0017857456619954082
    ],
    "min_front_frame": [
      2,
      19.06716522788209
    ],
    "v_avg": 6.6051567997074985,
    "v_std": 0.16313152734252523,
    "vy_max": 0.025159218081504564,
    "a_max": 0.2463866873534864,
    "ax_avg": -0.10838610707241662,
    "a_std": 0.07274658332029653,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "2aa9dce62cd75fce",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.7194733715579,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.353529420687483,
      19.22076797059132,
      19.06716522788209,
      19.09181165065253,
      19.14694530256039,
      19.226220059432464,
      19.22395781466233,
      19.28525080794598,
      19.512869328894936,
      19.721483930370283
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "2aa9dce62cd75fce",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "ffbe4e0250f45a3a": {
    "vx_ego": [
      6.685383868969647,
      6.570064986421279,
      6.456056581953597,
      6.357839428115373,
      6.29835500487366,
      6.246721430790541,
      6.197478915973148,
      6.137952522533167,
      6.051244979424361,
      5.973458036192792
    ],
    "vy_ego": [
      -0.04517013389461377,
      -0.041799898340391106,
      -0.02335736154342216,
      -0.00519967226497231,
      -0.006519176737443733,
      -0.0005330076528040628,
      0.035036196697797894,
      0.025802875384533852,
      0.005736800453452595,
      0.03041579537096606
    ],
    "v_ego": [
      6.685536464374092,
      6.570197954194388,
      6.456098834104433,
      6.35784155435554,
      6.29835837874302,
      6.246721453530242,
      6.197577950216581,
      6.1380067576738115,
      6.051247698771549,
      5.9735354716251825
    ],
    "ax_ego": [
      -0.23241732076087962,
      -0.23080599327871593,
      -0.22708681025852667,
      -0.16505645939896121,
      -0.07068551236190332,
      -0.13693765763559254,
      -0.056793201152650824,
      -0.17408693367708883,
      -0.1695970695752484,
      -0.13743626017638383
    ],
    "ay_ego": [
      -0.14150654114783978,
      -0.1441197623321453,
      -0.10082990137673047,
      -0.29442203982214665,
      -0.4846776543343936,
      -0.4561781784681379,
      -0.46897401596890487,
      -0.5790581023837489,
      -0.5933425015744529,
      -0.601605987665647
    ],
    "a_ego": [
      0.27210643538382345,
      0.27210643584459504,
      0.24846546722841242,
      0.3375321796841816,
      0.489804930833648,
      0.4762882032858163,
      0.472400354943948,
      0.6046606870083082,
      0.6171049263967525,
      0.6171049262535742
    ],
    "yaw": [
      -0.7889509965838345,
      -0.8002336458947439,
      -0.812468238656605,
      -0.8307466990003531,
      -0.8613722665045311,
      -0.8997701987644232,
      -0.9427213738176872,
      -0.9836020068604328,
      -1.028397992394598,
      -1.0822129435744985
    ],
    "yaw_diff": [
      -0.022565298621818775,
      -0.024469185523722237,
      -0.036556920687496275,
      -0.061251135008355995,
      -0.07679586451978415,
      -0.08590235010652791,
      -0.08176126608549117,
      -0.08959197106833061,
      -0.10762990235980086,
      -0.10762990235980086
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.297512251758884,
    "v_std": 0.21385183731914403,
    "vy_max": 0.04517013389461377,
    "a_max": 0.6171049263967525,
    "ax_avg": -0.16009032182759514,
    "a_std": 0.14080074272868753,
    "ini_direction_judge": "right",
    "scenario_type": "side_to_main_ego",
    "scene_token": "ffbe4e0250f45a3a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "ffbe4e0250f45a3a",
    "merging_vehicles": "No"
  },
  "ef81756601bc569f": {
    "vx_ego": [
      1.9507182889685635,
      2.5525720121768005,
      3.1295460529982275,
      3.6461173957893935,
      4.121265002768342,
      4.597553956818133,
      4.992242404100425,
      5.256552588436318,
      5.442716051238652,
      5.592746596691638
    ],
    "vy_ego": [
      -0.04686710404563499,
      -0.0020751242326468855,
      0.02049635192522503,
      0.002582966718720492,
      -0.013594772137845768,
      -0.015733224936506307,
      -0.011472007759993907,
      0.008889403254078942,
      0.03496029962129166,
      0.06559979019675666
    ],
    "v_ego": [
      1.9512812120138052,
      2.55257285566718,
      3.129613170709605,
      3.6461183106963357,
      4.121287425171001,
      4.597580876963555,
      4.992255585230031,
      5.256560104905751,
      5.442828330653143,
      5.593131307888253
    ],
    "ax_ego": [
      1.2037025686815896,
      1.2036345438238847,
      1.1043250352530742,
      0.9617694208923717,
      0.9391481863179132,
      0.9667422442158429,
      0.6123933778309296,
      0.44494246505529683,
      0.29924884844519045,
      0.29984623898114465
    ],
    "ay_ego": [
      0.08554649302140505,
      0.08649841890544185,
      -0.0049767630734850465,
      -0.016661492535955447,
      0.04667785401598595,
      0.09725045167757529,
      0.08044289968863574,
      0.10703210653678366,
      0.11818430825751972,
      0.11666034164620633
    ],
    "a_ego": [
      1.2067386114312073,
      1.2067386177458945,
      1.1043362493631155,
      0.9619137301739558,
      0.9403074698840606,
      0.9716214371363863,
      0.6176541988212269,
      0.4576348643178155,
      0.32174120658392674,
      0.3217412039887762
    ],
    "yaw": [
      -0.6017063499120063,
      -0.6024972121793859,
      -0.6032650692335686,
      -0.5995935804300667,
      -0.5935002716117497,
      -0.5847489775364232,
      -0.5764496796984374,
      -0.5712979613836596,
      -0.5656656966939166,
      -0.5605780999439038
    ],
    "yaw_diff": [
      -0.0015817245347591324,
      -0.0015357141083653936,
      0.007342977607003753,
      0.01218661763663409,
      0.017502588150652976,
      0.01659859567597155,
      0.010303436629555573,
      0.011264529379485966,
      0.010175193500025603,
      0.010175193500025603
    ],
    "min_front_frame": [
      7,
      16.498484445430773
    ],
    "v_avg": 4.128322917989865,
    "v_std": 1.2068794771557971,
    "vy_max": 0.06559979019675666,
    "a_max": 1.2067386177458945,
    "ax_avg": 0.8035752929497237,
    "a_std": 0.3324991301054974,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "ef81756601bc569f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      29.692108365177088,
      28.575676934110373,
      27.19254933356279,
      25.455868747947772,
      23.54390656872741,
      21.35767479416483,
      19.004880302102134,
      16.498484445430773,
      21.300176418894896,
      18.57575519311181
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "ef81756601bc569f",
    "pedestrians": "No"
  },
  "6404a27bddb85488": {
    "vx_ego": [
      0.8721716298618971,
      0.8892050138114126,
      0.9240250401736158,
      0.9714902274371583,
      1.009756560024342,
      1.0286717714502183,
      1.044173770155385,
      1.0701506015819793,
      1.1028010999896722,
      1.1443447485382452
    ],
    "vy_ego": [
      0.042508658932431415,
      0.011741194084183143,
      -0.009432393097059927,
      0.009672969397642228,
      0.02372821603567049,
      -0.0021109263097169872,
      -0.021161778135970644,
      -0.012237639367908226,
      0.007972480384841385,
      0.024227822008926925
    ],
    "v_ego": [
      0.8732069273775787,
      0.8892825266617336,
      0.9240731815756746,
      0.9715383823312743,
      1.0100353155946717,
      1.0286739373525584,
      1.0443881860373503,
      1.0702205706692294,
      1.102829917340801,
      1.1446011929341835
    ],
    "ax_ego": [
      0.033549168934927785,
      0.03302942844299734,
      0.10642392243661866,
      0.08425036797861915,
      0.06704499810442575,
      0.007953054982826294,
      0.0551068013351839,
      0.0502820511830373,
      0.08070272770999194,
      0.08355957753290841
    ],
    "ay_ego": [
      -0.036107759258971237,
      -0.03658378670145052,
      -0.000964103336707392,
      0.126348415515931,
      -0.01989560325037418,
      -0.02202008238124615,
      0.013332278057296131,
      0.08380028295392737,
      0.09919573256606148,
      0.09680144743921697
    ],
    "a_ego": [
      0.04928810216399234,
      0.04928809788060714,
      0.10642828929396203,
      0.15186193271494702,
      0.06993473242616112,
      0.023412285485119245,
      0.05669664180171949,
      0.09772805172688072,
      0.12787776827561034,
      0.1278777667298175
    ],
    "yaw": [
      1.8066157433175807,
      1.8209152779775422,
      1.8340486728090504,
      1.8469262813285217,
      1.859575471047795,
      1.8745374063088867,
      1.8909159156621391,
      1.9054358947418164,
      1.9290235261422475,
      1.9581734329189613
    ],
    "yaw_diff": [
      0.028599069319922954,
      0.026266789663016432,
      0.02575521703894257,
      0.025298379438546625,
      0.02992387052218337,
      0.03275701870650494,
      0.029039958159354562,
      0.04717526280086215,
      0.058299813553427615,
      0.058299813553427615
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.0058850137875055,
    "v_std": 0.08594829403571715,
    "vy_max": 0.042508658932431415,
    "a_max": 0.15186193271494702,
    "ax_avg": 0.06019020986415365,
    "a_std": 0.040161753619987466,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "6404a27bddb85488",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.8041402621226617,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6404a27bddb85488",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "a70f950103b558b9": {
    "vx_ego": [
      8.556372493945648,
      8.08753092463715,
      7.686208252729044,
      7.404364872629454,
      7.2280877900674945,
      7.173884867819902,
      7.267586585076822,
      7.411048455718329,
      7.507764653333047,
      7.605183396449721
    ],
    "vy_ego": [
      -0.0022500873119781772,
      0.02389166030137524,
      0.00964161852698231,
      0.05943539052356428,
      -0.007685447580803917,
      -0.05208641917011558,
      -0.17283392108993123,
      -0.15291954125358576,
      -0.09766203326799383,
      -0.02641105134389221
    ],
    "v_ego": [
      8.556372789800745,
      8.087566214158262,
      7.6862142999742,
      7.4046034149490865,
      7.2280918759398265,
      7.174073953605255,
      7.269641417282417,
      7.41262595839708,
      7.50839982703233,
      7.60522925606241
    ],
    "ax_ego": [
      -0.9381336006214449,
      -0.9367008654628322,
      -0.6597369483710285,
      -0.4563159063503673,
      -0.23866439344804202,
      0.013474434650967981,
      0.35717317515769875,
      0.2167169772940301,
      0.1593355557323928,
      0.2138222438592689
    ],
    "ay_ego": [
      -0.12532895840692176,
      -0.1356225457703517,
      0.7853755891858439,
      1.4038970663607508,
      1.781870724030914,
      1.3997308089633336,
      0.3952020646413966,
      -0.31133490446044,
      -0.8446395570693732,
      -0.8325165839965886
    ],
    "a_ego": [
      0.9464681719055958,
      0.9464681644302939,
      1.025703493771435,
      1.4761948310858832,
      1.7977830708565412,
      1.3997956629273829,
      0.5326887918372741,
      0.3793358287623942,
      0.8595369687726627,
      0.8595369768650803
    ],
    "yaw": [
      -0.8713501541326812,
      -0.8823308317593133,
      -0.8598301637691488,
      -0.7936928822499378,
      -0.6753566960116442,
      -0.5583545714001383,
      -0.47905668220296516,
      -0.4789136304045283,
      -0.525011066332183,
      -0.5899633084783815
    ],
    "yaw_diff": [
      -0.021961355253264037,
      0.04500133598032896,
      0.1322745630384219,
      0.23667237247658734,
      0.23400424922301166,
      0.15859577839434635,
      0.00028610359687375464,
      -0.09219487185530939,
      -0.1299044842923971,
      -0.1299044842923971
    ],
    "min_front_frame": [
      2,
      58.20682276292853
    ],
    "v_avg": 7.593281900720162,
    "v_std": 0.4086469796582394,
    "vy_max": 0.17283392108993123,
    "a_max": 1.7977830708565412,
    "ax_avg": -0.2269029327559356,
    "a_std": 0.4083522553000224,
    "ini_direction_judge": "left",
    "scenario_type": "roundout_interior",
    "scene_token": "a70f950103b558b9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.533096482321955,
    "right_rear_min": 28.160455991895223,
    "speed_mode": "decelerating",
    "front_frame": [
      66.27808163188772,
      -1,
      58.20682276292853,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "roundout_interior",
    "lane_change_frame": -1,
    "token": "a70f950103b558b9",
    "incoming_vehicles": "No"
  },
  "d24706485f0452eb": {
    "vx_ego": [
      7.048127726163739,
      7.009399476178272,
      6.9688421186065685,
      6.914203119065493,
      6.874223792536794,
      6.828429356146916,
      6.767032335294703,
      6.743744137240294,
      6.754715884440726,
      6.776342759028544
    ],
    "vy_ego": [
      -0.027352765261382084,
      0.02440676712439327,
      0.0033439258148846296,
      -0.0018113203701748404,
      -0.0007664224085983662,
      -0.017196314281199054,
      -0.02061286617036817,
      -0.022669690499520723,
      -0.01884915943495935,
      -0.012620181527963403
    ],
    "v_ego": [
      7.048180802028668,
      7.009441968297455,
      6.968842920880391,
      6.91420335632215,
      6.8742238352618585,
      6.828451009205078,
      6.767063729356761,
      6.743782240214328,
      6.754742183853302,
      6.776354510857617
    ],
    "ax_ego": [
      -0.08440398484231416,
      -0.07066825490276711,
      -0.09157364693947456,
      -0.12726954730825155,
      -0.0325751103390368,
      -0.15166519964091033,
      -0.0949751562207736,
      0.001793940883511631,
      0.04289021274336675,
      0.04420823372003633
    ],
    "ay_ego": [
      -0.3892824283772191,
      -0.39200872245171364,
      -0.2798185804751119,
      -0.2418361599316219,
      -0.2600510563800244,
      -0.17301591508778075,
      -0.046356387176434186,
      0.03203230688343349,
      0.14012246071639253,
      0.13971223182884485
    ],
    "a_ego": [
      0.3983275557886076,
      0.39832755456938596,
      0.29442175665684456,
      0.273280562650402,
      0.26208336409998834,
      0.23008007227002372,
      0.1056844119594362,
      0.032082501588373606,
      0.1465396681666375,
      0.14653967261885856
    ],
    "yaw": [
      -0.2287755353654925,
      -0.26393352959304817,
      -0.2849424206801265,
      -0.3029751472391775,
      -0.321357334429613,
      -0.3347323172710511,
      -0.3423054237266995,
      -0.34253145446846983,
      -0.3367162833494226,
      -0.32729635897494663
    ],
    "yaw_diff": [
      -0.07031598845511133,
      -0.04201778217415664,
      -0.03606545311810205,
      -0.03676437438087099,
      -0.026749965682876242,
      -0.015146212911296697,
      -0.0004520614835407111,
      0.011630342238094449,
      0.01883984874895195,
      0.01883984874895195
    ],
    "min_front_frame": [
      4,
      29.402028736614014
    ],
    "v_avg": 6.868528655627761,
    "v_std": 0.10640463892575865,
    "vy_max": 0.027352765261382084,
    "a_max": 0.3983275557886076,
    "ax_avg": -0.05642385128466133,
    "a_std": 0.11500523729014156,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "d24706485f0452eb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 36.5914575984468,
    "right_rear_min": 37.63786139957807,
    "speed_mode": "quasi_constant",
    "front_frame": [
      29.871314294849117,
      29.621531496072716,
      29.55495450627084,
      29.41502095896753,
      29.402028736614014,
      29.453942357889886,
      29.50057276779153,
      29.659720733673595,
      29.85923383974465,
      30.079411027225348
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "d24706485f0452eb",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "ec1fc260f1c15d42": {
    "vx_ego": [
      8.594539382622493,
      8.35628932570953,
      8.176315531577265,
      8.011357652486208,
      7.779400393654979,
      7.558213626857292,
      7.3347802805811675,
      7.153419519109068,
      7.069289211078425,
      7.006516824302468
    ],
    "vy_ego": [
      -0.04840798980997807,
      -0.0257332409647697,
      0.0027323249040818176,
      0.01769708503918732,
      0.0033288423250734667,
      -0.016506447098143084,
      -0.01177516636089937,
      0.02126702187657692,
      0.03433891589990834,
      -0.020518295936128084
    ],
    "v_ego": [
      8.594675708421258,
      8.356328948447254,
      8.176315988115368,
      8.011377198888354,
      7.779401105868655,
      7.558231651120986,
      7.334789732428952,
      7.153451132326977,
      7.069372610848505,
      7.006546867730327
    ],
    "ax_ego": [
      -0.47749556569684737,
      -0.4733169314853269,
      -0.2423874018888925,
      -0.4188890768162564,
      -0.5125585042328802,
      -0.37513734473486965,
      -0.5170571624233539,
      -0.20430041239377336,
      -0.130193575321294,
      -0.1202271882388775
    ],
    "ay_ego": [
      0.28634449535867434,
      0.29320004722303694,
      0.5698345846815347,
      0.5642136214685,
      0.4308431270292943,
      0.06348224827206343,
      -0.3502483723180012,
      -0.5421260175225084,
      -0.4319268785593042,
      -0.4348064136184104
    ],
    "a_ego": [
      0.5567721125221397,
      0.5567721125579806,
      0.6192439797798802,
      0.7027126506094616,
      0.6695834678140046,
      0.3804707915995712,
      0.6245174389276089,
      0.5793438334694527,
      0.45112215139241985,
      0.45112214988352173
    ],
    "yaw": [
      -1.322724262125198,
      -1.3083041055896532,
      -1.2855682664509493,
      -1.252482247942857,
      -1.2192072721271576,
      -1.2004645404622631,
      -1.2107029806426408,
      -1.2462489384793711,
      -1.2823731183910745,
      -1.3053696883408543
    ],
    "yaw_diff": [
      0.028840313071089696,
      0.04547167827740761,
      0.06617203701618468,
      0.06654995163139876,
      0.03748546332978897,
      -0.020476880360755345,
      -0.07109191567346063,
      -0.07224835982340672,
      -0.045993139899559665,
      -0.045993139899559665
    ],
    "min_front_frame": [
      3,
      28.955422835623075
    ],
    "v_avg": 7.704049094419664,
    "v_std": 0.5377681838792921,
    "vy_max": 0.04840798980997807,
    "a_max": 0.7027126506094616,
    "ax_avg": -0.34715631632323724,
    "a_std": 0.09817095444020596,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ec1fc260f1c15d42",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      46.76143073891257,
      42.689847372239825,
      33.0093183609619,
      28.955422835623075,
      30.658622515007224,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ec1fc260f1c15d42",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "b845e97a49a75cd0": {
    "vx_ego": [
      3.714483300437708,
      3.9880791804990414,
      4.255947237277813,
      4.499638059774844,
      4.701060705697369,
      4.868341166009431,
      5.0353484062008445,
      5.190538077873489,
      5.3225440161454545,
      5.44265077014793
    ],
    "vy_ego": [
      -0.019473089031232904,
      -0.008081427290897336,
      0.00427290058633556,
      0.004217641530262384,
      0.013070472908170871,
      0.00491602413306344,
      -0.003214513553800369,
      0.03841982522280962,
      0.050190358980756855,
      -0.00945129870412642
    ],
    "v_ego": [
      3.714534343686571,
      3.98808736857619,
      4.255949382238007,
      4.499640036433403,
      4.701078875738407,
      4.8683436480958635,
      5.0353494322565915,
      5.190680265709377,
      5.322780652623251,
      5.442658976349616
    ],
    "ax_ego": [
      0.5117969052578797,
      0.5751845811384302,
      0.5031116543024474,
      0.48260980261840636,
      0.33468428154052926,
      0.3454221114008952,
      0.316805661829002,
      0.2977840428272156,
      0.23111170851875082,
      0.25232368192192156
    ],
    "ay_ego": [
      -0.7118123602164466,
      -0.6616461335846888,
      -0.8238114355022985,
      -1.0003816916648762,
      -1.1292644628319364,
      -1.2374102153842115,
      -1.1322002310889325,
      -0.8752559953653791,
      -0.5458312062518154,
      -0.5363553737326144
    ],
    "a_ego": [
      0.8767057136738937,
      0.8767057137186681,
      0.9652909499002377,
      1.1107095707707109,
      1.17781653721002,
      1.2847180531859328,
      1.1756883901122543,
      0.9245260372675079,
      0.5927430535508348,
      0.5927430534308163
    ],
    "yaw": [
      -2.5800777604219034,
      -2.6723160453834676,
      -2.765136454539864,
      -2.869142148691861,
      -2.9861945298198096,
      -3.1080319777551892,
      3.057384018499275,
      2.951234673244751,
      2.881547590935596,
      2.8423505455348774
    ],
    "yaw_diff": [
      -0.18447656992312833,
      -0.1856408183127929,
      -0.20801138830399424,
      -0.23410476225589694,
      -0.2436748958707593,
      -0.235538621850246,
      -0.21229869050904782,
      -0.1393741646183102,
      -0.07839409080143689,
      -0.07839409080143689
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.701910298170728,
    "v_std": 0.5510186872903008,
    "vy_max": 0.050190358980756855,
    "a_max": 1.2847180531859328,
    "ax_avg": 0.38508344313554776,
    "a_std": 0.22516401820134516,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "b845e97a49a75cd0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b845e97a49a75cd0",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d1b4625f7363548e": {
    "vx_ego": [
      2.1576539642520154,
      1.810898040205358,
      1.450676565178088,
      1.0532998238479245,
      0.6395236177783613,
      0.262850977459443,
      0.01827861753238752,
      -0.041876812046979794,
      -0.02359976929488133,
      -0.008952449812047064
    ],
    "vy_ego": [
      0.08175079017602904,
      0.05955823987179709,
      0.0309517301565857,
      0.01680393195907781,
      0.020196016780275106,
      0.030951027442163076,
      0.024373535260718227,
      0.0016129719182076153,
      -0.003546078386135052,
      -0.002799986218249526
    ],
    "v_ego": [
      2.159202126051853,
      1.811877174633047,
      1.4510067216786358,
      1.053433856987402,
      0.6398424312204628,
      0.264666965167756,
      0.030465998752720696,
      0.04190786400697366,
      0.02386469741463817,
      0.009380100237183438
    ],
    "ax_ego": [
      -0.693676900462316,
      -0.6937298501714807,
      -0.747174914522902,
      -0.8422559919170207,
      -0.8127781932323564,
      -0.6938620127477354,
      -0.2844386276484786,
      0.04381300007189752,
      0.029294818329690966,
      0.029294875873821367
    ],
    "ay_ego": [
      -0.03946830321607969,
      -0.03852654575241243,
      -0.07528012403121626,
      0.011323016218183601,
      -0.0007306408530090014,
      0.042659971296403754,
      -0.0689459215881215,
      -0.02212515598106614,
      0.0014915868226848747,
      0.0014906258548402045
    ],
    "a_ego": [
      0.6947988120267351,
      0.6947988196208725,
      0.750957688532757,
      0.8423320999560694,
      0.812778521634344,
      0.6951721843438131,
      0.2926753713625136,
      0.04908259877478574,
      0.029332766869479002,
      0.029332775489232507
    ],
    "yaw": [
      0.8568223743999377,
      0.858179963385039,
      0.8582745261739844,
      0.8568175159381873,
      0.8559346809522054,
      0.8553097413684534,
      0.855376945758424,
      0.8555132978514952,
      0.8554919186881946,
      0.8555249584054405
    ],
    "yaw_diff": [
      0.002715177970202598,
      0.00018912557789074746,
      -0.0029140204715940587,
      -0.0017656699719639235,
      -0.0012498791675039644,
      0.0001344087799413085,
      0.00027270418614233627,
      -4.275832660116663e-05,
      6.607943449177256e-05,
      6.607943449177256e-05
    ],
    "min_front_frame": [
      6,
      7.877606724758144
    ],
    "v_avg": 0.7485647936150672,
    "v_std": 0.7771417185788787,
    "vy_max": 0.08175079017602904,
    "a_max": 0.8423320999560694,
    "ax_avg": -0.466551379642688,
    "a_std": 0.3286593452709153,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d1b4625f7363548e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 19.86738605109993,
    "speed_mode": "decelerating",
    "front_frame": [
      10.9881853242457,
      9.991309948196276,
      9.147391978571351,
      8.539662930155913,
      8.12435015810954,
      7.9146385177506104,
      7.877606724758144,
      7.8935100645724825,
      7.881968698648423,
      7.879678676680579
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d1b4625f7363548e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0c5feb2794e9579c": {
    "vx_ego": [
      2.4132453890306502,
      1.9002544545937186,
      1.3977338888178938,
      0.9314435722599534,
      0.5605135443610549,
      0.28549872415865163,
      0.0680914828606679,
      -0.02876822163595395,
      -0.0263919671019868,
      -0.014058633019608784
    ],
    "vy_ego": [
      -0.04464917267119717,
      -0.018607117928686745,
      0.002959676089931529,
      0.004953939550772002,
      -0.0012543878230460714,
      -0.0030190198851859223,
      -0.002877755128651141,
      -0.00025783011572110687,
      0.0007858710258333707,
      0.0002873770417661367
    ],
    "v_ego": [
      2.413658396769915,
      1.9003455520091295,
      1.3977370223445287,
      0.9314567460818863,
      0.5605149479728465,
      0.28551468609737923,
      0.06815226711375866,
      0.02876937699123743,
      0.02640366491193217,
      0.014061569896144906
    ],
    "ax_ego": [
      -1.025955787994097,
      -1.0259155868385303,
      -0.9841636365848369,
      -0.881011626185935,
      -0.6027081533529561,
      -0.4973501796422392,
      -0.37227593508987555,
      -0.01516176814048122,
      0.02466669570103036,
      0.02466674928578563
    ],
    "ay_ego": [
      0.05485062540529667,
      0.05559743634577574,
      0.03170769390171868,
      -0.022225748430893533,
      -0.002225525558412794,
      -0.004618190758532009,
      0.005293490027938552,
      0.005168040697562904,
      -0.0009955999938732248,
      -0.0009943810566047252
    ],
    "a_ego": [
      1.0274209799424676,
      1.0274209781031671,
      0.9846742818965345,
      0.8812919319771961,
      0.6027122622629655,
      0.49737162049723926,
      0.3723135679554495,
      0.016018360022092705,
      0.0246867797850394,
      0.024686784197491988
    ],
    "yaw": [
      1.1022158007431313,
      1.102943731219356,
      1.1031015933113786,
      1.1034282633401373,
      1.1035625592869382,
      1.1036935969888078,
      1.1038646111447585,
      1.1040464423630025,
      1.1040645646026026,
      1.1040151923530825
    ],
    "yaw_diff": [
      0.0014558609524493171,
      0.0003157241840452407,
      0.000653340057517493,
      0.0002685918936018439,
      0.00026207540373901494,
      0.00034202831190155436,
      0.00036366243648799923,
      3.624447920014262e-05,
      -9.87444990401265e-05,
      -9.87444990401265e-05
    ],
    "min_front_frame": [
      6,
      10.92224620649615
    ],
    "v_avg": 0.7626614230188757,
    "v_std": 0.827277401957364,
    "vy_max": 0.04464917267119717,
    "a_max": 1.0274209799424676,
    "ax_avg": -0.5355209228842136,
    "a_std": 0.4035531420470921,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0c5feb2794e9579c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.585249672612581,
    "right_rear_min": 19.213651058249123,
    "speed_mode": "decelerating",
    "front_frame": [
      14.007964569470502,
      12.944993917220318,
      12.149431765824833,
      11.62554860324297,
      11.217942255316744,
      10.978790440933771,
      10.92224620649615,
      10.946234567212246,
      10.973518339865324,
      11.009232815216352
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0c5feb2794e9579c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "59b4bb47cf6656cf": {
    "vx_ego": [
      7.9647151585071345,
      8.117961344671443,
      8.260290493834054,
      8.420993955660595,
      8.583267541268663,
      8.744229455352047,
      8.928719315622816,
      9.116140748378804,
      9.22016764841083,
      9.236336265891294
    ],
    "vy_ego": [
      -0.21782293021375354,
      -0.036592352276943796,
      -0.030990764014464656,
      -0.007488598396073964,
      0.026722754249035585,
      -0.014207544483378687,
      -0.0064293229901721816,
      0.009148284878744306,
      -0.005814194115454363,
      -0.003633933172081605
    ],
    "v_ego": [
      7.967693165846702,
      8.118043815712314,
      8.260348628840035,
      8.420997285380052,
      8.583309139870872,
      8.744240997488953,
      8.928721630411045,
      9.116145338648824,
      9.220169481612306,
      9.236336980756443
    ],
    "ax_ego": [
      0.3066515918683434,
      0.3090497550295001,
      0.26537128830604073,
      0.37659323391174004,
      0.2714579570341194,
      0.3720115724020274,
      0.36603221900543553,
      0.38377118494654516,
      0.03233063205873785,
      0.0323336421603672
    ],
    "ay_ego": [
      0.4492840907989295,
      0.4476378502622367,
      0.5282584394583981,
      0.2969668177656607,
      0.12217051666302828,
      0.10533853652759087,
      0.06547499453031037,
      -0.06376564389278747,
      -0.0055972892632113296,
      -0.00557985516449392
    ],
    "a_ego": [
      0.5439589994111779,
      0.543959002197032,
      0.5911674039696623,
      0.4795954072778071,
      0.297682813710918,
      0.3866378373604988,
      0.37184211738154044,
      0.3890326204013452,
      0.03281157442753317,
      0.03281157111464498
    ],
    "yaw": [
      -0.650911098025896,
      -0.6455635540884617,
      -0.6164765827000398,
      -0.5945235949379882,
      -0.5862358297938646,
      -0.5749302585366978,
      -0.5709782112117595,
      -0.5726578018178343,
      -0.5729159683790275,
      -0.5734550248373246
    ],
    "yaw_diff": [
      0.010695087874868614,
      0.058173942776843734,
      0.043905975524103136,
      0.01657553028824732,
      0.022611142514333604,
      0.007904094649876514,
      -0.00335918121214962,
      -0.0005163331223863032,
      -0.0010781129165942094,
      -0.0010781129165942094
    ],
    "min_front_frame": [
      8,
      19.592127870416824
    ],
    "v_avg": 8.659600646456754,
    "v_std": 0.4392105715212923,
    "vy_max": 0.21782293021375354,
    "a_max": 0.5911674039696623,
    "ax_avg": 0.2715603076722856,
    "a_std": 0.1883138101227829,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "59b4bb47cf6656cf",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.950450677914855,
    "right_rear_min": 18.20275249496633,
    "speed_mode": "accelerating",
    "front_frame": [
      30.232741293572484,
      30.933321978433774,
      31.451607219152667,
      31.980285093164824,
      32.38970334906674,
      32.81464939941287,
      28.576978453574075,
      24.096830236096846,
      19.592127870416824,
      21.70110211855167
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "59b4bb47cf6656cf",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "fb4908bfeaf75ab1": {
    "vx_ego": [
      4.866868995263213,
      4.861336915947804,
      4.867543993312005,
      4.81630925825557,
      4.768571256630082,
      4.726610342651948,
      4.685501861012236,
      4.654734877124935,
      4.6655710242119355,
      4.713756699714141
    ],
    "vy_ego": [
      -0.06125714123094905,
      -0.034398573082073725,
      -0.01741519907817235,
      -0.012023056537923349,
      -0.011378043118804193,
      -0.01244395954634403,
      -0.020477820442389466,
      -0.02678128392905421,
      -0.04117636052192064,
      0.1250995396610275
    ],
    "v_ego": [
      4.86725448835441,
      4.861458615702389,
      4.867575147441148,
      4.816324264939689,
      4.768584830893104,
      4.726626723509437,
      4.685546609594146,
      4.654811920313448,
      4.6657527232625435,
      4.715416431124971
    ],
    "ax_ego": [
      -0.126593381468451,
      0.13538093024090436,
      -0.09182595596999032,
      -0.11445848305397693,
      -0.06836241227878137,
      -0.0930465695216027,
      -0.06741201191669344,
      -0.04647279633946538,
      0.07277011510755291,
      0.11162824723728479
    ],
    "ay_ego": [
      1.6184727987523981,
      1.6177614413853658,
      1.6402830109608355,
      1.5058400198024127,
      1.5153840074773148,
      1.5010548106251025,
      1.420012241143139,
      1.3534952933496363,
      0.7944233123225908,
      0.7899006336548572
    ],
    "a_ego": [
      1.6234161772426186,
      1.6234161750783898,
      1.6428512903597048,
      1.5101837337163806,
      1.5169252155365407,
      1.5039359057488124,
      1.4216114604022496,
      1.3542928892670252,
      0.7977492643771996,
      0.797749256740245
    ],
    "yaw": [
      2.2247832123674645,
      2.386331662614238,
      2.548971102465943,
      2.7098570169613634,
      2.867190262112575,
      3.0258185006529286,
      -3.1006980666227624,
      -2.951073136310816,
      -2.8325156807049603,
      -2.7834722425509124
    ],
    "yaw_diff": [
      0.3230969004935469,
      0.3252788797034105,
      0.32177182899084045,
      0.31466649030242344,
      0.3172564770807069,
      0.3133374798077906,
      0.2992498606238927,
      0.23711491121171147,
      0.09808687630809576,
      0.09808687630809576
    ],
    "min_front_frame": [
      5,
      33.70992857991544
    ],
    "v_avg": 4.762935175513528,
    "v_std": 0.080697965730092,
    "vy_max": 0.1250995396610275,
    "a_max": 1.6428512903597048,
    "ax_avg": -0.028839231796321908,
    "a_std": 0.3031613634992868,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "fb4908bfeaf75ab1",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      67.7036648973201,
      33.70992857991544,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fb4908bfeaf75ab1",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "7727bf26f5845499": {
    "vx_ego": [
      3.4510435179662076,
      3.529775819948249,
      3.599233478498744,
      3.6663418898094937,
      3.7364767744186036,
      3.7767461462344767,
      3.797061397872362,
      3.8082538482185377,
      3.8151885492180675,
      3.8302004921537995
    ],
    "vy_ego": [
      -0.03969913640236755,
      -0.01218140726118988,
      0.009999477957161051,
      0.005058237689563816,
      -0.029518320400157227,
      -0.02099682500208444,
      0.009245207577577963,
      0.0036988275673797144,
      -0.011252791575221188,
      -0.004114329348170909
    ],
    "v_ego": [
      3.451271850249944,
      3.529796839164288,
      3.5992473688683284,
      3.666345379085333,
      3.73659337057284,
      3.7768045117211377,
      3.797072653120502,
      3.8082556444908837,
      3.8152051440784804,
      3.8302027019207734
    ],
    "ax_ego": [
      0.15151459816127927,
      0.15938600762034413,
      0.11659058195911495,
      0.1531161220046931,
      0.126747635929027,
      0.03406261142116129,
      0.04720153617413396,
      -0.002283565586107268,
      0.02995233124567072,
      0.02999140145662773
    ],
    "ay_ego": [
      -0.21140560439931025,
      -0.2055361365715826,
      -0.06816707088121324,
      -0.174047743827043,
      -0.05782029480228714,
      0.06728205708025378,
      0.017638018005445448,
      -0.07179573953172139,
      -0.011611423423365581,
      -0.011510133252010998
    ],
    "a_ego": [
      0.2600942195194111,
      0.26009421920128223,
      0.13505596378571905,
      0.23181277779501294,
      0.13931313543460488,
      0.07541310696277906,
      0.05038933117593936,
      0.07183204637689806,
      0.03212424786616903,
      0.032124248299558095
    ],
    "yaw": [
      2.593514709918658,
      2.5557613587929264,
      2.5303816592631225,
      2.5150542137382668,
      2.5087405203102957,
      2.5071068335369096,
      2.504726017793022,
      2.5026274678571783,
      2.5010779278346575,
      2.4976984123073995
    ],
    "yaw_diff": [
      -0.07550670225146305,
      -0.0507593990596078,
      -0.03065489104971153,
      -0.012627386855942113,
      -0.003267373546772312,
      -0.0047616314877751975,
      -0.004197099871687371,
      -0.003099080045041447,
      -0.006759031054516029,
      -0.006759031054516029
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7010795463272514,
    "v_std": 0.1267723319856892,
    "vy_max": 0.03969913640236755,
    "a_max": 0.2600942195194111,
    "ax_avg": 0.08462792603859448,
    "a_std": 0.0872775894709936,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7727bf26f5845499",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7727bf26f5845499",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "7fd97ff49f5b5761": {
    "vx_ego": [
      6.326585848039106,
      5.746302070088199,
      5.174792334926735,
      4.587112644109411,
      3.9851067558062145,
      3.4333007247589187,
      2.946249123655482,
      2.4521171678621934,
      1.9607412337399688,
      1.504367511262242
    ],
    "vy_ego": [
      -0.014328027908782105,
      0.004367355564854167,
      0.0015676390666969839,
      -0.016846540812065963,
      0.0066113833097537,
      0.034279487418457814,
      0.0057366865120793975,
      -0.03407857162915258,
      -0.02092625478616185,
      0.022151368113772288
    ],
    "v_ego": [
      6.3266020725973,
      5.746303729746153,
      5.1747925723751225,
      4.587143579144408,
      3.985112240020549,
      3.433471850749295,
      2.946254708645,
      2.4523539618025754,
      1.960852899589235,
      1.5045305886058495
    ],
    "ax_ego": [
      -1.160567792060273,
      -1.16056676013615,
      -1.1254701148389215,
      -1.2252096964337102,
      -1.1828309619561406,
      -1.0243575526575859,
      -0.9238509047556818,
      -1.0525410550803034,
      -0.9127596755470473,
      -0.9127358603613706
    ],
    "ay_ego": [
      0.037702063519949786,
      0.03773349940604836,
      -0.049737018735910105,
      -0.008959588705135512,
      0.09885003393135448,
      0.007697713069546745,
      -0.12168743648903382,
      -0.02361703586585191,
      0.0869780858637751,
      0.08722770970730682
    ],
    "a_ego": [
      1.1611800228910758,
      1.1611800126209313,
      1.1265685733359827,
      1.22524245537973,
      1.1869542593420856,
      1.0243864751514147,
      0.9318306318302508,
      1.0528059826067893,
      0.9168944392487487,
      0.9168944454681758
    ],
    "yaw": [
      -1.558897981214967,
      -1.558870894412551,
      -1.5589077633080688,
      -1.5581434657956221,
      -1.5583736352109199,
      -1.5586531300172566,
      -1.5586388498803814,
      -1.5573538427141487,
      -1.5561258848363624,
      -1.555852400454293
    ],
    "yaw_diff": [
      5.417360483228606e-05,
      -7.373779103581057e-05,
      0.001528595024893331,
      -0.00046033883059548586,
      -0.0005589896126734217,
      2.8560273750422027e-05,
      0.002570014332465398,
      0.0024559157555725797,
      0.0005469687641386223,
      0.0005469687641386223
    ],
    "min_front_frame": [
      9,
      14.024557100968119
    ],
    "v_avg": 3.811741820327549,
    "v_std": 1.5506569361870777,
    "vy_max": 0.034279487418457814,
    "a_max": 1.22524245537973,
    "ax_avg": -1.0680890373827183,
    "a_std": 0.11222931391106203,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7fd97ff49f5b5761",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.463399219379107,
    "right_rear_min": 4.657213391193667,
    "speed_mode": "decelerating",
    "front_frame": [
      27.97339656567202,
      24.9618633747982,
      22.2347416587948,
      19.85604128398766,
      20.572246795852834,
      18.957235404186545,
      17.40066046046527,
      16.02925086849252,
      14.921570780908345,
      14.024557100968119
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7fd97ff49f5b5761",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7d1fdeb7e341522d": {
    "vx_ego": [
      5.271036167091989,
      4.376088644646876,
      3.5240376585520305,
      2.853562554824424,
      2.459155728043905,
      2.277122570888545,
      2.1621036875467357,
      1.9143620288251197,
      1.4953838913474453,
      1.0298029446556742
    ],
    "vy_ego": [
      0.031913476288798925,
      -0.005021071730129334,
      -0.034490704314028564,
      -0.030560463210466793,
      -0.011135890658138692,
      -0.007516145281313946,
      -0.0059885337774159275,
      -0.013211853366987047,
      -0.014949921612411932,
      0.0016053840911734452
    ],
    "v_ego": [
      5.271132776240856,
      4.376091525204728,
      3.524206439409723,
      2.853726195031284,
      2.4591809414583343,
      2.277134975202381,
      2.1621119809667575,
      1.9144076186843855,
      1.4954586195069544,
      1.0298041959904698
    ],
    "ax_ego": [
      -1.7898950579681832,
      -1.7898949839453242,
      -1.6184274283876277,
      -1.0635109381785837,
      -0.5140733707243974,
      -0.2140616687616776,
      -0.24598508755220855,
      -0.7449953530643687,
      -0.9311595242971656,
      -0.9311955153765038
    ],
    "ay_ego": [
      -0.07387797164722476,
      -0.07387978631138326,
      -0.06650537669047274,
      0.0798974279731241,
      0.007257338391281676,
      0.006615382224126873,
      0.008632330914163253,
      -0.054533913519589305,
      0.030647071547048044,
      0.029533269870878842
    ],
    "a_ego": [
      1.791419066894632,
      1.7914190677722641,
      1.619793291159749,
      1.0665079064977492,
      0.5141245952572872,
      0.21416386556794653,
      0.24613650772504134,
      0.7469886370027763,
      0.9316637283289146,
      0.9316637279011021
    ],
    "yaw": [
      2.570773980188169,
      2.5707729654845033,
      2.569340745764868,
      2.569154099414039,
      2.570067703718212,
      2.570002670785421,
      2.571029973332775,
      2.569005761607603,
      2.566555940059141,
      2.5653598203437964
    ],
    "yaw_diff": [
      -2.0294073310722638e-06,
      -0.0028644394392705053,
      -0.00037329270165820105,
      0.0018272086083461758,
      -0.00013006586558184097,
      0.0020546050947078953,
      -0.004048423450344174,
      -0.0048996430969241445,
      -0.0023922394306890027,
      -0.0023922394306890027
    ],
    "min_front_frame": [
      9,
      10.025505768734872
    ],
    "v_avg": 2.7363255267695874,
    "v_std": 1.2447297149414107,
    "vy_max": 0.034490704314028564,
    "a_max": 1.7914190677722641,
    "ax_avg": -0.9843198928256041,
    "a_std": 0.5598569601034369,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7d1fdeb7e341522d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 49.4887962847131,
    "right_rear_min": 7.764715503703097,
    "speed_mode": "decelerating",
    "front_frame": [
      22.066262873527137,
      19.625957144928073,
      17.709649376587368,
      16.187264823601936,
      14.915625655634686,
      13.718950759013637,
      12.600218049498235,
      11.518878748907749,
      10.647995012126094,
      10.025505768734872
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7d1fdeb7e341522d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "778219f3cac65d35": {
    "vx_ego": [
      0.8500099897132909,
      1.476160289645262,
      2.0898472369336947,
      2.6096667915551395,
      3.0218746674494725,
      3.327380226532366,
      3.4846065270172053,
      3.5541893976994903,
      3.6172099870152845,
      3.693462968639781
    ],
    "vy_ego": [
      -0.001975400777200431,
      -0.012524056521932558,
      0.008910342544441452,
      0.03213190125378551,
      -0.0016418570471385951,
      -0.020537082518278904,
      0.004479982035598518,
      0.021133992775585586,
      0.015356511263428185,
      -0.0072635486545480354
    ],
    "v_ego": [
      0.850012285099821,
      1.4762134170631793,
      2.0898662320645447,
      2.6098645984081013,
      3.021875113479613,
      3.327443604883025,
      3.4846094068589593,
      3.554252230831417,
      3.6172425841518145,
      3.693470110864909
    ],
    "ax_ego": [
      1.2523476297606775,
      1.2523130285384734,
      1.2025516939723393,
      0.8765123891314492,
      0.7721238835175672,
      0.4504453591487835,
      0.17864875749559958,
      0.0995099781789127,
      0.15249532396291546,
      0.15244113355176003
    ],
    "ay_ego": [
      -0.014750299769952568,
      -0.017442593751151758,
      0.11460441088048645,
      -0.00740832603462116,
      -0.10781764015694212,
      0.08263068329913092,
      0.09002409869074747,
      0.0022294672856009515,
      -0.011524539892160957,
      -0.012220435536712676
    ],
    "a_ego": [
      1.2524344921433976,
      1.2524344955022482,
      1.2080003094656087,
      0.8765436963412356,
      0.7796152480725743,
      0.4579616265596473,
      0.20004928617668943,
      0.09953495005044835,
      0.1529301763887054,
      0.15293017440404785
    ],
    "yaw": [
      -0.5941968399189702,
      -0.5920470177721253,
      -0.5904507628367466,
      -0.5889542365179834,
      -0.5871982856734199,
      -0.5832794334191187,
      -0.5780042124566622,
      -0.5761881583963611,
      -0.5752231843188382,
      -0.5706589658780475
    ],
    "yaw_diff": [
      0.004299644293689786,
      0.003192509870757476,
      0.002993052637526361,
      0.0035119016891269617,
      0.007837704508602439,
      0.010550441924912946,
      0.0036321081206023287,
      0.0019299481550456576,
      0.009128436881581381,
      0.009128436881581381
    ],
    "min_front_frame": [
      9,
      30.69482553748014
    ],
    "v_avg": 2.772484958370538,
    "v_std": 0.9444003250695544,
    "vy_max": 0.03213190125378551,
    "a_max": 1.2524344955022482,
    "ax_avg": 0.6389389177258478,
    "a_std": 0.46275129461522196,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "778219f3cac65d35",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.153576931507303,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      43.45348797105585,
      42.79774497915354,
      41.85781587965269,
      40.66634048882229,
      39.320527384461705,
      37.73927202724748,
      36.002648816956466,
      34.25777220830779,
      32.51016990972246,
      30.69482553748014
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "778219f3cac65d35",
    "pedestrians": "Yes"
  },
  "2b7bf25209dd5705": {
    "vx_ego": [
      2.5832476545385323,
      3.098333827081507,
      3.6057231164938006,
      4.050495542500205,
      4.473331690950062,
      4.916089185275304,
      5.372976029805638,
      5.851614113972106,
      6.28877805748344,
      6.672474713499027
    ],
    "vy_ego": [
      0.134254009753765,
      -0.005690181781216719,
      -0.004708072348199144,
      0.018099199801965282,
      0.021515041142078806,
      0.08978142405574696,
      0.171285255154505,
      0.11411780580153508,
      0.05090458282185839,
      0.0191423163983655
    ],
    "v_ego": [
      2.5867339607725013,
      3.0983390521707337,
      3.6057261902095394,
      4.050535979453522,
      4.473383430274391,
      4.916908945840494,
      5.375705540252303,
      5.852726767280232,
      6.288984077960244,
      6.672502171641537
    ],
    "ax_ego": [
      0.9863101974144639,
      1.0970378717337743,
      0.9797405768555298,
      0.8807166693229157,
      0.8873444641094084,
      0.9167404281739607,
      0.9417885587893583,
      0.986557832208221,
      0.7659233944657677,
      0.7712587007567558
    ],
    "ay_ego": [
      -1.0045813138727857,
      -0.8823260849890427,
      -1.4648676073627631,
      -2.0958498856134566,
      -2.5042155395843135,
      -2.3031985024853485,
      -1.5629094232923946,
      -0.7221682631488529,
      -0.3035401999563122,
      -0.2897159388610737
    ],
    "a_ego": [
      1.4078321710012636,
      1.4078321676500578,
      1.7623077781811871,
      2.2733782339613415,
      2.656779190426101,
      2.4789385539983297,
      1.8247332832177698,
      1.222629689068123,
      0.8238782065205282,
      0.8238782123124464
    ],
    "yaw": [
      2.682380738493391,
      2.5651509923124487,
      2.3910054009855353,
      2.1543888089910674,
      1.8853339505560631,
      1.6162153682526723,
      1.413075364105469,
      1.321445293269176,
      1.2897619798421007,
      1.271775968265376
    ],
    "yaw_diff": [
      -0.2344594923618848,
      -0.34829118265382686,
      -0.47323318398893566,
      -0.5381097168700086,
      -0.5382371646067816,
      -0.4062800082944067,
      -0.18326014167258586,
      -0.06336662685415062,
      -0.035972023153449495,
      -0.035972023153449495
    ],
    "min_front_frame": [
      0,
      29.671381061468935
    ],
    "v_avg": 4.69215461158555,
    "v_std": 1.3018921262021361,
    "vy_max": 0.171285255154505,
    "a_max": 2.656779190426101,
    "ax_avg": 0.9213418693830155,
    "a_std": 0.6159593932468088,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "2b7bf25209dd5705",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 18.274740852356754,
    "right_rear_min": 7.293022492526162,
    "speed_mode": "accelerating",
    "front_frame": [
      29.671381061468935,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      38.52223388655556,
      35.48212979038534,
      32.23278955363398
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "2b7bf25209dd5705",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c3ed0328b37b586b": {
    "vx_ego": [
      7.941920934114458,
      8.152368751287682,
      8.335979580447102,
      8.442670568329557,
      8.45585951768015,
      8.358247817497684,
      8.285351531139671,
      8.334360530877268,
      8.413056994377932,
      8.479151563595828
    ],
    "vy_ego": [
      0.06230001245007388,
      -0.008367597776302915,
      -0.027678068901808572,
      -0.0329691886121215,
      -0.034672375918422205,
      0.02784210081246119,
      0.05179428433629418,
      0.014743055272125716,
      0.04092851763548744,
      0.08842692458626633
    ],
    "v_ego": [
      7.942165285064065,
      8.15237304554106,
      8.33602553025896,
      8.44273494151841,
      8.455930602624042,
      8.358294189682633,
      8.28551342057017,
      8.334373570720452,
      8.413156549964306,
      8.479612642062216
    ],
    "ax_ego": [
      0.3835845219940425,
      0.449809594492391,
      0.2857655893339126,
      0.13840663646358078,
      -0.08235664577626925,
      -0.30762866585167853,
      0.011052678243241007,
      0.18233726189277652,
      0.13185941480873015,
      0.1320731218026009
    ],
    "ay_ego": [
      0.9779350227230557,
      0.949297285365773,
      0.8450992202606296,
      0.4722757066801002,
      0.4437771030689172,
      0.46381853262192635,
      0.22016846695705813,
      0.14365730650515549,
      0.1242018087174851,
      0.1239745410023939
    ],
    "a_ego": [
      1.0504732239242185,
      1.0504732301683062,
      0.8921068681119333,
      0.4921389439348911,
      0.45135433343633496,
      0.5565635877932015,
      0.22044572016387576,
      0.23212991790562276,
      0.1811435744441285,
      0.18114357929399236
    ],
    "yaw": [
      0.7828701212043686,
      0.8515686589193119,
      0.9081691194505037,
      0.9479646521007796,
      0.9751801703083403,
      0.9946674360680556,
      1.012421762906191,
      1.0278655672551391,
      1.0327318140092476,
      1.0344539952868297
    ],
    "yaw_diff": [
      0.13739707542988655,
      0.11320092106238366,
      0.07959106530055182,
      0.05443103641512126,
      0.038974531519430755,
      0.03550865367627054,
      0.030887608697896418,
      0.009732493508217033,
      0.0034443625551641155,
      0.0034443625551641155
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.320017977800632,
    "v_std": 0.15545815630774662,
    "vy_max": 0.08842692458626633,
    "a_max": 1.0504732301683062,
    "ax_avg": 0.13249035074033277,
    "a_std": 0.333042948846135,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "c3ed0328b37b586b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c3ed0328b37b586b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ba8688a796b55984": {
    "vx_ego": [
      2.839363817949231,
      3.5195157090053404,
      4.177492209203173,
      4.813228931282242,
      5.308127381933928,
      5.5774959958943855,
      5.714558340109427,
      5.82557739085877,
      5.948708371897325,
      6.116925162630955
    ],
    "vy_ego": [
      0.0038680107691475563,
      -0.013879628319157344,
      -0.01397261010293449,
      -0.0018678502260951468,
      0.007780633570831252,
      0.005574428814021148,
      -0.007279906993922447,
      -0.04740629765758775,
      -0.058095058492505514,
      -0.08084811602801717
    ],
    "v_ego": [
      2.839366452606381,
      3.519543076880526,
      4.177515576486376,
      4.813229293706758,
      5.3081330843428844,
      5.57749878157535,
      5.7145629771278275,
      5.825770274731272,
      5.948992043170219,
      6.117459428806456
    ],
    "ax_ego": [
      1.3603317318438315,
      1.3603794746163735,
      1.2714580481538067,
      1.2715436562492348,
      0.7084422314407991,
      0.3752885934584918,
      0.19097425353804304,
      0.28225663876581536,
      0.2503281132457106,
      0.45633956091875694
    ],
    "ay_ego": [
      0.011682702852293891,
      0.002565166918089834,
      -0.029625718617865837,
      0.0888849933629246,
      0.1818635050443898,
      0.5878641500665274,
      1.0614096002341211,
      1.3623920862591887,
      1.574111356815479,
      1.5271689234456236
    ],
    "a_ego": [
      1.3603818971918042,
      1.3603818930869516,
      1.271803149633902,
      1.2746465438672792,
      0.7314128312764615,
      0.6974423182697576,
      1.0784532929077502,
      1.391323473110779,
      1.593891692661903,
      1.5938916887911765
    ],
    "yaw": [
      2.7091816299100406,
      2.7158839310220064,
      2.7141552219844067,
      2.714758079337445,
      2.7260691832470707,
      2.7615545067493725,
      2.8365181096411036,
      2.948592910369944,
      3.07485465761573,
      -3.0756698063660184
    ],
    "yaw_diff": [
      0.013404602223931583,
      -0.003457418075199392,
      0.0012057147060762219,
      0.022622207819251727,
      0.07097064700460365,
      0.1499272057834622,
      0.2241496014576807,
      0.2525234944915722,
      0.26532168639567555,
      0.26532168639567555
    ],
    "min_front_frame": [
      1,
      57.05519261455952
    ],
    "v_avg": 4.984207098943405,
    "v_std": 1.0648572158781264,
    "vy_max": 0.08084811602801717,
    "a_max": 1.593891692661903,
    "ax_avg": 0.7527342302230863,
    "a_std": 0.29723474418348295,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "ba8688a796b55984",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      58.66440273228266,
      57.05519261455952,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "ba8688a796b55984",
    "pedestrians": "No"
  },
  "68ba851239655c3a": {
    "vx_ego": [
      1.4274050518620034,
      1.862590136093668,
      2.385554888993009,
      2.9514181213352795,
      3.4282217528590637,
      3.7721314952846052,
      4.010450812345319,
      4.199922426187673,
      4.36327397036578,
      4.6110808333326405
    ],
    "vy_ego": [
      0.0808619502475113,
      0.021244086208922153,
      -0.034437580366888154,
      -0.037923797386753444,
      -0.01930551820427473,
      0.03375124461968193,
      0.0653151983547976,
      0.0675446135139508,
      0.05591061737435854,
      0.016154805548336926
    ],
    "v_ego": [
      1.4296936165063476,
      1.8627112836594621,
      2.385803444406092,
      2.951661759306866,
      3.4282761104976958,
      3.7722824873319665,
      4.010982646855674,
      4.200465529058523,
      4.363632172583609,
      4.611109132222956
    ],
    "ax_ego": [
      0.8705153629865272,
      0.8710720357944359,
      1.221302062744113,
      1.0404917425561357,
      0.875888805885433,
      0.5419905017569229,
      0.48918549238128156,
      0.3549070207288642,
      0.33748408343868774,
      0.6719959687554966
    ],
    "ay_ego": [
      -0.1348270524142905,
      -0.13118250742370074,
      -0.24122708594787845,
      -0.48018462635896114,
      -0.873893102284509,
      -1.3262635304314676,
      -1.7004281791941103,
      -1.9465565695718285,
      -1.8125955323069316,
      -1.7169215033228926
    ],
    "a_ego": [
      0.8808946198372942,
      0.8808946258191341,
      1.2448972790788524,
      1.145949537160777,
      1.2372834576182827,
      1.4327346775126446,
      1.7693949357206022,
      1.9786463736367557,
      1.8437456631307638,
      1.8437456523599398
    ],
    "yaw": [
      0.8095996386558961,
      0.8054143393116364,
      0.7874266294932751,
      0.7217271435170431,
      0.6105975000186865,
      0.4453757635910437,
      0.24383936031922315,
      0.023008544765614827,
      -0.19281702007059207,
      -0.3818036002304614
    ],
    "yaw_diff": [
      -0.008370598688519415,
      -0.03597541963672257,
      -0.13139897195246397,
      -0.22225928699671327,
      -0.33044347285528564,
      -0.4030728065436411,
      -0.4416616311072167,
      -0.4316511296724138,
      -0.37797316031973865,
      -0.37797316031973865
    ],
    "min_front_frame": [
      3,
      42.62458716442448
    ],
    "v_avg": 3.301661818242919,
    "v_std": 1.04532639088076,
    "vy_max": 0.0808619502475113,
    "a_max": 1.9786463736367557,
    "ax_avg": 0.7274833077027898,
    "a_std": 0.38904063123220445,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "68ba851239655c3a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      45.976374651525134,
      45.053223828717016,
      44.12940542527125,
      42.62458716442448,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "68ba851239655c3a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "123bc88af914514c": {
    "vx_ego": [
      1.5299306314214791,
      2.211245245979642,
      2.928665749340448,
      3.6872997080250594,
      4.458632475063912,
      5.221672359085596,
      5.955847895584702,
      6.658176283987139,
      7.3373133571822295,
      8.01228415645645
    ],
    "vy_ego": [
      0.007321572066807447,
      0.011200240418087204,
      0.0048708729844869625,
      -0.01131996975924432,
      -0.007569534217477969,
      0.025518445562702885,
      0.0358832223144383,
      -0.0027748751674003813,
      -0.028592008591191043,
      -0.025780366016679324
    ],
    "v_ego": [
      1.52994815022577,
      2.211273611123913,
      2.928669799885859,
      3.68731708407577,
      4.458638900555058,
      5.22173471335939,
      5.95595599051776,
      6.658176862218439,
      7.3373690655738475,
      8.012325631867132
    ],
    "ax_ego": [
      1.3626539590964335,
      1.3626501225670413,
      1.5071055246747345,
      1.5274189396020121,
      1.5578452854149911,
      1.4943431480240668,
      1.4430888997144353,
      1.3665517830574767,
      1.3496186041600102,
      1.3498301899737286
    ],
    "ay_ego": [
      0.0021793804708156173,
      0.0038980495071130883,
      -0.04276793405471957,
      -0.029723353532649266,
      0.02845983717867817,
      0.06853645154543103,
      -0.10502262716245686,
      -0.14531771791347325,
      -0.05687859067325762,
      -0.05161410339284017
    ],
    "a_ego": [
      1.3626557019072798,
      1.3626556980110318,
      1.5077122267489957,
      1.5277081183263255,
      1.558105226107002,
      1.4959139979413647,
      1.4469054304601678,
      1.3742565316989215,
      1.35081662366577,
      1.3508166261316
    ],
    "yaw": [
      1.2537965766314574,
      1.2525353100157428,
      1.2512076308499558,
      1.250623146975,
      1.249623847183722,
      1.2478006747637032,
      1.244317972508791,
      1.2405300109073631,
      1.236996809936498,
      1.2330963972197875
    ],
    "yaw_diff": [
      -0.002522533231429147,
      -0.0026553583315740426,
      -0.001168967749911598,
      -0.0019985995825559932,
      -0.003646344840037674,
      -0.006965404509824413,
      -0.007575923202855606,
      -0.007066401941730138,
      -0.007800825433421199,
      -0.007800825433421199
    ],
    "min_front_frame": [
      0,
      14.497665006463194
    ],
    "v_avg": 4.800140980940293,
    "v_std": 2.0970313306961827,
    "vy_max": 0.0358832223144383,
    "a_max": 1.558105226107002,
    "ax_avg": 1.432110645628493,
    "a_std": 0.07823320918962264,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "123bc88af914514c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.100635962104169,
    "right_rear_min": 25.070393421939244,
    "speed_mode": "accelerating",
    "front_frame": [
      14.497665006463194,
      15.149131030919172,
      15.88270929555673,
      16.763339445008288,
      17.63375218695385,
      18.513468270223004,
      19.397898208098713,
      20.32649448328781,
      21.24876297679994,
      22.231885724208972
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "123bc88af914514c",
    "merging_vehicles": "No"
  },
  "52a92230f3245182": {
    "vx_ego": [
      -0.4014577649881508,
      0.297911801495448,
      1.2116613403795518,
      2.306592610664197,
      3.3342060331332735,
      4.231728500830697,
      4.902674332892426,
      5.391460879287846,
      5.752511567754719,
      6.120614314024075
    ],
    "vy_ego": [
      -0.03285431329136207,
      -0.009505008859777203,
      0.01577081178545703,
      0.010901168729990474,
      -0.0064969596711383915,
      -0.0037605173594661423,
      -0.045384397682266986,
      -0.080006070615108,
      -0.017438958126263282,
      0.16109008839805705
    ],
    "v_ego": [
      0.40279987955699326,
      0.2980633936995411,
      1.2117639713552901,
      2.3066183704831533,
      3.3342123630427754,
      4.231730171718612,
      4.902884391657137,
      5.3920544678467905,
      5.752538001127188,
      6.122733833641349
    ],
    "ax_ego": [
      1.3987325016530074,
      1.398716271021779,
      2.2563104369565705,
      2.1254749782094318,
      1.987449679933337,
      1.6171870973196414,
      1.0928725541928226,
      0.8533167330040747,
      0.571627111866475,
      0.9421577212857796
    ],
    "ay_ego": [
      0.04649169434438494,
      0.0469774483122517,
      0.04798082180833818,
      -0.1603553663494972,
      -0.29004161779993376,
      -0.753624540364008,
      -1.4324168586160464,
      -1.8146442143751096,
      -1.9914481164370064,
      -1.845253902049425
    ],
    "a_ego": [
      1.3995049441940146,
      1.3995049437108114,
      2.256820539427217,
      2.1315153592013982,
      2.008502021488434,
      1.7841648061700999,
      1.8017182012055621,
      2.005263840892217,
      2.0718646566514205,
      2.0718646516621306
    ],
    "yaw": [
      -2.230160682321009,
      -2.2305079663623415,
      -2.232880240664162,
      -2.245960447591801,
      -2.2795065539480768,
      -2.348331753590534,
      -2.4572063212506565,
      -2.6070396871242885,
      -2.7874042230030898,
      -2.9799576495191813
    ],
    "yaw_diff": [
      -0.0006945680826646594,
      -0.004744548603641263,
      -0.02616041385527801,
      -0.06709221271255128,
      -0.1376503992849143,
      -0.2177491353202452,
      -0.2996667317472639,
      -0.3607290717576026,
      -0.38510685303218306,
      -0.38510685303218306
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.3955398844128837,
    "v_std": 2.1085454895468794,
    "vy_max": 0.16109008839805705,
    "a_max": 2.256820539427217,
    "ax_avg": 1.4243845085442917,
    "a_std": 0.28043468614253203,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "52a92230f3245182",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "52a92230f3245182",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e89a3ed626f75032": {
    "vx_ego": [
      1.368856147463542,
      0.9189951412114428,
      0.46212584109856997,
      0.11436319624729402,
      -0.012831130768520575,
      -0.019941318686009516,
      -0.012436320041393858,
      -0.0075443163830564595,
      -0.004937213105571071,
      -0.003040999618092057
    ],
    "vy_ego": [
      0.02046073441247831,
      0.006492224851441741,
      0.009955538202471276,
      0.004333676189299772,
      -0.008217198106741725,
      -0.0034010448599691425,
      -0.0018435526735285342,
      -0.0009672277029272392,
      -0.0006534113001671197,
      -0.0005174635065339963
    ],
    "v_ego": [
      1.369009055522069,
      0.9190180730289048,
      0.4622330643214109,
      0.11444527690215438,
      0.015236806145787745,
      0.020229268327760022,
      0.01257222106996408,
      0.007606065942191403,
      0.0049802630027950155,
      0.003084711843565051
    ],
    "ax_ego": [
      -0.8997188413647843,
      -0.899711760666095,
      -0.9277648479042799,
      -0.46326333450121515,
      -0.04552952092525831,
      0.0170877237841621,
      0.012932200814752322,
      0.0066359245115728644,
      0.00379244840233641,
      0.0037924423311237266
    ],
    "ay_ego": [
      -0.028393472102295092,
      -0.02861691049322873,
      0.04302647024097139,
      -0.06576231149982234,
      0.015560685960681962,
      0.00370982911283537,
      0.0025206427241131887,
      0.0009838891173561165,
      0.0002718096961597772,
      0.0002717494485111249
    ],
    "a_ego": [
      0.9001667527546291,
      0.9001667511339564,
      0.9287620201904516,
      0.46790768182087417,
      0.048115197425039204,
      0.017485798127916837,
      0.013175562897110141,
      0.006708467180999349,
      0.003802176402445113,
      0.0038021660402545896
    ],
    "yaw": [
      -2.071329919283839,
      -2.071578263205324,
      -2.071377884668734,
      -2.0716476695369925,
      -2.0719690258373373,
      -2.07202992783271,
      -2.0720379016865484,
      -2.0720169540946465,
      -2.072035147928569,
      -2.072020543036617
    ],
    "yaw_diff": [
      -0.0004966878429701893,
      0.00040075707318010245,
      -0.0005395697365173646,
      -0.0006427126006895989,
      -0.00012180399074512849,
      -1.5947707677099743e-05,
      4.1895183803930536e-05,
      -3.638766784508363e-05,
      2.920978390363871e-05,
      2.920978390363871e-05
    ],
    "min_front_frame": [
      3,
      9.813593473829192
    ],
    "v_avg": 0.2928414806106602,
    "v_std": 0.45704129213420197,
    "vy_max": 0.02046073441247831,
    "a_max": 0.9287620201904516,
    "ax_avg": -0.3191747565517685,
    "a_std": 0.4028069356771831,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e89a3ed626f75032",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.802501986182309,
      10.23488278109096,
      9.871230724528251,
      9.813593473829192,
      9.821184082131664,
      9.836324669954212,
      9.826261005866883,
      9.86919784817508,
      9.865673677932383,
      9.841296811689805
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e89a3ed626f75032",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "249478c83c155093": {
    "vx_ego": [
      4.647262336323568,
      4.704410030150657,
      4.756467894036397,
      4.746558835823448,
      4.710935273405421,
      4.6875072911026345,
      4.741018199909291,
      4.9324436992738026,
      5.238216232772665,
      5.605722062956003
    ],
    "vy_ego": [
      -0.0004408444116421606,
      0.02506447314329696,
      0.012340566312967649,
      0.027446945187240113,
      0.045851641409597854,
      0.03696053529920018,
      -0.003498477084241003,
      0.02213649301179199,
      0.024761025757491506,
      0.06634906173606314
    ],
    "v_ego": [
      4.6472623572330605,
      4.704476799772325,
      4.756483902692824,
      4.7466381910499305,
      4.711158405661538,
      4.687653003935974,
      4.741019490701662,
      4.932493372608695,
      5.238274755077249,
      5.606114701386778
    ],
    "ax_ego": [
      0.042248945353802414,
      0.17971078717046235,
      0.024812319415546194,
      -0.07182015467616532,
      -0.0916786437386981,
      -0.01238306423308283,
      0.21740646446229384,
      0.5554965585413087,
      0.6376305648319227,
      0.805134558446613
    ],
    "ay_ego": [
      1.164095403273616,
      1.1509157749504262,
      1.2428967414259178,
      1.2883511047030778,
      1.260334727367103,
      1.4501950112815727,
      1.4744972258069402,
      1.6407286292391217,
      1.4309140691630653,
      1.3438177482712252
    ],
    "a_ego": [
      1.1648618292768766,
      1.164861832173742,
      1.2431443846319477,
      1.2903513876488641,
      1.2636647493402977,
      1.4502478791660967,
      1.4904387406741537,
      1.732214438617842,
      1.566552843199577,
      1.5665528391260117
    ],
    "yaw": [
      1.2668477839713859,
      1.3854654576515828,
      1.5139625914578405,
      1.6434535617167878,
      1.7740511302067792,
      1.9201923208732594,
      2.08450536697854,
      2.2412752214471956,
      2.3917838755359986,
      2.5123727957117956
    ],
    "yaw_diff": [
      0.23723534736039387,
      0.2569942676125154,
      0.2589819405178946,
      0.26119513697998276,
      0.2922823813329605,
      0.32862609221056127,
      0.3135397089373111,
      0.30101730817760597,
      0.24117784035159406,
      0.24117784035159406
    ],
    "min_front_frame": [
      9,
      34.25235867325073
    ],
    "v_avg": 4.877157498012004,
    "v_std": 0.29344767013655604,
    "vy_max": 0.06634906173606314,
    "a_max": 1.732214438617842,
    "ax_avg": 0.22865583355740027,
    "a_std": 0.18490362449813022,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "249478c83c155093",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      36.96841996065568,
      34.25235867325073
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "249478c83c155093",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a1ce49c5eeb75711": {
    "vx_ego": [
      7.109951196986126,
      6.438086851039259,
      5.760778796738122,
      5.044183887332881,
      4.23831699501551,
      3.3221334131011147,
      2.407540656911256,
      1.6521373142768363,
      1.0291809111775456,
      0.4365273931299659
    ],
    "vy_ego": [
      0.09583465022567283,
      -0.004551230946818308,
      -0.032181472275542244,
      -0.02761467762630465,
      -0.025270599042132025,
      -0.011518425019142464,
      0.01665057497543021,
      0.0085171831426194,
      0.010442020729223012,
      0.06184381296858779
    ],
    "v_ego": [
      7.11059704270382,
      6.438088459723719,
      5.760868683810224,
      5.044259475844702,
      4.23839233122811,
      3.3221533812510495,
      2.407598233993308,
      1.6521592682409776,
      1.029233881937994,
      0.44088640504707954
    ],
    "ax_ego": [
      -1.344018823975586,
      -1.3447626007625146,
      -1.3643128289646207,
      -1.5018835285156011,
      -1.721262686664186,
      -1.9432336633892915,
      -1.7151495480120849,
      -1.3064642819220273,
      -1.1853444495730403,
      -1.1853132535764512
    ],
    "ay_ego": [
      -0.10475279492175438,
      -0.09472742575565085,
      0.014127137478667118,
      0.03472823984191353,
      0.03209887750290907,
      0.06350808041465239,
      0.06138630024151215,
      -0.09389086114885625,
      0.10306742761803345,
      0.103425681176054
    ],
    "a_ego": [
      1.3480948584000445,
      1.348094854822855,
      1.364385968592021,
      1.5022849875669362,
      1.7215619577695596,
      1.9442711608228211,
      1.7162477239324747,
      1.3098337351531728,
      1.1898169433864239,
      1.1898169525732618
    ],
    "yaw": [
      -0.5945552597131509,
      -0.5870981055277984,
      -0.5858722250807276,
      -0.5844612462334702,
      -0.5813848489656915,
      -0.5787195026182905,
      -0.5776425464387451,
      -0.5776388794134822,
      -0.5773602657205972,
      -0.5770580373180823
    ],
    "yaw_diff": [
      0.014914308370705065,
      0.0024517608941416746,
      0.002821957694514765,
      0.006152794535557282,
      0.0053306926948020195,
      0.0021539123590907927,
      7.334050525775737e-06,
      0.0005572273857701315,
      0.0006044568050298516,
      0.0006044568050298516
    ],
    "min_front_frame": [
      9,
      9.395470957439079
    ],
    "v_avg": 3.7444237163780985,
    "v_std": 2.218449473050052,
    "vy_max": 0.09583465022567283,
    "a_max": 1.9442711608228211,
    "ax_avg": -1.4611745665355405,
    "a_std": 0.23937438621755555,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a1ce49c5eeb75711",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.6596044281388,
      20.809865731256924,
      18.790951856057436,
      16.754039088987994,
      14.628177164544319,
      12.778135821036699,
      11.390838827029816,
      10.416041790601748,
      9.750454119630753,
      9.395470957439079
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a1ce49c5eeb75711",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1aabc43f2a7453f1": {
    "vx_ego": [
      7.220825607642871,
      6.643927903703442,
      6.0818759656582175,
      5.536228280663231,
      5.00210940222472,
      4.48571273448238,
      4.0138271403070185,
      3.547920116218252,
      3.151943473971516,
      2.8565824618917004
    ],
    "vy_ego": [
      0.002282914032064376,
      -0.004278750038529289,
      -0.03317178793217179,
      -0.04412654319278353,
      -0.020406817371915853,
      -0.0034243357739462965,
      0.0006619750679308645,
      0.003710883653798458,
      -0.002875417313870754,
      -0.022280984365829815
    ],
    "v_ego": [
      7.220825968522403,
      6.643929281480283,
      6.0819664278229695,
      5.5364041333188005,
      5.002151028309741,
      4.485714041529273,
      4.013827194894694,
      3.5479220568839485,
      3.1519447855469105,
      2.856669355009704
    ],
    "ax_ego": [
      -1.1539196668412826,
      -1.1536780084514673,
      -1.094562112254918,
      -1.0881032308280851,
      -1.048586760918106,
      -1.017012236860216,
      -0.8705437536835499,
      -0.9930660432733706,
      -0.5907926553579678,
      -0.590723740338336
    ],
    "ay_ego": [
      -0.06266552045550128,
      -0.06696734632265755,
      -0.0590441647507563,
      0.005959358113898416,
      0.05998165660520327,
      -0.012964847563235238,
      0.018443717237644652,
      -0.01678065018632363,
      -0.047096002246315716,
      -0.04795268946742823
    ],
    "a_ego": [
      1.15561999159631,
      1.1556199949196286,
      1.0961534705391678,
      1.088119549906005,
      1.0503009065509892,
      1.0170948712857408,
      0.8707391100570752,
      0.9932078113483117,
      0.5926668499692752,
      0.5926668523095191
    ],
    "yaw": [
      -2.0320926772161556,
      -2.0358210716402803,
      -2.0362317136899204,
      -2.0366305342265933,
      -2.038004804181603,
      -2.03910782516955,
      -2.0397498242882817,
      -2.040443452328124,
      -2.0432870460579093,
      -2.044737191172891
    ],
    "yaw_diff": [
      -0.007456788848249296,
      -0.0008212840992802839,
      -0.0007976410733459005,
      -0.002748539910019332,
      -0.002206041975894024,
      -0.0012839982374632797,
      -0.0013872560796848177,
      -0.005687187459570531,
      -0.002900290229963076,
      -0.002900290229963076
    ],
    "min_front_frame": [
      9,
      15.009694131802258
    ],
    "v_avg": 4.854135427331873,
    "v_std": 1.422495118880582,
    "vy_max": 0.04412654319278353,
    "a_max": 1.1556199949196286,
    "ax_avg": -0.9600988208807297,
    "a_std": 0.20045536154647112,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1aabc43f2a7453f1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.488004341938487,
    "right_rear_min": 26.659072869714684,
    "speed_mode": "decelerating",
    "front_frame": [
      30.895334508454848,
      28.671276860193576,
      26.45759500247904,
      24.34733117538221,
      22.446822951912555,
      20.62474353134468,
      18.99135791076318,
      17.507303010545545,
      16.2171139655285,
      15.009694131802258
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1aabc43f2a7453f1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5233faf7f9935f97": {
    "vx_ego": [
      2.0496884964016395,
      2.57016300447895,
      3.0140897117180487,
      3.351771475998655,
      3.6083109809947684,
      3.6462089181545894,
      3.4766972857986778,
      3.266461174837109,
      3.075723307242707,
      2.905053412956314
    ],
    "vy_ego": [
      -0.024231198993095893,
      -0.01146221435864736,
      -0.007728777849975943,
      -0.0053666403382939265,
      0.008039560218370712,
      0.013812859380385678,
      0.005192520108832532,
      -0.015213192588364732,
      -0.023651148278961864,
      -0.01693224981633934
    ],
    "v_ego": [
      2.0498317207238883,
      2.5701885635007926,
      3.0140996208306796,
      3.351775772355114,
      3.6083199373248394,
      3.6462350815484075,
      3.4767011633652056,
      3.266496601551417,
      3.075814240088456,
      2.9051027577717403
    ],
    "ax_ego": [
      1.0409017938145975,
      1.0408714736865674,
      0.7348130170991196,
      0.6159181871307573,
      0.4102395307982435,
      -0.2586804141348776,
      -0.41933184388134387,
      -0.42162868778377083,
      -0.34136596541235986,
      -0.34137257693439804
    ],
    "ay_ego": [
      0.0166666747560823,
      0.018463079964065487,
      -0.015283581915464417,
      0.025867887649913435,
      0.02883399388488972,
      0.002797125204614004,
      -0.04519749974548534,
      -0.04809378637782738,
      0.00920987884320909,
      0.008961467643230053
    ],
    "a_ego": [
      1.041035216702044,
      1.0410352107667666,
      0.7349719436648434,
      0.616461159238688,
      0.41125159189104277,
      0.25869553642535476,
      0.42176060659593484,
      0.4243627724605689,
      0.34149018171862433,
      0.34149018168192213
    ],
    "yaw": [
      2.4372991422535573,
      2.4355733103487287,
      2.4345350890102955,
      2.4346238804895477,
      2.434700687890348,
      2.4352758833114723,
      2.434723115594731,
      2.4338579833492213,
      2.433452099320189,
      2.4327244149317666
    ],
    "yaw_diff": [
      -0.003451663809657113,
      -0.0020764426768664634,
      0.00017758295850445194,
      0.00015361480160080987,
      0.0011503908422483278,
      -0.001105535433482352,
      -0.0017302644910195397,
      -0.0008117680580648212,
      -0.001455368776844601,
      -0.001455368776844601
    ],
    "min_front_frame": [
      9,
      19.230653290728682
    ],
    "v_avg": 3.096456545906054,
    "v_std": 0.47107904017012536,
    "vy_max": 0.024231198993095893,
    "a_max": 1.041035216702044,
    "ax_avg": 0.20603645143825347,
    "a_std": 0.2724698067362811,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "5233faf7f9935f97",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.554649853759915,
    "speed_mode": "accelerating",
    "front_frame": [
      32.25260550601131,
      31.547986565088543,
      30.48771648997428,
      29.18469699707878,
      27.50075072951749,
      25.681971074623597,
      23.9346053053015,
      22.226253316608783,
      20.711953263988054,
      19.230653290728682
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "5233faf7f9935f97",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4d55f6c3a3dc58fe": {
    "vx_ego": [
      3.717818997117504,
      4.052233230468175,
      4.3907523217422435,
      4.692306991710847,
      4.905375844448677,
      5.010816840025928,
      5.040105357482098,
      5.029696288638947,
      5.012044927955213,
      5.011116833271918
    ],
    "vy_ego": [
      -0.051052949479166054,
      -0.01869903301938347,
      -0.030684764986812052,
      -0.028976605394016808,
      -0.01371980467808731,
      -0.008028732798847749,
      -0.006436552814191865,
      -0.004958905409425007,
      0.005199364893900826,
      -0.007371984374175522
    ],
    "v_ego": [
      3.7181695091776445,
      4.0522763735888505,
      4.390859540646591,
      4.692396461097321,
      4.905395030814641,
      5.010823272161749,
      5.040109467435392,
      5.029698733193794,
      5.012047624797361,
      5.011122255828009
    ],
    "ax_ego": [
      0.6542376143797242,
      0.691049728670844,
      0.6730812260441846,
      0.5475804402686597,
      0.31387198878368366,
      0.11512011380086251,
      0.003496178841595532,
      -0.04765550824404549,
      -0.02616413448080665,
      0.022765320956016827
    ],
    "ay_ego": [
      0.5896384007399464,
      0.5460316642754187,
      0.6267982252158394,
      0.7676283673563407,
      0.8278428120048622,
      0.908953894338429,
      0.8840866656052462,
      0.7770282082629216,
      0.6873590874071491,
      0.6874800512181373
    ],
    "a_ego": [
      0.8807384967721317,
      0.8807385002867938,
      0.919736022990765,
      0.9429197468156981,
      0.8853470205129412,
      0.9162149434682451,
      0.8840935785127584,
      0.7784882040867958,
      0.6878568724482722,
      0.6878568751281935
    ],
    "yaw": [
      -2.485455099395728,
      -2.4206489059257708,
      -2.348423673232778,
      -2.2723397150524463,
      -2.1929269135539045,
      -2.106984820216821,
      -2.0184078803973486,
      -1.93637161984846,
      -1.8654715842628642,
      -1.7943231794332897
    ],
    "yaw_diff": [
      0.12961238693991461,
      0.14445046538598572,
      0.1521679163606633,
      0.1588256029970836,
      0.17188418667416716,
      0.17715387963894447,
      0.16407252109777737,
      0.14180007117119153,
      0.14229680965914904,
      0.14229680965914904
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.686289826874136,
    "v_std": 0.4510684721618209,
    "vy_max": 0.051052949479166054,
    "a_max": 0.9429197468156981,
    "ax_avg": 0.2947382969020719,
    "a_std": 0.0893018247899023,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "4d55f6c3a3dc58fe",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "4d55f6c3a3dc58fe",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "7fc46d2957805648": {
    "vx_ego": [
      1.6345291338244656,
      2.069131184386775,
      2.4711292190453857,
      2.747771770160166,
      2.899347264863493,
      3.001022290522804,
      3.076586789840286,
      3.1665788919300972,
      3.393704522798405,
      3.865790549976162
    ],
    "vy_ego": [
      -0.03665041764428956,
      -0.024918214546982398,
      -0.012390254747358442,
      -0.016191897540474454,
      -0.00562656760063196,
      -0.016732817719824267,
      -0.026802027736210876,
      -0.035168535474015605,
      -0.03047399831590214,
      0.13223607449005925
    ],
    "v_ego": [
      1.6349399812942549,
      2.069281221974922,
      2.4711602812510085,
      2.747819477046317,
      2.899352724408395,
      3.001068938795572,
      3.076703532047007,
      3.16677417961948,
      3.393841341700538,
      3.8680515709697483
    ],
    "ax_ego": [
      0.8695013448496618,
      0.8704579224502884,
      0.7379858146740216,
      0.3686080903083028,
      0.24328925238263088,
      0.18921219460798017,
      0.13225162660083264,
      0.24520623484688092,
      0.665818602758603,
      1.2400254700391606
    ],
    "ay_ego": [
      0.07814412346646565,
      0.06664930556340826,
      0.047142971547442236,
      -0.08733115490872945,
      -0.41009588757429905,
      -0.9599539735644695,
      -1.3410998884916958,
      -1.732018956620773,
      -2.0118977246744465,
      -1.7185411552146248
    ],
    "a_ego": [
      0.8730057804663797,
      0.8730057987714382,
      0.7394900421414762,
      0.37881216302862614,
      0.4768315188095808,
      0.978423674054641,
      1.347605062194041,
      1.7492900742019588,
      2.1192090190280037,
      2.1192090195429656
    ],
    "yaw": [
      -1.1046875395920321,
      -1.0914749989071824,
      -1.0845129478595403,
      -1.0868647120110069,
      -1.1343765283462441,
      -1.2463366845336683,
      -1.4313645296160522,
      -1.6747011875042919,
      -1.964113977967572,
      -2.2695661880526266
    ],
    "yaw_diff": [
      0.026425081369699566,
      0.013924102095284052,
      -0.00470352830293308,
      -0.09502363267047453,
      -0.22392031237484833,
      -0.3700556901647678,
      -0.4866733157764793,
      -0.5788255809265603,
      -0.610904420170109,
      -0.610904420170109
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.8328993249107244,
    "v_std": 0.6120554725181483,
    "vy_max": 0.13223607449005925,
    "a_max": 2.1192090195429656,
    "ax_avg": 0.5562356553518363,
    "a_std": 0.606120836295713,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "7fc46d2957805648",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "7fc46d2957805648",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "06a1f481118057b2": {
    "vx_ego": [
      0.6234408970051423,
      1.1631404162018453,
      1.778670349114202,
      2.4547065618151067,
      3.064468293620651,
      3.6043105293102737,
      4.132315810320413,
      4.708226175396891,
      5.333254084692127,
      6.0762139396015655
    ],
    "vy_ego": [
      -0.0036772225840955852,
      0.00977601389708982,
      0.020681891375109007,
      0.0322336770438052,
      0.055280630518111495,
      0.04348247688179607,
      0.014491708699744366,
      0.01993400191766259,
      -0.056185024722327004,
      -0.18121572818661358
    ],
    "v_ego": [
      0.6234517415361909,
      1.1631814984128306,
      1.7787905867327074,
      2.454918188973699,
      3.064966862906799,
      3.6045728065185036,
      4.13234122088739,
      4.7082683741610225,
      5.3335500268478135,
      6.078915608885403
    ],
    "ax_ego": [
      1.0794281869128954,
      1.079388594889984,
      1.3827651175012046,
      1.320882565541449,
      1.1223130499296545,
      1.041061955332736,
      1.0978772497427345,
      1.2496900690332953,
      1.2870388243220172,
      1.7516486215236629
    ],
    "ay_ego": [
      0.023060862394969406,
      0.024845242008585122,
      0.01580330599662194,
      0.1644102837457278,
      0.6435727121195169,
      1.0985298743790384,
      1.6234202675481975,
      2.171076980115273,
      2.331733438589324,
      2.0062843465147293
    ],
    "a_ego": [
      1.079674494501218,
      1.0796744994807643,
      1.3828554207358565,
      1.331075314680845,
      1.2937435672602489,
      1.5134655198399618,
      1.9598030055566635,
      2.505054993852809,
      2.663353105381972,
      2.6633531069604315
    ],
    "yaw": [
      -2.166860130813705,
      -2.1685132367793045,
      -2.169032254003313,
      -2.1532628411606387,
      -2.089016797299105,
      -1.955468391498185,
      -1.772237748798503,
      -1.5587557322466488,
      -1.320297932126637,
      -1.106907643250922
    ],
    "yaw_diff": [
      -0.0033062119311990656,
      -0.0010380344480172,
      0.031538825685348826,
      0.12849208772306753,
      0.26709681160183996,
      0.36646128539936385,
      0.42696403310370856,
      0.47691560024002344,
      0.4267805777514302,
      0.4267805777514302
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.2942956915862363,
    "v_std": 1.715795279404252,
    "vy_max": 0.18121572818661358,
    "a_max": 2.6633531069604315,
    "ax_avg": 1.2412094234729634,
    "a_std": 0.6128261679634108,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "06a1f481118057b2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 26.77700160556284,
    "right_rear_min": 33.80828196577884,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "06a1f481118057b2",
    "pedestrians": "No"
  },
  "47bf6a2499af5368": {
    "vx_ego": [
      1.100814007849465,
      1.4356627105133655,
      1.672092047207252,
      1.9081242526697269,
      2.2965881224676283,
      2.7321991502371183,
      3.107954121313472,
      3.4309611371831004,
      3.7613132421757687,
      4.193478148194528
    ],
    "vy_ego": [
      0.0017775404555451235,
      0.012442459747810664,
      0.01470108398714376,
      0.012492293503005514,
      0.003339868158759529,
      -0.0219571672257024,
      -0.030400690624640014,
      -0.030577034027052585,
      -0.05284169804415678,
      -0.16720953107583214
    ],
    "v_ego": [
      1.1008154429910917,
      1.4357166270414086,
      1.6721566721465235,
      1.9081651451128043,
      2.2965905510078857,
      2.7322873775920806,
      3.108102801095847,
      3.4310973871154755,
      3.7616844034048076,
      4.196810456366549
    ],
    "ax_ego": [
      0.6696678596411685,
      0.6696948083069734,
      0.2756420359711545,
      0.6689177255014904,
      0.8921185786502456,
      0.8753418728072863,
      0.6748062905075023,
      0.6715320015185067,
      0.7176400254719202,
      1.0888925044365538
    ],
    "ay_ego": [
      0.024532830838600528,
      0.023785790824881692,
      0.03577344170042335,
      0.17222626611433928,
      0.42389702042159644,
      0.7457301109543499,
      1.1206655944641342,
      1.4329488567849462,
      1.702830827912326,
      1.4929678917892584
    ],
    "a_ego": [
      0.6701170808338937,
      0.6701170794111122,
      0.27795372119368505,
      0.6907335305526832,
      0.987706556774451,
      1.1499290381035494,
      1.3081494197239651,
      1.5824972844288663,
      1.8478744639850175,
      1.8478744578925737
    ],
    "yaw": [
      -0.7060191234476021,
      -0.7049036073635188,
      -0.6970245902394471,
      -0.6658896455341644,
      -0.589673680566538,
      -0.4635922128342491,
      -0.3026436819275339,
      -0.10796850558305342,
      0.11564260506566545,
      0.34694367289583256
    ],
    "yaw_diff": [
      0.002231032168166669,
      0.01575803424814337,
      0.06226988941056533,
      0.15243192993525279,
      0.2521629354645778,
      0.3218970618134305,
      0.3893503526889609,
      0.4472222212974377,
      0.4626021356603342,
      0.4626021356603342
    ],
    "min_front_frame": [
      2,
      21.19704365824629
    ],
    "v_avg": 2.5643426863874472,
    "v_std": 0.9943685046246803,
    "vy_max": 0.16720953107583214,
    "a_max": 1.8478744639850175,
    "ax_avg": 0.7204253702812802,
    "a_std": 0.5121146497431528,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "47bf6a2499af5368",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.004953862019216,
    "right_rear_min": 7.428047240823193,
    "speed_mode": "accelerating",
    "front_frame": [
      22.6168992058086,
      21.961342236270088,
      21.19704365824629,
      26.24655258734977,
      53.19939293459161,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "47bf6a2499af5368",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "555ac2e13627529e": {
    "vx_ego": [
      6.126648880916808,
      5.462263621705302,
      4.752385514583427,
      4.019205738056581,
      3.394373106336034,
      2.942134180239584,
      2.538392448536921,
      1.9981257378555775,
      1.331041751477572,
      0.6356529099814121
    ],
    "vy_ego": [
      0.00038033349668706307,
      0.01965194403273235,
      0.011684183951510357,
      -0.016067660411899345,
      -0.020226892628129323,
      -0.013229945497821458,
      -0.021467025092064287,
      -0.024147354138685205,
      0.001487427099267434,
      0.04092036420017377
    ],
    "v_ego": [
      6.126648892722085,
      5.462298973134791,
      4.752399877890853,
      4.019237854934447,
      3.394433371301126,
      2.942163925751236,
      2.53848321955367,
      1.9982716429436702,
      1.331042582570467,
      0.6369686791154743
    ],
    "ax_ego": [
      -1.3287275486603491,
      -1.3287584178408702,
      -1.510718675757307,
      -1.422006148110285,
      -1.0774486352974664,
      -0.7315315123061815,
      -0.8834530288489337,
      -1.2775693018624024,
      -1.3908301580220612,
      -1.3907790404904812
    ],
    "ay_ego": [
      0.02385823760364449,
      0.022072114311349762,
      -0.06090139980269894,
      -0.064500704447994,
      0.032845366614943396,
      -0.011706300951126885,
      -0.024326165141894618,
      0.017286608640257262,
      0.07967696160003711,
      0.08056431059837932
    ],
    "a_ego": [
      1.3289417271161639,
      1.328941726041118,
      1.5119457324189383,
      1.4234682385419555,
      1.077949154558063,
      0.7316251710944118,
      0.8837878798064984,
      1.277686247832177,
      1.3931105292378942,
      1.3931105295739514
    ],
    "yaw": [
      -1.5382753915951337,
      -1.5396196100832469,
      -1.5399587010896973,
      -1.5407813117995537,
      -1.5418061175059963,
      -1.5423540125761683,
      -1.5426334489899753,
      -1.5422362833191001,
      -1.5430666004989315,
      -1.5424285908278224
    ],
    "yaw_diff": [
      -0.0026884369762263383,
      -0.0006781820129009297,
      -0.0016452214197126835,
      -0.0020496114128851772,
      -0.0010957901403441106,
      -0.0005588728276140209,
      0.0007943313417504427,
      -0.0016606343596627937,
      0.0012760193422183264,
      0.0012760193422183264
    ],
    "min_front_frame": [
      9,
      10.560410070093324
    ],
    "v_avg": 3.3201949019917825,
    "v_std": 1.6931647567891317,
    "vy_max": 0.04092036420017377,
    "a_max": 1.5119457324189383,
    "ax_avg": -1.2341822467196337,
    "a_std": 0.2414726514660114,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "555ac2e13627529e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.486535179914185,
    "right_rear_min": 3.09263073022357,
    "speed_mode": "decelerating",
    "front_frame": [
      18.19293444144318,
      17.363726495897556,
      16.46829270136488,
      15.498201146258053,
      14.670744649563385,
      13.774546184567086,
      12.790315520054083,
      11.806190207291227,
      11.041770557360778,
      10.560410070093324
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "555ac2e13627529e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e1c80a4e90a1501d": {
    "vx_ego": [
      8.54022254493452,
      8.21915729586506,
      7.871915053479033,
      7.484078135099979,
      7.0878585265908995,
      6.7601354239683324,
      6.568891419770637,
      6.46462860305383,
      6.362222446634232,
      6.248402782714572
    ],
    "vy_ego": [
      -0.003455500967626257,
      -0.02574699069228714,
      -0.03598842359127463,
      -0.04005064896774213,
      -0.0417482236572182,
      -0.02951414803228558,
      -0.02432051652537459,
      -0.014220045393689151,
      -0.014258688478595127,
      -0.04053977748750426
    ],
    "v_ego": [
      8.540223244008017,
      8.21919762274284,
      7.871997318077693,
      7.484185298799351,
      7.0879814762135105,
      6.7601998517296495,
      6.568936441484295,
      6.464644242733912,
      6.362238424536886,
      6.248534292823713
    ],
    "ax_ego": [
      -0.6426237135053521,
      -0.6419336082783448,
      -0.747646370711458,
      -0.8039886669869438,
      -0.781436328562666,
      -0.5298856285720779,
      -0.23538487079309076,
      -0.18188198668721647,
      -0.22775060586283916,
      -0.22766505173284915
    ],
    "ay_ego": [
      -0.1304442390162301,
      -0.13379906712096257,
      -0.014812950553285742,
      -0.07336611521651226,
      -0.016295680782630717,
      -0.01850713978378843,
      -0.042177917623264775,
      0.03379415971696003,
      -0.06820399994205999,
      -0.0684890135427998
    ],
    "a_ego": [
      0.6557293166024623,
      0.6557293251027403,
      0.7477930991538427,
      0.8073291543759618,
      0.7816062210663809,
      0.5302087264372426,
      0.23913388328155202,
      0.18499487104312973,
      0.2377438202750743,
      0.2377438132877209
    ],
    "yaw": [
      1.2941110356506809,
      1.288887729376392,
      1.2855483100891905,
      1.2832083699106902,
      1.2803637405733315,
      1.2773264387145593,
      1.2742537472560715,
      1.2723802800351125,
      1.2710461776766837,
      1.2697945068063887
    ],
    "yaw_diff": [
      -0.010446612548577594,
      -0.006678838574403212,
      -0.00467988035700051,
      -0.005689258674717479,
      -0.0060746037175443135,
      -0.006145382916975528,
      -0.0037469344419180928,
      -0.0026682047168575806,
      -0.0025033417405899705,
      -0.0025033417405899705
    ],
    "min_front_frame": [
      4,
      16.129293455289798
    ],
    "v_avg": 7.160813821314986,
    "v_std": 0.7812836441087002,
    "vy_max": 0.0417482236572182,
    "a_max": 0.8073291543759618,
    "ax_avg": -0.5020196831692838,
    "a_std": 0.24265157847031038,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e1c80a4e90a1501d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.3225770177120397,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.58109909587827,
      24.73488497804095,
      21.93687417423653,
      19.070268843168275,
      16.129293455289798,
      22.629784876670293,
      20.147405805955607,
      17.524544438691187,
      24.723391965383243,
      22.518234050266763
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e1c80a4e90a1501d",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "c520f76d99f359f2": {
    "vx_ego": [
      6.244086286897497,
      5.841488095364344,
      5.385895625995259,
      4.9625725345297,
      4.677360238738068,
      4.435313011164533,
      4.362327871351765,
      4.498549250297745,
      4.750637848065158,
      5.104633604208163
    ],
    "vy_ego": [
      0.11151567363284615,
      -0.04774449142162862,
      -0.008499710444919595,
      0.03483357302330803,
      0.06469228299149998,
      0.09860723650031833,
      0.06431876852522755,
      0.039340378537186416,
      0.10434247508084271,
      0.09784468669701704
    ],
    "v_ego": [
      6.245082009364421,
      5.841683208181051,
      5.385902332867958,
      4.962694785928115,
      4.677807594846809,
      4.4364090088827055,
      4.362802008016983,
      4.498721265286154,
      4.751783593091667,
      5.105571252653914
    ],
    "ax_ego": [
      -0.8374491288510826,
      -0.7626710766942375,
      -1.0602190575235717,
      -0.6019738435282512,
      -0.5116968718396578,
      -0.3611830477246356,
      0.127087931068121,
      0.45597423701416917,
      0.6021402860013136,
      0.8705195648062378
    ],
    "ay_ego": [
      -1.0957822136469477,
      -1.1490833388280988,
      -1.3652555024692163,
      -1.6581606814748433,
      -1.572179757827747,
      -1.8825823423287138,
      -1.7974681149027347,
      -1.7694890256229654,
      -1.6880147898636435,
      -1.5665767060828233
    ],
    "a_ego": [
      1.3791518056974157,
      1.3791518012163413,
      1.7285794852880336,
      1.764049135903332,
      1.6533550373630597,
      1.9169166569289138,
      1.8019553175134966,
      1.8272941516408256,
      1.792196098317409,
      1.7921961077827813
    ],
    "yaw": [
      -1.6288321155349053,
      -1.6954288921057856,
      -1.8134730187356665,
      -1.9693408955773362,
      -2.143055203095132,
      -2.3402322887086777,
      -2.543715305095494,
      -2.740547424411874,
      -2.9416285197574576,
      -3.1061796966397743
    ],
    "yaw_diff": [
      -0.13319355314176073,
      -0.23608825325976168,
      -0.3117357536833394,
      -0.3474286150355921,
      -0.39435417122709104,
      -0.4069660327736324,
      -0.39366423863276,
      -0.40216219069116743,
      -0.32910235376463337,
      -0.32910235376463337
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.026845705911978,
    "v_std": 0.5960928014448358,
    "vy_max": 0.11151567363284615,
    "a_max": 1.9169166569289138,
    "ax_avg": -0.20794710072715947,
    "a_std": 0.17421604602067237,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "c520f76d99f359f2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 32.85958813501055,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c520f76d99f359f2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b8b3f457e7ac5382": {
    "vx_ego": [
      4.547261681841127,
      4.589939802736499,
      4.664601310779205,
      4.758874638182622,
      4.799001769352051,
      4.827732428732034,
      4.859080568047549,
      4.8866470173657035,
      4.9433664928622365,
      5.009825752566785
    ],
    "vy_ego": [
      -0.007449550483362488,
      -0.016079361622449273,
      -0.015457201475793436,
      -0.0015563907769442498,
      0.03263517562771945,
      0.021441094992208587,
      -0.012715019529560223,
      0.0032699880256235048,
      0.029524477654649495,
      0.04679651248890382
    ],
    "v_ego": [
      4.54726778394928,
      4.589967967057609,
      4.66462692115892,
      4.758874892691552,
      4.799112734342919,
      4.827780040969697,
      4.859097204059508,
      4.8866481114513265,
      4.94345466020817,
      5.0100443096506115
    ],
    "ax_ego": [
      0.058977464015816834,
      0.11519905399317351,
      0.1897464367631575,
      0.1875525340850765,
      -0.03418320438739858,
      0.14428172420790103,
      -0.014526004661525094,
      0.12780131328938116,
      0.09476384856536241,
      0.158701308114843
    ],
    "ay_ego": [
      0.7110646568520012,
      0.70414520025003,
      0.7394849664720622,
      0.6771265141031391,
      0.5495663992941493,
      0.6126838688601938,
      0.760054772289348,
      0.8003840888144977,
      0.8195276291493303,
      0.8095799057601529
    ],
    "a_ego": [
      0.7135063331784737,
      0.7135063314898312,
      0.7634407153816869,
      0.7026209996457566,
      0.5506284761028319,
      0.6294431976770422,
      0.7601935685674007,
      0.8105232046683823,
      0.8249883162409278,
      0.8249883205282245
    ],
    "yaw": [
      -1.4060857933158117,
      -1.3266741979679368,
      -1.2486953040862923,
      -1.1765171525502809,
      -1.1198439111165268,
      -1.0568814308757153,
      -0.9793301918465285,
      -0.9023097731768666,
      -0.8253579458103582,
      -0.7469043614720099
    ],
    "yaw_diff": [
      0.1588231906957498,
      0.15595778776328917,
      0.14435630307202274,
      0.11334648286750815,
      0.12592496048162305,
      0.15510247805837363,
      0.15404083733932383,
      0.15390365473301681,
      0.15690716867669652,
      0.15690716867669652
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.788687462553959,
    "v_std": 0.14254654748452716,
    "vy_max": 0.04679651248890382,
    "a_max": 0.8249883205282245,
    "ax_avg": 0.10283144739857882,
    "a_std": 0.08374675602154943,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "b8b3f457e7ac5382",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "b8b3f457e7ac5382",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "0d7d0361dc665d25": {
    "vx_ego": [
      5.541768484101454,
      5.619684924495452,
      5.726391366548232,
      5.871146188861246,
      6.0198763934738695,
      6.153604197202632,
      6.224617606509526,
      6.279304436645307,
      6.393849038719761,
      6.544593854635264
    ],
    "vy_ego": [
      0.06906751299053188,
      -0.045368752232544995,
      -0.024131259924086046,
      -0.028148702932684788,
      -0.014241272413739292,
      -0.009309487206506928,
      0.0017919891665989507,
      -0.017582182490157083,
      0.0048952854211889996,
      0.08487930809835587
    ],
    "v_ego": [
      5.542198864415714,
      5.619868056661169,
      5.7264422114069795,
      5.871213666735075,
      6.019893238799499,
      6.1536112391328315,
      6.224617864455098,
      6.279329051834643,
      6.393850912693927,
      6.545144247384691
    ],
    "ax_ego": [
      0.14207857477454588,
      0.1665661161381576,
      0.2662218592978393,
      0.31181085597549413,
      0.2831398742044951,
      0.25206212387995663,
      0.03464479190856304,
      0.18702683785618798,
      0.27626671211695253,
      0.33953691239687817
    ],
    "ay_ego": [
      0.4250909919837124,
      0.4161062330681004,
      0.47360520923302346,
      0.19799718216591256,
      0.036402095503806464,
      -0.15803332661337416,
      -0.405239016137838,
      -0.6219414053858324,
      -0.839535620854123,
      -0.8160012495337104
    ],
    "a_ego": [
      0.44820606073062297,
      0.44820605556314663,
      0.5433009963000753,
      0.36936282169407886,
      0.2854703153072234,
      0.29750604467029573,
      0.40671725044156976,
      0.6494537318483813,
      0.8838231468494299,
      0.8838231464046311
    ],
    "yaw": [
      0.061108046889026435,
      0.11931230407373632,
      0.15485091568148596,
      0.18452523765834955,
      0.19203767133704866,
      0.18623539487850316,
      0.1617976604028296,
      0.12371077892373109,
      0.062414427009211126,
      -0.013983053932656808
    ],
    "yaw_diff": [
      0.11640851436941976,
      0.07107722321549928,
      0.05934864395372719,
      0.01502486735739822,
      -0.011604552917091004,
      -0.04887546895134709,
      -0.07617376295819706,
      -0.12259270382903992,
      -0.15279496188373587,
      -0.15279496188373587
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.037616935351963,
    "v_std": 0.32188856286412787,
    "vy_max": 0.08487930809835587,
    "a_max": 0.8838231468494299,
    "ax_avg": 0.22593546585490704,
    "a_std": 0.20793066128065313,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "0d7d0361dc665d25",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 19.765933992162083,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "0d7d0361dc665d25",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "1e527ab20dd55310": {
    "vx_ego": [
      7.308374384619446,
      7.4275338683341,
      7.425575008514628,
      7.373773921353013,
      7.3404796228144065,
      7.247930527884762,
      7.138869109779728,
      7.03600120658372,
      6.923249948208949,
      6.784382753496095
    ],
    "vy_ego": [
      -0.02014437600661445,
      0.009265621662468693,
      -0.003439737337847859,
      -0.016836365541845755,
      -0.011497016910050561,
      0.01797901352240272,
      0.05406411469479,
      0.08148300033618572,
      0.013714290563236808,
      -0.1585917179868237
    ],
    "v_ego": [
      7.308402146957047,
      7.4275396476218765,
      7.4255758052066225,
      7.373793142367804,
      7.34048862640297,
      7.247952826969221,
      7.13907382613914,
      7.036473012695447,
      6.923263531539217,
      6.786236120188367
    ],
    "ax_ego": [
      0.23802711771786408,
      0.2387195955433731,
      -0.2465681925793217,
      0.039402791028316834,
      -0.17186888894407162,
      -0.1985362111154448,
      -0.23792628951599554,
      -0.17590829988285112,
      -0.27710317014187846,
      -0.2777614881107333
    ],
    "ay_ego": [
      0.1352322830901918,
      0.1340060993385153,
      0.15498890352428885,
      0.08178528140835191,
      0.15946605638740768,
      0.04561492780088272,
      0.1798330451072343,
      0.1740987391699727,
      -0.31634895477420333,
      -0.31577109488605304
    ],
    "a_ego": [
      0.27376025854542824,
      0.2737602600019142,
      0.2912343280032331,
      0.09078222400814225,
      0.2344532749326004,
      0.2037089805638333,
      0.2982429267482967,
      0.24749565844323262,
      0.4205506248829144,
      0.4205506255411181
    ],
    "yaw": [
      -0.6256561541698589,
      -0.6205122615647869,
      -0.6091658267035676,
      -0.5993083717285276,
      -0.5918629909731334,
      -0.5888764767674379,
      -0.5860595872339538,
      -0.5774343864780146,
      -0.572828431734503,
      -0.5707455316017995
    ],
    "yaw_diff": [
      0.010287785210143952,
      0.02269286972243867,
      0.019714909950079962,
      0.014890761510788275,
      0.005973028411391024,
      0.00563377906696827,
      0.0172504015118784,
      0.009211909487023107,
      0.004165800265407027,
      0.004165800265407027
    ],
    "min_front_frame": [
      0,
      18.900606599755992
    ],
    "v_avg": 7.200879868608771,
    "v_std": 0.21092162014830804,
    "vy_max": 0.1585917179868237,
    "a_max": 0.4205506255411181,
    "ax_avg": -0.10695230360007427,
    "a_std": 0.09197493882891547,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1e527ab20dd55310",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      18.900606599755992,
      21.191354710344456,
      23.359148544441986,
      19.719656823695086,
      29.192749783003507,
      29.073415220546014,
      29.267808208715557,
      29.542244439718992,
      29.95006744169505,
      30.405130366630143
    ],
    "safe_frame": [
      0,
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1e527ab20dd55310",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4f8e1da188be5033": {
    "vx_ego": [
      7.082270995126213,
      6.698829262955914,
      6.329117860515623,
      5.936362893690486,
      5.556501604938703,
      5.219617619303093,
      4.914128540928438,
      4.690369072078401,
      4.501662865717843,
      4.304557396695809
    ],
    "vy_ego": [
      -0.026394366415754433,
      0.0046919771419817735,
      0.011015198092322098,
      -0.008499202885667412,
      -0.023453990671645997,
      -0.011486806511955994,
      -6.754869444991485e-05,
      -0.008771493329721824,
      -0.02161168189026519,
      -0.008979948312875408
    ],
    "v_ego": [
      7.082320178513855,
      6.698830906127126,
      6.329127445934935,
      5.936368977922023,
      5.556551104360042,
      5.219630258788752,
      4.914128541392693,
      4.690377273887979,
      4.501714742337314,
      4.304566763440927
    ],
    "ax_ego": [
      -0.7668804744789194,
      -0.7669256852680514,
      -0.7118277148591338,
      -0.8591069157681641,
      -0.6605469520724963,
      -0.6871653187039082,
      -0.5348257345352803,
      -0.3602372584265244,
      -0.3947238618143229,
      -0.3942342750132263
    ],
    "ay_ego": [
      0.04996203441621183,
      0.049263066425302926,
      -0.053036297275292466,
      -0.09937808184911473,
      -0.0030673591158909552,
      -0.003746415224799904,
      0.032383581847988785,
      -0.043475581096363985,
      -0.0524524419739785,
      -0.05601357866663881
    ],
    "a_ego": [
      0.7685062569816977,
      0.7685062500965715,
      0.7138007736548408,
      0.8648356467402906,
      0.6605540739290088,
      0.6871755313284084,
      0.5358052469829943,
      0.36285122090234867,
      0.39819365358409,
      0.39819365212198937
    ],
    "yaw": [
      -0.5607919782158487,
      -0.5617033798015989,
      -0.5628200890298938,
      -0.5658421541439749,
      -0.5677046653853282,
      -0.5702403055903078,
      -0.5710842249731205,
      -0.5698435512901794,
      -0.5722655114153236,
      -0.5812928859615831
    ],
    "yaw_diff": [
      -0.001822803171500409,
      -0.002233418456589753,
      -0.006044130228162192,
      -0.0037250224827065637,
      -0.0050712804099593,
      -0.0016878387656253935,
      0.002481347365882236,
      -0.004843920250288347,
      -0.01805474909251914,
      -0.01805474909251914
    ],
    "min_front_frame": [
      9,
      15.184103724689555
    ],
    "v_avg": 5.523361619270565,
    "v_std": 0.9121139657597208,
    "vy_max": 0.026394366415754433,
    "a_max": 0.8648356467402906,
    "ax_avg": -0.6136474190940027,
    "a_std": 0.17042475480109773,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "4f8e1da188be5033",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.00651142885207,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.45598029983653,
      16.339732261610532,
      16.30374025888321,
      16.215028411006973,
      16.195556216963382,
      16.095064197063568,
      16.042300384121116,
      15.870492779578449,
      15.591874518148508,
      15.184103724689555
    ],
    "safe_frame": [
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "4f8e1da188be5033",
    "pedestrians": "No"
  },
  "7515bed58abd5f21": {
    "vx_ego": [
      4.276672548147539,
      4.500983227335202,
      4.648904307274065,
      4.701038178497902,
      4.743317724683203,
      4.847462239515147,
      5.141245160435218,
      5.582853482310348,
      6.170900542140247,
      6.89641197980662
    ],
    "vy_ego": [
      0.037609604639836425,
      -0.10592870972194368,
      -0.08869886711096298,
      0.000720853445393077,
      0.0778038328914025,
      0.13667720466539746,
      0.13139743082987154,
      0.11808387401565135,
      0.1039498041942033,
      0.03421173439473302
    ],
    "v_ego": [
      4.2768379167838395,
      4.502229548156798,
      4.649750396227535,
      4.701038233765448,
      4.7439557832790165,
      4.8493887059917515,
      5.142923981989938,
      5.584102148622223,
      6.171776005557785,
      6.896496838104877
    ],
    "ax_ego": [
      0.40542184606389103,
      0.47993752479905244,
      0.09130309889772226,
      0.12097905705420825,
      0.09644543977228848,
      0.4240716614334151,
      0.8555410973742682,
      0.9955890886107435,
      1.3902142946165608,
      1.5320413955338685
    ],
    "ay_ego": [
      -0.9811874218714314,
      -0.9469718106309939,
      -1.4143269624208177,
      -1.8053776174631402,
      -1.9415737644662001,
      -2.024563580295339,
      -1.9870778848004074,
      -1.9270974339112896,
      -1.5034412796430565,
      -1.358631894505207
    ],
    "a_ego": [
      1.0616476016572352,
      1.0616476053003576,
      1.4172709735610987,
      1.8094265041395325,
      1.9439676966751072,
      2.0685005353369332,
      2.1634299363647598,
      2.1690786415315255,
      2.047689299256841,
      2.0476892983058175
    ],
    "yaw": [
      2.11892402294278,
      2.041670434769608,
      1.910453925262273,
      1.7195785419234162,
      1.5058418164646654,
      1.285801848530474,
      1.0845515160250812,
      0.904438938059662,
      0.7599472186910463,
      0.6609202767949717
    ],
    "yaw_diff": [
      -0.15450717634634348,
      -0.2624330190146704,
      -0.38175076667771357,
      -0.42747345091750155,
      -0.4400799358683827,
      -0.40250066501078585,
      -0.36022515593083826,
      -0.2889834387372314,
      -0.19805388379214928,
      -0.19805388379214928
    ],
    "min_front_frame": [
      9,
      14.031016091290514
    ],
    "v_avg": 5.151849955847922,
    "v_std": 0.7856088024345979,
    "vy_max": 0.13667720466539746,
    "a_max": 2.1690786415315255,
    "ax_avg": 0.6391544504156019,
    "a_std": 0.4142852968925597,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "7515bed58abd5f21",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.809413411135257,
    "right_rear_min": 11.752217360979305,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      31.197888813838393,
      14.031016091290514
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7515bed58abd5f21",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0f83bb5cecbe56df": {
    "vx_ego": [
      8.664595183951231,
      8.68435733032017,
      8.72636422067962,
      8.825194006657311,
      8.949112617890282,
      9.060478666487,
      9.140567255302592,
      9.193755476836905,
      9.24345292242349,
      9.287160528730155
    ],
    "vy_ego": [
      0.1045208237211428,
      0.045658903699832276,
      0.028745910208530123,
      0.07147912328352657,
      0.08981765974973221,
      0.06982999334390527,
      0.06171136980254133,
      0.0747481535853689,
      0.04250549037908424,
      0.0029992668596863226
    ],
    "v_ego": [
      8.665225577233533,
      8.684477357686687,
      8.726411567151251,
      8.825483472320682,
      8.949563333464152,
      9.060747755778022,
      9.140775571135793,
      9.194059334936501,
      9.243550651441886,
      9.287161013033264
    ],
    "ax_ego": [
      0.031021784246810652,
      0.04006272663827683,
      0.12636554491612445,
      0.26533476545452844,
      0.2183667511568547,
      0.21525514033413792,
      0.09770940498737518,
      0.10461784154238662,
      0.08305107939667138,
      0.0898158402523492
    ],
    "ay_ego": [
      0.3419773459231546,
      0.34103641095248766,
      0.5187054565398148,
      0.6706243789626933,
      0.6105993809022837,
      0.575142418294116,
      0.6841420768190409,
      0.6187139604155325,
      0.317653322489018,
      0.3158072684522087
    ],
    "a_ego": [
      0.34338150244662363,
      0.343381501629088,
      0.5338760170546405,
      0.721207040604782,
      0.6484717742269527,
      0.6141038810832198,
      0.6910842995592198,
      0.6274965000556266,
      0.3283308012923312,
      0.3283308026480015
    ],
    "yaw": [
      -1.054877586929909,
      -1.0284054564645677,
      -1.0017411538043084,
      -0.9726740766277657,
      -0.9387218029434832,
      -0.9035875352532,
      -0.8681625964931912,
      -0.8340542881806694,
      -0.8051737647643531,
      -0.7838164675391732
    ],
    "yaw_diff": [
      0.052944260930682496,
      0.05332860532051864,
      0.05813415435308533,
      0.0679045473685651,
      0.07026853538056632,
      0.0708498775200177,
      0.06821661662504352,
      0.05776104683263261,
      0.042714594450359744,
      0.042714594450359744
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.977745563418178,
    "v_std": 0.22748006567370047,
    "vy_max": 0.1045208237211428,
    "a_max": 0.721207040604782,
    "ax_avg": 0.12716008789255157,
    "a_std": 0.15578308159699852,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "0f83bb5cecbe56df",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0f83bb5cecbe56df",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3137903199f35224": {
    "vx_ego": [
      5.303886494997829,
      5.209228235609407,
      5.060613114204387,
      4.848177957645494,
      4.650408453259127,
      4.542857921303719,
      4.523836781931288,
      4.546973286352855,
      4.570144606134899,
      4.586484831615293
    ],
    "vy_ego": [
      0.09101648859471001,
      -0.017915287353795772,
      -0.038279725412536214,
      -0.02597334453755662,
      -0.00847552071090299,
      0.00018759149182234758,
      0.023428723019955244,
      0.03495547597551285,
      0.044104540675620196,
      -0.013080265137709102
    ],
    "v_ego": [
      5.304667374399309,
      5.209259042147094,
      5.060757890774374,
      4.848247531183417,
      4.65041617670884,
      4.542857925176894,
      4.523897449613196,
      4.547107646857192,
      4.570357418352761,
      4.5865034834798974
    ],
    "ax_ego": [
      -0.1910889147420906,
      -0.1852814886695689,
      -0.4067121690269019,
      -0.4374837907477825,
      -0.3571207618798032,
      -0.07900691590176082,
      0.0051972062771078464,
      0.10109065504525638,
      -0.0007548317951280858,
      0.0711238605924327
    ],
    "ay_ego": [
      -0.3775117441374995,
      -0.38039566230669136,
      -0.7065060428694281,
      -1.0831223840185984,
      -1.163194540227154,
      -1.1023306354631768,
      -1.0446123792110038,
      -1.0440222296730488,
      -0.8711318853790914,
      -0.8682238931435713
    ],
    "a_ego": [
      0.42311947520652704,
      0.4231194747885731,
      0.8152089161960788,
      1.1681379053558623,
      1.2167813184709366,
      1.105158324694231,
      1.0446253078276253,
      1.048905017906275,
      0.8711322124081793,
      0.871132212796055
    ],
    "yaw": [
      1.8001121769822144,
      1.784787579779586,
      1.736108353478575,
      1.6434576543685018,
      1.5214217898372877,
      1.3955337428824197,
      1.2718801456047104,
      1.1540339546808767,
      1.047395532428438,
      0.9647927461681819
    ],
    "yaw_diff": [
      -0.030649194405256708,
      -0.09735845260202192,
      -0.18530139822014657,
      -0.24407172906242813,
      -0.251776093909736,
      -0.2473071945554186,
      -0.2356923818476675,
      -0.21327684450487716,
      -0.16520557252051238,
      -0.16520557252051238
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.784407193869297,
    "v_std": 0.2858451107703457,
    "vy_max": 0.09101648859471001,
    "a_max": 1.2167813184709366,
    "ax_avg": -0.1480037150848239,
    "a_std": 0.2685326201522852,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "3137903199f35224",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 29.13293048042746,
    "right_rear_min": 29.678822266549915,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3137903199f35224",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "896f25f6f25e52e0": {
    "vx_ego": [
      13.02166235837494,
      12.799244571407105,
      12.675572960380116,
      12.69806604423086,
      12.7698420995066,
      12.80129877317901,
      12.82273116324228,
      12.871180172278743,
      12.938659768275446,
      13.030348594264403
    ],
    "vy_ego": [
      0.015824798087992864,
      -0.01406015857415488,
      -0.01990940384907569,
      -0.01865334911080252,
      0.004615137491829291,
      0.005481799572186308,
      0.007818262392830011,
      0.01555492118312829,
      0.01641954472255991,
      0.027367587734839827
    ],
    "v_ego": [
      13.021671974049774,
      12.799252294050358,
      12.675588596127644,
      12.698079745027664,
      12.769842933482982,
      12.80129994689293,
      12.82273354671349,
      12.871189571396828,
      12.93867018671697,
      13.030377334248872
    ],
    "ax_ego": [
      -0.4449827478582169,
      -0.44470000940985044,
      -0.04992922784088206,
      0.1398999072163345,
      0.14721565561475286,
      -0.021371368396037926,
      0.10692204873832982,
      0.08707276932766972,
      0.18203930266502533,
      0.18398730417575004
    ],
    "ay_ego": [
      0.05959604736305324,
      0.06167035144894069,
      -0.0032528767723907686,
      0.007250158240753153,
      0.09390368962500564,
      0.14203748737755523,
      0.123852982030669,
      0.27316078189051013,
      0.23688465096757147,
      0.23537483814029367
    ],
    "a_ego": [
      0.4489558271731738,
      0.4489558225671618,
      0.05003507769638288,
      0.14008764697022705,
      0.17461486816210958,
      0.14363628792073516,
      0.16362116508658345,
      0.28670277278293704,
      0.2987518126786796,
      0.2987518075718194
    ],
    "yaw": [
      -1.7811693565651983,
      -1.7765063435708672,
      -1.774894307885416,
      -1.7749145821043906,
      -1.7747559416112388,
      -1.7702177867671645,
      -1.7652055853665338,
      -1.7580833747572002,
      -1.748260584588241,
      -1.7400108871741489
    ],
    "yaw_diff": [
      0.009326025988662057,
      0.003224071370902415,
      -4.054843794909502e-05,
      0.0003172809863034587,
      0.009076309688148765,
      0.010024402801261267,
      0.014244421218667203,
      0.0196455803379183,
      0.01649939482818441,
      0.01649939482818441
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.842870612870751,
    "v_std": 0.1163722943899015,
    "vy_max": 0.027367587734839827,
    "a_max": 0.4489558271731738,
    "ax_avg": -0.011384636576712504,
    "a_std": 0.12711451809990335,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "896f25f6f25e52e0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 25.087598501641217,
    "right_rear_min": 3.3663170789278345,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "896f25f6f25e52e0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "26565788812b5fde": {
    "vx_ego": [
      5.523285621387446,
      5.171625739153091,
      4.754040840990303,
      4.2500297494332475,
      3.7241063263525405,
      3.2728901429031456,
      3.0077262359500923,
      2.8896543040709197,
      2.8171395032320152,
      2.753248563159844
    ],
    "vy_ego": [
      0.06818784412785872,
      0.014280557706079833,
      -0.006297168165507738,
      -0.0075983656855722614,
      -0.022034260040498355,
      -0.024997976857492166,
      -0.024418132819554073,
      -0.010026608479231536,
      0.002568147205148863,
      -0.010322724628086588
    ],
    "v_ego": [
      5.52370651261561,
      5.171645455771224,
      4.754045011580211,
      4.250036541752168,
      3.7241715103623445,
      3.272985607417109,
      3.0078253532465786,
      2.889671699330771,
      2.817140673812792,
      2.753267914530929
    ],
    "ax_ego": [
      -0.7033117922877856,
      -0.7032790525164128,
      -0.9670408562877304,
      -1.0490063613587046,
      -1.054756781322033,
      -0.7504136834815536,
      -0.31048558607608784,
      -0.16211816944403534,
      -0.12784535452718201,
      -0.1277543813813133
    ],
    "ay_ego": [
      -0.1108661907887275,
      -0.11107368521830707,
      0.03562090891495662,
      -0.03291008824182379,
      -0.04580507527500033,
      -0.002642498984067543,
      -0.030439045891660632,
      0.05478676899111033,
      -0.03868178348416994,
      -0.03898118005350025
    ],
    "a_ego": [
      0.7119963408831957,
      0.7119963407605118,
      0.9676966812393408,
      1.0495224724030991,
      1.0557509046483284,
      0.7504183361014269,
      0.31197409295614015,
      0.1711253660927282,
      0.13356913957833622,
      0.13356913700584222
    ],
    "yaw": [
      0.8714320900795546,
      0.8711370558113541,
      0.8714802504742849,
      0.8719188101512991,
      0.8706040722643087,
      0.8679604402062695,
      0.8650919432755824,
      0.862257752978775,
      0.8592503249877211,
      0.8569076178758954
    ],
    "yaw_diff": [
      -0.0005900685364008673,
      0.0006863893258615139,
      0.000877119354028455,
      -0.0026294757739808716,
      -0.005287264116078383,
      -0.005736993861374273,
      -0.00566838059361463,
      -0.006014855982107825,
      -0.0046854142236514296,
      -0.0046854142236514296
    ],
    "min_front_frame": [
      9,
      13.783846029319282
    ],
    "v_avg": 3.816449628041974,
    "v_std": 0.9881294043792818,
    "vy_max": 0.06818784412785872,
    "a_max": 1.0557509046483284,
    "ax_avg": -0.5956012018682838,
    "a_std": 0.3598193340368188,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "26565788812b5fde",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.39086129417587,
    "right_rear_min": 32.88896266237394,
    "speed_mode": "decelerating",
    "front_frame": [
      25.22809146752241,
      22.567380029578757,
      20.084180292919694,
      17.947240507989413,
      16.34264689518515,
      15.208441673818413,
      14.67356563608842,
      14.363537955958499,
      14.168884674752313,
      13.783846029319282
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "26565788812b5fde",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "764bbbaf51f85bd8": {
    "vx_ego": [
      3.737109497491217,
      4.044575640510225,
      4.4552596851336785,
      4.846178279047966,
      5.255746713415355,
      5.731148520608316,
      6.284956881974454,
      6.86554309710063,
      7.417226479057586,
      7.942681549224386
    ],
    "vy_ego": [
      -0.08698886742944159,
      0.020022279814962074,
      -0.0178398564739497,
      -0.07420467317208823,
      -0.11693814468828201,
      -0.15041664785980458,
      -0.09161773662187112,
      -0.06779235406145412,
      -0.08119917742009675,
      0.04651140955920838
    ],
    "v_ego": [
      3.73812178229866,
      4.044625199384696,
      4.455295402378663,
      4.846746356664116,
      5.257047464619227,
      5.733122058113212,
      6.285624616372009,
      6.865877789577623,
      7.417670924761134,
      7.942817730730618
    ],
    "ax_ego": [
      0.4135360929082465,
      0.8307391968219033,
      0.8501308089170594,
      0.822506947951324,
      0.9478634383685791,
      1.0497445362377649,
      1.1645562049424996,
      1.1626420740296577,
      1.0473515645324354,
      1.0554497442688082
    ],
    "ay_ego": [
      1.9682162119890694,
      1.8316002676925585,
      2.1535768516261222,
      2.6001976053406173,
      2.7921119445173446,
      2.4986344019469557,
      1.5186720216865037,
      0.9869546381668628,
      0.5112523631251736,
      0.49431783354990977
    ],
    "a_ego": [
      2.0111904825934364,
      2.0111904817166755,
      2.315300336485497,
      2.7271863277464714,
      2.948615642723265,
      2.7101914076230593,
      1.9137805161312123,
      1.5250626380916514,
      1.165471697867269,
      1.1654716998891774
    ],
    "yaw": [
      -1.5555889221181316,
      -1.3368738029013452,
      -1.0945914782040038,
      -0.8287082182458649,
      -0.5542319868654664,
      -0.30803984681890495,
      -0.1506122297609757,
      -0.05903575735684133,
      -0.004833040602798705,
      0.01127325250244399
    ],
    "yaw_diff": [
      0.43743023843357287,
      0.4845646493946827,
      0.5317665199162778,
      0.5489524627607971,
      0.49238428009312285,
      0.3148552341158585,
      0.18315294480826877,
      0.10840543350808525,
      0.032212586210485394,
      0.032212586210485394
    ],
    "min_front_frame": [
      6,
      64.37429075017565
    ],
    "v_avg": 5.658694932489996,
    "v_std": 1.3685634114173637,
    "vy_max": 0.15041664785980458,
    "a_max": 2.948615642723265,
    "ax_avg": 0.9344520608978277,
    "a_std": 0.6028459217375862,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "764bbbaf51f85bd8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      64.37429075017565,
      67.35984910905296,
      69.85769947843808,
      72.16129702832215
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "764bbbaf51f85bd8",
    "pedestrians": "No"
  },
  "113d448b6ea8555c": {
    "vx_ego": [
      11.08499634057247,
      11.348231893240927,
      11.58471712743646,
      11.792855305429448,
      11.909880915588243,
      11.870890973672871,
      11.72987743580826,
      11.564236849435984,
      11.429772900591677,
      11.318313107717735
    ],
    "vy_ego": [
      0.03724324776556687,
      -0.0009234069410410939,
      -0.011978304800518202,
      -0.023476137417058673,
      -0.03342795211747385,
      -0.027210233007173512,
      -0.04347661278517312,
      -0.03574921421247845,
      -0.008817074712411443,
      0.012384989438331329
    ],
    "v_ego": [
      11.085058905121306,
      11.348231930809792,
      11.584723320067061,
      11.79287867247957,
      11.909927827299198,
      11.870922159024056,
      11.729958008234432,
      11.564292106141643,
      11.429776301393932,
      11.318319883812194
    ],
    "ax_ego": [
      0.5240185674908211,
      0.5299293301320367,
      0.4152288007483591,
      0.41722865984867785,
      0.04924607313395338,
      -0.20764580375300296,
      -0.3592783555397405,
      -0.30874633780789995,
      -0.23106233532100168,
      -0.21449049333331005
    ],
    "ay_ego": [
      -0.40814094952566216,
      -0.40043651652548606,
      -0.3502739228130262,
      -0.4807447225229693,
      -0.5523967236319796,
      -0.5967131785100436,
      -0.6497554141444611,
      -0.5549815754113261,
      -0.5899808809200466,
      -0.5962055623681608
    ],
    "a_ego": [
      0.6642096760472865,
      0.6642096797708198,
      0.5432373127591167,
      0.6365494818416008,
      0.5545875187907318,
      0.6318096210281937,
      0.7424708983989746,
      0.635081766511862,
      0.6336144274361099,
      0.6336144287570332
    ],
    "yaw": [
      -1.3158055100864257,
      -1.3304253936071484,
      -1.345809255491734,
      -1.3625994003961306,
      -1.3834716280317352,
      -1.4080873073351374,
      -1.4330747806409443,
      -1.4596103360689876,
      -1.4868711816115914,
      -1.5148107525300918
    ],
    "yaw_diff": [
      -0.029239767041445486,
      -0.03076772376917125,
      -0.03358028980879313,
      -0.04174445527120918,
      -0.0492313586068045,
      -0.049974946611613724,
      -0.05307111085608662,
      -0.054521691085207546,
      -0.05587914183700082,
      -0.05587914183700082
    ],
    "min_front_frame": [
      3,
      28.650001618491103
    ],
    "v_avg": 11.56340891143832,
    "v_std": 0.2546636960542321,
    "vy_max": 0.04347661278517312,
    "a_max": 0.7424708983989746,
    "ax_avg": 0.061442810559889295,
    "a_std": 0.053054801825452906,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "113d448b6ea8555c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      34.40864310554782,
      28.650001618491103,
      -1,
      -1,
      -1,
      -1,
      -1,
      72.24547821058471
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.3333333333333333,
    "unsafe_ratio": 0.3333333333333333,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "113d448b6ea8555c",
    "road_shape": "Straight"
  },
  "b5668089b793502b": {
    "vx_ego": [
      6.593048790179544,
      6.0206373011654515,
      5.400925769063061,
      4.72711429128555,
      4.05773449354742,
      3.4047051266565376,
      2.7797480097059504,
      2.2271597084857047,
      1.7688551544782256,
      1.3550059052845667
    ],
    "vy_ego": [
      0.0049187854033365674,
      -0.009248458018452421,
      -0.04246879432679762,
      -0.07710405676114229,
      -0.05907935858683078,
      -0.03476987412139532,
      -0.0561411504587237,
      -0.06266097956618055,
      -0.04706479087320192,
      -0.047329705108181575
    ],
    "v_ego": [
      6.593050625024639,
      6.020644404560074,
      5.401092737717155,
      4.727743072380849,
      4.058164559346451,
      3.40488266224076,
      2.7803148789730674,
      2.228041015210968,
      1.769481181607797,
      1.3558322552372308
    ],
    "ax_ego": [
      -1.145124272465655,
      -1.144552449286527,
      -1.3346940722183138,
      -1.3610400571739714,
      -1.3168237662392768,
      -1.2951929658788681,
      -1.2044574391582568,
      -1.00528951697585,
      -0.8275527002405588,
      -0.8275457781361317
    ],
    "ay_ego": [
      -0.09700400168796286,
      -0.10353291799629905,
      -0.13273858144239847,
      -0.04049195694155505,
      0.09480483573535492,
      0.012678695240611049,
      -0.08185555807759404,
      0.07480081779193165,
      0.0037406895788733574,
      0.00504473120124721
    ],
    "a_ego": [
      1.1492255547687207,
      1.1492255541348777,
      1.3412784190532723,
      1.3616422569122493,
      1.3202320963419276,
      1.295255020517235,
      1.2072357081911802,
      1.0080685369973015,
      0.8275611544979414,
      0.8275611543709798
    ],
    "yaw": [
      2.4702278385384915,
      2.46452493826646,
      2.460017610127543,
      2.4583061764923535,
      2.4572925948885915,
      2.4579795700496248,
      2.459302910636472,
      2.4612218257686713,
      2.4632661653947325,
      2.4648419527791576
    ],
    "yaw_diff": [
      -0.011405800544062927,
      -0.009014656277834376,
      -0.00342286727037866,
      -0.002027163207523941,
      0.0013739503220664417,
      0.0026466811736947093,
      0.003837830264398434,
      0.004088679252122418,
      0.003151574768850196,
      0.003151574768850196
    ],
    "min_front_frame": [
      9,
      10.070305904888476
    ],
    "v_avg": 3.8339247392298987,
    "v_std": 1.7313472133527796,
    "vy_max": 0.07710405676114229,
    "a_max": 1.3616422569122493,
    "ax_avg": -1.146227301777341,
    "a_std": 0.19047230361045248,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b5668089b793502b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.6644929406095,
    "speed_mode": "decelerating",
    "front_frame": [
      27.05261420822593,
      23.941161033715872,
      21.11152785280842,
      18.604586237633118,
      16.419872985691573,
      14.595671657596013,
      13.042428463579299,
      11.832276988049076,
      10.89290624855148,
      10.070305904888476
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b5668089b793502b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "7be8784c329456b4": {
    "vx_ego": [
      0.804017756938763,
      0.6045990412512475,
      0.3926239621744628,
      0.17458388098652686,
      0.024569016043276513,
      -0.015117176803433802,
      -0.0081371406350787,
      -0.004664002120434466,
      -0.002883147438083575,
      -0.0014172379184221946
    ],
    "vy_ego": [
      0.010030314327004963,
      0.00522838716869789,
      -0.007969925551327972,
      -0.023793318480694978,
      -0.020239202804867934,
      -0.008097698870179807,
      -0.0033468130394311148,
      -0.0018132190579439275,
      -0.0012069033384089632,
      -0.000569175040237183
    ],
    "v_ego": [
      0.8040803197929535,
      0.604621647573351,
      0.3927048451278234,
      0.17619776816021693,
      0.031831774683660864,
      0.017149395368303465,
      0.008798534834616224,
      0.005004066259704028,
      0.003125564719853131,
      0.0015272601428187257
    ],
    "ax_ego": [
      -0.3988227054465643,
      -0.3988044730899183,
      -0.4490821751614543,
      -0.4231134473849644,
      -0.17697169753023473,
      0.018220078951268776,
      0.009700799857902027,
      0.004191677960799425,
      0.0029318477971179567,
      0.0029318825918173575
    ],
    "ay_ego": [
      -0.011474835929611293,
      -0.01209191351508837,
      -0.04341549503008427,
      -0.020405415933544585,
      0.03456073664749788,
      0.01401688609185259,
      0.004984959261919351,
      0.0011496155245332908,
      0.0012753872981553064,
      0.0012753115929661017
    ],
    "a_ego": [
      0.3989877469789373,
      0.3989877468406564,
      0.451175913870023,
      0.4236052057723205,
      0.1803147976300076,
      0.022987917972327073,
      0.010906664784711572,
      0.004346467529074568,
      0.003197240101362628,
      0.00319724180995986
    ],
    "yaw": [
      2.312222494076618,
      2.310675207680513,
      2.3093312830610975,
      2.3088610319830636,
      2.308638842306948,
      2.3084914688873304,
      2.3085318959214596,
      2.308523521622205,
      2.308542021013639,
      2.308566364425803
    ],
    "yaw_diff": [
      -0.0030945727922100374,
      -0.0026878492388311415,
      -0.0009405021560677795,
      -0.00044437935223129443,
      -0.0002947468392351382,
      8.085406825841801e-05,
      -1.6748598508975476e-05,
      3.699878286766989e-05,
      4.8686824328569855e-05,
      4.8686824328569855e-05
    ],
    "min_front_frame": [
      4,
      9.395617257216248
    ],
    "v_avg": 0.20450411766633012,
    "v_std": 0.279388229006352,
    "vy_max": 0.023793318480694978,
    "a_max": 0.451175913870023,
    "ax_avg": -0.18088182114542303,
    "a_std": 0.1935082732480753,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7be8784c329456b4",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.140370901042592,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.05879461630428,
      9.705018231953105,
      9.520272854240616,
      9.416721640072035,
      9.395617257216248,
      9.43687507722603,
      9.519013798516427,
      9.461304265814363,
      9.544080424403068,
      9.554174173966377
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7be8784c329456b4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "359f62a656b9586d": {
    "vx_ego": [
      10.729992660624353,
      10.613949032883143,
      10.49127539936814,
      10.378019717472633,
      10.2659165353875,
      10.114813874719223,
      9.956565704412597,
      9.801973309978184,
      9.651558139631916,
      9.51835033950979
    ],
    "vy_ego": [
      0.011879283822423758,
      -0.007877459933992803,
      -0.019406830060096247,
      -0.020545445214511737,
      -0.03195781740007497,
      -0.0014304047820630217,
      0.02583636753844054,
      0.027727373027811808,
      0.029186569174018295,
      0.023431981447500583
    ],
    "v_ego": [
      10.729999236460205,
      10.613951956129066,
      10.491293348793565,
      10.378040054440424,
      10.265966277639698,
      10.114813975860868,
      9.95659922584879,
      9.802012526860986,
      9.651602270012749,
      9.518379181530893
    ],
    "ax_ego": [
      -0.23348808261863102,
      -0.23076709286512292,
      -0.25861979292367143,
      -0.19337173113995912,
      -0.25410916304010434,
      -0.34995085986636354,
      -0.2833717057858619,
      -0.33515030014765523,
      -0.26679305274824083,
      -0.2664881525485193
    ],
    "ay_ego": [
      0.2206166586732592,
      0.22346128096643658,
      0.3061379404376342,
      0.2896150853977826,
      0.2186268016400641,
      0.1862734586262004,
      0.02500508903761156,
      0.044425411792412134,
      0.0703396433426933,
      0.0714860849927587
    ],
    "a_ego": [
      0.32122950488564717,
      0.32122950555728996,
      0.40075508214778655,
      0.34823774076631836,
      0.33521507295511976,
      0.39643840090204935,
      0.2844728073432819,
      0.3380818553279498,
      0.27590976499628084,
      0.2759097602411245
    ],
    "yaw": [
      1.0206125429245883,
      1.0328669580798566,
      1.0465014472570129,
      1.0608950024488975,
      1.074300294362705,
      1.081229815710107,
      1.0837781268346989,
      1.0853426647356916,
      1.0881448289313607,
      1.092444392443316
    ],
    "yaw_diff": [
      0.024508830310536744,
      0.027268978354312523,
      0.028787110383769132,
      0.02681058382761492,
      0.013859042694804202,
      0.005096622249183724,
      0.0031290758019855147,
      0.005604328391338065,
      0.008599127023910746,
      0.008599127023910746
    ],
    "min_front_frame": [
      9,
      19.323696851884296
    ],
    "v_avg": 10.152265805357723,
    "v_std": 0.3925064508819512,
    "vy_max": 0.03195781740007497,
    "a_max": 0.40075508214778655,
    "ax_avg": -0.267210993368413,
    "a_std": 0.04233546033511277,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "359f62a656b9586d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.775832783105996,
    "right_rear_min": 28.62063905173048,
    "speed_mode": "decelerating",
    "front_frame": [
      21.860430778290507,
      22.026513285182908,
      22.12789094849233,
      22.25048403726014,
      22.336022634628875,
      22.195442623646656,
      21.778430494629998,
      21.1978200553324,
      20.377696128126008,
      19.323696851884296
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "359f62a656b9586d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4b000a2bc6fe5305": {
    "vx_ego": [
      5.688310026245089,
      5.804716784084266,
      5.90189947085284,
      5.978668152667277,
      6.044212854010575,
      6.108350690231263,
      6.083165279341221,
      5.987500912527308,
      5.851888633450266,
      5.6483875378403985
    ],
    "vy_ego": [
      0.02472303216719851,
      -0.009031423083349921,
      -0.018362978693782894,
      -0.0029259639206360433,
      -0.00321145740164841,
      -0.02336615061196179,
      -0.024262070830133098,
      -0.026979002096670257,
      -0.01380365159130248,
      0.02893214281153078
    ],
    "v_ego": [
      5.688363752697251,
      5.804723809969988,
      5.9019280377720245,
      5.978668868651517,
      6.044213707178569,
      6.108395381099948,
      6.083213662519468,
      5.987561694385242,
      5.851904913709866,
      5.648461635394046
    ],
    "ax_ego": [
      0.23089524466795813,
      0.23522311151063857,
      0.15243898387251575,
      0.1524618028359755,
      0.10982587567936972,
      0.14615138951044304,
      -0.2473504704200728,
      -0.13524869605990084,
      -0.40695339801328023,
      -0.4070227571507735
    ],
    "ay_ego": [
      -0.26125413262103503,
      -0.2573643794461489,
      -0.2632065184462955,
      -0.11184578997618627,
      -0.15604182945318035,
      -0.06820990699615581,
      -0.03662230426009792,
      0.03587647004293547,
      0.07499768491062284,
      0.07462034327778899
    ],
    "a_ego": [
      0.3486636428161755,
      0.348663643066563,
      0.3041633034353507,
      0.18908749842174397,
      0.19081607769744088,
      0.16128490341088178,
      0.25004689237491134,
      0.13992616227369736,
      0.41380638092773336,
      0.4138063804117967
    ],
    "yaw": [
      -0.30091435884508744,
      -0.3176039527984862,
      -0.338206609613958,
      -0.35658907625891434,
      -0.3676723865050648,
      -0.3735863633321982,
      -0.37770553667244045,
      -0.3772852845059611,
      -0.37484255407416733,
      -0.3757697107826209
    ],
    "yaw_diff": [
      -0.0333791879067975,
      -0.041205313630943596,
      -0.036764933289912705,
      -0.022166620492300892,
      -0.01182795365426681,
      -0.00823834668048451,
      0.0008405043329586803,
      0.004885460863587543,
      -0.0018543134169071163,
      -0.0018543134169071163
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.909743546337792,
    "v_std": 0.15170886779766773,
    "vy_max": 0.02893214281153078,
    "a_max": 0.41380638092773336,
    "ax_avg": -0.016957891356712662,
    "a_std": 0.098231187412893,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4b000a2bc6fe5305",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 45.62992280891588,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4b000a2bc6fe5305",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c5b7c7d45f1d5ac1": {
    "vx_ego": [
      5.202356995499236,
      4.508868238493895,
      3.834990387721489,
      3.149401479966793,
      2.4546170699642667,
      1.8263499603510753,
      1.2622909658767998,
      0.7237982810711026,
      0.2538582726435528,
      -0.15371418242582674
    ],
    "vy_ego": [
      -0.06812618471342491,
      -0.030514412454393458,
      0.03162184723421002,
      0.05627425886298121,
      0.02600795818214685,
      -0.006405868033383055,
      -0.020193714802222762,
      -0.024323412086343588,
      -0.007589343430417367,
      0.03432016728720454
    ],
    "v_ego": [
      5.202803041213788,
      4.508971492642916,
      3.835120756265534,
      3.1499042008016063,
      2.4547548500917085,
      1.8263611945120921,
      1.2624524817400842,
      0.7242068627519384,
      0.2539716927597901,
      0.15749896431869653
    ],
    "ax_ego": [
      -1.38718757278645,
      -1.3873229676275378,
      -1.3083074564001167,
      -1.4322876805487617,
      -1.345869728239102,
      -1.1670910172828826,
      -1.0893781313293556,
      -1.0646972171423856,
      -0.8151345384004138,
      -0.8151471989746935
    ],
    "ay_ego": [
      0.04957459133317821,
      0.04562880642030909,
      0.0831483428295614,
      -0.08043401253942617,
      -0.10288719312751038,
      -0.06835564970396935,
      -0.003512987714765714,
      -0.018072955657010115,
      0.08386543529302837,
      0.08374236085653919
    ],
    "a_ego": [
      1.3880731256670211,
      1.3880731264894586,
      1.310947004034658,
      1.4345443981365456,
      1.3497966883571955,
      1.1690910732140782,
      1.0893837955933265,
      1.0648505979323675,
      0.8194374454039459,
      0.8194374527675162
    ],
    "yaw": [
      -0.5858041406231935,
      -0.5886484496505613,
      -0.5958424583605926,
      -0.6026770731363512,
      -0.6082531401589768,
      -0.6131616347191651,
      -0.6158850087273539,
      -0.617164642349709,
      -0.6177894789074414,
      -0.6179404779602958
    ],
    "yaw_diff": [
      -0.005688618054735528,
      -0.014388017420062571,
      -0.013669229551517281,
      -0.011152134045251172,
      -0.00981698912037654,
      -0.005446748016377567,
      -0.0025592672447103393,
      -0.0012496731154647556,
      -0.0003019981057088561,
      -0.0003019981057088561
    ],
    "min_front_frame": [
      2,
      45.57609992852813
    ],
    "v_avg": 2.3376045537098156,
    "v_std": 1.7016188345604737,
    "vy_max": 0.06812618471342491,
    "a_max": 1.4345443981365456,
    "ax_avg": -1.18124235087317,
    "a_std": 0.21882572936624467,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c5b7c7d45f1d5ac1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.003673143950497,
    "right_rear_min": 11.730574837309499,
    "speed_mode": "decelerating",
    "front_frame": [
      58.8588232495584,
      56.48892142783851,
      45.57609992852813,
      46.34808375766445,
      47.57184669246946,
      49.412656705915786,
      49.55999175502257,
      49.07692811507735,
      48.86938167407359,
      48.79323905932096
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c5b7c7d45f1d5ac1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "11cadec88a8e547d": {
    "vx_ego": [
      2.6048116272352813,
      2.928147556361253,
      3.166867725045609,
      3.3194426176775877,
      3.4679321352762775,
      3.629747261810086,
      3.8143913361261323,
      3.9777230805471504,
      4.169365687512539,
      4.4721438962381495
    ],
    "vy_ego": [
      0.012716709715882235,
      0.006238871069100149,
      0.010895844784438502,
      0.007642991695304691,
      0.03509974375086067,
      0.06266575168871702,
      0.07306713886308147,
      0.07537350153596528,
      0.06935389807630732,
      0.02787870454377872
    ],
    "v_ego": [
      2.6048426685859765,
      2.9281542027933902,
      3.1668864689737646,
      3.3194514166314124,
      3.4681097570424813,
      3.6302881677702294,
      3.815091096146426,
      3.978437139160465,
      4.169942469553422,
      4.472230791319604
    ],
    "ax_ego": [
      0.6466426162850829,
      0.6469149543590039,
      0.3161119208244542,
      0.31015727876453064,
      0.3314764331119309,
      0.3957272786121335,
      0.4165932690371886,
      0.3361149907506654,
      0.46751863018173073,
      0.7688112178105511
    ],
    "ay_ego": [
      -0.047754130740047196,
      -0.04391092123759832,
      -0.4054809487092747,
      -0.7079404948555491,
      -1.1833009013244662,
      -1.5802255211464105,
      -1.6982206517397136,
      -1.9528928780082175,
      -1.7050263518314768,
      -1.5920483150849534
    ],
    "a_ego": [
      0.6484035242029106,
      0.6484035218729511,
      0.5141415624645604,
      0.7729018578234487,
      1.2288521671803743,
      1.6290220307657628,
      1.7485717982977849,
      1.9816063887620414,
      1.7679616879352213,
      1.7679616868575465
    ],
    "yaw": [
      -0.5477661126274449,
      -0.553708168657674,
      -0.591583315121953,
      -0.6763386543668846,
      -0.8235988764918581,
      -1.0258119741862703,
      -1.2480468685490298,
      -1.4812538369868413,
      -1.7042427939886036,
      -1.886500182644619
    ],
    "yaw_diff": [
      -0.011884112060458252,
      -0.07575029292855784,
      -0.16951067848986323,
      -0.29452044424994717,
      -0.4044261953888244,
      -0.4444697887255189,
      -0.46641393687562305,
      -0.4459779140035245,
      -0.36451477731203097,
      -0.36451477731203097
    ],
    "min_front_frame": [
      3,
      61.07476031973744
    ],
    "v_avg": 3.5553434177977175,
    "v_std": 0.546029289846056,
    "vy_max": 0.07537350153596528,
    "a_max": 1.9816063887620414,
    "ax_avg": 0.4636068589737272,
    "a_std": 0.5434264477842216,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "11cadec88a8e547d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      65.64750603185227,
      64.295268699131,
      62.685363633184124,
      61.07476031973744,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "11cadec88a8e547d",
    "pedestrians": "No"
  },
  "846863e9cd7059c5": {
    "vx_ego": [
      2.3313559917977695,
      1.4328212615013027,
      0.5968817260105417,
      0.08429551283164989,
      -0.040480590236903216,
      -0.021145326581270045,
      0.13411325875493643,
      0.6229137943487983,
      1.3596927750259336,
      2.129808644498941
    ],
    "vy_ego": [
      -0.06487084920719255,
      -0.03847846924095455,
      -0.016958069022628808,
      0.014841442952270648,
      0.0239469924361587,
      0.008588742030490102,
      0.0011870290817922388,
      -0.0027390367978842867,
      -0.010275557336840269,
      -0.02606921784161753
    ],
    "v_ego": [
      2.3322583449455645,
      1.4333378387544617,
      0.5971225761519151,
      0.08559206687804867,
      0.04703335659577685,
      0.022823043747381127,
      0.1341185118166376,
      0.622919816278626,
      1.3597316020216292,
      2.1299681843401537
    ],
    "ax_ego": [
      -1.7972505558858234,
      -1.797350566806474,
      -1.5465170510001711,
      -0.5038336279837092,
      0.004537379729395441,
      0.0728118232913267,
      0.5482296309466207,
      1.4069743413451763,
      1.5401351343835654,
      1.5402002475314331
    ],
    "ay_ego": [
      0.04631369461834545,
      0.0422549924975274,
      0.03990078699479627,
      0.08712150617083003,
      -0.05091723974791182,
      -0.010487130212215527,
      -0.019116189795228472,
      0.0035497797608385895,
      -0.03895860520345906,
      -0.03629331039933348
    ],
    "a_ego": [
      1.797847190097396,
      1.7978471971751435,
      1.5470316938696085,
      0.5113105529174033,
      0.05111900936398377,
      0.07356318040361869,
      0.5485628104056591,
      1.4069788193644008,
      1.5406277957644676,
      1.5406277963465511
    ],
    "yaw": [
      2.623317916024534,
      2.621059688785577,
      2.62006176119809,
      2.6198527629931494,
      2.621161316015373,
      2.6209794961228554,
      2.620681091906925,
      2.620808171626805,
      2.6194582757306204,
      2.617727752996556
    ],
    "yaw_diff": [
      -0.0045164544779146,
      -0.001995855174973471,
      -0.00041799640988138265,
      0.0026171060444468708,
      -0.0003636397850348416,
      -0.0005968084318608291,
      0.00025415943976003774,
      -0.0026997917923692327,
      -0.003461045468128532,
      -0.003461045468128532
    ],
    "min_front_frame": [
      2,
      8.295843753200698
    ],
    "v_avg": 0.8764905341530195,
    "v_std": 0.8348530141503056,
    "vy_max": 0.06487084920719255,
    "a_max": 1.7978471971751435,
    "ax_avg": -0.05320632444486599,
    "a_std": 0.6676315701705192,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "846863e9cd7059c5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.9965768987255705,
    "right_rear_min": 3.3891434476128097,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      9.534287998235472,
      8.69001296743624,
      8.295843753200698,
      8.614589861683593,
      9.080802178963406,
      9.911514297226137,
      10.792158761689684,
      11.807103469423412,
      12.574832935781496,
      12.978505603829213
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "846863e9cd7059c5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4ed6b1b83e0c5bbe": {
    "vx_ego": [
      4.971896145192503,
      4.793631172882417,
      4.627929190853331,
      4.488195723960615,
      4.333577146773003,
      4.025905010541489,
      3.5546975164226624,
      3.056680840201619,
      2.5165652127241502,
      1.9223265572441501
    ],
    "vy_ego": [
      0.014665759523306843,
      -0.0017906225741364246,
      -0.02969501108974759,
      -0.022646400010382095,
      -0.017273507669115062,
      -0.03075972956784434,
      -0.006859758926095916,
      -0.004192618635044498,
      -0.006378294364194792,
      0.0210887511147978
    ],
    "v_ego": [
      4.971917775173123,
      4.793631507318774,
      4.6280244585823,
      4.488252857851458,
      4.333611572476292,
      4.026022517928353,
      3.55470413530493,
      3.0566837155496955,
      2.516573295680526,
      1.9224422301098487
    ],
    "ax_ego": [
      -0.3575528750902671,
      -0.35585285680704415,
      -0.3064629753825226,
      -0.25242121648395466,
      -0.36634148675983486,
      -0.8649414252213473,
      -1.0206826653803047,
      -0.9713242385446221,
      -1.1887151353803194,
      -1.188363504100424
    ],
    "ay_ego": [
      0.11076132712496511,
      0.11610712414026209,
      0.05554597538758406,
      -0.01438212498121158,
      -0.09752782468309507,
      -0.03590708834334799,
      0.0051276358055857285,
      0.028793705361403188,
      0.07281953410483799,
      0.07834882439488733
    ],
    "a_ego": [
      0.374315548797802,
      0.3743155353092587,
      0.31145611354100394,
      0.2528306074236557,
      0.37910125495548386,
      0.8656864259402666,
      1.0206955452321704,
      0.9717509217143708,
      1.190943473733954,
      1.1909434731178048
    ],
    "yaw": [
      -0.6040847150799351,
      -0.5890982607361839,
      -0.5740457094284379,
      -0.5733333085853193,
      -0.580869865655651,
      -0.5855544857195862,
      -0.5938475478873521,
      -0.592085716382396,
      -0.5822808977093243,
      -0.5776287334205316
    ],
    "yaw_diff": [
      0.029972908687502464,
      0.03010510261549193,
      0.0014248016862372648,
      -0.01507311414066348,
      -0.009369240127870437,
      -0.016586124335531638,
      0.003523663009912026,
      0.019609637346143405,
      0.009304328577585563,
      0.009304328577585563
    ],
    "min_front_frame": [
      9,
      64.97118570693937
    ],
    "v_avg": 3.82918640659753,
    "v_std": 0.9814487666019952,
    "vy_max": 0.03075972956784434,
    "a_max": 1.190943473733954,
    "ax_avg": -0.6872658379150641,
    "a_std": 0.3676654538079874,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "4ed6b1b83e0c5bbe",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      77.72757524291728,
      75.5058143520589,
      73.21525905958788,
      71.04472930044007,
      69.2021191162292,
      67.48823353717765,
      66.05796597397094,
      64.97118570693937
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "4ed6b1b83e0c5bbe",
    "merging_vehicles": "No"
  },
  "b72042b4093250c8": {
    "vx_ego": [
      5.221097207335222,
      5.242740948439839,
      5.24131297450589,
      5.215728230185826,
      5.25762216181209,
      5.339803921376441,
      5.385266752143065,
      5.380223047350327,
      5.322545807693373,
      5.259378876296313
    ],
    "vy_ego": [
      0.014563777521671373,
      -0.014733867893409691,
      0.0032992628389774126,
      0.002915570332310935,
      -0.009261562034692528,
      -0.005657665655023347,
      -0.01661830241598139,
      -0.025813173239261467,
      -0.011895290457405228,
      -0.010385484437392067
    ],
    "v_ego": [
      5.221117519464522,
      5.242761651964637,
      5.241314012903545,
      5.215729045081592,
      5.257630319156052,
      5.339806918599948,
      5.385292393149392,
      5.38028497006918,
      5.322559099994041,
      5.259389130186021
    ],
    "ax_ego": [
      0.002366188808172187,
      0.08405976782625724,
      -0.0917690149533057,
      -0.014994729671792772,
      0.18567975338368609,
      0.1482983231018451,
      0.0366117725443349,
      -0.048675732438980435,
      -0.17045574692313847,
      -0.07749296280502307
    ],
    "ay_ego": [
      0.8968059511802777,
      0.8928608260397285,
      0.7950655971362435,
      0.6961678362635945,
      0.757093611719349,
      0.8383304594278993,
      0.8262359542940467,
      0.8596597801033806,
      0.986442905580116,
      0.9980579237382385
    ],
    "a_ego": [
      0.8968090727249801,
      0.8968090650987816,
      0.8003442108587476,
      0.696329302963666,
      0.7795304405364006,
      0.8513461997562519,
      0.8270467181828558,
      0.8610367381568942,
      1.0010618200832888,
      1.0010618254738237
    ],
    "yaw": [
      -1.0663866336073,
      -0.9751552383052362,
      -0.8984550104992224,
      -0.8269779841149587,
      -0.7549596318173515,
      -0.680465837251722,
      -0.6010688022410346,
      -0.5212601980819123,
      -0.43790239239894013,
      -0.3442819980101441
    ],
    "yaw_diff": [
      0.18246279060412762,
      0.15340045561202764,
      0.14295405276852735,
      0.14403670459521445,
      0.14898758913125887,
      0.1587940700213748,
      0.15961720831824477,
      0.16671561136594426,
      0.1872407887775921,
      0.1872407887775921
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.2865885060568925,
    "v_std": 0.061240539317287825,
    "vy_max": 0.025813173239261467,
    "a_max": 1.0010618254738237,
    "ax_avg": 0.005362761887205506,
    "a_std": 0.08970947160412923,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "b72042b4093250c8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "b72042b4093250c8",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "e6dc564e1a3a588e": {
    "vx_ego": [
      7.080896535658606,
      7.111386627447726,
      7.165591402616239,
      7.232867448918576,
      7.3223501888957125,
      7.448177944267101,
      7.585016443827154,
      7.707269230414635,
      7.779759312870597,
      7.824248802365068
    ],
    "vy_ego": [
      -0.013075036157739195,
      -0.022651663521384702,
      -0.03169659758842691,
      0.004846960041417603,
      0.04886183674066791,
      0.053064684441634036,
      0.03056090350221652,
      0.035761363867325535,
      0.042351059259774004,
      0.03479388897733138
    ],
    "v_ego": [
      7.080908607323821,
      7.111422703151784,
      7.165661506347229,
      7.232869072964584,
      7.322513213911652,
      7.44836697204171,
      7.585078010274595,
      7.707352195484637,
      7.779874586291042,
      7.824326164981963
    ],
    "ax_ego": [
      0.060399832083885635,
      0.062467583166361376,
      0.1570127667176816,
      0.11360831294082704,
      0.24200477143543314,
      0.2591203576904083,
      0.28702995293949185,
      0.2013647754054126,
      0.08780455169628675,
      0.08882528981146916
    ],
    "ay_ego": [
      0.16238686983312234,
      0.16160271084196048,
      0.2691520565970347,
      0.3475610110390289,
      0.19484264520910047,
      0.059888844063526875,
      0.08080861497009215,
      0.0841244910210524,
      0.11925165442234607,
      0.11849330922682458
    ],
    "a_ego": [
      0.17325598174366447,
      0.17325598142089227,
      0.31160205147391834,
      0.3656576338102801,
      0.31069271924136815,
      0.2659511861467638,
      0.29818823943581596,
      0.21823084741535367,
      0.14808982537991103,
      0.14808982558439102
    ],
    "yaw": [
      -0.8314483347579726,
      -0.8186842021298183,
      -0.8023047426857366,
      -0.7859775074922555,
      -0.7733652268055085,
      -0.7653090573229413,
      -0.7576320934194928,
      -0.7529261444593912,
      -0.7472215969465568,
      -0.7386348166235437
    ],
    "yaw_diff": [
      0.02552826525630869,
      0.0327589188881634,
      0.03265447038696223,
      0.025224561373494048,
      0.01611233896513431,
      0.015353927806897039,
      0.009411897920203138,
      0.011409095025668892,
      0.017173560646026154,
      0.017173560646026154
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.425837303277302,
    "v_std": 0.2688285681742709,
    "vy_max": 0.053064684441634036,
    "a_max": 0.3656576338102801,
    "ax_avg": 0.15596381938872572,
    "a_std": 0.07498995780056182,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e6dc564e1a3a588e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.453394310469713,
    "right_rear_min": 15.887723940445088,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e6dc564e1a3a588e",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ed3e5181549254bc": {
    "vx_ego": [
      2.0856898175134586,
      1.5005759028931152,
      1.0696266878147063,
      0.9051695721196467,
      0.8892050138114126,
      0.9240250401736158,
      0.9714902274371583,
      1.009756560024342,
      1.0286717714502183,
      1.0322948995260794
    ],
    "vy_ego": [
      -0.019594926365262555,
      0.0010206341871740743,
      0.01563625843599592,
      0.015415401863858869,
      0.011741194084183143,
      -0.009432393097059927,
      0.009672969397642228,
      0.02372821603567049,
      -0.0021109263097169872,
      -0.030031689549919804
    ],
    "v_ego": [
      2.0857818620408475,
      1.500576249991193,
      1.069740970451883,
      0.9053008278499962,
      0.8892825266617336,
      0.9240731815756746,
      0.9715383823312743,
      1.0100353155946717,
      1.0286739373525584,
      1.0327316505098414
    ],
    "ax_ego": [
      -1.1718412693116056,
      -1.1668178775884028,
      -0.5596597841631888,
      -0.098442601333371,
      0.03302942844299734,
      0.10642392243661866,
      0.08425036797861915,
      0.06704499810442575,
      0.007953054982826294,
      0.007591347731376048
    ],
    "ay_ego": [
      0.13760679886850363,
      0.17516745500247374,
      -0.0161795438029136,
      0.0722652696488888,
      -0.03658378670145052,
      -0.000964103336707392,
      0.126348415515931,
      -0.01989560325037418,
      -0.02202008238124615,
      -0.02214738252149983
    ],
    "a_ego": [
      1.179893042422351,
      1.179893044623939,
      0.5598936074356069,
      0.12211967472404939,
      0.04928809788060714,
      0.10642828929396203,
      0.15186193271494702,
      0.06993473242616112,
      0.023412285485119245,
      0.023412285512788032
    ],
    "yaw": [
      1.7383962102874004,
      1.7705149791748909,
      1.7912975723903641,
      1.8066157433175807,
      1.8209152779775422,
      1.8340486728090504,
      1.8469262813285217,
      1.859575471047795,
      1.8745374063088867,
      1.8909159156621391
    ],
    "yaw_diff": [
      0.06423753777498087,
      0.04156518643094653,
      0.03063634185443309,
      0.028599069319922954,
      0.026266789663016432,
      0.02575521703894257,
      0.025298379438546625,
      0.02992387052218337,
      0.03275701870650494,
      0.03275701870650494
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.1417734904359673,
    "v_std": 0.3554097511014408,
    "vy_max": 0.030031689549919804,
    "a_max": 1.179893044623939,
    "ax_avg": -0.2690468412719705,
    "a_std": 0.4420502427107224,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "ed3e5181549254bc",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.8278257160018083,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ed3e5181549254bc",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "4d8baa6e638f5cfb": {
    "vx_ego": [
      2.4333278401821765,
      3.169644150495734,
      3.793916937960953,
      4.244974137248734,
      4.59341718802495,
      4.8908772597461985,
      5.192517941495075,
      5.4957688328758785,
      5.7860938847363235,
      6.156983278175945
    ],
    "vy_ego": [
      -0.0030652584701607033,
      -0.016050799590858755,
      -0.02080663025751206,
      -0.02159632123148958,
      -0.020286984189886503,
      0.003724562140807297,
      0.029329110031418804,
      0.07877444282700008,
      0.1157547517875401,
      0.08839714235964424
    ],
    "v_ego": [
      2.433329770831554,
      3.1696847901549026,
      3.79397399147776,
      4.245029072574341,
      4.593461986886422,
      4.890878677933611,
      5.192600771236268,
      5.496333366641128,
      5.787251645258263,
      6.157617813937104
    ],
    "ax_ego": [
      1.4725167066086933,
      1.472634716961189,
      1.024771107720076,
      0.7836648010083838,
      0.6287684597960834,
      0.5796373580893293,
      0.6590581982665005,
      0.6061806791726891,
      0.6269359532020018,
      0.9098295491492463
    ],
    "ay_ego": [
      -0.04387127301907767,
      -0.039713135249872744,
      -0.22359888367357827,
      -0.5664249199411115,
      -1.1245971422891934,
      -1.4544746703216507,
      -1.7173115936942953,
      -1.8748726231982946,
      -1.9186398853099678,
      -1.8017874189659013
    ],
    "a_ego": [
      1.4731700987455683,
      1.4731700997205774,
      1.0488814442051602,
      0.9669372835245337,
      1.2884364588443464,
      1.5657190148618787,
      1.8394338309760223,
      1.9704320259833163,
      2.018471624501952,
      2.0184716276551735
    ],
    "yaw": [
      -2.3133714912205368,
      -2.3161952065159945,
      -2.3334577110182204,
      -2.382025070047532,
      -2.477493631730079,
      -2.618107913553603,
      -2.780427155906928,
      -2.957042888344266,
      -3.1313606058349066,
      3.0000409160559354
    ],
    "yaw_diff": [
      -0.0056474305909155476,
      -0.03452500900445177,
      -0.09713471805862284,
      -0.19093712336509405,
      -0.2812285636470486,
      -0.32463848470664924,
      -0.3532314648746766,
      -0.348635434981281,
      -0.3035675705774885,
      -0.3035675705774885
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.576016188693135,
    "v_std": 1.1218366007463536,
    "vy_max": 0.1157547517875401,
    "a_max": 2.0184716276551735,
    "ax_avg": 0.8763997529974195,
    "a_std": 0.369912910162285,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "4d8baa6e638f5cfb",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.341376767575342,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4d8baa6e638f5cfb",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "81b8a8b98a655f0f": {
    "vx_ego": [
      4.713402500222003,
      3.504206232708671,
      2.3048380240257615,
      1.2681622697521293,
      0.5128869194452906,
      0.056055682932871415,
      -0.08023289852129992,
      0.1302800116068659,
      0.8376297818002891,
      1.8453943519322502
    ],
    "vy_ego": [
      -0.0327841620954068,
      -0.06340879541660405,
      -0.06648945579471666,
      -0.03942251321724222,
      -0.01978540286390143,
      -0.025681871803986293,
      -0.014219627143812641,
      0.004665430443302372,
      0.021216660967550205,
      0.06488790975106362
    ],
    "v_ego": [
      4.713516514279262,
      3.504779878493153,
      2.3057968611147976,
      1.2687748724542254,
      0.5132684037660675,
      0.061658723052192686,
      0.0814832240478877,
      0.13036352122241254,
      0.8378984413766456,
      1.8465347965785297
    ],
    "ax_ego": [
      -2.4185924756108506,
      -2.4184809745234848,
      -2.3795019790578933,
      -1.7673830524493193,
      -1.2537286102086602,
      -0.57356876924089,
      0.02847187489588806,
      0.81358965082483,
      2.01581281092755,
      2.015629246309009
    ],
    "ay_ego": [
      -0.07185487267686685,
      -0.0755148157186889,
      0.044697167550232786,
      0.05787073495974493,
      0.02033761937231804,
      -0.04355055549903808,
      0.08926229363889401,
      -0.01363263478384219,
      0.0790068108821147,
      0.08355915896941679
    ],
    "a_ego": [
      2.4196596218908213,
      2.4196596272048456,
      2.3799217434881013,
      1.7683302508439578,
      1.2538935548193364,
      0.5752197701164175,
      0.09369314129520495,
      0.8137038580837739,
      2.01736049452382,
      2.017360501155879
    ],
    "yaw": [
      2.3936548411088014,
      2.3921415510990602,
      2.3905469610503953,
      2.3897136383546496,
      2.3896107428255196,
      2.390078186759631,
      2.390471026608294,
      2.390165269179056,
      2.389542843396139,
      2.3872844184743425
    ],
    "yaw_diff": [
      -0.0030265800194824166,
      -0.0031891800973298245,
      -0.001666645391491528,
      -0.00020579105826001864,
      0.0009348878682224893,
      0.0007856796973264579,
      -0.0006115148584759922,
      -0.001244851565833649,
      -0.004516849843593462,
      -0.004516849843593462
    ],
    "min_front_frame": [
      0,
      37.22665618194125
    ],
    "v_avg": 1.5264075236385175,
    "v_std": 1.501021467384982,
    "vy_max": 0.06648945579471666,
    "a_max": 2.4196596272048456,
    "ax_avg": -0.5937752278133821,
    "a_std": 0.7987518335406107,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "81b8a8b98a655f0f",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 40.797077436586626,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      37.22665618194125,
      39.93217622031248,
      41.64505033149792,
      44.75265723059226,
      48.21545267642753,
      52.327019091024695,
      56.26072568846484,
      59.374843474058906,
      62.51585323641161,
      65.44947347247778
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "81b8a8b98a655f0f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "49a0d29c7058501c": {
    "vx_ego": [
      3.3223262655799246,
      3.4631478038048504,
      3.665464679158571,
      3.8923802474387363,
      4.143165222145366,
      4.425828937468315,
      4.695888948826695,
      4.931691961838515,
      5.138676556614794,
      5.31957841145501
    ],
    "vy_ego": [
      -0.1305124497972537,
      -0.07528676604716045,
      -0.0743175594281158,
      -0.08593809198258362,
      -0.07079840944353055,
      -0.048979375390728386,
      -0.027319403360152705,
      -0.024730000099364435,
      -0.027324304023421675,
      -0.0037940937854101797
    ],
    "v_ego": [
      3.3248887672393383,
      3.463966051816934,
      3.6662179986736194,
      3.8933288258641663,
      4.143770079622492,
      4.42609994949793,
      4.695968416579548,
      4.931753965818605,
      5.138749202976619,
      5.319579764489472
    ],
    "ax_ego": [
      0.21983266337600355,
      0.40440949059719833,
      0.46830478214321036,
      0.49521989964427404,
      0.5313920566715061,
      0.6009118536495812,
      0.477065540705511,
      0.46620492783814854,
      0.36125223132222595,
      0.36174804264737254
    ],
    "ay_ego": [
      1.1964853460648763,
      1.1473258249429017,
      1.290531491082829,
      1.29144243816643,
      1.0019952833786607,
      0.5611055610928635,
      0.11550011111842931,
      -0.05107677333737523,
      -0.05394155033879053,
      -0.05050959014345374
    ],
    "a_ego": [
      1.2165128783679087,
      1.216512878956074,
      1.3728732273792323,
      1.3831364069031435,
      1.1341834356957678,
      0.8221523621239026,
      0.49084804756361317,
      0.468994532500253,
      0.3652572593231233,
      0.365257258730973
    ],
    "yaw": [
      1.6192365859467779,
      1.776413649884754,
      1.9471005377570259,
      2.120707394510172,
      2.2595779317138183,
      2.3458136974700583,
      2.378040037633147,
      2.380847100236978,
      2.376160330758543,
      2.366666737207723
    ],
    "yaw_diff": [
      0.3143541278759523,
      0.34137377574454364,
      0.34721371350629227,
      0.27774107440729257,
      0.17247153151248007,
      0.06445268032617779,
      0.00561412520766158,
      -0.00937353895687032,
      -0.018987187101640046,
      -0.018987187101640046
    ],
    "min_front_frame": [
      3,
      31.40003711051472
    ],
    "v_avg": 4.300432302257873,
    "v_std": 0.6749896329713047,
    "vy_max": 0.1305124497972537,
    "a_max": 1.3831364069031435,
    "ax_avg": 0.4386341488595031,
    "a_std": 0.4050512226292725,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "49a0d29c7058501c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.875393797381331,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      31.40003711051472,
      33.62665888087367,
      35.594188453614564,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "49a0d29c7058501c",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "8de5173c05ee56f5": {
    "vx_ego": [
      7.5465974182863675,
      7.158594556002167,
      6.768438531468463,
      6.392905716884356,
      6.003494313810259,
      5.5752840520778335,
      5.195789102759444,
      4.935823143525029,
      4.787342991766975,
      4.8386514882072476
    ],
    "vy_ego": [
      -0.02753166365123949,
      0.006607308066285622,
      0.030010699456284318,
      0.04790862875588653,
      0.055023724871143376,
      0.017473979726728928,
      0.030132379183321456,
      0.0825504655555862,
      0.12808229836001472,
      0.23768476441858688
    ],
    "v_ego": [
      7.546647638931466,
      7.158597605239712,
      6.76850506362733,
      6.393085228720321,
      6.003746462522448,
      5.5753114353658235,
      5.19587647665233,
      4.936513413687918,
      4.789056065235983,
      4.844485759249059
    ],
    "ax_ego": [
      -0.7760067696801769,
      -0.7760015086894331,
      -0.7845539049014565,
      -0.7178778200020354,
      -0.8316482889257686,
      -0.8424008094952729,
      -0.6438593817737166,
      -0.4145303849260436,
      -0.30378289873434494,
      0.3279641292459571
    ],
    "ay_ego": [
      0.06936339611127529,
      0.06942222842695284,
      0.005961052217769602,
      0.20053771329899533,
      0.9666427293608622,
      1.8602637683722996,
      2.375709252074386,
      2.6721383072920024,
      2.5592438972150795,
      2.5562575986165914
    ],
    "a_ego": [
      0.7791006272039273,
      0.7791006271901213,
      0.7845765506562548,
      0.7453616162011999,
      1.2751615751344516,
      2.042111753003983,
      2.4614120650329703,
      2.7041003260464103,
      2.5772103862502322,
      2.5772103873291217
    ],
    "yaw": [
      2.6399660782577623,
      2.640041892571205,
      2.6393874998144957,
      2.6445191112918134,
      2.690335419380884,
      2.818687782540263,
      3.013257175315693,
      -3.030946946019175,
      -2.772011239804873,
      -2.5262623436198903
    ],
    "yaw_diff": [
      0.0001516286268854472,
      -0.00130878551341862,
      0.010263222954635332,
      0.09163261617814111,
      0.25670472631875807,
      0.3891387855508599,
      0.47796237168943634,
      0.5178714124286046,
      0.49149779236996505,
      0.49149779236996505
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.921182514923239,
    "v_std": 0.9579693391178771,
    "vy_max": 0.23768476441858688,
    "a_max": 2.7041003260464103,
    "ax_avg": -0.5762697637882293,
    "a_std": 0.8283955830464456,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "8de5173c05ee56f5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "8de5173c05ee56f5",
    "pedestrians": "No"
  },
  "a7eeec2ad80b58a1": {
    "vx_ego": [
      11.78040700179353,
      11.629625229998126,
      11.463192546922487,
      11.288033564536295,
      11.139164920177736,
      10.973544390518148,
      10.795046931628006,
      10.651272364800265,
      10.511034991495674,
      10.362706629040279
    ],
    "vy_ego": [
      0.028051505862536352,
      0.03840007597473649,
      0.06079135695574189,
      0.0684040110642743,
      0.04691394846047947,
      0.015803117783052212,
      0.03360226853309256,
      0.031754369566203255,
      0.026004875661999716,
      0.03971764150335666
    ],
    "v_ego": [
      11.780440399869912,
      11.629688626788072,
      11.463353739499613,
      11.288240822326022,
      11.139263711640838,
      10.9735557696311,
      10.79509922921053,
      10.651319698945496,
      10.511067160189047,
      10.362782742613199
    ],
    "ax_ego": [
      -0.30199851320634497,
      -0.30161141731168817,
      -0.3647604584951457,
      -0.33727923524451564,
      -0.2597515720797067,
      -0.40350440526970743,
      -0.3113621125701217,
      -0.2644324178719598,
      -0.2972944632896953,
      -0.2966592884062138
    ],
    "ay_ego": [
      0.10555208790041917,
      0.10665315255783638,
      0.15115192348669423,
      0.10696108261481668,
      0.11450749050627479,
      0.21401549527587393,
      0.1099510560070995,
      0.13076789478996872,
      0.1289449436300355,
      0.1303996483850437
    ],
    "a_ego": [
      0.31991302761685203,
      0.31991302255971144,
      0.3948380630781642,
      0.3538332315106355,
      0.2838711760287115,
      0.45674767354660706,
      0.33020539041815394,
      0.2949995693715689,
      0.3240536936843353,
      0.3240537018715018
    ],
    "yaw": [
      -1.7548780172644363,
      -1.751229763535978,
      -1.7475895661592322,
      -1.7425847659160691,
      -1.7357249360630416,
      -1.7254994276780227,
      -1.719687453037214,
      -1.7138998477982237,
      -1.7072228808118664,
      -1.7023245095186672
    ],
    "yaw_diff": [
      0.007296507456916679,
      0.007280394753491404,
      0.010009600486326153,
      0.013719659706055154,
      0.0204510167700378,
      0.011623949281617474,
      0.011575210477980491,
      0.013353933972714671,
      0.009796742586398288,
      0.009796742586398288
    ],
    "min_front_frame": [
      9,
      18.546375649821986
    ],
    "v_avg": 11.059481190071384,
    "v_std": 0.457902984939633,
    "vy_max": 0.0684040110642743,
    "a_max": 0.45674767354660706,
    "ax_avg": -0.3138653883745099,
    "a_std": 0.04838900825053943,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a7eeec2ad80b58a1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.9150660998991698,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.85145648407469,
      23.720799113962684,
      21.470900737340955,
      19.1411738715996,
      33.51564428634149,
      30.759531428712886,
      27.942023486994575,
      24.940766737239574,
      21.74833584321711,
      18.546375649821986
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      1,
      1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.8,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a7eeec2ad80b58a1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "82ab6983691a5599": {
    "vx_ego": [
      3.8808947153722504,
      3.807883634096178,
      3.760330193544096,
      3.74616241163554,
      3.740169852579827,
      3.7409586878863923,
      3.7606165283898187,
      3.785752625636283,
      3.8161457680282025,
      3.857578490035192
    ],
    "vy_ego": [
      0.013317121915251251,
      0.003911458410447821,
      -0.004050523827770158,
      -0.01424775202061701,
      -0.01323049546545274,
      0.001530060933446542,
      0.029503586534681325,
      0.03357141440526523,
      0.02311040801253994,
      0.007617101787129599
    ],
    "v_ego": [
      3.880917563868159,
      3.8078856430208634,
      3.760332375099661,
      3.7461895057229344,
      3.7401932533169013,
      3.740959000785646,
      3.7607322605068685,
      3.785901475524314,
      3.816215745185021,
      3.8575860103206807
    ],
    "ax_ego": [
      -0.1617394511267248,
      -0.13219053981092385,
      -0.0587698285529793,
      0.0019980785650491883,
      -0.02359898640646796,
      0.03027112057828879,
      0.04484294069334474,
      0.04670675528065346,
      0.07050888342302591,
      0.09174051692701332
    ],
    "ay_ego": [
      0.4624594206214443,
      0.47175631642978494,
      0.4474932064205205,
      0.3707898271294337,
      0.35875783526478505,
      0.4517480167873485,
      0.44074207508506963,
      0.33606820667506104,
      0.39052285885582416,
      0.3860871510762758
    ],
    "a_ego": [
      0.48992689839637926,
      0.4899268934309514,
      0.4513358644520344,
      0.3707952106225584,
      0.3595331647056879,
      0.4527610975032725,
      0.44301745572868795,
      0.3392983355789391,
      0.39683700171542446,
      0.39683700768984564
    ],
    "yaw": [
      -1.2373687015065795,
      -1.1741305139040685,
      -1.1111635604963617,
      -1.0538412905576942,
      -1.005438581819095,
      -0.9551346669609031,
      -0.9030923316076993,
      -0.8527088276169691,
      -0.8021376979235268,
      -0.7474735816192428
    ],
    "yaw_diff": [
      0.12647637520502197,
      0.12593390681541372,
      0.11464453987733503,
      0.0968054174771984,
      0.10060782971638371,
      0.10408467070640759,
      0.10076700798146043,
      0.10114225938688448,
      0.10932823260856805,
      0.10932823260856805
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7896912833351046,
    "v_std": 0.047327305169333325,
    "vy_max": 0.03357141440526523,
    "a_max": 0.48992689839637926,
    "ax_avg": -0.00902305104297205,
    "a_std": 0.05100809559390543,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "82ab6983691a5599",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "82ab6983691a5599",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "28926b7190705b82": {
    "vx_ego": [
      8.514776521623329,
      8.3927466409466,
      8.21506744550733,
      8.006243027965189,
      7.769776158014837,
      7.5268312687391195,
      7.336994858980757,
      7.132734996803425,
      6.933696473841126,
      6.760108865022801
    ],
    "vy_ego": [
      -0.014597865810836108,
      -0.01630569543503535,
      -0.021310338634261683,
      -0.027346810873638994,
      -0.025134186572064898,
      -0.019128305426407977,
      -0.037149551936551894,
      -0.03597281805603503,
      -0.019258895175364277,
      -0.023886506162544174
    ],
    "v_ego": [
      8.514789035018666,
      8.39276248054382,
      8.215095085558477,
      8.006289731886184,
      7.7698168107742696,
      7.526855574550201,
      7.337088908410416,
      7.132825707828787,
      6.933723220348519,
      6.760151065777785
    ],
    "ax_ego": [
      -0.25023735214616055,
      -0.23936527912207356,
      -0.4730537701738472,
      -0.36572936790418953,
      -0.583309706971448,
      -0.3900860105245495,
      -0.3706872955454757,
      -0.4488404366599606,
      -0.3483653295228006,
      -0.3468469833579553
    ],
    "ay_ego": [
      -0.4273271674543713,
      -0.43351067383586017,
      -0.453009629964458,
      -0.36223657158550293,
      -0.24750058863341975,
      -0.22669700223694705,
      -0.23275135501611782,
      -0.10905058241737597,
      -0.14712157150800387,
      -0.1506662846126079
    ],
    "a_ego": [
      0.4952042411507578,
      0.4952042418828919,
      0.6549790792966034,
      0.5147555772807296,
      0.6336456072766589,
      0.45117471829677835,
      0.43770111302195447,
      0.46189800509059686,
      0.37815758569214786,
      0.37815758511959147
    ],
    "yaw": [
      -1.0992508533299978,
      -1.1245087936378795,
      -1.1505030531294747,
      -1.1749268387530662,
      -1.1944641663466702,
      -1.210800741063891,
      -1.2238352151010772,
      -1.2357925044376015,
      -1.24729514273564,
      -1.2574925541199933
    ],
    "yaw_diff": [
      -0.05051588061576329,
      -0.051988518983190346,
      -0.0488475712471832,
      -0.039074655187207874,
      -0.03267314943444166,
      -0.026068948074372322,
      -0.02391457867304858,
      -0.023005276596077096,
      -0.020394822768706522,
      -0.020394822768706522
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.658939762069712,
    "v_std": 0.5869257688237698,
    "vy_max": 0.037149551936551894,
    "a_max": 0.6549790792966034,
    "ax_avg": -0.381652153192846,
    "a_std": 0.08863906391489944,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "28926b7190705b82",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "28926b7190705b82",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "189654afe9465b09": {
    "vx_ego": [
      7.875719160005747,
      7.989204233245221,
      8.119305609720184,
      8.259539337233498,
      8.47567699334703,
      8.586243396518936,
      8.579634060296861,
      8.656456937885554,
      8.7311954123179,
      8.791504154550775
    ],
    "vy_ego": [
      0.024268427023399042,
      -0.009347935799794538,
      -0.016793603549490665,
      0.00027787098810927446,
      -0.006515555862562472,
      -0.002878449292891716,
      0.007351837795521732,
      0.004163219570656018,
      0.018305497230766576,
      0.04783144784058724
    ],
    "v_ego": [
      7.875756550569083,
      7.989209702117418,
      8.119322977265643,
      8.259539341907626,
      8.475679497717001,
      8.5862438790041,
      8.579637210169494,
      8.65645793901086,
      8.731214601606698,
      8.791634270537308
    ],
    "ax_ego": [
      0.22676079759148882,
      0.2269832049868791,
      0.29396134551773545,
      0.26714512208611324,
      0.5975192651112923,
      -0.15496951627121308,
      0.12841304182473917,
      0.1784611857968338,
      0.12041472291836292,
      0.12057979574570393
    ],
    "ay_ego": [
      0.035365147208575365,
      0.03390838430327982,
      0.11913099057118871,
      0.11919787505808267,
      0.1224389070907676,
      0.15846965074227276,
      0.1453841240043805,
      0.05913280495004994,
      0.09098851289174806,
      0.09076964418229158
    ],
    "a_ego": [
      0.2295019672277612,
      0.22950196921197538,
      0.3171836464464555,
      0.2925314507412265,
      0.6099348802525728,
      0.2216487788816164,
      0.19397539231356975,
      0.18800288151321692,
      0.15092585919502965,
      0.15092586076301007
    ],
    "yaw": [
      2.1412628269567566,
      2.1476838788789574,
      2.1533644720320115,
      2.1585532690975344,
      2.166624340748931,
      2.1743448666644727,
      2.182035151325441,
      2.188342512622782,
      2.191030458212702,
      2.192846801899076
    ],
    "yaw_diff": [
      0.012842103844401542,
      0.011361186306108273,
      0.010377594131045775,
      0.016142143302793066,
      0.015441051831083463,
      0.015380569321936655,
      0.012614722594681993,
      0.005375891179840053,
      0.0036326873727476894,
      0.0036326873727476894
    ],
    "min_front_frame": [
      4,
      19.22915801179685
    ],
    "v_avg": 8.406469596990522,
    "v_std": 0.30711642394919164,
    "vy_max": 0.04783144784058724,
    "a_max": 0.6099348802525728,
    "ax_avg": 0.20052689653079353,
    "a_std": 0.12783808272239375,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "189654afe9465b09",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.321076494536417,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      23.424754782096706,
      25.572928406858836,
      21.596804079037913,
      23.346472073497203,
      19.22915801179685,
      20.129557227754457,
      21.47048305305165,
      31.34110531712145,
      27.026455444261043,
      22.712488639944272
    ],
    "safe_frame": [
      1,
      1,
      0,
      1,
      0,
      0,
      0,
      1,
      1,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "189654afe9465b09",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "2d357ffc1fdd5c89": {
    "vx_ego": [
      1.0936784491728766,
      1.5642296794948565,
      2.002556591785104,
      2.4048748006825367,
      2.8101900494851253,
      3.2002051720624847,
      3.5682401462671915,
      3.843347375373617,
      3.9235580662727076,
      3.9116955479393543
    ],
    "vy_ego": [
      -0.05003821987583412,
      0.005197670773705365,
      0.004825323997760589,
      0.019234271006883352,
      0.029826332988413418,
      0.013172719845016667,
      -0.018787982221733168,
      -0.037859436852167416,
      -0.037765984762589966,
      -0.026868366711923164
    ],
    "v_ego": [
      1.0948225306566954,
      1.5642383149616472,
      2.002562405283205,
      2.4049517176315693,
      2.810348327941707,
      3.2002322827950462,
      3.568289608441119,
      3.843533840718725,
      3.923739819230974,
      3.9117878225816813
    ],
    "ax_ego": [
      0.9366929280614689,
      0.9488129814256698,
      0.8063971579511381,
      0.8103412782104272,
      0.8067053364987214,
      0.7514016556853971,
      0.7249281927642919,
      0.3803876880287974,
      -0.04779563577915144,
      0.011488570145629956
    ],
    "ay_ego": [
      0.2664455863473173,
      0.21941013501635237,
      0.31103852598887305,
      0.5675607732913004,
      0.6915372009825671,
      0.8339672073715767,
      0.8733794071408115,
      0.7338486007463841,
      0.6911095219951165,
      0.6926650017088785
    ],
    "a_ego": [
      0.9738515759418033,
      0.9738515703482551,
      0.8643039633144138,
      0.9893322083864085,
      1.0625427992689607,
      1.1225443203445922,
      1.1350385339195044,
      0.8265764102739199,
      0.6927602718053713,
      0.6927602701052881
    ],
    "yaw": [
      0.280371677980534,
      0.33025292079643653,
      0.4040506758791394,
      0.4971382492579303,
      0.613641249981889,
      0.7455925935731291,
      0.8808231935747602,
      0.9929738405160699,
      1.0833740710270987,
      1.1690064823354205
    ],
    "yaw_diff": [
      0.09976248563180512,
      0.14759551016540573,
      0.18617514675758184,
      0.23300600144791728,
      0.26390268718248033,
      0.27046120000326224,
      0.2243012938826192,
      0.1808004610220577,
      0.17126482261664355,
      0.17126482261664355
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.8324506670242373,
    "v_std": 0.9774745347140315,
    "vy_max": 0.05003821987583412,
    "a_max": 1.1350385339195044,
    "ax_avg": 0.6129360152992389,
    "a_std": 0.15215554119504376,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "2d357ffc1fdd5c89",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "2d357ffc1fdd5c89",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "359651aff6c55fc3": {
    "vx_ego": [
      7.9677720455468615,
      7.98967112807588,
      8.030023962191342,
      8.043874408626602,
      7.934704861555851,
      7.658539531591107,
      7.268369883919383,
      6.925962243248621,
      6.700904440893441,
      6.519650891172817
    ],
    "vy_ego": [
      -0.010110322967851193,
      0.0546507811289354,
      0.11340333781661771,
      0.049053748451652,
      -0.008893375210346832,
      0.016768178586275884,
      0.013252004667745787,
      0.023812657426079298,
      0.013263017848728964,
      0.08783945424694073
    ],
    "v_ego": [
      7.967778460049485,
      7.989858036453922,
      8.030824686817356,
      8.044023978830193,
      7.934709845490299,
      7.658557888320544,
      7.268381964721858,
      6.926003179147348,
      6.700917566544741,
      6.520242596138038
    ],
    "ax_ego": [
      0.041300081929268095,
      0.04521345409316685,
      0.11258748715745603,
      -0.06317910468899278,
      -0.3733904473936992,
      -0.7312511477960366,
      -0.8305597504187284,
      -0.5389177501189184,
      -0.36135548306863174,
      -0.361358013957881
    ],
    "ay_ego": [
      0.3231659584982071,
      0.3226417116743893,
      0.2049363113235078,
      -0.02123699659663037,
      0.15832069805121426,
      0.1947620613143068,
      0.02405757931678637,
      -0.025520278731130358,
      0.002261660343705091,
      -0.0018089287824944733
    ],
    "a_ego": [
      0.3257943116437566,
      0.32579430710682267,
      0.23382650397958749,
      0.06665290161536855,
      0.4055685757505019,
      0.7567433525842291,
      0.8309080972876627,
      0.5395216640875059,
      0.36136256066625727,
      0.36136254160458336
    ],
    "yaw": [
      0.9725731960841736,
      0.9846923758101331,
      0.9938334268033849,
      1.0075167365097368,
      1.019003567263593,
      1.0269880043405555,
      1.0347758342586042,
      1.0332283520874985,
      1.0339255718808,
      1.0226609225692398
    ],
    "yaw_diff": [
      0.0242383594519191,
      0.018282101986503596,
      0.027366619412703796,
      0.022973661507712517,
      0.015968874153924784,
      0.015575659836097433,
      -0.003094964342211348,
      0.0013944395866030135,
      -0.022529298623120475,
      -0.022529298623120475
    ],
    "min_front_frame": [
      3,
      16.19011878179034
    ],
    "v_avg": 7.504129820251379,
    "v_std": 0.5685097880685686,
    "vy_max": 0.11340333781661771,
    "a_max": 0.8309080972876627,
    "ax_avg": -0.3060910674262997,
    "a_std": 0.21928758160023407,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "359651aff6c55fc3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.005756322615277,
      19.031825288611284,
      20.126652458386836,
      16.19011878179034,
      18.02129582283356,
      53.69072523881542,
      50.007682912416556,
      46.50275936459926,
      43.08982017048751,
      39.78979409084016
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "359651aff6c55fc3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6b6afd7690245e14": {
    "vx_ego": [
      7.285799813982845,
      7.3351143767016325,
      7.3448416398004195,
      7.300219996525478,
      7.2476437099174476,
      7.167164398432938,
      6.9672304611815985,
      6.637822883227975,
      6.23506160513052,
      5.804132166595819
    ],
    "vy_ego": [
      -0.08883176137943805,
      -0.0588716405180727,
      -0.018550936804857088,
      0.004145612604306681,
      0.018729276975900877,
      0.012131630095943091,
      0.0019036771870855063,
      0.035513599635339954,
      0.0485296342939181,
      -0.030088839857735028
    ],
    "v_ego": [
      7.286341332332862,
      7.335350624840797,
      7.344865066902349,
      7.3002211736203115,
      7.24766790986742,
      7.167174665836836,
      6.967230721255295,
      6.637917884763565,
      6.2352504637085335,
      5.804210156911641
    ],
    "ax_ego": [
      0.09898265337690355,
      0.09945601960758463,
      -0.060312119878362436,
      -0.11817966647064865,
      -0.09213425076259879,
      -0.23001563212623363,
      -0.5696485203440009,
      -0.7481668258153994,
      -0.86198658974459,
      -0.8616631000538137
    ],
    "ay_ego": [
      0.11858249226227287,
      0.11818573491170234,
      0.09189224929751628,
      0.019357906140406785,
      0.046948139710068365,
      0.011030676092454991,
      0.09490694060830046,
      0.1622738607560475,
      -0.1782155164785172,
      -0.17977302069376488
    ],
    "a_ego": [
      0.15446479579717912,
      0.1544647784215011,
      0.10991695631329519,
      0.11975459113225911,
      0.1034062279837222,
      0.2302799748946649,
      0.5775004451130208,
      0.7655628028681666,
      0.8802168205693485,
      0.8802168124750341
    ],
    "yaw": [
      0.854601408839901,
      0.8586000832341736,
      0.8602575392114955,
      0.8609555139905583,
      0.8612296080098467,
      0.8641491083964485,
      0.8693128322774184,
      0.8738089409403398,
      0.871173332907714,
      0.8693661135465367
    ],
    "yaw_diff": [
      0.007997348788545189,
      0.00331491195464384,
      0.0013959495581254977,
      0.0005481880385769244,
      0.005839000773203651,
      0.010327447761939723,
      0.008992217325842766,
      -0.005271216065251494,
      -0.0036144387223546737,
      -0.0036144387223546737
    ],
    "min_front_frame": [
      2,
      48.87734069165488
    ],
    "v_avg": 6.932623000003962,
    "v_std": 0.5093465141461867,
    "vy_max": 0.08883176137943805,
    "a_max": 0.8802168205693485,
    "ax_avg": -0.3343668032211159,
    "a_std": 0.3203644499024015,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "6b6afd7690245e14",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 35.10245889420289,
    "speed_mode": "decelerating",
    "front_frame": [
      49.901602944041464,
      49.61473892171973,
      48.87734069165488,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.93979962022814
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "6b6afd7690245e14",
    "merging_vehicles": "No"
  },
  "81f49ac925aa5781": {
    "vx_ego": [
      5.359450652434915,
      5.321234969807635,
      5.243988508161924,
      5.09907072967436,
      4.874657189973823,
      4.496478928663427,
      3.915228965856071,
      3.1309476173385127,
      2.105723091452739,
      0.9444484687067194
    ],
    "vy_ego": [
      -0.009441623464584659,
      0.012773198047598022,
      0.026163925027156587,
      0.017738710664851665,
      0.01298126295182267,
      0.0024199474520194553,
      -0.010796297566591173,
      0.006102986154440271,
      0.008830800147613505,
      0.0808873936646716
    ],
    "v_ego": [
      5.35945896897613,
      5.321250300304621,
      5.244053777823712,
      5.099101584404636,
      4.8746744745625135,
      4.496479579855764,
      3.915243851297074,
      3.130953565442597,
      2.1057416082958818,
      0.94790594496307
    ],
    "ax_ego": [
      -0.07649498277504381,
      -0.07632203842991994,
      -0.23250741474319592,
      -0.34752078160986666,
      -0.5499041205273969,
      -0.9603264059664629,
      -1.3638035604112635,
      -1.7758423873735554,
      -2.327944115816749,
      -2.321333793941263
    ],
    "ay_ego": [
      -0.0259132076194799,
      -0.02641823779089492,
      0.0195531853120183,
      0.04618884422628036,
      0.20330248979653073,
      0.4086985188064917,
      0.4092086345892354,
      0.273195971846892,
      0.19802957220304085,
      0.2644786200861944
    ],
    "a_ego": [
      0.08076494734031912,
      0.08076494807820063,
      0.23332814867994528,
      0.3505768146664754,
      0.5862818811207441,
      1.0436768107374446,
      1.4238721354155452,
      1.7967337654271367,
      2.336351753874563,
      2.336351755060962
    ],
    "yaw": [
      -0.44344613654298726,
      -0.4500557676729979,
      -0.4529049928894734,
      -0.44811110032996715,
      -0.4347178216605488,
      -0.4001917962846264,
      -0.34905672993659353,
      -0.30606492903210614,
      -0.263249114778928,
      -0.23466639091429697
    ],
    "yaw_diff": [
      -0.013219262260021236,
      -0.00569845043295103,
      0.009587785119012482,
      0.026786557338836725,
      0.06905205075184473,
      0.10227013269606577,
      0.0859836018089748,
      0.0856316285063563,
      0.05716544772926202,
      0.05716544772926202
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.0494863655926,
    "v_std": 1.4492239934083817,
    "vy_max": 0.0808873936646716,
    "a_max": 2.336351755060962,
    "ax_avg": -1.0031999601594717,
    "a_std": 0.8515572138769709,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "81f49ac925aa5781",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "81f49ac925aa5781",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "06faec49379750a5": {
    "vx_ego": [
      4.189504053307747,
      3.2644632874558264,
      2.363745344433812,
      1.5775443364765938,
      0.9863801604982254,
      0.5873258825527543,
      0.3242744356412691,
      0.12715906831223506,
      -0.004129665194431279,
      -0.08687041519927663
    ],
    "vy_ego": [
      -0.019566096561852042,
      -0.03143082157231203,
      -0.04498433926481615,
      -0.02580669864193197,
      0.007499581627134655,
      0.025520193326049434,
      0.00783299411099192,
      -0.01647273866853717,
      -0.015021582860154557,
      0.01114166698067897
    ],
    "v_ego": [
      4.18954974249223,
      3.2646145946637577,
      2.3641733532276374,
      1.5777554053921579,
      0.9864086702523893,
      0.5878800664963652,
      0.3243690265842385,
      0.12822160415966408,
      0.015578898749352801,
      0.0875819946107821
    ],
    "ax_ego": [
      -1.8509142475019669,
      -1.850093602238172,
      -1.7532389098654808,
      -1.3919236696552422,
      -0.9727936220647255,
      -0.6233735586290627,
      -0.4288132645016186,
      -0.3596528035905315,
      -0.16547932325113957,
      -0.16548444967461184
    ],
    "ay_ego": [
      -0.08262332514314186,
      -0.09931677384193405,
      0.02084826906334214,
      0.037436820818941396,
      0.09109086781138148,
      -0.020227859499329537,
      -0.05091960035269544,
      -0.046508724128092704,
      0.05234354991866621,
      0.052327313737390295
    ],
    "a_ego": [
      1.8527574491723091,
      1.8527574473224997,
      1.7533628618712205,
      1.3924270241917691,
      0.977049117152479,
      0.6237016593675105,
      0.4318259157491747,
      0.3626474879970251,
      0.17356051867214226,
      0.17356051062116756
    ],
    "yaw": [
      -0.6816606308341183,
      -0.6906815973004407,
      -0.6928456258019896,
      -0.6952379448846897,
      -0.6961930387059482,
      -0.6966032457410863,
      -0.696834221365727,
      -0.6970707547318877,
      -0.6968679323752391,
      -0.6969660160783437
    ],
    "yaw_diff": [
      -0.018041932932644666,
      -0.004328057003097907,
      -0.004784638165400201,
      -0.0019101876425169362,
      -0.0008204140702763318,
      -0.0004619512492813893,
      -0.0004730667323213922,
      0.0004056447132971819,
      -0.00019616740620920226,
      -0.00019616740620920226
    ],
    "min_front_frame": [
      9,
      10.014187182574025
    ],
    "v_avg": 1.3526133356628574,
    "v_std": 1.394317370332654,
    "vy_max": 0.04498433926481615,
    "a_max": 1.8527574491723091,
    "ax_avg": -0.9561767450972551,
    "a_std": 0.6630689793539011,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "06faec49379750a5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 43.68901356385086,
    "right_rear_min": 13.970972203487415,
    "speed_mode": "decelerating",
    "front_frame": [
      15.657746294378388,
      13.808132367219397,
      12.395743016790334,
      11.425923632470672,
      10.899952693245226,
      10.46894984195534,
      10.206544063936452,
      10.068611405461695,
      10.022862355504401,
      10.014187182574025
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "06faec49379750a5",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "60fbe2351f325132": {
    "vx_ego": [
      3.129954297358534,
      2.589878709708685,
      2.0739973332827026,
      1.5669119382304144,
      1.0309559100897234,
      0.5118157241108772,
      0.12768758294199758,
      -0.02764050365107568,
      -0.036207577722160864,
      -0.022066523167585315
    ],
    "vy_ego": [
      0.01609135380960347,
      -0.01246792262265517,
      -0.00020476089213172788,
      0.026492946590176092,
      0.01857657507359728,
      0.0034674124393487826,
      -0.012309308804370742,
      -0.008905355263983162,
      -0.0008794277185464171,
      -0.005053574604620522
    ],
    "v_ego": [
      3.1299956605753594,
      2.5899087204179314,
      2.073997343390484,
      1.5671358902111916,
      1.0311232601829885,
      0.5118274693645957,
      0.12827953040454612,
      0.029039676211398788,
      0.03621825613718125,
      0.02263780159357452
    ],
    "ax_ego": [
      -1.080161188008174,
      -1.0801382915185815,
      -0.9833433078045303,
      -1.0449874386419036,
      -1.0988597260312212,
      -0.9777091283594528,
      -0.5587908720386857,
      -0.06255018645883201,
      0.02828246842230817,
      0.028282168173308427
    ],
    "ay_ego": [
      -0.059119214850055835,
      -0.059536429744607544,
      0.11225064221294989,
      -0.006167496849838305,
      -0.02428347589461366,
      -0.03565953092136909,
      -0.02683986737609373,
      0.040473825111709744,
      -0.008349876351256584,
      -0.008350889689640106
    ],
    "a_ego": [
      1.0817778300758973,
      1.081777849316307,
      0.989729391137383,
      1.045005638710509,
      1.0991280110591917,
      0.978359208993779,
      0.5594350875253724,
      0.0745027270991332,
      0.029489293907113693,
      0.029489292890671988
    ],
    "yaw": [
      -2.054962206313737,
      -2.0553484533071584,
      -2.05495386112144,
      -2.055050637543148,
      -2.05481809241397,
      -2.054654904227309,
      -2.0540869256633436,
      -2.054464536917684,
      -2.054581418680131,
      -2.054545592465269
    ],
    "yaw_diff": [
      -0.0007724939868429814,
      0.000789184371436491,
      -0.0001935528434158229,
      0.0004650902583565042,
      0.00032637637332211256,
      0.0011359571279303537,
      -0.000755222508680653,
      -0.0002337635248945702,
      7.165242972462238e-05,
      7.165242972462238e-05
    ],
    "min_front_frame": [
      6,
      9.393492798222486
    ],
    "v_avg": 1.112016360848925,
    "v_std": 1.106362586816809,
    "vy_max": 0.026492946590176092,
    "a_max": 1.0991280110591917,
    "ax_avg": -0.6829975502265765,
    "a_std": 0.45181237376886396,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "60fbe2351f325132",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.852764906322351,
      12.538261211804688,
      11.433068921650195,
      10.518991785129675,
      9.876617469494795,
      9.479777825542588,
      9.393492798222486,
      9.423040445913173,
      9.44222321180884,
      9.436584467656747
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "60fbe2351f325132",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a25711b4fdcc50df": {
    "vx_ego": [
      3.3818408919772573,
      3.0045844930318406,
      2.6306506368090794,
      2.229363194469853,
      1.777935370935799,
      1.2760368184548763,
      0.7381421571516705,
      0.25857724323690373,
      -0.01368505443841542,
      -0.1418870933089085
    ],
    "vy_ego": [
      -0.008118896513284346,
      0.0002187288944111021,
      0.016947627194325188,
      0.034271452859399254,
      0.018586438252843673,
      -0.003956798625422864,
      -0.00633345058736684,
      -0.016922082488614168,
      -0.017573613310425108,
      -0.002139674120787409
    ],
    "v_ego": [
      3.3818506376139865,
      3.0045845009933956,
      2.6307052276930483,
      2.2296266022224263,
      1.7780325190815673,
      1.2760429531594166,
      0.7381693279735104,
      0.2591303679535618,
      0.02227358524725519,
      0.14190322566099078
    ],
    "ax_ego": [
      -0.7545152049073777,
      -0.7545253764407424,
      -0.7411872925908798,
      -0.8638742592140676,
      -0.9416474272150843,
      -1.0659563753868184,
      -1.085635684436314,
      -0.832644928016536,
      -0.25640507715549815,
      -0.2564123936644513
    ],
    "ay_ego": [
      0.010847067047979275,
      0.010115270147971422,
      0.04261662355950668,
      0.019120533063221923,
      -0.09134885780670854,
      -0.0027534540269230634,
      -0.009938246213519908,
      -0.03354278565097346,
      0.03093506400255515,
      0.030874358837627194
    ],
    "a_ego": [
      0.7545931707217907,
      0.7545931767404277,
      0.742411462264566,
      0.8640858351560196,
      0.946067910354948,
      1.065959931581334,
      1.0856811723794901,
      0.833320283337019,
      0.25826448028321497,
      0.25826448005555874
    ],
    "yaw": [
      1.1176739222570418,
      1.1167040405687882,
      1.115444812552147,
      1.1146721048462032,
      1.113493948814211,
      1.1128571096477637,
      1.1120683695878728,
      1.1114649763515612,
      1.1114570663536114,
      1.111220322280611
    ],
    "yaw_diff": [
      -0.001939763376507031,
      -0.00251845603328249,
      -0.001545415411887685,
      -0.002356312063984234,
      -0.001273678332894601,
      -0.001577480119781871,
      -0.001206786472623289,
      -1.5819995899502004e-05,
      -0.00047348814600089995,
      -0.00047348814600089995
    ],
    "min_front_frame": [
      8,
      10.157104550158696
    ],
    "v_avg": 1.546231894759916,
    "v_std": 1.1777230665563803,
    "vy_max": 0.034271452859399254,
    "a_max": 1.0856811723794901,
    "ax_avg": -0.7552804019027769,
    "a_std": 0.2746307466795322,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a25711b4fdcc50df",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.847161297467489,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.25334944049632,
      15.122348291537472,
      13.82577259925411,
      12.614888101584926,
      11.627868044826947,
      10.848313573431296,
      10.393326692778619,
      10.172593130236683,
      10.157104550158696,
      10.165694688368106
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a25711b4fdcc50df",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "35aa38c73e9251a7": {
    "vx_ego": [
      2.357759984303006,
      3.1130002955066516,
      3.85440384866832,
      4.518192368017223,
      4.987447912144499,
      5.324552747728234,
      5.64891247972392,
      5.909515196686401,
      6.109969604827113,
      6.300517413944993
    ],
    "vy_ego": [
      -0.04615975688567664,
      -0.046526982699733266,
      -0.04350286985676105,
      -0.04425911704465235,
      -0.06309469644420962,
      0.004290948855296461,
      0.02699278863562027,
      -0.0034840234942408177,
      0.0034985538376623992,
      -0.003918899698845291
    ],
    "v_ego": [
      2.3582117942916523,
      3.1133479728330467,
      3.854649339215557,
      4.518409138607376,
      4.9878469921474045,
      5.324554476722194,
      5.648976970586707,
      5.9095162237096215,
      6.10997060645877,
      6.300518632715798
    ],
    "ax_ego": [
      1.5032870195838839,
      1.5265502419965467,
      1.4439150082754175,
      1.2117904550924434,
      0.6641674935348272,
      0.6863719443022003,
      0.6160098009801958,
      0.42382389212546,
      0.37766091093613324,
      0.38441273200297044
    ],
    "ay_ego": [
      0.4056597792569706,
      0.30671824249053037,
      0.21347256581110213,
      -0.0350833096206595,
      -0.1895552989079912,
      -0.5145390672026746,
      -0.5737096076301669,
      -0.3258076147858096,
      -0.30129557989877664,
      -0.29263225158218564
    ],
    "a_ego": [
      1.5570586757589486,
      1.5570586763562235,
      1.459609909351459,
      1.212298208225637,
      0.6906878244275286,
      0.8578210172308564,
      0.8417902284956866,
      0.5345814188585234,
      0.48312192054972014,
      0.483121913384238
    ],
    "yaw": [
      -1.7955754069189176,
      -1.730287155447329,
      -1.6939367096845137,
      -1.683177575943403,
      -1.6909190761680848,
      -1.7381446498327515,
      -1.7917688652452461,
      -1.8252647081739037,
      -1.8524857068187106,
      -1.8752209333236134
    ],
    "yaw_diff": [
      0.13057650294317735,
      0.07270089152563042,
      0.02151826748222163,
      -0.015483000449363793,
      -0.09445114732933346,
      -0.10724843082498925,
      -0.06699168585731519,
      -0.05444199728961374,
      -0.04547045300980557,
      -0.04547045300980557
    ],
    "min_front_frame": [
      0,
      21.898299982530947
    ],
    "v_avg": 4.812600214728812,
    "v_std": 1.2652402747667693,
    "vy_max": 0.06309469644420962,
    "a_max": 1.5570586763562235,
    "ax_avg": 0.8837989498830077,
    "a_std": 0.41933004751653974,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "35aa38c73e9251a7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      21.898299982530947,
      -1,
      -1,
      -1,
      -1,
      -1,
      72.13461948499686,
      31.122464681555854,
      28.15811120601493,
      25.152265097569884
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "35aa38c73e9251a7",
    "maneuvering": "Yes"
  },
  "10bb4009fdf4513b": {
    "vx_ego": [
      1.382332776206369,
      1.535820501675378,
      1.6361352208993993,
      1.7188291196801437,
      1.9569918496659469,
      2.259520997484514,
      2.6535769200810755,
      3.2121876171279786,
      3.7672337630003763,
      4.301003572810004
    ],
    "vy_ego": [
      0.0012375028555392936,
      -0.014783209855036648,
      -0.01798483759104634,
      -0.008525818210607725,
      -0.00015906590319951681,
      0.007628001092693975,
      0.014439282689819342,
      0.022562058101348856,
      0.00942245847796127,
      -0.010417926760948269
    ],
    "v_ego": [
      1.3823333301297938,
      1.5358916487369894,
      1.6362340649951959,
      1.7188502646352237,
      1.9569918561304505,
      2.259533873274327,
      2.653616205043895,
      3.212266852877589,
      3.767245546525172,
      4.301016189986084
    ],
    "ax_ego": [
      0.3068914163702452,
      0.30699040738429034,
      0.09410961400934033,
      0.23652020357949183,
      0.7160600842144834,
      0.49410847846541045,
      1.0821570027650025,
      1.152439456069096,
      1.0675576085117726,
      1.0675216529995146
    ],
    "ay_ego": [
      -0.03976317491520006,
      -0.03899155061733885,
      0.015118644874461823,
      0.0018562573337721124,
      0.005302482639933736,
      0.00034718548547873476,
      0.015935293767786296,
      -0.004754158207812818,
      -0.007678834729072385,
      -0.01165037206271909
    ],
    "a_ego": [
      0.3094567037908082,
      0.30945670334558445,
      0.09531627810519626,
      0.2365274876046618,
      0.7160797166010219,
      0.4941086004403934,
      1.0822743239219894,
      1.152449262191225,
      1.0675852246983242,
      1.0675852241352988
    ],
    "yaw": [
      0.010550197598556748,
      0.008036281407994235,
      0.006320657417142665,
      0.003178314368359975,
      -0.0005208842936931749,
      -0.003505266634065524,
      -0.004655333040786963,
      -0.006477258468004782,
      -0.0036114218234685677,
      0.00010885836267432881
    ],
    "yaw_diff": [
      -0.005027832381125027,
      -0.003431247981703139,
      -0.0062846860975653805,
      -0.0073983973241063,
      -0.005968764680744698,
      -0.002300132813442879,
      -0.0036438508544356374,
      0.005731673289072429,
      0.007440560372285793,
      0.007440560372285793
    ],
    "min_front_frame": [
      0,
      34.08865741826548
    ],
    "v_avg": 2.4423979832334717,
    "v_std": 0.9609872359425236,
    "vy_max": 0.022562058101348856,
    "a_max": 1.152449262191225,
    "ax_avg": 0.6524355924368648,
    "a_std": 0.390796336293674,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "10bb4009fdf4513b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.172470354393644,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      34.08865741826548,
      36.326607844699176,
      38.47930136234553,
      40.42814673788128,
      42.258194304675314,
      43.48736482527167,
      44.609945160841455,
      45.018639524099406,
      44.948729325994826,
      44.52483467768146
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "10bb4009fdf4513b",
    "pedestrians": "No"
  },
  "85028441255156b3": {
    "vx_ego": [
      8.066759875620749,
      7.918979412213291,
      7.787111017539149,
      7.659982711643216,
      7.527491612414341,
      7.3212503047512625,
      6.992622144838256,
      6.548734803490983,
      6.033855334992942,
      5.519244293064133
    ],
    "vy_ego": [
      -0.043706051403133994,
      0.007156517003965579,
      0.039353489024477106,
      0.030151935823820253,
      0.00274382031457554,
      -0.01615604096532186,
      -0.05753319877387142,
      -0.08984069912073211,
      -0.08285213829218652,
      -0.022612597052247274
    ],
    "v_ego": [
      8.066878275383491,
      7.91898264594598,
      7.787210456676897,
      7.660042054839312,
      7.52749211248462,
      7.32126813075987,
      6.992858823788989,
      6.549351027214268,
      6.034424138262273,
      5.519290615293459
    ],
    "ax_ego": [
      -0.2955808887047621,
      -0.29573946972639686,
      -0.23185039816629707,
      -0.27744958364703104,
      -0.25575283487882494,
      -0.5693415615011759,
      -0.7452740534450333,
      -1.0311508619699865,
      -1.0299490037051513,
      -1.0301676301635943
    ],
    "ay_ego": [
      0.058475855601189314,
      0.05766848592735617,
      0.14525283276849152,
      0.32787191091462176,
      0.07801573649086388,
      -0.07900372105061629,
      -0.10882882662728122,
      -0.10009492432264355,
      0.031194225368534778,
      0.022862321235583627
    ],
    "a_ego": [
      0.3013096205828618,
      0.3013096218563292,
      0.2735927494601088,
      0.4295093263629051,
      0.26738729904161007,
      0.57479683505778,
      0.7531780189593037,
      1.035997632244689,
      1.03042128759531,
      1.0304212885849917
    ],
    "yaw": [
      -0.5898321320892479,
      -0.59256286744954,
      -0.5902004438399795,
      -0.573707264606254,
      -0.5567297242242981,
      -0.5542305368969352,
      -0.5550079476649421,
      -0.5579351017977472,
      -0.5617839565559453,
      -0.5698726829506999
    ],
    "yaw_diff": [
      -0.005461470720584227,
      0.004724847219121031,
      0.032986358467451016,
      0.03395508076391174,
      0.004998374654725746,
      -0.0015548215360137174,
      -0.005854308265610175,
      -0.007697709516396145,
      -0.016177452789509328,
      -0.016177452789509328
    ],
    "min_front_frame": [
      4,
      17.27716932526903
    ],
    "v_avg": 7.137779828064916,
    "v_std": 0.8097971984053549,
    "vy_max": 0.08984069912073211,
    "a_max": 1.035997632244689,
    "ax_avg": -0.5762256285908253,
    "a_std": 0.31770883467464456,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "85028441255156b3",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.469873174612767,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      32.66669616143753,
      28.720562359785962,
      24.83978500503762,
      21.03308143871783,
      17.27716932526903,
      19.88122115303093,
      22.484893659520775,
      25.828611054491642,
      22.733687344017202,
      19.864139658331474
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      0,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "85028441255156b3",
    "pedestrians": "Yes"
  },
  "9387d5660fcf5d98": {
    "vx_ego": [
      4.5669636428184806,
      4.61004138717014,
      4.641529704377336,
      4.628750745563626,
      4.541253525092991,
      4.395241024907394,
      4.1446590953987865,
      3.7402010341708163,
      3.3926354663860154,
      3.1623383882540983
    ],
    "vy_ego": [
      0.0719473668070243,
      0.032133131696704176,
      0.01965394389310271,
      0.014111563776557423,
      0.022219354307328576,
      0.022727249344002276,
      -0.006788647630047606,
      0.0025754116767389146,
      0.004424441025225878,
      -0.02775641640678428
    ],
    "v_ego": [
      4.567530332511905,
      4.610153373758212,
      4.641571315204336,
      4.62877225631031,
      4.541307881973578,
      4.395299784416501,
      4.144664655048528,
      3.7402019208537056,
      3.3926383514101,
      3.162460197453444
    ],
    "ax_ego": [
      0.0808519491721685,
      0.1000411578480712,
      0.028045495122009323,
      -0.07964126221301704,
      -0.26905670608344234,
      -0.3140501436703024,
      -0.688285924376634,
      -0.9295227714925935,
      -0.46068329574968553,
      -0.4605736236317594
    ],
    "ay_ego": [
      -0.46311290456033205,
      -0.45934993926158374,
      -0.35559845121472955,
      -0.18618677495462066,
      -0.16494775488071256,
      -0.10794365543970799,
      -0.02820538043130047,
      0.07204775834370636,
      -0.07372629179750417,
      -0.07440831893482247
    ],
    "a_ego": [
      0.4701176449094909,
      0.4701176448115975,
      0.35670268894830753,
      0.20250492787802743,
      0.31559352485223696,
      0.33208331106670197,
      0.6888635983852478,
      0.9323108184536021,
      0.46654545875509595,
      0.46654545406851394
    ],
    "yaw": [
      -1.7735452543205552,
      -1.8151435189636875,
      -1.856403421283124,
      -1.8843463383661034,
      -1.905152292398704,
      -1.9205146911144158,
      -1.921562095841483,
      -1.9211602078359062,
      -1.9218069534887627,
      -1.923287604041299
    ],
    "yaw_diff": [
      -0.08319652928626464,
      -0.08251980463887287,
      -0.055885834165958936,
      -0.04161190806520132,
      -0.030724797431423312,
      -0.0020948094541344275,
      0.0008037760111534453,
      -0.0012934913057129904,
      -0.0029613011050724225,
      -0.0029613011050724225
    ],
    "min_front_frame": [
      7,
      17.64565860094808
    ],
    "v_avg": 4.182460006894061,
    "v_std": 0.5269240665876634,
    "vy_max": 0.0719473668070243,
    "a_max": 0.9323108184536021,
    "ax_avg": -0.2992875125075185,
    "a_std": 0.19720764135633645,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9387d5660fcf5d98",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 25.927458602655516,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.2070400427486,
      22.734133071985283,
      21.83287390365368,
      20.709582503878604,
      19.397973720026926,
      18.22817569117295,
      17.654387885737467,
      17.64565860094808,
      18.45657831824019,
      19.71405648187617
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9387d5660fcf5d98",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3aa8e5d80d5d5d9b": {
    "vx_ego": [
      2.2244374177311954,
      2.6872903931606724,
      3.0598294581148395,
      3.3139974405577846,
      3.4944413448551424,
      3.5967550270374993,
      3.69625899470954,
      3.8124059176810046,
      3.9567712319818753,
      4.1537496115957
    ],
    "vy_ego": [
      -0.043228986888705745,
      0.01595490933357327,
      0.003480452329039263,
      0.014544247505833385,
      -0.000600044224385643,
      -0.026036543645620025,
      -0.026828766232453782,
      -0.043655644940868266,
      -0.04481056942520323,
      -0.028288904816580196
    ],
    "v_ego": [
      2.224857427052361,
      2.687337756275806,
      3.0598314375624955,
      3.314029355808282,
      3.4944413963731153,
      3.5968492637480005,
      3.696356359804711,
      3.81265585865081,
      3.9570249644615054,
      4.153845940567265
    ],
    "ax_ego": [
      0.8890194353966502,
      0.9627320916391702,
      0.5356530865012512,
      0.47346735308198584,
      0.24681704726522913,
      0.16888414767797552,
      0.2423853957460083,
      0.23332928670967207,
      0.3642066828652803,
      0.4354434920128446
    ],
    "ay_ego": [
      0.7141693886545902,
      0.611179508147638,
      0.8190979109081254,
      0.76593732306658,
      0.7964834093783002,
      0.7980307554705898,
      0.8238876789084157,
      0.746123024527044,
      0.7943292074172534,
      0.7576241564094083
    ],
    "a_ego": [
      1.1403479610207798,
      1.1403479606907359,
      0.9786958755059574,
      0.9004617245063004,
      0.8338491927414736,
      0.8157051808183374,
      0.858802414719501,
      0.7817557954795272,
      0.8738451794224494,
      0.8738451791429691
    ],
    "yaw": [
      -1.72890138913157,
      -1.617780775476032,
      -1.4915221246993646,
      -1.3710942376902655,
      -1.253025184233123,
      -1.1338907602170396,
      -1.022311270466279,
      -0.913423264658902,
      -0.8136495685322944,
      -0.7219111905310205
    ],
    "yaw_diff": [
      0.2222412273110761,
      0.25251730155333485,
      0.24085577401819824,
      0.23613810691428494,
      0.23826884803216686,
      0.22315897950152142,
      0.2177760116147538,
      0.19954739225321516,
      0.18347675600254787,
      0.18347675600254787
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.399722976030435,
    "v_std": 0.565357731732785,
    "vy_max": 0.04481056942520323,
    "a_max": 1.1403479610207798,
    "ax_avg": 0.4551938018896068,
    "a_std": 0.12097493909036207,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "3aa8e5d80d5d5d9b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "3aa8e5d80d5d5d9b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "93e2a76b34b559fc": {
    "vx_ego": [
      10.616348917033266,
      10.532847424281005,
      10.464814388569934,
      10.496465791791707,
      10.640726030802705,
      10.759397340308606,
      10.814102526061006,
      10.8964736901687,
      11.069174208039119,
      11.305408571509318
    ],
    "vy_ego": [
      0.0215872837302602,
      0.06163307998009038,
      0.0496211286046655,
      0.06481624250761664,
      0.053633173125414046,
      0.013503742760486936,
      0.010878130127949248,
      0.018493863981738023,
      0.021779689313447648,
      0.06919776724235405
    ],
    "v_ego": [
      10.616370864801787,
      10.533027746081885,
      10.464932032441698,
      10.49666591178105,
      10.640861195404336,
      10.759405814342559,
      10.814107997328033,
      10.896489384363372,
      11.06919563485916,
      11.305620341217358
    ],
    "ax_ego": [
      -0.17200628303978352,
      -0.16475839716443594,
      -0.1119294392145734,
      0.23492550167009385,
      0.342088545169526,
      0.1307622994452478,
      0.08284453345292003,
      0.24073634083693823,
      0.443848649939204,
      0.4925126554475182
    ],
    "ay_ego": [
      0.43218347304952587,
      0.434998150182232,
      0.48499739058774016,
      0.6663985384769483,
      1.138968955731588,
      1.3480611392092128,
      1.2746256355223233,
      1.1810992344254,
      1.1021199531180876,
      1.0812498792248812
    ],
    "a_ego": [
      0.4651545074298564,
      0.4651545120690088,
      0.4977455858566763,
      0.7065953604568587,
      1.1892328850382952,
      1.3543882803694993,
      1.2773150462801723,
      1.2053835021933164,
      1.1881372038253284,
      1.1881372046610552
    ],
    "yaw": [
      1.7199242776897428,
      1.7366398667384995,
      1.7597045698153533,
      1.785826153165082,
      1.8296387696294392,
      1.891325102040628,
      1.9523006605847315,
      2.0082421922043063,
      2.0600236684447415,
      2.1045932583038116
    ],
    "yaw_diff": [
      0.03343117809751339,
      0.04612940615370764,
      0.05224316669945761,
      0.08762523292871416,
      0.12337266482237785,
      0.12195111708820683,
      0.11188306323914965,
      0.10356295248087033,
      0.08913917971814023,
      0.08913917971814023
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.759667692262123,
    "v_std": 0.2564389807227342,
    "vy_max": 0.06919776724235405,
    "a_max": 1.3543882803694993,
    "ax_avg": 0.15190244065426556,
    "a_std": 0.3521829416188164,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "93e2a76b34b559fc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "93e2a76b34b559fc",
    "road_shape": "Straight"
  },
  "1b056ac7f7995a8a": {
    "vx_ego": [
      5.562234391356963,
      5.144663888977465,
      4.725793940885193,
      4.313608799987234,
      3.905756903924707,
      3.448614002166223,
      2.928913563597833,
      2.4005157299529363,
      1.8766598514669943,
      1.3490727169900398
    ],
    "vy_ego": [
      -0.01144035809288102,
      -0.004267514823322216,
      -0.00032351487688542235,
      0.0010565369511055245,
      0.006816492567903953,
      0.002031075968499829,
      0.01061880729962894,
      0.024107346964566068,
      0.023215967194494036,
      0.03303995128740178
    ],
    "v_ego": [
      5.562246156561884,
      5.144665658935622,
      4.725793951958663,
      4.313608929376612,
      3.905762852136115,
      3.4486146002716107,
      2.9289328128340233,
      2.4006367767592725,
      1.8768034471518047,
      1.349477244753672
    ],
    "ax_ego": [
      -0.8351817100209106,
      -0.8351645179217771,
      -0.8402599771401948,
      -0.8085670142471966,
      -0.8227785664716629,
      -1.005791775741237,
      -1.0730116792014868,
      -1.0402371193813158,
      -1.0551732219775896,
      -1.0551735330543313
    ],
    "ay_ego": [
      -0.007295303503118911,
      -0.009051886046602398,
      -0.05482432864211312,
      0.009377109356189017,
      -0.019894401072890422,
      -0.001447507567803985,
      0.043477777888040525,
      -0.02472639563038992,
      0.01960512524301028,
      0.019588372259908837
    ],
    "a_ego": [
      0.8352135716130665,
      0.8352135706731033,
      0.8420466354037044,
      0.808621386502054,
      0.8230190499856085,
      1.0057928173470267,
      1.0738921644526866,
      1.0405309506110851,
      1.0553553379380622,
      1.0553553378773202
    ],
    "yaw": [
      -0.700238443131384,
      -0.7023416922184531,
      -0.7063760447570464,
      -0.7091976962646014,
      -0.7112381572053603,
      -0.711386819133148,
      -0.7107863381078525,
      -0.7140940978407455,
      -0.7142758051049058,
      -0.7142916840815391
    ],
    "yaw_diff": [
      -0.004206498174138318,
      -0.0080687050771866,
      -0.005643303015109957,
      -0.004080921881517874,
      -0.0002973238555754598,
      0.001200962050591059,
      -0.0066155194657859795,
      -0.00036341452832067134,
      -3.1757953266486894e-05,
      -3.1757953266486894e-05
    ],
    "min_front_frame": [
      9,
      12.614668128310402
    ],
    "v_avg": 3.5656542430739284,
    "v_std": 1.343157704686289,
    "vy_max": 0.03303995128740178,
    "a_max": 1.0738921644526866,
    "ax_avg": -0.9371339115157703,
    "a_std": 0.11018794225859635,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1b056ac7f7995a8a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.183640879530476,
      25.91203698785914,
      23.45664298847116,
      21.242831963792923,
      19.20154576257299,
      17.35726667647094,
      15.762839455345672,
      14.441829782048144,
      13.395021912232302,
      12.614668128310402
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1b056ac7f7995a8a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "14c80c1211bc5df8": {
    "vx_ego": [
      3.864499332850261,
      3.861981797555316,
      3.8669124430455915,
      3.860902474560679,
      3.6907550327451535,
      3.8500149656000926,
      4.021377823250888,
      3.87749573139066,
      3.8943157023205304,
      3.92286718470573
    ],
    "vy_ego": [
      0.0019741155107049213,
      -0.04133280341794876,
      -0.026246289469879613,
      -0.011383330167602512,
      0.01202368756642569,
      -0.01541260871078487,
      0.014284088446190779,
      0.005741283040276102,
      0.025249334281715052,
      -0.021385422391181796
    ],
    "v_ego": [
      3.8644998370723425,
      3.862202973082458,
      3.867001514079321,
      3.8609192556015053,
      3.690774617989613,
      3.8500458158120603,
      4.0214031919862,
      3.8774999818547697,
      3.8943975552352015,
      3.922925475347691
    ],
    "ax_ego": [
      -0.010416291258872112,
      -0.0018659827068620294,
      0.016913714309548022,
      -0.038810547356956604,
      -0.6454071900635706,
      1.2853112841099326,
      -0.5978330350339438,
      0.021350875040462763,
      0.04702130546706895,
      0.06747722960142549
    ],
    "ay_ego": [
      -0.3038371393765702,
      -0.30400990820897,
      -0.3803815240241692,
      -0.5950279105337684,
      -0.49828351457910536,
      -0.5941329491667342,
      -0.6483309751609885,
      -0.5426903182323751,
      -0.4504033434989044,
      -0.4477957114085166
    ],
    "a_ego": [
      0.3040156351047212,
      0.3040156347635573,
      0.38075737359990103,
      0.5962922713739705,
      0.8153753135133902,
      1.4159869555705253,
      0.8818942063145074,
      0.5431101558322676,
      0.4528511620861974,
      0.4528511628234413
    ],
    "yaw": [
      2.4868583419422507,
      2.458727102830954,
      2.4105283655161784,
      2.343716802795625,
      2.266713964890183,
      2.1971289439280977,
      2.1155857180942657,
      2.040927847312427,
      1.9719872616143062,
      1.9264463789480173
    ],
    "yaw_diff": [
      -0.05626247822259334,
      -0.09639747462955128,
      -0.13362312544110644,
      -0.1540056758108843,
      -0.13917004192417082,
      -0.163086451667664,
      -0.14931574156367766,
      -0.13788117139624134,
      -0.09108176533257772,
      -0.09108176533257772
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.871167021806116,
    "v_std": 0.07685330623708553,
    "vy_max": 0.04133280341794876,
    "a_max": 1.4159869555705253,
    "ax_avg": 0.01437413621082326,
    "a_std": 0.32547762638826644,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "14c80c1211bc5df8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "14c80c1211bc5df8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8671b777d49e5dea": {
    "vx_ego": [
      4.29957252809849,
      4.516612968866816,
      4.606991206712163,
      4.535418213293467,
      4.4482753973152,
      4.412652318692126,
      4.503978637586836,
      4.725073107887968,
      4.994491409301234,
      5.366286454031123
    ],
    "vy_ego": [
      0.02111170069035051,
      -0.027217212629276233,
      -0.0177664551665786,
      0.028138256756177427,
      -0.007817757543402859,
      -0.05404832763442502,
      -0.06316926953988222,
      -0.039146640569614366,
      0.0440240262634333,
      0.23635612642970805
    ],
    "v_ego": [
      4.299624358974314,
      4.516694973893989,
      4.607025463968305,
      4.535505498945777,
      4.448282267088354,
      4.412983311477517,
      4.504421597103536,
      4.725235267619375,
      4.9946854307826305,
      5.37148904171076
    ],
    "ax_ego": [
      0.4340119761796501,
      0.43413538915429284,
      -0.07369501016992304,
      -0.2067758459490175,
      -0.13162761344040616,
      -0.006894846958874878,
      0.3555436777756508,
      0.5288117235725118,
      0.5848764997163074,
      1.0074046249924333
    ],
    "ay_ego": [
      -0.1070916741359291,
      -0.10659029733609429,
      -0.1531346697508193,
      -0.4011755621912624,
      -0.7005370545758055,
      -1.0382363536345192,
      -1.2454277479242684,
      -1.654415931570317,
      -1.986752170281461,
      -1.8095304990334735
    ],
    "a_ego": [
      0.44702910658770445,
      0.4470291127011151,
      0.16994464276239352,
      0.4513292392116948,
      0.7127958988755211,
      1.0382592474535868,
      1.295183995463946,
      1.7368747547308674,
      2.071054008479377,
      2.0710540083224473
    ],
    "yaw": [
      2.215763266073292,
      2.214608209146837,
      2.198526937581817,
      2.1583212138523793,
      2.104909567632606,
      2.0169766845949706,
      1.8898439296786345,
      1.7271285201908646,
      1.5231184839189131,
      1.3014299083251601
    ],
    "yaw_diff": [
      -0.002310113852910689,
      -0.03216254313004008,
      -0.08041144745887507,
      -0.10682329243954669,
      -0.1758657660752707,
      -0.25426550983267227,
      -0.3254308189755397,
      -0.40802007254390293,
      -0.443377151187506,
      -0.443377151187506
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.641594721156456,
    "v_std": 0.3029616294184863,
    "vy_max": 0.23635612642970805,
    "a_max": 2.071054008479377,
    "ax_avg": 0.2925790574872625,
    "a_std": 0.677536542622363,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "8671b777d49e5dea",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.168800567590917,
    "right_rear_min": 13.447617578495445,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8671b777d49e5dea",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "fc58a8b4d619577d": {
    "vx_ego": [
      8.669393990924343,
      8.700729729712116,
      8.702374214030936,
      8.637928019148834,
      8.512363377715038,
      8.389953528537342,
      8.272996546230136,
      8.100863239761495,
      7.870176377625359,
      7.614275037109033
    ],
    "vy_ego": [
      0.0070788239919927776,
      -0.006137680202775275,
      -0.003949326110823215,
      -0.01661606713465824,
      -0.011266419773890757,
      -0.012819889363834935,
      0.0019041663127574715,
      0.003587463039953054,
      0.023827770331019682,
      0.0226317518419048
    ],
    "v_ego": [
      8.669396880961456,
      8.700731894537064,
      8.702375110175801,
      8.637944000610535,
      8.512370833468118,
      8.389963322957943,
      8.272996765367742,
      8.100864034114519,
      7.8702124480582585,
      7.614308670978161
    ],
    "ax_ego": [
      0.06214701720335685,
      0.06317765684932752,
      -0.05672394002065023,
      -0.2008177546270028,
      -0.3006262539515424,
      -0.18920661168488329,
      -0.2781772512747363,
      -0.4108685127441002,
      -0.5117912730718311,
      -0.511789553275008
    ],
    "ay_ego": [
      0.12150000128563311,
      0.12096728699096876,
      0.009398235937544928,
      0.06367891307717954,
      0.19151204102217584,
      0.04030743003622546,
      0.18012320841988486,
      0.05447892895887238,
      -0.006410549803691296,
      -0.006545595216664368
    ],
    "a_ego": [
      0.13647161631520005,
      0.13647161187194493,
      0.05749723654406432,
      0.21067219689394728,
      0.3564449556683568,
      0.19345239936842196,
      0.33140149869643176,
      0.4144645804710635,
      0.5118314198457058,
      0.5118314094095562
    ],
    "yaw": [
      0.9886829887566384,
      0.9971842498494408,
      1.0006722162158335,
      1.0042329225556357,
      1.0110389822060513,
      1.018092017868811,
      1.0229326603650695,
      1.029876878971233,
      1.0288487379954319,
      1.0285848581339891
    ],
    "yaw_diff": [
      0.017002522185604718,
      0.006975932732785406,
      0.007121412679604422,
      0.013612119300831171,
      0.014106071325519665,
      0.009681284992516748,
      0.01388843721232691,
      -0.0020562819516021236,
      -0.0005277597228854347,
      -0.0005277597228854347
    ],
    "min_front_frame": [
      9,
      20.699401067345466
    ],
    "v_avg": 8.34711639612296,
    "v_std": 0.3604748885068055,
    "vy_max": 0.023827770331019682,
    "a_max": 0.5118314198457058,
    "ax_avg": -0.23346764765970698,
    "a_std": 0.15384956565230307,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fc58a8b4d619577d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 45.58633642218531,
    "right_rear_min": 45.56570170341083,
    "speed_mode": "decelerating",
    "front_frame": [
      33.38610516170776,
      31.204289235014514,
      29.171079984323598,
      27.295375481598807,
      25.78249516938356,
      24.280321569293786,
      23.002156656464603,
      22.010536489481133,
      21.150752302678352,
      20.699401067345466
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fc58a8b4d619577d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "096d823b664e5972": {
    "vx_ego": [
      7.636900293669803,
      7.24893850510639,
      6.8265285220420235,
      6.310398800983803,
      5.697606095922309,
      5.034860645358009,
      4.370023609509312,
      3.7946479365186394,
      3.3429518318200846,
      2.935821311495951
    ],
    "vy_ego": [
      -0.0067153188650364015,
      -0.02138301510395424,
      -0.031518817438018765,
      -0.0569749705485898,
      -0.060171776456574566,
      -0.02740472516333181,
      -0.0038936241761202695,
      -0.002357556961606555,
      -0.0068873371301862996,
      0.05227351339849351
    ],
    "v_ego": [
      7.6369032461437785,
      7.248970042988797,
      6.826601284541668,
      6.310656001932512,
      5.697923820741463,
      5.034935226707106,
      4.370025344088752,
      3.7946486688756833,
      3.342958926651957,
      2.936286650386305
    ],
    "ax_ego": [
      -0.7766422813684529,
      -0.7743865303661919,
      -0.914710953561139,
      -1.1480730415331726,
      -1.3010520049882057,
      -1.3489253792745526,
      -1.3101657090398384,
      -0.9914917731140811,
      -0.8144552669071478,
      -0.8142261925458489
    ],
    "ay_ego": [
      0.16398916528497565,
      0.17433065365744987,
      0.07014320090913923,
      0.07982948234585185,
      0.10644383766049614,
      0.13774398038999036,
      0.08665547232736392,
      -0.016238608997374893,
      0.12871326464756316,
      0.13015449925560058
    ],
    "a_ego": [
      0.793766766462327,
      0.7937667637393385,
      0.9173964231446011,
      1.150845104671709,
      1.3053990233869965,
      1.3559399260235216,
      1.3130283150138617,
      0.9916247418126849,
      0.8245632093957546,
      0.8245632094049467
    ],
    "yaw": [
      -0.7787274535451691,
      -0.7653926398817039,
      -0.7552932925762277,
      -0.7457521678177647,
      -0.7374898691488143,
      -0.732225778266929,
      -0.7252884794816234,
      -0.7213136806176587,
      -0.7121083660774484,
      -0.7103385495037418
    ],
    "yaw_diff": [
      0.026669627326930456,
      0.020198694610952472,
      0.019082249516926053,
      0.01652459733790068,
      0.010528181763770572,
      0.013874597570611158,
      0.00794959772792958,
      0.01841062908042046,
      0.0035396331474133458,
      0.0035396331474133458
    ],
    "min_front_frame": [
      9,
      15.453192268336993
    ],
    "v_avg": 5.319990921305803,
    "v_std": 1.5932429328569941,
    "vy_max": 0.060171776456574566,
    "a_max": 1.3559399260235216,
    "ax_avg": -1.019412913269863,
    "a_std": 0.22065320376458647,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "096d823b664e5972",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      39.40059330991552,
      35.638643325867434,
      32.166934710096946,
      28.871092721026763,
      25.840038326715153,
      23.17974790121339,
      20.856606492910654,
      18.845244405078894,
      17.046361228401604,
      15.453192268336993
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "096d823b664e5972",
    "maneuvering": "Yes"
  },
  "7c30e0debf0c532b": {
    "vx_ego": [
      0.6350548919217653,
      1.1167287129065904,
      1.5753286281825671,
      1.9755019043281263,
      2.3223029858309276,
      2.645923529521622,
      2.963264517228973,
      3.2413739834635162,
      3.386876374206989,
      3.437616970321042
    ],
    "vy_ego": [
      0.016184131825740078,
      0.01949426795320408,
      0.020077171839385954,
      0.015631732739793014,
      0.01807288185654765,
      0.03076637699699103,
      0.03682047420787127,
      0.018609515994399972,
      0.02863301916316363,
      0.06908831656322145
    ],
    "v_ego": [
      0.6352610816638448,
      1.1168988516034213,
      1.5754565622703272,
      1.9755637486734012,
      2.3223733091511884,
      2.6461023967393396,
      2.96349326747829,
      3.241427403900894,
      3.3869974053647987,
      3.438311159584711
    ],
    "ax_ego": [
      0.9633532824435276,
      0.9633523547455172,
      0.8710764240261812,
      0.7296589561188379,
      0.6578197155498335,
      0.637045477110161,
      0.6331295060661428,
      0.4799424875557753,
      0.10233895758302178,
      0.10211990995860015
    ],
    "ay_ego": [
      0.0062957244611269725,
      0.006435718011552183,
      -0.005957441848661593,
      -0.015797167877749152,
      -0.010894024570693106,
      0.016344589418457622,
      -0.04671643317719776,
      -0.08664839012156686,
      0.028158608644536565,
      0.02894293813956828
    ],
    "a_ego": [
      0.9633738541922391,
      0.9633738515550736,
      0.8710967957739367,
      0.7298299409844666,
      0.6579099162783693,
      0.6372551180726371,
      0.6348506884144944,
      0.48770148130991436,
      0.10614221346842029,
      0.1061422144017331
    ],
    "yaw": [
      2.618400017568092,
      2.6182547043646975,
      2.617913402012273,
      2.61735948859553,
      2.6131359323260304,
      2.608579375113006,
      2.6037142673912186,
      2.598867117656887,
      2.5915349384337416,
      2.583862699671502
    ],
    "yaw_diff": [
      -0.00029062640678922946,
      -0.0006826047048491546,
      -0.001107826833486314,
      -0.00844711253899888,
      -0.009113114426048341,
      -0.009730215443575219,
      -0.009694299468662848,
      -0.014664358446291104,
      -0.015344477524479316,
      -0.015344477524479316
    ],
    "min_front_frame": [
      0,
      11.494403130030033
    ],
    "v_avg": 2.330188518643021,
    "v_std": 0.9336115125368956,
    "vy_max": 0.06908831656322145,
    "a_max": 0.9633738541922391,
    "ax_avg": 0.6139837071157599,
    "a_std": 0.29296796436416067,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7c30e0debf0c532b",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.921971321032695,
    "speed_mode": "accelerating",
    "front_frame": [
      11.494403130030033,
      12.225902404216463,
      13.068915889836425,
      14.009691236762988,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7c30e0debf0c532b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "4a4ce3ba90ad5614": {
    "vx_ego": [
      6.433258488744815,
      6.165297778176286,
      5.851221346930868,
      5.454006130918598,
      5.047687863575321,
      4.672363610134492,
      4.2686991022105305,
      3.8274681140960123,
      3.396101847102686,
      2.98086065200012
    ],
    "vy_ego": [
      0.0372831808403489,
      0.004661414620754423,
      0.015417144795106419,
      0.030543011094700007,
      0.016926013134303974,
      0.014425324827123193,
      0.009421463107478767,
      -0.012523819278970297,
      0.0056322612090952545,
      0.05218334693824106
    ],
    "v_ego": [
      6.433366522947437,
      6.165299540360688,
      5.85124165789904,
      5.454091652294119,
      5.04771624182721,
      4.672385878253785,
      4.268709499272593,
      3.8274886035716706,
      3.3961065175080423,
      2.981317381350107
    ],
    "ax_ego": [
      -0.5359897561095461,
      -0.5360741642763099,
      -0.7202338405205059,
      -0.8686741656593722,
      -0.7565789774876485,
      -0.7447191923650243,
      -0.8700514581948734,
      -0.8948432439538233,
      -0.8305762107318903,
      -0.8304896586051604
    ],
    "ay_ego": [
      -0.03246702360770631,
      -0.031042169772737466,
      0.06822646202750277,
      0.000791287632996851,
      -0.05860590358645454,
      0.05159374896923833,
      -0.051212968309990885,
      -0.016472948856225914,
      0.098330456609624,
      0.09905882103523249
    ],
    "a_ego": [
      0.5369721838943933,
      0.536972183552131,
      0.7234581087745908,
      0.8686745260568681,
      0.758845439540517,
      0.7465042467458003,
      0.8715574037492572,
      0.8949948543392982,
      0.8363765423126133,
      0.8363765438335811
    ],
    "yaw": [
      -1.6069279881423102,
      -1.6042698374305306,
      -1.6045118518554662,
      -1.6041365197798603,
      -1.6042962833238215,
      -1.6041423996316968,
      -1.6030057896879972,
      -1.6017657065681967,
      -1.6011251804444886,
      -1.6002481977624057
    ],
    "yaw_diff": [
      0.0053163014235591,
      -0.00048402884987108763,
      0.0007506641512118328,
      -0.0003195270879223777,
      0.0003077673842493134,
      0.002273219887399147,
      0.0024801662396010116,
      0.001281052247416259,
      0.0017539653641658326,
      0.0017539653641658326
    ],
    "min_front_frame": [
      9,
      14.2863944822876
    ],
    "v_avg": 4.80977234952847,
    "v_std": 1.124639455487289,
    "vy_max": 0.05218334693824106,
    "a_max": 0.8949948543392982,
    "ax_avg": -0.7588230667904154,
    "a_std": 0.12455346020896588,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4a4ce3ba90ad5614",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.394778306054835,
      18.034327904560186,
      17.641026567595265,
      17.181056697679935,
      16.765265272320903,
      16.27593207092862,
      15.68038585663087,
      15.170155455474156,
      14.767605474041552,
      14.2863944822876
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4a4ce3ba90ad5614",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "50833a9c9b265db8": {
    "vx_ego": [
      5.347378280095695,
      5.362088572829441,
      5.45353385658538,
      5.610162015893375,
      5.8547661368461466,
      6.158799029365274,
      6.451185072743038,
      6.676176838011736,
      6.853843973563468,
      7.019442272610175
    ],
    "vy_ego": [
      -0.018672950905731067,
      -0.01688334489689991,
      -0.025387551466331537,
      -0.042681418394212134,
      -0.07801599486352151,
      -0.06384832414126862,
      -0.07466002508987346,
      -0.07018141176940196,
      -0.026754512666943953,
      0.04031278812011374
    ],
    "v_ego": [
      5.34741088280438,
      5.362115152642936,
      5.453592948936734,
      5.610324371018931,
      5.855285903575922,
      6.159129978544558,
      6.451617081176549,
      6.676545708894857,
      6.853896192524389,
      7.019558030203377
    ],
    "ax_ego": [
      -0.08549461962957716,
      0.15461304276239118,
      0.22516316117162438,
      0.42423541372456486,
      0.5759801981372603,
      0.6436951135516193,
      0.5213080915340591,
      0.38306091885164845,
      0.32995017986994085,
      0.3321925383736313
    ],
    "ay_ego": [
      1.6034483275986398,
      1.5982649024704583,
      1.615311123067399,
      1.6457896677746906,
      1.4690051427419686,
      0.9728429011830795,
      0.23533681150731536,
      0.20482482578768046,
      0.25721311957448206,
      0.25431049801392314
    ],
    "a_ego": [
      1.6057259633151857,
      1.6057259702269089,
      1.6309287150130323,
      1.6995879844279846,
      1.5778876062789102,
      1.1665190566778338,
      0.5719663811355634,
      0.43438332934220997,
      0.41836074155857783,
      0.4183607437979884
    ],
    "yaw": [
      -2.697841909151915,
      -2.5481351554402183,
      -2.3980380096214766,
      -2.2471402248912407,
      -2.1049049918339553,
      -2.005576484136003,
      -1.956086231627626,
      -1.9400460942565392,
      -1.9294014338833736,
      -1.9206341279427814
    ],
    "yaw_diff": [
      0.29941350742339345,
      0.30019429163748335,
      0.3017955694604719,
      0.2844704661145707,
      0.19865701539590486,
      0.09898050501675382,
      0.032080274742173565,
      0.021289320746331164,
      0.017534611881184325,
      0.017534611881184325
    ],
    "min_front_frame": [
      9,
      38.915224895564265
    ],
    "v_avg": 6.078947625032263,
    "v_std": 0.6080644710251323,
    "vy_max": 0.07801599486352151,
    "a_max": 1.6995879844279846,
    "ax_avg": 0.3504704038347162,
    "a_std": 0.5509231777021812,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "50833a9c9b265db8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      49.92316776248526,
      46.466003430687415,
      43.24969013235955,
      42.431289039350354,
      38.915224895564265
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "50833a9c9b265db8",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e0545b6d2b755ea9": {
    "vx_ego": [
      9.326936995506374,
      9.330445364291345,
      9.385559452194455,
      9.379837551110006,
      9.290595107842329,
      9.198043268534876,
      9.143177628009136,
      9.123840416629537,
      9.057755564934318,
      8.979700574220903
    ],
    "vy_ego": [
      0.041067636018424114,
      0.008517190213396031,
      0.0061510432792020175,
      0.009433961015587133,
      -0.008055601916559851,
      -0.03282564603546412,
      -0.0432143438614534,
      -0.048704334637504676,
      -0.05962281335041952,
      -0.04768151166740697
    ],
    "v_ego": [
      9.32702740796196,
      9.330449251700315,
      9.385561467808417,
      9.379842295307197,
      9.290598600229483,
      9.198101841840923,
      9.14327975164504,
      9.123970410974334,
      9.057951796845158,
      8.979827165887889
    ],
    "ax_ego": [
      0.0068767831290439275,
      0.006852568276878266,
      0.21363154481383562,
      -0.23665391182749615,
      -0.12032002868688028,
      -0.2501608027544672,
      0.030267551890671596,
      -0.10782332773270775,
      -0.15627581101093874,
      -0.15627040438737602
    ],
    "ay_ego": [
      -0.007884613772154913,
      -0.007905663997984454,
      0.07711885654926075,
      0.0508641930162389,
      -0.11905797093343244,
      -0.08005066066990635,
      -0.05799022947763519,
      0.00048489611429496093,
      -0.003434917522669459,
      -0.003672621857205488
    ],
    "a_ego": [
      0.010462183354346172,
      0.01046218023350324,
      0.22712497655478428,
      0.24205834031168916,
      0.1692681592798768,
      0.26265668753802546,
      0.06541400012476906,
      0.10782441804895848,
      0.156313555923708,
      0.156313554878328
    ],
    "yaw": [
      1.1354628655234387,
      1.138528981288099,
      1.1406366872070737,
      1.1436786271975992,
      1.1437259542259763,
      1.1410255639597249,
      1.1383851655751007,
      1.1374140625439415,
      1.1385332376666588,
      1.1370121600513956
    ],
    "yaw_diff": [
      0.006132231529320631,
      0.004215411837949379,
      0.006083879981050977,
      9.465405675435079e-05,
      -0.0054007805325029246,
      -0.005280796769248308,
      -0.00194220606231843,
      0.002238350245434617,
      -0.003042155230526422,
      -0.003042155230526422
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.221660999020072,
    "v_std": 0.1345735685872541,
    "vy_max": 0.05962281335041952,
    "a_max": 0.26265668753802546,
    "ax_avg": -0.07698758382894368,
    "a_std": 0.08636689927578298,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e0545b6d2b755ea9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 20.25937805142548,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e0545b6d2b755ea9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "3067f3d3d5a75989": {
    "vx_ego": [
      3.7507392508601836,
      3.7380830840216905,
      3.6966745537596464,
      3.686415749782954,
      3.807152523737582,
      4.002726236543314,
      4.2477299110761555,
      4.5185347758678365,
      4.804166150387835,
      5.098583432956126
    ],
    "vy_ego": [
      0.07545546463022479,
      -0.028866390246496065,
      -0.017099339365332256,
      -0.014019605447912031,
      -0.0018165873788532627,
      0.011775889808904705,
      0.052676716611325114,
      0.11016188157368312,
      0.10280517718760951,
      -0.03504339454734984
    ],
    "v_ego": [
      3.751498161413087,
      3.7381945390167934,
      3.6967141009037756,
      3.6864424082826432,
      3.8071529571309775,
      4.002743558647368,
      4.248056524332508,
      4.519877449763307,
      4.8052659973188625,
      5.098703861013706
    ],
    "ax_ego": [
      -0.06990588291676958,
      0.02888389710310285,
      -0.2090603719587718,
      0.17040539222720738,
      0.31426781800018927,
      0.48083140025860305,
      0.5313091734291309,
      0.589638322644172,
      0.5737717167327785,
      0.609713230292845
    ],
    "ay_ego": [
      -0.9682982301806358,
      -0.9703885838905938,
      -0.9304551309967428,
      -1.089082386069525,
      -1.1746926004446152,
      -1.2926339094597064,
      -1.40482299424934,
      -1.2166540231871426,
      -0.7640743827813674,
      -0.7357128521427914
    ],
    "a_ego": [
      0.9708183635661846,
      0.9708183574989993,
      0.9536524471324477,
      1.1023331807339367,
      1.2160045094365122,
      1.3791668714697773,
      1.501937775988615,
      1.3520060516388575,
      0.9555227079170895,
      0.9555226967488615
    ],
    "yaw": [
      0.6010183357358363,
      0.4991922927654752,
      0.3694142078873788,
      0.23024614380436573,
      0.07550668702843114,
      -0.08644653046959867,
      -0.2596657206408816,
      -0.4222137004483255,
      -0.526727185547358,
      -0.5746468366621827
    ],
    "yaw_diff": [
      -0.20365208594072215,
      -0.2595561697561929,
      -0.2783361281660261,
      -0.3094789135518692,
      -0.32390643499605964,
      -0.3464383803425659,
      -0.3250959596148878,
      -0.20902697019806493,
      -0.09583930222964954,
      -0.09583930222964954
    ],
    "min_front_frame": [
      9,
      16.392055119124983
    ],
    "v_avg": 4.135464955782302,
    "v_std": 0.4859726363060945,
    "vy_max": 0.11016188157368312,
    "a_max": 1.501937775988615,
    "ax_avg": 0.3019854695812488,
    "a_std": 0.20004938649291862,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "3067f3d3d5a75989",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 45.514781098856965,
    "right_rear_min": 8.748438194971321,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      17.28806588707186,
      16.819908836673914,
      16.392055119124983
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "3067f3d3d5a75989",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "74308c04628b5879": {
    "vx_ego": [
      1.1198462749800218,
      1.6879842311827868,
      2.2142234761665405,
      2.682193620461913,
      3.1347522321540886,
      3.535278469172177,
      3.880155668115075,
      4.207589311444395,
      4.543730971051022,
      4.990412486652952
    ],
    "vy_ego": [
      -0.06602532839146724,
      0.009102296541295796,
      0.006500350472752547,
      -0.0123183858836724,
      -0.019468829749213934,
      -0.01941264827724687,
      -0.012423171017519608,
      -0.006954231624674789,
      -0.05883733652439593,
      -0.10826680180736314
    ],
    "v_ego": [
      1.121790989255945,
      1.6880087726442863,
      2.214233017765589,
      2.6822219073516944,
      3.1348126885552263,
      3.5353317673883886,
      3.880175555820081,
      4.2075950583579935,
      4.544111901071269,
      4.991586770488448
    ],
    "ax_ego": [
      1.1335597841178875,
      1.1422861915352973,
      0.9659295523294855,
      0.9255307541014413,
      0.9186232901538625,
      0.7197673710326404,
      0.6984147229758464,
      0.643626819392256,
      0.7390469239653958,
      1.0961304942417007
    ],
    "ay_ego": [
      0.26866388018871057,
      0.22873634160619866,
      0.3749171983978505,
      0.6889734882151831,
      1.0169689826073116,
      1.2851478970345436,
      1.564616061930537,
      1.8002763738318994,
      1.8793436613617973,
      1.6960603970995205
    ],
    "a_ego": [
      1.1649626881095572,
      1.164962684957592,
      1.0361384105021556,
      1.1538161223743493,
      1.370435938232232,
      1.4729800357287768,
      1.7134195477233385,
      1.911870943557207,
      2.0194362959309906,
      2.0194362904077807
    ],
    "yaw": [
      -0.7144746017338857,
      -0.6793901105079979,
      -0.6016270980615868,
      -0.4856702013052199,
      -0.3368954030040184,
      -0.16603404520400916,
      0.023525160705852047,
      0.22912021509737418,
      0.4509031695750969,
      0.6499874593366048
    ],
    "yaw_diff": [
      0.0701689824517755,
      0.1555260248928223,
      0.23191379351273378,
      0.297549596602403,
      0.34172271560001843,
      0.3791184118197224,
      0.4111901087830443,
      0.44356590895544545,
      0.3981685795230159,
      0.3981685795230159
    ],
    "min_front_frame": [
      1,
      26.633081800151512
    ],
    "v_avg": 3.1999868428698917,
    "v_std": 1.2023270846838576,
    "vy_max": 0.10826680180736314,
    "a_max": 2.0194362959309906,
    "ax_avg": 0.8982915903845814,
    "a_std": 0.3649337038593983,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "74308c04628b5879",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.347737346934114,
    "right_rear_min": 5.646235399259415,
    "speed_mode": "accelerating",
    "front_frame": [
      27.389454610120943,
      26.633081800151512,
      47.128316161955524,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "74308c04628b5879",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "5b8d892592635d5f": {
    "vx_ego": [
      1.341989904870887,
      2.1165017603598395,
      2.8594964570971615,
      3.524384515299208,
      4.1200548392561105,
      4.701499213633645,
      5.2476719748723335,
      5.721485046912127,
      6.123887858829722,
      6.488302512017469
    ],
    "vy_ego": [
      0.03135295806759397,
      0.0383581853481757,
      0.03235240701125264,
      0.01433243730618683,
      -0.0013468184727130073,
      -0.021511784672740397,
      -0.04332417076923312,
      -0.052631185936792946,
      -0.04066994702497517,
      -0.021984404452883854
    ],
    "v_ego": [
      1.342356105046258,
      2.1168493219852715,
      2.85967946916969,
      3.524413657679809,
      4.120055059389096,
      4.701548427133085,
      5.247850811487817,
      5.721727115458424,
      6.124022905910223,
      6.488339756940241
    ],
    "ax_ego": [
      1.5490850453298766,
      1.549075893062669,
      1.4231377103169187,
      1.2365578121972005,
      1.1461439675298126,
      1.1801511212033784,
      1.0078837719634166,
      0.8952533549024425,
      0.7226026677322194,
      0.7389498244944914
    ],
    "ay_ego": [
      0.010547803787406718,
      0.011814975300596942,
      -0.04950451093577801,
      -0.04302328923456844,
      -0.03425092787100115,
      0.05472793485235489,
      0.1936247124676414,
      0.3787645282790352,
      0.4856860266894306,
      0.4604331492466508
    ],
    "a_ego": [
      1.5491209551966572,
      1.5491209494772378,
      1.423998468794497,
      1.2373060358385424,
      1.1466556241369963,
      1.181419407209309,
      1.0263139027926014,
      0.9720808286076414,
      0.8706581027792061,
      0.8706581005455748
    ],
    "yaw": [
      2.599127796694281,
      2.598309788075376,
      2.596945187048222,
      2.5953552757140077,
      2.5944059391594716,
      2.6001438253827205,
      2.616936574371626,
      2.6446514430385077,
      2.6789923137838283,
      2.7135451041119847
    ],
    "yaw_diff": [
      -0.001636017237809817,
      -0.002729202054307933,
      -0.0031798226684287556,
      -0.001898673109072213,
      0.011475772446497778,
      0.03358549797781141,
      0.05542973733376311,
      0.0686817414906411,
      0.06910558065631278,
      0.06910558065631278
    ],
    "min_front_frame": [
      0,
      10.386107773464868
    ],
    "v_avg": 4.2246842630199914,
    "v_std": 1.6541577319461593,
    "vy_max": 0.052631185936792946,
    "a_max": 1.5491209551966572,
    "ax_avg": 1.1448841168732427,
    "a_std": 0.24384289288629138,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "5b8d892592635d5f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.573277355428493,
    "right_rear_min": 6.859852314565407,
    "speed_mode": "accelerating",
    "front_frame": [
      10.386107773464868,
      11.006586275274232,
      11.78567754418225,
      12.460264991499123,
      13.29227183312198,
      14.028613790579287,
      14.705585649788356,
      15.231481628014798,
      15.676177531678762,
      16.112982790250864
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "5b8d892592635d5f",
    "pedestrians": "No"
  },
  "0d7f280bf979592b": {
    "vx_ego": [
      3.855604383498866,
      3.628232267891928,
      3.467500442488813,
      3.4110756332937826,
      3.402721787041541,
      3.4123111629637357,
      3.44793327956455,
      3.4891411603037037,
      3.5416354832853933,
      3.612137996937955
    ],
    "vy_ego": [
      -0.0859888574459597,
      -0.018930287935079004,
      -0.013812278020974733,
      -0.025038191603723448,
      -0.043841500756596874,
      -0.03683370463761548,
      -0.049369970312974853,
      -0.05007683112102135,
      -0.03761669085144814,
      0.002844539823387393
    ],
    "v_ego": [
      3.856563139073511,
      3.628281651908174,
      3.4675279519686995,
      3.411167525509318,
      3.4030042076370943,
      3.412509955250571,
      3.4482867186905235,
      3.4895004979997637,
      3.5418352462948888,
      3.612139116967915
    ],
    "ax_ego": [
      -0.4820197420559264,
      -0.4062413747850893,
      -0.19455420379872734,
      -0.016449339071047397,
      -0.002707506668792381,
      0.04512358696802571,
      0.09973096988880911,
      0.06985002977246221,
      0.14096755962695995,
      0.14075596504416668
    ],
    "ay_ego": [
      0.8016895714477749,
      0.8426251517695121,
      1.2770589557655974,
      1.2762714792169514,
      1.155678121796128,
      0.8877763043032094,
      0.5854966188129431,
      0.3311894156787151,
      0.05128090819112098,
      0.05185887158483714
    ],
    "a_ego": [
      0.935440645204055,
      0.9354406453548364,
      1.2917936811723747,
      1.2763774792037423,
      1.1556812933463048,
      0.8889223276434931,
      0.5939297576282496,
      0.33847519217340377,
      0.1500052812806492,
      0.1500052807656027
    ],
    "yaw": [
      1.6188989630510164,
      1.7110039448462706,
      1.859761279456296,
      2.049286679960512,
      2.2328393095252497,
      2.3806952561375354,
      2.4918344502173024,
      2.558014300036665,
      2.581728424042754,
      2.5776253708026546
    ],
    "yaw_diff": [
      0.18420996359050834,
      0.297514669220051,
      0.37905080100843147,
      0.36710525912947567,
      0.2957118932245715,
      0.22227838815953405,
      0.13235969963872485,
      0.04742824801217793,
      -0.008206106480198372,
      -0.008206106480198372
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.527081601130045,
    "v_std": 0.13393189674284844,
    "vy_max": 0.0859888574459597,
    "a_max": 1.2917936811723747,
    "ax_avg": -0.06055440550791592,
    "a_std": 0.4162086081501793,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "0d7f280bf979592b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "0d7f280bf979592b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4b5fd21bc8bd5a8b": {
    "vx_ego": [
      10.773396976998223,
      10.07020405049407,
      9.340528555843264,
      8.549852509894285,
      7.766743901589634,
      7.054125242093396,
      6.377064997600528,
      5.693299833866473,
      5.03267269763939,
      4.40903576449327
    ],
    "vy_ego": [
      -0.039755258566075785,
      -0.01057485532377074,
      -0.005087291961668114,
      -0.003705217816825618,
      0.01003888046351431,
      0.007092404309877717,
      -0.02067285314888896,
      -0.014489622761754209,
      0.01669105315529687,
      0.04433348614820953
    ],
    "v_ego": [
      10.77347032782743,
      10.07020960289071,
      9.340529941232614,
      8.549853312752486,
      7.7667503894486485,
      7.054128807538044,
      6.377098505627708,
      5.693318272103869,
      5.032700375824133,
      4.40925864863639
    ],
    "ax_ego": [
      -1.406417938705046,
      -1.4064557868177447,
      -1.512244822882129,
      -1.650460554788595,
      -1.4819714027675959,
      -1.368596875196982,
      -1.3395897241446373,
      -1.3952490579137315,
      -1.2472876343430999,
      -1.2472788963501171
    ],
    "ay_ego": [
      0.03779683642266172,
      0.036360820308902794,
      -0.008496413005895397,
      0.01248513599817764,
      0.05302889597152456,
      -0.027681508742854844,
      -0.028658638905155676,
      0.09410356105532355,
      0.056644156613846475,
      0.05683642564507414
    ],
    "a_ego": [
      1.4069257333473264,
      1.4069257228178955,
      1.5122686908640832,
      1.6505077768777612,
      1.4829198570485576,
      1.3688767923831655,
      1.3398962447211356,
      1.3984188978315648,
      1.2485731869873309,
      1.2485731955157753
    ],
    "yaw": [
      -1.5572431040940489,
      -1.5582641352169977,
      -1.5581120000485216,
      -1.5581549449929541,
      -1.5578311974743513,
      -1.5565760605344863,
      -1.5545378782292119,
      -1.5528533758827279,
      -1.5516360001849772,
      -1.5514818516729088
    ],
    "yaw_diff": [
      -0.0020420622458976467,
      0.00030427033695223926,
      -8.588988886515381e-05,
      0.0006474950372057364,
      0.0025102738797300184,
      0.004076364610548833,
      0.0033690046929679696,
      0.002434751395501422,
      0.0003082970241368166,
      0.0003082970241368166
    ],
    "min_front_frame": [
      9,
      17.126932286961097
    ],
    "v_avg": 7.506731818388204,
    "v_std": 2.0553853098152737,
    "vy_max": 0.04433348614820953,
    "a_max": 1.6505077768777612,
    "ax_avg": -1.4055552693909679,
    "a_std": 0.11505027949996184,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4b5fd21bc8bd5a8b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.899393097241195,
    "right_rear_min": 3.4676324436609116,
    "speed_mode": "decelerating",
    "front_frame": [
      29.154161091820953,
      28.023071705160316,
      26.8216320074724,
      25.39034738406691,
      23.99412107052739,
      22.659525555812376,
      21.31618507670388,
      19.8504627328955,
      18.484437753397486,
      17.126932286961097
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4b5fd21bc8bd5a8b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "35fb7e0858ae5bc8": {
    "vx_ego": [
      5.598378965375442,
      5.551584823280294,
      5.718140208201438,
      5.893305348314346,
      6.037151101614105,
      6.16519644111556,
      6.258362321942007,
      6.3681367648232445,
      6.492886559316804,
      6.6207794685472425
    ],
    "vy_ego": [
      -0.022271287266190765,
      -0.06244509928779918,
      -0.14020646939083292,
      -0.09505423264950386,
      -0.14595872022248368,
      -0.12915909951856075,
      -0.05997276328244361,
      -0.02951674543570304,
      -0.04895376276858254,
      -0.054310592085201614
    ],
    "v_ego": [
      5.598423264651816,
      5.551936008321886,
      5.719858852691124,
      5.894071872281086,
      6.038915247933969,
      6.166549215771525,
      6.258649669460585,
      6.368205170513477,
      6.493071102571264,
      6.621002221080231
    ],
    "ax_ego": [
      -0.38803432568992446,
      0.24425004217537838,
      0.4553638321933249,
      0.2825167985090147,
      0.3386142882164458,
      0.18141910041239956,
      0.19403929317858057,
      0.24491078335244895,
      0.2534933656384738,
      0.2555537280165689
    ],
    "ay_ego": [
      2.587664251366107,
      2.6051715548416396,
      2.093624560842513,
      1.6408273668351536,
      1.357750457259728,
      0.47504515720434914,
      0.13505335017695705,
      -0.058578808632977375,
      -0.171359075116599,
      -0.16827095792570032
    ],
    "a_ego": [
      2.6165964373039547,
      2.616596436835203,
      2.1425732242872813,
      1.6649715280433377,
      1.3993376791801653,
      0.5085083985321669,
      0.2364120443024486,
      0.25181892030419234,
      0.3059784617379746,
      0.3059784684980289
    ],
    "yaw": [
      -1.1374944229770354,
      -0.8951654883451948,
      -0.672770921859918,
      -0.5206007383154512,
      -0.38644181371601255,
      -0.31435867514961324,
      -0.30093929745230474,
      -0.3027369148003831,
      -0.30865459157788544,
      -0.3207874049686374
    ],
    "yaw_diff": [
      0.48465786926368115,
      0.44478913297055356,
      0.30434036708893375,
      0.26831784919887725,
      0.14416627713279861,
      0.026838755394616998,
      -0.003595234696156746,
      -0.011835353555004646,
      -0.0242656267815039,
      -0.0242656267815039
    ],
    "min_front_frame": [
      4,
      21.670658189023907
    ],
    "v_avg": 6.071068262527696,
    "v_std": 0.35520538762245224,
    "vy_max": 0.14595872022248368,
    "a_max": 2.6165964373039547,
    "ax_avg": 0.2062126906002711,
    "a_std": 0.9519396058757661,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "35fb7e0858ae5bc8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 34.45780661417534,
    "right_rear_min": 28.197535924402132,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      49.394627499205036,
      21.670658189023907,
      35.72945880970248,
      32.619408954839486,
      29.516595148436334,
      33.87861750080399,
      30.670162494754347
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7142857142857143,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2857142857142857,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "35fb7e0858ae5bc8",
    "pedestrians": "No"
  },
  "e797167404675bfa": {
    "vx_ego": [
      8.940089071039653,
      8.848819014507132,
      8.700399199090256,
      8.455841548354636,
      8.08753092463715,
      7.686208252729044,
      7.404364872629454,
      7.2280877900674945,
      7.173884867819902,
      7.209371166406091
    ],
    "vy_ego": [
      -0.06227841763519226,
      -0.06511046280307742,
      -0.026518929864622898,
      0.06645475479192609,
      0.02389166030137524,
      0.00964161852698231,
      0.05943539052356428,
      -0.007685447580803917,
      -0.05208641917011558,
      0.07693178124678957
    ],
    "v_ego": [
      8.940305990257032,
      8.84905855579391,
      8.700439614017876,
      8.456102679444886,
      8.087566214158262,
      7.6862142999742,
      7.4046034149490865,
      7.2280918759398265,
      7.174073953605255,
      7.209781627343045
    ],
    "ax_ego": [
      -0.21299876194243528,
      -0.16502305925151867,
      -0.444392290904947,
      -0.536009821425655,
      -0.9367008654628322,
      -0.6597369483710285,
      -0.4563159063503673,
      -0.23866439344804202,
      0.013474434650967981,
      0.12431149407574571
    ],
    "ay_ego": [
      -0.9214461222178122,
      -0.9312350997334572,
      -0.6638150576096753,
      -0.40014832410848855,
      -0.1356225457703517,
      0.7853755891858439,
      1.4038970663607508,
      1.781870724030914,
      1.3997308089633336,
      1.3942648917801517
    ],
    "a_ego": [
      0.9457438494324208,
      0.9457438453726845,
      0.7988334863568775,
      0.6688985049703688,
      0.9464681644302939,
      1.025703493771435,
      1.4761948310858832,
      1.7977830708565412,
      1.3997956629273829,
      1.399795676522135
    ],
    "yaw": [
      -0.7281511361376758,
      -0.7799301345355486,
      -0.8295655024143098,
      -0.8713501541326812,
      -0.8823308317593133,
      -0.8598301637691488,
      -0.7936928822499378,
      -0.6753566960116442,
      -0.5583545714001383,
      -0.47905668220296516
    ],
    "yaw_diff": [
      -0.10355799679574562,
      -0.09927073575752243,
      -0.08356930343674285,
      -0.021961355253264037,
      0.04500133598032896,
      0.1322745630384219,
      0.23667237247658734,
      0.23400424922301166,
      0.15859577839434635,
      0.15859577839434635
    ],
    "min_front_frame": [
      5,
      58.20682276292853
    ],
    "v_avg": 7.973623822548339,
    "v_std": 0.6826295869410977,
    "vy_max": 0.07693178124678957,
    "a_max": 1.7977830708565412,
    "ax_avg": -0.3512056118430112,
    "a_std": 0.33838011599948403,
    "ini_direction_judge": "left",
    "scenario_type": "roundout_entrance",
    "scene_token": "e797167404675bfa",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.533096482321955,
    "right_rear_min": 28.160455991895223,
    "speed_mode": "decelerating",
    "front_frame": [
      68.54071526861627,
      -1,
      59.73030395607201,
      66.27808163188772,
      -1,
      58.20682276292853,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      1,
      1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "roundout_entrance",
    "lane_change_frame": -1,
    "token": "e797167404675bfa",
    "merge_risk": "No"
  },
  "1b613bcca44b5b29": {
    "vx_ego": [
      5.145950574648499,
      5.053247785100842,
      5.131919452241475,
      5.223900702194149,
      5.212617648725316,
      5.188008617829645,
      5.151895046442042,
      5.027978522508898,
      4.747929882176057,
      4.35391547230235
    ],
    "vy_ego": [
      -0.08171208423173626,
      -0.0720079963229372,
      -0.11315752130831136,
      -0.09959138451127547,
      -0.08485271972012365,
      -0.10299816489815883,
      -0.04631803883220087,
      -0.03865260018486527,
      -0.022533892067354344,
      0.09119652144490775
    ],
    "v_ego": [
      5.146599283161135,
      5.053760810442161,
      5.133166847952936,
      5.224849949065848,
      5.213308233343445,
      5.189030934639632,
      5.15210325306814,
      5.028127091304656,
      4.747983355315395,
      4.354870462537026
    ],
    "ax_ego": [
      -0.36224318180349124,
      0.056926100148202874,
      0.2986280236415244,
      0.07902807228076447,
      -0.10725589766585697,
      0.022318606782386785,
      -0.16464275955229107,
      -0.3305474703734425,
      -0.7898657518326213,
      -0.7782948386090316
    ],
    "ay_ego": [
      2.0512499067825654,
      2.0822117280674775,
      1.75512219693151,
      1.0513641795410271,
      0.7260692323593898,
      0.4302309852038247,
      0.11277525020967072,
      0.0025889957078666925,
      -0.21038326986447986,
      -0.24981226950607763
    ],
    "a_ego": [
      2.0829897510162168,
      2.0829897410644715,
      1.7803462086531747,
      1.0543301542829886,
      0.7339484707818815,
      0.430809494832879,
      0.19956326148078302,
      0.3305576093044255,
      0.8174038329717953,
      0.8174038327541875
    ],
    "yaw": [
      -1.0024595088180142,
      -0.8003329464315581,
      -0.6033411487037884,
      -0.4713509973365073,
      -0.38943250944745145,
      -0.33018795939730394,
      -0.3149626549124319,
      -0.3108192498838285,
      -0.32458287376947104,
      -0.37485923342219174
    ],
    "yaw_diff": [
      0.4042531247729122,
      0.3939835954555393,
      0.2639803027345622,
      0.16383697577811174,
      0.11848910010029501,
      0.030450608969744053,
      0.008286810057206884,
      -0.027527247771285124,
      -0.10055271930544141,
      -0.10055271930544141
    ],
    "min_front_frame": [
      3,
      15.488721892111425
    ],
    "v_avg": 5.024380022083037,
    "v_std": 0.25915106938057975,
    "vy_max": 0.11315752130831136,
    "a_max": 2.0829897510162168,
    "ax_avg": -0.20759490969838562,
    "a_std": 0.6705974201037483,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "1b613bcca44b5b29",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      15.488721892111425,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "1b613bcca44b5b29",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0c3c4cd553475d3a": {
    "vx_ego": [
      8.971335620310867,
      9.1746164493013,
      9.451152324734428,
      9.7692624865966,
      10.021760164437833,
      10.205706432202888,
      10.37521251875391,
      10.550934584874861,
      10.705774745250286,
      10.834560132122196
    ],
    "vy_ego": [
      0.016467302599763478,
      -0.0804819608428402,
      -0.14040981554600857,
      -0.07523169966345282,
      -0.0608063477539999,
      -0.049603226906676706,
      -0.03721214225320946,
      -0.008978624566676724,
      0.019181402044902818,
      0.036569978532544206
    ],
    "v_ego": [
      8.971350733546954,
      9.174969446151367,
      9.452195257274083,
      9.769552156606661,
      10.021944631928486,
      10.205826975822536,
      10.375279251800356,
      10.55093840518499,
      10.705791928774968,
      10.834621849418722
    ],
    "ax_ego": [
      0.37398714685062273,
      0.44699655230794477,
      0.6681991789647342,
      0.6122849618764461,
      0.3994367609652208,
      0.3374663561000854,
      0.3413253235972106,
      0.361768266858589,
      0.2575646716824629,
      0.25756768826186904
    ],
    "ay_ego": [
      1.071729472882427,
      1.0433908743616043,
      0.5305726094891251,
      0.4863552749895034,
      0.17124662917827999,
      0.11096112447962099,
      0.11726390347756335,
      0.0989240000030349,
      0.03656368816744788,
      0.036542451249253136
    ],
    "a_ego": [
      1.135108122186743,
      1.1351081157653056,
      0.853227658195188,
      0.781942662891696,
      0.43459766913239456,
      0.35524064047522996,
      0.3609069126347344,
      0.37504964562370635,
      0.2601470034255656,
      0.2601470060943762
    ],
    "yaw": [
      1.4249041229657986,
      1.4939124386578941,
      1.5427349727140065,
      1.5623922359628846,
      1.5775071819689868,
      1.5833708154412904,
      1.587711456899743,
      1.5901791591447898,
      1.5907159217145606,
      1.5907983678413344
    ],
    "yaw_diff": [
      0.13801663138419107,
      0.09764506811222473,
      0.03931452649775613,
      0.030229892012204385,
      0.01172726694460735,
      0.008681282916905175,
      0.004935404490093553,
      0.001073525139541509,
      0.00016489225354776593,
      0.00016489225354776593
    ],
    "min_front_frame": [
      1,
      42.58708492208027
    ],
    "v_avg": 10.006247063650914,
    "v_std": 0.6142923202377346,
    "vy_max": 0.14040981554600857,
    "a_max": 1.135108122186743,
    "ax_avg": 0.40565969074651853,
    "a_std": 0.33101460275262307,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0c3c4cd553475d3a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 23.21845505106067,
    "right_rear_min": 8.472412023086227,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      42.58708492208027,
      44.70293705513846,
      46.70725721023933,
      48.49165044201491,
      50.22635213981985,
      51.94424720140305,
      53.54462132333794,
      55.06839859334792,
      56.32749805422488
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0c3c4cd553475d3a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c354c8cf3c975581": {
    "vx_ego": [
      6.969832605758594,
      7.491613314497561,
      8.046623409354739,
      8.600789050641811,
      9.11146061138756,
      9.536252358507591,
      9.829576366583126,
      9.986058650098665,
      10.028555685679006,
      10.027119747743173
    ],
    "vy_ego": [
      -0.049140249257819235,
      0.08600784163476494,
      0.13379206068006244,
      0.07146865772335342,
      0.02291704907917902,
      -0.012654962993645213,
      0.005629230125610896,
      -0.016942676153367753,
      -0.02482023938660305,
      0.0007916451828489102
    ],
    "v_ego": [
      6.970005833311243,
      7.492107006895978,
      8.047735619879465,
      8.60108598158842,
      9.111489431701354,
      9.53626075530813,
      9.82957797846486,
      9.986073022839639,
      10.028586400138751,
      10.027119778993528
    ],
    "ax_ego": [
      1.012213487081553,
      1.0774879330901403,
      1.1535979772983036,
      1.0652320822497865,
      0.9780912471829386,
      0.720967931126602,
      0.45223147835383587,
      0.17355151423886978,
      -0.003032691336786651,
      -0.00252232570256547
    ],
    "ay_ego": [
      -0.8855857727088561,
      -0.8048962852609494,
      -0.41249661465407705,
      -0.1135911794333351,
      -0.18196464855678998,
      -0.05985569617721867,
      0.09104012782031608,
      -0.03210617535004,
      0.12996915871532083,
      0.12998006428026548
    ],
    "a_ego": [
      1.3449305945862555,
      1.344930584075527,
      1.2251292790264265,
      1.0712713685613333,
      0.9948736709453478,
      0.7234483133423093,
      0.4613042541399715,
      0.17649627358732572,
      0.13000453620513586,
      0.1300045354487749
    ],
    "yaw": [
      1.9879289378433673,
      1.910741435052638,
      1.8653690158645528,
      1.8570666513539917,
      1.8542091704829318,
      1.8515495863208682,
      1.8504701771730927,
      1.8542222291792347,
      1.8574470824765248,
      1.861373713872812
    ],
    "yaw_diff": [
      -0.15437500558145878,
      -0.0907448383761702,
      -0.0166047290211222,
      -0.0057149617421199395,
      -0.005319168324127155,
      -0.0021588182955509794,
      0.007504104012284074,
      0.006449706594580107,
      0.007853262792574256,
      0.007853262792574256
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.963004180912137,
    "v_std": 1.0733303627315862,
    "vy_max": 0.13379206068006244,
    "a_max": 1.3449305945862555,
    "ax_avg": 0.6627818633582677,
    "a_std": 0.47723244976772,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c354c8cf3c975581",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c354c8cf3c975581",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5cb9850a89b6578e": {
    "vx_ego": [
      1.002653255591507,
      1.9479483788013914,
      2.96644519467535,
      4.0409338789271265,
      5.059278137592932,
      5.982834847784606,
      6.789877323444655,
      7.399604006842562,
      7.686143154573148,
      7.785577755945976
    ],
    "vy_ego": [
      0.010081928610216312,
      0.020774637166858456,
      0.010316069503136405,
      -0.01527260067105829,
      0.0013305657409673488,
      0.021490925673027683,
      0.026660049254469298,
      0.018977546884113572,
      -0.0200084837089074,
      -0.024406833076594747
    ],
    "v_ego": [
      1.0027039424639506,
      1.9480591551655673,
      2.966463132132686,
      4.04096274001534,
      5.059278312559114,
      5.982873446409521,
      6.789929662791375,
      7.399628342380868,
      7.686169197461892,
      7.785616012068769
    ],
    "ax_ego": [
      1.8907446855045478,
      1.890709979016455,
      2.183806678981447,
      2.114165724625371,
      1.9585920451630865,
      1.7370507812013558,
      1.4922658416812844,
      0.9479690335618622,
      0.19796753013461368,
      0.19904717368453023
    ],
    "ay_ego": [
      0.0027042973050779295,
      0.011770289156568747,
      -0.0974861082214469,
      -0.1215672624369353,
      -0.09824352204774214,
      -0.18141278572438804,
      -0.15408656296638962,
      -0.20401287130411677,
      -0.13451713792958964,
      -0.13291434618533043
    ],
    "a_ego": [
      1.8907466194568763,
      1.890746615614909,
      2.1859815078037923,
      2.1176579776907154,
      1.9610544584484306,
      1.74649821508541,
      1.5001999903797985,
      0.9696734193788964,
      0.2393449464358239,
      0.23934494098199235
    ],
    "yaw": [
      0.157520998708699,
      0.15272602803028384,
      0.14819386790684558,
      0.1398877110396482,
      0.1242287612457776,
      0.10799583158329504,
      0.09411969581406782,
      0.0826937567898623,
      0.07671646455187947,
      0.06864234394228659
    ],
    "yaw_diff": [
      -0.009589941356830334,
      -0.009064320246876534,
      -0.016612313734394757,
      -0.0313178995877412,
      -0.032465859324965124,
      -0.027752271538454443,
      -0.022851878048411045,
      -0.011954584475965646,
      -0.01614824121918576,
      -0.01614824121918576
    ],
    "min_front_frame": [
      7,
      27.116860525057938
    ],
    "v_avg": 5.066168394344909,
    "v_std": 2.349696593610681,
    "vy_max": 0.026660049254469298,
    "a_max": 2.1859815078037923,
    "ax_avg": 1.4612319473554554,
    "a_std": 0.6988436068547891,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "5cb9850a89b6578e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.757591853384287,
    "speed_mode": "accelerating",
    "front_frame": [
      42.69420642362002,
      41.86162723654341,
      40.65521794336426,
      38.80364367842795,
      36.5211885190081,
      33.81430678327935,
      30.62666463848777,
      27.116860525057938,
      32.393611642728835,
      28.618161056228796
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "5cb9850a89b6578e",
    "pedestrians": "No"
  },
  "9b0f5a2f65e45867": {
    "vx_ego": [
      2.645497265271862,
      2.920765422500342,
      3.1297760681981437,
      3.3325164433623957,
      3.6984494282417324,
      4.2267864767596075,
      4.840273634144208,
      5.456055869812193,
      6.042338522400892,
      6.605816566164708
    ],
    "vy_ego": [
      0.07742655971323287,
      -0.03360656298988962,
      -0.016573034775633877,
      -0.025039265964894808,
      -0.03145875612590565,
      0.06308629804696653,
      0.14006667910200177,
      0.18156840035206212,
      0.10676921660062044,
      0.03641131742296677
    ],
    "v_ego": [
      2.6466300558842613,
      2.9209587560165233,
      3.1298199473048776,
      3.3326105098137124,
      3.6985832188283374,
      4.227257243310273,
      4.8422998180602415,
      5.459076179951924,
      6.043281764480564,
      6.605916915149067
    ],
    "ax_ego": [
      0.5476833866907683,
      0.5551687285295658,
      0.3077898930580669,
      0.5639060764870731,
      0.9354510700973706,
      1.267617176095118,
      1.2600176622699226,
      1.2269813551984954,
      1.125843246903068,
      1.13346826527922
    ],
    "ay_ego": [
      -0.3493790546639899,
      -0.3373581086847014,
      -1.00472999346455,
      -1.7437717474620953,
      -2.2207707610342506,
      -2.6322634780448095,
      -2.3271266120968113,
      -1.299973919258065,
      -0.3998355479653479,
      -0.3776786820368041
    ],
    "a_ego": [
      0.6496328316018002,
      0.6496328275514204,
      1.0508172905105677,
      1.8326838162503793,
      2.4097492561698117,
      2.921585925996345,
      2.646348952417527,
      1.7875724983216514,
      1.1947349003080108,
      1.1947349058515624
    ],
    "yaw": [
      1.0205621444557962,
      0.9987632591317641,
      0.8835331827342738,
      0.6721848627837556,
      0.3902097448099042,
      0.05972102507200401,
      -0.2286667907507651,
      -0.41219930540736327,
      -0.4729516880029585,
      -0.49256488526087044
    ],
    "yaw_diff": [
      -0.04359777064806414,
      -0.23046015279498056,
      -0.42269663990103656,
      -0.5639502359477027,
      -0.6609774394758005,
      -0.5767756316455382,
      -0.36706502931319634,
      -0.12150476519119047,
      -0.03922639451582388,
      -0.03922639451582388
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.290643440879978,
    "v_std": 1.3153136402030672,
    "vy_max": 0.18156840035206212,
    "a_max": 2.921585925996345,
    "ax_avg": 0.8923926860608669,
    "a_std": 0.7753412890603706,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "9b0f5a2f65e45867",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "9b0f5a2f65e45867",
    "pedestrians": "No"
  },
  "8a88b869e2ca552d": {
    "vx_ego": [
      1.8335832289154346,
      2.381636190234825,
      2.9471884340888663,
      3.562943731859048,
      4.1901312634346555,
      4.704712159894994,
      5.115124664891817,
      5.5218416335400144,
      5.934797910090051,
      6.344412355776953
    ],
    "vy_ego": [
      0.009258293125340003,
      0.006146635314184676,
      -0.003380273902353098,
      -0.034825186380684506,
      -0.016446953794244115,
      0.012090256997864382,
      0.010570624354740155,
      0.001743568179249505,
      -0.008757281573909759,
      0.00898272110592585
    ],
    "v_ego": [
      1.833606602669053,
      2.381644121980011,
      2.9471903725885844,
      3.563113923241878,
      4.1901635418085545,
      4.7047276947532355,
      5.1151355872043,
      5.5218419088132045,
      5.934804371130509,
      6.3444187148558955
    ],
    "ax_ego": [
      1.0961148411341142,
      1.0961234853411088,
      1.1661245661352588,
      1.2967696243383833,
      1.2111734299888337,
      0.8473859382722098,
      0.7942531245579851,
      0.8325601491504367,
      0.8192394122113089,
      0.8192184728722074
    ],
    "ay_ego": [
      -0.010378430601997196,
      -0.009422261770177864,
      -0.0460751967328583,
      -0.12315312488223984,
      0.14345666307574373,
      -0.07208228216236152,
      0.05373622484364621,
      -0.07608013151290853,
      0.02500365929339051,
      0.025680043499074566
    ],
    "a_ego": [
      1.0961639734894706,
      1.0961639814066169,
      1.1670344585735748,
      1.3026043723153136,
      1.219639656493566,
      0.8504462262737178,
      0.7960688460997385,
      0.836029059521509,
      0.819620886445917,
      0.8196208702376886
    ],
    "yaw": [
      -1.5373010013040953,
      -1.538173323780946,
      -1.5398103744309184,
      -1.5431642009079618,
      -1.5465862546859772,
      -1.54896637026229,
      -1.5495901561642524,
      -1.548980207662993,
      -1.549376066890375,
      -1.5502017022332018
    ],
    "yaw_diff": [
      -0.001744644953701524,
      -0.003274101299944654,
      -0.006707652954086818,
      -0.006844107556030821,
      -0.0047602311526255825,
      -0.001247571803924874,
      0.0012198970025187883,
      -0.0007917184547641121,
      -0.0016512706856532944,
      -0.0016512706856532944
    ],
    "min_front_frame": [
      0,
      14.383007539364428
    ],
    "v_avg": 4.253664683904523,
    "v_std": 1.4594607384825327,
    "vy_max": 0.034825186380684506,
    "a_max": 1.3026043723153136,
    "ax_avg": 0.9978963044001847,
    "a_std": 0.18496468221661824,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8a88b869e2ca552d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.28542410833148,
    "right_rear_min": 23.85079952261778,
    "speed_mode": "accelerating",
    "front_frame": [
      14.383007539364428,
      15.64497816998721,
      16.84511784883132,
      18.09746678821708,
      19.22546710952886,
      20.297217307555446,
      21.311530659874,
      22.200639692638756,
      23.0565572705743,
      23.864306760884148
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8a88b869e2ca552d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0eaa844dc2605267": {
    "vx_ego": [
      4.485297562690565,
      4.015372949237542,
      3.6222258783317027,
      3.3029470670138528,
      2.960948490745022,
      2.6464333052445372,
      2.405064526033583,
      2.1596635396483608,
      1.914053641250553,
      1.6980409130377283
    ],
    "vy_ego": [
      -0.03386816194400888,
      -0.030590276082398615,
      -0.031565878366305755,
      -0.03570430802043845,
      -0.03486582800170557,
      -0.03479070548834118,
      -0.019926664978129005,
      -0.001453546967067454,
      -0.00031843061547143225,
      -0.010305434305215244
    ],
    "v_ego": [
      4.4854254289054225,
      4.015489470345974,
      3.6223634161045895,
      3.3031400401900357,
      2.9611537600751956,
      2.646661979228912,
      2.4051470737487746,
      2.159664028798293,
      1.9140536677383313,
      1.698072184663014
    ],
    "ax_ego": [
      -0.9398932604251783,
      -0.9398937328202936,
      -0.6328675822133039,
      -0.6443962239559293,
      -0.7237627325635196,
      -0.5343648349401197,
      -0.4312379188847761,
      -0.5503758827306601,
      -0.4320556505227913,
      -0.43202294979718237
    ],
    "ay_ego": [
      0.0010263614297734702,
      0.00037922137514923016,
      -0.02804534755715346,
      -0.0024793598074948353,
      -0.009182537427034454,
      0.004398084089232118,
      0.045176963484732297,
      0.025988282200451046,
      -0.024460765868111217,
      -0.02503155734658835
    ],
    "a_ego": [
      0.9398938208172541,
      0.9398938093230091,
      0.6334886882463763,
      0.6444009936939229,
      0.7238209806584855,
      0.5343829338257701,
      0.4335978559838293,
      0.550989113416303,
      0.4327475178617746,
      0.4327475106972359
    ],
    "yaw": [
      1.135236442274922,
      1.1345479105603116,
      1.1329764117155354,
      1.131968121359853,
      1.1307733062365415,
      1.1303160303354973,
      1.1293329754298997,
      1.1290361841638918,
      1.128663676631763,
      1.1273425136692765
    ],
    "yaw_diff": [
      -0.0013770634292207262,
      -0.003142997689552285,
      -0.0020165807113650125,
      -0.0023896302466228647,
      -0.0009145518020883259,
      -0.0019661098111951603,
      -0.0005935825320158017,
      -0.0007450150642576148,
      -0.0026423259249730435,
      -0.0026423259249730435
    ],
    "min_front_frame": [
      9,
      11.95882560976452
    ],
    "v_avg": 2.9211171049798548,
    "v_std": 0.8783723226611365,
    "vy_max": 0.03570430802043845,
    "a_max": 0.9398938208172541,
    "ax_avg": -0.6260870768853753,
    "a_std": 0.1824145473826634,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0eaa844dc2605267",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      25.01390232113619,
      22.9215329460385,
      21.016680270452788,
      19.271384703872553,
      17.709521949247307,
      16.300622427127625,
      15.01203336869767,
      13.884358061010898,
      12.83244009781927,
      11.95882560976452
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0eaa844dc2605267",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bf8c5276f9a6539d": {
    "vx_ego": [
      2.5727014228356038,
      2.748174472270456,
      2.898461342872684,
      3.082761385249716,
      3.452981021533648,
      3.9136737352469773,
      4.264766609228555,
      4.470476461834864,
      4.6789046109425865,
      5.08663969367914
    ],
    "vy_ego": [
      0.009218924559169617,
      -0.03520430062026558,
      -0.04559552507993736,
      -0.04190043395333798,
      -0.034045275209194426,
      -0.03078569186847746,
      0.059995893978060044,
      0.07677865947714713,
      0.038788699692671014,
      0.14338226030592938
    ],
    "v_ego": [
      2.5727179401617986,
      2.7483999477552685,
      2.8988199509515313,
      3.083046124330972,
      3.453148855151719,
      3.9137948163880347,
      4.265188593542501,
      4.471135734729004,
      4.679065389746508,
      5.088660122849889
    ],
    "ax_ego": [
      0.3497412464099763,
      0.35151685560217616,
      0.24597734640798555,
      0.48554501969173963,
      0.9952248100901762,
      0.8683638084430141,
      0.5920880888530347,
      0.3111581707129927,
      0.6016829051774427,
      1.0917518751970912
    ],
    "ay_ego": [
      -0.15334723477276743,
      -0.14923208211235706,
      -0.21742263966222466,
      -0.326859379274547,
      -0.6278158593282042,
      -1.2184788665778852,
      -1.6705249954570562,
      -1.9016249660224316,
      -2.1719422174450758,
      -1.9716574610788036
    ],
    "a_ego": [
      0.3818825917122408,
      0.3818825920411016,
      0.32829477483445224,
      0.5853127539761918,
      1.1767009712934882,
      1.496244115146517,
      1.7723493068265175,
      1.9269138326871988,
      2.253742512866765,
      2.253742509876423
    ],
    "yaw": [
      -0.6265969317358913,
      -0.6383332878736407,
      -0.6669835951478195,
      -0.7141823243828074,
      -0.7910830934273108,
      -0.9165764286282578,
      -1.1130997983930144,
      -1.3190178336875118,
      -1.534208432919053,
      -1.7696572982305225
    ],
    "yaw_diff": [
      -0.023472712275498964,
      -0.05730061454835744,
      -0.09439745846997583,
      -0.15380153808900676,
      -0.25098667040189415,
      -0.3930467395295132,
      -0.41183607058899474,
      -0.43038119846308254,
      -0.47089773062293894,
      -0.47089773062293894
    ],
    "min_front_frame": [
      3,
      43.97410477484473
    ],
    "v_avg": 3.717397747560723,
    "v_std": 0.8428214754280144,
    "vy_max": 0.14338226030592938,
    "a_max": 2.253742512866765,
    "ax_avg": 0.5893050126585628,
    "a_std": 0.7490225483022785,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "bf8c5276f9a6539d",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.53457203734478,
    "right_rear_min": 14.012565810561478,
    "speed_mode": "accelerating",
    "front_frame": [
      48.146632840899876,
      46.84340650027428,
      45.42543705672499,
      43.97410477484473,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "bf8c5276f9a6539d",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "c6b7a8d63fc95d3a": {
    "vx_ego": [
      2.2175626248776483,
      2.898126358508316,
      3.5905600700008864,
      4.07558889865136,
      4.422396189799105,
      4.800834096544104,
      5.141012401285413,
      5.48014132716955,
      5.844643612969767,
      6.230636380506526
    ],
    "vy_ego": [
      -0.15033922618257423,
      0.019721412412384565,
      0.020517445282328794,
      -0.039635097802074526,
      -0.05530777912908241,
      -0.03416990493196015,
      -0.06800366671483493,
      -0.057764196444137994,
      -0.029148279362523954,
      0.11603224876955798
    ],
    "v_ego": [
      2.2226528919701836,
      2.8981934586890867,
      3.5906186906779287,
      4.075781619737248,
      4.422742023901217,
      4.800955697040279,
      5.141462146982809,
      5.4804457545114404,
      5.844716296349899,
      6.2317167128204725
    ],
    "ax_ego": [
      1.3085287033438455,
      1.4359539622998898,
      1.3691012333489867,
      0.6080457178987639,
      0.7956276724952451,
      0.7651560631118808,
      0.6384893931126837,
      0.7450366035434245,
      0.7140527133607051,
      0.8136523007935833
    ],
    "ay_ego": [
      1.08076857708371,
      0.9046238472949679,
      1.4555262681122383,
      1.7197420320877521,
      1.508866315792626,
      1.7057615806453714,
      1.7712081154478967,
      1.6107426890650567,
      1.28072500914252,
      1.2198761225723462
    ],
    "a_ego": [
      1.6971470427415158,
      1.6971470434053446,
      1.998247958668407,
      1.8240702431606997,
      1.7057845562009917,
      1.8695150095473074,
      1.8827763790067829,
      1.7747032289924003,
      1.4663314176886797,
      1.4663314158159586
    ],
    "yaw": [
      -0.6099569297036797,
      -0.48176995852508975,
      -0.3011083561769802,
      -0.08456422991787987,
      0.10955025404128499,
      0.2786902182765113,
      0.4592926167106073,
      0.6166427247467932,
      0.7390133506401239,
      0.818631781454023
    ],
    "yaw_diff": [
      0.2563739423571798,
      0.36132320469621915,
      0.4330882525182006,
      0.3882289679183297,
      0.33827992847045263,
      0.36120479686819196,
      0.31470021607237175,
      0.2447412517866614,
      0.15923686162779838,
      0.15923686162779838
    ],
    "min_front_frame": [
      0,
      37.80137939362115
    ],
    "v_avg": 4.470928529268057,
    "v_std": 1.2258455662588175,
    "vy_max": 0.15033922618257423,
    "a_max": 1.998247958668407,
    "ax_avg": 0.9193644363309007,
    "a_std": 0.1633167445961983,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "c6b7a8d63fc95d3a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.44602253348021,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      37.80137939362115,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      66.98546311547281
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c6b7a8d63fc95d3a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0bc64fd1b3ff5d1a": {
    "vx_ego": [
      0.8465597468515276,
      0.7404948290207576,
      0.6001018488368003,
      0.42561777699322706,
      0.23117583685229937,
      0.06053073354950009,
      -0.005984118911907152,
      -0.007347397102481799,
      -0.004275813745285448,
      -0.0017288457005242479
    ],
    "vy_ego": [
      0.042905543386271505,
      0.017603705837381856,
      -0.0038075492710717973,
      -0.03970263430638121,
      -0.04388001302882982,
      -0.008812783546588897,
      0.0024956460301987413,
      0.0014012603404837919,
      0.0006979457259758918,
      -0.00022797000028987856
    ],
    "v_ego": [
      0.8476463240306028,
      0.7407040449907709,
      0.6001139278577007,
      0.4274655439488926,
      0.23530347019916897,
      0.06116890433774013,
      0.0064836662668502285,
      0.007479824511535728,
      0.0043324024998584775,
      0.0017438112791392723
    ],
    "ax_ego": [
      -0.21216745904524825,
      -0.21221863515232714,
      -0.34936685510243837,
      -0.34855812266807495,
      -0.42916525338984135,
      -0.25341337226593297,
      -0.012645432408637856,
      0.0071922693030865015,
      0.005093932118838879,
      0.005093937512378451
    ],
    "ay_ego": [
      -0.0490550566189437,
      -0.04883317841868852,
      -0.03500691944677786,
      -0.10811395487018435,
      0.0916294282063975,
      0.04864996840546265,
      -0.003415757042805005,
      -0.0009620988712185979,
      -0.0018518199160248098,
      -0.0018518069966265145
    ],
    "a_ego": [
      0.21776461892971702,
      0.21776461700741928,
      0.35111633948496523,
      0.36494025828286614,
      0.43883797332341024,
      0.2580409980391582,
      0.013098639508624573,
      0.0072563332314689415,
      0.005420090537318033,
      0.005420091192292919
    ],
    "yaw": [
      -0.6016120862078667,
      -0.6005664059817039,
      -0.5999100119142086,
      -0.599685991100713,
      -0.5995198035081302,
      -0.5994986215246194,
      -0.5995433202794422,
      -0.5995349900439846,
      -0.5995056211098814,
      -0.5995080590915806
    ],
    "yaw_diff": [
      0.002091360452325608,
      0.0013127881349905834,
      0.0004480416269911913,
      0.00033237518516560094,
      4.236396702150813e-05,
      -8.939750964565008e-05,
      1.6660470915308423e-05,
      5.873786820642657e-05,
      -4.875963398376371e-06,
      -4.875963398376371e-06
    ],
    "min_front_frame": [
      5,
      8.61211731381648
    ],
    "v_avg": 0.29324419199222596,
    "v_std": 0.31769763666837386,
    "vy_max": 0.04388001302882982,
    "a_max": 0.43883797332341024,
    "ax_avg": -0.1800154991098197,
    "a_std": 0.16044989382878277,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0bc64fd1b3ff5d1a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.141027299422364,
    "speed_mode": "decelerating",
    "front_frame": [
      9.037011680056043,
      9.213491106171638,
      8.90814204264925,
      8.842025170003181,
      8.651559525045638,
      8.61211731381648,
      8.640045831597742,
      8.67376337685502,
      8.665615402749015,
      8.706730590176129
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0bc64fd1b3ff5d1a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b50353ebaee65cbe": {
    "vx_ego": [
      9.461267646299818,
      9.456642814247127,
      9.45259730538172,
      9.420771399301142,
      9.364040108373775,
      9.286940719577505,
      9.195276132660846,
      9.120508532872453,
      9.065460845441049,
      9.02709980130387
    ],
    "vy_ego": [
      0.14910489082935374,
      0.24639269457256763,
      0.28307927154165036,
      0.20787492554894627,
      0.11045706099366459,
      0.0738377662455676,
      0.07204281617892239,
      0.014472387231710293,
      -0.06958535445813929,
      -0.09935240959359071
    ],
    "v_ego": [
      9.462442482963315,
      9.459852148748972,
      9.456835077957441,
      9.423064562156114,
      9.364691554640553,
      9.287234246247419,
      9.195558347552648,
      9.120520015228925,
      9.065727905787808,
      9.02764652187891
    ],
    "ax_ego": [
      -0.00559855230794124,
      -0.005825403572304502,
      0.0025015413562101962,
      -0.12434899691496125,
      -0.10065449159346548,
      -0.2070091582495388,
      -0.1580557330989726,
      -0.13992887073603547,
      -0.08076500013035634,
      -0.07701369446405892
    ],
    "ay_ego": [
      0.025387316448837183,
      0.02533622556057746,
      -0.27990775218033126,
      -0.2358328994135484,
      -0.26468896979550655,
      0.0017381808605466398,
      -0.1656859316319701,
      -0.24957050815454007,
      -0.2914687667326882,
      -0.29248233888805036
    ],
    "a_ego": [
      0.02599730032942177,
      0.025997300868295475,
      0.279918930120495,
      0.26660800715574523,
      0.283181174178909,
      0.2070164555582154,
      0.22898349876401036,
      0.2861215255900497,
      0.3024516940384541,
      0.30245169481493694
    ],
    "yaw": [
      2.444994678754097,
      2.4360501284506757,
      2.4254373737240646,
      2.4197531165048423,
      2.41680165493233,
      2.4136836497540926,
      2.4094397975851853,
      2.4043889599232537,
      2.398753448493546,
      2.385905610157482
    ],
    "yaw_diff": [
      -0.017889100606842234,
      -0.021225509453222102,
      -0.011368514438444777,
      -0.005902923145024275,
      -0.006236010356475141,
      -0.008487704337814428,
      -0.01010167532386319,
      -0.011271022859415503,
      -0.02569567667212791,
      -0.02569567667212791
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.28635728631621,
    "v_std": 0.16320235233667044,
    "vy_max": 0.28307927154165036,
    "a_max": 0.30245169481493694,
    "ax_avg": -0.08966983597114245,
    "a_std": 0.10160650501857381,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b50353ebaee65cbe",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b50353ebaee65cbe",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c67e9184504951c5": {
    "vx_ego": [
      2.536676245949989,
      2.641409911056889,
      2.7599477914793424,
      2.8701150159234037,
      2.993003909742517,
      3.1250380400710305,
      3.2838930720006605,
      3.450478608381694,
      3.614201885069177,
      3.7806283857982645
    ],
    "vy_ego": [
      0.08651148831238964,
      0.05311357264280936,
      0.04744358429985285,
      0.02535716784739106,
      0.02348360930635901,
      0.04513217655571189,
      0.054475257928379595,
      0.04499219151468359,
      0.015538788787635927,
      -0.030314928438692768
    ],
    "v_ego": [
      2.538151022767746,
      2.6419438619752023,
      2.7603555396692863,
      2.8702270277088258,
      2.993096036487979,
      3.125363925249609,
      3.2843448756274514,
      3.4507719316403636,
      3.614235288410894,
      3.7807499238100677
    ],
    "ax_ego": [
      0.1616569977908709,
      0.2981761052480396,
      0.21889109913040672,
      0.25654948956960605,
      0.24905686078958345,
      0.30041865822837693,
      0.3550700659206242,
      0.32239877839713216,
      0.32836396203042256,
      0.33640894122257836
    ],
    "ay_ego": [
      -0.8900621130873032,
      -0.8540694128062654,
      -0.9687956241097361,
      -1.076973607535548,
      -1.0380190267316494,
      -1.0079203730954682,
      -0.8766094420732701,
      -0.6767608078111146,
      -0.29854979923283625,
      -0.28945448365091225
    ],
    "a_ego": [
      0.9046234299907299,
      0.9046234308440882,
      0.9932161268186751,
      1.1071087534323618,
      1.0674796577749304,
      1.051738964150633,
      0.9457900748289159,
      0.7496306846048363,
      0.4437959826116992,
      0.4437959822261941
    ],
    "yaw": [
      -1.0154993099362049,
      -1.1717275775353646,
      -1.337380350111099,
      -1.5110702894813755,
      -1.6902569287508857,
      -1.8644639344664495,
      -2.014441871579444,
      -2.126702698807875,
      -2.1873858982895262,
      -2.214747867337683
    ],
    "yaw_diff": [
      -0.3124565351983195,
      -0.3313055451514688,
      -0.34737987874055287,
      -0.35837327853902057,
      -0.3484140114311276,
      -0.2999558742259887,
      -0.22452165445686223,
      -0.12136639896330248,
      -0.054723938096313596,
      -0.054723938096313596
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.1059239433347425,
    "v_std": 0.3987789994359734,
    "vy_max": 0.08651148831238964,
    "a_max": 1.1071087534323618,
    "ax_avg": 0.2826990958327641,
    "a_std": 0.22990919343299132,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "c67e9184504951c5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c67e9184504951c5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6e944f00e04c5f1c": {
    "vx_ego": [
      8.353051463231377,
      8.56233071047764,
      8.798847219072464,
      8.956451149412732,
      9.030427412341925,
      9.064291880460386,
      9.052504746294538,
      8.956420983777967,
      8.80568552515041,
      8.682517937860398
    ],
    "vy_ego": [
      -0.07182355276728725,
      -0.02202718893277744,
      -0.01795472932078024,
      -0.07536942787117873,
      -0.022211462596380294,
      0.005303004677048584,
      0.029629551354403816,
      0.010803174022228745,
      0.015397311495411792,
      0.048454298232561754
    ],
    "v_ego": [
      8.353360244244467,
      8.562359043665527,
      8.798865538061381,
      8.956768264417377,
      9.030454728231971,
      9.064293431704353,
      9.052553236076472,
      8.95642749913308,
      8.805698986738348,
      8.682653140618068
    ],
    "ax_ego": [
      0.39500882557610284,
      0.45180772493482996,
      0.48996546559832466,
      0.14373075181403644,
      0.154799929813645,
      -0.019920154968656317,
      -0.028074174358854315,
      -0.3566776181474579,
      -0.2462720040460064,
      -0.24630951302109236
    ],
    "ay_ego": [
      1.042505598960538,
      1.0191759838905097,
      0.6824580374315943,
      0.4776241417050229,
      0.38009469940829677,
      0.22829222414973657,
      0.08764988349333463,
      -0.06790715028896117,
      0.0540407982715059,
      0.05386956741873243
    ],
    "a_ego": [
      1.1148317793044304,
      1.114831783925259,
      0.8401280440111295,
      0.4987818659058165,
      0.41040833177287334,
      0.2291596652581096,
      0.09203619582711188,
      0.3630844314311912,
      0.252131528878595,
      0.2521315261893463
    ],
    "yaw": [
      -2.378579018537364,
      -2.323493372015389,
      -2.274938503549209,
      -2.2359973401588613,
      -2.2180629070161397,
      -2.204326270021419,
      -2.1982929004899163,
      -2.195665964912262,
      -2.1965750092165757,
      -2.1972702652060563
    ],
    "yaw_diff": [
      0.11017129304394935,
      0.09710973693236014,
      0.07788232678069562,
      0.03586886628544317,
      0.027473273989441438,
      0.012066739063005372,
      0.005253871155308509,
      -0.0018180886086271997,
      -0.0013905119789612286,
      -0.0013905119789612286
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.826343411289105,
    "v_std": 0.22329665946867472,
    "vy_max": 0.07536942787117873,
    "a_max": 1.114831783925259,
    "ax_avg": 0.07380592331948714,
    "a_std": 0.3547333355528588,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "6e944f00e04c5f1c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6e944f00e04c5f1c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "926ea834d8f256d5": {
    "vx_ego": [
      9.902477648395479,
      9.881138424793832,
      9.83108904033718,
      9.745581593333284,
      9.582228534685065,
      9.63258046441711,
      9.716464427095369,
      9.628535084192432,
      9.601881080334378,
      9.555231660174105
    ],
    "vy_ego": [
      -0.053681825387975834,
      -0.02587291005936887,
      -0.037686530910175264,
      -0.021081212578286213,
      0.008789691438662928,
      0.02601125594408238,
      0.005696681727527242,
      -0.015400357884843174,
      -0.03319453489647284,
      -0.06324942446173942
    ],
    "v_ego": [
      9.902623153253336,
      9.881172297729258,
      9.831161273911126,
      9.745604394281571,
      9.582232566036387,
      9.632615583988906,
      9.716466097053623,
      9.628547400233721,
      9.60193845835466,
      9.55544099292588
    ],
    "ax_ego": [
      -0.04797139595357702,
      -0.033248962151864236,
      -0.1629717359571205,
      -0.17589196992319775,
      -0.4775757847962861,
      0.6760081656126459,
      -0.3420511907349552,
      -0.009016734091307488,
      -0.09551540288443533,
      -0.08657747124150042
    ],
    "ay_ego": [
      0.5676364546591469,
      0.5686887604340289,
      0.5776038521805903,
      0.5715514920450819,
      0.5179430513045171,
      0.3880725892667485,
      0.366841021182182,
      0.38767312977534685,
      0.38374710132635437,
      0.38586185510497367
    ],
    "a_ego": [
      0.5696598980863412,
      0.5696598982973687,
      0.6001549772973099,
      0.5980042584651237,
      0.7045165964109165,
      0.779478912168362,
      0.501568890487824,
      0.3877779739019305,
      0.39545547153194793,
      0.3954554712627258
    ],
    "yaw": [
      2.277414795971154,
      2.303325704584638,
      2.3335479610664933,
      2.361195320410298,
      2.3861901375309102,
      2.4083046096120038,
      2.429630843871217,
      2.451406371942917,
      2.4732888134628825,
      2.496514972909572
    ],
    "yaw_diff": [
      0.051821817226967326,
      0.060444512963711006,
      0.055294718687608935,
      0.049989634241224934,
      0.044228944162187034,
      0.04265246851842619,
      0.043551056143400046,
      0.04376488303993131,
      0.04645231889337875,
      0.04645231889337875
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.707780221776847,
    "v_std": 0.12118459993201229,
    "vy_max": 0.06324942446173942,
    "a_max": 0.779478912168362,
    "ax_avg": -0.07548124821215982,
    "a_std": 0.12591988886897532,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "926ea834d8f256d5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "926ea834d8f256d5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c332bacddbfe53d9": {
    "vx_ego": [
      5.499846880941439,
      5.660792845068839,
      5.805976780901711,
      5.947596007566926,
      6.066606382714926,
      6.1190497534710335,
      6.1169403298803555,
      6.103104880840922,
      6.087189287815942,
      6.05704548697509
    ],
    "vy_ego": [
      -0.04243889562483627,
      -0.04003320391765808,
      -0.03876184236924329,
      -0.019765652973719128,
      0.002901993225757682,
      0.024141574864184,
      0.018637687297621497,
      0.023950693123494737,
      -6.260747697606206e-05,
      -0.025826686117863762
    ],
    "v_ego": [
      5.500010615777312,
      5.660934400979972,
      5.806106170299821,
      5.9476288510854065,
      6.066607076806784,
      6.119097376336712,
      6.116968723371454,
      6.103151876059236,
      6.087189288137905,
      6.057100548034607
    ],
    "ax_ego": [
      0.32015158154666695,
      0.32780815646819134,
      0.25551849621618133,
      0.3124743327467742,
      0.16390181275089905,
      0.04529825312291433,
      -0.05547400563785687,
      0.0004219366451673409,
      -0.06279349445952097,
      -0.058628750772904484
    ],
    "ay_ego": [
      0.2989211857959047,
      0.29050425640002175,
      0.2137633928543908,
      0.19412444108185137,
      0.18298719894223406,
      0.19581025546476993,
      0.05901366285677188,
      -0.08304105715796577,
      -0.2516187302616202,
      -0.25262160964314373
    ],
    "a_ego": [
      0.4380078886098536,
      0.4380078885517974,
      0.3331433475745828,
      0.367864794796788,
      0.24565854188233618,
      0.20098156104768936,
      0.08099368929294253,
      0.08304212909388266,
      0.25933570591977473,
      0.2593357053625363
    ],
    "yaw": [
      -2.372090121591338,
      -2.3461117935258082,
      -2.3243804298146165,
      -2.3102442975906907,
      -2.29836024345974,
      -2.286332891801706,
      -2.2750437476036938,
      -2.276898537849032,
      -2.2866725329368482,
      -2.303191041837466
    ],
    "yaw_diff": [
      0.051956656131059376,
      0.04346272742238355,
      0.02827226444785147,
      0.023768108261901233,
      0.02405470331606807,
      0.022578288396024604,
      -0.0037095804906766006,
      -0.019547990175632357,
      -0.03303701780123536,
      -0.03303701780123536
    ],
    "min_front_frame": [
      9,
      47.08166224885548
    ],
    "v_avg": 5.946479492688921,
    "v_std": 0.20747363597451243,
    "vy_max": 0.04243889562483627,
    "a_max": 0.4380078886098536,
    "ax_avg": 0.12486783186265123,
    "a_std": 0.12094377999584607,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "c332bacddbfe53d9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.679916373805541,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      73.93744074378031,
      71.12747845725802,
      68.23270973823568,
      65.30964262933293,
      62.26513582138103,
      59.22646766221559,
      56.199053903190624,
      53.139008501432635,
      50.125281561087874,
      47.08166224885548
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "lane_change",
    "lane_change_frame": 6,
    "token": "c332bacddbfe53d9",
    "smoothness": "No"
  },
  "99ebd32df2f453f8": {
    "vx_ego": [
      11.706872212415425,
      11.685821144527221,
      11.650274996403013,
      11.637410950239987,
      11.693754258158235,
      11.736433777574097,
      11.763204992878338,
      11.77640734687904,
      11.788790885414564,
      11.843337879728056
    ],
    "vy_ego": [
      0.0016150687325269253,
      -0.01324862568139018,
      -0.0006247029744907984,
      0.015042399807723594,
      -0.012170496056032487,
      -0.00014237019580765065,
      0.01953274062690369,
      0.0022676019457534835,
      -0.01678764768636709,
      -0.017950237535220737
    ],
    "v_ego": [
      11.70687232382208,
      11.685828654740833,
      11.650275013151708,
      11.637420672062927,
      11.693760591493572,
      11.736433778437618,
      11.7632212098742,
      11.776407565197683,
      11.788802838505203,
      11.843351482769942
    ],
    "ax_ego": [
      -0.04261874401000608,
      -0.04171540796120799,
      -0.1009248235599239,
      0.049761159607749336,
      0.17561051182619844,
      -0.005097171731425468,
      0.11222457236509939,
      -0.05945326276933022,
      0.10911769488267357,
      0.10921315422607704
    ],
    "ay_ego": [
      -0.1608691515107845,
      -0.16110576166454596,
      0.05476739236720228,
      -0.11284852213615088,
      -0.09995387663501232,
      0.052971082913417025,
      -0.00395453873840507,
      -0.03458721477501837,
      0.04646292494646966,
      0.046238077541026074
    ],
    "a_ego": [
      0.1664188728744134,
      0.16641887423872181,
      0.11482720617216487,
      0.12333272864013525,
      0.20206392384150776,
      0.05321575692104495,
      0.11229422522624649,
      0.06878201712520704,
      0.11859795416064108,
      0.11859794631737444
    ],
    "yaw": [
      -1.260367518007809,
      -1.2659787140169008,
      -1.2693369125593414,
      -1.271933673675002,
      -1.2741644052812333,
      -1.2761898319423546,
      -1.276822203095578,
      -1.276175139281729,
      -1.2743025788026976,
      -1.272242852694891
    ],
    "yaw_diff": [
      -0.011222392018183314,
      -0.006716397084881365,
      -0.005193522231321079,
      -0.004461463212462657,
      -0.004050853322242531,
      -0.0012647423064469088,
      0.001294127627697872,
      0.0037451209580630085,
      0.004119452215613162,
      0.004119452215613162
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.728237413005578,
    "v_std": 0.06188720958072274,
    "vy_max": 0.01953274062690369,
    "a_max": 0.20206392384150776,
    "ax_avg": 0.030611768287590414,
    "a_std": 0.042461791787553035,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "99ebd32df2f453f8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "99ebd32df2f453f8",
    "road_shape": "Straight"
  },
  "f42bdbb0a30c5854": {
    "vx_ego": [
      1.3654209321352595,
      2.0960495431975357,
      2.844594687176893,
      3.6316894774085786,
      4.392175302762948,
      5.056979153708505,
      5.658658140709857,
      6.2164557897413815,
      6.6726345621280485,
      7.05610856227611
    ],
    "vy_ego": [
      -0.004822014751185932,
      -0.016806132439570742,
      -0.019469036067255585,
      -0.009468816765550336,
      0.004930169490194203,
      0.008429541291988585,
      0.01494277411228584,
      0.02309135392246997,
      0.0075063929590371,
      -0.06759435423790006
    ],
    "v_ego": [
      1.3654294466355197,
      2.0961169179285237,
      2.844661311594123,
      3.631701821296888,
      4.392178069793163,
      5.056986179357105,
      5.658677870308585,
      6.2164986766213595,
      6.672638784292241,
      7.0564323166421055
    ],
    "ax_ego": [
      1.4612088078863332,
      1.4612468138114678,
      1.532846320137051,
      1.6154251897559646,
      1.4264969430803274,
      1.2328496620687295,
      1.1739158032682546,
      1.0575374154593749,
      0.7674007845923573,
      0.7670079309422294
    ],
    "ay_ego": [
      -0.029544309220617015,
      -0.02760066454357679,
      0.007387295948042882,
      0.008908924787452088,
      0.007249664102772946,
      -0.04185680263495595,
      0.012959042302148172,
      -0.041031319362525964,
      -0.08914871723843143,
      -0.09246776544396434
    ],
    "a_ego": [
      1.4615074568581312,
      1.4615074572363338,
      1.5328641209510785,
      1.6154497555290794,
      1.4265153648829452,
      1.2335600030763814,
      1.1739873295484669,
      1.0583331017525268,
      0.7725616208291889,
      0.7725616181085362
    ],
    "yaw": [
      -0.5226025117163764,
      -0.5239326563893463,
      -0.5249038360156251,
      -0.526739799840069,
      -0.5293068192455614,
      -0.5318656109219874,
      -0.5344261305297913,
      -0.5369742441273946,
      -0.5395912056459915,
      -0.5352650463571567
    ],
    "yaw_diff": [
      -0.002660289345939759,
      -0.0019423592525575906,
      -0.003671927648887907,
      -0.005134038810984842,
      -0.00511758335285184,
      -0.005121039215607803,
      -0.005096227195206637,
      -0.005233923037193833,
      0.008652318577669682,
      0.008652318577669682
    ],
    "min_front_frame": [
      0,
      14.008303876226659
    ],
    "v_avg": 4.499132139446961,
    "v_std": 1.8698859205347063,
    "vy_max": 0.06759435423790006,
    "a_max": 1.6154497555290794,
    "ax_avg": 1.249593567100209,
    "a_std": 0.2885940926289802,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f42bdbb0a30c5854",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.36936299549558,
    "speed_mode": "accelerating",
    "front_frame": [
      14.008303876226659,
      14.928290725529179,
      15.936252460458899,
      16.91929791189822,
      17.57510137235147,
      18.306262731485067,
      18.96366359738849,
      19.46791001390156,
      19.998168457831113,
      20.30709365223006
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f42bdbb0a30c5854",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3b0c5c39455b5d00": {
    "vx_ego": [
      7.200369694986577,
      7.216161187107604,
      7.2314195163159685,
      7.2565818131679585,
      7.326099840627085,
      7.4158670455767215,
      7.521739601136393,
      7.64662611604608,
      7.781211475647899,
      7.929483274687961
    ],
    "vy_ego": [
      -0.007845910492675134,
      -0.012674223613772906,
      -0.011304019771214424,
      -0.01927851527170743,
      -0.02041676331649267,
      -0.037878338555140445,
      -0.00016652953516738123,
      0.021677548171387784,
      0.00234099286343481,
      -0.012220668627334952
    ],
    "v_ego": [
      7.20037396964856,
      7.216172317389769,
      7.23142835142674,
      7.256607421677919,
      7.326128289830893,
      7.415963781343764,
      7.5217396029798556,
      7.646656843006143,
      7.781211827794057,
      7.9294926917362
    ],
    "ax_ego": [
      0.01846755930497479,
      0.046489980300161104,
      0.021130935965535225,
      0.0801309905225987,
      0.19579701620624065,
      0.16961767928785165,
      0.25400040973827037,
      0.2427642287766759,
      0.29556310986276557,
      0.2977521859717052
    ],
    "ay_ego": [
      0.6313561883231353,
      0.6299129842165992,
      0.8011631845179135,
      0.7019426652363312,
      0.4336888800893476,
      0.5543820270890721,
      0.4115626159083664,
      0.0799055913669266,
      0.17335027970179384,
      0.16956269425740542
    ],
    "a_ego": [
      0.6316262243452223,
      0.6316262232942604,
      0.8014418036773873,
      0.7065015788526002,
      0.47583875028040684,
      0.5797495917086835,
      0.4836320863637428,
      0.2555765527297692,
      0.3426483202708564,
      0.3426483204902065
    ],
    "yaw": [
      -1.0633627085764261,
      -1.0189347431917741,
      -0.9696295548659792,
      -0.9166129852158232,
      -0.8774465300454668,
      -0.8415851546715611,
      -0.8142648680844167,
      -0.800947312525279,
      -0.790223774016382,
      -0.7774564155133328
    ],
    "yaw_diff": [
      0.08885593076930398,
      0.09861037665158978,
      0.106033139300312,
      0.07833291034071288,
      0.07172275074781131,
      0.05464057317428894,
      0.026635111118275434,
      0.021447077017793914,
      0.02553471700609844,
      0.02553471700609844
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.4525775096833895,
    "v_std": 0.2453638166333608,
    "vy_max": 0.037878338555140445,
    "a_max": 0.8014418036773873,
    "ax_avg": 0.1621714095936779,
    "a_std": 0.16682923769345515,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "3b0c5c39455b5d00",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3b0c5c39455b5d00",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "432dcd9a21c25043": {
    "vx_ego": [
      1.3426062033286486,
      1.0922749485168304,
      0.8860269565288377,
      0.7378252526925497,
      0.6040086128382518,
      0.4634137938767583,
      0.3351047692521769,
      0.25857911453704985,
      0.2033290324543618,
      0.137067676949445
    ],
    "vy_ego": [
      -0.005945544011492387,
      0.0034004134980619716,
      0.003532374302281649,
      0.005719667658435124,
      0.012220867095616872,
      -0.004249218192615284,
      -0.028277544358845802,
      -0.035971274699565806,
      -0.03156579348606223,
      -0.02176165877120373
    ],
    "v_ego": [
      1.342619367769645,
      1.0922802414991322,
      0.8860339978601082,
      0.7378474219707946,
      0.6041322321937126,
      0.46343327482011804,
      0.3362957417073865,
      0.26106913084138533,
      0.20576465866914959,
      0.13878442944650426
    ],
    "ax_ego": [
      -0.5006600616411641,
      -0.5006668651402921,
      -0.32433225636565965,
      -0.26847473236701297,
      -0.26679085241080247,
      -0.2955868636734677,
      -0.21765508547162918,
      -0.08846366546044115,
      -0.13252685671295053,
      -0.13252872196617393
    ],
    "ay_ego": [
      0.017854122040428938,
      0.017662105311279985,
      -0.016235224249106534,
      0.02468111823595502,
      0.0012693191684031713,
      -0.0672160153226723,
      -0.029005768845985727,
      -0.0018967136490421407,
      0.019582181423954362,
      0.01956957045001121
    ],
    "a_ego": [
      0.5009783099060964,
      0.5009783027371886,
      0.32473834856028133,
      0.26960682394352786,
      0.2667938719334345,
      0.3031329521714439,
      0.21957930425704733,
      0.0884839964590395,
      0.13396577764315626,
      0.133965780084264
    ],
    "yaw": [
      -0.7142916840815391,
      -0.714675191758125,
      -0.7144427853546601,
      -0.7145369737038529,
      -0.7145572308004815,
      -0.7145880979123498,
      -0.7146577149059101,
      -0.7147713200469838,
      -0.7147041275482395,
      -0.7147993038831855
    ],
    "yaw_diff": [
      -0.0007670153531718071,
      0.0004648128069297819,
      -0.00018837669838567273,
      -4.051419325712402e-05,
      -6.173422373656479e-05,
      -0.00013923398712067936,
      -0.00022721028214744976,
      0.00013438499748863464,
      -0.00019035266989186894,
      -0.00019035266989186894
    ],
    "min_front_frame": [
      9,
      9.836267997439668
    ],
    "v_avg": 0.6068260496777937,
    "v_std": 0.3828051324428129,
    "vy_max": 0.035971274699565806,
    "a_max": 0.5009783099060964,
    "ax_avg": -0.2727685961209594,
    "a_std": 0.13532520525323358,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "432dcd9a21c25043",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 3.929240165027112,
    "speed_mode": "decelerating",
    "front_frame": [
      12.614668128310402,
      11.945608492754083,
      11.437670472365161,
      11.027757203114023,
      10.671356472943279,
      10.382599177432075,
      10.245830270607506,
      10.08438177164718,
      9.955424714172509,
      9.836267997439668
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "432dcd9a21c25043",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c2ddfc9b18815c97": {
    "vx_ego": [
      2.4225202372018853,
      2.110864093615662,
      1.7769059958816347,
      1.412080445108282,
      1.0562584361602816,
      0.7295118918334421,
      0.4450791235084294,
      0.2418026874534147,
      0.1013229763981577,
      -0.02623264920954603
    ],
    "vy_ego": [
      0.008941130572900913,
      -0.0226026064430348,
      -0.01587969654304683,
      0.0018535811721934192,
      -0.01283479988833075,
      -0.010364657936405036,
      0.010616592610598094,
      0.015492064596377253,
      -0.017147543748612187,
      -0.0789536920465427
    ],
    "v_ego": [
      2.4225367372794575,
      2.110985101684493,
      1.7769769505996422,
      1.4120816616684624,
      1.0563364123459615,
      0.7295855168933567,
      0.4452057257287816,
      0.24229846001399202,
      0.1027637280502814,
      0.0831975803273833
    ],
    "ax_ego": [
      -0.6230703595741306,
      -0.6232328692242269,
      -0.7113943220311858,
      -0.7480613960313552,
      -0.6752279823379871,
      -0.6314365143904984,
      -0.506330727704381,
      -0.30690738511049614,
      -0.25508011071913306,
      -0.2551044840327554
    ],
    "ay_ego": [
      -0.01874510335048904,
      -0.012200099371809103,
      0.10787941261945025,
      0.00541000641339226,
      -0.039038294505211846,
      0.06077541798304967,
      0.028053429032061178,
      -0.006118124068352285,
      -0.12362263992077326,
      -0.12357233566573292
    ],
    "a_ego": [
      0.6233522694909011,
      0.6233522693518845,
      0.7195275179486383,
      0.7480809584542124,
      0.6763555400601852,
      0.6343545720940589,
      0.5071072871672275,
      0.30696836071080374,
      0.2834579686399138,
      0.2834579685165032
    ],
    "yaw": [
      1.2608047877749187,
      1.2713077595124769,
      1.2801045067703787,
      1.2867264772526192,
      1.2918537918893103,
      1.2951939974771998,
      1.2973385699390185,
      1.299248550736996,
      1.3004868073937401,
      1.3006840093509795
    ],
    "yaw_diff": [
      0.021005943475116418,
      0.01759349451580361,
      0.013243940964481116,
      0.010254629273382054,
      0.006680411175779,
      0.004289144923637522,
      0.0038199615959548794,
      0.0024765133134883044,
      0.0003944039144787581,
      0.0003944039144787581
    ],
    "min_front_frame": [
      8,
      13.278223070302898
    ],
    "v_avg": 1.038196787459181,
    "v_std": 0.8136693982146598,
    "vy_max": 0.0789536920465427,
    "a_max": 0.7480809584542124,
    "ax_avg": -0.533584615115615,
    "a_std": 0.17433540109523205,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c2ddfc9b18815c97",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.43411840598021,
      16.46844039192372,
      15.54473009699038,
      14.694260465632798,
      14.147535550526387,
      13.781246968015013,
      13.470598023917068,
      13.318606631928672,
      13.278223070302898,
      13.353254891658445
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c2ddfc9b18815c97",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "704fafc3d8fd5258": {
    "vx_ego": [
      5.661506796040978,
      5.995743640864971,
      6.34128638845246,
      6.684843404279154,
      7.037370035777938,
      7.352833537350917,
      7.5905672232676915,
      7.782533150565955,
      7.956042840396666,
      8.133335514125157
    ],
    "vy_ego": [
      0.06226743611214125,
      0.042990150911672576,
      0.04958651145849147,
      0.03846073840957098,
      0.02302213965559652,
      0.015700511377243487,
      0.02419958869998773,
      0.028500361208294578,
      0.015051722812402968,
      -0.013069409672888721
    ],
    "v_ego": [
      5.661849206329869,
      5.995897760973593,
      6.341480259568034,
      6.68495404383108,
      7.03740769313385,
      7.352850299989107,
      7.590605798685573,
      7.782585335879527,
      7.956057078263496,
      8.133346014697686
    ],
    "ax_ego": [
      0.6639955157552347,
      0.6799883694898589,
      0.7043022781405399,
      0.6728609040136986,
      0.7394705552793602,
      0.522718305647716,
      0.4295568149405451,
      0.33969686124439286,
      0.35453562903104163,
      0.3546400693920027
    ],
    "ay_ego": [
      -0.4633157603754652,
      -0.4395080872743533,
      -0.22133380905996777,
      -0.2380162407036829,
      -0.26716200237985366,
      -0.16080000901108704,
      -0.20294774751881506,
      -0.1972302185535717,
      -0.07807027767651029,
      -0.07759445838186496
    ],
    "a_ego": [
      0.8096613728932335,
      0.8096613745394042,
      0.7382617110665761,
      0.7137181005052662,
      0.7862520191648339,
      0.5468921922620442,
      0.4750861453303247,
      0.3928023888038131,
      0.36302958627214366,
      0.36302958390458967
    ],
    "yaw": [
      2.977995619458625,
      2.9425708148329397,
      2.9147066679766622,
      2.8987929603300033,
      2.882616526841285,
      2.868816389148093,
      2.8555289421766017,
      2.8419739127566332,
      2.8349352432483066,
      2.8335933562164204
    ],
    "yaw_diff": [
      -0.07084960925137018,
      -0.055728293712554944,
      -0.031827415293317785,
      -0.03235286697743689,
      -0.027600275386383544,
      -0.026574893942982847,
      -0.02711005883993689,
      -0.014077339016653312,
      -0.002683774063772404,
      -0.002683774063772404
    ],
    "min_front_frame": [
      6,
      22.204810320366278
    ],
    "v_avg": 7.053703349135182,
    "v_std": 0.8117023205574209,
    "vy_max": 0.06226743611214125,
    "a_max": 0.8096613745394042,
    "ax_avg": 0.5461765302934392,
    "a_std": 0.18119551947054632,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "704fafc3d8fd5258",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.394786649622432,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      25.634731126080872,
      26.533051235267493,
      27.345405155584167,
      27.97210359740493,
      28.6870468840559,
      25.88435851746161,
      22.204810320366278,
      30.222819818644137,
      30.56822576849724,
      30.65721607168151
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "704fafc3d8fd5258",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b8104b69b2d9509b": {
    "vx_ego": [
      4.919287726047165,
      5.043408283248518,
      5.305544620043797,
      5.608306871308363,
      5.753635626870424,
      5.6686056041108905,
      5.46457371006688,
      5.184440997604007,
      4.798994829682833,
      4.335841526737314
    ],
    "vy_ego": [
      -0.08064947850722781,
      -0.0922660157815649,
      -0.08399899890496387,
      -0.035740734206659575,
      -0.09493012751506447,
      -0.08420238549148484,
      -0.03707359687098766,
      -0.018352130987926207,
      -0.014736020101231206,
      0.01657075322980095
    ],
    "v_ego": [
      4.919948787337301,
      5.044252187312602,
      5.306209527251323,
      5.608420754797756,
      5.754418707037458,
      5.669230947551868,
      5.464699468803299,
      5.184473479375608,
      4.799017454189033,
      4.3358731917391635
    ],
    "ax_ego": [
      0.08907099345136349,
      0.47032960705398885,
      0.6120851208833511,
      0.6017164600683476,
      -0.026359642332141858,
      -0.3051830565634651,
      -0.5064772444108123,
      -0.6130614421382289,
      -0.9275793018587102,
      -0.9249969669686575
    ],
    "ay_ego": [
      1.9556669926019623,
      1.9003571006857651,
      1.5984567072880376,
      1.166235302734938,
      0.4992312983550112,
      0.3023821155761686,
      0.30006256480513027,
      0.18232738333991882,
      0.18168760021910374,
      0.19440773079792206
    ],
    "a_ego": [
      1.9576943141939236,
      1.957694319703249,
      1.7116401608635214,
      1.3123137885667573,
      0.49992671463036326,
      0.4296180185161448,
      0.5886907013902994,
      0.6395995673483423,
      0.9452056629697417,
      0.9452056679343459
    ],
    "yaw": [
      -2.628476628441507,
      -2.4313702590568758,
      -2.263744232823637,
      -2.1460918217388807,
      -2.063569428694369,
      -2.0305622475843697,
      -2.0120565202344767,
      -1.9929714387943147,
      -1.9756021545228573,
      -1.9618699969470053
    ],
    "yaw_diff": [
      0.3942127387692622,
      0.33525205246647793,
      0.2353048221695122,
      0.16504478608902318,
      0.0660143622199989,
      0.03701145469978595,
      0.03817016288032393,
      0.034738568542914905,
      0.027464315151704,
      0.027464315151704
    ],
    "min_front_frame": [
      9,
      39.367487533378394
    ],
    "v_avg": 5.208654450539541,
    "v_std": 0.42253897496431314,
    "vy_max": 0.09493012751506447,
    "a_max": 1.957694319703249,
    "ax_avg": -0.15304554728149647,
    "a_std": 0.5675625770351327,
    "ini_direction_judge": "left",
    "scenario_type": "carpark_areas",
    "scene_token": "b8104b69b2d9509b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.53860842158725,
    "right_rear_min": null,
    "speed_mode": "accelerate_then_decelerate",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      52.31726632648885,
      49.46840652067281,
      46.74174508306187,
      44.14183235310633,
      41.627703318331015,
      39.367487533378394
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "b8104b69b2d9509b",
    "maneuvering": "Yes"
  },
  "c64f55518a18575b": {
    "vx_ego": [
      7.562843721572172,
      6.836839610528698,
      6.089498720183892,
      5.346372002698102,
      4.601438044300333,
      3.8281068594428334,
      3.0656967105482424,
      2.3389564744096947,
      1.6552932053428666,
      0.9909832683259494
    ],
    "vy_ego": [
      -0.0026235601462065716,
      -0.003323507773048462,
      -0.0008868915124602417,
      0.0068403891413000295,
      0.013786280959722674,
      -0.005179847422157824,
      -0.02318236269543883,
      -0.016504294646006556,
      -0.00551211636197968,
      0.005114675446654338
    ],
    "v_ego": [
      7.562844176630341,
      6.836840418336391,
      6.089498784768564,
      5.346376378647291,
      4.601458696661003,
      3.8281103638913794,
      3.0657843601607824,
      2.3390147030159496,
      1.6553023829744973,
      0.9909964672020305
    ],
    "ax_ego": [
      -1.4520189837026307,
      -1.4520071553556182,
      -1.5373693542959557,
      -1.4351376831096512,
      -1.5446287826161909,
      -1.548737511941789,
      -1.5009020770031243,
      -1.4059866654729452,
      -1.328626725724587,
      -1.328612254179553
    ],
    "ay_ego": [
      -0.013148180467377535,
      -0.014395729689338665,
      0.006270667735217228,
      0.027241694041422626,
      0.013197644895007632,
      -0.07790052540344261,
      0.006031937194754922,
      0.029222870476468876,
      0.022504432732370683,
      0.023342938397726942
    ],
    "a_ego": [
      1.4520785115421353,
      1.4520785158651728,
      1.537382142735569,
      1.4353962098931374,
      1.5446851633640917,
      1.5506954480986186,
      1.5009141977536937,
      1.4062903255183887,
      1.3288173033951065,
      1.328817299228571
    ],
    "yaw": [
      2.4424655782064004,
      2.4416063877933105,
      2.440916243432743,
      2.4410303170067253,
      2.441664679307589,
      2.4423266522678264,
      2.442336930121892,
      2.4431307084954916,
      2.444106652038295,
      2.4447377672073394
    ],
    "yaw_diff": [
      -0.0017183808261798106,
      -0.0013802887211351589,
      0.00022814714796481894,
      0.0012687246017275555,
      0.0013239459204745785,
      2.0555708131198003e-05,
      0.001587556747199237,
      0.001951887085606785,
      0.001262230338088699,
      0.001262230338088699
    ],
    "min_front_frame": [
      9,
      13.773276020944007
    ],
    "v_avg": 4.231622673228823,
    "v_std": 2.1203397107074986,
    "vy_max": 0.02318236269543883,
    "a_max": 1.5506954480986186,
    "ax_avg": -1.4534027193402046,
    "a_std": 0.077908688376885,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c64f55518a18575b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 34.27113798591749,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      28.845251094070974,
      25.315361291357345,
      25.888570489475747,
      23.073483032473415,
      20.596652891939943,
      18.499737358542127,
      16.772181168591505,
      15.445467507416161,
      14.407978722785176,
      13.773276020944007
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c64f55518a18575b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "059ca66ac38a5c28": {
    "vx_ego": [
      0.3211302940749801,
      1.1743975224223184,
      2.0205633150859654,
      2.810401841193299,
      3.5195157090053404,
      4.177492209203173,
      4.813228931282242,
      5.308127381933928,
      5.5774959958943855,
      5.771380216489322
    ],
    "vy_ego": [
      -0.017731169095951488,
      -0.0019496367222493483,
      0.00534717659618178,
      -0.006204916243452319,
      -0.013879628319157344,
      -0.01397261010293449,
      -0.0018678502260951468,
      0.007780633570831252,
      0.005574428814021148,
      -0.1331056725550297
    ],
    "v_ego": [
      0.3216194336948444,
      1.174399140733264,
      2.020570390401863,
      2.8104086909145924,
      3.519543076880526,
      4.177515576486376,
      4.813229293706758,
      5.3081330843428844,
      5.57749878157535,
      5.772914924312558
    ],
    "ax_ego": [
      1.7063330144003683,
      1.7071323969171928,
      1.6805067008792836,
      1.47617964210979,
      1.3603794746163735,
      1.2714580481538067,
      1.2715436562492348,
      0.7084422314407991,
      0.3752885934584918,
      0.4182617635681174
    ],
    "ay_ego": [
      0.0664696805665036,
      0.041103996820270106,
      0.2194303093568798,
      0.05197440375842799,
      0.002565166918089834,
      -0.029625718617865837,
      0.0888849933629246,
      0.1818635050443898,
      0.5878641500665274,
      0.5581065174855978
    ],
    "a_ego": [
      1.7076271766598412,
      1.7076271721774752,
      1.6947720886197737,
      1.4770943349784507,
      1.3603818930869516,
      1.271803149633902,
      1.2746465438672792,
      0.7314128312764615,
      0.6974423182697576,
      0.6974423185633445
    ],
    "yaw": [
      2.625668171635593,
      2.640530034091214,
      2.6766558189653145,
      2.7091816299100406,
      2.7158839310220064,
      2.7141552219844067,
      2.714758079337445,
      2.7260691832470707,
      2.7615545067493725,
      2.8365181096411036
    ],
    "yaw_diff": [
      0.029723724911241867,
      0.07225156974820113,
      0.06505162188945235,
      0.013404602223931583,
      -0.003457418075199392,
      0.0012057147060762219,
      0.022622207819251727,
      0.07097064700460365,
      0.1499272057834622,
      0.1499272057834622
    ],
    "min_front_frame": [
      4,
      57.05519261455952
    ],
    "v_avg": 3.5495832393049014,
    "v_std": 1.8189462527903602,
    "vy_max": 0.1331056725550297,
    "a_max": 1.7076271766598412,
    "ax_avg": 1.1975525521793458,
    "a_std": 0.39492188259619404,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "059ca66ac38a5c28",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      61.18220760499008,
      60.69433138612963,
      59.92632085925247,
      58.66440273228266,
      57.05519261455952,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "059ca66ac38a5c28",
    "pedestrians": "No"
  },
  "33c58e00f5805824": {
    "vx_ego": [
      3.1032731478124465,
      3.7008601288568634,
      4.304306542121797,
      4.946249876142036,
      5.50394874889109,
      5.9292906568311405,
      6.281758498686007,
      6.585675469406484,
      6.889786047295399,
      7.217889021169043
    ],
    "vy_ego": [
      0.005537219390391868,
      0.013794197204022196,
      -0.013455633969638336,
      -0.02680994278870774,
      -0.03384721017141934,
      -0.039327634185667065,
      -0.04449348220092114,
      -0.031702171935334644,
      -0.023556403723031805,
      -0.04521690316743232
    ],
    "v_ego": [
      3.10327808788261,
      3.7008858362882453,
      4.3043275738073214,
      4.9463225339910295,
      5.5040528216993145,
      5.929421081015894,
      6.281916069621771,
      6.585751773036069,
      6.889826317234906,
      7.218030651794481
    ],
    "ax_ego": [
      1.1915467587561537,
      1.1972645596165663,
      1.221390331866942,
      1.356990308828825,
      0.8896686364244882,
      0.8266376246384318,
      0.6044598822629829,
      0.6268027651267967,
      0.6045394561127765,
      0.7176665352571511
    ],
    "ay_ego": [
      0.2222559170692052,
      0.18904746608595244,
      0.41033721222817626,
      0.612592329941193,
      0.8268479135638003,
      0.9207641486702474,
      1.0965264858563892,
      1.156175739128971,
      1.2707143795596323,
      1.2104287465593218
    ],
    "a_ego": [
      1.2120979213638512,
      1.212097921022625,
      1.2884762203926117,
      1.4888559570885724,
      1.2145730751182564,
      1.2373909567894514,
      1.2520950776398498,
      1.315151719810692,
      1.4071897485473495,
      1.407189754910536
    ],
    "yaw": [
      -0.3061970938571609,
      -0.2783955658281714,
      -0.23412401057810384,
      -0.17574920097510938,
      -0.1063351773641063,
      -0.029094616587349742,
      0.05392693838066093,
      0.1394587626458473,
      0.22820331484460415,
      0.31932968369858067
    ],
    "yaw_diff": [
      0.055603056057978995,
      0.08854311050013508,
      0.11674961920598892,
      0.13882804722200615,
      0.15448112155351312,
      0.16604310993602134,
      0.17106364853037276,
      0.1774891043975137,
      0.18225273770795303,
      0.18225273770795303
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.446381274637164,
    "v_std": 1.3246299242985777,
    "vy_max": 0.04521690316743232,
    "a_max": 1.4888559570885724,
    "ax_avg": 0.9236966858891116,
    "a_std": 0.09372885618064926,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "33c58e00f5805824",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.659742415000512,
    "right_rear_min": 6.884418592815536,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "33c58e00f5805824",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "bedb83878e215e4e": {
    "vx_ego": [
      7.432094191583467,
      7.2345017632787805,
      7.056578902611442,
      6.952928436458011,
      6.957283643378647,
      7.077478530816105,
      7.236897143039322,
      7.272038394083644,
      7.320175466012793,
      7.48038366233007
    ],
    "vy_ego": [
      -0.08815401613574059,
      -0.06153012132347957,
      -0.04715319525042583,
      -0.0275470950116401,
      0.013678435921699705,
      0.0264807606900348,
      0.046016557427893456,
      0.040515021169153176,
      0.015200851084473666,
      0.014151249148552925
    ],
    "v_ego": [
      7.432616982135536,
      7.234763418295989,
      7.056736443470396,
      6.952983006231931,
      6.957297089677378,
      7.077528070226894,
      7.237043442075515,
      7.272151254750341,
      7.320191248805546,
      7.480397047851611
    ],
    "ax_ego": [
      -0.39557579618001015,
      -0.3888058395158977,
      -0.3139999955745709,
      -0.09716023480535582,
      0.1125492339000641,
      0.36875190715051015,
      0.27087973292025797,
      -0.1268783411475177,
      0.3199431239940399,
      0.3214644374814539
    ],
    "ay_ego": [
      0.33896296042141466,
      0.34670754470198956,
      0.5306878167074736,
      0.44580786761007846,
      0.05846778865040988,
      -0.09891416054425406,
      -0.15105301498338786,
      -0.28726192865793165,
      -0.15271990084842113,
      -0.14949110099432122
    ],
    "a_ego": [
      0.5209377113063504,
      0.5209377145062009,
      0.6166243232492339,
      0.45627268825832334,
      0.12682985595340057,
      0.3817878732795385,
      0.31014971069230723,
      0.3140342801488724,
      0.354523582722246,
      0.3545235871444409
    ],
    "yaw": [
      2.417891279426011,
      2.4376376111864606,
      2.466358515765434,
      2.498532455674411,
      2.510777171933535,
      2.5074968952788628,
      2.4960557079152976,
      2.4818069717580493,
      2.4701112051129215,
      2.460043418872539
    ],
    "yaw_diff": [
      0.03949266352089964,
      0.05744180915794672,
      0.0643478798179542,
      0.024489432518247867,
      -0.0065605533093444635,
      -0.022882374727130284,
      -0.02849747231449662,
      -0.023391533290255673,
      -0.020135572480764807,
      -0.020135572480764807
    ],
    "min_front_frame": [
      3,
      22.585632806858502
    ],
    "v_avg": 7.202170800352114,
    "v_std": 0.17617162395945296,
    "vy_max": 0.08815401613574059,
    "a_max": 0.6166243232492339,
    "ax_avg": 0.007116822822297375,
    "a_std": 0.13179886192190673,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "bedb83878e215e4e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      33.27694157963056,
      29.711438418647752,
      26.182497724342518,
      22.585632806858502,
      40.84109479112144,
      -1,
      50.19467460507812,
      42.645362444001194,
      39.14238241530866,
      61.16890150915066
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5555555555555556,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4444444444444444,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "bedb83878e215e4e",
    "merging_vehicles": "No"
  },
  "e02f26d0eb0152e3": {
    "vx_ego": [
      3.5208443009533275,
      3.3129535839771003,
      3.130668960991732,
      2.9635147449642614,
      2.8205013810916224,
      2.719619366559434,
      2.6480170053569343,
      2.584363036172898,
      2.495049490847218,
      2.393430902977371
    ],
    "vy_ego": [
      -0.03117978378424524,
      -0.009327779618850673,
      0.005928464107063602,
      0.018827550983411434,
      0.028787699462823058,
      0.025122592470797067,
      0.010782722380066001,
      -0.00897617142459306,
      -0.007329568873513603,
      0.02655774944706346
    ],
    "v_ego": [
      3.5209823587277964,
      3.3129667153563935,
      3.130674574273685,
      2.9635745511622655,
      2.8206482893796085,
      2.719735399559595,
      2.648038958882862,
      2.5843786244260425,
      2.4950602566585105,
      2.393578242168567
    ],
    "ax_ego": [
      -0.4158451952619992,
      -0.41505386415167383,
      -0.3141855781897664,
      -0.35472242870214304,
      -0.21819822068581338,
      -0.18602807721069378,
      -0.10060863610901198,
      -0.15404371929657656,
      -0.2031701790527658,
      -0.20325235890976998
    ],
    "ay_ego": [
      0.09689903807857196,
      0.10023442443654428,
      0.06069485986044874,
      0.07930235239187249,
      0.052222274487777644,
      -0.01159392277547911,
      -0.012027273874524605,
      -0.0501180722503313,
      0.061347959168773475,
      0.06107513608583828
    ],
    "a_ego": [
      0.426985538400357,
      0.42698553838433617,
      0.31999444300787055,
      0.36347883641173895,
      0.22436048997791858,
      0.18638901404329503,
      0.10132498693100539,
      0.16199163132955943,
      0.2122302847156984,
      0.21223028447959452
    ],
    "yaw": [
      1.4023886976135698,
      1.4104170321376264,
      1.418199635144499,
      1.4254404504404916,
      1.4334130920239185,
      1.4384101890316017,
      1.4415654899827808,
      1.4431753894082104,
      1.4436313746955425,
      1.4422888183252291
    ],
    "yaw_diff": [
      0.016056669048113204,
      0.015565206013745225,
      0.014481630591985262,
      0.01594528316685384,
      0.009994194015366276,
      0.006310601902358215,
      0.0032197988508593234,
      0.0009119705746640783,
      -0.0026851127406266606,
      -0.0026851127406266606
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.8589637970595327,
    "v_std": 0.34912831634664115,
    "vy_max": 0.03117978378424524,
    "a_max": 0.426985538400357,
    "ax_avg": -0.2565108257570214,
    "a_std": 0.10769502990549229,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e02f26d0eb0152e3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e02f26d0eb0152e3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "94689128d3bb5ac8": {
    "vx_ego": [
      3.55170558618723,
      3.3216125366563594,
      3.1400669868757167,
      3.039797963231201,
      2.960337128471079,
      2.863873718774405,
      2.776164451592406,
      2.6757636541495007,
      2.566180759053223,
      2.4729429265923066
    ],
    "vy_ego": [
      -0.008128327808194058,
      -0.012283815237648543,
      -0.009296004914495448,
      -0.005210746787626119,
      0.005551541173960173,
      0.02023120180360949,
      0.004821157227510753,
      -0.003326239017044097,
      0.0031725878568422683,
      0.008038513720485918
    ],
    "v_ego": [
      3.5517148872997297,
      3.3216352502629616,
      3.140080747014973,
      3.0398024292948125,
      2.9603423338887347,
      2.8639451773058013,
      2.776168637860888,
      2.6757657215708344,
      2.5661827201991456,
      2.47295599149798
    ],
    "ax_ego": [
      -0.4646356142300311,
      -0.4568353020530503,
      -0.27112207328990645,
      -0.13080937232143647,
      -0.18653438605328287,
      -0.19517911457162992,
      -0.15351359654458696,
      -0.24952405236844455,
      -0.1898404111816529,
      -0.18205666968934184
    ],
    "ay_ego": [
      -0.2280833274756255,
      -0.24333056543406034,
      -0.23714292289134864,
      -0.253719719616758,
      -0.27343350895114354,
      -0.3185788846492955,
      -0.3043930774374115,
      -0.23661416466110533,
      -0.18945850193544778,
      -0.1969499308516961
    ],
    "a_ego": [
      0.5175985493442496,
      0.5175985483715746,
      0.36019986743816207,
      0.2854554045898141,
      0.33099994108399816,
      0.37361396187690116,
      0.3409128479771219,
      0.3438728189732985,
      0.2682049695163069,
      0.26820497057448806
    ],
    "yaw": [
      2.7731969913916306,
      2.740106749968214,
      2.70173223430796,
      2.660467033898689,
      2.613070180216969,
      2.557241096988603,
      2.5073962234253635,
      2.4609816117748364,
      2.4177450007609567,
      2.3774627966382575
    ],
    "yaw_diff": [
      -0.06618048284683287,
      -0.07674903132050837,
      -0.08253040081854213,
      -0.09479370736343995,
      -0.11165816645673221,
      -0.0996897471264786,
      -0.09282922330105414,
      -0.08647322202775953,
      -0.08056440824539823,
      -0.08056440824539823
    ],
    "min_front_frame": [
      4,
      13.664999415671486
    ],
    "v_avg": 2.9368593896195856,
    "v_std": 0.3210082310076745,
    "vy_max": 0.02023120180360949,
    "a_max": 0.5175985493442496,
    "ax_avg": -0.24800505923033636,
    "a_std": 0.08586647049692224,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "94689128d3bb5ac8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      38.16251058500117,
      13.664999415671486,
      13.757403809620365,
      13.848777570607634,
      14.002478826992572,
      14.18545426595333,
      14.378399140835542
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5714285714285714,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.42857142857142855,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "94689128d3bb5ac8",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2c43056133655292": {
    "vx_ego": [
      10.290024134331995,
      10.262885432061113,
      10.27272980272383,
      10.420380098428824,
      10.622263852637827,
      10.784636983433117,
      10.9751999824434,
      11.163081429382636,
      11.326927964722953,
      11.482545356389688
    ],
    "vy_ego": [
      -0.05624451789354501,
      -0.05514448553924395,
      -0.018911620016374243,
      0.02384585570619735,
      0.010376699533960754,
      -0.004354282793463393,
      -0.026254022966903268,
      -0.049331024922564914,
      -0.01402889932407314,
      0.006388925185262018
    ],
    "v_ego": [
      10.290177847390588,
      10.263033582031076,
      10.272747210417572,
      10.4204073826586,
      10.62226892104269,
      10.784637862451016,
      10.975231383818182,
      11.163190428772923,
      11.32693665242457,
      11.482547133798816
    ],
    "ax_ego": [
      -0.06686890117548762,
      -0.04835823123785174,
      0.08067113806924431,
      0.5123280776341335,
      0.2952248170519841,
      0.3540810881667312,
      0.4069003295818952,
      0.34233351741921375,
      0.31122957195712353,
      0.31121781876909904
    ],
    "ay_ego": [
      -0.6147699974725875,
      -0.6165022963257841,
      -0.4239448810077893,
      -0.5732317778954164,
      -0.43791666514290484,
      -0.39314389486246465,
      -0.3459225970258156,
      -0.21276069690532903,
      0.00799171278603799,
      0.00843681582285347
    ],
    "a_ego": [
      0.6183959894249497,
      0.6183959895596174,
      0.4315519605448407,
      0.768813846338258,
      0.5281370070476604,
      0.5290893488485334,
      0.534069584742419,
      0.4030624657497302,
      0.31133216013426696,
      0.3113321547489506
    ],
    "yaw": [
      -1.5087537103355095,
      -1.5388189816448326,
      -1.5677239081113703,
      -1.5960969245438084,
      -1.618783429734043,
      -1.6368301044828109,
      -1.6518084088514244,
      -1.6623338686502596,
      -1.6700229761626642,
      -1.6714531439849587
    ],
    "yaw_diff": [
      -0.06013054261864603,
      -0.0578098529330755,
      -0.05674603286487612,
      -0.04537301038046948,
      -0.03609334949753551,
      -0.029956608737227164,
      -0.021050919597670248,
      -0.015378215024809183,
      -0.002860335644589096,
      -0.002860335644589096
    ],
    "min_front_frame": [
      8,
      22.490143620932187
    ],
    "v_avg": 10.760117840480603,
    "v_std": 0.43501749812516743,
    "vy_max": 0.05624451789354501,
    "a_max": 0.768813846338258,
    "ax_avg": 0.24987592262360847,
    "a_std": 0.1371401834522259,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "2c43056133655292",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      64.70794693281675,
      59.61871541733244,
      54.57503172880856,
      49.44050968597298,
      44.24732125440818,
      38.90254024433551,
      33.5239749012378,
      28.041915972294138,
      22.490143620932187,
      22.795287386021208
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.3,
    "oversafe_ratio": 0.2,
    "ANC_result": "A",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "2c43056133655292",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "abdf3c37dc03596c": {
    "vx_ego": [
      8.431793644810377,
      8.459494807116668,
      8.465428987898676,
      8.454514774823803,
      8.3927466409466,
      8.21506744550733,
      8.006243027965189,
      7.769776158014837,
      7.5268312687391195,
      7.332892162314023
    ],
    "vy_ego": [
      -0.04945995023869676,
      -0.054941585040023444,
      -0.03361171778548089,
      -0.029445354268391455,
      -0.01630569543503535,
      -0.021310338634261683,
      -0.027346810873638994,
      -0.025134186572064898,
      -0.019128305426407977,
      -0.03690225556828741
    ],
    "v_ego": [
      8.431938706806536,
      8.459673218830654,
      8.465495714766366,
      8.454566050756359,
      8.39276248054382,
      8.215095085558477,
      8.006289731886184,
      7.7698168107742696,
      7.526855574550201,
      7.332985015707617
    ],
    "ax_ego": [
      0.05063380880856416,
      0.05637840307259338,
      -0.036438617092211426,
      -0.009190365023449137,
      -0.23936527912207356,
      -0.4730537701738472,
      -0.36572936790418953,
      -0.583309706971448,
      -0.3900860105245495,
      -0.38709808168466353
    ],
    "ay_ego": [
      -0.31750357356969283,
      -0.3165340074250995,
      -0.30826913172984033,
      -0.36793721384626576,
      -0.43351067383586017,
      -0.453009629964458,
      -0.36223657158550293,
      -0.24750058863341975,
      -0.22669700223694705,
      -0.23176216691768725
    ],
    "a_ego": [
      0.32151563231666913,
      0.3215156328852592,
      0.31041525476861226,
      0.3680519747837484,
      0.4952042418828919,
      0.6549790792966034,
      0.5147555772807296,
      0.6336456072766589,
      0.45117471829677835,
      0.4511747187712631
    ],
    "yaw": [
      -1.039699023851243,
      -1.0578192027784128,
      -1.0787683198041815,
      -1.0992508533299978,
      -1.1245087936378795,
      -1.1505030531294747,
      -1.1749268387530662,
      -1.1944641663466702,
      -1.210800741063891,
      -1.2238352151010772
    ],
    "yaw_diff": [
      -0.036240357854339766,
      -0.041898234051537475,
      -0.04096506705163261,
      -0.05051588061576329,
      -0.051988518983190346,
      -0.0488475712471832,
      -0.039074655187207874,
      -0.03267314943444166,
      -0.026068948074372322,
      -0.026068948074372322
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.105547839018048,
    "v_std": 0.4039938571548558,
    "vy_max": 0.054941585040023444,
    "a_max": 0.6549790792966034,
    "ax_avg": -0.23772589866152743,
    "a_std": 0.11880535512604758,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "abdf3c37dc03596c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "abdf3c37dc03596c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0defa8939c9851ea": {
    "vx_ego": [
      11.175625112354863,
      11.468679207147147,
      11.79336424266555,
      12.144366172061718,
      12.459486281301771,
      12.69855316193831,
      12.792278729602033,
      12.726844397666328,
      12.601924385154554,
      12.469778886123684
    ],
    "vy_ego": [
      0.014906976857577803,
      0.13257307947617836,
      0.04333542928906686,
      0.058553165196788104,
      0.05120498120978478,
      0.024619726553331223,
      0.007758753161928311,
      -0.0072453847307780705,
      -0.013929483474584003,
      -0.026134753580093317
    ],
    "v_ego": [
      11.175635054432284,
      11.469445425906656,
      11.793443861723091,
      12.144507326123671,
      12.459591499886653,
      12.698577028057475,
      12.792281082515316,
      12.72684646006271,
      12.601932083599834,
      12.469806273321199
    ],
    "ax_ego": [
      0.5803275829824768,
      0.6023469697275552,
      0.698599027117962,
      0.7061643454074724,
      0.5547869691932641,
      0.4014754353367936,
      -0.026396783602146333,
      -0.2354173765952717,
      -0.2642394844628974,
      -0.26421528244351067
    ],
    "ay_ego": [
      -0.6089966583873967,
      -0.5872266686310539,
      -0.28303654267122713,
      -0.056275020002987786,
      -0.07460014198202593,
      -0.02974855134964119,
      -0.11991091755801338,
      -0.022606033402957276,
      0.01507926700464561,
      0.015497650076184019
    ],
    "a_ego": [
      0.8412235336088137,
      0.8412235328921166,
      0.7537574445253886,
      0.7084031060075193,
      0.5597801017992567,
      0.4025760816122465,
      0.12278199515459594,
      0.23650026204893643,
      0.26466939649799937,
      0.2646694025281124
    ],
    "yaw": [
      1.9697436206758487,
      1.9329329338640269,
      1.921888355347099,
      1.9135289203437869,
      1.9114697602867272,
      1.911509296151715,
      1.909903385441818,
      1.9082902462458553,
      1.9086693440212084,
      1.9102527627098573
    ],
    "yaw_diff": [
      -0.07362137362364374,
      -0.022089157033855944,
      -0.016718870006624087,
      -0.004118320114119278,
      7.907172997567713e-05,
      -0.0032118214197942585,
      -0.0032262783919252414,
      0.0007581955507061089,
      0.0031668373772979486,
      0.0031668373772979486
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.233206609562888,
    "v_std": 0.5402823119935669,
    "vy_max": 0.13257307947617836,
    "a_max": 0.8412235336088137,
    "ax_avg": 0.27534314026616985,
    "a_std": 0.26004640811988017,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "0defa8939c9851ea",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "0defa8939c9851ea",
    "road_shape": "Straight"
  },
  "ccffd575a3fb5958": {
    "vx_ego": [
      9.23027311927486,
      9.121471071719336,
      8.998655786937494,
      8.79734435985171,
      8.566866328771203,
      8.37200095051698,
      8.182733160288176,
      8.024034017235394,
      7.926821410266523,
      7.849834638107582
    ],
    "vy_ego": [
      -0.041702985039073326,
      -0.024400686793835558,
      -0.010378474815956551,
      -0.0326285128247501,
      -0.049690082826203685,
      0.010454743947936329,
      0.016603324983103462,
      -0.014029022898505605,
      -0.013149300227266902,
      -0.006142018717169684
    ],
    "v_ego": [
      9.230367327217765,
      9.121503708584934,
      8.99866177187048,
      8.79740486766773,
      8.567010435348207,
      8.372007478324912,
      8.182750004911565,
      8.024046281224596,
      7.926832316528224,
      7.84983704098547
    ],
    "ax_ego": [
      -0.24692474046057133,
      -0.18004509973057603,
      -0.3097228510585919,
      -0.4972985173035448,
      -0.4229599003302038,
      -0.35797012937858746,
      -0.4000666345018581,
      -0.23477816433323637,
      -0.15396890926837511,
      -0.15394231678037698
    ],
    "ay_ego": [
      1.1184477347193804,
      1.131141422144207,
      1.043208761432638,
      0.8057878097809754,
      0.5567084802633255,
      0.21129595698488235,
      0.05716954525417618,
      0.05413087758451314,
      0.02858217908735,
      0.02872502193635882
    ],
    "a_ego": [
      1.1453807937757792,
      1.1453807903170947,
      1.0882154034921951,
      0.946889544616438,
      0.6991562123620425,
      0.4156784754656896,
      0.40413075723856084,
      0.2409376233711823,
      0.15659938053094105,
      0.15659937350115496
    ],
    "yaw": [
      2.5574225531507144,
      2.6168644683387416,
      2.6751940455500174,
      2.7294879456852033,
      2.770724272672819,
      2.7863073931419375,
      2.7936682825212724,
      2.800900647110094,
      2.803386236202484,
      2.8043141286517512
    ],
    "yaw_diff": [
      0.11888383037605443,
      0.11665915442255148,
      0.10858780027037174,
      0.0824726539752314,
      0.031166240938237166,
      0.014721778758669757,
      0.014464729177642965,
      0.004971178184780101,
      0.0018557848985345515,
      0.0018557848985345515
    ],
    "min_front_frame": [
      9,
      21.08242305366119
    ],
    "v_avg": 8.507042123266388,
    "v_std": 0.48534581980166563,
    "vy_max": 0.049690082826203685,
    "a_max": 1.1453807937757792,
    "ax_avg": -0.2957677263145922,
    "a_std": 0.39267730168508297,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "ccffd575a3fb5958",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 22.63160199830668,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      25.76727827767838,
      25.46593441244013,
      25.106691763100713,
      24.844882022544276,
      24.483693975645636,
      24.039987254642377,
      23.506056911733356,
      22.389699761639815,
      21.08242305366119
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.8888888888888888,
    "unsafe_ratio": 0.1111111111111111,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ccffd575a3fb5958",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "a15cc20cfcc35d48": {
    "vx_ego": [
      6.43552660172976,
      6.609849479917608,
      6.67499655228762,
      6.572494412182665,
      6.411769097912404,
      6.111171119901347,
      5.636913296935584,
      5.092825987460486,
      4.425047216594993,
      3.639887937722233
    ],
    "vy_ego": [
      0.004526063689502369,
      -0.2154946635108257,
      -0.11200764526407436,
      -0.038472007496623384,
      -0.016014868481674105,
      -0.01349958334492296,
      -0.01411034334814354,
      0.0017137592569902438,
      0.024548078858006694,
      0.04699521119854455
    ],
    "v_ego": [
      6.43552819330503,
      6.613361331211892,
      6.675936240382259,
      6.572607008906981,
      6.411789098290502,
      6.111186030179966,
      5.636930957441168,
      5.092826275804396,
      4.4251153066638516,
      3.6401913066556553
    ],
    "ax_ego": [
      0.32151974705064884,
      0.4178687301612667,
      -0.14669162288548987,
      -0.26229127659415563,
      -0.380478167668896,
      -0.8216421635394996,
      -1.0752519829184575,
      -1.100929537626081,
      -1.5704105330522016,
      -1.5703609621242456
    ],
    "ay_ego": [
      0.9407959015629763,
      0.9021405668306031,
      0.30713455106436244,
      0.11872896842614873,
      0.025927952082514444,
      0.06920012828763644,
      0.02547770630730109,
      0.09719543388944715,
      0.05176677773367744,
      0.053249312670578974
    ],
    "a_ego": [
      0.9942192294163328,
      0.9942192303350561,
      0.34036754352065685,
      0.2879119339675403,
      0.38136058366311754,
      0.8245510916012998,
      1.0755537830758422,
      1.1052116535698193,
      1.571263517554655,
      1.5712635172572662
    ],
    "yaw": [
      2.7518484572944297,
      2.8563136370922644,
      2.885930414902952,
      2.890891126361856,
      2.892997670625788,
      2.8963644595658926,
      2.90047574232488,
      2.903241008778978,
      2.9062313264294843,
      2.9071753880854216
    ],
    "yaw_diff": [
      0.2089303595956693,
      0.059233555621375444,
      0.009921422917807732,
      0.004213088527864173,
      0.006733577880209118,
      0.008222565517974623,
      0.005530532908196051,
      0.005980635301012782,
      0.001888123311874601,
      0.001888123311874601
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.76154717488417,
    "v_std": 0.9983858360496456,
    "vy_max": 0.2154946635108257,
    "a_max": 1.571263517554655,
    "ax_avg": -0.6188667769197111,
    "a_std": 0.4418444571444561,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a15cc20cfcc35d48",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a15cc20cfcc35d48",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "be1a32191a715329": {
    "vx_ego": [
      5.922181499395434,
      5.329759919846035,
      4.777291539533244,
      4.3257462676698974,
      3.957027020523338,
      3.6019297550594165,
      3.312237431763665,
      3.174711449258253,
      3.306799095115895,
      3.6299654921488003
    ],
    "vy_ego": [
      -0.05005001631329155,
      -0.036289861041268204,
      -0.05550471611119974,
      -0.04718907682862106,
      -0.02594117113008032,
      -0.01291906968810988,
      0.00904966599873698,
      -0.0019783081876508513,
      0.002363326635387311,
      0.013754669005255057
    ],
    "v_ego": [
      5.922392988979582,
      5.329883465631458,
      4.7776139679976755,
      4.326003650163969,
      3.9571120511695654,
      3.601952923449166,
      3.312249794449544,
      3.174712065645438,
      3.3067999396353094,
      3.6299915516582852
    ],
    "ax_ego": [
      -1.1849872742340712,
      -1.1850008760125306,
      -1.0250900781318109,
      -0.7815209384384438,
      -0.693417072905175,
      -0.7267584342635605,
      -0.43215505877664057,
      -0.11795768870108415,
      0.6463172003544265,
      0.6463312221873232
    ],
    "ay_ego": [
      0.00877623019200461,
      0.006692482582920354,
      -0.11994990439812148,
      0.1296666951010564,
      -0.06534956478949558,
      0.1355784562272624,
      -0.019429059785916934,
      -0.0004571182934169924,
      0.02663049903053565,
      0.026287940937120863
    ],
    "a_ego": [
      1.1850197729629144,
      1.185019774296441,
      1.0320841282809268,
      0.7922047898341288,
      0.6964896285046585,
      0.7392965166739186,
      0.4325915893662363,
      0.11795857442694047,
      0.6468656019240776,
      0.6468656001155669
    ],
    "yaw": [
      1.5989545856802172,
      1.597196138471546,
      1.5953883641082898,
      1.5940863630180448,
      1.5928349936144226,
      1.5940336046294823,
      1.596100293577468,
      1.5979904462752694,
      1.5986904636770696,
      1.5992204712816083
    ],
    "yaw_diff": [
      -0.0035168944173422645,
      -0.0036155487265125963,
      -0.0026040021804898394,
      -0.002502738807244498,
      0.0023972220301193836,
      0.004133377895971346,
      0.003780305395602923,
      0.0014000348036002919,
      0.0010600152090773918,
      0.0010600152090773918
    ],
    "min_front_frame": [
      6,
      15.388781004814488
    ],
    "v_avg": 4.133871239877999,
    "v_std": 0.8903788832504789,
    "vy_max": 0.05550471611119974,
    "a_max": 1.185019774296441,
    "ax_avg": -0.48542389989215684,
    "a_std": 0.3137271658158447,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "be1a32191a715329",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.4064471251998905,
    "right_rear_min": 44.207484788920155,
    "speed_mode": "decelerating",
    "front_frame": [
      25.785667598137323,
      23.695350057173517,
      21.632167339404152,
      19.687639768840523,
      17.731956786981737,
      16.13002758163586,
      15.388781004814488,
      15.465303905841276,
      16.266815825012884,
      17.58035396397339
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "be1a32191a715329",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "81464a4119075069": {
    "vx_ego": [
      2.3147631791316625,
      2.6428027950090116,
      2.9664483955472627,
      3.257900156165907,
      3.4981690945995823,
      3.717475224503558,
      3.888437024563848,
      4.008150481689985,
      4.156337775326056,
      4.333613595370422
    ],
    "vy_ego": [
      0.005467730363959644,
      -0.002417905469967452,
      -0.007214179596613635,
      -0.01763545268635036,
      -0.0188494931893598,
      -0.0012796547014036763,
      -0.0035004002922184307,
      -0.0205184824674981,
      -0.016829175065210533,
      -0.026229709347246333
    ],
    "v_ego": [
      2.314769636818976,
      2.642803901082013,
      2.9664571677056424,
      3.257947887357515,
      3.498219878424619,
      3.71747544474929,
      3.8884386001068805,
      4.008203000347466,
      4.1563718461821635,
      4.333692973854031
    ],
    "ax_ego": [
      0.6560757781551826,
      0.6560859370627932,
      0.6384911641590206,
      0.5273204684821048,
      0.43390521756508427,
      0.44352101694655477,
      0.24017987306932542,
      0.2390161517319592,
      0.35446764493063515,
      0.35576888029901127
    ],
    "ay_ego": [
      -0.01867461712077903,
      -0.018314237868061828,
      -0.003085118660934333,
      -0.036850947929113476,
      0.04949805579983653,
      0.07544733534396264,
      0.007564353518076251,
      0.022092133891657657,
      0.09852736022190922,
      0.09372009412957409
    ],
    "a_ego": [
      0.6563415025781442,
      0.6563415026647723,
      0.6384986175915289,
      0.5286065349988218,
      0.4367193553738681,
      0.44989242367905075,
      0.2402989614454122,
      0.24003496238806937,
      0.36790617284162097,
      0.3679061731377559
    ],
    "yaw": [
      -1.3325734274653522,
      -1.3331227204108096,
      -1.3333199413145609,
      -1.333180067031182,
      -1.331889155631322,
      -1.328099875773357,
      -1.3220989990099081,
      -1.3159112055438067,
      -1.3094051357780145,
      -1.2958682568259925
    ],
    "yaw_diff": [
      -0.0010985858909147161,
      -0.00039444180750258795,
      0.00027974856675783144,
      0.0025818227997200793,
      0.007578559715929689,
      0.012001753526897918,
      0.012375586932202864,
      0.01301213953158431,
      0.027073757904044093,
      0.027073757904044093
    ],
    "min_front_frame": [
      9,
      76.55357399766667
    ],
    "v_avg": 3.47843803366286,
    "v_std": 0.6372194056713604,
    "vy_max": 0.026229709347246333,
    "a_max": 0.6563415026647723,
    "ax_avg": 0.45448321324016705,
    "a_std": 0.15096290356029898,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "81464a4119075069",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.67827875255459,
      76.55357399766667
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "81464a4119075069",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ab226645ee6f54aa": {
    "vx_ego": [
      4.1400319994399135,
      4.292023904859719,
      4.439238439620289,
      4.559694302554896,
      4.514359076217475,
      4.347180007579763,
      4.213490510202976,
      4.114622605079489,
      4.002090252827927,
      3.882957417725333
    ],
    "vy_ego": [
      0.0027457684180596242,
      -0.029001928982080427,
      -0.01064743339936114,
      0.008729565218831725,
      0.028294959525237307,
      0.017707882537658648,
      0.04860396350048912,
      0.00011587280360281227,
      -0.011184502276945674,
      -0.015009916650619237
    ],
    "v_ego": [
      4.1400329099695155,
      4.292121889202583,
      4.439251208440492,
      4.559702658952719,
      4.514447748480608,
      4.347216073236429,
      4.213770832026642,
      4.114622606711049,
      4.002105881266947,
      3.8829864286996996
    ],
    "ax_ego": [
      0.29987333093377877,
      0.306691453485703,
      0.2876836622910375,
      0.19312619404748044,
      -0.35274498339498406,
      -0.32082552045388,
      -0.20357362579731894,
      -0.19781733539586843,
      -0.2466548379888046,
      -0.2269275057174793
    ],
    "ay_ego": [
      -0.27736779620040164,
      -0.26980967803035494,
      -0.6270899349774418,
      -0.6068681096713847,
      -0.9486179090549853,
      -0.6544599319348057,
      -0.6387238945673581,
      0.016453461127999586,
      0.3844877347635195,
      0.3964509338792276
    ],
    "a_ego": [
      0.4084812223032867,
      0.4084812235587052,
      0.6899301965410674,
      0.6368568358456906,
      1.0120795229082447,
      0.7288668033890784,
      0.6703808131290456,
      0.1985004145240309,
      0.4568034886982213,
      0.45680349804359893
    ],
    "yaw": [
      -0.3523416727449901,
      -0.3772614481115627,
      -0.4327826662831241,
      -0.5054276510371796,
      -0.5940587895084113,
      -0.6821431536524981,
      -0.7651284806266625,
      -0.7908466995267636,
      -0.7634067325560439,
      -0.7128953544463843
    ],
    "yaw_diff": [
      -0.049839550733145166,
      -0.11104243634312283,
      -0.1452899695081109,
      -0.17726227694246344,
      -0.17616872828817365,
      -0.16597065394832877,
      -0.05143643780020213,
      0.05487993394143942,
      0.10102275621931911,
      0.10102275621931911
    ],
    "min_front_frame": [
      9,
      56.964255934991726
    ],
    "v_avg": 4.25062582369867,
    "v_std": 0.20994486851649513,
    "vy_max": 0.04860396350048912,
    "a_max": 1.0120795229082447,
    "ax_avg": -0.04611691679903359,
    "a_std": 0.21571048746996355,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "ab226645ee6f54aa",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 20.760625146712975,
    "right_rear_min": 24.516492144380887,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      69.47545575567632,
      67.2371522907487,
      65.07118747657964,
      68.68702871551626,
      -1,
      64.70763214569911,
      56.964255934991726
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ab226645ee6f54aa",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bf896d504b4356c7": {
    "vx_ego": [
      -0.2270707845709433,
      0.062256758134339105,
      0.5698743781647142,
      1.3757548171317437,
      2.2001797764286066,
      2.883965610575106,
      3.4382871928929406,
      3.941602647727412,
      4.465817828422208,
      5.141292037423396
    ],
    "vy_ego": [
      -0.010130122156506952,
      -0.01802938656381217,
      -0.026495980579221534,
      -0.01621975553316435,
      -0.0001875616097530841,
      -0.0005343005639621978,
      0.013758088021697423,
      0.03320457026285761,
      0.09812205699937115,
      0.30037245166679905
    ],
    "v_ego": [
      0.22729663565607278,
      0.06481483405259146,
      0.5704900033089749,
      1.3758504269471858,
      2.200179784423262,
      2.88396566006895,
      3.4383147188408496,
      3.9417425050424195,
      4.466895657469897,
      5.150058972846188
    ],
    "ax_ego": [
      0.578653886303865,
      0.5786544121974274,
      1.451680223670755,
      1.7706867682887397,
      1.5295177540283227,
      1.218234500359027,
      1.0338205037933463,
      1.0578970536704106,
      1.1698067552566904,
      1.6894784438863581
    ],
    "ay_ego": [
      -0.01580266024746091,
      -0.015783466582710015,
      -0.019371521996123464,
      0.019355523128464114,
      -0.19697187419576645,
      -0.5493496343303967,
      -1.035754142109384,
      -1.677127918055612,
      -2.209522762611403,
      -1.8428513886372009
    ],
    "a_ego": [
      0.5788696262591976,
      0.578869628304092,
      1.451809466721174,
      1.7707925535387812,
      1.5421486566190814,
      1.3363683319369508,
      1.4634109050298465,
      1.982902980401736,
      2.5000877350889334,
      2.500087729052469
    ],
    "yaw": [
      0.8449222220358555,
      0.8448890589557276,
      0.8433322960103184,
      0.832313224265069,
      0.7990750800867503,
      0.7269502770989067,
      0.598188349010117,
      0.40952316442072934,
      0.16336346372348234,
      -0.09172195109853891
    ],
    "yaw_diff": [
      -6.632616025581406e-05,
      -0.0031135258908183694,
      -0.02203814349049882,
      -0.06647628835663744,
      -0.14424960597568726,
      -0.25752385617757945,
      -0.37733036917877527,
      -0.492319401394494,
      -0.5101708296440425,
      -0.5101708296440425
    ],
    "min_front_frame": [
      5,
      43.81953728170762
    ],
    "v_avg": 2.4319609198656393,
    "v_std": 1.7356152839721481,
    "vy_max": 0.30037245166679905,
    "a_max": 2.5000877350889334,
    "ax_avg": 1.2078430301454943,
    "a_std": 0.6313714090933052,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "bf896d504b4356c7",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.47465901491219,
    "speed_mode": "accelerating",
    "front_frame": [
      47.16907242377639,
      47.071561343000845,
      47.07470473224963,
      46.43680085034543,
      45.54400473891475,
      43.81953728170762,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "bf896d504b4356c7",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "d9bbf36a9fca56a9": {
    "vx_ego": [
      10.337346823745149,
      10.543697074270801,
      10.809640050181002,
      11.109995871667332,
      11.389372995750403,
      11.605778985129769,
      11.721210079017958,
      11.872701048207633,
      12.048405340524797,
      12.1784707555844
    ],
    "vy_ego": [
      -0.008495716745325232,
      -0.018530195031683377,
      -0.017885951715375825,
      -0.05389936520249977,
      -0.05576706076112786,
      -0.022912044546207655,
      0.016165945474296728,
      0.04447134118877505,
      0.0609791069079213,
      0.03209299776133895
    ],
    "v_ego": [
      10.33735031483392,
      10.54371335735729,
      10.809654847484534,
      11.110126615391671,
      11.38950952418033,
      11.605801601503666,
      11.721221227084882,
      11.87278433562649,
      12.048559652550413,
      12.178513041629088
    ],
    "ax_ego": [
      0.4104671892622751,
      0.41420211305995375,
      0.6493506679583276,
      0.5494856636381812,
      0.5660807724904926,
      0.2988460310337048,
      0.16279485902561106,
      0.44340205128488297,
      0.25926029384740745,
      0.25983840112918216
    ],
    "ay_ego": [
      -0.2921334863189419,
      -0.2868133630343982,
      -0.4056206468075788,
      -0.24020717676253261,
      -0.04138674324932558,
      -0.01665460140610999,
      0.0019995924899007134,
      0.015498023615554454,
      0.09374035002577155,
      0.09212579263006163
    ],
    "a_ego": [
      0.5038107653571248,
      0.5038107736823739,
      0.7656268014473663,
      0.5996949076923357,
      0.5675916696888869,
      0.29930974927755766,
      0.16280713895678606,
      0.4436728161828604,
      0.2756866938914503,
      0.27568669965939036
    ],
    "yaw": [
      -1.5649383741176268,
      -1.5778406398246154,
      -1.594159264948474,
      -1.6055918873669002,
      -1.6116847881359342,
      -1.6157924427995245,
      -1.619451677457228,
      -1.621486299763324,
      -1.6205849133669132,
      -1.6143643135126244
    ],
    "yaw_diff": [
      -0.025804531413977205,
      -0.03263725024771702,
      -0.022865244836852483,
      -0.01218580153806803,
      -0.00821530932718062,
      -0.007318469315407139,
      -0.004069244612191714,
      0.0018027727928213721,
      0.0124411997085776,
      0.0124411997085776
    ],
    "min_front_frame": [
      8,
      22.73665921766885
    ],
    "v_avg": 11.36172345176423,
    "v_std": 0.606318302331145,
    "vy_max": 0.0609791069079213,
    "a_max": 0.7656268014473663,
    "ax_avg": 0.4013728042730019,
    "a_std": 0.1750996436065833,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "d9bbf36a9fca56a9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.7465039059314393,
    "right_rear_min": 3.6120108336608414,
    "speed_mode": "accelerating",
    "front_frame": [
      31.425376436993872,
      27.24615688535977,
      23.080089762016506,
      29.675501194495062,
      25.403328650937183,
      32.228809632833176,
      28.843576407063704,
      25.674098928979575,
      22.73665921766885,
      50.33758778566233
    ],
    "safe_frame": [
      1,
      0,
      0,
      0,
      0,
      1,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "d9bbf36a9fca56a9",
    "merging_vehicles": "No"
  },
  "583113c5db20565d": {
    "vx_ego": [
      6.533381731526683,
      6.882131639786931,
      7.216607444369957,
      7.464103191643513,
      7.842598103370175,
      8.260624423414269,
      8.489798846228837,
      8.711572307345484,
      8.948567558511211,
      9.188444559247884
    ],
    "vy_ego": [
      -0.03341758874295353,
      -0.06205739998620219,
      -0.04642866169519966,
      -0.0226114755985094,
      -0.011890532841356993,
      -0.009674695913250986,
      -0.005471259986642885,
      -0.020408452548572598,
      -0.0070094894053394086,
      0.06450568033519577
    ],
    "v_ego": [
      6.533467194766038,
      6.882411425383505,
      7.216756794209064,
      7.46413744074502,
      7.842607117263794,
      8.26063008882793,
      8.489800609208341,
      8.711596212580341,
      8.948570303807251,
      9.188670981222886
    ],
    "ax_ego": [
      0.697833319997504,
      0.6999065318890965,
      0.643798275394533,
      0.3475485609222542,
      1.1687633932411234,
      0.5039812739304221,
      0.41284345375667064,
      0.4740582273400741,
      0.47632335398232206,
      0.48158391784460197
    ],
    "ay_ego": [
      0.14572496914199984,
      0.13541769314700958,
      0.3975796238260852,
      0.26364369284420913,
      0.36581584377224297,
      0.3393153519453714,
      0.2925875273612019,
      0.16345628913557556,
      0.3918036667797368,
      0.3853193245866273
    ],
    "a_ego": [
      0.7128864630010698,
      0.7128864601030661,
      0.7566675469997813,
      0.43623158869534145,
      1.2246751001532215,
      0.6075623692579573,
      0.5060110458054037,
      0.5014470673628336,
      0.6167609349261799,
      0.6167609357169527
    ],
    "yaw": [
      -0.9040666535406157,
      -0.8893184282629307,
      -0.872650134083073,
      -0.853472027082552,
      -0.8340513961082205,
      -0.8126541558858917,
      -0.7943192039598908,
      -0.7793133592592332,
      -0.7651098543537964,
      -0.7515715049387601
    ],
    "yaw_diff": [
      0.02949645055536987,
      0.033336588359715424,
      0.038356214001042055,
      0.038841261948662886,
      0.04279448044465761,
      0.03666990385200197,
      0.030011689401315156,
      0.028407009810873518,
      0.027076698830072576,
      0.027076698830072576
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.953864816801416,
    "v_std": 0.8620182964198841,
    "vy_max": 0.06450568033519577,
    "a_max": 1.2246751001532215,
    "ax_avg": 0.5906640308298602,
    "a_std": 0.20937168902958544,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "583113c5db20565d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.084925531636801,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "583113c5db20565d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d12c5ba59acf55a0": {
    "vx_ego": [
      10.242111917090435,
      10.334197998483273,
      10.392575565806968,
      10.434184776155071,
      10.463507083360057,
      10.469037654308545,
      10.527772339997494,
      10.622439473089443,
      10.652065887169899,
      10.624428746784261
    ],
    "vy_ego": [
      0.05345398228499754,
      0.04152152521380703,
      0.03591604175160246,
      0.06238624310894547,
      0.05602245328877142,
      0.044398653666027244,
      0.0460122036747026,
      0.03217799406922195,
      0.014154003407223836,
      0.004479206335646246
    ],
    "v_ego": [
      10.24225140535166,
      10.334281412314635,
      10.392637627333261,
      10.434371278916402,
      10.463657056631709,
      10.46913180009582,
      10.527872888941209,
      10.622488210525397,
      10.65207529077884,
      10.62442969098978
    ],
    "ax_ego": [
      0.179244867413673,
      0.19401615417126408,
      0.04737771394187135,
      0.13257831716125984,
      -0.006213442217708143,
      0.03336939660289556,
      0.20401802230345348,
      0.17421173946830243,
      -0.05542955355901872,
      -0.05495945126267885
    ],
    "ay_ego": [
      -0.5657655821604834,
      -0.560871759372326,
      -0.7566797684262154,
      -0.9755594732206003,
      -0.9103693472133731,
      -0.7669958932773452,
      -0.5593453617795858,
      -0.19333634635079816,
      -0.11003456474735024,
      -0.11027012160084677
    ],
    "a_ego": [
      0.5934807633373941,
      0.59348074824784,
      0.7581615393330823,
      0.9845269401960349,
      0.9103905509230068,
      0.7677214448834643,
      0.5953911211707378,
      0.2602473304163704,
      0.12320730841508931,
      0.12320730904033375
    ],
    "yaw": [
      2.157234661092866,
      2.131014231499021,
      2.0998290072040167,
      2.055662206124815,
      2.0112294493881326,
      1.9722605870564105,
      1.9404606027232933,
      1.9239812523914654,
      1.9185603987549216,
      1.9142926322658886
    ],
    "yaw_diff": [
      -0.05244085918769059,
      -0.06237044859000829,
      -0.08833360215840358,
      -0.08886551347336447,
      -0.07793772466344429,
      -0.0635999686662343,
      -0.032958700663655804,
      -0.010841707273087753,
      -0.008535532978065863,
      -0.008535532978065863
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.476319666187871,
    "v_std": 0.12680172371372062,
    "vy_max": 0.06238624310894547,
    "a_max": 0.9845269401960349,
    "ax_avg": 0.08482137640233141,
    "a_std": 0.2931089810133673,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "d12c5ba59acf55a0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "d12c5ba59acf55a0",
    "road_shape": "Straight"
  },
  "06d7515412d45507": {
    "vx_ego": [
      4.3793586721178634,
      4.106253724809279,
      3.847879989675487,
      3.5809168565017973,
      3.2807053901185754,
      2.9622820319111303,
      2.619997788565698,
      2.2274978818277833,
      1.8154618880914082,
      1.4184706038756176
    ],
    "vy_ego": [
      0.0023848634305122657,
      0.0002154964863061437,
      -0.01735455436220193,
      -0.034573857347028863,
      -0.03276544355369627,
      -0.007775659651391036,
      0.007156940707041509,
      0.00882076294772742,
      -0.011613628263873119,
      -0.0592508313403374
    ],
    "v_ego": [
      4.379359321479287,
      4.106253730463914,
      3.8479191253848017,
      3.5810837584159585,
      3.280869005468573,
      2.9622922370128424,
      2.6200075637084397,
      2.2275153466152013,
      1.8154990342806223,
      1.4197075456141595
    ],
    "ax_ego": [
      -0.5462317811603624,
      -0.5461741970254061,
      -0.4873241170085274,
      -0.5805462383973801,
      -0.6202867714380239,
      -0.6533777717445866,
      -0.7157657462734721,
      -0.8542254830954189,
      -0.7939222824143451,
      -0.7939702067596788
    ],
    "ay_ego": [
      -0.02373662701776416,
      -0.025026758253774515,
      -0.047593812152247866,
      -0.023578274988933424,
      0.031898088252259656,
      0.07163676365843645,
      -0.01005196070416027,
      0.012727638481192533,
      -0.09382225100447054,
      -0.09341585428217228
    ],
    "a_ego": [
      0.5467472781933189,
      0.5467472836009705,
      0.4896426921473702,
      0.5810248445366182,
      0.6211064054211294,
      0.6572931906823436,
      0.715836325882124,
      0.8543202963472831,
      0.7994468120504009,
      0.7994468156502189
    ],
    "yaw": [
      -1.587023479002302,
      -1.5893854748822833,
      -1.5895328637460469,
      -1.5896868385697305,
      -1.5896078054366618,
      -1.589321805567872,
      -1.5891561710258917,
      -1.5895637415400825,
      -1.5894839285089297,
      -1.5889720602242714
    ],
    "yaw_diff": [
      -0.004723991759962853,
      -0.00029477772752706244,
      -0.00030794964736724495,
      0.00015806626613734664,
      0.0005719997375797092,
      0.0003312690839605281,
      -0.0008151410283816496,
      0.0001596260623055734,
      0.0010237365693166467,
      0.0010237365693166467
    ],
    "min_front_frame": [
      9,
      11.474509227581825
    ],
    "v_avg": 3.02405066684438,
    "v_std": 0.9433489879044693,
    "vy_max": 0.0592508313403374,
    "a_max": 0.8543202963472831,
    "ax_avg": -0.6591824595317202,
    "a_std": 0.11924198074695481,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "06d7515412d45507",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.320141184097672,
    "right_rear_min": 5.640002847401882,
    "speed_mode": "decelerating",
    "front_frame": [
      22.62330311238717,
      20.857525400916785,
      19.132143562378324,
      17.487326024999685,
      15.912620739868823,
      14.43676450305861,
      13.200832062128365,
      12.34011956201211,
      11.719075184503595,
      11.474509227581825
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "06d7515412d45507",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "407bc420086a58f6": {
    "vx_ego": [
      5.002597620222122,
      4.916776812926333,
      4.866106422408777,
      4.854382799634622,
      4.937723936596884,
      5.122131965855813,
      5.261043098890516,
      5.254343720682366,
      5.172779970276092,
      5.118216071377605
    ],
    "vy_ego": [
      -0.019334797433849138,
      -0.024517022062759075,
      -0.011954529685149318,
      -0.01831443230987695,
      -0.015356025351230596,
      -0.002710050076869752,
      -0.0037068283051824302,
      -0.006932387726052092,
      -0.02692408345976549,
      -0.012234609989324019
    ],
    "v_ego": [
      5.002634984110259,
      4.916837938401148,
      4.866121106691441,
      4.854417347511368,
      4.937747814698156,
      5.1221326827810065,
      5.261044404769799,
      5.25434829384899,
      5.172850039113802,
      5.118230694194
    ],
    "ax_ego": [
      -0.1942523010024943,
      -0.1421775413738019,
      -0.056078408574707805,
      0.012134360074912864,
      0.331735062832847,
      0.40953075347017026,
      0.150214993700994,
      -0.17670196477660627,
      -0.1427875843579683,
      -0.0685521376160868
    ],
    "ay_ego": [
      0.7069359234885513,
      0.7192203416399338,
      0.6995972501536052,
      0.6611354794650808,
      0.8067359463901996,
      0.8266707992321534,
      0.9000373531104244,
      0.8648845420382556,
      0.8836541042864771,
      0.8924872367326361
    ],
    "a_ego": [
      0.7331387019953144,
      0.7331386997695335,
      0.701841221595567,
      0.661246826005199,
      0.8722792208408979,
      0.9225508378083956,
      0.9124865924092301,
      0.8827507323206456,
      0.895116121108943,
      0.8951161172174207
    ],
    "yaw": [
      -1.108584639382907,
      -1.035588944159185,
      -0.9655163410328187,
      -0.8941198034869713,
      -0.8191957065890694,
      -0.7404138346878715,
      -0.6576369265280821,
      -0.5738036080332776,
      -0.4861082580970594,
      -0.4025650630870323
    ],
    "yaw_diff": [
      0.14599139044744414,
      0.14014520625273263,
      0.1427930750916948,
      0.14984819379580383,
      0.1575637438023958,
      0.16555381631957866,
      0.16766663698960915,
      0.17539069987243638,
      0.1670863900200541,
      0.1670863900200541
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.050636530611997,
    "v_std": 0.1469301710951416,
    "vy_max": 0.02692408345976549,
    "a_max": 0.9225508378083956,
    "ax_avg": 0.012306523237725875,
    "a_std": 0.09553563447311939,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "407bc420086a58f6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "407bc420086a58f6",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "a5cde0f1dace5561": {
    "vx_ego": [
      1.0453604387944688,
      0.7295118918334421,
      0.4450791235084294,
      0.2418026874534147,
      0.1013229763981577,
      0.011145536639634048,
      -0.014866154074363865,
      -0.011129311227345938,
      -0.006357028619864476,
      -0.0035120991622035794
    ],
    "vy_ego": [
      -0.037260862122064975,
      -0.010364657936405036,
      0.010616592610598094,
      0.015492064596377253,
      -0.017147543748612187,
      -0.02275065237825675,
      0.0005674205438370309,
      -0.0010413761352536335,
      -0.0005373608712491633,
      -0.0002810171571177427
    ],
    "v_ego": [
      1.0460242917077232,
      0.7295855168933567,
      0.4452057257287816,
      0.24229846001399202,
      0.1027637280502814,
      0.025334071339240056,
      0.014876978962016908,
      0.01117792613368885,
      0.006379699803260786,
      0.00352332388061978
    ],
    "ax_ego": [
      -0.6316359931926541,
      -0.6314365143904984,
      -0.506330727704381,
      -0.30690738511049614,
      -0.25508011071913306,
      -0.10559174151690146,
      0.0015487211902650163,
      0.013399091119875974,
      0.005689890924051656,
      0.00568992086837452
    ],
    "ay_ego": [
      0.058665954543873994,
      0.06077541798304967,
      0.028053429032061178,
      -0.006118124068352285,
      -0.12362263992077326,
      0.101239825277419,
      -0.00794519908265776,
      0.0015055031088098375,
      0.0005122841996391494,
      0.0005119565235598875
    ],
    "a_ego": [
      0.6343545712919663,
      0.6343545720940589,
      0.5071072871672275,
      0.30696836071080374,
      0.2834579686399138,
      0.14628437407588843,
      0.008094734448284367,
      0.013483403963739099,
      0.0057129059005733085,
      0.005712906350569679
    ],
    "yaw": [
      1.2918537918893103,
      1.2951939974771998,
      1.2973385699390185,
      1.299248550736996,
      1.3004868073937401,
      1.3006840093509795,
      1.3003179568116683,
      1.3003958376328812,
      1.3003404204783986,
      1.3003978920730224
    ],
    "yaw_diff": [
      0.006680411175779,
      0.004289144923637522,
      0.0038199615959548794,
      0.0024765133134883044,
      0.0003944039144787581,
      -0.0007321050786224248,
      0.00015576164242592228,
      -0.00011083430896530189,
      0.00011494318924754054,
      0.00011494318924754054
    ],
    "min_front_frame": [
      6,
      13.21049177089382
    ],
    "v_avg": 0.2627169722512961,
    "v_std": 0.3470991264827669,
    "vy_max": 0.037260862122064975,
    "a_max": 0.6343545720940589,
    "ax_avg": -0.24106548485314966,
    "a_std": 0.24703969513584695,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a5cde0f1dace5561",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      14.147535550526387,
      13.781246968015013,
      13.470598023917068,
      13.318606631928672,
      13.278223070302898,
      13.353254891658445,
      13.21049177089382,
      13.375025040778361,
      13.404347449454354,
      13.365459519398609
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a5cde0f1dace5561",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c87fe1d7a3bd57cb": {
    "vx_ego": [
      3.3945450314924828,
      3.4944413448551424,
      3.5967550270374993,
      3.69625899470954,
      3.8124059176810046,
      3.9567712319818753,
      4.126448401036536,
      4.293852810895536,
      4.4712242299300415,
      4.650249901486711
    ],
    "vy_ego": [
      0.0010255674692029038,
      -0.000600044224385643,
      -0.026036543645620025,
      -0.026828766232453782,
      -0.043655644940868266,
      -0.04481056942520323,
      -0.04476865584564038,
      -0.05416156502552116,
      -0.015510426659531173,
      0.05606530664572462
    ],
    "v_ego": [
      3.3945451864158374,
      3.4944413963731153,
      3.5968492637480005,
      3.696356359804711,
      3.81265585865081,
      3.9570249644615054,
      4.1266912458970335,
      4.294194387398119,
      4.471251132250195,
      4.650587862290792
    ],
    "ax_ego": [
      0.15127698958201397,
      0.24681704726522913,
      0.16888414767797552,
      0.2423853957460083,
      0.23332928670967207,
      0.3642066828652803,
      0.3262386482682019,
      0.3520061584670503,
      0.3569143257322399,
      0.35855416284966507
    ],
    "ay_ego": [
      0.820012042695834,
      0.7964834093783002,
      0.7980307554705898,
      0.8238876789084157,
      0.746123024527044,
      0.7943292074172534,
      0.691705150298172,
      0.5270883591418914,
      0.21465541018053386,
      0.21190491661540461
    ],
    "a_ego": [
      0.8338491936454644,
      0.8338491927414736,
      0.8157051808183374,
      0.858802414719501,
      0.7817557954795272,
      0.8738451794224494,
      0.7647794914698486,
      0.63382211537751,
      0.41649103355615313,
      0.41649103397624987
    ],
    "yaw": [
      -1.3710942376902655,
      -1.253025184233123,
      -1.1338907602170396,
      -1.022311270466279,
      -0.913423264658902,
      -0.8136495685322944,
      -0.7219111905310205,
      -0.6472853865913699,
      -0.6137907282081961,
      -0.6061021131428842
    ],
    "yaw_diff": [
      0.23613810691428494,
      0.23826884803216686,
      0.22315897950152142,
      0.2177760116147538,
      0.19954739225321516,
      0.18347675600254787,
      0.14925160787930114,
      0.06698931676634756,
      0.015377230130623865,
      0.015377230130623865
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.9494597657290114,
    "v_std": 0.4045046035722464,
    "vy_max": 0.05606530664572462,
    "a_max": 0.8738451794224494,
    "ax_avg": 0.28006128451633366,
    "a_std": 0.16595536205815387,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "c87fe1d7a3bd57cb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c87fe1d7a3bd57cb",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "71ed3e4fcadc5322": {
    "vx_ego": [
      3.9925507104232265,
      3.64270213622334,
      3.3092571846251255,
      2.9919031673245846,
      2.7339140860329,
      2.5715521746140557,
      2.388216261293511,
      2.0890973479062054,
      1.8002892522735017,
      1.5805005468585012
    ],
    "vy_ego": [
      -0.06582537289794321,
      -0.017458519583324644,
      -0.01300925773762443,
      -0.019273855566549578,
      -0.002275927583553314,
      -0.02270723053989398,
      -0.0352582120232383,
      -0.0008382207830357688,
      -0.0020130721498126183,
      -0.05074496195929266
    ],
    "v_ego": [
      3.993093306575513,
      3.6427439730445133,
      3.3092827553383675,
      2.991965247818778,
      2.7339150333643274,
      2.571652426958408,
      2.388476512805146,
      2.0890975160683194,
      1.8002903777754755,
      1.5813149685575836
    ],
    "ax_ego": [
      -0.6996982859498031,
      -0.6997014275148139,
      -0.634093797845055,
      -0.6352220554883176,
      -0.39672191696605,
      -0.2527244892617939,
      -0.4807711122660614,
      -0.7157094427367361,
      -0.4395395178107484,
      -0.43957564986199243
    ],
    "ay_ego": [
      0.09649597923664624,
      0.0964731469474273,
      -0.06881206023294836,
      0.05378669636832187,
      0.01958355038028677,
      -0.10247477092787546,
      0.044215206140728866,
      0.09300274488062654,
      -0.09627658436871839,
      -0.09611149802377139
    ],
    "a_ego": [
      0.7063208657330828,
      0.7063208589219268,
      0.6378166226268084,
      0.637495151734522,
      0.39720497837604546,
      0.272710003757389,
      0.48280000708742016,
      0.721726760608099,
      0.4499601853664524,
      0.4499601893545321
    ],
    "yaw": [
      -1.5424174780223172,
      -1.5424501085376499,
      -1.5417389874561227,
      -1.540942897528395,
      -1.5404682808769292,
      -1.5405789186870593,
      -1.5413817877632767,
      -1.5414327143238211,
      -1.5412461383046954,
      -1.5408705651475485
    ],
    "yaw_diff": [
      -6.526103066528677e-05,
      0.0014222421630543103,
      0.0015921798554554556,
      0.000949233302931507,
      -0.00022127562026019731,
      -0.0016057381524348102,
      -0.00010185312108879074,
      0.0003731520382515008,
      0.000751146314293738,
      0.000751146314293738
    ],
    "min_front_frame": [
      9,
      10.913773037585889
    ],
    "v_avg": 2.7101832118306435,
    "v_std": 0.7459956007186161,
    "vy_max": 0.06582537289794321,
    "a_max": 0.721726760608099,
    "ax_avg": -0.5393757695701372,
    "a_std": 0.14776856289249268,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "71ed3e4fcadc5322",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.705735320414494,
    "right_rear_min": 12.238971863855676,
    "speed_mode": "decelerating",
    "front_frame": [
      15.210406995236585,
      14.615499952349131,
      14.084082265922909,
      13.588200810992594,
      13.141658146578655,
      12.602059453381946,
      12.121897135068975,
      11.692214359002685,
      11.364412203325973,
      10.913773037585889
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "71ed3e4fcadc5322",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "23beee726a59557a": {
    "vx_ego": [
      4.791117256965189,
      4.789392200542224,
      4.808523704371989,
      4.871989434094707,
      4.948471985567745,
      4.983276546056876,
      4.951806641966306,
      4.8487464925429915,
      4.70565478741703,
      4.566991550718875
    ],
    "vy_ego": [
      -0.06949974520667546,
      -0.0053342928155916125,
      0.0002445927101062395,
      0.01940220675909271,
      0.025973713093981665,
      -0.015111820345626303,
      -0.03260919539816909,
      -0.01534436902252967,
      -0.02097860651613792,
      0.023168796401460745
    ],
    "v_ego": [
      4.791621310639378,
      4.789395171135341,
      4.808523710592775,
      4.872028067607737,
      4.948540150965806,
      4.983299459353683,
      4.951914011677317,
      4.848770771918246,
      4.7057015502762365,
      4.567050319129874
    ],
    "ax_ego": [
      -0.003683411777784199,
      -0.0019922089589772766,
      0.08453027658342997,
      0.17162683483203825,
      0.12938117567881627,
      0.001193009264320019,
      -0.1277296374068535,
      -0.2850605493154261,
      -0.28559452355911047,
      -0.2685301324594436
    ],
    "ay_ego": [
      0.206698842792907,
      0.2067220607868219,
      0.5154296159641057,
      0.6736904009953376,
      0.7129019754864492,
      0.5075726134668794,
      0.28636832805950485,
      -0.00957903231203902,
      -0.34934735895309754,
      -0.3626284286887997
    ],
    "a_ego": [
      0.20673165972886592,
      0.20673166015994432,
      0.5223150932839072,
      0.6952082614783304,
      0.7245472484748766,
      0.5075740155018802,
      0.3135628797987454,
      0.28522144841517016,
      0.45122922012482714,
      0.45122922038803537
    ],
    "yaw": [
      1.507628740289206,
      1.5158102016996118,
      1.5523461997923096,
      1.609920083915104,
      1.6790768833571903,
      1.7485413669440537,
      1.791872763531853,
      1.802428173579377,
      1.7848249744792042,
      1.7368988379953478
    ],
    "yaw_diff": [
      0.016362922820811754,
      0.07307199618539562,
      0.11514776824558881,
      0.1383135988841726,
      0.13892896717372683,
      0.08666279317559855,
      0.021110820095048055,
      -0.03520639820034566,
      -0.0958522729677127,
      -0.0958522729677127
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.826684452329641,
    "v_std": 0.11941517318096136,
    "vy_max": 0.06949974520667546,
    "a_max": 0.7245472484748766,
    "ax_avg": -0.058585916711899076,
    "a_std": 0.1750247129417427,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "23beee726a59557a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "23beee726a59557a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d655411faf595661": {
    "vx_ego": [
      4.472573693096077,
      4.50484721555025,
      4.591553515292865,
      4.7334653726925,
      4.861336915947804,
      4.867543993312005,
      4.81630925825557,
      4.768571256630082,
      4.726610342651948,
      4.737929994839416
    ],
    "vy_ego": [
      -0.05233165476390733,
      -0.04043501876453126,
      -0.04003921864116533,
      -0.03380334356670067,
      -0.034398573082073725,
      -0.01741519907817235,
      -0.012023056537923349,
      -0.011378043118804193,
      -0.01244395954634403,
      -0.0011837191816544412
    ],
    "v_ego": [
      4.472879837673421,
      4.505028682061118,
      4.591728086769474,
      4.733586071945374,
      4.861458615702389,
      4.867575147441148,
      4.816324264939689,
      4.768584830893104,
      4.726626723509437,
      4.737930142708958
    ],
    "ax_ego": [
      -0.0359331963703321,
      0.19354209638726966,
      0.18477280353403464,
      0.40702110402869585,
      0.13538093024090436,
      -0.09182595596999032,
      -0.11445848305397693,
      -0.06836241227878137,
      -0.0930465695216027,
      0.14230051985619607
    ],
    "ay_ego": [
      1.448923774363698,
      1.4363887919333018,
      1.5044084689125006,
      1.5086576123885673,
      1.6177614413853658,
      1.6402830109608355,
      1.5058400198024127,
      1.5153840074773148,
      1.5010548106251025,
      1.4971886194962458
    ],
    "a_ego": [
      1.4493692761052075,
      1.4493692782260805,
      1.5157129775328444,
      1.5625984674709978,
      1.6234161750783898,
      1.6428512903597048,
      1.5101837337163806,
      1.5169252155365407,
      1.5039359057488124,
      1.5039359029893589
    ],
    "yaw": [
      1.7440489234505867,
      1.9027792408771222,
      2.0639497030440896,
      2.2247832123674645,
      2.386331662614238,
      2.548971102465943,
      2.7098570169613634,
      2.867190262112575,
      3.0258185006529286,
      -3.1006980666227624
    ],
    "yaw_diff": [
      0.3174606348530711,
      0.3223409243339348,
      0.3216670186467496,
      0.3230969004935469,
      0.3252788797034105,
      0.32177182899084045,
      0.31466649030242344,
      0.3172564770807069,
      0.3133374798077906,
      0.3133374798077906
    ],
    "min_front_frame": [
      8,
      33.70992857991544
    ],
    "v_avg": 4.708172240364412,
    "v_std": 0.1327831185238832,
    "vy_max": 0.05233165476390733,
    "a_max": 1.6428512903597048,
    "ax_avg": 0.06593908368524172,
    "a_std": 0.061324231239313846,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "d655411faf595661",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      67.7036648973201,
      33.70992857991544,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d655411faf595661",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "66a6a72cc5145dd5": {
    "vx_ego": [
      9.274877793567853,
      9.195276132660846,
      9.120508532872453,
      9.065460845441049,
      9.06730166055784,
      9.090360190543517,
      9.122995368983233,
      9.154208528949944,
      9.156606336286412,
      9.161188643267238
    ],
    "vy_ego": [
      0.11552573078405715,
      0.07204281617892239,
      0.014472387231710293,
      -0.06958535445813929,
      -0.05222033723265973,
      -0.01153805427191923,
      -0.025232001407164972,
      -0.053235536724269394,
      -0.07830888011938786,
      -0.0778834615021422
    ],
    "v_ego": [
      9.27559724654382,
      9.195558347552648,
      9.120520015228925,
      9.065727905787808,
      9.067452032802581,
      9.09036751295099,
      9.123030261726885,
      9.154363321054623,
      9.156941185703118,
      9.161519698778374
    ],
    "ax_ego": [
      -0.15875745446826903,
      -0.1580557330989726,
      -0.13992887073603547,
      -0.08076500013035634,
      0.08379374279494425,
      0.0075815191222761286,
      0.12304559082342365,
      -6.666781105779673e-06,
      0.0018152331681848544,
      0.009930097131722687
    ],
    "ay_ego": [
      -0.16501367721240376,
      -0.1656859316319701,
      -0.24957050815454007,
      -0.2914687667326882,
      -0.10395404833709963,
      -0.23435701775389095,
      -0.39242352721220597,
      -0.5454686440319111,
      -0.38516224326930804,
      -0.3850384939235115
    ],
    "a_ego": [
      0.2289834994413438,
      0.22898349876401036,
      0.2861215255900497,
      0.3024516940384541,
      0.1335209178265987,
      0.23447961788330132,
      0.4112620115337111,
      0.5454686440726522,
      0.38516652075654306,
      0.3851665206529917
    ],
    "yaw": [
      2.4136836497540926,
      2.4094397975851853,
      2.4043889599232537,
      2.398753448493546,
      2.385905610157482,
      2.3721233543821834,
      2.356395858544211,
      2.333841660606116,
      2.311168650031843,
      2.2900973544289047
    ],
    "yaw_diff": [
      -0.008487704337814428,
      -0.01010167532386319,
      -0.011271022859415503,
      -0.02569567667212791,
      -0.02756451155059736,
      -0.03145499167594501,
      -0.04510839587618953,
      -0.045346021148546356,
      -0.04214259120587638,
      -0.04214259120587638
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.141107752812978,
    "v_std": 0.06027259361261062,
    "vy_max": 0.11552573078405715,
    "a_max": 0.5454686440726522,
    "ax_avg": -0.03113475421741877,
    "a_std": 0.11288449664081249,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "66a6a72cc5145dd5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "66a6a72cc5145dd5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "38cce6a01e6753ea": {
    "vx_ego": [
      5.200879976020991,
      5.485787713513843,
      5.663041142108545,
      5.655570179986321,
      5.580818889536518,
      5.536175982373637,
      5.503408877050701,
      5.447057591621087,
      5.389353267322087,
      5.341396160528692
    ],
    "vy_ego": [
      -0.056666151912114326,
      -0.012448318528414326,
      -0.008254799425701176,
      -0.04547884778144562,
      -0.010823799534461997,
      -0.029665397188320064,
      -0.04481483268511699,
      -0.0476519589122959,
      -0.02278240260377551,
      0.05143805469120766
    ],
    "v_ego": [
      5.201188669693557,
      5.485801837322747,
      5.66304715845874,
      5.655753034419558,
      5.5808293857135585,
      5.536255462277825,
      5.5035913399551255,
      5.447266022109173,
      5.389401421110108,
      5.341643830992578
    ],
    "ax_ego": [
      0.5589871876506723,
      0.5864820369588539,
      0.12464349879787168,
      -0.15889345842373073,
      -0.1400118506311081,
      -0.03835166732324293,
      -0.09113287323009883,
      -0.13359667342374418,
      -0.09635388701004628,
      -0.0956802674704688
    ],
    "ay_ego": [
      0.6012966438804415,
      0.5745112224343516,
      0.5756534627577593,
      0.12718238854017677,
      0.04320507125363113,
      -0.02256969959323839,
      0.12069392275678711,
      -0.008807250236623508,
      0.18690591720708416,
      0.18725164689031254
    ],
    "a_ego": [
      0.8209898476226672,
      0.8209898442602195,
      0.5889931332176751,
      0.20352516081467256,
      0.146526436178524,
      0.044499907035877334,
      0.15123565576144588,
      0.13388666403574725,
      0.2102805112913847,
      0.21028050990606512
    ],
    "yaw": [
      0.9196274765989894,
      0.9663865494034853,
      1.0166849619255762,
      1.0540717291598318,
      1.0554859120266529,
      1.059813592086323,
      1.0669937443245203,
      1.0726152173364372,
      1.0762459382612,
      1.0798466586477253
    ],
    "yaw_diff": [
      0.09351814560899196,
      0.10059682504418177,
      0.0747735344685112,
      0.002828365733642091,
      0.008655360119340205,
      0.014360304476394692,
      0.011242946023833689,
      0.007261441849525596,
      0.007201440773050738,
      0.007201440773050738
    ],
    "min_front_frame": [
      1,
      16.69868809268919
    ],
    "v_avg": 5.480477816205297,
    "v_std": 0.1358206045325922,
    "vy_max": 0.056666151912114326,
    "a_max": 0.8209898476226672,
    "ax_avg": 0.051609204589495826,
    "a_std": 0.2791726148947201,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "38cce6a01e6753ea",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      24.69367731367321,
      16.69868809268919,
      18.06432576481193,
      19.48067549540406,
      20.66994953809423,
      21.76727377980527,
      22.342843119596196,
      22.750930368056142,
      22.908337268595936,
      22.93469012855667
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "38cce6a01e6753ea",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "16aa734bed8a5f81": {
    "vx_ego": [
      2.6503674871262173,
      2.300425869065854,
      1.8107399839842728,
      1.1473671453632603,
      0.5067449941611707,
      0.08166598352192757,
      -0.05628400174785323,
      -0.045706251373506666,
      -0.022647336107006005,
      -0.008001710198523575
    ],
    "vy_ego": [
      0.01762603931114065,
      -0.0170038134804668,
      -0.016468481660896567,
      -0.010785308033668603,
      0.0226644023597266,
      0.033185686458949634,
      0.00041194209968943444,
      -0.008408670764155707,
      -0.0027012059980971222,
      -0.0013550515822139605
    ],
    "v_ego": [
      2.6504260967017244,
      2.3004887108482555,
      1.810814871953392,
      1.1474178354585647,
      0.5072515788459692,
      0.08815113527547708,
      0.05628550922791622,
      0.046473295112765,
      0.02280785712397931,
      0.008115634965399611
    ],
    "ax_ego": [
      -0.7011180664058884,
      -0.6983360019749361,
      -1.2600692199196766,
      -1.3933039496608954,
      -1.1691590442261475,
      -0.5311602872251615,
      -0.02062591679175279,
      0.06294539074917528,
      0.029290914093020048,
      0.029290579441964087
    ],
    "ay_ego": [
      0.07662966999671296,
      0.09882042689077326,
      0.015995468358438875,
      0.019325315229176722,
      0.11769345017877184,
      -0.07559480527185895,
      -0.055450993407725524,
      0.02012979626301771,
      0.0026942995157742547,
      0.0026979558694269915
    ],
    "a_ego": [
      0.7052933073300333,
      0.7052933066641229,
      1.2601707400177915,
      1.3934379655906315,
      1.175067920977669,
      0.536512651583545,
      0.05916283557609396,
      0.06608578450890149,
      0.029414569490056827,
      0.029414571387653854
    ],
    "yaw": [
      -0.0123325192652956,
      0.01937829013514165,
      0.03262894389551056,
      0.03473298071900871,
      0.03574042258676241,
      0.03575618805297093,
      0.03551564232830436,
      0.03567323193551647,
      0.03572116262233911,
      0.035596595940103726
    ],
    "yaw_diff": [
      0.0634216188008745,
      0.026501307520737823,
      0.0042080736469962965,
      0.0020148837355074,
      3.153093241703431e-05,
      -0.0004810914493331292,
      0.00031517921442421326,
      9.586137364528402e-05,
      -0.0002491333644707716,
      -0.0002491333644707716
    ],
    "min_front_frame": [
      5,
      10.039139039574588
    ],
    "v_avg": 0.8638232525513443,
    "v_std": 0.9859871982144198,
    "vy_max": 0.033185686458949634,
    "a_max": 1.3934379655906315,
    "ax_avg": -0.5652245601920299,
    "a_std": 0.5148611316873047,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "16aa734bed8a5f81",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.474692591656632,
      12.236015412084006,
      11.205275212826201,
      10.498663512399569,
      10.106501293377375,
      10.039139039574588,
      10.054201035603182,
      10.05131117561922,
      10.069423055591132,
      10.07015526532846
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "16aa734bed8a5f81",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d5ebca598bce566e": {
    "vx_ego": [
      0.6099552682048122,
      1.2627467543051343,
      1.7917014308295742,
      2.172165691039953,
      2.424291718636525,
      2.472128614148091,
      2.495445313492392,
      2.725472537022895,
      3.2058241660460998,
      3.9043405964802975
    ],
    "vy_ego": [
      -0.02864107445564304,
      -0.022740992081859757,
      -0.022331291170352485,
      -0.026920293816771856,
      -0.04712893248946903,
      -0.017614875842808297,
      -0.004613126202655415,
      -0.0016479687868264925,
      -0.012517325854811245,
      0.0900917927686411
    ],
    "v_ego": [
      0.6106273334504263,
      1.2629515106404594,
      1.7918405910688815,
      2.172332500228788,
      2.424749775405131,
      2.472191369765035,
      2.495449577443813,
      2.7254730352485854,
      3.2058486032643096,
      3.9053798822199606
    ],
    "ax_ego": [
      1.305878003734478,
      1.3061130119035886,
      0.8105239474804966,
      0.7112247195385935,
      0.2958449860266147,
      -0.10646470484334433,
      0.21104059603615033,
      0.7643472106516118,
      1.2022843051981704,
      1.587115257753792
    ],
    "ay_ego": [
      0.0332339334393692,
      0.022150646067647772,
      0.03371239814782112,
      -0.07074866354576512,
      -0.2582939034884956,
      -0.4708552723182325,
      -0.7354924822681054,
      -1.3074661055162442,
      -1.7173768606683002,
      -1.3696481268792269
    ],
    "a_ego": [
      1.306300828664438,
      1.306300827139399,
      0.8112247501329357,
      0.7147348984597456,
      0.3927340020120643,
      0.4827415673497128,
      0.7651714348093458,
      1.514494726139617,
      2.0963947223947956,
      2.0963947225793764
    ],
    "yaw": [
      1.2080483296840314,
      1.2165347453067845,
      1.22506495614792,
      1.2227233058636466,
      1.1963214306891234,
      1.1116007005318378,
      0.9830643899686269,
      0.7816056507379086,
      0.5269396732562384,
      0.27889771087133064
    ],
    "yaw_diff": [
      0.016972831245506192,
      0.017060421682271176,
      -0.004683300568546933,
      -0.052803750349046386,
      -0.1694414603145713,
      -0.2570726211264218,
      -0.40291747846143666,
      -0.5093319549633404,
      -0.49608392476981544,
      -0.49608392476981544
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.306684417873539,
    "v_std": 0.8868920007719074,
    "vy_max": 0.0900917927686411,
    "a_max": 2.0963947225793764,
    "ax_avg": 0.8087907333480151,
    "a_std": 0.5868583312828715,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "d5ebca598bce566e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 45.229065899496575,
    "right_rear_min": 22.432820926597365,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "d5ebca598bce566e",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "8f105ffb008c5801": {
    "vx_ego": [
      12.54108429006787,
      12.809966932029877,
      13.030830383779739,
      13.236736429173757,
      13.435538627317948,
      13.513764777798553,
      13.481983384159097,
      13.378442856226922,
      13.2631692352865,
      13.175911364218782
    ],
    "vy_ego": [
      -0.0022816881032671488,
      0.04522746969038338,
      0.03926326915312761,
      -0.00661627813175647,
      0.011836453437076122,
      0.03875915204249847,
      0.015400780222586175,
      -0.009416811723348795,
      -0.010982095452310991,
      -0.015796536774156433
    ],
    "v_ego": [
      12.54108449762969,
      12.81004677289328,
      13.030889535835295,
      13.23673808272083,
      13.435543841161868,
      13.51382036070984,
      13.481992180489257,
      13.378446170376895,
      13.263173781952448,
      13.175920833411368
    ],
    "ax_ego": [
      0.5343504204794198,
      0.5400019794285348,
      0.3399125863964836,
      0.4826782373443136,
      0.3125031038100619,
      0.0004770937995150343,
      -0.1276154132608906,
      -0.2865502182210619,
      -0.17456457978285603,
      -0.17452406963655848
    ],
    "ay_ego": [
      0.43252113944157666,
      0.4254442054837193,
      0.19064240689582937,
      0.08517120148839552,
      0.0699534785262397,
      0.006949349827319121,
      -0.09606649052260648,
      -0.009257287385916023,
      -0.03780305738039906,
      -0.03798966995589591
    ],
    "a_ego": [
      0.6874626592989416,
      0.6874626606343132,
      0.389724381708127,
      0.490135098078877,
      0.320236910815795,
      0.006965707538792882,
      0.15973247729587722,
      0.2866997121245217,
      0.17861092817090127,
      0.17861093445213316
    ],
    "yaw": [
      -1.5848135815124158,
      -1.5716394476718756,
      -1.559281104428049,
      -1.5505259380616208,
      -1.5490040534914762,
      -1.5495736248288452,
      -1.5494937745494064,
      -1.5496062907215835,
      -1.550372800696871,
      -1.5514419562133497
    ],
    "yaw_diff": [
      0.02634826768108045,
      0.024716686487653128,
      0.017510332732856515,
      0.003043769140289143,
      -0.001139142674738025,
      0.0001597005588775957,
      -0.0002250323443542257,
      -0.0015330199505747544,
      -0.002138311032957585,
      -0.002138311032957585
    ],
    "min_front_frame": [
      9,
      29.492282720774085
    ],
    "v_avg": 13.186765605718076,
    "v_std": 0.2973763912890799,
    "vy_max": 0.04522746969038338,
    "a_max": 0.6874626606343132,
    "ax_avg": 0.14466691403569618,
    "a_std": 0.21568162376024133,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8f105ffb008c5801",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.053934340374077,
    "right_rear_min": 3.567461367673823,
    "speed_mode": "quasi_constant",
    "front_frame": [
      48.76233043630668,
      46.624257768017685,
      44.65388867935964,
      42.62320490429988,
      40.547655189301594,
      38.28660106283804,
      36.01725310717708,
      33.77804940988063,
      31.561992894594564,
      29.492282720774085
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8f105ffb008c5801",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fd63045289ac5df7": {
    "vx_ego": [
      11.032545001059969,
      11.053416669758045,
      10.986175715797396,
      10.865600621643964,
      10.814487510542426,
      10.813251802155717,
      10.894912233427997,
      10.989244767251172,
      10.998265833844378,
      10.976931655882913
    ],
    "vy_ego": [
      0.04726748641597932,
      0.040900078198869594,
      0.0313914111091753,
      0.005919589695775898,
      -0.014109968713866078,
      0.0013347187143983863,
      0.02090383381074551,
      0.024144799187736155,
      0.020613993471273018,
      0.022443683941449577
    ],
    "v_ego": [
      11.032646256256266,
      11.053492339151537,
      10.986220563918597,
      10.86560223414293,
      10.814496715376782,
      10.813251884530292,
      10.894932287277742,
      10.989271291850297,
      10.998285152178743,
      10.976954600292071
    ],
    "ax_ego": [
      0.04097408077172554,
      0.041555202544648846,
      -0.3113462027817095,
      -0.17165710227978842,
      -0.03252435737463905,
      0.02899636240397401,
      0.2963114058839049,
      0.07999910605988347,
      -0.04439522540299158,
      -0.041857356519087216
    ],
    "ay_ego": [
      0.10721374668673123,
      0.10698984523700854,
      0.1270926193299104,
      0.07359741034977706,
      0.12500775159199695,
      0.36172634687208105,
      0.2224014095278448,
      0.16116046403935766,
      0.2377604141711936,
      0.2382203014161463
    ],
    "a_ego": [
      0.11477657763539763,
      0.11477657357826042,
      0.3362870676590566,
      0.18676921473649563,
      0.12916954664594768,
      0.36288667522255996,
      0.370489994759465,
      0.1799237397892829,
      0.24186969753451948,
      0.24186969694768623
    ],
    "yaw": [
      -1.5780101574907808,
      -1.5725842172640143,
      -1.5664354799486335,
      -1.5595010222183112,
      -1.5530626182471927,
      -1.543231393312424,
      -1.5315443709225813,
      -1.523098025785947,
      -1.5137186623783299,
      -1.5030550257533544
    ],
    "yaw_diff": [
      0.010851880453532914,
      0.012297474630761585,
      0.013868915460644615,
      0.012876807942237,
      0.01966244986953747,
      0.0233740447796853,
      0.016892690273268673,
      0.018758726815234272,
      0.021327273249950984,
      0.021327273249950984
    ],
    "min_front_frame": [
      3,
      18.925837860952893
    ],
    "v_avg": 10.942515332497525,
    "v_std": 0.08373151053595822,
    "vy_max": 0.04726748641597932,
    "a_max": 0.370489994759465,
    "ax_avg": -0.011394408669407895,
    "a_std": 0.09488221692158935,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fd63045289ac5df7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      29.905270525243562,
      24.4076032639919,
      18.95797271988349,
      18.925837860952893,
      19.501546938480054,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      0,
      0,
      0,
      0,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.8,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fd63045289ac5df7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "c8dd0a6b741e58b0": {
    "vx_ego": [
      10.419373276233769,
      10.036597456054368,
      9.628003003527928,
      9.175695388640348,
      8.670331547903762,
      8.11378747791301,
      7.567732415138459,
      7.030446925884051,
      6.4775347888386765,
      5.926157483519448
    ],
    "vy_ego": [
      -0.020161699804842725,
      -0.010921735829778623,
      0.0072516193677972796,
      0.006923195559120104,
      -0.003749689449771748,
      0.03306323620549533,
      0.02718256514134147,
      -0.027851285008199375,
      -0.0690616268113238,
      0.01079958611303422
    ],
    "v_ego": [
      10.41939278286568,
      10.036603398520366,
      9.628005734414902,
      9.175698000465824,
      8.670332358724561,
      8.113854843064814,
      7.567781233557497,
      7.030502092436151,
      6.477902936052156,
      5.926167323872469
    ],
    "ax_ego": [
      -0.7682959985077549,
      -0.7615900862133621,
      -0.8733519857890042,
      -0.936919292702344,
      -1.084898946475449,
      -1.1415116011402635,
      -1.0431848337747411,
      -1.1048334426241329,
      -1.111067777457037,
      -1.0981698225847278
    ],
    "ay_ego": [
      0.3729580875417589,
      0.38646735130474885,
      0.2992844216658766,
      0.19922210427891632,
      0.14478844719695033,
      0.16547035418820166,
      -0.1337895602734899,
      -0.36891454380277544,
      -0.306239499775943,
      -0.3496817198110539
    ],
    "a_ego": [
      0.8540354069860537,
      0.8540354050289628,
      0.9232089991618774,
      0.9578659655041408,
      1.0945178931864217,
      1.1534423148354567,
      1.0517291684914933,
      1.1647982128119458,
      1.1524991268223763,
      1.1524991385705192
    ],
    "yaw": [
      -1.6416018946479847,
      -1.623941866854329,
      -1.6083764307103716,
      -1.595097372190636,
      -1.5842854878479207,
      -1.579433596527076,
      -1.577670689045701,
      -1.5873386238290494,
      -1.6062251844588025,
      -1.6455479101820034
    ],
    "yaw_diff": [
      0.035320055587311217,
      0.03113087228791489,
      0.026558117039471085,
      0.02162376868543081,
      0.009703782641689251,
      0.0035258149627499513,
      -0.01933586956669675,
      -0.03777312125950605,
      -0.07864545144640189,
      -0.07864545144640189
    ],
    "min_front_frame": [
      5,
      66.07252531262564
    ],
    "v_avg": 8.304624070397441,
    "v_std": 1.4598813016649868,
    "vy_max": 0.0690616268113238,
    "a_max": 1.1647982128119458,
    "ax_avg": -0.9923823787268816,
    "a_std": 0.12093233655521161,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c8dd0a6b741e58b0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.229558072436163,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      66.07252531262564,
      70.55976881052057,
      75.2634185556369,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c8dd0a6b741e58b0",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "5f2fff93dc3356d6": {
    "vx_ego": [
      11.313381825780574,
      11.708175705942605,
      12.005807388180287,
      12.2075183352609,
      12.36725257644165,
      12.477632227193283,
      12.583911771226067,
      12.628676558551327,
      12.660437056415406,
      12.737608289792536
    ],
    "vy_ego": [
      -0.00914969929081888,
      0.006683263006022955,
      -0.018238313650311255,
      -0.06632084689343731,
      -0.021222323868882675,
      -0.01768622901568051,
      -0.010321961845726868,
      0.016221140573113857,
      0.010227298255930606,
      -0.019800883101853906
    ],
    "v_ego": [
      11.313385525690324,
      11.708177613413158,
      12.005821241304952,
      12.207698487448964,
      12.367270785283754,
      12.477644761724433,
      12.583916004523326,
      12.628686976321221,
      12.660441187300147,
      12.737623680230278
    ],
    "ax_ego": [
      0.7809002163749357,
      0.7981259645879629,
      0.39116272740268854,
      0.41776131962210916,
      0.22258807482523207,
      0.21937849828911452,
      0.2061204685125951,
      -0.02732812752962891,
      0.15436126539101697,
      0.15433483509738943
    ],
    "ay_ego": [
      0.6562370972707121,
      0.6351749507641424,
      0.492893507954257,
      0.3493498360697675,
      0.2974495307391207,
      0.2287575371295713,
      0.2099997008397431,
      0.026241573696842792,
      -0.04516719793216985,
      -0.04525739902685394
    ],
    "a_ego": [
      1.0200256250549353,
      1.0200256239074081,
      0.6292473992735792,
      0.5445822510276841,
      0.3715126840248206,
      0.31694942231399353,
      0.2942541790572112,
      0.037887290010800365,
      0.1608336905693573,
      0.16083368270115023
    ],
    "yaw": [
      -0.7137492969413916,
      -0.6870734924114156,
      -0.6612987813270769,
      -0.639930004497895,
      -0.6304593650516956,
      -0.6201545953603858,
      -0.6119898194845801,
      -0.6094163349252542,
      -0.609316314691918,
      -0.6087318578469667
    ],
    "yaw_diff": [
      0.053351609059951954,
      0.05154942216867742,
      0.042737553658363625,
      0.018941278892398827,
      0.02060953938261978,
      0.016329551751611326,
      0.005146969118651867,
      0.0002000404666722133,
      0.0011689136899026842,
      0.0011689136899026842
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 12.269066626324056,
    "v_std": 0.4421891692871559,
    "vy_max": 0.06632084689343731,
    "a_max": 1.0200256250549353,
    "ax_avg": 0.3317405242573416,
    "a_std": 0.327995309344609,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5f2fff93dc3356d6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5f2fff93dc3356d6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "a3b663577f605feb": {
    "vx_ego": [
      5.318946256133525,
      5.110040815544112,
      4.89824526860821,
      4.691375312489154,
      4.479779994087151,
      4.156758454149515,
      3.725756279173769,
      3.345136240770013,
      3.0594259664129035,
      2.7943916895845833
    ],
    "vy_ego": [
      -0.0017512366900684917,
      -0.016241748128917877,
      -0.039365023776699815,
      -0.024135977932975727,
      0.008778287263314422,
      0.04991774623254375,
      0.014059359580014252,
      0.011974997134423737,
      0.012904686856366365,
      -0.029737393617172148
    ],
    "v_ego": [
      5.318946544426517,
      5.1100666268561525,
      4.898403445668767,
      4.691437398928338,
      4.479788594761002,
      4.157058169851897,
      3.7257828059878326,
      3.3451576748890783,
      3.0594531823357567,
      2.7945499149949935
    ],
    "ax_ego": [
      -0.4270850858814145,
      -0.409632738560871,
      -0.43936316762999345,
      -0.3866048094405483,
      -0.4773012778002256,
      -0.792485103102992,
      -0.9305312856615732,
      -0.5929227947282191,
      -0.5462560490558515,
      -0.5149469643474264
    ],
    "ay_ego": [
      -0.4330010568217051,
      -0.4495471115431906,
      -0.5957092929492711,
      -0.8872252824146948,
      -0.5335007344271079,
      -0.8131422113379,
      -0.5823326967505956,
      -0.4516590560185316,
      -0.45500865386627654,
      -0.4901613665132988
    ],
    "a_ego": [
      0.6081871305700645,
      0.6081871307399597,
      0.7402091290817631,
      0.9677974893738863,
      0.7158488272142322,
      1.1354439195749169,
      1.0977248486300206,
      0.7453545085339411,
      0.7109349803064341,
      0.7109349768528863
    ],
    "yaw": [
      2.3093570024878622,
      2.2698122342038567,
      2.2222577958375203,
      2.141694605866139,
      2.0573194269615733,
      1.9706758626752026,
      1.8916443192245955,
      1.818274565090314,
      1.7471016408367293,
      1.680875175157312
    ],
    "yaw_diff": [
      -0.0790895365680111,
      -0.09510887673267288,
      -0.1611263799427629,
      -0.16875035780913095,
      -0.17328712857274153,
      -0.15806308690121407,
      -0.14673950826856297,
      -0.14234584850716958,
      -0.1324529313588343,
      -0.1324529313588343
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.158064435870034,
    "v_std": 0.8428436865965769,
    "vy_max": 0.04991774623254375,
    "a_max": 1.1354439195749169,
    "ax_avg": -0.5517129276209115,
    "a_std": 0.18227607945560148,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "a3b663577f605feb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a3b663577f605feb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "22dde440a0c35d31": {
    "vx_ego": [
      4.152768691307758,
      4.199922426187673,
      4.36327397036578,
      4.5601299978985175,
      4.791964802051126,
      4.982096099404047,
      5.126087471164314,
      5.209702701053699,
      5.237961875489749,
      5.254762184232192
    ],
    "vy_ego": [
      0.13446439266563803,
      0.0675446135139508,
      0.05591061737435854,
      0.03258722117175705,
      0.04757852504425486,
      0.013350900983364333,
      0.006703211969588008,
      0.0067053714920231045,
      0.0050889855882645385,
      -0.019797124563681656
    ],
    "v_ego": [
      4.1549450629822875,
      4.200465529058523,
      4.363632172583609,
      4.560246432454899,
      4.792200995382213,
      4.98211398808318,
      5.126091853944724,
      5.209707016270018,
      5.237964347612381,
      5.254799476571647
    ],
    "ax_ego": [
      -0.08008602086018729,
      0.3549070207288642,
      0.33748408343868774,
      0.46819263024433744,
      0.4337450021233229,
      0.3218661357689988,
      0.25062542654921544,
      0.082843964792054,
      0.03082248678066092,
      0.03579779773883887
    ],
    "ay_ego": [
      -1.9770249542728398,
      -1.9465565695718285,
      -1.8125955323069316,
      -1.6511918536690062,
      -0.9766718040790828,
      -0.599043758309227,
      -0.369438625762592,
      -0.24928180465749872,
      -0.2550326303509949,
      -0.25438195610482905
    ],
    "a_ego": [
      1.9786463657143847,
      1.9786463736367557,
      1.8437456631307638,
      1.7162863620730662,
      1.0686545464976283,
      0.6800376708125154,
      0.4464280486689078,
      0.2626871535415587,
      0.25688843538604694,
      0.25688842308416704
    ],
    "yaw": [
      0.24383936031922315,
      0.023008544765614827,
      -0.19281702007059207,
      -0.3818036002304614,
      -0.5251275133506454,
      -0.5984878089113939,
      -0.6449880298976458,
      -0.6747962306632849,
      -0.6985913313355024,
      -0.7181241854570029
    ],
    "yaw_diff": [
      -0.4416616311072167,
      -0.4316511296724138,
      -0.37797316031973865,
      -0.2866478262403681,
      -0.14672059112149682,
      -0.0930004419725039,
      -0.05961640153127812,
      -0.047590201344435146,
      -0.03906570824300082,
      -0.03906570824300082
    ],
    "min_front_frame": [
      6,
      30.25379399501742
    ],
    "v_avg": 4.788216687494348,
    "v_std": 0.41570723378654467,
    "vy_max": 0.13446439266563803,
    "a_max": 1.9786463736367557,
    "ax_avg": 0.2236198527304793,
    "a_std": 0.7195942062044587,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "22dde440a0c35d31",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      35.184839864987005,
      32.76075420761969,
      30.25379399501742,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "22dde440a0c35d31",
    "pedestrians": "No"
  },
  "cb61f2ea159355a0": {
    "vx_ego": [
      4.549948039385551,
      5.244253009307329,
      5.894384343743853,
      6.467476359552982,
      6.994386580870474,
      7.411305062096341,
      7.569540978771328,
      7.49718290517216,
      7.346702199984673,
      7.186608057026355
    ],
    "vy_ego": [
      0.00522901137788967,
      -0.008928651827262879,
      -0.0012269543411367323,
      0.0077734493932175575,
      0.01251737419470711,
      0.005413680414767086,
      -0.001693648928085878,
      0.0045845027771580504,
      0.0006110284148777012,
      -0.014517115516681223
    ],
    "v_ego": [
      4.549951044095795,
      5.244260610081504,
      5.894384471443105,
      6.4674810311196245,
      6.994397781604768,
      7.411307039341339,
      7.569541168244287,
      7.497184306876241,
      7.346702225394422,
      7.186622719466985
    ],
    "ax_ego": [
      1.388543336334895,
      1.3886564257499991,
      1.2117183990629306,
      1.0806972468600817,
      1.0270013786206234,
      0.6407188697121633,
      -0.007783623930548952,
      -0.28162988982017223,
      -0.3202450737717385,
      -0.3201712606981492
    ],
    "ay_ego": [
      -0.05188351923078138,
      -0.04876325236189982,
      0.015167172871822343,
      -0.01853889063663161,
      -0.007106304677275743,
      -0.04566721680853009,
      -0.01488170359554624,
      -0.021725353430087052,
      -0.05097658459602543,
      -0.05143819850357413
    ],
    "a_ego": [
      1.3895123232443143,
      1.3895123329994856,
      1.2118133196827616,
      1.0808562484609123,
      1.0270259642554453,
      0.6423442727200651,
      0.016794341410067505,
      0.2824666101007065,
      0.32427691785284685,
      0.3242769255471862
    ],
    "yaw": [
      -2.0335708380749544,
      -2.035817893891341,
      -2.0386974239238893,
      -2.040285747850204,
      -2.0419414042098385,
      -2.042781230047824,
      -2.0438417749969915,
      -2.045880720847007,
      -2.0477929934051904,
      -2.049234587020824
    ],
    "yaw_diff": [
      -0.004494111632773468,
      -0.0057590600650963,
      -0.0031766478526291664,
      -0.0033113127192692104,
      -0.0016796516759711722,
      -0.002121089898334816,
      -0.004077891700030811,
      -0.003824545116366984,
      -0.00288318723126757,
      -0.00288318723126757
    ],
    "min_front_frame": [
      7,
      12.279968185251466
    ],
    "v_avg": 6.616183239766807,
    "v_std": 1.0006984811515223,
    "vy_max": 0.014517115516681223,
    "a_max": 1.3895123329994856,
    "ax_avg": 0.5807505808120084,
    "a_std": 0.4841604409096279,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cb61f2ea159355a0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.37205753792387,
    "right_rear_min": 12.381670179508665,
    "speed_mode": "accelerating",
    "front_frame": [
      21.329232453239428,
      21.980471527345216,
      22.591296555147366,
      23.116678274189606,
      23.51154116906459,
      23.782858454043666,
      12.653370511060041,
      12.279968185251466,
      12.417782257224495,
      12.90333754979745
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cb61f2ea159355a0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2743a2f96269577c": {
    "vx_ego": [
      3.6642498082823245,
      4.1483742903829,
      4.769434708906905,
      5.379681698469941,
      5.922525449977236,
      6.42058899590708,
      6.89178639012074,
      7.325272563634274,
      7.720309090441795,
      8.105952654027178
    ],
    "vy_ego": [
      -0.009541563270857756,
      0.05433875686064715,
      0.12207067120480106,
      0.14975624821579855,
      0.13189708033310843,
      0.08533080343107526,
      0.08164280293413442,
      0.06976512015131862,
      0.03388210628044469,
      0.02517018617821426
    ],
    "v_ego": [
      3.664262231190162,
      4.148730161580407,
      4.770996614051857,
      5.381765705670594,
      5.923993969057401,
      6.421156001872037,
      6.892269959478111,
      7.325604773909304,
      7.720383439252497,
      8.105991732515058
    ],
    "ax_ego": [
      0.7502048848981656,
      1.1793702334946319,
      1.3053818757678035,
      1.1524095342527736,
      1.022601506879708,
      0.9643709199277379,
      0.9172600693850066,
      0.8113284529618713,
      0.7665610108013308,
      0.7733308660251048
    ],
    "ay_ego": [
      -1.8736348372032712,
      -1.6378036261370605,
      -0.938538342283696,
      -0.34302699015866245,
      0.04760031791271256,
      0.0771986602462268,
      0.24399104684906497,
      0.1363058959875271,
      0.3268887126229062,
      0.3105340211014147
    ],
    "a_ego": [
      2.018245493617364,
      2.018245491866856,
      1.607754975585427,
      1.2023789962461942,
      1.0237087633394768,
      0.9674558927135045,
      0.9491562915719884,
      0.8226987029687514,
      0.8333498747351072,
      0.833349870467712
    ],
    "yaw": [
      2.013120229058541,
      1.7698880532022128,
      1.610023923381973,
      1.5417154368079053,
      1.5318347612402115,
      1.5444204641030979,
      1.5570267909867597,
      1.57204411031724,
      1.592191392799985,
      1.6134319437580302
    ],
    "yaw_diff": [
      -0.4864643517126561,
      -0.31972825964047935,
      -0.13661697314813548,
      -0.019761351135387795,
      0.02517140572577281,
      0.025212653767323623,
      0.030034638660960677,
      0.040294564965489776,
      0.04248110191609067,
      0.04248110191609067
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.035515458857742,
    "v_std": 1.445488283376652,
    "vy_max": 0.14975624821579855,
    "a_max": 2.018245493617364,
    "ax_avg": 0.9642819354394134,
    "a_std": 0.4535397844702065,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "2743a2f96269577c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "2743a2f96269577c",
    "road_shape": "Straight"
  },
  "aff9661937e85b81": {
    "vx_ego": [
      -0.16369143323414526,
      0.46041333698974407,
      1.207164666646156,
      2.0511505284881597,
      2.8585105543318376,
      3.6304455202817825,
      4.367345536339073,
      5.059493152589406,
      5.661587698295829,
      6.2078586213197156
    ],
    "vy_ego": [
      -0.003235928222062881,
      -0.0036325640018548266,
      0.005480171052182459,
      0.008591846406561743,
      -0.019110247901445776,
      -0.037739223323300486,
      -0.033657095067088694,
      -0.016306398951291268,
      0.002613493146990109,
      0.029473136745906015
    ],
    "v_ego": [
      0.16372341477536737,
      0.46042766684818065,
      1.2071771057610752,
      2.051168523145266,
      2.8585744333148586,
      3.6306416684535403,
      4.367475224180348,
      5.059519429723128,
      5.66158830151408,
      6.207928585936147
    ],
    "ax_ego": [
      1.248208042861124,
      1.248208219498916,
      1.7387867575520874,
      1.637247729958628,
      1.5922012297640564,
      1.4953906760530589,
      1.452204226570112,
      1.3168193558156218,
      1.0918757270602455,
      1.0927572648688968
    ],
    "ay_ego": [
      -0.0009801732985658118,
      -0.0007268174576932074,
      0.03491693739276869,
      -0.03216367021810018,
      -0.08983280617908096,
      0.0032912665531350527,
      0.012477272662544503,
      0.11172541013501247,
      0.13624751291355963,
      0.12898660637205356
    ],
    "a_ego": [
      1.248208427708647,
      1.2482084311076698,
      1.7391373093448925,
      1.6375636265307616,
      1.5947334225908048,
      1.4953942979903154,
      1.4522578276604994,
      1.3215505223488453,
      1.1003435773059569,
      1.100343575683128
    ],
    "yaw": [
      2.412658581402627,
      2.4124556043294483,
      2.4117239128491588,
      2.4102479191080244,
      2.4091111293168295,
      2.408187948335006,
      2.4081529868267193,
      2.411049174929196,
      2.4190424643027253,
      2.4256896952868594
    ],
    "yaw_diff": [
      -0.0004059541463572458,
      -0.0014633829605790183,
      -0.0029519874822687697,
      -0.0022735795823898286,
      -0.0018463619636470696,
      -6.992301657327005e-05,
      0.005792376204952987,
      0.015986578747059,
      0.013294461968268223,
      0.013294461968268223
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.166822435365199,
    "v_std": 2.0550977429224293,
    "vy_max": 0.037739223323300486,
    "a_max": 1.7391373093448925,
    "ax_avg": 1.3913699230002747,
    "a_std": 0.21275306303781427,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "aff9661937e85b81",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 31.036222799807472,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "aff9661937e85b81",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "34f4fd0a288b5199": {
    "vx_ego": [
      0.8113025917147034,
      0.4564848401194701,
      0.204028202686867,
      0.12196869745472655,
      0.14833636755048465,
      0.2431954200306728,
      0.3923155364408619,
      0.4742029472175269,
      0.38465033004182486,
      0.2171002983742571
    ],
    "vy_ego": [
      0.0318174977559596,
      0.01316378707075061,
      0.006602727263133115,
      -0.001601661794493163,
      -0.005715664764811126,
      -0.014362994631691384,
      -0.011696694935596608,
      -0.0009337242337022766,
      -0.0008610862513311057,
      0.014371143607054548
    ],
    "v_ego": [
      0.8119262580348324,
      0.4566746046682936,
      0.20413501291778585,
      0.12197921330827871,
      0.1484464440859941,
      0.24361918631069548,
      0.3924898633153443,
      0.4742038664864862,
      0.38465129386343816,
      0.21757543363800527
    ],
    "ax_ego": [
      -0.7096238337812195,
      -0.7096069104014047,
      -0.3002160586076444,
      -0.0280048258105593,
      0.13344482735110533,
      0.24599104035089187,
      0.3505872201417907,
      -0.023070826260445564,
      -0.3351082344576472,
      -0.33509954532688624
    ],
    "ay_ego": [
      -0.037715225128506724,
      -0.03803219924214496,
      0.01151769580375575,
      -0.04456755520410452,
      0.027833938344799393,
      -0.062372136124364805,
      0.0740278343846253,
      -0.028521825753203604,
      0.030587587114025233,
      0.030682606223860542
    ],
    "a_ego": [
      0.7106253750583705,
      0.710625369283015,
      0.3004369137814733,
      0.0526358931296,
      0.1363167270387182,
      0.253775245636036,
      0.3583176233321855,
      0.03668456853549968,
      0.3365013065157096,
      0.33650130401378
    ],
    "yaw": [
      -0.5855054536934052,
      -0.5859521262902475,
      -0.5861942134012937,
      -0.5866444879697348,
      -0.5872481020949256,
      -0.5871777466747751,
      -0.5863650020339491,
      -0.585086717971718,
      -0.5841392893083492,
      -0.5838557283413
    ],
    "yaw_diff": [
      -0.0008933451936845582,
      -0.0004841742220924594,
      -0.0009005491368820895,
      -0.0012072282503816645,
      0.00014071084030109482,
      0.0016254892816518485,
      0.002556568124462366,
      0.0018948573267374424,
      0.00056712193409858,
      0.00056712193409858
    ],
    "min_front_frame": [
      9,
      9.225683935651903
    ],
    "v_avg": 0.3455701176629154,
    "v_std": 0.19640235601644454,
    "vy_max": 0.0318174977559596,
    "a_max": 0.7106253750583705,
    "ax_avg": -0.1710707146802019,
    "a_std": 0.2230119409285177,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "34f4fd0a288b5199",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.158130308591266,
    "right_rear_min": 3.989140571137258,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.461085122952909,
      9.549952230008964,
      9.679134010200473,
      9.746518484279735,
      9.834982233515332,
      9.831614114698993,
      9.741763540395718,
      9.53788437916644,
      9.36946158686453,
      9.225683935651903
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "34f4fd0a288b5199",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1a31ffd5dc39532f": {
    "vx_ego": [
      6.506808579410448,
      6.429565685178637,
      6.328051661820766,
      6.190025981665753,
      6.042806720571027,
      5.902159468985328,
      5.785760558086515,
      5.6636452002753295,
      5.519928906226123,
      5.374272292485793
    ],
    "vy_ego": [
      -0.07805233855520102,
      -0.04700346864639782,
      -0.0550024821539139,
      -0.08679695798102383,
      -0.0659014816728789,
      -0.010081887869103245,
      0.025491597752379525,
      0.05008898902488523,
      0.06002411598664825,
      0.05931699431563331
    ],
    "v_ego": [
      6.5072767004825725,
      6.429737492782378,
      6.3282906939959425,
      6.190634488128969,
      6.043166063204374,
      5.902168079764942,
      5.785816714783277,
      5.66386668817543,
      5.520255249921936,
      5.374599629702211
    ],
    "ax_ego": [
      -0.160721740110417,
      -0.13830347589126923,
      -0.2639628314146704,
      -0.2823483273398672,
      -0.3021634584695704,
      -0.259084191560958,
      -0.20716621032911198,
      -0.28089378606796406,
      -0.29079980131833044,
      -0.28793089081619777
    ],
    "ay_ego": [
      0.5674150984065506,
      0.5732918282899977,
      0.3650626019340952,
      0.21061466678762375,
      0.21840717765541404,
      0.21672294352131927,
      0.07876576136330493,
      -0.025649501687771248,
      -0.17515352208002255,
      -0.17983070504318727
    ],
    "a_ego": [
      0.5897383925469292,
      0.5897383927028111,
      0.4504964813395787,
      0.3522486562326144,
      0.3728330067009832,
      0.3377772232779175,
      0.22163457281134405,
      0.28206243278470483,
      0.3394750075393142,
      0.3394750069777435
    ],
    "yaw": [
      -1.5480808902936156,
      -1.5087800354225838,
      -1.4708477619322924,
      -1.4427863011839444,
      -1.4286728744153638,
      -1.4197971047230835,
      -1.413236291243595,
      -1.4152102156469517,
      -1.4259620538489752,
      -1.4421252975663559
    ],
    "yaw_diff": [
      0.07860170974206371,
      0.07586454698058276,
      0.056122921496696065,
      0.028226853537161034,
      0.017751539384560644,
      0.013121626958977117,
      -0.003947848806713505,
      -0.021503676404047045,
      -0.0323264874347613,
      -0.0323264874347613
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.974581180094203,
    "v_std": 0.37030179750303244,
    "vy_max": 0.08679695798102383,
    "a_max": 0.5897383927028111,
    "ax_avg": -0.24733747133183565,
    "a_std": 0.11529987919797133,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1a31ffd5dc39532f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1a31ffd5dc39532f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "be9298a106f552af": {
    "vx_ego": [
      6.139805884328093,
      6.433421077293684,
      6.647415717123035,
      6.771411301062896,
      6.902577181228445,
      6.987177836920957,
      7.048088386045196,
      7.1629720498907545,
      7.280352325342971,
      7.387360222320452
    ],
    "vy_ego": [
      0.041275336379974714,
      0.03248962957215529,
      0.03572137169648659,
      0.018105378490453905,
      0.014312831661965397,
      0.028740070928701567,
      0.04878073954761675,
      0.05050414436574968,
      0.04149382966198312,
      0.054843799949084726
    ],
    "v_ego": [
      6.13994462113651,
      6.4335031152395015,
      6.647511694811092,
      6.7714355060720015,
      6.902592020391021,
      6.9872369443462,
      7.048257192955999,
      7.163150093088534,
      7.280470569889478,
      7.387563799840603
    ],
    "ax_ego": [
      0.5873930788287807,
      0.5877381594563357,
      0.270723343443069,
      0.22640817010664854,
      0.29857543196865943,
      0.04093059585752003,
      0.20392664747974826,
      0.2575383523433714,
      0.21407115911737998,
      0.21669836364902256
    ],
    "ay_ego": [
      -0.07658565512740956,
      -0.07389078029126184,
      -0.22296512751719122,
      -0.18862672804143693,
      -0.11878208480709992,
      -0.14072405038010735,
      -0.06694534636288012,
      -0.15302571887241057,
      -0.1849452646486392,
      -0.1818599227876058
    ],
    "a_ego": [
      0.5923647454290715,
      0.5923647453159012,
      0.35072008321986814,
      0.29468746499072423,
      0.32133545127544305,
      0.14655569600883694,
      0.21463400697926574,
      0.29957114941889273,
      0.2828978827807197,
      0.2828978832096097
    ],
    "yaw": [
      1.2293957181454305,
      1.2248092186110149,
      1.2130395692530132,
      1.2003394318246974,
      1.1896394838194897,
      1.1782732841859127,
      1.1679896305488873,
      1.1600001619059974,
      1.1495558908334749,
      1.1352313430130643
    ],
    "yaw_diff": [
      -0.009172999068831178,
      -0.023539298716003465,
      -0.025400274856631544,
      -0.021399896010415365,
      -0.02273239926715398,
      -0.020567307274050872,
      -0.015978937285779704,
      -0.020888542145045097,
      -0.028649095640821187,
      -0.028649095640821187
    ],
    "min_front_frame": [
      9,
      45.21834422164514
    ],
    "v_avg": 6.876166555777094,
    "v_std": 0.36758996836186053,
    "vy_max": 0.054843799949084726,
    "a_max": 0.5923647454290715,
    "ax_avg": 0.2904003302250535,
    "a_std": 0.1382524123638535,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "be9298a106f552af",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 14.523524182913146,
    "speed_mode": "accelerating",
    "front_frame": [
      76.69339417438954,
      73.66148319866765,
      69.72510153518911,
      66.39802065784936,
      62.971176787675454,
      59.53810014757588,
      56.01144870422221,
      52.46755868178968,
      48.84817893422896,
      45.21834422164514
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "be9298a106f552af",
    "merging_vehicles": "No"
  },
  "0a672fa6dbb95d68": {
    "vx_ego": [
      5.43823058378542,
      5.674232780405506,
      5.8895556589928795,
      6.078461294498922,
      6.266922152595068,
      6.452686742977512,
      6.633068872134771,
      6.795162831455478,
      6.941430097414092,
      7.089244417314035
    ],
    "vy_ego": [
      0.0006785210757267457,
      -0.001405635084720247,
      -0.006548086011000098,
      0.018551244365861308,
      0.01686736348125817,
      0.010817101684894137,
      -0.007958956509918735,
      -0.04434904004723439,
      -0.047835490343894005,
      -0.039745027554594525
    ],
    "v_ego": [
      5.438230626114523,
      5.674232954509217,
      5.889559299116145,
      6.078489603296944,
      6.266944851730994,
      6.452695809712914,
      6.633073647071316,
      6.795307553256669,
      6.941594919859748,
      7.08935582938489
    ],
    "ax_ego": [
      0.4660959714032457,
      0.47771055219205943,
      0.3820000389124255,
      0.3734626054104333,
      0.37919512697099383,
      0.36281906380749906,
      0.35846647040634044,
      0.2913362890540451,
      0.2957656045258972,
      0.2970710360295383
    ],
    "ay_ego": [
      0.3648069084676711,
      0.349459815432957,
      0.1858145289823913,
      0.20770873890468433,
      0.21214311661186427,
      0.20150975754666675,
      0.18541257789275195,
      0.13934629476736526,
      0.14501413098865557,
      0.1423207310621958
    ],
    "a_ego": [
      0.5918864207126863,
      0.5918864200825009,
      0.42479532590418473,
      0.4273373817691629,
      0.43450390820376195,
      0.41502271678628205,
      0.4035790312273614,
      0.3229461614343412,
      0.3294030828741048,
      0.3294030827690311
    ],
    "yaw": [
      -1.327684516104949,
      -1.2951656904544515,
      -1.2711826422278052,
      -1.2589387583146898,
      -1.241659979786073,
      -1.2244541740444188,
      -1.2068023023851746,
      -1.1893122793055424,
      -1.1784534241416456,
      -1.1693670047547882
    ],
    "yaw_diff": [
      0.06503765130099515,
      0.04796609645329264,
      0.024487767826230744,
      0.03455755705723362,
      0.0344116114833084,
      0.0353037433184884,
      0.03498004615926442,
      0.021717710327793682,
      0.018172838773714783,
      0.018172838773714783
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.325948509405336,
    "v_std": 0.5253978462809327,
    "vy_max": 0.047835490343894005,
    "a_max": 0.5918864207126863,
    "ax_avg": 0.3683922758712478,
    "a_std": 0.09219859159162472,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0a672fa6dbb95d68",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0a672fa6dbb95d68",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4131dd1f0fd5571b": {
    "vx_ego": [
      8.717091810539724,
      8.145934136991949,
      7.594277642903536,
      7.069001105180351,
      6.615797023801702,
      6.252623001265636,
      5.972846556144984,
      5.774509436314398,
      5.585170811861124,
      5.381709657392252
    ],
    "vy_ego": [
      -0.0072658745334304164,
      0.0018875487291857285,
      0.009846181149067879,
      0.006610371249123004,
      0.015580518705469615,
      0.021342496846630143,
      0.020354150442746965,
      0.01377360809483208,
      0.0019485661518782171,
      -0.03458162703868295
    ],
    "v_ego": [
      8.717094838666805,
      8.145934355680199,
      7.594284025817556,
      7.069004195928099,
      6.615815370209978,
      6.252659426046468,
      5.972881237283497,
      5.774525862992041,
      5.5851711517710445,
      5.381820763031566
    ],
    "ax_ego": [
      -1.1425475618468037,
      -1.142013193858875,
      -1.0648222800283706,
      -1.036366755129538,
      -0.7765403823655651,
      -0.676351696118352,
      -0.4427871417557774,
      -0.3506362063516054,
      -0.40676021929417405,
      -0.4068812298204959
    ],
    "ay_ego": [
      0.10159936919543656,
      0.10743934371187357,
      0.03248302663766078,
      0.04390224594918621,
      0.06232071187009834,
      0.011434186649684763,
      -0.006682376421830841,
      0.009560709399975654,
      -0.03987193686132973,
      -0.03861753300112966
    ],
    "a_ego": [
      1.1470559545649839,
      1.1470559478617364,
      1.0653176216811402,
      1.037296224970047,
      0.7790371214341804,
      0.6764483405748819,
      0.4428375628364129,
      0.35076652686491677,
      0.40870973483551676,
      0.40870973689812257
    ],
    "yaw": [
      -1.6681178483061245,
      -1.6630053017431137,
      -1.6595675965706675,
      -1.6565201266119627,
      -1.6539377789899394,
      -1.651963726996105,
      -1.6516059912328385,
      -1.6503606949015706,
      -1.649613843605941,
      -1.646530420589591
    ],
    "yaw_diff": [
      0.010225093126021711,
      0.006875410344892252,
      0.006094939917409725,
      0.005164695244046502,
      0.003948103987668983,
      0.0007154715265329514,
      0.0024905926625358177,
      0.0014937025912589164,
      0.006166846032700235,
      0.006166846032700235
    ],
    "min_front_frame": [
      9,
      19.29729071836061
    ],
    "v_avg": 6.710919122742725,
    "v_std": 1.0801369389167288,
    "vy_max": 0.03458162703868295,
    "a_max": 1.1470559545649839,
    "ax_avg": -0.7445706666569557,
    "a_std": 0.3146558803999651,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4131dd1f0fd5571b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.11922210010657,
    "right_rear_min": 14.95938225546146,
    "speed_mode": "decelerating",
    "front_frame": [
      26.864790800797312,
      25.714414200174293,
      24.582404195164806,
      23.819190210431554,
      23.014361552348642,
      22.2271340406013,
      21.406186960715278,
      20.769876262522967,
      20.051520173456346,
      19.29729071836061
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4131dd1f0fd5571b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "05d010f73fab576b": {
    "vx_ego": [
      3.6735762097417006,
      3.6181746365432277,
      3.5710740268705354,
      3.5397524519848003,
      3.534605701672713,
      3.5618099274491506,
      3.5852743983905784,
      3.579774243190675,
      3.5563193135321773,
      3.528550661807466
    ],
    "vy_ego": [
      -0.018817685535077233,
      -0.02699257392349086,
      -0.008403755295339321,
      4.8763684416197606e-05,
      0.002898335222330184,
      -0.0007477725588955764,
      0.0026064307780373497,
      -0.005767165044563871,
      -0.019141826804513595,
      -0.031429236207374034
    ],
    "v_ego": [
      3.673624405688352,
      3.618275321140133,
      3.5710839150729017,
      3.539752452320685,
      3.5346068899729586,
      3.5618100059434843,
      3.585275345804883,
      3.5797788887589164,
      3.5563708284338675,
      3.5286906310741504
    ],
    "ax_ego": [
      -0.11121467962657765,
      -0.1108988502760389,
      -0.077787156834262,
      -0.046877683642981186,
      0.027326315357830727,
      0.08211581215526703,
      0.011231338126999696,
      -0.03229313447898792,
      -0.06405985894830156,
      -0.051118064949708636
    ],
    "ay_ego": [
      -0.05654650647740678,
      -0.057163425880740526,
      -0.17190435719665606,
      -0.24454019451654715,
      -0.2866237689152451,
      -0.30853140214706576,
      -0.2766440106381677,
      -0.3358304227992609,
      -0.31409061389870313,
      -0.31645461418713566
    ],
    "a_ego": [
      0.12476462783674591,
      0.12476462740284286,
      0.18868478950766962,
      0.24899281908906962,
      0.2879234488856638,
      0.3192720356009175,
      0.27687190463839706,
      0.3373794887245049,
      0.3205566709144274,
      0.3205566711277922
    ],
    "yaw": [
      2.313314615169011,
      2.307759635968557,
      2.286633538622038,
      2.254941953262601,
      2.216498766177092,
      2.1755194788666974,
      2.1337524546228765,
      2.0934161101923747,
      2.0516794871873065,
      2.0106357163457043
    ],
    "yaw_diff": [
      -0.011109958400908226,
      -0.042252194693037204,
      -0.06338317071887456,
      -0.07688637417101774,
      -0.08195857462078937,
      -0.08353404848764168,
      -0.08067268886100365,
      -0.08347324601013639,
      -0.08208754168320453,
      -0.08208754168320453
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.574926868421033,
    "v_std": 0.04157258970408766,
    "vy_max": 0.031429236207374034,
    "a_max": 0.3373794887245049,
    "ax_avg": -0.03735759631167603,
    "a_std": 0.07709166947909218,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "05d010f73fab576b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "05d010f73fab576b",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "57b605b889505738": {
    "vx_ego": [
      0.7169111923537108,
      0.2950969300667459,
      0.01407540203422,
      -0.04515853870663218,
      -0.02510997234043077,
      -0.013014237974915095,
      -0.00811099535849875,
      -0.005412240459689011,
      -0.003964268484671202,
      -0.002481774792996216
    ],
    "vy_ego": [
      0.008323967361787366,
      0.0002642625042093699,
      0.005511815484366722,
      0.0070456995767693344,
      0.0014987894843699074,
      0.001248786990098508,
      0.0010022906761131083,
      0.0007198313101771517,
      0.0005022713666071717,
      0.00022170369525618657
    ],
    "v_ego": [
      0.7169595150039222,
      0.29509704839169276,
      0.015116118958205816,
      0.045704873926579036,
      0.025154663202985966,
      0.013074014647932801,
      0.008172688193306505,
      0.005459899624407584,
      0.003995960603443274,
      0.002491657811907899
    ],
    "ax_ego": [
      -0.8436466639141825,
      -0.8437099008132805,
      -0.2803677430747394,
      0.04345462494089945,
      0.03673863837078774,
      0.01164460194779884,
      0.0079681299613137,
      0.002827081062497389,
      0.0029649450677256273,
      0.0029648904777272896
    ],
    "ay_ego": [
      -0.011990643200657292,
      -0.0060885101003546604,
      0.027616590565489624,
      -0.02137879274072641,
      -0.0008290498731548281,
      -0.00016724900214514903,
      -0.0008207588249296389,
      -0.0003076394397139233,
      -0.0005616153788803733,
      -0.0005618924779353156
    ],
    "a_ego": [
      0.8437318703580511,
      0.843731868952215,
      0.2817245950059827,
      0.048428888153716446,
      0.036747991414928995,
      0.011645802967223819,
      0.008010289640773605,
      0.002843770271804469,
      0.0030176664972169256,
      0.0030176644448444306
    ],
    "yaw": [
      -0.24764674282021418,
      -0.24065104768031736,
      -0.23905340962098373,
      -0.23950983909879187,
      -0.2393626859117241,
      -0.23942122362938173,
      -0.2393716136822676,
      -0.23943121223886837,
      -0.23948458599010286,
      -0.23938827119965417
    ],
    "yaw_diff": [
      0.013991390279793625,
      0.0031952761186672674,
      -0.0009128589556162692,
      0.0002943063741355223,
      -0.00011707543531525033,
      9.921989422828625e-05,
      -0.00011919711320157456,
      -0.00010674750246897347,
      0.00019262958089738547,
      0.00019262958089738547
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.11312264403643837,
    "v_std": 0.2182626369938482,
    "vy_max": 0.008323967361787366,
    "a_max": 0.8437318703580511,
    "ax_avg": -0.18591613959734524,
    "a_std": 0.3275988604252381,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "57b605b889505738",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "57b605b889505738",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "bdbb9d4559ec5bd1": {
    "vx_ego": [
      0.6505826286129798,
      0.8154038562826526,
      0.9714038059704706,
      1.1515717670123733,
      1.4770632434128101,
      1.9909288561054181,
      2.6398154519576895,
      3.3456712767097994,
      4.062802855275167,
      4.793189436810584
    ],
    "vy_ego": [
      0.0032264994373641786,
      -0.014023360641397,
      -0.0034910688333791226,
      0.013539271221523083,
      0.0015511808202776922,
      0.008218492622220339,
      0.017404431720883795,
      0.002520630183618769,
      0.0018761992205946487,
      0.02661258091211971
    ],
    "v_ego": [
      0.6505906293143129,
      0.8155244346335059,
      0.9714100791197892,
      1.1516513562902662,
      1.4770640579213576,
      1.9909458188745897,
      2.639872825466808,
      3.3456722262315983,
      4.062803288488819,
      4.7932633149677235
    ],
    "ax_ego": [
      0.3296644397222648,
      0.3296376949337055,
      0.29440864408580153,
      0.42626537557203314,
      0.8756964336870594,
      1.1797814508526003,
      1.4156568031460397,
      1.4076736877356775,
      1.4608659958680192,
      1.4608003752582779
    ],
    "ay_ego": [
      -0.033190847832720624,
      -0.033455419579266836,
      0.0774325761634155,
      -0.009455347761895326,
      -0.03803477970146786,
      0.06784169533714698,
      -0.020751077965326756,
      -0.0027849788707551004,
      0.02870013648724315,
      0.03186558497790264
    ],
    "a_ego": [
      0.3313310658499284,
      0.33133106558309844,
      0.3044211779159645,
      0.426370231152299,
      0.8765220410458447,
      1.1817304123200372,
      1.4158088824168282,
      1.4076764426709258,
      1.4611478897489625,
      1.461147888429063
    ],
    "yaw": [
      1.5926856321164125,
      1.593488217636785,
      1.5940028007377371,
      1.5939683186596854,
      1.5940601667737857,
      1.594522680373037,
      1.595654281911754,
      1.5986604801360778,
      1.600586929805134,
      1.5984200513419964
    ],
    "yaw_diff": [
      0.0016051710407452013,
      0.0010291662019041858,
      -6.89641561035792e-05,
      0.00018369622820069154,
      0.0009250271985026259,
      0.002263203077434106,
      0.0060123964486473724,
      0.003852899338112614,
      -0.004333756926275356,
      -0.004333756926275356
    ],
    "min_front_frame": [
      0,
      14.943637438002963
    ],
    "v_avg": 2.1898798031308773,
    "v_std": 1.3853638355888749,
    "vy_max": 0.02661258091211971,
    "a_max": 1.4611478897489625,
    "ax_avg": 0.918045090086148,
    "a_std": 0.495519849229317,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bdbb9d4559ec5bd1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.575266565579817,
    "right_rear_min": 3.789004745810477,
    "speed_mode": "accelerating",
    "front_frame": [
      14.943637438002963,
      15.751478268662432,
      16.914356410903746,
      18.460122440959992,
      20.375795999851672,
      22.329748183801932,
      24.323490874726346,
      26.4378730056762,
      28.254666273801305,
      30.019904365835917
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bdbb9d4559ec5bd1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0d77009a20f25175": {
    "vx_ego": [
      1.527520928939631,
      1.6248938020286177,
      1.8088901031712878,
      2.3031675666130287,
      3.0160542071257064,
      3.609260008963791,
      4.00329826091921,
      4.248869977712878,
      4.464469893796425,
      4.875990265556334
    ],
    "vy_ego": [
      -0.020227720958823858,
      -0.018432308708163037,
      -0.01592950626565859,
      -0.026458306516868424,
      -0.0628342225493066,
      -0.0673567667992907,
      -0.03442464173396709,
      0.04710887173414613,
      0.0948821999555175,
      0.14466309067616367
    ],
    "v_ego": [
      1.5276548527215765,
      1.624998343960796,
      1.8089602412769885,
      2.3033195353406613,
      3.0167086567721535,
      3.6098884672990876,
      4.003446268134153,
      4.249131126866514,
      4.465478033143043,
      4.8781357586278915
    ],
    "ax_ego": [
      0.1946844041888679,
      0.19468645011290675,
      0.5411537239151152,
      1.435719185230347,
      1.4143582618484634,
      0.9524400503342774,
      0.643053675046886,
      0.41373502564961817,
      0.5775366498414394,
      1.1631452620512146
    ],
    "ay_ego": [
      -0.0014691723234322995,
      -0.0011660435437210181,
      -0.003157210235557373,
      -0.07777835416049494,
      -0.3005705526323753,
      -0.6464575225518355,
      -1.3350949355542439,
      -1.9668863663423322,
      -2.3833321849935363,
      -2.1589150127858607
    ],
    "a_ego": [
      0.19468994761335373,
      0.19468994199781145,
      0.5411629337673343,
      1.4378244159891036,
      1.4459432734269826,
      1.1511078915308581,
      1.4818895086793402,
      2.009930011108007,
      2.4523092965480795,
      2.4523093061570274
    ],
    "yaw": [
      0.8662274562633171,
      0.8646704185357987,
      0.8625291369086936,
      0.8575373517778229,
      0.8356730222158015,
      0.7667960735556542,
      0.6296054716288586,
      0.412155036291232,
      0.15180971158848616,
      -0.10462547409374551
    ],
    "yaw_diff": [
      -0.0031140754550367244,
      -0.004282563254210281,
      -0.009983570261741459,
      -0.04372865912404267,
      -0.13775389732029475,
      -0.2743812038535911,
      -0.4349008706752532,
      -0.5206906494054917,
      -0.5128703713644633,
      -0.5128703713644633
    ],
    "min_front_frame": [
      5,
      53.31381215410835
    ],
    "v_avg": 3.1487721284142864,
    "v_std": 1.1981458008918997,
    "vy_max": 0.14466309067616367,
    "a_max": 2.4523093061570274,
    "ax_avg": 0.7530512688219135,
    "a_std": 0.791286424083508,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "0d77009a20f25175",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.204957181858513,
    "speed_mode": "accelerating",
    "front_frame": [
      59.028914425488395,
      58.26442905858079,
      57.479716790457374,
      56.426149749864365,
      55.10029575458899,
      53.31381215410835,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0d77009a20f25175",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "39e0bf171e6d5e88": {
    "vx_ego": [
      7.7038508968133455,
      7.60401345776469,
      7.506494871668671,
      7.408889735611259,
      7.3155766342156126,
      7.2371711278503525,
      7.28871934853327,
      7.433012484312653,
      7.446242928489826,
      7.358084094573653
    ],
    "vy_ego": [
      -0.018121083830575424,
      -0.009343295825203657,
      -0.025616182308254964,
      -0.019479957556858385,
      -0.008138663090643927,
      -0.016490079900351673,
      -0.024389122401237084,
      -0.023919253614821723,
      -0.04134370507149421,
      -0.08236858437588734
    ],
    "v_ego": [
      7.703872209091411,
      7.60401919796652,
      7.5065385796107185,
      7.4089153445826526,
      7.315581161392329,
      7.237189914360812,
      7.288760153206769,
      7.433050970001568,
      7.446357703739042,
      7.358545109361622
    ],
    "ax_ego": [
      -0.199901630647195,
      -0.19968619950354174,
      -0.19051362225139826,
      -0.20058066347735348,
      -0.1728086133899672,
      -0.14101805640368023,
      0.34699200476868663,
      0.22965719751818178,
      -0.17706284236001127,
      -0.17652585164906265
    ],
    "ay_ego": [
      -0.04888051324989015,
      -0.04975331593976075,
      -0.1054871129218279,
      -0.022768466283346445,
      -0.07817859915543666,
      -0.04706743312977663,
      -0.0848139181966093,
      -0.046886038636146016,
      -0.13883004101267402,
      -0.1395121969850828
    ],
    "a_ego": [
      0.20579107490603243,
      0.20579108513045438,
      0.21776815941714467,
      0.2018687831684513,
      0.18967000349994617,
      0.14866551548122225,
      0.35720701573912766,
      0.23439438771202553,
      0.22500006762707195,
      0.22500006535117145
    ],
    "yaw": [
      1.5311424922425294,
      1.5267739781504974,
      1.5237905410650299,
      1.5186691723354409,
      1.5136985009538089,
      1.51054134892666,
      1.5070601679147686,
      1.5025323863076145,
      1.4986601938030883,
      1.4948017402756117
    ],
    "yaw_diff": [
      -0.008737028184063966,
      -0.00596687417093511,
      -0.01024273745917803,
      -0.009941342763263972,
      -0.006314304054297892,
      -0.006962362023782642,
      -0.009055563214308116,
      -0.00774438500905239,
      -0.007716907054953204,
      -0.007716907054953204
    ],
    "min_front_frame": [
      0,
      24.08359340152055
    ],
    "v_avg": 7.430283034331344,
    "v_std": 0.13681716351119472,
    "vy_max": 0.08236858437588734,
    "a_max": 0.35720701573912766,
    "ax_avg": -0.08814482773953412,
    "a_std": 0.05080998448017534,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "39e0bf171e6d5e88",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.211662253542374,
    "right_rear_min": 15.502717571101195,
    "speed_mode": "quasi_constant",
    "front_frame": [
      24.08359340152055,
      24.22409009286709,
      24.236171318283905,
      24.472426088592034,
      24.601859171977107,
      24.816763505532613,
      24.940865224116568,
      24.97672045990525,
      25.045168479459182,
      25.18638345892268
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "39e0bf171e6d5e88",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fdc126183c355692": {
    "vx_ego": [
      3.4879421717622736,
      3.458794478427583,
      3.4396371282219844,
      3.4264357342075735,
      3.4291871450166393,
      3.4439476192717464,
      3.456808523420259,
      3.48390551293023,
      3.526775348755531,
      3.5723161605844913
    ],
    "vy_ego": [
      0.012559717876775345,
      0.005981892032285163,
      -0.01943132251159141,
      -0.016815393001653467,
      -0.006221945045784105,
      -0.011478760867108972,
      -0.016161096460037605,
      0.004571652626058409,
      -0.0026212228518827096,
      -0.007349588606032409
    ],
    "v_ego": [
      3.487964784809455,
      3.458799651184414,
      3.439692013849166,
      3.426476995121431,
      3.429192789585841,
      3.4439667487126777,
      3.456846300984431,
      3.4839085124373432,
      3.5267763228476703,
      3.572323721000912
    ],
    "ax_ego": [
      -0.07386296544366726,
      -0.04502649909197112,
      -0.030885487459282795,
      -0.011309809234977292,
      0.026479702597795002,
      0.036907821754246894,
      0.015972348180886997,
      0.0917080605906059,
      0.07846531249113284,
      0.10475180438391449
    ],
    "ay_ego": [
      0.43886437075391493,
      0.4427530809408762,
      0.4096934995643507,
      0.5662992263155155,
      0.5776697865540269,
      0.6060015667216591,
      0.529813814003373,
      0.46190015563919307,
      0.42990071369074556,
      0.42426229595892717
    ],
    "a_ego": [
      0.44503671037495557,
      0.4450367134328552,
      0.4108560294323087,
      0.5664121516267842,
      0.5782763672735058,
      0.6071244404368421,
      0.5300545192857167,
      0.47091625811475335,
      0.43700277904853596,
      0.4370027875128787
    ],
    "yaw": [
      0.2484790013830077,
      0.3138728758406554,
      0.3830341122435923,
      0.45336684840452546,
      0.5337768244826846,
      0.621392210408741,
      0.7049336846987617,
      0.7705567481203396,
      0.8361572137822768,
      0.8976868973924317
    ],
    "yaw_diff": [
      0.13078774891529532,
      0.13832247280587384,
      0.14066547232186632,
      0.16081995215631828,
      0.1752307718521129,
      0.16708294858004136,
      0.13124612684315573,
      0.13120093132387445,
      0.12305936722030975,
      0.12305936722030975
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4725947840533338,
    "v_std": 0.044268270881238504,
    "vy_max": 0.01943132251159141,
    "a_max": 0.6071244404368421,
    "ax_avg": 0.019320028876868366,
    "a_std": 0.06720562613803824,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "fdc126183c355692",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "fdc126183c355692",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "5f548f26b9a7572f": {
    "vx_ego": [
      5.117991228432892,
      4.56077249260508,
      4.018052615540508,
      3.598449369179808,
      3.2903263759613353,
      2.8873480295866227,
      2.3361658135585164,
      1.7666957300828745,
      1.2398444907328616,
      0.723467017089382
    ],
    "vy_ego": [
      0.035301084488089274,
      0.0303678703899377,
      0.0352671000663102,
      0.00926009074667674,
      -0.013731063579612589,
      0.01296838004674851,
      -0.004363888903349197,
      -0.044054098560737075,
      -0.020160404992587394,
      0.039381071896020435
    ],
    "v_ego": [
      5.118112970703368,
      4.560873593606292,
      4.0182073850908955,
      3.5984612839144448,
      3.290355026810007,
      2.887377152856687,
      2.3361698893629046,
      1.767244908407734,
      1.2400083883305364,
      0.7245380553427733
    ],
    "ax_ego": [
      -1.1144405751334185,
      -1.1144410546908423,
      -1.0563671585082688,
      -0.6221469474510234,
      -0.6100171480053381,
      -1.0018924292518616,
      -1.2030165263356698,
      -1.0746187959465878,
      -1.032819708896968,
      -1.0327212189614858
    ],
    "ay_ego": [
      -0.00940155216240188,
      -0.009344755991350942,
      0.018535783564559795,
      -0.11274700407604553,
      0.06657362273519302,
      0.0670693860009241,
      -0.1191811889509625,
      -0.02568761753206291,
      0.12026382525977157,
      0.12110670908443319
    ],
    "a_ego": [
      1.1144802307294495,
      1.1144802325949863,
      1.0565297671372946,
      0.6322805636351241,
      0.6136391187861595,
      1.0041348227856344,
      1.2089056697842502,
      1.0749257696679189,
      1.03979802786509,
      1.0397980337924084
    ],
    "yaw": [
      -1.5545705667238283,
      -1.554519601994404,
      -1.5551271168414924,
      -1.5544733549351082,
      -1.5511482820692597,
      -1.5490094393949003,
      -1.5473770975528662,
      -1.5456707792405524,
      -1.5458374236406547,
      -1.5450212859577939
    ],
    "yaw_diff": [
      0.00010192945884845983,
      -0.0012150296941766392,
      0.0013075238127684408,
      0.006650145731696977,
      0.004277685348718752,
      0.0032646836840681814,
      0.003412636624627652,
      -0.0003332888002045564,
      0.001632275365721636,
      0.001632275365721636
    ],
    "min_front_frame": [
      9,
      11.00369861187675
    ],
    "v_avg": 2.9541348654425645,
    "v_std": 1.364889666868918,
    "vy_max": 0.044054098560737075,
    "a_max": 1.2089056697842502,
    "ax_avg": -0.9862481563181464,
    "a_std": 0.1911332069729495,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5f548f26b9a7572f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 14.439509438805862,
    "right_rear_min": 4.705635315142959,
    "speed_mode": "decelerating",
    "front_frame": [
      16.954135544988237,
      16.282589260153095,
      15.6624864746947,
      15.072926239197868,
      14.317788815547656,
      13.48583635789842,
      12.722496571284115,
      12.06036279495662,
      11.474842151952224,
      11.00369861187675
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5f548f26b9a7572f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "927aa2c8ef7d5b5c": {
    "vx_ego": [
      4.521470267025054,
      4.432305883735183,
      4.134676440399219,
      3.531770555163269,
      2.8115601554337792,
      2.0478127947769615,
      1.2289701388460712,
      0.453974954766703,
      0.022035906308444833,
      -0.14283840310131612
    ],
    "vy_ego": [
      -0.019180450860085685,
      -0.018926159942033394,
      0.009001160863381985,
      0.008334745830397727,
      -0.023971520517684586,
      -0.015599274132449659,
      0.0021184275943686437,
      0.004359773043319026,
      -0.009305754372476929,
      -0.046064930930722024
    ],
    "v_ego": [
      4.5215109493715495,
      4.432346291358977,
      4.134686238118831,
      3.5317803898751015,
      2.8116623448449043,
      2.0478722078796054,
      1.2289719646561528,
      0.453995888942201,
      0.023920247307990614,
      0.15008260146394806
    ],
    "ax_ego": [
      -0.17829483429724688,
      -0.17828503700234752,
      -1.0122945520758764,
      -1.3992551682330236,
      -1.4815970340054465,
      -1.5734152190168769,
      -1.701927794199899,
      -1.398054042234659,
      -0.3297186141460432,
      -0.329742553798872
    ],
    "ay_ego": [
      0.009532107127323705,
      0.0097135946653202,
      0.08275212310835,
      -0.09470721068577276,
      -0.03675645083057688,
      0.06855619408592312,
      -0.011615037136630924,
      0.019137639087369596,
      -0.07361135500905279,
      -0.07350400573262797
    ],
    "a_ego": [
      0.17854945814358972,
      0.17854945628662822,
      1.0156712923192417,
      1.4024565881276705,
      1.482052903189153,
      1.5749080618186806,
      1.7019674279368036,
      1.3981850214612186,
      0.337835753141458,
      0.33783574506636244
    ],
    "yaw": [
      1.22497190416871,
      1.225989829064908,
      1.2248933903662946,
      1.2242950905988637,
      1.2241192086886281,
      1.2239462133368428,
      1.2218413454075296,
      1.2213924350153058,
      1.2218433018585944,
      1.2221688600831728
    ],
    "yaw_diff": [
      0.002035849792396238,
      -0.0021928773972268445,
      -0.001196599534861953,
      -0.0003517638204710849,
      -0.0003459907035705534,
      -0.0042097358586263844,
      -0.0008978207844476671,
      0.0009017336865770886,
      0.000651116449156941,
      0.000651116449156941
    ],
    "min_front_frame": [
      7,
      36.37750094880582
    ],
    "v_avg": 2.333682912381926,
    "v_std": 1.7040218780924528,
    "vy_max": 0.046064930930722024,
    "a_max": 1.7019674279368036,
    "ax_avg": -0.958258484901029,
    "a_std": 0.5989607878329033,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "927aa2c8ef7d5b5c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.704098384153149,
    "right_rear_min": 5.81565197519206,
    "speed_mode": "decelerating",
    "front_frame": [
      46.428567935513186,
      44.30191059932179,
      42.13951800786599,
      40.302446029805765,
      38.7459281430961,
      37.591183637668124,
      36.75072708811952,
      36.37750094880582,
      36.38240019555226,
      36.415535052748055
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "927aa2c8ef7d5b5c",
    "pedestrians": "Yes"
  },
  "0372bb63e704555a": {
    "vx_ego": [
      5.685777992088595,
      5.7719048946139235,
      5.8958605862266875,
      6.046830371711151,
      6.1870224385909784,
      6.3275006259207345,
      6.478562291217833,
      6.625339605873004,
      6.684012257258626,
      6.66033775955124
    ],
    "vy_ego": [
      -0.013653874790625853,
      -0.05296866353988561,
      0.003187691982034835,
      -0.003447806054732716,
      -0.016364243395079026,
      -0.0004257480788396606,
      0.013674024123659478,
      0.022422229234952518,
      -0.03782733499609714,
      -0.08836255884816158
    ],
    "v_ego": [
      5.685794386329479,
      5.772147935715557,
      5.895861447965129,
      6.046831354653031,
      6.187044079695097,
      6.327500640244039,
      6.478576721790473,
      6.625377547695929,
      6.684119295947407,
      6.660923885851738
    ],
    "ax_ego": [
      0.1652427178623162,
      0.1851118716887479,
      0.30966678715598106,
      0.29416922825551634,
      0.26667507923116185,
      0.2963853965475366,
      0.3077602987743676,
      0.2813942956931581,
      -0.04751467590396433,
      -0.047412084770997155
    ],
    "ay_ego": [
      0.44329192371177195,
      0.4353693634846324,
      0.04950224836504767,
      -0.05639439187817205,
      -0.15845984871382482,
      -0.32966324193462715,
      -0.26877434380882603,
      -0.3015797236793857,
      -0.11314621290520552,
      -0.1131892414225992
    ],
    "a_ego": [
      0.4730886655106086,
      0.4730886679060548,
      0.31359845608788084,
      0.29952606278545263,
      0.3102017432854862,
      0.4433081956940217,
      0.40860255676091045,
      0.41247191344767115,
      0.12271800976649216,
      0.12271801072440698
    ],
    "yaw": [
      2.533822379848393,
      2.579040647282688,
      2.5902227307331565,
      2.591045135690889,
      2.5843793587825297,
      2.562317693852852,
      2.536745960977724,
      2.513660635582244,
      2.5071742056503714,
      2.50626765728087
    ],
    "yaw_diff": [
      0.09043653486858982,
      0.02236416690093712,
      0.0016448099154651175,
      -0.013331553816718689,
      -0.04412332985935574,
      -0.051143465750255857,
      -0.04617065079095983,
      -0.012972859863745079,
      -0.001813096739002873,
      -0.001813096739002873
    ],
    "min_front_frame": [
      0,
      17.15091409131505
    ],
    "v_avg": 6.236417729588787,
    "v_std": 0.35664559760470954,
    "vy_max": 0.08836255884816158,
    "a_max": 0.4730886679060548,
    "ax_avg": 0.2011478914533824,
    "a_std": 0.1239594874552846,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0372bb63e704555a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      17.15091409131505,
      28.378146986025207,
      28.61396060557847,
      28.51771145149875,
      28.789264082629852,
      28.87490990282996,
      28.772558305477663,
      28.484710706028647,
      28.208538975854655,
      27.950205579848163
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0372bb63e704555a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5ab5923ac60c5e8a": {
    "vx_ego": [
      4.557706524252886,
      4.575483948398931,
      4.646257210309519,
      4.71609280297805,
      4.83576776290252,
      5.04599763461867,
      5.2839165079922825,
      5.518789337136155,
      5.737260581800243,
      5.927433075604725
    ],
    "vy_ego": [
      0.007708552883577087,
      -0.01361532367953111,
      -0.009593896561413073,
      -0.008841275705599116,
      -0.009781628688521504,
      -0.0409465855521276,
      -0.04779495055720817,
      -0.05278644882520789,
      -0.018854316069224275,
      0.07609436247898671
    ],
    "v_ego": [
      4.557713043073783,
      4.575504205996884,
      4.646267115352327,
      4.716101090356044,
      4.835777655867466,
      5.046163765817117,
      5.284132664944373,
      5.519041778865902,
      5.737291562114766,
      5.927921492207363
    ],
    "ax_ego": [
      -0.06939608612137833,
      0.14190084550822063,
      0.14820610232379572,
      0.1313219895835792,
      0.3320572423125028,
      0.5078048958023064,
      0.4456527642821257,
      0.5004313788474416,
      0.3769974522967973,
      0.3820318541099445
    ],
    "ay_ego": [
      1.3668028763295423,
      1.3611870076503954,
      1.3638402659875983,
      1.2927218095913016,
      0.9602032471833484,
      0.7344197695427493,
      0.4407788371821951,
      0.3777684146627954,
      0.3578950902312999,
      0.3525161512299617
    ],
    "a_ego": [
      1.3685634510360403,
      1.3685634511239095,
      1.3718692794487142,
      1.2993749043063743,
      1.0159981732629397,
      0.8928819687371989,
      0.6268112711334951,
      0.6270092025257631,
      0.5198230224316217,
      0.5198230222226283
    ],
    "yaw": [
      -3.136574441765263,
      -2.9819727680910937,
      -2.8353330049744327,
      -2.693919034900591,
      -2.575306281946092,
      -2.4829084351794446,
      -2.4248030148026696,
      -2.385948307134602,
      -2.359373285659469,
      -2.3452003172671825
    ],
    "yaw_diff": [
      0.30920334734833865,
      0.2932795262333219,
      0.2828279401476834,
      0.23722550590899782,
      0.18479569353329506,
      0.11621084075355004,
      0.07770941533613485,
      0.05315004295026604,
      0.02834593678457331,
      0.02834593678457331
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.084591437459602,
    "v_std": 0.47894214863657664,
    "vy_max": 0.07609436247898671,
    "a_max": 1.3718692794487142,
    "ax_avg": 0.28970084389453354,
    "a_std": 0.35152497752747797,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "5ab5923ac60c5e8a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "5ab5923ac60c5e8a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1029003770aa5e2e": {
    "vx_ego": [
      4.290897985812971,
      4.364383212987795,
      4.354633359132894,
      4.25886239569334,
      4.240677913222537,
      4.274629877316137,
      4.253364568484123,
      4.224502594490115,
      4.181244201989552,
      4.1104860823483165
    ],
    "vy_ego": [
      -0.06296392967597964,
      -0.003818373056485136,
      -0.016540128956765265,
      -0.008639389932952879,
      0.0038097504645864255,
      0.014570227917127143,
      -0.016229841172434423,
      -0.031119711640901437,
      -0.020150022803470558,
      0.0006115065897042138
    ],
    "v_ego": [
      4.291359922110245,
      4.364384883323475,
      4.354664771063203,
      4.258871158477235,
      4.240679624528603,
      4.274654708813957,
      4.253395533004263,
      4.22461721429366,
      4.181292754650196,
      4.110486127834458
    ],
    "ax_ego": [
      0.13906923502638235,
      0.16053269533429218,
      -0.19150555909040956,
      -0.1898027724949233,
      0.11805462945689557,
      0.014677979540095698,
      -0.1017389672249056,
      -0.004502809014202219,
      -0.1611695300875454,
      -0.11883144996538597
    ],
    "ay_ego": [
      0.4973193809571427,
      0.49081165130663795,
      0.6472096185757261,
      0.5969399192256365,
      0.6065260134549675,
      0.5888723344288687,
      0.5269920889291214,
      0.5999582836616444,
      0.6084140820406462,
      0.6180796066273936
    ],
    "a_ego": [
      0.5163979268029828,
      0.516397931182573,
      0.6749479013519987,
      0.626388345686499,
      0.617908326965886,
      0.5890552345400937,
      0.5367229073235736,
      0.5999751806727046,
      0.6293991679800683,
      0.6293991687550514
    ],
    "yaw": [
      2.383426109615782,
      2.4268618312606747,
      2.4943339374705764,
      2.5646948120599022,
      2.6331547906344603,
      2.7005883009016793,
      2.7729565132250604,
      2.843105864444033,
      2.9120250210458165,
      2.9810368320903837
    ],
    "yaw_diff": [
      0.08687144328978569,
      0.13494421241980348,
      0.14072174917865166,
      0.1369199571491162,
      0.134867020534438,
      0.14473642464676217,
      0.14029870243794473,
      0.13783831320356743,
      0.13802362208913443,
      0.13802362208913443
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.255440669809929,
    "v_std": 0.07146138340035951,
    "vy_max": 0.06296392967597964,
    "a_max": 0.6749479013519987,
    "ax_avg": -0.033521654851970624,
    "a_std": 0.05105212856497779,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "1029003770aa5e2e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 16.0952564795188,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "1029003770aa5e2e",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "73fabf2a0bdc5af4": {
    "vx_ego": [
      -0.25749551033996304,
      0.14117589157554278,
      0.7749794848405583,
      1.6566500936953068,
      2.442127350852212,
      3.0942531645792597,
      3.7126774887556144,
      4.235621100394284,
      4.670263150971551,
      5.179266784176646
    ],
    "vy_ego": [
      -0.02458459055347391,
      -0.00451726148167713,
      0.0048984469116027385,
      -0.0020387099846852497,
      -0.01027291210651593,
      0.02653523500450028,
      0.05832175333065881,
      0.037198546263792265,
      -0.021912179272032706,
      -0.22373685507847413
    ],
    "v_ego": [
      0.25866646465655335,
      0.14124814339821692,
      0.774994965600347,
      1.6566513481354699,
      2.442148957476507,
      3.094366940943738,
      3.713135543233543,
      4.235784441865452,
      4.670314555029797,
      5.1840970864747415
    ],
    "ax_ego": [
      0.7973428290127762,
      0.7973429598293693,
      1.7378642643660787,
      1.7888287192377474,
      1.3530795969683045,
      1.2559054650137798,
      1.2200595840481478,
      0.8957215393643525,
      0.8769852246938692,
      1.2401099421937822
    ],
    "ay_ego": [
      0.04013562240058205,
      0.04013288777935081,
      -0.0020252129732082347,
      -0.02842387780588873,
      -0.004673620043487814,
      0.21932879391278065,
      0.6428695056068728,
      1.3892319186961963,
      1.8050479951986014,
      1.5777923456973688
    ],
    "a_ego": [
      0.7983523377328956,
      0.7983523309109639,
      1.7378654444024828,
      1.7890545278440464,
      1.3530876684295885,
      1.2749131958257838,
      1.3790672898256142,
      1.6529617055472157,
      2.006813730594309,
      2.0068137319813895
    ],
    "yaw": [
      1.0305198598440555,
      1.0305232848073598,
      1.0308498868279174,
      1.0302916845397296,
      1.0302725907465335,
      1.0363350199938464,
      1.0902438988197765,
      1.2218566303030372,
      1.4137740314999818,
      1.6276413934184828
    ],
    "yaw_diff": [
      6.849926608598622e-06,
      0.0006532040411153517,
      -0.0011164045763756292,
      -3.8187586392179895e-05,
      0.012124858494625634,
      0.10781775765186019,
      0.2632254629665214,
      0.38383480239388934,
      0.42773472383700195,
      0.42773472383700195
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.617140844681437,
    "v_std": 1.7576362705616748,
    "vy_max": 0.22373685507847413,
    "a_max": 2.0068137319813895,
    "ax_avg": 1.196324012472821,
    "a_std": 0.4176878674011122,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "73fabf2a0bdc5af4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.679753154525624,
    "right_rear_min": 6.026047829861168,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "73fabf2a0bdc5af4",
    "pedestrians": "No"
  },
  "ffcbf5f098625d83": {
    "vx_ego": [
      5.9459274136797005,
      5.744742204008041,
      5.4953144709142165,
      5.144900947556657,
      4.6804409089865695,
      4.1175671447922015,
      3.5217522991044454,
      2.9922708610049664,
      2.5253310585809867,
      2.058442592972167
    ],
    "vy_ego": [
      0.04208467271672767,
      0.013049576657069739,
      0.006167895177779936,
      0.04607805304450707,
      0.1095941116377448,
      0.13997556886696483,
      0.14355390100698107,
      0.1397799641105255,
      0.092418556292029,
      0.01791723285574487
    ],
    "v_ego": [
      5.94607634734246,
      5.74475702549395,
      5.495317932310206,
      5.145107282374369,
      4.681723824812896,
      4.119945673398114,
      3.5246768616061486,
      2.9955338996556424,
      2.527021595669667,
      2.0585205696798816
    ],
    "ax_ego": [
      -0.4024914467869771,
      -0.4014232223144498,
      -0.5963904006607599,
      -0.8050321292862663,
      -1.0522535770850154,
      -1.1973505279333367,
      -1.1826568851068133,
      -0.9323541618005156,
      -0.933700944251848,
      -0.9333046870192935
    ],
    "ay_ego": [
      -0.1430092360065685,
      -0.14598082407601345,
      -0.03981621918395967,
      0.08364539237919993,
      0.13222390779028448,
      -0.06652077302415293,
      -0.011232158185374819,
      -0.06711248028581923,
      -0.15917748412119737,
      -0.161484595600272
    ],
    "a_ego": [
      0.42714284065152774,
      0.42714283841734746,
      0.5977180282628313,
      0.8093659746057096,
      1.0605285249721217,
      1.1991969396166633,
      1.1827102220189236,
      0.9347664778097556,
      0.9471720671282207,
      0.9471720611527584
    ],
    "yaw": [
      0.6434708593875087,
      0.6360780907479423,
      0.629068059680608,
      0.6236524644705747,
      0.6217209210172902,
      0.6185614883354964,
      0.6125327926044142,
      0.6076308887555384,
      0.604292297584097,
      0.6018208341590834
    ],
    "yaw_diff": [
      -0.014785537279132788,
      -0.014020062134668665,
      -0.010831190420066639,
      -0.003863086906569002,
      -0.0063188653635875,
      -0.012057391462164446,
      -0.009803807697751576,
      -0.006677182342882837,
      -0.004942926850027174,
      -0.004942926850027174
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.223868101234333,
    "v_std": 1.3240277072450783,
    "vy_max": 0.14355390100698107,
    "a_max": 1.1991969396166633,
    "ax_avg": -0.8436957982245274,
    "a_std": 0.26941276094834343,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "ffcbf5f098625d83",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 10.389467257624753,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "ffcbf5f098625d83",
    "road_shape": "Straight"
  },
  "93bbe5e3e6cd5411": {
    "vx_ego": [
      5.107124103856479,
      4.456828545228097,
      3.879123495558238,
      3.4470481513417357,
      3.11411591604756,
      2.7432228856760483,
      2.226843065002093,
      1.615367696895395,
      1.1197590514653457,
      0.7536279591295988
    ],
    "vy_ego": [
      -0.027769240307932375,
      -0.024004960951442555,
      -0.018704885169608554,
      -0.007403649582016669,
      0.012475281106430147,
      0.0063242908189717895,
      -0.008069274079614441,
      -0.0005697426766295699,
      -0.0023420137071643587,
      -0.02191217178683308
    ],
    "v_ego": [
      5.107199598889701,
      4.456893191418241,
      3.8791685921755414,
      3.4470561021972954,
      3.1141409042012564,
      2.7432301757510595,
      2.2268576850198776,
      1.6153677973699518,
      1.1197615006628756,
      0.7539464464099952
    ],
    "ax_ego": [
      -1.3004966791364792,
      -1.3004130604254107,
      -1.0102014216375879,
      -0.7180223317472079,
      -0.6136354155514773,
      -0.8697839706954761,
      -1.195752858956284,
      -1.250166050212576,
      -0.7322733493737584,
      -0.7322633038618118
    ],
    "ay_ego": [
      0.030610023754117366,
      0.03397747400218032,
      0.028373442742645028,
      0.036786638404602334,
      0.0061715728117767155,
      -0.056931667919352724,
      -0.006860068181526291,
      0.03325546444666949,
      -0.03952251930139433,
      -0.039708204591590524
    ],
    "a_ego": [
      1.3008568660691453,
      1.3008568700916145,
      1.0105998043398157,
      0.7189640642290882,
      0.6136664497347115,
      0.8716452090678112,
      1.1957725369975605,
      1.2506082836042933,
      0.7333391355539343,
      0.7333391355263291
    ],
    "yaw": [
      -0.5759579398297441,
      -0.5733685047597292,
      -0.5708785729386825,
      -0.5695029491610583,
      -0.5722999725502617,
      -0.5745085899746283,
      -0.5751239903190966,
      -0.5755911701835976,
      -0.5754334289212586,
      -0.5756870076023097
    ],
    "yaw_diff": [
      0.005178870140029712,
      0.004979863642093463,
      0.0027512475552484705,
      -0.005594046778406803,
      -0.0044172348487332425,
      -0.0012308006889365508,
      -0.0009343597290021322,
      0.0003154825246780568,
      -0.0005071573621022729,
      -0.0005071573621022729
    ],
    "min_front_frame": [
      8,
      12.361905817110348
    ],
    "v_avg": 2.846362199409579,
    "v_std": 1.3591742492944887,
    "vy_max": 0.027769240307932375,
    "a_max": 1.3008568700916145,
    "ax_avg": -0.9723008441598069,
    "a_std": 0.25727227945184056,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "93bbe5e3e6cd5411",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.168310842087855,
    "speed_mode": "decelerating",
    "front_frame": [
      21.468410553882627,
      19.666506347065095,
      18.10241080991655,
      16.738610719588756,
      15.356290930160768,
      14.07445117530184,
      12.994411356506856,
      12.397114593979733,
      12.361905817110348,
      12.685463766721176
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "93bbe5e3e6cd5411",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1212ba4b68e95583": {
    "vx_ego": [
      4.282918944813211,
      4.217941376068666,
      4.136016340791613,
      3.9942464990250013,
      3.762449522859386,
      3.4230913950774946,
      3.114415468939976,
      2.9652720396300123,
      2.8971790020518418,
      2.849824991445211
    ],
    "vy_ego": [
      -0.008789629435440816,
      -0.008315939779580006,
      0.01511632755533876,
      0.007781259587266387,
      -0.022977331162411962,
      -0.03334705170968366,
      -0.036870909927655404,
      -0.04674653982744026,
      -0.022716936209231653,
      -0.03248401971056847
    ],
    "v_ego": [
      4.282927964071486,
      4.217949573762878,
      4.136043964303814,
      3.99425407841993,
      3.762519683644481,
      3.4232538212804666,
      3.1146337147683196,
      2.9656404886630092,
      2.897268063041603,
      2.850010121631545
    ],
    "ax_ego": [
      -0.13426159036959337,
      -0.12441115208959032,
      -0.2050150373096755,
      -0.36316273503421487,
      -0.5640822397423744,
      -0.7933262949031609,
      -0.44199105864865723,
      -0.17221934659004662,
      -0.11628861901459744,
      -0.08127676560255898
    ],
    "ay_ego": [
      0.28760800205625553,
      0.29200411148276617,
      0.15601940448265555,
      -0.07361754065816845,
      -0.09678040286129519,
      -0.3239102130211281,
      -0.5871319764614067,
      -0.526862554780506,
      -0.4543248043364541,
      -0.46187459141170234
    ],
    "a_ego": [
      0.3174028000748632,
      0.31740279754138734,
      0.257630006206983,
      0.3705492064626349,
      0.5723244006424749,
      0.8569039831183943,
      0.7349013904659853,
      0.5542956385988838,
      0.4689712898970251,
      0.46897126864930677
    ],
    "yaw": [
      0.7980835846198369,
      0.8320700942159126,
      0.8532234646239982,
      0.8600621700570459,
      0.8570287392443755,
      0.8308518906219888,
      0.761345606208019,
      0.6720463549968638,
      0.580009848699665,
      0.503618588304846
    ],
    "yaw_diff": [
      0.06797301919215148,
      0.04230674081617125,
      0.013677410866095308,
      -0.006066861625340758,
      -0.052353697244773345,
      -0.13901256882793955,
      -0.17859850242231046,
      -0.18407301259439768,
      -0.15278252078963805,
      -0.15278252078963805
    ],
    "min_front_frame": [
      6,
      22.764802118187742
    ],
    "v_avg": 3.5644501473587527,
    "v_std": 0.5504866067596282,
    "vy_max": 0.04674653982744026,
    "a_max": 0.8569039831183943,
    "ax_avg": -0.299603483930447,
    "a_std": 0.1828106438230366,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "1212ba4b68e95583",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      34.30972619931065,
      32.276223711618535,
      30.103736606811015,
      28.13949890968145,
      26.129667787635107,
      24.331018508778207,
      22.764802118187742,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1212ba4b68e95583",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "4b04d67c77455726": {
    "vx_ego": [
      1.3203215214786401,
      1.6402051564751599,
      1.9286181791361168,
      2.200520669759355,
      2.4739400019692788,
      2.704678676783189,
      2.882808401658414,
      2.96166606835054,
      2.947176976537383,
      2.915335898763145
    ],
    "vy_ego": [
      0.007256481553336691,
      0.011998965170604503,
      0.00943030057805605,
      0.0038444898305842745,
      0.002949582435669118,
      -0.004535787083554954,
      0.0012359655919527146,
      0.006523906933340262,
      -0.00921777619141162,
      -0.022902972714052394
    ],
    "v_ego": [
      1.3203414621241754,
      1.6402490452650382,
      1.9286412345128636,
      2.2005240280760896,
      2.473941760304858,
      2.7046824800723153,
      2.88280866661027,
      2.9616732537166586,
      2.9471913915505974,
      2.915425860620753
    ],
    "ax_ego": [
      0.6398013789253598,
      0.6397937878563373,
      0.5140821374081647,
      0.5735321298447431,
      0.5201316334619832,
      0.4028235556961199,
      0.3096410924617232,
      0.0059759741249346965,
      -0.06394641008151192,
      -0.06370553895840748
    ],
    "ay_ego": [
      0.004252405555617456,
      0.005272930814890331,
      -0.040130053804837196,
      0.006633370186367671,
      -0.0033648409263579704,
      -0.02714888594448539,
      0.03381525246755396,
      -0.050821544795801456,
      -0.0535344808361626,
      -0.05382089135264476
    ],
    "a_ego": [
      0.6398155104620403,
      0.6398155162067724,
      0.5156460658441274,
      0.5735704887494445,
      0.5201425172799188,
      0.4037373886967761,
      0.3114820660011325,
      0.05117168828730925,
      0.08339714623840765,
      0.08339714647381148
    ],
    "yaw": [
      -0.7856845709066796,
      -0.7872796546355246,
      -0.7906936420532807,
      -0.7920490962044829,
      -0.7913186730210808,
      -0.7913736117458186,
      -0.7928369216780251,
      -0.7960595140131455,
      -0.7995514968525301,
      -0.804038910565392
    ],
    "yaw_diff": [
      -0.003190167457689963,
      -0.006827974835512229,
      -0.002710908302404391,
      0.0014608463668042138,
      -0.00010987744947543732,
      -0.002926619864413116,
      -0.006445184670240689,
      -0.006983965678769355,
      -0.008974827425723753,
      -0.008974827425723753
    ],
    "min_front_frame": [
      0,
      11.419414645897504
    ],
    "v_avg": 2.3975479182853623,
    "v_std": 0.5671645070538537,
    "vy_max": 0.022902972714052394,
    "a_max": 0.6398155162067724,
    "ax_avg": 0.3478129740739446,
    "a_std": 0.22356231256959047,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "4b04d67c77455726",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.049071521316719,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      11.419414645897504,
      12.055365923191548,
      12.721467446256538,
      13.14007349925509,
      13.441696233347438,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "4b04d67c77455726",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d0785c050c1350e7": {
    "vx_ego": [
      9.456484017671938,
      8.825315785943154,
      8.146427606764659,
      7.401953531046541,
      6.649362574619671,
      5.853860499897896,
      4.9834127007350535,
      4.07997582963202,
      3.1702794462632142,
      2.2650419100355195
    ],
    "vy_ego": [
      -0.033486933027205956,
      -0.018354664847618274,
      -0.016027668712804338,
      -0.005949041802620847,
      -0.011853534799151272,
      -0.005994249000829344,
      -0.010912283497598013,
      -0.022903825028396274,
      -0.010882244294594959,
      -0.015421148236375783
    ],
    "v_ego": [
      9.456543308797796,
      8.825334872702514,
      8.146443373547854,
      7.401955921705474,
      6.649373140006506,
      5.853863568899254,
      4.983424648148959,
      4.080040116908463,
      3.170298123306368,
      2.265094405544785
    ],
    "ax_ego": [
      -1.262361044529352,
      -1.2623724956172908,
      -1.4531200381688634,
      -1.5247062189524916,
      -1.4856647007718944,
      -1.6961436820056002,
      -1.7856153014918223,
      -1.8283237081618489,
      -1.8104540874834467,
      -1.810457810232551
    ],
    "ay_ego": [
      0.01990549396673785,
      0.019164617872692198,
      0.01979142078027407,
      0.05573215402534654,
      -0.022500322587959837,
      0.09820241297901433,
      -0.12676419775180736,
      0.057006442279111724,
      -0.005824985835077491,
      -0.0045249918455934415
    ],
    "a_ego": [
      1.2625179743018697,
      1.2625179603749141,
      1.4532548109895873,
      1.5257244597582842,
      1.4858350741708195,
      1.698984138808369,
      1.7901092611216196,
      1.8292122119338738,
      1.810463458163544,
      1.8104634650230438
    ],
    "yaw": [
      -1.5433532968591637,
      -1.5439401907799968,
      -1.5430691846591609,
      -1.5419382441668597,
      -1.5399139033737177,
      -1.5378326041433477,
      -1.5382419014380342,
      -1.5394426632481912,
      -1.539229081389728,
      -1.5385110340411057
    ],
    "yaw_diff": [
      -0.0011737878416662184,
      0.0017420122416718087,
      0.002261880984602449,
      0.004048681586283909,
      0.0041625984607400746,
      -0.0008185945893730562,
      -0.0024015236203140944,
      0.0004271637169264153,
      0.0014360946972447053,
      0.0014360946972447053
    ],
    "min_front_frame": [
      9,
      11.415968637734371
    ],
    "v_avg": 6.083237147956797,
    "v_std": 2.3141536112225025,
    "vy_max": 0.033486933027205956,
    "a_max": 1.8292122119338738,
    "ax_avg": -1.591921908741516,
    "a_std": 0.2131753557561416,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d0785c050c1350e7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.975636870226111,
    "right_rear_min": 18.66198167788321,
    "speed_mode": "decelerating",
    "front_frame": [
      14.873517531901332,
      14.823026758189473,
      14.709258348840198,
      14.549660302804433,
      14.179882352239115,
      13.456417554279296,
      12.925417692521808,
      12.426106958116044,
      11.89285204977297,
      11.415968637734371
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d0785c050c1350e7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2a2308354f4c5aa2": {
    "vx_ego": [
      9.460268240314168,
      9.294605090919582,
      9.149238823111336,
      9.03521730401518,
      8.901413892638264,
      8.757313582440418,
      8.628396218844612,
      8.465089833575064,
      8.28969038619843,
      8.13259220577105
    ],
    "vy_ego": [
      -0.1550275702123889,
      -0.10490719333047949,
      -0.06701566741515119,
      -0.04534035332561981,
      -0.03452723061473595,
      0.030143022057675495,
      0.07064616230318155,
      0.018572097273726662,
      -0.03244379827228627,
      -0.09512352144177783
    ],
    "v_ego": [
      9.461538391098081,
      9.295197110086514,
      9.149484255519914,
      9.035331066342563,
      8.901480855324435,
      8.757365459027858,
      8.62868542650734,
      8.465110206801388,
      8.28975387445713,
      8.133148496720045
    ],
    "ax_ego": [
      -0.3362606323404831,
      -0.33382816559103223,
      -0.25236882256487553,
      -0.20662252331941158,
      -0.3327945140601168,
      -0.2455209947906713,
      -0.26449008144087244,
      -0.3852842928198457,
      -0.31753932072004476,
      -0.3138194549813591
    ],
    "ay_ego": [
      -0.16686044107841425,
      -0.1716752037787681,
      -0.23761849919880285,
      -0.392366921866877,
      -0.3025930914306582,
      -0.12267906447252216,
      -0.3447999101956512,
      -0.4158722331492501,
      -0.31580976469918837,
      -0.31950645981385645
    ],
    "a_ego": [
      0.3753846289592909,
      0.3753846290597887,
      0.34663031281795464,
      0.4434463535966541,
      0.4497941391015138,
      0.27446440888183316,
      0.4345595255560836,
      0.5669159554980199,
      0.4478471030192159,
      0.4478471035828866
    ],
    "yaw": [
      2.389057269444799,
      2.374686994960178,
      2.359465956164304,
      2.3397481691370134,
      2.3192066678205205,
      2.2998174501049027,
      2.281719175489231,
      2.2655905231776314,
      2.2498296074878645,
      2.238119459570602
    ],
    "yaw_diff": [
      -0.028740548969242496,
      -0.030442077591747996,
      -0.03943557405458087,
      -0.04108300263298581,
      -0.038778435431235714,
      -0.03619654923134341,
      -0.03225730462319909,
      -0.03152183137953379,
      -0.02342029583452465,
      -0.02342029583452465
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.811709514188525,
    "v_std": 0.4144466202022532,
    "vy_max": 0.1550275702123889,
    "a_max": 0.5669159554980199,
    "ax_avg": -0.29885288026287127,
    "a_std": 0.07428800734124803,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "2a2308354f4c5aa2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2a2308354f4c5aa2",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9bfe6fa481105f43": {
    "vx_ego": [
      5.535027168064629,
      5.1804843177262265,
      4.840542820102835,
      4.469681387292406,
      4.062541376710693,
      3.663451441595213,
      3.2542814518623957,
      2.865879877255377,
      2.5433690295592877,
      2.256973408861935
    ],
    "vy_ego": [
      -0.01741769125581971,
      -0.02789926085411487,
      -0.02567320657559402,
      -0.0074886389375150575,
      0.00431788362713359,
      -0.005210864664211279,
      -0.012481676355831306,
      -0.015982053971917987,
      -0.015339346318108849,
      -0.018914704424017992
    ],
    "v_ego": [
      5.535054573098827,
      5.1805594422768255,
      4.840610902229694,
      4.469687660633716,
      4.062543671347476,
      3.6634551475399,
      3.254305388278776,
      2.8659244401949007,
      2.543415285805057,
      2.2570526653920395
    ],
    "ax_ego": [
      -0.7092345037990553,
      -0.7091356653841367,
      -0.6508435946698115,
      -0.8326093657397258,
      -0.7959587585271058,
      -0.8004428563310779,
      -0.8362753037139642,
      -0.7173811954794608,
      -0.5727030202927729,
      -0.5726854214731565
    ],
    "ay_ego": [
      -0.04388575012848356,
      -0.04545475638519236,
      0.024304463979030022,
      0.04668419365580001,
      0.019211716070112572,
      -0.026867430958388394,
      -0.015034182027746312,
      -0.009186901225282817,
      0.005486755656550352,
      0.007090080886050454
    ],
    "a_ego": [
      0.7105909797087434,
      0.7105909701071634,
      0.6512972375897428,
      0.8339171240925568,
      0.7961905772554522,
      0.8008936415640708,
      0.8364104316847838,
      0.7174400175496649,
      0.5727293024982212,
      0.5727293088491784
    ],
    "yaw": [
      -2.0539002122401775,
      -2.0561126277304647,
      -2.057614383958232,
      -2.0577078897950747,
      -2.05661263688944,
      -2.0546417028374897,
      -2.055566991010769,
      -2.056405976358217,
      -2.0569895317341924,
      -2.0541899110963593
    ],
    "yaw_diff": [
      -0.004424830980574335,
      -0.0030035124555345405,
      -0.00018701167368551097,
      0.0021905058112690057,
      0.003941868103900958,
      -0.0018505763465581637,
      -0.0016779706948968354,
      -0.0011671107519504176,
      0.005599241275666245,
      0.005599241275666245
    ],
    "min_front_frame": [
      9,
      12.484445287701917
    ],
    "v_avg": 3.867260917679721,
    "v_std": 1.077961785295331,
    "vy_max": 0.02789926085411487,
    "a_max": 0.8364104316847838,
    "ax_avg": -0.7197269685410268,
    "a_std": 0.09335818351213052,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9bfe6fa481105f43",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.212299798573534,
    "right_rear_min": 11.92781538846229,
    "speed_mode": "decelerating",
    "front_frame": [
      18.273875270302547,
      18.573871828268018,
      17.896795972469224,
      17.149667947393425,
      16.369517519691712,
      15.647103437007118,
      14.911418054644475,
      14.187008829409862,
      13.393794922248377,
      12.484445287701917
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9bfe6fa481105f43",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2d264d513abb5a7d": {
    "vx_ego": [
      5.275393721389038,
      5.677517754195531,
      6.18833163089879,
      6.593469577270594,
      6.913892364870202,
      7.267734234111172,
      7.50297085203943,
      7.631260537508516,
      7.738704325765738,
      7.844574464069146
    ],
    "vy_ego": [
      0.03917685836321564,
      0.14723481618656264,
      0.184624627355225,
      0.11909538374495421,
      0.13548773207854747,
      0.11300560250237357,
      0.05603123269637411,
      0.009778800027421042,
      -0.010658260545256315,
      0.006972225891997308
    ],
    "v_ego": [
      5.2755391896849835,
      5.679426550304437,
      6.191085092857998,
      6.594545077321272,
      6.915219776590927,
      7.268612739984738,
      7.503180066184655,
      7.63126680284897,
      7.7387116653964565,
      7.844577562511549
    ],
    "ax_ego": [
      0.6975683470768422,
      0.9613652955851817,
      1.1271823713151248,
      0.526038839941186,
      0.7765801742334422,
      0.6491074566540105,
      0.29637601034511996,
      0.21762947162980156,
      0.21173334142849592,
      0.21173061433385293
    ],
    "ay_ego": [
      -1.6588712831502486,
      -1.5212601136565436,
      -0.9968492125355983,
      -0.8490166863962822,
      -0.5824753497200079,
      -0.31503940717852635,
      -0.3129252701752299,
      -0.2042177583452926,
      0.0010194091255793236,
      0.0014815093991325384
    ],
    "a_ego": [
      1.7995709302231102,
      1.7995709391290757,
      1.504741988095112,
      0.9987723438832254,
      0.9707493497519784,
      0.7215194511302072,
      0.4309999584945819,
      0.2984417526845782,
      0.21173579543251855,
      0.21173579743701934
    ],
    "yaw": [
      -0.017453683020811343,
      -0.18297789689383892,
      -0.2956621041303714,
      -0.3568762886500817,
      -0.4125365835525716,
      -0.44094380946461414,
      -0.4544058243338131,
      -0.4653643750008445,
      -0.4693148813469625,
      -0.4714973812331119
    ],
    "yaw_diff": [
      -0.33104842774605514,
      -0.225368414473065,
      -0.12242836903942056,
      -0.11132058980497983,
      -0.056814451824085066,
      -0.026924029738397914,
      -0.021917101334062772,
      -0.007901012692235976,
      -0.004364999772298872,
      -0.004364999772298872
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.864216452368599,
    "v_std": 0.8568593382253208,
    "vy_max": 0.184624627355225,
    "a_max": 1.7995709391290757,
    "ax_avg": 0.5675311922543058,
    "a_std": 0.5966373995450777,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "2d264d513abb5a7d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 19.237118701602455,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "2d264d513abb5a7d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "d58a453c3f155916": {
    "vx_ego": [
      2.048628079811558,
      1.520515223010581,
      0.9708809319633768,
      0.42377859083048625,
      0.06281267841619986,
      -0.037743641065919084,
      -0.03142275210995645,
      -0.018882732042067304,
      -0.0118583845766305,
      -0.00802831001186895
    ],
    "vy_ego": [
      0.0442561689297065,
      0.0007535054274632434,
      -0.024300774867327315,
      -0.013844573996469125,
      -0.007086820352136112,
      -0.007882540597823362,
      -0.0014159113346808728,
      -0.0007199175009464825,
      -0.0005048045983794851,
      -0.00042913780432047194
    ],
    "v_ego": [
      2.0491060533512475,
      1.5205154097138727,
      0.9711850038531421,
      0.42400467718577867,
      0.06321119831580786,
      0.03855796788199901,
      0.03145463646382597,
      0.01889645074030264,
      0.01186912433374144,
      0.008039771197103324
    ],
    "ax_ego": [
      -1.0562253832476687,
      -1.0561960237158803,
      -1.1423544984555913,
      -1.0460711788303072,
      -0.3977923190133402,
      -0.004438604912136322,
      0.029722487404039256,
      0.02043725917566039,
      0.0076601354472426,
      0.007660137698085262
    ],
    "ay_ego": [
      -0.0880178496197942,
      -0.08836951803874464,
      -0.01263676272445672,
      0.05405409871152529,
      -0.02694344614954553,
      0.023775484805097096,
      0.002084100321891231,
      0.0007083986374937497,
      0.00015158839548740175,
      0.00015171231727663736
    ],
    "a_ego": [
      1.059886409983814,
      1.0598864147783178,
      1.1424243904582394,
      1.0474668284804745,
      0.3987037476076999,
      0.02418625418049359,
      0.02979546495081054,
      0.020449532787883386,
      0.007661635211346794,
      0.007661639914590115
    ],
    "yaw": [
      1.588833714778698,
      1.5885007607837072,
      1.5883437406311725,
      1.5881950924637516,
      1.5883177876812788,
      1.5882160013787003,
      1.5882606304649296,
      1.5881718547388832,
      1.5881803501397336,
      1.5881643196058044
    ],
    "yaw_diff": [
      -0.0006659079899815623,
      -0.0003140403050694296,
      -0.0002972963348417679,
      0.00024539043505455993,
      -0.0002035726051570208,
      8.92581724585284e-05,
      -0.00017755145209275014,
      1.699080170070033e-05,
      -3.206106785835772e-05,
      -3.206106785835772e-05
    ],
    "min_front_frame": [
      4,
      15.018810216104887
    ],
    "v_avg": 0.5136840293036822,
    "v_std": 0.7072555792600556,
    "vy_max": 0.0442561689297065,
    "a_max": 1.1424243904582394,
    "ax_avg": -0.46375979884498963,
    "a_std": 0.5007807792381169,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d58a453c3f155916",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.804037227128823,
      16.010398581146916,
      15.456326849001757,
      15.049418268487456,
      15.018810216104887,
      15.122933653474504,
      15.099771021379237,
      15.105064654970239,
      15.164115251119567,
      15.151282105375945
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d58a453c3f155916",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "551ce60633b65fd0": {
    "vx_ego": [
      7.508540066370743,
      6.989308229789756,
      6.447234868295964,
      5.895347769221814,
      5.329759919846035,
      4.777291539533244,
      4.3257462676698974,
      3.957027020523338,
      3.6019297550594165,
      3.238657016176484
    ],
    "vy_ego": [
      0.00659917557491152,
      -0.005608597795573433,
      -0.007261876487109575,
      -0.026942617955830944,
      -0.036289861041268204,
      -0.05550471611119974,
      -0.04718907682862106,
      -0.02594117113008032,
      -0.01291906968810988,
      0.0481769692018752
    ],
    "v_ego": [
      7.508542966342606,
      6.989310480110041,
      6.4472389580208205,
      5.895409334790158,
      5.329883465631458,
      4.7776139679976755,
      4.326003650163969,
      3.9571120511695654,
      3.601952923449166,
      3.2390153270385498
    ],
    "ax_ego": [
      -1.0385010855082752,
      -1.038421598299231,
      -1.1299664380074121,
      -1.077652353224152,
      -1.1850008760125306,
      -1.0250900781318109,
      -0.7815209384384438,
      -0.693417072905175,
      -0.7267584342635605,
      -0.7264766843401846
    ],
    "ay_ego": [
      -0.047428768869477396,
      -0.049138405383503184,
      -0.03461260326139669,
      -0.08365336339080859,
      0.006692482582920354,
      -0.11994990439812148,
      0.1296666951010564,
      -0.06534956478949558,
      0.1355784562272624,
      0.1370801476111124
    ],
    "a_ego": [
      1.0395835669720546,
      1.039583569848025,
      1.1304964322489874,
      1.0808942962270394,
      1.185019774296441,
      1.0320841282809268,
      0.7922047898341288,
      0.6964896285046585,
      0.7392965166739186,
      0.7392965168043149
    ],
    "yaw": [
      1.605070065010687,
      1.603423746971178,
      1.6005581780093798,
      1.5989545856802172,
      1.597196138471546,
      1.5953883641082898,
      1.5940863630180448,
      1.5928349936144226,
      1.5940336046294823,
      1.596100293577468
    ],
    "yaw_diff": [
      -0.0032926360790179743,
      -0.005731137923596474,
      -0.0032071846583252572,
      -0.0035168944173422645,
      -0.0036155487265125963,
      -0.0026040021804898394,
      -0.002502738807244498,
      0.0023972220301193836,
      0.004133377895971346,
      0.004133377895971346
    ],
    "min_front_frame": [
      9,
      15.388781004814488
    ],
    "v_avg": 5.207208312471401,
    "v_std": 1.3954503674199585,
    "vy_max": 0.05550471611119974,
    "a_max": 1.185019774296441,
    "ax_avg": -0.9422805559130776,
    "a_std": 0.17482299822610645,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "551ce60633b65fd0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.626294185947322,
    "right_rear_min": 44.207484788920155,
    "speed_mode": "decelerating",
    "front_frame": [
      32.8757216400041,
      30.39274813108417,
      28.02555041789524,
      25.785667598137323,
      23.695350057173517,
      21.632167339404152,
      19.687639768840523,
      17.731956786981737,
      16.13002758163586,
      15.388781004814488
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "551ce60633b65fd0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "879d4e4e0d2b5386": {
    "vx_ego": [
      2.190744896843011,
      2.7528735752636355,
      3.280513517817414,
      3.772136268078573,
      4.087245433326115,
      4.265608128876865,
      4.580383432654138,
      5.00708328376407,
      5.4333322030192015,
      5.845316256262324
    ],
    "vy_ego": [
      0.018903135495863976,
      0.011069725711114309,
      0.03275508644427094,
      0.03723862734762129,
      0.004524951600292093,
      -0.04509958182173457,
      -0.050140642767724675,
      0.0011731582174983046,
      0.05064010083948034,
      0.05664700066446127
    ],
    "v_ego": [
      2.190826449442144,
      2.7528958317037917,
      3.280677039312275,
      3.7723200739492504,
      4.087247938091371,
      4.26584653749064,
      4.580657864782052,
      5.00708342119939,
      5.433568187496916,
      5.845590733057598
    ],
    "ax_ego": [
      1.124282538326873,
      1.1243133017098472,
      0.9862912150331056,
      0.9799742741882016,
      0.2804690167516283,
      0.43298032615767057,
      0.8255246243137808,
      0.8814089756681038,
      0.823532123325585,
      0.8236937078254817
    ],
    "ay_ego": [
      -0.02321362550281525,
      -0.021672538627370952,
      0.09105916389591556,
      -0.058303083934253985,
      -0.07371655492424681,
      -0.12521831156843316,
      0.06876386549529645,
      0.15472327186249235,
      0.05047374478124689,
      0.04776415995424799
    ],
    "a_ego": [
      1.1245221644750725,
      1.124522164891494,
      0.9904858061481259,
      0.9817070987147527,
      0.2899948272427021,
      0.4507234056399246,
      0.8283835914274643,
      0.8948860671862819,
      0.8250774248889549,
      0.8250774141178663
    ],
    "yaw": [
      -2.059812688252345,
      -2.0611833997620956,
      -2.062613452897496,
      -2.0615628837871123,
      -2.0616353822298388,
      -2.061661645232359,
      -2.063735879187994,
      -2.0627836708312013,
      -2.0624331533673734,
      -2.0591432864643293
    ],
    "yaw_diff": [
      -0.002741423019501532,
      -0.0028601062708011327,
      0.002101138220767851,
      -0.00014499688545299705,
      -5.252600504057625e-05,
      -0.004148467911269549,
      0.0019044167135850998,
      0.0007010349276557193,
      0.006579733806088228,
      0.006579733806088228
    ],
    "min_front_frame": [
      0,
      16.642911425771253
    ],
    "v_avg": 4.121671407652543,
    "v_std": 1.1018435532439967,
    "vy_max": 0.05664700066446127,
    "a_max": 1.124522164891494,
    "ax_avg": 0.8282470103300277,
    "a_std": 0.2572644115083838,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "879d4e4e0d2b5386",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 9.51607029291963,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      16.642911425771253,
      17.842372365347245,
      18.981150656444395,
      20.111994153628228,
      21.049982808713317,
      22.04227055648468,
      23.002598347025398,
      23.494826657181815,
      23.976669959258466,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "879d4e4e0d2b5386",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "60f76df7b8a95157": {
    "vx_ego": [
      10.316109175451915,
      10.192784801462667,
      10.095447888766182,
      9.997308688409323,
      9.87552508302956,
      9.755577600019357,
      9.642515989777143,
      9.529452517079593,
      9.475258447083675,
      9.488195757758323
    ],
    "vy_ego": [
      -0.002388010078896663,
      -0.002508309109360951,
      -0.010565350631661197,
      -0.02216248682265931,
      -0.018036211401759594,
      -0.027525398897823905,
      -0.0007046083332666875,
      0.0014992502892519077,
      0.02177459763694456,
      0.03893690254890947
    ],
    "v_ego": [
      10.316109451844495,
      10.192785110093459,
      10.095453417327402,
      9.997333253781566,
      9.87554155327533,
      9.755616431450344,
      9.642516015521094,
      9.529452635016662,
      9.475283466584669,
      9.488275650502738
    ],
    "ax_ego": [
      -0.24710327249127342,
      -0.24612046990453362,
      -0.1427992517301359,
      -0.24936183992426986,
      -0.2375820502667056,
      -0.2416334343504445,
      -0.21045732278716367,
      -0.24191940227422745,
      0.025146164095471553,
      0.02592614331467962
    ],
    "ay_ego": [
      0.1409977717476541,
      0.14270640251683864,
      0.1864017803417719,
      0.14074776291724375,
      0.06149132600246181,
      0.10256024073042598,
      0.10733133225461197,
      0.044728382281564824,
      0.1400564321611831,
      0.13991414541072122
    ],
    "a_ego": [
      0.2845002617111276,
      0.28450026893717767,
      0.23481322366780988,
      0.28634116011608574,
      0.2454107042948055,
      0.2624982277553003,
      0.23624626896162892,
      0.24601956299905356,
      0.14229593725203987,
      0.142295934563099
    ],
    "yaw": [
      1.0457250634050665,
      1.0526534633875495,
      1.061569828629687,
      1.0708527958390697,
      1.075526542483917,
      1.08067137453411,
      1.0833172427355542,
      1.0870514803641145,
      1.0897889306347581,
      1.0953607788288529
    ],
    "yaw_diff": [
      0.013856799964965916,
      0.01783273048427514,
      0.018565934418765195,
      0.009347493289694864,
      0.010289664100386009,
      0.005291736402888159,
      0.007468475257120577,
      0.0054749005412872975,
      0.011143696388189461,
      0.011143696388189461
    ],
    "min_front_frame": [
      0,
      27.547314735146344
    ],
    "v_avg": 9.836836698539775,
    "v_std": 0.2901032965854929,
    "vy_max": 0.03893690254890947,
    "a_max": 0.28634116011608574,
    "ax_avg": -0.17659047363186028,
    "a_std": 0.050685148833454464,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "60f76df7b8a95157",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.3748400097371825,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      27.547314735146344,
      28.055871803124187,
      28.460651599843313,
      28.850530794841596,
      29.275189137261208,
      29.731164059211448,
      30.25528988856212,
      30.484908815863196,
      30.82599407770329,
      31.01276355511006
    ],
    "safe_frame": [
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.9,
    "unsafe_ratio": 0.1,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "60f76df7b8a95157",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "78c26c7e63c3534c": {
    "vx_ego": [
      3.0398625297477837,
      2.8880380928901626,
      2.7805965040581775,
      2.692835171127725,
      2.608461683430182,
      2.5712491450902744,
      2.6577648517072583,
      2.8887796047812735,
      3.1530832976546836,
      3.412841720224224
    ],
    "vy_ego": [
      -0.07863588490560991,
      -0.0025957527666180535,
      0.030045850668357854,
      0.013720051685743362,
      0.0020700473125462304,
      0.000657995875445076,
      0.0038187974221664533,
      0.0013021959517878212,
      -0.004011510071633806,
      -0.044382607332299706
    ],
    "v_ego": [
      3.0408794455156363,
      2.888039259414088,
      2.7807588301618216,
      2.6928701228764713,
      2.608462504813764,
      2.571249229282537,
      2.6577675952167557,
      2.888779898281374,
      3.153085849475398,
      3.4131302968296793
    ],
    "ax_ego": [
      -0.32733085229233805,
      -0.2638542519965558,
      -0.17896873628117743,
      -0.1844109178012363,
      -0.15701507275185206,
      0.0067670926615275555,
      0.34138728095298837,
      0.5862524338644557,
      0.4798545994514166,
      0.5670845800665569
    ],
    "ay_ego": [
      0.6798078391175852,
      0.7068699449914838,
      0.5562444284988479,
      0.4878272906055694,
      0.4679099142632726,
      0.447631506429578,
      0.5110414927261335,
      0.6015094878463848,
      0.7481243869980276,
      0.6843724233299677
    ],
    "a_ego": [
      0.7545092345280799,
      0.7545092348201746,
      0.5843266832877748,
      0.5215197523237878,
      0.4935518421980942,
      0.44768265444564975,
      0.6145800866317013,
      0.8399437958466138,
      0.8887916150796282,
      0.8887916149265787
    ],
    "yaw": [
      2.6635042843749,
      2.7549924716809695,
      2.855179975611641,
      2.9564100629878363,
      3.050998753136169,
      3.1405702353904967,
      -3.05074933531106,
      -2.9485093883658138,
      -2.8356773477203303,
      -2.7140402145018654
    ],
    "yaw_diff": [
      0.18297637461213867,
      0.20037500786134288,
      0.20246017475239064,
      0.1891773802966652,
      0.17914296450865574,
      0.18373147295605907,
      0.20447989389049237,
      0.22566408129096693,
      0.24327426643692984,
      0.24327426643692984
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.8695023031867524,
    "v_std": 0.2543696095531566,
    "vy_max": 0.07863588490560991,
    "a_max": 0.8887916150796282,
    "ax_avg": 0.08697661558737856,
    "a_std": 0.15847480569036052,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "78c26c7e63c3534c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "78c26c7e63c3534c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8deec95251e95c2d": {
    "vx_ego": [
      -0.14960833530607293,
      0.20303298111016865,
      0.7659364148293563,
      1.5673026318709675,
      2.3468863608528756,
      3.0269587105251983,
      3.5942674597201534,
      4.01577730507835,
      4.298729596167259,
      4.52592952776762
    ],
    "vy_ego": [
      0.002591620748634501,
      -0.0026403299471264253,
      -0.0028789698597608826,
      0.00011688145371656355,
      0.009629647436471198,
      0.02164809603397977,
      0.01740409714647473,
      0.01632761527325327,
      0.01475917986396065,
      -0.00036810658933970897
    ],
    "v_ego": [
      0.14963078056054877,
      0.2030501483887953,
      0.7659418254861795,
      1.5673026362291795,
      2.346906116756059,
      3.0270361205783898,
      3.5943095963760063,
      4.015810497894895,
      4.298754933042193,
      4.5259295427371935
    ],
    "ax_ego": [
      0.7052824487221224,
      0.7052828147598248,
      1.5463277440355931,
      1.6591372836021476,
      1.45921429767052,
      1.2614689333377371,
      1.008324102242704,
      0.6782419655435397,
      0.454211658273622,
      0.45476212952056877
    ],
    "ay_ego": [
      -0.010478099635295827,
      -0.010453439718913146,
      0.009268007717107243,
      -0.0020795047315013693,
      0.022184849688128727,
      -0.023989133554991316,
      -0.0676422381511626,
      -0.06200826261198084,
      -0.08789391948697753,
      -0.08499986007827717
    ],
    "a_ego": [
      0.7053602788982666,
      0.7053602790046363,
      1.546355517965145,
      1.6591385867909412,
      1.4593829292141778,
      1.2616970112927144,
      1.010590405429249,
      0.6810706192873984,
      0.4626376244907636,
      0.4626376234802021
    ],
    "yaw": [
      -3.0920608251619326,
      -3.0920957966909066,
      -3.092247953954841,
      -3.093288049213106,
      -3.095551540661347,
      -3.1001500488225764,
      -3.1057342405633515,
      -3.113881320931271,
      -3.1224606963992114,
      -3.128828420472376
    ],
    "yaw_diff": [
      -6.9943057948052e-05,
      -0.0003043145278684989,
      -0.0020801905165299672,
      -0.004526982896482679,
      -0.009197016322458396,
      -0.011168383481550137,
      -0.016294160735839114,
      -0.017158750935880818,
      -0.012735448146329098,
      -0.012735448146329098
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.4494672198049443,
    "v_std": 1.6058602113432834,
    "vy_max": 0.02164809603397977,
    "a_max": 1.6591385867909412,
    "ax_avg": 0.993225337770838,
    "a_std": 0.43188498839715317,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8deec95251e95c2d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8deec95251e95c2d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "6201f6d1b5f65431": {
    "vx_ego": [
      0.9588113222863502,
      1.4111702203724465,
      1.8400957950377146,
      2.208556191360141,
      2.5296126565050967,
      2.8384637464202447,
      3.148556832722471,
      3.4689858767677704,
      3.80163726309656,
      4.2029484400857
    ],
    "vy_ego": [
      0.02986234911309127,
      5.7792264258615944e-05,
      0.0018165132971139641,
      0.016412761208013826,
      -0.0023062996562919214,
      -0.018274126882020347,
      -0.02332840196848074,
      -0.012398451811419076,
      0.02661525478389988,
      0.1560767025536407
    ],
    "v_ego": [
      0.9592762436540642,
      1.4111702215558424,
      1.8400966916540114,
      2.208617175774399,
      2.5296137078551886,
      2.838522570538299,
      3.1486432543592104,
      3.4690080332598794,
      3.801730428627405,
      4.205845399809512
    ],
    "ax_ego": [
      0.9043018780820808,
      0.9060294929407948,
      0.8117850192222995,
      0.6742206458414655,
      0.6315469802549951,
      0.6149712921894687,
      0.6259502042360015,
      0.6629064831461822,
      0.6864377376120789,
      0.9768881334168984
    ],
    "ay_ego": [
      -0.10817639221110431,
      -0.09259901142590382,
      -0.18299779743628947,
      -0.4134600785709855,
      -0.7373491261516267,
      -0.9653962002633345,
      -1.1381160550368488,
      -1.3554137197932628,
      -1.480540103707794,
      -1.3072434134230997
    ],
    "a_ego": [
      0.9107491523655618,
      0.9107491526186606,
      0.8321557013565926,
      0.7908999404797097,
      0.9708425835869432,
      1.1446307324635614,
      1.2988925332435055,
      1.5088377504559756,
      1.631930073963059,
      1.631930074221573
    ],
    "yaw": [
      -2.152443629852926,
      -2.1696526305305066,
      -2.2127980905664266,
      -2.2929457006694562,
      -2.4061086150467283,
      -2.5583461857773138,
      -2.731972782888509,
      -2.923360782046755,
      -3.1285644128807686,
      2.946996271376249
    ],
    "yaw_diff": [
      -0.03441800135516093,
      -0.08629092007184003,
      -0.16029522020605924,
      -0.2263258287545442,
      -0.30447514146117083,
      -0.3472531942223904,
      -0.3827759983164922,
      -0.410407261668027,
      -0.4152492458451391,
      -0.4152492458451391
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.6412523727087813,
    "v_std": 0.9979896671673002,
    "vy_max": 0.1560767025536407,
    "a_max": 1.631930074221573,
    "ax_avg": 0.7495037866942266,
    "a_std": 0.3146903850396003,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "6201f6d1b5f65431",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "6201f6d1b5f65431",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "159972aee8265c33": {
    "vx_ego": [
      3.1812441330434207,
      3.4309611371831004,
      3.7613132421757687,
      4.091909318684604,
      4.3980613386331235,
      4.717774582215011,
      5.09319234017374,
      5.458964635167195,
      5.781597760267015,
      6.089293696869919
    ],
    "vy_ego": [
      -0.13418121652532689,
      -0.030577034027052585,
      -0.05284169804415678,
      -0.08788486745494706,
      -0.14383545779859297,
      -0.12621828675487912,
      -0.07326783826046901,
      -0.06520627864295747,
      -0.06039983821717021,
      0.022502404020987576
    ],
    "v_ego": [
      3.1840726802149795,
      3.4310973871154755,
      3.7616844034048076,
      4.092852992994676,
      4.400412728063075,
      4.719462688114544,
      5.09371930814094,
      5.459354059481815,
      5.781913247531584,
      6.089335274471791
    ],
    "ax_ego": [
      0.3816462481644699,
      0.6715320015185067,
      0.7176400254719202,
      0.6826171770232559,
      0.5868183516629626,
      0.7365855523122278,
      0.7773697197640151,
      0.7007164264991937,
      0.604649690413313,
      0.628593923257981
    ],
    "ay_ego": [
      1.5357876876588747,
      1.4329488567849462,
      1.702830827912326,
      1.8102665213074265,
      1.3363365083882213,
      0.9773268207063123,
      0.5464481800391819,
      0.5748490973115349,
      0.6341800649084156,
      0.6104549783271397
    ],
    "a_ego": [
      1.5824972923523786,
      1.5824972844288663,
      1.8478744639850175,
      1.9346914711482268,
      1.4595036969804698,
      1.223816158721161,
      0.9502153938313763,
      0.9063415443670706,
      0.8762337603882638,
      0.8762337592910063
    ],
    "yaw": [
      -0.3026436819275339,
      -0.10796850558305342,
      0.11564260506566545,
      0.34694367289583256,
      0.5442362000902112,
      0.6676251979651661,
      0.7345323714233662,
      0.7860306859789439,
      0.8388301285276267,
      0.8773012929274882
    ],
    "yaw_diff": [
      0.3893503526889609,
      0.4472222212974377,
      0.4626021356603342,
      0.39458505438875735,
      0.24677799574990966,
      0.13381434691640037,
      0.10299662911115526,
      0.1055988850973657,
      0.07694232879972285,
      0.07694232879972285
    ],
    "min_front_frame": [
      9,
      20.246869092872764
    ],
    "v_avg": 4.601390476953369,
    "v_std": 0.9477620132446718,
    "vy_max": 0.14383545779859297,
    "a_max": 1.9346914711482268,
    "ax_avg": 0.6488169116087846,
    "a_std": 0.39045755277972793,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "159972aee8265c33",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      21.204335381566384,
      21.789296556764672,
      22.27070014591911,
      20.246869092872764
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "159972aee8265c33",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "7b3ba1d953a15802": {
    "vx_ego": [
      3.8058451518124086,
      3.859672646464168,
      4.128784768478738,
      4.531708448021712,
      4.905317831744812,
      5.3866765351433346,
      5.932245634047145,
      6.494348775431168,
      7.048586818766202,
      7.584725659514469
    ],
    "vy_ego": [
      -0.07272480821271943,
      -0.11482788283469203,
      -0.046727719682441604,
      -0.025189151840827373,
      0.00480126600601638,
      0.009147430549480084,
      -0.05051842286637598,
      -0.045389502899856105,
      -0.05462110894297467,
      0.011648358783402202
    ],
    "v_ego": [
      3.8065399271915688,
      3.8613803724238323,
      4.129049181616604,
      4.531778453459725,
      4.905320181454915,
      5.38668430203121,
      5.932460735118298,
      6.494507388856972,
      7.048798451312592,
      7.5847346040820405
    ],
    "ax_ego": [
      0.10929697435846868,
      0.12505907598991384,
      0.9542079393037272,
      0.6576534451786573,
      0.8383057117643026,
      1.0873357864061681,
      1.094547499932196,
      1.149932465899478,
      1.0610789989736933,
      1.0791825473774979
    ],
    "ay_ego": [
      0.3109459889141697,
      0.3049483053048979,
      0.14708503568321593,
      -0.014682635134573296,
      -0.24629297580938814,
      -0.20841175281690544,
      -0.3103639478442752,
      -0.4410461148436002,
      -0.47400129350442544,
      -0.4311970435556168
    ],
    "a_ego": [
      0.3295955652397749,
      0.32959557247599713,
      0.9654774980040697,
      0.6578173255014285,
      0.8737372009418495,
      1.1071289767284276,
      1.13769943734244,
      1.2316112826489891,
      1.1621384892975894,
      1.1621384861260253
    ],
    "yaw": [
      -2.058247957198149,
      -2.0070747200290318,
      -1.995532067459028,
      -1.9928846691881823,
      -2.0131641506052635,
      -2.0362374932392515,
      -2.0486129357070597,
      -2.0797045019478615,
      -2.112068479057543,
      -2.1520622339522824
    ],
    "yaw_diff": [
      0.1023464743382343,
      0.023085305140007506,
      0.0052947965416914045,
      -0.04055896283416249,
      -0.04614668526797594,
      -0.02475088493561639,
      -0.062183132481603565,
      -0.06472795421936262,
      -0.0799875097894791,
      -0.0799875097894791
    ],
    "min_front_frame": [
      1,
      11.461461194666496
    ],
    "v_avg": 5.368125359754776,
    "v_std": 1.2838760837570578,
    "vy_max": 0.11482788283469203,
    "a_max": 1.2316112826489891,
    "ax_avg": 0.8156600445184103,
    "a_std": 0.32572521383920194,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "7b3ba1d953a15802",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      50.311958368241434,
      11.461461194666496,
      12.072546072949336,
      12.76667543260825,
      13.649232017676244,
      14.68652292850069,
      15.485215158387401,
      16.543393350415485,
      17.51047603480573,
      18.421504348378026
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.1,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "7b3ba1d953a15802",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "d2789ec30aaa5d6a": {
    "vx_ego": [
      10.297814465397225,
      10.580188809485698,
      10.823244513497505,
      10.98189897867528,
      11.05080792751516,
      11.061851870421298,
      11.075113564749277,
      11.250569881432451,
      11.649239368110244,
      12.126590560813664
    ],
    "vy_ego": [
      0.07553938926988968,
      0.003637784593726767,
      -0.022884650053443867,
      -0.00031439779351094543,
      0.018762194738611626,
      0.03456764692598524,
      0.0202233672268064,
      0.015284320281995445,
      0.003755838004651846,
      0.03303840019179205
    ],
    "v_ego": [
      10.298091520426278,
      10.580189434875122,
      10.823268707103317,
      10.981898983175686,
      11.050823854843733,
      11.061905881237518,
      11.075132028859766,
      11.250580263588251,
      11.64923997357118,
      12.126635566615429
    ],
    "ax_ego": [
      0.5642599402506808,
      0.5663550857262749,
      0.4074137383781251,
      0.2241789976238589,
      0.05314814901402655,
      -0.007807374821992841,
      0.06102770394927484,
      0.6406851065712759,
      0.9541389801244857,
      0.9549159343255603
    ],
    "ay_ego": [
      -0.29508112319573815,
      -0.2910396293568873,
      -0.5487612006098883,
      -0.38280418392479365,
      -0.46979460182650334,
      -0.3705927797030632,
      -0.1824140530402866,
      0.042961981576054714,
      0.1705175332873195,
      0.16611139532941863
    ],
    "a_ego": [
      0.6367590984337486,
      0.6367590980772952,
      0.6834652950326341,
      0.44361612482636986,
      0.47279138491404427,
      0.3706750105815797,
      0.19235193629361994,
      0.6421239270134609,
      0.9692561181397752,
      0.9692561257413564
    ],
    "yaw": [
      1.3378987789250265,
      1.330749614620223,
      1.3136417606565587,
      1.2902606321787062,
      1.269222096690612,
      1.2488049343465781,
      1.237601725041043,
      1.2349035361820424,
      1.2405910098885293,
      1.2452070439857592
    ],
    "yaw_diff": [
      -0.014298328609607225,
      -0.03421570792732842,
      -0.046762256955704906,
      -0.0420770709761884,
      -0.0408343246880678,
      -0.0224064186110704,
      -0.005396377718001055,
      0.011374947412973846,
      0.009232068194459764,
      0.009232068194459764
    ],
    "min_front_frame": [
      0,
      28.2991168980462
    ],
    "v_avg": 11.089776621429628,
    "v_std": 0.48842098023046393,
    "vy_max": 0.07553938926988968,
    "a_max": 0.9692561257413564,
    "ax_avg": 0.44183162611415705,
    "a_std": 0.233134997153209,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "d2789ec30aaa5d6a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 27.203923194387453,
    "right_rear_min": 23.542708954342213,
    "speed_mode": "accelerating",
    "front_frame": [
      28.2991168980462,
      28.623724035427664,
      28.90656130338201,
      29.432668603054548,
      29.766840281390966,
      30.249708396833448,
      30.875943337069753,
      31.50373268778293,
      31.9826267464883,
      32.30305954255617
    ],
    "safe_frame": [
      1,
      1,
      0,
      0,
      0,
      1,
      1,
      1,
      1,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.4,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "d2789ec30aaa5d6a",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "bf7e92340c6454a2": {
    "vx_ego": [
      3.2113914579219345,
      3.596397597530223,
      3.978892847796533,
      4.296570329130725,
      4.555829044830771,
      4.7904378154550855,
      5.093901457186613,
      5.4296728512536445,
      5.757602350202186,
      6.077599979943805
    ],
    "vy_ego": [
      -0.09302735725818762,
      0.007784957698442549,
      -0.02973536559253076,
      -0.038719085450515944,
      -0.06516167949668139,
      -0.10216484012836569,
      -0.13046163141967337,
      -0.08947790387347698,
      -0.10487022217585862,
      0.04054305970843375
    ],
    "v_ego": [
      3.212738580278889,
      3.59640602339162,
      3.9790039565465785,
      4.296744786550003,
      4.55629502229591,
      4.791527117558717,
      5.095571831777134,
      5.430410073550843,
      5.758557335527097,
      6.077735207781223
    ],
    "ax_ego": [
      0.7087465903293959,
      0.8467740188224553,
      0.7148573611005797,
      0.6203548068924135,
      0.46681990468364065,
      0.5617435902043646,
      0.6921045840141573,
      0.6857842351994664,
      0.6337447756106674,
      0.6493837155699147
    ],
    "ay_ego": [
      1.1229816866978541,
      1.0229288089632775,
      1.3212942315484406,
      1.739032608230235,
      1.8112318640477636,
      1.992426930766664,
      1.4991303026350904,
      1.1978266456070845,
      0.6078455104699494,
      0.5911086171939226
    ],
    "a_ego": [
      1.3279343349587365,
      1.3279343308913139,
      1.5022781010994166,
      1.8463679207900514,
      1.870422863619556,
      2.0701016727639145,
      1.6511815222719117,
      1.3802495028705632,
      0.8781278979808629,
      0.8781278992084804
    ],
    "yaw": [
      -1.669099503540139,
      -1.5406341684883742,
      -1.3770791348712406,
      -1.1910750010256002,
      -0.9861866318971859,
      -0.7750328140177196,
      -0.5925910873981564,
      -0.4724041470947173,
      -0.3890954918331383,
      -0.36300933182901474
    ],
    "yaw_diff": [
      0.25693067010352966,
      0.3271100672342673,
      0.3720082676912808,
      0.4097767382568285,
      0.4223076357589326,
      0.3648834532391265,
      0.24037388060687814,
      0.16661731052315798,
      0.05217232000824712,
      0.05217232000824712
    ],
    "min_front_frame": [
      7,
      11.569058505898763
    ],
    "v_avg": 4.679498993525803,
    "v_std": 0.8857660844628504,
    "vy_max": 0.13046163141967337,
    "a_max": 2.0701016727639145,
    "ax_avg": 0.6580313582427055,
    "a_std": 0.38012109224254714,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "bf7e92340c6454a2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      52.67859712803242,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      11.569058505898763,
      14.326370174643012,
      16.847225965922878
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "bf7e92340c6454a2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4bb645483bf4594a": {
    "vx_ego": [
      6.740089383242445,
      6.886636541346416,
      7.021917420050348,
      7.167262337525783,
      7.322389521458736,
      7.489387548590288,
      7.664848842651498,
      7.816635858629624,
      7.994476942569789,
      8.193950759085483
    ],
    "vy_ego": [
      -0.03161933324092825,
      0.048790368599344935,
      0.009576112043573781,
      0.03216247345746748,
      -0.002051695965985978,
      -0.00408289802846129,
      -0.005225747052618246,
      0.009392929332482147,
      -0.01682294316748889,
      -0.08655071041546503
    ],
    "v_ego": [
      6.740163549672376,
      6.886809373917343,
      7.021923949739729,
      7.167334500329565,
      7.32238980889607,
      7.489388661502056,
      7.6648506240583885,
      7.816641502175722,
      7.994494642983809,
      8.194407853395571
    ],
    "ax_ego": [
      0.27028905990334023,
      0.3175123972292977,
      0.22224226939866015,
      0.35895070466974177,
      0.2617668123379284,
      0.40592787457847473,
      0.2957088434483143,
      0.31165382409496956,
      0.3996965384301777,
      0.39944658126132043
    ],
    "ay_ego": [
      -0.7350144238723788,
      -0.7158828598355116,
      -0.4031312180682549,
      -0.2213897827424227,
      -0.15215680759102607,
      -0.10654177773451218,
      0.028479617199497598,
      -0.07794189330068635,
      -0.039957698774995165,
      -0.04238360909950095
    ],
    "a_ego": [
      0.7831362456200558,
      0.7831362534071361,
      0.4603329287468598,
      0.4217333805683886,
      0.30277641608595074,
      0.41967676819503374,
      0.29707710899591294,
      0.3212523070801419,
      0.4016888603439978,
      0.40168886168483187
    ],
    "yaw": [
      -0.18287634463522784,
      -0.24794872631934375,
      -0.2824748460883436,
      -0.30772487495665896,
      -0.3158787070431289,
      -0.32435788690684597,
      -0.3267782440365021,
      -0.3302651400868358,
      -0.3306779591893463,
      -0.3246066966818123
    ],
    "yaw_diff": [
      -0.13014476336823183,
      -0.06905223953799972,
      -0.05050005773663069,
      -0.01630766417293994,
      -0.01695835972743409,
      -0.0048407142593122066,
      -0.0069737921006673975,
      -0.0008256382050210176,
      0.012142525015067962,
      0.012142525015067962
    ],
    "min_front_frame": [
      9,
      50.523065172824865
    ],
    "v_avg": 7.429840446667063,
    "v_std": 0.4614299902330964,
    "vy_max": 0.08655071041546503,
    "a_max": 0.7831362534071361,
    "ax_avg": 0.3243194905352225,
    "a_std": 0.17006859707923666,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "4bb645483bf4594a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      50.523065172824865
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "4bb645483bf4594a",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "002e450c6cba5895": {
    "vx_ego": [
      4.037170815205819,
      3.7211761461574335,
      3.461580337175496,
      3.217438194843805,
      2.894485906509283,
      2.5418984108172307,
      2.236086300624061,
      1.9587698822409187,
      1.6978484610043412,
      1.4632157188999875
    ],
    "vy_ego": [
      -0.013771295836967123,
      0.02207419092776086,
      0.06807664332473173,
      0.08124480539006429,
      0.038077520152482336,
      0.02515072942274177,
      0.026530067500238674,
      0.019804523899927817,
      0.017696852522892104,
      0.0013250449456564395
    ],
    "v_ego": [
      4.037194302945877,
      3.721241618147927,
      3.462249681938953,
      3.2184638037490236,
      2.894736354233634,
      2.542022834300601,
      2.236243678206864,
      1.9588699984279216,
      1.6979406865741886,
      1.4632163188606513
    ],
    "ax_ego": [
      -0.632010503805901,
      -0.6319757656606274,
      -0.4064928837629684,
      -0.5703662009292096,
      -0.7220096748614045,
      -0.6883919306837972,
      -0.5348728562841555,
      -0.5744476958608971,
      -0.46926651752489407,
      -0.46927695709296674
    ],
    "ay_ego": [
      0.07512538069162839,
      0.07541702546516893,
      0.116206651577039,
      -0.05335020039172572,
      -0.0923140004953594,
      0.050819034016726994,
      -0.044273927043013694,
      0.025350591623275576,
      -0.03178044110827352,
      -0.03162599173057515
    ],
    "a_ego": [
      0.63645981785581,
      0.6364598150019765,
      0.4227770694120974,
      0.5728558693460832,
      0.7278872476427434,
      0.6902651841495115,
      0.536702108255018,
      0.5750067893299554,
      0.47034143014089047,
      0.4703414353545481
    ],
    "yaw": [
      -2.0778815058385316,
      -2.077420037187534,
      -2.076885834817749,
      -2.076128110293881,
      -2.07393252922422,
      -2.0729918302171004,
      -2.0728834089698416,
      -2.071934621112467,
      -2.071659049120325,
      -2.071329919283839
    ],
    "yaw_diff": [
      0.0009229373019952192,
      0.001068404739569928,
      0.0015154490477362614,
      0.004391162139321558,
      0.001881398014239366,
      0.00021684249451769944,
      0.0018975757147492445,
      0.0005511439842837973,
      0.0006582596729725054,
      0.0006582596729725054
    ],
    "min_front_frame": [
      9,
      10.802501986182309
    ],
    "v_avg": 2.723217927738564,
    "v_std": 0.8388349657429328,
    "vy_max": 0.08124480539006429,
    "a_max": 0.7278872476427434,
    "ax_avg": -0.5699110986466821,
    "a_std": 0.09526451649983676,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "002e450c6cba5895",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.004936032244704,
      21.076433988790473,
      19.29609175466812,
      17.577832440144256,
      16.065668789839663,
      14.702703669315664,
      13.52904152893131,
      12.443120412081226,
      11.565274387144791,
      10.802501986182309
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "002e450c6cba5895",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "880d9918a2635d59": {
    "vx_ego": [
      2.1828109590576323,
      2.4459216667703267,
      2.6781852398072132,
      2.848969127910553,
      2.967034276761262,
      3.0638136789970005,
      3.1524514427455235,
      3.209976623855636,
      3.2788035076842896,
      3.3888094353712384
    ],
    "vy_ego": [
      0.0034641837663237363,
      -0.01825959136327604,
      -0.03144942854158095,
      -0.021267814330125312,
      -0.017163493085035453,
      -0.022356827793185874,
      -0.002961307907152433,
      0.005181900245367854,
      -0.0048392978683239815,
      -0.043188972129596825
    ],
    "v_ego": [
      2.1828137079355323,
      2.445989822679826,
      2.6783698858217497,
      2.8490485098912934,
      2.967083919435226,
      3.0638952474518626,
      3.152452833622234,
      3.20998080645193,
      3.2788070789246904,
      3.3890846369742293
    ],
    "ax_ego": [
      0.5262738211232381,
      0.5265165132838119,
      0.4048980511456807,
      0.2805711721060107,
      0.19276005684854278,
      0.19657907946756725,
      0.1607378578729375,
      0.06995804364689791,
      0.20867386728533796,
      0.23768828805410344
    ],
    "ay_ego": [
      0.021723413741025904,
      0.014710618476010157,
      0.10238279033044775,
      0.1439105034693358,
      0.10005678501330903,
      0.1441715873440405,
      0.2562404287074655,
      0.2944613084426859,
      0.4109537247102165,
      0.3948822907262128
    ],
    "a_ego": [
      0.5267219774266285,
      0.5267219770016144,
      0.41764179337970797,
      0.31532588797264705,
      0.21718149033343745,
      0.2437801900926661,
      0.30248275365343785,
      0.30265754581817367,
      0.4608988465390419,
      0.4608988455260782
    ],
    "yaw": [
      1.343389015278737,
      1.3567111202979563,
      1.373186872939852,
      1.3916784388298415,
      1.4111666632287205,
      1.4331397760890083,
      1.459067499796634,
      1.499635069208866,
      1.5573729856378482,
      1.6293526246122756
    ],
    "yaw_diff": [
      0.02664421003843831,
      0.03295150528379143,
      0.03698313177997914,
      0.03897644879775797,
      0.043946225720575605,
      0.05185544741525128,
      0.0811351388244641,
      0.11547583285796437,
      0.14395927794885477,
      0.14395927794885477
    ],
    "min_front_frame": [
      1,
      18.445235454784743
    ],
    "v_avg": 2.921752644918857,
    "v_std": 0.36624399353505205,
    "vy_max": 0.043188972129596825,
    "a_max": 0.5267219774266285,
    "ax_avg": 0.2804656750834128,
    "a_std": 0.10896515987217026,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "880d9918a2635d59",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      18.468291076731287,
      18.445235454784743,
      18.782339009726766,
      19.067879991487086,
      19.24732320626101,
      19.588035006430097,
      19.98336023564315,
      20.456142825417267,
      21.536328105255084,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "880d9918a2635d59",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d68601dbb9d45f6b": {
    "vx_ego": [
      6.735935971523093,
      6.32133720052929,
      5.886488567877745,
      5.429209463216356,
      5.069168319847619,
      4.855238794272445,
      4.671973300135022,
      4.500834740067434,
      4.422024463405233,
      4.538442906403887
    ],
    "vy_ego": [
      0.08052492558064905,
      0.0725901277952179,
      0.07652373970870396,
      0.1286636153346712,
      0.10908869904114793,
      0.05778449489833293,
      -0.009756046675941044,
      -0.07655815661989118,
      -0.05301693953744113,
      0.041550025778314126
    ],
    "v_ego": [
      6.736417273009335,
      6.32175397571345,
      5.886985947196951,
      5.4307338105811285,
      5.070341980498477,
      4.85558264240851,
      4.671983486445694,
      4.501485811234211,
      4.422342269751659,
      4.538633100321058
    ],
    "ax_ego": [
      -0.8295311215967173,
      -0.8295066832136173,
      -0.911647314941158,
      -0.919977892031477,
      -0.5399785045313004,
      -0.3431757685856417,
      -0.40195102290888274,
      -0.23345977889370184,
      -0.008789124328021036,
      0.47379046985108386
    ],
    "ay_ego": [
      0.010740218570085669,
      0.012486188995373515,
      0.23089628312476573,
      0.9327262883602341,
      1.5638758781744952,
      1.9391108547958464,
      2.022406056707647,
      2.08722858217156,
      2.1880871699608937,
      2.1361941092185286
    ],
    "a_ego": [
      0.8296006472950952,
      0.8296006523693703,
      0.940432836730117,
      1.3100907032816234,
      1.6544741000365972,
      1.96924364041919,
      2.0619628713983364,
      2.1002444197271415,
      2.188104821998692,
      2.188104815035526
    ],
    "yaw": [
      2.6385754307287828,
      2.640680218748891,
      2.6499883494915295,
      2.692175127818609,
      2.8157707130231215,
      3.002975282797151,
      -3.059370143026487,
      -2.8208300328771534,
      -2.5861347649639184,
      -2.363859175958227
    ],
    "yaw_diff": [
      0.004209576040216767,
      0.01861626148527673,
      0.08437355665415858,
      0.2471911704090255,
      0.3744091395480593,
      0.441679762711896,
      0.47708022029866726,
      0.46939053582647006,
      0.4445511780113831,
      0.4445511780113831
    ],
    "min_front_frame": [
      8,
      46.61187252971394
    ],
    "v_avg": 5.243626029716047,
    "v_std": 0.7790623368681334,
    "vy_max": 0.1286636153346712,
    "a_max": 2.188104821998692,
    "ax_avg": -0.45442267411794335,
    "a_std": 0.5477487749399267,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "d68601dbb9d45f6b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      46.61187252971394,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "d68601dbb9d45f6b",
    "pedestrians": "No"
  },
  "cf7876c4ad0752b5": {
    "vx_ego": [
      2.654953939090904,
      3.545081153880787,
      4.417273071925322,
      5.230441249030703,
      5.936869684268235,
      6.516399580271477,
      6.9830008400750305,
      7.318189712841688,
      7.597869919108635,
      7.930715882774489
    ],
    "vy_ego": [
      -0.012183002736554593,
      0.04561576908231668,
      0.044431958024292006,
      -0.017908592802951873,
      -0.03415839126867648,
      -0.031218704244199813,
      -0.03569940267663932,
      -0.029026595198261007,
      -0.016209929371634235,
      -0.09427891240880992
    ],
    "v_ego": [
      2.6549818915107473,
      3.5453746185684953,
      4.417496529806271,
      5.230471907701832,
      5.936967950366355,
      6.516474360975955,
      6.9830920930373,
      7.318247277618509,
      7.597887210896598,
      7.9312762482854255
    ],
    "ax_ego": [
      1.7783673192125413,
      1.7810720722274358,
      1.7044877910602627,
      1.5513833477217618,
      1.2930441489718496,
      1.038910198862039,
      0.8385941585993797,
      0.5138118843052312,
      0.6186495668091222,
      0.7298745304125178
    ],
    "ay_ego": [
      0.2116611477435506,
      0.18754476377771212,
      0.36345144283041697,
      0.5739621413126531,
      0.9088792398473049,
      1.0104804281697295,
      1.0344268572083934,
      1.0943703510359841,
      1.2675957243843898,
      1.2069835961166422
    ],
    "a_ego": [
      1.790918971787199,
      1.7909189721729373,
      1.742806811201117,
      1.6541532067038371,
      1.5805140441690955,
      1.4492774396276378,
      1.3316452552204117,
      1.2089868145186347,
      1.410505656490147,
      1.4105056651568455
    ],
    "yaw": [
      -0.3031205414153545,
      -0.28957008651074334,
      -0.2547598799288691,
      -0.19351653846322286,
      -0.12463998062678382,
      -0.04847521607157351,
      0.027610174072412674,
      0.10065685729379986,
      0.17821106731813124,
      0.2680446402361476
    ],
    "yaw_diff": [
      0.027100909809222307,
      0.06962041316374845,
      0.1224866829312925,
      0.1377531156728781,
      0.1523295291104206,
      0.15217078028797237,
      0.14609336644277438,
      0.15510842004866277,
      0.17966714583603272,
      0.17966714583603272
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.813227008876749,
    "v_std": 1.7093863625369987,
    "vy_max": 0.09427891240880992,
    "a_max": 1.7909189721729373,
    "ax_avg": 1.1848195018182142,
    "a_std": 0.19400633417443883,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "cf7876c4ad0752b5",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.596143058496212,
    "right_rear_min": 6.715449050322801,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "cf7876c4ad0752b5",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "3bc729311a8a5d48": {
    "vx_ego": [
      2.916371934024378,
      2.5139827514945394,
      2.1101313822847327,
      1.703304556698034,
      1.3253156320406605,
      1.0339305580986615,
      0.8138502016173705,
      0.5727393324949012,
      0.2686917391421845,
      -0.06226757676591102
    ],
    "vy_ego": [
      0.006964679124132234,
      -0.01104315304419523,
      -0.025897197643106717,
      -0.026766265540012935,
      -0.017644163840060068,
      -0.006213993210900048,
      0.016521470120200277,
      0.023480157900117538,
      0.0004957534278367121,
      -0.026905401874751766
    ],
    "v_ego": [
      2.9163802502966574,
      2.5140070059650217,
      2.1102902917249664,
      1.703514850489788,
      1.325433076789979,
      1.0339492311916647,
      0.8140178804225171,
      0.5732204295048454,
      0.2686921964901715,
      0.0678317902339347
    ],
    "ax_ego": [
      -0.8048000399571729,
      -0.8047636233144657,
      -0.8106575013708879,
      -0.816616661320454,
      -0.6953600665408748,
      -0.4701839743454574,
      -0.4101392038983774,
      -0.5542705739779197,
      -0.6619129763551385,
      -0.6619187370163532
    ],
    "ay_ego": [
      -0.040496151215875464,
      -0.04121330103168558,
      -0.01991731464698454,
      0.018470599665489362,
      0.016581864465858076,
      0.028817352863673734,
      0.06443334056898092,
      -0.0373307720070106,
      -0.05481539384599196,
      -0.05474585160462178
    ],
    "a_ego": [
      0.8058182441334808,
      0.8058182335937526,
      0.8109021420317238,
      0.8168255227392003,
      0.695557747688065,
      0.47106624752507925,
      0.4151696303335217,
      0.555526287151609,
      0.6641788280800656,
      0.6641788333583354
    ],
    "yaw": [
      -2.0592007255739366,
      -2.0600918407574103,
      -2.060277162317874,
      -2.060011160909099,
      -2.060250620498744,
      -2.060320415154769,
      -2.059690538814751,
      -2.0599478762212873,
      -2.0600679633208525,
      -2.0599628984953187
    ],
    "yaw_diff": [
      -0.0017822303669472461,
      -0.00037064312092738305,
      0.000532002817549504,
      -0.0004789191792893277,
      -0.0001395893120506031,
      0.001259752680036641,
      -0.0005146748130728795,
      -0.00024017419913047178,
      0.0002101296510677031,
      0.0002101296510677031
    ],
    "min_front_frame": [
      9,
      11.19633751122909
    ],
    "v_avg": 1.3327337003109545,
    "v_std": 0.9117471724390116,
    "vy_max": 0.026905401874751766,
    "a_max": 0.8168255227392003,
    "ax_avg": -0.66906233580971,
    "a_std": 0.14022843880041416,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3bc729311a8a5d48",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 10.621140363523445,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      17.08495929734496,
      15.718559164058686,
      14.5538242563434,
      13.591321214640436,
      12.812842101984897,
      12.235668625801575,
      11.763072868429816,
      11.385898163002052,
      11.20192158252376,
      11.19633751122909
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3bc729311a8a5d48",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e7d6dc36775b52cc": {
    "vx_ego": [
      0.5205471643921984,
      1.2614531259135033,
      1.97157132095395,
      2.629047946753496,
      3.2273727517148743,
      3.769162616831156,
      4.264053607885295,
      4.683675813362489,
      4.9700794593382085,
      5.183203426048062
    ],
    "vy_ego": [
      -0.006635100417439643,
      0.007128208131649161,
      0.0053602498433126256,
      -0.002396375484261082,
      0.0031910663353182933,
      -0.0007207977861891646,
      -0.0341317174300253,
      -0.05141506727551648,
      -0.024468872006357723,
      -0.015544541209583373
    ],
    "v_ego": [
      0.5205894494842437,
      1.2614732657603636,
      1.9715786075849187,
      2.6290490389006123,
      3.227374329298663,
      3.7691626857522262,
      4.264190209764841,
      4.6839580093997135,
      4.9701396919838015,
      5.1832267352063415
    ],
    "ax_ego": [
      1.4811810498511253,
      1.4822009166878933,
      1.3585496901283947,
      1.2732006815318462,
      1.1261800450133737,
      1.0432226327881744,
      0.946440741723162,
      0.7515755426726349,
      0.40364652294638054,
      0.45335823570306977
    ],
    "ay_ego": [
      0.07146065485296127,
      0.045655179948773994,
      0.11698115005692322,
      0.22117310582844812,
      0.4464998231845729,
      0.5204601227691211,
      0.6337885678545566,
      0.7690087042683637,
      0.7338074750726057,
      0.7041805402265588
    ],
    "a_ego": [
      1.4829038834766386,
      1.4829038919925277,
      1.3635768588593007,
      1.292268361523627,
      1.2114634067482926,
      1.1658439865412262,
      1.1390513712456602,
      1.075286093829997,
      0.8374986125117675,
      0.8374986108129185
    ],
    "yaw": [
      -2.352773134630179,
      -2.3353573390289664,
      -2.309361343791905,
      -2.2694289377849035,
      -2.214690878655247,
      -2.144705995251661,
      -2.064828761031924,
      -1.9830681048295928,
      -1.9114905812073966,
      -1.8423774507903188
    ],
    "yaw_diff": [
      0.034831591202425294,
      0.051991990474122396,
      0.0798648120140033,
      0.10947611825931336,
      0.13996976680717133,
      0.15975446843947427,
      0.1635213124046624,
      0.14315504724439254,
      0.13822626083415557,
      0.13822626083415557
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.2480742023135725,
    "v_std": 1.5321530645131787,
    "vy_max": 0.05141506727551648,
    "a_max": 1.4829038919925277,
    "ax_avg": 1.0319556059046053,
    "a_std": 0.2185115808133342,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "e7d6dc36775b52cc",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "e7d6dc36775b52cc",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "9a22009eaa1250fe": {
    "vx_ego": [
      6.435872839455225,
      6.4701234928969225,
      6.5949698694119965,
      6.865779612810795,
      7.224591741723305,
      7.57723677012596,
      7.861134772632967,
      8.009711613542189,
      8.012891898301636,
      7.974449814971658
    ],
    "vy_ego": [
      -0.009044451947401555,
      -0.008773563977534149,
      -0.0062546909980065735,
      0.032689617578413266,
      0.07254707773896074,
      0.04094213921911827,
      -0.0461362460502448,
      -0.06711680339463033,
      -0.04878612708787866,
      0.02027589216447412
    ],
    "v_ego": [
      6.435879194620459,
      6.470129441422446,
      6.594972835396031,
      6.865857433910623,
      7.224955980008809,
      7.577347380799743,
      7.861270156068851,
      8.009992808823895,
      8.013040412980844,
      7.974475591742982
    ],
    "ax_ego": [
      0.06474565547877484,
      0.0731428801539187,
      0.42625362295442254,
      0.6562883662144917,
      0.7760264986903326,
      0.6300478446570362,
      0.5039776431801817,
      0.09082534521897084,
      -0.07689519901447717,
      -0.07685836718677037
    ],
    "ay_ego": [
      0.3303257399748874,
      0.32856842881077486,
      0.2694268835400578,
      0.2803186546498888,
      0.22701348023744736,
      0.15566315433248265,
      -0.11312283036887372,
      0.07833991810618196,
      0.14225330472449688,
      0.1422732109900342
    ],
    "a_ego": [
      0.33661119172323,
      0.33661119014137325,
      0.5042648080680218,
      0.7136476495955202,
      0.8085494708916051,
      0.6489925301370696,
      0.5165174145913335,
      0.11994326201595705,
      0.16170613574171083,
      0.16170613832514588
    ],
    "yaw": [
      2.4936694005346434,
      2.519156855931995,
      2.54180858670573,
      2.556505077168154,
      2.56887659340141,
      2.586030953970039,
      2.5986635157137976,
      2.60020160516273,
      2.6047853126912646,
      2.6050442190558494
    ],
    "yaw_diff": [
      0.050974910794702843,
      0.045303461547470114,
      0.029392980924848544,
      0.024743032466512105,
      0.03430872113725769,
      0.025265123487517194,
      0.003076178897864601,
      0.009167415057069306,
      0.00051781272916962,
      0.00051781272916962
    ],
    "min_front_frame": [
      0,
      34.72164088108943
    ],
    "v_avg": 7.302792123577468,
    "v_std": 0.6313371624506292,
    "vy_max": 0.07254707773896074,
    "a_max": 0.8085494708916051,
    "ax_avg": 0.30675542903468817,
    "a_std": 0.23286217984886995,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9a22009eaa1250fe",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 24.535394924484653,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      34.72164088108943,
      36.75186210401131,
      38.889186005797676,
      41.0826143249848,
      42.86155934010977,
      44.56488428722601,
      46.0559277498436,
      47.37460716641214,
      48.712682614430605,
      50.043236207724
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9a22009eaa1250fe",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e443a0e9bbc75c69": {
    "vx_ego": [
      7.735253247606136,
      7.6842060870598266,
      7.623447957424739,
      7.554382651797416,
      7.5209262119856595,
      7.394748804614985,
      7.062469000471362,
      6.616748645032056,
      6.133285044475228,
      5.642737469407568
    ],
    "vy_ego": [
      0.022783664989515007,
      0.015445872614702871,
      -0.008015167222891417,
      -0.02626842398828444,
      -0.030986965390030985,
      -0.023403383914636144,
      -0.027279298296678522,
      -0.05882994701745936,
      -0.07160022675505573,
      -0.11285538642665638
    ],
    "v_ego": [
      7.7352868014050795,
      7.68422161076762,
      7.623452170930768,
      7.5544283225057205,
      7.520990046407258,
      7.394785838801108,
      7.062521684408092,
      6.617010170326144,
      6.133702962261449,
      5.643865916807524
    ],
    "ax_ego": [
      -0.11070988667539311,
      -0.09069619793490075,
      -0.1529570055532315,
      -0.12560389667386745,
      -0.0108611109941614,
      -0.4993314206583704,
      -0.8322142539269937,
      -0.9563971673212226,
      -0.9868903224877018,
      -0.9817025355057849
    ],
    "ay_ego": [
      -0.5610236317293416,
      -0.5646046350357316,
      -0.49551023745699513,
      -0.4776020153418401,
      -0.5489935875131305,
      -0.44439438626480854,
      -0.49424763280127515,
      -0.458501091900042,
      -0.2830791640894149,
      -0.3005768684753971
    ],
    "a_ego": [
      0.5718428056436998,
      0.5718428055188579,
      0.5185809878625507,
      0.4938421042380316,
      0.5491010133505172,
      0.6684446410888356,
      0.9679159503639387,
      1.0606218897107438,
      1.026687061261338,
      1.0266870614169457
    ],
    "yaw": [
      2.1340380092358084,
      2.098481723489714,
      2.0669547100706653,
      2.037291745135449,
      2.0038082427006128,
      1.9697732115930675,
      1.9380320486330058,
      1.9078909954366878,
      1.8808305013629987,
      1.863054105365765
    ],
    "yaw_diff": [
      -0.07111257149218897,
      -0.06305402683809724,
      -0.0593259298704325,
      -0.06696700486967266,
      -0.06807006221509049,
      -0.06348232592012337,
      -0.06028210639263598,
      -0.05412098814737831,
      -0.03555279199446737,
      -0.03555279199446737
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.0970265524620775,
    "v_std": 0.6912448636473933,
    "vy_max": 0.11285538642665638,
    "a_max": 1.0606218897107438,
    "ax_avg": -0.47473637977316274,
    "a_std": 0.2294669088164513,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "e443a0e9bbc75c69",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e443a0e9bbc75c69",
    "with_lead": "No",
    "road_shape": "Curve"
  },
  "159ec1accaf55d3f": {
    "vx_ego": [
      1.2554540187169392,
      2.0729658001186477,
      2.8211320535319535,
      3.4868999602989894,
      4.098594409768912,
      4.410187271682514,
      4.638787954323216,
      4.926937151224793,
      4.98951187177506,
      4.940414404229133
    ],
    "vy_ego": [
      0.05107703568046362,
      0.072867896522122,
      -0.025609764673984348,
      -0.09364388236352417,
      -0.13042255213860043,
      -0.06825311946595747,
      -0.02450092640771251,
      -0.002618716097931184,
      -0.009592079201662163,
      0.0064642278511626294
    ],
    "v_ego": [
      1.2564926011268096,
      2.074246113363866,
      2.821248291716288,
      3.488157179634715,
      4.1006689915055725,
      4.41071539091192,
      4.63885265777746,
      4.92693784716157,
      4.989521091905282,
      4.940418633249253
    ],
    "ax_ego": [
      1.5982247409816575,
      1.6377843571383992,
      1.3505516335586496,
      1.3308203368877298,
      1.131136783503758,
      0.11555831269078307,
      0.7990265052335275,
      0.35357510272844656,
      -0.10207457879918622,
      -0.09445663044625678
    ],
    "ay_ego": [
      0.467947313312591,
      0.3015947725851136,
      0.41305818467821137,
      0.3728210544097823,
      0.15919483962230857,
      0.10480572882242382,
      0.08843546055243601,
      0.006192524411085476,
      -0.25798040143795603,
      -0.2608659635645952
    ],
    "a_ego": [
      1.6653218940260042,
      1.6653218930098486,
      1.412305483540157,
      1.3820558265443523,
      1.1422842990944069,
      0.15600629610993344,
      0.8039055832302857,
      0.35362932659497204,
      0.27744027675000654,
      0.27744027462094506
    ],
    "yaw": [
      -2.504836448625466,
      -2.402113478817633,
      -2.290611688757452,
      -2.206863618659688,
      -2.16239854077228,
      -2.1615242171020417,
      -2.160497398579794,
      -2.1601305971314257,
      -2.1712913169040244,
      -2.200654150067801
    ],
    "yaw_diff": [
      0.20544593961566626,
      0.2230035801203618,
      0.16749614019552794,
      0.08893015577481655,
      0.001748647340476417,
      0.00205363704449546,
      0.0007336028967364072,
      -0.022321439545197386,
      -0.05872566632755305,
      -0.05872566632755305
    ],
    "min_front_frame": [
      9,
      22.42628947845775
    ],
    "v_avg": 3.764725879835274,
    "v_std": 1.2507184931884094,
    "vy_max": 0.13042255213860043,
    "a_max": 1.6653218940260042,
    "ax_avg": 0.8120146563477508,
    "a_std": 0.5796182158482995,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "159ec1accaf55d3f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      22.630398392411344,
      27.404350664584193,
      33.989364039721856,
      31.781650044175944,
      29.627350211705245,
      27.270405079878547,
      24.794954651791734,
      22.42628947845775
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "159ec1accaf55d3f",
    "pedestrians": "Yes"
  },
  "125a155883e55be7": {
    "vx_ego": [
      1.41266441599515,
      1.5773336826160822,
      1.7063341321711856,
      1.8013506934503427,
      1.892556393483344,
      1.9513939728436183,
      1.9981832349793343,
      2.060696309569015,
      2.1124623670163354,
      2.15441952964806
    ],
    "vy_ego": [
      -0.016296895265612482,
      -0.01848411679774123,
      -0.03031073835788789,
      -0.045324819079633705,
      -0.045775275426384876,
      -0.03951668382913898,
      -0.014688787338078657,
      0.01245732270583122,
      -0.0064880234119201186,
      -0.059627580761836496
    ],
    "v_ego": [
      1.4127584156586066,
      1.5774419827331223,
      1.7066033257532909,
      1.8019208251248533,
      1.8931098960057875,
      1.9517940479341698,
      1.9982372234111596,
      2.060733962732782,
      2.1124723303532407,
      2.1552445239732028
    ],
    "ax_ego": [
      0.32955482606944847,
      0.32994371466702477,
      0.18750372895757084,
      0.19594974468828516,
      0.17527464529367423,
      0.06759859265849187,
      0.12693208829217564,
      0.12296377876614102,
      0.08125708618074612,
      0.09591413632854365
    ],
    "ay_ego": [
      0.033986625980887,
      0.029976979416597084,
      0.0241063754126905,
      0.057305465006869415,
      0.14870355318337575,
      0.1849553651285615,
      0.282970497604938,
      0.26830620730439697,
      0.2056258922472765,
      0.199211445508371
    ],
    "a_ego": [
      0.33130269261089496,
      0.33130269262898865,
      0.18904699338664913,
      0.2041573382542437,
      0.2298563638714064,
      0.19692144834742664,
      0.3101355470645035,
      0.2951411726047698,
      0.22109889555824058,
      0.22109889544994368
    ],
    "yaw": [
      -1.4237486186329211,
      -1.4115890855635698,
      -1.3963165055606743,
      -1.376139582635747,
      -1.3480518668738855,
      -1.3081921273028763,
      -1.2613597388416424,
      -1.2068527619420821,
      -1.1411775289968253,
      -1.0687995655448796
    ],
    "yaw_diff": [
      0.024319066138702716,
      0.030545160005790883,
      0.040353845849854686,
      0.05617543152372306,
      0.07971947914201838,
      0.09366477692246766,
      0.1090139537991206,
      0.13135046589051358,
      0.14475592690389139,
      0.14475592690389139
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.8670316533680213,
    "v_std": 0.22937110309057768,
    "vy_max": 0.059627580761836496,
    "a_max": 0.33130269262898865,
    "ax_avg": 0.1712892341902102,
    "a_std": 0.054308707930824776,
    "ini_direction_judge": "left",
    "scenario_type": "unprotected_intersections",
    "scene_token": "125a155883e55be7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "125a155883e55be7",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "48a6621d92dd5be3": {
    "vx_ego": [
      5.08498885312958,
      5.369859401365275,
      5.589727251337721,
      5.701114802676566,
      5.785784925308178,
      5.91093352747091,
      6.148059632851009,
      6.4002587195139,
      6.68318949916697,
      6.97349746869275
    ],
    "vy_ego": [
      -0.06524724576628599,
      -0.05376404637862575,
      -0.052388614154354585,
      -0.05840221902664977,
      -0.033839040277019006,
      -0.01404865783144027,
      -0.027024376214683343,
      -0.11557609531492963,
      -0.07053595674000546,
      0.013622415493239615
    ],
    "v_ego": [
      5.0854074408578285,
      5.3701285425131156,
      5.589972746913939,
      5.701413930989847,
      5.785883880840526,
      5.910950222338753,
      6.148119026661885,
      6.401302173036511,
      6.683561715355734,
      6.973510774069834
    ],
    "ax_ego": [
      0.41220129166817854,
      0.7609251894689573,
      0.14444842955905524,
      0.3290503497781482,
      0.013398785698990556,
      0.4855438320621018,
      0.4517705938837433,
      0.5583706893274433,
      0.579209595490864,
      0.5833871024522224
    ],
    "ay_ego": [
      1.9664165498862334,
      1.8594883186755313,
      1.7540229658244495,
      1.6749183382598234,
      1.3652181631406621,
      1.142162022319842,
      0.6913943816702123,
      0.1761304963085987,
      0.3409946083075595,
      0.3337971927813778
    ],
    "a_ego": [
      2.0091550344658304,
      2.0091550341521986,
      1.7599607704269078,
      1.7069345542604057,
      1.365283912022467,
      1.241082953747775,
      0.8259072953444625,
      0.5854910575149013,
      0.6721317418508936,
      0.6721317409677422
    ],
    "yaw": [
      1.6594193350097486,
      1.8412131691127396,
      2.0031806800294296,
      2.156419037341488,
      2.283428184958188,
      2.38818956458549,
      2.4662716507357816,
      2.5150466817318,
      2.527929145943285,
      2.5403106216173197
    ],
    "yaw_diff": [
      0.363587668205982,
      0.3239350218333801,
      0.3064767146241172,
      0.2540182952333998,
      0.20952275925460384,
      0.1561641723005831,
      0.09755006199203642,
      0.02576492842297018,
      0.024762951348069606,
      0.024762951348069606
    ],
    "min_front_frame": [
      5,
      17.870967861524864
    ],
    "v_avg": 5.965025045357798,
    "v_std": 0.5594639593406814,
    "vy_max": 0.11557609531492963,
    "a_max": 2.0091550344658304,
    "ax_avg": 0.4318305859389705,
    "a_std": 0.5396373647434085,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "48a6621d92dd5be3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      17.870967861524864,
      19.935246236159234,
      21.760364815374302,
      38.04979850124976,
      38.57293266296411
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "48a6621d92dd5be3",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "9c1e8e69c7cd537b": {
    "vx_ego": [
      12.185660370198466,
      12.260287948308761,
      12.29132513526048,
      12.305277974457018,
      12.32965235043601,
      12.33387942329948,
      12.400395280991527,
      12.603993985282159,
      12.840615434542899,
      13.041325351098218
    ],
    "vy_ego": [
      0.05730769277243992,
      0.014537833663744865,
      0.0271766237001419,
      0.044556687514825666,
      0.031897169103853984,
      0.026155250983457834,
      0.007897239713420157,
      0.039452446988310186,
      0.060317504464242055,
      0.08172859269086574
    ],
    "v_ego": [
      12.185795125041135,
      12.260296567540799,
      12.291355179538252,
      12.305358642764514,
      12.329693609818902,
      12.333907155708784,
      12.400397795685105,
      12.604055731255801,
      12.840757101478328,
      13.041581440763244
    ],
    "ax_ego": [
      0.14886028279585958,
      0.1506498660301579,
      -0.025876411850562133,
      0.08319516086115575,
      0.015110541755477902,
      0.002035109501576076,
      0.2640869495714706,
      0.5503554024655827,
      0.3951631191194729,
      0.40293000667964074
    ],
    "ay_ego": [
      -0.25677935816171676,
      -0.25573353409667865,
      -0.20830687090264258,
      -0.21934235504365993,
      -0.15768983402702502,
      -0.05134103073057062,
      -0.0612667080424681,
      0.23277463598057782,
      0.4735558088321689,
      0.46696509172552564
    ],
    "a_ego": [
      0.29680805678418926,
      0.2968080568254198,
      0.20990793495127835,
      0.23459007546529445,
      0.15841215934269295,
      0.05138134979893776,
      0.2711005836370064,
      0.5975576124349383,
      0.6167730496632619,
      0.6167730434877029
    ],
    "yaw": [
      -1.5781523242739535,
      -1.5851358601711216,
      -1.5955968337218738,
      -1.605714430168045,
      -1.6123344521363858,
      -1.6161059783256322,
      -1.6169081201292086,
      -1.6159999377767478,
      -1.6037789962395592,
      -1.5872632090427852
    ],
    "yaw_diff": [
      -0.013967071794336317,
      -0.0209219471015043,
      -0.020235192892342546,
      -0.013240043936681545,
      -0.007543052378492732,
      -0.0016042836071528122,
      0.0018163647049216358,
      0.024441883074377113,
      0.03303157439354809,
      0.03303157439354809
    ],
    "min_front_frame": [
      0,
      30.01083808967197
    ],
    "v_avg": 12.459319834959487,
    "v_std": 0.2660482574111926,
    "vy_max": 0.08172859269086574,
    "a_max": 0.6167730496632619,
    "ax_avg": 0.19865100269298322,
    "a_std": 0.1928942623569748,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "9c1e8e69c7cd537b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.600570696594708,
    "right_rear_min": 15.833800520964074,
    "speed_mode": "quasi_constant",
    "front_frame": [
      30.01083808967197,
      30.134632754368905,
      30.773679794798735,
      31.233576703994693,
      31.466389413853292,
      31.92987248693732,
      32.348167424938566,
      32.940662881802055,
      33.09271619914193,
      33.322965198778476
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "9c1e8e69c7cd537b",
    "merging_vehicles": "No"
  },
  "93ca181d363358eb": {
    "vx_ego": [
      3.355532922074765,
      2.5878052584440887,
      1.8942081146370955,
      1.4922009506267373,
      1.3952095983961017,
      1.4115758250554336,
      1.4689213971700419,
      1.5290973075488579,
      1.56220812361688,
      1.580570779630167
    ],
    "vy_ego": [
      -0.0032116370097883123,
      0.0016823122307727534,
      -0.02044868411083754,
      -0.03597012216697773,
      -0.016919754033448586,
      0.010654943778824942,
      0.028399301532327857,
      -0.00030801045870346155,
      -0.02449843109370298,
      -0.013978259550428283
    ],
    "v_ego": [
      3.3555344590303187,
      2.5878058052731308,
      1.8943184870129113,
      1.4926344250150623,
      1.3953121878393966,
      1.4116160376348301,
      1.4691958995966168,
      1.5290973385705728,
      1.5624002030915851,
      1.5806325889215282
    ],
    "ax_ego": [
      -1.5354542313831758,
      -1.5354581192492893,
      -1.23892865619216,
      -0.36912956587484275,
      -0.01891206945043594,
      0.08436039096032485,
      0.14510168935342133,
      0.09566981210013073,
      0.036700454344954274,
      0.036684847803206556
    ],
    "ay_ego": [
      0.006314508777561539,
      0.0052840504647862635,
      -0.09505414782610924,
      0.03190511785080464,
      0.040416295448090646,
      0.0662538935462014,
      0.0006025524235202546,
      -0.11895413023525547,
      0.01835729698892155,
      0.018388441649020062
    ],
    "a_ego": [
      1.535467215440825,
      1.5354672113587706,
      1.242569718829917,
      0.37050583389202335,
      0.044622228862367073,
      0.10726720828384714,
      0.1451029404341617,
      0.15265254025826247,
      0.04103551756546445,
      0.041035507120344504
    ],
    "yaw": [
      -1.5450117768592952,
      -1.5456828839183756,
      -1.545824233917946,
      -1.5459919978558583,
      -1.5466849005711538,
      -1.5473372992777108,
      -1.5480564148432365,
      -1.5486414455557864,
      -1.5492588131550924,
      -1.550107575136392
    ],
    "yaw_diff": [
      -0.0013422141181607117,
      -0.0002826999991407675,
      -0.00033552787582458166,
      -0.0013858054305910805,
      -0.0013047974131139561,
      -0.0014382311310514595,
      -0.0011700614250997887,
      -0.001234735198611947,
      -0.0016975239625991456,
      -0.0016975239625991456
    ],
    "min_front_frame": [
      9,
      13.293828499883727
    ],
    "v_avg": 1.8278547431985952,
    "v_std": 0.6113874224602316,
    "vy_max": 0.03597012216697773,
    "a_max": 1.535467215440825,
    "ax_avg": -0.4299365447587866,
    "a_std": 0.6113441258211619,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "93ca181d363358eb",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5404677940018128,
    "right_rear_min": 31.077491376016834,
    "speed_mode": "decelerating",
    "front_frame": [
      15.575382842144927,
      14.757478402595074,
      14.361933020517949,
      14.222841281685998,
      14.139357344772396,
      14.03558086143286,
      13.953697629660901,
      13.912865336106657,
      13.622127587496278,
      13.293828499883727
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "93ca181d363358eb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "93bc5a4ab6a95986": {
    "vx_ego": [
      5.053847545078169,
      4.867533255904964,
      4.545962335801438,
      4.032949588190121,
      3.509288544371251,
      3.000379215507692,
      2.44927533578903,
      1.9538232904722515,
      1.5676752603615853,
      1.216847047812027
    ],
    "vy_ego": [
      0.046832200582165306,
      0.015921556708460294,
      -0.0068997489095488085,
      -0.02887438357829808,
      -0.011688464996732373,
      -0.010289296045646434,
      -0.011429892573757039,
      -0.015651155433074826,
      -0.009646927792699933,
      0.015017817796395105
    ],
    "v_ego": [
      5.054064529060151,
      4.867559295304866,
      4.545967571932325,
      4.03305295166204,
      3.509308009831749,
      3.0003968581612113,
      2.4493020052555203,
      1.9538859764730914,
      1.5677049419982072,
      1.2169397160994506
    ],
    "ax_ego": [
      -0.37923303865656827,
      -0.3606715415670826,
      -0.9291510815260817,
      -1.1240995904212128,
      -0.9704244073880326,
      -1.064829849420617,
      -1.1392020888675816,
      -0.842220978863413,
      -0.7018101270969851,
      -0.7015428184937014
    ],
    "ay_ego": [
      -0.45360906295801684,
      -0.4685028447820897,
      -0.1967404352964981,
      -0.021019751578028933,
      0.1023896205998559,
      0.0733222350380709,
      0.05135971833781017,
      0.019248921966290022,
      0.05991702477124544,
      0.06296969091735444
    ],
    "a_ego": [
      0.5912519594947185,
      0.5912519568384418,
      0.9497518261007677,
      1.124296099406887,
      0.9758110292782085,
      1.0673512816163722,
      1.1403592503891045,
      0.8424409167618284,
      0.7043631906575786,
      0.7043631933557528
    ],
    "yaw": [
      -2.1127512059779647,
      -2.1530044285684395,
      -2.1830346727119156,
      -2.190560537555133,
      -2.1897192201364226,
      -2.1767002576929135,
      -2.1648826848198794,
      -2.1547768976169763,
      -2.146867764035274,
      -2.1425172371218304
    ],
    "yaw_diff": [
      -0.08050644518094963,
      -0.06006048828695221,
      -0.015051729686434534,
      0.0016826348374205935,
      0.02603792488701817,
      0.023635145746068176,
      0.020211574405806232,
      0.01581826716340462,
      0.00870105382688724,
      0.00870105382688724
    ],
    "min_front_frame": [
      9,
      8.844424193480602
    ],
    "v_avg": 3.2198181855778616,
    "v_std": 1.3254721176067623,
    "vy_max": 0.046832200582165306,
    "a_max": 1.1403592503891045,
    "ax_avg": -0.8213185522301277,
    "a_std": 0.20131774959052814,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "93bc5a4ab6a95986",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      23.29732917641507,
      20.828756547726595,
      18.47161913615085,
      16.363888203612753,
      14.519077041809183,
      12.890819584928243,
      11.511337652010178,
      10.434794620208244,
      9.5651180642059,
      8.844424193480602
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "93bc5a4ab6a95986",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9149c990800952c0": {
    "vx_ego": [
      1.5094075302371983,
      2.04046398191514,
      2.5657463251345995,
      3.066068111784592,
      3.5329525384920606,
      3.9607973990913883,
      4.329222538537701,
      4.491103256892831,
      4.439954336485787,
      4.3470205737264385
    ],
    "vy_ego": [
      -0.0173871346400426,
      0.012928827319612868,
      0.03598478352376144,
      0.05730032629477755,
      0.03706884750410211,
      0.007335040017924177,
      -0.011997871447045672,
      -0.014217180487102077,
      -0.0206547838311657,
      -0.010723328609492544
    ],
    "v_ego": [
      1.5095076696684087,
      2.0405049414468097,
      2.5659986573626563,
      3.0666034946656895,
      3.533147002134609,
      3.960804191002273,
      4.329239163767934,
      4.491125760017682,
      4.440002379523468,
      4.347033799981017
    ],
    "ax_ego": [
      1.0621755732673308,
      1.0620154580209769,
      1.0395169499831085,
      0.9615880212182494,
      0.9027366618538291,
      0.8077173821401726,
      0.6659813562377389,
      -0.018537156849907577,
      -0.18619632055839386,
      -0.18594722259295962
    ],
    "ay_ego": [
      0.04730917023186809,
      0.05077650868416689,
      0.010000465693501603,
      0.089274755683307,
      0.020107848241768644,
      0.006397412219150578,
      -0.013107299812738116,
      -0.026801461101024878,
      -0.037283864726535956,
      -0.038506958956885634
    ],
    "a_ego": [
      1.063228623595984,
      1.0632286146025505,
      1.0395650526139628,
      0.9657233064148045,
      0.902960578439562,
      0.8077427166458856,
      0.6661103273217126,
      0.032587489949792464,
      0.1898924863137844,
      0.18989248399592584
    ],
    "yaw": [
      2.2104599947694226,
      2.207195384539932,
      2.203786023091105,
      2.2050258307354476,
      2.219412956218393,
      2.229086335506782,
      2.233327644383482,
      2.231602032158686,
      2.2294659001411907,
      2.2228927023601113
    ],
    "yaw_diff": [
      -0.0065292204589813,
      -0.006818722897653728,
      0.002479615288685011,
      0.028774250965891035,
      0.019346758576777923,
      0.008482617753400312,
      -0.0034512244495923383,
      -0.004272264034990592,
      -0.013146395562158908,
      -0.013146395562158908
    ],
    "min_front_frame": [
      0,
      12.100910615260714
    ],
    "v_avg": 3.428396705957055,
    "v_std": 1.0288626772154497,
    "vy_max": 0.05730032629477755,
    "a_max": 1.063228623595984,
    "ax_avg": 0.6111050702720144,
    "a_std": 0.38327105178311055,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9149c990800952c0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.6358873837846506,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      12.100910615260714,
      12.795635674985702,
      13.608786349511242,
      14.180235658454054,
      14.685208395560778,
      14.747281117750868,
      14.565123415175234,
      14.210806147466618,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.75,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.25,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9149c990800952c0",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "58dcca6583f6599e": {
    "vx_ego": [
      3.4344785910459237,
      2.645664670270783,
      1.9423546918677004,
      1.403766088592525,
      0.9548233597851852,
      0.541086010598486,
      0.22256492624611335,
      0.02072203585263458,
      -0.051493941192678805,
      -0.04038363939561536
    ],
    "vy_ego": [
      0.007719141537294583,
      -0.0045548567936966045,
      -0.014123392361600096,
      -0.012808046235506021,
      0.006850468285032774,
      0.009847972927823134,
      0.007849666071193542,
      -0.00616066274746539,
      -0.018830542453127628,
      0.009913863472017802
    ],
    "v_ego": [
      3.434487265589853,
      2.6456685911578988,
      1.9424060387139113,
      1.403824518068668,
      0.9548479341273108,
      0.5411756216203498,
      0.2227033085797495,
      0.021618430455652437,
      0.05482896413971456,
      0.0415827250162481
    ],
    "ax_ego": [
      -1.5776778898872603,
      -1.5775521774059542,
      -1.2357107991837561,
      -0.9186091329341644,
      -0.8771659495421806,
      -0.777748340766667,
      -0.49634722065765347,
      -0.31107596565034024,
      0.02221968718605221,
      0.022222317775415314
    ],
    "ay_ego": [
      -0.04019058412977994,
      -0.044854457249310586,
      0.003195025637322324,
      0.006136392709863658,
      0.07205996464107267,
      -0.06110268039298322,
      0.052379591500044176,
      -0.1081777276327334,
      0.05748511871435778,
      0.05748410847204506
    ],
    "a_ego": [
      1.5781897247453525,
      1.578189720779285,
      1.2357149296695336,
      0.9186296285367389,
      0.8801208675746235,
      0.7801448705955264,
      0.4991033811348996,
      0.32934886846788086,
      0.061629971379595985,
      0.06162997756074054
    ],
    "yaw": [
      -2.111753973475965,
      -2.1147102536516087,
      -2.1150861837286934,
      -2.1144632542902424,
      -2.11455645391744,
      -2.114907474018457,
      -2.115433845413496,
      -2.1148165619744073,
      -2.114759182207455,
      -2.1147135353727933
    ],
    "yaw_diff": [
      -0.00591256035128751,
      -0.0007518601541693926,
      0.001245858876901984,
      -0.00018639925439511984,
      -0.0007020402020341265,
      -0.001052742790077943,
      0.0012345668781774677,
      0.00011475953390416294,
      9.129366932381089e-05,
      9.129366932381089e-05
    ],
    "min_front_frame": [
      9,
      9.271782317944975
    ],
    "v_avg": 1.1263143397469357,
    "v_std": 1.1450980193225835,
    "vy_max": 0.018830542453127628,
    "a_max": 1.5781897247453525,
    "ax_avg": -0.7727445471066511,
    "a_std": 0.5313875149617002,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "58dcca6583f6599e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 42.352759621261455,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.954358248199306,
      12.463162081014788,
      11.383245033143478,
      10.552740723281177,
      9.973337321355961,
      9.535884530089746,
      9.40382489126479,
      9.310852859289799,
      9.298876730421703,
      9.271782317944975
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "58dcca6583f6599e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "be63913f07ee5245": {
    "vx_ego": [
      5.625740054529414,
      5.8547661368461466,
      6.158799029365274,
      6.451185072743038,
      6.676176838011736,
      6.853843973563468,
      6.976207221781615,
      6.974933518044757,
      6.921123061972045,
      6.896044611380399
    ],
    "vy_ego": [
      -0.015188824612735186,
      -0.07801599486352151,
      -0.06384832414126862,
      -0.07466002508987346,
      -0.07018141176940196,
      -0.026754512666943953,
      0.016745114233298164,
      -0.027492978521153955,
      -0.015530506264479271,
      0.022634805763054544
    ],
    "v_ego": [
      5.6257605584960455,
      5.855285903575922,
      6.159129978544558,
      6.451617081176549,
      6.676545708894857,
      6.853896192524389,
      6.976227318550381,
      6.974987702140569,
      6.921140486624017,
      6.8960817582581315
    ],
    "ax_ego": [
      0.36192325045026486,
      0.5759801981372603,
      0.6436951135516193,
      0.5213080915340591,
      0.38306091885164845,
      0.32995017986994085,
      0.15925235485216832,
      -0.16443273695703595,
      -0.05029262631505005,
      -0.05005282703401876
    ],
    "ay_ego": [
      1.5358192855428294,
      1.4690051427419686,
      0.9728429011830795,
      0.23533681150731536,
      0.20482482578768046,
      0.25721311957448206,
      0.16003980692374642,
      0.10621066013982222,
      0.10717512802948351,
      0.10728733184531193
    ],
    "a_ego": [
      1.5778876123037955,
      1.5778876062789102,
      1.1665190566778338,
      0.5719663811355634,
      0.43438332934220997,
      0.41836074155857783,
      0.22577433938813987,
      0.19575195863775818,
      0.11838858192326424,
      0.11838858504342166
    ],
    "yaw": [
      -2.2471402248912407,
      -2.1049049918339553,
      -2.005576484136003,
      -1.956086231627626,
      -1.9400460942565392,
      -1.9294014338833736,
      -1.9206341279427814,
      -1.9048419505577718,
      -1.8988734938242469,
      -1.8966370928772807
    ],
    "yaw_diff": [
      0.2844704661145707,
      0.19865701539590486,
      0.09898050501675382,
      0.032080274742173565,
      0.021289320746331164,
      0.017534611881184325,
      0.031584354770019196,
      0.011936913467049948,
      0.004472801893932399,
      0.004472801893932399
    ],
    "min_front_frame": [
      9,
      28.500892188923526
    ],
    "v_avg": 6.539067268878542,
    "v_std": 0.4718345449226209,
    "vy_max": 0.07801599486352151,
    "a_max": 1.5778876123037955,
    "ax_avg": 0.27103919169408563,
    "a_std": 0.5518707044185325,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "be63913f07ee5245",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      49.92316776248526,
      46.466003430687415,
      43.24969013235955,
      42.431289039350354,
      38.915224895564265,
      35.44510764842138,
      31.912613794307678,
      28.500892188923526
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.375,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.625,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "be63913f07ee5245",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "412e722526585e4a": {
    "vx_ego": [
      7.795263525224981,
      7.375168284164682,
      6.948170137073321,
      6.493348943175999,
      6.0165551946477365,
      5.538751186336195,
      5.114890477259141,
      4.755263286619902,
      4.44204360791037,
      4.164849568840355
    ],
    "vy_ego": [
      -0.017392130003660272,
      -0.022222773489365494,
      -0.02115482717784084,
      -0.027837748004987728,
      -0.015904433235469723,
      -0.00210129594848929,
      -0.009534042731971948,
      -0.011481011552425271,
      -0.0033261442463016905,
      0.00354641789036729
    ],
    "v_ego": [
      7.7952829271225985,
      7.375201764793299,
      6.948202341644234,
      6.493408614746099,
      6.016576215858916,
      5.538751584931867,
      5.114899362873825,
      4.7552771463608074,
      4.442044853196884,
      4.164851078748139
    ],
    "ax_ego": [
      -0.8401708983695595,
      -0.8401720525599322,
      -0.8678114837424376,
      -0.9514603684192655,
      -0.9557243520308392,
      -0.9554850218201083,
      -0.7399555372010639,
      -0.6984944726736352,
      -0.5543895688301054,
      -0.5543866714166941
    ],
    "ay_ego": [
      -0.0025969704459391854,
      -0.002194590153075108,
      0.00927675404272553,
      -0.031517670108461474,
      0.07754026740967425,
      -0.03081852526688213,
      0.002305823354060741,
      0.014088524746508464,
      0.01531017666280401,
      0.015414338022668568
    ],
    "a_ego": [
      0.8401749119811956,
      0.8401749187691272,
      0.867861065770795,
      0.9519822457386431,
      0.9588647089838749,
      0.9559819079994131,
      0.7399591298550583,
      0.6986365399012227,
      0.5546009335883563,
      0.5546009225210129
    ],
    "yaw": [
      1.597233061555807,
      1.5977119869433518,
      1.5978100443679055,
      1.5979768330939796,
      1.597908466474207,
      1.5975410658283336,
      1.597598533294064,
      1.5988248383623882,
      1.5986490566385674,
      1.5988369448410313
    ],
    "yaw_diff": [
      0.0009578507750895859,
      0.0001961148491074205,
      0.0003335774521482371,
      -0.00013673323954543903,
      -0.000734801291746745,
      0.00011493493146108591,
      0.0024526101366482145,
      -0.00035156344764164515,
      0.00037577640492791886,
      0.00037577640492791886
    ],
    "min_front_frame": [
      9,
      13.762916696245474
    ],
    "v_avg": 5.864449589027667,
    "v_std": 1.2005740326667151,
    "vy_max": 0.027837748004987728,
    "a_max": 0.9588647089838749,
    "ax_avg": -0.7958050427063641,
    "a_std": 0.1465206080106734,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "412e722526585e4a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.601616692231309,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.171684799165003,
      21.115588450785346,
      20.042754322857146,
      18.742942774243264,
      17.48007012394676,
      16.397607364982928,
      15.51422738875706,
      14.795248872576975,
      14.304199466557563,
      13.762916696245474
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "412e722526585e4a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0577532eba755552": {
    "vx_ego": [
      0.7747384237425899,
      1.196361068585996,
      1.7709647224802247,
      2.4358188239186536,
      2.9109386375635724,
      3.181128639550437,
      3.4114136253049807,
      3.728364775373442,
      4.2556010945776706,
      4.959834474960221
    ],
    "vy_ego": [
      -0.012549683820225255,
      -0.014814601153245621,
      -0.011022634103181828,
      -0.02435080443973492,
      -0.010305555196586047,
      -0.03555919165415289,
      -0.008366188385027451,
      -0.01793638425553601,
      0.028438155801405518,
      -0.031081064315634066
    ],
    "v_ego": [
      0.7748400607784425,
      1.196452790057157,
      1.770999025051124,
      2.435940537992115,
      2.910956879812612,
      3.1813273766588543,
      3.4114238839558717,
      3.7284079192231125,
      4.255696112844062,
      4.9599318595685284
    ],
    "ax_ego": [
      0.8402650781366602,
      0.8434464758099308,
      1.4577701479982097,
      1.2133913430816015,
      0.7039108489547422,
      0.42721395543884766,
      0.49871962825427174,
      0.8205641102682707,
      1.2349177242807245,
      1.5580119786979783
    ],
    "ay_ego": [
      -0.09790729838836865,
      -0.06503287383962897,
      -0.26085068348466556,
      -0.6391556416499162,
      -0.9956239730187635,
      -1.664172671805115,
      -1.8744378161488884,
      -2.3286733109186986,
      -1.9053468098421178,
      -1.6516558113372968
    ],
    "a_ego": [
      0.8459499043168671,
      0.8459498993652245,
      1.4809243341471363,
      1.371436650275283,
      1.2193266908117173,
      1.7181334189476325,
      1.9396490389282006,
      2.4690169801047164,
      2.2705436026463395,
      2.270543601186873
    ],
    "yaw": [
      2.5645852594004204,
      2.525540281107391,
      2.4649542782018328,
      2.3658417467514252,
      2.2116974471504642,
      2.004787302159449,
      1.7291639570956039,
      1.4362873878177653,
      1.1576905982475663,
      0.9765211763236554
    ],
    "yaw_diff": [
      -0.07808995658605866,
      -0.12117200581111653,
      -0.1982250629008151,
      -0.308288599201922,
      -0.4138202899820307,
      -0.55124669012769,
      -0.5857531385556771,
      -0.5571935791403981,
      -0.36233884384782167,
      -0.36233884384782167
    ],
    "min_front_frame": [
      9,
      59.126486881588555
    ],
    "v_avg": 2.862597644594188,
    "v_std": 1.2650175224012812,
    "vy_max": 0.03555919165415289,
    "a_max": 2.4690169801047164,
    "ax_avg": 0.9598211290921237,
    "a_std": 0.5580020991819968,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "0577532eba755552",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 8.778910254579099,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      59.126486881588555
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0577532eba755552",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "18f8562c9bb55561": {
    "vx_ego": [
      1.5531620962445074,
      2.297565762758591,
      3.1118590616723316,
      4.004103631546129,
      4.889526847372084,
      5.675321717718978,
      6.322160643907384,
      6.859459969670183,
      7.269901441722802,
      7.608616517453595
    ],
    "vy_ego": [
      -0.0045247622637786256,
      0.004337582262419426,
      0.00041384450486514623,
      -0.013208702364375435,
      -0.016556625396078273,
      -0.009392423495200752,
      -0.0042975111450320735,
      0.023387026369613206,
      0.030337648862894806,
      0.02321049984936785
    ],
    "v_ego": [
      1.5531686871309813,
      2.297569857223138,
      3.1118590891908133,
      4.004125417863313,
      4.889554878822498,
      5.675329489750512,
      6.3221621045314444,
      6.85949983807202,
      7.269964741682164,
      7.6086519198193665
    ],
    "ax_ego": [
      1.4888049389946123,
      1.4888097768762232,
      1.7683178024933532,
      1.8007363876325957,
      1.7412202300140984,
      1.4024332668163886,
      1.1848711942847348,
      0.964414800669732,
      0.6772935784296577,
      0.6773327157824496
    ],
    "ay_ego": [
      0.01891211674128368,
      0.01852739239995982,
      -0.016032367721445118,
      -0.0042051136113487875,
      0.04625475849303751,
      0.1059258094138335,
      0.02973741485555853,
      0.023882974158315196,
      0.018768206307071073,
      0.017298378170812506
    ],
    "a_ego": [
      1.4889250533637974,
      1.4889250538530714,
      1.768390479342636,
      1.800741297556252,
      1.741834490442074,
      1.4064278669641268,
      1.1852443043052454,
      0.9647104768817873,
      0.6775535675871212,
      0.6775535711340979
    ],
    "yaw": [
      -0.3359614168839151,
      -0.3357030058153994,
      -0.333999679480877,
      -0.33159018404157686,
      -0.32847847891481613,
      -0.3226790093419567,
      -0.31789621073670327,
      -0.3200537566331189,
      -0.3195309569769952,
      -0.3173608758346036
    ],
    "yaw_diff": [
      0.0005168221370314141,
      0.0034066526690448296,
      0.004818990878600271,
      0.006223410253521466,
      0.011598939145718856,
      0.009565597210506871,
      -0.004315091792831294,
      0.0010455993122474583,
      0.004340162284783178,
      0.004340162284783178
    ],
    "min_front_frame": [
      8,
      16.881944218931405
    ],
    "v_avg": 4.959188602408625,
    "v_std": 2.033614674584935,
    "vy_max": 0.030337648862894806,
    "a_max": 1.800741297556252,
    "ax_avg": 1.3194234691993847,
    "a_std": 0.4055263547536404,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "18f8562c9bb55561",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 31.554050940530807,
    "right_rear_min": 45.78026993939556,
    "speed_mode": "accelerating",
    "front_frame": [
      30.583145591868586,
      29.56510477226335,
      28.154343696516868,
      26.34277061555475,
      24.119582629629516,
      21.470191804376253,
      18.525570305396897,
      20.34442799019461,
      16.881944218931405,
      18.872784520365915
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "18f8562c9bb55561",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "3b8bc6ec37105767": {
    "vx_ego": [
      2.5412020366450685,
      2.675634900956303,
      2.8483722207229762,
      3.0714385748364004,
      3.2862162813164066,
      3.4280811670421687,
      3.494325605087119,
      3.476215924457173,
      3.3896434573439707,
      3.292286832505788
    ],
    "vy_ego": [
      -0.02782705873480218,
      -0.05597203370545589,
      -0.02843402602675882,
      0.0038995231118865714,
      -0.0067668802348779256,
      -0.010199802839809813,
      0.0061040961557561335,
      0.02010637648154523,
      0.0003780827028543321,
      -0.037147105909095535
    ],
    "v_ego": [
      2.541354390132725,
      2.6762202808761035,
      2.848514139270232,
      3.0714410502683522,
      3.2862232483897293,
      3.4280963410918264,
      3.4943309365824726,
      3.4762740714484606,
      3.3896434784297473,
      3.2924963925520734
    ],
    "ax_ego": [
      0.2661670263056187,
      0.28097052753103313,
      0.4144169971598994,
      0.4775403275372837,
      0.38152733555775437,
      0.1859724832026445,
      0.07899725187297679,
      -0.1514139026059596,
      -0.19491674856685917,
      -0.19469072074034025
    ],
    "ay_ego": [
      0.25914162162296267,
      0.2430119936438052,
      0.19905941133833782,
      0.01762491280479897,
      -0.0284604541800047,
      0.023798781115264844,
      0.03254889767141741,
      0.018252238421359777,
      -0.09130720971114427,
      -0.09178817309859155
    ],
    "a_ego": [
      0.37148252442040214,
      0.3714825250207658,
      0.45974568706774577,
      0.4778654643053764,
      0.3825873824761233,
      0.1874890569903486,
      0.08544001722323642,
      0.15251004593061135,
      0.21524299156328197,
      0.21524299167027522
    ],
    "yaw": [
      -2.11856069319936,
      -2.0596177154197077,
      -2.029394118951794,
      -2.0219966522511537,
      -2.019502781836921,
      -2.0188322385290025,
      -2.0194702960603914,
      -2.01984080525234,
      -2.0194148614778893,
      -2.0218838255550837
    ],
    "yaw_diff": [
      0.11788595555930481,
      0.06044719293582723,
      0.014794933401280908,
      0.004987740828465093,
      0.001341086615837206,
      -0.001276115062777805,
      -0.0007410183838976181,
      0.000851887548901864,
      -0.004937928154388871,
      -0.004937928154388871
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.150459432904172,
    "v_std": 0.33024641606577537,
    "vy_max": 0.05597203370545589,
    "a_max": 0.4778654643053764,
    "ax_avg": 0.15445705772540513,
    "a_std": 0.12975199739870819,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3b8bc6ec37105767",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3b8bc6ec37105767",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "60021a9f6c585c16": {
    "vx_ego": [
      5.959834689109883,
      5.776947572646225,
      5.682365408818175,
      5.65773155378146,
      5.701535159351291,
      5.859460477732748,
      6.131367605248942,
      6.476127584720453,
      6.898392260470561,
      7.346454723358152
    ],
    "vy_ego": [
      0.05227262683168998,
      0.03082822217714143,
      0.016286243270637213,
      0.06259815549333192,
      0.08574505091747398,
      0.1126879159973222,
      0.16369083313490762,
      0.19347377431270818,
      0.1247237405065531,
      -0.06484973992906773
    ],
    "v_ego": [
      5.960063921555991,
      5.777029828240956,
      5.682388747793767,
      5.658077841787398,
      5.702179880280505,
      5.860543972748938,
      6.133552265983273,
      6.47901694664584,
      6.899519678265008,
      7.346740943515034
    ],
    "ax_ego": [
      -0.46619757591526567,
      -0.23914239126499864,
      -0.10427174733502753,
      0.05299044501166683,
      0.18121092183968524,
      0.5165125137871162,
      0.6164035079430192,
      0.8164223889394242,
      0.8928506481581451,
      0.900993764815924
    ],
    "ay_ego": [
      -1.6258204462862902,
      -1.6743485904713662,
      -1.935202095188593,
      -2.1230326674952535,
      -2.1428620089791566,
      -2.0533580463040826,
      -1.5214634783546779,
      -1.0842861606615717,
      -0.5856447527996509,
      -0.573037782623361
    ],
    "a_ego": [
      1.691340386602242,
      1.6913403813879075,
      1.9380092225050478,
      2.123693879662167,
      2.150510401676815,
      2.117324831767767,
      1.6415859406596949,
      1.3572847878628007,
      1.0677837123679046,
      1.0677837161855723
    ],
    "yaw": [
      3.0564374122143256,
      2.919051759684482,
      2.7639499762306263,
      2.5767468844324553,
      2.3849471333974597,
      2.197991295702206,
      2.040417475018825,
      1.9320274607971766,
      1.8798159003907802,
      1.8657603177623097
    ],
    "yaw_diff": [
      -0.27477130505968717,
      -0.31020356690771145,
      -0.37440618359634215,
      -0.38359950206999116,
      -0.3739116753905076,
      -0.315147641366762,
      -0.21678002844329658,
      -0.10442312081279281,
      -0.028111165256941018,
      -0.028111165256941018
    ],
    "min_front_frame": [
      7,
      31.633764137084803
    ],
    "v_avg": 6.1499114026816715,
    "v_std": 0.5497862349873776,
    "vy_max": 0.19347377431270818,
    "a_max": 2.150510401676815,
    "ax_avg": 0.3167772475979689,
    "a_std": 0.39132389296391723,
    "ini_direction_judge": "right",
    "scenario_type": "crosswalks",
    "scene_token": "60021a9f6c585c16",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      31.633764137084803,
      32.33941274006899,
      32.64248223892845
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "60021a9f6c585c16",
    "pedestrians": "No"
  },
  "6cc1bbadf8f25f7c": {
    "vx_ego": [
      6.090230558204585,
      6.231693125823683,
      6.340822127406611,
      6.424394712837951,
      6.576410139410436,
      6.699397810562097,
      6.805693854114963,
      7.020072554628703,
      7.414927207093412,
      7.878539521649511
    ],
    "vy_ego": [
      -0.09794272986564151,
      -0.03291269744879899,
      -0.0336704823910865,
      -0.0411746732175744,
      -0.06406798470942388,
      -0.10656623327268022,
      -0.12261641085353814,
      -0.02819797518818712,
      -0.009168861025453445,
      0.06273159389944949
    ],
    "v_ego": [
      6.091018061902498,
      6.231780039450325,
      6.340911523810575,
      6.424526658054645,
      6.576722210068259,
      6.700245322839914,
      6.806798338437006,
      7.020129186707028,
      7.41493287592724,
      7.878789262765344
    ],
    "ax_ego": [
      0.1639056209621059,
      0.4365051381584658,
      0.01730959086355255,
      0.34337712948969634,
      0.29193481311706637,
      0.21958534029279342,
      0.2094521195670394,
      0.6514186378645778,
      0.9274572832200247,
      0.9272193824328853
    ],
    "ay_ego": [
      1.9154608799920558,
      1.8722496366783705,
      1.8419035458069564,
      1.8977806886827882,
      1.8466012284599351,
      1.4631173991527082,
      0.6423443105581106,
      0.34237733266967174,
      0.11003879985360726,
      0.11202575439748652
    ],
    "a_ego": [
      1.9224607760271506,
      1.9224607766300543,
      1.8419848788717301,
      1.9285951870192721,
      1.8695352449364089,
      1.4795033779531856,
      0.6756303750553995,
      0.7359133642510788,
      0.9339622849296921,
      0.9339622866088048
    ],
    "yaw": [
      1.6619379734989805,
      1.805629165754159,
      1.9519751353478996,
      2.100306719967037,
      2.2474226184358885,
      2.3781125842932602,
      2.458381962870671,
      2.4805114178954826,
      2.4936081232815,
      2.4914654769565026
    ],
    "yaw_diff": [
      0.2873823845103569,
      0.29269193918748115,
      0.2966631692382746,
      0.2942317969377033,
      0.2613799317147434,
      0.16053875715482135,
      0.044258910049623346,
      0.026193410772035186,
      -0.00428529264999522,
      -0.00428529264999522
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.7485853479962845,
    "v_std": 0.5292516288007371,
    "vy_max": 0.12261641085353814,
    "a_max": 1.9285951870192721,
    "ax_avg": 0.41881650559682077,
    "a_std": 0.5139677871202888,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "6cc1bbadf8f25f7c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6cc1bbadf8f25f7c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "1975d15fde2955ff": {
    "vx_ego": [
      5.745500462089628,
      5.642185886849141,
      5.67167936041844,
      5.722672617504906,
      5.6714376400452435,
      5.561261796084732,
      5.485880327740222,
      5.460567555199141,
      5.516210933838997,
      5.6633908609080095
    ],
    "vy_ego": [
      0.10368074031473351,
      0.08162225235255238,
      0.0639135724287837,
      0.010528617165624476,
      -0.022599205343767803,
      -0.029777995493546427,
      -0.040750126511897466,
      -0.020006630782963608,
      -0.027667636811743,
      0.09311245242647104
    ],
    "v_ego": [
      5.7464358741557655,
      5.642776247011637,
      5.672039466729506,
      5.722682302812194,
      5.6714826658471,
      5.561341519238609,
      5.48603167536407,
      5.460604205595642,
      5.516280319629492,
      5.664156245392003
    ],
    "ax_ego": [
      -0.3723747879363506,
      -0.09653620131107342,
      0.18150031519714868,
      -0.007336714603890737,
      -0.1904973951049267,
      -0.23148682972195989,
      -0.06718050826310118,
      -0.04255829345653994,
      0.2568503969521845,
      0.322505119158294
    ],
    "ay_ego": [
      1.726507213195614,
      1.7635676618308243,
      1.953783032032171,
      1.9175736464903586,
      1.9505675868601309,
      1.9550308832261134,
      1.706877225766263,
      1.3384666273474668,
      0.9950137707076541,
      0.975712558367682
    ],
    "a_ego": [
      1.766207841650333,
      1.766207840549637,
      1.962195326840192,
      1.917587681722927,
      1.959847741139887,
      1.9686878642137764,
      1.7081987836695187,
      1.3391430546677363,
      1.0276305417378169,
      1.027630550557793
    ],
    "yaw": [
      -1.792104442438776,
      -1.6343620559098455,
      -1.4663103737325225,
      -1.288270837227588,
      -1.1138590958168373,
      -0.9393353470552924,
      -0.7713788231412391,
      -0.6361970020732742,
      -0.5278761277382269,
      -0.4612707831628904
    ],
    "yaw_diff": [
      0.31548477305786093,
      0.33610336435464605,
      0.3560790730098691,
      0.34882348282150133,
      0.3490474975230897,
      0.3359130478281067,
      0.27036364213592967,
      0.21664174867009467,
      0.13321068915067302,
      0.13321068915067302
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.614383052177603,
    "v_std": 0.0957049673278095,
    "vy_max": 0.10368074031473351,
    "a_max": 1.9686878642137764,
    "ax_avg": -0.024711489909021528,
    "a_std": 0.35609419227710054,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "1975d15fde2955ff",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.687329378893676,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "1975d15fde2955ff",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "5ec473ffad5c55ba": {
    "vx_ego": [
      5.242555223149207,
      5.329160385781867,
      5.510707706056091,
      5.73385751576889,
      5.954821496403099,
      6.080709824571585,
      6.098709896956059,
      6.004594199371899,
      5.810140572805683,
      5.580925678189569
    ],
    "vy_ego": [
      0.15310052784439543,
      0.16088521764383448,
      0.19665427057413176,
      0.2005510105579047,
      0.14994060732144399,
      0.11042456276172974,
      0.05791360583017502,
      -0.00016520298012423495,
      -0.004972074624803646,
      0.005470153630235064
    ],
    "v_ego": [
      5.244790276016312,
      5.331588362828008,
      5.514215476722054,
      5.737363742955051,
      5.956708926894814,
      6.081712386713344,
      6.098984865776439,
      6.004594201644495,
      5.810142700251761,
      5.580928358979036
    ],
    "ax_ego": [
      0.040757001391168834,
      0.42163117080146606,
      0.4120445577236922,
      0.519754276107631,
      0.38938320332707843,
      0.1344104472412874,
      -0.05682714375546975,
      -0.3195573485045904,
      -0.45844895324126533,
      -0.4584053874169982
    ],
    "ay_ego": [
      -2.011912735147988,
      -1.967658794682583,
      -1.7461431508363077,
      -0.8347436199062901,
      -0.4894513586564223,
      -0.5541641545153024,
      -0.30286176301481904,
      -0.09490258512914122,
      -0.013456414954525153,
      -0.01486681350162794
    ],
    "a_ego": [
      2.0123255171599492,
      2.0123255145435914,
      1.7941005046435556,
      0.9833317947195771,
      0.6254453705351688,
      0.5702316007354055,
      0.3081469970060543,
      0.33335176562825963,
      0.45864639738194857,
      0.45864640122497463
    ],
    "yaw": [
      0.15136510511040444,
      -0.039468301906225814,
      -0.21686474166254066,
      -0.3324675766398133,
      -0.38030962823632175,
      -0.416900768757882,
      -0.443355836135955,
      -0.45015379168034253,
      -0.4539147819517043,
      -0.4569914098696696
    ],
    "yaw_diff": [
      -0.3816668140332605,
      -0.3547928795126297,
      -0.23120566995454528,
      -0.0956841031930169,
      -0.07318228104312052,
      -0.05291013475614592,
      -0.013595911088775114,
      -0.007521980542723572,
      -0.006153255835930516,
      -0.006153255835930516
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.736102929878131,
    "v_std": 0.29252360423708956,
    "vy_max": 0.2005510105579047,
    "a_max": 2.0123255171599492,
    "ax_avg": 0.06247418236740001,
    "a_std": 0.6704487043196413,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "5ec473ffad5c55ba",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 48.149408072429225,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5ec473ffad5c55ba",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "33ecaddeb5735faf": {
    "vx_ego": [
      7.663476168120336,
      7.912592146363993,
      8.136093661949072,
      8.212852169989372,
      8.126173452944775,
      7.9587625557584465,
      7.796480428020001,
      7.666976323370928,
      7.440469147901261,
      7.128027320911896
    ],
    "vy_ego": [
      0.004223674620257523,
      -0.01939430890341498,
      -0.010548051877375286,
      -0.023409650390424197,
      -0.023661165768721126,
      -0.018672453938933575,
      0.012411307576113195,
      0.018378378096793213,
      0.0011291613777348886,
      -0.0002501907245551216
    ],
    "v_ego": [
      7.663477332045527,
      7.9126159147224495,
      8.136100499465716,
      8.2128855329799,
      8.126207900251503,
      7.958784459920926,
      7.796490306865948,
      7.666998350587527,
      7.440469233581706,
      7.128027325302689
    ],
    "ax_ego": [
      0.4977704821703973,
      0.498983828933687,
      0.3958123421039302,
      -0.08843764219953133,
      -0.25739554939354203,
      -0.4120036987891426,
      -0.23709480435875036,
      -0.2812116504653134,
      -0.6253109879935266,
      -0.6244510920313547
    ],
    "ay_ego": [
      0.1184783270877261,
      0.11325946722089836,
      0.1860095147209255,
      0.1140316143969454,
      0.14657773133622504,
      0.061163313622207116,
      0.09513154637326973,
      0.12835858880469236,
      0.10812374027902605,
      0.11298407916614722
    ],
    "a_ego": [
      0.5116762325041647,
      0.5116762340117867,
      0.4373407707137683,
      0.1443067068427035,
      0.2962051656728456,
      0.41651890563236504,
      0.2554681141929139,
      0.309121205479918,
      0.6345900841624983,
      0.6345900790937199
    ],
    "yaw": [
      2.503887601402371,
      2.51435921367874,
      2.5225673324475553,
      2.5332377635708054,
      2.541222922331065,
      2.547046243240827,
      2.5480633254137706,
      2.554513334566276,
      2.5645662257683033,
      2.5723442222170174
    ],
    "yaw_diff": [
      0.020943224552737227,
      0.016416237537630884,
      0.021340862246500336,
      0.015970317520519473,
      0.011646641819523573,
      0.0020341643458872127,
      0.012900018305010974,
      0.020105782404054473,
      0.015555992897428261,
      0.015555992897428261
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.80420568557239,
    "v_std": 0.32322088692107054,
    "vy_max": 0.023661165768721126,
    "a_max": 0.6345900841624983,
    "ax_avg": -0.11333387720231465,
    "a_std": 0.15481640851370224,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "33ecaddeb5735faf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "33ecaddeb5735faf",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "861c55d61243570c": {
    "vx_ego": [
      0.8247669058819582,
      1.0171485515157384,
      1.3052963381459923,
      1.8387270618752207,
      2.6169620637897895,
      3.4744240509328037,
      4.166280816040796,
      4.668612275151441,
      5.053398060535621,
      5.3602039173801135
    ],
    "vy_ego": [
      0.012847564014457646,
      -0.011153501656100712,
      -0.02249520877520711,
      -0.02163176204737542,
      -0.014604553832954602,
      0.01564544561024622,
      0.043736250515518625,
      0.02711350899166032,
      -0.020633763089107138,
      -0.05854923921262371
    ],
    "v_ego": [
      0.8248669643883215,
      1.0172097013151995,
      1.305490162657374,
      1.8388543012434553,
      2.617002815494774,
      3.474459276731943,
      4.166510374128297,
      4.668691006916666,
      5.053440185695719,
      5.360523673048138
    ],
    "ax_ego": [
      0.38471135845574816,
      0.38482157665383576,
      0.7675554144377887,
      1.365905540288424,
      1.7467336665537316,
      1.6830035263529732,
      1.0843739199725027,
      0.9251509251199166,
      0.6140729916617781,
      0.6139588467486033
    ],
    "ay_ego": [
      -0.05232070031341862,
      -0.051503878325881214,
      -0.004359575910500868,
      -0.010615940534011686,
      0.006311797313974535,
      0.06558471129981318,
      0.05296091306851221,
      -0.13445566364927058,
      -0.02055285927740868,
      -0.02371886669367254
    ],
    "a_ego": [
      0.3882528621995641,
      0.38825287550892806,
      0.7675677951392209,
      1.3659467936870868,
      1.746745070311514,
      1.6842809219583361,
      1.085666457356762,
      0.9348703438111636,
      0.6144168447503072,
      0.6144168374467835
    ],
    "yaw": [
      -1.5485705368585185,
      -1.5506934430205392,
      -1.5530503677750975,
      -1.5561276229081846,
      -1.559844291798766,
      -1.5638643391722677,
      -1.5634675407098944,
      -1.564312852789072,
      -1.5624770687799918,
      -1.557320848864004
    ],
    "yaw_diff": [
      -0.00424581232404142,
      -0.004713849509116574,
      -0.006154510266174196,
      -0.007433337781162841,
      -0.008040094747003401,
      0.0007935969247467867,
      -0.0016906241583551918,
      0.003671568018160265,
      0.010312439831975606,
      0.010312439831975606
    ],
    "min_front_frame": [
      0,
      12.855065504349408
    ],
    "v_avg": 3.032704846161989,
    "v_std": 1.648555462503915,
    "vy_max": 0.05854923921262371,
    "a_max": 1.746745070311514,
    "ax_avg": 0.9570287766245302,
    "a_std": 0.47480869727510383,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "861c55d61243570c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.057018587940117,
    "right_rear_min": 7.048803186292595,
    "speed_mode": "accelerating",
    "front_frame": [
      12.855065504349408,
      13.262523705595154,
      13.825814308191834,
      14.580217520353791,
      15.272971560042018,
      15.719918538449773,
      16.24258115730706,
      16.699733402376804,
      17.39498740656029,
      17.978824939618676
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "861c55d61243570c",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b069ef19c0ba5887": {
    "vx_ego": [
      2.0663611831845996,
      1.5596005674478817,
      1.0414311742756135,
      0.5517125541680714,
      0.17154663743791726,
      -0.012399319745844349,
      -0.034079770541642476,
      -0.020609127358950013,
      -0.011252799031656324,
      -0.005434261113135582
    ],
    "vy_ego": [
      -0.012292086172339789,
      -0.006649568833100417,
      -0.006117759101341602,
      -0.0037068514338575165,
      -0.02183445548624316,
      -0.013224123774001987,
      0.010574644397109971,
      0.002717601036453677,
      0.0017363928149008697,
      0.0011676710702724301
    ],
    "v_ego": [
      2.066397743599844,
      1.5596147430533673,
      1.0414491431315815,
      0.5517250068414606,
      0.1729305995555355,
      0.01812789507223081,
      0.0356826829750277,
      0.02078753198171337,
      0.011385980241265347,
      0.005558295563757719
    ],
    "ax_ego": [
      -1.013494176459059,
      -1.013415618748508,
      -1.0592305982636943,
      -0.8996321565024401,
      -0.621031848321139,
      -0.11481018406904239,
      0.028095598079977517,
      0.025788055199646352,
      0.011637005134851759,
      0.011636983401492305
    ],
    "ay_ego": [
      0.021738879841985415,
      0.02513539546228899,
      -0.006312370502569831,
      0.017116742414014563,
      -0.08942263152337726,
      0.12384247938508085,
      -0.028630705696097616,
      -0.0027889489777451083,
      -0.0011377101475922094,
      -0.001138020604354719
    ],
    "a_ego": [
      1.0137272930197798,
      1.013727283064073,
      1.0592494070422818,
      0.899794976583054,
      0.6274368204510602,
      0.1688737340921067,
      0.040113338680895075,
      0.025938427619662544,
      0.011692487882760474,
      0.011692496464936104
    ],
    "yaw": [
      -0.6220781751866412,
      -0.6187267423398339,
      -0.615531359355565,
      -0.6151577050341153,
      -0.6150012387454102,
      -0.6153305740183348,
      -0.6154322257163296,
      -0.6155110207996177,
      -0.615478993183395,
      -0.615453141843816
    ],
    "yaw_diff": [
      0.006702865693614557,
      0.006390765968537826,
      0.0007473086428995135,
      0.0003129325774100522,
      -0.000658670545849116,
      -0.000203303395989618,
      -0.00015759016657623803,
      6.405523244534805e-05,
      5.1702679157994424e-05,
      5.1702679157994424e-05
    ],
    "min_front_frame": [
      5,
      9.672540690315776
    ],
    "v_avg": 0.5483659622015785,
    "v_std": 0.715294472282796,
    "vy_max": 0.02183445548624316,
    "a_max": 1.0592494070422818,
    "ax_avg": -0.4644456940547915,
    "a_std": 0.4514198246753608,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b069ef19c0ba5887",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      11.86679606516371,
      10.942310921847886,
      10.228119160986195,
      9.82885200490261,
      9.673263404576897,
      9.672540690315776,
      9.689027136253097,
      9.675180464213936,
      9.708992887638578,
      9.697523105002848
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b069ef19c0ba5887",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8ac66bedd6d057d2": {
    "vx_ego": [
      4.175542924361089,
      4.1003003068461314,
      4.0234364339669915,
      3.9021843022816,
      3.75803017648297,
      3.638375837124733,
      3.5418952646985087,
      3.458878908776863,
      3.356558003032596,
      3.2470375575280914
    ],
    "vy_ego": [
      -0.05069050256670149,
      -0.03136914231353061,
      -0.008041547826795004,
      0.002532746113523221,
      0.008612365791816512,
      0.004223741650578983,
      -0.019325036049598787,
      -0.04253237399082377,
      -0.04340510381158269,
      -0.0204100246357245
    ],
    "v_ego": [
      4.175850600803676,
      4.100420299117149,
      4.023444470185275,
      3.9021851242317824,
      3.7580400450502327,
      3.6383782887663885,
      3.541947984247092,
      3.459140400217765,
      3.35683863638976,
      3.2471017029196396
    ],
    "ax_ego": [
      -0.15177530088907842,
      -0.15109965588623223,
      -0.15739942536169213,
      -0.3273908386170967,
      -0.24894018324143932,
      -0.22829793757063643,
      -0.15719902676473746,
      -0.17806591761995333,
      -0.23967051102926623,
      -0.2072134215172469
    ],
    "ay_ego": [
      -0.05702688707884184,
      -0.05879372228775544,
      -0.038294425119506856,
      -0.09905349893886019,
      -0.09451639605968129,
      -0.19378282183323225,
      -0.2858064104891259,
      -0.3755147327144796,
      -0.4320166471013105,
      -0.44848961506078705
    ],
    "a_ego": [
      0.1621351529122333,
      0.16213515284905833,
      0.16199087041998514,
      0.3420473020832596,
      0.266279109124978,
      0.2994523840891177,
      0.32618528215181536,
      0.4155944964787949,
      0.49404487370044425,
      0.4940448733407292
    ],
    "yaw": [
      -1.6200414018710072,
      -1.6317083580272522,
      -1.6434246067737008,
      -1.6546972299025842,
      -1.668955575376863,
      -1.6872702933185728,
      -1.7141722878309866,
      -1.7547385571766967,
      -1.8135752979078257,
      -1.887265634096134
    ],
    "yaw_diff": [
      -0.023333912312490046,
      -0.02343249749289722,
      -0.02254524625776666,
      -0.028516690948557688,
      -0.0366294358834196,
      -0.053803989024827636,
      -0.08113253869142012,
      -0.11767348146225798,
      -0.14738067237661667,
      -0.14738067237661667
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7203347551928756,
    "v_std": 0.30678438599210617,
    "vy_max": 0.05069050256670149,
    "a_max": 0.49404487370044425,
    "ax_avg": -0.2047052218497379,
    "a_std": 0.12156666982169967,
    "ini_direction_judge": "right",
    "scenario_type": "side_ego_to_main",
    "scene_token": "8ac66bedd6d057d2",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.998481977211394,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "8ac66bedd6d057d2",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "10209c0e885f5162": {
    "vx_ego": [
      5.535152492792648,
      5.102170468752562,
      4.697203341281983,
      4.35154684913762,
      3.976080710052305,
      3.499410927867384,
      2.98129923074052,
      2.460616766560842,
      1.9819470363946947,
      1.546443157545435
    ],
    "vy_ego": [
      -0.04253005133650367,
      -0.016194463548269145,
      0.00022573248970281234,
      0.0010834845894400758,
      0.013575957151403362,
      0.015778632225960765,
      0.0015070168710114018,
      -0.008330968147622464,
      -0.021038649980628654,
      -0.028396427870265195
    ],
    "v_ego": [
      5.535315882922613,
      5.102196169578386,
      4.697203346705972,
      4.351546984025153,
      3.9761038869051974,
      3.499446500135784,
      2.981299611631455,
      2.460630869697974,
      1.9820586973817707,
      1.5467038490399143
    ],
    "ax_ego": [
      -0.8659989626892765,
      -0.8660390375844648,
      -0.7538400405480232,
      -0.628768453401082,
      -0.8731024553135123,
      -1.0333714411593102,
      -1.0390586244884192,
      -1.0436721827561066,
      -0.8710712469261594,
      -0.8710511054156226
    ],
    "ay_ego": [
      0.043089620868696665,
      0.042276457610705365,
      -0.008787524255621126,
      -0.021991488562298933,
      0.04434883828812036,
      -0.06299098353340643,
      -0.014804866020817653,
      -0.04084912313905459,
      -0.01807388013148359,
      -0.01901970441164874
    ],
    "a_ego": [
      0.8670703078790732,
      0.8670703048129003,
      0.7538912569568561,
      0.6291529174704464,
      0.8742280691741655,
      1.0352895244375728,
      1.0391640915570843,
      1.0444712901368451,
      0.8712587344552142,
      0.8712587316071412
    ],
    "yaw": [
      1.0937806143372186,
      1.0928416444115108,
      1.0911943836244633,
      1.0892975123305864,
      1.0876516974375356,
      1.0858252974940001,
      1.0842278771199036,
      1.0827303725971962,
      1.0818106737288584,
      1.080724841121265
    ],
    "yaw_diff": [
      -0.0018779398514157108,
      -0.003294521574094933,
      -0.00379374258775389,
      -0.0032916297861014243,
      -0.003652799887071012,
      -0.003194840748192984,
      -0.0029950090454149425,
      -0.0018393977366755188,
      -0.0021716652151866356,
      -0.0021716652151866356
    ],
    "min_front_frame": [
      9,
      13.964864772369147
    ],
    "v_avg": 3.613250579802423,
    "v_std": 1.281999986004516,
    "vy_max": 0.04253005133650367,
    "a_max": 1.0444712901368451,
    "ax_avg": -0.8845973550281977,
    "a_std": 0.12472675924838887,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "10209c0e885f5162",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.192887066230393,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.467884233462872,
      19.950033818120808,
      17.54969398969465,
      20.122507619204058,
      19.714216728892037,
      18.530965242271364,
      17.349001856190846,
      15.91883239116649,
      14.91324082669001,
      13.964864772369147
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "10209c0e885f5162",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "81b89c24f6a5579f": {
    "vx_ego": [
      1.972147368896819,
      2.496108009964837,
      3.089777114374576,
      3.7531556055479403,
      4.4234098054434545,
      5.048113397097618,
      5.549390156837076,
      5.91621065907465,
      6.203575625344813,
      6.456601356095218
    ],
    "vy_ego": [
      -0.1321401845077501,
      -0.19146210720598444,
      -0.09438122337774912,
      0.018874297765038017,
      0.1300042554051506,
      0.09645019607639016,
      0.009598600615714492,
      -0.0026436446060711383,
      0.002774034315688123,
      -0.06986231950234556
    ],
    "v_ego": [
      1.9765693190496476,
      2.5034402201583275,
      3.0912182763174716,
      3.753203063860527,
      4.425319809156933,
      5.049034710742205,
      5.549398458025339,
      5.916211249727761,
      6.203576245573086,
      6.4569793104219295
    ],
    "ax_ego": [
      1.0317193262144895,
      1.041147227469444,
      1.2872104729413156,
      1.374112548636237,
      1.3290148654456742,
      1.186514439913433,
      0.8209764145566552,
      0.6455922038566662,
      0.5045326666707136,
      0.5064876080447221
    ],
    "ay_ego": [
      -0.2908194760617382,
      -0.25501601993516165,
      -0.5140427140902474,
      -0.928475429314771,
      -0.6848580455969173,
      -0.42833538857755193,
      -0.28367727195571324,
      -0.1758624534843478,
      -0.24792293525967374,
      -0.24390427573773402
    ],
    "a_ego": [
      1.0719238479207858,
      1.0719238404340492,
      1.3860558118485249,
      1.6583883499231487,
      1.4950956675726181,
      1.2614625326306645,
      0.8686052428362016,
      0.6691165042248185,
      0.5621556666668351,
      0.5621556660089914
    ],
    "yaw": [
      -1.7590683831950806,
      -1.7936098236019324,
      -1.898266627620771,
      -2.0369883694516657,
      -2.1624886028948236,
      -2.213963608765061,
      -2.2310185841756716,
      -2.2488543618101042,
      -2.2671777584785926,
      -2.275127430118715
    ],
    "yaw_diff": [
      -0.06908288081370362,
      -0.20931360803767696,
      -0.2774434836617896,
      -0.2510004668863157,
      -0.10295001174047513,
      -0.034109950821220814,
      -0.03567155526886534,
      -0.036646793336976735,
      -0.015899343280245226,
      -0.015899343280245226
    ],
    "min_front_frame": [
      8,
      25.36485275917823
    ],
    "v_avg": 4.492495066303323,
    "v_std": 1.5179462916230018,
    "vy_max": 0.19146210720598444,
    "a_max": 1.6583883499231487,
    "ax_avg": 0.9727307773749351,
    "a_std": 0.37143987960213243,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "81b89c24f6a5579f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      33.809290443787226,
      31.134224190799536,
      28.300742548928017,
      25.36485275917823,
      28.83043000873157
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "81b89c24f6a5579f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ff60af032dbd5caa": {
    "vx_ego": [
      5.908851169297481,
      5.591445035916636,
      5.2483607688738445,
      4.861441497338257,
      4.450506898422137,
      4.057998441021465,
      3.7829575703240947,
      3.622753643723681,
      3.527627286228829,
      3.4949719141525812
    ],
    "vy_ego": [
      0.007777756565473748,
      0.007297931092252297,
      -0.006260369169018398,
      -0.002730980040214659,
      0.022716668555455843,
      0.030782878798791158,
      0.0235153259500831,
      0.007081562096158067,
      -0.013213482777663765,
      0.012162370697343189
    ],
    "v_ego": [
      5.908856288183476,
      5.59144979852945,
      5.248364502630909,
      4.861442264420551,
      4.4505648742528505,
      4.058115194638982,
      3.783030656686107,
      3.6227605650435866,
      3.5276520331054884,
      3.4949930763846067
    ],
    "ax_ego": [
      -0.6348035408553885,
      -0.6347927652483194,
      -0.7375379874513963,
      -0.8101286272889148,
      -0.8336898416970367,
      -0.7373844483057977,
      -0.362967199183575,
      -0.27347863656889576,
      -0.09926514384861103,
      -0.03086088925468614
    ],
    "ay_ego": [
      -0.011327947666367577,
      -0.011916505115478315,
      -0.048978068495387106,
      0.06590802559539571,
      0.09710007782188168,
      0.11858176959914798,
      0.3233956449764281,
      0.5790778120686496,
      0.7149888602496737,
      0.7211866919859671
    ],
    "a_ego": [
      0.634904605339157,
      0.6349046053587698,
      0.7391624544898062,
      0.8128051799729777,
      0.8393254298910796,
      0.7468583939974908,
      0.4861377694366988,
      0.6404074305391814,
      0.7218466866755107,
      0.7218466867578268
    ],
    "yaw": [
      -0.37484255407416733,
      -0.3757697107826209,
      -0.3760762487465732,
      -0.3759374051718577,
      -0.3726524451608588,
      -0.3618435137709137,
      -0.3314452969472361,
      -0.2659016545368911,
      -0.16922170343586718,
      -0.07403473598027281
    ],
    "yaw_diff": [
      -0.0018543134169071163,
      -0.000613075927904605,
      0.00027768714943099404,
      0.006569920021997744,
      0.021617862779890196,
      0.06079643364735521,
      0.1310872848206901,
      0.1933599022020478,
      0.19037393491118873,
      0.19037393491118873
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.4547229253876015,
    "v_std": 0.8534124484396126,
    "vy_max": 0.030782878798791158,
    "a_max": 0.8393254298910796,
    "ax_avg": -0.5154909079702622,
    "a_std": 0.09722971146558852,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "ff60af032dbd5caa",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 18.941701603154605,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ff60af032dbd5caa",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "47bfcc64021a518d": {
    "vx_ego": [
      9.068296569115752,
      8.901413892638264,
      8.757313582440418,
      8.628396218844612,
      8.465089833575064,
      8.28969038619843,
      8.18932367963857,
      8.141812706462451,
      8.102093771969917,
      8.075252966447458
    ],
    "vy_ego": [
      -0.06950867471503219,
      -0.03452723061473595,
      0.030143022057675495,
      0.07064616230318155,
      0.018572097273726662,
      -0.03244379827228627,
      -0.031910563103959344,
      -0.0026985014217331127,
      0.0029125794702276053,
      -0.008608723290109754
    ],
    "v_ego": [
      9.068562957894551,
      8.901480855324435,
      8.757365459027858,
      8.62868542650734,
      8.465110206801388,
      8.28975387445713,
      8.189385850839281,
      8.141813153654617,
      8.102094295483909,
      8.075257555164118
    ],
    "ax_ego": [
      -0.3389395841176538,
      -0.3327945140601168,
      -0.2455209947906713,
      -0.26449008144087244,
      -0.3852842928198457,
      -0.31753932072004476,
      -0.08689355847801529,
      -0.1037200554718096,
      -0.054617347384474,
      -0.05285440971840516
    ],
    "ay_ego": [
      -0.2956936362390241,
      -0.3025930914306582,
      -0.12267906447252216,
      -0.3447999101956512,
      -0.4158722331492501,
      -0.31580976469918837,
      -0.06665462423567727,
      -0.03370351343530276,
      -0.1805272288241208,
      -0.18105122655298597
    ],
    "a_ego": [
      0.44979413979520055,
      0.4497941391015138,
      0.27446440888183316,
      0.4345595255560836,
      0.5669159554980199,
      0.4478471030192159,
      0.10951406045331165,
      0.10905859308169574,
      0.18860841705033415,
      0.1886084177947042
    ],
    "yaw": [
      2.3397481691370134,
      2.3192066678205205,
      2.2998174501049027,
      2.281719175489231,
      2.2655905231776314,
      2.2498296074878645,
      2.238119459570602,
      2.231471126996703,
      2.224180608192941,
      2.2144293385862097
    ],
    "yaw_diff": [
      -0.04108300263298581,
      -0.038778435431235714,
      -0.03619654923134341,
      -0.03225730462319909,
      -0.03152183137953379,
      -0.02342029583452465,
      -0.013296665147798592,
      -0.014581037607523939,
      -0.019502539213462455,
      -0.019502539213462455
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.461950963515463,
    "v_std": 0.34083795749070384,
    "vy_max": 0.07064616230318155,
    "a_max": 0.5669159554980199,
    "ax_avg": -0.21826541590019088,
    "a_std": 0.15795384075570376,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "47bfcc64021a518d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "47bfcc64021a518d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8af2a66435ea565a": {
    "vx_ego": [
      1.937041363817682,
      2.45941854823032,
      2.952991951266794,
      3.3924888930823447,
      3.8159203621852607,
      4.305786438808167,
      4.794719597269821,
      5.186082469181155,
      5.474686972897751,
      5.706349500408012
    ],
    "vy_ego": [
      0.06299699580697282,
      -0.01932911363367351,
      0.005780301822183365,
      0.07013493801570658,
      0.11018581572128738,
      0.12760720929882363,
      0.09063584158661472,
      0.04354438958189695,
      0.044193608439077714,
      -0.16770014583923523
    ],
    "v_ego": [
      1.9380654959575978,
      2.459494502944294,
      2.95299760855569,
      3.3932137862530176,
      3.817510854539415,
      4.30767692108976,
      4.795576177293339,
      5.186265273876006,
      5.474865343206461,
      5.708813183116196
    ],
    "ax_ego": [
      1.0197387901068633,
      1.073362207168132,
      0.9404987083240762,
      0.8974776656682344,
      0.9208228699488115,
      1.1097904518354056,
      0.8749084976585527,
      0.6860878085656062,
      0.46819871877554475,
      0.4662209258081979
    ],
    "ay_ego": [
      -0.6229485563335276,
      -0.5251910972056613,
      -1.0836262938070709,
      -1.4966424728191345,
      -1.8104648445855562,
      -1.532632086082545,
      -1.088709724550024,
      -0.4162554744267838,
      -0.05336894596892101,
      -0.06852979584816221
    ],
    "a_ego": [
      1.194961130701177,
      1.194961135920717,
      1.4348462513416915,
      1.7451088366687841,
      2.031181358545063,
      1.8922462731565275,
      1.396693861805419,
      0.8024868229775632,
      0.47123060666397215,
      0.47123060658285343
    ],
    "yaw": [
      -2.0476324249918814,
      -2.140973804253341,
      -2.297591211967159,
      -2.5198919306166987,
      -2.7594392845490763,
      -2.9699897924677865,
      -3.1048105996156634,
      3.112752153225899,
      3.090718016221156,
      3.1231649428378967
    ],
    "yaw_diff": [
      -0.18668275852291938,
      -0.3132348154276361,
      -0.4446014372990792,
      -0.47909470786475516,
      -0.42110101583742043,
      -0.26964161429575384,
      -0.13124510867604755,
      -0.04406827400948643,
      0.06489385323348174,
      0.06489385323348174
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.003447914683178,
    "v_std": 1.2390488338395924,
    "vy_max": 0.16770014583923523,
    "a_max": 2.031181358545063,
    "ax_avg": 0.8457106643859424,
    "a_std": 0.5235469074932648,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "8af2a66435ea565a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "8af2a66435ea565a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "4b721ff0b7025f21": {
    "vx_ego": [
      8.223447166653282,
      8.260116452022581,
      8.272658732593696,
      8.297027964516378,
      8.279809355898525,
      8.24672835331278,
      8.188271208117786,
      8.018864651069745,
      7.897224736943549,
      7.848787779391602
    ],
    "vy_ego": [
      0.036482830479841244,
      0.0051878580848745415,
      0.010157653455771243,
      0.05864507141664488,
      0.05375384235088232,
      -0.003053069101132788,
      -0.01489205181268316,
      -0.007911154276806442,
      -0.010143976952627032,
      -0.019159853295898976
    ],
    "v_ego": [
      8.22352809320049,
      8.26011808116843,
      8.27266496867137,
      8.297235219539594,
      8.279983843317101,
      8.246728918459965,
      8.188284750232976,
      8.018868553514135,
      7.897231251904779,
      7.848811165132288
    ],
    "ax_ego": [
      0.07107447998009804,
      0.07426493488725523,
      -0.02226193837228249,
      0.1160689219612888,
      -0.18714700456853114,
      0.05466483177984704,
      -0.2884523428444958,
      -0.38916014314947434,
      -0.09747903767226174,
      -0.09665767854482071
    ],
    "ay_ego": [
      0.20072942965662344,
      0.19957105366331213,
      0.45293564246258755,
      0.26418812943369147,
      -0.10433467395023914,
      -0.05503235718192493,
      0.025500045233423696,
      -0.07696183798743106,
      -0.12277239308238753,
      -0.12342009475837361
    ],
    "a_ego": [
      0.21294103793002114,
      0.2129410388208268,
      0.4534824033114055,
      0.28856084692648215,
      0.21426554904434947,
      0.07756806153642064,
      0.28957728916367936,
      0.39669729205342824,
      0.15676486624459737,
      0.15676487684376184
    ],
    "yaw": [
      0.569874583057165,
      0.5858145429134253,
      0.6049186026708904,
      0.6207383761429224,
      0.6261254479953438,
      0.6281860653565297,
      0.6287254960690094,
      0.6262802089521547,
      0.6202586121124367,
      0.6135860985082784
    ],
    "yaw_diff": [
      0.03187991971252058,
      0.038208119514930194,
      0.03163954694406401,
      0.010774143704842754,
      0.004121234722371803,
      0.0010788614249594985,
      -0.0048905742337093105,
      -0.01204319367943607,
      -0.013345027208316651,
      -0.013345027208316651
    ],
    "min_front_frame": [
      3,
      25.776387829406815
    ],
    "v_avg": 8.153345484514114,
    "v_std": 0.15926881987570163,
    "vy_max": 0.05864507141664488,
    "a_max": 0.4534824033114055,
    "ax_avg": -0.07650849765433769,
    "a_std": 0.10814666325159916,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "4b721ff0b7025f21",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 18.460089792593557,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      43.173907124716955,
      39.1993645553997,
      34.97274496300668,
      25.776387829406815,
      26.83043206889352,
      29.572878709639838,
      31.440896604709152,
      33.45826492284896,
      35.275352105327066,
      37.08872243531098
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 10,
    "token": "4b721ff0b7025f21",
    "smoothness": "Yes"
  },
  "e96035d0292956f1": {
    "vx_ego": [
      6.645842635395706,
      6.728724184416297,
      6.893331426483427,
      6.9840907835968,
      6.91857774607228,
      6.676504082749666,
      6.182355069667073,
      5.538902317564797,
      4.859566719207774,
      4.167830454379282
    ],
    "vy_ego": [
      -0.0008572212442348182,
      0.004697277589376547,
      0.017406585111791273,
      -0.01743716282528851,
      -0.05594906777507358,
      -0.09511490096311226,
      -0.09276949007379875,
      -0.09399649106488928,
      -0.07184886705539523,
      0.08034900278130631
    ],
    "v_ego": [
      6.645842690680513,
      6.728725823985215,
      6.893353403427775,
      6.984112551224325,
      6.918803966483766,
      6.677181561958473,
      6.18305105799125,
      5.539699831566435,
      4.860097834213726,
      4.168604881576013
    ],
    "ax_ego": [
      0.043596210282433545,
      0.28541347100884884,
      0.36732268469864127,
      -0.007391001101287431,
      -0.22077710542577433,
      -0.6930492249317115,
      -1.2483586592400848,
      -1.3121789128376555,
      -1.400053542548693,
      -1.366177575776145
    ],
    "ay_ego": [
      1.8109332647532412,
      1.788831764370677,
      1.7894424878561377,
      1.7420386703948745,
      1.941405315488887,
      2.056322927262987,
      1.7825181225742834,
      1.241213772174234,
      0.6932215125347357,
      0.7578026439815393
    ],
    "a_ego": [
      1.8114579539533406,
      1.8114579571866494,
      1.8267540535165048,
      1.742054349338281,
      1.953918403948509,
      2.1699726287135204,
      2.1761824830205416,
      1.8062184606328224,
      1.5622758999114374,
      1.5622759089799074
    ],
    "yaw": [
      -2.7129231657986255,
      -2.578773022133377,
      -2.4492841227318687,
      -2.31809939081453,
      -2.1808301232175165,
      -2.029644019472988,
      -1.8825964449625814,
      -1.7537562632038615,
      -1.6652456057817804,
      -1.618561582263507
    ],
    "yaw_diff": [
      0.26830028733049716,
      0.2589777988030164,
      0.26236946383467696,
      0.2745385351940275,
      0.30237220748905713,
      0.294095149020813,
      0.25768036351743984,
      0.17702131484416217,
      0.09336804703654655,
      0.09336804703654655
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.159947360310749,
    "v_std": 0.9306140393720588,
    "vy_max": 0.09511490096311226,
    "a_max": 2.1761824830205416,
    "ax_avg": -0.5551653655871428,
    "a_std": 0.20040651424672326,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "e96035d0292956f1",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 47.19743885480357,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e96035d0292956f1",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "73e0459194ce577f": {
    "vx_ego": [
      2.1066225798935694,
      2.854667741344068,
      3.6284290016799368,
      4.392316749482263,
      5.040645186285506,
      5.565641646385213,
      6.029111037986816,
      6.440080445333155,
      6.772407913807201,
      7.075440286834126
    ],
    "vy_ego": [
      0.04834926845914733,
      0.010085639897293719,
      -0.011753539966084192,
      0.007618795170443393,
      0.02271974253535891,
      0.0113218605240335,
      -0.02016699079810902,
      0.0007055985732487002,
      0.059965191465125134,
      -0.11742816853075322
    ],
    "v_ego": [
      2.107177340870477,
      2.8546855577458228,
      3.6284480382022557,
      4.39232335715647,
      5.0406963884689695,
      5.565653162073903,
      6.0291447665396385,
      6.440080483987124,
      6.772673384652906,
      7.076414673216929
    ],
    "ax_ego": [
      1.496106120965276,
      1.4961787699117959,
      1.5988416855716503,
      1.456591424673203,
      1.136838814885205,
      0.9635284242702997,
      0.8904512050945516,
      0.7544798894711522,
      0.5792526657408464,
      0.6401463519844068
    ],
    "ay_ego": [
      -0.08164918165193247,
      -0.0803069840027783,
      -0.015997341607630777,
      0.017374410316678024,
      0.008890011329063141,
      -0.11657898318665688,
      0.018445134336450952,
      0.24064210178560885,
      0.781883161613306,
      0.7328625973496322
    ],
    "a_ego": [
      1.498332444437547,
      1.498332447494346,
      1.598921714925439,
      1.4566950430908192,
      1.1368735740314437,
      0.9705553480856419,
      0.8906422242601284,
      0.791927095614361,
      0.9730749864128129,
      0.9730749912278053
    ],
    "yaw": [
      -0.3337591972413314,
      -0.3346563096815708,
      -0.33534912313460463,
      -0.3400728820570933,
      -0.3418672530095124,
      -0.3447827287111267,
      -0.3435848677743587,
      -0.33656280962322627,
      -0.306938036954849,
      -0.22658010939626577
    ],
    "yaw_diff": [
      -0.0017942248804787564,
      -0.001385626906067694,
      -0.009447517844977327,
      -0.0035887419048381552,
      -0.005830951403228646,
      0.002395721873535983,
      0.014044116302264875,
      0.05924954533675453,
      0.16071585511716646,
      0.16071585511716646
    ],
    "min_front_frame": [
      0,
      13.170722998459084
    ],
    "v_avg": 4.990729715291449,
    "v_std": 1.616441232094848,
    "vy_max": 0.11742816853075322,
    "a_max": 1.598921714925439,
    "ax_avg": 1.1012415352568388,
    "a_std": 0.28642706374570165,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "73e0459194ce577f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.412086695855395,
    "right_rear_min": 13.648903474073862,
    "speed_mode": "accelerating",
    "front_frame": [
      13.170722998459084,
      14.199873474594785,
      15.283518277653709,
      16.23014290778428,
      17.06825701091828,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "73e0459194ce577f",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "31042b6e5c455b82": {
    "vx_ego": [
      5.004909113503577,
      5.254414782209632,
      5.509733453814762,
      5.737479346733148,
      5.935549262792706,
      6.12244360107061,
      6.305930507160798,
      6.39862978443869,
      6.371492686730796,
      6.3205062552653795
    ],
    "vy_ego": [
      -0.0025864909617485665,
      0.022985633313789666,
      -0.02960910740982925,
      -0.022013171598948666,
      -0.010347682771656874,
      -0.02530730963162764,
      -0.01943488215726541,
      0.012275025722089605,
      -0.023497249151335442,
      -0.09859243539186613
    ],
    "v_ego": [
      5.004909781840893,
      5.254465057723948,
      5.509813012374119,
      5.737521575899588,
      5.935558282552516,
      6.122495905120006,
      6.305960456249762,
      6.398641558531184,
      6.371536014006488,
      6.321275171289832
    ],
    "ax_ego": [
      0.4943266330406826,
      0.502477260999909,
      0.5234604990004397,
      0.39695410400511527,
      0.3885757658688135,
      0.359567502816743,
      0.37277859887572573,
      -0.000539650252774887,
      -0.10883330493382787,
      -0.10018200423682713
    ],
    "ay_ego": [
      0.3222739042806757,
      0.309412181143399,
      0.48303118917205135,
      0.6592178706732578,
      0.06354026771999499,
      -0.26796695047792896,
      -0.3158754828087646,
      -0.4291696732511258,
      -0.41374509960731665,
      -0.41592459710572516
    ],
    "a_ego": [
      0.5901010841488497,
      0.5901010893583287,
      0.712271032491674,
      0.7695068301850789,
      0.39373657620605124,
      0.44843625592753905,
      0.4886115066383715,
      0.42917001253684234,
      0.4278197000044387,
      0.4278197102173618
    ],
    "yaw": [
      -2.1148935516697573,
      -2.089089055472088,
      -2.042493183516438,
      -1.9932132775563076,
      -1.9642607371586007,
      -1.9702526481724218,
      -1.9946912170395605,
      -2.0287515391700564,
      -2.056092766348115,
      -2.0769468487798424
    ],
    "yaw_diff": [
      0.051608992395339115,
      0.0931917439112997,
      0.09855981192026064,
      0.05790508079541379,
      -0.011983822027642255,
      -0.048877137734277376,
      -0.06812064426099163,
      -0.05468245435611774,
      -0.0417081648634543,
      -0.0417081648634543
    ],
    "min_front_frame": [
      0,
      21.504895851237954
    ],
    "v_avg": 5.896217681558833,
    "v_std": 0.47544074523150165,
    "vy_max": 0.09859243539186613,
    "a_max": 0.7695068301850789,
    "ax_avg": 0.2828585405183999,
    "a_std": 0.1247966036744972,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "31042b6e5c455b82",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      21.504895851237954,
      49.3279248924439,
      48.22783282226873,
      47.3503226639615,
      46.53765613344984,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "31042b6e5c455b82",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "b55cc20818705801": {
    "vx_ego": [
      7.71432620034078,
      7.3120327662779525,
      6.878507341336068,
      6.412490471832142,
      5.927667533441401,
      5.416898146113278,
      4.893465514791914,
      4.358901470359983,
      3.824159242502431,
      3.2962114442348156
    ],
    "vy_ego": [
      0.011704612944447135,
      0.0050657423899700404,
      -0.008967110233874642,
      -0.015615203592344695,
      -0.0033213248249235328,
      0.006935862249116909,
      -0.00046580676287710787,
      0.008189307533104095,
      -0.0064147457058274515,
      -0.0416887612439194
    ],
    "v_ego": [
      7.714335079786747,
      7.312034521039159,
      6.878513186283801,
      6.412509484275344,
      5.927668463925243,
      5.416902586492635,
      4.893465536961881,
      4.358909163204057,
      3.8241646226305734,
      3.2964750625355292
    ],
    "ax_ego": [
      -0.8045837504370673,
      -0.8045744459418107,
      -0.9295250382176963,
      -0.9345805507255074,
      -1.004695782993107,
      -1.0384266817651575,
      -1.0553048931955498,
      -1.0829360232255802,
      -1.0559987471863848,
      -1.0559054214361765
    ],
    "ay_ego": [
      -0.020010654929904947,
      -0.020381080709168387,
      -0.02468386318025484,
      -0.021969700339395826,
      0.07554018168022658,
      -0.0150947341108712,
      0.00890248763648055,
      0.007975110834585297,
      -0.0783393290548543,
      -0.0795873233492837
    ],
    "a_ego": [
      0.8048325526332174,
      0.8048325462563286,
      0.9298527247769462,
      0.9348387419910428,
      1.0075316051680034,
      1.0385363856888568,
      1.055342442948538,
      1.0829653885477866,
      1.0589005640455476,
      1.0589005624024443
    ],
    "yaw": [
      -2.0330041898045157,
      -2.0334645893750825,
      -2.033075521941361,
      -2.0338301411642217,
      -2.0336523181521624,
      -2.0327971831435825,
      -2.031662167734855,
      -2.032620280690913,
      -2.033350927233122,
      -2.034532792843258
    ],
    "yaw_diff": [
      -0.0009207991411335215,
      0.0007781348674429367,
      -0.0015092384457213726,
      0.00035564602411852775,
      0.0017102700171598428,
      0.0022700308174545825,
      -0.0019162259121152658,
      -0.0014612930844180028,
      -0.002363731220272669,
      -0.002363731220272669
    ],
    "min_front_frame": [
      9,
      15.887924650679691
    ],
    "v_avg": 5.6034977707134965,
    "v_std": 1.4260549582378321,
    "vy_max": 0.0416887612439194,
    "a_max": 1.0829653885477866,
    "ax_avg": -0.9766531335124036,
    "a_std": 0.09938809926039312,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b55cc20818705801",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 30.765910833477776,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      34.19108765999958,
      30.443369038674447,
      26.905788262579474,
      23.62868112780914,
      20.585494161652427,
      24.538024982784474,
      21.98717220515643,
      19.69161121965299,
      17.634549683335763,
      15.887924650679691
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b55cc20818705801",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3b7933b82dc65348": {
    "vx_ego": [
      1.1418301767514834,
      0.9060609851794739,
      0.6406725455486423,
      0.3437771729025337,
      0.10487003618663875,
      0.0030202206892099683,
      -0.008008960003259655,
      -0.005176493130069612,
      -0.00289852501971238,
      -0.0013787196185540327
    ],
    "vy_ego": [
      0.03596832422614954,
      0.03196231024972257,
      0.029501286259805776,
      0.024022882072384455,
      0.007243579264763898,
      -0.0026876852379539525,
      -0.00026115619429570866,
      -8.76467781337504e-05,
      -2.435362040814626e-05,
      0.00037087661708905197
    ],
    "v_ego": [
      1.1423965480024705,
      0.9066245629481359,
      0.6413514142112421,
      0.3446155009164884,
      0.10511990263671213,
      0.00404294261025896,
      0.008013216763050399,
      0.005177235080945728,
      0.0028986273283617605,
      0.0014277315054621429
    ],
    "ax_ego": [
      -0.47158236872795406,
      -0.471586873712435,
      -0.5899841703881797,
      -0.5976017180223688,
      -0.35802842130541607,
      -0.04937400462357117,
      0.00525756896998922,
      0.006072299520082888,
      0.003039620579416003,
      0.0030396127153141383
    ],
    "ay_ego": [
      -0.0067771992381447654,
      -0.006455841791507377,
      -0.0029388350996250867,
      -0.018899576651022015,
      -0.04820168545272356,
      0.008466529040984258,
      0.0012346880183329854,
      -0.0005383007674666504,
      0.0007904803186657596,
      0.0007904951999922477
    ],
    "a_ego": [
      0.4716310644185575,
      0.471631060630134,
      0.5899914898202951,
      0.5979004995656675,
      0.36125856798549677,
      0.05009465487025794,
      0.00540060052001706,
      0.006096112628376714,
      0.0031407248209620654,
      0.0031407209554989396
    ],
    "yaw": [
      1.0775118268043702,
      1.0781932631659892,
      1.0783358166389196,
      1.078373941783816,
      1.0783944593445836,
      1.078230156863166,
      1.0783613957659655,
      1.0782734089300807,
      1.0783409442755647,
      1.078335120089684
    ],
    "yaw_diff": [
      0.0013628727232379845,
      0.00028510694586092455,
      7.625028979285631e-05,
      4.103512153497135e-05,
      -0.00032860496283504403,
      0.0002624778055988486,
      -0.00017597367176946932,
      0.00013507069096796442,
      -1.1648371761374676e-05,
      -1.1648371761374676e-05
    ],
    "min_front_frame": [
      8,
      8.362962572304104
    ],
    "v_avg": 0.31616676820031275,
    "v_std": 0.4084951888392513,
    "vy_max": 0.03596832422614954,
    "a_max": 0.5979004995656675,
    "ax_avg": -0.25207484549951226,
    "a_std": 0.25060801787833664,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "3b7933b82dc65348",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      9.58448033063435,
      9.030224975554018,
      8.65259798797855,
      8.426672138255967,
      8.370027706272962,
      8.375815355734838,
      8.386918548250435,
      8.376504725448878,
      8.362962572304104,
      8.371087222187425
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3b7933b82dc65348",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0f8d3b14831a5ccc": {
    "vx_ego": [
      6.662538919879639,
      6.523730975697271,
      6.358100286274774,
      6.189145926793056,
      6.01563028943222,
      5.833954972904971,
      5.619955801247803,
      5.275695726278305,
      4.831260690840622,
      4.36495830227898
    ],
    "vy_ego": [
      0.030341939998288048,
      0.005353644955754966,
      -0.025530209682122162,
      -0.03301064290503142,
      -0.020486342880684738,
      -0.016023830575420117,
      -0.03361757050544156,
      -0.05468786711616547,
      -0.056576367864535904,
      -0.015056419165007995
    ],
    "v_ego": [
      6.6626080097987,
      6.523733172408754,
      6.358151542856916,
      6.189233959520684,
      6.015665172645416,
      5.83397697878805,
      5.620056347495595,
      5.275979165906636,
      4.831591947615459,
      4.364984269890588
    ],
    "ax_ego": [
      -0.27761278435845943,
      -0.27752841385037746,
      -0.38492912152731273,
      -0.2924057093724075,
      -0.4026628648090015,
      -0.3242812908833279,
      -0.5319732038393212,
      -0.8477028780265888,
      -0.9328795221672246,
      -0.9330626479131074
    ],
    "ay_ego": [
      -0.06648827012980826,
      -0.06683955028783928,
      -0.1758146868291419,
      -0.09694483556848692,
      -0.02528235601724868,
      -0.06609353222042044,
      -0.20577155524325097,
      -0.21114395433716399,
      0.03762894869795258,
      0.03277579353091914
    ],
    "a_ego": [
      0.28546374218823456,
      0.28546373846250067,
      0.4231799058374794,
      0.308057462199801,
      0.4034557971103837,
      0.33094819929760805,
      0.5703835749303255,
      0.87360284962201,
      0.9336381208257633,
      0.9336381298834152
    ],
    "yaw": [
      -0.5689939427334265,
      -0.5702594511373011,
      -0.5748733457674905,
      -0.584568077432593,
      -0.5916118506201435,
      -0.5962283267386014,
      -0.6049842691173142,
      -0.6201387364868218,
      -0.6283316648491478,
      -0.6335334956814332
    ],
    "yaw_diff": [
      -0.0025310168077492534,
      -0.009227789260378705,
      -0.01938946333020497,
      -0.014087546375101123,
      -0.00923295223691567,
      -0.0175118847574256,
      -0.030308934739015303,
      -0.01638585672465198,
      -0.010403661664570851,
      -0.010403661664570851
    ],
    "min_front_frame": [
      9,
      43.12601283071703
    ],
    "v_avg": 5.767598056692679,
    "v_std": 0.712190101037318,
    "vy_max": 0.056576367864535904,
    "a_max": 0.9336381298834152,
    "ax_avg": -0.5205038436747128,
    "a_std": 0.26100047514886177,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0f8d3b14831a5ccc",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 17.819287761255982,
    "speed_mode": "decelerating",
    "front_frame": [
      68.85840186617448,
      65.59519241025559,
      62.43312424754764,
      59.38004797671599,
      56.349034486679756,
      53.40549390020445,
      50.56938648846768,
      47.837565788085804,
      45.39194768768544,
      43.12601283071703
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0f8d3b14831a5ccc",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "5d78f0d383a95860": {
    "vx_ego": [
      5.891673361428849,
      5.449020595478871,
      4.9350954724622715,
      4.22936507889474,
      3.4646970598228943,
      2.7429113770259557,
      2.0587418730214617,
      1.380493983896521,
      0.7450756148431218,
      0.15146828444576144
    ],
    "vy_ego": [
      -0.06331514613490219,
      0.018424998433088202,
      0.03889465336686149,
      0.02971146907321698,
      0.0027192121950558867,
      -0.056538768072722234,
      -0.10964923244278096,
      -0.10998044306978419,
      -0.06917868656231824,
      -0.034688679548028734
    ],
    "v_ego": [
      5.892013561211514,
      5.449051745993991,
      4.935248739058462,
      4.229469439772417,
      3.464698126887878,
      2.743494023050461,
      2.0616597813187334,
      1.3848679855611918,
      0.7482802700247705,
      0.15538965757645495
    ],
    "ax_ego": [
      -0.9981446818775581,
      -0.7760501342962731,
      -1.2739053084652032,
      -1.5460198908727358,
      -1.5196860565370744,
      -1.3960068718746594,
      -1.3801472346070567,
      -1.367033845628256,
      -1.1881676917828587,
      -1.1889286903067642
    ],
    "ay_ego": [
      -1.4380027484723,
      -1.5690414005808753,
      -1.4184403088206983,
      -1.1870928741653155,
      -0.9508200155907753,
      -0.6481865153122046,
      -0.35554660111589775,
      -0.0389617129343334,
      0.0649426410797308,
      0.04907726907319305
    ],
    "a_ego": [
      1.7504698542318118,
      1.7504698591172767,
      1.90651715036167,
      1.9491964998091433,
      1.7926250060961568,
      1.5391494225557993,
      1.4252086776183244,
      1.367588955120637,
      1.1899411793979637,
      1.1899411787875231
    ],
    "yaw": [
      0.8254143097434934,
      0.677965842694881,
      0.5321838959643486,
      0.3932901811846503,
      0.26145223797269,
      0.15131251864536574,
      0.06889331897940307,
      0.011692923752946229,
      -0.021277607127812844,
      -0.034625928590753696
    ],
    "yaw_diff": [
      -0.2948969340972247,
      -0.2915638934610649,
      -0.2777874295593965,
      -0.2636758864239206,
      -0.22027943865464855,
      -0.16483839933192534,
      -0.11440079045291368,
      -0.06594106176151815,
      -0.026696642925881704,
      -0.026696642925881704
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.106417333045587,
    "v_std": 1.9088754906596306,
    "vy_max": 0.10998044306978419,
    "a_max": 1.9491964998091433,
    "ax_avg": -1.263409040624844,
    "a_std": 0.26849856029536867,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "5d78f0d383a95860",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5d78f0d383a95860",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e59b32f05f5e54f0": {
    "vx_ego": [
      5.5823304361833825,
      5.509725356996871,
      5.440227139902359,
      5.343089522875655,
      5.240500910808439,
      5.14005558829424,
      4.992495945137103,
      4.643543857940631,
      4.102580678759529,
      3.5524394515394406
    ],
    "vy_ego": [
      -0.0030470642282480753,
      -0.011302312319092955,
      -0.037707756688192706,
      -0.0646033916557216,
      0.033590125111849556,
      0.042671773003839064,
      -0.06007124100667682,
      -0.07714228786694721,
      -0.022127742945736717,
      0.053089965456990906
    ],
    "v_ego": [
      5.582331267789449,
      5.50973694941946,
      5.440357819908968,
      5.34348006898847,
      5.240608561292201,
      5.14023271175208,
      4.992857329846958,
      4.644184588622151,
      4.1026403525947615,
      3.5528361348767645
    ],
    "ax_ego": [
      -0.19259311053280842,
      -0.09445679941188351,
      -0.17489240829592906,
      -0.20010686837277597,
      -0.20366632961687964,
      -0.18870164353735264,
      -0.3884258999101239,
      -0.9994763659316321,
      -1.1530891320604133,
      -1.0477422424562115
    ],
    "ay_ego": [
      1.0271397355999725,
      1.0407622534707537,
      1.0198146209596668,
      0.8991617958711842,
      0.9645377034494989,
      1.4349250976375396,
      1.5238015581332525,
      1.090351375686635,
      0.9153786786136923,
      1.0342963120787814
    ],
    "a_ego": [
      1.045039780426125,
      1.0450397864218655,
      1.0347024768515145,
      0.9211594291566756,
      0.9858057390760335,
      1.44727963645724,
      1.5725284952236376,
      1.4791278269702182,
      1.472254282295143,
      1.4722542809606425
    ],
    "yaw": [
      -2.6457040534712832,
      -2.5508613262619924,
      -2.4522091198790017,
      -2.3583656194975635,
      -2.288908547087555,
      -2.1751651772444514,
      -2.0100756768725825,
      -1.8732738357653067,
      -1.7717238652448728,
      -1.663762748403071
    ],
    "yaw_diff": [
      0.18968545441858176,
      0.19730441276598132,
      0.18768700076287637,
      0.13891414482001707,
      0.22748673968620725,
      0.33017900074373774,
      0.27360368221455156,
      0.20309994104086782,
      0.21592223368360353,
      0.21592223368360353
    ],
    "min_front_frame": [
      9,
      11.334334788684156
    ],
    "v_avg": 4.954926578509125,
    "v_std": 0.6320023579370659,
    "vy_max": 0.07714228786694721,
    "a_max": 1.5725284952236376,
    "ax_avg": -0.464315080012601,
    "a_std": 0.24545487680024852,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "e59b32f05f5e54f0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.573911355745317,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      11.334334788684156
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e59b32f05f5e54f0",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "f289e368449b517b": {
    "vx_ego": [
      4.180649791990385,
      4.253932985649159,
      4.320227899972831,
      4.358309726153812,
      4.409157147544282,
      4.47412835101892,
      4.554157515656982,
      4.690111873255128,
      4.829545514208696,
      4.9548664582933215
    ],
    "vy_ego": [
      0.04344245089803511,
      0.06247006022104262,
      0.12250181374889202,
      0.13070947573623304,
      0.09568214992422841,
      0.0676904028451496,
      0.06771170103211033,
      0.0534351834241335,
      0.027840843246290214,
      8.56607029741524e-05
    ],
    "v_ego": [
      4.18087549800389,
      4.254391655080428,
      4.3219643453035825,
      4.360269330687515,
      4.410195213996196,
      4.474640375720559,
      4.554660860247625,
      4.69041626110906,
      4.829625760487659,
      4.954866459033781
    ],
    "ax_ego": [
      0.14324030225075654,
      0.15953275384577642,
      0.13963453230332593,
      0.05674966707041845,
      0.1859367723059682,
      0.09541688501894194,
      0.23737904583078534,
      0.3149077523616133,
      0.24692983268626306,
      0.2557895128143716
    ],
    "ay_ego": [
      -0.35557579884830015,
      -0.34857026345558073,
      -0.5944637583244323,
      -0.7197240763024564,
      -0.8054714053814184,
      -0.700582881450948,
      -0.529674656716971,
      -0.40230112745261604,
      -0.32689595777811514,
      -0.3200109963369098
    ],
    "a_ego": [
      0.38334310077982997,
      0.3833430945186179,
      0.6106430729753491,
      0.7219579424883609,
      0.8266538986678033,
      0.7070507448046647,
      0.5804343661153905,
      0.5108944016595691,
      0.40967707951768195,
      0.40967708337464437
    ],
    "yaw": [
      -2.6042935421294358,
      -2.6505610485966162,
      -2.71948947206008,
      -2.7968722856477966,
      -2.8761129497604516,
      -2.9543405228382547,
      -3.0227210011246037,
      -3.0701311117101415,
      -3.10299187549597,
      -3.1303810559261507
    ],
    "yaw_diff": [
      -0.09253501293436095,
      -0.1378568469269279,
      -0.15476562717543274,
      -0.15848132822531014,
      -0.15645514615560607,
      -0.13676095657269816,
      -0.09482022117107558,
      -0.06572152757165739,
      -0.05477836086036092,
      -0.05477836086036092
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.50319057596703,
    "v_std": 0.2401654165798283,
    "vy_max": 0.13070947573623304,
    "a_max": 0.8266538986678033,
    "ax_avg": 0.1835517056488221,
    "a_std": 0.15219864365379562,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "f289e368449b517b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "f289e368449b517b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "505e82147a375933": {
    "vx_ego": [
      5.596150853882001,
      4.919613725624078,
      4.172558655569755,
      3.312284019448005,
      2.4763114414355822,
      1.783810153000217,
      1.2254879922431847,
      0.7576627357193413,
      0.3379526859802281,
      -0.06505059289145611
    ],
    "vy_ego": [
      -0.04467309981359335,
      -0.05162587481733105,
      -0.09382177701017591,
      -0.09391773579624929,
      -0.07430495471453136,
      -0.033401703613043954,
      -0.0033522220100772326,
      0.00047486503621535503,
      -0.002479247762024045,
      -0.0018788694968217695
    ],
    "v_ego": [
      5.596329159837832,
      4.919884596237952,
      4.173613333792606,
      3.313615241181107,
      2.477425999153133,
      1.7841228477184277,
      1.2254925770989544,
      0.7576628845301313,
      0.3379617798371824,
      0.0650777211195663
    ],
    "ax_ego": [
      -1.3529971135131516,
      -1.3530015645960105,
      -1.6336311070174656,
      -1.8091709296954432,
      -1.535007731455014,
      -1.2348541115544829,
      -0.9984570154265784,
      -0.8728395062992839,
      -0.8060075513571069,
      -0.8060078417402163
    ],
    "ay_ego": [
      -0.006271465018721667,
      -0.0052217058141471595,
      -0.054331368985124695,
      -0.010606944406502894,
      0.08042189745825201,
      0.0886554611088951,
      0.02848831468049512,
      -0.01430637724016176,
      0.0012352451634035089,
      0.0010215889867908334
    ],
    "a_ego": [
      1.3530116483047738,
      1.3530116407521635,
      1.634534334748251,
      1.8092020230269248,
      1.5371130138078506,
      1.2380324986071416,
      0.9988633518794678,
      0.8729567435941574,
      0.8060084978927289,
      0.8060084891555297
    ],
    "yaw": [
      2.2079569548008573,
      2.2087328337165473,
      2.214693665000028,
      2.2104064607427327,
      2.2096515572791002,
      2.210304393390108,
      2.20978677450844,
      2.2094982073314986,
      2.2089167439399624,
      2.208651674346178
    ],
    "yaw_diff": [
      0.0015517578313799518,
      0.011921662566961366,
      -0.00857440851459046,
      -0.0015098069272649894,
      0.001305672222015275,
      -0.0010352377633360277,
      -0.0005771343538825136,
      -0.0011629267830723933,
      -0.0005301391875685013,
      -0.0005301391875685013
    ],
    "min_front_frame": [
      9,
      8.446573923981653
    ],
    "v_avg": 2.465118614050689,
    "v_std": 1.8619944471808916,
    "vy_max": 0.09391773579624929,
    "a_max": 1.8092020230269248,
    "ax_avg": -1.2401974472654753,
    "a_std": 0.34103208203833973,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "505e82147a375933",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      19.279031389911832,
      16.672303883785613,
      14.42671347374386,
      12.550666809576347,
      11.128880857908188,
      10.119844244583009,
      9.32239959748569,
      8.792458295525673,
      8.501501525765509,
      8.446573923981653
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "505e82147a375933",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "697f7ae6d60f5f2d": {
    "vx_ego": [
      5.726160721279281,
      5.634887001036577,
      5.550313920723976,
      5.460531319921339,
      5.342328075166153,
      5.186806226730934,
      5.013735910017428,
      4.731525179873023,
      4.249490599703807,
      3.6773018192566953
    ],
    "vy_ego": [
      0.006407299847856263,
      0.01238425245860042,
      0.02160699415816747,
      0.04685663396957912,
      0.003484830275559153,
      -0.03220870246722188,
      -0.02390913119381924,
      -0.04130488429189946,
      -0.010327654941703318,
      0.046761620268969684
    ],
    "v_ego": [
      5.726164306009127,
      5.634900609962872,
      5.550355977843124,
      5.460732353813803,
      5.342329211753103,
      5.186906229552393,
      5.013792917737303,
      4.7317054664506335,
      4.249503149478492,
      3.6775991242981854
    ],
    "ax_ego": [
      -0.18702289173388426,
      -0.17684241971764786,
      -0.16022869680072213,
      -0.19516794042724553,
      -0.2755433590011491,
      -0.34768644956882844,
      -0.3447445788232615,
      -0.7839619196774897,
      -1.1441575906156112,
      -1.1444025043300718
    ],
    "ay_ego": [
      -0.3313552239465425,
      -0.3368984966218919,
      -0.2839688192328645,
      -0.26379436927665834,
      -0.29721559633508016,
      0.0501856309162335,
      -0.0869537834990809,
      0.03154654680164301,
      0.0948909694144475,
      0.09189011209882625
    ],
    "a_ego": [
      0.38049158528036797,
      0.38049157472627915,
      0.3260544825254899,
      0.3281432526088002,
      0.40529156590589627,
      0.3512897162802206,
      0.35554153778824915,
      0.7845963778399204,
      1.148085749515137,
      1.1480857479380515
    ],
    "yaw": [
      -2.9909173753083866,
      -3.0213838916944153,
      -3.0507957549032048,
      -3.0802304029092404,
      -3.098132744775886,
      -3.1030750959919056,
      -3.1065048855512494,
      -3.1057856736111527,
      -3.10564629728654,
      -3.1082687751737987
    ],
    "yaw_diff": [
      -0.060933032772057416,
      -0.058823726417578825,
      -0.05886929601207136,
      -0.03580468373329104,
      -0.009884702432039205,
      -0.00685957911868762,
      0.0014384238801934401,
      0.0002787526492253889,
      -0.005244955774517557,
      -0.005244955774517557
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.057398934689903,
    "v_std": 0.6284041723996474,
    "vy_max": 0.04685663396957912,
    "a_max": 1.148085749515137,
    "ax_avg": -0.4759758350695911,
    "a_std": 0.320056129550609,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "697f7ae6d60f5f2d",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.133407253348654,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "697f7ae6d60f5f2d",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a7ce5a625a525b45": {
    "vx_ego": [
      3.249143522785976,
      3.712800922252835,
      3.9222600402524717,
      3.8682047036200826,
      3.807883634096178,
      3.760330193544096,
      3.74616241163554,
      3.740169852579827,
      3.7409586878863923,
      3.762838182647422
    ],
    "vy_ego": [
      -0.054953480316471626,
      -0.004168182665561959,
      -0.0009546279668859459,
      0.0086987844989872,
      0.003911458410447821,
      -0.004050523827770158,
      -0.01424775202061701,
      -0.01323049546545274,
      0.001530060933446542,
      0.03170849798882358
    ],
    "v_ego": [
      3.2496082097171275,
      3.712803261960999,
      3.9222601564245934,
      3.86821448448251,
      3.8078856430208634,
      3.760332375099661,
      3.7461895057229344,
      3.7401932533169013,
      3.740959000785646,
      3.7629717800741025
    ],
    "ax_ego": [
      0.913193674784717,
      0.9470295879867998,
      -0.10779655868606355,
      -0.11097940383410568,
      -0.13219053981092385,
      -0.0587698285529793,
      0.0019980785650491883,
      -0.02359898640646796,
      0.03027112057828879,
      0.053729545940263135
    ],
    "ay_ego": [
      0.5677124090646213,
      0.5092691219925811,
      0.5316952767721438,
      0.48093276960490183,
      0.47175631642978494,
      0.4474932064205205,
      0.3707898271294337,
      0.35875783526478505,
      0.4517480167873485,
      0.449561733021324
    ],
    "a_ego": [
      1.0752767397618026,
      1.0752767453718797,
      0.5425126407802536,
      0.4935714304487397,
      0.4899268934309514,
      0.4513358644520344,
      0.3707952106225584,
      0.3595331647056879,
      0.4527610975032725,
      0.45276110246363155
    ],
    "yaw": [
      -1.4277267195409946,
      -1.3649126810225147,
      -1.299855218512938,
      -1.2373687015065795,
      -1.1741305139040685,
      -1.1111635604963617,
      -1.0538412905576942,
      -1.005438581819095,
      -0.9551346669609031,
      -0.9030923316076993
    ],
    "yaw_diff": [
      0.12562807703695977,
      0.13011492501915356,
      0.12497303401271687,
      0.12647637520502197,
      0.12593390681541372,
      0.11464453987733503,
      0.0968054174771984,
      0.10060782971638371,
      0.10408467070640759,
      0.10408467070640759
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.731141767060534,
    "v_std": 0.17195512262666252,
    "vy_max": 0.054953480316471626,
    "a_max": 1.0752767453718797,
    "ax_avg": 0.15128866905645777,
    "a_std": 0.2547079253599261,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "a7ce5a625a525b45",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "a7ce5a625a525b45",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "d4e9c2fa89c55897": {
    "vx_ego": [
      3.210276850751452,
      3.4316056623067235,
      3.6608855587089044,
      3.8050986284500428,
      3.840311124608849,
      3.8398384337315568,
      3.8304001085581283,
      3.8165702310742047,
      3.7856883803752686,
      3.745795163867988
    ],
    "vy_ego": [
      -0.001903721772948952,
      0.01391197997514082,
      0.035753913285983874,
      0.03379028120319005,
      0.03836627565506989,
      0.02916345223916511,
      0.021146371956524912,
      0.003864001013071633,
      -0.005284886104556463,
      -0.009438325028468378
    ],
    "v_ego": [
      3.2102774152130915,
      3.4316338622822795,
      3.6610601492298196,
      3.80524865880486,
      3.8405027672040704,
      3.839949179886177,
      3.8304584791757037,
      3.816572187084326,
      3.7856920692694307,
      3.745807054779537
    ],
    "ax_ego": [
      0.4117937966347304,
      0.4737274713524894,
      0.4586188415431197,
      0.12287466113528038,
      0.022340043218233574,
      -0.019191467973181275,
      -0.016498518515319124,
      -0.0382871354969634,
      -0.08452176705369048,
      -0.07598260075370468
    ],
    "ay_ego": [
      -0.6469394157628652,
      -0.6030646881883692,
      -0.7124825079357343,
      -0.5463490729847305,
      -0.39698450461661783,
      -0.3462961405098401,
      -0.2560530767553066,
      -0.19841869713001495,
      -0.2564214325891171,
      -0.2590801469125153
    ],
    "a_ego": [
      0.7668798723492768,
      0.7668798701581354,
      0.8473267173485957,
      0.5599959748965918,
      0.39761259340807353,
      0.34682752107492354,
      0.25658405879761753,
      0.20207890566641395,
      0.26999237062727055,
      0.26999236682081845
    ],
    "yaw": [
      0.5002828150027901,
      0.40127022753028674,
      0.30250181989211994,
      0.2197021202437925,
      0.1570388380106028,
      0.11111580315552422,
      0.0739419095875134,
      0.04876542643702216,
      0.02130099823707538,
      -0.01182551914204482
    ],
    "yaw_diff": [
      -0.19802517494500682,
      -0.1975368152763336,
      -0.1655993992966549,
      -0.12532656446637935,
      -0.09184606971015719,
      -0.07434778713602164,
      -0.050352966300982474,
      -0.05492885639989356,
      -0.0662530347582404,
      -0.0662530347582404
    ],
    "min_front_frame": [
      9,
      27.97383980810712
    ],
    "v_avg": 3.6967201822929296,
    "v_std": 0.20092568804827687,
    "vy_max": 0.03836627565506989,
    "a_max": 0.8473267173485957,
    "ax_avg": 0.12548733240909943,
    "a_std": 0.23333893010428247,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "d4e9c2fa89c55897",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      37.45971642900511,
      35.542545555722434,
      33.59875303016123,
      31.726925104761065,
      29.82278043115645,
      27.97383980810712
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "d4e9c2fa89c55897",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "13b137cecf4b57e9": {
    "vx_ego": [
      5.099051327324504,
      4.23831699501551,
      3.3221334131011147,
      2.407540656911256,
      1.6521373142768363,
      1.0291809111775456,
      0.5234551782376031,
      0.19534335039140252,
      0.011070192135867418,
      -0.12003723692375008
    ],
    "vy_ego": [
      -0.025633478808271715,
      -0.025270599042132025,
      -0.011518425019142464,
      0.01665057497543021,
      0.0085171831426194,
      0.010442020729223012,
      0.034489234709672745,
      0.00511503191091546,
      -0.012345779975965044,
      0.008242689814461523
    ],
    "v_ego": [
      5.09911575804331,
      4.23839233122811,
      3.3221533812510495,
      2.407598233993308,
      1.6521592682409776,
      1.029233881937994,
      0.5245901552017724,
      0.1954103070300744,
      0.016582142115539846,
      0.12031990767809764
    ],
    "ax_ego": [
      -1.7213532902871531,
      -1.721262686664186,
      -1.9432336633892915,
      -1.7151495480120849,
      -1.3064642819220273,
      -1.1853444495730403,
      -0.8376021158995021,
      -0.4748892709540628,
      -0.26221265307416025,
      -0.2622181750753169
    ],
    "ay_ego": [
      0.02680344717132499,
      0.03209887750290907,
      0.06350808041465239,
      0.06138630024151215,
      -0.09389086114885625,
      0.10306742761803345,
      -0.0059926309351286955,
      -0.11108388697472443,
      0.04120919032252349,
      0.04117397014350983
    ],
    "a_ego": [
      1.7215619578634613,
      1.7215619577695596,
      1.9442711608228211,
      1.7162477239324747,
      1.3098337351531728,
      1.1898169433864239,
      0.8376235527877947,
      0.4877083653298297,
      0.2654311074445267,
      0.26543109681649624
    ],
    "yaw": [
      -0.5844612462334702,
      -0.5813848489656915,
      -0.5787195026182905,
      -0.5776425464387451,
      -0.5776388794134822,
      -0.5773602657205972,
      -0.5770580373180823,
      -0.5767234636423864,
      -0.5768260459768413,
      -0.5769603166833321
    ],
    "yaw_diff": [
      0.006152794535557282,
      0.0053306926948020195,
      0.0021539123590907927,
      7.334050525775737e-06,
      0.0005572273857701315,
      0.0006044568050298516,
      0.0006691473513917856,
      -0.00020516466890985186,
      -0.0002685414129817154,
      -0.0002685414129817154
    ],
    "min_front_frame": [
      9,
      9.184104670063052
    ],
    "v_avg": 1.8605555366720232,
    "v_std": 1.7406492713877733,
    "vy_max": 0.034489234709672745,
    "a_max": 1.9442711608228211,
    "ax_avg": -1.1429730134850824,
    "a_std": 0.610980434689326,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "13b137cecf4b57e9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.754039088987994,
      14.628177164544319,
      12.778135821036699,
      11.390838827029816,
      10.416041790601748,
      9.750454119630753,
      9.395470957439079,
      9.227932735909347,
      9.185756314795457,
      9.184104670063052
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "13b137cecf4b57e9",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "cc8a7b88b06b56c2": {
    "vx_ego": [
      -0.05961978081945188,
      0.39857442947132626,
      0.920009254315717,
      1.541470585523504,
      2.211245245979642,
      2.928665749340448,
      3.6872997080250594,
      4.458632475063912,
      5.221672359085596,
      5.968599510324706
    ],
    "vy_ego": [
      0.009305573190841174,
      -0.004485064685653503,
      -0.009230208900391002,
      0.0006939586981969947,
      0.011200240418087204,
      0.0048708729844869625,
      -0.01131996975924432,
      -0.007569534217477969,
      0.025518445562702885,
      0.08057397088914442
    ],
    "v_ego": [
      0.060341627069292594,
      0.39859966336366587,
      0.920055555269847,
      1.541470741731042,
      2.211273611123913,
      2.928669799885859,
      3.68731708407577,
      4.458638900555058,
      5.22173471335939,
      5.9691433455256515
    ],
    "ax_ego": [
      0.9163893469044556,
      0.9163864714083033,
      1.1693302639011802,
      1.316494139706581,
      1.3626501225670413,
      1.5071055246747345,
      1.5274189396020121,
      1.5578452854149911,
      1.4943431480240668,
      1.494095390402972
    ],
    "ay_ego": [
      -0.027498177865838636,
      -0.027593707289849445,
      0.007352388411812794,
      0.02868983084173532,
      0.0038980495071130883,
      -0.04276793405471957,
      -0.029723353532649266,
      0.02845983717867817,
      0.06853645154543103,
      0.07374037489310636
    ],
    "a_ego": [
      0.9168018242269788,
      0.9168018202764211,
      1.1693533784492018,
      1.3168067156099632,
      1.3626556980110318,
      1.5077122267489957,
      1.5277081183263255,
      1.558105226107002,
      1.4959139979413647,
      1.4959139943568898
    ],
    "yaw": [
      1.254948070911415,
      1.255052315704945,
      1.2545501679025213,
      1.2537965766314574,
      1.2525353100157428,
      1.2512076308499558,
      1.250623146975,
      1.249623847183722,
      1.2478006747637032,
      1.244317972508791
    ],
    "yaw_diff": [
      0.0002084895870599901,
      -0.0010042956048472718,
      -0.001507182542127783,
      -0.002522533231429147,
      -0.0026553583315740426,
      -0.001168967749911598,
      -0.0019985995825559932,
      -0.003646344840037674,
      -0.006965404509824413,
      -0.006965404509824413
    ],
    "min_front_frame": [
      0,
      12.84235689166161
    ],
    "v_avg": 2.739724504195949,
    "v_std": 1.9535620053451421,
    "vy_max": 0.08057397088914442,
    "a_max": 1.558105226107002,
    "ax_avg": 1.326205863260634,
    "a_std": 0.23370204162985928,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "cc8a7b88b06b56c2",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.100635962104169,
    "right_rear_min": 25.070393421939244,
    "speed_mode": "accelerating",
    "front_frame": [
      12.84235689166161,
      13.33078915040231,
      13.829904761469534,
      14.497665006463194,
      15.149131030919172,
      15.88270929555673,
      16.763339445008288,
      17.63375218695385,
      18.513468270223004,
      19.397898208098713
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.6,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "cc8a7b88b06b56c2",
    "merging_vehicles": "No"
  },
  "55c604d608af594f": {
    "vx_ego": [
      4.7353754453602255,
      4.381829285468406,
      4.134011109066731,
      4.008306016670611,
      3.905366232077994,
      3.772982544587907,
      3.7140204353118973,
      3.8003385980393607,
      4.02202394601556,
      4.385812210028682
    ],
    "vy_ego": [
      0.049739199057183936,
      0.0521338341047235,
      0.03948483491592314,
      0.0434747348093627,
      0.02989169699535843,
      0.0729794067907239,
      0.0632356707700259,
      0.08402327140419785,
      0.09702718972686525,
      0.039137976093439386
    ],
    "v_ego": [
      4.735636662207459,
      4.382139411708283,
      4.13419966886887,
      4.008541776736843,
      3.905480626018305,
      3.7736882854285363,
      3.7145587280284196,
      3.801267337334384,
      4.023194116354426,
      4.385986835685826
    ],
    "ax_ego": [
      -0.760909183295714,
      -0.6228168734164283,
      -0.35064770145628543,
      -0.11683091635611276,
      -0.2661629281711413,
      -0.20403645379477675,
      0.03794736938665788,
      0.3793941007979539,
      0.593433776297022,
      0.8992989924208944
    ],
    "ay_ego": [
      -1.074794166758978,
      -1.1602863546197972,
      -1.0698992069727318,
      -1.2312565209271653,
      -1.3062160476412528,
      -1.504423205056597,
      -1.6291951204249129,
      -1.6728038162550853,
      -1.724228388420434,
      -1.5863128764384298
    ],
    "a_ego": [
      1.3168770960582754,
      1.3168770946937733,
      1.1258943661007708,
      1.2367869999891963,
      1.3330577884878703,
      1.5181963161560867,
      1.629636997389208,
      1.7152878742059205,
      1.823493126470476,
      1.8234931367360834
    ],
    "yaw": [
      -1.7089501345475777,
      -1.832361342494774,
      -1.9611862953077939,
      -2.104259070327254,
      -2.260095537011188,
      -2.4541250734121562,
      -2.661727435311425,
      -2.888583032420649,
      -3.109657445674959,
      2.9892683599659398
    ],
    "yaw_diff": [
      -0.24682241589439258,
      -0.25764990562603973,
      -0.2861455500389205,
      -0.31167293336786805,
      -0.3880590728019362,
      -0.4152047237985377,
      -0.45371119421844774,
      -0.4421488265086202,
      -0.36851900307737484,
      -0.36851900307737484
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.086469344837136,
    "v_std": 0.310024348300983,
    "vy_max": 0.09702718972686525,
    "a_max": 1.8234931367360834,
    "ax_avg": -0.04113298175879304,
    "a_std": 0.23966275363475234,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "55c604d608af594f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.197518766076115,
    "right_rear_min": 41.156698580692854,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "55c604d608af594f",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "3216cf4d7e975148": {
    "vx_ego": [
      3.468674739513907,
      3.5365378508553977,
      3.6078100708052068,
      3.64757439998077,
      3.722879305627783,
      3.8637112834521607,
      4.032439572943323,
      4.209100007773056,
      4.366182241094568,
      4.497643375723943
    ],
    "vy_ego": [
      -0.05321070578345766,
      -0.03346673023338398,
      -0.06714753257294603,
      -0.07822115460558066,
      -0.09009158251445393,
      -0.06035447377566805,
      -0.02966805261635086,
      -0.009680602301030738,
      -0.015506098501762544,
      0.017395828738319352
    ],
    "v_ego": [
      3.469082851093621,
      3.536696197380463,
      3.608434882069248,
      3.6484130183441272,
      3.7239692288620705,
      3.8641826489414655,
      4.032548710528538,
      4.2091111400741195,
      4.366209775255918,
      4.497677017089039
    ],
    "ax_ego": [
      0.06961694649829886,
      0.22570517011800234,
      0.10388142015560164,
      0.10939533206861762,
      0.2359022367508955,
      0.33653255163437024,
      0.3411180727292583,
      0.3653987761571479,
      0.26263836776659766,
      0.26318414771710513
    ],
    "ay_ego": [
      1.0735312716469454,
      1.0518427085527504,
      1.187338762266147,
      1.2418923782722098,
      1.1082987526706463,
      0.6722817863054164,
      0.402953118148756,
      0.2382280533304147,
      0.11049766041009935,
      0.10919134393142213
    ],
    "a_ego": [
      1.0757861824933683,
      1.0757861810571758,
      1.191874442142817,
      1.2467012544667662,
      1.1331266436172904,
      0.7518091237192733,
      0.5279514702776468,
      0.4361982015216711,
      0.28493621247431544,
      0.2849362125092722
    ],
    "yaw": [
      -1.1558186471567535,
      -1.0092011481745335,
      -0.8441434882040006,
      -0.6740609232546142,
      -0.5110674180237529,
      -0.4013022825172974,
      -0.3409982917644586,
      -0.30692755140776395,
      -0.2853013221635495,
      -0.2803326735737352
    ],
    "yaw_diff": [
      0.29323499796443997,
      0.3301153199410658,
      0.3401651298987729,
      0.3259870104617226,
      0.219530271012911,
      0.12060798150567753,
      0.06814148071338932,
      0.04325245848842896,
      0.009937297179628546,
      0.009937297179628546
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.895632546963861,
    "v_std": 0.3443475957513663,
    "vy_max": 0.09009158251445393,
    "a_max": 1.2467012544667662,
    "ax_avg": 0.23133730215958953,
    "a_std": 0.36816499239156053,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "3216cf4d7e975148",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 49.76380559221186,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "3216cf4d7e975148",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0d5b8da00d505be0": {
    "vx_ego": [
      11.027130395182411,
      11.05080792751516,
      11.061851870421298,
      11.075113564749277,
      11.250569881432451,
      11.649239368110244,
      11.743099743770912,
      11.75519556583265,
      11.951124826687678,
      12.029333405574583
    ],
    "vy_ego": [
      0.021686734183631984,
      0.018762194738611626,
      0.03456764692598524,
      0.0202233672268064,
      0.015284320281995445,
      0.003755838004651846,
      0.011927110846187805,
      -0.007342894412801559,
      -0.016621218432177898,
      -0.04656956106501697
    ],
    "v_ego": [
      11.027151720494071,
      11.050823854843733,
      11.061905881237518,
      11.075132028859766,
      11.250580263588251,
      11.64923997357118,
      11.743105800772026,
      11.755197859205516,
      11.951136384795078,
      12.029423548387113
    ],
    "ax_ego": [
      0.04325333084379668,
      0.05314814901402655,
      -0.007807374821992841,
      0.06102770394927484,
      0.6406851065712759,
      0.9541389801244857,
      -0.5790473520340982,
      0.6272504944645155,
      0.1564247423337206,
      0.15641998038450214
    ],
    "ay_ego": [
      -0.4708087121269838,
      -0.46979460182650334,
      -0.3705927797030632,
      -0.1824140530402866,
      0.042961981576054714,
      0.1705175332873195,
      0.08166623536618042,
      -0.03431324130577168,
      -0.05791616211607569,
      -0.05792903939856487
    ],
    "a_ego": [
      0.4727913853315773,
      0.47279138491404427,
      0.3706750105815797,
      0.19235193629361994,
      0.6421239270134609,
      0.9692561181397752,
      0.5847779150212371,
      0.6281883326956076,
      0.16680222375144296,
      0.1668022298086225
    ],
    "yaw": [
      1.2902606321787062,
      1.269222096690612,
      1.2488049343465781,
      1.237601725041043,
      1.2349035361820424,
      1.2405910098885293,
      1.2452070439857592,
      1.2478891675681045,
      1.2467324340926706,
      1.2468147545626238
    ],
    "yaw_diff": [
      -0.0420770709761884,
      -0.0408343246880678,
      -0.0224064186110704,
      -0.005396377718001055,
      0.011374947412973846,
      0.009232068194459764,
      0.005364247164690639,
      -0.0023134669508677597,
      0.00016464093990631312,
      0.00016464093990631312
    ],
    "min_front_frame": [
      0,
      29.432668603054548
    ],
    "v_avg": 11.459369731575425,
    "v_std": 0.38390080113094566,
    "vy_max": 0.04656956106501697,
    "a_max": 0.9692561181397752,
    "ax_avg": 0.2105493760829507,
    "a_std": 0.24244510300357708,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_change",
    "scene_token": "0d5b8da00d505be0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 26.341525633281265,
    "right_rear_min": 25.219204970889987,
    "speed_mode": "accelerating",
    "front_frame": [
      29.432668603054548,
      29.766840281390966,
      30.249708396833448,
      30.875943337069753,
      31.50373268778293,
      31.9826267464883,
      32.30305954255617,
      32.95880809580809,
      33.2929063771356,
      33.73866354416257
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "lane_change",
    "lane_change_frame": 9,
    "token": "0d5b8da00d505be0",
    "smoothness": "No"
  },
  "a2b2c80a9db75f5f": {
    "vx_ego": [
      1.8002531563681878,
      1.4531056791837198,
      0.9881098036742235,
      0.4778479932096641,
      0.16854377768084144,
      0.10209686964925473,
      0.23956072921762572,
      0.46569598908033183,
      0.6674668170038589,
      0.845672367172039
    ],
    "vy_ego": [
      -0.013226566910121695,
      0.008752828716928951,
      0.029128569498846624,
      0.027584477421880027,
      0.016376445587049815,
      0.009342743916925668,
      -0.012452623919685532,
      -0.026197588601274385,
      -0.0046076749692073316,
      0.03678910182724027
    ],
    "v_ego": [
      1.8003017438990194,
      1.4531320404170185,
      0.9885390521765752,
      0.4786435082701335,
      0.1693375119841865,
      0.10252344929855883,
      0.23988416126490245,
      0.46643227578505986,
      0.6674827207275741,
      0.8464722030944755
    ],
    "ax_ego": [
      -0.6942802990370193,
      -0.6943174133116333,
      -1.1656405229176983,
      -0.8754324066514181,
      -0.36179940957257456,
      0.09601656450172329,
      0.45383404337599115,
      0.4507106306602644,
      0.3563927119352682,
      0.35641343307787304
    ],
    "ay_ego": [
      0.041328729684930676,
      0.04070040036501099,
      0.039093952814420185,
      -0.04480946608387176,
      0.00021437102960089605,
      -0.028371891178470332,
      -0.05853417439147085,
      0.0036015627980714726,
      0.08321489716855476,
      0.08312611077249044
    ],
    "a_ego": [
      0.6955093080098231,
      0.6955093047671107,
      1.1662959169158147,
      0.876578454484375,
      0.36179947308143207,
      0.10012065155479438,
      0.45759325661409406,
      0.4507250202116161,
      0.36597880298092156,
      0.3659788048104915
    ],
    "yaw": [
      -0.7042497216585456,
      -0.7051546973806258,
      -0.7054885329092551,
      -0.7053231587253623,
      -0.7050943393775864,
      -0.7051670065503908,
      -0.7046209843625664,
      -0.7045875167490242,
      -0.7043900595205823,
      -0.7041409446528133
    ],
    "yaw_diff": [
      -0.001809951444160296,
      -0.0006676710572586231,
      0.0003307483677854606,
      0.0004576386955519318,
      -0.0001453343456088163,
      0.001092044375648804,
      6.693522708434152e-05,
      0.000394914456883777,
      0.0004982297355380361,
      0.0004982297355380361
    ],
    "min_front_frame": [
      3,
      8.653022970123988
    ],
    "v_avg": 0.7212748666917504,
    "v_std": 0.5322548196935395,
    "vy_max": 0.03678910182724027,
    "a_max": 1.1662959169158147,
    "ax_avg": -0.2078102667939224,
    "a_std": 0.29199705728714503,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a2b2c80a9db75f5f",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 15.703227312998296,
    "speed_mode": "decelerating",
    "front_frame": [
      9.847675219052133,
      9.432590545007532,
      8.8989283652325,
      8.653022970123988,
      8.761784378869583,
      8.884065134341775,
      9.016410430634034,
      9.021526383680401,
      8.909856034620303,
      8.750406740025488
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a2b2c80a9db75f5f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a6b4447359075e54": {
    "vx_ego": [
      10.963046525186687,
      11.040109823827159,
      11.103086608768884,
      11.155350056237687,
      11.166007709177828,
      11.129804660042172,
      11.144879980498926,
      11.207433818429172,
      11.28517189351358,
      11.383932014972203
    ],
    "vy_ego": [
      0.055438759399834225,
      0.045130747474078525,
      0.033713780110147695,
      0.006546020866772473,
      -0.014488006175252366,
      -0.02511729857689815,
      -0.0093116670764255,
      0.018973004597172327,
      0.03161294411280302,
      0.02124191459230751
    ],
    "v_ego": [
      10.963186697737648,
      11.04020206819298,
      11.103137793470466,
      11.155351976858075,
      11.166017108340002,
      11.129833001864146,
      11.144883870497237,
      11.207449878066523,
      11.285216171805676,
      11.383951833192402
    ],
    "ax_ego": [
      0.15362295790921204,
      0.15386338204386293,
      0.09767419328462909,
      0.11125190301779808,
      -0.06845572665014754,
      -0.07554373623056856,
      0.13661602410185886,
      0.11336602792242001,
      0.1966871126688468,
      0.19762034537969383
    ],
    "ay_ego": [
      0.06344409746469931,
      0.06285878390430256,
      -0.02786971129446862,
      0.017388069770764285,
      0.07131287566149976,
      0.16909522704477697,
      0.2333824121912615,
      0.20856862545775556,
      0.1361264213962619,
      0.13476802473624344
    ],
    "a_ego": [
      0.1662082028658207,
      0.16620820391275376,
      0.10157248072898542,
      0.1126025350311196,
      0.09885197391206836,
      0.18520273187239544,
      0.2704279725945738,
      0.23738729496804253,
      0.23919912811747518,
      0.23919912499693263
    ],
    "yaw": [
      -2.038864824467847,
      -2.0350577528738096,
      -2.0332376502221603,
      -2.0310316478488106,
      -2.027167867227619,
      -2.020823585401433,
      -2.013190184142209,
      -2.0058369099606232,
      -1.9992923840033177,
      -1.9924023775571797
    ],
    "yaw_diff": [
      0.007614143188074962,
      0.0036402053032986714,
      0.004412004746699338,
      0.007727561242383274,
      0.012688563652371698,
      0.015266802518448586,
      0.014706548363171201,
      0.013089051914611183,
      0.013780012892275817,
      0.013780012892275817
    ],
    "min_front_frame": [
      3,
      36.081431231149104
    ],
    "v_avg": 11.157923040002514,
    "v_std": 0.11205291266886258,
    "vy_max": 0.055438759399834225,
    "a_max": 0.2704279725945738,
    "ax_avg": 0.10167024834476054,
    "a_std": 0.06011402512957185,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "a6b4447359075e54",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 18.23213414699984,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      36.20513942652869,
      36.14293809077559,
      36.12158455055765,
      36.081431231149104,
      36.21364161271723,
      36.48119007051486,
      36.69265251318764,
      37.03302848789593,
      37.43936178145216,
      37.874209653750604
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a6b4447359075e54",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "e54bb40453165fac": {
    "vx_ego": [
      11.080075762738101,
      11.034207379055387,
      10.971034019258465,
      10.872322495309444,
      10.832772979355433,
      10.904769898953907,
      11.000774501597514,
      11.053416669758045,
      10.986175715797396,
      10.83090054958656
    ],
    "vy_ego": [
      -0.055369974781569575,
      -0.0028641396332703684,
      0.01638881069282022,
      -0.012154705426092094,
      -0.010848146613233633,
      -0.01269773609718279,
      0.04157707225134636,
      0.040900078198869594,
      0.0313914111091753,
      0.019832377837622428
    ],
    "v_ego": [
      11.080214110842968,
      11.034207750776499,
      10.971046260263533,
      10.87232928947959,
      10.832778411125103,
      10.904777291702624,
      11.00085307091841,
      11.053492339151537,
      10.986220563918597,
      10.830918707027816
    ],
    "ax_ego": [
      -0.09370809855934739,
      -0.0881696668271953,
      -0.16561310545830935,
      -0.22992444674006518,
      0.07215086225662953,
      0.21588267334236286,
      0.1680560903500769,
      0.041555202544648846,
      -0.3113462027817095,
      -0.31045741220038425
    ],
    "ay_ego": [
      0.4057609769694834,
      0.4070003510225414,
      0.31149119521872864,
      0.23721870004668105,
      0.22548273982660771,
      0.1419169065980811,
      0.12997540421697465,
      0.10698984523700854,
      0.1270926193299104,
      0.12924856440619975
    ],
    "a_ego": [
      0.416441086069612,
      0.41644108332498914,
      0.3527810445564461,
      0.33036035303977124,
      0.23674503771798217,
      0.25835196346808326,
      0.21245341890663744,
      0.11477657357826042,
      0.3362870676590566,
      0.33628707407693037
    ],
    "yaw": [
      -1.6418235864725026,
      -1.6281951456280064,
      -1.6136326032147668,
      -1.5984704711482653,
      -1.5878953464017187,
      -1.5792601419596872,
      -1.5780101574907808,
      -1.5725842172640143,
      -1.5664354799486335,
      -1.5595010222183112
    ],
    "yaw_diff": [
      0.02725688168899243,
      0.02912508482647924,
      0.03032426413300282,
      0.0211502494930933,
      0.01727040888406295,
      0.002499968937812902,
      0.010851880453532914,
      0.012297474630761585,
      0.013868915460644615,
      0.013868915460644615
    ],
    "min_front_frame": [
      9,
      18.925837860952893
    ],
    "v_avg": 10.956683779520668,
    "v_std": 0.08640057414507234,
    "vy_max": 0.055369974781569575,
    "a_max": 0.416441086069612,
    "ax_avg": -0.07015741040732928,
    "a_std": 0.09008555987562945,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e54bb40453165fac",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      19.116319944444232,
      19.976073613029705,
      51.561777655695934,
      46.06766633615523,
      40.70799434473284,
      35.331216135820334,
      29.905270525243562,
      24.4076032639919,
      18.95797271988349,
      18.925837860952893
    ],
    "safe_frame": [
      0,
      0,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e54bb40453165fac",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fb43d35afc375bb2": {
    "vx_ego": [
      3.2985387927476943,
      4.236608912879792,
      5.156650500829799,
      6.033524542175204,
      6.758786883988236,
      7.241379242041399,
      7.560922902164201,
      7.796109782358476,
      7.94415724668453,
      8.043537907843884
    ],
    "vy_ego": [
      0.009513878184524094,
      -0.022058298667518295,
      -0.0011498190801553232,
      0.016492099274223904,
      -0.013059221117253994,
      0.02218513279813239,
      -0.008651499193918388,
      -0.02563823426236289,
      -0.0049653626013372865,
      0.011232862401634236
    ],
    "v_ego": [
      3.2985525130183277,
      4.236666336783273,
      5.156650629021917,
      6.0335470819716805,
      6.758799500386707,
      7.241413225827217,
      7.560927851851876,
      7.796151939106986,
      7.944158798442797,
      8.043545751229322
    ],
    "ax_ego": [
      1.8757606387537724,
      1.8766810630685402,
      1.803851862949548,
      1.70362712072046,
      1.1989395457734806,
      0.7316055208993788,
      0.5461881538630264,
      0.39383892915504937,
      0.19744429833659577,
      0.20023696160926827
    ],
    "ay_ego": [
      0.07250933889376399,
      0.0424709136479659,
      0.12147250277574329,
      -0.04755927152879197,
      -0.3328499198478656,
      -0.30901499534789706,
      -0.1955201287912104,
      -0.19525109825457865,
      -0.19713704433057505,
      -0.1942998337255698
    ],
    "a_ego": [
      1.877161574858374,
      1.8771615782841282,
      1.807937253445804,
      1.7042908351459953,
      1.2442849768289619,
      0.7941894645236187,
      0.5801289685775333,
      0.43958172560698555,
      0.2790112277185736,
      0.2790112294878033
    ],
    "yaw": [
      -0.22648628538916268,
      -0.21047656563471187,
      -0.206209994005785,
      -0.20606084095702457,
      -0.2162091547703939,
      -0.24393431557784961,
      -0.25676993304177625,
      -0.2672544669763849,
      -0.2822984739629868,
      -0.29656700889052506
    ],
    "yaw_diff": [
      0.032019439508901626,
      0.00853314325785376,
      0.0002983060975208507,
      -0.020296627626738672,
      -0.055450321614911424,
      -0.02567123492785328,
      -0.02096906786921726,
      -0.03008801397320382,
      -0.028537069855076536,
      -0.028537069855076536
    ],
    "min_front_frame": [
      0,
      32.08178659924437
    ],
    "v_avg": 6.40704136276401,
    "v_std": 1.5873901438525924,
    "vy_max": 0.02563823426236289,
    "a_max": 1.8771615782841282,
    "ax_avg": 1.052817409512912,
    "a_std": 0.6512856363759791,
    "ini_direction_judge": "straight",
    "scenario_type": "carpark_areas",
    "scene_token": "fb43d35afc375bb2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      32.08178659924437,
      36.062155946844136,
      39.44153588429309,
      42.345667583618464,
      44.44789037197393,
      46.26402584832524,
      47.477011003092635,
      48.289278029543844,
      48.25562009144703,
      44.27600533352227
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "carpark_areas",
    "lane_change_frame": -1,
    "token": "fb43d35afc375bb2",
    "maneuvering": "Yes"
  },
  "c4e83619721455b0": {
    "vx_ego": [
      1.5492955223097633,
      1.7808743368696667,
      1.9858539030029694,
      2.1497981143376133,
      2.299144847661073,
      2.442121400929363,
      2.5870575285595714,
      2.7175694951002853,
      2.8161226441663243,
      2.9199023212310307
    ],
    "vy_ego": [
      -0.02333097662761152,
      -0.035739019516283554,
      -0.042504635327014095,
      -0.027430381005167037,
      -0.01866740589958371,
      -0.022675018739085395,
      -0.011188555198470285,
      0.028711762437479083,
      0.0444729392454144,
      0.01655678777810532
    ],
    "v_ego": [
      1.5494711839590567,
      1.7812329104406757,
      1.9863087293007624,
      2.1499731063926464,
      2.299220629380634,
      2.442226667070854,
      2.5870817226837244,
      2.7177211641376835,
      2.8164737863703713,
      2.919949262016703
    ],
    "ax_ego": [
      0.4631865744477678,
      0.4631769789534303,
      0.3616102055075019,
      0.30221593568951843,
      0.303458788803431,
      0.27818225563309085,
      0.31401048341998106,
      0.20895804167135834,
      0.1674671836728697,
      0.23275070305801243
    ],
    "ay_ego": [
      -0.023358916100240767,
      -0.02354841036809796,
      0.1486942430539181,
      0.256460302396939,
      0.33643813296736796,
      0.41267901136826934,
      0.5499237538118567,
      0.639087415123974,
      0.5949766409071996,
      0.5725989617994841
    ],
    "a_ego": [
      0.4637752060104503,
      0.46377520574443254,
      0.39098838684103576,
      0.39636644470769794,
      0.453075991216279,
      0.4976839697770127,
      0.633260387758601,
      0.6723809837800083,
      0.6180958346668722,
      0.6180958346630773
    ],
    "yaw": [
      -2.405017066048737,
      -2.4046079512283507,
      -2.384539600133856,
      -2.3430014849724428,
      -2.28032335547813,
      -2.1997841032855514,
      -2.1085509833265865,
      -2.0120744761327076,
      -1.9065622947506826,
      -1.7948511321261025
    ],
    "yaw_diff": [
      0.0008182296407728273,
      0.040136702188989126,
      0.08307623032282674,
      0.12535625898862524,
      0.16107850438515747,
      0.18246623991792976,
      0.1929530143877578,
      0.21102436276405,
      0.22342232524916028,
      0.22342232524916028
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.3249659161753113,
    "v_std": 0.4330482984063515,
    "vy_max": 0.0444729392454144,
    "a_max": 0.6723809837800083,
    "ax_avg": 0.3095017150856962,
    "a_std": 0.09925541711720817,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "c4e83619721455b0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "c4e83619721455b0",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "dadfddb20a29587d": {
    "vx_ego": [
      11.142326761813662,
      10.930682044286023,
      10.726975647239463,
      10.531095048138974,
      10.434558178851946,
      10.466354707285861,
      10.535141553277306,
      10.564805719754983,
      10.507904722057756,
      10.41540349904449
    ],
    "vy_ego": [
      -0.03498835294124181,
      0.01244830831824606,
      0.02856634201297714,
      0.02979635958063831,
      0.009954800325135738,
      -0.021628781635033345,
      -0.03606357864273346,
      -0.001541829846107401,
      0.006732828635917176,
      -0.0004893314043484809
    ],
    "v_ego": [
      11.142381695664104,
      10.930689132605357,
      10.727013683796834,
      10.531137200510754,
      10.434562927401203,
      10.466377055262242,
      10.535203278973533,
      10.56480583226246,
      10.507906879051847,
      10.415403510539255
    ],
    "ax_ego": [
      -0.4258462712369978,
      -0.4214178184258647,
      -0.39169537587244446,
      -0.3901634243590351,
      0.005188998595569275,
      0.12221172461961996,
      0.15048498659588372,
      -0.033049650394333954,
      -0.1921038554815838,
      -0.17751274838734477
    ],
    "ay_ego": [
      -0.2652927229643653,
      -0.27227247158528745,
      -0.3304709831097347,
      -0.31463547079831267,
      -0.32911302731471764,
      -0.4052728756049557,
      -0.3341298562566611,
      -0.36049222612302356,
      -0.5573471050034745,
      -0.5621644890735306
    ],
    "a_ego": [
      0.5017223092352006,
      0.5017223101178342,
      0.512480573443882,
      0.5012214851660336,
      0.32915393124597936,
      0.4232987235223037,
      0.36645394258059266,
      0.36200403932321096,
      0.589524967025692,
      0.589524968610603
    ],
    "yaw": [
      -1.3215311107577967,
      -1.3380067047059363,
      -1.3534153740965107,
      -1.36870428665617,
      -1.38222752085362,
      -1.3967937053727366,
      -1.4130277407088592,
      -1.4327167795626643,
      -1.455236588782596,
      -1.4813020502132823
    ],
    "yaw_diff": [
      -0.032951187896279155,
      -0.030817338781148784,
      -0.030577825119318724,
      -0.027046468394900103,
      -0.02913236903823302,
      -0.03246807067224511,
      -0.03937807770761026,
      -0.04503961843986337,
      -0.052130922861372664,
      -0.052130922861372664
    ],
    "min_front_frame": [
      2,
      33.98935258469182
    ],
    "v_avg": 10.625548119606758,
    "v_std": 0.2260750916800986,
    "vy_max": 0.03606357864273346,
    "a_max": 0.589524968610603,
    "ax_avg": -0.17539034343465315,
    "a_std": 0.08815642689054407,
    "ini_direction_judge": "straight",
    "scenario_type": "countryside_road",
    "scene_token": "dadfddb20a29587d",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      33.98935258469182,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "dadfddb20a29587d",
    "road_shape": "Straight"
  },
  "a0f56a70905c527d": {
    "vx_ego": [
      5.324702036154859,
      5.550013162794874,
      5.780347328360692,
      5.971594798605132,
      6.13816235788831,
      6.259544405164681,
      6.322533302944439,
      6.37493725226213,
      6.371782507393641,
      6.319987253033101
    ],
    "vy_ego": [
      0.07198857169382178,
      0.12769381640535427,
      0.10880079624499772,
      0.09267983442029415,
      0.0479445651114232,
      0.017085596196227293,
      -0.0003999403259049572,
      -0.01980159103918666,
      -0.01977464683456276,
      -0.020102936109607228
    ],
    "v_ego": [
      5.325188647201732,
      5.551481947907651,
      5.781371191140571,
      5.972313956117515,
      6.138349600105936,
      6.259567722920317,
      6.32253331559382,
      6.374968005667725,
      6.3718131923483945,
      6.320019225171797
    ],
    "ax_ego": [
      0.44212066138314754,
      0.4853657739329843,
      0.4563137518141963,
      0.3180056585874461,
      0.3535847637904259,
      0.13321576399825208,
      0.11872154410340437,
      0.09051318721286929,
      -0.10393212044171772,
      -0.1036328912938289
    ],
    "ay_ego": [
      -0.6478485232632962,
      -0.6161156129454631,
      -0.5310552709793084,
      -0.2993837959174472,
      -0.32067073119771605,
      -0.21448229926417584,
      -0.14455521702642227,
      -0.12388350628127122,
      -0.06170466868433411,
      -0.062205908852735636
    ],
    "a_ego": [
      0.7843330850578123,
      0.7843330816819654,
      0.7001727936228703,
      0.4367588077550068,
      0.47733835277673753,
      0.25248583420716,
      0.18705885652342855,
      0.15342672579434682,
      0.12086915155222676,
      0.12086914930665067
    ],
    "yaw": [
      -0.23218696345949902,
      -0.3005880367608108,
      -0.34783777190783466,
      -0.38032776392750134,
      -0.39855378836504984,
      -0.4150845202613665,
      -0.4265694654009624,
      -0.4340798306212602,
      -0.4413361930683158,
      -0.4461660123481489
    ],
    "yaw_diff": [
      -0.13680214660262358,
      -0.0944994702940477,
      -0.06497998403933336,
      -0.03645204887509701,
      -0.033061463792633305,
      -0.02296989027919183,
      -0.015020730440595598,
      -0.01451272489411115,
      -0.009659638559666228,
      -0.009659638559666228
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.041760680417545,
    "v_std": 0.35488962337263147,
    "vy_max": 0.12769381640535427,
    "a_max": 0.7843330850578123,
    "ax_avg": 0.21902760930871795,
    "a_std": 0.2601076005780367,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "a0f56a70905c527d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 11.23031771373121,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a0f56a70905c527d",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bf1d8c493e7458d2": {
    "vx_ego": [
      2.973225943663337,
      3.717912736163197,
      4.162733888682694,
      4.409072298219832,
      4.718589045565388,
      4.979651151129487,
      5.286468258827382,
      5.679599832229212,
      6.176506167717433,
      6.7326494390745255
    ],
    "vy_ego": [
      0.11219070601710812,
      -0.024261332067070596,
      -0.04269849527547942,
      0.006284103910034755,
      0.07893329244199365,
      0.14219054392549227,
      0.12555561917905855,
      0.15881470077525917,
      0.14088411887273988,
      0.11984007566082111
    ],
    "v_ego": [
      2.975341873901108,
      3.71799189428355,
      4.162952868996493,
      4.409076776479568,
      4.719249203590059,
      4.98168081451703,
      5.287959045330897,
      5.681819810891616,
      6.178112719496305,
      6.733715921629373
    ],
    "ax_ego": [
      1.4889171640166605,
      1.490913892090889,
      0.3185462361263612,
      0.7396608419836876,
      0.5890805543057972,
      0.596713442635179,
      0.7350057416385612,
      0.8961957408619264,
      1.1026445724233114,
      1.1510216553044774
    ],
    "ay_ego": [
      -0.31999552182941793,
      -0.31055952492608074,
      -1.2444459459738693,
      -2.0891403755998237,
      -2.4382361213167267,
      -2.5927106060500758,
      -2.391069437606225,
      -1.8410346885627782,
      -0.8448114390416466,
      -0.7776121009184468
    ],
    "a_ego": [
      1.522915445878167,
      1.5229154448464683,
      1.2845689615591176,
      2.216214265391636,
      2.508388184224057,
      2.6604915371686637,
      2.501488855800921,
      2.0475779668746443,
      1.3890757433020724,
      1.3890757468455994
    ],
    "yaw": [
      -2.2649898589295936,
      -2.2713230814575804,
      -2.3618718921981112,
      -2.5695615525762756,
      -2.8309014399925094,
      -3.1017071529897677,
      2.942326532415591,
      2.7432233835381585,
      2.6326105123182004,
      2.572992600977895
    ],
    "yaw_diff": [
      -0.012666445055973696,
      -0.18109762148106157,
      -0.4153793207563288,
      -0.5226797748324676,
      -0.5416114259945166,
      -0.4783032435484529,
      -0.39820629775486527,
      -0.22122574243991622,
      -0.1192358226806105,
      -0.1192358226806105
    ],
    "min_front_frame": [
      9,
      37.73412781349206
    ],
    "v_avg": 4.8847900929116,
    "v_std": 1.0807666716136588,
    "vy_max": 0.15881470077525917,
    "a_max": 2.6604915371686637,
    "ax_avg": 0.9108699841386851,
    "a_std": 0.5115748981259873,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "bf1d8c493e7458d2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      47.709889411867145,
      37.73412781349206
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "bf1d8c493e7458d2",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "026bb114391d5b81": {
    "vx_ego": [
      0.7799982737121179,
      1.4707215324897545,
      2.1557588804033876,
      2.81998221909391,
      3.439540412908762,
      4.0196868801805605,
      4.5678656136296905,
      5.091431472992939,
      5.568422845320356,
      6.001409639136834
    ],
    "vy_ego": [
      -0.048888360422579435,
      -0.03151807982915644,
      -0.009404955978606133,
      -0.01698973722994568,
      -0.026204805658131214,
      -0.019023853688518333,
      -0.018248609890550993,
      0.014664651819840557,
      0.06427203173660212,
      0.10199849411164497
    ],
    "v_ego": [
      0.7815288726455933,
      1.4710592154924047,
      2.1557793958647595,
      2.820033398237857,
      3.4396402346571304,
      4.01973189674447,
      4.567902065056067,
      5.091452591961949,
      5.568793754337577,
      6.002276347314037
    ],
    "ax_ego": [
      1.3813585548768645,
      1.3813156724324263,
      1.358636039111578,
      1.2983054263349052,
      1.1790599495549983,
      1.1409701264524597,
      1.0513362211257902,
      1.0420723834161247,
      0.867071262884555,
      0.8670852895539773
    ],
    "ay_ego": [
      0.03076183803073207,
      0.03263031796436011,
      0.03892802155813746,
      -0.09898053713914812,
      -0.02705260656277153,
      -0.048055480703068254,
      -0.10962941218714822,
      0.07642284267994276,
      -0.004998952939108681,
      0.0008125872781912236
    ],
    "a_ego": [
      1.3817010341642395,
      1.3817010257497464,
      1.3591936130056042,
      1.3020730113104313,
      1.1793702591495494,
      1.14198168053719,
      1.0570366397942677,
      1.0448709504823293,
      0.8670856730742958,
      0.8670856703111806
    ],
    "yaw": [
      1.1329907715903362,
      1.1316381090252514,
      1.1293124696072832,
      1.1263356698731628,
      1.1192464858618645,
      1.1122954246768795,
      1.1029582918978007,
      1.0944266619859047,
      1.0884938357309406,
      1.0817914185121271
    ],
    "yaw_diff": [
      -0.0027053251301696335,
      -0.004651278835936523,
      -0.0059535994682407,
      -0.014178368022596644,
      -0.013902122369970016,
      -0.018674265558157543,
      -0.017063259823792087,
      -0.011865652509928104,
      -0.013404834437626967,
      -0.013404834437626967
    ],
    "min_front_frame": [
      0,
      10.628347511747867
    ],
    "v_avg": 3.5918197772311844,
    "v_std": 1.6786856796189207,
    "vy_max": 0.10199849411164497,
    "a_max": 1.3817010341642395,
    "ax_avg": 1.1567210925743676,
    "a_std": 0.18822516107258533,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "026bb114391d5b81",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      10.628347511747867,
      11.666840781595152,
      13.068639642295373,
      14.577246334894722,
      16.15043239007794,
      17.656633917144774,
      19.128013596695197,
      20.51412509104285,
      21.910089539981694,
      23.2992655367011
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "026bb114391d5b81",
    "pedestrians": "No"
  },
  "c95d7e81eec75f65": {
    "vx_ego": [
      2.919376271758484,
      2.7895465878084167,
      2.6310370507657,
      2.4406900354652783,
      2.1724611997152787,
      1.789149559006895,
      1.4345431415960168,
      1.1860054020594082,
      0.9590603833878804,
      0.7166581207073007
    ],
    "vy_ego": [
      0.0037877105677386336,
      -0.00938194990967256,
      -0.009111028946449773,
      -0.00911761972234193,
      -0.02301878617901343,
      -0.01566592716953452,
      -0.004124693573196669,
      0.0030799343037426485,
      -0.01137485886468853,
      -0.06362516948607572
    ],
    "v_ego": [
      2.919378728917817,
      2.7895623646976757,
      2.631052826028078,
      2.440707065628504,
      2.1725831465758687,
      1.789218143706532,
      1.4345490713800078,
      1.186009401189305,
      0.9591278363170884,
      0.7194769101005618
    ],
    "ax_ego": [
      -0.2596538375084003,
      -0.2596614175566075,
      -0.374396378975435,
      -0.38699669456455044,
      -0.6860280613028276,
      -0.8473035472382888,
      -0.5711294444364415,
      -0.42301025754797084,
      -0.4848291818268139,
      -0.4848088993561923
    ],
    "ay_ego": [
      -0.024617095065738587,
      -0.024536937280763907,
      0.0220676401536605,
      -0.026235730169349186,
      -0.048713550748014256,
      0.07320341708240691,
      -0.02079523513002124,
      0.05113994445787892,
      -0.10477812650896864,
      -0.10487200258424215
    ],
    "a_ego": [
      0.2608181678915684,
      0.260818160906458,
      0.375046169600316,
      0.3878849766894908,
      0.68775541504331,
      0.8504598999571514,
      0.571507903800456,
      0.4260903330397858,
      0.49602196659582243,
      0.4960219811873179
    ],
    "yaw": [
      -2.119554458884954,
      -2.119245766559229,
      -2.119571772046725,
      -2.119979834139085,
      -2.1220430792934373,
      -2.122657979518002,
      -2.1216684498897855,
      -2.1213730794062386,
      -2.120405492422771,
      -2.120599108114293
    ],
    "yaw_diff": [
      0.0006173846514503367,
      -0.0006520109749921232,
      -0.0008161241847206568,
      -0.004126490308704156,
      -0.00122980044912957,
      0.0019790592564330467,
      0.0005907409670937724,
      0.0019351739669355439,
      -0.00038723138304419535,
      -0.00038723138304419535
    ],
    "min_front_frame": [
      9,
      10.154260175767494
    ],
    "v_avg": 1.9041665494541433,
    "v_std": 0.7582189317987708,
    "vy_max": 0.06362516948607572,
    "a_max": 0.8504598999571514,
    "ax_avg": -0.47778177203135275,
    "a_std": 0.17543164083220522,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c95d7e81eec75f65",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.834096552470175,
    "right_rear_min": 15.673519687282225,
    "speed_mode": "decelerating",
    "front_frame": [
      13.921537685679732,
      13.333475158483182,
      12.724384871094983,
      12.234821073666772,
      11.66061568726426,
      11.208067126442922,
      10.882612517853017,
      10.540421574703908,
      10.30448294839354,
      10.154260175767494
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c95d7e81eec75f65",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "f414059fffd45057": {
    "vx_ego": [
      0.43276767215106926,
      0.19534335039140252,
      0.011070192135867418,
      -0.0430654652401785,
      -0.02591609731905372,
      -0.016095197086954505,
      -0.01005209584029972,
      -0.006916707768817831,
      -0.005034998833957114,
      -0.00363395068231363
    ],
    "vy_ego": [
      0.06080176299394033,
      0.00511503191091546,
      -0.012345779975965044,
      -0.0005891586437949958,
      0.0007131631504562197,
      0.0005958685283753064,
      0.0005888976934532771,
      0.00042996363584914396,
      0.0003374827658824196,
      0.0003637496963537141
    ],
    "v_ego": [
      0.43701797725291197,
      0.1954103070300744,
      0.016582142115539846,
      0.043069495054627475,
      0.025925907928746335,
      0.016106223287009804,
      0.010069331222873021,
      0.006930058808363573,
      0.00504629645138067,
      0.0036521105409181025
    ],
    "ax_ego": [
      -0.47485208463665335,
      -0.4748892709540628,
      -0.26221265307416025,
      0.045668927670314184,
      0.022928175194132174,
      0.01635547144645992,
      0.00781695570332806,
      0.004724775662055315,
      0.0028020337712616715,
      0.002802039377963572
    ],
    "ay_ego": [
      -0.11124275562767452,
      -0.11108388697472443,
      0.04120919032252349,
      0.005846547903672977,
      -0.0006508355578475466,
      0.000183108786592911,
      -0.00021066038982608514,
      -0.00042243569145935427,
      5.193584313674176e-05,
      5.170485765045507e-05
    ],
    "a_ego": [
      0.48770836876499657,
      0.4877083653298297,
      0.2654311074445267,
      0.04604164502867303,
      0.022937410591786,
      0.016356496417744643,
      0.00781979374840761,
      0.004743622768535561,
      0.0028025150467202186,
      0.0028025163813906843
    ],
    "yaw": [
      -0.5770580373180823,
      -0.5767234636423864,
      -0.5768260459768413,
      -0.5769603166833321,
      -0.5768531783289985,
      -0.5768713066164182,
      -0.5768783941183007,
      -0.5769601722912903,
      -0.5769355733778336,
      -0.5768530420732318
    ],
    "yaw_diff": [
      0.0006691473513917856,
      -0.00020516466890985186,
      -0.0002685414129817154,
      0.00021427670866724924,
      -3.625657483929956e-05,
      -1.4175003764993477e-05,
      -0.00016355634597919888,
      4.919782691326091e-05,
      0.00016506260920357008,
      0.00016506260920357008
    ],
    "min_front_frame": [
      7,
      9.113010301271444
    ],
    "v_avg": 0.07598098496924452,
    "v_std": 0.13216978925018835,
    "vy_max": 0.06080176299394033,
    "a_max": 0.48770836876499657,
    "ax_avg": -0.11088556298393615,
    "a_std": 0.19195240039430922,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f414059fffd45057",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      9.395470957439079,
      9.227932735909347,
      9.185756314795457,
      9.184104670063052,
      9.186767506642656,
      9.16656676781964,
      9.13028937729979,
      9.113010301271444,
      9.123128083468941,
      9.118991704212645
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f414059fffd45057",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "71dedbc865b25faf": {
    "vx_ego": [
      8.0066795882362,
      8.171304579666794,
      8.300829761920497,
      8.36596414715001,
      8.44350245090221,
      8.531248073992034,
      8.61361642845936,
      8.725201652683197,
      8.799754827438779,
      8.825730932896253
    ],
    "vy_ego": [
      -0.054719007272662434,
      -0.0595267380671074,
      -0.03798394640849301,
      0.0056893310997092605,
      0.010493335163335171,
      -0.007184983012406665,
      -0.0037703904276527034,
      -0.011933069917782202,
      -0.04073551341388848,
      -0.055414314853237556
    ],
    "v_ego": [
      8.006866565544545,
      8.171521398505204,
      8.300916667246446,
      8.365966081684036,
      8.443508971303014,
      8.531251099573478,
      8.61361725365534,
      8.725209812843657,
      8.799849112631716,
      8.825904896732823
    ],
    "ax_ego": [
      0.31879649542214705,
      0.34938980003861453,
      0.1707644621911664,
      0.08860697929054714,
      0.2214766204201703,
      0.12952587573015056,
      0.1995593198633,
      0.24675610388898062,
      0.05146315427246509,
      0.05177567678111368
    ],
    "ay_ego": [
      0.7058765451483382,
      0.6912450231530687,
      0.4320211022493442,
      0.04748929618018671,
      0.05819981210960207,
      -0.13548784893390678,
      -0.034431155865775775,
      -0.02153178966941821,
      -0.09042453918859268,
      -0.09024594450548253
    ],
    "a_ego": [
      0.7745275350069853,
      0.7745275427025882,
      0.46454572900434316,
      0.10053074171956032,
      0.22899587664919466,
      0.18744041637917783,
      0.2025078434000921,
      0.24769374794862598,
      0.1040435175065745,
      0.10404350631264302
    ],
    "yaw": [
      2.4923168939532316,
      2.5361046721927445,
      2.5674972651686656,
      2.5766303949127174,
      2.5792076406807762,
      2.5790142391558275,
      2.5736550654964425,
      2.5729823519963144,
      2.5730749171519305,
      2.5696152767840874
    ],
    "yaw_diff": [
      0.0875755564790257,
      0.06278518595184224,
      0.018266259488103564,
      0.005154491536117689,
      -0.00038680304989746617,
      -0.010718347318769972,
      -0.001345427000256194,
      0.00018513031123212897,
      -0.006919280735686151,
      -0.006919280735686151
    ],
    "min_front_frame": [
      0,
      46.21578708929514
    ],
    "v_avg": 8.478461185972026,
    "v_std": 0.2584489379156735,
    "vy_max": 0.0595267380671074,
    "a_max": 0.7745275427025882,
    "ax_avg": 0.18281144878986552,
    "a_std": 0.24907813563697584,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "71dedbc865b25faf",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      46.21578708929514,
      47.75057458862619,
      49.18348947130644,
      50.542571686215474,
      51.93922714813828,
      53.26043804312026,
      54.63453574794023,
      55.90479758182469,
      57.11139290911081,
      50.15082916342325
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "71dedbc865b25faf",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "520c2defbbc958a0": {
    "vx_ego": [
      0.8622734777055625,
      0.9782699914947057,
      1.0941030484847338,
      1.187905625280093,
      1.251970524100813,
      1.313724756555684,
      1.3697164712203318,
      1.4212162581861179,
      1.4754002823648105,
      1.5259703395282034
    ],
    "vy_ego": [
      0.02132684495313808,
      0.019158848524734248,
      0.016480910049637212,
      -0.004300514902929722,
      -0.007583227794355288,
      0.007240611505203914,
      0.016015329214402574,
      0.01952994269010417,
      -0.019770275402714053,
      -0.07986035527265749
    ],
    "v_ego": [
      0.8625371787175903,
      0.9784575809588504,
      1.0942271707006967,
      1.1879134097233346,
      1.2519934898237473,
      1.3137447097675639,
      1.3698100971675322,
      1.4213504392633185,
      1.475532736672305,
      1.5280586223912012
    ],
    "ax_ego": [
      0.23125063045847602,
      0.2315609467070449,
      0.23080058333891612,
      0.14355970438978896,
      0.1142314183083309,
      0.13215441229473013,
      0.0915954268375935,
      0.11252228925224245,
      0.10361995019766086,
      0.10242035813447062
    ],
    "ay_ego": [
      0.023473133341620718,
      0.02018344673554958,
      0.029501813873726468,
      -0.05287904920796372,
      0.11074587870857047,
      0.029802907173015494,
      0.09745442156348548,
      0.00654556480921001,
      -0.062282536266591165,
      -0.06423611695833904
    ],
    "a_ego": [
      0.23243889966250517,
      0.23243890285834182,
      0.23267846116781837,
      0.15298883151923817,
      0.159102063404804,
      0.13547325184304426,
      0.1337426128794951,
      0.11271251038477,
      0.12089751197921718,
      0.12089751230806461
    ],
    "yaw": [
      2.999511560020459,
      3.013727438207601,
      3.0282977852913753,
      3.0412648656969,
      3.0557704598583832,
      3.0716324089970204,
      3.088739040225666,
      3.1048821150389783,
      3.122382429180511,
      3.1413449131213813
    ],
    "yaw_diff": [
      0.02843175637428441,
      0.029140694167548276,
      0.025934160811049267,
      0.029011188322966674,
      0.03172389827727429,
      0.03421326245729084,
      0.032286149626624905,
      0.035000628283065716,
      0.03792496788174038,
      0.03792496788174038
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.2483625435186139,
    "v_std": 0.20686233027274392,
    "vy_max": 0.07986035527265749,
    "a_max": 0.23267846116781837,
    "ax_avg": 0.14937157199192547,
    "a_std": 0.047223594155415924,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "520c2defbbc958a0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "520c2defbbc958a0",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "da3dac3ca6545198": {
    "vx_ego": [
      5.832107297476412,
      5.826615321754851,
      5.933824973959252,
      6.082614585660306,
      6.255069006596939,
      6.450756724471109,
      6.665957325288094,
      6.891684380513867,
      7.179380694512867,
      7.55681385895576
    ],
    "vy_ego": [
      -0.028971793047348315,
      -0.013974019891231038,
      -0.03392003266573074,
      -0.054840855014448575,
      -0.053362341733678154,
      -0.04952339747994294,
      -0.10682291692945145,
      -0.06726166143380463,
      -0.1570719637168625,
      0.0439920217822887
    ],
    "v_ego": [
      5.83217925771062,
      5.826632078734705,
      5.933921923163345,
      6.082861803219453,
      6.255296621008864,
      6.450946820832365,
      6.666813196583756,
      6.892012603856557,
      7.181098715275395,
      7.55694190773532
    ],
    "ax_ego": [
      -0.154366096814599,
      0.1461747681263823,
      0.3127823873254407,
      0.309930759506694,
      0.40937111071709154,
      0.40883847086996106,
      0.472694949283704,
      0.4594555170623671,
      0.7270003678860617,
      0.7940585455892091
    ],
    "ay_ego": [
      1.880566134983785,
      1.8812205662487504,
      2.042305548770821,
      2.007683316318624,
      1.9429881423164321,
      1.9913018259006172,
      1.64682582042824,
      1.48408606198692,
      1.2357057727109746,
      1.1937207888634158
    ],
    "a_ego": [
      1.886891062010106,
      1.8868910624924988,
      2.0661182871174355,
      2.0314648346236623,
      1.9856453931837892,
      2.0328383745636103,
      1.7133230278927174,
      1.5535799984368013,
      1.4337009073086673,
      1.433700908693283
    ],
    "yaw": [
      1.8779839194641181,
      2.037431481985672,
      2.2078253529061613,
      2.37939375793621,
      2.5392415109270274,
      2.6931533448074405,
      2.840485657625928,
      2.949980050255233,
      3.059802189152824,
      3.1149931198219747
    ],
    "yaw_diff": [
      0.3188951250431078,
      0.3407877418409786,
      0.34313681006009755,
      0.31969550598163465,
      0.30782366776082615,
      0.29466462563697515,
      0.21898878525860965,
      0.21964427779518214,
      0.11038186133830141,
      0.11038186133830141
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.467870492812038,
    "v_std": 0.5664223381610293,
    "vy_max": 0.1570719637168625,
    "a_max": 2.0661182871174355,
    "ax_avg": 0.3885940779552312,
    "a_std": 0.23763425044992417,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "da3dac3ca6545198",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "da3dac3ca6545198",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "75a1c2654839522e": {
    "vx_ego": [
      4.7178208974684885,
      4.3498319051401655,
      3.9650563785891175,
      3.554553633350206,
      3.1856439285493052,
      2.9731200868727186,
      2.8717113930489226,
      2.7752479741709664,
      2.67566988522678,
      2.5732069651234633
    ],
    "vy_ego": [
      0.03649088504574838,
      0.0490309380215086,
      0.021637943618233013,
      -0.01705329878144557,
      -0.02289479868963773,
      -0.010325378140814134,
      0.005116803328266251,
      0.003433507507268896,
      -8.263292186283522e-06,
      -0.0021139587251177705
    ],
    "v_ego": [
      4.717962018211019,
      4.350108232660262,
      3.965115419000344,
      3.554594540501417,
      3.185726198421655,
      2.973138016372565,
      2.8717159515946706,
      2.7752500981197814,
      2.67566988523954,
      2.5732078334602893
    ],
    "ax_ego": [
      -0.7362645671632935,
      -0.7361367318396279,
      -0.8034077957676271,
      -0.8386078692345378,
      -0.6372028710373169,
      -0.21309621013413385,
      -0.19252970669951955,
      -0.19334456531328933,
      -0.20496004505949092,
      -0.2048701500717698
    ],
    "ay_ego": [
      0.04785871403580183,
      0.04978636293956534,
      -0.12728716131762474,
      -0.029249053057082086,
      -0.021591869740470282,
      0.04744175145754055,
      0.004831204580114781,
      0.0005157346691417458,
      0.019251587653783403,
      0.020185825874105015
    ],
    "a_ego": [
      0.7378183850849154,
      0.7378183854433815,
      0.8134286125632023,
      0.8391177899716032,
      0.637568590582291,
      0.21831334030445776,
      0.1925903125795738,
      0.19334525315723106,
      0.20586219589322333,
      0.20586220137910013
    ],
    "yaw": [
      -0.5783056783114409,
      -0.5756873042875847,
      -0.5737626575872493,
      -0.5738802943780987,
      -0.575933772174896,
      -0.5779516837424512,
      -0.5787647198621976,
      -0.5776951450286218,
      -0.5746207512669548,
      -0.5700616499571738
    ],
    "yaw_diff": [
      0.005236748047712236,
      0.0038492934006708612,
      -0.00023527358169883605,
      -0.004106955593594641,
      -0.004035823135110306,
      -0.0016260722394927374,
      0.002139149667151452,
      0.006148787523334143,
      0.009118202619561977,
      0.009118202619561977
    ],
    "min_front_frame": [
      9,
      10.804393189958201
    ],
    "v_avg": 3.364248819358154,
    "v_std": 0.7124579473481907,
    "vy_max": 0.0490309380215086,
    "a_max": 0.8391177899716032,
    "ax_avg": -0.4760420512320606,
    "a_std": 0.27954133472119447,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "75a1c2654839522e",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 17.365869970275767,
    "right_rear_min": 3.1915157171419963,
    "speed_mode": "decelerating",
    "front_frame": [
      17.340078257580362,
      16.02770919032496,
      14.837780311948954,
      13.915608114960857,
      13.252562333278933,
      12.762935484771509,
      12.29498618621868,
      11.855207864436196,
      11.318190871206449,
      10.804393189958201
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "75a1c2654839522e",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "3fbc15dbb18756ba": {
    "vx_ego": [
      3.5092545273729074,
      3.4426385163476247,
      3.386452345228702,
      3.3264783734348455,
      3.27556820869319,
      3.2572193614337634,
      3.2551878119096647,
      3.298655749014027,
      3.391975486753483,
      3.48726728325273
    ],
    "vy_ego": [
      0.008390294984916835,
      0.015204377309749884,
      0.004321950117119888,
      -0.0012087645137195402,
      0.005627795760791532,
      0.01236288462398527,
      0.021475847968195683,
      0.04145151297816729,
      0.04468902325658697,
      -0.04304618912834973
    ],
    "v_ego": [
      3.509264557558632,
      3.442672091171268,
      3.3864551031658148,
      3.326478593053228,
      3.2755730432836696,
      3.25724282321954,
      3.255258653755671,
      3.298916182389524,
      3.3922698612486823,
      3.4875329502734953
    ],
    "ax_ego": [
      -0.14857995267735377,
      -0.12057180302651815,
      -0.10893908968663651,
      -0.1304917745776467,
      -0.07467384633258249,
      -0.0025116480461933044,
      -0.009250401939260348,
      0.17926726488260336,
      0.18940520980042105,
      0.1915353811213457
    ],
    "ay_ego": [
      0.4436960022404145,
      0.45211125407607883,
      0.38191839164595076,
      0.4097272397302397,
      0.37429371531301014,
      0.2917063771079008,
      0.2330467714759721,
      0.203197837700635,
      0.06504963157094124,
      0.05848061838230159
    ],
    "a_ego": [
      0.4679125396286475,
      0.46791254070318544,
      0.39715158710394555,
      0.43000524904864207,
      0.3816699734704301,
      0.2917171897940277,
      0.2332302888379034,
      0.2709725327495447,
      0.20026429553731417,
      0.20026428774915297
    ],
    "yaw": [
      -2.128641805690747,
      -2.066130524266116,
      -2.001873719183471,
      -1.9413288194286231,
      -1.8839171401603303,
      -1.8348798047198451,
      -1.797403810165032,
      -1.7700228866201728,
      -1.7509375109015717,
      -1.716452552331718
    ],
    "yaw_diff": [
      0.12502256284926183,
      0.12851361016529061,
      0.12108979950969534,
      0.11482335853658565,
      0.09807467088097033,
      0.0749519891096262,
      0.05476184708971843,
      0.03817075143720228,
      0.06896991713970735,
      0.06896991713970735
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.3631663859119527,
    "v_std": 0.08974007362893276,
    "vy_max": 0.04468902325658697,
    "a_max": 0.46791254070318544,
    "ax_avg": -0.0034810660481821186,
    "a_std": 0.1015026524894953,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "3fbc15dbb18756ba",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "3fbc15dbb18756ba",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "ee9a17a589805c85": {
    "vx_ego": [
      5.963535861948093,
      6.06592147725938,
      6.122560367270893,
      6.101945554194394,
      6.029394164871265,
      5.9256816613403185,
      5.8235328468217835,
      5.7546834054716705,
      5.727067526411883,
      5.718657359496996
    ],
    "vy_ego": [
      -0.017335498130489846,
      0.0016048079258856873,
      0.012016398598592382,
      -0.0027635169106128288,
      -0.01058069320976518,
      0.017827951834454403,
      0.052683989664572106,
      0.06336375286135132,
      0.022509795960940604,
      -0.004627353233489284
    ],
    "v_ego": [
      5.963561058313767,
      6.065921689544393,
      6.122572159208216,
      6.101946179980486,
      6.029403448638385,
      5.9257084797863255,
      5.823771151133877,
      5.755032238171016,
      5.727111762747058,
      5.718659231649243
    ],
    "ax_ego": [
      0.20403488860208266,
      0.20583412041234803,
      0.02012629703278519,
      -0.102592303951255,
      -0.1874584960202067,
      -0.2274255702532268,
      -0.1813027194620151,
      -0.09441574653858446,
      -0.016820676232366178,
      -0.016879171209640095
    ],
    "ay_ego": [
      0.16837213472969018,
      0.1661677690713182,
      0.022360267894727344,
      -0.0790925887842423,
      0.0827762081443446,
      0.0686142627586714,
      0.09526285145863503,
      -0.02727842259127349,
      -0.03533604413975427,
      -0.03530815106356103
    ],
    "a_ego": [
      0.2645362196756755,
      0.26453622172410324,
      0.030084039166572568,
      0.12954079832477466,
      0.20492093198332303,
      0.23755064104085555,
      0.2048064621840632,
      0.09827739075446765,
      0.03913529307876396,
      0.039135303145006926
    ],
    "yaw": [
      0.8415095552795084,
      0.8522658953704997,
      0.8582684428307148,
      0.8583658444299269,
      0.8598039092270601,
      0.8613816642531157,
      0.8624233080602671,
      0.8635164329437579,
      0.8679134887297584,
      0.8695693179164016
    ],
    "yaw_diff": [
      0.02151268018198249,
      0.012005094920430226,
      0.00019480319842424265,
      0.002876129594266308,
      0.0031555100521112323,
      0.0020832876143028756,
      0.002186249766981563,
      0.00879411157200094,
      0.003311658373286397,
      0.003311658373286397
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.923368739917276,
    "v_std": 0.14947814070070584,
    "vy_max": 0.06336375286135132,
    "a_max": 0.26453622172410324,
    "ax_avg": -0.03968993776200784,
    "a_std": 0.09053297154274398,
    "ini_direction_judge": "straight",
    "scenario_type": "side_to_main_ego",
    "scene_token": "ee9a17a589805c85",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "ee9a17a589805c85",
    "merging_vehicles": "No"
  },
  "4cc916aa782854a6": {
    "vx_ego": [
      0.6142717317478561,
      1.2677774562452206,
      1.9258179246012597,
      2.5525741073524846,
      3.1207370156548504,
      3.654070957877518,
      4.137884444185823,
      4.552764388491317,
      4.925479185723081,
      5.3024307932906165
    ],
    "vy_ego": [
      -0.07171418011555747,
      -0.007274316482364207,
      0.011377987733232398,
      -0.007864319194941571,
      -0.04326721875833239,
      -0.07657819768648272,
      -0.117630459106556,
      -0.16592684469331656,
      -0.18765457759281268,
      -0.14348994896243883
    ],
    "v_ego": [
      0.6184437598150351,
      1.2677983255407337,
      1.9258515356382901,
      2.55258622205847,
      3.1210369387588837,
      3.654873292682639,
      4.139556087111833,
      4.555787011582587,
      4.92905259147058,
      5.304371940493031
    ],
    "ax_ego": [
      1.306341074537603,
      1.3117654430396442,
      1.3214022295276562,
      1.1891549366177163,
      1.099473106590131,
      1.0654660188775533,
      0.915888536367649,
      0.8015684593659081,
      0.750224045811247,
      0.7988942411861948
    ],
    "ay_ego": [
      0.20351794295533987,
      0.16497871867137726,
      0.22243714700556133,
      0.3367035242601825,
      0.5030706261280706,
      0.6767449690842109,
      0.7868449262993362,
      0.7925658591614677,
      0.775781484546963,
      0.7255625556412817
    ],
    "a_ego": [
      1.3220992988912867,
      1.3220992985277027,
      1.3399933345239574,
      1.2359040118599471,
      1.2090993205638,
      1.2622208961047874,
      1.2074670799208906,
      1.127241161490562,
      1.0792001810041016,
      1.0792001810364813
    ],
    "yaw": [
      -2.0191041082503367,
      -1.989665702888247,
      -1.940664479022734,
      -1.870194221278903,
      -1.7840964632860636,
      -1.687385861216797,
      -1.5835244012317622,
      -1.481963102199244,
      -1.3948175587176226,
      -1.3300047570681603
    ],
    "yaw_diff": [
      0.058876810724179496,
      0.09800244773102573,
      0.1409405154876624,
      0.1721955159856785,
      0.19342120413853348,
      0.20772291997006942,
      0.2031225980650362,
      0.17429108696324302,
      0.12962560329892447,
      0.12962560329892447
    ],
    "min_front_frame": [
      7,
      54.90171458656281
    ],
    "v_avg": 3.2069357705152077,
    "v_std": 1.5097028468889346,
    "vy_max": 0.18765457759281268,
    "a_max": 1.3399933345239574,
    "ax_avg": 1.0560178091921304,
    "a_std": 0.09262170715389964,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "4cc916aa782854a6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      54.90171458656281,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "4cc916aa782854a6",
    "pedestrians": "No"
  },
  "73aaa82bd3bb596c": {
    "vx_ego": [
      1.2258056306774399,
      0.7600798477428353,
      0.3416718800052443,
      0.06608924960791991,
      -0.03186150988341072,
      -0.03084510256031185,
      -0.017010621250263876,
      -0.009913814924222268,
      -0.006502937528083286,
      -0.0040487103373790245
    ],
    "vy_ego": [
      0.050582145746038365,
      0.02651378380751096,
      0.004288346809088434,
      0.008391891410562569,
      0.01497083383330734,
      0.0037280057600003486,
      5.058238350019034e-05,
      -2.6061406189454434e-05,
      3.059474102391378e-05,
      -1.0252740576541589e-07
    ],
    "v_ego": [
      1.2268488079909396,
      0.76054214589105,
      0.3416987906104923,
      0.06661991260264918,
      0.03520343275470701,
      0.031069573201168255,
      0.01701069645539093,
      0.009913849179235316,
      0.006503009498096422,
      0.0040487103386772
    ],
    "ax_ego": [
      -0.9314554107143362,
      -0.9314588833971291,
      -0.7421753658808703,
      -0.36015693691873163,
      -0.03162333418173058,
      0.03568581594442065,
      0.01965218556328837,
      0.008735036513763915,
      0.004908462138355179,
      0.004908461966038628
    ],
    "ay_ego": [
      -0.04802676001854567,
      -0.04795938055286797,
      -0.04085630800044837,
      0.057223681265389625,
      -0.03088387802100432,
      -0.014104637492032676,
      -0.000595385146857242,
      0.00028736609702948064,
      -6.114921659025998e-05,
      -6.100754242306444e-05
    ],
    "a_ego": [
      0.9326927424542832,
      0.932692743427567,
      0.7432990727989852,
      0.36467460688707976,
      0.04420236629848772,
      0.03837210260593913,
      0.019661202427293658,
      0.008739762134664238,
      0.004908843019526688,
      0.004908841084439411
    ],
    "yaw": [
      0.8729452229511401,
      0.8730175620661172,
      0.8730583728826999,
      0.8729834297505961,
      0.8727325070748545,
      0.8728406090224503,
      0.8727302506783088,
      0.8727598882757339,
      0.8727728915765649,
      0.8727434589358679
    ],
    "yaw_diff": [
      0.00014467822995434254,
      8.162163316538518e-05,
      -0.00014988626420775475,
      -0.0005018453514831211,
      0.00021620389519161343,
      -0.00022071668828305135,
      5.927519485027233e-05,
      2.6006601661965334e-05,
      -5.886528139398273e-05,
      -5.886528139398273e-05
    ],
    "min_front_frame": [
      5,
      7.946158631822771
    ],
    "v_avg": 0.24994589285224067,
    "v_std": 0.39783163090837503,
    "vy_max": 0.050582145746038365,
    "a_max": 0.932692743427567,
    "ax_avg": -0.2922979968966931,
    "a_std": 0.3836498609546031,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "73aaa82bd3bb596c",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 6.706149020012414,
    "speed_mode": "decelerating",
    "front_frame": [
      8.720508600995636,
      8.241038916106119,
      7.973856925109405,
      7.952200658861956,
      7.949636542639855,
      7.946158631822771,
      7.949753651497276,
      7.95198423245223,
      7.961254257005097,
      7.946206561274254
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "73aaa82bd3bb596c",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "5ae3a0ab54a950d7": {
    "vx_ego": [
      3.5277010503910677,
      3.474132688486584,
      3.4217225919574026,
      3.357552859873827,
      3.2968731658007506,
      3.226839812043957,
      3.126197776793103,
      3.048435850801661,
      3.0395333717817152,
      3.0724845932025975
    ],
    "vy_ego": [
      0.0062759556299436525,
      -0.021645550295681826,
      -0.021369497270143922,
      -6.681530765328958e-06,
      0.02557609854698417,
      0.020321619802281532,
      0.017586230239201583,
      0.02361230292180605,
      0.01237613741290694,
      -0.00314003278118985
    ],
    "v_ego": [
      3.5277066330052604,
      3.4742001190286413,
      3.4217893201839975,
      3.3575528598804754,
      3.2969723699470017,
      3.226903800986833,
      3.1262472415214004,
      3.0485272964666263,
      3.0395585677778914,
      3.0724861977351825
    ],
    "ax_ego": [
      -0.11382720770388524,
      -0.09875589978207622,
      -0.10658901369109271,
      -0.14719248088764567,
      -0.09886705607807969,
      -0.18719393498020287,
      -0.21659472415701153,
      -0.09923179643332475,
      0.060013754052070434,
      0.07089738764089908
    ],
    "ay_ego": [
      0.2953505208291561,
      0.30072551394340596,
      0.319953200243118,
      0.36557673826938,
      0.3141166979830753,
      0.21620617264465924,
      0.3100314753114188,
      0.259424527523872,
      0.244276534307743,
      0.24134256624622255
    ],
    "a_ego": [
      0.3165257704638237,
      0.3165257690588448,
      0.33724066804798725,
      0.3940964069787223,
      0.3293083581225,
      0.28598370300250436,
      0.3781967612452899,
      0.2777553508114093,
      0.25154060485103463,
      0.2515406008115116
    ],
    "yaw": [
      -2.0705608083323215,
      -2.0200031754517314,
      -1.9750997878615548,
      -1.9309148292070453,
      -1.8874609367796573,
      -1.8453530382276266,
      -1.8031308170034306,
      -1.7587665961358994,
      -1.71341793698522,
      -1.668601642785339
    ],
    "yaw_diff": [
      0.10111526576118024,
      0.08980677518035307,
      0.08836991730901911,
      0.0869077848547759,
      0.08421579710406135,
      0.08444444244839211,
      0.08872844173506245,
      0.09069731830135863,
      0.08963258839976218,
      0.08963258839976218
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.2591944406533306,
    "v_std": 0.17379961393330437,
    "vy_max": 0.02557609854698417,
    "a_max": 0.3940964069787223,
    "ax_avg": -0.09373409720203493,
    "a_std": 0.046070236347453365,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "5ae3a0ab54a950d7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "5ae3a0ab54a950d7",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "cfb9e8d047515e4c": {
    "vx_ego": [
      5.236953245682486,
      4.900332989055901,
      4.503397301915301,
      4.0315324428091985,
      3.5718771815950268,
      3.152610161202375,
      2.795295962066243,
      2.5796832508806578,
      2.4789428660526607,
      2.4000825119402647
    ],
    "vy_ego": [
      0.04132060725753339,
      0.01291199261505449,
      0.013884651293598838,
      0.053823159502056406,
      0.05757168697406945,
      -0.011868545543272546,
      -0.11732183721133316,
      -0.16715626556781515,
      -0.13363125840636902,
      -0.06350272872007423
    ],
    "v_ego": [
      5.23711625706824,
      4.900350000069672,
      4.503418706098686,
      4.031891711085739,
      3.5723411230648554,
      3.152632501718172,
      2.797756946024884,
      2.5850932076025375,
      2.482542053294697,
      2.40092246036318
    ],
    "ax_ego": [
      -0.6733216116245025,
      -0.6733976798089993,
      -0.9143488359459503,
      -0.9728458510744828,
      -0.8656614251851967,
      -0.8114452965985526,
      -0.6181072098900324,
      -0.24605622968514432,
      -0.15779179352854267,
      -0.15786798338294708
    ],
    "ay_ego": [
      -0.03513826638482598,
      -0.03364881462349867,
      0.06899598686554198,
      0.05856766098611549,
      -0.04979778470113844,
      -0.22506620637788938,
      -0.20986505279826084,
      -0.01665540617123376,
      0.1375983528633138,
      0.137510936970575
    ],
    "a_ego": [
      0.6742378589527204,
      0.6742378496478154,
      0.9169483300596956,
      0.9746072136333793,
      0.8670925685385654,
      0.8420797270005066,
      0.6527632521091069,
      0.246619282947618,
      0.2093598739387547,
      0.20935987668109643
    ],
    "yaw": [
      -0.5259228339623054,
      -0.5237108366443981,
      -0.5220489256175151,
      -0.5239315013871613,
      -0.5243422540122502,
      -0.5241264160888693,
      -0.5252381987063033,
      -0.5278113617170918,
      -0.5291175175507131,
      -0.5296714004758778
    ],
    "yaw_diff": [
      0.004423994635814665,
      0.0033238220537659124,
      -0.003765151539292244,
      -0.0008215052501778786,
      0.00043167584676173654,
      -0.002223565234867886,
      -0.005146326021576941,
      -0.0026123116672427393,
      -0.0011077658503293453,
      -0.0011077658503293453
    ],
    "min_front_frame": [
      9,
      15.517793381191092
    ],
    "v_avg": 3.5664064966390656,
    "v_std": 0.9961677545175663,
    "vy_max": 0.16715626556781515,
    "a_max": 0.9746072136333793,
    "ax_avg": -0.6090843916724351,
    "a_std": 0.28415953722859777,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cfb9e8d047515e4c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.048681364874986,
    "right_rear_min": 31.266182500909864,
    "speed_mode": "decelerating",
    "front_frame": [
      26.54728705774631,
      24.068376562643607,
      25.519133211955236,
      23.888839898062415,
      22.371854803440797,
      20.831571222381083,
      19.38073390574329,
      18.047346463842167,
      16.781766788809957,
      15.517793381191092
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cfb9e8d047515e4c",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "77c1bc7a68b55fb9": {
    "vx_ego": [
      0.7783432359290783,
      1.2390656361794736,
      1.731147594052025,
      2.2340623166116615,
      2.6992558618723757,
      3.125144373211885,
      3.481062921746076,
      3.734728577608947,
      3.9524337706328287,
      4.188630493259889
    ],
    "vy_ego": [
      0.014572592617545121,
      -0.003151531162283505,
      -0.010344941318127243,
      -0.006519973812492363,
      0.0044146035007053275,
      0.021809967893814175,
      0.02152112345788626,
      0.008195740945292851,
      0.016294711361119374,
      0.0183417720844421
    ],
    "v_ego": [
      0.7784796422335948,
      1.2390696440916913,
      1.7311785032754392,
      2.2340718306631904,
      2.699259471887882,
      3.1252204767211924,
      3.48112944658917,
      3.734737570242197,
      3.9524673596194546,
      4.188670651850033
    ],
    "ax_ego": [
      0.9214391034548156,
      0.9214681273148095,
      1.0468494791970802,
      0.9647959068251917,
      0.8959851982975473,
      0.8075782039473934,
      0.6159615843078456,
      0.39850529154811165,
      0.47223581465849623,
      0.47232994220831614
    ],
    "ay_ego": [
      -0.037390109243934766,
      -0.03666807279611184,
      0.006658734048899384,
      0.00538743700718286,
      0.04143176544462407,
      0.026327837051296932,
      -0.010455333459062355,
      0.027573944028895153,
      0.03054992633672285,
      0.029058415115682662
    ],
    "a_ego": [
      0.9221973984158097,
      0.9221974068601815,
      1.0468706562103705,
      0.9648109484785868,
      0.8969426217747452,
      0.8080072465607578,
      0.6160503123453241,
      0.3994581201842743,
      0.473222952365323,
      0.47322295569376877
    ],
    "yaw": [
      -0.5970901067792393,
      -0.5978737049301628,
      -0.5980839371705331,
      -0.5984921052563893,
      -0.5981809354663886,
      -0.598336741482151,
      -0.5970572395676825,
      -0.5922141509941572,
      -0.5905366900998196,
      -0.5873786146428368
    ],
    "yaw_diff": [
      -0.0015671963018468738,
      -0.00042046448074062326,
      -0.0008163361717123951,
      0.000622339580001352,
      -0.0003116120315247439,
      0.0025590038289369232,
      0.009686177147050667,
      0.003354921788675247,
      0.006316150913965535,
      0.006316150913965535
    ],
    "min_front_frame": [
      5,
      22.959705873890464
    ],
    "v_avg": 2.7164284597173842,
    "v_std": 1.1236563553476422,
    "vy_max": 0.021809967893814175,
    "a_max": 1.0468706562103705,
    "ax_avg": 0.7517148651759608,
    "a_std": 0.22638842276020282,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "77c1bc7a68b55fb9",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.177557898180697,
    "speed_mode": "accelerating",
    "front_frame": [
      27.902233399975465,
      27.397355449273494,
      26.638167672037333,
      25.620452913854514,
      24.3984580890155,
      22.959705873890464,
      27.311951917153593,
      25.50863529555043,
      23.652031256574126,
      29.339335997614484
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "77c1bc7a68b55fb9",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "f9f38dec4f2c58d7": {
    "vx_ego": [
      0.19017167188880688,
      0.8326909593456149,
      1.4955713907645942,
      2.1320408514759133,
      2.6259512107615763,
      2.9308716700240365,
      3.1446755119301146,
      3.4026598773833516,
      3.740809268918115,
      4.174443869356238
    ],
    "vy_ego": [
      -0.005280802591331964,
      0.025070265030954754,
      0.04171622434054045,
      0.027538255594647034,
      0.006939725627856941,
      -0.014091637925719436,
      -0.007204479514524964,
      -0.022346250317980987,
      -0.0582347249709505,
      -0.06656363074449012
    ],
    "v_ego": [
      0.19024497802831128,
      0.8330682756921204,
      1.4961530764753896,
      2.1322186913830703,
      2.625960380716354,
      2.930905546142508,
      3.144683764682548,
      3.4027332537326167,
      3.741262523482698,
      4.17497453110121
    ],
    "ax_ego": [
      1.2848763016847518,
      1.2850728955987873,
      1.3644340089911882,
      1.177864269347106,
      0.8054241098844165,
      0.4393187422922058,
      0.4509923312968606,
      0.6100875059604172,
      0.7743424455237771,
      0.9895301263578984
    ],
    "ay_ego": [
      0.06582949127956338,
      0.06187313565561547,
      0.07917358019418,
      0.19918124545832083,
      0.5217954411615798,
      0.8754185482187202,
      1.2054182755847447,
      1.3745042183440672,
      1.3657722899859612,
      1.2189217780450698
    ],
    "a_ego": [
      1.2865615541252629,
      1.286561553878597,
      1.366729168742853,
      1.1945867090952083,
      0.9596762366549003,
      0.9794685252189461,
      1.2870226501512227,
      1.5038180113213957,
      1.5700127932705645,
      1.5700127935664832
    ],
    "yaw": [
      -0.051684511614544286,
      -0.0486055769943769,
      -0.03247740311760776,
      0.013111253256904935,
      0.09586690829050801,
      0.22680978986029968,
      0.3954697395524024,
      0.5976567054752904,
      0.7999815498637932,
      0.9661076395573199
    ],
    "yaw_diff": [
      0.006157869240334776,
      0.03225634775353828,
      0.09117731274902538,
      0.16551131006720615,
      0.26188576313958334,
      0.3373198993842054,
      0.40437393184577597,
      0.4046496887770057,
      0.3322521793870534,
      0.3322521793870534
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.467220502143683,
    "v_std": 1.2257332026242511,
    "vy_max": 0.06656363074449012,
    "a_max": 1.5700127935664832,
    "ax_avg": 0.918194273693741,
    "a_std": 0.20542849073725328,
    "ini_direction_judge": "left",
    "scenario_type": "side_ego_to_main",
    "scene_token": "f9f38dec4f2c58d7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "f9f38dec4f2c58d7",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "f8682fec1c2e5c59": {
    "vx_ego": [
      2.477808743125693,
      2.760104003139519,
      2.9903009441769477,
      3.1756709616635126,
      3.3477534566470237,
      3.4641132838754305,
      3.549565935960378,
      3.664049738126454,
      3.7783770039545903,
      3.880097733577563
    ],
    "vy_ego": [
      -0.02203104024377911,
      -0.02484682103780189,
      -0.03092256671241045,
      -0.006461514518777189,
      -0.009144477292242659,
      -0.012986970579176305,
      0.0006934058302876522,
      -0.0024916819344346086,
      -0.02074886523306546,
      -0.004849062079036601
    ],
    "v_ego": [
      2.4779066839258395,
      2.760215838057322,
      2.9904608243342077,
      3.1756775352549154,
      3.3477659458147673,
      3.464137627884759,
      3.5495660036886085,
      3.664050585341774,
      3.7784339744689635,
      3.880100763577769
    ],
    "ax_ego": [
      0.564487381609828,
      0.5664460931820895,
      0.3666895507759725,
      0.3841311695665536,
      0.30868657532942084,
      0.16604436796019903,
      0.18034256715188823,
      0.27542029541192037,
      0.18278878253841505,
      0.227330810721439
    ],
    "ay_ego": [
      0.10412989936464714,
      0.09288629527260509,
      0.41159474261844653,
      0.5337098315996447,
      0.5760937348049757,
      0.6866834090907493,
      0.7316160537586971,
      0.6805785966789294,
      0.6073644476527488,
      0.5921351316095259
    ],
    "a_ego": [
      0.5740113587189815,
      0.5740113590607088,
      0.5512453707736962,
      0.6575735242379284,
      0.653583501222416,
      0.7064735214088319,
      0.7535154223002885,
      0.7341958630925745,
      0.6342738456647922,
      0.6342738458974146
    ],
    "yaw": [
      -2.2475458101404335,
      -2.2276627060125973,
      -2.1820884705551427,
      -2.1133461766774766,
      -2.0277605400036047,
      -1.9344990955344963,
      -1.8373176203304946,
      -1.7383050230925594,
      -1.6472183404204428,
      -1.5729847633902887
    ],
    "yaw_diff": [
      0.03976620825567245,
      0.0911484709149093,
      0.13748458775533212,
      0.17117127334774374,
      0.1865228889382169,
      0.19436295040800333,
      0.19802519447587041,
      0.18217336534423323,
      0.1484671540603082,
      0.1484671540603082
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.308831578234893,
    "v_std": 0.4321052764975933,
    "vy_max": 0.03092256671241045,
    "a_max": 0.7535154223002885,
    "ax_avg": 0.32223675942477265,
    "a_std": 0.0654121095910265,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "f8682fec1c2e5c59",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f8682fec1c2e5c59",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "bf4d95ea76b75de7": {
    "vx_ego": [
      4.16199347698657,
      3.826105950793081,
      3.5164617280214463,
      3.191954461906125,
      2.800141595714512,
      2.425119044924009,
      2.1820913482266144,
      2.0092121444590676,
      1.6916513252652836,
      1.2481878426967492
    ],
    "vy_ego": [
      -0.0022290525713011267,
      0.006526168714304559,
      -0.007582173496752942,
      -0.013875443287533984,
      0.012440591271914103,
      0.0012568061319042645,
      -0.01752617810295387,
      0.010109540540377382,
      0.041158255433301205,
      0.040221550751549706
    ],
    "v_ego": [
      4.161994073897046,
      3.826111516614788,
      3.516469902330249,
      3.191984620077115,
      2.8001692313790265,
      2.425119370590815,
      2.1821617306983323,
      2.0092375778517937,
      1.6921519459735592,
      1.24883572330424
    ],
    "ax_ego": [
      -0.6717690486780956,
      -0.6717762453503229,
      -0.5668445987100705,
      -0.730972887212485,
      -0.8362524397891784,
      -0.6636820405985895,
      -0.3083125311996673,
      -0.383019191206482,
      -0.8869506453141125,
      -0.8869509417729426
    ],
    "ay_ego": [
      0.013317772291195906,
      0.012949702930421053,
      -0.045785101330958006,
      0.05176156419813535,
      0.02440191841181022,
      -0.08839749721656476,
      0.02503179749861853,
      0.11219107881824388,
      -0.0011418922887896366,
      -0.0008819832916118764
    ],
    "a_ego": [
      0.6719010476407027,
      0.6719010482377322,
      0.5686906668749426,
      0.7328032623890222,
      0.8366083890779067,
      0.6695431043086474,
      0.30932702400656437,
      0.399112188486983,
      0.8869513803704913,
      0.8869513802945664
    ],
    "yaw": [
      -0.33108412888245475,
      -0.33163203126734236,
      -0.3300193398012613,
      -0.3277117776833506,
      -0.33012940935000323,
      -0.33198776312057776,
      -0.3306857165611264,
      -0.3275170563400867,
      -0.3292346133971699,
      -0.32894158099435666
    ],
    "yaw_diff": [
      -0.0010958047697752216,
      0.003225382932162124,
      0.004615124235821444,
      -0.004835263333305306,
      -0.0037167075411490558,
      0.0026040931189027505,
      0.006337320442079353,
      -0.0034351141141664154,
      0.0005860648056265072,
      0.0005860648056265072
    ],
    "min_front_frame": [
      9,
      12.688887443264282
    ],
    "v_avg": 2.7054235692716966,
    "v_std": 0.9092012718335445,
    "vy_max": 0.041158255433301205,
    "a_max": 0.8869513803704913,
    "ax_avg": -0.6606530569831947,
    "a_std": 0.18415652161404542,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "bf4d95ea76b75de7",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 27.026397370853402,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      22.893264248190096,
      20.939167090835674,
      20.372237642394943,
      18.95955767899727,
      17.551403877067067,
      16.290726326240634,
      15.198153090003721,
      14.234594743402841,
      13.326403810607369,
      12.688887443264282
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "bf4d95ea76b75de7",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "a6706582212458bb": {
    "vx_ego": [
      5.286997423784598,
      5.435925085653068,
      5.728744310151957,
      6.080522545572076,
      6.492630831581551,
      6.992036908425392,
      7.543300162925034,
      8.096719220568932,
      8.621528599686155,
      9.124620059743417
    ],
    "vy_ego": [
      -0.04389038953083675,
      -0.031862642306442424,
      -0.09809889726900645,
      -0.05934964634888651,
      -0.08172563514650344,
      -0.056089166865622264,
      -0.06211852501443316,
      -0.024308961010918395,
      0.011113351138316574,
      0.046208925360738284
    ],
    "v_ego": [
      5.287179600259305,
      5.43601846619445,
      5.72958417031671,
      6.080812183231123,
      6.493145169688065,
      6.992261874631313,
      7.543555929343588,
      8.096755712155073,
      8.621535762367389,
      9.124737064675067
    ],
    "ax_ego": [
      0.08384035194801746,
      0.5364482672899633,
      0.6770737101814568,
      0.7489000952415973,
      0.905820230929625,
      1.0921309641504822,
      1.1190626116887394,
      1.0939959461323132,
      1.00587325964135,
      1.0078758458728496
    ],
    "ay_ego": [
      2.235276038986495,
      2.1715688805034135,
      2.069125992764926,
      1.6864003221294102,
      1.2270661629076016,
      0.685514785365128,
      0.5061927739715009,
      0.06938388272978935,
      -0.16309187412469628,
      -0.15022071718371321
    ],
    "a_ego": [
      2.2368478211719998,
      2.2368478147270663,
      2.1770877756659983,
      1.8452093103848821,
      1.5251890567776127,
      1.289449713564069,
      1.2282232098851518,
      1.0961939852674782,
      1.019009310000169,
      1.0190093152494246
    ],
    "yaw": [
      -0.015220781540702994,
      0.18947281849292846,
      0.39120444500269935,
      0.5435861337823046,
      0.6632368964935503,
      0.7305586439678253,
      0.7723949979788993,
      0.7859551457532756,
      0.7789243110795521,
      0.7661412132371809
    ],
    "yaw_diff": [
      0.4093872000672629,
      0.4034632530195418,
      0.30476337755921046,
      0.2393015254224915,
      0.13464349494855,
      0.08367270802214799,
      0.027120295548752615,
      -0.014061669347447125,
      -0.025566195684742388,
      -0.025566195684742388
    ],
    "min_front_frame": [
      4,
      28.84360570350161
    ],
    "v_avg": 6.940558593286207,
    "v_std": 1.2923813460059779,
    "vy_max": 0.09809889726900645,
    "a_max": 2.2368478211719998,
    "ax_avg": 0.8271021283076394,
    "a_std": 0.48608607184193736,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "a6706582212458bb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      28.84360570350161,
      30.491148894087402,
      32.11098851715045,
      33.43146599180907,
      34.73846806159013,
      36.01573860695874
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a6706582212458bb",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "f23b50abdf445d29": {
    "vx_ego": [
      1.8646448183377742,
      2.1203673427148773,
      2.4077221966916005,
      2.7085714771364797,
      2.9824159102145194,
      3.2563994961682097,
      3.5542734705611196,
      3.7832486751372802,
      3.8728410357024443,
      3.9067589082038987
    ],
    "vy_ego": [
      0.0055783244793149445,
      0.01167862504017858,
      0.008024494555387784,
      0.0070647028664516665,
      0.002182357073298835,
      6.203005539040518e-05,
      0.0034360680763223517,
      0.0011638498641242112,
      0.00043592580403961634,
      0.003316544132618615
    ],
    "v_ego": [
      1.8646531624562,
      2.1203995044176414,
      2.4077355687355486,
      2.7085806904694354,
      2.9824167086748785,
      3.256399496759004,
      3.554275131457666,
      3.7832488541562386,
      3.872841060236282,
      3.906760315951761
    ],
    "ax_ego": [
      0.5114332975959172,
      0.5114401035753662,
      0.6378934988425178,
      0.5655057653182363,
      0.5299012708483875,
      0.5660710168832381,
      0.6253657439557103,
      0.2905402902593792,
      0.06782896918106562,
      0.067837115447921
    ],
    "ay_ego": [
      0.014244601091881942,
      0.013998092432287612,
      -0.014190414089369885,
      0.009161480997524285,
      -0.03675046520777492,
      0.04185026136639236,
      0.0009079042847455199,
      -0.014568639177057474,
      0.011370564508318873,
      0.011321866340897109
    ],
    "a_ego": [
      0.5116316316942305,
      0.5116316312904472,
      0.6380513174640242,
      0.5655799707753378,
      0.5311741273252341,
      0.5676159269538327,
      0.6253664030018476,
      0.2909053205279608,
      0.0687754229169388,
      0.06877542358819537
    ],
    "yaw": [
      0.889138532320813,
      0.8896205248223706,
      0.8912244692658315,
      0.8911086067173373,
      0.890401610314558,
      0.8914916261186407,
      0.89364455799527,
      0.8933365319494235,
      0.8933179642533119,
      0.8940358649151978
    ],
    "yaw_diff": [
      0.0009639850031153419,
      0.003207888886921806,
      -0.00023172509698854427,
      -0.0014139928055585393,
      0.002180031608165489,
      0.0043058637532584765,
      -0.0006160520916929091,
      -3.713539222327533e-05,
      0.001435801323771857,
      0.001435801323771857
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.0457310493314655,
    "v_std": 0.7105148770510753,
    "vy_max": 0.01167862504017858,
    "a_max": 0.6380513174640242,
    "ax_avg": 0.4373817071907739,
    "a_std": 0.2054309336398428,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "f23b50abdf445d29",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "f23b50abdf445d29",
    "pedestrians": "No"
  },
  "aed7c50719f959a1": {
    "vx_ego": [
      0.6156804940339341,
      1.503522678964499,
      2.426500819796536,
      3.3847008424150435,
      4.34932668159859,
      5.300438465047426,
      6.177486305564795,
      6.822595354160997,
      7.3109392995548665,
      7.820122051474742
    ],
    "vy_ego": [
      -0.005243562870674972,
      0.0017209214982694572,
      -0.007561747986852635,
      -0.008417064058281729,
      0.017114578343147835,
      0.02011741864193159,
      0.0007793607336376712,
      -0.011515298338724268,
      -0.010403741849663055,
      -0.01789695200923534
    ],
    "v_ego": [
      0.615702822541401,
      1.5035236638415064,
      2.426512602173308,
      3.384711308163883,
      4.349360354357554,
      5.300476641990523,
      6.177486354727441,
      6.822605072017217,
      7.310946702009273,
      7.82014253072492
    ],
    "ax_ego": [
      1.7756835558688795,
      1.775686688648557,
      1.9162133750742942,
      1.9165916462014096,
      1.9419086873935443,
      1.8622677836430297,
      1.6459397746638331,
      0.934912069440912,
      1.0183775894712594,
      1.0183741083891544
    ],
    "ay_ego": [
      0.014581229950344953,
      0.014196061790823666,
      -0.04603763023315677,
      0.04336128008011409,
      0.06830661709099305,
      -0.010278489485843763,
      0.07843853907594991,
      0.12293589081357291,
      -0.0092551717545769,
      -0.009628346042237664
    ],
    "a_ego": [
      1.7757434225839084,
      1.775743434287185,
      1.916766329579874,
      1.9170820897653849,
      1.943109658283066,
      1.8622961486672394,
      1.6478077394625865,
      0.9429601321564,
      1.0184196448132272,
      1.0184196235761143
    ],
    "yaw": [
      -1.592257143632831,
      -1.5920402325291154,
      -1.5913612518466045,
      -1.5912971576053074,
      -1.5906798114144665,
      -1.58830037539951,
      -1.5819913346579786,
      -1.5724847991119495,
      -1.568614717373643,
      -1.5682482750904039
    ],
    "yaw_diff": [
      0.00043382220743115596,
      0.0013579613650218647,
      0.00012818848259410487,
      0.0012346923816819455,
      0.004758872029912986,
      0.01261808148306276,
      0.019013071092058187,
      0.007740163476612771,
      0.0007328845664784644,
      0.0007328845664784644
    ],
    "min_front_frame": [
      0,
      12.530109474363744
    ],
    "v_avg": 4.571146805254703,
    "v_std": 2.3949094535286433,
    "vy_max": 0.02011741864193159,
    "a_max": 1.943109658283066,
    "ax_avg": 1.5805955278794874,
    "a_std": 0.39450420106273254,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "aed7c50719f959a1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.364398458572706,
    "right_rear_min": 11.564275966986246,
    "speed_mode": "accelerating",
    "front_frame": [
      12.530109474363744,
      13.94599225678258,
      15.388449682842182,
      16.767450145042762,
      18.065348581289893,
      19.188863604528507,
      20.109903325507055,
      20.884833380837296,
      21.561734916283843,
      22.27841101371798
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "aed7c50719f959a1",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "8fdb21d863c5504b": {
    "vx_ego": [
      2.521203209953169,
      2.5766788667280838,
      2.674954884358674,
      2.746028884116302,
      2.8962318280211368,
      3.176349092183969,
      3.515446509233978,
      3.8502694442898706,
      4.161826866412178,
      4.4638127049333765
    ],
    "vy_ego": [
      -0.004345710769163569,
      -0.0435328534493622,
      -0.01780101919214383,
      -0.007102632995643288,
      -0.0050319220970793666,
      0.009931645164047431,
      0.0412325739765802,
      0.06843747707197378,
      0.09556988311451176,
      0.09576355219118016
    ],
    "v_ego": [
      2.5212069552260585,
      2.5770465831204072,
      2.675014113913907,
      2.746038069618936,
      2.896236199256312,
      3.1763646190249615,
      3.515688308772849,
      3.850877624892825,
      4.162924028678487,
      4.464839809293599
    ],
    "ax_ego": [
      -0.032599935546679504,
      0.230898072920244,
      0.16095904850544196,
      0.13594043362236505,
      0.4433844714662287,
      0.6491774681208209,
      0.691435153247967,
      0.6477455413072967,
      0.6057148433101796,
      0.6071907687278386
    ],
    "ay_ego": [
      -1.2023062507879794,
      -1.1803767009073756,
      -1.4159757709869898,
      -1.6048978613970937,
      -1.4997777087553568,
      -1.2401103449898925,
      -0.8446640575944951,
      -0.40356935409793204,
      -0.11660832616857483,
      -0.1086615971965254
    ],
    "a_ego": [
      1.202748135097908,
      1.2027481349489852,
      1.4250948036246491,
      1.610644885445082,
      1.5639446809963755,
      1.3997517825910097,
      1.0915768142183289,
      0.7631792121451585,
      0.616837071792959,
      0.616837071140835
    ],
    "yaw": [
      -2.2331998567022096,
      -2.4534823239971537,
      -2.708237022953421,
      -2.9886345069365445,
      3.016681898510133,
      2.7852277397840606,
      2.6202161431271414,
      2.528297755107654,
      2.4891192735880905,
      2.4760158374185064
    ],
    "yaw_diff": [
      -0.4405649345898883,
      -0.5095093979125345,
      -0.5607949679662472,
      -0.5557378034658171,
      -0.4629083174521451,
      -0.33002319331383845,
      -0.18383677603897475,
      -0.07835696303912698,
      -0.026206872339168186,
      -0.026206872339168186
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.2586236311798347,
    "v_std": 0.66628294047436,
    "vy_max": 0.09576355219118016,
    "a_max": 1.610644885445082,
    "ax_avg": 0.41398458656817033,
    "a_std": 0.353373222889977,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "8fdb21d863c5504b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8fdb21d863c5504b",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "a3af72210c7553c4": {
    "vx_ego": [
      2.9811821051782186,
      2.7927141699576365,
      2.613080408311406,
      2.4527650449201888,
      2.2980969430187432,
      2.1419510931526236,
      2.0065054363323265,
      1.9076564884095415,
      1.8251666157010895,
      1.7395753061367838
    ],
    "vy_ego": [
      -0.09090911235519997,
      -0.050614834635414906,
      -0.006212990188851589,
      0.009958936805283508,
      0.015156135009537039,
      0.00398475795553517,
      -0.02781899534609588,
      -0.033556517499968984,
      -0.014578410930396545,
      0.01951924571051271
    ],
    "v_ego": [
      2.9825678887401783,
      2.7931728010574894,
      2.6130877944585005,
      2.452785262921446,
      2.2981469204427554,
      2.141954799652337,
      2.0066982739149513,
      1.9079516025407324,
      1.8252248368721657,
      1.7396848124513797
    ],
    "ax_ego": [
      -0.37707869136339833,
      -0.377177602545031,
      -0.34160602591732636,
      -0.2995355139623803,
      -0.3191206584903129,
      -0.30525456361836184,
      -0.2366455319410978,
      -0.15902496163879629,
      -0.17116089534734633,
      -0.17119867343260706
    ],
    "ay_ego": [
      0.07299326345424102,
      0.07248041534105754,
      0.0825171933667708,
      -0.035993102519157036,
      0.042637136095413766,
      -0.1038829135969167,
      -0.03516495309161846,
      -0.0032096573169789378,
      0.06620876328751865,
      0.06611100955577234
    ],
    "a_ego": [
      0.38407858048846366,
      0.3840785785091764,
      0.35143102330920944,
      0.3016902841552275,
      0.32195639464019,
      0.32244690779602925,
      0.2392439794720462,
      0.15905734916788053,
      0.18352016900648255,
      0.18352016611143274
    ],
    "yaw": [
      -3.10796601735848,
      -3.109325876200808,
      -3.111420576036341,
      -3.113217059704195,
      -3.114704180300029,
      -3.1165705134326247,
      -3.118002611427917,
      -3.1199827777300735,
      -3.1217110735810456,
      -3.1222820605210533
    ],
    "yaw_diff": [
      -0.0027197176846556204,
      -0.004189399671066241,
      -0.0035929673357077974,
      -0.0029742411916675593,
      -0.003732666265191753,
      -0.002864195990584406,
      -0.003960332604313166,
      -0.003456591701944234,
      -0.0011419738800153567,
      -0.0011419738800153567
    ],
    "min_front_frame": [
      6,
      10.132595010400996
    ],
    "v_avg": 2.276127499305194,
    "v_std": 0.40359147758656616,
    "vy_max": 0.09090911235519997,
    "a_max": 0.38407858048846366,
    "ax_avg": -0.2757803118256658,
    "a_std": 0.08099894367784614,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a3af72210c7553c4",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.823516577266632,
      12.32888073371539,
      11.446853929581843,
      10.986190621302647,
      10.472920028565303,
      10.242728518487212,
      10.132595010400996,
      10.2741593844041,
      10.21077617475783,
      25.687811984371603
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a3af72210c7553c4",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "20162e17faf656f2": {
    "vx_ego": [
      5.081989503695482,
      5.200634275883331,
      5.346706239088382,
      5.504689149517523,
      5.660792845068839,
      5.805976780901711,
      5.947596007566926,
      6.066606382714926,
      6.1190497534710335,
      6.142685294222916
    ],
    "vy_ego": [
      0.0002614208325524281,
      -0.06699124045952987,
      -0.03898346444427281,
      -0.043969299835836306,
      -0.04003320391765808,
      -0.03876184236924329,
      -0.019765652973719128,
      0.002901993225757682,
      0.024141574864184,
      0.05270587389947723
    ],
    "v_ego": [
      5.0819895104193105,
      5.201065727116977,
      5.346848353713308,
      5.504864751485181,
      5.660934400979972,
      5.806106170299821,
      5.9476288510854065,
      6.066607076806784,
      6.119097376336712,
      6.142911405270793
    ],
    "ax_ego": [
      0.22709888953999147,
      0.2549350987057899,
      0.3352994738005401,
      0.3007825076735386,
      0.32780815646819134,
      0.25551849621618133,
      0.3124743327467742,
      0.16390181275089905,
      0.04529825312291433,
      0.047505849525572255
    ],
    "ay_ego": [
      0.4788923640502799,
      0.4646718171914899,
      0.3817500059887772,
      0.30504280237408943,
      0.29050425640002175,
      0.2137633928543908,
      0.19412444108185137,
      0.18298719894223406,
      0.19581025546476993,
      0.1952864108220308
    ],
    "a_ego": [
      0.5300111338226425,
      0.5300111340756648,
      0.5080933026554774,
      0.4283937770353581,
      0.4380078885517974,
      0.3331433475745828,
      0.367864794796788,
      0.24565854188233618,
      0.20098156104768936,
      0.20098156132067763
    ],
    "yaw": [
      -2.498487753159229,
      -2.4395026038814795,
      -2.404625674215315,
      -2.372090121591338,
      -2.3461117935258082,
      -2.3243804298146165,
      -2.3102442975906907,
      -2.29836024345974,
      -2.286332891801706,
      -2.2750437476036938
    ],
    "yaw_diff": [
      0.11797029855549912,
      0.06975385933232925,
      0.06507110524795401,
      0.051956656131059376,
      0.04346272742238355,
      0.02827226444785147,
      0.023768108261901233,
      0.02405470331606807,
      0.022578288396024604,
      0.022578288396024604
    ],
    "min_front_frame": [
      9,
      56.199053903190624
    ],
    "v_avg": 5.687805362351426,
    "v_std": 0.3704723597424862,
    "vy_max": 0.06699124045952987,
    "a_max": 0.5300111340756648,
    "ax_avg": 0.22706228705503925,
    "a_std": 0.123117295575787,
    "ini_direction_judge": "left",
    "scenario_type": "lane_change",
    "scene_token": "20162e17faf656f2",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.198218130765944,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      76.65686768707091,
      73.93744074378031,
      71.12747845725802,
      68.23270973823568,
      65.30964262933293,
      62.26513582138103,
      59.22646766221559,
      56.199053903190624
    ],
    "safe_frame": [
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_change",
    "lane_change_frame": 9,
    "token": "20162e17faf656f2",
    "smoothness": "No"
  },
  "94693a54967757f6": {
    "vx_ego": [
      11.43272253399386,
      11.227460493178224,
      10.996989009285748,
      10.726747165698372,
      10.521523467913571,
      10.46968806981719,
      10.624136801065578,
      10.805822359393938,
      10.809536958698057,
      10.738949579315124
    ],
    "vy_ego": [
      0.01707064896512339,
      0.03993385832774696,
      0.0016103255976986919,
      0.014443167728565784,
      0.023733390816999878,
      0.0059974440517164,
      0.0200508472598816,
      0.032902706082093,
      0.058126232741026795,
      0.11077855990371593
    ],
    "v_ego": [
      11.432735278416407,
      11.227531511375007,
      10.996989127188408,
      10.726756889289142,
      10.521550235573448,
      10.469689787601519,
      10.624155721949474,
      10.805872452090368,
      10.809693238958815,
      10.739520937006771
    ],
    "ax_ego": [
      -0.41244304197812126,
      -0.409723776975514,
      -0.5139969213179235,
      -0.5672347488398396,
      -0.2537967177303863,
      0.045656271595891994,
      0.5711638282933857,
      0.15518122475736273,
      -0.14075390890066333,
      -0.14088026499922598
    ],
    "ay_ego": [
      0.27008824674906123,
      0.27419582378931284,
      0.16454547427918972,
      0.1368617306593468,
      0.2571302331990038,
      0.2629692773569223,
      0.10480655450918551,
      0.12764394232577062,
      0.05984282315138967,
      0.059544762839153824
    ],
    "a_ego": [
      0.4930080363525001,
      0.4930080356369261,
      0.5396925497262929,
      0.5835121195060712,
      0.36128760116518177,
      0.26690323334433363,
      0.5807000366960924,
      0.20093329373117783,
      0.15294713581347227,
      0.15294714069842302
    ],
    "yaw": [
      -1.606074213945612,
      -1.5960822148936682,
      -1.5827785537035137,
      -1.5770262736165153,
      -1.5685985348303602,
      -1.554470029666031,
      -1.5470386268676972,
      -1.5428349680364981,
      -1.5408387657335112,
      -1.5429554237992942
    ],
    "yaw_diff": [
      0.0199839981038874,
      0.02660732238030894,
      0.011504560173996925,
      0.016855477572310207,
      0.02825701032865835,
      0.014862805596667528,
      0.008407317662398217,
      0.003992404605973832,
      -0.004233316131565967,
      -0.004233316131565967
    ],
    "min_front_frame": [
      9,
      43.630981941413765
    ],
    "v_avg": 10.835449517944935,
    "v_std": 0.2891515504931116,
    "vy_max": 0.11077855990371593,
    "a_max": 0.5835121195060712,
    "ax_avg": -0.16668280560950335,
    "a_std": 0.16762778883994744,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "94693a54967757f6",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.286223216468631,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      75.44526731306694,
      70.1881890321053,
      64.95129269795213,
      59.67872405866803,
      54.31308680071244,
      48.91443832798469,
      43.630981941413765
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.42857142857142855,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5714285714285714,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "94693a54967757f6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b1a1b2a18fa4504f": {
    "vx_ego": [
      1.902686098049459,
      1.7243621780260272,
      1.4982387803601982,
      1.2239394330720978,
      1.036700964637228,
      1.196361068585996,
      1.7709647224802247,
      2.4358188239186536,
      2.9109386375635724,
      3.297683798501725
    ],
    "vy_ego": [
      0.011713110330848098,
      -0.010431237388980996,
      -0.021192395112054063,
      -0.025977583754702827,
      -0.025021133766367165,
      -0.014814601153245621,
      -0.011022634103181828,
      -0.02435080443973492,
      -0.010305555196586047,
      0.17303938479079495
    ],
    "v_ego": [
      1.9027221511992491,
      1.7243937287406637,
      1.4983886547173932,
      1.2242150835072163,
      1.0370028675055405,
      1.196452790057157,
      1.770999025051124,
      2.435940537992115,
      2.910956879812612,
      3.302220626122601
    ],
    "ax_ego": [
      -0.35994101982526927,
      -0.35299864225024546,
      -0.5552015088001679,
      -0.5471761471889511,
      -0.20758508554676475,
      0.8434464758099308,
      1.4577701479982097,
      1.2133913430816015,
      0.7039108489547422,
      0.8934346131457169
    ],
    "ay_ego": [
      -0.17554103980461722,
      -0.1891141267923533,
      -0.15374913998668385,
      -0.12685310244507012,
      -0.048021498770681806,
      -0.06503287383962897,
      -0.26085068348466556,
      -0.6391556416499162,
      -0.9956239730187635,
      -0.829778378311703
    ],
    "a_ego": [
      0.40046497276109067,
      0.4004649727291403,
      0.576096791711799,
      0.5616880323208642,
      0.21306720086780187,
      0.8459498993652245,
      1.4809243341471363,
      1.371436650275283,
      1.2193266908117173,
      1.2193266851342328
    ],
    "yaw": [
      2.737560010863059,
      2.699488198636356,
      2.653696514856577,
      2.6056460231565914,
      2.5645852594004204,
      2.525540281107391,
      2.4649542782018328,
      2.3658417467514252,
      2.2116974471504642,
      2.004787302159449
    ],
    "yaw_diff": [
      -0.07614362445340639,
      -0.09158336755955787,
      -0.09610098339997108,
      -0.08212152751234214,
      -0.07808995658605866,
      -0.12117200581111653,
      -0.1982250629008151,
      -0.308288599201922,
      -0.4138202899820307,
      -0.4138202899820307
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.9003292344705673,
    "v_std": 0.7197703488582609,
    "vy_max": 0.17303938479079495,
    "a_max": 1.4809243341471363,
    "ax_avg": 0.3089051025378802,
    "a_std": 0.4366134810836735,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "b1a1b2a18fa4504f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.28981147653758,
    "right_rear_min": 8.778910254579099,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "b1a1b2a18fa4504f",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "27d74807a89a5268": {
    "vx_ego": [
      10.851517218268176,
      10.60818941527154,
      10.276764513197898,
      9.813458675428643,
      9.28948611386748,
      8.792516684762303,
      8.285277805617236,
      7.748646664601159,
      7.224010081154898,
      6.690800842281307
    ],
    "vy_ego": [
      -0.09467400518233582,
      0.023428160447940827,
      0.011055184530178619,
      0.003962463396004812,
      0.00661978668499655,
      0.01775972392255723,
      -0.011488129946630676,
      -0.0394189258958164,
      -0.05608358105622452,
      0.11203145053752883
    ],
    "v_ego": [
      10.85193020184096,
      10.608215285757595,
      10.27677045947941,
      9.813459475407328,
      9.289488472532407,
      8.792534620893868,
      8.285285770170105,
      7.748746929959285,
      7.224227780233101,
      6.691738709556866
    ],
    "ax_ego": [
      -0.4900737645104626,
      -0.48091377674397107,
      -0.8465794604732269,
      -1.0082686490632342,
      -1.0892006382438497,
      -0.9020274881751983,
      -1.1272944877564635,
      -1.019299635899995,
      -1.079767582810607,
      -1.043649369815892
    ],
    "ay_ego": [
      0.5730481817053812,
      0.5807567886749044,
      0.5959565378454863,
      0.5440506543066636,
      0.46545779274920596,
      0.08833950390521174,
      -0.02908273211152265,
      -0.19196205152806087,
      -0.5260262267028664,
      -0.5944725666605909
    ],
    "a_ego": [
      0.7540268650501121,
      0.7540268617590077,
      1.0353071901111854,
      1.145686162583501,
      1.1844868032957447,
      0.9063429027547336,
      1.1276695736931,
      1.0372179987701353,
      1.2010835208543644,
      1.2010835273323581
    ],
    "yaw": [
      -1.669922145803905,
      -1.6540446054884954,
      -1.624818435088201,
      -1.5958005853264077,
      -1.5696850935576039,
      -1.5555674562543236,
      -1.5504242713899443,
      -1.5538390898030472,
      -1.5755669341404621,
      -1.6400127310937556
    ],
    "yaw_diff": [
      0.03175508063081933,
      0.05845234080058903,
      0.05803569952358645,
      0.05223098353760758,
      0.028235274606560612,
      0.010286369728758515,
      -0.006829636826205743,
      -0.04345568867482985,
      -0.1288915939065869,
      -0.1288915939065869
    ],
    "min_front_frame": [
      6,
      34.78626402986447
    ],
    "v_avg": 8.958239770583091,
    "v_std": 1.3775033622780488,
    "vy_max": 0.11203145053752883,
    "a_max": 1.2010835273323581,
    "ax_avg": -0.90870748534929,
    "a_std": 0.1651670011508658,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "27d74807a89a5268",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      34.78626402986447,
      36.89779425991458,
      66.53801578818299,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      -1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "27d74807a89a5268",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "fac7dc214370509e": {
    "vx_ego": [
      4.020763841714525,
      3.1309476173385127,
      2.105723091452739,
      0.9746253673233721,
      0.1763184981547872,
      -0.07110508435154927,
      -0.057356600872776956,
      -0.030743301296655628,
      -0.013246550240783549,
      -0.005890406878797851
    ],
    "vy_ego": [
      0.04235076499394763,
      0.006102986154440271,
      0.008830800147613505,
      0.024511319287576744,
      0.021785258159163202,
      0.0025830595924131294,
      -0.003102193755397496,
      0.000664806478904858,
      0.00040172608720712025,
      -3.645674058581493e-05
    ],
    "v_ego": [
      4.020986876145522,
      3.130953565442597,
      2.1057416082958818,
      0.9749335420445004,
      0.17765925324795523,
      0.07115198674316055,
      0.05744043236062091,
      0.030750488488336922,
      0.013252640383363061,
      0.005890519696234211
    ],
    "ax_ego": [
      -1.785943067652989,
      -1.7758423873735554,
      -2.327944115816749,
      -2.2006261976729697,
      -0.9934774509329306,
      0.003818551819445056,
      0.0511791858591878,
      0.05527424068987037,
      0.014712301481829514,
      0.014712106625244466
    ],
    "ay_ego": [
      0.1966203936437706,
      0.273195971846892,
      0.19802957220304085,
      0.03897430252570344,
      -0.03855040294650472,
      -0.03804779731914087,
      0.015268236565279139,
      -0.00018601274625664778,
      -0.0008789630778019046,
      -0.0008822150489522754
    ],
    "a_ego": [
      1.7967337643887031,
      1.7967337654271367,
      2.336351753874563,
      2.200971298800136,
      0.9942251148907533,
      0.03823893590094016,
      0.05340812778054119,
      0.05527455368054537,
      0.01473853422102693,
      0.014738534009363346
    ],
    "yaw": [
      -0.34905672993659353,
      -0.30606492903210614,
      -0.263249114778928,
      -0.23466639091429697,
      -0.22799617214430506,
      -0.22872690131426957,
      -0.2285895782287552,
      -0.22866946048999515,
      -0.22848277391608834,
      -0.22826165526075276
    ],
    "yaw_diff": [
      0.0859836018089748,
      0.0856316285063563,
      0.05716544772926202,
      0.013340437539983818,
      -0.0014614583399290004,
      0.00027464617102873623,
      -0.00015976452247989936,
      0.00037337314781360487,
      0.00044223731067116745,
      0.00044223731067116745
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.0588760912848172,
    "v_std": 1.4207302275397555,
    "vy_max": 0.04235076499394763,
    "a_max": 2.336351753874563,
    "ax_avg": -0.8944136832973616,
    "a_std": 0.9541475575605571,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "fac7dc214370509e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "fac7dc214370509e",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "e194cef299cf5264": {
    "vx_ego": [
      4.107793937578152,
      4.343989946091251,
      4.638310920105243,
      4.968306367789887,
      5.1871537446236795,
      5.304476248490437,
      5.436854857653994,
      5.592193214464228,
      5.732339959388919,
      5.860023012391309
    ],
    "vy_ego": [
      0.015506987354892199,
      0.008101340018775827,
      0.0066604475860320145,
      0.001954339705598329,
      -0.011477194796289614,
      -0.0035569155999050084,
      0.015573884967035434,
      0.02270168530550143,
      0.016291867062728616,
      -0.014994765446598446
    ],
    "v_ego": [
      4.107823207035649,
      4.343997500396608,
      4.638315702184317,
      4.968306752170725,
      5.187166441937626,
      5.304477441034863,
      5.4368771633253585,
      5.592239293379304,
      5.732363110876642,
      5.860042196840097
    ],
    "ax_ego": [
      0.46800916026589656,
      0.4751487865909908,
      0.7023816659949441,
      0.6170478339776131,
      0.25715998148008745,
      0.21277400274554042,
      0.31603472693231566,
      0.3045591436536016,
      0.2552546647914561,
      0.2554503888527805
    ],
    "ay_ego": [
      0.24539088839939874,
      0.23126368735590122,
      0.3065059882870752,
      0.3073466275295923,
      0.17970288142426416,
      0.19779739282648395,
      0.12103088500261,
      0.10035544074647187,
      0.02667460802694854,
      0.024730095580966522
    ],
    "a_ego": [
      0.5284404055352276,
      0.5284404058059328,
      0.7663458263614867,
      0.6893547554563455,
      0.3137266033778807,
      0.2905109031573749,
      0.33841752872996744,
      0.32066725194574164,
      0.25664465435927153,
      0.2566446547124652
    ],
    "yaw": [
      -0.23791864288965014,
      -0.2079636505964858,
      -0.1775176415656918,
      -0.14466432949358365,
      -0.11827479999981942,
      -0.10181186784068871,
      -0.09050571624464204,
      -0.08176408514365359,
      -0.07503079413142938,
      -0.06741581838683934
    ],
    "yaw_diff": [
      0.05990998458632868,
      0.060892018061588005,
      0.0657066241442163,
      0.052779058987528465,
      0.032925864318261416,
      0.02261230319209334,
      0.017483262201976907,
      0.01346658202444842,
      0.015229951489180077,
      0.015229951489180077
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.117160880918119,
    "v_std": 0.5626941544500138,
    "vy_max": 0.02270168530550143,
    "a_max": 0.7663458263614867,
    "ax_avg": 0.38638203552852257,
    "a_std": 0.1769702272194629,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "e194cef299cf5264",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "e194cef299cf5264",
    "pedestrians": "No"
  },
  "7f08b90f7a44554b": {
    "vx_ego": [
      10.344061077130208,
      10.175483765878965,
      10.037563561938683,
      9.899718370966951,
      9.634380297836525,
      9.214894274867847,
      8.736074017387784,
      8.264240032781503,
      7.849857213666811,
      7.483256904210756
    ],
    "vy_ego": [
      0.03625273800340323,
      0.06944541996146625,
      0.05865779234657831,
      0.011511541879410503,
      -0.005509355396371651,
      0.018664156395031495,
      0.017147667358213825,
      0.0010530412031952707,
      0.006675037403069739,
      0.022741739467272426
    ],
    "v_ego": [
      10.344124604257862,
      10.175720737914341,
      10.037734953492354,
      9.899725063861975,
      9.63438187308026,
      9.21491317635311,
      8.736090846584286,
      8.264240099871506,
      7.849860051687623,
      7.483291460389068
    ],
    "ax_ego": [
      -0.3382926007455054,
      -0.3372289802309787,
      -0.21644901227167831,
      -0.33563728703859347,
      -0.72570069169356,
      -0.9522618357509157,
      -0.9632545688442258,
      -0.924124279829801,
      -0.7333972361762773,
      -0.7331726784868625
    ],
    "ay_ego": [
      0.1836339616979671,
      0.18557996706878477,
      0.0034003573295235887,
      0.02850982515213113,
      0.059700397815356826,
      0.06986166854723623,
      0.00549551600675649,
      -0.0464969468747121,
      0.07583391518416772,
      0.07797504064112715
    ],
    "a_ego": [
      0.3849198820638502,
      0.38491987385023013,
      0.21647571998576096,
      0.3368459567529827,
      0.7281522034738501,
      0.9548210599687817,
      0.9632702451002293,
      0.9252932781770428,
      0.7373074587464593,
      0.7373074551654728
    ],
    "yaw": [
      -1.7023245095186672,
      -1.6965630364161417,
      -1.6908123577508993,
      -1.6852909035452441,
      -1.6813102424903974,
      -1.6804409902186686,
      -1.6781734065837641,
      -1.6774854624072288,
      -1.6772723163933598,
      -1.6743524133154395
    ],
    "yaw_diff": [
      0.01152294620505101,
      0.01150135733048474,
      0.011042908411310393,
      0.00796132210969347,
      0.0017385045434576973,
      0.0045351672698088485,
      0.0013758883530705646,
      0.0004262920277380289,
      0.005839806155840677,
      0.005839806155840677
    ],
    "min_front_frame": [
      8,
      18.059890470031128
    ],
    "v_avg": 9.164008286749239,
    "v_std": 0.9741276841020189,
    "vy_max": 0.06944541996146625,
    "a_max": 0.9632702451002293,
    "ax_avg": -0.6259519171068397,
    "a_std": 0.2670260769510009,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "7f08b90f7a44554b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 12.309792828872405,
    "right_rear_min": 3.0078537274432873,
    "speed_mode": "decelerating",
    "front_frame": [
      18.546375649821986,
      31.127748047237734,
      26.879173617793484,
      22.635509619557922,
      18.427874695639314,
      22.988634204090957,
      18.61437671933987,
      22.00083560260778,
      18.059890470031128,
      23.146839350095206
    ],
    "safe_frame": [
      0,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.8,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "7f08b90f7a44554b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b2f320b5d94753f9": {
    "vx_ego": [
      3.100742210726793,
      2.525672850504824,
      1.9618307072402137,
      1.472239487359372,
      1.070908193305888,
      0.7296573029812576,
      0.4417817110372814,
      0.1879959274610816,
      0.01783079614082884,
      -0.08417311230319983
    ],
    "vy_ego": [
      -0.032600988033396394,
      -0.007564084495543355,
      0.011894057782451117,
      0.013043952931209635,
      -0.00864195633895648,
      -0.014521781799470057,
      -0.014153869083661536,
      -0.024811425069069956,
      -0.028432451708035707,
      -0.03101045823917469
    ],
    "v_ego": [
      3.100913588251635,
      2.5256841772382033,
      1.961866762163315,
      1.4722972705429629,
      1.07094306193142,
      0.729801796339605,
      0.44200838478140375,
      0.18962614681501685,
      0.033561013112621906,
      0.08970374214608155
    ],
    "ax_ego": [
      -1.1501510646586788,
      -1.1501845113346785,
      -1.1051816976087985,
      -0.8531694461070644,
      -0.7521486303617498,
      -0.6129265566567881,
      -0.5385868606912475,
      -0.4766070156095291,
      -0.20401617303950287,
      -0.204015473611066
    ],
    "ay_ego": [
      0.04640013277464666,
      0.045563653645296465,
      0.03093515120392537,
      -0.027507715853356263,
      -0.060647990881082026,
      0.03443462809465875,
      -0.034064101160125926,
      -0.009256018151165335,
      -0.005133338257317238,
      -0.005160816685325517
    ],
    "a_ego": [
      1.151086636121277,
      1.151086641677203,
      1.105614565890607,
      0.8536127800133407,
      0.7545897832285883,
      0.6138930749464147,
      0.5396630147574507,
      0.4766968860819594,
      0.20408074388179895,
      0.20408073770350574
    ],
    "yaw": [
      1.0912878319198578,
      1.0905605649901688,
      1.0904115831535994,
      1.0902377299993442,
      1.0899573238049267,
      1.0891944637255442,
      1.0887169016963059,
      1.0881553597532863,
      1.0884994767887786,
      1.0883647768724547
    ],
    "yaw_diff": [
      -0.0014545338593778823,
      -0.00029796367313883465,
      -0.0003477063085104426,
      -0.0005608123888349859,
      -0.0015257201587650648,
      -0.0009551240584766418,
      -0.0011230838860392112,
      0.0006882340709846169,
      -0.00026939983264773204,
      -0.00026939983264773204
    ],
    "min_front_frame": [
      8,
      13.688844067901037
    ],
    "v_avg": 1.1616405943322268,
    "v_std": 1.021629565001321,
    "vy_max": 0.032600988033396394,
    "a_max": 1.151086641677203,
    "ax_avg": -0.7046987429679104,
    "a_std": 0.34243552454582243,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b2f320b5d94753f9",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.1843003522584805,
    "right_rear_min": 27.370518135993333,
    "speed_mode": "decelerating",
    "front_frame": [
      18.500376327651892,
      17.238610394536394,
      16.194536368330645,
      15.336699044655983,
      14.628987851331273,
      14.215194807753663,
      13.888486313481481,
      13.730916072416974,
      13.688844067901037,
      13.708630622357006
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b2f320b5d94753f9",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "32648fe3eaa45ed1": {
    "vx_ego": [
      7.517856082859116,
      7.9489660126196515,
      8.4408409858142,
      8.963396685997612,
      9.447705862264826,
      9.793639797733466,
      9.850196612817566,
      9.720916496456368,
      9.549295872777398,
      9.335046687261174
    ],
    "vy_ego": [
      -0.013884622024864957,
      -0.25750990747517477,
      -0.08637216887692745,
      -0.022647746632264543,
      0.033499874859739265,
      0.02909378912112448,
      0.011486849576641589,
      -0.010378130225089599,
      -0.01427427147220417,
      -0.10320088554800932
    ],
    "v_ego": [
      7.5178689045041605,
      7.953135986655216,
      8.441282882320515,
      8.963425297897032,
      9.447765254359826,
      9.793683011835446,
      9.85020331053506,
      9.720922036343287,
      9.54930654134998,
      9.335617123475219
    ],
    "ax_ego": [
      0.8455709680941672,
      0.9234430086123907,
      1.0515042961768961,
      1.0392220199607156,
      0.899155712466301,
      0.4853608416953815,
      -0.25840980151178355,
      -0.2589624475119393,
      -0.4274590478471041,
      -0.42612140671415266
    ],
    "ay_ego": [
      0.9190234457137642,
      0.8407421535971457,
      0.3777864114745682,
      0.0994168915377533,
      -0.15629113286448998,
      -0.13043662565803024,
      -0.1940690122103866,
      -0.08873231811608048,
      0.09013149361261474,
      0.09625734226179919
    ],
    "a_ego": [
      1.248837201501984,
      1.2488372027571368,
      1.1173109941163657,
      1.0439665344704587,
      0.9126378873752979,
      0.5025821922474992,
      0.3231693163307348,
      0.2737425314042873,
      0.4368580132344989,
      0.4368580194975863
    ],
    "yaw": [
      2.3764433034968553,
      2.4648883559636214,
      2.4812098055830774,
      2.487595193952237,
      2.479965855374406,
      2.4730104353073488,
      2.4666039841619822,
      2.4616134750229066,
      2.4620531870174576,
      2.476406231087447
    ],
    "yaw_diff": [
      0.1768901049335323,
      0.03264289923891184,
      0.012770776738319611,
      -0.015258677155662426,
      -0.013910840134114366,
      -0.012812902290733064,
      -0.009981018278151232,
      0.0008794239891019018,
      0.028706088139978547,
      0.028706088139978547
    ],
    "min_front_frame": [
      9,
      73.43876427018816
    ],
    "v_avg": 9.057321034927572,
    "v_std": 0.7785023821800576,
    "vy_max": 0.25750990747517477,
    "a_max": 1.2488372027571368,
    "ax_avg": 0.3873304143420873,
    "a_std": 0.3757124115529929,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "32648fe3eaa45ed1",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 20.567726187043224,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      78.1658299596437,
      73.43876427018816
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "32648fe3eaa45ed1",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "e7aded473b7e5183": {
    "vx_ego": [
      3.650947294271505,
      2.8543531480287867,
      2.106085203598302,
      1.429813486168899,
      0.8108923700223453,
      0.3142884592852534,
      0.016928801208283294,
      -0.060682804086086714,
      -0.036724075217161846,
      -0.02036902992507558
    ],
    "vy_ego": [
      -0.003157073791047793,
      -0.04360536606490584,
      -0.04323632592295035,
      -0.018513157929993307,
      -0.007497414284283799,
      -0.012788269529216328,
      -1.0912333249682264e-05,
      0.013979204942826635,
      0.006951219246943977,
      0.005944815174076285
    ],
    "v_ego": [
      3.650948659275195,
      2.8546862037028693,
      2.1065289612761124,
      1.4299333348960717,
      0.8109270293814397,
      0.3145485264270845,
      0.016928804725336956,
      0.06227215174204221,
      0.037376157501472045,
      0.021218817298392294
    ],
    "ax_ego": [
      -1.5930122900434858,
      -1.5931573438417652,
      -1.3999385254615777,
      -1.305120379364387,
      -1.1705712895559743,
      -0.8158620239364001,
      -0.37358281094340273,
      0.06312040809459288,
      0.03271041041036645,
      0.0327104652237053
    ],
    "ay_ego": [
      -0.06849333043797123,
      -0.06503210188122477,
      0.06551809189618651,
      0.03518829493806497,
      0.008048257675840165,
      -0.030949653196820637,
      0.08202577782170353,
      -0.02612487003867448,
      -0.0020117189708462723,
      -0.002010844109138557
    ],
    "a_ego": [
      1.5944840835028977,
      1.5944840847471757,
      1.4014708328885241,
      1.3055946617280916,
      1.170598957108861,
      0.816448849061962,
      0.3824818229140173,
      0.068313210673819,
      0.032772213267221864,
      0.032772214285618405
    ],
    "yaw": [
      2.6176214457970426,
      2.6197941014895507,
      2.6196933116854177,
      2.619951512022353,
      2.6197642876533407,
      2.6189259001565235,
      2.6188504036300984,
      2.619045188220256,
      2.6191824778356816,
      2.6191556724531413
    ],
    "yaw_diff": [
      0.0043453113850162595,
      -0.0002015796082659449,
      0.0005164006738702653,
      -0.00037444873802439105,
      -0.001676774993634389,
      -0.00015099305285026787,
      0.0003895691803155188,
      0.0002745792308509465,
      -5.3610765080591705e-05,
      -5.3610765080591705e-05
    ],
    "min_front_frame": [
      6,
      8.583956585414262
    ],
    "v_avg": 1.1305368646226015,
    "v_std": 1.262626312953988,
    "vy_max": 0.04360536606490584,
    "a_max": 1.5944840847471757,
    "ax_avg": -0.8122703379418329,
    "a_std": 0.6235725640306411,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e7aded473b7e5183",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.138065423842878,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      13.107985061855574,
      11.523802143866941,
      10.284163253443062,
      9.447105136202381,
      8.905307167264585,
      8.68177228253433,
      8.583956585414262,
      8.587330899866075,
      8.603769363538866,
      8.597240747392656
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e7aded473b7e5183",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "96a228d4d055523a": {
    "vx_ego": [
      7.972077929100736,
      7.724686056239252,
      7.491288468737042,
      7.273288063430046,
      7.087381768861347,
      6.90869318716542,
      6.694529291796688,
      6.456978743859844,
      6.24482931310007,
      6.065692792890428
    ],
    "vy_ego": [
      -0.13743380347006307,
      -0.06153774331435935,
      -0.05898018326527721,
      -0.04747523944033816,
      -0.051318051499377404,
      -0.041626508969895504,
      -0.017224778543754038,
      -0.002846499758355936,
      0.011713744314982844,
      -0.05548093632215112
    ],
    "v_ego": [
      7.973262478934915,
      7.724931168710136,
      7.491520645626666,
      7.273443005344436,
      7.087567557349833,
      6.908818590803706,
      6.694551451122006,
      6.456979371286448,
      6.24484029912373,
      6.065946520702113
    ],
    "ax_ego": [
      -0.5420151626018898,
      -0.4744099802361871,
      -0.4765408418126826,
      -0.4097525629471067,
      -0.34540444831418765,
      -0.38127099039345996,
      -0.48347711747227073,
      -0.47386488677202904,
      -0.37391106895714127,
      -0.34602701291670324
    ],
    "ay_ego": [
      -0.9385194174873897,
      -0.9744405101665978,
      -0.894085592388353,
      -0.84855175182921,
      -0.8508009734107713,
      -0.83543692759601,
      -0.8190495260556985,
      -0.653978358956276,
      -0.6491190602890088,
      -0.6644022520443973
    ],
    "a_ego": [
      1.0837892477281836,
      1.0837892494398709,
      1.0131536015984803,
      0.9423042175296383,
      0.9182409973813761,
      0.9183258833914411,
      0.9511005463416369,
      0.8076110604112673,
      0.7491094992850897,
      0.7491095021355176
    ],
    "yaw": [
      1.1889750694192174,
      1.1183232369618645,
      1.0566086800471401,
      0.9959860903341212,
      0.9373054634851755,
      0.875739806698621,
      0.8114827260457904,
      0.7532997092692766,
      0.6996186006071966,
      0.6571680230769956
    ],
    "yaw_diff": [
      -0.1413036649147057,
      -0.12342911382944877,
      -0.12124517942603785,
      -0.11736125369789141,
      -0.12313131357310914,
      -0.12851416130566107,
      -0.11636603355302766,
      -0.10736221732415996,
      -0.08490115506040197,
      -0.08490115506040197
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.992186108900398,
    "v_std": 0.6029421636688934,
    "vy_max": 0.13743380347006307,
    "a_max": 1.0837892494398709,
    "ax_avg": -0.43066740724236585,
    "a_std": 0.11610904823417577,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "96a228d4d055523a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 12.68350433810438,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "96a228d4d055523a",
    "road_shape": "Curve"
  },
  "0f8e3ba3d90958d1": {
    "vx_ego": [
      2.7848807716722455,
      3.3940011533078236,
      3.904074726638202,
      4.206841365215491,
      4.416779622319666,
      4.593835829552886,
      4.746169943745714,
      4.858364570977263,
      5.00938608477078,
      5.370663054739941
    ],
    "vy_ego": [
      0.012507703773553924,
      -0.0320917285314577,
      0.050340991599465035,
      0.07654202502291474,
      0.02660573770587038,
      0.0037053814247387518,
      0.013312005637138635,
      0.0731662391479383,
      0.07881513010843344,
      0.15721594439365028
    ],
    "v_ego": [
      2.7849088593854354,
      3.3941528704074266,
      3.9043992734619715,
      4.2075376354446,
      4.416859755235287,
      4.593837323930328,
      4.74618861239303,
      4.8589154760170645,
      5.010006064969296,
      5.372963660841207
    ],
    "ax_ego": [
      1.1845816031370242,
      1.2433570577175646,
      0.8332997001775837,
      0.4600807104445428,
      0.4359800796849944,
      0.286433750868876,
      0.3414971432378258,
      0.15079014973419638,
      0.5384892461179761,
      0.991286276598772
    ],
    "ay_ego": [
      -0.7032067677403788,
      -0.5931243910757229,
      -1.0623465846695295,
      -1.5492496503227478,
      -1.7614409712125854,
      -1.7886785586604543,
      -1.9064031918281008,
      -1.9687521757449524,
      -2.1624208576989,
      -1.9958422178032262
    ],
    "a_ego": [
      1.377582423191641,
      1.3775824172313706,
      1.3501735652408045,
      1.6161215112572171,
      1.8145944243682857,
      1.8114677142716218,
      1.936748158293165,
      1.974518371339539,
      2.2284601486219024,
      2.228460150089913
    ],
    "yaw": [
      -0.47379642728864824,
      -0.5644140651167646,
      -0.6983380998632307,
      -0.8635105081488357,
      -1.043272432723549,
      -1.2338143850395782,
      -1.433311584212725,
      -1.6456515675549077,
      -1.8574163807333726,
      -2.0743435016968323
    ],
    "yaw_diff": [
      -0.18123527565623276,
      -0.26784806949293216,
      -0.33034481657120995,
      -0.3595238491494266,
      -0.38108390463205843,
      -0.3989943983462938,
      -0.42467996668436525,
      -0.4235296263569297,
      -0.43385424192691957,
      -0.43385424192691957
    ],
    "min_front_frame": [
      0,
      36.792763927198145
    ],
    "v_avg": 4.328976953208565,
    "v_std": 0.744280845135199,
    "vy_max": 0.15721594439365028,
    "a_max": 2.228460150089913,
    "ax_avg": 0.6465795717719356,
    "a_std": 0.31648121985154454,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "0f8e3ba3d90958d1",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 35.017340470325706,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      36.792763927198145,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0f8e3ba3d90958d1",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "96c8893a610b51ba": {
    "vx_ego": [
      7.231463536025978,
      6.9090877967953155,
      6.574407621070705,
      6.221831024732722,
      5.808002336080144,
      5.266542091590957,
      4.645505735424158,
      3.9985314284315,
      3.2640659811259343,
      2.4606571254019567
    ],
    "vy_ego": [
      -0.024477433200750465,
      -0.0020123479841456238,
      0.009502974835624567,
      -0.007720367732100719,
      -0.03567066626612592,
      -0.03510659969142216,
      -0.009841902519883483,
      0.012709581308071094,
      0.0029105701081608704,
      -0.007607308379247835
    ],
    "v_ego": [
      7.231504962150648,
      6.909088089854576,
      6.574414489102684,
      6.22183581464543,
      5.808111873263487,
      5.266659100021678,
      4.645516160869959,
      3.9985516274785646,
      3.2640672788044616,
      2.4606688846596567
    ],
    "ax_ego": [
      -0.6447556603333573,
      -0.644775782455004,
      -0.6939604261235732,
      -0.7164633561704066,
      -0.9388216977167756,
      -1.2271130705897697,
      -1.2567677721097426,
      -1.3309917297911775,
      -1.6068295376599404,
      -1.6068120490576798
    ],
    "ay_ego": [
      0.03747818850378942,
      0.03713046770020195,
      0.04103302206964726,
      -0.0462707444481133,
      -0.056725894533755816,
      0.04820625145377622,
      0.09848319257188176,
      -0.04008627180187585,
      -0.024473201878494,
      -0.02559553583509011
    ],
    "a_ego": [
      0.6458440029491868,
      0.6458440069181555,
      0.6951724835792765,
      0.71795593355494,
      0.9405338947717214,
      1.2280595794551166,
      1.2606205504563364,
      1.3315952440435812,
      1.607015899332251,
      1.6070158967638202
    ],
    "yaw": [
      0.5642180167723472,
      0.5636787284545761,
      0.5648680697625301,
      0.567354255379617,
      0.5677185190895615,
      0.5672351481331013,
      0.5695352045624447,
      0.567699207429013,
      0.565969465256732,
      0.5652709826789781
    ],
    "yaw_diff": [
      -0.0010785766355421167,
      0.002378682615908012,
      0.004972371234173822,
      0.0007285274198889358,
      -0.0009667419129204546,
      0.004600112858686778,
      -0.0036719942668632655,
      -0.0034594843445621137,
      -0.00139696515550769,
      -0.00139696515550769
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.238041828085114,
    "v_std": 1.5278622578429715,
    "vy_max": 0.03567066626612592,
    "a_max": 1.607015899332251,
    "ax_avg": -1.0667291082007426,
    "a_std": 0.36708182260342326,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "96c8893a610b51ba",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 6.532032208423381,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "96c8893a610b51ba",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "071f7885a37e591f": {
    "vx_ego": [
      6.040070683736183,
      5.558074565573066,
      5.067929435299155,
      4.535326601217077,
      3.994751644208649,
      3.617097200071009,
      3.4179414514574344,
      3.3117707288446847,
      3.249930262748937,
      3.1810797109716167
    ],
    "vy_ego": [
      0.06470127836645176,
      0.03671428030637955,
      -0.007537620332005827,
      -0.05278038441294303,
      -0.037097218309771,
      0.013989244799962807,
      0.00712321272547875,
      -0.031068208375403618,
      -0.030681443165019598,
      -0.0035522669595897463
    ],
    "v_ego": [
      6.040417214063242,
      5.558195823722716,
      5.067935040713514,
      4.535633709713123,
      3.994923891955143,
      3.6171242519067,
      3.4179488740691375,
      3.311916453355083,
      3.2500750858535654,
      3.1810816943542672
    ],
    "ax_ego": [
      -0.9639479582914658,
      -0.963907856122363,
      -0.9966861858438413,
      -1.1337869440786221,
      -1.0288418584660912,
      -0.48179509328428893,
      -0.314662855438432,
      -0.11020429167724823,
      -0.137721652365825,
      -0.13779398439741253
    ],
    "ay_ego": [
      -0.06301476956647466,
      -0.0636253030021707,
      -0.10985659643093561,
      -0.07989488681771802,
      0.1227216269454161,
      0.06522380203810366,
      -0.11043876484142157,
      -0.08192550637591818,
      0.04369960338279301,
      0.043470976407931364
    ],
    "a_ego": [
      0.966005448989705,
      0.9660054525086947,
      1.0027222072096207,
      1.1365984460233773,
      1.0361352071289203,
      0.4861899384655367,
      0.3334807841126177,
      0.13731997123155326,
      0.14448843852082618,
      0.1444884352672327
    ],
    "yaw": [
      1.5660531055791438,
      1.5654197243347212,
      1.5655854961105655,
      1.565129962960554,
      1.5639595552082004,
      1.5628625495769297,
      1.5615934099420197,
      1.5586288233937915,
      1.5556013095347132,
      1.553941689994741
    ],
    "yaw_diff": [
      -0.0012667624888451634,
      0.0003315435516886289,
      -0.0009110663000231334,
      -0.0023408155047071055,
      -0.0021940112625413732,
      -0.0025382792698200873,
      -0.005929173096456353,
      -0.00605502771815658,
      -0.0033192390799445803,
      -0.0033192390799445803
    ],
    "min_front_frame": [
      7,
      14.01976750752678
    ],
    "v_avg": 4.19752520397065,
    "v_std": 0.9909783018074514,
    "vy_max": 0.06470127836645176,
    "a_max": 1.1365984460233773,
    "ax_avg": -0.6269348679965591,
    "a_std": 0.4010991130126746,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "071f7885a37e591f",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.637193785861798,
    "right_rear_min": 3.3118080139040433,
    "speed_mode": "decelerating",
    "front_frame": [
      23.12715443712402,
      20.949895059322753,
      18.940851088035558,
      17.25977586662556,
      15.930930598679963,
      15.013471283631517,
      14.356792533771088,
      14.01976750752678,
      14.150017307517858,
      14.704688686213192
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "071f7885a37e591f",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6fbe0e06902e5304": {
    "vx_ego": [
      7.970985901225506,
      7.5494811345099615,
      7.049306568880425,
      6.448056489262204,
      5.80754239733103,
      5.154412846520899,
      4.502771573562566,
      3.867844322017185,
      3.30263103822718,
      2.7876168065743805
    ],
    "vy_ego": [
      0.011843764841558663,
      0.002353588343010471,
      -0.007591553486375607,
      -0.004557386156882087,
      0.01897680671277832,
      0.020256840551588398,
      0.028077082059065145,
      0.03760963314219487,
      0.02595630210091776,
      0.012128077009315855
    ],
    "v_ego": [
      7.970994700305691,
      7.549481501381396,
      7.049310656634806,
      6.448058099806872,
      5.807573401687701,
      5.154452651055087,
      4.502859110189887,
      3.868027169483905,
      3.3027330355752786,
      2.7876431892456917
    ],
    "ax_ego": [
      -0.8430360726093187,
      -0.8430270577173822,
      -1.1576621091713974,
      -1.247288320410407,
      -1.3148246994522967,
      -1.297753793735384,
      -1.308816225841743,
      -1.2308982531878394,
      -1.0300365289185474,
      -1.0300447492730946
    ],
    "ay_ego": [
      0.005009351023772483,
      0.006348787442075825,
      -0.05835727803243396,
      0.08458409018871389,
      0.03562524972341987,
      -0.01795556134007887,
      0.05075961447980519,
      -0.012069478414682144,
      -0.02587077096989029,
      -0.025540862860154865
    ],
    "a_ego": [
      0.8430509553509941,
      0.8430509635517957,
      1.159132059305808,
      1.250153039649653,
      1.315307244984106,
      1.2978780032567079,
      1.3098001570807523,
      1.2309574249380344,
      1.030361367529444,
      1.0303613546619037
    ],
    "yaw": [
      1.5915141763695002,
      1.5931030086450177,
      1.5926864536694478,
      1.593207547569452,
      1.5942697842185976,
      1.594842420966462,
      1.5949212559243322,
      1.5949547800202266,
      1.5955638218193924,
      1.595884109725282
    ],
    "yaw_diff": [
      0.0031776645510350754,
      -0.0008331099511398321,
      0.0010421878000084206,
      0.0021244732982910186,
      0.0011452734957289046,
      0.00015766991574039935,
      6.704819178882104e-05,
      0.001218083598331532,
      0.0006405758117793425,
      0.0006405758117793425
    ],
    "min_front_frame": [
      9,
      14.99493862143872
    ],
    "v_avg": 5.444113351536632,
    "v_std": 1.7213548429452423,
    "vy_max": 0.03760963314219487,
    "a_max": 1.315307244984106,
    "ax_avg": -1.1303387810317411,
    "a_std": 0.17460035567714355,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6fbe0e06902e5304",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.988854473178125,
    "right_rear_min": 9.074646295885335,
    "speed_mode": "decelerating",
    "front_frame": [
      39.489774646157954,
      35.639342379294284,
      31.9550175870717,
      28.580512330174713,
      25.52916612100185,
      22.8022706022595,
      20.412116493775894,
      18.320848817830697,
      16.532174726054624,
      14.99493862143872
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6fbe0e06902e5304",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "16e5aafc056f5e1e": {
    "vx_ego": [
      5.071512447971709,
      5.048092696797914,
      5.228366676523905,
      5.6044690964037835,
      6.157718643245747,
      6.788450233859682,
      7.444817078507805,
      7.95827644250662,
      8.112628428629346,
      8.093741138708957
    ],
    "vy_ego": [
      0.13076230982341916,
      0.12290958771169946,
      0.1586803990824115,
      0.19548343155202463,
      0.17403529956596087,
      0.11220300689122498,
      0.15333027345148986,
      0.0902389005266655,
      -0.011546708596696043,
      -0.0875252490153704
    ],
    "v_ego": [
      5.073197935385761,
      5.049588759712607,
      5.2307740892948695,
      5.607877283300375,
      6.160177527869734,
      6.789377445123007,
      7.446395873521512,
      7.958788035531798,
      8.112636645843597,
      8.094214371367054
    ],
    "ax_ego": [
      -0.19169700062011136,
      0.19754897539829375,
      0.6447599768404142,
      0.9720017756617686,
      1.2932537741827743,
      1.2681874723346775,
      1.399526807641249,
      0.6625909176566454,
      -0.04314022975831727,
      -0.03579403019605212
    ],
    "ay_ego": [
      -1.9832852291889063,
      -1.9827108800367683,
      -2.0395358669825963,
      -1.8267255950327854,
      -1.1836051774382388,
      -1.0455332734709883,
      -1.0467312761976832,
      -0.47815941826324726,
      -0.4289318343286085,
      -0.4296072527779247
    ],
    "a_ego": [
      1.9925280525918925,
      1.9925280503664413,
      2.139023604461555,
      2.0692302557805196,
      1.7531190890799733,
      1.6436055764451454,
      1.747661766440216,
      0.8171065740984602,
      0.4310958106083904,
      0.43109581793038954
    ],
    "yaw": [
      1.5129367111835306,
      1.317271704610558,
      1.113091221908361,
      0.9269749465457457,
      0.8019638229067784,
      0.7254977583269715,
      0.6460780902378016,
      0.6052645336314215,
      0.5898792761213214,
      0.5727664286281702
    ],
    "yaw_diff": [
      -0.3913300131459452,
      -0.4083609654043938,
      -0.37223255072523065,
      -0.25002224727793476,
      -0.15293212915961374,
      -0.15883933617833979,
      -0.08162711321276017,
      -0.03077051502020023,
      -0.03422569498630246,
      -0.03422569498630246
    ],
    "min_front_frame": [
      5,
      12.159696592062984
    ],
    "v_avg": 6.552302796695033,
    "v_std": 1.2199992270450783,
    "vy_max": 0.19548343155202463,
    "a_max": 2.139023604461555,
    "ax_avg": 0.6167238439141343,
    "a_std": 0.641482428877889,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "16e5aafc056f5e1e",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.528259754000407,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      12.159696592062984,
      39.809074517533794,
      22.032494571312927,
      21.006912270899107,
      20.330104099493116
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.4,
    "unsafe_ratio": 0.6,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "16e5aafc056f5e1e",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "cf50ffa22c81555d": {
    "vx_ego": [
      8.716027922826482,
      8.834345627639351,
      8.903449728416348,
      8.917872299348142,
      9.021423777998347,
      9.160620053330934,
      9.294128981617275,
      9.477659677160547,
      9.513193669485938,
      9.403253198137373
    ],
    "vy_ego": [
      -0.07514910623229731,
      0.008636834653894532,
      -0.008611454136965513,
      0.022327852244636404,
      0.03125111522881774,
      -0.01755611853235539,
      -0.014527151757228296,
      -0.031184286063572486,
      0.012376764046718947,
      0.04719121361223921
    ],
    "v_ego": [
      8.716351882505572,
      8.834349849508076,
      8.903453892932758,
      8.917900250645706,
      9.021477906332034,
      9.160636876265032,
      9.294140334914056,
      9.4777109797552,
      9.513201720631997,
      9.403371614422293
    ],
    "ax_ego": [
      0.23396651640016816,
      0.2414579971374662,
      0.03634862977645448,
      0.020421561824587986,
      0.39246657589021317,
      0.16151837431258165,
      0.3719329566267152,
      0.36559293286581634,
      -0.22383327104393266,
      -0.21781680908331913
    ],
    "ay_ego": [
      0.4578739038466413,
      0.45396791893800104,
      0.5465630767388246,
      0.5327766739465998,
      0.6662296805105224,
      0.5792029504454882,
      0.40669744503344396,
      0.48931992915583317,
      0.3721735398408433,
      0.37572638086741644
    ],
    "a_ego": [
      0.514187555878391,
      0.5141875492527372,
      0.5477704078725284,
      0.5331679139717215,
      0.7732347640814795,
      0.6013021229343348,
      0.5511233401170932,
      0.6108127254981668,
      0.4342976824528199,
      0.4342976808583785
    ],
    "yaw": [
      0.8638253894555352,
      0.8802565679676474,
      0.9103155723609024,
      0.9371180700548072,
      0.9697077758795771,
      1.0091949381514587,
      1.035651846110413,
      1.061289038571024,
      1.0792434557073576,
      1.0953320319437476
    ],
    "yaw_diff": [
      0.03286235702422435,
      0.06011800878651008,
      0.053604995387809495,
      0.06517941164953989,
      0.07897432454376307,
      0.05291381591790856,
      0.05127438492122227,
      0.035908834272667,
      0.03217715247278008,
      0.03217715247278008
    ],
    "min_front_frame": [
      8,
      17.47703351701134
    ],
    "v_avg": 9.124259530791273,
    "v_std": 0.27140927126486397,
    "vy_max": 0.07514910623229731,
    "a_max": 0.7732347640814795,
    "ax_avg": 0.13820554647067515,
    "a_std": 0.09261308744385288,
    "ini_direction_judge": "left",
    "scenario_type": "side_to_main_ego",
    "scene_token": "cf50ffa22c81555d",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 17.241799067509604,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      31.442089356257704,
      26.871755889141564,
      22.21500544758715,
      17.47703351701134,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      0,
      0,
      -1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.5,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "cf50ffa22c81555d",
    "merging_vehicles": "No"
  },
  "02e8fd3cc3c3556f": {
    "vx_ego": [
      6.85824840694781,
      6.931310172887004,
      7.048589641761964,
      7.198608971304708,
      7.384306096259552,
      7.52362471363114,
      7.648442033798938,
      7.761196377492062,
      7.900698109637968,
      8.150981446756841
    ],
    "vy_ego": [
      -0.06928778785830803,
      -0.0009755008024570078,
      -0.040298024060740234,
      -0.039284718579065014,
      -0.05531367049203739,
      -0.04679600910752679,
      -0.05362495196922934,
      -0.07973094537472791,
      -0.1525530374278361,
      -0.07364902630516479
    ],
    "v_ego": [
      6.858598399742361,
      6.931310241532166,
      7.048704836258733,
      7.198716164071373,
      7.384513262592145,
      7.523770244899139,
      7.648630019804601,
      7.761605905587209,
      7.902170780795959,
      8.15131417161981
    ],
    "ax_ego": [
      0.06319387101215632,
      0.24354459669941272,
      0.22055549938305646,
      0.3927707833972499,
      0.37675685841020295,
      0.21005310834890867,
      0.3268971567141191,
      0.16120200822721265,
      0.44075787062812066,
      0.6011108365871297
    ],
    "ay_ego": [
      1.6526334759818393,
      1.6358107864718692,
      1.3823163560197194,
      1.340828029744796,
      1.499584147017365,
      1.6568067165153755,
      1.8931483809771468,
      1.941534683576486,
      1.70800352358177,
      1.6583755009026393
    ],
    "a_ego": [
      1.6538412472995458,
      1.653841255900697,
      1.3998011417439782,
      1.3971716765092976,
      1.5461883275800927,
      1.67006910162948,
      1.921164371797522,
      1.9482153410203225,
      1.763956784359633,
      1.7639567851442843
    ],
    "yaw": [
      -3.090421008442447,
      -2.9808432193510974,
      -2.8674407628400056,
      -2.7717990270224884,
      -2.6723218013492502,
      -2.567988375752055,
      -2.4500079727084634,
      -2.3227097274928754,
      -2.1965042038054796,
      -2.1013088325364153
    ],
    "yaw_diff": [
      0.21915557818269882,
      0.22680491302218364,
      0.19128347163503445,
      0.19895445134647627,
      0.20866685119439055,
      0.23596080608718317,
      0.25459649043117594,
      0.2524110473747916,
      0.1903907425381286,
      0.1903907425381286
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.440933402690348,
    "v_std": 0.4104554702271259,
    "vy_max": 0.1525530374278361,
    "a_max": 1.9482153410203225,
    "ax_avg": 0.3036842589407569,
    "a_std": 0.17927749130367743,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "02e8fd3cc3c3556f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "02e8fd3cc3c3556f",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "b4dbd03935ce53fa": {
    "vx_ego": [
      7.193912049530444,
      6.639983883250403,
      6.0979291397396,
      5.599656831735167,
      5.062674202459587,
      4.534852376696151,
      4.083395052068292,
      3.6074124064638133,
      3.128102370628839,
      2.6666027794308143
    ],
    "vy_ego": [
      -0.0007643102223120479,
      0.013355322952245618,
      0.004735167188212763,
      -0.015342102288563364,
      -0.02132586216508736,
      -0.00587758106312819,
      -0.014024705370178525,
      -0.019086555334845157,
      -0.0048558819649073826,
      0.023384128404110527
    ],
    "v_ego": [
      7.193912090132144,
      6.639997314342548,
      6.097930978216598,
      5.599677849064262,
      5.062719118482369,
      4.534856185634323,
      4.083419136412099,
      3.607462898894955,
      3.128106139619214,
      2.66670530819012
    ],
    "ax_ego": [
      -1.1078980470772928,
      -1.1078440768911388,
      -1.0605666946994274,
      -0.9324276913549439,
      -1.21518621176023,
      -0.8961274375175415,
      -0.9096840937021242,
      -0.9942060634722122,
      -0.922979344934437,
      -0.9230028209131738
    ],
    "ay_ego": [
      0.04420855809768909,
      0.045540788332938564,
      0.013519696373975765,
      0.0126487083737018,
      0.04105205177879123,
      0.007383887212182139,
      -0.026566666598302757,
      0.013542819859346023,
      0.054160011265103836,
      0.05375850282562605
    ],
    "a_ego": [
      1.1087797253407712,
      1.10877971757458,
      1.06065286314407,
      0.9325134794891886,
      1.2158794348978137,
      0.8961578577807136,
      0.9100719411721254,
      0.9942982976022111,
      0.9245670219058425,
      0.9245670251743403
    ],
    "yaw": [
      -2.0424409781116584,
      -2.0412384667057304,
      -2.0375633013224146,
      -2.0329995524841795,
      -2.029382876836595,
      -2.0300845749412804,
      -2.0293071290725297,
      -2.0288387936837657,
      -2.028036426919045,
      -2.0284714375016675
    ],
    "yaw_diff": [
      0.0024050228118559502,
      0.0073503307666316076,
      0.009127497676470142,
      0.007233351295169221,
      -0.0014033962093709107,
      0.0015548917375012294,
      0.0009366707775280148,
      0.001604733529441127,
      -0.0008700211652445944,
      -0.0008700211652445944
    ],
    "min_front_frame": [
      9,
      14.256412091479572
    ],
    "v_avg": 4.8614787018988626,
    "v_std": 1.4430470942510298,
    "vy_max": 0.023384128404110527,
    "a_max": 1.2158794348978137,
    "ax_avg": -1.0069922482322522,
    "a_std": 0.10402141065142638,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b4dbd03935ce53fa",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.822538994288446,
    "right_rear_min": 11.319781509772826,
    "speed_mode": "decelerating",
    "front_frame": [
      35.9975609384834,
      32.55538811260057,
      29.377507510499647,
      26.4848991110054,
      23.84247562109318,
      21.43834312640278,
      19.278772848814334,
      17.353189266092627,
      15.697510796205412,
      14.256412091479572
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b4dbd03935ce53fa",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "eeae24d38eb15e0a": {
    "vx_ego": [
      6.537209186697893,
      5.9181698933905595,
      5.326449337550843,
      4.783511657418929,
      4.227593257830765,
      3.6369837319534213,
      2.957364222107344,
      2.1508648377695594,
      1.3536286807162217,
      0.6034451421763132
    ],
    "vy_ego": [
      -0.006930952112541355,
      0.01571156277698993,
      0.03382559378744565,
      0.03521058360336138,
      0.027231943807964232,
      0.01197481205511175,
      -0.004095104602441113,
      -0.0219755739528098,
      -0.028055454692823445,
      -0.02803950439428321
    ],
    "v_ego": [
      6.537212860902153,
      5.918190748889336,
      5.326556741112488,
      4.783641245104035,
      4.22768096388785,
      3.637003445505323,
      2.9573670573809876,
      2.150977098019416,
      1.3539193896962847,
      0.6040962286116905
    ],
    "ax_ego": [
      -1.2384219793472415,
      -1.2378121126208463,
      -1.1293781139336008,
      -1.0419786188840556,
      -1.1817328148081334,
      -1.1811962633606217,
      -1.5374221600145357,
      -1.6883958750595949,
      -1.5004131147320812,
      -1.5004118416862648
    ],
    "ay_ego": [
      0.10934086870511772,
      0.11604140435214749,
      0.0004656562243733342,
      -0.04444569342814153,
      0.01991335043250575,
      0.013909208300202924,
      -0.02459806515687213,
      -0.014593534367292382,
      -0.0009502632697049318,
      -0.0021713241426548624
    ],
    "a_ego": [
      1.243239487990761,
      1.2432394916808673,
      1.129378209931437,
      1.0429261056641703,
      1.181900582587132,
      1.181278154649714,
      1.5376189264291793,
      1.6884589429902004,
      1.5004134156492692,
      1.500413412803585
    ],
    "yaw": [
      2.5449052273806245,
      2.550317086633382,
      2.552280575308491,
      2.5498262017497724,
      2.5502342365631767,
      2.5562645927685628,
      2.5602738311535136,
      2.563415146301417,
      2.5646842305956086,
      2.5638704174465827
    ],
    "yaw_diff": [
      0.01082371850551489,
      0.003926977350218408,
      -0.004908747117437606,
      0.0008160696268086909,
      0.012060712410772112,
      0.008018476769901639,
      0.006282630295807223,
      0.0025381685883827387,
      -0.0016276262980516876,
      -0.0016276262980516876
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.7496645779109565,
    "v_std": 1.8731671652384827,
    "vy_max": 0.03521058360336138,
    "a_max": 1.6884589429902004,
    "ax_avg": -1.3237162894446977,
    "a_std": 0.20277705866823548,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "eeae24d38eb15e0a",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.268041987053616,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "eeae24d38eb15e0a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "1f2b81cc64b45658": {
    "vx_ego": [
      4.790811229762984,
      4.791197327697818,
      4.724932329091754,
      4.517621140636395,
      4.204512162571966,
      3.8375579246667693,
      3.4362214433941087,
      3.018610081382921,
      2.56205934171743,
      2.0696128340988222
    ],
    "vy_ego": [
      0.07267480026459605,
      0.00513979857046043,
      -0.035437624994159034,
      -0.042639083677942224,
      -0.025344218241554417,
      -0.004978880961915788,
      0.013984796356685925,
      0.005039328662036935,
      -0.0103765045428581,
      -0.02567815474283075
    ],
    "v_ego": [
      4.791362422716175,
      4.791200084578816,
      4.725065220688668,
      4.517822358369326,
      4.2045885476005695,
      3.8375611544870987,
      3.436249901065205,
      3.018614287758535,
      2.56208035438549,
      2.0697721253069274
    ],
    "ax_ego": [
      -0.0005563485344239338,
      0.004864362554062876,
      -0.271544977192176,
      -0.5624484427229088,
      -0.6929776055429684,
      -0.7764966712832786,
      -0.8290004468650825,
      -0.8412358946455898,
      -0.9850415949774917,
      -0.9849297802752365
    ],
    "ay_ego": [
      -0.30524078456520765,
      -0.30520251813337473,
      -0.27917624252574685,
      -0.15510122819853034,
      -0.13799953507850007,
      -0.08195984466599265,
      -0.02133810775625511,
      -0.06107610288521109,
      -0.04143570494461585,
      -0.04401347993591226
    ],
    "a_ego": [
      0.30524129158040736,
      0.30524128013427393,
      0.3894560938399783,
      0.5834420637133715,
      0.7065846258346894,
      0.7808101540398189,
      0.8292750181605159,
      0.8434501293993681,
      0.9859127047969602,
      0.9859127032801102
    ],
    "yaw": [
      2.7852095020572065,
      2.767450047014753,
      2.745434302657288,
      2.7236713670987247,
      2.7029816460998872,
      2.684290473758981,
      2.6719978465283947,
      2.6683873560964617,
      2.664750966146647,
      2.6621339067997916
    ],
    "yaw_diff": [
      -0.03551891008490671,
      -0.044031488714930234,
      -0.04352587111712669,
      -0.04137944199767496,
      -0.03738234468181201,
      -0.0245852544611731,
      -0.007220980863865911,
      -0.007272779899629711,
      -0.005234118693710599,
      -0.005234118693710599
    ],
    "min_front_frame": [
      2,
      15.347033123466886
    ],
    "v_avg": 3.795431645695681,
    "v_std": 0.9364932999890756,
    "vy_max": 0.07267480026459605,
    "a_max": 0.9859127047969602,
    "ax_avg": -0.5939367399485094,
    "a_std": 0.24918747699431734,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1f2b81cc64b45658",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.089564758022933,
    "right_rear_min": 46.72934685557435,
    "speed_mode": "decelerating",
    "front_frame": [
      20.118186243550348,
      17.73120784813751,
      15.347033123466886,
      73.30273581466581,
      74.74069867370413,
      76.69669127237833,
      78.72380712903276,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.42857142857142855,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5714285714285714,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1f2b81cc64b45658",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "218ebafd6210550e": {
    "vx_ego": [
      8.706635261578352,
      8.852474101764349,
      9.05616492559751,
      9.316227883088988,
      9.553422726704563,
      9.69753991056503,
      9.685554167158163,
      9.534725936385804,
      9.316870932393247,
      9.078643277509673
    ],
    "vy_ego": [
      -0.029373572034697037,
      0.006619013869888057,
      0.044434595889400796,
      0.05410003988583689,
      0.04675762490540247,
      0.021351921125092765,
      0.02607464314773189,
      0.016039029844162833,
      0.008996325069976052,
      -0.0027150344635922252
    ],
    "v_ego": [
      8.706684810241704,
      8.852476576289435,
      9.056273935396081,
      9.31638496327628,
      9.553537149694977,
      9.697563416731924,
      9.685589265087083,
      9.534739426563606,
      9.31687527579601,
      9.07864368348509
    ],
    "ax_ego": [
      0.27248256289042183,
      0.30839340992746195,
      0.5070354499107544,
      0.5349601944833755,
      0.4160226952072031,
      0.16094668086986788,
      -0.208342618397519,
      -0.39475224684229837,
      -0.4765239559651951,
      -0.4763542057882294
    ],
    "ay_ego": [
      -0.7655731147730354,
      -0.751826062374015,
      -0.5796770895952098,
      -0.32179939297712895,
      -0.23450246133474528,
      -0.11691213962437048,
      -0.10452751126309864,
      -0.06548094964206508,
      -0.0682188380871053,
      -0.06939426791839848
    ],
    "a_ego": [
      0.8126185705130173,
      0.8126185595662357,
      0.7701366603842296,
      0.6242894032435115,
      0.4775628621443664,
      0.19892783232764438,
      0.2330936448116753,
      0.4001463371731266,
      0.48138227063184813,
      0.4813822740733868
    ],
    "yaw": [
      2.584120845961947,
      2.5367975692587663,
      2.4952903632396533,
      2.4696964106183725,
      2.4557561772034324,
      2.4492898453190595,
      2.443119764378405,
      2.4397495798925446,
      2.4369536735413666,
      2.4344865553857518
    ],
    "yaw_diff": [
      -0.09464655340636163,
      -0.08301441203822613,
      -0.05118790524256145,
      -0.027880466829880213,
      -0.012932663768745911,
      -0.012340161881309264,
      -0.0067403689717204784,
      -0.0055918127023559805,
      -0.004934236311229689,
      -0.004934236311229689
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.279876850256219,
    "v_std": 0.32913893864557914,
    "vy_max": 0.05410003988583689,
    "a_max": 0.8126185705130173,
    "ax_avg": 0.06438679662958433,
    "a_std": 0.21175401361169313,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "218ebafd6210550e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "218ebafd6210550e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "b04c892043a352d3": {
    "vx_ego": [
      0.4131627601046486,
      0.16492731300933633,
      0.009279911533425797,
      -0.019284854568411478,
      -0.012642248187136032,
      -0.007040073558285551,
      -0.0041880213037489445,
      -0.0028922165675062486,
      -0.0021557777479095383,
      -0.001394976713321076
    ],
    "vy_ego": [
      0.01141759307984544,
      0.028912685752096087,
      0.01815514500464633,
      -0.000780920276863618,
      -0.0004956045351786334,
      -0.0006404891496333831,
      -0.00028297206724189894,
      -0.00010446439635126612,
      -0.00015029845741240536,
      -0.0001335376238079946
    ],
    "v_ego": [
      0.41332049038128793,
      0.16744241390364348,
      0.020389361152521275,
      0.01930065937224938,
      0.012651958863371076,
      0.00706914860905254,
      0.004197570205665912,
      0.002894102535063791,
      0.00216101071831735,
      0.0014013537482307447
    ],
    "ax_ego": [
      -0.49646341687360396,
      -0.4964679373505817,
      -0.12606929234514805,
      0.011810912606628546,
      0.014759609809467385,
      0.007649018712416597,
      0.003759037236509338,
      0.0014242031434880964,
      0.0015215874437044402,
      0.0015215928029981497
    ],
    "ay_ego": [
      0.03494755714274339,
      0.03488338381057152,
      -0.0779703040411722,
      0.00221484678921001,
      -0.0010795276816267024,
      0.0005010207888549887,
      0.0009307286659916178,
      -0.00021729186968861332,
      3.3545538925944945e-05,
      3.35688164472414e-05
    ],
    "a_ego": [
      0.49769192885163327,
      0.49769193612436274,
      0.1482323675338124,
      0.01201678837714516,
      0.014799035838294472,
      0.0076654099103547054,
      0.003872546551710166,
      0.0014406839870541174,
      0.001521957178116666,
      0.0015219630493456253
    ],
    "yaw": [
      -2.2908690078701603,
      -2.2909982537318108,
      -2.2913460473556384,
      -2.2912200881792795,
      -2.291128944929177,
      -2.291157393102365,
      -2.2912388816236113,
      -2.2911926163085514,
      -2.291151721061,
      -2.2911636171721748
    ],
    "yaw_diff": [
      -0.0002584917233008355,
      -0.0006955872476552827,
      0.00025191835271787255,
      0.00018228650020457593,
      -5.689634637562335e-05,
      -0.00016297704249268463,
      9.253063011982476e-05,
      8.179049510292913e-05,
      -2.3792222349605652e-05,
      -2.3792222349605652e-05
    ],
    "min_front_frame": [
      8,
      8.184567146092816
    ],
    "v_avg": 0.06508280694894034,
    "v_std": 0.12551652789560952,
    "vy_max": 0.028912685752096087,
    "a_max": 0.49769193612436274,
    "ax_avg": -0.10765546848141212,
    "a_std": 0.1941761510285448,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b04c892043a352d3",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      8.386130120371575,
      8.24389499815843,
      8.210104661330226,
      8.186845355370647,
      8.197498619120536,
      8.19502714192328,
      8.195285627943695,
      8.1942653308559,
      8.184567146092816,
      8.202315955629269
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b04c892043a352d3",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c6e62024ca7e5959": {
    "vx_ego": [
      9.19529409112907,
      9.127912230485034,
      9.051691460227994,
      8.995325422304417,
      8.984628592596252,
      8.952348173486474,
      8.913934331457344,
      8.930397420927015,
      8.960625340657106,
      8.972146242827204
    ],
    "vy_ego": [
      0.08850313828327039,
      0.05803086992582429,
      0.029585636141032268,
      0.059792500883170785,
      0.05712238798011171,
      0.05792887712547312,
      0.05448714290081025,
      0.06629432709449112,
      0.1080624325637336,
      0.15441164034036348
    ],
    "v_ego": [
      9.195719995075924,
      9.128096694782688,
      9.051739810723145,
      8.995524142389815,
      8.984810176854415,
      8.95253559468666,
      8.914100858430725,
      8.93064348373088,
      8.961276917100479,
      8.973474865254314
    ],
    "ax_ego": [
      -0.1623053045619917,
      -0.12139943134631004,
      -0.1900638438214769,
      -0.04509985722472348,
      -0.012572015592002495,
      -0.1252379124490084,
      -0.037843041891359536,
      0.09634990040089161,
      0.02252028031676489,
      0.022716487979348103
    ],
    "ay_ego": [
      0.8321023232716013,
      0.8390467635284873,
      0.935932575034209,
      0.8815960555313417,
      0.6598912227832429,
      0.6377683567571631,
      0.5064380537848447,
      0.22749275908880698,
      0.12164444344451744,
      0.1216079507712022
    ],
    "a_ego": [
      0.8477837508958033,
      0.8477837538658292,
      0.955036151011238,
      0.8827488896906701,
      0.6600109707288273,
      0.649948468415241,
      0.5078499760174972,
      0.24705517348377812,
      0.12371149359082231,
      0.12371148902542159
    ],
    "yaw": [
      1.8796653645158687,
      1.9286109809895513,
      1.980497566432137,
      2.0275912502974727,
      2.0707679125129363,
      2.1067902703002623,
      2.139233769957575,
      2.1585108782083178,
      2.1635937834617396,
      2.165206911382552
    ],
    "yaw_diff": [
      0.09789123294736513,
      0.10377317088517124,
      0.09418736773067149,
      0.08635332443092736,
      0.07204471557465197,
      0.06488699931462527,
      0.038554216501485605,
      0.01016581050684362,
      0.0032262558416249476,
      0.0032262558416249476
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.008792253902906,
    "v_std": 0.08574073303141354,
    "vy_max": 0.15441164034036348,
    "a_max": 0.955036151011238,
    "ax_avg": -0.055293473818986784,
    "a_std": 0.30319429616844806,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "c6e62024ca7e5959",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "c6e62024ca7e5959",
    "road_shape": "Straight"
  },
  "d782b032259d5cc0": {
    "vx_ego": [
      7.971041299552054,
      7.995694802061263,
      7.956506751046781,
      7.926353100271561,
      7.977894020316874,
      8.062043700354977,
      8.102754873909308,
      8.059372979847016,
      7.982971717151503,
      7.8901029625737955
    ],
    "vy_ego": [
      0.035711776490045644,
      -0.00918119661398542,
      0.016915335303767876,
      0.039381034941847304,
      0.05075760335966706,
      0.05668637724080705,
      0.02765341378219599,
      -0.03366221081305776,
      -0.04354816713236298,
      -0.023901293459440698
    ],
    "v_ego": [
      7.971121296915796,
      7.995700073294443,
      7.956524731817368,
      7.92645092939442,
      7.978055485750055,
      8.062242986402609,
      8.102802062123624,
      8.059443279329223,
      7.98309049677513,
      7.890139164288854
    ],
    "ax_ego": [
      0.04897726757596482,
      0.04922820979197032,
      -0.20596300808350115,
      0.08530090531890155,
      0.12086521903183256,
      0.21574604723523924,
      -0.05338257706924676,
      -0.12013560746084685,
      -0.1858397369781515,
      -0.18586101330897603
    ],
    "ay_ego": [
      0.03289725165907412,
      0.032520542780962766,
      0.033996063704864826,
      0.07190327822514105,
      -0.02673766887128865,
      0.04818541274699572,
      -0.09996252482688844,
      -0.10778189870360376,
      0.012856543523282457,
      0.012545180145608542
    ],
    "a_ego": [
      0.05900001615193092,
      0.059000019848222694,
      0.2087498336435974,
      0.11156310262692701,
      0.12378733419976189,
      0.2210615093118393,
      0.1133234569906882,
      0.1613985807500815,
      0.18628391919721518,
      0.1862839172154299
    ],
    "yaw": [
      1.1383616344388114,
      1.1460335044890126,
      1.1448512643578093,
      1.1453584275688833,
      1.1453477118906035,
      1.1452769290201639,
      1.1472592602568632,
      1.1484187416669218,
      1.1466944031571242,
      1.1450190583956426
    ],
    "yaw_diff": [
      0.015343740100402403,
      -0.002364480262406765,
      0.0010143264221480486,
      -2.1431356559631354e-05,
      -0.00014156574087920148,
      0.003964662473398661,
      0.002318962820117232,
      -0.00344867701959517,
      -0.003350689522963357,
      -0.003350689522963357
    ],
    "min_front_frame": [
      9,
      54.20949099237901
    ],
    "v_avg": 7.992557050609153,
    "v_std": 0.06197653721721957,
    "vy_max": 0.05668637724080705,
    "a_max": 0.2210615093118393,
    "ax_avg": -0.023106429394681376,
    "a_std": 0.055544773455815766,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "d782b032259d5cc0",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      78.37405633126188,
      74.40477645224247,
      70.3266543223599,
      66.22502109481579,
      62.21549721520461,
      58.23783456643105,
      54.20949099237901
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "d782b032259d5cc0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "2bd04a0902095129": {
    "vx_ego": [
      5.752501051199248,
      5.625276663350689,
      5.558115685818979,
      5.529260689600428,
      5.502794200730899,
      5.548711221859967,
      5.705139216437255,
      5.814543514303157,
      5.921961561793315,
      6.103440794435642
    ],
    "vy_ego": [
      -0.09732518845533167,
      0.003921694618989724,
      0.005802180050125061,
      0.009590984976609374,
      0.02571310380899905,
      0.028081221517800792,
      0.01006283357100557,
      -0.02706199611651927,
      -0.12334459232688566,
      -0.011178663684138002
    ],
    "v_ego": [
      5.75332430307525,
      5.625278030366726,
      5.558118714298959,
      5.5292690077941975,
      5.502854275674135,
      5.548782278896574,
      5.705148090939425,
      5.81460648981156,
      5.923245953682305,
      6.103451031482348
    ],
    "ax_ego": [
      -0.3336979781496451,
      -0.15142341589776723,
      -0.114864833895981,
      -0.0030543533882455565,
      -0.11110884301215362,
      0.28420036313134406,
      0.3353437696259358,
      0.09014532846586087,
      0.33905270272513965,
      0.4034393448878336
    ],
    "ay_ego": [
      1.5276829907780938,
      1.5563549117235727,
      1.6283895900863354,
      1.6561455827940632,
      1.685357688222685,
      1.765905299865322,
      1.8431422192319584,
      1.619568527252412,
      1.0105989159895177,
      0.9866628653765857
    ],
    "a_ego": [
      1.563703827754432,
      1.563703828136338,
      1.632435783474344,
      1.6561483992936465,
      1.689016196561422,
      1.7886283500203222,
      1.8734003000272637,
      1.6220753357075512,
      1.0659582094174282,
      1.0659582144327509
    ],
    "yaw": [
      -1.873050979265996,
      -1.7549832018341651,
      -1.6130548132647078,
      -1.4655133550566166,
      -1.3176238694694595,
      -1.1608249584333754,
      -0.9974538673661253,
      -0.8418573330722267,
      -0.7128935760883928,
      -0.6484409766395696
    ],
    "yaw_diff": [
      0.23613555486366167,
      0.28385677713891466,
      0.29508291641618234,
      0.2957789711743142,
      0.31359782207216824,
      0.32674218213450024,
      0.3111930685877973,
      0.2579275139676678,
      0.1289051988976464,
      0.1289051988976464
    ],
    "min_front_frame": [
      8,
      18.621437028202262
    ],
    "v_avg": 5.706407817602147,
    "v_std": 0.18568831425119217,
    "vy_max": 0.12334459232688566,
    "a_max": 1.8734003000272637,
    "ax_avg": 0.07380320844923216,
    "a_std": 0.2594299552753279,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "2bd04a0902095129",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.094797599971946,
    "right_rear_min": 32.81703763596557,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      18.621437028202262,
      19.811976427966226
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "2bd04a0902095129",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "182a718050bd598a": {
    "vx_ego": [
      2.251268226610372,
      2.6992558618723757,
      3.125144373211885,
      3.481062921746076,
      3.734728577608947,
      3.9524337706328287,
      4.172293730607149,
      4.348024703544366,
      4.440746478653024,
      4.478242175655092
    ],
    "vy_ego": [
      -0.015600754818379858,
      0.0044146035007053275,
      0.021809967893814175,
      0.02152112345788626,
      0.008195740945292851,
      0.016294711361119374,
      0.022828210110303893,
      0.03895235137781072,
      0.05215876733119784,
      0.055018282605570956
    ],
    "v_ego": [
      2.251322280726665,
      2.699259471887882,
      3.1252204767211924,
      3.48112944658917,
      3.734737570242197,
      3.9524673596194546,
      4.172356181061314,
      4.348199179926092,
      4.4410527833700355,
      4.478580131608333
    ],
    "ax_ego": [
      0.8959722660977528,
      0.8959851982975473,
      0.8075782039473934,
      0.6159615843078456,
      0.39850529154811165,
      0.47223581465849623,
      0.4069829024295304,
      0.2955240287751231,
      0.07452840253073119,
      0.07466894297099139
    ],
    "ay_ego": [
      0.04171056300265236,
      0.04143176544462407,
      0.026327837051296932,
      -0.010455333459062355,
      0.027573944028895153,
      0.03054992633672285,
      0.04700414761344249,
      0.08599272311532483,
      0.038515462697692744,
      0.03824228973060806
    ],
    "a_ego": [
      0.8969426250782938,
      0.8969426217747452,
      0.8080072465607578,
      0.6160503123453241,
      0.3994581201842743,
      0.473222952365323,
      0.40968826290587207,
      0.30778109105705104,
      0.08389233368192865,
      0.08389233438309447
    ],
    "yaw": [
      -0.5984921052563893,
      -0.5981809354663886,
      -0.598336741482151,
      -0.5970572395676825,
      -0.5922141509941572,
      -0.5905366900998196,
      -0.5873786146428368,
      -0.5833719020678961,
      -0.5793193084350945,
      -0.5756574662369784
    ],
    "yaw_diff": [
      0.000622339580001352,
      -0.0003116120315247439,
      0.0025590038289369232,
      0.009686177147050667,
      0.003354921788675247,
      0.006316150913965535,
      0.008013425149881348,
      0.008105187265603275,
      0.0073236843962321,
      0.0073236843962321
    ],
    "min_front_frame": [
      2,
      22.959705873890464
    ],
    "v_avg": 3.6684324881752333,
    "v_std": 0.7302078289505656,
    "vy_max": 0.055018282605570956,
    "a_max": 0.8969426250782938,
    "ax_avg": 0.4937942635563523,
    "a_std": 0.28733708810185526,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "182a718050bd598a",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.544549020756141,
    "speed_mode": "accelerating",
    "front_frame": [
      25.620452913854514,
      24.3984580890155,
      22.959705873890464,
      27.311951917153593,
      25.50863529555043,
      23.652031256574126,
      29.339335997614484,
      27.220137924108148,
      31.65294304508957,
      29.466192863816964
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "182a718050bd598a",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "ef43bbb93f0d50eb": {
    "vx_ego": [
      3.420946508712989,
      3.11411591604756,
      2.7432228856760483,
      2.226843065002093,
      1.615367696895395,
      1.1197590514653457,
      0.9270318308115086,
      1.0604167960830542,
      1.4690202816522964,
      2.0001407486474054
    ],
    "vy_ego": [
      -0.00017896822691443326,
      0.012475281106430147,
      0.0063242908189717895,
      -0.008069274079614441,
      -0.0005697426766295699,
      -0.0023420137071643587,
      -0.015647438033600414,
      -0.01254166676220786,
      -0.006308970777714529,
      -0.007711647738243399
    ],
    "v_ego": [
      3.4209465133943873,
      3.1141409042012564,
      2.7432301757510595,
      2.2268576850198776,
      1.6153677973699518,
      1.1197615006628756,
      0.9271638785321358,
      1.0604909593297926,
      1.4690338290924638,
      2.0001556149236595
    ],
    "ax_ego": [
      -0.6136157574063099,
      -0.6136354155514773,
      -0.8697839706954761,
      -1.195752858956284,
      -1.250166050212576,
      -0.7322733493737584,
      -0.03864780275744498,
      0.5721680712258405,
      1.062248638019743,
      1.0622481298266258
    ],
    "ay_ego": [
      0.00788790736115541,
      0.0061715728117767155,
      -0.056931667919352724,
      -0.006860068181526291,
      0.03325546444666949,
      -0.03952251930139433,
      -0.01464929390045647,
      0.026135399240786783,
      -0.0006581452281251843,
      -0.0012283184857214136
    ],
    "a_ego": [
      0.6136664540447503,
      0.6136664497347115,
      0.8716452090678112,
      1.1957725369975605,
      1.2506082836042933,
      0.7333391355539343,
      0.04133103518858828,
      0.5727646644336343,
      1.0622488419056715,
      1.0622488400024104
    ],
    "yaw": [
      -0.5695029491610583,
      -0.5722999725502617,
      -0.5745085899746283,
      -0.5751239903190966,
      -0.5755911701835976,
      -0.5754334289212586,
      -0.5756870076023097,
      -0.5759423460190172,
      -0.5758288221394319,
      -0.5752920576072424
    ],
    "yaw_diff": [
      -0.005594046778406803,
      -0.0044172348487332425,
      -0.0012308006889365508,
      -0.0009343597290021322,
      0.0003154825246780568,
      -0.0005071573621022729,
      -0.0005106768334148803,
      0.0002270477591705955,
      0.001073529064378853,
      0.001073529064378853
    ],
    "min_front_frame": [
      5,
      12.361905817110348
    ],
    "v_avg": 1.9697148858277458,
    "v_std": 0.8422246729492147,
    "vy_max": 0.015647438033600414,
    "a_max": 1.2506082836042933,
    "ax_avg": -0.2617210365881117,
    "a_std": 0.34690550890168675,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "ef43bbb93f0d50eb",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.79633635179119,
    "speed_mode": "decelerating",
    "front_frame": [
      16.738610719588756,
      15.356290930160768,
      14.07445117530184,
      12.994411356506856,
      12.397114593979733,
      12.361905817110348,
      12.685463766721176,
      13.054701116649651,
      13.4196217799658,
      13.705811016590204
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "ef43bbb93f0d50eb",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "16c1e641b6d350b1": {
    "vx_ego": [
      5.926988756575937,
      5.286676332581005,
      4.616907106393724,
      3.9229205775876754,
      3.2355288512229654,
      2.5158344627497913,
      1.8205956524614857,
      1.214538858441397,
      0.6537677057000209,
      0.09778176767474246
    ],
    "vy_ego": [
      -0.09044672180438629,
      -0.013617412221307745,
      -0.0372852285982429,
      -0.06312503111882356,
      -0.04637450023955127,
      -0.01649747629134913,
      -0.03262117419742394,
      -0.05371472017051321,
      -0.04096766961180806,
      -0.028704217362031652
    ],
    "v_ego": [
      5.927678831554787,
      5.286693870405942,
      4.617057658004771,
      3.9234284277420652,
      3.2358611746131305,
      2.515888552913963,
      1.8208878797904284,
      1.2157260833868493,
      0.6550500461565447,
      0.10190783180876761
    ],
    "ax_ego": [
      -1.3102656728064477,
      -1.2626803124238704,
      -1.4229258499705577,
      -1.371936593751574,
      -1.4002614127088082,
      -1.487725641114285,
      -1.2962851281685392,
      -1.1339516409532364,
      -1.1123219237559294,
      -1.1124425670527296
    ],
    "ay_ego": [
      -0.6107307563689461,
      -0.7038655049282951,
      -0.710722946920761,
      -0.5593585387059563,
      -0.2877690457899981,
      -0.1723279480490637,
      -0.19666808338189712,
      -0.027655755112209225,
      0.023347657993933082,
      0.016633999290335613
    ],
    "a_ego": [
      1.4456099716417004,
      1.445609982122013,
      1.590548673192419,
      1.4815842845069376,
      1.42952546239518,
      1.4976730300395047,
      1.311119166411671,
      1.134288836589413,
      1.112566930661654,
      1.1125669215482086
    ],
    "yaw": [
      1.8751297501584976,
      1.8027659246108572,
      1.7364203833781495,
      1.668034283108496,
      1.6042692948193134,
      1.5540821818110575,
      1.5185844207527412,
      1.495218099511344,
      1.4803769084289713,
      1.474341537863613
    ],
    "yaw_diff": [
      -0.14472765109528085,
      -0.13269108246541528,
      -0.13677220053930705,
      -0.1275299765783653,
      -0.10037422601651169,
      -0.07099552211663251,
      -0.04673264248279452,
      -0.02968238216474539,
      -0.012070741130716378,
      -0.012070741130716378
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.930018035637725,
    "v_std": 1.8968540973038144,
    "vy_max": 0.09044672180438629,
    "a_max": 1.590548673192419,
    "ax_avg": -1.2910796742705979,
    "a_std": 0.1679318201535648,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "16c1e641b6d350b1",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 7.347642660571215,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "16c1e641b6d350b1",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "644b16fd65f956b8": {
    "vx_ego": [
      5.501319054613352,
      5.408017701551282,
      5.349337645227209,
      5.395781974724007,
      5.5425138884243985,
      5.659658164880744,
      5.753546712444419,
      5.89100451085423,
      6.0019564370460445,
      6.062006569207646
    ],
    "vy_ego": [
      0.059223148290922234,
      0.006256519048772002,
      0.006709189685081565,
      -0.0035323347168034758,
      0.009887574640130126,
      0.0329340096866968,
      0.03454728419190922,
      0.029729183248868196,
      0.029166003851226474,
      0.00020877889731507615
    ],
    "v_ego": [
      5.501637821771388,
      5.408021320623895,
      5.349341852590018,
      5.395783130940777,
      5.542522707893005,
      5.659753986905731,
      5.753650431432641,
      5.891079525116049,
      6.00202730150231,
      6.0620065728028765
    ],
    "ax_ego": [
      -0.21268268585181677,
      -0.1508163096884483,
      -0.08132972536996254,
      0.2691279577466661,
      0.3131936338844909,
      0.15180852654267551,
      0.22570089177536606,
      0.3247693557633602,
      0.12002278796823777,
      0.12038902095901065
    ],
    "ay_ego": [
      -0.8692061465883859,
      -0.8820474452906826,
      -0.8924416695354063,
      -0.9281444309237793,
      -0.7890346068923817,
      -0.501478902807543,
      -0.337023388142615,
      -0.14421374172738788,
      -0.10167741856799808,
      -0.10124351504565571
    ],
    "a_ego": [
      0.8948481715510029,
      0.8948481742797834,
      0.896139865061195,
      0.9663756734809281,
      0.8489204103916855,
      0.523953164597863,
      0.4056176237582919,
      0.35534875509274233,
      0.15730151645270443,
      0.15730151209148951
    ],
    "yaw": [
      0.13743929109973446,
      0.06681484188079642,
      -0.01583372581032377,
      -0.09927667292011372,
      -0.18026163851665977,
      -0.2417364662650564,
      -0.27880879995918323,
      -0.2986865142513577,
      -0.30888549719390146,
      -0.3124951155113423
    ],
    "yaw_diff": [
      -0.14124889843787608,
      -0.1652971353822404,
      -0.1668858942195799,
      -0.1619699311930921,
      -0.12294965549679326,
      -0.07414466738825365,
      -0.039755428584348995,
      -0.020397965885087466,
      -0.007219236634881665,
      -0.007219236634881665
    ],
    "min_front_frame": [
      4,
      19.43106994118315
    ],
    "v_avg": 5.65658246515787,
    "v_std": 0.24684715145721356,
    "vy_max": 0.059223148290922234,
    "a_max": 0.9663756734809281,
    "ax_avg": 0.10801834537295793,
    "a_std": 0.3085668216065691,
    "ini_direction_judge": "right",
    "scenario_type": "unprotected_intersections",
    "scene_token": "644b16fd65f956b8",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      19.43106994118315,
      19.603442165347293,
      19.661278800701126,
      19.958949329214256,
      20.160864259625,
      20.39947752403025
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "644b16fd65f956b8",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "6289749098c55328": {
    "vx_ego": [
      8.010799730486621,
      7.955990489790836,
      7.927468535000212,
      7.908944779313271,
      7.893014755744538,
      7.895060847373292,
      7.905105627069874,
      7.918959923012606,
      7.935776372578096,
      7.955333346365811
    ],
    "vy_ego": [
      -0.041874932811552856,
      -0.0024676514108072922,
      -0.0417213300556849,
      -0.05098379902219641,
      -0.04843240409509919,
      -0.033977231226598015,
      -0.013921024397076653,
      -0.017012912701479532,
      -0.029160861760341383,
      -0.027862782555224008
    ],
    "v_ego": [
      8.010909176364596,
      7.955990872477527,
      7.927578321454796,
      7.909109107224996,
      7.893163347617192,
      7.895133959342838,
      7.905117884639802,
      7.918978198068133,
      7.9358299497549325,
      7.95538213956134
    ],
    "ax_ego": [
      -0.11702958351278164,
      -0.09942123858778504,
      -0.014263450438152275,
      -0.05238366734396671,
      -0.0056717295782862664,
      0.018841883600836606,
      0.02268002404254038,
      0.03343409912735523,
      0.03628280485682481,
      0.04452253898637687
    ],
    "ay_ego": [
      0.5693628977907985,
      0.5727001347584345,
      0.4182263732632592,
      0.527672076818128,
      0.48641374407106325,
      0.4968678983270543,
      0.40816065185796274,
      0.3422485455105687,
      0.3635896931100527,
      0.36267292120081374
    ],
    "a_ego": [
      0.5812658882111614,
      0.5812658832536607,
      0.41846952733901743,
      0.5302658477197638,
      0.4864468099778629,
      0.497225024476415,
      0.4087902900212862,
      0.34387774846383656,
      0.3653955485007182,
      0.3653955449237512
    ],
    "yaw": [
      0.8825427929680878,
      0.9133763973516982,
      0.9495573242929009,
      0.980570610166697,
      1.0123558485634432,
      1.0416739882460657,
      1.0677752002291752,
      1.0918799231136722,
      1.115671814762351,
      1.1383616344388114
    ],
    "yaw_diff": [
      0.06166720876722076,
      0.07236185388240535,
      0.062026571747592296,
      0.06357047679349237,
      0.05863627936524507,
      0.05220242396621888,
      0.04820944576899411,
      0.047583783297357574,
      0.045379639352920886,
      0.045379639352920886
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.930719295650614,
    "v_std": 0.03413262543825483,
    "vy_max": 0.05098379902219641,
    "a_max": 0.5812658882111614,
    "ax_avg": -0.013300831884703804,
    "a_std": 0.08492242843585704,
    "ini_direction_judge": "left",
    "scenario_type": "side_to_main_ego",
    "scene_token": "6289749098c55328",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "side_to_main_ego",
    "lane_change_frame": -1,
    "token": "6289749098c55328",
    "merging_vehicles": "No"
  },
  "a8c150e293ac5bd3": {
    "vx_ego": [
      3.434997831602062,
      2.907996295096072,
      2.4069215358517604,
      1.9942124126711858,
      1.6558596965392332,
      1.4058080016104122,
      1.279072815656352,
      1.2214345551950887,
      1.207732429640965,
      1.2157895787837483
    ],
    "vy_ego": [
      -0.024695718005016465,
      -0.008630661293440367,
      0.00967834627732711,
      0.007835609729388127,
      -0.011070110304781333,
      -0.004042450128100117,
      0.012841765663610505,
      0.008189333568803137,
      0.015756925087912654,
      0.038617973144153384
    ],
    "v_ego": [
      3.435086604672239,
      2.908009102566022,
      2.4069409943190676,
      1.9942278063530412,
      1.6558967002700264,
      1.4058138137018354,
      1.2791372790660225,
      1.2214620083362908,
      1.2078352132202035,
      1.2164027489811615
    ],
    "ax_ego": [
      -1.054016095489693,
      -1.0540349467261771,
      -0.9502574774848805,
      -0.70048309042056,
      -0.6529392587739229,
      -0.34733455797681423,
      -0.15956373106374833,
      -0.07094611853494256,
      0.01615205623748862,
      0.016130122743846217
    ],
    "ay_ego": [
      0.028192373844834362,
      0.02747874017364632,
      0.02493397184396362,
      -0.04426217043853442,
      -0.04436301062285672,
      0.067838122249158,
      -0.004469757057136391,
      -0.018503871302083023,
      0.04452425260239581,
      0.04453220303665548
    ],
    "a_ego": [
      1.0543930668846153,
      1.0543930719051533,
      0.9505845446186487,
      0.7018801177530735,
      0.6544446136685392,
      0.35389730995762125,
      0.15962632301451418,
      0.07331947209533204,
      0.047363466833636084,
      0.04736346658585552
    ],
    "yaw": [
      1.1102331268448276,
      1.1095560725186921,
      1.1075875141235203,
      1.106209535638107,
      1.1044226159490225,
      1.1036462153304831,
      1.1028561108179158,
      1.1019757085570592,
      1.1010930149367355,
      1.100600397688686
    ],
    "yaw_diff": [
      -0.0013541086522708135,
      -0.003937116790343698,
      -0.002755956970826645,
      -0.003573839378169019,
      -0.0015528012370786826,
      -0.0015802090251346712,
      -0.0017608045217132329,
      -0.0017653872406473425,
      -0.0009852344960989967,
      -0.0009852344960989967
    ],
    "min_front_frame": [
      6,
      12.192068782708692
    ],
    "v_avg": 1.8730812271485906,
    "v_std": 0.7567881545251046,
    "vy_max": 0.038617973144153384,
    "a_max": 1.0543930719051533,
    "ax_avg": -0.4957293097489404,
    "a_std": 0.4012989680877543,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "a8c150e293ac5bd3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.67226042534596,
    "right_rear_min": 33.36768017716335,
    "speed_mode": "decelerating",
    "front_frame": [
      15.251437320988078,
      14.327151220414784,
      13.642157395429,
      12.917191637403933,
      12.384502291875354,
      12.208937346816214,
      12.192068782708692,
      12.33073574589745,
      12.381610208040145,
      12.395583532760739
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "a8c150e293ac5bd3",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "ee835ef3f912599c": {
    "vx_ego": [
      12.413438328872086,
      12.692177401347905,
      13.029906463985863,
      13.418135468278358,
      13.72723157567162,
      14.001761852563686,
      14.274224450004525,
      14.475829814199274,
      14.572921974035026,
      14.59964785779429
    ],
    "vy_ego": [
      0.04255996968791553,
      -0.026769172566353916,
      -0.04559088330029226,
      -0.12558327976452155,
      -0.2556551043473627,
      -0.30976487719927626,
      -0.13127328647573133,
      0.1535446138443204,
      0.25452150807482354,
      0.22961688156081195
    ],
    "v_ego": [
      12.413511287936641,
      12.692205630854172,
      13.029986223663505,
      13.418723136171566,
      13.729612021630285,
      14.005187940725891,
      14.274828066384867,
      14.476644112435077,
      14.575144461012577,
      14.601453403134057
    ],
    "ax_ego": [
      0.5575331700506889,
      0.5573442347006927,
      0.7940472928537418,
      0.759960713184739,
      0.47716023062949897,
      0.6208310794461673,
      0.47458900044766117,
      0.33083328349087926,
      0.048457542188398386,
      0.05016460344068799
    ],
    "ay_ego": [
      -0.07658086423368657,
      -0.07794407433184788,
      0.1057664808790392,
      -0.1538696668387789,
      -0.30793118739417963,
      0.08607735655263032,
      0.8749548463586392,
      0.6999276439674442,
      0.19984812163713542,
      0.19942646827566704
    ],
    "a_ego": [
      0.562768037892655,
      0.5627680469585578,
      0.8010603296668061,
      0.7753812997211978,
      0.5678939177913301,
      0.6267699263026123,
      0.9953796775664953,
      0.7741765743389384,
      0.205639016523693,
      0.20563901304778506
    ],
    "yaw": [
      -2.0570807116271874,
      -2.054635216276851,
      -2.052626301130643,
      -2.0474883360819036,
      -2.04641385249301,
      -2.0465116159952785,
      -2.042148436580125,
      -2.0345821038121823,
      -2.026067743734611,
      -2.017516948315199
    ],
    "yaw_diff": [
      0.004890990700673115,
      0.004017830292415425,
      0.010275930097479069,
      0.002148967177786787,
      -0.00019552700453662197,
      0.008726358830307035,
      0.015132665535885437,
      0.01702872015514245,
      0.017101590838824343,
      0.017101590838824343
    ],
    "min_front_frame": [
      0,
      33.43062471233152
    ],
    "v_avg": 13.721729628394863,
    "v_std": 0.7615859809495499,
    "vy_max": 0.30976487719927626,
    "a_max": 0.9953796775664953,
    "ax_avg": 0.46709211504331555,
    "a_std": 0.2393339120309181,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "ee835ef3f912599c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 13.027252180149517,
    "right_rear_min": 3.541939121797827,
    "speed_mode": "accelerating",
    "front_frame": [
      33.43062471233152,
      34.21757666546536,
      34.821702494962715,
      35.39920792314329,
      35.92335811155736,
      36.03991208658264,
      36.383148206027116,
      36.65837441070842,
      36.808615428170164,
      36.98789833855735
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ee835ef3f912599c",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "85936ccd1b405f4c": {
    "vx_ego": [
      0.38914269548843594,
      0.4768739726585588,
      0.7278748768357248,
      1.3028261399124954,
      2.0733547562653882,
      2.935179530762709,
      3.865515180234007,
      4.7473797818947245,
      5.431292081099271,
      5.975867616084915
    ],
    "vy_ego": [
      -0.01701057934876668,
      -0.002532170354290264,
      0.018537198517715958,
      0.03544721633952075,
      0.038259752550850123,
      0.036726918003371134,
      0.028678931512491568,
      0.04157352253324231,
      0.07917732795613008,
      0.1608186715331923
    ],
    "v_ego": [
      0.38951430944419263,
      0.4768806954426432,
      0.7281108871988571,
      1.3033082735813173,
      2.073707731092682,
      2.9354092975792017,
      3.865621565768207,
      4.747561811216219,
      5.4318691736338724,
      5.978031148303436
    ],
    "ax_ego": [
      0.1754718970253415,
      0.17554561574277902,
      0.8284100643199445,
      1.470312222702664,
      1.6093758232940714,
      1.834513631073903,
      1.8845198704763273,
      1.6386512431212925,
      1.0911670928844885,
      1.0905828763455663
    ],
    "ay_ego": [
      0.031223587378637195,
      0.03080644995734609,
      0.05905330815175708,
      0.043591370811022934,
      0.1090484040172236,
      0.18079386791670493,
      0.326115815111048,
      0.37977581213348705,
      0.07671245783473368,
      0.08461334273286192
    ],
    "a_ego": [
      0.17822822182377135,
      0.17822822606278135,
      0.8305122081403987,
      1.4709582726365937,
      1.613066054141049,
      1.8434008476921775,
      1.9125288669940792,
      1.6820842916050929,
      1.0938603319350382,
      1.093860332924911
    ],
    "yaw": [
      2.624390001624006,
      2.6267666843690263,
      2.6294465187143894,
      2.6388048412475382,
      2.659961199754332,
      2.689841717270816,
      2.729545272190762,
      2.7672561549927828,
      2.7820914101483045,
      2.774848733644486
    ],
    "yaw_diff": [
      0.004753365490040906,
      0.005359668690726238,
      0.018716645066297666,
      0.042312717013587964,
      0.05976103503296759,
      0.07940710983989163,
      0.0754217656040419,
      0.029670510311043508,
      -0.01448535300763698,
      -0.01448535300763698
    ],
    "min_front_frame": [
      0,
      51.737112070957956
    ],
    "v_avg": 2.7930014893260626,
    "v_std": 2.0060071084154583,
    "vy_max": 0.1608186715331923,
    "a_max": 1.9125288669940792,
    "ax_avg": 1.1798550336986378,
    "a_std": 0.6036663271427882,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "85936ccd1b405f4c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.369862132505344,
    "right_rear_min": 5.46195494247264,
    "speed_mode": "accelerating",
    "front_frame": [
      51.737112070957956,
      54.945086886527896,
      57.76262642583641,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "85936ccd1b405f4c",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "34ab6d35dfef5366": {
    "vx_ego": [
      9.137102853064906,
      9.085676516740877,
      9.099006352592813,
      9.202669437711066,
      9.270941733462108,
      9.234637701684848,
      9.141178141170329,
      9.00630424513841,
      8.874806777841664,
      8.762934865392587
    ],
    "vy_ego": [
      0.06449598208830043,
      0.019551622039355898,
      -0.004098906607389097,
      0.015588915261856684,
      0.0012360916417284429,
      -0.010042330941637978,
      -0.01542514779795301,
      0.035516154301689085,
      0.035772128104099465,
      0.07450410398145468
    ],
    "v_ego": [
      9.137330478821065,
      9.085697553450753,
      9.099007275827388,
      9.2026826411683,
      9.270941815865955,
      9.234643162017141,
      9.141191155631459,
      9.00637427343626,
      8.874878871802895,
      8.763251583551797
    ],
    "ax_ego": [
      -0.12441545013080968,
      -0.07260079774291056,
      0.12846051067328362,
      0.2821859305651152,
      -0.011640941054970266,
      -0.13857991876568448,
      -0.23664921713605463,
      -0.3027096007655507,
      -0.22355951364704818,
      -0.22363173248387858
    ],
    "ay_ego": [
      -1.0148326708015827,
      -1.019849837115362,
      -1.0512699288464802,
      -0.8581155170417263,
      -0.6617526806636522,
      -0.28573087922345297,
      0.00026767970207948466,
      0.0249686320065646,
      0.05392714389435825,
      0.05362686070637812
    ],
    "a_ego": [
      1.0224307086338542,
      1.022430714570497,
      1.0590894986257413,
      0.903322279143324,
      0.6618550610777068,
      0.31756342551829103,
      0.23664936852552648,
      0.3037376087676966,
      0.22997172215450215,
      0.22997171991999868
    ],
    "yaw": [
      2.67887730644414,
      2.6279568780259623,
      2.573474049782301,
      2.5190574830590915,
      2.4796370330333657,
      2.455298951208305,
      2.448127048049547,
      2.443212696212022,
      2.4453925974185684,
      2.444049629806222
    ],
    "yaw_diff": [
      -0.10184085683635491,
      -0.1089656564873227,
      -0.10883313344641898,
      -0.07884090005145161,
      -0.048676163650121396,
      -0.014343806317516083,
      -0.00982870367504951,
      0.004359802413092417,
      -0.002685935224692848,
      -0.002685935224692848
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 9.0815998811573,
    "v_std": 0.1518711898281261,
    "vy_max": 0.07450410398145468,
    "a_max": 1.0590894986257413,
    "ax_avg": -0.09231407304885082,
    "a_std": 0.3516929839950578,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "34ab6d35dfef5366",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "34ab6d35dfef5366",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "243fa5b33c1f5845": {
    "vx_ego": [
      5.561277280326948,
      5.19603406358734,
      4.809375707534317,
      4.3676015723597725,
      3.8457110260972462,
      3.239448820371624,
      2.6490685547269393,
      2.2646789278117185,
      2.0517379150784585,
      1.858125740935657
    ],
    "vy_ego": [
      -0.0008111600612630276,
      -0.005052501470437898,
      -0.014087807628083926,
      -0.017863953052251302,
      -0.009488348562239457,
      -0.006140686390203265,
      -0.015901718421560962,
      -0.016537005629671753,
      -0.01711781901448972,
      -0.02810597078908461
    ],
    "v_ego": [
      5.561277339484279,
      5.196036520053633,
      4.809396340763046,
      4.367638104937062,
      3.8457227311656745,
      3.23945464049683,
      2.64911628138363,
      2.2647393047831423,
      2.051809321525349,
      1.858338293939422
    ],
    "ax_ego": [
      -0.7305461123959999,
      -0.730454326773311,
      -0.8162594369685588,
      -0.9510615947517408,
      -1.1366639850857854,
      -1.288413440034473,
      -1.0731948298758398,
      -0.4644999662980269,
      -0.3872413206481263,
      -0.3872344003662461
    ],
    "ay_ego": [
      -0.03501622317619904,
      -0.03688137630151431,
      -0.050193231716110176,
      -0.015944922404207612,
      0.009385660977054011,
      -0.025859012056700437,
      -0.04107931059316988,
      0.025305485825334706,
      -0.02308775123561195,
      -0.02320356776828801
    ],
    "a_ego": [
      0.7313848222532611,
      0.7313848230717841,
      0.8178012160362296,
      0.9511952468143439,
      1.1367027340615816,
      1.2886729146552327,
      1.0739807505868264,
      0.46518876416324195,
      0.387928968594023,
      0.387928970797727
    ],
    "yaw": [
      1.2896800937673354,
      1.287126838566351,
      1.284586993147669,
      1.281816646580931,
      1.279391522435747,
      1.2772952441666854,
      1.274904879765659,
      1.2735153525962706,
      1.2740437306595276,
      1.2737446518871405
    ],
    "yaw_diff": [
      -0.005106510401968745,
      -0.005079690837364037,
      -0.005540693133475827,
      -0.004850248290368064,
      -0.004192556538123338,
      -0.004780728802052714,
      -0.0027790543387768984,
      0.0010567561265140135,
      -0.0005981575447742138,
      -0.0005981575447742138
    ],
    "min_front_frame": [
      9,
      13.226157081289815
    ],
    "v_avg": 3.584352887853207,
    "v_std": 1.2942625037604096,
    "vy_max": 0.02810597078908461,
    "a_max": 1.2886729146552327,
    "ax_avg": -0.7965569413198107,
    "a_std": 0.3019030552679004,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "243fa5b33c1f5845",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 4.095851378068262,
    "right_rear_min": 7.649633714843425,
    "speed_mode": "decelerating",
    "front_frame": [
      15.803432154850476,
      15.473752219258001,
      15.315281747602743,
      14.932571271148298,
      14.347365322377081,
      13.923375545992927,
      13.53292801448123,
      13.37576067771075,
      13.309778862777259,
      13.226157081289815
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "243fa5b33c1f5845",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fb00299d62585308": {
    "vx_ego": [
      10.298181211172139,
      10.47481100773435,
      10.660668182468395,
      10.872027492306083,
      11.065317119383927,
      11.198186359736702,
      11.311283051150035,
      11.413173043264884,
      11.47600755227482,
      11.510991308890064
    ],
    "vy_ego": [
      0.0299353705921499,
      0.016488787599151067,
      -0.009737116917218458,
      -0.0037669002004809826,
      0.0013222258405978238,
      0.015803929256046345,
      0.01044196079024573,
      0.04850080953011737,
      0.012590152754749617,
      0.0324114799012305
    ],
    "v_ego": [
      10.298224720045264,
      10.474823985531653,
      10.660672629254679,
      10.872028144876944,
      11.065317198382168,
      11.198197511723619,
      11.311287870873908,
      11.413276096022267,
      11.47601445850497,
      11.511036939275801
    ],
    "ax_ego": [
      0.3436987147638251,
      0.36001270394187856,
      0.38009441884750383,
      0.46855193425994857,
      0.305245749705085,
      0.2245371981137869,
      0.22492737683842481,
      0.18109710080194646,
      0.06967082965064304,
      0.0699948043424638
    ],
    "ay_ego": [
      0.5738404298301173,
      0.5637486135803073,
      0.30131712939813293,
      0.5722621813648109,
      0.6108106881182859,
      0.5413187041205814,
      0.36169711221040135,
      0.04187336285547665,
      0.10846987477447513,
      0.10826110082663086
    ],
    "a_ego": [
      0.6688958404997889,
      0.6688958411541077,
      0.48503997743253374,
      0.7396113299018281,
      0.6828357521633979,
      0.5860400095279976,
      0.4259308932594094,
      0.185875061360304,
      0.12891756372891647,
      0.1289175650837919
    ],
    "yaw": [
      -0.7726965817801097,
      -0.7440168507176993,
      -0.7210659341671589,
      -0.7013158673727868,
      -0.674865791445541,
      -0.6503153670191191,
      -0.6297810042750263,
      -0.6242536263182661,
      -0.6178395147013576,
      -0.6148498672226772
    ],
    "yaw_diff": [
      0.05735946212482079,
      0.04590183310108076,
      0.03950013358874416,
      0.052900151854491595,
      0.04910084885284394,
      0.04106872548818563,
      0.011054755913520342,
      0.012828223233817049,
      0.005979294957360715,
      0.005979294957360715
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 11.028087955449127,
    "v_std": 0.41120837731259297,
    "vy_max": 0.04850080953011737,
    "a_max": 0.7396113299018281,
    "ax_avg": 0.26278308312655063,
    "a_std": 0.22937814910712345,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fb00299d62585308",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.4868917238659813,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fb00299d62585308",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "078f05d9e9c05230": {
    "vx_ego": [
      7.240310244811941,
      7.384306096259552,
      7.52362471363114,
      7.648442033798938,
      7.761196377492062,
      7.900698109637968,
      8.155077231964427,
      8.457387401751294,
      8.764001152417984,
      9.07829713426199
    ],
    "vy_ego": [
      -0.0864745784958103,
      -0.05531367049203739,
      -0.04679600910752679,
      -0.05362495196922934,
      -0.07973094537472791,
      -0.1525530374278361,
      -0.20976837766775214,
      -0.12395439439531941,
      -0.10167132462424489,
      -0.0684875827189324
    ],
    "v_ego": [
      7.240826630561926,
      7.384513262592145,
      7.523770244899139,
      7.648630019804601,
      7.761605905587209,
      7.902170780795959,
      8.157774661730608,
      8.458295712210079,
      8.764590877949445,
      9.078555469177688
    ],
    "ax_ego": [
      0.22596568907776343,
      0.37675685841020295,
      0.21005310834890867,
      0.3268971567141191,
      0.16120200822721265,
      0.44075787062812066,
      0.6174940025025124,
      0.6021371292096679,
      0.6290913992526418,
      0.6301789522789424
    ],
    "ay_ego": [
      1.5295874666526488,
      1.499584147017365,
      1.6568067165153755,
      1.8931483809771468,
      1.941534683576486,
      1.70800352358177,
      1.1138981036744768,
      0.3794715815706864,
      0.17832209019142045,
      0.17443977337677952
    ],
    "a_ego": [
      1.5461883167264125,
      1.5461883275800927,
      1.67006910162948,
      1.921164371797522,
      1.9482153410203225,
      1.763956784359633,
      1.273604266833371,
      0.7117357680998042,
      0.6538767135048348,
      0.6538767058330858
    ],
    "yaw": [
      -2.7717990270224884,
      -2.6723218013492502,
      -2.567988375752055,
      -2.4500079727084634,
      -2.3227097274928754,
      -2.1965042038054796,
      -2.1013088325364153,
      -2.0667042963809594,
      -2.05309222317369,
      -2.046926270076238
    ],
    "yaw_diff": [
      0.19895445134647627,
      0.20866685119439055,
      0.23596080608718317,
      0.25459649043117594,
      0.2524110473747916,
      0.1903907425381286,
      0.06920907231091178,
      0.02722414641453863,
      0.01233190619490454,
      0.01233190619490454
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.992073356530879,
    "v_std": 0.5791378652341707,
    "vy_max": 0.20976837766775214,
    "a_max": 1.9482153410203225,
    "ax_avg": 0.42205341746500924,
    "a_std": 0.4912941994388287,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "078f05d9e9c05230",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "078f05d9e9c05230",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "dd16377ecfa45fe0": {
    "vx_ego": [
      7.304782552753827,
      6.926513296979239,
      6.5422734734700105,
      6.190381236996334,
      5.841488095364344,
      5.385895625995259,
      4.9625725345297,
      4.677360238738068,
      4.435313011164533,
      4.337231914641999
    ],
    "vy_ego": [
      0.06038467301199695,
      -0.03555084899223925,
      -0.04112888574742696,
      -0.014793349792213972,
      -0.04774449142162862,
      -0.008499710444919595,
      0.03483357302330803,
      0.06469228299149998,
      0.09860723650031833,
      0.03450313853143827
    ],
    "v_ego": [
      7.305032132150514,
      6.926604530077799,
      6.542402753340104,
      6.190398913038993,
      5.841683208181051,
      5.385902332867958,
      4.962694785928115,
      4.677807594846809,
      4.4364090088827055,
      4.33736915052865
    ],
    "ax_ego": [
      -0.7567476361940395,
      -0.7562086850052862,
      -0.7830745825688644,
      -0.6226289252074133,
      -0.7626710766942375,
      -1.0602190575235717,
      -0.6019738435282512,
      -0.5116968718396578,
      -0.3611830477246356,
      0.026704089626063188
    ],
    "ay_ego": [
      -0.22492992376109672,
      -0.22673519980925783,
      -0.2686692391719622,
      -0.5905461209871871,
      -1.1490833388280988,
      -1.3652555024692163,
      -1.6581606814748433,
      -1.572179757827747,
      -1.8825823423287138,
      -1.9167306480502202
    ],
    "a_ego": [
      0.7894684638973486,
      0.7894684452908604,
      0.8278822150177175,
      0.858144218367724,
      1.3791518012163413,
      1.7285794852880336,
      1.764049135903332,
      1.6533550373630597,
      1.9169166569289138,
      1.9169166610934796
    ],
    "yaw": [
      -1.5708999150903007,
      -1.5732863331195417,
      -1.5908396716960551,
      -1.6288321155349053,
      -1.6954288921057856,
      -1.8134730187356665,
      -1.9693408955773362,
      -2.143055203095132,
      -2.3402322887086777,
      -2.543715305095494
    ],
    "yaw_diff": [
      -0.0047728360584819995,
      -0.035106677153026844,
      -0.07598488767770029,
      -0.13319355314176073,
      -0.23608825325976168,
      -0.3117357536833394,
      -0.3474286150355921,
      -0.39435417122709104,
      -0.4069660327736324,
      -0.4069660327736324
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.66063044098427,
    "v_std": 1.0087603026492176,
    "vy_max": 0.09860723650031833,
    "a_max": 1.9169166610934796,
    "ax_avg": -0.6189699636659893,
    "a_std": 0.46816734373769253,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "dd16377ecfa45fe0",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 32.85958813501055,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "dd16377ecfa45fe0",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "decd6b1dd7f65e1e": {
    "vx_ego": [
      5.403139451286723,
      4.8341057140510735,
      4.389472781455115,
      4.03397357983174,
      3.750888886186701,
      3.6740683183168286,
      3.8900708364036802,
      4.448449240640095,
      5.18923554347843,
      5.965541481960782
    ],
    "vy_ego": [
      -0.050552349085604575,
      -0.02395655167167865,
      0.007958992095532524,
      0.016781988129695558,
      0.009618282917837284,
      -0.012392847757247472,
      -0.006600940752653273,
      0.008184484865276342,
      0.051168198382650854,
      0.12002548340714414
    ],
    "v_ego": [
      5.4033759326969895,
      4.834165074859281,
      4.389479997071462,
      4.034008487584786,
      3.7509012180921535,
      3.674089219158264,
      3.8900764368656366,
      4.44845676975105,
      5.18948780808141,
      5.966748803968704
    ],
    "ax_ego": [
      -1.1387432615149842,
      -1.1345631115956736,
      -0.6425082106279324,
      -0.7802569377158164,
      -0.3567428343971015,
      0.046798482167815646,
      0.817397153833819,
      1.4195970621935414,
      1.5510560923881487,
      1.5682461653598971
    ],
    "ay_ego": [
      0.22505042596238167,
      0.24525588803459575,
      0.30659233593150353,
      0.36468361259675686,
      0.2465457998703582,
      0.007407010428937938,
      -0.11154618654258441,
      -0.33198971444473935,
      -0.4101452980240444,
      -0.33852347107687253
    ],
    "a_ego": [
      1.1607686719892267,
      1.1607686698086295,
      0.7119098687167101,
      0.8612752325187837,
      0.43364764651430143,
      0.04738102718077938,
      0.8249731261246155,
      1.457900198739829,
      1.6043672170752012,
      1.6043672196962753
    ],
    "yaw": [
      -0.5718958723009107,
      -0.5541200595782234,
      -0.5308156339564504,
      -0.4932229505436548,
      -0.4515643336904803,
      -0.42821790696501466,
      -0.4368529325465668,
      -0.4675466284887587,
      -0.5151215669860251,
      -0.5610351983287224
    ],
    "yaw_diff": [
      0.03555162544537449,
      0.04660885124354608,
      0.07518536682559118,
      0.08331723370634891,
      0.046692853450931326,
      -0.017270051163104316,
      -0.0613873918843838,
      -0.0951498769945327,
      -0.09182726268539465,
      -0.09182726268539465
    ],
    "min_front_frame": [
      2,
      18.12791834285448
    ],
    "v_avg": 4.5580789748129735,
    "v_std": 0.7326712777516884,
    "vy_max": 0.12002548340714414,
    "a_max": 1.6043672196962753,
    "ax_avg": 0.1350280600091714,
    "a_std": 0.4848957220684681,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "decd6b1dd7f65e1e",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      20.94551851310331,
      19.679676738560985,
      18.12791834285448,
      45.16012891016385,
      43.35118847562486,
      41.72211397577453,
      40.26455469148913,
      38.66123911621302,
      36.43132757042685,
      34.51104206290389
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "decd6b1dd7f65e1e",
    "pedestrians": "No"
  },
  "4a62cc0027965e10": {
    "vx_ego": [
      10.344914837578361,
      10.340002860196009,
      10.30267255685522,
      10.277315711506422,
      10.334197998483273,
      10.392575565806968,
      10.434184776155071,
      10.463507083360057,
      10.469037654308545,
      10.491202554024094
    ],
    "vy_ego": [
      0.15086499877520776,
      0.035011292811080175,
      0.017962932152580713,
      0.012399408035819626,
      0.04152152521380703,
      0.03591604175160246,
      0.06238624310894547,
      0.05602245328877142,
      0.044398653666027244,
      -0.0055382434614519305
    ],
    "v_ego": [
      10.346014848462396,
      10.340062134217856,
      10.302688216223435,
      10.277323191342013,
      10.334281412314635,
      10.392637627333261,
      10.434371278916402,
      10.463657056631709,
      10.46913180009582,
      10.491204015826892
    ],
    "ax_ego": [
      -0.013471725531943528,
      -0.012011068428168369,
      -0.13743322417320414,
      0.038429699828135155,
      0.19401615417126408,
      0.04737771394187135,
      0.13257831716125984,
      -0.006213442217708143,
      0.03336939660289556,
      0.057738888569503155
    ],
    "ay_ego": [
      0.09293631241602124,
      0.09313634852096846,
      -0.1383768644543271,
      -0.40154729096506825,
      -0.560871759372326,
      -0.7566797684262154,
      -0.9755594732206003,
      -0.9103693472133731,
      -0.7669958932773452,
      -0.7655471558494472
    ],
    "a_ego": [
      0.09390764374797358,
      0.09390764175830127,
      0.19502832543723847,
      0.403382038160186,
      0.59348074824784,
      0.7581615393330823,
      0.9845269401960349,
      0.9103905509230068,
      0.7677214448834643,
      0.7677214514929352
    ],
    "yaw": [
      2.1535838341098685,
      2.16928333103801,
      2.16983844578738,
      2.157234661092866,
      2.131014231499021,
      2.0998290072040167,
      2.055662206124815,
      2.0112294493881326,
      1.9722605870564105,
      1.9404606027232933
    ],
    "yaw_diff": [
      0.031398993856282864,
      0.0011102294987397343,
      -0.025207569389027462,
      -0.05244085918769059,
      -0.06237044859000829,
      -0.08833360215840358,
      -0.08886551347336447,
      -0.07793772466344429,
      -0.0635999686662343,
      -0.0635999686662343
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.385137158136441,
    "v_std": 0.07177827495988953,
    "vy_max": 0.15086499877520776,
    "a_max": 0.9845269401960349,
    "ax_avg": 0.033438070992390496,
    "a_std": 0.31965587021211905,
    "ini_direction_judge": "right",
    "scenario_type": "countryside_road",
    "scene_token": "4a62cc0027965e10",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "4a62cc0027965e10",
    "road_shape": "Straight"
  },
  "cf62911d4c7c541c": {
    "vx_ego": [
      10.001351312617278,
      10.222970192755461,
      10.413495751385721,
      10.568189899943732,
      10.670325420427409,
      10.735524834678131,
      10.79410135927699,
      10.82786566839371,
      10.854449315872621,
      10.877878260400985
    ],
    "vy_ego": [
      0.01068584997506683,
      0.022948995212218826,
      0.019152331781559617,
      -0.020089318700582837,
      -0.03592496451159288,
      -0.023642454012479774,
      -0.019525439801483024,
      0.023265857919638755,
      0.04440534736093049,
      0.002336488311400764
    ],
    "v_ego": [
      10.001357021213723,
      10.22299595120471,
      10.413513363699167,
      10.56820899405375,
      10.67038589653132,
      10.735550868102793,
      10.794119019037394,
      10.827890664063979,
      10.854540146211717,
      10.877878511331241
    ],
    "ax_ego": [
      0.4391483624020524,
      0.4460534880945324,
      0.31463395617267137,
      0.30616808056151157,
      0.10259909496698824,
      0.16116432804342543,
      0.072300673877707,
      0.06280781484342278,
      0.04284529098215201,
      0.04908661588505103
    ],
    "ay_ego": [
      0.3901051575759725,
      0.38219053307073086,
      0.404772974624219,
      0.5534675147764195,
      0.34925163157431677,
      0.44950412530938066,
      0.15313254588893083,
      0.193374320624629,
      0.3290408378292278,
      0.32816779096499926
    ],
    "a_ego": [
      0.587395367846716,
      0.5873953675423297,
      0.5126750309533371,
      0.6325070619902251,
      0.3640099949800381,
      0.4775226688900122,
      0.16934274136672067,
      0.2033185910890652,
      0.33181861297809295,
      0.33181861744919317
    ],
    "yaw": [
      -0.7387340330994032,
      -0.7208524543751709,
      -0.7014486961724734,
      -0.6748772129473843,
      -0.6521893974521846,
      -0.6346680281020971,
      -0.6210692000564328,
      -0.6170149388567683,
      -0.6069202433232745,
      -0.5879273739777233
    ],
    "yaw_diff": [
      0.0357631574484647,
      0.038807516405394926,
      0.05314296645017813,
      0.04537563099039943,
      0.03504273870017505,
      0.027197656091328515,
      0.008108522399329132,
      0.020189391066987472,
      0.037985738691102444,
      0.037985738691102444
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.59664404354498,
    "v_std": 0.28127077553229574,
    "vy_max": 0.04440534736093049,
    "a_max": 0.6325070619902251,
    "ax_avg": 0.1996807705829514,
    "a_std": 0.155423741561225,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "cf62911d4c7c541c",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cf62911d4c7c541c",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "dfe53c7f74e5554c": {
    "vx_ego": [
      5.720764999932628,
      4.962970928148127,
      4.149872994229849,
      3.289261479066245,
      2.5554667030468603,
      2.096748271156142,
      1.8125802259762769,
      1.4401657914964558,
      0.9174574311688218,
      0.3512008061356101
    ],
    "vy_ego": [
      -0.010845253555902712,
      -0.002250803249899569,
      0.005117577248918481,
      0.014885840730852973,
      0.013014137893751165,
      0.01872773695454577,
      0.017741329248344373,
      -0.000551242427914933,
      -0.012682989983764159,
      -0.021474813650713354
    ],
    "v_ego": [
      5.720775279975508,
      4.962971438539491,
      4.149876149698339,
      3.2892951624813676,
      2.555499841159515,
      2.0968319056919436,
      1.8126670489540293,
      1.4401658969941022,
      0.9175450922117244,
      0.3518567518914981
    ],
    "ax_ego": [
      -1.5156179395803022,
      -1.5156085933278463,
      -1.7367892029446619,
      -1.7055992703833036,
      -1.2295304123642241,
      -0.6053420119792214,
      -0.5313467539946852,
      -0.9583239956306013,
      -1.1324938747921676,
      -1.132501573148101
    ],
    "ay_ego": [
      -0.0030426383100734533,
      -0.00613183993749522,
      0.023186965397019477,
      -0.0006086457392109335,
      -0.01580750425314259,
      0.03833679322133454,
      -0.04113803322768711,
      -0.028944854327290215,
      -0.01726559722286064,
      -0.01675280884940078
    ],
    "a_ego": [
      1.515620993660858,
      1.5156209973572652,
      1.736943974579916,
      1.705599378981387,
      1.2296320230537476,
      0.6065547470604341,
      0.5329368731459017,
      0.958761015682964,
      1.1326254797104114,
      1.1326254763986496
    ],
    "yaw": [
      1.0819519918047633,
      1.0799137406579282,
      1.0792364826091787,
      1.0781266737555186,
      1.0773469161950346,
      1.0773107628750214,
      1.0774578261332715,
      1.0779173308994716,
      1.0783997094951636,
      1.0788525046258486
    ],
    "yaw_diff": [
      -0.004076502293670181,
      -0.0013545160974990367,
      -0.002219617707320154,
      -0.0015595151209679692,
      -7.230664002655374e-05,
      0.0002941265165001816,
      0.0009190095324003167,
      0.0009647571913840025,
      0.0009055902613699374,
      0.0009055902613699374
    ],
    "min_front_frame": [
      9,
      11.43082013026444
    ],
    "v_avg": 2.729748456759752,
    "v_std": 1.6774039151584683,
    "vy_max": 0.021474813650713354,
    "a_max": 1.736943974579916,
    "ax_avg": -1.2063153628145116,
    "a_std": 0.4010022927860525,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "dfe53c7f74e5554c",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.5725365817267507,
    "right_rear_min": 22.83903568235061,
    "speed_mode": "decelerating",
    "front_frame": [
      15.489948787427767,
      14.391371417231689,
      13.442172709647181,
      12.979996345062837,
      12.799358137873293,
      12.566176340422919,
      12.35672605498157,
      11.88622162155207,
      11.59591917504005,
      11.43082013026444
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.5,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.5,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "dfe53c7f74e5554c",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "33fcb42a03535525": {
    "vx_ego": [
      6.820862192662209,
      6.836155780307956,
      6.8611458086846815,
      6.9073526950863275,
      6.942229772145536,
      6.98445891337653,
      7.028430750651899,
      7.0923629249137985,
      7.228103329426365,
      7.3869284510620545
    ],
    "vy_ego": [
      -0.051582876766431696,
      -0.04327806956194569,
      -0.04252693715370981,
      -0.004432430329642356,
      0.019029716085771087,
      -0.003179151630988253,
      -0.03403433013477186,
      -0.03474878082617727,
      -0.032217469992940506,
      -0.01976638322407598
    ],
    "v_ego": [
      6.821057238028737,
      6.836292770496512,
      6.86127760321757,
      6.907354117225711,
      6.942255853781115,
      6.984459636911788,
      7.028513153742898,
      7.092448049613104,
      7.22817512974314,
      7.3869548970476195
    ],
    "ax_ego": [
      0.028607930773784346,
      0.030320987859671716,
      0.06780933712148969,
      0.1149992717194617,
      0.026282978860681705,
      0.14504981939616124,
      0.02802106002026672,
      0.22426728677557384,
      0.31480935343393796,
      0.31866507705316904
    ],
    "ay_ego": [
      -0.14504734600234545,
      -0.14469894278771966,
      -0.19874185181087725,
      -0.1756992960682587,
      -0.29245352664191737,
      -0.4382918035029174,
      -0.34876720037855174,
      -0.3426753741595947,
      -0.22796301274587089,
      -0.22254130538255382
    ],
    "a_ego": [
      0.1478416256860082,
      0.14784162589971112,
      0.2099914994995572,
      0.2099882738032965,
      0.29363218526429574,
      0.46166996342051425,
      0.34989103998895466,
      0.4095390432829277,
      0.38867989938980396,
      0.3886798990617771
    ],
    "yaw": [
      -1.2574925541199933,
      -1.2693169465866867,
      -1.2819719174808704,
      -1.3011190617734587,
      -1.3213754001136508,
      -1.3444696458895145,
      -1.3680987752876725,
      -1.3925645061866894,
      -1.412873309600336,
      -1.429990256610471
    ],
    "yaw_diff": [
      -0.023648784933386846,
      -0.02530994178836732,
      -0.038294288585176695,
      -0.040512676680384274,
      -0.04618849155172722,
      -0.04725825879631618,
      -0.04893146179803365,
      -0.04061760682729343,
      -0.03423389402026977,
      -0.03423389402026977
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.008878844980819,
    "v_std": 0.17337615361960645,
    "vy_max": 0.051582876766431696,
    "a_max": 0.46166996342051425,
    "ax_avg": 0.1298833103014198,
    "a_std": 0.10903937897590625,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "33fcb42a03535525",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "33fcb42a03535525",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "93092fbeb57f5e9a": {
    "vx_ego": [
      8.848792311708804,
      8.285277805617236,
      7.748646664601159,
      7.224010081154898,
      6.696264414961383,
      6.110745037168361,
      5.475858662175228,
      4.994626633126436,
      4.683265668468655,
      4.472514426176888
    ],
    "vy_ego": [
      0.04856465131322546,
      -0.011488129946630676,
      -0.0394189258958164,
      -0.05608358105622452,
      -0.02513263141402966,
      -0.013968444796228052,
      0.028783123157126722,
      0.04830038874810061,
      0.07110676155345663,
      0.017491581327755856
    ],
    "v_ego": [
      8.848925578911489,
      8.285285770170105,
      7.748746929959285,
      7.224227780233101,
      6.696311579088887,
      6.110761002258866,
      5.475934308983094,
      4.994860171405115,
      4.683805449951543,
      4.472548630007026
    ],
    "ax_ego": [
      -1.1271300034938618,
      -1.1272944877564635,
      -1.019299635899995,
      -1.079767582810607,
      -1.021795054195735,
      -1.298156542625097,
      -1.2353161830634516,
      -0.6480971932452267,
      -0.5646868236679817,
      -0.23900404760281546
    ],
    "ay_ego": [
      -0.03488020379606417,
      -0.02908273211152265,
      -0.19196205152806087,
      -0.5260262267028664,
      -1.1431288974099307,
      -1.6948581818539756,
      -1.714110916709135,
      -1.8734554066759452,
      -1.7366721371283647,
      -1.8104635942788803
    ],
    "a_ego": [
      1.1276695763356073,
      1.1276695736931,
      1.0372179987701353,
      1.2010835208543644,
      1.5332347533474804,
      2.134889848623977,
      2.112861166030529,
      1.9823887440902384,
      1.826171218890013,
      1.8261712299178658
    ],
    "yaw": [
      -1.5555674562543236,
      -1.5504242713899443,
      -1.5538390898030472,
      -1.5755669341404621,
      -1.6400127310937556,
      -1.7518338389136048,
      -1.906223878091579,
      -2.0832950595681528,
      -2.274351903928017,
      -2.457469907017604
    ],
    "yaw_diff": [
      0.010286369728758515,
      -0.006829636826205743,
      -0.04345568867482985,
      -0.1288915939065869,
      -0.22364221563969844,
      -0.30878007835594845,
      -0.3541423629531475,
      -0.38211368871972873,
      -0.3662360061791734,
      -0.3662360061791734
    ],
    "min_front_frame": [
      1,
      34.78626402986447
    ],
    "v_avg": 6.45414072009685,
    "v_std": 1.4724423272762794,
    "vy_max": 0.07110676155345663,
    "a_max": 2.134889848623977,
    "ax_avg": -0.9360547554361235,
    "a_std": 0.415132233885783,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "93092fbeb57f5e9a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      34.78626402986447,
      36.89779425991458,
      66.53801578818299,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.6666666666666666,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3333333333333333,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "93092fbeb57f5e9a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "64a8b055818c5bef": {
    "vx_ego": [
      2.28763558614137,
      1.987620432434607,
      1.704433329503039,
      1.45130251536483,
      1.231220723916733,
      1.0581807016872637,
      0.9115978641033509,
      0.7591379342391437,
      0.6191069177586899,
      0.4965571527395243
    ],
    "vy_ego": [
      -0.0041523380781318675,
      0.010633298070216401,
      0.013611121069867393,
      -0.0008346924248650023,
      -0.005923746412157871,
      -0.001984904120225117,
      0.0007686570417486105,
      0.006798786454816963,
      0.010036640765807459,
      0.024022345871550416
    ],
    "v_ego": [
      2.2876393546387255,
      1.9876488750429198,
      1.7044876759124994,
      1.4513027553945204,
      1.2312349742326196,
      1.0581825632979012,
      0.911598188168142,
      0.7591683783576162,
      0.6191882668256296,
      0.49713788734912934
    ],
    "ax_ego": [
      -0.6000770788175409,
      -0.599773185938741,
      -0.532668307900801,
      -0.47968802615863243,
      -0.40073683799463855,
      -0.29140561108917973,
      -0.2948846108781773,
      -0.314997947271786,
      -0.24513703960586516,
      -0.24511470134146002
    ],
    "ay_ego": [
      -0.02040256217985903,
      -0.027944426348716744,
      -0.014294016920359365,
      -0.06425145543582947,
      0.035701520255222524,
      -0.025371785748849074,
      0.04094198716068213,
      -0.01342968122952648,
      0.02874056988161254,
      0.02893041771093366
    ],
    "a_ego": [
      0.6004238212010715,
      0.6004238215919372,
      0.5328600615186149,
      0.4839719536973059,
      0.4023240135444009,
      0.29250804721638646,
      0.29771325137695753,
      0.315284099065217,
      0.24681610268345003,
      0.24681609729238133
    ],
    "yaw": [
      2.302788132020707,
      2.290216950817211,
      2.2828502279563683,
      2.279546764051792,
      2.2780082003202593,
      2.276808933205065,
      2.277964883362949,
      2.2789768919533193,
      2.2798438430059433,
      2.280618350868336
    ],
    "yaw_diff": [
      -0.025142362406991303,
      -0.01473344572168589,
      -0.0066069278091527295,
      -0.00307712746306521,
      -0.0023985342303882717,
      0.0023119003157674456,
      0.002024017180740856,
      0.001733902105248042,
      0.0015490157247857184,
      0.0015490157247857184
    ],
    "min_front_frame": [
      9,
      11.771777499220647
    ],
    "v_avg": 1.2507588919219703,
    "v_std": 0.5679084174855318,
    "vy_max": 0.024022345871550416,
    "a_max": 0.6004238215919372,
    "ax_avg": -0.4004483346996822,
    "a_std": 0.13458668608569563,
    "ini_direction_judge": "straight",
    "scenario_type": "special_interior_road",
    "scene_token": "64a8b055818c5bef",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      15.383030322807985,
      14.702601411141957,
      14.211746954732074,
      13.775969328364361,
      13.376731577135427,
      13.047354338461583,
      12.727798086116488,
      12.36402744325925,
      12.018325443773733,
      11.771777499220647
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "64a8b055818c5bef",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "4c5164f4b17d5581": {
    "vx_ego": [
      5.341417927973277,
      4.177473376311522,
      3.058535387918689,
      2.1040027259340723,
      1.3268950431934405,
      0.6657418016200509,
      0.1565784771972138,
      -0.058952872017174945,
      -0.05111901708800337,
      -0.019684951058053998
    ],
    "vy_ego": [
      0.11689364515269762,
      0.09793266965906433,
      0.08597088451761525,
      0.08009681823142101,
      0.06618311781813718,
      0.05369921329587021,
      0.04245027159028316,
      0.027276160960519,
      0.009875568626916456,
      -0.006550330612938554
    ],
    "v_ego": [
      5.3426968476183845,
      4.178621138315622,
      3.059743406257405,
      2.1055267680627585,
      1.328544564828539,
      0.6679039990394627,
      0.16223083886698977,
      0.06495714029895058,
      0.052064198483684716,
      0.0207461834874943
    ],
    "ax_ego": [
      -2.327291169220648,
      -2.3270641168705652,
      -2.1477976661181835,
      -1.6695822348712337,
      -1.4385845201456822,
      -1.2060399437168274,
      -0.8306328027525394,
      -0.03151399087948384,
      0.06286609435994613,
      0.06287120524425456
    ],
    "ay_ego": [
      -0.06534900148028022,
      -0.07298822704566865,
      -0.012770630530832938,
      -0.03285449525869222,
      -0.02892860141475173,
      -0.02081827871850095,
      -0.024031350288780118,
      -0.036695100883683426,
      -0.032845670118032015,
      -0.032835873151490336
    ],
    "a_ego": [
      2.3282084696879877,
      2.328208471188492,
      2.1478356323487304,
      1.6699054634488524,
      1.4388753544287969,
      1.2062196095940778,
      0.8309803600598759,
      0.04837005323561155,
      0.07092942876956103,
      0.07092942277000389
    ],
    "yaw": [
      -0.33567404870032014,
      -0.33895665994895535,
      -0.3415926402509316,
      -0.34378666272944164,
      -0.3446950555780376,
      -0.34464627083370203,
      -0.3445459565366158,
      -0.34439916264802395,
      -0.344629631532481,
      -0.3447853440575276
    ],
    "yaw_diff": [
      -0.006565222497270429,
      -0.005271960603952519,
      -0.004388044957020054,
      -0.0018167856971919027,
      9.756948867112314e-05,
      0.00020062859417246948,
      0.00029358777718369033,
      -0.00046093776891409366,
      -0.00031142505009318366,
      -0.00031142505009318366
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.6983035085259288,
    "v_std": 1.8221694380132694,
    "vy_max": 0.11689364515269762,
    "a_max": 2.328208471188492,
    "ax_avg": -1.1852769144970963,
    "a_std": 0.8793217353102633,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "4c5164f4b17d5581",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 5.316267980036492,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "4c5164f4b17d5581",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "e149babe2348549e": {
    "vx_ego": [
      1.575306253401152,
      2.036716964270991,
      2.4821645398875036,
      2.8480440198735617,
      3.0212522978099727,
      3.0561238437160148,
      3.189930431780657,
      3.4591408629113665,
      3.7363178064956255,
      3.994213862277845
    ],
    "vy_ego": [
      -0.013670722270673896,
      0.0018597121493452162,
      -0.0028501560784968127,
      -0.011515732838999648,
      0.007050459070168769,
      0.0012231181803159519,
      -0.0076313956544824535,
      -0.018410460120254823,
      -0.029045070864581746,
      -0.02081189183054377
    ],
    "v_ego": [
      1.5753655704794922,
      2.036717813315953,
      2.482166176238935,
      2.8480673010377364,
      3.0212605243499175,
      3.056124088473443,
      3.1899395602111276,
      3.4591898552269478,
      3.7364306988458664,
      3.994268082196545
    ],
    "ax_ego": [
      0.9228202912439698,
      0.9228288487970046,
      0.8589597435691632,
      0.6045558077440154,
      0.08841015423025941,
      0.051247888669234576,
      0.4838631232290802,
      0.5927665424241777,
      0.5151916323493267,
      0.5155667485069916
    ],
    "ay_ego": [
      0.03214811517268856,
      0.03190180836665496,
      -0.05034218652776096,
      0.015263105027568724,
      -0.03610878653315439,
      -0.06027209879708655,
      -0.04584925783955851,
      -0.08833579218408374,
      -0.04833255027104094,
      -0.044151841532677816
    ],
    "a_ego": [
      0.9233800903424124,
      0.9233801002561554,
      0.8604337143654928,
      0.6047484494003283,
      0.09549973736045125,
      0.07911429697886485,
      0.4860305303840885,
      0.5993124277021995,
      0.5174538177059539,
      0.5174538213954925
    ],
    "yaw": [
      -2.0903536333713526,
      -2.0900867227699527,
      -2.0900427202403797,
      -2.0900813550981185,
      -2.09800938780315,
      -2.1040119595655113,
      -2.109771511349449,
      -2.116647875313153,
      -2.12317119470505,
      -2.1312830514921233
    ],
    "yaw_diff": [
      0.0005338212027998779,
      8.800505914585699e-05,
      -7.726971547761252e-05,
      -0.01585606541006257,
      -0.012005143524723039,
      -0.011519103567875,
      -0.013752727927408337,
      -0.013046638783793973,
      -0.016223713574146537,
      -0.016223713574146537
    ],
    "min_front_frame": [
      0,
      16.479433122504673
    ],
    "v_avg": 2.939952967037596,
    "v_std": 0.7066900492920261,
    "vy_max": 0.029045070864581746,
    "a_max": 0.9233801002561554,
    "ax_avg": 0.5556210780763222,
    "a_std": 0.2853063707623801,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e149babe2348549e",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 7.651038770083401,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      16.479433122504673,
      17.112000892079426,
      17.447317344151205,
      17.633341267109152,
      17.64199292580583,
      17.909718185787735,
      18.25028338436772,
      18.477628011799716,
      18.455276956604415,
      18.392857606913335
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e149babe2348549e",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e9c2b75226b85cfe": {
    "vx_ego": [
      4.087971141907054,
      4.254374974447484,
      4.2850210646524145,
      4.305938103781882,
      4.500983227335202,
      4.648904307274065,
      4.701038178497902,
      4.743317724683203,
      4.847462239515147,
      5.132412903786898
    ],
    "vy_ego": [
      0.001574991168926232,
      -0.0017655065349422294,
      0.004561473668883043,
      -0.04511121881025382,
      -0.10592870972194368,
      -0.08869886711096298,
      0.000720853445393077,
      0.0778038328914025,
      0.13667720466539746,
      0.1534336464870023
    ],
    "v_ego": [
      4.0879714453090354,
      4.254375340777815,
      4.285023492532677,
      4.306174401445355,
      4.502229548156798,
      4.649750396227535,
      4.701038233765448,
      4.7439557832790165,
      4.8493887059917515,
      5.134705843457106
    ],
    "ax_ego": [
      0.33269413513203505,
      0.33291560083165905,
      -0.20387862243155522,
      0.2883596233970488,
      0.47993752479905244,
      0.09130309889772226,
      0.12097905705420825,
      0.09644543977228848,
      0.4240716614334151,
      0.8202120943359448
    ],
    "ay_ego": [
      -0.047245632770915924,
      -0.045659011717992415,
      -0.45783108930200866,
      -0.6503041279341029,
      -0.9469718106309939,
      -1.4143269624208177,
      -1.8053776174631402,
      -1.9415737644662001,
      -2.024563580295339,
      -1.8989330125824013
    ],
    "a_ego": [
      0.336032048125141,
      0.33603205595325025,
      0.5011744197542932,
      0.7113696164539373,
      1.0616476053003576,
      1.4172709735610987,
      1.8094265041395325,
      1.9439676966751072,
      2.0685005353369332,
      2.0685005356465904
    ],
    "yaw": [
      2.207858930655158,
      2.203091504974876,
      2.1726106541133694,
      2.11892402294278,
      2.041670434769608,
      1.910453925262273,
      1.7195785419234162,
      1.5058418164646654,
      1.285801848530474,
      1.0845515160250812
    ],
    "yaw_diff": [
      -0.009534851360564645,
      -0.06096170172301285,
      -0.10737326234117894,
      -0.15450717634634348,
      -0.2624330190146704,
      -0.38175076667771357,
      -0.42747345091750155,
      -0.4400799358683827,
      -0.40250066501078585,
      -0.40250066501078585
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.551461319094253,
    "v_std": 0.3057261052260229,
    "vy_max": 0.1534336464870023,
    "a_max": 2.0685005356465904,
    "ax_avg": 0.2783039613221819,
    "a_std": 0.6865401266352013,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "e9c2b75226b85cfe",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.586642920501305,
    "right_rear_min": 11.752217360979305,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e9c2b75226b85cfe",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "627ed4c9950753e9": {
    "vx_ego": [
      4.412611807378396,
      3.976080710052305,
      3.499410927867384,
      2.98129923074052,
      2.460616766560842,
      1.9819470363946947,
      1.5474969853096767,
      1.1263961738605428,
      0.7197820446644736,
      0.31541222553939696
    ],
    "vy_ego": [
      -0.015860823546140157,
      0.013575957151403362,
      0.015778632225960765,
      0.0015070168710114018,
      -0.008330968147622464,
      -0.021038649980628654,
      -0.03480177511462745,
      -0.04238678435944798,
      -0.018254437078674968,
      0.025164453608462783
    ],
    "v_ego": [
      4.412640312595034,
      3.9761038869051974,
      3.499446500135784,
      2.981299611631455,
      2.460630869697974,
      1.9820586973817707,
      1.5478882657006179,
      1.1271934084157893,
      0.7200134834115467,
      0.31641447777421294
    ],
    "ax_ego": [
      -0.87302828173329,
      -0.8731024553135123,
      -1.0333714411593102,
      -1.0390586244884192,
      -1.0436721827561066,
      -0.8710712469261594,
      -0.8668358158574349,
      -0.8177346981760846,
      -0.8087365010815921,
      -0.8087419099679527
    ],
    "ay_ego": [
      0.045785744721634436,
      0.04434883828812036,
      -0.06299098353340643,
      -0.014804866020817653,
      -0.04084912313905459,
      -0.01807388013148359,
      -0.04464109655761783,
      0.009392814806989003,
      0.08679839875671991,
      0.08674791694833256
    ],
    "a_ego": [
      0.8742280681412005,
      0.8742280691741655,
      1.0352895244375728,
      1.0391640915570843,
      1.0444712901368451,
      0.8712587344552142,
      0.867984538546103,
      0.8177886411360398,
      0.8133810240031585,
      0.8133810165190032
    ],
    "yaw": [
      1.0892975123305864,
      1.0876516974375356,
      1.0858252974940001,
      1.0842278771199036,
      1.0827303725971962,
      1.0818106737288584,
      1.080724841121265,
      1.079802800363376,
      1.0797111013694227,
      1.0796486756725434
    ],
    "yaw_diff": [
      -0.0032916297861014243,
      -0.003652799887071012,
      -0.003194840748192984,
      -0.0029950090454149425,
      -0.0018393977366755188,
      -0.0021716652151866356,
      -0.0018440815157783064,
      -0.0001833979879064529,
      -0.0001248513937586182,
      -0.0001248513937586182
    ],
    "min_front_frame": [
      9,
      12.661794436523868
    ],
    "v_avg": 2.302368951364938,
    "v_std": 1.3294496419654855,
    "vy_max": 0.04238678435944798,
    "a_max": 1.0444712901368451,
    "ax_avg": -0.9035353157459862,
    "a_std": 0.0912270811041701,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "627ed4c9950753e9",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 12.682595038878885,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      20.122507619204058,
      19.714216728892037,
      18.530965242271364,
      17.349001856190846,
      15.91883239116649,
      14.91324082669001,
      13.964864772369147,
      13.327822789722303,
      12.892235298599372,
      12.661794436523868
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "627ed4c9950753e9",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "27eb0ba03f385c69": {
    "vx_ego": [
      2.254121073377465,
      1.9260850097306716,
      1.5915573536469945,
      1.2454214748083254,
      0.8922007119906467,
      0.5517249903069589,
      0.258952538500878,
      0.04915045232643315,
      -0.02775323571569838,
      -0.02170191536327065
    ],
    "vy_ego": [
      0.015067989492793431,
      -0.0027195935317294237,
      -0.028782824412150857,
      -0.03644971134465275,
      -0.006698009541783449,
      0.013084890246137515,
      0.012222132285335661,
      0.010258065854255646,
      0.00370744833482834,
      -0.004572641065502217
    ],
    "v_ego": [
      2.25417143486287,
      1.926086929735566,
      1.5918175966262482,
      1.2459547469193466,
      0.892225853586657,
      0.5518801312621857,
      0.259240810278106,
      0.05020950984587704,
      0.02799977260347908,
      0.02217841691258598
    ],
    "ax_ego": [
      -0.6560710087642385,
      -0.6560787886971748,
      -0.6820192869836842,
      -0.7026483921851917,
      -0.7102760505066453,
      -0.6516432929472388,
      -0.51947123087628,
      -0.31971934774025973,
      0.012103026966603134,
      0.012102336010261113
    ],
    "ay_ego": [
      -0.034711128463440655,
      -0.03456397095514951,
      -0.06778026879312368,
      0.03321299041633193,
      0.08421010998500499,
      -0.004254265303201814,
      0.0016087906050712836,
      -0.009646562611235268,
      -0.016561996182131233,
      -0.016562506141454044
    ],
    "a_ego": [
      0.6569886079530839,
      0.6569886186735205,
      0.6853790722333161,
      0.7034329149057714,
      0.7152505928323339,
      0.6516571798241702,
      0.5194737220642911,
      0.3198648425345768,
      0.02051299537588921,
      0.020512999453784563
    ],
    "yaw": [
      1.5548750348134655,
      1.5550993334486236,
      1.555370135273824,
      1.554684078409197,
      1.5543139712138052,
      1.5546023154671333,
      1.5551202665502628,
      1.5547687293240542,
      1.5548182045346757,
      1.5548601178094759
    ],
    "yaw_diff": [
      0.0004485972703163199,
      0.0005416036504009014,
      -0.0013721137292539431,
      -0.0007402143907837555,
      0.0005766885066562644,
      0.0010359021662589285,
      -0.0007030744524172405,
      9.895042124297149e-05,
      8.382654960037428e-05,
      8.382654960037428e-05
    ],
    "min_front_frame": [
      9,
      10.556758381135051
    ],
    "v_avg": 0.8821765202632923,
    "v_std": 0.7916232309019762,
    "vy_max": 0.03644971134465275,
    "a_max": 0.7152505928323339,
    "ax_avg": -0.48737220357238487,
    "a_std": 0.2620625890504327,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "27eb0ba03f385c69",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.1648101584637316,
    "right_rear_min": 30.124952727326576,
    "speed_mode": "decelerating",
    "front_frame": [
      13.452619878186482,
      12.73699457156819,
      12.185692913470623,
      11.57501209195841,
      11.158728797304382,
      10.83134912445682,
      10.63464927832125,
      10.589611517999751,
      10.59849020054831,
      10.556758381135051
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "27eb0ba03f385c69",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "9e290b24dff55dff": {
    "vx_ego": [
      4.6025646050667035,
      3.8929096493214495,
      3.129739748800578,
      2.3120294943064,
      1.606000165139419,
      1.0815598359410217,
      0.6763614284070238,
      0.3512956911195682,
      0.11376461159952286,
      -0.06600383124437009
    ],
    "vy_ego": [
      0.02114061500157316,
      0.02183581935788137,
      0.022461620455063835,
      0.01522976524132269,
      -0.010837180522901835,
      -0.03293197057793884,
      -0.021052055309833506,
      0.01019198011362732,
      0.010769225795448908,
      -0.018295182506207236
    ],
    "v_ego": [
      4.602613156611738,
      3.8929708887669685,
      3.129820349415565,
      2.312079654400344,
      1.6060367290038937,
      1.0820610858019597,
      0.6766889764652281,
      0.3514435076336048,
      0.11427319491737183,
      0.06849247726481147
    ],
    "ax_ego": [
      -1.4192104633311406,
      -1.4191291498699743,
      -1.6332042526763038,
      -1.637324719914794,
      -1.1867221465913356,
      -0.9112912374874266,
      -0.7096917850075948,
      -0.5905938809553493,
      -0.3595367526648555,
      -0.3595369724301412
    ],
    "ay_ego": [
      -0.023342488526855498,
      -0.027850682340839317,
      -0.025645322309168495,
      -0.043557145822157084,
      -0.08041244970066252,
      -0.01913828574644577,
      0.06230791884944975,
      0.060489149395932806,
      -0.05812931338358113,
      -0.05812794412828007
    ],
    "a_ego": [
      1.419402413341339,
      1.4194024110580925,
      1.633405587573492,
      1.637903984791609,
      1.189443405663846,
      0.9114921796168511,
      0.7124217195303747,
      0.5936834757819563,
      0.36420556501958623,
      0.3642055634292433
    ],
    "yaw": [
      -0.7206348686205888,
      -0.723811504728661,
      -0.7277683871420002,
      -0.7314682289633698,
      -0.7340569058266224,
      -0.7361899399788389,
      -0.7374637209580497,
      -0.7385555654507593,
      -0.7384931276523531,
      -0.7384893181087487
    ],
    "yaw_diff": [
      -0.0063532722161443456,
      -0.007913764826678493,
      -0.007399683642739241,
      -0.005177353726505185,
      -0.0042660683044328795,
      -0.0025475619584216513,
      -0.0021836889854192076,
      0.00012487559681240157,
      7.619087208698971e-06,
      7.619087208698971e-06
    ],
    "min_front_frame": [
      1,
      16.467884855814724
    ],
    "v_avg": 1.7836480020281484,
    "v_std": 1.5497140467674213,
    "vy_max": 0.03293197057793884,
    "a_max": 1.637903984791609,
    "ax_avg": -1.0226241360928916,
    "a_std": 0.47475009957248615,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9e290b24dff55dff",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.622875474290145,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.398123956784055,
      16.467884855814724,
      24.48901256751,
      23.159075852268924,
      22.24102136774633,
      21.598621467437468,
      21.13110898202284,
      20.85203259144789,
      20.719043196390395,
      20.72741633473608
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9e290b24dff55dff",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "5a7626d57d61594b": {
    "vx_ego": [
      2.1271422552793484,
      1.6030467055545867,
      1.315710071262747,
      1.3022348590473958,
      1.3761712254417473,
      1.504702385880425,
      1.561842653914886,
      1.3584018872386228,
      0.8849238531602986,
      0.3254912632448349
    ],
    "vy_ego": [
      0.003552633292928653,
      0.013064779932170034,
      0.01283227782007429,
      0.000957459443471198,
      -0.01684959241649342,
      -0.030981809899535806,
      -0.011020712162399637,
      0.02171056835177121,
      0.025175282034845425,
      -0.0020420825710495694
    ],
    "v_ego": [
      2.127145221981383,
      1.603099943442108,
      1.3157726471454991,
      1.3022352110301643,
      1.3762743732622658,
      1.5050213096892995,
      1.5618815357396543,
      1.3585753700224397,
      0.8852818877157738,
      0.325497669039189
    ],
    "ax_ego": [
      -1.048462299726124,
      -1.048132010213254,
      -0.10165447233929843,
      0.04768167380154564,
      0.2482821503541644,
      0.2672302729567608,
      -0.03688372452731383,
      -0.7774034847879989,
      -1.1188523816117584,
      -1.119142282524187
    ],
    "ay_ego": [
      0.042104799299400086,
      0.04965175814569822,
      -0.023943848731050637,
      0.0011060934417944056,
      -0.019230558506989445,
      0.029273827132989372,
      0.1331272714956761,
      0.12450454280690257,
      -0.05041591295257147,
      -0.043507887678085555
    ],
    "a_ego": [
      1.0493073944612394,
      1.0493073943895734,
      0.10443629464241168,
      0.04769450135203202,
      0.24902578293216676,
      0.26882889677182586,
      0.13814224390420993,
      0.7873103322960269,
      1.1199876856988853,
      1.119987671728424
    ],
    "yaw": [
      1.1341314562526819,
      1.14133067992445,
      1.1462964707754761,
      1.1510746948732518,
      1.1611770772783971,
      1.1727501367546167,
      1.1858851553417498,
      1.2062856417580743,
      1.2192175886530545,
      1.225390973295398
    ],
    "yaw_diff": [
      0.014398447343536347,
      0.009931581702052217,
      0.009556448195551237,
      0.020204764810290765,
      0.02314611895243912,
      0.026270037174266125,
      0.04080097283264905,
      0.025863893789960457,
      0.012346769284687031,
      0.012346769284687031
    ],
    "min_front_frame": [
      1,
      10.192682316955924
    ],
    "v_avg": 1.3360785169067777,
    "v_std": 0.4477484124581771,
    "vy_max": 0.030981809899535806,
    "a_max": 1.1199876856988853,
    "ax_avg": -0.46873365586174637,
    "a_std": 0.4445191909861822,
    "ini_direction_judge": "straight",
    "scenario_type": "side_ego_to_main",
    "scene_token": "5a7626d57d61594b",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 32.58640508446449,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      10.49844509055153,
      10.192682316955924,
      10.234331081076487,
      10.726395894280978,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "side_ego_to_main",
    "lane_change_frame": -1,
    "token": "5a7626d57d61594b",
    "pedestrians": "No",
    "main_road_vehicles": "No"
  },
  "e9645135a4fe5739": {
    "vx_ego": [
      6.995779167368003,
      6.939395586737613,
      6.902369145568292,
      6.9477397201924385,
      7.136546427956377,
      7.512922525817849,
      7.970022023363285,
      8.346383654648772,
      8.59080858640721,
      8.753535729116887
    ],
    "vy_ego": [
      -0.010026816162444163,
      0.003408954089913152,
      -0.0005574725044605877,
      -0.0023999897043553986,
      0.01116983282083961,
      0.01645154808231286,
      0.04823740996282755,
      0.010393672223574235,
      -0.001995154460191273,
      0.021677924533398674
    ],
    "v_ego": [
      6.9957863529143385,
      6.939396424056018,
      6.902369168080532,
      6.94774013471217,
      7.136555169235517,
      7.512940538322898,
      7.970167997013345,
      8.346390126216871,
      8.590808818087455,
      8.75356257150984
    ],
    "ax_ego": [
      -0.11496720867467178,
      -0.11032094995770898,
      -0.03785319491304498,
      0.220795145983893,
      0.5328825204676433,
      0.9734307747882099,
      0.850939063728975,
      0.6535743757966869,
      0.32462799725991803,
      0.3259741037099383
    ],
    "ay_ego": [
      0.2672571797043101,
      0.2692083669152972,
      0.2738502990829117,
      0.3831671154338892,
      0.27437634765387087,
      0.45160477192420656,
      0.05971934984481314,
      -0.010955139785907508,
      0.17952115220268805,
      0.1770651401678642
    ],
    "a_ego": [
      0.29093617714878195,
      0.29093617309776487,
      0.2764540661175472,
      0.44223018309470463,
      0.5993714714363924,
      1.073086363406734,
      0.8530320573846165,
      0.6536661837557131,
      0.37095981007808115,
      0.37095980934888756
    ],
    "yaw": [
      2.476296163909624,
      2.4936174620694382,
      2.5138330134078264,
      2.5379292698475853,
      2.559463950138653,
      2.5837023313499015,
      2.5960842595442086,
      2.6021988147515014,
      2.60860680184546,
      2.6161567509676322
    ],
    "yaw_diff": [
      0.03464259631962818,
      0.0404311026767763,
      0.04819251287951776,
      0.04306936058213573,
      0.048476762422496655,
      0.024763856388614336,
      0.01222911041458552,
      0.012815974187916801,
      0.015099898244344878,
      0.015099898244344878
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.609571730014899,
    "v_std": 0.7029636187723153,
    "vy_max": 0.04823740996282755,
    "a_max": 1.073086363406734,
    "ax_avg": 0.3619082628189839,
    "a_std": 0.25605932025211103,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e9645135a4fe5739",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 47.41558598240844,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e9645135a4fe5739",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "583f7d0d8b27513c": {
    "vx_ego": [
      9.335596073683952,
      9.61688954317945,
      9.979568894976836,
      10.367393972917549,
      10.69971810576949,
      10.905646737170445,
      11.043486547997931,
      11.22157700249174,
      11.489270177763927,
      11.790272557729958
    ],
    "vy_ego": [
      -0.13724308248113726,
      -0.12870177390656945,
      -0.1323764493382944,
      -0.1068050129620115,
      -0.14304840526246343,
      -0.12165541033706173,
      -0.13658416601810908,
      -0.2548076990580067,
      -0.13343952882967108,
      0.021289619368090346
    ],
    "v_ego": [
      9.336604828023523,
      9.617750705457121,
      9.980446826366473,
      10.367944111562375,
      10.700674296004882,
      10.906325265405423,
      11.04433114182195,
      11.224469581514787,
      11.490045053241081,
      11.79029177897871
    ],
    "ax_ego": [
      0.438224852682082,
      0.7502161380586334,
      0.7661231483048777,
      0.8310671592085673,
      0.5524101257052483,
      0.337456571583286,
      0.25177866231639423,
      0.4785008569873159,
      0.6017121756344522,
      0.6030771871069489
    ],
    "ay_ego": [
      2.4732804551348613,
      2.3971510065199593,
      2.417696556264932,
      2.2741080131829676,
      2.2547874894269735,
      2.4395209333295065,
      2.1261982456819006,
      1.0025646220458113,
      0.3918269608570741,
      0.38972273554543335
    ],
    "a_ego": [
      2.5118035813455517,
      2.5118035754937655,
      2.536178486728387,
      2.4212062858703267,
      2.3214701310717056,
      2.462750357193683,
      2.1410538234100107,
      1.1109000366889257,
      0.7180431112135517,
      0.7180431074871798
    ],
    "yaw": [
      0.7889896813177815,
      0.9169313607806198,
      1.0400256838034347,
      1.1527775696455866,
      1.2632276347593523,
      1.369520042686401,
      1.474687406679992,
      1.5557308006308488,
      1.5757679856129438,
      1.5792610809113372
    ],
    "yaw_diff": [
      0.2558833589256766,
      0.24618864604562996,
      0.2255037716843038,
      0.2209001302275313,
      0.21258481585409728,
      0.2103347279871821,
      0.1620867879017136,
      0.040074369964190115,
      0.006986190596786734,
      0.006986190596786734
    ],
    "min_front_frame": [
      8,
      23.468692254857757
    ],
    "v_avg": 10.645888358837633,
    "v_std": 0.7666783753692515,
    "vy_max": 0.2548076990580067,
    "a_max": 2.536178486728387,
    "ax_avg": 0.5610566877587806,
    "a_std": 0.7330482542422413,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "583f7d0d8b27513c",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 14.312760640398226,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      29.622666517975496,
      30.09811779232153,
      23.468692254857757,
      24.909562775010265
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "583f7d0d8b27513c",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "4e3f39fa6dfc5d12": {
    "vx_ego": [
      0.3145874265736651,
      0.4644686298636357,
      0.7130785441011451,
      1.1701278992448945,
      1.7755604636304279,
      2.447219886727012,
      3.1911365063683967,
      3.992419592802624,
      4.780039354191337,
      5.54301797199896
    ],
    "vy_ego": [
      0.014445648971956535,
      0.02815062118652617,
      0.02189451474368706,
      0.002619432442835745,
      0.000729792740800761,
      0.009247043603348826,
      0.006347548254979851,
      -0.006452911157801111,
      -0.020090894071025822,
      0.10241112711008071
    ],
    "v_ego": [
      0.31491891929901916,
      0.46532092753345006,
      0.7134145918281111,
      1.1701308311541887,
      1.7755606136105138,
      2.447237357063587,
      3.1911428193745803,
      3.9924248076897677,
      4.7800815758355535,
      5.543963949816
    ],
    "ax_ego": [
      0.29965609139686855,
      0.29970976477482963,
      0.694331151342356,
      1.1336681181167316,
      1.2885509592136968,
      1.3978581987291128,
      1.577087843256346,
      1.6280972991815534,
      1.5231571050613968,
      1.5348598189758724
    ],
    "ay_ego": [
      0.02913749046830387,
      0.02858013226133524,
      -0.04737277475855811,
      -0.004043264730884288,
      0.0785849663020361,
      0.08997578881996499,
      0.026192378596075594,
      -0.09042688557821321,
      -0.28235342209739267,
      -0.2096100319944149
    ],
    "a_ego": [
      0.30106937151101726,
      0.30106937250650245,
      0.695945348078947,
      1.1336753283123064,
      1.2909450690944329,
      1.4007509365793673,
      1.577305330633062,
      1.630606585672229,
      1.549106523667473,
      1.5491065261689874
    ],
    "yaw": [
      -0.36580712881333877,
      -0.3639473157290043,
      -0.36105926320881765,
      -0.3538176387366805,
      -0.3396965826995929,
      -0.32366865131661204,
      -0.312247926214794,
      -0.3131566571097647,
      -0.3312400052857255,
      -0.3788065687036808
    ],
    "yaw_diff": [
      0.0037196261686689436,
      0.005776105040373292,
      0.01448324894427433,
      0.028242112074175152,
      0.03205586276596173,
      0.022841450203636038,
      -0.0018174617899413548,
      -0.0361666963519216,
      -0.09513312683591058,
      -0.09513312683591058
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.4394196393204775,
    "v_std": 1.7758190484330467,
    "vy_max": 0.10241112711008071,
    "a_max": 1.630606585672229,
    "ax_avg": 1.1376976350048764,
    "a_std": 0.49620447085301017,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "4e3f39fa6dfc5d12",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.629302293714574,
    "right_rear_min": 9.712842893175582,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "C",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "4e3f39fa6dfc5d12",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "9540f5a8db575a50": {
    "vx_ego": [
      3.8133160960978363,
      3.8608925345603153,
      3.8813974531772595,
      3.6749289056296592,
      3.712800922252835,
      3.9222600402524717,
      3.8682047036200826,
      3.807883634096178,
      3.760330193544096,
      3.737403887321599
    ],
    "vy_ego": [
      -0.0029539398743817225,
      0.0010106574285676517,
      -0.02468776083070434,
      -0.039810843330021384,
      -0.004168182665561959,
      -0.0009546279668859459,
      0.0086987844989872,
      0.003911458410447821,
      -0.004050523827770158,
      0.005586086926405942
    ],
    "v_ego": [
      3.8133172402148268,
      3.86089266683911,
      3.8814759660554063,
      3.6751445365698276,
      3.712803261960999,
      3.9222601564245934,
      3.86821448448251,
      3.8078856430208634,
      3.760332375099661,
      3.737408061923898
    ],
    "ax_ego": [
      0.08209380284979292,
      0.1082774124180645,
      -0.024654937245244077,
      -0.7899478540510987,
      0.9470295879867998,
      -0.10779655868606355,
      -0.11097940383410568,
      -0.13219053981092385,
      -0.0587698285529793,
      -0.03303602701741715
    ],
    "ay_ego": [
      0.45480906593574066,
      0.4492957629801687,
      0.40658608747604325,
      0.5071418607324217,
      0.5092691219925811,
      0.5316952767721438,
      0.48093276960490183,
      0.47175631642978494,
      0.4474932064205205,
      0.450125192442059
    ],
    "a_ego": [
      0.4621587161611058,
      0.46215871805244957,
      0.40733292582314484,
      0.938728117735417,
      1.0752767453718797,
      0.5425126407802536,
      0.4935714304487397,
      0.4899268934309514,
      0.4513358644520344,
      0.45133587044693907
    ],
    "yaw": [
      -1.6101109155154691,
      -1.552205510233299,
      -1.4905780105523276,
      -1.4277267195409946,
      -1.3649126810225147,
      -1.299855218512938,
      -1.2373687015065795,
      -1.1741305139040685,
      -1.1111635604963617,
      -1.0538412905576942
    ],
    "yaw_diff": [
      0.11581081056434028,
      0.12325499936194273,
      0.12570258202266604,
      0.12562807703695977,
      0.13011492501915356,
      0.12497303401271687,
      0.12647637520502197,
      0.12593390681541372,
      0.11464453987733503,
      0.11464453987733503
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.8039734392591695,
    "v_std": 0.07662381533786466,
    "vy_max": 0.039810843330021384,
    "a_max": 1.0752767453718797,
    "ax_avg": -0.011997434594317503,
    "a_std": 0.219454642107332,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "9540f5a8db575a50",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "9540f5a8db575a50",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "6a934e9ad62352ee": {
    "vx_ego": [
      6.0941754864681394,
      5.6041922110947695,
      5.057365502022626,
      4.42338283861622,
      3.752680474090708,
      3.0830303771542527,
      2.410082135344299,
      1.7851452151001428,
      1.305643010218457,
      0.91294014387283
    ],
    "vy_ego": [
      0.02333260890554678,
      0.011884569106024756,
      0.005261623882534483,
      0.0056955641388654055,
      0.017993352205610824,
      0.008143316390227806,
      0.002723342698953579,
      -0.004907898114227094,
      -0.011587750303804711,
      0.006438525474809331
    ],
    "v_ego": [
      6.094220152776525,
      5.604204812627579,
      5.057368239087841,
      4.423386505429448,
      3.7527236111050404,
      3.0830411317492543,
      2.410083674004119,
      1.785151961727302,
      1.3056944305960017,
      0.9129628474942632
    ],
    "ax_ego": [
      -0.9800477882892724,
      -0.9800404465187517,
      -1.207327205506856,
      -1.3286285879892739,
      -1.3542361539296692,
      -1.3245352949368696,
      -1.367239769854438,
      -1.1325457082356367,
      -0.7854155170689546,
      -0.7853882811807805
    ],
    "ay_ego": [
      0.002183219387898394,
      0.004376123505093588,
      0.011720022800725038,
      0.03358126432001185,
      0.035000957206976824,
      -0.0497117710065722,
      0.03711294539522736,
      -0.06060620296581759,
      0.037373613052621546,
      0.037941864345793885
    ],
    "a_ego": [
      0.9800502200283362,
      0.9800502167081062,
      1.2073840897127326,
      1.3290529056947664,
      1.3546883876433087,
      1.3254678448420052,
      1.367743381993686,
      1.1341661664328089,
      0.7863042168304202,
      0.7863042269288238
    ],
    "yaw": [
      -2.009208843126684,
      -2.0069712880139967,
      -2.004984611336575,
      -2.0026943597152838,
      -2.0015094439412535,
      -1.9997015729974557,
      -1.998876589901636,
      -1.9980266431030445,
      -1.9974462821448427,
      -1.9967227621129076
    ],
    "yaw_diff": [
      0.004475110225374834,
      0.00397335335484339,
      0.004580503242582523,
      0.002369831548060475,
      0.003615741887595725,
      0.0016499661916391517,
      0.0016998935971832552,
      0.0011607219164035953,
      0.0014470400638701975,
      0.0014470400638701975
    ],
    "min_front_frame": [
      9,
      13.42277322404806
    ],
    "v_avg": 3.442883736659737,
    "v_std": 1.7400331997847496,
    "vy_max": 0.02333260890554678,
    "a_max": 1.367743381993686,
    "ax_avg": -1.1245404753510502,
    "a_std": 0.21721592913848978,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6a934e9ad62352ee",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 6.380260301435354,
    "right_rear_min": 11.562633691865758,
    "speed_mode": "decelerating",
    "front_frame": [
      24.684503786511073,
      22.93910086878704,
      21.170565080730753,
      19.3286710303363,
      17.591102156639806,
      16.141131289528694,
      14.983922185924417,
      14.116931231220216,
      13.636895279216835,
      13.42277322404806
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6a934e9ad62352ee",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "80f6c94fed0c5519": {
    "vx_ego": [
      9.879631153637323,
      9.812659614522886,
      9.785488840415548,
      9.829226823315432,
      9.877725825906822,
      9.916812219075894,
      9.993864005449055,
      10.082532676418,
      10.074777826774397,
      9.980428474177502
    ],
    "vy_ego": [
      0.05080565452946306,
      0.015862203141960407,
      0.05395561559681905,
      0.0928021132815573,
      0.08353179528536625,
      -0.03774202411710714,
      -0.10888023286636805,
      -0.04299023561170401,
      0.02241791067678367,
      0.05968877620196977
    ],
    "v_ego": [
      9.879761785916365,
      9.81267243517162,
      9.785637590589161,
      9.829664906618795,
      9.878079016317404,
      9.916884039293663,
      9.9944570970373,
      10.082624327594212,
      10.074802768371407,
      9.980606959407707
    ],
    "ax_ego": [
      -0.13394616632139378,
      -0.13349558525576719,
      0.026106533560350503,
      0.1510031806977742,
      0.045131049610950706,
      0.11128507517522833,
      0.19745508386873392,
      0.15780094223881141,
      -0.18888848134951602,
      -0.1887420686875838
    ],
    "ay_ego": [
      -0.13519003408390162,
      -0.13563498308172967,
      -0.11044164987722092,
      -0.05321241331722145,
      -0.18539119471147764,
      -0.3174144879238004,
      0.07613093515294753,
      0.24740752778469635,
      0.10290465477405192,
      0.10317294544312736
    ],
    "a_ego": [
      0.19031006486206914,
      0.19031006257778618,
      0.11348528152205624,
      0.16010472045473065,
      0.19080541584434943,
      0.3363574365175901,
      0.21162331968115197,
      0.2934478184890663,
      0.21510050292989386,
      0.2151005001479056
    ],
    "yaw": [
      2.5725402240947766,
      2.5692127326563146,
      2.5590265735709807,
      2.550880980668979,
      2.5457748738697044,
      2.545327143644429,
      2.546414905027854,
      2.547907923089751,
      2.550098192361625,
      2.551519126180263
    ],
    "yaw_diff": [
      -0.006654982876924009,
      -0.020372318170667647,
      -0.016291185804003128,
      -0.010212213598549624,
      -0.0008954604505504449,
      0.0021755227668496246,
      0.0029860361237936672,
      0.004380538543748536,
      0.0028418676372758966,
      0.0028418676372758966
    ],
    "min_front_frame": [
      0,
      24.736013891038283
    ],
    "v_avg": 9.923519092631764,
    "v_std": 0.10031095453978518,
    "vy_max": 0.10888023286636805,
    "a_max": 0.3363574365175901,
    "ax_avg": 0.004370956353758832,
    "a_std": 0.059920905038742575,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "80f6c94fed0c5519",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 34.809490154851176,
    "right_rear_min": 16.498359772216954,
    "speed_mode": "quasi_constant",
    "front_frame": [
      24.736013891038283,
      24.94036691244523,
      25.258645356986293,
      25.48005132596328,
      25.674556107712753,
      25.83580793286719,
      25.791184290590486,
      25.85234576671936,
      25.829060357041893,
      26.057864141745682
    ],
    "safe_frame": [
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "80f6c94fed0c5519",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "04676f5bccee5447": {
    "vx_ego": [
      0.07927991208540491,
      0.6410397796908769,
      1.3217556415519582,
      2.07607097481398,
      2.7536524680494208,
      3.3067506697454845,
      3.7643098229750067,
      4.188178551556005,
      4.6441570327062625,
      5.276302931913617
    ],
    "vy_ego": [
      -0.00831530593072475,
      -0.0036884096262599364,
      -0.014276717174185105,
      -0.013990341237612558,
      -0.012259532611270885,
      -0.024170023025760656,
      -0.02792691960987348,
      -0.03358058592268853,
      -0.007118721491938901,
      -0.2121581888296813
    ],
    "v_ego": [
      0.07971479644953676,
      0.6410503907741567,
      1.3218327430608232,
      2.0761181137192106,
      2.7536797582388757,
      3.3068390015051046,
      3.7644134146218615,
      4.188313173040511,
      4.6441624886119905,
      5.280566610356101
    ],
    "ax_ego": [
      1.1235221758319627,
      1.1235254154030474,
      1.5993850219006305,
      1.4202723879139234,
      1.2969202152584307,
      0.9510631384577343,
      0.9349243793142168,
      0.8289526591274361,
      1.0521086779637143,
      1.5450923991450345
    ],
    "ay_ego": [
      0.009691300503468336,
      0.009307897354833283,
      -0.037709251297731394,
      0.14894146063918534,
      0.32798732891881643,
      0.8794829958620003,
      1.368343806139372,
      1.805330113117614,
      2.1620718284406117,
      1.8423291600619804
    ],
    "a_ego": [
      1.123563972763294,
      1.1235639705907974,
      1.5998295021387485,
      1.4280606480706806,
      1.3377509980101956,
      1.2953808063050318,
      1.6572411915095693,
      1.9865496038115193,
      2.404472345772162,
      2.4044723445925595
    ],
    "yaw": [
      0.858309800981903,
      0.8586510503946572,
      0.8624344410234344,
      0.8784229685815088,
      0.926762449018689,
      1.0287675621527352,
      1.188344948602126,
      1.3879736127719648,
      1.6070855732187814,
      1.8520737987266775
    ],
    "yaw_diff": [
      0.0006824988255083042,
      0.007566781257554389,
      0.0319770551161489,
      0.09667896087436034,
      0.2040102262680925,
      0.3191547728987816,
      0.39925732833967764,
      0.43822392089363316,
      0.48997645101579224,
      0.48997645101579224
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.805669049037817,
    "v_std": 1.6565132380767633,
    "vy_max": 0.2121581888296813,
    "a_max": 2.404472345772162,
    "ax_avg": 1.187576647031613,
    "a_std": 0.4559756542539697,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "04676f5bccee5447",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "04676f5bccee5447",
    "pedestrians": "No"
  },
  "b7215e8a4eb6552a": {
    "vx_ego": [
      4.715191840857818,
      4.9136053141878975,
      5.121728479847819,
      5.333489609697821,
      5.565116812575789,
      5.787496258847143,
      5.970376340558569,
      6.145315526709156,
      6.317866519623685,
      6.484915888134762
    ],
    "vy_ego": [
      0.0026381804851823842,
      -0.06790612864968504,
      -0.07183902736525674,
      -0.07553303473576958,
      -0.06370004066764923,
      -0.06548007857172444,
      -0.05441602781000541,
      -0.03878202986644673,
      -0.05485302598571844,
      -0.0882352320009977
    ],
    "v_ego": [
      4.715192578897326,
      4.914074523847164,
      5.1222322738369686,
      5.3340244333983895,
      5.56548136577554,
      5.787866669754879,
      5.970624318443101,
      6.145437898852546,
      6.318104637804101,
      6.485516134614803
    ],
    "ax_ego": [
      0.3895415280433371,
      0.4106589363254814,
      0.4261625760494401,
      0.4288597583677141,
      0.5013093907493009,
      0.3901132417897936,
      0.34272457085183106,
      0.3571886820512639,
      0.3325082626654635,
      0.3336375318125933
    ],
    "ay_ego": [
      0.396696987033781,
      0.3747937287208042,
      0.14199530914779213,
      0.29347468583485664,
      0.1444242629499671,
      0.05255496839796863,
      0.10769674073691536,
      -0.014858808867262607,
      -0.15935835795397094,
      -0.156980345160209
    ],
    "a_ego": [
      0.555977608894475,
      0.5559776084271916,
      0.4491961810223589,
      0.519661508650662,
      0.5216986419208666,
      0.39363735356677404,
      0.3592474348285957,
      0.35749760668635633,
      0.368723244440313,
      0.3687232449963218
    ],
    "yaw": [
      -0.11748010798071742,
      -0.0627493461500767,
      -0.036208369797235886,
      -0.014675692850009516,
      0.003271860281017839,
      0.012238935190646512,
      0.01716663415778081,
      0.018417531895335525,
      0.014009403770953121,
      0.006869817697516885
    ],
    "yaw_diff": [
      0.10946152366128145,
      0.053081952705681626,
      0.043065353894452735,
      0.03589510626205471,
      0.017934149819257346,
      0.009855397934268595,
      0.002501795475109432,
      -0.008816256248764809,
      -0.014279172146872472,
      -0.014279172146872472
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.635855483522482,
    "v_std": 0.5753859731187491,
    "vy_max": 0.0882352320009977,
    "a_max": 0.555977608894475,
    "ax_avg": 0.39127044787062193,
    "a_std": 0.0808648611268528,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "b7215e8a4eb6552a",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "b7215e8a4eb6552a",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "981ceb0924575bc3": {
    "vx_ego": [
      9.841950273478604,
      9.75757012756746,
      9.658661158619143,
      9.535614220793407,
      9.39745921314381,
      9.111908824322471,
      8.85142495852902,
      8.760476166240617,
      8.600856549078584,
      8.369741787771376
    ],
    "vy_ego": [
      0.03122739001786723,
      0.06420101962546365,
      0.044675690714863325,
      0.050298410848653496,
      0.043466229141663426,
      0.089275348607051,
      0.09284931351967529,
      0.0014022579353079045,
      -0.046120497852585096,
      -0.022999486645983058
    ],
    "v_ego": [
      9.841999813834224,
      9.757781334161871,
      9.658764480737634,
      9.535746876775377,
      9.397559735153443,
      9.112346158406991,
      8.851911928588734,
      8.76047627846781,
      8.60098020449705,
      8.36977338823175
    ],
    "ax_ego": [
      -0.1687586087279578,
      -0.16875947826532445,
      -0.228111820002116,
      -0.26483359077920793,
      -0.2887912192861547,
      -0.8530273951912829,
      -0.18822755665355562,
      -0.17608562000910935,
      -0.46277649254616743,
      -0.46247525438636633
    ],
    "ay_ego": [
      0.06569018807722588,
      0.06568796167421731,
      0.08937278481515025,
      0.08428896605294556,
      0.10049478347853132,
      0.034855497227169074,
      -0.07813126930313818,
      -0.21692222425787133,
      -0.05068299300756354,
      -0.05336173091318863
    ],
    "a_ego": [
      0.18109298393205978,
      0.18109298664856668,
      0.244994891967757,
      0.27792347976247633,
      0.3057769936459916,
      0.853739212308875,
      0.20379918627582153,
      0.27939469742816286,
      0.46554360465324585,
      0.46554359113383337
    ],
    "yaw": [
      1.0907964173987743,
      1.090783244601226,
      1.0967829495610135,
      1.1007189775106407,
      1.1063188302482296,
      1.1050350476881001,
      1.1034176070597854,
      1.1054261041500055,
      1.1032029029613877,
      1.0974126212451232
    ],
    "yaw_diff": [
      -2.634559509662182e-05,
      0.011999409919575044,
      0.007872055899254438,
      0.01119970547517779,
      -0.002567565120259019,
      -0.003234881256629407,
      0.004016994180440214,
      -0.004446402377235703,
      -0.011580563432529,
      -0.011580563432529
    ],
    "min_front_frame": [
      3,
      18.38491800821655
    ],
    "v_avg": 9.188734019885489,
    "v_std": 0.49541555921416913,
    "vy_max": 0.09284931351967529,
    "a_max": 0.853739212308875,
    "ax_avg": -0.32618470358472423,
    "a_std": 0.19541766811636527,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "981ceb0924575bc3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 15.039062340388693,
    "right_rear_min": 15.337744024726517,
    "speed_mode": "decelerating",
    "front_frame": [
      28.055044705936314,
      27.817632200809285,
      27.768156988935147,
      18.38491800821655,
      18.640688091233006,
      18.807747380586417,
      19.115473584788592,
      19.54813616577913,
      20.028733903129087,
      20.6583735081124
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "981ceb0924575bc3",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "ccce59bb3b3a5c29": {
    "vx_ego": [
      6.160434474851857,
      6.1853536275965615,
      6.300517011717722,
      6.538148472066485,
      6.850773332472675,
      7.166387329805662,
      7.464969678688208,
      7.634019349640384,
      7.657799048630979,
      7.654013533433802
    ],
    "vy_ego": [
      -0.030899126448638237,
      0.028892771760492153,
      0.06084216609929127,
      0.06018262540031216,
      0.040188904248940505,
      0.03133246966420944,
      0.03480086435853558,
      -0.0016963429212051295,
      -0.009025301584244971,
      -0.054339008999821026
    ],
    "v_ego": [
      6.160511965328739,
      6.185421108597372,
      6.300810771965785,
      6.53842545198654,
      6.850891212166743,
      7.166455824496121,
      7.465050797140929,
      7.634019538111171,
      7.657804367133063,
      7.654206418557503
    ],
    "ax_ego": [
      -0.02845289210239446,
      0.12731708798387453,
      0.34863174459551877,
      0.6146732118955933,
      0.640890510627171,
      0.6229741550495538,
      0.5731052833057129,
      0.10346922993785636,
      -0.009379388215957754,
      -0.007008264417432741
    ],
    "ay_ego": [
      -1.3289729690580516,
      -1.3231663188623244,
      -1.2461955922094683,
      -1.0471084987498465,
      -0.7991057044190557,
      -0.5721646732945462,
      -0.41049704329262304,
      -0.3173899559558907,
      -0.24112568184592734,
      -0.24120624384073083
    ],
    "a_ego": [
      1.329277517885548,
      1.3292775286840472,
      1.2940431010526745,
      1.2141908274963216,
      1.0243586156454345,
      0.8458541311750865,
      0.7049521177391462,
      0.3338296956317925,
      0.24130803419896532,
      0.2413080351706067
    ],
    "yaw": [
      0.18205871073364252,
      0.06472608350679428,
      -0.043656909579904354,
      -0.13327110219151445,
      -0.1992384561800098,
      -0.24686455902644744,
      -0.28088706363251514,
      -0.3000072399374722,
      -0.3172783096394886,
      -0.3271101417369642
    ],
    "yaw_diff": [
      -0.2346652544536965,
      -0.21676598617339726,
      -0.17922838522322018,
      -0.1319347079769907,
      -0.09525220569287529,
      -0.06804500921213541,
      -0.0382403526099141,
      -0.034542139404032834,
      -0.019663664194951136,
      -0.019663664194951136
    ],
    "min_front_frame": [
      4,
      53.94083169753939
    ],
    "v_avg": 6.961359745548397,
    "v_std": 0.5986778342526207,
    "vy_max": 0.06084216609929127,
    "a_max": 1.3292775286840472,
    "ax_avg": 0.2986220678659496,
    "a_std": 0.4298584273119354,
    "ini_direction_judge": "right",
    "scenario_type": "special_interior_road",
    "scene_token": "ccce59bb3b3a5c29",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      53.94083169753939,
      55.32544491451256,
      56.60971014528068,
      57.74178416697319,
      58.77306531310699,
      59.84374218258943
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "ccce59bb3b3a5c29",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "1a243b05959f5787": {
    "vx_ego": [
      0.6807115773499235,
      0.9130545870036719,
      1.1540956606050772,
      1.424164648446545,
      1.7499907589913137,
      2.1119279420070036,
      2.482889384069959,
      2.751229149888733,
      2.7959571857813623,
      2.7282705669090506
    ],
    "vy_ego": [
      0.08551816604588147,
      -0.017254863074925297,
      -0.055021065637089306,
      0.001882215265389453,
      0.040261222423191856,
      0.013677805632482776,
      0.011781773359614611,
      0.028532313786617802,
      0.018613304860630286,
      0.008010364688736837
    ],
    "v_ego": [
      0.6860623938550137,
      0.9132176132489892,
      1.1554064702481592,
      1.4241658922397966,
      1.7504538333203776,
      2.111972233386807,
      2.482917337268963,
      2.7513770966785884,
      2.7960191415368154,
      2.7282823263373386
    ],
    "ax_ego": [
      0.4647394013519564,
      0.46441143506980664,
      0.5007592486131719,
      0.580089816777031,
      0.7225328429963049,
      0.7248928229806231,
      0.7589999961558787,
      0.3143112150323594,
      -0.13537481465217874,
      -0.1353767979477952
    ],
    "ay_ego": [
      -0.20259534385998237,
      -0.2033460167009778,
      0.06708771923913687,
      0.17862236382831306,
      -0.0004884431682339874,
      -0.08947069383478284,
      0.09263820777745324,
      -0.02192633303000166,
      -0.02068077098189202,
      -0.020667752387501
    ],
    "a_ego": [
      0.5069788797600147,
      0.5069788787826881,
      0.505233200754204,
      0.6069679928859706,
      0.7225330080937836,
      0.7303934623640155,
      0.7646324814607619,
      0.3150750767281675,
      0.13694537133659251,
      0.13694536652019015
    ],
    "yaw": [
      -0.5956790133015151,
      -0.5940631856971904,
      -0.5904659909646657,
      -0.5869292582654193,
      -0.5830073976451184,
      -0.5808870736573382,
      -0.5797149222919222,
      -0.5793679138855861,
      -0.5796268596226181,
      -0.5795306276005721
    ],
    "yaw_diff": [
      0.00323165520864932,
      0.007194389465049467,
      0.00707346539849274,
      0.007843721240601731,
      0.004240647975560563,
      0.00234430273083186,
      0.0006940168126723378,
      -0.0005178914740640028,
      0.00019246404409201112,
      0.00019246404409201112
    ],
    "min_front_frame": [
      0,
      11.877899278654292
    ],
    "v_avg": 1.8799874338120848,
    "v_std": 0.7645292908498251,
    "vy_max": 0.08551816604588147,
    "a_max": 0.7646324814607619,
    "ax_avg": 0.4259985166377159,
    "a_std": 0.21944493482388017,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1a243b05959f5787",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.221264568996322,
    "right_rear_min": 17.975491113704408,
    "speed_mode": "accelerating",
    "front_frame": [
      11.877899278654292,
      12.686052975382038,
      13.561458867123514,
      14.17250748206402,
      14.892892554830208,
      15.37381371481058,
      15.418238773570248,
      15.225162272378025,
      14.702466509782443,
      52.32153689184078
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1a243b05959f5787",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "3d20913330f152ee": {
    "vx_ego": [
      2.0121413759247884,
      2.1891936613294316,
      2.378008539780929,
      2.563563065353906,
      2.7148630499004303,
      2.8897340785769203,
      3.1324680889344574,
      3.379846460706982,
      3.6291259066808337,
      3.9108819524503646
    ],
    "vy_ego": [
      -0.0023831978866364067,
      -0.00033131691024143595,
      -0.0013920720906889957,
      -0.003610449392597387,
      0.0006322918699309676,
      0.030960494984512255,
      0.047916026926950295,
      0.0424505810182767,
      -0.008141386127640482,
      -0.07378749879371105
    ],
    "v_ego": [
      2.012142787264529,
      2.1891936864005106,
      2.3780089472362658,
      2.563565607779823,
      2.7148631235308485,
      2.8898999285682003,
      3.132834543002416,
      3.380113038018448,
      3.6291350386435144,
      3.911577973271172
    ],
    "ax_ego": [
      0.347630668946214,
      0.36034791666646954,
      0.3999245678013465,
      0.3482285078604861,
      0.2691470808787803,
      0.4317048717410955,
      0.5129891064897562,
      0.4522407268995858,
      0.537710401233355,
      0.6030977972039402
    ],
    "ay_ego": [
      0.2427769682817253,
      0.22346614412664256,
      0.36957054981272147,
      0.4856749988878081,
      0.6954192331769246,
      0.8432683482471126,
      0.7441995140639991,
      0.6615281894387204,
      0.6680051858254009,
      0.609619923043563
    ],
    "a_ego": [
      0.42401384213261023,
      0.4240138424824056,
      0.5445383836057575,
      0.5976146737082457,
      0.7456863020184497,
      0.9473492510370235,
      0.9038754007661957,
      0.8013371453319366,
      0.8575333252324157,
      0.8575333250456711
    ],
    "yaw": [
      3.0305226596496677,
      3.085061137833603,
      -3.132617722114091,
      -3.0454673715952496,
      -2.935717332794999,
      -2.8085180188743966,
      -2.6820892401605967,
      -2.572846107224386,
      -2.4633400516125272,
      -2.3610715601235093
    ],
    "yaw_diff": [
      0.10907695636787018,
      0.13101289446378495,
      0.1743007010376827,
      0.21950007760050116,
      0.2543986278412049,
      0.25285755742759974,
      0.21848626587242137,
      0.21901211122371755,
      0.2045369829780359,
      0.2045369829780359
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 2.8801334673715724,
    "v_std": 0.5957581759954036,
    "vy_max": 0.07378749879371105,
    "a_max": 0.9473492510370235,
    "ax_avg": 0.4263021645721029,
    "a_std": 0.18725742690620786,
    "ini_direction_judge": "left",
    "scenario_type": "crosswalks",
    "scene_token": "3d20913330f152ee",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "3d20913330f152ee",
    "pedestrians": "No"
  },
  "def47af8d5a35090": {
    "vx_ego": [
      10.62106951421331,
      10.670325420427409,
      10.735524834678131,
      10.79410135927699,
      10.82786566839371,
      10.854449315872621,
      10.853295678329214,
      10.731020566699613,
      10.520580722434682,
      10.317956817828323
    ],
    "vy_ego": [
      0.030405238519207067,
      -0.03592496451159288,
      -0.023642454012479774,
      -0.019525439801483024,
      0.023265857919638755,
      0.04440534736093049,
      0.020802717002756488,
      0.055206838277998216,
      0.015085459297544013,
      -0.02698241964383552
    ],
    "v_ego": [
      10.621113035095746,
      10.67038589653132,
      10.735550868102793,
      10.794119019037394,
      10.827890664063979,
      10.854540146211717,
      10.853315614791375,
      10.73116257438693,
      10.520591537948162,
      10.317992098540287
    ],
    "ax_ego": [
      0.09464961718193582,
      0.10259909496698824,
      0.16116432804342543,
      0.072300673877707,
      0.06280781484342278,
      0.04284529098215201,
      -0.049243704740193905,
      -0.4418782319624699,
      -0.4054320788017689,
      -0.40487140484174655
    ],
    "ay_ego": [
      0.3514892940277182,
      0.34925163157431677,
      0.44950412530938066,
      0.15313254588893083,
      0.193374320624629,
      0.3290408378292278,
      0.4020326930579036,
      0.46605576957675343,
      0.07238454808916683,
      0.0754575938568828
    ],
    "a_ego": [
      0.3640099914134099,
      0.3640099949800381,
      0.4775226688900122,
      0.16934274136672067,
      0.2033185910890652,
      0.33181861297809295,
      0.4050373177176764,
      0.642233876588629,
      0.4118430445249703,
      0.41184305618669803
    ],
    "yaw": [
      -0.6748772129473843,
      -0.6521893974521846,
      -0.6346680281020971,
      -0.6210692000564328,
      -0.6170149388567683,
      -0.6069202433232745,
      -0.5879273739777233,
      -0.5710830163819685,
      -0.5546322590145834,
      -0.547047411021065
    ],
    "yaw_diff": [
      0.04537563099039943,
      0.03504273870017505,
      0.027197656091328515,
      0.008108522399329132,
      0.020189391066987472,
      0.037985738691102444,
      0.03368871519150973,
      0.03290151473477021,
      0.015169695987036658,
      0.015169695987036658
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.69266614547097,
    "v_std": 0.1610954511032371,
    "vy_max": 0.055206838277998216,
    "a_max": 0.642233876588629,
    "ax_avg": -0.0765058600450548,
    "a_std": 0.12622263469444192,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "def47af8d5a35090",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "def47af8d5a35090",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "5bd2bc00e2d358e0": {
    "vx_ego": [
      -0.08363393809152049,
      0.20323187285504402,
      0.5595555363689427,
      1.0548857907726032,
      1.6438549739908004,
      2.2619786307799945,
      2.9308162585793425,
      3.7078814376375884,
      4.559329007374591,
      5.422879396144076
    ],
    "vy_ego": [
      0.0006851866937333468,
      -0.001541542450081563,
      -0.012321980015064017,
      -0.01685640070587196,
      0.015594071523001782,
      0.04273589538253624,
      0.010523561873529326,
      -0.010507714673443275,
      0.009454519433461844,
      0.031146226041514895
    ],
    "v_ego": [
      0.08363674480455077,
      0.20323771917952183,
      0.5596911911694045,
      1.0550204594313313,
      1.6439289372053036,
      2.262382302542938,
      2.9308351517796973,
      3.7078963264424005,
      4.559338810115463,
      5.422968839346264
    ],
    "ax_ego": [
      0.5737311567608044,
      0.5737318255544739,
      0.8515597971805773,
      1.1295714667899937,
      1.2261356049716037,
      1.2470789252303862,
      1.4291456696181943,
      1.6786086698210032,
      1.727090836510408,
      1.7270979074220953
    ],
    "ay_ego": [
      -0.004514716488680983,
      -0.004428250404392025,
      -0.03910008761362191,
      0.014058901044789518,
      0.09451250197390065,
      -0.01838697524000761,
      -0.16105565734576166,
      -0.013202932039695437,
      0.04509224345852282,
      0.044820126939262864
    ],
    "a_ego": [
      0.5737489197402152,
      0.5737489146444751,
      0.8524569813343186,
      1.1296589535274286,
      1.2297727980437878,
      1.24721446696719,
      1.4381920142149005,
      1.6786605922022124,
      1.7276793880747505,
      1.7276793758104054
    ],
    "yaw": [
      -1.5342254812425151,
      -1.5343761905557347,
      -1.53466940137894,
      -1.5369036319424914,
      -1.5408725352134232,
      -1.5450310925205588,
      -1.549945650346259,
      -1.556798492270154,
      -1.5597033417604504,
      -1.5595457843099987
    ],
    "yaw_diff": [
      -0.00030141862643917605,
      -0.0005864216464104288,
      -0.004468461127102863,
      -0.007937806541863601,
      -0.008317114614271315,
      -0.009829115651400322,
      -0.013705683847790251,
      -0.005809698980592692,
      0.0003151149009035237,
      0.0003151149009035237
    ],
    "min_front_frame": [
      0,
      13.519074570688941
    ],
    "v_avg": 2.2428936482016875,
    "v_std": 1.775506440691614,
    "vy_max": 0.04273589538253624,
    "a_max": 1.7276793880747505,
    "ax_avg": 1.216375185985954,
    "a_std": 0.4186616230665605,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "5bd2bc00e2d358e0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 11.488332939941325,
    "right_rear_min": 49.81790387795281,
    "speed_mode": "accelerating",
    "front_frame": [
      13.519074570688941,
      14.172478366542064,
      15.116469980244283,
      16.35782168100982,
      17.445976350182775,
      18.75924968000706,
      20.125186598169183,
      21.213230050198884,
      22.156943388010372,
      22.88433817602674
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "5bd2bc00e2d358e0",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "38c2e9619e425ab8": {
    "vx_ego": [
      1.328126935486504,
      2.3458991560631484,
      3.3695561052504517,
      4.368563717243125,
      5.357965527892749,
      6.325641126092642,
      7.141778508403902,
      7.813775572756924,
      8.414785830319468,
      8.980588035807255
    ],
    "vy_ego": [
      0.012378144027755833,
      -0.008355522947702587,
      -0.014364459698782417,
      -7.137339924034869e-05,
      0.01913052020083228,
      0.032869310259489026,
      0.035097057211129545,
      0.02575592318484432,
      0.03238532707658193,
      -0.017900183022805827
    ],
    "v_ego": [
      1.3281846163897337,
      2.345914036187499,
      3.369586723046764,
      4.368563717826173,
      5.357999680374214,
      6.3257265233071465,
      7.141864747145855,
      7.813818021235963,
      8.414848149524456,
      8.980605875186633
    ],
    "ax_ego": [
      2.0355426545076796,
      2.035547087460316,
      2.059062295944727,
      1.9369129333856958,
      2.021013354424473,
      1.8501021364541916,
      1.4152716236828904,
      1.272754001246705,
      1.131634255401528,
      1.1315393884676301
    ],
    "ay_ego": [
      -0.041962871900791066,
      -0.04174787825844284,
      0.014858463191090743,
      0.009636472655831119,
      -0.035160026889347495,
      -0.013734752431903252,
      -0.10173136897433377,
      0.0419158860407699,
      -0.0792536293014493,
      -0.08059666589063652
    ],
    "a_ego": [
      2.0359751425148422,
      2.0359751547126645,
      2.0591159055549957,
      1.9369369047860148,
      2.0213191747601167,
      1.8501531176464099,
      1.4189231974407202,
      1.273444026721269,
      1.1344061114766715,
      1.1344061046232012
    ],
    "yaw": [
      -2.022394923700367,
      -2.0225005419132,
      -2.0227504441952044,
      -2.0248536004904834,
      -2.030125397490344,
      -2.0345534553425395,
      -2.0391341760823787,
      -2.0398829812039025,
      -2.0418460888865497,
      -2.040659230784177
    ],
    "yaw_diff": [
      -0.00021123642566589496,
      -0.0004998045640087767,
      -0.004206312590557815,
      -0.010543593999721601,
      -0.00885611570439071,
      -0.009161441479678345,
      -0.0014976102430477312,
      -0.003926215365294361,
      0.0023737162047456906,
      0.0023737162047456906
    ],
    "min_front_frame": [
      0,
      12.78974711488878
    ],
    "v_avg": 5.544711209022444,
    "v_std": 2.500270761131982,
    "vy_max": 0.035097057211129545,
    "a_max": 2.0591159055549957,
    "ax_avg": 1.6889379730975835,
    "a_std": 0.3790005309592596,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "38c2e9619e425ab8",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.598202613458552,
    "right_rear_min": 9.995806077500701,
    "speed_mode": "accelerating",
    "front_frame": [
      12.78974711488878,
      13.876993152570803,
      15.172771143032298,
      16.440856561927355,
      17.9323426101544,
      19.46427777458123,
      20.942405284260957,
      22.684098834913762,
      22.658942830558885,
      22.145745063376165
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.2,
    "oversafe_ratio": 0.2,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "38c2e9619e425ab8",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "e7116a2035205221": {
    "vx_ego": [
      1.9538001692142315,
      2.6282230201546763,
      3.2775898334802434,
      3.913870390435305,
      4.5402758004304316,
      5.128355012504238,
      5.6779080049613695,
      6.098064331714482,
      6.343619125826259,
      6.52166605213603
    ],
    "vy_ego": [
      0.0011709218445038264,
      -0.0030805303161111977,
      0.00785444048733909,
      -0.008045377373577786,
      -0.008649828800439144,
      0.03748948871313726,
      0.04945118750805963,
      0.005710359041966873,
      -0.00951316520680634,
      -0.005730760602032314
    ],
    "v_ego": [
      1.9538005200837483,
      2.6282248254930543,
      3.277599244686333,
      3.9138786594915396,
      4.5402840399596665,
      5.128492039190595,
      5.678123346031711,
      6.098067005365616,
      6.343626258998946,
      6.521668570021068
    ],
    "ax_ego": [
      1.3488325797246736,
      1.3488524360350456,
      1.248603963778617,
      1.2964368313862007,
      1.2092450583495784,
      1.1429506933469928,
      1.053968774031717,
      0.6261253121415348,
      0.3560964031703586,
      0.3560992546109661
    ],
    "ay_ego": [
      -0.015605576466714718,
      -0.013782968754210825,
      0.05200678620638907,
      -0.10015927572324268,
      0.10524586292704881,
      0.16726141966800062,
      -0.013487577416897548,
      -0.0705544386976471,
      0.010971806019053693,
      0.01087878082282982
    ],
    "a_ego": [
      1.3489228525544286,
      1.348922853400207,
      1.2496865863788373,
      1.3003000954733859,
      1.213816420553839,
      1.1551245257251388,
      1.0540550703727474,
      0.6300879584028521,
      0.35626539107551036,
      0.3562653884489438
    ],
    "yaw": [
      -3.117513107030414,
      -3.118864340400346,
      -3.1193293715364616,
      -3.1182536171763315,
      -3.1178109305911894,
      -3.1132705078804737,
      -3.108379399357068,
      -3.1045536953062403,
      -3.1045012759692785,
      -3.104240070818427
    ],
    "yaw_diff": [
      -0.0027024667398638513,
      -0.0009300622722312468,
      0.0021515087202601535,
      0.0008853731702842538,
      0.009080845421431505,
      0.009782217046811148,
      0.0076514081016556545,
      0.00010483867392352408,
      0.0005224103017029691,
      0.0005224103017029691
    ],
    "min_front_frame": [
      0,
      50.05460008537498
    ],
    "v_avg": 4.608376450932228,
    "v_std": 1.5339993737233593,
    "vy_max": 0.04945118750805963,
    "a_max": 1.348922853400207,
    "ax_avg": 0.9987211306575683,
    "a_std": 0.37872499482105765,
    "ini_direction_judge": "straight",
    "scenario_type": "unprotected_intersections",
    "scene_token": "e7116a2035205221",
    "has_left_rear": false,
    "has_right_rear": true,
    "left_rear_min": null,
    "right_rear_min": 11.434270394021771,
    "speed_mode": "accelerating",
    "front_frame": [
      50.05460008537498,
      53.170297932714256,
      55.676929342666256,
      57.42736699614567,
      58.139283929207,
      58.0295331402043,
      56.82691770633042,
      55.03176329577104,
      53.02499779312422,
      50.919661311661336
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "unprotected_intersections",
    "lane_change_frame": -1,
    "token": "e7116a2035205221",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "32837dd54e375ca0": {
    "vx_ego": [
      6.2590073876267365,
      5.481691835093809,
      4.785076384836878,
      4.194676082951799,
      3.5252851107919496,
      2.7826557216832186,
      2.210194816846335,
      1.8673123130898388,
      1.672254050116014,
      1.5343877806015367
    ],
    "vy_ego": [
      -0.01890917709688411,
      -0.013666283802447457,
      0.005378709690275332,
      0.030048801269636813,
      0.043099836459643937,
      0.016803073562831464,
      -0.005935061068000978,
      -0.005534645511924771,
      -0.01485421888152142,
      -0.028879478989900124
    ],
    "v_ego": [
      6.25903595095479,
      5.481708870621195,
      4.785079407830292,
      4.194783709721586,
      3.5255485684180066,
      2.7827064539217052,
      2.21020278557518,
      1.8673205153154255,
      1.6723200219898082,
      1.5346595340876221
    ],
    "ax_ego": [
      -1.5546230957509302,
      -1.554618670197786,
      -1.231870090250568,
      -1.1297136441031548,
      -1.5477561935170272,
      -1.4227961877936275,
      -0.8670347417221345,
      -0.5045007961661494,
      -0.27574615690810933,
      -0.2757394011718897
    ],
    "ay_ego": [
      0.013915885970470138,
      0.014402279062425305,
      0.04438864709076104,
      0.04969939507802561,
      -0.005949350990202162,
      -0.09659153637520505,
      0.009574301271768474,
      -0.011517094481128278,
      -0.028769127085522407,
      -0.028833697765141043
    ],
    "a_ego": [
      1.5546853770858426,
      1.5546853814742467,
      1.232669570989927,
      1.1308063262751722,
      1.5477676276972334,
      1.4260711472080914,
      0.8670876026088776,
      0.5046322391579494,
      0.27724286415136923,
      0.2772428529023676
    ],
    "yaw": [
      1.5928456431945914,
      1.5931585116393077,
      1.592304942432377,
      1.5920485085075646,
      1.591508273928892,
      1.5917190662458425,
      1.5921244404315043,
      1.5916799242925146,
      1.591248045293926,
      1.5910138774796518
    ],
    "yaw_diff": [
      0.00062573688943246,
      -0.0017071384138613865,
      -0.0005128678496246764,
      -0.0010804691573453873,
      0.00042158463390107315,
      0.0008107483713235553,
      -0.000889032277979318,
      -0.0008637579971773057,
      -0.0004683356285481999,
      -0.0004683356285481999
    ],
    "min_front_frame": [
      7,
      11.583449083486084
    ],
    "v_avg": 3.4313365818435613,
    "v_std": 1.6023050717003968,
    "vy_max": 0.043099836459643937,
    "a_max": 1.5546853814742467,
    "ax_avg": -1.0364398977581377,
    "a_std": 0.496194426270844,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "32837dd54e375ca0",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 5.861922290632242,
    "right_rear_min": 9.71492713891642,
    "speed_mode": "decelerating",
    "front_frame": [
      23.91438239376702,
      21.00735336973997,
      18.460983717401298,
      16.175685097923186,
      14.236383915712802,
      12.844154944042968,
      11.92068855848347,
      11.583449083486084,
      11.687065506818348,
      12.17564555219645
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "32837dd54e375ca0",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "d9634d08b1a85ec4": {
    "vx_ego": [
      0.7653047668604998,
      1.544669715469461,
      2.2738175316039633,
      2.905667297681302,
      3.4619461792126693,
      3.965306386286076,
      4.446896625792342,
      4.9355682418045665,
      5.427852903073805,
      5.919910475341345
    ],
    "vy_ego": [
      0.0013508916510993618,
      -0.013441334554761264,
      -0.005269174929150244,
      0.025956665222388375,
      0.04364442031895788,
      0.020675052827973328,
      -0.004011059308318465,
      -0.0033311921955712087,
      0.030639735821684333,
      0.05411824733459136
    ],
    "v_ego": [
      0.7653059591350748,
      1.5447281959500574,
      2.273823636791995,
      2.905783232328941,
      3.4622212787732356,
      3.9653602856399544,
      4.446898434761029,
      4.935569365975041,
      5.4279393816454835,
      5.920157837486324
    ],
    "ax_ego": [
      1.5587128202862637,
      1.558731841066164,
      1.35778885960876,
      1.1696429791716922,
      1.0555584684211983,
      0.9577470609909255,
      0.9686148823418561,
      0.9860890838015686,
      0.9830489124893631,
      0.9839536283390163
    ],
    "ay_ego": [
      -0.0314797860493774,
      -0.03052349263409171,
      0.056465019338247435,
      0.05980858336510103,
      0.004357562689531913,
      -0.0845873946621774,
      -0.009981430878365283,
      0.02319945945035906,
      0.13097588159886353,
      0.12399635817057908
    ],
    "a_ego": [
      1.5590306709793982,
      1.559030671909984,
      1.3589624298289211,
      1.171171108493448,
      1.055567462840864,
      0.96147514797445,
      0.9686663095496341,
      0.9863619498497526,
      0.9917357742398522,
      0.9917357710403923
    ],
    "yaw": [
      2.6004121688672566,
      2.59979865767495,
      2.598926648524781,
      2.5981010739397825,
      2.5975863188047033,
      2.5983678597102022,
      2.5986161279903044,
      2.5991758658474273,
      2.600058309693881,
      2.6071548950098267
    ],
    "yaw_diff": [
      -0.0012270223846133632,
      -0.0017440183003376575,
      -0.0016511491699970904,
      -0.001029510270158518,
      0.0015630818109979572,
      0.0004965365602043192,
      0.0011194757142458656,
      0.0017648876929072799,
      0.014193170631891405,
      0.014193170631891405
    ],
    "min_front_frame": [
      0,
      12.360792807758772
    ],
    "v_avg": 3.5647787608487134,
    "v_std": 1.608286547295248,
    "vy_max": 0.05411824733459136,
    "a_max": 1.559030671909984,
    "ax_avg": 1.1579888536516807,
    "a_std": 0.230621578475555,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "d9634d08b1a85ec4",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.08387810015389,
    "right_rear_min": 9.773019987060882,
    "speed_mode": "accelerating",
    "front_frame": [
      12.360792807758772,
      13.536415030728483,
      14.769971642707901,
      15.973371138676344,
      17.200852487921754,
      18.273490124240624,
      19.413846325028278,
      20.345475304550295,
      21.086322539545115,
      21.614165209378104
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.6,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.4,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "d9634d08b1a85ec4",
    "pedestrians": "No"
  },
  "6efb5186a9e55a68": {
    "vx_ego": [
      1.8605578143970751,
      2.620488848731457,
      3.4578917105361313,
      4.214328606840397,
      4.938697882415331,
      5.66948350294204,
      6.27227795836705,
      6.6537412562709015,
      6.785412608551102,
      6.8814625766322965
    ],
    "vy_ego": [
      0.06187068210841984,
      0.042421017739462386,
      0.007159282269875389,
      -0.022667989894000984,
      -0.025595115445041117,
      -0.03338769736794056,
      -0.02812628518951854,
      0.008604070703107425,
      0.04724568650845784,
      0.04798929663119367
    ],
    "v_ego": [
      1.8615862488798585,
      2.620832186362181,
      3.4578991218826944,
      4.214389569581715,
      4.938764206125691,
      5.669581812485597,
      6.272341020299812,
      6.653746819306709,
      6.785577088441183,
      6.881629906220034
    ],
    "ax_ego": [
      1.5189444189179961,
      1.5189396136153297,
      1.8303564557086145,
      1.1952138606672782,
      1.7016539458185511,
      1.2201737819240774,
      1.1895803782968057,
      0.3351727357504824,
      0.19229923519341974,
      0.19238352954476487
    ],
    "ay_ego": [
      0.00593562362197686,
      -0.007059607501040399,
      -0.10875606505752033,
      -0.06124168047429568,
      -0.13522205813659316,
      -0.12779505449575906,
      -0.1284373467783571,
      0.04973596011714472,
      -0.03345067806488898,
      -0.03296240495395021
    ],
    "a_ego": [
      1.5189560162789149,
      1.5189560190696623,
      1.8335846412535737,
      1.1967818164387758,
      1.707018206208282,
      1.226847844701404,
      1.1964938898616388,
      0.3388427784670007,
      0.19518694556495064,
      0.1951869426484508
    ],
    "yaw": [
      -0.4715001364225811,
      -0.46294474582544914,
      -0.4608423239747829,
      -0.4640787279219535,
      -0.47431277867469157,
      -0.4851178027992842,
      -0.496719837133508,
      -0.5053053742790576,
      -0.5104364382374498,
      -0.5129749701844173
    ],
    "yaw_diff": [
      0.017110781194263902,
      0.00420484370133245,
      -0.006472807894341126,
      -0.020468101505476177,
      -0.02161004824918522,
      -0.023204068668447597,
      -0.01717107429109932,
      -0.01026212791678427,
      -0.00507706389393503,
      -0.00507706389393503
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.9356347979585475,
    "v_std": 1.732008860142442,
    "vy_max": 0.06187068210841984,
    "a_max": 1.8335846412535737,
    "ax_avg": 1.089471795543732,
    "a_std": 0.5923383445287792,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "6efb5186a9e55a68",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "6efb5186a9e55a68",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "6d3db8abd9ad52eb": {
    "vx_ego": [
      5.179178328235081,
      5.0774745380098105,
      4.984970826708865,
      4.898172124261465,
      4.86187131847014,
      4.955871799035425,
      5.001243472065137,
      4.916776812926333,
      4.866106422408777,
      4.849841932421964
    ],
    "vy_ego": [
      -0.00061392552242992,
      -0.03398011953346647,
      -0.036832295433195106,
      -0.017674838091593426,
      -0.005095354993909229,
      -0.0013624986249534121,
      -0.025875217890922286,
      -0.024517022062759075,
      -0.011954529685149318,
      -0.00814447973925514
    ],
    "v_ego": [
      5.179178364621601,
      5.077588239771067,
      4.985106895656837,
      4.898204013594538,
      4.861873988495083,
      4.955871986328654,
      5.001310407660681,
      4.916837938401148,
      4.866121106691441,
      4.849848771047262
    ],
    "ax_ego": [
      -0.22894118838494928,
      -0.17186976787113506,
      -0.18781669286310132,
      -0.14985493701799474,
      0.003179905798813387,
      0.37562008106456163,
      -0.18883569630159303,
      -0.1421775413738019,
      -0.056078408574707805,
      -0.00602913742171568
    ],
    "ay_ego": [
      0.7241052581137098,
      0.7397318938685741,
      0.7361115607704605,
      0.779464432390493,
      0.6467864649645139,
      0.7025212557955052,
      0.7330976003140393,
      0.7192203416399338,
      0.6995972501536052,
      0.7018153192875691
    ],
    "a_ego": [
      0.7594356408327405,
      0.7594356404030991,
      0.7596942411378119,
      0.7937388131561292,
      0.646794281871896,
      0.7966345210593384,
      0.7570277483579517,
      0.7331386997695335,
      0.701841221595567,
      0.7018412162909518
    ],
    "yaw": [
      -1.5484125228031393,
      -1.4704768978256961,
      -1.3966386019638346,
      -1.3238028417447185,
      -1.2530668993573104,
      -1.1844857381379887,
      -1.108584639382907,
      -1.035588944159185,
      -0.9655163410328187,
      -0.8941198034869713
    ],
    "yaw_diff": [
      0.15587124995488644,
      0.14767659172372305,
      0.14567152043823217,
      0.1414718847748162,
      0.13716232243864335,
      0.15180219751016333,
      0.14599139044744414,
      0.14014520625273263,
      0.1427930750916948,
      0.1427930750916948
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 4.959194171226831,
    "v_std": 0.10023500587011255,
    "vy_max": 0.036832295433195106,
    "a_max": 0.7966345210593384,
    "ax_avg": -0.07528033829456238,
    "a_std": 0.04377900361182357,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "6d3db8abd9ad52eb",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "6d3db8abd9ad52eb",
    "with_lead": "No",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "c5f6d8de44475520": {
    "vx_ego": [
      6.998079413824924,
      7.1611704599324,
      7.411802924094525,
      7.702423262838165,
      8.054414208959365,
      8.524946934180678,
      9.13944543726361,
      9.83962542079855,
      10.536222099643073,
      11.204727439688584
    ],
    "vy_ego": [
      0.023699679650792005,
      0.029663271288749904,
      -0.021511845509453842,
      -0.0758323254533706,
      -0.11291560827200975,
      -0.13294701157191025,
      -0.12000992043304093,
      -0.12097201353665898,
      -0.10915661476234728,
      -0.08386715631962627
    ],
    "v_ego": [
      6.998119544350164,
      7.161231895831329,
      7.4118341417704015,
      7.7027965481047325,
      8.055205657466354,
      8.52598352909988,
      9.140233327531687,
      9.840369030157566,
      10.536787522748737,
      11.205041307269664
    ],
    "ax_ego": [
      0.1666117841501239,
      0.4668582764212173,
      0.5367124080618375,
      0.6658047945577619,
      0.7868683233125935,
      1.1252363418504665,
      1.3504245775300627,
      1.4532721520844234,
      1.3376317332109202,
      1.3389509160109423
    ],
    "ay_ego": [
      2.08541515728402,
      2.0393036133962394,
      2.0859046474835594,
      2.2293971893957716,
      2.1022042056227357,
      1.6366050206251996,
      1.0899736412997074,
      0.28922222372619194,
      0.20101047285792145,
      0.19202683488496208
    ],
    "a_ego": [
      2.0920601962772536,
      2.0920601993905312,
      2.153847350060131,
      2.3266946195282845,
      2.2446434639761144,
      1.986109971415639,
      1.735421873299225,
      1.4817723990954939,
      1.3526506806605376,
      1.3526506795187285
    ],
    "yaw": [
      -2.8809798004220264,
      -2.7356521390435677,
      -2.5871876530486912,
      -2.4372042980066757,
      -2.2950123460495275,
      -2.1793793654369455,
      -2.1034612888373694,
      -2.0669798703653566,
      -2.0561253736539626,
      -2.0494126307309966
    ],
    "yaw_diff": [
      0.2906553227569173,
      0.296928971989753,
      0.2999667100840311,
      0.28438390391429635,
      0.23126596122516396,
      0.15183615319915233,
      0.07296283694402561,
      0.02170899342278787,
      0.013425485845932172,
      0.013425485845932172
    ],
    "min_front_frame": [
      5,
      20.481815911194946
    ],
    "v_avg": 8.657760250433052,
    "v_std": 1.396046458426366,
    "vy_max": 0.13294701157191025,
    "a_max": 2.3266946195282845,
    "ax_avg": 0.9228371307190351,
    "a_std": 0.3527523602236861,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "c5f6d8de44475520",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 13.749505469972135,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      20.481815911194946,
      20.939603017655255,
      21.30094993270166,
      21.465849086727726,
      21.444932480742853
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "c5f6d8de44475520",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "60729ba7537a5622": {
    "vx_ego": [
      2.6435517141114184,
      1.938994508528517,
      1.2858010431862132,
      0.7803641769222806,
      0.411705085782331,
      0.29749469693399966,
      0.6595515311697768,
      1.3615724433491523,
      2.112022615518835,
      2.8331812771801665
    ],
    "vy_ego": [
      0.022915489716501147,
      0.009221514300026823,
      0.0032178658031051244,
      -0.0013519740590009488,
      0.004967304933153727,
      0.016991222806698167,
      0.0024179394858864223,
      -0.009420410850268457,
      -0.00020181791098738966,
      0.0023314437122117226
    ],
    "v_ego": [
      2.6436510331075027,
      1.9390164363485243,
      1.2858050697205547,
      0.7803653480629726,
      0.41173505046004455,
      0.29797952338427414,
      0.6595559632811718,
      1.3616050318019424,
      2.112022625161362,
      2.833182236460271
    ],
    "ax_ego": [
      -1.4091277588568878,
      -1.4091441671533733,
      -1.2036371318154133,
      -0.8181194108191394,
      -0.6565146576692089,
      0.19971687816208966,
      1.248538750747622,
      1.5595734220402409,
      1.4422515572058585,
      1.4423538598770016
    ],
    "ay_ego": [
      -0.024768289907990182,
      -0.0238163933739306,
      0.004127563476310381,
      -0.0201549580673141,
      0.0456382913566733,
      0.0017988833167960905,
      -0.06065339096898348,
      0.01543037369604583,
      0.028098565827805344,
      0.022236002711155556
    ],
    "a_ego": [
      1.4093454186131948,
      1.409345416998869,
      1.2036442090024302,
      0.8183676390802308,
      0.658099042221211,
      0.19972497941919637,
      1.2500111383321626,
      1.5596497540046312,
      1.4425252454166282,
      1.4425252500107772
    ],
    "yaw": [
      2.5645141307499584,
      2.5651896502866287,
      2.5658712110192914,
      2.566442835681309,
      2.566532363069104,
      2.565867396290475,
      2.565463430881873,
      2.566011545821724,
      2.566961402600216,
      2.5710261159434395
    ],
    "yaw_diff": [
      0.0013510390733406652,
      0.0013631214653253565,
      0.0011432493240350894,
      0.00017905477559043703,
      -0.0013299335572583004,
      -0.0008079308172037614,
      0.0010962298797014824,
      0.0018997135569840395,
      0.008129426686447339,
      0.008129426686447339
    ],
    "min_front_frame": [
      3,
      9.957867188217495
    ],
    "v_avg": 1.432491831778862,
    "v_std": 0.8674948317756318,
    "vy_max": 0.022915489716501147,
    "a_max": 1.5596497540046312,
    "ax_avg": 0.03958913417187897,
    "a_std": 0.41715517038821337,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "60729ba7537a5622",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerate_then_accelerate",
    "front_frame": [
      11.89318044212027,
      10.860800045841334,
      10.158401568627449,
      9.957867188217495,
      10.303281608826566,
      11.374913914043239,
      12.841934807618118,
      14.22598544465106,
      15.645325312220073,
      16.8666743707007
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.1,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.9,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "60729ba7537a5622",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "08a135d9245b50c2": {
    "vx_ego": [
      10.266579322222928,
      10.213345198914181,
      10.165361977351287,
      10.068818270763208,
      9.912483786856512,
      9.759985948671677,
      9.59414386071665,
      9.40180001195354,
      9.295532070226166,
      9.280906655995063
    ],
    "vy_ego": [
      -0.08284335114833574,
      0.013518854357656984,
      0.060827161633967286,
      0.04530770637504933,
      0.012349168112384845,
      -0.001275245064443098,
      0.01340208447811797,
      0.011434886836307001,
      0.014043925608444141,
      0.04970697497020282
    ],
    "v_ego": [
      10.266913557653288,
      10.213354145999565,
      10.165543963515761,
      10.068920208141087,
      9.912491479272317,
      9.759986031983782,
      9.594153221415393,
      9.401806965759643,
      9.29554267917961,
      9.281039766139036
    ],
    "ax_ego": [
      -0.11054074491705465,
      -0.09978609259928128,
      -0.0960238166909963,
      -0.297164745976277,
      -0.32988800649728434,
      -0.2799788370239126,
      -0.3836472575135961,
      -0.38892915849252435,
      -0.03557754104020183,
      -0.02563276619556712
    ],
    "ay_ego": [
      0.5744526964064711,
      0.5764181567363464,
      0.528795991384342,
      0.3457518098157878,
      0.4243614834527433,
      0.4788814886082775,
      0.5058121635897945,
      0.30976520719004264,
      0.4665976304701386,
      0.4672494744128073
    ],
    "a_ego": [
      0.5849915868587194,
      0.5849915860006532,
      0.5374437401961764,
      0.4559070083273978,
      0.537502339966037,
      0.5547212176516618,
      0.6348473541199432,
      0.49721260433660885,
      0.4679520383402719,
      0.467952038185412
    ],
    "yaw": [
      2.059587465907577,
      2.0782765055771737,
      2.1007505669373048,
      2.123836805332237,
      2.1463963979988465,
      2.1707527977014047,
      2.1946418082334906,
      2.2163137160434916,
      2.2368924649774855,
      2.2581901668543694
    ],
    "yaw_diff": [
      0.03737807933919335,
      0.04494812272026216,
      0.0461724767898648,
      0.04511918533321868,
      0.048712799405116414,
      0.04777802106417184,
      0.04334381562000189,
      0.041157497867987836,
      0.04259540375376769,
      0.04259540375376769
    ],
    "min_front_frame": [
      4,
      76.2988704715374
    ],
    "v_avg": 9.795975201905947,
    "v_std": 0.36518917701963044,
    "vy_max": 0.08284335114833574,
    "a_max": 0.6348473541199432,
    "ax_avg": -0.20471689669466958,
    "a_std": 0.05654494449211718,
    "ini_direction_judge": "left",
    "scenario_type": "countryside_road",
    "scene_token": "08a135d9245b50c2",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      76.2988704715374,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "countryside_road",
    "lane_change_frame": -1,
    "token": "08a135d9245b50c2",
    "road_shape": "Straight"
  },
  "31a522ae1ee151bf": {
    "vx_ego": [
      2.1311688282360075,
      1.737146348835255,
      1.3887129569696932,
      1.0931165456490592,
      0.8251493406403703,
      0.5432389747503797,
      0.22532980150630588,
      0.025524114886407025,
      -0.015372668237248718,
      -0.01717019865496269
    ],
    "vy_ego": [
      -0.02071648565033757,
      -0.02998495222875741,
      -0.02804367239988681,
      -0.015808201359053753,
      -0.0019019055030695675,
      0.005574757467063957,
      0.002331774861203312,
      -0.0012749300699572072,
      -0.0021802802411394658,
      -0.001850182188193025
    ],
    "v_ego": [
      2.1312695153880794,
      1.7374051152888375,
      1.3889960850978598,
      1.0932308455225457,
      0.8251515325101083,
      0.5432675782785683,
      0.2253418661076422,
      0.02555593644180909,
      0.015526511219923772,
      0.017269594551708192
    ],
    "ax_ego": [
      -0.7881207824061217,
      -0.7880923804851966,
      -0.6058686510454081,
      -0.5766401453334999,
      -0.4952471251466394,
      -0.6323899168157117,
      -0.6392327513636225,
      -0.15999006785421666,
      -0.003595288352011165,
      -0.0035953251980542075
    ],
    "ay_ego": [
      -0.022779435714670115,
      -0.023741813757396535,
      0.021398812405837075,
      0.020560780443296872,
      0.033391288581857664,
      -0.003962664018007267,
      -0.010152818767017846,
      -0.004294716553770478,
      0.0006623023080119812,
      0.0006620866932227252
    ],
    "a_ego": [
      0.7884499161975453,
      0.7884499184471483,
      0.6062464280240855,
      0.577006588266267,
      0.4963715273050701,
      0.6324023320610878,
      0.6393133739761923,
      0.160047700396707,
      0.003655782088870336,
      0.00365577926974621
    ],
    "yaw": [
      0.563218292541112,
      0.561997167601346,
      0.5603564025270148,
      0.5589455679848703,
      0.5585047951536023,
      0.5583344024492517,
      0.5575921140932216,
      0.5575131122887722,
      0.5577031674495578,
      0.5576418180140764
    ],
    "yaw_diff": [
      -0.0024422498795320102,
      -0.0032815301486623927,
      -0.002821669084289047,
      -0.0008815456625359541,
      -0.0003407854087011941,
      -0.0014845767120601483,
      -0.0001580036088988379,
      0.0003801103215712587,
      -0.00012269887096283405,
      -0.00012269887096283405
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 0.8003014580407083,
    "v_std": 0.7285953566706296,
    "vy_max": 0.02998495222875741,
    "a_max": 0.7884499184471483,
    "ax_avg": -0.46927724340004817,
    "a_std": 0.286285442439342,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "31a522ae1ee151bf",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.083410918375717,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "31a522ae1ee151bf",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9790b7cbcd1a5203": {
    "vx_ego": [
      9.114918240258916,
      8.745990952066151,
      8.368038585967142,
      8.009204625389996,
      7.650923417248513,
      7.232346233361751,
      6.696554941134331,
      6.110432446059427,
      5.614376129488485,
      5.174595149714896
    ],
    "vy_ego": [
      -0.030999128450375224,
      -0.04015584178528203,
      -0.02210845954552032,
      -0.019253511266230067,
      -0.029224302930484003,
      -0.023609417421289136,
      -0.026447935426234498,
      -0.03413847098480009,
      -0.050050290750975245,
      -4.85324685783918e-05
    ],
    "v_ego": [
      9.114970952919673,
      8.746083136196024,
      8.368067791325453,
      8.009227767335911,
      7.650979231215011,
      7.232384768789122,
      6.6966071687772555,
      6.110527809695082,
      5.614599215881251,
      5.174595149942489
    ],
    "ax_ego": [
      -0.739409725265331,
      -0.7335102499644608,
      -0.7758343400480002,
      -0.6593892268637165,
      -0.7724766001083432,
      -0.9011890231717824,
      -1.241854485852055,
      -1.102870718462576,
      -0.8822038362266781,
      -0.8789586643853255
    ],
    "ay_ego": [
      0.3086821363658814,
      0.3224501487826288,
      0.3531847928292255,
      0.20125585935771886,
      0.1904170664825204,
      0.11478290323951937,
      -0.020746146477377284,
      -0.07335821590276514,
      -0.13372712466681702,
      -0.15361709501962198
    ],
    "a_ego": [
      0.8012561407741952,
      0.8012561296195275,
      0.8524426204053496,
      0.6894186488845103,
      0.7955996209920878,
      0.9084694658387833,
      1.2420277640312767,
      1.1053077623370764,
      0.8922816553783463,
      0.8922816514869635
    ],
    "yaw": [
      -1.624485254886094,
      -1.6057909423490422,
      -1.588172153206638,
      -1.5715644948272143,
      -1.5578107246839725,
      -1.5483326882622181,
      -1.544572512711639,
      -1.5470521942882285,
      -1.553197952992599,
      -1.5757843132539207
    ],
    "yaw_diff": [
      0.037388625074103565,
      0.035237578284808446,
      0.03321531675884737,
      0.0275075402864835,
      0.018956072843508753,
      0.00752035110115834,
      -0.0049593631531790194,
      -0.012291517408741015,
      -0.04517272052264332,
      -0.04517272052264332
    ],
    "min_front_frame": [
      8,
      50.175613546661076
    ],
    "v_avg": 7.271804299207727,
    "v_std": 1.2761546016999648,
    "vy_max": 0.050050290750975245,
    "a_max": 1.2420277640312767,
    "ax_avg": -0.8687696870348269,
    "a_std": 0.15371820029642616,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9790b7cbcd1a5203",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 4.154023924311709,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      77.15494154683071,
      78.93584716273818,
      -1,
      -1,
      -1,
      63.40238420084634,
      64.43006977043417,
      66.31525200220219,
      50.175613546661076,
      56.16132370894132
    ],
    "safe_frame": [
      1,
      1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9790b7cbcd1a5203",
    "with_lead": "Far",
    "road_shape": "Straight"
  },
  "132ea05c88d355ca": {
    "vx_ego": [
      6.1363745478273835,
      6.255069006596939,
      6.450756724471109,
      6.665957325288094,
      6.891684380513867,
      7.179380694512867,
      7.37554665766566,
      7.6065690038401375,
      7.948246936862975,
      8.202947667157224
    ],
    "vy_ego": [
      -0.04876421312884238,
      -0.053362341733678154,
      -0.04952339747994294,
      -0.10682291692945145,
      -0.06726166143380463,
      -0.1570719637168625,
      -0.14373735912279126,
      -0.052623809048066794,
      0.01446849363324762,
      0.026247762391024207
    ],
    "v_ego": [
      6.136568303189153,
      6.255296621008864,
      6.450946820832365,
      6.666813196583756,
      6.892012603856557,
      7.181098715275395,
      7.376947127898551,
      7.60675103283,
      7.948260105624355,
      8.202989660797499
    ],
    "ax_ego": [
      0.09489090896510699,
      0.40937111071709154,
      0.40883847086996106,
      0.472694949283704,
      0.4594555170623671,
      0.7270003678860617,
      0.06898974063335771,
      0.857372472683272,
      0.5093270946570331,
      0.5093782418340866
    ],
    "ay_ego": [
      1.9833767506135196,
      1.9429881423164321,
      1.9913018259006172,
      1.64682582042824,
      1.48408606198692,
      1.2357057727109746,
      0.44280328605642,
      0.1792198057674935,
      0.04314519185596373,
      0.042537084470451854
    ],
    "a_ego": [
      1.9856453911709582,
      1.9856453931837892,
      2.0328383745636103,
      1.7133230278927174,
      1.5535799984368013,
      1.4337009073086673,
      0.4481454389537192,
      0.8759037022951588,
      0.5111512466306448,
      0.5111512465104938
    ],
    "yaw": [
      2.37939375793621,
      2.5392415109270274,
      2.6931533448074405,
      2.840485657625928,
      2.949980050255233,
      3.059802189152824,
      3.1149931198219747,
      3.1237035324634195,
      3.1222329811926572,
      3.123426863057616
    ],
    "yaw_diff": [
      0.31969550598163465,
      0.30782366776082615,
      0.29466462563697515,
      0.21898878525860965,
      0.21964427779518214,
      0.11038186133830141,
      0.017420825282889574,
      -0.002941102541524465,
      0.002387763729917225,
      0.002387763729917225
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 7.07176841878965,
    "v_std": 0.6754360462163315,
    "vy_max": 0.1570719637168625,
    "a_max": 2.0328383745636103,
    "ax_avg": 0.4517318874592042,
    "a_std": 0.6229047739433256,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "132ea05c88d355ca",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "132ea05c88d355ca",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "67c138fc9ac459b5": {
    "vx_ego": [
      9.435352917837722,
      9.423981299317838,
      9.401414837224067,
      9.269853973192872,
      9.02637167890807,
      8.735389235647602,
      8.477259867593782,
      8.32465689525647,
      8.26770039083614,
      8.26638691323037
    ],
    "vy_ego": [
      -0.0027789474862887076,
      -0.0019372593274313843,
      -0.014886497473140636,
      -0.02038433179156396,
      0.024733520241534634,
      0.022070465637798797,
      0.00018813403692696795,
      0.009020022663171368,
      -0.004910175662349747,
      0.020037799500396858
    ],
    "v_ego": [
      9.435353327072493,
      9.423981498436106,
      9.401426623092043,
      9.269876385653816,
      9.026405565496004,
      8.735417116756444,
      8.477259869681392,
      8.324661781991503,
      8.26770184890923,
      8.26641119910177
    ],
    "ax_ego": [
      -0.02555050087058705,
      -0.01976776189377294,
      -0.06892429323715635,
      -0.45725252858808285,
      -0.5171442174840684,
      -0.6477683402105442,
      -0.38479813233442023,
      -0.22560155088286832,
      -0.0027333284809447495,
      -0.002578226910980398
    ],
    "ay_ego": [
      0.3308725011860548,
      0.3312682863469743,
      0.41294789948393446,
      0.27887195922013663,
      0.16744300107013685,
      0.05659389383184277,
      0.1335231233226175,
      0.17336838681315805,
      0.08139798556155027,
      0.08140304908112538
    ],
    "a_ego": [
      0.33185756001009487,
      0.33185756274273737,
      0.4186603944564558,
      0.5355832750744491,
      0.5435763978362042,
      0.6502358736629141,
      0.40730581521736825,
      0.28452180462479887,
      0.08144386495042515,
      0.08144386811607496
    ],
    "yaw": [
      -0.7045914160029305,
      -0.6871250573569994,
      -0.6659976329612887,
      -0.6469818520180055,
      -0.6397228406793452,
      -0.6331284051301846,
      -0.625032343262717,
      -0.616931860809709,
      -0.6075440742679438,
      -0.6056386391716903
    ],
    "yaw_diff": [
      0.034932717291862314,
      0.042254848791421384,
      0.03803156188656631,
      0.014518022677320719,
      0.013188871098321009,
      0.016192123734935393,
      0.01620096490601597,
      0.018775573083530395,
      0.003810870192507032,
      0.003810870192507032
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.86284952161908,
    "v_std": 0.47849977114999953,
    "vy_max": 0.024733520241534634,
    "a_max": 0.6502358736629141,
    "ax_avg": -0.23521188808934257,
    "a_std": 0.1778964505054367,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "67c138fc9ac459b5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "67c138fc9ac459b5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "baf1301534ea54d6": {
    "vx_ego": [
      6.189769144119307,
      6.140509436858007,
      6.2008425981843995,
      6.3462058192038935,
      6.382542191642907,
      6.330871217426775,
      6.3296654080930495,
      6.365531497533794,
      6.42474358156531,
      6.523019081969176
    ],
    "vy_ego": [
      0.07493061676884993,
      -0.0055609534454093,
      -0.039086599987482096,
      -0.029320902354120104,
      -0.002825445394019077,
      0.0015700438562959995,
      -0.023501046904531808,
      -0.038511729485473545,
      -0.032718678377249955,
      -0.055925094452303536
    ],
    "v_ego": [
      6.1902226660129775,
      6.1405119549061595,
      6.200965786855853,
      6.346273553433718,
      6.3825428170317435,
      6.330871412110697,
      6.329709035778451,
      6.365647995247836,
      6.424826892670292,
      6.523258814421171
    ],
    "ax_ego": [
      -0.10289264733414565,
      -0.09793857550751325,
      0.3418620527197233,
      0.24291148189236106,
      -0.09815162157409024,
      -0.10851984095488582,
      0.10372580647374158,
      0.040057962597981514,
      0.19677500691133076,
      0.19673696286083625
    ],
    "ay_ego": [
      0.1780412103160621,
      0.18081374139367215,
      0.23340071377463686,
      0.29855732331371254,
      0.04202082262707691,
      -0.033423579723053896,
      -0.04699745082052154,
      0.03601109582721905,
      -0.016205278984904287,
      -0.016660864894674124
    ],
    "a_ego": [
      0.20563455314279536,
      0.2056345633623361,
      0.4139390731499659,
      0.38489279460570774,
      0.1067683958476462,
      0.11355039217183291,
      0.11387626316425839,
      0.05386501081572748,
      0.19744116696356118,
      0.19744117345362555
    ],
    "yaw": [
      2.5290729492557658,
      2.556681666713747,
      2.579095044876084,
      2.5986976474282084,
      2.607851479912354,
      2.607498195771311,
      2.6082859555015547,
      2.61021561912975,
      2.6100836146826754,
      2.612399051307486
    ],
    "yaw_diff": [
      0.05521743491596265,
      0.04482675632467359,
      0.039205205104249075,
      0.01830766496829117,
      -0.0007065682820863728,
      0.0015755194604878398,
      0.003859327256390266,
      -0.00026400889414901485,
      0.0046308732496216365,
      0.0046308732496216365
    ],
    "min_front_frame": [
      0,
      30.216511094907013
    ],
    "v_avg": 6.32348309284689,
    "v_std": 0.11059243119477793,
    "vy_max": 0.07493061676884993,
    "a_max": 0.4139390731499659,
    "ax_avg": 0.07145665880853395,
    "a_std": 0.11178793521690682,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "baf1301534ea54d6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      30.216511094907013,
      30.344937006945216,
      30.549752142294743,
      30.81225608992064,
      31.07000943666137,
      31.499785466932433,
      31.924230713439407,
      32.39450120311902,
      32.67601504643093,
      33.088661083483686
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "baf1301534ea54d6",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "cbd14310b3885779": {
    "vx_ego": [
      5.5526375834138575,
      5.836109593187591,
      6.196462215942314,
      6.4973080618528085,
      6.630230486423008,
      6.680320479051565,
      6.7456962795441004,
      6.783897829985457,
      6.755957238387191,
      6.724908544814453
    ],
    "vy_ego": [
      -0.08339745522133724,
      -0.0856230777228073,
      -0.03811647426110554,
      -0.004548681907465102,
      -0.006905397302100935,
      -0.015780233739323857,
      -0.06497840956673914,
      -0.034389876599048824,
      0.00926466244744215,
      0.08674434697089427
    ],
    "v_ego": [
      5.553263839246023,
      5.836737658584199,
      6.196579448309432,
      6.497309654089498,
      6.630234082414057,
      6.680339117036843,
      6.746009226910747,
      6.78398499639363,
      6.755963590849683,
      6.725467977609428
    ],
    "ax_ego": [
      0.5282261286131436,
      0.6358622206221576,
      0.8099723685755579,
      0.38936180908475715,
      0.14085633066835918,
      0.05980111625402636,
      0.20475325165172437,
      -0.04923957691651403,
      -0.06243860107976482,
      -0.062108633185278934
    ],
    "ay_ego": [
      1.1320273062316888,
      1.0752617889643512,
      0.7130477734183427,
      0.3088375366456943,
      0.05505701050511846,
      0.06577861188569063,
      0.14434468608055695,
      0.26314969882577105,
      0.17965430890972497,
      0.17976865365930927
    ],
    "a_ego": [
      1.2492032120531082,
      1.2492032174235537,
      1.0791164742662192,
      0.49697408626118067,
      0.15123419023195406,
      0.0888988148786917,
      0.25051802821683095,
      0.2677168278741762,
      0.19019529335561616,
      0.19019529740407418
    ],
    "yaw": [
      2.8829111456160286,
      2.9803618131991403,
      3.0469931364912513,
      3.0816650076796037,
      3.095816814076339,
      3.1016804655492014,
      3.116875195795921,
      3.1273635238231043,
      3.1372646011933556,
      3.139100704650029
    ],
    "yaw_diff": [
      0.19490133516622343,
      0.13326264658422193,
      0.06934374237670493,
      0.02830361279347038,
      0.011727302945724993,
      0.03038946049343938,
      0.020976656054366494,
      0.01980215474050251,
      0.0036722069133467983,
      0.0036722069133467983
    ],
    "min_front_frame": [
      9,
      50.56281474962249
    ],
    "v_avg": 6.440588959144354,
    "v_std": 0.4123111862463942,
    "vy_max": 0.08674434697089427,
    "a_max": 1.2492032174235537,
    "ax_avg": 0.2595046414288168,
    "a_std": 0.4530170618525008,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "cbd14310b3885779",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      76.43920111107457,
      -1,
      70.42935210838473,
      67.00482059342876,
      63.73789148062143,
      60.54684638077204,
      57.21112110201306,
      53.89879469188112,
      50.56281474962249
    ],
    "safe_frame": [
      -1,
      1,
      -1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "cbd14310b3885779",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0a77356a8ee85133": {
    "vx_ego": [
      8.216622709419072,
      8.20304312448233,
      8.259820974961215,
      8.371429022998596,
      8.522477363453422,
      8.726098167985144,
      8.979828073015634,
      9.30121065115634,
      9.621960147625854,
      9.926740644947133
    ],
    "vy_ego": [
      -0.0663947053195395,
      0.021278909792585843,
      0.01617138505506377,
      -0.0016159887987674537,
      0.008902985104187966,
      0.0023909636858481242,
      0.02742802681691847,
      0.030085469464353753,
      0.04567740706873202,
      0.03304681735787618
    ],
    "v_ego": [
      8.216890957402056,
      8.203070723461964,
      8.259836805415942,
      8.371429178970759,
      8.522482013692946,
      8.726098495548914,
      8.979869961061503,
      9.30125930789251,
      9.622068566998298,
      9.926795652383648
    ],
    "ax_ego": [
      -0.02815994954481295,
      -0.025367656420146822,
      0.2511711804891257,
      0.19486991107856894,
      0.41016907635160393,
      0.40262590010123434,
      0.6108306917580493,
      0.6722336711425569,
      0.6094927487492772,
      0.6094859362038726
    ],
    "ay_ego": [
      0.3189291045606504,
      0.3191633416298284,
      0.34339088457821276,
      0.36834972938164584,
      0.46911174559953295,
      0.3813885318806425,
      0.3322669809911227,
      0.24353104137802045,
      -0.007223464583875766,
      -0.007777212656466526
    ],
    "a_ego": [
      0.3201698869260266,
      0.3201698871420752,
      0.4254459560504817,
      0.41672029633712476,
      0.6231408356499908,
      0.5545852753927036,
      0.6953527742452547,
      0.7149863472350102,
      0.6095355520546312,
      0.6095355538990445
    ],
    "yaw": [
      -1.3019765117516462,
      -1.293224556145617,
      -1.2723946516278253,
      -1.2488789190231397,
      -1.2252641693565463,
      -1.1998590162443958,
      -1.1824834590726543,
      -1.1670130046438119,
      -1.1624208706769759,
      -1.1615123276127934
    ],
    "yaw_diff": [
      0.0175039112120583,
      0.04165980903558353,
      0.04703146520937107,
      0.047229499333186986,
      0.05081030622430083,
      0.0347511143434831,
      0.030940908857684857,
      0.009184267933671997,
      0.001817086128364842,
      0.001817086128364842
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 8.812980166282854,
    "v_std": 0.5900561013839165,
    "vy_max": 0.0663947053195395,
    "a_max": 0.7149863472350102,
    "ax_avg": 0.3707351509909329,
    "a_std": 0.1397509971136748,
    "ini_direction_judge": "straight",
    "scenario_type": "crosswalks",
    "scene_token": "0a77356a8ee85133",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "crosswalks",
    "lane_change_frame": -1,
    "token": "0a77356a8ee85133",
    "pedestrians": "No"
  },
  "243480f0f2545b3b": {
    "vx_ego": [
      3.794727255279113,
      3.3473100907902023,
      2.899061263897885,
      2.443052898350695,
      1.97318371720131,
      1.5189542027838723,
      1.1259393626023715,
      0.8416280349892171,
      0.6580256625036549,
      0.5049189226777729
    ],
    "vy_ego": [
      0.01787369793731486,
      -0.006647552843766391,
      -0.022055398823386252,
      -0.018418383882485845,
      -0.015667491750052553,
      -0.017215236565503278,
      -0.010686904907606043,
      -0.020550246282451945,
      -0.034712134199695655,
      -0.03519624433667398
    ],
    "v_ego": [
      3.7947693488585186,
      3.3473166916001125,
      2.8991451589133064,
      2.443122326246595,
      1.9732459178029782,
      1.5190517550514187,
      1.1259900790832655,
      0.8418788879061407,
      0.6589405927502658,
      0.5061441435929983
    ],
    "ax_ego": [
      -0.894882276830252,
      -0.8947326700866707,
      -0.8983911128384876,
      -0.9257731073181761,
      -0.9537927801371958,
      -0.8632398004524122,
      -0.708921958812694,
      -0.4283496560262021,
      -0.3062313650901677,
      -0.3062310438996842
    ],
    "ay_ego": [
      -0.06436060356547268,
      -0.06640803729168765,
      -0.014476670842338446,
      0.014357165994322074,
      -0.018613590037607874,
      0.001974677422020066,
      0.01561551528143107,
      -0.059037775581145174,
      -0.0012243461417648371,
      -0.001302020708722429
    ],
    "a_ego": [
      0.8971937230477082,
      0.8971937239734556,
      0.8985077437762312,
      0.9258844282354789,
      0.9539743881131869,
      0.8632420590054921,
      0.7090939204395506,
      0.4323989902431958,
      0.30623381261458116,
      0.30623381182654574
    ],
    "yaw": [
      2.629186193890737,
      2.626898064936423,
      2.6253571291813333,
      2.6239860608973213,
      2.6222610814903016,
      2.6207553979318723,
      2.6191203037840594,
      2.6180744377240246,
      2.6168442551151863,
      2.6165906215332537
    ],
    "yaw_diff": [
      -0.004576257908627923,
      -0.003081871510179468,
      -0.002742136568024023,
      -0.003449958814039533,
      -0.0030113671168585654,
      -0.0032701882956258643,
      -0.0020917321200695227,
      -0.0024603652176766744,
      -0.0005072671638650661,
      -0.0005072671638650661
    ],
    "min_front_frame": [
      9,
      9.624804880465303
    ],
    "v_avg": 1.91096049018056,
    "v_std": 1.1103697066139322,
    "vy_max": 0.03519624433667398,
    "a_max": 0.9539743881131869,
    "ax_avg": -0.7180545771491942,
    "a_std": 0.25249535800482886,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "243480f0f2545b3b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.858706916399356,
    "right_rear_min": 8.746874724214008,
    "speed_mode": "decelerating",
    "front_frame": [
      17.378572515471355,
      16.09216080895205,
      14.729900555030738,
      13.455533356734907,
      12.370958179673307,
      11.493215566218634,
      10.81014791362847,
      10.307492169955424,
      9.944480908618278,
      9.624804880465303
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "243480f0f2545b3b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "342ae335113257f6": {
    "vx_ego": [
      10.530697774995163,
      10.656954826449546,
      10.779195830964444,
      10.841802012302237,
      10.814272662406205,
      10.702347099872526,
      10.58474740027334,
      10.537430578267243,
      10.599560450954632,
      10.74476090980006
    ],
    "vy_ego": [
      -0.007322317306004855,
      0.006935097133022428,
      -0.0032562790765480187,
      0.006854231606592265,
      -0.03594980912813117,
      -0.05457640265884667,
      -0.0373851177036193,
      -0.0145818917719307,
      -0.011964053842131062,
      0.0031938616400246644
    ],
    "v_ego": [
      10.530700320710812,
      10.656957082983796,
      10.779196322807868,
      10.84180417893866,
      10.814332416087575,
      10.702486254598838,
      10.584813421814243,
      10.537440667608486,
      10.599567203052485,
      10.744761384484981
    ],
    "ax_ego": [
      0.24929184304840835,
      0.25571389922634036,
      0.23253060751230267,
      0.01691832396417842,
      -0.12672976202991276,
      -0.32025760529064157,
      -0.14976470038908907,
      -0.038631826489636534,
      0.28842116769010384,
      0.29258801527220885
    ],
    "ay_ego": [
      0.3855080920937566,
      0.3812785237773388,
      0.3119163621089277,
      0.09623863284554236,
      0.06074693888051502,
      0.0435421189754763,
      0.10053269456277841,
      0.21712701587181693,
      0.3156905412066404,
      0.31183254772567115
    ],
    "a_ego": [
      0.4590892201742931,
      0.45908921894482085,
      0.38905308170133834,
      0.097714400871806,
      0.1405369103385703,
      0.32320403752331267,
      0.18037818093851182,
      0.22053697884782414,
      0.42760646367783606,
      0.42760645984598183
    ],
    "yaw": [
      1.894006640829427,
      1.9107568244667723,
      1.9278714662921184,
      1.9363538750829856,
      1.9439188844402415,
      1.9480643784341631,
      1.949836831317417,
      1.9552042822522147,
      1.9676083157349464,
      1.9808884468677614
    ],
    "yaw_diff": [
      0.033500367274690745,
      0.03422928365069211,
      0.016964817581734515,
      0.015130018714511806,
      0.008290987987843224,
      0.0035449057665077888,
      0.010734901869595248,
      0.02480806696546356,
      0.02656026226563002,
      0.02656026226563002
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 10.679205925308775,
    "v_std": 0.10836674619853749,
    "vy_max": 0.05457640265884667,
    "a_max": 0.4590892201742931,
    "ax_avg": 0.07000799625142624,
    "a_std": 0.13306700233498686,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "342ae335113257f6",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "342ae335113257f6",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "e036ba13ad4d5784": {
    "vx_ego": [
      10.55592484029745,
      10.60682737512829,
      10.658351000097534,
      10.7344435858823,
      10.818150908127024,
      10.920403400935037,
      10.999528789903094,
      10.896024995671912,
      10.746261507832276,
      10.675767506531894
    ],
    "vy_ego": [
      0.04783857258776347,
      0.02700942368542325,
      0.02673436890480474,
      0.011629444205687456,
      0.025435808273019944,
      0.020655625264467403,
      0.037140707995067856,
      0.03374303984437521,
      0.041082326432249516,
      0.039574937141463096
    ],
    "v_ego": [
      10.556033239955054,
      10.606861763723458,
      10.658384528987535,
      10.734449885413886,
      10.81818081062394,
      10.920422935674633,
      10.999591493873643,
      10.896077243625113,
      10.7463400352056,
      10.675840858179367
    ],
    "ax_ego": [
      0.10187357609813427,
      0.10209346800459902,
      0.10410897856914057,
      0.20010363743004256,
      0.13481684956220225,
      0.2729258483275738,
      0.043561449646175684,
      -0.4577841651504568,
      -0.14087320432069653,
      -0.1407834275238943
    ],
    "ay_ego": [
      -0.0922768858018511,
      -0.09203353728460496,
      0.009790165782806448,
      0.058471484868633815,
      0.2391848572271625,
      0.00380707372357042,
      0.06971802433305499,
      -0.036390772517384734,
      -0.045250392172273134,
      -0.045528951955831884
    ],
    "a_ego": [
      0.13745271608924367,
      0.1374527125753539,
      0.10456828756733375,
      0.2084715334415632,
      0.2745632510964561,
      0.2729523996884118,
      0.08220828919385653,
      0.4592282985475881,
      0.14796235226342283,
      0.14796235646802888
    ],
    "yaw": [
      -0.6203165108009765,
      -0.6227026379886307,
      -0.6246105702980076,
      -0.6215996082481863,
      -0.6159797092132819,
      -0.6099413856689819,
      -0.6097688262117146,
      -0.6087035211473787,
      -0.6112773265670319,
      -0.6132554269601016
    ],
    "yaw_diff": [
      -0.004772254375308371,
      -0.003815864618753828,
      0.006021924099642639,
      0.011239798069808682,
      0.012076647088600012,
      0.00034511891453470334,
      0.0021306101286717727,
      -0.005147610839306482,
      -0.003956200786139341,
      -0.003956200786139341
    ],
    "min_front_frame": [
      8,
      14.649860329983367
    ],
    "v_avg": 10.761218279526224,
    "v_std": 0.13723279850029993,
    "vy_max": 0.04783857258776347,
    "a_max": 0.4592282985475881,
    "ax_avg": 0.02200430106428206,
    "a_std": 0.10691174082892652,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "e036ba13ad4d5784",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.4263825894388966,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      14.649860329983367,
      17.298508765262316
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 1.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "e036ba13ad4d5784",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8ee3467219fc5c8a": {
    "vx_ego": [
      1.7779842894076419,
      1.3750951673906864,
      0.9454273766333132,
      0.49602485665508966,
      0.14747426849733272,
      -0.009580510883441687,
      -0.029705901492943006,
      -0.01587825263281625,
      -0.009381857503127462,
      -0.004834738344325864
    ],
    "vy_ego": [
      -0.004353509646984423,
      -0.03187689684845446,
      -0.032191596422872316,
      0.007668151732021603,
      0.028437057859014084,
      0.010775659017053922,
      0.00016220986077937624,
      0.0013951973903852124,
      0.0007884549115270453,
      0.00041537971741278956
    ],
    "v_ego": [
      1.7779896193247708,
      1.3754645963942171,
      0.9459752762984885,
      0.4960841248928326,
      0.15019096553554842,
      0.014418773042098975,
      0.029706344365259207,
      0.01593943168465155,
      0.009414930236411748,
      0.00485254934727435
    ],
    "ax_ego": [
      -0.8057416411931106,
      -0.8057725821257269,
      -0.9127891278272545,
      -0.8848341814046592,
      -0.5093405135885862,
      -0.11892060399790123,
      0.038419406164846244,
      0.016891135018328746,
      0.009094282017774893,
      0.009094327370341718
    ],
    "ay_ego": [
      -0.053447511519863516,
      -0.0529789578337658,
      0.054545388792909835,
      0.10438107319016644,
      -0.021530499975243547,
      -0.04907839938897095,
      0.006614645807421266,
      -0.0016831623054437894,
      -0.0007456188435000042,
      -0.0007451210397783974
    ],
    "a_ego": [
      0.807512370704148,
      0.8075123677558834,
      0.9144174054107947,
      0.8909696611121976,
      0.5097953719011862,
      0.12864990999533962,
      0.03898466761711662,
      0.016974789470090006,
      0.009124796593820931,
      0.00912480113114072
    ],
    "yaw": [
      1.5964667121454341,
      1.5970482177922243,
      1.597650026821336,
      1.5974713766570345,
      1.5972666423587367,
      1.5977220093396538,
      1.59778535733673,
      1.5977912048321556,
      1.5978301104432684,
      1.5977752006469244
    ],
    "yaw_diff": [
      0.0011630112935803183,
      0.0012036180582235545,
      -0.0003573003286030385,
      -0.0004094685965956302,
      0.0009107339618341648,
      0.00012669599415238153,
      1.1694990851296438e-05,
      7.781122222549897e-05,
      -0.00010981959268807628,
      -0.00010981959268807628
    ],
    "min_front_frame": [
      4,
      9.805279989837146
    ],
    "v_avg": 0.4820036611121553,
    "v_std": 0.6240879168124525,
    "vy_max": 0.032191596422872316,
    "a_max": 0.9144174054107947,
    "ax_avg": -0.3963899499565947,
    "a_std": 0.38785713869267696,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8ee3467219fc5c8a",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.311353158779671,
    "right_rear_min": 3.7226230502817095,
    "speed_mode": "decelerating",
    "front_frame": [
      11.622576812509902,
      10.822079404897016,
      10.262034762077645,
      9.934094147480751,
      9.805279989837146,
      9.86058979272229,
      9.873128409310146,
      9.89898919714838,
      9.932898203641546,
      10.087051677547768
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8ee3467219fc5c8a",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "1f12591bdae05306": {
    "vx_ego": [
      5.772413526043713,
      5.954821496403099,
      6.080709824571585,
      6.098709896956059,
      6.004594199371899,
      5.810140572805683,
      5.585145888211658,
      5.381662271118919,
      5.178961330524809,
      4.9598710546079
    ],
    "vy_ego": [
      0.11874337674303681,
      0.14994060732144399,
      0.11042456276172974,
      0.05791360583017502,
      -0.00016520298012423495,
      -0.004972074624803646,
      -0.007150963304435098,
      -0.0007617991274759817,
      0.015762435323614543,
      0.01046630713916552
    ],
    "v_ego": [
      5.773634722180885,
      5.956708926894814,
      6.081712386713344,
      6.098984865776439,
      6.004594201644495,
      5.810142700251761,
      5.585150466091649,
      5.381662325037009,
      5.178985317360788,
      4.959882097582806
    ],
    "ax_ego": [
      0.365530237030267,
      0.38938320332707843,
      0.1344104472412874,
      -0.05682714375546975,
      -0.3195573485045904,
      -0.45844895324126533,
      -0.4415245450569201,
      -0.37252485939839086,
      -0.4381594315859725,
      -0.43811354819319664
    ],
    "ay_ego": [
      -0.5075130933187614,
      -0.4894513586564223,
      -0.5541641545153024,
      -0.30286176301481904,
      -0.09490258512914122,
      -0.013456414954525153,
      -0.06535128960319242,
      0.05854348504112883,
      -0.02714079928187585,
      -0.02787170429707328
    ],
    "a_ego": [
      0.6254453565847147,
      0.6254453705351688,
      0.5702316007354055,
      0.3081469970060543,
      0.33335176562825963,
      0.45864639738194857,
      0.44633475659029803,
      0.3770969510756507,
      0.4389992146614861,
      0.43899921755153043
    ],
    "yaw": [
      -0.3324675766398133,
      -0.38030962823632175,
      -0.416900768757882,
      -0.443355836135955,
      -0.45015379168034253,
      -0.4539147819517043,
      -0.4569914098696696,
      -0.45846929788759316,
      -0.4601093718479436,
      -0.4617776119655548
    ],
    "yaw_diff": [
      -0.0956841031930169,
      -0.07318228104312052,
      -0.05291013475614592,
      -0.013595911088775114,
      -0.007521980542723572,
      -0.006153255835930516,
      -0.0029557760358471796,
      -0.00328014792070086,
      -0.003336480235222372,
      -0.003336480235222372
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 5.683145800953399,
    "v_std": 0.3757716482559892,
    "vy_max": 0.14994060732144399,
    "a_max": 0.6254453705351688,
    "ax_avg": -0.16358319421371728,
    "a_std": 0.10671761171034062,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "1f12591bdae05306",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "1f12591bdae05306",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "025aab0da0e652b7": {
    "vx_ego": [
      3.3935066428866096,
      3.3812442019779865,
      3.3963403611000382,
      3.4168399365002533,
      3.4281433754145025,
      3.4480331503309216,
      3.4855439279040574,
      3.5135217567351287,
      3.551984437591271,
      3.629992591911196
    ],
    "vy_ego": [
      0.036817694664283085,
      0.020706342929235122,
      0.02403207054284906,
      0.027442933603177178,
      0.00793715548809426,
      -0.020738934795077046,
      -0.030276635024334198,
      -0.035941433281788226,
      -0.008734972292129273,
      0.007219025730825335
    ],
    "v_ego": [
      3.393706362954217,
      3.3813076029913716,
      3.39642538396646,
      3.4169501410274927,
      3.4281525638214503,
      3.4480955191521905,
      3.4856754220634545,
      3.513705582668738,
      3.5519951780135512,
      3.629999770201462
    ],
    "ax_ego": [
      -0.05331668042837889,
      -0.005568140470467164,
      0.0625097397966208,
      0.006903675106041257,
      0.02902208407281104,
      0.053402432874946476,
      0.10383263352993916,
      0.018051910695206785,
      0.14077679935925105,
      0.17113822843419146
    ],
    "ay_ego": [
      0.5511001082572033,
      0.5536451872336766,
      0.6546865273062451,
      0.5788673784134559,
      0.5009229840114906,
      0.5191087725514455,
      0.5028571904640529,
      0.5087695119118029,
      0.48784578298419995,
      0.4780411296635185
    ],
    "a_ego": [
      0.5536731867564142,
      0.553673186577887,
      0.6576639845740011,
      0.5789085441770893,
      0.5017630090739107,
      0.5218483856225211,
      0.5134652566504996,
      0.5090896657080379,
      0.5077515290112891,
      0.507751528684618
    ],
    "yaw": [
      0.10291005706721666,
      0.18929891233873397,
      0.27762376318436677,
      0.3669078809842055,
      0.4514996496488919,
      0.5340381061543886,
      0.6105880048783978,
      0.6842164502554835,
      0.747295138354931,
      0.8101419036326106
    ],
    "yaw_diff": [
      0.17277771054303462,
      0.1766497016912656,
      0.1785682355996775,
      0.16918353732937275,
      0.16507691301099348,
      0.15309979744801838,
      0.14725689075417137,
      0.126157376198895,
      0.12569353055535926,
      0.12569353055535926
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.4646013526860386,
    "v_std": 0.07637615122883316,
    "vy_max": 0.036817694664283085,
    "a_max": 0.6576639845740011,
    "ax_avg": 0.0526752682970162,
    "a_std": 0.04610910429928657,
    "ini_direction_judge": "left",
    "scenario_type": "lane_following",
    "scene_token": "025aab0da0e652b7",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "025aab0da0e652b7",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "9c0cc184e0895e70": {
    "vx_ego": [
      3.3261876552102025,
      3.14460025479365,
      2.9561663538525864,
      2.7213731094109557,
      2.445107430086551,
      2.120519260670715,
      1.7827412570744843,
      1.4619079779302033,
      1.2258940978741502,
      1.091046065504976
    ],
    "vy_ego": [
      -0.03393523287781952,
      -0.02308559191317605,
      -0.018064087490201386,
      -0.007940102404845994,
      0.0016933959668377074,
      0.019759500849054645,
      0.031210524606589685,
      0.010789465801718356,
      -0.015169551014201033,
      -0.02604629034618061
    ],
    "v_ego": [
      3.3263607618091005,
      3.144684993286652,
      2.956221544963596,
      2.7213846927347944,
      2.445108016479918,
      2.1206113205274746,
      1.7830144381136488,
      1.4619477926753275,
      1.2259879503815072,
      1.0913569197538842
    ],
    "ax_ego": [
      -0.3634210275491456,
      -0.36339944258035806,
      -0.3902258953041949,
      -0.5488895782394325,
      -0.5561527660909333,
      -0.7422434161168397,
      -0.60902468234277,
      -0.6743622596930019,
      -0.26968313751474365,
      -0.26968841717104036
    ],
    "ay_ego": [
      -0.004440175773244848,
      -0.005950612926103466,
      0.03889869868371623,
      0.017513095101976656,
      0.031758426077472895,
      0.052919230480850066,
      0.002381296493374818,
      -0.08127593230089558,
      -0.021209124144889624,
      -0.021141852710270137
    ],
    "a_ego": [
      0.36344815094559796,
      0.36344815952472675,
      0.3921598629707622,
      0.5491688971527001,
      0.5570587912038681,
      0.7441274982981623,
      0.6090293377791428,
      0.6792423974323389,
      0.27051584354116764,
      0.27051584111146587
    ],
    "yaw": [
      2.5448434546664527,
      2.540687133766948,
      2.541740110559269,
      2.5431320355577482,
      2.5441708225524935,
      2.5455165320592883,
      2.5467434735770857,
      2.5471711953580916,
      2.5474323449243093,
      2.5476818086175
    ],
    "yaw_diff": [
      -0.00831264179900959,
      0.002105953584642606,
      0.002783849996958132,
      0.0020775739894904888,
      0.002691419013589602,
      0.002453883035594906,
      0.0008554435620116152,
      0.0005222991324353998,
      0.0004989273863813537,
      0.0004989273863813537
    ],
    "min_front_frame": [
      9,
      10.65741020533192
    ],
    "v_avg": 2.2276678430725907,
    "v_std": 0.7720067165300952,
    "vy_max": 0.03393523287781952,
    "a_max": 0.7441274982981623,
    "ax_avg": -0.47870906226024595,
    "a_std": 0.1610848987638559,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "9c0cc184e0895e70",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 8.286954936616954,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      18.727260378321652,
      17.502966271469692,
      16.320447335703832,
      15.084223930756844,
      13.96051672346641,
      12.925633684861706,
      12.048573641548243,
      11.385124861396237,
      10.979913087080103,
      10.65741020533192
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "9c0cc184e0895e70",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "8d06ea883e7853a9": {
    "vx_ego": [
      5.894699315604445,
      5.779939021013063,
      5.707102746414779,
      5.698617741092205,
      5.784159260192913,
      5.946934668255429,
      6.180225635179811,
      6.43483879376638,
      6.698578741053049,
      6.997443422715145
    ],
    "vy_ego": [
      -0.008186107110333962,
      -0.023120544323807835,
      0.030392922354141483,
      0.09103577246986605,
      0.10113083712382664,
      0.09606202180382395,
      0.10992972675600021,
      0.05887595731062234,
      0.10171060215502015,
      0.07011992019362624
    ],
    "v_ego": [
      5.894704999721117,
      5.779985263493262,
      5.707183673920468,
      5.699344845766047,
      5.785043283631747,
      5.947710472150721,
      6.18120323614734,
      6.435108132744158,
      6.699350878755238,
      6.997794742439035
    ],
    "ax_ego": [
      -0.3416185261300196,
      -0.12377493370453896,
      -0.1370133657228101,
      0.1617392322272847,
      0.2780797757850604,
      0.4477435757505196,
      0.5332236263257258,
      0.4969956601863102,
      0.570010975331013,
      0.6491481386029663
    ],
    "ay_ego": [
      -1.5902544660052473,
      -1.6218175798490273,
      -1.9624765139153282,
      -2.0951068977091185,
      -2.328639943929689,
      -2.2982538558277135,
      -2.0053181610422373,
      -1.5095677985556504,
      -1.0948977749015525,
      -1.04991443954341
    ],
    "a_ego": [
      1.6265338865344556,
      1.6265338903696165,
      1.9672536008496595,
      2.101340641607114,
      2.3451849287775866,
      2.341462170408229,
      2.0750008102836435,
      1.58927644690286,
      1.234387965544943,
      1.234387960170322
    ],
    "yaw": [
      -0.19707569238616887,
      -0.3325088406435387,
      -0.4974183316315987,
      -0.6866032823727404,
      -0.8808672447781196,
      -1.0772880161186287,
      -1.2568436277271808,
      -1.3877810372488057,
      -1.4935066724324102,
      -1.5672672448353886
    ],
    "yaw_diff": [
      -0.27086629651473965,
      -0.32981898197612003,
      -0.37836990148228333,
      -0.3885279248107585,
      -0.3928415426810181,
      -0.3591112232171043,
      -0.26187481904324983,
      -0.2114512703672089,
      -0.1475211448059568,
      -0.1475211448059568
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.112742952876913,
    "v_std": 0.4317752880811453,
    "vy_max": 0.10992972675600021,
    "a_max": 2.3451849287775866,
    "ax_avg": 0.25345341586515113,
    "a_std": 0.3907984526737612,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "8d06ea883e7853a9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8d06ea883e7853a9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "8db7275969855f22": {
    "vx_ego": [
      2.170433224334775,
      1.763546768443919,
      1.3277612836308896,
      0.8476883066121236,
      0.3830491115407201,
      0.05975771243828024,
      -0.04433818435071468,
      -0.030985446671739594,
      -0.0161360411718181,
      -0.008542420725528957
    ],
    "vy_ego": [
      -0.04910415576487318,
      -0.02057532364833243,
      0.0047112126921251135,
      0.009216312353953955,
      -0.014011211726122965,
      -0.03286149386054633,
      -0.019743684128674988,
      -0.0036658817509835533,
      -0.001730401484262515,
      -0.00020473965124042986
    ],
    "v_ego": [
      2.1709886225887107,
      1.7636667906473216,
      1.3277696418559124,
      0.8477384063379075,
      0.3833052776915148,
      0.0681972284964933,
      0.048535426798276465,
      0.0312015479497318,
      0.016228558592658402,
      0.008544873912278443
    ],
    "ax_ego": [
      -0.8137709615412999,
      -0.8137682351478294,
      -0.9293643080725837,
      -0.991002946696988,
      -0.8675639029304415,
      -0.4255998626136898,
      0.009201093081014036,
      0.04421060909488068,
      0.015187235053903028,
      0.015187188606170954
    ],
    "ay_ego": [
      0.057224846362249865,
      0.05726341970005547,
      0.04612108941827393,
      -0.022801662527497782,
      -0.06826701352359324,
      -0.007124403946441634,
      0.05961609757206439,
      0.004688701050499079,
      0.003051552456391189,
      0.0030517548383071132
    ],
    "a_ego": [
      0.8157805224991799,
      0.8157805095559452,
      0.930508018239693,
      0.9912652299844532,
      0.8702456611804111,
      0.42565948854499147,
      0.06032196286268697,
      0.0444585410700947,
      0.015490774059956075,
      0.015490768391288398
    ],
    "yaw": [
      -1.5988560693469327,
      -1.5988086698265858,
      -1.5984499811890922,
      -1.597240631492896,
      -1.5964732934842236,
      -1.5964586772568277,
      -1.596568333214192,
      -1.5965302219799848,
      -1.5965093315875318,
      -1.5965226598937041
    ],
    "yaw_diff": [
      9.479904069387146e-05,
      0.0007173772749871077,
      0.002418699392392476,
      0.0015346760173446938,
      2.9232454791916496e-05,
      -0.0002193119147286815,
      7.622246841432201e-05,
      4.178078490602033e-05,
      -2.6656612344577724e-05,
      -2.6656612344577724e-05
    ],
    "min_front_frame": [
      5,
      9.942974724438843
    ],
    "v_avg": 0.6666176374870806,
    "v_std": 0.7756799231823454,
    "vy_max": 0.04910415576487318,
    "a_max": 0.9912652299844532,
    "ax_avg": -0.47572840911668635,
    "a_std": 0.40484965072738605,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "8db7275969855f22",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.387271766457355,
      11.596560920377136,
      10.833119127657389,
      10.282049543087238,
      9.989375881937622,
      9.942974724438843,
      9.98240299761704,
      9.989256798470054,
      9.959990710589256,
      9.946128014425465
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "8db7275969855f22",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "6a4e62fc55535e82": {
    "vx_ego": [
      6.00126135146198,
      5.623204497641801,
      5.18140927858383,
      4.654166877689254,
      4.12658969930368,
      3.490889776257943,
      2.7576490644616576,
      2.1131792791657333,
      1.5418278295192112,
      0.9860913073015245
    ],
    "vy_ego": [
      -0.012735167929538882,
      -0.07178745940671849,
      -0.06709406677541896,
      -0.06638233686341222,
      -0.05705809848928767,
      -0.008383236469203581,
      -0.005262548247620513,
      -0.06431815004272401,
      -0.06490988029977429,
      -0.02215946916798034
    ],
    "v_ego": [
      6.0012748639812745,
      5.623662708735923,
      5.18184366089822,
      4.6546402589273415,
      4.126984149836591,
      3.490899842252128,
      2.7576540858382357,
      2.1141578678803357,
      1.5431935550800011,
      0.986340259955679
    ],
    "ax_ego": [
      -0.7556868064626673,
      -0.7559553615977834,
      -1.0122894580001176,
      -1.096405734200731,
      -1.0142892305869409,
      -1.5287603932821405,
      -1.4041758790042032,
      -1.1737308785634608,
      -1.111478971974849,
      -1.1114903175767328
    ],
    "ay_ego": [
      -0.07946422065662867,
      -0.07686742448950157,
      0.025314553489716396,
      -0.0011461834891852707,
      0.011729121834100575,
      0.16427977799604543,
      -0.1543008538596674,
      -0.08344390142879443,
      0.08523793600281837,
      0.08508976382374805
    ],
    "a_ego": [
      0.7598533488945812,
      0.7598533474796861,
      1.0126059319382616,
      1.0964063333111655,
      1.0143570454152955,
      1.5375617664102457,
      1.412628278309283,
      1.1766932735335118,
      1.1147425760579381,
      1.1147425684768693
    ],
    "yaw": [
      2.5585914580014686,
      2.562027184285431,
      2.5587919116334197,
      2.5598734924466227,
      2.558348758922519,
      2.557142308939227,
      2.5569409514353865,
      2.556782807745493,
      2.557354452380861,
      2.557221152714031
    ],
    "yaw_diff": [
      0.006871452567924763,
      -0.006470545304022579,
      0.0021631616264059517,
      -0.0030494670482070774,
      -0.0024128999665844475,
      -0.0004027150076808539,
      -0.0003162873797872834,
      0.0011432892707361475,
      -0.0002665993336599115,
      -0.0002665993336599115
    ],
    "min_front_frame": [
      9,
      11.57304065619505
    ],
    "v_avg": 3.6480651253385736,
    "v_std": 1.6649709673004005,
    "vy_max": 0.07178745940671849,
    "a_max": 1.5375617664102457,
    "ax_avg": -1.0964263031249626,
    "a_std": 0.23278704791340163,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "6a4e62fc55535e82",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 3.2625654708422562,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      27.97142151559059,
      25.094662650373493,
      22.377150942026226,
      19.91566689590524,
      17.745316637933932,
      15.834448932013338,
      14.301202763641099,
      13.100415350453787,
      12.20275198861475,
      11.57304065619505
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.7,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.3,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "6a4e62fc55535e82",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "75f36091b3ec57e5": {
    "vx_ego": [
      7.826746298651022,
      7.6648414925669845,
      7.489830945126705,
      7.315748519190204,
      7.158013150786128,
      6.989154793683784,
      6.805927307565453,
      6.669736868251628,
      6.564130699659703,
      6.4369165155551595
    ],
    "vy_ego": [
      0.050864001665637204,
      0.029459324443974477,
      -0.03529592426874739,
      0.018358670809215827,
      -0.03855869380469201,
      -0.05830401271254981,
      0.005106107444203811,
      0.0683586164853045,
      0.040540873567147084,
      -0.030151524288942966
    ],
    "v_ego": [
      7.826911572907472,
      7.664898104865659,
      7.4899141109125935,
      7.315771554445064,
      7.158117003772366,
      6.98939797750646,
      6.805929222978914,
      6.670087165259749,
      6.564255891161204,
      6.436987132396935
    ],
    "ax_ego": [
      -0.3267878039776663,
      -0.31689538571966885,
      -0.3826839938331279,
      -0.31289251706342813,
      -0.3180531045765185,
      -0.35965805364637704,
      -0.37536714106675606,
      -0.1683514059084115,
      -0.2543549717063192,
      -0.2545313769165908
    ],
    "ay_ego": [
      -0.40957828606028485,
      -0.41727922268953666,
      0.2019655555676439,
      -0.1462205540512409,
      -0.22535784715383333,
      -0.11032209265714313,
      -0.015149895818491743,
      0.03669802274581184,
      -0.12287410680837005,
      -0.12250824971369964
    ],
    "a_ego": [
      0.5239700766652865,
      0.5239700708807724,
      0.43270905325844583,
      0.3453725201305679,
      0.38979986737372335,
      0.3761979262050118,
      0.37567274313681726,
      0.17230479025491674,
      0.2824791988017475,
      0.2824791905308598
    ],
    "yaw": [
      0.939098321414187,
      0.9151717301715911,
      0.9166122080747964,
      0.9112405697129318,
      0.9062696501245486,
      0.8972039378853305,
      0.8834672089436643,
      0.8748460074378214,
      0.8757926010455113,
      0.8772304507247971
    ],
    "yaw_diff": [
      -0.04785318248519177,
      0.002880955806410457,
      -0.010743276723729211,
      -0.009941839176766276,
      -0.018131424478436298,
      -0.02747345788333244,
      -0.01724240301168578,
      0.001893187215379788,
      0.0028756993585716817,
      0.0028756993585716817
    ],
    "min_front_frame": [
      9,
      43.71848811098079
    ],
    "v_avg": 7.092226973620642,
    "v_std": 0.45376396458457574,
    "vy_max": 0.0683586164853045,
    "a_max": 0.5239700766652865,
    "ax_avg": -0.30695757544148644,
    "a_std": 0.10335175734618071,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "75f36091b3ec57e5",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      75.18380912133674,
      71.65354667621203,
      67.96797955061743,
      64.30912969767297,
      60.66216210700232,
      57.067495955319586,
      53.650703356353176,
      50.368413071659184,
      46.99999789194693,
      43.71848811098079
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "75f36091b3ec57e5",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "ff1a4e51e3f558ce": {
    "vx_ego": [
      0.932346923554962,
      1.6661602629893837,
      2.3768460318106692,
      3.064307335845599,
      3.6706560839312483,
      4.15847599332737,
      4.648083890770154,
      5.121698899407917,
      5.591901831819288,
      6.138473261958234
    ],
    "vy_ego": [
      -0.05476305378084728,
      0.004041949846653847,
      0.03426001474816953,
      0.03793843538539865,
      -0.01585725492707679,
      -0.0642655517352614,
      -0.056252144643200386,
      -0.10588130761637427,
      -0.14115345314640404,
      0.020224144651827647
    ],
    "v_ego": [
      0.9339538414299745,
      1.6661651656793857,
      2.377092932037927,
      3.064542180064853,
      3.6706903354866793,
      4.158972547182764,
      4.648424266287876,
      5.122793229040074,
      5.593683079513807,
      6.138506577645988
    ],
    "ax_ego": [
      1.4664583283942925,
      1.470817756144596,
      1.3851241561500278,
      1.3823525116996271,
      1.079394364268846,
      0.9635183808273332,
      1.056104703873808,
      0.9043359096577014,
      1.0245421477448653,
      1.1807559006309634
    ],
    "ay_ego": [
      0.19813000435464478,
      0.16263657809330212,
      0.6335820362535988,
      1.140515030931565,
      1.5676093007275762,
      2.0107136140448505,
      2.060855399099021,
      2.0175424266869175,
      1.5789736248814692,
      1.4658307617784945
    ],
    "a_ego": [
      1.479782256800829,
      1.4797822570649113,
      1.523153020747943,
      1.792114115335041,
      1.9032842965103627,
      2.2296495033743375,
      2.315703375119527,
      2.2109502212800174,
      1.882244490117314,
      1.8822444897119393
    ],
    "yaw": [
      -0.7191480594531885,
      -0.6949816560625091,
      -0.6119493047502782,
      -0.45064678514944567,
      -0.23685359292262845,
      0.0020084994069138953,
      0.23095453268613247,
      0.4481348874866564,
      0.6226142558641224,
      0.7251344086744822
    ],
    "yaw_diff": [
      0.04833280678135887,
      0.1660647026244617,
      0.32260503920166506,
      0.42758638445363445,
      0.47772418465908467,
      0.45789206655843717,
      0.4343607096010479,
      0.34895873675493205,
      0.2050403056207195,
      0.2050403056207195
    ],
    "min_front_frame": [
      9,
      23.810731845738413
    ],
    "v_avg": 3.737482415436933,
    "v_std": 1.6307988800950828,
    "vy_max": 0.14115345314640404,
    "a_max": 2.315703375119527,
    "ax_avg": 1.191340415939206,
    "a_std": 0.2960680174447061,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "ff1a4e51e3f558ce",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 7.791667810938815,
    "right_rear_min": 7.43002996269633,
    "speed_mode": "accelerating",
    "front_frame": [
      27.743112210712678,
      26.918261313607882,
      42.11239162265691,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      23.810731845738413
    ],
    "safe_frame": [
      1,
      1,
      1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.75,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "ff1a4e51e3f558ce",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "345fc96fdf4c572b": {
    "vx_ego": [
      3.4880796612427885,
      3.0160631514811413,
      2.5502674213279692,
      2.089467961613093,
      1.6711935926946304,
      1.3306521593723757,
      1.1006760188278095,
      0.9060609851794739,
      0.6406725455486423,
      0.3456815286872339
    ],
    "vy_ego": [
      0.013667858412507394,
      0.00212115130087831,
      -0.02332382009703271,
      -0.045886699634367645,
      -0.05156491834490107,
      -0.029144437929758626,
      0.017197076968019476,
      0.03196231024972257,
      0.029501286259805776,
      0.02801868944943295
    ],
    "v_ego": [
      3.488106439535524,
      3.016063897367759,
      2.5503740746938925,
      2.0899717586156297,
      1.6719889249236977,
      1.330971287257771,
      1.1008103550925021,
      0.9066245629481359,
      0.6413514142112421,
      0.3468151758992197
    ],
    "ax_ego": [
      -0.9440416027970118,
      -0.9440593652091747,
      -0.919125191392977,
      -0.9241385239357133,
      -0.7492748061626885,
      -0.6129406404700357,
      -0.30696574464775267,
      -0.471586873712435,
      -0.5899841703881797,
      -0.5899842756421381
    ],
    "ay_ego": [
      -0.016312556841696357,
      -0.01525133765254405,
      -0.09018470618447239,
      -0.003429600417403089,
      -0.03229315232596652,
      0.12073522020582342,
      0.06830778697498195,
      -0.006455841791507377,
      -0.0029388350996250867,
      -0.002916339118952588
    ],
    "a_ego": [
      0.9441825286046467,
      0.9441825503255934,
      0.9235390618066764,
      0.9241448877644143,
      0.7499703879736069,
      0.6247185143230239,
      0.31447404050027533,
      0.471631060630134,
      0.5899914898202951,
      0.5899914834460198
    ],
    "yaw": [
      1.0782570159950087,
      1.079381140796192,
      1.0790523557757896,
      1.0786900640486914,
      1.0769399889141797,
      1.0767311027084943,
      1.0775118268043702,
      1.0781932631659892,
      1.0783358166389196,
      1.078373941783816
    ],
    "yaw_diff": [
      0.002248249602366581,
      -0.0006575700408046892,
      -0.0007245834541964591,
      -0.0035001502690232833,
      -0.00041777241137097576,
      0.0015614481917518575,
      0.0013628727232379845,
      0.00028510694586092455,
      7.625028979285631e-05,
      7.625028979285631e-05
    ],
    "min_front_frame": [
      9,
      8.426672138255967
    ],
    "v_avg": 1.7143077890545377,
    "v_std": 0.9939718987185763,
    "vy_max": 0.05156491834490107,
    "a_max": 0.9441825503255934,
    "ax_avg": -0.7052101194358106,
    "a_std": 0.21260794204817834,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "345fc96fdf4c572b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      16.115461049241155,
      14.475965212036057,
      13.067502557294148,
      11.860755955668106,
      10.900629531677323,
      10.167059005870067,
      9.58448033063435,
      9.030224975554018,
      8.65259798797855,
      8.426672138255967
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "345fc96fdf4c572b",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "e6206364da5b51f3": {
    "vx_ego": [
      6.434468964365479,
      7.141778508403902,
      7.813775572756924,
      8.414785830319468,
      8.971021567340385,
      9.450241459941928,
      9.811721772898832,
      10.102548724466471,
      10.28778065538437,
      10.387918355130129
    ],
    "vy_ego": [
      0.05648893054950621,
      0.035097057211129545,
      0.02575592318484432,
      0.03238532707658193,
      0.004320839549980526,
      0.003990694940597006,
      0.018509770991314678,
      0.0037491275903960286,
      0.005589420777105225,
      -0.02903596302063427
    ],
    "v_ego": [
      6.434716920941992,
      7.141864747145855,
      7.813818021235963,
      8.414848149524456,
      8.97102260789375,
      9.450242302547139,
      9.811739232185044,
      10.102549420130387,
      10.287782173769305,
      10.38795893522871
    ],
    "ax_ego": [
      1.4147907775389683,
      1.4152716236828904,
      1.272754001246705,
      1.131634255401528,
      1.0932735255507169,
      0.8235985842532226,
      0.6223248612718558,
      0.5408488305384866,
      0.2002094665420138,
      0.20029584841759424
    ],
    "ay_ego": [
      -0.10821323805636318,
      -0.10173136897433377,
      0.0419158860407699,
      -0.0792536293014493,
      0.008287424929402487,
      0.026012517964566773,
      0.03010523521415792,
      0.02727868890864768,
      -0.08935706235485302,
      -0.08916326399733994
    ],
    "a_ego": [
      1.4189232005644146,
      1.4189231974407202,
      1.273444026721269,
      1.1344061114766715,
      1.0933049360000413,
      0.8240092712310764,
      0.6230526126615106,
      0.541536318600538,
      0.2192453308185304,
      0.21924532957393464
    ],
    "yaw": [
      -2.0345534553425395,
      -2.0391341760823787,
      -2.0398829812039025,
      -2.0418460888865497,
      -2.040659230784177,
      -2.0396959248426567,
      -2.039746632335731,
      -2.036826428746072,
      -2.038522103359141,
      -2.039489877839631
    ],
    "yaw_diff": [
      -0.009161441479678345,
      -0.0014976102430477312,
      -0.003926215365294361,
      0.0023737162047456906,
      0.00192661188304033,
      -0.00010141498614846256,
      0.005840407179317886,
      -0.0033913492261383738,
      -0.0019355489609793608,
      -0.0019355489609793608
    ],
    "min_front_frame": [
      0,
      19.46427777458123
    ],
    "v_avg": 8.88165425106026,
    "v_std": 1.315508406041283,
    "vy_max": 0.05648893054950621,
    "a_max": 1.4189232005644146,
    "ax_avg": 0.8715001774443982,
    "a_std": 0.43619825335273754,
    "ini_direction_judge": "straight",
    "scenario_type": "protected_intersections",
    "scene_token": "e6206364da5b51f3",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 10.24507290381577,
    "right_rear_min": 10.315404852765514,
    "speed_mode": "accelerating",
    "front_frame": [
      19.46427777458123,
      20.942405284260957,
      22.684098834913762,
      22.658942830558885,
      22.145745063376165,
      21.583881624888598,
      21.032475844801294,
      20.58546925739358,
      20.289804021127097,
      20.156916846711553
    ],
    "safe_frame": [
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.7,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "e6206364da5b51f3",
    "pedestrians": "No",
    "with_lead": "Close"
  },
  "26af85cbc2d15e05": {
    "vx_ego": [
      4.518674704334425,
      4.444674814835608,
      4.415381981600879,
      4.401310176228814,
      4.374380266061086,
      4.327667433933704,
      4.265515759216499,
      4.2138810871261105,
      4.152607579306327,
      4.093703638641118
    ],
    "vy_ego": [
      0.05473952742573984,
      -0.0055753786256900195,
      -0.03472929781204792,
      -0.02301022184718804,
      -0.0164248643079854,
      -0.0017837691531419897,
      -0.006655641604249918,
      -0.04076384994163884,
      -0.04584824024969569,
      -0.01690272605735954
    ],
    "v_ego": [
      4.51900625131838,
      4.444678311698246,
      4.415518561570342,
      4.401370324987977,
      4.374411101882424,
      4.327667801548857,
      4.265520951734907,
      4.214078251278824,
      4.152860672939359,
      4.09373853380644
    ],
    "ax_ego": [
      -0.18358302889503678,
      -0.1207201082392266,
      0.008219369848859653,
      -0.05423862048009746,
      -0.046622999955933275,
      -0.1348508641472852,
      -0.11786552815568496,
      -0.08043495645861701,
      -0.1450782155784162,
      -0.07933933008797922
    ],
    "ay_ego": [
      0.6851794146680223,
      0.6989994350113622,
      0.650287933304924,
      0.6980600297952538,
      0.714007179083311,
      0.7725810372025023,
      0.6402477633564314,
      0.646665331625133,
      0.760236557219418,
      0.7698782930562089
    ],
    "a_ego": [
      0.7093472765740978,
      0.7093472736815827,
      0.6503398759438803,
      0.7001640044656214,
      0.7155277464273474,
      0.7842615728225907,
      0.6510065139538402,
      0.6516485504828065,
      0.773955626356092,
      0.7739556288431213
    ],
    "yaw": [
      -0.4585141888528983,
      -0.36774592622826174,
      -0.2847661246620569,
      -0.21112265423659293,
      -0.13219399998124665,
      -0.05039606284145388,
      0.03293714528817331,
      0.11691016013556899,
      0.2019893731474665,
      0.28786329434145114
    ],
    "yaw_diff": [
      0.1815365252492731,
      0.16595960313240965,
      0.14728694085092797,
      0.15785730851069257,
      0.16359587427958555,
      0.16666641625925438,
      0.16794602969479133,
      0.17015842602379505,
      0.17174784238796925,
      0.17174784238796925
    ],
    "min_front_frame": [
      4,
      35.731023903473826
    ],
    "v_avg": 4.320885076276576,
    "v_std": 0.12931427366679196,
    "vy_max": 0.05473952742573984,
    "a_max": 0.7842615728225907,
    "ax_avg": -0.09545142821494171,
    "a_std": 0.049223772696803815,
    "ini_direction_judge": "left",
    "scenario_type": "special_interior_road",
    "scene_token": "26af85cbc2d15e05",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "quasi_constant",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      35.731023903473826,
      39.477726422350514,
      43.27141070756915,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "N",
    "scene_scenario": "special_interior_road",
    "lane_change_frame": -1,
    "token": "26af85cbc2d15e05",
    "with_lead": "Close",
    "pedestrians": "No",
    "merge_risk": "No"
  },
  "feb7748995f55bdd": {
    "vx_ego": [
      3.0793240447388803,
      2.3369107321950393,
      1.655301606335082,
      1.0535876518006453,
      0.5367877561308287,
      0.1589889424526505,
      -0.027608131418297238,
      -0.050239561771628735,
      -0.029232731335850394,
      -0.010572710127960046
    ],
    "vy_ego": [
      -0.005964828853313842,
      0.010971359964070393,
      0.009156890817609287,
      0.0009664172977607022,
      -0.017332435364736914,
      0.0024840887438188908,
      0.020472527092306174,
      0.00014762239646867736,
      -0.0025241750904377563,
      -0.0014819393567599782
    ],
    "v_ego": [
      3.079329821842777,
      2.3369364862973527,
      1.655326933443949,
      1.053588095030117,
      0.5370675082777238,
      0.15900834732522498,
      0.034370529323174255,
      0.050239778655734924,
      0.029341507139906704,
      0.010676064055024357
    ],
    "ax_ego": [
      -1.4847849305634275,
      -1.4848366348425075,
      -1.2416308733762993,
      -1.165232996986187,
      -0.901960020147988,
      -0.6092232787671504,
      -0.13723232703023522,
      0.046704831949793996,
      0.03732027460899826,
      0.037320433427036726
    ],
    "ay_ego": [
      0.02151011457874341,
      0.01758280170595039,
      -0.020735587248210563,
      -0.009010246044722448,
      -0.061176781344856934,
      0.14055679131894605,
      -0.0685910557802089,
      -0.012741770129096521,
      0.002082825589930261,
      0.0020799168864558647
    ],
    "a_ego": [
      1.4849407311598106,
      1.48494073521008,
      1.2418040063954214,
      1.1652678326458676,
      0.9040323426299943,
      0.6252273306387645,
      0.15341917909823777,
      0.0484117138044217,
      0.03737835014188171,
      0.0373783467456286
    ],
    "yaw": [
      -2.105298636608989,
      -2.10794362499343,
      -2.1074215371193725,
      -2.1068608882171826,
      -2.1058742471857386,
      -2.105782768385225,
      -2.1053353845130154,
      -2.105201280925484,
      -2.1053843570046444,
      -2.1053064653147557
    ],
    "yaw_diff": [
      -0.005289976768882099,
      0.001044175748114995,
      0.0011212978043797506,
      0.0019732820628881598,
      0.00018295760102748915,
      0.0008947677444188784,
      0.0002682071750630399,
      -0.00036615215832114245,
      0.00015578337977739665,
      0.00015578337977739665
    ],
    "min_front_frame": [
      6,
      9.798164808439886
    ],
    "v_avg": 0.8945885071390987,
    "v_std": 1.0540027934590892,
    "vy_max": 0.020472527092306174,
    "a_max": 1.48494073521008,
    "ax_avg": -0.6903555521727965,
    "a_std": 0.5820327297938945,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "feb7748995f55bdd",
    "has_left_rear": true,
    "has_right_rear": false,
    "left_rear_min": 15.850579932902642,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      12.564379231988845,
      11.585494652872848,
      10.878772237625121,
      10.267084528276097,
      9.928286308823356,
      9.803604798167587,
      9.798164808439886,
      9.826883449426223,
      9.818675519495804,
      9.808416530925614
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.2,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.8,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "feb7748995f55bdd",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "fd9dc4abc0d357a1": {
    "vx_ego": [
      0.02859166648641243,
      0.30877402035556456,
      0.5909601022370233,
      0.9818271137919732,
      1.5218523934924446,
      2.116714668190232,
      2.7248039765230057,
      3.3280589331933643,
      3.9126337778465987,
      4.4840513702434786
    ],
    "vy_ego": [
      0.005501216540631771,
      0.011334205292951085,
      0.0058992707765977564,
      0.0006996404206967288,
      0.006816639760789285,
      -0.0009016060237709567,
      0.006705107286980316,
      -0.0019848096845284935,
      0.00032387855506949004,
      0.050748935580274185
    ],
    "v_ego": [
      0.02911609135679376,
      0.3089819733514584,
      0.5909895462964542,
      0.98182736307041,
      1.5218676598693825,
      2.116714860207937,
      2.7248122263633716,
      3.328059525050241,
      3.9126337912515483,
      4.484338540458888
    ],
    "ax_ego": [
      0.5603629342808741,
      0.5603638581711126,
      0.5683606146266462,
      0.9951073979610051,
      1.1649927403834992,
      1.214423864221251,
      1.2178972848422105,
      1.1951847851375308,
      1.1429658873651856,
      1.1428434212326017
    ],
    "ay_ego": [
      0.011714369883290401,
      0.011670457337019071,
      -0.03278090491919887,
      0.01196728342053107,
      0.012835902514417172,
      -0.03732082296841806,
      0.058062298957695636,
      -0.10128355895420896,
      0.0885570240683679,
      0.09012365961457694
    ],
    "a_ego": [
      0.5604853651770346,
      0.5604853727965342,
      0.5693051694707335,
      0.9951793553672572,
      1.1650634512933684,
      1.214997187575805,
      1.2192805366224302,
      1.1994686448334848,
      1.1463914541692692,
      1.1463914512403528
    ],
    "yaw": [
      -1.5357211656833156,
      -1.5356428010750638,
      -1.53529231106424,
      -1.5352974595387083,
      -1.5352293644682455,
      -1.5343485456807917,
      -1.535348966293797,
      -1.5360472852848073,
      -1.537561073894222,
      -1.5389318205713995
    ],
    "yaw_diff": [
      0.00015672921650367044,
      0.0007009800216475348,
      -1.0296948936616701e-05,
      0.000136190140925585,
      0.0017616375749076596,
      -0.002000841226010408,
      -0.0013966379820207209,
      -0.0030275772188295136,
      -0.002741493354355029,
      -0.002741493354355029
    ],
    "min_front_frame": [
      0,
      13.71766976751072
    ],
    "v_avg": 1.9999341577276482,
    "v_std": 1.4875263037528557,
    "vy_max": 0.050748935580274185,
    "a_max": 1.2192805366224302,
    "ax_avg": 0.9762502788221917,
    "a_std": 0.27768670835117587,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "fd9dc4abc0d357a1",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.151524136511163,
    "right_rear_min": 3.5561968404148905,
    "speed_mode": "accelerating",
    "front_frame": [
      13.71766976751072,
      14.176675605799149,
      14.690647224384756,
      15.24155761453607,
      15.74488964148386,
      16.332121726913684,
      16.669734735086358,
      17.09508979665252,
      17.623564144531795,
      18.059750456446938
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.3,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.7,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "fd9dc4abc0d357a1",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "0965108c193757a9": {
    "vx_ego": [
      8.180934152628609,
      7.635780586233465,
      7.239203293439744,
      6.991153961507329,
      6.752603222209109,
      6.529707117921211,
      6.346816534210751,
      6.181465133199815,
      6.018996595819045,
      5.904355439723455
    ],
    "vy_ego": [
      0.0408207868555337,
      -0.0019330992633523891,
      -0.022168728513426217,
      -0.028204573360015583,
      -0.02458523959817116,
      0.0282275889653123,
      0.03881315103430705,
      0.021402141045036238,
      0.04657429927569323,
      0.020302029673273658
    ],
    "v_ego": [
      8.181035994682134,
      7.635780830928337,
      7.239237237186853,
      6.991210854455617,
      6.752647977689563,
      6.52976813084582,
      6.3469352115508615,
      6.181502183499276,
      6.019176786391498,
      5.904390343718885
    ],
    "ax_ego": [
      -1.0904678023942513,
      -1.0905106524730614,
      -0.49555743758663884,
      -0.49669372157542574,
      -0.4539352447779703,
      -0.43225456440805166,
      -0.27875940742867916,
      -0.37398753301878723,
      -0.2648816829547279,
      -0.18208131518594095
    ],
    "ay_ego": [
      -0.011482705236753543,
      -0.006196798828707717,
      0.03130471254408043,
      -0.09774125885703246,
      -0.5889150336295171,
      -0.7581897466288534,
      -1.0578416098145076,
      -1.0321590881545353,
      -1.0102890617328042,
      -1.0284418825839927
    ],
    "a_ego": [
      1.090528257578914,
      1.0905282589061807,
      0.49654522349419794,
      0.5062193267106699,
      0.7435577471094569,
      0.8727517976748712,
      1.0939541483466926,
      1.0978246937072786,
      1.0444358736762533,
      1.044435881800673
    ],
    "yaw": [
      2.812065153441989,
      2.8169124186636374,
      2.8205131428395402,
      2.819027152946923,
      2.793501334641006,
      2.7348313804924356,
      2.662485947863127,
      2.5820504394830377,
      2.4940802626133856,
      2.4128975243228368
    ],
    "yaw_diff": [
      0.009694530443296934,
      0.007201448351805695,
      -0.0029719797852347796,
      -0.05105163661183365,
      -0.11733990829714092,
      -0.1446908652586174,
      -0.16087101676017834,
      -0.17594035373930428,
      -0.16236547658109757,
      -0.16236547658109757
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 6.778168555094884,
    "v_std": 0.7003849736743094,
    "vy_max": 0.04657429927569323,
    "a_max": 1.0978246937072786,
    "ax_avg": -0.5159129361803535,
    "a_std": 0.23097215395441897,
    "ini_direction_judge": "right",
    "scenario_type": "lane_following",
    "scene_token": "0965108c193757a9",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0965108c193757a9",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "0f78ffea52a85031": {
    "vx_ego": [
      1.4326799225908804,
      2.231830744974909,
      2.988210900194666,
      3.545928914162202,
      3.7518217952733828,
      3.719737085677007,
      3.652876482962517,
      3.594875821235859,
      3.550121069195309,
      3.5173998273834957
    ],
    "vy_ego": [
      -0.04140367133313877,
      -0.0389235182572194,
      -0.03708537372750853,
      -0.024740281523518926,
      -0.013169433825095611,
      -0.0168293151927299,
      -0.02523677511867839,
      -0.005147683378585288,
      -0.007692589647423809,
      -0.023181378933383234
    ],
    "v_ego": [
      1.4332780695297314,
      2.2321701356502324,
      2.9884410164811226,
      3.5460152207543323,
      3.751844908505103,
      3.719775156163438,
      3.6529636590854553,
      3.594879506847254,
      3.5501294035400917,
      3.5174762148459084
    ],
    "ax_ego": [
      1.5978181384021048,
      1.5978975434657545,
      1.4268123645574966,
      0.8032096051896725,
      0.020176809231256178,
      -0.14874487968825253,
      -0.11879354382053901,
      -0.11326643432560085,
      -0.06554142022731277,
      -0.06440685933515314
    ],
    "ay_ego": [
      -0.019056629122475632,
      -0.010458819246903839,
      -0.04567501771070587,
      0.02308117896757056,
      -0.038197577231438004,
      -0.03031842141309734,
      -0.01906642367672974,
      0.0922887266837904,
      0.07489650179126023,
      0.07587437075006168
    ],
    "a_ego": [
      1.5979317753021496,
      1.5979317714827288,
      1.4275432500968326,
      0.8035411692573584,
      0.04319905713214324,
      0.15180331323938515,
      0.12031390013320524,
      0.1461043949296222,
      0.09952468912778101,
      0.0995246887266472
    ],
    "yaw": [
      1.1938227259078316,
      1.1884419022475088,
      1.182410315826324,
      1.1770311234150714,
      1.1729342643814527,
      1.169349095015448,
      1.1682795272710313,
      1.1677872765533817,
      1.1802196989219997,
      1.1952695692726936
    ],
    "yaw_diff": [
      -0.010761647320645551,
      -0.012063172842369685,
      -0.010758384822505018,
      -0.008193718067237565,
      -0.007170338732009451,
      -0.002139135488833155,
      -0.0009845014352993786,
      0.024864844737236158,
      0.030099740701387656,
      0.030099740701387656
    ],
    "min_front_frame": [
      0,
      13.74635126805939
    ],
    "v_avg": 3.1986973291402663,
    "v_std": 0.7335976047209654,
    "vy_max": 0.04140367133313877,
    "a_max": 1.5979317753021496,
    "ax_avg": 0.4935161323449426,
    "a_std": 0.6453841418035275,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "0f78ffea52a85031",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 25.613907738155923,
    "right_rear_min": 8.257527992853719,
    "speed_mode": "accelerating",
    "front_frame": [
      13.74635126805939,
      14.618734613089087,
      15.035241426632046,
      14.938308776159523,
      14.49389454896368,
      14.115697282028814,
      13.876713928454317,
      13.825422161125369,
      14.022599952913314,
      14.52290126744115
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.8,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.2,
    "ANC_result": "A",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "0f78ffea52a85031",
    "with_lead": "Close",
    "road_shape": "Straight"
  },
  "bdf4ea0b653c5677": {
    "vx_ego": [
      6.56644863728161,
      6.812159680128979,
      7.120612785871504,
      7.376127784235404,
      7.556806809338615,
      7.70401267083449,
      7.8899036411182415,
      8.11368789290712,
      8.334495590747737,
      8.591187810900657
    ],
    "vy_ego": [
      -0.016394061113163882,
      -0.02416430501786415,
      -0.12969020306096724,
      -0.2152902214075576,
      -0.1871428694725803,
      -0.1784051007131442,
      -0.07557319482462743,
      -0.02610150999233074,
      0.051652381200312014,
      -0.015213642737749389
    ],
    "v_ego": [
      6.566469102287567,
      6.812202538181903,
      7.121793734382282,
      7.379268999623418,
      7.5591237327656495,
      7.7060780953957915,
      7.890265570556348,
      8.113729876717086,
      8.334655644996808,
      8.591201281374646
    ],
    "ax_ego": [
      0.3813277346616384,
      0.6078986505039792,
      0.6483123136234471,
      0.3973160813326524,
      0.32876328795403975,
      0.2495548981191848,
      0.4606906277077637,
      0.4129069131880786,
      0.46072418247414415,
      0.5701149175152946
    ],
    "ay_ego": [
      1.761989156172067,
      1.6971964740231216,
      1.4329347209401555,
      0.6248704746281434,
      -0.24166191352116487,
      -1.2953886115915478,
      -1.7040405588645853,
      -1.7309079063936177,
      -1.4478527830305727,
      -1.4083726135617862
    ],
    "a_ego": [
      1.8027802494175849,
      1.8027802530317096,
      1.5727716841524164,
      0.7404884729336008,
      0.4080266902459468,
      1.3192078313201276,
      1.765216723440298,
      1.7794758496182084,
      1.5193895003078848,
      1.519389495094766
    ],
    "yaw": [
      -0.8234810795504852,
      -0.6926712423134654,
      -0.5652736490450256,
      -0.48289275005312143,
      -0.47384204769184834,
      -0.5252684609366279,
      -0.6348917607917641,
      -0.7481863831037969,
      -0.8542479439686791,
      -0.9308086395115894
    ],
    "yaw_diff": [
      0.26161967447403955,
      0.2547951865368796,
      0.1647617979838084,
      0.018101404722546177,
      -0.10285282648955918,
      -0.21924659971027238,
      -0.2265892446240656,
      -0.21212312172976433,
      -0.15312139108582068,
      -0.15312139108582068
    ],
    "min_front_frame": [
      1,
      18.438626881705463
    ],
    "v_avg": 7.607478857628149,
    "v_std": 0.6203990528212269,
    "vy_max": 0.2152902214075576,
    "a_max": 1.8027802530317096,
    "ax_avg": 0.4517609607080223,
    "a_std": 0.4561175746982467,
    "ini_direction_judge": "straight",
    "scenario_type": "roundout_interior",
    "scene_token": "bdf4ea0b653c5677",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      18.438626881705463,
      18.727961969056253,
      -1,
      -1,
      -1,
      -1,
      -1,
      20.531155060765162,
      20.839301061111428
    ],
    "safe_frame": [
      -1,
      1,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0
    ],
    "safe_ratio": 0.25,
    "unsafe_ratio": 0.75,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "roundout_interior",
    "lane_change_frame": -1,
    "token": "bdf4ea0b653c5677",
    "incoming_vehicles": "No"
  },
  "8693307093e0553b": {
    "vx_ego": [
      2.4040862962600884,
      2.6738468430340014,
      2.955394533793331,
      3.2062518362874144,
      3.4141954519130757,
      3.5925084410470634,
      3.7882587149047797,
      3.9403105759667634,
      4.022486642003594,
      4.163364591377653
    ],
    "vy_ego": [
      -0.12264606011847046,
      -0.07927072841615512,
      -0.07877215128801207,
      -0.08341395097732973,
      -0.0778097930944035,
      -0.06772909125283633,
      -0.026266245871227722,
      -0.045010840851736456,
      -0.09443424725820315,
      0.013708424450603385
    ],
    "v_ego": [
      2.4072126985225326,
      2.675021642601518,
      2.95644413141768,
      3.207336702766653,
      3.4150819825833354,
      3.593146828171142,
      3.788349773545756,
      3.9405676508429224,
      4.023594986097951,
      4.163387159710004
    ],
    "ax_ego": [
      0.5297302808225597,
      0.5858927027825617,
      0.5869689197749924,
      0.46618671239164733,
      0.4278815647314448,
      0.3565555228083258,
      0.4688756242826808,
      0.1463424500852039,
      0.22326836930429833,
      0.3569528542503565
    ],
    "ay_ego": [
      0.6055088033375795,
      0.5513481860338877,
      0.7364417790052318,
      0.8534124828934693,
      1.0751896519339175,
      1.33650089938163,
      1.4387517194640174,
      1.2333603535481483,
      1.1744396618547734,
      1.140939062041315
    ],
    "a_ego": [
      0.8045216475270603,
      0.8045216475749509,
      0.9417425373456442,
      0.9724417292408468,
      1.1572015472953743,
      1.383244915007109,
      1.5132253174286836,
      1.242012026673395,
      1.1954736651509121,
      1.1954736648915323
    ],
    "yaw": [
      0.15749319004818363,
      0.2545118575483985,
      0.36860023848781553,
      0.4983004222919749,
      0.6418076793231262,
      0.8102004193991833,
      0.9871824208869444,
      1.162619091296246,
      1.3262532434375711,
      1.4416004459422056
    ],
    "yaw_diff": [
      0.19403733500042974,
      0.22817676187883407,
      0.25940036760831875,
      0.2870145140623026,
      0.3367854801521142,
      0.3539640029755222,
      0.3508733408186031,
      0.3272683042826503,
      0.23069440500926897,
      0.23069440500926897
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.417014355625949,
    "v_std": 0.5651883822081619,
    "vy_max": 0.12264606011847046,
    "a_max": 1.5132253174286836,
    "ax_avg": 0.4148655001234071,
    "a_std": 0.2245395515578383,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "8693307093e0553b",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "8693307093e0553b",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "0dc4e0a3f0195741": {
    "vx_ego": [
      1.0297981214901062,
      1.454123901540742,
      1.8639843503983287,
      2.290327037382897,
      2.787206681889718,
      3.3533023660147174,
      3.9456483262872184,
      4.51228184102137,
      5.037157018414813,
      5.591006925204804
    ],
    "vy_ego": [
      -0.013771971206698902,
      -0.03025124719150185,
      -0.0347579604986929,
      -0.026282440380068328,
      -0.0006722236247096447,
      0.013869629421320973,
      0.03614821994925377,
      0.07312409374847739,
      0.07753062525888099,
      0.1508299233271595
    ],
    "v_ego": [
      1.0298902068742424,
      1.4544385373705933,
      1.8643083903549615,
      2.2904778333001716,
      2.787206762953781,
      3.3533310490525965,
      3.945813909517101,
      4.5128743108907585,
      5.037753648802077,
      5.593041042533029
    ],
    "ax_ego": [
      0.8411501721321409,
      0.8501657880793105,
      0.7893991811710355,
      0.9034434170778058,
      1.1003342627050245,
      1.1852671774308416,
      1.2180938610261396,
      1.0888844568825888,
      1.0522688500693596,
      1.2130392337630374
    ],
    "ay_ego": [
      -0.18979471992909924,
      -0.14413113318339751,
      -0.40724672999821987,
      -0.40789276647970324,
      -0.7709434838293439,
      -1.0018194962536282,
      -1.2288833726864492,
      -1.3041281979490875,
      -1.307270267633939,
      -1.159638350207548
    ],
    "a_ego": [
      0.862296728389303,
      0.8622967301186092,
      0.888257263594137,
      0.9912550210756503,
      1.3435361345872079,
      1.551934465423314,
      1.7302910153886804,
      1.6989466492878535,
      1.6781612811246727,
      1.6781612812600881
    ],
    "yaw": [
      -1.6582615870270072,
      -1.7122461739193775,
      -1.7922069964159433,
      -1.895010527317909,
      -2.022244915288333,
      -2.1715703420355608,
      -2.330329359731577,
      -2.4878849336791315,
      -2.6251903405880306,
      -2.7553478582353543
    ],
    "yaw_diff": [
      -0.10796917378474058,
      -0.15992164499313155,
      -0.2056070618039314,
      -0.2544687759408477,
      -0.29865085349445586,
      -0.31751803539203216,
      -0.3151111478951094,
      -0.27461081381779806,
      -0.2603150352946475,
      -0.2603150352946475
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 3.1869135691649313,
    "v_std": 1.4813413297084967,
    "vy_max": 0.1508299233271595,
    "a_max": 1.7302910153886804,
    "ax_avg": 1.0242046400337284,
    "a_std": 0.36545596575230066,
    "ini_direction_judge": "right",
    "scenario_type": "protected_intersections",
    "scene_token": "0dc4e0a3f0195741",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 9.500500535268495,
    "right_rear_min": 7.861569509267746,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "0dc4e0a3f0195741",
    "pedestrians": "No",
    "with_lead": "No"
  },
  "a3f82403e6945aa7": {
    "vx_ego": [
      8.113253069483518,
      8.227771577676089,
      8.401888553001992,
      8.567767755265447,
      8.72475226545511,
      8.877474959452384,
      9.007373484098604,
      9.1746164493013,
      9.451152324734428,
      9.785815999363672
    ],
    "vy_ego": [
      -0.018446157153992893,
      -0.08401520544289776,
      -0.08159572634309509,
      -0.09829426305300171,
      -0.10827008383322001,
      -0.05369349048732719,
      -0.05074289854366931,
      -0.0804819608428402,
      -0.14040981554600857,
      -0.06748652193778774
    ],
    "v_ego": [
      8.113274038894376,
      8.228200513426984,
      8.402284755923437,
      8.568331580320374,
      8.725424030075406,
      8.877637334709322,
      9.007516412629801,
      9.174969446151367,
      9.452195257274083,
      9.78604870231317
    ],
    "ax_ego": [
      0.13001012811126333,
      0.3510268909064934,
      0.3749269931571112,
      0.32405140946600797,
      0.338909258486306,
      0.29771226339951173,
      0.22983570014725307,
      0.44699655230794477,
      0.6681991789647342,
      0.6784990287288468
    ],
    "ay_ego": [
      1.8472818488940783,
      1.8182774632536784,
      1.7126438108913662,
      1.687834383373855,
      1.5913050111598441,
      1.5612381959127979,
      1.340570279219342,
      1.0433908743616043,
      0.5305726094891251,
      0.5173359828250169
    ],
    "a_ego": [
      1.8518511988453694,
      1.8518511850350479,
      1.7532025191581075,
      1.7186605894346643,
      1.6269945064535927,
      1.5893700941428048,
      1.3601298182851527,
      1.1351081157653056,
      0.853227658195188,
      0.8532276666350633
    ],
    "yaw": [
      0.8368107530296595,
      0.9572559582521094,
      1.0630675571750876,
      1.165063476364916,
      1.2609780780177986,
      1.3442296750437066,
      1.4249041229657986,
      1.4939124386578941,
      1.5427349727140065,
      1.5623922359628846
    ],
    "yaw_diff": [
      0.2408904104448999,
      0.2116231978459564,
      0.20399183837965662,
      0.19182920330576536,
      0.16650319405181602,
      0.161348895844184,
      0.13801663138419107,
      0.09764506811222473,
      0.03931452649775613,
      0.03931452649775613
    ],
    "min_front_frame": [
      7,
      42.58708492208027
    ],
    "v_avg": 8.833588207171832,
    "v_std": 0.50911866681278,
    "vy_max": 0.14040981554600857,
    "a_max": 1.8518511988453694,
    "ax_avg": 0.3840167403675473,
    "a_std": 0.368301721452831,
    "ini_direction_judge": "left",
    "scenario_type": "protected_intersections",
    "scene_token": "a3f82403e6945aa7",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 8.394705329604161,
    "right_rear_min": 8.472412023086227,
    "speed_mode": "accelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      42.58708492208027,
      44.70293705513846,
      46.70725721023933
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      1,
      1,
      1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "protected_intersections",
    "lane_change_frame": -1,
    "token": "a3f82403e6945aa7",
    "pedestrians": "No",
    "with_lead": "Far"
  },
  "f558dbb8523f552f": {
    "vx_ego": [
      3.7411383722443774,
      3.24543163208331,
      2.7843200821232554,
      2.3789067084964137,
      1.9906243865584639,
      1.6032594114253085,
      1.2436623231658013,
      0.9071448315300814,
      0.5790521690240913,
      0.2586293830782911
    ],
    "vy_ego": [
      -0.007939548032089405,
      -0.04713865691549768,
      -0.05492918867709018,
      -0.03818256198308778,
      -0.023881817109859593,
      -0.04339208179207732,
      -0.06872098933535342,
      -0.06630060722199105,
      -0.03777612046309364,
      -0.009678699652160047
    ],
    "v_ego": [
      3.7411467969998538,
      3.2457739495384974,
      2.7848618521362196,
      2.3792131127263136,
      1.9907676382616153,
      1.6038465054630624,
      1.2455595322735031,
      0.9095644649444835,
      0.580283077237952,
      0.2588104229323351
    ],
    "ax_ego": [
      -0.9921223104424436,
      -0.9913682219719899,
      -0.856318400331629,
      -0.7686249863740123,
      -0.785620204130055,
      -0.7633592030136194,
      -0.6743653446802859,
      -0.6714304659988382,
      -0.640838970055876,
      -0.6408196189388351
    ],
    "ay_ego": [
      -0.11861828053698714,
      -0.12476387759238972,
      -0.07671200104370357,
      -0.010558877121202737,
      -0.011025720137987305,
      -0.0384749743188908,
      -0.04583699605691671,
      0.059173526392019116,
      0.05637205761929159,
      0.05659160842245864
    ],
    "a_ego": [
      0.9991881581339942,
      0.9991881588008305,
      0.8597475989211305,
      0.7686975084937581,
      0.7856975700878236,
      0.7643281994499663,
      0.6759213329325259,
      0.6740329197428594,
      0.6433136050345186,
      0.6433136048310767
    ],
    "yaw": [
      1.0821905789632815,
      1.0759938484582015,
      1.061791780798763,
      1.0467902840818804,
      1.0377835385309044,
      1.0417603768269426,
      1.0447702197099762,
      1.0456201907994247,
      1.0461097368613168,
      1.0464523413466063
    ],
    "yaw_diff": [
      -0.012393461010160145,
      -0.02840413531887709,
      -0.030002993433765113,
      -0.01801349110195183,
      0.007953676592076242,
      0.006019685766067262,
      0.0016999421788970182,
      0.0009790921237842198,
      0.0006852089705788877,
      0.0006852089705788877
    ],
    "min_front_frame": [
      -1,
      -1
    ],
    "v_avg": 1.8739827352513836,
    "v_std": 1.1021407483150663,
    "vy_max": 0.06872098933535342,
    "a_max": 0.9991881588008305,
    "ax_avg": -0.7784867725937584,
    "a_std": 0.12738213786019742,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "f558dbb8523f552f",
    "has_left_rear": false,
    "has_right_rear": false,
    "left_rear_min": null,
    "right_rear_min": null,
    "speed_mode": "decelerating",
    "front_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_frame": [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    "safe_ratio": 1.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 0.0,
    "ANC_result": "N",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "f558dbb8523f552f",
    "with_lead": "No",
    "road_shape": "Straight"
  },
  "c756ce81365d5a3b": {
    "vx_ego": [
      0.5108201651341657,
      0.11656566988174653,
      -0.09015599707196953,
      -0.07379830196146045,
      -0.03660556991679828,
      -0.020308107387064255,
      -0.013264917321389274,
      -0.009798936860844812,
      -0.007446717117258702,
      -0.005707964952778661
    ],
    "vy_ego": [
      -0.028735538459183287,
      -0.014535217152885143,
      -0.00010585206735184071,
      0.004646164422779846,
      0.0014988247223252536,
      0.0006840223835680985,
      0.0003948776859102385,
      0.00020630467653010834,
      0.0002537711667871982,
      0.00035524309492235165
    ],
    "v_ego": [
      0.5116277673057196,
      0.11746841248889779,
      0.09015605921235212,
      0.07394441301571339,
      0.036636241953588264,
      0.02031962382195487,
      0.013270793492859536,
      0.009801108367035911,
      0.007451039902561674,
      0.005719008791621107
    ],
    "ax_ego": [
      -0.7884971319519332,
      -0.78848541403254,
      -0.03838989351968235,
      0.10382005820264717,
      0.04495013845056303,
      0.020240069855132863,
      0.007932488564877015,
      0.005931431093138333,
      0.0034775271324137425,
      0.0034775154361215673
    ],
    "ay_ego": [
      0.02849588747905341,
      0.028818015331217632,
      0.028774507275971584,
      -0.009775381166704924,
      -0.0028301954838957214,
      -0.0004179533747717836,
      -0.0007443908469257431,
      -1.0962507920700922e-05,
      0.00020335537380931584,
      0.0002034845510684582
    ],
    "a_ego": [
      0.7890118774135426,
      0.7890118669257746,
      0.04797662132150919,
      0.10427925278863201,
      0.04503914911720523,
      0.02024438472179733,
      0.00796733911446547,
      0.00593144122361742,
      0.00348346786474784,
      0.003483463731831768
    ],
    "yaw": [
      -1.5541280523102738,
      -1.5537195127510781,
      -1.5533317961495083,
      -1.55330940136992,
      -1.5532246748582312,
      -1.55333371375133,
      -1.553239259679205,
      -1.5532158299402656,
      -1.5532919144942854,
      -1.5533281628271907
    ],
    "yaw_diff": [
      0.0008170791183914616,
      0.0007754332031395528,
      4.478955917663896e-05,
      0.00016945302337756374,
      -0.00021807778619731266,
      0.0001889081442496554,
      4.68594778788578e-05,
      -0.00015216910803950157,
      -7.249666581055081e-05,
      -7.249666581055081e-05
    ],
    "min_front_frame": [
      1,
      10.414200284383337
    ],
    "v_avg": 0.08863944683523044,
    "v_std": 0.14584364167366665,
    "vy_max": 0.028735538459183287,
    "a_max": 0.7890118774135426,
    "ax_avg": -0.1425543210769262,
    "a_std": 0.3051024902140406,
    "ini_direction_judge": "straight",
    "scenario_type": "lane_following",
    "scene_token": "c756ce81365d5a3b",
    "has_left_rear": true,
    "has_right_rear": true,
    "left_rear_min": 3.978357006549745,
    "right_rear_min": 3.1013017568520747,
    "speed_mode": "quasi_constant",
    "front_frame": [
      10.556488688438836,
      10.414200284383337,
      10.611207167036277,
      10.702741338763273,
      10.815587101411005,
      10.905662154402782,
      10.927218063154324,
      10.94722762267427,
      10.95153114102117,
      10.953857403570526
    ],
    "safe_frame": [
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1,
      1
    ],
    "safe_ratio": 0.0,
    "unsafe_ratio": 0.0,
    "oversafe_ratio": 1.0,
    "ANC_result": "C",
    "scene_scenario": "lane_following",
    "lane_change_frame": -1,
    "token": "c756ce81365d5a3b",
    "with_lead": "Far",
    "road_shape": "Straight"
  }
}